Glider dive log

OKMC Mar13 * SG169 * Dive index * Mission links * Dive 26 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 169 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 8 ESCAPE_HEADING 0 C_ROLL_DIVE 2400 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 26 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2750 ALTIM_PING_DEPTH 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_SURF 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 7

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -10 ALTIM_SENSITIVITY 2

D_ABORT 1020 SM_CC 400 R_STBD_OVSHOOT -10 XPDR_VALID 4

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 250 XPDR_INHIBIT 90

D_BOOST 130 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 4 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1.1

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 435 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2764 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 5 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 390 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0024999999 DEVICE5 -1

T_MISSION 410 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT 5 T_GPS 15 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 -20885.854 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -6 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE 150

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 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 146 MINV_24V 22 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3945 MINV_10V 9.5 SIM_PITCH 0

MAX_BUOY 170 C_PITCH 2430 FG_AHR_10V 0 SEABIRD_T_G 0.0042608725

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00061783189

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.1692709e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -154.03682 SEABIRD_T_J 2.1724361e-06

RHO 1.0275 PITCH_GAIN 20 PRESSURE_SLOPE 0.0001078585 SEABIRD_C_G -10.034778

MASS 52063 PITCH_TIMEOUT 16 AD7714Ch0Gain 1 SEABIRD_C_H 1.1503564

NAV_MODE 2 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0019294197

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0002327933

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.010078 ROLL_MIN 220 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 9.8500004e-06 ROLL_MAX 3795 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_OFFGRID 1000 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_GAIN 0 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_AD_RATE 165 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 20 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3945 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 7 FG_AHR_10V 0 PITCH_MIN 146 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_TIMEOUT 16 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 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001078585 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_YINT -154.03682 T_BOOST 4

CALL_TRIES 5 HD_B 0.010078 PROTOCOL 9 T_DIVE 390

CALL_WAIT 60 HD_C 9.8500004e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -20885.854

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS2_DEVICE 150 ID 169 RELAUNCH 1 T_MISSION 410

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -1.1 ROLL_ADJ_DBAND 0 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN 225

C_PITCH 2430 LOGGERDEVICE1 53 ROLL_AD_RATE 250 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2750 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 20

C_VBD 2764 LOGGERDEVICE4 -1 ROLL_MAX 3795 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -6

DEEPGLIDER 0 MASS 52063 ROLL_MIN 220 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 170 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT -10 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT -10 VBD_DBAND 2

DEVICE3 -1 MISSION 8 SC_PROFILE 3.0 VBD_MAX 3960

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 435

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -10.034778 VBD_PUMP_AD_RATE_APOGEE 2

DIVE 26 N_DIVES 0 SEABIRD_C_H 1.1503564 VBD_PUMP_AD_RATE_SURFACE 3

D_ABORT 1020 N_FILEKB 4 SEABIRD_C_I -0.0019294197 VBD_TIMEOUT 720

D_BOOST 130 N_GPS 20 SEABIRD_C_J 0.0002327933 W_ADJ_DBAND 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_G 0.0042608725 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00061783189 XPDR_INHIBIT 90

D_FLARE 3 PHONE_DEVICE 49 SEABIRD_T_I 2.1692709e-05 XPDR_VALID 4

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_T_J 2.1724361e-06

Pre-dive calculations and measurements:

GPS1 200313,210105,1837.204,12442.384,12,1.1,28,-2.2 TGT_NAME S3

_CALLS 1 TGT_LATLONG 1750.000,12435.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200313,211007,1837.243,12442.338,15,1.4,15,-2.2 MHEAD_RNG_PITCHd_Wd 179.0,88446,-14.7,-8.462,-18.04,2986

SPEED_LIMITS 0.147,0.260 D_GRID 5341

Post-dive calculations and measurements:

FINISH 0.5,1.022467 _10V_AH 10.0,2.377

SM_CCo 8822,127.47,0.490,1,0,1131,400.08 FG_AHR_24Vo 0.000

SM_GC 0.50,6.70,2.00,127.47,0.032,0.027,0.490,134,2425,1131,-7.10,-0.40,400.08,0,0,0,0,1,0,26.74,26.77,25.25 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1832.77,12445.74,200313,181826 MEM 329024

TT8_MAMPS 0.021721,0.021721 DATA_FILE_SIZE 16789,427

HUMID 41.06 CAP_FILE_SIZE 244675,0

INTERNAL_PRESSURE 9.41798 CFSIZE 260034560,252669952

TCM_TEMP 24.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.095,248.7,1

SC_FREEKB 4008352 GPS 200313,234106,1835.971,12442.473,40,0.9,40,-2.2

_24V_AH 24.1,3.921

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 232 93.04 nil 0 0 0.00

Roll_motor 61 75 111.47 nil 0 0 0.00

VBD_pump_during_apogee 290 1047 7325.78 nil 0 0 0.00

VBD_pump_during_surface 127 490 1506.47 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 8848 7 1631.69

Iridium_during_xfer 329 118 942.53 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 32 5.46

TT8 2033 14 288.92

LPSleep 4926 2 107.90

TT8_Active 520 14 74.00

TT8_Sampling 1637 40 662.05

TT8_CF8 368 47 176.68

TT8_Kalman 0 0 0.00

Analog_circuits 1520 12 182.41

GPS_charging 0 0 0.00

Compass 1225 8 100.95

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -1.15 -165.5 124 2423 1277 992 0.0 0.0 0 105 0.00 0.00 -81.10 0.000 16386 0.000 0.000 125 2424 3291 3178 3405 0 0 0 0 0 0 28.83 28.83 28.83

109 -1.15 -165.5 124 2424 3179 3405 4.9 -12.0 11 126 7.55 2.60 -2.45 0.000 18948 0.233 0.051 2057 945 3441 3320 3563 0 0 0 0 0 0 25.96 26.16 26.40

295 -1.15 -165.5 2056 945 3323 3563 91.4 -40.6 26 300 0.00 2.47 0.00 0.000 1030 0.000 0.041 2045 2413 3443 3323 3563 0 0 0 0 0 0 28.83 26.32 28.83

621 -1.15 -165.5 2045 2411 3325 3563 232.6 -37.5 42 627 0.00 2.42 0.00 0.000 516 0.000 0.034 2045 941 3444 3325 3563 0 0 0 0 0 0 28.83 26.48 28.83

824 -1.15 -165.5 2045 940 3327 3563 286.3 -25.6 51 832 0.00 2.45 0.00 0.000 1030 0.000 0.038 2034 2416 3445 3327 3563 0 0 0 0 0 0 28.83 26.54 28.83

1131 -1.15 -165.5 2034 2416 3332 3561 377.8 -28.1 67 1132 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2416 3446 3332 3561 0 0 0 0 0 0 28.83 28.83 28.83

1430 -1.15 -165.5 2033 2415 3331 3561 457.1 -25.7 82 1437 0.00 2.42 0.00 0.000 516 0.000 0.036 2035 938 3446 3331 3561 0 0 0 0 0 0 28.83 26.64 28.83

1663 -1.15 -165.5 2035 938 3331 3561 508.8 -21.9 93 1671 0.10 2.45 0.00 0.000 3078 0.192 0.040 2055 2412 3445 3331 3560 0 0 0 0 0 0 26.56 26.65 28.83

1992 -1.15 -165.5 2055 2412 3331 3554 581.1 -22.5 109 1998 0.00 2.40 0.00 0.000 516 0.000 0.036 2056 944 3442 3331 3554 0 0 0 0 0 0 28.83 26.69 28.83

2059 -1.15 -165.5 2055 944 3331 3554 596.2 -22.2 112 2065 0.00 2.42 0.00 0.000 1030 0.000 0.036 2046 2420 3442 3331 3554 0 0 0 0 0 0 28.83 26.68 28.83

2384 -1.15 -165.5 2046 2418 3331 3548 667.0 -21.7 123 2386 0.00 0.00 0.00 0.000 6 0.000 0.000 2046 2418 3439 3331 3548 0 0 0 0 0 0 28.83 28.83 28.83

2684 -1.15 -165.5 2046 2418 3331 3542 730.9 -21.0 133 2690 0.00 2.40 0.00 0.000 516 0.000 0.036 2047 949 3436 3331 3541 0 0 0 0 0 0 28.83 26.71 28.83

2787 -1.15 -165.5 2046 950 3330 3539 751.0 -20.9 136 2793 0.00 2.40 0.00 0.000 1030 0.000 0.034 2036 2426 3435 3331 3539 0 0 0 0 0 0 28.83 26.72 28.83

3117 -1.15 -165.5 2036 2423 3330 3533 821.9 -20.8 147 3119 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2424 3432 3331 3533 0 0 0 0 0 0 28.83 28.83 28.83

3417 -1.15 -165.5 2036 2423 3330 3526 884.6 -20.9 157 3423 0.00 2.42 0.00 0.000 516 0.000 0.037 2042 945 3428 3330 3526 0 0 0 0 0 0 28.83 26.72 28.83

3563 -1.15 -165.5 2042 945 3330 3524 909.8 -19.6 161 3569 0.00 2.40 0.00 0.000 1030 0.000 0.036 2031 2414 3426 3330 3523 0 0 0 0 0 0 28.83 26.73 28.83

3881 -1.15 -165.5 2030 2413 3327 3521 978.9 -20.9 172 3883 0.10 0.00 0.00 0.000 2054 0.184 0.000 2056 2413 3424 3327 3521 0 0 0 0 0 0 26.65 28.83 28.83

3936 end dive: TARGET_DEPTH_EXCEEDED

state 3936 begin apogee

3943 -0.25 0.0 2052 2780 3326 3520 990.0 -19.9 174 4089 0.88 0.10 139.88 1.047 10246 0.138 0.076 2340 2706 2764 2786 2742 0 0 0 0 0 0 26.62 24.89 24.26

4091 end apogee: CONTROL_FINISHED_OK

state 4091 begin climb

4094 1.15 165.5 2340 2706 2780 2729 995.8 0.0 178 4257 1.27 1.75 150.38 1.010 10500 0.057 0.037 2797 3827 2079 2189 1969 0 0 0 0 0 0 25.03 24.77 24.10

4477 1.15 165.5 2797 3827 2169 1963 897.3 33.1 190 4482 0.00 1.58 0.00 0.000 1030 0.000 0.020 2805 2659 2065 2169 1962 0 0 0 0 0 0 28.83 25.98 28.83

4802 1.15 165.5 2805 2657 2165 1959 793.5 30.1 201 4808 0.00 1.75 0.00 0.000 260 0.000 0.040 2797 3846 2062 2165 1959 0 0 0 0 0 0 28.83 26.23 28.83

4913 1.15 165.5 2797 3845 2164 1959 762.4 31.6 204 4919 0.00 1.58 0.00 0.000 1030 0.000 0.018 2806 2649 2061 2164 1958 0 0 0 0 0 0 28.83 26.37 28.83

5233 1.15 165.5 2803 2646 2167 1957 664.2 29.0 215 5239 0.00 1.73 0.00 0.000 260 0.000 0.039 2798 3837 2059 2161 1957 0 0 0 0 0 0 28.83 26.42 28.83

5318 1.15 165.5 2797 3837 2160 1956 644.2 29.2 217 5324 0.00 1.55 0.00 0.000 1030 0.000 0.019 2806 2646 2058 2160 1956 0 0 0 0 0 0 28.83 26.53 28.83

5633 1.15 165.5 2806 2643 2158 1956 550.4 26.8 231 5634 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2643 2057 2158 1956 0 0 0 0 0 0 28.83 28.83 28.83

5934 1.15 165.5 2806 2643 2157 1955 468.2 27.2 246 5939 0.00 1.75 0.00 0.000 260 0.000 0.040 2798 3838 2055 2156 1955 0 0 0 0 0 0 28.83 26.56 28.83

6080 1.15 165.5 2797 3838 2155 1954 431.3 27.6 252 6088 0.00 1.55 0.00 0.000 1030 0.000 0.019 2807 2640 2055 2155 1955 0 0 0 0 0 0 28.83 26.66 28.83

6386 1.15 165.5 2807 2640 2154 1955 349.7 25.7 268 6387 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2640 2053 2154 1953 0 0 0 0 0 0 28.83 28.83 28.83

6686 1.15 165.5 2807 2640 2153 1952 286.0 20.8 283 6692 0.00 1.77 0.00 0.000 260 0.000 0.039 2798 3834 2052 2153 1952 0 0 0 0 0 0 28.83 26.65 28.83

6927 1.15 165.5 2798 3834 2152 1952 232.0 24.2 294 6933 0.00 1.52 0.00 0.000 1030 0.000 0.018 2807 2656 2051 2151 1952 0 0 0 0 0 0 28.83 26.74 28.83

7242 1.15 165.5 2807 2652 2151 1952 178.6 13.4 310 7247 0.00 1.73 0.00 0.000 260 0.000 0.040 2799 3853 2051 2151 1952 0 0 0 0 0 0 28.83 26.68 28.83

7481 1.15 165.5 2798 3853 2151 1952 147.6 13.8 321 7487 0.00 1.55 0.00 0.000 1030 0.000 0.019 2808 2634 2051 2151 1952 0 0 0 0 0 0 28.83 26.79 28.83

7797 1.15 165.5 2807 2635 2151 1952 114.0 9.4 337 7803 0.00 1.75 0.00 0.000 260 0.000 0.037 2807 3851 2052 2152 1952 0 0 0 0 0 0 28.83 26.72 28.83

7921 1.15 165.5 2807 3851 2151 1952 102.1 10.9 342 7930 0.00 1.52 0.00 0.000 1030 0.000 0.017 2816 2618 2051 2151 1952 0 0 0 0 0 0 28.83 26.82 28.83

8228 1.15 165.5 2816 2618 2152 1952 66.8 11.1 358 8235 0.00 1.75 0.00 0.000 260 0.000 0.037 2813 3844 2052 2153 1952 0 0 0 0 0 0 28.83 26.74 28.83

8361 1.15 165.5 2813 3844 2151 1953 49.9 13.1 364 8369 0.00 1.52 0.00 0.000 1030 0.000 0.018 2822 2614 2052 2151 1953 0 0 0 0 0 0 28.83 26.84 28.83

8673 1.15 165.5 1760 2615 2106 1946 14.6 10.3 404 8681 0.00 2.38 0.00 0.000 516 0.000 0.022 2834 1289 2052 2151 1954 0 0 0 0 0 0 28.83 26.77 28.83

8778 end climb: SURFACE_DEPTH_REACHED

state 8779 begin surface coast

8803 end surface coast: CONTROL_FINISHED_OK

state 8803 begin surface

ID	169	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	8	ESCAPE_HEADING	0	C_ROLL_DIVE	2400	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	26	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2750	ALTIM_PING_DEPTH	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_SURF	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	7
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-10	ALTIM_SENSITIVITY	2
D_ABORT	1020	SM_CC	400	R_STBD_OVSHOOT	-10	XPDR_VALID	4
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	250	XPDR_INHIBIT	90
D_BOOST	130	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	4	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1.1
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	435	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2764	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	5	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	390	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0024999999	DEVICE5	-1
T_MISSION	410	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	5	T_GPS	15	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	-20885.854	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-6	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	150
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	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	146	MINV_24V	22	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3945	MINV_10V	9.5	SIM_PITCH	0
MAX_BUOY	170	C_PITCH	2430	FG_AHR_10V	0	SEABIRD_T_G	0.0042608725
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00061783189
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.1692709e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-154.03682	SEABIRD_T_J	2.1724361e-06
RHO	1.0275	PITCH_GAIN	20	PRESSURE_SLOPE	0.0001078585	SEABIRD_C_G	-10.034778
MASS	52063	PITCH_TIMEOUT	16	AD7714Ch0Gain	1	SEABIRD_C_H	1.1503564
NAV_MODE	2	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0019294197
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0002327933
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.010078	ROLL_MIN	220	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	9.8500004e-06	ROLL_MAX	3795	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	200313,210105,1837.204,12442.384,12,1.1,28,-2.2	TGT_NAME	S3
_CALLS	1	TGT_LATLONG	1750.000,12435.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200313,211007,1837.243,12442.338,15,1.4,15,-2.2	MHEAD_RNG_PITCHd_Wd	179.0,88446,-14.7,-8.462,-18.04,2986
SPEED_LIMITS	0.147,0.260	D_GRID	5341

FINISH	0.5,1.022467	_10V_AH	10.0,2.377
SM_CCo	8822,127.47,0.490,1,0,1131,400.08	FG_AHR_24Vo	0.000
SM_GC	0.50,6.70,2.00,127.47,0.032,0.027,0.490,134,2425,1131,-7.10,-0.40,400.08,0,0,0,0,1,0,26.74,26.77,25.25	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1832.77,12445.74,200313,181826	MEM	329024
TT8_MAMPS	0.021721,0.021721	DATA_FILE_SIZE	16789,427
HUMID	41.06	CAP_FILE_SIZE	244675,0
INTERNAL_PRESSURE	9.41798	CFSIZE	260034560,252669952
TCM_TEMP	24.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.095,248.7,1
SC_FREEKB	4008352	GPS	200313,234106,1835.971,12442.473,40,0.9,40,-2.2
_24V_AH	24.1,3.921

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	232	93.04	nil	0	0	0.00
Roll_motor	61	75	111.47	nil	0	0	0.00
VBD_pump_during_apogee	290	1047	7325.78	nil	0	0	0.00
VBD_pump_during_surface	127	490	1506.47	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	8848	7	1631.69
Iridium_during_xfer	329	118	942.53	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	32	5.46
TT8	2033	14	288.92
LPSleep	4926	2	107.90
TT8_Active	520	14	74.00
TT8_Sampling	1637	40	662.05
TT8_CF8	368	47	176.68
TT8_Kalman	0	0	0.00
Analog_circuits	1520	12	182.41
GPS_charging	0	0	0.00
Compass	1225	8	100.95
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-1.15	-165.5	124	2423	1277	992	0.0	0.0	0	105	0.00	0.00	-81.10	0.000	16386	0.000	0.000	125	2424	3291	3178	3405	0	0	0	0	0	0	28.83	28.83	28.83
109	-1.15	-165.5	124	2424	3179	3405	4.9	-12.0	11	126	7.55	2.60	-2.45	0.000	18948	0.233	0.051	2057	945	3441	3320	3563	0	0	0	0	0	0	25.96	26.16	26.40
295	-1.15	-165.5	2056	945	3323	3563	91.4	-40.6	26	300	0.00	2.47	0.00	0.000	1030	0.000	0.041	2045	2413	3443	3323	3563	0	0	0	0	0	0	28.83	26.32	28.83
621	-1.15	-165.5	2045	2411	3325	3563	232.6	-37.5	42	627	0.00	2.42	0.00	0.000	516	0.000	0.034	2045	941	3444	3325	3563	0	0	0	0	0	0	28.83	26.48	28.83
824	-1.15	-165.5	2045	940	3327	3563	286.3	-25.6	51	832	0.00	2.45	0.00	0.000	1030	0.000	0.038	2034	2416	3445	3327	3563	0	0	0	0	0	0	28.83	26.54	28.83
1131	-1.15	-165.5	2034	2416	3332	3561	377.8	-28.1	67	1132	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2416	3446	3332	3561	0	0	0	0	0	0	28.83	28.83	28.83
1430	-1.15	-165.5	2033	2415	3331	3561	457.1	-25.7	82	1437	0.00	2.42	0.00	0.000	516	0.000	0.036	2035	938	3446	3331	3561	0	0	0	0	0	0	28.83	26.64	28.83
1663	-1.15	-165.5	2035	938	3331	3561	508.8	-21.9	93	1671	0.10	2.45	0.00	0.000	3078	0.192	0.040	2055	2412	3445	3331	3560	0	0	0	0	0	0	26.56	26.65	28.83
1992	-1.15	-165.5	2055	2412	3331	3554	581.1	-22.5	109	1998	0.00	2.40	0.00	0.000	516	0.000	0.036	2056	944	3442	3331	3554	0	0	0	0	0	0	28.83	26.69	28.83
2059	-1.15	-165.5	2055	944	3331	3554	596.2	-22.2	112	2065	0.00	2.42	0.00	0.000	1030	0.000	0.036	2046	2420	3442	3331	3554	0	0	0	0	0	0	28.83	26.68	28.83
2384	-1.15	-165.5	2046	2418	3331	3548	667.0	-21.7	123	2386	0.00	0.00	0.00	0.000	6	0.000	0.000	2046	2418	3439	3331	3548	0	0	0	0	0	0	28.83	28.83	28.83
2684	-1.15	-165.5	2046	2418	3331	3542	730.9	-21.0	133	2690	0.00	2.40	0.00	0.000	516	0.000	0.036	2047	949	3436	3331	3541	0	0	0	0	0	0	28.83	26.71	28.83
2787	-1.15	-165.5	2046	950	3330	3539	751.0	-20.9	136	2793	0.00	2.40	0.00	0.000	1030	0.000	0.034	2036	2426	3435	3331	3539	0	0	0	0	0	0	28.83	26.72	28.83
3117	-1.15	-165.5	2036	2423	3330	3533	821.9	-20.8	147	3119	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2424	3432	3331	3533	0	0	0	0	0	0	28.83	28.83	28.83
3417	-1.15	-165.5	2036	2423	3330	3526	884.6	-20.9	157	3423	0.00	2.42	0.00	0.000	516	0.000	0.037	2042	945	3428	3330	3526	0	0	0	0	0	0	28.83	26.72	28.83
3563	-1.15	-165.5	2042	945	3330	3524	909.8	-19.6	161	3569	0.00	2.40	0.00	0.000	1030	0.000	0.036	2031	2414	3426	3330	3523	0	0	0	0	0	0	28.83	26.73	28.83
3881	-1.15	-165.5	2030	2413	3327	3521	978.9	-20.9	172	3883	0.10	0.00	0.00	0.000	2054	0.184	0.000	2056	2413	3424	3327	3521	0	0	0	0	0	0	26.65	28.83	28.83
3936	end dive: TARGET_DEPTH_EXCEEDED
state	3936	begin apogee
3943	-0.25	0.0	2052	2780	3326	3520	990.0	-19.9	174	4089	0.88	0.10	139.88	1.047	10246	0.138	0.076	2340	2706	2764	2786	2742	0	0	0	0	0	0	26.62	24.89	24.26
4091	end apogee: CONTROL_FINISHED_OK
state	4091	begin climb
4094	1.15	165.5	2340	2706	2780	2729	995.8	0.0	178	4257	1.27	1.75	150.38	1.010	10500	0.057	0.037	2797	3827	2079	2189	1969	0	0	0	0	0	0	25.03	24.77	24.10
4477	1.15	165.5	2797	3827	2169	1963	897.3	33.1	190	4482	0.00	1.58	0.00	0.000	1030	0.000	0.020	2805	2659	2065	2169	1962	0	0	0	0	0	0	28.83	25.98	28.83
4802	1.15	165.5	2805	2657	2165	1959	793.5	30.1	201	4808	0.00	1.75	0.00	0.000	260	0.000	0.040	2797	3846	2062	2165	1959	0	0	0	0	0	0	28.83	26.23	28.83
4913	1.15	165.5	2797	3845	2164	1959	762.4	31.6	204	4919	0.00	1.58	0.00	0.000	1030	0.000	0.018	2806	2649	2061	2164	1958	0	0	0	0	0	0	28.83	26.37	28.83
5233	1.15	165.5	2803	2646	2167	1957	664.2	29.0	215	5239	0.00	1.73	0.00	0.000	260	0.000	0.039	2798	3837	2059	2161	1957	0	0	0	0	0	0	28.83	26.42	28.83
5318	1.15	165.5	2797	3837	2160	1956	644.2	29.2	217	5324	0.00	1.55	0.00	0.000	1030	0.000	0.019	2806	2646	2058	2160	1956	0	0	0	0	0	0	28.83	26.53	28.83
5633	1.15	165.5	2806	2643	2158	1956	550.4	26.8	231	5634	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2643	2057	2158	1956	0	0	0	0	0	0	28.83	28.83	28.83
5934	1.15	165.5	2806	2643	2157	1955	468.2	27.2	246	5939	0.00	1.75	0.00	0.000	260	0.000	0.040	2798	3838	2055	2156	1955	0	0	0	0	0	0	28.83	26.56	28.83
6080	1.15	165.5	2797	3838	2155	1954	431.3	27.6	252	6088	0.00	1.55	0.00	0.000	1030	0.000	0.019	2807	2640	2055	2155	1955	0	0	0	0	0	0	28.83	26.66	28.83
6386	1.15	165.5	2807	2640	2154	1955	349.7	25.7	268	6387	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2640	2053	2154	1953	0	0	0	0	0	0	28.83	28.83	28.83
6686	1.15	165.5	2807	2640	2153	1952	286.0	20.8	283	6692	0.00	1.77	0.00	0.000	260	0.000	0.039	2798	3834	2052	2153	1952	0	0	0	0	0	0	28.83	26.65	28.83
6927	1.15	165.5	2798	3834	2152	1952	232.0	24.2	294	6933	0.00	1.52	0.00	0.000	1030	0.000	0.018	2807	2656	2051	2151	1952	0	0	0	0	0	0	28.83	26.74	28.83
7242	1.15	165.5	2807	2652	2151	1952	178.6	13.4	310	7247	0.00	1.73	0.00	0.000	260	0.000	0.040	2799	3853	2051	2151	1952	0	0	0	0	0	0	28.83	26.68	28.83
7481	1.15	165.5	2798	3853	2151	1952	147.6	13.8	321	7487	0.00	1.55	0.00	0.000	1030	0.000	0.019	2808	2634	2051	2151	1952	0	0	0	0	0	0	28.83	26.79	28.83
7797	1.15	165.5	2807	2635	2151	1952	114.0	9.4	337	7803	0.00	1.75	0.00	0.000	260	0.000	0.037	2807	3851	2052	2152	1952	0	0	0	0	0	0	28.83	26.72	28.83
7921	1.15	165.5	2807	3851	2151	1952	102.1	10.9	342	7930	0.00	1.52	0.00	0.000	1030	0.000	0.017	2816	2618	2051	2151	1952	0	0	0	0	0	0	28.83	26.82	28.83
8228	1.15	165.5	2816	2618	2152	1952	66.8	11.1	358	8235	0.00	1.75	0.00	0.000	260	0.000	0.037	2813	3844	2052	2153	1952	0	0	0	0	0	0	28.83	26.74	28.83
8361	1.15	165.5	2813	3844	2151	1953	49.9	13.1	364	8369	0.00	1.52	0.00	0.000	1030	0.000	0.018	2822	2614	2052	2151	1953	0	0	0	0	0	0	28.83	26.84	28.83
8673	1.15	165.5	1760	2615	2106	1946	14.6	10.3	404	8681	0.00	2.38	0.00	0.000	516	0.000	0.022	2834	1289	2052	2151	1954	0	0	0	0	0	0	28.83	26.77	28.83
8778	end climb: SURFACE_DEPTH_REACHED
state	8779	begin surface coast
8803	end surface coast: CONTROL_FINISHED_OK
state	8803	begin surface