Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 121 * 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 121 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 51 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 59 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 -100646.62 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 -100646.62

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 51 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 59 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 121 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 170313,192435,1909.850,12008.458,339,0.9,339,-2.5 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 -65.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170313,193043,1909.822,12008.631,21,1.5,22,-2.5 MHEAD_RNG_PITCHd_Wd 327.7,287773,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 2864

Post-dive calculations and measurements:

FINISH 0.0,1.026118 _10V_AH 10.1,13.131

SM_CCo 7853,236.38,0.790,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.40,0.52,236.38,0.075,0.035,0.790,87,1958,511,-10.38,1.07,560.02,0,0,0,0,1,0,26.39,26.44,24.39 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1900.10,12009.31,170313,161634 MEM 323872

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16732,471

HUMID 47.75 CAP_FILE_SIZE 385164,1913

INTERNAL_PRESSURE 9.03854 CFSIZE 260034560,236773376

TCM_TEMP 18.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 0 CURRENT 0.101, 86.6,1

SC_FREEKB 3976576 GPS 170313,215304,1910.422,12008.531,381,1.1,381,-2.5

_24V_AH 24.3,21.564

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 223 93.09 nil 0 0 0.00

Roll_motor 64 53 84.32 nil 0 0 0.00

VBD_pump_during_apogee 391 881 8394.19 nil 0 0 0.00

VBD_pump_during_surface 236 790 4539.10 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 7852 7 1381.61

Iridium_during_xfer 200 137 671.06 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 29 7.02

TT8 1858 14 271.46

LPSleep 4106 2 90.84

TT8_Active 744 14 108.68

TT8_Sampling 1462 39 578.80

TT8_CF8 274 46 129.20

TT8_Kalman 0 0 0.00

Analog_circuits 1713 15 268.20

GPS_charging 0 0 0.00

Compass 1250 7 94.57

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 82 1952 464 553 0.0 0.0 0 44 0.00 0.00 -24.25 0.000 16386 0.000 0.000 82 1952 1139 1110 1168 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 82 1952 1112 1168 3.0 -8.9 3 160 7.88 2.20 -93.70 0.000 18948 0.223 0.054 2075 575 3493 3407 3579 0 0 0 0 0 0 25.84 26.18 26.46

360 -1.35 -170.3 2075 575 3410 3579 31.5 -9.1 48 368 0.00 2.05 0.00 0.000 1030 0.000 0.015 2066 1989 3494 3410 3579 0 0 0 0 0 0 28.83 26.39 28.83

667 -1.35 -170.3 2066 1991 3415 3580 59.4 -8.8 74 672 0.00 2.17 0.00 0.000 516 0.000 0.037 2075 577 3497 3415 3580 0 0 0 0 0 0 28.83 26.45 28.83

778 -1.35 -170.3 2074 577 3416 3581 69.0 -8.8 79 785 0.00 2.03 0.00 0.000 1030 0.000 0.015 2066 1981 3498 3415 3581 0 0 0 0 0 0 28.83 26.55 28.83

1098 -1.35 -170.3 2066 1982 3417 3581 97.4 -8.2 95 1104 0.00 2.17 0.00 0.000 516 0.000 0.037 2075 569 3498 3416 3581 0 0 0 0 0 0 28.83 26.55 28.83

1144 -1.35 -170.3 1248 568 3400 3579 101.5 -8.8 97 1150 0.00 2.05 0.00 0.000 1030 0.000 0.015 2066 1989 3498 3416 3581 0 0 0 0 0 0 28.83 26.62 28.83

1471 -1.35 -170.3 2065 1990 3416 3581 131.1 -9.3 113 1473 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 1990 3499 3417 3581 0 0 0 0 0 0 28.83 28.83 28.83

1770 -1.35 -170.3 2066 1990 3416 3581 157.8 -8.7 128 1776 0.00 2.17 0.00 0.000 516 0.000 0.038 2075 577 3498 3416 3581 0 0 0 0 0 0 28.83 26.62 28.83

1892 -1.35 -170.3 2074 577 3416 3580 167.4 -8.9 133 1899 0.00 2.03 0.00 0.000 1030 0.000 0.016 2066 1986 3497 3416 3579 0 0 0 0 0 0 28.83 26.70 28.83

2198 -1.35 -170.3 2065 1986 3415 3577 196.1 -8.7 149 2204 0.00 2.17 0.00 0.000 516 0.000 0.038 2074 571 3496 3416 3576 0 0 0 0 0 0 28.83 26.64 28.83

2264 -1.35 -170.3 2074 571 3416 3576 202.1 -9.0 152 2270 0.00 2.03 0.00 0.000 1030 0.000 0.016 2065 1975 3496 3416 3576 0 0 0 0 0 0 28.83 26.71 28.83

2590 -1.35 -170.3 2065 1977 3416 3573 231.1 -9.1 168 2591 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 1977 3494 3416 3572 0 0 0 0 0 0 28.83 28.83 28.83

2891 -1.35 -170.3 2065 1979 3414 3570 257.9 -8.9 183 2892 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 1979 3492 3414 3571 0 0 0 0 0 0 28.83 28.83 28.83

3189 -1.35 -170.3 2065 1979 3413 3569 285.2 -9.5 198 3196 0.00 2.15 0.00 0.000 516 0.000 0.040 2074 579 3490 3413 3567 0 0 0 0 0 0 28.83 26.67 28.83

3224 -1.35 -170.3 2073 579 3413 3567 287.4 -9.5 199 3230 0.00 2.03 0.00 0.000 1030 0.000 0.017 2065 1981 3490 3413 3567 0 0 0 0 0 0 28.83 26.74 28.83

3538 -1.35 -170.3 2065 1981 3411 3565 316.8 -8.7 215 3539 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 1981 3488 3411 3565 0 0 0 0 0 0 28.83 28.83 28.83

3839 -1.35 -170.3 2065 1982 3409 3562 343.7 -8.7 230 3845 0.00 2.17 0.00 0.000 516 0.000 0.041 2073 575 3486 3409 3563 0 0 0 0 0 0 28.83 26.67 28.83

3879 -1.35 -170.3 2073 575 3409 3563 346.0 -8.8 231 3887 0.00 2.03 0.00 0.000 1030 0.000 0.016 2065 1978 3485 3409 3562 0 0 0 0 0 0 28.83 26.74 28.83

3924 end dive: TARGET_DEPTH_EXCEEDED

state 3925 begin apogee

3929 -0.25 0.0 2063 2298 3409 3562 351.6 -9.1 234 4078 0.75 0.00 142.48 0.881 10246 0.122 0.000 2307 2298 2791 2753 2830 0 0 0 0 0 0 26.53 28.83 24.47

4080 end apogee: CONTROL_FINISHED_OK

state 4080 begin climb

4082 1.35 170.3 2306 2298 2750 2827 339.5 0.0 240 4236 1.02 2.30 144.77 0.871 10500 0.068 0.034 2665 3684 2093 2057 2130 0 0 0 0 0 0 25.23 24.98 24.30

4477 1.37 178.5 2664 3684 2050 2118 302.9 9.0 258 4491 0.00 2.10 3.90 0.617 9222 0.000 0.023 2675 2312 2066 2030 2102 0 0 0 0 0 0 28.83 25.98 25.00

4789 1.38 182.9 2674 2312 2030 2103 274.2 9.1 274 4801 0.00 2.20 6.80 0.772 8452 0.000 0.032 2675 3681 2046 2009 2084 0 0 0 0 0 0 28.83 26.15 25.35

4865 1.40 189.6 2674 3682 2008 2081 268.1 9.0 277 4879 0.00 2.10 7.78 0.780 9222 0.000 0.024 2685 2298 2019 1982 2057 0 0 0 0 0 0 28.83 26.23 25.32

5177 1.43 203.0 2684 2298 1981 2049 239.5 8.8 293 5201 0.00 2.20 13.55 0.780 8452 0.000 0.033 2685 3677 1962 1927 1997 0 0 0 0 0 0 28.83 26.12 25.37

5245 1.44 204.4 2684 3677 1927 1994 233.2 9.2 296 5251 0.00 2.10 0.00 0.000 1030 0.000 0.024 2694 2300 1960 1927 1994 0 0 0 0 0 0 28.83 26.20 28.83

5570 1.44 204.4 2694 2299 1927 1990 203.7 9.4 312 5576 0.00 2.17 0.00 0.000 516 0.000 0.041 2705 894 1958 1926 1990 0 0 0 0 0 0 28.83 26.36 28.83

5666 1.47 215.2 2705 895 1925 1989 196.0 8.9 316 5685 0.00 2.08 11.77 0.760 9222 0.000 0.018 2705 2303 1913 1883 1943 0 0 0 0 0 0 28.83 26.47 25.50

6004 1.48 222.7 2705 2303 1882 1935 164.8 9.0 333 6016 0.00 2.20 7.00 0.737 8452 0.000 0.034 2705 3699 1885 1858 1912 0 0 0 0 0 0 28.83 26.30 25.54

6187 1.50 230.4 2705 3699 1857 1906 149.1 9.0 341 6202 0.10 2.12 8.52 0.728 13318 0.190 0.024 2693 2294 1852 1826 1878 0 0 0 0 0 0 26.24 26.41 25.53

6499 1.52 236.1 2693 2295 1824 1872 120.5 9.1 357 6505 0.00 0.00 4.45 0.636 8198 0.000 0.000 2693 2295 1832 1805 1859 0 0 0 0 0 0 28.83 28.83 25.41

6798 1.53 242.8 2693 2295 1805 1858 94.2 9.0 372 6815 0.00 2.22 8.73 0.686 8708 0.000 0.043 2703 904 1803 1776 1831 0 0 0 0 0 0 28.83 26.32 25.64

6901 1.55 247.8 2703 904 1771 1829 86.2 9.1 376 6910 0.00 2.08 4.57 0.624 9222 0.000 0.018 2703 2308 1784 1754 1814 0 0 0 0 0 0 28.83 26.44 25.41

7207 1.57 258.5 2703 2308 1754 1814 56.8 8.9 392 7230 0.00 2.15 13.20 0.651 8452 0.000 0.035 2703 3680 1734 1702 1767 0 0 0 0 0 0 28.83 26.27 25.61

7254 1.59 264.5 2702 3680 1701 1766 52.4 9.0 394 7265 0.00 2.12 4.82 0.615 9222 0.000 0.026 2713 2295 1715 1681 1750 0 0 0 0 0 0 28.83 26.31 25.36

7570 1.59 264.5 2712 2294 1680 1748 24.0 9.3 424 7577 0.00 2.17 0.00 0.000 516 0.000 0.044 2723 892 1714 1680 1749 0 0 0 0 0 0 28.83 26.38 28.83

7635 1.61 272.4 1696 891 1640 1741 18.2 9.0 435 7651 0.00 2.08 9.62 0.623 9222 0.000 0.018 2723 2301 1681 1645 1718 0 0 0 0 0 0 28.83 26.48 25.64

7803 end climb: SURFACE_DEPTH_REACHED

state 7803 begin surface coast

7836 end surface coast: CONTROL_FINISHED_OK

state 7836 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	121	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	51	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	59	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	-100646.62	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	170313,192435,1909.850,12008.458,339,0.9,339,-2.5	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	-65.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170313,193043,1909.822,12008.631,21,1.5,22,-2.5	MHEAD_RNG_PITCHd_Wd	327.7,287773,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	2864

FINISH	0.0,1.026118	_10V_AH	10.1,13.131
SM_CCo	7853,236.38,0.790,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.40,0.52,236.38,0.075,0.035,0.790,87,1958,511,-10.38,1.07,560.02,0,0,0,0,1,0,26.39,26.44,24.39	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1900.10,12009.31,170313,161634	MEM	323872
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16732,471
HUMID	47.75	CAP_FILE_SIZE	385164,1913
INTERNAL_PRESSURE	9.03854	CFSIZE	260034560,236773376
TCM_TEMP	18.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	0	CURRENT	0.101, 86.6,1
SC_FREEKB	3976576	GPS	170313,215304,1910.422,12008.531,381,1.1,381,-2.5
_24V_AH	24.3,21.564

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	223	93.09	nil	0	0	0.00
Roll_motor	64	53	84.32	nil	0	0	0.00
VBD_pump_during_apogee	391	881	8394.19	nil	0	0	0.00
VBD_pump_during_surface	236	790	4539.10	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	7852	7	1381.61
Iridium_during_xfer	200	137	671.06	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	29	7.02
TT8	1858	14	271.46
LPSleep	4106	2	90.84
TT8_Active	744	14	108.68
TT8_Sampling	1462	39	578.80
TT8_CF8	274	46	129.20
TT8_Kalman	0	0	0.00
Analog_circuits	1713	15	268.20
GPS_charging	0	0	0.00
Compass	1250	7	94.57
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	82	1952	464	553	0.0	0.0	0	44	0.00	0.00	-24.25	0.000	16386	0.000	0.000	82	1952	1139	1110	1168	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	82	1952	1112	1168	3.0	-8.9	3	160	7.88	2.20	-93.70	0.000	18948	0.223	0.054	2075	575	3493	3407	3579	0	0	0	0	0	0	25.84	26.18	26.46
360	-1.35	-170.3	2075	575	3410	3579	31.5	-9.1	48	368	0.00	2.05	0.00	0.000	1030	0.000	0.015	2066	1989	3494	3410	3579	0	0	0	0	0	0	28.83	26.39	28.83
667	-1.35	-170.3	2066	1991	3415	3580	59.4	-8.8	74	672	0.00	2.17	0.00	0.000	516	0.000	0.037	2075	577	3497	3415	3580	0	0	0	0	0	0	28.83	26.45	28.83
778	-1.35	-170.3	2074	577	3416	3581	69.0	-8.8	79	785	0.00	2.03	0.00	0.000	1030	0.000	0.015	2066	1981	3498	3415	3581	0	0	0	0	0	0	28.83	26.55	28.83
1098	-1.35	-170.3	2066	1982	3417	3581	97.4	-8.2	95	1104	0.00	2.17	0.00	0.000	516	0.000	0.037	2075	569	3498	3416	3581	0	0	0	0	0	0	28.83	26.55	28.83
1144	-1.35	-170.3	1248	568	3400	3579	101.5	-8.8	97	1150	0.00	2.05	0.00	0.000	1030	0.000	0.015	2066	1989	3498	3416	3581	0	0	0	0	0	0	28.83	26.62	28.83
1471	-1.35	-170.3	2065	1990	3416	3581	131.1	-9.3	113	1473	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	1990	3499	3417	3581	0	0	0	0	0	0	28.83	28.83	28.83
1770	-1.35	-170.3	2066	1990	3416	3581	157.8	-8.7	128	1776	0.00	2.17	0.00	0.000	516	0.000	0.038	2075	577	3498	3416	3581	0	0	0	0	0	0	28.83	26.62	28.83
1892	-1.35	-170.3	2074	577	3416	3580	167.4	-8.9	133	1899	0.00	2.03	0.00	0.000	1030	0.000	0.016	2066	1986	3497	3416	3579	0	0	0	0	0	0	28.83	26.70	28.83
2198	-1.35	-170.3	2065	1986	3415	3577	196.1	-8.7	149	2204	0.00	2.17	0.00	0.000	516	0.000	0.038	2074	571	3496	3416	3576	0	0	0	0	0	0	28.83	26.64	28.83
2264	-1.35	-170.3	2074	571	3416	3576	202.1	-9.0	152	2270	0.00	2.03	0.00	0.000	1030	0.000	0.016	2065	1975	3496	3416	3576	0	0	0	0	0	0	28.83	26.71	28.83
2590	-1.35	-170.3	2065	1977	3416	3573	231.1	-9.1	168	2591	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	1977	3494	3416	3572	0	0	0	0	0	0	28.83	28.83	28.83
2891	-1.35	-170.3	2065	1979	3414	3570	257.9	-8.9	183	2892	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	1979	3492	3414	3571	0	0	0	0	0	0	28.83	28.83	28.83
3189	-1.35	-170.3	2065	1979	3413	3569	285.2	-9.5	198	3196	0.00	2.15	0.00	0.000	516	0.000	0.040	2074	579	3490	3413	3567	0	0	0	0	0	0	28.83	26.67	28.83
3224	-1.35	-170.3	2073	579	3413	3567	287.4	-9.5	199	3230	0.00	2.03	0.00	0.000	1030	0.000	0.017	2065	1981	3490	3413	3567	0	0	0	0	0	0	28.83	26.74	28.83
3538	-1.35	-170.3	2065	1981	3411	3565	316.8	-8.7	215	3539	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	1981	3488	3411	3565	0	0	0	0	0	0	28.83	28.83	28.83
3839	-1.35	-170.3	2065	1982	3409	3562	343.7	-8.7	230	3845	0.00	2.17	0.00	0.000	516	0.000	0.041	2073	575	3486	3409	3563	0	0	0	0	0	0	28.83	26.67	28.83
3879	-1.35	-170.3	2073	575	3409	3563	346.0	-8.8	231	3887	0.00	2.03	0.00	0.000	1030	0.000	0.016	2065	1978	3485	3409	3562	0	0	0	0	0	0	28.83	26.74	28.83
3924	end dive: TARGET_DEPTH_EXCEEDED
state	3925	begin apogee
3929	-0.25	0.0	2063	2298	3409	3562	351.6	-9.1	234	4078	0.75	0.00	142.48	0.881	10246	0.122	0.000	2307	2298	2791	2753	2830	0	0	0	0	0	0	26.53	28.83	24.47
4080	end apogee: CONTROL_FINISHED_OK
state	4080	begin climb
4082	1.35	170.3	2306	2298	2750	2827	339.5	0.0	240	4236	1.02	2.30	144.77	0.871	10500	0.068	0.034	2665	3684	2093	2057	2130	0	0	0	0	0	0	25.23	24.98	24.30
4477	1.37	178.5	2664	3684	2050	2118	302.9	9.0	258	4491	0.00	2.10	3.90	0.617	9222	0.000	0.023	2675	2312	2066	2030	2102	0	0	0	0	0	0	28.83	25.98	25.00
4789	1.38	182.9	2674	2312	2030	2103	274.2	9.1	274	4801	0.00	2.20	6.80	0.772	8452	0.000	0.032	2675	3681	2046	2009	2084	0	0	0	0	0	0	28.83	26.15	25.35
4865	1.40	189.6	2674	3682	2008	2081	268.1	9.0	277	4879	0.00	2.10	7.78	0.780	9222	0.000	0.024	2685	2298	2019	1982	2057	0	0	0	0	0	0	28.83	26.23	25.32
5177	1.43	203.0	2684	2298	1981	2049	239.5	8.8	293	5201	0.00	2.20	13.55	0.780	8452	0.000	0.033	2685	3677	1962	1927	1997	0	0	0	0	0	0	28.83	26.12	25.37
5245	1.44	204.4	2684	3677	1927	1994	233.2	9.2	296	5251	0.00	2.10	0.00	0.000	1030	0.000	0.024	2694	2300	1960	1927	1994	0	0	0	0	0	0	28.83	26.20	28.83
5570	1.44	204.4	2694	2299	1927	1990	203.7	9.4	312	5576	0.00	2.17	0.00	0.000	516	0.000	0.041	2705	894	1958	1926	1990	0	0	0	0	0	0	28.83	26.36	28.83
5666	1.47	215.2	2705	895	1925	1989	196.0	8.9	316	5685	0.00	2.08	11.77	0.760	9222	0.000	0.018	2705	2303	1913	1883	1943	0	0	0	0	0	0	28.83	26.47	25.50
6004	1.48	222.7	2705	2303	1882	1935	164.8	9.0	333	6016	0.00	2.20	7.00	0.737	8452	0.000	0.034	2705	3699	1885	1858	1912	0	0	0	0	0	0	28.83	26.30	25.54
6187	1.50	230.4	2705	3699	1857	1906	149.1	9.0	341	6202	0.10	2.12	8.52	0.728	13318	0.190	0.024	2693	2294	1852	1826	1878	0	0	0	0	0	0	26.24	26.41	25.53
6499	1.52	236.1	2693	2295	1824	1872	120.5	9.1	357	6505	0.00	0.00	4.45	0.636	8198	0.000	0.000	2693	2295	1832	1805	1859	0	0	0	0	0	0	28.83	28.83	25.41
6798	1.53	242.8	2693	2295	1805	1858	94.2	9.0	372	6815	0.00	2.22	8.73	0.686	8708	0.000	0.043	2703	904	1803	1776	1831	0	0	0	0	0	0	28.83	26.32	25.64
6901	1.55	247.8	2703	904	1771	1829	86.2	9.1	376	6910	0.00	2.08	4.57	0.624	9222	0.000	0.018	2703	2308	1784	1754	1814	0	0	0	0	0	0	28.83	26.44	25.41
7207	1.57	258.5	2703	2308	1754	1814	56.8	8.9	392	7230	0.00	2.15	13.20	0.651	8452	0.000	0.035	2703	3680	1734	1702	1767	0	0	0	0	0	0	28.83	26.27	25.61
7254	1.59	264.5	2702	3680	1701	1766	52.4	9.0	394	7265	0.00	2.12	4.82	0.615	9222	0.000	0.026	2713	2295	1715	1681	1750	0	0	0	0	0	0	28.83	26.31	25.36
7570	1.59	264.5	2712	2294	1680	1748	24.0	9.3	424	7577	0.00	2.17	0.00	0.000	516	0.000	0.044	2723	892	1714	1680	1749	0	0	0	0	0	0	28.83	26.38	28.83
7635	1.61	272.4	1696	891	1640	1741	18.2	9.0	435	7651	0.00	2.08	9.62	0.623	9222	0.000	0.018	2723	2301	1681	1645	1718	0	0	0	0	0	0	28.83	26.48	25.64
7803	end climb: SURFACE_DEPTH_REACHED
state	7803	begin surface coast
7836	end surface coast: CONTROL_FINISHED_OK
state	7836	begin surface