Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 248 * 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 248 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 -100810.09 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 -100810.09

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 248 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 310313,164959,2146.072,12019.812,209,0.8,209,-3.1 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 -60.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 310313,165741,2146.129,12019.669,19,0.8,19,-3.1 MHEAD_RNG_PITCHd_Wd 60.2,47139,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 1116

Post-dive calculations and measurements:

FINISH 0.1,1.025419 _10V_AH 10.2,21.169

SM_CCo 9208,2.92,0.369,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.53,0.47,2.92,0.073,0.044,0.369,83,1968,400,-10.57,1.22,549.47,0,0,0,0,0,0,26.36,26.41,24.49 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2138.81,12017.22,310313,141405 MEM 324428

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20125,525

HUMID 48.62 CAP_FILE_SIZE 398765,2138

INTERNAL_PRESSURE 9.11667 CFSIZE 260034560,222490624

TCM_TEMP 19.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0

XPDR_PINGS 0 CURRENT 0.088,340.7,1

SC_FREEKB 3928192 GPS 310313,193655,2147.132,12020.192,275,1.8,275,-3.1

_24V_AH 23.7,41.124

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 221 92.09 nil 0 0 0.00

Roll_motor 56 44 59.57 nil 0 0 0.00

VBD_pump_during_apogee 399 1116 10559.80 nil 0 0 0.00

VBD_pump_during_surface 244 764 4419.42 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 8935 5 1172.30

Iridium_during_xfer 262 129 804.01 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 29 6.23

TT8 2063 14 304.41

LPSleep 4751 2 106.13

TT8_Active 770 14 113.63

TT8_Sampling 1630 39 651.62

TT8_CF8 432 46 205.81

TT8_Kalman 0 0 0.00

Analog_circuits 1922 15 303.92

GPS_charging 0 0 0.00

Compass 1413 7 107.99

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 82 1949 363 492 0.0 0.0 0 50 0.00 0.00 -29.88 0.000 16386 0.000 0.000 82 1949 1196 1185 1207 0 0 0 0 0 0 28.83 28.83 28.83

52 -1.35 -170.3 82 1949 1185 1211 3.6 -8.8 4 139 8.12 2.28 -69.30 0.000 18692 0.221 0.044 2091 3376 3336 3245 3428 0 0 0 0 0 0 25.61 26.10 26.44

247 -1.35 -170.3 1232 3375 3219 3425 21.4 -8.5 34 255 0.00 2.12 0.00 0.000 1030 0.000 0.025 2099 1978 3337 3247 3428 0 0 0 0 0 0 28.83 26.22 28.83

561 -1.35 -170.3 2099 1978 3248 3429 49.9 -9.6 68 566 0.00 2.15 0.00 0.000 516 0.000 0.040 2112 575 3338 3249 3428 0 0 0 0 0 0 28.83 26.33 28.83

579 -1.35 -170.3 2109 575 3249 3428 51.2 -9.3 69 587 0.00 2.05 0.00 0.000 1030 0.000 0.015 2101 1993 3338 3249 3428 0 0 0 0 0 0 28.83 26.44 28.83

887 -1.35 -170.3 2101 1994 3252 3428 79.4 -9.2 85 893 0.00 2.20 0.00 0.000 516 0.000 0.038 2110 566 3340 3252 3428 0 0 0 0 0 0 28.83 26.41 28.83

989 -1.35 -170.3 2109 568 3252 3428 87.2 -9.0 89 997 0.00 2.03 0.00 0.000 1030 0.000 0.015 2102 1974 3340 3253 3428 0 0 0 0 0 0 28.83 26.53 28.83

1296 -1.35 -170.3 2101 1975 3253 3429 115.7 -8.8 105 1297 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 1975 3340 3253 3428 0 0 0 0 0 0 28.83 28.83 28.83

1596 -1.35 -170.3 2101 1976 3253 3428 143.2 -9.3 120 1603 0.00 2.08 0.00 0.000 260 0.000 0.032 2091 3367 3340 3253 3427 0 0 0 0 0 0 28.83 26.51 28.83

1644 -1.35 -170.3 2091 3367 3252 3427 147.6 -9.2 122 1651 0.00 2.10 0.00 0.000 1030 0.000 0.026 2095 1965 3339 3252 3427 0 0 0 0 0 0 28.83 26.53 28.83

1970 -1.35 -170.3 2094 1965 3253 3426 176.7 -8.7 138 1976 0.00 2.12 0.00 0.000 260 0.000 0.031 2086 3361 3338 3252 3425 0 0 0 0 0 0 28.83 26.52 28.83

2028 -1.35 -170.3 2086 3361 3252 3423 180.8 -8.7 140 2034 0.00 2.10 0.00 0.000 1030 0.000 0.028 2088 1970 3337 3252 3423 0 0 0 0 0 0 28.83 26.55 28.83

2343 -1.35 -170.3 2088 1970 3252 3422 209.4 -9.1 156 2344 0.00 0.00 0.00 0.000 6 0.000 0.000 2088 1969 3337 3252 3422 0 0 0 0 0 0 28.83 28.83 28.83

2644 -1.35 -170.3 2088 1970 3252 3418 236.7 -8.9 171 2650 0.00 2.15 0.00 0.000 516 0.000 0.044 2098 571 3336 3255 3417 0 0 0 0 0 0 28.83 26.49 28.83

2729 -1.35 -170.3 2098 571 3252 3417 242.9 -9.0 174 2739 0.00 2.03 0.00 0.000 1030 0.000 0.017 2090 1972 3334 3252 3417 0 0 0 0 0 0 28.83 26.63 28.83

3034 -1.35 -170.3 2090 1973 3252 3414 271.6 -9.1 190 3040 0.00 2.08 0.00 0.000 260 0.000 0.034 2079 3357 3332 3252 3413 0 0 0 0 0 0 28.83 26.52 28.83

3102 -1.35 -170.3 2079 3358 3252 3412 277.6 -8.9 193 3109 0.10 2.10 0.00 0.000 3078 0.161 0.030 2106 1971 3332 3253 3412 0 0 0 0 0 0 26.34 26.54 28.83

3429 -1.35 -170.3 2106 1970 3251 3409 306.1 -8.8 209 3430 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 1970 3330 3251 3409 0 0 0 0 0 0 28.83 28.83 28.83

3729 -1.35 -170.3 2106 1970 3249 3408 333.7 -9.5 224 3730 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 1970 3328 3249 3407 0 0 0 0 0 0 28.83 28.83 28.83

4030 -1.35 -170.3 2106 1970 3247 3405 360.6 -8.9 239 4031 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 1970 3326 3247 3405 0 0 0 0 0 0 28.83 28.83 28.83

4330 -1.35 -170.3 2106 1970 3244 3403 388.0 -9.2 254 4331 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 1970 3323 3244 3403 0 0 0 0 0 0 28.83 28.83 28.83

4467 end dive: TARGET_DEPTH_EXCEEDED

state 4467 begin apogee

4473 -0.25 0.0 2105 2297 3243 3402 400.2 -8.3 261 4632 0.73 0.00 143.95 1.069 10246 0.110 0.000 2343 2297 2639 2591 2687 0 0 0 0 1 0 26.22 28.83 24.12

4634 end apogee: CONTROL_FINISHED_OK

state 4634 begin climb

4636 1.35 170.3 2343 2297 2590 2687 385.8 0.0 268 4804 1.00 2.35 151.43 1.116 10500 0.050 0.035 2705 3683 1943 1910 1977 0 0 0 0 1 0 25.13 24.59 23.75

5048 1.36 174.9 2705 3683 1910 1978 348.8 9.1 286 5062 0.00 2.15 4.38 0.701 9222 0.000 0.025 2715 2304 1925 1895 1956 0 0 0 0 0 0 28.83 25.89 24.77

5360 1.38 182.2 2715 2304 1895 1962 320.6 9.0 302 5381 0.00 0.00 12.18 0.868 8198 0.000 0.000 2715 2304 1891 1862 1920 0 0 0 0 0 0 28.83 28.83 25.20

5680 1.39 184.4 2715 2304 1862 1914 291.6 9.2 318 5687 0.00 2.15 0.00 0.000 260 0.000 0.033 2715 3687 1888 1862 1914 0 0 0 0 0 0 28.83 26.23 28.83

5791 1.40 190.3 2715 3687 1862 1913 281.7 9.0 323 5808 0.00 2.12 8.50 0.831 9222 0.000 0.026 2725 2298 1860 1833 1887 0 0 0 0 0 0 28.83 26.30 25.36

6117 1.42 197.3 2725 2298 1832 1881 251.7 9.0 339 6127 0.00 0.00 7.62 0.812 8198 0.000 0.000 2725 2298 1834 1807 1862 0 0 0 0 0 0 28.83 28.83 25.39

6419 1.45 207.6 2725 2298 1803 1855 224.8 8.9 354 6436 0.00 2.25 11.60 0.791 8452 0.000 0.034 2725 3689 1788 1759 1818 0 0 0 0 0 0 28.83 26.18 25.42

6654 1.47 217.0 2725 3688 1756 1813 203.9 8.9 365 6671 0.00 2.12 10.05 0.775 9222 0.000 0.027 2735 2301 1750 1720 1781 0 0 0 0 0 0 28.83 26.29 25.40

6980 1.47 217.0 2735 2301 1717 1775 175.0 9.3 381 6986 0.00 2.22 0.00 0.000 516 0.000 0.044 2746 887 1746 1717 1775 0 0 0 0 0 0 28.83 26.25 28.83

7070 1.49 224.4 2746 888 1717 1775 166.8 9.0 385 7082 0.10 2.12 7.03 0.742 13318 0.195 0.018 2725 2308 1725 1695 1756 0 0 0 0 0 0 26.11 26.41 25.45

7397 1.51 232.6 2724 2308 1691 1750 137.4 9.0 401 7414 0.00 2.17 9.60 0.733 8452 0.000 0.037 2725 3685 1686 1651 1721 0 0 0 0 0 0 28.83 26.25 25.49

7521 1.53 239.6 2725 3685 1650 1718 127.7 9.0 406 7535 0.00 2.12 5.30 0.690 9222 0.000 0.028 2734 2301 1662 1621 1703 0 0 0 0 0 0 28.83 26.29 25.36

7856 1.54 244.0 2733 2301 1621 1703 96.5 9.1 423 7868 0.00 2.17 5.20 0.659 8452 0.000 0.034 2734 3694 1645 1599 1691 0 0 0 0 0 0 28.83 26.30 25.43

8108 1.54 244.4 2735 3694 1599 1691 74.7 9.2 434 8116 0.00 2.15 0.00 0.000 1030 0.000 0.028 2744 2290 1645 1599 1691 0 0 0 0 0 0 28.83 26.37 28.83

8413 1.58 263.1 2744 2290 1599 1690 46.1 8.6 452 8443 0.00 0.00 22.38 0.620 8198 0.000 0.000 2744 2290 1560 1507 1613 0 0 0 0 0 0 28.83 28.83 25.54

8752 1.58 263.1 1696 2287 1475 1601 15.5 9.5 494 8759 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2290 1557 1507 1608 0 0 0 0 0 0 28.83 28.83 28.83

8891 end climb: SURFACE_DEPTH_REACHED

state 8891 begin surface coast

8926 end surface coast: CONTROL_FINISHED_OK

state 8927 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	248	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	-100810.09	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	310313,164959,2146.072,12019.812,209,0.8,209,-3.1	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	-60.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	310313,165741,2146.129,12019.669,19,0.8,19,-3.1	MHEAD_RNG_PITCHd_Wd	60.2,47139,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	1116

FINISH	0.1,1.025419	_10V_AH	10.2,21.169
SM_CCo	9208,2.92,0.369,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.53,0.47,2.92,0.073,0.044,0.369,83,1968,400,-10.57,1.22,549.47,0,0,0,0,0,0,26.36,26.41,24.49	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2138.81,12017.22,310313,141405	MEM	324428
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20125,525
HUMID	48.62	CAP_FILE_SIZE	398765,2138
INTERNAL_PRESSURE	9.11667	CFSIZE	260034560,222490624
TCM_TEMP	19.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
XPDR_PINGS	0	CURRENT	0.088,340.7,1
SC_FREEKB	3928192	GPS	310313,193655,2147.132,12020.192,275,1.8,275,-3.1
_24V_AH	23.7,41.124

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	221	92.09	nil	0	0	0.00
Roll_motor	56	44	59.57	nil	0	0	0.00
VBD_pump_during_apogee	399	1116	10559.80	nil	0	0	0.00
VBD_pump_during_surface	244	764	4419.42	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	8935	5	1172.30
Iridium_during_xfer	262	129	804.01	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	29	6.23
TT8	2063	14	304.41
LPSleep	4751	2	106.13
TT8_Active	770	14	113.63
TT8_Sampling	1630	39	651.62
TT8_CF8	432	46	205.81
TT8_Kalman	0	0	0.00
Analog_circuits	1922	15	303.92
GPS_charging	0	0	0.00
Compass	1413	7	107.99
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	82	1949	363	492	0.0	0.0	0	50	0.00	0.00	-29.88	0.000	16386	0.000	0.000	82	1949	1196	1185	1207	0	0	0	0	0	0	28.83	28.83	28.83
52	-1.35	-170.3	82	1949	1185	1211	3.6	-8.8	4	139	8.12	2.28	-69.30	0.000	18692	0.221	0.044	2091	3376	3336	3245	3428	0	0	0	0	0	0	25.61	26.10	26.44
247	-1.35	-170.3	1232	3375	3219	3425	21.4	-8.5	34	255	0.00	2.12	0.00	0.000	1030	0.000	0.025	2099	1978	3337	3247	3428	0	0	0	0	0	0	28.83	26.22	28.83
561	-1.35	-170.3	2099	1978	3248	3429	49.9	-9.6	68	566	0.00	2.15	0.00	0.000	516	0.000	0.040	2112	575	3338	3249	3428	0	0	0	0	0	0	28.83	26.33	28.83
579	-1.35	-170.3	2109	575	3249	3428	51.2	-9.3	69	587	0.00	2.05	0.00	0.000	1030	0.000	0.015	2101	1993	3338	3249	3428	0	0	0	0	0	0	28.83	26.44	28.83
887	-1.35	-170.3	2101	1994	3252	3428	79.4	-9.2	85	893	0.00	2.20	0.00	0.000	516	0.000	0.038	2110	566	3340	3252	3428	0	0	0	0	0	0	28.83	26.41	28.83
989	-1.35	-170.3	2109	568	3252	3428	87.2	-9.0	89	997	0.00	2.03	0.00	0.000	1030	0.000	0.015	2102	1974	3340	3253	3428	0	0	0	0	0	0	28.83	26.53	28.83
1296	-1.35	-170.3	2101	1975	3253	3429	115.7	-8.8	105	1297	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	1975	3340	3253	3428	0	0	0	0	0	0	28.83	28.83	28.83
1596	-1.35	-170.3	2101	1976	3253	3428	143.2	-9.3	120	1603	0.00	2.08	0.00	0.000	260	0.000	0.032	2091	3367	3340	3253	3427	0	0	0	0	0	0	28.83	26.51	28.83
1644	-1.35	-170.3	2091	3367	3252	3427	147.6	-9.2	122	1651	0.00	2.10	0.00	0.000	1030	0.000	0.026	2095	1965	3339	3252	3427	0	0	0	0	0	0	28.83	26.53	28.83
1970	-1.35	-170.3	2094	1965	3253	3426	176.7	-8.7	138	1976	0.00	2.12	0.00	0.000	260	0.000	0.031	2086	3361	3338	3252	3425	0	0	0	0	0	0	28.83	26.52	28.83
2028	-1.35	-170.3	2086	3361	3252	3423	180.8	-8.7	140	2034	0.00	2.10	0.00	0.000	1030	0.000	0.028	2088	1970	3337	3252	3423	0	0	0	0	0	0	28.83	26.55	28.83
2343	-1.35	-170.3	2088	1970	3252	3422	209.4	-9.1	156	2344	0.00	0.00	0.00	0.000	6	0.000	0.000	2088	1969	3337	3252	3422	0	0	0	0	0	0	28.83	28.83	28.83
2644	-1.35	-170.3	2088	1970	3252	3418	236.7	-8.9	171	2650	0.00	2.15	0.00	0.000	516	0.000	0.044	2098	571	3336	3255	3417	0	0	0	0	0	0	28.83	26.49	28.83
2729	-1.35	-170.3	2098	571	3252	3417	242.9	-9.0	174	2739	0.00	2.03	0.00	0.000	1030	0.000	0.017	2090	1972	3334	3252	3417	0	0	0	0	0	0	28.83	26.63	28.83
3034	-1.35	-170.3	2090	1973	3252	3414	271.6	-9.1	190	3040	0.00	2.08	0.00	0.000	260	0.000	0.034	2079	3357	3332	3252	3413	0	0	0	0	0	0	28.83	26.52	28.83
3102	-1.35	-170.3	2079	3358	3252	3412	277.6	-8.9	193	3109	0.10	2.10	0.00	0.000	3078	0.161	0.030	2106	1971	3332	3253	3412	0	0	0	0	0	0	26.34	26.54	28.83
3429	-1.35	-170.3	2106	1970	3251	3409	306.1	-8.8	209	3430	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	1970	3330	3251	3409	0	0	0	0	0	0	28.83	28.83	28.83
3729	-1.35	-170.3	2106	1970	3249	3408	333.7	-9.5	224	3730	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	1970	3328	3249	3407	0	0	0	0	0	0	28.83	28.83	28.83
4030	-1.35	-170.3	2106	1970	3247	3405	360.6	-8.9	239	4031	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	1970	3326	3247	3405	0	0	0	0	0	0	28.83	28.83	28.83
4330	-1.35	-170.3	2106	1970	3244	3403	388.0	-9.2	254	4331	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	1970	3323	3244	3403	0	0	0	0	0	0	28.83	28.83	28.83
4467	end dive: TARGET_DEPTH_EXCEEDED
state	4467	begin apogee
4473	-0.25	0.0	2105	2297	3243	3402	400.2	-8.3	261	4632	0.73	0.00	143.95	1.069	10246	0.110	0.000	2343	2297	2639	2591	2687	0	0	0	0	1	0	26.22	28.83	24.12
4634	end apogee: CONTROL_FINISHED_OK
state	4634	begin climb
4636	1.35	170.3	2343	2297	2590	2687	385.8	0.0	268	4804	1.00	2.35	151.43	1.116	10500	0.050	0.035	2705	3683	1943	1910	1977	0	0	0	0	1	0	25.13	24.59	23.75
5048	1.36	174.9	2705	3683	1910	1978	348.8	9.1	286	5062	0.00	2.15	4.38	0.701	9222	0.000	0.025	2715	2304	1925	1895	1956	0	0	0	0	0	0	28.83	25.89	24.77
5360	1.38	182.2	2715	2304	1895	1962	320.6	9.0	302	5381	0.00	0.00	12.18	0.868	8198	0.000	0.000	2715	2304	1891	1862	1920	0	0	0	0	0	0	28.83	28.83	25.20
5680	1.39	184.4	2715	2304	1862	1914	291.6	9.2	318	5687	0.00	2.15	0.00	0.000	260	0.000	0.033	2715	3687	1888	1862	1914	0	0	0	0	0	0	28.83	26.23	28.83
5791	1.40	190.3	2715	3687	1862	1913	281.7	9.0	323	5808	0.00	2.12	8.50	0.831	9222	0.000	0.026	2725	2298	1860	1833	1887	0	0	0	0	0	0	28.83	26.30	25.36
6117	1.42	197.3	2725	2298	1832	1881	251.7	9.0	339	6127	0.00	0.00	7.62	0.812	8198	0.000	0.000	2725	2298	1834	1807	1862	0	0	0	0	0	0	28.83	28.83	25.39
6419	1.45	207.6	2725	2298	1803	1855	224.8	8.9	354	6436	0.00	2.25	11.60	0.791	8452	0.000	0.034	2725	3689	1788	1759	1818	0	0	0	0	0	0	28.83	26.18	25.42
6654	1.47	217.0	2725	3688	1756	1813	203.9	8.9	365	6671	0.00	2.12	10.05	0.775	9222	0.000	0.027	2735	2301	1750	1720	1781	0	0	0	0	0	0	28.83	26.29	25.40
6980	1.47	217.0	2735	2301	1717	1775	175.0	9.3	381	6986	0.00	2.22	0.00	0.000	516	0.000	0.044	2746	887	1746	1717	1775	0	0	0	0	0	0	28.83	26.25	28.83
7070	1.49	224.4	2746	888	1717	1775	166.8	9.0	385	7082	0.10	2.12	7.03	0.742	13318	0.195	0.018	2725	2308	1725	1695	1756	0	0	0	0	0	0	26.11	26.41	25.45
7397	1.51	232.6	2724	2308	1691	1750	137.4	9.0	401	7414	0.00	2.17	9.60	0.733	8452	0.000	0.037	2725	3685	1686	1651	1721	0	0	0	0	0	0	28.83	26.25	25.49
7521	1.53	239.6	2725	3685	1650	1718	127.7	9.0	406	7535	0.00	2.12	5.30	0.690	9222	0.000	0.028	2734	2301	1662	1621	1703	0	0	0	0	0	0	28.83	26.29	25.36
7856	1.54	244.0	2733	2301	1621	1703	96.5	9.1	423	7868	0.00	2.17	5.20	0.659	8452	0.000	0.034	2734	3694	1645	1599	1691	0	0	0	0	0	0	28.83	26.30	25.43
8108	1.54	244.4	2735	3694	1599	1691	74.7	9.2	434	8116	0.00	2.15	0.00	0.000	1030	0.000	0.028	2744	2290	1645	1599	1691	0	0	0	0	0	0	28.83	26.37	28.83
8413	1.58	263.1	2744	2290	1599	1690	46.1	8.6	452	8443	0.00	0.00	22.38	0.620	8198	0.000	0.000	2744	2290	1560	1507	1613	0	0	0	0	0	0	28.83	28.83	25.54
8752	1.58	263.1	1696	2287	1475	1601	15.5	9.5	494	8759	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2290	1557	1507	1608	0	0	0	0	0	0	28.83	28.83	28.83
8891	end climb: SURFACE_DEPTH_REACHED
state	8891	begin surface coast
8926	end surface coast: CONTROL_FINISHED_OK
state	8927	begin surface