Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 241 * 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 241 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 -100800.1 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -7 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 -100800.1

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 -7

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 241 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 300313,214849,2136.181,12015.444,102,1.8,102,-3.0 TGT_NAME W1

_CALLS 1 TGT_LATLONG 2207.170,12035.130

_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 -63.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300313,215601,2136.166,12015.434,23,1.8,24,-3.0 MHEAD_RNG_PITCHd_Wd 20.0,66625,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 2300

Post-dive calculations and measurements:

FINISH 0.0,1.022996 _10V_AH 10.2,20.713

SM_CCo 9114,0.08,0.171,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.45,0.50,0.08,0.063,0.042,0.171,83,1953,401,-10.57,0.90,549.47,0,0,0,0,0,0,26.36,26.40,25.25 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2127.21,12011.72,300313,191947 MEM 324428

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16839,524

HUMID 48.38 CAP_FILE_SIZE 389550,2053

INTERNAL_PRESSURE 9.21433 CFSIZE 260034560,223297536

TCM_TEMP 21.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 0 CURRENT 0.175,350.5,1

SC_FREEKB 3930880 GPS 310313,002929,2137.808,12015.536,25,0.9,25,-3.0

_24V_AH 24.2,40.024

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 205 84.78 nil 0 0 0.00

Roll_motor 56 45 61.82 nil 0 0 0.00

VBD_pump_during_apogee 453 1004 11022.87 nil 0 0 0.00

VBD_pump_during_surface 176 663 2839.38 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 8920 5 1194.81

Iridium_during_xfer 229 131 730.22 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 29 7.74

TT8 2010 14 296.59

LPSleep 4800 2 107.23

TT8_Active 726 14 107.21

TT8_Sampling 1568 39 626.88

TT8_CF8 416 46 198.05

TT8_Kalman 0 0 0.00

Analog_circuits 1824 15 288.41

GPS_charging 0 0 0.00

Compass 1360 7 103.94

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 87 1954 348 478 0.0 0.0 0 43 0.00 0.00 -23.10 0.000 16386 0.000 0.000 87 1954 1017 1008 1027 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 88 1954 1008 1028 3.2 -9.2 3 151 7.75 0.00 -91.93 0.000 19206 0.206 0.000 2103 1956 3337 3245 3429 0 0 0 0 0 0 25.70 28.83 26.46

471 -1.35 -170.3 2103 1956 3249 3429 41.4 -8.6 60 477 0.00 2.12 0.00 0.000 516 0.000 0.041 2113 578 3339 3249 3429 0 0 0 0 0 0 28.83 26.32 28.83

534 -1.35 -170.3 2112 578 3249 3429 46.8 -9.1 65 542 0.00 2.05 0.00 0.000 1030 0.000 0.015 2105 1995 3339 3249 3429 0 0 0 0 0 0 28.83 26.44 28.83

852 -1.35 -170.3 2105 1996 3252 3429 75.8 -9.2 83 858 0.00 2.20 0.00 0.000 516 0.000 0.038 2110 571 3340 3252 3429 0 0 0 0 0 0 28.83 26.43 28.83

1096 -1.35 -170.3 2109 570 3253 3429 97.3 -9.1 94 1102 0.00 2.03 0.00 0.000 1030 0.000 0.015 2101 1981 3341 3254 3429 0 0 0 0 0 0 28.83 26.58 28.83

1411 -1.35 -170.3 2101 1981 3254 3429 127.0 -9.3 110 1412 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 1981 3341 3254 3429 0 0 0 0 0 0 28.83 28.83 28.83

1714 -1.35 -170.3 2101 1981 3254 3429 153.5 -8.9 125 1720 0.00 2.17 0.00 0.000 516 0.000 0.039 2105 567 3341 3254 3429 0 0 0 0 0 0 28.83 26.52 28.83

1765 -1.35 -170.3 1264 567 3227 3426 158.0 -8.9 127 1771 0.00 2.03 0.00 0.000 1030 0.000 0.015 2096 1978 3342 3255 3429 0 0 0 0 0 0 28.83 26.63 28.83

2085 -1.35 -170.3 2096 1980 3254 3427 186.6 -9.0 143 2091 0.00 2.05 0.00 0.000 260 0.000 0.032 2086 3359 3340 3253 3427 0 0 0 0 0 0 28.83 26.55 28.83

2170 -1.35 -170.3 2086 3359 3254 3425 192.9 -9.0 146 2178 0.00 2.08 0.00 0.000 1030 0.000 0.028 2086 1978 3339 3254 3425 0 0 0 0 0 0 28.83 26.57 28.83

2474 -1.35 -170.3 2086 1978 3254 3422 221.8 -9.2 162 2475 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 1978 3337 3253 3422 0 0 0 0 0 0 28.83 28.83 28.83

2776 -1.35 -170.3 2086 1978 3253 3417 248.8 -8.9 177 2781 0.00 2.17 0.00 0.000 516 0.000 0.044 2095 567 3335 3254 3417 0 0 0 0 0 0 28.83 26.52 28.83

2838 -1.35 -170.3 1280 567 3228 3413 253.2 -9.1 179 2846 0.00 2.03 0.00 0.000 1030 0.000 0.016 2087 1973 3335 3254 3416 0 0 0 0 0 0 28.83 26.65 28.83

3145 -1.35 -170.3 2087 1974 3253 3413 282.1 -8.9 195 3151 0.00 2.08 0.00 0.000 260 0.000 0.033 2076 3357 3333 3253 3413 0 0 0 0 0 0 28.83 26.55 28.83

3278 -1.35 -170.3 1256 3356 3226 3407 293.7 -9.1 201 3285 0.12 2.10 0.00 0.000 3078 0.152 0.029 2110 1971 3331 3251 3411 0 0 0 0 0 0 26.34 26.57 28.83

3600 -1.35 -170.3 2110 1970 3251 3408 323.1 -8.8 217 3601 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 1971 3329 3251 3408 0 0 0 0 0 0 28.83 28.83 28.83

3901 -1.35 -170.3 2110 1971 3248 3407 349.7 -9.1 232 3902 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 1971 3327 3248 3407 0 0 0 0 0 0 28.83 28.83 28.83

4201 -1.35 -170.3 2110 1971 3247 3404 377.3 -9.2 247 4202 0.00 0.00 0.00 0.000 6 0.000 0.000 2110 1971 3325 3246 3404 0 0 0 0 0 0 28.83 28.83 28.83

4456 end dive: TARGET_DEPTH_EXCEEDED

state 4456 begin apogee

4462 -0.25 0.0 2109 2298 3243 3402 401.2 -9.2 260 4627 0.70 0.00 153.32 1.004 10246 0.109 0.000 2342 2299 2639 2591 2687 0 0 0 0 1 0 26.27 28.83 24.18

4631 end apogee: CONTROL_FINISHED_OK

state 4631 begin climb

4633 1.35 170.3 2341 2299 2591 2687 387.1 0.0 267 4803 1.00 2.25 157.82 0.868 10500 0.054 0.034 2701 3678 1934 1904 1964 0 0 0 0 0 0 25.13 24.89 24.21

4955 1.37 175.9 2700 3678 1901 1944 358.1 9.1 281 4961 0.00 2.15 0.00 0.000 1030 0.000 0.025 2710 2301 1923 1902 1944 0 0 0 0 0 0 28.83 25.77 28.83

5270 1.40 188.8 2710 2301 1902 1940 329.0 8.8 297 5291 0.00 0.00 15.02 0.797 8198 0.000 0.000 2710 2301 1863 1840 1886 0 0 0 0 0 0 28.83 28.83 25.24

5590 1.42 199.0 2710 2301 1836 1876 299.5 8.9 313 5606 0.00 2.22 8.62 0.772 8452 0.000 0.034 2710 3684 1822 1797 1848 0 0 0 0 0 0 28.83 26.15 25.36

5648 1.44 205.6 1760 3683 1756 1837 295.4 9.0 315 5658 0.00 2.15 5.00 0.715 9222 0.000 0.027 2720 2296 1801 1775 1827 0 0 0 0 0 0 28.83 26.20 25.11

5955 1.49 224.3 2719 2296 1774 1826 267.2 8.6 331 5982 0.00 2.25 21.40 0.757 8452 0.000 0.034 2720 3680 1721 1690 1752 0 0 0 0 0 0 28.83 26.01 25.32

6032 1.50 229.7 2719 3680 1688 1748 261.3 9.1 334 6045 0.00 2.15 3.88 0.607 9222 0.000 0.027 2730 2293 1702 1670 1734 0 0 0 0 0 0 28.83 26.08 25.05

6343 1.53 241.3 2729 2294 1670 1734 231.8 8.8 350 6363 0.00 0.00 14.02 0.731 8198 0.000 0.000 2730 2293 1650 1606 1695 0 0 0 0 0 0 28.83 28.83 25.38

6664 1.58 259.5 2729 2293 1603 1689 203.3 8.6 366 6688 0.00 2.30 18.25 0.707 8708 0.000 0.045 2740 892 1577 1526 1628 0 0 0 0 0 0 28.83 26.04 25.38

6809 1.58 262.6 2740 891 1525 1621 191.0 9.1 372 6817 0.00 2.10 0.00 0.000 1030 0.000 0.018 2740 2289 1573 1526 1621 0 0 0 0 0 0 28.83 26.24 28.83

7117 1.59 266.4 2741 2290 1525 1618 161.6 9.1 388 7123 0.00 0.00 4.88 0.636 8198 0.000 0.000 2740 2289 1552 1502 1603 0 0 0 0 0 0 28.83 28.83 25.31

7418 1.60 267.2 2740 2290 1502 1603 134.0 9.2 403 7424 0.00 2.15 0.00 0.000 260 0.000 0.037 2741 3694 1552 1502 1603 0 0 0 0 0 0 28.83 26.36 28.83

7458 1.60 269.9 2740 3694 1502 1603 131.5 9.2 404 7468 0.00 2.15 4.50 0.587 9222 0.000 0.028 2750 2293 1538 1486 1591 0 0 0 0 0 0 28.83 26.39 25.34

7765 1.62 278.2 2750 2293 1487 1592 102.6 9.0 420 7782 0.00 2.28 11.73 0.609 8708 0.000 0.044 2761 891 1500 1446 1554 0 0 0 0 0 0 28.83 26.27 25.62

7854 1.63 281.9 2761 891 1446 1550 94.6 9.1 424 7860 0.00 2.12 0.00 0.000 1030 0.000 0.018 2761 2307 1498 1447 1549 0 0 0 0 0 0 28.83 26.37 28.83

8180 1.65 288.0 2761 2308 1446 1547 65.0 9.0 440 8196 0.00 2.12 10.07 0.569 8452 0.000 0.036 2761 3691 1458 1408 1509 0 0 0 0 0 0 28.83 26.31 25.65

8290 1.67 298.5 2760 3691 1409 1506 55.5 8.9 445 8307 0.00 2.12 10.70 0.558 9222 0.000 0.027 2771 2298 1420 1373 1467 0 0 0 0 0 0 28.83 26.34 25.59

8617 1.71 312.8 2771 2298 1372 1456 26.2 8.7 474 8635 0.00 0.00 14.25 0.522 8710 0.000 0.000 2771 2298 1359 1324 1394 0 0 0 0 0 0 28.83 28.83 25.62

8872 end climb: SURFACE_DEPTH_REACHED

state 8872 begin surface coast

8908 end surface coast: CONTROL_FINISHED_OK

state 8908 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	241	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	-100800.1	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-7	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	300313,214849,2136.181,12015.444,102,1.8,102,-3.0	TGT_NAME	W1
_CALLS	1	TGT_LATLONG	2207.170,12035.130
_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	-63.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300313,215601,2136.166,12015.434,23,1.8,24,-3.0	MHEAD_RNG_PITCHd_Wd	20.0,66625,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	2300

FINISH	0.0,1.022996	_10V_AH	10.2,20.713
SM_CCo	9114,0.08,0.171,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.45,0.50,0.08,0.063,0.042,0.171,83,1953,401,-10.57,0.90,549.47,0,0,0,0,0,0,26.36,26.40,25.25	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2127.21,12011.72,300313,191947	MEM	324428
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16839,524
HUMID	48.38	CAP_FILE_SIZE	389550,2053
INTERNAL_PRESSURE	9.21433	CFSIZE	260034560,223297536
TCM_TEMP	21.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	0	CURRENT	0.175,350.5,1
SC_FREEKB	3930880	GPS	310313,002929,2137.808,12015.536,25,0.9,25,-3.0
_24V_AH	24.2,40.024

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	205	84.78	nil	0	0	0.00
Roll_motor	56	45	61.82	nil	0	0	0.00
VBD_pump_during_apogee	453	1004	11022.87	nil	0	0	0.00
VBD_pump_during_surface	176	663	2839.38	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	8920	5	1194.81
Iridium_during_xfer	229	131	730.22	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	29	7.74
TT8	2010	14	296.59
LPSleep	4800	2	107.23
TT8_Active	726	14	107.21
TT8_Sampling	1568	39	626.88
TT8_CF8	416	46	198.05
TT8_Kalman	0	0	0.00
Analog_circuits	1824	15	288.41
GPS_charging	0	0	0.00
Compass	1360	7	103.94
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	87	1954	348	478	0.0	0.0	0	43	0.00	0.00	-23.10	0.000	16386	0.000	0.000	87	1954	1017	1008	1027	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	88	1954	1008	1028	3.2	-9.2	3	151	7.75	0.00	-91.93	0.000	19206	0.206	0.000	2103	1956	3337	3245	3429	0	0	0	0	0	0	25.70	28.83	26.46
471	-1.35	-170.3	2103	1956	3249	3429	41.4	-8.6	60	477	0.00	2.12	0.00	0.000	516	0.000	0.041	2113	578	3339	3249	3429	0	0	0	0	0	0	28.83	26.32	28.83
534	-1.35	-170.3	2112	578	3249	3429	46.8	-9.1	65	542	0.00	2.05	0.00	0.000	1030	0.000	0.015	2105	1995	3339	3249	3429	0	0	0	0	0	0	28.83	26.44	28.83
852	-1.35	-170.3	2105	1996	3252	3429	75.8	-9.2	83	858	0.00	2.20	0.00	0.000	516	0.000	0.038	2110	571	3340	3252	3429	0	0	0	0	0	0	28.83	26.43	28.83
1096	-1.35	-170.3	2109	570	3253	3429	97.3	-9.1	94	1102	0.00	2.03	0.00	0.000	1030	0.000	0.015	2101	1981	3341	3254	3429	0	0	0	0	0	0	28.83	26.58	28.83
1411	-1.35	-170.3	2101	1981	3254	3429	127.0	-9.3	110	1412	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	1981	3341	3254	3429	0	0	0	0	0	0	28.83	28.83	28.83
1714	-1.35	-170.3	2101	1981	3254	3429	153.5	-8.9	125	1720	0.00	2.17	0.00	0.000	516	0.000	0.039	2105	567	3341	3254	3429	0	0	0	0	0	0	28.83	26.52	28.83
1765	-1.35	-170.3	1264	567	3227	3426	158.0	-8.9	127	1771	0.00	2.03	0.00	0.000	1030	0.000	0.015	2096	1978	3342	3255	3429	0	0	0	0	0	0	28.83	26.63	28.83
2085	-1.35	-170.3	2096	1980	3254	3427	186.6	-9.0	143	2091	0.00	2.05	0.00	0.000	260	0.000	0.032	2086	3359	3340	3253	3427	0	0	0	0	0	0	28.83	26.55	28.83
2170	-1.35	-170.3	2086	3359	3254	3425	192.9	-9.0	146	2178	0.00	2.08	0.00	0.000	1030	0.000	0.028	2086	1978	3339	3254	3425	0	0	0	0	0	0	28.83	26.57	28.83
2474	-1.35	-170.3	2086	1978	3254	3422	221.8	-9.2	162	2475	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	1978	3337	3253	3422	0	0	0	0	0	0	28.83	28.83	28.83
2776	-1.35	-170.3	2086	1978	3253	3417	248.8	-8.9	177	2781	0.00	2.17	0.00	0.000	516	0.000	0.044	2095	567	3335	3254	3417	0	0	0	0	0	0	28.83	26.52	28.83
2838	-1.35	-170.3	1280	567	3228	3413	253.2	-9.1	179	2846	0.00	2.03	0.00	0.000	1030	0.000	0.016	2087	1973	3335	3254	3416	0	0	0	0	0	0	28.83	26.65	28.83
3145	-1.35	-170.3	2087	1974	3253	3413	282.1	-8.9	195	3151	0.00	2.08	0.00	0.000	260	0.000	0.033	2076	3357	3333	3253	3413	0	0	0	0	0	0	28.83	26.55	28.83
3278	-1.35	-170.3	1256	3356	3226	3407	293.7	-9.1	201	3285	0.12	2.10	0.00	0.000	3078	0.152	0.029	2110	1971	3331	3251	3411	0	0	0	0	0	0	26.34	26.57	28.83
3600	-1.35	-170.3	2110	1970	3251	3408	323.1	-8.8	217	3601	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	1971	3329	3251	3408	0	0	0	0	0	0	28.83	28.83	28.83
3901	-1.35	-170.3	2110	1971	3248	3407	349.7	-9.1	232	3902	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	1971	3327	3248	3407	0	0	0	0	0	0	28.83	28.83	28.83
4201	-1.35	-170.3	2110	1971	3247	3404	377.3	-9.2	247	4202	0.00	0.00	0.00	0.000	6	0.000	0.000	2110	1971	3325	3246	3404	0	0	0	0	0	0	28.83	28.83	28.83
4456	end dive: TARGET_DEPTH_EXCEEDED
state	4456	begin apogee
4462	-0.25	0.0	2109	2298	3243	3402	401.2	-9.2	260	4627	0.70	0.00	153.32	1.004	10246	0.109	0.000	2342	2299	2639	2591	2687	0	0	0	0	1	0	26.27	28.83	24.18
4631	end apogee: CONTROL_FINISHED_OK
state	4631	begin climb
4633	1.35	170.3	2341	2299	2591	2687	387.1	0.0	267	4803	1.00	2.25	157.82	0.868	10500	0.054	0.034	2701	3678	1934	1904	1964	0	0	0	0	0	0	25.13	24.89	24.21
4955	1.37	175.9	2700	3678	1901	1944	358.1	9.1	281	4961	0.00	2.15	0.00	0.000	1030	0.000	0.025	2710	2301	1923	1902	1944	0	0	0	0	0	0	28.83	25.77	28.83
5270	1.40	188.8	2710	2301	1902	1940	329.0	8.8	297	5291	0.00	0.00	15.02	0.797	8198	0.000	0.000	2710	2301	1863	1840	1886	0	0	0	0	0	0	28.83	28.83	25.24
5590	1.42	199.0	2710	2301	1836	1876	299.5	8.9	313	5606	0.00	2.22	8.62	0.772	8452	0.000	0.034	2710	3684	1822	1797	1848	0	0	0	0	0	0	28.83	26.15	25.36
5648	1.44	205.6	1760	3683	1756	1837	295.4	9.0	315	5658	0.00	2.15	5.00	0.715	9222	0.000	0.027	2720	2296	1801	1775	1827	0	0	0	0	0	0	28.83	26.20	25.11
5955	1.49	224.3	2719	2296	1774	1826	267.2	8.6	331	5982	0.00	2.25	21.40	0.757	8452	0.000	0.034	2720	3680	1721	1690	1752	0	0	0	0	0	0	28.83	26.01	25.32
6032	1.50	229.7	2719	3680	1688	1748	261.3	9.1	334	6045	0.00	2.15	3.88	0.607	9222	0.000	0.027	2730	2293	1702	1670	1734	0	0	0	0	0	0	28.83	26.08	25.05
6343	1.53	241.3	2729	2294	1670	1734	231.8	8.8	350	6363	0.00	0.00	14.02	0.731	8198	0.000	0.000	2730	2293	1650	1606	1695	0	0	0	0	0	0	28.83	28.83	25.38
6664	1.58	259.5	2729	2293	1603	1689	203.3	8.6	366	6688	0.00	2.30	18.25	0.707	8708	0.000	0.045	2740	892	1577	1526	1628	0	0	0	0	0	0	28.83	26.04	25.38
6809	1.58	262.6	2740	891	1525	1621	191.0	9.1	372	6817	0.00	2.10	0.00	0.000	1030	0.000	0.018	2740	2289	1573	1526	1621	0	0	0	0	0	0	28.83	26.24	28.83
7117	1.59	266.4	2741	2290	1525	1618	161.6	9.1	388	7123	0.00	0.00	4.88	0.636	8198	0.000	0.000	2740	2289	1552	1502	1603	0	0	0	0	0	0	28.83	28.83	25.31
7418	1.60	267.2	2740	2290	1502	1603	134.0	9.2	403	7424	0.00	2.15	0.00	0.000	260	0.000	0.037	2741	3694	1552	1502	1603	0	0	0	0	0	0	28.83	26.36	28.83
7458	1.60	269.9	2740	3694	1502	1603	131.5	9.2	404	7468	0.00	2.15	4.50	0.587	9222	0.000	0.028	2750	2293	1538	1486	1591	0	0	0	0	0	0	28.83	26.39	25.34
7765	1.62	278.2	2750	2293	1487	1592	102.6	9.0	420	7782	0.00	2.28	11.73	0.609	8708	0.000	0.044	2761	891	1500	1446	1554	0	0	0	0	0	0	28.83	26.27	25.62
7854	1.63	281.9	2761	891	1446	1550	94.6	9.1	424	7860	0.00	2.12	0.00	0.000	1030	0.000	0.018	2761	2307	1498	1447	1549	0	0	0	0	0	0	28.83	26.37	28.83
8180	1.65	288.0	2761	2308	1446	1547	65.0	9.0	440	8196	0.00	2.12	10.07	0.569	8452	0.000	0.036	2761	3691	1458	1408	1509	0	0	0	0	0	0	28.83	26.31	25.65
8290	1.67	298.5	2760	3691	1409	1506	55.5	8.9	445	8307	0.00	2.12	10.70	0.558	9222	0.000	0.027	2771	2298	1420	1373	1467	0	0	0	0	0	0	28.83	26.34	25.59
8617	1.71	312.8	2771	2298	1372	1456	26.2	8.7	474	8635	0.00	0.00	14.25	0.522	8710	0.000	0.000	2771	2298	1359	1324	1394	0	0	0	0	0	0	28.83	28.83	25.62
8872	end climb: SURFACE_DEPTH_REACHED
state	8872	begin surface coast
8908	end surface coast: CONTROL_FINISHED_OK
state	8908	begin surface