Glider dive log

OKMC Mar12 * SG176 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 176 HD_B 0.0099999998 PITCH_ADJ_GAIN 0.015 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 6 HEADING -1 ROLL_MIN 160 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 10 ESCAPE_HEADING 0 ROLL_MAX 3752 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2500 ALTIM_PING_DELTA 0

D_TGT 660 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_ABORT 1010 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_BOOST 100 SM_CC 400 ROLL_TIMEOUT 15 XPDR_VALID 3

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT -15 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT -15 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.30000001

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 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

T_DIVE 220 UPLOAD_DIVES_MAX -1 C_VBD 2929 DEVICE3 35

T_MISSION 250 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 3 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -8 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -7363.6904 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

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 -7 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 200 PITCH_MIN 224 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4024 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2540 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043285224

SPEED_FACTOR 1 PITCH_DBAND 0.02 PRESSURE_YINT -70.662712 SEABIRD_T_H 0.00062606536

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001162977 SEABIRD_T_I 2.5051821e-05

MASS 51719 P_OVSHOOT 0.0099999998 AD7714Ch0Gain 128 SEABIRD_T_J 2.9112039e-06

NAV_MODE 2 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.134115

FERRY_MAX 45 PITCH_TIMEOUT 18 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1528351

KALMAN_USE 2 PITCH_AD_RATE 170 COMPASS_USE 0 SEABIRD_C_I -0.0013358581

HD_A 0.003 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019115997

AD7714Ch0Gain 128 D_NO_BLEED 500 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 110 D_OFFGRID 1000 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 4 PITCH_ADJ_GAIN 0.015 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 660 PITCH_AD_RATE 170 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.02 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAX 4024 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 224 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12218

APOGEE_PITCH -7 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001162977 T_BOOST 0

CALL_TRIES 5 HD_A 0.003 PRESSURE_YINT -70.662712 T_DIVE 220

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 P_OVSHOOT 0.0099999998 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -7363.6904

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 250

COMPASS_DEVICE 33 ID 176 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 -0.30000001 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2540 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2929 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3752 USE_BATHY -8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51719 ROLL_MIN 160 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 8 R_PORT_OVSHOOT -15 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT -15 VBD_MAX 3960

DEVICE5 -1 MISSION 5 SEABIRD_C_G -10.134115 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1528351 VBD_MIN 500

DIVE 6 NAV_MODE 2 SEABIRD_C_I -0.0013358581 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1010 NOCOMM_ACTION 161 SEABIRD_C_J 0.00019115997 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 100 N_DIVES 10 SEABIRD_T_G 0.0043285224 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.00062606536 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.5051821e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.9112039e-06 XPDR_VALID 3

Pre-dive calculations and measurements:

GPS1 140312,174122,2206.687,12238.953,7,3.9,26,-2.9 TGT_NAME S2

_CALLS 1 TGT_LATLONG 2015.000,12420.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140312,174722,2206.748,12238.968,15,3.4,34,-2.9 MHEAD_RNG_PITCHd_Wd 172.0,271382,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 4573

Post-dive calculations and measurements:

FINISH 0.6,1.019174 _10V_AH 10.4,2.993

SM_CCo 9568,0.00,0.000,0,0,902,496.98 FG_AHR_24Vo 0.000

SM_GC 1.28,6.38,0.05,0.00,0.035,0.144,0.000,199,2431,902,-7.23,0.65,496.98,0,0,0,0,0,0,26.61,26.72,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2202.04,12240.76,140312,141407 MEM 324648

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 70403,1053

HUMID 43.03 CAP_FILE_SIZE 125603,0

INTERNAL_PRESSURE 9.45623 CFSIZE 260165632,221863936

TCM_TEMP 23.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 1 CURRENT 0.176,337.3,1

_24V_AH 23.9,3.767 GPS 140312,202825,2205.836,12238.629,39,1.3,39,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 257 134.63 SBE_CT 709 24 407.18

Roll_motor 93 143 320.10 AA4330 1694 33 1336.76

VBD_pump_during_apogee 570 1467 19991.25 WL_BB2F 701 105 1759.67

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 28 103 70.49 nil 0 0 0.00

Iridium_during_connect 38 160 145.79 nil 0 0 0.00

Iridium_during_xfer 155 223 827.11 nil 0 0 0.00

Transponder_ping 0 420 2.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 38 50 19.93

TT8 2591 19 533.65

LPSleep 3896 2 88.75

TT8_Active 641 19 132.05

TT8_Sampling 2550 39 1055.91

TT8_CF8 234 45 111.80

TT8_Kalman 0 0 0.00

Analog_circuits 1686 12 210.50

GPS_charging 0 0 0.00

Compass 2245 15 350.26

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.61 -194.6 0.0 0.0 0 83 0.00 0.00 -62.75 0.000 2 0.000 0.000 190 2432 2747 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.61 -194.6 3.5 -8.1 9 121 8.45 2.05 -17.55 0.000 4 0.243 0.051 2341 1055 3726 0 0 0 0 0 0 25.99 26.32 26.59

197 -0.61 -194.6 35.6 -18.2 27 205 0.08 2.25 0.00 0.000 6 0.192 0.050 2349 2525 3726 0 0 0 0 0 0 26.24 26.33 28.83

547 -0.51 -194.6 119.4 -19.2 88 556 0.12 1.90 0.00 0.000 4 0.169 0.058 2385 3755 3725 0 0 0 0 0 0 26.41 26.46 28.83

685 -0.51 -194.6 140.7 -12.9 111 693 0.03 1.83 0.00 0.000 6 0.258 0.027 2344 2426 3725 0 0 0 0 0 0 26.51 26.60 28.83

1030 -0.44 -194.6 213.5 -18.6 166 1039 0.17 2.03 0.00 0.000 4 0.145 0.054 2394 3768 3725 0 0 0 0 0 0 26.51 26.57 28.83

1113 -0.51 -194.6 224.3 -10.6 174 1117 0.03 1.88 0.00 0.000 6 0.027 0.025 2329 2407 3725 0 0 0 0 0 0 26.61 26.70 28.83

1425 -0.43 -194.6 277.3 -16.2 205 1434 0.22 2.08 0.00 0.000 4 0.136 0.055 2400 3765 3725 0 0 0 0 0 0 26.55 26.60 28.83

1491 -0.49 -194.6 283.9 -8.3 211 1499 0.10 1.85 0.00 0.000 6 0.102 0.024 2330 2389 3725 0 0 0 0 0 0 26.67 26.74 28.83

1799 -0.44 -194.6 337.6 -18.6 242 1808 0.22 2.08 0.00 0.000 4 0.131 0.056 2400 3757 3725 0 0 0 0 0 0 26.58 26.63 28.83

1893 -0.57 -194.6 347.8 -8.2 251 1898 0.10 1.85 0.00 0.000 6 0.051 0.025 2288 2420 3725 0 0 0 0 0 0 26.72 26.76 28.83

2205 -0.46 -194.6 405.4 -18.3 282 2215 0.30 2.05 0.00 0.000 4 0.138 0.057 2386 3773 3723 0 0 0 0 0 0 26.58 26.65 28.83

2238 -0.42 -194.6 410.2 -16.0 285 2247 0.10 1.85 0.00 0.000 6 0.134 0.025 2421 2403 3723 0 0 0 0 0 0 26.64 26.77 28.83

2548 -0.69 -194.6 434.7 -10.3 316 2557 0.28 2.08 0.00 0.000 4 0.076 0.054 2300 3773 3722 0 0 0 0 0 0 26.72 26.67 28.83

2581 -0.86 -194.6 438.1 -10.5 319 2590 0.12 1.85 0.00 0.000 6 0.090 0.025 2217 2407 3722 0 0 0 0 0 0 26.73 26.78 28.83

2890 -0.67 -194.6 511.8 -24.3 350 2901 0.32 2.05 0.00 0.000 4 0.153 0.056 2318 3766 3721 0 0 0 0 0 0 26.55 26.67 28.83

3003 -0.67 -194.6 526.8 -10.2 361 3007 0.00 1.83 0.00 0.000 6 0.000 0.025 2318 2432 3720 0 0 0 0 0 0 28.83 26.78 28.83

3309 -0.67 -194.6 563.9 -13.0 391 3318 0.00 2.03 0.00 0.000 4 0.000 0.057 2317 3770 3719 0 0 0 0 0 0 28.83 26.67 28.83

3360 -0.67 -194.6 570.8 -13.5 396 3364 0.00 1.85 0.00 0.000 6 0.000 0.025 2316 2413 3719 0 0 0 0 0 0 28.83 26.80 28.83

3667 -0.67 -194.6 610.4 -12.8 422 3672 0.00 2.05 0.00 0.000 4 0.000 0.057 2310 3763 3716 0 0 0 0 0 0 28.83 26.68 28.83

3785 -0.67 -194.6 624.9 -11.7 428 3790 0.08 1.85 0.00 0.000 6 0.171 0.025 2331 2407 3715 0 0 0 0 0 0 26.65 26.81 28.83

4106 -0.69 -194.6 656.2 -9.7 444 4112 0.08 2.08 0.00 0.000 4 0.129 0.057 2273 3766 3713 0 0 0 0 0 0 26.81 26.67 28.83

4142 end dive: TARGET_DEPTH_EXCEEDED

state 4143 begin apogee

4149 -0.17 0.0 661.8 -11.1 446 4316 0.60 0.17 159.02 1.467 6 0.116 0.078 2487 2532 2928 0 0 0 0 0 0 26.60 24.81 23.91

4317 end apogee: CONTROL_FINISHED_OK

state 4317 begin climb

4319 0.61 194.6 670.7 0.0 454 4503 0.68 2.35 172.25 1.445 4 0.050 0.038 2763 1058 2134 0 0 0 0 0 0 25.04 24.81 23.86

4660 0.42 194.6 640.5 17.3 471 4669 0.35 2.28 0.00 0.000 6 0.182 0.047 2667 2517 2128 0 0 0 0 0 0 25.68 25.83 28.83

4967 0.33 194.6 599.7 12.2 487 4977 0.10 1.90 0.00 0.000 4 0.198 0.055 2642 3766 2125 0 0 0 0 0 0 26.13 26.19 28.83

5029 0.25 194.6 592.0 12.5 493 5039 0.12 1.88 0.00 0.000 6 0.187 0.027 2618 2442 2124 0 0 0 0 0 0 26.13 26.31 28.83

5340 0.31 237.0 565.7 8.5 524 5382 0.10 2.17 35.92 1.395 4 0.111 0.057 2669 3762 1961 0 0 0 0 0 0 26.44 25.44 24.51

5429 0.22 237.0 554.6 14.7 532 5436 0.25 1.92 0.00 0.000 6 0.158 0.027 2607 2451 1960 0 0 0 0 0 0 25.65 25.80 28.83

5736 0.41 338.6 530.9 6.5 563 5828 0.20 0.00 88.95 1.392 6 0.073 0.000 2708 2448 1547 0 0 0 0 0 0 26.27 28.83 23.99

6126 0.34 338.6 472.1 16.0 602 6135 0.20 2.05 0.00 0.000 4 0.151 0.054 2644 3764 1542 0 0 0 0 0 0 25.97 26.05 28.83

6219 0.47 385.5 462.1 8.4 611 6270 0.15 1.90 40.05 1.335 6 0.083 0.028 2722 2446 1356 0 0 0 0 0 0 26.18 26.21 24.36

6568 0.40 385.5 403.6 18.8 646 6578 0.17 2.08 0.00 0.000 4 0.153 0.037 2674 1052 1352 0 0 0 0 0 0 26.01 26.14 28.83

6632 0.54 423.8 396.4 8.7 652 6673 0.10 2.22 32.90 1.291 6 0.053 0.045 2747 2509 1200 0 0 0 0 0 0 26.19 26.17 24.52

6971 0.45 423.8 325.5 20.1 686 6975 0.20 1.92 0.00 0.000 4 0.160 0.054 2683 3764 1198 0 0 0 0 0 0 26.02 26.10 28.83

7057 0.56 449.1 314.8 9.1 694 7084 0.12 1.90 22.10 1.228 6 0.091 0.029 2745 2443 1096 0 0 0 0 0 0 26.22 26.25 24.80

7383 0.50 449.1 254.5 19.5 727 7387 0.15 2.05 0.00 0.000 4 0.154 0.052 2695 3777 1095 0 0 0 0 0 0 26.10 26.16 28.83

7418 0.47 449.1 249.2 17.4 730 7425 0.00 1.92 0.00 0.000 6 0.000 0.028 2697 2452 1095 0 0 0 0 0 0 28.83 26.26 28.83

7725 0.53 449.1 217.8 10.4 761 7735 0.08 2.05 0.00 0.000 4 0.133 0.038 2748 1061 1095 0 0 0 0 0 0 26.44 26.39 28.83

7760 0.57 449.1 214.1 11.3 764 7768 0.12 2.20 0.00 0.000 6 0.136 0.044 2709 2519 1094 0 0 0 0 0 0 26.31 26.38 28.83

8091 0.61 449.1 171.8 12.7 814 8101 0.12 2.20 0.00 0.000 4 0.095 0.037 2788 1058 1095 0 0 0 0 0 0 26.53 26.49 28.83

8131 0.59 449.1 165.9 16.4 820 8140 0.17 2.22 0.00 0.000 6 0.120 0.043 2726 2520 1095 0 0 0 0 0 0 26.38 26.48 28.83

8483 0.61 449.1 124.9 10.9 881 8490 0.05 1.88 0.00 0.000 4 0.180 0.052 2769 3765 1096 0 0 0 0 0 0 26.63 26.52 28.83

8514 0.58 449.1 120.1 15.2 886 8523 0.15 1.90 0.00 0.000 6 0.124 0.033 2721 2472 1097 0 0 0 0 0 0 26.45 26.60 28.83

8865 0.64 449.1 79.9 10.6 947 8874 0.10 2.08 0.00 0.000 4 0.112 0.039 2787 1053 1097 0 0 0 0 0 0 26.65 26.61 28.83

8922 0.68 449.1 72.6 12.3 956 8931 0.10 2.22 0.00 0.000 6 0.113 0.046 2748 2518 1097 0 0 0 0 0 0 26.52 26.60 28.83

9275 0.79 495.8 32.7 8.4 1017 9306 0.12 2.20 18.88 0.199 4 0.093 0.042 2831 1064 904 0 0 0 0 0 0 26.70 26.58 26.34

9355 0.81 495.8 20.6 14.6 1029 9362 0.15 2.17 0.00 0.000 6 0.138 0.046 2785 2525 903 0 0 0 0 0 0 26.48 26.57 28.83

9469 end climb: SURFACE_DEPTH_REACHED

state 9469 begin surface coast

9493 end surface coast: CONTROL_FINISHED_OK

state 9493 begin surface

ID	176	HD_B	0.0099999998	PITCH_ADJ_GAIN	0.015	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	6	HEADING	-1	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	10	ESCAPE_HEADING	0	ROLL_MAX	3752	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2500	ALTIM_PING_DELTA	0
D_TGT	660	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_ABORT	1010	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_BOOST	100	SM_CC	400	ROLL_TIMEOUT	15	XPDR_VALID	3
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	-15	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	-15	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.30000001
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	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
T_DIVE	220	UPLOAD_DIVES_MAX	-1	C_VBD	2929	DEVICE3	35
T_MISSION	250	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	3	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-8	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-7363.6904	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
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	-7	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	200	PITCH_MIN	224	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4024	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2540	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043285224
SPEED_FACTOR	1	PITCH_DBAND	0.02	PRESSURE_YINT	-70.662712	SEABIRD_T_H	0.00062606536
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001162977	SEABIRD_T_I	2.5051821e-05
MASS	51719	P_OVSHOOT	0.0099999998	AD7714Ch0Gain	128	SEABIRD_T_J	2.9112039e-06
NAV_MODE	2	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.134115
FERRY_MAX	45	PITCH_TIMEOUT	18	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1528351
KALMAN_USE	2	PITCH_AD_RATE	170	COMPASS_USE	0	SEABIRD_C_I	-0.0013358581
HD_A	0.003	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019115997

GPS1	140312,174122,2206.687,12238.953,7,3.9,26,-2.9	TGT_NAME	S2
_CALLS	1	TGT_LATLONG	2015.000,12420.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140312,174722,2206.748,12238.968,15,3.4,34,-2.9	MHEAD_RNG_PITCHd_Wd	172.0,271382,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	4573

FINISH	0.6,1.019174	_10V_AH	10.4,2.993
SM_CCo	9568,0.00,0.000,0,0,902,496.98	FG_AHR_24Vo	0.000
SM_GC	1.28,6.38,0.05,0.00,0.035,0.144,0.000,199,2431,902,-7.23,0.65,496.98,0,0,0,0,0,0,26.61,26.72,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2202.04,12240.76,140312,141407	MEM	324648
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	70403,1053
HUMID	43.03	CAP_FILE_SIZE	125603,0
INTERNAL_PRESSURE	9.45623	CFSIZE	260165632,221863936
TCM_TEMP	23.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	CURRENT	0.176,337.3,1
_24V_AH	23.9,3.767	GPS	140312,202825,2205.836,12238.629,39,1.3,39,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	257	134.63	SBE_CT	709	24	407.18
Roll_motor	93	143	320.10	AA4330	1694	33	1336.76
VBD_pump_during_apogee	570	1467	19991.25	WL_BB2F	701	105	1759.67
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	28	103	70.49	nil	0	0	0.00
Iridium_during_connect	38	160	145.79	nil	0	0	0.00
Iridium_during_xfer	155	223	827.11	nil	0	0	0.00
Transponder_ping	0	420	2.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	38	50	19.93
TT8	2591	19	533.65
LPSleep	3896	2	88.75
TT8_Active	641	19	132.05
TT8_Sampling	2550	39	1055.91
TT8_CF8	234	45	111.80
TT8_Kalman	0	0	0.00
Analog_circuits	1686	12	210.50
GPS_charging	0	0	0.00
Compass	2245	15	350.26
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.61	-194.6	0.0	0.0	0	83	0.00	0.00	-62.75	0.000	2	0.000	0.000	190	2432	2747	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.61	-194.6	3.5	-8.1	9	121	8.45	2.05	-17.55	0.000	4	0.243	0.051	2341	1055	3726	0	0	0	0	0	0	25.99	26.32	26.59
197	-0.61	-194.6	35.6	-18.2	27	205	0.08	2.25	0.00	0.000	6	0.192	0.050	2349	2525	3726	0	0	0	0	0	0	26.24	26.33	28.83
547	-0.51	-194.6	119.4	-19.2	88	556	0.12	1.90	0.00	0.000	4	0.169	0.058	2385	3755	3725	0	0	0	0	0	0	26.41	26.46	28.83
685	-0.51	-194.6	140.7	-12.9	111	693	0.03	1.83	0.00	0.000	6	0.258	0.027	2344	2426	3725	0	0	0	0	0	0	26.51	26.60	28.83
1030	-0.44	-194.6	213.5	-18.6	166	1039	0.17	2.03	0.00	0.000	4	0.145	0.054	2394	3768	3725	0	0	0	0	0	0	26.51	26.57	28.83
1113	-0.51	-194.6	224.3	-10.6	174	1117	0.03	1.88	0.00	0.000	6	0.027	0.025	2329	2407	3725	0	0	0	0	0	0	26.61	26.70	28.83
1425	-0.43	-194.6	277.3	-16.2	205	1434	0.22	2.08	0.00	0.000	4	0.136	0.055	2400	3765	3725	0	0	0	0	0	0	26.55	26.60	28.83
1491	-0.49	-194.6	283.9	-8.3	211	1499	0.10	1.85	0.00	0.000	6	0.102	0.024	2330	2389	3725	0	0	0	0	0	0	26.67	26.74	28.83
1799	-0.44	-194.6	337.6	-18.6	242	1808	0.22	2.08	0.00	0.000	4	0.131	0.056	2400	3757	3725	0	0	0	0	0	0	26.58	26.63	28.83
1893	-0.57	-194.6	347.8	-8.2	251	1898	0.10	1.85	0.00	0.000	6	0.051	0.025	2288	2420	3725	0	0	0	0	0	0	26.72	26.76	28.83
2205	-0.46	-194.6	405.4	-18.3	282	2215	0.30	2.05	0.00	0.000	4	0.138	0.057	2386	3773	3723	0	0	0	0	0	0	26.58	26.65	28.83
2238	-0.42	-194.6	410.2	-16.0	285	2247	0.10	1.85	0.00	0.000	6	0.134	0.025	2421	2403	3723	0	0	0	0	0	0	26.64	26.77	28.83
2548	-0.69	-194.6	434.7	-10.3	316	2557	0.28	2.08	0.00	0.000	4	0.076	0.054	2300	3773	3722	0	0	0	0	0	0	26.72	26.67	28.83
2581	-0.86	-194.6	438.1	-10.5	319	2590	0.12	1.85	0.00	0.000	6	0.090	0.025	2217	2407	3722	0	0	0	0	0	0	26.73	26.78	28.83
2890	-0.67	-194.6	511.8	-24.3	350	2901	0.32	2.05	0.00	0.000	4	0.153	0.056	2318	3766	3721	0	0	0	0	0	0	26.55	26.67	28.83
3003	-0.67	-194.6	526.8	-10.2	361	3007	0.00	1.83	0.00	0.000	6	0.000	0.025	2318	2432	3720	0	0	0	0	0	0	28.83	26.78	28.83
3309	-0.67	-194.6	563.9	-13.0	391	3318	0.00	2.03	0.00	0.000	4	0.000	0.057	2317	3770	3719	0	0	0	0	0	0	28.83	26.67	28.83
3360	-0.67	-194.6	570.8	-13.5	396	3364	0.00	1.85	0.00	0.000	6	0.000	0.025	2316	2413	3719	0	0	0	0	0	0	28.83	26.80	28.83
3667	-0.67	-194.6	610.4	-12.8	422	3672	0.00	2.05	0.00	0.000	4	0.000	0.057	2310	3763	3716	0	0	0	0	0	0	28.83	26.68	28.83
3785	-0.67	-194.6	624.9	-11.7	428	3790	0.08	1.85	0.00	0.000	6	0.171	0.025	2331	2407	3715	0	0	0	0	0	0	26.65	26.81	28.83
4106	-0.69	-194.6	656.2	-9.7	444	4112	0.08	2.08	0.00	0.000	4	0.129	0.057	2273	3766	3713	0	0	0	0	0	0	26.81	26.67	28.83
4142	end dive: TARGET_DEPTH_EXCEEDED
state	4143	begin apogee
4149	-0.17	0.0	661.8	-11.1	446	4316	0.60	0.17	159.02	1.467	6	0.116	0.078	2487	2532	2928	0	0	0	0	0	0	26.60	24.81	23.91
4317	end apogee: CONTROL_FINISHED_OK
state	4317	begin climb
4319	0.61	194.6	670.7	0.0	454	4503	0.68	2.35	172.25	1.445	4	0.050	0.038	2763	1058	2134	0	0	0	0	0	0	25.04	24.81	23.86
4660	0.42	194.6	640.5	17.3	471	4669	0.35	2.28	0.00	0.000	6	0.182	0.047	2667	2517	2128	0	0	0	0	0	0	25.68	25.83	28.83
4967	0.33	194.6	599.7	12.2	487	4977	0.10	1.90	0.00	0.000	4	0.198	0.055	2642	3766	2125	0	0	0	0	0	0	26.13	26.19	28.83
5029	0.25	194.6	592.0	12.5	493	5039	0.12	1.88	0.00	0.000	6	0.187	0.027	2618	2442	2124	0	0	0	0	0	0	26.13	26.31	28.83
5340	0.31	237.0	565.7	8.5	524	5382	0.10	2.17	35.92	1.395	4	0.111	0.057	2669	3762	1961	0	0	0	0	0	0	26.44	25.44	24.51
5429	0.22	237.0	554.6	14.7	532	5436	0.25	1.92	0.00	0.000	6	0.158	0.027	2607	2451	1960	0	0	0	0	0	0	25.65	25.80	28.83
5736	0.41	338.6	530.9	6.5	563	5828	0.20	0.00	88.95	1.392	6	0.073	0.000	2708	2448	1547	0	0	0	0	0	0	26.27	28.83	23.99
6126	0.34	338.6	472.1	16.0	602	6135	0.20	2.05	0.00	0.000	4	0.151	0.054	2644	3764	1542	0	0	0	0	0	0	25.97	26.05	28.83
6219	0.47	385.5	462.1	8.4	611	6270	0.15	1.90	40.05	1.335	6	0.083	0.028	2722	2446	1356	0	0	0	0	0	0	26.18	26.21	24.36
6568	0.40	385.5	403.6	18.8	646	6578	0.17	2.08	0.00	0.000	4	0.153	0.037	2674	1052	1352	0	0	0	0	0	0	26.01	26.14	28.83
6632	0.54	423.8	396.4	8.7	652	6673	0.10	2.22	32.90	1.291	6	0.053	0.045	2747	2509	1200	0	0	0	0	0	0	26.19	26.17	24.52
6971	0.45	423.8	325.5	20.1	686	6975	0.20	1.92	0.00	0.000	4	0.160	0.054	2683	3764	1198	0	0	0	0	0	0	26.02	26.10	28.83
7057	0.56	449.1	314.8	9.1	694	7084	0.12	1.90	22.10	1.228	6	0.091	0.029	2745	2443	1096	0	0	0	0	0	0	26.22	26.25	24.80
7383	0.50	449.1	254.5	19.5	727	7387	0.15	2.05	0.00	0.000	4	0.154	0.052	2695	3777	1095	0	0	0	0	0	0	26.10	26.16	28.83
7418	0.47	449.1	249.2	17.4	730	7425	0.00	1.92	0.00	0.000	6	0.000	0.028	2697	2452	1095	0	0	0	0	0	0	28.83	26.26	28.83
7725	0.53	449.1	217.8	10.4	761	7735	0.08	2.05	0.00	0.000	4	0.133	0.038	2748	1061	1095	0	0	0	0	0	0	26.44	26.39	28.83
7760	0.57	449.1	214.1	11.3	764	7768	0.12	2.20	0.00	0.000	6	0.136	0.044	2709	2519	1094	0	0	0	0	0	0	26.31	26.38	28.83
8091	0.61	449.1	171.8	12.7	814	8101	0.12	2.20	0.00	0.000	4	0.095	0.037	2788	1058	1095	0	0	0	0	0	0	26.53	26.49	28.83
8131	0.59	449.1	165.9	16.4	820	8140	0.17	2.22	0.00	0.000	6	0.120	0.043	2726	2520	1095	0	0	0	0	0	0	26.38	26.48	28.83
8483	0.61	449.1	124.9	10.9	881	8490	0.05	1.88	0.00	0.000	4	0.180	0.052	2769	3765	1096	0	0	0	0	0	0	26.63	26.52	28.83
8514	0.58	449.1	120.1	15.2	886	8523	0.15	1.90	0.00	0.000	6	0.124	0.033	2721	2472	1097	0	0	0	0	0	0	26.45	26.60	28.83
8865	0.64	449.1	79.9	10.6	947	8874	0.10	2.08	0.00	0.000	4	0.112	0.039	2787	1053	1097	0	0	0	0	0	0	26.65	26.61	28.83
8922	0.68	449.1	72.6	12.3	956	8931	0.10	2.22	0.00	0.000	6	0.113	0.046	2748	2518	1097	0	0	0	0	0	0	26.52	26.60	28.83
9275	0.79	495.8	32.7	8.4	1017	9306	0.12	2.20	18.88	0.199	4	0.093	0.042	2831	1064	904	0	0	0	0	0	0	26.70	26.58	26.34
9355	0.81	495.8	20.6	14.6	1029	9362	0.15	2.17	0.00	0.000	6	0.138	0.046	2785	2525	903	0	0	0	0	0	0	26.48	26.57	28.83
9469	end climb: SURFACE_DEPTH_REACHED
state	9469	begin surface coast
9493	end surface coast: CONTROL_FINISHED_OK
state	9493	begin surface