Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 126 * 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 126 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 50 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 60 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 -100652.91 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 -100652.91

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 50 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 60 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 126 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 180313,074334,1914.015,12007.633,239,0.9,239,-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 -66.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180313,074953,1913.923,12007.728,17,1.2,17,-2.5 MHEAD_RNG_PITCHd_Wd 340.7,280110,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3223

Post-dive calculations and measurements:

FINISH 0.0,1.026236 _10V_AH 10.2,13.462

SM_CCo 7841,214.95,0.822,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.50,0.50,214.95,0.078,0.042,0.822,83,1954,511,-10.40,0.96,560.02,0,0,0,0,1,0,26.36,26.41,24.39 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1906.95,12007.34,180313,050518 MEM 323920

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16790,468

HUMID 48.77 CAP_FILE_SIZE 384800,1900

INTERNAL_PRESSURE 9.03854 CFSIZE 260034560,236232704

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 2 CURRENT 0.164, 27.2,1

SC_FREEKB 3974656 GPS 180313,101306,1915.204,12007.599,467,1.4,467,-2.5

_24V_AH 24.3,22.339

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 231 97.40 nil 0 0 0.00

Roll_motor 64 52 82.96 nil 0 0 0.00

VBD_pump_during_apogee 480 893 10431.79 nil 0 0 0.00

VBD_pump_during_surface 214 821 4291.50 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 7840 7 1374.16

Iridium_during_xfer 215 136 711.92 nil 0 0 0.00

Transponder_ping 0 420 5.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.70

TT8 1837 14 270.98

LPSleep 4035 2 90.14

TT8_Active 797 14 117.58

TT8_Sampling 1475 39 589.75

TT8_CF8 278 46 132.69

TT8_Kalman 0 0 0.00

Analog_circuits 1800 15 284.62

GPS_charging 0 0 0.00

Compass 1257 7 96.03

RAFOS 0 0 0.00

Transponder 1 5 0.08

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.35 -170.3 82 1942 466 560 0.0 0.0 0 43 0.00 0.00 -23.40 0.000 16386 0.000 0.000 82 1942 1133 1112 1154 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 82 1941 1112 1156 3.1 -9.2 3 152 8.07 2.17 -86.07 0.000 18948 0.231 0.053 2074 575 3492 3407 3578 0 0 0 0 0 0 25.83 26.17 26.45

219 -1.35 -170.3 1248 575 3392 3577 19.3 -9.0 29 228 0.00 2.08 0.00 0.000 1030 0.000 0.015 2066 2001 3493 3408 3579 0 0 0 0 0 0 28.83 26.30 28.83

535 -1.35 -170.3 2065 2001 3414 3580 47.7 -8.9 65 536 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 2001 3496 3414 3579 0 0 0 0 0 0 28.83 28.83 28.83

845 -1.35 -170.3 2065 2001 3416 3581 75.3 -8.9 82 851 0.00 2.20 0.00 0.000 516 0.000 0.037 2074 578 3498 3416 3581 0 0 0 0 0 0 28.83 26.51 28.83

979 -1.35 -170.3 2074 578 3416 3581 87.6 -9.1 88 985 0.00 2.00 0.00 0.000 1030 0.000 0.016 2065 1974 3498 3416 3581 0 0 0 0 0 0 28.83 26.60 28.83

1305 -1.35 -170.3 2065 1976 3416 3581 116.7 -9.2 104 1306 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 1974 3498 3416 3581 0 0 0 0 0 0 28.83 28.83 28.83

1605 -1.35 -170.3 2065 1975 3416 3580 144.2 -9.0 119 1611 0.00 2.15 0.00 0.000 516 0.000 0.038 2074 573 3498 3416 3581 0 0 0 0 0 0 28.83 26.62 28.83

1644 -1.35 -170.3 2074 573 3416 3581 146.4 -9.0 120 1653 0.00 2.03 0.00 0.000 1030 0.000 0.015 2065 1989 3498 3415 3581 0 0 0 0 0 0 28.83 26.68 28.83

1951 -1.35 -170.3 2065 1989 3416 3579 175.5 -8.9 136 1953 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 1990 3497 3415 3579 0 0 0 0 0 0 28.83 28.83 28.83

2253 -1.35 -170.3 2065 1991 3415 3576 202.8 -9.0 151 2258 0.00 2.17 0.00 0.000 516 0.000 0.039 2074 570 3495 3416 3575 0 0 0 0 0 0 28.83 26.65 28.83

2303 -1.35 -170.3 2073 570 3416 3574 207.1 -9.0 153 2309 0.00 2.03 0.00 0.000 1030 0.000 0.016 2065 1981 3495 3416 3574 0 0 0 0 0 0 28.83 26.72 28.83

2622 -1.35 -170.3 2064 1986 3415 3572 236.1 -9.4 169 2629 0.00 2.17 0.00 0.000 516 0.000 0.041 2073 570 3493 3415 3571 0 0 0 0 0 0 28.83 26.63 28.83

2652 -1.35 -170.3 2073 570 3414 3571 238.5 -9.3 170 2658 0.00 2.03 0.00 0.000 1030 0.000 0.016 2065 1977 3493 3415 3571 0 0 0 0 0 0 28.83 26.72 28.83

2972 -1.35 -170.3 2065 1977 3415 3568 267.0 -8.7 186 2977 0.00 2.15 0.00 0.000 516 0.000 0.041 2072 578 3490 3413 3567 0 0 0 0 0 0 28.83 26.66 28.83

3048 -1.35 -170.3 2073 578 3413 3567 273.1 -9.0 189 3054 0.00 2.03 0.00 0.000 1030 0.000 0.016 2065 1985 3490 3413 3567 0 0 0 0 0 0 28.83 26.73 28.83

3363 -1.35 -170.3 2064 1985 3411 3565 302.0 -8.9 205 3369 0.00 2.17 0.00 0.000 516 0.000 0.041 2073 575 3488 3411 3565 0 0 0 0 0 0 28.83 26.67 28.83

3544 -1.35 -170.3 1280 575 3393 3562 317.1 -9.1 213 3552 0.00 2.03 0.00 0.000 1030 0.000 0.016 2064 1979 3486 3409 3563 0 0 0 0 0 0 28.83 26.74 28.83

3851 -1.35 -170.3 2064 1979 3408 3561 345.9 -8.9 229 3856 0.00 2.17 0.00 0.000 516 0.000 0.041 2072 574 3484 3408 3560 0 0 0 0 0 0 28.83 26.67 28.83

3891 -1.35 -170.3 2072 574 3408 3561 348.2 -8.7 230 3900 0.00 2.03 0.00 0.000 1030 0.000 0.017 2064 1974 3484 3407 3561 0 0 0 0 0 0 28.83 26.74 28.83

3915 end dive: TARGET_DEPTH_EXCEEDED

state 3915 begin apogee

3920 -0.25 0.0 2061 2312 3407 3560 352.0 -8.9 232 4136 0.77 0.00 206.02 0.767 10246 0.124 0.000 2312 2312 2790 2752 2828 0 0 0 0 0 0 26.53 28.83 24.56

4137 end apogee: CONTROL_FINISHED_OK

state 4137 begin climb

4139 1.35 170.3 2312 2312 2750 2828 333.9 0.0 241 4293 1.00 2.28 145.48 0.894 10500 0.068 0.034 2662 3675 2094 2056 2132 0 0 0 0 0 0 25.25 24.95 24.28

4533 1.38 180.6 2662 3677 2049 2117 297.2 8.9 259 4548 0.00 2.10 6.62 0.788 9222 0.000 0.024 2672 2309 2059 2023 2095 0 0 0 0 0 0 28.83 25.98 25.12

4845 1.42 195.7 2671 2309 2023 2090 268.6 8.7 275 4866 0.00 0.00 15.70 0.826 8198 0.000 0.000 2672 2309 1993 1956 2030 0 0 0 0 0 0 28.83 28.83 25.23

5165 1.43 201.2 2671 2309 1954 2023 239.6 9.1 291 5177 0.00 2.25 4.43 0.696 8708 0.000 0.041 2683 900 1974 1939 2009 0 0 0 0 0 0 28.83 26.22 25.25

5226 1.44 206.9 2683 900 1939 2009 235.4 9.1 293 5241 0.00 2.08 7.88 0.793 9222 0.000 0.017 2682 2300 1948 1912 1984 0 0 0 0 0 0 28.83 26.33 25.40

5559 1.47 216.9 2682 2300 1912 1976 204.3 8.9 310 5571 0.00 0.00 10.12 0.785 8198 0.000 0.000 2682 2300 1909 1880 1939 0 0 0 0 0 0 28.83 28.83 25.48

5860 1.49 225.6 2682 2300 1877 1929 177.1 8.9 325 5876 0.00 2.12 8.52 0.769 8452 0.000 0.036 2683 3686 1872 1845 1899 0 0 0 0 0 0 28.83 26.25 25.51

5927 1.52 237.3 2682 3687 1845 1896 171.2 8.8 328 5951 0.00 2.10 12.43 0.767 9222 0.000 0.025 2693 2300 1822 1795 1849 0 0 0 0 0 0 28.83 26.32 25.41

6248 1.53 243.0 2692 2300 1795 1843 142.1 9.1 344 6259 0.00 2.20 4.40 0.662 8708 0.000 0.042 2703 895 1804 1777 1831 0 0 0 0 0 0 28.83 26.27 25.33

6311 1.55 247.8 2703 895 1777 1831 137.8 9.1 346 6326 0.00 2.08 7.12 0.741 9222 0.000 0.018 2703 2298 1781 1753 1810 0 0 0 0 0 0 28.83 26.38 25.50

6644 1.58 263.0 2703 2298 1753 1804 106.2 8.7 363 6668 0.00 2.12 15.73 0.725 8452 0.000 0.034 2703 3687 1717 1685 1750 0 0 0 0 0 0 28.83 26.17 25.50

6878 1.61 275.0 2703 3687 1682 1745 85.4 8.8 374 6895 0.00 2.10 11.90 0.711 9222 0.000 0.025 2713 2302 1671 1635 1708 0 0 0 0 0 0 28.83 26.35 25.48

7204 1.63 279.7 2712 2302 1631 1700 56.2 9.1 390 7216 0.00 2.20 3.47 0.527 8452 0.000 0.034 2713 3687 1653 1612 1694 0 0 0 0 0 0 28.83 26.34 25.39

7260 1.64 283.2 2712 3685 1612 1697 51.8 9.1 392 7273 0.00 2.12 4.35 0.611 9222 0.000 0.026 2722 2292 1640 1594 1686 0 0 0 0 0 0 28.83 26.38 25.40

7576 1.67 297.7 1680 2290 1557 1678 22.5 8.7 425 7600 0.00 2.25 16.27 0.655 8452 0.000 0.034 2723 3692 1576 1524 1628 0 0 0 0 0 0 28.83 26.22 25.58

7668 1.68 300.2 1696 3691 1490 1619 14.0 9.2 440 7676 0.00 2.12 0.00 0.000 1030 0.000 0.026 2733 2300 1574 1522 1626 0 0 0 0 0 0 28.83 26.30 28.83

7790 end climb: SURFACE_DEPTH_REACHED

state 7790 begin surface coast

7825 end surface coast: CONTROL_FINISHED_OK

state 7825 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	126	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	50	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	60	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	-100652.91	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	180313,074334,1914.015,12007.633,239,0.9,239,-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	-66.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180313,074953,1913.923,12007.728,17,1.2,17,-2.5	MHEAD_RNG_PITCHd_Wd	340.7,280110,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3223

FINISH	0.0,1.026236	_10V_AH	10.2,13.462
SM_CCo	7841,214.95,0.822,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.50,0.50,214.95,0.078,0.042,0.822,83,1954,511,-10.40,0.96,560.02,0,0,0,0,1,0,26.36,26.41,24.39	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1906.95,12007.34,180313,050518	MEM	323920
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16790,468
HUMID	48.77	CAP_FILE_SIZE	384800,1900
INTERNAL_PRESSURE	9.03854	CFSIZE	260034560,236232704
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	2	CURRENT	0.164, 27.2,1
SC_FREEKB	3974656	GPS	180313,101306,1915.204,12007.599,467,1.4,467,-2.5
_24V_AH	24.3,22.339

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	231	97.40	nil	0	0	0.00
Roll_motor	64	52	82.96	nil	0	0	0.00
VBD_pump_during_apogee	480	893	10431.79	nil	0	0	0.00
VBD_pump_during_surface	214	821	4291.50	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	7840	7	1374.16
Iridium_during_xfer	215	136	711.92	nil	0	0	0.00
Transponder_ping	0	420	5.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.70
TT8	1837	14	270.98
LPSleep	4035	2	90.14
TT8_Active	797	14	117.58
TT8_Sampling	1475	39	589.75
TT8_CF8	278	46	132.69
TT8_Kalman	0	0	0.00
Analog_circuits	1800	15	284.62
GPS_charging	0	0	0.00
Compass	1257	7	96.03
RAFOS	0	0	0.00
Transponder	1	5	0.08

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.35	-170.3	82	1942	466	560	0.0	0.0	0	43	0.00	0.00	-23.40	0.000	16386	0.000	0.000	82	1942	1133	1112	1154	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	82	1941	1112	1156	3.1	-9.2	3	152	8.07	2.17	-86.07	0.000	18948	0.231	0.053	2074	575	3492	3407	3578	0	0	0	0	0	0	25.83	26.17	26.45
219	-1.35	-170.3	1248	575	3392	3577	19.3	-9.0	29	228	0.00	2.08	0.00	0.000	1030	0.000	0.015	2066	2001	3493	3408	3579	0	0	0	0	0	0	28.83	26.30	28.83
535	-1.35	-170.3	2065	2001	3414	3580	47.7	-8.9	65	536	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	2001	3496	3414	3579	0	0	0	0	0	0	28.83	28.83	28.83
845	-1.35	-170.3	2065	2001	3416	3581	75.3	-8.9	82	851	0.00	2.20	0.00	0.000	516	0.000	0.037	2074	578	3498	3416	3581	0	0	0	0	0	0	28.83	26.51	28.83
979	-1.35	-170.3	2074	578	3416	3581	87.6	-9.1	88	985	0.00	2.00	0.00	0.000	1030	0.000	0.016	2065	1974	3498	3416	3581	0	0	0	0	0	0	28.83	26.60	28.83
1305	-1.35	-170.3	2065	1976	3416	3581	116.7	-9.2	104	1306	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	1974	3498	3416	3581	0	0	0	0	0	0	28.83	28.83	28.83
1605	-1.35	-170.3	2065	1975	3416	3580	144.2	-9.0	119	1611	0.00	2.15	0.00	0.000	516	0.000	0.038	2074	573	3498	3416	3581	0	0	0	0	0	0	28.83	26.62	28.83
1644	-1.35	-170.3	2074	573	3416	3581	146.4	-9.0	120	1653	0.00	2.03	0.00	0.000	1030	0.000	0.015	2065	1989	3498	3415	3581	0	0	0	0	0	0	28.83	26.68	28.83
1951	-1.35	-170.3	2065	1989	3416	3579	175.5	-8.9	136	1953	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	1990	3497	3415	3579	0	0	0	0	0	0	28.83	28.83	28.83
2253	-1.35	-170.3	2065	1991	3415	3576	202.8	-9.0	151	2258	0.00	2.17	0.00	0.000	516	0.000	0.039	2074	570	3495	3416	3575	0	0	0	0	0	0	28.83	26.65	28.83
2303	-1.35	-170.3	2073	570	3416	3574	207.1	-9.0	153	2309	0.00	2.03	0.00	0.000	1030	0.000	0.016	2065	1981	3495	3416	3574	0	0	0	0	0	0	28.83	26.72	28.83
2622	-1.35	-170.3	2064	1986	3415	3572	236.1	-9.4	169	2629	0.00	2.17	0.00	0.000	516	0.000	0.041	2073	570	3493	3415	3571	0	0	0	0	0	0	28.83	26.63	28.83
2652	-1.35	-170.3	2073	570	3414	3571	238.5	-9.3	170	2658	0.00	2.03	0.00	0.000	1030	0.000	0.016	2065	1977	3493	3415	3571	0	0	0	0	0	0	28.83	26.72	28.83
2972	-1.35	-170.3	2065	1977	3415	3568	267.0	-8.7	186	2977	0.00	2.15	0.00	0.000	516	0.000	0.041	2072	578	3490	3413	3567	0	0	0	0	0	0	28.83	26.66	28.83
3048	-1.35	-170.3	2073	578	3413	3567	273.1	-9.0	189	3054	0.00	2.03	0.00	0.000	1030	0.000	0.016	2065	1985	3490	3413	3567	0	0	0	0	0	0	28.83	26.73	28.83
3363	-1.35	-170.3	2064	1985	3411	3565	302.0	-8.9	205	3369	0.00	2.17	0.00	0.000	516	0.000	0.041	2073	575	3488	3411	3565	0	0	0	0	0	0	28.83	26.67	28.83
3544	-1.35	-170.3	1280	575	3393	3562	317.1	-9.1	213	3552	0.00	2.03	0.00	0.000	1030	0.000	0.016	2064	1979	3486	3409	3563	0	0	0	0	0	0	28.83	26.74	28.83
3851	-1.35	-170.3	2064	1979	3408	3561	345.9	-8.9	229	3856	0.00	2.17	0.00	0.000	516	0.000	0.041	2072	574	3484	3408	3560	0	0	0	0	0	0	28.83	26.67	28.83
3891	-1.35	-170.3	2072	574	3408	3561	348.2	-8.7	230	3900	0.00	2.03	0.00	0.000	1030	0.000	0.017	2064	1974	3484	3407	3561	0	0	0	0	0	0	28.83	26.74	28.83
3915	end dive: TARGET_DEPTH_EXCEEDED
state	3915	begin apogee
3920	-0.25	0.0	2061	2312	3407	3560	352.0	-8.9	232	4136	0.77	0.00	206.02	0.767	10246	0.124	0.000	2312	2312	2790	2752	2828	0	0	0	0	0	0	26.53	28.83	24.56
4137	end apogee: CONTROL_FINISHED_OK
state	4137	begin climb
4139	1.35	170.3	2312	2312	2750	2828	333.9	0.0	241	4293	1.00	2.28	145.48	0.894	10500	0.068	0.034	2662	3675	2094	2056	2132	0	0	0	0	0	0	25.25	24.95	24.28
4533	1.38	180.6	2662	3677	2049	2117	297.2	8.9	259	4548	0.00	2.10	6.62	0.788	9222	0.000	0.024	2672	2309	2059	2023	2095	0	0	0	0	0	0	28.83	25.98	25.12
4845	1.42	195.7	2671	2309	2023	2090	268.6	8.7	275	4866	0.00	0.00	15.70	0.826	8198	0.000	0.000	2672	2309	1993	1956	2030	0	0	0	0	0	0	28.83	28.83	25.23
5165	1.43	201.2	2671	2309	1954	2023	239.6	9.1	291	5177	0.00	2.25	4.43	0.696	8708	0.000	0.041	2683	900	1974	1939	2009	0	0	0	0	0	0	28.83	26.22	25.25
5226	1.44	206.9	2683	900	1939	2009	235.4	9.1	293	5241	0.00	2.08	7.88	0.793	9222	0.000	0.017	2682	2300	1948	1912	1984	0	0	0	0	0	0	28.83	26.33	25.40
5559	1.47	216.9	2682	2300	1912	1976	204.3	8.9	310	5571	0.00	0.00	10.12	0.785	8198	0.000	0.000	2682	2300	1909	1880	1939	0	0	0	0	0	0	28.83	28.83	25.48
5860	1.49	225.6	2682	2300	1877	1929	177.1	8.9	325	5876	0.00	2.12	8.52	0.769	8452	0.000	0.036	2683	3686	1872	1845	1899	0	0	0	0	0	0	28.83	26.25	25.51
5927	1.52	237.3	2682	3687	1845	1896	171.2	8.8	328	5951	0.00	2.10	12.43	0.767	9222	0.000	0.025	2693	2300	1822	1795	1849	0	0	0	0	0	0	28.83	26.32	25.41
6248	1.53	243.0	2692	2300	1795	1843	142.1	9.1	344	6259	0.00	2.20	4.40	0.662	8708	0.000	0.042	2703	895	1804	1777	1831	0	0	0	0	0	0	28.83	26.27	25.33
6311	1.55	247.8	2703	895	1777	1831	137.8	9.1	346	6326	0.00	2.08	7.12	0.741	9222	0.000	0.018	2703	2298	1781	1753	1810	0	0	0	0	0	0	28.83	26.38	25.50
6644	1.58	263.0	2703	2298	1753	1804	106.2	8.7	363	6668	0.00	2.12	15.73	0.725	8452	0.000	0.034	2703	3687	1717	1685	1750	0	0	0	0	0	0	28.83	26.17	25.50
6878	1.61	275.0	2703	3687	1682	1745	85.4	8.8	374	6895	0.00	2.10	11.90	0.711	9222	0.000	0.025	2713	2302	1671	1635	1708	0	0	0	0	0	0	28.83	26.35	25.48
7204	1.63	279.7	2712	2302	1631	1700	56.2	9.1	390	7216	0.00	2.20	3.47	0.527	8452	0.000	0.034	2713	3687	1653	1612	1694	0	0	0	0	0	0	28.83	26.34	25.39
7260	1.64	283.2	2712	3685	1612	1697	51.8	9.1	392	7273	0.00	2.12	4.35	0.611	9222	0.000	0.026	2722	2292	1640	1594	1686	0	0	0	0	0	0	28.83	26.38	25.40
7576	1.67	297.7	1680	2290	1557	1678	22.5	8.7	425	7600	0.00	2.25	16.27	0.655	8452	0.000	0.034	2723	3692	1576	1524	1628	0	0	0	0	0	0	28.83	26.22	25.58
7668	1.68	300.2	1696	3691	1490	1619	14.0	9.2	440	7676	0.00	2.12	0.00	0.000	1030	0.000	0.026	2733	2300	1574	1522	1626	0	0	0	0	0	0	28.83	26.30	28.83
7790	end climb: SURFACE_DEPTH_REACHED
state	7790	begin surface coast
7825	end surface coast: CONTROL_FINISHED_OK
state	7825	begin surface