Glider dive log

Shilshole 27Jun12 * SG166 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HD_C 9.8500004e-06 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 7 HEADING -1 ROLL_MAX 3786 ALTIM_PING_DEPTH 90

DIVE 7 ESCAPE_HEADING 0 ROLL_DEG 28 ALTIM_PING_DELTA 10

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_TGT 150 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 6

D_ABORT 1030 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 340 R_PORT_OVSHOOT 47 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 30 INT_PRESSURE_YINT 2.5999999

T_BOOST 2 FILEMGR 0 ROLL_AD_RATE 300 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0 DEVICE1 -1

D_CALL 0 N_NOCOMM 1 VBD_MIN 455 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 1857 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 50 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 70 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -6 T_GPS_CHARGE -25888.844 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 147 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 109 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 19 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 8 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MIN 160 FG_AHR_24V 0 SEABIRD_T_G 0.0043150801

MAX_BUOY 120 PITCH_MAX 3938 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063196511

COURSE_BIAS 0 C_PITCH 2460 PRESSURE_YINT -28.661125 SEABIRD_T_I 2.3897506e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_J 2.561103e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -10.001128

RHO 1.0228 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.125791

MASS 52243 PITCH_GAIN 26 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0024671701

NAV_MODE 1 PITCH_TIMEOUT 16 COMPASS_USE 4 SEABIRD_C_J 0.00026194067

FERRY_MAX 45 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SIM_PITCH 0

AH0_10V 109 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_24V 147 D_SAFE 0 PITCH_ADJ_GAIN 0 SM_CC 340

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 PITCH_CNV 0.003125763 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 26 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 90 FERRY_MAX 45 PITCH_MAX 3938 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 160 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160501 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_YINT -28.661125 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 9 T_BOOST 2

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 50

CALL_WAIT 60 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 15

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -25888.844

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 166 RHO 1.0228 T_MISSION 70

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 2.5999999 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 1 ROLL_AD_RATE 300 T_TURN 225

C_PITCH 2460 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 ROLL_DEG 28 T_WATCHDOG 10

C_ROLL_DIVE 2100 LOGGERDEVICE3 -1 ROLL_MAX 3786 UNCOM_BLEED 50

C_VBD 1857 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 197 USE_BATHY -6

DEEPGLIDERMB 0 MASS 52243 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 120 R_PORT_OVSHOOT 47 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_STBD_OVSHOOT 30 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 19 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 7 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_G -10.001128 VBD_MIN 455

DIVE 7 NOCOMM_ACTION 0 SEABIRD_C_H 1.125791 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 N_DIVES 0 SEABIRD_C_I -0.0024671701 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 8 SEABIRD_C_J 0.00026194067 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043150801 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_H 0.00063196511 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.3897506e-05 XPDR_VALID 6

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_J 2.561103e-06

Pre-dive calculations and measurements:

GPS1 270612,223102,4743.962,-12224.720,14,1.7,14,18.2 TGT_NAME NE

_CALLS 1 TGT_LATLONG 4744.200,-12223.500

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.234,0.027

_SM_DEPTHo 1.47 KALMAN_X -330.2,-87.3,2.3,504.2,-91.0

_SM_ANGLEo -68.7 KALMAN_Y -509.7,-550.4,-70.2,3482.2,141.1

GPS2 270612,223831,4743.906,-12224.694,10,1.7,15,18.2 MHEAD_RNG_PITCHd_Wd 65.1,1584,-20.4,-10.000

SPEED_LIMITS 0.173,0.235 D_GRID 174

Post-dive calculations and measurements:

FINISH 3.0,1.018702 _24V_AH 24.5,0.686

SM_CCo 2934,72.40,0.140,0,0,466,340.23 _10V_AH 10.3,0.467

SM_GC 1.36,7.32,1.55,72.40,0.083,0.048,0.140,145,2112,466,-7.15,-0.76,340.23,0,0,0,0,0,0,26.39,26.41,26.09 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12222.38,270612,212138 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.026215 MEM 323512

HUMID 46.02 DATA_FILE_SIZE 10146,281

INTERNAL_PRESSURE 9.18228 CAP_FILE_SIZE 85661,0

TCM_TEMP 20.10 CFSIZE 260165632,257568768

XPDR_PINGS 14 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 100.7,6.9 GPS 270612,233046,4744.141,-12224.274,9,99.0,28,18.2

SC_FREEKB 7767296

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 245 103.48 nil 0 0 0.00

Roll_motor 42 65 68.46 nil 0 0 0.00

VBD_pump_during_apogee 233 636 3635.30 nil 0 0 0.00

VBD_pump_during_surface 72 139 248.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 66.51 nil 0 0 0.00

Iridium_during_connect 38 160 150.87 SciCon 2924 36 2595.23

Iridium_during_xfer 224 223 1224.99 nil 0 0 0.00

Transponder_ping 4 420 43.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.64

TT8 921 19 187.90

LPSleep 952 2 21.48

TT8_Active 373 19 76.20

TT8_Sampling 1022 39 419.04

TT8_CF8 198 45 93.75

TT8_Kalman 33 81 27.99

Analog_circuits 830 12 102.67

GPS_charging 0 0 0.00

Compass 701 5 36.12

RAFOS 0 0 0.00

Transponder 7 30 2.25

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.83 -117.3 0.0 0.0 0 71 0.00 0.00 -51.20 0.000 2 0.000 0.000 175 2092 1707 0 0 0 0 0 0 28.83 28.83 28.83

75 -0.83 -117.3 3.8 -6.2 5 106 7.90 1.50 -16.70 0.000 4 0.246 0.066 2180 1118 2339 0 0 0 0 0 0 25.81 26.08 26.38

333 -0.83 -117.3 40.3 -15.5 30 340 0.00 1.52 0.00 0.000 6 0.000 0.047 2171 2106 2339 0 0 0 0 0 0 28.83 26.23 28.83

369 -0.83 -117.3 46.5 -15.6 34 374 0.00 1.50 0.00 0.000 4 0.000 0.044 2167 1087 2337 0 0 0 0 0 0 28.83 26.27 28.83

603 -0.83 -117.3 81.1 -15.3 57 609 0.12 1.52 0.00 0.000 6 0.200 0.047 2188 2109 2339 0 0 0 0 0 0 26.19 26.34 28.83

646 -0.83 -117.3 86.8 -13.3 61 651 0.00 1.50 0.00 0.000 4 0.000 0.044 2185 1085 2339 0 0 0 0 0 0 28.83 26.37 28.83

740 -0.83 -117.3 97.9 -11.6 70 745 0.00 1.52 0.00 0.000 6 0.000 0.047 2180 2109 2339 0 0 0 0 0 0 28.83 26.39 28.83

783 -0.83 -117.3 103.1 -12.0 74 784 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 2109 2340 0 0 0 0 0 0 28.83 28.83 28.83

813 -0.83 -117.3 106.7 -12.2 77 814 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 2109 2339 0 0 0 0 0 0 28.83 28.83 28.83

843 -0.83 -117.3 110.3 -12.1 80 844 0.00 0.00 0.00 0.000 6 0.000 0.000 2188 2109 2339 0 0 0 0 0 0 28.83 28.83 28.83

873 -0.83 -117.3 114.0 -12.1 83 874 0.00 0.00 0.00 0.000 6 0.000 0.000 2188 2109 2339 0 0 0 0 0 0 28.83 28.83 28.83

903 -0.83 -117.3 117.8 -12.7 86 908 0.00 1.50 0.00 0.000 4 0.000 0.043 2179 1080 2339 0 0 0 0 0 0 28.83 26.44 28.83

965 -0.83 -117.3 126.0 -13.2 92 970 0.00 1.52 0.00 0.000 6 0.000 0.047 2171 2104 2339 0 0 0 0 0 0 28.83 26.44 28.83

1008 -0.83 -117.3 131.4 -12.6 96 1009 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2104 2339 0 0 0 0 0 0 28.83 28.83 28.83

1038 -0.83 -117.3 135.3 -12.8 99 1039 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2104 2339 0 0 0 0 0 0 28.83 28.83 28.83

1068 -0.83 -117.3 139.3 -13.1 102 1069 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2105 2339 0 0 0 0 0 0 28.83 28.83 28.83

1098 -0.83 -117.3 143.4 -13.7 105 1099 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2104 2339 0 0 0 0 0 0 28.83 28.83 28.83

1128 -0.83 -117.3 147.4 -13.4 108 1129 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2104 2339 0 0 0 0 0 0 28.83 28.83 28.83

1156 end dive: TARGET_DEPTH_EXCEEDED

state 1156 begin apogee

1161 -0.19 0.0 151.2 -12.6 111 1274 0.73 0.00 104.55 0.636 6 0.163 0.000 2392 2104 1852 0 0 0 0 0 0 26.31 28.83 24.82

1275 end apogee: CONTROL_FINISHED_OK

state 1275 begin climb

1278 0.83 117.3 155.8 0.0 122 1392 1.00 1.67 104.35 0.604 4 0.112 0.063 2725 3091 1371 0 0 0 0 0 0 25.32 24.98 24.50

1448 0.83 117.3 141.9 12.3 139 1455 0.00 1.50 0.00 0.000 6 0.000 0.042 2732 2106 1362 0 0 0 0 0 0 28.83 25.47 28.83

1485 0.83 117.3 137.2 11.7 143 1486 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2106 1364 0 0 0 0 0 0 28.83 28.83 28.83

1515 0.83 117.3 133.7 11.3 146 1516 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2106 1364 0 0 0 0 0 0 28.83 28.83 28.83

1545 0.83 117.3 130.2 12.0 149 1550 0.00 1.55 0.00 0.000 4 0.000 0.063 2734 3083 1363 0 0 0 0 0 0 28.83 25.70 28.83

1587 0.83 117.3 124.8 12.7 153 1592 0.00 1.50 0.00 0.000 6 0.000 0.043 2739 2083 1363 0 0 0 0 0 0 28.83 25.83 28.83

1630 0.83 117.3 119.4 12.5 157 1631 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2082 1363 0 0 0 0 0 0 28.83 28.83 28.83

1660 0.83 117.3 115.7 12.3 160 1661 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2083 1363 0 0 0 0 0 0 28.83 28.83 28.83

1690 0.83 117.3 112.0 12.3 163 1695 0.00 1.58 0.00 0.000 4 0.000 0.064 2741 3084 1363 0 0 0 0 0 0 28.83 25.93 28.83

1752 0.83 117.3 103.1 14.4 169 1758 0.00 1.50 0.00 0.000 6 0.000 0.042 2746 2105 1363 0 0 0 0 0 0 28.83 26.04 28.83

1795 0.83 117.3 97.1 14.0 173 1800 0.00 1.50 0.00 0.000 4 0.000 0.047 2753 1094 1363 0 0 0 0 0 0 28.83 26.06 28.83

1838 0.83 117.3 90.9 14.5 177 1843 0.00 1.52 0.00 0.000 6 0.000 0.049 2755 2099 1362 0 0 0 0 0 0 28.83 26.09 28.83

1881 0.83 117.3 85.3 13.4 181 1882 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2098 1360 0 0 0 0 0 0 28.83 28.83 28.83

1911 0.83 117.3 81.6 12.6 184 1916 0.00 1.58 0.00 0.000 4 0.000 0.064 2753 3089 1362 0 0 0 0 0 0 28.83 26.12 28.83

1943 0.83 117.3 77.6 11.8 187 1949 0.12 1.50 0.00 0.000 6 0.223 0.041 2731 2074 1362 0 0 0 0 0 0 25.97 26.18 28.83

1987 0.83 117.3 72.8 10.9 191 1992 0.00 1.45 0.00 0.000 4 0.000 0.047 2736 1116 1362 0 0 0 0 0 0 28.83 26.20 28.83

2010 0.83 117.3 70.3 11.1 193 2015 0.00 1.50 0.00 0.000 6 0.000 0.050 2738 2110 1361 0 0 0 0 0 0 28.83 26.18 28.83

2052 0.83 117.3 65.2 11.7 197 2054 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2110 1362 0 0 0 0 0 0 28.83 28.83 28.83

2082 0.83 117.3 62.2 10.4 200 2084 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2110 1362 0 0 0 0 0 0 28.83 28.83 28.83

2112 0.83 117.3 59.0 10.2 203 2114 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2110 1362 0 0 0 0 0 0 28.83 28.83 28.83

2142 0.83 117.3 55.9 10.7 206 2148 0.00 1.50 0.00 0.000 4 0.000 0.064 2738 3089 1362 0 0 0 0 0 0 28.83 26.22 28.83

2299 0.83 118.6 39.6 9.9 221 2305 0.00 1.50 0.00 0.000 6 0.000 0.042 2741 2099 1362 0 0 0 0 0 0 28.83 26.34 28.83

2336 0.84 127.0 35.7 9.5 225 2344 0.00 0.00 3.80 0.161 6 0.000 0.000 2741 2099 1337 0 0 0 0 0 0 28.83 28.83 26.08

2375 0.85 151.9 32.3 8.6 229 2396 0.00 1.50 11.85 0.207 4 0.000 0.047 2747 1115 1236 0 0 0 0 0 0 28.83 26.29 26.06

2460 0.85 151.9 23.5 11.0 237 2465 0.00 1.50 0.00 0.000 6 0.000 0.050 2749 2112 1244 0 0 0 0 0 0 28.83 26.30 28.83

2503 0.85 151.9 18.2 12.2 241 2508 0.00 1.50 0.00 0.000 4 0.000 0.064 2751 3094 1245 0 0 0 0 0 0 28.83 26.29 28.83

2565 0.85 151.9 11.3 10.5 247 2571 0.00 1.50 1.40 0.197 6 0.000 0.042 2756 2072 1233 0 0 0 0 0 0 28.83 26.36 26.20

2609 0.85 166.8 7.3 9.1 251 2620 0.00 1.48 7.18 0.159 4 0.000 0.047 2762 1114 1172 0 0 0 0 0 0 28.83 26.34 26.19

2713 end climb: SURFACE_DEPTH_REACHED

state 2714 begin surface coast

2915 end surface coast: NO_VERTICAL_VELOCITY

state 2915 begin surface

ID	166	HD_C	9.8500004e-06	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	7	HEADING	-1	ROLL_MAX	3786	ALTIM_PING_DEPTH	90
DIVE	7	ESCAPE_HEADING	0	ROLL_DEG	28	ALTIM_PING_DELTA	10
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_TGT	150	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	6
D_ABORT	1030	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	340	R_PORT_OVSHOOT	47	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	30	INT_PRESSURE_YINT	2.5999999
T_BOOST	2	FILEMGR	0	ROLL_AD_RATE	300	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0	DEVICE1	-1
D_CALL	0	N_NOCOMM	1	VBD_MIN	455	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	1857	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	50	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	70	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-6	T_GPS_CHARGE	-25888.844	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	147	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	109	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	19	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	8	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MIN	160	FG_AHR_24V	0	SEABIRD_T_G	0.0043150801
MAX_BUOY	120	PITCH_MAX	3938	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063196511
COURSE_BIAS	0	C_PITCH	2460	PRESSURE_YINT	-28.661125	SEABIRD_T_I	2.3897506e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_J	2.561103e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-10.001128
RHO	1.0228	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.125791
MASS	52243	PITCH_GAIN	26	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0024671701
NAV_MODE	1	PITCH_TIMEOUT	16	COMPASS_USE	4	SEABIRD_C_J	0.00026194067
FERRY_MAX	45	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0

GPS1	270612,223102,4743.962,-12224.720,14,1.7,14,18.2	TGT_NAME	NE
_CALLS	1	TGT_LATLONG	4744.200,-12223.500
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.234,0.027
_SM_DEPTHo	1.47	KALMAN_X	-330.2,-87.3,2.3,504.2,-91.0
_SM_ANGLEo	-68.7	KALMAN_Y	-509.7,-550.4,-70.2,3482.2,141.1
GPS2	270612,223831,4743.906,-12224.694,10,1.7,15,18.2	MHEAD_RNG_PITCHd_Wd	65.1,1584,-20.4,-10.000
SPEED_LIMITS	0.173,0.235	D_GRID	174

FINISH	3.0,1.018702	_24V_AH	24.5,0.686
SM_CCo	2934,72.40,0.140,0,0,466,340.23	_10V_AH	10.3,0.467
SM_GC	1.36,7.32,1.55,72.40,0.083,0.048,0.140,145,2112,466,-7.15,-0.76,340.23,0,0,0,0,0,0,26.39,26.41,26.09	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12222.38,270612,212138	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.026215	MEM	323512
HUMID	46.02	DATA_FILE_SIZE	10146,281
INTERNAL_PRESSURE	9.18228	CAP_FILE_SIZE	85661,0
TCM_TEMP	20.10	CFSIZE	260165632,257568768
XPDR_PINGS	14	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	100.7,6.9	GPS	270612,233046,4744.141,-12224.274,9,99.0,28,18.2
SC_FREEKB	7767296

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	245	103.48	nil	0	0	0.00
Roll_motor	42	65	68.46	nil	0	0	0.00
VBD_pump_during_apogee	233	636	3635.30	nil	0	0	0.00
VBD_pump_during_surface	72	139	248.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	66.51	nil	0	0	0.00
Iridium_during_connect	38	160	150.87	SciCon	2924	36	2595.23
Iridium_during_xfer	224	223	1224.99	nil	0	0	0.00
Transponder_ping	4	420	43.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.64
TT8	921	19	187.90
LPSleep	952	2	21.48
TT8_Active	373	19	76.20
TT8_Sampling	1022	39	419.04
TT8_CF8	198	45	93.75
TT8_Kalman	33	81	27.99
Analog_circuits	830	12	102.67
GPS_charging	0	0	0.00
Compass	701	5	36.12
RAFOS	0	0	0.00
Transponder	7	30	2.25

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.83	-117.3	0.0	0.0	0	71	0.00	0.00	-51.20	0.000	2	0.000	0.000	175	2092	1707	0	0	0	0	0	0	28.83	28.83	28.83
75	-0.83	-117.3	3.8	-6.2	5	106	7.90	1.50	-16.70	0.000	4	0.246	0.066	2180	1118	2339	0	0	0	0	0	0	25.81	26.08	26.38
333	-0.83	-117.3	40.3	-15.5	30	340	0.00	1.52	0.00	0.000	6	0.000	0.047	2171	2106	2339	0	0	0	0	0	0	28.83	26.23	28.83
369	-0.83	-117.3	46.5	-15.6	34	374	0.00	1.50	0.00	0.000	4	0.000	0.044	2167	1087	2337	0	0	0	0	0	0	28.83	26.27	28.83
603	-0.83	-117.3	81.1	-15.3	57	609	0.12	1.52	0.00	0.000	6	0.200	0.047	2188	2109	2339	0	0	0	0	0	0	26.19	26.34	28.83
646	-0.83	-117.3	86.8	-13.3	61	651	0.00	1.50	0.00	0.000	4	0.000	0.044	2185	1085	2339	0	0	0	0	0	0	28.83	26.37	28.83
740	-0.83	-117.3	97.9	-11.6	70	745	0.00	1.52	0.00	0.000	6	0.000	0.047	2180	2109	2339	0	0	0	0	0	0	28.83	26.39	28.83
783	-0.83	-117.3	103.1	-12.0	74	784	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	2109	2340	0	0	0	0	0	0	28.83	28.83	28.83
813	-0.83	-117.3	106.7	-12.2	77	814	0.00	0.00	0.00	0.000	6	0.000	0.000	2189	2109	2339	0	0	0	0	0	0	28.83	28.83	28.83
843	-0.83	-117.3	110.3	-12.1	80	844	0.00	0.00	0.00	0.000	6	0.000	0.000	2188	2109	2339	0	0	0	0	0	0	28.83	28.83	28.83
873	-0.83	-117.3	114.0	-12.1	83	874	0.00	0.00	0.00	0.000	6	0.000	0.000	2188	2109	2339	0	0	0	0	0	0	28.83	28.83	28.83
903	-0.83	-117.3	117.8	-12.7	86	908	0.00	1.50	0.00	0.000	4	0.000	0.043	2179	1080	2339	0	0	0	0	0	0	28.83	26.44	28.83
965	-0.83	-117.3	126.0	-13.2	92	970	0.00	1.52	0.00	0.000	6	0.000	0.047	2171	2104	2339	0	0	0	0	0	0	28.83	26.44	28.83
1008	-0.83	-117.3	131.4	-12.6	96	1009	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2104	2339	0	0	0	0	0	0	28.83	28.83	28.83
1038	-0.83	-117.3	135.3	-12.8	99	1039	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2104	2339	0	0	0	0	0	0	28.83	28.83	28.83
1068	-0.83	-117.3	139.3	-13.1	102	1069	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2105	2339	0	0	0	0	0	0	28.83	28.83	28.83
1098	-0.83	-117.3	143.4	-13.7	105	1099	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2104	2339	0	0	0	0	0	0	28.83	28.83	28.83
1128	-0.83	-117.3	147.4	-13.4	108	1129	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2104	2339	0	0	0	0	0	0	28.83	28.83	28.83
1156	end dive: TARGET_DEPTH_EXCEEDED
state	1156	begin apogee
1161	-0.19	0.0	151.2	-12.6	111	1274	0.73	0.00	104.55	0.636	6	0.163	0.000	2392	2104	1852	0	0	0	0	0	0	26.31	28.83	24.82
1275	end apogee: CONTROL_FINISHED_OK
state	1275	begin climb
1278	0.83	117.3	155.8	0.0	122	1392	1.00	1.67	104.35	0.604	4	0.112	0.063	2725	3091	1371	0	0	0	0	0	0	25.32	24.98	24.50
1448	0.83	117.3	141.9	12.3	139	1455	0.00	1.50	0.00	0.000	6	0.000	0.042	2732	2106	1362	0	0	0	0	0	0	28.83	25.47	28.83
1485	0.83	117.3	137.2	11.7	143	1486	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2106	1364	0	0	0	0	0	0	28.83	28.83	28.83
1515	0.83	117.3	133.7	11.3	146	1516	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2106	1364	0	0	0	0	0	0	28.83	28.83	28.83
1545	0.83	117.3	130.2	12.0	149	1550	0.00	1.55	0.00	0.000	4	0.000	0.063	2734	3083	1363	0	0	0	0	0	0	28.83	25.70	28.83
1587	0.83	117.3	124.8	12.7	153	1592	0.00	1.50	0.00	0.000	6	0.000	0.043	2739	2083	1363	0	0	0	0	0	0	28.83	25.83	28.83
1630	0.83	117.3	119.4	12.5	157	1631	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2082	1363	0	0	0	0	0	0	28.83	28.83	28.83
1660	0.83	117.3	115.7	12.3	160	1661	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2083	1363	0	0	0	0	0	0	28.83	28.83	28.83
1690	0.83	117.3	112.0	12.3	163	1695	0.00	1.58	0.00	0.000	4	0.000	0.064	2741	3084	1363	0	0	0	0	0	0	28.83	25.93	28.83
1752	0.83	117.3	103.1	14.4	169	1758	0.00	1.50	0.00	0.000	6	0.000	0.042	2746	2105	1363	0	0	0	0	0	0	28.83	26.04	28.83
1795	0.83	117.3	97.1	14.0	173	1800	0.00	1.50	0.00	0.000	4	0.000	0.047	2753	1094	1363	0	0	0	0	0	0	28.83	26.06	28.83
1838	0.83	117.3	90.9	14.5	177	1843	0.00	1.52	0.00	0.000	6	0.000	0.049	2755	2099	1362	0	0	0	0	0	0	28.83	26.09	28.83
1881	0.83	117.3	85.3	13.4	181	1882	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2098	1360	0	0	0	0	0	0	28.83	28.83	28.83
1911	0.83	117.3	81.6	12.6	184	1916	0.00	1.58	0.00	0.000	4	0.000	0.064	2753	3089	1362	0	0	0	0	0	0	28.83	26.12	28.83
1943	0.83	117.3	77.6	11.8	187	1949	0.12	1.50	0.00	0.000	6	0.223	0.041	2731	2074	1362	0	0	0	0	0	0	25.97	26.18	28.83
1987	0.83	117.3	72.8	10.9	191	1992	0.00	1.45	0.00	0.000	4	0.000	0.047	2736	1116	1362	0	0	0	0	0	0	28.83	26.20	28.83
2010	0.83	117.3	70.3	11.1	193	2015	0.00	1.50	0.00	0.000	6	0.000	0.050	2738	2110	1361	0	0	0	0	0	0	28.83	26.18	28.83
2052	0.83	117.3	65.2	11.7	197	2054	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2110	1362	0	0	0	0	0	0	28.83	28.83	28.83
2082	0.83	117.3	62.2	10.4	200	2084	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2110	1362	0	0	0	0	0	0	28.83	28.83	28.83
2112	0.83	117.3	59.0	10.2	203	2114	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2110	1362	0	0	0	0	0	0	28.83	28.83	28.83
2142	0.83	117.3	55.9	10.7	206	2148	0.00	1.50	0.00	0.000	4	0.000	0.064	2738	3089	1362	0	0	0	0	0	0	28.83	26.22	28.83
2299	0.83	118.6	39.6	9.9	221	2305	0.00	1.50	0.00	0.000	6	0.000	0.042	2741	2099	1362	0	0	0	0	0	0	28.83	26.34	28.83
2336	0.84	127.0	35.7	9.5	225	2344	0.00	0.00	3.80	0.161	6	0.000	0.000	2741	2099	1337	0	0	0	0	0	0	28.83	28.83	26.08
2375	0.85	151.9	32.3	8.6	229	2396	0.00	1.50	11.85	0.207	4	0.000	0.047	2747	1115	1236	0	0	0	0	0	0	28.83	26.29	26.06
2460	0.85	151.9	23.5	11.0	237	2465	0.00	1.50	0.00	0.000	6	0.000	0.050	2749	2112	1244	0	0	0	0	0	0	28.83	26.30	28.83
2503	0.85	151.9	18.2	12.2	241	2508	0.00	1.50	0.00	0.000	4	0.000	0.064	2751	3094	1245	0	0	0	0	0	0	28.83	26.29	28.83
2565	0.85	151.9	11.3	10.5	247	2571	0.00	1.50	1.40	0.197	6	0.000	0.042	2756	2072	1233	0	0	0	0	0	0	28.83	26.36	26.20
2609	0.85	166.8	7.3	9.1	251	2620	0.00	1.48	7.18	0.159	4	0.000	0.047	2762	1114	1172	0	0	0	0	0	0	28.83	26.34	26.19
2713	end climb: SURFACE_DEPTH_REACHED
state	2714	begin surface coast
2915	end surface coast: NO_VERTICAL_VELOCITY
state	2915	begin surface