Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 140 * 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 140 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 54 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 -100670.57 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 2380 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 -100670.57

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 2380 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 50 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 54 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 140 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 190313,181235,1931.006,12006.857,255,0.7,255,-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 -64.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190313,181905,1931.035,12006.922,25,1.0,26,-2.5 MHEAD_RNG_PITCHd_Wd 330.7,248389,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 4148

Post-dive calculations and measurements:

FINISH 0.0,1.025889 _10V_AH 10.2,14.360

SM_CCo 8080,0.00,0.000,0,0,399,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.57,0.47,0.00,0.080,0.043,0.000,86,1963,399,-10.46,1.22,549.47,0,0,0,0,0,0,26.38,26.41,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1922.94,12005.68,190313,151538 MEM 323896

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16743,466

HUMID 48.66 CAP_FILE_SIZE 352947,1809

INTERNAL_PRESSURE 9.05807 CFSIZE 260034560,234762240

TCM_TEMP 18.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 0 CURRENT 0.120, 51.7,1

SC_FREEKB 3969280 GPS 190313,203837,1931.990,12006.897,225,0.8,226,-2.5

_24V_AH 24.2,24.575

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 221 92.75 nil 0 0 0.00

Roll_motor 68 43 72.55 nil 0 0 0.00

VBD_pump_during_apogee 444 1041 11211.72 nil 0 0 0.00

VBD_pump_during_surface 216 739 3874.90 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 7828 5 1121.47

Iridium_during_xfer 217 133 699.98 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 29 8.09

TT8 1781 14 262.77

LPSleep 4171 2 93.19

TT8_Active 794 14 117.14

TT8_Sampling 1434 39 573.32

TT8_CF8 273 46 130.03

TT8_Kalman 0 0 0.00

Analog_circuits 1796 15 284.04

GPS_charging 0 0 0.00

Compass 1199 7 91.63

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 89 1943 343 490 0.0 0.0 0 43 0.00 0.00 -23.12 0.000 16386 0.000 0.000 88 1944 1019 1002 1036 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 88 1945 1002 1038 3.1 -9.0 3 157 7.90 0.00 -95.70 0.000 18694 0.222 0.000 2081 1946 3336 3243 3429 0 0 0 0 0 0 25.86 28.83 26.47

475 -1.35 -170.3 2081 1945 3248 3428 42.5 -9.4 60 480 0.00 2.10 0.00 0.000 516 0.000 0.038 2091 575 3338 3248 3429 0 0 0 0 0 0 28.83 26.38 28.83

504 -1.35 -170.3 2090 575 3248 3429 44.8 -9.1 62 512 0.00 2.05 0.00 0.000 1030 0.000 0.015 2082 1996 3339 3248 3430 0 0 0 0 0 0 28.83 26.46 28.83

822 -1.35 -170.3 2082 1997 3252 3429 73.5 -8.8 81 828 0.00 2.03 0.00 0.000 260 0.000 0.029 2072 3368 3340 3252 3428 0 0 0 0 0 0 28.83 26.50 28.83

1061 -1.35 -170.3 2071 3368 3253 3428 94.8 -8.7 92 1066 0.00 2.08 0.00 0.000 1030 0.000 0.024 2080 1977 3340 3252 3429 0 0 0 0 0 0 28.83 26.56 28.83

1385 -1.35 -170.3 2080 1977 3253 3428 123.8 -9.1 108 1392 0.00 2.12 0.00 0.000 516 0.000 0.041 2090 572 3341 3253 3429 0 0 0 0 0 0 28.83 26.58 28.83

1476 -1.35 -170.3 1296 572 3228 3425 131.6 -9.1 112 1482 0.00 2.03 0.00 0.000 1030 0.000 0.016 2082 1985 3341 3253 3429 0 0 0 0 0 0 28.83 26.66 28.83

1795 -1.35 -170.3 2081 1987 3255 3426 160.3 -9.3 128 1801 0.00 2.17 0.00 0.000 516 0.000 0.040 2090 577 3340 3254 3426 0 0 0 0 0 0 28.83 26.61 28.83

1862 -1.35 -170.3 2090 576 3254 3426 166.1 -8.6 131 1868 0.00 2.00 0.00 0.000 1030 0.000 0.016 2082 1974 3340 3255 3426 0 0 0 0 0 0 28.83 26.68 28.83

2187 -1.35 -170.3 2081 1974 3254 3422 195.2 -8.9 147 2193 0.00 2.15 0.00 0.000 516 0.000 0.041 2090 575 3338 3254 3422 0 0 0 0 0 0 28.83 26.62 28.83

2226 -1.35 -170.3 2090 575 3254 3422 197.3 -8.9 148 2234 0.00 2.00 0.00 0.000 1030 0.000 0.016 2081 1972 3338 3254 3422 0 0 0 0 0 0 28.83 26.70 28.83

2533 -1.35 -170.3 2081 1973 3254 3419 226.4 -8.9 164 2539 0.00 2.05 0.00 0.000 260 0.000 0.031 2071 3360 3336 3254 3418 0 0 0 0 0 0 28.83 26.65 28.83

2559 -1.35 -170.3 2070 3360 3254 3417 228.6 -8.8 165 2565 0.00 2.08 0.00 0.000 1030 0.000 0.027 2073 1970 3335 3254 3417 0 0 0 0 0 0 28.83 26.66 28.83

2884 -1.35 -170.3 2073 1970 3254 3415 257.8 -9.0 181 2890 0.00 2.12 0.00 0.000 516 0.000 0.044 2083 574 3334 3253 3415 0 0 0 0 0 0 28.83 26.64 28.83

2919 -1.35 -170.3 2082 574 3253 3415 260.0 -8.9 182 2925 0.00 2.03 0.00 0.000 1030 0.000 0.017 2074 1979 3334 3253 3415 0 0 0 0 0 0 28.83 26.71 28.83

3234 -1.35 -170.3 2073 1980 3252 3412 289.0 -8.9 198 3235 0.00 0.00 0.00 0.000 6 0.000 0.000 2074 1980 3332 3253 3412 0 0 0 0 0 0 28.83 28.83 28.83

3536 -1.35 -170.3 2073 1980 3250 3410 315.8 -8.7 213 3542 0.00 2.17 0.00 0.000 516 0.000 0.043 2082 575 3330 3250 3410 0 0 0 0 0 0 28.83 26.65 28.83

3581 -1.35 -170.3 1280 575 3224 3406 320.2 -9.1 215 3587 0.00 2.03 0.00 0.000 1030 0.000 0.016 2073 1975 3329 3249 3410 0 0 0 0 0 0 28.83 26.72 28.83

3906 -1.35 -170.3 2073 1976 3248 3408 348.8 -9.0 231 3912 0.00 2.17 0.00 0.000 516 0.000 0.044 2082 572 3327 3248 3407 0 0 0 0 0 0 28.83 26.65 28.83

3930 end dive: TARGET_DEPTH_EXCEEDED

state 3931 begin apogee

3938 -0.25 0.0 2071 2295 3248 3407 351.0 -8.9 232 4094 0.77 0.00 142.62 1.042 10246 0.124 0.000 2321 2296 2639 2590 2689 0 0 0 0 1 0 26.50 28.83 24.25

4096 end apogee: CONTROL_FINISHED_OK

state 4096 begin climb

4098 1.35 170.3 2321 2296 2590 2689 336.7 0.0 239 4291 1.02 2.25 183.27 0.798 10500 0.067 0.033 2680 3691 1938 1905 1972 0 0 0 0 0 0 25.15 24.98 24.40

4378 1.38 180.7 2680 3692 1901 1953 311.9 8.9 251 4392 0.00 2.17 3.38 0.474 9222 0.000 0.024 2691 2299 1901 1874 1928 0 0 0 0 0 0 28.83 25.58 24.71

4689 1.42 198.9 2690 2299 1874 1937 283.7 8.6 267 4719 0.00 2.30 23.42 0.813 8708 0.000 0.042 2701 899 1821 1791 1851 0 0 0 0 0 0 28.83 25.76 25.06

4753 1.47 215.4 2701 899 1787 1846 279.4 8.7 269 4776 0.00 2.12 16.10 0.815 9222 0.000 0.018 2700 2311 1754 1723 1785 0 0 0 0 0 0 28.83 25.93 24.95

5086 1.47 215.4 2701 2311 1719 1774 248.2 9.3 286 5092 0.00 2.12 0.00 0.000 260 0.000 0.035 2701 3695 1746 1719 1774 0 0 0 0 0 0 28.83 26.20 28.83

5194 1.49 225.8 2701 3695 1719 1773 238.6 8.9 291 5210 0.00 2.12 8.93 0.781 9222 0.000 0.024 2710 2298 1714 1681 1747 0 0 0 0 0 0 28.83 26.29 25.38

5519 1.49 225.8 2710 2298 1680 1738 209.2 9.4 307 5520 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 2298 1709 1680 1738 0 0 0 0 0 0 28.83 28.83 28.83

5820 1.50 230.9 2710 2298 1680 1737 182.2 9.1 322 5832 0.00 2.20 3.30 0.516 8452 0.000 0.034 2710 3691 1697 1666 1729 0 0 0 0 0 0 28.83 26.42 25.37

5910 1.51 233.4 2710 3691 1666 1729 174.0 9.2 326 5921 0.00 2.10 3.67 0.581 9222 0.000 0.026 2719 2300 1687 1654 1720 0 0 0 0 0 0 28.83 26.46 25.39

6234 1.53 241.5 2720 2300 1653 1721 144.2 9.0 342 6254 0.00 0.00 10.90 0.718 8198 0.000 0.000 2720 2300 1649 1605 1694 0 0 0 0 0 0 28.83 28.83 25.62

6554 1.58 261.9 2720 2300 1601 1692 115.1 8.5 358 6583 0.00 2.20 20.83 0.682 8452 0.000 0.034 2720 3680 1565 1514 1617 0 0 0 0 0 0 28.83 26.17 25.51

6644 1.61 272.7 2720 3680 1514 1615 107.2 8.9 362 6661 0.00 2.10 11.43 0.689 9222 0.000 0.026 2730 2301 1526 1474 1579 0 0 0 0 0 0 28.83 26.25 25.44

6969 1.61 272.7 2730 2301 1469 1569 77.3 9.3 378 6970 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2301 1519 1469 1569 0 0 0 0 0 0 28.83 28.83 28.83

7270 1.61 272.7 2730 2301 1469 1567 50.2 9.3 393 7276 0.00 2.20 0.00 0.000 516 0.000 0.044 2741 889 1518 1469 1567 0 0 0 0 0 0 28.83 26.42 28.83

7349 1.62 276.5 2741 889 1469 1567 43.0 9.1 399 7356 0.00 2.08 0.00 0.000 1030 0.000 0.018 2741 2296 1518 1469 1567 0 0 0 0 0 0 28.83 26.52 28.83

7667 1.63 279.4 1728 2294 1440 1560 14.2 9.2 440 7683 0.00 2.20 4.85 0.576 8452 0.000 0.036 2741 3697 1499 1448 1550 0 0 0 0 0 0 28.83 26.46 25.57

7740 1.65 288.3 2740 3696 1448 1550 7.6 8.9 452 7764 0.00 2.12 11.95 0.585 9222 0.000 0.027 2751 2293 1457 1408 1507 0 0 0 0 0 0 28.83 26.50 25.73

7792 end climb: SURFACE_DEPTH_REACHED

state 7792 begin surface coast

7826 end surface coast: CONTROL_FINISHED_OK

state 7826 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	140	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	54	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	-100670.57	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	2380	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	190313,181235,1931.006,12006.857,255,0.7,255,-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	-64.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190313,181905,1931.035,12006.922,25,1.0,26,-2.5	MHEAD_RNG_PITCHd_Wd	330.7,248389,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	4148

FINISH	0.0,1.025889	_10V_AH	10.2,14.360
SM_CCo	8080,0.00,0.000,0,0,399,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.57,0.47,0.00,0.080,0.043,0.000,86,1963,399,-10.46,1.22,549.47,0,0,0,0,0,0,26.38,26.41,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1922.94,12005.68,190313,151538	MEM	323896
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16743,466
HUMID	48.66	CAP_FILE_SIZE	352947,1809
INTERNAL_PRESSURE	9.05807	CFSIZE	260034560,234762240
TCM_TEMP	18.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	0	CURRENT	0.120, 51.7,1
SC_FREEKB	3969280	GPS	190313,203837,1931.990,12006.897,225,0.8,226,-2.5
_24V_AH	24.2,24.575

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	221	92.75	nil	0	0	0.00
Roll_motor	68	43	72.55	nil	0	0	0.00
VBD_pump_during_apogee	444	1041	11211.72	nil	0	0	0.00
VBD_pump_during_surface	216	739	3874.90	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	7828	5	1121.47
Iridium_during_xfer	217	133	699.98	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	29	8.09
TT8	1781	14	262.77
LPSleep	4171	2	93.19
TT8_Active	794	14	117.14
TT8_Sampling	1434	39	573.32
TT8_CF8	273	46	130.03
TT8_Kalman	0	0	0.00
Analog_circuits	1796	15	284.04
GPS_charging	0	0	0.00
Compass	1199	7	91.63
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	89	1943	343	490	0.0	0.0	0	43	0.00	0.00	-23.12	0.000	16386	0.000	0.000	88	1944	1019	1002	1036	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	88	1945	1002	1038	3.1	-9.0	3	157	7.90	0.00	-95.70	0.000	18694	0.222	0.000	2081	1946	3336	3243	3429	0	0	0	0	0	0	25.86	28.83	26.47
475	-1.35	-170.3	2081	1945	3248	3428	42.5	-9.4	60	480	0.00	2.10	0.00	0.000	516	0.000	0.038	2091	575	3338	3248	3429	0	0	0	0	0	0	28.83	26.38	28.83
504	-1.35	-170.3	2090	575	3248	3429	44.8	-9.1	62	512	0.00	2.05	0.00	0.000	1030	0.000	0.015	2082	1996	3339	3248	3430	0	0	0	0	0	0	28.83	26.46	28.83
822	-1.35	-170.3	2082	1997	3252	3429	73.5	-8.8	81	828	0.00	2.03	0.00	0.000	260	0.000	0.029	2072	3368	3340	3252	3428	0	0	0	0	0	0	28.83	26.50	28.83
1061	-1.35	-170.3	2071	3368	3253	3428	94.8	-8.7	92	1066	0.00	2.08	0.00	0.000	1030	0.000	0.024	2080	1977	3340	3252	3429	0	0	0	0	0	0	28.83	26.56	28.83
1385	-1.35	-170.3	2080	1977	3253	3428	123.8	-9.1	108	1392	0.00	2.12	0.00	0.000	516	0.000	0.041	2090	572	3341	3253	3429	0	0	0	0	0	0	28.83	26.58	28.83
1476	-1.35	-170.3	1296	572	3228	3425	131.6	-9.1	112	1482	0.00	2.03	0.00	0.000	1030	0.000	0.016	2082	1985	3341	3253	3429	0	0	0	0	0	0	28.83	26.66	28.83
1795	-1.35	-170.3	2081	1987	3255	3426	160.3	-9.3	128	1801	0.00	2.17	0.00	0.000	516	0.000	0.040	2090	577	3340	3254	3426	0	0	0	0	0	0	28.83	26.61	28.83
1862	-1.35	-170.3	2090	576	3254	3426	166.1	-8.6	131	1868	0.00	2.00	0.00	0.000	1030	0.000	0.016	2082	1974	3340	3255	3426	0	0	0	0	0	0	28.83	26.68	28.83
2187	-1.35	-170.3	2081	1974	3254	3422	195.2	-8.9	147	2193	0.00	2.15	0.00	0.000	516	0.000	0.041	2090	575	3338	3254	3422	0	0	0	0	0	0	28.83	26.62	28.83
2226	-1.35	-170.3	2090	575	3254	3422	197.3	-8.9	148	2234	0.00	2.00	0.00	0.000	1030	0.000	0.016	2081	1972	3338	3254	3422	0	0	0	0	0	0	28.83	26.70	28.83
2533	-1.35	-170.3	2081	1973	3254	3419	226.4	-8.9	164	2539	0.00	2.05	0.00	0.000	260	0.000	0.031	2071	3360	3336	3254	3418	0	0	0	0	0	0	28.83	26.65	28.83
2559	-1.35	-170.3	2070	3360	3254	3417	228.6	-8.8	165	2565	0.00	2.08	0.00	0.000	1030	0.000	0.027	2073	1970	3335	3254	3417	0	0	0	0	0	0	28.83	26.66	28.83
2884	-1.35	-170.3	2073	1970	3254	3415	257.8	-9.0	181	2890	0.00	2.12	0.00	0.000	516	0.000	0.044	2083	574	3334	3253	3415	0	0	0	0	0	0	28.83	26.64	28.83
2919	-1.35	-170.3	2082	574	3253	3415	260.0	-8.9	182	2925	0.00	2.03	0.00	0.000	1030	0.000	0.017	2074	1979	3334	3253	3415	0	0	0	0	0	0	28.83	26.71	28.83
3234	-1.35	-170.3	2073	1980	3252	3412	289.0	-8.9	198	3235	0.00	0.00	0.00	0.000	6	0.000	0.000	2074	1980	3332	3253	3412	0	0	0	0	0	0	28.83	28.83	28.83
3536	-1.35	-170.3	2073	1980	3250	3410	315.8	-8.7	213	3542	0.00	2.17	0.00	0.000	516	0.000	0.043	2082	575	3330	3250	3410	0	0	0	0	0	0	28.83	26.65	28.83
3581	-1.35	-170.3	1280	575	3224	3406	320.2	-9.1	215	3587	0.00	2.03	0.00	0.000	1030	0.000	0.016	2073	1975	3329	3249	3410	0	0	0	0	0	0	28.83	26.72	28.83
3906	-1.35	-170.3	2073	1976	3248	3408	348.8	-9.0	231	3912	0.00	2.17	0.00	0.000	516	0.000	0.044	2082	572	3327	3248	3407	0	0	0	0	0	0	28.83	26.65	28.83
3930	end dive: TARGET_DEPTH_EXCEEDED
state	3931	begin apogee
3938	-0.25	0.0	2071	2295	3248	3407	351.0	-8.9	232	4094	0.77	0.00	142.62	1.042	10246	0.124	0.000	2321	2296	2639	2590	2689	0	0	0	0	1	0	26.50	28.83	24.25
4096	end apogee: CONTROL_FINISHED_OK
state	4096	begin climb
4098	1.35	170.3	2321	2296	2590	2689	336.7	0.0	239	4291	1.02	2.25	183.27	0.798	10500	0.067	0.033	2680	3691	1938	1905	1972	0	0	0	0	0	0	25.15	24.98	24.40
4378	1.38	180.7	2680	3692	1901	1953	311.9	8.9	251	4392	0.00	2.17	3.38	0.474	9222	0.000	0.024	2691	2299	1901	1874	1928	0	0	0	0	0	0	28.83	25.58	24.71
4689	1.42	198.9	2690	2299	1874	1937	283.7	8.6	267	4719	0.00	2.30	23.42	0.813	8708	0.000	0.042	2701	899	1821	1791	1851	0	0	0	0	0	0	28.83	25.76	25.06
4753	1.47	215.4	2701	899	1787	1846	279.4	8.7	269	4776	0.00	2.12	16.10	0.815	9222	0.000	0.018	2700	2311	1754	1723	1785	0	0	0	0	0	0	28.83	25.93	24.95
5086	1.47	215.4	2701	2311	1719	1774	248.2	9.3	286	5092	0.00	2.12	0.00	0.000	260	0.000	0.035	2701	3695	1746	1719	1774	0	0	0	0	0	0	28.83	26.20	28.83
5194	1.49	225.8	2701	3695	1719	1773	238.6	8.9	291	5210	0.00	2.12	8.93	0.781	9222	0.000	0.024	2710	2298	1714	1681	1747	0	0	0	0	0	0	28.83	26.29	25.38
5519	1.49	225.8	2710	2298	1680	1738	209.2	9.4	307	5520	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	2298	1709	1680	1738	0	0	0	0	0	0	28.83	28.83	28.83
5820	1.50	230.9	2710	2298	1680	1737	182.2	9.1	322	5832	0.00	2.20	3.30	0.516	8452	0.000	0.034	2710	3691	1697	1666	1729	0	0	0	0	0	0	28.83	26.42	25.37
5910	1.51	233.4	2710	3691	1666	1729	174.0	9.2	326	5921	0.00	2.10	3.67	0.581	9222	0.000	0.026	2719	2300	1687	1654	1720	0	0	0	0	0	0	28.83	26.46	25.39
6234	1.53	241.5	2720	2300	1653	1721	144.2	9.0	342	6254	0.00	0.00	10.90	0.718	8198	0.000	0.000	2720	2300	1649	1605	1694	0	0	0	0	0	0	28.83	28.83	25.62
6554	1.58	261.9	2720	2300	1601	1692	115.1	8.5	358	6583	0.00	2.20	20.83	0.682	8452	0.000	0.034	2720	3680	1565	1514	1617	0	0	0	0	0	0	28.83	26.17	25.51
6644	1.61	272.7	2720	3680	1514	1615	107.2	8.9	362	6661	0.00	2.10	11.43	0.689	9222	0.000	0.026	2730	2301	1526	1474	1579	0	0	0	0	0	0	28.83	26.25	25.44
6969	1.61	272.7	2730	2301	1469	1569	77.3	9.3	378	6970	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2301	1519	1469	1569	0	0	0	0	0	0	28.83	28.83	28.83
7270	1.61	272.7	2730	2301	1469	1567	50.2	9.3	393	7276	0.00	2.20	0.00	0.000	516	0.000	0.044	2741	889	1518	1469	1567	0	0	0	0	0	0	28.83	26.42	28.83
7349	1.62	276.5	2741	889	1469	1567	43.0	9.1	399	7356	0.00	2.08	0.00	0.000	1030	0.000	0.018	2741	2296	1518	1469	1567	0	0	0	0	0	0	28.83	26.52	28.83
7667	1.63	279.4	1728	2294	1440	1560	14.2	9.2	440	7683	0.00	2.20	4.85	0.576	8452	0.000	0.036	2741	3697	1499	1448	1550	0	0	0	0	0	0	28.83	26.46	25.57
7740	1.65	288.3	2740	3696	1448	1550	7.6	8.9	452	7764	0.00	2.12	11.95	0.585	9222	0.000	0.027	2751	2293	1457	1408	1507	0	0	0	0	0	0	28.83	26.50	25.73
7792	end climb: SURFACE_DEPTH_REACHED
state	7792	begin surface coast
7826	end surface coast: CONTROL_FINISHED_OK
state	7826	begin surface