Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 131 * 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 131 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 56 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 2640 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 -100659.23 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 -100659.23

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 2640 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 56 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 131 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 180313,200854,1920.584,12007.479,504,1.7,504,-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 -65.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180313,201512,1920.568,12007.553,17,1.7,18,-2.5 MHEAD_RNG_PITCHd_Wd 330.3,267802,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3790

Post-dive calculations and measurements:

FINISH 0.0,1.026132 _10V_AH 10.1,13.800

SM_CCo 8096,4.12,0.499,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.35,0.50,4.12,0.075,0.041,0.499,88,1949,400,-10.37,0.85,549.47,0,0,0,0,0,0,26.48,26.52,24.53 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1911.51,12006.51,180313,171746 MEM 323920

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16781,475

HUMID 48.81 CAP_FILE_SIZE 357819,1739

INTERNAL_PRESSURE 9.03854 CFSIZE 260034560,235708416

TCM_TEMP 18.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 0 CURRENT 0.103, 84.3,1

SC_FREEKB 3972736 GPS 180313,223658,1921.287,12007.590,340,0.7,340,-2.5

_24V_AH 24.3,23.137

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 226 94.51 nil 0 0 0.00

Roll_motor 64 44 69.71 nil 0 0 0.00

VBD_pump_during_apogee 396 884 8530.78 nil 0 0 0.00

VBD_pump_during_surface 249 780 4721.36 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 7820 7 1375.03

Iridium_during_xfer 213 134 698.44 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.58

TT8 1771 14 258.79

LPSleep 4273 2 94.54

TT8_Active 762 14 111.39

TT8_Sampling 1385 39 548.28

TT8_CF8 267 46 126.00

TT8_Kalman 0 0 0.00

Analog_circuits 1700 15 266.29

GPS_charging 0 0 0.00

Compass 1164 7 88.07

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.35 -170.3 85 1951 465 556 0.0 0.0 0 43 0.00 0.00 -23.42 0.000 16386 0.000 0.000 85 1951 1113 1095 1132 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 85 1952 1095 1133 3.1 -8.9 3 144 7.93 2.17 -81.00 0.000 18692 0.226 0.041 2055 3384 3337 3243 3431 0 0 0 0 0 0 25.84 26.18 26.46

343 -1.35 -170.3 2055 3384 3248 3430 29.8 -8.9 48 352 0.00 2.12 0.00 0.000 1030 0.000 0.025 2064 1975 3339 3248 3430 0 0 0 0 0 0 28.83 26.34 28.83

651 -1.35 -170.3 2064 1975 3253 3430 57.6 -8.6 75 657 0.00 2.15 0.00 0.000 516 0.000 0.040 2075 564 3341 3253 3430 0 0 0 0 0 0 28.83 26.44 28.83

728 -1.35 -170.3 2075 564 3253 3430 63.6 -9.0 78 734 0.00 2.05 0.00 0.000 1030 0.000 0.016 2066 1990 3341 3253 3430 0 0 0 0 0 0 28.83 26.52 28.83

1043 -1.35 -170.3 2066 1992 3254 3431 92.8 -9.2 94 1049 0.00 2.20 0.00 0.000 516 0.000 0.039 2075 564 3342 3254 3430 0 0 0 0 0 0 28.83 26.53 28.83

1103 -1.35 -170.3 2075 564 3254 3430 96.9 -8.9 96 1111 0.00 2.03 0.00 0.000 1030 0.000 0.015 2066 1975 3343 3255 3431 0 0 0 0 0 0 28.83 26.60 28.83

1409 -1.35 -170.3 2066 1976 3254 3430 125.3 -9.0 112 1415 0.00 2.15 0.00 0.000 516 0.000 0.039 2074 568 3342 3254 3430 0 0 0 0 0 0 28.83 26.58 28.83

1465 -1.35 -170.3 2074 568 3254 3430 129.6 -8.8 114 1471 0.00 2.05 0.00 0.000 1030 0.000 0.016 2066 1982 3342 3254 3431 0 0 0 0 0 0 28.83 26.65 28.83

1780 -1.35 -170.3 2065 1984 3256 3428 158.1 -8.8 130 1781 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 1984 3342 3256 3428 0 0 0 0 0 0 28.83 28.83 28.83

2080 -1.35 -170.3 2065 1985 3256 3426 185.0 -9.2 145 2086 0.00 2.17 0.00 0.000 516 0.000 0.039 2074 567 3341 3256 3426 0 0 0 0 0 0 28.83 26.63 28.83

2119 -1.35 -170.3 1280 567 3232 3422 187.2 -9.2 146 2127 0.00 2.03 0.00 0.000 1030 0.000 0.016 2066 1978 3341 3256 3426 0 0 0 0 0 0 28.83 26.70 28.83

2426 -1.35 -170.3 2066 1979 3258 3423 216.2 -9.0 162 2427 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 1979 3339 3256 3423 0 0 0 0 0 0 28.83 28.83 28.83

2728 -1.35 -170.3 2065 1979 3256 3421 243.0 -8.9 177 2734 0.00 2.05 0.00 0.000 260 0.000 0.032 2056 3364 3338 3256 3420 0 0 0 0 0 0 28.83 26.66 28.83

2754 -1.35 -170.3 2055 3364 3256 3420 245.2 -8.8 178 2760 0.00 2.08 0.00 0.000 1030 0.000 0.025 2062 1968 3338 3256 3420 0 0 0 0 0 0 28.83 26.67 28.83

3081 -1.35 -170.3 2062 1968 3256 3417 275.0 -8.9 194 3088 0.00 2.12 0.00 0.000 516 0.000 0.044 2073 574 3336 3256 3416 0 0 0 0 0 0 28.83 26.65 28.83

3107 -1.35 -170.3 2072 574 3256 3416 277.4 -8.9 195 3114 0.00 2.03 0.00 0.000 1030 0.000 0.017 2064 1973 3336 3256 3416 0 0 0 0 0 0 28.83 26.72 28.83

3435 -1.35 -170.3 2064 1974 3254 3414 306.8 -9.0 211 3437 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 1974 3334 3254 3414 0 0 0 0 0 0 28.83 28.83 28.83

3734 -1.35 -170.3 2064 1974 3253 3412 334.0 -9.2 226 3740 0.00 2.17 0.00 0.000 516 0.000 0.044 2072 570 3332 3253 3411 0 0 0 0 0 0 28.83 26.65 28.83

3799 -1.35 -170.3 1280 569 3226 3407 339.9 -8.9 229 3805 0.00 2.05 0.00 0.000 1030 0.000 0.017 2064 1980 3331 3252 3411 0 0 0 0 0 0 28.83 26.73 28.83

3922 end dive: TARGET_DEPTH_EXCEEDED

state 3922 begin apogee

3927 -0.25 0.0 2061 2302 3252 3410 350.9 -8.8 235 4088 0.77 0.00 151.48 0.884 10246 0.126 0.000 2311 2303 2631 2582 2681 0 0 0 0 0 0 26.51 28.83 24.47

4090 end apogee: CONTROL_FINISHED_OK

state 4090 begin climb

4091 1.35 170.3 2311 2302 2580 2679 337.0 0.0 242 4258 1.02 2.22 155.10 0.859 10500 0.073 0.034 2665 3677 1935 1902 1969 0 0 0 0 0 0 25.23 24.95 24.31

4344 1.37 176.8 2664 3677 1900 1953 313.9 9.0 253 4350 0.00 2.15 0.00 0.000 1030 0.000 0.024 2675 2297 1925 1899 1952 0 0 0 0 0 0 28.83 25.58 28.83

4658 1.39 184.4 2674 2297 1899 1947 284.4 9.0 269 4675 0.00 2.20 11.12 0.816 8708 0.000 0.041 2685 899 1882 1857 1908 0 0 0 0 0 0 28.83 25.94 25.27

4749 1.39 186.3 2685 899 1853 1904 276.4 9.2 273 4755 0.00 2.08 0.00 0.000 1030 0.000 0.018 2685 2292 1878 1853 1903 0 0 0 0 0 0 28.83 26.13 28.83

5069 1.41 193.4 2685 2292 1853 1899 246.8 9.0 289 5075 0.00 0.00 4.25 0.653 8198 0.000 0.000 2685 2291 1851 1825 1877 0 0 0 0 0 0 28.83 28.83 25.25

5370 1.44 206.1 2685 2292 1825 1884 219.7 8.8 304 5394 0.00 2.17 18.77 0.783 8452 0.000 0.034 2685 3698 1790 1760 1821 0 0 0 0 0 0 28.83 26.10 25.41

5448 1.47 217.7 2685 3698 1757 1814 213.9 8.8 307 5467 0.00 2.15 10.90 0.782 9222 0.000 0.025 2695 2292 1746 1715 1777 0 0 0 0 0 0 28.83 26.19 25.32

5782 1.48 219.2 2695 2292 1714 1769 182.9 9.2 324 5788 0.00 2.17 0.00 0.000 260 0.000 0.034 2695 3698 1741 1714 1768 0 0 0 0 0 0 28.83 26.31 28.83

5822 1.50 229.7 2695 3698 1713 1768 180.6 8.9 325 5840 0.00 2.12 11.98 0.758 9222 0.000 0.025 2705 2299 1698 1665 1732 0 0 0 0 0 0 28.83 26.34 25.44

6155 1.50 230.8 2705 2299 1662 1724 149.4 9.2 342 6157 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2299 1693 1662 1724 0 0 0 0 0 0 28.83 28.83 28.83

6455 1.50 230.8 2705 2299 1662 1722 122.7 9.3 357 6461 0.00 2.17 0.00 0.000 516 0.000 0.043 2716 893 1692 1662 1722 0 0 0 0 0 0 28.83 26.44 28.83

6472 1.50 230.8 2716 893 1663 1722 122.7 9.3 357 6481 0.10 2.08 0.00 0.000 5126 0.185 0.018 2694 2301 1692 1662 1722 0 0 0 0 0 0 26.31 26.51 28.83

6780 1.52 239.1 2693 2302 1662 1721 93.6 9.0 373 6796 0.00 2.17 8.73 0.697 8452 0.000 0.037 2694 3688 1658 1620 1696 0 0 0 0 0 0 28.83 26.39 25.70

6828 1.54 244.2 2693 3688 1617 1696 89.5 9.1 375 6841 0.00 2.10 3.72 0.557 9222 0.000 0.025 2703 2300 1642 1598 1687 0 0 0 0 0 0 28.83 26.42 25.46

7149 1.55 250.1 2702 2299 1599 1687 59.8 9.0 391 7166 0.00 2.20 8.38 0.671 8452 0.000 0.035 2702 3686 1615 1566 1664 0 0 0 0 0 0 28.83 26.36 25.67

7204 1.58 261.6 2702 3686 1565 1662 55.8 8.8 393 7223 0.00 2.10 12.55 0.659 9222 0.000 0.025 2712 2299 1568 1516 1621 0 0 0 0 0 0 28.83 26.39 25.58

7532 1.59 264.5 2712 2299 1514 1614 25.1 9.2 423 7533 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2299 1564 1514 1614 0 0 0 0 0 0 28.83 28.83 28.83

7779 end climb: SURFACE_DEPTH_REACHED

state 7779 begin surface coast

7814 end surface coast: CONTROL_FINISHED_OK

state 7814 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	131	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	56	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	2640	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	-100659.23	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	180313,200854,1920.584,12007.479,504,1.7,504,-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	-65.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180313,201512,1920.568,12007.553,17,1.7,18,-2.5	MHEAD_RNG_PITCHd_Wd	330.3,267802,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3790

FINISH	0.0,1.026132	_10V_AH	10.1,13.800
SM_CCo	8096,4.12,0.499,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.35,0.50,4.12,0.075,0.041,0.499,88,1949,400,-10.37,0.85,549.47,0,0,0,0,0,0,26.48,26.52,24.53	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1911.51,12006.51,180313,171746	MEM	323920
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16781,475
HUMID	48.81	CAP_FILE_SIZE	357819,1739
INTERNAL_PRESSURE	9.03854	CFSIZE	260034560,235708416
TCM_TEMP	18.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	0	CURRENT	0.103, 84.3,1
SC_FREEKB	3972736	GPS	180313,223658,1921.287,12007.590,340,0.7,340,-2.5
_24V_AH	24.3,23.137

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	226	94.51	nil	0	0	0.00
Roll_motor	64	44	69.71	nil	0	0	0.00
VBD_pump_during_apogee	396	884	8530.78	nil	0	0	0.00
VBD_pump_during_surface	249	780	4721.36	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	7820	7	1375.03
Iridium_during_xfer	213	134	698.44	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.58
TT8	1771	14	258.79
LPSleep	4273	2	94.54
TT8_Active	762	14	111.39
TT8_Sampling	1385	39	548.28
TT8_CF8	267	46	126.00
TT8_Kalman	0	0	0.00
Analog_circuits	1700	15	266.29
GPS_charging	0	0	0.00
Compass	1164	7	88.07
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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.35	-170.3	85	1951	465	556	0.0	0.0	0	43	0.00	0.00	-23.42	0.000	16386	0.000	0.000	85	1951	1113	1095	1132	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	85	1952	1095	1133	3.1	-8.9	3	144	7.93	2.17	-81.00	0.000	18692	0.226	0.041	2055	3384	3337	3243	3431	0	0	0	0	0	0	25.84	26.18	26.46
343	-1.35	-170.3	2055	3384	3248	3430	29.8	-8.9	48	352	0.00	2.12	0.00	0.000	1030	0.000	0.025	2064	1975	3339	3248	3430	0	0	0	0	0	0	28.83	26.34	28.83
651	-1.35	-170.3	2064	1975	3253	3430	57.6	-8.6	75	657	0.00	2.15	0.00	0.000	516	0.000	0.040	2075	564	3341	3253	3430	0	0	0	0	0	0	28.83	26.44	28.83
728	-1.35	-170.3	2075	564	3253	3430	63.6	-9.0	78	734	0.00	2.05	0.00	0.000	1030	0.000	0.016	2066	1990	3341	3253	3430	0	0	0	0	0	0	28.83	26.52	28.83
1043	-1.35	-170.3	2066	1992	3254	3431	92.8	-9.2	94	1049	0.00	2.20	0.00	0.000	516	0.000	0.039	2075	564	3342	3254	3430	0	0	0	0	0	0	28.83	26.53	28.83
1103	-1.35	-170.3	2075	564	3254	3430	96.9	-8.9	96	1111	0.00	2.03	0.00	0.000	1030	0.000	0.015	2066	1975	3343	3255	3431	0	0	0	0	0	0	28.83	26.60	28.83
1409	-1.35	-170.3	2066	1976	3254	3430	125.3	-9.0	112	1415	0.00	2.15	0.00	0.000	516	0.000	0.039	2074	568	3342	3254	3430	0	0	0	0	0	0	28.83	26.58	28.83
1465	-1.35	-170.3	2074	568	3254	3430	129.6	-8.8	114	1471	0.00	2.05	0.00	0.000	1030	0.000	0.016	2066	1982	3342	3254	3431	0	0	0	0	0	0	28.83	26.65	28.83
1780	-1.35	-170.3	2065	1984	3256	3428	158.1	-8.8	130	1781	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	1984	3342	3256	3428	0	0	0	0	0	0	28.83	28.83	28.83
2080	-1.35	-170.3	2065	1985	3256	3426	185.0	-9.2	145	2086	0.00	2.17	0.00	0.000	516	0.000	0.039	2074	567	3341	3256	3426	0	0	0	0	0	0	28.83	26.63	28.83
2119	-1.35	-170.3	1280	567	3232	3422	187.2	-9.2	146	2127	0.00	2.03	0.00	0.000	1030	0.000	0.016	2066	1978	3341	3256	3426	0	0	0	0	0	0	28.83	26.70	28.83
2426	-1.35	-170.3	2066	1979	3258	3423	216.2	-9.0	162	2427	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	1979	3339	3256	3423	0	0	0	0	0	0	28.83	28.83	28.83
2728	-1.35	-170.3	2065	1979	3256	3421	243.0	-8.9	177	2734	0.00	2.05	0.00	0.000	260	0.000	0.032	2056	3364	3338	3256	3420	0	0	0	0	0	0	28.83	26.66	28.83
2754	-1.35	-170.3	2055	3364	3256	3420	245.2	-8.8	178	2760	0.00	2.08	0.00	0.000	1030	0.000	0.025	2062	1968	3338	3256	3420	0	0	0	0	0	0	28.83	26.67	28.83
3081	-1.35	-170.3	2062	1968	3256	3417	275.0	-8.9	194	3088	0.00	2.12	0.00	0.000	516	0.000	0.044	2073	574	3336	3256	3416	0	0	0	0	0	0	28.83	26.65	28.83
3107	-1.35	-170.3	2072	574	3256	3416	277.4	-8.9	195	3114	0.00	2.03	0.00	0.000	1030	0.000	0.017	2064	1973	3336	3256	3416	0	0	0	0	0	0	28.83	26.72	28.83
3435	-1.35	-170.3	2064	1974	3254	3414	306.8	-9.0	211	3437	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	1974	3334	3254	3414	0	0	0	0	0	0	28.83	28.83	28.83
3734	-1.35	-170.3	2064	1974	3253	3412	334.0	-9.2	226	3740	0.00	2.17	0.00	0.000	516	0.000	0.044	2072	570	3332	3253	3411	0	0	0	0	0	0	28.83	26.65	28.83
3799	-1.35	-170.3	1280	569	3226	3407	339.9	-8.9	229	3805	0.00	2.05	0.00	0.000	1030	0.000	0.017	2064	1980	3331	3252	3411	0	0	0	0	0	0	28.83	26.73	28.83
3922	end dive: TARGET_DEPTH_EXCEEDED
state	3922	begin apogee
3927	-0.25	0.0	2061	2302	3252	3410	350.9	-8.8	235	4088	0.77	0.00	151.48	0.884	10246	0.126	0.000	2311	2303	2631	2582	2681	0	0	0	0	0	0	26.51	28.83	24.47
4090	end apogee: CONTROL_FINISHED_OK
state	4090	begin climb
4091	1.35	170.3	2311	2302	2580	2679	337.0	0.0	242	4258	1.02	2.22	155.10	0.859	10500	0.073	0.034	2665	3677	1935	1902	1969	0	0	0	0	0	0	25.23	24.95	24.31
4344	1.37	176.8	2664	3677	1900	1953	313.9	9.0	253	4350	0.00	2.15	0.00	0.000	1030	0.000	0.024	2675	2297	1925	1899	1952	0	0	0	0	0	0	28.83	25.58	28.83
4658	1.39	184.4	2674	2297	1899	1947	284.4	9.0	269	4675	0.00	2.20	11.12	0.816	8708	0.000	0.041	2685	899	1882	1857	1908	0	0	0	0	0	0	28.83	25.94	25.27
4749	1.39	186.3	2685	899	1853	1904	276.4	9.2	273	4755	0.00	2.08	0.00	0.000	1030	0.000	0.018	2685	2292	1878	1853	1903	0	0	0	0	0	0	28.83	26.13	28.83
5069	1.41	193.4	2685	2292	1853	1899	246.8	9.0	289	5075	0.00	0.00	4.25	0.653	8198	0.000	0.000	2685	2291	1851	1825	1877	0	0	0	0	0	0	28.83	28.83	25.25
5370	1.44	206.1	2685	2292	1825	1884	219.7	8.8	304	5394	0.00	2.17	18.77	0.783	8452	0.000	0.034	2685	3698	1790	1760	1821	0	0	0	0	0	0	28.83	26.10	25.41
5448	1.47	217.7	2685	3698	1757	1814	213.9	8.8	307	5467	0.00	2.15	10.90	0.782	9222	0.000	0.025	2695	2292	1746	1715	1777	0	0	0	0	0	0	28.83	26.19	25.32
5782	1.48	219.2	2695	2292	1714	1769	182.9	9.2	324	5788	0.00	2.17	0.00	0.000	260	0.000	0.034	2695	3698	1741	1714	1768	0	0	0	0	0	0	28.83	26.31	28.83
5822	1.50	229.7	2695	3698	1713	1768	180.6	8.9	325	5840	0.00	2.12	11.98	0.758	9222	0.000	0.025	2705	2299	1698	1665	1732	0	0	0	0	0	0	28.83	26.34	25.44
6155	1.50	230.8	2705	2299	1662	1724	149.4	9.2	342	6157	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2299	1693	1662	1724	0	0	0	0	0	0	28.83	28.83	28.83
6455	1.50	230.8	2705	2299	1662	1722	122.7	9.3	357	6461	0.00	2.17	0.00	0.000	516	0.000	0.043	2716	893	1692	1662	1722	0	0	0	0	0	0	28.83	26.44	28.83
6472	1.50	230.8	2716	893	1663	1722	122.7	9.3	357	6481	0.10	2.08	0.00	0.000	5126	0.185	0.018	2694	2301	1692	1662	1722	0	0	0	0	0	0	26.31	26.51	28.83
6780	1.52	239.1	2693	2302	1662	1721	93.6	9.0	373	6796	0.00	2.17	8.73	0.697	8452	0.000	0.037	2694	3688	1658	1620	1696	0	0	0	0	0	0	28.83	26.39	25.70
6828	1.54	244.2	2693	3688	1617	1696	89.5	9.1	375	6841	0.00	2.10	3.72	0.557	9222	0.000	0.025	2703	2300	1642	1598	1687	0	0	0	0	0	0	28.83	26.42	25.46
7149	1.55	250.1	2702	2299	1599	1687	59.8	9.0	391	7166	0.00	2.20	8.38	0.671	8452	0.000	0.035	2702	3686	1615	1566	1664	0	0	0	0	0	0	28.83	26.36	25.67
7204	1.58	261.6	2702	3686	1565	1662	55.8	8.8	393	7223	0.00	2.10	12.55	0.659	9222	0.000	0.025	2712	2299	1568	1516	1621	0	0	0	0	0	0	28.83	26.39	25.58
7532	1.59	264.5	2712	2299	1514	1614	25.1	9.2	423	7533	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	2299	1564	1514	1614	0	0	0	0	0	0	28.83	28.83	28.83
7779	end climb: SURFACE_DEPTH_REACHED
state	7779	begin surface coast
7814	end surface coast: CONTROL_FINISHED_OK
state	7814	begin surface