Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 107 * 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 107 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 350 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 52 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 60 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 2795 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 126 CALL_WAIT 5 PITCH_VBD_SHIFT 0.0024999999 DEVICE5 -1

T_MISSION 150 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 180 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 -100628.98 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -4 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 2350 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 27 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 350 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 27 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 180

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 126

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 -100628.98

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 150

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 2350 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 2795 LOGGERDEVICE4 -1 ROLL_MAX 3878 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -4

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 52 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 60 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 107 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 160313,081025,1855.121,12007.922,691,0.8,692,-2.4 TGT_NAME W2A

_CALLS 1 TGT_LATLONG 2145.000,12000.000

_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 -57.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160313,081648,1855.242,12007.915,21,0.9,21,-2.4 MHEAD_RNG_PITCHd_Wd 319.9,314686,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 2181

Post-dive calculations and measurements:

FINISH 0.0,1.026456 _10V_AH 10.3,12.152

SM_CCo 7829,242.27,0.887,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,6.97,1.62,242.27,0.061,0.015,0.887,92,1987,511,-10.30,-1.95,560.02,0,0,0,0,1,0,26.34,26.44,24.31 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1846.42,12008.99,160313,050544 MEM 323904

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16820,472

HUMID 48.34 CAP_FILE_SIZE 377957,1865

INTERNAL_PRESSURE 9.02877 CFSIZE 260034560,238309376

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 1 CURRENT 0.178, 69.7,1

SC_FREEKB 3981952 GPS 160313,104434,1856.182,12008.086,724,1.0,724,-2.4

_24V_AH 24.3,19.352

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 220 88.47 nil 0 0 0.00

Roll_motor 63 44 68.60 nil 0 0 0.00

VBD_pump_during_apogee 399 869 8447.64 nil 0 0 0.00

VBD_pump_during_surface 242 887 5224.37 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 7813 7 1382.91

Iridium_during_xfer 220 134 719.79 nil 0 0 0.00

Transponder_ping 0 420 2.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 29 7.07

TT8 1836 14 273.49

LPSleep 4148 2 93.57

TT8_Active 748 14 111.55

TT8_Sampling 1460 39 589.44

TT8_CF8 250 46 120.64

TT8_Kalman 0 0 0.00

Analog_circuits 1710 15 273.05

GPS_charging 0 0 0.00

Compass 1215 7 93.76

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 15 begin dive

17 -1.11 -170.3 82 1947 465 557 0.0 0.0 0 43 0.00 0.00 -23.60 0.000 16386 0.000 0.000 82 1947 1135 1124 1146 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.11 -170.3 83 1948 1124 1151 3.2 -9.0 3 137 7.90 2.25 -78.28 0.000 18692 0.220 0.044 2093 3381 3492 3408 3577 0 0 0 0 0 0 25.91 26.23 26.51

277 -1.11 -170.3 1248 3379 3392 3576 24.6 -9.2 41 287 0.00 2.12 0.00 0.000 1030 0.000 0.028 2101 1979 3494 3410 3579 0 0 0 0 0 0 28.83 26.34 28.83

585 -1.11 -170.3 2101 1979 3412 3579 52.1 -9.0 71 591 0.00 2.15 0.00 0.000 516 0.000 0.041 2111 567 3496 3413 3579 0 0 0 0 0 0 28.83 26.46 28.83

809 -1.11 -170.3 2111 567 3415 3579 70.9 -9.1 81 818 0.00 2.05 0.00 0.000 1030 0.000 0.015 2103 1993 3497 3415 3579 0 0 0 0 0 0 28.83 26.59 28.83

1115 -1.11 -170.3 2103 1994 3416 3579 99.8 -8.9 97 1116 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 1995 3497 3416 3579 0 0 0 0 0 0 28.83 28.83 28.83

1415 -1.11 -170.3 2103 1994 3416 3579 126.7 -8.7 112 1416 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 1995 3497 3416 3579 0 0 0 0 0 0 28.83 28.83 28.83

1716 -1.11 -170.3 2103 1994 3416 3579 153.3 -8.9 127 1722 0.00 2.17 0.00 0.000 516 0.000 0.038 2111 571 3497 3416 3579 0 0 0 0 0 0 28.83 26.64 28.83

1765 -1.11 -170.3 2111 571 3416 3578 157.5 -8.9 129 1772 0.00 2.00 0.00 0.000 1030 0.000 0.016 2103 1975 3497 3416 3579 0 0 0 0 0 0 28.83 26.71 28.83

2086 -1.11 -170.3 2103 1978 3416 3576 186.1 -9.2 145 2087 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 1978 3496 3416 3576 0 0 0 0 0 0 28.83 28.83 28.83

2387 -1.11 -170.3 2103 1978 3416 3573 212.7 -9.0 160 2392 0.00 2.17 0.00 0.000 516 0.000 0.040 2111 560 3494 3416 3573 0 0 0 0 0 0 28.83 26.67 28.83

2479 -1.11 -170.3 2111 560 3416 3572 220.7 -8.9 164 2484 0.00 2.03 0.00 0.000 1030 0.000 0.016 2103 1979 3494 3416 3573 0 0 0 0 0 0 28.83 26.74 28.83

2799 -1.11 -170.3 2103 1980 3416 3569 249.3 -8.9 180 2805 0.00 2.03 0.00 0.000 260 0.000 0.031 2093 3348 3492 3416 3568 0 0 0 0 0 0 28.83 26.70 28.83

2839 -1.11 -170.3 2093 3348 3416 3567 251.6 -9.0 181 2847 0.00 2.05 0.00 0.000 1030 0.000 0.025 2093 1969 3491 3416 3567 0 0 0 0 0 0 28.83 26.71 28.83

3145 -1.11 -170.3 2093 1969 3414 3566 280.3 -8.8 197 3151 0.00 2.12 0.00 0.000 516 0.000 0.044 2102 571 3490 3414 3566 0 0 0 0 0 0 28.83 26.68 28.83

3205 -1.11 -170.3 2102 571 3414 3566 284.5 -8.9 199 3213 0.00 2.03 0.00 0.000 1030 0.000 0.017 2094 1982 3489 3413 3565 0 0 0 0 0 0 28.83 26.75 28.83

3512 -1.11 -170.3 2094 1982 3411 3564 312.9 -8.9 215 3518 0.00 2.03 0.00 0.000 260 0.000 0.032 2083 3352 3487 3412 3563 0 0 0 0 0 0 28.83 26.70 28.83

3546 -1.11 -170.3 2082 3352 3411 3563 315.1 -8.9 216 3554 0.10 2.05 0.00 0.000 3078 0.162 0.026 2108 1975 3487 3411 3563 0 0 0 0 0 0 26.57 26.72 28.83

3863 -1.11 -170.3 2108 1975 3410 3562 344.5 -8.7 232 3868 0.00 2.15 0.00 0.000 516 0.000 0.044 2118 567 3485 3410 3561 0 0 0 0 0 0 28.83 26.68 28.83

3929 end dive: TARGET_DEPTH_EXCEEDED

state 3929 begin apogee

3936 -0.19 0.0 2108 2294 3409 3560 350.7 -9.2 235 4091 0.60 0.00 145.80 0.870 10246 0.116 0.000 2307 2294 2787 2748 2827 0 0 0 0 0 0 26.57 28.83 24.52

4093 end apogee: CONTROL_FINISHED_OK

state 4093 begin climb

4094 1.11 170.3 2306 2294 2746 2824 336.4 0.0 242 4260 0.82 2.30 152.18 0.828 10500 0.069 0.033 2598 3691 2089 2053 2125 0 0 0 0 0 0 25.29 25.05 24.40

4364 1.13 175.8 2598 3691 2049 2117 311.4 9.1 254 4370 0.00 2.15 0.00 0.000 1030 0.000 0.022 2608 2297 2082 2049 2116 0 0 0 0 0 0 28.83 25.74 28.83

4689 1.13 175.8 2608 2297 2046 2113 281.6 9.6 270 4696 0.00 2.17 0.00 0.000 516 0.000 0.041 2618 897 2079 2046 2113 0 0 0 0 0 0 28.83 26.20 28.83

4800 1.14 181.7 1664 896 1991 2102 271.8 9.0 275 4811 0.00 2.08 4.22 0.640 9222 0.000 0.016 2618 2312 2053 2018 2089 0 0 0 0 0 0 28.83 26.35 25.28

5120 1.15 183.9 2618 2312 2018 2096 242.7 9.2 291 5132 0.00 2.15 2.55 0.340 8452 0.000 0.033 2618 3687 2044 2007 2082 0 0 0 0 0 0 28.83 26.39 25.29

5160 1.15 186.8 1672 3686 1955 2075 240.3 9.2 292 5174 0.12 2.10 8.52 0.792 13318 0.173 0.024 2598 2291 2031 1994 2069 0 0 0 0 0 0 26.25 26.42 25.51

5493 1.21 207.7 2597 2291 1992 2063 209.3 8.5 309 5516 0.00 0.00 21.65 0.791 8198 0.000 0.000 2598 2291 1946 1910 1983 0 0 0 0 0 0 28.83 28.83 25.39

5813 1.21 208.6 2597 2291 1905 1972 180.9 9.2 325 5819 0.00 2.15 0.00 0.000 516 0.000 0.041 2607 901 1938 1905 1972 0 0 0 0 0 0 28.83 26.34 28.83

5859 1.23 216.9 2607 901 1904 1971 176.9 9.0 327 5876 0.00 2.05 8.68 0.782 9222 0.000 0.016 2606 2300 1906 1875 1937 0 0 0 0 0 0 28.83 26.44 25.50

6186 1.25 225.0 2607 2300 1874 1930 147.2 9.0 343 6202 0.00 2.15 8.18 0.770 8452 0.000 0.034 2607 3680 1873 1844 1902 0 0 0 0 0 0 28.83 26.29 25.56

6296 1.26 230.5 1616 3679 1796 1889 137.0 9.1 348 6307 0.00 2.08 4.43 0.672 9222 0.000 0.024 2617 2302 1854 1825 1883 0 0 0 0 0 0 28.83 26.36 25.34

6621 1.28 237.4 2616 2301 1825 1883 107.3 9.0 364 6638 0.00 2.25 9.32 0.751 8708 0.000 0.043 2627 896 1823 1792 1854 0 0 0 0 0 0 28.83 26.28 25.57

6775 1.30 245.5 2627 896 1790 1851 93.9 9.0 371 6792 0.00 2.08 8.68 0.743 9222 0.000 0.016 2627 2308 1789 1758 1821 0 0 0 0 0 0 28.83 26.44 25.53

7091 1.32 253.0 2626 2308 1756 1816 65.0 9.0 387 7101 0.00 0.00 7.93 0.732 8198 0.000 0.000 2627 2308 1762 1731 1794 0 0 0 0 0 0 28.83 28.83 25.58

7392 1.34 259.6 2627 2308 1726 1786 37.8 9.0 408 7402 0.00 0.00 5.57 0.698 8198 0.000 0.000 2627 2308 1737 1706 1768 0 0 0 0 0 0 28.83 28.83 25.58

7711 1.36 269.3 1616 2305 1663 1758 8.8 8.9 455 7729 0.00 2.30 11.98 0.696 8708 0.000 0.040 2637 897 1693 1658 1728 0 0 0 0 0 0 28.83 26.29 25.64

7778 end climb: SURFACE_DEPTH_REACHED

state 7779 begin surface coast

7812 end surface coast: CONTROL_FINISHED_OK

state 7812 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	107	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	350	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	52	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	60	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	2795	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	126	CALL_WAIT	5	PITCH_VBD_SHIFT	0.0024999999	DEVICE5	-1
T_MISSION	150	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	180	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	-100628.98	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-4	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	2350	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	27	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	160313,081025,1855.121,12007.922,691,0.8,692,-2.4	TGT_NAME	W2A
_CALLS	1	TGT_LATLONG	2145.000,12000.000
_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	-57.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160313,081648,1855.242,12007.915,21,0.9,21,-2.4	MHEAD_RNG_PITCHd_Wd	319.9,314686,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	2181

FINISH	0.0,1.026456	_10V_AH	10.3,12.152
SM_CCo	7829,242.27,0.887,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,6.97,1.62,242.27,0.061,0.015,0.887,92,1987,511,-10.30,-1.95,560.02,0,0,0,0,1,0,26.34,26.44,24.31	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1846.42,12008.99,160313,050544	MEM	323904
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16820,472
HUMID	48.34	CAP_FILE_SIZE	377957,1865
INTERNAL_PRESSURE	9.02877	CFSIZE	260034560,238309376
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	1	CURRENT	0.178, 69.7,1
SC_FREEKB	3981952	GPS	160313,104434,1856.182,12008.086,724,1.0,724,-2.4
_24V_AH	24.3,19.352

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	220	88.47	nil	0	0	0.00
Roll_motor	63	44	68.60	nil	0	0	0.00
VBD_pump_during_apogee	399	869	8447.64	nil	0	0	0.00
VBD_pump_during_surface	242	887	5224.37	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	7813	7	1382.91
Iridium_during_xfer	220	134	719.79	nil	0	0	0.00
Transponder_ping	0	420	2.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	29	7.07
TT8	1836	14	273.49
LPSleep	4148	2	93.57
TT8_Active	748	14	111.55
TT8_Sampling	1460	39	589.44
TT8_CF8	250	46	120.64
TT8_Kalman	0	0	0.00
Analog_circuits	1710	15	273.05
GPS_charging	0	0	0.00
Compass	1215	7	93.76
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	15	begin dive
17	-1.11	-170.3	82	1947	465	557	0.0	0.0	0	43	0.00	0.00	-23.60	0.000	16386	0.000	0.000	82	1947	1135	1124	1146	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.11	-170.3	83	1948	1124	1151	3.2	-9.0	3	137	7.90	2.25	-78.28	0.000	18692	0.220	0.044	2093	3381	3492	3408	3577	0	0	0	0	0	0	25.91	26.23	26.51
277	-1.11	-170.3	1248	3379	3392	3576	24.6	-9.2	41	287	0.00	2.12	0.00	0.000	1030	0.000	0.028	2101	1979	3494	3410	3579	0	0	0	0	0	0	28.83	26.34	28.83
585	-1.11	-170.3	2101	1979	3412	3579	52.1	-9.0	71	591	0.00	2.15	0.00	0.000	516	0.000	0.041	2111	567	3496	3413	3579	0	0	0	0	0	0	28.83	26.46	28.83
809	-1.11	-170.3	2111	567	3415	3579	70.9	-9.1	81	818	0.00	2.05	0.00	0.000	1030	0.000	0.015	2103	1993	3497	3415	3579	0	0	0	0	0	0	28.83	26.59	28.83
1115	-1.11	-170.3	2103	1994	3416	3579	99.8	-8.9	97	1116	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	1995	3497	3416	3579	0	0	0	0	0	0	28.83	28.83	28.83
1415	-1.11	-170.3	2103	1994	3416	3579	126.7	-8.7	112	1416	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	1995	3497	3416	3579	0	0	0	0	0	0	28.83	28.83	28.83
1716	-1.11	-170.3	2103	1994	3416	3579	153.3	-8.9	127	1722	0.00	2.17	0.00	0.000	516	0.000	0.038	2111	571	3497	3416	3579	0	0	0	0	0	0	28.83	26.64	28.83
1765	-1.11	-170.3	2111	571	3416	3578	157.5	-8.9	129	1772	0.00	2.00	0.00	0.000	1030	0.000	0.016	2103	1975	3497	3416	3579	0	0	0	0	0	0	28.83	26.71	28.83
2086	-1.11	-170.3	2103	1978	3416	3576	186.1	-9.2	145	2087	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	1978	3496	3416	3576	0	0	0	0	0	0	28.83	28.83	28.83
2387	-1.11	-170.3	2103	1978	3416	3573	212.7	-9.0	160	2392	0.00	2.17	0.00	0.000	516	0.000	0.040	2111	560	3494	3416	3573	0	0	0	0	0	0	28.83	26.67	28.83
2479	-1.11	-170.3	2111	560	3416	3572	220.7	-8.9	164	2484	0.00	2.03	0.00	0.000	1030	0.000	0.016	2103	1979	3494	3416	3573	0	0	0	0	0	0	28.83	26.74	28.83
2799	-1.11	-170.3	2103	1980	3416	3569	249.3	-8.9	180	2805	0.00	2.03	0.00	0.000	260	0.000	0.031	2093	3348	3492	3416	3568	0	0	0	0	0	0	28.83	26.70	28.83
2839	-1.11	-170.3	2093	3348	3416	3567	251.6	-9.0	181	2847	0.00	2.05	0.00	0.000	1030	0.000	0.025	2093	1969	3491	3416	3567	0	0	0	0	0	0	28.83	26.71	28.83
3145	-1.11	-170.3	2093	1969	3414	3566	280.3	-8.8	197	3151	0.00	2.12	0.00	0.000	516	0.000	0.044	2102	571	3490	3414	3566	0	0	0	0	0	0	28.83	26.68	28.83
3205	-1.11	-170.3	2102	571	3414	3566	284.5	-8.9	199	3213	0.00	2.03	0.00	0.000	1030	0.000	0.017	2094	1982	3489	3413	3565	0	0	0	0	0	0	28.83	26.75	28.83
3512	-1.11	-170.3	2094	1982	3411	3564	312.9	-8.9	215	3518	0.00	2.03	0.00	0.000	260	0.000	0.032	2083	3352	3487	3412	3563	0	0	0	0	0	0	28.83	26.70	28.83
3546	-1.11	-170.3	2082	3352	3411	3563	315.1	-8.9	216	3554	0.10	2.05	0.00	0.000	3078	0.162	0.026	2108	1975	3487	3411	3563	0	0	0	0	0	0	26.57	26.72	28.83
3863	-1.11	-170.3	2108	1975	3410	3562	344.5	-8.7	232	3868	0.00	2.15	0.00	0.000	516	0.000	0.044	2118	567	3485	3410	3561	0	0	0	0	0	0	28.83	26.68	28.83
3929	end dive: TARGET_DEPTH_EXCEEDED
state	3929	begin apogee
3936	-0.19	0.0	2108	2294	3409	3560	350.7	-9.2	235	4091	0.60	0.00	145.80	0.870	10246	0.116	0.000	2307	2294	2787	2748	2827	0	0	0	0	0	0	26.57	28.83	24.52
4093	end apogee: CONTROL_FINISHED_OK
state	4093	begin climb
4094	1.11	170.3	2306	2294	2746	2824	336.4	0.0	242	4260	0.82	2.30	152.18	0.828	10500	0.069	0.033	2598	3691	2089	2053	2125	0	0	0	0	0	0	25.29	25.05	24.40
4364	1.13	175.8	2598	3691	2049	2117	311.4	9.1	254	4370	0.00	2.15	0.00	0.000	1030	0.000	0.022	2608	2297	2082	2049	2116	0	0	0	0	0	0	28.83	25.74	28.83
4689	1.13	175.8	2608	2297	2046	2113	281.6	9.6	270	4696	0.00	2.17	0.00	0.000	516	0.000	0.041	2618	897	2079	2046	2113	0	0	0	0	0	0	28.83	26.20	28.83
4800	1.14	181.7	1664	896	1991	2102	271.8	9.0	275	4811	0.00	2.08	4.22	0.640	9222	0.000	0.016	2618	2312	2053	2018	2089	0	0	0	0	0	0	28.83	26.35	25.28
5120	1.15	183.9	2618	2312	2018	2096	242.7	9.2	291	5132	0.00	2.15	2.55	0.340	8452	0.000	0.033	2618	3687	2044	2007	2082	0	0	0	0	0	0	28.83	26.39	25.29
5160	1.15	186.8	1672	3686	1955	2075	240.3	9.2	292	5174	0.12	2.10	8.52	0.792	13318	0.173	0.024	2598	2291	2031	1994	2069	0	0	0	0	0	0	26.25	26.42	25.51
5493	1.21	207.7	2597	2291	1992	2063	209.3	8.5	309	5516	0.00	0.00	21.65	0.791	8198	0.000	0.000	2598	2291	1946	1910	1983	0	0	0	0	0	0	28.83	28.83	25.39
5813	1.21	208.6	2597	2291	1905	1972	180.9	9.2	325	5819	0.00	2.15	0.00	0.000	516	0.000	0.041	2607	901	1938	1905	1972	0	0	0	0	0	0	28.83	26.34	28.83
5859	1.23	216.9	2607	901	1904	1971	176.9	9.0	327	5876	0.00	2.05	8.68	0.782	9222	0.000	0.016	2606	2300	1906	1875	1937	0	0	0	0	0	0	28.83	26.44	25.50
6186	1.25	225.0	2607	2300	1874	1930	147.2	9.0	343	6202	0.00	2.15	8.18	0.770	8452	0.000	0.034	2607	3680	1873	1844	1902	0	0	0	0	0	0	28.83	26.29	25.56
6296	1.26	230.5	1616	3679	1796	1889	137.0	9.1	348	6307	0.00	2.08	4.43	0.672	9222	0.000	0.024	2617	2302	1854	1825	1883	0	0	0	0	0	0	28.83	26.36	25.34
6621	1.28	237.4	2616	2301	1825	1883	107.3	9.0	364	6638	0.00	2.25	9.32	0.751	8708	0.000	0.043	2627	896	1823	1792	1854	0	0	0	0	0	0	28.83	26.28	25.57
6775	1.30	245.5	2627	896	1790	1851	93.9	9.0	371	6792	0.00	2.08	8.68	0.743	9222	0.000	0.016	2627	2308	1789	1758	1821	0	0	0	0	0	0	28.83	26.44	25.53
7091	1.32	253.0	2626	2308	1756	1816	65.0	9.0	387	7101	0.00	0.00	7.93	0.732	8198	0.000	0.000	2627	2308	1762	1731	1794	0	0	0	0	0	0	28.83	28.83	25.58
7392	1.34	259.6	2627	2308	1726	1786	37.8	9.0	408	7402	0.00	0.00	5.57	0.698	8198	0.000	0.000	2627	2308	1737	1706	1768	0	0	0	0	0	0	28.83	28.83	25.58
7711	1.36	269.3	1616	2305	1663	1758	8.8	8.9	455	7729	0.00	2.30	11.98	0.696	8708	0.000	0.040	2637	897	1693	1658	1728	0	0	0	0	0	0	28.83	26.29	25.64
7778	end climb: SURFACE_DEPTH_REACHED
state	7779	begin surface coast
7812	end surface coast: CONTROL_FINISHED_OK
state	7812	begin surface