Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 158 * 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 158 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 38 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 59 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 -100693.33 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 -100693.33

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 38 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 59 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 158 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 210313,133552,1949.294,12005.512,27,0.9,27,-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 -62.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210313,134218,1949.266,12005.513,14,1.3,15,-2.6 MHEAD_RNG_PITCHd_Wd 340.7,214548,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3846

Post-dive calculations and measurements:

FINISH 0.0,1.024041 _10V_AH 10.2,15.426

SM_CCo 8022,1.33,0.080,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.45,0.47,1.33,0.070,0.042,0.080,85,1959,400,-10.54,1.10,549.47,0,0,0,0,0,0,26.44,26.46,25.27 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1941.24,12004.01,210313,111119 MEM 323896

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16748,468

HUMID 48.54 CAP_FILE_SIZE 366875,1925

INTERNAL_PRESSURE 9.18503 CFSIZE 260034560,232845312

TCM_TEMP 20.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0

XPDR_PINGS 2 CURRENT 0.232, 52.1,1

SC_FREEKB 3962368 GPS 210313,155734,1950.576,12006.069,27,1.0,27,-2.6

_24V_AH 24.5,27.224

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 218 92.81 nil 0 0 0.00

Roll_motor 69 43 74.01 nil 0 0 0.00

VBD_pump_during_apogee 415 825 8404.74 nil 0 0 0.00

VBD_pump_during_surface 198 671 3271.44 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 7811 5 1127.93

Iridium_during_xfer 216 136 722.45 nil 0 0 0.00

Transponder_ping 0 420 5.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 29 5.02

TT8 1865 14 275.20

LPSleep 4032 2 90.07

TT8_Active 726 14 107.16

TT8_Sampling 1471 39 587.98

TT8_CF8 297 46 141.84

TT8_Kalman 0 0 0.00

Analog_circuits 1757 15 277.83

GPS_charging 0 0 0.00

Compass 1270 7 97.10

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 81 1961 329 471 0.0 0.0 0 44 0.00 0.00 -24.02 0.000 16386 0.000 0.000 81 1960 1022 1003 1041 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 81 1957 1003 1043 3.1 -9.2 3 152 7.97 2.22 -89.88 0.000 18692 0.218 0.043 2090 3381 3338 3247 3430 0 0 0 0 0 0 25.83 26.19 26.47

274 -1.35 -170.3 1232 3379 3221 3427 24.3 -8.8 39 282 0.00 2.12 0.00 0.000 1030 0.000 0.026 2098 1971 3340 3250 3430 0 0 0 0 0 0 28.83 26.31 28.83

603 -1.35 -170.3 2098 1970 3252 3430 53.8 -9.1 70 609 0.00 2.12 0.00 0.000 260 0.000 0.029 2089 3381 3341 3253 3430 0 0 0 0 0 0 28.83 26.46 28.83

848 -1.35 -170.3 2089 3381 3254 3430 75.3 -8.9 81 854 0.00 2.10 0.00 0.000 1030 0.000 0.024 2090 1964 3342 3254 3430 0 0 0 0 0 0 28.83 26.55 28.83

1162 -1.35 -170.3 2090 1964 3257 3430 104.6 -9.2 97 1169 0.00 2.12 0.00 0.000 260 0.000 0.030 2081 3373 3343 3256 3430 0 0 0 0 0 0 28.83 26.59 28.83

1315 -1.35 -170.3 2081 3373 3257 3430 118.1 -9.1 104 1322 0.10 2.08 0.00 0.000 3078 0.161 0.024 2106 1970 3343 3257 3430 0 0 0 0 0 0 26.46 26.62 28.83

1636 -1.35 -170.3 2105 1970 3258 3430 147.0 -9.0 120 1642 0.00 2.12 0.00 0.000 260 0.000 0.030 2097 3378 3344 3258 3430 0 0 0 0 0 0 28.83 26.63 28.83

1675 -1.35 -170.3 1288 3376 3233 3427 149.2 -8.9 121 1683 0.00 2.08 0.00 0.000 1030 0.000 0.024 2105 1976 3345 3258 3433 0 0 0 0 0 0 28.83 26.65 28.83

1982 -1.35 -170.3 2105 1977 3258 3429 178.2 -8.8 137 1988 0.00 2.15 0.00 0.000 516 0.000 0.044 2114 568 3343 3257 3429 0 0 0 0 0 0 28.83 26.63 28.83

2058 -1.35 -170.3 2114 568 3258 3428 184.1 -9.0 140 2065 0.00 2.03 0.00 0.000 1030 0.000 0.016 2105 1988 3342 3257 3428 0 0 0 0 0 0 28.83 26.71 28.83

2374 -1.35 -170.3 2105 1989 3257 3425 212.5 -8.7 156 2380 0.00 2.17 0.00 0.000 516 0.000 0.040 2110 571 3341 3258 3424 0 0 0 0 0 0 28.83 26.64 28.83

2414 -1.35 -170.3 2110 571 3259 3424 214.9 -8.9 157 2423 0.00 2.03 0.00 0.000 1030 0.000 0.016 2102 1985 3340 3257 3423 0 0 0 0 0 0 28.83 26.72 28.83

2722 -1.35 -170.3 2102 1985 3257 3421 243.8 -8.8 173 2723 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 1985 3339 3257 3421 0 0 0 0 0 0 28.83 28.83 28.83

3022 -1.35 -170.3 2101 1986 3255 3417 270.5 -8.8 188 3028 0.00 2.17 0.00 0.000 516 0.000 0.041 2105 572 3335 3255 3416 0 0 0 0 0 0 28.83 26.65 28.83

3103 -1.35 -170.3 2104 572 3254 3416 276.7 -9.2 191 3111 0.00 2.03 0.00 0.000 1030 0.000 0.017 2096 1978 3335 3254 3416 0 0 0 0 0 0 28.83 26.72 28.83

3409 -1.35 -170.3 2096 1981 3253 3414 305.9 -8.9 207 3410 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 1981 3333 3252 3414 0 0 0 0 0 0 28.83 28.83 28.83

3711 -1.35 -170.3 2095 1981 3252 3410 332.4 -9.1 222 3712 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 1982 3331 3252 3410 0 0 0 0 0 0 28.83 28.83 28.83

3907 end dive: TARGET_DEPTH_EXCEEDED

state 3907 begin apogee

3911 -0.25 0.0 2094 2302 3251 3408 350.3 -8.8 232 4063 0.75 0.00 143.88 0.825 10246 0.116 0.000 2341 2302 2634 2583 2686 0 0 0 0 0 0 26.50 28.83 24.60

4064 end apogee: CONTROL_FINISHED_OK

state 4064 begin climb

4066 1.35 170.3 2341 2302 2582 2684 338.0 0.0 238 4224 1.00 2.28 146.82 0.816 10500 0.061 0.034 2698 3684 1935 1899 1972 0 0 0 0 0 0 25.33 25.10 24.47

4443 1.37 175.1 2697 3684 1898 1954 303.3 9.1 255 4451 0.00 2.12 0.00 0.000 1030 0.000 0.024 2707 2297 1926 1898 1954 0 0 0 0 0 0 28.83 26.01 28.83

4750 1.37 177.5 2707 2298 1898 1950 274.0 9.2 271 4756 0.00 2.17 0.00 0.000 516 0.000 0.041 2718 892 1923 1897 1950 0 0 0 0 0 0 28.83 26.28 28.83

4776 1.38 180.2 2718 892 1897 1950 271.6 9.2 272 4784 0.00 2.08 3.38 0.515 9222 0.000 0.017 2718 2295 1905 1878 1933 0 0 0 0 0 0 28.83 26.37 25.32

5104 1.40 190.0 2718 2296 1877 1937 242.7 8.9 288 5127 0.00 2.17 13.68 0.740 8452 0.000 0.034 2718 3688 1858 1830 1887 0 0 0 0 0 0 28.83 26.24 25.56

5202 1.42 197.1 2718 3688 1830 1881 234.5 9.0 292 5216 0.00 2.10 6.70 0.721 9222 0.000 0.024 2728 2298 1834 1807 1861 0 0 0 0 0 0 28.83 26.32 25.49

5513 1.44 206.9 2728 2298 1805 1855 204.8 8.9 308 5530 0.00 2.20 10.57 0.718 8708 0.000 0.040 2742 896 1791 1763 1820 0 0 0 0 0 0 28.83 26.23 25.57

5594 1.46 212.8 2739 896 1761 1817 198.9 9.0 311 5604 0.10 2.08 4.72 0.658 13318 0.195 0.018 2718 2303 1771 1742 1801 0 0 0 0 0 0 26.13 26.35 25.36

5900 1.48 222.1 2717 2303 1741 1800 170.4 8.9 327 5916 0.00 2.20 11.55 0.690 8452 0.000 0.035 2718 3695 1729 1698 1760 0 0 0 0 0 0 28.83 26.25 25.59

6011 1.50 229.5 2717 3695 1697 1755 160.7 9.0 332 6027 0.00 2.12 7.38 0.680 9222 0.000 0.025 2726 2296 1699 1667 1731 0 0 0 0 0 0 28.83 26.34 25.55

6335 1.56 253.7 2727 2296 1666 1727 131.4 8.4 348 6365 0.00 2.28 23.67 0.646 8708 0.000 0.042 2738 893 1600 1553 1648 0 0 0 0 0 0 28.83 26.09 25.51

6435 1.58 260.3 2738 893 1552 1643 123.3 9.0 352 6448 0.00 2.10 4.90 0.625 9222 0.000 0.018 2738 2300 1577 1528 1626 0 0 0 0 0 0 28.83 26.25 25.33

6747 1.58 260.3 2738 2301 1528 1626 94.0 9.3 368 6752 0.00 2.20 0.00 0.000 516 0.000 0.041 2747 899 1577 1529 1626 0 0 0 0 0 0 28.83 26.34 28.83

6781 1.59 266.7 2747 898 1528 1626 91.8 9.0 369 6795 0.00 2.08 8.43 0.621 9222 0.000 0.018 2747 2301 1550 1499 1602 0 0 0 0 0 0 28.83 26.44 25.64

7093 1.61 271.3 2747 2301 1496 1594 63.4 9.1 385 7104 0.00 2.17 3.38 0.457 8452 0.000 0.036 2747 3694 1533 1482 1584 0 0 0 0 0 0 28.83 26.40 25.50

7148 1.62 279.1 2747 3694 1482 1584 59.2 9.0 387 7167 0.00 2.12 10.88 0.587 9222 0.000 0.026 2757 2292 1497 1446 1549 0 0 0 0 0 0 28.83 26.43 25.69

7477 1.65 290.2 2757 2292 1445 1542 28.2 8.9 415 7496 0.00 2.22 10.88 0.555 8452 0.000 0.034 2757 3691 1452 1403 1501 0 0 0 0 0 0 28.83 26.32 25.73

7641 1.67 296.1 1752 3690 1377 1489 13.2 9.0 441 7651 0.00 2.12 4.80 0.529 9222 0.000 0.025 2767 2290 1430 1385 1476 0 0 0 0 0 0 28.83 26.41 25.53

7758 end climb: SURFACE_DEPTH_REACHED

state 7758 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	158	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	38	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	59	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	-100693.33	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	210313,133552,1949.294,12005.512,27,0.9,27,-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	-62.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210313,134218,1949.266,12005.513,14,1.3,15,-2.6	MHEAD_RNG_PITCHd_Wd	340.7,214548,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3846

FINISH	0.0,1.024041	_10V_AH	10.2,15.426
SM_CCo	8022,1.33,0.080,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.45,0.47,1.33,0.070,0.042,0.080,85,1959,400,-10.54,1.10,549.47,0,0,0,0,0,0,26.44,26.46,25.27	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1941.24,12004.01,210313,111119	MEM	323896
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16748,468
HUMID	48.54	CAP_FILE_SIZE	366875,1925
INTERNAL_PRESSURE	9.18503	CFSIZE	260034560,232845312
TCM_TEMP	20.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
XPDR_PINGS	2	CURRENT	0.232, 52.1,1
SC_FREEKB	3962368	GPS	210313,155734,1950.576,12006.069,27,1.0,27,-2.6
_24V_AH	24.5,27.224

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	218	92.81	nil	0	0	0.00
Roll_motor	69	43	74.01	nil	0	0	0.00
VBD_pump_during_apogee	415	825	8404.74	nil	0	0	0.00
VBD_pump_during_surface	198	671	3271.44	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	7811	5	1127.93
Iridium_during_xfer	216	136	722.45	nil	0	0	0.00
Transponder_ping	0	420	5.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	29	5.02
TT8	1865	14	275.20
LPSleep	4032	2	90.07
TT8_Active	726	14	107.16
TT8_Sampling	1471	39	587.98
TT8_CF8	297	46	141.84
TT8_Kalman	0	0	0.00
Analog_circuits	1757	15	277.83
GPS_charging	0	0	0.00
Compass	1270	7	97.10
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	81	1961	329	471	0.0	0.0	0	44	0.00	0.00	-24.02	0.000	16386	0.000	0.000	81	1960	1022	1003	1041	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	81	1957	1003	1043	3.1	-9.2	3	152	7.97	2.22	-89.88	0.000	18692	0.218	0.043	2090	3381	3338	3247	3430	0	0	0	0	0	0	25.83	26.19	26.47
274	-1.35	-170.3	1232	3379	3221	3427	24.3	-8.8	39	282	0.00	2.12	0.00	0.000	1030	0.000	0.026	2098	1971	3340	3250	3430	0	0	0	0	0	0	28.83	26.31	28.83
603	-1.35	-170.3	2098	1970	3252	3430	53.8	-9.1	70	609	0.00	2.12	0.00	0.000	260	0.000	0.029	2089	3381	3341	3253	3430	0	0	0	0	0	0	28.83	26.46	28.83
848	-1.35	-170.3	2089	3381	3254	3430	75.3	-8.9	81	854	0.00	2.10	0.00	0.000	1030	0.000	0.024	2090	1964	3342	3254	3430	0	0	0	0	0	0	28.83	26.55	28.83
1162	-1.35	-170.3	2090	1964	3257	3430	104.6	-9.2	97	1169	0.00	2.12	0.00	0.000	260	0.000	0.030	2081	3373	3343	3256	3430	0	0	0	0	0	0	28.83	26.59	28.83
1315	-1.35	-170.3	2081	3373	3257	3430	118.1	-9.1	104	1322	0.10	2.08	0.00	0.000	3078	0.161	0.024	2106	1970	3343	3257	3430	0	0	0	0	0	0	26.46	26.62	28.83
1636	-1.35	-170.3	2105	1970	3258	3430	147.0	-9.0	120	1642	0.00	2.12	0.00	0.000	260	0.000	0.030	2097	3378	3344	3258	3430	0	0	0	0	0	0	28.83	26.63	28.83
1675	-1.35	-170.3	1288	3376	3233	3427	149.2	-8.9	121	1683	0.00	2.08	0.00	0.000	1030	0.000	0.024	2105	1976	3345	3258	3433	0	0	0	0	0	0	28.83	26.65	28.83
1982	-1.35	-170.3	2105	1977	3258	3429	178.2	-8.8	137	1988	0.00	2.15	0.00	0.000	516	0.000	0.044	2114	568	3343	3257	3429	0	0	0	0	0	0	28.83	26.63	28.83
2058	-1.35	-170.3	2114	568	3258	3428	184.1	-9.0	140	2065	0.00	2.03	0.00	0.000	1030	0.000	0.016	2105	1988	3342	3257	3428	0	0	0	0	0	0	28.83	26.71	28.83
2374	-1.35	-170.3	2105	1989	3257	3425	212.5	-8.7	156	2380	0.00	2.17	0.00	0.000	516	0.000	0.040	2110	571	3341	3258	3424	0	0	0	0	0	0	28.83	26.64	28.83
2414	-1.35	-170.3	2110	571	3259	3424	214.9	-8.9	157	2423	0.00	2.03	0.00	0.000	1030	0.000	0.016	2102	1985	3340	3257	3423	0	0	0	0	0	0	28.83	26.72	28.83
2722	-1.35	-170.3	2102	1985	3257	3421	243.8	-8.8	173	2723	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	1985	3339	3257	3421	0	0	0	0	0	0	28.83	28.83	28.83
3022	-1.35	-170.3	2101	1986	3255	3417	270.5	-8.8	188	3028	0.00	2.17	0.00	0.000	516	0.000	0.041	2105	572	3335	3255	3416	0	0	0	0	0	0	28.83	26.65	28.83
3103	-1.35	-170.3	2104	572	3254	3416	276.7	-9.2	191	3111	0.00	2.03	0.00	0.000	1030	0.000	0.017	2096	1978	3335	3254	3416	0	0	0	0	0	0	28.83	26.72	28.83
3409	-1.35	-170.3	2096	1981	3253	3414	305.9	-8.9	207	3410	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	1981	3333	3252	3414	0	0	0	0	0	0	28.83	28.83	28.83
3711	-1.35	-170.3	2095	1981	3252	3410	332.4	-9.1	222	3712	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	1982	3331	3252	3410	0	0	0	0	0	0	28.83	28.83	28.83
3907	end dive: TARGET_DEPTH_EXCEEDED
state	3907	begin apogee
3911	-0.25	0.0	2094	2302	3251	3408	350.3	-8.8	232	4063	0.75	0.00	143.88	0.825	10246	0.116	0.000	2341	2302	2634	2583	2686	0	0	0	0	0	0	26.50	28.83	24.60
4064	end apogee: CONTROL_FINISHED_OK
state	4064	begin climb
4066	1.35	170.3	2341	2302	2582	2684	338.0	0.0	238	4224	1.00	2.28	146.82	0.816	10500	0.061	0.034	2698	3684	1935	1899	1972	0	0	0	0	0	0	25.33	25.10	24.47
4443	1.37	175.1	2697	3684	1898	1954	303.3	9.1	255	4451	0.00	2.12	0.00	0.000	1030	0.000	0.024	2707	2297	1926	1898	1954	0	0	0	0	0	0	28.83	26.01	28.83
4750	1.37	177.5	2707	2298	1898	1950	274.0	9.2	271	4756	0.00	2.17	0.00	0.000	516	0.000	0.041	2718	892	1923	1897	1950	0	0	0	0	0	0	28.83	26.28	28.83
4776	1.38	180.2	2718	892	1897	1950	271.6	9.2	272	4784	0.00	2.08	3.38	0.515	9222	0.000	0.017	2718	2295	1905	1878	1933	0	0	0	0	0	0	28.83	26.37	25.32
5104	1.40	190.0	2718	2296	1877	1937	242.7	8.9	288	5127	0.00	2.17	13.68	0.740	8452	0.000	0.034	2718	3688	1858	1830	1887	0	0	0	0	0	0	28.83	26.24	25.56
5202	1.42	197.1	2718	3688	1830	1881	234.5	9.0	292	5216	0.00	2.10	6.70	0.721	9222	0.000	0.024	2728	2298	1834	1807	1861	0	0	0	0	0	0	28.83	26.32	25.49
5513	1.44	206.9	2728	2298	1805	1855	204.8	8.9	308	5530	0.00	2.20	10.57	0.718	8708	0.000	0.040	2742	896	1791	1763	1820	0	0	0	0	0	0	28.83	26.23	25.57
5594	1.46	212.8	2739	896	1761	1817	198.9	9.0	311	5604	0.10	2.08	4.72	0.658	13318	0.195	0.018	2718	2303	1771	1742	1801	0	0	0	0	0	0	26.13	26.35	25.36
5900	1.48	222.1	2717	2303	1741	1800	170.4	8.9	327	5916	0.00	2.20	11.55	0.690	8452	0.000	0.035	2718	3695	1729	1698	1760	0	0	0	0	0	0	28.83	26.25	25.59
6011	1.50	229.5	2717	3695	1697	1755	160.7	9.0	332	6027	0.00	2.12	7.38	0.680	9222	0.000	0.025	2726	2296	1699	1667	1731	0	0	0	0	0	0	28.83	26.34	25.55
6335	1.56	253.7	2727	2296	1666	1727	131.4	8.4	348	6365	0.00	2.28	23.67	0.646	8708	0.000	0.042	2738	893	1600	1553	1648	0	0	0	0	0	0	28.83	26.09	25.51
6435	1.58	260.3	2738	893	1552	1643	123.3	9.0	352	6448	0.00	2.10	4.90	0.625	9222	0.000	0.018	2738	2300	1577	1528	1626	0	0	0	0	0	0	28.83	26.25	25.33
6747	1.58	260.3	2738	2301	1528	1626	94.0	9.3	368	6752	0.00	2.20	0.00	0.000	516	0.000	0.041	2747	899	1577	1529	1626	0	0	0	0	0	0	28.83	26.34	28.83
6781	1.59	266.7	2747	898	1528	1626	91.8	9.0	369	6795	0.00	2.08	8.43	0.621	9222	0.000	0.018	2747	2301	1550	1499	1602	0	0	0	0	0	0	28.83	26.44	25.64
7093	1.61	271.3	2747	2301	1496	1594	63.4	9.1	385	7104	0.00	2.17	3.38	0.457	8452	0.000	0.036	2747	3694	1533	1482	1584	0	0	0	0	0	0	28.83	26.40	25.50
7148	1.62	279.1	2747	3694	1482	1584	59.2	9.0	387	7167	0.00	2.12	10.88	0.587	9222	0.000	0.026	2757	2292	1497	1446	1549	0	0	0	0	0	0	28.83	26.43	25.69
7477	1.65	290.2	2757	2292	1445	1542	28.2	8.9	415	7496	0.00	2.22	10.88	0.555	8452	0.000	0.034	2757	3691	1452	1403	1501	0	0	0	0	0	0	28.83	26.32	25.73
7641	1.67	296.1	1752	3690	1377	1489	13.2	9.0	441	7651	0.00	2.12	4.80	0.529	9222	0.000	0.025	2767	2290	1430	1385	1476	0	0	0	0	0	0	28.83	26.41	25.53
7758	end climb: SURFACE_DEPTH_REACHED
state	7758	begin surface coast
7792	end surface coast: CONTROL_FINISHED_OK
state	7792	begin surface