Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 209 * 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 209 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 36 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 65 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 -100757.55 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 -100757.55

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 36 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 65 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 209 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 270313,065934,2055.838,12001.086,25,1.2,25,-2.8 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 -62.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270313,070647,2055.875,12001.008,19,1.1,20,-2.8 MHEAD_RNG_PITCHd_Wd 335.5,90996,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3508

Post-dive calculations and measurements:

FINISH 0.0,1.024330 _10V_AH 10.2,18.660

SM_CCo 9175,1.20,0.135,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.53,1.65,1.20,0.071,0.015,0.135,87,1993,400,-10.54,-1.61,549.47,0,0,0,0,0,0,26.42,26.51,25.13 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2045.60,12000.44,270313,040410 MEM 323892

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16805,520

HUMID 48.18 CAP_FILE_SIZE 428942,2154

INTERNAL_PRESSURE 9.1655 CFSIZE 260034560,226934784

TCM_TEMP 20.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 1 CURRENT 0.072, 0.5,1

SC_FREEKB 3942912 GPS 270313,094134,2057.015,12000.613,44,1.0,44,-2.9

_24V_AH 24.3,35.116

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 205 85.26 nil 0 0 0.00

Roll_motor 72 45 80.98 nil 0 0 0.00

VBD_pump_during_apogee 433 874 9217.83 nil 0 0 0.00

VBD_pump_during_surface 207 682 3444.05 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 8940 5 1207.87

Iridium_during_xfer 241 136 799.60 nil 0 0 0.00

Transponder_ping 0 420 2.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 29 6.48

TT8 2077 14 306.37

LPSleep 4701 2 105.03

TT8_Active 753 14 111.08

TT8_Sampling 1648 39 658.75

TT8_CF8 405 46 193.02

TT8_Kalman 0 0 0.00

Analog_circuits 1872 15 296.06

GPS_charging 0 0 0.00

Compass 1435 7 109.68

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

19 -1.35 -170.3 83 2000 331 469 0.0 0.0 0 44 0.00 0.00 -23.52 0.000 16386 0.000 0.000 83 2000 1007 993 1021 0 0 0 0 0 0 28.83 28.83 28.83

47 -1.35 -170.3 83 2001 993 1023 3.3 -9.5 3 155 7.75 2.15 -93.55 0.000 18692 0.206 0.046 2093 3361 3337 3247 3427 0 0 0 0 0 0 25.75 26.13 26.44

197 -1.35 -170.3 1232 3360 3221 3424 16.9 -8.5 24 205 0.00 2.15 0.00 0.000 1030 0.000 0.028 2101 1960 3338 3249 3427 0 0 0 0 0 0 28.83 26.19 28.83

521 -1.35 -170.3 2100 1960 3253 3427 46.2 -8.7 63 527 0.00 2.15 0.00 0.000 260 0.000 0.031 2092 3370 3339 3252 3427 0 0 0 0 0 0 28.83 26.37 28.83

697 -1.35 -170.3 1248 3368 3226 3424 61.6 -8.9 73 703 0.00 2.10 0.00 0.000 1030 0.000 0.025 2099 1971 3340 3253 3427 0 0 0 0 0 0 28.83 26.45 28.83

1017 -1.35 -170.3 2099 1971 3256 3427 89.5 -7.8 89 1023 0.00 2.12 0.00 0.000 516 0.000 0.041 2110 576 3341 3256 3427 0 0 0 0 0 0 28.83 26.48 28.83

1129 -1.35 -170.3 2110 576 3257 3427 99.4 -8.9 94 1135 0.00 2.03 0.00 0.000 1030 0.000 0.015 2101 1986 3342 3257 3427 0 0 0 0 0 0 28.83 26.59 28.83

1455 -1.35 -170.3 2101 1986 3256 3427 129.0 -8.8 110 1461 0.00 2.05 0.00 0.000 260 0.000 0.032 2091 3367 3341 3256 3427 0 0 0 0 0 0 28.83 26.55 28.83

1651 -1.35 -170.3 2090 3366 3257 3427 146.4 -8.9 119 1657 0.00 2.10 0.00 0.000 1030 0.000 0.026 2095 1965 3341 3256 3427 0 0 0 0 0 0 28.83 26.58 28.83

1973 -1.35 -170.3 2095 1965 3256 3426 175.3 -8.8 135 1978 0.00 2.12 0.00 0.000 516 0.000 0.043 2105 572 3340 3256 3425 0 0 0 0 0 0 28.83 26.56 28.83

2060 -1.35 -170.3 2105 573 3256 3425 183.4 -9.2 139 2066 0.00 2.03 0.00 0.000 1030 0.000 0.016 2097 1974 3341 3258 3425 0 0 0 0 0 0 28.83 26.66 28.83

2387 -1.35 -170.3 2096 1974 3256 3422 213.3 -8.9 155 2393 0.00 2.08 0.00 0.000 260 0.000 0.033 2087 3368 3338 3256 3421 0 0 0 0 0 0 28.83 26.60 28.83

2435 -1.35 -170.3 1248 3367 3230 3417 217.7 -9.1 157 2441 0.00 2.10 0.00 0.000 1030 0.000 0.028 2089 1970 3338 3256 3421 0 0 0 0 0 0 28.83 26.61 28.83

2762 -1.35 -170.3 2088 1970 3256 3417 246.5 -8.8 173 2763 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 1970 3336 3255 3417 0 0 0 0 0 0 28.83 28.83 28.83

3061 -1.35 -170.3 2088 1970 3253 3415 273.7 -8.8 188 3068 0.00 2.15 0.00 0.000 516 0.000 0.045 2098 570 3334 3254 3414 0 0 0 0 0 0 28.83 26.58 28.83

3135 -1.35 -170.3 2098 570 3254 3415 279.8 -8.9 191 3141 0.00 2.03 0.00 0.000 1030 0.000 0.017 2090 1972 3334 3253 3415 0 0 0 0 0 0 28.83 26.67 28.83

3454 -1.35 -170.3 2090 1972 3253 3411 309.3 -9.3 207 3455 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 1972 3331 3252 3411 0 0 0 0 0 0 28.83 28.83 28.83

3756 -1.35 -170.3 2090 1973 3250 3409 336.4 -9.1 222 3761 0.00 2.17 0.00 0.000 516 0.000 0.044 2099 575 3329 3250 3408 0 0 0 0 0 0 28.83 26.56 28.83

3796 -1.35 -170.3 2098 575 3250 3408 338.6 -8.8 223 3804 0.00 2.03 0.00 0.000 1030 0.000 0.017 2090 1974 3329 3250 3408 0 0 0 0 0 0 28.83 26.67 28.83

4103 -1.35 -170.3 2089 1974 3248 3407 367.4 -9.1 239 4109 0.00 2.20 0.00 0.000 516 0.000 0.045 2098 570 3327 3248 3406 0 0 0 0 0 0 28.83 26.56 28.83

4152 -1.35 -170.3 2098 570 3248 3407 371.7 -8.9 241 4158 0.00 2.05 0.00 0.000 1030 0.000 0.017 2089 1972 3327 3248 3407 0 0 0 0 0 0 28.83 26.67 28.83

4477 end dive: TARGET_DEPTH_EXCEEDED

state 4478 begin apogee

4483 -0.25 0.0 2087 2304 3244 3404 400.8 -9.0 257 4646 0.77 0.00 151.57 0.874 10246 0.115 0.000 2341 2304 2629 2579 2679 0 0 0 0 0 0 26.37 28.83 24.49

4648 end apogee: CONTROL_FINISHED_OK

state 4648 begin climb

4650 1.35 170.3 2341 2304 2578 2677 385.9 0.0 264 4817 1.00 2.22 158.07 0.842 10500 0.058 0.034 2699 3681 1936 1902 1970 0 0 0 0 0 0 25.29 24.97 24.30

5059 1.36 174.6 2699 3681 1898 1946 348.9 9.1 282 5065 0.00 2.12 0.00 0.000 1030 0.000 0.025 2709 2306 1922 1898 1946 0 0 0 0 0 0 28.83 25.98 28.83

5374 1.39 184.7 2709 2305 1898 1943 319.3 8.9 298 5385 0.00 0.00 6.93 0.773 8454 0.000 0.000 2709 2305 1887 1862 1913 0 0 0 0 0 0 28.83 28.83 25.35

5700 1.39 184.7 2709 2305 1862 1914 289.9 9.3 314 5701 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2305 1887 1862 1913 0 0 0 0 0 0 28.83 28.83 28.83

6000 1.41 194.0 2709 2305 1862 1913 262.6 8.9 329 6024 0.00 2.28 13.30 0.773 8708 0.000 0.044 2720 893 1839 1812 1867 0 0 0 0 0 0 28.83 26.22 25.53

6119 1.43 199.2 2719 893 1809 1864 252.7 9.1 334 6126 0.00 2.10 0.00 0.000 1030 0.000 0.018 2719 2302 1836 1809 1864 0 0 0 0 0 0 28.83 26.35 28.83

6436 1.45 208.8 2719 2302 1809 1859 224.0 8.9 350 6459 0.00 2.15 14.25 0.736 8452 0.000 0.035 2720 3698 1779 1749 1810 0 0 0 0 0 0 28.83 26.21 25.54

6534 1.47 218.9 2719 3698 1748 1805 216.1 8.9 354 6549 0.00 2.15 9.50 0.723 9222 0.000 0.026 2730 2295 1746 1716 1777 0 0 0 0 0 0 28.83 26.27 25.42

6846 1.50 230.4 2729 2295 1712 1768 188.0 8.8 370 6863 0.00 2.28 11.88 0.708 8708 0.000 0.044 2740 897 1696 1662 1731 0 0 0 0 0 0 28.83 26.16 25.48

6887 1.54 244.9 2740 897 1659 1728 185.8 8.7 371 6906 0.00 2.10 14.70 0.698 9222 0.000 0.018 2741 2298 1640 1594 1686 0 0 0 0 0 0 28.83 26.25 25.36

7220 1.54 244.9 2740 2298 1587 1674 154.1 9.3 388 7221 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2298 1630 1587 1674 0 0 0 0 0 0 28.83 28.83 28.83

7522 1.55 251.0 2740 2297 1585 1674 126.7 9.0 403 7533 0.00 2.25 4.00 0.562 8708 0.000 0.043 2750 891 1615 1568 1662 0 0 0 0 0 0 28.83 26.34 25.38

7602 1.57 258.6 1760 891 1536 1656 120.7 9.0 406 7620 0.00 2.10 10.70 0.649 9222 0.000 0.018 2750 2300 1580 1528 1632 0 0 0 0 0 0 28.83 26.44 25.58

7936 1.60 269.0 2750 2301 1527 1626 90.2 8.9 423 7952 0.00 2.22 10.70 0.621 8452 0.000 0.037 2750 3699 1538 1485 1591 0 0 0 0 0 0 28.83 26.26 25.61

7983 1.62 276.4 2750 3699 1482 1589 85.8 9.0 425 7999 0.00 2.15 7.75 0.620 9222 0.000 0.028 2760 2297 1509 1455 1563 0 0 0 0 0 0 28.83 26.29 25.54

8309 1.65 289.3 2761 2298 1455 1557 56.6 8.8 441 8332 0.00 2.25 13.40 0.578 8708 0.000 0.044 2771 900 1455 1405 1505 0 0 0 0 0 0 28.83 26.20 25.58

8396 1.67 296.4 2770 900 1404 1501 48.7 9.0 445 8410 0.00 2.10 7.07 0.582 9222 0.000 0.018 2771 2300 1429 1381 1477 0 0 0 0 0 0 28.83 26.32 25.51

8716 1.67 298.1 2771 2300 1381 1470 19.7 9.2 481 8724 0.00 2.22 0.00 0.000 516 0.000 0.042 2780 890 1425 1381 1470 0 0 0 0 0 0 28.83 26.32 28.83

8898 end climb: SURFACE_DEPTH_REACHED

state 8898 begin surface coast

8933 end surface coast: CONTROL_FINISHED_OK

state 8934 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	209	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	36	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	65	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	-100757.55	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	270313,065934,2055.838,12001.086,25,1.2,25,-2.8	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	-62.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270313,070647,2055.875,12001.008,19,1.1,20,-2.8	MHEAD_RNG_PITCHd_Wd	335.5,90996,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3508

FINISH	0.0,1.024330	_10V_AH	10.2,18.660
SM_CCo	9175,1.20,0.135,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.53,1.65,1.20,0.071,0.015,0.135,87,1993,400,-10.54,-1.61,549.47,0,0,0,0,0,0,26.42,26.51,25.13	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2045.60,12000.44,270313,040410	MEM	323892
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16805,520
HUMID	48.18	CAP_FILE_SIZE	428942,2154
INTERNAL_PRESSURE	9.1655	CFSIZE	260034560,226934784
TCM_TEMP	20.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	1	CURRENT	0.072, 0.5,1
SC_FREEKB	3942912	GPS	270313,094134,2057.015,12000.613,44,1.0,44,-2.9
_24V_AH	24.3,35.116

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	205	85.26	nil	0	0	0.00
Roll_motor	72	45	80.98	nil	0	0	0.00
VBD_pump_during_apogee	433	874	9217.83	nil	0	0	0.00
VBD_pump_during_surface	207	682	3444.05	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	8940	5	1207.87
Iridium_during_xfer	241	136	799.60	nil	0	0	0.00
Transponder_ping	0	420	2.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	29	6.48
TT8	2077	14	306.37
LPSleep	4701	2	105.03
TT8_Active	753	14	111.08
TT8_Sampling	1648	39	658.75
TT8_CF8	405	46	193.02
TT8_Kalman	0	0	0.00
Analog_circuits	1872	15	296.06
GPS_charging	0	0	0.00
Compass	1435	7	109.68
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
19	-1.35	-170.3	83	2000	331	469	0.0	0.0	0	44	0.00	0.00	-23.52	0.000	16386	0.000	0.000	83	2000	1007	993	1021	0	0	0	0	0	0	28.83	28.83	28.83
47	-1.35	-170.3	83	2001	993	1023	3.3	-9.5	3	155	7.75	2.15	-93.55	0.000	18692	0.206	0.046	2093	3361	3337	3247	3427	0	0	0	0	0	0	25.75	26.13	26.44
197	-1.35	-170.3	1232	3360	3221	3424	16.9	-8.5	24	205	0.00	2.15	0.00	0.000	1030	0.000	0.028	2101	1960	3338	3249	3427	0	0	0	0	0	0	28.83	26.19	28.83
521	-1.35	-170.3	2100	1960	3253	3427	46.2	-8.7	63	527	0.00	2.15	0.00	0.000	260	0.000	0.031	2092	3370	3339	3252	3427	0	0	0	0	0	0	28.83	26.37	28.83
697	-1.35	-170.3	1248	3368	3226	3424	61.6	-8.9	73	703	0.00	2.10	0.00	0.000	1030	0.000	0.025	2099	1971	3340	3253	3427	0	0	0	0	0	0	28.83	26.45	28.83
1017	-1.35	-170.3	2099	1971	3256	3427	89.5	-7.8	89	1023	0.00	2.12	0.00	0.000	516	0.000	0.041	2110	576	3341	3256	3427	0	0	0	0	0	0	28.83	26.48	28.83
1129	-1.35	-170.3	2110	576	3257	3427	99.4	-8.9	94	1135	0.00	2.03	0.00	0.000	1030	0.000	0.015	2101	1986	3342	3257	3427	0	0	0	0	0	0	28.83	26.59	28.83
1455	-1.35	-170.3	2101	1986	3256	3427	129.0	-8.8	110	1461	0.00	2.05	0.00	0.000	260	0.000	0.032	2091	3367	3341	3256	3427	0	0	0	0	0	0	28.83	26.55	28.83
1651	-1.35	-170.3	2090	3366	3257	3427	146.4	-8.9	119	1657	0.00	2.10	0.00	0.000	1030	0.000	0.026	2095	1965	3341	3256	3427	0	0	0	0	0	0	28.83	26.58	28.83
1973	-1.35	-170.3	2095	1965	3256	3426	175.3	-8.8	135	1978	0.00	2.12	0.00	0.000	516	0.000	0.043	2105	572	3340	3256	3425	0	0	0	0	0	0	28.83	26.56	28.83
2060	-1.35	-170.3	2105	573	3256	3425	183.4	-9.2	139	2066	0.00	2.03	0.00	0.000	1030	0.000	0.016	2097	1974	3341	3258	3425	0	0	0	0	0	0	28.83	26.66	28.83
2387	-1.35	-170.3	2096	1974	3256	3422	213.3	-8.9	155	2393	0.00	2.08	0.00	0.000	260	0.000	0.033	2087	3368	3338	3256	3421	0	0	0	0	0	0	28.83	26.60	28.83
2435	-1.35	-170.3	1248	3367	3230	3417	217.7	-9.1	157	2441	0.00	2.10	0.00	0.000	1030	0.000	0.028	2089	1970	3338	3256	3421	0	0	0	0	0	0	28.83	26.61	28.83
2762	-1.35	-170.3	2088	1970	3256	3417	246.5	-8.8	173	2763	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	1970	3336	3255	3417	0	0	0	0	0	0	28.83	28.83	28.83
3061	-1.35	-170.3	2088	1970	3253	3415	273.7	-8.8	188	3068	0.00	2.15	0.00	0.000	516	0.000	0.045	2098	570	3334	3254	3414	0	0	0	0	0	0	28.83	26.58	28.83
3135	-1.35	-170.3	2098	570	3254	3415	279.8	-8.9	191	3141	0.00	2.03	0.00	0.000	1030	0.000	0.017	2090	1972	3334	3253	3415	0	0	0	0	0	0	28.83	26.67	28.83
3454	-1.35	-170.3	2090	1972	3253	3411	309.3	-9.3	207	3455	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	1972	3331	3252	3411	0	0	0	0	0	0	28.83	28.83	28.83
3756	-1.35	-170.3	2090	1973	3250	3409	336.4	-9.1	222	3761	0.00	2.17	0.00	0.000	516	0.000	0.044	2099	575	3329	3250	3408	0	0	0	0	0	0	28.83	26.56	28.83
3796	-1.35	-170.3	2098	575	3250	3408	338.6	-8.8	223	3804	0.00	2.03	0.00	0.000	1030	0.000	0.017	2090	1974	3329	3250	3408	0	0	0	0	0	0	28.83	26.67	28.83
4103	-1.35	-170.3	2089	1974	3248	3407	367.4	-9.1	239	4109	0.00	2.20	0.00	0.000	516	0.000	0.045	2098	570	3327	3248	3406	0	0	0	0	0	0	28.83	26.56	28.83
4152	-1.35	-170.3	2098	570	3248	3407	371.7	-8.9	241	4158	0.00	2.05	0.00	0.000	1030	0.000	0.017	2089	1972	3327	3248	3407	0	0	0	0	0	0	28.83	26.67	28.83
4477	end dive: TARGET_DEPTH_EXCEEDED
state	4478	begin apogee
4483	-0.25	0.0	2087	2304	3244	3404	400.8	-9.0	257	4646	0.77	0.00	151.57	0.874	10246	0.115	0.000	2341	2304	2629	2579	2679	0	0	0	0	0	0	26.37	28.83	24.49
4648	end apogee: CONTROL_FINISHED_OK
state	4648	begin climb
4650	1.35	170.3	2341	2304	2578	2677	385.9	0.0	264	4817	1.00	2.22	158.07	0.842	10500	0.058	0.034	2699	3681	1936	1902	1970	0	0	0	0	0	0	25.29	24.97	24.30
5059	1.36	174.6	2699	3681	1898	1946	348.9	9.1	282	5065	0.00	2.12	0.00	0.000	1030	0.000	0.025	2709	2306	1922	1898	1946	0	0	0	0	0	0	28.83	25.98	28.83
5374	1.39	184.7	2709	2305	1898	1943	319.3	8.9	298	5385	0.00	0.00	6.93	0.773	8454	0.000	0.000	2709	2305	1887	1862	1913	0	0	0	0	0	0	28.83	28.83	25.35
5700	1.39	184.7	2709	2305	1862	1914	289.9	9.3	314	5701	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2305	1887	1862	1913	0	0	0	0	0	0	28.83	28.83	28.83
6000	1.41	194.0	2709	2305	1862	1913	262.6	8.9	329	6024	0.00	2.28	13.30	0.773	8708	0.000	0.044	2720	893	1839	1812	1867	0	0	0	0	0	0	28.83	26.22	25.53
6119	1.43	199.2	2719	893	1809	1864	252.7	9.1	334	6126	0.00	2.10	0.00	0.000	1030	0.000	0.018	2719	2302	1836	1809	1864	0	0	0	0	0	0	28.83	26.35	28.83
6436	1.45	208.8	2719	2302	1809	1859	224.0	8.9	350	6459	0.00	2.15	14.25	0.736	8452	0.000	0.035	2720	3698	1779	1749	1810	0	0	0	0	0	0	28.83	26.21	25.54
6534	1.47	218.9	2719	3698	1748	1805	216.1	8.9	354	6549	0.00	2.15	9.50	0.723	9222	0.000	0.026	2730	2295	1746	1716	1777	0	0	0	0	0	0	28.83	26.27	25.42
6846	1.50	230.4	2729	2295	1712	1768	188.0	8.8	370	6863	0.00	2.28	11.88	0.708	8708	0.000	0.044	2740	897	1696	1662	1731	0	0	0	0	0	0	28.83	26.16	25.48
6887	1.54	244.9	2740	897	1659	1728	185.8	8.7	371	6906	0.00	2.10	14.70	0.698	9222	0.000	0.018	2741	2298	1640	1594	1686	0	0	0	0	0	0	28.83	26.25	25.36
7220	1.54	244.9	2740	2298	1587	1674	154.1	9.3	388	7221	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2298	1630	1587	1674	0	0	0	0	0	0	28.83	28.83	28.83
7522	1.55	251.0	2740	2297	1585	1674	126.7	9.0	403	7533	0.00	2.25	4.00	0.562	8708	0.000	0.043	2750	891	1615	1568	1662	0	0	0	0	0	0	28.83	26.34	25.38
7602	1.57	258.6	1760	891	1536	1656	120.7	9.0	406	7620	0.00	2.10	10.70	0.649	9222	0.000	0.018	2750	2300	1580	1528	1632	0	0	0	0	0	0	28.83	26.44	25.58
7936	1.60	269.0	2750	2301	1527	1626	90.2	8.9	423	7952	0.00	2.22	10.70	0.621	8452	0.000	0.037	2750	3699	1538	1485	1591	0	0	0	0	0	0	28.83	26.26	25.61
7983	1.62	276.4	2750	3699	1482	1589	85.8	9.0	425	7999	0.00	2.15	7.75	0.620	9222	0.000	0.028	2760	2297	1509	1455	1563	0	0	0	0	0	0	28.83	26.29	25.54
8309	1.65	289.3	2761	2298	1455	1557	56.6	8.8	441	8332	0.00	2.25	13.40	0.578	8708	0.000	0.044	2771	900	1455	1405	1505	0	0	0	0	0	0	28.83	26.20	25.58
8396	1.67	296.4	2770	900	1404	1501	48.7	9.0	445	8410	0.00	2.10	7.07	0.582	9222	0.000	0.018	2771	2300	1429	1381	1477	0	0	0	0	0	0	28.83	26.32	25.51
8716	1.67	298.1	2771	2300	1381	1470	19.7	9.2	481	8724	0.00	2.22	0.00	0.000	516	0.000	0.042	2780	890	1425	1381	1470	0	0	0	0	0	0	28.83	26.32	28.83
8898	end climb: SURFACE_DEPTH_REACHED
state	8898	begin surface coast
8933	end surface coast: CONTROL_FINISHED_OK
state	8934	begin surface