Glider dive log

Shilshole 02Jun15 * SG205 * Dive index * Mission links * Dive 16 * 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 16 ESCAPE_HEADING 0 C_ROLL_DIVE 2060 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1990 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 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 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 35 SM_CC 235 R_STBD_OVSHOOT 58 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 75 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 -2670.2354 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 150 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 30 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 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 75

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 -2670.2354

CAPUPLOAD 1 HEAD_ERRBAND 10 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 1990 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2060 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 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 147 MINV_10V 8 R_PORT_OVSHOOT 50 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 58 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 16 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 030615,104400,4742.558,-12224.781,3,1.2,3,16.3 TGT_NAME SW

_CALLS 1 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.141,0.197

_SM_DEPTHo 1.22 KALMAN_X -3635.8,-217.0,17.1,4043.5,-669.7

_SM_ANGLEo -66.3 KALMAN_Y -11722.5,368.4,440.2,10210.4,-1110.0

GPS2 030615,105024,4742.546,-12224.846,5,1.0,5,16.3 MHEAD_RNG_PITCHd_Wd 19.2,291,-14.9,-8.000,-18.27,2786

SPEED_LIMITS 0.139,0.242 D_GRID 176

Post-dive calculations and measurements:

FINISH 0.0,1.021644 _10V_AH 10.1,34.445

SM_CCo 3936,18.62,0.727,0,0,1390,235.12 FG_AHR_24Vo 0.000

SM_GC 3.37,7.75,2.03,18.62,0.036,0.028,0.727,195,2049,1390,-8.34,1.22,235.12,0,0,0,0,0,0,26.56,26.65,25.40 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4719.74,-12223.37,300308,000039 MEM 322208

TT8_MAMPS 0.029211,0.029211 DATA_FILE_SIZE 36850,752

HUMID 46.96 CAP_FILE_SIZE 79124,0

INTERNAL_PRESSURE 9.01062 CFSIZE 1024393216,1020198912

TCM_TEMP 15.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 030615,115827,4742.639,-12224.608,36,1.0,36,16.3

_24V_AH 23.1,41.414

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 236 106.48 SBE_CT 507 23 272.06

Roll_motor 51 143 171.84 WL_BBFL2 1031 105 2502.13

VBD_pump_during_apogee 244 1463 8270.54 nil 0 0 0.00

VBD_pump_during_surface 18 726 312.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 9 7.56 nil 0 0 0.00

Iridium_during_connect 40 160 148.14 nil 0 0 0.00

Iridium_during_xfer 218 223 1125.47 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 28 1.97

TT8 1660 17 292.63

LPSleep 417 2 9.23

TT8_Active 353 17 62.36

TT8_Sampling 1788 42 761.60

TT8_CF8 128 58 76.25

TT8_Kalman 33 64 21.68

Analog_circuits 1010 20 204.03

GPS_charging 0 0 0.00

Compass 1513 3 57.16

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 -0.84 -146.6 190 2055 1509 1267 0.0 0.0 0 61 0.00 0.00 -43.60 0.000 16386 0.000 0.000 190 2056 2695 2709 2681 0 0 0 0 0 0 28.83 28.83 28.83

64 -0.84 -146.6 190 2056 2708 2681 3.3 -7.3 7 86 10.07 2.17 -4.72 0.000 18692 0.236 0.052 2604 3446 2912 2937 2888 0 0 0 0 0 0 25.63 26.25 26.68

287 -0.84 -146.6 2604 3446 2938 2888 27.7 -11.2 53 294 0.00 2.10 0.00 0.000 1030 0.000 0.027 2604 2053 2913 2938 2889 0 0 0 0 0 0 28.83 26.48 28.83

357 -0.84 -146.6 1584 2051 2899 2881 34.6 -9.7 66 364 0.00 2.17 0.00 0.000 516 0.000 0.039 2604 663 2913 2938 2888 0 0 0 0 0 0 28.83 26.41 28.83

431 -0.84 -146.6 2604 663 2938 2888 41.9 -9.7 81 438 0.00 2.12 0.00 0.000 1030 0.000 0.026 2595 2060 2913 2938 2888 0 0 0 0 0 0 28.83 26.55 28.83

501 -0.84 -146.6 1552 2057 2898 2880 49.2 -10.7 94 507 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2060 2913 2938 2888 0 0 0 0 0 0 28.83 28.83 28.83

571 -0.84 -146.6 2595 2059 2939 2888 56.0 -9.8 107 576 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2059 2913 2938 2888 0 0 0 0 0 0 28.83 28.83 28.83

699 -0.84 -146.6 2594 2059 2938 2888 69.1 -10.5 132 705 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2059 2913 2939 2888 0 0 0 0 0 0 28.83 28.83 28.83

829 -0.84 -146.6 2594 2059 2939 2888 82.3 -9.8 157 835 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2060 2913 2939 2888 0 0 0 0 0 0 28.83 28.83 28.83

957 -0.84 -146.6 2594 2060 2939 2888 94.0 -8.4 182 964 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2060 2913 2939 2888 0 0 0 0 0 0 28.83 28.83 28.83

1088 -0.84 -146.6 2594 2060 2939 2888 104.9 -8.1 207 1093 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2060 2913 2939 2888 0 0 0 0 0 0 28.83 28.83 28.83

1217 -0.84 -146.6 2595 2060 2939 2888 117.1 -9.1 232 1224 0.00 2.15 0.00 0.000 260 0.000 0.041 2585 3451 2913 2939 2888 0 0 0 0 0 0 28.83 26.53 28.83

1281 -0.84 -146.6 1568 3450 2899 2880 122.8 -8.4 246 1289 0.10 2.08 0.00 0.000 3078 0.132 0.027 2617 2053 2913 2939 2888 0 0 0 0 0 0 26.32 26.70 28.83

1416 -0.84 -146.6 2618 2053 2939 2888 132.8 -7.9 271 1422 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2053 2913 2939 2888 0 0 0 0 0 0 28.83 28.83 28.83

1545 -0.84 -146.6 2617 2053 2939 2888 145.7 -10.9 296 1552 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2053 2913 2939 2888 0 0 0 0 0 0 28.83 28.83 28.83

1676 -0.84 -146.6 2617 2053 2939 2888 158.5 -9.1 321 1683 0.00 2.10 0.00 0.000 516 0.000 0.040 2618 671 2913 2938 2888 0 0 0 0 0 0 28.83 26.55 28.83

1726 -0.84 -146.6 1576 671 2899 2881 163.2 -9.8 331 1733 0.00 2.05 0.00 0.000 1030 0.000 0.026 2610 2061 2913 2939 2888 0 0 0 0 0 0 28.83 26.74 28.83

1856 -0.84 -146.6 2610 2062 2939 2888 166.5 0.3 356 1863 0.00 0.00 0.00 0.000 6 0.000 0.000 2610 2062 2913 2939 2888 0 0 0 0 0 0 28.83 28.83 28.83

1925 end dive: NO_VERTICAL_VELOCITY

state 1925 begin apogee

1930 -0.28 0.0 2610 1999 2939 2888 166.4 0.0 369 2047 0.52 0.00 112.85 1.428 10246 0.076 0.000 2800 1999 2328 2423 2233 0 0 0 0 0 0 26.41 28.83 23.73

2048 end apogee: CONTROL_FINISHED_OK

state 2048 begin climb

2049 0.84 146.6 2800 1999 2423 2234 166.6 0.0 389 2179 1.05 2.35 118.93 1.463 10500 0.077 0.037 3152 3387 1745 1896 1594 0 0 0 0 0 0 24.94 24.28 23.11

2296 0.84 146.6 3152 3387 1895 1594 144.6 13.2 437 2302 0.00 2.15 0.00 0.000 1030 0.000 0.028 3152 2006 1744 1895 1593 0 0 0 0 0 0 28.83 25.58 28.83

2426 0.84 146.6 3152 2006 1895 1593 129.4 11.1 462 2433 0.00 2.30 0.00 0.000 516 0.000 0.042 3154 583 1744 1895 1594 0 0 0 0 0 0 28.83 25.93 28.83

2458 0.84 146.6 3154 583 1895 1594 125.9 11.2 468 2465 0.00 2.17 0.00 0.000 1030 0.000 0.026 3154 1992 1744 1895 1593 0 0 0 0 0 0 28.83 26.11 28.83

2590 0.84 146.6 3154 1991 1895 1593 113.2 9.2 493 2596 0.00 2.12 0.00 0.000 260 0.000 0.038 3154 3386 1744 1895 1593 0 0 0 0 0 0 28.83 26.21 28.83

2657 0.84 146.6 3154 3385 1895 1593 107.5 8.1 507 2663 0.00 2.12 0.00 0.000 1030 0.000 0.028 3154 1969 1744 1895 1593 0 0 0 0 0 0 28.83 26.35 28.83

2787 0.84 146.6 3154 1970 1895 1594 96.2 8.6 532 2794 0.00 2.17 0.00 0.000 516 0.000 0.043 3154 597 1744 1894 1594 0 0 0 0 0 0 28.83 26.33 28.83

2863 0.84 146.6 2144 596 1852 1588 89.4 8.9 548 2870 0.00 2.12 0.00 0.000 1030 0.000 0.026 3154 1992 1744 1895 1594 0 0 0 0 0 0 28.83 26.51 28.83

2994 0.84 146.6 3154 1992 1894 1594 78.4 9.0 573 3000 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1991 1744 1894 1594 0 0 0 0 0 0 28.83 28.83 28.83

3123 0.84 146.6 3154 1991 1894 1593 66.8 8.2 598 3130 0.00 2.22 0.00 0.000 516 0.000 0.043 3154 589 1744 1894 1594 0 0 0 0 0 0 28.83 26.45 28.83

3234 0.84 153.7 2112 589 1849 1587 57.7 7.7 622 3242 0.00 2.12 2.78 0.548 9222 0.000 0.026 3154 1990 1713 1862 1565 0 0 0 0 0 0 28.83 26.63 24.96

3366 0.84 153.7 2112 1989 1820 1559 46.9 8.3 647 3373 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 1990 1714 1863 1565 0 0 0 0 0 0 28.83 28.83 28.83

3436 0.84 153.7 3154 1990 1863 1565 40.9 8.6 660 3444 0.00 2.20 0.00 0.000 516 0.000 0.042 3155 596 1714 1863 1565 0 0 0 0 0 0 28.83 26.51 28.83

3534 0.84 153.7 3154 596 1862 1565 32.2 8.7 680 3541 0.00 2.12 0.00 0.000 1030 0.000 0.026 3154 1997 1714 1863 1565 0 0 0 0 0 0 28.83 26.67 28.83

3603 0.84 153.7 2128 1995 1821 1559 26.1 9.0 693 3610 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 1997 1713 1863 1564 0 0 0 0 0 0 28.83 28.83 28.83

3673 0.84 165.5 2096 1996 1819 1559 20.7 7.6 706 3680 0.00 0.00 4.28 0.612 8198 0.000 0.000 3154 1998 1665 1817 1514 0 0 0 0 0 0 28.83 28.83 25.29

3743 0.84 165.5 2096 1996 1775 1509 14.9 8.8 719 3750 0.00 2.22 0.00 0.000 516 0.000 0.042 3154 589 1665 1817 1514 0 0 0 0 0 0 28.83 26.55 28.83

3794 0.84 165.5 3154 589 1817 1514 10.3 9.8 729 3802 0.00 2.12 0.00 0.000 1030 0.000 0.027 3154 1993 1665 1817 1514 0 0 0 0 0 0 28.83 26.70 28.83

3865 0.84 181.9 2128 1991 1777 1509 4.7 7.4 742 3879 0.00 2.15 5.82 0.619 8452 0.000 0.041 3154 3375 1599 1756 1443 0 0 0 0 0 0 28.83 26.63 25.43

3894 end climb: SURFACE_DEPTH_REACHED

state 3894 begin surface coast

3918 end surface coast: CONTROL_FINISHED_OK

state 3918 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	16	ESCAPE_HEADING	0	C_ROLL_DIVE	2060	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1990	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	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	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	35	SM_CC	235	R_STBD_OVSHOOT	58	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	75	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	-2670.2354	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	150	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	30	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	030615,104400,4742.558,-12224.781,3,1.2,3,16.3	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.141,0.197
_SM_DEPTHo	1.22	KALMAN_X	-3635.8,-217.0,17.1,4043.5,-669.7
_SM_ANGLEo	-66.3	KALMAN_Y	-11722.5,368.4,440.2,10210.4,-1110.0
GPS2	030615,105024,4742.546,-12224.846,5,1.0,5,16.3	MHEAD_RNG_PITCHd_Wd	19.2,291,-14.9,-8.000,-18.27,2786
SPEED_LIMITS	0.139,0.242	D_GRID	176

FINISH	0.0,1.021644	_10V_AH	10.1,34.445
SM_CCo	3936,18.62,0.727,0,0,1390,235.12	FG_AHR_24Vo	0.000
SM_GC	3.37,7.75,2.03,18.62,0.036,0.028,0.727,195,2049,1390,-8.34,1.22,235.12,0,0,0,0,0,0,26.56,26.65,25.40	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4719.74,-12223.37,300308,000039	MEM	322208
TT8_MAMPS	0.029211,0.029211	DATA_FILE_SIZE	36850,752
HUMID	46.96	CAP_FILE_SIZE	79124,0
INTERNAL_PRESSURE	9.01062	CFSIZE	1024393216,1020198912
TCM_TEMP	15.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	030615,115827,4742.639,-12224.608,36,1.0,36,16.3
_24V_AH	23.1,41.414

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	236	106.48	SBE_CT	507	23	272.06
Roll_motor	51	143	171.84	WL_BBFL2	1031	105	2502.13
VBD_pump_during_apogee	244	1463	8270.54	nil	0	0	0.00
VBD_pump_during_surface	18	726	312.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	9	7.56	nil	0	0	0.00
Iridium_during_connect	40	160	148.14	nil	0	0	0.00
Iridium_during_xfer	218	223	1125.47	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	28	1.97
TT8	1660	17	292.63
LPSleep	417	2	9.23
TT8_Active	353	17	62.36
TT8_Sampling	1788	42	761.60
TT8_CF8	128	58	76.25
TT8_Kalman	33	64	21.68
Analog_circuits	1010	20	204.03
GPS_charging	0	0	0.00
Compass	1513	3	57.16
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	-0.84	-146.6	190	2055	1509	1267	0.0	0.0	0	61	0.00	0.00	-43.60	0.000	16386	0.000	0.000	190	2056	2695	2709	2681	0	0	0	0	0	0	28.83	28.83	28.83
64	-0.84	-146.6	190	2056	2708	2681	3.3	-7.3	7	86	10.07	2.17	-4.72	0.000	18692	0.236	0.052	2604	3446	2912	2937	2888	0	0	0	0	0	0	25.63	26.25	26.68
287	-0.84	-146.6	2604	3446	2938	2888	27.7	-11.2	53	294	0.00	2.10	0.00	0.000	1030	0.000	0.027	2604	2053	2913	2938	2889	0	0	0	0	0	0	28.83	26.48	28.83
357	-0.84	-146.6	1584	2051	2899	2881	34.6	-9.7	66	364	0.00	2.17	0.00	0.000	516	0.000	0.039	2604	663	2913	2938	2888	0	0	0	0	0	0	28.83	26.41	28.83
431	-0.84	-146.6	2604	663	2938	2888	41.9	-9.7	81	438	0.00	2.12	0.00	0.000	1030	0.000	0.026	2595	2060	2913	2938	2888	0	0	0	0	0	0	28.83	26.55	28.83
501	-0.84	-146.6	1552	2057	2898	2880	49.2	-10.7	94	507	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2060	2913	2938	2888	0	0	0	0	0	0	28.83	28.83	28.83
571	-0.84	-146.6	2595	2059	2939	2888	56.0	-9.8	107	576	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2059	2913	2938	2888	0	0	0	0	0	0	28.83	28.83	28.83
699	-0.84	-146.6	2594	2059	2938	2888	69.1	-10.5	132	705	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2059	2913	2939	2888	0	0	0	0	0	0	28.83	28.83	28.83
829	-0.84	-146.6	2594	2059	2939	2888	82.3	-9.8	157	835	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2060	2913	2939	2888	0	0	0	0	0	0	28.83	28.83	28.83
957	-0.84	-146.6	2594	2060	2939	2888	94.0	-8.4	182	964	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2060	2913	2939	2888	0	0	0	0	0	0	28.83	28.83	28.83
1088	-0.84	-146.6	2594	2060	2939	2888	104.9	-8.1	207	1093	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2060	2913	2939	2888	0	0	0	0	0	0	28.83	28.83	28.83
1217	-0.84	-146.6	2595	2060	2939	2888	117.1	-9.1	232	1224	0.00	2.15	0.00	0.000	260	0.000	0.041	2585	3451	2913	2939	2888	0	0	0	0	0	0	28.83	26.53	28.83
1281	-0.84	-146.6	1568	3450	2899	2880	122.8	-8.4	246	1289	0.10	2.08	0.00	0.000	3078	0.132	0.027	2617	2053	2913	2939	2888	0	0	0	0	0	0	26.32	26.70	28.83
1416	-0.84	-146.6	2618	2053	2939	2888	132.8	-7.9	271	1422	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2053	2913	2939	2888	0	0	0	0	0	0	28.83	28.83	28.83
1545	-0.84	-146.6	2617	2053	2939	2888	145.7	-10.9	296	1552	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2053	2913	2939	2888	0	0	0	0	0	0	28.83	28.83	28.83
1676	-0.84	-146.6	2617	2053	2939	2888	158.5	-9.1	321	1683	0.00	2.10	0.00	0.000	516	0.000	0.040	2618	671	2913	2938	2888	0	0	0	0	0	0	28.83	26.55	28.83
1726	-0.84	-146.6	1576	671	2899	2881	163.2	-9.8	331	1733	0.00	2.05	0.00	0.000	1030	0.000	0.026	2610	2061	2913	2939	2888	0	0	0	0	0	0	28.83	26.74	28.83
1856	-0.84	-146.6	2610	2062	2939	2888	166.5	0.3	356	1863	0.00	0.00	0.00	0.000	6	0.000	0.000	2610	2062	2913	2939	2888	0	0	0	0	0	0	28.83	28.83	28.83
1925	end dive: NO_VERTICAL_VELOCITY
state	1925	begin apogee
1930	-0.28	0.0	2610	1999	2939	2888	166.4	0.0	369	2047	0.52	0.00	112.85	1.428	10246	0.076	0.000	2800	1999	2328	2423	2233	0	0	0	0	0	0	26.41	28.83	23.73
2048	end apogee: CONTROL_FINISHED_OK
state	2048	begin climb
2049	0.84	146.6	2800	1999	2423	2234	166.6	0.0	389	2179	1.05	2.35	118.93	1.463	10500	0.077	0.037	3152	3387	1745	1896	1594	0	0	0	0	0	0	24.94	24.28	23.11
2296	0.84	146.6	3152	3387	1895	1594	144.6	13.2	437	2302	0.00	2.15	0.00	0.000	1030	0.000	0.028	3152	2006	1744	1895	1593	0	0	0	0	0	0	28.83	25.58	28.83
2426	0.84	146.6	3152	2006	1895	1593	129.4	11.1	462	2433	0.00	2.30	0.00	0.000	516	0.000	0.042	3154	583	1744	1895	1594	0	0	0	0	0	0	28.83	25.93	28.83
2458	0.84	146.6	3154	583	1895	1594	125.9	11.2	468	2465	0.00	2.17	0.00	0.000	1030	0.000	0.026	3154	1992	1744	1895	1593	0	0	0	0	0	0	28.83	26.11	28.83
2590	0.84	146.6	3154	1991	1895	1593	113.2	9.2	493	2596	0.00	2.12	0.00	0.000	260	0.000	0.038	3154	3386	1744	1895	1593	0	0	0	0	0	0	28.83	26.21	28.83
2657	0.84	146.6	3154	3385	1895	1593	107.5	8.1	507	2663	0.00	2.12	0.00	0.000	1030	0.000	0.028	3154	1969	1744	1895	1593	0	0	0	0	0	0	28.83	26.35	28.83
2787	0.84	146.6	3154	1970	1895	1594	96.2	8.6	532	2794	0.00	2.17	0.00	0.000	516	0.000	0.043	3154	597	1744	1894	1594	0	0	0	0	0	0	28.83	26.33	28.83
2863	0.84	146.6	2144	596	1852	1588	89.4	8.9	548	2870	0.00	2.12	0.00	0.000	1030	0.000	0.026	3154	1992	1744	1895	1594	0	0	0	0	0	0	28.83	26.51	28.83
2994	0.84	146.6	3154	1992	1894	1594	78.4	9.0	573	3000	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1991	1744	1894	1594	0	0	0	0	0	0	28.83	28.83	28.83
3123	0.84	146.6	3154	1991	1894	1593	66.8	8.2	598	3130	0.00	2.22	0.00	0.000	516	0.000	0.043	3154	589	1744	1894	1594	0	0	0	0	0	0	28.83	26.45	28.83
3234	0.84	153.7	2112	589	1849	1587	57.7	7.7	622	3242	0.00	2.12	2.78	0.548	9222	0.000	0.026	3154	1990	1713	1862	1565	0	0	0	0	0	0	28.83	26.63	24.96
3366	0.84	153.7	2112	1989	1820	1559	46.9	8.3	647	3373	0.00	0.00	0.00	0.000	6	0.000	0.000	3155	1990	1714	1863	1565	0	0	0	0	0	0	28.83	28.83	28.83
3436	0.84	153.7	3154	1990	1863	1565	40.9	8.6	660	3444	0.00	2.20	0.00	0.000	516	0.000	0.042	3155	596	1714	1863	1565	0	0	0	0	0	0	28.83	26.51	28.83
3534	0.84	153.7	3154	596	1862	1565	32.2	8.7	680	3541	0.00	2.12	0.00	0.000	1030	0.000	0.026	3154	1997	1714	1863	1565	0	0	0	0	0	0	28.83	26.67	28.83
3603	0.84	153.7	2128	1995	1821	1559	26.1	9.0	693	3610	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	1997	1713	1863	1564	0	0	0	0	0	0	28.83	28.83	28.83
3673	0.84	165.5	2096	1996	1819	1559	20.7	7.6	706	3680	0.00	0.00	4.28	0.612	8198	0.000	0.000	3154	1998	1665	1817	1514	0	0	0	0	0	0	28.83	28.83	25.29
3743	0.84	165.5	2096	1996	1775	1509	14.9	8.8	719	3750	0.00	2.22	0.00	0.000	516	0.000	0.042	3154	589	1665	1817	1514	0	0	0	0	0	0	28.83	26.55	28.83
3794	0.84	165.5	3154	589	1817	1514	10.3	9.8	729	3802	0.00	2.12	0.00	0.000	1030	0.000	0.027	3154	1993	1665	1817	1514	0	0	0	0	0	0	28.83	26.70	28.83
3865	0.84	181.9	2128	1991	1777	1509	4.7	7.4	742	3879	0.00	2.15	5.82	0.619	8452	0.000	0.041	3154	3375	1599	1756	1443	0	0	0	0	0	0	28.83	26.63	25.43
3894	end climb: SURFACE_DEPTH_REACHED
state	3894	begin surface coast
3918	end surface coast: CONTROL_FINISHED_OK
state	3918	begin surface