Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 111 * 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 111 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 36 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 68 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 -100634 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 2365 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 350 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 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 -100634

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 2365 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 36 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 68 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 111 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 160313,181454,1859.300,12007.993,438,0.7,438,-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 -61.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160313,182123,1859.346,12008.124,16,1.0,16,-2.4 MHEAD_RNG_PITCHd_Wd 344.2,307109,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 2230

Post-dive calculations and measurements:

FINISH 0.0,1.026251 _10V_AH 10.1,12.429

SM_CCo 7825,220.73,0.794,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.40,1.65,220.73,0.075,0.015,0.794,91,1983,511,-10.37,-1.75,560.02,0,0,0,0,1,0,26.32,26.42,24.42 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1850.98,12007.02,160313,151514 MEM 323840

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16761,469

HUMID 48.58 CAP_FILE_SIZE 372069,1813

INTERNAL_PRESSURE 9.02877 CFSIZE 260034560,237879296

TCM_TEMP 17.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 2 CURRENT 0.141, 44.8,1

SC_FREEKB 3980416 GPS 160313,204512,1900.577,12008.292,514,1.3,514,-2.4

_24V_AH 24.3,19.957

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 211 86.77 nil 0 0 0.00

Roll_motor 67 45 74.33 nil 0 0 0.00

VBD_pump_during_apogee 395 890 8547.08 nil 0 0 0.00

VBD_pump_during_surface 220 794 4259.09 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 7822 7 1375.95

Iridium_during_xfer 229 135 755.54 nil 0 0 0.00

Transponder_ping 0 420 5.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 29 5.38

TT8 1806 14 263.84

LPSleep 4186 2 92.60

TT8_Active 739 14 108.05

TT8_Sampling 1436 39 568.37

TT8_CF8 254 46 120.16

TT8_Kalman 0 0 0.00

Analog_circuits 1700 15 266.26

GPS_charging 0 0 0.00

Compass 1195 7 90.41

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 -1.35 -170.3 84 2006 457 557 0.0 0.0 0 43 0.00 0.00 -23.35 0.000 16386 0.000 0.000 84 2005 1117 1097 1138 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 84 2005 1100 1139 3.1 -9.1 3 152 7.62 2.12 -90.40 0.000 18692 0.212 0.045 2058 3359 3492 3406 3579 0 0 0 0 0 0 25.87 26.20 26.48

342 -1.35 -170.3 2058 3359 3410 3581 30.4 -8.9 47 348 0.00 2.10 0.00 0.000 1030 0.000 0.025 2066 1968 3495 3410 3581 0 0 0 0 0 0 28.83 26.35 28.83

666 -1.35 -170.3 2066 1968 3415 3581 59.9 -9.0 74 672 0.00 2.15 0.00 0.000 516 0.000 0.042 2076 570 3498 3415 3581 0 0 0 0 0 0 28.83 26.46 28.83

754 -1.35 -170.3 2076 572 3415 3581 67.7 -9.0 78 760 0.00 2.05 0.00 0.000 1030 0.000 0.016 2068 1980 3499 3416 3582 0 0 0 0 0 0 28.83 26.55 28.83

1078 -1.35 -170.3 2068 1981 3416 3582 96.7 -9.0 94 1084 0.00 2.20 0.00 0.000 516 0.000 0.040 2076 563 3499 3416 3582 0 0 0 0 0 0 28.83 26.55 28.83

1138 -1.35 -170.3 2076 563 3416 3582 100.9 -9.0 96 1146 0.00 2.05 0.00 0.000 1030 0.000 0.016 2067 1979 3499 3417 3582 0 0 0 0 0 0 28.83 26.63 28.83

1445 -1.35 -170.3 2067 1981 3418 3582 129.4 -9.0 112 1451 0.00 2.17 0.00 0.000 516 0.000 0.041 2076 574 3499 3417 3582 0 0 0 0 0 0 28.83 26.60 28.83

1591 -1.35 -170.3 2076 574 3417 3582 141.2 -9.1 118 1600 0.00 2.03 0.00 0.000 1030 0.000 0.016 2067 1981 3499 3417 3581 0 0 0 0 0 0 28.83 26.67 28.83

1897 -1.35 -170.3 2067 1981 3417 3579 169.4 -8.9 134 1904 0.00 2.08 0.00 0.000 260 0.000 0.032 2057 3366 3497 3417 3578 0 0 0 0 0 0 28.83 26.65 28.83

1948 -1.35 -170.3 2056 3367 3417 3578 173.7 -9.1 136 1954 0.00 2.08 0.00 0.000 1030 0.000 0.026 2057 1974 3497 3417 3578 0 0 0 0 0 0 28.83 26.66 28.83

2268 -1.35 -170.3 2057 1974 3416 3575 202.6 -8.9 152 2274 0.00 2.12 0.00 0.000 516 0.000 0.044 2066 574 3495 3417 3574 0 0 0 0 0 0 28.83 26.65 28.83

2411 -1.35 -170.3 2065 574 3417 3573 214.2 -8.9 158 2418 0.00 2.03 0.00 0.000 1030 0.000 0.016 2057 1982 3495 3417 3573 0 0 0 0 0 0 28.83 26.72 28.83

2718 -1.35 -170.3 2057 1984 3415 3571 242.6 -8.8 174 2724 0.00 2.17 0.00 0.000 516 0.000 0.042 2065 574 3493 3416 3570 0 0 0 0 0 0 28.83 26.66 28.83

2768 -1.35 -170.3 1264 574 3400 3568 246.8 -9.0 176 2773 0.00 2.03 0.00 0.000 1030 0.000 0.016 2057 1979 3493 3415 3571 0 0 0 0 0 0 28.83 26.73 28.83

3088 -1.35 -170.3 2057 1979 3413 3568 275.9 -8.7 192 3094 0.00 2.17 0.00 0.000 516 0.000 0.042 2065 573 3490 3413 3567 0 0 0 0 0 0 28.83 26.67 28.83

3145 -1.35 -170.3 2064 573 3413 3567 280.1 -8.7 194 3151 0.00 2.03 0.00 0.000 1030 0.000 0.016 2056 1978 3490 3413 3567 0 0 0 0 0 0 28.83 26.74 28.83

3460 -1.35 -170.3 2056 1978 3411 3566 309.4 -8.9 210 3467 0.00 2.17 0.00 0.000 516 0.000 0.043 2061 573 3487 3410 3565 0 0 0 0 0 0 28.83 26.67 28.83

3520 -1.35 -170.3 2061 574 3410 3565 313.6 -9.0 212 3528 0.00 2.03 0.00 0.000 1030 0.000 0.017 2053 1975 3487 3410 3565 0 0 0 0 0 0 28.83 26.74 28.83

3827 -1.35 -170.3 2053 1976 3408 3562 342.4 -9.0 228 3833 0.00 2.17 0.00 0.000 516 0.000 0.044 2060 575 3485 3408 3562 0 0 0 0 0 0 28.83 26.67 28.83

3866 -1.35 -170.3 1288 575 3392 3559 344.6 -9.0 229 3874 0.00 2.03 0.00 0.000 1030 0.000 0.017 2051 1976 3485 3408 3562 0 0 0 0 0 0 28.83 26.74 28.83

3913 end dive: TARGET_DEPTH_EXCEEDED

state 3913 begin apogee

3918 -0.25 0.0 2048 2301 3407 3562 350.2 -9.1 232 4068 0.80 0.00 144.38 0.890 10246 0.127 0.000 2307 2301 2792 2753 2832 0 0 0 0 0 0 26.53 28.83 24.49

4070 end apogee: CONTROL_FINISHED_OK

state 4070 begin climb

4072 1.35 170.3 2307 2301 2749 2827 337.9 0.0 238 4230 1.02 2.22 147.10 0.871 10500 0.071 0.034 2662 3680 2091 2055 2127 0 0 0 0 0 0 25.22 24.99 24.32

4333 1.38 180.1 2662 3680 2051 2118 312.8 8.9 250 4344 0.00 2.15 4.85 0.727 9222 0.000 0.024 2672 2295 2060 2024 2096 0 0 0 0 0 0 28.83 25.69 24.76

4654 1.40 187.4 2672 2295 2024 2097 283.5 9.0 266 4673 0.00 0.00 10.30 0.815 8198 0.000 0.000 2672 2294 2026 1990 2063 0 0 0 0 0 0 28.83 28.83 25.27

4973 1.42 196.1 2672 2295 1990 2057 254.4 8.9 282 4989 0.00 2.22 8.85 0.805 8708 0.000 0.041 2683 904 1991 1954 2028 0 0 0 0 0 0 28.83 26.14 25.39

5028 1.42 197.2 2682 904 1952 2028 250.2 9.2 284 5034 0.00 2.08 0.00 0.000 1030 0.000 0.017 2683 2301 1990 1953 2027 0 0 0 0 0 0 28.83 26.25 28.83

5342 1.44 205.1 2682 2301 1952 2023 220.6 9.0 300 5354 0.00 0.00 9.48 0.795 8198 0.000 0.000 2683 2301 1956 1920 1993 0 0 0 0 0 0 28.83 28.83 25.48

5642 1.46 211.6 2683 2302 1917 1982 194.0 9.0 315 5653 0.00 2.12 5.03 0.733 8452 0.000 0.033 2683 3697 1930 1898 1963 0 0 0 0 0 0 28.83 26.32 25.42

5692 1.47 218.1 2682 3698 1897 1963 189.9 9.0 317 5711 0.00 2.12 9.07 0.780 9222 0.000 0.024 2693 2297 1900 1871 1929 0 0 0 0 0 0 28.83 26.36 25.48

6010 1.48 221.0 2692 2297 1870 1923 161.1 9.2 333 6016 0.00 2.17 0.00 0.000 516 0.000 0.042 2703 892 1896 1870 1923 0 0 0 0 0 0 28.83 26.37 28.83

6092 1.50 228.2 2703 892 1870 1923 155.0 9.0 336 6107 0.00 2.08 10.12 0.758 9222 0.000 0.018 2704 2300 1864 1836 1892 0 0 0 0 0 0 28.83 26.48 25.55

6425 1.52 235.4 2703 2300 1831 1880 124.0 9.0 353 6434 0.00 0.00 7.20 0.731 8198 0.000 0.000 2704 2300 1834 1807 1861 0 0 0 0 0 0 28.83 28.83 25.60

6725 1.52 235.4 2703 2300 1803 1853 97.1 9.3 368 6726 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2300 1828 1803 1853 0 0 0 0 0 0 28.83 28.83 28.83

7026 1.54 243.4 2703 2300 1803 1852 69.9 9.0 383 7037 0.00 0.00 8.30 0.696 8198 0.000 0.000 2703 2300 1801 1774 1829 0 0 0 0 0 0 28.83 28.83 25.71

7326 1.56 251.9 2703 2300 1770 1821 43.2 8.9 401 7341 0.00 2.17 8.73 0.675 8452 0.000 0.035 2704 3686 1764 1736 1793 0 0 0 0 0 0 28.83 26.37 25.70

7377 1.59 263.2 2703 3686 1735 1791 38.6 8.8 405 7397 0.00 2.10 12.20 0.663 9222 0.000 0.025 2713 2300 1716 1682 1750 0 0 0 0 0 0 28.83 26.41 25.60

7711 1.61 272.8 1680 2297 1639 1734 8.6 8.9 453 7727 0.00 2.28 9.40 0.640 8708 0.000 0.044 2723 890 1678 1643 1713 0 0 0 0 0 0 28.83 26.27 25.65

7772 end climb: SURFACE_DEPTH_REACHED

state 7772 begin surface coast

7807 end surface coast: CONTROL_FINISHED_OK

state 7807 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	111	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	36	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	68	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	-100634	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	2365	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	160313,181454,1859.300,12007.993,438,0.7,438,-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	-61.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160313,182123,1859.346,12008.124,16,1.0,16,-2.4	MHEAD_RNG_PITCHd_Wd	344.2,307109,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	2230

FINISH	0.0,1.026251	_10V_AH	10.1,12.429
SM_CCo	7825,220.73,0.794,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.40,1.65,220.73,0.075,0.015,0.794,91,1983,511,-10.37,-1.75,560.02,0,0,0,0,1,0,26.32,26.42,24.42	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1850.98,12007.02,160313,151514	MEM	323840
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16761,469
HUMID	48.58	CAP_FILE_SIZE	372069,1813
INTERNAL_PRESSURE	9.02877	CFSIZE	260034560,237879296
TCM_TEMP	17.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	2	CURRENT	0.141, 44.8,1
SC_FREEKB	3980416	GPS	160313,204512,1900.577,12008.292,514,1.3,514,-2.4
_24V_AH	24.3,19.957

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	211	86.77	nil	0	0	0.00
Roll_motor	67	45	74.33	nil	0	0	0.00
VBD_pump_during_apogee	395	890	8547.08	nil	0	0	0.00
VBD_pump_during_surface	220	794	4259.09	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	7822	7	1375.95
Iridium_during_xfer	229	135	755.54	nil	0	0	0.00
Transponder_ping	0	420	5.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	29	5.38
TT8	1806	14	263.84
LPSleep	4186	2	92.60
TT8_Active	739	14	108.05
TT8_Sampling	1436	39	568.37
TT8_CF8	254	46	120.16
TT8_Kalman	0	0	0.00
Analog_circuits	1700	15	266.26
GPS_charging	0	0	0.00
Compass	1195	7	90.41
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	-1.35	-170.3	84	2006	457	557	0.0	0.0	0	43	0.00	0.00	-23.35	0.000	16386	0.000	0.000	84	2005	1117	1097	1138	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	84	2005	1100	1139	3.1	-9.1	3	152	7.62	2.12	-90.40	0.000	18692	0.212	0.045	2058	3359	3492	3406	3579	0	0	0	0	0	0	25.87	26.20	26.48
342	-1.35	-170.3	2058	3359	3410	3581	30.4	-8.9	47	348	0.00	2.10	0.00	0.000	1030	0.000	0.025	2066	1968	3495	3410	3581	0	0	0	0	0	0	28.83	26.35	28.83
666	-1.35	-170.3	2066	1968	3415	3581	59.9	-9.0	74	672	0.00	2.15	0.00	0.000	516	0.000	0.042	2076	570	3498	3415	3581	0	0	0	0	0	0	28.83	26.46	28.83
754	-1.35	-170.3	2076	572	3415	3581	67.7	-9.0	78	760	0.00	2.05	0.00	0.000	1030	0.000	0.016	2068	1980	3499	3416	3582	0	0	0	0	0	0	28.83	26.55	28.83
1078	-1.35	-170.3	2068	1981	3416	3582	96.7	-9.0	94	1084	0.00	2.20	0.00	0.000	516	0.000	0.040	2076	563	3499	3416	3582	0	0	0	0	0	0	28.83	26.55	28.83
1138	-1.35	-170.3	2076	563	3416	3582	100.9	-9.0	96	1146	0.00	2.05	0.00	0.000	1030	0.000	0.016	2067	1979	3499	3417	3582	0	0	0	0	0	0	28.83	26.63	28.83
1445	-1.35	-170.3	2067	1981	3418	3582	129.4	-9.0	112	1451	0.00	2.17	0.00	0.000	516	0.000	0.041	2076	574	3499	3417	3582	0	0	0	0	0	0	28.83	26.60	28.83
1591	-1.35	-170.3	2076	574	3417	3582	141.2	-9.1	118	1600	0.00	2.03	0.00	0.000	1030	0.000	0.016	2067	1981	3499	3417	3581	0	0	0	0	0	0	28.83	26.67	28.83
1897	-1.35	-170.3	2067	1981	3417	3579	169.4	-8.9	134	1904	0.00	2.08	0.00	0.000	260	0.000	0.032	2057	3366	3497	3417	3578	0	0	0	0	0	0	28.83	26.65	28.83
1948	-1.35	-170.3	2056	3367	3417	3578	173.7	-9.1	136	1954	0.00	2.08	0.00	0.000	1030	0.000	0.026	2057	1974	3497	3417	3578	0	0	0	0	0	0	28.83	26.66	28.83
2268	-1.35	-170.3	2057	1974	3416	3575	202.6	-8.9	152	2274	0.00	2.12	0.00	0.000	516	0.000	0.044	2066	574	3495	3417	3574	0	0	0	0	0	0	28.83	26.65	28.83
2411	-1.35	-170.3	2065	574	3417	3573	214.2	-8.9	158	2418	0.00	2.03	0.00	0.000	1030	0.000	0.016	2057	1982	3495	3417	3573	0	0	0	0	0	0	28.83	26.72	28.83
2718	-1.35	-170.3	2057	1984	3415	3571	242.6	-8.8	174	2724	0.00	2.17	0.00	0.000	516	0.000	0.042	2065	574	3493	3416	3570	0	0	0	0	0	0	28.83	26.66	28.83
2768	-1.35	-170.3	1264	574	3400	3568	246.8	-9.0	176	2773	0.00	2.03	0.00	0.000	1030	0.000	0.016	2057	1979	3493	3415	3571	0	0	0	0	0	0	28.83	26.73	28.83
3088	-1.35	-170.3	2057	1979	3413	3568	275.9	-8.7	192	3094	0.00	2.17	0.00	0.000	516	0.000	0.042	2065	573	3490	3413	3567	0	0	0	0	0	0	28.83	26.67	28.83
3145	-1.35	-170.3	2064	573	3413	3567	280.1	-8.7	194	3151	0.00	2.03	0.00	0.000	1030	0.000	0.016	2056	1978	3490	3413	3567	0	0	0	0	0	0	28.83	26.74	28.83
3460	-1.35	-170.3	2056	1978	3411	3566	309.4	-8.9	210	3467	0.00	2.17	0.00	0.000	516	0.000	0.043	2061	573	3487	3410	3565	0	0	0	0	0	0	28.83	26.67	28.83
3520	-1.35	-170.3	2061	574	3410	3565	313.6	-9.0	212	3528	0.00	2.03	0.00	0.000	1030	0.000	0.017	2053	1975	3487	3410	3565	0	0	0	0	0	0	28.83	26.74	28.83
3827	-1.35	-170.3	2053	1976	3408	3562	342.4	-9.0	228	3833	0.00	2.17	0.00	0.000	516	0.000	0.044	2060	575	3485	3408	3562	0	0	0	0	0	0	28.83	26.67	28.83
3866	-1.35	-170.3	1288	575	3392	3559	344.6	-9.0	229	3874	0.00	2.03	0.00	0.000	1030	0.000	0.017	2051	1976	3485	3408	3562	0	0	0	0	0	0	28.83	26.74	28.83
3913	end dive: TARGET_DEPTH_EXCEEDED
state	3913	begin apogee
3918	-0.25	0.0	2048	2301	3407	3562	350.2	-9.1	232	4068	0.80	0.00	144.38	0.890	10246	0.127	0.000	2307	2301	2792	2753	2832	0	0	0	0	0	0	26.53	28.83	24.49
4070	end apogee: CONTROL_FINISHED_OK
state	4070	begin climb
4072	1.35	170.3	2307	2301	2749	2827	337.9	0.0	238	4230	1.02	2.22	147.10	0.871	10500	0.071	0.034	2662	3680	2091	2055	2127	0	0	0	0	0	0	25.22	24.99	24.32
4333	1.38	180.1	2662	3680	2051	2118	312.8	8.9	250	4344	0.00	2.15	4.85	0.727	9222	0.000	0.024	2672	2295	2060	2024	2096	0	0	0	0	0	0	28.83	25.69	24.76
4654	1.40	187.4	2672	2295	2024	2097	283.5	9.0	266	4673	0.00	0.00	10.30	0.815	8198	0.000	0.000	2672	2294	2026	1990	2063	0	0	0	0	0	0	28.83	28.83	25.27
4973	1.42	196.1	2672	2295	1990	2057	254.4	8.9	282	4989	0.00	2.22	8.85	0.805	8708	0.000	0.041	2683	904	1991	1954	2028	0	0	0	0	0	0	28.83	26.14	25.39
5028	1.42	197.2	2682	904	1952	2028	250.2	9.2	284	5034	0.00	2.08	0.00	0.000	1030	0.000	0.017	2683	2301	1990	1953	2027	0	0	0	0	0	0	28.83	26.25	28.83
5342	1.44	205.1	2682	2301	1952	2023	220.6	9.0	300	5354	0.00	0.00	9.48	0.795	8198	0.000	0.000	2683	2301	1956	1920	1993	0	0	0	0	0	0	28.83	28.83	25.48
5642	1.46	211.6	2683	2302	1917	1982	194.0	9.0	315	5653	0.00	2.12	5.03	0.733	8452	0.000	0.033	2683	3697	1930	1898	1963	0	0	0	0	0	0	28.83	26.32	25.42
5692	1.47	218.1	2682	3698	1897	1963	189.9	9.0	317	5711	0.00	2.12	9.07	0.780	9222	0.000	0.024	2693	2297	1900	1871	1929	0	0	0	0	0	0	28.83	26.36	25.48
6010	1.48	221.0	2692	2297	1870	1923	161.1	9.2	333	6016	0.00	2.17	0.00	0.000	516	0.000	0.042	2703	892	1896	1870	1923	0	0	0	0	0	0	28.83	26.37	28.83
6092	1.50	228.2	2703	892	1870	1923	155.0	9.0	336	6107	0.00	2.08	10.12	0.758	9222	0.000	0.018	2704	2300	1864	1836	1892	0	0	0	0	0	0	28.83	26.48	25.55
6425	1.52	235.4	2703	2300	1831	1880	124.0	9.0	353	6434	0.00	0.00	7.20	0.731	8198	0.000	0.000	2704	2300	1834	1807	1861	0	0	0	0	0	0	28.83	28.83	25.60
6725	1.52	235.4	2703	2300	1803	1853	97.1	9.3	368	6726	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2300	1828	1803	1853	0	0	0	0	0	0	28.83	28.83	28.83
7026	1.54	243.4	2703	2300	1803	1852	69.9	9.0	383	7037	0.00	0.00	8.30	0.696	8198	0.000	0.000	2703	2300	1801	1774	1829	0	0	0	0	0	0	28.83	28.83	25.71
7326	1.56	251.9	2703	2300	1770	1821	43.2	8.9	401	7341	0.00	2.17	8.73	0.675	8452	0.000	0.035	2704	3686	1764	1736	1793	0	0	0	0	0	0	28.83	26.37	25.70
7377	1.59	263.2	2703	3686	1735	1791	38.6	8.8	405	7397	0.00	2.10	12.20	0.663	9222	0.000	0.025	2713	2300	1716	1682	1750	0	0	0	0	0	0	28.83	26.41	25.60
7711	1.61	272.8	1680	2297	1639	1734	8.6	8.9	453	7727	0.00	2.28	9.40	0.640	8708	0.000	0.044	2723	890	1678	1643	1713	0	0	0	0	0	0	28.83	26.27	25.65
7772	end climb: SURFACE_DEPTH_REACHED
state	7772	begin surface coast
7807	end surface coast: CONTROL_FINISHED_OK
state	7807	begin surface