Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 115 * 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 115 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 50 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 58 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 -100639.04 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 2365 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 350 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 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 -100639.04

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 2365 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 50 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 58 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 115 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 170313,041852,1902.842,12007.034,515,0.8,515,-2.4 TGT_NAME W2A

_CALLS 2 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 -65.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170313,042700,1902.906,12007.112,16,2.0,17,-2.4 MHEAD_RNG_PITCHd_Wd 22.4,300447,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3032

Post-dive calculations and measurements:

FINISH 0.0,1.026523 _10V_AH 10.2,12.710

SM_CCo 7833,262.38,0.864,1,0,512,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.30,0.52,262.38,0.074,0.034,0.864,87,1953,512,-10.39,0.99,560.02,0,0,0,0,1,0,26.47,26.53,24.27 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1855.54,12005.05,170313,040431 MEM 323820

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16816,469

HUMID 48.03 CAP_FILE_SIZE 396316,2015

INTERNAL_PRESSURE 9.00924 CFSIZE 260034560,237428736

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

XPDR_PINGS 0 CURRENT 0.188, 9.3,1

SC_FREEKB 3978880 GPS 170313,065319,1904.499,12007.432,613,0.8,614,-2.5

_24V_AH 24.3,20.622

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 226 94.64 nil 0 0 0.00

Roll_motor 63 42 66.31 nil 0 0 0.00

VBD_pump_during_apogee 375 887 8091.28 nil 0 0 0.00

VBD_pump_during_surface 262 863 5506.61 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 7817 7 1370.70

Iridium_during_xfer 324 127 1006.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 29 5.32

TT8 1914 14 282.37

LPSleep 4001 2 89.38

TT8_Active 759 14 111.97

TT8_Sampling 1622 39 648.39

TT8_CF8 275 46 131.22

TT8_Kalman 0 0 0.00

Analog_circuits 1869 15 295.52

GPS_charging 0 0 0.00

Compass 1292 7 98.74

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 82 1952 466 553 0.0 0.0 0 44 0.00 0.00 -24.23 0.000 16386 0.000 0.000 82 1953 1138 1120 1157 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 82 1953 1120 1159 3.4 -9.2 3 154 7.95 2.22 -92.93 0.000 18692 0.226 0.043 2053 3371 3492 3406 3578 0 0 0 0 0 0 25.85 26.19 26.46

401 -1.35 -170.3 2053 3371 3410 3579 35.8 -8.9 52 407 0.00 2.10 0.00 0.000 1030 0.000 0.024 2061 1973 3495 3410 3580 0 0 0 0 0 0 28.83 26.38 28.83

726 -1.35 -170.3 2061 1972 3414 3580 65.2 -9.1 76 732 0.00 2.12 0.00 0.000 516 0.000 0.040 2071 573 3497 3414 3580 0 0 0 0 0 0 28.83 26.48 28.83

863 -1.35 -170.3 2071 572 3415 3579 76.5 -9.0 82 870 0.00 2.05 0.00 0.000 1030 0.000 0.015 2063 2001 3497 3415 3580 0 0 0 0 0 0 28.83 26.58 28.83

1179 -1.35 -170.3 2063 2001 3415 3580 105.6 -9.0 98 1185 0.00 2.20 0.00 0.000 516 0.000 0.038 2071 570 3497 3415 3579 0 0 0 0 0 0 28.83 26.57 28.83

1219 -1.35 -170.3 2071 570 3415 3580 107.9 -8.8 99 1227 0.00 2.03 0.00 0.000 1030 0.000 0.016 2063 1982 3497 3415 3580 0 0 0 0 0 0 28.83 26.63 28.83

1526 -1.35 -170.3 2062 1984 3415 3579 136.3 -9.0 115 1533 0.00 2.17 0.00 0.000 516 0.000 0.040 2071 570 3497 3415 3579 0 0 0 0 0 0 28.83 26.60 28.83

1576 -1.35 -170.3 2070 569 3415 3579 140.4 -8.8 117 1582 0.00 2.03 0.00 0.000 1030 0.000 0.016 2062 1981 3496 3415 3578 0 0 0 0 0 0 28.83 26.67 28.83

1896 -1.35 -170.3 2062 1981 3415 3576 169.4 -8.9 133 1902 0.00 2.17 0.00 0.000 516 0.000 0.040 2069 568 3495 3415 3575 0 0 0 0 0 0 28.83 26.63 28.83

2013 -1.35 -170.3 2069 568 3415 3575 179.3 -9.1 138 2019 0.00 2.03 0.00 0.000 1030 0.000 0.016 2060 1979 3494 3415 3574 0 0 0 0 0 0 28.83 26.70 28.83

2327 -1.35 -170.3 2059 1979 3415 3571 208.8 -8.8 154 2333 0.00 2.17 0.00 0.000 516 0.000 0.041 2063 570 3493 3415 3571 0 0 0 0 0 0 28.83 26.65 28.83

2394 -1.35 -170.3 2063 570 3415 3570 214.7 -8.9 157 2400 0.00 2.03 0.00 0.000 1030 0.000 0.016 2054 1972 3492 3415 3570 0 0 0 0 0 0 28.83 26.72 28.83

2719 -1.35 -170.3 2054 1972 3413 3567 244.3 -9.6 173 2725 0.00 2.17 0.00 0.000 516 0.000 0.042 2060 567 3490 3414 3566 0 0 0 0 0 0 28.83 26.66 28.83

2883 -1.35 -170.3 2059 567 3413 3566 258.3 -9.2 180 2889 0.00 2.03 0.00 0.000 1030 0.000 0.016 2051 1974 3489 3412 3566 0 0 0 0 0 0 28.83 26.73 28.83

3197 -1.35 -170.3 2051 1975 3410 3563 287.2 -8.9 196 3198 0.00 0.00 0.00 0.000 6 0.000 0.000 2051 1975 3486 3410 3563 0 0 0 0 0 0 28.83 28.83 28.83

3498 -1.35 -170.3 2051 1975 3408 3561 314.3 -8.9 211 3504 0.00 2.17 0.00 0.000 516 0.000 0.042 2058 571 3484 3408 3561 0 0 0 0 0 0 28.83 26.67 28.83

3575 -1.35 -170.3 2057 571 3408 3561 320.5 -9.1 214 3581 0.00 2.03 0.00 0.000 1030 0.000 0.017 2049 1974 3484 3408 3561 0 0 0 0 0 0 28.83 26.74 28.83

3889 -1.35 -170.3 2049 1974 3405 3558 349.7 -9.2 230 3896 0.10 2.08 0.00 0.000 2308 0.186 0.031 2063 3360 3482 3406 3558 0 0 0 0 0 0 26.58 26.69 28.83

3914 end dive: TARGET_DEPTH_EXCEEDED

state 3914 begin apogee

3919 -0.25 0.0 2065 2301 3405 3558 352.1 -9.5 231 4076 0.75 0.00 148.32 0.887 10246 0.120 0.000 2311 2301 2788 2750 2827 0 0 0 0 0 0 26.54 28.83 24.46

4078 end apogee: CONTROL_FINISHED_OK

state 4078 begin climb

4079 1.35 170.3 2311 2301 2748 2824 337.9 0.0 238 4246 1.00 2.28 155.07 0.859 10500 0.066 0.034 2661 3683 2089 2053 2126 0 0 0 0 0 0 25.25 24.98 24.32

4485 1.35 170.3 2661 3684 2046 2114 301.4 9.4 256 4491 0.00 2.12 0.00 0.000 1030 0.000 0.023 2671 2295 2081 2048 2114 0 0 0 0 0 0 28.83 25.98 28.83

4800 1.36 174.6 2671 2295 2044 2110 272.5 9.1 272 4806 0.00 2.15 0.00 0.000 260 0.000 0.033 2672 3689 2077 2045 2110 0 0 0 0 0 0 28.83 26.27 28.83

4891 1.38 180.7 2671 3689 2044 2110 264.5 9.0 276 4902 0.00 2.10 3.15 0.484 9222 0.000 0.024 2681 2298 2057 2021 2093 0 0 0 0 0 0 28.83 26.34 25.25

5210 1.40 187.6 2681 2298 2021 2104 235.3 9.0 292 5227 0.00 2.25 12.00 0.812 8708 0.000 0.041 2692 899 2025 1987 2063 0 0 0 0 0 0 28.83 26.21 25.51

5445 1.40 189.4 2692 898 1981 2057 214.0 9.2 303 5452 0.10 2.08 0.00 0.000 5126 0.184 0.017 2670 2300 2018 1981 2056 0 0 0 0 0 0 26.22 26.42 28.83

5771 1.42 195.2 2670 2300 1981 2052 184.8 9.0 319 5782 0.00 2.15 3.70 0.580 8452 0.000 0.036 2670 3681 1998 1961 2036 0 0 0 0 0 0 28.83 26.44 25.37

5908 1.42 197.1 2670 3681 1961 2043 173.1 9.2 325 5922 0.00 2.08 4.32 0.662 9222 0.000 0.024 2679 2301 1989 1951 2028 0 0 0 0 0 0 28.83 26.49 25.39

6220 1.44 205.6 2679 2301 1951 2030 143.8 9.0 341 6243 0.00 2.22 11.85 0.761 8708 0.000 0.041 2690 907 1951 1914 1988 0 0 0 0 0 0 28.83 26.29 25.60

6288 1.46 213.9 2689 907 1913 1988 137.6 9.0 344 6304 0.00 2.05 8.75 0.757 9222 0.000 0.018 2690 2295 1917 1885 1950 0 0 0 0 0 0 28.83 26.39 25.51

6614 1.47 217.2 2689 2295 1886 1940 108.5 9.1 360 6615 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2295 1913 1886 1941 0 0 0 0 0 0 28.83 28.83 28.83

6913 1.50 227.1 2689 2294 1885 1940 81.6 8.9 375 6932 0.00 0.00 13.68 0.725 8198 0.000 0.000 2690 2295 1862 1835 1890 0 0 0 0 0 0 28.83 28.83 25.60

7233 1.53 241.3 2689 2295 1834 1883 53.0 8.7 391 7252 0.00 0.00 14.38 0.705 8198 0.000 0.000 2690 2295 1805 1776 1834 0 0 0 0 0 0 28.83 28.83 25.56

7554 1.53 242.2 2689 2295 1773 1828 23.6 9.2 422 7561 0.00 2.20 0.00 0.000 516 0.000 0.041 2699 893 1800 1774 1827 0 0 0 0 0 0 28.83 26.39 28.83

7623 1.53 242.2 1680 893 1728 1818 17.2 9.5 434 7631 0.00 2.08 0.00 0.000 1030 0.000 0.018 2699 2297 1800 1773 1827 0 0 0 0 0 0 28.83 26.48 28.83

7783 end climb: SURFACE_DEPTH_REACHED

state 7783 begin surface coast

7817 end surface coast: CONTROL_FINISHED_OK

state 7817 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	115	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	50	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	58	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	-100639.04	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	2365	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	170313,041852,1902.842,12007.034,515,0.8,515,-2.4	TGT_NAME	W2A
_CALLS	2	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	-65.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170313,042700,1902.906,12007.112,16,2.0,17,-2.4	MHEAD_RNG_PITCHd_Wd	22.4,300447,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3032

FINISH	0.0,1.026523	_10V_AH	10.2,12.710
SM_CCo	7833,262.38,0.864,1,0,512,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.30,0.52,262.38,0.074,0.034,0.864,87,1953,512,-10.39,0.99,560.02,0,0,0,0,1,0,26.47,26.53,24.27	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1855.54,12005.05,170313,040431	MEM	323820
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16816,469
HUMID	48.03	CAP_FILE_SIZE	396316,2015
INTERNAL_PRESSURE	9.00924	CFSIZE	260034560,237428736
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	0	CURRENT	0.188, 9.3,1
SC_FREEKB	3978880	GPS	170313,065319,1904.499,12007.432,613,0.8,614,-2.5
_24V_AH	24.3,20.622

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	226	94.64	nil	0	0	0.00
Roll_motor	63	42	66.31	nil	0	0	0.00
VBD_pump_during_apogee	375	887	8091.28	nil	0	0	0.00
VBD_pump_during_surface	262	863	5506.61	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	7817	7	1370.70
Iridium_during_xfer	324	127	1006.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	29	5.32
TT8	1914	14	282.37
LPSleep	4001	2	89.38
TT8_Active	759	14	111.97
TT8_Sampling	1622	39	648.39
TT8_CF8	275	46	131.22
TT8_Kalman	0	0	0.00
Analog_circuits	1869	15	295.52
GPS_charging	0	0	0.00
Compass	1292	7	98.74
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	82	1952	466	553	0.0	0.0	0	44	0.00	0.00	-24.23	0.000	16386	0.000	0.000	82	1953	1138	1120	1157	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	82	1953	1120	1159	3.4	-9.2	3	154	7.95	2.22	-92.93	0.000	18692	0.226	0.043	2053	3371	3492	3406	3578	0	0	0	0	0	0	25.85	26.19	26.46
401	-1.35	-170.3	2053	3371	3410	3579	35.8	-8.9	52	407	0.00	2.10	0.00	0.000	1030	0.000	0.024	2061	1973	3495	3410	3580	0	0	0	0	0	0	28.83	26.38	28.83
726	-1.35	-170.3	2061	1972	3414	3580	65.2	-9.1	76	732	0.00	2.12	0.00	0.000	516	0.000	0.040	2071	573	3497	3414	3580	0	0	0	0	0	0	28.83	26.48	28.83
863	-1.35	-170.3	2071	572	3415	3579	76.5	-9.0	82	870	0.00	2.05	0.00	0.000	1030	0.000	0.015	2063	2001	3497	3415	3580	0	0	0	0	0	0	28.83	26.58	28.83
1179	-1.35	-170.3	2063	2001	3415	3580	105.6	-9.0	98	1185	0.00	2.20	0.00	0.000	516	0.000	0.038	2071	570	3497	3415	3579	0	0	0	0	0	0	28.83	26.57	28.83
1219	-1.35	-170.3	2071	570	3415	3580	107.9	-8.8	99	1227	0.00	2.03	0.00	0.000	1030	0.000	0.016	2063	1982	3497	3415	3580	0	0	0	0	0	0	28.83	26.63	28.83
1526	-1.35	-170.3	2062	1984	3415	3579	136.3	-9.0	115	1533	0.00	2.17	0.00	0.000	516	0.000	0.040	2071	570	3497	3415	3579	0	0	0	0	0	0	28.83	26.60	28.83
1576	-1.35	-170.3	2070	569	3415	3579	140.4	-8.8	117	1582	0.00	2.03	0.00	0.000	1030	0.000	0.016	2062	1981	3496	3415	3578	0	0	0	0	0	0	28.83	26.67	28.83
1896	-1.35	-170.3	2062	1981	3415	3576	169.4	-8.9	133	1902	0.00	2.17	0.00	0.000	516	0.000	0.040	2069	568	3495	3415	3575	0	0	0	0	0	0	28.83	26.63	28.83
2013	-1.35	-170.3	2069	568	3415	3575	179.3	-9.1	138	2019	0.00	2.03	0.00	0.000	1030	0.000	0.016	2060	1979	3494	3415	3574	0	0	0	0	0	0	28.83	26.70	28.83
2327	-1.35	-170.3	2059	1979	3415	3571	208.8	-8.8	154	2333	0.00	2.17	0.00	0.000	516	0.000	0.041	2063	570	3493	3415	3571	0	0	0	0	0	0	28.83	26.65	28.83
2394	-1.35	-170.3	2063	570	3415	3570	214.7	-8.9	157	2400	0.00	2.03	0.00	0.000	1030	0.000	0.016	2054	1972	3492	3415	3570	0	0	0	0	0	0	28.83	26.72	28.83
2719	-1.35	-170.3	2054	1972	3413	3567	244.3	-9.6	173	2725	0.00	2.17	0.00	0.000	516	0.000	0.042	2060	567	3490	3414	3566	0	0	0	0	0	0	28.83	26.66	28.83
2883	-1.35	-170.3	2059	567	3413	3566	258.3	-9.2	180	2889	0.00	2.03	0.00	0.000	1030	0.000	0.016	2051	1974	3489	3412	3566	0	0	0	0	0	0	28.83	26.73	28.83
3197	-1.35	-170.3	2051	1975	3410	3563	287.2	-8.9	196	3198	0.00	0.00	0.00	0.000	6	0.000	0.000	2051	1975	3486	3410	3563	0	0	0	0	0	0	28.83	28.83	28.83
3498	-1.35	-170.3	2051	1975	3408	3561	314.3	-8.9	211	3504	0.00	2.17	0.00	0.000	516	0.000	0.042	2058	571	3484	3408	3561	0	0	0	0	0	0	28.83	26.67	28.83
3575	-1.35	-170.3	2057	571	3408	3561	320.5	-9.1	214	3581	0.00	2.03	0.00	0.000	1030	0.000	0.017	2049	1974	3484	3408	3561	0	0	0	0	0	0	28.83	26.74	28.83
3889	-1.35	-170.3	2049	1974	3405	3558	349.7	-9.2	230	3896	0.10	2.08	0.00	0.000	2308	0.186	0.031	2063	3360	3482	3406	3558	0	0	0	0	0	0	26.58	26.69	28.83
3914	end dive: TARGET_DEPTH_EXCEEDED
state	3914	begin apogee
3919	-0.25	0.0	2065	2301	3405	3558	352.1	-9.5	231	4076	0.75	0.00	148.32	0.887	10246	0.120	0.000	2311	2301	2788	2750	2827	0	0	0	0	0	0	26.54	28.83	24.46
4078	end apogee: CONTROL_FINISHED_OK
state	4078	begin climb
4079	1.35	170.3	2311	2301	2748	2824	337.9	0.0	238	4246	1.00	2.28	155.07	0.859	10500	0.066	0.034	2661	3683	2089	2053	2126	0	0	0	0	0	0	25.25	24.98	24.32
4485	1.35	170.3	2661	3684	2046	2114	301.4	9.4	256	4491	0.00	2.12	0.00	0.000	1030	0.000	0.023	2671	2295	2081	2048	2114	0	0	0	0	0	0	28.83	25.98	28.83
4800	1.36	174.6	2671	2295	2044	2110	272.5	9.1	272	4806	0.00	2.15	0.00	0.000	260	0.000	0.033	2672	3689	2077	2045	2110	0	0	0	0	0	0	28.83	26.27	28.83
4891	1.38	180.7	2671	3689	2044	2110	264.5	9.0	276	4902	0.00	2.10	3.15	0.484	9222	0.000	0.024	2681	2298	2057	2021	2093	0	0	0	0	0	0	28.83	26.34	25.25
5210	1.40	187.6	2681	2298	2021	2104	235.3	9.0	292	5227	0.00	2.25	12.00	0.812	8708	0.000	0.041	2692	899	2025	1987	2063	0	0	0	0	0	0	28.83	26.21	25.51
5445	1.40	189.4	2692	898	1981	2057	214.0	9.2	303	5452	0.10	2.08	0.00	0.000	5126	0.184	0.017	2670	2300	2018	1981	2056	0	0	0	0	0	0	26.22	26.42	28.83
5771	1.42	195.2	2670	2300	1981	2052	184.8	9.0	319	5782	0.00	2.15	3.70	0.580	8452	0.000	0.036	2670	3681	1998	1961	2036	0	0	0	0	0	0	28.83	26.44	25.37
5908	1.42	197.1	2670	3681	1961	2043	173.1	9.2	325	5922	0.00	2.08	4.32	0.662	9222	0.000	0.024	2679	2301	1989	1951	2028	0	0	0	0	0	0	28.83	26.49	25.39
6220	1.44	205.6	2679	2301	1951	2030	143.8	9.0	341	6243	0.00	2.22	11.85	0.761	8708	0.000	0.041	2690	907	1951	1914	1988	0	0	0	0	0	0	28.83	26.29	25.60
6288	1.46	213.9	2689	907	1913	1988	137.6	9.0	344	6304	0.00	2.05	8.75	0.757	9222	0.000	0.018	2690	2295	1917	1885	1950	0	0	0	0	0	0	28.83	26.39	25.51
6614	1.47	217.2	2689	2295	1886	1940	108.5	9.1	360	6615	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2295	1913	1886	1941	0	0	0	0	0	0	28.83	28.83	28.83
6913	1.50	227.1	2689	2294	1885	1940	81.6	8.9	375	6932	0.00	0.00	13.68	0.725	8198	0.000	0.000	2690	2295	1862	1835	1890	0	0	0	0	0	0	28.83	28.83	25.60
7233	1.53	241.3	2689	2295	1834	1883	53.0	8.7	391	7252	0.00	0.00	14.38	0.705	8198	0.000	0.000	2690	2295	1805	1776	1834	0	0	0	0	0	0	28.83	28.83	25.56
7554	1.53	242.2	2689	2295	1773	1828	23.6	9.2	422	7561	0.00	2.20	0.00	0.000	516	0.000	0.041	2699	893	1800	1774	1827	0	0	0	0	0	0	28.83	26.39	28.83
7623	1.53	242.2	1680	893	1728	1818	17.2	9.5	434	7631	0.00	2.08	0.00	0.000	1030	0.000	0.018	2699	2297	1800	1773	1827	0	0	0	0	0	0	28.83	26.48	28.83
7783	end climb: SURFACE_DEPTH_REACHED
state	7783	begin surface coast
7817	end surface coast: CONTROL_FINISHED_OK
state	7817	begin surface