Glider dive log

OKMC Nov11 * SG165 * Dive index * Mission links * Dive 279 * 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 279 HEADING 195 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 45 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 35 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 -8 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -271762.75 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 195 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -271762.75

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 -8

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 45 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 35 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 279 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 140112,072658,2205.931,12027.259,8,99.0,27,-2.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2155.640,12024.174

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.084,-0.266

_SM_DEPTHo 7.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140112,073400,2206.071,12027.187,34,1.2,38,-2.7 MHEAD_RNG_PITCHd_Wd 197.7,20000,-17.0,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 578

Post-dive calculations and measurements:

FINISH 6.3,1.023122 _24V_AH 24.1,62.021

SM_CCo 9828,38.40,0.567,0,0,949,450.13 _10V_AH 9.9,49.983

SM_GC 6.86,7.80,0.00,38.40,0.034,0.000,0.567,149,2012,949,-8.61,1.61,450.13,0,0,0,0,0,0 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2159.71,12027.11,140112,040422 FG_AHR_10Vo 0.000

TT8_MAMPS 0.024717,0.024717 MEM 324216

HUMID 46.45 DATA_FILE_SIZE 70144,1201

INTERNAL_PRESSURE 9.43431 CAP_FILE_SIZE 125875,0

TCM_TEMP 23.90 CFSIZE 260165632,175222784

XPDR_PINGS 22 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 328.6,0.0 GPS 140112,102007,2205.203,12026.386,37,1.0,37,-2.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 231 119.27 SBE_CT 808 24 467.40

Roll_motor 86 51 106.76 AA3830 963 33 765.97

VBD_pump_during_apogee 487 996 11705.69 WL_BB2F 886 105 2242.34

VBD_pump_during_surface 38 566 524.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 70.46 nil 0 0 0.00

Iridium_during_connect 43 160 168.41 nil 0 0 0.00

Iridium_during_xfer 190 223 1024.86 nil 0 0 0.00

Transponder_ping 5 420 58.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 42 50 21.19

TT8 2696 19 528.52

LPSleep 3973 2 86.14

TT8_Active 614 19 120.38

TT8_Sampling 2695 39 1061.95

TT8_CF8 301 45 136.61

TT8_Kalman 0 0 0.00

Analog_circuits 1729 12 205.48

GPS_charging 0 0 0.00

Compass 2391 15 355.13

RAFOS 0 0 0.00

Transponder 3 30 0.92

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.81 -194.6 0.0 0.0 0 118 0.00 0.00 -99.15 0.000 2 0.000 0.000 130 1986 3474 0 0 0 0 0 0 28.83 28.83 28.83

122 -0.81 -194.6 13.0 -17.8 16 144 10.10 2.22 -1.67 0.000 4 0.232 0.050 2690 540 3583 0 0 0 0 0 0 25.24 26.15 26.46

179 -0.71 -194.6 40.8 -30.1 25 187 0.15 2.15 0.00 0.000 6 0.175 0.032 2720 1962 3584 0 0 0 0 0 0 25.82 26.18 28.83

509 -0.67 -194.6 108.4 -17.9 86 517 0.00 2.20 0.00 0.000 4 0.000 0.044 2720 558 3585 0 0 0 0 0 0 28.83 26.22 28.83

542 -0.62 -194.6 114.7 -20.0 91 549 0.15 2.10 0.00 0.000 6 0.165 0.032 2752 1957 3585 0 0 0 0 0 0 25.96 26.30 28.83

874 -0.61 -194.6 162.5 -13.0 152 881 0.00 2.17 0.00 0.000 4 0.000 0.044 2753 558 3586 0 0 0 0 0 0 28.83 26.26 28.83

900 -0.61 -194.6 166.0 -13.6 156 908 0.00 2.12 0.00 0.000 6 0.000 0.034 2752 1947 3586 0 0 0 0 0 0 28.83 26.32 28.83

1228 -0.61 -194.6 205.9 -10.4 212 1238 0.00 2.17 0.00 0.000 4 0.000 0.046 2752 3361 3586 0 0 0 0 0 0 28.83 26.25 28.83

1285 -0.63 -194.6 211.3 -9.4 217 1289 0.00 2.10 0.00 0.000 6 0.000 0.030 2752 1943 3586 0 0 0 0 0 0 28.83 26.36 28.83

1598 -0.65 -194.6 245.0 -8.3 248 1608 0.00 2.08 0.00 0.000 4 0.000 0.045 2752 561 3586 0 0 0 0 0 0 28.83 26.26 28.83

1643 -0.69 -194.6 248.5 -7.7 252 1653 0.00 2.10 0.00 0.000 6 0.000 0.034 2752 1960 3586 0 0 0 0 0 0 28.83 26.33 28.83

1953 -0.71 -194.6 271.1 -7.8 283 1962 0.00 2.15 0.00 0.000 4 0.000 0.047 2752 3357 3586 0 0 0 0 0 0 28.83 26.25 28.83

1987 -0.75 -194.6 273.8 -7.9 286 1998 0.12 2.10 0.00 0.000 6 0.083 0.031 2665 1946 3587 0 0 0 0 0 0 26.33 26.36 28.83

2297 -0.71 -194.6 320.2 -15.3 317 2306 0.15 2.10 0.00 0.000 4 0.155 0.047 2713 566 3586 0 0 0 0 0 0 26.16 26.25 28.83

2371 -0.71 -194.6 329.7 -11.3 324 2379 0.00 2.12 0.00 0.000 6 0.000 0.037 2713 1953 3586 0 0 0 0 0 0 28.83 26.30 28.83

2680 -0.71 -194.6 367.9 -13.5 355 2689 0.00 2.17 0.00 0.000 4 0.000 0.048 2703 3365 3585 0 0 0 0 0 0 28.83 26.24 28.83

2724 -0.71 -194.6 373.3 -12.9 359 2731 0.00 2.10 0.00 0.000 6 0.000 0.031 2703 1954 3585 0 0 0 0 0 0 28.83 26.36 28.83

3032 -0.71 -194.6 409.7 -10.9 390 3033 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1953 3584 0 0 0 0 0 0 28.83 28.83 28.83

3335 -0.71 -194.6 442.5 -10.3 420 3340 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 1953 3583 0 0 0 0 0 0 28.83 28.83 28.83

3644 -0.71 -194.6 476.8 -11.4 451 3650 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 1953 3581 0 0 0 0 0 0 28.83 28.83 28.83

3953 -0.71 -194.6 509.5 -9.8 482 3962 0.00 2.20 0.00 0.000 4 0.000 0.049 2700 3355 3579 0 0 0 0 0 0 28.83 26.20 28.83

4010 -0.73 -194.6 514.9 -10.2 487 4016 0.00 2.12 0.00 0.000 6 0.000 0.032 2700 1951 3579 0 0 0 0 0 0 28.83 26.34 28.83

4315 -0.73 -194.6 544.0 -9.0 518 4323 0.00 2.17 0.00 0.000 4 0.000 0.050 2700 558 3579 0 0 0 0 0 0 28.83 26.20 28.83

4408 -0.73 -194.6 553.3 -10.5 527 4416 0.00 2.15 0.00 0.000 6 0.000 0.039 2700 1957 3578 0 0 0 0 0 0 28.83 26.27 28.83

4657 end dive: TARGET_DEPTH_EXCEEDED

state 4657 begin apogee

4662 -0.17 0.0 578.3 -10.2 552 4822 0.57 0.00 152.32 0.997 6 0.117 0.000 2892 1957 2786 0 0 0 0 0 0 25.86 28.83 24.06

4823 end apogee: CONTROL_FINISHED_OK

state 4823 begin climb

4825 0.81 194.6 585.1 0.0 568 4993 0.85 2.28 157.07 0.968 4 0.050 0.051 3236 597 1990 0 0 0 0 0 0 25.38 25.15 24.06

5039 0.73 194.6 559.8 18.7 589 5048 0.15 2.20 0.00 0.000 6 0.140 0.038 3188 1991 1986 0 0 0 0 0 0 25.45 25.68 28.83

5348 0.68 194.6 513.5 15.4 620 5356 0.00 2.17 0.00 0.000 4 0.000 0.047 3188 3396 1983 0 0 0 0 0 0 28.83 26.13 28.83

5383 0.63 194.6 508.2 15.9 623 5391 0.15 2.15 0.00 0.000 6 0.173 0.034 3159 1996 1983 0 0 0 0 0 0 25.90 26.23 28.83

5691 0.60 194.6 468.9 11.5 654 5699 0.00 2.17 0.00 0.000 4 0.000 0.045 3158 3406 1982 0 0 0 0 0 0 28.83 26.23 28.83

5713 0.57 194.6 465.9 12.0 656 5723 0.12 2.17 0.00 0.000 6 0.170 0.034 3135 1994 1981 0 0 0 0 0 0 26.03 26.31 28.83

6022 0.56 194.6 432.2 11.4 687 6031 0.00 2.20 0.00 0.000 4 0.000 0.048 3143 579 1980 0 0 0 0 0 0 28.83 26.23 28.83

6076 0.55 194.6 426.1 12.0 692 6084 0.00 2.15 0.00 0.000 6 0.000 0.033 3143 2010 1979 0 0 0 0 0 0 28.83 26.30 28.83

6384 0.53 194.6 386.7 13.8 723 6393 0.00 2.12 0.00 0.000 4 0.000 0.045 3143 3387 1978 0 0 0 0 0 0 28.83 26.24 28.83

6621 0.51 194.6 356.7 12.9 746 6628 0.15 2.15 0.00 0.000 6 0.152 0.034 3111 1967 1978 0 0 0 0 0 0 26.03 26.30 28.83

6928 0.55 231.9 325.4 9.6 777 6960 0.00 0.00 30.45 0.832 6 0.000 0.000 3111 1967 1840 0 0 0 0 0 0 28.83 28.83 24.61

7260 0.65 294.2 295.2 8.6 810 7319 0.12 2.35 52.95 0.813 4 0.088 0.042 3191 3395 1586 0 0 0 0 0 0 26.36 25.62 24.50

7336 0.62 294.2 285.5 14.5 817 7344 0.20 2.17 0.00 0.000 6 0.147 0.034 3147 1994 1585 0 0 0 0 0 0 25.51 25.75 28.83

7644 0.66 318.4 251.8 10.1 848 7674 0.00 2.20 21.50 0.754 4 0.000 0.047 3156 596 1486 0 0 0 0 0 0 28.83 25.92 24.73

7753 0.73 354.6 241.6 9.6 858 7790 0.00 2.15 31.02 0.754 6 0.000 0.030 3156 1991 1339 0 0 0 0 0 0 28.83 26.10 24.63

8089 0.77 361.9 208.1 10.7 892 8103 0.12 2.20 7.18 0.616 4 0.086 0.043 3230 3386 1309 0 0 0 0 0 0 26.33 26.10 24.69

8216 0.76 361.9 186.3 17.1 911 8224 0.17 2.15 0.00 0.000 6 0.145 0.034 3189 1973 1308 0 0 0 0 0 0 25.91 26.17 28.83

8546 0.77 361.9 146.6 11.4 972 8554 0.00 2.15 0.00 0.000 4 0.000 0.047 3197 604 1309 0 0 0 0 0 0 28.83 26.20 28.83

8595 0.79 361.9 140.9 11.4 980 8603 0.00 2.12 0.00 0.000 6 0.000 0.030 3197 1993 1308 0 0 0 0 0 0 28.83 26.32 28.83

8927 0.84 379.7 109.8 10.3 1041 8953 0.00 2.22 16.05 0.630 4 0.000 0.045 3206 604 1237 0 0 0 0 0 0 28.83 26.14 24.88

8979 0.90 401.3 104.2 10.2 1049 9005 0.00 2.10 18.73 0.625 6 0.000 0.029 3206 1998 1149 0 0 0 0 0 0 28.83 26.22 24.86

9331 0.93 401.3 71.6 11.3 1113 9338 0.12 0.00 0.00 0.000 6 0.086 0.000 3286 1999 1148 0 0 0 0 0 0 26.40 28.83 28.83

9660 0.90 401.3 16.4 15.7 1174 9668 0.12 0.00 0.00 0.000 6 0.155 0.000 3246 1999 1147 0 0 0 0 0 0 26.19 28.83 28.83

9701 end climb: SURFACE_DEPTH_REACHED

state 9701 begin surface coast

9811 end surface coast: CONTROL_FINISHED_OK

state 9811 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	279	HEADING	195	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	45	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	35	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	-8	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-271762.75	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	140112,072658,2205.931,12027.259,8,99.0,27,-2.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2155.640,12024.174
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.084,-0.266
_SM_DEPTHo	7.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140112,073400,2206.071,12027.187,34,1.2,38,-2.7	MHEAD_RNG_PITCHd_Wd	197.7,20000,-17.0,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	578

FINISH	6.3,1.023122	_24V_AH	24.1,62.021
SM_CCo	9828,38.40,0.567,0,0,949,450.13	_10V_AH	9.9,49.983
SM_GC	6.86,7.80,0.00,38.40,0.034,0.000,0.567,149,2012,949,-8.61,1.61,450.13,0,0,0,0,0,0	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2159.71,12027.11,140112,040422	FG_AHR_10Vo	0.000
TT8_MAMPS	0.024717,0.024717	MEM	324216
HUMID	46.45	DATA_FILE_SIZE	70144,1201
INTERNAL_PRESSURE	9.43431	CAP_FILE_SIZE	125875,0
TCM_TEMP	23.90	CFSIZE	260165632,175222784
XPDR_PINGS	22	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	328.6,0.0	GPS	140112,102007,2205.203,12026.386,37,1.0,37,-2.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	231	119.27	SBE_CT	808	24	467.40
Roll_motor	86	51	106.76	AA3830	963	33	765.97
VBD_pump_during_apogee	487	996	11705.69	WL_BB2F	886	105	2242.34
VBD_pump_during_surface	38	566	524.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	70.46	nil	0	0	0.00
Iridium_during_connect	43	160	168.41	nil	0	0	0.00
Iridium_during_xfer	190	223	1024.86	nil	0	0	0.00
Transponder_ping	5	420	58.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	42	50	21.19
TT8	2696	19	528.52
LPSleep	3973	2	86.14
TT8_Active	614	19	120.38
TT8_Sampling	2695	39	1061.95
TT8_CF8	301	45	136.61
TT8_Kalman	0	0	0.00
Analog_circuits	1729	12	205.48
GPS_charging	0	0	0.00
Compass	2391	15	355.13
RAFOS	0	0	0.00
Transponder	3	30	0.92

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.81	-194.6	0.0	0.0	0	118	0.00	0.00	-99.15	0.000	2	0.000	0.000	130	1986	3474	0	0	0	0	0	0	28.83	28.83	28.83
122	-0.81	-194.6	13.0	-17.8	16	144	10.10	2.22	-1.67	0.000	4	0.232	0.050	2690	540	3583	0	0	0	0	0	0	25.24	26.15	26.46
179	-0.71	-194.6	40.8	-30.1	25	187	0.15	2.15	0.00	0.000	6	0.175	0.032	2720	1962	3584	0	0	0	0	0	0	25.82	26.18	28.83
509	-0.67	-194.6	108.4	-17.9	86	517	0.00	2.20	0.00	0.000	4	0.000	0.044	2720	558	3585	0	0	0	0	0	0	28.83	26.22	28.83
542	-0.62	-194.6	114.7	-20.0	91	549	0.15	2.10	0.00	0.000	6	0.165	0.032	2752	1957	3585	0	0	0	0	0	0	25.96	26.30	28.83
874	-0.61	-194.6	162.5	-13.0	152	881	0.00	2.17	0.00	0.000	4	0.000	0.044	2753	558	3586	0	0	0	0	0	0	28.83	26.26	28.83
900	-0.61	-194.6	166.0	-13.6	156	908	0.00	2.12	0.00	0.000	6	0.000	0.034	2752	1947	3586	0	0	0	0	0	0	28.83	26.32	28.83
1228	-0.61	-194.6	205.9	-10.4	212	1238	0.00	2.17	0.00	0.000	4	0.000	0.046	2752	3361	3586	0	0	0	0	0	0	28.83	26.25	28.83
1285	-0.63	-194.6	211.3	-9.4	217	1289	0.00	2.10	0.00	0.000	6	0.000	0.030	2752	1943	3586	0	0	0	0	0	0	28.83	26.36	28.83
1598	-0.65	-194.6	245.0	-8.3	248	1608	0.00	2.08	0.00	0.000	4	0.000	0.045	2752	561	3586	0	0	0	0	0	0	28.83	26.26	28.83
1643	-0.69	-194.6	248.5	-7.7	252	1653	0.00	2.10	0.00	0.000	6	0.000	0.034	2752	1960	3586	0	0	0	0	0	0	28.83	26.33	28.83
1953	-0.71	-194.6	271.1	-7.8	283	1962	0.00	2.15	0.00	0.000	4	0.000	0.047	2752	3357	3586	0	0	0	0	0	0	28.83	26.25	28.83
1987	-0.75	-194.6	273.8	-7.9	286	1998	0.12	2.10	0.00	0.000	6	0.083	0.031	2665	1946	3587	0	0	0	0	0	0	26.33	26.36	28.83
2297	-0.71	-194.6	320.2	-15.3	317	2306	0.15	2.10	0.00	0.000	4	0.155	0.047	2713	566	3586	0	0	0	0	0	0	26.16	26.25	28.83
2371	-0.71	-194.6	329.7	-11.3	324	2379	0.00	2.12	0.00	0.000	6	0.000	0.037	2713	1953	3586	0	0	0	0	0	0	28.83	26.30	28.83
2680	-0.71	-194.6	367.9	-13.5	355	2689	0.00	2.17	0.00	0.000	4	0.000	0.048	2703	3365	3585	0	0	0	0	0	0	28.83	26.24	28.83
2724	-0.71	-194.6	373.3	-12.9	359	2731	0.00	2.10	0.00	0.000	6	0.000	0.031	2703	1954	3585	0	0	0	0	0	0	28.83	26.36	28.83
3032	-0.71	-194.6	409.7	-10.9	390	3033	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	1953	3584	0	0	0	0	0	0	28.83	28.83	28.83
3335	-0.71	-194.6	442.5	-10.3	420	3340	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	1953	3583	0	0	0	0	0	0	28.83	28.83	28.83
3644	-0.71	-194.6	476.8	-11.4	451	3650	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	1953	3581	0	0	0	0	0	0	28.83	28.83	28.83
3953	-0.71	-194.6	509.5	-9.8	482	3962	0.00	2.20	0.00	0.000	4	0.000	0.049	2700	3355	3579	0	0	0	0	0	0	28.83	26.20	28.83
4010	-0.73	-194.6	514.9	-10.2	487	4016	0.00	2.12	0.00	0.000	6	0.000	0.032	2700	1951	3579	0	0	0	0	0	0	28.83	26.34	28.83
4315	-0.73	-194.6	544.0	-9.0	518	4323	0.00	2.17	0.00	0.000	4	0.000	0.050	2700	558	3579	0	0	0	0	0	0	28.83	26.20	28.83
4408	-0.73	-194.6	553.3	-10.5	527	4416	0.00	2.15	0.00	0.000	6	0.000	0.039	2700	1957	3578	0	0	0	0	0	0	28.83	26.27	28.83
4657	end dive: TARGET_DEPTH_EXCEEDED
state	4657	begin apogee
4662	-0.17	0.0	578.3	-10.2	552	4822	0.57	0.00	152.32	0.997	6	0.117	0.000	2892	1957	2786	0	0	0	0	0	0	25.86	28.83	24.06
4823	end apogee: CONTROL_FINISHED_OK
state	4823	begin climb
4825	0.81	194.6	585.1	0.0	568	4993	0.85	2.28	157.07	0.968	4	0.050	0.051	3236	597	1990	0	0	0	0	0	0	25.38	25.15	24.06
5039	0.73	194.6	559.8	18.7	589	5048	0.15	2.20	0.00	0.000	6	0.140	0.038	3188	1991	1986	0	0	0	0	0	0	25.45	25.68	28.83
5348	0.68	194.6	513.5	15.4	620	5356	0.00	2.17	0.00	0.000	4	0.000	0.047	3188	3396	1983	0	0	0	0	0	0	28.83	26.13	28.83
5383	0.63	194.6	508.2	15.9	623	5391	0.15	2.15	0.00	0.000	6	0.173	0.034	3159	1996	1983	0	0	0	0	0	0	25.90	26.23	28.83
5691	0.60	194.6	468.9	11.5	654	5699	0.00	2.17	0.00	0.000	4	0.000	0.045	3158	3406	1982	0	0	0	0	0	0	28.83	26.23	28.83
5713	0.57	194.6	465.9	12.0	656	5723	0.12	2.17	0.00	0.000	6	0.170	0.034	3135	1994	1981	0	0	0	0	0	0	26.03	26.31	28.83
6022	0.56	194.6	432.2	11.4	687	6031	0.00	2.20	0.00	0.000	4	0.000	0.048	3143	579	1980	0	0	0	0	0	0	28.83	26.23	28.83
6076	0.55	194.6	426.1	12.0	692	6084	0.00	2.15	0.00	0.000	6	0.000	0.033	3143	2010	1979	0	0	0	0	0	0	28.83	26.30	28.83
6384	0.53	194.6	386.7	13.8	723	6393	0.00	2.12	0.00	0.000	4	0.000	0.045	3143	3387	1978	0	0	0	0	0	0	28.83	26.24	28.83
6621	0.51	194.6	356.7	12.9	746	6628	0.15	2.15	0.00	0.000	6	0.152	0.034	3111	1967	1978	0	0	0	0	0	0	26.03	26.30	28.83
6928	0.55	231.9	325.4	9.6	777	6960	0.00	0.00	30.45	0.832	6	0.000	0.000	3111	1967	1840	0	0	0	0	0	0	28.83	28.83	24.61
7260	0.65	294.2	295.2	8.6	810	7319	0.12	2.35	52.95	0.813	4	0.088	0.042	3191	3395	1586	0	0	0	0	0	0	26.36	25.62	24.50
7336	0.62	294.2	285.5	14.5	817	7344	0.20	2.17	0.00	0.000	6	0.147	0.034	3147	1994	1585	0	0	0	0	0	0	25.51	25.75	28.83
7644	0.66	318.4	251.8	10.1	848	7674	0.00	2.20	21.50	0.754	4	0.000	0.047	3156	596	1486	0	0	0	0	0	0	28.83	25.92	24.73
7753	0.73	354.6	241.6	9.6	858	7790	0.00	2.15	31.02	0.754	6	0.000	0.030	3156	1991	1339	0	0	0	0	0	0	28.83	26.10	24.63
8089	0.77	361.9	208.1	10.7	892	8103	0.12	2.20	7.18	0.616	4	0.086	0.043	3230	3386	1309	0	0	0	0	0	0	26.33	26.10	24.69
8216	0.76	361.9	186.3	17.1	911	8224	0.17	2.15	0.00	0.000	6	0.145	0.034	3189	1973	1308	0	0	0	0	0	0	25.91	26.17	28.83
8546	0.77	361.9	146.6	11.4	972	8554	0.00	2.15	0.00	0.000	4	0.000	0.047	3197	604	1309	0	0	0	0	0	0	28.83	26.20	28.83
8595	0.79	361.9	140.9	11.4	980	8603	0.00	2.12	0.00	0.000	6	0.000	0.030	3197	1993	1308	0	0	0	0	0	0	28.83	26.32	28.83
8927	0.84	379.7	109.8	10.3	1041	8953	0.00	2.22	16.05	0.630	4	0.000	0.045	3206	604	1237	0	0	0	0	0	0	28.83	26.14	24.88
8979	0.90	401.3	104.2	10.2	1049	9005	0.00	2.10	18.73	0.625	6	0.000	0.029	3206	1998	1149	0	0	0	0	0	0	28.83	26.22	24.86
9331	0.93	401.3	71.6	11.3	1113	9338	0.12	0.00	0.00	0.000	6	0.086	0.000	3286	1999	1148	0	0	0	0	0	0	26.40	28.83	28.83
9660	0.90	401.3	16.4	15.7	1174	9668	0.12	0.00	0.00	0.000	6	0.155	0.000	3246	1999	1147	0	0	0	0	0	0	26.19	28.83	28.83
9701	end climb: SURFACE_DEPTH_REACHED
state	9701	begin surface coast
9811	end surface coast: CONTROL_FINISHED_OK
state	9811	begin surface