Glider dive log

Cuddy Oct13 * SG195 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 195 HD_C 1.6100001e-05 ROLL_MAX 3758 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 8 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 17 ESCAPE_HEADING 0 C_ROLL_DIVE 2025 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 48 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 350 R_STBD_OVSHOOT 36 XPDR_VALID 3

D_BOOST 10 N_FILEKB 4 ROLL_AD_RATE 350 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 -0.77999997

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2820 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 115

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 390 CALL_WAIT 45 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 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 0 T_GPS_CHARGE -4439.1201 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 12 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 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 2550 FG_AHR_10V 0 SEABIRD_T_G 0.0043948898

GLIDE_SLOPE 40 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000640176

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.7039805e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -50.110214 SEABIRD_T_J 3.3535807e-06

MASS 59371 PITCH_GAIN 22.200001 PRESSURE_SLOPE 0.0001168043 SEABIRD_C_G -9.7607336

MASS_COMP 3973.1001 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1271561

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014806761

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019408959

KALMAN_USE 13 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 224 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 350

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 10 D_TGT 990 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 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22.200001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 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 3 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 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 330

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001168043 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -50.110214 T_GPS 5

CALL_WAIT 45 HD_C 1.6100001e-05 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -4439.1201

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 390

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 195 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 12

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT -0.77999997 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 13 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2550 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2025 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2025 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2820 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3758 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 59371 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3973.1001 ROLL_MIN 224 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 48 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 36 VBD_MIN 500

DEVICE4 -1 MISSION 8 SEABIRD_C_G -9.7607336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1271561 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0014806761 VBD_TIMEOUT 720

DIVE 17 NOCOMM_ACTION 163 SEABIRD_C_J 0.00019408959 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043948898 XPDR_DEVICE 24

D_BOOST 10 N_FILEKB 4 SEABIRD_T_H 0.000640176 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.7039805e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.3535807e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 271013,212517,4713.339,-12500.003,12,1.2,12,16.6 TGT_NAME SEARCH_A

_CALLS 3 TGT_LATLONG 4750.000,-12525.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.112,0.232

_SM_DEPTHo 0.89 KALMAN_X 650.9,0.0,0.0,-1469.3,650.9

_SM_ANGLEo -52.8 KALMAN_Y -1194.7,0.0,0.0,3445.5,-1194.7

GPS2 271013,213558,4713.291,-12500.137,6,0.7,6,16.6 MHEAD_RNG_PITCHd_Wd 317.7,74682,-17.6,-10.000,-21.21,2208

SPEED_LIMITS 0.119,0.258 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.023980 _24V_AH 24.1,3.527

SM_CCo 8278,85.38,0.324,5,0,1392,350.04 _10V_AH 10.3,3.522

SM_GC 0.70,6.85,0.00,85.38,0.030,0.000,0.324,186,2014,1392,-7.27,-0.31,350.04,0,0,0,0,5,0,26.18,28.83,25.22 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4654.38,-12501.34,271013,212118 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 314492

HUMID 42.99 DATA_FILE_SIZE 27016,352

INTERNAL_PRESSURE 8.90787 CAP_FILE_SIZE 84054,0

TCM_TEMP 11.90 CFSIZE 2097872896,2093285376

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0

ALTIM_BOTTOM_PING 383.6,64.4 GPS 271013,235729,4714.594,-12500.390,41,1.0,41,16.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 213 85.90 SBE_CT 240 22 130.42

Roll_motor 65 54 85.38 AA4330 466 11 126.18

VBD_pump_during_apogee 300 813 5887.73 WL_BB2FLVMT 755 105 1912.18

VBD_pump_during_surface 85 324 667.38 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 nil 0 0 0.00

Iridium_during_xfer 493 77 918.71 nil 0 0 0.00

Transponder_ping 7 420 75.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 30 2.38

TT8 1027 15 161.01

LPSleep 5673 2 127.99

TT8_Active 435 15 68.25

TT8_Sampling 1849 43 832.02

TT8_CF8 60 53 33.18

TT8_Kalman 0 69 0.26

Analog_circuits 1564 14 225.56

GPS_charging 0 0 0.00

Compass 1333 8 113.16

RAFOS 0 0 0.00

Transponder 49 30 15.31

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 -0.79 -146.6 176 2015 1478 1273 0.0 0.0 0 80 0.00 0.00 -63.22 0.000 16386 0.000 0.000 175 2015 2981 2992 2971 0 0 0 0 0 0 28.83 28.83 28.83

83 -0.79 -146.6 175 2015 2994 2971 3.1 -5.2 6 111 8.00 2.15 -10.25 0.000 18948 0.213 0.054 2288 630 3418 3431 3406 0 0 0 0 0 0 25.70 25.95 26.27

123 -0.79 -146.6 2288 630 3432 3406 11.2 -17.6 10 133 0.00 2.15 0.00 0.000 1030 0.000 0.035 2280 2027 3419 3432 3407 0 0 0 0 0 0 28.83 25.99 28.83

434 -0.79 -146.6 2280 2026 3435 3407 56.2 -13.8 41 444 0.00 2.20 0.00 0.000 260 0.000 0.044 2269 3434 3420 3434 3407 0 0 0 0 0 0 28.83 26.15 28.83

741 -0.79 -146.6 2269 3433 3436 3407 101.3 -14.3 64 747 0.00 2.15 0.00 0.000 1030 0.000 0.028 2269 2012 3421 3436 3407 0 0 0 0 0 0 28.83 26.32 28.83

1061 -0.79 -146.6 2269 2012 3437 3407 136.0 -9.9 80 1067 0.00 2.20 0.00 0.000 260 0.000 0.046 2259 3426 3422 3437 3407 0 0 0 0 0 0 28.83 26.33 28.83

1361 -0.79 -146.6 2258 3426 3437 3407 165.4 -10.8 92 1370 0.10 2.15 0.00 0.000 3078 0.120 0.029 2293 2013 3421 3437 3406 0 0 0 0 0 0 26.27 26.45 28.83

1668 -0.79 -146.6 2292 2012 3436 3406 199.4 -10.3 103 1674 0.00 2.20 0.00 0.000 260 0.000 0.047 2285 3429 3421 3436 3407 0 0 0 0 0 0 28.83 26.43 28.83

1702 -0.79 -146.6 2284 3429 3436 3407 202.6 -10.3 104 1707 0.00 2.15 0.00 0.000 1030 0.000 0.028 2285 2016 3421 3437 3406 0 0 0 0 0 0 28.83 26.49 28.83

2031 -0.79 -146.6 2285 2016 3436 3407 236.6 -10.2 115 2037 0.00 2.20 0.00 0.000 260 0.000 0.047 2274 3426 3421 3436 3407 0 0 0 0 0 0 28.83 26.46 28.83

2099 -0.79 -146.6 2274 3427 3436 3406 243.0 -10.5 117 2103 0.00 2.12 0.00 0.000 1030 0.000 0.029 2274 2025 3421 3436 3407 0 0 0 0 0 0 28.83 26.53 28.83

2422 -0.79 -146.6 2274 2025 3436 3407 277.9 -10.3 128 2423 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2025 3420 3435 3406 0 0 0 0 0 0 28.83 28.83 28.83

2722 -0.79 -146.6 2274 2025 3435 3406 309.5 -10.5 137 2728 0.00 2.17 0.00 0.000 260 0.000 0.047 2264 3426 3420 3434 3406 0 0 0 0 0 0 28.83 26.51 28.83

2783 -0.79 -146.6 2263 3426 3434 3407 315.9 -10.6 138 2788 0.00 2.08 0.00 0.000 1030 0.000 0.030 2264 2017 3420 3434 3406 0 0 0 0 0 0 28.83 26.58 28.83

3143 -0.79 -146.6 2264 2016 3434 3406 356.0 -11.4 144 3149 0.12 2.17 0.00 0.000 2308 0.145 0.046 2297 3425 3420 3434 3406 0 0 0 0 0 0 26.47 26.53 28.83

3240 -0.79 -146.6 2296 3425 3434 3405 362.1 -11.2 145 3244 0.00 2.08 0.00 0.000 1030 0.000 0.030 2297 2024 3420 3434 3406 0 0 0 0 0 0 28.83 26.60 28.83

3563 -0.79 -146.6 2297 2024 3434 3405 393.8 -8.5 151 3569 0.00 2.17 0.00 0.000 260 0.000 0.048 2286 3426 3419 3434 3404 0 0 0 0 0 0 28.83 26.55 28.83

3636 -0.79 -146.6 2286 3425 3434 3404 399.5 -8.7 152 3640 0.00 2.08 0.00 0.000 1030 0.000 0.030 2286 2024 3419 3434 3404 0 0 0 0 0 0 28.83 26.62 28.83

3984 -0.79 -146.6 2286 2024 3433 3404 432.4 -9.1 158 3990 0.00 2.17 0.00 0.000 260 0.000 0.048 2276 3427 3418 3433 3404 0 0 0 0 0 0 28.83 26.57 28.83

4043 end dive: BOTTOM_OBSTACLE_DETECTED

state 4043 begin apogee

4048 -0.23 0.0 2276 2018 3433 3404 438.5 -9.4 159 4165 0.57 0.00 110.38 0.813 10246 0.103 0.000 2474 2018 2819 2915 2724 0 0 0 0 0 0 26.48 28.83 24.41

4166 end apogee: CONTROL_FINISHED_OK

state 4167 begin climb

4168 0.79 146.6 2474 2017 2915 2725 442.1 0.0 161 4291 0.90 2.35 114.65 0.805 10756 0.060 0.044 2812 638 2221 2340 2103 0 0 0 0 0 0 25.15 24.77 24.12

4336 0.79 146.6 2811 638 2337 2102 436.4 6.8 163 4345 0.00 2.25 0.00 0.000 1030 0.000 0.034 2812 2011 2219 2337 2102 0 0 0 0 0 0 28.83 25.26 28.83

4644 0.79 146.6 2812 2011 2336 2099 392.0 12.8 169 4650 0.00 2.28 0.00 0.000 260 0.000 0.046 2811 3447 2217 2336 2099 0 0 0 0 0 0 28.83 25.87 28.83

4732 0.79 146.6 2811 3447 2336 2099 384.0 13.1 170 4736 0.00 2.22 0.00 0.000 1030 0.000 0.031 2822 2023 2217 2336 2099 0 0 0 0 0 0 28.83 25.99 28.83

5065 0.79 146.6 2821 2023 2334 2099 339.2 12.6 176 5066 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2022 2216 2334 2099 0 0 0 0 0 0 28.83 28.83 28.83

5364 0.79 146.6 2821 2023 2333 2098 301.8 12.4 181 5366 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2022 2216 2333 2099 0 0 0 0 0 0 28.83 28.83 28.83

5664 0.79 146.6 2821 2023 2332 2099 266.0 12.5 190 5670 0.00 2.15 0.00 0.000 516 0.000 0.044 2832 632 2215 2332 2099 0 0 0 0 0 0 28.83 26.32 28.83

5726 0.79 146.6 2831 632 2330 2099 258.6 12.4 192 5731 0.00 2.17 0.00 0.000 1030 0.000 0.034 2832 2028 2214 2330 2099 0 0 0 0 0 0 28.83 26.38 28.83

6055 0.79 146.6 2832 2028 2330 2098 214.3 13.5 203 6061 0.00 2.20 0.00 0.000 260 0.000 0.046 2832 3441 2214 2330 2099 0 0 0 0 0 0 28.83 26.39 28.83

6123 0.79 146.6 2832 3440 2330 2099 206.1 13.4 205 6128 0.15 2.15 0.00 0.000 5126 0.152 0.031 2802 2011 2214 2329 2099 0 0 0 0 0 0 26.27 26.44 28.83

6446 0.79 146.6 2803 2011 2330 2098 169.0 11.4 216 6447 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2011 2214 2330 2098 0 0 0 0 0 0 28.83 28.83 28.83

6746 0.79 146.6 2802 2011 2330 2098 134.0 11.6 228 6747 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2011 2213 2330 2097 0 0 0 0 0 0 28.83 28.83 28.83

7046 0.79 163.5 2803 2011 2330 2097 104.1 9.2 243 7067 0.00 2.15 12.73 0.578 8708 0.000 0.043 2810 631 2153 2272 2034 0 0 0 0 0 0 28.83 26.34 25.67

7212 0.79 163.5 2810 631 2271 2034 87.5 10.7 251 7217 0.00 2.17 0.00 0.000 1030 0.000 0.034 2811 2031 2152 2271 2033 0 0 0 0 0 0 28.83 26.42 28.83

7521 0.79 171.8 2810 2030 2271 2033 56.2 9.6 278 7531 0.00 0.00 7.57 0.471 8198 0.000 0.000 2810 2031 2118 2239 1998 0 0 0 0 0 0 28.83 28.83 25.67

7831 0.79 221.2 2810 2031 2239 1998 32.1 7.7 309 7872 0.00 2.25 31.62 0.562 8452 0.000 0.046 2810 3424 1917 2056 1778 0 0 0 0 0 0 28.83 26.05 25.46

7946 0.79 268.1 2809 3424 2056 1775 22.5 7.8 320 7976 0.00 2.12 23.48 0.514 9222 0.000 0.030 2819 2014 1725 1867 1583 0 0 0 0 0 0 28.83 26.16 25.32

8244 end climb: SURFACE_DEPTH_REACHED

state 8244 begin surface coast

8265 end surface coast: CONTROL_FINISHED_OK

state 8266 begin surface

ID	195	HD_C	1.6100001e-05	ROLL_MAX	3758	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	8	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	17	ESCAPE_HEADING	0	C_ROLL_DIVE	2025	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	48	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	350	R_STBD_OVSHOOT	36	XPDR_VALID	3
D_BOOST	10	N_FILEKB	4	ROLL_AD_RATE	350	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	-0.77999997
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2820	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	115
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	390	CALL_WAIT	45	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	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	0	T_GPS_CHARGE	-4439.1201	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	12	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	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	2550	FG_AHR_10V	0	SEABIRD_T_G	0.0043948898
GLIDE_SLOPE	40	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000640176
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.7039805e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-50.110214	SEABIRD_T_J	3.3535807e-06
MASS	59371	PITCH_GAIN	22.200001	PRESSURE_SLOPE	0.0001168043	SEABIRD_C_G	-9.7607336
MASS_COMP	3973.1001	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1271561
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014806761
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019408959
KALMAN_USE	13	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	224	ALTIM_TOP_PING_RANGE	0

GPS1	271013,212517,4713.339,-12500.003,12,1.2,12,16.6	TGT_NAME	SEARCH_A
_CALLS	3	TGT_LATLONG	4750.000,-12525.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.112,0.232
_SM_DEPTHo	0.89	KALMAN_X	650.9,0.0,0.0,-1469.3,650.9
_SM_ANGLEo	-52.8	KALMAN_Y	-1194.7,0.0,0.0,3445.5,-1194.7
GPS2	271013,213558,4713.291,-12500.137,6,0.7,6,16.6	MHEAD_RNG_PITCHd_Wd	317.7,74682,-17.6,-10.000,-21.21,2208
SPEED_LIMITS	0.119,0.258	D_GRID	990

FINISH	-0.1,1.023980	_24V_AH	24.1,3.527
SM_CCo	8278,85.38,0.324,5,0,1392,350.04	_10V_AH	10.3,3.522
SM_GC	0.70,6.85,0.00,85.38,0.030,0.000,0.324,186,2014,1392,-7.27,-0.31,350.04,0,0,0,0,5,0,26.18,28.83,25.22	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4654.38,-12501.34,271013,212118	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	314492
HUMID	42.99	DATA_FILE_SIZE	27016,352
INTERNAL_PRESSURE	8.90787	CAP_FILE_SIZE	84054,0
TCM_TEMP	11.90	CFSIZE	2097872896,2093285376
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
ALTIM_BOTTOM_PING	383.6,64.4	GPS	271013,235729,4714.594,-12500.390,41,1.0,41,16.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	213	85.90	SBE_CT	240	22	130.42
Roll_motor	65	54	85.38	AA4330	466	11	126.18
VBD_pump_during_apogee	300	813	5887.73	WL_BB2FLVMT	755	105	1912.18
VBD_pump_during_surface	85	324	667.38	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	nil	0	0	0.00
Iridium_during_xfer	493	77	918.71	nil	0	0	0.00
Transponder_ping	7	420	75.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	30	2.38
TT8	1027	15	161.01
LPSleep	5673	2	127.99
TT8_Active	435	15	68.25
TT8_Sampling	1849	43	832.02
TT8_CF8	60	53	33.18
TT8_Kalman	0	69	0.26
Analog_circuits	1564	14	225.56
GPS_charging	0	0	0.00
Compass	1333	8	113.16
RAFOS	0	0	0.00
Transponder	49	30	15.31

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	-0.79	-146.6	176	2015	1478	1273	0.0	0.0	0	80	0.00	0.00	-63.22	0.000	16386	0.000	0.000	175	2015	2981	2992	2971	0	0	0	0	0	0	28.83	28.83	28.83
83	-0.79	-146.6	175	2015	2994	2971	3.1	-5.2	6	111	8.00	2.15	-10.25	0.000	18948	0.213	0.054	2288	630	3418	3431	3406	0	0	0	0	0	0	25.70	25.95	26.27
123	-0.79	-146.6	2288	630	3432	3406	11.2	-17.6	10	133	0.00	2.15	0.00	0.000	1030	0.000	0.035	2280	2027	3419	3432	3407	0	0	0	0	0	0	28.83	25.99	28.83
434	-0.79	-146.6	2280	2026	3435	3407	56.2	-13.8	41	444	0.00	2.20	0.00	0.000	260	0.000	0.044	2269	3434	3420	3434	3407	0	0	0	0	0	0	28.83	26.15	28.83
741	-0.79	-146.6	2269	3433	3436	3407	101.3	-14.3	64	747	0.00	2.15	0.00	0.000	1030	0.000	0.028	2269	2012	3421	3436	3407	0	0	0	0	0	0	28.83	26.32	28.83
1061	-0.79	-146.6	2269	2012	3437	3407	136.0	-9.9	80	1067	0.00	2.20	0.00	0.000	260	0.000	0.046	2259	3426	3422	3437	3407	0	0	0	0	0	0	28.83	26.33	28.83
1361	-0.79	-146.6	2258	3426	3437	3407	165.4	-10.8	92	1370	0.10	2.15	0.00	0.000	3078	0.120	0.029	2293	2013	3421	3437	3406	0	0	0	0	0	0	26.27	26.45	28.83
1668	-0.79	-146.6	2292	2012	3436	3406	199.4	-10.3	103	1674	0.00	2.20	0.00	0.000	260	0.000	0.047	2285	3429	3421	3436	3407	0	0	0	0	0	0	28.83	26.43	28.83
1702	-0.79	-146.6	2284	3429	3436	3407	202.6	-10.3	104	1707	0.00	2.15	0.00	0.000	1030	0.000	0.028	2285	2016	3421	3437	3406	0	0	0	0	0	0	28.83	26.49	28.83
2031	-0.79	-146.6	2285	2016	3436	3407	236.6	-10.2	115	2037	0.00	2.20	0.00	0.000	260	0.000	0.047	2274	3426	3421	3436	3407	0	0	0	0	0	0	28.83	26.46	28.83
2099	-0.79	-146.6	2274	3427	3436	3406	243.0	-10.5	117	2103	0.00	2.12	0.00	0.000	1030	0.000	0.029	2274	2025	3421	3436	3407	0	0	0	0	0	0	28.83	26.53	28.83
2422	-0.79	-146.6	2274	2025	3436	3407	277.9	-10.3	128	2423	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2025	3420	3435	3406	0	0	0	0	0	0	28.83	28.83	28.83
2722	-0.79	-146.6	2274	2025	3435	3406	309.5	-10.5	137	2728	0.00	2.17	0.00	0.000	260	0.000	0.047	2264	3426	3420	3434	3406	0	0	0	0	0	0	28.83	26.51	28.83
2783	-0.79	-146.6	2263	3426	3434	3407	315.9	-10.6	138	2788	0.00	2.08	0.00	0.000	1030	0.000	0.030	2264	2017	3420	3434	3406	0	0	0	0	0	0	28.83	26.58	28.83
3143	-0.79	-146.6	2264	2016	3434	3406	356.0	-11.4	144	3149	0.12	2.17	0.00	0.000	2308	0.145	0.046	2297	3425	3420	3434	3406	0	0	0	0	0	0	26.47	26.53	28.83
3240	-0.79	-146.6	2296	3425	3434	3405	362.1	-11.2	145	3244	0.00	2.08	0.00	0.000	1030	0.000	0.030	2297	2024	3420	3434	3406	0	0	0	0	0	0	28.83	26.60	28.83
3563	-0.79	-146.6	2297	2024	3434	3405	393.8	-8.5	151	3569	0.00	2.17	0.00	0.000	260	0.000	0.048	2286	3426	3419	3434	3404	0	0	0	0	0	0	28.83	26.55	28.83
3636	-0.79	-146.6	2286	3425	3434	3404	399.5	-8.7	152	3640	0.00	2.08	0.00	0.000	1030	0.000	0.030	2286	2024	3419	3434	3404	0	0	0	0	0	0	28.83	26.62	28.83
3984	-0.79	-146.6	2286	2024	3433	3404	432.4	-9.1	158	3990	0.00	2.17	0.00	0.000	260	0.000	0.048	2276	3427	3418	3433	3404	0	0	0	0	0	0	28.83	26.57	28.83
4043	end dive: BOTTOM_OBSTACLE_DETECTED
state	4043	begin apogee
4048	-0.23	0.0	2276	2018	3433	3404	438.5	-9.4	159	4165	0.57	0.00	110.38	0.813	10246	0.103	0.000	2474	2018	2819	2915	2724	0	0	0	0	0	0	26.48	28.83	24.41
4166	end apogee: CONTROL_FINISHED_OK
state	4167	begin climb
4168	0.79	146.6	2474	2017	2915	2725	442.1	0.0	161	4291	0.90	2.35	114.65	0.805	10756	0.060	0.044	2812	638	2221	2340	2103	0	0	0	0	0	0	25.15	24.77	24.12
4336	0.79	146.6	2811	638	2337	2102	436.4	6.8	163	4345	0.00	2.25	0.00	0.000	1030	0.000	0.034	2812	2011	2219	2337	2102	0	0	0	0	0	0	28.83	25.26	28.83
4644	0.79	146.6	2812	2011	2336	2099	392.0	12.8	169	4650	0.00	2.28	0.00	0.000	260	0.000	0.046	2811	3447	2217	2336	2099	0	0	0	0	0	0	28.83	25.87	28.83
4732	0.79	146.6	2811	3447	2336	2099	384.0	13.1	170	4736	0.00	2.22	0.00	0.000	1030	0.000	0.031	2822	2023	2217	2336	2099	0	0	0	0	0	0	28.83	25.99	28.83
5065	0.79	146.6	2821	2023	2334	2099	339.2	12.6	176	5066	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2022	2216	2334	2099	0	0	0	0	0	0	28.83	28.83	28.83
5364	0.79	146.6	2821	2023	2333	2098	301.8	12.4	181	5366	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2022	2216	2333	2099	0	0	0	0	0	0	28.83	28.83	28.83
5664	0.79	146.6	2821	2023	2332	2099	266.0	12.5	190	5670	0.00	2.15	0.00	0.000	516	0.000	0.044	2832	632	2215	2332	2099	0	0	0	0	0	0	28.83	26.32	28.83
5726	0.79	146.6	2831	632	2330	2099	258.6	12.4	192	5731	0.00	2.17	0.00	0.000	1030	0.000	0.034	2832	2028	2214	2330	2099	0	0	0	0	0	0	28.83	26.38	28.83
6055	0.79	146.6	2832	2028	2330	2098	214.3	13.5	203	6061	0.00	2.20	0.00	0.000	260	0.000	0.046	2832	3441	2214	2330	2099	0	0	0	0	0	0	28.83	26.39	28.83
6123	0.79	146.6	2832	3440	2330	2099	206.1	13.4	205	6128	0.15	2.15	0.00	0.000	5126	0.152	0.031	2802	2011	2214	2329	2099	0	0	0	0	0	0	26.27	26.44	28.83
6446	0.79	146.6	2803	2011	2330	2098	169.0	11.4	216	6447	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2011	2214	2330	2098	0	0	0	0	0	0	28.83	28.83	28.83
6746	0.79	146.6	2802	2011	2330	2098	134.0	11.6	228	6747	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2011	2213	2330	2097	0	0	0	0	0	0	28.83	28.83	28.83
7046	0.79	163.5	2803	2011	2330	2097	104.1	9.2	243	7067	0.00	2.15	12.73	0.578	8708	0.000	0.043	2810	631	2153	2272	2034	0	0	0	0	0	0	28.83	26.34	25.67
7212	0.79	163.5	2810	631	2271	2034	87.5	10.7	251	7217	0.00	2.17	0.00	0.000	1030	0.000	0.034	2811	2031	2152	2271	2033	0	0	0	0	0	0	28.83	26.42	28.83
7521	0.79	171.8	2810	2030	2271	2033	56.2	9.6	278	7531	0.00	0.00	7.57	0.471	8198	0.000	0.000	2810	2031	2118	2239	1998	0	0	0	0	0	0	28.83	28.83	25.67
7831	0.79	221.2	2810	2031	2239	1998	32.1	7.7	309	7872	0.00	2.25	31.62	0.562	8452	0.000	0.046	2810	3424	1917	2056	1778	0	0	0	0	0	0	28.83	26.05	25.46
7946	0.79	268.1	2809	3424	2056	1775	22.5	7.8	320	7976	0.00	2.12	23.48	0.514	9222	0.000	0.030	2819	2014	1725	1867	1583	0	0	0	0	0	0	28.83	26.16	25.32
8244	end climb: SURFACE_DEPTH_REACHED
state	8244	begin surface coast
8265	end surface coast: CONTROL_FINISHED_OK
state	8266	begin surface