Glider dive log

MIRC Sep14 * SG178 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 HEADING -1 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 0

MISSION 18 ESCAPE_HEADING 0 C_ROLL_CLIMB 1900 ALTIM_PING_DELTA 10

DIVE 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 1

D_SURF 3 TGT_DEFAULT_LAT 47.700001 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 5

D_FLARE 3 TGT_DEFAULT_LON -122.4 R_PORT_OVSHOOT 34 XPDR_VALID 6

D_TGT 360 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 57 XPDR_INHIBIT 99

D_ABORT 1020 SM_CC 400 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_NO_BLEED 200 N_FILEKB 8 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_BOOST 3 FILEMGR 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_FINISH 0 COMM_SEQ 0 VBD_MIN 425 DEVICE1 2

D_PITCH 0 PROTOCOL 9 VBD_MAX 3960 DEVICE2 -1

D_SAFE 0 N_NOCOMM 1 C_VBD 3325 DEVICE3 -1

D_CALL 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE4 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE5 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0014 LOGGERS 0

T_DIVE 120 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 99

T_MISSION 150 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_TURN 225 HEAPDBG 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 COMPASS_DEVICE 33

T_NO_W 120 N_GPS -20 W_ADJ_DBAND 0 COMPASS2_DEVICE -1

T_LOITER 0 T_GPS_ALMANAC 0 DBDW 0 PHONE_DEVICE 49

T_EPIRB 0 T_RSLEEP 2 PITCH_W_GAIN 0 GPS_DEVICE 32

USE_BATHY -2 STROBE 0 PITCH_W_DBAND 0 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_24V 145.11 SIM_W 0

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 AH0_10V 98.019997 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MIN 165 MINV_24V 22 SEABIRD_T_G 0.0043278597

RELAUNCH 1 PITCH_MAX 3954 MINV_10V 9.5 SEABIRD_T_H 0.00062587409

APOGEE_PITCH -5 C_PITCH 2870 FG_AHR_10V 0 SEABIRD_T_I 2.4307059e-05

MAX_BUOY 150 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_J 2.6760367e-06

COURSE_BIAS 0 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_C_G -9.9460888

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_YINT -46.80373 SEABIRD_C_H 1.1279132

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 PRESSURE_SLOPE 0.0001161899 SEABIRD_C_I -0.0015660153

RHO 1.0275 PITCH_GAIN 35 AD7714Ch0Gain 128 SEABIRD_C_J 0.00020359491

MASS 51648 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 PA_OFFLOAD 1.0

MASS_COMP 0 PITCH_AD_RATE 145 TCM_ROLL_OFFSET 0 PA_MAXUPLOADSIZE 20480.0

NAV_MODE 2 PITCH_MAXERRORS 1 COMPASS_USE 4 PA_MAXOPTIONALUPLOADSIZE 20480.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0 PA_POWERSOURCE 0.0

KALMAN_USE 2 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 PA_RESTARTMONITOR 0.0

HD_A 0.0025937001 ROLL_MIN 226 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 0.0

HD_B 0.01134 ROLL_MAX 3782 ALTIM_TOP_TURN_MARGIN 0

HD_C 1.234e-05 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 0

AD7714Ch0Gain 128 D_SAFE 0 PA_POWERSOURCE 0.0 SEABIRD_T_J 2.6760367e-06

AH0_10V 98.019997 D_SURF 3 PA_RESTARTMONITOR 0.0 SIM_PITCH 0

AH0_24V 145.11 D_TGT 360 PHONE_DEVICE 49 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 145 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 1 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 5 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 35 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAX 3954 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0025937001 PITCH_MIN 165 TGT_DEFAULT_LAT 47.700001

APOGEE_PITCH -5 HD_B 0.01134 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -122.4

CALL_NDIVES 1 HD_C 1.234e-05 PITCH_VBD_SHIFT 0.0014 T_ABORT 1440

CALL_TRIES 5 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 120

CAPMAXSIZE 100000 HEAPDBG 0 PRESSURE_SLOPE 0.0001161899 T_EPIRB 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -46.80373 T_GPS 15

CF8_MAXERRORS 20 ID 178 PROTOCOL 9 T_GPS_ALMANAC 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 P_OVSHOOT_WITHG 0 T_MISSION 150

COMPASS_DEVICE 33 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE1 99 RAFOS_DEVICE -1 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2870 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1900 LOGGERDEVICE4 -1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2250 LOGGERS 0 RHO 1.0275 UNCOM_BLEED 50

C_VBD 3325 MASS 51648 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 ROLL_AD_RATE 350 USE_ICE 0

DEVICE1 2 MINV_10V 9.5 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_24V 22 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MISSION 18 ROLL_MAX 3782 VBD_DBAND 2

DEVICE4 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 NAV_MODE 2 ROLL_MIN 226 VBD_MAXERRORS 1

DEVICE6 -1 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_MIN 425

DIVE 4 N_DIVES 0 R_PORT_OVSHOOT 34 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 N_FILEKB 8 R_STBD_OVSHOOT 57 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 3 N_GPS -20 SEABIRD_C_G -9.9460888 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_H 1.1279132 W_ADJ_DBAND 0

D_FINISH 0 N_NOSURFACE 0 SEABIRD_C_I -0.0015660153 XPDR_DEVICE 24

D_FLARE 3 PA_CYCLEPAAM 0.0 SEABIRD_C_J 0.00020359491 XPDR_INHIBIT 99

D_NO_BLEED 200 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_G 0.0043278597 XPDR_VALID 6

D_OFFGRID 1000 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.00062587409

D_PITCH 0 PA_OFFLOAD 1.0 SEABIRD_T_I 2.4307059e-05

Pre-dive calculations and measurements:

GPS1 290914,070407,1331.459,14435.174,11,1.5,11,1.4 SPEED_LIMITS 0.173,0.242

_CALLS 1 TGT_NAME T2

_XMS_NAKs 0 TGT_LATLONG 1331.000,14432.000

_XMS_TOUTs 0 TGT_RADIUS 1500.000

_SM_DEPTHo 0.59 MHEAD_RNG_PITCHd_Wd 241.1,5763,-17.8,-10.000,-22.42,2207

_SM_ANGLEo -71.2 D_GRID 2073

GPS2 290914,070803,1331.490,14435.161,10,1.7,30,1.4

Post-dive calculations and measurements:

FINISH -0.5,1.021397 FG_AHR_24Vo 0.000

SM_CCo 6436,0.00,0.000,0,0,1654,409.90 FG_AHR_10Vo 0.000

SM_GC 0.30,7.88,0.55,0.00,0.035,0.046,0.000,163,2267,1654,-8.41,-0.93,409.90,0,0,0,0,0,0,26.76,26.81,28.83 MEM 228396

IRIDIUM_FIX 1323.10,14427.22,290914,070029 DATA_FILE_SIZE 20125,468

TT8_MAMPS 0.051681,0.051681 CAP_FILE_SIZE 84631,0

HUMID 56.49 CFSIZE 260034560,256589824

INTERNAL_PRESSURE 9.307 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.10 INTR 0,3869.43,0x236bc6,7,5

XPDR_PINGS 1 CURRENT 0.069,284.52,1

_24V_AH 25.22,0.522 GPS 290914,085639,1331.045,14434.343,32,99.0,52,1.4

_10V_AH 10.55,0.468

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 251 128.06 SBE_CT 311 24 194.04

Roll_motor 66 52 87.86 nil 0 0 0.00

VBD_pump_during_apogee 438 783 8659.20 nil 0 0 0.00

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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 PAAM 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 30 10.75

TT8 0 0 0.00

LPSleep 4512 2 104.26

TT8_Active 573 16 97.72

TT8_Sampling 1349 46 656.84

TT8_CF8 64 54 37.09

TT8_Kalman 0 0 0.00

Analog_circuits 1160 15 187.30

GPS_charging 0 0 0.00

Compass 1049 0 8.30

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.71 -146.0 152 2279 436 483 0.0 0.0 0 128 0.00 0.00 -112.20 0.000 16386 0.000 0.000 147 2278 3378 3419 3337 0 0 0 0 0 0 28.83 28.83 28.83

130 -0.71 -146.0 148 2278 3420 3338 5.2 -10.1 11 157 10.52 2.15 -7.97 0.000 18948 0.252 0.047 2638 833 3923 3976 3870 0 0 0 0 0 0 26.59 27.08 27.41

301 -0.71 -146.0 2639 833 3981 3870 58.9 -21.7 28 309 0.00 2.12 0.00 0.000 1030 0.000 0.037 2631 2222 3925 3980 3871 0 0 0 0 0 0 28.83 27.12 28.83

486 -0.71 -146.0 2631 2224 3982 3871 107.7 -26.7 47 487 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2223 3925 3981 3870 0 0 0 0 0 0 28.83 28.83 28.83

666 -0.71 -146.0 2630 2222 3984 3870 144.6 -18.1 65 667 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2222 3926 3982 3870 0 0 0 0 0 0 28.83 28.83 28.83

846 -0.71 -146.0 2630 2224 3985 3872 177.9 -19.4 83 850 0.00 2.10 0.00 0.000 516 0.000 0.036 2631 829 3927 3983 3871 0 0 0 0 0 0 28.83 27.20 28.83

891 -0.71 -146.0 2631 830 3985 3870 184.7 -17.2 87 899 0.00 2.17 0.00 0.000 1030 0.000 0.037 2622 2265 3927 3984 3871 0 0 0 0 0 0 28.83 27.18 28.83

1076 -0.71 -146.0 2623 2266 3987 3871 215.4 -14.6 106 1080 0.00 2.12 0.00 0.000 260 0.000 0.049 2612 3645 3928 3985 3871 0 0 0 0 0 0 28.83 27.15 28.83

1116 -0.71 -146.0 2612 3646 3985 3872 220.3 -12.3 110 1120 0.00 2.10 0.00 0.000 1030 0.000 0.030 2612 2223 3928 3986 3871 0 0 0 0 0 0 28.83 27.28 28.83

1306 -0.71 -146.0 2612 2220 3989 3871 244.0 -13.2 129 1310 0.00 2.05 0.00 0.000 516 0.000 0.037 2612 851 3929 3987 3871 0 0 0 0 0 0 28.83 27.22 28.83

1336 -0.71 -146.0 2613 852 3988 3871 248.0 -13.5 132 1340 0.10 2.12 0.00 0.000 3078 0.138 0.037 2638 2250 3929 3987 3871 0 0 0 0 0 0 26.93 27.18 28.83

1536 -0.71 -146.0 2638 2251 3989 3871 267.4 -9.0 140 1537 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2251 3929 3987 3871 0 0 0 0 0 0 28.83 28.83 28.83

1836 -0.71 -146.0 2639 2252 3988 3872 295.2 -9.2 150 1840 0.00 2.17 0.00 0.000 260 0.000 0.053 2632 3644 3928 3987 3870 0 0 0 0 0 0 28.83 27.12 28.83

1896 -0.71 -146.0 2632 3645 3987 3872 300.6 -8.9 152 1901 0.00 2.08 0.00 0.000 1030 0.000 0.032 2632 2247 3928 3986 3870 0 0 0 0 0 0 28.83 27.28 28.83

2226 -0.71 -146.0 2633 2245 3983 3872 333.3 -10.5 163 2231 0.00 2.10 0.00 0.000 516 0.000 0.039 2632 858 3926 3982 3870 0 0 0 0 0 0 28.83 27.19 28.83

2281 -0.71 -146.0 2633 857 3983 3871 336.3 -10.5 164 2288 0.00 2.15 0.00 0.000 1030 0.000 0.040 2626 2257 3926 3982 3870 0 0 0 0 0 0 28.83 27.14 28.83

2525 end dive: TARGET_DEPTH_EXCEEDED

state 2525 begin apogee

2528 -0.14 0.0 2627 1890 3977 3872 361.8 -9.6 173 2648 0.60 0.00 113.10 0.783 10246 0.110 0.000 2827 1886 3324 3369 3280 0 0 0 0 0 0 26.91 28.83 25.35

2649 end apogee: CONTROL_FINISHED_OK

state 2649 begin climb

2650 0.71 146.0 2827 1887 3369 3281 368.4 0.0 177 2773 0.75 2.28 116.82 0.770 10500 0.043 0.044 3124 3305 2728 2766 2691 0 0 0 0 0 0 26.18 25.89 25.22

2933 0.78 192.7 3124 3306 2754 2692 366.9 7.8 186 2975 0.00 2.12 38.60 0.755 9222 0.000 0.031 3134 1916 2539 2573 2506 0 0 0 0 0 0 28.83 26.70 25.53

3273 0.78 192.7 3135 1916 2564 2495 322.3 13.6 198 3277 0.00 2.20 0.00 0.000 260 0.000 0.050 3135 3297 2529 2564 2495 0 0 0 0 0 0 28.83 26.83 28.83

3502 0.78 192.7 3136 3298 2561 2496 293.1 13.6 205 3507 0.00 2.12 0.00 0.000 1030 0.000 0.033 3146 1902 2527 2560 2495 0 0 0 0 0 0 28.83 27.04 28.83

3813 0.78 192.7 3146 1902 2558 2491 251.2 12.9 216 3817 0.00 2.20 0.00 0.000 516 0.000 0.046 3157 493 2524 2557 2491 0 0 0 0 0 0 28.83 27.03 28.83

3853 0.78 192.7 3157 493 2557 2490 246.6 12.1 218 3857 0.10 2.15 0.00 0.000 5126 0.167 0.034 3127 1892 2522 2556 2488 0 0 0 0 0 0 26.80 27.09 28.83

4044 0.82 222.8 3127 1892 2556 2487 230.3 8.6 237 4075 0.00 2.25 22.98 0.705 8452 0.000 0.050 3127 3303 2414 2450 2379 0 0 0 0 0 0 28.83 26.78 26.15

4299 0.82 222.8 3127 3303 2441 2379 202.3 10.1 262 4306 0.00 2.15 0.00 0.000 1030 0.000 0.033 3136 1897 2408 2440 2377 0 0 0 0 0 0 28.83 27.01 28.83

4484 0.86 252.5 3137 1895 2441 2375 186.1 8.6 281 4510 0.00 0.00 24.35 0.680 8198 0.000 0.000 3136 1895 2295 2327 2263 0 0 0 0 0 0 28.83 28.83 26.09

4684 0.86 252.5 3136 1895 2321 2255 166.2 12.1 301 4688 0.00 2.25 0.00 0.000 260 0.000 0.049 3136 3309 2287 2320 2255 0 0 0 0 0 0 28.83 26.88 28.83

4784 0.86 252.5 3136 3309 2318 2254 154.3 10.5 311 4789 0.00 2.15 0.00 0.000 1030 0.000 0.034 3147 1904 2285 2317 2254 0 0 0 0 0 0 28.83 26.98 28.83

4974 0.92 292.0 3148 1905 2317 2254 138.6 8.2 330 5009 0.00 2.22 31.42 0.647 8452 0.000 0.048 3147 3305 2134 2167 2101 0 0 0 0 0 0 28.83 26.63 26.03

5234 0.92 292.0 3147 3306 2156 2100 110.9 13.2 355 5242 0.00 2.15 0.00 0.000 1030 0.000 0.032 3158 1904 2127 2155 2100 0 0 0 0 0 0 28.83 26.93 28.83

5419 0.92 292.0 3158 1904 2155 2096 90.9 10.1 374 5423 0.00 2.20 0.00 0.000 516 0.000 0.045 3169 493 2125 2155 2096 0 0 0 0 0 0 28.83 26.96 28.83

5484 0.92 292.0 3169 494 2157 2094 84.9 10.4 380 5492 0.00 2.17 0.00 0.000 1030 0.000 0.032 3169 1906 2124 2156 2093 0 0 0 0 0 0 28.83 27.03 28.83

5669 0.96 322.1 3169 1907 2158 2093 67.1 8.6 399 5702 0.00 2.20 24.12 0.578 8452 0.000 0.048 3169 3301 2010 2044 1976 0 0 0 0 0 0 28.83 26.79 26.21

5926 0.96 322.1 3169 3303 2038 1977 44.1 10.5 424 5933 0.00 2.15 0.00 0.000 1030 0.000 0.031 3179 1887 2006 2037 1976 0 0 0 0 0 0 28.83 27.00 28.83

6111 1.08 406.5 3180 1888 2037 1975 31.6 6.1 443 6184 0.12 2.33 66.90 0.555 10500 0.093 0.045 3238 3316 1666 1705 1627 0 0 0 0 0 0 27.13 26.38 25.85

6268 1.08 406.5 3239 3317 1699 1628 12.6 15.8 458 6276 0.10 2.17 0.00 0.000 5126 0.151 0.030 3219 1900 1662 1698 1627 0 0 0 0 0 0 26.50 26.67 28.83

6342 end climb: SURFACE_DEPTH_REACHED

state 6342 begin surface coast

6362 end surface coast: CONTROL_FINISHED_OK

state 6362 begin surface

ID	178	HEADING	-1	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	0
MISSION	18	ESCAPE_HEADING	0	C_ROLL_CLIMB	1900	ALTIM_PING_DELTA	10
DIVE	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	1
D_SURF	3	TGT_DEFAULT_LAT	47.700001	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	5
D_FLARE	3	TGT_DEFAULT_LON	-122.4	R_PORT_OVSHOOT	34	XPDR_VALID	6
D_TGT	360	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	57	XPDR_INHIBIT	99
D_ABORT	1020	SM_CC	400	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_NO_BLEED	200	N_FILEKB	8	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_BOOST	3	FILEMGR	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_FINISH	0	COMM_SEQ	0	VBD_MIN	425	DEVICE1	2
D_PITCH	0	PROTOCOL	9	VBD_MAX	3960	DEVICE2	-1
D_SAFE	0	N_NOCOMM	1	C_VBD	3325	DEVICE3	-1
D_CALL	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE4	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE5	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0014	LOGGERS	0
T_DIVE	120	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	99
T_MISSION	150	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_TURN	225	HEAPDBG	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	COMPASS_DEVICE	33
T_NO_W	120	N_GPS	-20	W_ADJ_DBAND	0	COMPASS2_DEVICE	-1
T_LOITER	0	T_GPS_ALMANAC	0	DBDW	0	PHONE_DEVICE	49
T_EPIRB	0	T_RSLEEP	2	PITCH_W_GAIN	0	GPS_DEVICE	32
USE_BATHY	-2	STROBE	0	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_24V	145.11	SIM_W	0
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	AH0_10V	98.019997	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MIN	165	MINV_24V	22	SEABIRD_T_G	0.0043278597
RELAUNCH	1	PITCH_MAX	3954	MINV_10V	9.5	SEABIRD_T_H	0.00062587409
APOGEE_PITCH	-5	C_PITCH	2870	FG_AHR_10V	0	SEABIRD_T_I	2.4307059e-05
MAX_BUOY	150	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_J	2.6760367e-06
COURSE_BIAS	0	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.9460888
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_YINT	-46.80373	SEABIRD_C_H	1.1279132
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	PRESSURE_SLOPE	0.0001161899	SEABIRD_C_I	-0.0015660153
RHO	1.0275	PITCH_GAIN	35	AD7714Ch0Gain	128	SEABIRD_C_J	0.00020359491
MASS	51648	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	PA_OFFLOAD	1.0
MASS_COMP	0	PITCH_AD_RATE	145	TCM_ROLL_OFFSET	0	PA_MAXUPLOADSIZE	20480.0
NAV_MODE	2	PITCH_MAXERRORS	1	COMPASS_USE	4	PA_MAXOPTIONALUPLOADSIZE	20480.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0	PA_POWERSOURCE	0.0
KALMAN_USE	2	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	PA_RESTARTMONITOR	0.0
HD_A	0.0025937001	ROLL_MIN	226	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	0.0
HD_B	0.01134	ROLL_MAX	3782	ALTIM_TOP_TURN_MARGIN	0
HD_C	1.234e-05	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	0

GPS1	290914,070407,1331.459,14435.174,11,1.5,11,1.4	SPEED_LIMITS	0.173,0.242
_CALLS	1	TGT_NAME	T2
_XMS_NAKs	0	TGT_LATLONG	1331.000,14432.000
_XMS_TOUTs	0	TGT_RADIUS	1500.000
_SM_DEPTHo	0.59	MHEAD_RNG_PITCHd_Wd	241.1,5763,-17.8,-10.000,-22.42,2207
_SM_ANGLEo	-71.2	D_GRID	2073
GPS2	290914,070803,1331.490,14435.161,10,1.7,30,1.4

FINISH	-0.5,1.021397	FG_AHR_24Vo	0.000
SM_CCo	6436,0.00,0.000,0,0,1654,409.90	FG_AHR_10Vo	0.000
SM_GC	0.30,7.88,0.55,0.00,0.035,0.046,0.000,163,2267,1654,-8.41,-0.93,409.90,0,0,0,0,0,0,26.76,26.81,28.83	MEM	228396
IRIDIUM_FIX	1323.10,14427.22,290914,070029	DATA_FILE_SIZE	20125,468
TT8_MAMPS	0.051681,0.051681	CAP_FILE_SIZE	84631,0
HUMID	56.49	CFSIZE	260034560,256589824
INTERNAL_PRESSURE	9.307	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.10	INTR	0,3869.43,0x236bc6,7,5
XPDR_PINGS	1	CURRENT	0.069,284.52,1
_24V_AH	25.22,0.522	GPS	290914,085639,1331.045,14434.343,32,99.0,52,1.4
_10V_AH	10.55,0.468

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	251	128.06	SBE_CT	311	24	194.04
Roll_motor	66	52	87.86	nil	0	0	0.00
VBD_pump_during_apogee	438	783	8659.20	nil	0	0	0.00
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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	PAAM	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	30	10.75
TT8	0	0	0.00
LPSleep	4512	2	104.26
TT8_Active	573	16	97.72
TT8_Sampling	1349	46	656.84
TT8_CF8	64	54	37.09
TT8_Kalman	0	0	0.00
Analog_circuits	1160	15	187.30
GPS_charging	0	0	0.00
Compass	1049	0	8.30
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.71	-146.0	152	2279	436	483	0.0	0.0	0	128	0.00	0.00	-112.20	0.000	16386	0.000	0.000	147	2278	3378	3419	3337	0	0	0	0	0	0	28.83	28.83	28.83
130	-0.71	-146.0	148	2278	3420	3338	5.2	-10.1	11	157	10.52	2.15	-7.97	0.000	18948	0.252	0.047	2638	833	3923	3976	3870	0	0	0	0	0	0	26.59	27.08	27.41
301	-0.71	-146.0	2639	833	3981	3870	58.9	-21.7	28	309	0.00	2.12	0.00	0.000	1030	0.000	0.037	2631	2222	3925	3980	3871	0	0	0	0	0	0	28.83	27.12	28.83
486	-0.71	-146.0	2631	2224	3982	3871	107.7	-26.7	47	487	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2223	3925	3981	3870	0	0	0	0	0	0	28.83	28.83	28.83
666	-0.71	-146.0	2630	2222	3984	3870	144.6	-18.1	65	667	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2222	3926	3982	3870	0	0	0	0	0	0	28.83	28.83	28.83
846	-0.71	-146.0	2630	2224	3985	3872	177.9	-19.4	83	850	0.00	2.10	0.00	0.000	516	0.000	0.036	2631	829	3927	3983	3871	0	0	0	0	0	0	28.83	27.20	28.83
891	-0.71	-146.0	2631	830	3985	3870	184.7	-17.2	87	899	0.00	2.17	0.00	0.000	1030	0.000	0.037	2622	2265	3927	3984	3871	0	0	0	0	0	0	28.83	27.18	28.83
1076	-0.71	-146.0	2623	2266	3987	3871	215.4	-14.6	106	1080	0.00	2.12	0.00	0.000	260	0.000	0.049	2612	3645	3928	3985	3871	0	0	0	0	0	0	28.83	27.15	28.83
1116	-0.71	-146.0	2612	3646	3985	3872	220.3	-12.3	110	1120	0.00	2.10	0.00	0.000	1030	0.000	0.030	2612	2223	3928	3986	3871	0	0	0	0	0	0	28.83	27.28	28.83
1306	-0.71	-146.0	2612	2220	3989	3871	244.0	-13.2	129	1310	0.00	2.05	0.00	0.000	516	0.000	0.037	2612	851	3929	3987	3871	0	0	0	0	0	0	28.83	27.22	28.83
1336	-0.71	-146.0	2613	852	3988	3871	248.0	-13.5	132	1340	0.10	2.12	0.00	0.000	3078	0.138	0.037	2638	2250	3929	3987	3871	0	0	0	0	0	0	26.93	27.18	28.83
1536	-0.71	-146.0	2638	2251	3989	3871	267.4	-9.0	140	1537	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2251	3929	3987	3871	0	0	0	0	0	0	28.83	28.83	28.83
1836	-0.71	-146.0	2639	2252	3988	3872	295.2	-9.2	150	1840	0.00	2.17	0.00	0.000	260	0.000	0.053	2632	3644	3928	3987	3870	0	0	0	0	0	0	28.83	27.12	28.83
1896	-0.71	-146.0	2632	3645	3987	3872	300.6	-8.9	152	1901	0.00	2.08	0.00	0.000	1030	0.000	0.032	2632	2247	3928	3986	3870	0	0	0	0	0	0	28.83	27.28	28.83
2226	-0.71	-146.0	2633	2245	3983	3872	333.3	-10.5	163	2231	0.00	2.10	0.00	0.000	516	0.000	0.039	2632	858	3926	3982	3870	0	0	0	0	0	0	28.83	27.19	28.83
2281	-0.71	-146.0	2633	857	3983	3871	336.3	-10.5	164	2288	0.00	2.15	0.00	0.000	1030	0.000	0.040	2626	2257	3926	3982	3870	0	0	0	0	0	0	28.83	27.14	28.83
2525	end dive: TARGET_DEPTH_EXCEEDED
state	2525	begin apogee
2528	-0.14	0.0	2627	1890	3977	3872	361.8	-9.6	173	2648	0.60	0.00	113.10	0.783	10246	0.110	0.000	2827	1886	3324	3369	3280	0	0	0	0	0	0	26.91	28.83	25.35
2649	end apogee: CONTROL_FINISHED_OK
state	2649	begin climb
2650	0.71	146.0	2827	1887	3369	3281	368.4	0.0	177	2773	0.75	2.28	116.82	0.770	10500	0.043	0.044	3124	3305	2728	2766	2691	0	0	0	0	0	0	26.18	25.89	25.22
2933	0.78	192.7	3124	3306	2754	2692	366.9	7.8	186	2975	0.00	2.12	38.60	0.755	9222	0.000	0.031	3134	1916	2539	2573	2506	0	0	0	0	0	0	28.83	26.70	25.53
3273	0.78	192.7	3135	1916	2564	2495	322.3	13.6	198	3277	0.00	2.20	0.00	0.000	260	0.000	0.050	3135	3297	2529	2564	2495	0	0	0	0	0	0	28.83	26.83	28.83
3502	0.78	192.7	3136	3298	2561	2496	293.1	13.6	205	3507	0.00	2.12	0.00	0.000	1030	0.000	0.033	3146	1902	2527	2560	2495	0	0	0	0	0	0	28.83	27.04	28.83
3813	0.78	192.7	3146	1902	2558	2491	251.2	12.9	216	3817	0.00	2.20	0.00	0.000	516	0.000	0.046	3157	493	2524	2557	2491	0	0	0	0	0	0	28.83	27.03	28.83
3853	0.78	192.7	3157	493	2557	2490	246.6	12.1	218	3857	0.10	2.15	0.00	0.000	5126	0.167	0.034	3127	1892	2522	2556	2488	0	0	0	0	0	0	26.80	27.09	28.83
4044	0.82	222.8	3127	1892	2556	2487	230.3	8.6	237	4075	0.00	2.25	22.98	0.705	8452	0.000	0.050	3127	3303	2414	2450	2379	0	0	0	0	0	0	28.83	26.78	26.15
4299	0.82	222.8	3127	3303	2441	2379	202.3	10.1	262	4306	0.00	2.15	0.00	0.000	1030	0.000	0.033	3136	1897	2408	2440	2377	0	0	0	0	0	0	28.83	27.01	28.83
4484	0.86	252.5	3137	1895	2441	2375	186.1	8.6	281	4510	0.00	0.00	24.35	0.680	8198	0.000	0.000	3136	1895	2295	2327	2263	0	0	0	0	0	0	28.83	28.83	26.09
4684	0.86	252.5	3136	1895	2321	2255	166.2	12.1	301	4688	0.00	2.25	0.00	0.000	260	0.000	0.049	3136	3309	2287	2320	2255	0	0	0	0	0	0	28.83	26.88	28.83
4784	0.86	252.5	3136	3309	2318	2254	154.3	10.5	311	4789	0.00	2.15	0.00	0.000	1030	0.000	0.034	3147	1904	2285	2317	2254	0	0	0	0	0	0	28.83	26.98	28.83
4974	0.92	292.0	3148	1905	2317	2254	138.6	8.2	330	5009	0.00	2.22	31.42	0.647	8452	0.000	0.048	3147	3305	2134	2167	2101	0	0	0	0	0	0	28.83	26.63	26.03
5234	0.92	292.0	3147	3306	2156	2100	110.9	13.2	355	5242	0.00	2.15	0.00	0.000	1030	0.000	0.032	3158	1904	2127	2155	2100	0	0	0	0	0	0	28.83	26.93	28.83
5419	0.92	292.0	3158	1904	2155	2096	90.9	10.1	374	5423	0.00	2.20	0.00	0.000	516	0.000	0.045	3169	493	2125	2155	2096	0	0	0	0	0	0	28.83	26.96	28.83
5484	0.92	292.0	3169	494	2157	2094	84.9	10.4	380	5492	0.00	2.17	0.00	0.000	1030	0.000	0.032	3169	1906	2124	2156	2093	0	0	0	0	0	0	28.83	27.03	28.83
5669	0.96	322.1	3169	1907	2158	2093	67.1	8.6	399	5702	0.00	2.20	24.12	0.578	8452	0.000	0.048	3169	3301	2010	2044	1976	0	0	0	0	0	0	28.83	26.79	26.21
5926	0.96	322.1	3169	3303	2038	1977	44.1	10.5	424	5933	0.00	2.15	0.00	0.000	1030	0.000	0.031	3179	1887	2006	2037	1976	0	0	0	0	0	0	28.83	27.00	28.83
6111	1.08	406.5	3180	1888	2037	1975	31.6	6.1	443	6184	0.12	2.33	66.90	0.555	10500	0.093	0.045	3238	3316	1666	1705	1627	0	0	0	0	0	0	27.13	26.38	25.85
6268	1.08	406.5	3239	3317	1699	1628	12.6	15.8	458	6276	0.10	2.17	0.00	0.000	5126	0.151	0.030	3219	1900	1662	1698	1627	0	0	0	0	0	0	26.50	26.67	28.83
6342	end climb: SURFACE_DEPTH_REACHED
state	6342	begin surface coast
6362	end surface coast: CONTROL_FINISHED_OK
state	6362	begin surface