Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 257 * 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 257 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 47 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 -100821.4 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 -100821.4

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 47 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 257 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 010413,172035,2156.461,12027.029,18,0.9,18,-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 -65.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010413,172813,2156.341,12026.893,18,1.0,18,-3.1 MHEAD_RNG_PITCHd_Wd 47.3,24534,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 829

Post-dive calculations and measurements:

FINISH 0.0,1.024750 _10V_AH 10.2,21.759

SM_CCo 9204,2.58,0.280,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.38,0.52,2.58,0.067,0.035,0.280,86,1960,400,-10.54,1.22,549.47,0,0,0,0,0,0,26.40,26.44,24.60 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2145.77,12026.75,010413,141425 MEM 324404

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16767,520

HUMID 49.72 CAP_FILE_SIZE 392691,2042

INTERNAL_PRESSURE 9.17526 CFSIZE 260034560,221470720

TCM_TEMP 19.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 1 CURRENT 0.016,307.0,1

SC_FREEKB 3924736 GPS 010413,200434,2157.028,12027.513,106,1.0,106,-3.1

_24V_AH 24.3,42.493

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 215 91.48 nil 0 0 0.00

Roll_motor 73 60 107.24 nil 0 0 0.00

VBD_pump_during_apogee 386 872 8195.49 nil 0 0 0.00

VBD_pump_during_surface 248 694 4187.32 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 8927 5 1200.04

Iridium_during_xfer 257 132 827.63 nil 0 0 0.00

Transponder_ping 0 420 2.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 29 5.81

TT8 2016 14 297.48

LPSleep 4825 2 107.78

TT8_Active 774 14 114.25

TT8_Sampling 1591 39 635.90

TT8_CF8 431 46 205.64

TT8_Kalman 0 0 0.00

Analog_circuits 1891 15 299.12

GPS_charging 0 0 0.00

Compass 1356 7 103.63

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 84 1957 337 464 0.0 0.0 0 44 0.00 0.00 -23.80 0.000 16386 0.000 0.000 84 1956 1022 1011 1034 0 0 0 0 0 0 28.83 28.83 28.83

47 -1.35 -170.3 85 1957 1011 1034 3.1 -7.8 3 164 8.02 2.22 -99.65 0.000 18948 0.216 0.060 2110 575 3335 3240 3431 0 0 0 0 0 0 25.71 26.13 26.48

264 -1.35 -170.3 1248 575 3214 3428 23.1 -9.6 36 272 0.00 2.05 0.00 0.000 1030 0.000 0.015 2102 1993 3337 3243 3431 0 0 0 0 0 0 28.83 26.32 28.83

587 -1.35 -170.3 2102 1994 3246 3431 52.2 -8.9 68 593 0.00 2.03 0.00 0.000 260 0.000 0.031 2092 3352 3338 3246 3431 0 0 0 0 0 0 28.83 26.39 28.83

717 -1.35 -170.3 1248 3350 3221 3428 63.8 -8.9 74 723 0.00 2.08 0.00 0.000 1030 0.000 0.024 2099 1961 3339 3248 3431 0 0 0 0 0 0 28.83 26.45 28.83

1042 -1.35 -170.3 2099 1961 3250 3431 93.3 -9.3 90 1048 0.00 2.10 0.00 0.000 516 0.000 0.040 2109 575 3340 3250 3431 0 0 0 0 0 0 28.83 26.46 28.83

1078 -1.35 -170.3 2109 575 3250 3431 95.6 -9.1 91 1084 0.00 2.00 0.00 0.000 1030 0.000 0.015 2100 1978 3340 3250 3431 0 0 0 0 0 0 28.83 26.58 28.83

1393 -1.35 -170.3 2100 1978 3250 3431 125.5 -9.1 107 1399 0.00 2.05 0.00 0.000 260 0.000 0.031 2090 3360 3340 3250 3431 0 0 0 0 0 0 28.83 26.51 28.83

1462 -1.35 -170.3 2090 3360 3250 3431 131.6 -9.0 110 1468 0.00 2.08 0.00 0.000 1030 0.000 0.024 2097 1967 3340 3250 3431 0 0 0 0 0 0 28.83 26.54 28.83

1787 -1.35 -170.3 2096 1967 3250 3429 161.7 -9.1 126 1788 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 1967 3339 3250 3429 0 0 0 0 0 0 28.83 28.83 28.83

2088 -1.35 -170.3 2096 1967 3250 3426 188.2 -8.6 141 2090 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 1967 3338 3250 3426 0 0 0 0 0 0 28.83 28.83 28.83

2389 -1.35 -170.3 2096 1966 3250 3422 214.5 -8.7 156 2395 0.00 2.10 0.00 0.000 260 0.000 0.031 2088 3348 3336 3250 3422 0 0 0 0 0 0 28.83 26.54 28.83

2458 -1.35 -170.3 2088 3348 3250 3421 220.7 -8.7 159 2465 0.00 2.08 0.00 0.000 1030 0.000 0.027 2090 1966 3336 3250 3422 0 0 0 0 0 0 28.83 26.56 28.83

2785 -1.35 -170.3 2088 1966 3250 3417 250.0 -9.1 175 2791 0.00 2.12 0.00 0.000 516 0.000 0.044 2098 575 3333 3250 3417 0 0 0 0 0 0 28.83 26.49 28.83

2842 -1.35 -170.3 2098 575 3250 3417 254.3 -9.0 177 2848 0.00 2.00 0.00 0.000 1030 0.000 0.016 2089 1972 3333 3250 3417 0 0 0 0 0 0 28.83 26.64 28.83

3157 -1.35 -170.3 2089 1973 3250 3413 283.9 -9.3 193 3163 0.00 2.08 0.00 0.000 260 0.000 0.033 2079 3356 3331 3250 3412 0 0 0 0 0 0 28.83 26.53 28.83

3260 -1.35 -170.3 2079 3356 3250 3411 291.9 -9.1 197 3268 0.10 2.08 0.00 0.000 3078 0.159 0.028 2103 1977 3330 3250 3410 0 0 0 0 0 0 26.34 26.55 28.83

3565 -1.35 -170.3 2103 1976 3248 3408 321.3 -9.4 213 3571 0.00 2.17 0.00 0.000 516 0.000 0.045 2114 568 3328 3248 3408 0 0 0 0 0 0 28.83 26.48 28.83

3612 -1.35 -170.3 2113 568 3248 3407 325.5 -9.1 215 3618 0.00 2.03 0.00 0.000 1030 0.000 0.017 2105 1966 3328 3249 3407 0 0 0 0 0 0 28.83 26.62 28.83

3938 -1.35 -170.3 2105 1967 3246 3405 354.3 -9.0 231 3944 0.00 2.10 0.00 0.000 260 0.000 0.034 2095 3362 3325 3245 3405 0 0 0 0 0 0 28.83 26.50 28.83

3974 -1.35 -170.3 2095 3362 3244 3405 356.5 -8.9 232 3980 0.00 2.10 0.00 0.000 1030 0.000 0.030 2095 1978 3325 3245 3405 0 0 0 0 0 0 28.83 26.53 28.83

4288 -1.35 -170.3 2095 1978 3242 3403 385.5 -8.7 248 4290 0.00 0.00 0.00 0.000 6 0.000 0.000 2095 1978 3322 3242 3402 0 0 0 0 0 0 28.83 28.83 28.83

4466 end dive: TARGET_DEPTH_EXCEEDED

state 4466 begin apogee

4473 -0.25 0.0 2094 2305 3242 3401 401.7 -8.8 257 4631 0.77 0.00 148.43 0.872 10246 0.112 0.000 2347 2305 2630 2583 2678 0 0 0 0 0 0 26.20 28.83 24.44

4633 end apogee: CONTROL_FINISHED_OK

state 4633 begin climb

4636 1.35 170.3 2347 2305 2581 2676 387.3 0.0 264 4799 0.98 2.30 154.30 0.852 10500 0.051 0.034 2702 3680 1937 1907 1967 0 0 0 0 0 0 25.30 24.98 24.29

5000 1.36 175.0 2702 3680 1904 1944 354.3 9.1 280 5006 0.00 2.15 0.00 0.000 1030 0.000 0.026 2712 2297 1923 1904 1943 0 0 0 0 0 0 28.83 25.91 28.83

5319 1.36 175.0 2711 2297 1904 1940 324.5 9.3 296 5326 0.00 2.20 0.00 0.000 516 0.000 0.043 2723 892 1921 1903 1940 0 0 0 0 0 0 28.83 26.17 28.83

5377 1.37 178.9 2722 892 1902 1940 320.2 9.1 298 5384 0.10 2.10 1.58 0.055 13318 0.190 0.018 2702 2307 1908 1887 1930 0 0 0 0 0 0 26.03 26.32 26.15

5694 1.39 184.5 2701 2307 1887 1933 290.9 9.1 314 5706 0.00 2.12 5.20 0.706 8452 0.000 0.034 2701 3694 1886 1863 1910 0 0 0 0 0 0 28.83 26.33 25.41

5766 1.40 189.0 2701 3695 1864 1912 284.8 9.1 317 5785 0.00 2.15 9.65 0.768 9222 0.000 0.026 2710 2290 1865 1842 1888 0 0 0 0 0 0 28.83 26.34 25.45

6083 1.42 196.2 2710 2290 1842 1883 256.1 9.0 333 6099 0.00 2.25 7.25 0.747 8708 0.000 0.044 2721 894 1837 1813 1862 0 0 0 0 0 0 28.83 26.25 25.46

6200 1.44 205.8 2722 894 1812 1860 246.4 8.9 338 6219 0.00 2.10 10.95 0.748 9222 0.000 0.018 2721 2302 1795 1770 1821 0 0 0 0 0 0 28.83 26.36 25.41

6540 1.44 206.0 2721 2302 1768 1815 214.7 9.3 355 6542 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2302 1791 1768 1815 0 0 0 0 0 0 28.83 28.83 28.83

6840 1.46 212.5 2721 2302 1768 1814 187.2 9.0 370 6847 0.00 0.00 4.90 0.669 8198 0.000 0.000 2721 2302 1772 1746 1798 0 0 0 0 0 0 28.83 28.83 25.34

7139 1.46 212.5 2721 2302 1746 1798 160.7 9.3 385 7145 0.00 2.22 0.00 0.000 516 0.000 0.042 2731 897 1772 1746 1798 0 0 0 0 0 0 28.83 26.35 28.83

7211 1.48 220.8 2730 897 1746 1798 154.6 9.0 388 7230 0.00 2.08 10.82 0.674 9222 0.000 0.018 2731 2301 1735 1706 1765 0 0 0 0 0 0 28.83 26.48 25.59

7528 1.49 226.7 2730 2301 1704 1760 125.9 9.0 404 7539 0.00 2.12 4.70 0.616 8452 0.000 0.035 2732 3690 1714 1683 1745 0 0 0 0 0 0 28.83 26.36 25.34

7596 1.51 232.9 2731 3690 1683 1745 119.9 9.0 407 7612 0.00 2.15 8.57 0.646 9222 0.000 0.028 2741 2295 1686 1652 1721 0 0 0 0 0 0 28.83 26.36 25.54

7922 1.52 235.6 2741 2295 1651 1715 90.4 9.2 423 7923 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2295 1683 1651 1715 0 0 0 0 0 0 28.83 28.83 28.83

8222 1.53 243.1 2741 2295 1651 1714 63.2 9.0 438 8239 0.00 2.17 10.02 0.597 8452 0.000 0.035 2741 3690 1644 1599 1689 0 0 0 0 0 0 28.83 26.34 25.66

8268 1.54 244.6 2741 3690 1596 1688 58.8 9.2 440 8275 0.00 2.15 0.00 0.000 1030 0.000 0.028 2751 2289 1642 1596 1688 0 0 0 0 0 0 28.83 26.34 28.83

8584 1.56 253.2 2750 2289 1596 1686 30.1 8.9 466 8602 0.00 2.22 10.35 0.563 8708 0.000 0.044 2761 896 1602 1552 1652 0 0 0 0 0 0 28.83 26.31 25.66

8770 1.56 253.2 1712 896 1516 1640 13.5 9.4 494 8778 0.10 2.08 0.00 0.000 5126 0.187 0.017 2740 2305 1599 1551 1647 0 0 0 0 0 0 26.15 26.43 28.83

8884 end climb: SURFACE_DEPTH_REACHED

state 8884 begin surface coast

8919 end surface coast: CONTROL_FINISHED_OK

state 8920 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	257	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	47	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	-100821.4	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	010413,172035,2156.461,12027.029,18,0.9,18,-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	-65.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010413,172813,2156.341,12026.893,18,1.0,18,-3.1	MHEAD_RNG_PITCHd_Wd	47.3,24534,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	829

FINISH	0.0,1.024750	_10V_AH	10.2,21.759
SM_CCo	9204,2.58,0.280,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.38,0.52,2.58,0.067,0.035,0.280,86,1960,400,-10.54,1.22,549.47,0,0,0,0,0,0,26.40,26.44,24.60	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2145.77,12026.75,010413,141425	MEM	324404
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16767,520
HUMID	49.72	CAP_FILE_SIZE	392691,2042
INTERNAL_PRESSURE	9.17526	CFSIZE	260034560,221470720
TCM_TEMP	19.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	1	CURRENT	0.016,307.0,1
SC_FREEKB	3924736	GPS	010413,200434,2157.028,12027.513,106,1.0,106,-3.1
_24V_AH	24.3,42.493

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	215	91.48	nil	0	0	0.00
Roll_motor	73	60	107.24	nil	0	0	0.00
VBD_pump_during_apogee	386	872	8195.49	nil	0	0	0.00
VBD_pump_during_surface	248	694	4187.32	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	8927	5	1200.04
Iridium_during_xfer	257	132	827.63	nil	0	0	0.00
Transponder_ping	0	420	2.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	29	5.81
TT8	2016	14	297.48
LPSleep	4825	2	107.78
TT8_Active	774	14	114.25
TT8_Sampling	1591	39	635.90
TT8_CF8	431	46	205.64
TT8_Kalman	0	0	0.00
Analog_circuits	1891	15	299.12
GPS_charging	0	0	0.00
Compass	1356	7	103.63
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	84	1957	337	464	0.0	0.0	0	44	0.00	0.00	-23.80	0.000	16386	0.000	0.000	84	1956	1022	1011	1034	0	0	0	0	0	0	28.83	28.83	28.83
47	-1.35	-170.3	85	1957	1011	1034	3.1	-7.8	3	164	8.02	2.22	-99.65	0.000	18948	0.216	0.060	2110	575	3335	3240	3431	0	0	0	0	0	0	25.71	26.13	26.48
264	-1.35	-170.3	1248	575	3214	3428	23.1	-9.6	36	272	0.00	2.05	0.00	0.000	1030	0.000	0.015	2102	1993	3337	3243	3431	0	0	0	0	0	0	28.83	26.32	28.83
587	-1.35	-170.3	2102	1994	3246	3431	52.2	-8.9	68	593	0.00	2.03	0.00	0.000	260	0.000	0.031	2092	3352	3338	3246	3431	0	0	0	0	0	0	28.83	26.39	28.83
717	-1.35	-170.3	1248	3350	3221	3428	63.8	-8.9	74	723	0.00	2.08	0.00	0.000	1030	0.000	0.024	2099	1961	3339	3248	3431	0	0	0	0	0	0	28.83	26.45	28.83
1042	-1.35	-170.3	2099	1961	3250	3431	93.3	-9.3	90	1048	0.00	2.10	0.00	0.000	516	0.000	0.040	2109	575	3340	3250	3431	0	0	0	0	0	0	28.83	26.46	28.83
1078	-1.35	-170.3	2109	575	3250	3431	95.6	-9.1	91	1084	0.00	2.00	0.00	0.000	1030	0.000	0.015	2100	1978	3340	3250	3431	0	0	0	0	0	0	28.83	26.58	28.83
1393	-1.35	-170.3	2100	1978	3250	3431	125.5	-9.1	107	1399	0.00	2.05	0.00	0.000	260	0.000	0.031	2090	3360	3340	3250	3431	0	0	0	0	0	0	28.83	26.51	28.83
1462	-1.35	-170.3	2090	3360	3250	3431	131.6	-9.0	110	1468	0.00	2.08	0.00	0.000	1030	0.000	0.024	2097	1967	3340	3250	3431	0	0	0	0	0	0	28.83	26.54	28.83
1787	-1.35	-170.3	2096	1967	3250	3429	161.7	-9.1	126	1788	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	1967	3339	3250	3429	0	0	0	0	0	0	28.83	28.83	28.83
2088	-1.35	-170.3	2096	1967	3250	3426	188.2	-8.6	141	2090	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	1967	3338	3250	3426	0	0	0	0	0	0	28.83	28.83	28.83
2389	-1.35	-170.3	2096	1966	3250	3422	214.5	-8.7	156	2395	0.00	2.10	0.00	0.000	260	0.000	0.031	2088	3348	3336	3250	3422	0	0	0	0	0	0	28.83	26.54	28.83
2458	-1.35	-170.3	2088	3348	3250	3421	220.7	-8.7	159	2465	0.00	2.08	0.00	0.000	1030	0.000	0.027	2090	1966	3336	3250	3422	0	0	0	0	0	0	28.83	26.56	28.83
2785	-1.35	-170.3	2088	1966	3250	3417	250.0	-9.1	175	2791	0.00	2.12	0.00	0.000	516	0.000	0.044	2098	575	3333	3250	3417	0	0	0	0	0	0	28.83	26.49	28.83
2842	-1.35	-170.3	2098	575	3250	3417	254.3	-9.0	177	2848	0.00	2.00	0.00	0.000	1030	0.000	0.016	2089	1972	3333	3250	3417	0	0	0	0	0	0	28.83	26.64	28.83
3157	-1.35	-170.3	2089	1973	3250	3413	283.9	-9.3	193	3163	0.00	2.08	0.00	0.000	260	0.000	0.033	2079	3356	3331	3250	3412	0	0	0	0	0	0	28.83	26.53	28.83
3260	-1.35	-170.3	2079	3356	3250	3411	291.9	-9.1	197	3268	0.10	2.08	0.00	0.000	3078	0.159	0.028	2103	1977	3330	3250	3410	0	0	0	0	0	0	26.34	26.55	28.83
3565	-1.35	-170.3	2103	1976	3248	3408	321.3	-9.4	213	3571	0.00	2.17	0.00	0.000	516	0.000	0.045	2114	568	3328	3248	3408	0	0	0	0	0	0	28.83	26.48	28.83
3612	-1.35	-170.3	2113	568	3248	3407	325.5	-9.1	215	3618	0.00	2.03	0.00	0.000	1030	0.000	0.017	2105	1966	3328	3249	3407	0	0	0	0	0	0	28.83	26.62	28.83
3938	-1.35	-170.3	2105	1967	3246	3405	354.3	-9.0	231	3944	0.00	2.10	0.00	0.000	260	0.000	0.034	2095	3362	3325	3245	3405	0	0	0	0	0	0	28.83	26.50	28.83
3974	-1.35	-170.3	2095	3362	3244	3405	356.5	-8.9	232	3980	0.00	2.10	0.00	0.000	1030	0.000	0.030	2095	1978	3325	3245	3405	0	0	0	0	0	0	28.83	26.53	28.83
4288	-1.35	-170.3	2095	1978	3242	3403	385.5	-8.7	248	4290	0.00	0.00	0.00	0.000	6	0.000	0.000	2095	1978	3322	3242	3402	0	0	0	0	0	0	28.83	28.83	28.83
4466	end dive: TARGET_DEPTH_EXCEEDED
state	4466	begin apogee
4473	-0.25	0.0	2094	2305	3242	3401	401.7	-8.8	257	4631	0.77	0.00	148.43	0.872	10246	0.112	0.000	2347	2305	2630	2583	2678	0	0	0	0	0	0	26.20	28.83	24.44
4633	end apogee: CONTROL_FINISHED_OK
state	4633	begin climb
4636	1.35	170.3	2347	2305	2581	2676	387.3	0.0	264	4799	0.98	2.30	154.30	0.852	10500	0.051	0.034	2702	3680	1937	1907	1967	0	0	0	0	0	0	25.30	24.98	24.29
5000	1.36	175.0	2702	3680	1904	1944	354.3	9.1	280	5006	0.00	2.15	0.00	0.000	1030	0.000	0.026	2712	2297	1923	1904	1943	0	0	0	0	0	0	28.83	25.91	28.83
5319	1.36	175.0	2711	2297	1904	1940	324.5	9.3	296	5326	0.00	2.20	0.00	0.000	516	0.000	0.043	2723	892	1921	1903	1940	0	0	0	0	0	0	28.83	26.17	28.83
5377	1.37	178.9	2722	892	1902	1940	320.2	9.1	298	5384	0.10	2.10	1.58	0.055	13318	0.190	0.018	2702	2307	1908	1887	1930	0	0	0	0	0	0	26.03	26.32	26.15
5694	1.39	184.5	2701	2307	1887	1933	290.9	9.1	314	5706	0.00	2.12	5.20	0.706	8452	0.000	0.034	2701	3694	1886	1863	1910	0	0	0	0	0	0	28.83	26.33	25.41
5766	1.40	189.0	2701	3695	1864	1912	284.8	9.1	317	5785	0.00	2.15	9.65	0.768	9222	0.000	0.026	2710	2290	1865	1842	1888	0	0	0	0	0	0	28.83	26.34	25.45
6083	1.42	196.2	2710	2290	1842	1883	256.1	9.0	333	6099	0.00	2.25	7.25	0.747	8708	0.000	0.044	2721	894	1837	1813	1862	0	0	0	0	0	0	28.83	26.25	25.46
6200	1.44	205.8	2722	894	1812	1860	246.4	8.9	338	6219	0.00	2.10	10.95	0.748	9222	0.000	0.018	2721	2302	1795	1770	1821	0	0	0	0	0	0	28.83	26.36	25.41
6540	1.44	206.0	2721	2302	1768	1815	214.7	9.3	355	6542	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2302	1791	1768	1815	0	0	0	0	0	0	28.83	28.83	28.83
6840	1.46	212.5	2721	2302	1768	1814	187.2	9.0	370	6847	0.00	0.00	4.90	0.669	8198	0.000	0.000	2721	2302	1772	1746	1798	0	0	0	0	0	0	28.83	28.83	25.34
7139	1.46	212.5	2721	2302	1746	1798	160.7	9.3	385	7145	0.00	2.22	0.00	0.000	516	0.000	0.042	2731	897	1772	1746	1798	0	0	0	0	0	0	28.83	26.35	28.83
7211	1.48	220.8	2730	897	1746	1798	154.6	9.0	388	7230	0.00	2.08	10.82	0.674	9222	0.000	0.018	2731	2301	1735	1706	1765	0	0	0	0	0	0	28.83	26.48	25.59
7528	1.49	226.7	2730	2301	1704	1760	125.9	9.0	404	7539	0.00	2.12	4.70	0.616	8452	0.000	0.035	2732	3690	1714	1683	1745	0	0	0	0	0	0	28.83	26.36	25.34
7596	1.51	232.9	2731	3690	1683	1745	119.9	9.0	407	7612	0.00	2.15	8.57	0.646	9222	0.000	0.028	2741	2295	1686	1652	1721	0	0	0	0	0	0	28.83	26.36	25.54
7922	1.52	235.6	2741	2295	1651	1715	90.4	9.2	423	7923	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2295	1683	1651	1715	0	0	0	0	0	0	28.83	28.83	28.83
8222	1.53	243.1	2741	2295	1651	1714	63.2	9.0	438	8239	0.00	2.17	10.02	0.597	8452	0.000	0.035	2741	3690	1644	1599	1689	0	0	0	0	0	0	28.83	26.34	25.66
8268	1.54	244.6	2741	3690	1596	1688	58.8	9.2	440	8275	0.00	2.15	0.00	0.000	1030	0.000	0.028	2751	2289	1642	1596	1688	0	0	0	0	0	0	28.83	26.34	28.83
8584	1.56	253.2	2750	2289	1596	1686	30.1	8.9	466	8602	0.00	2.22	10.35	0.563	8708	0.000	0.044	2761	896	1602	1552	1652	0	0	0	0	0	0	28.83	26.31	25.66
8770	1.56	253.2	1712	896	1516	1640	13.5	9.4	494	8778	0.10	2.08	0.00	0.000	5126	0.187	0.017	2740	2305	1599	1551	1647	0	0	0	0	0	0	26.15	26.43	28.83
8884	end climb: SURFACE_DEPTH_REACHED
state	8884	begin surface coast
8919	end surface coast: CONTROL_FINISHED_OK
state	8920	begin surface