Glider dive log

NASCAR Mar17 * SG133 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 133 HD_B 0.0054000001 ROLL_MIN 157 TCM_ROLL_OFFSET 0

MISSION 5 HD_C 2.24e-05 ROLL_MAX 3825 COMPASS_USE 4

DIVE 7 HEADING -1 ROLL_DEG 40 ALTIM_BOTTOM_PING_RANGE 0

N_DIVES 8 ESCAPE_HEADING 0 C_ROLL_DIVE 2600 ALTIM_TOP_PING_RANGE 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_BOTTOM_TURN_MARGIN 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 TGT_DEFAULT_LAT 3235 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 2

D_TGT 360 TGT_DEFAULT_LON -11731 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_ABORT 450 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 87 ALTIM_PING_DELTA 50

D_NO_BLEED 50 SM_CC 578.71039 R_STBD_OVSHOOT 45 ALTIM_FREQUENCY 13

D_BOOST 20 N_FILEKB 8 ROLL_AD_RATE 350 ALTIM_PULSE 3

T_BOOST 5 FILEMGR 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 3

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 XPDR_VALID 2

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 PROTOCOL 9 VBD_MIN 480 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 INT_PRESSURE_YINT -0.090000004

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2880 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 120 CALL_TRIES 5 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 145 CALL_WAIT 60 VBD_TIMEOUT 720 DEVICE3 -1

T_ABORT 720 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE5 -1

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 3 DEVICE6 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 0 N_GPS 100440 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_RSLEEP 2 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

USE_BATHY -6 STROBE 0 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 DBDW 0 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 0 COMPASS_DEVICE 97

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_MMODEM 0 CF8_MAXERRORS 20 PHONE_DEVICE 49

RELAUNCH 1 PITCH_MIN 150 AH0_24V 350 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MAX 3830 AH0_10V 0 RAFOS_DEVICE -1

MAX_BUOY 150 C_PITCH 3170 MINV_24V 11 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_DBAND 0.1 MINV_10V 11 SIM_W 0

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 MAXI_24V 0.60000002 SIM_PITCH 0

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 MAXI_10V 0.80000001 SEABIRD_T_G 0.0043768995

RHO 1.0275 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SEABIRD_T_H 0.00063528348

MASS 54382 PITCH_GAIN 15 FG_AHR_24V 0 SEABIRD_T_I 2.4782157e-05

MASS_COMP 0 PITCH_TIMEOUT 30 PHONE_SUPPLY -2 SEABIRD_T_J 2.6511516e-06

NAV_MODE 2 PITCH_AD_RATE 100 PRESSURE_YINT -18.083 SEABIRD_C_G -9.8739452

FERRY_MAX 45 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00011564888 SEABIRD_C_H 1.0990992

KALMAN_USE 2 PITCH_ADJ_GAIN 0.029999999 AD7714Ch0Gain 128 SEABIRD_C_I -0.0013875214

HD_A 0.00174 PITCH_ADJ_DBAND 1 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00019236583

AD7714Ch0Gain 128 D_PITCH 0 PHONE_DEVICE 49 SEABIRD_T_J 2.6511516e-06

AH0_10V 0 D_SAFE 0 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_ADJ_DBAND 1 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 360 PITCH_ADJ_GAIN 0.029999999 SM_CC 578.71039

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_AD_RATE 100 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0046000001 STOP_T 0

ALTIM_PING_DELTA 50 FERRY_MAX 45 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_GAIN 15 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MAX 3830 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 2 FIX_MISSING_TIMEOUT 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 30 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.00174 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 3235

CALL_NDIVES 1 HD_B 0.0054000001 PITCH_W_GAIN 0 TGT_DEFAULT_LON -11731

CALL_TRIES 5 HD_C 2.24e-05 PRESSURE_SLOPE 0.00011564888 T_ABORT 720

CALL_WAIT 60 HEADING -1 PRESSURE_YINT -18.083 T_BOOST 5

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PROTOCOL 9 T_DIVE 120

CAPUPLOAD 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_EPIRB 0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_GPS 5

COMM_SEQ 0 ID 133 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_MISSION 145

COMPASS_DEVICE 97 INT_PRESSURE_YINT -0.090000004 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RAFOS_MMODEM 0 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE1 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_PITCH 3170 LOGGERDEVICE2 -1 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 RHO 1.0275 T_WATCHDOG 10

C_ROLL_DIVE 2600 LOGGERDEVICE4 -1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

C_VBD 2880 LOGGERS 0 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DBDW 0 MASS 54382 ROLL_AD_RATE 350 USE_BATHY -6

DEEPGLIDER 0 MASS_COMP 0 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE1 2 MAXI_10V 0.80000001 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MAXI_24V 0.60000002 ROLL_MAX 3825 VBD_CNV -0.245296

DEVICE3 -1 MAX_BUOY 150 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 11 ROLL_MIN 157 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 MISSION 5 R_PORT_OVSHOOT 87 VBD_MAXERRORS 1

DIVE 7 MOTHERBOARD 4 R_STBD_OVSHOOT 45 VBD_MIN 480

D_ABORT 450 NAV_MODE 2 SEABIRD_C_G -9.8739452 VBD_PUMP_AD_RATE_APOGEE 3

D_BOOST 20 NOCOMM_ACTION 163 SEABIRD_C_H 1.0990992 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_DIVES 8 SEABIRD_C_I -0.0013875214 VBD_TIMEOUT 720

D_FINISH 0 N_FILEKB 8 SEABIRD_C_J 0.00019236583 W_ADJ_DBAND 0

D_FLARE 3 N_GPS 100440 SEABIRD_T_G 0.0043768995 XPDR_DEVICE 24

D_NO_BLEED 50 N_NOCOMM 1 SEABIRD_T_H 0.00063528348 XPDR_INHIBIT 90

D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_I 2.4782157e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 040317,140734,1338.8051,6122.7729,40,0.9,45,-0.8,0.7,267.0,8,9.1 SPEED_LIMITS 0.173,0.318

_CALLS 1 TGT_NAME N

_XMS_NAKs 0 TGT_LATLONG 1000.000,6000.000

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 1.44 MHEAD_RNG_PITCHd_Wd 162.0,432399,-13.1,-10.000,-17.47,2042

_SM_ANGLEo -65.6 D_GRID 1000

GPS2 040317,141121,1338.8019,6122.7261,14,0.9,17,-0.8,0.3,275.0,8,9.4

Post-dive calculations and measurements:

FINISH 0.3,0.997468 _10V_AH 13.76,0.000

SM_CCo 6973,128.45,0.080,0,0,518,578.90 FG_AHR_24Vo 0.000

SM_GC 1.36,9.07,2.53,128.45,0.065,0.040,0.080,137,2605,518,-13.86,-1.24,578.90,0,0,0,0,0,0,14.95,14.97,14.89 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1331.97,6124.97,040317,121208 MEM 192232

TT8_MAMPS 0.023968,0.152796 DATA_FILE_SIZE 33462,793

HUMID 45.98 CAP_FILE_SIZE 89856,0

INTERNAL_PRESSURE 9.05098 CFSIZE 260034560,258691072

TCM_TEMP 24.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 CURRENT 0.202,304.99,1

_24V_AH 13.97,3.241 GPS 040317,161138,1338.242,6122.451,42,0.8,45,-0.8,0.0,211.8,10,8.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 430 158.54 SBE_CT 413 75 436.57

Roll_motor 75 2058 2180.64 nil 0 0 0.00

VBD_pump_during_apogee 363 1106 5619.66 nil 0 0 0.00

VBD_pump_during_surface 128 79 142.77 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 nil 0 0 0.00

Iridium_during_xfer 159 148 329.81 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 19 4.96

TT8 1643 8 199.52

LPSleep 3758 2 113.25

TT8_Active 586 8 71.19

TT8_Sampling 1322 28 514.98

TT8_CF8 43 32 19.68

TT8_Kalman 0 0 0.00

Analog_circuits 1392 15 304.55

GPS_charging 0 0 0.00

Compass 1137 6 105.53

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.05 -146.0 139 2604 473 580 0.0 0.0 0 85 0.00 0.00 -75.38 0.000 16386 0.000 0.000 139 2605 3210 3257 3163 0 0 0 0 0 0 15.09 28.83 15.11

87 -1.05 -146.0 138 2605 3257 3163 3.2 -6.1 13 113 13.77 2.30 -4.40 0.000 18980 0.431 2.059 2940 1224 3477 3500 3455 0 0 0 0 0 0 14.66 14.04 14.82

209 -1.05 -146.0 2940 1224 3500 3455 24.1 -14.3 36 216 0.00 2.17 0.00 0.000 1030 0.000 0.047 2934 2600 3477 3500 3455 0 0 0 0 0 0 14.92 14.86 14.95

518 -1.01 -146.0 2933 2600 3500 3455 70.2 -15.5 84 522 0.00 2.10 0.00 0.000 644 0.000 0.034 2934 1221 3477 3500 3455 0 0 0 0 0 0 15.16 14.96 15.19

543 -0.97 -146.0 2934 1221 3500 3455 74.2 -15.0 89 548 0.15 2.17 0.00 0.000 3206 0.275 0.047 2957 2605 3477 3499 3455 0 0 0 0 0 0 14.81 14.95 14.98

848 -0.97 -146.0 2957 2605 3500 3455 114.1 -13.1 120 852 0.00 1.95 0.00 0.000 260 0.000 0.073 2950 3811 3477 3500 3455 0 0 0 0 0 0 15.21 14.97 15.23

902 -0.97 -146.0 2950 3812 3500 3455 121.4 -13.6 131 909 0.00 1.80 0.00 0.000 1030 0.000 0.031 2950 2590 3477 3500 3455 0 0 0 0 0 0 15.07 15.03 15.08

1209 -0.97 -146.0 2950 2590 3499 3456 154.5 -9.2 162 1213 0.00 1.98 0.00 0.000 292 0.000 0.070 2945 3813 3477 3500 3455 0 0 0 0 0 0 15.23 14.99 15.25

1234 -1.01 -146.0 2945 3813 3500 3455 157.0 -9.5 167 1241 0.00 1.80 0.00 0.000 1190 0.000 0.031 2944 2601 3477 3500 3455 0 0 0 0 0 0 15.09 15.06 15.10

1541 -1.06 -146.0 2945 2602 3499 3456 185.6 -10.0 198 1545 0.00 2.08 0.00 0.000 676 0.000 0.034 2945 1222 3478 3500 3456 0 0 0 0 0 0 15.24 15.04 15.26

1626 -1.12 -146.0 2945 1222 3500 3456 194.2 -9.5 215 1633 0.00 2.15 0.00 0.000 1190 0.000 0.045 2940 2601 3478 3500 3457 0 0 0 0 0 0 15.09 15.02 15.10

1932 -1.16 -146.0 2940 2602 3500 3456 219.1 -8.3 246 1938 0.10 1.95 0.00 0.000 4516 0.158 0.067 2883 3817 3478 3500 3457 0 0 0 0 0 0 15.03 15.01 15.08

2064 -1.10 -146.0 2883 3817 3500 3456 236.9 -14.4 272 2069 0.20 1.77 0.00 0.000 3206 0.221 0.031 2933 2596 3478 3500 3457 0 0 0 0 0 0 14.91 15.08 15.07

2376 -1.16 -146.0 2933 2595 3500 3457 268.5 -10.3 292 2380 0.00 2.08 0.00 0.000 644 0.000 0.034 2933 1231 3478 3500 3456 0 0 0 0 0 0 15.26 15.06 15.28

2565 -1.23 -146.0 2933 1225 3500 3457 289.6 -10.4 330 2570 0.12 2.15 0.00 0.000 5254 0.132 0.046 2869 2603 3478 3499 3457 0 0 0 0 0 0 15.04 15.04 15.10

2888 -1.18 -146.0 2869 2603 3498 3457 323.1 -9.5 344 2894 0.15 1.95 0.00 0.000 2468 0.243 0.068 2902 3814 3476 3497 3456 0 0 0 0 0 0 14.92 15.03 15.03

2930 -1.18 -146.0 2901 3814 3497 3456 327.1 -9.1 353 2935 0.00 1.83 0.00 0.000 1062 0.000 0.032 2901 2613 3476 3497 3456 0 0 0 0 0 0 15.10 15.08 15.11

3247 -1.18 -146.0 2901 2613 3494 3456 355.7 -9.3 366 3252 0.00 2.12 0.00 0.000 548 0.000 0.035 2901 1218 3475 3494 3457 0 0 0 0 0 0 15.27 15.07 15.29

3291 end dive: TARGET_DEPTH_EXCEEDED

state 3291 begin apogee

3296 -0.33 0.0 2897 2407 3493 3456 360.4 -10.0 375 3450 0.70 0.00 150.45 1.043 10246 0.209 0.000 3099 2407 2879 2848 2910 0 0 0 0 0 0 14.93 14.52 14.08

3451 end apogee: CONTROL_FINISHED_OK

state 3451 begin climb

3452 1.05 146.0 3099 2407 2841 2902 362.9 0.0 380 3573 0.95 2.28 110.95 1.106 10756 0.132 0.041 3413 1030 2271 2218 2325 0 0 0 0 0 0 14.46 14.40 13.97

3608 0.93 146.0 3412 1031 2211 2311 347.9 14.3 413 3613 0.20 2.20 0.00 0.000 5254 0.255 0.043 3368 2402 2260 2210 2311 0 0 0 0 0 0 14.45 14.57 14.62

3925 0.87 146.0 3368 2402 2204 2306 306.0 13.2 426 3926 0.00 0.00 0.00 0.000 134 0.000 0.000 3368 2402 2255 2204 2306 0 0 0 0 0 0 15.09 15.11 15.11

4225 0.81 146.0 3368 2402 2204 2302 270.5 11.4 436 4230 0.10 2.15 0.00 0.000 4740 0.334 0.038 3355 1028 2252 2203 2302 0 0 0 0 0 0 14.82 14.96 14.97

4304 0.81 146.0 3355 1027 2203 2300 261.3 10.8 452 4312 0.00 2.20 0.00 0.000 1030 0.000 0.043 3355 2401 2252 2204 2300 0 0 0 0 0 0 14.99 14.95 15.01

4612 0.78 146.0 3355 2401 2201 2300 229.0 10.5 475 4621 0.00 2.15 0.00 0.000 644 0.000 0.042 3363 1024 2251 2202 2300 0 0 0 0 0 0 15.20 15.00 15.23

4683 0.78 146.0 3363 1025 2201 2299 221.4 10.6 489 4688 0.12 2.17 0.00 0.000 5126 0.267 0.043 3338 2407 2251 2202 2300 0 0 0 0 0 0 14.85 14.99 15.04

4988 0.83 191.2 3337 2407 2200 2298 196.5 7.7 520 5029 0.00 2.28 33.53 1.025 8484 0.000 0.068 3337 3791 2088 2031 2145 0 0 0 0 0 0 15.22 14.75 14.40

5085 0.86 213.9 3336 3791 2025 2142 188.2 8.9 539 5112 0.00 2.12 17.48 1.034 9254 0.000 0.032 3342 2393 2000 1942 2059 0 0 0 0 0 0 14.95 14.90 14.34

5411 0.90 213.9 3342 2393 1936 2051 159.2 10.1 574 5416 0.10 2.15 0.00 0.000 2692 0.166 0.039 3400 1022 1993 1936 2051 0 0 0 0 0 0 14.90 14.93 14.96

5493 0.85 213.9 3399 1022 1937 2049 150.2 10.7 590 5499 0.20 2.17 0.00 0.000 5254 0.244 0.042 3352 2409 1992 1936 2049 0 0 0 0 0 0 14.81 14.94 14.98

5806 0.93 251.2 3352 2409 1935 2048 123.4 8.1 622 5840 0.00 2.28 28.77 0.923 8612 0.000 0.067 3352 3792 1846 1784 1909 0 0 0 0 0 0 15.19 14.76 14.42

5865 0.95 269.5 3351 3792 1777 1906 118.2 9.1 634 5885 0.00 2.12 14.52 0.962 9254 0.000 0.031 3357 2395 1775 1711 1839 0 0 0 0 0 0 14.93 14.90 14.38

6192 1.00 269.5 3356 2394 1703 1828 87.8 10.4 669 6197 0.12 2.10 0.00 0.000 2692 0.139 0.037 3439 1033 1766 1703 1829 0 0 0 0 0 0 14.92 14.93 14.95

6239 0.92 269.5 3438 1033 1703 1827 80.9 15.6 678 6245 0.28 2.15 0.00 0.000 5254 0.245 0.042 3370 2396 1765 1703 1827 0 0 0 0 0 0 14.81 14.92 14.97

6546 0.98 280.8 3370 2396 1703 1827 45.1 9.4 714 6560 0.00 2.20 7.95 0.883 8868 0.000 0.041 3376 1029 1728 1666 1791 0 0 0 0 0 0 15.18 14.94 14.52

6592 1.03 280.8 3376 1029 1666 1789 40.2 11.3 722 6600 0.00 2.17 0.00 0.000 1158 0.000 0.042 3377 2407 1728 1667 1789 0 0 0 0 0 0 15.00 14.94 15.02

6902 1.03 280.8 3376 2407 1666 1789 5.9 11.5 783 6909 0.00 2.15 0.00 0.000 516 0.000 0.041 3385 1032 1727 1666 1788 0 0 0 0 0 0 15.18 14.97 15.19

6928 end climb: SURFACE_DEPTH_REACHED

state 6929 begin surface coast

6955 end surface coast: CONTROL_FINISHED_OK

state 6955 begin surface

ID	133	HD_B	0.0054000001	ROLL_MIN	157	TCM_ROLL_OFFSET	0
MISSION	5	HD_C	2.24e-05	ROLL_MAX	3825	COMPASS_USE	4
DIVE	7	HEADING	-1	ROLL_DEG	40	ALTIM_BOTTOM_PING_RANGE	0
N_DIVES	8	ESCAPE_HEADING	0	C_ROLL_DIVE	2600	ALTIM_TOP_PING_RANGE	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_BOTTOM_TURN_MARGIN	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	TGT_DEFAULT_LAT	3235	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	2
D_TGT	360	TGT_DEFAULT_LON	-11731	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_ABORT	450	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	87	ALTIM_PING_DELTA	50
D_NO_BLEED	50	SM_CC	578.71039	R_STBD_OVSHOOT	45	ALTIM_FREQUENCY	13
D_BOOST	20	N_FILEKB	8	ROLL_AD_RATE	350	ALTIM_PULSE	3
T_BOOST	5	FILEMGR	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	3
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	XPDR_VALID	2
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	PROTOCOL	9	VBD_MIN	480	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	INT_PRESSURE_YINT	-0.090000004
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2880	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	120	CALL_TRIES	5	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	145	CALL_WAIT	60	VBD_TIMEOUT	720	DEVICE3	-1
T_ABORT	720	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE5	-1
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	3	DEVICE6	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	0	N_GPS	100440	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_RSLEEP	2	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
USE_BATHY	-6	STROBE	0	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	DBDW	0	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	0	COMPASS_DEVICE	97
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_MMODEM	0	CF8_MAXERRORS	20	PHONE_DEVICE	49
RELAUNCH	1	PITCH_MIN	150	AH0_24V	350	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MAX	3830	AH0_10V	0	RAFOS_DEVICE	-1
MAX_BUOY	150	C_PITCH	3170	MINV_24V	11	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_DBAND	0.1	MINV_10V	11	SIM_W	0
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	MAXI_24V	0.60000002	SIM_PITCH	0
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	MAXI_10V	0.80000001	SEABIRD_T_G	0.0043768995
RHO	1.0275	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SEABIRD_T_H	0.00063528348
MASS	54382	PITCH_GAIN	15	FG_AHR_24V	0	SEABIRD_T_I	2.4782157e-05
MASS_COMP	0	PITCH_TIMEOUT	30	PHONE_SUPPLY	-2	SEABIRD_T_J	2.6511516e-06
NAV_MODE	2	PITCH_AD_RATE	100	PRESSURE_YINT	-18.083	SEABIRD_C_G	-9.8739452
FERRY_MAX	45	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00011564888	SEABIRD_C_H	1.0990992
KALMAN_USE	2	PITCH_ADJ_GAIN	0.029999999	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0013875214
HD_A	0.00174	PITCH_ADJ_DBAND	1	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00019236583

GPS1	040317,140734,1338.8051,6122.7729,40,0.9,45,-0.8,0.7,267.0,8,9.1	SPEED_LIMITS	0.173,0.318
_CALLS	1	TGT_NAME	N
_XMS_NAKs	0	TGT_LATLONG	1000.000,6000.000
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	1.44	MHEAD_RNG_PITCHd_Wd	162.0,432399,-13.1,-10.000,-17.47,2042
_SM_ANGLEo	-65.6	D_GRID	1000
GPS2	040317,141121,1338.8019,6122.7261,14,0.9,17,-0.8,0.3,275.0,8,9.4

FINISH	0.3,0.997468	_10V_AH	13.76,0.000
SM_CCo	6973,128.45,0.080,0,0,518,578.90	FG_AHR_24Vo	0.000
SM_GC	1.36,9.07,2.53,128.45,0.065,0.040,0.080,137,2605,518,-13.86,-1.24,578.90,0,0,0,0,0,0,14.95,14.97,14.89	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1331.97,6124.97,040317,121208	MEM	192232
TT8_MAMPS	0.023968,0.152796	DATA_FILE_SIZE	33462,793
HUMID	45.98	CAP_FILE_SIZE	89856,0
INTERNAL_PRESSURE	9.05098	CFSIZE	260034560,258691072
TCM_TEMP	24.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	CURRENT	0.202,304.99,1
_24V_AH	13.97,3.241	GPS	040317,161138,1338.242,6122.451,42,0.8,45,-0.8,0.0,211.8,10,8.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	430	158.54	SBE_CT	413	75	436.57
Roll_motor	75	2058	2180.64	nil	0	0	0.00
VBD_pump_during_apogee	363	1106	5619.66	nil	0	0	0.00
VBD_pump_during_surface	128	79	142.77	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	nil	0	0	0.00
Iridium_during_xfer	159	148	329.81	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	19	4.96
TT8	1643	8	199.52
LPSleep	3758	2	113.25
TT8_Active	586	8	71.19
TT8_Sampling	1322	28	514.98
TT8_CF8	43	32	19.68
TT8_Kalman	0	0	0.00
Analog_circuits	1392	15	304.55
GPS_charging	0	0	0.00
Compass	1137	6	105.53
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.05	-146.0	139	2604	473	580	0.0	0.0	0	85	0.00	0.00	-75.38	0.000	16386	0.000	0.000	139	2605	3210	3257	3163	0	0	0	0	0	0	15.09	28.83	15.11
87	-1.05	-146.0	138	2605	3257	3163	3.2	-6.1	13	113	13.77	2.30	-4.40	0.000	18980	0.431	2.059	2940	1224	3477	3500	3455	0	0	0	0	0	0	14.66	14.04	14.82
209	-1.05	-146.0	2940	1224	3500	3455	24.1	-14.3	36	216	0.00	2.17	0.00	0.000	1030	0.000	0.047	2934	2600	3477	3500	3455	0	0	0	0	0	0	14.92	14.86	14.95
518	-1.01	-146.0	2933	2600	3500	3455	70.2	-15.5	84	522	0.00	2.10	0.00	0.000	644	0.000	0.034	2934	1221	3477	3500	3455	0	0	0	0	0	0	15.16	14.96	15.19
543	-0.97	-146.0	2934	1221	3500	3455	74.2	-15.0	89	548	0.15	2.17	0.00	0.000	3206	0.275	0.047	2957	2605	3477	3499	3455	0	0	0	0	0	0	14.81	14.95	14.98
848	-0.97	-146.0	2957	2605	3500	3455	114.1	-13.1	120	852	0.00	1.95	0.00	0.000	260	0.000	0.073	2950	3811	3477	3500	3455	0	0	0	0	0	0	15.21	14.97	15.23
902	-0.97	-146.0	2950	3812	3500	3455	121.4	-13.6	131	909	0.00	1.80	0.00	0.000	1030	0.000	0.031	2950	2590	3477	3500	3455	0	0	0	0	0	0	15.07	15.03	15.08
1209	-0.97	-146.0	2950	2590	3499	3456	154.5	-9.2	162	1213	0.00	1.98	0.00	0.000	292	0.000	0.070	2945	3813	3477	3500	3455	0	0	0	0	0	0	15.23	14.99	15.25
1234	-1.01	-146.0	2945	3813	3500	3455	157.0	-9.5	167	1241	0.00	1.80	0.00	0.000	1190	0.000	0.031	2944	2601	3477	3500	3455	0	0	0	0	0	0	15.09	15.06	15.10
1541	-1.06	-146.0	2945	2602	3499	3456	185.6	-10.0	198	1545	0.00	2.08	0.00	0.000	676	0.000	0.034	2945	1222	3478	3500	3456	0	0	0	0	0	0	15.24	15.04	15.26
1626	-1.12	-146.0	2945	1222	3500	3456	194.2	-9.5	215	1633	0.00	2.15	0.00	0.000	1190	0.000	0.045	2940	2601	3478	3500	3457	0	0	0	0	0	0	15.09	15.02	15.10
1932	-1.16	-146.0	2940	2602	3500	3456	219.1	-8.3	246	1938	0.10	1.95	0.00	0.000	4516	0.158	0.067	2883	3817	3478	3500	3457	0	0	0	0	0	0	15.03	15.01	15.08
2064	-1.10	-146.0	2883	3817	3500	3456	236.9	-14.4	272	2069	0.20	1.77	0.00	0.000	3206	0.221	0.031	2933	2596	3478	3500	3457	0	0	0	0	0	0	14.91	15.08	15.07
2376	-1.16	-146.0	2933	2595	3500	3457	268.5	-10.3	292	2380	0.00	2.08	0.00	0.000	644	0.000	0.034	2933	1231	3478	3500	3456	0	0	0	0	0	0	15.26	15.06	15.28
2565	-1.23	-146.0	2933	1225	3500	3457	289.6	-10.4	330	2570	0.12	2.15	0.00	0.000	5254	0.132	0.046	2869	2603	3478	3499	3457	0	0	0	0	0	0	15.04	15.04	15.10
2888	-1.18	-146.0	2869	2603	3498	3457	323.1	-9.5	344	2894	0.15	1.95	0.00	0.000	2468	0.243	0.068	2902	3814	3476	3497	3456	0	0	0	0	0	0	14.92	15.03	15.03
2930	-1.18	-146.0	2901	3814	3497	3456	327.1	-9.1	353	2935	0.00	1.83	0.00	0.000	1062	0.000	0.032	2901	2613	3476	3497	3456	0	0	0	0	0	0	15.10	15.08	15.11
3247	-1.18	-146.0	2901	2613	3494	3456	355.7	-9.3	366	3252	0.00	2.12	0.00	0.000	548	0.000	0.035	2901	1218	3475	3494	3457	0	0	0	0	0	0	15.27	15.07	15.29
3291	end dive: TARGET_DEPTH_EXCEEDED
state	3291	begin apogee
3296	-0.33	0.0	2897	2407	3493	3456	360.4	-10.0	375	3450	0.70	0.00	150.45	1.043	10246	0.209	0.000	3099	2407	2879	2848	2910	0	0	0	0	0	0	14.93	14.52	14.08
3451	end apogee: CONTROL_FINISHED_OK
state	3451	begin climb
3452	1.05	146.0	3099	2407	2841	2902	362.9	0.0	380	3573	0.95	2.28	110.95	1.106	10756	0.132	0.041	3413	1030	2271	2218	2325	0	0	0	0	0	0	14.46	14.40	13.97
3608	0.93	146.0	3412	1031	2211	2311	347.9	14.3	413	3613	0.20	2.20	0.00	0.000	5254	0.255	0.043	3368	2402	2260	2210	2311	0	0	0	0	0	0	14.45	14.57	14.62
3925	0.87	146.0	3368	2402	2204	2306	306.0	13.2	426	3926	0.00	0.00	0.00	0.000	134	0.000	0.000	3368	2402	2255	2204	2306	0	0	0	0	0	0	15.09	15.11	15.11
4225	0.81	146.0	3368	2402	2204	2302	270.5	11.4	436	4230	0.10	2.15	0.00	0.000	4740	0.334	0.038	3355	1028	2252	2203	2302	0	0	0	0	0	0	14.82	14.96	14.97
4304	0.81	146.0	3355	1027	2203	2300	261.3	10.8	452	4312	0.00	2.20	0.00	0.000	1030	0.000	0.043	3355	2401	2252	2204	2300	0	0	0	0	0	0	14.99	14.95	15.01
4612	0.78	146.0	3355	2401	2201	2300	229.0	10.5	475	4621	0.00	2.15	0.00	0.000	644	0.000	0.042	3363	1024	2251	2202	2300	0	0	0	0	0	0	15.20	15.00	15.23
4683	0.78	146.0	3363	1025	2201	2299	221.4	10.6	489	4688	0.12	2.17	0.00	0.000	5126	0.267	0.043	3338	2407	2251	2202	2300	0	0	0	0	0	0	14.85	14.99	15.04
4988	0.83	191.2	3337	2407	2200	2298	196.5	7.7	520	5029	0.00	2.28	33.53	1.025	8484	0.000	0.068	3337	3791	2088	2031	2145	0	0	0	0	0	0	15.22	14.75	14.40
5085	0.86	213.9	3336	3791	2025	2142	188.2	8.9	539	5112	0.00	2.12	17.48	1.034	9254	0.000	0.032	3342	2393	2000	1942	2059	0	0	0	0	0	0	14.95	14.90	14.34
5411	0.90	213.9	3342	2393	1936	2051	159.2	10.1	574	5416	0.10	2.15	0.00	0.000	2692	0.166	0.039	3400	1022	1993	1936	2051	0	0	0	0	0	0	14.90	14.93	14.96
5493	0.85	213.9	3399	1022	1937	2049	150.2	10.7	590	5499	0.20	2.17	0.00	0.000	5254	0.244	0.042	3352	2409	1992	1936	2049	0	0	0	0	0	0	14.81	14.94	14.98
5806	0.93	251.2	3352	2409	1935	2048	123.4	8.1	622	5840	0.00	2.28	28.77	0.923	8612	0.000	0.067	3352	3792	1846	1784	1909	0	0	0	0	0	0	15.19	14.76	14.42
5865	0.95	269.5	3351	3792	1777	1906	118.2	9.1	634	5885	0.00	2.12	14.52	0.962	9254	0.000	0.031	3357	2395	1775	1711	1839	0	0	0	0	0	0	14.93	14.90	14.38
6192	1.00	269.5	3356	2394	1703	1828	87.8	10.4	669	6197	0.12	2.10	0.00	0.000	2692	0.139	0.037	3439	1033	1766	1703	1829	0	0	0	0	0	0	14.92	14.93	14.95
6239	0.92	269.5	3438	1033	1703	1827	80.9	15.6	678	6245	0.28	2.15	0.00	0.000	5254	0.245	0.042	3370	2396	1765	1703	1827	0	0	0	0	0	0	14.81	14.92	14.97
6546	0.98	280.8	3370	2396	1703	1827	45.1	9.4	714	6560	0.00	2.20	7.95	0.883	8868	0.000	0.041	3376	1029	1728	1666	1791	0	0	0	0	0	0	15.18	14.94	14.52
6592	1.03	280.8	3376	1029	1666	1789	40.2	11.3	722	6600	0.00	2.17	0.00	0.000	1158	0.000	0.042	3377	2407	1728	1667	1789	0	0	0	0	0	0	15.00	14.94	15.02
6902	1.03	280.8	3376	2407	1666	1789	5.9	11.5	783	6909	0.00	2.15	0.00	0.000	516	0.000	0.041	3385	1032	1727	1666	1788	0	0	0	0	0	0	15.18	14.97	15.19
6928	end climb: SURFACE_DEPTH_REACHED
state	6929	begin surface coast
6955	end surface coast: CONTROL_FINISHED_OK
state	6955	begin surface