Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 827 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 ESCAPE_HEADING 0 C_ROLL_CLIMB 2330 ALTIM_FREQUENCY 13

MISSION 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 4

DIVE 827 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 1

D_SURF 4 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 38 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 SM_CC 350 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_ABORT 1010 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MIN 470 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3900 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 2858 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 83

T_DIVE 450 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_MISSION 510 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_TURN 225 T_GPS 15 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -10 N_GPS 20 W_ADJ_DBAND 2 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -1595498.2 PITCH_W_GAIN 2 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 2 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

USE_BATHY -1 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0043206038

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00062367303

T_WATCHDOG 10 PITCH_MIN 400 MINV_10V 11 SEABIRD_T_I 2.3110064e-05

RELAUNCH 1 PITCH_MAX 3700 FG_AHR_10V 0 SEABIRD_T_J 2.4313138e-06

APOGEE_PITCH -7 C_PITCH 3325 FG_AHR_24V 0 SEABIRD_C_G -10.199382

MAX_BUOY 120 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1587334

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -63.106686 SEABIRD_C_I -0.0027609179

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_C_J 0.00029025986

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_GAIN 27.5 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 53474 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 165 COMPASS_USE 4 PM_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 1.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0027000001 ROLL_MIN 440 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 2.0

HD_B 0.0098999999 ROLL_MAX 4000 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2400 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_SURF 4 PITCH_DBAND 0.1 SEABIRD_T_J 2.4313138e-06

AH0_10V 0 D_TGT 990 PITCH_GAIN 27.5 SIM_PITCH 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3700 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 400 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 STROBE 0

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0.5 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 2 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PM_NDIVE 2.0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0027000001 PM_PROFILE 1.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0098999999 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -7 HD_C 2.1999999e-06 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 PM_XMITRAW 0.0 T_ABORT 1440

CALL_TRIES 5 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.0001138132 T_BOOST 5

CALL_WAIT 60 HEAPDBG 0 PRESSURE_YINT -63.106686 T_DIVE 450

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_EPIRB 0

CAPUPLOAD 0 ID 187 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_GPS_ALMANAC 0

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1595498.2

COMPASS2_DEVICE -1 KALMAN_USE 2 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_MISSION 510

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RELAUNCH 1 T_RSLEEP 2

C_PITCH 3325 LOGGERDEVICE4 -1 RHO 1.0275 T_TURN 225

C_ROLL_CLIMB 2330 LOGGERS 3 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -10

C_ROLL_DIVE 2400 MASS 53474 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2858 MASS_COMP 0 ROLL_AD_RATE 350 UNCOM_BLEED 50

DBDW 0 MAX_BUOY 120 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MINV_10V 11 ROLL_DEG 40 USE_BATHY -1

DEVICE1 -1 MINV_24V 11 ROLL_MAX 4000 USE_ICE 0

DEVICE2 -1 MISSION 4 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MOTHERBOARD 4 ROLL_MIN 440 VBD_CNV -0.24529999

DEVICE4 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 NOCOMM_ACTION 163 R_PORT_OVSHOOT 38 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 26 VBD_MAXERRORS 1

DIVE 827 N_FILEKB 8 SC_PROFILE 3.0 VBD_MIN 470

D_ABORT 1010 N_GPS 20 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_NOCOMM 1 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_G -10.199382 VBD_TIMEOUT 720

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_H 1.1587334 W_ADJ_DBAND 2

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_C_I -0.0027609179 XPDR_DEVICE 24

D_NO_BLEED 200 PITCH_ADJ_DBAND 0 SEABIRD_C_J 0.00029025986 XPDR_INHIBIT 90

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 SEABIRD_T_G 0.0043206038 XPDR_VALID 1

D_PITCH 0 PITCH_AD_RATE 165 SEABIRD_T_H 0.00062367303

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_I 2.3110064e-05

Pre-dive calculations and measurements:

GPS1 210115,163136,4753.399,-12514.274,36,1.5,36,18.8 SPEED_LIMITS 0.127,0.215

_CALLS 1 TGT_NAME OFFSHORE

_XMS_NAKs 0 TGT_LATLONG 4700.000,-12700.000

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.51 MHEAD_RNG_PITCHd_Wd 181.7,166178,-14.0,-7.333,-18.81,2445

_SM_ANGLEo -73.2 D_GRID 257

GPS2 210115,164124,4753.434,-12514.305,12,1.5,17,18.8

Post-dive calculations and measurements:

FINISH 1.4,1.006985 _10V_AH 13.5,0.000

SM_CCo 6932,37.15,0.092,0,0,1430,350.04 FG_AHR_24Vo 0.000

SM_GC 2.96,9.32,0.12,37.15,0.057,0.145,0.092,389,2399,1430,-9.11,-0.96,350.04,1,0,0,0,0,0,14.00,14.12,14.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12511.36,210115,141430 MEM 290932

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20050,643

HUMID 51.57 CAP_FILE_SIZE 116634,0

INTERNAL_PRESSURE 9.0011 CFSIZE 260034560,171094016

TCM_TEMP 19.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0

XPDR_PINGS 0 INTR 0,6233.28,0x2378ba,7,5

SC_FREEKB 3673344 CURRENT 0.144, 0.2,1

PM_FREEKB 36637312 GPS 210115,183927,4753.316,-12514.695,8,2.9,28,18.8

_24V_AH 13.4,208.667

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 354 109.52 nil 0 0 0.00

Roll_motor 50 216 147.23 nil 0 0 0.00

VBD_pump_during_apogee 299 989 3974.46 nil 0 0 0.00

VBD_pump_during_surface 37 91 45.70 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 6932 7 739.12

Iridium_during_xfer 255 155 532.05 PMAR 101 5 6.85

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 22 5.54

TT8 1556 10 214.70

LPSleep 3468 2 102.55

TT8_Active 489 10 67.49

TT8_Sampling 1398 28 546.43

TT8_CF8 637 35 307.35

TT8_Kalman 0 0 0.00

Analog_circuits 1417 10 191.39

GPS_charging 0 0 0.00

Compass 1044 0 10.57

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

28 -0.59 -116.8 391 2403 1535 1328 0.0 0.0 0 81 0.00 0.00 -46.65 0.000 16386 0.000 0.000 391 2404 2617 2703 2532 0 0 0 0 0 0 28.83 28.83 28.83

88 -0.59 -116.8 391 2400 2704 2537 3.1 -1.4 5 124 12.23 0.00 -17.02 0.000 18950 0.355 0.000 3125 2404 3339 3388 3291 0 0 0 0 0 0 13.78 28.83 14.41

366 -0.59 -116.8 3125 2404 3382 3294 37.7 -11.8 33 377 0.00 2.58 0.00 0.000 260 0.000 0.083 3125 3807 3336 3382 3291 0 0 0 0 0 0 28.83 13.89 28.83

408 -0.59 -116.8 3125 3804 3382 3294 43.2 -12.8 37 419 0.00 2.47 0.00 0.000 1030 0.000 0.057 3125 2405 3338 3382 3294 0 0 0 0 0 0 28.83 13.99 28.83

659 -0.59 -116.8 3125 2401 3382 3294 75.3 -11.0 62 670 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2401 3338 3382 3294 0 0 0 0 0 0 28.83 28.83 28.83

912 -0.59 -116.8 3125 2401 3383 3294 98.8 -10.0 87 922 0.00 2.60 0.00 0.000 260 0.000 0.082 3123 3811 3336 3383 3290 0 0 0 0 0 0 28.83 13.87 28.83

1003 -0.59 -116.8 3125 3814 3382 3294 108.9 -11.5 96 1014 0.00 2.50 0.00 0.000 1030 0.000 0.056 3125 2389 3338 3382 3294 0 0 0 0 0 0 28.83 13.95 28.83

1255 -0.59 -116.8 3125 2385 3383 3294 133.1 -9.0 121 1266 0.00 2.50 0.00 0.000 516 0.000 0.070 3125 996 3339 3383 3295 0 0 0 0 0 0 28.83 13.88 28.83

1338 -0.59 -116.8 3127 996 3383 3296 141.3 -10.3 129 1349 0.00 2.53 0.00 0.000 1030 0.000 0.067 3125 2405 3339 3383 3295 0 0 0 0 0 0 28.83 13.93 28.83

1592 -0.59 -116.8 3124 2405 3387 3295 164.4 -7.6 154 1603 0.00 2.55 0.00 0.000 260 0.000 0.082 3129 3813 3338 3382 3295 0 0 0 0 0 0 28.83 13.86 28.83

1698 -0.59 -116.8 3125 3813 3382 3295 172.6 -8.1 164 1710 0.00 2.50 0.00 0.000 1030 0.000 0.057 3125 2406 3339 3383 3295 0 0 0 0 0 0 28.83 13.94 28.83

1951 -0.59 -116.8 3125 2403 3382 3294 191.9 -7.8 189 1961 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2403 3339 3383 3296 0 0 0 0 0 0 28.83 28.83 28.83

2202 -0.59 -116.8 3125 2403 3383 3295 211.5 -8.0 214 2214 0.00 2.62 0.00 0.000 260 0.000 0.083 3125 3812 3338 3383 3294 0 0 0 0 0 0 28.83 13.83 28.83

2256 -0.59 -116.8 3128 3811 3383 3295 215.7 -8.1 219 2267 0.00 2.53 0.00 0.000 1030 0.000 0.058 3125 2389 3339 3383 3296 0 0 0 0 0 0 28.83 13.92 28.83

2508 -0.59 -116.8 3125 2384 3383 3295 233.5 -7.3 244 2518 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2384 3338 3383 3294 0 0 0 0 0 0 28.83 28.83 28.83

2769 -0.59 -116.8 3125 2384 3383 3294 252.9 -7.5 268 2778 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2384 3338 3382 3294 0 0 0 0 0 0 28.83 28.83 28.83

2824 end dive: TARGET_DEPTH_EXCEEDED

state 2824 begin apogee

2837 -0.25 0.0 3125 2335 3383 3291 257.4 -7.4 270 2937 0.40 0.00 92.80 0.990 10246 0.174 0.000 3238 2339 2856 2927 2785 0 0 0 0 0 0 13.61 28.83 13.52

2940 end apogee: CONTROL_FINISHED_OK

state 2940 begin climb

2945 0.59 116.8 3238 2335 2926 2783 261.4 0.0 273 3046 0.85 0.00 93.65 0.974 10246 0.128 0.000 3512 2338 2380 2507 2254 0 0 0 0 0 0 13.89 28.83 13.40

3340 0.63 116.8 3512 2335 2506 2253 246.6 5.4 291 3349 0.00 0.00 0.00 0.000 6 0.000 0.000 3512 2335 2379 2506 2253 0 0 0 0 0 0 28.83 28.83 28.83

3592 0.66 116.8 3512 2332 2506 2253 232.5 5.7 316 3602 0.00 0.00 0.00 0.000 6 0.000 0.000 3512 2333 2379 2506 2253 0 0 0 0 0 0 28.83 28.83 28.83

3845 0.69 116.8 3512 2335 2505 2251 218.9 5.8 341 3855 0.12 0.00 0.00 0.000 2054 0.132 0.000 3578 2335 2378 2505 2251 0 0 0 0 0 0 14.11 28.83 28.83

4098 0.71 116.8 3578 2335 2506 2252 202.8 6.2 366 4109 0.00 0.00 0.00 0.000 6 0.000 0.000 3578 2335 2379 2506 2252 0 0 0 0 0 0 28.83 28.83 28.83

4350 0.77 191.2 3578 2335 2506 2251 190.7 4.2 391 4419 0.00 2.50 57.97 0.908 8708 0.000 0.073 3578 927 2077 2218 1936 0 0 0 0 0 0 28.83 14.19 13.59

4450 0.77 191.2 3579 927 2218 1935 184.8 7.3 401 4460 0.00 2.50 0.00 0.000 1030 0.000 0.067 3575 2341 2077 2218 1936 0 0 0 0 0 0 28.83 14.07 28.83

4703 0.77 191.2 3578 2340 2218 1936 164.5 9.1 426 4714 0.00 2.53 0.00 0.000 260 0.000 0.082 3578 3733 2077 2219 1936 0 0 0 0 0 0 28.83 13.94 28.83

4775 0.77 191.2 3578 3733 2218 1942 156.9 11.0 433 4786 0.00 2.47 0.00 0.000 1030 0.000 0.060 3578 2330 2077 2218 1936 0 0 0 0 0 0 28.83 14.04 28.83

5027 0.77 191.2 3578 2334 2218 1936 132.7 9.3 458 5037 0.00 0.00 0.00 0.000 6 0.000 0.000 3578 2330 2077 2218 1936 0 0 0 0 0 0 28.83 28.83 28.83

5280 0.77 191.2 3578 2330 2218 1935 110.5 8.5 483 5291 0.00 2.53 0.00 0.000 516 0.000 0.075 3578 931 2077 2218 1936 0 0 0 0 0 0 28.83 13.96 28.83

5462 0.77 191.2 3579 927 2218 1935 96.4 6.9 501 5473 0.00 2.50 0.00 0.000 1030 0.000 0.066 3576 2331 2077 2218 1936 0 0 0 0 0 0 28.83 13.95 28.83

5716 0.79 191.2 3578 2331 2218 1936 80.8 6.1 526 5727 0.00 0.00 0.00 0.000 6 0.000 0.000 3579 2331 2077 2218 1936 0 0 0 0 0 0 28.83 28.83 28.83

5970 0.83 191.2 3578 2330 2218 1941 65.8 5.6 551 5981 0.00 2.55 0.00 0.000 260 0.000 0.082 3578 3746 2075 2215 1936 0 0 0 0 0 0 28.83 13.95 28.83

6086 0.88 263.7 3579 3746 2218 1932 60.0 4.3 562 6151 0.00 2.50 55.20 0.757 9222 0.000 0.059 3575 2325 1780 1922 1638 0 0 0 0 0 0 28.83 14.00 13.66

6397 0.89 263.7 3578 2320 1920 1636 42.7 6.4 593 6407 0.10 0.00 0.00 0.000 2054 0.158 0.000 3627 2313 1776 1920 1632 0 0 0 0 0 0 14.12 28.83 28.83

6648 0.89 263.7 3632 2314 1920 1636 22.4 8.4 618 6660 0.00 2.62 0.00 0.000 260 0.000 0.081 3627 3736 1778 1920 1636 0 0 0 0 0 0 28.83 13.96 28.83

6691 0.89 263.7 3627 3736 1919 1636 18.3 9.6 622 6703 0.00 2.47 0.00 0.000 1030 0.000 0.059 3628 2332 1778 1920 1636 0 0 0 0 0 0 28.83 14.04 28.83

6859 end climb: SURFACE_DEPTH_REACHED

state 6859 begin surface coast

6901 end surface coast: CONTROL_FINISHED_OK

state 6901 begin surface

ID	187	ESCAPE_HEADING	0	C_ROLL_CLIMB	2330	ALTIM_FREQUENCY	13
MISSION	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	4
DIVE	827	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	1
D_SURF	4	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	38	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	SM_CC	350	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_ABORT	1010	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MIN	470	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3900	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	2858	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	83
T_DIVE	450	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_MISSION	510	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_TURN	225	T_GPS	15	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-10	N_GPS	20	W_ADJ_DBAND	2	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-1595498.2	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	2	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
USE_BATHY	-1	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0043206038
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00062367303
T_WATCHDOG	10	PITCH_MIN	400	MINV_10V	11	SEABIRD_T_I	2.3110064e-05
RELAUNCH	1	PITCH_MAX	3700	FG_AHR_10V	0	SEABIRD_T_J	2.4313138e-06
APOGEE_PITCH	-7	C_PITCH	3325	FG_AHR_24V	0	SEABIRD_C_G	-10.199382
MAX_BUOY	120	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1587334
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-63.106686	SEABIRD_C_I	-0.0027609179
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_C_J	0.00029025986
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_GAIN	27.5	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	53474	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	165	COMPASS_USE	4	PM_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	1.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0027000001	ROLL_MIN	440	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	2.0
HD_B	0.0098999999	ROLL_MAX	4000	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2400	ALTIM_PING_DELTA	0

GPS1	210115,163136,4753.399,-12514.274,36,1.5,36,18.8	SPEED_LIMITS	0.127,0.215
_CALLS	1	TGT_NAME	OFFSHORE
_XMS_NAKs	0	TGT_LATLONG	4700.000,-12700.000
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.51	MHEAD_RNG_PITCHd_Wd	181.7,166178,-14.0,-7.333,-18.81,2445
_SM_ANGLEo	-73.2	D_GRID	257
GPS2	210115,164124,4753.434,-12514.305,12,1.5,17,18.8

FINISH	1.4,1.006985	_10V_AH	13.5,0.000
SM_CCo	6932,37.15,0.092,0,0,1430,350.04	FG_AHR_24Vo	0.000
SM_GC	2.96,9.32,0.12,37.15,0.057,0.145,0.092,389,2399,1430,-9.11,-0.96,350.04,1,0,0,0,0,0,14.00,14.12,14.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12511.36,210115,141430	MEM	290932
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20050,643
HUMID	51.57	CAP_FILE_SIZE	116634,0
INTERNAL_PRESSURE	9.0011	CFSIZE	260034560,171094016
TCM_TEMP	19.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
XPDR_PINGS	0	INTR	0,6233.28,0x2378ba,7,5
SC_FREEKB	3673344	CURRENT	0.144, 0.2,1
PM_FREEKB	36637312	GPS	210115,183927,4753.316,-12514.695,8,2.9,28,18.8
_24V_AH	13.4,208.667

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	354	109.52	nil	0	0	0.00
Roll_motor	50	216	147.23	nil	0	0	0.00
VBD_pump_during_apogee	299	989	3974.46	nil	0	0	0.00
VBD_pump_during_surface	37	91	45.70	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	6932	7	739.12
Iridium_during_xfer	255	155	532.05	PMAR	101	5	6.85
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	22	5.54
TT8	1556	10	214.70
LPSleep	3468	2	102.55
TT8_Active	489	10	67.49
TT8_Sampling	1398	28	546.43
TT8_CF8	637	35	307.35
TT8_Kalman	0	0	0.00
Analog_circuits	1417	10	191.39
GPS_charging	0	0	0.00
Compass	1044	0	10.57
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
28	-0.59	-116.8	391	2403	1535	1328	0.0	0.0	0	81	0.00	0.00	-46.65	0.000	16386	0.000	0.000	391	2404	2617	2703	2532	0	0	0	0	0	0	28.83	28.83	28.83
88	-0.59	-116.8	391	2400	2704	2537	3.1	-1.4	5	124	12.23	0.00	-17.02	0.000	18950	0.355	0.000	3125	2404	3339	3388	3291	0	0	0	0	0	0	13.78	28.83	14.41
366	-0.59	-116.8	3125	2404	3382	3294	37.7	-11.8	33	377	0.00	2.58	0.00	0.000	260	0.000	0.083	3125	3807	3336	3382	3291	0	0	0	0	0	0	28.83	13.89	28.83
408	-0.59	-116.8	3125	3804	3382	3294	43.2	-12.8	37	419	0.00	2.47	0.00	0.000	1030	0.000	0.057	3125	2405	3338	3382	3294	0	0	0	0	0	0	28.83	13.99	28.83
659	-0.59	-116.8	3125	2401	3382	3294	75.3	-11.0	62	670	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2401	3338	3382	3294	0	0	0	0	0	0	28.83	28.83	28.83
912	-0.59	-116.8	3125	2401	3383	3294	98.8	-10.0	87	922	0.00	2.60	0.00	0.000	260	0.000	0.082	3123	3811	3336	3383	3290	0	0	0	0	0	0	28.83	13.87	28.83
1003	-0.59	-116.8	3125	3814	3382	3294	108.9	-11.5	96	1014	0.00	2.50	0.00	0.000	1030	0.000	0.056	3125	2389	3338	3382	3294	0	0	0	0	0	0	28.83	13.95	28.83
1255	-0.59	-116.8	3125	2385	3383	3294	133.1	-9.0	121	1266	0.00	2.50	0.00	0.000	516	0.000	0.070	3125	996	3339	3383	3295	0	0	0	0	0	0	28.83	13.88	28.83
1338	-0.59	-116.8	3127	996	3383	3296	141.3	-10.3	129	1349	0.00	2.53	0.00	0.000	1030	0.000	0.067	3125	2405	3339	3383	3295	0	0	0	0	0	0	28.83	13.93	28.83
1592	-0.59	-116.8	3124	2405	3387	3295	164.4	-7.6	154	1603	0.00	2.55	0.00	0.000	260	0.000	0.082	3129	3813	3338	3382	3295	0	0	0	0	0	0	28.83	13.86	28.83
1698	-0.59	-116.8	3125	3813	3382	3295	172.6	-8.1	164	1710	0.00	2.50	0.00	0.000	1030	0.000	0.057	3125	2406	3339	3383	3295	0	0	0	0	0	0	28.83	13.94	28.83
1951	-0.59	-116.8	3125	2403	3382	3294	191.9	-7.8	189	1961	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2403	3339	3383	3296	0	0	0	0	0	0	28.83	28.83	28.83
2202	-0.59	-116.8	3125	2403	3383	3295	211.5	-8.0	214	2214	0.00	2.62	0.00	0.000	260	0.000	0.083	3125	3812	3338	3383	3294	0	0	0	0	0	0	28.83	13.83	28.83
2256	-0.59	-116.8	3128	3811	3383	3295	215.7	-8.1	219	2267	0.00	2.53	0.00	0.000	1030	0.000	0.058	3125	2389	3339	3383	3296	0	0	0	0	0	0	28.83	13.92	28.83
2508	-0.59	-116.8	3125	2384	3383	3295	233.5	-7.3	244	2518	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	2384	3338	3383	3294	0	0	0	0	0	0	28.83	28.83	28.83
2769	-0.59	-116.8	3125	2384	3383	3294	252.9	-7.5	268	2778	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2384	3338	3382	3294	0	0	0	0	0	0	28.83	28.83	28.83
2824	end dive: TARGET_DEPTH_EXCEEDED
state	2824	begin apogee
2837	-0.25	0.0	3125	2335	3383	3291	257.4	-7.4	270	2937	0.40	0.00	92.80	0.990	10246	0.174	0.000	3238	2339	2856	2927	2785	0	0	0	0	0	0	13.61	28.83	13.52
2940	end apogee: CONTROL_FINISHED_OK
state	2940	begin climb
2945	0.59	116.8	3238	2335	2926	2783	261.4	0.0	273	3046	0.85	0.00	93.65	0.974	10246	0.128	0.000	3512	2338	2380	2507	2254	0	0	0	0	0	0	13.89	28.83	13.40
3340	0.63	116.8	3512	2335	2506	2253	246.6	5.4	291	3349	0.00	0.00	0.00	0.000	6	0.000	0.000	3512	2335	2379	2506	2253	0	0	0	0	0	0	28.83	28.83	28.83
3592	0.66	116.8	3512	2332	2506	2253	232.5	5.7	316	3602	0.00	0.00	0.00	0.000	6	0.000	0.000	3512	2333	2379	2506	2253	0	0	0	0	0	0	28.83	28.83	28.83
3845	0.69	116.8	3512	2335	2505	2251	218.9	5.8	341	3855	0.12	0.00	0.00	0.000	2054	0.132	0.000	3578	2335	2378	2505	2251	0	0	0	0	0	0	14.11	28.83	28.83
4098	0.71	116.8	3578	2335	2506	2252	202.8	6.2	366	4109	0.00	0.00	0.00	0.000	6	0.000	0.000	3578	2335	2379	2506	2252	0	0	0	0	0	0	28.83	28.83	28.83
4350	0.77	191.2	3578	2335	2506	2251	190.7	4.2	391	4419	0.00	2.50	57.97	0.908	8708	0.000	0.073	3578	927	2077	2218	1936	0	0	0	0	0	0	28.83	14.19	13.59
4450	0.77	191.2	3579	927	2218	1935	184.8	7.3	401	4460	0.00	2.50	0.00	0.000	1030	0.000	0.067	3575	2341	2077	2218	1936	0	0	0	0	0	0	28.83	14.07	28.83
4703	0.77	191.2	3578	2340	2218	1936	164.5	9.1	426	4714	0.00	2.53	0.00	0.000	260	0.000	0.082	3578	3733	2077	2219	1936	0	0	0	0	0	0	28.83	13.94	28.83
4775	0.77	191.2	3578	3733	2218	1942	156.9	11.0	433	4786	0.00	2.47	0.00	0.000	1030	0.000	0.060	3578	2330	2077	2218	1936	0	0	0	0	0	0	28.83	14.04	28.83
5027	0.77	191.2	3578	2334	2218	1936	132.7	9.3	458	5037	0.00	0.00	0.00	0.000	6	0.000	0.000	3578	2330	2077	2218	1936	0	0	0	0	0	0	28.83	28.83	28.83
5280	0.77	191.2	3578	2330	2218	1935	110.5	8.5	483	5291	0.00	2.53	0.00	0.000	516	0.000	0.075	3578	931	2077	2218	1936	0	0	0	0	0	0	28.83	13.96	28.83
5462	0.77	191.2	3579	927	2218	1935	96.4	6.9	501	5473	0.00	2.50	0.00	0.000	1030	0.000	0.066	3576	2331	2077	2218	1936	0	0	0	0	0	0	28.83	13.95	28.83
5716	0.79	191.2	3578	2331	2218	1936	80.8	6.1	526	5727	0.00	0.00	0.00	0.000	6	0.000	0.000	3579	2331	2077	2218	1936	0	0	0	0	0	0	28.83	28.83	28.83
5970	0.83	191.2	3578	2330	2218	1941	65.8	5.6	551	5981	0.00	2.55	0.00	0.000	260	0.000	0.082	3578	3746	2075	2215	1936	0	0	0	0	0	0	28.83	13.95	28.83
6086	0.88	263.7	3579	3746	2218	1932	60.0	4.3	562	6151	0.00	2.50	55.20	0.757	9222	0.000	0.059	3575	2325	1780	1922	1638	0	0	0	0	0	0	28.83	14.00	13.66
6397	0.89	263.7	3578	2320	1920	1636	42.7	6.4	593	6407	0.10	0.00	0.00	0.000	2054	0.158	0.000	3627	2313	1776	1920	1632	0	0	0	0	0	0	14.12	28.83	28.83
6648	0.89	263.7	3632	2314	1920	1636	22.4	8.4	618	6660	0.00	2.62	0.00	0.000	260	0.000	0.081	3627	3736	1778	1920	1636	0	0	0	0	0	0	28.83	13.96	28.83
6691	0.89	263.7	3627	3736	1919	1636	18.3	9.6	622	6703	0.00	2.47	0.00	0.000	1030	0.000	0.059	3628	2332	1778	1920	1636	0	0	0	0	0	0	28.83	14.04	28.83
6859	end climb: SURFACE_DEPTH_REACHED
state	6859	begin surface coast
6901	end surface coast: CONTROL_FINISHED_OK
state	6901	begin surface