Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 253 * 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 253 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 50 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 54 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 -100816.38 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 -100816.38

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 -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 50 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 54 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 253 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 010413,063055,2152.370,12023.571,143,1.1,143,-3.1 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 -64.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010413,063821,2152.353,12023.597,39,0.8,39,-3.1 MHEAD_RNG_PITCHd_Wd 45.1,33831,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 995

Post-dive calculations and measurements:

FINISH 0.0,1.024904 _10V_AH 10.1,21.499

SM_CCo 9199,2.95,0.352,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.50,0.55,2.95,0.071,0.035,0.352,86,1957,400,-10.56,0.96,549.47,0,0,0,0,0,0,26.39,26.44,24.60 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2141.13,12022.40,010413,030324 MEM 324428

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16751,519

HUMID 48.81 CAP_FILE_SIZE 407818,2154

INTERNAL_PRESSURE 9.17526 CFSIZE 260034560,221917184

TCM_TEMP 19.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 2 CURRENT 0.145, 43.3,1

SC_FREEKB 3926272 GPS 010413,091604,2153.513,12024.732,194,0.9,194,-3.1

_24V_AH 24.3,41.904

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 213 90.37 nil 0 0 0.00

Roll_motor 77 55 105.41 nil 0 0 0.00

VBD_pump_during_apogee 439 839 8972.79 nil 0 0 0.00

VBD_pump_during_surface 239 716 4170.29 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 8934 5 1195.77

Iridium_during_xfer 226 133 735.21 nil 0 0 0.00

Transponder_ping 0 420 5.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 29 12.21

TT8 2081 14 304.03

LPSleep 4647 2 102.79

TT8_Active 811 14 118.59

TT8_Sampling 1637 39 647.92

TT8_CF8 445 46 209.86

TT8_Kalman 0 0 0.00

Analog_circuits 1942 15 304.10

GPS_charging 0 0 0.00

Compass 1408 7 106.56

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 87 1940 341 469 0.0 0.0 0 44 0.00 0.00 -23.50 0.000 16386 0.000 0.000 87 1940 1019 1011 1027 0 0 0 0 0 0 28.83 28.83 28.83

47 -1.35 -170.3 87 1939 1011 1032 3.3 -9.9 3 155 7.90 2.22 -92.90 0.000 18948 0.213 0.056 2110 570 3337 3246 3428 0 0 0 0 0 0 25.74 26.13 26.48

209 -1.35 -170.3 1232 569 3220 3424 18.2 -9.0 26 217 0.00 2.08 0.00 0.000 1030 0.000 0.015 2101 1990 3338 3248 3428 0 0 0 0 0 0 28.83 26.27 28.83

529 -1.35 -170.3 2101 1991 3249 3428 46.9 -9.1 63 534 0.00 2.20 0.00 0.000 516 0.000 0.037 2109 572 3338 3249 3427 0 0 0 0 0 0 28.83 26.34 28.83

590 -1.35 -170.3 2108 572 3250 3428 51.2 -9.2 67 598 0.00 2.03 0.00 0.000 1030 0.000 0.015 2100 1979 3339 3250 3428 0 0 0 0 0 0 28.83 26.46 28.83

898 -1.35 -170.3 2100 1980 3253 3428 79.8 -8.9 83 904 0.00 2.05 0.00 0.000 260 0.000 0.031 2090 3358 3339 3252 3427 0 0 0 0 0 0 28.83 26.45 28.83

967 -1.35 -170.3 2090 3358 3253 3428 86.1 -9.0 86 973 0.00 2.08 0.00 0.000 1030 0.000 0.025 2090 1969 3340 3252 3428 0 0 0 0 0 0 28.83 26.48 28.83

1292 -1.35 -170.3 2090 1969 3254 3428 115.8 -9.0 102 1298 0.00 2.10 0.00 0.000 260 0.000 0.031 2081 3356 3340 3254 3427 0 0 0 0 0 0 28.83 26.50 28.83

1395 -1.35 -170.3 2081 3357 3254 3428 123.8 -9.0 106 1403 0.10 2.10 0.00 0.000 3078 0.160 0.025 2106 1961 3340 3254 3427 0 0 0 0 0 0 26.33 26.53 28.83

1701 -1.35 -170.3 2106 1960 3254 3428 153.0 -8.7 122 1707 0.00 2.12 0.00 0.000 260 0.000 0.031 2098 3361 3340 3253 3428 0 0 0 0 0 0 28.83 26.52 28.83

1811 -1.35 -170.3 2097 3362 3254 3427 162.8 -9.0 127 1817 0.00 2.08 0.00 0.000 1030 0.000 0.026 2104 1974 3340 3254 3427 0 0 0 0 0 0 28.83 26.55 28.83

2137 -1.35 -170.3 2103 1974 3254 3426 191.7 -9.0 143 2143 0.00 2.12 0.00 0.000 516 0.000 0.041 2113 575 3339 3253 3426 0 0 0 0 0 0 28.83 26.51 28.83

2203 -1.35 -170.3 2113 575 3254 3425 197.8 -9.1 146 2209 0.00 2.00 0.00 0.000 1030 0.000 0.015 2105 1973 3340 3254 3426 0 0 0 0 0 0 28.83 26.63 28.83

2529 -1.35 -170.3 2104 1974 3254 3422 227.1 -9.1 162 2535 0.00 2.08 0.00 0.000 260 0.000 0.032 2094 3364 3338 3255 3422 0 0 0 0 0 0 28.83 26.54 28.83

2613 -1.35 -170.3 2094 3364 3254 3421 233.4 -9.1 165 2621 0.00 2.10 0.00 0.000 1030 0.000 0.027 2094 1968 3337 3254 3421 0 0 0 0 0 0 28.83 26.56 28.83

2919 -1.35 -170.3 2094 1968 3254 3417 262.2 -9.0 181 2920 0.00 0.00 0.00 0.000 6 0.000 0.000 2095 1968 3335 3253 3417 0 0 0 0 0 0 28.83 28.83 28.83

3220 -1.35 -170.3 2094 1967 3253 3415 289.4 -8.9 196 3226 0.00 2.12 0.00 0.000 260 0.000 0.032 2085 3363 3333 3253 3414 0 0 0 0 0 0 28.83 26.53 28.83

3278 -1.35 -170.3 2085 3363 3253 3413 293.7 -9.0 198 3284 0.00 2.10 0.00 0.000 1030 0.000 0.028 2085 1972 3333 3253 3413 0 0 0 0 0 0 28.83 26.55 28.83

3592 -1.35 -170.3 2085 1972 3252 3411 322.6 -9.1 214 3594 0.00 0.00 0.00 0.000 6 0.000 0.000 2085 1972 3331 3252 3411 0 0 0 0 0 0 28.83 28.83 28.83

3894 -1.35 -170.3 2085 1972 3250 3408 349.1 -8.5 229 3900 0.00 2.15 0.00 0.000 516 0.000 0.044 2094 576 3329 3250 3408 0 0 0 0 0 0 28.83 26.48 28.83

3952 -1.35 -170.3 2094 576 3249 3408 353.5 -8.4 231 3958 0.00 2.03 0.00 0.000 1030 0.000 0.016 2085 1972 3328 3249 3408 0 0 0 0 0 0 28.83 26.63 28.83

4268 -1.35 -170.3 2085 1973 3247 3406 382.4 -8.8 247 4274 0.00 2.10 0.00 0.000 260 0.000 0.034 2075 3370 3326 3247 3405 0 0 0 0 0 0 28.83 26.51 28.83

4325 -1.35 -170.3 2074 3370 3246 3405 386.8 -9.1 249 4332 0.12 2.12 0.00 0.000 3078 0.154 0.030 2109 1971 3325 3246 3405 0 0 0 0 0 0 26.29 26.53 28.83

4478 end dive: TARGET_DEPTH_EXCEEDED

state 4478 begin apogee

4484 -0.25 0.0 2109 2300 3246 3404 401.5 -8.9 257 4674 0.70 0.00 184.00 0.793 10246 0.109 0.000 2342 2301 2637 2588 2686 0 0 0 0 0 0 26.25 28.83 24.44

4675 end apogee: CONTROL_FINISHED_OK

state 4675 begin climb

4678 1.35 170.3 2342 2301 2579 2678 384.7 0.0 265 4848 1.00 2.25 157.15 0.840 10500 0.054 0.034 2703 3688 1935 1903 1967 0 0 0 0 0 0 25.22 24.97 24.28

5090 1.35 170.3 2703 3688 1902 1945 347.9 9.3 283 5099 0.00 2.15 0.00 0.000 1030 0.000 0.025 2713 2299 1923 1902 1945 0 0 0 0 0 0 28.83 25.99 28.83

5397 1.37 178.6 2713 2299 1902 1942 319.0 9.0 299 5404 0.00 2.22 1.52 0.054 8452 0.000 0.032 2713 3684 1909 1886 1932 0 0 0 0 0 0 28.83 26.23 26.15

5612 1.38 180.8 2713 3684 1886 1938 299.8 9.2 309 5621 0.10 2.12 1.80 0.063 13318 0.194 0.026 2701 2289 1902 1876 1928 0 0 0 0 0 0 26.10 26.34 26.12

5942 1.39 183.3 2701 2289 1876 1938 270.4 9.2 325 5953 0.00 2.22 3.20 0.472 8708 0.000 0.043 2711 897 1892 1863 1921 0 0 0 0 0 0 28.83 26.39 25.22

6013 1.39 186.8 2711 897 1863 1924 263.9 9.1 328 6032 0.00 2.08 9.73 0.758 9222 0.000 0.017 2711 2301 1873 1846 1901 0 0 0 0 0 0 28.83 26.47 25.52

6332 1.41 193.7 2711 2302 1845 1898 234.3 9.0 344 6349 0.00 2.17 7.30 0.738 8452 0.000 0.036 2711 3684 1847 1819 1876 0 0 0 0 0 0 28.83 26.31 25.51

6485 1.42 198.2 2710 3686 1818 1871 220.6 9.1 351 6497 0.00 2.12 4.18 0.630 9222 0.000 0.027 2721 2295 1829 1802 1857 0 0 0 0 0 0 28.83 26.34 25.25

6806 1.44 205.3 2721 2295 1803 1857 191.4 9.0 367 6822 0.00 2.17 9.77 0.716 8452 0.000 0.033 2721 3691 1797 1770 1824 0 0 0 0 0 0 28.83 26.29 25.53

6877 1.46 213.4 2721 3691 1768 1821 185.4 9.0 370 6896 0.00 2.15 8.57 0.711 9222 0.000 0.027 2731 2293 1764 1736 1793 0 0 0 0 0 0 28.83 26.30 25.44

7194 1.48 221.0 2730 2293 1735 1788 156.4 9.0 386 7211 0.00 2.28 7.82 0.695 8708 0.000 0.043 2741 888 1734 1704 1765 0 0 0 0 0 0 28.83 26.23 25.49

7234 1.49 225.9 2741 888 1704 1765 154.1 9.1 387 7243 0.00 2.10 3.97 0.580 9222 0.000 0.018 2741 2297 1718 1686 1750 0 0 0 0 0 0 28.83 26.32 25.22

7540 1.51 233.6 2741 2297 1686 1750 125.0 9.0 403 7552 0.00 0.00 10.32 0.672 8198 0.000 0.000 2741 2298 1687 1652 1723 0 0 0 0 0 0 28.83 28.83 25.52

7842 1.55 249.0 2741 2298 1647 1713 98.1 8.7 418 7861 0.00 0.00 15.45 0.636 8198 0.000 0.000 2743 2298 1620 1573 1668 0 0 0 0 0 0 28.83 28.83 25.53

8162 1.56 254.3 2741 2298 1570 1660 68.5 9.1 434 8173 0.00 2.20 3.50 0.478 8452 0.000 0.036 2741 3693 1602 1553 1651 0 0 0 0 0 0 28.83 26.32 25.28

8220 1.56 254.3 2741 3693 1553 1651 64.2 9.3 436 8227 0.00 2.15 0.00 0.000 1030 0.000 0.025 2751 2288 1602 1553 1651 0 0 0 0 0 0 28.83 26.34 28.83

8536 1.56 254.3 2751 2287 1553 1652 34.9 9.4 460 8542 0.00 2.17 0.00 0.000 516 0.000 0.043 2761 887 1602 1553 1651 0 0 0 0 0 0 28.83 26.36 28.83

8574 1.58 262.8 2762 887 1553 1651 31.5 8.9 463 8593 0.00 2.10 11.30 0.577 9222 0.000 0.018 2762 2310 1562 1509 1616 0 0 0 0 0 0 28.83 26.48 25.64

8888 end climb: SURFACE_DEPTH_REACHED

state 8888 begin surface coast

8922 end surface coast: CONTROL_FINISHED_OK

state 8922 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	253	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	50	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	54	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	-100816.38	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	010413,063055,2152.370,12023.571,143,1.1,143,-3.1	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	-64.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010413,063821,2152.353,12023.597,39,0.8,39,-3.1	MHEAD_RNG_PITCHd_Wd	45.1,33831,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	995

FINISH	0.0,1.024904	_10V_AH	10.1,21.499
SM_CCo	9199,2.95,0.352,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.50,0.55,2.95,0.071,0.035,0.352,86,1957,400,-10.56,0.96,549.47,0,0,0,0,0,0,26.39,26.44,24.60	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2141.13,12022.40,010413,030324	MEM	324428
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16751,519
HUMID	48.81	CAP_FILE_SIZE	407818,2154
INTERNAL_PRESSURE	9.17526	CFSIZE	260034560,221917184
TCM_TEMP	19.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	2	CURRENT	0.145, 43.3,1
SC_FREEKB	3926272	GPS	010413,091604,2153.513,12024.732,194,0.9,194,-3.1
_24V_AH	24.3,41.904

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	213	90.37	nil	0	0	0.00
Roll_motor	77	55	105.41	nil	0	0	0.00
VBD_pump_during_apogee	439	839	8972.79	nil	0	0	0.00
VBD_pump_during_surface	239	716	4170.29	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	8934	5	1195.77
Iridium_during_xfer	226	133	735.21	nil	0	0	0.00
Transponder_ping	0	420	5.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	29	12.21
TT8	2081	14	304.03
LPSleep	4647	2	102.79
TT8_Active	811	14	118.59
TT8_Sampling	1637	39	647.92
TT8_CF8	445	46	209.86
TT8_Kalman	0	0	0.00
Analog_circuits	1942	15	304.10
GPS_charging	0	0	0.00
Compass	1408	7	106.56
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	87	1940	341	469	0.0	0.0	0	44	0.00	0.00	-23.50	0.000	16386	0.000	0.000	87	1940	1019	1011	1027	0	0	0	0	0	0	28.83	28.83	28.83
47	-1.35	-170.3	87	1939	1011	1032	3.3	-9.9	3	155	7.90	2.22	-92.90	0.000	18948	0.213	0.056	2110	570	3337	3246	3428	0	0	0	0	0	0	25.74	26.13	26.48
209	-1.35	-170.3	1232	569	3220	3424	18.2	-9.0	26	217	0.00	2.08	0.00	0.000	1030	0.000	0.015	2101	1990	3338	3248	3428	0	0	0	0	0	0	28.83	26.27	28.83
529	-1.35	-170.3	2101	1991	3249	3428	46.9	-9.1	63	534	0.00	2.20	0.00	0.000	516	0.000	0.037	2109	572	3338	3249	3427	0	0	0	0	0	0	28.83	26.34	28.83
590	-1.35	-170.3	2108	572	3250	3428	51.2	-9.2	67	598	0.00	2.03	0.00	0.000	1030	0.000	0.015	2100	1979	3339	3250	3428	0	0	0	0	0	0	28.83	26.46	28.83
898	-1.35	-170.3	2100	1980	3253	3428	79.8	-8.9	83	904	0.00	2.05	0.00	0.000	260	0.000	0.031	2090	3358	3339	3252	3427	0	0	0	0	0	0	28.83	26.45	28.83
967	-1.35	-170.3	2090	3358	3253	3428	86.1	-9.0	86	973	0.00	2.08	0.00	0.000	1030	0.000	0.025	2090	1969	3340	3252	3428	0	0	0	0	0	0	28.83	26.48	28.83
1292	-1.35	-170.3	2090	1969	3254	3428	115.8	-9.0	102	1298	0.00	2.10	0.00	0.000	260	0.000	0.031	2081	3356	3340	3254	3427	0	0	0	0	0	0	28.83	26.50	28.83
1395	-1.35	-170.3	2081	3357	3254	3428	123.8	-9.0	106	1403	0.10	2.10	0.00	0.000	3078	0.160	0.025	2106	1961	3340	3254	3427	0	0	0	0	0	0	26.33	26.53	28.83
1701	-1.35	-170.3	2106	1960	3254	3428	153.0	-8.7	122	1707	0.00	2.12	0.00	0.000	260	0.000	0.031	2098	3361	3340	3253	3428	0	0	0	0	0	0	28.83	26.52	28.83
1811	-1.35	-170.3	2097	3362	3254	3427	162.8	-9.0	127	1817	0.00	2.08	0.00	0.000	1030	0.000	0.026	2104	1974	3340	3254	3427	0	0	0	0	0	0	28.83	26.55	28.83
2137	-1.35	-170.3	2103	1974	3254	3426	191.7	-9.0	143	2143	0.00	2.12	0.00	0.000	516	0.000	0.041	2113	575	3339	3253	3426	0	0	0	0	0	0	28.83	26.51	28.83
2203	-1.35	-170.3	2113	575	3254	3425	197.8	-9.1	146	2209	0.00	2.00	0.00	0.000	1030	0.000	0.015	2105	1973	3340	3254	3426	0	0	0	0	0	0	28.83	26.63	28.83
2529	-1.35	-170.3	2104	1974	3254	3422	227.1	-9.1	162	2535	0.00	2.08	0.00	0.000	260	0.000	0.032	2094	3364	3338	3255	3422	0	0	0	0	0	0	28.83	26.54	28.83
2613	-1.35	-170.3	2094	3364	3254	3421	233.4	-9.1	165	2621	0.00	2.10	0.00	0.000	1030	0.000	0.027	2094	1968	3337	3254	3421	0	0	0	0	0	0	28.83	26.56	28.83
2919	-1.35	-170.3	2094	1968	3254	3417	262.2	-9.0	181	2920	0.00	0.00	0.00	0.000	6	0.000	0.000	2095	1968	3335	3253	3417	0	0	0	0	0	0	28.83	28.83	28.83
3220	-1.35	-170.3	2094	1967	3253	3415	289.4	-8.9	196	3226	0.00	2.12	0.00	0.000	260	0.000	0.032	2085	3363	3333	3253	3414	0	0	0	0	0	0	28.83	26.53	28.83
3278	-1.35	-170.3	2085	3363	3253	3413	293.7	-9.0	198	3284	0.00	2.10	0.00	0.000	1030	0.000	0.028	2085	1972	3333	3253	3413	0	0	0	0	0	0	28.83	26.55	28.83
3592	-1.35	-170.3	2085	1972	3252	3411	322.6	-9.1	214	3594	0.00	0.00	0.00	0.000	6	0.000	0.000	2085	1972	3331	3252	3411	0	0	0	0	0	0	28.83	28.83	28.83
3894	-1.35	-170.3	2085	1972	3250	3408	349.1	-8.5	229	3900	0.00	2.15	0.00	0.000	516	0.000	0.044	2094	576	3329	3250	3408	0	0	0	0	0	0	28.83	26.48	28.83
3952	-1.35	-170.3	2094	576	3249	3408	353.5	-8.4	231	3958	0.00	2.03	0.00	0.000	1030	0.000	0.016	2085	1972	3328	3249	3408	0	0	0	0	0	0	28.83	26.63	28.83
4268	-1.35	-170.3	2085	1973	3247	3406	382.4	-8.8	247	4274	0.00	2.10	0.00	0.000	260	0.000	0.034	2075	3370	3326	3247	3405	0	0	0	0	0	0	28.83	26.51	28.83
4325	-1.35	-170.3	2074	3370	3246	3405	386.8	-9.1	249	4332	0.12	2.12	0.00	0.000	3078	0.154	0.030	2109	1971	3325	3246	3405	0	0	0	0	0	0	26.29	26.53	28.83
4478	end dive: TARGET_DEPTH_EXCEEDED
state	4478	begin apogee
4484	-0.25	0.0	2109	2300	3246	3404	401.5	-8.9	257	4674	0.70	0.00	184.00	0.793	10246	0.109	0.000	2342	2301	2637	2588	2686	0	0	0	0	0	0	26.25	28.83	24.44
4675	end apogee: CONTROL_FINISHED_OK
state	4675	begin climb
4678	1.35	170.3	2342	2301	2579	2678	384.7	0.0	265	4848	1.00	2.25	157.15	0.840	10500	0.054	0.034	2703	3688	1935	1903	1967	0	0	0	0	0	0	25.22	24.97	24.28
5090	1.35	170.3	2703	3688	1902	1945	347.9	9.3	283	5099	0.00	2.15	0.00	0.000	1030	0.000	0.025	2713	2299	1923	1902	1945	0	0	0	0	0	0	28.83	25.99	28.83
5397	1.37	178.6	2713	2299	1902	1942	319.0	9.0	299	5404	0.00	2.22	1.52	0.054	8452	0.000	0.032	2713	3684	1909	1886	1932	0	0	0	0	0	0	28.83	26.23	26.15
5612	1.38	180.8	2713	3684	1886	1938	299.8	9.2	309	5621	0.10	2.12	1.80	0.063	13318	0.194	0.026	2701	2289	1902	1876	1928	0	0	0	0	0	0	26.10	26.34	26.12
5942	1.39	183.3	2701	2289	1876	1938	270.4	9.2	325	5953	0.00	2.22	3.20	0.472	8708	0.000	0.043	2711	897	1892	1863	1921	0	0	0	0	0	0	28.83	26.39	25.22
6013	1.39	186.8	2711	897	1863	1924	263.9	9.1	328	6032	0.00	2.08	9.73	0.758	9222	0.000	0.017	2711	2301	1873	1846	1901	0	0	0	0	0	0	28.83	26.47	25.52
6332	1.41	193.7	2711	2302	1845	1898	234.3	9.0	344	6349	0.00	2.17	7.30	0.738	8452	0.000	0.036	2711	3684	1847	1819	1876	0	0	0	0	0	0	28.83	26.31	25.51
6485	1.42	198.2	2710	3686	1818	1871	220.6	9.1	351	6497	0.00	2.12	4.18	0.630	9222	0.000	0.027	2721	2295	1829	1802	1857	0	0	0	0	0	0	28.83	26.34	25.25
6806	1.44	205.3	2721	2295	1803	1857	191.4	9.0	367	6822	0.00	2.17	9.77	0.716	8452	0.000	0.033	2721	3691	1797	1770	1824	0	0	0	0	0	0	28.83	26.29	25.53
6877	1.46	213.4	2721	3691	1768	1821	185.4	9.0	370	6896	0.00	2.15	8.57	0.711	9222	0.000	0.027	2731	2293	1764	1736	1793	0	0	0	0	0	0	28.83	26.30	25.44
7194	1.48	221.0	2730	2293	1735	1788	156.4	9.0	386	7211	0.00	2.28	7.82	0.695	8708	0.000	0.043	2741	888	1734	1704	1765	0	0	0	0	0	0	28.83	26.23	25.49
7234	1.49	225.9	2741	888	1704	1765	154.1	9.1	387	7243	0.00	2.10	3.97	0.580	9222	0.000	0.018	2741	2297	1718	1686	1750	0	0	0	0	0	0	28.83	26.32	25.22
7540	1.51	233.6	2741	2297	1686	1750	125.0	9.0	403	7552	0.00	0.00	10.32	0.672	8198	0.000	0.000	2741	2298	1687	1652	1723	0	0	0	0	0	0	28.83	28.83	25.52
7842	1.55	249.0	2741	2298	1647	1713	98.1	8.7	418	7861	0.00	0.00	15.45	0.636	8198	0.000	0.000	2743	2298	1620	1573	1668	0	0	0	0	0	0	28.83	28.83	25.53
8162	1.56	254.3	2741	2298	1570	1660	68.5	9.1	434	8173	0.00	2.20	3.50	0.478	8452	0.000	0.036	2741	3693	1602	1553	1651	0	0	0	0	0	0	28.83	26.32	25.28
8220	1.56	254.3	2741	3693	1553	1651	64.2	9.3	436	8227	0.00	2.15	0.00	0.000	1030	0.000	0.025	2751	2288	1602	1553	1651	0	0	0	0	0	0	28.83	26.34	28.83
8536	1.56	254.3	2751	2287	1553	1652	34.9	9.4	460	8542	0.00	2.17	0.00	0.000	516	0.000	0.043	2761	887	1602	1553	1651	0	0	0	0	0	0	28.83	26.36	28.83
8574	1.58	262.8	2762	887	1553	1651	31.5	8.9	463	8593	0.00	2.10	11.30	0.577	9222	0.000	0.018	2762	2310	1562	1509	1616	0	0	0	0	0	0	28.83	26.48	25.64
8888	end climb: SURFACE_DEPTH_REACHED
state	8888	begin surface coast
8922	end surface coast: CONTROL_FINISHED_OK
state	8922	begin surface