Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 134 * 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 134 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2300 ALTIM_PING_DEPTH 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_SURF 3 TGT_DEFAULT_LAT 47.599998 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -122.3 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_TGT 350 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 51 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 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 -100663.02 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 -100663.02

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 51 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 134 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 190313,033154,1922.800,12006.814,282,1.5,282,-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 -64.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190313,033841,1922.838,12006.729,18,0.9,19,-2.5 MHEAD_RNG_PITCHd_Wd 10.9,263539,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 4077

Post-dive calculations and measurements:

FINISH 0.0,1.025684 _10V_AH 10.2,13.990

SM_CCo 8050,0.45,0.128,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.57,2.70,0.45,0.080,0.033,0.128,85,1972,401,-10.39,1.07,549.47,0,0,0,0,0,0,26.37,26.36,25.11 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1913.80,12009.63,190313,010149 MEM 323912

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16742,469

HUMID 48.42 CAP_FILE_SIZE 359578,1851

INTERNAL_PRESSURE 9.0776 CFSIZE 260034560,235388928

TCM_TEMP 18.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 1 CURRENT 0.075,355.9,1

SC_FREEKB 3971584 GPS 190313,055853,1923.945,12006.737,296,1.6,296,-2.5

_24V_AH 24.2,23.613

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 220 91.84 nil 0 0 0.00

Roll_motor 73 43 77.30 nil 0 0 0.00

VBD_pump_during_apogee 449 1015 11043.98 nil 0 0 0.00

VBD_pump_during_surface 200 753 3663.93 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 5 1115.97

Iridium_during_xfer 240 132 770.02 nil 0 0 0.00

Transponder_ping 0 420 2.54 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 29 6.14

TT8 1813 14 267.54

LPSleep 4112 2 91.88

TT8_Active 772 14 114.00

TT8_Sampling 1469 39 587.08

TT8_CF8 272 46 129.94

TT8_Kalman 0 0 0.00

Analog_circuits 1801 15 284.82

GPS_charging 0 0 0.00

Compass 1215 7 92.84

RAFOS 0 0 0.00

Transponder 1 5 0.08

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.35 -170.3 86 1942 333 474 0.0 0.0 0 44 0.00 0.00 -24.25 0.000 16386 0.000 0.000 86 1942 1034 1012 1057 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 86 1942 1012 1058 3.2 -9.1 3 152 7.80 2.22 -86.88 0.000 18692 0.220 0.044 2052 3374 3337 3243 3431 0 0 0 0 0 0 25.83 26.17 26.45

231 -1.35 -170.3 1224 3372 3220 3428 20.2 -9.2 31 239 0.00 2.12 0.00 0.000 1030 0.000 0.027 2060 1974 3339 3248 3431 0 0 0 0 0 0 28.83 26.26 28.83

551 -1.35 -170.3 2059 1974 3251 3431 48.8 -9.0 67 557 0.00 2.12 0.00 0.000 516 0.000 0.040 2070 572 3341 3251 3431 0 0 0 0 0 0 28.83 26.41 28.83

679 -1.35 -170.3 2071 572 3253 3431 60.5 -9.1 74 685 0.00 2.05 0.00 0.000 1030 0.000 0.016 2062 2001 3342 3253 3431 0 0 0 0 0 0 28.83 26.51 28.83

1004 -1.35 -170.3 2062 2002 3253 3431 89.3 -8.7 90 1010 0.00 2.20 0.00 0.000 516 0.000 0.038 2071 567 3342 3253 3431 0 0 0 0 0 0 28.83 26.53 28.83

1043 -1.35 -170.3 2070 567 3254 3431 91.5 -8.7 91 1052 0.00 2.03 0.00 0.000 1030 0.000 0.015 2062 1984 3341 3253 3430 0 0 0 0 0 0 28.83 26.60 28.83

1350 -1.35 -170.3 2062 1984 3253 3431 120.4 -8.9 107 1351 0.00 0.00 0.00 0.000 6 0.000 0.000 2062 1984 3342 3253 3431 0 0 0 0 0 0 28.83 28.83 28.83

1651 -1.35 -170.3 2062 1985 3254 3431 147.5 -9.2 122 1657 0.00 2.17 0.00 0.000 516 0.000 0.041 2070 567 3341 3253 3430 0 0 0 0 0 0 28.83 26.60 28.83

1815 -1.35 -170.3 1248 567 3227 3426 160.9 -8.9 129 1823 0.00 2.03 0.00 0.000 1030 0.000 0.016 2062 1986 3341 3253 3429 0 0 0 0 0 0 28.83 26.68 28.83

2121 -1.35 -170.3 2061 1989 3254 3426 190.0 -9.2 145 2127 0.00 2.17 0.00 0.000 516 0.000 0.041 2070 570 3339 3254 3425 0 0 0 0 0 0 28.83 26.63 28.83

2190 -1.35 -170.3 2070 570 3255 3425 196.0 -9.0 148 2196 0.00 2.00 0.00 0.000 1030 0.000 0.016 2062 1972 3339 3254 3424 0 0 0 0 0 0 28.83 26.70 28.83

2510 -1.35 -170.3 2062 1972 3254 3421 225.3 -9.1 164 2516 0.00 2.15 0.00 0.000 516 0.000 0.041 2069 572 3337 3254 3421 0 0 0 0 0 0 28.83 26.65 28.83

2557 -1.35 -170.3 2068 573 3254 3421 229.5 -9.0 166 2562 0.00 2.00 0.00 0.000 1030 0.000 0.016 2060 1974 3337 3254 3421 0 0 0 0 0 0 28.83 26.71 28.83

2881 -1.35 -170.3 2060 1974 3254 3417 258.5 -9.0 182 2888 0.00 2.15 0.00 0.000 516 0.000 0.041 2064 573 3335 3254 3417 0 0 0 0 0 0 28.83 26.65 28.83

2941 -1.35 -170.3 1296 574 3230 3413 262.8 -9.0 184 2949 0.00 2.00 0.00 0.000 1030 0.000 0.016 2056 1971 3334 3253 3416 0 0 0 0 0 0 28.83 26.72 28.83

3248 -1.35 -170.3 2056 1971 3253 3415 291.9 -9.0 200 3254 0.00 2.15 0.00 0.000 516 0.000 0.042 2061 574 3333 3253 3414 0 0 0 0 0 0 28.83 26.65 28.83

3304 -1.35 -170.3 2061 574 3253 3414 296.2 -9.1 202 3310 0.00 2.03 0.00 0.000 1030 0.000 0.017 2053 1980 3333 3252 3414 0 0 0 0 0 0 28.83 26.72 28.83

3619 -1.35 -170.3 2053 1981 3250 3412 325.6 -9.1 218 3625 0.00 2.17 0.00 0.000 516 0.000 0.043 2058 574 3330 3250 3411 0 0 0 0 0 0 28.83 26.65 28.83

3648 -1.35 -170.3 2058 575 3250 3411 327.8 -9.2 219 3653 0.00 2.03 0.00 0.000 1030 0.000 0.017 2049 1977 3330 3250 3411 0 0 0 0 0 0 28.83 26.72 28.83

3905 end dive: TARGET_DEPTH_EXCEEDED

state 3905 begin apogee

3910 -0.25 0.0 2047 2304 3248 3408 350.8 -8.7 232 4074 0.82 0.00 153.48 1.015 10246 0.129 0.000 2312 2304 2639 2590 2689 0 0 0 0 1 0 26.50 28.83 24.22

4077 end apogee: CONTROL_FINISHED_OK

state 4077 begin climb

4079 1.35 170.3 2312 2305 2590 2689 336.8 0.0 239 4246 1.02 2.28 154.48 0.874 10500 0.070 0.035 2665 3679 1935 1903 1968 0 0 0 0 0 0 25.12 24.93 24.28

4285 1.37 179.1 2665 3680 1902 1955 317.6 8.9 248 4299 0.00 2.17 2.92 0.434 9222 0.000 0.024 2675 2300 1910 1883 1937 0 0 0 0 0 0 28.83 25.37 24.50

4597 1.39 184.0 2675 2300 1883 1939 288.6 9.1 264 4609 0.00 2.17 5.12 0.730 8452 0.000 0.034 2675 3688 1889 1862 1917 0 0 0 0 0 0 28.83 26.01 25.18

4698 1.40 188.6 2675 3688 1862 1918 280.7 9.1 268 4713 0.00 2.12 8.95 0.802 9222 0.000 0.024 2685 2296 1868 1841 1895 0 0 0 0 0 0 28.83 26.15 25.23

5034 1.42 198.7 2685 2296 1839 1888 249.7 8.9 285 5050 0.00 0.00 11.15 0.799 8710 0.000 0.000 2685 2296 1824 1796 1852 0 0 0 0 0 0 28.83 28.83 25.39

5358 1.44 203.2 2685 2296 1795 1846 220.7 9.1 301 5363 0.00 0.00 2.97 0.485 8198 0.000 0.000 2685 2296 1810 1783 1837 0 0 0 0 0 0 28.83 28.83 25.26

5659 1.44 203.2 2685 2296 1783 1837 193.5 9.3 316 5665 0.00 2.17 0.00 0.000 516 0.000 0.042 2696 887 1810 1783 1837 0 0 0 0 0 0 28.83 26.41 28.83

5757 1.47 217.2 2696 888 1783 1837 185.7 8.8 320 5780 0.00 2.08 16.77 0.758 9222 0.000 0.018 2696 2300 1749 1717 1782 0 0 0 0 0 0 28.83 26.51 25.50

6095 1.48 223.0 2696 2300 1716 1773 154.0 9.0 337 6107 0.00 2.17 4.30 0.645 8452 0.000 0.035 2696 3689 1729 1698 1761 0 0 0 0 0 0 28.83 26.34 25.36

6192 1.50 230.0 2696 3689 1698 1761 146.0 9.0 341 6206 0.00 2.10 9.38 0.735 9222 0.000 0.025 2706 2301 1702 1668 1736 0 0 0 0 0 0 28.83 26.40 25.52

6503 1.53 240.8 2706 2301 1664 1727 116.8 8.9 357 6520 0.00 2.20 11.15 0.708 8708 0.000 0.041 2716 893 1653 1611 1696 0 0 0 0 0 0 28.83 26.22 25.56

6561 1.55 248.5 2716 893 1606 1694 112.6 9.0 359 6575 0.00 2.10 7.57 0.701 9222 0.000 0.018 2717 2311 1624 1577 1672 0 0 0 0 0 0 28.83 26.33 25.49

6896 1.60 269.7 2716 2311 1576 1664 81.6 8.5 376 6924 0.00 2.12 21.95 0.665 8452 0.000 0.034 2717 3693 1534 1482 1586 0 0 0 0 0 0 28.83 26.08 25.45

6959 1.64 284.7 2716 3693 1481 1583 77.1 8.7 378 6982 0.00 2.15 15.35 0.662 9222 0.000 0.026 2726 2294 1473 1423 1523 0 0 0 0 0 0 28.83 26.15 25.33

7291 1.66 293.6 2726 2294 1423 1514 46.2 8.9 397 7306 0.00 2.28 8.50 0.638 8708 0.000 0.044 2738 890 1439 1393 1485 0 0 0 0 0 0 28.83 26.16 25.52

7408 1.70 307.9 2737 890 1393 1480 35.8 8.7 407 7433 0.00 2.10 15.50 0.617 9222 0.000 0.018 2738 2305 1377 1339 1416 0 0 0 0 0 0 28.83 26.32 25.46

7749 1.71 312.1 1728 2303 1316 1403 5.2 9.1 459 7757 0.00 2.10 0.00 0.000 260 0.000 0.036 2737 3691 1373 1339 1408 0 0 0 0 0 0 28.83 26.34 28.83

7774 end climb: SURFACE_DEPTH_REACHED

state 7774 begin surface coast

7809 end surface coast: CONTROL_FINISHED_OK

state 7809 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	134	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2300	ALTIM_PING_DEPTH	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_SURF	3	TGT_DEFAULT_LAT	47.599998	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-122.3	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_TGT	350	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	51	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	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	-100663.02	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	190313,033154,1922.800,12006.814,282,1.5,282,-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	-64.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190313,033841,1922.838,12006.729,18,0.9,19,-2.5	MHEAD_RNG_PITCHd_Wd	10.9,263539,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	4077

FINISH	0.0,1.025684	_10V_AH	10.2,13.990
SM_CCo	8050,0.45,0.128,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.57,2.70,0.45,0.080,0.033,0.128,85,1972,401,-10.39,1.07,549.47,0,0,0,0,0,0,26.37,26.36,25.11	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1913.80,12009.63,190313,010149	MEM	323912
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16742,469
HUMID	48.42	CAP_FILE_SIZE	359578,1851
INTERNAL_PRESSURE	9.0776	CFSIZE	260034560,235388928
TCM_TEMP	18.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	1	CURRENT	0.075,355.9,1
SC_FREEKB	3971584	GPS	190313,055853,1923.945,12006.737,296,1.6,296,-2.5
_24V_AH	24.2,23.613

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	220	91.84	nil	0	0	0.00
Roll_motor	73	43	77.30	nil	0	0	0.00
VBD_pump_during_apogee	449	1015	11043.98	nil	0	0	0.00
VBD_pump_during_surface	200	753	3663.93	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	5	1115.97
Iridium_during_xfer	240	132	770.02	nil	0	0	0.00
Transponder_ping	0	420	2.54	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	29	6.14
TT8	1813	14	267.54
LPSleep	4112	2	91.88
TT8_Active	772	14	114.00
TT8_Sampling	1469	39	587.08
TT8_CF8	272	46	129.94
TT8_Kalman	0	0	0.00
Analog_circuits	1801	15	284.82
GPS_charging	0	0	0.00
Compass	1215	7	92.84
RAFOS	0	0	0.00
Transponder	1	5	0.08

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.35	-170.3	86	1942	333	474	0.0	0.0	0	44	0.00	0.00	-24.25	0.000	16386	0.000	0.000	86	1942	1034	1012	1057	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	86	1942	1012	1058	3.2	-9.1	3	152	7.80	2.22	-86.88	0.000	18692	0.220	0.044	2052	3374	3337	3243	3431	0	0	0	0	0	0	25.83	26.17	26.45
231	-1.35	-170.3	1224	3372	3220	3428	20.2	-9.2	31	239	0.00	2.12	0.00	0.000	1030	0.000	0.027	2060	1974	3339	3248	3431	0	0	0	0	0	0	28.83	26.26	28.83
551	-1.35	-170.3	2059	1974	3251	3431	48.8	-9.0	67	557	0.00	2.12	0.00	0.000	516	0.000	0.040	2070	572	3341	3251	3431	0	0	0	0	0	0	28.83	26.41	28.83
679	-1.35	-170.3	2071	572	3253	3431	60.5	-9.1	74	685	0.00	2.05	0.00	0.000	1030	0.000	0.016	2062	2001	3342	3253	3431	0	0	0	0	0	0	28.83	26.51	28.83
1004	-1.35	-170.3	2062	2002	3253	3431	89.3	-8.7	90	1010	0.00	2.20	0.00	0.000	516	0.000	0.038	2071	567	3342	3253	3431	0	0	0	0	0	0	28.83	26.53	28.83
1043	-1.35	-170.3	2070	567	3254	3431	91.5	-8.7	91	1052	0.00	2.03	0.00	0.000	1030	0.000	0.015	2062	1984	3341	3253	3430	0	0	0	0	0	0	28.83	26.60	28.83
1350	-1.35	-170.3	2062	1984	3253	3431	120.4	-8.9	107	1351	0.00	0.00	0.00	0.000	6	0.000	0.000	2062	1984	3342	3253	3431	0	0	0	0	0	0	28.83	28.83	28.83
1651	-1.35	-170.3	2062	1985	3254	3431	147.5	-9.2	122	1657	0.00	2.17	0.00	0.000	516	0.000	0.041	2070	567	3341	3253	3430	0	0	0	0	0	0	28.83	26.60	28.83
1815	-1.35	-170.3	1248	567	3227	3426	160.9	-8.9	129	1823	0.00	2.03	0.00	0.000	1030	0.000	0.016	2062	1986	3341	3253	3429	0	0	0	0	0	0	28.83	26.68	28.83
2121	-1.35	-170.3	2061	1989	3254	3426	190.0	-9.2	145	2127	0.00	2.17	0.00	0.000	516	0.000	0.041	2070	570	3339	3254	3425	0	0	0	0	0	0	28.83	26.63	28.83
2190	-1.35	-170.3	2070	570	3255	3425	196.0	-9.0	148	2196	0.00	2.00	0.00	0.000	1030	0.000	0.016	2062	1972	3339	3254	3424	0	0	0	0	0	0	28.83	26.70	28.83
2510	-1.35	-170.3	2062	1972	3254	3421	225.3	-9.1	164	2516	0.00	2.15	0.00	0.000	516	0.000	0.041	2069	572	3337	3254	3421	0	0	0	0	0	0	28.83	26.65	28.83
2557	-1.35	-170.3	2068	573	3254	3421	229.5	-9.0	166	2562	0.00	2.00	0.00	0.000	1030	0.000	0.016	2060	1974	3337	3254	3421	0	0	0	0	0	0	28.83	26.71	28.83
2881	-1.35	-170.3	2060	1974	3254	3417	258.5	-9.0	182	2888	0.00	2.15	0.00	0.000	516	0.000	0.041	2064	573	3335	3254	3417	0	0	0	0	0	0	28.83	26.65	28.83
2941	-1.35	-170.3	1296	574	3230	3413	262.8	-9.0	184	2949	0.00	2.00	0.00	0.000	1030	0.000	0.016	2056	1971	3334	3253	3416	0	0	0	0	0	0	28.83	26.72	28.83
3248	-1.35	-170.3	2056	1971	3253	3415	291.9	-9.0	200	3254	0.00	2.15	0.00	0.000	516	0.000	0.042	2061	574	3333	3253	3414	0	0	0	0	0	0	28.83	26.65	28.83
3304	-1.35	-170.3	2061	574	3253	3414	296.2	-9.1	202	3310	0.00	2.03	0.00	0.000	1030	0.000	0.017	2053	1980	3333	3252	3414	0	0	0	0	0	0	28.83	26.72	28.83
3619	-1.35	-170.3	2053	1981	3250	3412	325.6	-9.1	218	3625	0.00	2.17	0.00	0.000	516	0.000	0.043	2058	574	3330	3250	3411	0	0	0	0	0	0	28.83	26.65	28.83
3648	-1.35	-170.3	2058	575	3250	3411	327.8	-9.2	219	3653	0.00	2.03	0.00	0.000	1030	0.000	0.017	2049	1977	3330	3250	3411	0	0	0	0	0	0	28.83	26.72	28.83
3905	end dive: TARGET_DEPTH_EXCEEDED
state	3905	begin apogee
3910	-0.25	0.0	2047	2304	3248	3408	350.8	-8.7	232	4074	0.82	0.00	153.48	1.015	10246	0.129	0.000	2312	2304	2639	2590	2689	0	0	0	0	1	0	26.50	28.83	24.22
4077	end apogee: CONTROL_FINISHED_OK
state	4077	begin climb
4079	1.35	170.3	2312	2305	2590	2689	336.8	0.0	239	4246	1.02	2.28	154.48	0.874	10500	0.070	0.035	2665	3679	1935	1903	1968	0	0	0	0	0	0	25.12	24.93	24.28
4285	1.37	179.1	2665	3680	1902	1955	317.6	8.9	248	4299	0.00	2.17	2.92	0.434	9222	0.000	0.024	2675	2300	1910	1883	1937	0	0	0	0	0	0	28.83	25.37	24.50
4597	1.39	184.0	2675	2300	1883	1939	288.6	9.1	264	4609	0.00	2.17	5.12	0.730	8452	0.000	0.034	2675	3688	1889	1862	1917	0	0	0	0	0	0	28.83	26.01	25.18
4698	1.40	188.6	2675	3688	1862	1918	280.7	9.1	268	4713	0.00	2.12	8.95	0.802	9222	0.000	0.024	2685	2296	1868	1841	1895	0	0	0	0	0	0	28.83	26.15	25.23
5034	1.42	198.7	2685	2296	1839	1888	249.7	8.9	285	5050	0.00	0.00	11.15	0.799	8710	0.000	0.000	2685	2296	1824	1796	1852	0	0	0	0	0	0	28.83	28.83	25.39
5358	1.44	203.2	2685	2296	1795	1846	220.7	9.1	301	5363	0.00	0.00	2.97	0.485	8198	0.000	0.000	2685	2296	1810	1783	1837	0	0	0	0	0	0	28.83	28.83	25.26
5659	1.44	203.2	2685	2296	1783	1837	193.5	9.3	316	5665	0.00	2.17	0.00	0.000	516	0.000	0.042	2696	887	1810	1783	1837	0	0	0	0	0	0	28.83	26.41	28.83
5757	1.47	217.2	2696	888	1783	1837	185.7	8.8	320	5780	0.00	2.08	16.77	0.758	9222	0.000	0.018	2696	2300	1749	1717	1782	0	0	0	0	0	0	28.83	26.51	25.50
6095	1.48	223.0	2696	2300	1716	1773	154.0	9.0	337	6107	0.00	2.17	4.30	0.645	8452	0.000	0.035	2696	3689	1729	1698	1761	0	0	0	0	0	0	28.83	26.34	25.36
6192	1.50	230.0	2696	3689	1698	1761	146.0	9.0	341	6206	0.00	2.10	9.38	0.735	9222	0.000	0.025	2706	2301	1702	1668	1736	0	0	0	0	0	0	28.83	26.40	25.52
6503	1.53	240.8	2706	2301	1664	1727	116.8	8.9	357	6520	0.00	2.20	11.15	0.708	8708	0.000	0.041	2716	893	1653	1611	1696	0	0	0	0	0	0	28.83	26.22	25.56
6561	1.55	248.5	2716	893	1606	1694	112.6	9.0	359	6575	0.00	2.10	7.57	0.701	9222	0.000	0.018	2717	2311	1624	1577	1672	0	0	0	0	0	0	28.83	26.33	25.49
6896	1.60	269.7	2716	2311	1576	1664	81.6	8.5	376	6924	0.00	2.12	21.95	0.665	8452	0.000	0.034	2717	3693	1534	1482	1586	0	0	0	0	0	0	28.83	26.08	25.45
6959	1.64	284.7	2716	3693	1481	1583	77.1	8.7	378	6982	0.00	2.15	15.35	0.662	9222	0.000	0.026	2726	2294	1473	1423	1523	0	0	0	0	0	0	28.83	26.15	25.33
7291	1.66	293.6	2726	2294	1423	1514	46.2	8.9	397	7306	0.00	2.28	8.50	0.638	8708	0.000	0.044	2738	890	1439	1393	1485	0	0	0	0	0	0	28.83	26.16	25.52
7408	1.70	307.9	2737	890	1393	1480	35.8	8.7	407	7433	0.00	2.10	15.50	0.617	9222	0.000	0.018	2738	2305	1377	1339	1416	0	0	0	0	0	0	28.83	26.32	25.46
7749	1.71	312.1	1728	2303	1316	1403	5.2	9.1	459	7757	0.00	2.10	0.00	0.000	260	0.000	0.036	2737	3691	1373	1339	1408	0	0	0	0	0	0	28.83	26.34	28.83
7774	end climb: SURFACE_DEPTH_REACHED
state	7774	begin surface coast
7809	end surface coast: CONTROL_FINISHED_OK
state	7809	begin surface