Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 185 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 121 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 10 ESCAPE_HEADING 0 C_ROLL_DIVE 1975 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 185 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2300 ALTIM_PING_DEPTH 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_SURF 3 TGT_DEFAULT_LAT 47.599998 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -122.3 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_TGT 400 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 50 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 57 XPDR_VALID 0

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 2.3

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 400 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 2 VBD_MAX 3600 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2640 DEVICE1 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 144 CALL_WAIT 5 PITCH_VBD_SHIFT 0.0024999999 DEVICE5 -1

T_MISSION 160 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 190 CAPMAXSIZE 50000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT 5 T_GPS 30 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_CHARGE -100727.3 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -4 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 GPS_DEVICE 32

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 100 MINV_24V 22 SIM_W 0.090000004

APOGEE_PITCH -5 PITCH_MAX 4069 MINV_10V 9.5 SIM_PITCH 0

MAX_BUOY 175 C_PITCH 2400 FG_AHR_10V 0 SEABIRD_T_G 0.0042823856

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062054652

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 PHONE_SUPPLY -2 SEABIRD_T_I 2.2746239e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -34.938694 SEABIRD_T_J 2.4072633e-06

RHO 1.0275 PITCH_GAIN 20 PRESSURE_SLOPE 9.0818496e-05 SEABIRD_C_G -9.8275757

MASS 51800 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_H 1.1041691

NAV_MODE 2 PITCH_AD_RATE 145 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015209455

FERRY_MAX 40 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020302966

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0056599998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0135 ROLL_MIN 526 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 6.2300001e-06 ROLL_MAX 3878 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_GAIN 0 SIM_W 0.090000004

AH0_24V 150 D_SAFE 0 PITCH_AD_RATE 145 SM_CC 560

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.0046000001 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 400 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 20 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4069 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 40 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MIN 100 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0024999999 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_GAIN 0 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_SLOPE 9.0818496e-05 T_ABORT 190

CALL_NDIVES 1 HD_A 0.0056599998 PRESSURE_YINT -34.938694 T_BOOST 5

CALL_TRIES 10 HD_B 0.0135 PROTOCOL 9 T_DIVE 144

CALL_WAIT 5 HD_C 6.2300001e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 50000 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS 30

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -100727.3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS2_DEVICE -1 ID 121 RELAUNCH 1 T_MISSION 160

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 2.3 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN 225

C_PITCH 2400 LOGGERDEVICE1 53 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2300 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 1975 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 20

C_VBD 2640 LOGGERDEVICE4 -1 ROLL_MAX 3878 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -4

DEEPGLIDER 0 MASS 51800 ROLL_MIN 526 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT 50 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 57 VBD_DBAND 2

DEVICE3 -1 MISSION 10 SC_PROFILE 3.0 VBD_MAX 3600

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 400

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -9.8275757 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 185 N_DIVES 0 SEABIRD_C_H 1.1041691 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 500 N_FILEKB 4 SEABIRD_C_I -0.0015209455 VBD_TIMEOUT 720

D_BOOST 0 N_GPS 20 SEABIRD_C_J 0.00020302966 W_ADJ_DBAND 0

D_CALL 0 N_NOCOMM 2 SEABIRD_T_G 0.0042823856 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00062054652 XPDR_INHIBIT 90

D_FLARE 3 PHONE_DEVICE 48 SEABIRD_T_I 2.2746239e-05 XPDR_VALID 0

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_T_J 2.4072633e-06

Pre-dive calculations and measurements:

GPS1 240313,135336,2024.853,12002.653,17,1.6,17,-2.7 TGT_NAME W2A

_CALLS 1 TGT_LATLONG 2145.000,12000.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -23.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240313,140030,2024.918,12002.580,20,1.6,21,-2.7 MHEAD_RNG_PITCHd_Wd 20.0,148379,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3389

Post-dive calculations and measurements:

FINISH 0.0,1.023190 _10V_AH 10.2,17.119

SM_CCo 9108,0.50,0.068,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.32,0.55,0.50,0.063,0.035,0.068,85,1950,400,-10.55,0.82,549.47,0,0,0,0,0,0,26.48,26.52,25.31 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2015.67,12000.66,240313,111122 MEM 323860

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16770,521

HUMID 47.91 CAP_FILE_SIZE 411380,2023

INTERNAL_PRESSURE 9.21433 CFSIZE 260034560,229748736

TCM_TEMP 20.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0

XPDR_PINGS 0 CURRENT 0.228, 3.1,1

SC_FREEKB 3952128 GPS 240313,163404,2026.947,12002.930,39,0.8,39,-2.7

_24V_AH 24.3,31.374

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 208 86.53 nil 0 0 0.00

Roll_motor 68 52 88.38 nil 0 0 0.00

VBD_pump_during_apogee 429 1013 10580.28 nil 0 0 0.00

VBD_pump_during_surface 180 663 2913.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 8909 5 1188.31

Iridium_during_xfer 228 133 738.13 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 29 6.66

TT8 1994 14 294.17

LPSleep 4836 2 108.05

TT8_Active 727 14 107.27

TT8_Sampling 1575 39 629.47

TT8_CF8 367 46 174.82

TT8_Kalman 0 0 0.00

Analog_circuits 1777 15 281.01

GPS_charging 0 0 0.00

Compass 1329 7 101.56

RAFOS 0 0 0.00

Transponder 1 5 0.08

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.35 -170.3 79 1952 331 473 0.0 0.0 0 43 0.00 0.00 -23.35 0.000 16386 0.000 0.000 79 1953 1014 995 1033 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 79 1952 995 1034 3.2 -9.3 3 154 7.78 2.22 -92.35 0.000 18948 0.209 0.053 2107 568 3337 3246 3429 0 0 0 0 0 0 25.82 26.16 26.46

201 -1.35 -170.3 2107 568 3249 3429 17.8 -9.0 25 209 0.00 2.08 0.00 0.000 1030 0.000 0.015 2099 1993 3339 3249 3429 0 0 0 0 0 0 28.83 26.28 28.83

523 -1.35 -170.3 2099 1994 3252 3429 47.0 -9.0 63 529 0.00 2.05 0.00 0.000 260 0.000 0.031 2089 3357 3340 3252 3429 0 0 0 0 0 0 28.83 26.41 28.83

662 -1.35 -170.3 2088 3358 3253 3429 58.7 -9.2 71 669 0.00 2.08 0.00 0.000 1030 0.000 0.025 2094 1973 3341 3253 3429 0 0 0 0 0 0 28.83 26.48 28.83

978 -1.35 -170.3 2094 1972 3256 3429 87.7 -8.5 87 984 0.00 2.12 0.00 0.000 516 0.000 0.040 2104 568 3342 3256 3429 0 0 0 0 0 0 28.83 26.51 28.83

1084 -1.35 -170.3 2104 568 3257 3429 95.7 -8.9 91 1092 0.00 2.03 0.00 0.000 1030 0.000 0.015 2096 1982 3343 3257 3429 0 0 0 0 0 0 28.83 26.61 28.83

1389 -1.35 -170.3 2095 1983 3257 3429 124.8 -8.9 107 1395 0.00 2.05 0.00 0.000 260 0.000 0.031 2085 3362 3343 3257 3429 0 0 0 0 0 0 28.83 26.58 28.83

1441 -1.35 -170.3 2085 3361 3257 3429 128.9 -8.8 109 1447 0.00 2.08 0.00 0.000 1030 0.000 0.025 2088 1969 3343 3258 3429 0 0 0 0 0 0 28.83 26.60 28.83

1761 -1.35 -170.3 2088 1968 3257 3429 158.3 -9.0 125 1762 0.00 0.00 0.00 0.000 6 0.000 0.000 2088 1968 3343 3257 3430 0 0 0 0 0 0 28.83 28.83 28.83

2062 -1.35 -170.3 2088 1968 3256 3427 185.5 -9.0 140 2068 0.00 2.12 0.00 0.000 516 0.000 0.041 2097 567 3341 3256 3427 0 0 0 0 0 0 28.83 26.60 28.83

2128 -1.35 -170.3 1280 567 3231 3423 191.4 -8.9 143 2133 0.00 2.03 0.00 0.000 1030 0.000 0.016 2089 1982 3341 3256 3427 0 0 0 0 0 0 28.83 26.70 28.83

2454 -1.35 -170.3 2089 1983 3256 3423 220.6 -9.1 159 2455 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 1983 3339 3256 3423 0 0 0 0 0 0 28.83 28.83 28.83

2754 -1.35 -170.3 2088 1984 3256 3420 247.5 -8.9 174 2755 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 1984 3338 3256 3421 0 0 0 0 0 0 28.83 28.83 28.83

3054 -1.35 -170.3 2089 1984 3254 3417 274.3 -9.3 189 3060 0.00 2.05 0.00 0.000 260 0.000 0.032 2079 3354 3335 3254 3416 0 0 0 0 0 0 28.83 26.64 28.83

3083 -1.35 -170.3 2078 3354 3254 3416 276.7 -9.1 190 3091 0.10 2.08 0.00 0.000 3078 0.163 0.028 2105 1975 3335 3254 3416 0 0 0 0 0 0 26.48 26.65 28.83

3406 -1.35 -170.3 2104 1975 3256 3413 306.2 -9.0 206 3412 0.00 2.15 0.00 0.000 516 0.000 0.044 2115 571 3333 3253 3413 0 0 0 0 0 0 28.83 26.61 28.83

3494 -1.35 -170.3 2115 571 3252 3413 314.3 -9.2 210 3499 0.00 2.03 0.00 0.000 1030 0.000 0.017 2106 1975 3332 3252 3413 0 0 0 0 0 0 28.83 26.70 28.83

3820 -1.35 -170.3 2106 1975 3250 3409 343.9 -9.0 226 3821 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 1975 3330 3250 3410 0 0 0 0 0 0 28.83 28.83 28.83

4120 -1.35 -170.3 2106 1975 3248 3408 371.0 -8.6 241 4126 0.00 2.17 0.00 0.000 516 0.000 0.044 2115 571 3327 3248 3407 0 0 0 0 0 0 28.83 26.61 28.83

4161 -1.35 -170.3 2115 571 3248 3407 373.4 -8.7 242 4169 0.00 2.03 0.00 0.000 1030 0.000 0.017 2107 1972 3327 3248 3407 0 0 0 0 0 0 28.83 26.70 28.83

4446 end dive: TARGET_DEPTH_EXCEEDED

state 4446 begin apogee

4451 -0.25 0.0 2104 2310 3245 3405 400.6 -9.0 257 4617 0.73 0.00 152.55 1.014 10246 0.112 0.000 2344 2311 2639 2590 2689 0 0 0 0 1 0 26.44 28.83 24.27

4618 end apogee: CONTROL_FINISHED_OK

state 4619 begin climb

4621 1.35 170.3 2343 2311 2590 2689 386.1 0.0 264 4788 1.00 2.25 153.62 0.861 10500 0.057 0.034 2701 3675 1933 1902 1964 0 0 0 0 0 0 25.18 24.96 24.30

4909 1.37 176.2 2701 3675 1900 1950 358.7 9.0 277 4915 0.00 2.15 0.00 0.000 1030 0.000 0.024 2711 2300 1924 1900 1949 0 0 0 0 0 0 28.83 25.74 28.83

5235 1.39 183.1 2711 2299 1900 1945 329.1 9.0 293 5252 0.00 2.22 9.27 0.803 8452 0.000 0.033 2711 3686 1887 1863 1912 0 0 0 0 0 0 28.83 26.08 25.32

5307 1.40 191.0 2710 3686 1861 1908 322.9 9.0 296 5318 0.00 2.12 6.25 0.768 9222 0.000 0.024 2720 2300 1862 1836 1888 0 0 0 0 0 0 28.83 26.16 25.25

5627 1.42 196.4 2721 2300 1836 1885 293.5 9.1 312 5640 0.00 2.22 6.90 0.772 8452 0.000 0.033 2721 3685 1837 1811 1863 0 0 0 0 0 0 28.83 26.22 25.44

5710 1.45 209.6 2721 3685 1809 1861 287.5 8.8 315 5729 0.00 2.12 13.90 0.786 9222 0.000 0.025 2730 2295 1783 1753 1814 0 0 0 0 0 0 28.83 26.28 25.35

6044 1.46 214.3 2730 2295 1749 1804 256.7 9.1 332 6055 0.00 2.25 3.50 0.568 8708 0.000 0.044 2742 893 1765 1737 1794 0 0 0 0 0 0 28.83 26.29 25.27

6146 1.48 220.7 2741 893 1737 1794 248.7 9.0 336 6160 0.00 2.08 9.12 0.755 9222 0.000 0.017 2742 2293 1740 1709 1772 0 0 0 0 0 0 28.83 26.40 25.49

6479 1.48 220.7 2741 2293 1703 1763 216.9 9.3 353 6485 0.00 2.12 0.00 0.000 260 0.000 0.035 2741 3690 1732 1703 1762 0 0 0 0 0 0 28.83 26.39 28.83

6552 1.49 224.2 2741 3690 1703 1762 210.7 9.1 356 6559 0.12 2.12 0.00 0.000 5126 0.192 0.026 2723 2294 1732 1703 1761 0 0 0 0 0 0 26.19 26.42 28.83

6874 1.51 233.6 2722 2293 1703 1760 181.6 8.9 372 6893 0.00 0.00 12.90 0.692 8198 0.000 0.000 2723 2293 1682 1648 1717 0 0 0 0 0 0 28.83 28.83 25.63

7193 1.51 233.6 2722 2293 1647 1711 152.6 9.4 388 7200 0.00 2.20 0.00 0.000 516 0.000 0.044 2733 888 1679 1647 1711 0 0 0 0 0 0 28.83 26.39 28.83

7284 1.53 241.5 2733 887 1647 1711 144.7 9.0 392 7302 0.00 2.10 7.47 0.668 9222 0.000 0.018 2733 2305 1650 1607 1694 0 0 0 0 0 0 28.83 26.51 25.67

7601 1.57 256.9 2733 2305 1603 1692 116.8 8.7 408 7624 0.00 2.12 15.62 0.632 8452 0.000 0.034 2733 3693 1587 1535 1639 0 0 0 0 0 0 28.83 26.27 25.65

7641 1.61 273.3 2733 3693 1534 1637 114.8 8.7 409 7665 0.00 2.15 16.95 0.640 9222 0.000 0.028 2743 2293 1520 1466 1574 0 0 0 0 0 0 28.83 26.29 25.47

7975 1.61 273.3 2743 2292 1465 1565 83.2 9.5 426 7981 0.00 2.20 0.00 0.000 516 0.000 0.044 2753 890 1515 1466 1565 0 0 0 0 0 0 28.83 26.30 28.83

8035 1.62 278.5 2753 891 1465 1564 78.9 9.1 428 8044 0.00 2.10 3.33 0.446 9222 0.000 0.018 2753 2308 1504 1454 1555 0 0 0 0 0 0 28.83 26.41 25.39

8342 1.66 294.6 2753 2308 1453 1555 50.1 8.7 444 8364 0.00 0.00 18.15 0.552 8710 0.000 0.000 2754 2308 1432 1385 1480 0 0 0 0 0 0 28.83 28.83 25.65

8667 1.67 298.4 1728 2306 1359 1467 20.7 9.1 479 8674 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2308 1428 1384 1473 0 0 0 0 0 0 28.83 28.83 28.83

8863 end climb: SURFACE_DEPTH_REACHED

state 8863 begin surface coast

8899 end surface coast: CONTROL_FINISHED_OK

state 8899 begin surface

ID	121	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	10	ESCAPE_HEADING	0	C_ROLL_DIVE	1975	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	185	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2300	ALTIM_PING_DEPTH	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_SURF	3	TGT_DEFAULT_LAT	47.599998	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-122.3	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_TGT	400	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	50	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	57	XPDR_VALID	0
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	2.3
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	400	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	2	VBD_MAX	3600	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2640	DEVICE1	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	144	CALL_WAIT	5	PITCH_VBD_SHIFT	0.0024999999	DEVICE5	-1
T_MISSION	160	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	190	CAPMAXSIZE	50000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	5	T_GPS	30	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_CHARGE	-100727.3	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-4	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	GPS_DEVICE	32
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	100	MINV_24V	22	SIM_W	0.090000004
APOGEE_PITCH	-5	PITCH_MAX	4069	MINV_10V	9.5	SIM_PITCH	0
MAX_BUOY	175	C_PITCH	2400	FG_AHR_10V	0	SEABIRD_T_G	0.0042823856
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062054652
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2746239e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-34.938694	SEABIRD_T_J	2.4072633e-06
RHO	1.0275	PITCH_GAIN	20	PRESSURE_SLOPE	9.0818496e-05	SEABIRD_C_G	-9.8275757
MASS	51800	PITCH_TIMEOUT	15	AD7714Ch0Gain	128	SEABIRD_C_H	1.1041691
NAV_MODE	2	PITCH_AD_RATE	145	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015209455
FERRY_MAX	40	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020302966
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0056599998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0135	ROLL_MIN	526	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	6.2300001e-06	ROLL_MAX	3878	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	240313,135336,2024.853,12002.653,17,1.6,17,-2.7	TGT_NAME	W2A
_CALLS	1	TGT_LATLONG	2145.000,12000.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-23.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240313,140030,2024.918,12002.580,20,1.6,21,-2.7	MHEAD_RNG_PITCHd_Wd	20.0,148379,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3389

FINISH	0.0,1.023190	_10V_AH	10.2,17.119
SM_CCo	9108,0.50,0.068,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.32,0.55,0.50,0.063,0.035,0.068,85,1950,400,-10.55,0.82,549.47,0,0,0,0,0,0,26.48,26.52,25.31	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2015.67,12000.66,240313,111122	MEM	323860
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16770,521
HUMID	47.91	CAP_FILE_SIZE	411380,2023
INTERNAL_PRESSURE	9.21433	CFSIZE	260034560,229748736
TCM_TEMP	20.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
XPDR_PINGS	0	CURRENT	0.228, 3.1,1
SC_FREEKB	3952128	GPS	240313,163404,2026.947,12002.930,39,0.8,39,-2.7
_24V_AH	24.3,31.374

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	208	86.53	nil	0	0	0.00
Roll_motor	68	52	88.38	nil	0	0	0.00
VBD_pump_during_apogee	429	1013	10580.28	nil	0	0	0.00
VBD_pump_during_surface	180	663	2913.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	8909	5	1188.31
Iridium_during_xfer	228	133	738.13	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	29	6.66
TT8	1994	14	294.17
LPSleep	4836	2	108.05
TT8_Active	727	14	107.27
TT8_Sampling	1575	39	629.47
TT8_CF8	367	46	174.82
TT8_Kalman	0	0	0.00
Analog_circuits	1777	15	281.01
GPS_charging	0	0	0.00
Compass	1329	7	101.56
RAFOS	0	0	0.00
Transponder	1	5	0.08

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.35	-170.3	79	1952	331	473	0.0	0.0	0	43	0.00	0.00	-23.35	0.000	16386	0.000	0.000	79	1953	1014	995	1033	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	79	1952	995	1034	3.2	-9.3	3	154	7.78	2.22	-92.35	0.000	18948	0.209	0.053	2107	568	3337	3246	3429	0	0	0	0	0	0	25.82	26.16	26.46
201	-1.35	-170.3	2107	568	3249	3429	17.8	-9.0	25	209	0.00	2.08	0.00	0.000	1030	0.000	0.015	2099	1993	3339	3249	3429	0	0	0	0	0	0	28.83	26.28	28.83
523	-1.35	-170.3	2099	1994	3252	3429	47.0	-9.0	63	529	0.00	2.05	0.00	0.000	260	0.000	0.031	2089	3357	3340	3252	3429	0	0	0	0	0	0	28.83	26.41	28.83
662	-1.35	-170.3	2088	3358	3253	3429	58.7	-9.2	71	669	0.00	2.08	0.00	0.000	1030	0.000	0.025	2094	1973	3341	3253	3429	0	0	0	0	0	0	28.83	26.48	28.83
978	-1.35	-170.3	2094	1972	3256	3429	87.7	-8.5	87	984	0.00	2.12	0.00	0.000	516	0.000	0.040	2104	568	3342	3256	3429	0	0	0	0	0	0	28.83	26.51	28.83
1084	-1.35	-170.3	2104	568	3257	3429	95.7	-8.9	91	1092	0.00	2.03	0.00	0.000	1030	0.000	0.015	2096	1982	3343	3257	3429	0	0	0	0	0	0	28.83	26.61	28.83
1389	-1.35	-170.3	2095	1983	3257	3429	124.8	-8.9	107	1395	0.00	2.05	0.00	0.000	260	0.000	0.031	2085	3362	3343	3257	3429	0	0	0	0	0	0	28.83	26.58	28.83
1441	-1.35	-170.3	2085	3361	3257	3429	128.9	-8.8	109	1447	0.00	2.08	0.00	0.000	1030	0.000	0.025	2088	1969	3343	3258	3429	0	0	0	0	0	0	28.83	26.60	28.83
1761	-1.35	-170.3	2088	1968	3257	3429	158.3	-9.0	125	1762	0.00	0.00	0.00	0.000	6	0.000	0.000	2088	1968	3343	3257	3430	0	0	0	0	0	0	28.83	28.83	28.83
2062	-1.35	-170.3	2088	1968	3256	3427	185.5	-9.0	140	2068	0.00	2.12	0.00	0.000	516	0.000	0.041	2097	567	3341	3256	3427	0	0	0	0	0	0	28.83	26.60	28.83
2128	-1.35	-170.3	1280	567	3231	3423	191.4	-8.9	143	2133	0.00	2.03	0.00	0.000	1030	0.000	0.016	2089	1982	3341	3256	3427	0	0	0	0	0	0	28.83	26.70	28.83
2454	-1.35	-170.3	2089	1983	3256	3423	220.6	-9.1	159	2455	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	1983	3339	3256	3423	0	0	0	0	0	0	28.83	28.83	28.83
2754	-1.35	-170.3	2088	1984	3256	3420	247.5	-8.9	174	2755	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	1984	3338	3256	3421	0	0	0	0	0	0	28.83	28.83	28.83
3054	-1.35	-170.3	2089	1984	3254	3417	274.3	-9.3	189	3060	0.00	2.05	0.00	0.000	260	0.000	0.032	2079	3354	3335	3254	3416	0	0	0	0	0	0	28.83	26.64	28.83
3083	-1.35	-170.3	2078	3354	3254	3416	276.7	-9.1	190	3091	0.10	2.08	0.00	0.000	3078	0.163	0.028	2105	1975	3335	3254	3416	0	0	0	0	0	0	26.48	26.65	28.83
3406	-1.35	-170.3	2104	1975	3256	3413	306.2	-9.0	206	3412	0.00	2.15	0.00	0.000	516	0.000	0.044	2115	571	3333	3253	3413	0	0	0	0	0	0	28.83	26.61	28.83
3494	-1.35	-170.3	2115	571	3252	3413	314.3	-9.2	210	3499	0.00	2.03	0.00	0.000	1030	0.000	0.017	2106	1975	3332	3252	3413	0	0	0	0	0	0	28.83	26.70	28.83
3820	-1.35	-170.3	2106	1975	3250	3409	343.9	-9.0	226	3821	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	1975	3330	3250	3410	0	0	0	0	0	0	28.83	28.83	28.83
4120	-1.35	-170.3	2106	1975	3248	3408	371.0	-8.6	241	4126	0.00	2.17	0.00	0.000	516	0.000	0.044	2115	571	3327	3248	3407	0	0	0	0	0	0	28.83	26.61	28.83
4161	-1.35	-170.3	2115	571	3248	3407	373.4	-8.7	242	4169	0.00	2.03	0.00	0.000	1030	0.000	0.017	2107	1972	3327	3248	3407	0	0	0	0	0	0	28.83	26.70	28.83
4446	end dive: TARGET_DEPTH_EXCEEDED
state	4446	begin apogee
4451	-0.25	0.0	2104	2310	3245	3405	400.6	-9.0	257	4617	0.73	0.00	152.55	1.014	10246	0.112	0.000	2344	2311	2639	2590	2689	0	0	0	0	1	0	26.44	28.83	24.27
4618	end apogee: CONTROL_FINISHED_OK
state	4619	begin climb
4621	1.35	170.3	2343	2311	2590	2689	386.1	0.0	264	4788	1.00	2.25	153.62	0.861	10500	0.057	0.034	2701	3675	1933	1902	1964	0	0	0	0	0	0	25.18	24.96	24.30
4909	1.37	176.2	2701	3675	1900	1950	358.7	9.0	277	4915	0.00	2.15	0.00	0.000	1030	0.000	0.024	2711	2300	1924	1900	1949	0	0	0	0	0	0	28.83	25.74	28.83
5235	1.39	183.1	2711	2299	1900	1945	329.1	9.0	293	5252	0.00	2.22	9.27	0.803	8452	0.000	0.033	2711	3686	1887	1863	1912	0	0	0	0	0	0	28.83	26.08	25.32
5307	1.40	191.0	2710	3686	1861	1908	322.9	9.0	296	5318	0.00	2.12	6.25	0.768	9222	0.000	0.024	2720	2300	1862	1836	1888	0	0	0	0	0	0	28.83	26.16	25.25
5627	1.42	196.4	2721	2300	1836	1885	293.5	9.1	312	5640	0.00	2.22	6.90	0.772	8452	0.000	0.033	2721	3685	1837	1811	1863	0	0	0	0	0	0	28.83	26.22	25.44
5710	1.45	209.6	2721	3685	1809	1861	287.5	8.8	315	5729	0.00	2.12	13.90	0.786	9222	0.000	0.025	2730	2295	1783	1753	1814	0	0	0	0	0	0	28.83	26.28	25.35
6044	1.46	214.3	2730	2295	1749	1804	256.7	9.1	332	6055	0.00	2.25	3.50	0.568	8708	0.000	0.044	2742	893	1765	1737	1794	0	0	0	0	0	0	28.83	26.29	25.27
6146	1.48	220.7	2741	893	1737	1794	248.7	9.0	336	6160	0.00	2.08	9.12	0.755	9222	0.000	0.017	2742	2293	1740	1709	1772	0	0	0	0	0	0	28.83	26.40	25.49
6479	1.48	220.7	2741	2293	1703	1763	216.9	9.3	353	6485	0.00	2.12	0.00	0.000	260	0.000	0.035	2741	3690	1732	1703	1762	0	0	0	0	0	0	28.83	26.39	28.83
6552	1.49	224.2	2741	3690	1703	1762	210.7	9.1	356	6559	0.12	2.12	0.00	0.000	5126	0.192	0.026	2723	2294	1732	1703	1761	0	0	0	0	0	0	26.19	26.42	28.83
6874	1.51	233.6	2722	2293	1703	1760	181.6	8.9	372	6893	0.00	0.00	12.90	0.692	8198	0.000	0.000	2723	2293	1682	1648	1717	0	0	0	0	0	0	28.83	28.83	25.63
7193	1.51	233.6	2722	2293	1647	1711	152.6	9.4	388	7200	0.00	2.20	0.00	0.000	516	0.000	0.044	2733	888	1679	1647	1711	0	0	0	0	0	0	28.83	26.39	28.83
7284	1.53	241.5	2733	887	1647	1711	144.7	9.0	392	7302	0.00	2.10	7.47	0.668	9222	0.000	0.018	2733	2305	1650	1607	1694	0	0	0	0	0	0	28.83	26.51	25.67
7601	1.57	256.9	2733	2305	1603	1692	116.8	8.7	408	7624	0.00	2.12	15.62	0.632	8452	0.000	0.034	2733	3693	1587	1535	1639	0	0	0	0	0	0	28.83	26.27	25.65
7641	1.61	273.3	2733	3693	1534	1637	114.8	8.7	409	7665	0.00	2.15	16.95	0.640	9222	0.000	0.028	2743	2293	1520	1466	1574	0	0	0	0	0	0	28.83	26.29	25.47
7975	1.61	273.3	2743	2292	1465	1565	83.2	9.5	426	7981	0.00	2.20	0.00	0.000	516	0.000	0.044	2753	890	1515	1466	1565	0	0	0	0	0	0	28.83	26.30	28.83
8035	1.62	278.5	2753	891	1465	1564	78.9	9.1	428	8044	0.00	2.10	3.33	0.446	9222	0.000	0.018	2753	2308	1504	1454	1555	0	0	0	0	0	0	28.83	26.41	25.39
8342	1.66	294.6	2753	2308	1453	1555	50.1	8.7	444	8364	0.00	0.00	18.15	0.552	8710	0.000	0.000	2754	2308	1432	1385	1480	0	0	0	0	0	0	28.83	28.83	25.65
8667	1.67	298.4	1728	2306	1359	1467	20.7	9.1	479	8674	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2308	1428	1384	1473	0	0	0	0	0	0	28.83	28.83	28.83
8863	end climb: SURFACE_DEPTH_REACHED
state	8863	begin surface coast
8899	end surface coast: CONTROL_FINISHED_OK
state	8899	begin surface