Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 422 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 ESCAPE_HEADING 0 C_ROLL_CLIMB 2330 ALTIM_FREQUENCY 13

MISSION 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 4

DIVE 422 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 1

D_SURF 4 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 SM_CC 375 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_ABORT 1010 N_FILEKB 4 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MIN 470 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3900 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 2858 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 83

T_DIVE 450 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_MISSION 510 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_TURN 225 T_GPS 15 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -10 N_GPS 20 W_ADJ_DBAND 2 PHONE_DEVICE 48

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -1593972.9 PITCH_W_GAIN 2 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 2 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

USE_BATHY -1 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0043206038

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00062367303

T_WATCHDOG 10 PITCH_MIN 400 MINV_10V 11 SEABIRD_T_I 2.3110064e-05

RELAUNCH 1 PITCH_MAX 3700 FG_AHR_10V 0 SEABIRD_T_J 2.4313138e-06

APOGEE_PITCH -7 C_PITCH 3325 FG_AHR_24V 0 SEABIRD_C_G -10.199382

MAX_BUOY 120 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1587334

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -63.106686 SEABIRD_C_I -0.0027609179

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_C_J 0.00029025986

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_GAIN 27.5 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 53474 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 165 COMPASS_USE 4 PM_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 1.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0027000001 ROLL_MIN 440 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 2.0

HD_B 0.0098999999 ROLL_MAX 4000 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2400 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_SURF 4 PITCH_DBAND 0.1 SEABIRD_T_J 2.4313138e-06

AH0_10V 0 D_TGT 990 PITCH_GAIN 27.5 SIM_PITCH 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3700 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SM_CC 375

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 400 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 STROBE 0

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0.5 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 2 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PM_NDIVE 2.0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0027000001 PM_PROFILE 1.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0098999999 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -7 HD_C 2.1999999e-06 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 PM_XMITRAW 0.0 T_ABORT 1440

CALL_TRIES 5 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.0001138132 T_BOOST 5

CALL_WAIT 60 HEAPDBG 0 PRESSURE_YINT -63.106686 T_DIVE 450

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_EPIRB 0

CAPUPLOAD 0 ID 187 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_GPS_ALMANAC 0

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1593972.9

COMPASS2_DEVICE -1 KALMAN_USE 2 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_MISSION 510

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RELAUNCH 1 T_RSLEEP 2

C_PITCH 3325 LOGGERDEVICE4 -1 RHO 1.0275 T_TURN 225

C_ROLL_CLIMB 2330 LOGGERS 3 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -10

C_ROLL_DIVE 2400 MASS 53474 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2858 MASS_COMP 0 ROLL_AD_RATE 350 UNCOM_BLEED 50

DBDW 0 MAX_BUOY 120 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MINV_10V 11 ROLL_DEG 40 USE_BATHY -1

DEVICE1 -1 MINV_24V 11 ROLL_MAX 4000 USE_ICE 0

DEVICE2 -1 MISSION 4 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MOTHERBOARD 4 ROLL_MIN 440 VBD_CNV -0.24529999

DEVICE4 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 NOCOMM_ACTION 163 R_PORT_OVSHOOT 28 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DIVE 422 N_FILEKB 4 SC_PROFILE 3.0 VBD_MIN 470

D_ABORT 1010 N_GPS 20 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_NOCOMM 1 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_G -10.199382 VBD_TIMEOUT 720

D_FINISH 0 PHONE_DEVICE 48 SEABIRD_C_H 1.1587334 W_ADJ_DBAND 2

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_C_I -0.0027609179 XPDR_DEVICE 24

D_NO_BLEED 200 PITCH_ADJ_DBAND 0 SEABIRD_C_J 0.00029025986 XPDR_INHIBIT 90

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 SEABIRD_T_G 0.0043206038 XPDR_VALID 1

D_PITCH 0 PITCH_AD_RATE 165 SEABIRD_T_H 0.00062367303

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_I 2.3110064e-05

Pre-dive calculations and measurements:

GPS1 011014,032348,4753.450,-12516.748,43,1.6,49,18.8 SPEED_LIMITS 0.127,0.215

_CALLS 1 TGT_NAME SHELF

_XMS_NAKs 0 TGT_LATLONG 4751.930,-12510.270

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.26 MHEAD_RNG_PITCHd_Wd 121.7,8409,-14.0,-7.333,-18.81,2445

_SM_ANGLEo -70.0 D_GRID 275

GPS2 011014,033152,4753.422,-12516.662,42,1.5,43,18.8

Post-dive calculations and measurements:

FINISH 1.3,1.011479 _10V_AH 13.7,0.000

SM_CCo 7361,20.92,0.099,0,0,1328,375.06 FG_AHR_24Vo 0.000

SM_GC 2.09,9.30,0.12,20.92,0.063,0.168,0.099,394,2397,1328,-9.10,-0.99,375.06,0,0,0,0,0,0,14.32,14.31,14.26 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4732.49,-12511.36,011014,010122 MEM 290832

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 23348,659

HUMID 50.43 CAP_FILE_SIZE 116835,0

INTERNAL_PRESSURE 8.9718 CFSIZE 260034560,215650304

TCM_TEMP 18.80 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,8468.48,0x2378ba,7,5

SC_FREEKB 3802976 CURRENT 0.100,347.2,1

PM_FREEKB 50576672 GPS 011014,053714,4753.274,-12516.379,42,2.2,62,18.8

_24V_AH 13.5,101.981

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 384 123.00 nil 0 0 0.00

Roll_motor 64 174 152.94 nil 0 0 0.00

VBD_pump_during_apogee 301 1022 4162.73 nil 0 0 0.00

VBD_pump_during_surface 20 98 27.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 7351 7 785.18

Iridium_during_xfer 231 159 499.79 PMAR 2922 4 162.36

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 44 22 13.64

TT8 1605 10 224.78

LPSleep 3941 2 118.25

TT8_Active 480 10 67.28

TT8_Sampling 1423 28 564.42

TT8_CF8 412 35 201.74

TT8_Kalman 0 0 0.00

Analog_circuits 1362 10 186.69

GPS_charging 0 0 0.00

Compass 1037 0 10.66

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

27 -0.59 -116.8 397 2398 1434 1228 0.0 0.0 0 80 0.00 0.00 -48.22 0.000 16386 0.000 0.000 398 2400 2574 2658 2490 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.59 -116.8 403 2400 2661 2489 3.1 -2.0 5 123 12.73 2.60 -16.38 0.000 18692 0.384 0.110 3126 3821 3336 3382 3290 0 0 0 0 0 0 13.85 14.17 14.52

354 -0.59 -116.8 3126 3825 3382 3295 42.0 -12.9 32 363 0.00 2.45 0.00 0.000 1030 0.000 0.061 3126 2395 3338 3382 3295 0 0 0 0 0 0 28.83 14.26 28.83

604 -0.59 -116.8 3126 2396 3383 3295 69.7 -11.1 57 612 0.00 2.53 0.00 0.000 260 0.000 0.088 3126 3805 3339 3383 3295 0 0 0 0 0 0 28.83 14.19 28.83

843 -0.59 -116.8 3126 3805 3383 3302 95.5 -11.0 81 852 0.00 2.47 0.00 0.000 1030 0.000 0.064 3126 2384 3338 3383 3293 0 0 0 0 0 0 28.83 14.26 28.83

1093 -0.59 -116.8 3127 2382 3383 3297 120.9 -9.7 106 1102 0.00 2.55 0.00 0.000 260 0.000 0.087 3126 3808 3338 3379 3297 0 0 0 0 0 0 28.83 14.21 28.83

1228 -0.59 -116.8 3126 3808 3383 3298 134.3 -10.1 119 1238 0.00 2.42 0.00 0.000 1030 0.000 0.063 3126 2403 3338 3380 3297 0 0 0 0 0 0 28.83 14.30 28.83

1478 -0.59 -116.8 3126 2399 3381 3297 157.4 -8.5 144 1486 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2400 3339 3381 3297 0 0 0 0 0 0 28.83 28.83 28.83

1728 -0.59 -116.8 3126 2399 3383 3297 178.5 -8.7 169 1735 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2400 3342 3388 3297 0 0 0 0 0 0 28.83 28.83 28.83

1977 -0.59 -116.8 3126 2399 3383 3297 201.9 -10.1 194 1986 0.00 2.47 0.00 0.000 516 0.000 0.075 3126 983 3337 3378 3296 0 0 0 0 0 0 28.83 14.23 28.83

2018 -0.59 -116.8 3125 983 3387 3291 206.1 -10.5 198 2027 0.00 2.47 0.00 0.000 1030 0.000 0.070 3126 2398 3339 3383 3296 0 0 0 0 0 0 28.83 14.25 28.83

2267 -0.59 -116.8 3126 2397 3383 3295 230.1 -9.3 223 2277 0.00 2.53 0.00 0.000 260 0.000 0.089 3126 3813 3339 3383 3295 0 0 0 0 0 0 28.83 14.20 28.83

2348 -0.59 -116.8 3126 3815 3383 3297 237.5 -9.3 231 2358 0.00 2.45 0.00 0.000 1030 0.000 0.065 3126 2391 3339 3383 3295 0 0 0 0 0 0 28.83 14.28 28.83

2609 -0.59 -116.8 3126 2389 3387 3299 261.5 -9.4 249 2612 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2389 3339 3383 3295 0 0 0 0 0 0 28.83 28.83 28.83

2784 end dive: TARGET_DEPTH_EXCEEDED

state 2784 begin apogee

2793 -0.25 0.0 3126 2323 3383 3293 277.2 -8.8 255 2891 0.38 0.00 91.53 1.023 10246 0.190 0.000 3237 2326 2856 2929 2783 0 0 0 0 0 0 14.05 28.83 13.59

2894 end apogee: CONTROL_FINISHED_OK

state 2894 begin climb

2898 0.59 116.8 3235 2326 2928 2779 281.7 0.0 258 2999 0.85 0.00 92.53 1.004 10246 0.140 0.000 3506 2326 2382 2514 2250 0 0 0 0 0 0 14.07 28.83 13.45

3299 0.61 116.8 3507 2326 2517 2245 262.6 6.2 272 3308 0.00 0.00 0.00 0.000 6 0.000 0.000 3507 2326 2377 2510 2245 0 0 0 0 0 0 28.83 28.83 28.83

3599 0.64 116.8 3507 2326 2505 2244 244.6 5.8 288 3608 0.00 0.00 0.00 0.000 6 0.000 0.000 3507 2326 2376 2510 2243 0 0 0 0 0 0 28.83 28.83 28.83

3849 0.66 116.8 3506 2326 2510 2242 228.8 6.4 313 3859 0.00 0.00 0.00 0.000 6 0.000 0.000 3508 2327 2376 2510 2242 0 0 0 0 0 0 28.83 28.83 28.83

4100 0.69 116.8 3507 2330 2510 2241 213.7 6.1 338 4111 0.12 2.53 0.00 0.000 2308 0.141 0.086 3568 3742 2375 2510 2241 0 0 0 0 0 0 14.36 14.26 28.83

4221 0.69 116.8 3568 3739 2509 2241 204.0 8.6 350 4232 0.00 2.45 0.00 0.000 1030 0.000 0.067 3575 2335 2375 2509 2241 0 0 0 0 0 0 28.83 14.32 28.83

4472 0.69 116.8 3575 2335 2508 2237 183.3 8.2 375 4483 0.00 2.47 0.00 0.000 516 0.000 0.078 3585 914 2375 2509 2241 0 0 0 0 0 0 28.83 14.23 28.83

4613 0.69 116.8 3586 914 2508 2241 171.6 8.4 389 4624 0.15 2.47 0.00 0.000 5126 0.259 0.070 3552 2340 2375 2509 2241 0 0 0 0 0 0 14.05 14.31 28.83

4865 0.69 116.8 3553 2340 2508 2240 153.4 7.0 414 4876 0.00 2.50 0.00 0.000 516 0.000 0.083 3552 925 2376 2513 2240 0 0 0 0 0 0 28.83 14.24 28.83

4936 0.69 116.8 3551 925 2512 2240 148.5 6.9 421 4947 0.00 2.45 0.00 0.000 1030 0.000 0.072 3552 2324 2375 2509 2241 0 0 0 0 0 0 28.83 14.30 28.83

5187 0.70 116.8 3552 2327 2508 2239 131.9 6.5 446 5197 0.00 2.50 0.00 0.000 260 0.000 0.088 3552 3740 2373 2508 2239 0 0 0 0 0 0 28.83 14.21 28.83

5367 0.70 116.8 3554 3739 2507 2239 119.1 6.9 464 5378 0.00 2.45 0.00 0.000 1030 0.000 0.067 3552 2325 2373 2507 2239 0 0 0 0 0 0 28.83 14.28 28.83

5620 0.73 116.8 3552 2325 2503 2238 103.5 5.8 489 5631 0.00 2.55 0.00 0.000 260 0.000 0.088 3551 3747 2372 2507 2238 0 0 0 0 0 0 28.83 14.24 28.83

5831 0.76 116.8 3552 3746 2509 2237 90.4 6.2 510 5842 0.00 2.45 0.00 0.000 1030 0.000 0.067 3552 2333 2370 2507 2234 0 0 0 0 0 0 28.83 14.31 28.83

6082 0.81 189.9 3552 2334 2504 2237 77.5 4.3 535 6151 0.00 2.55 55.33 0.785 8708 0.000 0.080 3552 917 2084 2233 1935 0 0 0 0 0 0 28.83 14.31 13.83

6384 0.81 189.9 3553 916 2228 1936 56.0 6.9 565 6396 0.10 2.47 0.00 0.000 3078 0.158 0.070 3594 2334 2081 2227 1936 0 0 0 0 0 0 14.23 14.24 28.83

6636 0.82 189.9 3594 2333 2232 1935 37.9 6.8 590 6647 0.00 2.50 0.00 0.000 516 0.000 0.081 3601 915 2081 2228 1935 0 0 0 0 0 0 28.83 14.22 28.83

6698 0.84 189.9 3600 916 2228 1936 33.9 6.3 596 6709 0.00 2.50 0.00 0.000 1030 0.000 0.070 3600 2337 2082 2228 1937 0 0 0 0 0 0 28.83 14.24 28.83

6950 0.87 189.9 3600 2337 2228 1935 18.9 5.8 621 6961 0.00 2.47 0.00 0.000 260 0.000 0.088 3604 3742 2082 2228 1936 0 0 0 0 0 0 28.83 14.23 28.83

7151 0.97 327.6 3600 3741 2227 1935 8.8 1.5 641 7224 0.10 2.45 62.10 0.123 11270 0.165 0.068 3638 2326 1523 1665 1382 0 0 0 0 0 0 14.24 14.28 14.21

7283 end climb: SURFACE_DEPTH_REACHED

state 7283 begin surface coast

7334 end surface coast: CONTROL_FINISHED_OK

state 7335 begin surface

ID	187	ESCAPE_HEADING	0	C_ROLL_CLIMB	2330	ALTIM_FREQUENCY	13
MISSION	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	4
DIVE	422	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	1
D_SURF	4	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	SM_CC	375	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_ABORT	1010	N_FILEKB	4	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MIN	470	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3900	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	2858	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	83
T_DIVE	450	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_MISSION	510	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_TURN	225	T_GPS	15	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-10	N_GPS	20	W_ADJ_DBAND	2	PHONE_DEVICE	48
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-1593972.9	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	2	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
USE_BATHY	-1	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0043206038
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00062367303
T_WATCHDOG	10	PITCH_MIN	400	MINV_10V	11	SEABIRD_T_I	2.3110064e-05
RELAUNCH	1	PITCH_MAX	3700	FG_AHR_10V	0	SEABIRD_T_J	2.4313138e-06
APOGEE_PITCH	-7	C_PITCH	3325	FG_AHR_24V	0	SEABIRD_C_G	-10.199382
MAX_BUOY	120	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1587334
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-63.106686	SEABIRD_C_I	-0.0027609179
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_C_J	0.00029025986
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_GAIN	27.5	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	53474	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	165	COMPASS_USE	4	PM_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	1.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0027000001	ROLL_MIN	440	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	2.0
HD_B	0.0098999999	ROLL_MAX	4000	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2400	ALTIM_PING_DELTA	0

GPS1	011014,032348,4753.450,-12516.748,43,1.6,49,18.8	SPEED_LIMITS	0.127,0.215
_CALLS	1	TGT_NAME	SHELF
_XMS_NAKs	0	TGT_LATLONG	4751.930,-12510.270
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.26	MHEAD_RNG_PITCHd_Wd	121.7,8409,-14.0,-7.333,-18.81,2445
_SM_ANGLEo	-70.0	D_GRID	275
GPS2	011014,033152,4753.422,-12516.662,42,1.5,43,18.8

FINISH	1.3,1.011479	_10V_AH	13.7,0.000
SM_CCo	7361,20.92,0.099,0,0,1328,375.06	FG_AHR_24Vo	0.000
SM_GC	2.09,9.30,0.12,20.92,0.063,0.168,0.099,394,2397,1328,-9.10,-0.99,375.06,0,0,0,0,0,0,14.32,14.31,14.26	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4732.49,-12511.36,011014,010122	MEM	290832
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	23348,659
HUMID	50.43	CAP_FILE_SIZE	116835,0
INTERNAL_PRESSURE	8.9718	CFSIZE	260034560,215650304
TCM_TEMP	18.80	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,8468.48,0x2378ba,7,5
SC_FREEKB	3802976	CURRENT	0.100,347.2,1
PM_FREEKB	50576672	GPS	011014,053714,4753.274,-12516.379,42,2.2,62,18.8
_24V_AH	13.5,101.981

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	384	123.00	nil	0	0	0.00
Roll_motor	64	174	152.94	nil	0	0	0.00
VBD_pump_during_apogee	301	1022	4162.73	nil	0	0	0.00
VBD_pump_during_surface	20	98	27.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	7351	7	785.18
Iridium_during_xfer	231	159	499.79	PMAR	2922	4	162.36
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	44	22	13.64
TT8	1605	10	224.78
LPSleep	3941	2	118.25
TT8_Active	480	10	67.28
TT8_Sampling	1423	28	564.42
TT8_CF8	412	35	201.74
TT8_Kalman	0	0	0.00
Analog_circuits	1362	10	186.69
GPS_charging	0	0	0.00
Compass	1037	0	10.66
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
27	-0.59	-116.8	397	2398	1434	1228	0.0	0.0	0	80	0.00	0.00	-48.22	0.000	16386	0.000	0.000	398	2400	2574	2658	2490	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.59	-116.8	403	2400	2661	2489	3.1	-2.0	5	123	12.73	2.60	-16.38	0.000	18692	0.384	0.110	3126	3821	3336	3382	3290	0	0	0	0	0	0	13.85	14.17	14.52
354	-0.59	-116.8	3126	3825	3382	3295	42.0	-12.9	32	363	0.00	2.45	0.00	0.000	1030	0.000	0.061	3126	2395	3338	3382	3295	0	0	0	0	0	0	28.83	14.26	28.83
604	-0.59	-116.8	3126	2396	3383	3295	69.7	-11.1	57	612	0.00	2.53	0.00	0.000	260	0.000	0.088	3126	3805	3339	3383	3295	0	0	0	0	0	0	28.83	14.19	28.83
843	-0.59	-116.8	3126	3805	3383	3302	95.5	-11.0	81	852	0.00	2.47	0.00	0.000	1030	0.000	0.064	3126	2384	3338	3383	3293	0	0	0	0	0	0	28.83	14.26	28.83
1093	-0.59	-116.8	3127	2382	3383	3297	120.9	-9.7	106	1102	0.00	2.55	0.00	0.000	260	0.000	0.087	3126	3808	3338	3379	3297	0	0	0	0	0	0	28.83	14.21	28.83
1228	-0.59	-116.8	3126	3808	3383	3298	134.3	-10.1	119	1238	0.00	2.42	0.00	0.000	1030	0.000	0.063	3126	2403	3338	3380	3297	0	0	0	0	0	0	28.83	14.30	28.83
1478	-0.59	-116.8	3126	2399	3381	3297	157.4	-8.5	144	1486	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	2400	3339	3381	3297	0	0	0	0	0	0	28.83	28.83	28.83
1728	-0.59	-116.8	3126	2399	3383	3297	178.5	-8.7	169	1735	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	2400	3342	3388	3297	0	0	0	0	0	0	28.83	28.83	28.83
1977	-0.59	-116.8	3126	2399	3383	3297	201.9	-10.1	194	1986	0.00	2.47	0.00	0.000	516	0.000	0.075	3126	983	3337	3378	3296	0	0	0	0	0	0	28.83	14.23	28.83
2018	-0.59	-116.8	3125	983	3387	3291	206.1	-10.5	198	2027	0.00	2.47	0.00	0.000	1030	0.000	0.070	3126	2398	3339	3383	3296	0	0	0	0	0	0	28.83	14.25	28.83
2267	-0.59	-116.8	3126	2397	3383	3295	230.1	-9.3	223	2277	0.00	2.53	0.00	0.000	260	0.000	0.089	3126	3813	3339	3383	3295	0	0	0	0	0	0	28.83	14.20	28.83
2348	-0.59	-116.8	3126	3815	3383	3297	237.5	-9.3	231	2358	0.00	2.45	0.00	0.000	1030	0.000	0.065	3126	2391	3339	3383	3295	0	0	0	0	0	0	28.83	14.28	28.83
2609	-0.59	-116.8	3126	2389	3387	3299	261.5	-9.4	249	2612	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	2389	3339	3383	3295	0	0	0	0	0	0	28.83	28.83	28.83
2784	end dive: TARGET_DEPTH_EXCEEDED
state	2784	begin apogee
2793	-0.25	0.0	3126	2323	3383	3293	277.2	-8.8	255	2891	0.38	0.00	91.53	1.023	10246	0.190	0.000	3237	2326	2856	2929	2783	0	0	0	0	0	0	14.05	28.83	13.59
2894	end apogee: CONTROL_FINISHED_OK
state	2894	begin climb
2898	0.59	116.8	3235	2326	2928	2779	281.7	0.0	258	2999	0.85	0.00	92.53	1.004	10246	0.140	0.000	3506	2326	2382	2514	2250	0	0	0	0	0	0	14.07	28.83	13.45
3299	0.61	116.8	3507	2326	2517	2245	262.6	6.2	272	3308	0.00	0.00	0.00	0.000	6	0.000	0.000	3507	2326	2377	2510	2245	0	0	0	0	0	0	28.83	28.83	28.83
3599	0.64	116.8	3507	2326	2505	2244	244.6	5.8	288	3608	0.00	0.00	0.00	0.000	6	0.000	0.000	3507	2326	2376	2510	2243	0	0	0	0	0	0	28.83	28.83	28.83
3849	0.66	116.8	3506	2326	2510	2242	228.8	6.4	313	3859	0.00	0.00	0.00	0.000	6	0.000	0.000	3508	2327	2376	2510	2242	0	0	0	0	0	0	28.83	28.83	28.83
4100	0.69	116.8	3507	2330	2510	2241	213.7	6.1	338	4111	0.12	2.53	0.00	0.000	2308	0.141	0.086	3568	3742	2375	2510	2241	0	0	0	0	0	0	14.36	14.26	28.83
4221	0.69	116.8	3568	3739	2509	2241	204.0	8.6	350	4232	0.00	2.45	0.00	0.000	1030	0.000	0.067	3575	2335	2375	2509	2241	0	0	0	0	0	0	28.83	14.32	28.83
4472	0.69	116.8	3575	2335	2508	2237	183.3	8.2	375	4483	0.00	2.47	0.00	0.000	516	0.000	0.078	3585	914	2375	2509	2241	0	0	0	0	0	0	28.83	14.23	28.83
4613	0.69	116.8	3586	914	2508	2241	171.6	8.4	389	4624	0.15	2.47	0.00	0.000	5126	0.259	0.070	3552	2340	2375	2509	2241	0	0	0	0	0	0	14.05	14.31	28.83
4865	0.69	116.8	3553	2340	2508	2240	153.4	7.0	414	4876	0.00	2.50	0.00	0.000	516	0.000	0.083	3552	925	2376	2513	2240	0	0	0	0	0	0	28.83	14.24	28.83
4936	0.69	116.8	3551	925	2512	2240	148.5	6.9	421	4947	0.00	2.45	0.00	0.000	1030	0.000	0.072	3552	2324	2375	2509	2241	0	0	0	0	0	0	28.83	14.30	28.83
5187	0.70	116.8	3552	2327	2508	2239	131.9	6.5	446	5197	0.00	2.50	0.00	0.000	260	0.000	0.088	3552	3740	2373	2508	2239	0	0	0	0	0	0	28.83	14.21	28.83
5367	0.70	116.8	3554	3739	2507	2239	119.1	6.9	464	5378	0.00	2.45	0.00	0.000	1030	0.000	0.067	3552	2325	2373	2507	2239	0	0	0	0	0	0	28.83	14.28	28.83
5620	0.73	116.8	3552	2325	2503	2238	103.5	5.8	489	5631	0.00	2.55	0.00	0.000	260	0.000	0.088	3551	3747	2372	2507	2238	0	0	0	0	0	0	28.83	14.24	28.83
5831	0.76	116.8	3552	3746	2509	2237	90.4	6.2	510	5842	0.00	2.45	0.00	0.000	1030	0.000	0.067	3552	2333	2370	2507	2234	0	0	0	0	0	0	28.83	14.31	28.83
6082	0.81	189.9	3552	2334	2504	2237	77.5	4.3	535	6151	0.00	2.55	55.33	0.785	8708	0.000	0.080	3552	917	2084	2233	1935	0	0	0	0	0	0	28.83	14.31	13.83
6384	0.81	189.9	3553	916	2228	1936	56.0	6.9	565	6396	0.10	2.47	0.00	0.000	3078	0.158	0.070	3594	2334	2081	2227	1936	0	0	0	0	0	0	14.23	14.24	28.83
6636	0.82	189.9	3594	2333	2232	1935	37.9	6.8	590	6647	0.00	2.50	0.00	0.000	516	0.000	0.081	3601	915	2081	2228	1935	0	0	0	0	0	0	28.83	14.22	28.83
6698	0.84	189.9	3600	916	2228	1936	33.9	6.3	596	6709	0.00	2.50	0.00	0.000	1030	0.000	0.070	3600	2337	2082	2228	1937	0	0	0	0	0	0	28.83	14.24	28.83
6950	0.87	189.9	3600	2337	2228	1935	18.9	5.8	621	6961	0.00	2.47	0.00	0.000	260	0.000	0.088	3604	3742	2082	2228	1936	0	0	0	0	0	0	28.83	14.23	28.83
7151	0.97	327.6	3600	3741	2227	1935	8.8	1.5	641	7224	0.10	2.45	62.10	0.123	11270	0.165	0.068	3638	2326	1523	1665	1382	0	0	0	0	0	0	14.24	14.28	14.21
7283	end climb: SURFACE_DEPTH_REACHED
state	7283	begin surface coast
7334	end surface coast: CONTROL_FINISHED_OK
state	7335	begin surface