Glider dive log

Shilshole 27Jun12 * SG166 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HD_C 9.8500004e-06 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 7 HEADING -1 ROLL_MAX 3786 ALTIM_PING_DEPTH 90

DIVE 4 ESCAPE_HEADING 0 ROLL_DEG 28 ALTIM_PING_DELTA 10

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 5

D_TGT 150 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 4

D_ABORT 1030 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 340 R_PORT_OVSHOOT 43 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 120 N_FILEKB 8 R_STBD_OVSHOOT 29 INT_PRESSURE_YINT 2.5999999

T_BOOST 2 FILEMGR 0 ROLL_AD_RATE 300 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0 DEVICE1 -1

D_CALL 0 N_NOCOMM 1 VBD_MIN 455 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 1857 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 50 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 70 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -6 T_GPS_CHARGE -25885.068 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 147 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 109 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 19 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 8 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MIN 160 FG_AHR_24V 0 SEABIRD_T_G 0.0043150801

MAX_BUOY 120 PITCH_MAX 3938 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063196511

COURSE_BIAS 0 C_PITCH 2460 PRESSURE_YINT -28.661125 SEABIRD_T_I 2.3897506e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_J 2.561103e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -10.001128

RHO 1.0228 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.125791

MASS 52243 PITCH_GAIN 26 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0024671701

NAV_MODE 1 PITCH_TIMEOUT 16 COMPASS_USE 4 SEABIRD_C_J 0.00026194067

FERRY_MAX 45 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SIM_PITCH 0

AH0_10V 109 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_24V 147 D_SAFE 0 PITCH_ADJ_GAIN 0 SM_CC 340

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 PITCH_CNV 0.003125763 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 26 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 90 FERRY_MAX 45 PITCH_MAX 3938 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 5 FG_AHR_24V 0 PITCH_MIN 160 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160501 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_YINT -28.661125 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 9 T_BOOST 2

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 50

CALL_WAIT 60 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 15

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -25885.068

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 166 RHO 1.0228 T_MISSION 70

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 2.5999999 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 1 ROLL_AD_RATE 300 T_TURN 225

C_PITCH 2460 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 ROLL_DEG 28 T_WATCHDOG 10

C_ROLL_DIVE 2100 LOGGERDEVICE3 -1 ROLL_MAX 3786 UNCOM_BLEED 50

C_VBD 1857 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 197 USE_BATHY -6

DEEPGLIDERMB 0 MASS 52243 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 120 R_PORT_OVSHOOT 43 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_STBD_OVSHOOT 29 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 19 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 7 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_G -10.001128 VBD_MIN 455

DIVE 4 NOCOMM_ACTION 0 SEABIRD_C_H 1.125791 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 N_DIVES 0 SEABIRD_C_I -0.0024671701 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 120 N_FILEKB 8 SEABIRD_C_J 0.00026194067 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043150801 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_H 0.00063196511 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.3897506e-05 XPDR_VALID 4

D_NO_BLEED 500 PHONE_DEVICE 49 SEABIRD_T_J 2.561103e-06

Pre-dive calculations and measurements:

GPS1 270612,194107,4742.840,-12224.837,8,1.1,14,18.2 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.001,0.235

_SM_DEPTHo 1.38 KALMAN_X -33.5,-26.4,-7.8,36.1,0.5

_SM_ANGLEo -67.7 KALMAN_Y -371.7,-441.6,-340.3,1499.4,-112.8

GPS2 270612,194826,4742.822,-12224.795,16,1.4,16,18.2 MHEAD_RNG_PITCHd_Wd 341.6,1996,-20.4,-10.000

SPEED_LIMITS 0.173,0.235 D_GRID 180

Post-dive calculations and measurements:

FINISH 1.3,1.017832 _24V_AH 23.9,0.486

SM_CCo 2746,58.17,0.141,0,0,469,340.23 _10V_AH 9.8,0.300

SM_GC 1.33,7.07,1.52,58.17,0.070,0.041,0.141,152,2096,469,-7.16,1.33,340.23,0,0,0,0,0,0,26.34,26.38,26.07 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4722.92,-12223.37,270612,181804 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 323376

HUMID 46.25 DATA_FILE_SIZE 10157,263

INTERNAL_PRESSURE 9.16275 CAP_FILE_SIZE 85917,0

TCM_TEMP 15.30 CFSIZE 260165632,257703936

XPDR_PINGS 15 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

SC_FREEKB 7768448 GPS 270612,203707,4743.161,-12224.938,13,1.5,18,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 248 102.20 nil 0 0 0.00

Roll_motor 54 84 109.76 nil 0 0 0.00

VBD_pump_during_apogee 240 1137 6536.57 nil 0 0 0.00

VBD_pump_during_surface 58 140 195.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 67.49 nil 0 0 0.00

Iridium_during_connect 32 160 122.93 SciCon 2732 35 2337.29

Iridium_during_xfer 203 223 1086.90 nil 0 0 0.00

Transponder_ping 5 420 55.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.27

TT8 859 19 166.74

LPSleep 835 2 17.92

TT8_Active 393 19 76.30

TT8_Sampling 976 39 380.97

TT8_CF8 169 45 75.87

TT8_Kalman 32 81 25.83

Analog_circuits 849 12 99.86

GPS_charging 0 0 0.00

Compass 666 5 32.66

RAFOS 0 0 0.00

Transponder 12 30 3.59

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.83 -117.3 0.0 0.0 0 91 0.00 0.00 -70.72 0.000 2 0.000 0.000 155 2122 2100 0 0 0 0 0 0 28.83 28.83 28.83

95 -0.83 -117.3 3.9 -3.9 7 116 8.07 1.55 -6.03 0.000 4 0.249 0.084 2173 3087 2337 0 0 0 0 0 0 25.80 26.08 26.41

137 -0.83 -117.3 12.1 -18.8 11 144 0.00 1.50 0.00 0.000 6 0.000 0.041 2178 2068 2338 0 0 0 0 0 0 28.83 26.16 28.83

174 -0.83 -117.3 18.1 -14.9 15 175 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2068 2338 0 0 0 0 0 0 28.83 28.83 28.83

204 -0.83 -117.3 22.2 -13.9 18 209 0.00 1.42 0.00 0.000 4 0.000 0.044 2177 1117 2338 0 0 0 0 0 0 28.83 26.20 28.83

437 -0.83 -117.3 56.6 -16.2 41 442 0.00 1.50 0.00 0.000 6 0.000 0.048 2171 2124 2338 0 0 0 0 0 0 28.83 26.30 28.83

480 -0.83 -117.3 62.8 -14.5 45 485 0.00 1.50 0.00 0.000 4 0.000 0.045 2172 1102 2338 0 0 0 0 0 0 28.83 26.34 28.83

713 -0.83 -117.3 91.2 -11.3 68 718 0.00 1.50 0.00 0.000 6 0.000 0.049 2165 2109 2338 0 0 0 0 0 0 28.83 26.39 28.83

756 -0.83 -117.3 96.4 -12.4 72 761 0.00 1.50 0.00 0.000 4 0.000 0.044 2164 1081 2338 0 0 0 0 0 0 28.83 26.42 28.83

838 -0.83 -117.3 107.7 -13.7 80 844 0.15 1.52 0.00 0.000 6 0.200 0.048 2191 2103 2338 0 0 0 0 0 0 26.22 26.42 28.83

881 -0.83 -117.3 112.8 -12.0 84 883 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 2103 2339 0 0 0 0 0 0 28.83 28.83 28.83

911 -0.83 -117.3 116.3 -11.4 87 913 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 2103 2338 0 0 0 0 0 0 28.83 28.83 28.83

941 -0.83 -117.3 119.7 -11.2 90 943 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 2103 2338 0 0 0 0 0 0 28.83 28.83 28.83

971 -0.83 -117.3 123.0 -11.1 93 977 0.00 1.48 0.00 0.000 4 0.000 0.044 2191 1119 2338 0 0 0 0 0 0 28.83 26.47 28.83

1024 -0.83 -117.3 129.3 -11.7 98 1030 0.00 1.50 0.00 0.000 6 0.000 0.049 2186 2126 2338 0 0 0 0 0 0 28.83 26.45 28.83

1067 -0.83 -117.3 134.3 -11.7 102 1069 0.00 0.00 0.00 0.000 6 0.000 0.000 2186 2126 2338 0 0 0 0 0 0 28.83 28.83 28.83

1097 -0.83 -117.3 137.9 -12.0 105 1102 0.00 1.50 0.00 0.000 4 0.000 0.044 2185 1096 2338 0 0 0 0 0 0 28.83 26.48 28.83

1198 end dive: TARGET_DEPTH_EXCEEDED

state 1198 begin apogee

1205 -0.19 0.0 150.1 -11.4 115 1321 0.68 0.00 105.90 0.633 6 0.164 0.000 2389 2109 1850 0 0 0 0 0 0 26.30 28.83 24.81

1323 end apogee: CONTROL_FINISHED_OK

state 1323 begin climb

1325 0.83 117.3 154.6 0.0 127 1443 1.00 1.65 99.85 1.138 4 0.116 0.064 2718 3082 1381 0 0 0 0 1 0 25.34 24.71 23.85

1456 0.83 117.3 144.8 10.6 140 1461 0.00 1.52 0.00 0.000 6 0.000 0.041 2726 2093 1384 0 0 0 0 0 0 28.83 25.13 28.83

1498 0.83 117.3 139.7 12.0 144 1504 0.00 1.52 0.00 0.000 4 0.000 0.045 2733 1117 1385 0 0 0 0 0 0 28.83 25.43 28.83

1525 0.83 117.3 136.9 12.2 146 1531 0.00 1.52 0.00 0.000 6 0.000 0.048 2734 2101 1384 0 0 0 0 0 0 28.83 25.53 28.83

1561 0.83 117.3 131.8 12.7 150 1562 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2101 1385 0 0 0 0 0 0 28.83 28.83 28.83

1591 0.83 117.3 128.1 12.3 153 1596 0.00 1.55 0.00 0.000 4 0.000 0.064 2734 3090 1385 0 0 0 0 0 0 28.83 25.71 28.83

1628 0.83 117.3 123.7 13.6 156 1634 0.00 1.50 0.00 0.000 6 0.000 0.041 2741 2089 1385 0 0 0 0 0 0 28.83 25.83 28.83

1664 0.83 117.3 118.5 13.0 160 1669 0.00 1.50 0.00 0.000 4 0.000 0.047 2749 1081 1385 0 0 0 0 0 0 28.83 25.89 28.83

1680 0.83 117.3 116.9 13.0 161 1688 0.00 1.60 0.93 0.194 6 0.000 0.050 2750 2092 1377 0 0 0 0 0 0 28.83 25.90 25.75

1716 0.83 117.3 111.9 12.3 165 1721 0.00 1.55 0.00 0.000 4 0.000 0.065 2750 3088 1383 0 0 0 0 0 0 28.83 25.92 28.83

1782 0.83 117.3 104.6 11.8 171 1789 0.00 1.50 0.00 0.000 6 0.000 0.043 2754 2080 1384 0 0 0 0 0 0 28.83 26.05 28.83

1819 0.83 117.3 99.2 13.3 175 1825 0.00 1.48 0.00 0.000 4 0.000 0.047 2761 1109 1384 0 0 0 0 0 0 28.83 26.08 28.83

1886 0.83 117.3 89.9 14.4 181 1893 0.12 1.52 0.00 0.000 6 0.209 0.050 2733 2112 1384 0 0 0 0 0 0 25.95 26.11 28.83

1922 0.83 117.3 83.8 15.1 185 1923 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2113 1384 0 0 0 0 0 0 28.83 28.83 28.83

1952 0.83 117.3 80.0 12.9 188 1957 0.00 1.50 0.00 0.000 4 0.000 0.063 2735 3090 1384 0 0 0 0 0 0 28.83 26.14 28.83

2005 0.83 117.3 73.6 12.2 193 2010 0.00 1.50 0.00 0.000 6 0.000 0.042 2740 2101 1384 0 0 0 0 0 0 28.83 26.22 28.83

2047 0.83 117.3 68.3 12.2 197 2048 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2101 1384 0 0 0 0 0 0 28.83 28.83 28.83

2077 0.83 117.3 64.4 13.1 200 2082 0.00 1.52 0.00 0.000 4 0.000 0.063 2741 3085 1384 0 0 0 0 0 0 28.83 26.21 28.83

2100 0.83 117.3 61.8 12.3 202 2105 0.00 1.50 0.00 0.000 6 0.000 0.042 2747 2098 1384 0 0 0 0 0 0 28.83 26.27 28.83

2143 0.83 117.3 57.0 11.2 206 2144 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2097 1384 0 0 0 0 0 0 28.83 28.83 28.83

2173 0.83 117.3 53.6 11.2 209 2174 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2097 1385 0 0 0 0 0 0 28.83 28.83 28.83

2203 0.83 117.3 50.1 11.6 212 2208 0.00 1.48 0.00 0.000 4 0.000 0.047 2754 1115 1384 0 0 0 0 0 0 28.83 26.31 28.83

2235 0.83 117.3 46.3 11.5 215 2240 0.00 1.52 0.00 0.000 6 0.000 0.050 2754 2124 1384 0 0 0 0 0 0 28.83 26.29 28.83

2278 0.83 117.3 41.8 10.8 219 2279 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2124 1384 0 0 0 0 0 0 28.83 28.83 28.83

2308 0.83 117.3 38.8 10.0 222 2313 0.00 1.50 0.00 0.000 4 0.000 0.047 2761 1108 1384 0 0 0 0 0 0 28.83 26.34 28.83

2454 0.83 117.3 24.2 10.1 236 2462 0.10 1.52 0.00 0.000 6 0.190 0.050 2731 2097 1384 0 0 0 0 0 0 26.20 26.38 28.83

2491 0.83 117.3 20.2 10.2 240 2496 0.00 1.50 0.00 0.000 4 0.000 0.064 2732 3083 1384 0 0 0 0 0 0 28.83 26.35 28.83

2605 0.85 149.6 9.9 8.2 251 2625 0.00 1.48 13.77 0.161 6 0.000 0.041 2738 2100 1243 0 0 0 0 0 0 28.83 26.44 26.22

2655 0.86 198.6 6.2 7.2 256 2679 0.00 1.55 19.98 0.151 4 0.000 0.060 2736 3095 1041 0 0 0 0 0 0 28.83 26.29 26.19

2695 end climb: SURFACE_DEPTH_REACHED

state 2695 begin surface coast

2728 end surface coast: CONTROL_FINISHED_OK

state 2728 begin surface

ID	166	HD_C	9.8500004e-06	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	7	HEADING	-1	ROLL_MAX	3786	ALTIM_PING_DEPTH	90
DIVE	4	ESCAPE_HEADING	0	ROLL_DEG	28	ALTIM_PING_DELTA	10
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	5
D_TGT	150	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	4
D_ABORT	1030	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	340	R_PORT_OVSHOOT	43	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	120	N_FILEKB	8	R_STBD_OVSHOOT	29	INT_PRESSURE_YINT	2.5999999
T_BOOST	2	FILEMGR	0	ROLL_AD_RATE	300	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0	DEVICE1	-1
D_CALL	0	N_NOCOMM	1	VBD_MIN	455	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	1857	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	50	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	70	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-6	T_GPS_CHARGE	-25885.068	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	147	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	109	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	19	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	8	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MIN	160	FG_AHR_24V	0	SEABIRD_T_G	0.0043150801
MAX_BUOY	120	PITCH_MAX	3938	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063196511
COURSE_BIAS	0	C_PITCH	2460	PRESSURE_YINT	-28.661125	SEABIRD_T_I	2.3897506e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_J	2.561103e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-10.001128
RHO	1.0228	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.125791
MASS	52243	PITCH_GAIN	26	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0024671701
NAV_MODE	1	PITCH_TIMEOUT	16	COMPASS_USE	4	SEABIRD_C_J	0.00026194067
FERRY_MAX	45	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0

GPS1	270612,194107,4742.840,-12224.837,8,1.1,14,18.2	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.001,0.235
_SM_DEPTHo	1.38	KALMAN_X	-33.5,-26.4,-7.8,36.1,0.5
_SM_ANGLEo	-67.7	KALMAN_Y	-371.7,-441.6,-340.3,1499.4,-112.8
GPS2	270612,194826,4742.822,-12224.795,16,1.4,16,18.2	MHEAD_RNG_PITCHd_Wd	341.6,1996,-20.4,-10.000
SPEED_LIMITS	0.173,0.235	D_GRID	180

FINISH	1.3,1.017832	_24V_AH	23.9,0.486
SM_CCo	2746,58.17,0.141,0,0,469,340.23	_10V_AH	9.8,0.300
SM_GC	1.33,7.07,1.52,58.17,0.070,0.041,0.141,152,2096,469,-7.16,1.33,340.23,0,0,0,0,0,0,26.34,26.38,26.07	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4722.92,-12223.37,270612,181804	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	323376
HUMID	46.25	DATA_FILE_SIZE	10157,263
INTERNAL_PRESSURE	9.16275	CAP_FILE_SIZE	85917,0
TCM_TEMP	15.30	CFSIZE	260165632,257703936
XPDR_PINGS	15	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
SC_FREEKB	7768448	GPS	270612,203707,4743.161,-12224.938,13,1.5,18,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	248	102.20	nil	0	0	0.00
Roll_motor	54	84	109.76	nil	0	0	0.00
VBD_pump_during_apogee	240	1137	6536.57	nil	0	0	0.00
VBD_pump_during_surface	58	140	195.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	67.49	nil	0	0	0.00
Iridium_during_connect	32	160	122.93	SciCon	2732	35	2337.29
Iridium_during_xfer	203	223	1086.90	nil	0	0	0.00
Transponder_ping	5	420	55.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.27
TT8	859	19	166.74
LPSleep	835	2	17.92
TT8_Active	393	19	76.30
TT8_Sampling	976	39	380.97
TT8_CF8	169	45	75.87
TT8_Kalman	32	81	25.83
Analog_circuits	849	12	99.86
GPS_charging	0	0	0.00
Compass	666	5	32.66
RAFOS	0	0	0.00
Transponder	12	30	3.59

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.83	-117.3	0.0	0.0	0	91	0.00	0.00	-70.72	0.000	2	0.000	0.000	155	2122	2100	0	0	0	0	0	0	28.83	28.83	28.83
95	-0.83	-117.3	3.9	-3.9	7	116	8.07	1.55	-6.03	0.000	4	0.249	0.084	2173	3087	2337	0	0	0	0	0	0	25.80	26.08	26.41
137	-0.83	-117.3	12.1	-18.8	11	144	0.00	1.50	0.00	0.000	6	0.000	0.041	2178	2068	2338	0	0	0	0	0	0	28.83	26.16	28.83
174	-0.83	-117.3	18.1	-14.9	15	175	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2068	2338	0	0	0	0	0	0	28.83	28.83	28.83
204	-0.83	-117.3	22.2	-13.9	18	209	0.00	1.42	0.00	0.000	4	0.000	0.044	2177	1117	2338	0	0	0	0	0	0	28.83	26.20	28.83
437	-0.83	-117.3	56.6	-16.2	41	442	0.00	1.50	0.00	0.000	6	0.000	0.048	2171	2124	2338	0	0	0	0	0	0	28.83	26.30	28.83
480	-0.83	-117.3	62.8	-14.5	45	485	0.00	1.50	0.00	0.000	4	0.000	0.045	2172	1102	2338	0	0	0	0	0	0	28.83	26.34	28.83
713	-0.83	-117.3	91.2	-11.3	68	718	0.00	1.50	0.00	0.000	6	0.000	0.049	2165	2109	2338	0	0	0	0	0	0	28.83	26.39	28.83
756	-0.83	-117.3	96.4	-12.4	72	761	0.00	1.50	0.00	0.000	4	0.000	0.044	2164	1081	2338	0	0	0	0	0	0	28.83	26.42	28.83
838	-0.83	-117.3	107.7	-13.7	80	844	0.15	1.52	0.00	0.000	6	0.200	0.048	2191	2103	2338	0	0	0	0	0	0	26.22	26.42	28.83
881	-0.83	-117.3	112.8	-12.0	84	883	0.00	0.00	0.00	0.000	6	0.000	0.000	2189	2103	2339	0	0	0	0	0	0	28.83	28.83	28.83
911	-0.83	-117.3	116.3	-11.4	87	913	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	2103	2338	0	0	0	0	0	0	28.83	28.83	28.83
941	-0.83	-117.3	119.7	-11.2	90	943	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	2103	2338	0	0	0	0	0	0	28.83	28.83	28.83
971	-0.83	-117.3	123.0	-11.1	93	977	0.00	1.48	0.00	0.000	4	0.000	0.044	2191	1119	2338	0	0	0	0	0	0	28.83	26.47	28.83
1024	-0.83	-117.3	129.3	-11.7	98	1030	0.00	1.50	0.00	0.000	6	0.000	0.049	2186	2126	2338	0	0	0	0	0	0	28.83	26.45	28.83
1067	-0.83	-117.3	134.3	-11.7	102	1069	0.00	0.00	0.00	0.000	6	0.000	0.000	2186	2126	2338	0	0	0	0	0	0	28.83	28.83	28.83
1097	-0.83	-117.3	137.9	-12.0	105	1102	0.00	1.50	0.00	0.000	4	0.000	0.044	2185	1096	2338	0	0	0	0	0	0	28.83	26.48	28.83
1198	end dive: TARGET_DEPTH_EXCEEDED
state	1198	begin apogee
1205	-0.19	0.0	150.1	-11.4	115	1321	0.68	0.00	105.90	0.633	6	0.164	0.000	2389	2109	1850	0	0	0	0	0	0	26.30	28.83	24.81
1323	end apogee: CONTROL_FINISHED_OK
state	1323	begin climb
1325	0.83	117.3	154.6	0.0	127	1443	1.00	1.65	99.85	1.138	4	0.116	0.064	2718	3082	1381	0	0	0	0	1	0	25.34	24.71	23.85
1456	0.83	117.3	144.8	10.6	140	1461	0.00	1.52	0.00	0.000	6	0.000	0.041	2726	2093	1384	0	0	0	0	0	0	28.83	25.13	28.83
1498	0.83	117.3	139.7	12.0	144	1504	0.00	1.52	0.00	0.000	4	0.000	0.045	2733	1117	1385	0	0	0	0	0	0	28.83	25.43	28.83
1525	0.83	117.3	136.9	12.2	146	1531	0.00	1.52	0.00	0.000	6	0.000	0.048	2734	2101	1384	0	0	0	0	0	0	28.83	25.53	28.83
1561	0.83	117.3	131.8	12.7	150	1562	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2101	1385	0	0	0	0	0	0	28.83	28.83	28.83
1591	0.83	117.3	128.1	12.3	153	1596	0.00	1.55	0.00	0.000	4	0.000	0.064	2734	3090	1385	0	0	0	0	0	0	28.83	25.71	28.83
1628	0.83	117.3	123.7	13.6	156	1634	0.00	1.50	0.00	0.000	6	0.000	0.041	2741	2089	1385	0	0	0	0	0	0	28.83	25.83	28.83
1664	0.83	117.3	118.5	13.0	160	1669	0.00	1.50	0.00	0.000	4	0.000	0.047	2749	1081	1385	0	0	0	0	0	0	28.83	25.89	28.83
1680	0.83	117.3	116.9	13.0	161	1688	0.00	1.60	0.93	0.194	6	0.000	0.050	2750	2092	1377	0	0	0	0	0	0	28.83	25.90	25.75
1716	0.83	117.3	111.9	12.3	165	1721	0.00	1.55	0.00	0.000	4	0.000	0.065	2750	3088	1383	0	0	0	0	0	0	28.83	25.92	28.83
1782	0.83	117.3	104.6	11.8	171	1789	0.00	1.50	0.00	0.000	6	0.000	0.043	2754	2080	1384	0	0	0	0	0	0	28.83	26.05	28.83
1819	0.83	117.3	99.2	13.3	175	1825	0.00	1.48	0.00	0.000	4	0.000	0.047	2761	1109	1384	0	0	0	0	0	0	28.83	26.08	28.83
1886	0.83	117.3	89.9	14.4	181	1893	0.12	1.52	0.00	0.000	6	0.209	0.050	2733	2112	1384	0	0	0	0	0	0	25.95	26.11	28.83
1922	0.83	117.3	83.8	15.1	185	1923	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2113	1384	0	0	0	0	0	0	28.83	28.83	28.83
1952	0.83	117.3	80.0	12.9	188	1957	0.00	1.50	0.00	0.000	4	0.000	0.063	2735	3090	1384	0	0	0	0	0	0	28.83	26.14	28.83
2005	0.83	117.3	73.6	12.2	193	2010	0.00	1.50	0.00	0.000	6	0.000	0.042	2740	2101	1384	0	0	0	0	0	0	28.83	26.22	28.83
2047	0.83	117.3	68.3	12.2	197	2048	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2101	1384	0	0	0	0	0	0	28.83	28.83	28.83
2077	0.83	117.3	64.4	13.1	200	2082	0.00	1.52	0.00	0.000	4	0.000	0.063	2741	3085	1384	0	0	0	0	0	0	28.83	26.21	28.83
2100	0.83	117.3	61.8	12.3	202	2105	0.00	1.50	0.00	0.000	6	0.000	0.042	2747	2098	1384	0	0	0	0	0	0	28.83	26.27	28.83
2143	0.83	117.3	57.0	11.2	206	2144	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2097	1384	0	0	0	0	0	0	28.83	28.83	28.83
2173	0.83	117.3	53.6	11.2	209	2174	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2097	1385	0	0	0	0	0	0	28.83	28.83	28.83
2203	0.83	117.3	50.1	11.6	212	2208	0.00	1.48	0.00	0.000	4	0.000	0.047	2754	1115	1384	0	0	0	0	0	0	28.83	26.31	28.83
2235	0.83	117.3	46.3	11.5	215	2240	0.00	1.52	0.00	0.000	6	0.000	0.050	2754	2124	1384	0	0	0	0	0	0	28.83	26.29	28.83
2278	0.83	117.3	41.8	10.8	219	2279	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2124	1384	0	0	0	0	0	0	28.83	28.83	28.83
2308	0.83	117.3	38.8	10.0	222	2313	0.00	1.50	0.00	0.000	4	0.000	0.047	2761	1108	1384	0	0	0	0	0	0	28.83	26.34	28.83
2454	0.83	117.3	24.2	10.1	236	2462	0.10	1.52	0.00	0.000	6	0.190	0.050	2731	2097	1384	0	0	0	0	0	0	26.20	26.38	28.83
2491	0.83	117.3	20.2	10.2	240	2496	0.00	1.50	0.00	0.000	4	0.000	0.064	2732	3083	1384	0	0	0	0	0	0	28.83	26.35	28.83
2605	0.85	149.6	9.9	8.2	251	2625	0.00	1.48	13.77	0.161	6	0.000	0.041	2738	2100	1243	0	0	0	0	0	0	28.83	26.44	26.22
2655	0.86	198.6	6.2	7.2	256	2679	0.00	1.55	19.98	0.151	4	0.000	0.060	2736	3095	1041	0	0	0	0	0	0	28.83	26.29	26.19
2695	end climb: SURFACE_DEPTH_REACHED
state	2695	begin surface coast
2728	end surface coast: CONTROL_FINISHED_OK
state	2728	begin surface