Glider dive log

ITOP Sep10 * SG167 * Dive index * Mission links * Dive 277 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 277 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 289 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 790 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1000 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 400 R_PORT_OVSHOOT 50 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 155 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.02 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 490 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 53

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3029 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 300 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 375 CAPUPLOAD 0 VBD_TIMEOUT 540 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -5 T_GPS_CHARGE -54471.73 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 134 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 235 PITCH_MAX 3944 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2822 PHONE_SUPPLY 2 SEABIRD_T_G 0.004337667

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -16.491346 SEABIRD_T_H 0.00063136261

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_I 2.3680945e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4321864e-06

MASS 51890 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8870621

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1051886

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001683808

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00020742195

HD_A 0.0038360001 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 1000 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3944 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 134 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001158971 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -16.491346 T_DIVE 300

CALL_TRIES 5 HD_A 0.0038360001 PROTOCOL 9 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -54471.73

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 375

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 167 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.02 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

C_PITCH 2822 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 1000 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 790 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -5

C_VBD 3029 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.24529999

DEVICE1 2 MASS 51890 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 53 MAX_BUOY 235 R_PORT_OVSHOOT 50 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 155 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8870621 VBD_MIN 490

DEVICE5 -1 MISSION 6 SEABIRD_C_H 1.1051886 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.001683808 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 277 NAV_MODE 2 SEABIRD_C_J 0.00020742195 VBD_TIMEOUT 540

D_ABORT 1090 N_DIVES 289 SEABIRD_T_G 0.004337667 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00063136261 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.3680945e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.4321864e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 311010,230137,2119.948,12602.438,35,1.3,36,-2.9 TGT_NAME PICKUP_SOUTH

_CALLS 2 TGT_LATLONG 2119.400,12601.200

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 311010,231231,2119.827,12602.477,13,1.4,30,-2.9 MHEAD_RNG_PITCHd_Wd 253.8,2339,-23.2,-11.111

SPEED_LIMITS 0.192,0.329 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.011112 _10V_AH 10.2,47.579

SM_CCo 14338,45.78,0.467,1,0,1398,400.08 FG_AHR_24Vo 0.000

SM_GC 1.19,0.00,0.00,45.78,0.000,0.000,0.467,125,781,1398,-8.42,-0.25,400.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2111.01,12601.30,311010,232358 MEM 333780

TT8_MAMPS 0.026215 DATA_FILE_SIZE 93771,1617

HUMID 39.48 CAP_FILE_SIZE 157566,0

INTERNAL_PRESSURE 8.92612 CFSIZE 260165632,148840448

TCM_TEMP 28.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.088,108.7,1

_24V_AH 23.1,51.699 GPS 011110,031407,2119.061,12601.489,31,1.1,32,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 221 100.48 SBE_CT 1103 24 611.98

Roll_motor 65 49 75.52 AA3830 1433 33 1092.47

VBD_pump_during_apogee 377 1420 12399.52 WL_BB2F 1958 105 4751.25

VBD_pump_during_surface 45 467 494.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 67 0 0.00 nil 0 0 0.00

Iridium_during_connect 91 0 0.00 nil 0 0 0.00

Iridium_during_xfer 215 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 0 0.00

TT8 3977 19 803.30

LPSleep 6084 2 135.91

TT8_Active 501 19 101.36

TT8_Sampling 3983 39 1617.23

TT8_CF8 491 45 229.57

TT8_Kalman 0 0 0.00

Analog_circuits 1876 12 229.66

GPS_charging 0 0 0.00

Compass 3610 15 552.45

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.78 -107.8 0.0 0.0 0 84 0.00 0.00 -63.80 0.000 2 0.000 0.000 112 770 3293 0 0 0 0 0 0

87 -0.78 -107.8 5.4 -11.3 9 105 9.57 1.98 -3.05 0.000 4 0.221 0.030 2552 2196 3471 0 0 0 0 0 0

294 -0.78 -107.8 66.5 -23.7 46 302 0.00 2.12 0.00 0.000 6 0.000 0.034 2552 799 3474 0 0 0 0 0 0

618 -0.78 -107.8 149.1 -19.3 107 626 0.00 0.88 0.00 0.000 4 0.000 0.041 2552 191 3475 0 0 0 0 0 0

852 -0.78 -107.8 200.1 -16.7 149 859 0.00 0.70 0.00 0.000 6 0.000 0.021 2547 820 3476 0 0 0 0 0 0

1185 -0.78 -107.8 252.1 -14.7 210 1193 0.00 1.80 0.00 0.000 4 0.000 0.015 2539 2126 3477 0 0 0 0 0 0

1344 -0.78 -107.8 274.2 -14.2 238 1352 0.05 1.98 0.00 0.000 6 0.160 0.033 2555 807 3477 0 0 0 0 0 0

1682 -0.78 -107.8 323.3 -13.8 299 1688 0.00 0.88 0.00 0.000 4 0.000 0.041 2555 198 3477 0 0 0 0 0 0

1932 -0.78 -107.8 358.7 -14.2 345 1940 0.00 0.68 0.00 0.000 6 0.000 0.021 2553 794 3476 0 0 0 0 0 0

2269 -0.78 -107.8 400.6 -12.1 406 2276 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 794 3476 0 0 0 0 0 0

2605 -0.78 -107.8 439.7 -12.1 467 2612 0.00 0.88 0.00 0.000 4 0.000 0.042 2553 197 3473 0 0 0 0 0 0

2825 -0.78 -107.8 469.8 -13.6 507 2831 0.00 0.68 0.00 0.000 6 0.000 0.022 2550 778 3471 0 0 0 0 0 0

3157 -0.78 -107.8 511.5 -12.0 559 3160 0.00 1.90 0.00 0.000 4 0.000 0.017 2548 2137 3470 0 0 0 0 0 0

3263 -0.80 -123.2 522.8 -10.0 568 3270 0.00 2.00 0.00 0.000 6 0.000 0.034 2548 799 3469 0 0 0 0 0 0

3589 -0.81 -132.6 557.3 -10.5 599 3592 0.00 0.88 0.00 0.000 4 0.000 0.044 2547 199 3467 0 0 0 0 0 0

3683 -0.81 -132.6 568.6 -11.3 607 3690 0.00 0.70 0.00 0.000 6 0.000 0.021 2547 783 3466 0 0 0 0 0 0

4018 -0.81 -132.6 605.1 -11.5 637 4022 0.00 1.95 0.00 0.000 4 0.000 0.018 2547 2144 3463 0 0 0 0 0 0

4165 -0.84 -157.1 620.1 -9.4 643 4169 0.00 2.03 0.00 0.000 6 0.000 0.035 2547 803 3462 0 0 0 0 0 0

4488 -0.84 -158.7 655.5 -11.0 659 4490 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 804 3459 0 0 0 0 0 0

4796 -0.84 -163.2 688.2 -10.8 674 4798 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 803 3457 0 0 0 0 0 0

5108 -0.87 -181.5 719.2 -9.9 689 5110 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 803 3455 0 0 0 0 0 0

5416 -0.90 -209.5 748.3 -9.2 704 5420 0.00 0.90 0.00 0.000 4 0.000 0.046 2548 196 3452 0 0 0 0 0 0

5545 -0.93 -228.7 760.9 -9.1 709 5552 0.00 0.73 0.00 0.000 6 0.000 0.024 2547 780 3452 0 0 0 0 0 0

5863 -0.93 -228.7 788.7 -8.8 725 5867 0.00 2.00 0.00 0.000 4 0.000 0.020 2547 2159 3450 0 0 0 0 0 0

5924 -0.93 -228.7 793.8 -7.5 727 5931 0.00 2.03 0.00 0.000 6 0.000 0.037 2547 815 3450 0 0 0 0 0 0

6242 -0.93 -228.7 822.2 -9.3 743 6243 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 815 3447 0 0 0 0 0 0

6550 -0.93 -228.7 850.7 -9.0 758 6551 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 815 3445 0 0 0 0 0 0

6859 -0.93 -228.7 878.2 -8.7 773 6862 0.00 0.93 0.00 0.000 4 0.000 0.047 2547 195 3443 0 0 0 0 0 0

6922 -0.93 -228.7 884.0 -9.0 775 6928 0.00 0.77 0.00 0.000 6 0.000 0.024 2548 794 3443 0 0 0 0 0 0

7238 -0.93 -228.7 910.1 -8.0 791 7239 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 794 3441 0 0 0 0 0 0

7550 -0.93 -228.7 934.6 -8.2 806 7553 0.00 1.95 0.00 0.000 4 0.000 0.020 2548 2161 3440 0 0 0 0 0 0

7596 -0.93 -228.7 938.3 -7.8 808 7600 0.00 2.08 0.00 0.000 6 0.000 0.038 2547 801 3440 0 0 0 0 0 0

7924 -0.93 -228.7 965.0 -8.4 824 7925 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 801 3439 0 0 0 0 0 0

8234 -0.93 -228.7 990.2 -8.4 839 8238 0.00 0.90 0.00 0.000 4 0.000 0.048 2547 200 3437 0 0 0 0 0 0

8338 end dive: TARGET_DEPTH_EXCEEDED

state 8338 begin apogee

8345 -0.14 0.0 1000.2 9.4 843 8436 0.70 0.00 84.28 1.421 4 0.134 0.000 2770 1024 3028 0 0 0 0 0 0

8440 end apogee: CONTROL_FINISHED_OK

state 8440 begin climb

8442 0.93 228.7 1002.2 0.0 848 8646 0.98 2.08 194.57 1.366 4 0.051 0.021 3132 2408 2097 0 0 0 0 0 0

8781 0.93 228.7 950.0 23.7 863 8788 0.00 2.25 0.00 0.000 6 0.000 0.036 3143 994 2089 0 0 0 0 0 0

9099 0.93 228.7 877.4 23.5 879 9102 0.00 1.23 0.00 0.000 4 0.000 0.045 3149 192 2086 0 0 0 0 0 0

9324 0.93 228.7 821.1 26.1 889 9328 0.00 1.15 0.00 0.000 6 0.000 0.026 3149 1003 2083 0 0 0 0 0 0

9659 0.93 228.7 740.6 24.6 905 9662 0.00 2.03 0.00 0.000 4 0.000 0.025 3149 2388 2082 0 0 0 0 0 0

9843 0.93 228.7 697.3 22.6 913 9848 0.15 2.10 0.00 0.000 6 0.200 0.035 3122 1025 2081 0 0 0 0 0 0

10172 0.93 228.7 629.5 20.0 929 10176 0.00 2.00 0.00 0.000 4 0.000 0.024 3122 2408 2080 0 0 0 0 0 0

10222 0.93 228.7 618.9 19.0 931 10226 0.00 2.10 0.00 0.000 6 0.000 0.036 3130 1032 2080 0 0 0 0 0 0

10546 0.93 228.7 554.1 20.7 957 10547 0.00 0.00 0.00 0.000 6 0.000 0.000 3130 1032 2079 0 0 0 0 0 0

10866 0.93 228.7 490.4 18.4 991 10873 0.00 2.00 0.00 0.000 4 0.000 0.024 3129 2396 2079 0 0 0 0 0 0

11002 0.93 228.7 466.9 17.0 1015 11009 0.00 2.10 0.00 0.000 6 0.000 0.036 3139 1021 2079 0 0 0 0 0 0

11336 0.93 228.7 403.3 18.7 1076 11344 0.00 1.25 0.00 0.000 4 0.000 0.045 3145 191 2078 0 0 0 0 0 0

11554 0.93 228.7 357.4 18.6 1116 11562 0.00 1.15 0.00 0.000 6 0.000 0.024 3146 1034 2079 0 0 0 0 0 0

11892 0.93 228.7 297.6 17.1 1177 11899 0.00 0.00 0.00 0.000 6 0.000 0.000 3146 1035 2078 0 0 0 0 0 0

12223 0.93 228.7 242.5 14.4 1238 12230 0.00 0.00 0.00 0.000 6 0.000 0.000 3146 1035 2078 0 0 0 0 0 0

12560 0.93 228.7 193.9 14.5 1299 12567 0.00 1.92 0.00 0.000 4 0.000 0.021 3146 2379 2078 0 0 0 0 0 0

12780 0.93 228.7 165.9 12.1 1339 12788 0.12 2.08 0.00 0.000 6 0.188 0.034 3124 1007 2079 0 0 0 0 0 0

13115 0.95 252.2 130.5 9.5 1400 13139 0.00 1.17 17.20 0.703 4 0.000 0.041 3129 194 2002 0 0 0 0 0 0

13379 1.00 291.0 102.7 8.4 1448 13417 0.00 1.10 32.50 0.690 6 0.000 0.021 3129 1022 1841 0 0 0 0 0 0

13735 1.03 310.9 70.3 9.7 1513 13758 0.00 1.23 16.62 0.631 4 0.000 0.041 3134 191 1760 0 0 0 0 0 0

13794 1.04 318.5 64.5 10.6 1522 13810 0.00 1.10 7.72 0.558 6 0.000 0.021 3134 1028 1729 0 0 0 0 0 0

14133 1.07 348.7 29.1 9.0 1584 14164 0.10 0.00 24.95 0.604 6 0.106 0.000 3195 1028 1606 0 0 0 0 0 0

14296 end climb: SURFACE_DEPTH_REACHED

state 14296 begin surface coast

14318 end surface coast: CONTROL_FINISHED_OK

state 14318 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	277	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	289	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	790	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1000	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	400	R_PORT_OVSHOOT	50	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	155	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.02	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	490	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	53
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3029	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	300	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	375	CAPUPLOAD	0	VBD_TIMEOUT	540	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-5	T_GPS_CHARGE	-54471.73	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	134	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	235	PITCH_MAX	3944	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2822	PHONE_SUPPLY	2	SEABIRD_T_G	0.004337667
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-16.491346	SEABIRD_T_H	0.00063136261
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_I	2.3680945e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4321864e-06
MASS	51890	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8870621
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1051886
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001683808
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00020742195
HD_A	0.0038360001	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	311010,230137,2119.948,12602.438,35,1.3,36,-2.9	TGT_NAME	PICKUP_SOUTH
_CALLS	2	TGT_LATLONG	2119.400,12601.200
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	311010,231231,2119.827,12602.477,13,1.4,30,-2.9	MHEAD_RNG_PITCHd_Wd	253.8,2339,-23.2,-11.111
SPEED_LIMITS	0.192,0.329	D_GRID	1000

FINISH	0.6,1.011112	_10V_AH	10.2,47.579
SM_CCo	14338,45.78,0.467,1,0,1398,400.08	FG_AHR_24Vo	0.000
SM_GC	1.19,0.00,0.00,45.78,0.000,0.000,0.467,125,781,1398,-8.42,-0.25,400.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2111.01,12601.30,311010,232358	MEM	333780
TT8_MAMPS	0.026215	DATA_FILE_SIZE	93771,1617
HUMID	39.48	CAP_FILE_SIZE	157566,0
INTERNAL_PRESSURE	8.92612	CFSIZE	260165632,148840448
TCM_TEMP	28.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.088,108.7,1
_24V_AH	23.1,51.699	GPS	011110,031407,2119.061,12601.489,31,1.1,32,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	221	100.48	SBE_CT	1103	24	611.98
Roll_motor	65	49	75.52	AA3830	1433	33	1092.47
VBD_pump_during_apogee	377	1420	12399.52	WL_BB2F	1958	105	4751.25
VBD_pump_during_surface	45	467	494.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	67	0	0.00	nil	0	0	0.00
Iridium_during_connect	91	0	0.00	nil	0	0	0.00
Iridium_during_xfer	215	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	0	0.00
TT8	3977	19	803.30
LPSleep	6084	2	135.91
TT8_Active	501	19	101.36
TT8_Sampling	3983	39	1617.23
TT8_CF8	491	45	229.57
TT8_Kalman	0	0	0.00
Analog_circuits	1876	12	229.66
GPS_charging	0	0	0.00
Compass	3610	15	552.45
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.78	-107.8	0.0	0.0	0	84	0.00	0.00	-63.80	0.000	2	0.000	0.000	112	770	3293	0	0	0	0	0	0
87	-0.78	-107.8	5.4	-11.3	9	105	9.57	1.98	-3.05	0.000	4	0.221	0.030	2552	2196	3471	0	0	0	0	0	0
294	-0.78	-107.8	66.5	-23.7	46	302	0.00	2.12	0.00	0.000	6	0.000	0.034	2552	799	3474	0	0	0	0	0	0
618	-0.78	-107.8	149.1	-19.3	107	626	0.00	0.88	0.00	0.000	4	0.000	0.041	2552	191	3475	0	0	0	0	0	0
852	-0.78	-107.8	200.1	-16.7	149	859	0.00	0.70	0.00	0.000	6	0.000	0.021	2547	820	3476	0	0	0	0	0	0
1185	-0.78	-107.8	252.1	-14.7	210	1193	0.00	1.80	0.00	0.000	4	0.000	0.015	2539	2126	3477	0	0	0	0	0	0
1344	-0.78	-107.8	274.2	-14.2	238	1352	0.05	1.98	0.00	0.000	6	0.160	0.033	2555	807	3477	0	0	0	0	0	0
1682	-0.78	-107.8	323.3	-13.8	299	1688	0.00	0.88	0.00	0.000	4	0.000	0.041	2555	198	3477	0	0	0	0	0	0
1932	-0.78	-107.8	358.7	-14.2	345	1940	0.00	0.68	0.00	0.000	6	0.000	0.021	2553	794	3476	0	0	0	0	0	0
2269	-0.78	-107.8	400.6	-12.1	406	2276	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	794	3476	0	0	0	0	0	0
2605	-0.78	-107.8	439.7	-12.1	467	2612	0.00	0.88	0.00	0.000	4	0.000	0.042	2553	197	3473	0	0	0	0	0	0
2825	-0.78	-107.8	469.8	-13.6	507	2831	0.00	0.68	0.00	0.000	6	0.000	0.022	2550	778	3471	0	0	0	0	0	0
3157	-0.78	-107.8	511.5	-12.0	559	3160	0.00	1.90	0.00	0.000	4	0.000	0.017	2548	2137	3470	0	0	0	0	0	0
3263	-0.80	-123.2	522.8	-10.0	568	3270	0.00	2.00	0.00	0.000	6	0.000	0.034	2548	799	3469	0	0	0	0	0	0
3589	-0.81	-132.6	557.3	-10.5	599	3592	0.00	0.88	0.00	0.000	4	0.000	0.044	2547	199	3467	0	0	0	0	0	0
3683	-0.81	-132.6	568.6	-11.3	607	3690	0.00	0.70	0.00	0.000	6	0.000	0.021	2547	783	3466	0	0	0	0	0	0
4018	-0.81	-132.6	605.1	-11.5	637	4022	0.00	1.95	0.00	0.000	4	0.000	0.018	2547	2144	3463	0	0	0	0	0	0
4165	-0.84	-157.1	620.1	-9.4	643	4169	0.00	2.03	0.00	0.000	6	0.000	0.035	2547	803	3462	0	0	0	0	0	0
4488	-0.84	-158.7	655.5	-11.0	659	4490	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	804	3459	0	0	0	0	0	0
4796	-0.84	-163.2	688.2	-10.8	674	4798	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	803	3457	0	0	0	0	0	0
5108	-0.87	-181.5	719.2	-9.9	689	5110	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	803	3455	0	0	0	0	0	0
5416	-0.90	-209.5	748.3	-9.2	704	5420	0.00	0.90	0.00	0.000	4	0.000	0.046	2548	196	3452	0	0	0	0	0	0
5545	-0.93	-228.7	760.9	-9.1	709	5552	0.00	0.73	0.00	0.000	6	0.000	0.024	2547	780	3452	0	0	0	0	0	0
5863	-0.93	-228.7	788.7	-8.8	725	5867	0.00	2.00	0.00	0.000	4	0.000	0.020	2547	2159	3450	0	0	0	0	0	0
5924	-0.93	-228.7	793.8	-7.5	727	5931	0.00	2.03	0.00	0.000	6	0.000	0.037	2547	815	3450	0	0	0	0	0	0
6242	-0.93	-228.7	822.2	-9.3	743	6243	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	815	3447	0	0	0	0	0	0
6550	-0.93	-228.7	850.7	-9.0	758	6551	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	815	3445	0	0	0	0	0	0
6859	-0.93	-228.7	878.2	-8.7	773	6862	0.00	0.93	0.00	0.000	4	0.000	0.047	2547	195	3443	0	0	0	0	0	0
6922	-0.93	-228.7	884.0	-9.0	775	6928	0.00	0.77	0.00	0.000	6	0.000	0.024	2548	794	3443	0	0	0	0	0	0
7238	-0.93	-228.7	910.1	-8.0	791	7239	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	794	3441	0	0	0	0	0	0
7550	-0.93	-228.7	934.6	-8.2	806	7553	0.00	1.95	0.00	0.000	4	0.000	0.020	2548	2161	3440	0	0	0	0	0	0
7596	-0.93	-228.7	938.3	-7.8	808	7600	0.00	2.08	0.00	0.000	6	0.000	0.038	2547	801	3440	0	0	0	0	0	0
7924	-0.93	-228.7	965.0	-8.4	824	7925	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	801	3439	0	0	0	0	0	0
8234	-0.93	-228.7	990.2	-8.4	839	8238	0.00	0.90	0.00	0.000	4	0.000	0.048	2547	200	3437	0	0	0	0	0	0
8338	end dive: TARGET_DEPTH_EXCEEDED
state	8338	begin apogee
8345	-0.14	0.0	1000.2	9.4	843	8436	0.70	0.00	84.28	1.421	4	0.134	0.000	2770	1024	3028	0	0	0	0	0	0
8440	end apogee: CONTROL_FINISHED_OK
state	8440	begin climb
8442	0.93	228.7	1002.2	0.0	848	8646	0.98	2.08	194.57	1.366	4	0.051	0.021	3132	2408	2097	0	0	0	0	0	0
8781	0.93	228.7	950.0	23.7	863	8788	0.00	2.25	0.00	0.000	6	0.000	0.036	3143	994	2089	0	0	0	0	0	0
9099	0.93	228.7	877.4	23.5	879	9102	0.00	1.23	0.00	0.000	4	0.000	0.045	3149	192	2086	0	0	0	0	0	0
9324	0.93	228.7	821.1	26.1	889	9328	0.00	1.15	0.00	0.000	6	0.000	0.026	3149	1003	2083	0	0	0	0	0	0
9659	0.93	228.7	740.6	24.6	905	9662	0.00	2.03	0.00	0.000	4	0.000	0.025	3149	2388	2082	0	0	0	0	0	0
9843	0.93	228.7	697.3	22.6	913	9848	0.15	2.10	0.00	0.000	6	0.200	0.035	3122	1025	2081	0	0	0	0	0	0
10172	0.93	228.7	629.5	20.0	929	10176	0.00	2.00	0.00	0.000	4	0.000	0.024	3122	2408	2080	0	0	0	0	0	0
10222	0.93	228.7	618.9	19.0	931	10226	0.00	2.10	0.00	0.000	6	0.000	0.036	3130	1032	2080	0	0	0	0	0	0
10546	0.93	228.7	554.1	20.7	957	10547	0.00	0.00	0.00	0.000	6	0.000	0.000	3130	1032	2079	0	0	0	0	0	0
10866	0.93	228.7	490.4	18.4	991	10873	0.00	2.00	0.00	0.000	4	0.000	0.024	3129	2396	2079	0	0	0	0	0	0
11002	0.93	228.7	466.9	17.0	1015	11009	0.00	2.10	0.00	0.000	6	0.000	0.036	3139	1021	2079	0	0	0	0	0	0
11336	0.93	228.7	403.3	18.7	1076	11344	0.00	1.25	0.00	0.000	4	0.000	0.045	3145	191	2078	0	0	0	0	0	0
11554	0.93	228.7	357.4	18.6	1116	11562	0.00	1.15	0.00	0.000	6	0.000	0.024	3146	1034	2079	0	0	0	0	0	0
11892	0.93	228.7	297.6	17.1	1177	11899	0.00	0.00	0.00	0.000	6	0.000	0.000	3146	1035	2078	0	0	0	0	0	0
12223	0.93	228.7	242.5	14.4	1238	12230	0.00	0.00	0.00	0.000	6	0.000	0.000	3146	1035	2078	0	0	0	0	0	0
12560	0.93	228.7	193.9	14.5	1299	12567	0.00	1.92	0.00	0.000	4	0.000	0.021	3146	2379	2078	0	0	0	0	0	0
12780	0.93	228.7	165.9	12.1	1339	12788	0.12	2.08	0.00	0.000	6	0.188	0.034	3124	1007	2079	0	0	0	0	0	0
13115	0.95	252.2	130.5	9.5	1400	13139	0.00	1.17	17.20	0.703	4	0.000	0.041	3129	194	2002	0	0	0	0	0	0
13379	1.00	291.0	102.7	8.4	1448	13417	0.00	1.10	32.50	0.690	6	0.000	0.021	3129	1022	1841	0	0	0	0	0	0
13735	1.03	310.9	70.3	9.7	1513	13758	0.00	1.23	16.62	0.631	4	0.000	0.041	3134	191	1760	0	0	0	0	0	0
13794	1.04	318.5	64.5	10.6	1522	13810	0.00	1.10	7.72	0.558	6	0.000	0.021	3134	1028	1729	0	0	0	0	0	0
14133	1.07	348.7	29.1	9.0	1584	14164	0.10	0.00	24.95	0.604	6	0.106	0.000	3195	1028	1606	0	0	0	0	0	0
14296	end climb: SURFACE_DEPTH_REACHED
state	14296	begin surface coast
14318	end surface coast: CONTROL_FINISHED_OK
state	14318	begin surface