Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HD_B 0.0099999998 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 1.34e-05 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 12

DIVE 8 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 2100 ALTIM_PING_DELTA 5

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2500 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 8 R_PORT_OVSHOOT 37 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 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 1 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 330 UPLOAD_DIVES_MAX -1 C_VBD 2732 DEVICE3 83

T_MISSION 360 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 0.00039999999 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 -1587620.5 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 22 RAFOS_DEVICE -1

APOGEE_PITCH -7 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 160 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 3200 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 1 PITCH_AD_RATE 165 COMPASS_USE 4 SEABIRD_C_I -0.0017547003

HD_A 0.0046000001 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 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 4 PITCH_ADJ_GAIN 0.0049999999 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 0.0046000001 PRESSURE_YINT -61.06522 T_DIVE 330

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 1.34e-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 -1587620.5

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 360

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 3200 KALMAN_USE 1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2100 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2732 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 160 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 83 MINV_10V 9.5 R_PORT_OVSHOOT 37 VBD_DBAND 2

DEVICE4 -1 MINV_24V 22 R_STBD_OVSHOOT 22 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 8 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 8 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 1 SEABIRD_T_J 2.4402393e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 130912,032215,4746.814,-12510.397,14,4.2,33,18.7 TGT_NAME OFFSHORE

_CALLS 2 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.213,-0.164

_SM_DEPTHo 0.83 KALMAN_X 1157.6,226.2,-312.7,-7325.4,327.0

_SM_ANGLEo -76.0 KALMAN_Y -1399.0,-827.8,143.8,-2162.9,510.3

GPS2 130912,033029,4746.724,-12510.488,36,1.5,46,18.7 MHEAD_RNG_PITCHd_Wd 217.9,163157,-18.1,-10.000,-20.39

SPEED_LIMITS 0.173,0.269 D_GRID 528

Post-dive calculations and measurements:

FINISH 0.3,1.014710 _10V_AH 10.3,2.120

SM_CCo 9411,0.00,0.000,0,0,923,443.75 FG_AHR_24Vo 0.000

SM_GC 1.10,9.20,0.65,0.00,0.048,0.050,0.000,136,2096,923,-9.47,1.07,443.75,0,0,0,0,0,0,25.21,25.15,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12508.44,130912,030354 MEM 296948

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 60186,1075

HUMID 44.64 CAP_FILE_SIZE 113109,0

INTERNAL_PRESSURE 9.04016 CFSIZE 260165632,256897024

TCM_TEMP 15.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.070, 1.0,1

_24V_AH 23.6,3.692 GPS 130912,060936,4746.543,-12512.451,38,1.0,39,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 226 118.64 SBE_CT 734 24 415.78

Roll_motor 87 77 160.42 SBE_O2 858 19 384.91

VBD_pump_during_apogee 496 930 10893.96 WL_BBFL2VMT 1285 105 3184.38

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 54 103 131.37 nil 0 0 0.00

Iridium_during_connect 60 160 229.52 nil 0 0 0.00

Iridium_during_xfer 165 223 870.48 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 47 50 24.33

TT8 2529 19 515.83

LPSleep 3981 2 89.82

TT8_Active 587 19 119.85

TT8_Sampling 2562 39 1050.60

TT8_CF8 245 45 115.58

TT8_Kalman 33 81 27.99

Analog_circuits 1597 12 197.47

GPS_charging 0 0 0.00

Compass 2237 15 345.72

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 -0.63 -155.7 0.0 0.0 0 102 0.00 0.00 -84.00 0.000 2 0.000 0.000 131 2091 2999 0 0 0 0 0 0 28.83 28.83 28.83

106 -0.63 -155.7 3.4 -7.8 13 130 11.07 2.35 -6.68 0.000 4 0.226 0.077 2981 3513 3369 0 0 0 0 0 0 25.40 25.65 25.97

393 -0.61 -155.7 57.9 -16.3 70 400 0.00 2.20 0.00 0.000 6 0.000 0.044 2981 2099 3373 0 0 0 0 0 0 28.83 25.86 28.83

709 -0.60 -155.7 102.8 -11.5 129 718 0.00 2.22 0.00 0.000 4 0.000 0.063 2970 3513 3375 0 0 0 0 0 0 28.83 25.95 28.83

782 -0.60 -155.7 112.2 -13.0 136 792 0.10 2.15 0.00 0.000 6 0.132 0.044 3003 2083 3375 0 0 0 0 0 0 25.88 26.04 28.83

1093 -0.60 -155.7 149.8 -12.1 167 1094 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2082 3374 0 0 0 0 0 0 28.83 28.83 28.83

1394 -0.60 -155.7 184.0 -10.7 197 1403 0.00 2.22 0.00 0.000 4 0.000 0.063 2994 3511 3374 0 0 0 0 0 0 28.83 26.10 28.83

1459 -0.61 -155.7 191.1 -11.0 203 1466 0.00 2.12 0.00 0.000 6 0.000 0.045 2994 2100 3374 0 0 0 0 0 0 28.83 26.15 28.83

1766 -0.61 -155.7 225.3 -10.9 234 1767 0.00 0.00 0.00 0.000 6 0.000 0.000 2994 2097 3373 0 0 0 0 0 0 28.83 28.83 28.83

2068 -0.61 -155.7 259.9 -12.3 264 2078 0.00 2.20 0.00 0.000 4 0.000 0.064 2984 3510 3373 0 0 0 0 0 0 28.83 26.18 28.83

2101 -0.61 -155.7 264.3 -12.7 267 2111 0.00 2.15 0.00 0.000 6 0.000 0.047 2984 2093 3373 0 0 0 0 0 0 28.83 26.22 28.83

2412 -0.61 -155.7 304.2 -12.3 298 2413 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2093 3373 0 0 0 0 0 0 28.83 28.83 28.83

2714 -0.61 -155.7 340.3 -11.7 328 2722 0.00 2.20 0.00 0.000 4 0.000 0.065 2973 3509 3373 0 0 0 0 0 0 28.83 26.23 28.83

2748 -0.61 -155.7 344.6 -12.2 331 2755 0.00 2.12 0.00 0.000 6 0.000 0.047 2973 2097 3372 0 0 0 0 0 0 28.83 26.27 28.83

3055 -0.61 -155.7 384.2 -12.5 362 3056 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2095 3372 0 0 0 0 0 0 28.83 28.83 28.83

3358 -0.61 -155.7 420.7 -11.3 392 3366 0.00 2.20 0.00 0.000 4 0.000 0.066 2963 3514 3371 0 0 0 0 0 0 28.83 26.26 28.83

3389 -0.61 -155.7 424.7 -11.7 395 3400 0.15 2.15 0.00 0.000 6 0.146 0.047 3002 2091 3371 0 0 0 0 0 0 26.17 26.31 28.83

3700 -0.62 -155.7 453.3 -9.2 426 3709 0.00 2.20 0.00 0.000 4 0.000 0.066 2994 3513 3371 0 0 0 0 0 0 28.83 26.27 28.83

3744 -0.63 -155.7 457.7 -10.3 430 3752 0.00 2.10 0.00 0.000 6 0.000 0.047 2994 2101 3371 0 0 0 0 0 0 28.83 26.32 28.83

4053 -0.64 -155.7 488.5 -10.1 461 4061 0.00 2.10 0.00 0.000 4 0.000 0.055 2994 708 3370 0 0 0 0 0 0 28.83 26.30 28.83

4105 -0.64 -155.7 493.9 -10.6 466 4114 0.00 2.15 0.00 0.000 6 0.000 0.055 2984 2115 3370 0 0 0 0 0 0 28.83 26.29 28.83

4414 -0.64 -155.7 527.0 -10.9 497 4423 0.00 2.17 0.00 0.000 4 0.000 0.067 2974 3510 3369 0 0 0 0 0 0 28.83 26.29 28.83

4434 end dive: TARGET_DEPTH_EXCEEDED

state 4434 begin apogee

4442 -0.22 0.0 529.4 -10.9 499 4578 0.45 0.00 130.35 0.930 6 0.129 0.000 3122 2495 2731 0 0 0 0 0 0 26.20 28.83 23.76

4581 end apogee: CONTROL_FINISHED_OK

state 4581 begin climb

4584 0.63 155.7 534.9 0.0 513 4727 0.82 0.00 136.18 0.898 6 0.095 0.000 3393 2494 2096 0 0 0 0 0 0 24.59 28.83 23.59

5026 0.62 155.7 488.5 11.0 558 5036 0.00 2.17 0.00 0.000 4 0.000 0.054 3404 1104 2087 0 0 0 0 0 0 28.83 25.46 28.83

5062 0.61 155.7 485.0 10.7 561 5070 0.00 2.28 0.00 0.000 6 0.000 0.058 3404 2499 2087 0 0 0 0 0 0 28.83 25.51 28.83

5370 0.60 155.7 447.9 11.4 592 5374 0.00 2.20 0.00 0.000 4 0.000 0.054 3414 1101 2085 0 0 0 0 0 0 28.83 25.75 28.83

5435 0.59 155.7 440.6 11.2 598 5444 0.00 2.20 0.00 0.000 6 0.000 0.058 3414 2502 2085 0 0 0 0 0 0 28.83 25.78 28.83

5743 0.58 155.7 402.0 12.4 629 5751 0.00 2.17 0.00 0.000 4 0.000 0.054 3425 1103 2084 0 0 0 0 0 0 28.83 25.91 28.83

5785 0.56 155.7 396.8 12.4 633 5795 0.17 2.22 0.00 0.000 6 0.154 0.057 3378 2510 2084 0 0 0 0 0 0 25.82 25.92 28.83

6096 0.57 190.1 368.3 8.5 664 6135 0.00 2.25 27.77 0.819 4 0.000 0.053 3387 1092 1954 0 0 0 0 0 0 28.83 25.49 24.80

6168 0.60 223.4 362.0 8.6 671 6207 0.00 2.28 28.77 0.802 6 0.000 0.057 3387 2510 1820 0 0 0 0 0 0 28.83 25.59 24.44

6508 0.60 223.4 327.9 11.0 705 6518 0.00 2.25 0.00 0.000 4 0.000 0.054 3396 1091 1814 0 0 0 0 0 0 28.83 25.67 28.83

6565 0.62 223.4 322.2 10.8 710 6571 0.00 2.25 0.00 0.000 6 0.000 0.057 3397 2500 1812 0 0 0 0 0 0 28.83 25.71 28.83

6871 0.62 223.4 284.1 12.5 741 6881 0.00 2.15 0.00 0.000 4 0.000 0.055 3405 1105 1812 0 0 0 0 0 0 28.83 25.87 28.83

6948 0.63 223.4 274.9 12.7 748 6954 0.00 2.20 0.00 0.000 6 0.000 0.057 3405 2506 1811 0 0 0 0 0 0 28.83 25.89 28.83

7255 0.63 223.4 234.3 13.0 779 7265 0.00 2.15 0.00 0.000 4 0.000 0.054 3415 1106 1811 0 0 0 0 0 0 28.83 25.99 28.83

7309 0.64 223.4 227.5 12.9 784 7318 0.00 2.15 0.00 0.000 6 0.000 0.057 3415 2494 1811 0 0 0 0 0 0 28.83 26.01 28.83

7619 0.64 223.4 188.2 12.8 815 7628 0.00 2.12 0.00 0.000 4 0.000 0.055 3425 1104 1811 0 0 0 0 0 0 28.83 26.07 28.83

7654 0.64 223.4 183.8 13.0 818 7661 0.00 2.22 0.00 0.000 6 0.000 0.057 3425 2502 1811 0 0 0 0 0 0 28.83 26.07 28.83

7963 0.64 223.4 141.0 13.4 849 7964 0.00 0.00 0.00 0.000 6 0.000 0.000 3424 2502 1810 0 0 0 0 0 0 28.83 28.83 28.83

8265 0.64 223.4 103.1 12.3 879 8274 0.00 2.15 0.00 0.000 4 0.000 0.054 3436 1092 1810 0 0 0 0 0 0 28.83 26.16 28.83

8318 0.64 223.4 96.5 11.8 886 8326 0.08 2.22 0.00 0.000 6 0.141 0.057 3410 2498 1810 0 0 0 0 0 0 26.06 26.15 28.83

8639 0.67 284.9 64.4 7.4 947 8694 0.00 2.22 48.45 0.647 4 0.000 0.053 3418 1101 1569 0 0 0 0 0 0 28.83 25.51 24.93

8729 0.71 333.9 57.0 7.9 961 8778 0.00 2.28 39.83 0.623 6 0.000 0.057 3418 2504 1369 0 0 0 0 0 0 28.83 25.60 24.57

9133 0.77 387.4 16.3 7.7 1042 9182 0.00 2.28 41.60 0.604 4 0.000 0.053 3419 1092 1149 0 0 0 0 0 0 28.83 25.20 24.65

9259 0.87 502.5 7.7 5.0 1064 9309 0.15 2.30 43.28 0.585 2 0.057 0.057 3495 2502 930 0 0 0 0 0 0 25.45 25.42 28.83

9310 end climb: SURFACE_DEPTH_REACHED

state 9310 begin surface coast

9330 end surface coast: CONTROL_FINISHED_OK

state 9330 begin surface

ID	187	HD_B	0.0099999998	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	1.34e-05	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	12
DIVE	8	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	2100	ALTIM_PING_DELTA	5
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2500	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	8	R_PORT_OVSHOOT	37	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	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	1	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	330	UPLOAD_DIVES_MAX	-1	C_VBD	2732	DEVICE3	83
T_MISSION	360	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	0.00039999999	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	-1587620.5	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	22	RAFOS_DEVICE	-1
APOGEE_PITCH	-7	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	160	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	3200	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	1	PITCH_AD_RATE	165	COMPASS_USE	4	SEABIRD_C_I	-0.0017547003
HD_A	0.0046000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0002234884

GPS1	130912,032215,4746.814,-12510.397,14,4.2,33,18.7	TGT_NAME	OFFSHORE
_CALLS	2	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.213,-0.164
_SM_DEPTHo	0.83	KALMAN_X	1157.6,226.2,-312.7,-7325.4,327.0
_SM_ANGLEo	-76.0	KALMAN_Y	-1399.0,-827.8,143.8,-2162.9,510.3
GPS2	130912,033029,4746.724,-12510.488,36,1.5,46,18.7	MHEAD_RNG_PITCHd_Wd	217.9,163157,-18.1,-10.000,-20.39
SPEED_LIMITS	0.173,0.269	D_GRID	528

FINISH	0.3,1.014710	_10V_AH	10.3,2.120
SM_CCo	9411,0.00,0.000,0,0,923,443.75	FG_AHR_24Vo	0.000
SM_GC	1.10,9.20,0.65,0.00,0.048,0.050,0.000,136,2096,923,-9.47,1.07,443.75,0,0,0,0,0,0,25.21,25.15,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12508.44,130912,030354	MEM	296948
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	60186,1075
HUMID	44.64	CAP_FILE_SIZE	113109,0
INTERNAL_PRESSURE	9.04016	CFSIZE	260165632,256897024
TCM_TEMP	15.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.070, 1.0,1
_24V_AH	23.6,3.692	GPS	130912,060936,4746.543,-12512.451,38,1.0,39,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	226	118.64	SBE_CT	734	24	415.78
Roll_motor	87	77	160.42	SBE_O2	858	19	384.91
VBD_pump_during_apogee	496	930	10893.96	WL_BBFL2VMT	1285	105	3184.38
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	54	103	131.37	nil	0	0	0.00
Iridium_during_connect	60	160	229.52	nil	0	0	0.00
Iridium_during_xfer	165	223	870.48	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	47	50	24.33
TT8	2529	19	515.83
LPSleep	3981	2	89.82
TT8_Active	587	19	119.85
TT8_Sampling	2562	39	1050.60
TT8_CF8	245	45	115.58
TT8_Kalman	33	81	27.99
Analog_circuits	1597	12	197.47
GPS_charging	0	0	0.00
Compass	2237	15	345.72
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	-0.63	-155.7	0.0	0.0	0	102	0.00	0.00	-84.00	0.000	2	0.000	0.000	131	2091	2999	0	0	0	0	0	0	28.83	28.83	28.83
106	-0.63	-155.7	3.4	-7.8	13	130	11.07	2.35	-6.68	0.000	4	0.226	0.077	2981	3513	3369	0	0	0	0	0	0	25.40	25.65	25.97
393	-0.61	-155.7	57.9	-16.3	70	400	0.00	2.20	0.00	0.000	6	0.000	0.044	2981	2099	3373	0	0	0	0	0	0	28.83	25.86	28.83
709	-0.60	-155.7	102.8	-11.5	129	718	0.00	2.22	0.00	0.000	4	0.000	0.063	2970	3513	3375	0	0	0	0	0	0	28.83	25.95	28.83
782	-0.60	-155.7	112.2	-13.0	136	792	0.10	2.15	0.00	0.000	6	0.132	0.044	3003	2083	3375	0	0	0	0	0	0	25.88	26.04	28.83
1093	-0.60	-155.7	149.8	-12.1	167	1094	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2082	3374	0	0	0	0	0	0	28.83	28.83	28.83
1394	-0.60	-155.7	184.0	-10.7	197	1403	0.00	2.22	0.00	0.000	4	0.000	0.063	2994	3511	3374	0	0	0	0	0	0	28.83	26.10	28.83
1459	-0.61	-155.7	191.1	-11.0	203	1466	0.00	2.12	0.00	0.000	6	0.000	0.045	2994	2100	3374	0	0	0	0	0	0	28.83	26.15	28.83
1766	-0.61	-155.7	225.3	-10.9	234	1767	0.00	0.00	0.00	0.000	6	0.000	0.000	2994	2097	3373	0	0	0	0	0	0	28.83	28.83	28.83
2068	-0.61	-155.7	259.9	-12.3	264	2078	0.00	2.20	0.00	0.000	4	0.000	0.064	2984	3510	3373	0	0	0	0	0	0	28.83	26.18	28.83
2101	-0.61	-155.7	264.3	-12.7	267	2111	0.00	2.15	0.00	0.000	6	0.000	0.047	2984	2093	3373	0	0	0	0	0	0	28.83	26.22	28.83
2412	-0.61	-155.7	304.2	-12.3	298	2413	0.00	0.00	0.00	0.000	6	0.000	0.000	2983	2093	3373	0	0	0	0	0	0	28.83	28.83	28.83
2714	-0.61	-155.7	340.3	-11.7	328	2722	0.00	2.20	0.00	0.000	4	0.000	0.065	2973	3509	3373	0	0	0	0	0	0	28.83	26.23	28.83
2748	-0.61	-155.7	344.6	-12.2	331	2755	0.00	2.12	0.00	0.000	6	0.000	0.047	2973	2097	3372	0	0	0	0	0	0	28.83	26.27	28.83
3055	-0.61	-155.7	384.2	-12.5	362	3056	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2095	3372	0	0	0	0	0	0	28.83	28.83	28.83
3358	-0.61	-155.7	420.7	-11.3	392	3366	0.00	2.20	0.00	0.000	4	0.000	0.066	2963	3514	3371	0	0	0	0	0	0	28.83	26.26	28.83
3389	-0.61	-155.7	424.7	-11.7	395	3400	0.15	2.15	0.00	0.000	6	0.146	0.047	3002	2091	3371	0	0	0	0	0	0	26.17	26.31	28.83
3700	-0.62	-155.7	453.3	-9.2	426	3709	0.00	2.20	0.00	0.000	4	0.000	0.066	2994	3513	3371	0	0	0	0	0	0	28.83	26.27	28.83
3744	-0.63	-155.7	457.7	-10.3	430	3752	0.00	2.10	0.00	0.000	6	0.000	0.047	2994	2101	3371	0	0	0	0	0	0	28.83	26.32	28.83
4053	-0.64	-155.7	488.5	-10.1	461	4061	0.00	2.10	0.00	0.000	4	0.000	0.055	2994	708	3370	0	0	0	0	0	0	28.83	26.30	28.83
4105	-0.64	-155.7	493.9	-10.6	466	4114	0.00	2.15	0.00	0.000	6	0.000	0.055	2984	2115	3370	0	0	0	0	0	0	28.83	26.29	28.83
4414	-0.64	-155.7	527.0	-10.9	497	4423	0.00	2.17	0.00	0.000	4	0.000	0.067	2974	3510	3369	0	0	0	0	0	0	28.83	26.29	28.83
4434	end dive: TARGET_DEPTH_EXCEEDED
state	4434	begin apogee
4442	-0.22	0.0	529.4	-10.9	499	4578	0.45	0.00	130.35	0.930	6	0.129	0.000	3122	2495	2731	0	0	0	0	0	0	26.20	28.83	23.76
4581	end apogee: CONTROL_FINISHED_OK
state	4581	begin climb
4584	0.63	155.7	534.9	0.0	513	4727	0.82	0.00	136.18	0.898	6	0.095	0.000	3393	2494	2096	0	0	0	0	0	0	24.59	28.83	23.59
5026	0.62	155.7	488.5	11.0	558	5036	0.00	2.17	0.00	0.000	4	0.000	0.054	3404	1104	2087	0	0	0	0	0	0	28.83	25.46	28.83
5062	0.61	155.7	485.0	10.7	561	5070	0.00	2.28	0.00	0.000	6	0.000	0.058	3404	2499	2087	0	0	0	0	0	0	28.83	25.51	28.83
5370	0.60	155.7	447.9	11.4	592	5374	0.00	2.20	0.00	0.000	4	0.000	0.054	3414	1101	2085	0	0	0	0	0	0	28.83	25.75	28.83
5435	0.59	155.7	440.6	11.2	598	5444	0.00	2.20	0.00	0.000	6	0.000	0.058	3414	2502	2085	0	0	0	0	0	0	28.83	25.78	28.83
5743	0.58	155.7	402.0	12.4	629	5751	0.00	2.17	0.00	0.000	4	0.000	0.054	3425	1103	2084	0	0	0	0	0	0	28.83	25.91	28.83
5785	0.56	155.7	396.8	12.4	633	5795	0.17	2.22	0.00	0.000	6	0.154	0.057	3378	2510	2084	0	0	0	0	0	0	25.82	25.92	28.83
6096	0.57	190.1	368.3	8.5	664	6135	0.00	2.25	27.77	0.819	4	0.000	0.053	3387	1092	1954	0	0	0	0	0	0	28.83	25.49	24.80
6168	0.60	223.4	362.0	8.6	671	6207	0.00	2.28	28.77	0.802	6	0.000	0.057	3387	2510	1820	0	0	0	0	0	0	28.83	25.59	24.44
6508	0.60	223.4	327.9	11.0	705	6518	0.00	2.25	0.00	0.000	4	0.000	0.054	3396	1091	1814	0	0	0	0	0	0	28.83	25.67	28.83
6565	0.62	223.4	322.2	10.8	710	6571	0.00	2.25	0.00	0.000	6	0.000	0.057	3397	2500	1812	0	0	0	0	0	0	28.83	25.71	28.83
6871	0.62	223.4	284.1	12.5	741	6881	0.00	2.15	0.00	0.000	4	0.000	0.055	3405	1105	1812	0	0	0	0	0	0	28.83	25.87	28.83
6948	0.63	223.4	274.9	12.7	748	6954	0.00	2.20	0.00	0.000	6	0.000	0.057	3405	2506	1811	0	0	0	0	0	0	28.83	25.89	28.83
7255	0.63	223.4	234.3	13.0	779	7265	0.00	2.15	0.00	0.000	4	0.000	0.054	3415	1106	1811	0	0	0	0	0	0	28.83	25.99	28.83
7309	0.64	223.4	227.5	12.9	784	7318	0.00	2.15	0.00	0.000	6	0.000	0.057	3415	2494	1811	0	0	0	0	0	0	28.83	26.01	28.83
7619	0.64	223.4	188.2	12.8	815	7628	0.00	2.12	0.00	0.000	4	0.000	0.055	3425	1104	1811	0	0	0	0	0	0	28.83	26.07	28.83
7654	0.64	223.4	183.8	13.0	818	7661	0.00	2.22	0.00	0.000	6	0.000	0.057	3425	2502	1811	0	0	0	0	0	0	28.83	26.07	28.83
7963	0.64	223.4	141.0	13.4	849	7964	0.00	0.00	0.00	0.000	6	0.000	0.000	3424	2502	1810	0	0	0	0	0	0	28.83	28.83	28.83
8265	0.64	223.4	103.1	12.3	879	8274	0.00	2.15	0.00	0.000	4	0.000	0.054	3436	1092	1810	0	0	0	0	0	0	28.83	26.16	28.83
8318	0.64	223.4	96.5	11.8	886	8326	0.08	2.22	0.00	0.000	6	0.141	0.057	3410	2498	1810	0	0	0	0	0	0	26.06	26.15	28.83
8639	0.67	284.9	64.4	7.4	947	8694	0.00	2.22	48.45	0.647	4	0.000	0.053	3418	1101	1569	0	0	0	0	0	0	28.83	25.51	24.93
8729	0.71	333.9	57.0	7.9	961	8778	0.00	2.28	39.83	0.623	6	0.000	0.057	3418	2504	1369	0	0	0	0	0	0	28.83	25.60	24.57
9133	0.77	387.4	16.3	7.7	1042	9182	0.00	2.28	41.60	0.604	4	0.000	0.053	3419	1092	1149	0	0	0	0	0	0	28.83	25.20	24.65
9259	0.87	502.5	7.7	5.0	1064	9309	0.15	2.30	43.28	0.585	2	0.057	0.057	3495	2502	930	0	0	0	0	0	0	25.45	25.42	28.83
9310	end climb: SURFACE_DEPTH_REACHED
state	9310	begin surface coast
9330	end surface coast: CONTROL_FINISHED_OK
state	9330	begin surface