Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 108 * 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 108 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 76 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 -100630.23 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 -100630.23

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 76 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 108 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 160313,104434,1856.182,12008.086,724,1.0,724,-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 -58.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160313,105123,1856.343,12008.128,16,1.0,16,-2.4 MHEAD_RNG_PITCHd_Wd 319.8,312666,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 2318

Post-dive calculations and measurements:

FINISH 0.0,1.026052 _10V_AH 10.2,12.225

SM_CCo 7801,200.98,0.789,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.22,0.55,200.98,0.068,0.034,0.789,87,1954,511,-10.32,0.96,560.02,0,0,0,0,1,0,26.33,26.37,24.46 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1846.42,12008.99,160313,080855 MEM 323876

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16802,468

HUMID 48.46 CAP_FILE_SIZE 382085,1865

INTERNAL_PRESSURE 9.06784 CFSIZE 260034560,238194688

TCM_TEMP 18.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 0 CURRENT 0.022,129.3,1

SC_FREEKB 3981568 GPS 160313,131345,1856.906,12007.602,469,1.1,469,-2.4

_24V_AH 24.4,19.502

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 221 89.95 nil 0 0 0.00

Roll_motor 76 44 83.20 nil 0 0 0.00

VBD_pump_during_apogee 432 840 8880.99 nil 0 0 0.00

VBD_pump_during_surface 200 789 3871.44 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 7800 7 1377.73

Iridium_during_xfer 251 128 788.68 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 29 5.34

TT8 1834 14 270.60

LPSleep 4071 2 90.94

TT8_Active 742 14 109.46

TT8_Sampling 1499 39 599.15

TT8_CF8 254 46 121.22

TT8_Kalman 0 0 0.00

Analog_circuits 1758 15 278.07

GPS_charging 0 0 0.00

Compass 1228 7 93.84

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

17 -1.11 -170.3 88 2006 460 560 0.0 0.0 0 43 0.00 0.00 -23.65 0.000 16386 0.000 0.000 87 2009 1133 1104 1162 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.11 -170.3 87 2009 1109 1161 3.1 -8.6 3 144 7.90 2.12 -82.35 0.000 18692 0.221 0.044 2097 3362 3493 3408 3578 0 0 0 0 0 0 25.92 26.22 26.50

388 -1.11 -170.3 2097 3362 3411 3579 34.2 -8.8 52 395 0.00 2.10 0.00 0.000 1030 0.000 0.025 2105 1964 3495 3411 3579 0 0 0 0 0 0 28.83 26.40 28.83

713 -1.11 -170.3 2105 1963 3415 3580 63.1 -8.6 77 719 0.00 2.12 0.00 0.000 516 0.000 0.041 2115 568 3497 3415 3580 0 0 0 0 0 0 28.83 26.49 28.83

821 -1.11 -170.3 2115 568 3415 3580 73.1 -9.1 82 827 0.00 2.03 0.00 0.000 1030 0.000 0.016 2107 1972 3497 3415 3580 0 0 0 0 0 0 28.83 26.58 28.83

1147 -1.11 -170.3 2107 1974 3416 3580 102.4 -9.0 98 1153 0.00 2.05 0.00 0.000 260 0.000 0.031 2097 3354 3497 3416 3579 0 0 0 0 0 0 28.83 26.60 28.83

1219 -1.11 -170.3 2096 3354 3416 3580 108.6 -8.9 101 1224 0.00 2.05 0.00 0.000 1030 0.000 0.025 2097 1974 3498 3416 3580 0 0 0 0 0 0 28.83 26.61 28.83

1539 -1.11 -170.3 2096 1974 3416 3579 138.3 -9.2 117 1546 0.00 2.12 0.00 0.000 516 0.000 0.041 2106 570 3497 3416 3579 0 0 0 0 0 0 28.83 26.63 28.83

1595 -1.11 -170.3 1288 570 3400 3577 142.4 -8.9 119 1600 0.00 2.03 0.00 0.000 1030 0.000 0.016 2098 1985 3497 3415 3580 0 0 0 0 0 0 28.83 26.70 28.83

1910 -1.11 -170.3 2097 1987 3416 3578 171.4 -9.1 135 1915 0.00 2.17 0.00 0.000 516 0.000 0.041 2105 570 3497 3416 3578 0 0 0 0 0 0 28.83 26.64 28.83

2025 -1.11 -170.3 2106 570 3416 3578 181.0 -9.0 140 2031 0.00 2.03 0.00 0.000 1030 0.000 0.016 2098 1986 3497 3416 3578 0 0 0 0 0 0 28.83 26.72 28.83

2340 -1.11 -170.3 2097 1986 3416 3574 209.8 -8.6 156 2346 0.00 2.03 0.00 0.000 260 0.000 0.032 2087 3357 3495 3416 3574 0 0 0 0 0 0 28.83 26.68 28.83

2415 -1.11 -170.3 2087 3357 3416 3573 215.8 -9.1 159 2421 0.00 2.08 0.00 0.000 1030 0.000 0.026 2087 1963 3494 3416 3573 0 0 0 0 0 0 28.83 26.70 28.83

2730 -1.11 -170.3 2087 1963 3417 3571 245.3 -9.0 175 2736 0.00 2.12 0.00 0.000 516 0.000 0.044 2096 567 3493 3416 3570 0 0 0 0 0 0 28.83 26.67 28.83

2823 -1.11 -170.3 2096 567 3416 3570 253.5 -9.0 179 2829 0.00 2.03 0.00 0.000 1030 0.000 0.016 2088 1983 3493 3416 3570 0 0 0 0 0 0 28.83 26.75 28.83

3142 -1.11 -170.3 2087 1983 3414 3567 283.1 -9.4 195 3149 0.00 2.17 0.00 0.000 516 0.000 0.042 2096 572 3490 3414 3566 0 0 0 0 0 0 28.83 26.68 28.83

3198 -1.11 -170.3 1296 572 3399 3563 287.4 -9.4 197 3203 0.00 2.00 0.00 0.000 1030 0.000 0.016 2087 1974 3490 3414 3566 0 0 0 0 0 0 28.83 26.76 28.83

3512 -1.11 -170.3 2087 1974 3412 3565 316.8 -9.2 213 3518 0.00 2.05 0.00 0.000 260 0.000 0.032 2077 3360 3488 3412 3565 0 0 0 0 0 0 28.83 26.70 28.83

3558 -1.11 -170.3 2076 3360 3411 3565 321.1 -9.3 215 3564 0.12 2.08 0.00 0.000 3078 0.155 0.027 2110 1974 3488 3411 3565 0 0 0 0 0 0 26.55 26.71 28.83

3882 end dive: TARGET_DEPTH_EXCEEDED

state 3882 begin apogee

3886 -0.19 0.0 2110 2293 3409 3562 350.2 -8.8 231 4036 0.60 0.00 142.90 0.841 10246 0.116 0.000 2309 2294 2790 2752 2828 0 0 0 0 0 0 26.58 28.83 24.56

4038 end apogee: CONTROL_FINISHED_OK

state 4038 begin climb

4040 1.11 170.3 2309 2294 2749 2827 338.1 0.0 237 4198 0.82 2.28 146.18 0.824 10500 0.073 0.034 2596 3683 2090 2055 2125 0 0 0 0 0 0 25.29 25.07 24.41

4248 1.13 178.0 2596 3683 2051 2117 318.8 9.0 246 4258 0.00 2.15 2.45 0.291 9222 0.000 0.022 2607 2301 2068 2033 2103 0 0 0 0 0 0 28.83 25.55 24.68

4554 1.15 184.5 2606 2301 2033 2108 290.1 9.0 262 4571 0.00 2.20 10.52 0.782 8708 0.000 0.039 2617 900 2035 1999 2072 0 0 0 0 0 0 28.83 25.98 25.30

4621 1.18 198.0 2617 900 1997 2069 284.2 8.8 265 4644 0.00 2.10 13.27 0.786 9222 0.000 0.016 2617 2309 1980 1946 2015 0 0 0 0 0 0 28.83 26.13 25.20

4942 1.19 201.8 2617 2309 1945 2006 255.2 9.1 281 4947 0.00 2.08 0.00 0.000 260 0.000 0.034 2617 3682 1975 1945 2006 0 0 0 0 0 0 28.83 26.27 28.83

4988 1.21 209.4 2617 3683 1945 2006 251.0 9.0 283 5005 0.00 2.10 10.48 0.773 9222 0.000 0.024 2627 2292 1937 1905 1970 0 0 0 0 0 0 28.83 26.32 25.41

5315 1.25 225.3 2626 2291 1904 1957 222.3 8.7 299 5334 0.00 0.00 15.35 0.775 8198 0.000 0.000 2627 2292 1872 1846 1898 0 0 0 0 0 0 28.83 28.83 25.42

5634 1.27 233.2 2626 2292 1844 1889 193.3 9.0 315 5650 0.00 2.20 7.55 0.758 8452 0.000 0.032 2627 3677 1839 1814 1865 0 0 0 0 0 0 28.83 26.26 25.50

5683 1.30 246.0 2626 3677 1814 1862 189.3 8.8 317 5703 0.00 2.10 13.40 0.754 9222 0.000 0.024 2636 2295 1788 1761 1815 0 0 0 0 0 0 28.83 26.30 25.40

6001 1.30 246.0 2636 2295 1759 1805 160.3 9.3 333 6007 0.00 2.17 0.00 0.000 516 0.000 0.041 2647 898 1782 1759 1805 0 0 0 0 0 0 28.83 26.34 28.83

6069 1.32 252.5 2647 898 1759 1805 154.3 9.0 336 6080 0.00 2.08 4.55 0.654 9222 0.000 0.017 2647 2309 1764 1738 1791 0 0 0 0 0 0 28.83 26.44 25.37

6394 1.33 258.2 2647 2309 1738 1791 124.5 9.1 352 6407 0.00 2.17 8.07 0.712 8452 0.000 0.034 2647 3692 1739 1711 1767 0 0 0 0 0 0 28.83 26.34 25.62

6487 1.35 265.3 2647 3692 1707 1766 116.4 9.0 356 6505 0.00 2.12 7.68 0.704 9222 0.000 0.024 2657 2290 1708 1676 1741 0 0 0 0 0 0 28.83 26.40 25.58

6803 1.39 279.9 2657 2290 1676 1735 87.7 8.7 372 6827 0.00 2.20 14.80 0.682 8708 0.000 0.041 2668 890 1646 1602 1691 0 0 0 0 0 0 28.83 26.20 25.57

6881 1.42 292.2 2667 890 1601 1688 81.8 8.8 375 6899 0.00 2.08 12.27 0.676 9222 0.000 0.017 2667 2297 1599 1551 1648 0 0 0 0 0 0 28.83 26.33 25.47

7218 1.42 294.8 2668 2297 1548 1640 50.5 9.2 392 7224 0.00 2.10 0.00 0.000 260 0.000 0.034 2668 3687 1594 1548 1640 0 0 0 0 0 0 28.83 26.37 28.83

7265 1.45 304.4 2668 3687 1546 1640 46.3 8.9 395 7285 0.00 2.10 11.85 0.653 9222 0.000 0.024 2678 2299 1549 1498 1601 0 0 0 0 0 0 28.83 26.41 25.58

7593 1.45 304.4 1664 2297 1465 1587 16.6 9.5 435 7602 0.00 2.17 0.00 0.000 516 0.000 0.042 2688 897 1545 1496 1594 0 0 0 0 0 0 28.83 26.39 28.83

7734 1.48 317.1 1672 897 1465 1587 4.2 8.8 460 7750 0.00 2.08 11.60 0.614 9218 0.000 0.017 2688 2311 1506 1454 1558 0 0 0 0 0 0 28.83 26.52 28.83

7751 end climb: SURFACE_DEPTH_REACHED

state 7752 begin surface coast

7786 end surface coast: CONTROL_FINISHED_OK

state 7786 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	108	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	76	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	-100630.23	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	160313,104434,1856.182,12008.086,724,1.0,724,-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	-58.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160313,105123,1856.343,12008.128,16,1.0,16,-2.4	MHEAD_RNG_PITCHd_Wd	319.8,312666,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	2318

FINISH	0.0,1.026052	_10V_AH	10.2,12.225
SM_CCo	7801,200.98,0.789,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.22,0.55,200.98,0.068,0.034,0.789,87,1954,511,-10.32,0.96,560.02,0,0,0,0,1,0,26.33,26.37,24.46	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1846.42,12008.99,160313,080855	MEM	323876
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16802,468
HUMID	48.46	CAP_FILE_SIZE	382085,1865
INTERNAL_PRESSURE	9.06784	CFSIZE	260034560,238194688
TCM_TEMP	18.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	0	CURRENT	0.022,129.3,1
SC_FREEKB	3981568	GPS	160313,131345,1856.906,12007.602,469,1.1,469,-2.4
_24V_AH	24.4,19.502

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	221	89.95	nil	0	0	0.00
Roll_motor	76	44	83.20	nil	0	0	0.00
VBD_pump_during_apogee	432	840	8880.99	nil	0	0	0.00
VBD_pump_during_surface	200	789	3871.44	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	7800	7	1377.73
Iridium_during_xfer	251	128	788.68	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	29	5.34
TT8	1834	14	270.60
LPSleep	4071	2	90.94
TT8_Active	742	14	109.46
TT8_Sampling	1499	39	599.15
TT8_CF8	254	46	121.22
TT8_Kalman	0	0	0.00
Analog_circuits	1758	15	278.07
GPS_charging	0	0	0.00
Compass	1228	7	93.84
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
17	-1.11	-170.3	88	2006	460	560	0.0	0.0	0	43	0.00	0.00	-23.65	0.000	16386	0.000	0.000	87	2009	1133	1104	1162	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.11	-170.3	87	2009	1109	1161	3.1	-8.6	3	144	7.90	2.12	-82.35	0.000	18692	0.221	0.044	2097	3362	3493	3408	3578	0	0	0	0	0	0	25.92	26.22	26.50
388	-1.11	-170.3	2097	3362	3411	3579	34.2	-8.8	52	395	0.00	2.10	0.00	0.000	1030	0.000	0.025	2105	1964	3495	3411	3579	0	0	0	0	0	0	28.83	26.40	28.83
713	-1.11	-170.3	2105	1963	3415	3580	63.1	-8.6	77	719	0.00	2.12	0.00	0.000	516	0.000	0.041	2115	568	3497	3415	3580	0	0	0	0	0	0	28.83	26.49	28.83
821	-1.11	-170.3	2115	568	3415	3580	73.1	-9.1	82	827	0.00	2.03	0.00	0.000	1030	0.000	0.016	2107	1972	3497	3415	3580	0	0	0	0	0	0	28.83	26.58	28.83
1147	-1.11	-170.3	2107	1974	3416	3580	102.4	-9.0	98	1153	0.00	2.05	0.00	0.000	260	0.000	0.031	2097	3354	3497	3416	3579	0	0	0	0	0	0	28.83	26.60	28.83
1219	-1.11	-170.3	2096	3354	3416	3580	108.6	-8.9	101	1224	0.00	2.05	0.00	0.000	1030	0.000	0.025	2097	1974	3498	3416	3580	0	0	0	0	0	0	28.83	26.61	28.83
1539	-1.11	-170.3	2096	1974	3416	3579	138.3	-9.2	117	1546	0.00	2.12	0.00	0.000	516	0.000	0.041	2106	570	3497	3416	3579	0	0	0	0	0	0	28.83	26.63	28.83
1595	-1.11	-170.3	1288	570	3400	3577	142.4	-8.9	119	1600	0.00	2.03	0.00	0.000	1030	0.000	0.016	2098	1985	3497	3415	3580	0	0	0	0	0	0	28.83	26.70	28.83
1910	-1.11	-170.3	2097	1987	3416	3578	171.4	-9.1	135	1915	0.00	2.17	0.00	0.000	516	0.000	0.041	2105	570	3497	3416	3578	0	0	0	0	0	0	28.83	26.64	28.83
2025	-1.11	-170.3	2106	570	3416	3578	181.0	-9.0	140	2031	0.00	2.03	0.00	0.000	1030	0.000	0.016	2098	1986	3497	3416	3578	0	0	0	0	0	0	28.83	26.72	28.83
2340	-1.11	-170.3	2097	1986	3416	3574	209.8	-8.6	156	2346	0.00	2.03	0.00	0.000	260	0.000	0.032	2087	3357	3495	3416	3574	0	0	0	0	0	0	28.83	26.68	28.83
2415	-1.11	-170.3	2087	3357	3416	3573	215.8	-9.1	159	2421	0.00	2.08	0.00	0.000	1030	0.000	0.026	2087	1963	3494	3416	3573	0	0	0	0	0	0	28.83	26.70	28.83
2730	-1.11	-170.3	2087	1963	3417	3571	245.3	-9.0	175	2736	0.00	2.12	0.00	0.000	516	0.000	0.044	2096	567	3493	3416	3570	0	0	0	0	0	0	28.83	26.67	28.83
2823	-1.11	-170.3	2096	567	3416	3570	253.5	-9.0	179	2829	0.00	2.03	0.00	0.000	1030	0.000	0.016	2088	1983	3493	3416	3570	0	0	0	0	0	0	28.83	26.75	28.83
3142	-1.11	-170.3	2087	1983	3414	3567	283.1	-9.4	195	3149	0.00	2.17	0.00	0.000	516	0.000	0.042	2096	572	3490	3414	3566	0	0	0	0	0	0	28.83	26.68	28.83
3198	-1.11	-170.3	1296	572	3399	3563	287.4	-9.4	197	3203	0.00	2.00	0.00	0.000	1030	0.000	0.016	2087	1974	3490	3414	3566	0	0	0	0	0	0	28.83	26.76	28.83
3512	-1.11	-170.3	2087	1974	3412	3565	316.8	-9.2	213	3518	0.00	2.05	0.00	0.000	260	0.000	0.032	2077	3360	3488	3412	3565	0	0	0	0	0	0	28.83	26.70	28.83
3558	-1.11	-170.3	2076	3360	3411	3565	321.1	-9.3	215	3564	0.12	2.08	0.00	0.000	3078	0.155	0.027	2110	1974	3488	3411	3565	0	0	0	0	0	0	26.55	26.71	28.83
3882	end dive: TARGET_DEPTH_EXCEEDED
state	3882	begin apogee
3886	-0.19	0.0	2110	2293	3409	3562	350.2	-8.8	231	4036	0.60	0.00	142.90	0.841	10246	0.116	0.000	2309	2294	2790	2752	2828	0	0	0	0	0	0	26.58	28.83	24.56
4038	end apogee: CONTROL_FINISHED_OK
state	4038	begin climb
4040	1.11	170.3	2309	2294	2749	2827	338.1	0.0	237	4198	0.82	2.28	146.18	0.824	10500	0.073	0.034	2596	3683	2090	2055	2125	0	0	0	0	0	0	25.29	25.07	24.41
4248	1.13	178.0	2596	3683	2051	2117	318.8	9.0	246	4258	0.00	2.15	2.45	0.291	9222	0.000	0.022	2607	2301	2068	2033	2103	0	0	0	0	0	0	28.83	25.55	24.68
4554	1.15	184.5	2606	2301	2033	2108	290.1	9.0	262	4571	0.00	2.20	10.52	0.782	8708	0.000	0.039	2617	900	2035	1999	2072	0	0	0	0	0	0	28.83	25.98	25.30
4621	1.18	198.0	2617	900	1997	2069	284.2	8.8	265	4644	0.00	2.10	13.27	0.786	9222	0.000	0.016	2617	2309	1980	1946	2015	0	0	0	0	0	0	28.83	26.13	25.20
4942	1.19	201.8	2617	2309	1945	2006	255.2	9.1	281	4947	0.00	2.08	0.00	0.000	260	0.000	0.034	2617	3682	1975	1945	2006	0	0	0	0	0	0	28.83	26.27	28.83
4988	1.21	209.4	2617	3683	1945	2006	251.0	9.0	283	5005	0.00	2.10	10.48	0.773	9222	0.000	0.024	2627	2292	1937	1905	1970	0	0	0	0	0	0	28.83	26.32	25.41
5315	1.25	225.3	2626	2291	1904	1957	222.3	8.7	299	5334	0.00	0.00	15.35	0.775	8198	0.000	0.000	2627	2292	1872	1846	1898	0	0	0	0	0	0	28.83	28.83	25.42
5634	1.27	233.2	2626	2292	1844	1889	193.3	9.0	315	5650	0.00	2.20	7.55	0.758	8452	0.000	0.032	2627	3677	1839	1814	1865	0	0	0	0	0	0	28.83	26.26	25.50
5683	1.30	246.0	2626	3677	1814	1862	189.3	8.8	317	5703	0.00	2.10	13.40	0.754	9222	0.000	0.024	2636	2295	1788	1761	1815	0	0	0	0	0	0	28.83	26.30	25.40
6001	1.30	246.0	2636	2295	1759	1805	160.3	9.3	333	6007	0.00	2.17	0.00	0.000	516	0.000	0.041	2647	898	1782	1759	1805	0	0	0	0	0	0	28.83	26.34	28.83
6069	1.32	252.5	2647	898	1759	1805	154.3	9.0	336	6080	0.00	2.08	4.55	0.654	9222	0.000	0.017	2647	2309	1764	1738	1791	0	0	0	0	0	0	28.83	26.44	25.37
6394	1.33	258.2	2647	2309	1738	1791	124.5	9.1	352	6407	0.00	2.17	8.07	0.712	8452	0.000	0.034	2647	3692	1739	1711	1767	0	0	0	0	0	0	28.83	26.34	25.62
6487	1.35	265.3	2647	3692	1707	1766	116.4	9.0	356	6505	0.00	2.12	7.68	0.704	9222	0.000	0.024	2657	2290	1708	1676	1741	0	0	0	0	0	0	28.83	26.40	25.58
6803	1.39	279.9	2657	2290	1676	1735	87.7	8.7	372	6827	0.00	2.20	14.80	0.682	8708	0.000	0.041	2668	890	1646	1602	1691	0	0	0	0	0	0	28.83	26.20	25.57
6881	1.42	292.2	2667	890	1601	1688	81.8	8.8	375	6899	0.00	2.08	12.27	0.676	9222	0.000	0.017	2667	2297	1599	1551	1648	0	0	0	0	0	0	28.83	26.33	25.47
7218	1.42	294.8	2668	2297	1548	1640	50.5	9.2	392	7224	0.00	2.10	0.00	0.000	260	0.000	0.034	2668	3687	1594	1548	1640	0	0	0	0	0	0	28.83	26.37	28.83
7265	1.45	304.4	2668	3687	1546	1640	46.3	8.9	395	7285	0.00	2.10	11.85	0.653	9222	0.000	0.024	2678	2299	1549	1498	1601	0	0	0	0	0	0	28.83	26.41	25.58
7593	1.45	304.4	1664	2297	1465	1587	16.6	9.5	435	7602	0.00	2.17	0.00	0.000	516	0.000	0.042	2688	897	1545	1496	1594	0	0	0	0	0	0	28.83	26.39	28.83
7734	1.48	317.1	1672	897	1465	1587	4.2	8.8	460	7750	0.00	2.08	11.60	0.614	9218	0.000	0.017	2688	2311	1506	1454	1558	0	0	0	0	0	0	28.83	26.52	28.83
7751	end climb: SURFACE_DEPTH_REACHED
state	7752	begin surface coast
7786	end surface coast: CONTROL_FINISHED_OK
state	7786	begin surface