Glider dive log

Shilshole 06Jan15 * SG156 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 156 HD_C 9.8500004e-06 ROLL_MAX 3800 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 6 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 14 ESCAPE_HEADING 50 C_ROLL_DIVE 2040 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1940 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 56.75 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -7.25 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 27 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 260 R_STBD_OVSHOOT 31 XPDR_VALID 1

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 6 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 451 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 3 VBD_MAX 3959 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 1638 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE -1 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 35

T_DIVE 80 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 101

T_MISSION 90 CALL_WAIT 30 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_ABORT 720 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 600 CAPMAXSIZE 400000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 1 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 40 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -905981.56 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 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 -7 PITCH_MIN 160 MINV_24V 17 SIM_W 0

MAX_BUOY 120 PITCH_MAX 3877 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2264 FG_AHR_10V 0 SEABIRD_T_G 0.0043990691

GLIDE_SLOPE 40 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00065709552

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 3.75727e-05

RHO 1.0276999 P_OVSHOOT 0.039999999 PRESSURE_YINT -17.360556 SEABIRD_T_J 5.2690598e-06

MASS 51793 PITCH_GAIN 31 PRESSURE_SLOPE 0.00011457827 SEABIRD_C_G -10.168411

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_H 1.1470841

NAV_MODE 1 PITCH_AD_RATE 100 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001554661

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020326475

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.010078 ROLL_MIN 221 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 260

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 100 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 50 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3877 TCM_ROLL_OFFSET 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 160 TGT_DEFAULT_LAT 56.75

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -7.25

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00030000001 T_ABORT 720

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -7 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 80

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.00011457827 T_EPIRB 0

CALL_TRIES 5 HD_B 0.010078 PRESSURE_YINT -17.360556 T_GPS 15

CALL_WAIT 30 HD_C 9.8500004e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 400000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -905981.56

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 90

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 156 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 600

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0276999 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2264 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1940 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2040 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 1638 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3800 VBD_BLEED_AD_RATE 1

DEEPGLIDER 0 MASS 51793 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 221 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 120 ROLL_TIMEOUT 15 VBD_MAX 3959

DEVICE2 20 MINV_10V 8 R_PORT_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE3 35 MINV_24V 17 R_STBD_OVSHOOT 31 VBD_MIN 451

DEVICE4 101 MISSION 6 SEABIRD_C_G -10.168411 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1470841 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.001554661 VBD_TIMEOUT 720

DIVE 14 NOCOMM_ACTION 0 SEABIRD_C_J 0.00020326475 W_ADJ_DBAND 0

D_ABORT 1020 N_DIVES 25 SEABIRD_T_G 0.0043990691 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.00065709552 XPDR_INHIBIT 90

D_CALL 0 N_GPS 40 SEABIRD_T_I 3.75727e-05 XPDR_VALID 1

D_FINISH 6 N_NOCOMM 3 SEABIRD_T_J 5.2690598e-06

D_FLARE 3 N_NOSURFACE -1 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 070115,112106,4742.998,-12225.064,11,1.9,11,18.2 TGT_NAME NORTH

_CALLS 2 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.093,0.193

_SM_DEPTHo 0.97 KALMAN_X -2608.5,95.5,90.4,1669.0,-463.4

_SM_ANGLEo -66.2 KALMAN_Y -2970.3,405.9,150.6,2087.0,-994.7

GPS2 070115,113359,4742.906,-12225.155,13,0.8,47,18.2 MHEAD_RNG_PITCHd_Wd 7.4,3062,-15.9,-7.500,-19.32,2379

SPEED_LIMITS 0.089,0.214 D_GRID 186

Post-dive calculations and measurements:

FINISH 0.5,1.021678 _10V_AH 10.4,0.968

SM_CCo 3917,98.40,0.507,2,0,602,260.24 FG_AHR_24Vo 0.000

SM_GC 0.98,6.05,0.17,98.40,0.050,0.062,0.507,141,2062,602,-6.55,-1.19,260.24,0,0,0,0,2,0,26.24,26.27,24.76 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12222.38,070115,111144 MEM 323212

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 53800,717

HUMID 29.72 CAP_FILE_SIZE 85693,0

INTERNAL_PRESSURE 9.31676 CFSIZE 260165632,257150976

TCM_TEMP 19.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,2,0,0

XPDR_PINGS 236 GPS 070115,124301,4742.809,-12225.311,11,1.4,11,18.2

_24V_AH 24.1,1.395

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 249 92.41 SBE_CT 483 23 279.49

Roll_motor 59 112 162.41 SBE_O2 383 5 55.35

VBD_pump_during_apogee 212 645 3307.36 WL_BB2FLVMG 650 105 1645.14

VBD_pump_during_surface 98 507 1202.78 AA4330 585 41 591.91

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 56 58 80.68 nil 0 0 0.00

Iridium_during_connect 92 160 356.21 nil 0 0 0.00

Iridium_during_xfer 391 223 2103.26 nil 0 0 0.00

Transponder_ping 63 420 640.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 47 29 14.55

TT8 1619 12 209.83

LPSleep 752 2 17.13

TT8_Active 455 12 58.98

TT8_Sampling 1683 35 624.79

TT8_CF8 292 42 129.26

TT8_Kalman 33 58 20.11

Analog_circuits 1051 16 174.92

GPS_charging 0 0 0.00

Compass 1077 16 184.66

RAFOS 0 0 0.00

Transponder 27 30 8.62

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -0.55 -116.8 143 2040 518 686 0.0 0.0 0 86 0.00 0.00 -65.78 0.000 16386 0.000 0.000 143 2040 1980 2023 1937 0 0 0 0 0 0 28.83 28.83 28.83

91 -0.55 -116.8 143 2040 2023 1940 3.2 -5.6 12 110 7.80 2.42 -3.30 0.000 18948 0.249 0.063 2093 631 2105 2174 2037 0 0 1 0 0 0 25.53 25.75 26.06

216 -0.55 -116.8 2093 631 2174 2037 20.7 -11.2 35 223 0.00 2.38 0.00 0.000 1030 0.000 0.038 2083 2045 2105 2174 2037 0 0 0 0 0 0 28.83 25.92 28.83

287 -0.55 -116.8 2083 2043 2175 2036 28.5 -10.9 48 293 0.00 2.22 0.00 0.000 260 0.000 0.049 2073 3463 2106 2176 2037 0 0 0 0 0 0 28.83 25.96 28.83

327 -0.55 -116.8 2073 3463 2177 2037 33.1 -11.3 55 334 0.00 2.25 0.00 0.000 1030 0.000 0.037 2073 2041 2107 2177 2037 0 0 0 0 0 0 28.83 26.01 28.83

397 -0.55 -116.8 1280 2033 2126 2029 41.3 -12.7 68 404 0.00 2.35 0.00 0.000 516 0.000 0.051 2072 624 2107 2178 2037 0 0 0 0 0 0 28.83 26.03 28.83

487 -0.55 -116.8 2072 624 2178 2036 52.9 -13.0 85 494 0.00 2.35 0.00 0.000 1030 0.000 0.037 2062 2042 2107 2177 2037 0 0 0 0 0 0 28.83 26.10 28.83

618 -0.55 -116.8 2062 2040 2177 2037 66.8 -10.1 110 624 0.00 0.00 0.00 0.000 6 0.000 0.000 2062 2039 2107 2177 2037 0 0 0 0 0 0 28.83 28.83 28.83

748 -0.55 -116.8 2062 2039 2177 2037 80.0 -9.8 135 754 0.00 2.20 0.00 0.000 260 0.000 0.049 2052 3458 2107 2177 2037 0 0 0 0 0 0 28.83 26.17 28.83

853 -0.55 -116.8 2051 3457 2177 2037 90.1 -9.8 155 860 0.12 2.22 0.00 0.000 3078 0.155 0.039 2084 2040 2107 2177 2037 0 0 0 0 0 0 26.11 26.21 28.83

989 -0.55 -116.8 2084 2034 2177 2036 99.6 -8.7 180 995 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2034 2107 2177 2037 0 0 0 0 0 0 28.83 28.83 28.83

1123 -0.55 -116.8 1264 2031 2124 2029 112.5 -8.8 205 1128 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2033 2107 2177 2037 0 0 0 0 0 0 28.83 28.83 28.83

1256 -0.55 -116.8 1248 2022 2123 2028 124.7 -8.1 230 1263 0.00 0.00 0.00 0.000 6 0.000 0.000 2085 2024 2107 2177 2037 0 0 0 0 0 0 28.83 28.83 28.83

1392 -0.55 -116.8 2084 2024 2177 2036 136.0 -6.9 255 1397 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2024 2106 2177 2036 0 0 0 0 0 0 28.83 28.83 28.83

1525 -0.55 -116.8 1256 2022 2124 2029 148.6 -9.4 280 1531 0.00 2.30 0.00 0.000 516 0.000 0.050 2085 631 2106 2177 2036 0 0 0 0 0 0 28.83 26.32 28.83

1615 -0.55 -116.8 1280 631 2126 2028 155.8 -7.8 297 1622 0.00 2.33 0.00 0.000 1030 0.000 0.039 2075 2050 2106 2177 2036 0 0 0 0 0 0 28.83 26.36 28.83

1748 -0.55 -116.8 1252 2045 2124 2028 167.3 -9.0 322 1754 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2048 2106 2177 2036 0 0 0 0 0 0 28.83 28.83 28.83

1881 end dive: TARGET_DEPTH_EXCEEDED

state 1881 begin apogee

1889 -0.23 0.0 2075 1893 2177 2036 180.2 -9.9 347 1990 0.35 0.08 93.62 0.646 10246 0.141 0.112 2189 1963 1637 1661 1614 0 0 0 0 0 0 26.26 25.00 24.51

1991 end apogee: CONTROL_FINISHED_OK

state 1994 begin climb

1997 0.55 116.8 2188 1962 1662 1611 186.1 0.0 365 2098 0.75 0.00 95.32 0.620 10246 0.104 0.000 2438 1961 1173 1134 1212 0 0 0 0 0 0 25.09 28.83 24.14

2223 0.55 116.8 2438 1961 1132 1211 172.4 9.0 407 2230 0.00 2.25 0.00 0.000 260 0.000 0.045 2438 3337 1171 1131 1211 0 0 0 0 0 0 28.83 25.44 28.83

2264 0.55 116.8 2437 3338 1131 1209 168.0 11.7 414 2270 0.00 2.20 0.00 0.000 1030 0.000 0.037 2448 1984 1170 1132 1209 0 0 0 0 0 0 28.83 25.56 28.83

2397 0.55 116.8 2448 1980 1132 1209 154.9 10.3 439 2403 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1981 1170 1132 1209 0 0 0 0 0 0 28.83 28.83 28.83

2527 0.55 116.8 2448 1978 1132 1209 140.1 12.0 464 2533 0.00 2.42 0.00 0.000 516 0.000 0.052 2459 528 1170 1131 1209 0 0 0 0 0 0 28.83 25.89 28.83

2568 0.55 116.8 2459 528 1133 1207 136.6 8.7 471 2574 0.00 2.30 0.00 0.000 1030 0.000 0.035 2460 1932 1169 1132 1207 0 0 0 0 0 0 28.83 25.96 28.83

2702 0.55 116.8 2460 1930 1133 1206 125.9 11.3 496 2709 0.00 2.22 0.00 0.000 260 0.000 0.046 2459 3339 1169 1133 1206 0 0 0 0 0 0 28.83 26.02 28.83

2793 0.55 116.8 2459 3337 1133 1206 114.5 12.4 513 2800 0.00 2.22 0.00 0.000 1030 0.000 0.037 2469 1937 1169 1133 1206 0 0 0 0 0 0 28.83 26.10 28.83

2927 0.55 116.8 2469 1935 1133 1206 98.7 11.8 538 2932 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1935 1169 1133 1206 0 0 0 0 0 0 28.83 28.83 28.83

3057 0.55 116.8 2469 1935 1132 1206 82.8 12.2 563 3062 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1935 1169 1133 1206 0 0 0 0 0 0 28.83 28.83 28.83

3186 0.55 116.8 1544 1932 1121 1204 69.6 9.2 588 3192 0.00 2.25 0.00 0.000 260 0.000 0.046 2470 3349 1169 1133 1206 0 0 0 0 0 0 28.83 26.21 28.83

3236 0.55 116.8 2469 3349 1133 1206 64.8 9.8 597 3243 0.15 2.22 0.00 0.000 5126 0.171 0.037 2441 1939 1169 1133 1206 0 0 0 0 0 0 26.10 26.25 28.83

3370 0.56 146.0 2441 1939 1133 1206 55.8 6.2 622 3400 0.00 2.45 23.60 0.552 8708 0.000 0.053 2451 524 1056 1005 1107 0 0 0 0 0 0 28.83 25.90 25.41

3430 0.56 146.0 2451 524 1005 1107 51.3 8.3 632 3437 0.00 2.33 0.00 0.000 1030 0.000 0.034 2451 1943 1055 1005 1106 0 0 0 0 0 0 28.83 25.99 28.83

3564 0.56 146.0 2451 1941 1005 1104 37.6 12.4 657 3571 0.00 2.22 0.00 0.000 260 0.000 0.045 2451 3351 1054 1005 1104 0 0 0 0 0 0 28.83 26.06 28.83

3595 0.56 146.0 2451 3351 1005 1103 33.3 12.9 662 3602 0.00 2.25 0.00 0.000 1030 0.000 0.037 2461 1938 1054 1005 1103 0 0 0 0 0 0 28.83 26.10 28.83

3666 0.56 146.0 2461 1936 1005 1103 24.4 11.1 675 3672 0.00 2.35 0.00 0.000 516 0.000 0.054 2473 521 1054 1005 1103 0 0 0 0 0 0 28.83 26.10 28.83

3736 0.56 146.0 2472 521 1005 1103 16.4 10.4 688 3743 0.00 2.33 0.00 0.000 1030 0.000 0.034 2473 1947 1054 1005 1103 0 0 0 0 0 0 28.83 26.18 28.83

3807 0.56 146.0 2472 1945 1004 1102 9.1 9.9 701 3814 0.00 2.20 0.00 0.000 260 0.000 0.046 2473 3344 1053 1005 1101 0 0 0 0 0 0 28.83 26.17 28.83

3853 0.56 146.0 2472 3343 1005 1101 4.5 10.4 709 3860 0.15 2.22 0.00 0.000 5126 0.164 0.036 2443 1940 1053 1005 1101 0 0 0 0 0 0 26.08 26.22 28.83

3875 end climb: SURFACE_DEPTH_REACHED

state 3875 begin surface coast

3897 end surface coast: CONTROL_FINISHED_OK

state 3897 begin surface

ID	156	HD_C	9.8500004e-06	ROLL_MAX	3800	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	6	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	14	ESCAPE_HEADING	50	C_ROLL_DIVE	2040	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1940	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	56.75	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-7.25	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	27	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	260	R_STBD_OVSHOOT	31	XPDR_VALID	1
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	6	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	451	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	3	VBD_MAX	3959	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	1638	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	-1	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	35
T_DIVE	80	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	101
T_MISSION	90	CALL_WAIT	30	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_ABORT	720	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	600	CAPMAXSIZE	400000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	1	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	40	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-905981.56	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	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	-7	PITCH_MIN	160	MINV_24V	17	SIM_W	0
MAX_BUOY	120	PITCH_MAX	3877	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2264	FG_AHR_10V	0	SEABIRD_T_G	0.0043990691
GLIDE_SLOPE	40	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00065709552
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	3.75727e-05
RHO	1.0276999	P_OVSHOOT	0.039999999	PRESSURE_YINT	-17.360556	SEABIRD_T_J	5.2690598e-06
MASS	51793	PITCH_GAIN	31	PRESSURE_SLOPE	0.00011457827	SEABIRD_C_G	-10.168411
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_H	1.1470841
NAV_MODE	1	PITCH_AD_RATE	100	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001554661
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020326475
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.010078	ROLL_MIN	221	ALTIM_TOP_PING_RANGE	0

GPS1	070115,112106,4742.998,-12225.064,11,1.9,11,18.2	TGT_NAME	NORTH
_CALLS	2	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.093,0.193
_SM_DEPTHo	0.97	KALMAN_X	-2608.5,95.5,90.4,1669.0,-463.4
_SM_ANGLEo	-66.2	KALMAN_Y	-2970.3,405.9,150.6,2087.0,-994.7
GPS2	070115,113359,4742.906,-12225.155,13,0.8,47,18.2	MHEAD_RNG_PITCHd_Wd	7.4,3062,-15.9,-7.500,-19.32,2379
SPEED_LIMITS	0.089,0.214	D_GRID	186

FINISH	0.5,1.021678	_10V_AH	10.4,0.968
SM_CCo	3917,98.40,0.507,2,0,602,260.24	FG_AHR_24Vo	0.000
SM_GC	0.98,6.05,0.17,98.40,0.050,0.062,0.507,141,2062,602,-6.55,-1.19,260.24,0,0,0,0,2,0,26.24,26.27,24.76	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12222.38,070115,111144	MEM	323212
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	53800,717
HUMID	29.72	CAP_FILE_SIZE	85693,0
INTERNAL_PRESSURE	9.31676	CFSIZE	260165632,257150976
TCM_TEMP	19.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,2,0,0
XPDR_PINGS	236	GPS	070115,124301,4742.809,-12225.311,11,1.4,11,18.2
_24V_AH	24.1,1.395

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	249	92.41	SBE_CT	483	23	279.49
Roll_motor	59	112	162.41	SBE_O2	383	5	55.35
VBD_pump_during_apogee	212	645	3307.36	WL_BB2FLVMG	650	105	1645.14
VBD_pump_during_surface	98	507	1202.78	AA4330	585	41	591.91
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	56	58	80.68	nil	0	0	0.00
Iridium_during_connect	92	160	356.21	nil	0	0	0.00
Iridium_during_xfer	391	223	2103.26	nil	0	0	0.00
Transponder_ping	63	420	640.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	47	29	14.55
TT8	1619	12	209.83
LPSleep	752	2	17.13
TT8_Active	455	12	58.98
TT8_Sampling	1683	35	624.79
TT8_CF8	292	42	129.26
TT8_Kalman	33	58	20.11
Analog_circuits	1051	16	174.92
GPS_charging	0	0	0.00
Compass	1077	16	184.66
RAFOS	0	0	0.00
Transponder	27	30	8.62

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-0.55	-116.8	143	2040	518	686	0.0	0.0	0	86	0.00	0.00	-65.78	0.000	16386	0.000	0.000	143	2040	1980	2023	1937	0	0	0	0	0	0	28.83	28.83	28.83
91	-0.55	-116.8	143	2040	2023	1940	3.2	-5.6	12	110	7.80	2.42	-3.30	0.000	18948	0.249	0.063	2093	631	2105	2174	2037	0	0	1	0	0	0	25.53	25.75	26.06
216	-0.55	-116.8	2093	631	2174	2037	20.7	-11.2	35	223	0.00	2.38	0.00	0.000	1030	0.000	0.038	2083	2045	2105	2174	2037	0	0	0	0	0	0	28.83	25.92	28.83
287	-0.55	-116.8	2083	2043	2175	2036	28.5	-10.9	48	293	0.00	2.22	0.00	0.000	260	0.000	0.049	2073	3463	2106	2176	2037	0	0	0	0	0	0	28.83	25.96	28.83
327	-0.55	-116.8	2073	3463	2177	2037	33.1	-11.3	55	334	0.00	2.25	0.00	0.000	1030	0.000	0.037	2073	2041	2107	2177	2037	0	0	0	0	0	0	28.83	26.01	28.83
397	-0.55	-116.8	1280	2033	2126	2029	41.3	-12.7	68	404	0.00	2.35	0.00	0.000	516	0.000	0.051	2072	624	2107	2178	2037	0	0	0	0	0	0	28.83	26.03	28.83
487	-0.55	-116.8	2072	624	2178	2036	52.9	-13.0	85	494	0.00	2.35	0.00	0.000	1030	0.000	0.037	2062	2042	2107	2177	2037	0	0	0	0	0	0	28.83	26.10	28.83
618	-0.55	-116.8	2062	2040	2177	2037	66.8	-10.1	110	624	0.00	0.00	0.00	0.000	6	0.000	0.000	2062	2039	2107	2177	2037	0	0	0	0	0	0	28.83	28.83	28.83
748	-0.55	-116.8	2062	2039	2177	2037	80.0	-9.8	135	754	0.00	2.20	0.00	0.000	260	0.000	0.049	2052	3458	2107	2177	2037	0	0	0	0	0	0	28.83	26.17	28.83
853	-0.55	-116.8	2051	3457	2177	2037	90.1	-9.8	155	860	0.12	2.22	0.00	0.000	3078	0.155	0.039	2084	2040	2107	2177	2037	0	0	0	0	0	0	26.11	26.21	28.83
989	-0.55	-116.8	2084	2034	2177	2036	99.6	-8.7	180	995	0.00	0.00	0.00	0.000	6	0.000	0.000	2084	2034	2107	2177	2037	0	0	0	0	0	0	28.83	28.83	28.83
1123	-0.55	-116.8	1264	2031	2124	2029	112.5	-8.8	205	1128	0.00	0.00	0.00	0.000	6	0.000	0.000	2084	2033	2107	2177	2037	0	0	0	0	0	0	28.83	28.83	28.83
1256	-0.55	-116.8	1248	2022	2123	2028	124.7	-8.1	230	1263	0.00	0.00	0.00	0.000	6	0.000	0.000	2085	2024	2107	2177	2037	0	0	0	0	0	0	28.83	28.83	28.83
1392	-0.55	-116.8	2084	2024	2177	2036	136.0	-6.9	255	1397	0.00	0.00	0.00	0.000	6	0.000	0.000	2084	2024	2106	2177	2036	0	0	0	0	0	0	28.83	28.83	28.83
1525	-0.55	-116.8	1256	2022	2124	2029	148.6	-9.4	280	1531	0.00	2.30	0.00	0.000	516	0.000	0.050	2085	631	2106	2177	2036	0	0	0	0	0	0	28.83	26.32	28.83
1615	-0.55	-116.8	1280	631	2126	2028	155.8	-7.8	297	1622	0.00	2.33	0.00	0.000	1030	0.000	0.039	2075	2050	2106	2177	2036	0	0	0	0	0	0	28.83	26.36	28.83
1748	-0.55	-116.8	1252	2045	2124	2028	167.3	-9.0	322	1754	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2048	2106	2177	2036	0	0	0	0	0	0	28.83	28.83	28.83
1881	end dive: TARGET_DEPTH_EXCEEDED
state	1881	begin apogee
1889	-0.23	0.0	2075	1893	2177	2036	180.2	-9.9	347	1990	0.35	0.08	93.62	0.646	10246	0.141	0.112	2189	1963	1637	1661	1614	0	0	0	0	0	0	26.26	25.00	24.51
1991	end apogee: CONTROL_FINISHED_OK
state	1994	begin climb
1997	0.55	116.8	2188	1962	1662	1611	186.1	0.0	365	2098	0.75	0.00	95.32	0.620	10246	0.104	0.000	2438	1961	1173	1134	1212	0	0	0	0	0	0	25.09	28.83	24.14
2223	0.55	116.8	2438	1961	1132	1211	172.4	9.0	407	2230	0.00	2.25	0.00	0.000	260	0.000	0.045	2438	3337	1171	1131	1211	0	0	0	0	0	0	28.83	25.44	28.83
2264	0.55	116.8	2437	3338	1131	1209	168.0	11.7	414	2270	0.00	2.20	0.00	0.000	1030	0.000	0.037	2448	1984	1170	1132	1209	0	0	0	0	0	0	28.83	25.56	28.83
2397	0.55	116.8	2448	1980	1132	1209	154.9	10.3	439	2403	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1981	1170	1132	1209	0	0	0	0	0	0	28.83	28.83	28.83
2527	0.55	116.8	2448	1978	1132	1209	140.1	12.0	464	2533	0.00	2.42	0.00	0.000	516	0.000	0.052	2459	528	1170	1131	1209	0	0	0	0	0	0	28.83	25.89	28.83
2568	0.55	116.8	2459	528	1133	1207	136.6	8.7	471	2574	0.00	2.30	0.00	0.000	1030	0.000	0.035	2460	1932	1169	1132	1207	0	0	0	0	0	0	28.83	25.96	28.83
2702	0.55	116.8	2460	1930	1133	1206	125.9	11.3	496	2709	0.00	2.22	0.00	0.000	260	0.000	0.046	2459	3339	1169	1133	1206	0	0	0	0	0	0	28.83	26.02	28.83
2793	0.55	116.8	2459	3337	1133	1206	114.5	12.4	513	2800	0.00	2.22	0.00	0.000	1030	0.000	0.037	2469	1937	1169	1133	1206	0	0	0	0	0	0	28.83	26.10	28.83
2927	0.55	116.8	2469	1935	1133	1206	98.7	11.8	538	2932	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	1935	1169	1133	1206	0	0	0	0	0	0	28.83	28.83	28.83
3057	0.55	116.8	2469	1935	1132	1206	82.8	12.2	563	3062	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	1935	1169	1133	1206	0	0	0	0	0	0	28.83	28.83	28.83
3186	0.55	116.8	1544	1932	1121	1204	69.6	9.2	588	3192	0.00	2.25	0.00	0.000	260	0.000	0.046	2470	3349	1169	1133	1206	0	0	0	0	0	0	28.83	26.21	28.83
3236	0.55	116.8	2469	3349	1133	1206	64.8	9.8	597	3243	0.15	2.22	0.00	0.000	5126	0.171	0.037	2441	1939	1169	1133	1206	0	0	0	0	0	0	26.10	26.25	28.83
3370	0.56	146.0	2441	1939	1133	1206	55.8	6.2	622	3400	0.00	2.45	23.60	0.552	8708	0.000	0.053	2451	524	1056	1005	1107	0	0	0	0	0	0	28.83	25.90	25.41
3430	0.56	146.0	2451	524	1005	1107	51.3	8.3	632	3437	0.00	2.33	0.00	0.000	1030	0.000	0.034	2451	1943	1055	1005	1106	0	0	0	0	0	0	28.83	25.99	28.83
3564	0.56	146.0	2451	1941	1005	1104	37.6	12.4	657	3571	0.00	2.22	0.00	0.000	260	0.000	0.045	2451	3351	1054	1005	1104	0	0	0	0	0	0	28.83	26.06	28.83
3595	0.56	146.0	2451	3351	1005	1103	33.3	12.9	662	3602	0.00	2.25	0.00	0.000	1030	0.000	0.037	2461	1938	1054	1005	1103	0	0	0	0	0	0	28.83	26.10	28.83
3666	0.56	146.0	2461	1936	1005	1103	24.4	11.1	675	3672	0.00	2.35	0.00	0.000	516	0.000	0.054	2473	521	1054	1005	1103	0	0	0	0	0	0	28.83	26.10	28.83
3736	0.56	146.0	2472	521	1005	1103	16.4	10.4	688	3743	0.00	2.33	0.00	0.000	1030	0.000	0.034	2473	1947	1054	1005	1103	0	0	0	0	0	0	28.83	26.18	28.83
3807	0.56	146.0	2472	1945	1004	1102	9.1	9.9	701	3814	0.00	2.20	0.00	0.000	260	0.000	0.046	2473	3344	1053	1005	1101	0	0	0	0	0	0	28.83	26.17	28.83
3853	0.56	146.0	2472	3343	1005	1101	4.5	10.4	709	3860	0.15	2.22	0.00	0.000	5126	0.164	0.036	2443	1940	1053	1005	1101	0	0	0	0	0	0	26.08	26.22	28.83
3875	end climb: SURFACE_DEPTH_REACHED
state	3875	begin surface coast
3897	end surface coast: CONTROL_FINISHED_OK
state	3897	begin surface