Glider dive log

OKMC Mar13 * SG169 * Dive index * Mission links * Dive 27 * 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 27 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 -20887.205 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 -20887.205

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 27 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 200313,234106,1835.971,12442.473,40,0.9,40,-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 0.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200313,234949,1836.023,12442.405,14,1.2,14,-2.2 MHEAD_RNG_PITCHd_Wd 172.3,86228,-14.7,-8.462,-18.04,2986

SPEED_LIMITS 0.147,0.260 D_GRID 5205

Post-dive calculations and measurements:

FINISH -0.4,1.022444 _10V_AH 10.4,2.441

SM_CCo 8778,130.75,0.490,1,0,1131,400.33 FG_AHR_24Vo 0.000

SM_GC 0.42,6.70,2.35,130.75,0.035,0.022,0.490,140,2371,1131,-7.10,0.45,400.33,0,0,0,0,1,0,26.72,26.79,25.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1830.49,12443.87,200313,212135 MEM 329124

TT8_MAMPS 0.021721,0.021721 DATA_FILE_SIZE 13435,417

HUMID 42.08 CAP_FILE_SIZE 243560,0

INTERNAL_PRESSURE 9.41798 CFSIZE 260034560,252563456

TCM_TEMP 24.80 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.107,253.8,1

SC_FREEKB 4007904 GPS 210313,022006,1834.986,12442.748,38,1.0,39,-2.2

_24V_AH 24.1,4.034

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 231 92.59 nil 0 0 0.00

Roll_motor 66 86 139.11 nil 0 0 0.00

VBD_pump_during_apogee 291 1054 7401.89 nil 0 0 0.00

VBD_pump_during_surface 130 490 1545.18 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 8801 7 1574.87

Iridium_during_xfer 314 118 899.95 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 32 5.39

TT8 2041 14 301.77

LPSleep 4850 2 110.48

TT8_Active 514 14 76.04

TT8_Sampling 1647 40 692.91

TT8_CF8 373 47 186.19

TT8_Kalman 0 0 0.00

Analog_circuits 1519 12 189.66

GPS_charging 0 0 0.00

Compass 1249 8 107.09

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 -165.5 123 2375 1281 986 0.0 0.0 0 105 0.00 0.00 -80.62 0.000 16386 0.000 0.000 123 2376 3241 3132 3350 0 0 0 0 0 0 28.83 28.83 28.83

109 -1.15 -165.5 123 2376 3132 3351 4.4 -10.5 11 126 7.55 2.42 -3.40 0.000 18948 0.232 0.050 2056 947 3441 3320 3563 0 0 0 0 0 0 26.00 26.19 26.44

280 -1.15 -165.5 2056 947 3323 3560 82.7 -41.1 26 285 0.00 2.45 0.00 0.000 1030 0.000 0.038 2042 2416 3445 3327 3564 0 0 0 0 0 0 28.83 26.33 28.83

600 -1.15 -165.5 2045 2414 3325 3563 226.1 -39.0 42 605 0.00 2.42 0.00 0.000 516 0.000 0.032 2046 932 3444 3325 3564 0 0 0 0 0 0 28.83 26.50 28.83

824 -1.15 -165.5 2045 933 3327 3564 291.4 -27.9 52 832 0.00 2.45 0.00 0.000 1030 0.000 0.037 2034 2421 3445 3326 3564 0 0 0 0 0 0 28.83 26.56 28.83

1131 -1.15 -165.5 2033 2421 3332 3561 383.3 -26.3 68 1132 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2421 3446 3332 3561 0 0 0 0 0 0 28.83 28.83 28.83

1432 -1.15 -165.5 2033 2421 3332 3561 463.5 -27.0 83 1438 0.00 2.42 0.00 0.000 516 0.000 0.037 2034 948 3447 3333 3561 0 0 0 0 0 0 28.83 26.65 28.83

1651 -1.15 -165.5 2034 948 3331 3561 514.1 -22.8 93 1658 0.10 2.40 0.00 0.000 3078 0.189 0.036 2055 2416 3446 3332 3561 0 0 0 0 0 0 26.58 26.67 28.83

1974 -1.15 -165.5 2055 2414 3332 3555 584.6 -20.8 109 1980 0.00 2.40 0.00 0.000 516 0.000 0.034 2056 938 3443 3332 3555 0 0 0 0 0 0 28.83 26.70 28.83

2078 -1.15 -165.5 2055 938 3332 3554 605.1 -20.2 114 2084 0.00 2.42 0.00 0.000 1030 0.000 0.038 2046 2418 3443 3332 3554 0 0 0 0 0 0 28.83 26.70 28.83

2408 -1.15 -165.5 2046 2416 3332 3549 677.7 -22.1 125 2414 0.00 2.40 0.00 0.000 516 0.000 0.036 2047 938 3440 3332 3549 0 0 0 0 0 0 28.83 26.71 28.83

2437 -1.15 -165.5 2046 938 3332 3549 677.7 -22.1 125 2445 0.00 2.42 0.00 0.000 1030 0.000 0.038 2036 2420 3441 3335 3548 0 0 0 0 0 0 28.83 26.71 28.83

2745 -1.15 -165.5 2036 2418 3332 3542 751.8 -21.8 136 2751 0.00 2.38 0.00 0.000 516 0.000 0.034 2039 950 3436 3332 3541 0 0 0 0 0 0 28.83 26.72 28.83

2820 -1.15 -165.5 2038 950 3332 3540 766.0 -21.5 138 2826 0.00 2.38 0.00 0.000 1030 0.000 0.034 2033 2416 3436 3332 3540 0 0 0 0 0 0 28.83 26.72 28.83

3147 -1.15 -165.5 2033 2415 3331 3534 836.6 -21.0 149 3148 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2415 3433 3332 3534 0 0 0 0 0 0 28.83 28.83 28.83

3446 -1.15 -165.5 2033 2414 3331 3527 899.3 -20.8 159 3453 0.00 2.40 0.00 0.000 516 0.000 0.037 2033 952 3428 3331 3526 0 0 0 0 0 0 28.83 26.72 28.83

3548 -1.15 -165.5 2033 951 3331 3525 918.9 -20.4 162 3555 0.12 2.38 0.00 0.000 3078 0.170 0.035 2065 2416 3428 3331 3525 0 0 0 0 0 0 26.64 26.73 28.83

3879 -1.15 -165.5 2065 2415 3329 3520 983.1 -18.8 173 3880 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 2415 3424 3329 3520 0 0 0 0 0 0 28.83 28.83 28.83

3936 end dive: TARGET_DEPTH_EXCEEDED

state 3936 begin apogee

3943 -0.25 0.0 2061 2782 3328 3520 994.5 -19.0 175 4090 0.85 0.10 140.43 1.054 10246 0.138 0.074 2341 2703 2761 2784 2738 0 0 0 0 0 0 26.62 24.91 24.27

4092 end apogee: CONTROL_FINISHED_OK

state 4092 begin climb

4095 1.15 165.5 2341 2703 2780 2727 1002.6 0.0 179 4258 1.25 1.80 150.93 1.014 10500 0.057 0.038 2791 3832 2078 2188 1968 0 0 0 0 0 0 25.06 24.79 24.12

4465 1.15 165.5 2791 3832 2170 1961 914.3 31.8 192 4471 0.00 1.60 0.00 0.000 1030 0.000 0.019 2799 2654 2065 2170 1961 0 0 0 0 0 0 28.83 25.96 28.83

4801 1.15 165.5 2799 2649 2165 1958 813.1 30.4 203 4802 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2649 2061 2164 1958 0 0 0 0 0 0 28.83 28.83 28.83

5101 1.15 165.5 2799 2647 2164 1956 725.0 29.5 213 5106 0.00 1.75 0.00 0.000 260 0.000 0.038 2792 3841 2060 2164 1956 0 0 0 0 0 0 28.83 26.39 28.83

5232 1.15 165.5 2791 3841 2162 1956 685.2 31.1 217 5238 0.00 1.55 0.00 0.000 1030 0.000 0.018 2800 2655 2059 2162 1956 0 0 0 0 0 0 28.83 26.51 28.83

5552 1.15 165.5 2800 2650 2159 1954 593.0 28.5 228 5558 0.00 1.73 0.00 0.000 260 0.000 0.039 2792 3849 2056 2159 1954 0 0 0 0 0 0 28.83 26.51 28.83

5666 1.15 165.5 2792 3845 2158 1954 560.0 30.1 233 5672 0.00 1.55 0.00 0.000 1030 0.000 0.018 2800 2651 2056 2158 1954 0 0 0 0 0 0 28.83 26.60 28.83

5987 1.15 165.5 2800 2647 2156 1953 471.9 26.2 249 5994 0.00 1.73 0.00 0.000 260 0.000 0.038 2792 3841 2052 2152 1953 0 0 0 0 0 0 28.83 26.58 28.83

6167 1.15 165.5 2792 3840 2155 1953 424.1 27.0 257 6173 0.00 1.55 0.00 0.000 1030 0.000 0.018 2800 2644 2054 2155 1953 0 0 0 0 0 0 28.83 26.67 28.83

6482 1.15 165.5 2800 2640 2153 1952 343.8 23.7 273 6488 0.00 2.45 0.00 0.000 516 0.000 0.025 2813 1302 2052 2153 1952 0 0 0 0 0 0 28.83 26.64 28.83

6530 1.15 165.5 2813 1302 2152 1956 334.2 21.8 275 6536 0.00 2.72 0.00 0.000 1030 0.000 0.026 2810 2791 2051 2152 1950 0 0 0 0 0 0 28.83 26.63 28.83

6857 1.15 165.5 2810 2790 2152 1950 264.1 20.3 291 6862 0.00 1.48 0.00 0.000 260 0.000 0.040 2809 3832 2051 2152 1950 0 0 0 0 0 0 28.83 26.67 28.83

7096 1.15 165.5 2810 3833 2151 1950 210.8 20.3 302 7103 0.00 1.52 0.00 0.000 1030 0.000 0.018 2819 2640 2050 2151 1950 0 0 0 0 0 0 28.83 26.76 28.83

7413 1.15 165.5 2818 2640 2151 1950 163.0 13.1 318 7418 0.00 1.73 0.00 0.000 260 0.000 0.037 2811 3855 2050 2151 1950 0 0 0 0 0 0 28.83 26.70 28.83

7658 1.15 165.5 2810 3855 2151 1950 129.9 13.2 329 7664 0.00 1.55 0.00 0.000 1030 0.000 0.019 2819 2638 2050 2151 1950 0 0 0 0 0 0 28.83 26.79 28.83

7973 1.15 165.5 2819 2638 2151 1950 98.7 10.3 345 7980 0.00 1.73 0.00 0.000 260 0.000 0.036 2811 3853 2050 2151 1950 0 0 0 0 0 0 28.83 26.74 28.83

8214 1.15 165.5 2811 3853 2151 1950 70.3 12.4 356 8220 0.00 1.52 0.00 0.000 1030 0.000 0.019 2820 2635 2051 2151 1951 0 0 0 0 0 0 28.83 26.83 28.83

8531 1.15 165.5 2820 2636 2151 1951 31.5 12.3 379 8536 0.00 1.73 0.00 0.000 260 0.000 0.036 2813 3854 2051 2151 1952 0 0 0 0 0 0 28.83 26.76 28.83

8734 end climb: SURFACE_DEPTH_REACHED

state 8734 begin surface coast

8758 end surface coast: CONTROL_FINISHED_OK

state 8758 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	27	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	-20887.205	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	200313,234106,1835.971,12442.473,40,0.9,40,-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	0.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200313,234949,1836.023,12442.405,14,1.2,14,-2.2	MHEAD_RNG_PITCHd_Wd	172.3,86228,-14.7,-8.462,-18.04,2986
SPEED_LIMITS	0.147,0.260	D_GRID	5205

FINISH	-0.4,1.022444	_10V_AH	10.4,2.441
SM_CCo	8778,130.75,0.490,1,0,1131,400.33	FG_AHR_24Vo	0.000
SM_GC	0.42,6.70,2.35,130.75,0.035,0.022,0.490,140,2371,1131,-7.10,0.45,400.33,0,0,0,0,1,0,26.72,26.79,25.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1830.49,12443.87,200313,212135	MEM	329124
TT8_MAMPS	0.021721,0.021721	DATA_FILE_SIZE	13435,417
HUMID	42.08	CAP_FILE_SIZE	243560,0
INTERNAL_PRESSURE	9.41798	CFSIZE	260034560,252563456
TCM_TEMP	24.80	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.107,253.8,1
SC_FREEKB	4007904	GPS	210313,022006,1834.986,12442.748,38,1.0,39,-2.2
_24V_AH	24.1,4.034

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	231	92.59	nil	0	0	0.00
Roll_motor	66	86	139.11	nil	0	0	0.00
VBD_pump_during_apogee	291	1054	7401.89	nil	0	0	0.00
VBD_pump_during_surface	130	490	1545.18	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	8801	7	1574.87
Iridium_during_xfer	314	118	899.95	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	32	5.39
TT8	2041	14	301.77
LPSleep	4850	2	110.48
TT8_Active	514	14	76.04
TT8_Sampling	1647	40	692.91
TT8_CF8	373	47	186.19
TT8_Kalman	0	0	0.00
Analog_circuits	1519	12	189.66
GPS_charging	0	0	0.00
Compass	1249	8	107.09
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	123	2375	1281	986	0.0	0.0	0	105	0.00	0.00	-80.62	0.000	16386	0.000	0.000	123	2376	3241	3132	3350	0	0	0	0	0	0	28.83	28.83	28.83
109	-1.15	-165.5	123	2376	3132	3351	4.4	-10.5	11	126	7.55	2.42	-3.40	0.000	18948	0.232	0.050	2056	947	3441	3320	3563	0	0	0	0	0	0	26.00	26.19	26.44
280	-1.15	-165.5	2056	947	3323	3560	82.7	-41.1	26	285	0.00	2.45	0.00	0.000	1030	0.000	0.038	2042	2416	3445	3327	3564	0	0	0	0	0	0	28.83	26.33	28.83
600	-1.15	-165.5	2045	2414	3325	3563	226.1	-39.0	42	605	0.00	2.42	0.00	0.000	516	0.000	0.032	2046	932	3444	3325	3564	0	0	0	0	0	0	28.83	26.50	28.83
824	-1.15	-165.5	2045	933	3327	3564	291.4	-27.9	52	832	0.00	2.45	0.00	0.000	1030	0.000	0.037	2034	2421	3445	3326	3564	0	0	0	0	0	0	28.83	26.56	28.83
1131	-1.15	-165.5	2033	2421	3332	3561	383.3	-26.3	68	1132	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2421	3446	3332	3561	0	0	0	0	0	0	28.83	28.83	28.83
1432	-1.15	-165.5	2033	2421	3332	3561	463.5	-27.0	83	1438	0.00	2.42	0.00	0.000	516	0.000	0.037	2034	948	3447	3333	3561	0	0	0	0	0	0	28.83	26.65	28.83
1651	-1.15	-165.5	2034	948	3331	3561	514.1	-22.8	93	1658	0.10	2.40	0.00	0.000	3078	0.189	0.036	2055	2416	3446	3332	3561	0	0	0	0	0	0	26.58	26.67	28.83
1974	-1.15	-165.5	2055	2414	3332	3555	584.6	-20.8	109	1980	0.00	2.40	0.00	0.000	516	0.000	0.034	2056	938	3443	3332	3555	0	0	0	0	0	0	28.83	26.70	28.83
2078	-1.15	-165.5	2055	938	3332	3554	605.1	-20.2	114	2084	0.00	2.42	0.00	0.000	1030	0.000	0.038	2046	2418	3443	3332	3554	0	0	0	0	0	0	28.83	26.70	28.83
2408	-1.15	-165.5	2046	2416	3332	3549	677.7	-22.1	125	2414	0.00	2.40	0.00	0.000	516	0.000	0.036	2047	938	3440	3332	3549	0	0	0	0	0	0	28.83	26.71	28.83
2437	-1.15	-165.5	2046	938	3332	3549	677.7	-22.1	125	2445	0.00	2.42	0.00	0.000	1030	0.000	0.038	2036	2420	3441	3335	3548	0	0	0	0	0	0	28.83	26.71	28.83
2745	-1.15	-165.5	2036	2418	3332	3542	751.8	-21.8	136	2751	0.00	2.38	0.00	0.000	516	0.000	0.034	2039	950	3436	3332	3541	0	0	0	0	0	0	28.83	26.72	28.83
2820	-1.15	-165.5	2038	950	3332	3540	766.0	-21.5	138	2826	0.00	2.38	0.00	0.000	1030	0.000	0.034	2033	2416	3436	3332	3540	0	0	0	0	0	0	28.83	26.72	28.83
3147	-1.15	-165.5	2033	2415	3331	3534	836.6	-21.0	149	3148	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2415	3433	3332	3534	0	0	0	0	0	0	28.83	28.83	28.83
3446	-1.15	-165.5	2033	2414	3331	3527	899.3	-20.8	159	3453	0.00	2.40	0.00	0.000	516	0.000	0.037	2033	952	3428	3331	3526	0	0	0	0	0	0	28.83	26.72	28.83
3548	-1.15	-165.5	2033	951	3331	3525	918.9	-20.4	162	3555	0.12	2.38	0.00	0.000	3078	0.170	0.035	2065	2416	3428	3331	3525	0	0	0	0	0	0	26.64	26.73	28.83
3879	-1.15	-165.5	2065	2415	3329	3520	983.1	-18.8	173	3880	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	2415	3424	3329	3520	0	0	0	0	0	0	28.83	28.83	28.83
3936	end dive: TARGET_DEPTH_EXCEEDED
state	3936	begin apogee
3943	-0.25	0.0	2061	2782	3328	3520	994.5	-19.0	175	4090	0.85	0.10	140.43	1.054	10246	0.138	0.074	2341	2703	2761	2784	2738	0	0	0	0	0	0	26.62	24.91	24.27
4092	end apogee: CONTROL_FINISHED_OK
state	4092	begin climb
4095	1.15	165.5	2341	2703	2780	2727	1002.6	0.0	179	4258	1.25	1.80	150.93	1.014	10500	0.057	0.038	2791	3832	2078	2188	1968	0	0	0	0	0	0	25.06	24.79	24.12
4465	1.15	165.5	2791	3832	2170	1961	914.3	31.8	192	4471	0.00	1.60	0.00	0.000	1030	0.000	0.019	2799	2654	2065	2170	1961	0	0	0	0	0	0	28.83	25.96	28.83
4801	1.15	165.5	2799	2649	2165	1958	813.1	30.4	203	4802	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2649	2061	2164	1958	0	0	0	0	0	0	28.83	28.83	28.83
5101	1.15	165.5	2799	2647	2164	1956	725.0	29.5	213	5106	0.00	1.75	0.00	0.000	260	0.000	0.038	2792	3841	2060	2164	1956	0	0	0	0	0	0	28.83	26.39	28.83
5232	1.15	165.5	2791	3841	2162	1956	685.2	31.1	217	5238	0.00	1.55	0.00	0.000	1030	0.000	0.018	2800	2655	2059	2162	1956	0	0	0	0	0	0	28.83	26.51	28.83
5552	1.15	165.5	2800	2650	2159	1954	593.0	28.5	228	5558	0.00	1.73	0.00	0.000	260	0.000	0.039	2792	3849	2056	2159	1954	0	0	0	0	0	0	28.83	26.51	28.83
5666	1.15	165.5	2792	3845	2158	1954	560.0	30.1	233	5672	0.00	1.55	0.00	0.000	1030	0.000	0.018	2800	2651	2056	2158	1954	0	0	0	0	0	0	28.83	26.60	28.83
5987	1.15	165.5	2800	2647	2156	1953	471.9	26.2	249	5994	0.00	1.73	0.00	0.000	260	0.000	0.038	2792	3841	2052	2152	1953	0	0	0	0	0	0	28.83	26.58	28.83
6167	1.15	165.5	2792	3840	2155	1953	424.1	27.0	257	6173	0.00	1.55	0.00	0.000	1030	0.000	0.018	2800	2644	2054	2155	1953	0	0	0	0	0	0	28.83	26.67	28.83
6482	1.15	165.5	2800	2640	2153	1952	343.8	23.7	273	6488	0.00	2.45	0.00	0.000	516	0.000	0.025	2813	1302	2052	2153	1952	0	0	0	0	0	0	28.83	26.64	28.83
6530	1.15	165.5	2813	1302	2152	1956	334.2	21.8	275	6536	0.00	2.72	0.00	0.000	1030	0.000	0.026	2810	2791	2051	2152	1950	0	0	0	0	0	0	28.83	26.63	28.83
6857	1.15	165.5	2810	2790	2152	1950	264.1	20.3	291	6862	0.00	1.48	0.00	0.000	260	0.000	0.040	2809	3832	2051	2152	1950	0	0	0	0	0	0	28.83	26.67	28.83
7096	1.15	165.5	2810	3833	2151	1950	210.8	20.3	302	7103	0.00	1.52	0.00	0.000	1030	0.000	0.018	2819	2640	2050	2151	1950	0	0	0	0	0	0	28.83	26.76	28.83
7413	1.15	165.5	2818	2640	2151	1950	163.0	13.1	318	7418	0.00	1.73	0.00	0.000	260	0.000	0.037	2811	3855	2050	2151	1950	0	0	0	0	0	0	28.83	26.70	28.83
7658	1.15	165.5	2810	3855	2151	1950	129.9	13.2	329	7664	0.00	1.55	0.00	0.000	1030	0.000	0.019	2819	2638	2050	2151	1950	0	0	0	0	0	0	28.83	26.79	28.83
7973	1.15	165.5	2819	2638	2151	1950	98.7	10.3	345	7980	0.00	1.73	0.00	0.000	260	0.000	0.036	2811	3853	2050	2151	1950	0	0	0	0	0	0	28.83	26.74	28.83
8214	1.15	165.5	2811	3853	2151	1950	70.3	12.4	356	8220	0.00	1.52	0.00	0.000	1030	0.000	0.019	2820	2635	2051	2151	1951	0	0	0	0	0	0	28.83	26.83	28.83
8531	1.15	165.5	2820	2636	2151	1951	31.5	12.3	379	8536	0.00	1.73	0.00	0.000	260	0.000	0.036	2813	3854	2051	2151	1952	0	0	0	0	0	0	28.83	26.76	28.83
8734	end climb: SURFACE_DEPTH_REACHED
state	8734	begin surface coast
8758	end surface coast: CONTROL_FINISHED_OK
state	8758	begin surface