Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 128 * 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 128 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 52 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 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 -100655.44 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 -100655.44

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 52 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 128 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 180313,124128,1916.541,12007.218,383,0.8,383,-2.5 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 -65.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180313,124803,1916.547,12007.170,28,0.7,29,-2.5 MHEAD_RNG_PITCHd_Wd 355.6,275212,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3489

Post-dive calculations and measurements:

FINISH 0.0,1.026070 _10V_AH 10.1,13.598

SM_CCo 7835,221.32,0.796,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.47,0.52,221.32,0.077,0.034,0.796,89,1957,511,-10.37,1.07,560.02,0,0,0,0,1,0,26.37,26.41,24.46 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1906.95,12007.34,180313,101047 MEM 323912

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16830,470

HUMID 48.70 CAP_FILE_SIZE 398938,2006

INTERNAL_PRESSURE 9.04831 CFSIZE 260034560,235999232

TCM_TEMP 18.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 0 CURRENT 0.197, 19.5,1

SC_FREEKB 3973888 GPS 180313,150942,1918.173,12007.317,372,1.1,372,-2.5

_24V_AH 24.3,22.646

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 221 92.54 nil 0 0 0.00

Roll_motor 72 42 75.89 nil 0 0 0.00

VBD_pump_during_apogee 406 911 9015.81 nil 0 0 0.00

VBD_pump_during_surface 221 795 4278.89 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 7835 7 1373.29

Iridium_during_xfer 219 131 702.55 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 29 29 8.92

TT8 1916 14 279.85

LPSleep 3949 2 87.36

TT8_Active 743 14 108.55

TT8_Sampling 1542 39 610.23

TT8_CF8 289 46 136.58

TT8_Kalman 0 0 0.00

Analog_circuits 1771 15 277.35

GPS_charging 0 0 0.00

Compass 1311 7 99.23

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 82 1947 469 552 0.0 0.0 0 43 0.00 0.00 -23.42 0.000 16386 0.000 0.000 82 1948 1126 1112 1140 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 82 1948 1112 1144 3.2 -9.4 3 144 7.82 0.00 -87.12 0.000 18950 0.221 0.000 2062 1948 3491 3405 3577 0 0 0 0 0 0 25.89 28.83 26.48

456 -1.35 -170.3 2062 1948 3410 3578 40.6 -8.9 59 461 0.00 2.10 0.00 0.000 516 0.000 0.040 2071 574 3494 3410 3578 0 0 0 0 0 0 28.83 26.39 28.83

481 -1.35 -170.3 2071 574 3411 3578 42.8 -9.1 61 487 0.00 2.03 0.00 0.000 1030 0.000 0.015 2063 1984 3494 3410 3578 0 0 0 0 0 0 28.83 26.46 28.83

806 -1.35 -170.3 2063 1986 3415 3579 72.2 -9.2 81 812 0.00 2.05 0.00 0.000 260 0.000 0.031 2053 3371 3497 3415 3579 0 0 0 0 0 0 28.83 26.51 28.83

960 -1.35 -170.3 2053 3371 3415 3579 85.6 -9.0 88 967 0.00 2.08 0.00 0.000 1030 0.000 0.024 2061 1971 3497 3415 3580 0 0 0 0 0 0 28.83 26.55 28.83

1281 -1.35 -170.3 2061 1972 3416 3579 114.9 -9.1 104 1286 0.00 2.12 0.00 0.000 516 0.000 0.041 2071 565 3497 3416 3579 0 0 0 0 0 0 28.83 26.58 28.83

1370 -1.35 -170.3 2071 565 3415 3580 122.7 -9.0 108 1376 0.00 2.03 0.00 0.000 1030 0.000 0.016 2063 1983 3497 3416 3579 0 0 0 0 0 0 28.83 26.65 28.83

1690 -1.35 -170.3 2062 1984 3415 3579 151.0 -8.2 124 1695 0.00 2.15 0.00 0.000 516 0.000 0.040 2071 575 3497 3415 3579 0 0 0 0 0 0 28.83 26.61 28.83

1824 -1.35 -170.3 2070 575 3416 3578 162.6 -9.2 130 1830 0.00 2.00 0.00 0.000 1030 0.000 0.016 2062 1978 3497 3416 3578 0 0 0 0 0 0 28.83 26.69 28.83

2143 -1.35 -170.3 2062 1979 3416 3575 192.1 -9.2 146 2150 0.00 2.15 0.00 0.000 516 0.000 0.041 2070 574 3495 3416 3574 0 0 0 0 0 0 28.83 26.64 28.83

2179 -1.35 -170.3 2070 574 3415 3574 194.4 -9.1 147 2185 0.00 2.00 0.00 0.000 1030 0.000 0.016 2062 1974 3495 3416 3574 0 0 0 0 0 0 28.83 26.71 28.83

2494 -1.35 -170.3 2061 1975 3415 3571 223.7 -9.0 163 2495 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 1975 3493 3416 3571 0 0 0 0 0 0 28.83 28.83 28.83

2794 -1.35 -170.3 2061 1975 3414 3568 250.4 -9.0 178 2800 0.00 2.15 0.00 0.000 516 0.000 0.041 2069 573 3490 3414 3567 0 0 0 0 0 0 28.83 26.65 28.83

2923 -1.35 -170.3 1248 572 3397 3564 261.9 -9.1 184 2928 0.00 2.03 0.00 0.000 1030 0.000 0.016 2060 1978 3489 3413 3566 0 0 0 0 0 0 28.83 26.73 28.83

3248 -1.35 -170.3 2060 1977 3410 3565 291.4 -8.9 200 3254 0.00 2.17 0.00 0.000 516 0.000 0.042 2064 567 3487 3410 3564 0 0 0 0 0 0 28.83 26.66 28.83

3367 -1.35 -170.3 2064 567 3409 3564 301.4 -9.0 205 3373 0.00 2.03 0.00 0.000 1030 0.000 0.017 2056 1973 3486 3409 3564 0 0 0 0 0 0 28.83 26.73 28.83

3681 -1.35 -170.3 2056 1974 3408 3561 330.9 -9.2 221 3688 0.00 2.15 0.00 0.000 516 0.000 0.043 2061 577 3484 3408 3561 0 0 0 0 0 0 28.83 26.66 28.83

3749 -1.35 -170.3 2061 577 3407 3561 337.1 -9.0 224 3756 0.00 2.03 0.00 0.000 1030 0.000 0.017 2053 1976 3484 3407 3561 0 0 0 0 0 0 28.83 26.73 28.83

3914 end dive: TARGET_DEPTH_EXCEEDED

state 3914 begin apogee

3918 -0.25 0.0 2050 2315 3405 3559 351.5 -8.6 232 4068 0.80 0.00 142.57 0.912 10246 0.126 0.000 2308 2315 2790 2753 2828 0 0 0 0 0 0 26.51 28.83 24.46

4071 end apogee: CONTROL_FINISHED_OK

state 4071 begin climb

4072 1.35 170.3 2308 2315 2752 2825 339.1 0.0 238 4230 1.02 2.20 147.35 0.897 10500 0.070 0.034 2664 3683 2091 2055 2128 0 0 0 0 0 0 25.23 24.96 24.28

4258 1.37 177.1 2663 3684 2052 2122 321.6 9.0 246 4268 0.00 2.17 2.42 0.311 9222 0.000 0.023 2674 2298 2073 2037 2110 0 0 0 0 0 0 28.83 25.33 24.46

4565 1.40 188.1 2674 2297 2037 2110 292.8 8.9 262 4589 0.00 2.22 13.98 0.842 8452 0.000 0.033 2674 3676 2022 1986 2058 0 0 0 0 0 0 28.83 25.86 25.13

4653 1.40 190.4 1696 3675 1934 2043 284.7 9.2 266 4660 0.00 2.12 0.00 0.000 1030 0.000 0.023 2684 2289 2019 1985 2054 0 0 0 0 0 0 28.83 26.03 28.83

4980 1.43 201.7 2684 2289 1985 2051 255.4 8.8 282 5003 0.00 2.22 13.12 0.821 8452 0.000 0.033 2683 3680 1966 1931 2002 0 0 0 0 0 0 28.83 26.09 25.33

5068 1.45 207.6 2683 3680 1931 1998 247.3 9.0 286 5080 0.00 2.10 4.40 0.698 9222 0.000 0.024 2693 2298 1947 1913 1982 0 0 0 0 0 0 28.83 26.20 25.14

5394 1.47 218.6 2693 2298 1913 1982 218.2 8.9 302 5417 0.00 2.25 13.02 0.796 8708 0.000 0.041 2704 895 1898 1868 1929 0 0 0 0 0 0 28.83 26.13 25.41

5524 1.49 227.0 2704 895 1867 1925 206.6 9.0 308 5540 0.00 2.08 8.75 0.783 9222 0.000 0.018 2704 2300 1864 1836 1893 0 0 0 0 0 0 28.83 26.30 25.38

5851 1.50 227.7 2704 2301 1835 1885 177.0 9.2 324 5856 0.00 2.20 0.00 0.000 516 0.000 0.040 2714 897 1860 1835 1886 0 0 0 0 0 0 28.83 26.33 28.83

5927 1.51 234.9 2714 897 1835 1886 170.8 9.0 327 5942 0.00 2.08 7.82 0.757 9222 0.000 0.018 2714 2307 1833 1805 1861 0 0 0 0 0 0 28.83 26.44 25.51

6239 1.52 238.4 2714 2307 1804 1855 141.6 9.1 343 6246 0.00 2.10 0.00 0.000 260 0.000 0.036 2714 3694 1829 1804 1855 0 0 0 0 0 0 28.83 26.41 28.83

6413 1.54 246.6 2714 3694 1804 1852 126.3 9.0 351 6432 0.10 2.10 11.77 0.731 13318 0.197 0.026 2702 2301 1786 1758 1814 0 0 0 0 0 0 26.29 26.48 25.58

6731 1.57 257.0 2702 2301 1755 1805 97.7 8.9 367 6747 0.00 2.17 10.65 0.710 8708 0.000 0.041 2712 900 1743 1714 1772 0 0 0 0 0 0 28.83 26.25 25.58

6770 1.58 260.4 2712 900 1712 1770 95.3 9.1 368 6778 0.00 2.08 0.00 0.000 1030 0.000 0.018 2712 2302 1740 1712 1769 0 0 0 0 0 0 28.83 26.34 28.83

7077 1.59 265.1 2712 2302 1713 1766 66.4 9.1 384 7093 0.00 2.15 7.85 0.683 8452 0.000 0.036 2712 3680 1710 1678 1742 0 0 0 0 0 0 28.83 26.32 25.63

7198 1.60 268.6 2712 3680 1676 1740 56.7 9.1 389 7206 0.00 2.10 0.00 0.000 1030 0.000 0.026 2722 2295 1708 1676 1740 0 0 0 0 0 0 28.83 26.39 28.83

7504 1.64 283.7 2722 2295 1676 1738 28.2 8.7 417 7530 0.00 2.25 18.35 0.630 8708 0.000 0.043 2733 898 1633 1587 1679 0 0 0 0 0 0 28.83 26.22 25.61

7566 1.65 290.1 1728 898 1551 1668 22.5 9.0 424 7575 0.00 2.08 4.80 0.601 9222 0.000 0.018 2733 2301 1612 1565 1660 0 0 0 0 0 0 28.83 26.32 25.37

7785 end climb: SURFACE_DEPTH_REACHED

state 7785 begin surface coast

7819 end surface coast: CONTROL_FINISHED_OK

state 7819 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	128	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	52	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	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	-100655.44	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	180313,124128,1916.541,12007.218,383,0.8,383,-2.5	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	-65.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180313,124803,1916.547,12007.170,28,0.7,29,-2.5	MHEAD_RNG_PITCHd_Wd	355.6,275212,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3489

FINISH	0.0,1.026070	_10V_AH	10.1,13.598
SM_CCo	7835,221.32,0.796,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.47,0.52,221.32,0.077,0.034,0.796,89,1957,511,-10.37,1.07,560.02,0,0,0,0,1,0,26.37,26.41,24.46	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1906.95,12007.34,180313,101047	MEM	323912
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16830,470
HUMID	48.70	CAP_FILE_SIZE	398938,2006
INTERNAL_PRESSURE	9.04831	CFSIZE	260034560,235999232
TCM_TEMP	18.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	0	CURRENT	0.197, 19.5,1
SC_FREEKB	3973888	GPS	180313,150942,1918.173,12007.317,372,1.1,372,-2.5
_24V_AH	24.3,22.646

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	221	92.54	nil	0	0	0.00
Roll_motor	72	42	75.89	nil	0	0	0.00
VBD_pump_during_apogee	406	911	9015.81	nil	0	0	0.00
VBD_pump_during_surface	221	795	4278.89	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	7835	7	1373.29
Iridium_during_xfer	219	131	702.55	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	29	29	8.92
TT8	1916	14	279.85
LPSleep	3949	2	87.36
TT8_Active	743	14	108.55
TT8_Sampling	1542	39	610.23
TT8_CF8	289	46	136.58
TT8_Kalman	0	0	0.00
Analog_circuits	1771	15	277.35
GPS_charging	0	0	0.00
Compass	1311	7	99.23
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	82	1947	469	552	0.0	0.0	0	43	0.00	0.00	-23.42	0.000	16386	0.000	0.000	82	1948	1126	1112	1140	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	82	1948	1112	1144	3.2	-9.4	3	144	7.82	0.00	-87.12	0.000	18950	0.221	0.000	2062	1948	3491	3405	3577	0	0	0	0	0	0	25.89	28.83	26.48
456	-1.35	-170.3	2062	1948	3410	3578	40.6	-8.9	59	461	0.00	2.10	0.00	0.000	516	0.000	0.040	2071	574	3494	3410	3578	0	0	0	0	0	0	28.83	26.39	28.83
481	-1.35	-170.3	2071	574	3411	3578	42.8	-9.1	61	487	0.00	2.03	0.00	0.000	1030	0.000	0.015	2063	1984	3494	3410	3578	0	0	0	0	0	0	28.83	26.46	28.83
806	-1.35	-170.3	2063	1986	3415	3579	72.2	-9.2	81	812	0.00	2.05	0.00	0.000	260	0.000	0.031	2053	3371	3497	3415	3579	0	0	0	0	0	0	28.83	26.51	28.83
960	-1.35	-170.3	2053	3371	3415	3579	85.6	-9.0	88	967	0.00	2.08	0.00	0.000	1030	0.000	0.024	2061	1971	3497	3415	3580	0	0	0	0	0	0	28.83	26.55	28.83
1281	-1.35	-170.3	2061	1972	3416	3579	114.9	-9.1	104	1286	0.00	2.12	0.00	0.000	516	0.000	0.041	2071	565	3497	3416	3579	0	0	0	0	0	0	28.83	26.58	28.83
1370	-1.35	-170.3	2071	565	3415	3580	122.7	-9.0	108	1376	0.00	2.03	0.00	0.000	1030	0.000	0.016	2063	1983	3497	3416	3579	0	0	0	0	0	0	28.83	26.65	28.83
1690	-1.35	-170.3	2062	1984	3415	3579	151.0	-8.2	124	1695	0.00	2.15	0.00	0.000	516	0.000	0.040	2071	575	3497	3415	3579	0	0	0	0	0	0	28.83	26.61	28.83
1824	-1.35	-170.3	2070	575	3416	3578	162.6	-9.2	130	1830	0.00	2.00	0.00	0.000	1030	0.000	0.016	2062	1978	3497	3416	3578	0	0	0	0	0	0	28.83	26.69	28.83
2143	-1.35	-170.3	2062	1979	3416	3575	192.1	-9.2	146	2150	0.00	2.15	0.00	0.000	516	0.000	0.041	2070	574	3495	3416	3574	0	0	0	0	0	0	28.83	26.64	28.83
2179	-1.35	-170.3	2070	574	3415	3574	194.4	-9.1	147	2185	0.00	2.00	0.00	0.000	1030	0.000	0.016	2062	1974	3495	3416	3574	0	0	0	0	0	0	28.83	26.71	28.83
2494	-1.35	-170.3	2061	1975	3415	3571	223.7	-9.0	163	2495	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	1975	3493	3416	3571	0	0	0	0	0	0	28.83	28.83	28.83
2794	-1.35	-170.3	2061	1975	3414	3568	250.4	-9.0	178	2800	0.00	2.15	0.00	0.000	516	0.000	0.041	2069	573	3490	3414	3567	0	0	0	0	0	0	28.83	26.65	28.83
2923	-1.35	-170.3	1248	572	3397	3564	261.9	-9.1	184	2928	0.00	2.03	0.00	0.000	1030	0.000	0.016	2060	1978	3489	3413	3566	0	0	0	0	0	0	28.83	26.73	28.83
3248	-1.35	-170.3	2060	1977	3410	3565	291.4	-8.9	200	3254	0.00	2.17	0.00	0.000	516	0.000	0.042	2064	567	3487	3410	3564	0	0	0	0	0	0	28.83	26.66	28.83
3367	-1.35	-170.3	2064	567	3409	3564	301.4	-9.0	205	3373	0.00	2.03	0.00	0.000	1030	0.000	0.017	2056	1973	3486	3409	3564	0	0	0	0	0	0	28.83	26.73	28.83
3681	-1.35	-170.3	2056	1974	3408	3561	330.9	-9.2	221	3688	0.00	2.15	0.00	0.000	516	0.000	0.043	2061	577	3484	3408	3561	0	0	0	0	0	0	28.83	26.66	28.83
3749	-1.35	-170.3	2061	577	3407	3561	337.1	-9.0	224	3756	0.00	2.03	0.00	0.000	1030	0.000	0.017	2053	1976	3484	3407	3561	0	0	0	0	0	0	28.83	26.73	28.83
3914	end dive: TARGET_DEPTH_EXCEEDED
state	3914	begin apogee
3918	-0.25	0.0	2050	2315	3405	3559	351.5	-8.6	232	4068	0.80	0.00	142.57	0.912	10246	0.126	0.000	2308	2315	2790	2753	2828	0	0	0	0	0	0	26.51	28.83	24.46
4071	end apogee: CONTROL_FINISHED_OK
state	4071	begin climb
4072	1.35	170.3	2308	2315	2752	2825	339.1	0.0	238	4230	1.02	2.20	147.35	0.897	10500	0.070	0.034	2664	3683	2091	2055	2128	0	0	0	0	0	0	25.23	24.96	24.28
4258	1.37	177.1	2663	3684	2052	2122	321.6	9.0	246	4268	0.00	2.17	2.42	0.311	9222	0.000	0.023	2674	2298	2073	2037	2110	0	0	0	0	0	0	28.83	25.33	24.46
4565	1.40	188.1	2674	2297	2037	2110	292.8	8.9	262	4589	0.00	2.22	13.98	0.842	8452	0.000	0.033	2674	3676	2022	1986	2058	0	0	0	0	0	0	28.83	25.86	25.13
4653	1.40	190.4	1696	3675	1934	2043	284.7	9.2	266	4660	0.00	2.12	0.00	0.000	1030	0.000	0.023	2684	2289	2019	1985	2054	0	0	0	0	0	0	28.83	26.03	28.83
4980	1.43	201.7	2684	2289	1985	2051	255.4	8.8	282	5003	0.00	2.22	13.12	0.821	8452	0.000	0.033	2683	3680	1966	1931	2002	0	0	0	0	0	0	28.83	26.09	25.33
5068	1.45	207.6	2683	3680	1931	1998	247.3	9.0	286	5080	0.00	2.10	4.40	0.698	9222	0.000	0.024	2693	2298	1947	1913	1982	0	0	0	0	0	0	28.83	26.20	25.14
5394	1.47	218.6	2693	2298	1913	1982	218.2	8.9	302	5417	0.00	2.25	13.02	0.796	8708	0.000	0.041	2704	895	1898	1868	1929	0	0	0	0	0	0	28.83	26.13	25.41
5524	1.49	227.0	2704	895	1867	1925	206.6	9.0	308	5540	0.00	2.08	8.75	0.783	9222	0.000	0.018	2704	2300	1864	1836	1893	0	0	0	0	0	0	28.83	26.30	25.38
5851	1.50	227.7	2704	2301	1835	1885	177.0	9.2	324	5856	0.00	2.20	0.00	0.000	516	0.000	0.040	2714	897	1860	1835	1886	0	0	0	0	0	0	28.83	26.33	28.83
5927	1.51	234.9	2714	897	1835	1886	170.8	9.0	327	5942	0.00	2.08	7.82	0.757	9222	0.000	0.018	2714	2307	1833	1805	1861	0	0	0	0	0	0	28.83	26.44	25.51
6239	1.52	238.4	2714	2307	1804	1855	141.6	9.1	343	6246	0.00	2.10	0.00	0.000	260	0.000	0.036	2714	3694	1829	1804	1855	0	0	0	0	0	0	28.83	26.41	28.83
6413	1.54	246.6	2714	3694	1804	1852	126.3	9.0	351	6432	0.10	2.10	11.77	0.731	13318	0.197	0.026	2702	2301	1786	1758	1814	0	0	0	0	0	0	26.29	26.48	25.58
6731	1.57	257.0	2702	2301	1755	1805	97.7	8.9	367	6747	0.00	2.17	10.65	0.710	8708	0.000	0.041	2712	900	1743	1714	1772	0	0	0	0	0	0	28.83	26.25	25.58
6770	1.58	260.4	2712	900	1712	1770	95.3	9.1	368	6778	0.00	2.08	0.00	0.000	1030	0.000	0.018	2712	2302	1740	1712	1769	0	0	0	0	0	0	28.83	26.34	28.83
7077	1.59	265.1	2712	2302	1713	1766	66.4	9.1	384	7093	0.00	2.15	7.85	0.683	8452	0.000	0.036	2712	3680	1710	1678	1742	0	0	0	0	0	0	28.83	26.32	25.63
7198	1.60	268.6	2712	3680	1676	1740	56.7	9.1	389	7206	0.00	2.10	0.00	0.000	1030	0.000	0.026	2722	2295	1708	1676	1740	0	0	0	0	0	0	28.83	26.39	28.83
7504	1.64	283.7	2722	2295	1676	1738	28.2	8.7	417	7530	0.00	2.25	18.35	0.630	8708	0.000	0.043	2733	898	1633	1587	1679	0	0	0	0	0	0	28.83	26.22	25.61
7566	1.65	290.1	1728	898	1551	1668	22.5	9.0	424	7575	0.00	2.08	4.80	0.601	9222	0.000	0.018	2733	2301	1612	1565	1660	0	0	0	0	0	0	28.83	26.32	25.37
7785	end climb: SURFACE_DEPTH_REACHED
state	7785	begin surface coast
7819	end surface coast: CONTROL_FINISHED_OK
state	7819	begin surface