Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 211 * 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 211 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 47 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 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 -100760.05 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 -100760.05

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 47 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 211 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 270313,122204,2058.101,12000.730,23,1.0,23,-2.9 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 -63.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270313,122906,2058.143,12000.714,18,0.9,19,-2.9 MHEAD_RNG_PITCHd_Wd 353.7,86787,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3500

Post-dive calculations and measurements:

FINISH 0.0,1.024308 _10V_AH 10.1,18.784

SM_CCo 9182,0.65,0.103,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.53,0.55,0.65,0.072,0.035,0.103,84,1951,401,-10.56,0.82,549.47,0,0,0,0,0,0,26.45,26.50,25.19 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2052.52,12003.59,270313,090941 MEM 323904

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16781,525

HUMID 47.87 CAP_FILE_SIZE 403884,1946

INTERNAL_PRESSURE 9.17526 CFSIZE 260034560,226721792

TCM_TEMP 20.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 2 CURRENT 0.172,294.3,1

SC_FREEKB 3942144 GPS 270313,150336,2059.399,11959.655,21,1.6,21,-2.9

_24V_AH 24.3,35.419

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 218 92.38 nil 0 0 0.00

Roll_motor 65 47 74.94 nil 0 0 0.00

VBD_pump_during_apogee 431 885 9284.44 nil 0 0 0.00

VBD_pump_during_surface 205 675 3366.21 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 8950 5 1204.65

Iridium_during_xfer 231 135 762.95 nil 0 0 0.00

Transponder_ping 0 420 5.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 29 5.98

TT8 1959 14 286.15

LPSleep 4933 2 109.13

TT8_Active 768 14 112.30

TT8_Sampling 1534 39 607.15

TT8_CF8 384 46 181.28

TT8_Kalman 0 0 0.00

Analog_circuits 1810 15 283.36

GPS_charging 0 0 0.00

Compass 1332 7 100.83

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 89 1948 337 475 0.0 0.0 0 44 0.00 0.00 -23.45 0.000 16386 0.000 0.000 89 1948 1020 1007 1033 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 89 1949 1007 1035 3.5 -9.1 3 161 8.00 2.22 -94.12 0.000 18692 0.219 0.045 2090 3364 3336 3245 3428 0 0 0 0 0 0 25.72 26.14 26.44

208 -1.35 -170.3 2089 3364 3248 3428 18.6 -9.8 26 216 0.00 2.12 0.00 0.000 1030 0.000 0.028 2098 1975 3338 3248 3428 0 0 0 0 0 0 28.83 26.20 28.83

524 -1.35 -170.3 2098 1975 3250 3428 47.3 -9.1 63 525 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 1975 3339 3250 3428 0 0 0 0 0 0 28.83 28.83 28.83

825 -1.35 -170.3 2098 1975 3252 3428 74.0 -9.0 80 831 0.00 2.12 0.00 0.000 260 0.000 0.030 2089 3372 3340 3253 3428 0 0 0 0 0 0 28.83 26.46 28.83

865 -1.35 -170.3 2089 3373 3253 3428 76.2 -8.8 81 875 0.00 2.12 0.00 0.000 1030 0.000 0.026 2092 1966 3340 3253 3428 0 0 0 0 0 0 28.83 26.49 28.83

1173 -1.35 -170.3 2092 1966 3255 3428 105.5 -9.0 97 1174 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 1966 3341 3255 3428 0 0 0 0 0 0 28.83 28.83 28.83

1474 -1.35 -170.3 2091 1966 3255 3428 132.2 -9.1 112 1479 0.00 2.12 0.00 0.000 516 0.000 0.041 2101 568 3341 3254 3428 0 0 0 0 0 0 28.83 26.53 28.83

1576 -1.35 -170.3 2101 568 3254 3428 139.9 -8.7 116 1584 0.00 2.05 0.00 0.000 1030 0.000 0.016 2093 1996 3341 3255 3428 0 0 0 0 0 0 28.83 26.63 28.83

1881 -1.35 -170.3 2092 1997 3254 3427 168.9 -9.1 132 1887 0.00 2.03 0.00 0.000 260 0.000 0.032 2082 3363 3340 3254 3427 0 0 0 0 0 0 28.83 26.58 28.83

1969 -1.35 -170.3 2082 3363 3254 3426 176.8 -9.0 136 1975 0.00 2.10 0.00 0.000 1030 0.000 0.035 2086 1968 3340 3254 3426 0 0 0 0 0 0 28.83 26.40 28.83

2296 -1.35 -170.3 2086 1968 3254 3423 205.1 -8.5 152 2302 0.00 2.12 0.00 0.000 516 0.000 0.044 2096 575 3338 3254 3423 0 0 0 0 0 0 28.83 26.57 28.83

2374 -1.35 -170.3 2095 575 3254 3422 211.4 -8.9 155 2380 0.00 2.03 0.00 0.000 1030 0.000 0.016 2088 1980 3338 3254 3422 0 0 0 0 0 0 28.83 26.66 28.83

2689 -1.35 -170.3 2087 1981 3254 3419 241.0 -9.2 171 2695 0.00 2.05 0.00 0.000 260 0.000 0.033 2077 3357 3336 3254 3418 0 0 0 0 0 0 28.83 26.59 28.83

2770 -1.35 -170.3 2076 3357 3254 3417 247.1 -8.9 174 2778 0.12 2.08 0.00 0.000 3078 0.155 0.028 2110 1977 3335 3254 3417 0 0 0 0 0 0 26.40 26.60 28.83

3077 -1.35 -170.3 2110 1977 3253 3415 276.4 -9.5 190 3078 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 1977 3334 3253 3415 0 0 0 0 0 0 28.83 28.83 28.83

3378 -1.35 -170.3 2110 1977 3252 3412 303.6 -9.6 205 3379 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 1977 3332 3252 3412 0 0 0 0 0 0 28.83 28.83 28.83

3679 -1.35 -170.3 2110 1977 3251 3410 330.6 -9.0 220 3680 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 1977 3330 3251 3409 0 0 0 0 0 0 28.83 28.83 28.83

3980 -1.35 -170.3 2110 1977 3248 3407 357.3 -9.0 235 3986 0.00 2.10 0.00 0.000 260 0.000 0.034 2102 3353 3327 3248 3406 0 0 0 0 0 0 28.83 26.59 28.83

4010 -1.35 -170.3 2102 3353 3248 3407 359.8 -9.0 236 4016 0.00 2.10 0.00 0.000 1030 0.000 0.031 2108 1977 3327 3248 3407 0 0 0 0 0 0 28.83 26.60 28.83

4332 -1.35 -170.3 2108 1976 3245 3405 389.0 -8.9 252 4338 0.00 2.17 0.00 0.000 516 0.000 0.047 2116 573 3324 3245 3404 0 0 0 0 0 0 28.83 26.55 28.83

4362 -1.35 -170.3 2116 573 3245 3404 391.4 -8.9 253 4369 0.00 2.05 0.00 0.000 1030 0.000 0.017 2107 1978 3324 3245 3404 0 0 0 0 0 0 28.83 26.66 28.83

4462 end dive: TARGET_DEPTH_EXCEEDED

state 4462 begin apogee

4467 -0.25 0.0 2105 2310 3244 3404 401.1 -9.1 258 4627 0.73 0.00 152.73 0.886 10246 0.115 0.000 2343 2311 2637 2588 2686 0 0 0 0 0 0 26.36 28.83 24.44

4629 end apogee: CONTROL_FINISHED_OK

state 4629 begin climb

4631 1.35 170.3 2343 2311 2580 2678 386.8 0.0 265 4796 1.00 2.22 154.62 0.874 10500 0.058 0.035 2702 3683 1935 1903 1967 0 0 0 0 0 0 25.22 24.94 24.25

4901 1.37 177.6 2702 3683 1901 1950 361.7 9.0 277 4908 0.00 2.17 1.38 0.052 9222 0.000 0.025 2712 2304 1914 1889 1940 0 0 0 0 0 0 28.83 25.65 25.60

5229 1.38 182.6 2712 2304 1889 1941 332.3 9.1 293 5241 0.00 2.22 4.35 0.682 8452 0.000 0.033 2712 3687 1894 1868 1921 0 0 0 0 0 0 28.83 26.13 25.12

5281 1.40 187.6 2712 3687 1868 1923 327.7 9.1 295 5300 0.00 2.15 10.18 0.828 9222 0.000 0.025 2721 2289 1870 1844 1897 0 0 0 0 0 0 28.83 26.17 25.23

5598 1.43 200.5 2721 2289 1844 1890 299.2 8.8 311 5621 0.00 2.25 13.07 0.813 8452 0.000 0.033 2722 3690 1818 1790 1846 0 0 0 0 0 0 28.83 26.08 25.34

5671 1.45 208.9 2721 3691 1789 1842 293.1 9.0 314 5689 0.00 2.15 9.00 0.811 9222 0.000 0.026 2732 2295 1783 1753 1813 0 0 0 0 0 0 28.83 26.15 25.25

5987 1.47 218.3 2732 2296 1753 1806 264.8 8.9 330 5999 0.00 0.00 9.82 0.794 8198 0.000 0.000 2732 2295 1748 1717 1779 0 0 0 0 0 0 28.83 28.83 25.38

6288 1.51 232.4 2732 2296 1713 1770 237.9 8.7 345 6307 0.00 0.00 14.20 0.770 8198 0.000 0.000 2732 2295 1687 1652 1722 0 0 0 0 0 0 28.83 28.83 25.41

6608 1.51 232.4 2732 2295 1652 1714 208.8 9.5 361 6609 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2295 1682 1651 1714 0 0 0 0 0 0 28.83 28.83 28.83

6908 1.51 232.4 2732 2295 1652 1713 181.6 9.4 376 6915 0.00 2.17 0.00 0.000 260 0.000 0.034 2731 3695 1682 1652 1713 0 0 0 0 0 0 28.83 26.41 28.83

6961 1.52 236.9 2732 3695 1651 1713 177.3 9.1 378 6967 0.00 2.15 0.00 0.000 1030 0.000 0.028 2742 2292 1682 1651 1713 0 0 0 0 0 0 28.83 26.44 28.83

7281 1.55 247.6 2742 2292 1651 1711 148.1 8.9 394 7304 0.00 2.20 14.27 0.684 8708 0.000 0.045 2752 894 1624 1578 1671 0 0 0 0 0 0 28.83 26.27 25.63

7372 1.57 258.3 2752 894 1578 1666 140.3 8.9 398 7391 0.00 2.10 10.57 0.679 9222 0.000 0.018 2752 2306 1582 1532 1633 0 0 0 0 0 0 28.83 26.39 25.50

7689 1.57 258.3 2752 2305 1531 1626 111.3 9.4 414 7695 0.00 2.12 0.00 0.000 260 0.000 0.037 2752 3688 1578 1531 1626 0 0 0 0 0 0 28.83 26.34 28.83

7779 1.60 270.3 2752 3688 1529 1626 103.6 8.8 418 7799 0.00 2.12 12.20 0.636 9222 0.000 0.028 2762 2298 1533 1480 1586 0 0 0 0 0 0 28.83 26.39 25.57

8098 1.63 281.1 2762 2298 1479 1581 75.6 8.9 434 8114 0.00 2.28 10.80 0.606 8708 0.000 0.044 2773 896 1490 1438 1542 0 0 0 0 0 0 28.83 26.24 25.61

8177 1.65 290.9 2772 896 1437 1539 69.5 8.9 437 8196 0.00 2.10 10.12 0.599 9222 0.000 0.018 2773 2307 1450 1400 1500 0 0 0 0 0 0 28.83 26.35 25.53

8505 1.67 296.2 2773 2307 1399 1493 38.6 9.1 459 8514 0.00 0.00 3.97 0.495 8198 0.000 0.000 2773 2307 1431 1385 1478 0 0 0 0 0 0 28.83 28.83 25.39

8830 1.67 296.8 2773 2308 1385 1478 9.4 9.2 505 8837 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 2308 1431 1384 1478 0 0 0 0 0 0 28.83 28.83 28.83

8904 end climb: SURFACE_DEPTH_REACHED

state 8904 begin surface coast

8943 end surface coast: CONTROL_FINISHED_OK

state 8943 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	211	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	47	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	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	-100760.05	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	270313,122204,2058.101,12000.730,23,1.0,23,-2.9	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	-63.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270313,122906,2058.143,12000.714,18,0.9,19,-2.9	MHEAD_RNG_PITCHd_Wd	353.7,86787,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3500

FINISH	0.0,1.024308	_10V_AH	10.1,18.784
SM_CCo	9182,0.65,0.103,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.53,0.55,0.65,0.072,0.035,0.103,84,1951,401,-10.56,0.82,549.47,0,0,0,0,0,0,26.45,26.50,25.19	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2052.52,12003.59,270313,090941	MEM	323904
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16781,525
HUMID	47.87	CAP_FILE_SIZE	403884,1946
INTERNAL_PRESSURE	9.17526	CFSIZE	260034560,226721792
TCM_TEMP	20.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	2	CURRENT	0.172,294.3,1
SC_FREEKB	3942144	GPS	270313,150336,2059.399,11959.655,21,1.6,21,-2.9
_24V_AH	24.3,35.419

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	218	92.38	nil	0	0	0.00
Roll_motor	65	47	74.94	nil	0	0	0.00
VBD_pump_during_apogee	431	885	9284.44	nil	0	0	0.00
VBD_pump_during_surface	205	675	3366.21	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	8950	5	1204.65
Iridium_during_xfer	231	135	762.95	nil	0	0	0.00
Transponder_ping	0	420	5.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	29	5.98
TT8	1959	14	286.15
LPSleep	4933	2	109.13
TT8_Active	768	14	112.30
TT8_Sampling	1534	39	607.15
TT8_CF8	384	46	181.28
TT8_Kalman	0	0	0.00
Analog_circuits	1810	15	283.36
GPS_charging	0	0	0.00
Compass	1332	7	100.83
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	89	1948	337	475	0.0	0.0	0	44	0.00	0.00	-23.45	0.000	16386	0.000	0.000	89	1948	1020	1007	1033	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	89	1949	1007	1035	3.5	-9.1	3	161	8.00	2.22	-94.12	0.000	18692	0.219	0.045	2090	3364	3336	3245	3428	0	0	0	0	0	0	25.72	26.14	26.44
208	-1.35	-170.3	2089	3364	3248	3428	18.6	-9.8	26	216	0.00	2.12	0.00	0.000	1030	0.000	0.028	2098	1975	3338	3248	3428	0	0	0	0	0	0	28.83	26.20	28.83
524	-1.35	-170.3	2098	1975	3250	3428	47.3	-9.1	63	525	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	1975	3339	3250	3428	0	0	0	0	0	0	28.83	28.83	28.83
825	-1.35	-170.3	2098	1975	3252	3428	74.0	-9.0	80	831	0.00	2.12	0.00	0.000	260	0.000	0.030	2089	3372	3340	3253	3428	0	0	0	0	0	0	28.83	26.46	28.83
865	-1.35	-170.3	2089	3373	3253	3428	76.2	-8.8	81	875	0.00	2.12	0.00	0.000	1030	0.000	0.026	2092	1966	3340	3253	3428	0	0	0	0	0	0	28.83	26.49	28.83
1173	-1.35	-170.3	2092	1966	3255	3428	105.5	-9.0	97	1174	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	1966	3341	3255	3428	0	0	0	0	0	0	28.83	28.83	28.83
1474	-1.35	-170.3	2091	1966	3255	3428	132.2	-9.1	112	1479	0.00	2.12	0.00	0.000	516	0.000	0.041	2101	568	3341	3254	3428	0	0	0	0	0	0	28.83	26.53	28.83
1576	-1.35	-170.3	2101	568	3254	3428	139.9	-8.7	116	1584	0.00	2.05	0.00	0.000	1030	0.000	0.016	2093	1996	3341	3255	3428	0	0	0	0	0	0	28.83	26.63	28.83
1881	-1.35	-170.3	2092	1997	3254	3427	168.9	-9.1	132	1887	0.00	2.03	0.00	0.000	260	0.000	0.032	2082	3363	3340	3254	3427	0	0	0	0	0	0	28.83	26.58	28.83
1969	-1.35	-170.3	2082	3363	3254	3426	176.8	-9.0	136	1975	0.00	2.10	0.00	0.000	1030	0.000	0.035	2086	1968	3340	3254	3426	0	0	0	0	0	0	28.83	26.40	28.83
2296	-1.35	-170.3	2086	1968	3254	3423	205.1	-8.5	152	2302	0.00	2.12	0.00	0.000	516	0.000	0.044	2096	575	3338	3254	3423	0	0	0	0	0	0	28.83	26.57	28.83
2374	-1.35	-170.3	2095	575	3254	3422	211.4	-8.9	155	2380	0.00	2.03	0.00	0.000	1030	0.000	0.016	2088	1980	3338	3254	3422	0	0	0	0	0	0	28.83	26.66	28.83
2689	-1.35	-170.3	2087	1981	3254	3419	241.0	-9.2	171	2695	0.00	2.05	0.00	0.000	260	0.000	0.033	2077	3357	3336	3254	3418	0	0	0	0	0	0	28.83	26.59	28.83
2770	-1.35	-170.3	2076	3357	3254	3417	247.1	-8.9	174	2778	0.12	2.08	0.00	0.000	3078	0.155	0.028	2110	1977	3335	3254	3417	0	0	0	0	0	0	26.40	26.60	28.83
3077	-1.35	-170.3	2110	1977	3253	3415	276.4	-9.5	190	3078	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	1977	3334	3253	3415	0	0	0	0	0	0	28.83	28.83	28.83
3378	-1.35	-170.3	2110	1977	3252	3412	303.6	-9.6	205	3379	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	1977	3332	3252	3412	0	0	0	0	0	0	28.83	28.83	28.83
3679	-1.35	-170.3	2110	1977	3251	3410	330.6	-9.0	220	3680	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	1977	3330	3251	3409	0	0	0	0	0	0	28.83	28.83	28.83
3980	-1.35	-170.3	2110	1977	3248	3407	357.3	-9.0	235	3986	0.00	2.10	0.00	0.000	260	0.000	0.034	2102	3353	3327	3248	3406	0	0	0	0	0	0	28.83	26.59	28.83
4010	-1.35	-170.3	2102	3353	3248	3407	359.8	-9.0	236	4016	0.00	2.10	0.00	0.000	1030	0.000	0.031	2108	1977	3327	3248	3407	0	0	0	0	0	0	28.83	26.60	28.83
4332	-1.35	-170.3	2108	1976	3245	3405	389.0	-8.9	252	4338	0.00	2.17	0.00	0.000	516	0.000	0.047	2116	573	3324	3245	3404	0	0	0	0	0	0	28.83	26.55	28.83
4362	-1.35	-170.3	2116	573	3245	3404	391.4	-8.9	253	4369	0.00	2.05	0.00	0.000	1030	0.000	0.017	2107	1978	3324	3245	3404	0	0	0	0	0	0	28.83	26.66	28.83
4462	end dive: TARGET_DEPTH_EXCEEDED
state	4462	begin apogee
4467	-0.25	0.0	2105	2310	3244	3404	401.1	-9.1	258	4627	0.73	0.00	152.73	0.886	10246	0.115	0.000	2343	2311	2637	2588	2686	0	0	0	0	0	0	26.36	28.83	24.44
4629	end apogee: CONTROL_FINISHED_OK
state	4629	begin climb
4631	1.35	170.3	2343	2311	2580	2678	386.8	0.0	265	4796	1.00	2.22	154.62	0.874	10500	0.058	0.035	2702	3683	1935	1903	1967	0	0	0	0	0	0	25.22	24.94	24.25
4901	1.37	177.6	2702	3683	1901	1950	361.7	9.0	277	4908	0.00	2.17	1.38	0.052	9222	0.000	0.025	2712	2304	1914	1889	1940	0	0	0	0	0	0	28.83	25.65	25.60
5229	1.38	182.6	2712	2304	1889	1941	332.3	9.1	293	5241	0.00	2.22	4.35	0.682	8452	0.000	0.033	2712	3687	1894	1868	1921	0	0	0	0	0	0	28.83	26.13	25.12
5281	1.40	187.6	2712	3687	1868	1923	327.7	9.1	295	5300	0.00	2.15	10.18	0.828	9222	0.000	0.025	2721	2289	1870	1844	1897	0	0	0	0	0	0	28.83	26.17	25.23
5598	1.43	200.5	2721	2289	1844	1890	299.2	8.8	311	5621	0.00	2.25	13.07	0.813	8452	0.000	0.033	2722	3690	1818	1790	1846	0	0	0	0	0	0	28.83	26.08	25.34
5671	1.45	208.9	2721	3691	1789	1842	293.1	9.0	314	5689	0.00	2.15	9.00	0.811	9222	0.000	0.026	2732	2295	1783	1753	1813	0	0	0	0	0	0	28.83	26.15	25.25
5987	1.47	218.3	2732	2296	1753	1806	264.8	8.9	330	5999	0.00	0.00	9.82	0.794	8198	0.000	0.000	2732	2295	1748	1717	1779	0	0	0	0	0	0	28.83	28.83	25.38
6288	1.51	232.4	2732	2296	1713	1770	237.9	8.7	345	6307	0.00	0.00	14.20	0.770	8198	0.000	0.000	2732	2295	1687	1652	1722	0	0	0	0	0	0	28.83	28.83	25.41
6608	1.51	232.4	2732	2295	1652	1714	208.8	9.5	361	6609	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2295	1682	1651	1714	0	0	0	0	0	0	28.83	28.83	28.83
6908	1.51	232.4	2732	2295	1652	1713	181.6	9.4	376	6915	0.00	2.17	0.00	0.000	260	0.000	0.034	2731	3695	1682	1652	1713	0	0	0	0	0	0	28.83	26.41	28.83
6961	1.52	236.9	2732	3695	1651	1713	177.3	9.1	378	6967	0.00	2.15	0.00	0.000	1030	0.000	0.028	2742	2292	1682	1651	1713	0	0	0	0	0	0	28.83	26.44	28.83
7281	1.55	247.6	2742	2292	1651	1711	148.1	8.9	394	7304	0.00	2.20	14.27	0.684	8708	0.000	0.045	2752	894	1624	1578	1671	0	0	0	0	0	0	28.83	26.27	25.63
7372	1.57	258.3	2752	894	1578	1666	140.3	8.9	398	7391	0.00	2.10	10.57	0.679	9222	0.000	0.018	2752	2306	1582	1532	1633	0	0	0	0	0	0	28.83	26.39	25.50
7689	1.57	258.3	2752	2305	1531	1626	111.3	9.4	414	7695	0.00	2.12	0.00	0.000	260	0.000	0.037	2752	3688	1578	1531	1626	0	0	0	0	0	0	28.83	26.34	28.83
7779	1.60	270.3	2752	3688	1529	1626	103.6	8.8	418	7799	0.00	2.12	12.20	0.636	9222	0.000	0.028	2762	2298	1533	1480	1586	0	0	0	0	0	0	28.83	26.39	25.57
8098	1.63	281.1	2762	2298	1479	1581	75.6	8.9	434	8114	0.00	2.28	10.80	0.606	8708	0.000	0.044	2773	896	1490	1438	1542	0	0	0	0	0	0	28.83	26.24	25.61
8177	1.65	290.9	2772	896	1437	1539	69.5	8.9	437	8196	0.00	2.10	10.12	0.599	9222	0.000	0.018	2773	2307	1450	1400	1500	0	0	0	0	0	0	28.83	26.35	25.53
8505	1.67	296.2	2773	2307	1399	1493	38.6	9.1	459	8514	0.00	0.00	3.97	0.495	8198	0.000	0.000	2773	2307	1431	1385	1478	0	0	0	0	0	0	28.83	28.83	25.39
8830	1.67	296.8	2773	2308	1385	1478	9.4	9.2	505	8837	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	2308	1431	1384	1478	0	0	0	0	0	0	28.83	28.83	28.83
8904	end climb: SURFACE_DEPTH_REACHED
state	8904	begin surface coast
8943	end surface coast: CONTROL_FINISHED_OK
state	8943	begin surface