Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 149 * 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 149 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 35 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 58 XPDR_VALID 0

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 2.3

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 400 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 2 VBD_MAX 3600 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2640 DEVICE1 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 126 CALL_WAIT 5 PITCH_VBD_SHIFT 0.0024999999 DEVICE5 -1

T_MISSION 150 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 180 CAPMAXSIZE 50000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT 5 T_GPS 30 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_CHARGE -100681.89 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 -100681.89

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 35 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 58 VBD_DBAND 2

DEVICE3 -1 MISSION 10 SC_PROFILE 3.0 VBD_MAX 3600

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 400

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -9.8275757 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 149 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 200313,155652,1940.074,12006.365,93,0.9,93,-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 -63.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200313,160312,1940.118,12006.330,17,1.0,18,-2.6 MHEAD_RNG_PITCHd_Wd 333.7,231538,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 4062

Post-dive calculations and measurements:

FINISH 0.0,1.024756 _10V_AH 10.2,14.896

SM_CCo 8058,3.22,0.389,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.57,0.50,3.22,0.077,0.042,0.389,86,1953,400,-10.55,0.93,549.47,0,0,0,0,0,0,26.41,26.46,24.74 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1934.38,12007.97,200313,131303 MEM 323904

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16759,467

HUMID 48.46 CAP_FILE_SIZE 364978,1886

INTERNAL_PRESSURE 9.14597 CFSIZE 260034560,233795584

TCM_TEMP 19.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 0 CURRENT 0.151, 43.9,1

SC_FREEKB 3965824 GPS 200313,182011,1941.264,12006.352,92,0.7,92,-2.6

_24V_AH 24.3,25.917

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 216 91.80 nil 0 0 0.00

Roll_motor 77 44 83.26 nil 0 0 0.00

VBD_pump_during_apogee 443 954 10298.35 nil 0 0 0.00

VBD_pump_during_surface 208 684 3461.04 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 7823 5 1129.00

Iridium_during_xfer 211 135 696.15 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.80

TT8 1842 14 271.76

LPSleep 4052 2 90.52

TT8_Active 778 14 114.83

TT8_Sampling 1460 39 583.54

TT8_CF8 292 46 139.19

TT8_Kalman 0 0 0.00

Analog_circuits 1797 15 284.19

GPS_charging 0 0 0.00

Compass 1239 7 94.69

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.35 -170.3 83 1969 350 490 0.0 0.0 0 43 0.00 0.00 -23.20 0.000 16386 0.000 0.000 83 1969 1029 1013 1046 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 83 1969 1013 1047 3.1 -9.2 3 160 7.90 2.17 -93.78 0.000 18692 0.216 0.043 2089 3369 3337 3244 3430 0 0 0 0 0 0 25.83 26.19 26.47

254 -1.35 -170.3 1248 3368 3219 3427 22.0 -8.5 35 262 0.00 2.12 0.00 0.000 1030 0.000 0.024 2096 1962 3338 3247 3430 0 0 0 0 0 0 28.83 26.29 28.83

572 -1.35 -170.3 2096 1961 3249 3430 50.3 -8.7 69 578 0.00 2.10 0.00 0.000 516 0.000 0.040 2106 577 3339 3249 3430 0 0 0 0 0 0 28.83 26.43 28.83

711 -1.35 -170.3 2106 577 3251 3430 61.9 -9.0 75 718 0.00 2.03 0.00 0.000 1030 0.000 0.015 2098 1997 3340 3251 3430 0 0 0 0 0 0 28.83 26.55 28.83

1027 -1.35 -170.3 2097 1998 3252 3430 91.1 -9.1 91 1033 0.00 2.00 0.00 0.000 260 0.000 0.029 2088 3358 3341 3253 3430 0 0 0 0 0 0 28.83 26.56 28.83

1117 -1.35 -170.3 2087 3358 3253 3430 99.0 -8.9 95 1123 0.00 2.05 0.00 0.000 1030 0.000 0.024 2092 1971 3340 3252 3429 0 0 0 0 0 0 28.83 26.59 28.83

1438 -1.35 -170.3 2092 1971 3252 3430 127.9 -8.8 111 1444 0.00 2.10 0.00 0.000 516 0.000 0.040 2102 577 3341 3252 3430 0 0 0 0 0 0 28.83 26.60 28.83

1510 -1.35 -170.3 2102 577 3253 3430 133.9 -8.8 114 1516 0.00 2.00 0.00 0.000 1030 0.000 0.015 2095 1981 3341 3252 3430 0 0 0 0 0 0 28.83 26.67 28.83

1830 -1.35 -170.3 2094 1982 3252 3428 163.4 -9.0 130 1836 0.00 2.15 0.00 0.000 516 0.000 0.038 2102 573 3339 3252 3427 0 0 0 0 0 0 28.83 26.62 28.83

1901 -1.35 -170.3 2102 573 3252 3427 169.5 -9.0 133 1907 0.00 2.00 0.00 0.000 1030 0.000 0.015 2094 1974 3339 3252 3427 0 0 0 0 0 0 28.83 26.70 28.83

2220 -1.35 -170.3 2094 1974 3252 3423 199.0 -9.0 149 2226 0.00 2.15 0.00 0.000 516 0.000 0.039 2102 574 3337 3252 3423 0 0 0 0 0 0 28.83 26.63 28.83

2255 -1.35 -170.3 2102 574 3252 3423 201.1 -9.1 150 2261 0.00 2.00 0.00 0.000 1030 0.000 0.016 2094 1975 3337 3252 3423 0 0 0 0 0 0 28.83 26.71 28.83

2569 -1.35 -170.3 2093 1979 3252 3420 230.1 -9.3 166 2575 0.00 2.05 0.00 0.000 260 0.000 0.031 2084 3364 3336 3252 3420 0 0 0 0 0 0 28.83 26.66 28.83

2604 -1.35 -170.3 2083 3364 3252 3419 232.3 -9.2 167 2611 0.10 2.08 0.00 0.000 3078 0.164 0.027 2109 1972 3336 3254 3419 0 0 0 0 0 0 26.51 26.67 28.83

2920 -1.35 -170.3 2109 1972 3252 3416 260.9 -8.9 183 2922 0.00 0.00 0.00 0.000 6 0.000 0.000 2109 1972 3334 3253 3416 0 0 0 0 0 0 28.83 28.83 28.83

3221 -1.35 -170.3 2109 1972 3252 3411 287.6 -9.2 198 3228 0.00 2.12 0.00 0.000 516 0.000 0.044 2119 577 3331 3252 3411 0 0 0 0 0 0 28.83 26.64 28.83

3317 -1.35 -170.3 2119 577 3252 3411 295.6 -8.9 202 3323 0.00 2.00 0.00 0.000 1030 0.000 0.016 2111 1971 3331 3252 3411 0 0 0 0 0 0 28.83 26.73 28.83

3632 -1.35 -170.3 2110 1971 3249 3408 324.3 -9.1 218 3638 0.00 2.08 0.00 0.000 260 0.000 0.033 2101 3367 3328 3249 3408 0 0 0 0 0 0 28.83 26.67 28.83

3699 -1.35 -170.3 2100 3367 3249 3408 330.3 -8.9 221 3705 0.00 2.10 0.00 0.000 1030 0.000 0.028 2101 1975 3328 3248 3408 0 0 0 0 0 0 28.83 26.67 28.83

3922 end dive: TARGET_DEPTH_EXCEEDED

state 3922 begin apogee

3927 -0.25 0.0 2099 2309 3247 3406 350.7 -8.9 232 4091 0.75 0.00 152.68 0.955 10246 0.119 0.000 2345 2309 2639 2590 2689 0 0 0 0 1 0 26.50 28.83 24.32

4093 end apogee: CONTROL_FINISHED_OK

state 4094 begin climb

4095 1.35 170.3 2344 2308 2590 2688 336.4 0.0 239 4274 1.00 2.25 162.65 0.807 10500 0.055 0.033 2705 3678 1931 1898 1965 0 0 0 0 0 0 25.20 25.04 24.46

4325 1.36 172.3 2705 3678 1898 1954 314.9 9.2 249 4331 0.00 2.15 0.00 0.000 1030 0.000 0.024 2716 2302 1926 1898 1954 0 0 0 0 0 0 28.83 25.53 28.83

4644 1.38 179.9 2715 2302 1897 1947 285.8 9.0 265 4652 0.00 2.22 2.28 0.187 8452 0.000 0.031 2716 3690 1903 1878 1929 0 0 0 0 0 0 28.83 26.16 25.15

4737 1.40 188.5 2715 3690 1879 1936 277.9 8.9 269 4761 0.00 2.12 14.80 0.776 9222 0.000 0.024 2725 2293 1862 1837 1887 0 0 0 0 0 0 28.83 26.25 25.31

5079 1.45 208.1 2725 2293 1835 1876 246.9 8.5 286 5103 0.00 2.25 18.50 0.763 8452 0.000 0.031 2725 3690 1784 1758 1810 0 0 0 0 0 0 28.83 26.06 25.36

5157 1.47 217.7 2725 3690 1753 1803 240.7 8.9 289 5170 0.00 2.12 5.10 0.687 9222 0.000 0.024 2736 2300 1752 1726 1779 0 0 0 0 0 0 28.83 26.15 25.28

5468 1.47 218.4 2735 2300 1725 1782 211.5 9.2 305 5473 0.00 2.17 0.00 0.000 516 0.000 0.041 2746 894 1753 1725 1782 0 0 0 0 0 0 28.83 26.32 28.83

5501 1.47 218.4 2746 895 1725 1782 209.3 9.4 306 5509 0.12 2.08 0.00 0.000 5126 0.188 0.017 2718 2307 1753 1725 1781 0 0 0 0 0 0 26.16 26.41 28.83

5817 1.47 218.4 2717 2307 1724 1782 179.5 9.4 322 5823 0.00 2.08 0.00 0.000 260 0.000 0.034 2717 3682 1753 1725 1782 0 0 0 0 0 0 28.83 26.46 28.83

5877 1.48 223.0 1768 3681 1687 1775 175.2 9.1 324 5892 0.00 2.10 8.57 0.701 9222 0.000 0.025 2726 2292 1727 1698 1757 0 0 0 0 0 0 28.83 26.49 25.63

6213 1.52 237.9 2726 2292 1695 1751 144.3 8.7 341 6237 0.00 2.25 15.68 0.671 8708 0.000 0.043 2737 896 1661 1624 1699 0 0 0 0 0 0 28.83 26.24 25.61

6270 1.55 249.4 2737 896 1620 1699 139.9 8.8 343 6289 0.00 2.08 11.12 0.672 9222 0.000 0.018 2737 2295 1617 1572 1663 0 0 0 0 0 0 28.83 26.34 25.52

6609 1.55 249.4 2737 2295 1570 1657 108.0 9.5 360 6615 0.00 2.22 0.00 0.000 516 0.000 0.041 2747 889 1614 1570 1658 0 0 0 0 0 0 28.83 26.36 28.83

6685 1.58 259.8 2747 889 1570 1658 102.1 8.9 363 6703 0.00 2.10 10.60 0.633 9222 0.000 0.018 2747 2309 1575 1525 1625 0 0 0 0 0 0 28.83 26.46 25.63

7024 1.62 277.8 2747 2309 1523 1619 71.3 8.6 380 7047 0.00 2.33 18.33 0.601 8708 0.000 0.041 2757 892 1502 1451 1554 0 0 0 0 0 0 28.83 26.19 25.61

7091 1.64 286.0 2756 892 1449 1549 64.9 9.0 383 7108 0.00 2.10 8.15 0.604 9222 0.000 0.018 2756 2304 1469 1419 1519 0 0 0 0 0 0 28.83 26.30 25.56

7417 1.66 293.1 2756 2304 1419 1513 35.8 9.0 406 7431 0.00 2.20 7.45 0.579 8452 0.000 0.036 2756 3698 1440 1394 1486 0 0 0 0 0 0 28.83 26.29 25.65

7531 1.68 300.5 2756 3698 1394 1481 25.6 9.0 416 7545 0.00 2.12 8.00 0.567 9222 0.000 0.026 2765 2301 1410 1369 1452 0 0 0 0 0 0 28.83 26.37 25.65

7781 end climb: SURFACE_DEPTH_REACHED

state 7781 begin surface coast

7815 end surface coast: CONTROL_FINISHED_OK

state 7816 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	149	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	35	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	58	XPDR_VALID	0
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	2.3
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	400	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	2	VBD_MAX	3600	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2640	DEVICE1	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	126	CALL_WAIT	5	PITCH_VBD_SHIFT	0.0024999999	DEVICE5	-1
T_MISSION	150	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	180	CAPMAXSIZE	50000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	5	T_GPS	30	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_CHARGE	-100681.89	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	200313,155652,1940.074,12006.365,93,0.9,93,-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	-63.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200313,160312,1940.118,12006.330,17,1.0,18,-2.6	MHEAD_RNG_PITCHd_Wd	333.7,231538,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	4062

FINISH	0.0,1.024756	_10V_AH	10.2,14.896
SM_CCo	8058,3.22,0.389,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.57,0.50,3.22,0.077,0.042,0.389,86,1953,400,-10.55,0.93,549.47,0,0,0,0,0,0,26.41,26.46,24.74	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1934.38,12007.97,200313,131303	MEM	323904
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16759,467
HUMID	48.46	CAP_FILE_SIZE	364978,1886
INTERNAL_PRESSURE	9.14597	CFSIZE	260034560,233795584
TCM_TEMP	19.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	0	CURRENT	0.151, 43.9,1
SC_FREEKB	3965824	GPS	200313,182011,1941.264,12006.352,92,0.7,92,-2.6
_24V_AH	24.3,25.917

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	216	91.80	nil	0	0	0.00
Roll_motor	77	44	83.26	nil	0	0	0.00
VBD_pump_during_apogee	443	954	10298.35	nil	0	0	0.00
VBD_pump_during_surface	208	684	3461.04	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	7823	5	1129.00
Iridium_during_xfer	211	135	696.15	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.80
TT8	1842	14	271.76
LPSleep	4052	2	90.52
TT8_Active	778	14	114.83
TT8_Sampling	1460	39	583.54
TT8_CF8	292	46	139.19
TT8_Kalman	0	0	0.00
Analog_circuits	1797	15	284.19
GPS_charging	0	0	0.00
Compass	1239	7	94.69
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.35	-170.3	83	1969	350	490	0.0	0.0	0	43	0.00	0.00	-23.20	0.000	16386	0.000	0.000	83	1969	1029	1013	1046	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	83	1969	1013	1047	3.1	-9.2	3	160	7.90	2.17	-93.78	0.000	18692	0.216	0.043	2089	3369	3337	3244	3430	0	0	0	0	0	0	25.83	26.19	26.47
254	-1.35	-170.3	1248	3368	3219	3427	22.0	-8.5	35	262	0.00	2.12	0.00	0.000	1030	0.000	0.024	2096	1962	3338	3247	3430	0	0	0	0	0	0	28.83	26.29	28.83
572	-1.35	-170.3	2096	1961	3249	3430	50.3	-8.7	69	578	0.00	2.10	0.00	0.000	516	0.000	0.040	2106	577	3339	3249	3430	0	0	0	0	0	0	28.83	26.43	28.83
711	-1.35	-170.3	2106	577	3251	3430	61.9	-9.0	75	718	0.00	2.03	0.00	0.000	1030	0.000	0.015	2098	1997	3340	3251	3430	0	0	0	0	0	0	28.83	26.55	28.83
1027	-1.35	-170.3	2097	1998	3252	3430	91.1	-9.1	91	1033	0.00	2.00	0.00	0.000	260	0.000	0.029	2088	3358	3341	3253	3430	0	0	0	0	0	0	28.83	26.56	28.83
1117	-1.35	-170.3	2087	3358	3253	3430	99.0	-8.9	95	1123	0.00	2.05	0.00	0.000	1030	0.000	0.024	2092	1971	3340	3252	3429	0	0	0	0	0	0	28.83	26.59	28.83
1438	-1.35	-170.3	2092	1971	3252	3430	127.9	-8.8	111	1444	0.00	2.10	0.00	0.000	516	0.000	0.040	2102	577	3341	3252	3430	0	0	0	0	0	0	28.83	26.60	28.83
1510	-1.35	-170.3	2102	577	3253	3430	133.9	-8.8	114	1516	0.00	2.00	0.00	0.000	1030	0.000	0.015	2095	1981	3341	3252	3430	0	0	0	0	0	0	28.83	26.67	28.83
1830	-1.35	-170.3	2094	1982	3252	3428	163.4	-9.0	130	1836	0.00	2.15	0.00	0.000	516	0.000	0.038	2102	573	3339	3252	3427	0	0	0	0	0	0	28.83	26.62	28.83
1901	-1.35	-170.3	2102	573	3252	3427	169.5	-9.0	133	1907	0.00	2.00	0.00	0.000	1030	0.000	0.015	2094	1974	3339	3252	3427	0	0	0	0	0	0	28.83	26.70	28.83
2220	-1.35	-170.3	2094	1974	3252	3423	199.0	-9.0	149	2226	0.00	2.15	0.00	0.000	516	0.000	0.039	2102	574	3337	3252	3423	0	0	0	0	0	0	28.83	26.63	28.83
2255	-1.35	-170.3	2102	574	3252	3423	201.1	-9.1	150	2261	0.00	2.00	0.00	0.000	1030	0.000	0.016	2094	1975	3337	3252	3423	0	0	0	0	0	0	28.83	26.71	28.83
2569	-1.35	-170.3	2093	1979	3252	3420	230.1	-9.3	166	2575	0.00	2.05	0.00	0.000	260	0.000	0.031	2084	3364	3336	3252	3420	0	0	0	0	0	0	28.83	26.66	28.83
2604	-1.35	-170.3	2083	3364	3252	3419	232.3	-9.2	167	2611	0.10	2.08	0.00	0.000	3078	0.164	0.027	2109	1972	3336	3254	3419	0	0	0	0	0	0	26.51	26.67	28.83
2920	-1.35	-170.3	2109	1972	3252	3416	260.9	-8.9	183	2922	0.00	0.00	0.00	0.000	6	0.000	0.000	2109	1972	3334	3253	3416	0	0	0	0	0	0	28.83	28.83	28.83
3221	-1.35	-170.3	2109	1972	3252	3411	287.6	-9.2	198	3228	0.00	2.12	0.00	0.000	516	0.000	0.044	2119	577	3331	3252	3411	0	0	0	0	0	0	28.83	26.64	28.83
3317	-1.35	-170.3	2119	577	3252	3411	295.6	-8.9	202	3323	0.00	2.00	0.00	0.000	1030	0.000	0.016	2111	1971	3331	3252	3411	0	0	0	0	0	0	28.83	26.73	28.83
3632	-1.35	-170.3	2110	1971	3249	3408	324.3	-9.1	218	3638	0.00	2.08	0.00	0.000	260	0.000	0.033	2101	3367	3328	3249	3408	0	0	0	0	0	0	28.83	26.67	28.83
3699	-1.35	-170.3	2100	3367	3249	3408	330.3	-8.9	221	3705	0.00	2.10	0.00	0.000	1030	0.000	0.028	2101	1975	3328	3248	3408	0	0	0	0	0	0	28.83	26.67	28.83
3922	end dive: TARGET_DEPTH_EXCEEDED
state	3922	begin apogee
3927	-0.25	0.0	2099	2309	3247	3406	350.7	-8.9	232	4091	0.75	0.00	152.68	0.955	10246	0.119	0.000	2345	2309	2639	2590	2689	0	0	0	0	1	0	26.50	28.83	24.32
4093	end apogee: CONTROL_FINISHED_OK
state	4094	begin climb
4095	1.35	170.3	2344	2308	2590	2688	336.4	0.0	239	4274	1.00	2.25	162.65	0.807	10500	0.055	0.033	2705	3678	1931	1898	1965	0	0	0	0	0	0	25.20	25.04	24.46
4325	1.36	172.3	2705	3678	1898	1954	314.9	9.2	249	4331	0.00	2.15	0.00	0.000	1030	0.000	0.024	2716	2302	1926	1898	1954	0	0	0	0	0	0	28.83	25.53	28.83
4644	1.38	179.9	2715	2302	1897	1947	285.8	9.0	265	4652	0.00	2.22	2.28	0.187	8452	0.000	0.031	2716	3690	1903	1878	1929	0	0	0	0	0	0	28.83	26.16	25.15
4737	1.40	188.5	2715	3690	1879	1936	277.9	8.9	269	4761	0.00	2.12	14.80	0.776	9222	0.000	0.024	2725	2293	1862	1837	1887	0	0	0	0	0	0	28.83	26.25	25.31
5079	1.45	208.1	2725	2293	1835	1876	246.9	8.5	286	5103	0.00	2.25	18.50	0.763	8452	0.000	0.031	2725	3690	1784	1758	1810	0	0	0	0	0	0	28.83	26.06	25.36
5157	1.47	217.7	2725	3690	1753	1803	240.7	8.9	289	5170	0.00	2.12	5.10	0.687	9222	0.000	0.024	2736	2300	1752	1726	1779	0	0	0	0	0	0	28.83	26.15	25.28
5468	1.47	218.4	2735	2300	1725	1782	211.5	9.2	305	5473	0.00	2.17	0.00	0.000	516	0.000	0.041	2746	894	1753	1725	1782	0	0	0	0	0	0	28.83	26.32	28.83
5501	1.47	218.4	2746	895	1725	1782	209.3	9.4	306	5509	0.12	2.08	0.00	0.000	5126	0.188	0.017	2718	2307	1753	1725	1781	0	0	0	0	0	0	26.16	26.41	28.83
5817	1.47	218.4	2717	2307	1724	1782	179.5	9.4	322	5823	0.00	2.08	0.00	0.000	260	0.000	0.034	2717	3682	1753	1725	1782	0	0	0	0	0	0	28.83	26.46	28.83
5877	1.48	223.0	1768	3681	1687	1775	175.2	9.1	324	5892	0.00	2.10	8.57	0.701	9222	0.000	0.025	2726	2292	1727	1698	1757	0	0	0	0	0	0	28.83	26.49	25.63
6213	1.52	237.9	2726	2292	1695	1751	144.3	8.7	341	6237	0.00	2.25	15.68	0.671	8708	0.000	0.043	2737	896	1661	1624	1699	0	0	0	0	0	0	28.83	26.24	25.61
6270	1.55	249.4	2737	896	1620	1699	139.9	8.8	343	6289	0.00	2.08	11.12	0.672	9222	0.000	0.018	2737	2295	1617	1572	1663	0	0	0	0	0	0	28.83	26.34	25.52
6609	1.55	249.4	2737	2295	1570	1657	108.0	9.5	360	6615	0.00	2.22	0.00	0.000	516	0.000	0.041	2747	889	1614	1570	1658	0	0	0	0	0	0	28.83	26.36	28.83
6685	1.58	259.8	2747	889	1570	1658	102.1	8.9	363	6703	0.00	2.10	10.60	0.633	9222	0.000	0.018	2747	2309	1575	1525	1625	0	0	0	0	0	0	28.83	26.46	25.63
7024	1.62	277.8	2747	2309	1523	1619	71.3	8.6	380	7047	0.00	2.33	18.33	0.601	8708	0.000	0.041	2757	892	1502	1451	1554	0	0	0	0	0	0	28.83	26.19	25.61
7091	1.64	286.0	2756	892	1449	1549	64.9	9.0	383	7108	0.00	2.10	8.15	0.604	9222	0.000	0.018	2756	2304	1469	1419	1519	0	0	0	0	0	0	28.83	26.30	25.56
7417	1.66	293.1	2756	2304	1419	1513	35.8	9.0	406	7431	0.00	2.20	7.45	0.579	8452	0.000	0.036	2756	3698	1440	1394	1486	0	0	0	0	0	0	28.83	26.29	25.65
7531	1.68	300.5	2756	3698	1394	1481	25.6	9.0	416	7545	0.00	2.12	8.00	0.567	9222	0.000	0.026	2765	2301	1410	1369	1452	0	0	0	0	0	0	28.83	26.37	25.65
7781	end climb: SURFACE_DEPTH_REACHED
state	7781	begin surface coast
7815	end surface coast: CONTROL_FINISHED_OK
state	7816	begin surface