Glider dive log

Shilshole 31Jul12 * SG130 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 130 HD_B 0.0099999998 PITCH_ADJ_GAIN 0.0099999998 ALTIM_TOP_PING_RANGE 0

MISSION 17 HD_C 9.9999997e-06 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 7 HEADING -1 ROLL_MIN 240 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3700 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 120

D_FLARE 2 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1900 ALTIM_PING_DELTA 5

D_TGT 200 TGT_DEFAULT_LAT 44.380001 C_ROLL_CLIMB 1800 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_DEFAULT_LON -125.01 HEAD_ERRBAND 5 ALTIM_PULSE 6

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_BOOST 0 SM_CC 300 ROLL_TIMEOUT 15 XPDR_VALID 1

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 21 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.2

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_CALL 0 PROTOCOL 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MIN 516 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 83 UPLOAD_DIVES_MAX -1 C_VBD 2115 DEVICE3 83

T_MISSION 85 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 1 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -115644.84 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 AH0_24V 92 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 97 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 650 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3725 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 50 C_PITCH 2995 PHONE_SUPPLY 2 SEABIRD_T_G 0.0044015422

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -9.4193525 SEABIRD_T_H 0.00063880393

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.0001159091 SEABIRD_T_I 2.4712466e-05

MASS 51923 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.5684481e-06

NAV_MODE 1 PITCH_GAIN 14 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7931423

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1029133

KALMAN_USE 1 PITCH_AD_RATE 175 COMPASS_USE 4 SEABIRD_C_I -0.001068091

HD_A 0.003 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00016957214

AD7714Ch0Gain 128 D_NO_BLEED 500 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 97 D_OFFGRID 100 PHONE_DEVICE 48 SIM_W 0

AH0_24V 92 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 200 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 120 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 6 FERRY_MAX 45 PITCH_GAIN 14 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAX 3725 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 650 TGT_DEFAULT_LAT 44.380001

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -125.01

APOGEE_PITCH -5 GLIDE_SLOPE 50 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001159091 T_BOOST 0

CALL_TRIES 5 HD_A 0.003 PRESSURE_YINT -9.4193525 T_DIVE 83

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 200000 HD_C 9.9999997e-06 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 1 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 5 RAFOS_DEVICE -1 T_GPS_CHARGE -115644.84

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 85

COMPASS_DEVICE 33 ID 130 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 1.2 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2995 KALMAN_USE 1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1800 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 1900 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2115 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3700 USE_BATHY 0

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 2 USE_ICE 0

DEVICE1 2 MASS 51923 ROLL_MIN 240 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 83 MINV_10V 8 R_PORT_OVSHOOT 21 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 33 VBD_MAX 3960

DEVICE5 -1 MISSION 17 SEABIRD_C_G -9.7931423 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1029133 VBD_MIN 516

DIVE 7 NAV_MODE 1 SEABIRD_C_I -0.001068091 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NOCOMM_ACTION 0 SEABIRD_C_J 0.00016957214 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 0 SEABIRD_T_G 0.0044015422 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.00063880393 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.4712466e-05 XPDR_INHIBIT 90

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_J 2.5684481e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 010812,004957,4742.694,-12225.396,11,8.4,30,18.2 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.088,0.224

_SM_DEPTHo 0.80 KALMAN_X -1485.6,-591.4,-55.7,1362.1,-172.0

_SM_ANGLEo -65.9 KALMAN_Y -3515.3,-1485.1,-111.0,4136.7,-340.2

GPS2 010812,010059,4742.652,-12225.438,39,1.2,39,18.2 MHEAD_RNG_PITCHd_Wd 3.3,2443,-14.1,-8.032

SPEED_LIMITS 0.067,0.241 D_GRID 200

Post-dive calculations and measurements:

FINISH 0.1,1.010141 _24V_AH 23.8,0.636

SM_CCo 4753,62.12,0.457,0,0,891,300.00 _10V_AH 10.4,0.621

SM_GC 0.76,11.30,2.60,62.12,0.032,0.036,0.457,644,1901,891,-10.75,-1.07,300.00,0,0,0,0,0,0,24.65,24.65,23.94 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4719.74,-12224.35,310712,232310 FG_AHR_10Vo 0.000

TT8_MAMPS 0.024717,0.024717 MEM 323660

HUMID 55.07 DATA_FILE_SIZE 47100,752

INTERNAL_PRESSURE 9.00303 CAP_FILE_SIZE 93556,0

TCM_TEMP 14.90 CFSIZE 260165632,257970176

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

ALTIM_BOTTOM_PING 130.1,74.3 GPS 010812,022321,4743.133,-12225.112,7,2.8,27,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 159 98.08 SBE_CT 534 24 305.45

Roll_motor 107 74 191.63 SBE_O2 343 19 155.37

VBD_pump_during_apogee 306 582 4250.88 WL_BBFL2VMT 1612 105 4030.74

VBD_pump_during_surface 62 457 676.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 72 103 178.00 nil 0 0 0.00

Iridium_during_connect 40 160 152.77 nil 0 0 0.00

Iridium_during_xfer 337 223 1789.85 nil 0 0 0.00

Transponder_ping 1 420 10.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 42 50 21.88

TT8 1680 19 346.08

LPSleep 512 2 11.68

TT8_Active 467 19 96.27

TT8_Sampling 2598 39 1075.55

TT8_CF8 226 45 107.87

TT8_Kalman 33 81 28.27

Analog_circuits 1246 12 155.57

GPS_charging 0 0 0.00

Compass 2130 15 332.40

RAFOS 0 0 0.00

Transponder 9 30 2.82

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 pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.19 -146.6 0.0 0.0 0 66 0.00 0.00 -46.45 0.000 2 0.000 0.000 645 1907 2118 0 0 0 0 0 0 28.83 28.83 28.83

69 -1.19 -146.6 2.1 -4.2 6 103 11.88 2.53 -14.98 0.000 4 0.160 0.071 2730 495 2713 0 0 0 0 0 0 24.42 24.51 24.87

120 -1.08 -146.6 6.7 -7.2 12 129 0.10 2.40 0.00 0.000 6 0.109 0.034 2751 1909 2714 0 0 0 0 0 0 24.52 24.61 28.83

204 -1.06 -146.6 13.0 -6.9 25 213 0.00 2.42 0.00 0.000 4 0.000 0.047 2751 3296 2714 0 0 0 0 0 0 28.83 24.63 28.83

252 -1.06 -146.6 16.9 -8.6 32 261 0.00 2.42 0.00 0.000 6 0.000 0.041 2751 1898 2714 0 0 0 0 0 0 28.83 24.64 28.83

335 -1.06 -146.6 24.8 -9.4 45 343 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1898 2714 0 0 0 0 0 0 28.83 28.83 28.83

418 -1.06 -146.6 32.6 -9.2 58 426 0.00 2.45 0.00 0.000 4 0.000 0.046 2751 3296 2714 0 0 0 0 0 0 28.83 24.65 28.83

465 -1.06 -146.6 37.1 -9.5 65 474 0.00 2.42 0.00 0.000 6 0.000 0.041 2751 1897 2714 0 0 0 0 0 0 28.83 24.67 28.83

549 -1.06 -146.6 43.8 -7.5 78 557 0.00 2.53 0.00 0.000 4 0.000 0.063 2751 498 2714 0 0 0 0 0 0 28.83 24.63 28.83

635 -1.06 -146.6 51.8 -10.2 92 644 0.00 2.38 0.00 0.000 6 0.000 0.034 2751 1908 2714 0 0 0 0 0 0 28.83 24.72 28.83

785 -1.06 -146.6 65.2 -9.2 117 792 0.00 2.50 0.00 0.000 4 0.000 0.061 2751 497 2714 0 0 0 0 0 0 28.83 24.65 28.83

836 -1.06 -146.6 69.9 -9.5 125 843 0.00 2.33 0.00 0.000 6 0.000 0.034 2751 1907 2715 0 0 0 0 0 0 28.83 24.75 28.83

982 -1.06 -146.6 81.6 -8.4 150 991 0.00 2.40 0.00 0.000 4 0.000 0.048 2751 3283 2714 0 0 0 0 0 0 28.83 24.72 28.83

1121 -1.06 -146.6 93.8 -9.5 173 1128 0.00 2.35 0.00 0.000 6 0.000 0.041 2751 1895 2714 0 0 0 0 0 0 28.83 24.75 28.83

1269 -1.06 -146.6 106.3 -8.2 198 1278 0.00 2.50 0.00 0.000 4 0.000 0.062 2751 506 2714 0 0 0 0 0 0 28.83 24.71 28.83

1333 -1.06 -146.6 111.9 -8.5 208 1341 0.00 2.33 0.00 0.000 6 0.000 0.035 2751 1893 2714 0 0 0 0 0 0 28.83 24.79 28.83

1485 -1.06 -146.6 123.5 -8.0 233 1491 0.00 2.47 0.00 0.000 4 0.000 0.062 2751 497 2714 0 0 0 0 0 0 28.83 24.72 28.83

1505 -1.06 -146.6 125.3 -7.3 236 1514 0.00 2.38 0.00 0.000 6 0.000 0.035 2751 1902 2714 0 0 0 0 0 0 28.83 24.80 28.83

1660 -1.06 -146.6 136.8 -7.8 261 1667 0.00 2.38 0.00 0.000 4 0.000 0.047 2751 3293 2714 0 0 0 0 0 0 28.83 24.78 28.83

1711 -1.06 -146.6 140.9 -8.0 269 1718 0.00 2.38 0.00 0.000 6 0.000 0.042 2751 1895 2714 0 0 0 0 0 0 28.83 24.79 28.83

1860 -1.06 -146.6 151.5 -7.2 294 1869 0.00 2.53 0.00 0.000 4 0.000 0.063 2751 496 2714 0 0 0 0 0 0 28.83 24.75 28.83

1895 -1.06 -146.6 154.6 -8.9 299 1902 0.00 2.33 0.00 0.000 6 0.000 0.035 2751 1907 2714 0 0 0 0 0 0 28.83 24.84 28.83

2045 -1.06 -146.6 166.1 -7.4 324 2053 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1907 2714 0 0 0 0 0 0 28.83 28.83 28.83

2194 -1.06 -146.6 178.5 -8.3 349 2201 0.00 2.35 0.00 0.000 4 0.000 0.047 2751 3289 2714 0 0 0 0 0 0 28.83 24.82 28.83

2233 -1.06 -146.6 182.1 -9.2 355 2240 0.00 2.35 0.00 0.000 6 0.000 0.042 2751 1899 2714 0 0 0 0 0 0 28.83 24.82 28.83

2320 end dive: BOTTOM_OBSTACLE_DETECTED

state 2320 begin apogee

2327 -0.36 0.0 189.7 -7.8 370 2456 0.77 0.00 124.62 0.582 6 0.097 0.000 2912 1792 2115 0 0 0 0 0 0 24.79 28.83 23.84

2457 end apogee: CONTROL_FINISHED_OK

state 2457 begin climb

2460 1.19 146.6 193.8 0.0 389 2594 1.58 0.00 126.25 0.564 6 0.071 0.000 3253 1792 1516 0 0 0 0 0 0 24.30 28.83 23.81

2738 1.16 146.6 173.2 9.4 433 2744 0.00 2.53 0.00 0.000 4 0.000 0.067 3253 402 1512 0 0 0 0 0 0 28.83 24.43 28.83

2781 1.12 146.6 168.6 10.8 440 2790 0.00 2.38 0.00 0.000 6 0.000 0.035 3253 1797 1511 0 0 0 0 0 0 28.83 24.53 28.83

2933 1.10 146.6 155.0 9.0 465 2940 0.00 2.53 0.00 0.000 4 0.000 0.066 3253 403 1511 0 0 0 0 0 0 28.83 24.49 28.83

2973 1.05 146.6 150.8 10.7 471 2980 0.15 2.33 0.00 0.000 6 0.102 0.036 3224 1792 1510 0 0 0 0 0 0 24.53 24.57 28.83

3122 1.05 146.6 136.9 9.9 496 3131 0.00 2.55 0.00 0.000 4 0.000 0.067 3224 410 1510 0 0 0 0 0 0 28.83 24.53 28.83

3169 1.03 146.6 132.4 9.9 503 3176 0.00 2.33 0.00 0.000 6 0.000 0.035 3224 1802 1509 0 0 0 0 0 0 28.83 24.60 28.83

3317 1.03 146.6 119.9 8.5 528 3326 0.00 2.60 0.00 0.000 4 0.000 0.067 3224 398 1509 0 0 0 0 0 0 28.83 24.56 28.83

3390 1.03 146.6 112.7 9.6 540 3399 0.00 2.38 0.00 0.000 6 0.000 0.035 3224 1790 1509 0 0 0 0 0 0 28.83 24.65 28.83

3541 1.03 146.6 98.8 8.8 565 3548 0.00 2.50 0.00 0.000 4 0.000 0.067 3224 404 1509 0 0 0 0 0 0 28.83 24.59 28.83

3568 1.03 146.6 96.1 9.6 569 3575 0.00 2.35 0.00 0.000 6 0.000 0.035 3224 1811 1509 0 0 0 0 0 0 28.83 24.67 28.83

3718 1.03 147.8 83.0 8.0 594 3727 0.00 2.42 0.00 0.000 4 0.000 0.050 3224 3194 1509 0 0 0 0 0 0 28.83 24.65 28.83

3734 1.03 147.8 81.4 8.3 596 3743 0.00 2.42 0.00 0.000 6 0.000 0.045 3225 1808 1509 0 0 0 0 0 0 28.83 24.66 28.83

3884 1.03 147.8 68.8 8.2 621 3891 0.00 2.53 0.00 0.000 4 0.000 0.067 3224 397 1510 0 0 0 0 0 0 28.83 24.63 28.83

4033 1.01 147.8 55.1 9.5 646 4042 0.00 2.38 0.00 0.000 6 0.000 0.035 3224 1808 1509 0 0 0 0 0 0 28.83 24.74 28.83

4188 1.02 156.8 43.1 7.7 671 4206 0.00 2.55 9.35 0.446 4 0.000 0.065 3224 396 1473 0 0 0 0 0 0 28.83 24.52 24.18

4245 1.02 156.8 38.0 9.4 679 4254 0.00 2.38 0.00 0.000 6 0.000 0.036 3224 1790 1473 0 0 0 0 0 0 28.83 24.68 28.83

4328 1.02 157.4 31.2 8.0 692 4337 0.00 2.55 0.00 0.000 4 0.000 0.067 3224 403 1473 0 0 0 0 0 0 28.83 24.63 28.83

4346 1.02 157.4 29.6 8.3 694 4355 0.00 2.38 0.00 0.000 6 0.000 0.035 3224 1805 1473 0 0 0 0 0 0 28.83 24.71 28.83

4430 1.02 157.4 22.3 8.6 707 4439 0.00 2.42 0.00 0.000 4 0.000 0.048 3225 3191 1473 0 0 0 0 0 0 28.83 24.70 28.83

4454 1.02 157.4 20.2 8.5 710 4463 0.00 2.42 0.00 0.000 6 0.000 0.044 3224 1801 1473 0 0 0 0 0 0 28.83 24.70 28.83

4537 1.09 207.9 14.2 6.2 723 4594 0.00 2.62 46.58 0.477 4 0.000 0.068 3224 399 1266 0 0 0 0 0 0 28.83 24.30 23.96

4686 end climb: SURFACE_DEPTH_REACHED

state 4686 begin surface coast

4729 end surface coast: CONTROL_FINISHED_OK

state 4729 begin surface

ID	130	HD_B	0.0099999998	PITCH_ADJ_GAIN	0.0099999998	ALTIM_TOP_PING_RANGE	0
MISSION	17	HD_C	9.9999997e-06	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	7	HEADING	-1	ROLL_MIN	240	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3700	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	120
D_FLARE	2	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1900	ALTIM_PING_DELTA	5
D_TGT	200	TGT_DEFAULT_LAT	44.380001	C_ROLL_CLIMB	1800	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_DEFAULT_LON	-125.01	HEAD_ERRBAND	5	ALTIM_PULSE	6
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_BOOST	0	SM_CC	300	ROLL_TIMEOUT	15	XPDR_VALID	1
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	21	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.2
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_CALL	0	PROTOCOL	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MIN	516	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	83	UPLOAD_DIVES_MAX	-1	C_VBD	2115	DEVICE3	83
T_MISSION	85	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	1	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-115644.84	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	AH0_24V	92	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	97	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	650	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3725	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	50	C_PITCH	2995	PHONE_SUPPLY	2	SEABIRD_T_G	0.0044015422
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-9.4193525	SEABIRD_T_H	0.00063880393
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.0001159091	SEABIRD_T_I	2.4712466e-05
MASS	51923	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.5684481e-06
NAV_MODE	1	PITCH_GAIN	14	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7931423
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1029133
KALMAN_USE	1	PITCH_AD_RATE	175	COMPASS_USE	4	SEABIRD_C_I	-0.001068091
HD_A	0.003	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00016957214

GPS1	010812,004957,4742.694,-12225.396,11,8.4,30,18.2	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.088,0.224
_SM_DEPTHo	0.80	KALMAN_X	-1485.6,-591.4,-55.7,1362.1,-172.0
_SM_ANGLEo	-65.9	KALMAN_Y	-3515.3,-1485.1,-111.0,4136.7,-340.2
GPS2	010812,010059,4742.652,-12225.438,39,1.2,39,18.2	MHEAD_RNG_PITCHd_Wd	3.3,2443,-14.1,-8.032
SPEED_LIMITS	0.067,0.241	D_GRID	200

FINISH	0.1,1.010141	_24V_AH	23.8,0.636
SM_CCo	4753,62.12,0.457,0,0,891,300.00	_10V_AH	10.4,0.621
SM_GC	0.76,11.30,2.60,62.12,0.032,0.036,0.457,644,1901,891,-10.75,-1.07,300.00,0,0,0,0,0,0,24.65,24.65,23.94	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4719.74,-12224.35,310712,232310	FG_AHR_10Vo	0.000
TT8_MAMPS	0.024717,0.024717	MEM	323660
HUMID	55.07	DATA_FILE_SIZE	47100,752
INTERNAL_PRESSURE	9.00303	CAP_FILE_SIZE	93556,0
TCM_TEMP	14.90	CFSIZE	260165632,257970176
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	130.1,74.3	GPS	010812,022321,4743.133,-12225.112,7,2.8,27,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	159	98.08	SBE_CT	534	24	305.45
Roll_motor	107	74	191.63	SBE_O2	343	19	155.37
VBD_pump_during_apogee	306	582	4250.88	WL_BBFL2VMT	1612	105	4030.74
VBD_pump_during_surface	62	457	676.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	72	103	178.00	nil	0	0	0.00
Iridium_during_connect	40	160	152.77	nil	0	0	0.00
Iridium_during_xfer	337	223	1789.85	nil	0	0	0.00
Transponder_ping	1	420	10.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	42	50	21.88
TT8	1680	19	346.08
LPSleep	512	2	11.68
TT8_Active	467	19	96.27
TT8_Sampling	2598	39	1075.55
TT8_CF8	226	45	107.87
TT8_Kalman	33	81	28.27
Analog_circuits	1246	12	155.57
GPS_charging	0	0	0.00
Compass	2130	15	332.40
RAFOS	0	0	0.00
Transponder	9	30	2.82

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	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.19	-146.6	0.0	0.0	0	66	0.00	0.00	-46.45	0.000	2	0.000	0.000	645	1907	2118	0	0	0	0	0	0	28.83	28.83	28.83
69	-1.19	-146.6	2.1	-4.2	6	103	11.88	2.53	-14.98	0.000	4	0.160	0.071	2730	495	2713	0	0	0	0	0	0	24.42	24.51	24.87
120	-1.08	-146.6	6.7	-7.2	12	129	0.10	2.40	0.00	0.000	6	0.109	0.034	2751	1909	2714	0	0	0	0	0	0	24.52	24.61	28.83
204	-1.06	-146.6	13.0	-6.9	25	213	0.00	2.42	0.00	0.000	4	0.000	0.047	2751	3296	2714	0	0	0	0	0	0	28.83	24.63	28.83
252	-1.06	-146.6	16.9	-8.6	32	261	0.00	2.42	0.00	0.000	6	0.000	0.041	2751	1898	2714	0	0	0	0	0	0	28.83	24.64	28.83
335	-1.06	-146.6	24.8	-9.4	45	343	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1898	2714	0	0	0	0	0	0	28.83	28.83	28.83
418	-1.06	-146.6	32.6	-9.2	58	426	0.00	2.45	0.00	0.000	4	0.000	0.046	2751	3296	2714	0	0	0	0	0	0	28.83	24.65	28.83
465	-1.06	-146.6	37.1	-9.5	65	474	0.00	2.42	0.00	0.000	6	0.000	0.041	2751	1897	2714	0	0	0	0	0	0	28.83	24.67	28.83
549	-1.06	-146.6	43.8	-7.5	78	557	0.00	2.53	0.00	0.000	4	0.000	0.063	2751	498	2714	0	0	0	0	0	0	28.83	24.63	28.83
635	-1.06	-146.6	51.8	-10.2	92	644	0.00	2.38	0.00	0.000	6	0.000	0.034	2751	1908	2714	0	0	0	0	0	0	28.83	24.72	28.83
785	-1.06	-146.6	65.2	-9.2	117	792	0.00	2.50	0.00	0.000	4	0.000	0.061	2751	497	2714	0	0	0	0	0	0	28.83	24.65	28.83
836	-1.06	-146.6	69.9	-9.5	125	843	0.00	2.33	0.00	0.000	6	0.000	0.034	2751	1907	2715	0	0	0	0	0	0	28.83	24.75	28.83
982	-1.06	-146.6	81.6	-8.4	150	991	0.00	2.40	0.00	0.000	4	0.000	0.048	2751	3283	2714	0	0	0	0	0	0	28.83	24.72	28.83
1121	-1.06	-146.6	93.8	-9.5	173	1128	0.00	2.35	0.00	0.000	6	0.000	0.041	2751	1895	2714	0	0	0	0	0	0	28.83	24.75	28.83
1269	-1.06	-146.6	106.3	-8.2	198	1278	0.00	2.50	0.00	0.000	4	0.000	0.062	2751	506	2714	0	0	0	0	0	0	28.83	24.71	28.83
1333	-1.06	-146.6	111.9	-8.5	208	1341	0.00	2.33	0.00	0.000	6	0.000	0.035	2751	1893	2714	0	0	0	0	0	0	28.83	24.79	28.83
1485	-1.06	-146.6	123.5	-8.0	233	1491	0.00	2.47	0.00	0.000	4	0.000	0.062	2751	497	2714	0	0	0	0	0	0	28.83	24.72	28.83
1505	-1.06	-146.6	125.3	-7.3	236	1514	0.00	2.38	0.00	0.000	6	0.000	0.035	2751	1902	2714	0	0	0	0	0	0	28.83	24.80	28.83
1660	-1.06	-146.6	136.8	-7.8	261	1667	0.00	2.38	0.00	0.000	4	0.000	0.047	2751	3293	2714	0	0	0	0	0	0	28.83	24.78	28.83
1711	-1.06	-146.6	140.9	-8.0	269	1718	0.00	2.38	0.00	0.000	6	0.000	0.042	2751	1895	2714	0	0	0	0	0	0	28.83	24.79	28.83
1860	-1.06	-146.6	151.5	-7.2	294	1869	0.00	2.53	0.00	0.000	4	0.000	0.063	2751	496	2714	0	0	0	0	0	0	28.83	24.75	28.83
1895	-1.06	-146.6	154.6	-8.9	299	1902	0.00	2.33	0.00	0.000	6	0.000	0.035	2751	1907	2714	0	0	0	0	0	0	28.83	24.84	28.83
2045	-1.06	-146.6	166.1	-7.4	324	2053	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1907	2714	0	0	0	0	0	0	28.83	28.83	28.83
2194	-1.06	-146.6	178.5	-8.3	349	2201	0.00	2.35	0.00	0.000	4	0.000	0.047	2751	3289	2714	0	0	0	0	0	0	28.83	24.82	28.83
2233	-1.06	-146.6	182.1	-9.2	355	2240	0.00	2.35	0.00	0.000	6	0.000	0.042	2751	1899	2714	0	0	0	0	0	0	28.83	24.82	28.83
2320	end dive: BOTTOM_OBSTACLE_DETECTED
state	2320	begin apogee
2327	-0.36	0.0	189.7	-7.8	370	2456	0.77	0.00	124.62	0.582	6	0.097	0.000	2912	1792	2115	0	0	0	0	0	0	24.79	28.83	23.84
2457	end apogee: CONTROL_FINISHED_OK
state	2457	begin climb
2460	1.19	146.6	193.8	0.0	389	2594	1.58	0.00	126.25	0.564	6	0.071	0.000	3253	1792	1516	0	0	0	0	0	0	24.30	28.83	23.81
2738	1.16	146.6	173.2	9.4	433	2744	0.00	2.53	0.00	0.000	4	0.000	0.067	3253	402	1512	0	0	0	0	0	0	28.83	24.43	28.83
2781	1.12	146.6	168.6	10.8	440	2790	0.00	2.38	0.00	0.000	6	0.000	0.035	3253	1797	1511	0	0	0	0	0	0	28.83	24.53	28.83
2933	1.10	146.6	155.0	9.0	465	2940	0.00	2.53	0.00	0.000	4	0.000	0.066	3253	403	1511	0	0	0	0	0	0	28.83	24.49	28.83
2973	1.05	146.6	150.8	10.7	471	2980	0.15	2.33	0.00	0.000	6	0.102	0.036	3224	1792	1510	0	0	0	0	0	0	24.53	24.57	28.83
3122	1.05	146.6	136.9	9.9	496	3131	0.00	2.55	0.00	0.000	4	0.000	0.067	3224	410	1510	0	0	0	0	0	0	28.83	24.53	28.83
3169	1.03	146.6	132.4	9.9	503	3176	0.00	2.33	0.00	0.000	6	0.000	0.035	3224	1802	1509	0	0	0	0	0	0	28.83	24.60	28.83
3317	1.03	146.6	119.9	8.5	528	3326	0.00	2.60	0.00	0.000	4	0.000	0.067	3224	398	1509	0	0	0	0	0	0	28.83	24.56	28.83
3390	1.03	146.6	112.7	9.6	540	3399	0.00	2.38	0.00	0.000	6	0.000	0.035	3224	1790	1509	0	0	0	0	0	0	28.83	24.65	28.83
3541	1.03	146.6	98.8	8.8	565	3548	0.00	2.50	0.00	0.000	4	0.000	0.067	3224	404	1509	0	0	0	0	0	0	28.83	24.59	28.83
3568	1.03	146.6	96.1	9.6	569	3575	0.00	2.35	0.00	0.000	6	0.000	0.035	3224	1811	1509	0	0	0	0	0	0	28.83	24.67	28.83
3718	1.03	147.8	83.0	8.0	594	3727	0.00	2.42	0.00	0.000	4	0.000	0.050	3224	3194	1509	0	0	0	0	0	0	28.83	24.65	28.83
3734	1.03	147.8	81.4	8.3	596	3743	0.00	2.42	0.00	0.000	6	0.000	0.045	3225	1808	1509	0	0	0	0	0	0	28.83	24.66	28.83
3884	1.03	147.8	68.8	8.2	621	3891	0.00	2.53	0.00	0.000	4	0.000	0.067	3224	397	1510	0	0	0	0	0	0	28.83	24.63	28.83
4033	1.01	147.8	55.1	9.5	646	4042	0.00	2.38	0.00	0.000	6	0.000	0.035	3224	1808	1509	0	0	0	0	0	0	28.83	24.74	28.83
4188	1.02	156.8	43.1	7.7	671	4206	0.00	2.55	9.35	0.446	4	0.000	0.065	3224	396	1473	0	0	0	0	0	0	28.83	24.52	24.18
4245	1.02	156.8	38.0	9.4	679	4254	0.00	2.38	0.00	0.000	6	0.000	0.036	3224	1790	1473	0	0	0	0	0	0	28.83	24.68	28.83
4328	1.02	157.4	31.2	8.0	692	4337	0.00	2.55	0.00	0.000	4	0.000	0.067	3224	403	1473	0	0	0	0	0	0	28.83	24.63	28.83
4346	1.02	157.4	29.6	8.3	694	4355	0.00	2.38	0.00	0.000	6	0.000	0.035	3224	1805	1473	0	0	0	0	0	0	28.83	24.71	28.83
4430	1.02	157.4	22.3	8.6	707	4439	0.00	2.42	0.00	0.000	4	0.000	0.048	3225	3191	1473	0	0	0	0	0	0	28.83	24.70	28.83
4454	1.02	157.4	20.2	8.5	710	4463	0.00	2.42	0.00	0.000	6	0.000	0.044	3224	1801	1473	0	0	0	0	0	0	28.83	24.70	28.83
4537	1.09	207.9	14.2	6.2	723	4594	0.00	2.62	46.58	0.477	4	0.000	0.068	3224	399	1266	0	0	0	0	0	0	28.83	24.30	23.96
4686	end climb: SURFACE_DEPTH_REACHED
state	4686	begin surface coast
4729	end surface coast: CONTROL_FINISHED_OK
state	4729	begin surface