Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 113 * 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 113 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 55 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 -100636.52 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 -100636.52

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 50 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 55 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 113 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 160313,231834,1901.289,12007.996,704,0.7,704,-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 -60.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160313,232435,1901.325,12008.044,15,0.9,15,-2.4 MHEAD_RNG_PITCHd_Wd 350.3,303442,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3006

Post-dive calculations and measurements:

FINISH 0.0,1.026194 _10V_AH 10.1,12.569

SM_CCo 7793,224.32,0.809,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.50,2.70,224.32,0.080,0.027,0.809,82,1959,511,-10.40,0.88,560.02,0,0,0,0,1,0,26.45,26.47,24.41 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1850.98,12010.14,160313,202054 MEM 323900

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16785,469

HUMID 48.03 CAP_FILE_SIZE 375924,1847

INTERNAL_PRESSURE 9.04831 CFSIZE 260034560,237662208

TCM_TEMP 18.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 0 CURRENT 0.128,256.9,1

SC_FREEKB 3979648 GPS 170313,014824,1901.950,12007.164,541,1.3,541,-2.4

_24V_AH 24.3,20.289

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 227 94.69 nil 0 0 0.00

Roll_motor 68 43 72.93 nil 0 0 0.00

VBD_pump_during_apogee 399 902 8762.73 nil 0 0 0.00

VBD_pump_during_surface 224 809 4411.95 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 7775 7 1371.84

Iridium_during_xfer 202 132 651.56 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 5.22

TT8 1820 14 265.91

LPSleep 4140 2 91.59

TT8_Active 723 14 105.65

TT8_Sampling 1431 39 566.66

TT8_CF8 252 46 119.08

TT8_Kalman 0 0 0.00

Analog_circuits 1676 15 262.43

GPS_charging 0 0 0.00

Compass 1222 7 92.51

RAFOS 0 0 0.00

Transponder 1 5 0.07

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 1941 466 553 0.0 0.0 0 44 0.00 0.00 -23.85 0.000 16386 0.000 0.000 85 1942 1132 1115 1150 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 85 1940 1117 1153 3.3 -9.3 3 138 7.88 2.25 -77.72 0.000 18692 0.227 0.044 2054 3373 3493 3408 3578 0 0 0 0 0 0 25.90 26.22 26.49

280 -1.35 -170.3 1232 3371 3394 3578 24.6 -8.9 41 289 0.00 2.12 0.00 0.000 1030 0.000 0.026 2062 1975 3496 3411 3581 0 0 0 0 0 0 28.83 26.33 28.83

587 -1.35 -170.3 2062 1975 3415 3581 52.4 -9.0 71 593 0.00 2.15 0.00 0.000 516 0.000 0.042 2073 570 3498 3415 3581 0 0 0 0 0 0 28.83 26.44 28.83

726 -1.35 -170.3 2072 570 3416 3581 64.0 -8.9 77 733 0.00 2.05 0.00 0.000 1030 0.000 0.016 2065 1990 3498 3416 3581 0 0 0 0 0 0 28.83 26.55 28.83

1042 -1.35 -170.3 2064 1991 3417 3580 93.4 -9.1 93 1047 0.00 2.05 0.00 0.000 260 0.000 0.031 2054 3368 3499 3417 3581 0 0 0 0 0 0 28.83 26.56 28.83

1098 -1.35 -170.3 2054 3368 3417 3581 97.6 -9.0 95 1104 0.00 2.10 0.00 0.000 1030 0.000 0.025 2062 1969 3499 3417 3581 0 0 0 0 0 0 28.83 26.58 28.83

1412 -1.35 -170.3 2062 1969 3417 3581 126.5 -9.0 111 1419 0.00 2.12 0.00 0.000 516 0.000 0.042 2072 574 3499 3417 3581 0 0 0 0 0 0 28.83 26.59 28.83

1448 -1.35 -170.3 2072 574 3417 3581 128.9 -9.1 112 1453 0.00 2.03 0.00 0.000 1030 0.000 0.016 2064 1984 3499 3417 3581 0 0 0 0 0 0 28.83 26.66 28.83

1762 -1.35 -170.3 2064 1986 3417 3580 158.3 -9.2 128 1763 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 1987 3498 3417 3580 0 0 0 0 0 0 28.83 28.83 28.83

2063 -1.35 -170.3 2064 1986 3417 3578 185.0 -8.7 143 2069 0.00 2.17 0.00 0.000 516 0.000 0.041 2072 571 3497 3417 3578 0 0 0 0 0 0 28.83 26.64 28.83

2225 -1.35 -170.3 2072 571 3417 3578 198.5 -9.3 150 2233 0.00 2.03 0.00 0.000 1030 0.000 0.016 2064 1984 3497 3417 3577 0 0 0 0 0 0 28.83 26.72 28.83

2531 -1.35 -170.3 2064 1984 3417 3574 227.2 -9.0 166 2537 0.00 2.17 0.00 0.000 516 0.000 0.041 2072 575 3495 3417 3573 0 0 0 0 0 0 28.83 26.65 28.83

2600 -1.35 -170.3 2072 575 3417 3573 233.3 -9.0 169 2605 0.00 2.03 0.00 0.000 1030 0.000 0.016 2064 1978 3495 3417 3573 0 0 0 0 0 0 28.83 26.73 28.83

2925 -1.35 -170.3 2064 1979 3416 3571 262.9 -9.2 185 2931 0.00 2.17 0.00 0.000 516 0.000 0.041 2072 569 3493 3416 3570 0 0 0 0 0 0 28.83 26.66 28.83

2955 -1.35 -170.3 2072 569 3416 3570 265.3 -9.1 186 2960 0.00 2.03 0.00 0.000 1030 0.000 0.016 2064 1977 3493 3416 3570 0 0 0 0 0 0 28.83 26.74 28.83

3274 -1.35 -170.3 2063 1978 3414 3568 294.7 -9.1 202 3280 0.00 2.17 0.00 0.000 516 0.000 0.042 2071 570 3490 3414 3567 0 0 0 0 0 0 28.83 26.67 28.83

3309 -1.35 -170.3 2071 570 3414 3567 297.0 -9.2 203 3315 0.00 2.03 0.00 0.000 1030 0.000 0.016 2063 1975 3490 3414 3567 0 0 0 0 0 0 28.83 26.74 28.83

3623 -1.35 -170.3 2063 1976 3413 3565 326.2 -8.9 219 3629 0.00 2.17 0.00 0.000 516 0.000 0.042 2069 570 3489 3412 3566 0 0 0 0 0 0 28.83 26.67 28.83

3692 -1.35 -170.3 1280 569 3396 3562 332.1 -9.0 222 3698 0.00 2.03 0.00 0.000 1030 0.000 0.017 2061 1975 3488 3411 3565 0 0 0 0 0 0 28.83 26.74 28.83

3891 end dive: TARGET_DEPTH_EXCEEDED

state 3891 begin apogee

3896 -0.25 0.0 2058 2300 3410 3564 350.7 -9.1 232 4052 0.77 0.00 146.95 0.903 10246 0.122 0.000 2311 2301 2788 2750 2827 0 0 0 0 0 0 26.55 28.83 24.48

4054 end apogee: CONTROL_FINISHED_OK

state 4054 begin climb

4055 1.35 170.3 2311 2301 2749 2825 336.6 0.0 239 4218 1.00 2.28 151.15 0.877 10500 0.065 0.034 2666 3680 2089 2052 2126 0 0 0 0 0 0 25.25 24.97 24.30

4369 1.39 183.9 2665 3680 2047 2116 308.4 8.8 253 4388 0.00 2.12 11.07 0.830 9222 0.000 0.022 2675 2300 2040 2003 2078 0 0 0 0 0 0 28.83 25.81 24.96

4686 1.41 191.9 2675 2300 1998 2066 279.4 9.0 269 4692 0.00 0.00 3.45 0.552 8198 0.000 0.000 2675 2299 2012 1976 2048 0 0 0 0 0 0 28.83 28.83 25.11

4987 1.41 191.9 2675 2299 1975 2057 251.8 9.7 284 4992 0.00 2.17 0.00 0.000 516 0.000 0.041 2686 891 2016 1975 2057 0 0 0 0 0 0 28.83 26.32 28.83

5084 1.43 201.2 2686 891 1975 2057 244.1 8.9 288 5108 0.00 2.08 14.70 0.809 9222 0.000 0.017 2686 2299 1965 1928 2003 0 0 0 0 0 0 28.83 26.43 25.41

5421 1.43 201.2 2688 2299 1927 1994 211.9 9.6 305 5422 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2299 1960 1927 1994 0 0 0 0 0 0 28.83 28.83 28.83

5722 1.44 205.3 2686 2300 1927 1992 184.8 9.1 320 5728 0.00 2.10 0.00 0.000 260 0.000 0.034 2686 3691 1959 1927 1992 0 0 0 0 0 0 28.83 26.47 28.83

5771 1.46 213.6 2686 3691 1927 1992 180.5 9.0 322 5787 0.00 2.10 10.82 0.770 9222 0.000 0.024 2696 2295 1922 1891 1954 0 0 0 0 0 0 28.83 26.50 25.57

6096 1.50 228.8 2696 2295 1888 1941 151.6 8.7 338 6119 0.00 2.17 15.32 0.755 8708 0.000 0.040 2706 901 1857 1829 1885 0 0 0 0 0 0 28.83 26.19 25.51

6143 1.52 238.3 2706 901 1827 1884 147.3 8.9 340 6159 0.00 2.08 9.77 0.750 9222 0.000 0.018 2706 2300 1819 1790 1849 0 0 0 0 0 0 28.83 26.29 25.40

6469 1.53 242.5 2706 2299 1788 1839 117.7 9.1 356 6470 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2300 1813 1788 1839 0 0 0 0 0 0 28.83 28.83 28.83

6769 1.55 249.5 2707 2300 1788 1837 90.6 9.0 371 6785 0.00 2.20 11.02 0.715 8452 0.000 0.035 2706 3694 1772 1744 1801 0 0 0 0 0 0 28.83 26.29 25.61

6878 1.57 256.9 2706 3694 1742 1797 81.0 9.0 376 6891 0.00 2.12 7.47 0.706 9222 0.000 0.025 2716 2295 1746 1717 1776 0 0 0 0 0 0 28.83 26.37 25.55

7200 1.59 265.6 2716 2294 1713 1768 51.9 8.9 392 7216 0.00 2.20 9.02 0.689 8708 0.000 0.043 2727 891 1708 1676 1740 0 0 0 0 0 0 28.83 26.27 25.60

7283 1.61 273.7 2727 891 1673 1738 44.6 9.0 398 7298 0.00 2.10 8.70 0.681 9222 0.000 0.018 2728 2310 1676 1641 1711 0 0 0 0 0 0 28.83 26.38 25.55

7608 1.61 273.7 1696 2307 1598 1697 14.9 9.5 439 7616 0.00 2.10 0.00 0.000 260 0.000 0.036 2727 3694 1671 1637 1705 0 0 0 0 0 0 28.83 26.39 28.83

7741 end climb: SURFACE_DEPTH_REACHED

state 7741 begin surface coast

7775 end surface coast: CONTROL_FINISHED_OK

state 7775 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	113	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	55	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	-100636.52	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	160313,231834,1901.289,12007.996,704,0.7,704,-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	-60.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160313,232435,1901.325,12008.044,15,0.9,15,-2.4	MHEAD_RNG_PITCHd_Wd	350.3,303442,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3006

FINISH	0.0,1.026194	_10V_AH	10.1,12.569
SM_CCo	7793,224.32,0.809,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.50,2.70,224.32,0.080,0.027,0.809,82,1959,511,-10.40,0.88,560.02,0,0,0,0,1,0,26.45,26.47,24.41	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1850.98,12010.14,160313,202054	MEM	323900
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16785,469
HUMID	48.03	CAP_FILE_SIZE	375924,1847
INTERNAL_PRESSURE	9.04831	CFSIZE	260034560,237662208
TCM_TEMP	18.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	0	CURRENT	0.128,256.9,1
SC_FREEKB	3979648	GPS	170313,014824,1901.950,12007.164,541,1.3,541,-2.4
_24V_AH	24.3,20.289

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	227	94.69	nil	0	0	0.00
Roll_motor	68	43	72.93	nil	0	0	0.00
VBD_pump_during_apogee	399	902	8762.73	nil	0	0	0.00
VBD_pump_during_surface	224	809	4411.95	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	7775	7	1371.84
Iridium_during_xfer	202	132	651.56	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	5.22
TT8	1820	14	265.91
LPSleep	4140	2	91.59
TT8_Active	723	14	105.65
TT8_Sampling	1431	39	566.66
TT8_CF8	252	46	119.08
TT8_Kalman	0	0	0.00
Analog_circuits	1676	15	262.43
GPS_charging	0	0	0.00
Compass	1222	7	92.51
RAFOS	0	0	0.00
Transponder	1	5	0.07

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	1941	466	553	0.0	0.0	0	44	0.00	0.00	-23.85	0.000	16386	0.000	0.000	85	1942	1132	1115	1150	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	85	1940	1117	1153	3.3	-9.3	3	138	7.88	2.25	-77.72	0.000	18692	0.227	0.044	2054	3373	3493	3408	3578	0	0	0	0	0	0	25.90	26.22	26.49
280	-1.35	-170.3	1232	3371	3394	3578	24.6	-8.9	41	289	0.00	2.12	0.00	0.000	1030	0.000	0.026	2062	1975	3496	3411	3581	0	0	0	0	0	0	28.83	26.33	28.83
587	-1.35	-170.3	2062	1975	3415	3581	52.4	-9.0	71	593	0.00	2.15	0.00	0.000	516	0.000	0.042	2073	570	3498	3415	3581	0	0	0	0	0	0	28.83	26.44	28.83
726	-1.35	-170.3	2072	570	3416	3581	64.0	-8.9	77	733	0.00	2.05	0.00	0.000	1030	0.000	0.016	2065	1990	3498	3416	3581	0	0	0	0	0	0	28.83	26.55	28.83
1042	-1.35	-170.3	2064	1991	3417	3580	93.4	-9.1	93	1047	0.00	2.05	0.00	0.000	260	0.000	0.031	2054	3368	3499	3417	3581	0	0	0	0	0	0	28.83	26.56	28.83
1098	-1.35	-170.3	2054	3368	3417	3581	97.6	-9.0	95	1104	0.00	2.10	0.00	0.000	1030	0.000	0.025	2062	1969	3499	3417	3581	0	0	0	0	0	0	28.83	26.58	28.83
1412	-1.35	-170.3	2062	1969	3417	3581	126.5	-9.0	111	1419	0.00	2.12	0.00	0.000	516	0.000	0.042	2072	574	3499	3417	3581	0	0	0	0	0	0	28.83	26.59	28.83
1448	-1.35	-170.3	2072	574	3417	3581	128.9	-9.1	112	1453	0.00	2.03	0.00	0.000	1030	0.000	0.016	2064	1984	3499	3417	3581	0	0	0	0	0	0	28.83	26.66	28.83
1762	-1.35	-170.3	2064	1986	3417	3580	158.3	-9.2	128	1763	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	1987	3498	3417	3580	0	0	0	0	0	0	28.83	28.83	28.83
2063	-1.35	-170.3	2064	1986	3417	3578	185.0	-8.7	143	2069	0.00	2.17	0.00	0.000	516	0.000	0.041	2072	571	3497	3417	3578	0	0	0	0	0	0	28.83	26.64	28.83
2225	-1.35	-170.3	2072	571	3417	3578	198.5	-9.3	150	2233	0.00	2.03	0.00	0.000	1030	0.000	0.016	2064	1984	3497	3417	3577	0	0	0	0	0	0	28.83	26.72	28.83
2531	-1.35	-170.3	2064	1984	3417	3574	227.2	-9.0	166	2537	0.00	2.17	0.00	0.000	516	0.000	0.041	2072	575	3495	3417	3573	0	0	0	0	0	0	28.83	26.65	28.83
2600	-1.35	-170.3	2072	575	3417	3573	233.3	-9.0	169	2605	0.00	2.03	0.00	0.000	1030	0.000	0.016	2064	1978	3495	3417	3573	0	0	0	0	0	0	28.83	26.73	28.83
2925	-1.35	-170.3	2064	1979	3416	3571	262.9	-9.2	185	2931	0.00	2.17	0.00	0.000	516	0.000	0.041	2072	569	3493	3416	3570	0	0	0	0	0	0	28.83	26.66	28.83
2955	-1.35	-170.3	2072	569	3416	3570	265.3	-9.1	186	2960	0.00	2.03	0.00	0.000	1030	0.000	0.016	2064	1977	3493	3416	3570	0	0	0	0	0	0	28.83	26.74	28.83
3274	-1.35	-170.3	2063	1978	3414	3568	294.7	-9.1	202	3280	0.00	2.17	0.00	0.000	516	0.000	0.042	2071	570	3490	3414	3567	0	0	0	0	0	0	28.83	26.67	28.83
3309	-1.35	-170.3	2071	570	3414	3567	297.0	-9.2	203	3315	0.00	2.03	0.00	0.000	1030	0.000	0.016	2063	1975	3490	3414	3567	0	0	0	0	0	0	28.83	26.74	28.83
3623	-1.35	-170.3	2063	1976	3413	3565	326.2	-8.9	219	3629	0.00	2.17	0.00	0.000	516	0.000	0.042	2069	570	3489	3412	3566	0	0	0	0	0	0	28.83	26.67	28.83
3692	-1.35	-170.3	1280	569	3396	3562	332.1	-9.0	222	3698	0.00	2.03	0.00	0.000	1030	0.000	0.017	2061	1975	3488	3411	3565	0	0	0	0	0	0	28.83	26.74	28.83
3891	end dive: TARGET_DEPTH_EXCEEDED
state	3891	begin apogee
3896	-0.25	0.0	2058	2300	3410	3564	350.7	-9.1	232	4052	0.77	0.00	146.95	0.903	10246	0.122	0.000	2311	2301	2788	2750	2827	0	0	0	0	0	0	26.55	28.83	24.48
4054	end apogee: CONTROL_FINISHED_OK
state	4054	begin climb
4055	1.35	170.3	2311	2301	2749	2825	336.6	0.0	239	4218	1.00	2.28	151.15	0.877	10500	0.065	0.034	2666	3680	2089	2052	2126	0	0	0	0	0	0	25.25	24.97	24.30
4369	1.39	183.9	2665	3680	2047	2116	308.4	8.8	253	4388	0.00	2.12	11.07	0.830	9222	0.000	0.022	2675	2300	2040	2003	2078	0	0	0	0	0	0	28.83	25.81	24.96
4686	1.41	191.9	2675	2300	1998	2066	279.4	9.0	269	4692	0.00	0.00	3.45	0.552	8198	0.000	0.000	2675	2299	2012	1976	2048	0	0	0	0	0	0	28.83	28.83	25.11
4987	1.41	191.9	2675	2299	1975	2057	251.8	9.7	284	4992	0.00	2.17	0.00	0.000	516	0.000	0.041	2686	891	2016	1975	2057	0	0	0	0	0	0	28.83	26.32	28.83
5084	1.43	201.2	2686	891	1975	2057	244.1	8.9	288	5108	0.00	2.08	14.70	0.809	9222	0.000	0.017	2686	2299	1965	1928	2003	0	0	0	0	0	0	28.83	26.43	25.41
5421	1.43	201.2	2688	2299	1927	1994	211.9	9.6	305	5422	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2299	1960	1927	1994	0	0	0	0	0	0	28.83	28.83	28.83
5722	1.44	205.3	2686	2300	1927	1992	184.8	9.1	320	5728	0.00	2.10	0.00	0.000	260	0.000	0.034	2686	3691	1959	1927	1992	0	0	0	0	0	0	28.83	26.47	28.83
5771	1.46	213.6	2686	3691	1927	1992	180.5	9.0	322	5787	0.00	2.10	10.82	0.770	9222	0.000	0.024	2696	2295	1922	1891	1954	0	0	0	0	0	0	28.83	26.50	25.57
6096	1.50	228.8	2696	2295	1888	1941	151.6	8.7	338	6119	0.00	2.17	15.32	0.755	8708	0.000	0.040	2706	901	1857	1829	1885	0	0	0	0	0	0	28.83	26.19	25.51
6143	1.52	238.3	2706	901	1827	1884	147.3	8.9	340	6159	0.00	2.08	9.77	0.750	9222	0.000	0.018	2706	2300	1819	1790	1849	0	0	0	0	0	0	28.83	26.29	25.40
6469	1.53	242.5	2706	2299	1788	1839	117.7	9.1	356	6470	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2300	1813	1788	1839	0	0	0	0	0	0	28.83	28.83	28.83
6769	1.55	249.5	2707	2300	1788	1837	90.6	9.0	371	6785	0.00	2.20	11.02	0.715	8452	0.000	0.035	2706	3694	1772	1744	1801	0	0	0	0	0	0	28.83	26.29	25.61
6878	1.57	256.9	2706	3694	1742	1797	81.0	9.0	376	6891	0.00	2.12	7.47	0.706	9222	0.000	0.025	2716	2295	1746	1717	1776	0	0	0	0	0	0	28.83	26.37	25.55
7200	1.59	265.6	2716	2294	1713	1768	51.9	8.9	392	7216	0.00	2.20	9.02	0.689	8708	0.000	0.043	2727	891	1708	1676	1740	0	0	0	0	0	0	28.83	26.27	25.60
7283	1.61	273.7	2727	891	1673	1738	44.6	9.0	398	7298	0.00	2.10	8.70	0.681	9222	0.000	0.018	2728	2310	1676	1641	1711	0	0	0	0	0	0	28.83	26.38	25.55
7608	1.61	273.7	1696	2307	1598	1697	14.9	9.5	439	7616	0.00	2.10	0.00	0.000	260	0.000	0.036	2727	3694	1671	1637	1705	0	0	0	0	0	0	28.83	26.39	28.83
7741	end climb: SURFACE_DEPTH_REACHED
state	7741	begin surface coast
7775	end surface coast: CONTROL_FINISHED_OK
state	7775	begin surface