Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 225 * 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 225 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 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 -100777.73 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 -100777.73

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 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 225 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 290313,021817,2116.119,12007.331,20,1.0,20,-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 -65.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290313,022553,2116.123,12007.374,21,0.8,21,-2.9 MHEAD_RNG_PITCHd_Wd 57.1,105855,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 2706

Post-dive calculations and measurements:

FINISH 0.0,1.024633 _10V_AH 10.1,19.675

SM_CCo 9142,0.57,0.116,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.55,0.52,0.57,0.070,0.034,0.116,82,1959,401,-10.57,1.10,549.47,0,0,0,0,0,0,26.34,26.38,25.12 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2108.69,12012.22,280313,232303 MEM 324444

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16750,520

HUMID 47.95 CAP_FILE_SIZE 382760,1996

INTERNAL_PRESSURE 9.18503 CFSIZE 260034560,225132544

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 0 CURRENT 0.251,321.2,1

SC_FREEKB 3936896 GPS 290313,050028,2117.610,12007.293,66,0.9,66,-2.9

_24V_AH 24.3,37.551

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 208 86.72 nil 0 0 0.00

Roll_motor 56 45 62.66 nil 0 0 0.00

VBD_pump_during_apogee 408 902 8967.83 nil 0 0 0.00

VBD_pump_during_surface 218 691 3668.51 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 8910 5 1183.24

Iridium_during_xfer 261 134 854.42 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 29 6.78

TT8 1978 14 288.94

LPSleep 4911 2 108.64

TT8_Active 732 14 106.98

TT8_Sampling 1560 39 617.52

TT8_CF8 392 46 185.12

TT8_Kalman 0 0 0.00

Analog_circuits 1833 15 287.05

GPS_charging 0 0 0.00

Compass 1326 7 100.37

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

18 -1.35 -170.3 87 1953 341 460 0.0 0.0 0 44 0.00 0.00 -23.95 0.000 16386 0.000 0.000 86 1952 1024 1017 1031 0 0 0 0 0 0 28.83 28.83 28.83

47 -1.35 -170.3 87 1952 1017 1034 3.1 -9.1 3 163 7.80 2.17 -97.28 0.000 18692 0.208 0.041 2093 3380 3336 3242 3431 0 0 0 0 0 0 25.80 26.17 26.50

259 -1.35 -170.3 1248 3378 3216 3427 22.2 -9.0 35 267 0.00 2.12 0.00 0.000 1030 0.000 0.025 2100 1976 3337 3244 3431 0 0 0 0 0 0 28.83 26.27 28.83

574 -1.35 -170.3 2100 1976 3248 3430 50.3 -8.9 68 575 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 1975 3339 3248 3430 0 0 0 0 0 0 28.83 28.83 28.83

874 -1.35 -170.3 2101 1976 3252 3430 77.1 -8.9 83 875 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 1975 3341 3252 3430 0 0 0 0 0 0 28.83 28.83 28.83

1176 -1.35 -170.3 2100 1976 3252 3430 104.1 -9.0 98 1182 0.00 2.15 0.00 0.000 516 0.000 0.041 2110 564 3341 3252 3430 0 0 0 0 0 0 28.83 26.52 28.83

1269 -1.35 -170.3 2110 564 3252 3430 112.4 -9.0 102 1275 0.00 2.05 0.00 0.000 1030 0.000 0.015 2102 1998 3341 3252 3430 0 0 0 0 0 0 28.83 26.63 28.83

1589 -1.35 -170.3 2102 1999 3252 3430 141.8 -8.9 118 1596 0.00 2.00 0.00 0.000 260 0.000 0.031 2092 3354 3340 3252 3429 0 0 0 0 0 0 28.83 26.57 28.83

1702 -1.35 -170.3 2092 3354 3252 3427 151.3 -8.9 123 1708 0.00 2.08 0.00 0.000 1030 0.000 0.025 2092 1963 3339 3252 3427 0 0 0 0 0 0 28.83 26.60 28.83

2022 -1.35 -170.3 2092 1963 3252 3426 180.7 -9.2 139 2028 0.00 2.12 0.00 0.000 516 0.000 0.042 2102 573 3338 3252 3425 0 0 0 0 0 0 28.83 26.55 28.83

2101 -1.35 -170.3 2102 572 3252 3425 186.8 -9.0 142 2107 0.00 2.03 0.00 0.000 1030 0.000 0.016 2094 1984 3338 3252 3425 0 0 0 0 0 0 28.83 26.66 28.83

2415 -1.35 -170.3 2094 1985 3252 3421 216.3 -8.9 158 2417 0.00 0.00 0.00 0.000 6 0.000 0.000 2094 1985 3337 3252 3422 0 0 0 0 0 0 28.83 28.83 28.83

2717 -1.35 -170.3 2094 1985 3251 3418 243.6 -9.2 173 2718 0.00 0.00 0.00 0.000 6 0.000 0.000 2094 1985 3335 3252 3418 0 0 0 0 0 0 28.83 28.83 28.83

3018 -1.35 -170.3 2093 1985 3252 3413 270.9 -9.2 188 3019 0.00 0.00 0.00 0.000 6 0.000 0.000 2094 1985 3332 3252 3413 0 0 0 0 0 0 28.83 28.83 28.83

3317 -1.35 -170.3 2093 1985 3250 3410 297.8 -8.6 203 3323 0.00 2.05 0.00 0.000 260 0.000 0.032 2084 3357 3329 3250 3409 0 0 0 0 0 0 28.83 26.58 28.83

3385 -1.35 -170.3 2083 3357 3249 3409 303.9 -8.8 206 3391 0.00 2.08 0.00 0.000 1030 0.000 0.029 2085 1979 3328 3249 3408 0 0 0 0 0 0 28.83 26.60 28.83

3710 -1.35 -170.3 2085 1979 3248 3406 333.6 -9.0 222 3711 0.00 0.00 0.00 0.000 6 0.000 0.000 2085 1979 3327 3248 3406 0 0 0 0 0 0 28.83 28.83 28.83

4012 -1.35 -170.3 2085 1979 3244 3404 360.7 -9.0 237 4013 0.00 0.00 0.00 0.000 6 0.000 0.000 2085 1979 3324 3244 3404 0 0 0 0 0 0 28.83 28.83 28.83

4311 -1.35 -170.3 2085 1979 3244 3402 387.8 -9.1 252 4318 0.00 2.17 0.00 0.000 516 0.000 0.046 2095 572 3321 3242 3401 0 0 0 0 0 0 28.83 26.53 28.83

4342 -1.35 -170.3 2096 572 3242 3401 390.1 -8.9 253 4348 0.00 2.03 0.00 0.000 1030 0.000 0.017 2086 1970 3321 3242 3401 0 0 0 0 0 0 28.83 26.66 28.83

4439 end dive: TARGET_DEPTH_EXCEEDED

state 4440 begin apogee

4445 -0.25 0.0 2084 2306 3241 3400 400.0 -9.3 258 4597 0.80 0.00 145.65 0.903 10246 0.118 0.000 2344 2306 2635 2587 2683 0 0 0 0 0 0 26.32 28.83 24.45

4598 end apogee: CONTROL_FINISHED_OK

state 4599 begin climb

4601 1.35 170.3 2343 2306 2584 2679 387.8 0.0 264 4760 1.00 2.22 149.35 0.895 10500 0.057 0.033 2701 3681 1937 1907 1967 0 0 0 0 0 0 25.24 24.96 24.25

5002 1.38 179.8 2701 3681 1904 1946 351.0 8.9 282 5011 0.00 2.12 2.97 0.457 9222 0.000 0.024 2711 2305 1906 1883 1929 0 0 0 0 0 0 28.83 26.00 24.87

5308 1.40 187.8 2711 2305 1883 1935 322.2 9.0 298 5328 0.00 0.00 12.50 0.813 8198 0.000 0.000 2711 2305 1867 1843 1892 0 0 0 0 0 0 28.83 28.83 25.32

5628 1.40 189.7 2711 2305 1842 1886 293.9 9.2 314 5634 0.00 2.15 0.00 0.000 260 0.000 0.034 2711 3691 1864 1842 1886 0 0 0 0 0 0 28.83 26.29 28.83

5663 1.41 192.1 2711 3691 1842 1886 291.6 9.2 315 5669 0.00 2.12 0.00 0.000 1030 0.000 0.025 2721 2299 1864 1843 1886 0 0 0 0 0 0 28.83 26.33 28.83

5978 1.41 192.1 2721 2299 1842 1885 261.8 9.4 331 5979 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2299 1863 1842 1884 0 0 0 0 0 0 28.83 28.83 28.83

6279 1.43 202.9 2721 2298 1842 1882 235.2 8.9 346 6302 0.00 2.17 14.02 0.734 8452 0.000 0.034 2721 3684 1807 1781 1833 0 0 0 0 0 0 28.83 26.29 25.58

6394 1.45 209.3 2721 3684 1780 1830 225.0 9.0 351 6406 0.00 2.12 5.03 0.692 9222 0.000 0.026 2731 2294 1785 1758 1813 0 0 0 0 0 0 28.83 26.33 25.37

6715 1.46 214.2 2731 2294 1758 1813 195.3 9.1 367 6724 0.00 0.00 6.90 0.708 8198 0.000 0.000 2731 2294 1766 1738 1794 0 0 0 0 0 0 28.83 28.83 25.55

7016 1.49 225.3 2730 2293 1735 1788 168.3 8.9 382 7033 0.00 2.28 12.07 0.684 8708 0.000 0.044 2742 893 1716 1685 1748 0 0 0 0 0 0 28.83 26.25 25.57

7128 1.51 231.3 2742 893 1684 1744 158.5 9.0 387 7140 0.00 2.10 4.65 0.634 9222 0.000 0.018 2742 2302 1696 1665 1728 0 0 0 0 0 0 28.83 26.37 25.29

7448 1.53 240.1 2742 2302 1665 1728 129.7 8.9 403 7465 0.00 2.12 10.68 0.662 8452 0.000 0.034 2742 3688 1656 1613 1699 0 0 0 0 0 0 28.83 26.27 25.58

7530 1.55 248.1 1736 3688 1573 1690 123.7 9.0 406 7543 0.00 2.12 8.00 0.656 9222 0.000 0.026 2751 2301 1626 1578 1674 0 0 0 0 0 0 28.83 26.30 25.51

7865 1.55 248.1 2751 2301 1577 1668 91.7 9.4 423 7866 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2300 1622 1577 1668 0 0 0 0 0 0 28.83 28.83 28.83

8165 1.57 257.7 2751 2301 1577 1665 65.0 8.9 438 8181 0.00 2.20 9.88 0.594 8708 0.000 0.042 2762 890 1584 1533 1636 0 0 0 0 0 0 28.83 26.32 25.68

8331 1.59 266.8 2762 890 1532 1631 51.2 8.9 445 8346 0.00 2.10 9.27 0.581 9222 0.000 0.018 2762 2308 1550 1498 1602 0 0 0 0 0 0 28.83 26.46 25.63

8654 1.62 275.6 1728 2305 1463 1589 20.9 8.9 480 8670 0.00 2.22 9.12 0.554 8708 0.000 0.039 2772 897 1511 1458 1564 0 0 0 0 0 0 28.83 26.30 25.68

8708 1.64 284.3 2772 897 1458 1562 15.9 8.9 488 8725 0.00 2.08 8.73 0.550 9222 0.000 0.017 2772 2301 1477 1425 1529 0 0 0 0 0 0 28.83 26.39 25.60

8855 end climb: SURFACE_DEPTH_REACHED

state 8855 begin surface coast

8889 end surface coast: CONTROL_FINISHED_OK

state 8889 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	225	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	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	-100777.73	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	290313,021817,2116.119,12007.331,20,1.0,20,-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	-65.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290313,022553,2116.123,12007.374,21,0.8,21,-2.9	MHEAD_RNG_PITCHd_Wd	57.1,105855,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	2706

FINISH	0.0,1.024633	_10V_AH	10.1,19.675
SM_CCo	9142,0.57,0.116,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.55,0.52,0.57,0.070,0.034,0.116,82,1959,401,-10.57,1.10,549.47,0,0,0,0,0,0,26.34,26.38,25.12	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2108.69,12012.22,280313,232303	MEM	324444
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16750,520
HUMID	47.95	CAP_FILE_SIZE	382760,1996
INTERNAL_PRESSURE	9.18503	CFSIZE	260034560,225132544
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	0	CURRENT	0.251,321.2,1
SC_FREEKB	3936896	GPS	290313,050028,2117.610,12007.293,66,0.9,66,-2.9
_24V_AH	24.3,37.551

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	208	86.72	nil	0	0	0.00
Roll_motor	56	45	62.66	nil	0	0	0.00
VBD_pump_during_apogee	408	902	8967.83	nil	0	0	0.00
VBD_pump_during_surface	218	691	3668.51	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	8910	5	1183.24
Iridium_during_xfer	261	134	854.42	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	29	6.78
TT8	1978	14	288.94
LPSleep	4911	2	108.64
TT8_Active	732	14	106.98
TT8_Sampling	1560	39	617.52
TT8_CF8	392	46	185.12
TT8_Kalman	0	0	0.00
Analog_circuits	1833	15	287.05
GPS_charging	0	0	0.00
Compass	1326	7	100.37
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
18	-1.35	-170.3	87	1953	341	460	0.0	0.0	0	44	0.00	0.00	-23.95	0.000	16386	0.000	0.000	86	1952	1024	1017	1031	0	0	0	0	0	0	28.83	28.83	28.83
47	-1.35	-170.3	87	1952	1017	1034	3.1	-9.1	3	163	7.80	2.17	-97.28	0.000	18692	0.208	0.041	2093	3380	3336	3242	3431	0	0	0	0	0	0	25.80	26.17	26.50
259	-1.35	-170.3	1248	3378	3216	3427	22.2	-9.0	35	267	0.00	2.12	0.00	0.000	1030	0.000	0.025	2100	1976	3337	3244	3431	0	0	0	0	0	0	28.83	26.27	28.83
574	-1.35	-170.3	2100	1976	3248	3430	50.3	-8.9	68	575	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	1975	3339	3248	3430	0	0	0	0	0	0	28.83	28.83	28.83
874	-1.35	-170.3	2101	1976	3252	3430	77.1	-8.9	83	875	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	1975	3341	3252	3430	0	0	0	0	0	0	28.83	28.83	28.83
1176	-1.35	-170.3	2100	1976	3252	3430	104.1	-9.0	98	1182	0.00	2.15	0.00	0.000	516	0.000	0.041	2110	564	3341	3252	3430	0	0	0	0	0	0	28.83	26.52	28.83
1269	-1.35	-170.3	2110	564	3252	3430	112.4	-9.0	102	1275	0.00	2.05	0.00	0.000	1030	0.000	0.015	2102	1998	3341	3252	3430	0	0	0	0	0	0	28.83	26.63	28.83
1589	-1.35	-170.3	2102	1999	3252	3430	141.8	-8.9	118	1596	0.00	2.00	0.00	0.000	260	0.000	0.031	2092	3354	3340	3252	3429	0	0	0	0	0	0	28.83	26.57	28.83
1702	-1.35	-170.3	2092	3354	3252	3427	151.3	-8.9	123	1708	0.00	2.08	0.00	0.000	1030	0.000	0.025	2092	1963	3339	3252	3427	0	0	0	0	0	0	28.83	26.60	28.83
2022	-1.35	-170.3	2092	1963	3252	3426	180.7	-9.2	139	2028	0.00	2.12	0.00	0.000	516	0.000	0.042	2102	573	3338	3252	3425	0	0	0	0	0	0	28.83	26.55	28.83
2101	-1.35	-170.3	2102	572	3252	3425	186.8	-9.0	142	2107	0.00	2.03	0.00	0.000	1030	0.000	0.016	2094	1984	3338	3252	3425	0	0	0	0	0	0	28.83	26.66	28.83
2415	-1.35	-170.3	2094	1985	3252	3421	216.3	-8.9	158	2417	0.00	0.00	0.00	0.000	6	0.000	0.000	2094	1985	3337	3252	3422	0	0	0	0	0	0	28.83	28.83	28.83
2717	-1.35	-170.3	2094	1985	3251	3418	243.6	-9.2	173	2718	0.00	0.00	0.00	0.000	6	0.000	0.000	2094	1985	3335	3252	3418	0	0	0	0	0	0	28.83	28.83	28.83
3018	-1.35	-170.3	2093	1985	3252	3413	270.9	-9.2	188	3019	0.00	0.00	0.00	0.000	6	0.000	0.000	2094	1985	3332	3252	3413	0	0	0	0	0	0	28.83	28.83	28.83
3317	-1.35	-170.3	2093	1985	3250	3410	297.8	-8.6	203	3323	0.00	2.05	0.00	0.000	260	0.000	0.032	2084	3357	3329	3250	3409	0	0	0	0	0	0	28.83	26.58	28.83
3385	-1.35	-170.3	2083	3357	3249	3409	303.9	-8.8	206	3391	0.00	2.08	0.00	0.000	1030	0.000	0.029	2085	1979	3328	3249	3408	0	0	0	0	0	0	28.83	26.60	28.83
3710	-1.35	-170.3	2085	1979	3248	3406	333.6	-9.0	222	3711	0.00	0.00	0.00	0.000	6	0.000	0.000	2085	1979	3327	3248	3406	0	0	0	0	0	0	28.83	28.83	28.83
4012	-1.35	-170.3	2085	1979	3244	3404	360.7	-9.0	237	4013	0.00	0.00	0.00	0.000	6	0.000	0.000	2085	1979	3324	3244	3404	0	0	0	0	0	0	28.83	28.83	28.83
4311	-1.35	-170.3	2085	1979	3244	3402	387.8	-9.1	252	4318	0.00	2.17	0.00	0.000	516	0.000	0.046	2095	572	3321	3242	3401	0	0	0	0	0	0	28.83	26.53	28.83
4342	-1.35	-170.3	2096	572	3242	3401	390.1	-8.9	253	4348	0.00	2.03	0.00	0.000	1030	0.000	0.017	2086	1970	3321	3242	3401	0	0	0	0	0	0	28.83	26.66	28.83
4439	end dive: TARGET_DEPTH_EXCEEDED
state	4440	begin apogee
4445	-0.25	0.0	2084	2306	3241	3400	400.0	-9.3	258	4597	0.80	0.00	145.65	0.903	10246	0.118	0.000	2344	2306	2635	2587	2683	0	0	0	0	0	0	26.32	28.83	24.45
4598	end apogee: CONTROL_FINISHED_OK
state	4599	begin climb
4601	1.35	170.3	2343	2306	2584	2679	387.8	0.0	264	4760	1.00	2.22	149.35	0.895	10500	0.057	0.033	2701	3681	1937	1907	1967	0	0	0	0	0	0	25.24	24.96	24.25
5002	1.38	179.8	2701	3681	1904	1946	351.0	8.9	282	5011	0.00	2.12	2.97	0.457	9222	0.000	0.024	2711	2305	1906	1883	1929	0	0	0	0	0	0	28.83	26.00	24.87
5308	1.40	187.8	2711	2305	1883	1935	322.2	9.0	298	5328	0.00	0.00	12.50	0.813	8198	0.000	0.000	2711	2305	1867	1843	1892	0	0	0	0	0	0	28.83	28.83	25.32
5628	1.40	189.7	2711	2305	1842	1886	293.9	9.2	314	5634	0.00	2.15	0.00	0.000	260	0.000	0.034	2711	3691	1864	1842	1886	0	0	0	0	0	0	28.83	26.29	28.83
5663	1.41	192.1	2711	3691	1842	1886	291.6	9.2	315	5669	0.00	2.12	0.00	0.000	1030	0.000	0.025	2721	2299	1864	1843	1886	0	0	0	0	0	0	28.83	26.33	28.83
5978	1.41	192.1	2721	2299	1842	1885	261.8	9.4	331	5979	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2299	1863	1842	1884	0	0	0	0	0	0	28.83	28.83	28.83
6279	1.43	202.9	2721	2298	1842	1882	235.2	8.9	346	6302	0.00	2.17	14.02	0.734	8452	0.000	0.034	2721	3684	1807	1781	1833	0	0	0	0	0	0	28.83	26.29	25.58
6394	1.45	209.3	2721	3684	1780	1830	225.0	9.0	351	6406	0.00	2.12	5.03	0.692	9222	0.000	0.026	2731	2294	1785	1758	1813	0	0	0	0	0	0	28.83	26.33	25.37
6715	1.46	214.2	2731	2294	1758	1813	195.3	9.1	367	6724	0.00	0.00	6.90	0.708	8198	0.000	0.000	2731	2294	1766	1738	1794	0	0	0	0	0	0	28.83	28.83	25.55
7016	1.49	225.3	2730	2293	1735	1788	168.3	8.9	382	7033	0.00	2.28	12.07	0.684	8708	0.000	0.044	2742	893	1716	1685	1748	0	0	0	0	0	0	28.83	26.25	25.57
7128	1.51	231.3	2742	893	1684	1744	158.5	9.0	387	7140	0.00	2.10	4.65	0.634	9222	0.000	0.018	2742	2302	1696	1665	1728	0	0	0	0	0	0	28.83	26.37	25.29
7448	1.53	240.1	2742	2302	1665	1728	129.7	8.9	403	7465	0.00	2.12	10.68	0.662	8452	0.000	0.034	2742	3688	1656	1613	1699	0	0	0	0	0	0	28.83	26.27	25.58
7530	1.55	248.1	1736	3688	1573	1690	123.7	9.0	406	7543	0.00	2.12	8.00	0.656	9222	0.000	0.026	2751	2301	1626	1578	1674	0	0	0	0	0	0	28.83	26.30	25.51
7865	1.55	248.1	2751	2301	1577	1668	91.7	9.4	423	7866	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2300	1622	1577	1668	0	0	0	0	0	0	28.83	28.83	28.83
8165	1.57	257.7	2751	2301	1577	1665	65.0	8.9	438	8181	0.00	2.20	9.88	0.594	8708	0.000	0.042	2762	890	1584	1533	1636	0	0	0	0	0	0	28.83	26.32	25.68
8331	1.59	266.8	2762	890	1532	1631	51.2	8.9	445	8346	0.00	2.10	9.27	0.581	9222	0.000	0.018	2762	2308	1550	1498	1602	0	0	0	0	0	0	28.83	26.46	25.63
8654	1.62	275.6	1728	2305	1463	1589	20.9	8.9	480	8670	0.00	2.22	9.12	0.554	8708	0.000	0.039	2772	897	1511	1458	1564	0	0	0	0	0	0	28.83	26.30	25.68
8708	1.64	284.3	2772	897	1458	1562	15.9	8.9	488	8725	0.00	2.08	8.73	0.550	9222	0.000	0.017	2772	2301	1477	1425	1529	0	0	0	0	0	0	28.83	26.39	25.60
8855	end climb: SURFACE_DEPTH_REACHED
state	8855	begin surface coast
8889	end surface coast: CONTROL_FINISHED_OK
state	8889	begin surface