Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 106 * 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 106 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 350 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 40 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 2795 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 126 CALL_WAIT 5 PITCH_VBD_SHIFT 0.0024999999 DEVICE5 -1

T_MISSION 150 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 180 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 -100627.71 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 2350 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 27 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 350 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 27 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 180

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 126

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 -100627.71

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 150

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 2350 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 2795 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 40 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 106 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 160313,053658,1853.481,12007.404,628,0.9,628,-2.4 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 -58.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160313,054335,1853.606,12007.406,17,1.0,17,-2.4 MHEAD_RNG_PITCHd_Wd 350.1,317678,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 2064

Post-dive calculations and measurements:

FINISH 0.0,1.026529 _10V_AH 10.1,12.080

SM_CCo 7813,235.90,0.861,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.15,0.52,235.90,0.067,0.034,0.861,85,1955,511,-10.33,1.05,560.02,0,0,0,0,1,0,26.29,26.33,24.32 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1844.15,12008.99,160313,030312 MEM 323848

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16747,469

HUMID 48.70 CAP_FILE_SIZE 371026,1817

INTERNAL_PRESSURE 9.00924 CFSIZE 260034560,238424064

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 0 CURRENT 0.207, 48.9,1

SC_FREEKB 3982336 GPS 160313,081025,1855.121,12007.922,691,0.8,692,-2.4

_24V_AH 24.3,19.192

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 232 95.51 nil 0 0 0.00

Roll_motor 60 43 63.95 nil 0 0 0.00

VBD_pump_during_apogee 418 827 8410.60 nil 0 0 0.00

VBD_pump_during_surface 235 860 4933.42 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 7797 7 1371.93

Iridium_during_xfer 237 130 750.79 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.63

TT8 1792 14 261.79

LPSleep 4199 2 92.88

TT8_Active 753 14 109.97

TT8_Sampling 1450 39 574.01

TT8_CF8 239 46 113.09

TT8_Kalman 0 0 0.00

Analog_circuits 1724 15 269.96

GPS_charging 0 0 0.00

Compass 1193 7 90.31

RAFOS 0 0 0.00

Transponder 1 5 0.07

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

18 -1.11 -170.3 82 1968 466 554 0.0 0.0 0 44 0.00 0.00 -23.77 0.000 16386 0.000 0.000 83 1963 1132 1109 1155 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.11 -170.3 83 1963 1111 1156 3.2 -9.0 3 138 8.20 2.20 -77.28 0.000 18692 0.233 0.044 2094 3372 3493 3408 3579 0 0 0 0 0 0 25.89 26.23 26.51

252 -1.11 -170.3 2094 3372 3410 3580 22.1 -9.3 36 261 0.00 2.12 0.00 0.000 1030 0.000 0.027 2103 1971 3495 3410 3580 0 0 0 0 0 0 28.83 26.33 28.83

571 -1.11 -170.3 2103 1971 3414 3580 50.0 -9.0 70 577 0.00 2.12 0.00 0.000 260 0.000 0.029 2095 3381 3497 3414 3580 0 0 0 0 0 0 28.83 26.47 28.83

691 -1.11 -170.3 2094 3381 3415 3580 60.1 -9.1 75 697 0.00 2.10 0.00 0.000 1030 0.000 0.025 2095 1975 3497 3415 3580 0 0 0 0 0 0 28.83 26.52 28.83

1006 -1.11 -170.3 2095 1974 3417 3580 88.8 -9.0 91 1012 0.00 2.15 0.00 0.000 516 0.000 0.042 2105 567 3498 3417 3580 0 0 0 0 0 0 28.83 26.56 28.83

1135 -1.11 -170.3 2105 567 3417 3580 100.5 -9.1 97 1142 0.00 2.05 0.00 0.000 1030 0.000 0.016 2097 2000 3498 3417 3580 0 0 0 0 0 0 28.83 26.65 28.83

1460 -1.11 -170.3 2097 2001 3417 3580 129.9 -9.3 113 1461 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2000 3498 3417 3580 0 0 0 0 0 0 28.83 28.83 28.83

1760 -1.11 -170.3 2097 2001 3417 3579 157.3 -9.3 128 1766 0.00 2.20 0.00 0.000 516 0.000 0.040 2105 570 3498 3417 3579 0 0 0 0 0 0 28.83 26.64 28.83

1882 -1.11 -170.3 2105 570 3417 3578 166.8 -9.0 133 1890 0.00 2.03 0.00 0.000 1030 0.000 0.016 2097 1982 3497 3417 3578 0 0 0 0 0 0 28.83 26.72 28.83

2188 -1.11 -170.3 2097 1983 3417 3576 195.4 -8.7 149 2194 0.00 2.17 0.00 0.000 516 0.000 0.041 2105 569 3495 3416 3575 0 0 0 0 0 0 28.83 26.66 28.83

2228 -1.11 -170.3 2105 568 3416 3575 197.7 -8.8 150 2236 0.00 2.03 0.00 0.000 1030 0.000 0.016 2097 1983 3496 3417 3575 0 0 0 0 0 0 28.83 26.73 28.83

2535 -1.11 -170.3 2097 1983 3416 3572 227.0 -9.0 166 2541 0.00 2.03 0.00 0.000 260 0.000 0.031 2087 3353 3494 3417 3571 0 0 0 0 0 0 28.83 26.69 28.83

2569 -1.11 -170.3 2086 3353 3417 3571 229.2 -8.8 167 2575 0.00 2.05 0.00 0.000 1030 0.000 0.025 2086 1974 3493 3416 3571 0 0 0 0 0 0 28.83 26.70 28.83

2884 -1.11 -170.3 2086 1974 3416 3568 258.6 -9.3 183 2890 0.10 2.12 0.00 0.000 2564 0.173 0.042 2121 575 3491 3416 3567 0 0 0 0 0 0 26.60 26.67 28.83

2943 -1.11 -170.3 2120 575 3416 3567 262.7 -9.0 185 2952 0.00 2.03 0.00 0.000 1030 0.000 0.016 2112 1985 3491 3416 3567 0 0 0 0 0 0 28.83 26.75 28.83

3250 -1.11 -170.3 2112 1985 3414 3566 291.6 -9.7 201 3251 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 1985 3490 3414 3566 0 0 0 0 0 0 28.83 28.83 28.83

3552 -1.11 -170.3 2112 1986 3412 3565 318.7 -8.8 216 3553 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 1985 3488 3412 3565 0 0 0 0 0 0 28.83 28.83 28.83

3851 -1.11 -170.3 2112 1986 3410 3562 346.0 -9.5 231 3858 0.00 2.03 0.00 0.000 260 0.000 0.032 2103 3351 3486 3410 3562 0 0 0 0 0 0 28.83 26.71 28.83

3886 -1.11 -170.3 2103 3351 3409 3562 348.3 -9.5 232 3892 0.00 2.05 0.00 0.000 1030 0.000 0.027 2103 1974 3485 3409 3562 0 0 0 0 0 0 28.83 26.72 28.83

3897 end dive: TARGET_DEPTH_EXCEEDED

state 3897 begin apogee

3902 -0.19 0.0 2101 2298 3409 3562 350.4 -9.3 233 4061 0.62 0.00 148.80 0.828 10246 0.119 0.000 2306 2298 2786 2748 2825 0 0 0 0 0 0 26.56 28.83 24.57

4063 end apogee: CONTROL_FINISHED_OK

state 4063 begin climb

4064 1.11 170.3 2306 2298 2746 2822 335.9 0.0 240 4238 0.82 2.25 162.65 0.777 10500 0.068 0.034 2598 3669 2092 2056 2128 0 0 0 0 0 0 25.32 25.10 24.53

4482 1.14 180.7 2598 3669 2050 2116 298.1 8.9 259 4493 0.00 2.10 3.83 0.566 9222 0.000 0.023 2608 2293 2056 2022 2091 0 0 0 0 0 0 28.83 26.04 25.08

4808 1.16 187.3 2608 2293 2021 2101 269.2 9.0 275 4828 0.00 0.00 12.07 0.771 8198 0.000 0.000 2608 2293 2023 1987 2060 0 0 0 0 0 0 28.83 28.83 25.44

5127 1.20 203.8 2608 2292 1986 2052 239.8 8.7 291 5151 0.00 2.22 16.52 0.776 8452 0.000 0.032 2608 3677 1955 1920 1990 0 0 0 0 0 0 28.83 26.10 25.40

5174 1.22 212.6 2608 3677 1918 1985 235.6 8.9 293 5186 0.00 2.10 4.95 0.697 9222 0.000 0.023 2618 2295 1927 1896 1958 0 0 0 0 0 0 28.83 26.16 25.15

5500 1.24 222.9 2618 2295 1896 1958 206.3 8.9 309 5524 0.00 2.22 13.43 0.767 8708 0.000 0.042 2628 908 1881 1854 1908 0 0 0 0 0 0 28.83 26.13 25.44

5571 1.25 224.0 2628 908 1852 1907 200.2 9.2 312 5578 0.00 2.08 0.00 0.000 1030 0.000 0.016 2628 2303 1878 1852 1905 0 0 0 0 0 0 28.83 26.27 28.83

5892 1.25 225.2 2628 2303 1852 1902 171.2 9.2 328 5893 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 2303 1877 1852 1902 0 0 0 0 0 0 28.83 28.83 28.83

6193 1.25 225.2 2628 2303 1852 1901 144.1 9.4 343 6194 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 2303 1876 1852 1901 0 0 0 0 0 0 28.83 28.83 28.83

6493 1.26 229.0 2628 2303 1852 1900 116.9 9.1 358 6499 0.00 0.00 4.32 0.643 8198 0.000 0.000 2628 2303 1860 1834 1886 0 0 0 0 0 0 28.83 28.83 25.51

6793 1.28 237.4 2628 2303 1834 1886 90.2 9.0 373 6809 0.00 2.28 11.18 0.724 8708 0.000 0.040 2638 901 1822 1795 1849 0 0 0 0 0 0 28.83 26.36 25.69

6894 1.29 243.0 1668 901 1749 1839 82.4 9.1 377 6903 0.00 2.08 4.15 0.616 9222 0.000 0.017 2638 2304 1803 1774 1832 0 0 0 0 0 0 28.83 26.48 25.46

7200 1.32 253.3 2638 2304 1773 1832 53.7 8.9 393 7223 0.00 2.15 13.55 0.702 8452 0.000 0.035 2638 3677 1755 1726 1784 0 0 0 0 0 0 28.83 26.29 25.63

7312 1.33 256.1 2638 3677 1726 1781 43.6 9.2 401 7318 0.00 2.08 0.00 0.000 1030 0.000 0.023 2648 2299 1753 1726 1781 0 0 0 0 0 0 28.83 26.38 28.83

7628 1.37 271.4 1632 2297 1682 1770 15.2 8.7 441 7652 0.00 2.28 18.33 0.676 8708 0.000 0.042 2659 890 1682 1649 1716 0 0 0 0 0 0 28.83 26.20 25.58

7698 1.38 277.8 1648 890 1608 1704 9.0 9.0 452 7708 0.00 2.08 4.38 0.601 9222 0.000 0.016 2659 2297 1661 1627 1696 0 0 0 0 0 0 28.83 26.32 25.34

7764 end climb: SURFACE_DEPTH_REACHED

state 7764 begin surface coast

7797 end surface coast: CONTROL_FINISHED_OK

state 7797 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	106	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	350	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	40	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	2795	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	126	CALL_WAIT	5	PITCH_VBD_SHIFT	0.0024999999	DEVICE5	-1
T_MISSION	150	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	180	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	-100627.71	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	2350	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	27	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	160313,053658,1853.481,12007.404,628,0.9,628,-2.4	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	-58.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160313,054335,1853.606,12007.406,17,1.0,17,-2.4	MHEAD_RNG_PITCHd_Wd	350.1,317678,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	2064

FINISH	0.0,1.026529	_10V_AH	10.1,12.080
SM_CCo	7813,235.90,0.861,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.15,0.52,235.90,0.067,0.034,0.861,85,1955,511,-10.33,1.05,560.02,0,0,0,0,1,0,26.29,26.33,24.32	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1844.15,12008.99,160313,030312	MEM	323848
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16747,469
HUMID	48.70	CAP_FILE_SIZE	371026,1817
INTERNAL_PRESSURE	9.00924	CFSIZE	260034560,238424064
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	0	CURRENT	0.207, 48.9,1
SC_FREEKB	3982336	GPS	160313,081025,1855.121,12007.922,691,0.8,692,-2.4
_24V_AH	24.3,19.192

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	232	95.51	nil	0	0	0.00
Roll_motor	60	43	63.95	nil	0	0	0.00
VBD_pump_during_apogee	418	827	8410.60	nil	0	0	0.00
VBD_pump_during_surface	235	860	4933.42	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	7797	7	1371.93
Iridium_during_xfer	237	130	750.79	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.63
TT8	1792	14	261.79
LPSleep	4199	2	92.88
TT8_Active	753	14	109.97
TT8_Sampling	1450	39	574.01
TT8_CF8	239	46	113.09
TT8_Kalman	0	0	0.00
Analog_circuits	1724	15	269.96
GPS_charging	0	0	0.00
Compass	1193	7	90.31
RAFOS	0	0	0.00
Transponder	1	5	0.07

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
18	-1.11	-170.3	82	1968	466	554	0.0	0.0	0	44	0.00	0.00	-23.77	0.000	16386	0.000	0.000	83	1963	1132	1109	1155	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.11	-170.3	83	1963	1111	1156	3.2	-9.0	3	138	8.20	2.20	-77.28	0.000	18692	0.233	0.044	2094	3372	3493	3408	3579	0	0	0	0	0	0	25.89	26.23	26.51
252	-1.11	-170.3	2094	3372	3410	3580	22.1	-9.3	36	261	0.00	2.12	0.00	0.000	1030	0.000	0.027	2103	1971	3495	3410	3580	0	0	0	0	0	0	28.83	26.33	28.83
571	-1.11	-170.3	2103	1971	3414	3580	50.0	-9.0	70	577	0.00	2.12	0.00	0.000	260	0.000	0.029	2095	3381	3497	3414	3580	0	0	0	0	0	0	28.83	26.47	28.83
691	-1.11	-170.3	2094	3381	3415	3580	60.1	-9.1	75	697	0.00	2.10	0.00	0.000	1030	0.000	0.025	2095	1975	3497	3415	3580	0	0	0	0	0	0	28.83	26.52	28.83
1006	-1.11	-170.3	2095	1974	3417	3580	88.8	-9.0	91	1012	0.00	2.15	0.00	0.000	516	0.000	0.042	2105	567	3498	3417	3580	0	0	0	0	0	0	28.83	26.56	28.83
1135	-1.11	-170.3	2105	567	3417	3580	100.5	-9.1	97	1142	0.00	2.05	0.00	0.000	1030	0.000	0.016	2097	2000	3498	3417	3580	0	0	0	0	0	0	28.83	26.65	28.83
1460	-1.11	-170.3	2097	2001	3417	3580	129.9	-9.3	113	1461	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2000	3498	3417	3580	0	0	0	0	0	0	28.83	28.83	28.83
1760	-1.11	-170.3	2097	2001	3417	3579	157.3	-9.3	128	1766	0.00	2.20	0.00	0.000	516	0.000	0.040	2105	570	3498	3417	3579	0	0	0	0	0	0	28.83	26.64	28.83
1882	-1.11	-170.3	2105	570	3417	3578	166.8	-9.0	133	1890	0.00	2.03	0.00	0.000	1030	0.000	0.016	2097	1982	3497	3417	3578	0	0	0	0	0	0	28.83	26.72	28.83
2188	-1.11	-170.3	2097	1983	3417	3576	195.4	-8.7	149	2194	0.00	2.17	0.00	0.000	516	0.000	0.041	2105	569	3495	3416	3575	0	0	0	0	0	0	28.83	26.66	28.83
2228	-1.11	-170.3	2105	568	3416	3575	197.7	-8.8	150	2236	0.00	2.03	0.00	0.000	1030	0.000	0.016	2097	1983	3496	3417	3575	0	0	0	0	0	0	28.83	26.73	28.83
2535	-1.11	-170.3	2097	1983	3416	3572	227.0	-9.0	166	2541	0.00	2.03	0.00	0.000	260	0.000	0.031	2087	3353	3494	3417	3571	0	0	0	0	0	0	28.83	26.69	28.83
2569	-1.11	-170.3	2086	3353	3417	3571	229.2	-8.8	167	2575	0.00	2.05	0.00	0.000	1030	0.000	0.025	2086	1974	3493	3416	3571	0	0	0	0	0	0	28.83	26.70	28.83
2884	-1.11	-170.3	2086	1974	3416	3568	258.6	-9.3	183	2890	0.10	2.12	0.00	0.000	2564	0.173	0.042	2121	575	3491	3416	3567	0	0	0	0	0	0	26.60	26.67	28.83
2943	-1.11	-170.3	2120	575	3416	3567	262.7	-9.0	185	2952	0.00	2.03	0.00	0.000	1030	0.000	0.016	2112	1985	3491	3416	3567	0	0	0	0	0	0	28.83	26.75	28.83
3250	-1.11	-170.3	2112	1985	3414	3566	291.6	-9.7	201	3251	0.00	0.00	0.00	0.000	6	0.000	0.000	2113	1985	3490	3414	3566	0	0	0	0	0	0	28.83	28.83	28.83
3552	-1.11	-170.3	2112	1986	3412	3565	318.7	-8.8	216	3553	0.00	0.00	0.00	0.000	6	0.000	0.000	2112	1985	3488	3412	3565	0	0	0	0	0	0	28.83	28.83	28.83
3851	-1.11	-170.3	2112	1986	3410	3562	346.0	-9.5	231	3858	0.00	2.03	0.00	0.000	260	0.000	0.032	2103	3351	3486	3410	3562	0	0	0	0	0	0	28.83	26.71	28.83
3886	-1.11	-170.3	2103	3351	3409	3562	348.3	-9.5	232	3892	0.00	2.05	0.00	0.000	1030	0.000	0.027	2103	1974	3485	3409	3562	0	0	0	0	0	0	28.83	26.72	28.83
3897	end dive: TARGET_DEPTH_EXCEEDED
state	3897	begin apogee
3902	-0.19	0.0	2101	2298	3409	3562	350.4	-9.3	233	4061	0.62	0.00	148.80	0.828	10246	0.119	0.000	2306	2298	2786	2748	2825	0	0	0	0	0	0	26.56	28.83	24.57
4063	end apogee: CONTROL_FINISHED_OK
state	4063	begin climb
4064	1.11	170.3	2306	2298	2746	2822	335.9	0.0	240	4238	0.82	2.25	162.65	0.777	10500	0.068	0.034	2598	3669	2092	2056	2128	0	0	0	0	0	0	25.32	25.10	24.53
4482	1.14	180.7	2598	3669	2050	2116	298.1	8.9	259	4493	0.00	2.10	3.83	0.566	9222	0.000	0.023	2608	2293	2056	2022	2091	0	0	0	0	0	0	28.83	26.04	25.08
4808	1.16	187.3	2608	2293	2021	2101	269.2	9.0	275	4828	0.00	0.00	12.07	0.771	8198	0.000	0.000	2608	2293	2023	1987	2060	0	0	0	0	0	0	28.83	28.83	25.44
5127	1.20	203.8	2608	2292	1986	2052	239.8	8.7	291	5151	0.00	2.22	16.52	0.776	8452	0.000	0.032	2608	3677	1955	1920	1990	0	0	0	0	0	0	28.83	26.10	25.40
5174	1.22	212.6	2608	3677	1918	1985	235.6	8.9	293	5186	0.00	2.10	4.95	0.697	9222	0.000	0.023	2618	2295	1927	1896	1958	0	0	0	0	0	0	28.83	26.16	25.15
5500	1.24	222.9	2618	2295	1896	1958	206.3	8.9	309	5524	0.00	2.22	13.43	0.767	8708	0.000	0.042	2628	908	1881	1854	1908	0	0	0	0	0	0	28.83	26.13	25.44
5571	1.25	224.0	2628	908	1852	1907	200.2	9.2	312	5578	0.00	2.08	0.00	0.000	1030	0.000	0.016	2628	2303	1878	1852	1905	0	0	0	0	0	0	28.83	26.27	28.83
5892	1.25	225.2	2628	2303	1852	1902	171.2	9.2	328	5893	0.00	0.00	0.00	0.000	6	0.000	0.000	2628	2303	1877	1852	1902	0	0	0	0	0	0	28.83	28.83	28.83
6193	1.25	225.2	2628	2303	1852	1901	144.1	9.4	343	6194	0.00	0.00	0.00	0.000	6	0.000	0.000	2628	2303	1876	1852	1901	0	0	0	0	0	0	28.83	28.83	28.83
6493	1.26	229.0	2628	2303	1852	1900	116.9	9.1	358	6499	0.00	0.00	4.32	0.643	8198	0.000	0.000	2628	2303	1860	1834	1886	0	0	0	0	0	0	28.83	28.83	25.51
6793	1.28	237.4	2628	2303	1834	1886	90.2	9.0	373	6809	0.00	2.28	11.18	0.724	8708	0.000	0.040	2638	901	1822	1795	1849	0	0	0	0	0	0	28.83	26.36	25.69
6894	1.29	243.0	1668	901	1749	1839	82.4	9.1	377	6903	0.00	2.08	4.15	0.616	9222	0.000	0.017	2638	2304	1803	1774	1832	0	0	0	0	0	0	28.83	26.48	25.46
7200	1.32	253.3	2638	2304	1773	1832	53.7	8.9	393	7223	0.00	2.15	13.55	0.702	8452	0.000	0.035	2638	3677	1755	1726	1784	0	0	0	0	0	0	28.83	26.29	25.63
7312	1.33	256.1	2638	3677	1726	1781	43.6	9.2	401	7318	0.00	2.08	0.00	0.000	1030	0.000	0.023	2648	2299	1753	1726	1781	0	0	0	0	0	0	28.83	26.38	28.83
7628	1.37	271.4	1632	2297	1682	1770	15.2	8.7	441	7652	0.00	2.28	18.33	0.676	8708	0.000	0.042	2659	890	1682	1649	1716	0	0	0	0	0	0	28.83	26.20	25.58
7698	1.38	277.8	1648	890	1608	1704	9.0	9.0	452	7708	0.00	2.08	4.38	0.601	9222	0.000	0.016	2659	2297	1661	1627	1696	0	0	0	0	0	0	28.83	26.32	25.34
7764	end climb: SURFACE_DEPTH_REACHED
state	7764	begin surface coast
7797	end surface coast: CONTROL_FINISHED_OK
state	7797	begin surface