Glider dive log

Shilshole 14Jan14 * SG189 * Dive index * Mission links * Dive 16 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 189 HD_C 1.176e-05 ROLL_MAX 3924 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 29 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 16 ESCAPE_HEADING 90 C_ROLL_DIVE 2247 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2247 ALTIM_PING_DEPTH 75

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 5

D_FLARE 2 TGT_DEFAULT_LAT 4809 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12540 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -20 ALTIM_SENSITIVITY 4

D_NO_BLEED 100 SM_CC 250 R_STBD_OVSHOOT -20 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 95

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 5 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2678 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 101

T_DIVE 90 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 110 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 6 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 3

T_TURN_SAMPINT 10 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 720 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 30 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -57112.109 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 1001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 165 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3928 MINV_10V 7.9000001 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2580 FG_AHR_10V 0 SEABIRD_T_G 0.0043091727

GLIDE_SLOPE 45 PITCH_DBAND 0 FG_AHR_24V 0 SEABIRD_T_H 0.00062247959

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.1807595e-05

RHO 1.0233001 P_OVSHOOT 0.025006104 PRESSURE_YINT -80.87886 SEABIRD_T_J 2.0889163e-06

MASS 57433 PITCH_GAIN 29 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -10.02883

MASS_COMP 4067.7 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1489301

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012180988

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017992272

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0030066001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 359 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 1001 PHONE_SUPPLY 2 SM_CC 250

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 90 PITCH_DBAND 0 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 29 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 75 FERRY_MAX 45 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 165 TGT_DEFAULT_LAT 4809

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12540

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 90

CALL_NDIVES 1 HD_A 0.0030066001 PRESSURE_SLOPE 0.0001182519 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -80.87886 T_GPS 15

CALL_WAIT 60 HD_C 1.176e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.025006104 T_GPS_CHARGE -57112.109

CAPUPLOAD 1 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 110

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 720

COMPASS2_DEVICE -1 ID 189 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT -1 RHO 1.0233001 T_TURN_SAMPINT 10

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2580 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 2247 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2247 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2678 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 3 ROLL_MAX 3924 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 57433 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 4067.7 ROLL_MIN 359 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 35 MINV_10V 7.9000001 R_PORT_OVSHOOT -20 VBD_MAXERRORS 1

DEVICE3 101 MINV_24V 19 R_STBD_OVSHOOT -20 VBD_MIN 500

DEVICE4 -1 MISSION 29 SEABIRD_C_G -10.02883 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1489301 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012180988 VBD_TIMEOUT 720

DIVE 16 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017992272 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043091727 XPDR_DEVICE 24

D_BOOST 100 N_FILEKB 4 SEABIRD_T_H 0.00062247959 XPDR_INHIBIT 95

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.1807595e-05 XPDR_VALID 4

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 2.0889163e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 150114,122734,4743.079,-12224.597,33,2.0,33,16.6 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.171,0.144

_SM_DEPTHo 1.36 KALMAN_X -4833.6,654.4,-177.9,4534.5,-923.1

_SM_ANGLEo -71.9 KALMAN_Y -2246.7,965.1,-983.1,2635.9,-789.3

GPS2 150114,123605,4743.007,-12224.606,17,1.0,18,16.6 MHEAD_RNG_PITCHd_Wd 33.3,2767,-11.4,-6.667,-16.61,3287

SPEED_LIMITS 0.067,0.223 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.6,1.022576 _24V_AH 23.4,2.929

SM_CCo 3771,38.20,0.147,0,0,1657,250.21 _10V_AH 10.2,2.746

SM_GC 2.27,7.00,2.30,38.20,0.047,0.035,0.147,154,2270,1657,-7.51,-0.48,250.21,0,0,0,0,0,0,26.13,26.15,25.89 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4735.69,-12302.24,150114,111102 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.025466 MEM 323236

HUMID 48.26 DATA_FILE_SIZE 27108,407

INTERNAL_PRESSURE 8.46325 CAP_FILE_SIZE 66576,0

TCM_TEMP 17.80 CFSIZE 260165632,252968960

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_TOP_PING 19.5,18.8 GPS 150114,134118,4743.165,-12224.271,13,1.6,13,16.6

ALTIM_BOTTOM_PING 140.2,49.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 206 80.47 SBE_CT 278 24 156.33

Roll_motor 50 139 164.78 WL_BB2FLVMG 874 105 2147.61

VBD_pump_during_apogee 232 1119 6078.50 AA4330 628 33 485.55

VBD_pump_during_surface 38 146 131.29 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 81.91 nil 0 0 0.00

Iridium_during_connect 39 160 147.90 nil 0 0 0.00

Iridium_during_xfer 324 223 1694.81 nil 0 0 0.00

Transponder_ping 4 420 41.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.53

TT8 979 19 197.73

LPSleep 1501 2 33.55

TT8_Active 394 19 79.58

TT8_Sampling 1320 39 536.02

TT8_CF8 131 45 61.35

TT8_Kalman 33 81 27.70

Analog_circuits 803 12 98.39

GPS_charging 0 0 0.00

Compass 699 15 106.95

RAFOS 0 0 0.00

Transponder 30 30 9.21

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.57 -146.6 137 2264 1704 1582 0.0 0.0 0 57 0.00 0.00 -38.83 0.000 16386 0.000 0.000 137 2264 2772 2781 2764 0 0 0 0 0 0 28.83 28.83 28.83

60 -0.57 -146.6 137 2264 2782 2763 2.2 -3.2 6 88 8.30 2.35 -13.75 0.000 18948 0.207 0.054 2390 812 3277 3321 3234 0 0 0 0 0 0 25.56 25.77 26.04

151 -0.57 -146.6 2390 812 3321 3235 9.3 -8.9 22 160 0.05 2.30 0.00 0.000 3078 0.148 0.036 2398 2266 3277 3320 3235 0 0 0 0 0 0 25.72 25.84 28.83

222 -0.57 -146.6 1456 2263 3300 3230 16.2 -9.7 35 229 0.00 0.00 0.00 0.000 4102 0.000 0.000 2398 2266 3277 3320 3235 0 0 0 0 0 0 28.83 28.83 28.83

297 -0.57 -146.6 2397 2266 3320 3235 23.1 -8.9 46 298 0.00 0.00 0.00 0.000 4102 0.000 0.000 2398 2266 3277 3320 3235 0 0 0 0 0 0 28.83 28.83 28.83

417 -0.57 -146.6 2398 2266 3320 3234 34.1 -9.2 58 418 0.00 0.00 0.00 0.000 4102 0.000 0.000 2398 2266 3277 3320 3235 0 0 0 0 0 0 28.83 28.83 28.83

537 -0.57 -146.6 2397 2266 3320 3235 44.8 -9.2 70 538 0.00 0.00 0.00 0.000 4102 0.000 0.000 2398 2266 3278 3321 3235 0 0 0 0 0 0 28.83 28.83 28.83

657 -0.57 -146.6 2397 2265 3320 3235 55.6 -8.4 82 658 0.00 0.00 0.00 0.000 4102 0.000 0.000 2398 2266 3277 3320 3235 0 0 0 0 0 0 28.83 28.83 28.83

777 -0.57 -146.6 2398 2266 3320 3235 65.0 -7.9 94 787 0.00 2.33 0.00 0.000 4612 0.000 0.041 2398 799 3277 3320 3235 0 0 0 0 0 0 28.83 26.11 28.83

857 -0.57 -146.6 2398 799 3320 3234 71.4 -7.7 102 867 0.00 2.33 0.00 0.000 3078 0.000 0.036 2388 2272 3277 3320 3235 0 0 0 0 0 0 28.83 26.14 28.83

988 -0.57 -146.6 2388 2272 3320 3234 82.8 -9.7 115 997 0.00 2.22 0.00 0.000 2308 0.000 0.045 2378 3669 3277 3320 3234 0 0 0 0 0 0 28.83 26.15 28.83

1047 -0.57 -146.6 2378 3669 3320 3235 88.4 -9.3 121 1057 0.05 2.22 0.00 0.000 3078 0.129 0.028 2397 2209 3277 3320 3235 0 0 0 0 0 0 26.08 26.20 28.83

1180 -0.57 -146.6 2396 2208 3320 3235 100.7 -9.6 134 1187 0.00 2.17 0.00 0.000 4612 0.000 0.041 2397 817 3277 3320 3235 0 0 0 0 0 0 28.83 26.20 28.83

1228 -0.57 -146.6 2397 817 3320 3235 105.7 -10.1 139 1237 0.00 2.25 0.00 0.000 3078 0.000 0.034 2388 2264 3277 3320 3235 0 0 0 0 0 0 28.83 26.22 28.83

1357 -0.57 -146.6 2388 2264 3320 3235 118.4 -9.6 152 1358 0.00 0.00 0.00 0.000 2054 0.000 0.000 2388 2264 3277 3320 3235 0 0 0 0 0 0 28.83 28.83 28.83

1478 -0.57 -146.6 2388 2264 3320 3235 129.9 -9.6 164 1488 0.00 2.28 0.00 0.000 2564 0.000 0.040 2388 813 3277 3320 3235 0 0 0 0 0 0 28.83 26.25 28.83

1547 -0.57 -146.6 2388 813 3320 3234 137.5 -11.2 171 1557 0.05 2.28 0.00 0.000 3078 0.142 0.035 2396 2276 3277 3320 3234 0 0 0 0 0 0 26.15 26.27 28.83

1677 -0.57 -146.6 2396 2275 3320 3235 150.0 -10.0 184 1678 0.00 0.00 0.00 0.000 4102 0.000 0.000 2396 2276 3277 3320 3234 0 0 0 0 0 0 28.83 28.83 28.83

1797 -0.57 -146.6 2396 2275 3320 3235 160.7 -8.8 196 1799 0.00 0.00 0.00 0.000 4102 0.000 0.000 2396 2275 3277 3320 3235 0 0 0 0 0 0 28.83 28.83 28.83

1917 -0.57 -146.6 2396 2276 3320 3235 171.2 -8.3 208 1927 0.00 2.22 0.00 0.000 4356 0.000 0.044 2387 3673 3277 3320 3235 0 0 0 0 0 0 28.83 26.29 28.83

1967 -0.57 -146.6 2387 3673 3320 3234 175.5 -9.2 213 1977 0.00 2.20 0.00 0.000 3078 0.000 0.028 2387 2217 3277 3320 3235 0 0 0 0 0 0 28.83 26.32 28.83

2025 end dive: TARGET_DEPTH_EXCEEDED

state 2025 begin apogee

2031 -0.17 0.0 2387 2266 3320 3235 180.2 -7.8 219 2148 0.38 0.00 112.62 1.119 10246 0.112 0.000 2522 2266 2678 2762 2595 0 0 0 0 0 0 26.22 28.83 23.61

2149 end apogee: CONTROL_FINISHED_OK

state 2149 begin climb

2151 0.57 146.6 2522 2266 2763 2595 183.2 0.0 231 2279 0.70 2.45 119.47 1.106 10500 0.077 0.041 2765 3669 2078 2177 1979 0 0 0 0 0 0 24.45 24.20 23.40

2328 0.57 146.6 2765 3669 2175 1979 167.9 12.1 249 2337 0.03 2.35 0.00 0.000 5126 0.180 0.031 2767 2225 2077 2175 1979 0 0 0 0 0 0 24.76 24.84 28.83

2457 0.57 146.6 2767 2225 2172 1979 153.1 11.2 262 2458 0.00 0.00 0.00 0.000 4102 0.000 0.000 2767 2225 2075 2172 1979 0 0 0 0 0 0 28.83 28.83 28.83

2577 0.57 146.6 2767 2225 2171 1978 139.0 12.3 274 2587 0.00 2.28 0.00 0.000 4612 0.000 0.042 2776 816 2074 2170 1979 0 0 0 0 0 0 28.83 25.51 28.83

2637 0.57 146.6 2776 816 2169 1979 131.5 12.7 280 2647 0.05 2.33 0.00 0.000 5126 0.184 0.032 2762 2270 2073 2169 1978 0 0 0 0 0 0 25.51 25.60 28.83

2767 0.57 146.6 2762 2269 2168 1978 116.2 11.5 293 2777 0.00 2.33 0.00 0.000 2564 0.000 0.041 2771 820 2073 2169 1978 0 0 0 0 0 0 28.83 25.72 28.83

2817 0.57 146.6 2771 819 2168 1978 110.3 12.1 298 2827 0.00 2.30 0.00 0.000 5126 0.000 0.032 2771 2267 2073 2168 1978 0 0 0 0 0 0 28.83 25.77 28.83

2948 0.57 146.6 2771 2267 2168 1978 94.6 12.1 311 2949 0.00 0.00 0.00 0.000 4102 0.000 0.000 2771 2267 2073 2168 1978 0 0 0 0 0 0 28.83 28.83 28.83

3067 0.57 146.6 2771 2267 2168 1978 80.6 11.6 323 3068 0.00 0.00 0.00 0.000 4102 0.000 0.000 2772 2267 2073 2168 1978 0 0 0 0 0 0 28.83 28.83 28.83

3187 0.57 146.6 2771 2267 2168 1978 65.7 12.4 335 3188 0.00 0.00 0.00 0.000 4102 0.000 0.000 2771 2267 2073 2168 1978 0 0 0 0 0 0 28.83 28.83 28.83

3307 0.57 146.6 2771 2267 2168 1978 50.1 13.0 347 3317 0.00 2.28 0.00 0.000 4612 0.000 0.041 2782 823 2072 2167 1978 0 0 0 0 0 0 28.83 26.02 28.83

3358 0.57 146.6 2782 822 2167 1978 44.2 11.7 352 3367 0.05 2.25 0.00 0.000 5126 0.135 0.033 2764 2265 2072 2167 1978 0 0 0 0 0 0 25.94 26.05 28.83

3487 0.57 146.6 2764 2265 2166 1978 29.7 10.5 365 3488 0.00 0.00 0.00 0.000 4102 0.000 0.000 2764 2265 2072 2166 1978 0 0 0 0 0 0 28.83 28.83 28.83

3609 0.57 146.6 2764 2265 2166 1978 15.8 12.1 380 3615 0.00 0.00 0.00 0.000 4102 0.000 0.000 2764 2265 2072 2166 1978 0 0 0 0 0 0 28.83 28.83 28.83

3678 0.57 146.6 1768 2262 2114 1970 8.0 11.1 393 3685 0.00 2.25 0.00 0.000 4612 0.000 0.042 2773 812 2072 2166 1978 0 0 0 0 0 0 28.83 26.13 28.83

3726 end climb: SURFACE_DEPTH_REACHED

state 3726 begin surface coast

3753 end surface coast: CONTROL_FINISHED_OK

state 3753 begin surface

ID	189	HD_C	1.176e-05	ROLL_MAX	3924	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	29	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	16	ESCAPE_HEADING	90	C_ROLL_DIVE	2247	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2247	ALTIM_PING_DEPTH	75
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	5
D_FLARE	2	TGT_DEFAULT_LAT	4809	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12540	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-20	ALTIM_SENSITIVITY	4
D_NO_BLEED	100	SM_CC	250	R_STBD_OVSHOOT	-20	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	95
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	5	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2678	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	101
T_DIVE	90	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	110	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	6	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	3
T_TURN_SAMPINT	10	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	720	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	30	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-57112.109	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	1001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	165	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3928	MINV_10V	7.9000001	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2580	FG_AHR_10V	0	SEABIRD_T_G	0.0043091727
GLIDE_SLOPE	45	PITCH_DBAND	0	FG_AHR_24V	0	SEABIRD_T_H	0.00062247959
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.1807595e-05
RHO	1.0233001	P_OVSHOOT	0.025006104	PRESSURE_YINT	-80.87886	SEABIRD_T_J	2.0889163e-06
MASS	57433	PITCH_GAIN	29	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-10.02883
MASS_COMP	4067.7	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1489301
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012180988
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017992272
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0030066001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	359	ALTIM_TOP_PING_RANGE	20

GPS1	150114,122734,4743.079,-12224.597,33,2.0,33,16.6	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.171,0.144
_SM_DEPTHo	1.36	KALMAN_X	-4833.6,654.4,-177.9,4534.5,-923.1
_SM_ANGLEo	-71.9	KALMAN_Y	-2246.7,965.1,-983.1,2635.9,-789.3
GPS2	150114,123605,4743.007,-12224.606,17,1.0,18,16.6	MHEAD_RNG_PITCHd_Wd	33.3,2767,-11.4,-6.667,-16.61,3287
SPEED_LIMITS	0.067,0.223	D_GRID	180

FINISH	0.6,1.022576	_24V_AH	23.4,2.929
SM_CCo	3771,38.20,0.147,0,0,1657,250.21	_10V_AH	10.2,2.746
SM_GC	2.27,7.00,2.30,38.20,0.047,0.035,0.147,154,2270,1657,-7.51,-0.48,250.21,0,0,0,0,0,0,26.13,26.15,25.89	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4735.69,-12302.24,150114,111102	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.025466	MEM	323236
HUMID	48.26	DATA_FILE_SIZE	27108,407
INTERNAL_PRESSURE	8.46325	CAP_FILE_SIZE	66576,0
TCM_TEMP	17.80	CFSIZE	260165632,252968960
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_TOP_PING	19.5,18.8	GPS	150114,134118,4743.165,-12224.271,13,1.6,13,16.6
ALTIM_BOTTOM_PING	140.2,49.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	206	80.47	SBE_CT	278	24	156.33
Roll_motor	50	139	164.78	WL_BB2FLVMG	874	105	2147.61
VBD_pump_during_apogee	232	1119	6078.50	AA4330	628	33	485.55
VBD_pump_during_surface	38	146	131.29	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	81.91	nil	0	0	0.00
Iridium_during_connect	39	160	147.90	nil	0	0	0.00
Iridium_during_xfer	324	223	1694.81	nil	0	0	0.00
Transponder_ping	4	420	41.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.53
TT8	979	19	197.73
LPSleep	1501	2	33.55
TT8_Active	394	19	79.58
TT8_Sampling	1320	39	536.02
TT8_CF8	131	45	61.35
TT8_Kalman	33	81	27.70
Analog_circuits	803	12	98.39
GPS_charging	0	0	0.00
Compass	699	15	106.95
RAFOS	0	0	0.00
Transponder	30	30	9.21

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.57	-146.6	137	2264	1704	1582	0.0	0.0	0	57	0.00	0.00	-38.83	0.000	16386	0.000	0.000	137	2264	2772	2781	2764	0	0	0	0	0	0	28.83	28.83	28.83
60	-0.57	-146.6	137	2264	2782	2763	2.2	-3.2	6	88	8.30	2.35	-13.75	0.000	18948	0.207	0.054	2390	812	3277	3321	3234	0	0	0	0	0	0	25.56	25.77	26.04
151	-0.57	-146.6	2390	812	3321	3235	9.3	-8.9	22	160	0.05	2.30	0.00	0.000	3078	0.148	0.036	2398	2266	3277	3320	3235	0	0	0	0	0	0	25.72	25.84	28.83
222	-0.57	-146.6	1456	2263	3300	3230	16.2	-9.7	35	229	0.00	0.00	0.00	0.000	4102	0.000	0.000	2398	2266	3277	3320	3235	0	0	0	0	0	0	28.83	28.83	28.83
297	-0.57	-146.6	2397	2266	3320	3235	23.1	-8.9	46	298	0.00	0.00	0.00	0.000	4102	0.000	0.000	2398	2266	3277	3320	3235	0	0	0	0	0	0	28.83	28.83	28.83
417	-0.57	-146.6	2398	2266	3320	3234	34.1	-9.2	58	418	0.00	0.00	0.00	0.000	4102	0.000	0.000	2398	2266	3277	3320	3235	0	0	0	0	0	0	28.83	28.83	28.83
537	-0.57	-146.6	2397	2266	3320	3235	44.8	-9.2	70	538	0.00	0.00	0.00	0.000	4102	0.000	0.000	2398	2266	3278	3321	3235	0	0	0	0	0	0	28.83	28.83	28.83
657	-0.57	-146.6	2397	2265	3320	3235	55.6	-8.4	82	658	0.00	0.00	0.00	0.000	4102	0.000	0.000	2398	2266	3277	3320	3235	0	0	0	0	0	0	28.83	28.83	28.83
777	-0.57	-146.6	2398	2266	3320	3235	65.0	-7.9	94	787	0.00	2.33	0.00	0.000	4612	0.000	0.041	2398	799	3277	3320	3235	0	0	0	0	0	0	28.83	26.11	28.83
857	-0.57	-146.6	2398	799	3320	3234	71.4	-7.7	102	867	0.00	2.33	0.00	0.000	3078	0.000	0.036	2388	2272	3277	3320	3235	0	0	0	0	0	0	28.83	26.14	28.83
988	-0.57	-146.6	2388	2272	3320	3234	82.8	-9.7	115	997	0.00	2.22	0.00	0.000	2308	0.000	0.045	2378	3669	3277	3320	3234	0	0	0	0	0	0	28.83	26.15	28.83
1047	-0.57	-146.6	2378	3669	3320	3235	88.4	-9.3	121	1057	0.05	2.22	0.00	0.000	3078	0.129	0.028	2397	2209	3277	3320	3235	0	0	0	0	0	0	26.08	26.20	28.83
1180	-0.57	-146.6	2396	2208	3320	3235	100.7	-9.6	134	1187	0.00	2.17	0.00	0.000	4612	0.000	0.041	2397	817	3277	3320	3235	0	0	0	0	0	0	28.83	26.20	28.83
1228	-0.57	-146.6	2397	817	3320	3235	105.7	-10.1	139	1237	0.00	2.25	0.00	0.000	3078	0.000	0.034	2388	2264	3277	3320	3235	0	0	0	0	0	0	28.83	26.22	28.83
1357	-0.57	-146.6	2388	2264	3320	3235	118.4	-9.6	152	1358	0.00	0.00	0.00	0.000	2054	0.000	0.000	2388	2264	3277	3320	3235	0	0	0	0	0	0	28.83	28.83	28.83
1478	-0.57	-146.6	2388	2264	3320	3235	129.9	-9.6	164	1488	0.00	2.28	0.00	0.000	2564	0.000	0.040	2388	813	3277	3320	3235	0	0	0	0	0	0	28.83	26.25	28.83
1547	-0.57	-146.6	2388	813	3320	3234	137.5	-11.2	171	1557	0.05	2.28	0.00	0.000	3078	0.142	0.035	2396	2276	3277	3320	3234	0	0	0	0	0	0	26.15	26.27	28.83
1677	-0.57	-146.6	2396	2275	3320	3235	150.0	-10.0	184	1678	0.00	0.00	0.00	0.000	4102	0.000	0.000	2396	2276	3277	3320	3234	0	0	0	0	0	0	28.83	28.83	28.83
1797	-0.57	-146.6	2396	2275	3320	3235	160.7	-8.8	196	1799	0.00	0.00	0.00	0.000	4102	0.000	0.000	2396	2275	3277	3320	3235	0	0	0	0	0	0	28.83	28.83	28.83
1917	-0.57	-146.6	2396	2276	3320	3235	171.2	-8.3	208	1927	0.00	2.22	0.00	0.000	4356	0.000	0.044	2387	3673	3277	3320	3235	0	0	0	0	0	0	28.83	26.29	28.83
1967	-0.57	-146.6	2387	3673	3320	3234	175.5	-9.2	213	1977	0.00	2.20	0.00	0.000	3078	0.000	0.028	2387	2217	3277	3320	3235	0	0	0	0	0	0	28.83	26.32	28.83
2025	end dive: TARGET_DEPTH_EXCEEDED
state	2025	begin apogee
2031	-0.17	0.0	2387	2266	3320	3235	180.2	-7.8	219	2148	0.38	0.00	112.62	1.119	10246	0.112	0.000	2522	2266	2678	2762	2595	0	0	0	0	0	0	26.22	28.83	23.61
2149	end apogee: CONTROL_FINISHED_OK
state	2149	begin climb
2151	0.57	146.6	2522	2266	2763	2595	183.2	0.0	231	2279	0.70	2.45	119.47	1.106	10500	0.077	0.041	2765	3669	2078	2177	1979	0	0	0	0	0	0	24.45	24.20	23.40
2328	0.57	146.6	2765	3669	2175	1979	167.9	12.1	249	2337	0.03	2.35	0.00	0.000	5126	0.180	0.031	2767	2225	2077	2175	1979	0	0	0	0	0	0	24.76	24.84	28.83
2457	0.57	146.6	2767	2225	2172	1979	153.1	11.2	262	2458	0.00	0.00	0.00	0.000	4102	0.000	0.000	2767	2225	2075	2172	1979	0	0	0	0	0	0	28.83	28.83	28.83
2577	0.57	146.6	2767	2225	2171	1978	139.0	12.3	274	2587	0.00	2.28	0.00	0.000	4612	0.000	0.042	2776	816	2074	2170	1979	0	0	0	0	0	0	28.83	25.51	28.83
2637	0.57	146.6	2776	816	2169	1979	131.5	12.7	280	2647	0.05	2.33	0.00	0.000	5126	0.184	0.032	2762	2270	2073	2169	1978	0	0	0	0	0	0	25.51	25.60	28.83
2767	0.57	146.6	2762	2269	2168	1978	116.2	11.5	293	2777	0.00	2.33	0.00	0.000	2564	0.000	0.041	2771	820	2073	2169	1978	0	0	0	0	0	0	28.83	25.72	28.83
2817	0.57	146.6	2771	819	2168	1978	110.3	12.1	298	2827	0.00	2.30	0.00	0.000	5126	0.000	0.032	2771	2267	2073	2168	1978	0	0	0	0	0	0	28.83	25.77	28.83
2948	0.57	146.6	2771	2267	2168	1978	94.6	12.1	311	2949	0.00	0.00	0.00	0.000	4102	0.000	0.000	2771	2267	2073	2168	1978	0	0	0	0	0	0	28.83	28.83	28.83
3067	0.57	146.6	2771	2267	2168	1978	80.6	11.6	323	3068	0.00	0.00	0.00	0.000	4102	0.000	0.000	2772	2267	2073	2168	1978	0	0	0	0	0	0	28.83	28.83	28.83
3187	0.57	146.6	2771	2267	2168	1978	65.7	12.4	335	3188	0.00	0.00	0.00	0.000	4102	0.000	0.000	2771	2267	2073	2168	1978	0	0	0	0	0	0	28.83	28.83	28.83
3307	0.57	146.6	2771	2267	2168	1978	50.1	13.0	347	3317	0.00	2.28	0.00	0.000	4612	0.000	0.041	2782	823	2072	2167	1978	0	0	0	0	0	0	28.83	26.02	28.83
3358	0.57	146.6	2782	822	2167	1978	44.2	11.7	352	3367	0.05	2.25	0.00	0.000	5126	0.135	0.033	2764	2265	2072	2167	1978	0	0	0	0	0	0	25.94	26.05	28.83
3487	0.57	146.6	2764	2265	2166	1978	29.7	10.5	365	3488	0.00	0.00	0.00	0.000	4102	0.000	0.000	2764	2265	2072	2166	1978	0	0	0	0	0	0	28.83	28.83	28.83
3609	0.57	146.6	2764	2265	2166	1978	15.8	12.1	380	3615	0.00	0.00	0.00	0.000	4102	0.000	0.000	2764	2265	2072	2166	1978	0	0	0	0	0	0	28.83	28.83	28.83
3678	0.57	146.6	1768	2262	2114	1970	8.0	11.1	393	3685	0.00	2.25	0.00	0.000	4612	0.000	0.042	2773	812	2072	2166	1978	0	0	0	0	0	0	28.83	26.13	28.83
3726	end climb: SURFACE_DEPTH_REACHED
state	3726	begin surface coast
3753	end surface coast: CONTROL_FINISHED_OK
state	3753	begin surface