Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 221 * 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 221 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 48 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 54 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 -100772.61 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -7 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 -100772.61

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 -7

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 48 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 54 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 221 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 280313,153152,2110.906,12004.882,250,1.0,250,-2.9 TGT_NAME W1

_CALLS 1 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 -63.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280313,153900,2111.020,12004.830,20,0.9,20,-2.9 MHEAD_RNG_PITCHd_Wd 64.1,116260,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3044

Post-dive calculations and measurements:

FINISH 0.0,1.024604 _10V_AH 10.1,19.423

SM_CCo 9089,3.28,0.393,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.65,0.50,3.28,0.075,0.044,0.393,89,1957,400,-10.53,0.90,549.47,0,0,0,0,0,0,26.27,26.29,24.64 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2101.76,12005.90,280313,121245 MEM 324376

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16780,515

HUMID 49.01 CAP_FILE_SIZE 397168,2025

INTERNAL_PRESSURE 9.1655 CFSIZE 260034560,225574912

TCM_TEMP 19.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 1 CURRENT 0.159,314.2,1

SC_FREEKB 3938432 GPS 280313,181327,2111.964,12005.069,105,1.7,107,-2.9

_24V_AH 24.3,36.968

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 211 89.92 nil 0 0 0.00

Roll_motor 91 57 126.87 nil 0 0 0.00

VBD_pump_during_apogee 491 880 10520.13 nil 0 0 0.00

VBD_pump_during_surface 173 694 2936.15 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 8891 5 1195.84

Iridium_during_xfer 237 130 749.92 nil 0 0 0.00

Transponder_ping 0 420 2.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 29 6.29

TT8 1999 14 291.98

LPSleep 4725 2 104.53

TT8_Active 796 14 116.32

TT8_Sampling 1581 39 625.93

TT8_CF8 396 46 186.80

TT8_Kalman 0 0 0.00

Analog_circuits 1910 15 299.13

GPS_charging 0 0 0.00

Compass 1351 7 102.22

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -1.35 -170.3 86 1946 335 465 0.0 0.0 0 44 0.00 0.00 -23.38 0.000 16386 0.000 0.000 86 1946 1007 999 1015 0 0 0 0 0 0 28.83 28.83 28.83

47 -1.35 -170.3 86 1946 999 1017 3.3 -9.3 3 154 7.85 2.22 -93.10 0.000 18948 0.211 0.057 2110 578 3335 3243 3428 0 0 0 0 0 0 25.77 26.13 26.47

207 -1.35 -170.3 1248 578 3220 3424 18.1 -9.7 26 215 0.00 2.08 0.00 0.000 1030 0.000 0.015 2101 2000 3338 3248 3428 0 0 0 0 0 0 28.83 26.27 28.83

525 -1.35 -170.3 2101 2001 3250 3428 46.7 -8.9 63 531 0.00 2.03 0.00 0.000 260 0.000 0.031 2091 3359 3338 3250 3427 0 0 0 0 0 0 28.83 26.37 28.83

704 -1.35 -170.3 2091 3358 3252 3428 62.1 -9.1 73 711 0.00 2.08 0.00 0.000 1030 0.000 0.027 2093 1980 3340 3253 3428 0 0 0 0 0 0 28.83 26.44 28.83

1020 -1.35 -170.3 2093 1979 3254 3428 91.4 -9.0 89 1026 0.00 2.08 0.00 0.000 260 0.000 0.029 2085 3354 3340 3253 3428 0 0 0 0 0 0 28.83 26.49 28.83

1123 -1.35 -170.3 2084 3354 3254 3428 99.4 -8.9 93 1132 0.00 2.08 0.00 0.000 1030 0.000 0.025 2087 1968 3341 3254 3428 0 0 0 0 0 0 28.83 26.53 28.83

1430 -1.35 -170.3 2087 1967 3254 3428 128.6 -9.0 109 1437 0.00 2.10 0.00 0.000 260 0.000 0.030 2077 3355 3340 3253 3428 0 0 0 0 0 0 28.83 26.54 28.83

1549 -1.35 -170.3 2078 3355 3254 3427 138.5 -9.1 114 1555 0.10 2.08 0.00 0.000 3078 0.166 0.025 2104 1967 3340 3253 3427 0 0 0 0 0 0 26.37 26.56 28.83

1864 -1.35 -170.3 2104 1967 3253 3427 167.9 -9.0 130 1865 0.00 0.00 0.00 0.000 6 0.000 0.000 2104 1967 3340 3253 3427 0 0 0 0 0 0 28.83 28.83 28.83

2167 -1.35 -170.3 2104 1967 3253 3423 195.0 -8.7 145 2172 0.00 2.12 0.00 0.000 260 0.000 0.031 2096 3364 3338 3253 3423 0 0 0 0 0 0 28.83 26.57 28.83

2207 -1.35 -170.3 2096 3364 3253 3423 197.5 -8.9 146 2215 0.00 2.10 0.00 0.000 1030 0.000 0.027 2104 1970 3338 3253 3423 0 0 0 0 0 0 28.83 26.59 28.83

2513 -1.35 -170.3 2103 1969 3253 3421 226.1 -9.0 162 2519 0.00 2.15 0.00 0.000 516 0.000 0.044 2114 566 3337 3253 3421 0 0 0 0 0 0 28.83 26.55 28.83

2593 -1.35 -170.3 2113 566 3253 3421 232.3 -8.9 165 2599 0.00 2.03 0.00 0.000 1030 0.000 0.016 2105 1972 3336 3253 3420 0 0 0 0 0 0 28.83 26.65 28.83

2908 -1.35 -170.3 2104 1972 3253 3416 261.5 -9.2 181 2914 0.00 2.08 0.00 0.000 260 0.000 0.033 2095 3363 3334 3253 3416 0 0 0 0 0 0 28.83 26.57 28.83

2939 -1.35 -170.3 2094 3363 3253 3415 263.9 -9.1 182 2945 0.00 2.10 0.00 0.000 1030 0.000 0.028 2095 1974 3334 3253 3415 0 0 0 0 0 0 28.83 26.59 28.83

3258 -1.35 -170.3 2095 1972 3252 3413 293.3 -9.0 198 3260 0.00 0.00 0.00 0.000 6 0.000 0.000 2095 1972 3332 3252 3413 0 0 0 0 0 0 28.83 28.83 28.83

3562 -1.35 -170.3 2094 1972 3252 3410 319.9 -8.8 213 3567 0.00 2.17 0.00 0.000 516 0.000 0.046 2105 567 3331 3252 3410 0 0 0 0 0 0 28.83 26.54 28.83

3601 -1.35 -170.3 2104 567 3252 3410 322.4 -8.9 214 3609 0.00 2.05 0.00 0.000 1030 0.000 0.017 2096 1977 3330 3252 3409 0 0 0 0 0 0 28.83 26.65 28.83

3908 -1.35 -170.3 2096 1978 3249 3408 351.4 -9.2 230 3914 0.00 2.08 0.00 0.000 260 0.000 0.034 2086 3362 3328 3249 3408 0 0 0 0 0 0 28.83 26.56 28.83

3937 -1.35 -170.3 2086 3362 3248 3408 353.8 -9.3 231 3944 0.00 2.12 0.00 0.000 1030 0.000 0.030 2086 1968 3328 3248 3408 0 0 0 0 0 0 28.83 26.58 28.83

4258 -1.35 -170.3 2086 1968 3247 3405 383.0 -9.1 247 4265 0.00 2.17 0.00 0.000 516 0.000 0.047 2094 565 3326 3247 3405 0 0 0 0 0 0 28.83 26.52 28.83

4288 -1.35 -170.3 2094 565 3246 3405 385.3 -9.1 248 4294 0.00 2.05 0.00 0.000 1030 0.000 0.018 2085 1974 3325 3246 3405 0 0 0 0 0 0 28.83 26.65 28.83

4446 end dive: TARGET_DEPTH_EXCEEDED

state 4446 begin apogee

4452 -0.25 0.0 2083 2304 3245 3404 400.3 -9.1 256 4612 0.80 0.00 153.57 0.881 10246 0.116 0.000 2345 2305 2633 2585 2682 0 0 0 0 0 0 26.32 28.83 24.47

4614 end apogee: CONTROL_FINISHED_OK

state 4614 begin climb

4616 1.35 170.3 2344 2305 2580 2677 386.0 0.0 263 4789 1.00 2.33 162.30 0.828 10500 0.057 0.034 2702 3694 1937 1905 1969 0 0 0 0 0 0 25.22 24.95 24.29

5020 1.37 175.4 2701 3694 1902 1946 349.4 9.1 281 5026 0.00 2.17 0.00 0.000 1030 0.000 0.025 2712 2292 1924 1902 1946 0 0 0 0 0 0 28.83 25.95 28.83

5340 1.38 179.7 2711 2292 1901 1942 319.8 9.1 297 5348 0.00 2.25 2.08 0.134 8452 0.000 0.033 2712 3691 1905 1882 1929 0 0 0 0 0 0 28.83 26.24 24.69

5377 1.39 184.4 2711 3691 1882 1930 317.3 9.1 298 5396 0.00 2.15 10.00 0.828 9222 0.000 0.026 2721 2289 1882 1859 1906 0 0 0 0 0 0 28.83 26.27 25.34

5717 1.43 200.7 2721 2289 1857 1900 286.0 8.7 315 5740 0.00 2.28 17.15 0.799 8708 0.000 0.044 2732 898 1814 1788 1840 0 0 0 0 0 0 28.83 26.05 25.36

5777 1.44 205.7 2732 898 1783 1835 281.4 9.1 317 5785 0.00 2.10 0.00 0.000 1030 0.000 0.018 2732 2297 1808 1783 1834 0 0 0 0 0 0 28.83 26.16 28.83

6084 1.44 205.7 2732 2297 1783 1830 252.0 9.5 333 6090 0.00 2.12 0.00 0.000 260 0.000 0.036 2732 3688 1806 1783 1830 0 0 0 0 0 0 28.83 26.30 28.83

6131 1.44 206.8 2732 3688 1783 1830 247.9 9.2 335 6139 0.12 2.12 1.35 0.064 13318 0.192 0.027 2713 2299 1795 1769 1821 0 0 0 0 0 0 26.07 26.34 26.17

6461 1.44 206.8 2713 2299 1769 1825 218.2 9.3 351 6466 0.00 2.20 0.00 0.000 516 0.000 0.045 2723 891 1797 1770 1825 0 0 0 0 0 0 28.83 26.36 28.83

6487 1.46 213.9 2723 892 1769 1824 215.7 9.0 352 6510 0.00 2.10 11.62 0.744 9222 0.000 0.018 2724 2307 1759 1729 1789 0 0 0 0 0 0 28.83 26.48 25.56

6805 1.49 224.3 2723 2306 1729 1786 186.9 8.9 368 6822 0.00 2.25 10.40 0.718 8708 0.000 0.043 2734 898 1721 1689 1753 0 0 0 0 0 0 28.83 26.23 25.56

6851 1.52 237.0 2733 898 1688 1751 182.8 8.8 370 6874 0.00 2.12 13.57 0.719 9222 0.000 0.018 2735 2311 1667 1632 1703 0 0 0 0 0 0 28.83 26.32 25.42

7171 1.54 246.2 2733 2311 1631 1696 154.0 8.9 386 7187 0.00 2.33 8.55 0.706 8708 0.000 0.044 2744 892 1633 1591 1676 0 0 0 0 0 0 28.83 26.17 25.47

7209 1.58 261.8 2743 892 1588 1674 151.9 8.7 387 7233 0.00 2.12 16.85 0.685 9222 0.000 0.018 2744 2306 1567 1517 1618 0 0 0 0 0 0 28.83 26.26 25.34

7543 1.63 281.6 2743 2306 1514 1610 121.0 8.5 404 7571 0.00 2.35 20.20 0.648 8708 0.000 0.044 2754 892 1486 1436 1537 0 0 0 0 0 0 28.83 26.01 25.39

7607 1.66 294.5 2754 892 1435 1534 116.6 8.8 406 7625 0.00 2.12 13.70 0.648 9222 0.000 0.018 2753 2300 1439 1390 1488 0 0 0 0 0 0 28.83 26.13 25.29

7942 1.69 304.1 2753 2300 1385 1471 85.3 8.9 423 7957 0.00 2.17 9.60 0.623 8452 0.000 0.036 2754 3703 1394 1353 1435 0 0 0 0 0 0 28.83 26.14 25.46

8001 1.71 313.2 1792 3702 1331 1426 81.0 8.9 425 8016 0.00 2.17 9.62 0.619 9222 0.000 0.029 2763 2302 1362 1329 1395 0 0 0 0 0 0 28.83 26.18 25.41

8337 1.73 320.1 2763 2302 1326 1382 49.4 9.0 442 8351 0.00 2.22 5.07 0.581 8708 0.000 0.046 2774 894 1333 1308 1359 0 0 0 0 0 0 28.83 26.23 25.46

8377 1.75 328.1 2774 894 1310 1360 45.5 9.0 445 8396 0.00 2.10 11.35 0.584 9222 0.000 0.018 2774 2302 1296 1276 1317 0 0 0 0 0 0 28.83 26.32 25.50

8709 1.75 328.1 2774 2303 1275 1310 15.6 9.3 486 8717 0.00 2.15 0.00 0.000 260 0.000 0.037 2774 3699 1292 1275 1310 0 0 0 0 0 0 28.83 26.32 28.83

8785 1.78 342.9 1728 3698 1255 1306 8.6 8.7 499 8809 0.00 2.15 14.68 0.531 9222 0.000 0.029 2784 2296 1235 1224 1246 0 0 0 0 0 0 28.83 26.36 25.60

8848 end climb: SURFACE_DEPTH_REACHED

state 8848 begin surface coast

8884 end surface coast: CONTROL_FINISHED_OK

state 8884 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	221	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	48	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	54	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	-100772.61	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-7	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	280313,153152,2110.906,12004.882,250,1.0,250,-2.9	TGT_NAME	W1
_CALLS	1	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	-63.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280313,153900,2111.020,12004.830,20,0.9,20,-2.9	MHEAD_RNG_PITCHd_Wd	64.1,116260,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3044

FINISH	0.0,1.024604	_10V_AH	10.1,19.423
SM_CCo	9089,3.28,0.393,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.65,0.50,3.28,0.075,0.044,0.393,89,1957,400,-10.53,0.90,549.47,0,0,0,0,0,0,26.27,26.29,24.64	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2101.76,12005.90,280313,121245	MEM	324376
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16780,515
HUMID	49.01	CAP_FILE_SIZE	397168,2025
INTERNAL_PRESSURE	9.1655	CFSIZE	260034560,225574912
TCM_TEMP	19.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	1	CURRENT	0.159,314.2,1
SC_FREEKB	3938432	GPS	280313,181327,2111.964,12005.069,105,1.7,107,-2.9
_24V_AH	24.3,36.968

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	211	89.92	nil	0	0	0.00
Roll_motor	91	57	126.87	nil	0	0	0.00
VBD_pump_during_apogee	491	880	10520.13	nil	0	0	0.00
VBD_pump_during_surface	173	694	2936.15	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	8891	5	1195.84
Iridium_during_xfer	237	130	749.92	nil	0	0	0.00
Transponder_ping	0	420	2.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	29	6.29
TT8	1999	14	291.98
LPSleep	4725	2	104.53
TT8_Active	796	14	116.32
TT8_Sampling	1581	39	625.93
TT8_CF8	396	46	186.80
TT8_Kalman	0	0	0.00
Analog_circuits	1910	15	299.13
GPS_charging	0	0	0.00
Compass	1351	7	102.22
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-1.35	-170.3	86	1946	335	465	0.0	0.0	0	44	0.00	0.00	-23.38	0.000	16386	0.000	0.000	86	1946	1007	999	1015	0	0	0	0	0	0	28.83	28.83	28.83
47	-1.35	-170.3	86	1946	999	1017	3.3	-9.3	3	154	7.85	2.22	-93.10	0.000	18948	0.211	0.057	2110	578	3335	3243	3428	0	0	0	0	0	0	25.77	26.13	26.47
207	-1.35	-170.3	1248	578	3220	3424	18.1	-9.7	26	215	0.00	2.08	0.00	0.000	1030	0.000	0.015	2101	2000	3338	3248	3428	0	0	0	0	0	0	28.83	26.27	28.83
525	-1.35	-170.3	2101	2001	3250	3428	46.7	-8.9	63	531	0.00	2.03	0.00	0.000	260	0.000	0.031	2091	3359	3338	3250	3427	0	0	0	0	0	0	28.83	26.37	28.83
704	-1.35	-170.3	2091	3358	3252	3428	62.1	-9.1	73	711	0.00	2.08	0.00	0.000	1030	0.000	0.027	2093	1980	3340	3253	3428	0	0	0	0	0	0	28.83	26.44	28.83
1020	-1.35	-170.3	2093	1979	3254	3428	91.4	-9.0	89	1026	0.00	2.08	0.00	0.000	260	0.000	0.029	2085	3354	3340	3253	3428	0	0	0	0	0	0	28.83	26.49	28.83
1123	-1.35	-170.3	2084	3354	3254	3428	99.4	-8.9	93	1132	0.00	2.08	0.00	0.000	1030	0.000	0.025	2087	1968	3341	3254	3428	0	0	0	0	0	0	28.83	26.53	28.83
1430	-1.35	-170.3	2087	1967	3254	3428	128.6	-9.0	109	1437	0.00	2.10	0.00	0.000	260	0.000	0.030	2077	3355	3340	3253	3428	0	0	0	0	0	0	28.83	26.54	28.83
1549	-1.35	-170.3	2078	3355	3254	3427	138.5	-9.1	114	1555	0.10	2.08	0.00	0.000	3078	0.166	0.025	2104	1967	3340	3253	3427	0	0	0	0	0	0	26.37	26.56	28.83
1864	-1.35	-170.3	2104	1967	3253	3427	167.9	-9.0	130	1865	0.00	0.00	0.00	0.000	6	0.000	0.000	2104	1967	3340	3253	3427	0	0	0	0	0	0	28.83	28.83	28.83
2167	-1.35	-170.3	2104	1967	3253	3423	195.0	-8.7	145	2172	0.00	2.12	0.00	0.000	260	0.000	0.031	2096	3364	3338	3253	3423	0	0	0	0	0	0	28.83	26.57	28.83
2207	-1.35	-170.3	2096	3364	3253	3423	197.5	-8.9	146	2215	0.00	2.10	0.00	0.000	1030	0.000	0.027	2104	1970	3338	3253	3423	0	0	0	0	0	0	28.83	26.59	28.83
2513	-1.35	-170.3	2103	1969	3253	3421	226.1	-9.0	162	2519	0.00	2.15	0.00	0.000	516	0.000	0.044	2114	566	3337	3253	3421	0	0	0	0	0	0	28.83	26.55	28.83
2593	-1.35	-170.3	2113	566	3253	3421	232.3	-8.9	165	2599	0.00	2.03	0.00	0.000	1030	0.000	0.016	2105	1972	3336	3253	3420	0	0	0	0	0	0	28.83	26.65	28.83
2908	-1.35	-170.3	2104	1972	3253	3416	261.5	-9.2	181	2914	0.00	2.08	0.00	0.000	260	0.000	0.033	2095	3363	3334	3253	3416	0	0	0	0	0	0	28.83	26.57	28.83
2939	-1.35	-170.3	2094	3363	3253	3415	263.9	-9.1	182	2945	0.00	2.10	0.00	0.000	1030	0.000	0.028	2095	1974	3334	3253	3415	0	0	0	0	0	0	28.83	26.59	28.83
3258	-1.35	-170.3	2095	1972	3252	3413	293.3	-9.0	198	3260	0.00	0.00	0.00	0.000	6	0.000	0.000	2095	1972	3332	3252	3413	0	0	0	0	0	0	28.83	28.83	28.83
3562	-1.35	-170.3	2094	1972	3252	3410	319.9	-8.8	213	3567	0.00	2.17	0.00	0.000	516	0.000	0.046	2105	567	3331	3252	3410	0	0	0	0	0	0	28.83	26.54	28.83
3601	-1.35	-170.3	2104	567	3252	3410	322.4	-8.9	214	3609	0.00	2.05	0.00	0.000	1030	0.000	0.017	2096	1977	3330	3252	3409	0	0	0	0	0	0	28.83	26.65	28.83
3908	-1.35	-170.3	2096	1978	3249	3408	351.4	-9.2	230	3914	0.00	2.08	0.00	0.000	260	0.000	0.034	2086	3362	3328	3249	3408	0	0	0	0	0	0	28.83	26.56	28.83
3937	-1.35	-170.3	2086	3362	3248	3408	353.8	-9.3	231	3944	0.00	2.12	0.00	0.000	1030	0.000	0.030	2086	1968	3328	3248	3408	0	0	0	0	0	0	28.83	26.58	28.83
4258	-1.35	-170.3	2086	1968	3247	3405	383.0	-9.1	247	4265	0.00	2.17	0.00	0.000	516	0.000	0.047	2094	565	3326	3247	3405	0	0	0	0	0	0	28.83	26.52	28.83
4288	-1.35	-170.3	2094	565	3246	3405	385.3	-9.1	248	4294	0.00	2.05	0.00	0.000	1030	0.000	0.018	2085	1974	3325	3246	3405	0	0	0	0	0	0	28.83	26.65	28.83
4446	end dive: TARGET_DEPTH_EXCEEDED
state	4446	begin apogee
4452	-0.25	0.0	2083	2304	3245	3404	400.3	-9.1	256	4612	0.80	0.00	153.57	0.881	10246	0.116	0.000	2345	2305	2633	2585	2682	0	0	0	0	0	0	26.32	28.83	24.47
4614	end apogee: CONTROL_FINISHED_OK
state	4614	begin climb
4616	1.35	170.3	2344	2305	2580	2677	386.0	0.0	263	4789	1.00	2.33	162.30	0.828	10500	0.057	0.034	2702	3694	1937	1905	1969	0	0	0	0	0	0	25.22	24.95	24.29
5020	1.37	175.4	2701	3694	1902	1946	349.4	9.1	281	5026	0.00	2.17	0.00	0.000	1030	0.000	0.025	2712	2292	1924	1902	1946	0	0	0	0	0	0	28.83	25.95	28.83
5340	1.38	179.7	2711	2292	1901	1942	319.8	9.1	297	5348	0.00	2.25	2.08	0.134	8452	0.000	0.033	2712	3691	1905	1882	1929	0	0	0	0	0	0	28.83	26.24	24.69
5377	1.39	184.4	2711	3691	1882	1930	317.3	9.1	298	5396	0.00	2.15	10.00	0.828	9222	0.000	0.026	2721	2289	1882	1859	1906	0	0	0	0	0	0	28.83	26.27	25.34
5717	1.43	200.7	2721	2289	1857	1900	286.0	8.7	315	5740	0.00	2.28	17.15	0.799	8708	0.000	0.044	2732	898	1814	1788	1840	0	0	0	0	0	0	28.83	26.05	25.36
5777	1.44	205.7	2732	898	1783	1835	281.4	9.1	317	5785	0.00	2.10	0.00	0.000	1030	0.000	0.018	2732	2297	1808	1783	1834	0	0	0	0	0	0	28.83	26.16	28.83
6084	1.44	205.7	2732	2297	1783	1830	252.0	9.5	333	6090	0.00	2.12	0.00	0.000	260	0.000	0.036	2732	3688	1806	1783	1830	0	0	0	0	0	0	28.83	26.30	28.83
6131	1.44	206.8	2732	3688	1783	1830	247.9	9.2	335	6139	0.12	2.12	1.35	0.064	13318	0.192	0.027	2713	2299	1795	1769	1821	0	0	0	0	0	0	26.07	26.34	26.17
6461	1.44	206.8	2713	2299	1769	1825	218.2	9.3	351	6466	0.00	2.20	0.00	0.000	516	0.000	0.045	2723	891	1797	1770	1825	0	0	0	0	0	0	28.83	26.36	28.83
6487	1.46	213.9	2723	892	1769	1824	215.7	9.0	352	6510	0.00	2.10	11.62	0.744	9222	0.000	0.018	2724	2307	1759	1729	1789	0	0	0	0	0	0	28.83	26.48	25.56
6805	1.49	224.3	2723	2306	1729	1786	186.9	8.9	368	6822	0.00	2.25	10.40	0.718	8708	0.000	0.043	2734	898	1721	1689	1753	0	0	0	0	0	0	28.83	26.23	25.56
6851	1.52	237.0	2733	898	1688	1751	182.8	8.8	370	6874	0.00	2.12	13.57	0.719	9222	0.000	0.018	2735	2311	1667	1632	1703	0	0	0	0	0	0	28.83	26.32	25.42
7171	1.54	246.2	2733	2311	1631	1696	154.0	8.9	386	7187	0.00	2.33	8.55	0.706	8708	0.000	0.044	2744	892	1633	1591	1676	0	0	0	0	0	0	28.83	26.17	25.47
7209	1.58	261.8	2743	892	1588	1674	151.9	8.7	387	7233	0.00	2.12	16.85	0.685	9222	0.000	0.018	2744	2306	1567	1517	1618	0	0	0	0	0	0	28.83	26.26	25.34
7543	1.63	281.6	2743	2306	1514	1610	121.0	8.5	404	7571	0.00	2.35	20.20	0.648	8708	0.000	0.044	2754	892	1486	1436	1537	0	0	0	0	0	0	28.83	26.01	25.39
7607	1.66	294.5	2754	892	1435	1534	116.6	8.8	406	7625	0.00	2.12	13.70	0.648	9222	0.000	0.018	2753	2300	1439	1390	1488	0	0	0	0	0	0	28.83	26.13	25.29
7942	1.69	304.1	2753	2300	1385	1471	85.3	8.9	423	7957	0.00	2.17	9.60	0.623	8452	0.000	0.036	2754	3703	1394	1353	1435	0	0	0	0	0	0	28.83	26.14	25.46
8001	1.71	313.2	1792	3702	1331	1426	81.0	8.9	425	8016	0.00	2.17	9.62	0.619	9222	0.000	0.029	2763	2302	1362	1329	1395	0	0	0	0	0	0	28.83	26.18	25.41
8337	1.73	320.1	2763	2302	1326	1382	49.4	9.0	442	8351	0.00	2.22	5.07	0.581	8708	0.000	0.046	2774	894	1333	1308	1359	0	0	0	0	0	0	28.83	26.23	25.46
8377	1.75	328.1	2774	894	1310	1360	45.5	9.0	445	8396	0.00	2.10	11.35	0.584	9222	0.000	0.018	2774	2302	1296	1276	1317	0	0	0	0	0	0	28.83	26.32	25.50
8709	1.75	328.1	2774	2303	1275	1310	15.6	9.3	486	8717	0.00	2.15	0.00	0.000	260	0.000	0.037	2774	3699	1292	1275	1310	0	0	0	0	0	0	28.83	26.32	28.83
8785	1.78	342.9	1728	3698	1255	1306	8.6	8.7	499	8809	0.00	2.15	14.68	0.531	9222	0.000	0.029	2784	2296	1235	1224	1246	0	0	0	0	0	0	28.83	26.36	25.60
8848	end climb: SURFACE_DEPTH_REACHED
state	8848	begin surface coast
8884	end surface coast: CONTROL_FINISHED_OK
state	8884	begin surface