Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 142 * 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 142 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 49 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 53 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 -100673.1 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 2400 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 -100673.1

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 2400 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 49 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 53 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 142 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 190313,230528,1932.775,12006.838,289,0.7,289,-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 190313,231157,1932.735,12006.894,18,0.6,19,-2.5 MHEAD_RNG_PITCHd_Wd 343.0,245241,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 4137

Post-dive calculations and measurements:

FINISH 0.0,1.024679 _10V_AH 10.2,14.482

SM_CCo 8039,1.38,0.095,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.57,0.55,1.38,0.076,0.034,0.095,91,1954,400,-10.53,0.93,549.47,0,0,0,0,0,0,26.29,26.33,25.15 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1925.22,11938.17,190313,202027 MEM 323892

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16799,467

HUMID 47.63 CAP_FILE_SIZE 354503,1825

INTERNAL_PRESSURE 9.1362 CFSIZE 260034560,234549248

TCM_TEMP 19.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 1 CURRENT 0.037, 95.4,1

SC_FREEKB 3968512 GPS 200313,012833,1933.438,12006.869,89,1.1,89,-2.6

_24V_AH 24.4,24.872

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 218 92.76 nil 0 0 0.00

Roll_motor 64 43 68.47 nil 0 0 0.00

VBD_pump_during_apogee 424 806 8353.07 nil 0 0 0.00

VBD_pump_during_surface 208 686 3488.07 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 7801 5 1130.84

Iridium_during_xfer 221 132 715.84 nil 0 0 0.00

Transponder_ping 0 420 2.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 29 6.14

TT8 1799 14 265.44

LPSleep 4161 2 92.97

TT8_Active 750 14 110.65

TT8_Sampling 1428 39 570.78

TT8_CF8 274 46 130.73

TT8_Kalman 0 0 0.00

Analog_circuits 1729 15 273.43

GPS_charging 0 0 0.00

Compass 1187 7 90.69

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.35 -170.3 81 1947 330 474 0.0 0.0 0 43 0.00 0.00 -23.65 0.000 16386 0.000 0.000 81 1948 1016 1000 1033 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 81 1947 1000 1035 3.2 -9.2 3 150 7.95 2.22 -86.22 0.000 18692 0.219 0.044 2089 3375 3337 3245 3430 0 0 0 0 0 0 25.82 26.17 26.45

213 -1.35 -170.3 2089 3375 3248 3432 18.7 -9.1 28 221 0.00 2.12 0.00 0.000 1030 0.000 0.025 2097 1974 3339 3248 3430 0 0 0 0 0 0 28.83 26.25 28.83

530 -1.35 -170.3 2097 1974 3252 3430 47.3 -9.3 65 536 0.00 2.15 0.00 0.000 516 0.000 0.041 2108 570 3340 3251 3430 0 0 0 0 0 0 28.83 26.39 28.83

570 -1.35 -170.3 2107 570 3252 3430 50.6 -8.9 68 578 0.00 2.05 0.00 0.000 1030 0.000 0.015 2101 1992 3341 3252 3430 0 0 0 0 0 0 28.83 26.47 28.83

878 -1.35 -170.3 2099 1994 3254 3430 78.0 -8.6 84 884 0.00 2.03 0.00 0.000 260 0.000 0.030 2089 3365 3342 3254 3430 0 0 0 0 0 0 28.83 26.51 28.83

986 -1.35 -170.3 2089 3365 3254 3430 87.7 -8.9 89 992 0.00 2.10 0.00 0.000 1030 0.000 0.025 2097 1962 3342 3254 3430 0 0 0 0 0 0 28.83 26.54 28.83

1311 -1.35 -170.3 2097 1962 3255 3430 116.6 -8.8 105 1317 0.00 2.10 0.00 0.000 516 0.000 0.041 2107 575 3342 3255 3430 0 0 0 0 0 0 28.83 26.56 28.83

1391 -1.35 -170.3 2107 575 3255 3430 122.7 -9.3 108 1399 0.00 2.00 0.00 0.000 1030 0.000 0.016 2098 1977 3342 3255 3430 0 0 0 0 0 0 28.83 26.64 28.83

1697 -1.35 -170.3 2098 1978 3255 3430 151.6 -9.1 124 1703 0.00 2.05 0.00 0.000 260 0.000 0.031 2088 3368 3342 3255 3429 0 0 0 0 0 0 28.83 26.61 28.83

1758 -1.35 -170.3 2088 3368 3255 3428 155.7 -9.0 126 1767 0.00 2.08 0.00 0.000 1030 0.000 0.026 2089 1975 3341 3255 3428 0 0 0 0 0 0 28.83 26.63 28.83

2064 -1.35 -170.3 2089 1975 3255 3426 185.2 -9.8 142 2071 0.00 2.15 0.00 0.000 516 0.000 0.044 2098 566 3340 3255 3426 0 0 0 0 0 0 28.83 26.60 28.83

2111 -1.35 -170.3 2098 566 3254 3426 189.4 -9.3 144 2117 0.00 2.03 0.00 0.000 1030 0.000 0.016 2090 1980 3340 3255 3425 0 0 0 0 0 0 28.83 26.69 28.83

2436 -1.35 -170.3 2090 1980 3255 3422 218.4 -9.0 160 2437 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 1980 3338 3254 3422 0 0 0 0 0 0 28.83 28.83 28.83

2737 -1.35 -170.3 2090 1981 3254 3420 245.7 -9.2 175 2738 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 1981 3337 3254 3420 0 0 0 0 0 0 28.83 28.83 28.83

3038 -1.35 -170.3 2090 1981 3254 3416 272.5 -9.0 190 3043 0.00 2.05 0.00 0.000 260 0.000 0.032 2080 3364 3335 3254 3416 0 0 0 0 0 0 28.83 26.67 28.83

3067 -1.35 -170.3 2080 3364 3254 3416 275.0 -9.3 191 3074 0.10 2.08 0.00 0.000 3078 0.168 0.028 2105 1976 3335 3254 3416 0 0 0 0 0 0 26.51 26.67 28.83

3388 -1.35 -170.3 2104 1976 3253 3414 304.1 -9.1 207 3389 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 1976 3333 3253 3414 0 0 0 0 0 0 28.83 28.83 28.83

3688 -1.35 -170.3 2105 1975 3252 3412 330.8 -8.9 222 3694 0.00 2.10 0.00 0.000 260 0.000 0.032 2096 3362 3331 3252 3411 0 0 0 0 0 0 28.83 26.67 28.83

3882 -1.35 -170.3 2096 3362 3251 3409 348.0 -9.0 231 3889 0.00 2.08 0.00 0.000 1030 0.000 0.028 2097 1979 3329 3250 3409 0 0 0 0 0 0 28.83 26.68 28.83

3900 end dive: TARGET_DEPTH_EXCEEDED

state 3900 begin apogee

3906 -0.25 0.0 2097 2309 3250 3409 350.2 -9.0 232 4064 0.75 0.00 150.38 0.806 10246 0.119 0.000 2342 2309 2633 2582 2684 0 0 0 0 0 0 26.51 28.83 24.56

4065 end apogee: CONTROL_FINISHED_OK

state 4065 begin climb

4067 1.35 170.3 2342 2309 2578 2680 335.9 0.0 239 4229 1.00 2.28 152.52 0.800 10500 0.064 0.034 2697 3680 1937 1901 1973 0 0 0 0 0 0 25.28 25.03 24.41

4427 1.37 177.8 2697 3680 1897 1952 303.4 9.0 255 4433 0.00 2.12 1.33 0.050 9222 0.000 0.024 2707 2299 1913 1886 1941 0 0 0 0 0 0 28.83 25.92 25.87

4747 1.38 182.2 2707 2299 1887 1943 274.2 9.1 271 4752 0.00 0.00 3.35 0.500 8198 0.000 0.000 2707 2299 1896 1867 1925 0 0 0 0 0 0 28.83 28.83 25.23

5048 1.40 188.9 2706 2299 1867 1936 247.5 9.0 286 5067 0.00 0.00 12.65 0.741 8198 0.000 0.000 2706 2299 1861 1831 1892 0 0 0 0 0 0 28.83 28.83 25.49

5367 1.47 217.0 2706 2299 1830 1886 219.3 8.2 302 5402 0.00 2.17 27.25 0.717 8452 0.000 0.031 2706 3690 1747 1715 1779 0 0 0 0 0 0 28.83 26.00 25.35

5435 1.49 226.8 1712 3689 1673 1766 213.3 8.9 305 5452 0.00 2.12 9.10 0.713 9222 0.000 0.023 2716 2298 1709 1678 1740 0 0 0 0 0 0 28.83 26.09 25.29

5761 1.50 229.4 2716 2298 1678 1731 183.8 9.2 321 5762 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2298 1704 1677 1731 0 0 0 0 0 0 28.83 28.83 28.83

6062 1.51 234.4 2716 2298 1678 1729 156.6 9.1 336 6073 0.00 2.15 5.03 0.644 8452 0.000 0.031 2716 3692 1683 1653 1713 0 0 0 0 0 0 28.83 26.36 25.51

6092 1.53 240.4 2716 3692 1653 1713 154.3 9.0 337 6111 0.00 2.12 9.00 0.675 9222 0.000 0.025 2726 2293 1653 1613 1693 0 0 0 0 0 0 28.83 26.39 25.58

6409 1.55 247.6 2726 2293 1606 1692 124.6 9.0 353 6421 0.00 2.17 5.15 0.634 8708 0.000 0.043 2737 899 1629 1583 1676 0 0 0 0 0 0 28.83 26.32 25.58

6528 1.55 249.3 2737 899 1583 1676 114.8 9.2 358 6534 0.00 2.05 0.00 0.000 1030 0.000 0.018 2737 2293 1629 1583 1676 0 0 0 0 0 0 28.83 26.45 28.83

6842 1.57 255.4 2737 2293 1583 1676 85.6 9.0 374 6859 0.00 2.12 10.10 0.612 8452 0.000 0.034 2737 3690 1594 1543 1645 0 0 0 0 0 0 28.83 26.35 25.72

6949 1.58 261.3 2737 3690 1541 1642 76.1 9.0 379 6961 0.00 2.10 4.82 0.581 9222 0.000 0.025 2747 2298 1573 1521 1626 0 0 0 0 0 0 28.83 26.41 25.48

7265 1.58 261.4 2746 2298 1521 1626 47.3 9.3 395 7271 0.00 2.17 0.00 0.000 516 0.000 0.042 2757 887 1573 1521 1626 0 0 0 0 0 0 28.83 26.44 28.83

7332 1.60 270.9 2757 888 1521 1626 41.2 8.9 401 7351 0.00 2.08 11.90 0.565 9222 0.000 0.018 2757 2301 1531 1478 1585 0 0 0 0 0 0 28.83 26.53 25.73

7666 1.62 278.5 2757 2301 1477 1580 11.1 9.0 446 7681 0.00 2.20 8.10 0.542 8708 0.000 0.039 2767 900 1498 1446 1550 0 0 0 0 0 0 28.83 26.35 25.76

7734 1.66 292.3 1728 899 1417 1542 5.2 8.8 457 7757 0.00 2.08 13.90 0.524 9222 0.000 0.018 2767 2309 1441 1393 1490 0 0 0 0 0 0 28.83 26.45 25.69

7764 end climb: SURFACE_DEPTH_REACHED

state 7764 begin surface coast

7797 end surface coast: CONTROL_FINISHED_OK

state 7799 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	142	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	49	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	53	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	-100673.1	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	2400	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	190313,230528,1932.775,12006.838,289,0.7,289,-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	190313,231157,1932.735,12006.894,18,0.6,19,-2.5	MHEAD_RNG_PITCHd_Wd	343.0,245241,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	4137

FINISH	0.0,1.024679	_10V_AH	10.2,14.482
SM_CCo	8039,1.38,0.095,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.57,0.55,1.38,0.076,0.034,0.095,91,1954,400,-10.53,0.93,549.47,0,0,0,0,0,0,26.29,26.33,25.15	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1925.22,11938.17,190313,202027	MEM	323892
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16799,467
HUMID	47.63	CAP_FILE_SIZE	354503,1825
INTERNAL_PRESSURE	9.1362	CFSIZE	260034560,234549248
TCM_TEMP	19.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	1	CURRENT	0.037, 95.4,1
SC_FREEKB	3968512	GPS	200313,012833,1933.438,12006.869,89,1.1,89,-2.6
_24V_AH	24.4,24.872

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	218	92.76	nil	0	0	0.00
Roll_motor	64	43	68.47	nil	0	0	0.00
VBD_pump_during_apogee	424	806	8353.07	nil	0	0	0.00
VBD_pump_during_surface	208	686	3488.07	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	7801	5	1130.84
Iridium_during_xfer	221	132	715.84	nil	0	0	0.00
Transponder_ping	0	420	2.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	29	6.14
TT8	1799	14	265.44
LPSleep	4161	2	92.97
TT8_Active	750	14	110.65
TT8_Sampling	1428	39	570.78
TT8_CF8	274	46	130.73
TT8_Kalman	0	0	0.00
Analog_circuits	1729	15	273.43
GPS_charging	0	0	0.00
Compass	1187	7	90.69
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.35	-170.3	81	1947	330	474	0.0	0.0	0	43	0.00	0.00	-23.65	0.000	16386	0.000	0.000	81	1948	1016	1000	1033	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	81	1947	1000	1035	3.2	-9.2	3	150	7.95	2.22	-86.22	0.000	18692	0.219	0.044	2089	3375	3337	3245	3430	0	0	0	0	0	0	25.82	26.17	26.45
213	-1.35	-170.3	2089	3375	3248	3432	18.7	-9.1	28	221	0.00	2.12	0.00	0.000	1030	0.000	0.025	2097	1974	3339	3248	3430	0	0	0	0	0	0	28.83	26.25	28.83
530	-1.35	-170.3	2097	1974	3252	3430	47.3	-9.3	65	536	0.00	2.15	0.00	0.000	516	0.000	0.041	2108	570	3340	3251	3430	0	0	0	0	0	0	28.83	26.39	28.83
570	-1.35	-170.3	2107	570	3252	3430	50.6	-8.9	68	578	0.00	2.05	0.00	0.000	1030	0.000	0.015	2101	1992	3341	3252	3430	0	0	0	0	0	0	28.83	26.47	28.83
878	-1.35	-170.3	2099	1994	3254	3430	78.0	-8.6	84	884	0.00	2.03	0.00	0.000	260	0.000	0.030	2089	3365	3342	3254	3430	0	0	0	0	0	0	28.83	26.51	28.83
986	-1.35	-170.3	2089	3365	3254	3430	87.7	-8.9	89	992	0.00	2.10	0.00	0.000	1030	0.000	0.025	2097	1962	3342	3254	3430	0	0	0	0	0	0	28.83	26.54	28.83
1311	-1.35	-170.3	2097	1962	3255	3430	116.6	-8.8	105	1317	0.00	2.10	0.00	0.000	516	0.000	0.041	2107	575	3342	3255	3430	0	0	0	0	0	0	28.83	26.56	28.83
1391	-1.35	-170.3	2107	575	3255	3430	122.7	-9.3	108	1399	0.00	2.00	0.00	0.000	1030	0.000	0.016	2098	1977	3342	3255	3430	0	0	0	0	0	0	28.83	26.64	28.83
1697	-1.35	-170.3	2098	1978	3255	3430	151.6	-9.1	124	1703	0.00	2.05	0.00	0.000	260	0.000	0.031	2088	3368	3342	3255	3429	0	0	0	0	0	0	28.83	26.61	28.83
1758	-1.35	-170.3	2088	3368	3255	3428	155.7	-9.0	126	1767	0.00	2.08	0.00	0.000	1030	0.000	0.026	2089	1975	3341	3255	3428	0	0	0	0	0	0	28.83	26.63	28.83
2064	-1.35	-170.3	2089	1975	3255	3426	185.2	-9.8	142	2071	0.00	2.15	0.00	0.000	516	0.000	0.044	2098	566	3340	3255	3426	0	0	0	0	0	0	28.83	26.60	28.83
2111	-1.35	-170.3	2098	566	3254	3426	189.4	-9.3	144	2117	0.00	2.03	0.00	0.000	1030	0.000	0.016	2090	1980	3340	3255	3425	0	0	0	0	0	0	28.83	26.69	28.83
2436	-1.35	-170.3	2090	1980	3255	3422	218.4	-9.0	160	2437	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	1980	3338	3254	3422	0	0	0	0	0	0	28.83	28.83	28.83
2737	-1.35	-170.3	2090	1981	3254	3420	245.7	-9.2	175	2738	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	1981	3337	3254	3420	0	0	0	0	0	0	28.83	28.83	28.83
3038	-1.35	-170.3	2090	1981	3254	3416	272.5	-9.0	190	3043	0.00	2.05	0.00	0.000	260	0.000	0.032	2080	3364	3335	3254	3416	0	0	0	0	0	0	28.83	26.67	28.83
3067	-1.35	-170.3	2080	3364	3254	3416	275.0	-9.3	191	3074	0.10	2.08	0.00	0.000	3078	0.168	0.028	2105	1976	3335	3254	3416	0	0	0	0	0	0	26.51	26.67	28.83
3388	-1.35	-170.3	2104	1976	3253	3414	304.1	-9.1	207	3389	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	1976	3333	3253	3414	0	0	0	0	0	0	28.83	28.83	28.83
3688	-1.35	-170.3	2105	1975	3252	3412	330.8	-8.9	222	3694	0.00	2.10	0.00	0.000	260	0.000	0.032	2096	3362	3331	3252	3411	0	0	0	0	0	0	28.83	26.67	28.83
3882	-1.35	-170.3	2096	3362	3251	3409	348.0	-9.0	231	3889	0.00	2.08	0.00	0.000	1030	0.000	0.028	2097	1979	3329	3250	3409	0	0	0	0	0	0	28.83	26.68	28.83
3900	end dive: TARGET_DEPTH_EXCEEDED
state	3900	begin apogee
3906	-0.25	0.0	2097	2309	3250	3409	350.2	-9.0	232	4064	0.75	0.00	150.38	0.806	10246	0.119	0.000	2342	2309	2633	2582	2684	0	0	0	0	0	0	26.51	28.83	24.56
4065	end apogee: CONTROL_FINISHED_OK
state	4065	begin climb
4067	1.35	170.3	2342	2309	2578	2680	335.9	0.0	239	4229	1.00	2.28	152.52	0.800	10500	0.064	0.034	2697	3680	1937	1901	1973	0	0	0	0	0	0	25.28	25.03	24.41
4427	1.37	177.8	2697	3680	1897	1952	303.4	9.0	255	4433	0.00	2.12	1.33	0.050	9222	0.000	0.024	2707	2299	1913	1886	1941	0	0	0	0	0	0	28.83	25.92	25.87
4747	1.38	182.2	2707	2299	1887	1943	274.2	9.1	271	4752	0.00	0.00	3.35	0.500	8198	0.000	0.000	2707	2299	1896	1867	1925	0	0	0	0	0	0	28.83	28.83	25.23
5048	1.40	188.9	2706	2299	1867	1936	247.5	9.0	286	5067	0.00	0.00	12.65	0.741	8198	0.000	0.000	2706	2299	1861	1831	1892	0	0	0	0	0	0	28.83	28.83	25.49
5367	1.47	217.0	2706	2299	1830	1886	219.3	8.2	302	5402	0.00	2.17	27.25	0.717	8452	0.000	0.031	2706	3690	1747	1715	1779	0	0	0	0	0	0	28.83	26.00	25.35
5435	1.49	226.8	1712	3689	1673	1766	213.3	8.9	305	5452	0.00	2.12	9.10	0.713	9222	0.000	0.023	2716	2298	1709	1678	1740	0	0	0	0	0	0	28.83	26.09	25.29
5761	1.50	229.4	2716	2298	1678	1731	183.8	9.2	321	5762	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2298	1704	1677	1731	0	0	0	0	0	0	28.83	28.83	28.83
6062	1.51	234.4	2716	2298	1678	1729	156.6	9.1	336	6073	0.00	2.15	5.03	0.644	8452	0.000	0.031	2716	3692	1683	1653	1713	0	0	0	0	0	0	28.83	26.36	25.51
6092	1.53	240.4	2716	3692	1653	1713	154.3	9.0	337	6111	0.00	2.12	9.00	0.675	9222	0.000	0.025	2726	2293	1653	1613	1693	0	0	0	0	0	0	28.83	26.39	25.58
6409	1.55	247.6	2726	2293	1606	1692	124.6	9.0	353	6421	0.00	2.17	5.15	0.634	8708	0.000	0.043	2737	899	1629	1583	1676	0	0	0	0	0	0	28.83	26.32	25.58
6528	1.55	249.3	2737	899	1583	1676	114.8	9.2	358	6534	0.00	2.05	0.00	0.000	1030	0.000	0.018	2737	2293	1629	1583	1676	0	0	0	0	0	0	28.83	26.45	28.83
6842	1.57	255.4	2737	2293	1583	1676	85.6	9.0	374	6859	0.00	2.12	10.10	0.612	8452	0.000	0.034	2737	3690	1594	1543	1645	0	0	0	0	0	0	28.83	26.35	25.72
6949	1.58	261.3	2737	3690	1541	1642	76.1	9.0	379	6961	0.00	2.10	4.82	0.581	9222	0.000	0.025	2747	2298	1573	1521	1626	0	0	0	0	0	0	28.83	26.41	25.48
7265	1.58	261.4	2746	2298	1521	1626	47.3	9.3	395	7271	0.00	2.17	0.00	0.000	516	0.000	0.042	2757	887	1573	1521	1626	0	0	0	0	0	0	28.83	26.44	28.83
7332	1.60	270.9	2757	888	1521	1626	41.2	8.9	401	7351	0.00	2.08	11.90	0.565	9222	0.000	0.018	2757	2301	1531	1478	1585	0	0	0	0	0	0	28.83	26.53	25.73
7666	1.62	278.5	2757	2301	1477	1580	11.1	9.0	446	7681	0.00	2.20	8.10	0.542	8708	0.000	0.039	2767	900	1498	1446	1550	0	0	0	0	0	0	28.83	26.35	25.76
7734	1.66	292.3	1728	899	1417	1542	5.2	8.8	457	7757	0.00	2.08	13.90	0.524	9222	0.000	0.018	2767	2309	1441	1393	1490	0	0	0	0	0	0	28.83	26.45	25.69
7764	end climb: SURFACE_DEPTH_REACHED
state	7764	begin surface coast
7797	end surface coast: CONTROL_FINISHED_OK
state	7799	begin surface