Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 203 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 80 HD_C 5.8987e-05 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 11 HEADING -1 ROLL_MIN 300 ALTIM_PING_DEPTH 80

DIVE 203 ESCAPE_HEADING 0 ROLL_MAX 3750 ALTIM_PING_DELTA 10

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2069 ALTIM_PULSE 3

D_TGT 95 TGT_DEFAULT_LAT 47.599998 C_ROLL_CLIMB 2069 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_DEFAULT_LON -122.3 HEAD_ERRBAND 10 XPDR_VALID 0

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_BOOST 0 SM_CC 300 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 N_FILEKB 4 R_PORT_OVSHOOT 0 INT_PRESSURE_YINT 0

D_PITCH 0 FILEMGR 0 R_STBD_OVSHOOT 1 DEEPGLIDER 0

D_SAFE 0 CALL_NDIVES 1 ROLL_AD_RATE 400 DEEPGLIDERMB 0

D_CALL 0 COMM_SEQ 0 ROLL_MAXERRORS 10 MOTHERBOARD 4

SURFACE_URGENCY 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MIN 188 DEVICE3 -1

T_DIVE 63 UPLOAD_DIVES_MAX -1 VBD_MAX 3616 DEVICE4 -1

T_MISSION 75 CALL_TRIES 5 C_VBD 2473 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_DBAND 2 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 VBD_CNV -0.24529999 SMARTS 1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_TIMEOUT 360 SMARTDEVICE1 3

T_NO_W 120 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE2 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 COMPASS_DEVICE 1

USE_BATHY -4 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS2_DEVICE -1

USE_ICE 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 PHONE_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 T_GPS_CHARGE -29370.17 UNCOM_BLEED 20 GPS_DEVICE 48

D_OFFGRID 100 T_RSLEEP 3 VBD_MAXERRORS 1 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 XPDR_DEVICE -1

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_24V 91.800003 SIM_W 0

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 AH0_10V 61.200001 SIM_PITCH 0

MAX_BUOY 150 PITCH_MIN 30 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MAX 4065 PRESSURE_YINT -0.16054545 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 C_PITCH 2692 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 PITCH_DBAND 0.1 AD7714Ch0Gain 1 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_CNV 0.0046000001 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.331019

MASS 52000 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763502

NAV_MODE 1 PITCH_GAIN 16 COMPASS_USE 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0 AR_RESETARS 0.0

HD_A 0.0043390002 PITCH_MAXERRORS 10 ALTIM_BOTTOM_TURN_MARGIN 0 AR_RECORDBELOW 0.0

HD_B 0.013382 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 AR_NOTIFYAPOGEE 0.0

AD7714Ch0Gain 1 D_ABORT 1090 PITCH_ADJ_DBAND 0 SMARTDEVICE1 3

AH0_10V 61.200001 D_BOOST 0 PITCH_ADJ_GAIN 0 SMARTDEVICE2 -1

AH0_24V 91.800003 D_CALL 0 PITCH_AD_RATE 175 SMARTS 1

ALTIM_BOTTOM_PING_RANGE 25 D_FINISH 0 PITCH_CNV 0.0046000001 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 D_FLARE 3 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_NO_BLEED 200 PITCH_GAIN 16 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_OFFGRID 100 PITCH_MAX 4065 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_PITCH 0 PITCH_MAXERRORS 10 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 D_SAFE 0 PITCH_MIN 30 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 D_SURF 2 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 D_TGT 95 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -0.16054545 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 FERRY_MAX 45 P_OVSHOOT 0.039999999 T_ABORT 1440

AR_NOTIFYAPOGEE 0.0 FILEMGR 0 RAFOS_CORR_THRESH 60 T_DIVE 63

AR_RECORDBELOW 0.0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_GPS 15

AR_RESETARS 0.0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -29370.17

CALL_TRIES 5 HD_A 0.0043390002 RELAUNCH 1 T_LOITER 0

CALL_WAIT 60 HD_B 0.013382 RHO 1.023 T_MISSION 75

CAPMAXSIZE 100000 HD_C 5.8987e-05 ROLL_ADJ_DBAND 0 T_NO_W 120

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_GAIN 0 T_RSLEEP 3

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_AD_RATE 400 T_TURN 270

COMM_SEQ 0 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_DEVICE 1 ID 80 ROLL_MAX 3750 UNCOM_BLEED 20

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 10 UPLOAD_DIVES_MAX -1

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MIN 300 USE_BATHY -4

C_PITCH 2692 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_CLIMB 2069 KERMIT 0 R_PORT_OVSHOOT 0 VBD_BLEED_AD_RATE 8

C_ROLL_DIVE 2069 MASS 52000 R_STBD_OVSHOOT 1 VBD_CNV -0.24529999

C_VBD 2473 MAX_BUOY 150 SEABIRD_C_G -10.331019 VBD_DBAND 2

DEEPGLIDER 0 MISSION 11 SEABIRD_C_H 1.1763502 VBD_MAX 3616

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_I -0.0012340198 VBD_MAXERRORS 1

DEVICE1 2 NAV_MODE 1 SEABIRD_C_J 0.00017379176 VBD_MIN 188

DEVICE2 -1 N_FILEKB 4 SEABIRD_T_G 0.0043805656 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE3 -1 N_GPS 20 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_I 2.5554549e-05 VBD_TIMEOUT 360

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_J 2.6681391e-06 XPDR_DEVICE -1

DEVICE6 -1 PHONE_DEVICE 32 SIM_PITCH 0 XPDR_INHIBIT 90

DIVE 203 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 141131,4806.174,-12222.118,7,1.1,7,18.0 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.061,-0.145

_SM_DEPTHo -0.00 KALMAN_X 18281.8,8.8,171.8,-16642.1,81.2

_SM_ANGLEo -50.0 KALMAN_Y -214.0,1.8,-175.9,-2446.8,51.4

GPS2 141817,4806.184,-12222.120,10,1.1,10,18.0 MHEAD_RNG_PITCHd_Wd 139.1,2594,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.4,0.997384 _24V_AH 23.8,22.464

SM_CCo 4046,58.83,0.004,8,0,1251,300.00 _10V_AH 9.7,39.732

SM_GC 0.00,0.00,0.00,58.83,0.000,0.000,0.004,144,2192,1251,-11.72,3.48,300.00 DATA_FILE_SIZE 9570,352

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 95026,8

TT8_MAMPS 0.049855 CFSIZE 260165632,252743680

HUMID 1598 ERRORS 0,0,0,0,0,0,0,0,1,0,0,71,137,8,0

INTERNAL_PRESSURE 12.5591 GPS 030808,153111,4805.897,-12221.788,34,1.1,34,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 3 3.20 SBE_CT 274 24 156.99

Roll_motor 33 3 3.07 nil 0 0 0.00

VBD_pump_during_apogee 318 4 34.85 nil 0 0 0.00

VBD_pump_during_surface 58 3 5.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 ARS 0 216 0.00

Iridium_during_xfer 85 223 454.41

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 10 50 5.13

TT8 739 18 129.14

LPSleep 2141 0 8.10

TT8_Active 556 18 97.12

TT8_Sampling 437 38 161.35

TT8_CF8 739 44 315.41

TT8_Kalman 33 80 25.88

Analog_circuits 980 12 114.13

GPS_charging 0 0 0.00

Compass 364 26 91.95

RAFOS 0 0 0.00

Transponder 0 0 0.00

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

123 end surface: CONTROL_FINISHED_OK

state 123 begin dive

126 -0.84 -146.6 0.0 0.0 0 190 0.00 0.00 -60.67 0.000 6 0.000 0.000 147 2188 3078

194 -0.84 -146.6 0.6 -1.5 6 215 11.73 2.80 0.00 0.000 4 0.004 0.004 2541 465 3076

456 -0.84 -146.6 22.6 -4.9 29 463 0.30 3.10 0.00 0.000 6 0.003 0.004 2467 2210 3078

494 -0.84 -146.6 24.5 -5.1 33 496 0.38 0.00 0.00 0.000 6 0.003 0.000 2535 2209 3077

526 -0.84 -146.6 26.1 -5.0 36 528 0.40 0.00 0.00 0.000 6 0.004 0.000 2462 2209 3078

558 -0.84 -146.6 27.5 -4.8 39 560 0.43 0.00 0.00 0.000 6 0.003 0.000 2536 2209 3078

589 -0.84 -146.6 29.2 -4.8 42 592 0.43 0.00 0.00 0.000 6 0.004 0.000 2461 2208 3078

621 -0.84 -146.6 30.7 -4.7 45 624 0.40 0.00 0.00 0.000 6 0.003 0.000 2536 2209 3079

653 -0.84 -146.6 32.3 -5.0 48 655 0.38 0.00 0.00 0.000 6 0.004 0.000 2461 2209 3078

685 -0.84 -146.6 33.9 -5.1 51 687 0.35 0.00 0.00 0.000 6 0.004 0.000 2536 2209 3078

717 -0.84 -146.6 35.5 -5.1 54 719 0.28 0.00 0.00 0.000 6 0.004 0.000 2463 2209 3078

749 -0.84 -146.6 37.0 -5.0 57 751 0.32 0.00 0.00 0.000 6 0.004 0.000 2540 2209 3078

782 -0.84 -146.6 38.7 -5.0 60 784 0.32 0.00 0.00 0.000 6 0.004 0.000 2467 2209 3078

812 -0.84 -146.6 40.2 -4.9 63 814 0.38 0.00 0.00 0.000 6 0.004 0.000 2539 2208 3078

845 -0.84 -146.6 41.8 -4.8 66 847 0.32 0.00 0.00 0.000 6 0.004 0.000 2467 2208 3079

875 -0.84 -146.6 43.3 -5.0 69 877 0.35 0.00 0.00 0.000 6 0.003 0.000 2543 2209 3078

908 -0.84 -146.6 44.9 -5.1 72 910 0.32 0.00 0.00 0.000 6 0.004 0.000 2502 2209 3078

938 -0.84 -146.6 46.5 -5.0 75 939 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2208 3078

970 -0.84 -146.6 48.1 -4.9 78 971 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2209 3078

1002 -0.84 -146.6 49.5 -4.7 81 1003 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2209 3078

1034 -0.84 -146.6 51.0 -4.7 84 1035 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2208 3077

1066 -0.84 -146.6 52.5 -4.7 87 1067 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2209 3078

1098 -0.84 -146.6 54.0 -4.6 90 1099 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2210 3078

1130 -0.84 -146.6 55.5 -4.4 93 1131 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2209 3079

1161 -0.84 -146.6 56.9 -4.5 96 1163 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2209 3079

1194 -0.84 -146.6 58.3 -4.6 99 1196 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2210 3079

1225 -0.84 -146.6 59.9 -4.9 102 1226 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2209 3079

1257 -0.84 -146.6 61.4 -4.6 105 1258 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2208 3078

1289 -0.84 -146.6 62.9 -4.8 108 1290 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2209 3078

1320 -0.84 -146.6 64.4 -4.7 111 1322 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2208 3079

1352 -0.84 -146.6 66.0 -4.7 114 1354 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2207 3079

1384 -0.84 -146.6 67.5 -4.7 117 1385 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2210 3078

1416 -0.84 -146.6 68.9 -4.7 120 1418 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2207 3079

1448 -0.84 -146.6 70.3 -4.5 123 1449 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2209 3078

1481 -0.84 -146.6 71.9 -4.6 126 1482 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2209 3078

1512 -0.84 -146.6 73.4 -4.9 129 1513 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2209 3078

1543 -0.84 -146.6 74.9 -4.7 132 1545 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2211 3078

1575 -0.84 -146.6 76.5 -4.8 135 1577 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2210 3078

1607 -0.84 -146.6 78.0 -5.0 138 1609 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2208 3078

1639 -0.84 -146.6 79.5 -4.8 141 1640 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2208 3078

1671 -0.84 -146.6 81.1 -4.9 144 1672 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2208 3080

1703 -0.84 -146.6 82.6 -4.6 147 1704 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2208 3078

1735 -0.84 -146.6 84.1 -4.7 150 1736 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2209 3078

1767 -0.84 -146.6 85.6 -4.8 153 1768 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2210 3077

1798 -0.84 -146.6 87.1 -4.8 156 1800 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2210 3078

1830 -0.84 -146.6 88.5 -4.3 159 1831 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2209 3078

1862 -0.84 -146.6 89.9 -4.6 162 1863 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2208 3078

1894 -0.84 -146.6 91.4 -4.4 165 1895 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2209 3078

1926 -0.84 -146.6 92.8 -4.5 168 1927 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2209 3078

1958 -0.84 -146.6 94.2 -4.5 171 1959 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2210 3077

1976 end dive: TARGET_DEPTH_EXCEEDED

state 1976 begin apogee

1983 -0.31 0.0 95.2 4.5 173 2110 0.75 0.00 122.38 0.005 6 0.004 0.000 2651 1900 2473

2111 end apogee: CONTROL_FINISHED_OK

state 2111 begin climb

2114 0.84 146.6 96.5 0.0 186 2241 1.38 0.00 120.78 0.005 6 0.004 0.000 2916 1898 1875

2272 0.84 146.6 89.4 6.0 202 2274 0.30 0.00 0.00 0.000 6 0.004 0.000 2841 1902 1875

2304 0.84 146.6 87.6 5.6 205 2306 0.38 0.00 0.00 0.000 6 0.004 0.000 2914 1900 1874

2336 0.84 146.6 85.8 5.6 208 2342 0.35 2.90 0.00 0.000 4 0.004 0.004 2841 3672 1874

2594 0.84 146.6 70.3 6.7 230 2601 0.30 3.05 0.00 0.000 6 0.003 0.004 2917 1877 1874

2632 0.84 146.6 68.0 6.2 234 2634 0.30 0.00 0.00 0.000 6 0.003 0.000 2882 1877 1874

2664 0.84 146.6 66.1 6.1 237 2665 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 1878 1877

2696 0.84 146.6 64.2 5.9 240 2700 0.00 2.28 0.00 0.000 4 0.000 0.004 2881 509 1875

3004 0.84 146.6 45.7 5.6 267 3009 0.00 2.95 0.00 0.000 6 0.000 0.004 2882 2255 1874

3041 0.84 146.6 43.5 6.0 270 3042 0.00 0.00 0.00 0.000 6 0.000 0.000 2881 2257 1874

3073 0.84 146.6 41.7 5.4 273 3078 0.00 2.95 0.00 0.000 4 0.000 0.004 2880 481 1874

3381 0.86 158.1 25.1 4.7 300 3402 0.00 3.03 11.18 0.005 6 0.000 0.004 2881 2258 1828

3434 0.86 158.1 22.3 5.3 305 3435 0.00 0.00 0.00 0.000 6 0.000 0.000 2881 2259 1828

3466 0.86 158.9 20.7 5.0 308 3467 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 2258 1827

3498 0.87 167.1 19.2 4.8 311 3509 0.00 0.00 9.25 0.004 6 0.000 0.000 2881 2260 1791

3540 0.87 172.9 17.2 4.8 315 3549 0.00 0.00 6.38 0.004 6 0.000 0.000 2881 2259 1768

3581 0.87 172.9 15.1 5.0 319 3582 0.00 0.00 0.00 0.000 6 0.000 0.000 2881 2259 1768

3613 0.88 178.8 13.5 4.8 322 3623 0.00 0.00 7.18 0.005 6 0.000 0.000 2882 2259 1741

3655 0.90 192.5 11.6 4.6 326 3675 0.00 2.28 13.00 0.005 4 0.000 0.004 2880 3589 1687

3755 0.91 202.9 6.9 4.7 335 3769 0.00 2.80 8.48 0.005 6 0.000 0.004 2881 1923 1644

3803 0.95 231.3 4.8 4.2 339 3827 0.00 2.30 19.55 0.005 4 0.000 0.004 2883 494 1528

3881 end climb: SURFACE_DEPTH_REACHED

state 3882 begin surface coast

3949 end surface coast: CONTROL_FINISHED_OK

state 3949 begin surface

ID	80	HD_C	5.8987e-05	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	11	HEADING	-1	ROLL_MIN	300	ALTIM_PING_DEPTH	80
DIVE	203	ESCAPE_HEADING	0	ROLL_MAX	3750	ALTIM_PING_DELTA	10
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2069	ALTIM_PULSE	3
D_TGT	95	TGT_DEFAULT_LAT	47.599998	C_ROLL_CLIMB	2069	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_DEFAULT_LON	-122.3	HEAD_ERRBAND	10	XPDR_VALID	0
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_BOOST	0	SM_CC	300	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	N_FILEKB	4	R_PORT_OVSHOOT	0	INT_PRESSURE_YINT	0
D_PITCH	0	FILEMGR	0	R_STBD_OVSHOOT	1	DEEPGLIDER	0
D_SAFE	0	CALL_NDIVES	1	ROLL_AD_RATE	400	DEEPGLIDERMB	0
D_CALL	0	COMM_SEQ	0	ROLL_MAXERRORS	10	MOTHERBOARD	4
SURFACE_URGENCY	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MIN	188	DEVICE3	-1
T_DIVE	63	UPLOAD_DIVES_MAX	-1	VBD_MAX	3616	DEVICE4	-1
T_MISSION	75	CALL_TRIES	5	C_VBD	2473	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_DBAND	2	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	VBD_CNV	-0.24529999	SMARTS	1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_TIMEOUT	360	SMARTDEVICE1	3
T_NO_W	120	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE2	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	COMPASS_DEVICE	1
USE_BATHY	-4	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS2_DEVICE	-1
USE_ICE	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	PHONE_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	T_GPS_CHARGE	-29370.17	UNCOM_BLEED	20	GPS_DEVICE	48
D_OFFGRID	100	T_RSLEEP	3	VBD_MAXERRORS	1	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	XPDR_DEVICE	-1
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_24V	91.800003	SIM_W	0
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	AH0_10V	61.200001	SIM_PITCH	0
MAX_BUOY	150	PITCH_MIN	30	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MAX	4065	PRESSURE_YINT	-0.16054545	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	C_PITCH	2692	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	PITCH_DBAND	0.1	AD7714Ch0Gain	1	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_CNV	0.0046000001	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.331019
MASS	52000	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763502
NAV_MODE	1	PITCH_GAIN	16	COMPASS_USE	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0	AR_RESETARS	0.0
HD_A	0.0043390002	PITCH_MAXERRORS	10	ALTIM_BOTTOM_TURN_MARGIN	0	AR_RECORDBELOW	0.0
HD_B	0.013382	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	AR_NOTIFYAPOGEE	0.0

GPS1	141131,4806.174,-12222.118,7,1.1,7,18.0	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.061,-0.145
_SM_DEPTHo	-0.00	KALMAN_X	18281.8,8.8,171.8,-16642.1,81.2
_SM_ANGLEo	-50.0	KALMAN_Y	-214.0,1.8,-175.9,-2446.8,51.4
GPS2	141817,4806.184,-12222.120,10,1.1,10,18.0	MHEAD_RNG_PITCHd_Wd	139.1,2594,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.4,0.997384	_24V_AH	23.8,22.464
SM_CCo	4046,58.83,0.004,8,0,1251,300.00	_10V_AH	9.7,39.732
SM_GC	0.00,0.00,0.00,58.83,0.000,0.000,0.004,144,2192,1251,-11.72,3.48,300.00	DATA_FILE_SIZE	9570,352
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	95026,8
TT8_MAMPS	0.049855	CFSIZE	260165632,252743680
HUMID	1598	ERRORS	0,0,0,0,0,0,0,0,1,0,0,71,137,8,0
INTERNAL_PRESSURE	12.5591	GPS	030808,153111,4805.897,-12221.788,34,1.1,34,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	3	3.20	SBE_CT	274	24	156.99
Roll_motor	33	3	3.07	nil	0	0	0.00
VBD_pump_during_apogee	318	4	34.85	nil	0	0	0.00
VBD_pump_during_surface	58	3	5.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	ARS	0	216	0.00
Iridium_during_xfer	85	223	454.41
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	10	50	5.13
TT8	739	18	129.14
LPSleep	2141	0	8.10
TT8_Active	556	18	97.12
TT8_Sampling	437	38	161.35
TT8_CF8	739	44	315.41
TT8_Kalman	33	80	25.88
Analog_circuits	980	12	114.13
GPS_charging	0	0	0.00
Compass	364	26	91.95
RAFOS	0	0	0.00
Transponder	0	0	0.00

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
123	end surface: CONTROL_FINISHED_OK
state	123	begin dive
126	-0.84	-146.6	0.0	0.0	0	190	0.00	0.00	-60.67	0.000	6	0.000	0.000	147	2188	3078
194	-0.84	-146.6	0.6	-1.5	6	215	11.73	2.80	0.00	0.000	4	0.004	0.004	2541	465	3076
456	-0.84	-146.6	22.6	-4.9	29	463	0.30	3.10	0.00	0.000	6	0.003	0.004	2467	2210	3078
494	-0.84	-146.6	24.5	-5.1	33	496	0.38	0.00	0.00	0.000	6	0.003	0.000	2535	2209	3077
526	-0.84	-146.6	26.1	-5.0	36	528	0.40	0.00	0.00	0.000	6	0.004	0.000	2462	2209	3078
558	-0.84	-146.6	27.5	-4.8	39	560	0.43	0.00	0.00	0.000	6	0.003	0.000	2536	2209	3078
589	-0.84	-146.6	29.2	-4.8	42	592	0.43	0.00	0.00	0.000	6	0.004	0.000	2461	2208	3078
621	-0.84	-146.6	30.7	-4.7	45	624	0.40	0.00	0.00	0.000	6	0.003	0.000	2536	2209	3079
653	-0.84	-146.6	32.3	-5.0	48	655	0.38	0.00	0.00	0.000	6	0.004	0.000	2461	2209	3078
685	-0.84	-146.6	33.9	-5.1	51	687	0.35	0.00	0.00	0.000	6	0.004	0.000	2536	2209	3078
717	-0.84	-146.6	35.5	-5.1	54	719	0.28	0.00	0.00	0.000	6	0.004	0.000	2463	2209	3078
749	-0.84	-146.6	37.0	-5.0	57	751	0.32	0.00	0.00	0.000	6	0.004	0.000	2540	2209	3078
782	-0.84	-146.6	38.7	-5.0	60	784	0.32	0.00	0.00	0.000	6	0.004	0.000	2467	2209	3078
812	-0.84	-146.6	40.2	-4.9	63	814	0.38	0.00	0.00	0.000	6	0.004	0.000	2539	2208	3078
845	-0.84	-146.6	41.8	-4.8	66	847	0.32	0.00	0.00	0.000	6	0.004	0.000	2467	2208	3079
875	-0.84	-146.6	43.3	-5.0	69	877	0.35	0.00	0.00	0.000	6	0.003	0.000	2543	2209	3078
908	-0.84	-146.6	44.9	-5.1	72	910	0.32	0.00	0.00	0.000	6	0.004	0.000	2502	2209	3078
938	-0.84	-146.6	46.5	-5.0	75	939	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2208	3078
970	-0.84	-146.6	48.1	-4.9	78	971	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2209	3078
1002	-0.84	-146.6	49.5	-4.7	81	1003	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2209	3078
1034	-0.84	-146.6	51.0	-4.7	84	1035	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2208	3077
1066	-0.84	-146.6	52.5	-4.7	87	1067	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2209	3078
1098	-0.84	-146.6	54.0	-4.6	90	1099	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2210	3078
1130	-0.84	-146.6	55.5	-4.4	93	1131	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2209	3079
1161	-0.84	-146.6	56.9	-4.5	96	1163	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2209	3079
1194	-0.84	-146.6	58.3	-4.6	99	1196	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2210	3079
1225	-0.84	-146.6	59.9	-4.9	102	1226	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2209	3079
1257	-0.84	-146.6	61.4	-4.6	105	1258	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2208	3078
1289	-0.84	-146.6	62.9	-4.8	108	1290	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2209	3078
1320	-0.84	-146.6	64.4	-4.7	111	1322	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2208	3079
1352	-0.84	-146.6	66.0	-4.7	114	1354	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2207	3079
1384	-0.84	-146.6	67.5	-4.7	117	1385	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2210	3078
1416	-0.84	-146.6	68.9	-4.7	120	1418	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2207	3079
1448	-0.84	-146.6	70.3	-4.5	123	1449	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2209	3078
1481	-0.84	-146.6	71.9	-4.6	126	1482	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2209	3078
1512	-0.84	-146.6	73.4	-4.9	129	1513	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2209	3078
1543	-0.84	-146.6	74.9	-4.7	132	1545	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2211	3078
1575	-0.84	-146.6	76.5	-4.8	135	1577	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2210	3078
1607	-0.84	-146.6	78.0	-5.0	138	1609	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2208	3078
1639	-0.84	-146.6	79.5	-4.8	141	1640	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2208	3078
1671	-0.84	-146.6	81.1	-4.9	144	1672	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2208	3080
1703	-0.84	-146.6	82.6	-4.6	147	1704	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2208	3078
1735	-0.84	-146.6	84.1	-4.7	150	1736	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2209	3078
1767	-0.84	-146.6	85.6	-4.8	153	1768	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2210	3077
1798	-0.84	-146.6	87.1	-4.8	156	1800	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2210	3078
1830	-0.84	-146.6	88.5	-4.3	159	1831	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2209	3078
1862	-0.84	-146.6	89.9	-4.6	162	1863	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2208	3078
1894	-0.84	-146.6	91.4	-4.4	165	1895	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2209	3078
1926	-0.84	-146.6	92.8	-4.5	168	1927	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2209	3078
1958	-0.84	-146.6	94.2	-4.5	171	1959	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2210	3077
1976	end dive: TARGET_DEPTH_EXCEEDED
state	1976	begin apogee
1983	-0.31	0.0	95.2	4.5	173	2110	0.75	0.00	122.38	0.005	6	0.004	0.000	2651	1900	2473
2111	end apogee: CONTROL_FINISHED_OK
state	2111	begin climb
2114	0.84	146.6	96.5	0.0	186	2241	1.38	0.00	120.78	0.005	6	0.004	0.000	2916	1898	1875
2272	0.84	146.6	89.4	6.0	202	2274	0.30	0.00	0.00	0.000	6	0.004	0.000	2841	1902	1875
2304	0.84	146.6	87.6	5.6	205	2306	0.38	0.00	0.00	0.000	6	0.004	0.000	2914	1900	1874
2336	0.84	146.6	85.8	5.6	208	2342	0.35	2.90	0.00	0.000	4	0.004	0.004	2841	3672	1874
2594	0.84	146.6	70.3	6.7	230	2601	0.30	3.05	0.00	0.000	6	0.003	0.004	2917	1877	1874
2632	0.84	146.6	68.0	6.2	234	2634	0.30	0.00	0.00	0.000	6	0.003	0.000	2882	1877	1874
2664	0.84	146.6	66.1	6.1	237	2665	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	1878	1877
2696	0.84	146.6	64.2	5.9	240	2700	0.00	2.28	0.00	0.000	4	0.000	0.004	2881	509	1875
3004	0.84	146.6	45.7	5.6	267	3009	0.00	2.95	0.00	0.000	6	0.000	0.004	2882	2255	1874
3041	0.84	146.6	43.5	6.0	270	3042	0.00	0.00	0.00	0.000	6	0.000	0.000	2881	2257	1874
3073	0.84	146.6	41.7	5.4	273	3078	0.00	2.95	0.00	0.000	4	0.000	0.004	2880	481	1874
3381	0.86	158.1	25.1	4.7	300	3402	0.00	3.03	11.18	0.005	6	0.000	0.004	2881	2258	1828
3434	0.86	158.1	22.3	5.3	305	3435	0.00	0.00	0.00	0.000	6	0.000	0.000	2881	2259	1828
3466	0.86	158.9	20.7	5.0	308	3467	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	2258	1827
3498	0.87	167.1	19.2	4.8	311	3509	0.00	0.00	9.25	0.004	6	0.000	0.000	2881	2260	1791
3540	0.87	172.9	17.2	4.8	315	3549	0.00	0.00	6.38	0.004	6	0.000	0.000	2881	2259	1768
3581	0.87	172.9	15.1	5.0	319	3582	0.00	0.00	0.00	0.000	6	0.000	0.000	2881	2259	1768
3613	0.88	178.8	13.5	4.8	322	3623	0.00	0.00	7.18	0.005	6	0.000	0.000	2882	2259	1741
3655	0.90	192.5	11.6	4.6	326	3675	0.00	2.28	13.00	0.005	4	0.000	0.004	2880	3589	1687
3755	0.91	202.9	6.9	4.7	335	3769	0.00	2.80	8.48	0.005	6	0.000	0.004	2881	1923	1644
3803	0.95	231.3	4.8	4.2	339	3827	0.00	2.30	19.55	0.005	4	0.000	0.004	2883	494	1528
3881	end climb: SURFACE_DEPTH_REACHED
state	3882	begin surface coast
3949	end surface coast: CONTROL_FINISHED_OK
state	3949	begin surface