Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 212 * 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 212 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 49 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 56 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 -100761.3 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 -100761.3

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 49 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 56 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 212 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 270313,150336,2059.399,11959.655,21,1.6,21,-2.9 TGT_NAME W1

_CALLS 2 TGT_LATLONG 2207.170,12035.130

_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 -62.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270313,151236,2059.524,11959.624,22,1.7,23,-2.9 MHEAD_RNG_PITCHd_Wd 68.8,139305,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3493

Post-dive calculations and measurements:

FINISH 0.0,1.022182 _10V_AH 10.2,18.847

SM_CCo 9099,0.00,0.000,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.38,0.55,0.00,0.061,0.035,0.000,89,1948,400,-10.53,0.76,549.47,0,0,0,0,0,0,26.44,26.48,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2052.52,12000.44,270313,151539 MEM 324048

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16771,521

HUMID 47.16 CAP_FILE_SIZE 415248,2028

INTERNAL_PRESSURE 9.24363 CFSIZE 260034560,226594816

TCM_TEMP 21.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 1 CURRENT 0.094, 0.3,1

SC_FREEKB 3941760 GPS 270313,174559,2100.340,12000.499,36,0.8,36,-2.9

_24V_AH 24.2,35.564

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 207 85.29 nil 0 0 0.00

Roll_motor 65 56 89.18 nil 0 0 0.00

VBD_pump_during_apogee 457 1069 11839.99 nil 0 0 0.00

VBD_pump_during_surface 139 586 1983.67 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 8937 5 1187.57

Iridium_during_xfer 339 131 1081.37 nil 0 0 0.00

Transponder_ping 0 420 2.54 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 29 7.34

TT8 1987 14 293.15

LPSleep 4828 2 107.85

TT8_Active 709 14 104.70

TT8_Sampling 1683 39 672.65

TT8_CF8 409 46 194.86

TT8_Kalman 0 0 0.00

Analog_circuits 1888 15 298.53

GPS_charging 0 0 0.00

Compass 1370 7 104.70

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 83 1939 335 467 0.0 0.0 0 43 0.00 0.00 -23.20 0.000 16386 0.000 0.000 83 1940 1007 999 1015 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 84 1940 999 1017 3.1 -8.6 3 162 7.78 2.22 -97.88 0.000 18948 0.207 0.057 2114 571 3336 3241 3432 0 0 0 0 0 0 25.78 26.13 26.46

213 -1.35 -170.3 1256 571 3214 3429 18.8 -9.3 27 221 0.00 2.08 0.00 0.000 1030 0.000 0.015 2105 1990 3338 3243 3433 0 0 0 0 0 0 28.83 26.27 28.83

536 -1.35 -170.3 2105 1991 3245 3432 48.0 -9.3 64 542 0.00 2.05 0.00 0.000 260 0.000 0.031 2096 3361 3338 3245 3432 0 0 0 0 0 0 28.83 26.39 28.83

701 -1.35 -170.3 2095 3361 3247 3432 61.4 -8.9 72 709 0.00 2.08 0.00 0.000 1030 0.000 0.025 2099 1978 3339 3247 3432 0 0 0 0 0 0 28.83 26.46 28.83

1007 -1.35 -170.3 2099 1978 3249 3432 90.3 -9.1 88 1009 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 1978 3340 3249 3432 0 0 0 0 0 0 28.83 28.83 28.83

1309 -1.35 -170.3 2099 1978 3250 3432 117.4 -8.9 103 1310 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 1978 3341 3250 3432 0 0 0 0 0 0 28.83 28.83 28.83

1609 -1.35 -170.3 2099 1978 3249 3432 144.3 -9.2 118 1615 0.00 2.10 0.00 0.000 260 0.000 0.030 2091 3367 3340 3250 3431 0 0 0 0 0 0 28.83 26.57 28.83

1712 -1.35 -170.3 2090 3367 3249 3433 152.4 -8.9 122 1720 0.00 2.08 0.00 0.000 1030 0.000 0.025 2091 1973 3340 3250 3431 0 0 0 0 0 0 28.83 26.60 28.83

2017 -1.35 -170.3 2090 1973 3249 3429 181.6 -9.1 138 2018 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 1973 3339 3249 3429 0 0 0 0 0 0 28.83 28.83 28.83

2318 -1.35 -170.3 2090 1972 3250 3426 208.7 -9.2 153 2324 0.00 2.12 0.00 0.000 516 0.000 0.042 2099 575 3337 3249 3425 0 0 0 0 0 0 28.83 26.57 28.83

2379 -1.35 -170.3 2098 575 3249 3425 212.8 -8.9 155 2387 0.00 2.03 0.00 0.000 1030 0.000 0.015 2091 1985 3337 3249 3425 0 0 0 0 0 0 28.83 26.67 28.83

2686 -1.35 -170.3 2091 1986 3249 3421 240.9 -9.0 171 2687 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 1985 3335 3249 3421 0 0 0 0 0 0 28.83 28.83 28.83

2986 -1.35 -170.3 2091 1986 3249 3417 267.5 -8.8 186 2993 0.00 2.05 0.00 0.000 260 0.000 0.033 2081 3359 3333 3249 3417 0 0 0 0 0 0 28.83 26.60 28.83

3085 -1.35 -170.3 2081 3359 3249 3415 275.6 -9.1 190 3091 0.10 2.08 0.00 0.000 3078 0.159 0.028 2106 1978 3332 3249 3415 0 0 0 0 0 0 26.44 26.61 28.83

3401 -1.35 -170.3 2106 1978 3249 3412 305.5 -8.9 206 3407 0.00 2.17 0.00 0.000 516 0.000 0.044 2116 566 3330 3249 3411 0 0 0 0 0 0 28.83 26.58 28.83

3441 -1.35 -170.3 1304 565 3224 3407 307.7 -8.9 207 3449 0.00 2.05 0.00 0.000 1030 0.000 0.017 2108 1979 3330 3249 3411 0 0 0 0 0 0 28.83 26.67 28.83

3747 -1.35 -170.3 2108 1979 3248 3408 336.7 -9.1 223 3749 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 1979 3328 3248 3408 0 0 0 0 0 0 28.83 28.83 28.83

4049 -1.35 -170.3 2107 1979 3245 3406 363.5 -8.9 238 4055 0.00 2.08 0.00 0.000 260 0.000 0.034 2098 3363 3325 3245 3405 0 0 0 0 0 0 28.83 26.58 28.83

4128 -1.35 -170.3 2098 3363 3243 3405 369.8 -8.8 241 4133 0.00 2.10 0.00 0.000 1030 0.000 0.029 2098 1974 3324 3243 3405 0 0 0 0 0 0 28.83 26.60 28.83

4442 -1.35 -170.3 2098 1974 3242 3402 398.9 -8.9 257 4443 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 1974 3322 3242 3402 0 0 0 0 0 0 28.83 28.83 28.83

4460 end dive: TARGET_DEPTH_EXCEEDED

state 4460 begin apogee

4466 -0.25 0.0 2097 2302 3242 3401 400.7 -8.8 258 4626 0.75 0.00 144.82 1.069 10246 0.115 0.000 2342 2302 2638 2590 2687 0 0 0 0 1 0 26.36 28.83 24.22

4628 end apogee: CONTROL_FINISHED_OK

state 4628 begin climb

4630 1.35 170.3 2342 2302 2591 2686 386.5 0.0 265 4793 1.00 2.33 153.70 0.867 10500 0.057 0.034 2701 3690 1938 1907 1969 0 0 0 0 0 0 25.17 24.92 24.24

5034 1.38 179.5 2700 3690 1904 1947 349.8 8.9 283 5045 0.00 2.15 3.47 0.546 9222 0.000 0.024 2710 2302 1907 1884 1930 0 0 0 0 0 0 28.83 25.98 24.92

5354 1.38 180.2 2710 2302 1883 1933 320.2 9.2 299 5361 0.00 2.20 0.00 0.000 516 0.000 0.043 2721 898 1908 1883 1933 0 0 0 0 0 0 28.83 26.22 28.83

5381 1.39 185.9 2720 898 1883 1933 317.9 9.1 300 5398 0.00 2.10 9.70 0.788 9222 0.000 0.017 2721 2304 1878 1854 1902 0 0 0 0 0 0 28.83 26.32 25.37

5708 1.43 199.2 2721 2304 1853 1896 288.8 8.8 316 5732 0.00 2.20 13.45 0.771 8452 0.000 0.035 2721 3690 1822 1796 1849 0 0 0 0 0 0 28.83 26.14 25.41

5850 1.45 207.5 2720 3690 1796 1845 276.9 9.0 322 5864 0.00 2.15 8.35 0.764 9222 0.000 0.025 2731 2290 1792 1765 1820 0 0 0 0 0 0 28.83 26.25 25.38

6161 1.49 224.1 2730 2290 1762 1813 248.7 8.7 338 6185 0.00 2.28 17.15 0.738 8708 0.000 0.044 2742 897 1722 1692 1752 0 0 0 0 0 0 28.83 26.07 25.41

6219 1.54 244.3 2741 897 1691 1749 244.4 8.5 340 6248 0.00 2.10 19.88 0.727 9222 0.000 0.018 2742 2298 1638 1594 1682 0 0 0 0 0 0 28.83 26.18 25.22

6561 1.57 255.5 2741 2297 1590 1675 213.2 8.9 357 6577 0.00 2.22 10.68 0.705 8452 0.000 0.036 2741 3689 1594 1544 1644 0 0 0 0 0 0 28.83 26.11 25.40

6674 1.58 263.1 2741 3689 1540 1640 203.3 9.0 362 6692 0.00 2.15 7.82 0.695 9222 0.000 0.028 2751 2297 1562 1510 1615 0 0 0 0 0 0 28.83 26.21 25.39

6992 1.61 273.5 2751 2297 1509 1610 175.0 8.9 378 7009 0.00 2.22 11.10 0.664 8708 0.000 0.043 2762 884 1520 1467 1574 0 0 0 0 0 0 28.83 26.15 25.51

7069 1.64 286.1 2762 884 1466 1569 168.9 8.8 381 7088 0.00 2.12 13.07 0.652 9222 0.000 0.018 2762 2302 1469 1417 1521 0 0 0 0 0 0 28.83 26.28 25.39

7407 1.66 291.4 2762 2302 1416 1510 137.6 9.1 398 7419 0.00 2.17 3.78 0.520 8452 0.000 0.037 2762 3685 1450 1402 1499 0 0 0 0 0 0 28.83 26.29 25.32

7459 1.69 305.3 2762 3685 1403 1499 133.4 8.8 400 7483 0.00 2.15 16.95 0.608 9222 0.000 0.028 2772 2290 1390 1348 1433 0 0 0 0 0 0 28.83 26.31 25.48

7802 1.70 308.5 2772 2290 1348 1423 101.3 9.1 417 7803 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2290 1385 1348 1423 0 0 0 0 0 0 28.83 28.83 28.83

8104 1.70 310.5 2772 2289 1348 1421 74.3 9.2 432 8109 0.00 0.00 3.60 0.458 8198 0.000 0.000 2772 2289 1373 1341 1406 0 0 0 0 0 0 28.83 28.83 25.46

8403 1.73 320.4 2772 2289 1340 1407 47.5 8.9 448 8422 0.00 0.00 12.32 0.524 8710 0.000 0.000 2772 2289 1327 1302 1352 0 0 0 0 0 0 28.83 28.83 25.75

8729 1.73 320.4 2772 2289 1301 1347 18.0 9.7 487 8737 0.00 2.17 0.00 0.000 516 0.000 0.042 2782 891 1324 1301 1347 0 0 0 0 0 0 28.83 26.41 28.83

8762 1.75 328.3 2782 891 1301 1347 15.0 9.0 492 8778 0.00 2.08 7.62 0.496 9222 0.000 0.017 2782 2305 1297 1279 1315 0 0 0 0 0 0 28.83 26.52 25.77

8896 end climb: SURFACE_DEPTH_REACHED

state 8896 begin surface coast

8930 end surface coast: CONTROL_FINISHED_OK

state 8930 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	212	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	49	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	56	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	-100761.3	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	270313,150336,2059.399,11959.655,21,1.6,21,-2.9	TGT_NAME	W1
_CALLS	2	TGT_LATLONG	2207.170,12035.130
_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	-62.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270313,151236,2059.524,11959.624,22,1.7,23,-2.9	MHEAD_RNG_PITCHd_Wd	68.8,139305,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3493

FINISH	0.0,1.022182	_10V_AH	10.2,18.847
SM_CCo	9099,0.00,0.000,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.38,0.55,0.00,0.061,0.035,0.000,89,1948,400,-10.53,0.76,549.47,0,0,0,0,0,0,26.44,26.48,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2052.52,12000.44,270313,151539	MEM	324048
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16771,521
HUMID	47.16	CAP_FILE_SIZE	415248,2028
INTERNAL_PRESSURE	9.24363	CFSIZE	260034560,226594816
TCM_TEMP	21.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	1	CURRENT	0.094, 0.3,1
SC_FREEKB	3941760	GPS	270313,174559,2100.340,12000.499,36,0.8,36,-2.9
_24V_AH	24.2,35.564

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	207	85.29	nil	0	0	0.00
Roll_motor	65	56	89.18	nil	0	0	0.00
VBD_pump_during_apogee	457	1069	11839.99	nil	0	0	0.00
VBD_pump_during_surface	139	586	1983.67	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	8937	5	1187.57
Iridium_during_xfer	339	131	1081.37	nil	0	0	0.00
Transponder_ping	0	420	2.54	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	29	7.34
TT8	1987	14	293.15
LPSleep	4828	2	107.85
TT8_Active	709	14	104.70
TT8_Sampling	1683	39	672.65
TT8_CF8	409	46	194.86
TT8_Kalman	0	0	0.00
Analog_circuits	1888	15	298.53
GPS_charging	0	0	0.00
Compass	1370	7	104.70
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	83	1939	335	467	0.0	0.0	0	43	0.00	0.00	-23.20	0.000	16386	0.000	0.000	83	1940	1007	999	1015	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	84	1940	999	1017	3.1	-8.6	3	162	7.78	2.22	-97.88	0.000	18948	0.207	0.057	2114	571	3336	3241	3432	0	0	0	0	0	0	25.78	26.13	26.46
213	-1.35	-170.3	1256	571	3214	3429	18.8	-9.3	27	221	0.00	2.08	0.00	0.000	1030	0.000	0.015	2105	1990	3338	3243	3433	0	0	0	0	0	0	28.83	26.27	28.83
536	-1.35	-170.3	2105	1991	3245	3432	48.0	-9.3	64	542	0.00	2.05	0.00	0.000	260	0.000	0.031	2096	3361	3338	3245	3432	0	0	0	0	0	0	28.83	26.39	28.83
701	-1.35	-170.3	2095	3361	3247	3432	61.4	-8.9	72	709	0.00	2.08	0.00	0.000	1030	0.000	0.025	2099	1978	3339	3247	3432	0	0	0	0	0	0	28.83	26.46	28.83
1007	-1.35	-170.3	2099	1978	3249	3432	90.3	-9.1	88	1009	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	1978	3340	3249	3432	0	0	0	0	0	0	28.83	28.83	28.83
1309	-1.35	-170.3	2099	1978	3250	3432	117.4	-8.9	103	1310	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	1978	3341	3250	3432	0	0	0	0	0	0	28.83	28.83	28.83
1609	-1.35	-170.3	2099	1978	3249	3432	144.3	-9.2	118	1615	0.00	2.10	0.00	0.000	260	0.000	0.030	2091	3367	3340	3250	3431	0	0	0	0	0	0	28.83	26.57	28.83
1712	-1.35	-170.3	2090	3367	3249	3433	152.4	-8.9	122	1720	0.00	2.08	0.00	0.000	1030	0.000	0.025	2091	1973	3340	3250	3431	0	0	0	0	0	0	28.83	26.60	28.83
2017	-1.35	-170.3	2090	1973	3249	3429	181.6	-9.1	138	2018	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	1973	3339	3249	3429	0	0	0	0	0	0	28.83	28.83	28.83
2318	-1.35	-170.3	2090	1972	3250	3426	208.7	-9.2	153	2324	0.00	2.12	0.00	0.000	516	0.000	0.042	2099	575	3337	3249	3425	0	0	0	0	0	0	28.83	26.57	28.83
2379	-1.35	-170.3	2098	575	3249	3425	212.8	-8.9	155	2387	0.00	2.03	0.00	0.000	1030	0.000	0.015	2091	1985	3337	3249	3425	0	0	0	0	0	0	28.83	26.67	28.83
2686	-1.35	-170.3	2091	1986	3249	3421	240.9	-9.0	171	2687	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	1985	3335	3249	3421	0	0	0	0	0	0	28.83	28.83	28.83
2986	-1.35	-170.3	2091	1986	3249	3417	267.5	-8.8	186	2993	0.00	2.05	0.00	0.000	260	0.000	0.033	2081	3359	3333	3249	3417	0	0	0	0	0	0	28.83	26.60	28.83
3085	-1.35	-170.3	2081	3359	3249	3415	275.6	-9.1	190	3091	0.10	2.08	0.00	0.000	3078	0.159	0.028	2106	1978	3332	3249	3415	0	0	0	0	0	0	26.44	26.61	28.83
3401	-1.35	-170.3	2106	1978	3249	3412	305.5	-8.9	206	3407	0.00	2.17	0.00	0.000	516	0.000	0.044	2116	566	3330	3249	3411	0	0	0	0	0	0	28.83	26.58	28.83
3441	-1.35	-170.3	1304	565	3224	3407	307.7	-8.9	207	3449	0.00	2.05	0.00	0.000	1030	0.000	0.017	2108	1979	3330	3249	3411	0	0	0	0	0	0	28.83	26.67	28.83
3747	-1.35	-170.3	2108	1979	3248	3408	336.7	-9.1	223	3749	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	1979	3328	3248	3408	0	0	0	0	0	0	28.83	28.83	28.83
4049	-1.35	-170.3	2107	1979	3245	3406	363.5	-8.9	238	4055	0.00	2.08	0.00	0.000	260	0.000	0.034	2098	3363	3325	3245	3405	0	0	0	0	0	0	28.83	26.58	28.83
4128	-1.35	-170.3	2098	3363	3243	3405	369.8	-8.8	241	4133	0.00	2.10	0.00	0.000	1030	0.000	0.029	2098	1974	3324	3243	3405	0	0	0	0	0	0	28.83	26.60	28.83
4442	-1.35	-170.3	2098	1974	3242	3402	398.9	-8.9	257	4443	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	1974	3322	3242	3402	0	0	0	0	0	0	28.83	28.83	28.83
4460	end dive: TARGET_DEPTH_EXCEEDED
state	4460	begin apogee
4466	-0.25	0.0	2097	2302	3242	3401	400.7	-8.8	258	4626	0.75	0.00	144.82	1.069	10246	0.115	0.000	2342	2302	2638	2590	2687	0	0	0	0	1	0	26.36	28.83	24.22
4628	end apogee: CONTROL_FINISHED_OK
state	4628	begin climb
4630	1.35	170.3	2342	2302	2591	2686	386.5	0.0	265	4793	1.00	2.33	153.70	0.867	10500	0.057	0.034	2701	3690	1938	1907	1969	0	0	0	0	0	0	25.17	24.92	24.24
5034	1.38	179.5	2700	3690	1904	1947	349.8	8.9	283	5045	0.00	2.15	3.47	0.546	9222	0.000	0.024	2710	2302	1907	1884	1930	0	0	0	0	0	0	28.83	25.98	24.92
5354	1.38	180.2	2710	2302	1883	1933	320.2	9.2	299	5361	0.00	2.20	0.00	0.000	516	0.000	0.043	2721	898	1908	1883	1933	0	0	0	0	0	0	28.83	26.22	28.83
5381	1.39	185.9	2720	898	1883	1933	317.9	9.1	300	5398	0.00	2.10	9.70	0.788	9222	0.000	0.017	2721	2304	1878	1854	1902	0	0	0	0	0	0	28.83	26.32	25.37
5708	1.43	199.2	2721	2304	1853	1896	288.8	8.8	316	5732	0.00	2.20	13.45	0.771	8452	0.000	0.035	2721	3690	1822	1796	1849	0	0	0	0	0	0	28.83	26.14	25.41
5850	1.45	207.5	2720	3690	1796	1845	276.9	9.0	322	5864	0.00	2.15	8.35	0.764	9222	0.000	0.025	2731	2290	1792	1765	1820	0	0	0	0	0	0	28.83	26.25	25.38
6161	1.49	224.1	2730	2290	1762	1813	248.7	8.7	338	6185	0.00	2.28	17.15	0.738	8708	0.000	0.044	2742	897	1722	1692	1752	0	0	0	0	0	0	28.83	26.07	25.41
6219	1.54	244.3	2741	897	1691	1749	244.4	8.5	340	6248	0.00	2.10	19.88	0.727	9222	0.000	0.018	2742	2298	1638	1594	1682	0	0	0	0	0	0	28.83	26.18	25.22
6561	1.57	255.5	2741	2297	1590	1675	213.2	8.9	357	6577	0.00	2.22	10.68	0.705	8452	0.000	0.036	2741	3689	1594	1544	1644	0	0	0	0	0	0	28.83	26.11	25.40
6674	1.58	263.1	2741	3689	1540	1640	203.3	9.0	362	6692	0.00	2.15	7.82	0.695	9222	0.000	0.028	2751	2297	1562	1510	1615	0	0	0	0	0	0	28.83	26.21	25.39
6992	1.61	273.5	2751	2297	1509	1610	175.0	8.9	378	7009	0.00	2.22	11.10	0.664	8708	0.000	0.043	2762	884	1520	1467	1574	0	0	0	0	0	0	28.83	26.15	25.51
7069	1.64	286.1	2762	884	1466	1569	168.9	8.8	381	7088	0.00	2.12	13.07	0.652	9222	0.000	0.018	2762	2302	1469	1417	1521	0	0	0	0	0	0	28.83	26.28	25.39
7407	1.66	291.4	2762	2302	1416	1510	137.6	9.1	398	7419	0.00	2.17	3.78	0.520	8452	0.000	0.037	2762	3685	1450	1402	1499	0	0	0	0	0	0	28.83	26.29	25.32
7459	1.69	305.3	2762	3685	1403	1499	133.4	8.8	400	7483	0.00	2.15	16.95	0.608	9222	0.000	0.028	2772	2290	1390	1348	1433	0	0	0	0	0	0	28.83	26.31	25.48
7802	1.70	308.5	2772	2290	1348	1423	101.3	9.1	417	7803	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2290	1385	1348	1423	0	0	0	0	0	0	28.83	28.83	28.83
8104	1.70	310.5	2772	2289	1348	1421	74.3	9.2	432	8109	0.00	0.00	3.60	0.458	8198	0.000	0.000	2772	2289	1373	1341	1406	0	0	0	0	0	0	28.83	28.83	25.46
8403	1.73	320.4	2772	2289	1340	1407	47.5	8.9	448	8422	0.00	0.00	12.32	0.524	8710	0.000	0.000	2772	2289	1327	1302	1352	0	0	0	0	0	0	28.83	28.83	25.75
8729	1.73	320.4	2772	2289	1301	1347	18.0	9.7	487	8737	0.00	2.17	0.00	0.000	516	0.000	0.042	2782	891	1324	1301	1347	0	0	0	0	0	0	28.83	26.41	28.83
8762	1.75	328.3	2782	891	1301	1347	15.0	9.0	492	8778	0.00	2.08	7.62	0.496	9222	0.000	0.017	2782	2305	1297	1279	1315	0	0	0	0	0	0	28.83	26.52	25.77
8896	end climb: SURFACE_DEPTH_REACHED
state	8896	begin surface coast
8930	end surface coast: CONTROL_FINISHED_OK
state	8930	begin surface