Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 229 * 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 229 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 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 -100783.84 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 -100783.84

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 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 229 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 290313,130532,2121.915,12010.267,26,0.9,26,-3.0 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 -60.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290313,131242,2121.906,12010.283,18,1.0,18,-3.0 MHEAD_RNG_PITCHd_Wd 25.9,94045,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 2837

Post-dive calculations and measurements:

FINISH 0.0,1.025088 _10V_AH 10.1,19.929

SM_CCo 9170,2.80,0.336,0,0,399,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.62,0.52,2.80,0.075,0.036,0.336,82,1964,399,-10.56,1.13,549.47,0,0,0,0,0,0,26.38,26.40,24.58 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2115.63,12011.39,290313,101041 MEM 324420

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20068,524

HUMID 49.21 CAP_FILE_SIZE 396059,2096

INTERNAL_PRESSURE 9.12643 CFSIZE 260034560,224665600

TCM_TEMP 19.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 0 CURRENT 0.100,310.6,1

SC_FREEKB 3935360 GPS 290313,154955,2123.040,12010.204,193,0.9,194,-3.0

_24V_AH 24.2,38.149

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 214 90.45 nil 0 0 0.00

Roll_motor 61 48 71.44 nil 0 0 0.00

VBD_pump_during_apogee 452 1026 11230.93 nil 0 0 0.00

VBD_pump_during_surface 207 730 3667.26 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 8936 5 1197.17

Iridium_during_xfer 236 132 758.33 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.68

TT8 2045 14 298.81

LPSleep 4781 2 105.75

TT8_Active 756 14 110.45

TT8_Sampling 1590 39 629.28

TT8_CF8 405 46 190.97

TT8_Kalman 0 0 0.00

Analog_circuits 1852 15 290.04

GPS_charging 0 0 0.00

Compass 1378 7 104.26

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 82 1946 345 474 0.0 0.0 0 44 0.00 0.00 -23.33 0.000 16386 0.000 0.000 82 1946 1022 1016 1028 0 0 0 0 0 0 28.83 28.83 28.83

47 -1.35 -170.3 82 1946 1016 1031 3.2 -8.9 3 145 7.95 0.00 -83.70 0.000 19206 0.214 0.000 2099 1945 3337 3248 3427 0 0 0 0 0 0 25.74 28.83 26.44

460 -1.35 -170.3 2098 1945 3252 3428 40.4 -8.5 59 467 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 1945 3339 3252 3427 0 0 0 0 0 0 28.83 28.83 28.83

770 -1.35 -170.3 2098 1946 3254 3427 68.6 -9.2 80 776 0.00 2.15 0.00 0.000 260 0.000 0.030 2090 3370 3340 3254 3426 0 0 0 0 0 0 28.83 26.44 28.83

847 -1.35 -170.3 2090 3370 3253 3427 74.6 -9.1 83 853 0.00 2.10 0.00 0.000 1030 0.000 0.025 2090 1971 3340 3254 3427 0 0 0 0 0 0 28.83 26.47 28.83

1162 -1.35 -170.3 2090 1971 3254 3427 103.8 -8.9 99 1163 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 1971 3340 3254 3427 0 0 0 0 0 0 28.83 28.83 28.83

1464 -1.35 -170.3 2090 1971 3254 3427 131.0 -9.1 114 1465 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 1971 3340 3254 3427 0 0 0 0 0 0 28.83 28.83 28.83

1763 -1.35 -170.3 2090 1971 3254 3426 158.5 -9.4 129 1770 0.00 2.15 0.00 0.000 516 0.000 0.041 2100 568 3340 3254 3426 0 0 0 0 0 0 28.83 26.53 28.83

1789 -1.35 -170.3 2100 568 3254 3426 160.9 -9.3 130 1796 0.00 2.05 0.00 0.000 1030 0.000 0.016 2092 1994 3340 3254 3426 0 0 0 0 0 0 28.83 26.63 28.83

2115 -1.35 -170.3 2092 1995 3254 3423 189.9 -8.9 146 2121 0.00 2.03 0.00 0.000 260 0.000 0.032 2082 3353 3338 3254 3422 0 0 0 0 0 0 28.83 26.55 28.83

2269 -1.35 -170.3 2081 3353 3254 3421 203.4 -9.0 153 2276 0.10 2.08 0.00 0.000 3078 0.159 0.027 2108 1974 3337 3254 3421 0 0 0 0 0 0 26.39 26.58 28.83

2590 -1.35 -170.3 2108 1974 3254 3418 232.6 -8.9 169 2596 0.00 2.15 0.00 0.000 516 0.000 0.044 2118 572 3335 3254 3417 0 0 0 0 0 0 28.83 26.53 28.83

2699 -1.35 -170.3 2118 571 3254 3417 242.3 -9.0 174 2705 0.00 2.03 0.00 0.000 1030 0.000 0.016 2110 1969 3335 3254 3417 0 0 0 0 0 0 28.83 26.65 28.83

3025 -1.35 -170.3 2109 1970 3253 3416 271.6 -9.1 190 3026 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 1970 3333 3253 3414 0 0 0 0 0 0 28.83 28.83 28.83

3326 -1.35 -170.3 2110 1970 3252 3411 298.6 -8.9 205 3327 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 1970 3331 3252 3411 0 0 0 0 0 0 28.83 28.83 28.83

3627 -1.35 -170.3 2110 1970 3250 3408 325.8 -9.3 220 3633 0.00 2.10 0.00 0.000 260 0.000 0.034 2100 3367 3329 3250 3408 0 0 0 0 0 0 28.83 26.55 28.83

3657 -1.35 -170.3 2099 3367 3250 3408 328.3 -9.2 221 3664 0.00 2.12 0.00 0.000 1030 0.000 0.030 2100 1973 3329 3250 3408 0 0 0 0 0 0 28.83 26.57 28.83

3977 -1.35 -170.3 2099 1973 3248 3406 357.5 -8.9 237 3983 0.00 2.12 0.00 0.000 260 0.000 0.034 2090 3361 3326 3248 3405 0 0 0 0 0 0 28.83 26.54 28.83

4065 -1.35 -170.3 2090 3360 3247 3405 365.4 -8.9 241 4071 0.00 2.12 0.00 0.000 1030 0.000 0.031 2092 1972 3326 3247 3405 0 0 0 0 0 0 28.83 26.56 28.83

4390 -1.35 -170.3 2091 1972 3245 3403 394.9 -9.0 257 4396 0.00 2.17 0.00 0.000 516 0.000 0.048 2100 572 3323 3244 3403 0 0 0 0 0 0 28.83 26.50 28.83

4457 end dive: TARGET_DEPTH_EXCEEDED

state 4457 begin apogee

4465 -0.25 0.0 2089 2295 3243 3403 401.1 -8.9 260 4628 0.77 0.00 153.32 1.027 10246 0.114 0.000 2342 2296 2639 2591 2687 0 0 0 0 1 0 26.28 28.83 24.16

4632 end apogee: CONTROL_FINISHED_OK

state 4632 begin climb

4634 1.35 170.3 2342 2296 2591 2686 386.5 0.0 267 4807 1.00 2.35 163.35 0.857 10500 0.049 0.035 2706 3694 1937 1905 1970 0 0 0 0 0 0 25.10 24.87 24.20

5051 1.38 179.4 2706 3694 1899 1942 347.6 8.9 286 5058 0.00 2.17 1.85 0.052 9222 0.000 0.025 2716 2293 1905 1882 1929 0 0 0 0 0 0 28.83 25.94 25.86

5378 1.39 183.6 2716 2293 1883 1936 318.4 9.1 302 5383 0.00 0.00 3.03 0.434 8198 0.000 0.000 2716 2293 1890 1864 1916 0 0 0 0 0 0 28.83 28.83 25.10

5678 1.40 188.8 2716 2293 1865 1931 291.6 9.1 317 5695 0.00 2.28 12.27 0.803 8452 0.000 0.034 2716 3701 1864 1835 1894 0 0 0 0 0 0 28.83 26.17 25.43

5821 1.42 195.1 2716 3700 1831 1888 279.7 9.0 323 5830 0.00 2.15 4.32 0.675 9222 0.000 0.026 2726 2298 1843 1814 1873 0 0 0 0 0 0 28.83 26.26 25.16

6128 1.46 213.4 2726 2298 1814 1873 250.7 8.6 339 6152 0.00 0.00 21.95 0.768 8198 0.000 0.000 2726 2298 1768 1737 1800 0 0 0 0 0 0 28.83 28.83 25.35

6448 1.47 217.2 2726 2298 1732 1789 221.8 9.1 355 6454 0.00 2.20 0.00 0.000 516 0.000 0.044 2737 897 1760 1732 1789 0 0 0 0 0 0 28.83 26.22 28.83

6495 1.49 225.7 2737 897 1732 1789 217.6 8.9 357 6512 0.00 2.10 12.48 0.751 9222 0.000 0.018 2737 2305 1719 1688 1750 0 0 0 0 0 0 28.83 26.35 25.41

6822 1.51 232.2 2737 2305 1680 1738 188.6 9.0 373 6829 0.00 0.00 4.62 0.669 8198 0.000 0.000 2738 2305 1692 1660 1724 0 0 0 0 0 0 28.83 28.83 25.25

7123 1.53 241.2 2737 2305 1659 1724 161.3 8.9 388 7141 0.00 0.00 11.62 0.715 8198 0.000 0.000 2737 2305 1650 1606 1694 0 0 0 0 0 0 28.83 28.83 25.51

7441 1.56 253.1 2737 2305 1603 1691 132.6 8.8 404 7458 0.00 2.22 12.00 0.693 8452 0.000 0.037 2737 3698 1604 1553 1655 0 0 0 0 0 0 28.83 26.21 25.51

7491 1.57 258.4 2737 3698 1551 1651 128.4 9.1 406 7503 0.00 2.15 4.15 0.596 9222 0.000 0.028 2747 2302 1584 1533 1636 0 0 0 0 0 0 28.83 26.23 25.25

7812 1.59 265.0 2747 2301 1533 1637 99.2 9.0 422 7829 0.00 2.22 9.15 0.667 8452 0.000 0.035 2747 3688 1554 1501 1608 0 0 0 0 0 0 28.83 26.24 25.52

7963 1.61 274.5 2746 3688 1500 1606 85.5 8.9 429 7980 0.00 2.15 10.45 0.651 9222 0.000 0.028 2756 2291 1518 1463 1573 0 0 0 0 0 0 28.83 26.30 25.49

8289 1.66 291.5 2756 2290 1461 1565 56.4 8.6 445 8313 0.00 2.28 17.73 0.607 8708 0.000 0.045 2768 897 1445 1396 1495 0 0 0 0 0 0 28.83 26.12 25.51

8447 1.68 301.1 2767 897 1396 1490 42.7 8.9 455 8462 0.00 2.10 9.75 0.608 9222 0.000 0.018 2766 2298 1411 1366 1457 0 0 0 0 0 0 28.83 26.29 25.46

8777 1.68 301.1 1736 2295 1339 1439 12.5 9.3 499 8786 0.00 2.25 0.00 0.000 516 0.000 0.043 2776 886 1404 1364 1444 0 0 0 0 0 0 28.83 26.27 28.83

8877 1.68 302.3 1744 885 1339 1439 3.6 9.2 516 8885 0.00 2.10 0.00 0.000 1030 0.000 0.018 2776 2302 1404 1364 1444 0 0 0 0 0 0 28.83 26.41 28.83

8890 end climb: SURFACE_DEPTH_REACHED

state 8890 begin surface coast

8926 end surface coast: CONTROL_FINISHED_OK

state 8926 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	229	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	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	-100783.84	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	290313,130532,2121.915,12010.267,26,0.9,26,-3.0	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	-60.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290313,131242,2121.906,12010.283,18,1.0,18,-3.0	MHEAD_RNG_PITCHd_Wd	25.9,94045,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	2837

FINISH	0.0,1.025088	_10V_AH	10.1,19.929
SM_CCo	9170,2.80,0.336,0,0,399,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.62,0.52,2.80,0.075,0.036,0.336,82,1964,399,-10.56,1.13,549.47,0,0,0,0,0,0,26.38,26.40,24.58	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2115.63,12011.39,290313,101041	MEM	324420
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20068,524
HUMID	49.21	CAP_FILE_SIZE	396059,2096
INTERNAL_PRESSURE	9.12643	CFSIZE	260034560,224665600
TCM_TEMP	19.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	0	CURRENT	0.100,310.6,1
SC_FREEKB	3935360	GPS	290313,154955,2123.040,12010.204,193,0.9,194,-3.0
_24V_AH	24.2,38.149

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	214	90.45	nil	0	0	0.00
Roll_motor	61	48	71.44	nil	0	0	0.00
VBD_pump_during_apogee	452	1026	11230.93	nil	0	0	0.00
VBD_pump_during_surface	207	730	3667.26	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	8936	5	1197.17
Iridium_during_xfer	236	132	758.33	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.68
TT8	2045	14	298.81
LPSleep	4781	2	105.75
TT8_Active	756	14	110.45
TT8_Sampling	1590	39	629.28
TT8_CF8	405	46	190.97
TT8_Kalman	0	0	0.00
Analog_circuits	1852	15	290.04
GPS_charging	0	0	0.00
Compass	1378	7	104.26
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	82	1946	345	474	0.0	0.0	0	44	0.00	0.00	-23.33	0.000	16386	0.000	0.000	82	1946	1022	1016	1028	0	0	0	0	0	0	28.83	28.83	28.83
47	-1.35	-170.3	82	1946	1016	1031	3.2	-8.9	3	145	7.95	0.00	-83.70	0.000	19206	0.214	0.000	2099	1945	3337	3248	3427	0	0	0	0	0	0	25.74	28.83	26.44
460	-1.35	-170.3	2098	1945	3252	3428	40.4	-8.5	59	467	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	1945	3339	3252	3427	0	0	0	0	0	0	28.83	28.83	28.83
770	-1.35	-170.3	2098	1946	3254	3427	68.6	-9.2	80	776	0.00	2.15	0.00	0.000	260	0.000	0.030	2090	3370	3340	3254	3426	0	0	0	0	0	0	28.83	26.44	28.83
847	-1.35	-170.3	2090	3370	3253	3427	74.6	-9.1	83	853	0.00	2.10	0.00	0.000	1030	0.000	0.025	2090	1971	3340	3254	3427	0	0	0	0	0	0	28.83	26.47	28.83
1162	-1.35	-170.3	2090	1971	3254	3427	103.8	-8.9	99	1163	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	1971	3340	3254	3427	0	0	0	0	0	0	28.83	28.83	28.83
1464	-1.35	-170.3	2090	1971	3254	3427	131.0	-9.1	114	1465	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	1971	3340	3254	3427	0	0	0	0	0	0	28.83	28.83	28.83
1763	-1.35	-170.3	2090	1971	3254	3426	158.5	-9.4	129	1770	0.00	2.15	0.00	0.000	516	0.000	0.041	2100	568	3340	3254	3426	0	0	0	0	0	0	28.83	26.53	28.83
1789	-1.35	-170.3	2100	568	3254	3426	160.9	-9.3	130	1796	0.00	2.05	0.00	0.000	1030	0.000	0.016	2092	1994	3340	3254	3426	0	0	0	0	0	0	28.83	26.63	28.83
2115	-1.35	-170.3	2092	1995	3254	3423	189.9	-8.9	146	2121	0.00	2.03	0.00	0.000	260	0.000	0.032	2082	3353	3338	3254	3422	0	0	0	0	0	0	28.83	26.55	28.83
2269	-1.35	-170.3	2081	3353	3254	3421	203.4	-9.0	153	2276	0.10	2.08	0.00	0.000	3078	0.159	0.027	2108	1974	3337	3254	3421	0	0	0	0	0	0	26.39	26.58	28.83
2590	-1.35	-170.3	2108	1974	3254	3418	232.6	-8.9	169	2596	0.00	2.15	0.00	0.000	516	0.000	0.044	2118	572	3335	3254	3417	0	0	0	0	0	0	28.83	26.53	28.83
2699	-1.35	-170.3	2118	571	3254	3417	242.3	-9.0	174	2705	0.00	2.03	0.00	0.000	1030	0.000	0.016	2110	1969	3335	3254	3417	0	0	0	0	0	0	28.83	26.65	28.83
3025	-1.35	-170.3	2109	1970	3253	3416	271.6	-9.1	190	3026	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	1970	3333	3253	3414	0	0	0	0	0	0	28.83	28.83	28.83
3326	-1.35	-170.3	2110	1970	3252	3411	298.6	-8.9	205	3327	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	1970	3331	3252	3411	0	0	0	0	0	0	28.83	28.83	28.83
3627	-1.35	-170.3	2110	1970	3250	3408	325.8	-9.3	220	3633	0.00	2.10	0.00	0.000	260	0.000	0.034	2100	3367	3329	3250	3408	0	0	0	0	0	0	28.83	26.55	28.83
3657	-1.35	-170.3	2099	3367	3250	3408	328.3	-9.2	221	3664	0.00	2.12	0.00	0.000	1030	0.000	0.030	2100	1973	3329	3250	3408	0	0	0	0	0	0	28.83	26.57	28.83
3977	-1.35	-170.3	2099	1973	3248	3406	357.5	-8.9	237	3983	0.00	2.12	0.00	0.000	260	0.000	0.034	2090	3361	3326	3248	3405	0	0	0	0	0	0	28.83	26.54	28.83
4065	-1.35	-170.3	2090	3360	3247	3405	365.4	-8.9	241	4071	0.00	2.12	0.00	0.000	1030	0.000	0.031	2092	1972	3326	3247	3405	0	0	0	0	0	0	28.83	26.56	28.83
4390	-1.35	-170.3	2091	1972	3245	3403	394.9	-9.0	257	4396	0.00	2.17	0.00	0.000	516	0.000	0.048	2100	572	3323	3244	3403	0	0	0	0	0	0	28.83	26.50	28.83
4457	end dive: TARGET_DEPTH_EXCEEDED
state	4457	begin apogee
4465	-0.25	0.0	2089	2295	3243	3403	401.1	-8.9	260	4628	0.77	0.00	153.32	1.027	10246	0.114	0.000	2342	2296	2639	2591	2687	0	0	0	0	1	0	26.28	28.83	24.16
4632	end apogee: CONTROL_FINISHED_OK
state	4632	begin climb
4634	1.35	170.3	2342	2296	2591	2686	386.5	0.0	267	4807	1.00	2.35	163.35	0.857	10500	0.049	0.035	2706	3694	1937	1905	1970	0	0	0	0	0	0	25.10	24.87	24.20
5051	1.38	179.4	2706	3694	1899	1942	347.6	8.9	286	5058	0.00	2.17	1.85	0.052	9222	0.000	0.025	2716	2293	1905	1882	1929	0	0	0	0	0	0	28.83	25.94	25.86
5378	1.39	183.6	2716	2293	1883	1936	318.4	9.1	302	5383	0.00	0.00	3.03	0.434	8198	0.000	0.000	2716	2293	1890	1864	1916	0	0	0	0	0	0	28.83	28.83	25.10
5678	1.40	188.8	2716	2293	1865	1931	291.6	9.1	317	5695	0.00	2.28	12.27	0.803	8452	0.000	0.034	2716	3701	1864	1835	1894	0	0	0	0	0	0	28.83	26.17	25.43
5821	1.42	195.1	2716	3700	1831	1888	279.7	9.0	323	5830	0.00	2.15	4.32	0.675	9222	0.000	0.026	2726	2298	1843	1814	1873	0	0	0	0	0	0	28.83	26.26	25.16
6128	1.46	213.4	2726	2298	1814	1873	250.7	8.6	339	6152	0.00	0.00	21.95	0.768	8198	0.000	0.000	2726	2298	1768	1737	1800	0	0	0	0	0	0	28.83	28.83	25.35
6448	1.47	217.2	2726	2298	1732	1789	221.8	9.1	355	6454	0.00	2.20	0.00	0.000	516	0.000	0.044	2737	897	1760	1732	1789	0	0	0	0	0	0	28.83	26.22	28.83
6495	1.49	225.7	2737	897	1732	1789	217.6	8.9	357	6512	0.00	2.10	12.48	0.751	9222	0.000	0.018	2737	2305	1719	1688	1750	0	0	0	0	0	0	28.83	26.35	25.41
6822	1.51	232.2	2737	2305	1680	1738	188.6	9.0	373	6829	0.00	0.00	4.62	0.669	8198	0.000	0.000	2738	2305	1692	1660	1724	0	0	0	0	0	0	28.83	28.83	25.25
7123	1.53	241.2	2737	2305	1659	1724	161.3	8.9	388	7141	0.00	0.00	11.62	0.715	8198	0.000	0.000	2737	2305	1650	1606	1694	0	0	0	0	0	0	28.83	28.83	25.51
7441	1.56	253.1	2737	2305	1603	1691	132.6	8.8	404	7458	0.00	2.22	12.00	0.693	8452	0.000	0.037	2737	3698	1604	1553	1655	0	0	0	0	0	0	28.83	26.21	25.51
7491	1.57	258.4	2737	3698	1551	1651	128.4	9.1	406	7503	0.00	2.15	4.15	0.596	9222	0.000	0.028	2747	2302	1584	1533	1636	0	0	0	0	0	0	28.83	26.23	25.25
7812	1.59	265.0	2747	2301	1533	1637	99.2	9.0	422	7829	0.00	2.22	9.15	0.667	8452	0.000	0.035	2747	3688	1554	1501	1608	0	0	0	0	0	0	28.83	26.24	25.52
7963	1.61	274.5	2746	3688	1500	1606	85.5	8.9	429	7980	0.00	2.15	10.45	0.651	9222	0.000	0.028	2756	2291	1518	1463	1573	0	0	0	0	0	0	28.83	26.30	25.49
8289	1.66	291.5	2756	2290	1461	1565	56.4	8.6	445	8313	0.00	2.28	17.73	0.607	8708	0.000	0.045	2768	897	1445	1396	1495	0	0	0	0	0	0	28.83	26.12	25.51
8447	1.68	301.1	2767	897	1396	1490	42.7	8.9	455	8462	0.00	2.10	9.75	0.608	9222	0.000	0.018	2766	2298	1411	1366	1457	0	0	0	0	0	0	28.83	26.29	25.46
8777	1.68	301.1	1736	2295	1339	1439	12.5	9.3	499	8786	0.00	2.25	0.00	0.000	516	0.000	0.043	2776	886	1404	1364	1444	0	0	0	0	0	0	28.83	26.27	28.83
8877	1.68	302.3	1744	885	1339	1439	3.6	9.2	516	8885	0.00	2.10	0.00	0.000	1030	0.000	0.018	2776	2302	1404	1364	1444	0	0	0	0	0	0	28.83	26.41	28.83
8890	end climb: SURFACE_DEPTH_REACHED
state	8890	begin surface coast
8926	end surface coast: CONTROL_FINISHED_OK
state	8926	begin surface