Glider dive log

SPURS Mar13 * SG160 * Dive index * Mission links * Dive 509 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 160 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

MISSION 9 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

DIVE 509 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

N_DIVES 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 27 XPDR_INHIBIT 90

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 INT_PRESSURE_YINT 1

D_TGT 300 SM_CC 517.58301 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_ABORT 360 N_FILEKB 4 ROLL_ADJ_GAIN 1.5 DEEPGLIDERMB 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 VBD_MIN 190 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MAX 3660 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 C_VBD 2300 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.001 LOGGERS 1

SURFACE_URGENCY_TRY 0 CALL_TRIES 6 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 67

T_DIVE 135 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_MISSION 200 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 97

T_TURN 225 T_GPS 5 W_ADJ_DBAND 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT 5 N_GPS 10 DBDW 0 PHONE_DEVICE 48

T_NO_W 120 T_GPS_ALMANAC 0 PITCH_W_GAIN 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -81315.102 PITCH_W_DBAND 0 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 3 CF8_MAXERRORS 0 XPDR_DEVICE 24

USE_BATHY 0 STROBE 0 AH0_24V 350 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 MINV_24V 11 SEABIRD_T_G 0.0043567605

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_10V 11 SEABIRD_T_H 0.00063562888

T_WATCHDOG 10 PITCH_MIN 155 FG_AHR_10V 0 SEABIRD_T_I 2.4601901e-05

RELAUNCH 1 PITCH_MAX 3900 FG_AHR_24V 0 SEABIRD_T_J 2.6145824e-06

APOGEE_PITCH -5 C_PITCH 3295 PHONE_SUPPLY -2 SEABIRD_C_G -9.8833933

MAX_BUOY 110 PITCH_DBAND 0.1 PRESSURE_YINT -21.182281 SEABIRD_C_H 1.1029875

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001158597 SEABIRD_C_I -0.0011442616

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_J 0.00017903016

SPEED_FACTOR 1 PITCH_GAIN 20 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

MASS 55936 PITCH_AD_RATE 120 COMPASS_USE 4 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_RECORDABOVE 250.0

NAV_MODE 2 PITCH_ADJ_GAIN 0.0099999998 ALTIM_TOP_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1.5 ALTIM_BOTTOM_TURN_MARGIN 10 TM_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.003 ROLL_MAX 3200 ALTIM_TOP_MIN_OBSTACLE 1 TM_XMITRAW 0.0

HD_B 0.0099999998 ROLL_DEG 30 ALTIM_PING_DEPTH 0

HD_C 9.9999997e-06 C_ROLL_DIVE 1950 ALTIM_PING_DELTA 0

HEADING -1 C_ROLL_CLIMB 1800 ALTIM_FREQUENCY 13

AD7714Ch0Gain 128 D_SAFE 0 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

AH0_10V 0 D_SURF 3 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

AH0_24V 350 D_TGT 300 PITCH_GAIN 20 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_MAX 3900 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_MIN 155 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LON -12218

ALTIM_PULSE 3 FILEMGR 0 PITCH_W_DBAND 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158597 TM_RECORDABOVE 250.0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PRESSURE_YINT -21.182281 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PROTOCOL 9 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_ABORT 1440

CALL_NDIVES 1 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_BOOST 5

CALL_TRIES 6 HEADING -1 RAFOS_DEVICE -1 T_DIVE 135

CALL_WAIT 60 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 ID 160 RHO 1.0275 T_GPS_CHARGE -81315.102

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1 ROLL_ADJ_GAIN 1.5 T_MISSION 200

COMPASS_DEVICE 97 KALMAN_USE 2 ROLL_AD_RATE 250 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE2 67 ROLL_DEG 30 T_TURN 225

C_PITCH 3295 LOGGERDEVICE3 -1 ROLL_MAX 3200 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1800 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 T_WATCHDOG 10

C_ROLL_DIVE 1950 LOGGERS 1 ROLL_MIN 335 UNCOM_BLEED 20

C_VBD 2300 MASS 55936 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MASS_COMP 0 R_PORT_OVSHOOT 27 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 110 R_STBD_OVSHOOT 32 USE_ICE 0

DEEPGLIDERMB 0 MINV_10V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_24V 11 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE2 -1 MISSION 9 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE3 -1 MOTHERBOARD 4 SEABIRD_C_G -9.8833933 VBD_MAX 3660

DEVICE4 -1 NAV_MODE 2 SEABIRD_C_H 1.1029875 VBD_MAXERRORS 1

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_I -0.0011442616 VBD_MIN 190

DEVICE6 -1 N_DIVES 0 SEABIRD_C_J 0.00017903016 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 509 N_FILEKB 4 SEABIRD_T_G 0.0043567605 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 360 N_GPS 10 SEABIRD_T_H 0.00063562888 VBD_TIMEOUT 720

D_BOOST 20 N_NOCOMM 1 SEABIRD_T_I 2.4601901e-05 W_ADJ_DBAND 0

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_J 2.6145824e-06 XPDR_DEVICE 24

D_FINISH 0 PHONE_DEVICE 48 SIM_PITCH 0 XPDR_INHIBIT 90

D_FLARE 3 PHONE_SUPPLY -2 SIM_W 0 XPDR_VALID 4

D_NO_BLEED 200 PITCH_ADJ_DBAND 1.5 SM_CC 517.58301

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0099999998 SPEED_FACTOR 1

D_PITCH 0 PITCH_AD_RATE 120 STROBE 0

Pre-dive calculations and measurements:

GPS1 080813,131528,2448.935,-3753.542,0,10000.0,0,-15.1 TGT_NAME SE

_CALLS 6 TGT_LATLONG 2420.500,-3747.160

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080813,131528,2448.935,-3753.542,301,99.0,301,-15.1 MHEAD_RNG_PITCHd_Wd 228.5,53750,-15.6,-7.407,-19.94,2197

SPEED_LIMITS 0.128,0.204 D_GRID 300

Post-dive calculations and measurements:

FREEZE 4.35,26.155,-1.045,0,32,0 _10V_AH 12.7,0.000

SM_CCo 8042,105.95,0.074,0,0,189,517.58 FG_AHR_24Vo 0.000

SM_GC 5.06,10.00,0.22,0.00,0.047,0.063,0.000,141,1964,190,-9.79,-0.76,517.58,0,0,0,0,0,0,14.64,14.64,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2451.31,-3750.21,080813,161628 MEM 345028

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 16805,471

HUMID 83.54 CAP_FILE_SIZE 125578,0

INTERNAL_PRESSURE 9.57455 CFSIZE 260034560,185532416

TCM_TEMP 23.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 4 CURRENT 8.245,226.6,1

SC_FREEKB 3825184 GPS 080813,161228,2451.311,-3750.206,0,10000.0,0,-15.1

_24V_AH 13.6,195.302

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 384 144.67 nil 0 0 0.00

Roll_motor 79 83 90.35 nil 0 0 0.00

VBD_pump_during_apogee 330 1206 5425.42 nil 0 0 0.00

VBD_pump_during_surface 105 74 106.92 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 8044 7 790.29

Iridium_during_xfer 1054 221 3180.31 TMICL 0 0 0.00

Transponder_ping 1 420 5.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 306 21 84.48

TT8 1736 9 203.39

LPSleep 4958 2 137.90

TT8_Active 510 9 59.83

TT8_Sampling 2667 27 946.64

TT8_CF8 619 32 255.20

TT8_Kalman 0 0 0.00

Analog_circuits 2314 17 499.63

GPS_charging 0 0 0.00

Compass 1361 5 86.44

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

23 -0.89 -107.1 145 1959 220 163 0.0 0.0 0 114 0.00 0.00 -88.97 0.000 16386 0.000 0.000 146 1960 2306 2283 2330 0 0 0 0 0 0 28.83 28.83 28.83

120 -0.89 -107.1 146 1960 2283 2331 3.3 -1.3 6 151 14.70 2.50 -10.18 0.000 19204 0.384 0.083 2992 893 2738 2759 2718 0 0 0 0 0 0 14.12 14.57 14.90

387 -0.80 -107.1 2993 893 2759 2718 37.8 -12.5 23 393 0.17 2.38 0.00 0.000 3078 0.249 0.053 3034 1943 2738 2759 2718 0 0 0 0 0 0 14.23 14.54 28.83

709 -0.77 -107.1 3034 1942 2759 2718 70.0 -7.7 44 714 0.00 2.40 0.00 0.000 516 0.000 0.062 3034 896 2738 2759 2717 0 0 0 0 0 0 28.83 14.49 28.83

947 -0.73 -107.1 1952 895 2696 2708 89.1 -8.0 59 952 0.00 2.35 0.00 0.000 1030 0.000 0.054 3034 1935 2738 2759 2717 0 0 0 0 0 0 28.83 14.52 28.83

1263 -0.70 -107.1 3034 1935 2758 2716 113.4 -7.5 80 1269 0.12 2.47 0.00 0.000 2308 0.236 0.067 3066 3011 2737 2759 2716 0 0 0 0 0 0 14.28 14.41 28.83

1420 -0.70 -107.1 3066 3011 2759 2716 124.2 -6.8 90 1425 0.00 2.47 0.00 0.000 1030 0.000 0.037 3066 1895 2737 2759 2716 0 0 0 0 0 0 28.83 14.58 28.83

1740 -0.72 -107.1 3067 1896 2759 2716 146.0 -6.8 111 1746 0.00 2.25 0.00 0.000 516 0.000 0.063 3066 899 2737 2759 2716 0 0 0 0 0 0 28.83 14.46 28.83

1967 -0.72 -107.1 3066 899 2759 2715 162.3 -7.8 125 1973 0.00 2.22 0.00 0.000 1030 0.000 0.049 3066 1892 2736 2758 2714 0 0 0 0 0 0 28.83 14.54 28.83

2275 -0.75 -107.1 3067 1892 2759 2713 186.1 -7.5 146 2280 0.00 2.30 0.00 0.000 516 0.000 0.062 3066 900 2736 2759 2714 0 0 0 0 0 0 28.83 14.45 28.83

2463 -0.77 -107.1 3066 900 2759 2713 199.8 -7.1 158 2468 0.00 2.20 0.00 0.000 1030 0.000 0.049 3066 1873 2735 2759 2712 0 0 0 0 0 0 28.83 14.54 28.83

2783 -0.80 -107.1 3066 1871 2759 2711 220.9 -6.8 179 2788 0.00 2.22 0.00 0.000 516 0.000 0.060 3066 899 2735 2759 2711 0 0 0 0 0 0 28.83 14.40 28.83

2897 -0.82 -107.1 3066 899 2759 2711 229.4 -8.1 186 2903 0.12 2.15 0.00 0.000 5126 0.119 0.047 3015 1857 2735 2759 2711 0 0 0 0 0 0 14.53 14.54 28.83

3219 -0.81 -107.1 3016 1856 2759 2708 258.7 -8.7 204 3224 0.00 2.22 0.00 0.000 516 0.000 0.060 3016 895 2734 2759 2709 0 0 0 0 0 0 28.83 14.45 28.83

3356 -0.78 -107.1 3015 894 2758 2708 269.0 -8.2 208 3362 0.00 2.12 0.00 0.000 1030 0.000 0.049 3015 1843 2732 2758 2707 0 0 0 0 0 0 28.83 14.54 28.83

3687 -0.75 -107.1 3015 1842 2758 2706 295.5 -7.8 219 3693 0.12 2.17 0.00 0.000 2564 0.252 0.055 3050 896 2732 2758 2706 0 0 0 0 0 0 14.26 14.46 28.83

3748 end dive: TARGET_DEPTH_EXCEEDED

state 3748 begin apogee

3759 -0.25 0.0 3049 1813 2758 2705 300.9 -7.8 221 3847 0.55 0.00 82.28 1.206 10244 0.177 0.000 3205 1813 2296 2341 2251 0 0 0 0 0 0 14.07 28.83 13.56

3852 end apogee: CONTROL_FINISHED_OK

state 3852 begin climb

3856 0.89 107.1 3205 1812 2338 2251 303.7 0.0 224 3954 1.17 2.45 84.50 1.201 10500 0.103 0.067 3578 2850 1860 1939 1781 0 0 0 0 0 0 14.40 14.40 13.59

4070 0.81 150.8 3578 2850 1932 1776 298.7 5.4 231 4111 0.00 2.38 33.97 1.171 9222 0.000 0.045 3578 1801 1682 1758 1606 0 0 0 0 0 0 28.83 14.57 13.72

4422 0.73 150.8 3578 1801 1744 1605 269.1 8.3 243 4428 0.17 2.45 0.00 0.000 4356 0.259 0.060 3535 2856 1674 1744 1605 0 0 0 0 0 0 14.21 14.53 28.83

4659 0.65 150.8 3535 2856 1740 1605 252.2 7.4 250 4664 0.00 2.33 0.00 0.000 1030 0.000 0.045 3534 1819 1672 1740 1605 0 0 0 0 0 0 28.83 14.61 28.83

4974 0.64 189.0 3535 1819 1740 1605 232.9 5.6 271 5013 0.12 2.42 29.12 1.112 12548 0.249 0.061 3502 2844 1525 1590 1460 0 0 0 0 0 0 14.26 14.57 13.82

5249 0.61 189.0 3502 2844 1579 1460 213.0 8.5 288 5255 0.00 2.25 0.00 0.000 1030 0.000 0.044 3505 1844 1520 1580 1460 0 0 0 0 0 0 28.83 14.58 28.83

5553 0.61 189.0 3499 1845 1578 1461 184.0 9.3 309 5559 0.00 2.35 0.00 0.000 260 0.000 0.061 3504 2854 1518 1577 1460 0 0 0 0 0 0 28.83 14.49 28.83

5661 0.58 189.0 3504 2854 1576 1460 175.1 8.9 315 5668 0.00 2.25 0.00 0.000 1030 0.000 0.043 3506 1854 1518 1576 1460 0 0 0 0 0 0 28.83 14.58 28.83

5964 0.63 243.7 3502 1855 1576 1460 155.5 4.9 336 6013 0.00 2.33 41.92 1.031 8452 0.000 0.061 3506 2851 1302 1343 1261 0 0 0 0 0 0 28.83 14.55 13.80

6090 0.68 289.2 3506 2851 1335 1265 148.9 5.3 344 6135 0.00 2.22 36.78 1.017 9222 0.000 0.042 3506 1868 1117 1176 1059 0 0 0 0 0 0 28.83 14.47 13.78

6436 0.72 299.5 3505 1868 1176 1049 129.7 6.9 367 6452 0.00 2.53 8.68 0.909 8708 0.000 0.060 3505 749 1078 1143 1014 0 0 0 0 0 0 28.83 14.63 13.86

6567 0.79 299.5 2624 749 1127 1011 118.9 8.7 375 6573 0.15 2.42 0.00 0.000 3078 0.124 0.040 3567 1845 1077 1143 1012 0 0 0 0 0 0 14.54 14.58 28.83

6884 0.77 299.5 3566 1844 1143 1010 82.5 10.7 396 6890 0.00 2.30 0.00 0.000 260 0.000 0.063 3566 2850 1076 1143 1010 0 0 0 0 0 0 28.83 14.47 28.83

6988 0.73 299.5 3566 2850 1141 1010 71.6 10.9 402 6994 0.15 2.25 0.00 0.000 5126 0.223 0.043 3531 1853 1075 1141 1010 0 0 0 0 0 0 14.26 14.55 28.83

7304 0.76 314.1 3531 1853 1141 1012 48.8 6.7 423 7325 0.00 2.50 13.43 0.842 8708 0.000 0.061 3533 744 1016 1091 942 0 0 0 0 0 0 28.83 14.64 13.89

7363 0.78 314.1 3533 744 1091 942 44.5 8.4 426 7373 0.00 2.47 0.00 0.000 1030 0.000 0.039 3533 1868 1015 1090 941 0 0 0 0 0 0 28.83 14.57 28.83

7671 0.82 314.1 3533 1868 1091 938 20.0 8.0 447 7676 0.00 2.58 0.00 0.000 516 0.000 0.060 3533 750 1014 1091 938 0 0 0 0 0 0 28.83 14.45 28.83

7740 0.86 314.1 2688 750 1078 936 14.4 8.2 451 7746 0.12 2.42 0.00 0.000 3078 0.125 0.041 3589 1837 1014 1091 938 0 0 0 0 0 0 14.41 14.45 28.83

8037 end climb: NO_VERTICAL_VELOCITY

state 8037 begin surface

ID	160	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
MISSION	9	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
DIVE	509	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
N_DIVES	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	27	XPDR_INHIBIT	90
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	INT_PRESSURE_YINT	1
D_TGT	300	SM_CC	517.58301	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_ABORT	360	N_FILEKB	4	ROLL_ADJ_GAIN	1.5	DEEPGLIDERMB	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	VBD_MIN	190	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MAX	3660	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	C_VBD	2300	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.001	LOGGERS	1
SURFACE_URGENCY_TRY	0	CALL_TRIES	6	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	67
T_DIVE	135	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_MISSION	200	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	97
T_TURN	225	T_GPS	5	W_ADJ_DBAND	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	5	N_GPS	10	DBDW	0	PHONE_DEVICE	48
T_NO_W	120	T_GPS_ALMANAC	0	PITCH_W_GAIN	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-81315.102	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	3	CF8_MAXERRORS	0	XPDR_DEVICE	24
USE_BATHY	0	STROBE	0	AH0_24V	350	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	MINV_24V	11	SEABIRD_T_G	0.0043567605
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_10V	11	SEABIRD_T_H	0.00063562888
T_WATCHDOG	10	PITCH_MIN	155	FG_AHR_10V	0	SEABIRD_T_I	2.4601901e-05
RELAUNCH	1	PITCH_MAX	3900	FG_AHR_24V	0	SEABIRD_T_J	2.6145824e-06
APOGEE_PITCH	-5	C_PITCH	3295	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.8833933
MAX_BUOY	110	PITCH_DBAND	0.1	PRESSURE_YINT	-21.182281	SEABIRD_C_H	1.1029875
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001158597	SEABIRD_C_I	-0.0011442616
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_J	0.00017903016
SPEED_FACTOR	1	PITCH_GAIN	20	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
MASS	55936	PITCH_AD_RATE	120	COMPASS_USE	4	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_RECORDABOVE	250.0
NAV_MODE	2	PITCH_ADJ_GAIN	0.0099999998	ALTIM_TOP_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1.5	ALTIM_BOTTOM_TURN_MARGIN	10	TM_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.003	ROLL_MAX	3200	ALTIM_TOP_MIN_OBSTACLE	1	TM_XMITRAW	0.0
HD_B	0.0099999998	ROLL_DEG	30	ALTIM_PING_DEPTH	0
HD_C	9.9999997e-06	C_ROLL_DIVE	1950	ALTIM_PING_DELTA	0
HEADING	-1	C_ROLL_CLIMB	1800	ALTIM_FREQUENCY	13

GPS1	080813,131528,2448.935,-3753.542,0,10000.0,0,-15.1	TGT_NAME	SE
_CALLS	6	TGT_LATLONG	2420.500,-3747.160
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080813,131528,2448.935,-3753.542,301,99.0,301,-15.1	MHEAD_RNG_PITCHd_Wd	228.5,53750,-15.6,-7.407,-19.94,2197
SPEED_LIMITS	0.128,0.204	D_GRID	300

FREEZE	4.35,26.155,-1.045,0,32,0	_10V_AH	12.7,0.000
SM_CCo	8042,105.95,0.074,0,0,189,517.58	FG_AHR_24Vo	0.000
SM_GC	5.06,10.00,0.22,0.00,0.047,0.063,0.000,141,1964,190,-9.79,-0.76,517.58,0,0,0,0,0,0,14.64,14.64,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2451.31,-3750.21,080813,161628	MEM	345028
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	16805,471
HUMID	83.54	CAP_FILE_SIZE	125578,0
INTERNAL_PRESSURE	9.57455	CFSIZE	260034560,185532416
TCM_TEMP	23.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	4	CURRENT	8.245,226.6,1
SC_FREEKB	3825184	GPS	080813,161228,2451.311,-3750.206,0,10000.0,0,-15.1
_24V_AH	13.6,195.302

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	384	144.67	nil	0	0	0.00
Roll_motor	79	83	90.35	nil	0	0	0.00
VBD_pump_during_apogee	330	1206	5425.42	nil	0	0	0.00
VBD_pump_during_surface	105	74	106.92	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	8044	7	790.29
Iridium_during_xfer	1054	221	3180.31	TMICL	0	0	0.00
Transponder_ping	1	420	5.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	306	21	84.48
TT8	1736	9	203.39
LPSleep	4958	2	137.90
TT8_Active	510	9	59.83
TT8_Sampling	2667	27	946.64
TT8_CF8	619	32	255.20
TT8_Kalman	0	0	0.00
Analog_circuits	2314	17	499.63
GPS_charging	0	0	0.00
Compass	1361	5	86.44
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
23	-0.89	-107.1	145	1959	220	163	0.0	0.0	0	114	0.00	0.00	-88.97	0.000	16386	0.000	0.000	146	1960	2306	2283	2330	0	0	0	0	0	0	28.83	28.83	28.83
120	-0.89	-107.1	146	1960	2283	2331	3.3	-1.3	6	151	14.70	2.50	-10.18	0.000	19204	0.384	0.083	2992	893	2738	2759	2718	0	0	0	0	0	0	14.12	14.57	14.90
387	-0.80	-107.1	2993	893	2759	2718	37.8	-12.5	23	393	0.17	2.38	0.00	0.000	3078	0.249	0.053	3034	1943	2738	2759	2718	0	0	0	0	0	0	14.23	14.54	28.83
709	-0.77	-107.1	3034	1942	2759	2718	70.0	-7.7	44	714	0.00	2.40	0.00	0.000	516	0.000	0.062	3034	896	2738	2759	2717	0	0	0	0	0	0	28.83	14.49	28.83
947	-0.73	-107.1	1952	895	2696	2708	89.1	-8.0	59	952	0.00	2.35	0.00	0.000	1030	0.000	0.054	3034	1935	2738	2759	2717	0	0	0	0	0	0	28.83	14.52	28.83
1263	-0.70	-107.1	3034	1935	2758	2716	113.4	-7.5	80	1269	0.12	2.47	0.00	0.000	2308	0.236	0.067	3066	3011	2737	2759	2716	0	0	0	0	0	0	14.28	14.41	28.83
1420	-0.70	-107.1	3066	3011	2759	2716	124.2	-6.8	90	1425	0.00	2.47	0.00	0.000	1030	0.000	0.037	3066	1895	2737	2759	2716	0	0	0	0	0	0	28.83	14.58	28.83
1740	-0.72	-107.1	3067	1896	2759	2716	146.0	-6.8	111	1746	0.00	2.25	0.00	0.000	516	0.000	0.063	3066	899	2737	2759	2716	0	0	0	0	0	0	28.83	14.46	28.83
1967	-0.72	-107.1	3066	899	2759	2715	162.3	-7.8	125	1973	0.00	2.22	0.00	0.000	1030	0.000	0.049	3066	1892	2736	2758	2714	0	0	0	0	0	0	28.83	14.54	28.83
2275	-0.75	-107.1	3067	1892	2759	2713	186.1	-7.5	146	2280	0.00	2.30	0.00	0.000	516	0.000	0.062	3066	900	2736	2759	2714	0	0	0	0	0	0	28.83	14.45	28.83
2463	-0.77	-107.1	3066	900	2759	2713	199.8	-7.1	158	2468	0.00	2.20	0.00	0.000	1030	0.000	0.049	3066	1873	2735	2759	2712	0	0	0	0	0	0	28.83	14.54	28.83
2783	-0.80	-107.1	3066	1871	2759	2711	220.9	-6.8	179	2788	0.00	2.22	0.00	0.000	516	0.000	0.060	3066	899	2735	2759	2711	0	0	0	0	0	0	28.83	14.40	28.83
2897	-0.82	-107.1	3066	899	2759	2711	229.4	-8.1	186	2903	0.12	2.15	0.00	0.000	5126	0.119	0.047	3015	1857	2735	2759	2711	0	0	0	0	0	0	14.53	14.54	28.83
3219	-0.81	-107.1	3016	1856	2759	2708	258.7	-8.7	204	3224	0.00	2.22	0.00	0.000	516	0.000	0.060	3016	895	2734	2759	2709	0	0	0	0	0	0	28.83	14.45	28.83
3356	-0.78	-107.1	3015	894	2758	2708	269.0	-8.2	208	3362	0.00	2.12	0.00	0.000	1030	0.000	0.049	3015	1843	2732	2758	2707	0	0	0	0	0	0	28.83	14.54	28.83
3687	-0.75	-107.1	3015	1842	2758	2706	295.5	-7.8	219	3693	0.12	2.17	0.00	0.000	2564	0.252	0.055	3050	896	2732	2758	2706	0	0	0	0	0	0	14.26	14.46	28.83
3748	end dive: TARGET_DEPTH_EXCEEDED
state	3748	begin apogee
3759	-0.25	0.0	3049	1813	2758	2705	300.9	-7.8	221	3847	0.55	0.00	82.28	1.206	10244	0.177	0.000	3205	1813	2296	2341	2251	0	0	0	0	0	0	14.07	28.83	13.56
3852	end apogee: CONTROL_FINISHED_OK
state	3852	begin climb
3856	0.89	107.1	3205	1812	2338	2251	303.7	0.0	224	3954	1.17	2.45	84.50	1.201	10500	0.103	0.067	3578	2850	1860	1939	1781	0	0	0	0	0	0	14.40	14.40	13.59
4070	0.81	150.8	3578	2850	1932	1776	298.7	5.4	231	4111	0.00	2.38	33.97	1.171	9222	0.000	0.045	3578	1801	1682	1758	1606	0	0	0	0	0	0	28.83	14.57	13.72
4422	0.73	150.8	3578	1801	1744	1605	269.1	8.3	243	4428	0.17	2.45	0.00	0.000	4356	0.259	0.060	3535	2856	1674	1744	1605	0	0	0	0	0	0	14.21	14.53	28.83
4659	0.65	150.8	3535	2856	1740	1605	252.2	7.4	250	4664	0.00	2.33	0.00	0.000	1030	0.000	0.045	3534	1819	1672	1740	1605	0	0	0	0	0	0	28.83	14.61	28.83
4974	0.64	189.0	3535	1819	1740	1605	232.9	5.6	271	5013	0.12	2.42	29.12	1.112	12548	0.249	0.061	3502	2844	1525	1590	1460	0	0	0	0	0	0	14.26	14.57	13.82
5249	0.61	189.0	3502	2844	1579	1460	213.0	8.5	288	5255	0.00	2.25	0.00	0.000	1030	0.000	0.044	3505	1844	1520	1580	1460	0	0	0	0	0	0	28.83	14.58	28.83
5553	0.61	189.0	3499	1845	1578	1461	184.0	9.3	309	5559	0.00	2.35	0.00	0.000	260	0.000	0.061	3504	2854	1518	1577	1460	0	0	0	0	0	0	28.83	14.49	28.83
5661	0.58	189.0	3504	2854	1576	1460	175.1	8.9	315	5668	0.00	2.25	0.00	0.000	1030	0.000	0.043	3506	1854	1518	1576	1460	0	0	0	0	0	0	28.83	14.58	28.83
5964	0.63	243.7	3502	1855	1576	1460	155.5	4.9	336	6013	0.00	2.33	41.92	1.031	8452	0.000	0.061	3506	2851	1302	1343	1261	0	0	0	0	0	0	28.83	14.55	13.80
6090	0.68	289.2	3506	2851	1335	1265	148.9	5.3	344	6135	0.00	2.22	36.78	1.017	9222	0.000	0.042	3506	1868	1117	1176	1059	0	0	0	0	0	0	28.83	14.47	13.78
6436	0.72	299.5	3505	1868	1176	1049	129.7	6.9	367	6452	0.00	2.53	8.68	0.909	8708	0.000	0.060	3505	749	1078	1143	1014	0	0	0	0	0	0	28.83	14.63	13.86
6567	0.79	299.5	2624	749	1127	1011	118.9	8.7	375	6573	0.15	2.42	0.00	0.000	3078	0.124	0.040	3567	1845	1077	1143	1012	0	0	0	0	0	0	14.54	14.58	28.83
6884	0.77	299.5	3566	1844	1143	1010	82.5	10.7	396	6890	0.00	2.30	0.00	0.000	260	0.000	0.063	3566	2850	1076	1143	1010	0	0	0	0	0	0	28.83	14.47	28.83
6988	0.73	299.5	3566	2850	1141	1010	71.6	10.9	402	6994	0.15	2.25	0.00	0.000	5126	0.223	0.043	3531	1853	1075	1141	1010	0	0	0	0	0	0	14.26	14.55	28.83
7304	0.76	314.1	3531	1853	1141	1012	48.8	6.7	423	7325	0.00	2.50	13.43	0.842	8708	0.000	0.061	3533	744	1016	1091	942	0	0	0	0	0	0	28.83	14.64	13.89
7363	0.78	314.1	3533	744	1091	942	44.5	8.4	426	7373	0.00	2.47	0.00	0.000	1030	0.000	0.039	3533	1868	1015	1090	941	0	0	0	0	0	0	28.83	14.57	28.83
7671	0.82	314.1	3533	1868	1091	938	20.0	8.0	447	7676	0.00	2.58	0.00	0.000	516	0.000	0.060	3533	750	1014	1091	938	0	0	0	0	0	0	28.83	14.45	28.83
7740	0.86	314.1	2688	750	1078	936	14.4	8.2	451	7746	0.12	2.42	0.00	0.000	3078	0.125	0.041	3589	1837	1014	1091	938	0	0	0	0	0	0	14.41	14.45	28.83
8037	end climb: NO_VERTICAL_VELOCITY
state	8037	begin surface