Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 156 * 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 156 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 53 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 63 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 -100690.8 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 -100690.8

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 53 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 63 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 156 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 210313,085042,1946.393,12004.992,37,1.5,37,-2.6 TGT_NAME W2A

_CALLS 2 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 -65.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210313,085842,1946.408,12004.970,17,1.6,18,-2.6 MHEAD_RNG_PITCHd_Wd 13.8,219799,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3913

Post-dive calculations and measurements:

FINISH 0.0,1.024565 _10V_AH 10.2,15.312

SM_CCo 8054,0.05,0.188,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.43,0.47,0.05,0.072,0.041,0.188,81,1963,401,-10.57,1.33,549.47,0,0,0,0,0,0,26.58,26.63,25.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1941.24,12004.01,210313,080831 MEM 323844

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16759,468

HUMID 47.51 CAP_FILE_SIZE 360260,1883

INTERNAL_PRESSURE 9.1655 CFSIZE 260034560,233066496

TCM_TEMP 19.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 0 CURRENT 0.177, 34.7,1

SC_FREEKB 3963136 GPS 210313,111434,1947.823,12005.566,31,0.8,31,-2.6

_24V_AH 24.5,26.959

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 217 92.22 nil 0 0 0.00

Roll_motor 64 43 68.77 nil 0 0 0.00

VBD_pump_during_apogee 371 832 7582.20 nil 0 0 0.00

VBD_pump_during_surface 234 682 3925.04 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 7808 5 1146.25

Iridium_during_xfer 302 133 990.87 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 5.72

TT8 1834 14 270.59

LPSleep 4125 2 92.16

TT8_Active 728 14 107.39

TT8_Sampling 1535 39 613.80

TT8_CF8 294 46 140.29

TT8_Kalman 0 0 0.00

Analog_circuits 1832 15 289.64

GPS_charging 0 0 0.00

Compass 1248 7 95.35

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 79 1950 333 472 0.0 0.0 0 43 0.00 0.00 -23.10 0.000 16386 0.000 0.000 79 1950 1001 981 1021 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 79 1950 982 1021 3.1 -9.1 3 160 7.95 2.20 -92.97 0.000 18692 0.217 0.044 2091 3358 3337 3245 3430 0 0 0 0 0 0 25.85 26.18 26.46

207 -1.35 -170.3 1232 3356 3220 3427 17.8 -9.2 26 215 0.00 2.10 0.00 0.000 1030 0.000 0.024 2097 1971 3339 3248 3430 0 0 0 0 0 0 28.83 26.25 28.83

528 -1.35 -170.3 2097 1971 3251 3430 46.9 -9.2 64 529 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 1971 3340 3251 3430 0 0 0 0 0 0 28.83 28.83 28.83

828 -1.35 -170.3 2097 1971 3253 3430 73.8 -8.7 81 829 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 1971 3341 3253 3430 0 0 0 0 0 0 28.83 28.83 28.83

1129 -1.35 -170.3 2098 1971 3253 3430 101.0 -9.2 96 1130 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 1971 3341 3253 3430 0 0 0 0 0 0 28.83 28.83 28.83

1429 -1.35 -170.3 2097 1971 3253 3430 127.9 -9.1 111 1435 0.00 2.12 0.00 0.000 516 0.000 0.040 2107 565 3341 3253 3430 0 0 0 0 0 0 28.83 26.59 28.83

1523 -1.35 -170.3 2106 565 3253 3430 135.7 -9.0 115 1530 0.00 2.03 0.00 0.000 1030 0.000 0.015 2098 1988 3341 3253 3430 0 0 0 0 0 0 28.83 26.68 28.83

1840 -1.35 -170.3 2098 1988 3253 3428 164.4 -9.0 131 1846 0.00 2.03 0.00 0.000 260 0.000 0.031 2088 3364 3340 3253 3428 0 0 0 0 0 0 28.83 26.64 28.83

1959 -1.35 -170.3 2088 3364 3253 3427 174.2 -8.9 136 1964 0.00 2.08 0.00 0.000 1030 0.000 0.024 2088 1967 3340 3253 3427 0 0 0 0 0 0 28.83 26.65 28.83

2273 -1.35 -170.3 2088 1967 3253 3424 204.0 -9.2 152 2280 0.00 2.12 0.00 0.000 516 0.000 0.042 2098 566 3338 3253 3423 0 0 0 0 0 0 28.83 26.63 28.83

2314 -1.35 -170.3 2097 565 3253 3423 206.4 -9.3 153 2322 0.00 2.03 0.00 0.000 1030 0.000 0.016 2089 1979 3338 3253 3423 0 0 0 0 0 0 28.83 26.72 28.83

2620 -1.35 -170.3 2089 1982 3253 3421 235.4 -9.1 169 2626 0.00 2.05 0.00 0.000 260 0.000 0.032 2079 3366 3337 3253 3421 0 0 0 0 0 0 28.83 26.65 28.83

2667 -1.35 -170.3 2078 3366 3253 3423 239.4 -8.7 171 2673 0.10 2.08 0.00 0.000 3078 0.163 0.026 2104 1973 3336 3253 3420 0 0 0 0 0 0 26.51 26.67 28.83

2992 -1.35 -170.3 2103 1974 3253 3416 268.6 -9.1 187 2998 0.00 2.12 0.00 0.000 516 0.000 0.044 2114 576 3334 3253 3416 0 0 0 0 0 0 28.83 26.64 28.83

3120 -1.35 -170.3 2113 577 3253 3415 280.2 -9.1 193 3126 0.00 2.00 0.00 0.000 1030 0.000 0.017 2105 1970 3334 3253 3415 0 0 0 0 0 0 28.83 26.72 28.83

3446 -1.35 -170.3 2105 1971 3252 3411 309.3 -9.0 209 3447 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 1971 3331 3252 3411 0 0 0 0 0 0 28.83 28.83 28.83

3746 -1.35 -170.3 2105 1971 3249 3409 336.6 -9.3 224 3752 0.00 2.08 0.00 0.000 260 0.000 0.033 2095 3366 3328 3249 3408 0 0 0 0 0 0 28.83 26.66 28.83

3805 -1.35 -170.3 2095 3366 3249 3408 340.9 -9.3 226 3813 0.00 2.10 0.00 0.000 1030 0.000 0.028 2095 1971 3328 3249 3408 0 0 0 0 0 0 28.83 26.67 28.83

3891 end dive: TARGET_DEPTH_EXCEEDED

state 3891 begin apogee

3896 -0.25 0.0 2094 2300 3248 3408 350.1 -9.2 231 4049 0.77 0.00 145.23 0.832 10246 0.118 0.000 2347 2302 2631 2582 2681 0 0 0 0 0 0 26.50 28.83 24.60

4051 end apogee: CONTROL_FINISHED_OK

state 4051 begin climb

4052 1.35 170.3 2348 2302 2579 2678 337.7 0.0 237 4215 0.98 2.28 150.45 0.809 10500 0.060 0.034 2698 3677 1934 1899 1969 0 0 0 0 0 0 25.33 25.08 24.46

4437 1.37 178.0 2697 3677 1898 1951 301.5 9.0 255 4444 0.00 2.12 1.50 0.053 9222 0.000 0.024 2708 2294 1913 1886 1940 0 0 0 0 0 0 28.83 26.01 25.94

4763 1.38 180.2 2707 2295 1886 1941 272.0 9.2 271 4769 0.00 2.15 0.00 0.000 260 0.000 0.033 2708 3690 1913 1886 1941 0 0 0 0 0 0 28.83 26.31 28.83

4859 1.39 185.8 2707 3690 1886 1942 264.1 9.1 275 4878 0.00 2.12 11.50 0.753 9222 0.000 0.024 2718 2289 1875 1847 1904 0 0 0 0 0 0 28.83 26.37 25.48

5197 1.42 198.3 2717 2289 1845 1896 233.5 8.8 292 5214 0.00 2.22 12.02 0.736 8452 0.000 0.032 2717 3680 1825 1796 1855 0 0 0 0 0 0 28.83 26.22 25.53

5236 1.45 209.3 2717 3680 1793 1850 231.2 8.9 293 5255 0.00 2.10 10.68 0.724 9222 0.000 0.025 2727 2301 1780 1749 1812 0 0 0 0 0 0 28.83 26.26 25.42

5569 1.45 209.3 2727 2301 1748 1804 199.9 9.5 310 5575 0.00 2.17 0.00 0.000 516 0.000 0.042 2738 898 1776 1748 1804 0 0 0 0 0 0 28.83 26.34 28.83

5656 1.48 219.4 2738 898 1748 1804 192.1 8.9 314 5672 0.00 2.05 9.55 0.705 9222 0.000 0.018 2738 2293 1741 1713 1770 0 0 0 0 0 0 28.83 26.45 25.58

5982 1.48 221.7 2738 2293 1712 1763 163.1 9.2 330 5988 0.00 2.12 0.00 0.000 260 0.000 0.035 2739 3697 1737 1712 1763 0 0 0 0 0 0 28.83 26.42 28.83

6033 1.50 229.1 2738 3697 1712 1762 158.9 9.0 332 6053 0.10 2.12 9.45 0.675 13318 0.206 0.025 2727 2294 1701 1672 1731 0 0 0 0 0 0 26.25 26.46 25.64

6349 1.52 236.6 2727 2294 1670 1727 130.1 9.0 348 6365 0.00 2.25 7.68 0.653 8708 0.000 0.042 2738 893 1671 1638 1704 0 0 0 0 0 0 28.83 26.32 25.68

6382 1.53 240.8 1792 893 1603 1696 127.9 9.1 349 6395 0.00 2.08 3.40 0.491 9222 0.000 0.018 2738 2296 1657 1619 1695 0 0 0 0 0 0 28.83 26.41 25.44

6694 1.53 240.8 2737 2297 1619 1695 98.7 9.4 365 6699 0.00 2.12 0.00 0.000 260 0.000 0.036 2738 3701 1656 1618 1695 0 0 0 0 0 0 28.83 26.45 28.83

6823 1.55 249.3 2737 3700 1616 1695 87.3 9.0 371 6839 0.00 2.12 10.38 0.608 9222 0.000 0.025 2747 2301 1620 1573 1667 0 0 0 0 0 0 28.83 26.51 25.73

7147 1.55 249.3 2747 2301 1570 1661 57.9 9.4 387 7149 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2301 1615 1570 1661 0 0 0 0 0 0 28.83 28.83 28.83

7448 1.55 249.3 2747 2301 1570 1660 30.6 9.3 412 7454 0.00 2.15 0.00 0.000 260 0.000 0.034 2746 3698 1615 1570 1660 0 0 0 0 0 0 28.83 26.53 28.83

7537 1.55 249.3 1728 3697 1536 1652 22.6 9.5 422 7546 0.00 2.10 0.00 0.000 1030 0.000 0.026 2757 2301 1614 1570 1659 0 0 0 0 0 0 28.83 26.57 28.83

7759 end climb: SURFACE_DEPTH_REACHED

state 7759 begin surface coast

7792 end surface coast: CONTROL_FINISHED_OK

state 7792 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	156	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	53	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	63	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	-100690.8	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	210313,085042,1946.393,12004.992,37,1.5,37,-2.6	TGT_NAME	W2A
_CALLS	2	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	-65.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210313,085842,1946.408,12004.970,17,1.6,18,-2.6	MHEAD_RNG_PITCHd_Wd	13.8,219799,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3913

FINISH	0.0,1.024565	_10V_AH	10.2,15.312
SM_CCo	8054,0.05,0.188,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.43,0.47,0.05,0.072,0.041,0.188,81,1963,401,-10.57,1.33,549.47,0,0,0,0,0,0,26.58,26.63,25.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1941.24,12004.01,210313,080831	MEM	323844
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16759,468
HUMID	47.51	CAP_FILE_SIZE	360260,1883
INTERNAL_PRESSURE	9.1655	CFSIZE	260034560,233066496
TCM_TEMP	19.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	0	CURRENT	0.177, 34.7,1
SC_FREEKB	3963136	GPS	210313,111434,1947.823,12005.566,31,0.8,31,-2.6
_24V_AH	24.5,26.959

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	217	92.22	nil	0	0	0.00
Roll_motor	64	43	68.77	nil	0	0	0.00
VBD_pump_during_apogee	371	832	7582.20	nil	0	0	0.00
VBD_pump_during_surface	234	682	3925.04	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	7808	5	1146.25
Iridium_during_xfer	302	133	990.87	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	5.72
TT8	1834	14	270.59
LPSleep	4125	2	92.16
TT8_Active	728	14	107.39
TT8_Sampling	1535	39	613.80
TT8_CF8	294	46	140.29
TT8_Kalman	0	0	0.00
Analog_circuits	1832	15	289.64
GPS_charging	0	0	0.00
Compass	1248	7	95.35
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	79	1950	333	472	0.0	0.0	0	43	0.00	0.00	-23.10	0.000	16386	0.000	0.000	79	1950	1001	981	1021	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	79	1950	982	1021	3.1	-9.1	3	160	7.95	2.20	-92.97	0.000	18692	0.217	0.044	2091	3358	3337	3245	3430	0	0	0	0	0	0	25.85	26.18	26.46
207	-1.35	-170.3	1232	3356	3220	3427	17.8	-9.2	26	215	0.00	2.10	0.00	0.000	1030	0.000	0.024	2097	1971	3339	3248	3430	0	0	0	0	0	0	28.83	26.25	28.83
528	-1.35	-170.3	2097	1971	3251	3430	46.9	-9.2	64	529	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	1971	3340	3251	3430	0	0	0	0	0	0	28.83	28.83	28.83
828	-1.35	-170.3	2097	1971	3253	3430	73.8	-8.7	81	829	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	1971	3341	3253	3430	0	0	0	0	0	0	28.83	28.83	28.83
1129	-1.35	-170.3	2098	1971	3253	3430	101.0	-9.2	96	1130	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	1971	3341	3253	3430	0	0	0	0	0	0	28.83	28.83	28.83
1429	-1.35	-170.3	2097	1971	3253	3430	127.9	-9.1	111	1435	0.00	2.12	0.00	0.000	516	0.000	0.040	2107	565	3341	3253	3430	0	0	0	0	0	0	28.83	26.59	28.83
1523	-1.35	-170.3	2106	565	3253	3430	135.7	-9.0	115	1530	0.00	2.03	0.00	0.000	1030	0.000	0.015	2098	1988	3341	3253	3430	0	0	0	0	0	0	28.83	26.68	28.83
1840	-1.35	-170.3	2098	1988	3253	3428	164.4	-9.0	131	1846	0.00	2.03	0.00	0.000	260	0.000	0.031	2088	3364	3340	3253	3428	0	0	0	0	0	0	28.83	26.64	28.83
1959	-1.35	-170.3	2088	3364	3253	3427	174.2	-8.9	136	1964	0.00	2.08	0.00	0.000	1030	0.000	0.024	2088	1967	3340	3253	3427	0	0	0	0	0	0	28.83	26.65	28.83
2273	-1.35	-170.3	2088	1967	3253	3424	204.0	-9.2	152	2280	0.00	2.12	0.00	0.000	516	0.000	0.042	2098	566	3338	3253	3423	0	0	0	0	0	0	28.83	26.63	28.83
2314	-1.35	-170.3	2097	565	3253	3423	206.4	-9.3	153	2322	0.00	2.03	0.00	0.000	1030	0.000	0.016	2089	1979	3338	3253	3423	0	0	0	0	0	0	28.83	26.72	28.83
2620	-1.35	-170.3	2089	1982	3253	3421	235.4	-9.1	169	2626	0.00	2.05	0.00	0.000	260	0.000	0.032	2079	3366	3337	3253	3421	0	0	0	0	0	0	28.83	26.65	28.83
2667	-1.35	-170.3	2078	3366	3253	3423	239.4	-8.7	171	2673	0.10	2.08	0.00	0.000	3078	0.163	0.026	2104	1973	3336	3253	3420	0	0	0	0	0	0	26.51	26.67	28.83
2992	-1.35	-170.3	2103	1974	3253	3416	268.6	-9.1	187	2998	0.00	2.12	0.00	0.000	516	0.000	0.044	2114	576	3334	3253	3416	0	0	0	0	0	0	28.83	26.64	28.83
3120	-1.35	-170.3	2113	577	3253	3415	280.2	-9.1	193	3126	0.00	2.00	0.00	0.000	1030	0.000	0.017	2105	1970	3334	3253	3415	0	0	0	0	0	0	28.83	26.72	28.83
3446	-1.35	-170.3	2105	1971	3252	3411	309.3	-9.0	209	3447	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	1971	3331	3252	3411	0	0	0	0	0	0	28.83	28.83	28.83
3746	-1.35	-170.3	2105	1971	3249	3409	336.6	-9.3	224	3752	0.00	2.08	0.00	0.000	260	0.000	0.033	2095	3366	3328	3249	3408	0	0	0	0	0	0	28.83	26.66	28.83
3805	-1.35	-170.3	2095	3366	3249	3408	340.9	-9.3	226	3813	0.00	2.10	0.00	0.000	1030	0.000	0.028	2095	1971	3328	3249	3408	0	0	0	0	0	0	28.83	26.67	28.83
3891	end dive: TARGET_DEPTH_EXCEEDED
state	3891	begin apogee
3896	-0.25	0.0	2094	2300	3248	3408	350.1	-9.2	231	4049	0.77	0.00	145.23	0.832	10246	0.118	0.000	2347	2302	2631	2582	2681	0	0	0	0	0	0	26.50	28.83	24.60
4051	end apogee: CONTROL_FINISHED_OK
state	4051	begin climb
4052	1.35	170.3	2348	2302	2579	2678	337.7	0.0	237	4215	0.98	2.28	150.45	0.809	10500	0.060	0.034	2698	3677	1934	1899	1969	0	0	0	0	0	0	25.33	25.08	24.46
4437	1.37	178.0	2697	3677	1898	1951	301.5	9.0	255	4444	0.00	2.12	1.50	0.053	9222	0.000	0.024	2708	2294	1913	1886	1940	0	0	0	0	0	0	28.83	26.01	25.94
4763	1.38	180.2	2707	2295	1886	1941	272.0	9.2	271	4769	0.00	2.15	0.00	0.000	260	0.000	0.033	2708	3690	1913	1886	1941	0	0	0	0	0	0	28.83	26.31	28.83
4859	1.39	185.8	2707	3690	1886	1942	264.1	9.1	275	4878	0.00	2.12	11.50	0.753	9222	0.000	0.024	2718	2289	1875	1847	1904	0	0	0	0	0	0	28.83	26.37	25.48
5197	1.42	198.3	2717	2289	1845	1896	233.5	8.8	292	5214	0.00	2.22	12.02	0.736	8452	0.000	0.032	2717	3680	1825	1796	1855	0	0	0	0	0	0	28.83	26.22	25.53
5236	1.45	209.3	2717	3680	1793	1850	231.2	8.9	293	5255	0.00	2.10	10.68	0.724	9222	0.000	0.025	2727	2301	1780	1749	1812	0	0	0	0	0	0	28.83	26.26	25.42
5569	1.45	209.3	2727	2301	1748	1804	199.9	9.5	310	5575	0.00	2.17	0.00	0.000	516	0.000	0.042	2738	898	1776	1748	1804	0	0	0	0	0	0	28.83	26.34	28.83
5656	1.48	219.4	2738	898	1748	1804	192.1	8.9	314	5672	0.00	2.05	9.55	0.705	9222	0.000	0.018	2738	2293	1741	1713	1770	0	0	0	0	0	0	28.83	26.45	25.58
5982	1.48	221.7	2738	2293	1712	1763	163.1	9.2	330	5988	0.00	2.12	0.00	0.000	260	0.000	0.035	2739	3697	1737	1712	1763	0	0	0	0	0	0	28.83	26.42	28.83
6033	1.50	229.1	2738	3697	1712	1762	158.9	9.0	332	6053	0.10	2.12	9.45	0.675	13318	0.206	0.025	2727	2294	1701	1672	1731	0	0	0	0	0	0	26.25	26.46	25.64
6349	1.52	236.6	2727	2294	1670	1727	130.1	9.0	348	6365	0.00	2.25	7.68	0.653	8708	0.000	0.042	2738	893	1671	1638	1704	0	0	0	0	0	0	28.83	26.32	25.68
6382	1.53	240.8	1792	893	1603	1696	127.9	9.1	349	6395	0.00	2.08	3.40	0.491	9222	0.000	0.018	2738	2296	1657	1619	1695	0	0	0	0	0	0	28.83	26.41	25.44
6694	1.53	240.8	2737	2297	1619	1695	98.7	9.4	365	6699	0.00	2.12	0.00	0.000	260	0.000	0.036	2738	3701	1656	1618	1695	0	0	0	0	0	0	28.83	26.45	28.83
6823	1.55	249.3	2737	3700	1616	1695	87.3	9.0	371	6839	0.00	2.12	10.38	0.608	9222	0.000	0.025	2747	2301	1620	1573	1667	0	0	0	0	0	0	28.83	26.51	25.73
7147	1.55	249.3	2747	2301	1570	1661	57.9	9.4	387	7149	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2301	1615	1570	1661	0	0	0	0	0	0	28.83	28.83	28.83
7448	1.55	249.3	2747	2301	1570	1660	30.6	9.3	412	7454	0.00	2.15	0.00	0.000	260	0.000	0.034	2746	3698	1615	1570	1660	0	0	0	0	0	0	28.83	26.53	28.83
7537	1.55	249.3	1728	3697	1536	1652	22.6	9.5	422	7546	0.00	2.10	0.00	0.000	1030	0.000	0.026	2757	2301	1614	1570	1659	0	0	0	0	0	0	28.83	26.57	28.83
7759	end climb: SURFACE_DEPTH_REACHED
state	7759	begin surface coast
7792	end surface coast: CONTROL_FINISHED_OK
state	7792	begin surface