Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 141 * 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 141 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 49 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 54 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 -100671.84 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 2380 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 -100671.84

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 2380 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 49 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 54 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 141 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 190313,203837,1931.990,12006.897,225,0.8,226,-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 -66.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190313,204531,1932.018,12006.957,18,0.9,19,-2.5 MHEAD_RNG_PITCHd_Wd 335.7,246574,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 4137

Post-dive calculations and measurements:

FINISH 0.0,1.026023 _10V_AH 10.1,14.421

SM_CCo 8039,3.75,0.465,0,0,400,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.47,0.50,3.75,0.076,0.042,0.465,82,1959,400,-10.47,1.05,549.47,0,0,0,0,0,0,26.28,26.31,24.55 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1922.94,12005.68,190313,181816 MEM 323916

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 16842,466

HUMID 48.42 CAP_FILE_SIZE 358486,1858

INTERNAL_PRESSURE 9.03854 CFSIZE 260034560,234651648

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

XPDR_PINGS 1 CURRENT 0.074, 64.8,1

SC_FREEKB 3968896 GPS 190313,230528,1932.775,12006.838,289,0.7,289,-2.5

_24V_AH 24.2,24.734

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 218 92.00 nil 0 0 0.00

Roll_motor 64 44 69.42 nil 0 0 0.00

VBD_pump_during_apogee 432 1005 10516.87 nil 0 0 0.00

VBD_pump_during_surface 220 767 4099.93 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 7797 5 1112.31

Iridium_during_xfer 246 127 761.25 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 6.21

TT8 1823 14 266.32

LPSleep 4113 2 90.98

TT8_Active 755 14 110.34

TT8_Sampling 1472 39 582.75

TT8_CF8 276 46 130.34

TT8_Kalman 0 0 0.00

Analog_circuits 1781 15 278.82

GPS_charging 0 0 0.00

Compass 1222 7 92.46

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 84 1952 330 478 0.0 0.0 0 43 0.00 0.00 -23.30 0.000 16386 0.000 0.000 84 1952 1012 994 1030 0 0 0 0 0 0 28.83 28.83 28.83

45 -1.35 -170.3 84 1952 994 1032 3.1 -8.8 3 151 7.88 2.17 -87.57 0.000 18692 0.219 0.044 2071 3380 3337 3245 3430 0 0 0 0 0 0 25.82 26.17 26.45

249 -1.35 -170.3 1232 3378 3220 3427 21.9 -9.0 35 257 0.00 2.12 0.00 0.000 1030 0.000 0.025 2080 1974 3339 3248 3430 0 0 0 0 0 0 28.83 26.27 28.83

577 -1.35 -170.3 2079 1973 3251 3429 51.7 -8.8 69 578 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 1972 3340 3251 3430 0 0 0 0 0 0 28.83 28.83 28.83

878 -1.35 -170.3 2079 1973 3253 3430 79.3 -8.5 84 884 0.00 2.12 0.00 0.000 260 0.000 0.028 2071 3384 3341 3253 3430 0 0 0 0 0 0 28.83 26.51 28.83

945 -1.35 -170.3 2071 3383 3253 3430 85.4 -8.9 87 951 0.00 2.10 0.00 0.000 1030 0.000 0.024 2078 1972 3341 3253 3430 0 0 0 0 0 0 28.83 26.53 28.83

1270 -1.35 -170.3 2077 1971 3255 3430 114.7 -8.8 103 1276 0.00 2.12 0.00 0.000 516 0.000 0.041 2081 570 3342 3255 3430 0 0 0 0 0 0 28.83 26.56 28.83

1367 -1.35 -170.3 2081 571 3255 3430 122.6 -8.9 107 1373 0.00 2.05 0.00 0.000 1030 0.000 0.015 2073 2005 3342 3255 3430 0 0 0 0 0 0 28.83 26.65 28.83

1681 -1.35 -170.3 2073 2005 3254 3429 152.0 -9.2 123 1683 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2005 3341 3254 3429 0 0 0 0 0 0 28.83 28.83 28.83

1982 -1.35 -170.3 2073 2005 3254 3426 178.9 -9.1 138 1988 0.00 2.20 0.00 0.000 516 0.000 0.040 2078 574 3340 3254 3426 0 0 0 0 0 0 28.83 26.62 28.83

2062 -1.35 -170.3 1280 573 3230 3423 185.0 -9.2 141 2070 0.00 2.00 0.00 0.000 1030 0.000 0.016 2069 1970 3340 3254 3426 0 0 0 0 0 0 28.83 26.70 28.83

2369 -1.35 -170.3 2069 1972 3254 3422 213.9 -9.0 157 2375 0.00 2.05 0.00 0.000 260 0.000 0.031 2059 3356 3338 3254 3422 0 0 0 0 0 0 28.83 26.65 28.83

2424 -1.35 -170.3 2059 3356 3254 3421 218.0 -8.9 159 2432 0.10 2.08 0.00 0.000 3078 0.167 0.027 2084 1965 3338 3254 3422 0 0 0 0 0 0 26.50 26.66 28.83

2741 -1.35 -170.3 2083 1965 3255 3419 247.2 -8.9 175 2747 0.00 2.12 0.00 0.000 516 0.000 0.044 2094 573 3336 3254 3418 0 0 0 0 0 0 28.83 26.63 28.83

2810 -1.35 -170.3 2094 573 3254 3418 253.3 -8.9 178 2815 0.00 2.03 0.00 0.000 1030 0.000 0.017 2085 1972 3336 3254 3418 0 0 0 0 0 0 28.83 26.71 28.83

3134 -1.35 -170.3 2085 1973 3253 3415 282.3 -9.1 194 3136 0.00 0.00 0.00 0.000 6 0.000 0.000 2085 1973 3334 3253 3415 0 0 0 0 0 0 28.83 28.83 28.83

3436 -1.35 -170.3 2085 1974 3252 3412 309.6 -9.5 209 3442 0.00 2.17 0.00 0.000 516 0.000 0.044 2093 574 3332 3253 3412 0 0 0 0 0 0 28.83 26.65 28.83

3465 -1.35 -170.3 2093 574 3252 3412 312.0 -9.3 210 3472 0.00 2.03 0.00 0.000 1030 0.000 0.017 2085 1977 3331 3252 3411 0 0 0 0 0 0 28.83 26.72 28.83

3785 -1.35 -170.3 2085 1978 3249 3410 341.5 -9.0 226 3791 0.00 2.08 0.00 0.000 260 0.000 0.034 2075 3370 3329 3249 3409 0 0 0 0 0 0 28.83 26.66 28.83

3814 -1.35 -170.3 2074 3370 3249 3409 343.7 -9.0 227 3820 0.00 2.10 0.00 0.000 1030 0.000 0.029 2074 1975 3329 3249 3409 0 0 0 0 0 0 28.83 26.67 28.83

3892 end dive: TARGET_DEPTH_EXCEEDED

state 3892 begin apogee

3897 -0.25 0.0 2073 2308 3248 3408 351.2 -8.9 231 4060 0.77 0.00 151.65 1.006 10246 0.124 0.000 2324 2308 2640 2590 2691 0 0 0 0 1 0 26.50 28.83 24.24

4063 end apogee: CONTROL_FINISHED_OK

state 4063 begin climb

4065 1.35 170.3 2324 2308 2590 2689 337.0 0.0 238 4236 1.02 2.22 160.32 0.842 10500 0.068 0.034 2680 3684 1935 1903 1968 0 0 0 0 0 0 25.12 24.94 24.30

4477 1.36 173.3 2679 3684 1900 1947 298.6 9.2 257 4483 0.00 2.12 0.00 0.000 1030 0.000 0.024 2690 2300 1923 1900 1947 0 0 0 0 0 0 28.83 25.96 28.83

4802 1.37 176.2 2690 2299 1899 1944 269.2 9.2 273 4808 0.00 2.15 0.00 0.000 260 0.000 0.034 2690 3690 1922 1900 1944 0 0 0 0 0 0 28.83 26.27 28.83

5017 1.39 184.2 2689 3690 1899 1942 250.3 9.0 283 5028 0.00 2.10 5.15 0.701 9222 0.000 0.024 2700 2299 1889 1864 1914 0 0 0 0 0 0 28.83 26.39 25.47

5337 1.41 191.5 2700 2299 1865 1922 220.6 9.0 299 5360 0.00 2.22 13.02 0.757 8708 0.000 0.041 2710 906 1850 1822 1878 0 0 0 0 0 0 28.83 26.21 25.53

5394 1.43 199.3 2710 905 1821 1877 216.4 9.0 301 5407 0.00 2.05 4.80 0.676 9222 0.000 0.018 2710 2291 1826 1796 1856 0 0 0 0 0 0 28.83 26.31 25.28

5704 1.43 199.3 2710 2291 1796 1856 187.5 9.3 317 5705 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 2291 1826 1796 1856 0 0 0 0 0 0 28.83 28.83 28.83

6006 1.44 205.2 2710 2291 1796 1856 160.5 9.0 332 6021 0.00 2.15 8.35 0.717 8452 0.000 0.036 2710 3690 1800 1770 1831 0 0 0 0 0 0 28.83 26.35 25.63

6093 1.45 208.6 2710 3690 1770 1828 152.4 9.1 336 6105 0.12 2.10 3.47 0.544 13318 0.190 0.025 2691 2301 1787 1758 1817 0 0 0 0 0 0 26.20 26.41 25.39

6419 1.47 215.8 2690 2301 1758 1817 122.8 9.0 352 6431 0.00 0.00 9.57 0.700 8198 0.000 0.000 2691 2301 1759 1729 1789 0 0 0 0 0 0 28.83 28.83 25.64

6720 1.50 229.3 2691 2301 1726 1781 96.1 8.8 367 6743 0.00 2.20 14.32 0.672 8708 0.000 0.042 2701 894 1698 1666 1731 0 0 0 0 0 0 28.83 26.22 25.59

6780 1.54 243.4 2701 894 1666 1731 91.9 8.7 369 6799 0.00 2.10 14.23 0.666 9222 0.000 0.018 2701 2304 1645 1601 1690 0 0 0 0 0 0 28.83 26.33 25.48

7114 1.56 252.2 2701 2304 1593 1680 60.6 8.9 386 7130 0.00 2.28 8.43 0.653 8708 0.000 0.041 2711 906 1606 1558 1655 0 0 0 0 0 0 28.83 26.22 25.57

7168 1.59 265.0 2711 907 1558 1653 56.5 8.8 388 7187 0.00 2.08 13.68 0.637 9222 0.000 0.019 2711 2299 1556 1505 1607 0 0 0 0 0 0 28.83 26.32 25.48

7497 1.61 273.8 2711 2299 1501 1598 26.1 8.9 417 7511 0.00 2.22 8.95 0.620 8452 0.000 0.037 2711 3698 1519 1468 1570 0 0 0 0 0 0 28.83 26.22 25.58

7569 1.65 289.0 1680 3697 1436 1561 19.7 8.7 427 7592 0.00 2.12 16.05 0.599 9222 0.000 0.026 2720 2304 1457 1407 1507 0 0 0 0 0 0 28.83 26.29 25.48

7756 end climb: SURFACE_DEPTH_REACHED

state 7756 begin surface coast

7789 end surface coast: CONTROL_FINISHED_OK

state 7790 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	141	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	49	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	54	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	-100671.84	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	2380	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	190313,203837,1931.990,12006.897,225,0.8,226,-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	-66.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190313,204531,1932.018,12006.957,18,0.9,19,-2.5	MHEAD_RNG_PITCHd_Wd	335.7,246574,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	4137

FINISH	0.0,1.026023	_10V_AH	10.1,14.421
SM_CCo	8039,3.75,0.465,0,0,400,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.47,0.50,3.75,0.076,0.042,0.465,82,1959,400,-10.47,1.05,549.47,0,0,0,0,0,0,26.28,26.31,24.55	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1922.94,12005.68,190313,181816	MEM	323916
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	16842,466
HUMID	48.42	CAP_FILE_SIZE	358486,1858
INTERNAL_PRESSURE	9.03854	CFSIZE	260034560,234651648
TCM_TEMP	18.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	1	CURRENT	0.074, 64.8,1
SC_FREEKB	3968896	GPS	190313,230528,1932.775,12006.838,289,0.7,289,-2.5
_24V_AH	24.2,24.734

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	218	92.00	nil	0	0	0.00
Roll_motor	64	44	69.42	nil	0	0	0.00
VBD_pump_during_apogee	432	1005	10516.87	nil	0	0	0.00
VBD_pump_during_surface	220	767	4099.93	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	7797	5	1112.31
Iridium_during_xfer	246	127	761.25	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	6.21
TT8	1823	14	266.32
LPSleep	4113	2	90.98
TT8_Active	755	14	110.34
TT8_Sampling	1472	39	582.75
TT8_CF8	276	46	130.34
TT8_Kalman	0	0	0.00
Analog_circuits	1781	15	278.82
GPS_charging	0	0	0.00
Compass	1222	7	92.46
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	84	1952	330	478	0.0	0.0	0	43	0.00	0.00	-23.30	0.000	16386	0.000	0.000	84	1952	1012	994	1030	0	0	0	0	0	0	28.83	28.83	28.83
45	-1.35	-170.3	84	1952	994	1032	3.1	-8.8	3	151	7.88	2.17	-87.57	0.000	18692	0.219	0.044	2071	3380	3337	3245	3430	0	0	0	0	0	0	25.82	26.17	26.45
249	-1.35	-170.3	1232	3378	3220	3427	21.9	-9.0	35	257	0.00	2.12	0.00	0.000	1030	0.000	0.025	2080	1974	3339	3248	3430	0	0	0	0	0	0	28.83	26.27	28.83
577	-1.35	-170.3	2079	1973	3251	3429	51.7	-8.8	69	578	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	1972	3340	3251	3430	0	0	0	0	0	0	28.83	28.83	28.83
878	-1.35	-170.3	2079	1973	3253	3430	79.3	-8.5	84	884	0.00	2.12	0.00	0.000	260	0.000	0.028	2071	3384	3341	3253	3430	0	0	0	0	0	0	28.83	26.51	28.83
945	-1.35	-170.3	2071	3383	3253	3430	85.4	-8.9	87	951	0.00	2.10	0.00	0.000	1030	0.000	0.024	2078	1972	3341	3253	3430	0	0	0	0	0	0	28.83	26.53	28.83
1270	-1.35	-170.3	2077	1971	3255	3430	114.7	-8.8	103	1276	0.00	2.12	0.00	0.000	516	0.000	0.041	2081	570	3342	3255	3430	0	0	0	0	0	0	28.83	26.56	28.83
1367	-1.35	-170.3	2081	571	3255	3430	122.6	-8.9	107	1373	0.00	2.05	0.00	0.000	1030	0.000	0.015	2073	2005	3342	3255	3430	0	0	0	0	0	0	28.83	26.65	28.83
1681	-1.35	-170.3	2073	2005	3254	3429	152.0	-9.2	123	1683	0.00	0.00	0.00	0.000	6	0.000	0.000	2073	2005	3341	3254	3429	0	0	0	0	0	0	28.83	28.83	28.83
1982	-1.35	-170.3	2073	2005	3254	3426	178.9	-9.1	138	1988	0.00	2.20	0.00	0.000	516	0.000	0.040	2078	574	3340	3254	3426	0	0	0	0	0	0	28.83	26.62	28.83
2062	-1.35	-170.3	1280	573	3230	3423	185.0	-9.2	141	2070	0.00	2.00	0.00	0.000	1030	0.000	0.016	2069	1970	3340	3254	3426	0	0	0	0	0	0	28.83	26.70	28.83
2369	-1.35	-170.3	2069	1972	3254	3422	213.9	-9.0	157	2375	0.00	2.05	0.00	0.000	260	0.000	0.031	2059	3356	3338	3254	3422	0	0	0	0	0	0	28.83	26.65	28.83
2424	-1.35	-170.3	2059	3356	3254	3421	218.0	-8.9	159	2432	0.10	2.08	0.00	0.000	3078	0.167	0.027	2084	1965	3338	3254	3422	0	0	0	0	0	0	26.50	26.66	28.83
2741	-1.35	-170.3	2083	1965	3255	3419	247.2	-8.9	175	2747	0.00	2.12	0.00	0.000	516	0.000	0.044	2094	573	3336	3254	3418	0	0	0	0	0	0	28.83	26.63	28.83
2810	-1.35	-170.3	2094	573	3254	3418	253.3	-8.9	178	2815	0.00	2.03	0.00	0.000	1030	0.000	0.017	2085	1972	3336	3254	3418	0	0	0	0	0	0	28.83	26.71	28.83
3134	-1.35	-170.3	2085	1973	3253	3415	282.3	-9.1	194	3136	0.00	0.00	0.00	0.000	6	0.000	0.000	2085	1973	3334	3253	3415	0	0	0	0	0	0	28.83	28.83	28.83
3436	-1.35	-170.3	2085	1974	3252	3412	309.6	-9.5	209	3442	0.00	2.17	0.00	0.000	516	0.000	0.044	2093	574	3332	3253	3412	0	0	0	0	0	0	28.83	26.65	28.83
3465	-1.35	-170.3	2093	574	3252	3412	312.0	-9.3	210	3472	0.00	2.03	0.00	0.000	1030	0.000	0.017	2085	1977	3331	3252	3411	0	0	0	0	0	0	28.83	26.72	28.83
3785	-1.35	-170.3	2085	1978	3249	3410	341.5	-9.0	226	3791	0.00	2.08	0.00	0.000	260	0.000	0.034	2075	3370	3329	3249	3409	0	0	0	0	0	0	28.83	26.66	28.83
3814	-1.35	-170.3	2074	3370	3249	3409	343.7	-9.0	227	3820	0.00	2.10	0.00	0.000	1030	0.000	0.029	2074	1975	3329	3249	3409	0	0	0	0	0	0	28.83	26.67	28.83
3892	end dive: TARGET_DEPTH_EXCEEDED
state	3892	begin apogee
3897	-0.25	0.0	2073	2308	3248	3408	351.2	-8.9	231	4060	0.77	0.00	151.65	1.006	10246	0.124	0.000	2324	2308	2640	2590	2691	0	0	0	0	1	0	26.50	28.83	24.24
4063	end apogee: CONTROL_FINISHED_OK
state	4063	begin climb
4065	1.35	170.3	2324	2308	2590	2689	337.0	0.0	238	4236	1.02	2.22	160.32	0.842	10500	0.068	0.034	2680	3684	1935	1903	1968	0	0	0	0	0	0	25.12	24.94	24.30
4477	1.36	173.3	2679	3684	1900	1947	298.6	9.2	257	4483	0.00	2.12	0.00	0.000	1030	0.000	0.024	2690	2300	1923	1900	1947	0	0	0	0	0	0	28.83	25.96	28.83
4802	1.37	176.2	2690	2299	1899	1944	269.2	9.2	273	4808	0.00	2.15	0.00	0.000	260	0.000	0.034	2690	3690	1922	1900	1944	0	0	0	0	0	0	28.83	26.27	28.83
5017	1.39	184.2	2689	3690	1899	1942	250.3	9.0	283	5028	0.00	2.10	5.15	0.701	9222	0.000	0.024	2700	2299	1889	1864	1914	0	0	0	0	0	0	28.83	26.39	25.47
5337	1.41	191.5	2700	2299	1865	1922	220.6	9.0	299	5360	0.00	2.22	13.02	0.757	8708	0.000	0.041	2710	906	1850	1822	1878	0	0	0	0	0	0	28.83	26.21	25.53
5394	1.43	199.3	2710	905	1821	1877	216.4	9.0	301	5407	0.00	2.05	4.80	0.676	9222	0.000	0.018	2710	2291	1826	1796	1856	0	0	0	0	0	0	28.83	26.31	25.28
5704	1.43	199.3	2710	2291	1796	1856	187.5	9.3	317	5705	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	2291	1826	1796	1856	0	0	0	0	0	0	28.83	28.83	28.83
6006	1.44	205.2	2710	2291	1796	1856	160.5	9.0	332	6021	0.00	2.15	8.35	0.717	8452	0.000	0.036	2710	3690	1800	1770	1831	0	0	0	0	0	0	28.83	26.35	25.63
6093	1.45	208.6	2710	3690	1770	1828	152.4	9.1	336	6105	0.12	2.10	3.47	0.544	13318	0.190	0.025	2691	2301	1787	1758	1817	0	0	0	0	0	0	26.20	26.41	25.39
6419	1.47	215.8	2690	2301	1758	1817	122.8	9.0	352	6431	0.00	0.00	9.57	0.700	8198	0.000	0.000	2691	2301	1759	1729	1789	0	0	0	0	0	0	28.83	28.83	25.64
6720	1.50	229.3	2691	2301	1726	1781	96.1	8.8	367	6743	0.00	2.20	14.32	0.672	8708	0.000	0.042	2701	894	1698	1666	1731	0	0	0	0	0	0	28.83	26.22	25.59
6780	1.54	243.4	2701	894	1666	1731	91.9	8.7	369	6799	0.00	2.10	14.23	0.666	9222	0.000	0.018	2701	2304	1645	1601	1690	0	0	0	0	0	0	28.83	26.33	25.48
7114	1.56	252.2	2701	2304	1593	1680	60.6	8.9	386	7130	0.00	2.28	8.43	0.653	8708	0.000	0.041	2711	906	1606	1558	1655	0	0	0	0	0	0	28.83	26.22	25.57
7168	1.59	265.0	2711	907	1558	1653	56.5	8.8	388	7187	0.00	2.08	13.68	0.637	9222	0.000	0.019	2711	2299	1556	1505	1607	0	0	0	0	0	0	28.83	26.32	25.48
7497	1.61	273.8	2711	2299	1501	1598	26.1	8.9	417	7511	0.00	2.22	8.95	0.620	8452	0.000	0.037	2711	3698	1519	1468	1570	0	0	0	0	0	0	28.83	26.22	25.58
7569	1.65	289.0	1680	3697	1436	1561	19.7	8.7	427	7592	0.00	2.12	16.05	0.599	9222	0.000	0.026	2720	2304	1457	1407	1507	0	0	0	0	0	0	28.83	26.29	25.48
7756	end climb: SURFACE_DEPTH_REACHED
state	7756	begin surface coast
7789	end surface coast: CONTROL_FINISHED_OK
state	7790	begin surface