Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 130 * 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 130 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 51 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 53 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 -100657.96 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 -100657.96

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 51 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 53 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 130 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 180313,173804,1919.544,12007.321,413,0.8,413,-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 -67.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180313,174453,1919.567,12007.372,19,0.9,20,-2.5 MHEAD_RNG_PITCHd_Wd 335.4,269640,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3634

Post-dive calculations and measurements:

FINISH 0.0,1.026344 _10V_AH 10.1,13.733

SM_CCo 7854,212.35,0.842,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.47,0.47,212.35,0.077,0.043,0.842,87,1960,511,-10.38,1.19,560.02,0,0,0,0,1,0,26.36,26.40,24.34 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1911.51,12008.48,180313,151519 MEM 323864

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16727,474

HUMID 48.62 CAP_FILE_SIZE 380239,1876

INTERNAL_PRESSURE 9.02877 CFSIZE 260034560,235798528

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 2 CURRENT 0.141, 54.0,1

SC_FREEKB 3973120 GPS 180313,200854,1920.584,12007.479,504,1.7,504,-2.5

_24V_AH 23.9,22.981

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 223 91.56 nil 0 0 0.00

Roll_motor 60 44 64.08 nil 0 0 0.00

VBD_pump_during_apogee 431 1097 11310.68 nil 0 0 0.00

VBD_pump_during_surface 212 842 4274.63 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 7839 7 1369.92

Iridium_during_xfer 241 132 765.22 nil 0 0 0.00

Transponder_ping 0 420 5.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 29 6.18

TT8 1833 14 267.85

LPSleep 4109 2 90.89

TT8_Active 755 14 110.27

TT8_Sampling 1487 39 588.68

TT8_CF8 277 46 130.79

TT8_Kalman 0 0 0.00

Analog_circuits 1746 15 273.45

GPS_charging 0 0 0.00

Compass 1233 7 93.29

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 80 1948 493 587 0.0 0.0 0 43 0.00 0.00 -23.38 0.000 16386 0.000 0.000 80 1948 1156 1135 1177 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 80 1948 1135 1180 3.1 -8.9 3 144 7.88 2.17 -81.72 0.000 18692 0.223 0.042 2053 3376 3492 3406 3578 0 0 0 0 0 0 25.84 26.17 26.46

301 -1.35 -170.3 2052 3376 3408 3578 26.1 -9.1 43 310 0.00 2.10 0.00 0.000 1030 0.000 0.025 2061 1984 3493 3408 3578 0 0 0 0 0 0 28.83 26.31 28.83

609 -1.35 -170.3 2061 1983 3411 3578 53.7 -8.8 72 615 0.00 2.15 0.00 0.000 516 0.000 0.041 2071 572 3495 3412 3578 0 0 0 0 0 0 28.83 26.43 28.83

690 -1.35 -170.3 2071 572 3412 3578 59.7 -8.8 75 699 0.00 2.05 0.00 0.000 1030 0.000 0.016 2063 1991 3495 3413 3578 0 0 0 0 0 0 28.83 26.52 28.83

998 -1.35 -170.3 2063 1993 3413 3578 88.5 -9.0 91 1004 0.00 2.20 0.00 0.000 516 0.000 0.039 2071 565 3495 3413 3578 0 0 0 0 0 0 28.83 26.53 28.83

1065 -1.35 -170.3 2071 565 3413 3578 94.6 -8.9 94 1071 0.00 2.03 0.00 0.000 1030 0.000 0.016 2063 1978 3495 3413 3578 0 0 0 0 0 0 28.83 26.60 28.83

1391 -1.35 -170.3 2063 1978 3413 3578 123.6 -9.0 110 1392 0.00 0.00 0.00 0.000 6 0.000 0.000 2063 1979 3495 3413 3578 0 0 0 0 0 0 28.83 28.83 28.83

1691 -1.35 -170.3 2063 1979 3412 3578 150.4 -9.0 125 1692 0.00 0.00 0.00 0.000 6 0.000 0.000 2063 1979 3495 3413 3578 0 0 0 0 0 0 28.83 28.83 28.83

1991 -1.35 -170.3 2063 1979 3413 3576 177.9 -9.3 140 1997 0.00 2.17 0.00 0.000 516 0.000 0.040 2071 563 3494 3413 3576 0 0 0 0 0 0 28.83 26.63 28.83

2053 -1.35 -170.3 2071 563 3413 3575 182.1 -9.0 142 2062 0.00 2.03 0.00 0.000 1030 0.000 0.016 2063 1974 3494 3413 3575 0 0 0 0 0 0 28.83 26.70 28.83

2359 -1.35 -170.3 2062 1975 3413 3573 211.2 -9.1 158 2366 0.00 2.15 0.00 0.000 516 0.000 0.041 2071 570 3492 3413 3572 0 0 0 0 0 0 28.83 26.64 28.83

2389 -1.35 -170.3 2070 570 3413 3572 213.6 -9.2 159 2394 0.00 2.03 0.00 0.000 1030 0.000 0.016 2062 1981 3492 3413 3572 0 0 0 0 0 0 28.83 26.70 28.83

2708 -1.35 -170.3 2061 1985 3412 3569 243.0 -8.9 175 2714 0.00 2.05 0.00 0.000 260 0.000 0.033 2052 3365 3490 3412 3568 0 0 0 0 0 0 28.83 26.65 28.83

2734 -1.35 -170.3 2052 3365 3412 3568 245.2 -9.0 176 2740 0.00 2.10 0.00 0.000 1030 0.000 0.026 2056 1961 3490 3412 3568 0 0 0 0 0 0 28.83 26.67 28.83

3059 -1.35 -170.3 2056 1961 3412 3565 274.3 -8.8 192 3065 0.00 2.12 0.00 0.000 516 0.000 0.044 2065 569 3488 3412 3565 0 0 0 0 0 0 28.83 26.65 28.83

3149 -1.35 -170.3 2065 570 3411 3565 282.3 -9.2 196 3155 0.00 2.03 0.00 0.000 1030 0.000 0.017 2057 1972 3488 3411 3565 0 0 0 0 0 0 28.83 26.72 28.83

3470 -1.35 -170.3 2057 1973 3409 3562 311.5 -9.2 212 3471 0.00 0.00 0.00 0.000 6 0.000 0.000 2057 1974 3485 3409 3562 0 0 0 0 0 0 28.83 28.83 28.83

3769 -1.35 -170.3 2057 1974 3407 3560 338.5 -8.9 227 3776 0.00 2.17 0.00 0.000 516 0.000 0.044 2065 570 3483 3407 3559 0 0 0 0 0 0 28.83 26.65 28.83

3892 -1.35 -170.3 2064 570 3406 3558 348.2 -9.0 232 3900 0.00 2.05 0.00 0.000 1030 0.000 0.017 2056 1984 3482 3406 3559 0 0 0 0 0 0 28.83 26.73 28.83

3917 end dive: TARGET_DEPTH_EXCEEDED

state 3917 begin apogee

3922 -0.25 0.0 2054 2302 3406 3558 351.8 -8.9 234 4078 0.77 0.00 142.68 1.047 10246 0.125 0.000 2305 2303 2795 2757 2833 0 0 0 0 1 0 26.51 28.83 24.20

4080 end apogee: CONTROL_FINISHED_OK

state 4080 begin climb

4081 1.35 170.3 2305 2302 2757 2833 337.7 0.0 241 4244 1.02 2.33 149.40 1.097 10500 0.064 0.034 2666 3685 2099 2062 2136 0 0 0 0 1 0 25.14 24.74 23.94

4476 1.38 180.7 2666 3687 2062 2135 301.8 8.9 259 4499 0.00 2.15 12.82 0.868 9222 0.000 0.024 2676 2296 2051 2015 2088 0 0 0 0 0 0 28.83 25.88 24.95

4797 1.41 191.6 2676 2297 2014 2081 273.0 8.9 275 4814 0.00 2.20 11.07 0.850 8708 0.000 0.041 2687 900 2008 1972 2044 0 0 0 0 0 0 28.83 25.96 25.20

4873 1.42 196.6 2686 899 1970 2043 266.9 9.1 278 4886 0.00 2.10 3.85 0.653 9222 0.000 0.018 2687 2302 1993 1956 2030 0 0 0 0 0 0 28.83 26.13 25.01

5185 1.47 216.3 2687 2302 1955 2029 238.4 8.5 294 5208 0.00 0.00 21.60 0.835 8198 0.000 0.000 2687 2302 1912 1882 1942 0 0 0 0 0 0 28.83 28.83 25.21

5504 1.49 225.5 2686 2302 1878 1929 209.3 8.9 310 5521 0.00 2.17 9.05 0.812 8452 0.000 0.035 2687 3683 1870 1844 1897 0 0 0 0 0 0 28.83 26.14 25.36

5565 1.50 230.3 2686 3683 1843 1895 204.9 9.1 312 5574 0.00 2.10 3.97 0.654 9222 0.000 0.024 2697 2304 1855 1828 1882 0 0 0 0 0 0 28.83 26.20 25.13

5872 1.52 239.0 2696 2304 1827 1882 176.0 8.9 328 5892 0.00 0.00 11.38 0.791 8198 0.000 0.000 2696 2304 1816 1787 1845 0 0 0 0 0 0 28.83 28.83 25.41

6192 1.55 250.2 2696 2304 1787 1839 147.2 8.8 344 6208 0.00 2.28 11.90 0.772 8708 0.000 0.043 2707 898 1770 1740 1801 0 0 0 0 0 0 28.83 26.15 25.44

6309 1.58 261.5 2707 897 1738 1797 137.6 8.8 349 6328 0.00 2.10 12.10 0.761 9222 0.000 0.018 2707 2308 1724 1691 1757 0 0 0 0 0 0 28.83 26.31 25.37

6647 1.59 265.0 2707 2308 1688 1750 106.3 9.1 366 6653 0.00 2.10 0.00 0.000 260 0.000 0.037 2707 3690 1719 1689 1750 0 0 0 0 0 0 28.83 26.33 28.83

6780 1.61 273.0 2706 3689 1686 1749 94.4 9.0 372 6796 0.00 2.12 11.18 0.728 9222 0.000 0.025 2717 2297 1682 1647 1718 0 0 0 0 0 0 28.83 26.41 25.52

7106 1.63 280.5 2719 2297 1641 1707 64.9 9.0 388 7117 0.00 0.00 6.97 0.706 8454 0.000 0.000 2717 2297 1649 1605 1693 0 0 0 0 0 0 28.83 28.83 25.55

7421 1.63 282.0 2716 2297 1599 1691 36.6 9.2 410 7426 0.00 2.15 0.00 0.000 260 0.000 0.034 2717 3692 1645 1600 1690 0 0 0 0 0 0 28.83 26.42 28.83

7483 1.68 302.8 2716 3692 1598 1690 31.4 8.5 415 7518 0.00 2.12 23.42 0.662 9222 0.000 0.026 2727 2293 1554 1502 1607 0 0 0 0 0 0 28.83 26.46 25.48

7797 end climb: SURFACE_DEPTH_REACHED

state 7797 begin surface coast

7838 end surface coast: CONTROL_FINISHED_OK

state 7838 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	130	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	51	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	53	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	-100657.96	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	180313,173804,1919.544,12007.321,413,0.8,413,-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	-67.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180313,174453,1919.567,12007.372,19,0.9,20,-2.5	MHEAD_RNG_PITCHd_Wd	335.4,269640,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3634

FINISH	0.0,1.026344	_10V_AH	10.1,13.733
SM_CCo	7854,212.35,0.842,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.47,0.47,212.35,0.077,0.043,0.842,87,1960,511,-10.38,1.19,560.02,0,0,0,0,1,0,26.36,26.40,24.34	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1911.51,12008.48,180313,151519	MEM	323864
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16727,474
HUMID	48.62	CAP_FILE_SIZE	380239,1876
INTERNAL_PRESSURE	9.02877	CFSIZE	260034560,235798528
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	2	CURRENT	0.141, 54.0,1
SC_FREEKB	3973120	GPS	180313,200854,1920.584,12007.479,504,1.7,504,-2.5
_24V_AH	23.9,22.981

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	223	91.56	nil	0	0	0.00
Roll_motor	60	44	64.08	nil	0	0	0.00
VBD_pump_during_apogee	431	1097	11310.68	nil	0	0	0.00
VBD_pump_during_surface	212	842	4274.63	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	7839	7	1369.92
Iridium_during_xfer	241	132	765.22	nil	0	0	0.00
Transponder_ping	0	420	5.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	29	6.18
TT8	1833	14	267.85
LPSleep	4109	2	90.89
TT8_Active	755	14	110.27
TT8_Sampling	1487	39	588.68
TT8_CF8	277	46	130.79
TT8_Kalman	0	0	0.00
Analog_circuits	1746	15	273.45
GPS_charging	0	0	0.00
Compass	1233	7	93.29
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	80	1948	493	587	0.0	0.0	0	43	0.00	0.00	-23.38	0.000	16386	0.000	0.000	80	1948	1156	1135	1177	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	80	1948	1135	1180	3.1	-8.9	3	144	7.88	2.17	-81.72	0.000	18692	0.223	0.042	2053	3376	3492	3406	3578	0	0	0	0	0	0	25.84	26.17	26.46
301	-1.35	-170.3	2052	3376	3408	3578	26.1	-9.1	43	310	0.00	2.10	0.00	0.000	1030	0.000	0.025	2061	1984	3493	3408	3578	0	0	0	0	0	0	28.83	26.31	28.83
609	-1.35	-170.3	2061	1983	3411	3578	53.7	-8.8	72	615	0.00	2.15	0.00	0.000	516	0.000	0.041	2071	572	3495	3412	3578	0	0	0	0	0	0	28.83	26.43	28.83
690	-1.35	-170.3	2071	572	3412	3578	59.7	-8.8	75	699	0.00	2.05	0.00	0.000	1030	0.000	0.016	2063	1991	3495	3413	3578	0	0	0	0	0	0	28.83	26.52	28.83
998	-1.35	-170.3	2063	1993	3413	3578	88.5	-9.0	91	1004	0.00	2.20	0.00	0.000	516	0.000	0.039	2071	565	3495	3413	3578	0	0	0	0	0	0	28.83	26.53	28.83
1065	-1.35	-170.3	2071	565	3413	3578	94.6	-8.9	94	1071	0.00	2.03	0.00	0.000	1030	0.000	0.016	2063	1978	3495	3413	3578	0	0	0	0	0	0	28.83	26.60	28.83
1391	-1.35	-170.3	2063	1978	3413	3578	123.6	-9.0	110	1392	0.00	0.00	0.00	0.000	6	0.000	0.000	2063	1979	3495	3413	3578	0	0	0	0	0	0	28.83	28.83	28.83
1691	-1.35	-170.3	2063	1979	3412	3578	150.4	-9.0	125	1692	0.00	0.00	0.00	0.000	6	0.000	0.000	2063	1979	3495	3413	3578	0	0	0	0	0	0	28.83	28.83	28.83
1991	-1.35	-170.3	2063	1979	3413	3576	177.9	-9.3	140	1997	0.00	2.17	0.00	0.000	516	0.000	0.040	2071	563	3494	3413	3576	0	0	0	0	0	0	28.83	26.63	28.83
2053	-1.35	-170.3	2071	563	3413	3575	182.1	-9.0	142	2062	0.00	2.03	0.00	0.000	1030	0.000	0.016	2063	1974	3494	3413	3575	0	0	0	0	0	0	28.83	26.70	28.83
2359	-1.35	-170.3	2062	1975	3413	3573	211.2	-9.1	158	2366	0.00	2.15	0.00	0.000	516	0.000	0.041	2071	570	3492	3413	3572	0	0	0	0	0	0	28.83	26.64	28.83
2389	-1.35	-170.3	2070	570	3413	3572	213.6	-9.2	159	2394	0.00	2.03	0.00	0.000	1030	0.000	0.016	2062	1981	3492	3413	3572	0	0	0	0	0	0	28.83	26.70	28.83
2708	-1.35	-170.3	2061	1985	3412	3569	243.0	-8.9	175	2714	0.00	2.05	0.00	0.000	260	0.000	0.033	2052	3365	3490	3412	3568	0	0	0	0	0	0	28.83	26.65	28.83
2734	-1.35	-170.3	2052	3365	3412	3568	245.2	-9.0	176	2740	0.00	2.10	0.00	0.000	1030	0.000	0.026	2056	1961	3490	3412	3568	0	0	0	0	0	0	28.83	26.67	28.83
3059	-1.35	-170.3	2056	1961	3412	3565	274.3	-8.8	192	3065	0.00	2.12	0.00	0.000	516	0.000	0.044	2065	569	3488	3412	3565	0	0	0	0	0	0	28.83	26.65	28.83
3149	-1.35	-170.3	2065	570	3411	3565	282.3	-9.2	196	3155	0.00	2.03	0.00	0.000	1030	0.000	0.017	2057	1972	3488	3411	3565	0	0	0	0	0	0	28.83	26.72	28.83
3470	-1.35	-170.3	2057	1973	3409	3562	311.5	-9.2	212	3471	0.00	0.00	0.00	0.000	6	0.000	0.000	2057	1974	3485	3409	3562	0	0	0	0	0	0	28.83	28.83	28.83
3769	-1.35	-170.3	2057	1974	3407	3560	338.5	-8.9	227	3776	0.00	2.17	0.00	0.000	516	0.000	0.044	2065	570	3483	3407	3559	0	0	0	0	0	0	28.83	26.65	28.83
3892	-1.35	-170.3	2064	570	3406	3558	348.2	-9.0	232	3900	0.00	2.05	0.00	0.000	1030	0.000	0.017	2056	1984	3482	3406	3559	0	0	0	0	0	0	28.83	26.73	28.83
3917	end dive: TARGET_DEPTH_EXCEEDED
state	3917	begin apogee
3922	-0.25	0.0	2054	2302	3406	3558	351.8	-8.9	234	4078	0.77	0.00	142.68	1.047	10246	0.125	0.000	2305	2303	2795	2757	2833	0	0	0	0	1	0	26.51	28.83	24.20
4080	end apogee: CONTROL_FINISHED_OK
state	4080	begin climb
4081	1.35	170.3	2305	2302	2757	2833	337.7	0.0	241	4244	1.02	2.33	149.40	1.097	10500	0.064	0.034	2666	3685	2099	2062	2136	0	0	0	0	1	0	25.14	24.74	23.94
4476	1.38	180.7	2666	3687	2062	2135	301.8	8.9	259	4499	0.00	2.15	12.82	0.868	9222	0.000	0.024	2676	2296	2051	2015	2088	0	0	0	0	0	0	28.83	25.88	24.95
4797	1.41	191.6	2676	2297	2014	2081	273.0	8.9	275	4814	0.00	2.20	11.07	0.850	8708	0.000	0.041	2687	900	2008	1972	2044	0	0	0	0	0	0	28.83	25.96	25.20
4873	1.42	196.6	2686	899	1970	2043	266.9	9.1	278	4886	0.00	2.10	3.85	0.653	9222	0.000	0.018	2687	2302	1993	1956	2030	0	0	0	0	0	0	28.83	26.13	25.01
5185	1.47	216.3	2687	2302	1955	2029	238.4	8.5	294	5208	0.00	0.00	21.60	0.835	8198	0.000	0.000	2687	2302	1912	1882	1942	0	0	0	0	0	0	28.83	28.83	25.21
5504	1.49	225.5	2686	2302	1878	1929	209.3	8.9	310	5521	0.00	2.17	9.05	0.812	8452	0.000	0.035	2687	3683	1870	1844	1897	0	0	0	0	0	0	28.83	26.14	25.36
5565	1.50	230.3	2686	3683	1843	1895	204.9	9.1	312	5574	0.00	2.10	3.97	0.654	9222	0.000	0.024	2697	2304	1855	1828	1882	0	0	0	0	0	0	28.83	26.20	25.13
5872	1.52	239.0	2696	2304	1827	1882	176.0	8.9	328	5892	0.00	0.00	11.38	0.791	8198	0.000	0.000	2696	2304	1816	1787	1845	0	0	0	0	0	0	28.83	28.83	25.41
6192	1.55	250.2	2696	2304	1787	1839	147.2	8.8	344	6208	0.00	2.28	11.90	0.772	8708	0.000	0.043	2707	898	1770	1740	1801	0	0	0	0	0	0	28.83	26.15	25.44
6309	1.58	261.5	2707	897	1738	1797	137.6	8.8	349	6328	0.00	2.10	12.10	0.761	9222	0.000	0.018	2707	2308	1724	1691	1757	0	0	0	0	0	0	28.83	26.31	25.37
6647	1.59	265.0	2707	2308	1688	1750	106.3	9.1	366	6653	0.00	2.10	0.00	0.000	260	0.000	0.037	2707	3690	1719	1689	1750	0	0	0	0	0	0	28.83	26.33	28.83
6780	1.61	273.0	2706	3689	1686	1749	94.4	9.0	372	6796	0.00	2.12	11.18	0.728	9222	0.000	0.025	2717	2297	1682	1647	1718	0	0	0	0	0	0	28.83	26.41	25.52
7106	1.63	280.5	2719	2297	1641	1707	64.9	9.0	388	7117	0.00	0.00	6.97	0.706	8454	0.000	0.000	2717	2297	1649	1605	1693	0	0	0	0	0	0	28.83	28.83	25.55
7421	1.63	282.0	2716	2297	1599	1691	36.6	9.2	410	7426	0.00	2.15	0.00	0.000	260	0.000	0.034	2717	3692	1645	1600	1690	0	0	0	0	0	0	28.83	26.42	28.83
7483	1.68	302.8	2716	3692	1598	1690	31.4	8.5	415	7518	0.00	2.12	23.42	0.662	9222	0.000	0.026	2727	2293	1554	1502	1607	0	0	0	0	0	0	28.83	26.46	25.48
7797	end climb: SURFACE_DEPTH_REACHED
state	7797	begin surface coast
7838	end surface coast: CONTROL_FINISHED_OK
state	7838	begin surface