Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 143 * 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 143 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 49 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 2640 DEVICE1 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 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 -100674.35 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 2400 FG_AHR_10V 0 SEABIRD_T_G 0.0042823856

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062054652

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 PHONE_SUPPLY -2 SEABIRD_T_I 2.2746239e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -34.938694 SEABIRD_T_J 2.4072633e-06

RHO 1.0275 PITCH_GAIN 20 PRESSURE_SLOPE 9.0818496e-05 SEABIRD_C_G -9.8275757

MASS 51800 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_H 1.1041691

NAV_MODE 2 PITCH_AD_RATE 145 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015209455

FERRY_MAX 40 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020302966

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0056599998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0135 ROLL_MIN 526 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 6.2300001e-06 ROLL_MAX 3878 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_GAIN 0 SIM_W 0.090000004

AH0_24V 150 D_SAFE 0 PITCH_AD_RATE 145 SM_CC 560

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.0046000001 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 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 -100674.35

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 2400 LOGGERDEVICE1 53 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2300 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 1975 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 20

C_VBD 2640 LOGGERDEVICE4 -1 ROLL_MAX 3878 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -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 49 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 143 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 200313,012833,1933.438,12006.869,89,1.1,89,-2.6 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 -66.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200313,013455,1933.404,12006.857,18,1.9,18,-2.6 MHEAD_RNG_PITCHd_Wd 350.9,244000,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 4097

Post-dive calculations and measurements:

FINISH 0.0,1.025195 _10V_AH 10.2,14.539

SM_CCo 8078,0.00,0.000,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.57,0.47,0.00,0.079,0.041,0.000,83,1961,400,-10.56,1.24,549.47,0,0,0,0,0,0,26.42,26.46,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1922.94,12005.68,190313,232312 MEM 323856

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16791,472

HUMID 48.77 CAP_FILE_SIZE 346985,1805

INTERNAL_PRESSURE 9.11667 CFSIZE 260034560,234450944

TCM_TEMP 19.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0

XPDR_PINGS 0 CURRENT 0.072,338.6,1

SC_FREEKB 3968128 GPS 200313,035300,1934.402,12006.523,142,1.8,142,-2.6

_24V_AH 24.1,25.029

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 218 90.77 nil 0 0 0.00

Roll_motor 51 43 54.41 nil 0 0 0.00

VBD_pump_during_apogee 396 1044 9982.02 nil 0 0 0.00

VBD_pump_during_surface 226 719 3935.56 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 7816 5 1127.74

Iridium_during_xfer 214 136 704.25 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 29 6.00

TT8 1787 14 263.62

LPSleep 4246 2 94.86

TT8_Active 733 14 108.14

TT8_Sampling 1405 39 561.60

TT8_CF8 272 46 129.50

TT8_Kalman 0 0 0.00

Analog_circuits 1703 15 269.35

GPS_charging 0 0 0.00

Compass 1188 7 90.81

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 89 1943 355 488 0.0 0.0 0 44 0.00 0.00 -23.80 0.000 16386 0.000 0.000 89 1944 1045 1026 1065 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 89 1943 1027 1067 3.2 -9.3 3 146 7.93 2.25 -84.55 0.000 18692 0.218 0.044 2090 3374 3337 3244 3430 0 0 0 0 0 0 25.82 26.15 26.44

246 -1.35 -170.3 1232 3372 3219 3426 21.5 -8.7 34 254 0.00 2.12 0.00 0.000 1030 0.000 0.027 2098 1972 3338 3247 3430 0 0 0 0 0 0 28.83 26.26 28.83

559 -1.35 -170.3 2098 1972 3249 3430 49.7 -8.9 68 564 0.00 2.12 0.00 0.000 260 0.000 0.028 2089 3381 3339 3249 3429 0 0 0 0 0 0 28.83 26.42 28.83

615 -1.35 -170.3 2089 3381 3250 3430 53.8 -9.0 71 621 0.00 2.12 0.00 0.000 1030 0.000 0.024 2098 1961 3340 3250 3430 0 0 0 0 0 0 28.83 26.45 28.83

930 -1.35 -170.3 2097 1961 3253 3430 82.6 -9.0 87 935 0.00 2.10 0.00 0.000 516 0.000 0.041 2108 578 3341 3253 3430 0 0 0 0 0 0 28.83 26.51 28.83

975 -1.35 -170.3 1280 577 3225 3426 86.6 -8.9 89 981 0.00 2.03 0.00 0.000 1030 0.000 0.015 2099 1990 3341 3253 3430 0 0 0 0 0 0 28.83 26.59 28.83

1300 -1.35 -170.3 2099 1991 3253 3430 116.0 -9.0 105 1301 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 1991 3341 3253 3429 0 0 0 0 0 0 28.83 28.83 28.83

1601 -1.35 -170.3 2099 1991 3253 3429 142.7 -8.8 120 1603 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 1991 3341 3253 3430 0 0 0 0 0 0 28.83 28.83 28.83

1900 -1.35 -170.3 2099 1991 3253 3427 170.0 -8.9 135 1901 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 1991 3340 3253 3427 0 0 0 0 0 0 28.83 28.83 28.83

2200 -1.35 -170.3 2099 1991 3253 3425 196.9 -9.0 150 2206 0.00 2.17 0.00 0.000 516 0.000 0.040 2107 571 3338 3253 3424 0 0 0 0 0 0 28.83 26.63 28.83

2226 -1.35 -170.3 2107 571 3253 3424 199.3 -9.2 151 2232 0.00 2.00 0.00 0.000 1030 0.000 0.015 2099 1977 3338 3253 3424 0 0 0 0 0 0 28.83 26.71 28.83

2551 -1.35 -170.3 2099 1978 3253 3421 228.9 -9.4 167 2556 0.00 2.05 0.00 0.000 260 0.000 0.031 2089 3366 3337 3253 3421 0 0 0 0 0 0 28.83 26.67 28.83

2602 -1.35 -170.3 2088 3366 3253 3420 233.2 -9.3 169 2607 0.00 2.08 0.00 0.000 1030 0.000 0.026 2091 1973 3336 3253 3420 0 0 0 0 0 0 28.83 26.67 28.83

2921 -1.35 -170.3 2090 1974 3252 3417 261.4 -8.3 185 2928 0.00 2.12 0.00 0.000 516 0.000 0.044 2100 575 3335 3253 3417 0 0 0 0 0 0 28.83 26.65 28.83

2988 -1.35 -170.3 2100 575 3253 3416 267.4 -8.6 188 2995 0.00 2.03 0.00 0.000 1030 0.000 0.016 2092 1975 3334 3253 3416 0 0 0 0 0 0 28.83 26.72 28.83

3313 -1.35 -170.3 2091 1979 3252 3413 297.1 -9.3 204 3315 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 1978 3332 3252 3413 0 0 0 0 0 0 28.83 28.83 28.83

3615 -1.35 -170.3 2091 1979 3250 3409 324.2 -9.0 219 3616 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 1979 3330 3250 3410 0 0 0 0 0 0 28.83 28.83 28.83

3913 end dive: TARGET_DEPTH_EXCEEDED

state 3913 begin apogee

3918 -0.25 0.0 2089 2303 3249 3407 351.0 -9.1 234 4075 0.77 0.00 141.35 1.006 10246 0.122 0.000 2341 2302 2639 2589 2690 0 0 0 0 1 0 26.51 28.83 24.30

4076 end apogee: CONTROL_FINISHED_OK

state 4076 begin climb

4078 1.35 170.3 2341 2303 2589 2690 336.8 0.0 241 4238 1.00 2.30 144.38 1.044 10500 0.061 0.033 2698 3677 1945 1909 1981 0 0 0 0 1 0 25.22 24.85 24.06

4478 1.37 178.6 2697 3677 1909 1981 300.7 9.0 259 4497 0.00 2.12 10.48 0.797 9222 0.000 0.023 2707 2292 1906 1878 1935 0 0 0 0 0 0 28.83 25.96 25.07

4795 1.39 184.1 2707 2292 1878 1928 271.7 9.1 275 4807 0.00 2.22 4.05 0.633 8708 0.000 0.041 2718 900 1888 1862 1914 0 0 0 0 0 0 28.83 26.16 25.17

4835 1.40 190.4 2717 900 1862 1914 269.4 9.0 276 4850 0.00 2.05 9.18 0.783 9222 0.000 0.017 2718 2292 1861 1834 1888 0 0 0 0 0 0 28.83 26.26 25.31

5169 1.41 193.3 2717 2292 1831 1879 237.7 9.2 293 5175 0.00 2.12 0.00 0.000 260 0.000 0.034 2718 3696 1855 1832 1878 0 0 0 0 0 0 28.83 26.34 28.83

5230 1.43 199.4 2717 3696 1832 1878 233.5 9.0 295 5244 0.00 2.12 8.98 0.760 9222 0.000 0.023 2728 2286 1826 1801 1852 0 0 0 0 0 0 28.83 26.38 25.46

5564 1.47 215.1 2728 2286 1796 1843 202.7 8.7 312 5583 0.00 0.00 16.52 0.741 8198 0.000 0.000 2728 2286 1762 1734 1790 0 0 0 0 0 0 28.83 28.83 25.46

5883 1.49 225.1 2728 2286 1727 1778 174.4 8.9 328 5898 0.00 0.00 9.65 0.721 8710 0.000 0.000 2728 2286 1718 1688 1748 0 0 0 0 0 0 28.83 28.83 25.53

6207 1.50 227.5 2728 2286 1686 1742 145.0 9.2 344 6213 0.00 2.15 0.00 0.000 260 0.000 0.033 2728 3687 1714 1686 1742 0 0 0 0 0 0 28.83 26.41 28.83

6290 1.52 238.2 2728 3687 1686 1742 139.0 8.9 347 6310 0.00 2.10 13.32 0.685 9222 0.000 0.024 2738 2295 1665 1630 1701 0 0 0 0 0 0 28.83 26.46 25.57

6624 1.53 239.4 2738 2294 1616 1698 107.9 9.2 364 6630 0.00 2.15 0.00 0.000 516 0.000 0.041 2749 900 1656 1616 1697 0 0 0 0 0 0 28.83 26.40 28.83

6706 1.53 242.4 2748 900 1615 1698 101.7 9.2 367 6714 0.00 2.05 0.00 0.000 1030 0.000 0.018 2749 2299 1656 1615 1698 0 0 0 0 0 0 28.83 26.50 28.83

7013 1.56 252.8 2748 2299 1614 1698 72.3 8.9 383 7036 0.00 2.17 13.62 0.626 8452 0.000 0.036 2748 3687 1603 1553 1654 0 0 0 0 0 0 28.83 26.35 25.70

7209 1.58 263.0 2748 3687 1552 1651 54.9 8.9 392 7228 0.00 2.10 10.43 0.614 9222 0.000 0.024 2758 2296 1562 1508 1616 0 0 0 0 0 0 28.83 26.44 25.65

7526 1.62 277.4 2758 2296 1508 1610 26.3 8.7 421 7544 0.00 0.00 14.70 0.576 8454 0.000 0.000 2758 2298 1504 1451 1557 0 0 0 0 0 0 28.83 28.83 25.65

7780 end climb: SURFACE_DEPTH_REACHED

state 7780 begin surface coast

7814 end surface coast: CONTROL_FINISHED_OK

state 7814 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	143	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	49	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	2640	DEVICE1	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	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	-100674.35	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	2400	FG_AHR_10V	0	SEABIRD_T_G	0.0042823856
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062054652
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2746239e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-34.938694	SEABIRD_T_J	2.4072633e-06
RHO	1.0275	PITCH_GAIN	20	PRESSURE_SLOPE	9.0818496e-05	SEABIRD_C_G	-9.8275757
MASS	51800	PITCH_TIMEOUT	15	AD7714Ch0Gain	128	SEABIRD_C_H	1.1041691
NAV_MODE	2	PITCH_AD_RATE	145	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015209455
FERRY_MAX	40	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020302966
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0056599998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0135	ROLL_MIN	526	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	6.2300001e-06	ROLL_MAX	3878	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	200313,012833,1933.438,12006.869,89,1.1,89,-2.6	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	-66.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200313,013455,1933.404,12006.857,18,1.9,18,-2.6	MHEAD_RNG_PITCHd_Wd	350.9,244000,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	4097

FINISH	0.0,1.025195	_10V_AH	10.2,14.539
SM_CCo	8078,0.00,0.000,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.57,0.47,0.00,0.079,0.041,0.000,83,1961,400,-10.56,1.24,549.47,0,0,0,0,0,0,26.42,26.46,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1922.94,12005.68,190313,232312	MEM	323856
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16791,472
HUMID	48.77	CAP_FILE_SIZE	346985,1805
INTERNAL_PRESSURE	9.11667	CFSIZE	260034560,234450944
TCM_TEMP	19.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
XPDR_PINGS	0	CURRENT	0.072,338.6,1
SC_FREEKB	3968128	GPS	200313,035300,1934.402,12006.523,142,1.8,142,-2.6
_24V_AH	24.1,25.029

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	218	90.77	nil	0	0	0.00
Roll_motor	51	43	54.41	nil	0	0	0.00
VBD_pump_during_apogee	396	1044	9982.02	nil	0	0	0.00
VBD_pump_during_surface	226	719	3935.56	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	7816	5	1127.74
Iridium_during_xfer	214	136	704.25	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	29	6.00
TT8	1787	14	263.62
LPSleep	4246	2	94.86
TT8_Active	733	14	108.14
TT8_Sampling	1405	39	561.60
TT8_CF8	272	46	129.50
TT8_Kalman	0	0	0.00
Analog_circuits	1703	15	269.35
GPS_charging	0	0	0.00
Compass	1188	7	90.81
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	89	1943	355	488	0.0	0.0	0	44	0.00	0.00	-23.80	0.000	16386	0.000	0.000	89	1944	1045	1026	1065	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	89	1943	1027	1067	3.2	-9.3	3	146	7.93	2.25	-84.55	0.000	18692	0.218	0.044	2090	3374	3337	3244	3430	0	0	0	0	0	0	25.82	26.15	26.44
246	-1.35	-170.3	1232	3372	3219	3426	21.5	-8.7	34	254	0.00	2.12	0.00	0.000	1030	0.000	0.027	2098	1972	3338	3247	3430	0	0	0	0	0	0	28.83	26.26	28.83
559	-1.35	-170.3	2098	1972	3249	3430	49.7	-8.9	68	564	0.00	2.12	0.00	0.000	260	0.000	0.028	2089	3381	3339	3249	3429	0	0	0	0	0	0	28.83	26.42	28.83
615	-1.35	-170.3	2089	3381	3250	3430	53.8	-9.0	71	621	0.00	2.12	0.00	0.000	1030	0.000	0.024	2098	1961	3340	3250	3430	0	0	0	0	0	0	28.83	26.45	28.83
930	-1.35	-170.3	2097	1961	3253	3430	82.6	-9.0	87	935	0.00	2.10	0.00	0.000	516	0.000	0.041	2108	578	3341	3253	3430	0	0	0	0	0	0	28.83	26.51	28.83
975	-1.35	-170.3	1280	577	3225	3426	86.6	-8.9	89	981	0.00	2.03	0.00	0.000	1030	0.000	0.015	2099	1990	3341	3253	3430	0	0	0	0	0	0	28.83	26.59	28.83
1300	-1.35	-170.3	2099	1991	3253	3430	116.0	-9.0	105	1301	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	1991	3341	3253	3429	0	0	0	0	0	0	28.83	28.83	28.83
1601	-1.35	-170.3	2099	1991	3253	3429	142.7	-8.8	120	1603	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	1991	3341	3253	3430	0	0	0	0	0	0	28.83	28.83	28.83
1900	-1.35	-170.3	2099	1991	3253	3427	170.0	-8.9	135	1901	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	1991	3340	3253	3427	0	0	0	0	0	0	28.83	28.83	28.83
2200	-1.35	-170.3	2099	1991	3253	3425	196.9	-9.0	150	2206	0.00	2.17	0.00	0.000	516	0.000	0.040	2107	571	3338	3253	3424	0	0	0	0	0	0	28.83	26.63	28.83
2226	-1.35	-170.3	2107	571	3253	3424	199.3	-9.2	151	2232	0.00	2.00	0.00	0.000	1030	0.000	0.015	2099	1977	3338	3253	3424	0	0	0	0	0	0	28.83	26.71	28.83
2551	-1.35	-170.3	2099	1978	3253	3421	228.9	-9.4	167	2556	0.00	2.05	0.00	0.000	260	0.000	0.031	2089	3366	3337	3253	3421	0	0	0	0	0	0	28.83	26.67	28.83
2602	-1.35	-170.3	2088	3366	3253	3420	233.2	-9.3	169	2607	0.00	2.08	0.00	0.000	1030	0.000	0.026	2091	1973	3336	3253	3420	0	0	0	0	0	0	28.83	26.67	28.83
2921	-1.35	-170.3	2090	1974	3252	3417	261.4	-8.3	185	2928	0.00	2.12	0.00	0.000	516	0.000	0.044	2100	575	3335	3253	3417	0	0	0	0	0	0	28.83	26.65	28.83
2988	-1.35	-170.3	2100	575	3253	3416	267.4	-8.6	188	2995	0.00	2.03	0.00	0.000	1030	0.000	0.016	2092	1975	3334	3253	3416	0	0	0	0	0	0	28.83	26.72	28.83
3313	-1.35	-170.3	2091	1979	3252	3413	297.1	-9.3	204	3315	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	1978	3332	3252	3413	0	0	0	0	0	0	28.83	28.83	28.83
3615	-1.35	-170.3	2091	1979	3250	3409	324.2	-9.0	219	3616	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	1979	3330	3250	3410	0	0	0	0	0	0	28.83	28.83	28.83
3913	end dive: TARGET_DEPTH_EXCEEDED
state	3913	begin apogee
3918	-0.25	0.0	2089	2303	3249	3407	351.0	-9.1	234	4075	0.77	0.00	141.35	1.006	10246	0.122	0.000	2341	2302	2639	2589	2690	0	0	0	0	1	0	26.51	28.83	24.30
4076	end apogee: CONTROL_FINISHED_OK
state	4076	begin climb
4078	1.35	170.3	2341	2303	2589	2690	336.8	0.0	241	4238	1.00	2.30	144.38	1.044	10500	0.061	0.033	2698	3677	1945	1909	1981	0	0	0	0	1	0	25.22	24.85	24.06
4478	1.37	178.6	2697	3677	1909	1981	300.7	9.0	259	4497	0.00	2.12	10.48	0.797	9222	0.000	0.023	2707	2292	1906	1878	1935	0	0	0	0	0	0	28.83	25.96	25.07
4795	1.39	184.1	2707	2292	1878	1928	271.7	9.1	275	4807	0.00	2.22	4.05	0.633	8708	0.000	0.041	2718	900	1888	1862	1914	0	0	0	0	0	0	28.83	26.16	25.17
4835	1.40	190.4	2717	900	1862	1914	269.4	9.0	276	4850	0.00	2.05	9.18	0.783	9222	0.000	0.017	2718	2292	1861	1834	1888	0	0	0	0	0	0	28.83	26.26	25.31
5169	1.41	193.3	2717	2292	1831	1879	237.7	9.2	293	5175	0.00	2.12	0.00	0.000	260	0.000	0.034	2718	3696	1855	1832	1878	0	0	0	0	0	0	28.83	26.34	28.83
5230	1.43	199.4	2717	3696	1832	1878	233.5	9.0	295	5244	0.00	2.12	8.98	0.760	9222	0.000	0.023	2728	2286	1826	1801	1852	0	0	0	0	0	0	28.83	26.38	25.46
5564	1.47	215.1	2728	2286	1796	1843	202.7	8.7	312	5583	0.00	0.00	16.52	0.741	8198	0.000	0.000	2728	2286	1762	1734	1790	0	0	0	0	0	0	28.83	28.83	25.46
5883	1.49	225.1	2728	2286	1727	1778	174.4	8.9	328	5898	0.00	0.00	9.65	0.721	8710	0.000	0.000	2728	2286	1718	1688	1748	0	0	0	0	0	0	28.83	28.83	25.53
6207	1.50	227.5	2728	2286	1686	1742	145.0	9.2	344	6213	0.00	2.15	0.00	0.000	260	0.000	0.033	2728	3687	1714	1686	1742	0	0	0	0	0	0	28.83	26.41	28.83
6290	1.52	238.2	2728	3687	1686	1742	139.0	8.9	347	6310	0.00	2.10	13.32	0.685	9222	0.000	0.024	2738	2295	1665	1630	1701	0	0	0	0	0	0	28.83	26.46	25.57
6624	1.53	239.4	2738	2294	1616	1698	107.9	9.2	364	6630	0.00	2.15	0.00	0.000	516	0.000	0.041	2749	900	1656	1616	1697	0	0	0	0	0	0	28.83	26.40	28.83
6706	1.53	242.4	2748	900	1615	1698	101.7	9.2	367	6714	0.00	2.05	0.00	0.000	1030	0.000	0.018	2749	2299	1656	1615	1698	0	0	0	0	0	0	28.83	26.50	28.83
7013	1.56	252.8	2748	2299	1614	1698	72.3	8.9	383	7036	0.00	2.17	13.62	0.626	8452	0.000	0.036	2748	3687	1603	1553	1654	0	0	0	0	0	0	28.83	26.35	25.70
7209	1.58	263.0	2748	3687	1552	1651	54.9	8.9	392	7228	0.00	2.10	10.43	0.614	9222	0.000	0.024	2758	2296	1562	1508	1616	0	0	0	0	0	0	28.83	26.44	25.65
7526	1.62	277.4	2758	2296	1508	1610	26.3	8.7	421	7544	0.00	0.00	14.70	0.576	8454	0.000	0.000	2758	2298	1504	1451	1557	0	0	0	0	0	0	28.83	28.83	25.65
7780	end climb: SURFACE_DEPTH_REACHED
state	7780	begin surface coast
7814	end surface coast: CONTROL_FINISHED_OK
state	7814	begin surface