Glider dive log

Shilshole 06Feb14 * SG035 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 35 HD_C 1.6100001e-05 ROLL_MIN 35 ALTIM_TOP_PING_RANGE 20

MISSION 21 HEADING -1 ROLL_MAX 3810 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 7 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1735 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1735 ALTIM_PING_DEPTH 50

D_FLARE 3 TGT_DEFAULT_LAT 47.724998 HEAD_ERRBAND 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -122.4 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_NO_BLEED 500 SM_CC 300 R_PORT_OVSHOOT 40 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 47 XPDR_VALID 6

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_SAFE 0 PROTOCOL 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 VBD_MIN 275 DEEPGLIDERMB 1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3970 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 3368 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE2 101

T_DIVE 80 CALL_TRIES 10 VBD_CNV -0.29519999 DEVICE3 -1

T_MISSION 90 CALL_WAIT 30 VBD_TIMEOUT 720 DEVICE4 -1

T_ABORT 2880 CAPUPLOAD 0 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE6 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 0

T_NO_W 300 T_GPS 15 VBD_BLEED_AD_RATE 7 LOGGERDEVICE1 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

USE_BATHY 0 T_GPS_CHARGE -989796.94 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_ICE 0 T_RSLEEP 2 DBDW 0 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 GPS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_24V 150 RAFOS_DEVICE -1

APOGEE_PITCH -5 PITCH_MIN 237 AH0_10V 100 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MAX 3815 MINV_24V 19 SIM_W 0

COURSE_BIAS 0 C_PITCH 2995 MINV_10V 8 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_G 0.0042701932

SPEED_FACTOR 1 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_H 0.00061695499

RHO 1.023 P_OVSHOOT 0.026142744 PHONE_SUPPLY 2 SEABIRD_T_I 2.0597783e-05

MASS 76769 P_OVSHOOT_WITHG 0.089055829 PRESSURE_YINT -1038.2784 SEABIRD_T_J 1.9668842e-06

MASS_COMP 9469 PITCH_GAIN 24 PRESSURE_SLOPE 0.00092600001 SEABIRD_C_G -9.6408119

NAV_MODE 1 PITCH_TIMEOUT 20 AD7714Ch0Gain 32 SEABIRD_C_H 1.1092987

FERRY_MAX 45 PITCH_AD_RATE 140 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0011480527

KALMAN_USE 1 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00016399958

HD_A 0.0047458 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_B 0.011518 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_SUPPLY 2 SIM_W 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SM_CC 300

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 4 PITCH_AD_RATE 140 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 180 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 24 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 50 FERRY_MAX 45 PITCH_MAX 3815 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 237 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LAT 47.724998

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 TGT_DEFAULT_LON -122.4

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_W_DBAND 0 T_ABORT 2880

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_BOOST 0

CALL_NDIVES 1 HD_A 0.0047458 PRESSURE_SLOPE 0.00092600001 T_DIVE 80

CALL_TRIES 10 HD_B 0.011518 PRESSURE_YINT -1038.2784 T_EPIRB 0

CALL_WAIT 30 HD_C 1.6100001e-05 PROTOCOL 0 T_GPS 15

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.026142744 T_GPS_ALMANAC 0

CAPUPLOAD 0 HEAD_ERRBAND 15 P_OVSHOOT_WITHG 0.089055829 T_GPS_CHARGE -989796.94

CF8_MAXERRORS 2 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_LOITER 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_MISSION 90

COMPASS2_DEVICE -1 ID 35 RAFOS_HIT_WINDOW 3600 T_NO_W 300

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 2

COMPASS_USE 4 INT_PRESSURE_YINT 0 RELAUNCH 1 T_TURN 225

COURSE_BIAS 0 KALMAN_USE 1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 2995 LOGGERDEVICE1 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 1735 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_DIVE 1735 LOGGERDEVICE3 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_VBD 3368 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 USE_BATHY 0

DBDW 0 LOGGERS 0 ROLL_DEG 40 USE_ICE 0

DEEPGLIDER 1 MASS 76769 ROLL_MAX 3810 VBD_BLEED_AD_RATE 7

DEEPGLIDERMB 1 MASS_COMP 9469 ROLL_MAXERRORS 1 VBD_CNV -0.29519999

DEVICE1 2 MAX_BUOY 150 ROLL_MIN 35 VBD_DBAND 2

DEVICE2 101 MINV_10V 8 ROLL_TIMEOUT 15 VBD_MAX 3970

DEVICE3 -1 MINV_24V 19 R_PORT_OVSHOOT 40 VBD_MAXERRORS 1

DEVICE4 -1 MISSION 21 R_STBD_OVSHOOT 47 VBD_MIN 275

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_G -9.6408119 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_H 1.1092987 VBD_PUMP_AD_RATE_SURFACE 2

DIVE 7 NOCOMM_ACTION 0 SEABIRD_C_I -0.0011480527 VBD_TIMEOUT 720

D_ABORT 1090 N_DIVES 0 SEABIRD_C_J 0.00016399958 W_ADJ_DBAND 0

D_BOOST 0 N_FILEKB 4 SEABIRD_T_G 0.0042701932 XPDR_DEVICE 24

D_CALL 0 N_GPS 20 SEABIRD_T_H 0.00061695499 XPDR_INHIBIT 90

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_I 2.0597783e-05 XPDR_VALID 6

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_J 1.9668842e-06

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 070214,001829,4744.104,-12224.286,29,1.2,33,18.2 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.052,-0.216

_SM_DEPTHo 1.15 KALMAN_X 249.4,126.0,65.2,-72.5,166.6

_SM_ANGLEo -71.8 KALMAN_Y 829.1,703.8,529.8,-2211.8,429.1

GPS2 070214,002231,4744.119,-12224.265,13,1.1,13,18.2 MHEAD_RNG_PITCHd_Wd 175.4,2093,-15.4,-7.500,-18.65,2965

SPEED_LIMITS 0.075,0.222 D_GRID 180

Post-dive calculations and measurements:

FINISH -0.2,0.999901 _24V_AH 23.2,38.139

SM_CCo 4351,34.53,0.939,0,0,2351,300.22 _10V_AH 10.4,4.619

SM_GC 0.95,8.02,0.00,34.53,0.062,0.000,0.939,245,1739,2351,-8.54,0.11,300.22,0,0,0,0,0,0,25.48,28.83,24.06 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12223.37,060214,232305 FG_AHR_10Vo 0.000

TT8_MAMPS 0.019474,0.019474 MEM 354624

HUMID 39.05 DATA_FILE_SIZE 26941,472

INTERNAL_PRESSURE 8.46712 CAP_FILE_SIZE 73969,0

TCM_TEMP 17.50 CFSIZE 260165632,242597888

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

ALTIM_TOP_PING 19.3,19.2 INTR 0,3393.74,0x235746,1,24

ALTIM_BOTTOM_PING 150.6,36.2 GPS 070214,013753,4743.595,-12224.354,21,2.0,39,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 248 114.49 SBE_CT 321 56 419.56

Roll_motor 57 76 102.37 AA4330 620 15 226.62

VBD_pump_during_apogee 286 1040 6908.54 nil 0 0 0.00

VBD_pump_during_surface 34 938 751.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 52 36.19 nil 0 0 0.00

Iridium_during_connect 15 160 59.21 nil 0 0 0.00

Iridium_during_xfer 109 223 564.10 nil 0 0 0.00

Transponder_ping 6 420 58.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 26 4.44

TT8 1107 9 114.81

LPSleep 1906 2 43.42

TT8_Active 459 9 47.68

TT8_Sampling 1077 31 355.28

TT8_CF8 94 39 39.22

TT8_Kalman 32 52 17.65

Analog_circuits 1001 11 114.52

GPS_charging 0 0 0.00

Compass 880 20 185.18

RAFOS 0 0 0.00

Transponder 37 30 11.69

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.64 -146.6 243 1734 2318 2384 0.0 0.0 0 122 0.00 0.00 -103.57 0.000 16386 0.000 0.000 244 1734 3591 3551 3631 0 0 0 0 0 0 28.83 28.83 28.83

125 -0.64 -146.6 244 1734 3552 3631 3.8 -3.2 19 156 10.48 2.28 -10.55 0.000 18948 0.248 0.072 2782 332 3866 3833 3900 0 0 0 0 0 0 24.77 25.30 25.24

383 -0.64 -146.6 2782 332 3833 3901 33.2 -8.0 55 391 0.00 2.15 0.00 0.000 1030 0.000 0.057 2781 1732 3867 3833 3901 0 0 0 0 0 0 28.83 25.59 28.83

513 -0.64 -146.6 2780 1732 3834 3901 43.1 -7.3 68 522 0.00 2.25 0.00 0.000 516 0.000 0.072 2781 327 3867 3833 3901 0 0 0 0 0 0 28.83 25.56 28.83

584 -0.64 -146.6 2780 327 3833 3900 49.0 -8.4 75 593 0.00 2.15 0.00 0.000 1030 0.000 0.057 2776 1746 3866 3833 3900 0 0 0 0 0 0 28.83 25.69 28.83

714 -0.64 -146.6 2776 1746 3833 3901 61.0 -9.4 88 723 0.00 2.20 0.00 0.000 260 0.000 0.070 2768 3136 3866 3833 3900 0 0 0 0 0 0 28.83 25.63 28.83

778 -0.64 -146.6 2768 3136 3833 3900 67.0 -9.7 94 785 0.00 2.17 0.00 0.000 1030 0.000 0.060 2768 1724 3867 3833 3901 0 0 0 0 0 0 28.83 25.75 28.83

905 -0.64 -146.6 2768 1724 3833 3900 79.3 -9.6 107 906 0.00 0.00 0.00 0.000 6 0.000 0.000 2768 1724 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1025 -0.64 -146.6 2768 1724 3833 3900 91.1 -9.8 119 1026 0.00 0.00 0.00 0.000 6 0.000 0.000 2768 1724 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1145 -0.64 -146.6 2768 1724 3833 3900 102.8 -10.1 131 1146 0.00 0.00 0.00 0.000 6 0.000 0.000 2768 1724 3867 3834 3900 0 0 0 0 0 0 28.83 28.83 28.83

1265 -0.64 -146.6 2768 1724 3833 3900 114.3 -9.6 143 1266 0.00 0.00 0.00 0.000 6 0.000 0.000 2768 1724 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1386 -0.64 -146.6 2768 1724 3833 3900 125.4 -8.5 155 1395 0.00 2.25 0.00 0.000 260 0.000 0.072 2763 3131 3866 3833 3900 0 0 0 0 0 0 28.83 25.76 28.83

1489 -0.64 -146.6 2763 3131 3833 3900 133.9 -8.3 165 1499 0.00 2.15 0.00 0.000 1030 0.000 0.060 2763 1735 3866 3833 3900 0 0 0 0 0 0 28.83 25.88 28.83

1617 -0.64 -146.6 2762 1735 3833 3900 146.0 -9.3 178 1618 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 1735 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1737 -0.64 -146.6 2763 1735 3833 3900 157.0 -9.4 190 1738 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 1735 3866 3833 3900 0 0 0 0 0 0 28.83 28.83 28.83

1857 -0.64 -146.6 2763 1735 3833 3900 168.5 -10.0 202 1865 0.00 2.22 0.00 0.000 260 0.000 0.070 2758 3132 3867 3834 3900 0 0 0 0 0 0 28.83 25.79 28.83

1946 end dive: BOTTOM_OBSTACLE_DETECTED

state 1946 begin apogee

1954 -0.21 0.0 2758 1724 3833 3900 177.9 -10.1 211 2060 0.50 0.00 102.32 1.040 10246 0.132 0.000 2926 1724 3369 3339 3399 0 0 0 0 0 0 25.51 28.83 23.64

2061 end apogee: CONTROL_FINISHED_OK

state 2063 begin climb

2064 0.64 146.6 2925 1724 3339 3399 182.4 0.0 222 2178 0.75 0.00 105.32 0.921 10246 0.097 0.000 3184 1724 2870 2845 2895 0 0 0 0 0 0 24.54 28.83 23.18

2301 0.64 181.0 3184 1724 2845 2895 171.2 6.3 246 2331 0.00 2.40 25.38 0.926 8452 0.000 0.072 3184 3133 2754 2730 2778 0 0 0 0 0 0 28.83 24.46 23.48

2398 0.64 181.0 3184 3133 2730 2778 164.1 7.8 255 2405 0.00 2.25 0.00 0.000 1030 0.000 0.057 3195 1728 2754 2730 2778 0 0 0 0 0 0 28.83 24.86 28.83

2524 0.64 191.2 3194 1728 2730 2778 153.9 7.1 268 2535 0.00 0.00 8.90 0.832 8198 0.000 0.000 3195 1728 2720 2696 2744 0 0 0 0 0 0 28.83 28.83 23.88

2654 0.64 191.2 3195 1728 2696 2744 143.8 8.0 281 2663 0.00 2.22 0.00 0.000 516 0.000 0.074 3203 335 2720 2696 2744 0 0 0 0 0 0 28.83 25.25 28.83

2715 0.64 191.2 3203 335 2695 2745 138.8 8.3 287 2724 0.00 2.15 0.00 0.000 1030 0.000 0.057 3203 1738 2719 2695 2744 0 0 0 0 0 0 28.83 25.41 28.83

2845 0.64 196.3 3202 1738 2695 2744 128.9 7.3 300 2856 0.00 2.28 5.20 0.705 8452 0.000 0.070 3203 3129 2703 2676 2731 0 0 0 0 0 0 28.83 25.45 24.19

2938 0.64 196.3 3202 3129 2676 2731 120.8 8.7 309 2947 0.00 2.17 0.00 0.000 1030 0.000 0.060 3213 1732 2703 2676 2731 0 0 0 0 0 0 28.83 25.56 28.83

3068 0.64 196.3 3213 1732 2676 2731 109.7 8.6 322 3069 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 1732 2703 2676 2730 0 0 0 0 0 0 28.83 28.83 28.83

3188 0.64 196.3 3213 1732 2676 2731 99.5 8.3 334 3189 0.00 0.00 0.00 0.000 6 0.000 0.000 3213 1732 2703 2676 2731 0 0 0 0 0 0 28.83 28.83 28.83

3308 0.64 196.3 3213 1733 2676 2731 88.7 8.7 346 3317 0.00 2.22 0.00 0.000 516 0.000 0.072 3224 324 2703 2676 2731 0 0 0 0 0 0 28.83 25.65 28.83

3392 0.64 196.3 3223 324 2676 2731 81.0 9.5 354 3401 0.00 2.12 0.00 0.000 1030 0.000 0.057 3224 1735 2703 2676 2731 0 0 0 0 0 0 28.83 25.79 28.83

3519 0.64 196.3 3223 1735 2676 2731 67.8 10.6 367 3528 0.00 2.20 0.00 0.000 260 0.000 0.070 3224 3133 2703 2676 2731 0 0 0 0 0 0 28.83 25.72 28.83

3620 0.64 196.3 3223 3133 2676 2730 56.2 11.2 377 3629 0.12 2.15 0.00 0.000 5126 0.181 0.060 3201 1730 2703 2676 2731 0 0 0 0 0 0 25.57 25.82 28.83

3750 0.64 196.3 3201 1730 2676 2731 43.4 9.5 390 3759 0.00 2.22 0.00 0.000 260 0.000 0.070 3201 3130 2703 2676 2731 0 0 0 0 0 0 28.83 25.76 28.83

3861 0.64 196.3 3201 3130 2676 2731 34.3 7.7 401 3870 0.00 2.15 0.00 0.000 1030 0.000 0.060 3211 1736 2703 2676 2731 0 0 0 0 0 0 28.83 25.86 28.83

3991 0.64 210.9 3211 1736 2676 2731 25.4 7.0 414 4011 0.00 2.22 11.88 0.849 8708 0.000 0.077 3221 343 2652 2628 2677 0 0 0 0 0 0 28.83 25.74 24.65

4057 0.64 210.9 3220 343 2628 2677 20.7 8.0 420 4063 0.00 2.12 0.00 0.000 1030 0.000 0.057 3220 1733 2652 2628 2677 0 0 0 0 0 0 28.83 25.79 28.83

4185 0.64 249.4 3220 1733 2628 2677 12.3 6.2 444 4220 0.00 2.25 27.23 0.906 8708 0.000 0.077 3230 333 2523 2501 2545 0 0 0 0 0 0 28.83 25.37 24.39

4262 0.64 249.4 3230 333 2501 2545 6.2 9.0 458 4269 0.00 2.15 0.00 0.000 1030 0.000 0.057 3230 1738 2522 2500 2545 0 0 0 0 0 0 28.83 25.48 28.83

4289 end climb: SURFACE_DEPTH_REACHED

state 4289 begin surface coast

4335 end surface coast: CONTROL_FINISHED_OK

state 4335 begin surface

ID	35	HD_C	1.6100001e-05	ROLL_MIN	35	ALTIM_TOP_PING_RANGE	20
MISSION	21	HEADING	-1	ROLL_MAX	3810	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	7	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1735	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1735	ALTIM_PING_DEPTH	50
D_FLARE	3	TGT_DEFAULT_LAT	47.724998	HEAD_ERRBAND	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-122.4	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_NO_BLEED	500	SM_CC	300	R_PORT_OVSHOOT	40	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	47	XPDR_VALID	6
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_SAFE	0	PROTOCOL	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	VBD_MIN	275	DEEPGLIDERMB	1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3970	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	3368	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE2	101
T_DIVE	80	CALL_TRIES	10	VBD_CNV	-0.29519999	DEVICE3	-1
T_MISSION	90	CALL_WAIT	30	VBD_TIMEOUT	720	DEVICE4	-1
T_ABORT	2880	CAPUPLOAD	0	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE6	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	0
T_NO_W	300	T_GPS	15	VBD_BLEED_AD_RATE	7	LOGGERDEVICE1	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
USE_BATHY	0	T_GPS_CHARGE	-989796.94	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_ICE	0	T_RSLEEP	2	DBDW	0	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	GPS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_24V	150	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	PITCH_MIN	237	AH0_10V	100	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MAX	3815	MINV_24V	19	SIM_W	0
COURSE_BIAS	0	C_PITCH	2995	MINV_10V	8	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_G	0.0042701932
SPEED_FACTOR	1	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_H	0.00061695499
RHO	1.023	P_OVSHOOT	0.026142744	PHONE_SUPPLY	2	SEABIRD_T_I	2.0597783e-05
MASS	76769	P_OVSHOOT_WITHG	0.089055829	PRESSURE_YINT	-1038.2784	SEABIRD_T_J	1.9668842e-06
MASS_COMP	9469	PITCH_GAIN	24	PRESSURE_SLOPE	0.00092600001	SEABIRD_C_G	-9.6408119
NAV_MODE	1	PITCH_TIMEOUT	20	AD7714Ch0Gain	32	SEABIRD_C_H	1.1092987
FERRY_MAX	45	PITCH_AD_RATE	140	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0011480527
KALMAN_USE	1	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00016399958
HD_A	0.0047458	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_B	0.011518	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0

GPS1	070214,001829,4744.104,-12224.286,29,1.2,33,18.2	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.052,-0.216
_SM_DEPTHo	1.15	KALMAN_X	249.4,126.0,65.2,-72.5,166.6
_SM_ANGLEo	-71.8	KALMAN_Y	829.1,703.8,529.8,-2211.8,429.1
GPS2	070214,002231,4744.119,-12224.265,13,1.1,13,18.2	MHEAD_RNG_PITCHd_Wd	175.4,2093,-15.4,-7.500,-18.65,2965
SPEED_LIMITS	0.075,0.222	D_GRID	180

FINISH	-0.2,0.999901	_24V_AH	23.2,38.139
SM_CCo	4351,34.53,0.939,0,0,2351,300.22	_10V_AH	10.4,4.619
SM_GC	0.95,8.02,0.00,34.53,0.062,0.000,0.939,245,1739,2351,-8.54,0.11,300.22,0,0,0,0,0,0,25.48,28.83,24.06	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12223.37,060214,232305	FG_AHR_10Vo	0.000
TT8_MAMPS	0.019474,0.019474	MEM	354624
HUMID	39.05	DATA_FILE_SIZE	26941,472
INTERNAL_PRESSURE	8.46712	CAP_FILE_SIZE	73969,0
TCM_TEMP	17.50	CFSIZE	260165632,242597888
XPDR_PINGS	1	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.3,19.2	INTR	0,3393.74,0x235746,1,24
ALTIM_BOTTOM_PING	150.6,36.2	GPS	070214,013753,4743.595,-12224.354,21,2.0,39,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	248	114.49	SBE_CT	321	56	419.56
Roll_motor	57	76	102.37	AA4330	620	15	226.62
VBD_pump_during_apogee	286	1040	6908.54	nil	0	0	0.00
VBD_pump_during_surface	34	938	751.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	52	36.19	nil	0	0	0.00
Iridium_during_connect	15	160	59.21	nil	0	0	0.00
Iridium_during_xfer	109	223	564.10	nil	0	0	0.00
Transponder_ping	6	420	58.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	26	4.44
TT8	1107	9	114.81
LPSleep	1906	2	43.42
TT8_Active	459	9	47.68
TT8_Sampling	1077	31	355.28
TT8_CF8	94	39	39.22
TT8_Kalman	32	52	17.65
Analog_circuits	1001	11	114.52
GPS_charging	0	0	0.00
Compass	880	20	185.18
RAFOS	0	0	0.00
Transponder	37	30	11.69

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.64	-146.6	243	1734	2318	2384	0.0	0.0	0	122	0.00	0.00	-103.57	0.000	16386	0.000	0.000	244	1734	3591	3551	3631	0	0	0	0	0	0	28.83	28.83	28.83
125	-0.64	-146.6	244	1734	3552	3631	3.8	-3.2	19	156	10.48	2.28	-10.55	0.000	18948	0.248	0.072	2782	332	3866	3833	3900	0	0	0	0	0	0	24.77	25.30	25.24
383	-0.64	-146.6	2782	332	3833	3901	33.2	-8.0	55	391	0.00	2.15	0.00	0.000	1030	0.000	0.057	2781	1732	3867	3833	3901	0	0	0	0	0	0	28.83	25.59	28.83
513	-0.64	-146.6	2780	1732	3834	3901	43.1	-7.3	68	522	0.00	2.25	0.00	0.000	516	0.000	0.072	2781	327	3867	3833	3901	0	0	0	0	0	0	28.83	25.56	28.83
584	-0.64	-146.6	2780	327	3833	3900	49.0	-8.4	75	593	0.00	2.15	0.00	0.000	1030	0.000	0.057	2776	1746	3866	3833	3900	0	0	0	0	0	0	28.83	25.69	28.83
714	-0.64	-146.6	2776	1746	3833	3901	61.0	-9.4	88	723	0.00	2.20	0.00	0.000	260	0.000	0.070	2768	3136	3866	3833	3900	0	0	0	0	0	0	28.83	25.63	28.83
778	-0.64	-146.6	2768	3136	3833	3900	67.0	-9.7	94	785	0.00	2.17	0.00	0.000	1030	0.000	0.060	2768	1724	3867	3833	3901	0	0	0	0	0	0	28.83	25.75	28.83
905	-0.64	-146.6	2768	1724	3833	3900	79.3	-9.6	107	906	0.00	0.00	0.00	0.000	6	0.000	0.000	2768	1724	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1025	-0.64	-146.6	2768	1724	3833	3900	91.1	-9.8	119	1026	0.00	0.00	0.00	0.000	6	0.000	0.000	2768	1724	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1145	-0.64	-146.6	2768	1724	3833	3900	102.8	-10.1	131	1146	0.00	0.00	0.00	0.000	6	0.000	0.000	2768	1724	3867	3834	3900	0	0	0	0	0	0	28.83	28.83	28.83
1265	-0.64	-146.6	2768	1724	3833	3900	114.3	-9.6	143	1266	0.00	0.00	0.00	0.000	6	0.000	0.000	2768	1724	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1386	-0.64	-146.6	2768	1724	3833	3900	125.4	-8.5	155	1395	0.00	2.25	0.00	0.000	260	0.000	0.072	2763	3131	3866	3833	3900	0	0	0	0	0	0	28.83	25.76	28.83
1489	-0.64	-146.6	2763	3131	3833	3900	133.9	-8.3	165	1499	0.00	2.15	0.00	0.000	1030	0.000	0.060	2763	1735	3866	3833	3900	0	0	0	0	0	0	28.83	25.88	28.83
1617	-0.64	-146.6	2762	1735	3833	3900	146.0	-9.3	178	1618	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	1735	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1737	-0.64	-146.6	2763	1735	3833	3900	157.0	-9.4	190	1738	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	1735	3866	3833	3900	0	0	0	0	0	0	28.83	28.83	28.83
1857	-0.64	-146.6	2763	1735	3833	3900	168.5	-10.0	202	1865	0.00	2.22	0.00	0.000	260	0.000	0.070	2758	3132	3867	3834	3900	0	0	0	0	0	0	28.83	25.79	28.83
1946	end dive: BOTTOM_OBSTACLE_DETECTED
state	1946	begin apogee
1954	-0.21	0.0	2758	1724	3833	3900	177.9	-10.1	211	2060	0.50	0.00	102.32	1.040	10246	0.132	0.000	2926	1724	3369	3339	3399	0	0	0	0	0	0	25.51	28.83	23.64
2061	end apogee: CONTROL_FINISHED_OK
state	2063	begin climb
2064	0.64	146.6	2925	1724	3339	3399	182.4	0.0	222	2178	0.75	0.00	105.32	0.921	10246	0.097	0.000	3184	1724	2870	2845	2895	0	0	0	0	0	0	24.54	28.83	23.18
2301	0.64	181.0	3184	1724	2845	2895	171.2	6.3	246	2331	0.00	2.40	25.38	0.926	8452	0.000	0.072	3184	3133	2754	2730	2778	0	0	0	0	0	0	28.83	24.46	23.48
2398	0.64	181.0	3184	3133	2730	2778	164.1	7.8	255	2405	0.00	2.25	0.00	0.000	1030	0.000	0.057	3195	1728	2754	2730	2778	0	0	0	0	0	0	28.83	24.86	28.83
2524	0.64	191.2	3194	1728	2730	2778	153.9	7.1	268	2535	0.00	0.00	8.90	0.832	8198	0.000	0.000	3195	1728	2720	2696	2744	0	0	0	0	0	0	28.83	28.83	23.88
2654	0.64	191.2	3195	1728	2696	2744	143.8	8.0	281	2663	0.00	2.22	0.00	0.000	516	0.000	0.074	3203	335	2720	2696	2744	0	0	0	0	0	0	28.83	25.25	28.83
2715	0.64	191.2	3203	335	2695	2745	138.8	8.3	287	2724	0.00	2.15	0.00	0.000	1030	0.000	0.057	3203	1738	2719	2695	2744	0	0	0	0	0	0	28.83	25.41	28.83
2845	0.64	196.3	3202	1738	2695	2744	128.9	7.3	300	2856	0.00	2.28	5.20	0.705	8452	0.000	0.070	3203	3129	2703	2676	2731	0	0	0	0	0	0	28.83	25.45	24.19
2938	0.64	196.3	3202	3129	2676	2731	120.8	8.7	309	2947	0.00	2.17	0.00	0.000	1030	0.000	0.060	3213	1732	2703	2676	2731	0	0	0	0	0	0	28.83	25.56	28.83
3068	0.64	196.3	3213	1732	2676	2731	109.7	8.6	322	3069	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	1732	2703	2676	2730	0	0	0	0	0	0	28.83	28.83	28.83
3188	0.64	196.3	3213	1732	2676	2731	99.5	8.3	334	3189	0.00	0.00	0.00	0.000	6	0.000	0.000	3213	1732	2703	2676	2731	0	0	0	0	0	0	28.83	28.83	28.83
3308	0.64	196.3	3213	1733	2676	2731	88.7	8.7	346	3317	0.00	2.22	0.00	0.000	516	0.000	0.072	3224	324	2703	2676	2731	0	0	0	0	0	0	28.83	25.65	28.83
3392	0.64	196.3	3223	324	2676	2731	81.0	9.5	354	3401	0.00	2.12	0.00	0.000	1030	0.000	0.057	3224	1735	2703	2676	2731	0	0	0	0	0	0	28.83	25.79	28.83
3519	0.64	196.3	3223	1735	2676	2731	67.8	10.6	367	3528	0.00	2.20	0.00	0.000	260	0.000	0.070	3224	3133	2703	2676	2731	0	0	0	0	0	0	28.83	25.72	28.83
3620	0.64	196.3	3223	3133	2676	2730	56.2	11.2	377	3629	0.12	2.15	0.00	0.000	5126	0.181	0.060	3201	1730	2703	2676	2731	0	0	0	0	0	0	25.57	25.82	28.83
3750	0.64	196.3	3201	1730	2676	2731	43.4	9.5	390	3759	0.00	2.22	0.00	0.000	260	0.000	0.070	3201	3130	2703	2676	2731	0	0	0	0	0	0	28.83	25.76	28.83
3861	0.64	196.3	3201	3130	2676	2731	34.3	7.7	401	3870	0.00	2.15	0.00	0.000	1030	0.000	0.060	3211	1736	2703	2676	2731	0	0	0	0	0	0	28.83	25.86	28.83
3991	0.64	210.9	3211	1736	2676	2731	25.4	7.0	414	4011	0.00	2.22	11.88	0.849	8708	0.000	0.077	3221	343	2652	2628	2677	0	0	0	0	0	0	28.83	25.74	24.65
4057	0.64	210.9	3220	343	2628	2677	20.7	8.0	420	4063	0.00	2.12	0.00	0.000	1030	0.000	0.057	3220	1733	2652	2628	2677	0	0	0	0	0	0	28.83	25.79	28.83
4185	0.64	249.4	3220	1733	2628	2677	12.3	6.2	444	4220	0.00	2.25	27.23	0.906	8708	0.000	0.077	3230	333	2523	2501	2545	0	0	0	0	0	0	28.83	25.37	24.39
4262	0.64	249.4	3230	333	2501	2545	6.2	9.0	458	4269	0.00	2.15	0.00	0.000	1030	0.000	0.057	3230	1738	2522	2500	2545	0	0	0	0	0	0	28.83	25.48	28.83
4289	end climb: SURFACE_DEPTH_REACHED
state	4289	begin surface coast
4335	end surface coast: CONTROL_FINISHED_OK
state	4335	begin surface