Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 170 * 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 170 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 400 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 48 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 55 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 144 CALL_WAIT 5 PITCH_VBD_SHIFT 0.0024999999 DEVICE5 -1

T_MISSION 160 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 190 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 -100708.38 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 400 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 190

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 144

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 -100708.38

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 160

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 48 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 55 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 170 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 220313,213105,2004.358,12005.410,52,0.9,52,-2.7 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 -64.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220313,213820,2004.368,12005.453,19,1.3,19,-2.7 MHEAD_RNG_PITCHd_Wd 344.8,186607,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3608

Post-dive calculations and measurements:

FINISH 0.0,1.025454 _10V_AH 10.2,16.180

SM_CCo 9120,-0.08,0.000,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.57,0.52,-0.08,0.077,0.035,0.000,89,1959,401,-10.54,1.10,549.47,0,0,0,0,0,0,26.39,26.43,24.99 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1955.00,12006.31,220313,181816 MEM 323868

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16793,524

HUMID 47.79 CAP_FILE_SIZE 381934,1971

INTERNAL_PRESSURE 9.1069 CFSIZE 260034560,231497728

TCM_TEMP 19.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0

XPDR_PINGS 2 CURRENT 0.097, 17.5,1

SC_FREEKB 3957888 GPS 230313,001334,2005.623,12005.239,128,1.2,128,-2.7

_24V_AH 24.3,29.121

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 218 92.51 nil 0 0 0.00

Roll_motor 60 48 70.88 nil 0 0 0.00

VBD_pump_during_apogee 431 888 9315.43 nil 0 0 0.00

VBD_pump_during_surface 218 704 3744.35 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 8871 5 1193.15

Iridium_during_xfer 253 133 823.54 nil 0 0 0.00

Transponder_ping 0 420 5.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 29 6.52

TT8 1973 14 291.14

LPSleep 4915 2 109.81

TT8_Active 768 14 113.35

TT8_Sampling 1552 39 620.54

TT8_CF8 323 46 153.87

TT8_Kalman 0 0 0.00

Analog_circuits 1823 15 288.37

GPS_charging 0 0 0.00

Compass 1277 7 97.59

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.35 -170.3 85 1951 332 472 0.0 0.0 0 43 0.00 0.00 -23.35 0.000 16386 0.000 0.000 85 1951 1007 994 1021 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 85 1951 993 1024 3.2 -8.4 3 161 7.97 2.20 -95.07 0.000 18692 0.219 0.042 2089 3382 3338 3248 3428 0 0 0 0 0 0 25.77 26.15 26.44

311 -1.35 -170.3 2089 3382 3249 3428 27.2 -8.6 43 319 0.00 2.15 0.00 0.000 1030 0.000 0.027 2097 1973 3338 3249 3428 0 0 0 0 0 0 28.83 26.29 28.83

628 -1.35 -170.3 2097 1973 3253 3428 56.2 -9.2 72 629 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 1973 3340 3252 3428 0 0 0 0 0 0 28.83 28.83 28.83

929 -1.35 -170.3 2097 1973 3255 3428 83.9 -9.1 87 935 0.00 2.12 0.00 0.000 516 0.000 0.041 2107 573 3341 3255 3428 0 0 0 0 0 0 28.83 26.48 28.83

1061 -1.35 -170.3 2107 573 3255 3428 95.8 -9.0 93 1067 0.00 2.05 0.00 0.000 1030 0.000 0.015 2099 1994 3341 3255 3428 0 0 0 0 0 0 28.83 26.59 28.83

1386 -1.35 -170.3 2098 1995 3255 3428 124.9 -8.7 109 1387 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 1995 3341 3255 3428 0 0 0 0 0 0 28.83 28.83 28.83

1687 -1.35 -170.3 2098 1995 3255 3427 151.5 -8.8 124 1692 0.00 2.03 0.00 0.000 260 0.000 0.031 2089 3364 3341 3255 3427 0 0 0 0 0 0 28.83 26.60 28.83

1743 -1.35 -170.3 2088 3364 3255 3426 155.8 -9.1 126 1749 0.00 2.08 0.00 0.000 1030 0.000 0.026 2089 1973 3340 3255 3426 0 0 0 0 0 0 28.83 26.61 28.83

2058 -1.35 -170.3 2089 1973 3254 3424 184.7 -9.0 142 2059 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 1972 3339 3255 3424 0 0 0 0 0 0 28.83 28.83 28.83

2361 -1.35 -170.3 2089 1973 3256 3421 211.5 -9.0 157 2366 0.00 2.15 0.00 0.000 516 0.000 0.048 2099 567 3339 3255 3424 0 0 0 0 0 0 28.83 26.60 28.83

2389 -1.35 -170.3 2099 567 3255 3421 214.0 -8.9 158 2396 0.00 2.03 0.00 0.000 1030 0.000 0.016 2091 1973 3338 3255 3421 0 0 0 0 0 0 28.83 26.69 28.83

2710 -1.35 -170.3 2090 1974 3255 3417 243.3 -8.9 174 2716 0.00 2.08 0.00 0.000 260 0.000 0.033 2081 3359 3336 3255 3417 0 0 0 0 0 0 28.83 26.63 28.83

2750 -1.35 -170.3 2080 3359 3255 3416 245.6 -9.0 175 2759 0.10 2.10 0.00 0.000 3078 0.161 0.028 2105 1967 3335 3255 3416 0 0 0 0 0 0 26.48 26.65 28.83

3056 -1.35 -170.3 2106 1967 3253 3414 274.7 -8.8 191 3057 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 1967 3333 3253 3414 0 0 0 0 0 0 28.83 28.83 28.83

3358 -1.35 -170.3 2106 1967 3252 3411 302.0 -9.2 206 3363 0.00 2.15 0.00 0.000 516 0.000 0.047 2117 570 3332 3253 3411 0 0 0 0 0 0 28.83 26.62 28.83

3407 -1.35 -170.3 2116 569 3253 3411 306.2 -9.1 208 3413 0.00 2.03 0.00 0.000 1030 0.000 0.017 2108 1968 3331 3252 3410 0 0 0 0 0 0 28.83 26.70 28.83

3728 -1.35 -170.3 2108 1969 3251 3408 336.0 -9.3 224 3733 0.00 2.17 0.00 0.000 516 0.000 0.045 2116 575 3329 3251 3408 0 0 0 0 0 0 28.83 26.61 28.83

3779 -1.35 -170.3 2116 575 3251 3408 340.3 -9.0 226 3785 0.00 2.05 0.00 0.000 1030 0.000 0.018 2108 1983 3329 3251 3407 0 0 0 0 0 0 28.83 26.70 28.83

4099 -1.35 -170.3 2108 1984 3248 3406 370.2 -9.0 242 4105 0.00 2.08 0.00 0.000 260 0.000 0.034 2098 3371 3326 3248 3405 0 0 0 0 0 0 28.83 26.63 28.83

4166 -1.35 -170.3 2097 3371 3247 3405 376.3 -8.9 245 4173 0.00 2.12 0.00 0.000 1030 0.000 0.031 2098 1970 3326 3247 3405 0 0 0 0 0 0 28.83 26.64 28.83

4430 end dive: TARGET_DEPTH_EXCEEDED

state 4430 begin apogee

4436 -0.25 0.0 2097 2313 3245 3403 400.5 -8.7 258 4596 0.75 0.00 154.07 0.889 10246 0.115 0.000 2344 2313 2635 2586 2684 0 0 0 0 0 0 26.46 28.83 24.47

4598 end apogee: CONTROL_FINISHED_OK

state 4598 begin climb

4601 1.35 170.3 2344 2313 2578 2677 386.2 0.0 265 4774 1.00 2.22 161.40 0.846 10500 0.057 0.034 2706 3691 1935 1902 1968 0 0 0 0 0 0 25.24 24.95 24.32

4988 1.37 176.7 2706 3692 1898 1947 351.6 9.0 282 4994 0.00 2.15 0.00 0.000 1030 0.000 0.024 2715 2301 1922 1898 1947 0 0 0 0 0 0 28.83 25.91 28.83

5303 1.39 184.7 2715 2300 1898 1944 322.5 9.0 298 5310 0.00 0.00 5.57 0.746 8198 0.000 0.000 2716 2300 1888 1862 1914 0 0 0 0 0 0 28.83 28.83 25.32

5604 1.40 190.6 2715 2300 1862 1920 295.2 9.0 313 5621 0.00 2.28 11.43 0.809 8708 0.000 0.044 2726 900 1857 1830 1885 0 0 0 0 0 0 28.83 26.14 25.44

5733 1.42 197.4 2726 900 1826 1879 283.6 9.0 319 5745 0.00 2.10 3.17 0.493 9222 0.000 0.018 2726 2305 1833 1805 1862 0 0 0 0 0 0 28.83 26.31 25.19

6059 1.43 203.1 2726 2305 1805 1866 254.1 9.1 335 6070 0.00 0.00 9.85 0.779 8198 0.000 0.000 2726 2306 1812 1782 1842 0 0 0 0 0 0 28.83 28.83 25.51

6360 1.45 209.3 2726 2305 1776 1832 226.9 9.0 350 6367 0.00 0.00 5.10 0.715 8198 0.000 0.000 2726 2305 1785 1755 1816 0 0 0 0 0 0 28.83 28.83 25.47

6660 1.48 221.1 2726 2306 1755 1815 199.5 8.8 365 6680 0.00 0.00 15.12 0.731 8198 0.000 0.000 2726 2305 1733 1700 1766 0 0 0 0 0 0 28.83 28.83 25.53

6979 1.51 231.7 2726 2305 1700 1760 170.6 8.9 381 6999 0.00 0.00 11.05 0.715 8198 0.000 0.000 2726 2305 1687 1653 1722 0 0 0 0 0 0 28.83 28.83 25.53

7299 1.51 231.7 2726 2305 1653 1717 141.5 9.3 397 7305 0.00 2.12 0.00 0.000 260 0.000 0.036 2726 3692 1685 1653 1717 0 0 0 0 0 0 28.83 26.38 28.83

7346 1.52 239.0 2726 3692 1653 1717 137.4 9.0 399 7358 0.00 2.12 5.12 0.671 9222 0.000 0.026 2736 2295 1662 1624 1701 0 0 0 0 0 0 28.83 26.41 25.53

7671 1.54 243.8 2736 2296 1624 1701 108.1 9.1 415 7684 0.00 2.15 5.12 0.644 8452 0.000 0.033 2736 3686 1645 1600 1690 0 0 0 0 0 0 28.83 26.38 25.58

7762 1.55 250.6 1760 3685 1567 1682 100.2 9.0 419 7781 0.00 2.12 9.88 0.656 9222 0.000 0.027 2746 2294 1612 1564 1661 0 0 0 0 0 0 28.83 26.42 25.62

8080 1.57 258.1 2746 2293 1563 1658 70.6 9.0 435 8096 0.00 2.22 7.68 0.630 8452 0.000 0.034 2746 3685 1583 1531 1635 0 0 0 0 0 0 28.83 26.32 25.65

8130 1.59 263.6 2746 3685 1530 1634 66.5 9.1 437 8142 0.00 2.12 4.53 0.577 9222 0.000 0.028 2756 2295 1563 1510 1617 0 0 0 0 0 0 28.83 26.35 25.43

8451 1.61 273.2 2756 2295 1510 1617 37.3 8.9 460 8470 0.00 2.20 12.93 0.584 8708 0.000 0.043 2767 889 1519 1464 1575 0 0 0 0 0 0 28.83 26.25 25.65

8515 1.63 282.3 2766 889 1464 1571 32.0 8.9 465 8529 0.00 2.10 9.23 0.581 9222 0.000 0.018 2767 2301 1486 1432 1540 0 0 0 0 0 0 28.83 26.35 25.59

8834 end climb: SURFACE_DEPTH_REACHED

state 8834 begin surface coast

8868 end surface coast: CONTROL_FINISHED_OK

state 8868 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	170	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	400	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	48	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	55	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	144	CALL_WAIT	5	PITCH_VBD_SHIFT	0.0024999999	DEVICE5	-1
T_MISSION	160	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	190	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	-100708.38	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	220313,213105,2004.358,12005.410,52,0.9,52,-2.7	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	-64.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220313,213820,2004.368,12005.453,19,1.3,19,-2.7	MHEAD_RNG_PITCHd_Wd	344.8,186607,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3608

FINISH	0.0,1.025454	_10V_AH	10.2,16.180
SM_CCo	9120,-0.08,0.000,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.57,0.52,-0.08,0.077,0.035,0.000,89,1959,401,-10.54,1.10,549.47,0,0,0,0,0,0,26.39,26.43,24.99	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1955.00,12006.31,220313,181816	MEM	323868
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16793,524
HUMID	47.79	CAP_FILE_SIZE	381934,1971
INTERNAL_PRESSURE	9.1069	CFSIZE	260034560,231497728
TCM_TEMP	19.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
XPDR_PINGS	2	CURRENT	0.097, 17.5,1
SC_FREEKB	3957888	GPS	230313,001334,2005.623,12005.239,128,1.2,128,-2.7
_24V_AH	24.3,29.121

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	218	92.51	nil	0	0	0.00
Roll_motor	60	48	70.88	nil	0	0	0.00
VBD_pump_during_apogee	431	888	9315.43	nil	0	0	0.00
VBD_pump_during_surface	218	704	3744.35	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	8871	5	1193.15
Iridium_during_xfer	253	133	823.54	nil	0	0	0.00
Transponder_ping	0	420	5.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	29	6.52
TT8	1973	14	291.14
LPSleep	4915	2	109.81
TT8_Active	768	14	113.35
TT8_Sampling	1552	39	620.54
TT8_CF8	323	46	153.87
TT8_Kalman	0	0	0.00
Analog_circuits	1823	15	288.37
GPS_charging	0	0	0.00
Compass	1277	7	97.59
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.35	-170.3	85	1951	332	472	0.0	0.0	0	43	0.00	0.00	-23.35	0.000	16386	0.000	0.000	85	1951	1007	994	1021	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	85	1951	993	1024	3.2	-8.4	3	161	7.97	2.20	-95.07	0.000	18692	0.219	0.042	2089	3382	3338	3248	3428	0	0	0	0	0	0	25.77	26.15	26.44
311	-1.35	-170.3	2089	3382	3249	3428	27.2	-8.6	43	319	0.00	2.15	0.00	0.000	1030	0.000	0.027	2097	1973	3338	3249	3428	0	0	0	0	0	0	28.83	26.29	28.83
628	-1.35	-170.3	2097	1973	3253	3428	56.2	-9.2	72	629	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	1973	3340	3252	3428	0	0	0	0	0	0	28.83	28.83	28.83
929	-1.35	-170.3	2097	1973	3255	3428	83.9	-9.1	87	935	0.00	2.12	0.00	0.000	516	0.000	0.041	2107	573	3341	3255	3428	0	0	0	0	0	0	28.83	26.48	28.83
1061	-1.35	-170.3	2107	573	3255	3428	95.8	-9.0	93	1067	0.00	2.05	0.00	0.000	1030	0.000	0.015	2099	1994	3341	3255	3428	0	0	0	0	0	0	28.83	26.59	28.83
1386	-1.35	-170.3	2098	1995	3255	3428	124.9	-8.7	109	1387	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	1995	3341	3255	3428	0	0	0	0	0	0	28.83	28.83	28.83
1687	-1.35	-170.3	2098	1995	3255	3427	151.5	-8.8	124	1692	0.00	2.03	0.00	0.000	260	0.000	0.031	2089	3364	3341	3255	3427	0	0	0	0	0	0	28.83	26.60	28.83
1743	-1.35	-170.3	2088	3364	3255	3426	155.8	-9.1	126	1749	0.00	2.08	0.00	0.000	1030	0.000	0.026	2089	1973	3340	3255	3426	0	0	0	0	0	0	28.83	26.61	28.83
2058	-1.35	-170.3	2089	1973	3254	3424	184.7	-9.0	142	2059	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	1972	3339	3255	3424	0	0	0	0	0	0	28.83	28.83	28.83
2361	-1.35	-170.3	2089	1973	3256	3421	211.5	-9.0	157	2366	0.00	2.15	0.00	0.000	516	0.000	0.048	2099	567	3339	3255	3424	0	0	0	0	0	0	28.83	26.60	28.83
2389	-1.35	-170.3	2099	567	3255	3421	214.0	-8.9	158	2396	0.00	2.03	0.00	0.000	1030	0.000	0.016	2091	1973	3338	3255	3421	0	0	0	0	0	0	28.83	26.69	28.83
2710	-1.35	-170.3	2090	1974	3255	3417	243.3	-8.9	174	2716	0.00	2.08	0.00	0.000	260	0.000	0.033	2081	3359	3336	3255	3417	0	0	0	0	0	0	28.83	26.63	28.83
2750	-1.35	-170.3	2080	3359	3255	3416	245.6	-9.0	175	2759	0.10	2.10	0.00	0.000	3078	0.161	0.028	2105	1967	3335	3255	3416	0	0	0	0	0	0	26.48	26.65	28.83
3056	-1.35	-170.3	2106	1967	3253	3414	274.7	-8.8	191	3057	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	1967	3333	3253	3414	0	0	0	0	0	0	28.83	28.83	28.83
3358	-1.35	-170.3	2106	1967	3252	3411	302.0	-9.2	206	3363	0.00	2.15	0.00	0.000	516	0.000	0.047	2117	570	3332	3253	3411	0	0	0	0	0	0	28.83	26.62	28.83
3407	-1.35	-170.3	2116	569	3253	3411	306.2	-9.1	208	3413	0.00	2.03	0.00	0.000	1030	0.000	0.017	2108	1968	3331	3252	3410	0	0	0	0	0	0	28.83	26.70	28.83
3728	-1.35	-170.3	2108	1969	3251	3408	336.0	-9.3	224	3733	0.00	2.17	0.00	0.000	516	0.000	0.045	2116	575	3329	3251	3408	0	0	0	0	0	0	28.83	26.61	28.83
3779	-1.35	-170.3	2116	575	3251	3408	340.3	-9.0	226	3785	0.00	2.05	0.00	0.000	1030	0.000	0.018	2108	1983	3329	3251	3407	0	0	0	0	0	0	28.83	26.70	28.83
4099	-1.35	-170.3	2108	1984	3248	3406	370.2	-9.0	242	4105	0.00	2.08	0.00	0.000	260	0.000	0.034	2098	3371	3326	3248	3405	0	0	0	0	0	0	28.83	26.63	28.83
4166	-1.35	-170.3	2097	3371	3247	3405	376.3	-8.9	245	4173	0.00	2.12	0.00	0.000	1030	0.000	0.031	2098	1970	3326	3247	3405	0	0	0	0	0	0	28.83	26.64	28.83
4430	end dive: TARGET_DEPTH_EXCEEDED
state	4430	begin apogee
4436	-0.25	0.0	2097	2313	3245	3403	400.5	-8.7	258	4596	0.75	0.00	154.07	0.889	10246	0.115	0.000	2344	2313	2635	2586	2684	0	0	0	0	0	0	26.46	28.83	24.47
4598	end apogee: CONTROL_FINISHED_OK
state	4598	begin climb
4601	1.35	170.3	2344	2313	2578	2677	386.2	0.0	265	4774	1.00	2.22	161.40	0.846	10500	0.057	0.034	2706	3691	1935	1902	1968	0	0	0	0	0	0	25.24	24.95	24.32
4988	1.37	176.7	2706	3692	1898	1947	351.6	9.0	282	4994	0.00	2.15	0.00	0.000	1030	0.000	0.024	2715	2301	1922	1898	1947	0	0	0	0	0	0	28.83	25.91	28.83
5303	1.39	184.7	2715	2300	1898	1944	322.5	9.0	298	5310	0.00	0.00	5.57	0.746	8198	0.000	0.000	2716	2300	1888	1862	1914	0	0	0	0	0	0	28.83	28.83	25.32
5604	1.40	190.6	2715	2300	1862	1920	295.2	9.0	313	5621	0.00	2.28	11.43	0.809	8708	0.000	0.044	2726	900	1857	1830	1885	0	0	0	0	0	0	28.83	26.14	25.44
5733	1.42	197.4	2726	900	1826	1879	283.6	9.0	319	5745	0.00	2.10	3.17	0.493	9222	0.000	0.018	2726	2305	1833	1805	1862	0	0	0	0	0	0	28.83	26.31	25.19
6059	1.43	203.1	2726	2305	1805	1866	254.1	9.1	335	6070	0.00	0.00	9.85	0.779	8198	0.000	0.000	2726	2306	1812	1782	1842	0	0	0	0	0	0	28.83	28.83	25.51
6360	1.45	209.3	2726	2305	1776	1832	226.9	9.0	350	6367	0.00	0.00	5.10	0.715	8198	0.000	0.000	2726	2305	1785	1755	1816	0	0	0	0	0	0	28.83	28.83	25.47
6660	1.48	221.1	2726	2306	1755	1815	199.5	8.8	365	6680	0.00	0.00	15.12	0.731	8198	0.000	0.000	2726	2305	1733	1700	1766	0	0	0	0	0	0	28.83	28.83	25.53
6979	1.51	231.7	2726	2305	1700	1760	170.6	8.9	381	6999	0.00	0.00	11.05	0.715	8198	0.000	0.000	2726	2305	1687	1653	1722	0	0	0	0	0	0	28.83	28.83	25.53
7299	1.51	231.7	2726	2305	1653	1717	141.5	9.3	397	7305	0.00	2.12	0.00	0.000	260	0.000	0.036	2726	3692	1685	1653	1717	0	0	0	0	0	0	28.83	26.38	28.83
7346	1.52	239.0	2726	3692	1653	1717	137.4	9.0	399	7358	0.00	2.12	5.12	0.671	9222	0.000	0.026	2736	2295	1662	1624	1701	0	0	0	0	0	0	28.83	26.41	25.53
7671	1.54	243.8	2736	2296	1624	1701	108.1	9.1	415	7684	0.00	2.15	5.12	0.644	8452	0.000	0.033	2736	3686	1645	1600	1690	0	0	0	0	0	0	28.83	26.38	25.58
7762	1.55	250.6	1760	3685	1567	1682	100.2	9.0	419	7781	0.00	2.12	9.88	0.656	9222	0.000	0.027	2746	2294	1612	1564	1661	0	0	0	0	0	0	28.83	26.42	25.62
8080	1.57	258.1	2746	2293	1563	1658	70.6	9.0	435	8096	0.00	2.22	7.68	0.630	8452	0.000	0.034	2746	3685	1583	1531	1635	0	0	0	0	0	0	28.83	26.32	25.65
8130	1.59	263.6	2746	3685	1530	1634	66.5	9.1	437	8142	0.00	2.12	4.53	0.577	9222	0.000	0.028	2756	2295	1563	1510	1617	0	0	0	0	0	0	28.83	26.35	25.43
8451	1.61	273.2	2756	2295	1510	1617	37.3	8.9	460	8470	0.00	2.20	12.93	0.584	8708	0.000	0.043	2767	889	1519	1464	1575	0	0	0	0	0	0	28.83	26.25	25.65
8515	1.63	282.3	2766	889	1464	1571	32.0	8.9	465	8529	0.00	2.10	9.23	0.581	9222	0.000	0.018	2767	2301	1486	1432	1540	0	0	0	0	0	0	28.83	26.35	25.59
8834	end climb: SURFACE_DEPTH_REACHED
state	8834	begin surface coast
8868	end surface coast: CONTROL_FINISHED_OK
state	8868	begin surface