Glider dive log

Shilshole 30Oct17 * SG157 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 157 HD_B 0.0082269898 ROLL_MAX 3867 ALTIM_BOTTOM_PING_RANGE 0

MISSION 18 HD_C 3.24089e-06 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

DIVE 4 HEADING -1 C_ROLL_DIVE 2150 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2050 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 20 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 2 TGT_DEFAULT_LAT 41.058334 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 150 TGT_DEFAULT_LON -124.43333 R_PORT_OVSHOOT 36 ALTIM_FREQUENCY 13

D_ABORT 1050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 38 ALTIM_PULSE 5

D_NO_BLEED 500 SM_CC 250 ROLL_AD_RATE 200 ALTIM_SENSITIVITY 3

D_BOOST 3 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 6

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 485 INT_PRESSURE_YINT 1.2

D_SAFE 0 PROTOCOL 9 VBD_MAX 3960 DEEPGLIDER 0

D_CALL 0 N_NOCOMM 0 C_VBD 1888 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.25119999 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 83

T_DIVE 50 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 70 CALL_WAIT 45 PITCH_VBD_SHIFT 0.00055 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 500 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 100840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 195 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3873 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 2914 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 150 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0042755376

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 1 SEABIRD_T_H 0.00061792543

GLIDE_SLOPE 45 P_OVSHOOT 0.0099999998 FG_AHR_10V 0 SEABIRD_T_I 2.1266471e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 2.1233338e-06

RHO 1.023 PITCH_GAIN 26 PHONE_SUPPLY 2 SEABIRD_C_G -10.171201

MASS 52192 PITCH_TIMEOUT 18 PRESSURE_YINT -59.556149 SEABIRD_C_H 1.1543965

MASS_COMP 0 PITCH_AD_RATE 160 PRESSURE_SLOPE 0.0001158973 SEABIRD_C_I -0.001885508

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 128 SEABIRD_C_J 0.00023849163

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2972.8101

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.00318893 ROLL_MIN 268 COMPASS_USE 4

AD7714Ch0Gain 128 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 250

AH0_24V 150 D_TGT 150 PITCH_AD_RATE 160 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 26 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3873 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FILEMGR 0 PITCH_MIN 195 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.00055 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 41.058334

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.00318893 PITCH_W_GAIN 0 TGT_DEFAULT_LON -124.43333

APOGEE_PITCH -5 HD_B 0.0082269898 PRESSURE_SLOPE 0.0001158973 T_ABORT 1440

CALL_NDIVES 1 HD_C 3.24089e-06 PRESSURE_YINT -59.556149 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 50

CALL_WAIT 45 HEAD_ERRBAND 20 P_OVSHOOT 0.0099999998 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 15

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 157 RAFOS_DEVICE -1 T_MISSION 70

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1.2 RAFOS_MMODEM 0 T_RSLEEP 3

COMPASS_DEVICE 33 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN 500

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 2914 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2050 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 2150 LOGGERS 0 ROLL_AD_RATE 200 UPLOAD_DIVES_MAX -1

C_VBD 1888 MASS 52192 ROLL_CNV 0.028270001 USE_BATHY -6

DBDW 0 MASS_COMP 0 ROLL_DEG 40 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 1 ROLL_MAX 3867 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEVICE2 101 MAX_BUOY 150 ROLL_MIN 268 VBD_DBAND 2

DEVICE3 83 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 19 R_PORT_OVSHOOT 36 VBD_MAX 3960

DEVICE5 -1 MISSION 18 R_STBD_OVSHOOT 38 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.171201 VBD_MIN 485

DIVE 4 NAV_MODE 2 SEABIRD_C_H 1.1543965 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 NOCOMM_ACTION 0 SEABIRD_C_I -0.001885508 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 3 N_DIVES 0 SEABIRD_C_J 0.00023849163 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2972.8101 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_T_G 0.0042755376 XPDR_DEVICE 24

D_FLARE 2 N_NOCOMM 0 SEABIRD_T_H 0.00061792543 XPDR_INHIBIT 90

D_NO_BLEED 500 N_NOSURFACE 0 SEABIRD_T_I 2.1266471e-05 XPDR_VALID 6

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.1233338e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 301017,214731,4742.5317,-12224.8145,5,0.8,9,16.3,0.0,0.0,11,8.5 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.062090,0.280277

_SM_DEPTHo 1.27 KALMAN_X -208.350067,-229.888718,-185.031998,380.761078,-136.364304

_SM_ANGLEo -68.6 KALMAN_Y -598.710144,-685.060974,-562.176697,1697.039062,-419.175415

GPS2 301017,215442,4742.4824,-12224.8555,11,0.9,12,16.3,0.0,0.0,10,9.3 MHEAD_RNG_PITCHd_Wd 2.8,3762,-16.4,-10.000,-19.21,2244

SPEED_LIMITS 0.100,0.287 D_GRID 162

Post-dive calculations and measurements:

FINISH 0.4,1.012411 _10V_AH 10.48,0.179

SM_CCo 2887,60.83,0.054,0,0,890,250.20 FG_AHR_24Vo 0.000

SM_GC 1.67,7.47,2.10,60.83,0.039,0.037,0.054,188,2167,890,-8.41,1.13,250.20,0,0,0,0,0,0,26.64,26.62,26.53 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4742.66,-12229.50,301017,205706 MEM 312852

TT8_MAMPS 0.023968,0.200732 DATA_FILE_SIZE 38438,534

HUMID 46.06 CAP_FILE_SIZE 66657,0

INTERNAL_PRESSURE 8.83701 CFSIZE 260034560,258138112

TCM_TEMP 13.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0

XPDR_PINGS 9 CURRENT 0.078,260.80,1

ALTIM_BOTTOM_PING 105.3,84.2 GPS 301017,224551,4742.848,-12224.821,6,1.0,17,16.3,0.0,0.0,8,10.0

_24V_AH 24.60,0.427

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 243 111.61 SBE_CT 363 23 214.50

Roll_motor 60 1278 1911.95 AA4330 423 20 210.77

VBD_pump_during_apogee 234 712 4112.50 WL_red_Chl_CDOM 427 61 646.09

VBD_pump_during_surface 60 53 80.13 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 61 39.73 nil 0 0 0.00

Iridium_during_connect 43 160 170.15 nil 0 0 0.00

Iridium_during_xfer 281 223 1544.21 nil 0 0 0.00

Transponder_ping 3 420 31.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 29 3.92

TT8 1280 10 137.15

LPSleep 489 2 11.23

TT8_Active 431 10 46.21

TT8_Sampling 1150 34 412.01

TT8_CF8 55 40 23.26

TT8_Kalman 32 57 19.51

Analog_circuits 897 16 150.46

GPS_charging 0 0 0.00

Compass 778 16 134.45

RAFOS 0 0 0.00

Transponder 8 30 2.52

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -0.71 -146.6 163 2164 683 778 0.0 0.0 0 46 0.00 0.00 -37.00 0.000 16386 0.000 0.000 164 2164 1744 1788 1700 0 0 0 0 0 0 26.46 28.83 26.48 8.88 47.04

49 -0.71 -146.6 163 2163 1788 1700 2.4 -4.8 6 87 9.75 2.60 -21.50 0.000 18692 0.243 1.278 2677 3557 2474 2635 2314 0 0 0 0 0 0 25.91 25.12 26.17 8.98 46.41

114 -0.71 -146.6 2676 3554 2635 2318 7.1 -10.8 17 122 0.00 2.33 0.00 0.000 1030 0.000 0.034 2677 2158 2476 2635 2317 0 0 0 0 0 0 26.25 26.18 26.27 9.06 45.70

184 -0.71 -146.6 2677 2159 2635 2318 16.4 -14.7 30 191 0.00 2.42 0.00 0.000 516 0.000 0.041 2677 709 2476 2635 2317 0 0 0 0 0 0 26.51 26.24 26.53 9.06 46.10

248 -0.71 -146.6 2676 709 2634 2318 26.5 -15.7 42 255 0.00 2.28 0.00 0.000 1030 0.000 0.028 2669 2140 2476 2635 2318 0 0 0 0 0 0 26.38 26.32 26.39 9.06 45.66

316 -0.71 -146.6 2668 2138 2634 2318 36.9 -15.1 55 322 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2138 2476 2635 2318 0 0 0 0 0 0 26.62 26.63 26.63 9.06 46.29

384 -0.71 -146.6 2668 2138 2635 2318 47.8 -16.3 68 390 0.00 2.50 0.00 0.000 260 0.000 0.042 2657 3572 2476 2634 2318 0 0 0 0 0 0 26.66 26.36 26.67 9.05 45.62

427 -0.71 -146.6 2656 3562 2635 2318 54.6 -15.1 76 434 0.00 2.35 0.00 0.000 1030 0.000 0.028 2657 2146 2476 2635 2318 0 0 0 0 0 0 26.49 26.42 26.51 9.05 45.58

555 -0.71 -146.6 2656 2146 2634 2318 73.6 -13.6 101 563 0.00 2.35 0.00 0.000 516 0.000 0.046 2657 713 2475 2634 2317 0 0 0 0 0 0 26.74 26.46 26.75 9.05 46.02

619 -0.71 -146.6 2656 713 2635 2318 83.0 -14.4 113 628 0.15 2.28 0.00 0.000 3078 0.159 0.027 2694 2149 2476 2634 2318 0 0 0 0 0 0 26.34 26.51 26.48 9.05 45.90

752 -0.71 -146.6 2693 2147 2634 2318 97.8 -10.7 138 757 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2147 2476 2635 2317 0 0 0 0 0 0 26.80 26.82 26.82 9.05 45.62

885 -0.71 -146.6 2693 2147 2634 2317 110.8 -9.2 163 892 0.00 2.47 0.00 0.000 260 0.000 0.042 2684 3573 2476 2635 2318 0 0 0 0 0 0 26.84 26.53 26.85 9.05 45.66

928 -0.71 -146.6 2683 3569 2635 2318 115.5 -10.0 171 935 0.00 2.35 0.00 0.000 1030 0.000 0.034 2683 2149 2476 2634 2318 0 0 0 0 0 0 26.65 26.60 26.67 9.05 45.47

1058 -0.71 -146.6 2683 2150 2634 2318 129.8 -11.6 196 1064 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2150 2476 2635 2318 0 0 0 0 0 0 26.87 26.89 26.89 9.04 45.74

1186 -0.71 -146.6 2683 2150 2634 2318 145.2 -11.9 221 1192 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2150 2476 2635 2318 0 0 0 0 0 0 26.90 26.91 26.91 9.04 45.74

1228 end dive: TARGET_DEPTH_EXCEEDED

state 1228 begin apogee

1232 -0.19 0.0 2683 2014 2634 2318 150.4 -12.9 229 1360 0.50 0.05 117.47 0.712 10246 0.133 0.054 2857 2071 1886 1928 1844 0 0 0 0 0 0 26.47 25.11 24.75 9.04 46.06

1362 end apogee: CONTROL_FINISHED_OK

state 1362 begin climb

1363 0.71 146.6 2857 2071 1928 1844 156.5 0.0 250 1488 0.77 0.00 117.25 0.687 10246 0.090 0.000 3127 2071 1302 1305 1300 0 0 0 0 0 0 25.37 25.08 24.60 8.99 44.99

1610 0.71 146.6 3126 2071 1305 1298 139.5 11.1 295 1616 0.00 2.35 0.00 0.000 516 0.000 0.045 3132 648 1301 1305 1298 0 0 0 0 0 0 26.13 25.86 26.15 8.93 44.52

1658 0.71 146.6 3131 647 1305 1298 134.5 10.6 304 1665 0.00 2.20 0.00 0.000 1030 0.000 0.026 3132 2051 1301 1305 1298 0 0 0 0 0 0 26.08 26.02 26.09 8.93 44.92

1788 0.71 146.6 3131 2050 1305 1297 119.4 12.6 329 1796 0.00 2.50 0.00 0.000 260 0.000 0.041 3132 3448 1300 1304 1297 0 0 0 0 0 0 26.45 26.17 26.46 8.92 45.19

1832 0.71 146.6 3131 3443 1305 1297 113.1 13.7 337 1840 0.00 2.38 0.00 0.000 1030 0.000 0.028 3142 2072 1301 1305 1297 0 0 0 0 0 0 26.31 26.25 26.33 8.92 45.47

1964 0.71 146.6 3141 2072 1305 1297 97.3 11.5 362 1970 0.00 2.33 0.00 0.000 516 0.000 0.044 3145 618 1301 1305 1297 0 0 0 0 0 0 26.60 26.32 26.62 8.92 45.62

1997 0.71 146.6 3144 619 1305 1297 93.4 11.5 368 2004 0.00 2.20 0.00 0.000 1030 0.000 0.024 3145 2059 1301 1305 1297 0 0 0 0 0 0 26.44 26.39 26.46 8.92 45.86

2126 0.71 146.6 3145 2057 1305 1297 78.6 11.5 393 2133 0.00 0.00 0.00 0.000 6 0.000 0.000 3145 2057 1300 1305 1296 0 0 0 0 0 0 26.69 26.71 26.70 8.92 45.94

2255 0.71 146.6 3145 2057 1305 1296 64.5 10.0 418 2262 0.00 2.30 0.00 0.000 516 0.000 0.044 3145 618 1300 1305 1296 0 0 0 0 0 0 26.74 26.46 26.76 8.92 46.81

2293 0.71 146.6 3145 618 1305 1296 60.2 10.7 425 2301 0.00 2.20 0.00 0.000 1030 0.000 0.024 3145 2063 1300 1305 1296 0 0 0 0 0 0 26.58 26.53 26.60 8.92 46.45

2424 0.71 146.6 3145 2061 1305 1296 46.8 10.3 450 2430 0.00 2.30 0.00 0.000 516 0.000 0.044 3145 619 1300 1305 1296 0 0 0 0 0 0 26.80 26.52 26.82 8.92 46.49

2496 0.71 146.6 3145 619 1305 1296 39.3 10.2 464 2503 0.00 2.17 0.00 0.000 1030 0.000 0.024 3146 2048 1301 1306 1297 0 0 0 0 0 0 26.64 26.58 26.65 8.92 46.69

2564 0.71 146.6 3145 2048 1305 1297 32.7 10.2 477 2572 0.00 2.45 0.00 0.000 260 0.000 0.039 3146 3448 1300 1305 1296 0 0 0 0 0 0 26.84 26.55 26.85 8.92 46.37

2608 0.71 146.6 3145 3448 1305 1296 28.2 10.4 485 2616 0.00 2.40 0.00 0.000 1030 0.000 0.029 3145 2039 1300 1305 1296 0 0 0 0 0 0 26.65 26.59 26.67 8.92 46.41

2678 0.71 146.6 3145 2039 1305 1296 20.7 11.1 498 2685 0.00 2.25 0.00 0.000 516 0.000 0.044 3145 616 1300 1305 1296 0 0 0 0 0 0 26.86 26.57 26.87 8.92 46.45

2737 0.71 146.6 3145 616 1305 1296 13.8 11.6 509 2745 0.00 2.17 0.00 0.000 1030 0.000 0.024 3145 2051 1300 1305 1296 0 0 0 0 0 0 26.69 26.64 26.70 8.92 46.45

2807 0.71 146.6 3145 2050 1305 1296 6.7 10.6 522 2814 0.00 2.33 0.00 0.000 260 0.000 0.040 3145 3424 1300 1305 1296 0 0 1 0 0 0 26.88 26.59 26.89 8.92 46.29

2854 end climb: SURFACE_DEPTH_REACHED

state 2854 begin surface coast

2871 end surface coast: CONTROL_FINISHED_OK

state 2872 begin surface

ID	157	HD_B	0.0082269898	ROLL_MAX	3867	ALTIM_BOTTOM_PING_RANGE	0
MISSION	18	HD_C	3.24089e-06	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
DIVE	4	HEADING	-1	C_ROLL_DIVE	2150	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2050	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	20	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	2	TGT_DEFAULT_LAT	41.058334	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	150	TGT_DEFAULT_LON	-124.43333	R_PORT_OVSHOOT	36	ALTIM_FREQUENCY	13
D_ABORT	1050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	38	ALTIM_PULSE	5
D_NO_BLEED	500	SM_CC	250	ROLL_AD_RATE	200	ALTIM_SENSITIVITY	3
D_BOOST	3	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	6
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	485	INT_PRESSURE_YINT	1.2
D_SAFE	0	PROTOCOL	9	VBD_MAX	3960	DEEPGLIDER	0
D_CALL	0	N_NOCOMM	0	C_VBD	1888	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.25119999	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	83
T_DIVE	50	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	70	CALL_WAIT	45	PITCH_VBD_SHIFT	0.00055	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	500	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	100840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	195	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3873	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	2914	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	150	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0042755376
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	1	SEABIRD_T_H	0.00061792543
GLIDE_SLOPE	45	P_OVSHOOT	0.0099999998	FG_AHR_10V	0	SEABIRD_T_I	2.1266471e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	2.1233338e-06
RHO	1.023	PITCH_GAIN	26	PHONE_SUPPLY	2	SEABIRD_C_G	-10.171201
MASS	52192	PITCH_TIMEOUT	18	PRESSURE_YINT	-59.556149	SEABIRD_C_H	1.1543965
MASS_COMP	0	PITCH_AD_RATE	160	PRESSURE_SLOPE	0.0001158973	SEABIRD_C_I	-0.001885508
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	128	SEABIRD_C_J	0.00023849163
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2972.8101
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.00318893	ROLL_MIN	268	COMPASS_USE	4

GPS1	301017,214731,4742.5317,-12224.8145,5,0.8,9,16.3,0.0,0.0,11,8.5	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.062090,0.280277
_SM_DEPTHo	1.27	KALMAN_X	-208.350067,-229.888718,-185.031998,380.761078,-136.364304
_SM_ANGLEo	-68.6	KALMAN_Y	-598.710144,-685.060974,-562.176697,1697.039062,-419.175415
GPS2	301017,215442,4742.4824,-12224.8555,11,0.9,12,16.3,0.0,0.0,10,9.3	MHEAD_RNG_PITCHd_Wd	2.8,3762,-16.4,-10.000,-19.21,2244
SPEED_LIMITS	0.100,0.287	D_GRID	162

FINISH	0.4,1.012411	_10V_AH	10.48,0.179
SM_CCo	2887,60.83,0.054,0,0,890,250.20	FG_AHR_24Vo	0.000
SM_GC	1.67,7.47,2.10,60.83,0.039,0.037,0.054,188,2167,890,-8.41,1.13,250.20,0,0,0,0,0,0,26.64,26.62,26.53	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4742.66,-12229.50,301017,205706	MEM	312852
TT8_MAMPS	0.023968,0.200732	DATA_FILE_SIZE	38438,534
HUMID	46.06	CAP_FILE_SIZE	66657,0
INTERNAL_PRESSURE	8.83701	CFSIZE	260034560,258138112
TCM_TEMP	13.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
XPDR_PINGS	9	CURRENT	0.078,260.80,1
ALTIM_BOTTOM_PING	105.3,84.2	GPS	301017,224551,4742.848,-12224.821,6,1.0,17,16.3,0.0,0.0,8,10.0
_24V_AH	24.60,0.427

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	243	111.61	SBE_CT	363	23	214.50
Roll_motor	60	1278	1911.95	AA4330	423	20	210.77
VBD_pump_during_apogee	234	712	4112.50	WL_red_Chl_CDOM	427	61	646.09
VBD_pump_during_surface	60	53	80.13	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	61	39.73	nil	0	0	0.00
Iridium_during_connect	43	160	170.15	nil	0	0	0.00
Iridium_during_xfer	281	223	1544.21	nil	0	0	0.00
Transponder_ping	3	420	31.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	29	3.92
TT8	1280	10	137.15
LPSleep	489	2	11.23
TT8_Active	431	10	46.21
TT8_Sampling	1150	34	412.01
TT8_CF8	55	40	23.26
TT8_Kalman	32	57	19.51
Analog_circuits	897	16	150.46
GPS_charging	0	0	0.00
Compass	778	16	134.45
RAFOS	0	0	0.00
Transponder	8	30	2.52

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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-0.71	-146.6	163	2164	683	778	0.0	0.0	0	46	0.00	0.00	-37.00	0.000	16386	0.000	0.000	164	2164	1744	1788	1700	0	0	0	0	0	0	26.46	28.83	26.48	8.88	47.04
49	-0.71	-146.6	163	2163	1788	1700	2.4	-4.8	6	87	9.75	2.60	-21.50	0.000	18692	0.243	1.278	2677	3557	2474	2635	2314	0	0	0	0	0	0	25.91	25.12	26.17	8.98	46.41
114	-0.71	-146.6	2676	3554	2635	2318	7.1	-10.8	17	122	0.00	2.33	0.00	0.000	1030	0.000	0.034	2677	2158	2476	2635	2317	0	0	0	0	0	0	26.25	26.18	26.27	9.06	45.70
184	-0.71	-146.6	2677	2159	2635	2318	16.4	-14.7	30	191	0.00	2.42	0.00	0.000	516	0.000	0.041	2677	709	2476	2635	2317	0	0	0	0	0	0	26.51	26.24	26.53	9.06	46.10
248	-0.71	-146.6	2676	709	2634	2318	26.5	-15.7	42	255	0.00	2.28	0.00	0.000	1030	0.000	0.028	2669	2140	2476	2635	2318	0	0	0	0	0	0	26.38	26.32	26.39	9.06	45.66
316	-0.71	-146.6	2668	2138	2634	2318	36.9	-15.1	55	322	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2138	2476	2635	2318	0	0	0	0	0	0	26.62	26.63	26.63	9.06	46.29
384	-0.71	-146.6	2668	2138	2635	2318	47.8	-16.3	68	390	0.00	2.50	0.00	0.000	260	0.000	0.042	2657	3572	2476	2634	2318	0	0	0	0	0	0	26.66	26.36	26.67	9.05	45.62
427	-0.71	-146.6	2656	3562	2635	2318	54.6	-15.1	76	434	0.00	2.35	0.00	0.000	1030	0.000	0.028	2657	2146	2476	2635	2318	0	0	0	0	0	0	26.49	26.42	26.51	9.05	45.58
555	-0.71	-146.6	2656	2146	2634	2318	73.6	-13.6	101	563	0.00	2.35	0.00	0.000	516	0.000	0.046	2657	713	2475	2634	2317	0	0	0	0	0	0	26.74	26.46	26.75	9.05	46.02
619	-0.71	-146.6	2656	713	2635	2318	83.0	-14.4	113	628	0.15	2.28	0.00	0.000	3078	0.159	0.027	2694	2149	2476	2634	2318	0	0	0	0	0	0	26.34	26.51	26.48	9.05	45.90
752	-0.71	-146.6	2693	2147	2634	2318	97.8	-10.7	138	757	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2147	2476	2635	2317	0	0	0	0	0	0	26.80	26.82	26.82	9.05	45.62
885	-0.71	-146.6	2693	2147	2634	2317	110.8	-9.2	163	892	0.00	2.47	0.00	0.000	260	0.000	0.042	2684	3573	2476	2635	2318	0	0	0	0	0	0	26.84	26.53	26.85	9.05	45.66
928	-0.71	-146.6	2683	3569	2635	2318	115.5	-10.0	171	935	0.00	2.35	0.00	0.000	1030	0.000	0.034	2683	2149	2476	2634	2318	0	0	0	0	0	0	26.65	26.60	26.67	9.05	45.47
1058	-0.71	-146.6	2683	2150	2634	2318	129.8	-11.6	196	1064	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2150	2476	2635	2318	0	0	0	0	0	0	26.87	26.89	26.89	9.04	45.74
1186	-0.71	-146.6	2683	2150	2634	2318	145.2	-11.9	221	1192	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2150	2476	2635	2318	0	0	0	0	0	0	26.90	26.91	26.91	9.04	45.74
1228	end dive: TARGET_DEPTH_EXCEEDED
state	1228	begin apogee
1232	-0.19	0.0	2683	2014	2634	2318	150.4	-12.9	229	1360	0.50	0.05	117.47	0.712	10246	0.133	0.054	2857	2071	1886	1928	1844	0	0	0	0	0	0	26.47	25.11	24.75	9.04	46.06
1362	end apogee: CONTROL_FINISHED_OK
state	1362	begin climb
1363	0.71	146.6	2857	2071	1928	1844	156.5	0.0	250	1488	0.77	0.00	117.25	0.687	10246	0.090	0.000	3127	2071	1302	1305	1300	0	0	0	0	0	0	25.37	25.08	24.60	8.99	44.99
1610	0.71	146.6	3126	2071	1305	1298	139.5	11.1	295	1616	0.00	2.35	0.00	0.000	516	0.000	0.045	3132	648	1301	1305	1298	0	0	0	0	0	0	26.13	25.86	26.15	8.93	44.52
1658	0.71	146.6	3131	647	1305	1298	134.5	10.6	304	1665	0.00	2.20	0.00	0.000	1030	0.000	0.026	3132	2051	1301	1305	1298	0	0	0	0	0	0	26.08	26.02	26.09	8.93	44.92
1788	0.71	146.6	3131	2050	1305	1297	119.4	12.6	329	1796	0.00	2.50	0.00	0.000	260	0.000	0.041	3132	3448	1300	1304	1297	0	0	0	0	0	0	26.45	26.17	26.46	8.92	45.19
1832	0.71	146.6	3131	3443	1305	1297	113.1	13.7	337	1840	0.00	2.38	0.00	0.000	1030	0.000	0.028	3142	2072	1301	1305	1297	0	0	0	0	0	0	26.31	26.25	26.33	8.92	45.47
1964	0.71	146.6	3141	2072	1305	1297	97.3	11.5	362	1970	0.00	2.33	0.00	0.000	516	0.000	0.044	3145	618	1301	1305	1297	0	0	0	0	0	0	26.60	26.32	26.62	8.92	45.62
1997	0.71	146.6	3144	619	1305	1297	93.4	11.5	368	2004	0.00	2.20	0.00	0.000	1030	0.000	0.024	3145	2059	1301	1305	1297	0	0	0	0	0	0	26.44	26.39	26.46	8.92	45.86
2126	0.71	146.6	3145	2057	1305	1297	78.6	11.5	393	2133	0.00	0.00	0.00	0.000	6	0.000	0.000	3145	2057	1300	1305	1296	0	0	0	0	0	0	26.69	26.71	26.70	8.92	45.94
2255	0.71	146.6	3145	2057	1305	1296	64.5	10.0	418	2262	0.00	2.30	0.00	0.000	516	0.000	0.044	3145	618	1300	1305	1296	0	0	0	0	0	0	26.74	26.46	26.76	8.92	46.81
2293	0.71	146.6	3145	618	1305	1296	60.2	10.7	425	2301	0.00	2.20	0.00	0.000	1030	0.000	0.024	3145	2063	1300	1305	1296	0	0	0	0	0	0	26.58	26.53	26.60	8.92	46.45
2424	0.71	146.6	3145	2061	1305	1296	46.8	10.3	450	2430	0.00	2.30	0.00	0.000	516	0.000	0.044	3145	619	1300	1305	1296	0	0	0	0	0	0	26.80	26.52	26.82	8.92	46.49
2496	0.71	146.6	3145	619	1305	1296	39.3	10.2	464	2503	0.00	2.17	0.00	0.000	1030	0.000	0.024	3146	2048	1301	1306	1297	0	0	0	0	0	0	26.64	26.58	26.65	8.92	46.69
2564	0.71	146.6	3145	2048	1305	1297	32.7	10.2	477	2572	0.00	2.45	0.00	0.000	260	0.000	0.039	3146	3448	1300	1305	1296	0	0	0	0	0	0	26.84	26.55	26.85	8.92	46.37
2608	0.71	146.6	3145	3448	1305	1296	28.2	10.4	485	2616	0.00	2.40	0.00	0.000	1030	0.000	0.029	3145	2039	1300	1305	1296	0	0	0	0	0	0	26.65	26.59	26.67	8.92	46.41
2678	0.71	146.6	3145	2039	1305	1296	20.7	11.1	498	2685	0.00	2.25	0.00	0.000	516	0.000	0.044	3145	616	1300	1305	1296	0	0	0	0	0	0	26.86	26.57	26.87	8.92	46.45
2737	0.71	146.6	3145	616	1305	1296	13.8	11.6	509	2745	0.00	2.17	0.00	0.000	1030	0.000	0.024	3145	2051	1300	1305	1296	0	0	0	0	0	0	26.69	26.64	26.70	8.92	46.45
2807	0.71	146.6	3145	2050	1305	1296	6.7	10.6	522	2814	0.00	2.33	0.00	0.000	260	0.000	0.040	3145	3424	1300	1305	1296	0	0	1	0	0	0	26.88	26.59	26.89	8.92	46.29
2854	end climb: SURFACE_DEPTH_REACHED
state	2854	begin surface coast
2871	end surface coast: CONTROL_FINISHED_OK
state	2872	begin surface