Glider dive log

Shilshole 12Jul18 * SG404 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 404 HD_C 1.6100001e-05 C_ROLL_DIVE 2000 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 HEADING -1 C_ROLL_CLIMB 1860 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 15 ESCAPE_HEADING 0 HEAD_ERRBAND 15 ALTIM_PING_DEPTH 100

N_DIVES 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.04555 ALTIM_PING_DELTA 5

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 20 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 16 ALTIM_PULSE 3

D_FLARE 2 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 39 ALTIM_SENSITIVITY 3

D_TGT 185 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 XPDR_VALID 2

D_ABORT 200 SM_CC 180 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_NO_BLEED 50 N_FILEKB 8 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 0 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -1.7

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 350 DEEPGLIDER 2

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3680 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2305 DEVICE1 -1

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 0 VBD_CNV -0.92339998 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 2 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_DIVE 75 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 3 LOGGERS 1

T_MISSION 80 CAPUPLOAD 1 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 53

T_ABORT 1440 CAPMAXSIZE 200000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_TURN 360 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 COMPASS_DEVICE 97

T_LOITER 0 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE 149

T_SLOITER 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

USE_BATHY 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

USE_ICE -1 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 AH0_10V 280 SIM_W 0

D_OFFGRID 100 PITCH_MIN 530 MINV_24V 19 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MAX 3860 MINV_10V 8 SEABIRD_T_G 0.0043947315

RELAUNCH 1 C_PITCH 2705 MAXI_24V 1.2 SEABIRD_T_H 0.00063707196

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 1 SEABIRD_T_I 2.5246234e-05

MAX_BUOY 300 PITCH_CNV 0.0031300001 FG_AHR_10V 0 SEABIRD_T_J 3.049423e-06

COURSE_BIAS 0 P_OVSHOOT 0.02 FG_AHR_24V 0 SEABIRD_C_G -9.6769676

GLIDE_SLOPE 20 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.1278293

SPEED_FACTOR 1 PITCH_GAIN 14.2 PRESSURE_YINT -49.880402 SEABIRD_C_I -0.0014273003

RHO 1.023 PITCH_TIMEOUT 45 PRESSURE_SLOPE 2.575e-05 SEABIRD_C_J 0.00018861827

MASS 74482 PITCH_AD_RATE 50 AD7714Ch0Gain 1 SEABIRD_C_Z 2932.53

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

NAV_MODE 1 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 4 SC_XMITPROFILE 3.0

KALMAN_USE 1 ROLL_MIN 300 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

HD_A 0.003 ROLL_MAX 3750 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 ROLL_DEG 50 ALTIM_BOTTOM_TURN_MARGIN 20

AD7714Ch0Gain 1 D_SURF 2 PITCH_AD_RATE 50 SIM_PITCH 0

AH0_10V 280 D_TGT 185 PITCH_CNV 0.0031300001 SIM_W 0

AH0_24V 150 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SM_CC 180

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 14.2 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 20 FERRY_MAX 45 PITCH_MAX 3860 STOP_T 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_MIN 530 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 100 FILEMGR 0 PITCH_TIMEOUT 45 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0015 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 20 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.003 PRESSURE_SLOPE 2.575e-05 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PRESSURE_YINT -49.880402 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_C 1.6100001e-05 PROTOCOL 9 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.02 T_ABORT 1440

CALL_TRIES 10 HEAD_ERRBAND 15 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 60 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_DIVE 75

CAPMAXSIZE 200000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_EPIRB 0

CAPUPLOAD 1 ID 404 RAFOS_HIT_WINDOW 3600 T_GPS 5

CF8_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_MMODEM 0 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_YINT -1.7 RAFOS_PEAK_OFFSET 1.5 T_MISSION 80

COMPASS2_DEVICE 149 KALMAN_USE 1 RELAUNCH 1 T_NO_W 120

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RHO 1.023 T_RSLEEP 3

COMPASS_USE 4 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_SLOITER 0

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_TURN 360

C_PITCH 2705 LOGGERDEVICE4 -1 ROLL_AD_RATE 250 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1860 LOGGERS 1 ROLL_CNV 0.04555 T_WATCHDOG 10

C_ROLL_DIVE 2000 MASS 74482 ROLL_DEG 50 UNCOM_BLEED 60

C_VBD 2305 MASS_COMP 0 ROLL_MAX 3750 UPLOAD_DIVES_MAX -1

DBDW 0 MAXI_10V 1 ROLL_MAXERRORS 2 USE_BATHY 0

DEEPGLIDER 2 MAXI_24V 1.2 ROLL_MIN 300 USE_ICE -1

DEVICE1 -1 MAX_BUOY 300 ROLL_TIMEOUT 20 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_PORT_OVSHOOT 16 VBD_CNV -0.92339998

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 39 VBD_DBAND 2

DEVICE4 -1 MISSION 5 SC_NDIVE 1.0 VBD_LP_IGNORE 2

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAX 3680

DEVICE6 -1 NAV_MODE 1 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DIVE 15 NOCOMM_ACTION 0 SC_XMITPROFILE 3.0 VBD_MIN 350

D_ABORT 200 N_DIVES 0 SEABIRD_C_G -9.6769676 VBD_PUMP_AD_RATE_APOGEE 3

D_BOOST 0 N_FILEKB 8 SEABIRD_C_H 1.1278293 VBD_PUMP_AD_RATE_SURFACE 3

D_CALL 0 N_GPS 100840 SEABIRD_C_I -0.0014273003 VBD_TIMEOUT 720

D_FINISH 0 N_NOCOMM 1 SEABIRD_C_J 0.00018861827 W_ADJ_DBAND 0

D_FLARE 2 N_NOSURFACE 0 SEABIRD_C_Z 2932.53 XPDR_DEVICE 24

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_T_G 0.0043947315 XPDR_INHIBIT 90

D_OFFGRID 100 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063707196 XPDR_VALID 2

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.5246234e-05

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.049423e-06

Pre-dive calculations and measurements:

GPS1 130718,092957,4742.9404,-12224.7949,8,0.8,12,16.3,0.0,0.0,9,9.0 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 3 TGT_RADIUS 750.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.131874,0.289386

_SM_DEPTHo 1.88 KALMAN_X -4309.356445,4.275185,617.761902,2472.656494,-456.545746

_SM_ANGLEo -55.8 KALMAN_Y -8162.309082,644.505310,88.576698,5423.270996,-346.208923

GPS2 130718,094156,4742.8574,-12224.8545,7,0.9,15,16.3,0.0,0.0,8,9.9 MHEAD_RNG_PITCHd_Wd 8.2,3074,-9.2,-8.222,-14.50,5215

SPEED_LIMITS 0.226,0.318 D_GRID 185

Post-dive calculations and measurements:

FINISH 0.3,1.005413 _24V_AH 23.88,3.096

SM_CCo 4010,0.00,0.000,0,0,1819,448.77 _10V_AH 10.15,5.989

SM_GC 1.41,26.33,0.35,0.00,0.028,0.045,0.000,551,2008,1819,-6.73,-1.46,448.77,0,0,0,0,0,0,26.87,26.93,26.93 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4808.40,-12337.82,130718,082116 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.849366 MEM 312648

HUMID 51.45 DATA_FILE_SIZE 7047,255

INTERNAL_PRESSURE 8.69102 CAP_FILE_SIZE 61138,0

TCM_TEMP 10.30 CFSIZE 1023623168,1018052608

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

ALTIM_BOTTOM_PING 100.7,100.7 GPS 130718,105127,4743.070,-12224.931,8,0.9,49,16.3,0.3,170.6,8,10.8

SC_FREEKB 3901376

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 58 146 203.43 nil 0 0 0.00

Roll_motor 74 73 130.22 nil 0 0 0.00

VBD_pump_during_apogee 47 2118 2396.45 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 23 32 17.87 nil 0 0 0.00

Iridium_during_connect 16 160 64.71 SciCon 3941 74 7005.06

Iridium_during_xfer 540 223 2879.68 nil 0 0 0.00

Transponder_ping 0 420 5.01 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 27 4.68

TT8 866 14 125.02

LPSleep 2270 2 50.47

TT8_Active 170 14 24.57

TT8_Sampling 1388 38 548.54

TT8_CF8 66 55 37.40

TT8_Kalman 33 62 21.10

Analog_circuits 513 12 62.56

GPS_charging 0 0 0.00

Compass 547 7 41.60

RAFOS 0 0 0.00

Transponder 7 30 2.39

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts int_press humidity

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

10 -1.09 -293.3 531 2012 1916 2047 0.0 0.0 0 16 0.00 0.00 -4.50 0.000 16390 0.000 0.000 530 2010 2629 2629 2042 0 0 0 0 0 0 26.60 25.28 26.60 8.78 50.51

18 -1.09 -293.3 531 2018 2629 2042 0.0 0.0 0 49 23.73 2.97 0.00 0.000 2820 0.147 0.059 2349 901 2632 2632 2047 0 0 0 0 0 0 26.15 26.20 26.23 8.92 50.70

66 -1.09 -293.3 2349 901 2637 2047 14.0 -25.6 3 71 0.00 2.78 0.00 0.000 1030 0.000 0.035 2354 1983 2632 2632 2048 0 0 0 0 0 0 26.39 26.30 26.41 8.92 50.27

264 -1.09 -293.3 2349 1985 2635 2048 32.1 -9.5 16 269 0.00 2.92 0.00 0.000 260 0.000 0.057 2350 3090 2634 2634 2048 0 0 0 0 0 0 26.79 26.44 26.81 8.93 49.60

297 -1.09 -293.3 2349 3090 2638 2048 35.4 -9.7 18 302 0.00 2.78 0.00 0.000 1030 0.000 0.035 2350 1992 2635 2635 2048 0 0 0 0 0 0 26.60 26.52 26.60 8.91 50.23

495 -1.09 -293.3 2349 1992 2638 2048 53.6 -10.3 31 500 0.00 2.92 0.00 0.000 516 0.000 0.068 2348 911 2632 2632 2047 0 0 0 0 0 0 26.92 26.54 26.94 8.91 49.68

611 -1.09 -293.3 2349 911 2634 2047 64.1 -9.1 38 619 0.00 2.78 0.00 0.000 1030 0.000 0.034 2350 2007 2640 2640 2049 0 0 0 0 0 0 26.76 26.68 26.77 8.90 49.44

798 -1.09 -293.3 2349 2007 2638 2049 84.7 -11.6 51 803 0.00 2.83 0.00 0.000 260 0.000 0.058 2350 3086 2644 2644 2048 0 0 0 0 0 0 27.03 26.67 27.05 8.89 50.07

846 -1.09 -293.3 2351 3089 2644 2048 89.5 -10.1 54 851 0.00 2.72 0.00 0.000 1030 0.000 0.036 2350 2001 2644 2644 2047 0 0 0 0 0 0 26.83 26.76 26.84 8.89 50.39

1044 -1.09 -293.3 2349 2002 2647 2047 105.4 -7.8 67 1049 0.00 2.92 0.00 0.000 516 0.000 0.068 2357 914 2648 2648 2048 0 0 0 0 0 0 27.09 26.70 27.10 8.89 50.35

1100 -1.09 -293.3 2357 913 2646 2048 109.8 -8.9 70 1107 0.00 2.75 0.00 0.000 1030 0.000 0.035 2350 2003 2647 2647 2048 0 0 0 0 0 0 26.89 26.82 26.91 8.89 50.27

1287 -1.09 -293.3 2349 2003 2650 2048 125.7 -7.2 83 1293 0.00 2.83 0.00 0.000 260 0.000 0.060 2349 3080 2655 2655 2046 0 0 0 0 0 0 27.13 26.77 27.15 8.89 50.70

1366 -1.09 -293.3 2343 3084 2653 2046 131.3 -6.9 88 1371 0.00 2.70 0.00 0.000 1030 0.000 0.035 2344 2004 2659 2659 2048 0 0 0 0 0 0 26.94 26.87 26.96 8.89 50.51

1564 -1.09 -293.3 2349 2003 2654 2048 147.8 -9.4 101 1569 0.00 2.92 0.00 0.000 516 0.000 0.069 2357 909 2652 2652 2040 0 0 0 0 0 0 27.18 26.79 27.20 8.89 50.66

1612 -1.09 -293.3 2346 909 2655 2040 151.3 -7.6 104 1617 0.00 2.75 0.00 0.000 1030 0.000 0.036 2347 2004 2654 2654 2048 0 0 0 0 0 0 26.99 26.92 26.99 8.94 50.59

1810 -1.09 -293.3 2349 2005 2657 2048 170.0 -10.2 117 1811 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2005 2648 2648 2047 0 0 0 0 0 0 27.25 27.22 27.22 8.89 51.10

1944 end dive: BOTTOM_OBSTACLE_DETECTED

state 1944 begin apogee

1948 -0.35 0.0 2350 1855 2659 2046 181.6 -9.1 126 1976 2.60 0.00 18.58 2.118 10246 0.063 0.000 2588 1855 2309 2309 2047 0 0 0 0 0 0 26.89 25.77 24.41 8.91 52.04

1978 end apogee: CONTROL_FINISHED_OK

state 1978 begin climb

1979 1.09 293.3 2587 1855 2309 2047 184.9 0.0 128 2006 4.78 0.00 17.35 2.092 10502 0.047 0.000 3034 1855 1992 1992 2047 0 0 0 0 0 0 26.11 24.87 23.88 8.83 51.77

2194 1.24 398.2 3034 1853 1990 2047 167.8 6.2 142 2210 0.47 0.00 7.15 1.607 10246 0.041 0.000 3084 1855 1874 1874 2047 0 0 0 0 0 0 26.28 25.46 24.49 8.76 50.82

2389 1.24 398.2 3083 1854 1878 2047 149.5 8.9 155 2395 0.00 2.97 0.35 0.007 8708 0.000 0.072 3084 770 1877 1877 2041 0 0 0 0 0 0 26.63 26.32 26.63 8.74 50.66

2425 1.24 398.2 3084 770 1878 2041 146.1 9.6 157 2431 0.00 2.83 0.73 0.007 9222 0.000 0.034 3084 1874 1878 1878 2050 0 0 0 0 0 0 26.47 26.46 26.49 8.73 51.37

2619 1.24 398.2 3086 1874 1884 2050 126.1 12.4 170 2625 0.00 2.78 0.05 0.011 8452 0.000 0.047 3084 2945 1871 1871 2047 0 0 0 0 0 0 26.84 26.50 26.84 8.72 51.14

2652 1.24 398.2 3084 2945 1873 2047 122.8 11.1 172 2658 0.00 2.78 0.00 0.000 1030 0.000 0.040 3084 1861 1883 1883 2054 0 0 0 0 0 0 26.63 26.53 26.66 8.76 52.00

2851 1.29 429.9 3084 1861 1870 2054 106.5 7.6 185 2856 0.10 0.00 3.17 0.622 10246 0.079 0.000 3096 1857 1842 1842 2047 0 0 0 0 0 0 26.74 26.41 25.32 8.73 52.08

3030 1.29 429.9 3099 1862 1838 2047 88.8 11.3 197 3035 0.00 2.83 0.00 0.000 260 0.000 0.049 3100 2946 1849 1849 2041 0 0 0 0 0 0 26.98 26.67 26.98 8.71 51.37

3096 1.29 429.9 3099 2945 1828 2041 82.0 11.0 201 3102 0.00 2.75 0.00 0.000 1030 0.000 0.040 3099 1861 1837 1837 2049 0 0 0 0 0 0 26.79 26.67 26.82 8.72 51.26

3289 1.29 429.9 3099 1860 1833 2049 60.9 8.8 214 3294 0.00 2.97 0.00 0.000 516 0.000 0.073 3099 765 1833 1833 2046 0 0 0 0 0 0 27.06 26.67 27.08 8.72 51.49

3345 1.29 429.9 3108 781 1832 2046 56.5 9.0 217 3353 0.00 2.75 0.00 0.000 1030 0.000 0.036 3107 1862 1835 1835 2056 0 0 0 0 0 0 26.86 26.79 26.86 8.73 51.65

3532 1.29 429.9 3098 1863 1820 2056 37.7 10.6 230 3537 0.00 3.00 0.00 0.000 516 0.000 0.073 3100 767 1828 1828 2049 0 0 0 0 0 0 27.11 26.72 27.13 8.71 51.57

3595 1.29 429.9 3099 764 1826 2049 30.7 11.1 234 3600 0.00 2.75 0.00 0.000 1030 0.000 0.037 3100 1864 1827 1827 2047 0 0 0 0 0 0 26.91 26.85 26.91 8.79 51.96

3793 1.29 429.9 3099 1865 1822 2047 12.2 8.8 247 3798 0.00 2.78 0.00 0.000 260 0.000 0.051 3101 2945 1828 1828 2047 0 0 0 0 0 0 27.16 26.82 27.17 8.80 52.44

3864 1.29 429.9 3099 2944 1821 2047 5.7 10.4 251 3871 0.00 2.75 0.00 0.000 1030 0.000 0.041 3100 1859 1820 1820 2047 0 0 0 0 0 0 26.91 26.84 26.94 8.74 52.00

3899 end climb: SURFACE_DEPTH_REACHED

state 3899 begin surface coast

3915 end surface coast: CONTROL_FINISHED_OK

state 3915 begin surface

ID	404	HD_C	1.6100001e-05	C_ROLL_DIVE	2000	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	HEADING	-1	C_ROLL_CLIMB	1860	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	15	ESCAPE_HEADING	0	HEAD_ERRBAND	15	ALTIM_PING_DEPTH	100
N_DIVES	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.04555	ALTIM_PING_DELTA	5
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	20	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	16	ALTIM_PULSE	3
D_FLARE	2	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	39	ALTIM_SENSITIVITY	3
D_TGT	185	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	XPDR_VALID	2
D_ABORT	200	SM_CC	180	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_NO_BLEED	50	N_FILEKB	8	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	0	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-1.7
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	350	DEEPGLIDER	2
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3680	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2305	DEVICE1	-1
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	0	VBD_CNV	-0.92339998	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	2	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_DIVE	75	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	3	LOGGERS	1
T_MISSION	80	CAPUPLOAD	1	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	53
T_ABORT	1440	CAPMAXSIZE	200000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN	360	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	COMPASS_DEVICE	97
T_LOITER	0	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	149
T_SLOITER	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
USE_BATHY	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
USE_ICE	-1	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	AH0_10V	280	SIM_W	0
D_OFFGRID	100	PITCH_MIN	530	MINV_24V	19	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MAX	3860	MINV_10V	8	SEABIRD_T_G	0.0043947315
RELAUNCH	1	C_PITCH	2705	MAXI_24V	1.2	SEABIRD_T_H	0.00063707196
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	1	SEABIRD_T_I	2.5246234e-05
MAX_BUOY	300	PITCH_CNV	0.0031300001	FG_AHR_10V	0	SEABIRD_T_J	3.049423e-06
COURSE_BIAS	0	P_OVSHOOT	0.02	FG_AHR_24V	0	SEABIRD_C_G	-9.6769676
GLIDE_SLOPE	20	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.1278293
SPEED_FACTOR	1	PITCH_GAIN	14.2	PRESSURE_YINT	-49.880402	SEABIRD_C_I	-0.0014273003
RHO	1.023	PITCH_TIMEOUT	45	PRESSURE_SLOPE	2.575e-05	SEABIRD_C_J	0.00018861827
MASS	74482	PITCH_AD_RATE	50	AD7714Ch0Gain	1	SEABIRD_C_Z	2932.53
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	1	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	4	SC_XMITPROFILE	3.0
KALMAN_USE	1	ROLL_MIN	300	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.003	ROLL_MAX	3750	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	ROLL_DEG	50	ALTIM_BOTTOM_TURN_MARGIN	20

GPS1	130718,092957,4742.9404,-12224.7949,8,0.8,12,16.3,0.0,0.0,9,9.0	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	3	TGT_RADIUS	750.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.131874,0.289386
_SM_DEPTHo	1.88	KALMAN_X	-4309.356445,4.275185,617.761902,2472.656494,-456.545746
_SM_ANGLEo	-55.8	KALMAN_Y	-8162.309082,644.505310,88.576698,5423.270996,-346.208923
GPS2	130718,094156,4742.8574,-12224.8545,7,0.9,15,16.3,0.0,0.0,8,9.9	MHEAD_RNG_PITCHd_Wd	8.2,3074,-9.2,-8.222,-14.50,5215
SPEED_LIMITS	0.226,0.318	D_GRID	185

FINISH	0.3,1.005413	_24V_AH	23.88,3.096
SM_CCo	4010,0.00,0.000,0,0,1819,448.77	_10V_AH	10.15,5.989
SM_GC	1.41,26.33,0.35,0.00,0.028,0.045,0.000,551,2008,1819,-6.73,-1.46,448.77,0,0,0,0,0,0,26.87,26.93,26.93	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4808.40,-12337.82,130718,082116	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.849366	MEM	312648
HUMID	51.45	DATA_FILE_SIZE	7047,255
INTERNAL_PRESSURE	8.69102	CAP_FILE_SIZE	61138,0
TCM_TEMP	10.30	CFSIZE	1023623168,1018052608
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	100.7,100.7	GPS	130718,105127,4743.070,-12224.931,8,0.9,49,16.3,0.3,170.6,8,10.8
SC_FREEKB	3901376

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	58	146	203.43	nil	0	0	0.00
Roll_motor	74	73	130.22	nil	0	0	0.00
VBD_pump_during_apogee	47	2118	2396.45	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	23	32	17.87	nil	0	0	0.00
Iridium_during_connect	16	160	64.71	SciCon	3941	74	7005.06
Iridium_during_xfer	540	223	2879.68	nil	0	0	0.00
Transponder_ping	0	420	5.01	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	27	4.68
TT8	866	14	125.02
LPSleep	2270	2	50.47
TT8_Active	170	14	24.57
TT8_Sampling	1388	38	548.54
TT8_CF8	66	55	37.40
TT8_Kalman	33	62	21.10
Analog_circuits	513	12	62.56
GPS_charging	0	0	0.00
Compass	547	7	41.60
RAFOS	0	0	0.00
Transponder	7	30	2.39

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts	int_press	humidity
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
10	-1.09	-293.3	531	2012	1916	2047	0.0	0.0	0	16	0.00	0.00	-4.50	0.000	16390	0.000	0.000	530	2010	2629	2629	2042	0	0	0	0	0	0	26.60	25.28	26.60	8.78	50.51
18	-1.09	-293.3	531	2018	2629	2042	0.0	0.0	0	49	23.73	2.97	0.00	0.000	2820	0.147	0.059	2349	901	2632	2632	2047	0	0	0	0	0	0	26.15	26.20	26.23	8.92	50.70
66	-1.09	-293.3	2349	901	2637	2047	14.0	-25.6	3	71	0.00	2.78	0.00	0.000	1030	0.000	0.035	2354	1983	2632	2632	2048	0	0	0	0	0	0	26.39	26.30	26.41	8.92	50.27
264	-1.09	-293.3	2349	1985	2635	2048	32.1	-9.5	16	269	0.00	2.92	0.00	0.000	260	0.000	0.057	2350	3090	2634	2634	2048	0	0	0	0	0	0	26.79	26.44	26.81	8.93	49.60
297	-1.09	-293.3	2349	3090	2638	2048	35.4	-9.7	18	302	0.00	2.78	0.00	0.000	1030	0.000	0.035	2350	1992	2635	2635	2048	0	0	0	0	0	0	26.60	26.52	26.60	8.91	50.23
495	-1.09	-293.3	2349	1992	2638	2048	53.6	-10.3	31	500	0.00	2.92	0.00	0.000	516	0.000	0.068	2348	911	2632	2632	2047	0	0	0	0	0	0	26.92	26.54	26.94	8.91	49.68
611	-1.09	-293.3	2349	911	2634	2047	64.1	-9.1	38	619	0.00	2.78	0.00	0.000	1030	0.000	0.034	2350	2007	2640	2640	2049	0	0	0	0	0	0	26.76	26.68	26.77	8.90	49.44
798	-1.09	-293.3	2349	2007	2638	2049	84.7	-11.6	51	803	0.00	2.83	0.00	0.000	260	0.000	0.058	2350	3086	2644	2644	2048	0	0	0	0	0	0	27.03	26.67	27.05	8.89	50.07
846	-1.09	-293.3	2351	3089	2644	2048	89.5	-10.1	54	851	0.00	2.72	0.00	0.000	1030	0.000	0.036	2350	2001	2644	2644	2047	0	0	0	0	0	0	26.83	26.76	26.84	8.89	50.39
1044	-1.09	-293.3	2349	2002	2647	2047	105.4	-7.8	67	1049	0.00	2.92	0.00	0.000	516	0.000	0.068	2357	914	2648	2648	2048	0	0	0	0	0	0	27.09	26.70	27.10	8.89	50.35
1100	-1.09	-293.3	2357	913	2646	2048	109.8	-8.9	70	1107	0.00	2.75	0.00	0.000	1030	0.000	0.035	2350	2003	2647	2647	2048	0	0	0	0	0	0	26.89	26.82	26.91	8.89	50.27
1287	-1.09	-293.3	2349	2003	2650	2048	125.7	-7.2	83	1293	0.00	2.83	0.00	0.000	260	0.000	0.060	2349	3080	2655	2655	2046	0	0	0	0	0	0	27.13	26.77	27.15	8.89	50.70
1366	-1.09	-293.3	2343	3084	2653	2046	131.3	-6.9	88	1371	0.00	2.70	0.00	0.000	1030	0.000	0.035	2344	2004	2659	2659	2048	0	0	0	0	0	0	26.94	26.87	26.96	8.89	50.51
1564	-1.09	-293.3	2349	2003	2654	2048	147.8	-9.4	101	1569	0.00	2.92	0.00	0.000	516	0.000	0.069	2357	909	2652	2652	2040	0	0	0	0	0	0	27.18	26.79	27.20	8.89	50.66
1612	-1.09	-293.3	2346	909	2655	2040	151.3	-7.6	104	1617	0.00	2.75	0.00	0.000	1030	0.000	0.036	2347	2004	2654	2654	2048	0	0	0	0	0	0	26.99	26.92	26.99	8.94	50.59
1810	-1.09	-293.3	2349	2005	2657	2048	170.0	-10.2	117	1811	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2005	2648	2648	2047	0	0	0	0	0	0	27.25	27.22	27.22	8.89	51.10
1944	end dive: BOTTOM_OBSTACLE_DETECTED
state	1944	begin apogee
1948	-0.35	0.0	2350	1855	2659	2046	181.6	-9.1	126	1976	2.60	0.00	18.58	2.118	10246	0.063	0.000	2588	1855	2309	2309	2047	0	0	0	0	0	0	26.89	25.77	24.41	8.91	52.04
1978	end apogee: CONTROL_FINISHED_OK
state	1978	begin climb
1979	1.09	293.3	2587	1855	2309	2047	184.9	0.0	128	2006	4.78	0.00	17.35	2.092	10502	0.047	0.000	3034	1855	1992	1992	2047	0	0	0	0	0	0	26.11	24.87	23.88	8.83	51.77
2194	1.24	398.2	3034	1853	1990	2047	167.8	6.2	142	2210	0.47	0.00	7.15	1.607	10246	0.041	0.000	3084	1855	1874	1874	2047	0	0	0	0	0	0	26.28	25.46	24.49	8.76	50.82
2389	1.24	398.2	3083	1854	1878	2047	149.5	8.9	155	2395	0.00	2.97	0.35	0.007	8708	0.000	0.072	3084	770	1877	1877	2041	0	0	0	0	0	0	26.63	26.32	26.63	8.74	50.66
2425	1.24	398.2	3084	770	1878	2041	146.1	9.6	157	2431	0.00	2.83	0.73	0.007	9222	0.000	0.034	3084	1874	1878	1878	2050	0	0	0	0	0	0	26.47	26.46	26.49	8.73	51.37
2619	1.24	398.2	3086	1874	1884	2050	126.1	12.4	170	2625	0.00	2.78	0.05	0.011	8452	0.000	0.047	3084	2945	1871	1871	2047	0	0	0	0	0	0	26.84	26.50	26.84	8.72	51.14
2652	1.24	398.2	3084	2945	1873	2047	122.8	11.1	172	2658	0.00	2.78	0.00	0.000	1030	0.000	0.040	3084	1861	1883	1883	2054	0	0	0	0	0	0	26.63	26.53	26.66	8.76	52.00
2851	1.29	429.9	3084	1861	1870	2054	106.5	7.6	185	2856	0.10	0.00	3.17	0.622	10246	0.079	0.000	3096	1857	1842	1842	2047	0	0	0	0	0	0	26.74	26.41	25.32	8.73	52.08
3030	1.29	429.9	3099	1862	1838	2047	88.8	11.3	197	3035	0.00	2.83	0.00	0.000	260	0.000	0.049	3100	2946	1849	1849	2041	0	0	0	0	0	0	26.98	26.67	26.98	8.71	51.37
3096	1.29	429.9	3099	2945	1828	2041	82.0	11.0	201	3102	0.00	2.75	0.00	0.000	1030	0.000	0.040	3099	1861	1837	1837	2049	0	0	0	0	0	0	26.79	26.67	26.82	8.72	51.26
3289	1.29	429.9	3099	1860	1833	2049	60.9	8.8	214	3294	0.00	2.97	0.00	0.000	516	0.000	0.073	3099	765	1833	1833	2046	0	0	0	0	0	0	27.06	26.67	27.08	8.72	51.49
3345	1.29	429.9	3108	781	1832	2046	56.5	9.0	217	3353	0.00	2.75	0.00	0.000	1030	0.000	0.036	3107	1862	1835	1835	2056	0	0	0	0	0	0	26.86	26.79	26.86	8.73	51.65
3532	1.29	429.9	3098	1863	1820	2056	37.7	10.6	230	3537	0.00	3.00	0.00	0.000	516	0.000	0.073	3100	767	1828	1828	2049	0	0	0	0	0	0	27.11	26.72	27.13	8.71	51.57
3595	1.29	429.9	3099	764	1826	2049	30.7	11.1	234	3600	0.00	2.75	0.00	0.000	1030	0.000	0.037	3100	1864	1827	1827	2047	0	0	0	0	0	0	26.91	26.85	26.91	8.79	51.96
3793	1.29	429.9	3099	1865	1822	2047	12.2	8.8	247	3798	0.00	2.78	0.00	0.000	260	0.000	0.051	3101	2945	1828	1828	2047	0	0	0	0	0	0	27.16	26.82	27.17	8.80	52.44
3864	1.29	429.9	3099	2944	1821	2047	5.7	10.4	251	3871	0.00	2.75	0.00	0.000	1030	0.000	0.041	3100	1859	1820	1820	2047	0	0	0	0	0	0	26.91	26.84	26.94	8.74	52.00
3899	end climb: SURFACE_DEPTH_REACHED
state	3899	begin surface coast
3915	end surface coast: CONTROL_FINISHED_OK
state	3915	begin surface