Glider dive log

Shilshole 06Jan15 * SG037 * Dive index * Mission links * Dive 16 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 37 HD_B 0.0099999998 PITCH_ADJ_DBAND 0 COMPASS_USE 4

MISSION 16 HD_C 9.9999997e-06 ROLL_MIN 265 ALTIM_BOTTOM_PING_RANGE 0

DIVE 16 HEADING -1 ROLL_MAX 3830 ALTIM_TOP_PING_RANGE 20

N_DIVES 0 ESCAPE_HEADING 0 ROLL_DEG 45 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 3 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2140 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2140 ALTIM_TOP_MIN_OBSTACLE 1

D_TGT 180 TGT_DEFAULT_LAT 4743 HEAD_ERRBAND 15 ALTIM_PING_DEPTH 100

D_ABORT 300 TGT_DEFAULT_LON -12224.5 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 5

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_BOOST 0 SM_CC 500 R_PORT_OVSHOOT 45 ALTIM_PULSE 3

T_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 54 ALTIM_SENSITIVITY 2

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 300 XPDR_VALID 2

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 PROTOCOL 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 1.75

SURFACE_URGENCY 0 N_NOCOMM 2 VBD_MIN 280 DEEPGLIDER 1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 C_VBD 2705 DEVICE1 2

T_DIVE 100 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE2 101

T_MISSION 110 CALL_TRIES 5 VBD_CNV -0.29049 DEVICE3 -1

T_ABORT 120 CALL_WAIT 30 VBD_TIMEOUT 720 DEVICE4 -1

T_TURN 540 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 0

T_LOITER 0 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_EPIRB 0 N_GPS 100740 UNCOM_BLEED 50 LOGGERDEVICE2 -1

USE_BATHY 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

USE_ICE 0 T_RSLEEP 2 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 DBDW 0 COMPASS_DEVICE 33

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MIN 150 AH0_24V 150 RAFOS_DEVICE -1

MAX_BUOY 150 PITCH_MAX 3950 AH0_10V 100 XPDR_DEVICE 24

COURSE_BIAS 0 C_PITCH 3196 MINV_24V 17 SIM_W 0

GLIDE_SLOPE 45 PITCH_DBAND 0.1 MINV_10V 8 SIM_PITCH 0

SPEED_FACTOR 1 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_G 0.0043942332

RHO 1.0233001 P_OVSHOOT 0.026000001 FG_AHR_24V 0 SEABIRD_T_H 0.00063472748

MASS 78094 P_OVSHOOT_WITHG 0.089000002 PHONE_SUPPLY 2 SEABIRD_T_I 2.5516978e-05

MASS_COMP 9226.7002 PITCH_GAIN 16.240646 PRESSURE_YINT -1069.8505 SEABIRD_T_J 3.1090417e-06

NAV_MODE 1 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.00091968128 SEABIRD_C_G -9.7554102

FERRY_MAX 45 PITCH_AD_RATE 145 AD7714Ch0Gain 32 SEABIRD_C_H 1.1208117

KALMAN_USE 2 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001470977

HD_A 0.003 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00018870331

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.1090417e-06

AH0_10V 100 D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_ADJ_GAIN 0 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 180 PITCH_AD_RATE 145 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_GAIN 16.240646 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAX 3950 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MIN 150 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.00030000001 TGT_DEFAULT_LAT 4743

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12224.5

CALL_NDIVES 1 HD_A 0.003 PITCH_W_GAIN 0 T_ABORT 120

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_SLOPE 0.00091968128 T_BOOST 0

CALL_WAIT 30 HD_C 9.9999997e-06 PRESSURE_YINT -1069.8505 T_DIVE 100

CAPMAXSIZE 200000 HEADING -1 PROTOCOL 1 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 15 P_OVSHOOT 0.026000001 T_GPS 15

CF8_MAXERRORS 2 HEAPDBG 0 P_OVSHOOT_WITHG 0.089000002 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 37 RAFOS_DEVICE -1 T_MISSION 110

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 1.75 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RELAUNCH 1 T_TURN 540

C_PITCH 3196 LOGGERDEVICE1 -1 RHO 1.0233001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2140 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2140 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2705 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDER 1 MASS 78094 ROLL_DEG 45 USE_ICE 0

DEVICE1 2 MASS_COMP 9226.7002 ROLL_MAX 3830 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 150 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE3 -1 MINV_10V 8 ROLL_MIN 265 VBD_DBAND 2

DEVICE4 -1 MINV_24V 17 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 16 R_PORT_OVSHOOT 45 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 54 VBD_MIN 280

DIVE 16 NAV_MODE 1 SEABIRD_C_G -9.7554102 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 300 NOCOMM_ACTION 0 SEABIRD_C_H 1.1208117 VBD_PUMP_AD_RATE_SURFACE 2

D_BOOST 0 N_DIVES 0 SEABIRD_C_I -0.001470977 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_J 0.00018870331 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 100740 SEABIRD_T_G 0.0043942332 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_H 0.00063472748 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.5516978e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 070115,142122,4743.0703,-12225.4277,4,1.0,39,16.3,0.0,0.0,7,9.3 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.60 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -66.0 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 070115,142738,4743.0503,-12225.4307,5,1.1,11,16.3,0.0,0.0,7,9.7 MHEAD_RNG_PITCHd_Wd 78.3,1163,-11.9,-6.000,-17.19,2849

SPEED_LIMITS 0.060,0.215 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.1,0.999705 _24V_AH 24.35,2.555

SM_CCo 4747,229.75,0.765,0,0,983,500.22 _10V_AH 10.57,0.822

SM_GC 1.78,8.23,0.00,229.75,0.067,0.000,0.765,158,2142,983,-9.44,0.06,500.22,0,0,0,0,0,0,26.77,27.09,24.51 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12224.09,070115,124449 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.021721 MEM 323024

HUMID 39.01 DATA_FILE_SIZE 30232,517

INTERNAL_PRESSURE 9.0452 CAP_FILE_SIZE 81634,0

TCM_TEMP 19.20 CFSIZE 1024409600,1020297216

XPDR_PINGS 0 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_TOP_PING 19.5,19.1 INTR 1,4735.88,0x238aa6,7,5

ALTIM_BOTTOM_PING 135.9,70.2 GPS 070115,155202,4742.842,-12224.932,4,0.9,24,16.3,0.0,0.0,7,4.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 126.27 SBE_CT 346 23 195.94

Roll_motor 60 76 113.86 AA4330 681 13 223.58

VBD_pump_during_apogee 205 901 4506.34 nil 0 0 0.00

VBD_pump_during_surface 229 764 4278.41 nil 0 0 0.00

VBD_valve 193 146 688.92 nil 0 0 0.00

Iridium_during_init 22 14 8.31 nil 0 0 0.00

Iridium_during_connect 34 160 134.07 nil 0 0 0.00

Iridium_during_xfer 232 223 1265.19 nil 0 0 0.00

Transponder_ping 2 420 25.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 29 3.87

TT8 1240 13 183.17

LPSleep 2081 2 48.18

TT8_Active 629 13 87.91

TT8_Sampling 1343 40 570.61

TT8_CF8 71 53 40.36

TT8_Kalman 0 0 0.00

Analog_circuits 1211 10 128.10

GPS_charging 0 0 0.00

Compass 1023 8 89.18

RAFOS 0 0 0.00

Transponder 18 30 5.79

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

15 -0.76 -113.8 157 2154 933 1032 0.0 0.0 0 182 0.00 0.00 -163.90 0.134 16386 0.000 0.000 157 2155 2764 2765 2763 0 0 0 0 0 0 26.31 28.83 26.33

184 -0.77 -146.6 158 2155 2764 2763 3.0 -2.0 30 230 10.55 0.00 -29.23 0.146 18950 0.253 0.000 2943 2156 3211 3219 3203 0 0 0 0 0 0 25.75 25.94 25.83

291 -0.77 -146.6 2943 2156 3218 3203 10.6 -9.2 50 297 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2156 3210 3218 3203 0 0 0 0 0 0 26.32 26.34 26.33

359 -0.77 -146.6 2943 2156 3218 3203 16.8 -9.3 63 365 0.00 2.45 0.00 0.000 516 0.000 0.070 2943 558 3210 3218 3202 0 0 0 0 0 0 26.41 26.15 26.43

472 -0.77 -146.6 2943 558 3219 3203 28.2 -10.1 77 476 0.00 2.33 0.00 0.000 1030 0.000 0.062 2934 2139 3211 3219 3203 0 0 0 0 0 0 26.34 26.28 26.36

597 -0.77 -146.6 2934 2139 3218 3203 39.9 -9.0 89 601 0.00 2.40 0.00 0.000 260 0.000 0.077 2922 3724 3210 3218 3202 0 0 0 0 0 0 26.62 26.34 26.63

773 -0.77 -146.6 2922 3724 3218 3203 57.3 -10.4 106 777 0.00 2.33 0.00 0.000 1030 0.000 0.057 2922 2117 3210 3218 3203 0 0 0 0 0 0 26.54 26.49 26.55

898 -0.77 -146.6 2922 2117 3218 3203 70.1 -9.8 118 902 0.00 2.42 0.00 0.000 260 0.000 0.077 2910 3714 3210 3218 3203 0 0 0 0 0 0 26.77 26.48 26.78

974 -0.77 -146.6 2910 3714 3218 3203 78.4 -11.0 125 979 0.12 2.25 0.00 0.000 3078 0.169 0.057 2952 2134 3210 3218 3203 0 0 0 0 0 0 26.43 26.57 26.55

1099 -0.77 -146.6 2952 2134 3218 3203 90.2 -9.9 137 1103 0.00 2.30 0.00 0.000 516 0.000 0.070 2952 576 3210 3218 3203 0 0 0 0 0 0 26.83 26.56 26.85

1198 -0.77 -146.6 2952 576 3218 3202 99.7 -10.3 146 1208 0.00 2.30 0.00 0.000 1030 0.000 0.062 2942 2142 3210 3218 3203 0 0 0 0 0 0 26.67 26.61 26.70

1325 -0.77 -146.6 2942 2143 3218 3203 112.9 -9.6 159 1329 0.00 2.35 0.00 0.000 260 0.000 0.077 2930 3716 3210 3218 3203 0 0 0 0 0 0 26.89 26.61 26.91

1374 -0.77 -146.6 2930 3717 3218 3203 117.6 -9.8 163 1381 0.00 2.25 0.00 0.000 1030 0.000 0.060 2930 2141 3210 3218 3203 0 0 0 0 0 0 26.72 26.67 26.74

1502 -0.77 -146.6 2930 2141 3218 3203 129.5 -7.4 176 1512 0.00 2.33 0.00 0.000 516 0.000 0.070 2931 573 3210 3218 3203 0 0 0 0 0 0 26.93 26.65 26.94

1543 -0.77 -146.6 2930 573 3218 3202 133.1 -8.6 180 1548 0.00 2.28 0.00 0.000 1030 0.000 0.062 2919 2150 3210 3218 3202 0 0 0 0 0 0 26.75 26.69 26.77

1669 -0.77 -146.6 2918 2150 3218 3203 143.8 -9.1 192 1670 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 2150 3210 3218 3202 0 0 0 0 0 0 26.96 26.98 26.97

1789 -0.77 -146.6 2919 2150 3218 3202 153.2 -7.5 204 1793 0.00 2.38 0.00 0.000 516 0.000 0.070 2919 566 3210 3218 3202 0 0 0 0 0 0 26.97 26.70 26.99

1845 -0.77 -146.6 2919 566 3218 3202 159.1 -10.9 209 1854 0.12 2.28 0.00 0.000 3078 0.166 0.062 2951 2148 3210 3218 3202 0 0 0 0 0 0 26.62 26.74 26.74

1974 -0.77 -146.6 2950 2148 3218 3202 170.8 -7.3 222 1979 0.00 2.35 0.00 0.000 516 0.000 0.072 2950 575 3210 3218 3203 0 0 0 0 0 0 27.00 26.73 27.01

2100 end dive: TARGET_DEPTH_EXCEEDED

state 2100 begin apogee

2106 -0.31 0.0 2940 2150 3218 3203 180.3 -8.2 234 2211 0.43 0.00 101.55 0.901 10246 0.142 0.000 3097 2151 2705 2705 2705 0 0 0 0 0 0 26.65 25.19 24.60

2212 end apogee: CONTROL_FINISHED_OK

state 2212 begin climb

2214 0.77 146.6 3096 2150 2706 2705 184.3 0.0 245 2322 0.90 0.00 103.78 0.869 10502 0.102 0.000 3434 2150 2200 2190 2210 0 0 0 0 0 0 25.30 24.90 24.35

2440 0.77 146.6 3434 2150 2190 2210 168.7 9.3 268 2444 0.00 2.45 0.00 0.000 516 0.000 0.072 3446 585 2200 2190 2210 0 0 0 0 0 0 26.03 25.77 26.06

2726 0.77 146.6 3446 585 2190 2210 145.8 10.0 296 2731 0.00 2.33 0.00 0.000 1030 0.000 0.065 3446 2149 2200 2190 2210 0 0 0 0 0 0 26.32 26.26 26.34

2851 0.77 146.6 3446 2149 2190 2210 135.6 6.0 308 2852 0.00 0.00 0.00 0.000 6 0.000 0.000 3446 2149 2200 2190 2210 0 0 0 0 0 0 26.60 26.62 26.62

2971 0.77 146.6 3446 2149 2190 2210 126.6 7.4 320 2975 0.00 2.40 0.00 0.000 516 0.000 0.074 3458 586 2200 2190 2210 0 0 0 0 0 0 26.67 26.39 26.69

3247 0.77 146.6 3458 585 2190 2210 108.3 6.0 347 3251 0.00 2.30 0.00 0.000 1030 0.000 0.062 3458 2147 2200 2190 2210 0 0 0 0 0 0 26.62 26.55 26.63

3372 0.77 146.6 3458 2148 2190 2210 100.6 6.1 359 3376 0.00 2.40 0.00 0.000 516 0.000 0.077 3470 577 2200 2190 2210 0 0 0 0 0 0 26.84 26.55 26.85

3541 0.77 146.6 3470 576 2190 2210 90.1 5.9 375 3548 0.00 2.33 0.00 0.000 1030 0.000 0.062 3470 2139 2200 2190 2210 0 0 0 0 0 0 26.67 26.65 26.70

3668 0.77 146.6 3470 2139 2189 2210 81.2 7.0 388 3669 0.00 0.00 0.00 0.000 6 0.000 0.000 3470 2139 2200 2190 2210 0 0 0 0 0 0 26.91 26.94 26.93

3788 0.77 146.6 3470 2139 2190 2210 72.7 7.6 400 3789 0.00 0.00 0.00 0.000 6 0.000 0.000 3470 2139 2200 2190 2210 0 0 0 0 0 0 26.94 26.96 26.96

3908 0.77 146.6 3469 2139 2190 2210 64.2 7.2 412 3912 0.00 2.38 0.00 0.000 516 0.000 0.077 3481 578 2200 2190 2210 0 0 0 0 0 0 26.96 26.67 26.98

3967 0.77 146.6 3481 579 2190 2210 60.0 8.0 417 3975 0.12 2.28 0.00 0.000 5126 0.171 0.062 3439 2148 2199 2189 2210 0 0 0 0 0 0 26.60 26.72 26.72

4094 0.77 146.6 3440 2148 2189 2210 50.5 7.5 430 4095 0.00 0.00 0.00 0.000 6 0.000 0.000 3439 2148 2200 2190 2210 0 0 0 0 0 0 26.98 27.01 27.00

4214 0.77 146.6 3439 2148 2190 2210 42.1 7.0 442 4215 0.00 0.00 0.00 0.000 6 0.000 0.000 3439 2148 2200 2190 2210 0 0 0 0 0 0 27.01 27.03 27.02

4334 0.77 146.6 3439 2148 2190 2210 32.5 8.2 454 4338 0.00 2.35 0.00 0.000 516 0.000 0.074 3449 581 2200 2190 2210 0 0 0 0 0 0 27.02 26.74 27.04

4572 0.77 146.6 3449 581 2190 2210 12.2 8.0 486 4578 0.00 2.25 0.00 0.000 1030 0.000 0.065 3449 2142 2200 2190 2210 0 0 0 0 0 0 26.87 26.81 26.88

4640 0.77 146.6 3449 2142 2190 2211 7.2 7.5 499 4646 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 2142 2200 2190 2210 0 0 0 0 0 0 27.05 27.08 27.07

4696 end climb: SURFACE_DEPTH_REACHED

state 4697 begin surface coast

4732 end surface coast: CONTROL_FINISHED_OK

state 4733 begin surface

ID	37	HD_B	0.0099999998	PITCH_ADJ_DBAND	0	COMPASS_USE	4
MISSION	16	HD_C	9.9999997e-06	ROLL_MIN	265	ALTIM_BOTTOM_PING_RANGE	0
DIVE	16	HEADING	-1	ROLL_MAX	3830	ALTIM_TOP_PING_RANGE	20
N_DIVES	0	ESCAPE_HEADING	0	ROLL_DEG	45	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	3	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2140	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2140	ALTIM_TOP_MIN_OBSTACLE	1
D_TGT	180	TGT_DEFAULT_LAT	4743	HEAD_ERRBAND	15	ALTIM_PING_DEPTH	100
D_ABORT	300	TGT_DEFAULT_LON	-12224.5	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	5
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_BOOST	0	SM_CC	500	R_PORT_OVSHOOT	45	ALTIM_PULSE	3
T_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	54	ALTIM_SENSITIVITY	2
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	300	XPDR_VALID	2
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	PROTOCOL	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	1.75
SURFACE_URGENCY	0	N_NOCOMM	2	VBD_MIN	280	DEEPGLIDER	1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	C_VBD	2705	DEVICE1	2
T_DIVE	100	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE2	101
T_MISSION	110	CALL_TRIES	5	VBD_CNV	-0.29049	DEVICE3	-1
T_ABORT	120	CALL_WAIT	30	VBD_TIMEOUT	720	DEVICE4	-1
T_TURN	540	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	0
T_LOITER	0	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_EPIRB	0	N_GPS	100740	UNCOM_BLEED	50	LOGGERDEVICE2	-1
USE_BATHY	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
USE_ICE	0	T_RSLEEP	2	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	DBDW	0	COMPASS_DEVICE	33
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MIN	150	AH0_24V	150	RAFOS_DEVICE	-1
MAX_BUOY	150	PITCH_MAX	3950	AH0_10V	100	XPDR_DEVICE	24
COURSE_BIAS	0	C_PITCH	3196	MINV_24V	17	SIM_W	0
GLIDE_SLOPE	45	PITCH_DBAND	0.1	MINV_10V	8	SIM_PITCH	0
SPEED_FACTOR	1	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_G	0.0043942332
RHO	1.0233001	P_OVSHOOT	0.026000001	FG_AHR_24V	0	SEABIRD_T_H	0.00063472748
MASS	78094	P_OVSHOOT_WITHG	0.089000002	PHONE_SUPPLY	2	SEABIRD_T_I	2.5516978e-05
MASS_COMP	9226.7002	PITCH_GAIN	16.240646	PRESSURE_YINT	-1069.8505	SEABIRD_T_J	3.1090417e-06
NAV_MODE	1	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.00091968128	SEABIRD_C_G	-9.7554102
FERRY_MAX	45	PITCH_AD_RATE	145	AD7714Ch0Gain	32	SEABIRD_C_H	1.1208117
KALMAN_USE	2	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001470977
HD_A	0.003	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00018870331

GPS1	070115,142122,4743.0703,-12225.4277,4,1.0,39,16.3,0.0,0.0,7,9.3	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.60	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-66.0	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	070115,142738,4743.0503,-12225.4307,5,1.1,11,16.3,0.0,0.0,7,9.7	MHEAD_RNG_PITCHd_Wd	78.3,1163,-11.9,-6.000,-17.19,2849
SPEED_LIMITS	0.060,0.215	D_GRID	180

FINISH	0.1,0.999705	_24V_AH	24.35,2.555
SM_CCo	4747,229.75,0.765,0,0,983,500.22	_10V_AH	10.57,0.822
SM_GC	1.78,8.23,0.00,229.75,0.067,0.000,0.765,158,2142,983,-9.44,0.06,500.22,0,0,0,0,0,0,26.77,27.09,24.51	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12224.09,070115,124449	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.021721	MEM	323024
HUMID	39.01	DATA_FILE_SIZE	30232,517
INTERNAL_PRESSURE	9.0452	CAP_FILE_SIZE	81634,0
TCM_TEMP	19.20	CFSIZE	1024409600,1020297216
XPDR_PINGS	0	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.5,19.1	INTR	1,4735.88,0x238aa6,7,5
ALTIM_BOTTOM_PING	135.9,70.2	GPS	070115,155202,4742.842,-12224.932,4,0.9,24,16.3,0.0,0.0,7,4.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	126.27	SBE_CT	346	23	195.94
Roll_motor	60	76	113.86	AA4330	681	13	223.58
VBD_pump_during_apogee	205	901	4506.34	nil	0	0	0.00
VBD_pump_during_surface	229	764	4278.41	nil	0	0	0.00
VBD_valve	193	146	688.92	nil	0	0	0.00
Iridium_during_init	22	14	8.31	nil	0	0	0.00
Iridium_during_connect	34	160	134.07	nil	0	0	0.00
Iridium_during_xfer	232	223	1265.19	nil	0	0	0.00
Transponder_ping	2	420	25.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	29	3.87
TT8	1240	13	183.17
LPSleep	2081	2	48.18
TT8_Active	629	13	87.91
TT8_Sampling	1343	40	570.61
TT8_CF8	71	53	40.36
TT8_Kalman	0	0	0.00
Analog_circuits	1211	10	128.10
GPS_charging	0	0	0.00
Compass	1023	8	89.18
RAFOS	0	0	0.00
Transponder	18	30	5.79

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
15	-0.76	-113.8	157	2154	933	1032	0.0	0.0	0	182	0.00	0.00	-163.90	0.134	16386	0.000	0.000	157	2155	2764	2765	2763	0	0	0	0	0	0	26.31	28.83	26.33
184	-0.77	-146.6	158	2155	2764	2763	3.0	-2.0	30	230	10.55	0.00	-29.23	0.146	18950	0.253	0.000	2943	2156	3211	3219	3203	0	0	0	0	0	0	25.75	25.94	25.83
291	-0.77	-146.6	2943	2156	3218	3203	10.6	-9.2	50	297	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	2156	3210	3218	3203	0	0	0	0	0	0	26.32	26.34	26.33
359	-0.77	-146.6	2943	2156	3218	3203	16.8	-9.3	63	365	0.00	2.45	0.00	0.000	516	0.000	0.070	2943	558	3210	3218	3202	0	0	0	0	0	0	26.41	26.15	26.43
472	-0.77	-146.6	2943	558	3219	3203	28.2	-10.1	77	476	0.00	2.33	0.00	0.000	1030	0.000	0.062	2934	2139	3211	3219	3203	0	0	0	0	0	0	26.34	26.28	26.36
597	-0.77	-146.6	2934	2139	3218	3203	39.9	-9.0	89	601	0.00	2.40	0.00	0.000	260	0.000	0.077	2922	3724	3210	3218	3202	0	0	0	0	0	0	26.62	26.34	26.63
773	-0.77	-146.6	2922	3724	3218	3203	57.3	-10.4	106	777	0.00	2.33	0.00	0.000	1030	0.000	0.057	2922	2117	3210	3218	3203	0	0	0	0	0	0	26.54	26.49	26.55
898	-0.77	-146.6	2922	2117	3218	3203	70.1	-9.8	118	902	0.00	2.42	0.00	0.000	260	0.000	0.077	2910	3714	3210	3218	3203	0	0	0	0	0	0	26.77	26.48	26.78
974	-0.77	-146.6	2910	3714	3218	3203	78.4	-11.0	125	979	0.12	2.25	0.00	0.000	3078	0.169	0.057	2952	2134	3210	3218	3203	0	0	0	0	0	0	26.43	26.57	26.55
1099	-0.77	-146.6	2952	2134	3218	3203	90.2	-9.9	137	1103	0.00	2.30	0.00	0.000	516	0.000	0.070	2952	576	3210	3218	3203	0	0	0	0	0	0	26.83	26.56	26.85
1198	-0.77	-146.6	2952	576	3218	3202	99.7	-10.3	146	1208	0.00	2.30	0.00	0.000	1030	0.000	0.062	2942	2142	3210	3218	3203	0	0	0	0	0	0	26.67	26.61	26.70
1325	-0.77	-146.6	2942	2143	3218	3203	112.9	-9.6	159	1329	0.00	2.35	0.00	0.000	260	0.000	0.077	2930	3716	3210	3218	3203	0	0	0	0	0	0	26.89	26.61	26.91
1374	-0.77	-146.6	2930	3717	3218	3203	117.6	-9.8	163	1381	0.00	2.25	0.00	0.000	1030	0.000	0.060	2930	2141	3210	3218	3203	0	0	0	0	0	0	26.72	26.67	26.74
1502	-0.77	-146.6	2930	2141	3218	3203	129.5	-7.4	176	1512	0.00	2.33	0.00	0.000	516	0.000	0.070	2931	573	3210	3218	3203	0	0	0	0	0	0	26.93	26.65	26.94
1543	-0.77	-146.6	2930	573	3218	3202	133.1	-8.6	180	1548	0.00	2.28	0.00	0.000	1030	0.000	0.062	2919	2150	3210	3218	3202	0	0	0	0	0	0	26.75	26.69	26.77
1669	-0.77	-146.6	2918	2150	3218	3203	143.8	-9.1	192	1670	0.00	0.00	0.00	0.000	6	0.000	0.000	2919	2150	3210	3218	3202	0	0	0	0	0	0	26.96	26.98	26.97
1789	-0.77	-146.6	2919	2150	3218	3202	153.2	-7.5	204	1793	0.00	2.38	0.00	0.000	516	0.000	0.070	2919	566	3210	3218	3202	0	0	0	0	0	0	26.97	26.70	26.99
1845	-0.77	-146.6	2919	566	3218	3202	159.1	-10.9	209	1854	0.12	2.28	0.00	0.000	3078	0.166	0.062	2951	2148	3210	3218	3202	0	0	0	0	0	0	26.62	26.74	26.74
1974	-0.77	-146.6	2950	2148	3218	3202	170.8	-7.3	222	1979	0.00	2.35	0.00	0.000	516	0.000	0.072	2950	575	3210	3218	3203	0	0	0	0	0	0	27.00	26.73	27.01
2100	end dive: TARGET_DEPTH_EXCEEDED
state	2100	begin apogee
2106	-0.31	0.0	2940	2150	3218	3203	180.3	-8.2	234	2211	0.43	0.00	101.55	0.901	10246	0.142	0.000	3097	2151	2705	2705	2705	0	0	0	0	0	0	26.65	25.19	24.60
2212	end apogee: CONTROL_FINISHED_OK
state	2212	begin climb
2214	0.77	146.6	3096	2150	2706	2705	184.3	0.0	245	2322	0.90	0.00	103.78	0.869	10502	0.102	0.000	3434	2150	2200	2190	2210	0	0	0	0	0	0	25.30	24.90	24.35
2440	0.77	146.6	3434	2150	2190	2210	168.7	9.3	268	2444	0.00	2.45	0.00	0.000	516	0.000	0.072	3446	585	2200	2190	2210	0	0	0	0	0	0	26.03	25.77	26.06
2726	0.77	146.6	3446	585	2190	2210	145.8	10.0	296	2731	0.00	2.33	0.00	0.000	1030	0.000	0.065	3446	2149	2200	2190	2210	0	0	0	0	0	0	26.32	26.26	26.34
2851	0.77	146.6	3446	2149	2190	2210	135.6	6.0	308	2852	0.00	0.00	0.00	0.000	6	0.000	0.000	3446	2149	2200	2190	2210	0	0	0	0	0	0	26.60	26.62	26.62
2971	0.77	146.6	3446	2149	2190	2210	126.6	7.4	320	2975	0.00	2.40	0.00	0.000	516	0.000	0.074	3458	586	2200	2190	2210	0	0	0	0	0	0	26.67	26.39	26.69
3247	0.77	146.6	3458	585	2190	2210	108.3	6.0	347	3251	0.00	2.30	0.00	0.000	1030	0.000	0.062	3458	2147	2200	2190	2210	0	0	0	0	0	0	26.62	26.55	26.63
3372	0.77	146.6	3458	2148	2190	2210	100.6	6.1	359	3376	0.00	2.40	0.00	0.000	516	0.000	0.077	3470	577	2200	2190	2210	0	0	0	0	0	0	26.84	26.55	26.85
3541	0.77	146.6	3470	576	2190	2210	90.1	5.9	375	3548	0.00	2.33	0.00	0.000	1030	0.000	0.062	3470	2139	2200	2190	2210	0	0	0	0	0	0	26.67	26.65	26.70
3668	0.77	146.6	3470	2139	2189	2210	81.2	7.0	388	3669	0.00	0.00	0.00	0.000	6	0.000	0.000	3470	2139	2200	2190	2210	0	0	0	0	0	0	26.91	26.94	26.93
3788	0.77	146.6	3470	2139	2190	2210	72.7	7.6	400	3789	0.00	0.00	0.00	0.000	6	0.000	0.000	3470	2139	2200	2190	2210	0	0	0	0	0	0	26.94	26.96	26.96
3908	0.77	146.6	3469	2139	2190	2210	64.2	7.2	412	3912	0.00	2.38	0.00	0.000	516	0.000	0.077	3481	578	2200	2190	2210	0	0	0	0	0	0	26.96	26.67	26.98
3967	0.77	146.6	3481	579	2190	2210	60.0	8.0	417	3975	0.12	2.28	0.00	0.000	5126	0.171	0.062	3439	2148	2199	2189	2210	0	0	0	0	0	0	26.60	26.72	26.72
4094	0.77	146.6	3440	2148	2189	2210	50.5	7.5	430	4095	0.00	0.00	0.00	0.000	6	0.000	0.000	3439	2148	2200	2190	2210	0	0	0	0	0	0	26.98	27.01	27.00
4214	0.77	146.6	3439	2148	2190	2210	42.1	7.0	442	4215	0.00	0.00	0.00	0.000	6	0.000	0.000	3439	2148	2200	2190	2210	0	0	0	0	0	0	27.01	27.03	27.02
4334	0.77	146.6	3439	2148	2190	2210	32.5	8.2	454	4338	0.00	2.35	0.00	0.000	516	0.000	0.074	3449	581	2200	2190	2210	0	0	0	0	0	0	27.02	26.74	27.04
4572	0.77	146.6	3449	581	2190	2210	12.2	8.0	486	4578	0.00	2.25	0.00	0.000	1030	0.000	0.065	3449	2142	2200	2190	2210	0	0	0	0	0	0	26.87	26.81	26.88
4640	0.77	146.6	3449	2142	2190	2211	7.2	7.5	499	4646	0.00	0.00	0.00	0.000	6	0.000	0.000	3449	2142	2200	2190	2210	0	0	0	0	0	0	27.05	27.08	27.07
4696	end climb: SURFACE_DEPTH_REACHED
state	4697	begin surface coast
4732	end surface coast: CONTROL_FINISHED_OK
state	4733	begin surface