Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 155 * 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 155 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 57 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 -100689.45 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 -100689.45

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 57 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 155 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 210313,062734,1945.416,12005.400,197,1.4,197,-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 210313,063359,1945.404,12005.352,16,1.0,17,-2.6 MHEAD_RNG_PITCHd_Wd 10.8,221683,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3938

Post-dive calculations and measurements:

FINISH 0.0,1.024827 _10V_AH 10.2,15.253

SM_CCo 8100,-0.03,0.000,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.45,0.47,-0.03,0.073,0.041,0.000,82,1960,400,-10.57,1.27,549.47,0,0,0,0,0,0,26.51,26.55,25.13 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1936.66,12000.88,210313,040451 MEM 323900

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16798,471

HUMID 47.00 CAP_FILE_SIZE 380107,2074

INTERNAL_PRESSURE 9.15573 CFSIZE 260034560,233156608

TCM_TEMP 19.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0

XPDR_PINGS 0 CURRENT 0.091,319.9,1

SC_FREEKB 3963520 GPS 210313,085042,1946.393,12004.992,37,1.5,37,-2.6

_24V_AH 24.4,26.821

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 218 92.62 nil 0 0 0.00

Roll_motor 60 42 63.06 nil 0 0 0.00

VBD_pump_during_apogee 390 830 7917.45 nil 0 0 0.00

VBD_pump_during_surface 233 687 3918.72 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 7831 5 1126.20

Iridium_during_xfer 216 134 712.40 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 29 5.42

TT8 1943 14 286.63

LPSleep 3935 2 87.91

TT8_Active 746 14 110.15

TT8_Sampling 1537 39 614.55

TT8_CF8 306 46 145.73

TT8_Kalman 0 0 0.00

Analog_circuits 1793 15 283.51

GPS_charging 0 0 0.00

Compass 1323 7 101.09

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 81 1949 332 475 0.0 0.0 0 44 0.00 0.00 -23.90 0.000 16386 0.000 0.000 81 1949 1021 1004 1039 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 81 1949 1004 1040 3.1 -8.7 3 162 7.95 2.25 -93.07 0.000 18692 0.219 0.043 2089 3381 3337 3245 3430 0 0 0 0 0 0 25.83 26.19 26.47

297 -1.35 -170.3 1264 3379 3222 3427 25.6 -8.9 42 305 0.00 2.12 0.00 0.000 1030 0.000 0.025 2097 1974 3339 3248 3430 0 0 0 0 0 0 28.83 26.32 28.83

603 -1.35 -170.3 2097 1974 3252 3430 53.7 -8.8 71 609 0.00 2.12 0.00 0.000 260 0.000 0.029 2089 3383 3341 3252 3430 0 0 0 0 0 0 28.83 26.45 28.83

679 -1.35 -170.3 2089 3382 3252 3430 59.7 -9.0 74 685 0.00 2.10 0.00 0.000 1030 0.000 0.024 2089 1972 3341 3252 3430 0 0 0 0 0 0 28.83 26.48 28.83

994 -1.35 -170.3 2089 1972 3254 3430 88.3 -8.6 90 999 0.00 2.12 0.00 0.000 516 0.000 0.040 2099 569 3342 3254 3430 0 0 0 0 0 0 28.83 26.53 28.83

1094 -1.35 -170.3 2099 568 3254 3430 96.1 -9.1 94 1102 0.00 2.05 0.00 0.000 1030 0.000 0.015 2091 2002 3342 3254 3430 0 0 0 0 0 0 28.83 26.62 28.83

1401 -1.35 -170.3 2090 2003 3254 3430 124.5 -8.9 110 1406 0.00 2.00 0.00 0.000 260 0.000 0.031 2080 3359 3342 3254 3430 0 0 0 0 0 0 28.83 26.60 28.83

1430 -1.35 -170.3 2080 3359 3254 3430 126.6 -8.9 111 1436 0.10 2.08 0.00 0.000 3078 0.166 0.025 2105 1964 3342 3254 3430 0 0 0 0 0 0 26.45 26.61 28.83

1750 -1.35 -170.3 2105 1964 3254 3429 155.8 -8.9 127 1751 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 1964 3342 3254 3430 0 0 0 0 0 0 28.83 28.83 28.83

2051 -1.35 -170.3 2105 1964 3254 3427 182.3 -9.0 142 2052 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 1964 3340 3254 3427 0 0 0 0 0 0 28.83 28.83 28.83

2352 -1.35 -170.3 2105 1963 3254 3423 208.8 -8.6 157 2354 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 1963 3339 3255 3423 0 0 0 0 0 0 28.83 28.83 28.83

2651 -1.35 -170.3 2105 1963 3255 3421 235.9 -9.1 172 2652 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 1963 3337 3254 3421 0 0 0 0 0 0 28.83 28.83 28.83

2951 -1.35 -170.3 2105 1963 3254 3417 262.5 -8.8 187 2957 0.00 2.12 0.00 0.000 516 0.000 0.043 2115 568 3336 3255 3417 0 0 0 0 0 0 28.83 26.65 28.83

3194 -1.35 -170.3 2115 568 3253 3416 283.6 -8.8 198 3200 0.00 2.03 0.00 0.000 1030 0.000 0.016 2107 1977 3334 3253 3415 0 0 0 0 0 0 28.83 26.73 28.83

3509 -1.35 -170.3 2107 1978 3252 3412 312.9 -9.2 214 3515 0.00 2.17 0.00 0.000 516 0.000 0.042 2115 572 3331 3251 3412 0 0 0 0 0 0 28.83 26.65 28.83

3734 -1.35 -170.3 2115 572 3249 3411 331.9 -9.0 224 3742 0.00 2.03 0.00 0.000 1030 0.000 0.017 2107 1978 3330 3249 3411 0 0 0 0 0 0 28.83 26.73 28.83

3918 end dive: TARGET_DEPTH_EXCEEDED

state 3918 begin apogee

3924 -0.25 0.0 2105 2304 3248 3409 350.3 -8.8 234 4082 0.73 0.00 148.20 0.831 10246 0.116 0.000 2343 2305 2629 2579 2680 0 0 0 0 0 0 26.51 28.83 24.58

4083 end apogee: CONTROL_FINISHED_OK

state 4083 begin climb

4085 1.35 170.3 2342 2305 2578 2679 335.9 0.0 241 4247 1.00 2.28 151.45 0.818 10500 0.061 0.033 2701 3680 1934 1898 1971 0 0 0 0 0 0 25.32 25.06 24.43

4486 1.38 180.1 1728 3679 1850 1942 299.6 8.9 259 4497 0.00 2.10 2.97 0.425 9222 0.000 0.023 2710 2306 1904 1875 1933 0 0 0 0 0 0 28.83 26.03 25.03

4805 1.42 196.8 2710 2306 1875 1940 271.1 8.7 275 4834 0.00 2.15 22.00 0.760 8452 0.000 0.031 2711 3681 1827 1795 1859 0 0 0 0 0 0 28.83 25.98 25.28

4999 1.43 201.1 2710 3681 1793 1849 253.5 9.1 284 5005 0.00 2.10 0.00 0.000 1030 0.000 0.024 2720 2300 1821 1793 1849 0 0 0 0 0 0 28.83 26.23 28.83

5324 1.45 207.7 2720 2300 1793 1847 224.1 9.0 300 5336 0.00 2.20 5.30 0.693 8708 0.000 0.039 2731 894 1793 1763 1823 0 0 0 0 0 0 28.83 26.31 25.51

5425 1.46 213.6 2731 894 1763 1823 216.2 9.0 304 5445 0.00 2.08 10.10 0.741 9222 0.000 0.017 2731 2303 1763 1732 1795 0 0 0 0 0 0 28.83 26.43 25.51

5760 1.47 216.9 2731 2303 1731 1791 185.3 9.1 321 5765 0.00 2.10 0.00 0.000 260 0.000 0.034 2731 3692 1760 1731 1790 0 0 0 0 0 0 28.83 26.41 28.83

5815 1.47 217.5 2731 3693 1731 1790 180.9 9.2 323 5822 0.00 2.10 0.00 0.000 1030 0.000 0.024 2741 2299 1760 1731 1790 0 0 0 0 0 0 28.83 26.44 28.83

6131 1.50 229.3 2741 2299 1731 1789 152.4 8.8 339 6154 0.00 2.22 15.25 0.674 8452 0.000 0.033 2741 3690 1699 1665 1733 0 0 0 0 0 0 28.83 26.29 25.65

6222 1.52 236.1 2741 3690 1664 1731 144.3 9.0 343 6233 0.00 2.12 5.20 0.649 9222 0.000 0.025 2751 2291 1677 1644 1710 0 0 0 0 0 0 28.83 26.36 25.56

6547 1.55 249.9 2750 2290 1644 1710 115.5 8.8 359 6570 0.00 2.17 15.90 0.638 8452 0.000 0.032 2751 3692 1614 1568 1660 0 0 0 0 0 0 28.83 26.23 25.61

6763 1.56 254.1 2751 3692 1565 1656 96.4 9.1 369 6768 0.00 2.12 0.00 0.000 1030 0.000 0.025 2761 2294 1610 1565 1656 0 0 0 0 0 0 28.83 26.38 28.83

7082 1.56 254.1 2760 2294 1565 1654 66.9 9.7 385 7088 0.00 2.15 0.00 0.000 516 0.000 0.041 2771 897 1609 1565 1654 0 0 0 0 0 0 28.83 26.45 28.83

7107 1.56 254.1 2771 897 1566 1654 64.7 9.4 386 7114 0.12 2.08 0.00 0.000 5126 0.187 0.018 2743 2313 1609 1565 1654 0 0 0 0 0 0 26.27 26.53 28.83

7423 1.59 265.3 2742 2313 1565 1651 36.6 8.9 409 7449 0.00 2.15 14.20 0.560 8452 0.000 0.035 2743 3688 1551 1501 1602 0 0 0 0 0 0 28.83 26.38 25.78

7495 1.60 268.7 2743 3688 1500 1600 29.9 9.1 415 7501 0.00 2.10 0.00 0.000 1030 0.000 0.025 2751 2298 1550 1500 1600 0 0 0 0 0 0 28.83 26.42 28.83

7794 end climb: SURFACE_DEPTH_REACHED

state 7794 begin surface coast

7829 end surface coast: CONTROL_FINISHED_OK

state 7829 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	155	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	57	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	-100689.45	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	210313,062734,1945.416,12005.400,197,1.4,197,-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	210313,063359,1945.404,12005.352,16,1.0,17,-2.6	MHEAD_RNG_PITCHd_Wd	10.8,221683,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3938

FINISH	0.0,1.024827	_10V_AH	10.2,15.253
SM_CCo	8100,-0.03,0.000,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.45,0.47,-0.03,0.073,0.041,0.000,82,1960,400,-10.57,1.27,549.47,0,0,0,0,0,0,26.51,26.55,25.13	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1936.66,12000.88,210313,040451	MEM	323900
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16798,471
HUMID	47.00	CAP_FILE_SIZE	380107,2074
INTERNAL_PRESSURE	9.15573	CFSIZE	260034560,233156608
TCM_TEMP	19.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
XPDR_PINGS	0	CURRENT	0.091,319.9,1
SC_FREEKB	3963520	GPS	210313,085042,1946.393,12004.992,37,1.5,37,-2.6
_24V_AH	24.4,26.821

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	218	92.62	nil	0	0	0.00
Roll_motor	60	42	63.06	nil	0	0	0.00
VBD_pump_during_apogee	390	830	7917.45	nil	0	0	0.00
VBD_pump_during_surface	233	687	3918.72	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	7831	5	1126.20
Iridium_during_xfer	216	134	712.40	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	29	5.42
TT8	1943	14	286.63
LPSleep	3935	2	87.91
TT8_Active	746	14	110.15
TT8_Sampling	1537	39	614.55
TT8_CF8	306	46	145.73
TT8_Kalman	0	0	0.00
Analog_circuits	1793	15	283.51
GPS_charging	0	0	0.00
Compass	1323	7	101.09
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	81	1949	332	475	0.0	0.0	0	44	0.00	0.00	-23.90	0.000	16386	0.000	0.000	81	1949	1021	1004	1039	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	81	1949	1004	1040	3.1	-8.7	3	162	7.95	2.25	-93.07	0.000	18692	0.219	0.043	2089	3381	3337	3245	3430	0	0	0	0	0	0	25.83	26.19	26.47
297	-1.35	-170.3	1264	3379	3222	3427	25.6	-8.9	42	305	0.00	2.12	0.00	0.000	1030	0.000	0.025	2097	1974	3339	3248	3430	0	0	0	0	0	0	28.83	26.32	28.83
603	-1.35	-170.3	2097	1974	3252	3430	53.7	-8.8	71	609	0.00	2.12	0.00	0.000	260	0.000	0.029	2089	3383	3341	3252	3430	0	0	0	0	0	0	28.83	26.45	28.83
679	-1.35	-170.3	2089	3382	3252	3430	59.7	-9.0	74	685	0.00	2.10	0.00	0.000	1030	0.000	0.024	2089	1972	3341	3252	3430	0	0	0	0	0	0	28.83	26.48	28.83
994	-1.35	-170.3	2089	1972	3254	3430	88.3	-8.6	90	999	0.00	2.12	0.00	0.000	516	0.000	0.040	2099	569	3342	3254	3430	0	0	0	0	0	0	28.83	26.53	28.83
1094	-1.35	-170.3	2099	568	3254	3430	96.1	-9.1	94	1102	0.00	2.05	0.00	0.000	1030	0.000	0.015	2091	2002	3342	3254	3430	0	0	0	0	0	0	28.83	26.62	28.83
1401	-1.35	-170.3	2090	2003	3254	3430	124.5	-8.9	110	1406	0.00	2.00	0.00	0.000	260	0.000	0.031	2080	3359	3342	3254	3430	0	0	0	0	0	0	28.83	26.60	28.83
1430	-1.35	-170.3	2080	3359	3254	3430	126.6	-8.9	111	1436	0.10	2.08	0.00	0.000	3078	0.166	0.025	2105	1964	3342	3254	3430	0	0	0	0	0	0	26.45	26.61	28.83
1750	-1.35	-170.3	2105	1964	3254	3429	155.8	-8.9	127	1751	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	1964	3342	3254	3430	0	0	0	0	0	0	28.83	28.83	28.83
2051	-1.35	-170.3	2105	1964	3254	3427	182.3	-9.0	142	2052	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	1964	3340	3254	3427	0	0	0	0	0	0	28.83	28.83	28.83
2352	-1.35	-170.3	2105	1963	3254	3423	208.8	-8.6	157	2354	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	1963	3339	3255	3423	0	0	0	0	0	0	28.83	28.83	28.83
2651	-1.35	-170.3	2105	1963	3255	3421	235.9	-9.1	172	2652	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	1963	3337	3254	3421	0	0	0	0	0	0	28.83	28.83	28.83
2951	-1.35	-170.3	2105	1963	3254	3417	262.5	-8.8	187	2957	0.00	2.12	0.00	0.000	516	0.000	0.043	2115	568	3336	3255	3417	0	0	0	0	0	0	28.83	26.65	28.83
3194	-1.35	-170.3	2115	568	3253	3416	283.6	-8.8	198	3200	0.00	2.03	0.00	0.000	1030	0.000	0.016	2107	1977	3334	3253	3415	0	0	0	0	0	0	28.83	26.73	28.83
3509	-1.35	-170.3	2107	1978	3252	3412	312.9	-9.2	214	3515	0.00	2.17	0.00	0.000	516	0.000	0.042	2115	572	3331	3251	3412	0	0	0	0	0	0	28.83	26.65	28.83
3734	-1.35	-170.3	2115	572	3249	3411	331.9	-9.0	224	3742	0.00	2.03	0.00	0.000	1030	0.000	0.017	2107	1978	3330	3249	3411	0	0	0	0	0	0	28.83	26.73	28.83
3918	end dive: TARGET_DEPTH_EXCEEDED
state	3918	begin apogee
3924	-0.25	0.0	2105	2304	3248	3409	350.3	-8.8	234	4082	0.73	0.00	148.20	0.831	10246	0.116	0.000	2343	2305	2629	2579	2680	0	0	0	0	0	0	26.51	28.83	24.58
4083	end apogee: CONTROL_FINISHED_OK
state	4083	begin climb
4085	1.35	170.3	2342	2305	2578	2679	335.9	0.0	241	4247	1.00	2.28	151.45	0.818	10500	0.061	0.033	2701	3680	1934	1898	1971	0	0	0	0	0	0	25.32	25.06	24.43
4486	1.38	180.1	1728	3679	1850	1942	299.6	8.9	259	4497	0.00	2.10	2.97	0.425	9222	0.000	0.023	2710	2306	1904	1875	1933	0	0	0	0	0	0	28.83	26.03	25.03
4805	1.42	196.8	2710	2306	1875	1940	271.1	8.7	275	4834	0.00	2.15	22.00	0.760	8452	0.000	0.031	2711	3681	1827	1795	1859	0	0	0	0	0	0	28.83	25.98	25.28
4999	1.43	201.1	2710	3681	1793	1849	253.5	9.1	284	5005	0.00	2.10	0.00	0.000	1030	0.000	0.024	2720	2300	1821	1793	1849	0	0	0	0	0	0	28.83	26.23	28.83
5324	1.45	207.7	2720	2300	1793	1847	224.1	9.0	300	5336	0.00	2.20	5.30	0.693	8708	0.000	0.039	2731	894	1793	1763	1823	0	0	0	0	0	0	28.83	26.31	25.51
5425	1.46	213.6	2731	894	1763	1823	216.2	9.0	304	5445	0.00	2.08	10.10	0.741	9222	0.000	0.017	2731	2303	1763	1732	1795	0	0	0	0	0	0	28.83	26.43	25.51
5760	1.47	216.9	2731	2303	1731	1791	185.3	9.1	321	5765	0.00	2.10	0.00	0.000	260	0.000	0.034	2731	3692	1760	1731	1790	0	0	0	0	0	0	28.83	26.41	28.83
5815	1.47	217.5	2731	3693	1731	1790	180.9	9.2	323	5822	0.00	2.10	0.00	0.000	1030	0.000	0.024	2741	2299	1760	1731	1790	0	0	0	0	0	0	28.83	26.44	28.83
6131	1.50	229.3	2741	2299	1731	1789	152.4	8.8	339	6154	0.00	2.22	15.25	0.674	8452	0.000	0.033	2741	3690	1699	1665	1733	0	0	0	0	0	0	28.83	26.29	25.65
6222	1.52	236.1	2741	3690	1664	1731	144.3	9.0	343	6233	0.00	2.12	5.20	0.649	9222	0.000	0.025	2751	2291	1677	1644	1710	0	0	0	0	0	0	28.83	26.36	25.56
6547	1.55	249.9	2750	2290	1644	1710	115.5	8.8	359	6570	0.00	2.17	15.90	0.638	8452	0.000	0.032	2751	3692	1614	1568	1660	0	0	0	0	0	0	28.83	26.23	25.61
6763	1.56	254.1	2751	3692	1565	1656	96.4	9.1	369	6768	0.00	2.12	0.00	0.000	1030	0.000	0.025	2761	2294	1610	1565	1656	0	0	0	0	0	0	28.83	26.38	28.83
7082	1.56	254.1	2760	2294	1565	1654	66.9	9.7	385	7088	0.00	2.15	0.00	0.000	516	0.000	0.041	2771	897	1609	1565	1654	0	0	0	0	0	0	28.83	26.45	28.83
7107	1.56	254.1	2771	897	1566	1654	64.7	9.4	386	7114	0.12	2.08	0.00	0.000	5126	0.187	0.018	2743	2313	1609	1565	1654	0	0	0	0	0	0	26.27	26.53	28.83
7423	1.59	265.3	2742	2313	1565	1651	36.6	8.9	409	7449	0.00	2.15	14.20	0.560	8452	0.000	0.035	2743	3688	1551	1501	1602	0	0	0	0	0	0	28.83	26.38	25.78
7495	1.60	268.7	2743	3688	1500	1600	29.9	9.1	415	7501	0.00	2.10	0.00	0.000	1030	0.000	0.025	2751	2298	1550	1500	1600	0	0	0	0	0	0	28.83	26.42	28.83
7794	end climb: SURFACE_DEPTH_REACHED
state	7794	begin surface coast
7829	end surface coast: CONTROL_FINISHED_OK
state	7829	begin surface