Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 109 * 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 109 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 50 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 2795 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 -100631.49 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 2350 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 27 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 27 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 -100631.49

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 2350 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 2795 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 50 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 109 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 160313,131345,1856.906,12007.602,469,1.1,469,-2.4 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 -56.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160313,132000,1856.997,12007.757,16,1.4,17,-2.4 MHEAD_RNG_PITCHd_Wd 356.0,311428,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 2420

Post-dive calculations and measurements:

FINISH 0.0,1.026194 _10V_AH 10.2,12.293

SM_CCo 7809,241.75,0.788,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.03,0.50,241.75,0.063,0.034,0.788,86,1963,511,-10.33,1.33,560.02,0,0,0,0,1,0,26.42,26.48,24.43 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1848.70,12202.74,160313,101032 MEM 323888

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16776,468

HUMID 47.75 CAP_FILE_SIZE 380761,1861

INTERNAL_PRESSURE 9.05807 CFSIZE 260034560,238088192

TCM_TEMP 18.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 0 CURRENT 0.026, 45.7,1

SC_FREEKB 3981184 GPS 160313,154234,1857.987,12007.743,433,1.0,433,-2.4

_24V_AH 24.4,19.648

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 208 83.06 nil 0 0 0.00

Roll_motor 72 43 77.56 nil 0 0 0.00

VBD_pump_during_apogee 383 833 7810.30 nil 0 0 0.00

VBD_pump_during_surface 241 787 4647.88 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 7809 7 1384.46

Iridium_during_xfer 215 132 696.54 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 29 5.42

TT8 1829 14 269.90

LPSleep 4129 2 92.24

TT8_Active 756 14 111.52

TT8_Sampling 1448 39 578.90

TT8_CF8 251 46 119.73

TT8_Kalman 0 0 0.00

Analog_circuits 1722 15 272.29

GPS_charging 0 0 0.00

Compass 1216 7 92.93

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 -1.11 -170.3 85 1945 459 558 0.0 0.0 0 44 0.00 0.00 -24.33 0.000 16386 0.000 0.000 85 1945 1145 1139 1152 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.11 -170.3 85 1945 1139 1159 3.1 -8.8 3 153 7.62 2.25 -85.90 0.000 18692 0.209 0.044 2095 3374 3493 3408 3579 0 0 0 0 0 0 25.88 26.22 26.50

340 -1.11 -170.3 2095 3375 3411 3580 30.0 -9.1 46 348 0.00 2.10 0.00 0.000 1030 0.000 0.026 2103 1982 3496 3412 3580 0 0 0 0 0 0 28.83 26.37 28.83

659 -1.11 -170.3 2103 1982 3415 3580 59.3 -9.2 73 665 0.00 2.15 0.00 0.000 516 0.000 0.041 2113 569 3497 3415 3580 0 0 0 0 0 0 28.83 26.48 28.83

843 -1.11 -170.3 2113 569 3416 3581 74.5 -8.9 81 851 0.00 2.05 0.00 0.000 1030 0.000 0.016 2105 1994 3499 3416 3583 0 0 0 0 0 0 28.83 26.59 28.83

1149 -1.11 -170.3 2105 1995 3416 3581 103.4 -9.1 97 1155 0.00 2.03 0.00 0.000 260 0.000 0.031 2095 3358 3498 3416 3581 0 0 0 0 0 0 28.83 26.59 28.83

1188 -1.11 -170.3 2094 3359 3416 3581 105.6 -9.2 98 1197 0.00 2.08 0.00 0.000 1030 0.000 0.025 2095 1966 3498 3416 3581 0 0 0 0 0 0 28.83 26.61 28.83

1495 -1.11 -170.3 2094 1965 3416 3581 134.5 -9.0 114 1502 0.00 2.12 0.00 0.000 516 0.000 0.042 2104 571 3498 3416 3581 0 0 0 0 0 0 28.83 26.61 28.83

1535 -1.11 -170.3 2103 571 3416 3581 136.7 -8.9 115 1543 0.00 2.03 0.00 0.000 1030 0.000 0.017 2095 1983 3498 3416 3581 0 0 0 0 0 0 28.83 26.68 28.83

1842 -1.11 -170.3 2094 1985 3417 3579 165.7 -8.8 131 1848 0.00 2.17 0.00 0.000 516 0.000 0.041 2103 574 3498 3417 3579 0 0 0 0 0 0 28.83 26.64 28.83

1973 -1.11 -170.3 2103 574 3417 3579 177.2 -9.0 137 1980 0.00 2.03 0.00 0.000 1030 0.000 0.016 2095 1989 3498 3417 3579 0 0 0 0 0 0 28.83 26.72 28.83

2295 -1.11 -170.3 2095 1989 3417 3576 206.8 -9.0 153 2300 0.00 2.03 0.00 0.000 260 0.000 0.031 2085 3359 3496 3417 3575 0 0 0 0 0 0 28.83 26.67 28.83

2334 -1.11 -170.3 2085 3359 3417 3575 209.0 -8.9 154 2343 0.10 2.08 0.00 0.000 3078 0.161 0.025 2110 1963 3496 3417 3575 0 0 0 0 0 0 26.55 26.69 28.83

2641 -1.11 -170.3 2110 1964 3417 3572 238.4 -8.6 170 2646 0.00 2.12 0.00 0.000 516 0.000 0.044 2121 567 3494 3417 3572 0 0 0 0 0 0 28.83 26.67 28.83

2718 -1.11 -170.3 2120 567 3417 3572 244.5 -9.0 173 2724 0.00 2.03 0.00 0.000 1030 0.000 0.016 2112 1978 3494 3417 3571 0 0 0 0 0 0 28.83 26.74 28.83

3032 -1.11 -170.3 2112 1978 3417 3567 273.9 -9.1 189 3039 0.00 2.17 0.00 0.000 516 0.000 0.042 2121 570 3492 3417 3567 0 0 0 0 0 0 28.83 26.68 28.83

3087 -1.11 -170.3 2120 570 3416 3567 278.0 -9.0 191 3093 0.00 2.03 0.00 0.000 1030 0.000 0.016 2112 1978 3491 3416 3567 0 0 0 0 0 0 28.83 26.75 28.83

3402 -1.11 -170.3 2112 1978 3413 3565 306.9 -8.8 207 3408 0.00 2.05 0.00 0.000 260 0.000 0.032 2102 3362 3489 3413 3565 0 0 0 0 0 0 28.83 26.70 28.83

3478 -1.11 -170.3 2102 3362 3413 3565 312.9 -9.0 210 3484 0.00 2.08 0.00 0.000 1030 0.000 0.027 2102 1972 3488 3412 3565 0 0 0 0 0 0 28.83 26.71 28.83

3792 -1.11 -170.3 2101 1972 3410 3563 342.6 -9.2 226 3793 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 1972 3486 3410 3563 0 0 0 0 0 0 28.83 28.83 28.83

3890 end dive: TARGET_DEPTH_EXCEEDED

state 3890 begin apogee

3895 -0.19 0.0 2100 2310 3410 3562 351.3 -8.6 231 4044 0.62 0.00 142.02 0.834 10246 0.119 0.000 2306 2311 2792 2753 2831 0 0 0 0 0 0 26.56 28.83 24.57

4046 end apogee: CONTROL_FINISHED_OK

state 4046 begin climb

4047 1.11 170.3 2306 2311 2748 2827 339.3 0.0 237 4201 0.82 2.25 144.60 0.816 10500 0.074 0.034 2592 3674 2092 2057 2127 0 0 0 0 0 0 25.29 25.08 24.42

4233 1.13 177.6 1664 3674 2002 2109 321.7 9.0 245 4243 0.00 2.15 2.90 0.420 9222 0.000 0.022 2602 2299 2070 2035 2105 0 0 0 0 0 0 28.83 25.44 24.59

4541 1.16 188.2 2602 2299 2034 2105 292.7 8.9 261 4564 0.00 2.28 13.50 0.771 8708 0.000 0.041 2612 896 2020 1984 2057 0 0 0 0 0 0 28.83 25.92 25.25

4592 1.18 196.6 2612 896 1983 2054 288.6 9.0 263 4610 0.00 2.08 8.10 0.753 9222 0.000 0.016 2612 2294 1989 1954 2024 0 0 0 0 0 0 28.83 26.06 25.21

4909 1.19 201.6 2612 2294 1953 2016 259.5 9.1 279 4921 0.00 2.17 3.30 0.523 8452 0.000 0.034 2613 3690 1973 1940 2006 0 0 0 0 0 0 28.83 26.27 25.25

4945 1.21 209.2 2612 3690 1940 2006 257.1 9.0 280 4963 0.00 2.10 10.70 0.760 9222 0.000 0.024 2622 2302 1938 1905 1971 0 0 0 0 0 0 28.83 26.28 25.38

5282 1.21 210.0 2622 2302 1904 1958 226.0 9.2 297 5288 0.00 2.20 0.00 0.000 516 0.000 0.041 2633 895 1930 1904 1957 0 0 0 0 0 0 28.83 26.35 28.83

5322 1.22 211.3 2632 895 1904 1958 223.8 9.2 298 5330 0.00 2.08 0.00 0.000 1030 0.000 0.017 2633 2309 1931 1904 1958 0 0 0 0 0 0 28.83 26.44 28.83

5629 1.23 217.0 2632 2309 1904 1956 195.1 9.1 314 5637 0.00 0.00 6.62 0.725 8198 0.000 0.000 2633 2309 1910 1884 1937 0 0 0 0 0 0 28.83 28.83 25.61

5928 1.24 222.3 2632 2309 1880 1930 168.2 9.1 329 5940 0.00 2.22 4.88 0.675 8708 0.000 0.040 2643 900 1887 1861 1913 0 0 0 0 0 0 28.83 26.40 25.46

6016 1.27 231.6 2643 900 1861 1914 160.5 8.9 333 6033 0.00 2.08 11.73 0.717 9222 0.000 0.017 2643 2305 1848 1821 1875 0 0 0 0 0 0 28.83 26.51 25.60

6342 1.27 234.2 2643 2305 1818 1866 131.0 9.2 349 6343 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2305 1842 1818 1866 0 0 0 0 0 0 28.83 28.83 28.83

6642 1.27 234.2 2642 2305 1818 1864 104.0 9.3 364 6648 0.00 2.20 0.00 0.000 516 0.000 0.041 2653 896 1841 1818 1864 0 0 0 0 0 0 28.83 26.51 28.83

6751 1.28 237.5 1728 895 1776 1855 94.3 9.1 369 6764 0.10 2.05 4.25 0.599 13318 0.174 0.017 2630 2304 1825 1799 1851 0 0 0 0 0 0 26.41 26.60 25.54

7073 1.30 244.5 2630 2304 1800 1851 64.6 9.0 385 7089 0.00 2.10 9.23 0.665 8452 0.000 0.034 2630 3691 1793 1766 1820 0 0 0 0 0 0 28.83 26.42 25.75

7217 1.32 253.3 2629 3691 1765 1817 52.9 8.9 391 7232 0.00 2.10 9.32 0.654 9222 0.000 0.024 2638 2297 1760 1731 1789 0 0 0 0 0 0 28.83 26.50 25.70

7538 1.34 262.1 1632 2294 1683 1772 22.9 8.9 423 7554 0.00 2.25 9.02 0.638 8708 0.000 0.043 2649 896 1722 1691 1753 0 0 0 0 0 0 28.83 26.34 25.71

7654 1.35 266.8 1632 895 1649 1742 12.3 9.1 443 7663 0.00 2.05 3.70 0.514 9222 0.000 0.017 2649 2294 1706 1674 1739 0 0 0 0 0 0 28.83 26.47 25.49

7760 end climb: SURFACE_DEPTH_REACHED

state 7760 begin surface coast

7794 end surface coast: CONTROL_FINISHED_OK

state 7794 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	109	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	50	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	2795	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	-100631.49	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	2350	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	27	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	160313,131345,1856.906,12007.602,469,1.1,469,-2.4	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	-56.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160313,132000,1856.997,12007.757,16,1.4,17,-2.4	MHEAD_RNG_PITCHd_Wd	356.0,311428,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	2420

FINISH	0.0,1.026194	_10V_AH	10.2,12.293
SM_CCo	7809,241.75,0.788,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.03,0.50,241.75,0.063,0.034,0.788,86,1963,511,-10.33,1.33,560.02,0,0,0,0,1,0,26.42,26.48,24.43	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1848.70,12202.74,160313,101032	MEM	323888
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16776,468
HUMID	47.75	CAP_FILE_SIZE	380761,1861
INTERNAL_PRESSURE	9.05807	CFSIZE	260034560,238088192
TCM_TEMP	18.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	0	CURRENT	0.026, 45.7,1
SC_FREEKB	3981184	GPS	160313,154234,1857.987,12007.743,433,1.0,433,-2.4
_24V_AH	24.4,19.648

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	208	83.06	nil	0	0	0.00
Roll_motor	72	43	77.56	nil	0	0	0.00
VBD_pump_during_apogee	383	833	7810.30	nil	0	0	0.00
VBD_pump_during_surface	241	787	4647.88	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	7809	7	1384.46
Iridium_during_xfer	215	132	696.54	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	29	5.42
TT8	1829	14	269.90
LPSleep	4129	2	92.24
TT8_Active	756	14	111.52
TT8_Sampling	1448	39	578.90
TT8_CF8	251	46	119.73
TT8_Kalman	0	0	0.00
Analog_circuits	1722	15	272.29
GPS_charging	0	0	0.00
Compass	1216	7	92.93
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	-1.11	-170.3	85	1945	459	558	0.0	0.0	0	44	0.00	0.00	-24.33	0.000	16386	0.000	0.000	85	1945	1145	1139	1152	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.11	-170.3	85	1945	1139	1159	3.1	-8.8	3	153	7.62	2.25	-85.90	0.000	18692	0.209	0.044	2095	3374	3493	3408	3579	0	0	0	0	0	0	25.88	26.22	26.50
340	-1.11	-170.3	2095	3375	3411	3580	30.0	-9.1	46	348	0.00	2.10	0.00	0.000	1030	0.000	0.026	2103	1982	3496	3412	3580	0	0	0	0	0	0	28.83	26.37	28.83
659	-1.11	-170.3	2103	1982	3415	3580	59.3	-9.2	73	665	0.00	2.15	0.00	0.000	516	0.000	0.041	2113	569	3497	3415	3580	0	0	0	0	0	0	28.83	26.48	28.83
843	-1.11	-170.3	2113	569	3416	3581	74.5	-8.9	81	851	0.00	2.05	0.00	0.000	1030	0.000	0.016	2105	1994	3499	3416	3583	0	0	0	0	0	0	28.83	26.59	28.83
1149	-1.11	-170.3	2105	1995	3416	3581	103.4	-9.1	97	1155	0.00	2.03	0.00	0.000	260	0.000	0.031	2095	3358	3498	3416	3581	0	0	0	0	0	0	28.83	26.59	28.83
1188	-1.11	-170.3	2094	3359	3416	3581	105.6	-9.2	98	1197	0.00	2.08	0.00	0.000	1030	0.000	0.025	2095	1966	3498	3416	3581	0	0	0	0	0	0	28.83	26.61	28.83
1495	-1.11	-170.3	2094	1965	3416	3581	134.5	-9.0	114	1502	0.00	2.12	0.00	0.000	516	0.000	0.042	2104	571	3498	3416	3581	0	0	0	0	0	0	28.83	26.61	28.83
1535	-1.11	-170.3	2103	571	3416	3581	136.7	-8.9	115	1543	0.00	2.03	0.00	0.000	1030	0.000	0.017	2095	1983	3498	3416	3581	0	0	0	0	0	0	28.83	26.68	28.83
1842	-1.11	-170.3	2094	1985	3417	3579	165.7	-8.8	131	1848	0.00	2.17	0.00	0.000	516	0.000	0.041	2103	574	3498	3417	3579	0	0	0	0	0	0	28.83	26.64	28.83
1973	-1.11	-170.3	2103	574	3417	3579	177.2	-9.0	137	1980	0.00	2.03	0.00	0.000	1030	0.000	0.016	2095	1989	3498	3417	3579	0	0	0	0	0	0	28.83	26.72	28.83
2295	-1.11	-170.3	2095	1989	3417	3576	206.8	-9.0	153	2300	0.00	2.03	0.00	0.000	260	0.000	0.031	2085	3359	3496	3417	3575	0	0	0	0	0	0	28.83	26.67	28.83
2334	-1.11	-170.3	2085	3359	3417	3575	209.0	-8.9	154	2343	0.10	2.08	0.00	0.000	3078	0.161	0.025	2110	1963	3496	3417	3575	0	0	0	0	0	0	26.55	26.69	28.83
2641	-1.11	-170.3	2110	1964	3417	3572	238.4	-8.6	170	2646	0.00	2.12	0.00	0.000	516	0.000	0.044	2121	567	3494	3417	3572	0	0	0	0	0	0	28.83	26.67	28.83
2718	-1.11	-170.3	2120	567	3417	3572	244.5	-9.0	173	2724	0.00	2.03	0.00	0.000	1030	0.000	0.016	2112	1978	3494	3417	3571	0	0	0	0	0	0	28.83	26.74	28.83
3032	-1.11	-170.3	2112	1978	3417	3567	273.9	-9.1	189	3039	0.00	2.17	0.00	0.000	516	0.000	0.042	2121	570	3492	3417	3567	0	0	0	0	0	0	28.83	26.68	28.83
3087	-1.11	-170.3	2120	570	3416	3567	278.0	-9.0	191	3093	0.00	2.03	0.00	0.000	1030	0.000	0.016	2112	1978	3491	3416	3567	0	0	0	0	0	0	28.83	26.75	28.83
3402	-1.11	-170.3	2112	1978	3413	3565	306.9	-8.8	207	3408	0.00	2.05	0.00	0.000	260	0.000	0.032	2102	3362	3489	3413	3565	0	0	0	0	0	0	28.83	26.70	28.83
3478	-1.11	-170.3	2102	3362	3413	3565	312.9	-9.0	210	3484	0.00	2.08	0.00	0.000	1030	0.000	0.027	2102	1972	3488	3412	3565	0	0	0	0	0	0	28.83	26.71	28.83
3792	-1.11	-170.3	2101	1972	3410	3563	342.6	-9.2	226	3793	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	1972	3486	3410	3563	0	0	0	0	0	0	28.83	28.83	28.83
3890	end dive: TARGET_DEPTH_EXCEEDED
state	3890	begin apogee
3895	-0.19	0.0	2100	2310	3410	3562	351.3	-8.6	231	4044	0.62	0.00	142.02	0.834	10246	0.119	0.000	2306	2311	2792	2753	2831	0	0	0	0	0	0	26.56	28.83	24.57
4046	end apogee: CONTROL_FINISHED_OK
state	4046	begin climb
4047	1.11	170.3	2306	2311	2748	2827	339.3	0.0	237	4201	0.82	2.25	144.60	0.816	10500	0.074	0.034	2592	3674	2092	2057	2127	0	0	0	0	0	0	25.29	25.08	24.42
4233	1.13	177.6	1664	3674	2002	2109	321.7	9.0	245	4243	0.00	2.15	2.90	0.420	9222	0.000	0.022	2602	2299	2070	2035	2105	0	0	0	0	0	0	28.83	25.44	24.59
4541	1.16	188.2	2602	2299	2034	2105	292.7	8.9	261	4564	0.00	2.28	13.50	0.771	8708	0.000	0.041	2612	896	2020	1984	2057	0	0	0	0	0	0	28.83	25.92	25.25
4592	1.18	196.6	2612	896	1983	2054	288.6	9.0	263	4610	0.00	2.08	8.10	0.753	9222	0.000	0.016	2612	2294	1989	1954	2024	0	0	0	0	0	0	28.83	26.06	25.21
4909	1.19	201.6	2612	2294	1953	2016	259.5	9.1	279	4921	0.00	2.17	3.30	0.523	8452	0.000	0.034	2613	3690	1973	1940	2006	0	0	0	0	0	0	28.83	26.27	25.25
4945	1.21	209.2	2612	3690	1940	2006	257.1	9.0	280	4963	0.00	2.10	10.70	0.760	9222	0.000	0.024	2622	2302	1938	1905	1971	0	0	0	0	0	0	28.83	26.28	25.38
5282	1.21	210.0	2622	2302	1904	1958	226.0	9.2	297	5288	0.00	2.20	0.00	0.000	516	0.000	0.041	2633	895	1930	1904	1957	0	0	0	0	0	0	28.83	26.35	28.83
5322	1.22	211.3	2632	895	1904	1958	223.8	9.2	298	5330	0.00	2.08	0.00	0.000	1030	0.000	0.017	2633	2309	1931	1904	1958	0	0	0	0	0	0	28.83	26.44	28.83
5629	1.23	217.0	2632	2309	1904	1956	195.1	9.1	314	5637	0.00	0.00	6.62	0.725	8198	0.000	0.000	2633	2309	1910	1884	1937	0	0	0	0	0	0	28.83	28.83	25.61
5928	1.24	222.3	2632	2309	1880	1930	168.2	9.1	329	5940	0.00	2.22	4.88	0.675	8708	0.000	0.040	2643	900	1887	1861	1913	0	0	0	0	0	0	28.83	26.40	25.46
6016	1.27	231.6	2643	900	1861	1914	160.5	8.9	333	6033	0.00	2.08	11.73	0.717	9222	0.000	0.017	2643	2305	1848	1821	1875	0	0	0	0	0	0	28.83	26.51	25.60
6342	1.27	234.2	2643	2305	1818	1866	131.0	9.2	349	6343	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2305	1842	1818	1866	0	0	0	0	0	0	28.83	28.83	28.83
6642	1.27	234.2	2642	2305	1818	1864	104.0	9.3	364	6648	0.00	2.20	0.00	0.000	516	0.000	0.041	2653	896	1841	1818	1864	0	0	0	0	0	0	28.83	26.51	28.83
6751	1.28	237.5	1728	895	1776	1855	94.3	9.1	369	6764	0.10	2.05	4.25	0.599	13318	0.174	0.017	2630	2304	1825	1799	1851	0	0	0	0	0	0	26.41	26.60	25.54
7073	1.30	244.5	2630	2304	1800	1851	64.6	9.0	385	7089	0.00	2.10	9.23	0.665	8452	0.000	0.034	2630	3691	1793	1766	1820	0	0	0	0	0	0	28.83	26.42	25.75
7217	1.32	253.3	2629	3691	1765	1817	52.9	8.9	391	7232	0.00	2.10	9.32	0.654	9222	0.000	0.024	2638	2297	1760	1731	1789	0	0	0	0	0	0	28.83	26.50	25.70
7538	1.34	262.1	1632	2294	1683	1772	22.9	8.9	423	7554	0.00	2.25	9.02	0.638	8708	0.000	0.043	2649	896	1722	1691	1753	0	0	0	0	0	0	28.83	26.34	25.71
7654	1.35	266.8	1632	895	1649	1742	12.3	9.1	443	7663	0.00	2.05	3.70	0.514	9222	0.000	0.017	2649	2294	1706	1674	1739	0	0	0	0	0	0	28.83	26.47	25.49
7760	end climb: SURFACE_DEPTH_REACHED
state	7760	begin surface coast
7794	end surface coast: CONTROL_FINISHED_OK
state	7794	begin surface