Glider dive log

Shilshole 02Jun15 * SG205 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 205 HD_C 9.9999997e-06 ROLL_MAX 3984 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 6 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 11 ESCAPE_HEADING 0 C_ROLL_DIVE 336 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 336 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 180 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 34 ALTIM_SENSITIVITY 4

D_NO_BLEED 35 SM_CC 235 R_STBD_OVSHOOT 48 XPDR_VALID 1

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 250 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.98000002

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2328 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 147

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 65 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 80 CALL_WAIT 45 PITCH_VBD_SHIFT 9.9999997e-05 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 300 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 4 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -2663.9548 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 5 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 207 MINV_24V 19 SIM_W 0

MAX_BUOY 250 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2888 FG_AHR_10V 0 SEABIRD_T_G 0.0043419907

GLIDE_SLOPE 15 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000621902

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.2352948e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -60.397808 SEABIRD_T_J 2.3392056e-06

MASS 53045 PITCH_GAIN 18.1 PRESSURE_SLOPE 0.0001159995 SEABIRD_C_G -9.6916523

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1209148

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012442283

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0001684351

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 293 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 235

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 18.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3915 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 207 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 9.9999997e-05 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 15 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 65

CALL_NDIVES 1 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001159995 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -60.397808 T_GPS 15

CALL_WAIT 45 HD_C 9.9999997e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -2663.9548

CAPUPLOAD 1 HEAD_ERRBAND 180 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 5 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 80

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 205 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 300

COMPASS_USE 4 INT_PRESSURE_YINT -0.98000002 RHO 1.023 T_TURN_SAMPINT 4

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2888 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 336 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 336 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -6

C_VBD 2328 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3984 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 53045 ROLL_MAXERRORS 1 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 293 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 250 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 147 MINV_10V 8 R_PORT_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 48 VBD_MIN 500

DEVICE4 -1 MISSION 6 SEABIRD_C_G -9.6916523 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1209148 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0012442283 VBD_TIMEOUT 720

DIVE 11 NOCOMM_ACTION 0 SEABIRD_C_J 0.0001684351 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 25 SEABIRD_T_G 0.0043419907 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.000621902 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2352948e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.3392056e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 35 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 030615,042806,4743.182,-12225.220,17,0.8,17,16.3 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.104,0.339

_SM_DEPTHo 1.15 KALMAN_X -1506.0,8.7,-142.6,1413.0,-147.6

_SM_ANGLEo -66.1 KALMAN_Y -7103.3,-330.5,-292.1,8286.3,-676.3

GPS2 030615,043428,4743.233,-12225.196,37,0.9,37,16.3 MHEAD_RNG_PITCHd_Wd 0.7,1331,-10.9,-9.231,-14.60,5198

SPEED_LIMITS 0.344,0.354 D_GRID 181

Post-dive calculations and measurements:

FINISH 0.1,1.021712 _10V_AH 10.1,34.076

SM_CCo 4609,0.00,0.000,0,0,491,461.45 FG_AHR_24Vo 0.000

SM_GC 1.13,7.62,0.00,0.00,0.034,0.000,0.000,194,340,491,-8.35,0.11,461.45,0,0,0,0,0,0,26.65,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4722.92,-12226.80,290308,171736 MEM 322220

TT8_MAMPS 0.029211,0.029211 DATA_FILE_SIZE 43584,847

HUMID 47.87 CAP_FILE_SIZE 80008,1

INTERNAL_PRESSURE 8.93249 CFSIZE 1024393216,1020542976

TCM_TEMP 15.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 030615,055304,4743.325,-12225.134,3,0.9,3,16.3

_24V_AH 23.2,40.863

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 117.64 SBE_CT 566 23 304.92

Roll_motor 4 35 3.92 WL_BBFL2 1130 105 2753.87

VBD_pump_during_apogee 554 1416 18230.13 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 9 6.01 nil 0 0 0.00

Iridium_during_connect 43 160 161.08 nil 0 0 0.00

Iridium_during_xfer 194 223 1005.70 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 39 28 11.23

TT8 1749 17 308.37

LPSleep 619 2 13.70

TT8_Active 552 17 97.44

TT8_Sampling 1969 42 838.64

TT8_CF8 126 58 75.00

TT8_Kalman 33 64 21.70

Analog_circuits 1340 20 270.74

GPS_charging 0 0 0.00

Compass 1684 3 63.61

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 -0.63 -244.4 194 343 1503 1273 0.0 0.0 0 61 0.00 0.00 -43.60 0.000 16386 0.000 0.000 195 342 2687 2696 2678 0 0 0 0 0 0 28.83 28.83 28.83

64 -0.63 -244.4 195 342 2697 2678 3.4 -8.2 7 91 10.85 0.00 -12.70 0.000 18438 0.253 0.000 2674 340 3302 3321 3283 0 0 0 0 0 0 25.63 28.83 26.70

154 -0.63 -244.4 1624 340 3304 3279 15.2 -10.1 23 160 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 340 3302 3322 3283 0 0 0 0 0 0 28.83 28.83 28.83

222 -0.63 -244.4 1616 340 3304 3279 22.8 -11.5 36 229 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 340 3303 3323 3284 0 0 0 0 0 0 28.83 28.83 28.83

291 -0.63 -244.4 1616 340 3304 3279 30.1 -10.5 49 298 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 340 3303 3323 3283 0 0 0 0 0 0 28.83 28.83 28.83

361 -0.63 -244.4 1632 340 3305 3279 37.0 -10.3 62 368 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 340 3303 3323 3283 0 0 0 0 0 0 28.83 28.83 28.83

430 -0.63 -244.4 1616 340 3305 3279 44.8 -12.0 75 437 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 340 3303 3323 3283 0 0 0 0 0 0 28.83 28.83 28.83

498 -0.63 -244.4 2674 341 3323 3283 53.1 -12.2 88 505 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 340 3303 3323 3283 0 0 0 0 0 0 28.83 28.83 28.83

628 -0.63 -244.4 2674 340 3323 3283 66.2 -9.4 113 634 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 340 3303 3323 3283 0 0 0 0 0 0 28.83 28.83 28.83

757 -0.63 -244.4 2674 340 3323 3283 75.8 -7.0 138 764 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 340 3303 3323 3284 0 0 0 0 0 0 28.83 28.83 28.83

888 -0.63 -244.4 2674 340 3324 3283 84.6 -7.1 163 894 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 340 3303 3324 3283 0 0 0 0 0 0 28.83 28.83 28.83

1017 -0.63 -244.4 2674 340 3323 3283 93.9 -7.4 188 1024 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 340 3304 3324 3284 0 0 0 0 0 0 28.83 28.83 28.83

1149 -0.63 -244.4 2675 340 3323 3283 102.5 -6.8 213 1155 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 340 3303 3323 3284 0 0 0 0 0 0 28.83 28.83 28.83

1278 -0.63 -244.4 2674 340 3323 3284 112.6 -8.8 238 1285 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 340 3303 3323 3283 0 0 0 0 0 0 28.83 28.83 28.83

1409 -0.63 -244.4 2674 341 3324 3283 124.7 -9.9 263 1415 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 340 3303 3324 3283 0 0 0 0 0 0 28.83 28.83 28.83

1538 -0.63 -244.4 2674 340 3324 3283 136.0 -9.1 288 1545 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 340 3303 3323 3283 0 0 0 0 0 0 28.83 28.83 28.83

1670 -0.63 -244.4 2674 340 3324 3283 147.6 -9.1 313 1675 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 340 3303 3323 3283 0 0 0 0 0 0 28.83 28.83 28.83

1799 -0.63 -244.4 2674 340 3324 3283 158.9 -9.1 338 1805 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 340 3303 3323 3283 0 0 0 0 0 0 28.83 28.83 28.83

1929 -0.63 -244.4 2674 340 3323 3283 171.7 -9.2 363 1935 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 340 3303 3323 3283 0 0 0 0 0 0 28.83 28.83 28.83

2022 end dive: TARGET_DEPTH_EXCEEDED

state 2023 begin apogee

2027 -0.28 0.0 2674 340 3324 3283 180.2 -8.1 381 2226 0.35 0.00 188.60 1.417 10246 0.122 0.000 2792 340 2329 2439 2220 0 0 0 0 0 0 26.13 28.83 23.33

2227 end apogee: CONTROL_FINISHED_OK

state 2227 begin climb

2228 0.63 244.4 2791 340 2439 2220 185.7 0.0 415 2433 0.93 0.00 195.62 1.365 10246 0.100 0.000 3081 340 1355 1532 1179 0 0 0 0 0 0 24.53 28.83 23.17

2556 0.64 300.8 3081 340 1529 1179 161.0 8.1 474 2609 0.00 0.00 47.33 1.301 8198 0.000 0.000 3082 340 1130 1322 938 0 0 0 0 0 0 28.83 28.83 23.68

2734 0.64 353.3 3081 340 1316 938 146.6 8.2 507 2782 0.00 0.00 43.33 1.287 8198 0.000 0.000 3081 340 920 1123 717 0 0 0 0 0 0 28.83 28.83 23.92

2908 0.66 515.6 3081 340 1120 717 133.1 6.0 539 2990 0.00 0.00 79.75 1.303 8198 0.000 0.000 3081 340 499 728 271 0 0 0 0 0 0 28.83 28.83 23.78

3114 0.67 613.5 3081 340 721 273 119.3 7.3 577 3120 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 340 497 722 272 0 0 0 0 0 0 28.83 28.83 28.83

3244 0.68 703.3 3080 340 718 272 109.7 7.5 602 3250 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 340 495 718 272 0 0 0 0 0 0 28.83 28.83 28.83

3375 0.68 703.3 3081 340 717 272 97.8 10.2 627 3380 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 340 494 716 272 0 0 0 0 0 0 28.83 28.83 28.83

3503 0.68 703.3 3081 340 716 272 84.0 11.0 652 3510 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 340 494 716 272 0 0 0 0 0 0 28.83 28.83 28.83

3634 0.68 715.9 3081 340 715 272 70.4 9.0 677 3640 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 340 493 715 272 0 0 0 0 0 0 28.83 28.83 28.83

3763 0.68 799.3 3081 340 715 272 59.1 7.6 702 3770 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 340 493 715 272 0 0 0 0 0 0 28.83 28.83 28.83

3894 0.70 916.7 2048 340 713 272 49.1 6.9 727 3901 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 340 493 715 272 0 0 0 0 0 0 28.83 28.83 28.83

3964 0.72 1110.5 2048 340 712 272 44.8 5.4 740 3971 0.12 0.00 0.00 0.000 2054 0.083 0.000 3169 340 493 715 272 0 0 0 0 0 0 26.74 28.83 28.83

4034 0.72 1110.5 3168 340 714 272 38.1 11.1 753 4041 0.15 0.00 0.00 0.000 4102 0.132 0.000 3121 340 493 715 272 0 0 0 0 0 0 26.46 28.83 28.83

4104 0.74 1308.6 2048 340 712 272 33.2 5.3 766 4111 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 340 493 714 272 0 0 0 0 0 0 28.83 28.83 28.83

4173 0.76 1511.5 2048 340 712 272 29.9 5.2 779 4180 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 340 493 714 272 0 0 0 0 0 0 28.83 28.83 28.83

4242 0.78 1756.6 2048 340 711 272 26.4 4.4 792 4249 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 340 493 714 272 0 0 0 0 0 0 28.83 28.83 28.83

4312 0.80 1910.6 2048 340 711 272 22.7 6.2 805 4319 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 340 493 714 272 0 0 0 0 0 0 28.83 28.83 28.83

4381 0.80 1910.6 2048 340 712 272 16.1 10.4 818 4388 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 340 492 714 271 0 0 0 0 0 0 28.83 28.83 28.83

4451 0.80 1910.6 2048 340 711 272 8.8 11.4 831 4457 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 340 492 713 271 0 0 0 0 0 0 28.83 28.83 28.83

4513 end climb: SURFACE_DEPTH_REACHED

state 4513 begin surface coast

4534 end surface coast: CONTROL_FINISHED_OK

state 4534 begin surface

ID	205	HD_C	9.9999997e-06	ROLL_MAX	3984	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	6	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	11	ESCAPE_HEADING	0	C_ROLL_DIVE	336	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	336	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	180	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	34	ALTIM_SENSITIVITY	4
D_NO_BLEED	35	SM_CC	235	R_STBD_OVSHOOT	48	XPDR_VALID	1
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	250	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.98000002
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2328	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	147
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	65	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	80	CALL_WAIT	45	PITCH_VBD_SHIFT	9.9999997e-05	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	300	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	4	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-2663.9548	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	5	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	207	MINV_24V	19	SIM_W	0
MAX_BUOY	250	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2888	FG_AHR_10V	0	SEABIRD_T_G	0.0043419907
GLIDE_SLOPE	15	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000621902
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.2352948e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-60.397808	SEABIRD_T_J	2.3392056e-06
MASS	53045	PITCH_GAIN	18.1	PRESSURE_SLOPE	0.0001159995	SEABIRD_C_G	-9.6916523
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1209148
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012442283
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0001684351
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	293	ALTIM_TOP_PING_RANGE	0

GPS1	030615,042806,4743.182,-12225.220,17,0.8,17,16.3	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.104,0.339
_SM_DEPTHo	1.15	KALMAN_X	-1506.0,8.7,-142.6,1413.0,-147.6
_SM_ANGLEo	-66.1	KALMAN_Y	-7103.3,-330.5,-292.1,8286.3,-676.3
GPS2	030615,043428,4743.233,-12225.196,37,0.9,37,16.3	MHEAD_RNG_PITCHd_Wd	0.7,1331,-10.9,-9.231,-14.60,5198
SPEED_LIMITS	0.344,0.354	D_GRID	181

FINISH	0.1,1.021712	_10V_AH	10.1,34.076
SM_CCo	4609,0.00,0.000,0,0,491,461.45	FG_AHR_24Vo	0.000
SM_GC	1.13,7.62,0.00,0.00,0.034,0.000,0.000,194,340,491,-8.35,0.11,461.45,0,0,0,0,0,0,26.65,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4722.92,-12226.80,290308,171736	MEM	322220
TT8_MAMPS	0.029211,0.029211	DATA_FILE_SIZE	43584,847
HUMID	47.87	CAP_FILE_SIZE	80008,1
INTERNAL_PRESSURE	8.93249	CFSIZE	1024393216,1020542976
TCM_TEMP	15.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	030615,055304,4743.325,-12225.134,3,0.9,3,16.3
_24V_AH	23.2,40.863

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	117.64	SBE_CT	566	23	304.92
Roll_motor	4	35	3.92	WL_BBFL2	1130	105	2753.87
VBD_pump_during_apogee	554	1416	18230.13	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	9	6.01	nil	0	0	0.00
Iridium_during_connect	43	160	161.08	nil	0	0	0.00
Iridium_during_xfer	194	223	1005.70	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	39	28	11.23
TT8	1749	17	308.37
LPSleep	619	2	13.70
TT8_Active	552	17	97.44
TT8_Sampling	1969	42	838.64
TT8_CF8	126	58	75.00
TT8_Kalman	33	64	21.70
Analog_circuits	1340	20	270.74
GPS_charging	0	0	0.00
Compass	1684	3	63.61
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	-0.63	-244.4	194	343	1503	1273	0.0	0.0	0	61	0.00	0.00	-43.60	0.000	16386	0.000	0.000	195	342	2687	2696	2678	0	0	0	0	0	0	28.83	28.83	28.83
64	-0.63	-244.4	195	342	2697	2678	3.4	-8.2	7	91	10.85	0.00	-12.70	0.000	18438	0.253	0.000	2674	340	3302	3321	3283	0	0	0	0	0	0	25.63	28.83	26.70
154	-0.63	-244.4	1624	340	3304	3279	15.2	-10.1	23	160	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	340	3302	3322	3283	0	0	0	0	0	0	28.83	28.83	28.83
222	-0.63	-244.4	1616	340	3304	3279	22.8	-11.5	36	229	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	340	3303	3323	3284	0	0	0	0	0	0	28.83	28.83	28.83
291	-0.63	-244.4	1616	340	3304	3279	30.1	-10.5	49	298	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	340	3303	3323	3283	0	0	0	0	0	0	28.83	28.83	28.83
361	-0.63	-244.4	1632	340	3305	3279	37.0	-10.3	62	368	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	340	3303	3323	3283	0	0	0	0	0	0	28.83	28.83	28.83
430	-0.63	-244.4	1616	340	3305	3279	44.8	-12.0	75	437	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	340	3303	3323	3283	0	0	0	0	0	0	28.83	28.83	28.83
498	-0.63	-244.4	2674	341	3323	3283	53.1	-12.2	88	505	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	340	3303	3323	3283	0	0	0	0	0	0	28.83	28.83	28.83
628	-0.63	-244.4	2674	340	3323	3283	66.2	-9.4	113	634	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	340	3303	3323	3283	0	0	0	0	0	0	28.83	28.83	28.83
757	-0.63	-244.4	2674	340	3323	3283	75.8	-7.0	138	764	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	340	3303	3323	3284	0	0	0	0	0	0	28.83	28.83	28.83
888	-0.63	-244.4	2674	340	3324	3283	84.6	-7.1	163	894	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	340	3303	3324	3283	0	0	0	0	0	0	28.83	28.83	28.83
1017	-0.63	-244.4	2674	340	3323	3283	93.9	-7.4	188	1024	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	340	3304	3324	3284	0	0	0	0	0	0	28.83	28.83	28.83
1149	-0.63	-244.4	2675	340	3323	3283	102.5	-6.8	213	1155	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	340	3303	3323	3284	0	0	0	0	0	0	28.83	28.83	28.83
1278	-0.63	-244.4	2674	340	3323	3284	112.6	-8.8	238	1285	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	340	3303	3323	3283	0	0	0	0	0	0	28.83	28.83	28.83
1409	-0.63	-244.4	2674	341	3324	3283	124.7	-9.9	263	1415	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	340	3303	3324	3283	0	0	0	0	0	0	28.83	28.83	28.83
1538	-0.63	-244.4	2674	340	3324	3283	136.0	-9.1	288	1545	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	340	3303	3323	3283	0	0	0	0	0	0	28.83	28.83	28.83
1670	-0.63	-244.4	2674	340	3324	3283	147.6	-9.1	313	1675	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	340	3303	3323	3283	0	0	0	0	0	0	28.83	28.83	28.83
1799	-0.63	-244.4	2674	340	3324	3283	158.9	-9.1	338	1805	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	340	3303	3323	3283	0	0	0	0	0	0	28.83	28.83	28.83
1929	-0.63	-244.4	2674	340	3323	3283	171.7	-9.2	363	1935	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	340	3303	3323	3283	0	0	0	0	0	0	28.83	28.83	28.83
2022	end dive: TARGET_DEPTH_EXCEEDED
state	2023	begin apogee
2027	-0.28	0.0	2674	340	3324	3283	180.2	-8.1	381	2226	0.35	0.00	188.60	1.417	10246	0.122	0.000	2792	340	2329	2439	2220	0	0	0	0	0	0	26.13	28.83	23.33
2227	end apogee: CONTROL_FINISHED_OK
state	2227	begin climb
2228	0.63	244.4	2791	340	2439	2220	185.7	0.0	415	2433	0.93	0.00	195.62	1.365	10246	0.100	0.000	3081	340	1355	1532	1179	0	0	0	0	0	0	24.53	28.83	23.17
2556	0.64	300.8	3081	340	1529	1179	161.0	8.1	474	2609	0.00	0.00	47.33	1.301	8198	0.000	0.000	3082	340	1130	1322	938	0	0	0	0	0	0	28.83	28.83	23.68
2734	0.64	353.3	3081	340	1316	938	146.6	8.2	507	2782	0.00	0.00	43.33	1.287	8198	0.000	0.000	3081	340	920	1123	717	0	0	0	0	0	0	28.83	28.83	23.92
2908	0.66	515.6	3081	340	1120	717	133.1	6.0	539	2990	0.00	0.00	79.75	1.303	8198	0.000	0.000	3081	340	499	728	271	0	0	0	0	0	0	28.83	28.83	23.78
3114	0.67	613.5	3081	340	721	273	119.3	7.3	577	3120	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	340	497	722	272	0	0	0	0	0	0	28.83	28.83	28.83
3244	0.68	703.3	3080	340	718	272	109.7	7.5	602	3250	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	340	495	718	272	0	0	0	0	0	0	28.83	28.83	28.83
3375	0.68	703.3	3081	340	717	272	97.8	10.2	627	3380	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	340	494	716	272	0	0	0	0	0	0	28.83	28.83	28.83
3503	0.68	703.3	3081	340	716	272	84.0	11.0	652	3510	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	340	494	716	272	0	0	0	0	0	0	28.83	28.83	28.83
3634	0.68	715.9	3081	340	715	272	70.4	9.0	677	3640	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	340	493	715	272	0	0	0	0	0	0	28.83	28.83	28.83
3763	0.68	799.3	3081	340	715	272	59.1	7.6	702	3770	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	340	493	715	272	0	0	0	0	0	0	28.83	28.83	28.83
3894	0.70	916.7	2048	340	713	272	49.1	6.9	727	3901	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	340	493	715	272	0	0	0	0	0	0	28.83	28.83	28.83
3964	0.72	1110.5	2048	340	712	272	44.8	5.4	740	3971	0.12	0.00	0.00	0.000	2054	0.083	0.000	3169	340	493	715	272	0	0	0	0	0	0	26.74	28.83	28.83
4034	0.72	1110.5	3168	340	714	272	38.1	11.1	753	4041	0.15	0.00	0.00	0.000	4102	0.132	0.000	3121	340	493	715	272	0	0	0	0	0	0	26.46	28.83	28.83
4104	0.74	1308.6	2048	340	712	272	33.2	5.3	766	4111	0.00	0.00	0.00	0.000	6	0.000	0.000	3121	340	493	714	272	0	0	0	0	0	0	28.83	28.83	28.83
4173	0.76	1511.5	2048	340	712	272	29.9	5.2	779	4180	0.00	0.00	0.00	0.000	6	0.000	0.000	3121	340	493	714	272	0	0	0	0	0	0	28.83	28.83	28.83
4242	0.78	1756.6	2048	340	711	272	26.4	4.4	792	4249	0.00	0.00	0.00	0.000	6	0.000	0.000	3121	340	493	714	272	0	0	0	0	0	0	28.83	28.83	28.83
4312	0.80	1910.6	2048	340	711	272	22.7	6.2	805	4319	0.00	0.00	0.00	0.000	6	0.000	0.000	3122	340	493	714	272	0	0	0	0	0	0	28.83	28.83	28.83
4381	0.80	1910.6	2048	340	712	272	16.1	10.4	818	4388	0.00	0.00	0.00	0.000	6	0.000	0.000	3121	340	492	714	271	0	0	0	0	0	0	28.83	28.83	28.83
4451	0.80	1910.6	2048	340	711	272	8.8	11.4	831	4457	0.00	0.00	0.00	0.000	6	0.000	0.000	3121	340	492	713	271	0	0	0	0	0	0	28.83	28.83	28.83
4513	end climb: SURFACE_DEPTH_REACHED
state	4513	begin surface coast
4534	end surface coast: CONTROL_FINISHED_OK
state	4534	begin surface