Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 147 * 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 147 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 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 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 -100679.38 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 -100679.38

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 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 147 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 200313,110822,1937.595,12006.483,37,0.8,37,-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 -65.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200313,111505,1937.592,12006.400,15,1.2,16,-2.6 MHEAD_RNG_PITCHd_Wd 331.5,236216,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 4117

Post-dive calculations and measurements:

FINISH 0.0,1.025459 _10V_AH 10.2,14.777

SM_CCo 8048,-0.03,0.000,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.45,0.47,-0.03,0.076,0.042,0.000,90,1963,401,-10.53,1.33,549.47,0,0,0,0,0,0,26.50,26.55,25.06 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1927.51,12003.70,200313,080815 MEM 323872

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16802,466

HUMID 47.87 CAP_FILE_SIZE 358407,1891

INTERNAL_PRESSURE 9.11667 CFSIZE 260034560,234016768

TCM_TEMP 19.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 0 CURRENT 0.169, 47.1,1

SC_FREEKB 3966592 GPS 200313,133312,1938.766,12006.508,173,1.3,173,-2.6

_24V_AH 24.3,25.615

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 214 90.37 nil 0 0 0.00

Roll_motor 59 42 62.41 nil 0 0 0.00

VBD_pump_during_apogee 370 958 8631.09 nil 0 0 0.00

VBD_pump_during_surface 243 716 4231.19 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 7780 5 1127.90

Iridium_during_xfer 237 131 759.06 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 29 5.08

TT8 1843 14 271.95

LPSleep 4100 2 91.59

TT8_Active 737 14 108.73

TT8_Sampling 1464 39 585.24

TT8_CF8 289 46 137.85

TT8_Kalman 0 0 0.00

Analog_circuits 1761 15 278.49

GPS_charging 0 0 0.00

Compass 1232 7 94.12

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 86 1950 342 482 0.0 0.0 0 44 0.00 0.00 -24.25 0.000 16386 0.000 0.000 86 1950 1044 1028 1061 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 86 1950 1027 1063 3.1 -9.0 3 163 7.88 2.25 -97.90 0.000 18692 0.215 0.043 2091 3379 3337 3242 3432 0 0 0 0 0 0 25.82 26.19 26.47

240 -1.35 -170.3 1240 3378 3215 3429 21.2 -9.2 32 249 0.00 2.12 0.00 0.000 1030 0.000 0.025 2096 1979 3338 3244 3432 0 0 0 0 0 0 28.83 26.27 28.83

554 -1.35 -170.3 2095 1979 3248 3432 49.4 -8.9 66 560 0.00 2.10 0.00 0.000 260 0.000 0.028 2088 3374 3340 3248 3432 0 0 0 0 0 0 28.83 26.44 28.83

715 -1.35 -170.3 2087 3374 3252 3432 63.1 -9.0 74 721 0.00 2.10 0.00 0.000 1030 0.000 0.023 2093 1970 3340 3249 3432 0 0 0 0 0 0 28.83 26.51 28.83

1029 -1.35 -170.3 2093 1968 3252 3432 92.2 -8.9 90 1031 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 1968 3342 3252 3432 0 0 0 0 0 0 28.83 28.83 28.83

1330 -1.35 -170.3 2093 1968 3252 3432 119.5 -9.1 105 1332 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 1969 3342 3252 3432 0 0 0 0 0 0 28.83 28.83 28.83

1631 -1.35 -170.3 2093 1968 3252 3432 146.9 -9.2 120 1637 0.00 2.10 0.00 0.000 516 0.000 0.040 2102 576 3342 3252 3432 0 0 0 0 0 0 28.83 26.62 28.83

1701 -1.35 -170.3 2103 577 3251 3432 153.0 -8.9 123 1707 0.00 2.03 0.00 0.000 1030 0.000 0.015 2095 1997 3342 3252 3432 0 0 0 0 0 0 28.83 26.70 28.83

2021 -1.35 -170.3 2094 1997 3251 3429 183.0 -9.7 139 2022 0.00 0.00 0.00 0.000 6 0.000 0.000 2095 1997 3340 3251 3429 0 0 0 0 0 0 28.83 28.83 28.83

2322 -1.35 -170.3 2094 1997 3250 3425 210.0 -9.0 154 2329 0.00 2.20 0.00 0.000 516 0.000 0.039 2103 567 3338 3251 3425 0 0 0 0 0 0 28.83 26.65 28.83

2409 -1.35 -170.3 1280 566 3225 3419 218.1 -9.2 158 2416 0.00 2.00 0.00 0.000 1030 0.000 0.016 2094 1974 3337 3252 3423 0 0 0 0 0 0 28.83 26.72 28.83

2735 -1.35 -170.3 2094 1975 3252 3420 247.3 -9.0 174 2741 0.00 2.03 0.00 0.000 260 0.000 0.031 2084 3349 3336 3252 3420 0 0 0 0 0 0 28.83 26.67 28.83

2769 -1.35 -170.3 2084 3350 3252 3418 249.5 -8.9 175 2775 0.00 2.05 0.00 0.000 1030 0.000 0.026 2085 1974 3335 3252 3419 0 0 0 0 0 0 28.83 26.69 28.83

3084 -1.35 -170.3 2084 1974 3252 3416 279.0 -9.0 191 3090 0.10 2.12 0.00 0.000 2564 0.170 0.041 2120 575 3333 3252 3415 0 0 0 0 0 0 26.58 26.65 28.83

3195 -1.35 -170.3 1296 574 3225 3411 288.5 -8.9 196 3201 0.00 2.03 0.00 0.000 1030 0.000 0.016 2112 1979 3333 3252 3414 0 0 0 0 0 0 28.83 26.73 28.83

3515 -1.35 -170.3 2111 1979 3252 3410 317.6 -9.0 212 3521 0.00 2.05 0.00 0.000 260 0.000 0.033 2101 3357 3330 3250 3410 0 0 0 0 0 0 28.83 26.67 28.83

3577 -1.35 -170.3 2101 3357 3250 3409 321.7 -8.8 214 3585 0.00 2.08 0.00 0.000 1030 0.000 0.028 2101 1971 3329 3250 3409 0 0 0 0 0 0 28.83 26.68 28.83

3881 end dive: TARGET_DEPTH_EXCEEDED

state 3881 begin apogee

3886 -0.25 0.0 2100 2308 3248 3408 350.3 -8.7 230 4051 0.75 0.00 151.75 0.959 10246 0.117 0.000 2345 2308 2639 2590 2689 0 0 0 0 1 0 26.51 28.83 24.34

4054 end apogee: CONTROL_FINISHED_OK

state 4054 begin climb

4055 1.35 170.3 2345 2308 2589 2689 336.0 0.0 237 4217 1.00 2.20 152.40 0.829 10500 0.061 0.031 2700 3681 1935 1900 1970 0 0 0 0 0 0 25.22 25.03 24.39

4457 1.37 177.2 2700 3681 1898 1948 299.6 9.0 255 4463 0.00 2.12 0.00 0.000 1030 0.000 0.024 2710 2294 1922 1897 1948 0 0 0 0 0 0 28.83 26.02 28.83

4771 1.38 179.3 2710 2294 1897 1944 270.5 9.2 271 4779 0.00 2.20 1.65 0.059 8452 0.000 0.031 2710 3677 1906 1882 1931 0 0 0 0 0 0 28.83 26.31 26.20

4885 1.39 184.4 2710 3677 1883 1938 260.6 9.1 276 4903 0.00 2.08 9.23 0.750 9222 0.000 0.024 2720 2298 1883 1858 1909 0 0 0 0 0 0 28.83 26.39 25.50

5202 1.40 187.9 2720 2298 1857 1903 231.7 9.1 292 5208 0.00 2.15 0.00 0.000 516 0.000 0.041 2731 901 1880 1858 1903 0 0 0 0 0 0 28.83 26.39 28.83

5303 1.41 191.9 2730 901 1857 1903 223.8 9.1 296 5318 0.12 2.05 7.47 0.721 13318 0.187 0.017 2702 2305 1854 1830 1878 0 0 0 0 0 0 26.25 26.49 25.59

5637 1.41 191.9 2701 2305 1829 1872 192.3 9.3 313 5643 0.00 2.08 0.00 0.000 260 0.000 0.034 2701 3681 1850 1829 1872 0 0 0 0 0 0 28.83 26.46 28.83

5720 1.41 191.9 2701 3681 1829 1870 186.2 9.3 316 5728 0.00 2.08 0.00 0.000 1030 0.000 0.024 2710 2300 1849 1829 1870 0 0 0 0 0 0 28.83 26.50 28.83

6026 1.43 201.8 2710 2300 1829 1870 157.1 8.9 332 6042 0.00 2.17 10.27 0.699 8708 0.000 0.040 2721 892 1812 1788 1837 0 0 0 0 0 0 28.83 26.37 25.72

6081 1.44 204.8 2721 892 1785 1836 152.8 9.1 334 6087 0.00 2.08 0.00 0.000 1030 0.000 0.018 2721 2302 1810 1785 1835 0 0 0 0 0 0 28.83 26.46 28.83

6395 1.46 212.2 2721 2302 1785 1832 123.5 9.0 350 6411 0.00 0.00 10.55 0.672 8710 0.000 0.000 2721 2303 1769 1742 1796 0 0 0 0 0 0 28.83 28.83 25.70

6720 1.46 214.7 2721 2302 1742 1789 94.2 9.2 366 6726 0.00 2.20 0.00 0.000 516 0.000 0.041 2731 896 1765 1742 1789 0 0 0 0 0 0 28.83 26.46 28.83

6766 1.48 221.3 2731 896 1742 1789 90.1 9.0 368 6783 0.00 2.08 9.25 0.645 9222 0.000 0.018 2731 2311 1733 1706 1760 0 0 0 0 0 0 28.83 26.55 25.72

7092 1.50 230.9 2731 2311 1703 1755 60.7 8.9 384 7103 0.00 0.00 9.55 0.623 8198 0.000 0.000 2731 2311 1697 1666 1729 0 0 0 0 0 0 28.83 28.83 25.72

7393 1.53 239.4 2731 2311 1660 1721 33.9 9.0 407 7407 0.00 2.17 8.43 0.602 8452 0.000 0.035 2732 3694 1658 1620 1696 0 0 0 0 0 0 28.83 26.37 25.75

7543 1.53 242.5 1696 3693 1574 1689 20.5 9.1 424 7551 0.00 2.10 0.00 0.000 1030 0.000 0.024 2741 2300 1654 1612 1696 0 0 0 0 0 0 28.83 26.46 28.83

7739 end climb: SURFACE_DEPTH_REACHED

state 7739 begin surface coast

7773 end surface coast: CONTROL_FINISHED_OK

state 7773 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	147	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	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	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	-100679.38	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	200313,110822,1937.595,12006.483,37,0.8,37,-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	-65.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200313,111505,1937.592,12006.400,15,1.2,16,-2.6	MHEAD_RNG_PITCHd_Wd	331.5,236216,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	4117

FINISH	0.0,1.025459	_10V_AH	10.2,14.777
SM_CCo	8048,-0.03,0.000,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.45,0.47,-0.03,0.076,0.042,0.000,90,1963,401,-10.53,1.33,549.47,0,0,0,0,0,0,26.50,26.55,25.06	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1927.51,12003.70,200313,080815	MEM	323872
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16802,466
HUMID	47.87	CAP_FILE_SIZE	358407,1891
INTERNAL_PRESSURE	9.11667	CFSIZE	260034560,234016768
TCM_TEMP	19.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	0	CURRENT	0.169, 47.1,1
SC_FREEKB	3966592	GPS	200313,133312,1938.766,12006.508,173,1.3,173,-2.6
_24V_AH	24.3,25.615

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	214	90.37	nil	0	0	0.00
Roll_motor	59	42	62.41	nil	0	0	0.00
VBD_pump_during_apogee	370	958	8631.09	nil	0	0	0.00
VBD_pump_during_surface	243	716	4231.19	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	7780	5	1127.90
Iridium_during_xfer	237	131	759.06	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	29	5.08
TT8	1843	14	271.95
LPSleep	4100	2	91.59
TT8_Active	737	14	108.73
TT8_Sampling	1464	39	585.24
TT8_CF8	289	46	137.85
TT8_Kalman	0	0	0.00
Analog_circuits	1761	15	278.49
GPS_charging	0	0	0.00
Compass	1232	7	94.12
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	86	1950	342	482	0.0	0.0	0	44	0.00	0.00	-24.25	0.000	16386	0.000	0.000	86	1950	1044	1028	1061	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	86	1950	1027	1063	3.1	-9.0	3	163	7.88	2.25	-97.90	0.000	18692	0.215	0.043	2091	3379	3337	3242	3432	0	0	0	0	0	0	25.82	26.19	26.47
240	-1.35	-170.3	1240	3378	3215	3429	21.2	-9.2	32	249	0.00	2.12	0.00	0.000	1030	0.000	0.025	2096	1979	3338	3244	3432	0	0	0	0	0	0	28.83	26.27	28.83
554	-1.35	-170.3	2095	1979	3248	3432	49.4	-8.9	66	560	0.00	2.10	0.00	0.000	260	0.000	0.028	2088	3374	3340	3248	3432	0	0	0	0	0	0	28.83	26.44	28.83
715	-1.35	-170.3	2087	3374	3252	3432	63.1	-9.0	74	721	0.00	2.10	0.00	0.000	1030	0.000	0.023	2093	1970	3340	3249	3432	0	0	0	0	0	0	28.83	26.51	28.83
1029	-1.35	-170.3	2093	1968	3252	3432	92.2	-8.9	90	1031	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	1968	3342	3252	3432	0	0	0	0	0	0	28.83	28.83	28.83
1330	-1.35	-170.3	2093	1968	3252	3432	119.5	-9.1	105	1332	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	1969	3342	3252	3432	0	0	0	0	0	0	28.83	28.83	28.83
1631	-1.35	-170.3	2093	1968	3252	3432	146.9	-9.2	120	1637	0.00	2.10	0.00	0.000	516	0.000	0.040	2102	576	3342	3252	3432	0	0	0	0	0	0	28.83	26.62	28.83
1701	-1.35	-170.3	2103	577	3251	3432	153.0	-8.9	123	1707	0.00	2.03	0.00	0.000	1030	0.000	0.015	2095	1997	3342	3252	3432	0	0	0	0	0	0	28.83	26.70	28.83
2021	-1.35	-170.3	2094	1997	3251	3429	183.0	-9.7	139	2022	0.00	0.00	0.00	0.000	6	0.000	0.000	2095	1997	3340	3251	3429	0	0	0	0	0	0	28.83	28.83	28.83
2322	-1.35	-170.3	2094	1997	3250	3425	210.0	-9.0	154	2329	0.00	2.20	0.00	0.000	516	0.000	0.039	2103	567	3338	3251	3425	0	0	0	0	0	0	28.83	26.65	28.83
2409	-1.35	-170.3	1280	566	3225	3419	218.1	-9.2	158	2416	0.00	2.00	0.00	0.000	1030	0.000	0.016	2094	1974	3337	3252	3423	0	0	0	0	0	0	28.83	26.72	28.83
2735	-1.35	-170.3	2094	1975	3252	3420	247.3	-9.0	174	2741	0.00	2.03	0.00	0.000	260	0.000	0.031	2084	3349	3336	3252	3420	0	0	0	0	0	0	28.83	26.67	28.83
2769	-1.35	-170.3	2084	3350	3252	3418	249.5	-8.9	175	2775	0.00	2.05	0.00	0.000	1030	0.000	0.026	2085	1974	3335	3252	3419	0	0	0	0	0	0	28.83	26.69	28.83
3084	-1.35	-170.3	2084	1974	3252	3416	279.0	-9.0	191	3090	0.10	2.12	0.00	0.000	2564	0.170	0.041	2120	575	3333	3252	3415	0	0	0	0	0	0	26.58	26.65	28.83
3195	-1.35	-170.3	1296	574	3225	3411	288.5	-8.9	196	3201	0.00	2.03	0.00	0.000	1030	0.000	0.016	2112	1979	3333	3252	3414	0	0	0	0	0	0	28.83	26.73	28.83
3515	-1.35	-170.3	2111	1979	3252	3410	317.6	-9.0	212	3521	0.00	2.05	0.00	0.000	260	0.000	0.033	2101	3357	3330	3250	3410	0	0	0	0	0	0	28.83	26.67	28.83
3577	-1.35	-170.3	2101	3357	3250	3409	321.7	-8.8	214	3585	0.00	2.08	0.00	0.000	1030	0.000	0.028	2101	1971	3329	3250	3409	0	0	0	0	0	0	28.83	26.68	28.83
3881	end dive: TARGET_DEPTH_EXCEEDED
state	3881	begin apogee
3886	-0.25	0.0	2100	2308	3248	3408	350.3	-8.7	230	4051	0.75	0.00	151.75	0.959	10246	0.117	0.000	2345	2308	2639	2590	2689	0	0	0	0	1	0	26.51	28.83	24.34
4054	end apogee: CONTROL_FINISHED_OK
state	4054	begin climb
4055	1.35	170.3	2345	2308	2589	2689	336.0	0.0	237	4217	1.00	2.20	152.40	0.829	10500	0.061	0.031	2700	3681	1935	1900	1970	0	0	0	0	0	0	25.22	25.03	24.39
4457	1.37	177.2	2700	3681	1898	1948	299.6	9.0	255	4463	0.00	2.12	0.00	0.000	1030	0.000	0.024	2710	2294	1922	1897	1948	0	0	0	0	0	0	28.83	26.02	28.83
4771	1.38	179.3	2710	2294	1897	1944	270.5	9.2	271	4779	0.00	2.20	1.65	0.059	8452	0.000	0.031	2710	3677	1906	1882	1931	0	0	0	0	0	0	28.83	26.31	26.20
4885	1.39	184.4	2710	3677	1883	1938	260.6	9.1	276	4903	0.00	2.08	9.23	0.750	9222	0.000	0.024	2720	2298	1883	1858	1909	0	0	0	0	0	0	28.83	26.39	25.50
5202	1.40	187.9	2720	2298	1857	1903	231.7	9.1	292	5208	0.00	2.15	0.00	0.000	516	0.000	0.041	2731	901	1880	1858	1903	0	0	0	0	0	0	28.83	26.39	28.83
5303	1.41	191.9	2730	901	1857	1903	223.8	9.1	296	5318	0.12	2.05	7.47	0.721	13318	0.187	0.017	2702	2305	1854	1830	1878	0	0	0	0	0	0	26.25	26.49	25.59
5637	1.41	191.9	2701	2305	1829	1872	192.3	9.3	313	5643	0.00	2.08	0.00	0.000	260	0.000	0.034	2701	3681	1850	1829	1872	0	0	0	0	0	0	28.83	26.46	28.83
5720	1.41	191.9	2701	3681	1829	1870	186.2	9.3	316	5728	0.00	2.08	0.00	0.000	1030	0.000	0.024	2710	2300	1849	1829	1870	0	0	0	0	0	0	28.83	26.50	28.83
6026	1.43	201.8	2710	2300	1829	1870	157.1	8.9	332	6042	0.00	2.17	10.27	0.699	8708	0.000	0.040	2721	892	1812	1788	1837	0	0	0	0	0	0	28.83	26.37	25.72
6081	1.44	204.8	2721	892	1785	1836	152.8	9.1	334	6087	0.00	2.08	0.00	0.000	1030	0.000	0.018	2721	2302	1810	1785	1835	0	0	0	0	0	0	28.83	26.46	28.83
6395	1.46	212.2	2721	2302	1785	1832	123.5	9.0	350	6411	0.00	0.00	10.55	0.672	8710	0.000	0.000	2721	2303	1769	1742	1796	0	0	0	0	0	0	28.83	28.83	25.70
6720	1.46	214.7	2721	2302	1742	1789	94.2	9.2	366	6726	0.00	2.20	0.00	0.000	516	0.000	0.041	2731	896	1765	1742	1789	0	0	0	0	0	0	28.83	26.46	28.83
6766	1.48	221.3	2731	896	1742	1789	90.1	9.0	368	6783	0.00	2.08	9.25	0.645	9222	0.000	0.018	2731	2311	1733	1706	1760	0	0	0	0	0	0	28.83	26.55	25.72
7092	1.50	230.9	2731	2311	1703	1755	60.7	8.9	384	7103	0.00	0.00	9.55	0.623	8198	0.000	0.000	2731	2311	1697	1666	1729	0	0	0	0	0	0	28.83	28.83	25.72
7393	1.53	239.4	2731	2311	1660	1721	33.9	9.0	407	7407	0.00	2.17	8.43	0.602	8452	0.000	0.035	2732	3694	1658	1620	1696	0	0	0	0	0	0	28.83	26.37	25.75
7543	1.53	242.5	1696	3693	1574	1689	20.5	9.1	424	7551	0.00	2.10	0.00	0.000	1030	0.000	0.024	2741	2300	1654	1612	1696	0	0	0	0	0	0	28.83	26.46	28.83
7739	end climb: SURFACE_DEPTH_REACHED
state	7739	begin surface coast
7773	end surface coast: CONTROL_FINISHED_OK
state	7773	begin surface