Glider dive log

Shilshole 14Mar17 * SG401 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.0168193 ROLL_DEG 60 ALTIM_TOP_PING_RANGE 20

MISSION 19 HD_C 5.8179498e-06 C_ROLL_DIVE 1900 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 21 HEADING -1 C_ROLL_CLIMB 1900 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 30 ESCAPE_HEADING 0 HEAD_ERRBAND 20 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 19 ALTIM_FREQUENCY 11

D_TGT 150 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 32 ALTIM_PULSE 1

D_ABORT 200 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 300 ROLL_MAXERRORS 2 XPDR_VALID 4

D_BOOST 0 N_FILEKB 4 ROLL_ADJ_GAIN 1 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 53 INT_PRESSURE_YINT -1.1

D_PITCH 0 COMM_SEQ 0 VBD_MAX 4044 DEEPGLIDER 2

D_SAFE 0 PROTOCOL 9 C_VBD 2082 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_CNV -0.85860002 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE3 115

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 180 DEVICE4 134

T_DIVE 50 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0016 DEVICE5 151

T_MISSION 65 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN 225 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_TURN_SAMPINT 6 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 60 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 50945 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_SLOITER 0 T_RSLEEP 3 DBDW 0 COMPASS_DEVICE 33

T_EPIRB 0 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MIN 220 AH0_10V 100 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3693 MINV_24V 19 SIM_W 0

RELAUNCH 1 C_PITCH 2530 MINV_10V 8 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044078007

MAX_BUOY 175 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063626393

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.4955199e-05

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.9785231e-06

SPEED_FACTOR 1 PITCH_GAIN 12 PHONE_SUPPLY 2 SEABIRD_C_G -9.7071199

RHO 1.023 PITCH_TIMEOUT 50 PRESSURE_YINT -50.554909 SEABIRD_C_H 1.1284475

MASS 73414 PITCH_AD_RATE 70 PRESSURE_SLOPE 3.2755801e-05 SEABIRD_C_I -0.0014307383

MASS_COMP 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00018278907

NAV_MODE 1 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2936.3699

FERRY_MAX 45 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

KALMAN_USE 1 ROLL_MIN 200 COMPASS_USE -10236

HD_A 0.00357857 ROLL_MAX 3888 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SM_CC 300

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

AH0_24V 150 D_TGT 150 PITCH_AD_RATE 70 STOP_T 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.00312576 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_FREQUENCY 11 FERRY_MAX 45 PITCH_GAIN 12 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3693 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 FILEMGR 0 PITCH_MIN 220 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.0016 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.00357857 PITCH_W_GAIN 0 T_ABORT 1440

APOGEE_PITCH -5 HD_B 0.0168193 PRESSURE_SLOPE 3.2755801e-05 T_BOOST 0

CALL_NDIVES 1 HD_C 5.8179498e-06 PRESSURE_YINT -50.554909 T_DIVE 50

CALL_TRIES 5 HEADING -1 PROTOCOL 9 T_EPIRB 0

CALL_WAIT 60 HEAD_ERRBAND 20 P_OVSHOOT 0.039999999 T_GPS 5

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_MISSION 65

CF8_MAXERRORS 2 ID 401 RAFOS_DEVICE -1 T_NO_W 60

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1.1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_DEVICE 33 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

COMPASS_USE -10236 LOGGERDEVICE1 -1 RHO 1.023 T_TURN_SAMPINT 6

COURSE_BIAS 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_PITCH 2530 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 1 UNCOM_BLEED 60

C_ROLL_CLIMB 1900 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1900 LOGGERS 0 ROLL_CNV 0.04555 USE_BATHY -6

C_VBD 2082 MASS 73414 ROLL_DEG 60 USE_ICE 0

DBDW 0 MASS_COMP 0 ROLL_MAX 3888 VBD_BLEED_AD_RATE 8

DEEPGLIDER 2 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.85860002

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE3 115 MINV_10V 8 R_PORT_OVSHOOT 19 VBD_MAX 4044

DEVICE4 134 MINV_24V 19 R_STBD_OVSHOOT 32 VBD_MAXERRORS 1

DEVICE5 151 MISSION 19 SEABIRD_C_G -9.7071199 VBD_MIN 53

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1284475 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 21 NAV_MODE 1 SEABIRD_C_I -0.0014307383 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 200 NOCOMM_ACTION 0 SEABIRD_C_J 0.00018278907 VBD_TIMEOUT 180

D_BOOST 0 N_DIVES 30 SEABIRD_C_Z 2936.3699 W_ADJ_DBAND 0

D_CALL 0 N_FILEKB 4 SEABIRD_T_G 0.0044078007 XPDR_DEVICE 24

D_FINISH 0 N_GPS 50945 SEABIRD_T_H 0.00063626393 XPDR_INHIBIT 90

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_I 2.4955199e-05 XPDR_VALID 4

D_NO_BLEED 500 N_NOSURFACE 0 SEABIRD_T_J 2.9785231e-06

D_OFFGRID 100 PHONE_DEVICE 49 SIM_PITCH 0

D_PITCH 0 PHONE_SUPPLY 2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 150317,105131,4742.8022,-12224.9609,13,0.8,62,16.3,0.0,0.0,10,5.0 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.500,-12224.800

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.198281,0.029559

_SM_DEPTHo 1.81 KALMAN_X 569.319641,39.703766,239.013153,-1197.813354,-353.409393

_SM_ANGLEo -55.7 KALMAN_Y 713.062805,322.366150,571.522827,-3616.269287,-583.698242

GPS2 150317,105538,4742.7661,-12224.9951,3,1.0,14,16.3,0.0,0.0,10,5.0 MHEAD_RNG_PITCHd_Wd 65.2,550,-22.3,-10.000,-26.51,2146

SPEED_LIMITS 0.100,0.221 D_GRID 185

Post-dive calculations and measurements:

FINISH 0.3,1.010416 _24V_AH 23.46,5.225

SM_CCo 2263,5.50,0.448,0,0,1729,300.51 _10V_AH 9.34,6.355

SM_GC 3.60,30.42,0.00,5.50,0.028,0.000,0.448,243,1901,1729,-7.14,0.05,300.51,0,0,0,0,0,0,26.44,26.79,25.46 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-11813.46,150317,100519 FG_AHR_10Vo 0.000

TT8_MAMPS 0.053179,0.241178 MEM 322208

HUMID 35.31 DATA_FILE_SIZE 17783,200

INTERNAL_PRESSURE 10.1211 CAP_FILE_SIZE 49133,9

TCM_TEMP 7.50 CFSIZE 1024409600,1018085376

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

ALTIM_TOP_PING 19.7,4.5 GPS 150317,113456,4742.582,-12224.827,15,0.8,27,16.3,0.0,0.0,9,5.0

ALTIM_BOTTOM_PING 100.0,2.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 65 126 194.62 SBE_CT 135 24 76.02

Roll_motor 61 78 113.08 AA4330 256 33 198.75

VBD_pump_during_apogee 29 1958 1358.80 WL_blue_red_Chl 429 105 1058.93

VBD_pump_during_surface 5 448 57.84 SAT1000 1051 17 439.08

VBD_valve 0 0 0.00 SAT1001 1848 17 772.04

Iridium_during_init 22 103 55.01 nil 0 0 0.00

Iridium_during_connect 21 160 81.20 nil 0 0 0.00

Iridium_during_xfer 137 223 719.82 nil 0 0 0.00

Transponder_ping 1 420 9.85 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.46

TT8 0 0 0.00

LPSleep 0 0 0.00

TT8_Active 274 19 50.74

TT8_Sampling 2142 39 796.31

TT8_CF8 104 45 44.80

TT8_Kalman 33 81 25.70

Analog_circuits 711 12 79.76

GPS_charging 0 0 0.00

Compass 1886 15 264.28

RAFOS 0 0 0.00

Transponder 7 30 2.00

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 int_press humidity

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -2.08 -140.5 243 1891 1729 4095 0.0 0.0 0 35 0.00 0.00 -3.78 0.000 16390 0.000 0.000 243 1891 2251 2251 4094 0 0 0 0 0 0 26.46 24.76 26.46 10.23 36.29

36 -2.08 -140.5 242 1892 2253 4095 1.9 0.0 1 70 20.27 3.58 0.00 0.000 2564 0.127 0.067 1853 592 2253 2253 4094 0 0 0 0 0 0 25.63 25.64 25.70 10.36 35.86

188 -2.08 -140.5 1853 592 2259 4095 38.8 -20.3 15 203 0.00 3.28 0.00 0.000 1030 0.000 0.033 1853 1887 2259 2259 4094 0 0 0 0 0 0 26.03 25.99 26.06 10.36 35.39

253 -2.08 -140.5 1853 1887 2262 4095 50.8 -18.4 21 268 0.00 3.60 0.00 0.000 260 0.000 0.071 1853 3193 2262 2262 4094 0 0 0 0 0 0 26.36 25.92 26.38 10.36 35.43

289 -2.08 -140.5 1853 3194 2264 4094 56.9 -17.0 24 303 0.00 3.25 0.00 0.000 1030 0.000 0.031 1853 1929 2263 2263 4094 0 0 0 0 0 0 26.12 26.07 26.14 10.36 35.03

354 -2.08 -140.5 1853 1929 2266 4095 67.2 -15.7 30 368 0.00 3.62 0.00 0.000 516 0.000 0.073 1853 594 2265 2265 4094 0 0 0 0 0 0 26.44 25.98 26.46 10.36 34.87

400 -2.08 -140.5 1853 595 2267 4094 75.4 -17.6 34 415 0.00 3.33 0.00 0.000 1030 0.000 0.034 1853 1913 2266 2266 4094 0 0 0 0 0 0 26.20 26.15 26.22 10.36 35.11

465 -2.08 -140.5 1853 1912 2270 4095 86.9 -17.3 40 479 0.00 0.00 0.00 0.000 6 0.000 0.000 1853 1913 2269 2269 4094 0 0 0 0 0 0 26.51 26.53 26.52 10.37 34.95

529 -2.08 -140.5 1853 1912 2272 4095 98.1 -17.8 46 548 0.00 0.00 0.00 0.000 6 0.000 0.000 1853 1913 2272 2272 4094 0 0 0 0 0 0 26.55 26.56 26.55 10.36 35.23

598 -2.08 -140.5 1852 1914 2275 4094 110.3 -17.5 52 613 0.00 3.58 0.00 0.000 516 0.000 0.072 1853 598 2275 2275 4094 0 0 0 0 0 0 26.58 26.10 26.59 10.36 34.91

644 -2.08 -140.5 1853 599 2277 4094 119.7 -20.9 56 658 0.00 3.30 0.00 0.000 1030 0.000 0.034 1853 1913 2276 2276 4094 0 0 0 0 0 0 26.32 26.27 26.34 10.37 35.11

709 -2.08 -140.5 1853 1914 2281 4094 132.6 -19.0 62 722 0.00 0.00 0.00 0.000 6 0.000 0.000 1853 1913 2280 2280 4094 0 0 0 0 0 0 26.62 26.63 26.63 10.37 34.60

773 -2.08 -140.5 1853 1914 2283 4094 144.3 -18.2 68 787 0.00 3.58 0.00 0.000 516 0.000 0.072 1853 595 2282 2282 4094 0 0 0 0 0 0 26.64 26.16 26.65 10.37 34.91

799 -2.08 -140.5 1853 595 2283 4095 149.4 -19.1 70 817 0.00 3.30 0.00 0.000 1030 0.000 0.034 1853 1912 2284 2284 4094 0 0 0 0 0 0 26.37 26.33 26.39 10.37 34.99

828 end dive: TARGET_DEPTH_EXCEEDED

state 828 begin apogee

831 -0.42 0.0 1853 1914 2286 4095 155.5 -20.3 72 859 5.97 0.00 12.15 1.958 10244 0.081 0.000 2381 1913 2081 2081 4094 0 0 0 0 0 0 26.25 25.01 23.79 10.36 34.95

860 end apogee: CONTROL_FINISHED_OK

state 860 begin climb

861 2.08 140.5 2382 1913 2081 4095 159.5 0.0 74 890 8.43 0.00 10.27 1.884 11270 0.037 0.000 3179 1913 1916 1916 4094 0 0 0 0 0 0 25.92 26.09 23.46 10.33 35.15

940 2.17 197.5 3179 1913 1916 4095 155.4 7.3 81 959 0.22 0.00 5.15 1.401 10246 0.054 0.000 3206 1913 1853 1853 4094 0 0 0 0 0 0 25.77 24.79 23.63 10.30 34.60

1009 2.18 202.5 3206 1913 1853 4095 149.3 9.8 87 1028 0.00 0.00 0.90 0.004 8198 0.000 0.000 3206 1913 1852 1852 4094 0 0 0 0 0 0 26.06 26.05 26.06 10.28 35.11

1078 2.18 202.5 3205 1914 1852 4094 142.0 10.8 93 1092 0.00 0.00 0.40 0.003 8198 0.000 0.000 3206 1913 1851 1851 4094 0 0 0 0 0 0 26.19 26.19 26.20 10.28 34.83

1143 2.18 202.5 3206 1914 1850 4095 134.8 11.3 99 1158 0.00 3.67 0.70 0.003 8708 0.000 0.076 3206 594 1849 1849 4094 0 0 0 0 0 0 26.27 25.81 26.27 10.28 34.72

1228 2.18 202.5 3206 595 1847 4094 123.8 12.8 107 1243 0.00 3.30 0.00 0.000 1030 0.000 0.031 3206 1917 1846 1846 4094 0 0 0 0 0 0 26.12 26.06 26.14 10.28 35.07

1293 2.18 202.5 3206 1918 1847 4094 116.8 10.5 113 1307 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 1918 1845 1845 4094 0 0 0 0 0 0 26.41 26.43 26.43 10.27 34.91

1357 2.18 202.5 3206 1919 1845 4095 110.0 10.6 119 1372 0.00 3.65 0.00 0.000 516 0.000 0.078 3206 593 1844 1844 4094 0 0 0 0 0 0 26.46 25.97 26.48 10.27 35.66

1519 2.18 202.5 3206 594 1840 4094 88.5 14.6 135 1537 0.00 3.20 0.00 0.000 1030 0.000 0.030 3206 1888 1838 1838 4094 0 0 0 0 0 0 26.31 26.28 26.34 10.27 35.78

1588 2.18 202.5 3206 1889 1837 4095 79.1 13.5 141 1602 0.00 3.50 0.00 0.000 260 0.000 0.060 3206 3192 1836 1836 4094 0 0 0 0 0 0 26.58 26.13 26.60 10.27 35.15

1643 2.18 202.5 3206 3191 1836 4095 71.7 13.7 146 1661 0.00 3.28 0.00 0.000 1030 0.000 0.032 3206 1907 1834 1834 4094 0 0 0 0 0 0 26.31 26.26 26.33 10.27 35.43

1712 2.18 202.5 3206 1907 1834 4095 62.7 13.1 152 1725 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 1907 1832 1832 4094 0 0 0 0 0 0 26.63 26.65 26.65 10.27 35.27

1776 2.18 202.5 3206 1908 1832 4094 54.9 12.0 158 1790 0.00 3.58 0.00 0.000 516 0.000 0.078 3206 594 1831 1831 4094 0 0 0 0 0 0 26.65 26.15 26.67 10.26 35.31

1908 2.18 202.5 3206 594 1827 4095 36.4 14.3 171 1922 0.00 3.20 0.00 0.000 1030 0.000 0.031 3206 1898 1826 1826 4094 0 0 0 0 0 0 26.44 26.41 26.46 10.26 35.15

1973 2.18 202.5 3206 1901 1825 4093 28.8 11.0 177 1987 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 1900 1824 1824 4094 0 0 0 0 0 0 26.71 26.72 26.72 10.26 35.27

2037 2.18 202.5 3206 1900 1824 4095 21.0 12.4 183 2055 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 1900 1822 1822 4094 0 0 0 0 0 0 26.72 26.74 26.74 10.26 35.19

2106 2.18 202.5 3206 1900 1821 4095 12.5 12.2 189 2120 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 1900 1820 1820 4094 0 0 0 0 0 0 26.74 26.76 26.75 10.26 35.74

2170 2.18 202.5 3206 1901 1820 4094 5.0 11.6 195 2187 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 1900 1818 1818 4094 0 0 0 0 0 0 26.76 26.77 26.77 10.26 35.62

2198 end climb: SURFACE_DEPTH_REACHED

state 2198 begin surface coast

2228 end surface coast: CONTROL_FINISHED_OK

state 2228 begin surface

ID	401	HD_B	0.0168193	ROLL_DEG	60	ALTIM_TOP_PING_RANGE	20
MISSION	19	HD_C	5.8179498e-06	C_ROLL_DIVE	1900	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	21	HEADING	-1	C_ROLL_CLIMB	1900	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	30	ESCAPE_HEADING	0	HEAD_ERRBAND	20	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	19	ALTIM_FREQUENCY	11
D_TGT	150	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	32	ALTIM_PULSE	1
D_ABORT	200	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	300	ROLL_MAXERRORS	2	XPDR_VALID	4
D_BOOST	0	N_FILEKB	4	ROLL_ADJ_GAIN	1	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	53	INT_PRESSURE_YINT	-1.1
D_PITCH	0	COMM_SEQ	0	VBD_MAX	4044	DEEPGLIDER	2
D_SAFE	0	PROTOCOL	9	C_VBD	2082	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_CNV	-0.85860002	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE3	115
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	180	DEVICE4	134
T_DIVE	50	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0016	DEVICE5	151
T_MISSION	65	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN	225	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_TURN_SAMPINT	6	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	60	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	50945	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_SLOITER	0	T_RSLEEP	3	DBDW	0	COMPASS_DEVICE	33
T_EPIRB	0	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MIN	220	AH0_10V	100	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3693	MINV_24V	19	SIM_W	0
RELAUNCH	1	C_PITCH	2530	MINV_10V	8	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044078007
MAX_BUOY	175	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063626393
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.4955199e-05
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.9785231e-06
SPEED_FACTOR	1	PITCH_GAIN	12	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7071199
RHO	1.023	PITCH_TIMEOUT	50	PRESSURE_YINT	-50.554909	SEABIRD_C_H	1.1284475
MASS	73414	PITCH_AD_RATE	70	PRESSURE_SLOPE	3.2755801e-05	SEABIRD_C_I	-0.0014307383
MASS_COMP	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00018278907
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2936.3699
FERRY_MAX	45	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
KALMAN_USE	1	ROLL_MIN	200	COMPASS_USE	-10236
HD_A	0.00357857	ROLL_MAX	3888	ALTIM_BOTTOM_PING_RANGE	0

GPS1	150317,105131,4742.8022,-12224.9609,13,0.8,62,16.3,0.0,0.0,10,5.0	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.500,-12224.800
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.198281,0.029559
_SM_DEPTHo	1.81	KALMAN_X	569.319641,39.703766,239.013153,-1197.813354,-353.409393
_SM_ANGLEo	-55.7	KALMAN_Y	713.062805,322.366150,571.522827,-3616.269287,-583.698242
GPS2	150317,105538,4742.7661,-12224.9951,3,1.0,14,16.3,0.0,0.0,10,5.0	MHEAD_RNG_PITCHd_Wd	65.2,550,-22.3,-10.000,-26.51,2146
SPEED_LIMITS	0.100,0.221	D_GRID	185

FINISH	0.3,1.010416	_24V_AH	23.46,5.225
SM_CCo	2263,5.50,0.448,0,0,1729,300.51	_10V_AH	9.34,6.355
SM_GC	3.60,30.42,0.00,5.50,0.028,0.000,0.448,243,1901,1729,-7.14,0.05,300.51,0,0,0,0,0,0,26.44,26.79,25.46	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-11813.46,150317,100519	FG_AHR_10Vo	0.000
TT8_MAMPS	0.053179,0.241178	MEM	322208
HUMID	35.31	DATA_FILE_SIZE	17783,200
INTERNAL_PRESSURE	10.1211	CAP_FILE_SIZE	49133,9
TCM_TEMP	7.50	CFSIZE	1024409600,1018085376
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.7,4.5	GPS	150317,113456,4742.582,-12224.827,15,0.8,27,16.3,0.0,0.0,9,5.0
ALTIM_BOTTOM_PING	100.0,2.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	65	126	194.62	SBE_CT	135	24	76.02
Roll_motor	61	78	113.08	AA4330	256	33	198.75
VBD_pump_during_apogee	29	1958	1358.80	WL_blue_red_Chl	429	105	1058.93
VBD_pump_during_surface	5	448	57.84	SAT1000	1051	17	439.08
VBD_valve	0	0	0.00	SAT1001	1848	17	772.04
Iridium_during_init	22	103	55.01	nil	0	0	0.00
Iridium_during_connect	21	160	81.20	nil	0	0	0.00
Iridium_during_xfer	137	223	719.82	nil	0	0	0.00
Transponder_ping	1	420	9.85	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.46
TT8	0	0	0.00
LPSleep	0	0	0.00
TT8_Active	274	19	50.74
TT8_Sampling	2142	39	796.31
TT8_CF8	104	45	44.80
TT8_Kalman	33	81	25.70
Analog_circuits	711	12	79.76
GPS_charging	0	0	0.00
Compass	1886	15	264.28
RAFOS	0	0	0.00
Transponder	7	30	2.00

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	int_press	humidity
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-2.08	-140.5	243	1891	1729	4095	0.0	0.0	0	35	0.00	0.00	-3.78	0.000	16390	0.000	0.000	243	1891	2251	2251	4094	0	0	0	0	0	0	26.46	24.76	26.46	10.23	36.29
36	-2.08	-140.5	242	1892	2253	4095	1.9	0.0	1	70	20.27	3.58	0.00	0.000	2564	0.127	0.067	1853	592	2253	2253	4094	0	0	0	0	0	0	25.63	25.64	25.70	10.36	35.86
188	-2.08	-140.5	1853	592	2259	4095	38.8	-20.3	15	203	0.00	3.28	0.00	0.000	1030	0.000	0.033	1853	1887	2259	2259	4094	0	0	0	0	0	0	26.03	25.99	26.06	10.36	35.39
253	-2.08	-140.5	1853	1887	2262	4095	50.8	-18.4	21	268	0.00	3.60	0.00	0.000	260	0.000	0.071	1853	3193	2262	2262	4094	0	0	0	0	0	0	26.36	25.92	26.38	10.36	35.43
289	-2.08	-140.5	1853	3194	2264	4094	56.9	-17.0	24	303	0.00	3.25	0.00	0.000	1030	0.000	0.031	1853	1929	2263	2263	4094	0	0	0	0	0	0	26.12	26.07	26.14	10.36	35.03
354	-2.08	-140.5	1853	1929	2266	4095	67.2	-15.7	30	368	0.00	3.62	0.00	0.000	516	0.000	0.073	1853	594	2265	2265	4094	0	0	0	0	0	0	26.44	25.98	26.46	10.36	34.87
400	-2.08	-140.5	1853	595	2267	4094	75.4	-17.6	34	415	0.00	3.33	0.00	0.000	1030	0.000	0.034	1853	1913	2266	2266	4094	0	0	0	0	0	0	26.20	26.15	26.22	10.36	35.11
465	-2.08	-140.5	1853	1912	2270	4095	86.9	-17.3	40	479	0.00	0.00	0.00	0.000	6	0.000	0.000	1853	1913	2269	2269	4094	0	0	0	0	0	0	26.51	26.53	26.52	10.37	34.95
529	-2.08	-140.5	1853	1912	2272	4095	98.1	-17.8	46	548	0.00	0.00	0.00	0.000	6	0.000	0.000	1853	1913	2272	2272	4094	0	0	0	0	0	0	26.55	26.56	26.55	10.36	35.23
598	-2.08	-140.5	1852	1914	2275	4094	110.3	-17.5	52	613	0.00	3.58	0.00	0.000	516	0.000	0.072	1853	598	2275	2275	4094	0	0	0	0	0	0	26.58	26.10	26.59	10.36	34.91
644	-2.08	-140.5	1853	599	2277	4094	119.7	-20.9	56	658	0.00	3.30	0.00	0.000	1030	0.000	0.034	1853	1913	2276	2276	4094	0	0	0	0	0	0	26.32	26.27	26.34	10.37	35.11
709	-2.08	-140.5	1853	1914	2281	4094	132.6	-19.0	62	722	0.00	0.00	0.00	0.000	6	0.000	0.000	1853	1913	2280	2280	4094	0	0	0	0	0	0	26.62	26.63	26.63	10.37	34.60
773	-2.08	-140.5	1853	1914	2283	4094	144.3	-18.2	68	787	0.00	3.58	0.00	0.000	516	0.000	0.072	1853	595	2282	2282	4094	0	0	0	0	0	0	26.64	26.16	26.65	10.37	34.91
799	-2.08	-140.5	1853	595	2283	4095	149.4	-19.1	70	817	0.00	3.30	0.00	0.000	1030	0.000	0.034	1853	1912	2284	2284	4094	0	0	0	0	0	0	26.37	26.33	26.39	10.37	34.99
828	end dive: TARGET_DEPTH_EXCEEDED
state	828	begin apogee
831	-0.42	0.0	1853	1914	2286	4095	155.5	-20.3	72	859	5.97	0.00	12.15	1.958	10244	0.081	0.000	2381	1913	2081	2081	4094	0	0	0	0	0	0	26.25	25.01	23.79	10.36	34.95
860	end apogee: CONTROL_FINISHED_OK
state	860	begin climb
861	2.08	140.5	2382	1913	2081	4095	159.5	0.0	74	890	8.43	0.00	10.27	1.884	11270	0.037	0.000	3179	1913	1916	1916	4094	0	0	0	0	0	0	25.92	26.09	23.46	10.33	35.15
940	2.17	197.5	3179	1913	1916	4095	155.4	7.3	81	959	0.22	0.00	5.15	1.401	10246	0.054	0.000	3206	1913	1853	1853	4094	0	0	0	0	0	0	25.77	24.79	23.63	10.30	34.60
1009	2.18	202.5	3206	1913	1853	4095	149.3	9.8	87	1028	0.00	0.00	0.90	0.004	8198	0.000	0.000	3206	1913	1852	1852	4094	0	0	0	0	0	0	26.06	26.05	26.06	10.28	35.11
1078	2.18	202.5	3205	1914	1852	4094	142.0	10.8	93	1092	0.00	0.00	0.40	0.003	8198	0.000	0.000	3206	1913	1851	1851	4094	0	0	0	0	0	0	26.19	26.19	26.20	10.28	34.83
1143	2.18	202.5	3206	1914	1850	4095	134.8	11.3	99	1158	0.00	3.67	0.70	0.003	8708	0.000	0.076	3206	594	1849	1849	4094	0	0	0	0	0	0	26.27	25.81	26.27	10.28	34.72
1228	2.18	202.5	3206	595	1847	4094	123.8	12.8	107	1243	0.00	3.30	0.00	0.000	1030	0.000	0.031	3206	1917	1846	1846	4094	0	0	0	0	0	0	26.12	26.06	26.14	10.28	35.07
1293	2.18	202.5	3206	1918	1847	4094	116.8	10.5	113	1307	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	1918	1845	1845	4094	0	0	0	0	0	0	26.41	26.43	26.43	10.27	34.91
1357	2.18	202.5	3206	1919	1845	4095	110.0	10.6	119	1372	0.00	3.65	0.00	0.000	516	0.000	0.078	3206	593	1844	1844	4094	0	0	0	0	0	0	26.46	25.97	26.48	10.27	35.66
1519	2.18	202.5	3206	594	1840	4094	88.5	14.6	135	1537	0.00	3.20	0.00	0.000	1030	0.000	0.030	3206	1888	1838	1838	4094	0	0	0	0	0	0	26.31	26.28	26.34	10.27	35.78
1588	2.18	202.5	3206	1889	1837	4095	79.1	13.5	141	1602	0.00	3.50	0.00	0.000	260	0.000	0.060	3206	3192	1836	1836	4094	0	0	0	0	0	0	26.58	26.13	26.60	10.27	35.15
1643	2.18	202.5	3206	3191	1836	4095	71.7	13.7	146	1661	0.00	3.28	0.00	0.000	1030	0.000	0.032	3206	1907	1834	1834	4094	0	0	0	0	0	0	26.31	26.26	26.33	10.27	35.43
1712	2.18	202.5	3206	1907	1834	4095	62.7	13.1	152	1725	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	1907	1832	1832	4094	0	0	0	0	0	0	26.63	26.65	26.65	10.27	35.27
1776	2.18	202.5	3206	1908	1832	4094	54.9	12.0	158	1790	0.00	3.58	0.00	0.000	516	0.000	0.078	3206	594	1831	1831	4094	0	0	0	0	0	0	26.65	26.15	26.67	10.26	35.31
1908	2.18	202.5	3206	594	1827	4095	36.4	14.3	171	1922	0.00	3.20	0.00	0.000	1030	0.000	0.031	3206	1898	1826	1826	4094	0	0	0	0	0	0	26.44	26.41	26.46	10.26	35.15
1973	2.18	202.5	3206	1901	1825	4093	28.8	11.0	177	1987	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	1900	1824	1824	4094	0	0	0	0	0	0	26.71	26.72	26.72	10.26	35.27
2037	2.18	202.5	3206	1900	1824	4095	21.0	12.4	183	2055	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	1900	1822	1822	4094	0	0	0	0	0	0	26.72	26.74	26.74	10.26	35.19
2106	2.18	202.5	3206	1900	1821	4095	12.5	12.2	189	2120	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	1900	1820	1820	4094	0	0	0	0	0	0	26.74	26.76	26.75	10.26	35.74
2170	2.18	202.5	3206	1901	1820	4094	5.0	11.6	195	2187	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	1900	1818	1818	4094	0	0	0	0	0	0	26.76	26.77	26.77	10.26	35.62
2198	end climb: SURFACE_DEPTH_REACHED
state	2198	begin surface coast
2228	end surface coast: CONTROL_FINISHED_OK
state	2228	begin surface