Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 839 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HD_B 0.0093 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 4.5000001e-05 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 12

DIVE 839 HEADING -1 ROLL_MIN 236 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3800 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 2200 ALTIM_PING_DELTA 5

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2325 ALTIM_FREQUENCY 13

D_ABORT 1040 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_BOOST 4 SM_CC 300 ROLL_TIMEOUT 15 XPDR_VALID 1

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 40 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 0 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 470 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 470 UPLOAD_DIVES_MAX -1 C_VBD 2794 DEVICE3 83

T_MISSION 520 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 10 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00039999999 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 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 -1 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1590041.5 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 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 20 RAFOS_DEVICE -1

APOGEE_PITCH -7 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3970 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3195 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043543722

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -61.06522 SEABIRD_T_H 0.00062483409

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_I 2.3277114e-05

MASS 51761 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4402393e-06

NAV_MODE 2 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9786949

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1107863

KALMAN_USE 2 PITCH_AD_RATE 165 COMPASS_USE 4 SEABIRD_C_I -0.0017547003

HD_A 0.0031000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0002234884

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 1000 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 4 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 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 32 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAX 3970 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 155 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

APOGEE_PITCH -7 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00039999999 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001138132 T_BOOST 0

CALL_TRIES 5 HD_A 0.0031000001 PRESSURE_YINT -61.06522 T_DIVE 470

CALL_WAIT 60 HD_B 0.0093 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 4.5000001e-05 P_OVSHOOT 0.039999999 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 -1590041.5

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 520

COMPASS_DEVICE 33 ID 187 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3195 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 10

C_ROLL_CLIMB 2325 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2794 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3800 USE_BATHY -1

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51761 ROLL_MIN 236 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 83 MINV_10V 9.5 R_PORT_OVSHOOT 40 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 26 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.9786949 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1107863 VBD_MIN 470

DIVE 839 NAV_MODE 2 SEABIRD_C_I -0.0017547003 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1040 NOCOMM_ACTION 163 SEABIRD_C_J 0.0002234884 VBD_PUMP_AD_RATE_SURFACE 6

D_BOOST 4 N_DIVES 0 SEABIRD_T_G 0.0043543722 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.00062483409 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.3277114e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 3 SEABIRD_T_J 2.4402393e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 200413,142154,4750.108,-12514.854,106,0.9,107,18.7 TGT_NAME PARKING

_CALLS 1 TGT_LATLONG 4749.600,-12515.250

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.160,-0.151

_SM_DEPTHo 2.23 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -77.9 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 200413,142843,4750.099,-12514.842,12,2.0,12,18.7 MHEAD_RNG_PITCHd_Wd 208.0,1054,-19.7,-7.021,-23.66

SPEED_LIMITS 0.122,0.210 D_GRID 462

Post-dive calculations and measurements:

FINISH 1.1,1.023925 _10V_AH 9.7,86.577

SM_CCo 9616,20.10,0.353,1,0,1570,300.00 FG_AHR_24Vo 0.000

SM_GC 2.68,8.65,0.20,20.10,0.030,0.069,0.353,107,2204,1570,-9.47,1.19,300.00,0,0,0,0,1,0,25.73,25.71,24.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12519.22,200413,111109 MEM 296772

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 46878,872

HUMID 49.33 CAP_FILE_SIZE 99978,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260165632,187920384

TCM_TEMP 19.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.106, 70.7,1

_24V_AH 23.4,116.326 GPS 200413,171152,4749.482,-12515.028,44,4.3,64,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 218 113.02 SBE_CT 596 24 335.09

Roll_motor 97 77 175.38 SBE_O2 570 19 253.79

VBD_pump_during_apogee 343 830 6662.43 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 20 352 165.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.98 nil 0 0 0.00

Iridium_during_connect 36 160 138.01 nil 0 0 0.00

Iridium_during_xfer 208 223 1090.24 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.35

TT8 2174 19 417.64

LPSleep 5452 2 115.83

TT8_Active 534 19 102.69

TT8_Sampling 1623 39 626.89

TT8_CF8 279 45 124.17

TT8_Kalman 0 0 0.00

Analog_circuits 1275 12 148.49

GPS_charging 0 0 0.00

Compass 1346 15 195.88

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.64 -67.6 0.0 0.0 0 58 0.00 0.00 -39.17 0.000 2 0.000 0.000 104 2201 2433 0 0 0 0 0 0 28.83 28.83 28.83

61 -0.66 -115.7 3.1 -3.5 7 99 11.52 2.40 -20.55 0.000 4 0.219 0.073 2967 3614 3268 0 0 0 0 0 0 24.55 25.25 26.19

239 -0.66 -115.7 40.3 -17.8 40 246 0.00 2.22 0.00 0.000 6 0.000 0.043 2967 2193 3270 0 0 0 0 0 0 28.83 25.37 28.83

551 -0.66 -115.7 93.9 -16.1 101 559 0.00 2.20 0.00 0.000 4 0.000 0.050 2967 793 3271 0 0 0 0 0 0 28.83 25.13 28.83

597 -0.66 -115.7 100.9 -15.0 109 605 0.00 2.22 0.00 0.000 6 0.000 0.050 2957 2200 3271 0 0 0 0 0 0 28.83 25.13 28.83

920 -0.66 -115.7 149.0 -14.2 146 928 0.00 2.33 0.00 0.000 4 0.000 0.060 2946 3606 3271 0 0 0 0 0 0 28.83 24.91 28.83

952 -0.66 -115.7 153.4 -14.6 149 961 0.12 2.20 0.00 0.000 6 0.148 0.042 2976 2191 3271 0 0 0 0 0 0 25.04 25.32 28.83

1264 -0.66 -115.7 193.7 -13.4 170 1270 0.00 2.20 0.00 0.000 4 0.000 0.050 2976 793 3271 0 0 0 0 0 0 28.83 25.06 28.83

1363 -0.66 -115.7 206.4 -12.3 178 1367 0.00 2.25 0.00 0.000 6 0.000 0.050 2968 2202 3272 0 0 0 0 0 0 28.83 25.05 28.83

1672 -0.66 -115.7 245.8 -12.5 193 1674 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2202 3271 0 0 0 0 0 0 28.83 28.83 28.83

1970 -0.66 -115.7 283.9 -13.0 208 1971 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2202 3271 0 0 0 0 0 0 28.83 28.83 28.83

2271 -0.66 -115.7 321.6 -12.2 223 2275 0.00 2.25 0.00 0.000 4 0.000 0.049 2968 808 3271 0 0 0 0 0 0 28.83 25.01 28.83

2369 -0.66 -115.7 334.0 -12.3 228 2375 0.00 2.28 0.00 0.000 6 0.000 0.050 2958 2201 3271 0 0 0 0 0 0 28.83 25.00 28.83

2690 -0.66 -115.7 374.4 -12.5 244 2695 0.00 2.28 0.00 0.000 4 0.000 0.049 2958 801 3271 0 0 0 0 0 0 28.83 24.98 28.83

2730 -0.66 -115.7 379.5 -12.7 246 2736 0.10 2.25 0.00 0.000 6 0.135 0.049 2979 2193 3271 0 0 0 0 0 0 24.67 24.99 28.83

3061 -0.66 -115.7 418.1 -12.0 260 3062 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2193 3271 0 0 0 0 0 0 28.83 28.83 28.83

3360 -0.66 -115.7 452.1 -10.9 270 3365 0.00 2.38 0.00 0.000 4 0.000 0.063 2971 3612 3271 0 0 0 0 0 0 28.83 24.69 28.83

3398 -0.66 -115.7 455.3 -11.0 271 3402 0.00 2.30 0.00 0.000 6 0.000 0.044 2971 2194 3271 0 0 0 0 0 0 28.83 25.18 28.83

3468 end dive: TARGET_DEPTH_EXCEEDED

state 3468 begin apogee

3476 -0.22 0.0 464.9 -11.6 274 3580 0.45 0.00 99.93 0.830 6 0.113 0.000 3117 2337 2794 0 0 0 0 0 0 24.87 28.83 23.51

3581 end apogee: CONTROL_FINISHED_OK

state 3581 begin climb

3583 0.66 115.7 469.4 0.0 277 3699 0.85 2.42 104.30 0.797 4 0.077 0.063 3405 3726 2320 0 0 0 0 0 0 24.71 24.64 23.36

3779 0.66 116.7 460.5 6.9 283 3788 0.00 2.30 0.00 0.000 6 0.000 0.046 3416 2322 2317 0 0 0 0 0 0 28.83 25.30 28.83

4090 0.66 116.7 429.5 9.2 294 4095 0.00 2.38 0.00 0.000 4 0.000 0.064 3416 3734 2312 0 0 0 0 0 0 28.83 25.21 28.83

4198 0.66 116.7 419.9 10.3 297 4202 0.00 2.30 0.00 0.000 6 0.000 0.046 3427 2323 2311 0 0 0 0 0 0 28.83 25.44 28.83

4511 0.66 116.7 385.9 11.8 309 4515 0.00 2.38 0.00 0.000 4 0.000 0.067 3427 3723 2310 0 0 0 0 0 0 28.83 25.05 28.83

4750 0.66 116.7 355.9 13.1 321 4755 0.00 2.28 0.00 0.000 6 0.000 0.045 3438 2324 2309 0 0 0 0 0 0 28.83 25.34 28.83

5071 0.66 116.7 324.6 9.5 337 5075 0.00 2.30 0.00 0.000 4 0.000 0.053 3449 921 2309 0 0 0 0 0 0 28.83 25.10 28.83

5138 0.66 116.7 318.7 9.8 340 5143 0.15 2.30 0.00 0.000 6 0.156 0.053 3412 2319 2308 0 0 0 0 0 0 24.82 25.10 28.83

5440 0.66 116.7 293.2 7.9 355 5445 0.00 2.38 0.00 0.000 4 0.000 0.065 3412 3733 2308 0 0 0 0 0 0 28.83 24.89 28.83

5522 0.66 116.7 285.7 9.3 359 5526 0.00 2.28 0.00 0.000 6 0.000 0.046 3420 2330 2307 0 0 0 0 0 0 28.83 25.27 28.83

5842 0.66 116.7 258.3 8.8 375 5843 0.00 0.00 0.00 0.000 6 0.000 0.000 3421 2328 2307 0 0 0 0 0 0 28.83 28.83 28.83

6140 0.66 116.7 230.7 8.9 390 6146 0.00 2.38 0.00 0.000 4 0.000 0.064 3421 3733 2307 0 0 0 0 0 0 28.83 24.82 28.83

6209 0.66 116.7 224.9 9.6 393 6218 0.00 2.30 0.00 0.000 6 0.000 0.046 3431 2324 2307 0 0 0 0 0 0 28.83 25.22 28.83

6530 0.66 116.7 197.0 8.0 410 6540 0.00 2.40 0.00 0.000 4 0.000 0.064 3432 3737 2307 0 0 0 0 0 0 28.83 24.79 28.83

6580 0.66 116.7 192.6 9.1 415 6589 0.10 2.30 0.00 0.000 6 0.148 0.046 3413 2322 2307 0 0 0 0 0 0 24.82 25.21 28.83

6891 0.66 116.7 169.8 7.4 436 6899 0.00 2.40 0.00 0.000 4 0.000 0.065 3413 3732 2306 0 0 0 0 0 0 28.83 24.76 28.83

7010 0.66 116.7 159.8 8.5 448 7019 0.00 2.30 0.00 0.000 6 0.000 0.045 3421 2325 2306 0 0 0 0 0 0 28.83 25.19 28.83

7321 0.66 116.7 138.1 7.1 469 7329 0.00 2.40 0.00 0.000 4 0.000 0.064 3422 3737 2306 0 0 0 0 0 0 28.83 24.75 28.83

7360 0.66 116.7 134.7 8.3 473 7369 0.00 2.33 0.00 0.000 6 0.000 0.045 3432 2316 2306 0 0 0 0 0 0 28.83 25.18 28.83

7672 0.66 116.7 112.1 7.1 508 7679 0.00 2.22 0.00 0.000 4 0.000 0.053 3443 922 2306 0 0 0 0 0 0 28.83 24.93 28.83

7707 0.67 125.7 109.6 6.4 514 7722 0.12 2.25 7.55 0.536 6 0.160 0.054 3414 2332 2281 0 0 0 0 0 0 24.70 24.93 24.10

8029 0.68 151.2 91.5 5.2 576 8060 0.00 2.30 23.58 0.599 4 0.000 0.064 3413 3734 2175 0 0 0 0 0 0 28.83 25.18 24.06

8083 0.68 151.2 87.5 7.8 585 8091 0.00 2.22 0.00 0.000 6 0.000 0.047 3422 2323 2174 0 0 0 0 0 0 28.83 25.41 28.83

8399 0.68 157.9 66.4 6.5 646 8413 0.00 2.35 6.45 0.495 4 0.000 0.065 3422 3744 2149 0 0 0 0 0 0 28.83 25.30 24.13

8645 0.68 159.5 49.4 6.9 693 8652 0.00 2.22 0.00 0.000 6 0.000 0.045 3432 2323 2147 0 0 0 0 0 0 28.83 25.37 28.83

8957 0.69 193.9 34.8 4.5 754 8995 0.00 2.40 31.58 0.568 4 0.000 0.063 3433 3734 2002 0 0 0 0 0 0 28.83 25.23 24.06

9035 0.70 204.6 30.6 6.2 767 9054 0.00 2.25 10.23 0.513 6 0.000 0.046 3443 2319 1959 0 0 0 0 0 0 28.83 25.44 23.98

9362 0.72 249.7 10.7 3.7 830 9410 0.00 2.28 37.97 0.549 4 0.000 0.052 3453 930 1775 0 0 0 0 0 0 28.83 25.28 24.06

9482 0.73 274.6 5.8 5.2 851 9512 0.00 2.22 21.45 0.529 6 0.000 0.052 3453 2335 1673 0 0 0 0 0 0 28.83 25.32 24.02

9516 end climb: SURFACE_DEPTH_REACHED

state 9516 begin surface coast

9594 end surface coast: CONTROL_FINISHED_OK

state 9594 begin surface

ID	187	HD_B	0.0093	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	4.5000001e-05	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	12
DIVE	839	HEADING	-1	ROLL_MIN	236	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3800	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	2200	ALTIM_PING_DELTA	5
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2325	ALTIM_FREQUENCY	13
D_ABORT	1040	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_BOOST	4	SM_CC	300	ROLL_TIMEOUT	15	XPDR_VALID	1
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	40	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	0	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	470	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	470	UPLOAD_DIVES_MAX	-1	C_VBD	2794	DEVICE3	83
T_MISSION	520	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	10	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00039999999	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	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	-1	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1590041.5	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	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	20	RAFOS_DEVICE	-1
APOGEE_PITCH	-7	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3970	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3195	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043543722
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-61.06522	SEABIRD_T_H	0.00062483409
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_I	2.3277114e-05
MASS	51761	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4402393e-06
NAV_MODE	2	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9786949
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1107863
KALMAN_USE	2	PITCH_AD_RATE	165	COMPASS_USE	4	SEABIRD_C_I	-0.0017547003
HD_A	0.0031000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0002234884

GPS1	200413,142154,4750.108,-12514.854,106,0.9,107,18.7	TGT_NAME	PARKING
_CALLS	1	TGT_LATLONG	4749.600,-12515.250
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.160,-0.151
_SM_DEPTHo	2.23	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-77.9	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	200413,142843,4750.099,-12514.842,12,2.0,12,18.7	MHEAD_RNG_PITCHd_Wd	208.0,1054,-19.7,-7.021,-23.66
SPEED_LIMITS	0.122,0.210	D_GRID	462

FINISH	1.1,1.023925	_10V_AH	9.7,86.577
SM_CCo	9616,20.10,0.353,1,0,1570,300.00	FG_AHR_24Vo	0.000
SM_GC	2.68,8.65,0.20,20.10,0.030,0.069,0.353,107,2204,1570,-9.47,1.19,300.00,0,0,0,0,1,0,25.73,25.71,24.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12519.22,200413,111109	MEM	296772
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	46878,872
HUMID	49.33	CAP_FILE_SIZE	99978,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260165632,187920384
TCM_TEMP	19.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.106, 70.7,1
_24V_AH	23.4,116.326	GPS	200413,171152,4749.482,-12515.028,44,4.3,64,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	218	113.02	SBE_CT	596	24	335.09
Roll_motor	97	77	175.38	SBE_O2	570	19	253.79
VBD_pump_during_apogee	343	830	6662.43	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	20	352	165.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.98	nil	0	0	0.00
Iridium_during_connect	36	160	138.01	nil	0	0	0.00
Iridium_during_xfer	208	223	1090.24	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.35
TT8	2174	19	417.64
LPSleep	5452	2	115.83
TT8_Active	534	19	102.69
TT8_Sampling	1623	39	626.89
TT8_CF8	279	45	124.17
TT8_Kalman	0	0	0.00
Analog_circuits	1275	12	148.49
GPS_charging	0	0	0.00
Compass	1346	15	195.88
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.64	-67.6	0.0	0.0	0	58	0.00	0.00	-39.17	0.000	2	0.000	0.000	104	2201	2433	0	0	0	0	0	0	28.83	28.83	28.83
61	-0.66	-115.7	3.1	-3.5	7	99	11.52	2.40	-20.55	0.000	4	0.219	0.073	2967	3614	3268	0	0	0	0	0	0	24.55	25.25	26.19
239	-0.66	-115.7	40.3	-17.8	40	246	0.00	2.22	0.00	0.000	6	0.000	0.043	2967	2193	3270	0	0	0	0	0	0	28.83	25.37	28.83
551	-0.66	-115.7	93.9	-16.1	101	559	0.00	2.20	0.00	0.000	4	0.000	0.050	2967	793	3271	0	0	0	0	0	0	28.83	25.13	28.83
597	-0.66	-115.7	100.9	-15.0	109	605	0.00	2.22	0.00	0.000	6	0.000	0.050	2957	2200	3271	0	0	0	0	0	0	28.83	25.13	28.83
920	-0.66	-115.7	149.0	-14.2	146	928	0.00	2.33	0.00	0.000	4	0.000	0.060	2946	3606	3271	0	0	0	0	0	0	28.83	24.91	28.83
952	-0.66	-115.7	153.4	-14.6	149	961	0.12	2.20	0.00	0.000	6	0.148	0.042	2976	2191	3271	0	0	0	0	0	0	25.04	25.32	28.83
1264	-0.66	-115.7	193.7	-13.4	170	1270	0.00	2.20	0.00	0.000	4	0.000	0.050	2976	793	3271	0	0	0	0	0	0	28.83	25.06	28.83
1363	-0.66	-115.7	206.4	-12.3	178	1367	0.00	2.25	0.00	0.000	6	0.000	0.050	2968	2202	3272	0	0	0	0	0	0	28.83	25.05	28.83
1672	-0.66	-115.7	245.8	-12.5	193	1674	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2202	3271	0	0	0	0	0	0	28.83	28.83	28.83
1970	-0.66	-115.7	283.9	-13.0	208	1971	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2202	3271	0	0	0	0	0	0	28.83	28.83	28.83
2271	-0.66	-115.7	321.6	-12.2	223	2275	0.00	2.25	0.00	0.000	4	0.000	0.049	2968	808	3271	0	0	0	0	0	0	28.83	25.01	28.83
2369	-0.66	-115.7	334.0	-12.3	228	2375	0.00	2.28	0.00	0.000	6	0.000	0.050	2958	2201	3271	0	0	0	0	0	0	28.83	25.00	28.83
2690	-0.66	-115.7	374.4	-12.5	244	2695	0.00	2.28	0.00	0.000	4	0.000	0.049	2958	801	3271	0	0	0	0	0	0	28.83	24.98	28.83
2730	-0.66	-115.7	379.5	-12.7	246	2736	0.10	2.25	0.00	0.000	6	0.135	0.049	2979	2193	3271	0	0	0	0	0	0	24.67	24.99	28.83
3061	-0.66	-115.7	418.1	-12.0	260	3062	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2193	3271	0	0	0	0	0	0	28.83	28.83	28.83
3360	-0.66	-115.7	452.1	-10.9	270	3365	0.00	2.38	0.00	0.000	4	0.000	0.063	2971	3612	3271	0	0	0	0	0	0	28.83	24.69	28.83
3398	-0.66	-115.7	455.3	-11.0	271	3402	0.00	2.30	0.00	0.000	6	0.000	0.044	2971	2194	3271	0	0	0	0	0	0	28.83	25.18	28.83
3468	end dive: TARGET_DEPTH_EXCEEDED
state	3468	begin apogee
3476	-0.22	0.0	464.9	-11.6	274	3580	0.45	0.00	99.93	0.830	6	0.113	0.000	3117	2337	2794	0	0	0	0	0	0	24.87	28.83	23.51
3581	end apogee: CONTROL_FINISHED_OK
state	3581	begin climb
3583	0.66	115.7	469.4	0.0	277	3699	0.85	2.42	104.30	0.797	4	0.077	0.063	3405	3726	2320	0	0	0	0	0	0	24.71	24.64	23.36
3779	0.66	116.7	460.5	6.9	283	3788	0.00	2.30	0.00	0.000	6	0.000	0.046	3416	2322	2317	0	0	0	0	0	0	28.83	25.30	28.83
4090	0.66	116.7	429.5	9.2	294	4095	0.00	2.38	0.00	0.000	4	0.000	0.064	3416	3734	2312	0	0	0	0	0	0	28.83	25.21	28.83
4198	0.66	116.7	419.9	10.3	297	4202	0.00	2.30	0.00	0.000	6	0.000	0.046	3427	2323	2311	0	0	0	0	0	0	28.83	25.44	28.83
4511	0.66	116.7	385.9	11.8	309	4515	0.00	2.38	0.00	0.000	4	0.000	0.067	3427	3723	2310	0	0	0	0	0	0	28.83	25.05	28.83
4750	0.66	116.7	355.9	13.1	321	4755	0.00	2.28	0.00	0.000	6	0.000	0.045	3438	2324	2309	0	0	0	0	0	0	28.83	25.34	28.83
5071	0.66	116.7	324.6	9.5	337	5075	0.00	2.30	0.00	0.000	4	0.000	0.053	3449	921	2309	0	0	0	0	0	0	28.83	25.10	28.83
5138	0.66	116.7	318.7	9.8	340	5143	0.15	2.30	0.00	0.000	6	0.156	0.053	3412	2319	2308	0	0	0	0	0	0	24.82	25.10	28.83
5440	0.66	116.7	293.2	7.9	355	5445	0.00	2.38	0.00	0.000	4	0.000	0.065	3412	3733	2308	0	0	0	0	0	0	28.83	24.89	28.83
5522	0.66	116.7	285.7	9.3	359	5526	0.00	2.28	0.00	0.000	6	0.000	0.046	3420	2330	2307	0	0	0	0	0	0	28.83	25.27	28.83
5842	0.66	116.7	258.3	8.8	375	5843	0.00	0.00	0.00	0.000	6	0.000	0.000	3421	2328	2307	0	0	0	0	0	0	28.83	28.83	28.83
6140	0.66	116.7	230.7	8.9	390	6146	0.00	2.38	0.00	0.000	4	0.000	0.064	3421	3733	2307	0	0	0	0	0	0	28.83	24.82	28.83
6209	0.66	116.7	224.9	9.6	393	6218	0.00	2.30	0.00	0.000	6	0.000	0.046	3431	2324	2307	0	0	0	0	0	0	28.83	25.22	28.83
6530	0.66	116.7	197.0	8.0	410	6540	0.00	2.40	0.00	0.000	4	0.000	0.064	3432	3737	2307	0	0	0	0	0	0	28.83	24.79	28.83
6580	0.66	116.7	192.6	9.1	415	6589	0.10	2.30	0.00	0.000	6	0.148	0.046	3413	2322	2307	0	0	0	0	0	0	24.82	25.21	28.83
6891	0.66	116.7	169.8	7.4	436	6899	0.00	2.40	0.00	0.000	4	0.000	0.065	3413	3732	2306	0	0	0	0	0	0	28.83	24.76	28.83
7010	0.66	116.7	159.8	8.5	448	7019	0.00	2.30	0.00	0.000	6	0.000	0.045	3421	2325	2306	0	0	0	0	0	0	28.83	25.19	28.83
7321	0.66	116.7	138.1	7.1	469	7329	0.00	2.40	0.00	0.000	4	0.000	0.064	3422	3737	2306	0	0	0	0	0	0	28.83	24.75	28.83
7360	0.66	116.7	134.7	8.3	473	7369	0.00	2.33	0.00	0.000	6	0.000	0.045	3432	2316	2306	0	0	0	0	0	0	28.83	25.18	28.83
7672	0.66	116.7	112.1	7.1	508	7679	0.00	2.22	0.00	0.000	4	0.000	0.053	3443	922	2306	0	0	0	0	0	0	28.83	24.93	28.83
7707	0.67	125.7	109.6	6.4	514	7722	0.12	2.25	7.55	0.536	6	0.160	0.054	3414	2332	2281	0	0	0	0	0	0	24.70	24.93	24.10
8029	0.68	151.2	91.5	5.2	576	8060	0.00	2.30	23.58	0.599	4	0.000	0.064	3413	3734	2175	0	0	0	0	0	0	28.83	25.18	24.06
8083	0.68	151.2	87.5	7.8	585	8091	0.00	2.22	0.00	0.000	6	0.000	0.047	3422	2323	2174	0	0	0	0	0	0	28.83	25.41	28.83
8399	0.68	157.9	66.4	6.5	646	8413	0.00	2.35	6.45	0.495	4	0.000	0.065	3422	3744	2149	0	0	0	0	0	0	28.83	25.30	24.13
8645	0.68	159.5	49.4	6.9	693	8652	0.00	2.22	0.00	0.000	6	0.000	0.045	3432	2323	2147	0	0	0	0	0	0	28.83	25.37	28.83
8957	0.69	193.9	34.8	4.5	754	8995	0.00	2.40	31.58	0.568	4	0.000	0.063	3433	3734	2002	0	0	0	0	0	0	28.83	25.23	24.06
9035	0.70	204.6	30.6	6.2	767	9054	0.00	2.25	10.23	0.513	6	0.000	0.046	3443	2319	1959	0	0	0	0	0	0	28.83	25.44	23.98
9362	0.72	249.7	10.7	3.7	830	9410	0.00	2.28	37.97	0.549	4	0.000	0.052	3453	930	1775	0	0	0	0	0	0	28.83	25.28	24.06
9482	0.73	274.6	5.8	5.2	851	9512	0.00	2.22	21.45	0.529	6	0.000	0.052	3453	2335	1673	0	0	0	0	0	0	28.83	25.32	24.02
9516	end climb: SURFACE_DEPTH_REACHED
state	9516	begin surface coast
9594	end surface coast: CONTROL_FINISHED_OK
state	9594	begin surface