Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 110 * 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 110 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2300 ALTIM_PING_DEPTH 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_SURF 3 TGT_DEFAULT_LAT 47.599998 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -122.3 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_TGT 350 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 51 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 60 XPDR_VALID 0

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 2.3

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 400 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 2 VBD_MAX 3600 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 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 -100632.74 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 2365 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 -100632.74

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 2365 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 51 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 60 VBD_DBAND 2

DEVICE3 -1 MISSION 10 SC_PROFILE 3.0 VBD_MAX 3600

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 400

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -9.8275757 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 110 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 160313,154234,1857.987,12007.743,433,1.0,433,-2.4 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 -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160313,155219,1858.073,12007.896,16,0.9,16,-2.4 MHEAD_RNG_PITCHd_Wd 355.2,309448,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 2438

Post-dive calculations and measurements:

FINISH 0.0,1.026259 _10V_AH 10.2,12.363

SM_CCo 7843,204.10,0.789,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.68,1.65,204.10,0.084,0.015,0.789,86,1983,511,-10.39,-1.89,560.02,0,0,0,0,1,0,26.33,26.41,24.44 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1848.70,12007.02,160313,151516 MEM 323848

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16748,470

HUMID 49.25 CAP_FILE_SIZE 375500,1828

INTERNAL_PRESSURE 9.02877 CFSIZE 260034560,237981696

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 1 CURRENT 0.114, 32.3,1

SC_FREEKB 3980800 GPS 160313,181454,1859.300,12007.993,438,0.7,438,-2.4

_24V_AH 24.3,19.806

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 221 93.80 nil 0 0 0.00

Roll_motor 68 44 73.56 nil 0 0 0.00

VBD_pump_during_apogee 427 884 9180.30 nil 0 0 0.00

VBD_pump_during_surface 204 789 3915.53 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 7840 7 1374.73

Iridium_during_xfer 418 129 1316.11 nil 0 0 0.00

Transponder_ping 0 420 2.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.59

TT8 1803 14 265.93

LPSleep 4184 2 93.47

TT8_Active 740 14 109.28

TT8_Sampling 1635 39 653.77

TT8_CF8 256 46 122.26

TT8_Kalman 0 0 0.00

Analog_circuits 1900 15 300.43

GPS_charging 0 0 0.00

Compass 1205 7 92.08

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 85 1955 465 554 0.0 0.0 0 43 0.00 0.00 -23.27 0.000 16386 0.000 0.000 85 1954 1130 1122 1138 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 85 1953 1122 1142 3.3 -9.3 3 144 7.82 2.22 -78.78 0.000 18692 0.222 0.043 2055 3378 3493 3408 3579 0 0 0 0 0 0 25.87 26.19 26.46

351 -1.35 -170.3 2055 3378 3411 3580 31.0 -9.1 48 357 0.00 2.10 0.00 0.000 1030 0.000 0.024 2064 1974 3495 3411 3580 0 0 0 0 0 0 28.83 26.37 28.83

666 -1.35 -170.3 2063 1973 3415 3581 59.6 -9.0 74 673 0.00 2.15 0.00 0.000 516 0.000 0.041 2074 568 3498 3415 3581 0 0 0 0 0 0 28.83 26.48 28.83

806 -1.35 -170.3 2074 568 3416 3582 71.6 -9.1 80 812 0.00 2.05 0.00 0.000 1030 0.000 0.016 2066 1992 3498 3416 3581 0 0 0 0 0 0 28.83 26.58 28.83

1120 -1.35 -170.3 2065 1994 3416 3581 100.7 -9.2 96 1126 0.00 2.20 0.00 0.000 516 0.000 0.038 2074 568 3498 3416 3581 0 0 0 0 0 0 28.83 26.58 28.83

1167 -1.35 -170.3 2073 568 3415 3581 104.8 -9.1 98 1173 0.00 2.03 0.00 0.000 1030 0.000 0.016 2066 1981 3498 3416 3581 0 0 0 0 0 0 28.83 26.65 28.83

1494 -1.35 -170.3 2065 1982 3416 3581 134.1 -9.0 114 1500 0.00 2.17 0.00 0.000 516 0.000 0.039 2074 574 3498 3416 3581 0 0 0 0 0 0 28.83 26.61 28.83

1642 -1.35 -170.3 2074 573 3416 3579 147.8 -9.3 121 1648 0.00 2.03 0.00 0.000 1030 0.000 0.016 2066 1987 3497 3416 3579 0 0 0 0 0 0 28.83 26.70 28.83

1967 -1.35 -170.3 2065 1988 3416 3579 176.9 -8.9 137 1973 0.00 2.17 0.00 0.000 516 0.000 0.040 2074 573 3496 3416 3576 0 0 0 0 0 0 28.83 26.65 28.83

2048 -1.35 -170.3 1296 572 3400 3573 183.0 -8.9 140 2057 0.00 2.03 0.00 0.000 1030 0.000 0.016 2066 1986 3495 3416 3575 0 0 0 0 0 0 28.83 26.72 28.83

2356 -1.35 -170.3 2065 1987 3415 3571 211.5 -8.5 156 2362 0.00 2.17 0.00 0.000 516 0.000 0.041 2074 571 3493 3416 3571 0 0 0 0 0 0 28.83 26.66 28.83

2433 -1.35 -170.3 2074 571 3415 3571 217.7 -9.2 159 2438 0.00 2.03 0.00 0.000 1030 0.000 0.016 2065 1984 3493 3415 3571 0 0 0 0 0 0 28.83 26.74 28.83

2746 -1.35 -170.3 2065 1985 3413 3568 246.8 -9.3 175 2752 0.00 2.17 0.00 0.000 516 0.000 0.041 2074 572 3490 3413 3567 0 0 0 0 0 0 28.83 26.67 28.83

2802 -1.35 -170.3 2073 573 3413 3567 250.9 -9.2 177 2808 0.00 2.03 0.00 0.000 1030 0.000 0.016 2065 1984 3490 3413 3567 0 0 0 0 0 0 28.83 26.74 28.83

3117 -1.35 -170.3 2065 1984 3409 3565 279.4 -8.8 193 3122 0.00 2.03 0.00 0.000 260 0.000 0.031 2055 3353 3487 3410 3565 0 0 0 0 0 0 28.83 26.70 28.83

3162 -1.35 -170.3 1236 3351 3392 3561 283.6 -9.1 195 3168 0.00 2.08 0.00 0.000 1030 0.000 0.026 2055 1970 3486 3409 3564 0 0 0 0 0 0 28.83 26.71 28.83

3490 -1.35 -170.3 2055 1970 3407 3562 313.6 -9.1 211 3495 0.00 2.12 0.00 0.000 516 0.000 0.044 2065 575 3484 3407 3561 0 0 0 0 0 0 28.83 26.68 28.83

3540 -1.35 -170.3 2065 575 3408 3561 318.2 -9.2 213 3546 0.00 2.03 0.00 0.000 1030 0.000 0.017 2056 1979 3484 3407 3561 0 0 0 0 0 0 28.83 26.75 28.83

3860 -1.35 -170.3 2056 1980 3404 3558 347.4 -9.0 229 3867 0.00 2.17 0.00 0.000 516 0.000 0.043 2064 574 3481 3404 3558 0 0 0 0 0 0 28.83 26.68 28.83

3905 end dive: TARGET_DEPTH_EXCEEDED

state 3906 begin apogee

3914 -0.25 0.0 2054 2296 3404 3558 351.7 -9.0 231 4062 0.80 0.00 143.05 0.884 10246 0.126 0.000 2313 2296 2792 2754 2830 0 0 0 0 0 0 26.55 28.83 24.51

4065 end apogee: CONTROL_FINISHED_OK

state 4065 begin climb

4067 1.35 170.3 2313 2296 2750 2826 339.6 0.0 237 4225 1.00 2.25 146.30 0.865 10500 0.067 0.034 2664 3698 2091 2054 2128 0 0 0 0 0 0 25.26 25.03 24.34

4252 1.38 179.1 2664 3698 2051 2121 322.1 8.9 245 4263 0.00 2.20 4.18 0.648 9222 0.000 0.022 2674 2297 2064 2027 2101 0 0 0 0 0 0 28.83 25.39 24.52

4560 1.38 179.1 2674 2297 2026 2101 293.7 9.4 261 4561 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2297 2064 2027 2102 0 0 0 0 0 0 28.83 28.83 28.83

4860 1.44 206.7 2674 2297 2026 2101 267.0 8.3 276 4896 0.00 2.30 28.67 0.805 8708 0.000 0.041 2685 890 1947 1912 1982 0 0 0 0 0 0 28.83 25.87 25.19

5025 1.45 208.9 1744 889 1862 1967 253.3 9.2 283 5033 0.00 2.12 0.00 0.000 1030 0.000 0.016 2685 2320 1941 1907 1976 0 0 0 0 0 0 28.83 26.19 28.83

5332 1.45 208.9 2684 2321 1907 1972 224.3 9.3 299 5333 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2321 1939 1907 1972 0 0 0 0 0 0 28.83 28.83 28.83

5634 1.48 219.7 2685 2320 1907 1969 197.4 8.9 314 5652 0.00 0.00 11.57 0.769 8198 0.000 0.000 2685 2321 1894 1865 1923 0 0 0 0 0 0 28.83 28.83 25.56

5952 1.51 232.6 2685 2321 1863 1916 168.6 8.8 330 5976 0.00 2.12 12.85 0.758 8452 0.000 0.034 2685 3678 1840 1812 1868 0 0 0 0 0 0 28.83 26.25 25.53

6013 1.53 240.5 2684 3678 1812 1865 164.3 9.0 332 6028 0.00 2.10 8.15 0.748 9222 0.000 0.024 2694 2298 1810 1783 1838 0 0 0 0 0 0 28.83 26.29 25.44

6347 1.59 264.4 2694 2298 1781 1831 133.5 8.4 349 6373 0.00 0.00 24.00 0.721 8198 0.000 0.000 2694 2298 1716 1685 1747 0 0 0 0 0 0 28.83 28.83 25.38

6667 1.60 270.9 2693 2298 1678 1733 104.6 9.0 365 6679 0.00 2.25 4.32 0.620 8708 0.000 0.043 2705 892 1690 1658 1722 0 0 0 0 0 0 28.83 26.25 25.33

6734 1.63 282.7 2705 892 1658 1722 98.6 8.8 368 6757 0.00 2.08 14.18 0.693 9222 0.000 0.017 2705 2297 1637 1592 1682 0 0 0 0 0 0 28.83 26.36 25.46

7055 1.63 282.7 2705 2297 1587 1677 69.2 9.3 384 7056 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2297 1632 1588 1677 0 0 0 0 0 0 28.83 28.83 28.83

7355 1.66 293.6 2704 2297 1586 1676 42.2 8.9 403 7374 0.00 2.17 10.25 0.653 8452 0.000 0.035 2705 3691 1593 1542 1645 0 0 0 0 0 0 28.83 26.33 25.67

7415 1.69 303.2 2705 3691 1540 1644 36.8 8.9 408 7434 0.00 2.12 10.57 0.646 9222 0.000 0.025 2714 2298 1553 1500 1607 0 0 0 0 0 0 28.83 26.37 25.58

7752 1.71 312.0 1680 2295 1467 1593 6.5 8.9 458 7769 0.10 2.28 9.10 0.625 10756 0.106 0.042 2769 885 1517 1463 1571 0 0 0 0 0 0 26.45 26.27 25.65

7793 end climb: SURFACE_DEPTH_REACHED

state 7793 begin surface coast

7825 end surface coast: CONTROL_FINISHED_OK

state 7825 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	110	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2300	ALTIM_PING_DEPTH	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_SURF	3	TGT_DEFAULT_LAT	47.599998	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-122.3	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_TGT	350	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	51	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	60	XPDR_VALID	0
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	2.3
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	400	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	2	VBD_MAX	3600	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	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	-100632.74	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	2365	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	160313,154234,1857.987,12007.743,433,1.0,433,-2.4	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	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160313,155219,1858.073,12007.896,16,0.9,16,-2.4	MHEAD_RNG_PITCHd_Wd	355.2,309448,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	2438

FINISH	0.0,1.026259	_10V_AH	10.2,12.363
SM_CCo	7843,204.10,0.789,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.68,1.65,204.10,0.084,0.015,0.789,86,1983,511,-10.39,-1.89,560.02,0,0,0,0,1,0,26.33,26.41,24.44	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1848.70,12007.02,160313,151516	MEM	323848
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16748,470
HUMID	49.25	CAP_FILE_SIZE	375500,1828
INTERNAL_PRESSURE	9.02877	CFSIZE	260034560,237981696
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	1	CURRENT	0.114, 32.3,1
SC_FREEKB	3980800	GPS	160313,181454,1859.300,12007.993,438,0.7,438,-2.4
_24V_AH	24.3,19.806

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	221	93.80	nil	0	0	0.00
Roll_motor	68	44	73.56	nil	0	0	0.00
VBD_pump_during_apogee	427	884	9180.30	nil	0	0	0.00
VBD_pump_during_surface	204	789	3915.53	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	7840	7	1374.73
Iridium_during_xfer	418	129	1316.11	nil	0	0	0.00
Transponder_ping	0	420	2.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.59
TT8	1803	14	265.93
LPSleep	4184	2	93.47
TT8_Active	740	14	109.28
TT8_Sampling	1635	39	653.77
TT8_CF8	256	46	122.26
TT8_Kalman	0	0	0.00
Analog_circuits	1900	15	300.43
GPS_charging	0	0	0.00
Compass	1205	7	92.08
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	85	1955	465	554	0.0	0.0	0	43	0.00	0.00	-23.27	0.000	16386	0.000	0.000	85	1954	1130	1122	1138	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	85	1953	1122	1142	3.3	-9.3	3	144	7.82	2.22	-78.78	0.000	18692	0.222	0.043	2055	3378	3493	3408	3579	0	0	0	0	0	0	25.87	26.19	26.46
351	-1.35	-170.3	2055	3378	3411	3580	31.0	-9.1	48	357	0.00	2.10	0.00	0.000	1030	0.000	0.024	2064	1974	3495	3411	3580	0	0	0	0	0	0	28.83	26.37	28.83
666	-1.35	-170.3	2063	1973	3415	3581	59.6	-9.0	74	673	0.00	2.15	0.00	0.000	516	0.000	0.041	2074	568	3498	3415	3581	0	0	0	0	0	0	28.83	26.48	28.83
806	-1.35	-170.3	2074	568	3416	3582	71.6	-9.1	80	812	0.00	2.05	0.00	0.000	1030	0.000	0.016	2066	1992	3498	3416	3581	0	0	0	0	0	0	28.83	26.58	28.83
1120	-1.35	-170.3	2065	1994	3416	3581	100.7	-9.2	96	1126	0.00	2.20	0.00	0.000	516	0.000	0.038	2074	568	3498	3416	3581	0	0	0	0	0	0	28.83	26.58	28.83
1167	-1.35	-170.3	2073	568	3415	3581	104.8	-9.1	98	1173	0.00	2.03	0.00	0.000	1030	0.000	0.016	2066	1981	3498	3416	3581	0	0	0	0	0	0	28.83	26.65	28.83
1494	-1.35	-170.3	2065	1982	3416	3581	134.1	-9.0	114	1500	0.00	2.17	0.00	0.000	516	0.000	0.039	2074	574	3498	3416	3581	0	0	0	0	0	0	28.83	26.61	28.83
1642	-1.35	-170.3	2074	573	3416	3579	147.8	-9.3	121	1648	0.00	2.03	0.00	0.000	1030	0.000	0.016	2066	1987	3497	3416	3579	0	0	0	0	0	0	28.83	26.70	28.83
1967	-1.35	-170.3	2065	1988	3416	3579	176.9	-8.9	137	1973	0.00	2.17	0.00	0.000	516	0.000	0.040	2074	573	3496	3416	3576	0	0	0	0	0	0	28.83	26.65	28.83
2048	-1.35	-170.3	1296	572	3400	3573	183.0	-8.9	140	2057	0.00	2.03	0.00	0.000	1030	0.000	0.016	2066	1986	3495	3416	3575	0	0	0	0	0	0	28.83	26.72	28.83
2356	-1.35	-170.3	2065	1987	3415	3571	211.5	-8.5	156	2362	0.00	2.17	0.00	0.000	516	0.000	0.041	2074	571	3493	3416	3571	0	0	0	0	0	0	28.83	26.66	28.83
2433	-1.35	-170.3	2074	571	3415	3571	217.7	-9.2	159	2438	0.00	2.03	0.00	0.000	1030	0.000	0.016	2065	1984	3493	3415	3571	0	0	0	0	0	0	28.83	26.74	28.83
2746	-1.35	-170.3	2065	1985	3413	3568	246.8	-9.3	175	2752	0.00	2.17	0.00	0.000	516	0.000	0.041	2074	572	3490	3413	3567	0	0	0	0	0	0	28.83	26.67	28.83
2802	-1.35	-170.3	2073	573	3413	3567	250.9	-9.2	177	2808	0.00	2.03	0.00	0.000	1030	0.000	0.016	2065	1984	3490	3413	3567	0	0	0	0	0	0	28.83	26.74	28.83
3117	-1.35	-170.3	2065	1984	3409	3565	279.4	-8.8	193	3122	0.00	2.03	0.00	0.000	260	0.000	0.031	2055	3353	3487	3410	3565	0	0	0	0	0	0	28.83	26.70	28.83
3162	-1.35	-170.3	1236	3351	3392	3561	283.6	-9.1	195	3168	0.00	2.08	0.00	0.000	1030	0.000	0.026	2055	1970	3486	3409	3564	0	0	0	0	0	0	28.83	26.71	28.83
3490	-1.35	-170.3	2055	1970	3407	3562	313.6	-9.1	211	3495	0.00	2.12	0.00	0.000	516	0.000	0.044	2065	575	3484	3407	3561	0	0	0	0	0	0	28.83	26.68	28.83
3540	-1.35	-170.3	2065	575	3408	3561	318.2	-9.2	213	3546	0.00	2.03	0.00	0.000	1030	0.000	0.017	2056	1979	3484	3407	3561	0	0	0	0	0	0	28.83	26.75	28.83
3860	-1.35	-170.3	2056	1980	3404	3558	347.4	-9.0	229	3867	0.00	2.17	0.00	0.000	516	0.000	0.043	2064	574	3481	3404	3558	0	0	0	0	0	0	28.83	26.68	28.83
3905	end dive: TARGET_DEPTH_EXCEEDED
state	3906	begin apogee
3914	-0.25	0.0	2054	2296	3404	3558	351.7	-9.0	231	4062	0.80	0.00	143.05	0.884	10246	0.126	0.000	2313	2296	2792	2754	2830	0	0	0	0	0	0	26.55	28.83	24.51
4065	end apogee: CONTROL_FINISHED_OK
state	4065	begin climb
4067	1.35	170.3	2313	2296	2750	2826	339.6	0.0	237	4225	1.00	2.25	146.30	0.865	10500	0.067	0.034	2664	3698	2091	2054	2128	0	0	0	0	0	0	25.26	25.03	24.34
4252	1.38	179.1	2664	3698	2051	2121	322.1	8.9	245	4263	0.00	2.20	4.18	0.648	9222	0.000	0.022	2674	2297	2064	2027	2101	0	0	0	0	0	0	28.83	25.39	24.52
4560	1.38	179.1	2674	2297	2026	2101	293.7	9.4	261	4561	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2297	2064	2027	2102	0	0	0	0	0	0	28.83	28.83	28.83
4860	1.44	206.7	2674	2297	2026	2101	267.0	8.3	276	4896	0.00	2.30	28.67	0.805	8708	0.000	0.041	2685	890	1947	1912	1982	0	0	0	0	0	0	28.83	25.87	25.19
5025	1.45	208.9	1744	889	1862	1967	253.3	9.2	283	5033	0.00	2.12	0.00	0.000	1030	0.000	0.016	2685	2320	1941	1907	1976	0	0	0	0	0	0	28.83	26.19	28.83
5332	1.45	208.9	2684	2321	1907	1972	224.3	9.3	299	5333	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2321	1939	1907	1972	0	0	0	0	0	0	28.83	28.83	28.83
5634	1.48	219.7	2685	2320	1907	1969	197.4	8.9	314	5652	0.00	0.00	11.57	0.769	8198	0.000	0.000	2685	2321	1894	1865	1923	0	0	0	0	0	0	28.83	28.83	25.56
5952	1.51	232.6	2685	2321	1863	1916	168.6	8.8	330	5976	0.00	2.12	12.85	0.758	8452	0.000	0.034	2685	3678	1840	1812	1868	0	0	0	0	0	0	28.83	26.25	25.53
6013	1.53	240.5	2684	3678	1812	1865	164.3	9.0	332	6028	0.00	2.10	8.15	0.748	9222	0.000	0.024	2694	2298	1810	1783	1838	0	0	0	0	0	0	28.83	26.29	25.44
6347	1.59	264.4	2694	2298	1781	1831	133.5	8.4	349	6373	0.00	0.00	24.00	0.721	8198	0.000	0.000	2694	2298	1716	1685	1747	0	0	0	0	0	0	28.83	28.83	25.38
6667	1.60	270.9	2693	2298	1678	1733	104.6	9.0	365	6679	0.00	2.25	4.32	0.620	8708	0.000	0.043	2705	892	1690	1658	1722	0	0	0	0	0	0	28.83	26.25	25.33
6734	1.63	282.7	2705	892	1658	1722	98.6	8.8	368	6757	0.00	2.08	14.18	0.693	9222	0.000	0.017	2705	2297	1637	1592	1682	0	0	0	0	0	0	28.83	26.36	25.46
7055	1.63	282.7	2705	2297	1587	1677	69.2	9.3	384	7056	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2297	1632	1588	1677	0	0	0	0	0	0	28.83	28.83	28.83
7355	1.66	293.6	2704	2297	1586	1676	42.2	8.9	403	7374	0.00	2.17	10.25	0.653	8452	0.000	0.035	2705	3691	1593	1542	1645	0	0	0	0	0	0	28.83	26.33	25.67
7415	1.69	303.2	2705	3691	1540	1644	36.8	8.9	408	7434	0.00	2.12	10.57	0.646	9222	0.000	0.025	2714	2298	1553	1500	1607	0	0	0	0	0	0	28.83	26.37	25.58
7752	1.71	312.0	1680	2295	1467	1593	6.5	8.9	458	7769	0.10	2.28	9.10	0.625	10756	0.106	0.042	2769	885	1517	1463	1571	0	0	0	0	0	0	26.45	26.27	25.65
7793	end climb: SURFACE_DEPTH_REACHED
state	7793	begin surface coast
7825	end surface coast: CONTROL_FINISHED_OK
state	7825	begin surface