Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 138 * 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 138 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 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 -100668.05 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 -100668.05

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 51 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 138 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 190313,132053,1927.917,12006.531,349,1.8,349,-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 -66.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190313,132721,1928.040,12006.517,21,1.6,21,-2.5 MHEAD_RNG_PITCHd_Wd 351.2,253897,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 4160

Post-dive calculations and measurements:

FINISH 0.0,1.025399 _10V_AH 10.1,14.240

SM_CCo 8052,0.52,0.151,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.60,2.72,0.52,0.079,0.028,0.151,84,1959,401,-10.40,0.79,549.47,0,0,0,0,0,0,26.29,26.29,25.13 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1918.37,12007.65,190313,101043 MEM 323944

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16776,468

HUMID 48.46 CAP_FILE_SIZE 368850,1936

INTERNAL_PRESSURE 9.09714 CFSIZE 260034560,234954752

TCM_TEMP 18.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 0 CURRENT 0.230, 28.9,1

SC_FREEKB 3970048 GPS 190313,154558,1929.712,12006.830,199,0.8,199,-2.5

_24V_AH 24.2,24.257

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 229 96.78 nil 0 0 0.00

Roll_motor 69 43 73.18 nil 0 0 0.00

VBD_pump_during_apogee 461 1003 11209.40 nil 0 0 0.00

VBD_pump_during_surface 195 725 3424.95 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 7829 5 1125.78

Iridium_during_xfer 218 136 719.37 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 29 6.81

TT8 1866 14 272.57

LPSleep 4024 2 89.01

TT8_Active 758 14 110.77

TT8_Sampling 1494 39 591.57

TT8_CF8 281 46 132.57

TT8_Kalman 0 0 0.00

Analog_circuits 1793 15 280.82

GPS_charging 0 0 0.00

Compass 1264 7 95.66

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 1946 330 480 0.0 0.0 0 43 0.00 0.00 -23.20 0.000 16386 0.000 0.000 83 1946 1007 987 1028 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 84 1946 987 1028 3.1 -9.1 3 151 8.02 2.17 -87.25 0.000 18692 0.230 0.044 2059 3371 3337 3245 3430 0 0 0 0 0 0 25.84 26.18 26.46

241 -1.35 -170.3 2059 3371 3248 3430 21.0 -8.9 33 249 0.00 2.10 0.00 0.000 1030 0.000 0.024 2067 1975 3339 3248 3430 0 0 0 0 0 0 28.83 26.28 28.83

559 -1.35 -170.3 2067 1975 3251 3430 49.7 -8.8 68 564 0.00 2.12 0.00 0.000 516 0.000 0.040 2078 577 3340 3251 3430 0 0 0 0 0 0 28.83 26.41 28.83

626 -1.35 -170.3 2077 577 3252 3430 55.6 -8.8 72 631 0.00 2.03 0.00 0.000 1030 0.000 0.015 2069 1992 3341 3252 3430 0 0 0 0 0 0 28.83 26.51 28.83

950 -1.35 -170.3 2069 1992 3254 3431 85.1 -9.0 88 956 0.00 2.00 0.00 0.000 260 0.000 0.030 2059 3354 3342 3254 3430 0 0 0 0 0 0 28.83 26.53 28.83

1145 -1.35 -170.3 2059 3355 3254 3430 102.1 -8.9 97 1151 0.00 2.05 0.00 0.000 1030 0.000 0.023 2067 1970 3342 3254 3430 0 0 0 0 0 0 28.83 26.58 28.83

1465 -1.35 -170.3 2066 1970 3255 3430 131.8 -9.2 113 1471 0.00 2.10 0.00 0.000 516 0.000 0.041 2077 577 3342 3255 3430 0 0 0 0 0 0 28.83 26.58 28.83

1606 -1.35 -170.3 2077 577 3255 3430 143.8 -9.0 119 1611 0.00 2.00 0.00 0.000 1030 0.000 0.015 2069 1979 3343 3256 3430 0 0 0 0 0 0 28.83 26.67 28.83

1920 -1.35 -170.3 2068 1982 3256 3427 173.0 -9.1 135 1921 0.00 0.00 0.00 0.000 6 0.000 0.000 2068 1982 3341 3256 3427 0 0 0 0 0 0 28.83 28.83 28.83

2222 -1.35 -170.3 2068 1982 3256 3424 200.1 -8.6 150 2228 0.00 2.15 0.00 0.000 516 0.000 0.039 2077 576 3339 3256 3423 0 0 0 0 0 0 28.83 26.63 28.83

2329 -1.35 -170.3 2077 576 3256 3423 209.9 -9.0 155 2335 0.00 2.00 0.00 0.000 1030 0.000 0.015 2068 1978 3339 3256 3423 0 0 0 0 0 0 28.83 26.71 28.83

2654 -1.35 -170.3 2068 1978 3256 3422 238.9 -8.9 171 2660 0.00 2.15 0.00 0.000 516 0.000 0.041 2077 577 3338 3256 3420 0 0 0 0 0 0 28.83 26.64 28.83

2845 -1.35 -170.3 2076 577 3255 3419 255.9 -9.1 180 2851 0.00 2.03 0.00 0.000 1030 0.000 0.016 2068 1985 3336 3254 3418 0 0 0 0 0 0 28.83 26.72 28.83

3170 -1.35 -170.3 2068 1985 3253 3415 284.9 -8.8 196 3171 0.00 0.00 0.00 0.000 6 0.000 0.000 2068 1985 3334 3253 3415 0 0 0 0 0 0 28.83 28.83 28.83

3472 -1.35 -170.3 2068 1985 3252 3413 312.2 -9.0 211 3473 0.00 0.00 0.00 0.000 6 0.000 0.000 2068 1986 3332 3252 3413 0 0 0 0 0 0 28.83 28.83 28.83

3770 -1.35 -170.3 2068 1986 3250 3411 339.0 -9.1 226 3776 0.00 2.17 0.00 0.000 516 0.000 0.042 2076 577 3330 3250 3410 0 0 0 0 0 0 28.83 26.65 28.83

3861 -1.35 -170.3 2076 577 3249 3410 346.9 -9.0 230 3868 0.00 2.03 0.00 0.000 1030 0.000 0.016 2068 1971 3329 3249 3410 0 0 0 0 0 0 28.83 26.74 28.83

3900 end dive: TARGET_DEPTH_EXCEEDED

state 3901 begin apogee

3905 -0.25 0.0 2065 2311 3249 3410 350.9 -9.1 232 4070 0.75 0.00 152.02 1.004 10246 0.130 0.000 2305 2312 2639 2589 2689 0 0 0 0 1 0 26.49 28.83 24.24

4073 end apogee: CONTROL_FINISHED_OK

state 4073 begin climb

4075 1.35 170.3 2305 2312 2589 2689 336.8 0.0 239 4242 1.05 2.28 157.77 0.853 10500 0.075 0.034 2663 3677 1937 1904 1970 0 0 0 0 0 0 25.14 24.94 24.29

4282 1.37 177.6 2663 3677 1900 1953 317.9 9.0 248 4289 0.00 2.15 1.67 0.052 9222 0.000 0.024 2673 2311 1913 1887 1940 0 0 0 0 0 0 28.83 25.37 25.31

4598 1.38 181.5 2673 2311 1887 1941 288.7 9.1 264 4606 0.00 2.30 2.95 0.438 8708 0.000 0.041 2684 893 1898 1872 1925 0 0 0 0 0 0 28.83 26.06 25.06

4667 1.40 189.3 2684 893 1872 1927 282.5 9.0 267 4690 0.00 2.10 13.77 0.806 9222 0.000 0.017 2684 2298 1860 1834 1887 0 0 0 0 0 0 28.83 26.20 25.20

4986 1.45 207.7 2684 2298 1833 1881 254.3 8.6 283 5010 0.00 2.33 17.88 0.784 8708 0.000 0.040 2694 890 1788 1759 1817 0 0 0 0 0 0 28.83 25.97 25.27

5064 1.48 222.1 2694 890 1755 1814 248.3 8.7 286 5087 0.00 2.10 14.70 0.780 9222 0.000 0.018 2694 2297 1728 1697 1760 0 0 0 0 0 0 28.83 26.13 25.18

5402 1.48 222.8 2694 2297 1694 1751 216.4 9.2 303 5408 0.00 2.15 0.00 0.000 260 0.000 0.035 2694 3699 1723 1695 1751 0 0 0 0 0 0 28.83 26.27 28.83

5509 1.49 226.0 1696 3698 1656 1742 206.8 9.1 308 5515 0.00 2.12 0.00 0.000 1030 0.000 0.024 2704 2297 1722 1695 1750 0 0 0 0 0 0 28.83 26.34 28.83

5834 1.52 238.8 2704 2297 1695 1749 177.4 8.8 324 5858 0.00 2.25 15.90 0.730 8452 0.000 0.033 2704 3697 1658 1621 1696 0 0 0 0 0 0 28.83 26.20 25.52

5903 1.54 245.6 2704 3697 1616 1696 171.2 9.0 327 5915 0.00 2.15 4.53 0.654 9222 0.000 0.025 2714 2290 1637 1593 1682 0 0 0 0 0 0 28.83 26.27 25.27

6228 1.56 253.6 2714 2290 1593 1682 142.9 9.0 343 6244 0.00 0.00 10.85 0.712 8710 0.000 0.000 2714 2291 1600 1551 1650 0 0 0 0 0 0 28.83 28.83 25.53

6553 1.59 265.3 2714 2290 1549 1645 113.8 8.8 359 6570 0.00 2.25 12.23 0.680 8708 0.000 0.043 2725 900 1553 1501 1606 0 0 0 0 0 0 28.83 26.21 25.56

6611 1.62 276.6 2724 900 1501 1600 109.8 8.9 361 6631 0.00 2.10 11.88 0.672 9222 0.000 0.018 2725 2309 1507 1455 1559 0 0 0 0 0 0 28.83 26.32 25.46

6945 1.64 284.1 2724 2309 1454 1552 78.6 9.0 378 6962 0.00 2.17 7.35 0.652 8452 0.000 0.036 2724 3690 1477 1427 1527 0 0 0 0 0 0 28.83 26.26 25.56

6991 1.66 292.1 2724 3690 1427 1525 74.4 9.0 380 7008 0.00 2.12 8.75 0.646 9222 0.000 0.027 2734 2298 1445 1399 1492 0 0 0 0 0 0 28.83 26.29 25.52

7316 1.68 300.8 2734 2299 1398 1484 44.8 8.9 398 7331 0.00 2.28 9.45 0.616 8708 0.000 0.043 2745 889 1408 1367 1449 0 0 0 0 0 0 28.83 26.23 25.60

7411 1.70 307.4 2745 889 1366 1446 36.3 9.0 406 7426 0.00 2.10 5.97 0.603 9222 0.000 0.018 2746 2302 1387 1349 1425 0 0 0 0 0 0 28.83 26.36 25.56

7738 1.73 319.3 1712 2300 1324 1416 7.1 8.8 455 7761 0.00 2.12 13.82 0.565 8452 0.000 0.034 2745 3694 1331 1301 1362 0 0 0 0 0 0 28.83 26.25 25.65

7785 end climb: SURFACE_DEPTH_REACHED

state 7785 begin surface coast

7817 end surface coast: CONTROL_FINISHED_OK

state 7818 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	138	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	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	-100668.05	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	190313,132053,1927.917,12006.531,349,1.8,349,-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	-66.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190313,132721,1928.040,12006.517,21,1.6,21,-2.5	MHEAD_RNG_PITCHd_Wd	351.2,253897,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	4160

FINISH	0.0,1.025399	_10V_AH	10.1,14.240
SM_CCo	8052,0.52,0.151,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.60,2.72,0.52,0.079,0.028,0.151,84,1959,401,-10.40,0.79,549.47,0,0,0,0,0,0,26.29,26.29,25.13	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1918.37,12007.65,190313,101043	MEM	323944
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16776,468
HUMID	48.46	CAP_FILE_SIZE	368850,1936
INTERNAL_PRESSURE	9.09714	CFSIZE	260034560,234954752
TCM_TEMP	18.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	0	CURRENT	0.230, 28.9,1
SC_FREEKB	3970048	GPS	190313,154558,1929.712,12006.830,199,0.8,199,-2.5
_24V_AH	24.2,24.257

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	229	96.78	nil	0	0	0.00
Roll_motor	69	43	73.18	nil	0	0	0.00
VBD_pump_during_apogee	461	1003	11209.40	nil	0	0	0.00
VBD_pump_during_surface	195	725	3424.95	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	7829	5	1125.78
Iridium_during_xfer	218	136	719.37	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	29	6.81
TT8	1866	14	272.57
LPSleep	4024	2	89.01
TT8_Active	758	14	110.77
TT8_Sampling	1494	39	591.57
TT8_CF8	281	46	132.57
TT8_Kalman	0	0	0.00
Analog_circuits	1793	15	280.82
GPS_charging	0	0	0.00
Compass	1264	7	95.66
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	1946	330	480	0.0	0.0	0	43	0.00	0.00	-23.20	0.000	16386	0.000	0.000	83	1946	1007	987	1028	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	84	1946	987	1028	3.1	-9.1	3	151	8.02	2.17	-87.25	0.000	18692	0.230	0.044	2059	3371	3337	3245	3430	0	0	0	0	0	0	25.84	26.18	26.46
241	-1.35	-170.3	2059	3371	3248	3430	21.0	-8.9	33	249	0.00	2.10	0.00	0.000	1030	0.000	0.024	2067	1975	3339	3248	3430	0	0	0	0	0	0	28.83	26.28	28.83
559	-1.35	-170.3	2067	1975	3251	3430	49.7	-8.8	68	564	0.00	2.12	0.00	0.000	516	0.000	0.040	2078	577	3340	3251	3430	0	0	0	0	0	0	28.83	26.41	28.83
626	-1.35	-170.3	2077	577	3252	3430	55.6	-8.8	72	631	0.00	2.03	0.00	0.000	1030	0.000	0.015	2069	1992	3341	3252	3430	0	0	0	0	0	0	28.83	26.51	28.83
950	-1.35	-170.3	2069	1992	3254	3431	85.1	-9.0	88	956	0.00	2.00	0.00	0.000	260	0.000	0.030	2059	3354	3342	3254	3430	0	0	0	0	0	0	28.83	26.53	28.83
1145	-1.35	-170.3	2059	3355	3254	3430	102.1	-8.9	97	1151	0.00	2.05	0.00	0.000	1030	0.000	0.023	2067	1970	3342	3254	3430	0	0	0	0	0	0	28.83	26.58	28.83
1465	-1.35	-170.3	2066	1970	3255	3430	131.8	-9.2	113	1471	0.00	2.10	0.00	0.000	516	0.000	0.041	2077	577	3342	3255	3430	0	0	0	0	0	0	28.83	26.58	28.83
1606	-1.35	-170.3	2077	577	3255	3430	143.8	-9.0	119	1611	0.00	2.00	0.00	0.000	1030	0.000	0.015	2069	1979	3343	3256	3430	0	0	0	0	0	0	28.83	26.67	28.83
1920	-1.35	-170.3	2068	1982	3256	3427	173.0	-9.1	135	1921	0.00	0.00	0.00	0.000	6	0.000	0.000	2068	1982	3341	3256	3427	0	0	0	0	0	0	28.83	28.83	28.83
2222	-1.35	-170.3	2068	1982	3256	3424	200.1	-8.6	150	2228	0.00	2.15	0.00	0.000	516	0.000	0.039	2077	576	3339	3256	3423	0	0	0	0	0	0	28.83	26.63	28.83
2329	-1.35	-170.3	2077	576	3256	3423	209.9	-9.0	155	2335	0.00	2.00	0.00	0.000	1030	0.000	0.015	2068	1978	3339	3256	3423	0	0	0	0	0	0	28.83	26.71	28.83
2654	-1.35	-170.3	2068	1978	3256	3422	238.9	-8.9	171	2660	0.00	2.15	0.00	0.000	516	0.000	0.041	2077	577	3338	3256	3420	0	0	0	0	0	0	28.83	26.64	28.83
2845	-1.35	-170.3	2076	577	3255	3419	255.9	-9.1	180	2851	0.00	2.03	0.00	0.000	1030	0.000	0.016	2068	1985	3336	3254	3418	0	0	0	0	0	0	28.83	26.72	28.83
3170	-1.35	-170.3	2068	1985	3253	3415	284.9	-8.8	196	3171	0.00	0.00	0.00	0.000	6	0.000	0.000	2068	1985	3334	3253	3415	0	0	0	0	0	0	28.83	28.83	28.83
3472	-1.35	-170.3	2068	1985	3252	3413	312.2	-9.0	211	3473	0.00	0.00	0.00	0.000	6	0.000	0.000	2068	1986	3332	3252	3413	0	0	0	0	0	0	28.83	28.83	28.83
3770	-1.35	-170.3	2068	1986	3250	3411	339.0	-9.1	226	3776	0.00	2.17	0.00	0.000	516	0.000	0.042	2076	577	3330	3250	3410	0	0	0	0	0	0	28.83	26.65	28.83
3861	-1.35	-170.3	2076	577	3249	3410	346.9	-9.0	230	3868	0.00	2.03	0.00	0.000	1030	0.000	0.016	2068	1971	3329	3249	3410	0	0	0	0	0	0	28.83	26.74	28.83
3900	end dive: TARGET_DEPTH_EXCEEDED
state	3901	begin apogee
3905	-0.25	0.0	2065	2311	3249	3410	350.9	-9.1	232	4070	0.75	0.00	152.02	1.004	10246	0.130	0.000	2305	2312	2639	2589	2689	0	0	0	0	1	0	26.49	28.83	24.24
4073	end apogee: CONTROL_FINISHED_OK
state	4073	begin climb
4075	1.35	170.3	2305	2312	2589	2689	336.8	0.0	239	4242	1.05	2.28	157.77	0.853	10500	0.075	0.034	2663	3677	1937	1904	1970	0	0	0	0	0	0	25.14	24.94	24.29
4282	1.37	177.6	2663	3677	1900	1953	317.9	9.0	248	4289	0.00	2.15	1.67	0.052	9222	0.000	0.024	2673	2311	1913	1887	1940	0	0	0	0	0	0	28.83	25.37	25.31
4598	1.38	181.5	2673	2311	1887	1941	288.7	9.1	264	4606	0.00	2.30	2.95	0.438	8708	0.000	0.041	2684	893	1898	1872	1925	0	0	0	0	0	0	28.83	26.06	25.06
4667	1.40	189.3	2684	893	1872	1927	282.5	9.0	267	4690	0.00	2.10	13.77	0.806	9222	0.000	0.017	2684	2298	1860	1834	1887	0	0	0	0	0	0	28.83	26.20	25.20
4986	1.45	207.7	2684	2298	1833	1881	254.3	8.6	283	5010	0.00	2.33	17.88	0.784	8708	0.000	0.040	2694	890	1788	1759	1817	0	0	0	0	0	0	28.83	25.97	25.27
5064	1.48	222.1	2694	890	1755	1814	248.3	8.7	286	5087	0.00	2.10	14.70	0.780	9222	0.000	0.018	2694	2297	1728	1697	1760	0	0	0	0	0	0	28.83	26.13	25.18
5402	1.48	222.8	2694	2297	1694	1751	216.4	9.2	303	5408	0.00	2.15	0.00	0.000	260	0.000	0.035	2694	3699	1723	1695	1751	0	0	0	0	0	0	28.83	26.27	28.83
5509	1.49	226.0	1696	3698	1656	1742	206.8	9.1	308	5515	0.00	2.12	0.00	0.000	1030	0.000	0.024	2704	2297	1722	1695	1750	0	0	0	0	0	0	28.83	26.34	28.83
5834	1.52	238.8	2704	2297	1695	1749	177.4	8.8	324	5858	0.00	2.25	15.90	0.730	8452	0.000	0.033	2704	3697	1658	1621	1696	0	0	0	0	0	0	28.83	26.20	25.52
5903	1.54	245.6	2704	3697	1616	1696	171.2	9.0	327	5915	0.00	2.15	4.53	0.654	9222	0.000	0.025	2714	2290	1637	1593	1682	0	0	0	0	0	0	28.83	26.27	25.27
6228	1.56	253.6	2714	2290	1593	1682	142.9	9.0	343	6244	0.00	0.00	10.85	0.712	8710	0.000	0.000	2714	2291	1600	1551	1650	0	0	0	0	0	0	28.83	28.83	25.53
6553	1.59	265.3	2714	2290	1549	1645	113.8	8.8	359	6570	0.00	2.25	12.23	0.680	8708	0.000	0.043	2725	900	1553	1501	1606	0	0	0	0	0	0	28.83	26.21	25.56
6611	1.62	276.6	2724	900	1501	1600	109.8	8.9	361	6631	0.00	2.10	11.88	0.672	9222	0.000	0.018	2725	2309	1507	1455	1559	0	0	0	0	0	0	28.83	26.32	25.46
6945	1.64	284.1	2724	2309	1454	1552	78.6	9.0	378	6962	0.00	2.17	7.35	0.652	8452	0.000	0.036	2724	3690	1477	1427	1527	0	0	0	0	0	0	28.83	26.26	25.56
6991	1.66	292.1	2724	3690	1427	1525	74.4	9.0	380	7008	0.00	2.12	8.75	0.646	9222	0.000	0.027	2734	2298	1445	1399	1492	0	0	0	0	0	0	28.83	26.29	25.52
7316	1.68	300.8	2734	2299	1398	1484	44.8	8.9	398	7331	0.00	2.28	9.45	0.616	8708	0.000	0.043	2745	889	1408	1367	1449	0	0	0	0	0	0	28.83	26.23	25.60
7411	1.70	307.4	2745	889	1366	1446	36.3	9.0	406	7426	0.00	2.10	5.97	0.603	9222	0.000	0.018	2746	2302	1387	1349	1425	0	0	0	0	0	0	28.83	26.36	25.56
7738	1.73	319.3	1712	2300	1324	1416	7.1	8.8	455	7761	0.00	2.12	13.82	0.565	8452	0.000	0.034	2745	3694	1331	1301	1362	0	0	0	0	0	0	28.83	26.25	25.65
7785	end climb: SURFACE_DEPTH_REACHED
state	7785	begin surface coast
7817	end surface coast: CONTROL_FINISHED_OK
state	7818	begin surface