Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 139 * 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 139 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 39 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 55 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 -100669.31 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 -100669.31

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 39 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 55 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 139 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 190313,154558,1929.712,12006.830,199,0.8,199,-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 -64.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190313,155220,1929.763,12006.829,20,0.8,21,-2.5 MHEAD_RNG_PITCHd_Wd 329.8,250734,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 4148

Post-dive calculations and measurements:

FINISH 0.0,1.025827 _10V_AH 10.1,14.299

SM_CCo 8093,2.67,0.310,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.47,0.50,2.67,0.077,0.042,0.310,90,1955,400,-10.37,0.99,549.47,0,0,0,0,0,0,26.41,26.45,24.61 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1922.94,12005.68,190313,131332 MEM 323872

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16757,475

HUMID 49.48 CAP_FILE_SIZE 343750,1730

INTERNAL_PRESSURE 9.05807 CFSIZE 260034560,234876928

TCM_TEMP 18.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 1 CURRENT 0.168, 40.9,1

SC_FREEKB 3969664 GPS 190313,181235,1931.006,12006.857,255,0.7,255,-2.5

_24V_AH 24.2,24.416

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 225 94.48 nil 0 0 0.00

Roll_motor 60 43 64.16 nil 0 0 0.00

VBD_pump_during_apogee 430 1028 10714.46 nil 0 0 0.00

VBD_pump_during_surface 215 751 3923.19 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 7849 5 1124.67

Iridium_during_xfer 212 136 704.35 nil 0 0 0.00

Transponder_ping 0 420 2.54 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 29 6.61

TT8 1756 14 256.49

LPSleep 4304 2 95.20

TT8_Active 752 14 109.86

TT8_Sampling 1378 39 545.49

TT8_CF8 269 46 127.15

TT8_Kalman 0 0 0.00

Analog_circuits 1704 15 266.88

GPS_charging 0 0 0.00

Compass 1150 7 87.07

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 83 1948 329 473 0.0 0.0 0 44 0.00 0.00 -23.92 0.000 16386 0.000 0.000 83 1948 1018 999 1038 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 84 1949 999 1040 3.2 -8.9 3 152 7.95 2.25 -90.28 0.000 18692 0.226 0.042 2056 3382 3337 3243 3431 0 0 0 0 0 0 25.84 26.17 26.45

317 -1.35 -170.3 2055 3382 3248 3430 27.9 -9.0 44 323 0.00 2.15 0.00 0.000 1030 0.000 0.027 2061 1965 3339 3248 3430 0 0 0 0 0 0 28.83 26.31 28.83

643 -1.35 -170.3 2061 1964 3252 3430 57.4 -9.1 72 644 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 1964 3341 3252 3431 0 0 0 0 0 0 28.83 28.83 28.83

943 -1.35 -170.3 2061 1964 3254 3430 84.2 -9.0 87 948 0.00 2.12 0.00 0.000 260 0.000 0.028 2052 3380 3342 3254 3431 0 0 0 0 0 0 28.83 26.53 28.83

998 -1.35 -170.3 2052 3381 3254 3430 88.6 -9.2 89 1005 0.00 2.10 0.00 0.000 1030 0.000 0.024 2053 1968 3342 3254 3430 0 0 0 0 0 0 28.83 26.55 28.83

1315 -1.35 -170.3 2052 1968 3255 3431 117.7 -9.2 105 1320 0.00 2.10 0.00 0.000 516 0.000 0.040 2061 578 3342 3255 3430 0 0 0 0 0 0 28.83 26.57 28.83

1406 -1.35 -170.3 2060 578 3255 3430 125.7 -9.0 109 1412 0.00 2.03 0.00 0.000 1030 0.000 0.015 2052 1997 3342 3255 3430 0 0 0 0 0 0 28.83 26.65 28.83

1726 -1.35 -170.3 2052 2000 3258 3428 154.6 -9.1 125 1727 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 1999 3343 3258 3428 0 0 0 0 0 0 28.83 28.83 28.83

2027 -1.35 -170.3 2052 1999 3257 3425 181.6 -9.1 140 2033 0.00 2.20 0.00 0.000 516 0.000 0.040 2056 567 3340 3257 3424 0 0 0 0 0 0 28.83 26.63 28.83

2096 -1.35 -170.3 2056 567 3257 3424 187.6 -8.8 143 2104 0.10 2.03 0.00 0.000 3078 0.183 0.016 2070 1986 3340 3257 3424 0 0 0 0 0 0 26.48 26.70 28.83

2418 -1.35 -170.3 2069 1987 3257 3421 216.1 -9.0 159 2423 0.00 2.17 0.00 0.000 516 0.000 0.041 2080 574 3338 3257 3420 0 0 0 0 0 0 28.83 26.64 28.83

2477 -1.35 -170.3 1296 574 3233 3417 220.3 -8.9 161 2485 0.00 2.03 0.00 0.000 1030 0.000 0.016 2071 1975 3338 3257 3420 0 0 0 0 0 0 28.83 26.72 28.83

2784 -1.35 -170.3 2071 1975 3255 3417 248.9 -9.0 177 2785 0.00 0.00 0.00 0.000 6 0.000 0.000 2071 1975 3336 3255 3417 0 0 0 0 0 0 28.83 28.83 28.83

3085 -1.35 -170.3 2071 1975 3253 3415 276.3 -9.1 192 3086 0.00 0.00 0.00 0.000 6 0.000 0.000 2071 1975 3333 3253 3414 0 0 0 0 0 0 28.83 28.83 28.83

3385 -1.35 -170.3 2071 1975 3252 3412 303.3 -9.1 207 3391 0.00 2.15 0.00 0.000 516 0.000 0.043 2080 577 3331 3252 3411 0 0 0 0 0 0 28.83 26.65 28.83

3420 -1.35 -170.3 2079 577 3252 3411 305.5 -9.0 208 3426 0.00 2.03 0.00 0.000 1030 0.000 0.016 2071 1984 3332 3252 3412 0 0 0 0 0 0 28.83 26.73 28.83

3735 -1.35 -170.3 2070 1984 3249 3409 334.7 -9.2 224 3740 0.00 2.17 0.00 0.000 516 0.000 0.044 2079 579 3329 3249 3409 0 0 0 0 0 0 28.83 26.65 28.83

3815 -1.35 -170.3 2078 579 3248 3409 340.7 -9.1 227 3823 0.00 2.03 0.00 0.000 1030 0.000 0.017 2070 1981 3328 3248 3409 0 0 0 0 0 0 28.83 26.73 28.83

3918 end dive: TARGET_DEPTH_EXCEEDED

state 3918 begin apogee

3923 -0.25 0.0 2067 2303 3248 3408 351.6 -9.2 233 4085 0.75 0.00 149.80 1.029 10246 0.125 0.000 2310 2303 2639 2590 2689 0 0 0 0 1 0 26.49 28.83 24.21

4087 end apogee: CONTROL_FINISHED_OK

state 4087 begin climb

4089 1.35 170.3 2309 2302 2590 2689 337.5 0.0 240 4257 1.02 2.30 158.57 0.868 10500 0.073 0.035 2663 3678 1937 1904 1971 0 0 0 0 0 0 25.11 24.93 24.27

4323 1.38 180.8 2662 3679 1901 1953 316.5 8.9 250 4337 0.00 2.15 3.95 0.612 9222 0.000 0.024 2673 2309 1901 1875 1927 0 0 0 0 0 0 28.83 25.48 24.57

4634 1.38 181.6 2672 2309 1876 1931 287.6 9.2 266 4635 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2309 1903 1876 1931 0 0 0 0 0 0 28.83 28.83 28.83

4935 1.38 181.6 2672 2309 1875 1931 260.6 9.7 281 4941 0.00 2.20 0.00 0.000 516 0.000 0.042 2683 890 1903 1875 1932 0 0 0 0 0 0 28.83 26.30 28.83

4994 1.40 188.7 2683 890 1875 1931 256.5 9.0 283 5014 0.00 2.08 12.18 0.802 9222 0.000 0.018 2683 2295 1864 1836 1892 0 0 0 0 0 0 28.83 26.40 25.41

5329 1.41 193.1 2683 2295 1833 1882 225.2 9.1 300 5334 0.00 2.12 0.00 0.000 260 0.000 0.034 2683 3697 1857 1833 1882 0 0 0 0 0 0 28.83 26.36 28.83

5353 1.43 199.6 1680 3697 1787 1872 223.0 9.0 301 5370 0.00 2.12 10.10 0.785 9222 0.000 0.025 2693 2294 1822 1794 1850 0 0 0 0 0 0 28.83 26.39 25.47

5679 1.46 212.1 2693 2294 1790 1841 193.9 8.8 317 5703 0.00 2.25 12.65 0.765 8708 0.000 0.043 2704 893 1768 1738 1799 0 0 0 0 0 0 28.83 26.18 25.48

5720 1.47 218.8 2704 893 1738 1798 192.0 9.0 318 5730 0.00 2.10 4.85 0.697 9222 0.000 0.018 2704 2299 1748 1716 1780 0 0 0 0 0 0 28.83 26.27 25.23

6026 1.49 223.2 2704 2299 1715 1780 162.6 9.1 334 6039 0.00 2.22 7.12 0.744 8452 0.000 0.037 2704 3702 1726 1693 1759 0 0 0 0 0 0 28.83 26.25 25.50

6118 1.51 234.4 1728 3701 1654 1747 154.8 8.9 338 6136 0.00 2.15 12.15 0.743 9222 0.000 0.026 2714 2290 1681 1647 1716 0 0 0 0 0 0 28.83 26.32 25.44

6435 1.55 250.0 2714 2290 1644 1707 126.6 8.7 354 6455 0.00 0.00 15.93 0.711 8198 0.000 0.000 2714 2290 1615 1569 1661 0 0 0 0 0 0 28.83 28.83 25.45

6755 1.58 259.1 2714 2290 1566 1654 97.4 8.9 370 6771 0.00 2.25 8.65 0.692 8708 0.000 0.044 2724 896 1578 1529 1628 0 0 0 0 0 0 28.83 26.21 25.53

6803 1.61 272.4 2724 896 1528 1626 93.5 8.8 372 6823 0.00 2.10 14.43 0.676 9222 0.000 0.018 2725 2302 1527 1476 1579 0 0 0 0 0 0 28.83 26.30 25.42

7120 1.61 272.5 2725 2302 1471 1569 64.7 9.3 388 7126 0.00 2.15 0.00 0.000 260 0.000 0.037 2725 3702 1519 1471 1568 0 0 0 0 0 0 28.83 26.32 28.83

7194 1.62 277.3 2724 3702 1471 1568 58.7 9.1 391 7202 0.00 2.12 3.00 0.427 9222 0.000 0.027 2735 2302 1508 1457 1559 0 0 0 0 0 0 28.83 26.36 25.35

7511 1.65 290.7 2734 2302 1458 1560 29.6 8.8 418 7531 0.00 0.00 16.92 0.607 8198 0.000 0.000 2735 2302 1452 1403 1501 0 0 0 0 0 0 28.83 28.83 25.61

7803 end climb: SURFACE_DEPTH_REACHED

state 7803 begin surface coast

7843 end surface coast: CONTROL_FINISHED_OK

state 7843 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	139	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	39	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	55	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	-100669.31	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	190313,154558,1929.712,12006.830,199,0.8,199,-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	-64.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190313,155220,1929.763,12006.829,20,0.8,21,-2.5	MHEAD_RNG_PITCHd_Wd	329.8,250734,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	4148

FINISH	0.0,1.025827	_10V_AH	10.1,14.299
SM_CCo	8093,2.67,0.310,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.47,0.50,2.67,0.077,0.042,0.310,90,1955,400,-10.37,0.99,549.47,0,0,0,0,0,0,26.41,26.45,24.61	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1922.94,12005.68,190313,131332	MEM	323872
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16757,475
HUMID	49.48	CAP_FILE_SIZE	343750,1730
INTERNAL_PRESSURE	9.05807	CFSIZE	260034560,234876928
TCM_TEMP	18.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	1	CURRENT	0.168, 40.9,1
SC_FREEKB	3969664	GPS	190313,181235,1931.006,12006.857,255,0.7,255,-2.5
_24V_AH	24.2,24.416

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	225	94.48	nil	0	0	0.00
Roll_motor	60	43	64.16	nil	0	0	0.00
VBD_pump_during_apogee	430	1028	10714.46	nil	0	0	0.00
VBD_pump_during_surface	215	751	3923.19	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	7849	5	1124.67
Iridium_during_xfer	212	136	704.35	nil	0	0	0.00
Transponder_ping	0	420	2.54	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	29	6.61
TT8	1756	14	256.49
LPSleep	4304	2	95.20
TT8_Active	752	14	109.86
TT8_Sampling	1378	39	545.49
TT8_CF8	269	46	127.15
TT8_Kalman	0	0	0.00
Analog_circuits	1704	15	266.88
GPS_charging	0	0	0.00
Compass	1150	7	87.07
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	83	1948	329	473	0.0	0.0	0	44	0.00	0.00	-23.92	0.000	16386	0.000	0.000	83	1948	1018	999	1038	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	84	1949	999	1040	3.2	-8.9	3	152	7.95	2.25	-90.28	0.000	18692	0.226	0.042	2056	3382	3337	3243	3431	0	0	0	0	0	0	25.84	26.17	26.45
317	-1.35	-170.3	2055	3382	3248	3430	27.9	-9.0	44	323	0.00	2.15	0.00	0.000	1030	0.000	0.027	2061	1965	3339	3248	3430	0	0	0	0	0	0	28.83	26.31	28.83
643	-1.35	-170.3	2061	1964	3252	3430	57.4	-9.1	72	644	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	1964	3341	3252	3431	0	0	0	0	0	0	28.83	28.83	28.83
943	-1.35	-170.3	2061	1964	3254	3430	84.2	-9.0	87	948	0.00	2.12	0.00	0.000	260	0.000	0.028	2052	3380	3342	3254	3431	0	0	0	0	0	0	28.83	26.53	28.83
998	-1.35	-170.3	2052	3381	3254	3430	88.6	-9.2	89	1005	0.00	2.10	0.00	0.000	1030	0.000	0.024	2053	1968	3342	3254	3430	0	0	0	0	0	0	28.83	26.55	28.83
1315	-1.35	-170.3	2052	1968	3255	3431	117.7	-9.2	105	1320	0.00	2.10	0.00	0.000	516	0.000	0.040	2061	578	3342	3255	3430	0	0	0	0	0	0	28.83	26.57	28.83
1406	-1.35	-170.3	2060	578	3255	3430	125.7	-9.0	109	1412	0.00	2.03	0.00	0.000	1030	0.000	0.015	2052	1997	3342	3255	3430	0	0	0	0	0	0	28.83	26.65	28.83
1726	-1.35	-170.3	2052	2000	3258	3428	154.6	-9.1	125	1727	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	1999	3343	3258	3428	0	0	0	0	0	0	28.83	28.83	28.83
2027	-1.35	-170.3	2052	1999	3257	3425	181.6	-9.1	140	2033	0.00	2.20	0.00	0.000	516	0.000	0.040	2056	567	3340	3257	3424	0	0	0	0	0	0	28.83	26.63	28.83
2096	-1.35	-170.3	2056	567	3257	3424	187.6	-8.8	143	2104	0.10	2.03	0.00	0.000	3078	0.183	0.016	2070	1986	3340	3257	3424	0	0	0	0	0	0	26.48	26.70	28.83
2418	-1.35	-170.3	2069	1987	3257	3421	216.1	-9.0	159	2423	0.00	2.17	0.00	0.000	516	0.000	0.041	2080	574	3338	3257	3420	0	0	0	0	0	0	28.83	26.64	28.83
2477	-1.35	-170.3	1296	574	3233	3417	220.3	-8.9	161	2485	0.00	2.03	0.00	0.000	1030	0.000	0.016	2071	1975	3338	3257	3420	0	0	0	0	0	0	28.83	26.72	28.83
2784	-1.35	-170.3	2071	1975	3255	3417	248.9	-9.0	177	2785	0.00	0.00	0.00	0.000	6	0.000	0.000	2071	1975	3336	3255	3417	0	0	0	0	0	0	28.83	28.83	28.83
3085	-1.35	-170.3	2071	1975	3253	3415	276.3	-9.1	192	3086	0.00	0.00	0.00	0.000	6	0.000	0.000	2071	1975	3333	3253	3414	0	0	0	0	0	0	28.83	28.83	28.83
3385	-1.35	-170.3	2071	1975	3252	3412	303.3	-9.1	207	3391	0.00	2.15	0.00	0.000	516	0.000	0.043	2080	577	3331	3252	3411	0	0	0	0	0	0	28.83	26.65	28.83
3420	-1.35	-170.3	2079	577	3252	3411	305.5	-9.0	208	3426	0.00	2.03	0.00	0.000	1030	0.000	0.016	2071	1984	3332	3252	3412	0	0	0	0	0	0	28.83	26.73	28.83
3735	-1.35	-170.3	2070	1984	3249	3409	334.7	-9.2	224	3740	0.00	2.17	0.00	0.000	516	0.000	0.044	2079	579	3329	3249	3409	0	0	0	0	0	0	28.83	26.65	28.83
3815	-1.35	-170.3	2078	579	3248	3409	340.7	-9.1	227	3823	0.00	2.03	0.00	0.000	1030	0.000	0.017	2070	1981	3328	3248	3409	0	0	0	0	0	0	28.83	26.73	28.83
3918	end dive: TARGET_DEPTH_EXCEEDED
state	3918	begin apogee
3923	-0.25	0.0	2067	2303	3248	3408	351.6	-9.2	233	4085	0.75	0.00	149.80	1.029	10246	0.125	0.000	2310	2303	2639	2590	2689	0	0	0	0	1	0	26.49	28.83	24.21
4087	end apogee: CONTROL_FINISHED_OK
state	4087	begin climb
4089	1.35	170.3	2309	2302	2590	2689	337.5	0.0	240	4257	1.02	2.30	158.57	0.868	10500	0.073	0.035	2663	3678	1937	1904	1971	0	0	0	0	0	0	25.11	24.93	24.27
4323	1.38	180.8	2662	3679	1901	1953	316.5	8.9	250	4337	0.00	2.15	3.95	0.612	9222	0.000	0.024	2673	2309	1901	1875	1927	0	0	0	0	0	0	28.83	25.48	24.57
4634	1.38	181.6	2672	2309	1876	1931	287.6	9.2	266	4635	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2309	1903	1876	1931	0	0	0	0	0	0	28.83	28.83	28.83
4935	1.38	181.6	2672	2309	1875	1931	260.6	9.7	281	4941	0.00	2.20	0.00	0.000	516	0.000	0.042	2683	890	1903	1875	1932	0	0	0	0	0	0	28.83	26.30	28.83
4994	1.40	188.7	2683	890	1875	1931	256.5	9.0	283	5014	0.00	2.08	12.18	0.802	9222	0.000	0.018	2683	2295	1864	1836	1892	0	0	0	0	0	0	28.83	26.40	25.41
5329	1.41	193.1	2683	2295	1833	1882	225.2	9.1	300	5334	0.00	2.12	0.00	0.000	260	0.000	0.034	2683	3697	1857	1833	1882	0	0	0	0	0	0	28.83	26.36	28.83
5353	1.43	199.6	1680	3697	1787	1872	223.0	9.0	301	5370	0.00	2.12	10.10	0.785	9222	0.000	0.025	2693	2294	1822	1794	1850	0	0	0	0	0	0	28.83	26.39	25.47
5679	1.46	212.1	2693	2294	1790	1841	193.9	8.8	317	5703	0.00	2.25	12.65	0.765	8708	0.000	0.043	2704	893	1768	1738	1799	0	0	0	0	0	0	28.83	26.18	25.48
5720	1.47	218.8	2704	893	1738	1798	192.0	9.0	318	5730	0.00	2.10	4.85	0.697	9222	0.000	0.018	2704	2299	1748	1716	1780	0	0	0	0	0	0	28.83	26.27	25.23
6026	1.49	223.2	2704	2299	1715	1780	162.6	9.1	334	6039	0.00	2.22	7.12	0.744	8452	0.000	0.037	2704	3702	1726	1693	1759	0	0	0	0	0	0	28.83	26.25	25.50
6118	1.51	234.4	1728	3701	1654	1747	154.8	8.9	338	6136	0.00	2.15	12.15	0.743	9222	0.000	0.026	2714	2290	1681	1647	1716	0	0	0	0	0	0	28.83	26.32	25.44
6435	1.55	250.0	2714	2290	1644	1707	126.6	8.7	354	6455	0.00	0.00	15.93	0.711	8198	0.000	0.000	2714	2290	1615	1569	1661	0	0	0	0	0	0	28.83	28.83	25.45
6755	1.58	259.1	2714	2290	1566	1654	97.4	8.9	370	6771	0.00	2.25	8.65	0.692	8708	0.000	0.044	2724	896	1578	1529	1628	0	0	0	0	0	0	28.83	26.21	25.53
6803	1.61	272.4	2724	896	1528	1626	93.5	8.8	372	6823	0.00	2.10	14.43	0.676	9222	0.000	0.018	2725	2302	1527	1476	1579	0	0	0	0	0	0	28.83	26.30	25.42
7120	1.61	272.5	2725	2302	1471	1569	64.7	9.3	388	7126	0.00	2.15	0.00	0.000	260	0.000	0.037	2725	3702	1519	1471	1568	0	0	0	0	0	0	28.83	26.32	28.83
7194	1.62	277.3	2724	3702	1471	1568	58.7	9.1	391	7202	0.00	2.12	3.00	0.427	9222	0.000	0.027	2735	2302	1508	1457	1559	0	0	0	0	0	0	28.83	26.36	25.35
7511	1.65	290.7	2734	2302	1458	1560	29.6	8.8	418	7531	0.00	0.00	16.92	0.607	8198	0.000	0.000	2735	2302	1452	1403	1501	0	0	0	0	0	0	28.83	28.83	25.61
7803	end climb: SURFACE_DEPTH_REACHED
state	7803	begin surface coast
7843	end surface coast: CONTROL_FINISHED_OK
state	7843	begin surface