Glider dive log

Shilshole 30Apr19 * SG045 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 45 HD_B 0.0099999998 ROLL_MAX 3860 ALTIM_BOTTOM_PING_RANGE 0

MISSION 2 HD_C 1.6100001e-05 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

DIVE 9 HEADING -1 C_ROLL_DIVE 2399 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2399 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 25 ALTIM_FREQUENCY 13

D_ABORT 6050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 450 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 2

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 340 INT_PRESSURE_YINT 0

D_SAFE 0 PROTOCOL 9 VBD_MAX 3960 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 2589 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049999 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 -1

T_DIVE 60 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 75 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

T_TURN 360 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 100840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 2 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE -1 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 48

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 200 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3820 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3441 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 250 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044369884

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.80000001 SEABIRD_T_H 0.00066042581

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.7363718e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.4006232e-06

RHO 1.023 PITCH_GAIN 12.7 PHONE_SUPPLY 2 SEABIRD_C_G -10.01541

MASS 79430 PITCH_TIMEOUT 18 PRESSURE_YINT -12.236565 SEABIRD_C_H 1.1730425

MASS_COMP 10859 PITCH_AD_RATE 145 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0023542538

NAV_MODE 0 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00025774896

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2927.8301

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.003 ROLL_MIN 250 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 450

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 145 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 12.7 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3820 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 200 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 48 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_B 0.0099999998 PRESSURE_SLOPE 0 T_ABORT 1440

CALL_NDIVES 1 HD_C 1.6100001e-05 PRESSURE_YINT -12.236565 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 60

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 5

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 45 RAFOS_DEVICE -1 T_MISSION 75

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 RAFOS_MMODEM 0 T_RSLEEP 2

COMPASS_DEVICE 97 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN 360

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 3441 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2399 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 2399 LOGGERS 0 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_VBD 2589 MASS 79430 ROLL_CNV 0.028270001 USE_BATHY -6

DBDW 0 MASS_COMP 10859 ROLL_DEG 40 USE_ICE -1

DEEPGLIDER 1 MAXI_10V 0.80000001 ROLL_MAX 3860 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MAXERRORS 2 VBD_CNV -0.29049999

DEVICE2 101 MAX_BUOY 250 ROLL_MIN 250 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 19 R_PORT_OVSHOOT 25 VBD_MAX 3960

DEVICE5 -1 MISSION 2 R_STBD_OVSHOOT 16 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.01541 VBD_MIN 340

DIVE 9 NAV_MODE 0 SEABIRD_C_H 1.1730425 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 6050 NOCOMM_ACTION 0 SEABIRD_C_I -0.0023542538 VBD_PUMP_AD_RATE_SURFACE 4

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00025774896 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2927.8301 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 100840 SEABIRD_T_G 0.0044369884 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00066042581 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.7363718e-05 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.4006232e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 010519,052131,4742.0308,-12225.9814,4,0.9,18,16.3,0.0,189.5,9,9.4 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.143783,0.286611

_SM_DEPTHo 1.67 KALMAN_X -3306.725586,-425.635376,-69.955391,1536.113525,17.820457

_SM_ANGLEo -58.8 KALMAN_Y -6003.914062,-816.569397,-562.096069,4832.066895,290.067474

GPS2 010519,052551,4741.9966,-12226.0098,10,0.9,21,16.3,0.0,221.5,9,9.5 MHEAD_RNG_PITCHd_Wd 5.8,5003,-13.1,-10.000,-17.32,3645

SPEED_LIMITS 0.173,0.321 D_GRID 181

Post-dive calculations and measurements:

FINISH 0.6,0.999640 _24V_AH 24.30,3.994

SM_CCo 3756,39.97,0.643,0,0,1039,450.27 _10V_AH 10.45,1.464

SM_GC 1.84,9.60,0.00,39.97,0.084,0.000,0.643,202,2397,1039,-10.07,-0.06,450.27,0,0,0,0,0,0,25.70,26.02,24.82 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4741.31,-12227.78,010519,051813 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.177513 MEM 312696

HUMID 27.87 DATA_FILE_SIZE 27858,415

INTERNAL_PRESSURE 8.23274 CAP_FILE_SIZE 78269,0

TCM_TEMP 10.50 CFSIZE 2046525440,2041577472

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0

ALTIM_TOP_PING 19.6,19.5 GPS 010519,063149,4742.263,-12226.051,23,0.9,52,16.3,0.3,213.9,9,6.3

ALTIM_BOTTOM_PING 106.2,108.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 273 155.31 SBE_CT 274 23 155.08

Roll_motor 88 99 212.75 AA4330 537 32 420.49

VBD_pump_during_apogee 464 784 8858.75 nil 0 0 0.00

VBD_pump_during_surface 39 643 624.70 nil 0 0 0.00

VBD_valve 230 148 834.64 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 10.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 14 3.30

TT8 970 13 141.62

LPSleep 1366 2 31.27

TT8_Active 732 13 101.22

TT8_Sampling 788 37 312.77

TT8_CF8 31 54 18.14

TT8_Kalman 33 60 21.10

Analog_circuits 1250 10 130.69

GPS_charging 0 0 0.00

Compass 760 7 59.49

RAFOS 0 0 0.00

Transponder 9 30 2.83

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 int_press humidity

4 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6 -1.34 -244.4 209 2393 371 358 0.0 0.0 0 177 0.00 0.00 -167.98 0.144 16386 0.000 0.000 208 2394 2209 2199 2220 0 0 0 0 0 0 26.54 28.83 26.55 8.23 28.02

180 -1.34 -244.4 209 2394 2199 2220 3.1 -1.5 28 262 11.00 3.78 -62.58 0.149 19204 0.273 0.092 3008 993 3431 3397 3465 0 0 0 0 0 0 25.76 25.88 25.84 8.40 26.57

309 -1.34 -244.4 3007 993 3398 3465 15.3 -12.0 50 316 0.00 3.62 0.00 0.000 1030 0.000 0.074 2993 2402 3431 3397 3465 0 0 0 0 0 0 26.12 26.04 26.13 8.52 26.29

383 -1.34 -244.4 2992 2402 3397 3465 23.7 -12.1 61 384 0.00 0.00 0.00 0.000 6 0.000 0.000 2993 2402 3431 3397 3465 0 0 0 0 0 0 26.41 26.42 26.42 8.52 26.92

503 -1.34 -244.4 2992 2403 3397 3465 38.8 -13.1 73 513 0.00 3.75 0.00 0.000 516 0.000 0.094 2993 999 3430 3397 3464 0 0 0 0 0 0 26.51 26.15 26.53 8.52 26.53

635 -1.34 -244.4 2992 999 3397 3464 56.6 -13.8 86 646 0.10 3.55 0.00 0.000 3078 0.179 0.074 3008 2400 3430 3397 3464 0 0 0 0 0 0 26.17 26.31 26.25 8.52 26.61

765 -1.34 -244.4 3007 2399 3397 3465 72.8 -12.8 99 776 0.00 3.72 0.00 0.000 516 0.000 0.094 3009 999 3430 3397 3464 0 0 0 0 0 0 26.65 26.29 26.66 8.51 27.24

822 -1.34 -244.4 3008 999 3397 3464 79.7 -13.2 104 829 0.00 3.55 0.00 0.000 1030 0.000 0.074 2994 2398 3430 3397 3464 0 0 0 0 0 0 26.46 26.38 26.48 8.51 26.72

948 -1.34 -244.4 2994 2398 3397 3464 96.5 -12.2 117 958 0.00 3.70 0.00 0.000 516 0.000 0.094 2994 998 3431 3397 3465 0 0 0 0 0 0 26.72 26.35 26.73 8.51 27.59

1055 -1.34 -244.4 2993 998 3397 3464 110.5 -13.0 127 1066 0.10 3.53 0.00 0.000 3078 0.181 0.074 3010 2398 3430 3397 3464 0 0 0 0 0 0 26.31 26.45 26.40 8.51 27.51

1185 -1.34 -244.4 3009 2397 3397 3465 125.9 -11.7 140 1186 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2398 3430 3397 3464 0 0 0 0 0 0 26.77 26.79 26.78 8.51 27.27

1305 -1.34 -244.4 3009 2398 3397 3465 140.6 -12.5 152 1315 0.00 3.67 0.00 0.000 516 0.000 0.094 3010 1004 3430 3397 3464 0 0 0 0 0 0 26.80 26.44 26.82 8.51 27.39

1420 -1.34 -244.4 3010 1004 3397 3464 154.8 -12.9 163 1427 0.00 3.53 0.00 0.000 1030 0.000 0.074 2996 2399 3430 3397 3464 0 0 0 0 0 0 26.61 26.53 26.63 8.50 27.27

1547 -1.34 -244.4 2996 2399 3397 3464 171.4 -12.7 176 1557 0.00 3.70 0.00 0.000 516 0.000 0.094 2996 994 3430 3397 3464 0 0 0 0 0 0 26.84 26.47 26.86 8.51 27.67

1618 end dive: TARGET_DEPTH_EXCEEDED

state 1618 begin apogee

1625 -0.39 0.0 2979 2398 3397 3464 180.7 -13.4 183 1810 0.95 0.00 176.68 0.785 10246 0.159 0.000 3309 2399 2590 2558 2622 0 0 0 0 0 0 26.41 24.78 24.39 8.50 27.55

1811 end apogee: CONTROL_FINISHED_OK

state 1811 begin climb

1812 1.34 244.4 3309 2399 2558 2622 188.7 0.0 202 2004 1.40 4.05 179.50 0.765 10500 0.119 0.099 3801 3800 1746 1719 1774 0 0 1 0 0 0 25.08 24.84 24.30 8.42 27.39

2094 1.34 244.4 3800 3800 1720 1774 168.0 10.9 230 2102 0.00 3.72 0.00 0.000 3078 0.000 0.074 3819 2400 1747 1720 1774 0 0 0 0 0 0 25.67 25.60 25.69 8.34 26.01

2221 1.34 244.4 3818 2400 1719 1774 154.5 11.1 243 2232 0.00 3.80 0.00 0.000 2564 0.000 0.099 3835 1000 1747 1720 1775 0 0 0 0 0 0 26.15 25.82 26.16 8.35 27.59

2286 1.34 244.4 3835 1000 1719 1775 147.6 11.2 249 2294 0.00 3.62 0.00 0.000 5126 0.000 0.074 3835 2398 1747 1720 1775 0 0 0 0 0 0 26.06 25.96 26.08 8.34 26.72

2414 1.34 244.4 3835 2398 1720 1775 133.7 11.2 262 2415 0.00 0.00 0.00 0.000 4102 0.000 0.000 3835 2398 1747 1720 1775 0 0 0 0 0 0 26.39 26.40 26.40 8.34 28.02

2534 1.34 244.4 3835 2398 1720 1774 121.3 10.6 274 2544 0.00 3.75 0.00 0.000 4612 0.000 0.099 3852 1000 1747 1720 1775 0 0 0 0 0 0 26.49 26.13 26.51 8.35 28.02

2579 1.34 244.4 3851 1000 1720 1775 116.5 11.7 278 2587 0.00 3.60 0.00 0.000 1030 0.000 0.074 3852 2402 1747 1720 1775 0 0 0 0 0 0 26.31 26.22 26.32 8.35 27.71

2706 1.34 244.4 3851 2402 1720 1775 102.0 11.2 291 2707 0.00 0.00 0.00 0.000 6 0.000 0.000 3852 2402 1746 1719 1774 0 0 0 0 0 0 26.58 26.60 26.60 8.35 28.42

2826 1.34 244.4 3851 2402 1719 1774 88.1 12.1 303 2836 0.00 3.72 0.00 0.000 516 0.000 0.099 3869 1002 1747 1720 1775 0 0 0 0 0 0 26.64 26.27 26.65 8.34 28.18

2870 1.34 244.4 3868 1002 1720 1774 83.2 11.9 307 2879 0.00 3.55 0.00 0.000 1030 0.000 0.074 3869 2398 1747 1720 1775 0 0 0 0 0 0 26.45 26.36 26.46 8.34 28.06

2998 1.34 244.4 3868 2398 1720 1774 69.0 10.9 320 2999 0.00 0.00 0.00 0.000 6 0.000 0.000 3869 2398 1747 1720 1774 0 0 0 0 0 0 26.70 26.72 26.71 8.34 28.18

3118 1.34 244.4 3868 2398 1720 1775 55.9 11.1 332 3128 0.00 3.75 0.00 0.000 260 0.000 0.099 3868 3800 1747 1720 1774 0 0 0 0 0 0 26.73 26.39 26.74 8.34 28.22

3144 1.34 244.4 3868 3800 1720 1774 52.9 11.6 334 3151 0.00 3.60 0.00 0.000 1030 0.000 0.074 3887 2398 1747 1720 1774 0 0 0 0 0 0 26.54 26.47 26.55 8.34 28.73

3270 1.34 244.4 3886 2398 1720 1774 38.5 10.9 347 3281 0.00 3.72 0.00 0.000 516 0.000 0.099 3904 998 1747 1720 1774 0 0 0 0 0 0 26.77 26.39 26.78 8.34 27.79

3327 1.34 244.4 3903 998 1720 1774 32.6 11.7 352 3335 0.25 3.55 0.00 0.000 5126 0.174 0.074 3821 2397 1747 1720 1774 0 0 0 0 0 0 26.34 26.49 26.49 8.34 28.34

3453 1.42 312.1 3821 2396 1720 1774 21.0 8.1 365 3505 0.00 0.00 48.65 0.670 12294 0.000 0.000 3822 2397 1512 1491 1534 0 0 0 0 0 0 26.82 25.79 25.27 8.34 28.38

3567 1.42 312.1 3821 2397 1492 1534 10.4 10.3 384 3574 0.00 0.00 0.00 0.000 4102 0.000 0.000 3821 2397 1512 1491 1534 0 0 0 0 0 0 26.34 26.35 26.34 8.32 28.02

3636 1.57 432.9 3820 2397 1492 1535 4.6 6.6 397 3698 0.00 0.00 59.80 0.656 12802 0.000 0.000 3821 2397 1225 1207 1244 0 0 0 0 0 0 26.41 28.83 26.42 8.32 28.18

3699 end climb: SURFACE_DEPTH_REACHED

state 3700 begin surface coast

3740 end surface coast: CONTROL_FINISHED_OK

state 3741 begin surface

ID	45	HD_B	0.0099999998	ROLL_MAX	3860	ALTIM_BOTTOM_PING_RANGE	0
MISSION	2	HD_C	1.6100001e-05	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20
DIVE	9	HEADING	-1	C_ROLL_DIVE	2399	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2399	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	25	ALTIM_FREQUENCY	13
D_ABORT	6050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	450	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	2
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	340	INT_PRESSURE_YINT	0
D_SAFE	0	PROTOCOL	9	VBD_MAX	3960	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	2589	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049999	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	-1
T_DIVE	60	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	75	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
T_TURN	360	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	100840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	2	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	-1	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	48
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	200	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3820	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3441	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	250	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044369884
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.80000001	SEABIRD_T_H	0.00066042581
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.7363718e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.4006232e-06
RHO	1.023	PITCH_GAIN	12.7	PHONE_SUPPLY	2	SEABIRD_C_G	-10.01541
MASS	79430	PITCH_TIMEOUT	18	PRESSURE_YINT	-12.236565	SEABIRD_C_H	1.1730425
MASS_COMP	10859	PITCH_AD_RATE	145	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0023542538
NAV_MODE	0	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00025774896
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2927.8301
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.003	ROLL_MIN	250	COMPASS_USE	4

GPS1	010519,052131,4742.0308,-12225.9814,4,0.9,18,16.3,0.0,189.5,9,9.4	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.143783,0.286611
_SM_DEPTHo	1.67	KALMAN_X	-3306.725586,-425.635376,-69.955391,1536.113525,17.820457
_SM_ANGLEo	-58.8	KALMAN_Y	-6003.914062,-816.569397,-562.096069,4832.066895,290.067474
GPS2	010519,052551,4741.9966,-12226.0098,10,0.9,21,16.3,0.0,221.5,9,9.5	MHEAD_RNG_PITCHd_Wd	5.8,5003,-13.1,-10.000,-17.32,3645
SPEED_LIMITS	0.173,0.321	D_GRID	181

FINISH	0.6,0.999640	_24V_AH	24.30,3.994
SM_CCo	3756,39.97,0.643,0,0,1039,450.27	_10V_AH	10.45,1.464
SM_GC	1.84,9.60,0.00,39.97,0.084,0.000,0.643,202,2397,1039,-10.07,-0.06,450.27,0,0,0,0,0,0,25.70,26.02,24.82	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4741.31,-12227.78,010519,051813	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.177513	MEM	312696
HUMID	27.87	DATA_FILE_SIZE	27858,415
INTERNAL_PRESSURE	8.23274	CAP_FILE_SIZE	78269,0
TCM_TEMP	10.50	CFSIZE	2046525440,2041577472
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
ALTIM_TOP_PING	19.6,19.5	GPS	010519,063149,4742.263,-12226.051,23,0.9,52,16.3,0.3,213.9,9,6.3
ALTIM_BOTTOM_PING	106.2,108.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	273	155.31	SBE_CT	274	23	155.08
Roll_motor	88	99	212.75	AA4330	537	32	420.49
VBD_pump_during_apogee	464	784	8858.75	nil	0	0	0.00
VBD_pump_during_surface	39	643	624.70	nil	0	0	0.00
VBD_valve	230	148	834.64	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	10.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	14	3.30
TT8	970	13	141.62
LPSleep	1366	2	31.27
TT8_Active	732	13	101.22
TT8_Sampling	788	37	312.77
TT8_CF8	31	54	18.14
TT8_Kalman	33	60	21.10
Analog_circuits	1250	10	130.69
GPS_charging	0	0	0.00
Compass	760	7	59.49
RAFOS	0	0	0.00
Transponder	9	30	2.83

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	int_press	humidity
4	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6	-1.34	-244.4	209	2393	371	358	0.0	0.0	0	177	0.00	0.00	-167.98	0.144	16386	0.000	0.000	208	2394	2209	2199	2220	0	0	0	0	0	0	26.54	28.83	26.55	8.23	28.02
180	-1.34	-244.4	209	2394	2199	2220	3.1	-1.5	28	262	11.00	3.78	-62.58	0.149	19204	0.273	0.092	3008	993	3431	3397	3465	0	0	0	0	0	0	25.76	25.88	25.84	8.40	26.57
309	-1.34	-244.4	3007	993	3398	3465	15.3	-12.0	50	316	0.00	3.62	0.00	0.000	1030	0.000	0.074	2993	2402	3431	3397	3465	0	0	0	0	0	0	26.12	26.04	26.13	8.52	26.29
383	-1.34	-244.4	2992	2402	3397	3465	23.7	-12.1	61	384	0.00	0.00	0.00	0.000	6	0.000	0.000	2993	2402	3431	3397	3465	0	0	0	0	0	0	26.41	26.42	26.42	8.52	26.92
503	-1.34	-244.4	2992	2403	3397	3465	38.8	-13.1	73	513	0.00	3.75	0.00	0.000	516	0.000	0.094	2993	999	3430	3397	3464	0	0	0	0	0	0	26.51	26.15	26.53	8.52	26.53
635	-1.34	-244.4	2992	999	3397	3464	56.6	-13.8	86	646	0.10	3.55	0.00	0.000	3078	0.179	0.074	3008	2400	3430	3397	3464	0	0	0	0	0	0	26.17	26.31	26.25	8.52	26.61
765	-1.34	-244.4	3007	2399	3397	3465	72.8	-12.8	99	776	0.00	3.72	0.00	0.000	516	0.000	0.094	3009	999	3430	3397	3464	0	0	0	0	0	0	26.65	26.29	26.66	8.51	27.24
822	-1.34	-244.4	3008	999	3397	3464	79.7	-13.2	104	829	0.00	3.55	0.00	0.000	1030	0.000	0.074	2994	2398	3430	3397	3464	0	0	0	0	0	0	26.46	26.38	26.48	8.51	26.72
948	-1.34	-244.4	2994	2398	3397	3464	96.5	-12.2	117	958	0.00	3.70	0.00	0.000	516	0.000	0.094	2994	998	3431	3397	3465	0	0	0	0	0	0	26.72	26.35	26.73	8.51	27.59
1055	-1.34	-244.4	2993	998	3397	3464	110.5	-13.0	127	1066	0.10	3.53	0.00	0.000	3078	0.181	0.074	3010	2398	3430	3397	3464	0	0	0	0	0	0	26.31	26.45	26.40	8.51	27.51
1185	-1.34	-244.4	3009	2397	3397	3465	125.9	-11.7	140	1186	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	2398	3430	3397	3464	0	0	0	0	0	0	26.77	26.79	26.78	8.51	27.27
1305	-1.34	-244.4	3009	2398	3397	3465	140.6	-12.5	152	1315	0.00	3.67	0.00	0.000	516	0.000	0.094	3010	1004	3430	3397	3464	0	0	0	0	0	0	26.80	26.44	26.82	8.51	27.39
1420	-1.34	-244.4	3010	1004	3397	3464	154.8	-12.9	163	1427	0.00	3.53	0.00	0.000	1030	0.000	0.074	2996	2399	3430	3397	3464	0	0	0	0	0	0	26.61	26.53	26.63	8.50	27.27
1547	-1.34	-244.4	2996	2399	3397	3464	171.4	-12.7	176	1557	0.00	3.70	0.00	0.000	516	0.000	0.094	2996	994	3430	3397	3464	0	0	0	0	0	0	26.84	26.47	26.86	8.51	27.67
1618	end dive: TARGET_DEPTH_EXCEEDED
state	1618	begin apogee
1625	-0.39	0.0	2979	2398	3397	3464	180.7	-13.4	183	1810	0.95	0.00	176.68	0.785	10246	0.159	0.000	3309	2399	2590	2558	2622	0	0	0	0	0	0	26.41	24.78	24.39	8.50	27.55
1811	end apogee: CONTROL_FINISHED_OK
state	1811	begin climb
1812	1.34	244.4	3309	2399	2558	2622	188.7	0.0	202	2004	1.40	4.05	179.50	0.765	10500	0.119	0.099	3801	3800	1746	1719	1774	0	0	1	0	0	0	25.08	24.84	24.30	8.42	27.39
2094	1.34	244.4	3800	3800	1720	1774	168.0	10.9	230	2102	0.00	3.72	0.00	0.000	3078	0.000	0.074	3819	2400	1747	1720	1774	0	0	0	0	0	0	25.67	25.60	25.69	8.34	26.01
2221	1.34	244.4	3818	2400	1719	1774	154.5	11.1	243	2232	0.00	3.80	0.00	0.000	2564	0.000	0.099	3835	1000	1747	1720	1775	0	0	0	0	0	0	26.15	25.82	26.16	8.35	27.59
2286	1.34	244.4	3835	1000	1719	1775	147.6	11.2	249	2294	0.00	3.62	0.00	0.000	5126	0.000	0.074	3835	2398	1747	1720	1775	0	0	0	0	0	0	26.06	25.96	26.08	8.34	26.72
2414	1.34	244.4	3835	2398	1720	1775	133.7	11.2	262	2415	0.00	0.00	0.00	0.000	4102	0.000	0.000	3835	2398	1747	1720	1775	0	0	0	0	0	0	26.39	26.40	26.40	8.34	28.02
2534	1.34	244.4	3835	2398	1720	1774	121.3	10.6	274	2544	0.00	3.75	0.00	0.000	4612	0.000	0.099	3852	1000	1747	1720	1775	0	0	0	0	0	0	26.49	26.13	26.51	8.35	28.02
2579	1.34	244.4	3851	1000	1720	1775	116.5	11.7	278	2587	0.00	3.60	0.00	0.000	1030	0.000	0.074	3852	2402	1747	1720	1775	0	0	0	0	0	0	26.31	26.22	26.32	8.35	27.71
2706	1.34	244.4	3851	2402	1720	1775	102.0	11.2	291	2707	0.00	0.00	0.00	0.000	6	0.000	0.000	3852	2402	1746	1719	1774	0	0	0	0	0	0	26.58	26.60	26.60	8.35	28.42
2826	1.34	244.4	3851	2402	1719	1774	88.1	12.1	303	2836	0.00	3.72	0.00	0.000	516	0.000	0.099	3869	1002	1747	1720	1775	0	0	0	0	0	0	26.64	26.27	26.65	8.34	28.18
2870	1.34	244.4	3868	1002	1720	1774	83.2	11.9	307	2879	0.00	3.55	0.00	0.000	1030	0.000	0.074	3869	2398	1747	1720	1775	0	0	0	0	0	0	26.45	26.36	26.46	8.34	28.06
2998	1.34	244.4	3868	2398	1720	1774	69.0	10.9	320	2999	0.00	0.00	0.00	0.000	6	0.000	0.000	3869	2398	1747	1720	1774	0	0	0	0	0	0	26.70	26.72	26.71	8.34	28.18
3118	1.34	244.4	3868	2398	1720	1775	55.9	11.1	332	3128	0.00	3.75	0.00	0.000	260	0.000	0.099	3868	3800	1747	1720	1774	0	0	0	0	0	0	26.73	26.39	26.74	8.34	28.22
3144	1.34	244.4	3868	3800	1720	1774	52.9	11.6	334	3151	0.00	3.60	0.00	0.000	1030	0.000	0.074	3887	2398	1747	1720	1774	0	0	0	0	0	0	26.54	26.47	26.55	8.34	28.73
3270	1.34	244.4	3886	2398	1720	1774	38.5	10.9	347	3281	0.00	3.72	0.00	0.000	516	0.000	0.099	3904	998	1747	1720	1774	0	0	0	0	0	0	26.77	26.39	26.78	8.34	27.79
3327	1.34	244.4	3903	998	1720	1774	32.6	11.7	352	3335	0.25	3.55	0.00	0.000	5126	0.174	0.074	3821	2397	1747	1720	1774	0	0	0	0	0	0	26.34	26.49	26.49	8.34	28.34
3453	1.42	312.1	3821	2396	1720	1774	21.0	8.1	365	3505	0.00	0.00	48.65	0.670	12294	0.000	0.000	3822	2397	1512	1491	1534	0	0	0	0	0	0	26.82	25.79	25.27	8.34	28.38
3567	1.42	312.1	3821	2397	1492	1534	10.4	10.3	384	3574	0.00	0.00	0.00	0.000	4102	0.000	0.000	3821	2397	1512	1491	1534	0	0	0	0	0	0	26.34	26.35	26.34	8.32	28.02
3636	1.57	432.9	3820	2397	1492	1535	4.6	6.6	397	3698	0.00	0.00	59.80	0.656	12802	0.000	0.000	3821	2397	1225	1207	1244	0	0	0	0	0	0	26.41	28.83	26.42	8.32	28.18
3699	end climb: SURFACE_DEPTH_REACHED
state	3700	begin surface coast
3740	end surface coast: CONTROL_FINISHED_OK
state	3741	begin surface