Glider dive log

ITOP Sep10 * SG169 * Dive index * Mission links * Dive 344 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 169 HD_C 9.9999997e-06 ROLL_MIN 220 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 ROLL_MAX 3795 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 344 ESCAPE_HEADING 0 ROLL_DEG 32 ALTIM_PING_DEPTH 0

N_DIVES 353 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2025 ALTIM_PING_DELTA 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2120 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 7

D_TGT 1000 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 640 R_PORT_OVSHOOT -10 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT -10 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 330 INT_PRESSURE_YINT -1.1

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 435 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3091 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 240 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 300 CAPUPLOAD 0 VBD_TIMEOUT 540 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_BATHY -5 T_GPS_CHARGE -7119.1855 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -8 PITCH_MIN 146 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 210 PITCH_MAX 3945 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2730 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043354151

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -76.551537 SEABIRD_T_H 0.00062527717

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.379055e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.5466652e-06

MASS 51710 PITCH_GAIN 45 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9450293

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1242783

FERRY_MAX 45 PITCH_AD_RATE 165 COMPASS_USE 0 SEABIRD_C_I -0.0011038103

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017515429

HD_A 0.003 PITCH_ADJ_GAIN 0.0020000001 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 1000 PHONE_SUPPLY 2 SM_CC 640

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0020000001 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 45 TCM_PITCH_OFFSET 0

ALTIM_PULSE 7 FERRY_MAX 45 PITCH_MAX 3945 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 1 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 146 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -8 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.000115925 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -76.551537 T_DIVE 240

CALL_TRIES 5 HD_A 0.003 PROTOCOL 1 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -7119.1855

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 300

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 169 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -1.1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2730 KALMAN_USE 2 ROLL_AD_RATE 330 UNCOM_BLEED 20

C_ROLL_CLIMB 2120 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2025 LOGGERDEVICE2 -1 ROLL_DEG 32 USE_BATHY -5

C_VBD 3091 LOGGERDEVICE3 -1 ROLL_MAX 3795 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 220 VBD_CNV -0.24529999

DEVICE1 2 MASS 51710 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 210 R_PORT_OVSHOOT -10 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT -10 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9450293 VBD_MIN 435

DEVICE5 -1 MISSION 2 SEABIRD_C_H 1.1242783 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0011038103 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 344 NAV_MODE 2 SEABIRD_C_J 0.00017515429 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 353 SEABIRD_T_G 0.0043354151 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062527717 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.379055e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.5466652e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 211010,133707,2400.315,12612.566,40,1.1,40,-3.6 TGT_NAME NWALL_MID

_CALLS 1 TGT_LATLONG 2400.000,12612.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211010,134319,2400.315,12612.572,9,1.1,15,-3.6 MHEAD_RNG_PITCHd_Wd 251.2,1131,-27.7,-13.889

SPEED_LIMITS 0.241,0.337 D_GRID 2517

Post-dive calculations and measurements:

FINISH 0.0,1.021669 _10V_AH 10.0,41.635

SM_CCo 12656,190.95,0.057,0,0,481,640.23 FG_AHR_24Vo 0.000

SM_GC 1.01,0.00,0.00,190.95,0.000,0.000,0.057,143,1977,481,-8.06,-1.36,640.23 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2349.77,12615.86,211010,090955 MEM 333664

TT8_MAMPS 0.026215 DATA_FILE_SIZE 70334,1192

HUMID 41.92 CAP_FILE_SIZE 140100,0

INTERNAL_PRESSURE 9.2129 CFSIZE 260165632,235593728

TCM_TEMP 25.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.100, 72.6,1

_24V_AH 22.7,49.009 GPS 211010,171901,2400.129,12611.311,36,1.4,36,-3.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 241 114.41 SBE_CT 807 24 439.96

Roll_motor 86 107 211.00 AA4330 0 0 0.00

VBD_pump_during_apogee 439 1265 12623.56 WL_BB2F 1731 105 4126.85

VBD_pump_during_surface 190 56 245.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 0 0.00 nil 0 0 0.00

Iridium_during_connect 17 0 0.00 nil 0 0 0.00

Iridium_during_xfer 196 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 0 0.00

TT8 2970 19 588.20

LPSleep 5971 2 130.78

TT8_Active 683 19 135.41

TT8_Sampling 3337 39 1328.35

TT8_CF8 249 45 114.05

TT8_Kalman 0 0 0.00

Analog_circuits 1830 12 219.61

GPS_charging 0 0 0.00

Compass 3103 15 465.47

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.74 -102.8 0.0 0.0 0 118 0.00 0.00 -100.72 0.000 2 0.000 0.000 123 1994 3267 0 0 0 0 0 0

121 -0.81 -156.6 4.6 -9.0 12 146 9.95 1.85 -7.62 0.000 4 0.242 0.068 2451 3168 3733 0 0 0 0 0 0

282 -0.80 -156.6 76.2 -33.7 38 291 0.00 1.83 0.00 0.000 6 0.000 0.047 2451 2007 3735 0 0 0 0 0 0

644 -0.79 -156.6 173.0 -25.0 99 652 0.00 1.73 0.00 0.000 4 0.000 0.052 2451 879 3736 0 0 0 0 0 0

672 -0.79 -156.6 180.0 -25.3 103 680 0.00 1.80 0.00 0.000 6 0.000 0.052 2450 2041 3736 0 0 0 0 0 0

1020 -0.80 -156.6 257.3 -20.6 164 1029 0.00 1.83 0.00 0.000 4 0.000 0.050 2451 871 3736 0 0 0 0 0 0

1042 -0.80 -156.6 261.7 -20.5 167 1050 0.00 1.80 0.00 0.000 6 0.000 0.050 2450 2043 3736 0 0 0 0 0 0

1385 -0.81 -156.6 332.4 -20.1 214 1389 0.00 1.73 0.00 0.000 4 0.000 0.059 2450 3171 3736 0 0 0 0 0 0

1559 -0.82 -156.6 362.0 -16.5 229 1563 0.00 1.83 0.00 0.000 6 0.000 0.046 2451 2002 3736 0 0 0 0 0 0

1890 -0.83 -156.6 419.9 -17.5 260 1891 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2000 3736 0 0 0 0 0 0

2209 -0.84 -156.6 472.6 -16.2 290 2213 0.00 1.83 0.00 0.000 4 0.000 0.057 2450 3170 3734 0 0 0 0 0 0

2290 -0.85 -156.6 484.9 -14.9 297 2294 0.00 1.77 0.00 0.000 6 0.000 0.044 2450 2003 3733 0 0 0 0 0 0

2622 -0.87 -156.6 536.3 -14.5 328 2626 0.00 1.85 0.00 0.000 4 0.000 0.058 2450 3161 3731 0 0 0 0 0 0

2718 -0.89 -160.9 549.6 -13.5 336 2724 0.00 1.77 0.00 0.000 6 0.000 0.042 2450 2001 3730 0 0 0 0 0 0

3043 -0.90 -160.9 595.8 -14.0 367 3047 0.00 1.73 0.00 0.000 4 0.000 0.050 2450 880 3728 0 0 0 0 0 0

3070 -0.92 -161.0 599.9 -13.9 369 3077 0.00 1.80 0.00 0.000 6 0.000 0.049 2450 2051 3727 0 0 0 0 0 0

3386 -0.93 -163.2 642.8 -13.7 385 3390 0.00 1.70 0.00 0.000 4 0.000 0.058 2450 3168 3724 0 0 0 0 0 0

3469 -0.96 -169.7 654.0 -13.3 388 3476 0.00 1.80 0.00 0.000 6 0.000 0.044 2450 2002 3723 0 0 0 0 0 0

3786 -0.98 -169.7 699.1 -14.9 404 3791 0.10 1.85 0.00 0.000 4 0.131 0.058 2414 3175 3720 0 0 0 0 0 0

3841 -0.99 -169.7 708.4 -17.0 406 3845 0.00 1.83 0.00 0.000 6 0.000 0.047 2414 2002 3719 0 0 0 0 0 0

4164 -1.00 -169.7 762.1 -16.3 422 4165 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2001 3717 0 0 0 0 0 0

4473 -1.01 -169.7 809.4 -15.3 437 4476 0.00 1.85 0.00 0.000 4 0.000 0.060 2414 3175 3715 0 0 0 0 0 0

4574 -1.03 -174.4 823.6 -13.5 441 4577 0.00 1.83 0.00 0.000 6 0.000 0.048 2414 2000 3713 0 0 0 0 0 0

4895 -1.04 -174.4 870.5 -14.5 457 4898 0.00 1.73 0.00 0.000 4 0.000 0.056 2414 877 3710 0 0 0 0 0 0

4933 -1.06 -174.4 876.1 -14.2 458 4940 0.00 1.83 0.00 0.000 6 0.000 0.052 2414 2050 3710 0 0 0 0 0 0

5250 -1.07 -176.2 920.0 -13.7 474 5254 0.00 1.77 0.00 0.000 4 0.000 0.063 2414 3166 3707 0 0 0 0 0 0

5296 -1.11 -190.3 926.0 -12.6 476 5301 0.08 1.83 0.00 0.000 6 0.077 0.047 2376 2002 3707 0 0 0 0 0 0

5631 -1.11 -190.3 978.0 -16.0 492 5632 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2001 3704 0 0 0 0 0 0

5771 end dive: TARGET_DEPTH_EXCEEDED

state 5771 begin apogee

5776 -0.18 0.0 1001.7 16.6 499 5913 0.98 0.08 129.62 1.265 6 0.160 0.108 2666 2094 3091 0 0 0 0 0 0

5914 end apogee: CONTROL_FINISHED_OK

state 5914 begin climb

5916 0.85 190.3 1007.3 0.0 505 6105 0.93 2.05 180.48 1.245 4 0.056 0.047 3000 3265 2314 0 0 0 0 0 0

6194 0.84 190.3 978.7 21.1 518 6198 0.00 1.88 0.00 0.000 6 0.000 0.037 3009 2089 2304 0 0 0 0 0 0

6516 0.84 190.3 915.0 19.4 534 6520 0.00 1.67 0.00 0.000 4 0.000 0.047 3018 964 2298 0 0 0 0 0 0

6594 0.83 190.3 900.3 18.7 537 6598 0.00 1.80 0.00 0.000 6 0.000 0.041 3018 2154 2297 0 0 0 0 0 0

6915 0.82 190.3 836.6 20.0 553 6919 0.00 1.77 0.00 0.000 4 0.000 0.045 3027 969 2294 0 0 0 0 0 0

6965 0.81 190.3 826.4 19.6 555 6970 0.12 1.80 0.00 0.000 6 0.208 0.040 2997 2146 2293 0 0 0 0 0 0

7292 0.81 190.3 766.0 18.0 571 7294 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2146 2292 0 0 0 0 0 0

7602 0.81 190.3 715.9 16.6 586 7605 0.00 1.70 0.00 0.000 4 0.000 0.048 2989 3270 2291 0 0 0 0 0 0

7679 0.80 190.3 702.4 16.7 589 7683 0.00 1.80 0.00 0.000 6 0.000 0.036 2997 2090 2289 0 0 0 0 0 0

8001 0.80 190.3 650.6 16.2 605 8002 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2089 2288 0 0 0 0 0 0

8311 0.80 190.3 598.2 17.1 620 8315 0.00 1.83 0.00 0.000 4 0.000 0.045 2991 3277 2288 0 0 0 0 0 0

8373 0.79 190.3 587.2 17.4 625 8380 0.00 1.80 0.00 0.000 6 0.000 0.035 2999 2075 2287 0 0 0 0 0 0

8699 0.79 190.3 534.9 16.0 656 8703 0.00 1.67 0.00 0.000 4 0.000 0.047 3008 975 2286 0 0 0 0 0 0

8845 0.79 190.3 512.5 14.7 669 8848 0.00 1.75 0.00 0.000 6 0.000 0.039 3005 2157 2286 0 0 0 0 0 0

9177 0.79 190.3 463.2 14.8 700 9180 0.00 1.67 0.00 0.000 4 0.000 0.047 3005 3275 2285 0 0 0 0 0 0

9290 0.79 190.3 445.6 15.9 710 9294 0.00 1.75 0.00 0.000 6 0.000 0.034 3014 2087 2284 0 0 0 0 0 0

9623 0.79 190.3 395.8 14.6 741 9624 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2086 2284 0 0 0 0 0 0

9942 0.79 193.4 352.1 13.6 771 9946 0.00 1.70 0.00 0.000 4 0.000 0.043 3023 964 2284 0 0 0 0 0 0

10127 0.79 193.4 325.4 14.5 787 10135 0.12 1.75 0.00 0.000 6 0.190 0.037 2987 2153 2284 0 0 0 0 0 0

10459 0.81 204.9 284.9 12.9 828 10474 0.00 0.00 9.25 0.684 6 0.000 0.000 2987 2154 2254 0 0 0 0 0 0

10816 0.84 227.6 240.7 11.8 890 10845 0.00 1.85 21.30 0.714 4 0.000 0.042 2996 965 2162 0 0 0 0 0 0

10955 0.88 246.2 223.6 12.2 913 10977 0.00 1.77 17.33 0.687 6 0.000 0.036 2996 2149 2086 0 0 0 0 0 0

11320 0.92 274.4 177.2 11.3 976 11350 0.00 1.77 24.05 0.664 4 0.000 0.043 2996 3275 1971 0 0 0 0 0 0

11371 0.95 291.3 171.1 12.4 983 11393 0.00 1.80 15.57 0.634 6 0.000 0.031 3005 2078 1902 0 0 0 0 0 0

11744 1.00 321.0 122.9 11.2 1046 11778 0.12 1.73 25.42 0.623 4 0.085 0.041 3080 958 1781 0 0 0 0 0 0

11938 1.00 321.0 90.7 14.8 1077 11947 0.00 1.80 0.00 0.000 6 0.000 0.035 3079 2148 1776 0 0 0 0 0 0

12306 1.02 329.1 40.6 13.2 1138 12324 0.00 1.73 7.18 0.477 4 0.000 0.041 3079 3275 1748 0 0 0 0 0 0

12414 1.04 338.4 26.1 13.1 1155 12432 0.00 1.77 9.30 0.492 6 0.000 0.030 3089 2085 1710 0 0 0 0 0 0

12608 end climb: SURFACE_DEPTH_REACHED

state 12608 begin surface coast

12639 end surface coast: CONTROL_FINISHED_OK

state 12640 begin surface

ID	169	HD_C	9.9999997e-06	ROLL_MIN	220	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	ROLL_MAX	3795	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	344	ESCAPE_HEADING	0	ROLL_DEG	32	ALTIM_PING_DEPTH	0
N_DIVES	353	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2025	ALTIM_PING_DELTA	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2120	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	7
D_TGT	1000	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	640	R_PORT_OVSHOOT	-10	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	-10	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	330	INT_PRESSURE_YINT	-1.1
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	435	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3091	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	240	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	300	CAPUPLOAD	0	VBD_TIMEOUT	540	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_BATHY	-5	T_GPS_CHARGE	-7119.1855	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-8	PITCH_MIN	146	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	210	PITCH_MAX	3945	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2730	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043354151
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-76.551537	SEABIRD_T_H	0.00062527717
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.379055e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.5466652e-06
MASS	51710	PITCH_GAIN	45	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9450293
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1242783
FERRY_MAX	45	PITCH_AD_RATE	165	COMPASS_USE	0	SEABIRD_C_I	-0.0011038103
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017515429
HD_A	0.003	PITCH_ADJ_GAIN	0.0020000001	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	211010,133707,2400.315,12612.566,40,1.1,40,-3.6	TGT_NAME	NWALL_MID
_CALLS	1	TGT_LATLONG	2400.000,12612.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211010,134319,2400.315,12612.572,9,1.1,15,-3.6	MHEAD_RNG_PITCHd_Wd	251.2,1131,-27.7,-13.889
SPEED_LIMITS	0.241,0.337	D_GRID	2517

FINISH	0.0,1.021669	_10V_AH	10.0,41.635
SM_CCo	12656,190.95,0.057,0,0,481,640.23	FG_AHR_24Vo	0.000
SM_GC	1.01,0.00,0.00,190.95,0.000,0.000,0.057,143,1977,481,-8.06,-1.36,640.23	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2349.77,12615.86,211010,090955	MEM	333664
TT8_MAMPS	0.026215	DATA_FILE_SIZE	70334,1192
HUMID	41.92	CAP_FILE_SIZE	140100,0
INTERNAL_PRESSURE	9.2129	CFSIZE	260165632,235593728
TCM_TEMP	25.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.100, 72.6,1
_24V_AH	22.7,49.009	GPS	211010,171901,2400.129,12611.311,36,1.4,36,-3.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	241	114.41	SBE_CT	807	24	439.96
Roll_motor	86	107	211.00	AA4330	0	0	0.00
VBD_pump_during_apogee	439	1265	12623.56	WL_BB2F	1731	105	4126.85
VBD_pump_during_surface	190	56	245.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	0	0.00	nil	0	0	0.00
Iridium_during_connect	17	0	0.00	nil	0	0	0.00
Iridium_during_xfer	196	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	0	0.00
TT8	2970	19	588.20
LPSleep	5971	2	130.78
TT8_Active	683	19	135.41
TT8_Sampling	3337	39	1328.35
TT8_CF8	249	45	114.05
TT8_Kalman	0	0	0.00
Analog_circuits	1830	12	219.61
GPS_charging	0	0	0.00
Compass	3103	15	465.47
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.74	-102.8	0.0	0.0	0	118	0.00	0.00	-100.72	0.000	2	0.000	0.000	123	1994	3267	0	0	0	0	0	0
121	-0.81	-156.6	4.6	-9.0	12	146	9.95	1.85	-7.62	0.000	4	0.242	0.068	2451	3168	3733	0	0	0	0	0	0
282	-0.80	-156.6	76.2	-33.7	38	291	0.00	1.83	0.00	0.000	6	0.000	0.047	2451	2007	3735	0	0	0	0	0	0
644	-0.79	-156.6	173.0	-25.0	99	652	0.00	1.73	0.00	0.000	4	0.000	0.052	2451	879	3736	0	0	0	0	0	0
672	-0.79	-156.6	180.0	-25.3	103	680	0.00	1.80	0.00	0.000	6	0.000	0.052	2450	2041	3736	0	0	0	0	0	0
1020	-0.80	-156.6	257.3	-20.6	164	1029	0.00	1.83	0.00	0.000	4	0.000	0.050	2451	871	3736	0	0	0	0	0	0
1042	-0.80	-156.6	261.7	-20.5	167	1050	0.00	1.80	0.00	0.000	6	0.000	0.050	2450	2043	3736	0	0	0	0	0	0
1385	-0.81	-156.6	332.4	-20.1	214	1389	0.00	1.73	0.00	0.000	4	0.000	0.059	2450	3171	3736	0	0	0	0	0	0
1559	-0.82	-156.6	362.0	-16.5	229	1563	0.00	1.83	0.00	0.000	6	0.000	0.046	2451	2002	3736	0	0	0	0	0	0
1890	-0.83	-156.6	419.9	-17.5	260	1891	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2000	3736	0	0	0	0	0	0
2209	-0.84	-156.6	472.6	-16.2	290	2213	0.00	1.83	0.00	0.000	4	0.000	0.057	2450	3170	3734	0	0	0	0	0	0
2290	-0.85	-156.6	484.9	-14.9	297	2294	0.00	1.77	0.00	0.000	6	0.000	0.044	2450	2003	3733	0	0	0	0	0	0
2622	-0.87	-156.6	536.3	-14.5	328	2626	0.00	1.85	0.00	0.000	4	0.000	0.058	2450	3161	3731	0	0	0	0	0	0
2718	-0.89	-160.9	549.6	-13.5	336	2724	0.00	1.77	0.00	0.000	6	0.000	0.042	2450	2001	3730	0	0	0	0	0	0
3043	-0.90	-160.9	595.8	-14.0	367	3047	0.00	1.73	0.00	0.000	4	0.000	0.050	2450	880	3728	0	0	0	0	0	0
3070	-0.92	-161.0	599.9	-13.9	369	3077	0.00	1.80	0.00	0.000	6	0.000	0.049	2450	2051	3727	0	0	0	0	0	0
3386	-0.93	-163.2	642.8	-13.7	385	3390	0.00	1.70	0.00	0.000	4	0.000	0.058	2450	3168	3724	0	0	0	0	0	0
3469	-0.96	-169.7	654.0	-13.3	388	3476	0.00	1.80	0.00	0.000	6	0.000	0.044	2450	2002	3723	0	0	0	0	0	0
3786	-0.98	-169.7	699.1	-14.9	404	3791	0.10	1.85	0.00	0.000	4	0.131	0.058	2414	3175	3720	0	0	0	0	0	0
3841	-0.99	-169.7	708.4	-17.0	406	3845	0.00	1.83	0.00	0.000	6	0.000	0.047	2414	2002	3719	0	0	0	0	0	0
4164	-1.00	-169.7	762.1	-16.3	422	4165	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2001	3717	0	0	0	0	0	0
4473	-1.01	-169.7	809.4	-15.3	437	4476	0.00	1.85	0.00	0.000	4	0.000	0.060	2414	3175	3715	0	0	0	0	0	0
4574	-1.03	-174.4	823.6	-13.5	441	4577	0.00	1.83	0.00	0.000	6	0.000	0.048	2414	2000	3713	0	0	0	0	0	0
4895	-1.04	-174.4	870.5	-14.5	457	4898	0.00	1.73	0.00	0.000	4	0.000	0.056	2414	877	3710	0	0	0	0	0	0
4933	-1.06	-174.4	876.1	-14.2	458	4940	0.00	1.83	0.00	0.000	6	0.000	0.052	2414	2050	3710	0	0	0	0	0	0
5250	-1.07	-176.2	920.0	-13.7	474	5254	0.00	1.77	0.00	0.000	4	0.000	0.063	2414	3166	3707	0	0	0	0	0	0
5296	-1.11	-190.3	926.0	-12.6	476	5301	0.08	1.83	0.00	0.000	6	0.077	0.047	2376	2002	3707	0	0	0	0	0	0
5631	-1.11	-190.3	978.0	-16.0	492	5632	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2001	3704	0	0	0	0	0	0
5771	end dive: TARGET_DEPTH_EXCEEDED
state	5771	begin apogee
5776	-0.18	0.0	1001.7	16.6	499	5913	0.98	0.08	129.62	1.265	6	0.160	0.108	2666	2094	3091	0	0	0	0	0	0
5914	end apogee: CONTROL_FINISHED_OK
state	5914	begin climb
5916	0.85	190.3	1007.3	0.0	505	6105	0.93	2.05	180.48	1.245	4	0.056	0.047	3000	3265	2314	0	0	0	0	0	0
6194	0.84	190.3	978.7	21.1	518	6198	0.00	1.88	0.00	0.000	6	0.000	0.037	3009	2089	2304	0	0	0	0	0	0
6516	0.84	190.3	915.0	19.4	534	6520	0.00	1.67	0.00	0.000	4	0.000	0.047	3018	964	2298	0	0	0	0	0	0
6594	0.83	190.3	900.3	18.7	537	6598	0.00	1.80	0.00	0.000	6	0.000	0.041	3018	2154	2297	0	0	0	0	0	0
6915	0.82	190.3	836.6	20.0	553	6919	0.00	1.77	0.00	0.000	4	0.000	0.045	3027	969	2294	0	0	0	0	0	0
6965	0.81	190.3	826.4	19.6	555	6970	0.12	1.80	0.00	0.000	6	0.208	0.040	2997	2146	2293	0	0	0	0	0	0
7292	0.81	190.3	766.0	18.0	571	7294	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2146	2292	0	0	0	0	0	0
7602	0.81	190.3	715.9	16.6	586	7605	0.00	1.70	0.00	0.000	4	0.000	0.048	2989	3270	2291	0	0	0	0	0	0
7679	0.80	190.3	702.4	16.7	589	7683	0.00	1.80	0.00	0.000	6	0.000	0.036	2997	2090	2289	0	0	0	0	0	0
8001	0.80	190.3	650.6	16.2	605	8002	0.00	0.00	0.00	0.000	6	0.000	0.000	2998	2089	2288	0	0	0	0	0	0
8311	0.80	190.3	598.2	17.1	620	8315	0.00	1.83	0.00	0.000	4	0.000	0.045	2991	3277	2288	0	0	0	0	0	0
8373	0.79	190.3	587.2	17.4	625	8380	0.00	1.80	0.00	0.000	6	0.000	0.035	2999	2075	2287	0	0	0	0	0	0
8699	0.79	190.3	534.9	16.0	656	8703	0.00	1.67	0.00	0.000	4	0.000	0.047	3008	975	2286	0	0	0	0	0	0
8845	0.79	190.3	512.5	14.7	669	8848	0.00	1.75	0.00	0.000	6	0.000	0.039	3005	2157	2286	0	0	0	0	0	0
9177	0.79	190.3	463.2	14.8	700	9180	0.00	1.67	0.00	0.000	4	0.000	0.047	3005	3275	2285	0	0	0	0	0	0
9290	0.79	190.3	445.6	15.9	710	9294	0.00	1.75	0.00	0.000	6	0.000	0.034	3014	2087	2284	0	0	0	0	0	0
9623	0.79	190.3	395.8	14.6	741	9624	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	2086	2284	0	0	0	0	0	0
9942	0.79	193.4	352.1	13.6	771	9946	0.00	1.70	0.00	0.000	4	0.000	0.043	3023	964	2284	0	0	0	0	0	0
10127	0.79	193.4	325.4	14.5	787	10135	0.12	1.75	0.00	0.000	6	0.190	0.037	2987	2153	2284	0	0	0	0	0	0
10459	0.81	204.9	284.9	12.9	828	10474	0.00	0.00	9.25	0.684	6	0.000	0.000	2987	2154	2254	0	0	0	0	0	0
10816	0.84	227.6	240.7	11.8	890	10845	0.00	1.85	21.30	0.714	4	0.000	0.042	2996	965	2162	0	0	0	0	0	0
10955	0.88	246.2	223.6	12.2	913	10977	0.00	1.77	17.33	0.687	6	0.000	0.036	2996	2149	2086	0	0	0	0	0	0
11320	0.92	274.4	177.2	11.3	976	11350	0.00	1.77	24.05	0.664	4	0.000	0.043	2996	3275	1971	0	0	0	0	0	0
11371	0.95	291.3	171.1	12.4	983	11393	0.00	1.80	15.57	0.634	6	0.000	0.031	3005	2078	1902	0	0	0	0	0	0
11744	1.00	321.0	122.9	11.2	1046	11778	0.12	1.73	25.42	0.623	4	0.085	0.041	3080	958	1781	0	0	0	0	0	0
11938	1.00	321.0	90.7	14.8	1077	11947	0.00	1.80	0.00	0.000	6	0.000	0.035	3079	2148	1776	0	0	0	0	0	0
12306	1.02	329.1	40.6	13.2	1138	12324	0.00	1.73	7.18	0.477	4	0.000	0.041	3079	3275	1748	0	0	0	0	0	0
12414	1.04	338.4	26.1	13.1	1155	12432	0.00	1.77	9.30	0.492	6	0.000	0.030	3089	2085	1710	0	0	0	0	0	0
12608	end climb: SURFACE_DEPTH_REACHED
state	12608	begin surface coast
12639	end surface coast: CONTROL_FINISHED_OK
state	12640	begin surface