Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 262 * 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 262 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 45 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 57 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 -100827.67 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 -100827.67

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 45 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 57 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 262 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 020413,065659,2202.792,12028.656,24,1.1,24,-3.1 TGT_NAME PICKUP

_CALLS 1 TGT_LATLONG 2209.500,12030.330

_XMS_NAKs 0 TGT_RADIUS 5000.000

_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 -64.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020413,070448,2202.825,12028.704,20,1.4,20,-3.1 MHEAD_RNG_PITCHd_Wd 17.1,12673,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 605

Post-dive calculations and measurements:

FINISH 0.0,1.026427 _10V_AH 10.1,22.082

SM_CCo 9180,4.07,0.503,0,0,399,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.32,0.52,4.07,0.054,0.037,0.503,90,1969,399,-10.54,1.30,549.47,0,0,0,0,0,0,26.26,26.32,24.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2152.74,12027.93,020413,040438 MEM 324388

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 20080,522

HUMID 49.72 CAP_FILE_SIZE 429791,2173

INTERNAL_PRESSURE 9.03854 CFSIZE 260034560,220872704

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 2 CURRENT 0.066,356.9,1

SC_FREEKB 3922784 GPS 020413,094959,2204.099,12029.307,659,1.1,659,-3.1

_24V_AH 24.3,43.274

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 212 88.63 nil 0 0 0.00

Roll_motor 68 54 90.71 nil 0 0 0.00

VBD_pump_during_apogee 440 967 10365.73 nil 0 0 0.00

VBD_pump_during_surface 214 872 4554.70 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 8942 5 1187.06

Iridium_during_xfer 265 131 849.79 nil 0 0 0.00

Transponder_ping 0 420 5.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 29 6.23

TT8 2087 14 304.89

LPSleep 4611 2 102.01

TT8_Active 788 14 115.18

TT8_Sampling 1653 39 654.45

TT8_CF8 486 46 229.17

TT8_Kalman 0 0 0.00

Analog_circuits 1928 15 301.89

GPS_charging 0 0 0.00

Compass 1416 7 107.16

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 17 begin dive

19 -1.35 -170.3 83 1959 339 471 0.0 0.0 0 44 0.00 0.00 -23.05 0.000 16386 0.000 0.000 83 1958 1009 1003 1016 0 0 0 0 0 0 28.83 28.83 28.83

47 -1.35 -170.3 83 1958 1003 1019 3.2 -9.0 3 156 7.95 2.25 -93.65 0.000 18948 0.213 0.054 2114 570 3336 3245 3428 0 0 0 0 0 0 25.76 26.12 26.47

198 -1.35 -170.3 1248 569 3221 3425 17.4 -9.7 24 206 0.00 2.10 0.00 0.000 1030 0.000 0.015 2106 1998 3338 3248 3429 0 0 0 0 0 0 28.83 26.26 28.83

516 -1.35 -170.3 2105 1999 3249 3429 45.9 -8.9 62 523 0.00 2.22 0.00 0.000 516 0.000 0.037 2114 567 3338 3249 3428 0 0 0 0 0 0 28.83 26.34 28.83

611 -1.35 -170.3 2114 567 3251 3428 54.1 -9.1 68 617 0.00 2.03 0.00 0.000 1030 0.000 0.015 2105 1976 3339 3251 3428 0 0 0 0 0 0 28.83 26.47 28.83

931 -1.35 -170.3 2105 1977 3253 3428 83.1 -9.0 84 937 0.00 2.05 0.00 0.000 260 0.000 0.031 2095 3353 3341 3253 3429 0 0 0 0 0 0 28.83 26.46 28.83

1177 -1.35 -170.3 2095 3353 3254 3428 104.3 -9.1 95 1183 0.00 2.08 0.00 0.000 1030 0.000 0.024 2100 1960 3341 3254 3428 0 0 0 0 0 0 28.83 26.52 28.83

1492 -1.35 -170.3 2100 1961 3254 3428 133.4 -9.0 111 1493 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 1960 3341 3255 3428 0 0 0 0 0 0 28.83 28.83 28.83

1796 -1.35 -170.3 2100 1960 3254 3428 160.5 -9.2 126 1797 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 1960 3341 3254 3428 0 0 0 0 0 0 28.83 28.83 28.83

2093 -1.35 -170.3 2100 1960 3254 3426 187.3 -9.0 141 2100 0.00 2.12 0.00 0.000 260 0.000 0.031 2092 3359 3339 3254 3425 0 0 0 0 0 0 28.83 26.53 28.83

2175 -1.35 -170.3 2091 3358 3254 3423 193.8 -9.1 144 2183 0.00 2.08 0.00 0.000 1030 0.000 0.025 2092 1978 3338 3254 3423 0 0 0 0 0 0 28.83 26.56 28.83

2482 -1.35 -170.3 2091 1978 3254 3422 222.7 -9.3 160 2488 0.00 2.10 0.00 0.000 260 0.000 0.031 2083 3359 3338 3256 3421 0 0 0 0 0 0 28.83 26.53 28.83

2544 -1.35 -170.3 2082 3359 3254 3421 226.9 -9.1 162 2552 0.10 2.08 0.00 0.000 3078 0.156 0.027 2109 1975 3337 3254 3421 0 0 0 0 0 0 26.37 26.55 28.83

2850 -1.35 -170.3 2109 1975 3254 3417 255.8 -9.0 178 2856 0.00 2.15 0.00 0.000 516 0.000 0.043 2119 576 3335 3254 3417 0 0 0 0 0 0 28.83 26.49 28.83

2891 -1.35 -170.3 2119 576 3254 3417 258.1 -9.0 179 2899 0.00 2.03 0.00 0.000 1030 0.000 0.016 2111 1978 3335 3254 3416 0 0 0 0 0 0 28.83 26.63 28.83

3198 -1.35 -170.3 2111 1978 3253 3414 287.0 -9.1 195 3199 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 1978 3333 3253 3414 0 0 0 0 0 0 28.83 28.83 28.83

3499 -1.35 -170.3 2111 1978 3252 3410 313.8 -8.8 210 3506 0.00 2.08 0.00 0.000 260 0.000 0.033 2101 3356 3330 3252 3409 0 0 0 0 0 0 28.83 26.52 28.83

3578 -1.35 -170.3 2101 3356 3250 3409 320.1 -9.0 213 3584 0.00 2.10 0.00 0.000 1030 0.000 0.028 2101 1969 3329 3250 3409 0 0 0 0 0 0 28.83 26.54 28.83

3894 -1.35 -170.3 2101 1968 3248 3408 349.5 -8.8 229 3900 0.00 2.15 0.00 0.000 516 0.000 0.045 2109 574 3327 3248 3407 0 0 0 0 0 0 28.83 26.46 28.83

3929 -1.35 -170.3 2109 574 3248 3407 351.9 -8.9 230 3935 0.00 2.03 0.00 0.000 1030 0.000 0.016 2101 1973 3327 3248 3407 0 0 0 0 0 0 28.83 26.63 28.83

4245 -1.35 -170.3 2101 1974 3247 3404 380.8 -9.0 246 4251 0.00 2.10 0.00 0.000 260 0.000 0.035 2091 3366 3325 3247 3404 0 0 0 0 0 0 28.83 26.49 28.83

4477 end dive: TARGET_DEPTH_EXCEEDED

state 4477 begin apogee

4485 -0.25 0.0 2091 2295 3244 3402 401.8 -9.1 257 4650 0.75 0.00 151.15 0.968 10246 0.097 0.000 2345 2295 2639 2590 2689 0 0 0 0 1 0 26.27 28.83 24.25

4651 end apogee: CONTROL_FINISHED_OK

state 4651 begin climb

4653 1.35 170.3 2345 2295 2590 2689 387.1 0.0 264 4820 1.02 2.35 152.50 0.837 11012 0.070 0.034 2697 3677 1933 1907 1959 0 0 0 0 0 0 25.16 24.98 24.31

4838 1.38 179.1 2697 3677 1907 1953 370.3 8.9 274 4851 0.00 2.20 3.70 0.564 9222 0.000 0.024 2707 2294 1908 1885 1931 0 0 0 0 0 0 28.83 25.31 24.40

5149 1.40 191.0 2707 2295 1885 1931 341.3 8.8 290 5173 0.00 2.22 15.30 0.793 8708 0.000 0.041 2716 890 1853 1829 1877 0 0 0 0 0 0 28.83 25.89 25.15

5263 1.44 204.3 2716 890 1828 1873 331.4 8.8 295 5282 0.00 2.10 12.48 0.793 9222 0.000 0.017 2716 2297 1802 1778 1827 0 0 0 0 0 0 28.83 26.13 25.12

5581 1.46 213.0 2716 2297 1775 1817 302.3 8.9 311 5597 0.00 2.28 8.35 0.772 8708 0.000 0.041 2726 901 1766 1741 1792 0 0 0 0 0 0 28.83 26.12 25.33

5690 1.47 218.7 2725 901 1741 1790 294.0 9.1 315 5700 0.00 2.10 4.70 0.697 9222 0.000 0.017 2726 2312 1747 1720 1774 0 0 0 0 0 0 28.83 26.27 25.10

5994 1.49 225.4 2726 2312 1720 1774 265.1 9.0 331 6005 0.00 0.00 9.20 0.767 8198 0.000 0.000 2726 2312 1720 1691 1750 0 0 0 0 0 0 28.83 28.83 25.41

6295 1.52 237.6 2726 2312 1687 1741 238.1 8.8 346 6318 0.00 2.30 12.62 0.775 8708 0.000 0.041 2736 902 1666 1632 1700 0 0 0 0 0 0 28.83 26.16 25.41

6427 1.55 248.3 2736 902 1632 1695 226.6 8.9 352 6443 0.00 2.10 10.68 0.774 9222 0.000 0.017 2736 2305 1624 1580 1668 0 0 0 0 0 0 28.83 26.31 25.33

6752 1.55 248.3 2736 2305 1577 1660 196.4 9.4 368 6758 0.00 2.25 0.00 0.000 516 0.000 0.042 2746 893 1619 1578 1660 0 0 0 0 0 0 28.83 26.25 28.83

6840 1.57 256.8 2745 893 1577 1659 188.5 9.0 372 6857 0.00 2.10 8.60 0.760 9222 0.000 0.018 2746 2301 1588 1541 1635 0 0 0 0 0 0 28.83 26.41 25.44

7168 1.58 263.0 2746 2301 1540 1630 159.6 9.0 388 7175 0.00 0.00 4.88 0.697 8198 0.000 0.000 2746 2301 1566 1517 1615 0 0 0 0 0 0 28.83 28.83 25.25

7466 1.61 271.9 2745 2301 1517 1615 132.2 8.9 403 7482 0.00 2.33 11.80 0.742 8708 0.000 0.042 2756 889 1528 1477 1579 0 0 0 0 0 0 28.83 26.22 25.48

7640 1.61 273.5 2756 889 1477 1573 116.6 9.2 411 7646 0.00 2.12 0.00 0.000 1030 0.000 0.018 2756 2309 1525 1477 1573 0 0 0 0 0 0 28.83 26.37 28.83

7965 1.61 273.5 2756 2309 1477 1572 86.5 9.7 427 7966 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2309 1523 1475 1572 0 0 0 0 0 0 28.83 28.83 28.83

8267 1.63 279.4 2756 2310 1476 1571 59.3 9.0 442 8283 0.00 2.28 8.20 0.708 8708 0.000 0.043 2766 906 1497 1449 1545 0 0 0 0 0 0 28.83 26.35 25.59

8435 1.66 293.5 2765 906 1446 1542 44.3 8.7 452 8456 0.00 2.08 15.10 0.699 9222 0.000 0.018 2766 2305 1440 1393 1488 0 0 0 0 0 0 28.83 26.45 25.50

8768 1.69 304.6 1712 2303 1365 1472 14.6 8.9 494 8783 0.00 0.00 11.55 0.684 8198 0.000 0.000 2766 2305 1393 1353 1434 0 0 0 0 0 0 28.83 28.83 25.50

8894 end climb: SURFACE_DEPTH_REACHED

state 8894 begin surface coast

8929 end surface coast: CONTROL_FINISHED_OK

state 8929 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	262	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	45	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	57	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	-100827.67	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	020413,065659,2202.792,12028.656,24,1.1,24,-3.1	TGT_NAME	PICKUP
_CALLS	1	TGT_LATLONG	2209.500,12030.330
_XMS_NAKs	0	TGT_RADIUS	5000.000
_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	-64.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020413,070448,2202.825,12028.704,20,1.4,20,-3.1	MHEAD_RNG_PITCHd_Wd	17.1,12673,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	605

FINISH	0.0,1.026427	_10V_AH	10.1,22.082
SM_CCo	9180,4.07,0.503,0,0,399,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.32,0.52,4.07,0.054,0.037,0.503,90,1969,399,-10.54,1.30,549.47,0,0,0,0,0,0,26.26,26.32,24.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2152.74,12027.93,020413,040438	MEM	324388
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	20080,522
HUMID	49.72	CAP_FILE_SIZE	429791,2173
INTERNAL_PRESSURE	9.03854	CFSIZE	260034560,220872704
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	2	CURRENT	0.066,356.9,1
SC_FREEKB	3922784	GPS	020413,094959,2204.099,12029.307,659,1.1,659,-3.1
_24V_AH	24.3,43.274

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	212	88.63	nil	0	0	0.00
Roll_motor	68	54	90.71	nil	0	0	0.00
VBD_pump_during_apogee	440	967	10365.73	nil	0	0	0.00
VBD_pump_during_surface	214	872	4554.70	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	8942	5	1187.06
Iridium_during_xfer	265	131	849.79	nil	0	0	0.00
Transponder_ping	0	420	5.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	29	6.23
TT8	2087	14	304.89
LPSleep	4611	2	102.01
TT8_Active	788	14	115.18
TT8_Sampling	1653	39	654.45
TT8_CF8	486	46	229.17
TT8_Kalman	0	0	0.00
Analog_circuits	1928	15	301.89
GPS_charging	0	0	0.00
Compass	1416	7	107.16
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	17	begin dive
19	-1.35	-170.3	83	1959	339	471	0.0	0.0	0	44	0.00	0.00	-23.05	0.000	16386	0.000	0.000	83	1958	1009	1003	1016	0	0	0	0	0	0	28.83	28.83	28.83
47	-1.35	-170.3	83	1958	1003	1019	3.2	-9.0	3	156	7.95	2.25	-93.65	0.000	18948	0.213	0.054	2114	570	3336	3245	3428	0	0	0	0	0	0	25.76	26.12	26.47
198	-1.35	-170.3	1248	569	3221	3425	17.4	-9.7	24	206	0.00	2.10	0.00	0.000	1030	0.000	0.015	2106	1998	3338	3248	3429	0	0	0	0	0	0	28.83	26.26	28.83
516	-1.35	-170.3	2105	1999	3249	3429	45.9	-8.9	62	523	0.00	2.22	0.00	0.000	516	0.000	0.037	2114	567	3338	3249	3428	0	0	0	0	0	0	28.83	26.34	28.83
611	-1.35	-170.3	2114	567	3251	3428	54.1	-9.1	68	617	0.00	2.03	0.00	0.000	1030	0.000	0.015	2105	1976	3339	3251	3428	0	0	0	0	0	0	28.83	26.47	28.83
931	-1.35	-170.3	2105	1977	3253	3428	83.1	-9.0	84	937	0.00	2.05	0.00	0.000	260	0.000	0.031	2095	3353	3341	3253	3429	0	0	0	0	0	0	28.83	26.46	28.83
1177	-1.35	-170.3	2095	3353	3254	3428	104.3	-9.1	95	1183	0.00	2.08	0.00	0.000	1030	0.000	0.024	2100	1960	3341	3254	3428	0	0	0	0	0	0	28.83	26.52	28.83
1492	-1.35	-170.3	2100	1961	3254	3428	133.4	-9.0	111	1493	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	1960	3341	3255	3428	0	0	0	0	0	0	28.83	28.83	28.83
1796	-1.35	-170.3	2100	1960	3254	3428	160.5	-9.2	126	1797	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	1960	3341	3254	3428	0	0	0	0	0	0	28.83	28.83	28.83
2093	-1.35	-170.3	2100	1960	3254	3426	187.3	-9.0	141	2100	0.00	2.12	0.00	0.000	260	0.000	0.031	2092	3359	3339	3254	3425	0	0	0	0	0	0	28.83	26.53	28.83
2175	-1.35	-170.3	2091	3358	3254	3423	193.8	-9.1	144	2183	0.00	2.08	0.00	0.000	1030	0.000	0.025	2092	1978	3338	3254	3423	0	0	0	0	0	0	28.83	26.56	28.83
2482	-1.35	-170.3	2091	1978	3254	3422	222.7	-9.3	160	2488	0.00	2.10	0.00	0.000	260	0.000	0.031	2083	3359	3338	3256	3421	0	0	0	0	0	0	28.83	26.53	28.83
2544	-1.35	-170.3	2082	3359	3254	3421	226.9	-9.1	162	2552	0.10	2.08	0.00	0.000	3078	0.156	0.027	2109	1975	3337	3254	3421	0	0	0	0	0	0	26.37	26.55	28.83
2850	-1.35	-170.3	2109	1975	3254	3417	255.8	-9.0	178	2856	0.00	2.15	0.00	0.000	516	0.000	0.043	2119	576	3335	3254	3417	0	0	0	0	0	0	28.83	26.49	28.83
2891	-1.35	-170.3	2119	576	3254	3417	258.1	-9.0	179	2899	0.00	2.03	0.00	0.000	1030	0.000	0.016	2111	1978	3335	3254	3416	0	0	0	0	0	0	28.83	26.63	28.83
3198	-1.35	-170.3	2111	1978	3253	3414	287.0	-9.1	195	3199	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	1978	3333	3253	3414	0	0	0	0	0	0	28.83	28.83	28.83
3499	-1.35	-170.3	2111	1978	3252	3410	313.8	-8.8	210	3506	0.00	2.08	0.00	0.000	260	0.000	0.033	2101	3356	3330	3252	3409	0	0	0	0	0	0	28.83	26.52	28.83
3578	-1.35	-170.3	2101	3356	3250	3409	320.1	-9.0	213	3584	0.00	2.10	0.00	0.000	1030	0.000	0.028	2101	1969	3329	3250	3409	0	0	0	0	0	0	28.83	26.54	28.83
3894	-1.35	-170.3	2101	1968	3248	3408	349.5	-8.8	229	3900	0.00	2.15	0.00	0.000	516	0.000	0.045	2109	574	3327	3248	3407	0	0	0	0	0	0	28.83	26.46	28.83
3929	-1.35	-170.3	2109	574	3248	3407	351.9	-8.9	230	3935	0.00	2.03	0.00	0.000	1030	0.000	0.016	2101	1973	3327	3248	3407	0	0	0	0	0	0	28.83	26.63	28.83
4245	-1.35	-170.3	2101	1974	3247	3404	380.8	-9.0	246	4251	0.00	2.10	0.00	0.000	260	0.000	0.035	2091	3366	3325	3247	3404	0	0	0	0	0	0	28.83	26.49	28.83
4477	end dive: TARGET_DEPTH_EXCEEDED
state	4477	begin apogee
4485	-0.25	0.0	2091	2295	3244	3402	401.8	-9.1	257	4650	0.75	0.00	151.15	0.968	10246	0.097	0.000	2345	2295	2639	2590	2689	0	0	0	0	1	0	26.27	28.83	24.25
4651	end apogee: CONTROL_FINISHED_OK
state	4651	begin climb
4653	1.35	170.3	2345	2295	2590	2689	387.1	0.0	264	4820	1.02	2.35	152.50	0.837	11012	0.070	0.034	2697	3677	1933	1907	1959	0	0	0	0	0	0	25.16	24.98	24.31
4838	1.38	179.1	2697	3677	1907	1953	370.3	8.9	274	4851	0.00	2.20	3.70	0.564	9222	0.000	0.024	2707	2294	1908	1885	1931	0	0	0	0	0	0	28.83	25.31	24.40
5149	1.40	191.0	2707	2295	1885	1931	341.3	8.8	290	5173	0.00	2.22	15.30	0.793	8708	0.000	0.041	2716	890	1853	1829	1877	0	0	0	0	0	0	28.83	25.89	25.15
5263	1.44	204.3	2716	890	1828	1873	331.4	8.8	295	5282	0.00	2.10	12.48	0.793	9222	0.000	0.017	2716	2297	1802	1778	1827	0	0	0	0	0	0	28.83	26.13	25.12
5581	1.46	213.0	2716	2297	1775	1817	302.3	8.9	311	5597	0.00	2.28	8.35	0.772	8708	0.000	0.041	2726	901	1766	1741	1792	0	0	0	0	0	0	28.83	26.12	25.33
5690	1.47	218.7	2725	901	1741	1790	294.0	9.1	315	5700	0.00	2.10	4.70	0.697	9222	0.000	0.017	2726	2312	1747	1720	1774	0	0	0	0	0	0	28.83	26.27	25.10
5994	1.49	225.4	2726	2312	1720	1774	265.1	9.0	331	6005	0.00	0.00	9.20	0.767	8198	0.000	0.000	2726	2312	1720	1691	1750	0	0	0	0	0	0	28.83	28.83	25.41
6295	1.52	237.6	2726	2312	1687	1741	238.1	8.8	346	6318	0.00	2.30	12.62	0.775	8708	0.000	0.041	2736	902	1666	1632	1700	0	0	0	0	0	0	28.83	26.16	25.41
6427	1.55	248.3	2736	902	1632	1695	226.6	8.9	352	6443	0.00	2.10	10.68	0.774	9222	0.000	0.017	2736	2305	1624	1580	1668	0	0	0	0	0	0	28.83	26.31	25.33
6752	1.55	248.3	2736	2305	1577	1660	196.4	9.4	368	6758	0.00	2.25	0.00	0.000	516	0.000	0.042	2746	893	1619	1578	1660	0	0	0	0	0	0	28.83	26.25	28.83
6840	1.57	256.8	2745	893	1577	1659	188.5	9.0	372	6857	0.00	2.10	8.60	0.760	9222	0.000	0.018	2746	2301	1588	1541	1635	0	0	0	0	0	0	28.83	26.41	25.44
7168	1.58	263.0	2746	2301	1540	1630	159.6	9.0	388	7175	0.00	0.00	4.88	0.697	8198	0.000	0.000	2746	2301	1566	1517	1615	0	0	0	0	0	0	28.83	28.83	25.25
7466	1.61	271.9	2745	2301	1517	1615	132.2	8.9	403	7482	0.00	2.33	11.80	0.742	8708	0.000	0.042	2756	889	1528	1477	1579	0	0	0	0	0	0	28.83	26.22	25.48
7640	1.61	273.5	2756	889	1477	1573	116.6	9.2	411	7646	0.00	2.12	0.00	0.000	1030	0.000	0.018	2756	2309	1525	1477	1573	0	0	0	0	0	0	28.83	26.37	28.83
7965	1.61	273.5	2756	2309	1477	1572	86.5	9.7	427	7966	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2309	1523	1475	1572	0	0	0	0	0	0	28.83	28.83	28.83
8267	1.63	279.4	2756	2310	1476	1571	59.3	9.0	442	8283	0.00	2.28	8.20	0.708	8708	0.000	0.043	2766	906	1497	1449	1545	0	0	0	0	0	0	28.83	26.35	25.59
8435	1.66	293.5	2765	906	1446	1542	44.3	8.7	452	8456	0.00	2.08	15.10	0.699	9222	0.000	0.018	2766	2305	1440	1393	1488	0	0	0	0	0	0	28.83	26.45	25.50
8768	1.69	304.6	1712	2303	1365	1472	14.6	8.9	494	8783	0.00	0.00	11.55	0.684	8198	0.000	0.000	2766	2305	1393	1353	1434	0	0	0	0	0	0	28.83	28.83	25.50
8894	end climb: SURFACE_DEPTH_REACHED
state	8894	begin surface coast
8929	end surface coast: CONTROL_FINISHED_OK
state	8929	begin surface