Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 120 * 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 120 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 59 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 -100645.36 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 -100645.36

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 59 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 120 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 170313,165658,1908.811,12008.141,505,0.8,505,-2.5 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 -66.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170313,170330,1908.898,12008.312,14,0.9,15,-2.5 MHEAD_RNG_PITCHd_Wd 339.4,289453,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 2864

Post-dive calculations and measurements:

FINISH 0.0,1.026194 _10V_AH 10.1,13.065

SM_CCo 7824,230.25,0.789,1,0,510,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.45,0.52,230.25,0.075,0.034,0.789,83,1962,510,-10.41,1.24,560.02,0,0,0,0,1,0,26.38,26.43,24.40 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1855.54,12416.19,170313,141448 MEM 323876

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16770,470

HUMID 47.75 CAP_FILE_SIZE 389156,1976

INTERNAL_PRESSURE 9.04831 CFSIZE 260034560,236879872

TCM_TEMP 18.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 0 CURRENT 0.138, 63.3,1

SC_FREEKB 3976960 GPS 170313,192435,1909.850,12008.458,339,0.9,339,-2.5

_24V_AH 24.3,21.412

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 227 95.28 nil 0 0 0.00

Roll_motor 56 52 70.82 nil 0 0 0.00

VBD_pump_during_apogee 393 856 8202.13 nil 0 0 0.00

VBD_pump_during_surface 230 788 4412.92 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 7824 7 1380.48

Iridium_during_xfer 230 135 756.86 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 29 4.81

TT8 1888 14 275.79

LPSleep 4030 2 89.15

TT8_Active 726 14 106.03

TT8_Sampling 1513 39 598.88

TT8_CF8 275 46 130.09

TT8_Kalman 0 0 0.00

Analog_circuits 1722 15 269.67

GPS_charging 0 0 0.00

Compass 1274 7 96.40

RAFOS 0 0 0.00

Transponder 1 5 0.07

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 85 1941 461 551 0.0 0.0 0 43 0.00 0.00 -23.42 0.000 16386 0.000 0.000 85 1941 1117 1095 1139 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 86 1941 1096 1141 3.2 -9.4 3 160 7.97 2.17 -92.65 0.000 18948 0.228 0.052 2076 571 3493 3407 3579 0 0 0 0 0 0 25.86 26.19 26.47

403 -1.35 -170.3 2076 571 3411 3580 35.3 -9.0 52 412 0.00 2.08 0.00 0.000 1030 0.000 0.015 2068 1988 3496 3412 3580 0 0 0 0 0 0 28.83 26.41 28.83

710 -1.35 -170.3 2067 1989 3416 3581 63.0 -8.8 76 716 0.00 2.20 0.00 0.000 516 0.000 0.037 2076 568 3498 3416 3581 0 0 0 0 0 0 28.83 26.47 28.83

861 -1.35 -170.3 2076 568 3416 3582 76.4 -9.0 83 867 0.00 2.03 0.00 0.000 1030 0.000 0.015 2068 1977 3500 3416 3585 0 0 0 0 0 0 28.83 26.57 28.83

1187 -1.35 -170.3 2067 1977 3416 3582 105.9 -8.9 99 1193 0.00 2.15 0.00 0.000 516 0.000 0.037 2076 577 3499 3416 3582 0 0 0 0 0 0 28.83 26.57 28.83

1279 -1.35 -170.3 2076 577 3416 3582 113.9 -9.0 103 1285 0.00 2.03 0.00 0.000 1030 0.000 0.016 2068 1986 3499 3416 3582 0 0 0 0 0 0 28.83 26.63 28.83

1600 -1.35 -170.3 2067 1987 3415 3582 142.4 -8.9 119 1601 0.00 0.00 0.00 0.000 6 0.000 0.000 2067 1987 3498 3416 3581 0 0 0 0 0 0 28.83 28.83 28.83

1899 -1.35 -170.3 2067 1987 3416 3580 169.0 -9.0 134 1905 0.00 2.17 0.00 0.000 516 0.000 0.038 2076 576 3497 3415 3579 0 0 0 0 0 0 28.83 26.63 28.83

2043 -1.35 -170.3 2075 575 3416 3579 180.9 -9.1 140 2051 0.00 2.03 0.00 0.000 1030 0.000 0.016 2067 1981 3497 3416 3578 0 0 0 0 0 0 28.83 26.70 28.83

2350 -1.35 -170.3 2067 1982 3416 3575 209.7 -8.9 156 2351 0.00 0.00 0.00 0.000 6 0.000 0.000 2067 1983 3496 3416 3576 0 0 0 0 0 0 28.83 28.83 28.83

2651 -1.35 -170.3 2067 1983 3416 3572 236.4 -9.2 171 2653 0.00 0.00 0.00 0.000 6 0.000 0.000 2068 1983 3494 3416 3572 0 0 0 0 0 0 28.83 28.83 28.83

2951 -1.35 -170.3 2067 1984 3416 3569 264.1 -9.1 186 2952 0.00 0.00 0.00 0.000 6 0.000 0.000 2067 1984 3492 3415 3569 0 0 0 0 0 0 28.83 28.83 28.83

3250 -1.35 -170.3 2067 1984 3413 3567 291.5 -9.4 201 3256 0.00 2.17 0.00 0.000 516 0.000 0.040 2075 572 3489 3413 3566 0 0 0 0 0 0 28.83 26.67 28.83

3374 -1.35 -170.3 2075 572 3412 3566 301.2 -8.8 206 3382 0.00 2.03 0.00 0.000 1030 0.000 0.016 2067 1976 3488 3411 3566 0 0 0 0 0 0 28.83 26.74 28.83

3679 -1.35 -170.3 2067 1976 3410 3564 329.8 -8.7 222 3685 0.00 2.05 0.00 0.000 260 0.000 0.032 2056 3357 3487 3410 3564 0 0 0 0 0 0 28.83 26.68 28.83

3789 -1.35 -170.3 1288 3356 3394 3560 339.6 -9.1 227 3795 0.00 2.05 0.00 0.000 1030 0.000 0.025 2061 1978 3486 3409 3563 0 0 0 0 0 0 28.83 26.70 28.83

3907 end dive: TARGET_DEPTH_EXCEEDED

state 3907 begin apogee

3912 -0.25 0.0 2061 2301 3409 3562 350.8 -9.0 233 4062 0.75 0.00 141.38 0.857 10246 0.122 0.000 2306 2301 2790 2752 2829 0 0 0 0 0 0 26.53 28.83 24.51

4065 end apogee: CONTROL_FINISHED_OK

state 4065 begin climb

4066 1.35 170.3 2305 2301 2750 2828 338.7 0.0 239 4224 1.02 2.25 144.68 0.847 10500 0.071 0.033 2661 3669 2091 2055 2128 0 0 0 0 0 0 25.27 25.01 24.34

4323 1.37 177.0 2661 3669 2052 2120 313.7 9.0 251 4334 0.00 2.12 3.45 0.547 9222 0.000 0.023 2671 2305 2072 2037 2108 0 0 0 0 0 0 28.83 25.69 24.77

4649 1.37 177.0 2671 2305 2037 2108 283.9 9.4 267 4650 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2305 2072 2037 2108 0 0 0 0 0 0 28.83 28.83 28.83

4949 1.38 181.7 2671 2305 2037 2106 256.8 9.1 282 4961 0.00 2.12 4.78 0.703 8452 0.000 0.031 2671 3686 2052 2016 2089 0 0 0 0 0 0 28.83 26.29 25.32

5113 1.41 193.4 2671 3686 2018 2090 243.5 8.8 289 5132 0.00 2.10 14.15 0.767 9222 0.000 0.024 2681 2295 2004 1968 2041 0 0 0 0 0 0 28.83 26.39 25.43

5446 1.44 204.3 2681 2295 1964 2031 212.4 8.9 306 5463 0.00 2.25 10.85 0.754 8708 0.000 0.041 2692 900 1957 1923 1992 0 0 0 0 0 0 28.83 26.18 25.47

5533 1.44 206.4 2692 900 1920 1990 204.6 9.2 310 5539 0.00 2.08 0.00 0.000 1030 0.000 0.017 2692 2305 1955 1920 1990 0 0 0 0 0 0 28.83 26.32 28.83

5859 1.49 223.9 2692 2305 1920 1985 175.4 8.6 326 5880 0.00 0.00 18.85 0.734 8198 0.000 0.000 2692 2305 1881 1853 1910 0 0 0 0 0 0 28.83 28.83 25.46

6178 1.49 226.1 2692 2305 1848 1896 146.7 9.2 342 6184 0.00 2.10 0.00 0.000 260 0.000 0.034 2692 3691 1872 1848 1896 0 0 0 0 0 0 28.83 26.36 28.83

6353 1.52 236.8 2692 3691 1848 1894 130.9 8.9 350 6376 0.00 2.10 12.45 0.708 9222 0.000 0.024 2702 2301 1823 1797 1849 0 0 0 0 0 0 28.83 26.45 25.55

6674 1.52 239.0 2702 2301 1796 1844 101.7 9.2 366 6681 0.00 2.12 0.00 0.000 260 0.000 0.033 2702 3685 1820 1798 1843 0 0 0 0 0 0 28.83 26.41 28.83

6741 1.55 249.3 2701 3685 1796 1843 95.5 8.9 369 6758 0.00 2.10 12.10 0.686 9222 0.000 0.024 2711 2296 1777 1749 1806 0 0 0 0 0 0 28.83 26.46 25.58

7068 1.58 259.2 2711 2296 1745 1795 66.2 8.9 385 7085 0.00 2.17 10.15 0.666 8708 0.000 0.041 2722 899 1733 1704 1763 0 0 0 0 0 0 28.83 26.27 25.60

7159 1.59 266.8 2722 899 1702 1761 58.3 9.0 389 7171 0.00 2.08 7.60 0.658 9222 0.000 0.017 2722 2303 1706 1674 1739 0 0 0 0 0 0 28.83 26.39 25.56

7481 1.61 272.0 2722 2304 1668 1732 29.0 9.1 416 7494 0.00 2.22 4.00 0.544 8708 0.000 0.041 2732 898 1686 1652 1720 0 0 0 0 0 0 28.83 26.34 25.44

7618 1.63 279.3 1680 897 1610 1711 17.0 9.0 436 7634 0.00 2.08 9.52 0.622 9222 0.000 0.018 2732 2307 1652 1608 1696 0 0 0 0 0 0 28.83 26.47 25.65

7775 end climb: SURFACE_DEPTH_REACHED

state 7775 begin surface coast

7809 end surface coast: CONTROL_FINISHED_OK

state 7809 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	120	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	59	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	-100645.36	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	170313,165658,1908.811,12008.141,505,0.8,505,-2.5	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	-66.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170313,170330,1908.898,12008.312,14,0.9,15,-2.5	MHEAD_RNG_PITCHd_Wd	339.4,289453,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	2864

FINISH	0.0,1.026194	_10V_AH	10.1,13.065
SM_CCo	7824,230.25,0.789,1,0,510,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.45,0.52,230.25,0.075,0.034,0.789,83,1962,510,-10.41,1.24,560.02,0,0,0,0,1,0,26.38,26.43,24.40	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1855.54,12416.19,170313,141448	MEM	323876
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16770,470
HUMID	47.75	CAP_FILE_SIZE	389156,1976
INTERNAL_PRESSURE	9.04831	CFSIZE	260034560,236879872
TCM_TEMP	18.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	0	CURRENT	0.138, 63.3,1
SC_FREEKB	3976960	GPS	170313,192435,1909.850,12008.458,339,0.9,339,-2.5
_24V_AH	24.3,21.412

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	227	95.28	nil	0	0	0.00
Roll_motor	56	52	70.82	nil	0	0	0.00
VBD_pump_during_apogee	393	856	8202.13	nil	0	0	0.00
VBD_pump_during_surface	230	788	4412.92	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	7824	7	1380.48
Iridium_during_xfer	230	135	756.86	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	29	4.81
TT8	1888	14	275.79
LPSleep	4030	2	89.15
TT8_Active	726	14	106.03
TT8_Sampling	1513	39	598.88
TT8_CF8	275	46	130.09
TT8_Kalman	0	0	0.00
Analog_circuits	1722	15	269.67
GPS_charging	0	0	0.00
Compass	1274	7	96.40
RAFOS	0	0	0.00
Transponder	1	5	0.07

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	85	1941	461	551	0.0	0.0	0	43	0.00	0.00	-23.42	0.000	16386	0.000	0.000	85	1941	1117	1095	1139	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	86	1941	1096	1141	3.2	-9.4	3	160	7.97	2.17	-92.65	0.000	18948	0.228	0.052	2076	571	3493	3407	3579	0	0	0	0	0	0	25.86	26.19	26.47
403	-1.35	-170.3	2076	571	3411	3580	35.3	-9.0	52	412	0.00	2.08	0.00	0.000	1030	0.000	0.015	2068	1988	3496	3412	3580	0	0	0	0	0	0	28.83	26.41	28.83
710	-1.35	-170.3	2067	1989	3416	3581	63.0	-8.8	76	716	0.00	2.20	0.00	0.000	516	0.000	0.037	2076	568	3498	3416	3581	0	0	0	0	0	0	28.83	26.47	28.83
861	-1.35	-170.3	2076	568	3416	3582	76.4	-9.0	83	867	0.00	2.03	0.00	0.000	1030	0.000	0.015	2068	1977	3500	3416	3585	0	0	0	0	0	0	28.83	26.57	28.83
1187	-1.35	-170.3	2067	1977	3416	3582	105.9	-8.9	99	1193	0.00	2.15	0.00	0.000	516	0.000	0.037	2076	577	3499	3416	3582	0	0	0	0	0	0	28.83	26.57	28.83
1279	-1.35	-170.3	2076	577	3416	3582	113.9	-9.0	103	1285	0.00	2.03	0.00	0.000	1030	0.000	0.016	2068	1986	3499	3416	3582	0	0	0	0	0	0	28.83	26.63	28.83
1600	-1.35	-170.3	2067	1987	3415	3582	142.4	-8.9	119	1601	0.00	0.00	0.00	0.000	6	0.000	0.000	2067	1987	3498	3416	3581	0	0	0	0	0	0	28.83	28.83	28.83
1899	-1.35	-170.3	2067	1987	3416	3580	169.0	-9.0	134	1905	0.00	2.17	0.00	0.000	516	0.000	0.038	2076	576	3497	3415	3579	0	0	0	0	0	0	28.83	26.63	28.83
2043	-1.35	-170.3	2075	575	3416	3579	180.9	-9.1	140	2051	0.00	2.03	0.00	0.000	1030	0.000	0.016	2067	1981	3497	3416	3578	0	0	0	0	0	0	28.83	26.70	28.83
2350	-1.35	-170.3	2067	1982	3416	3575	209.7	-8.9	156	2351	0.00	0.00	0.00	0.000	6	0.000	0.000	2067	1983	3496	3416	3576	0	0	0	0	0	0	28.83	28.83	28.83
2651	-1.35	-170.3	2067	1983	3416	3572	236.4	-9.2	171	2653	0.00	0.00	0.00	0.000	6	0.000	0.000	2068	1983	3494	3416	3572	0	0	0	0	0	0	28.83	28.83	28.83
2951	-1.35	-170.3	2067	1984	3416	3569	264.1	-9.1	186	2952	0.00	0.00	0.00	0.000	6	0.000	0.000	2067	1984	3492	3415	3569	0	0	0	0	0	0	28.83	28.83	28.83
3250	-1.35	-170.3	2067	1984	3413	3567	291.5	-9.4	201	3256	0.00	2.17	0.00	0.000	516	0.000	0.040	2075	572	3489	3413	3566	0	0	0	0	0	0	28.83	26.67	28.83
3374	-1.35	-170.3	2075	572	3412	3566	301.2	-8.8	206	3382	0.00	2.03	0.00	0.000	1030	0.000	0.016	2067	1976	3488	3411	3566	0	0	0	0	0	0	28.83	26.74	28.83
3679	-1.35	-170.3	2067	1976	3410	3564	329.8	-8.7	222	3685	0.00	2.05	0.00	0.000	260	0.000	0.032	2056	3357	3487	3410	3564	0	0	0	0	0	0	28.83	26.68	28.83
3789	-1.35	-170.3	1288	3356	3394	3560	339.6	-9.1	227	3795	0.00	2.05	0.00	0.000	1030	0.000	0.025	2061	1978	3486	3409	3563	0	0	0	0	0	0	28.83	26.70	28.83
3907	end dive: TARGET_DEPTH_EXCEEDED
state	3907	begin apogee
3912	-0.25	0.0	2061	2301	3409	3562	350.8	-9.0	233	4062	0.75	0.00	141.38	0.857	10246	0.122	0.000	2306	2301	2790	2752	2829	0	0	0	0	0	0	26.53	28.83	24.51
4065	end apogee: CONTROL_FINISHED_OK
state	4065	begin climb
4066	1.35	170.3	2305	2301	2750	2828	338.7	0.0	239	4224	1.02	2.25	144.68	0.847	10500	0.071	0.033	2661	3669	2091	2055	2128	0	0	0	0	0	0	25.27	25.01	24.34
4323	1.37	177.0	2661	3669	2052	2120	313.7	9.0	251	4334	0.00	2.12	3.45	0.547	9222	0.000	0.023	2671	2305	2072	2037	2108	0	0	0	0	0	0	28.83	25.69	24.77
4649	1.37	177.0	2671	2305	2037	2108	283.9	9.4	267	4650	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2305	2072	2037	2108	0	0	0	0	0	0	28.83	28.83	28.83
4949	1.38	181.7	2671	2305	2037	2106	256.8	9.1	282	4961	0.00	2.12	4.78	0.703	8452	0.000	0.031	2671	3686	2052	2016	2089	0	0	0	0	0	0	28.83	26.29	25.32
5113	1.41	193.4	2671	3686	2018	2090	243.5	8.8	289	5132	0.00	2.10	14.15	0.767	9222	0.000	0.024	2681	2295	2004	1968	2041	0	0	0	0	0	0	28.83	26.39	25.43
5446	1.44	204.3	2681	2295	1964	2031	212.4	8.9	306	5463	0.00	2.25	10.85	0.754	8708	0.000	0.041	2692	900	1957	1923	1992	0	0	0	0	0	0	28.83	26.18	25.47
5533	1.44	206.4	2692	900	1920	1990	204.6	9.2	310	5539	0.00	2.08	0.00	0.000	1030	0.000	0.017	2692	2305	1955	1920	1990	0	0	0	0	0	0	28.83	26.32	28.83
5859	1.49	223.9	2692	2305	1920	1985	175.4	8.6	326	5880	0.00	0.00	18.85	0.734	8198	0.000	0.000	2692	2305	1881	1853	1910	0	0	0	0	0	0	28.83	28.83	25.46
6178	1.49	226.1	2692	2305	1848	1896	146.7	9.2	342	6184	0.00	2.10	0.00	0.000	260	0.000	0.034	2692	3691	1872	1848	1896	0	0	0	0	0	0	28.83	26.36	28.83
6353	1.52	236.8	2692	3691	1848	1894	130.9	8.9	350	6376	0.00	2.10	12.45	0.708	9222	0.000	0.024	2702	2301	1823	1797	1849	0	0	0	0	0	0	28.83	26.45	25.55
6674	1.52	239.0	2702	2301	1796	1844	101.7	9.2	366	6681	0.00	2.12	0.00	0.000	260	0.000	0.033	2702	3685	1820	1798	1843	0	0	0	0	0	0	28.83	26.41	28.83
6741	1.55	249.3	2701	3685	1796	1843	95.5	8.9	369	6758	0.00	2.10	12.10	0.686	9222	0.000	0.024	2711	2296	1777	1749	1806	0	0	0	0	0	0	28.83	26.46	25.58
7068	1.58	259.2	2711	2296	1745	1795	66.2	8.9	385	7085	0.00	2.17	10.15	0.666	8708	0.000	0.041	2722	899	1733	1704	1763	0	0	0	0	0	0	28.83	26.27	25.60
7159	1.59	266.8	2722	899	1702	1761	58.3	9.0	389	7171	0.00	2.08	7.60	0.658	9222	0.000	0.017	2722	2303	1706	1674	1739	0	0	0	0	0	0	28.83	26.39	25.56
7481	1.61	272.0	2722	2304	1668	1732	29.0	9.1	416	7494	0.00	2.22	4.00	0.544	8708	0.000	0.041	2732	898	1686	1652	1720	0	0	0	0	0	0	28.83	26.34	25.44
7618	1.63	279.3	1680	897	1610	1711	17.0	9.0	436	7634	0.00	2.08	9.52	0.622	9222	0.000	0.018	2732	2307	1652	1608	1696	0	0	0	0	0	0	28.83	26.47	25.65
7775	end climb: SURFACE_DEPTH_REACHED
state	7775	begin surface coast
7809	end surface coast: CONTROL_FINISHED_OK
state	7809	begin surface