Glider dive log

Shilshole 06Jan15 * SG036 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 36 HD_B 0.0099999998 PITCH_ADJ_DBAND 0 COMPASS_USE 4

MISSION 17 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_BOTTOM_PING_RANGE 0

DIVE 8 HEADING -1 ROLL_MAX 3990 ALTIM_TOP_PING_RANGE 20

N_DIVES 0 ESCAPE_HEADING 0 ROLL_DEG 45 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 3 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2200 ALTIM_TOP_MIN_OBSTACLE 1

D_TGT 180 TGT_DEFAULT_LAT 4743 HEAD_ERRBAND 15 ALTIM_PING_DEPTH 100

D_ABORT 300 TGT_DEFAULT_LON -12224.5 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 5

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_BOOST 0 SM_CC 500 R_PORT_OVSHOOT 63 ALTIM_PULSE 3

T_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 20 ALTIM_SENSITIVITY 2

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 300 XPDR_VALID 2

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 PROTOCOL 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 1.7

SURFACE_URGENCY 0 N_NOCOMM 2 VBD_MIN 321 DEEPGLIDER 1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MAX 3926 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 C_VBD 2500 DEVICE1 2

T_DIVE 80 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE2 101

T_MISSION 90 CALL_TRIES 5 VBD_CNV -0.29049 DEVICE3 -1

T_ABORT 120 CALL_WAIT 30 VBD_TIMEOUT 720 DEVICE4 -1

T_TURN 540 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.00030000001 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 0

T_LOITER 0 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_EPIRB 0 N_GPS 100740 UNCOM_BLEED 50 LOGGERDEVICE2 -1

USE_BATHY 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

USE_ICE 0 T_RSLEEP 2 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 DBDW 0 COMPASS_DEVICE 33

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MIN 208 AH0_24V 150 RAFOS_DEVICE -1

MAX_BUOY 150 PITCH_MAX 3959 AH0_10V 100 XPDR_DEVICE 24

COURSE_BIAS 0 C_PITCH 3365 MINV_24V 17 SIM_W 0

GLIDE_SLOPE 45 PITCH_DBAND 0.1 MINV_10V 8 SIM_PITCH 0

SPEED_FACTOR 1 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_G 0.0043996978

RHO 1.0233001 P_OVSHOOT 0.026000001 FG_AHR_24V 0 SEABIRD_T_H 0.0006365396

MASS 78118 P_OVSHOOT_WITHG 0.089000002 PHONE_SUPPLY 2 SEABIRD_T_I 2.6113061e-05

MASS_COMP 9146 PITCH_GAIN 21.5 PRESSURE_YINT -971.80823 SEABIRD_T_J 3.2649082e-06

NAV_MODE 1 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.00091862795 SEABIRD_C_G -9.7572823

FERRY_MAX 45 PITCH_AD_RATE 145 AD7714Ch0Gain 32 SEABIRD_C_H 1.1335733

KALMAN_USE 2 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0016566192

HD_A 0.003 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00021344022

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.2649082e-06

AH0_10V 100 D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_ADJ_GAIN 0 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 180 PITCH_AD_RATE 145 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_GAIN 21.5 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAX 3959 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MIN 208 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.00030000001 TGT_DEFAULT_LAT 4743

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12224.5

CALL_NDIVES 1 HD_A 0.003 PITCH_W_GAIN 0 T_ABORT 120

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_SLOPE 0.00091862795 T_BOOST 0

CALL_WAIT 30 HD_C 9.9999997e-06 PRESSURE_YINT -971.80823 T_DIVE 80

CAPMAXSIZE 200000 HEADING -1 PROTOCOL 0 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 15 P_OVSHOOT 0.026000001 T_GPS 15

CF8_MAXERRORS 2 HEAPDBG 0 P_OVSHOOT_WITHG 0.089000002 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 36 RAFOS_DEVICE -1 T_MISSION 90

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 1.7 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RELAUNCH 1 T_TURN 540

C_PITCH 3365 LOGGERDEVICE1 -1 RHO 1.0233001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2500 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDER 1 MASS 78118 ROLL_DEG 45 USE_ICE 0

DEVICE1 2 MASS_COMP 9146 ROLL_MAX 3990 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 150 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE3 -1 MINV_10V 8 ROLL_MIN 187 VBD_DBAND 2

DEVICE4 -1 MINV_24V 17 ROLL_TIMEOUT 15 VBD_MAX 3926

DEVICE5 -1 MISSION 17 R_PORT_OVSHOOT 63 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 20 VBD_MIN 321

DIVE 8 NAV_MODE 1 SEABIRD_C_G -9.7572823 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 300 NOCOMM_ACTION 0 SEABIRD_C_H 1.1335733 VBD_PUMP_AD_RATE_SURFACE 2

D_BOOST 0 N_DIVES 0 SEABIRD_C_I -0.0016566192 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_J 0.00021344022 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 100740 SEABIRD_T_G 0.0043996978 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_H 0.0006365396 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.6113061e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 070115,034604,4744.5469,-12224.4121,8,1.5,36,18.2,0.0,0.0,9,5.0 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.58 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -67.7 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 070115,035250,4744.5713,-12224.4131,15,1.3,16,18.2,0.0,0.0,8,5.6 MHEAD_RNG_PITCHd_Wd 163.9,2912,-13.1,-7.500,-17.71,2947

SPEED_LIMITS 0.075,0.235 D_GRID 180

Post-dive calculations and measurements:

FINISH 1.3,1.021426 _24V_AH 23.90,18.665

SM_CCo 4331,244.05,7.995,0,0,778,500.22 _10V_AH 10.44,2.481

SM_GC 1.59,8.85,0.00,244.05,0.504,0.000,7.995,214,2208,778,-9.79,0.23,500.22,0,0,0,0,0,0,26.43,26.74,24.02 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12222.38,070115,022404 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023968,0.023968 MEM 322900

HUMID 46.14 DATA_FILE_SIZE 26960,477

INTERNAL_PRESSURE 8.5362 CAP_FILE_SIZE 76238,0

TCM_TEMP 17.70 CFSIZE 1024409600,1020821504

XPDR_PINGS 17 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_TOP_PING 19.7,19.2 INTR 2,4318.71,0x238aa6,7,5

ALTIM_BOTTOM_PING 121.1,71.6 GPS 070115,051019,4744.521,-12224.432,13,1.1,13,18.2,0.0,0.0,7,8.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 2356 1241.79 SBE_CT 319 24 183.15

Roll_motor 47 451 517.08 AA4330 627 33 494.65

VBD_pump_during_apogee 207 9246 45956.11 nil 0 0 0.00

VBD_pump_during_surface 244 7995 46634.71 nil 0 0 0.00

VBD_valve 148 814 2892.46 nil 0 0 0.00

Iridium_during_init 27 103 66.49 nil 0 0 0.00

Iridium_during_connect 37 160 144.68 nil 0 0 0.00

Iridium_during_xfer 255 223 1363.44 nil 0 0 0.00

Transponder_ping 6 420 60.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.13

TT8 1142 19 236.12

LPSleep 2003 2 45.80

TT8_Active 618 19 127.79

TT8_Sampling 1181 39 490.97

TT8_CF8 53 45 25.64

TT8_Kalman 0 0 0.00

Analog_circuits 1098 12 137.63

GPS_charging 0 0 0.00

Compass 826 15 129.36

RAFOS 0 0 0.00

Transponder 13 30 4.24

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 -0.65 -146.6 216 2211 658 898 0.0 0.0 0 144 0.00 0.00 -125.65 0.772 16386 0.000 0.000 216 2212 2553 2473 2634 0 0 0 0 0 0 25.99 28.83 26.01

146 -0.65 -146.6 216 2212 2473 2635 3.1 -3.5 23 187 11.80 2.50 -22.95 0.814 18948 2.356 0.353 3152 633 3005 2915 3096 0 0 0 0 0 0 25.45 25.69 25.59

485 -0.65 -146.6 3152 634 2915 3097 39.2 -12.5 73 494 0.00 2.35 0.00 0.000 1030 0.000 0.291 3152 2217 3006 2915 3097 0 0 0 0 0 0 26.08 26.05 26.10

614 -0.65 -146.6 3152 2217 2915 3097 51.5 -10.7 86 618 0.00 2.45 0.00 0.000 260 0.000 0.452 3147 3788 3006 2915 3097 0 0 0 0 0 0 26.37 26.08 26.39

689 -0.65 -146.6 3146 3788 2915 3096 58.4 -9.1 93 694 0.00 2.35 0.00 0.000 1030 0.000 0.243 3147 2193 3005 2915 3096 0 0 0 0 0 0 26.24 26.19 26.25

815 -0.65 -146.6 3147 2193 2915 3096 70.9 -9.7 105 816 0.00 0.00 0.00 0.000 6 0.000 0.000 3147 2193 3005 2915 3096 0 0 0 0 0 0 26.46 26.48 26.48

935 -0.65 -146.6 3147 2192 2915 3096 83.2 -9.8 117 936 0.00 0.00 0.00 0.000 6 0.000 0.000 3147 2192 3006 2915 3097 0 0 0 0 0 0 26.51 26.53 26.53

1055 -0.65 -146.6 3147 2192 2915 3096 94.9 -10.1 129 1064 0.00 2.47 0.00 0.000 260 0.000 0.444 3136 3784 3005 2915 3096 0 0 0 0 0 0 26.54 26.26 26.55

1127 -0.65 -146.6 3136 3784 2915 3096 102.3 -10.3 136 1131 0.00 2.33 0.00 0.000 1030 0.000 0.248 3136 2197 3005 2914 3096 0 0 0 0 0 0 26.39 26.34 26.40

1252 -0.65 -146.6 3136 2197 2915 3096 114.6 -9.6 148 1253 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 2197 3005 2915 3096 0 0 0 0 0 0 26.59 26.61 26.61

1372 -0.65 -146.6 3136 2196 2915 3096 125.0 -8.1 160 1373 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 2196 3005 2915 3096 0 0 0 0 0 0 26.61 26.64 26.63

1492 -0.65 -146.6 3136 2197 2915 3096 135.9 -9.7 172 1493 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 2197 3005 2915 3096 0 0 0 0 0 0 26.63 26.65 26.65

1612 -0.65 -146.6 3136 2196 2915 3096 146.7 -9.0 184 1616 0.00 2.45 0.00 0.000 260 0.000 0.447 3125 3781 3005 2915 3096 0 0 0 0 0 0 26.65 26.36 26.66

1731 -0.65 -146.6 3124 3781 2915 3096 157.5 -9.4 195 1738 0.00 2.33 0.00 0.000 1030 0.000 0.253 3125 2190 3005 2915 3096 0 0 0 0 0 0 26.50 26.44 26.51

1858 -0.65 -146.6 3124 2189 2914 3096 169.3 -8.8 208 1868 0.08 2.45 0.00 0.000 2308 1.624 0.430 3147 3781 3005 2915 3096 0 0 0 0 0 0 26.34 26.39 26.41

1932 -0.65 -146.6 3147 3781 2915 3096 175.7 -9.0 215 1939 0.00 2.38 0.00 0.000 1030 0.000 0.251 3147 2191 3005 2915 3096 0 0 0 0 0 0 26.50 26.47 26.51

1958 end dive: BOTTOM_OBSTACLE_DETECTED

state 1958 begin apogee

1962 -0.23 0.0 3147 2190 2915 3096 178.0 -8.1 218 2070 0.43 0.00 103.10 9.247 10246 1.107 0.000 3290 2189 2500 2424 2576 0 0 0 0 0 0 26.32 24.77 24.10

2071 end apogee: CONTROL_FINISHED_OK

state 2071 begin climb

2073 0.65 146.6 3290 2190 2423 2576 181.5 0.0 229 2181 0.75 0.00 104.85 8.867 10246 0.760 0.000 3559 2190 1995 1913 2077 0 0 0 0 0 0 24.92 24.52 23.90

2300 0.65 146.6 3559 2190 1913 2077 168.4 7.2 252 2308 0.00 2.40 0.00 0.000 516 0.000 0.355 3570 635 1995 1914 2076 0 0 0 0 0 0 25.73 25.49 25.75

2340 0.65 146.6 3570 635 1913 2076 165.0 8.0 256 2344 0.00 2.42 0.00 0.000 1030 0.000 0.286 3571 2210 1994 1913 2076 0 0 0 0 0 0 25.67 25.61 25.69

2465 0.65 146.6 3570 2210 1913 2076 153.7 9.5 268 2469 0.00 2.47 0.00 0.000 260 0.000 0.452 3570 3778 1994 1913 2076 0 0 0 0 0 0 26.06 25.79 26.08

2512 0.65 146.6 3570 3778 1914 2076 149.0 10.8 272 2521 0.00 2.35 0.00 0.000 1030 0.000 0.243 3582 2201 1995 1914 2077 0 0 0 0 0 0 25.95 25.90 25.96

2641 0.65 146.6 3581 2201 1914 2076 135.5 9.8 285 2642 0.00 0.00 0.00 0.000 6 0.000 0.000 3582 2201 1994 1913 2076 0 0 0 0 0 0 26.22 26.25 26.24

2761 0.65 146.6 3581 2201 1914 2076 125.4 9.0 297 2762 0.00 0.00 0.00 0.000 6 0.000 0.000 3581 2201 1995 1914 2077 0 0 0 0 0 0 26.32 26.34 26.34

2881 0.65 146.6 3581 2201 1914 2076 115.3 8.2 309 2885 0.00 2.38 0.00 0.000 516 0.000 0.367 3593 627 1995 1914 2076 0 0 0 0 0 0 26.39 26.13 26.41

2968 0.65 146.6 3593 627 1914 2076 108.0 9.1 317 2977 0.00 2.35 0.00 0.000 1030 0.000 0.291 3593 2208 1995 1914 2077 0 0 0 0 0 0 26.25 26.20 26.27

3097 0.65 146.6 3593 2207 1914 2077 95.6 9.6 330 3098 0.00 0.00 0.00 0.000 6 0.000 0.000 3593 2208 1995 1914 2077 0 0 0 0 0 0 26.48 26.51 26.50

3217 0.65 146.6 3593 2208 1914 2077 84.6 9.0 342 3218 0.00 0.00 0.00 0.000 6 0.000 0.000 3593 2208 1995 1914 2076 0 0 0 0 0 0 26.53 26.55 26.54

3337 0.65 146.6 3593 2208 1913 2076 74.2 8.6 354 3338 0.00 0.00 0.00 0.000 6 0.000 0.000 3593 2208 1995 1913 2077 0 0 0 0 0 0 26.55 26.58 26.58

3457 0.65 146.6 3593 2208 1913 2077 64.9 7.5 366 3458 0.00 0.00 0.00 0.000 6 0.000 0.000 3593 2208 1995 1914 2077 0 0 0 0 0 0 26.59 26.61 26.60

3577 0.65 146.6 3593 2208 1914 2076 54.9 8.5 378 3578 0.00 0.00 0.00 0.000 6 0.000 0.000 3593 2208 1995 1914 2076 0 0 0 0 0 0 26.62 26.64 26.63

3697 0.65 146.6 3593 2207 1914 2076 45.7 7.0 390 3701 0.00 2.38 0.00 0.000 516 0.000 0.363 3605 628 1995 1914 2077 0 0 0 0 0 0 26.64 26.38 26.65

3756 0.65 146.6 3604 628 1914 2076 41.2 7.7 395 3763 0.00 2.38 0.00 0.000 1030 0.000 0.291 3605 2200 1995 1914 2076 0 0 0 0 0 0 26.48 26.41 26.50

3883 0.65 146.6 3604 2201 1913 2077 31.5 7.0 408 3884 0.00 0.00 0.00 0.000 6 0.000 0.000 3605 2201 1995 1914 2077 0 0 0 0 0 0 26.67 26.69 26.69

4003 0.65 146.6 3604 2201 1913 2077 22.7 7.3 420 4004 0.00 0.00 0.00 0.000 6 0.000 0.000 3604 2201 1995 1914 2076 0 0 0 0 0 0 26.69 26.71 26.71

4123 0.65 146.6 3604 2201 1914 2076 14.3 6.4 440 4130 0.00 2.38 0.00 0.000 516 0.000 0.358 3616 629 1995 1914 2076 0 0 0 0 0 0 26.70 26.44 26.72

4217 0.65 146.6 3616 629 1914 2077 6.8 8.8 458 4224 0.15 2.33 0.00 0.000 5126 1.326 0.295 3568 2208 1994 1913 2076 0 0 0 0 0 0 26.34 26.47 26.46

4269 end climb: SURFACE_DEPTH_REACHED

state 4269 begin surface coast

4316 end surface coast: CONTROL_FINISHED_OK

state 4316 begin surface

ID	36	HD_B	0.0099999998	PITCH_ADJ_DBAND	0	COMPASS_USE	4
MISSION	17	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_BOTTOM_PING_RANGE	0
DIVE	8	HEADING	-1	ROLL_MAX	3990	ALTIM_TOP_PING_RANGE	20
N_DIVES	0	ESCAPE_HEADING	0	ROLL_DEG	45	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	3	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2200	ALTIM_TOP_MIN_OBSTACLE	1
D_TGT	180	TGT_DEFAULT_LAT	4743	HEAD_ERRBAND	15	ALTIM_PING_DEPTH	100
D_ABORT	300	TGT_DEFAULT_LON	-12224.5	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	5
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_BOOST	0	SM_CC	500	R_PORT_OVSHOOT	63	ALTIM_PULSE	3
T_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	2
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	300	XPDR_VALID	2
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	PROTOCOL	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	1.7
SURFACE_URGENCY	0	N_NOCOMM	2	VBD_MIN	321	DEEPGLIDER	1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MAX	3926	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	C_VBD	2500	DEVICE1	2
T_DIVE	80	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE2	101
T_MISSION	90	CALL_TRIES	5	VBD_CNV	-0.29049	DEVICE3	-1
T_ABORT	120	CALL_WAIT	30	VBD_TIMEOUT	720	DEVICE4	-1
T_TURN	540	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.00030000001	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	0
T_LOITER	0	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_EPIRB	0	N_GPS	100740	UNCOM_BLEED	50	LOGGERDEVICE2	-1
USE_BATHY	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
USE_ICE	0	T_RSLEEP	2	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	DBDW	0	COMPASS_DEVICE	33
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MIN	208	AH0_24V	150	RAFOS_DEVICE	-1
MAX_BUOY	150	PITCH_MAX	3959	AH0_10V	100	XPDR_DEVICE	24
COURSE_BIAS	0	C_PITCH	3365	MINV_24V	17	SIM_W	0
GLIDE_SLOPE	45	PITCH_DBAND	0.1	MINV_10V	8	SIM_PITCH	0
SPEED_FACTOR	1	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_G	0.0043996978
RHO	1.0233001	P_OVSHOOT	0.026000001	FG_AHR_24V	0	SEABIRD_T_H	0.0006365396
MASS	78118	P_OVSHOOT_WITHG	0.089000002	PHONE_SUPPLY	2	SEABIRD_T_I	2.6113061e-05
MASS_COMP	9146	PITCH_GAIN	21.5	PRESSURE_YINT	-971.80823	SEABIRD_T_J	3.2649082e-06
NAV_MODE	1	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.00091862795	SEABIRD_C_G	-9.7572823
FERRY_MAX	45	PITCH_AD_RATE	145	AD7714Ch0Gain	32	SEABIRD_C_H	1.1335733
KALMAN_USE	2	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0016566192
HD_A	0.003	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00021344022

GPS1	070115,034604,4744.5469,-12224.4121,8,1.5,36,18.2,0.0,0.0,9,5.0	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.58	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-67.7	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	070115,035250,4744.5713,-12224.4131,15,1.3,16,18.2,0.0,0.0,8,5.6	MHEAD_RNG_PITCHd_Wd	163.9,2912,-13.1,-7.500,-17.71,2947
SPEED_LIMITS	0.075,0.235	D_GRID	180

FINISH	1.3,1.021426	_24V_AH	23.90,18.665
SM_CCo	4331,244.05,7.995,0,0,778,500.22	_10V_AH	10.44,2.481
SM_GC	1.59,8.85,0.00,244.05,0.504,0.000,7.995,214,2208,778,-9.79,0.23,500.22,0,0,0,0,0,0,26.43,26.74,24.02	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12222.38,070115,022404	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023968,0.023968	MEM	322900
HUMID	46.14	DATA_FILE_SIZE	26960,477
INTERNAL_PRESSURE	8.5362	CAP_FILE_SIZE	76238,0
TCM_TEMP	17.70	CFSIZE	1024409600,1020821504
XPDR_PINGS	17	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.7,19.2	INTR	2,4318.71,0x238aa6,7,5
ALTIM_BOTTOM_PING	121.1,71.6	GPS	070115,051019,4744.521,-12224.432,13,1.1,13,18.2,0.0,0.0,7,8.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	2356	1241.79	SBE_CT	319	24	183.15
Roll_motor	47	451	517.08	AA4330	627	33	494.65
VBD_pump_during_apogee	207	9246	45956.11	nil	0	0	0.00
VBD_pump_during_surface	244	7995	46634.71	nil	0	0	0.00
VBD_valve	148	814	2892.46	nil	0	0	0.00
Iridium_during_init	27	103	66.49	nil	0	0	0.00
Iridium_during_connect	37	160	144.68	nil	0	0	0.00
Iridium_during_xfer	255	223	1363.44	nil	0	0	0.00
Transponder_ping	6	420	60.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.13
TT8	1142	19	236.12
LPSleep	2003	2	45.80
TT8_Active	618	19	127.79
TT8_Sampling	1181	39	490.97
TT8_CF8	53	45	25.64
TT8_Kalman	0	0	0.00
Analog_circuits	1098	12	137.63
GPS_charging	0	0	0.00
Compass	826	15	129.36
RAFOS	0	0	0.00
Transponder	13	30	4.24

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	-0.65	-146.6	216	2211	658	898	0.0	0.0	0	144	0.00	0.00	-125.65	0.772	16386	0.000	0.000	216	2212	2553	2473	2634	0	0	0	0	0	0	25.99	28.83	26.01
146	-0.65	-146.6	216	2212	2473	2635	3.1	-3.5	23	187	11.80	2.50	-22.95	0.814	18948	2.356	0.353	3152	633	3005	2915	3096	0	0	0	0	0	0	25.45	25.69	25.59
485	-0.65	-146.6	3152	634	2915	3097	39.2	-12.5	73	494	0.00	2.35	0.00	0.000	1030	0.000	0.291	3152	2217	3006	2915	3097	0	0	0	0	0	0	26.08	26.05	26.10
614	-0.65	-146.6	3152	2217	2915	3097	51.5	-10.7	86	618	0.00	2.45	0.00	0.000	260	0.000	0.452	3147	3788	3006	2915	3097	0	0	0	0	0	0	26.37	26.08	26.39
689	-0.65	-146.6	3146	3788	2915	3096	58.4	-9.1	93	694	0.00	2.35	0.00	0.000	1030	0.000	0.243	3147	2193	3005	2915	3096	0	0	0	0	0	0	26.24	26.19	26.25
815	-0.65	-146.6	3147	2193	2915	3096	70.9	-9.7	105	816	0.00	0.00	0.00	0.000	6	0.000	0.000	3147	2193	3005	2915	3096	0	0	0	0	0	0	26.46	26.48	26.48
935	-0.65	-146.6	3147	2192	2915	3096	83.2	-9.8	117	936	0.00	0.00	0.00	0.000	6	0.000	0.000	3147	2192	3006	2915	3097	0	0	0	0	0	0	26.51	26.53	26.53
1055	-0.65	-146.6	3147	2192	2915	3096	94.9	-10.1	129	1064	0.00	2.47	0.00	0.000	260	0.000	0.444	3136	3784	3005	2915	3096	0	0	0	0	0	0	26.54	26.26	26.55
1127	-0.65	-146.6	3136	3784	2915	3096	102.3	-10.3	136	1131	0.00	2.33	0.00	0.000	1030	0.000	0.248	3136	2197	3005	2914	3096	0	0	0	0	0	0	26.39	26.34	26.40
1252	-0.65	-146.6	3136	2197	2915	3096	114.6	-9.6	148	1253	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	2197	3005	2915	3096	0	0	0	0	0	0	26.59	26.61	26.61
1372	-0.65	-146.6	3136	2196	2915	3096	125.0	-8.1	160	1373	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	2196	3005	2915	3096	0	0	0	0	0	0	26.61	26.64	26.63
1492	-0.65	-146.6	3136	2197	2915	3096	135.9	-9.7	172	1493	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	2197	3005	2915	3096	0	0	0	0	0	0	26.63	26.65	26.65
1612	-0.65	-146.6	3136	2196	2915	3096	146.7	-9.0	184	1616	0.00	2.45	0.00	0.000	260	0.000	0.447	3125	3781	3005	2915	3096	0	0	0	0	0	0	26.65	26.36	26.66
1731	-0.65	-146.6	3124	3781	2915	3096	157.5	-9.4	195	1738	0.00	2.33	0.00	0.000	1030	0.000	0.253	3125	2190	3005	2915	3096	0	0	0	0	0	0	26.50	26.44	26.51
1858	-0.65	-146.6	3124	2189	2914	3096	169.3	-8.8	208	1868	0.08	2.45	0.00	0.000	2308	1.624	0.430	3147	3781	3005	2915	3096	0	0	0	0	0	0	26.34	26.39	26.41
1932	-0.65	-146.6	3147	3781	2915	3096	175.7	-9.0	215	1939	0.00	2.38	0.00	0.000	1030	0.000	0.251	3147	2191	3005	2915	3096	0	0	0	0	0	0	26.50	26.47	26.51
1958	end dive: BOTTOM_OBSTACLE_DETECTED
state	1958	begin apogee
1962	-0.23	0.0	3147	2190	2915	3096	178.0	-8.1	218	2070	0.43	0.00	103.10	9.247	10246	1.107	0.000	3290	2189	2500	2424	2576	0	0	0	0	0	0	26.32	24.77	24.10
2071	end apogee: CONTROL_FINISHED_OK
state	2071	begin climb
2073	0.65	146.6	3290	2190	2423	2576	181.5	0.0	229	2181	0.75	0.00	104.85	8.867	10246	0.760	0.000	3559	2190	1995	1913	2077	0	0	0	0	0	0	24.92	24.52	23.90
2300	0.65	146.6	3559	2190	1913	2077	168.4	7.2	252	2308	0.00	2.40	0.00	0.000	516	0.000	0.355	3570	635	1995	1914	2076	0	0	0	0	0	0	25.73	25.49	25.75
2340	0.65	146.6	3570	635	1913	2076	165.0	8.0	256	2344	0.00	2.42	0.00	0.000	1030	0.000	0.286	3571	2210	1994	1913	2076	0	0	0	0	0	0	25.67	25.61	25.69
2465	0.65	146.6	3570	2210	1913	2076	153.7	9.5	268	2469	0.00	2.47	0.00	0.000	260	0.000	0.452	3570	3778	1994	1913	2076	0	0	0	0	0	0	26.06	25.79	26.08
2512	0.65	146.6	3570	3778	1914	2076	149.0	10.8	272	2521	0.00	2.35	0.00	0.000	1030	0.000	0.243	3582	2201	1995	1914	2077	0	0	0	0	0	0	25.95	25.90	25.96
2641	0.65	146.6	3581	2201	1914	2076	135.5	9.8	285	2642	0.00	0.00	0.00	0.000	6	0.000	0.000	3582	2201	1994	1913	2076	0	0	0	0	0	0	26.22	26.25	26.24
2761	0.65	146.6	3581	2201	1914	2076	125.4	9.0	297	2762	0.00	0.00	0.00	0.000	6	0.000	0.000	3581	2201	1995	1914	2077	0	0	0	0	0	0	26.32	26.34	26.34
2881	0.65	146.6	3581	2201	1914	2076	115.3	8.2	309	2885	0.00	2.38	0.00	0.000	516	0.000	0.367	3593	627	1995	1914	2076	0	0	0	0	0	0	26.39	26.13	26.41
2968	0.65	146.6	3593	627	1914	2076	108.0	9.1	317	2977	0.00	2.35	0.00	0.000	1030	0.000	0.291	3593	2208	1995	1914	2077	0	0	0	0	0	0	26.25	26.20	26.27
3097	0.65	146.6	3593	2207	1914	2077	95.6	9.6	330	3098	0.00	0.00	0.00	0.000	6	0.000	0.000	3593	2208	1995	1914	2077	0	0	0	0	0	0	26.48	26.51	26.50
3217	0.65	146.6	3593	2208	1914	2077	84.6	9.0	342	3218	0.00	0.00	0.00	0.000	6	0.000	0.000	3593	2208	1995	1914	2076	0	0	0	0	0	0	26.53	26.55	26.54
3337	0.65	146.6	3593	2208	1913	2076	74.2	8.6	354	3338	0.00	0.00	0.00	0.000	6	0.000	0.000	3593	2208	1995	1913	2077	0	0	0	0	0	0	26.55	26.58	26.58
3457	0.65	146.6	3593	2208	1913	2077	64.9	7.5	366	3458	0.00	0.00	0.00	0.000	6	0.000	0.000	3593	2208	1995	1914	2077	0	0	0	0	0	0	26.59	26.61	26.60
3577	0.65	146.6	3593	2208	1914	2076	54.9	8.5	378	3578	0.00	0.00	0.00	0.000	6	0.000	0.000	3593	2208	1995	1914	2076	0	0	0	0	0	0	26.62	26.64	26.63
3697	0.65	146.6	3593	2207	1914	2076	45.7	7.0	390	3701	0.00	2.38	0.00	0.000	516	0.000	0.363	3605	628	1995	1914	2077	0	0	0	0	0	0	26.64	26.38	26.65
3756	0.65	146.6	3604	628	1914	2076	41.2	7.7	395	3763	0.00	2.38	0.00	0.000	1030	0.000	0.291	3605	2200	1995	1914	2076	0	0	0	0	0	0	26.48	26.41	26.50
3883	0.65	146.6	3604	2201	1913	2077	31.5	7.0	408	3884	0.00	0.00	0.00	0.000	6	0.000	0.000	3605	2201	1995	1914	2077	0	0	0	0	0	0	26.67	26.69	26.69
4003	0.65	146.6	3604	2201	1913	2077	22.7	7.3	420	4004	0.00	0.00	0.00	0.000	6	0.000	0.000	3604	2201	1995	1914	2076	0	0	0	0	0	0	26.69	26.71	26.71
4123	0.65	146.6	3604	2201	1914	2076	14.3	6.4	440	4130	0.00	2.38	0.00	0.000	516	0.000	0.358	3616	629	1995	1914	2076	0	0	0	0	0	0	26.70	26.44	26.72
4217	0.65	146.6	3616	629	1914	2077	6.8	8.8	458	4224	0.15	2.33	0.00	0.000	5126	1.326	0.295	3568	2208	1994	1913	2076	0	0	0	0	0	0	26.34	26.47	26.46
4269	end climb: SURFACE_DEPTH_REACHED
state	4269	begin surface coast
4316	end surface coast: CONTROL_FINISHED_OK
state	4316	begin surface