Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 144 * 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 144 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 53 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 61 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 -100675.61 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 -100675.61

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 53 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 61 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 144 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 200313,035300,1934.402,12006.523,142,1.8,142,-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 -66.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200313,035930,1934.306,12006.499,16,1.6,17,-2.6 MHEAD_RNG_PITCHd_Wd 5.6,242304,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 4097

Post-dive calculations and measurements:

FINISH 0.0,1.025264 _10V_AH 10.2,14.598

SM_CCo 8074,2.65,0.292,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.55,0.47,2.65,0.078,0.041,0.292,81,1956,400,-10.57,1.05,549.47,0,0,0,0,0,0,26.45,26.48,24.69 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1925.22,12005.68,200313,010115 MEM 323904

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16799,470

HUMID 47.95 CAP_FILE_SIZE 354795,1845

INTERNAL_PRESSURE 9.11667 CFSIZE 260034560,234340352

TCM_TEMP 19.30 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 0 CURRENT 0.066,357.2,1

SC_FREEKB 3967744 GPS 200313,061805,1935.387,12006.477,173,1.7,173,-2.6

_24V_AH 24.4,25.173

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 219 93.48 nil 0 0 0.00

Roll_motor 59 53 78.36 nil 0 0 0.00

VBD_pump_during_apogee 407 846 8418.21 nil 0 0 0.00

VBD_pump_during_surface 229 717 4013.43 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 7811 5 1123.52

Iridium_during_xfer 223 130 714.02 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.55

TT8 1811 14 267.18

LPSleep 4177 2 93.32

TT8_Active 743 14 109.70

TT8_Sampling 1440 39 575.48

TT8_CF8 278 46 132.41

TT8_Kalman 0 0 0.00

Analog_circuits 1748 15 276.51

GPS_charging 0 0 0.00

Compass 1216 7 92.92

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 1950 330 472 0.0 0.0 0 44 0.00 0.00 -23.92 0.000 16386 0.000 0.000 82 1950 1020 1004 1036 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 82 1950 1004 1038 3.1 -8.9 3 152 7.97 2.17 -86.47 0.000 18948 0.220 0.054 2108 585 3337 3244 3431 0 0 0 0 0 0 25.85 26.16 26.46

214 -1.35 -170.3 1256 585 3221 3428 18.7 -8.8 28 222 0.00 2.05 0.00 0.000 1030 0.000 0.015 2100 1998 3339 3248 3431 0 0 0 0 0 0 28.83 26.30 28.83

535 -1.35 -170.3 2100 1999 3251 3431 47.3 -9.0 65 541 0.00 2.00 0.00 0.000 260 0.000 0.029 2090 3353 3341 3251 3431 0 0 0 0 0 0 28.83 26.43 28.83

583 -1.35 -170.3 2089 3353 3250 3431 51.5 -8.8 69 589 0.00 2.05 0.00 0.000 1030 0.000 0.024 2098 1979 3340 3250 3431 0 0 0 0 0 0 28.83 26.45 28.83

908 -1.35 -170.3 2098 1978 3253 3430 81.4 -9.2 85 914 0.00 2.12 0.00 0.000 516 0.000 0.039 2110 577 3341 3252 3431 0 0 0 0 0 0 28.83 26.51 28.83

999 -1.35 -170.3 2107 576 3253 3431 89.2 -8.9 89 1006 0.00 2.00 0.00 0.000 1030 0.000 0.015 2099 1981 3342 3253 3431 0 0 0 0 0 0 28.83 26.61 28.83

1320 -1.35 -170.3 2099 1981 3253 3431 118.2 -9.0 105 1321 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 1981 3342 3253 3431 0 0 0 0 0 0 28.83 28.83 28.83

1622 -1.35 -170.3 2099 1981 3253 3430 145.0 -9.0 120 1623 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 1981 3342 3253 3431 0 0 0 0 0 0 28.83 28.83 28.83

1921 -1.35 -170.3 2099 1981 3255 3429 172.1 -9.3 135 1927 0.00 2.03 0.00 0.000 260 0.000 0.029 2089 3357 3340 3253 3428 0 0 0 0 0 0 28.83 26.64 28.83

2043 -1.35 -170.3 2089 3357 3253 3427 182.0 -9.1 140 2051 0.00 2.05 0.00 0.000 1030 0.000 0.024 2096 1974 3340 3253 3427 0 0 0 0 0 0 28.83 26.67 28.83

2351 -1.35 -170.3 2096 1974 3254 3423 211.1 -9.0 156 2352 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 1974 3338 3254 3423 0 0 0 0 0 0 28.83 28.83 28.83

2651 -1.35 -170.3 2096 1974 3254 3421 238.1 -9.0 171 2657 0.00 2.08 0.00 0.000 260 0.000 0.029 2087 3354 3337 3254 3420 0 0 0 0 0 0 28.83 26.67 28.83

2684 -1.35 -170.3 2087 3355 3254 3421 240.3 -8.9 172 2691 0.00 2.08 0.00 0.000 1030 0.000 0.026 2089 1966 3337 3254 3420 0 0 0 0 0 0 28.83 26.68 28.83

3001 -1.35 -170.3 2088 1965 3254 3417 269.4 -9.0 188 3002 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 1965 3335 3254 3417 0 0 0 0 0 0 28.83 28.83 28.83

3301 -1.35 -170.3 2088 1965 3253 3415 296.5 -9.1 203 3308 0.00 2.12 0.00 0.000 516 0.000 0.044 2098 575 3333 3252 3414 0 0 0 0 0 0 28.83 26.65 28.83

3388 -1.35 -170.3 1280 572 3227 3411 304.6 -9.2 207 3395 0.00 2.03 0.00 0.000 1030 0.000 0.016 2089 1980 3333 3253 3414 0 0 0 0 0 0 28.83 26.73 28.83

3714 -1.35 -170.3 2089 1980 3251 3411 334.9 -9.1 223 3715 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 1980 3331 3251 3411 0 0 0 0 0 0 28.83 28.83 28.83

3891 end dive: TARGET_DEPTH_EXCEEDED

state 3891 begin apogee

3896 -0.25 0.0 2087 2308 3250 3410 351.0 -8.9 232 4053 0.77 0.00 148.93 0.847 10246 0.119 0.000 2343 2309 2632 2583 2682 0 0 0 0 0 0 26.51 28.83 24.56

4054 end apogee: CONTROL_FINISHED_OK

state 4055 begin climb

4056 1.35 170.3 2341 2309 2579 2678 337.0 0.0 239 4218 1.02 2.28 153.57 0.821 10500 0.063 0.033 2703 3684 1937 1904 1971 0 0 0 0 0 0 25.29 25.06 24.40

4435 1.36 174.2 2703 3684 1899 1948 302.7 9.1 256 4441 0.00 2.12 0.00 0.000 1030 0.000 0.023 2713 2298 1923 1899 1948 0 0 0 0 0 0 28.83 25.98 28.83

4754 1.36 174.2 2713 2298 1899 1945 273.7 9.3 272 4756 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2298 1922 1899 1945 0 0 0 0 0 0 28.83 28.83 28.83

5056 1.38 182.9 2713 2298 1897 1943 246.8 8.9 287 5067 0.00 2.17 4.25 0.616 8708 0.000 0.041 2723 894 1893 1868 1919 0 0 0 0 0 0 28.83 26.36 25.41

5116 1.40 189.5 2723 893 1868 1923 242.6 9.0 289 5135 0.00 2.05 12.40 0.762 9222 0.000 0.016 2724 2293 1862 1835 1889 0 0 0 0 0 0 28.83 26.46 25.50

5449 1.40 189.5 2723 2293 1831 1878 211.0 9.4 306 5455 0.00 2.12 0.00 0.000 260 0.000 0.034 2723 3693 1854 1831 1878 0 0 0 0 0 0 28.83 26.41 28.83

5488 1.40 190.3 2723 3694 1831 1878 208.8 9.2 307 5497 0.12 2.10 0.00 0.000 5126 0.197 0.024 2705 2299 1854 1831 1878 0 0 0 0 0 0 26.21 26.44 28.83

5796 1.43 200.2 2705 2300 1831 1877 180.1 8.9 323 5811 0.00 2.17 9.90 0.721 8708 0.000 0.040 2715 896 1818 1791 1846 0 0 0 0 0 0 28.83 26.34 25.65

5834 1.45 209.7 2715 896 1788 1844 177.8 8.9 324 5849 0.00 2.08 9.40 0.716 9222 0.000 0.018 2715 2302 1784 1754 1814 0 0 0 0 0 0 28.83 26.42 25.56

6170 1.46 215.1 2715 2302 1749 1804 146.8 9.1 341 6182 0.00 2.15 4.05 0.591 8452 0.000 0.034 2715 3685 1762 1733 1791 0 0 0 0 0 0 28.83 26.38 25.41

6257 1.48 221.3 1728 3684 1693 1783 138.7 9.0 345 6274 0.00 2.10 9.27 0.698 9222 0.000 0.024 2725 2294 1733 1701 1765 0 0 0 0 0 0 28.83 26.42 25.59

6582 1.50 229.6 2724 2294 1699 1759 109.3 9.0 361 6595 0.00 2.25 8.10 0.676 8708 0.000 0.041 2735 892 1700 1667 1733 0 0 0 0 0 0 28.83 26.31 25.63

6630 1.53 241.2 2735 892 1665 1732 105.0 8.8 363 6647 0.00 2.08 12.27 0.667 9222 0.000 0.018 2736 2302 1656 1614 1698 0 0 0 0 0 0 28.83 26.40 25.56

6956 1.58 261.5 2735 2302 1600 1690 76.2 8.5 379 6984 0.00 2.17 19.77 0.631 8452 0.000 0.034 2735 3682 1566 1514 1618 0 0 0 0 0 0 28.83 26.15 25.52

7177 1.60 268.2 2735 3683 1514 1613 57.3 9.0 389 7191 0.00 2.10 4.62 0.574 9222 0.000 0.024 2745 2298 1544 1492 1596 0 0 0 0 0 0 28.83 26.33 25.39

7488 1.61 273.7 2745 2299 1492 1597 28.4 9.1 416 7503 0.00 2.22 7.82 0.590 8452 0.000 0.033 2745 3691 1519 1466 1573 0 0 0 0 0 0 28.83 26.32 25.70

7549 1.62 277.6 1728 3690 1436 1565 22.9 9.1 423 7558 0.00 2.12 3.03 0.400 9222 0.000 0.024 2755 2289 1507 1455 1560 0 0 0 0 0 0 28.83 26.37 25.47

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	144	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	53	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	61	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	-100675.61	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	200313,035300,1934.402,12006.523,142,1.8,142,-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	-66.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200313,035930,1934.306,12006.499,16,1.6,17,-2.6	MHEAD_RNG_PITCHd_Wd	5.6,242304,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	4097

FINISH	0.0,1.025264	_10V_AH	10.2,14.598
SM_CCo	8074,2.65,0.292,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.55,0.47,2.65,0.078,0.041,0.292,81,1956,400,-10.57,1.05,549.47,0,0,0,0,0,0,26.45,26.48,24.69	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1925.22,12005.68,200313,010115	MEM	323904
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16799,470
HUMID	47.95	CAP_FILE_SIZE	354795,1845
INTERNAL_PRESSURE	9.11667	CFSIZE	260034560,234340352
TCM_TEMP	19.30	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	0	CURRENT	0.066,357.2,1
SC_FREEKB	3967744	GPS	200313,061805,1935.387,12006.477,173,1.7,173,-2.6
_24V_AH	24.4,25.173

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	219	93.48	nil	0	0	0.00
Roll_motor	59	53	78.36	nil	0	0	0.00
VBD_pump_during_apogee	407	846	8418.21	nil	0	0	0.00
VBD_pump_during_surface	229	717	4013.43	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	7811	5	1123.52
Iridium_during_xfer	223	130	714.02	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.55
TT8	1811	14	267.18
LPSleep	4177	2	93.32
TT8_Active	743	14	109.70
TT8_Sampling	1440	39	575.48
TT8_CF8	278	46	132.41
TT8_Kalman	0	0	0.00
Analog_circuits	1748	15	276.51
GPS_charging	0	0	0.00
Compass	1216	7	92.92
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	1950	330	472	0.0	0.0	0	44	0.00	0.00	-23.92	0.000	16386	0.000	0.000	82	1950	1020	1004	1036	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	82	1950	1004	1038	3.1	-8.9	3	152	7.97	2.17	-86.47	0.000	18948	0.220	0.054	2108	585	3337	3244	3431	0	0	0	0	0	0	25.85	26.16	26.46
214	-1.35	-170.3	1256	585	3221	3428	18.7	-8.8	28	222	0.00	2.05	0.00	0.000	1030	0.000	0.015	2100	1998	3339	3248	3431	0	0	0	0	0	0	28.83	26.30	28.83
535	-1.35	-170.3	2100	1999	3251	3431	47.3	-9.0	65	541	0.00	2.00	0.00	0.000	260	0.000	0.029	2090	3353	3341	3251	3431	0	0	0	0	0	0	28.83	26.43	28.83
583	-1.35	-170.3	2089	3353	3250	3431	51.5	-8.8	69	589	0.00	2.05	0.00	0.000	1030	0.000	0.024	2098	1979	3340	3250	3431	0	0	0	0	0	0	28.83	26.45	28.83
908	-1.35	-170.3	2098	1978	3253	3430	81.4	-9.2	85	914	0.00	2.12	0.00	0.000	516	0.000	0.039	2110	577	3341	3252	3431	0	0	0	0	0	0	28.83	26.51	28.83
999	-1.35	-170.3	2107	576	3253	3431	89.2	-8.9	89	1006	0.00	2.00	0.00	0.000	1030	0.000	0.015	2099	1981	3342	3253	3431	0	0	0	0	0	0	28.83	26.61	28.83
1320	-1.35	-170.3	2099	1981	3253	3431	118.2	-9.0	105	1321	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	1981	3342	3253	3431	0	0	0	0	0	0	28.83	28.83	28.83
1622	-1.35	-170.3	2099	1981	3253	3430	145.0	-9.0	120	1623	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	1981	3342	3253	3431	0	0	0	0	0	0	28.83	28.83	28.83
1921	-1.35	-170.3	2099	1981	3255	3429	172.1	-9.3	135	1927	0.00	2.03	0.00	0.000	260	0.000	0.029	2089	3357	3340	3253	3428	0	0	0	0	0	0	28.83	26.64	28.83
2043	-1.35	-170.3	2089	3357	3253	3427	182.0	-9.1	140	2051	0.00	2.05	0.00	0.000	1030	0.000	0.024	2096	1974	3340	3253	3427	0	0	0	0	0	0	28.83	26.67	28.83
2351	-1.35	-170.3	2096	1974	3254	3423	211.1	-9.0	156	2352	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	1974	3338	3254	3423	0	0	0	0	0	0	28.83	28.83	28.83
2651	-1.35	-170.3	2096	1974	3254	3421	238.1	-9.0	171	2657	0.00	2.08	0.00	0.000	260	0.000	0.029	2087	3354	3337	3254	3420	0	0	0	0	0	0	28.83	26.67	28.83
2684	-1.35	-170.3	2087	3355	3254	3421	240.3	-8.9	172	2691	0.00	2.08	0.00	0.000	1030	0.000	0.026	2089	1966	3337	3254	3420	0	0	0	0	0	0	28.83	26.68	28.83
3001	-1.35	-170.3	2088	1965	3254	3417	269.4	-9.0	188	3002	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	1965	3335	3254	3417	0	0	0	0	0	0	28.83	28.83	28.83
3301	-1.35	-170.3	2088	1965	3253	3415	296.5	-9.1	203	3308	0.00	2.12	0.00	0.000	516	0.000	0.044	2098	575	3333	3252	3414	0	0	0	0	0	0	28.83	26.65	28.83
3388	-1.35	-170.3	1280	572	3227	3411	304.6	-9.2	207	3395	0.00	2.03	0.00	0.000	1030	0.000	0.016	2089	1980	3333	3253	3414	0	0	0	0	0	0	28.83	26.73	28.83
3714	-1.35	-170.3	2089	1980	3251	3411	334.9	-9.1	223	3715	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	1980	3331	3251	3411	0	0	0	0	0	0	28.83	28.83	28.83
3891	end dive: TARGET_DEPTH_EXCEEDED
state	3891	begin apogee
3896	-0.25	0.0	2087	2308	3250	3410	351.0	-8.9	232	4053	0.77	0.00	148.93	0.847	10246	0.119	0.000	2343	2309	2632	2583	2682	0	0	0	0	0	0	26.51	28.83	24.56
4054	end apogee: CONTROL_FINISHED_OK
state	4055	begin climb
4056	1.35	170.3	2341	2309	2579	2678	337.0	0.0	239	4218	1.02	2.28	153.57	0.821	10500	0.063	0.033	2703	3684	1937	1904	1971	0	0	0	0	0	0	25.29	25.06	24.40
4435	1.36	174.2	2703	3684	1899	1948	302.7	9.1	256	4441	0.00	2.12	0.00	0.000	1030	0.000	0.023	2713	2298	1923	1899	1948	0	0	0	0	0	0	28.83	25.98	28.83
4754	1.36	174.2	2713	2298	1899	1945	273.7	9.3	272	4756	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	2298	1922	1899	1945	0	0	0	0	0	0	28.83	28.83	28.83
5056	1.38	182.9	2713	2298	1897	1943	246.8	8.9	287	5067	0.00	2.17	4.25	0.616	8708	0.000	0.041	2723	894	1893	1868	1919	0	0	0	0	0	0	28.83	26.36	25.41
5116	1.40	189.5	2723	893	1868	1923	242.6	9.0	289	5135	0.00	2.05	12.40	0.762	9222	0.000	0.016	2724	2293	1862	1835	1889	0	0	0	0	0	0	28.83	26.46	25.50
5449	1.40	189.5	2723	2293	1831	1878	211.0	9.4	306	5455	0.00	2.12	0.00	0.000	260	0.000	0.034	2723	3693	1854	1831	1878	0	0	0	0	0	0	28.83	26.41	28.83
5488	1.40	190.3	2723	3694	1831	1878	208.8	9.2	307	5497	0.12	2.10	0.00	0.000	5126	0.197	0.024	2705	2299	1854	1831	1878	0	0	0	0	0	0	26.21	26.44	28.83
5796	1.43	200.2	2705	2300	1831	1877	180.1	8.9	323	5811	0.00	2.17	9.90	0.721	8708	0.000	0.040	2715	896	1818	1791	1846	0	0	0	0	0	0	28.83	26.34	25.65
5834	1.45	209.7	2715	896	1788	1844	177.8	8.9	324	5849	0.00	2.08	9.40	0.716	9222	0.000	0.018	2715	2302	1784	1754	1814	0	0	0	0	0	0	28.83	26.42	25.56
6170	1.46	215.1	2715	2302	1749	1804	146.8	9.1	341	6182	0.00	2.15	4.05	0.591	8452	0.000	0.034	2715	3685	1762	1733	1791	0	0	0	0	0	0	28.83	26.38	25.41
6257	1.48	221.3	1728	3684	1693	1783	138.7	9.0	345	6274	0.00	2.10	9.27	0.698	9222	0.000	0.024	2725	2294	1733	1701	1765	0	0	0	0	0	0	28.83	26.42	25.59
6582	1.50	229.6	2724	2294	1699	1759	109.3	9.0	361	6595	0.00	2.25	8.10	0.676	8708	0.000	0.041	2735	892	1700	1667	1733	0	0	0	0	0	0	28.83	26.31	25.63
6630	1.53	241.2	2735	892	1665	1732	105.0	8.8	363	6647	0.00	2.08	12.27	0.667	9222	0.000	0.018	2736	2302	1656	1614	1698	0	0	0	0	0	0	28.83	26.40	25.56
6956	1.58	261.5	2735	2302	1600	1690	76.2	8.5	379	6984	0.00	2.17	19.77	0.631	8452	0.000	0.034	2735	3682	1566	1514	1618	0	0	0	0	0	0	28.83	26.15	25.52
7177	1.60	268.2	2735	3683	1514	1613	57.3	9.0	389	7191	0.00	2.10	4.62	0.574	9222	0.000	0.024	2745	2298	1544	1492	1596	0	0	0	0	0	0	28.83	26.33	25.39
7488	1.61	273.7	2745	2299	1492	1597	28.4	9.1	416	7503	0.00	2.22	7.82	0.590	8452	0.000	0.033	2745	3691	1519	1466	1573	0	0	0	0	0	0	28.83	26.32	25.70
7549	1.62	277.6	1728	3690	1436	1565	22.9	9.1	423	7558	0.00	2.12	3.03	0.400	9222	0.000	0.024	2755	2289	1507	1455	1560	0	0	0	0	0	0	28.83	26.37	25.47
7775	end climb: SURFACE_DEPTH_REACHED
state	7775	begin surface coast
7809	end surface coast: CONTROL_FINISHED_OK
state	7809	begin surface