Glider dive log

OKMC Oct12 * SG167 * Dive index * Mission links * Dive 41 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 14 HEADING -1 ROLL_MAX 3764 ALTIM_PING_DEPTH 500

DIVE 41 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 50

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2275 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2250 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 0

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 425 R_PORT_OVSHOOT 72 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 58 INT_PRESSURE_YINT 0

T_BOOST 4 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.02 DEVICE1 -1

D_CALL 0 N_NOCOMM 1 VBD_MIN 460 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2968 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 330 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 380 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -8 T_GPS_CHARGE -968540.25 CF8_MAXERRORS 0 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 110 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 22 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 9.5 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -8 PITCH_MIN 134 FG_AHR_24V 0 SEABIRD_T_G 0.0043364335

MAX_BUOY 200 PITCH_MAX 3944 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062881975

COURSE_BIAS 0 C_PITCH 2740 PRESSURE_YINT -16.305099 SEABIRD_T_I 2.1970176e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_J 2.0625448e-06

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_C_G -9.8829851

RHO 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104416

MASS 52251 PITCH_GAIN 40 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016111456

NAV_MODE 2 PITCH_TIMEOUT 19 COMPASS_USE 4 SEABIRD_C_J 0.00020720487

FERRY_MAX 45 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0.0099999998 ALTIM_BOTTOM_TURN_MARGIN 50 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 110 D_PITCH 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 50 D_TGT 990 PITCH_CNV 0.0031256729 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 500 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 134 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158971 TGT_DEFAULT_LON -12218

APOGEE_PITCH -8 GPS_DEVICE 32 PRESSURE_YINT -16.305099 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 9 T_BOOST 4

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 330

CALL_WAIT 60 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 5

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -968540.25

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 167 RHO 1.023 T_MISSION 380

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.02 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2740 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2250 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2275 LOGGERDEVICE3 -1 ROLL_MAX 3764 UNCOM_BLEED 50

C_VBD 2968 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 187 USE_BATHY -8

DEEPGLIDERMB 0 MASS 52251 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 200 R_PORT_OVSHOOT 72 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 58 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 14 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_G -9.8829851 VBD_MIN 460

DIVE 41 NOCOMM_ACTION 163 SEABIRD_C_H 1.104416 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 N_DIVES 0 SEABIRD_C_I -0.0016111456 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 8 SEABIRD_C_J 0.00020720487 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043364335 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_H 0.00062881975 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.1970176e-05 XPDR_VALID 0

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_J 2.0625448e-06

Pre-dive calculations and measurements:

GPS1 211012,184836,2223.135,12111.591,31,1.1,31,-3.3 TGT_NAME N1

_CALLS 1 TGT_LATLONG 2303.600,12125.840

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211012,185447,2223.211,12111.552,4,1.1,4,-3.3 MHEAD_RNG_PITCHd_Wd 40.0,78663,-15.7,-10.000,-18.65

SPEED_LIMITS 0.173,0.296 D_GRID 504

Post-dive calculations and measurements:

FINISH 0.8,1.020499 _10V_AH 9.9,8.402

SM_CCo 9566,0.00,0.000,0,0,451,617.42 FG_AHR_24Vo 0.000

SM_GC 1.59,7.45,0.00,0.00,0.026,0.000,0.000,107,2254,451,-8.10,-0.59,617.42,0,0,0,0,0,0,26.48,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2211.35,12108.21,211012,141413 MEM 323772

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 20048,536

HUMID 53.42 CAP_FILE_SIZE 129497,0

INTERNAL_PRESSURE 9.41442 CFSIZE 260165632,245923840

TCM_TEMP 25.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 5 CURRENT 0.226, 6.3,1

_24V_AH 23.9,15.656 GPS 211012,213600,2225.540,12112.828,38,1.6,38,-3.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 226 112.30 nil 0 0 0.00

Roll_motor 87 48 102.59 nil 0 0 0.00

VBD_pump_during_apogee 604 1269 18329.07 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 SciCon 9509 15 3578.97

Iridium_during_xfer 208 128 639.59 nil 0 0 0.00

Transponder_ping 1 420 17.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 26 1.53

TT8 1687 14 245.75

LPSleep 5777 2 125.27

TT8_Active 644 14 93.84

TT8_Sampling 1587 37 596.07

TT8_CF8 240 44 106.56

TT8_Kalman 0 0 0.00

Analog_circuits 1652 16 261.79

GPS_charging 0 0 0.00

Compass 1323 8 107.96

RAFOS 0 0 0.00

Transponder 5 30 1.60

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 -0.47 -195.5 0.0 0.0 0 96 0.00 0.00 -75.68 0.000 2 0.000 0.000 112 2271 2507 0 0 0 0 0 0 28.83 28.83 28.83

100 -0.47 -195.5 3.2 -6.2 13 144 9.62 2.10 -28.08 0.000 4 0.226 0.041 2579 875 3767 0 0 0 0 0 0 25.69 26.20 26.51

202 -0.49 -195.5 17.7 -12.0 31 209 0.00 2.05 0.00 0.000 6 0.000 0.027 2578 2261 3768 0 0 0 0 0 0 28.83 26.23 28.83

517 -0.49 -195.5 70.6 -15.3 61 518 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2262 3768 0 0 0 0 0 0 28.83 28.83 28.83

819 -0.54 -195.5 101.9 -8.1 76 824 0.00 2.12 0.00 0.000 4 0.000 0.043 2576 3670 3768 0 0 0 0 0 0 28.83 26.43 28.83

928 -0.62 -195.5 111.0 -8.6 81 935 0.10 2.00 0.00 0.000 6 0.093 0.021 2502 2270 3769 0 0 0 0 0 0 26.50 26.57 28.83

1248 -0.60 -195.5 157.6 -13.6 97 1254 0.12 2.00 0.00 0.000 4 0.148 0.028 2543 874 3770 0 0 0 0 0 0 26.44 26.58 28.83

1301 -0.62 -195.5 162.4 -12.3 99 1308 0.00 2.08 0.00 0.000 6 0.000 0.034 2542 2292 3770 0 0 0 0 0 0 28.83 26.55 28.83

1617 -0.68 -195.5 187.6 -7.5 115 1622 0.00 2.08 0.00 0.000 4 0.000 0.044 2543 3665 3770 0 0 0 0 0 0 28.83 26.53 28.83

1776 -0.75 -195.5 197.5 -6.4 122 1784 0.15 2.00 0.00 0.000 6 0.068 0.021 2452 2282 3770 0 0 0 0 0 0 26.63 26.69 28.83

2082 -0.73 -195.5 241.8 -14.1 138 2088 0.15 2.15 0.00 0.000 4 0.142 0.048 2495 3668 3769 0 0 0 0 0 0 26.46 26.53 28.83

2155 -0.73 -195.5 249.5 -12.6 141 2160 0.00 2.00 0.00 0.000 6 0.000 0.019 2495 2221 3769 0 0 0 0 0 0 28.83 26.74 28.83

2468 -0.76 -195.5 282.0 -9.9 157 2474 0.00 2.22 0.00 0.000 4 0.000 0.046 2495 3674 3768 0 0 0 0 0 0 28.83 26.58 28.83

2583 -0.79 -195.5 292.1 -9.6 162 2588 0.00 2.00 0.00 0.000 6 0.000 0.019 2495 2235 3767 0 0 0 0 0 0 28.83 26.74 28.83

2897 -0.83 -195.5 322.7 -9.8 178 2902 0.00 2.17 0.00 0.000 4 0.000 0.044 2495 3665 3766 0 0 0 0 0 0 28.83 26.58 28.83

2965 -0.87 -195.5 328.2 -8.9 181 2971 0.10 1.92 0.00 0.000 6 0.095 0.019 2431 2268 3766 0 0 0 0 0 0 26.65 26.76 28.83

3284 -0.85 -195.5 368.7 -12.5 197 3286 0.12 0.00 0.00 0.000 6 0.151 0.000 2464 2267 3764 0 0 0 0 0 0 26.55 28.83 28.83

3586 -0.86 -195.5 397.5 -9.8 212 3592 0.00 2.15 0.00 0.000 4 0.000 0.049 2464 3663 3762 0 0 0 0 0 0 28.83 26.58 28.83

3725 -0.89 -195.5 411.7 -11.5 218 3732 0.00 1.92 0.00 0.000 6 0.000 0.018 2464 2275 3760 0 0 0 0 0 0 28.83 26.78 28.83

4031 -0.91 -195.5 448.4 -11.3 234 4036 0.00 2.12 0.00 0.000 4 0.000 0.048 2463 3664 3759 0 0 0 0 0 0 28.83 26.52 28.83

4115 -0.95 -195.5 458.3 -11.8 238 4120 0.00 1.95 0.00 0.000 6 0.000 0.021 2464 2268 3759 0 0 0 0 0 0 28.83 26.78 28.83

4439 -0.97 -195.5 491.3 -8.9 254 4444 0.12 2.15 0.00 0.000 4 0.083 0.044 2389 3665 3756 0 0 0 0 0 0 26.79 26.55 28.83

4506 -0.97 -195.5 499.6 -12.0 257 4513 0.12 1.92 -0.10 0.000 6 0.158 0.020 2421 2280 3780 0 0 0 0 0 0 26.42 26.75 26.09

4543 end dive: TARGET_DEPTH_EXCEEDED

state 4543 begin apogee

4549 -0.20 0.0 504.9 -13.1 259 4716 0.73 0.00 157.80 0.844 6 0.114 0.000 2667 2275 2959 0 0 0 0 0 0 26.29 28.83 24.46

4718 end apogee: CONTROL_FINISHED_OK

state 4718 begin climb

4720 0.47 195.5 511.2 0.0 267 4889 0.60 2.33 158.73 0.814 4 0.044 0.044 2906 3646 2159 0 0 0 0 0 0 25.28 24.96 24.31

5081 0.41 195.5 478.6 14.1 285 5087 0.15 2.03 0.00 0.000 6 0.154 0.024 2874 2277 2146 0 0 0 0 0 0 25.72 25.96 28.83

5396 0.39 198.5 447.1 9.9 301 5401 0.00 2.12 0.00 0.000 4 0.000 0.045 2874 3639 2142 0 0 0 0 0 0 28.83 26.20 28.83

5449 0.37 198.5 442.1 10.6 303 5454 0.00 2.03 0.00 0.000 6 0.000 0.024 2882 2251 2142 0 0 0 0 0 0 28.83 26.34 28.83

5762 0.35 198.5 407.9 10.4 319 5767 0.00 2.15 0.00 0.000 4 0.000 0.045 2882 3643 2139 0 0 0 0 0 0 28.83 26.35 28.83

5819 0.32 198.5 402.7 11.0 321 5826 0.15 2.03 0.00 0.000 6 0.149 0.025 2841 2249 2139 0 0 0 0 0 0 26.22 26.48 28.83

6125 0.36 276.0 377.7 7.3 337 6198 0.00 2.33 59.97 1.267 4 0.000 0.044 2840 3637 1842 0 0 0 0 1 0 28.83 25.12 24.16

6248 0.41 354.6 368.7 7.3 343 6331 0.00 2.12 70.72 1.269 6 0.000 0.024 2841 2241 1523 0 0 0 0 1 0 28.83 25.69 23.92

6650 0.51 441.6 343.3 7.0 363 6740 0.15 2.30 76.80 1.257 4 0.070 0.044 2933 3636 1166 0 0 0 0 1 0 26.17 24.89 23.96

6768 0.49 441.6 329.6 13.9 368 6776 0.12 2.12 0.00 0.000 6 0.151 0.024 2901 2248 1167 0 0 0 0 0 0 25.28 25.41 28.83

7075 0.52 441.6 295.2 10.6 384 7080 0.00 2.08 0.00 0.000 4 0.000 0.034 2901 855 1166 0 0 0 0 0 0 28.83 26.13 28.83

7119 0.55 441.6 290.8 10.3 386 7124 0.00 2.08 0.00 0.000 6 0.000 0.027 2901 2256 1167 0 0 0 0 0 0 28.83 26.19 28.83

7443 0.59 455.5 259.9 9.5 402 7463 0.00 2.22 15.20 0.801 4 0.000 0.044 2901 3649 1104 0 0 0 0 0 0 28.83 26.06 25.42

7510 0.62 455.5 253.2 10.1 405 7516 0.12 2.08 0.00 0.000 6 0.077 0.024 2970 2232 1101 0 0 0 0 0 0 26.17 26.21 28.83

7829 0.60 455.5 200.4 16.0 421 7831 0.15 0.00 0.00 0.000 6 0.132 0.000 2928 2230 1100 0 0 0 0 0 0 26.26 28.83 28.83

8130 0.62 455.5 162.8 12.8 436 8136 0.00 2.17 0.00 0.000 4 0.000 0.043 2927 3651 1100 0 0 0 0 0 0 28.83 26.43 28.83

8183 0.64 455.5 156.9 12.8 438 8189 0.00 2.05 0.00 0.000 6 0.000 0.023 2928 2240 1099 0 0 0 0 0 0 28.83 26.53 28.83

8497 0.67 455.6 122.2 10.0 454 8502 0.00 2.03 0.00 0.000 4 0.000 0.033 2928 852 1099 0 0 0 0 0 0 28.83 26.54 28.83

8550 0.73 476.8 118.4 9.3 456 8563 0.15 2.05 7.65 0.392 6 0.067 0.025 3017 2252 1022 0 0 0 0 0 0 26.57 26.56 25.80

8861 0.71 476.8 70.6 15.0 472 8867 0.15 2.10 0.00 0.000 4 0.129 0.041 2967 3649 1027 0 0 0 0 0 0 26.42 26.49 28.83

8939 0.72 476.8 62.6 12.8 475 8947 0.00 2.03 0.00 0.000 6 0.000 0.022 2967 2249 1026 0 0 0 0 0 0 28.83 26.63 28.83

9246 0.80 538.6 34.7 7.9 500 9277 0.00 2.10 25.40 0.203 4 0.000 0.031 2967 854 770 0 0 0 0 0 0 28.83 26.48 26.06

9316 0.91 615.6 29.8 7.4 506 9355 0.20 2.03 32.00 0.188 6 0.054 0.024 3084 2254 455 0 0 0 0 0 0 26.53 26.51 26.00

9471 end climb: SURFACE_DEPTH_REACHED

state 9471 begin surface coast

9489 end surface coast: CONTROL_FINISHED_OK

state 9489 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	14	HEADING	-1	ROLL_MAX	3764	ALTIM_PING_DEPTH	500
DIVE	41	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	50
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2275	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2250	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	0
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	425	R_PORT_OVSHOOT	72	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	58	INT_PRESSURE_YINT	0
T_BOOST	4	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.02	DEVICE1	-1
D_CALL	0	N_NOCOMM	1	VBD_MIN	460	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2968	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	330	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	380	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-8	T_GPS_CHARGE	-968540.25	CF8_MAXERRORS	0	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	110	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	22	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	9.5	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-8	PITCH_MIN	134	FG_AHR_24V	0	SEABIRD_T_G	0.0043364335
MAX_BUOY	200	PITCH_MAX	3944	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062881975
COURSE_BIAS	0	C_PITCH	2740	PRESSURE_YINT	-16.305099	SEABIRD_T_I	2.1970176e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_J	2.0625448e-06
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8829851
RHO	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104416
MASS	52251	PITCH_GAIN	40	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016111456
NAV_MODE	2	PITCH_TIMEOUT	19	COMPASS_USE	4	SEABIRD_C_J	0.00020720487
FERRY_MAX	45	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0.0099999998	ALTIM_BOTTOM_TURN_MARGIN	50	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0

GPS1	211012,184836,2223.135,12111.591,31,1.1,31,-3.3	TGT_NAME	N1
_CALLS	1	TGT_LATLONG	2303.600,12125.840
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211012,185447,2223.211,12111.552,4,1.1,4,-3.3	MHEAD_RNG_PITCHd_Wd	40.0,78663,-15.7,-10.000,-18.65
SPEED_LIMITS	0.173,0.296	D_GRID	504

FINISH	0.8,1.020499	_10V_AH	9.9,8.402
SM_CCo	9566,0.00,0.000,0,0,451,617.42	FG_AHR_24Vo	0.000
SM_GC	1.59,7.45,0.00,0.00,0.026,0.000,0.000,107,2254,451,-8.10,-0.59,617.42,0,0,0,0,0,0,26.48,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2211.35,12108.21,211012,141413	MEM	323772
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	20048,536
HUMID	53.42	CAP_FILE_SIZE	129497,0
INTERNAL_PRESSURE	9.41442	CFSIZE	260165632,245923840
TCM_TEMP	25.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	5	CURRENT	0.226, 6.3,1
_24V_AH	23.9,15.656	GPS	211012,213600,2225.540,12112.828,38,1.6,38,-3.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	226	112.30	nil	0	0	0.00
Roll_motor	87	48	102.59	nil	0	0	0.00
VBD_pump_during_apogee	604	1269	18329.07	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	SciCon	9509	15	3578.97
Iridium_during_xfer	208	128	639.59	nil	0	0	0.00
Transponder_ping	1	420	17.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	26	1.53
TT8	1687	14	245.75
LPSleep	5777	2	125.27
TT8_Active	644	14	93.84
TT8_Sampling	1587	37	596.07
TT8_CF8	240	44	106.56
TT8_Kalman	0	0	0.00
Analog_circuits	1652	16	261.79
GPS_charging	0	0	0.00
Compass	1323	8	107.96
RAFOS	0	0	0.00
Transponder	5	30	1.60

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	-0.47	-195.5	0.0	0.0	0	96	0.00	0.00	-75.68	0.000	2	0.000	0.000	112	2271	2507	0	0	0	0	0	0	28.83	28.83	28.83
100	-0.47	-195.5	3.2	-6.2	13	144	9.62	2.10	-28.08	0.000	4	0.226	0.041	2579	875	3767	0	0	0	0	0	0	25.69	26.20	26.51
202	-0.49	-195.5	17.7	-12.0	31	209	0.00	2.05	0.00	0.000	6	0.000	0.027	2578	2261	3768	0	0	0	0	0	0	28.83	26.23	28.83
517	-0.49	-195.5	70.6	-15.3	61	518	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2262	3768	0	0	0	0	0	0	28.83	28.83	28.83
819	-0.54	-195.5	101.9	-8.1	76	824	0.00	2.12	0.00	0.000	4	0.000	0.043	2576	3670	3768	0	0	0	0	0	0	28.83	26.43	28.83
928	-0.62	-195.5	111.0	-8.6	81	935	0.10	2.00	0.00	0.000	6	0.093	0.021	2502	2270	3769	0	0	0	0	0	0	26.50	26.57	28.83
1248	-0.60	-195.5	157.6	-13.6	97	1254	0.12	2.00	0.00	0.000	4	0.148	0.028	2543	874	3770	0	0	0	0	0	0	26.44	26.58	28.83
1301	-0.62	-195.5	162.4	-12.3	99	1308	0.00	2.08	0.00	0.000	6	0.000	0.034	2542	2292	3770	0	0	0	0	0	0	28.83	26.55	28.83
1617	-0.68	-195.5	187.6	-7.5	115	1622	0.00	2.08	0.00	0.000	4	0.000	0.044	2543	3665	3770	0	0	0	0	0	0	28.83	26.53	28.83
1776	-0.75	-195.5	197.5	-6.4	122	1784	0.15	2.00	0.00	0.000	6	0.068	0.021	2452	2282	3770	0	0	0	0	0	0	26.63	26.69	28.83
2082	-0.73	-195.5	241.8	-14.1	138	2088	0.15	2.15	0.00	0.000	4	0.142	0.048	2495	3668	3769	0	0	0	0	0	0	26.46	26.53	28.83
2155	-0.73	-195.5	249.5	-12.6	141	2160	0.00	2.00	0.00	0.000	6	0.000	0.019	2495	2221	3769	0	0	0	0	0	0	28.83	26.74	28.83
2468	-0.76	-195.5	282.0	-9.9	157	2474	0.00	2.22	0.00	0.000	4	0.000	0.046	2495	3674	3768	0	0	0	0	0	0	28.83	26.58	28.83
2583	-0.79	-195.5	292.1	-9.6	162	2588	0.00	2.00	0.00	0.000	6	0.000	0.019	2495	2235	3767	0	0	0	0	0	0	28.83	26.74	28.83
2897	-0.83	-195.5	322.7	-9.8	178	2902	0.00	2.17	0.00	0.000	4	0.000	0.044	2495	3665	3766	0	0	0	0	0	0	28.83	26.58	28.83
2965	-0.87	-195.5	328.2	-8.9	181	2971	0.10	1.92	0.00	0.000	6	0.095	0.019	2431	2268	3766	0	0	0	0	0	0	26.65	26.76	28.83
3284	-0.85	-195.5	368.7	-12.5	197	3286	0.12	0.00	0.00	0.000	6	0.151	0.000	2464	2267	3764	0	0	0	0	0	0	26.55	28.83	28.83
3586	-0.86	-195.5	397.5	-9.8	212	3592	0.00	2.15	0.00	0.000	4	0.000	0.049	2464	3663	3762	0	0	0	0	0	0	28.83	26.58	28.83
3725	-0.89	-195.5	411.7	-11.5	218	3732	0.00	1.92	0.00	0.000	6	0.000	0.018	2464	2275	3760	0	0	0	0	0	0	28.83	26.78	28.83
4031	-0.91	-195.5	448.4	-11.3	234	4036	0.00	2.12	0.00	0.000	4	0.000	0.048	2463	3664	3759	0	0	0	0	0	0	28.83	26.52	28.83
4115	-0.95	-195.5	458.3	-11.8	238	4120	0.00	1.95	0.00	0.000	6	0.000	0.021	2464	2268	3759	0	0	0	0	0	0	28.83	26.78	28.83
4439	-0.97	-195.5	491.3	-8.9	254	4444	0.12	2.15	0.00	0.000	4	0.083	0.044	2389	3665	3756	0	0	0	0	0	0	26.79	26.55	28.83
4506	-0.97	-195.5	499.6	-12.0	257	4513	0.12	1.92	-0.10	0.000	6	0.158	0.020	2421	2280	3780	0	0	0	0	0	0	26.42	26.75	26.09
4543	end dive: TARGET_DEPTH_EXCEEDED
state	4543	begin apogee
4549	-0.20	0.0	504.9	-13.1	259	4716	0.73	0.00	157.80	0.844	6	0.114	0.000	2667	2275	2959	0	0	0	0	0	0	26.29	28.83	24.46
4718	end apogee: CONTROL_FINISHED_OK
state	4718	begin climb
4720	0.47	195.5	511.2	0.0	267	4889	0.60	2.33	158.73	0.814	4	0.044	0.044	2906	3646	2159	0	0	0	0	0	0	25.28	24.96	24.31
5081	0.41	195.5	478.6	14.1	285	5087	0.15	2.03	0.00	0.000	6	0.154	0.024	2874	2277	2146	0	0	0	0	0	0	25.72	25.96	28.83
5396	0.39	198.5	447.1	9.9	301	5401	0.00	2.12	0.00	0.000	4	0.000	0.045	2874	3639	2142	0	0	0	0	0	0	28.83	26.20	28.83
5449	0.37	198.5	442.1	10.6	303	5454	0.00	2.03	0.00	0.000	6	0.000	0.024	2882	2251	2142	0	0	0	0	0	0	28.83	26.34	28.83
5762	0.35	198.5	407.9	10.4	319	5767	0.00	2.15	0.00	0.000	4	0.000	0.045	2882	3643	2139	0	0	0	0	0	0	28.83	26.35	28.83
5819	0.32	198.5	402.7	11.0	321	5826	0.15	2.03	0.00	0.000	6	0.149	0.025	2841	2249	2139	0	0	0	0	0	0	26.22	26.48	28.83
6125	0.36	276.0	377.7	7.3	337	6198	0.00	2.33	59.97	1.267	4	0.000	0.044	2840	3637	1842	0	0	0	0	1	0	28.83	25.12	24.16
6248	0.41	354.6	368.7	7.3	343	6331	0.00	2.12	70.72	1.269	6	0.000	0.024	2841	2241	1523	0	0	0	0	1	0	28.83	25.69	23.92
6650	0.51	441.6	343.3	7.0	363	6740	0.15	2.30	76.80	1.257	4	0.070	0.044	2933	3636	1166	0	0	0	0	1	0	26.17	24.89	23.96
6768	0.49	441.6	329.6	13.9	368	6776	0.12	2.12	0.00	0.000	6	0.151	0.024	2901	2248	1167	0	0	0	0	0	0	25.28	25.41	28.83
7075	0.52	441.6	295.2	10.6	384	7080	0.00	2.08	0.00	0.000	4	0.000	0.034	2901	855	1166	0	0	0	0	0	0	28.83	26.13	28.83
7119	0.55	441.6	290.8	10.3	386	7124	0.00	2.08	0.00	0.000	6	0.000	0.027	2901	2256	1167	0	0	0	0	0	0	28.83	26.19	28.83
7443	0.59	455.5	259.9	9.5	402	7463	0.00	2.22	15.20	0.801	4	0.000	0.044	2901	3649	1104	0	0	0	0	0	0	28.83	26.06	25.42
7510	0.62	455.5	253.2	10.1	405	7516	0.12	2.08	0.00	0.000	6	0.077	0.024	2970	2232	1101	0	0	0	0	0	0	26.17	26.21	28.83
7829	0.60	455.5	200.4	16.0	421	7831	0.15	0.00	0.00	0.000	6	0.132	0.000	2928	2230	1100	0	0	0	0	0	0	26.26	28.83	28.83
8130	0.62	455.5	162.8	12.8	436	8136	0.00	2.17	0.00	0.000	4	0.000	0.043	2927	3651	1100	0	0	0	0	0	0	28.83	26.43	28.83
8183	0.64	455.5	156.9	12.8	438	8189	0.00	2.05	0.00	0.000	6	0.000	0.023	2928	2240	1099	0	0	0	0	0	0	28.83	26.53	28.83
8497	0.67	455.6	122.2	10.0	454	8502	0.00	2.03	0.00	0.000	4	0.000	0.033	2928	852	1099	0	0	0	0	0	0	28.83	26.54	28.83
8550	0.73	476.8	118.4	9.3	456	8563	0.15	2.05	7.65	0.392	6	0.067	0.025	3017	2252	1022	0	0	0	0	0	0	26.57	26.56	25.80
8861	0.71	476.8	70.6	15.0	472	8867	0.15	2.10	0.00	0.000	4	0.129	0.041	2967	3649	1027	0	0	0	0	0	0	26.42	26.49	28.83
8939	0.72	476.8	62.6	12.8	475	8947	0.00	2.03	0.00	0.000	6	0.000	0.022	2967	2249	1026	0	0	0	0	0	0	28.83	26.63	28.83
9246	0.80	538.6	34.7	7.9	500	9277	0.00	2.10	25.40	0.203	4	0.000	0.031	2967	854	770	0	0	0	0	0	0	28.83	26.48	26.06
9316	0.91	615.6	29.8	7.4	506	9355	0.20	2.03	32.00	0.188	6	0.054	0.024	3084	2254	455	0	0	0	0	0	0	26.53	26.51	26.00
9471	end climb: SURFACE_DEPTH_REACHED
state	9471	begin surface coast
9489	end surface coast: CONTROL_FINISHED_OK
state	9489	begin surface