Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 129 * 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 129 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 57 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 -100656.7 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 -100656.7

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 57 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 129 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 180313,150942,1918.173,12007.317,372,1.1,372,-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 -66.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180313,151617,1918.209,12007.274,15,1.1,15,-2.5 MHEAD_RNG_PITCHd_Wd 341.7,272145,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3568

Post-dive calculations and measurements:

FINISH 0.0,1.026157 _10V_AH 10.1,13.665

SM_CCo 7825,198.27,0.776,1,0,511,560.02 FG_AHR_24Vo 0.000

SM_GC -23.93,7.53,0.47,198.27,0.078,0.042,0.776,81,1958,511,-10.41,1.07,560.02,0,0,0,0,1,0,26.32,26.36,24.46 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1906.95,12037.08,180313,121217 MEM 323924

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16753,467

HUMID 48.70 CAP_FILE_SIZE 383519,1890

INTERNAL_PRESSURE 9.04831 CFSIZE 260034560,235905024

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 0.179, 30.7,1

SC_FREEKB 3973504 GPS 180313,173804,1919.544,12007.321,413,0.8,413,-2.5

_24V_AH 24.3,22.805

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 227 95.24 nil 0 0 0.00

Roll_motor 64 52 82.73 nil 0 0 0.00

VBD_pump_during_apogee 488 872 10353.37 nil 0 0 0.00

VBD_pump_during_surface 198 776 3741.12 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 7823 7 1375.37

Iridium_during_xfer 231 131 740.20 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 29 5.02

TT8 1827 14 266.88

LPSleep 4042 2 89.42

TT8_Active 772 14 112.80

TT8_Sampling 1488 39 589.03

TT8_CF8 275 46 129.87

TT8_Kalman 0 0 0.00

Analog_circuits 1787 15 279.84

GPS_charging 0 0 0.00

Compass 1251 7 94.68

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 88 1946 468 553 0.0 0.0 0 44 0.00 0.00 -23.95 0.000 16386 0.000 0.000 88 1946 1139 1118 1161 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 88 1946 1118 1162 3.1 -8.3 3 153 7.93 2.12 -87.95 0.000 19204 0.227 0.053 2071 578 3492 3407 3578 0 0 0 0 0 0 25.84 26.16 26.46

166 -1.35 -170.3 2071 578 3408 3579 14.1 -8.4 19 174 0.00 2.08 0.00 0.000 1030 0.000 0.016 2063 1994 3493 3408 3579 0 0 0 0 0 0 28.83 26.25 28.83

486 -1.35 -170.3 2062 1996 3412 3579 42.7 -9.1 61 492 0.00 2.20 0.00 0.000 516 0.000 0.039 2071 575 3495 3412 3579 0 0 0 0 0 0 28.83 26.38 28.83

512 -1.35 -170.3 2071 575 3412 3579 45.1 -9.1 63 518 0.00 2.03 0.00 0.000 1030 0.000 0.016 2062 1979 3495 3412 3579 0 0 0 0 0 0 28.83 26.46 28.83

828 -1.35 -170.3 2062 1980 3415 3579 73.5 -8.9 81 833 0.00 2.15 0.00 0.000 516 0.000 0.039 2071 580 3497 3415 3579 0 0 0 0 0 0 28.83 26.48 28.83

931 -1.35 -170.3 2071 580 3415 3580 81.3 -8.9 85 939 0.00 2.00 0.00 0.000 1030 0.000 0.016 2063 1975 3497 3415 3580 0 0 0 0 0 0 28.83 26.58 28.83

1236 -1.35 -170.3 2062 1975 3415 3580 110.5 -9.0 101 1242 0.00 2.12 0.00 0.000 516 0.000 0.040 2071 581 3497 3415 3580 0 0 0 0 0 0 28.83 26.55 28.83

1283 -1.35 -170.3 2070 581 3414 3580 114.6 -8.8 103 1289 0.00 2.00 0.00 0.000 1030 0.000 0.016 2063 1975 3497 3415 3580 0 0 0 0 0 0 28.83 26.63 28.83

1609 -1.35 -170.3 2062 1975 3415 3580 143.8 -8.9 119 1610 0.00 0.00 0.00 0.000 6 0.000 0.000 2063 1976 3497 3415 3580 0 0 0 0 0 0 28.83 28.83 28.83

1908 -1.35 -170.3 2062 1978 3415 3579 171.2 -9.0 134 1910 0.00 0.00 0.00 0.000 6 0.000 0.000 2062 1978 3496 3415 3578 0 0 0 0 0 0 28.83 28.83 28.83

2209 -1.35 -170.3 2062 1978 3415 3576 198.3 -8.8 149 2214 0.00 2.15 0.00 0.000 516 0.000 0.040 2070 573 3495 3415 3576 0 0 0 0 0 0 28.83 26.63 28.83

2315 -1.35 -170.3 2070 573 3415 3575 207.9 -8.8 154 2321 0.00 2.03 0.00 0.000 1030 0.000 0.016 2062 1979 3495 3415 3575 0 0 0 0 0 0 28.83 26.71 28.83

2640 -1.35 -170.3 2062 1980 3415 3571 236.8 -9.5 170 2646 0.00 2.05 0.00 0.000 260 0.000 0.032 2052 3366 3493 3415 3571 0 0 0 0 0 0 28.83 26.66 28.83

2700 -1.35 -170.3 2051 3366 3415 3572 240.9 -9.0 172 2709 0.00 2.08 0.00 0.000 1030 0.000 0.026 2056 1975 3492 3415 3570 0 0 0 0 0 0 28.83 26.67 28.83

3007 -1.35 -170.3 2056 1975 3414 3568 269.6 -9.1 188 3013 0.00 2.12 0.00 0.000 516 0.000 0.044 2066 575 3490 3414 3567 0 0 0 0 0 0 28.83 26.65 28.83

3182 -1.35 -170.3 2065 575 3412 3567 285.1 -9.0 196 3187 0.00 2.03 0.00 0.000 1030 0.000 0.017 2057 1975 3489 3413 3566 0 0 0 0 0 0 28.83 26.72 28.83

3507 -1.35 -170.3 2057 1976 3410 3565 314.3 -9.0 212 3514 0.00 2.17 0.00 0.000 516 0.000 0.043 2065 570 3487 3410 3564 0 0 0 0 0 0 28.83 26.66 28.83

3568 -1.35 -170.3 2065 570 3410 3564 318.6 -9.2 214 3576 0.00 2.03 0.00 0.000 1030 0.000 0.017 2057 1976 3486 3409 3564 0 0 0 0 0 0 28.83 26.73 28.83

3874 -1.35 -170.3 2056 1977 3408 3562 347.1 -8.8 230 3876 0.00 0.00 0.00 0.000 6 0.000 0.000 2057 1977 3485 3408 3562 0 0 0 0 0 0 28.83 28.83 28.83

3913 end dive: TARGET_DEPTH_EXCEEDED

state 3913 begin apogee

3918 -0.25 0.0 2054 2316 3408 3561 350.8 -9.2 232 4134 0.80 0.00 206.18 0.747 10246 0.125 0.000 2313 2315 2790 2753 2828 0 0 0 0 0 0 26.51 28.83 24.57

4136 end apogee: CONTROL_FINISHED_OK

state 4136 begin climb

4138 1.35 170.3 2312 2315 2752 2827 332.7 0.0 241 4296 1.00 2.20 147.90 0.872 10500 0.067 0.034 2663 3680 2091 2055 2128 0 0 0 0 0 0 25.25 24.94 24.27

4537 1.38 179.8 2662 3680 2048 2116 296.3 8.9 259 4547 0.00 2.10 4.20 0.660 9222 0.000 0.023 2673 2302 2061 2025 2097 0 0 0 0 0 0 28.83 25.96 24.97

4844 1.39 186.4 2672 2303 2024 2100 266.8 9.0 275 4861 0.00 2.17 9.73 0.804 8452 0.000 0.033 2673 3684 2031 1994 2068 0 0 0 0 0 0 28.83 26.08 25.32

4935 1.42 197.0 2672 3684 1994 2065 259.1 8.9 279 4953 0.00 2.10 11.27 0.813 9222 0.000 0.024 2683 2298 1987 1949 2025 0 0 0 0 0 0 28.83 26.20 25.25

5252 1.46 212.7 2682 2298 1949 2016 230.4 8.7 295 5275 0.00 2.20 15.25 0.799 8708 0.000 0.040 2693 903 1922 1891 1953 0 0 0 0 0 0 28.83 26.03 25.32

5319 1.48 219.3 2692 903 1891 1950 224.3 9.0 298 5331 0.00 2.10 5.10 0.738 9222 0.000 0.018 2693 2302 1901 1872 1931 0 0 0 0 0 0 28.83 26.17 25.22

5646 1.49 224.7 2693 2302 1871 1928 194.8 9.1 314 5662 0.00 2.28 7.20 0.767 8708 0.000 0.040 2703 897 1875 1847 1904 0 0 0 0 0 0 28.83 26.19 25.44

5707 1.50 231.0 2703 897 1846 1903 190.6 9.0 316 5721 0.00 2.10 7.20 0.763 9222 0.000 0.018 2703 2301 1850 1821 1879 0 0 0 0 0 0 28.83 26.30 25.40

6040 1.55 248.2 2703 2300 1821 1871 159.7 8.6 333 6064 0.00 2.30 17.52 0.751 8708 0.000 0.041 2713 903 1778 1747 1809 0 0 0 0 0 0 28.83 26.08 25.39

6143 1.56 253.9 2713 903 1746 1805 151.7 9.1 337 6153 0.00 2.08 4.78 0.689 9222 0.000 0.018 2714 2297 1758 1727 1790 0 0 0 0 0 0 28.83 26.24 25.21

6449 1.58 263.0 2712 2298 1727 1790 121.9 8.9 353 6466 0.00 2.15 11.23 0.728 8452 0.000 0.034 2713 3696 1717 1683 1752 0 0 0 0 0 0 28.83 26.17 25.48

6571 1.60 270.6 2713 3697 1681 1749 112.2 9.0 358 6586 0.00 2.12 7.80 0.713 9222 0.000 0.025 2722 2301 1688 1652 1725 0 0 0 0 0 0 28.83 26.29 25.44

6904 1.62 276.5 2722 2302 1650 1718 80.9 9.0 375 6911 0.00 0.00 4.95 0.659 8198 0.000 0.000 2722 2301 1667 1630 1704 0 0 0 0 0 0 28.83 28.83 25.36

7204 1.62 276.5 2722 2301 1626 1704 54.3 9.4 390 7205 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2301 1665 1626 1704 0 0 0 0 0 0 28.83 28.83 28.83

7505 1.64 285.2 2722 2301 1625 1704 26.8 8.9 417 7524 0.00 2.20 9.88 0.644 8452 0.000 0.034 2722 3685 1628 1580 1676 0 0 0 0 0 0 28.83 26.36 25.69

7592 1.68 303.1 1696 3685 1542 1667 19.0 8.6 430 7616 0.00 2.12 18.38 0.623 9222 0.000 0.025 2733 2289 1555 1502 1609 0 0 0 0 0 0 28.83 26.41 25.55

7773 end climb: SURFACE_DEPTH_REACHED

state 7773 begin surface coast

7807 end surface coast: CONTROL_FINISHED_OK

state 7807 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	129	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	57	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	-100656.7	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	180313,150942,1918.173,12007.317,372,1.1,372,-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	-66.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180313,151617,1918.209,12007.274,15,1.1,15,-2.5	MHEAD_RNG_PITCHd_Wd	341.7,272145,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3568

FINISH	0.0,1.026157	_10V_AH	10.1,13.665
SM_CCo	7825,198.27,0.776,1,0,511,560.02	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.53,0.47,198.27,0.078,0.042,0.776,81,1958,511,-10.41,1.07,560.02,0,0,0,0,1,0,26.32,26.36,24.46	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1906.95,12037.08,180313,121217	MEM	323924
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16753,467
HUMID	48.70	CAP_FILE_SIZE	383519,1890
INTERNAL_PRESSURE	9.04831	CFSIZE	260034560,235905024
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	0.179, 30.7,1
SC_FREEKB	3973504	GPS	180313,173804,1919.544,12007.321,413,0.8,413,-2.5
_24V_AH	24.3,22.805

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	227	95.24	nil	0	0	0.00
Roll_motor	64	52	82.73	nil	0	0	0.00
VBD_pump_during_apogee	488	872	10353.37	nil	0	0	0.00
VBD_pump_during_surface	198	776	3741.12	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	7823	7	1375.37
Iridium_during_xfer	231	131	740.20	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	29	5.02
TT8	1827	14	266.88
LPSleep	4042	2	89.42
TT8_Active	772	14	112.80
TT8_Sampling	1488	39	589.03
TT8_CF8	275	46	129.87
TT8_Kalman	0	0	0.00
Analog_circuits	1787	15	279.84
GPS_charging	0	0	0.00
Compass	1251	7	94.68
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	88	1946	468	553	0.0	0.0	0	44	0.00	0.00	-23.95	0.000	16386	0.000	0.000	88	1946	1139	1118	1161	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	88	1946	1118	1162	3.1	-8.3	3	153	7.93	2.12	-87.95	0.000	19204	0.227	0.053	2071	578	3492	3407	3578	0	0	0	0	0	0	25.84	26.16	26.46
166	-1.35	-170.3	2071	578	3408	3579	14.1	-8.4	19	174	0.00	2.08	0.00	0.000	1030	0.000	0.016	2063	1994	3493	3408	3579	0	0	0	0	0	0	28.83	26.25	28.83
486	-1.35	-170.3	2062	1996	3412	3579	42.7	-9.1	61	492	0.00	2.20	0.00	0.000	516	0.000	0.039	2071	575	3495	3412	3579	0	0	0	0	0	0	28.83	26.38	28.83
512	-1.35	-170.3	2071	575	3412	3579	45.1	-9.1	63	518	0.00	2.03	0.00	0.000	1030	0.000	0.016	2062	1979	3495	3412	3579	0	0	0	0	0	0	28.83	26.46	28.83
828	-1.35	-170.3	2062	1980	3415	3579	73.5	-8.9	81	833	0.00	2.15	0.00	0.000	516	0.000	0.039	2071	580	3497	3415	3579	0	0	0	0	0	0	28.83	26.48	28.83
931	-1.35	-170.3	2071	580	3415	3580	81.3	-8.9	85	939	0.00	2.00	0.00	0.000	1030	0.000	0.016	2063	1975	3497	3415	3580	0	0	0	0	0	0	28.83	26.58	28.83
1236	-1.35	-170.3	2062	1975	3415	3580	110.5	-9.0	101	1242	0.00	2.12	0.00	0.000	516	0.000	0.040	2071	581	3497	3415	3580	0	0	0	0	0	0	28.83	26.55	28.83
1283	-1.35	-170.3	2070	581	3414	3580	114.6	-8.8	103	1289	0.00	2.00	0.00	0.000	1030	0.000	0.016	2063	1975	3497	3415	3580	0	0	0	0	0	0	28.83	26.63	28.83
1609	-1.35	-170.3	2062	1975	3415	3580	143.8	-8.9	119	1610	0.00	0.00	0.00	0.000	6	0.000	0.000	2063	1976	3497	3415	3580	0	0	0	0	0	0	28.83	28.83	28.83
1908	-1.35	-170.3	2062	1978	3415	3579	171.2	-9.0	134	1910	0.00	0.00	0.00	0.000	6	0.000	0.000	2062	1978	3496	3415	3578	0	0	0	0	0	0	28.83	28.83	28.83
2209	-1.35	-170.3	2062	1978	3415	3576	198.3	-8.8	149	2214	0.00	2.15	0.00	0.000	516	0.000	0.040	2070	573	3495	3415	3576	0	0	0	0	0	0	28.83	26.63	28.83
2315	-1.35	-170.3	2070	573	3415	3575	207.9	-8.8	154	2321	0.00	2.03	0.00	0.000	1030	0.000	0.016	2062	1979	3495	3415	3575	0	0	0	0	0	0	28.83	26.71	28.83
2640	-1.35	-170.3	2062	1980	3415	3571	236.8	-9.5	170	2646	0.00	2.05	0.00	0.000	260	0.000	0.032	2052	3366	3493	3415	3571	0	0	0	0	0	0	28.83	26.66	28.83
2700	-1.35	-170.3	2051	3366	3415	3572	240.9	-9.0	172	2709	0.00	2.08	0.00	0.000	1030	0.000	0.026	2056	1975	3492	3415	3570	0	0	0	0	0	0	28.83	26.67	28.83
3007	-1.35	-170.3	2056	1975	3414	3568	269.6	-9.1	188	3013	0.00	2.12	0.00	0.000	516	0.000	0.044	2066	575	3490	3414	3567	0	0	0	0	0	0	28.83	26.65	28.83
3182	-1.35	-170.3	2065	575	3412	3567	285.1	-9.0	196	3187	0.00	2.03	0.00	0.000	1030	0.000	0.017	2057	1975	3489	3413	3566	0	0	0	0	0	0	28.83	26.72	28.83
3507	-1.35	-170.3	2057	1976	3410	3565	314.3	-9.0	212	3514	0.00	2.17	0.00	0.000	516	0.000	0.043	2065	570	3487	3410	3564	0	0	0	0	0	0	28.83	26.66	28.83
3568	-1.35	-170.3	2065	570	3410	3564	318.6	-9.2	214	3576	0.00	2.03	0.00	0.000	1030	0.000	0.017	2057	1976	3486	3409	3564	0	0	0	0	0	0	28.83	26.73	28.83
3874	-1.35	-170.3	2056	1977	3408	3562	347.1	-8.8	230	3876	0.00	0.00	0.00	0.000	6	0.000	0.000	2057	1977	3485	3408	3562	0	0	0	0	0	0	28.83	28.83	28.83
3913	end dive: TARGET_DEPTH_EXCEEDED
state	3913	begin apogee
3918	-0.25	0.0	2054	2316	3408	3561	350.8	-9.2	232	4134	0.80	0.00	206.18	0.747	10246	0.125	0.000	2313	2315	2790	2753	2828	0	0	0	0	0	0	26.51	28.83	24.57
4136	end apogee: CONTROL_FINISHED_OK
state	4136	begin climb
4138	1.35	170.3	2312	2315	2752	2827	332.7	0.0	241	4296	1.00	2.20	147.90	0.872	10500	0.067	0.034	2663	3680	2091	2055	2128	0	0	0	0	0	0	25.25	24.94	24.27
4537	1.38	179.8	2662	3680	2048	2116	296.3	8.9	259	4547	0.00	2.10	4.20	0.660	9222	0.000	0.023	2673	2302	2061	2025	2097	0	0	0	0	0	0	28.83	25.96	24.97
4844	1.39	186.4	2672	2303	2024	2100	266.8	9.0	275	4861	0.00	2.17	9.73	0.804	8452	0.000	0.033	2673	3684	2031	1994	2068	0	0	0	0	0	0	28.83	26.08	25.32
4935	1.42	197.0	2672	3684	1994	2065	259.1	8.9	279	4953	0.00	2.10	11.27	0.813	9222	0.000	0.024	2683	2298	1987	1949	2025	0	0	0	0	0	0	28.83	26.20	25.25
5252	1.46	212.7	2682	2298	1949	2016	230.4	8.7	295	5275	0.00	2.20	15.25	0.799	8708	0.000	0.040	2693	903	1922	1891	1953	0	0	0	0	0	0	28.83	26.03	25.32
5319	1.48	219.3	2692	903	1891	1950	224.3	9.0	298	5331	0.00	2.10	5.10	0.738	9222	0.000	0.018	2693	2302	1901	1872	1931	0	0	0	0	0	0	28.83	26.17	25.22
5646	1.49	224.7	2693	2302	1871	1928	194.8	9.1	314	5662	0.00	2.28	7.20	0.767	8708	0.000	0.040	2703	897	1875	1847	1904	0	0	0	0	0	0	28.83	26.19	25.44
5707	1.50	231.0	2703	897	1846	1903	190.6	9.0	316	5721	0.00	2.10	7.20	0.763	9222	0.000	0.018	2703	2301	1850	1821	1879	0	0	0	0	0	0	28.83	26.30	25.40
6040	1.55	248.2	2703	2300	1821	1871	159.7	8.6	333	6064	0.00	2.30	17.52	0.751	8708	0.000	0.041	2713	903	1778	1747	1809	0	0	0	0	0	0	28.83	26.08	25.39
6143	1.56	253.9	2713	903	1746	1805	151.7	9.1	337	6153	0.00	2.08	4.78	0.689	9222	0.000	0.018	2714	2297	1758	1727	1790	0	0	0	0	0	0	28.83	26.24	25.21
6449	1.58	263.0	2712	2298	1727	1790	121.9	8.9	353	6466	0.00	2.15	11.23	0.728	8452	0.000	0.034	2713	3696	1717	1683	1752	0	0	0	0	0	0	28.83	26.17	25.48
6571	1.60	270.6	2713	3697	1681	1749	112.2	9.0	358	6586	0.00	2.12	7.80	0.713	9222	0.000	0.025	2722	2301	1688	1652	1725	0	0	0	0	0	0	28.83	26.29	25.44
6904	1.62	276.5	2722	2302	1650	1718	80.9	9.0	375	6911	0.00	0.00	4.95	0.659	8198	0.000	0.000	2722	2301	1667	1630	1704	0	0	0	0	0	0	28.83	28.83	25.36
7204	1.62	276.5	2722	2301	1626	1704	54.3	9.4	390	7205	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2301	1665	1626	1704	0	0	0	0	0	0	28.83	28.83	28.83
7505	1.64	285.2	2722	2301	1625	1704	26.8	8.9	417	7524	0.00	2.20	9.88	0.644	8452	0.000	0.034	2722	3685	1628	1580	1676	0	0	0	0	0	0	28.83	26.36	25.69
7592	1.68	303.1	1696	3685	1542	1667	19.0	8.6	430	7616	0.00	2.12	18.38	0.623	9222	0.000	0.025	2733	2289	1555	1502	1609	0	0	0	0	0	0	28.83	26.41	25.55
7773	end climb: SURFACE_DEPTH_REACHED
state	7773	begin surface coast
7807	end surface coast: CONTROL_FINISHED_OK
state	7807	begin surface