Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 159 * 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 159 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 50 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 56 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 -100694.58 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 -100694.58

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 50 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 56 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 159 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 210313,155734,1950.576,12006.069,27,1.0,27,-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 -60.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210313,160442,1950.639,12006.055,17,1.0,18,-2.6 MHEAD_RNG_PITCHd_Wd 319.8,212053,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3846

Post-dive calculations and measurements:

FINISH 0.0,1.025226 _10V_AH 10.2,15.485

SM_CCo 8071,3.00,0.368,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.43,0.47,3.00,0.072,0.042,0.368,84,1962,400,-10.55,1.30,549.47,0,0,0,0,0,0,26.45,26.48,24.68 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1938.95,12005.99,210313,131339 MEM 323880

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16760,468

HUMID 48.50 CAP_FILE_SIZE 378808,2042

INTERNAL_PRESSURE 9.1069 CFSIZE 260034560,232726528

TCM_TEMP 18.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0

XPDR_PINGS 0 CURRENT 0.120, 51.4,1

SC_FREEKB 3961984 GPS 210313,182223,1951.373,12005.825,120,0.7,120,-2.6

_24V_AH 24.1,27.382

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 220 92.39 nil 0 0 0.00

Roll_motor 64 44 68.68 nil 0 0 0.00

VBD_pump_during_apogee 382 1041 9601.48 nil 0 0 0.00

VBD_pump_during_surface 243 721 4230.36 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 7798 5 1117.07

Iridium_during_xfer 255 131 809.50 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 5.76

TT8 1937 14 285.78

LPSleep 3918 2 87.54

TT8_Active 757 14 111.71

TT8_Sampling 1566 39 626.04

TT8_CF8 306 46 145.79

TT8_Kalman 0 0 0.00

Analog_circuits 1831 15 289.51

GPS_charging 0 0 0.00

Compass 1287 7 98.37

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 84 1949 366 497 0.0 0.0 0 43 0.00 0.00 -23.23 0.000 16386 0.000 0.000 84 1949 1039 1027 1052 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 84 1949 1026 1054 3.2 -9.4 3 161 8.00 2.17 -95.57 0.000 18692 0.220 0.042 2090 3379 3335 3243 3428 0 0 0 0 0 0 25.83 26.18 26.48

406 -1.35 -170.3 2089 3379 3245 3428 35.4 -9.1 52 414 0.00 2.10 0.00 0.000 1030 0.000 0.024 2097 1977 3336 3245 3428 0 0 0 0 0 0 28.83 26.39 28.83

723 -1.35 -170.3 2097 1977 3249 3428 65.1 -9.2 76 729 0.00 2.10 0.00 0.000 260 0.000 0.029 2089 3371 3338 3249 3428 0 0 0 0 0 0 28.83 26.49 28.83

774 -1.35 -170.3 2088 3371 3250 3428 69.2 -8.7 78 779 0.00 2.10 0.00 0.000 1030 0.000 0.024 2090 1963 3339 3250 3428 0 0 0 0 0 0 28.83 26.52 28.83

1094 -1.35 -170.3 2090 1962 3253 3428 97.9 -9.1 94 1100 0.00 2.10 0.00 0.000 516 0.000 0.040 2095 572 3340 3253 3428 0 0 0 0 0 0 28.83 26.55 28.83

1230 -1.35 -170.3 2095 572 3252 3428 109.9 -9.0 100 1236 0.00 2.03 0.00 0.000 1030 0.000 0.015 2087 1990 3340 3253 3428 0 0 0 0 0 0 28.83 26.65 28.83

1550 -1.35 -170.3 2087 1991 3253 3428 139.5 -8.9 116 1557 0.00 2.17 0.00 0.000 516 0.000 0.039 2093 571 3340 3253 3428 0 0 0 0 0 0 28.83 26.60 28.83

1641 -1.35 -170.3 2092 571 3253 3428 147.1 -8.7 120 1648 0.10 2.03 0.00 0.000 3078 0.171 0.016 2108 1978 3340 3253 3427 0 0 0 0 0 0 26.48 26.68 28.83

1962 -1.35 -170.3 2107 1979 3253 3425 176.1 -9.0 136 1963 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 1978 3338 3252 3425 0 0 0 0 0 0 28.83 28.83 28.83

2263 -1.35 -170.3 2108 1979 3252 3422 203.4 -9.1 151 2268 0.00 2.15 0.00 0.000 516 0.000 0.041 2117 575 3336 3252 3421 0 0 0 0 0 0 28.83 26.63 28.83

2308 -1.35 -170.3 2117 575 3253 3421 207.8 -9.1 153 2314 0.00 2.00 0.00 0.000 1030 0.000 0.016 2109 1974 3336 3252 3421 0 0 0 0 0 0 28.83 26.71 28.83

2634 -1.35 -170.3 2109 1974 3252 3416 236.9 -9.2 169 2640 0.00 2.05 0.00 0.000 260 0.000 0.032 2098 3358 3334 3252 3416 0 0 0 0 0 0 28.83 26.65 28.83

2681 -1.35 -170.3 2098 3358 3253 3415 241.1 -8.9 171 2687 0.00 2.08 0.00 0.000 1030 0.000 0.027 2098 1977 3334 3253 3415 0 0 0 0 0 0 28.83 26.67 28.83

3006 -1.35 -170.3 2098 1977 3252 3413 269.7 -8.8 187 3013 0.00 2.15 0.00 0.000 516 0.000 0.044 2106 570 3332 3252 3412 0 0 0 0 0 0 28.83 26.64 28.83

3097 -1.35 -170.3 1312 570 3225 3409 277.7 -9.0 191 3103 0.00 2.03 0.00 0.000 1030 0.000 0.017 2098 1975 3331 3250 3412 0 0 0 0 0 0 28.83 26.72 28.83

3417 -1.35 -170.3 2098 1975 3249 3408 306.7 -9.0 207 3418 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 1975 3328 3249 3408 0 0 0 0 0 0 28.83 28.83 28.83

3718 -1.35 -170.3 2097 1975 3248 3406 333.7 -8.8 222 3724 0.00 2.17 0.00 0.000 516 0.000 0.044 2104 570 3327 3248 3406 0 0 0 0 0 0 28.83 26.63 28.83

3757 -1.35 -170.3 2104 570 3248 3406 336.0 -8.9 223 3765 0.00 2.03 0.00 0.000 1030 0.000 0.017 2096 1972 3327 3248 3406 0 0 0 0 0 0 28.83 26.72 28.83

3902 end dive: TARGET_DEPTH_EXCEEDED

state 3902 begin apogee

3907 -0.25 0.0 2093 2312 3246 3405 350.5 -9.1 231 4065 0.75 0.00 142.57 0.977 10246 0.116 0.000 2340 2313 2639 2589 2690 0 0 0 0 1 0 26.49 28.83 24.33

4067 end apogee: CONTROL_FINISHED_OK

state 4067 begin climb

4070 1.35 170.3 2340 2312 2589 2690 336.5 0.0 238 4231 1.00 2.28 146.43 1.041 10500 0.058 0.034 2700 3677 1944 1909 1979 0 0 0 0 1 0 25.26 24.87 24.10

4469 1.38 179.5 2700 3677 1909 1979 300.1 8.9 256 4488 0.00 2.12 11.40 0.806 9222 0.000 0.023 2710 2292 1903 1875 1931 0 0 0 0 0 0 28.83 25.98 25.08

4786 1.38 181.0 2710 2292 1874 1923 270.8 9.2 272 4793 0.00 2.15 0.00 0.000 260 0.000 0.031 2710 3685 1898 1874 1923 0 0 0 0 0 0 28.83 26.24 28.83

4957 1.40 188.2 2710 3685 1874 1922 255.5 9.0 280 4973 0.00 2.12 8.43 0.754 9222 0.000 0.024 2720 2290 1868 1844 1893 0 0 0 0 0 0 28.83 26.36 25.47

5282 1.41 194.6 2720 2290 1843 1888 225.9 9.0 296 5294 0.00 2.15 5.50 0.717 8452 0.000 0.031 2720 3684 1846 1822 1871 0 0 0 0 0 0 28.83 26.32 25.51

5476 1.44 203.9 2720 3684 1821 1870 208.8 8.9 305 5492 0.00 2.10 11.52 0.732 9222 0.000 0.024 2730 2298 1805 1779 1832 0 0 0 0 0 0 28.83 26.42 25.54

5801 1.45 208.8 2729 2298 1775 1822 179.2 9.1 321 5812 0.00 2.17 3.62 0.551 8452 0.000 0.032 2730 3679 1786 1761 1812 0 0 0 0 0 0 28.83 26.38 25.39

5951 1.46 214.3 2730 3678 1761 1813 165.5 9.1 328 5967 0.00 2.08 7.78 0.702 9222 0.000 0.024 2740 2299 1763 1736 1790 0 0 0 0 0 0 28.83 26.44 25.61

6277 1.48 220.0 2740 2300 1735 1785 136.4 9.1 344 6288 0.00 2.12 4.88 0.648 8452 0.000 0.031 2740 3680 1741 1714 1769 0 0 0 0 0 0 28.83 26.39 25.46

6413 1.51 231.5 2740 3680 1714 1769 124.5 8.8 350 6433 0.00 2.10 14.35 0.667 9222 0.000 0.024 2749 2292 1694 1660 1728 0 0 0 0 0 0 28.83 26.45 25.59

6730 1.51 231.6 2749 2292 1654 1718 95.6 9.3 366 6737 0.00 2.17 0.00 0.000 516 0.000 0.044 2760 898 1686 1654 1718 0 0 0 0 0 0 28.83 26.39 28.83

6786 1.51 233.4 2760 898 1653 1718 91.3 9.2 368 6793 0.12 2.05 0.00 0.000 5126 0.190 0.017 2732 2297 1685 1654 1717 0 0 0 0 0 0 26.22 26.48 28.83

7102 1.52 237.7 2731 2297 1654 1716 62.1 9.1 384 7108 0.00 0.00 4.25 0.552 8198 0.000 0.000 2733 2296 1670 1638 1703 0 0 0 0 0 0 28.83 28.83 25.55

7403 1.55 247.4 2731 2297 1638 1703 34.9 8.9 407 7422 0.00 2.12 11.90 0.590 8452 0.000 0.034 2731 3684 1625 1580 1671 0 0 0 0 0 0 28.83 26.38 25.76

7474 1.57 257.3 2731 3684 1578 1669 28.6 8.9 413 7492 0.00 2.10 10.02 0.584 9222 0.000 0.026 2741 2298 1586 1536 1636 0 0 0 0 0 0 28.83 26.42 25.69

7760 end climb: SURFACE_DEPTH_REACHED

state 7760 begin surface coast

7793 end surface coast: CONTROL_FINISHED_OK

state 7794 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	159	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	50	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	56	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	-100694.58	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	210313,155734,1950.576,12006.069,27,1.0,27,-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	-60.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210313,160442,1950.639,12006.055,17,1.0,18,-2.6	MHEAD_RNG_PITCHd_Wd	319.8,212053,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3846

FINISH	0.0,1.025226	_10V_AH	10.2,15.485
SM_CCo	8071,3.00,0.368,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.43,0.47,3.00,0.072,0.042,0.368,84,1962,400,-10.55,1.30,549.47,0,0,0,0,0,0,26.45,26.48,24.68	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1938.95,12005.99,210313,131339	MEM	323880
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16760,468
HUMID	48.50	CAP_FILE_SIZE	378808,2042
INTERNAL_PRESSURE	9.1069	CFSIZE	260034560,232726528
TCM_TEMP	18.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
XPDR_PINGS	0	CURRENT	0.120, 51.4,1
SC_FREEKB	3961984	GPS	210313,182223,1951.373,12005.825,120,0.7,120,-2.6
_24V_AH	24.1,27.382

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	220	92.39	nil	0	0	0.00
Roll_motor	64	44	68.68	nil	0	0	0.00
VBD_pump_during_apogee	382	1041	9601.48	nil	0	0	0.00
VBD_pump_during_surface	243	721	4230.36	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	7798	5	1117.07
Iridium_during_xfer	255	131	809.50	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	5.76
TT8	1937	14	285.78
LPSleep	3918	2	87.54
TT8_Active	757	14	111.71
TT8_Sampling	1566	39	626.04
TT8_CF8	306	46	145.79
TT8_Kalman	0	0	0.00
Analog_circuits	1831	15	289.51
GPS_charging	0	0	0.00
Compass	1287	7	98.37
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	84	1949	366	497	0.0	0.0	0	43	0.00	0.00	-23.23	0.000	16386	0.000	0.000	84	1949	1039	1027	1052	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	84	1949	1026	1054	3.2	-9.4	3	161	8.00	2.17	-95.57	0.000	18692	0.220	0.042	2090	3379	3335	3243	3428	0	0	0	0	0	0	25.83	26.18	26.48
406	-1.35	-170.3	2089	3379	3245	3428	35.4	-9.1	52	414	0.00	2.10	0.00	0.000	1030	0.000	0.024	2097	1977	3336	3245	3428	0	0	0	0	0	0	28.83	26.39	28.83
723	-1.35	-170.3	2097	1977	3249	3428	65.1	-9.2	76	729	0.00	2.10	0.00	0.000	260	0.000	0.029	2089	3371	3338	3249	3428	0	0	0	0	0	0	28.83	26.49	28.83
774	-1.35	-170.3	2088	3371	3250	3428	69.2	-8.7	78	779	0.00	2.10	0.00	0.000	1030	0.000	0.024	2090	1963	3339	3250	3428	0	0	0	0	0	0	28.83	26.52	28.83
1094	-1.35	-170.3	2090	1962	3253	3428	97.9	-9.1	94	1100	0.00	2.10	0.00	0.000	516	0.000	0.040	2095	572	3340	3253	3428	0	0	0	0	0	0	28.83	26.55	28.83
1230	-1.35	-170.3	2095	572	3252	3428	109.9	-9.0	100	1236	0.00	2.03	0.00	0.000	1030	0.000	0.015	2087	1990	3340	3253	3428	0	0	0	0	0	0	28.83	26.65	28.83
1550	-1.35	-170.3	2087	1991	3253	3428	139.5	-8.9	116	1557	0.00	2.17	0.00	0.000	516	0.000	0.039	2093	571	3340	3253	3428	0	0	0	0	0	0	28.83	26.60	28.83
1641	-1.35	-170.3	2092	571	3253	3428	147.1	-8.7	120	1648	0.10	2.03	0.00	0.000	3078	0.171	0.016	2108	1978	3340	3253	3427	0	0	0	0	0	0	26.48	26.68	28.83
1962	-1.35	-170.3	2107	1979	3253	3425	176.1	-9.0	136	1963	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	1978	3338	3252	3425	0	0	0	0	0	0	28.83	28.83	28.83
2263	-1.35	-170.3	2108	1979	3252	3422	203.4	-9.1	151	2268	0.00	2.15	0.00	0.000	516	0.000	0.041	2117	575	3336	3252	3421	0	0	0	0	0	0	28.83	26.63	28.83
2308	-1.35	-170.3	2117	575	3253	3421	207.8	-9.1	153	2314	0.00	2.00	0.00	0.000	1030	0.000	0.016	2109	1974	3336	3252	3421	0	0	0	0	0	0	28.83	26.71	28.83
2634	-1.35	-170.3	2109	1974	3252	3416	236.9	-9.2	169	2640	0.00	2.05	0.00	0.000	260	0.000	0.032	2098	3358	3334	3252	3416	0	0	0	0	0	0	28.83	26.65	28.83
2681	-1.35	-170.3	2098	3358	3253	3415	241.1	-8.9	171	2687	0.00	2.08	0.00	0.000	1030	0.000	0.027	2098	1977	3334	3253	3415	0	0	0	0	0	0	28.83	26.67	28.83
3006	-1.35	-170.3	2098	1977	3252	3413	269.7	-8.8	187	3013	0.00	2.15	0.00	0.000	516	0.000	0.044	2106	570	3332	3252	3412	0	0	0	0	0	0	28.83	26.64	28.83
3097	-1.35	-170.3	1312	570	3225	3409	277.7	-9.0	191	3103	0.00	2.03	0.00	0.000	1030	0.000	0.017	2098	1975	3331	3250	3412	0	0	0	0	0	0	28.83	26.72	28.83
3417	-1.35	-170.3	2098	1975	3249	3408	306.7	-9.0	207	3418	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	1975	3328	3249	3408	0	0	0	0	0	0	28.83	28.83	28.83
3718	-1.35	-170.3	2097	1975	3248	3406	333.7	-8.8	222	3724	0.00	2.17	0.00	0.000	516	0.000	0.044	2104	570	3327	3248	3406	0	0	0	0	0	0	28.83	26.63	28.83
3757	-1.35	-170.3	2104	570	3248	3406	336.0	-8.9	223	3765	0.00	2.03	0.00	0.000	1030	0.000	0.017	2096	1972	3327	3248	3406	0	0	0	0	0	0	28.83	26.72	28.83
3902	end dive: TARGET_DEPTH_EXCEEDED
state	3902	begin apogee
3907	-0.25	0.0	2093	2312	3246	3405	350.5	-9.1	231	4065	0.75	0.00	142.57	0.977	10246	0.116	0.000	2340	2313	2639	2589	2690	0	0	0	0	1	0	26.49	28.83	24.33
4067	end apogee: CONTROL_FINISHED_OK
state	4067	begin climb
4070	1.35	170.3	2340	2312	2589	2690	336.5	0.0	238	4231	1.00	2.28	146.43	1.041	10500	0.058	0.034	2700	3677	1944	1909	1979	0	0	0	0	1	0	25.26	24.87	24.10
4469	1.38	179.5	2700	3677	1909	1979	300.1	8.9	256	4488	0.00	2.12	11.40	0.806	9222	0.000	0.023	2710	2292	1903	1875	1931	0	0	0	0	0	0	28.83	25.98	25.08
4786	1.38	181.0	2710	2292	1874	1923	270.8	9.2	272	4793	0.00	2.15	0.00	0.000	260	0.000	0.031	2710	3685	1898	1874	1923	0	0	0	0	0	0	28.83	26.24	28.83
4957	1.40	188.2	2710	3685	1874	1922	255.5	9.0	280	4973	0.00	2.12	8.43	0.754	9222	0.000	0.024	2720	2290	1868	1844	1893	0	0	0	0	0	0	28.83	26.36	25.47
5282	1.41	194.6	2720	2290	1843	1888	225.9	9.0	296	5294	0.00	2.15	5.50	0.717	8452	0.000	0.031	2720	3684	1846	1822	1871	0	0	0	0	0	0	28.83	26.32	25.51
5476	1.44	203.9	2720	3684	1821	1870	208.8	8.9	305	5492	0.00	2.10	11.52	0.732	9222	0.000	0.024	2730	2298	1805	1779	1832	0	0	0	0	0	0	28.83	26.42	25.54
5801	1.45	208.8	2729	2298	1775	1822	179.2	9.1	321	5812	0.00	2.17	3.62	0.551	8452	0.000	0.032	2730	3679	1786	1761	1812	0	0	0	0	0	0	28.83	26.38	25.39
5951	1.46	214.3	2730	3678	1761	1813	165.5	9.1	328	5967	0.00	2.08	7.78	0.702	9222	0.000	0.024	2740	2299	1763	1736	1790	0	0	0	0	0	0	28.83	26.44	25.61
6277	1.48	220.0	2740	2300	1735	1785	136.4	9.1	344	6288	0.00	2.12	4.88	0.648	8452	0.000	0.031	2740	3680	1741	1714	1769	0	0	0	0	0	0	28.83	26.39	25.46
6413	1.51	231.5	2740	3680	1714	1769	124.5	8.8	350	6433	0.00	2.10	14.35	0.667	9222	0.000	0.024	2749	2292	1694	1660	1728	0	0	0	0	0	0	28.83	26.45	25.59
6730	1.51	231.6	2749	2292	1654	1718	95.6	9.3	366	6737	0.00	2.17	0.00	0.000	516	0.000	0.044	2760	898	1686	1654	1718	0	0	0	0	0	0	28.83	26.39	28.83
6786	1.51	233.4	2760	898	1653	1718	91.3	9.2	368	6793	0.12	2.05	0.00	0.000	5126	0.190	0.017	2732	2297	1685	1654	1717	0	0	0	0	0	0	26.22	26.48	28.83
7102	1.52	237.7	2731	2297	1654	1716	62.1	9.1	384	7108	0.00	0.00	4.25	0.552	8198	0.000	0.000	2733	2296	1670	1638	1703	0	0	0	0	0	0	28.83	28.83	25.55
7403	1.55	247.4	2731	2297	1638	1703	34.9	8.9	407	7422	0.00	2.12	11.90	0.590	8452	0.000	0.034	2731	3684	1625	1580	1671	0	0	0	0	0	0	28.83	26.38	25.76
7474	1.57	257.3	2731	3684	1578	1669	28.6	8.9	413	7492	0.00	2.10	10.02	0.584	9222	0.000	0.026	2741	2298	1586	1536	1636	0	0	0	0	0	0	28.83	26.42	25.69
7760	end climb: SURFACE_DEPTH_REACHED
state	7760	begin surface coast
7793	end surface coast: CONTROL_FINISHED_OK
state	7794	begin surface