Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 54 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 51 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 50 ALTIM_PULSE 2

DIVE 54 TGT_DEFAULT_LAT 57.182999 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

N_DIVES 0 TGT_DEFAULT_LON -151 ROLL_MAXERRORS 1 XPDR_VALID 4

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_SURF 2 SM_CC 500 ROLL_ADJ_DBAND 0 XPDR_INT 0

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 XPDR_REP 0

D_TGT 180 FILEMGR 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097655999

D_ABORT 600 CALL_NDIVES 1 C_VBD 2968 INT_PRESSURE_YINT -1.4

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 4 DEEPGLIDER 0

D_BOOST 0 PROTOCOL 9 VBD_CNV -0.24529999 MOTHERBOARD 4

T_BOOST 0 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE1 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE2 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 60 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_DIVE 60 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE2 131

T_MISSION 80 T_GPS 15 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 N_GPS 100840 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 COMPASS_DEVICE 33

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 GPS_DEVICE 64

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 RAFOS_DEVICE -1

USE_BATHY -2 RAFOS_MMODEM 0 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_ICE 0 PITCH_MIN 210 CF8_MAXERRORS 20 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 AH0_24V 144.89999 SEABIRD_T_G 0.0044052354

D_OFFGRID 1000 C_PITCH 2625 AH0_10V 100 SEABIRD_T_H 0.00063728914

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 19 SEABIRD_T_I 2.5929839e-05

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 8 SEABIRD_T_J 3.1599577e-06

APOGEE_PITCH -5 P_OVSHOOT 0.079999998 MAXI_24V 1 SEABIRD_C_G -10.182622

MAX_BUOY 150 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_H 1.1278557

COURSE_BIAS 0 PITCH_GAIN 45 FG_AHR_10V 0 SEABIRD_C_I -0.0031189518

GLIDE_SLOPE 30 PITCH_TIMEOUT 17 FG_AHR_24V 0 SEABIRD_C_J 0.00030257509

SPEED_FACTOR 1 PITCH_AD_RATE 160 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_YINT -133.12781 SC_PROFILE 3.0

MASS 54196 PITCH_ADJ_GAIN 0.02 PRESSURE_SLOPE 0.00010934046 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 32 SC_NDIVE 1.0

NAV_MODE 2 ROLL_MIN 236 COMPASS_USE 4 ED_RECORDABOVE 1000.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_PING_FIT 0 ED_PROFILE 7.0

KALMAN_USE 2 ROLL_DEG 30 ALTIM_TOP_PING_RANGE 0 ED_XMITPROFILE 7.0

HD_A 0.0050118701 C_ROLL_DIVE 2200 ALTIM_BOTTOM_TURN_MARGIN 0 ED_UPLOADMAX 0.0

HD_B 0.0163117 C_ROLL_CLIMB 2000 ALTIM_TOP_TURN_MARGIN 0 ED_STARTS 106.0

HD_C 5.7000002e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0 ED_NDIVE 1.0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 32 ED_NDIVE 1.0 N_GPS 100840 SEABIRD_T_G 0.0044052354

AH0_10V 100 ED_PROFILE 7.0 N_NOCOMM 1 SEABIRD_T_H 0.00063728914

AH0_24V 144.89999 ED_RECORDABOVE 1000.0 N_NOSURFACE 0 SEABIRD_T_I 2.5929839e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ED_STARTS 106.0 PHONE_DEVICE 49 SEABIRD_T_J 3.1599577e-06

ALTIM_FREQUENCY 13 ED_UPLOADMAX 0.0 PHONE_SUPPLY -2 SIM_W 0

ALTIM_PING_DELTA 0 ED_XMITPROFILE 7.0 PITCH_ADJ_DBAND 1 SM_CC 500

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.02 SPEED_FACTOR 1

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PITCH_AD_RATE 160 STOP_T 0

ALTIM_PULSE 2 FERRY_MAX 45 PITCH_CNV 0.003125763 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_GAIN 45 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MAX 3900 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MIN 210 TGT_DEFAULT_LAT 57.182999

CALL_NDIVES 1 GPS_DEVICE 64 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -151

CALL_TRIES 5 HD_A 0.0050118701 PITCH_VBD_SHIFT 0.001 T_ABORT 1440

CALL_WAIT 60 HD_B 0.0163117 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_W_GAIN 0 T_DIVE 60

CAPUPLOAD 0 HEADING -1 PRESSURE_SLOPE 0.00010934046 T_EPIRB 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_YINT -133.12781 T_GPS 15

COMM_SEQ 0 HEAPDBG 0 PROTOCOL 9 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.079999998 T_MISSION 80

COMPASS_DEVICE 33 ID 204 P_OVSHOOT_WITHG 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_CORR_THRESH 60 T_RSLEEP 1

COURSE_BIAS 0 INT_PRESSURE_YINT -1.4 RAFOS_DEVICE -1 T_TURN 225

C_PITCH 2625 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2000 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE2 131 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 60

C_VBD 2968 LOGGERDEVICE3 -1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERDEVICE4 -1 RHO 1.0275 USE_BATHY -2

DEEPGLIDER 0 LOGGERS 3 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE1 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_D_BOTTOM 0 ROLL_AD_RATE 350 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_D_TOP 0 ROLL_CNV 0.028270001 VBD_DBAND 4

DEVICE4 -1 LOITER_N_DIVE 0 ROLL_DEG 30 VBD_LP_IGNORE 0

DEVICE5 -1 LOITER_W_DBAND 0 ROLL_MAX 3704 VBD_MAX 3960

DEVICE6 -1 MASS 54196 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 54 MASS_COMP 0 ROLL_MIN 236 VBD_MIN 500

D_ABORT 600 MAXI_10V 0.80000001 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 2

D_BOOST 0 MAXI_24V 1 R_PORT_OVSHOOT 51 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 150 R_STBD_OVSHOOT 50 VBD_TIMEOUT 720

D_FINISH 0 MINV_10V 8 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_FLARE 3 MINV_24V 19 SC_PROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 MISSION 5 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_OFFGRID 1000 MOTHERBOARD 4 SC_XMITPROFILE 3.0 XPDR_INT 0

D_PITCH 0 NAV_MODE 2 SEABIRD_C_G -10.182622 XPDR_REP 0

D_SAFE 0 NOCOMM_ACTION 163 SEABIRD_C_H 1.1278557 XPDR_VALID 4

D_SURF 2 N_DIVES 0 SEABIRD_C_I -0.0031189518

D_TGT 180 N_FILEKB 8 SEABIRD_C_J 0.00030257509

Pre-dive calculations and measurements:

GPS1 030822,171338,4450.4214,-12459.7490,1,0.9,2,15.1,0.6,253.8,9,4.7 SPEED_LIMITS 0.173,0.208

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4450.016,-12457.809

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 1.03 MHEAD_RNG_PITCHd_Wd 95.7,2690,-22.7,-10.000,-25.65,2245

_SM_ANGLEo -71.5 D_GRID 986

GPS2 030822,171555,4450.4136,-12459.7783,3,0.9,4,15.1,0.5,232.0,9,5.5

Post-dive calculations and measurements:

FINISH 0.3,1.021258 _10V_AH 10.30,8.662

SM_CCo 3838,152.85,0.666,0,0,926,500.17 FG_AHR_24Vo 0.000

SM_GC 0.67,7.93,0.32,152.85,0.065,0.048,0.666,171,2217,926,-7.47,-0.85,500.17,0,0,0,0,0,0,25.95,25.91,24.89 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4449.52,-12458.03,030822,171135 MEM 220784

TT8_MAMPS 0.023968,0.298102 DATA_FILE_SIZE 23376,667

HUMID 35.78 CAP_FILE_SIZE 330825,0

INTERNAL_PRESSURE 8.50232 CFSIZE 260030464,237416448

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.083,277.98,1

SC_FREEKB 3795456 GPS 030822,182425,4450.353,-12459.583,6,0.9,31,15.1,0.2,160.4,12,4.1

_24V_AH 24.72,10.235

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 207 96.47 nil 0 0 0.00

Roll_motor 45 48 54.62 nil 0 0 0.00

VBD_pump_during_apogee 353 804 7032.36 nil 0 0 0.00

VBD_pump_during_surface 152 666 2517.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 3809 24 2317.99

Iridium_during_xfer 0 0 0.00 Edison 0 10 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 12 2.01

TT8 1673 13 240.86

LPSleep 233 2 5.27

TT8_Active 598 13 81.55

TT8_Sampling 1302 39 528.85

TT8_CF8 273 49 140.80

TT8_Kalman 0 0 0.00

Analog_circuits 1215 10 125.23

GPS_charging 0 0 0.00

Compass 1046 8 88.80

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

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

9 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.65 -146.0 192 2219 1048 812 0.0 0.0 0 100 0.00 0.00 -84.28 0.005 16386 0.000 0.000 192 2219 3244 3211 3277 0 0 0 0 0 0 26.23 28.83 26.23

104 -0.65 -146.0 192 2219 3213 3277 4.4 -8.6 13 127 8.45 1.62 -5.72 0.015 18980 0.207 0.046 2398 1127 3568 3541 3596 0 0 0 0 0 0 25.96 25.48 26.11

323 -0.65 -146.0 2397 1130 3546 3596 33.2 -7.7 52 330 0.00 1.62 0.00 0.000 1062 0.000 0.036 2392 2192 3572 3549 3596 0 0 0 0 0 0 26.27 26.22 26.27

459 -0.61 -146.0 2392 2192 3551 3596 45.6 -9.5 77 467 0.10 1.58 0.00 0.000 2724 0.189 0.028 2420 1136 3573 3551 3596 0 0 0 0 0 0 26.09 26.26 26.25

513 -0.65 -146.0 2419 1136 3552 3595 50.1 -8.2 86 520 0.00 1.62 0.00 0.000 1190 0.000 0.037 2414 2200 3574 3553 3596 0 0 0 0 0 0 26.28 26.24 26.28

650 -0.69 -146.0 2413 2200 3553 3596 62.9 -9.0 111 657 0.00 0.00 0.00 0.000 166 0.000 0.000 2414 2199 3575 3554 3596 0 0 0 0 0 0 26.29 26.29 26.29

787 -0.75 -146.0 2413 2200 3554 3596 73.9 -8.0 136 794 0.00 1.60 0.00 0.000 420 0.000 0.045 2406 3255 3575 3554 3596 0 0 0 0 0 0 26.29 26.23 26.29

850 -0.84 -146.0 2405 3255 3554 3596 79.0 -8.3 147 859 0.15 1.55 0.00 0.000 5286 0.092 0.028 2362 2200 3575 3554 3597 0 0 0 0 0 0 26.22 26.25 26.29

988 -0.84 -146.0 2361 2198 3554 3596 93.9 -10.7 172 995 0.00 0.00 0.00 0.000 6 0.000 0.000 2361 2198 3575 3554 3596 0 0 0 0 0 0 26.28 26.29 26.29

1125 -0.84 -146.0 2360 2198 3554 3595 107.9 -9.8 197 1133 0.00 1.62 0.00 0.000 292 0.000 0.043 2354 3260 3574 3554 3595 0 0 0 0 0 0 26.29 26.24 26.30

1187 -0.84 -146.0 2353 3262 3554 3595 113.9 -10.1 208 1196 0.00 1.62 0.00 0.000 1030 0.000 0.028 2360 2197 3574 3554 3595 0 0 0 0 0 0 26.29 26.29 26.30

1323 -0.84 -146.0 2359 2193 3554 3594 126.9 -9.5 233 1330 0.00 1.58 0.00 0.000 548 0.000 0.034 2368 1137 3573 3554 3593 0 0 0 0 0 0 26.29 26.24 26.29

1392 -0.90 -146.0 2371 1136 3554 3594 133.1 -8.6 245 1399 0.00 1.65 0.00 0.000 1190 0.000 0.038 2362 2208 3573 3554 3593 0 0 0 0 0 0 26.28 26.23 26.29

1530 -0.92 -146.0 2361 2210 3555 3591 144.9 -8.4 270 1537 0.00 1.60 0.00 0.000 420 0.000 0.046 2354 3258 3572 3554 3591 0 0 0 0 0 0 26.29 26.23 26.33

1646 -0.96 -146.0 2353 3258 3554 3590 154.6 -7.6 291 1654 0.12 1.58 0.00 0.000 5286 0.127 0.029 2315 2196 3572 3554 3590 0 0 0 0 0 0 26.19 26.25 26.27

1786 -0.90 -146.0 2314 2198 3554 3588 168.9 -11.0 316 1792 0.00 0.00 0.00 0.000 134 0.000 0.000 2311 2198 3572 3557 3588 0 0 0 0 0 0 26.29 26.30 26.30

1883 end dive: TARGET_DEPTH_EXCEEDED

state 1883 begin apogee

1889 -0.11 0.0 2315 1982 3554 3587 180.1 -11.3 334 2006 0.88 0.00 112.32 0.804 10246 0.166 0.000 2563 1981 2969 3025 2913 0 0 0 0 0 0 26.01 25.44 24.85

2008 end apogee: CONTROL_FINISHED_OK

state 2008 begin climb

2010 0.65 146.0 2563 1978 3023 2912 182.0 0.0 351 2138 0.80 1.67 113.18 0.779 10756 0.118 0.038 2822 963 2372 2468 2277 0 0 0 0 0 0 25.51 25.29 24.72

2162 0.65 146.0 2821 963 2466 2270 169.3 11.7 372 2170 0.00 1.65 0.00 0.000 1030 0.000 0.037 2816 2007 2366 2465 2268 0 0 0 0 0 0 25.66 25.62 25.66

2300 0.65 146.0 2815 2007 2458 2269 152.4 12.4 397 2307 0.00 1.60 0.00 0.000 260 0.000 0.044 2808 3054 2362 2457 2268 0 0 0 0 0 0 26.04 25.98 26.04

2361 0.65 146.0 2808 3054 2454 2269 144.5 12.9 408 2370 0.00 1.60 0.00 0.000 1030 0.000 0.029 2814 2018 2361 2454 2269 0 0 0 0 0 0 26.12 26.13 26.13

2498 0.65 146.0 2813 2013 2454 2269 128.4 10.8 433 2506 0.00 1.60 0.00 0.000 260 0.000 0.042 2808 3062 2361 2453 2269 0 0 0 0 0 0 26.22 26.17 26.22

2550 0.65 146.0 2808 3061 2449 2269 122.3 12.6 442 2558 0.00 1.60 0.00 0.000 1030 0.000 0.028 2818 1991 2361 2455 2268 0 0 0 0 0 0 26.23 26.19 26.23

2684 0.65 146.0 2814 1986 2449 2269 106.2 12.3 467 2691 0.00 1.58 0.00 0.000 516 0.000 0.037 2822 944 2359 2449 2269 0 0 0 0 0 0 26.26 26.22 26.27

2731 0.68 146.0 2822 944 2452 2269 100.5 12.4 475 2739 0.00 1.67 0.00 0.000 1158 0.000 0.036 2816 2005 2358 2448 2268 0 0 0 0 0 0 26.25 26.22 26.27

2866 0.70 146.0 2816 2005 2449 2267 84.4 11.1 500 2874 0.08 1.60 0.00 0.000 2436 0.206 0.042 2824 3060 2357 2447 2268 0 0 0 0 0 0 26.11 26.23 26.26

2942 0.70 146.0 2824 3060 2444 2267 75.1 12.5 513 2949 0.00 1.60 0.00 0.000 1030 0.000 0.028 2830 1985 2356 2445 2267 0 0 0 0 0 0 26.28 26.24 26.28

3077 0.70 146.0 2829 1981 2445 2264 59.6 11.6 538 3084 0.00 1.65 0.00 0.000 260 0.000 0.044 2824 3055 2356 2445 2267 0 0 0 0 0 0 26.31 26.22 26.29

3102 0.70 146.0 2823 3055 2443 2267 57.0 10.3 542 3109 0.00 1.58 0.00 0.000 1030 0.000 0.028 2830 1998 2355 2443 2267 0 0 0 0 0 0 26.29 26.25 26.29

3238 0.71 156.7 2830 1994 2443 2263 43.8 9.5 567 3254 0.00 1.62 7.50 0.662 8740 0.000 0.036 2839 939 2327 2423 2231 0 0 0 0 0 0 26.28 25.96 25.43

3404 0.81 229.7 2838 938 2422 2227 32.0 6.7 597 3469 0.10 1.67 58.72 0.706 11430 0.154 0.037 2872 1989 2029 2154 1905 0 0 0 0 0 0 26.11 26.23 25.06

3599 0.86 241.2 2871 1989 2140 1901 14.8 9.5 630 3614 0.00 1.67 9.68 0.648 8612 0.000 0.044 2865 3061 1978 2104 1853 0 0 0 0 0 0 26.12 25.94 25.32

3723 1.06 339.1 2869 3061 2091 1857 5.1 5.5 652 3781 0.22 1.62 52.42 0.670 11426 0.100 0.029 2945 2000 1709 1834 1584 0 0 0 0 0 0 26.03 26.14 26.13

3782 end climb: SURFACE_DEPTH_REACHED

state 3782 begin surface coast

3820 end surface coast: CONTROL_FINISHED_OK

state 3820 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	51	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	50	ALTIM_PULSE	2
DIVE	54	TGT_DEFAULT_LAT	57.182999	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
N_DIVES	0	TGT_DEFAULT_LON	-151	ROLL_MAXERRORS	1	XPDR_VALID	4
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_SURF	2	SM_CC	500	ROLL_ADJ_DBAND	0	XPDR_INT	0
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	XPDR_REP	0
D_TGT	180	FILEMGR	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097655999
D_ABORT	600	CALL_NDIVES	1	C_VBD	2968	INT_PRESSURE_YINT	-1.4
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	4	DEEPGLIDER	0
D_BOOST	0	PROTOCOL	9	VBD_CNV	-0.24529999	MOTHERBOARD	4
T_BOOST	0	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE1	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE2	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	60	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_DIVE	60	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE2	131
T_MISSION	80	T_GPS	15	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	N_GPS	100840	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	COMPASS_DEVICE	33
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	GPS_DEVICE	64
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
USE_BATHY	-2	RAFOS_MMODEM	0	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_ICE	0	PITCH_MIN	210	CF8_MAXERRORS	20	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	AH0_24V	144.89999	SEABIRD_T_G	0.0044052354
D_OFFGRID	1000	C_PITCH	2625	AH0_10V	100	SEABIRD_T_H	0.00063728914
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	19	SEABIRD_T_I	2.5929839e-05
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	8	SEABIRD_T_J	3.1599577e-06
APOGEE_PITCH	-5	P_OVSHOOT	0.079999998	MAXI_24V	1	SEABIRD_C_G	-10.182622
MAX_BUOY	150	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_H	1.1278557
COURSE_BIAS	0	PITCH_GAIN	45	FG_AHR_10V	0	SEABIRD_C_I	-0.0031189518
GLIDE_SLOPE	30	PITCH_TIMEOUT	17	FG_AHR_24V	0	SEABIRD_C_J	0.00030257509
SPEED_FACTOR	1	PITCH_AD_RATE	160	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_YINT	-133.12781	SC_PROFILE	3.0
MASS	54196	PITCH_ADJ_GAIN	0.02	PRESSURE_SLOPE	0.00010934046	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	32	SC_NDIVE	1.0
NAV_MODE	2	ROLL_MIN	236	COMPASS_USE	4	ED_RECORDABOVE	1000.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_PING_FIT	0	ED_PROFILE	7.0
KALMAN_USE	2	ROLL_DEG	30	ALTIM_TOP_PING_RANGE	0	ED_XMITPROFILE	7.0
HD_A	0.0050118701	C_ROLL_DIVE	2200	ALTIM_BOTTOM_TURN_MARGIN	0	ED_UPLOADMAX	0.0
HD_B	0.0163117	C_ROLL_CLIMB	2000	ALTIM_TOP_TURN_MARGIN	0	ED_STARTS	106.0
HD_C	5.7000002e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0	ED_NDIVE	1.0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	030822,171338,4450.4214,-12459.7490,1,0.9,2,15.1,0.6,253.8,9,4.7	SPEED_LIMITS	0.173,0.208
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4450.016,-12457.809
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	1.03	MHEAD_RNG_PITCHd_Wd	95.7,2690,-22.7,-10.000,-25.65,2245
_SM_ANGLEo	-71.5	D_GRID	986
GPS2	030822,171555,4450.4136,-12459.7783,3,0.9,4,15.1,0.5,232.0,9,5.5

FINISH	0.3,1.021258	_10V_AH	10.30,8.662
SM_CCo	3838,152.85,0.666,0,0,926,500.17	FG_AHR_24Vo	0.000
SM_GC	0.67,7.93,0.32,152.85,0.065,0.048,0.666,171,2217,926,-7.47,-0.85,500.17,0,0,0,0,0,0,25.95,25.91,24.89	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4449.52,-12458.03,030822,171135	MEM	220784
TT8_MAMPS	0.023968,0.298102	DATA_FILE_SIZE	23376,667
HUMID	35.78	CAP_FILE_SIZE	330825,0
INTERNAL_PRESSURE	8.50232	CFSIZE	260030464,237416448
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.083,277.98,1
SC_FREEKB	3795456	GPS	030822,182425,4450.353,-12459.583,6,0.9,31,15.1,0.2,160.4,12,4.1
_24V_AH	24.72,10.235

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	207	96.47	nil	0	0	0.00
Roll_motor	45	48	54.62	nil	0	0	0.00
VBD_pump_during_apogee	353	804	7032.36	nil	0	0	0.00
VBD_pump_during_surface	152	666	2517.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	3809	24	2317.99
Iridium_during_xfer	0	0	0.00	Edison	0	10	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	12	2.01
TT8	1673	13	240.86
LPSleep	233	2	5.27
TT8_Active	598	13	81.55
TT8_Sampling	1302	39	528.85
TT8_CF8	273	49	140.80
TT8_Kalman	0	0	0.00
Analog_circuits	1215	10	125.23
GPS_charging	0	0	0.00
Compass	1046	8	88.80
RAFOS	0	0	0.00
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

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
9	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.65	-146.0	192	2219	1048	812	0.0	0.0	0	100	0.00	0.00	-84.28	0.005	16386	0.000	0.000	192	2219	3244	3211	3277	0	0	0	0	0	0	26.23	28.83	26.23
104	-0.65	-146.0	192	2219	3213	3277	4.4	-8.6	13	127	8.45	1.62	-5.72	0.015	18980	0.207	0.046	2398	1127	3568	3541	3596	0	0	0	0	0	0	25.96	25.48	26.11
323	-0.65	-146.0	2397	1130	3546	3596	33.2	-7.7	52	330	0.00	1.62	0.00	0.000	1062	0.000	0.036	2392	2192	3572	3549	3596	0	0	0	0	0	0	26.27	26.22	26.27
459	-0.61	-146.0	2392	2192	3551	3596	45.6	-9.5	77	467	0.10	1.58	0.00	0.000	2724	0.189	0.028	2420	1136	3573	3551	3596	0	0	0	0	0	0	26.09	26.26	26.25
513	-0.65	-146.0	2419	1136	3552	3595	50.1	-8.2	86	520	0.00	1.62	0.00	0.000	1190	0.000	0.037	2414	2200	3574	3553	3596	0	0	0	0	0	0	26.28	26.24	26.28
650	-0.69	-146.0	2413	2200	3553	3596	62.9	-9.0	111	657	0.00	0.00	0.00	0.000	166	0.000	0.000	2414	2199	3575	3554	3596	0	0	0	0	0	0	26.29	26.29	26.29
787	-0.75	-146.0	2413	2200	3554	3596	73.9	-8.0	136	794	0.00	1.60	0.00	0.000	420	0.000	0.045	2406	3255	3575	3554	3596	0	0	0	0	0	0	26.29	26.23	26.29
850	-0.84	-146.0	2405	3255	3554	3596	79.0	-8.3	147	859	0.15	1.55	0.00	0.000	5286	0.092	0.028	2362	2200	3575	3554	3597	0	0	0	0	0	0	26.22	26.25	26.29
988	-0.84	-146.0	2361	2198	3554	3596	93.9	-10.7	172	995	0.00	0.00	0.00	0.000	6	0.000	0.000	2361	2198	3575	3554	3596	0	0	0	0	0	0	26.28	26.29	26.29
1125	-0.84	-146.0	2360	2198	3554	3595	107.9	-9.8	197	1133	0.00	1.62	0.00	0.000	292	0.000	0.043	2354	3260	3574	3554	3595	0	0	0	0	0	0	26.29	26.24	26.30
1187	-0.84	-146.0	2353	3262	3554	3595	113.9	-10.1	208	1196	0.00	1.62	0.00	0.000	1030	0.000	0.028	2360	2197	3574	3554	3595	0	0	0	0	0	0	26.29	26.29	26.30
1323	-0.84	-146.0	2359	2193	3554	3594	126.9	-9.5	233	1330	0.00	1.58	0.00	0.000	548	0.000	0.034	2368	1137	3573	3554	3593	0	0	0	0	0	0	26.29	26.24	26.29
1392	-0.90	-146.0	2371	1136	3554	3594	133.1	-8.6	245	1399	0.00	1.65	0.00	0.000	1190	0.000	0.038	2362	2208	3573	3554	3593	0	0	0	0	0	0	26.28	26.23	26.29
1530	-0.92	-146.0	2361	2210	3555	3591	144.9	-8.4	270	1537	0.00	1.60	0.00	0.000	420	0.000	0.046	2354	3258	3572	3554	3591	0	0	0	0	0	0	26.29	26.23	26.33
1646	-0.96	-146.0	2353	3258	3554	3590	154.6	-7.6	291	1654	0.12	1.58	0.00	0.000	5286	0.127	0.029	2315	2196	3572	3554	3590	0	0	0	0	0	0	26.19	26.25	26.27
1786	-0.90	-146.0	2314	2198	3554	3588	168.9	-11.0	316	1792	0.00	0.00	0.00	0.000	134	0.000	0.000	2311	2198	3572	3557	3588	0	0	0	0	0	0	26.29	26.30	26.30
1883	end dive: TARGET_DEPTH_EXCEEDED
state	1883	begin apogee
1889	-0.11	0.0	2315	1982	3554	3587	180.1	-11.3	334	2006	0.88	0.00	112.32	0.804	10246	0.166	0.000	2563	1981	2969	3025	2913	0	0	0	0	0	0	26.01	25.44	24.85
2008	end apogee: CONTROL_FINISHED_OK
state	2008	begin climb
2010	0.65	146.0	2563	1978	3023	2912	182.0	0.0	351	2138	0.80	1.67	113.18	0.779	10756	0.118	0.038	2822	963	2372	2468	2277	0	0	0	0	0	0	25.51	25.29	24.72
2162	0.65	146.0	2821	963	2466	2270	169.3	11.7	372	2170	0.00	1.65	0.00	0.000	1030	0.000	0.037	2816	2007	2366	2465	2268	0	0	0	0	0	0	25.66	25.62	25.66
2300	0.65	146.0	2815	2007	2458	2269	152.4	12.4	397	2307	0.00	1.60	0.00	0.000	260	0.000	0.044	2808	3054	2362	2457	2268	0	0	0	0	0	0	26.04	25.98	26.04
2361	0.65	146.0	2808	3054	2454	2269	144.5	12.9	408	2370	0.00	1.60	0.00	0.000	1030	0.000	0.029	2814	2018	2361	2454	2269	0	0	0	0	0	0	26.12	26.13	26.13
2498	0.65	146.0	2813	2013	2454	2269	128.4	10.8	433	2506	0.00	1.60	0.00	0.000	260	0.000	0.042	2808	3062	2361	2453	2269	0	0	0	0	0	0	26.22	26.17	26.22
2550	0.65	146.0	2808	3061	2449	2269	122.3	12.6	442	2558	0.00	1.60	0.00	0.000	1030	0.000	0.028	2818	1991	2361	2455	2268	0	0	0	0	0	0	26.23	26.19	26.23
2684	0.65	146.0	2814	1986	2449	2269	106.2	12.3	467	2691	0.00	1.58	0.00	0.000	516	0.000	0.037	2822	944	2359	2449	2269	0	0	0	0	0	0	26.26	26.22	26.27
2731	0.68	146.0	2822	944	2452	2269	100.5	12.4	475	2739	0.00	1.67	0.00	0.000	1158	0.000	0.036	2816	2005	2358	2448	2268	0	0	0	0	0	0	26.25	26.22	26.27
2866	0.70	146.0	2816	2005	2449	2267	84.4	11.1	500	2874	0.08	1.60	0.00	0.000	2436	0.206	0.042	2824	3060	2357	2447	2268	0	0	0	0	0	0	26.11	26.23	26.26
2942	0.70	146.0	2824	3060	2444	2267	75.1	12.5	513	2949	0.00	1.60	0.00	0.000	1030	0.000	0.028	2830	1985	2356	2445	2267	0	0	0	0	0	0	26.28	26.24	26.28
3077	0.70	146.0	2829	1981	2445	2264	59.6	11.6	538	3084	0.00	1.65	0.00	0.000	260	0.000	0.044	2824	3055	2356	2445	2267	0	0	0	0	0	0	26.31	26.22	26.29
3102	0.70	146.0	2823	3055	2443	2267	57.0	10.3	542	3109	0.00	1.58	0.00	0.000	1030	0.000	0.028	2830	1998	2355	2443	2267	0	0	0	0	0	0	26.29	26.25	26.29
3238	0.71	156.7	2830	1994	2443	2263	43.8	9.5	567	3254	0.00	1.62	7.50	0.662	8740	0.000	0.036	2839	939	2327	2423	2231	0	0	0	0	0	0	26.28	25.96	25.43
3404	0.81	229.7	2838	938	2422	2227	32.0	6.7	597	3469	0.10	1.67	58.72	0.706	11430	0.154	0.037	2872	1989	2029	2154	1905	0	0	0	0	0	0	26.11	26.23	25.06
3599	0.86	241.2	2871	1989	2140	1901	14.8	9.5	630	3614	0.00	1.67	9.68	0.648	8612	0.000	0.044	2865	3061	1978	2104	1853	0	0	0	0	0	0	26.12	25.94	25.32
3723	1.06	339.1	2869	3061	2091	1857	5.1	5.5	652	3781	0.22	1.62	52.42	0.670	11426	0.100	0.029	2945	2000	1709	1834	1584	0	0	0	0	0	0	26.03	26.14	26.13
3782	end climb: SURFACE_DEPTH_REACHED
state	3782	begin surface coast
3820	end surface coast: CONTROL_FINISHED_OK
state	3820	begin surface