Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 828 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HD_B 0.0093 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 4.5000001e-05 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 12

DIVE 828 HEADING -1 ROLL_MIN 236 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3800 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2200 ALTIM_PING_DELTA 5

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2325 ALTIM_FREQUENCY 13

D_ABORT 1040 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_BOOST 4 SM_CC 300 ROLL_TIMEOUT 15 XPDR_VALID 1

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 31 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 3 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_MIN 470 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 470 UPLOAD_DIVES_MAX -1 C_VBD 2794 DEVICE3 83

T_MISSION 520 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 10 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00039999999 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -1 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1590027.8 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 20 RAFOS_DEVICE -1

APOGEE_PITCH -7 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3970 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3195 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043543722

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -61.06522 SEABIRD_T_H 0.00062483409

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_I 2.3277114e-05

MASS 51761 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4402393e-06

NAV_MODE 2 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9786949

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1107863

KALMAN_USE 2 PITCH_AD_RATE 165 COMPASS_USE 4 SEABIRD_C_I -0.0017547003

HD_A 0.0031000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0002234884

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 1000 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 4 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAX 3970 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 155 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

APOGEE_PITCH -7 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00039999999 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001138132 T_BOOST 0

CALL_TRIES 5 HD_A 0.0031000001 PRESSURE_YINT -61.06522 T_DIVE 470

CALL_WAIT 60 HD_B 0.0093 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 4.5000001e-05 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -1590027.8

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 520

COMPASS_DEVICE 33 ID 187 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3195 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 10

C_ROLL_CLIMB 2325 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2794 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3800 USE_BATHY -1

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51761 ROLL_MIN 236 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 83 MINV_10V 9.5 R_PORT_OVSHOOT 31 VBD_DBAND 2

DEVICE4 -1 MINV_24V 20 R_STBD_OVSHOOT 26 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.9786949 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1107863 VBD_MIN 470

DIVE 828 NAV_MODE 2 SEABIRD_C_I -0.0017547003 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1040 NOCOMM_ACTION 163 SEABIRD_C_J 0.0002234884 VBD_PUMP_AD_RATE_SURFACE 6

D_BOOST 4 N_DIVES 0 SEABIRD_T_G 0.0043543722 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.00062483409 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.3277114e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 3 SEABIRD_T_J 2.4402393e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 190413,054636,4749.284,-12515.119,63,1.2,64,18.7 TGT_NAME PARKING

_CALLS 1 TGT_LATLONG 4749.600,-12515.250

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.160,-0.151

_SM_DEPTHo 2.15 KALMAN_X 28840.3,-242.5,2380.9,-124483.9,-7867.0

_SM_ANGLEo -75.2 KALMAN_Y 16218.2,688.6,-1323.7,-71650.8,4158.7

GPS2 190413,055307,4749.282,-12514.984,16,2.0,16,18.7 MHEAD_RNG_PITCHd_Wd 271.1,675,-21.7,-7.021,-25.41

SPEED_LIMITS 0.122,0.210 D_GRID 482

Post-dive calculations and measurements:

FINISH 1.4,1.024244 _10V_AH 9.9,85.914

SM_CCo 10039,46.25,0.445,2,0,1570,300.00 FG_AHR_24Vo 0.000

SM_GC 2.54,8.68,0.20,46.25,0.031,0.072,0.445,104,2195,1570,-9.47,1.27,300.00,0,0,0,0,2,0,25.76,25.78,24.01 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12517.37,190413,020203 MEM 296744

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 46935,863

HUMID 48.50 CAP_FILE_SIZE 99157,0

INTERNAL_PRESSURE 9.10853 CFSIZE 260165632,188542976

TCM_TEMP 19.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 CURRENT 0.129,118.2,1

_24V_AH 23.3,115.384 GPS 190413,084400,4749.151,-12515.541,69,1.0,70,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 217 111.62 SBE_CT 590 24 330.31

Roll_motor 92 82 177.73 SBE_O2 552 19 244.67

VBD_pump_during_apogee 286 839 5600.82 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 46 445 479.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 62.48 nil 0 0 0.00

Iridium_during_connect 37 160 140.40 nil 0 0 0.00

Iridium_during_xfer 188 223 979.61 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.58

TT8 2172 19 425.82

LPSleep 5962 2 129.27

TT8_Active 512 19 100.54

TT8_Sampling 1588 39 625.76

TT8_CF8 271 45 123.23

TT8_Kalman 0 0 0.00

Analog_circuits 1230 12 146.22

GPS_charging 0 0 0.00

Compass 1327 15 197.20

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

17 -0.70 -56.1 0.0 0.0 0 64 0.00 0.00 -44.72 0.000 2 0.000 0.000 126 2203 2558 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.72 -96.2 3.3 -3.5 8 100 11.35 2.33 -15.07 0.000 4 0.217 0.062 2958 779 3188 0 0 0 0 0 0 24.56 25.38 26.19

179 -0.72 -96.2 26.7 -21.3 28 186 0.00 2.28 0.00 0.000 6 0.000 0.050 2950 2209 3190 0 0 0 0 0 0 28.83 25.26 28.83

492 -0.72 -96.2 89.7 -18.6 89 499 0.00 2.25 0.00 0.000 4 0.000 0.050 2949 782 3191 0 0 0 0 0 0 28.83 25.17 28.83

543 -0.72 -96.2 98.5 -16.6 98 551 0.00 2.22 0.00 0.000 6 0.000 0.050 2938 2201 3191 0 0 0 0 0 0 28.83 25.18 28.83

860 -0.72 -96.2 147.5 -15.0 136 869 0.00 2.28 0.00 0.000 4 0.000 0.048 2938 787 3192 0 0 0 0 0 0 28.83 25.15 28.83

901 -0.72 -96.2 153.5 -15.1 140 909 0.10 2.28 0.00 0.000 6 0.132 0.049 2958 2199 3191 0 0 0 0 0 0 24.85 25.15 28.83

1212 -0.72 -96.2 193.4 -13.1 161 1219 0.00 2.22 0.00 0.000 4 0.000 0.049 2958 780 3191 0 0 0 0 0 0 28.83 25.11 28.83

1250 -0.72 -96.2 198.5 -13.1 165 1259 0.00 2.33 0.00 0.000 6 0.000 0.049 2950 2207 3191 0 0 0 0 0 0 28.83 25.10 28.83

1576 -0.72 -96.2 244.9 -14.9 182 1577 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2206 3191 0 0 0 0 0 0 28.83 28.83 28.83

1875 -0.72 -96.2 287.5 -13.8 197 1876 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2207 3191 0 0 0 0 0 0 28.83 28.83 28.83

2175 -0.72 -96.2 328.8 -14.4 212 2181 0.00 2.30 0.00 0.000 4 0.000 0.049 2950 790 3191 0 0 0 0 0 0 28.83 25.05 28.83

2236 -0.72 -96.2 337.6 -14.6 215 2241 0.00 2.28 0.00 0.000 6 0.000 0.050 2940 2193 3191 0 0 0 0 0 0 28.83 25.05 28.83

2557 -0.72 -96.2 382.6 -13.7 231 2561 0.00 2.22 0.00 0.000 4 0.000 0.050 2940 783 3192 0 0 0 0 0 0 28.83 25.03 28.83

2653 -0.72 -96.2 394.9 -13.6 235 2658 0.12 2.33 0.00 0.000 6 0.157 0.049 2958 2205 3191 0 0 0 0 0 0 24.80 25.04 28.83

2966 -0.72 -96.2 431.8 -12.6 246 2967 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2206 3191 0 0 0 0 0 0 28.83 28.83 28.83

3265 -0.72 -96.2 465.7 -10.8 256 3270 0.00 2.30 0.00 0.000 4 0.000 0.050 2958 790 3191 0 0 0 0 0 0 28.83 24.99 28.83

3313 -0.72 -96.2 469.1 -10.3 257 3317 0.00 2.33 0.00 0.000 6 0.000 0.050 2950 2205 3191 0 0 0 0 0 0 28.83 24.98 28.83

3402 end dive: TARGET_DEPTH_EXCEEDED

state 3402 begin apogee

3410 -0.22 0.0 483.7 -12.8 260 3498 0.52 0.00 84.15 0.840 6 0.122 0.000 3116 2344 2794 0 0 0 0 0 0 24.67 28.83 23.51

3499 end apogee: CONTROL_FINISHED_OK

state 3499 begin climb

3502 0.72 96.2 490.4 0.0 263 3594 0.88 0.00 88.30 0.809 6 0.078 0.000 3417 2344 2401 0 0 0 0 0 0 24.75 28.83 23.34

3876 0.72 96.2 467.6 8.9 276 3881 0.00 2.28 0.00 0.000 4 0.000 0.064 3418 3719 2394 0 0 0 0 0 0 28.83 25.30 28.83

3943 0.72 96.2 461.7 9.4 278 3947 0.00 2.28 0.00 0.000 6 0.000 0.046 3428 2314 2392 0 0 0 0 0 0 28.83 25.50 28.83

4255 0.72 96.2 430.6 8.4 289 4261 0.00 2.38 0.00 0.000 4 0.000 0.065 3428 3726 2391 0 0 0 0 0 0 28.83 25.15 28.83

4363 0.72 96.2 421.9 9.0 292 4367 0.00 2.28 0.00 0.000 6 0.000 0.046 3440 2326 2391 0 0 0 0 0 0 28.83 25.41 28.83

4677 0.72 96.2 395.6 7.6 303 4678 0.00 0.00 0.00 0.000 6 0.000 0.000 3440 2325 2390 0 0 0 0 0 0 28.83 28.83 28.83

4975 0.72 96.2 371.8 8.0 318 4981 0.00 2.30 0.00 0.000 4 0.000 0.053 3451 923 2389 0 0 0 0 0 0 28.83 25.13 28.83

5075 0.72 96.2 363.4 8.5 323 5081 0.00 2.25 0.00 0.000 6 0.000 0.053 3451 2307 2389 0 0 0 0 0 0 28.83 25.14 28.83

5397 0.72 96.2 333.7 9.7 339 5401 0.00 2.38 0.00 0.000 4 0.000 0.065 3451 3746 2388 0 0 0 0 0 0 28.83 24.92 28.83

5623 0.72 96.2 310.1 10.9 350 5628 0.15 2.33 0.00 0.000 6 0.173 0.045 3426 2320 2387 0 0 0 0 0 0 24.87 25.29 28.83

5926 0.72 96.2 284.5 8.0 365 5927 0.00 0.00 0.00 0.000 6 0.000 0.000 3426 2318 2387 0 0 0 0 0 0 28.83 28.83 28.83

6225 0.72 96.2 260.7 7.6 380 6231 0.00 2.40 0.00 0.000 4 0.000 0.063 3426 3737 2387 0 0 0 0 0 0 28.83 24.87 28.83

6325 0.72 96.2 251.6 9.3 385 6331 0.00 2.33 0.00 0.000 6 0.000 0.045 3435 2312 2387 0 0 0 0 0 0 28.83 25.25 28.83

6646 0.72 96.2 226.6 7.3 401 6651 0.00 2.40 0.00 0.000 4 0.000 0.064 3435 3732 2386 0 0 0 0 0 0 28.83 24.83 28.83

6735 0.72 96.2 220.1 8.1 405 6743 0.00 2.30 0.00 0.000 6 0.000 0.046 3446 2322 2386 0 0 0 0 0 0 28.83 25.22 28.83

7051 0.72 97.7 196.4 6.9 422 7060 0.00 2.35 0.00 0.000 4 0.000 0.064 3446 3739 2386 0 0 0 0 0 0 28.83 24.81 28.83

7080 0.72 97.7 193.9 8.0 425 7089 0.12 2.33 0.00 0.000 6 0.176 0.046 3429 2317 2386 0 0 0 0 0 0 24.87 25.21 28.83

7392 0.72 102.1 172.8 6.6 446 7400 0.00 2.35 0.00 0.000 4 0.000 0.063 3429 3739 2386 0 0 0 0 0 0 28.83 24.79 28.83

7461 0.72 102.1 167.2 8.1 453 7469 0.00 2.28 0.00 0.000 6 0.000 0.046 3438 2330 2386 0 0 0 0 0 0 28.83 25.22 28.83

7770 0.72 111.4 146.2 6.2 474 7790 0.00 2.33 12.45 0.600 4 0.000 0.062 3438 3737 2338 0 0 0 0 0 0 28.83 25.13 24.06

7840 0.72 111.4 140.8 7.9 481 7849 0.00 2.30 0.00 0.000 6 0.000 0.046 3449 2320 2336 0 0 0 0 0 0 28.83 25.45 28.83

8151 0.72 111.4 116.5 8.0 506 8159 0.00 2.35 0.00 0.000 4 0.000 0.063 3450 3746 2336 0 0 0 0 0 0 28.83 24.97 28.83

8366 0.72 111.4 97.7 8.2 547 8373 0.12 2.25 0.00 0.000 6 0.177 0.045 3432 2319 2335 0 0 0 0 0 0 24.92 25.27 28.83

8679 0.75 170.5 81.0 1.8 608 8738 0.00 2.28 51.12 0.604 4 0.000 0.053 3441 914 2097 0 0 0 0 0 0 28.83 25.17 23.94

8885 0.75 172.9 70.1 6.8 646 8892 0.00 2.25 0.00 0.000 6 0.000 0.052 3441 2335 2093 0 0 0 0 0 0 28.83 25.28 28.83

9199 0.75 179.2 49.0 6.5 707 9212 0.00 2.35 7.95 0.505 4 0.000 0.063 3441 3733 2062 0 0 0 0 0 0 28.83 25.33 24.11

9444 0.75 179.2 30.9 7.6 754 9451 0.00 2.22 0.00 0.000 6 0.000 0.045 3452 2313 2059 0 0 0 0 0 0 28.83 25.41 28.83

9759 0.76 204.3 14.7 4.8 815 9789 0.00 2.28 21.95 0.544 4 0.000 0.053 3462 923 1960 0 0 0 0 0 0 28.83 25.36 24.13

9850 0.77 226.8 10.2 5.0 831 9876 0.00 2.22 20.25 0.533 6 0.000 0.052 3463 2333 1869 0 0 0 0 0 0 28.83 25.38 24.04

9956 end climb: SURFACE_DEPTH_REACHED

state 9957 begin surface coast

10019 end surface coast: CONTROL_FINISHED_OK

state 10019 begin surface

ID	187	HD_B	0.0093	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	4.5000001e-05	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	12
DIVE	828	HEADING	-1	ROLL_MIN	236	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3800	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2200	ALTIM_PING_DELTA	5
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2325	ALTIM_FREQUENCY	13
D_ABORT	1040	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_BOOST	4	SM_CC	300	ROLL_TIMEOUT	15	XPDR_VALID	1
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	31	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	3	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_MIN	470	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	470	UPLOAD_DIVES_MAX	-1	C_VBD	2794	DEVICE3	83
T_MISSION	520	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	10	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00039999999	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-1	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1590027.8	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	20	RAFOS_DEVICE	-1
APOGEE_PITCH	-7	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3970	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3195	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043543722
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-61.06522	SEABIRD_T_H	0.00062483409
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_I	2.3277114e-05
MASS	51761	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4402393e-06
NAV_MODE	2	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9786949
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1107863
KALMAN_USE	2	PITCH_AD_RATE	165	COMPASS_USE	4	SEABIRD_C_I	-0.0017547003
HD_A	0.0031000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0002234884

GPS1	190413,054636,4749.284,-12515.119,63,1.2,64,18.7	TGT_NAME	PARKING
_CALLS	1	TGT_LATLONG	4749.600,-12515.250
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.160,-0.151
_SM_DEPTHo	2.15	KALMAN_X	28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo	-75.2	KALMAN_Y	16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2	190413,055307,4749.282,-12514.984,16,2.0,16,18.7	MHEAD_RNG_PITCHd_Wd	271.1,675,-21.7,-7.021,-25.41
SPEED_LIMITS	0.122,0.210	D_GRID	482

FINISH	1.4,1.024244	_10V_AH	9.9,85.914
SM_CCo	10039,46.25,0.445,2,0,1570,300.00	FG_AHR_24Vo	0.000
SM_GC	2.54,8.68,0.20,46.25,0.031,0.072,0.445,104,2195,1570,-9.47,1.27,300.00,0,0,0,0,2,0,25.76,25.78,24.01	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12517.37,190413,020203	MEM	296744
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	46935,863
HUMID	48.50	CAP_FILE_SIZE	99157,0
INTERNAL_PRESSURE	9.10853	CFSIZE	260165632,188542976
TCM_TEMP	19.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	CURRENT	0.129,118.2,1
_24V_AH	23.3,115.384	GPS	190413,084400,4749.151,-12515.541,69,1.0,70,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	217	111.62	SBE_CT	590	24	330.31
Roll_motor	92	82	177.73	SBE_O2	552	19	244.67
VBD_pump_during_apogee	286	839	5600.82	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	46	445	479.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	62.48	nil	0	0	0.00
Iridium_during_connect	37	160	140.40	nil	0	0	0.00
Iridium_during_xfer	188	223	979.61	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.58
TT8	2172	19	425.82
LPSleep	5962	2	129.27
TT8_Active	512	19	100.54
TT8_Sampling	1588	39	625.76
TT8_CF8	271	45	123.23
TT8_Kalman	0	0	0.00
Analog_circuits	1230	12	146.22
GPS_charging	0	0	0.00
Compass	1327	15	197.20
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
17	-0.70	-56.1	0.0	0.0	0	64	0.00	0.00	-44.72	0.000	2	0.000	0.000	126	2203	2558	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.72	-96.2	3.3	-3.5	8	100	11.35	2.33	-15.07	0.000	4	0.217	0.062	2958	779	3188	0	0	0	0	0	0	24.56	25.38	26.19
179	-0.72	-96.2	26.7	-21.3	28	186	0.00	2.28	0.00	0.000	6	0.000	0.050	2950	2209	3190	0	0	0	0	0	0	28.83	25.26	28.83
492	-0.72	-96.2	89.7	-18.6	89	499	0.00	2.25	0.00	0.000	4	0.000	0.050	2949	782	3191	0	0	0	0	0	0	28.83	25.17	28.83
543	-0.72	-96.2	98.5	-16.6	98	551	0.00	2.22	0.00	0.000	6	0.000	0.050	2938	2201	3191	0	0	0	0	0	0	28.83	25.18	28.83
860	-0.72	-96.2	147.5	-15.0	136	869	0.00	2.28	0.00	0.000	4	0.000	0.048	2938	787	3192	0	0	0	0	0	0	28.83	25.15	28.83
901	-0.72	-96.2	153.5	-15.1	140	909	0.10	2.28	0.00	0.000	6	0.132	0.049	2958	2199	3191	0	0	0	0	0	0	24.85	25.15	28.83
1212	-0.72	-96.2	193.4	-13.1	161	1219	0.00	2.22	0.00	0.000	4	0.000	0.049	2958	780	3191	0	0	0	0	0	0	28.83	25.11	28.83
1250	-0.72	-96.2	198.5	-13.1	165	1259	0.00	2.33	0.00	0.000	6	0.000	0.049	2950	2207	3191	0	0	0	0	0	0	28.83	25.10	28.83
1576	-0.72	-96.2	244.9	-14.9	182	1577	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2206	3191	0	0	0	0	0	0	28.83	28.83	28.83
1875	-0.72	-96.2	287.5	-13.8	197	1876	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2207	3191	0	0	0	0	0	0	28.83	28.83	28.83
2175	-0.72	-96.2	328.8	-14.4	212	2181	0.00	2.30	0.00	0.000	4	0.000	0.049	2950	790	3191	0	0	0	0	0	0	28.83	25.05	28.83
2236	-0.72	-96.2	337.6	-14.6	215	2241	0.00	2.28	0.00	0.000	6	0.000	0.050	2940	2193	3191	0	0	0	0	0	0	28.83	25.05	28.83
2557	-0.72	-96.2	382.6	-13.7	231	2561	0.00	2.22	0.00	0.000	4	0.000	0.050	2940	783	3192	0	0	0	0	0	0	28.83	25.03	28.83
2653	-0.72	-96.2	394.9	-13.6	235	2658	0.12	2.33	0.00	0.000	6	0.157	0.049	2958	2205	3191	0	0	0	0	0	0	24.80	25.04	28.83
2966	-0.72	-96.2	431.8	-12.6	246	2967	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2206	3191	0	0	0	0	0	0	28.83	28.83	28.83
3265	-0.72	-96.2	465.7	-10.8	256	3270	0.00	2.30	0.00	0.000	4	0.000	0.050	2958	790	3191	0	0	0	0	0	0	28.83	24.99	28.83
3313	-0.72	-96.2	469.1	-10.3	257	3317	0.00	2.33	0.00	0.000	6	0.000	0.050	2950	2205	3191	0	0	0	0	0	0	28.83	24.98	28.83
3402	end dive: TARGET_DEPTH_EXCEEDED
state	3402	begin apogee
3410	-0.22	0.0	483.7	-12.8	260	3498	0.52	0.00	84.15	0.840	6	0.122	0.000	3116	2344	2794	0	0	0	0	0	0	24.67	28.83	23.51
3499	end apogee: CONTROL_FINISHED_OK
state	3499	begin climb
3502	0.72	96.2	490.4	0.0	263	3594	0.88	0.00	88.30	0.809	6	0.078	0.000	3417	2344	2401	0	0	0	0	0	0	24.75	28.83	23.34
3876	0.72	96.2	467.6	8.9	276	3881	0.00	2.28	0.00	0.000	4	0.000	0.064	3418	3719	2394	0	0	0	0	0	0	28.83	25.30	28.83
3943	0.72	96.2	461.7	9.4	278	3947	0.00	2.28	0.00	0.000	6	0.000	0.046	3428	2314	2392	0	0	0	0	0	0	28.83	25.50	28.83
4255	0.72	96.2	430.6	8.4	289	4261	0.00	2.38	0.00	0.000	4	0.000	0.065	3428	3726	2391	0	0	0	0	0	0	28.83	25.15	28.83
4363	0.72	96.2	421.9	9.0	292	4367	0.00	2.28	0.00	0.000	6	0.000	0.046	3440	2326	2391	0	0	0	0	0	0	28.83	25.41	28.83
4677	0.72	96.2	395.6	7.6	303	4678	0.00	0.00	0.00	0.000	6	0.000	0.000	3440	2325	2390	0	0	0	0	0	0	28.83	28.83	28.83
4975	0.72	96.2	371.8	8.0	318	4981	0.00	2.30	0.00	0.000	4	0.000	0.053	3451	923	2389	0	0	0	0	0	0	28.83	25.13	28.83
5075	0.72	96.2	363.4	8.5	323	5081	0.00	2.25	0.00	0.000	6	0.000	0.053	3451	2307	2389	0	0	0	0	0	0	28.83	25.14	28.83
5397	0.72	96.2	333.7	9.7	339	5401	0.00	2.38	0.00	0.000	4	0.000	0.065	3451	3746	2388	0	0	0	0	0	0	28.83	24.92	28.83
5623	0.72	96.2	310.1	10.9	350	5628	0.15	2.33	0.00	0.000	6	0.173	0.045	3426	2320	2387	0	0	0	0	0	0	24.87	25.29	28.83
5926	0.72	96.2	284.5	8.0	365	5927	0.00	0.00	0.00	0.000	6	0.000	0.000	3426	2318	2387	0	0	0	0	0	0	28.83	28.83	28.83
6225	0.72	96.2	260.7	7.6	380	6231	0.00	2.40	0.00	0.000	4	0.000	0.063	3426	3737	2387	0	0	0	0	0	0	28.83	24.87	28.83
6325	0.72	96.2	251.6	9.3	385	6331	0.00	2.33	0.00	0.000	6	0.000	0.045	3435	2312	2387	0	0	0	0	0	0	28.83	25.25	28.83
6646	0.72	96.2	226.6	7.3	401	6651	0.00	2.40	0.00	0.000	4	0.000	0.064	3435	3732	2386	0	0	0	0	0	0	28.83	24.83	28.83
6735	0.72	96.2	220.1	8.1	405	6743	0.00	2.30	0.00	0.000	6	0.000	0.046	3446	2322	2386	0	0	0	0	0	0	28.83	25.22	28.83
7051	0.72	97.7	196.4	6.9	422	7060	0.00	2.35	0.00	0.000	4	0.000	0.064	3446	3739	2386	0	0	0	0	0	0	28.83	24.81	28.83
7080	0.72	97.7	193.9	8.0	425	7089	0.12	2.33	0.00	0.000	6	0.176	0.046	3429	2317	2386	0	0	0	0	0	0	24.87	25.21	28.83
7392	0.72	102.1	172.8	6.6	446	7400	0.00	2.35	0.00	0.000	4	0.000	0.063	3429	3739	2386	0	0	0	0	0	0	28.83	24.79	28.83
7461	0.72	102.1	167.2	8.1	453	7469	0.00	2.28	0.00	0.000	6	0.000	0.046	3438	2330	2386	0	0	0	0	0	0	28.83	25.22	28.83
7770	0.72	111.4	146.2	6.2	474	7790	0.00	2.33	12.45	0.600	4	0.000	0.062	3438	3737	2338	0	0	0	0	0	0	28.83	25.13	24.06
7840	0.72	111.4	140.8	7.9	481	7849	0.00	2.30	0.00	0.000	6	0.000	0.046	3449	2320	2336	0	0	0	0	0	0	28.83	25.45	28.83
8151	0.72	111.4	116.5	8.0	506	8159	0.00	2.35	0.00	0.000	4	0.000	0.063	3450	3746	2336	0	0	0	0	0	0	28.83	24.97	28.83
8366	0.72	111.4	97.7	8.2	547	8373	0.12	2.25	0.00	0.000	6	0.177	0.045	3432	2319	2335	0	0	0	0	0	0	24.92	25.27	28.83
8679	0.75	170.5	81.0	1.8	608	8738	0.00	2.28	51.12	0.604	4	0.000	0.053	3441	914	2097	0	0	0	0	0	0	28.83	25.17	23.94
8885	0.75	172.9	70.1	6.8	646	8892	0.00	2.25	0.00	0.000	6	0.000	0.052	3441	2335	2093	0	0	0	0	0	0	28.83	25.28	28.83
9199	0.75	179.2	49.0	6.5	707	9212	0.00	2.35	7.95	0.505	4	0.000	0.063	3441	3733	2062	0	0	0	0	0	0	28.83	25.33	24.11
9444	0.75	179.2	30.9	7.6	754	9451	0.00	2.22	0.00	0.000	6	0.000	0.045	3452	2313	2059	0	0	0	0	0	0	28.83	25.41	28.83
9759	0.76	204.3	14.7	4.8	815	9789	0.00	2.28	21.95	0.544	4	0.000	0.053	3462	923	1960	0	0	0	0	0	0	28.83	25.36	24.13
9850	0.77	226.8	10.2	5.0	831	9876	0.00	2.22	20.25	0.533	6	0.000	0.052	3463	2333	1869	0	0	0	0	0	0	28.83	25.38	24.04
9956	end climb: SURFACE_DEPTH_REACHED
state	9957	begin surface coast
10019	end surface coast: CONTROL_FINISHED_OK
state	10019	begin surface