Glider dive log

Shilshole 04Nov15 * SG158 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 158 HD_C 9.8500004e-06 ROLL_MAX 3794 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 13 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 13 ESCAPE_HEADING 0 C_ROLL_DIVE 2000 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1750 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 3200 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -7306 ROLL_TIMEOUT 15 ALTIM_PULSE 6

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 36 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 320 R_STBD_OVSHOOT 66 XPDR_VALID 6

D_BOOST 3 N_FILEKB 4 ROLL_AD_RATE 250 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 1.4

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 600 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 2 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2106 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 38

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 90 CALL_TRIES 7 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 100 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00089999998 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 600 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -721918.88 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 3 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 138 MINV_24V 19 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3933 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2562 FG_AHR_10V 0 SEABIRD_T_G 0.004317278

GLIDE_SLOPE 20 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062907452

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.22976e-05

RHO 1.0233001 P_OVSHOOT 0.02 PRESSURE_YINT -162.90207 SEABIRD_T_J 2.1565418e-06

MASS 51610 PITCH_GAIN 28 PRESSURE_SLOPE 0.000137996 SEABIRD_C_G -9.7708368

MASS_COMP 0 PITCH_TIMEOUT 20 AD7714Ch0Gain 32 SEABIRD_C_H 1.113179

NAV_MODE 2 PITCH_AD_RATE 145 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001699872

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0002155289

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 236 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 320

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 145 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3933 TCM_ROLL_OFFSET 0

ALTIM_PULSE 6 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 138 TGT_DEFAULT_LAT 3200

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -7306

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00089999998 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 20 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 90

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.000137996 T_EPIRB 0

CALL_TRIES 7 HD_B 0.0099999998 PRESSURE_YINT -162.90207 T_GPS 15

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.02 T_GPS_CHARGE -721918.88

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 3 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 100

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 158 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 600

COMPASS_USE 4 INT_PRESSURE_YINT 1.4 RHO 1.0233001 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2562 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1750 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2000 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2106 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 1 ROLL_MAX 3794 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51610 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 236 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 38 MINV_10V 8 R_PORT_OVSHOOT 36 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 66 VBD_MIN 600

DEVICE4 -1 MISSION 13 SEABIRD_C_G -9.7708368 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.113179 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.001699872 VBD_TIMEOUT 720

DIVE 13 NOCOMM_ACTION 0 SEABIRD_C_J 0.0002155289 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.004317278 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062907452 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.22976e-05 XPDR_VALID 6

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_J 2.1565418e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 051115,085626,4743.980,-12224.334,13,2.2,33,18.2 TGT_NAME NORTH

_CALLS 2 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051115,090714,4744.045,-12224.224,13,2.4,33,18.2 MHEAD_RNG_PITCHd_Wd 326.9,910,-15.1,-6.667,-18.71,2402

SPEED_LIMITS 0.183,0.256 D_GRID 174

Post-dive calculations and measurements:

FINISH 0.2,1.013592 _10V_AH 10.6,0.708

SM_CCo 3960,11.40,0.057,0,0,832,320.03 FG_AHR_24Vo 0.000

SM_GC 4.19,7.15,0.38,11.40,0.044,0.046,0.057,124,2017,832,-7.55,-1.24,320.03,0,0,0,0,0,0,26.22,26.25,26.17 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12224.09,310808,222242 MEM 323364

TT8_MAMPS 0.020223,0.020223 DATA_FILE_SIZE 36856,736

HUMID 48.54 CAP_FILE_SIZE 81275,0

INTERNAL_PRESSURE 8.79286 CFSIZE 260165632,257044480

TCM_TEMP 20.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.059, 17.8,1

_24V_AH 24.4,1.063 GPS 051115,101605,4744.575,-12224.376,84,1.3,84,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 251 110.69 SBE_CT 496 23 290.58

Roll_motor 61 55 83.66 WL_BB2FLVMG 550 105 1410.88

VBD_pump_during_apogee 253 649 4023.66 nil 0 0 0.00

VBD_pump_during_surface 11 56 15.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 55 68.22 nil 0 0 0.00

Iridium_during_connect 113 160 444.87 nil 0 0 0.00

Iridium_during_xfer 278 223 1517.77 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 30 11.32

TT8 1735 11 210.77

LPSleep 796 2 18.49

TT8_Active 390 11 47.49

TT8_Sampling 1506 39 625.54

TT8_CF8 210 45 102.22

TT8_Kalman 0 0 0.00

Analog_circuits 992 17 178.77

GPS_charging 0 0 0.00

Compass 1064 15 177.41

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.63 -105.3 119 2040 596 618 0.0 0.0 0 58 0.00 0.00 -40.10 0.000 16386 0.000 0.000 119 2041 1804 1793 1816 0 0 0 0 0 0 28.83 28.83 28.83

61 -0.63 -105.3 119 2041 1793 1816 3.4 -7.4 7 92 8.98 2.35 -15.57 0.000 18948 0.252 0.056 2356 579 2527 2544 2511 0 0 0 0 0 0 25.66 25.92 26.21

307 -0.63 -105.3 2356 578 2548 2511 37.4 -14.3 54 314 0.00 2.12 0.00 0.000 1030 0.000 0.030 2348 1989 2529 2548 2511 0 0 0 0 0 0 28.83 26.15 28.83

377 -0.63 -105.3 2347 1989 2548 2511 47.4 -14.0 67 383 0.00 2.17 0.00 0.000 260 0.000 0.042 2337 3410 2529 2548 2511 0 0 0 0 0 0 28.83 26.16 28.83

426 -0.63 -105.3 2337 3409 2548 2511 54.3 -14.1 76 433 0.00 2.15 0.00 0.000 1030 0.000 0.030 2337 1983 2529 2548 2511 0 0 0 0 0 0 28.83 26.22 28.83

555 -0.63 -105.3 1440 1980 2480 2502 72.1 -14.6 101 562 0.00 2.10 0.00 0.000 516 0.000 0.041 2336 593 2529 2548 2510 0 0 0 0 0 0 28.83 26.25 28.83

609 -0.63 -105.3 1448 593 2480 2502 80.4 -15.0 111 616 0.15 2.12 0.00 0.000 3078 0.173 0.031 2365 2008 2529 2548 2511 0 0 0 0 0 0 26.14 26.29 28.83

741 -0.63 -105.3 2364 2008 2548 2511 96.7 -11.6 136 747 0.00 2.12 0.00 0.000 260 0.000 0.042 2356 3406 2529 2548 2511 0 0 0 0 0 0 28.83 26.32 28.83

790 -0.63 -105.3 2355 3407 2548 2511 102.9 -12.1 145 798 0.00 2.10 0.00 0.000 1030 0.000 0.029 2356 1997 2529 2548 2511 0 0 0 0 0 0 28.83 26.36 28.83

923 -0.63 -105.3 2356 1996 2547 2511 119.5 -13.0 170 929 0.00 2.12 0.00 0.000 516 0.000 0.041 2356 587 2529 2548 2511 0 0 0 0 0 0 28.83 26.36 28.83

988 -0.63 -105.3 2356 587 2548 2511 128.8 -13.8 182 994 0.00 2.12 0.00 0.000 1030 0.000 0.031 2346 2005 2529 2548 2511 0 0 0 0 0 0 28.83 26.41 28.83

1118 -0.63 -105.3 1416 2004 2477 2501 146.8 -14.3 207 1124 0.00 0.00 0.00 0.000 6 0.000 0.000 2346 2006 2529 2548 2511 0 0 0 0 0 0 28.83 28.83 28.83

1247 -0.63 -105.3 2346 2006 2548 2511 164.8 -13.8 232 1253 0.00 0.00 0.00 0.000 6 0.000 0.000 2346 2006 2529 2548 2511 0 0 0 0 0 0 28.83 28.83 28.83

1318 end dive: TARGET_DEPTH_EXCEEDED

state 1318 begin apogee

1325 -0.18 0.0 2346 1735 2548 2511 174.3 -12.7 246 1407 0.47 0.00 78.62 0.649 10246 0.136 0.000 2504 1735 2106 2143 2069 0 0 0 0 0 0 26.33 28.83 24.92

1408 end apogee: CONTROL_FINISHED_OK

state 1408 begin climb

1411 0.63 105.3 2504 1734 2142 2069 179.1 0.0 260 1504 0.77 2.33 83.00 0.640 10500 0.092 0.042 2772 3155 1685 1732 1638 0 0 0 0 0 0 25.47 25.00 24.44

1578 0.63 105.3 2772 3155 1727 1635 171.6 9.7 290 1585 0.00 2.17 0.00 0.000 1030 0.000 0.034 2782 1766 1680 1726 1634 0 0 0 0 0 0 28.83 25.49 28.83

1709 0.63 105.3 2782 1766 1725 1631 160.0 7.6 315 1716 0.00 2.25 0.00 0.000 516 0.000 0.048 2793 348 1677 1724 1631 0 0 0 0 0 0 28.83 25.79 28.83

1789 0.63 105.3 2792 348 1723 1630 153.6 7.7 330 1796 0.00 2.15 0.00 0.000 1030 0.000 0.032 2793 1751 1676 1723 1630 0 0 0 0 0 0 28.83 25.93 28.83

1920 0.63 105.3 1760 1749 1672 1624 143.8 7.5 355 1926 0.00 2.17 0.00 0.000 260 0.000 0.042 2793 3161 1676 1723 1629 0 0 0 0 0 0 28.83 26.04 28.83

1994 0.63 105.3 1792 3160 1674 1623 137.3 8.7 369 2002 0.15 2.17 0.00 0.000 5126 0.172 0.034 2764 1737 1675 1723 1628 0 0 0 0 0 0 25.96 26.12 28.83

2126 0.63 105.3 2764 1737 1722 1628 126.6 8.3 394 2131 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 1737 1675 1723 1628 0 0 0 0 0 0 28.83 28.83 28.83

2254 0.63 105.3 1792 1735 1674 1623 116.9 8.0 419 2260 0.00 2.20 0.00 0.000 260 0.000 0.042 2764 3163 1675 1722 1628 0 0 0 0 0 0 28.83 26.24 28.83

2328 0.63 105.3 2764 3163 1722 1628 111.3 7.3 433 2335 0.00 2.15 0.00 0.000 1030 0.000 0.034 2773 1746 1675 1722 1628 0 0 0 0 0 0 28.83 26.29 28.83

2461 0.63 105.3 2773 1746 1722 1627 102.4 7.1 458 2466 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 1746 1675 1722 1628 0 0 0 0 0 0 28.83 28.83 28.83

2589 0.63 105.3 1792 1745 1674 1622 93.3 6.8 483 2594 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 1746 1674 1722 1627 0 0 0 0 0 0 28.83 28.83 28.83

2717 0.64 118.9 2773 1746 1722 1627 85.1 6.1 508 2731 0.00 0.00 10.50 0.542 8198 0.000 0.000 2773 1746 1632 1681 1584 0 0 0 0 0 0 28.83 28.83 25.71

2856 0.66 136.9 2772 1746 1678 1582 76.9 5.9 534 2880 0.00 2.17 15.57 0.561 8452 0.000 0.042 2773 3152 1559 1607 1511 0 0 0 0 0 0 28.83 26.13 25.60

2938 0.66 136.9 2773 3152 1606 1509 71.4 6.9 549 2945 0.00 2.15 0.00 0.000 1030 0.000 0.034 2783 1740 1557 1606 1508 0 0 0 0 0 0 28.83 26.20 28.83

3070 0.66 136.9 2783 1740 1604 1507 61.5 7.8 574 3077 0.00 2.15 0.00 0.000 516 0.000 0.047 2794 347 1555 1603 1507 0 0 0 0 0 0 28.83 26.25 28.83

3159 0.66 136.9 1808 347 1563 1501 53.3 9.7 591 3166 0.00 2.12 0.00 0.000 1030 0.000 0.033 2794 1758 1554 1603 1506 0 0 0 0 0 0 28.83 26.32 28.83

3290 0.66 136.9 2793 1759 1603 1506 41.1 9.4 616 3296 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 1759 1554 1603 1506 0 0 0 0 0 0 28.83 28.83 28.83

3419 0.66 136.9 2793 1759 1603 1506 30.1 7.7 641 3425 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 1758 1554 1603 1506 0 0 0 0 0 0 28.83 28.83 28.83

3489 0.66 136.9 2793 1759 1603 1506 24.9 7.6 654 3495 0.00 2.17 0.00 0.000 516 0.000 0.047 2804 347 1554 1602 1506 0 0 0 0 0 0 28.83 26.39 28.83

3528 0.66 136.9 2804 347 1603 1505 21.4 8.9 661 3536 0.00 2.12 0.00 0.000 1030 0.000 0.032 2804 1763 1553 1602 1505 0 0 0 0 0 0 28.83 26.43 28.83

3599 0.66 136.9 2804 1763 1602 1505 15.1 8.9 674 3605 0.00 2.20 0.00 0.000 516 0.000 0.047 2815 337 1553 1602 1504 0 0 0 0 0 0 28.83 26.41 28.83

3664 0.66 136.9 2815 337 1602 1504 9.3 9.2 686 3671 0.17 2.12 0.00 0.000 5126 0.158 0.032 2766 1758 1553 1602 1504 0 0 0 0 0 0 26.30 26.46 28.83

3734 0.73 217.8 1760 1757 1561 1500 5.8 3.2 699 3776 0.00 2.20 35.10 0.452 8452 0.000 0.040 2766 3150 1236 1290 1183 0 0 0 0 0 0 28.83 26.11 25.68

3840 0.83 320.6 2766 3150 1285 1179 2.7 2.3 718 3877 0.17 2.12 31.10 0.055 11266 0.074 0.034 2855 1748 941 986 897 0 0 0 0 0 0 26.19 26.19 28.83

3878 end climb: SURFACE_DEPTH_REACHED

state 3879 begin surface coast

3943 end surface coast: CONTROL_FINISHED_OK

state 3943 begin surface

ID	158	HD_C	9.8500004e-06	ROLL_MAX	3794	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	13	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	13	ESCAPE_HEADING	0	C_ROLL_DIVE	2000	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1750	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	3200	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-7306	ROLL_TIMEOUT	15	ALTIM_PULSE	6
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	36	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	320	R_STBD_OVSHOOT	66	XPDR_VALID	6
D_BOOST	3	N_FILEKB	4	ROLL_AD_RATE	250	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	1.4
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	600	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	2	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2106	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	38
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	90	CALL_TRIES	7	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	100	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00089999998	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	600	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-721918.88	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	3	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	138	MINV_24V	19	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3933	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2562	FG_AHR_10V	0	SEABIRD_T_G	0.004317278
GLIDE_SLOPE	20	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062907452
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.22976e-05
RHO	1.0233001	P_OVSHOOT	0.02	PRESSURE_YINT	-162.90207	SEABIRD_T_J	2.1565418e-06
MASS	51610	PITCH_GAIN	28	PRESSURE_SLOPE	0.000137996	SEABIRD_C_G	-9.7708368
MASS_COMP	0	PITCH_TIMEOUT	20	AD7714Ch0Gain	32	SEABIRD_C_H	1.113179
NAV_MODE	2	PITCH_AD_RATE	145	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001699872
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0002155289
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	236	ALTIM_TOP_PING_RANGE	0

GPS1	051115,085626,4743.980,-12224.334,13,2.2,33,18.2	TGT_NAME	NORTH
_CALLS	2	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051115,090714,4744.045,-12224.224,13,2.4,33,18.2	MHEAD_RNG_PITCHd_Wd	326.9,910,-15.1,-6.667,-18.71,2402
SPEED_LIMITS	0.183,0.256	D_GRID	174

FINISH	0.2,1.013592	_10V_AH	10.6,0.708
SM_CCo	3960,11.40,0.057,0,0,832,320.03	FG_AHR_24Vo	0.000
SM_GC	4.19,7.15,0.38,11.40,0.044,0.046,0.057,124,2017,832,-7.55,-1.24,320.03,0,0,0,0,0,0,26.22,26.25,26.17	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12224.09,310808,222242	MEM	323364
TT8_MAMPS	0.020223,0.020223	DATA_FILE_SIZE	36856,736
HUMID	48.54	CAP_FILE_SIZE	81275,0
INTERNAL_PRESSURE	8.79286	CFSIZE	260165632,257044480
TCM_TEMP	20.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.059, 17.8,1
_24V_AH	24.4,1.063	GPS	051115,101605,4744.575,-12224.376,84,1.3,84,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	251	110.69	SBE_CT	496	23	290.58
Roll_motor	61	55	83.66	WL_BB2FLVMG	550	105	1410.88
VBD_pump_during_apogee	253	649	4023.66	nil	0	0	0.00
VBD_pump_during_surface	11	56	15.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	55	68.22	nil	0	0	0.00
Iridium_during_connect	113	160	444.87	nil	0	0	0.00
Iridium_during_xfer	278	223	1517.77	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	30	11.32
TT8	1735	11	210.77
LPSleep	796	2	18.49
TT8_Active	390	11	47.49
TT8_Sampling	1506	39	625.54
TT8_CF8	210	45	102.22
TT8_Kalman	0	0	0.00
Analog_circuits	992	17	178.77
GPS_charging	0	0	0.00
Compass	1064	15	177.41
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.63	-105.3	119	2040	596	618	0.0	0.0	0	58	0.00	0.00	-40.10	0.000	16386	0.000	0.000	119	2041	1804	1793	1816	0	0	0	0	0	0	28.83	28.83	28.83
61	-0.63	-105.3	119	2041	1793	1816	3.4	-7.4	7	92	8.98	2.35	-15.57	0.000	18948	0.252	0.056	2356	579	2527	2544	2511	0	0	0	0	0	0	25.66	25.92	26.21
307	-0.63	-105.3	2356	578	2548	2511	37.4	-14.3	54	314	0.00	2.12	0.00	0.000	1030	0.000	0.030	2348	1989	2529	2548	2511	0	0	0	0	0	0	28.83	26.15	28.83
377	-0.63	-105.3	2347	1989	2548	2511	47.4	-14.0	67	383	0.00	2.17	0.00	0.000	260	0.000	0.042	2337	3410	2529	2548	2511	0	0	0	0	0	0	28.83	26.16	28.83
426	-0.63	-105.3	2337	3409	2548	2511	54.3	-14.1	76	433	0.00	2.15	0.00	0.000	1030	0.000	0.030	2337	1983	2529	2548	2511	0	0	0	0	0	0	28.83	26.22	28.83
555	-0.63	-105.3	1440	1980	2480	2502	72.1	-14.6	101	562	0.00	2.10	0.00	0.000	516	0.000	0.041	2336	593	2529	2548	2510	0	0	0	0	0	0	28.83	26.25	28.83
609	-0.63	-105.3	1448	593	2480	2502	80.4	-15.0	111	616	0.15	2.12	0.00	0.000	3078	0.173	0.031	2365	2008	2529	2548	2511	0	0	0	0	0	0	26.14	26.29	28.83
741	-0.63	-105.3	2364	2008	2548	2511	96.7	-11.6	136	747	0.00	2.12	0.00	0.000	260	0.000	0.042	2356	3406	2529	2548	2511	0	0	0	0	0	0	28.83	26.32	28.83
790	-0.63	-105.3	2355	3407	2548	2511	102.9	-12.1	145	798	0.00	2.10	0.00	0.000	1030	0.000	0.029	2356	1997	2529	2548	2511	0	0	0	0	0	0	28.83	26.36	28.83
923	-0.63	-105.3	2356	1996	2547	2511	119.5	-13.0	170	929	0.00	2.12	0.00	0.000	516	0.000	0.041	2356	587	2529	2548	2511	0	0	0	0	0	0	28.83	26.36	28.83
988	-0.63	-105.3	2356	587	2548	2511	128.8	-13.8	182	994	0.00	2.12	0.00	0.000	1030	0.000	0.031	2346	2005	2529	2548	2511	0	0	0	0	0	0	28.83	26.41	28.83
1118	-0.63	-105.3	1416	2004	2477	2501	146.8	-14.3	207	1124	0.00	0.00	0.00	0.000	6	0.000	0.000	2346	2006	2529	2548	2511	0	0	0	0	0	0	28.83	28.83	28.83
1247	-0.63	-105.3	2346	2006	2548	2511	164.8	-13.8	232	1253	0.00	0.00	0.00	0.000	6	0.000	0.000	2346	2006	2529	2548	2511	0	0	0	0	0	0	28.83	28.83	28.83
1318	end dive: TARGET_DEPTH_EXCEEDED
state	1318	begin apogee
1325	-0.18	0.0	2346	1735	2548	2511	174.3	-12.7	246	1407	0.47	0.00	78.62	0.649	10246	0.136	0.000	2504	1735	2106	2143	2069	0	0	0	0	0	0	26.33	28.83	24.92
1408	end apogee: CONTROL_FINISHED_OK
state	1408	begin climb
1411	0.63	105.3	2504	1734	2142	2069	179.1	0.0	260	1504	0.77	2.33	83.00	0.640	10500	0.092	0.042	2772	3155	1685	1732	1638	0	0	0	0	0	0	25.47	25.00	24.44
1578	0.63	105.3	2772	3155	1727	1635	171.6	9.7	290	1585	0.00	2.17	0.00	0.000	1030	0.000	0.034	2782	1766	1680	1726	1634	0	0	0	0	0	0	28.83	25.49	28.83
1709	0.63	105.3	2782	1766	1725	1631	160.0	7.6	315	1716	0.00	2.25	0.00	0.000	516	0.000	0.048	2793	348	1677	1724	1631	0	0	0	0	0	0	28.83	25.79	28.83
1789	0.63	105.3	2792	348	1723	1630	153.6	7.7	330	1796	0.00	2.15	0.00	0.000	1030	0.000	0.032	2793	1751	1676	1723	1630	0	0	0	0	0	0	28.83	25.93	28.83
1920	0.63	105.3	1760	1749	1672	1624	143.8	7.5	355	1926	0.00	2.17	0.00	0.000	260	0.000	0.042	2793	3161	1676	1723	1629	0	0	0	0	0	0	28.83	26.04	28.83
1994	0.63	105.3	1792	3160	1674	1623	137.3	8.7	369	2002	0.15	2.17	0.00	0.000	5126	0.172	0.034	2764	1737	1675	1723	1628	0	0	0	0	0	0	25.96	26.12	28.83
2126	0.63	105.3	2764	1737	1722	1628	126.6	8.3	394	2131	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	1737	1675	1723	1628	0	0	0	0	0	0	28.83	28.83	28.83
2254	0.63	105.3	1792	1735	1674	1623	116.9	8.0	419	2260	0.00	2.20	0.00	0.000	260	0.000	0.042	2764	3163	1675	1722	1628	0	0	0	0	0	0	28.83	26.24	28.83
2328	0.63	105.3	2764	3163	1722	1628	111.3	7.3	433	2335	0.00	2.15	0.00	0.000	1030	0.000	0.034	2773	1746	1675	1722	1628	0	0	0	0	0	0	28.83	26.29	28.83
2461	0.63	105.3	2773	1746	1722	1627	102.4	7.1	458	2466	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	1746	1675	1722	1628	0	0	0	0	0	0	28.83	28.83	28.83
2589	0.63	105.3	1792	1745	1674	1622	93.3	6.8	483	2594	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	1746	1674	1722	1627	0	0	0	0	0	0	28.83	28.83	28.83
2717	0.64	118.9	2773	1746	1722	1627	85.1	6.1	508	2731	0.00	0.00	10.50	0.542	8198	0.000	0.000	2773	1746	1632	1681	1584	0	0	0	0	0	0	28.83	28.83	25.71
2856	0.66	136.9	2772	1746	1678	1582	76.9	5.9	534	2880	0.00	2.17	15.57	0.561	8452	0.000	0.042	2773	3152	1559	1607	1511	0	0	0	0	0	0	28.83	26.13	25.60
2938	0.66	136.9	2773	3152	1606	1509	71.4	6.9	549	2945	0.00	2.15	0.00	0.000	1030	0.000	0.034	2783	1740	1557	1606	1508	0	0	0	0	0	0	28.83	26.20	28.83
3070	0.66	136.9	2783	1740	1604	1507	61.5	7.8	574	3077	0.00	2.15	0.00	0.000	516	0.000	0.047	2794	347	1555	1603	1507	0	0	0	0	0	0	28.83	26.25	28.83
3159	0.66	136.9	1808	347	1563	1501	53.3	9.7	591	3166	0.00	2.12	0.00	0.000	1030	0.000	0.033	2794	1758	1554	1603	1506	0	0	0	0	0	0	28.83	26.32	28.83
3290	0.66	136.9	2793	1759	1603	1506	41.1	9.4	616	3296	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	1759	1554	1603	1506	0	0	0	0	0	0	28.83	28.83	28.83
3419	0.66	136.9	2793	1759	1603	1506	30.1	7.7	641	3425	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	1758	1554	1603	1506	0	0	0	0	0	0	28.83	28.83	28.83
3489	0.66	136.9	2793	1759	1603	1506	24.9	7.6	654	3495	0.00	2.17	0.00	0.000	516	0.000	0.047	2804	347	1554	1602	1506	0	0	0	0	0	0	28.83	26.39	28.83
3528	0.66	136.9	2804	347	1603	1505	21.4	8.9	661	3536	0.00	2.12	0.00	0.000	1030	0.000	0.032	2804	1763	1553	1602	1505	0	0	0	0	0	0	28.83	26.43	28.83
3599	0.66	136.9	2804	1763	1602	1505	15.1	8.9	674	3605	0.00	2.20	0.00	0.000	516	0.000	0.047	2815	337	1553	1602	1504	0	0	0	0	0	0	28.83	26.41	28.83
3664	0.66	136.9	2815	337	1602	1504	9.3	9.2	686	3671	0.17	2.12	0.00	0.000	5126	0.158	0.032	2766	1758	1553	1602	1504	0	0	0	0	0	0	26.30	26.46	28.83
3734	0.73	217.8	1760	1757	1561	1500	5.8	3.2	699	3776	0.00	2.20	35.10	0.452	8452	0.000	0.040	2766	3150	1236	1290	1183	0	0	0	0	0	0	28.83	26.11	25.68
3840	0.83	320.6	2766	3150	1285	1179	2.7	2.3	718	3877	0.17	2.12	31.10	0.055	11266	0.074	0.034	2855	1748	941	986	897	0	0	0	0	0	0	26.19	26.19	28.83
3878	end climb: SURFACE_DEPTH_REACHED
state	3879	begin surface coast
3943	end surface coast: CONTROL_FINISHED_OK
state	3943	begin surface