Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 132 * 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 132 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 52 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 58 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 2640 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 -100660.49 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 -100660.49

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 2640 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 52 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 58 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 132 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 180313,223658,1921.287,12007.590,340,0.7,340,-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 180313,224331,1921.238,12007.632,19,0.9,19,-2.5 MHEAD_RNG_PITCHd_Wd 334.2,266570,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3907

Post-dive calculations and measurements:

FINISH 0.0,1.026038 _10V_AH 10.2,13.865

SM_CCo 8077,2.72,0.291,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.50,0.55,2.72,0.076,0.034,0.291,81,1953,400,-10.41,0.90,549.47,0,0,0,0,0,0,26.33,26.36,24.57 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1913.80,12006.51,180313,202031 MEM 323916

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16767,470

HUMID 47.95 CAP_FILE_SIZE 347920,1765

INTERNAL_PRESSURE 9.03854 CFSIZE 260034560,235614208

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 0 CURRENT 0.019,116.3,1

SC_FREEKB 3972352 GPS 190313,010504,1921.867,12007.238,348,1.2,348,-2.5

_24V_AH 24.3,23.292

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 223 93.23 nil 0 0 0.00

Roll_motor 64 45 71.18 nil 0 0 0.00

VBD_pump_during_apogee 432 875 9193.99 nil 0 0 0.00

VBD_pump_during_surface 220 783 4196.88 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 7823 6 1305.98

Iridium_during_xfer 227 131 726.13 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 29 6.40

TT8 1775 14 261.90

LPSleep 4241 2 94.74

TT8_Active 766 14 112.99

TT8_Sampling 1410 39 563.85

TT8_CF8 264 46 125.89

TT8_Kalman 0 0 0.00

Analog_circuits 1750 15 276.76

GPS_charging 0 0 0.00

Compass 1180 7 90.19

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 86 1936 330 472 0.0 0.0 0 44 0.00 0.00 -24.12 0.000 16386 0.000 0.000 86 1937 1020 999 1042 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 86 1937 999 1042 3.1 -9.0 3 152 7.88 2.17 -88.20 0.000 18692 0.223 0.041 2059 3371 3336 3242 3431 0 0 0 0 0 0 25.83 26.17 26.45

376 -1.35 -170.3 2059 3372 3248 3431 33.4 -9.3 50 382 0.00 2.10 0.00 0.000 1030 0.000 0.024 2067 1972 3339 3248 3431 0 0 0 0 0 0 28.83 26.35 28.83

690 -1.35 -170.3 2067 1972 3252 3431 61.6 -8.9 75 696 0.00 2.12 0.00 0.000 516 0.000 0.039 2078 571 3341 3252 3431 0 0 0 0 0 0 28.83 26.45 28.83

746 -1.35 -170.3 2078 571 3252 3431 65.6 -8.9 77 752 0.00 2.05 0.00 0.000 1030 0.000 0.015 2069 1997 3341 3252 3431 0 0 0 0 0 0 28.83 26.53 28.83

1061 -1.35 -170.3 2070 1998 3253 3430 94.8 -9.1 93 1062 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 1998 3342 3253 3431 0 0 0 0 0 0 28.83 28.83 28.83

1362 -1.35 -170.3 2069 1999 3254 3431 121.6 -9.0 108 1368 0.00 2.20 0.00 0.000 516 0.000 0.038 2077 567 3342 3253 3431 0 0 0 0 0 0 28.83 26.58 28.83

1523 -1.35 -170.3 2077 567 3254 3430 135.5 -9.1 115 1529 0.00 2.03 0.00 0.000 1030 0.000 0.015 2069 1980 3342 3254 3430 0 0 0 0 0 0 28.83 26.65 28.83

1838 -1.35 -170.3 2069 1981 3254 3428 164.9 -8.8 131 1845 0.00 2.03 0.00 0.000 260 0.000 0.031 2058 3354 3340 3254 3427 0 0 0 0 0 0 28.83 26.63 28.83

1879 -1.35 -170.3 2058 3354 3254 3427 167.3 -8.9 132 1886 0.00 2.05 0.00 0.000 1030 0.000 0.024 2066 1971 3340 3254 3427 0 0 0 0 0 0 28.83 26.65 28.83

2186 -1.35 -170.3 2066 1971 3254 3424 196.0 -8.9 148 2192 0.00 2.12 0.00 0.000 516 0.000 0.042 2077 570 3339 3255 3423 0 0 0 0 0 0 28.83 26.63 28.83

2255 -1.35 -170.3 2076 570 3254 3423 202.0 -9.0 151 2262 0.00 2.03 0.00 0.000 1030 0.000 0.016 2068 1980 3338 3254 3423 0 0 0 0 0 0 28.83 26.70 28.83

2576 -1.35 -170.3 2068 1981 3254 3421 230.2 -8.6 167 2577 0.00 0.00 0.00 0.000 6 0.000 0.000 2068 1981 3337 3254 3421 0 0 0 0 0 0 28.83 28.83 28.83

2877 -1.35 -170.3 2068 1981 3254 3417 256.9 -9.0 182 2878 0.00 0.00 0.00 0.000 6 0.000 0.000 2068 1981 3335 3254 3417 0 0 0 0 0 0 28.83 28.83 28.83

3178 -1.35 -170.3 2068 1981 3253 3415 283.4 -9.0 197 3185 0.00 2.17 0.00 0.000 516 0.000 0.041 2076 570 3334 3253 3415 0 0 0 0 0 0 28.83 26.65 28.83

3214 -1.35 -170.3 2076 570 3253 3414 286.0 -9.1 198 3220 0.00 2.03 0.00 0.000 1030 0.000 0.016 2068 1976 3333 3253 3414 0 0 0 0 0 0 28.83 26.73 28.83

3529 -1.35 -170.3 2068 1977 3252 3412 316.1 -9.2 214 3535 0.00 2.05 0.00 0.000 260 0.000 0.032 2058 3357 3332 3252 3412 0 0 0 0 0 0 28.83 26.67 28.83

3558 -1.35 -170.3 2057 3357 3252 3411 318.3 -9.2 215 3565 0.00 2.08 0.00 0.000 1030 0.000 0.027 2060 1968 3331 3252 3411 0 0 0 0 0 0 28.83 26.68 28.83

3878 -1.35 -170.3 2059 1968 3249 3409 347.5 -8.7 231 3884 0.00 2.12 0.00 0.000 516 0.000 0.045 2069 575 3329 3249 3409 0 0 0 0 0 0 28.83 26.65 28.83

3922 end dive: TARGET_DEPTH_EXCEEDED

state 3922 begin apogee

3929 -0.25 0.0 2061 2294 3248 3409 351.6 -8.7 233 4085 0.77 0.00 149.93 0.875 10246 0.127 0.000 2308 2295 2639 2589 2689 0 0 0 0 0 0 26.51 28.83 24.49

4086 end apogee: CONTROL_FINISHED_OK

state 4086 begin climb

4088 1.35 170.3 2308 2295 2581 2680 337.4 0.0 240 4249 1.02 2.33 153.48 0.852 10500 0.074 0.034 2661 3692 1938 1905 1972 0 0 0 0 0 0 25.20 24.96 24.33

4348 1.37 177.2 2661 3694 1901 1951 314.4 9.0 251 4355 0.00 2.17 1.27 0.052 9222 0.000 0.024 2671 2302 1915 1890 1941 0 0 0 0 0 0 28.83 25.63 25.59

4663 1.38 181.7 2670 2302 1890 1944 284.2 9.1 267 4675 0.00 2.28 3.35 0.526 8708 0.000 0.042 2682 899 1899 1872 1926 0 0 0 0 0 0 28.83 26.10 25.13

4731 1.40 189.0 2681 899 1872 1929 278.1 9.0 270 4754 0.00 2.10 13.30 0.810 9222 0.000 0.017 2682 2308 1861 1834 1888 0 0 0 0 0 0 28.83 26.22 25.24

5051 1.42 195.7 2681 2308 1833 1882 249.3 9.0 286 5063 0.00 2.12 4.50 0.687 8452 0.000 0.034 2682 3692 1841 1815 1868 0 0 0 0 0 0 28.83 26.22 25.23

5205 1.43 203.0 2681 3692 1815 1868 236.0 9.0 293 5224 0.00 2.12 9.93 0.790 9222 0.000 0.024 2692 2294 1808 1779 1837 0 0 0 0 0 0 28.83 26.33 25.41

5522 1.44 204.2 2691 2294 1778 1832 206.6 9.2 309 5523 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2294 1805 1778 1832 0 0 0 0 0 0 28.83 28.83 28.83

5823 1.46 214.1 2691 2294 1778 1830 179.7 8.9 324 5838 0.00 0.00 11.45 0.764 8454 0.000 0.000 2692 2295 1764 1734 1794 0 0 0 0 0 0 28.83 28.83 25.57

6146 1.51 231.1 2691 2294 1731 1787 150.5 8.6 340 6170 0.00 2.25 17.27 0.742 8452 0.000 0.034 2692 3690 1692 1657 1727 0 0 0 0 0 0 28.83 26.16 25.48

6197 1.52 238.2 2692 3690 1655 1723 146.1 9.0 342 6208 0.00 2.12 5.53 0.716 9222 0.000 0.025 2702 2300 1669 1634 1705 0 0 0 0 0 0 28.83 26.22 25.37

6517 1.55 248.4 2701 2300 1634 1704 116.9 8.9 358 6537 0.00 0.00 12.25 0.717 8198 0.000 0.000 2702 2299 1622 1576 1669 0 0 0 0 0 0 28.83 28.83 25.50

6837 1.58 261.5 2701 2300 1575 1663 88.5 8.8 374 6860 0.00 2.25 13.45 0.688 8708 0.000 0.044 2712 899 1567 1516 1618 0 0 0 0 0 0 28.83 26.17 25.52

6884 1.60 269.7 2712 899 1516 1616 84.4 9.0 376 6901 0.00 2.10 8.73 0.684 9222 0.000 0.018 2712 2309 1534 1482 1587 0 0 0 0 0 0 28.83 26.26 25.44

7209 1.61 274.5 2712 2308 1481 1582 54.8 9.1 392 7221 0.00 2.15 3.38 0.493 8452 0.000 0.036 2712 3682 1520 1470 1571 0 0 0 0 0 0 28.83 26.30 25.35

7255 1.62 278.2 1728 3681 1442 1565 50.7 9.1 394 7266 0.00 2.10 5.10 0.644 9222 0.000 0.026 2722 2302 1505 1453 1557 0 0 0 0 0 0 28.83 26.34 25.49

7572 1.65 290.6 1696 2299 1425 1551 22.2 8.8 427 7596 0.00 2.20 15.32 0.625 8708 0.000 0.042 2733 896 1449 1400 1499 0 0 0 0 0 0 28.83 26.20 25.59

7711 1.67 296.0 1712 895 1374 1489 9.6 9.1 451 7721 0.00 2.10 4.10 0.546 9222 0.000 0.018 2732 2309 1432 1385 1479 0 0 0 0 0 0 28.83 26.36 25.39

7787 end climb: SURFACE_DEPTH_REACHED

state 7787 begin surface coast

7822 end surface coast: CONTROL_FINISHED_OK

state 7822 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	132	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	52	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	58	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	2640	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	-100660.49	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	180313,223658,1921.287,12007.590,340,0.7,340,-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	180313,224331,1921.238,12007.632,19,0.9,19,-2.5	MHEAD_RNG_PITCHd_Wd	334.2,266570,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3907

FINISH	0.0,1.026038	_10V_AH	10.2,13.865
SM_CCo	8077,2.72,0.291,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.50,0.55,2.72,0.076,0.034,0.291,81,1953,400,-10.41,0.90,549.47,0,0,0,0,0,0,26.33,26.36,24.57	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1913.80,12006.51,180313,202031	MEM	323916
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16767,470
HUMID	47.95	CAP_FILE_SIZE	347920,1765
INTERNAL_PRESSURE	9.03854	CFSIZE	260034560,235614208
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	0	CURRENT	0.019,116.3,1
SC_FREEKB	3972352	GPS	190313,010504,1921.867,12007.238,348,1.2,348,-2.5
_24V_AH	24.3,23.292

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	223	93.23	nil	0	0	0.00
Roll_motor	64	45	71.18	nil	0	0	0.00
VBD_pump_during_apogee	432	875	9193.99	nil	0	0	0.00
VBD_pump_during_surface	220	783	4196.88	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	7823	6	1305.98
Iridium_during_xfer	227	131	726.13	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	29	6.40
TT8	1775	14	261.90
LPSleep	4241	2	94.74
TT8_Active	766	14	112.99
TT8_Sampling	1410	39	563.85
TT8_CF8	264	46	125.89
TT8_Kalman	0	0	0.00
Analog_circuits	1750	15	276.76
GPS_charging	0	0	0.00
Compass	1180	7	90.19
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	86	1936	330	472	0.0	0.0	0	44	0.00	0.00	-24.12	0.000	16386	0.000	0.000	86	1937	1020	999	1042	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	86	1937	999	1042	3.1	-9.0	3	152	7.88	2.17	-88.20	0.000	18692	0.223	0.041	2059	3371	3336	3242	3431	0	0	0	0	0	0	25.83	26.17	26.45
376	-1.35	-170.3	2059	3372	3248	3431	33.4	-9.3	50	382	0.00	2.10	0.00	0.000	1030	0.000	0.024	2067	1972	3339	3248	3431	0	0	0	0	0	0	28.83	26.35	28.83
690	-1.35	-170.3	2067	1972	3252	3431	61.6	-8.9	75	696	0.00	2.12	0.00	0.000	516	0.000	0.039	2078	571	3341	3252	3431	0	0	0	0	0	0	28.83	26.45	28.83
746	-1.35	-170.3	2078	571	3252	3431	65.6	-8.9	77	752	0.00	2.05	0.00	0.000	1030	0.000	0.015	2069	1997	3341	3252	3431	0	0	0	0	0	0	28.83	26.53	28.83
1061	-1.35	-170.3	2070	1998	3253	3430	94.8	-9.1	93	1062	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	1998	3342	3253	3431	0	0	0	0	0	0	28.83	28.83	28.83
1362	-1.35	-170.3	2069	1999	3254	3431	121.6	-9.0	108	1368	0.00	2.20	0.00	0.000	516	0.000	0.038	2077	567	3342	3253	3431	0	0	0	0	0	0	28.83	26.58	28.83
1523	-1.35	-170.3	2077	567	3254	3430	135.5	-9.1	115	1529	0.00	2.03	0.00	0.000	1030	0.000	0.015	2069	1980	3342	3254	3430	0	0	0	0	0	0	28.83	26.65	28.83
1838	-1.35	-170.3	2069	1981	3254	3428	164.9	-8.8	131	1845	0.00	2.03	0.00	0.000	260	0.000	0.031	2058	3354	3340	3254	3427	0	0	0	0	0	0	28.83	26.63	28.83
1879	-1.35	-170.3	2058	3354	3254	3427	167.3	-8.9	132	1886	0.00	2.05	0.00	0.000	1030	0.000	0.024	2066	1971	3340	3254	3427	0	0	0	0	0	0	28.83	26.65	28.83
2186	-1.35	-170.3	2066	1971	3254	3424	196.0	-8.9	148	2192	0.00	2.12	0.00	0.000	516	0.000	0.042	2077	570	3339	3255	3423	0	0	0	0	0	0	28.83	26.63	28.83
2255	-1.35	-170.3	2076	570	3254	3423	202.0	-9.0	151	2262	0.00	2.03	0.00	0.000	1030	0.000	0.016	2068	1980	3338	3254	3423	0	0	0	0	0	0	28.83	26.70	28.83
2576	-1.35	-170.3	2068	1981	3254	3421	230.2	-8.6	167	2577	0.00	0.00	0.00	0.000	6	0.000	0.000	2068	1981	3337	3254	3421	0	0	0	0	0	0	28.83	28.83	28.83
2877	-1.35	-170.3	2068	1981	3254	3417	256.9	-9.0	182	2878	0.00	0.00	0.00	0.000	6	0.000	0.000	2068	1981	3335	3254	3417	0	0	0	0	0	0	28.83	28.83	28.83
3178	-1.35	-170.3	2068	1981	3253	3415	283.4	-9.0	197	3185	0.00	2.17	0.00	0.000	516	0.000	0.041	2076	570	3334	3253	3415	0	0	0	0	0	0	28.83	26.65	28.83
3214	-1.35	-170.3	2076	570	3253	3414	286.0	-9.1	198	3220	0.00	2.03	0.00	0.000	1030	0.000	0.016	2068	1976	3333	3253	3414	0	0	0	0	0	0	28.83	26.73	28.83
3529	-1.35	-170.3	2068	1977	3252	3412	316.1	-9.2	214	3535	0.00	2.05	0.00	0.000	260	0.000	0.032	2058	3357	3332	3252	3412	0	0	0	0	0	0	28.83	26.67	28.83
3558	-1.35	-170.3	2057	3357	3252	3411	318.3	-9.2	215	3565	0.00	2.08	0.00	0.000	1030	0.000	0.027	2060	1968	3331	3252	3411	0	0	0	0	0	0	28.83	26.68	28.83
3878	-1.35	-170.3	2059	1968	3249	3409	347.5	-8.7	231	3884	0.00	2.12	0.00	0.000	516	0.000	0.045	2069	575	3329	3249	3409	0	0	0	0	0	0	28.83	26.65	28.83
3922	end dive: TARGET_DEPTH_EXCEEDED
state	3922	begin apogee
3929	-0.25	0.0	2061	2294	3248	3409	351.6	-8.7	233	4085	0.77	0.00	149.93	0.875	10246	0.127	0.000	2308	2295	2639	2589	2689	0	0	0	0	0	0	26.51	28.83	24.49
4086	end apogee: CONTROL_FINISHED_OK
state	4086	begin climb
4088	1.35	170.3	2308	2295	2581	2680	337.4	0.0	240	4249	1.02	2.33	153.48	0.852	10500	0.074	0.034	2661	3692	1938	1905	1972	0	0	0	0	0	0	25.20	24.96	24.33
4348	1.37	177.2	2661	3694	1901	1951	314.4	9.0	251	4355	0.00	2.17	1.27	0.052	9222	0.000	0.024	2671	2302	1915	1890	1941	0	0	0	0	0	0	28.83	25.63	25.59
4663	1.38	181.7	2670	2302	1890	1944	284.2	9.1	267	4675	0.00	2.28	3.35	0.526	8708	0.000	0.042	2682	899	1899	1872	1926	0	0	0	0	0	0	28.83	26.10	25.13
4731	1.40	189.0	2681	899	1872	1929	278.1	9.0	270	4754	0.00	2.10	13.30	0.810	9222	0.000	0.017	2682	2308	1861	1834	1888	0	0	0	0	0	0	28.83	26.22	25.24
5051	1.42	195.7	2681	2308	1833	1882	249.3	9.0	286	5063	0.00	2.12	4.50	0.687	8452	0.000	0.034	2682	3692	1841	1815	1868	0	0	0	0	0	0	28.83	26.22	25.23
5205	1.43	203.0	2681	3692	1815	1868	236.0	9.0	293	5224	0.00	2.12	9.93	0.790	9222	0.000	0.024	2692	2294	1808	1779	1837	0	0	0	0	0	0	28.83	26.33	25.41
5522	1.44	204.2	2691	2294	1778	1832	206.6	9.2	309	5523	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2294	1805	1778	1832	0	0	0	0	0	0	28.83	28.83	28.83
5823	1.46	214.1	2691	2294	1778	1830	179.7	8.9	324	5838	0.00	0.00	11.45	0.764	8454	0.000	0.000	2692	2295	1764	1734	1794	0	0	0	0	0	0	28.83	28.83	25.57
6146	1.51	231.1	2691	2294	1731	1787	150.5	8.6	340	6170	0.00	2.25	17.27	0.742	8452	0.000	0.034	2692	3690	1692	1657	1727	0	0	0	0	0	0	28.83	26.16	25.48
6197	1.52	238.2	2692	3690	1655	1723	146.1	9.0	342	6208	0.00	2.12	5.53	0.716	9222	0.000	0.025	2702	2300	1669	1634	1705	0	0	0	0	0	0	28.83	26.22	25.37
6517	1.55	248.4	2701	2300	1634	1704	116.9	8.9	358	6537	0.00	0.00	12.25	0.717	8198	0.000	0.000	2702	2299	1622	1576	1669	0	0	0	0	0	0	28.83	28.83	25.50
6837	1.58	261.5	2701	2300	1575	1663	88.5	8.8	374	6860	0.00	2.25	13.45	0.688	8708	0.000	0.044	2712	899	1567	1516	1618	0	0	0	0	0	0	28.83	26.17	25.52
6884	1.60	269.7	2712	899	1516	1616	84.4	9.0	376	6901	0.00	2.10	8.73	0.684	9222	0.000	0.018	2712	2309	1534	1482	1587	0	0	0	0	0	0	28.83	26.26	25.44
7209	1.61	274.5	2712	2308	1481	1582	54.8	9.1	392	7221	0.00	2.15	3.38	0.493	8452	0.000	0.036	2712	3682	1520	1470	1571	0	0	0	0	0	0	28.83	26.30	25.35
7255	1.62	278.2	1728	3681	1442	1565	50.7	9.1	394	7266	0.00	2.10	5.10	0.644	9222	0.000	0.026	2722	2302	1505	1453	1557	0	0	0	0	0	0	28.83	26.34	25.49
7572	1.65	290.6	1696	2299	1425	1551	22.2	8.8	427	7596	0.00	2.20	15.32	0.625	8708	0.000	0.042	2733	896	1449	1400	1499	0	0	0	0	0	0	28.83	26.20	25.59
7711	1.67	296.0	1712	895	1374	1489	9.6	9.1	451	7721	0.00	2.10	4.10	0.546	9222	0.000	0.018	2732	2309	1432	1385	1479	0	0	0	0	0	0	28.83	26.36	25.39
7787	end climb: SURFACE_DEPTH_REACHED
state	7787	begin surface coast
7822	end surface coast: CONTROL_FINISHED_OK
state	7822	begin surface