Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 154 * 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 154 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 52 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 66 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 -100688.19 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 -100688.19

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 52 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 66 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 154 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 210313,040247,1944.462,12005.838,312,1.0,312,-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 -66.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210313,040931,1944.463,12005.753,24,0.7,25,-2.6 MHEAD_RNG_PITCHd_Wd 354.9,223453,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3973

Post-dive calculations and measurements:

FINISH 0.0,1.025367 _10V_AH 10.1,15.191

SM_CCo 8017,3.22,0.404,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.68,0.52,3.22,0.080,0.034,0.404,82,1960,400,-10.56,1.16,549.47,0,0,0,0,0,0,26.21,26.24,24.68 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1936.66,12007.97,210313,010121 MEM 323848

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16774,468

HUMID 49.44 CAP_FILE_SIZE 347446,1767

INTERNAL_PRESSURE 9.1069 CFSIZE 260034560,233291776

TCM_TEMP 19.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,3,2,0

XPDR_PINGS 2 CURRENT 0.065,314.9,1

SC_FREEKB 3963904 GPS 210313,062734,1945.416,12005.400,197,1.4,197,-2.6

_24V_AH 24.4,26.682

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 221 94.87 nil 0 0 0.00

Roll_motor 60 43 64.32 nil 0 0 0.00

VBD_pump_during_apogee 529 830 10724.77 nil 0 0 0.00

VBD_pump_during_surface 189 730 3375.36 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 7795 5 1128.44

Iridium_during_xfer 228 127 710.80 nil 0 0 0.00

Transponder_ping 0 420 5.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 29 7.91

TT8 1744 14 254.79

LPSleep 4140 2 91.58

TT8_Active 812 14 118.71

TT8_Sampling 1425 39 563.93

TT8_CF8 285 46 134.63

TT8_Kalman 0 0 0.00

Analog_circuits 1813 15 283.84

GPS_charging 0 0 0.00

Compass 1186 7 89.77

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

19 -1.35 -170.3 80 1952 330 479 0.0 0.0 0 44 0.00 0.00 -23.48 0.000 16386 0.000 0.000 81 1952 1015 998 1033 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 81 1952 998 1035 3.2 -9.5 3 152 8.02 2.17 -87.22 0.000 18692 0.222 0.044 2094 3371 3337 3245 3430 0 0 0 0 0 0 25.84 26.19 26.48

344 -1.35 -170.3 2094 3371 3248 3430 30.5 -9.1 47 350 0.00 2.10 0.00 0.000 1030 0.000 0.024 2102 1976 3339 3249 3430 0 0 0 0 0 0 28.83 26.35 28.83

669 -1.35 -170.3 2102 1976 3252 3431 59.7 -8.9 74 675 0.00 2.10 0.00 0.000 260 0.000 0.028 2093 3371 3341 3252 3430 0 0 0 0 0 0 28.83 26.47 28.83

811 -1.35 -170.3 2092 3371 3253 3430 71.2 -8.8 80 818 0.00 2.10 0.00 0.000 1030 0.000 0.024 2098 1963 3341 3253 3430 0 0 0 0 0 0 28.83 26.52 28.83

1119 -1.35 -170.3 2097 1962 3254 3430 100.1 -8.9 96 1125 0.00 2.10 0.00 0.000 516 0.000 0.040 2107 573 3342 3254 3430 0 0 0 0 0 0 28.83 26.54 28.83

1186 -1.35 -170.3 2107 571 3254 3430 106.1 -8.9 99 1192 0.00 2.03 0.00 0.000 1030 0.000 0.015 2099 1988 3342 3255 3430 0 0 0 0 0 0 28.83 26.63 28.83

1511 -1.35 -170.3 2098 1990 3254 3430 136.4 -9.3 115 1517 0.00 2.17 0.00 0.000 516 0.000 0.038 2106 567 3342 3254 3430 0 0 0 0 0 0 28.83 26.59 28.83

1551 -1.35 -170.3 2106 567 3254 3430 138.7 -9.3 116 1560 0.00 2.03 0.00 0.000 1030 0.000 0.015 2098 1984 3341 3253 3430 0 0 0 0 0 0 28.83 26.67 28.83

1859 -1.35 -170.3 2097 1984 3254 3428 167.6 -8.5 132 1866 0.00 2.03 0.00 0.000 260 0.000 0.031 2087 3357 3340 3254 3427 0 0 0 0 0 0 28.83 26.63 28.83

1955 -1.35 -170.3 2087 3357 3254 3427 175.5 -9.0 136 1961 0.00 2.08 0.00 0.000 1030 0.000 0.025 2088 1964 3340 3254 3427 0 0 0 0 0 0 28.83 26.65 28.83

2270 -1.35 -170.3 2087 1964 3254 3423 205.0 -9.0 152 2271 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 1964 3338 3254 3423 0 0 0 0 0 0 28.83 28.83 28.83

2572 -1.35 -170.3 2087 1964 3254 3421 232.1 -8.7 167 2574 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 1964 3337 3254 3421 0 0 0 0 0 0 28.83 28.83 28.83

2872 -1.35 -170.3 2087 1964 3254 3417 259.3 -8.8 182 2877 0.00 2.12 0.00 0.000 516 0.000 0.043 2096 570 3335 3254 3416 0 0 0 0 0 0 28.83 26.63 28.83

2954 -1.35 -170.3 2096 570 3254 3417 265.6 -9.0 185 2962 0.00 2.03 0.00 0.000 1030 0.000 0.016 2088 1977 3335 3254 3416 0 0 0 0 0 0 28.83 26.72 28.83

3260 -1.35 -170.3 2087 1978 3253 3414 294.4 -9.1 201 3266 0.00 2.05 0.00 0.000 260 0.000 0.033 2077 3358 3333 3253 3413 0 0 0 0 0 0 28.83 26.65 28.83

3307 -1.35 -170.3 2077 3358 3252 3413 298.6 -9.1 203 3315 0.12 2.08 0.00 0.000 3078 0.153 0.028 2110 1978 3333 3253 3413 0 0 0 0 0 0 26.49 26.67 28.83

3634 -1.35 -170.3 2109 1978 3251 3410 327.9 -9.0 219 3635 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 1978 3330 3251 3410 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 2110 2298 3250 3408 350.9 -8.9 232 4125 0.70 0.00 218.25 0.721 10246 0.113 0.000 2342 2299 2634 2584 2684 0 0 0 0 0 0 26.50 28.83 24.60

4126 end apogee: CONTROL_FINISHED_OK

state 4126 begin climb

4128 1.35 170.3 2341 2298 2583 2681 330.4 0.0 242 4296 1.00 2.25 155.38 0.830 10500 0.061 0.033 2699 3688 1935 1903 1968 0 0 0 0 0 0 25.28 25.00 24.36

4534 1.37 175.3 2699 3688 1900 1948 293.8 9.1 260 4540 0.00 2.12 0.00 0.000 1030 0.000 0.023 2709 2302 1924 1900 1948 0 0 0 0 0 0 28.83 26.00 28.83

4849 1.38 180.1 2708 2302 1900 1945 264.9 9.1 276 4854 0.00 0.00 2.40 0.270 8198 0.000 0.000 2709 2302 1904 1880 1929 0 0 0 0 0 0 28.83 28.83 25.20

5150 1.40 189.2 2709 2302 1880 1939 238.0 8.9 291 5169 0.00 0.00 15.00 0.768 8198 0.000 0.000 2709 2302 1862 1835 1889 0 0 0 0 0 0 28.83 28.83 25.52

5469 1.43 199.3 2708 2302 1830 1878 209.4 8.9 307 5477 0.00 0.00 6.18 0.731 8198 0.000 0.000 2709 2302 1828 1802 1855 0 0 0 0 0 0 28.83 28.83 25.51

5770 1.45 208.0 2708 2302 1801 1855 182.2 8.9 322 5787 0.00 2.28 11.77 0.746 8708 0.000 0.041 2719 892 1787 1757 1817 0 0 0 0 0 0 28.83 26.23 25.56

5824 1.46 214.2 2719 892 1754 1814 178.1 9.0 324 5839 0.00 2.08 5.10 0.701 9222 0.000 0.017 2719 2295 1765 1734 1796 0 0 0 0 0 0 28.83 26.34 25.45

6136 1.53 239.7 2719 2295 1734 1796 149.5 8.3 340 6171 0.00 2.15 27.25 0.709 8452 0.000 0.034 2719 3686 1655 1611 1699 0 0 0 0 0 0 28.83 26.02 25.38

6222 1.55 248.9 2718 3687 1606 1696 141.8 8.9 344 6238 0.00 2.15 8.45 0.708 9222 0.000 0.025 2729 2294 1621 1574 1669 0 0 0 0 0 0 28.83 26.13 25.35

6548 1.57 256.9 2729 2294 1572 1661 112.3 9.0 360 6564 0.00 2.22 8.18 0.685 8452 0.000 0.033 2729 3689 1587 1537 1638 0 0 0 0 0 0 28.83 26.20 25.51

6581 1.58 262.0 2729 3690 1536 1638 110.0 9.1 361 6595 0.00 2.12 4.15 0.590 9222 0.000 0.025 2739 2299 1569 1517 1622 0 0 0 0 0 0 28.83 26.23 25.31

6893 1.63 280.5 2739 2300 1517 1622 81.3 8.6 377 6922 0.00 2.20 21.55 0.644 8708 0.000 0.041 2750 898 1489 1438 1541 0 0 0 0 0 0 28.83 26.08 25.49

6942 1.65 288.9 2749 898 1437 1539 76.9 9.0 379 6958 0.00 2.10 8.32 0.648 9222 0.000 0.018 2750 2304 1457 1407 1508 0 0 0 0 0 0 28.83 26.18 25.41

7268 1.68 300.6 2750 2304 1406 1500 46.9 8.8 396 7287 0.00 2.15 12.23 0.617 8452 0.000 0.035 2750 3699 1408 1365 1452 0 0 0 0 0 0 28.83 26.17 25.55

7344 1.69 304.3 2750 3699 1365 1446 40.2 9.1 402 7352 0.00 2.15 0.00 0.000 1030 0.000 0.027 2760 2301 1405 1365 1446 0 0 0 0 0 0 28.83 26.25 28.83

7661 1.71 313.6 1736 2298 1341 1438 11.0 8.9 447 7684 0.00 2.25 12.95 0.574 8708 0.000 0.044 2770 896 1355 1322 1388 0 0 0 0 0 0 28.83 26.23 25.65

7741 1.75 329.2 1744 896 1300 1380 3.7 8.7 460 7758 0.00 2.08 12.40 0.565 9218 0.000 0.018 2769 2300 1309 1283 1335 0 0 0 0 0 0 28.83 26.35 28.83

7759 end climb: SURFACE_DEPTH_REACHED

state 7759 begin surface coast

7792 end surface coast: CONTROL_FINISHED_OK

state 7793 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	154	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	52	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	66	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	-100688.19	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	210313,040247,1944.462,12005.838,312,1.0,312,-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	-66.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210313,040931,1944.463,12005.753,24,0.7,25,-2.6	MHEAD_RNG_PITCHd_Wd	354.9,223453,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3973

FINISH	0.0,1.025367	_10V_AH	10.1,15.191
SM_CCo	8017,3.22,0.404,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.68,0.52,3.22,0.080,0.034,0.404,82,1960,400,-10.56,1.16,549.47,0,0,0,0,0,0,26.21,26.24,24.68	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1936.66,12007.97,210313,010121	MEM	323848
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16774,468
HUMID	49.44	CAP_FILE_SIZE	347446,1767
INTERNAL_PRESSURE	9.1069	CFSIZE	260034560,233291776
TCM_TEMP	19.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,3,2,0
XPDR_PINGS	2	CURRENT	0.065,314.9,1
SC_FREEKB	3963904	GPS	210313,062734,1945.416,12005.400,197,1.4,197,-2.6
_24V_AH	24.4,26.682

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	221	94.87	nil	0	0	0.00
Roll_motor	60	43	64.32	nil	0	0	0.00
VBD_pump_during_apogee	529	830	10724.77	nil	0	0	0.00
VBD_pump_during_surface	189	730	3375.36	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	7795	5	1128.44
Iridium_during_xfer	228	127	710.80	nil	0	0	0.00
Transponder_ping	0	420	5.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	29	7.91
TT8	1744	14	254.79
LPSleep	4140	2	91.58
TT8_Active	812	14	118.71
TT8_Sampling	1425	39	563.93
TT8_CF8	285	46	134.63
TT8_Kalman	0	0	0.00
Analog_circuits	1813	15	283.84
GPS_charging	0	0	0.00
Compass	1186	7	89.77
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
19	-1.35	-170.3	80	1952	330	479	0.0	0.0	0	44	0.00	0.00	-23.48	0.000	16386	0.000	0.000	81	1952	1015	998	1033	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	81	1952	998	1035	3.2	-9.5	3	152	8.02	2.17	-87.22	0.000	18692	0.222	0.044	2094	3371	3337	3245	3430	0	0	0	0	0	0	25.84	26.19	26.48
344	-1.35	-170.3	2094	3371	3248	3430	30.5	-9.1	47	350	0.00	2.10	0.00	0.000	1030	0.000	0.024	2102	1976	3339	3249	3430	0	0	0	0	0	0	28.83	26.35	28.83
669	-1.35	-170.3	2102	1976	3252	3431	59.7	-8.9	74	675	0.00	2.10	0.00	0.000	260	0.000	0.028	2093	3371	3341	3252	3430	0	0	0	0	0	0	28.83	26.47	28.83
811	-1.35	-170.3	2092	3371	3253	3430	71.2	-8.8	80	818	0.00	2.10	0.00	0.000	1030	0.000	0.024	2098	1963	3341	3253	3430	0	0	0	0	0	0	28.83	26.52	28.83
1119	-1.35	-170.3	2097	1962	3254	3430	100.1	-8.9	96	1125	0.00	2.10	0.00	0.000	516	0.000	0.040	2107	573	3342	3254	3430	0	0	0	0	0	0	28.83	26.54	28.83
1186	-1.35	-170.3	2107	571	3254	3430	106.1	-8.9	99	1192	0.00	2.03	0.00	0.000	1030	0.000	0.015	2099	1988	3342	3255	3430	0	0	0	0	0	0	28.83	26.63	28.83
1511	-1.35	-170.3	2098	1990	3254	3430	136.4	-9.3	115	1517	0.00	2.17	0.00	0.000	516	0.000	0.038	2106	567	3342	3254	3430	0	0	0	0	0	0	28.83	26.59	28.83
1551	-1.35	-170.3	2106	567	3254	3430	138.7	-9.3	116	1560	0.00	2.03	0.00	0.000	1030	0.000	0.015	2098	1984	3341	3253	3430	0	0	0	0	0	0	28.83	26.67	28.83
1859	-1.35	-170.3	2097	1984	3254	3428	167.6	-8.5	132	1866	0.00	2.03	0.00	0.000	260	0.000	0.031	2087	3357	3340	3254	3427	0	0	0	0	0	0	28.83	26.63	28.83
1955	-1.35	-170.3	2087	3357	3254	3427	175.5	-9.0	136	1961	0.00	2.08	0.00	0.000	1030	0.000	0.025	2088	1964	3340	3254	3427	0	0	0	0	0	0	28.83	26.65	28.83
2270	-1.35	-170.3	2087	1964	3254	3423	205.0	-9.0	152	2271	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	1964	3338	3254	3423	0	0	0	0	0	0	28.83	28.83	28.83
2572	-1.35	-170.3	2087	1964	3254	3421	232.1	-8.7	167	2574	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	1964	3337	3254	3421	0	0	0	0	0	0	28.83	28.83	28.83
2872	-1.35	-170.3	2087	1964	3254	3417	259.3	-8.8	182	2877	0.00	2.12	0.00	0.000	516	0.000	0.043	2096	570	3335	3254	3416	0	0	0	0	0	0	28.83	26.63	28.83
2954	-1.35	-170.3	2096	570	3254	3417	265.6	-9.0	185	2962	0.00	2.03	0.00	0.000	1030	0.000	0.016	2088	1977	3335	3254	3416	0	0	0	0	0	0	28.83	26.72	28.83
3260	-1.35	-170.3	2087	1978	3253	3414	294.4	-9.1	201	3266	0.00	2.05	0.00	0.000	260	0.000	0.033	2077	3358	3333	3253	3413	0	0	0	0	0	0	28.83	26.65	28.83
3307	-1.35	-170.3	2077	3358	3252	3413	298.6	-9.1	203	3315	0.12	2.08	0.00	0.000	3078	0.153	0.028	2110	1978	3333	3253	3413	0	0	0	0	0	0	26.49	26.67	28.83
3634	-1.35	-170.3	2109	1978	3251	3410	327.9	-9.0	219	3635	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	1978	3330	3251	3410	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	2110	2298	3250	3408	350.9	-8.9	232	4125	0.70	0.00	218.25	0.721	10246	0.113	0.000	2342	2299	2634	2584	2684	0	0	0	0	0	0	26.50	28.83	24.60
4126	end apogee: CONTROL_FINISHED_OK
state	4126	begin climb
4128	1.35	170.3	2341	2298	2583	2681	330.4	0.0	242	4296	1.00	2.25	155.38	0.830	10500	0.061	0.033	2699	3688	1935	1903	1968	0	0	0	0	0	0	25.28	25.00	24.36
4534	1.37	175.3	2699	3688	1900	1948	293.8	9.1	260	4540	0.00	2.12	0.00	0.000	1030	0.000	0.023	2709	2302	1924	1900	1948	0	0	0	0	0	0	28.83	26.00	28.83
4849	1.38	180.1	2708	2302	1900	1945	264.9	9.1	276	4854	0.00	0.00	2.40	0.270	8198	0.000	0.000	2709	2302	1904	1880	1929	0	0	0	0	0	0	28.83	28.83	25.20
5150	1.40	189.2	2709	2302	1880	1939	238.0	8.9	291	5169	0.00	0.00	15.00	0.768	8198	0.000	0.000	2709	2302	1862	1835	1889	0	0	0	0	0	0	28.83	28.83	25.52
5469	1.43	199.3	2708	2302	1830	1878	209.4	8.9	307	5477	0.00	0.00	6.18	0.731	8198	0.000	0.000	2709	2302	1828	1802	1855	0	0	0	0	0	0	28.83	28.83	25.51
5770	1.45	208.0	2708	2302	1801	1855	182.2	8.9	322	5787	0.00	2.28	11.77	0.746	8708	0.000	0.041	2719	892	1787	1757	1817	0	0	0	0	0	0	28.83	26.23	25.56
5824	1.46	214.2	2719	892	1754	1814	178.1	9.0	324	5839	0.00	2.08	5.10	0.701	9222	0.000	0.017	2719	2295	1765	1734	1796	0	0	0	0	0	0	28.83	26.34	25.45
6136	1.53	239.7	2719	2295	1734	1796	149.5	8.3	340	6171	0.00	2.15	27.25	0.709	8452	0.000	0.034	2719	3686	1655	1611	1699	0	0	0	0	0	0	28.83	26.02	25.38
6222	1.55	248.9	2718	3687	1606	1696	141.8	8.9	344	6238	0.00	2.15	8.45	0.708	9222	0.000	0.025	2729	2294	1621	1574	1669	0	0	0	0	0	0	28.83	26.13	25.35
6548	1.57	256.9	2729	2294	1572	1661	112.3	9.0	360	6564	0.00	2.22	8.18	0.685	8452	0.000	0.033	2729	3689	1587	1537	1638	0	0	0	0	0	0	28.83	26.20	25.51
6581	1.58	262.0	2729	3690	1536	1638	110.0	9.1	361	6595	0.00	2.12	4.15	0.590	9222	0.000	0.025	2739	2299	1569	1517	1622	0	0	0	0	0	0	28.83	26.23	25.31
6893	1.63	280.5	2739	2300	1517	1622	81.3	8.6	377	6922	0.00	2.20	21.55	0.644	8708	0.000	0.041	2750	898	1489	1438	1541	0	0	0	0	0	0	28.83	26.08	25.49
6942	1.65	288.9	2749	898	1437	1539	76.9	9.0	379	6958	0.00	2.10	8.32	0.648	9222	0.000	0.018	2750	2304	1457	1407	1508	0	0	0	0	0	0	28.83	26.18	25.41
7268	1.68	300.6	2750	2304	1406	1500	46.9	8.8	396	7287	0.00	2.15	12.23	0.617	8452	0.000	0.035	2750	3699	1408	1365	1452	0	0	0	0	0	0	28.83	26.17	25.55
7344	1.69	304.3	2750	3699	1365	1446	40.2	9.1	402	7352	0.00	2.15	0.00	0.000	1030	0.000	0.027	2760	2301	1405	1365	1446	0	0	0	0	0	0	28.83	26.25	28.83
7661	1.71	313.6	1736	2298	1341	1438	11.0	8.9	447	7684	0.00	2.25	12.95	0.574	8708	0.000	0.044	2770	896	1355	1322	1388	0	0	0	0	0	0	28.83	26.23	25.65
7741	1.75	329.2	1744	896	1300	1380	3.7	8.7	460	7758	0.00	2.08	12.40	0.565	9218	0.000	0.018	2769	2300	1309	1283	1335	0	0	0	0	0	0	28.83	26.35	28.83
7759	end climb: SURFACE_DEPTH_REACHED
state	7759	begin surface coast
7792	end surface coast: CONTROL_FINISHED_OK
state	7793	begin surface