Glider dive log

OKMC Nov11 * SG165 * Dive index * Mission links * Dive 265 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 165 HD_B 0.010078 PITCH_ADJ_GAIN 0.0070000002 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_C 9.8500004e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 50

DIVE 265 HEADING -1 ROLL_MIN 200 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3692 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 11 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 11 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1955 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1990 ALTIM_FREQUENCY 13

D_ABORT 1020 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 3 SM_CC 450 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 42 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 44 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.85000002

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 3 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_MIN 485 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE2 53

T_DIVE 300 UPLOAD_DIVES_MAX -1 C_VBD 2786 DEVICE3 35

T_MISSION 340 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -7 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -271743.84 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 1001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 200 PITCH_MIN 180 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3922 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2950 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043567759

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -57.316994 SEABIRD_T_H 0.00062679156

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000116182 SEABIRD_T_I 2.4204959e-05

MASS 51872 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.6176024e-06

NAV_MODE 0 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.134539

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1435308

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0010041125

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 250 SEABIRD_C_J 0.00016055659

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 110 D_OFFGRID 1001 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 250 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 50 D_SURF 11 PITCH_ADJ_GAIN 0.0070000002 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 3922 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 180 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.000116182 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -57.316994 T_DIVE 300

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8500004e-06 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -271743.84

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 340

COMPASS_DEVICE 33 ID 165 RELAUNCH 1 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.85000002 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2950 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1990 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 1955 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2786 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3692 USE_BATHY -7

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51872 ROLL_MIN 200 VBD_BLEED_AD_RATE 8

DEVICE2 53 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 9.5 R_PORT_OVSHOOT 42 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 44 VBD_MAX 3959

DEVICE5 -1 MISSION 5 SEABIRD_C_G -10.134539 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1435308 VBD_MIN 485

DIVE 265 NAV_MODE 0 SEABIRD_C_I -0.0010041125 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 NOCOMM_ACTION 163 SEABIRD_C_J 0.00016055659 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 3 N_DIVES 0 SEABIRD_T_G 0.0043567759 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.00062679156 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.4204959e-05 XPDR_INHIBIT 90

D_FLARE 11 N_NOCOMM 3 SEABIRD_T_J 2.6176024e-06 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 120112,214124,2203.298,12028.695,23,1.0,41,-2.7 TGT_NAME W1

_CALLS 1 TGT_LATLONG 2207.170,12035.130

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.084,-0.266

_SM_DEPTHo 7.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120112,214714,2203.365,12028.749,13,1.1,13,-2.7 MHEAD_RNG_PITCHd_Wd 59.9,13019,-17.0,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 605

Post-dive calculations and measurements:

FINISH 6.2,1.012766 _24V_AH 23.9,60.145

SM_CCo 9636,0.00,0.000,0,0,842,476.86 _10V_AH 10.0,48.573

SM_GC 7.00,7.88,0.05,0.00,0.034,0.146,0.000,165,1949,842,-8.61,1.33,476.86,0,0,0,0,0,0 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2155.06,12029.11,120112,191918 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023968,0.023968 MEM 325104

HUMID 45.58 DATA_FILE_SIZE 66989,1151

INTERNAL_PRESSURE 9.38548 CAP_FILE_SIZE 126050,0

TCM_TEMP 23.10 CFSIZE 260165632,176099328

XPDR_PINGS 20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 355.5,0.0 GPS 130112,002925,2204.241,12029.998,35,1.2,35,-2.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 240 122.86 SBE_CT 773 24 443.94

Roll_motor 95 146 334.29 AA3830 935 33 737.95

VBD_pump_during_apogee 544 988 12864.10 WL_BB2F 861 105 2162.86

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.21 nil 0 0 0.00

Iridium_during_connect 40 160 153.04 nil 0 0 0.00

Iridium_during_xfer 159 223 847.83 nil 0 0 0.00

Transponder_ping 5 420 52.70 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.07

TT8 2573 19 509.61

LPSleep 3870 2 84.75

TT8_Active 605 19 119.89

TT8_Sampling 2642 39 1051.71

TT8_CF8 286 45 131.38

TT8_Kalman 0 0 0.00

Analog_circuits 1738 12 208.61

GPS_charging 0 0 0.00

Compass 2397 15 359.68

RAFOS 0 0 0.00

Transponder 3 30 0.93

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.81 -194.6 0.0 0.0 0 110 0.00 0.00 -92.22 0.000 2 0.000 0.000 154 1967 3256 0 0 0 0 0 0 28.83 28.83 28.83

114 -0.81 -194.6 11.1 -10.3 14 137 10.25 2.20 -5.60 0.000 4 0.240 0.054 2694 536 3582 0 0 0 0 0 0 25.23 26.10 26.44

187 -0.74 -194.6 38.5 -24.7 26 195 0.00 2.17 0.00 0.000 6 0.000 0.032 2686 1953 3583 0 0 0 0 0 0 28.83 26.18 28.83

519 -0.67 -194.6 118.9 -22.5 87 526 0.12 2.17 0.00 0.000 4 0.184 0.044 2727 543 3583 0 0 0 0 0 0 26.09 26.22 28.83

547 -0.62 -194.6 124.6 -22.0 91 554 0.12 2.15 0.00 0.000 6 0.174 0.033 2751 1962 3583 0 0 0 0 0 0 26.00 26.29 28.83

876 -0.62 -194.6 175.4 -12.7 152 884 0.00 2.17 0.00 0.000 4 0.000 0.047 2750 3350 3584 0 0 0 0 0 0 28.83 26.24 28.83

964 -0.64 -194.6 185.1 -9.6 167 971 0.00 2.10 0.00 0.000 6 0.000 0.030 2751 1946 3584 0 0 0 0 0 0 28.83 26.36 28.83

1286 -0.67 -194.6 219.4 -9.0 209 1295 0.00 2.17 0.00 0.000 4 0.000 0.047 2751 3350 3585 0 0 0 0 0 0 28.83 26.25 28.83

1404 -0.70 -194.6 231.3 -10.7 220 1414 0.00 2.08 0.00 0.000 6 0.000 0.030 2751 1952 3585 0 0 0 0 0 0 28.83 26.37 28.83

1715 -0.73 -194.6 259.5 -7.1 251 1724 0.12 2.10 0.00 0.000 4 0.086 0.046 2672 566 3585 0 0 0 0 0 0 26.52 26.25 28.83

1835 -0.70 -194.6 275.7 -14.8 262 1843 0.15 2.15 0.00 0.000 6 0.132 0.038 2721 1951 3585 0 0 0 0 0 0 25.98 26.31 28.83

2141 -0.71 -194.6 312.4 -10.9 293 2150 0.00 2.15 0.00 0.000 4 0.000 0.048 2713 3361 3585 0 0 0 0 0 0 28.83 26.24 28.83

2167 -0.73 -194.6 314.7 -10.7 295 2173 0.00 2.12 0.00 0.000 6 0.000 0.031 2713 1947 3585 0 0 0 0 0 0 28.83 26.36 28.83

2473 -0.73 -194.6 347.5 -9.7 326 2474 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1946 3585 0 0 0 0 0 0 28.83 28.83 28.83

2773 -0.73 -194.6 373.0 -8.1 356 2782 0.00 2.22 0.00 0.000 4 0.000 0.049 2712 3371 3584 0 0 0 0 0 0 28.83 26.22 28.83

2846 -0.75 -194.6 379.0 -8.5 363 2850 0.00 2.12 0.00 0.000 6 0.000 0.032 2712 1958 3583 0 0 0 0 0 0 28.83 26.35 28.83

3158 -0.75 -194.6 410.6 -11.3 394 3167 0.00 2.15 0.00 0.000 4 0.000 0.050 2712 558 3582 0 0 0 0 0 0 28.83 26.22 28.83

3201 -0.75 -194.6 415.7 -12.5 398 3209 0.00 2.12 0.00 0.000 6 0.000 0.038 2712 1951 3582 0 0 0 0 0 0 28.83 26.29 28.83

3509 -0.75 -194.6 451.4 -11.4 429 3518 0.00 2.22 0.00 0.000 4 0.000 0.050 2711 3372 3581 0 0 0 0 0 0 28.83 26.20 28.83

3592 -0.77 -194.6 460.0 -10.2 437 3601 0.00 2.12 0.00 0.000 6 0.000 0.032 2711 1960 3580 0 0 0 0 0 0 28.83 26.35 28.83

3901 -0.78 -194.6 492.3 -9.2 468 3910 0.00 2.20 0.00 0.000 4 0.000 0.049 2712 3362 3578 0 0 0 0 0 0 28.83 26.20 28.83

3964 -0.80 -194.6 497.4 -8.2 474 3973 0.00 2.12 0.00 0.000 6 0.000 0.032 2712 1949 3578 0 0 0 0 0 0 28.83 26.34 28.83

4273 -0.81 -194.6 523.8 -8.7 505 4277 0.00 2.17 0.00 0.000 4 0.000 0.050 2711 551 3577 0 0 0 0 0 0 28.83 26.20 28.83

4300 -0.82 -194.6 525.9 -9.1 507 4306 0.00 2.17 0.00 0.000 6 0.000 0.037 2711 1968 3576 0 0 0 0 0 0 28.83 26.28 28.83

4605 -0.83 -194.6 551.5 -6.8 538 4614 0.00 2.12 0.00 0.000 4 0.000 0.050 2712 3351 3575 0 0 0 0 0 0 28.83 26.18 28.83

4842 -0.90 -194.6 557.8 -0.0 561 4850 0.15 2.12 0.00 0.000 6 0.077 0.035 2631 1955 3574 0 0 0 0 0 0 26.29 26.29 28.83

4856 end dive: NO_VERTICAL_VELOCITY

state 4856 begin apogee

4862 -0.17 0.0 557.8 0.0 563 5022 0.73 0.00 152.10 0.988 6 0.080 0.000 2897 1955 2785 0 0 0 0 0 0 26.07 28.83 24.02

5023 end apogee: CONTROL_FINISHED_OK

state 5023 begin climb

5025 0.81 194.6 557.3 0.0 579 5194 0.85 2.30 157.32 0.960 4 0.059 0.053 3231 590 1991 0 0 0 0 0 0 25.31 25.03 23.94

5423 0.73 194.6 495.0 18.8 619 5433 0.17 2.17 0.00 0.000 6 0.155 0.037 3184 1993 1983 0 0 0 0 0 0 25.79 26.06 28.83

5733 0.69 194.6 450.4 13.8 650 5742 0.00 2.17 0.00 0.000 4 0.000 0.047 3184 3393 1981 0 0 0 0 0 0 28.83 26.17 28.83

5825 0.63 194.6 436.7 15.3 659 5835 0.15 2.12 0.00 0.000 6 0.167 0.035 3153 2008 1981 0 0 0 0 0 0 25.96 26.29 28.83

6135 0.60 194.6 401.4 11.5 690 6144 0.00 2.25 0.00 0.000 4 0.000 0.048 3162 562 1980 0 0 0 0 0 0 28.83 26.21 28.83

6200 0.60 208.1 394.9 10.5 696 6217 0.00 2.15 10.95 0.804 6 0.000 0.034 3162 1993 1937 0 0 0 0 0 0 28.83 26.32 24.64

6517 0.59 226.9 360.7 10.3 728 6540 0.00 2.22 17.48 0.832 4 0.000 0.047 3162 3396 1859 0 0 0 0 0 0 28.83 26.03 24.71

6702 0.56 226.9 336.4 14.3 746 6712 0.15 2.20 0.00 0.000 6 0.163 0.034 3132 1966 1856 0 0 0 0 0 0 25.89 26.17 28.83

7014 0.59 249.9 303.0 10.1 777 7042 0.00 2.20 20.33 0.805 4 0.000 0.049 3141 595 1766 0 0 0 0 0 0 28.83 26.00 24.74

7087 0.59 249.9 295.0 11.0 784 7098 0.00 2.12 0.00 0.000 6 0.000 0.031 3140 1994 1763 0 0 0 0 0 0 28.83 26.11 28.83

7398 0.59 249.9 261.3 11.5 815 7408 0.00 2.17 0.00 0.000 4 0.000 0.044 3140 3398 1762 0 0 0 0 0 0 28.83 26.16 28.83

7435 0.59 249.9 257.5 11.2 818 7443 0.00 2.17 0.00 0.000 6 0.000 0.031 3150 1983 1762 0 0 0 0 0 0 28.83 26.29 28.83

7743 0.64 296.6 229.2 9.2 849 7792 0.00 2.30 39.92 0.771 4 0.000 0.044 3150 3394 1576 0 0 0 0 0 0 28.83 25.81 24.68

7839 0.66 296.6 218.7 11.9 858 7847 0.00 2.20 0.00 0.000 6 0.000 0.032 3159 1976 1576 0 0 0 0 0 0 28.83 25.96 28.83

8158 0.67 296.6 179.1 16.6 903 8164 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 1973 1574 0 0 0 0 0 0 28.83 28.83 28.83

8488 0.76 355.4 146.9 8.8 964 8547 0.10 2.28 49.38 0.695 4 0.102 0.041 3221 3407 1336 0 0 0 0 0 0 26.47 25.76 24.71

8561 0.75 355.4 136.4 16.1 975 8569 0.15 2.20 0.00 0.000 6 0.148 0.034 3189 1987 1336 0 0 0 0 0 0 25.65 25.87 28.83

8892 0.82 395.8 100.3 9.5 1036 8932 0.00 2.28 33.47 0.643 4 0.000 0.047 3197 583 1170 0 0 0 0 0 0 28.83 25.84 24.82

9007 0.96 475.6 90.1 8.0 1055 9077 0.17 2.15 63.62 0.633 6 0.069 0.029 3291 2005 846 0 0 0 0 0 0 26.03 26.06 24.63

9410 0.94 475.6 20.0 18.6 1126 9419 0.12 2.25 0.00 0.000 4 0.158 0.047 3262 596 843 0 0 0 0 0 0 26.03 26.10 28.83

9455 0.94 475.6 12.8 15.0 1133 9462 0.00 2.10 0.00 0.000 6 0.000 0.029 3262 1997 843 0 0 0 0 0 0 28.83 26.25 28.83

9469 end climb: SURFACE_DEPTH_REACHED

state 9469 begin surface coast

9557 end surface coast: CONTROL_FINISHED_OK

state 9557 begin surface

ID	165	HD_B	0.010078	PITCH_ADJ_GAIN	0.0070000002	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_C	9.8500004e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	50
DIVE	265	HEADING	-1	ROLL_MIN	200	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3692	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	11	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	11	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1955	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1990	ALTIM_FREQUENCY	13
D_ABORT	1020	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	3	SM_CC	450	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	42	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	44	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.85000002
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	3	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_MIN	485	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE2	53
T_DIVE	300	UPLOAD_DIVES_MAX	-1	C_VBD	2786	DEVICE3	35
T_MISSION	340	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-7	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-271743.84	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	1001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	200	PITCH_MIN	180	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3922	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2950	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043567759
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-57.316994	SEABIRD_T_H	0.00062679156
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000116182	SEABIRD_T_I	2.4204959e-05
MASS	51872	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.6176024e-06
NAV_MODE	0	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.134539
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1435308
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0010041125
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	250	SEABIRD_C_J	0.00016055659

GPS1	120112,214124,2203.298,12028.695,23,1.0,41,-2.7	TGT_NAME	W1
_CALLS	1	TGT_LATLONG	2207.170,12035.130
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.084,-0.266
_SM_DEPTHo	7.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120112,214714,2203.365,12028.749,13,1.1,13,-2.7	MHEAD_RNG_PITCHd_Wd	59.9,13019,-17.0,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	605

FINISH	6.2,1.012766	_24V_AH	23.9,60.145
SM_CCo	9636,0.00,0.000,0,0,842,476.86	_10V_AH	10.0,48.573
SM_GC	7.00,7.88,0.05,0.00,0.034,0.146,0.000,165,1949,842,-8.61,1.33,476.86,0,0,0,0,0,0	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2155.06,12029.11,120112,191918	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023968,0.023968	MEM	325104
HUMID	45.58	DATA_FILE_SIZE	66989,1151
INTERNAL_PRESSURE	9.38548	CAP_FILE_SIZE	126050,0
TCM_TEMP	23.10	CFSIZE	260165632,176099328
XPDR_PINGS	20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	355.5,0.0	GPS	130112,002925,2204.241,12029.998,35,1.2,35,-2.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	240	122.86	SBE_CT	773	24	443.94
Roll_motor	95	146	334.29	AA3830	935	33	737.95
VBD_pump_during_apogee	544	988	12864.10	WL_BB2F	861	105	2162.86
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.21	nil	0	0	0.00
Iridium_during_connect	40	160	153.04	nil	0	0	0.00
Iridium_during_xfer	159	223	847.83	nil	0	0	0.00
Transponder_ping	5	420	52.70	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.07
TT8	2573	19	509.61
LPSleep	3870	2	84.75
TT8_Active	605	19	119.89
TT8_Sampling	2642	39	1051.71
TT8_CF8	286	45	131.38
TT8_Kalman	0	0	0.00
Analog_circuits	1738	12	208.61
GPS_charging	0	0	0.00
Compass	2397	15	359.68
RAFOS	0	0	0.00
Transponder	3	30	0.93

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.81	-194.6	0.0	0.0	0	110	0.00	0.00	-92.22	0.000	2	0.000	0.000	154	1967	3256	0	0	0	0	0	0	28.83	28.83	28.83
114	-0.81	-194.6	11.1	-10.3	14	137	10.25	2.20	-5.60	0.000	4	0.240	0.054	2694	536	3582	0	0	0	0	0	0	25.23	26.10	26.44
187	-0.74	-194.6	38.5	-24.7	26	195	0.00	2.17	0.00	0.000	6	0.000	0.032	2686	1953	3583	0	0	0	0	0	0	28.83	26.18	28.83
519	-0.67	-194.6	118.9	-22.5	87	526	0.12	2.17	0.00	0.000	4	0.184	0.044	2727	543	3583	0	0	0	0	0	0	26.09	26.22	28.83
547	-0.62	-194.6	124.6	-22.0	91	554	0.12	2.15	0.00	0.000	6	0.174	0.033	2751	1962	3583	0	0	0	0	0	0	26.00	26.29	28.83
876	-0.62	-194.6	175.4	-12.7	152	884	0.00	2.17	0.00	0.000	4	0.000	0.047	2750	3350	3584	0	0	0	0	0	0	28.83	26.24	28.83
964	-0.64	-194.6	185.1	-9.6	167	971	0.00	2.10	0.00	0.000	6	0.000	0.030	2751	1946	3584	0	0	0	0	0	0	28.83	26.36	28.83
1286	-0.67	-194.6	219.4	-9.0	209	1295	0.00	2.17	0.00	0.000	4	0.000	0.047	2751	3350	3585	0	0	0	0	0	0	28.83	26.25	28.83
1404	-0.70	-194.6	231.3	-10.7	220	1414	0.00	2.08	0.00	0.000	6	0.000	0.030	2751	1952	3585	0	0	0	0	0	0	28.83	26.37	28.83
1715	-0.73	-194.6	259.5	-7.1	251	1724	0.12	2.10	0.00	0.000	4	0.086	0.046	2672	566	3585	0	0	0	0	0	0	26.52	26.25	28.83
1835	-0.70	-194.6	275.7	-14.8	262	1843	0.15	2.15	0.00	0.000	6	0.132	0.038	2721	1951	3585	0	0	0	0	0	0	25.98	26.31	28.83
2141	-0.71	-194.6	312.4	-10.9	293	2150	0.00	2.15	0.00	0.000	4	0.000	0.048	2713	3361	3585	0	0	0	0	0	0	28.83	26.24	28.83
2167	-0.73	-194.6	314.7	-10.7	295	2173	0.00	2.12	0.00	0.000	6	0.000	0.031	2713	1947	3585	0	0	0	0	0	0	28.83	26.36	28.83
2473	-0.73	-194.6	347.5	-9.7	326	2474	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1946	3585	0	0	0	0	0	0	28.83	28.83	28.83
2773	-0.73	-194.6	373.0	-8.1	356	2782	0.00	2.22	0.00	0.000	4	0.000	0.049	2712	3371	3584	0	0	0	0	0	0	28.83	26.22	28.83
2846	-0.75	-194.6	379.0	-8.5	363	2850	0.00	2.12	0.00	0.000	6	0.000	0.032	2712	1958	3583	0	0	0	0	0	0	28.83	26.35	28.83
3158	-0.75	-194.6	410.6	-11.3	394	3167	0.00	2.15	0.00	0.000	4	0.000	0.050	2712	558	3582	0	0	0	0	0	0	28.83	26.22	28.83
3201	-0.75	-194.6	415.7	-12.5	398	3209	0.00	2.12	0.00	0.000	6	0.000	0.038	2712	1951	3582	0	0	0	0	0	0	28.83	26.29	28.83
3509	-0.75	-194.6	451.4	-11.4	429	3518	0.00	2.22	0.00	0.000	4	0.000	0.050	2711	3372	3581	0	0	0	0	0	0	28.83	26.20	28.83
3592	-0.77	-194.6	460.0	-10.2	437	3601	0.00	2.12	0.00	0.000	6	0.000	0.032	2711	1960	3580	0	0	0	0	0	0	28.83	26.35	28.83
3901	-0.78	-194.6	492.3	-9.2	468	3910	0.00	2.20	0.00	0.000	4	0.000	0.049	2712	3362	3578	0	0	0	0	0	0	28.83	26.20	28.83
3964	-0.80	-194.6	497.4	-8.2	474	3973	0.00	2.12	0.00	0.000	6	0.000	0.032	2712	1949	3578	0	0	0	0	0	0	28.83	26.34	28.83
4273	-0.81	-194.6	523.8	-8.7	505	4277	0.00	2.17	0.00	0.000	4	0.000	0.050	2711	551	3577	0	0	0	0	0	0	28.83	26.20	28.83
4300	-0.82	-194.6	525.9	-9.1	507	4306	0.00	2.17	0.00	0.000	6	0.000	0.037	2711	1968	3576	0	0	0	0	0	0	28.83	26.28	28.83
4605	-0.83	-194.6	551.5	-6.8	538	4614	0.00	2.12	0.00	0.000	4	0.000	0.050	2712	3351	3575	0	0	0	0	0	0	28.83	26.18	28.83
4842	-0.90	-194.6	557.8	-0.0	561	4850	0.15	2.12	0.00	0.000	6	0.077	0.035	2631	1955	3574	0	0	0	0	0	0	26.29	26.29	28.83
4856	end dive: NO_VERTICAL_VELOCITY
state	4856	begin apogee
4862	-0.17	0.0	557.8	0.0	563	5022	0.73	0.00	152.10	0.988	6	0.080	0.000	2897	1955	2785	0	0	0	0	0	0	26.07	28.83	24.02
5023	end apogee: CONTROL_FINISHED_OK
state	5023	begin climb
5025	0.81	194.6	557.3	0.0	579	5194	0.85	2.30	157.32	0.960	4	0.059	0.053	3231	590	1991	0	0	0	0	0	0	25.31	25.03	23.94
5423	0.73	194.6	495.0	18.8	619	5433	0.17	2.17	0.00	0.000	6	0.155	0.037	3184	1993	1983	0	0	0	0	0	0	25.79	26.06	28.83
5733	0.69	194.6	450.4	13.8	650	5742	0.00	2.17	0.00	0.000	4	0.000	0.047	3184	3393	1981	0	0	0	0	0	0	28.83	26.17	28.83
5825	0.63	194.6	436.7	15.3	659	5835	0.15	2.12	0.00	0.000	6	0.167	0.035	3153	2008	1981	0	0	0	0	0	0	25.96	26.29	28.83
6135	0.60	194.6	401.4	11.5	690	6144	0.00	2.25	0.00	0.000	4	0.000	0.048	3162	562	1980	0	0	0	0	0	0	28.83	26.21	28.83
6200	0.60	208.1	394.9	10.5	696	6217	0.00	2.15	10.95	0.804	6	0.000	0.034	3162	1993	1937	0	0	0	0	0	0	28.83	26.32	24.64
6517	0.59	226.9	360.7	10.3	728	6540	0.00	2.22	17.48	0.832	4	0.000	0.047	3162	3396	1859	0	0	0	0	0	0	28.83	26.03	24.71
6702	0.56	226.9	336.4	14.3	746	6712	0.15	2.20	0.00	0.000	6	0.163	0.034	3132	1966	1856	0	0	0	0	0	0	25.89	26.17	28.83
7014	0.59	249.9	303.0	10.1	777	7042	0.00	2.20	20.33	0.805	4	0.000	0.049	3141	595	1766	0	0	0	0	0	0	28.83	26.00	24.74
7087	0.59	249.9	295.0	11.0	784	7098	0.00	2.12	0.00	0.000	6	0.000	0.031	3140	1994	1763	0	0	0	0	0	0	28.83	26.11	28.83
7398	0.59	249.9	261.3	11.5	815	7408	0.00	2.17	0.00	0.000	4	0.000	0.044	3140	3398	1762	0	0	0	0	0	0	28.83	26.16	28.83
7435	0.59	249.9	257.5	11.2	818	7443	0.00	2.17	0.00	0.000	6	0.000	0.031	3150	1983	1762	0	0	0	0	0	0	28.83	26.29	28.83
7743	0.64	296.6	229.2	9.2	849	7792	0.00	2.30	39.92	0.771	4	0.000	0.044	3150	3394	1576	0	0	0	0	0	0	28.83	25.81	24.68
7839	0.66	296.6	218.7	11.9	858	7847	0.00	2.20	0.00	0.000	6	0.000	0.032	3159	1976	1576	0	0	0	0	0	0	28.83	25.96	28.83
8158	0.67	296.6	179.1	16.6	903	8164	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	1973	1574	0	0	0	0	0	0	28.83	28.83	28.83
8488	0.76	355.4	146.9	8.8	964	8547	0.10	2.28	49.38	0.695	4	0.102	0.041	3221	3407	1336	0	0	0	0	0	0	26.47	25.76	24.71
8561	0.75	355.4	136.4	16.1	975	8569	0.15	2.20	0.00	0.000	6	0.148	0.034	3189	1987	1336	0	0	0	0	0	0	25.65	25.87	28.83
8892	0.82	395.8	100.3	9.5	1036	8932	0.00	2.28	33.47	0.643	4	0.000	0.047	3197	583	1170	0	0	0	0	0	0	28.83	25.84	24.82
9007	0.96	475.6	90.1	8.0	1055	9077	0.17	2.15	63.62	0.633	6	0.069	0.029	3291	2005	846	0	0	0	0	0	0	26.03	26.06	24.63
9410	0.94	475.6	20.0	18.6	1126	9419	0.12	2.25	0.00	0.000	4	0.158	0.047	3262	596	843	0	0	0	0	0	0	26.03	26.10	28.83
9455	0.94	475.6	12.8	15.0	1133	9462	0.00	2.10	0.00	0.000	6	0.000	0.029	3262	1997	843	0	0	0	0	0	0	28.83	26.25	28.83
9469	end climb: SURFACE_DEPTH_REACHED
state	9469	begin surface coast
9557	end surface coast: CONTROL_FINISHED_OK
state	9557	begin surface