Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 145 * 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 145 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 60 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 -100676.87 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 -100676.87

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 51 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 60 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 145 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 200313,061805,1935.387,12006.477,173,1.7,173,-2.6 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 -64.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200313,062459,1935.300,12006.400,15,0.9,16,-2.6 MHEAD_RNG_PITCHd_Wd 360.0,240457,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 4090

Post-dive calculations and measurements:

FINISH 0.2,1.024492 _10V_AH 10.2,14.658

SM_CCo 8054,0.00,0.000,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.60,0.47,0.00,0.080,0.042,0.000,89,1959,400,-10.54,1.13,549.47,0,0,0,0,0,0,26.46,26.52,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1927.51,12006.82,200313,030345 MEM 323876

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16750,465

HUMID 47.48 CAP_FILE_SIZE 357278,1839

INTERNAL_PRESSURE 9.1655 CFSIZE 260034560,234229760

TCM_TEMP 20.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 1 CURRENT 0.097, 23.4,1

SC_FREEKB 3967360 GPS 200313,084107,1936.454,12006.446,49,1.5,49,-2.6

_24V_AH 24.3,25.322

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 220 93.16 nil 0 0 0.00

Roll_motor 68 53 88.78 nil 0 0 0.00

VBD_pump_during_apogee 418 980 9966.43 nil 0 0 0.00

VBD_pump_during_surface 223 670 3643.31 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 1130.75

Iridium_during_xfer 249 131 797.67 nil 0 0 0.00

Transponder_ping 0 420 2.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 29 5.06

TT8 1810 14 267.04

LPSleep 4132 2 92.32

TT8_Active 761 14 112.26

TT8_Sampling 1461 39 584.12

TT8_CF8 285 46 136.08

TT8_Kalman 0 0 0.00

Analog_circuits 1789 15 282.89

GPS_charging 0 0 0.00

Compass 1204 7 92.03

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 80 1945 334 480 0.0 0.0 0 44 0.00 0.00 -24.15 0.000 16386 0.000 0.000 79 1945 1034 1015 1054 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 80 1945 1015 1055 3.5 -9.3 3 153 7.97 2.20 -90.20 0.000 18948 0.220 0.054 2107 575 3336 3245 3428 0 0 0 0 0 0 25.82 26.17 26.46

167 -1.35 -170.3 2106 575 3247 3428 14.6 -8.4 19 175 0.00 2.05 0.00 0.000 1030 0.000 0.015 2099 1992 3337 3247 3428 0 0 0 0 0 0 28.83 26.26 28.83

486 -1.35 -170.3 2098 1993 3250 3429 43.2 -8.6 60 492 0.00 2.03 0.00 0.000 260 0.000 0.029 2088 3359 3339 3250 3428 0 0 0 0 0 0 28.83 26.41 28.83

607 -1.35 -170.3 2088 3359 3252 3428 53.2 -9.0 69 613 0.00 2.08 0.00 0.000 1030 0.000 0.024 2093 1971 3340 3252 3428 0 0 0 0 0 0 28.83 26.46 28.83

921 -1.35 -170.3 2093 1971 3253 3428 82.1 -8.7 85 927 0.00 2.12 0.00 0.000 516 0.000 0.040 2103 568 3340 3253 3428 0 0 0 0 0 0 28.83 26.53 28.83

1023 -1.35 -170.3 2103 568 3254 3428 90.0 -9.2 89 1031 0.00 2.00 0.00 0.000 1030 0.000 0.015 2095 1979 3341 3254 3428 0 0 0 0 0 0 28.83 26.62 28.83

1329 -1.35 -170.3 2095 1979 3254 3428 118.8 -8.7 105 1335 0.00 2.03 0.00 0.000 260 0.000 0.029 2085 3356 3341 3254 3428 0 0 0 0 0 0 28.83 26.60 28.83

1381 -1.35 -170.3 2084 3356 3254 3428 123.2 -9.0 107 1387 0.00 2.05 0.00 0.000 1030 0.000 0.024 2092 1973 3341 3254 3428 0 0 0 0 0 0 28.83 26.62 28.83

1701 -1.35 -170.3 2092 1972 3254 3428 152.6 -9.1 123 1707 0.00 2.08 0.00 0.000 260 0.000 0.028 2083 3359 3341 3254 3428 0 0 0 0 0 0 28.83 26.64 28.83

1747 -1.35 -170.3 2083 3359 3254 3427 156.7 -8.9 125 1754 0.00 2.05 0.00 0.000 1030 0.000 0.025 2090 1977 3340 3254 3427 0 0 0 0 0 0 28.83 26.65 28.83

2073 -1.35 -170.3 2090 1977 3254 3425 186.3 -9.2 141 2074 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 1976 3339 3254 3425 0 0 0 0 0 0 28.83 28.83 28.83

2374 -1.35 -170.3 2089 1976 3254 3422 213.1 -8.8 156 2375 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 1976 3338 3254 3422 0 0 0 0 0 0 28.83 28.83 28.83

2674 -1.35 -170.3 2090 1977 3252 3419 240.8 -9.2 171 2680 0.00 2.12 0.00 0.000 516 0.000 0.042 2100 576 3335 3253 3418 0 0 0 0 0 0 28.83 26.65 28.83

2731 -1.35 -170.3 2099 576 3253 3418 245.0 -8.8 173 2737 0.00 2.00 0.00 0.000 1030 0.000 0.016 2091 1977 3335 3253 3418 0 0 0 0 0 0 28.83 26.73 28.83

3045 -1.35 -170.3 2090 1977 3253 3415 273.8 -8.5 189 3052 0.00 2.03 0.00 0.000 260 0.000 0.031 2081 3349 3333 3253 3414 0 0 0 0 0 0 28.83 26.67 28.83

3080 -1.35 -170.3 2080 3349 3253 3414 275.9 -8.5 190 3087 0.10 2.05 0.00 0.000 3078 0.168 0.032 2106 1978 3333 3253 3414 0 0 0 0 0 0 26.52 26.67 28.83

3395 -1.35 -170.3 2106 1978 3250 3412 304.6 -8.6 206 3401 0.00 2.15 0.00 0.000 516 0.000 0.044 2116 569 3331 3250 3412 0 0 0 0 0 0 28.83 26.65 28.83

3430 -1.35 -170.3 2116 569 3250 3412 306.9 -8.7 207 3436 0.00 2.03 0.00 0.000 1030 0.000 0.017 2108 1978 3331 3250 3412 0 0 0 0 0 0 28.83 26.73 28.83

3745 -1.35 -170.3 2107 1979 3250 3408 335.9 -9.1 223 3746 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 1979 3329 3250 3408 0 0 0 0 0 0 28.83 28.83 28.83

3903 end dive: TARGET_DEPTH_EXCEEDED

state 3903 begin apogee

3908 -0.25 0.0 2105 2305 3249 3407 350.4 -9.2 231 4071 0.73 0.00 151.32 0.981 10246 0.118 0.000 2343 2305 2639 2589 2689 0 0 0 0 1 0 26.51 28.83 24.30

4074 end apogee: CONTROL_FINISHED_OK

state 4074 begin climb

4075 1.35 170.3 2343 2305 2589 2689 336.1 0.0 238 4241 1.00 2.25 153.93 0.838 10500 0.060 0.033 2699 3677 1933 1898 1968 0 0 0 0 0 0 25.19 25.02 24.37

4482 1.37 178.9 2699 3677 1897 1949 300.0 8.9 256 4491 0.00 2.10 1.80 0.052 9222 0.000 0.023 2709 2304 1908 1881 1936 0 0 0 0 0 0 28.83 26.01 25.94

4788 1.39 183.8 2708 2304 1880 1941 270.7 9.1 272 4800 0.00 2.25 4.62 0.651 8708 0.000 0.041 2719 892 1889 1860 1919 0 0 0 0 0 0 28.83 26.22 25.29

4845 1.41 192.2 2719 892 1860 1923 266.4 9.0 274 4864 0.00 2.08 14.10 0.773 9222 0.000 0.017 2720 2300 1852 1822 1883 0 0 0 0 0 0 28.83 26.33 25.34

5185 1.42 198.2 2719 2300 1819 1873 235.1 9.0 291 5196 0.00 2.12 3.97 0.607 8452 0.000 0.034 2719 3694 1831 1802 1860 0 0 0 0 0 0 28.83 26.30 25.31

5282 1.45 207.9 2719 3693 1801 1861 227.3 8.9 295 5300 0.00 2.12 12.55 0.746 9222 0.000 0.024 2728 2288 1788 1756 1820 0 0 0 0 0 0 28.83 26.37 25.46

5621 1.47 216.8 2729 2289 1754 1814 195.9 8.9 312 5637 0.00 2.17 9.02 0.718 8708 0.000 0.040 2740 890 1752 1718 1786 0 0 0 0 0 0 28.83 26.24 25.55

5721 1.50 228.7 2740 890 1717 1783 188.4 8.8 316 5739 0.00 2.10 12.55 0.708 9222 0.000 0.018 2740 2308 1703 1667 1739 0 0 0 0 0 0 28.83 26.37 25.46

6054 1.52 238.1 2740 2308 1665 1731 157.2 8.9 333 6070 0.00 2.12 9.20 0.685 8452 0.000 0.035 2740 3694 1664 1629 1699 0 0 0 0 0 0 28.83 26.25 25.56

6109 1.55 247.6 2740 3694 1621 1698 153.1 8.9 335 6124 0.00 2.12 9.50 0.677 9222 0.000 0.024 2750 2297 1627 1580 1674 0 0 0 0 0 0 28.83 26.30 25.51

6421 1.56 252.7 2750 2297 1577 1666 124.3 9.1 351 6426 0.00 0.00 3.65 0.517 8198 0.000 0.000 2750 2297 1608 1561 1656 0 0 0 0 0 0 28.83 28.83 25.39

6722 1.57 256.0 2750 2297 1561 1656 97.1 9.1 366 6733 0.00 2.15 4.20 0.554 8452 0.000 0.034 2750 3686 1596 1546 1646 0 0 0 0 0 0 28.83 26.41 25.49

6840 1.58 262.9 2750 3686 1546 1646 87.3 9.0 371 6858 0.00 2.10 9.68 0.613 9222 0.000 0.024 2759 2296 1564 1511 1617 0 0 0 0 0 0 28.83 26.47 25.69

7178 1.60 267.7 2759 2296 1509 1612 56.3 9.1 388 7189 0.00 2.22 3.78 0.487 8708 0.000 0.042 2770 894 1548 1496 1600 0 0 0 0 0 0 28.83 26.41 25.53

7218 1.60 270.0 2769 894 1495 1600 53.9 9.2 389 7227 0.00 2.08 3.58 0.471 9222 0.000 0.017 2767 2303 1538 1485 1591 0 0 0 0 0 0 28.83 26.49 25.53

7524 1.62 277.9 2766 2304 1485 1591 24.8 9.0 418 7540 0.00 2.17 10.75 0.545 8452 0.000 0.035 2767 3685 1500 1446 1555 0 0 0 0 0 0 28.83 26.37 25.77

7678 1.63 281.2 2766 3685 1446 1551 10.9 9.1 445 7686 0.00 2.10 0.00 0.000 1030 0.000 0.024 2776 2293 1498 1446 1550 0 0 0 0 0 0 28.83 26.46 28.83

7764 end climb: SURFACE_DEPTH_REACHED

state 7764 begin surface coast

7793 end surface coast: CONTROL_FINISHED_OK

state 7793 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	145	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	60	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	-100676.87	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	200313,061805,1935.387,12006.477,173,1.7,173,-2.6	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	-64.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200313,062459,1935.300,12006.400,15,0.9,16,-2.6	MHEAD_RNG_PITCHd_Wd	360.0,240457,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	4090

FINISH	0.2,1.024492	_10V_AH	10.2,14.658
SM_CCo	8054,0.00,0.000,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.60,0.47,0.00,0.080,0.042,0.000,89,1959,400,-10.54,1.13,549.47,0,0,0,0,0,0,26.46,26.52,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1927.51,12006.82,200313,030345	MEM	323876
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16750,465
HUMID	47.48	CAP_FILE_SIZE	357278,1839
INTERNAL_PRESSURE	9.1655	CFSIZE	260034560,234229760
TCM_TEMP	20.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	1	CURRENT	0.097, 23.4,1
SC_FREEKB	3967360	GPS	200313,084107,1936.454,12006.446,49,1.5,49,-2.6
_24V_AH	24.3,25.322

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	220	93.16	nil	0	0	0.00
Roll_motor	68	53	88.78	nil	0	0	0.00
VBD_pump_during_apogee	418	980	9966.43	nil	0	0	0.00
VBD_pump_during_surface	223	670	3643.31	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	1130.75
Iridium_during_xfer	249	131	797.67	nil	0	0	0.00
Transponder_ping	0	420	2.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	29	5.06
TT8	1810	14	267.04
LPSleep	4132	2	92.32
TT8_Active	761	14	112.26
TT8_Sampling	1461	39	584.12
TT8_CF8	285	46	136.08
TT8_Kalman	0	0	0.00
Analog_circuits	1789	15	282.89
GPS_charging	0	0	0.00
Compass	1204	7	92.03
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	80	1945	334	480	0.0	0.0	0	44	0.00	0.00	-24.15	0.000	16386	0.000	0.000	79	1945	1034	1015	1054	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	80	1945	1015	1055	3.5	-9.3	3	153	7.97	2.20	-90.20	0.000	18948	0.220	0.054	2107	575	3336	3245	3428	0	0	0	0	0	0	25.82	26.17	26.46
167	-1.35	-170.3	2106	575	3247	3428	14.6	-8.4	19	175	0.00	2.05	0.00	0.000	1030	0.000	0.015	2099	1992	3337	3247	3428	0	0	0	0	0	0	28.83	26.26	28.83
486	-1.35	-170.3	2098	1993	3250	3429	43.2	-8.6	60	492	0.00	2.03	0.00	0.000	260	0.000	0.029	2088	3359	3339	3250	3428	0	0	0	0	0	0	28.83	26.41	28.83
607	-1.35	-170.3	2088	3359	3252	3428	53.2	-9.0	69	613	0.00	2.08	0.00	0.000	1030	0.000	0.024	2093	1971	3340	3252	3428	0	0	0	0	0	0	28.83	26.46	28.83
921	-1.35	-170.3	2093	1971	3253	3428	82.1	-8.7	85	927	0.00	2.12	0.00	0.000	516	0.000	0.040	2103	568	3340	3253	3428	0	0	0	0	0	0	28.83	26.53	28.83
1023	-1.35	-170.3	2103	568	3254	3428	90.0	-9.2	89	1031	0.00	2.00	0.00	0.000	1030	0.000	0.015	2095	1979	3341	3254	3428	0	0	0	0	0	0	28.83	26.62	28.83
1329	-1.35	-170.3	2095	1979	3254	3428	118.8	-8.7	105	1335	0.00	2.03	0.00	0.000	260	0.000	0.029	2085	3356	3341	3254	3428	0	0	0	0	0	0	28.83	26.60	28.83
1381	-1.35	-170.3	2084	3356	3254	3428	123.2	-9.0	107	1387	0.00	2.05	0.00	0.000	1030	0.000	0.024	2092	1973	3341	3254	3428	0	0	0	0	0	0	28.83	26.62	28.83
1701	-1.35	-170.3	2092	1972	3254	3428	152.6	-9.1	123	1707	0.00	2.08	0.00	0.000	260	0.000	0.028	2083	3359	3341	3254	3428	0	0	0	0	0	0	28.83	26.64	28.83
1747	-1.35	-170.3	2083	3359	3254	3427	156.7	-8.9	125	1754	0.00	2.05	0.00	0.000	1030	0.000	0.025	2090	1977	3340	3254	3427	0	0	0	0	0	0	28.83	26.65	28.83
2073	-1.35	-170.3	2090	1977	3254	3425	186.3	-9.2	141	2074	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	1976	3339	3254	3425	0	0	0	0	0	0	28.83	28.83	28.83
2374	-1.35	-170.3	2089	1976	3254	3422	213.1	-8.8	156	2375	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	1976	3338	3254	3422	0	0	0	0	0	0	28.83	28.83	28.83
2674	-1.35	-170.3	2090	1977	3252	3419	240.8	-9.2	171	2680	0.00	2.12	0.00	0.000	516	0.000	0.042	2100	576	3335	3253	3418	0	0	0	0	0	0	28.83	26.65	28.83
2731	-1.35	-170.3	2099	576	3253	3418	245.0	-8.8	173	2737	0.00	2.00	0.00	0.000	1030	0.000	0.016	2091	1977	3335	3253	3418	0	0	0	0	0	0	28.83	26.73	28.83
3045	-1.35	-170.3	2090	1977	3253	3415	273.8	-8.5	189	3052	0.00	2.03	0.00	0.000	260	0.000	0.031	2081	3349	3333	3253	3414	0	0	0	0	0	0	28.83	26.67	28.83
3080	-1.35	-170.3	2080	3349	3253	3414	275.9	-8.5	190	3087	0.10	2.05	0.00	0.000	3078	0.168	0.032	2106	1978	3333	3253	3414	0	0	0	0	0	0	26.52	26.67	28.83
3395	-1.35	-170.3	2106	1978	3250	3412	304.6	-8.6	206	3401	0.00	2.15	0.00	0.000	516	0.000	0.044	2116	569	3331	3250	3412	0	0	0	0	0	0	28.83	26.65	28.83
3430	-1.35	-170.3	2116	569	3250	3412	306.9	-8.7	207	3436	0.00	2.03	0.00	0.000	1030	0.000	0.017	2108	1978	3331	3250	3412	0	0	0	0	0	0	28.83	26.73	28.83
3745	-1.35	-170.3	2107	1979	3250	3408	335.9	-9.1	223	3746	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	1979	3329	3250	3408	0	0	0	0	0	0	28.83	28.83	28.83
3903	end dive: TARGET_DEPTH_EXCEEDED
state	3903	begin apogee
3908	-0.25	0.0	2105	2305	3249	3407	350.4	-9.2	231	4071	0.73	0.00	151.32	0.981	10246	0.118	0.000	2343	2305	2639	2589	2689	0	0	0	0	1	0	26.51	28.83	24.30
4074	end apogee: CONTROL_FINISHED_OK
state	4074	begin climb
4075	1.35	170.3	2343	2305	2589	2689	336.1	0.0	238	4241	1.00	2.25	153.93	0.838	10500	0.060	0.033	2699	3677	1933	1898	1968	0	0	0	0	0	0	25.19	25.02	24.37
4482	1.37	178.9	2699	3677	1897	1949	300.0	8.9	256	4491	0.00	2.10	1.80	0.052	9222	0.000	0.023	2709	2304	1908	1881	1936	0	0	0	0	0	0	28.83	26.01	25.94
4788	1.39	183.8	2708	2304	1880	1941	270.7	9.1	272	4800	0.00	2.25	4.62	0.651	8708	0.000	0.041	2719	892	1889	1860	1919	0	0	0	0	0	0	28.83	26.22	25.29
4845	1.41	192.2	2719	892	1860	1923	266.4	9.0	274	4864	0.00	2.08	14.10	0.773	9222	0.000	0.017	2720	2300	1852	1822	1883	0	0	0	0	0	0	28.83	26.33	25.34
5185	1.42	198.2	2719	2300	1819	1873	235.1	9.0	291	5196	0.00	2.12	3.97	0.607	8452	0.000	0.034	2719	3694	1831	1802	1860	0	0	0	0	0	0	28.83	26.30	25.31
5282	1.45	207.9	2719	3693	1801	1861	227.3	8.9	295	5300	0.00	2.12	12.55	0.746	9222	0.000	0.024	2728	2288	1788	1756	1820	0	0	0	0	0	0	28.83	26.37	25.46
5621	1.47	216.8	2729	2289	1754	1814	195.9	8.9	312	5637	0.00	2.17	9.02	0.718	8708	0.000	0.040	2740	890	1752	1718	1786	0	0	0	0	0	0	28.83	26.24	25.55
5721	1.50	228.7	2740	890	1717	1783	188.4	8.8	316	5739	0.00	2.10	12.55	0.708	9222	0.000	0.018	2740	2308	1703	1667	1739	0	0	0	0	0	0	28.83	26.37	25.46
6054	1.52	238.1	2740	2308	1665	1731	157.2	8.9	333	6070	0.00	2.12	9.20	0.685	8452	0.000	0.035	2740	3694	1664	1629	1699	0	0	0	0	0	0	28.83	26.25	25.56
6109	1.55	247.6	2740	3694	1621	1698	153.1	8.9	335	6124	0.00	2.12	9.50	0.677	9222	0.000	0.024	2750	2297	1627	1580	1674	0	0	0	0	0	0	28.83	26.30	25.51
6421	1.56	252.7	2750	2297	1577	1666	124.3	9.1	351	6426	0.00	0.00	3.65	0.517	8198	0.000	0.000	2750	2297	1608	1561	1656	0	0	0	0	0	0	28.83	28.83	25.39
6722	1.57	256.0	2750	2297	1561	1656	97.1	9.1	366	6733	0.00	2.15	4.20	0.554	8452	0.000	0.034	2750	3686	1596	1546	1646	0	0	0	0	0	0	28.83	26.41	25.49
6840	1.58	262.9	2750	3686	1546	1646	87.3	9.0	371	6858	0.00	2.10	9.68	0.613	9222	0.000	0.024	2759	2296	1564	1511	1617	0	0	0	0	0	0	28.83	26.47	25.69
7178	1.60	267.7	2759	2296	1509	1612	56.3	9.1	388	7189	0.00	2.22	3.78	0.487	8708	0.000	0.042	2770	894	1548	1496	1600	0	0	0	0	0	0	28.83	26.41	25.53
7218	1.60	270.0	2769	894	1495	1600	53.9	9.2	389	7227	0.00	2.08	3.58	0.471	9222	0.000	0.017	2767	2303	1538	1485	1591	0	0	0	0	0	0	28.83	26.49	25.53
7524	1.62	277.9	2766	2304	1485	1591	24.8	9.0	418	7540	0.00	2.17	10.75	0.545	8452	0.000	0.035	2767	3685	1500	1446	1555	0	0	0	0	0	0	28.83	26.37	25.77
7678	1.63	281.2	2766	3685	1446	1551	10.9	9.1	445	7686	0.00	2.10	0.00	0.000	1030	0.000	0.024	2776	2293	1498	1446	1550	0	0	0	0	0	0	28.83	26.46	28.83
7764	end climb: SURFACE_DEPTH_REACHED
state	7764	begin surface coast
7793	end surface coast: CONTROL_FINISHED_OK
state	7793	begin surface