Glider dive log

Shilshole 10Jul18 * SG038 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 38 HD_B 0.013 ROLL_MAX 3925 ALTIM_BOTTOM_PING_RANGE 0

MISSION 13 HD_C 2.4999999e-05 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

DIVE 8 HEADING -1 C_ROLL_DIVE 1971 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2428 ALTIM_TOP_TURN_MARGIN 0

STOP_T 7111819 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 3 TGT_DEFAULT_LAT 2630 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -7630 R_PORT_OVSHOOT 45 ALTIM_FREQUENCY 12

D_ABORT 6000 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 27 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 300 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 1

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 2

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 200 INT_PRESSURE_YINT 1.2

D_SAFE 0 PROTOCOL 9 VBD_MAX 3900 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 1675 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 384 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 -1

T_DIVE 80 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 90 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00059000001 DEVICE5 -1

T_ABORT 120 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE6 -1

T_TURN 540 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 2 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS -15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 2 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 150 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3880 MINV_24V 17 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3376 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 150 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0043154242

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00062410574

GLIDE_SLOPE 30 P_OVSHOOT 0.026000001 FG_AHR_10V 0 SEABIRD_T_I 2.302181e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.1286 FG_AHR_24V 0 SEABIRD_T_J 2.4339581e-06

RHO 1.023 PITCH_GAIN 19.6 PHONE_SUPPLY 2 SEABIRD_C_G -9.7676115

MASS 80150 PITCH_TIMEOUT 20 PRESSURE_YINT -20.373196 SEABIRD_C_H 1.1309991

MASS_COMP 11240.1 PITCH_AD_RATE 160 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0018490348

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00021460596

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2943.3999

KALMAN_USE 2 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.0049999999 ROLL_MIN 150 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

AH0_10V 100 D_SURF 3 PITCH_ADJ_GAIN 0.02 SM_CC 300

AH0_24V 150 D_TGT 180 PITCH_AD_RATE 160 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STOP_T 7111819

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 12 FERRY_MAX 45 PITCH_GAIN 19.6 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 150 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00059000001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 2630

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0049999999 PITCH_W_GAIN 0 TGT_DEFAULT_LON -7630

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 0 T_ABORT 120

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -20.373196 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 80

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.026000001 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.1286 T_GPS -15

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 38 RAFOS_DEVICE -1 T_MISSION 90

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1.2 RAFOS_MMODEM 0 T_RSLEEP 2

COMPASS_DEVICE 33 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 0 T_TURN 540

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 3376 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2428 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_DIVE 1971 LOGGERS 0 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_VBD 1675 MASS 80150 ROLL_CNV 0.028270001 USE_BATHY 0

DBDW 0 MASS_COMP 11240.1 ROLL_DEG 45 USE_ICE 0

DEEPGLIDER 1 MAXI_10V 0.60000002 ROLL_MAX 3925 VBD_BLEED_AD_RATE 2

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE2 101 MAX_BUOY 150 ROLL_MIN 150 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 17 R_PORT_OVSHOOT 45 VBD_MAX 3900

DEVICE5 -1 MISSION 13 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7676115 VBD_MIN 200

DIVE 8 NAV_MODE 2 SEABIRD_C_H 1.1309991 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 6000 NOCOMM_ACTION 384 SEABIRD_C_I -0.0018490348 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00021460596 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2943.3999 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.0043154242 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00062410574 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.302181e-05 XPDR_VALID 2

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.4339581e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 110718,041846,4744.0200,-12224.4727,5,0.8,13,16.3,0.0,0.0,11,4.6 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4743.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 1.12 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -68.5 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 110718,042543,4744.0200,-12224.5244,7,0.9,16,16.3,0.0,0.0,11,4.8 MHEAD_RNG_PITCHd_Wd 172.1,1889,-16.3,-7.500,-19.74,2948

SPEED_LIMITS 0.130,0.209 D_GRID 180

Post-dive calculations and measurements:

FINISH -0.2,0.999180 _24V_AH 24.01,23.486

SM_CCo 4295,80.88,0.782,0,0,642,300.08 _10V_AH 10.65,12.422

SM_GC 1.41,9.18,0.65,80.88,0.070,0.082,0.782,125,1957,642,-10.07,1.05,300.08,0,0,0,0,0,0,26.27,26.27,24.52 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4743.02,-12222.38,110718,030029 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.196238 MEM 312536

HUMID 17.15 DATA_FILE_SIZE 31321,469

INTERNAL_PRESSURE 8.15339 CAP_FILE_SIZE 74259,0

TCM_TEMP 12.50 CFSIZE 2047311872,2039644160

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

ALTIM_TOP_PING 19.4,18.9 CURRENT 0.033,170.59,1

ALTIM_BOTTOM_PING 100.2,0.0 GPS 110718,054045,4743.533,-12224.659,9,1.4,49,16.3,0.2,0.0,9,6.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 265 143.21 SBE_CT 317 23 176.77

Roll_motor 69 104 174.65 AA4330 621 13 201.10

VBD_pump_during_apogee 272 906 5928.55 nil 0 0 0.00

VBD_pump_during_surface 80 782 1518.78 nil 0 0 0.00

VBD_valve 211 144 732.44 nil 0 0 0.00

Iridium_during_init 24 126 73.24 nil 0 0 0.00

Iridium_during_connect 37 160 143.43 nil 0 0 0.00

Iridium_during_xfer 267 223 1431.95 nil 0 0 0.00

Transponder_ping 1 420 10.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.94

TT8 1269 15 209.10

LPSleep 1651 2 38.53

TT8_Active 591 15 97.43

TT8_Sampling 1244 41 552.63

TT8_CF8 64 64 44.26

TT8_Kalman 0 0 0.00

Analog_circuits 1135 10 120.94

GPS_charging 0 0 0.00

Compass 870 8 76.42

RAFOS 0 0 0.00

Transponder 7 30 2.25

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

6 -0.92 -146.6 179 1971 647 618 0.0 0.0 0 228 0.00 0.00 -211.82 0.144 16390 0.000 0.000 180 1972 2179 2207 2152 0 0 0 0 0 0 26.13 25.70 25.63 8.22 18.06

231 -0.92 -146.6 179 1972 2208 2152 3.2 -4.2 35 252 11.15 2.53 0.00 0.000 2820 0.266 0.079 3085 398 2178 2205 2151 0 0 0 0 0 0 25.49 25.70 25.69 8.37 16.80

523 -0.84 -146.6 3085 398 2196 2151 39.2 -12.3 75 532 0.10 2.40 0.00 0.000 3078 0.219 0.072 3105 1973 2173 2196 2151 0 0 0 0 0 0 25.98 26.08 26.12 8.38 17.12

651 -0.84 -146.6 3105 1973 2196 2149 51.3 -8.1 88 655 0.00 2.45 0.00 0.000 260 0.000 0.097 3095 3564 2172 2196 2149 0 0 0 0 0 0 26.45 26.15 26.46 8.38 17.04

762 -0.84 -146.6 3094 3564 2196 2147 61.1 -8.3 99 772 0.00 2.40 0.00 0.000 1030 0.000 0.072 3095 1964 2172 2196 2148 0 0 0 0 0 0 26.32 26.25 26.33 8.37 17.04

892 -0.84 -146.6 3094 1964 2196 2147 71.7 -8.4 112 897 0.00 2.50 0.00 0.000 260 0.000 0.097 3084 3564 2172 2196 2148 0 0 0 0 0 0 26.57 26.25 26.58 8.37 17.78

926 -0.84 -146.6 3083 3564 2196 2147 74.6 -8.6 115 935 0.00 2.40 0.00 0.000 1030 0.000 0.074 3084 1976 2171 2196 2147 0 0 0 0 0 0 26.36 26.32 26.37 8.37 17.04

1054 -0.84 -146.6 3083 1977 2196 2147 86.7 -9.1 128 1055 0.00 0.00 0.00 0.000 6 0.000 0.000 3084 1977 2171 2196 2146 0 0 0 0 0 0 26.62 26.63 26.63 8.37 17.27

1174 -0.84 -146.6 3083 1977 2196 2146 96.6 -7.7 140 1179 0.00 2.45 0.00 0.000 260 0.000 0.094 3073 3557 2171 2196 2147 0 0 0 0 0 0 26.65 26.34 26.66 8.36 17.23

1300 -0.84 -146.6 3073 3557 2196 2145 107.5 -8.8 152 1306 0.12 2.38 0.00 0.000 3078 0.196 0.074 3114 1958 2170 2196 2145 0 0 0 0 0 0 26.30 26.42 26.44 8.36 17.12

1553 -0.84 -146.6 3113 1957 2196 2145 126.7 -7.3 177 1562 0.00 2.50 0.00 0.000 260 0.000 0.097 3104 3565 2170 2196 2145 0 0 0 0 0 0 26.73 26.42 26.74 8.36 17.27

1617 -0.84 -146.6 3104 3565 2196 2144 131.7 -7.5 183 1625 0.00 2.40 0.00 0.000 1030 0.000 0.072 3104 1978 2170 2196 2144 0 0 0 0 0 0 26.51 26.47 26.53 8.36 17.31

1865 -0.84 -146.6 3104 1978 2196 2144 151.6 -8.1 208 1870 0.00 2.45 0.00 0.000 260 0.000 0.097 3094 3566 2170 2196 2144 0 0 0 0 0 0 26.77 26.46 26.78 8.35 17.75

1967 -0.84 -146.6 3093 3566 2196 2144 160.0 -8.0 218 1972 0.00 2.40 0.00 0.000 1030 0.000 0.074 3094 1952 2170 2196 2144 0 0 0 0 0 0 26.59 26.51 26.60 8.35 17.27

2118 end dive: BOTTOM_OBSTACLE_DETECTED

state 2118 begin apogee

2123 -0.26 0.0 3091 2423 2196 2143 172.8 -8.8 233 2232 0.55 0.00 105.10 0.906 10246 0.159 0.000 3289 2424 1674 1697 1652 0 0 0 0 0 0 26.44 24.79 24.24 8.35 17.47

2233 end apogee: CONTROL_FINISHED_OK

state 2233 begin climb

2234 0.92 146.6 3289 2424 1697 1652 176.3 0.0 244 2361 0.95 2.55 114.03 0.879 10500 0.124 0.104 3636 3922 1168 1185 1151 0 0 0 0 0 0 24.88 24.41 24.01 8.30 17.15

2384 0.81 146.6 3635 3922 1185 1148 167.4 9.3 259 2394 0.00 2.42 0.00 0.000 1030 0.000 0.072 3646 2429 1167 1185 1149 0 0 0 0 0 0 25.14 25.07 25.15 8.26 16.88

2635 0.74 146.6 3646 2429 1185 1146 139.2 11.3 284 2645 0.10 2.47 0.00 0.000 4612 0.221 0.082 3625 847 1165 1184 1147 0 0 0 0 0 0 25.76 25.86 25.86 8.26 17.00

2739 0.74 146.6 3624 846 1183 1147 129.7 8.8 294 2748 0.00 2.47 0.00 0.000 1030 0.000 0.082 3625 2443 1165 1183 1147 0 0 0 0 0 0 26.08 25.99 26.10 8.26 17.82

2989 0.74 146.6 3625 2443 1183 1147 105.6 10.2 319 2999 0.00 2.53 0.00 0.000 516 0.000 0.084 3636 846 1165 1183 1147 0 0 0 0 0 0 26.46 26.17 26.48 8.25 17.04

3011 0.74 146.6 3635 847 1182 1147 103.3 10.5 321 3022 0.00 2.45 0.00 0.000 1030 0.000 0.082 3636 2440 1165 1183 1147 0 0 0 0 0 0 26.28 26.19 26.29 8.25 17.51

3262 0.74 146.6 3635 2441 1182 1147 78.4 10.0 346 3263 0.00 0.00 0.00 0.000 6 0.000 0.000 3636 2441 1165 1183 1147 0 0 0 0 0 0 26.58 26.59 26.59 8.25 17.55

3382 0.74 146.6 3635 2441 1183 1147 67.3 9.4 358 3391 0.00 2.35 0.00 0.000 260 0.000 0.104 3636 3922 1164 1183 1146 0 0 0 0 0 0 26.63 26.31 26.63 8.25 17.67

3404 0.74 146.6 3635 3922 1183 1145 65.0 9.6 360 3414 0.10 2.30 0.00 0.000 5126 0.219 0.074 3615 2430 1163 1182 1145 0 0 0 0 0 0 26.23 26.36 26.38 8.25 17.39

3534 0.74 146.6 3615 2430 1183 1146 54.6 6.9 373 3544 0.00 2.45 0.00 0.000 516 0.000 0.087 3626 844 1164 1182 1146 0 0 0 0 0 0 26.66 26.36 26.67 8.25 18.02

3658 0.77 207.5 3626 844 1182 1146 47.4 5.4 385 3718 0.00 2.42 53.33 0.819 9222 0.000 0.082 3626 2431 958 973 944 0 0 0 0 0 0 26.48 26.40 24.88 8.25 17.43

3838 0.82 207.5 3626 2432 971 938 33.1 8.3 403 3848 0.00 2.53 0.00 0.000 516 0.000 0.087 3635 841 953 969 938 0 0 0 0 0 0 26.09 25.80 26.10 8.23 17.51

3873 0.88 207.5 3635 841 967 938 30.5 7.9 406 3881 0.00 2.47 0.00 0.000 1030 0.000 0.082 3636 2422 952 967 938 0 0 0 0 0 0 25.96 25.88 25.98 8.23 17.51

4001 0.95 207.5 3635 2422 967 938 20.2 6.7 419 4002 0.00 0.00 0.00 0.000 2054 0.000 0.000 3636 2423 952 967 938 0 0 0 0 0 0 26.33 26.33 26.33 8.23 17.51

4123 1.06 207.5 3635 2423 967 937 11.4 7.5 442 4131 0.10 2.53 0.00 0.000 2564 0.134 0.087 3706 838 952 967 937 0 0 0 0 0 0 26.18 26.12 26.22 8.23 17.23

4144 1.15 207.5 3706 838 967 938 9.5 8.0 445 4152 0.00 2.47 0.00 0.000 3078 0.000 0.082 3706 2437 951 965 938 0 0 0 0 0 0 26.25 26.15 26.27 8.23 17.67

4214 1.24 207.5 3706 2437 967 938 4.0 7.1 458 4221 0.10 2.38 0.00 0.000 2308 0.129 0.104 3772 3918 952 967 937 0 0 0 0 0 0 26.25 26.17 26.27 8.23 17.31

4228 1.33 207.5 3770 3917 967 936 3.0 7.1 460 4236 0.00 2.33 0.00 0.000 1030 0.000 0.074 3781 2418 951 966 936 0 0 0 0 0 0 26.29 26.22 26.32 8.24 18.14

4241 end climb: SURFACE_DEPTH_REACHED

state 4241 begin surface coast

4278 end surface coast: CONTROL_FINISHED_OK

state 4278 begin surface

ID	38	HD_B	0.013	ROLL_MAX	3925	ALTIM_BOTTOM_PING_RANGE	0
MISSION	13	HD_C	2.4999999e-05	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
DIVE	8	HEADING	-1	C_ROLL_DIVE	1971	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2428	ALTIM_TOP_TURN_MARGIN	0
STOP_T	7111819	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	3	TGT_DEFAULT_LAT	2630	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-7630	R_PORT_OVSHOOT	45	ALTIM_FREQUENCY	12
D_ABORT	6000	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	27	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	300	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	1
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	2
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	200	INT_PRESSURE_YINT	1.2
D_SAFE	0	PROTOCOL	9	VBD_MAX	3900	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	1675	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	384	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	-1
T_DIVE	80	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	90	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00059000001	DEVICE5	-1
T_ABORT	120	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE6	-1
T_TURN	540	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	2	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	-15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	2	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	150	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3880	MINV_24V	17	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3376	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	150	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0043154242
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00062410574
GLIDE_SLOPE	30	P_OVSHOOT	0.026000001	FG_AHR_10V	0	SEABIRD_T_I	2.302181e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.1286	FG_AHR_24V	0	SEABIRD_T_J	2.4339581e-06
RHO	1.023	PITCH_GAIN	19.6	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7676115
MASS	80150	PITCH_TIMEOUT	20	PRESSURE_YINT	-20.373196	SEABIRD_C_H	1.1309991
MASS_COMP	11240.1	PITCH_AD_RATE	160	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0018490348
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00021460596
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2943.3999
KALMAN_USE	2	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.0049999999	ROLL_MIN	150	COMPASS_USE	4

GPS1	110718,041846,4744.0200,-12224.4727,5,0.8,13,16.3,0.0,0.0,11,4.6	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4743.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	1.12	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-68.5	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	110718,042543,4744.0200,-12224.5244,7,0.9,16,16.3,0.0,0.0,11,4.8	MHEAD_RNG_PITCHd_Wd	172.1,1889,-16.3,-7.500,-19.74,2948
SPEED_LIMITS	0.130,0.209	D_GRID	180

FINISH	-0.2,0.999180	_24V_AH	24.01,23.486
SM_CCo	4295,80.88,0.782,0,0,642,300.08	_10V_AH	10.65,12.422
SM_GC	1.41,9.18,0.65,80.88,0.070,0.082,0.782,125,1957,642,-10.07,1.05,300.08,0,0,0,0,0,0,26.27,26.27,24.52	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4743.02,-12222.38,110718,030029	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.196238	MEM	312536
HUMID	17.15	DATA_FILE_SIZE	31321,469
INTERNAL_PRESSURE	8.15339	CAP_FILE_SIZE	74259,0
TCM_TEMP	12.50	CFSIZE	2047311872,2039644160
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.4,18.9	CURRENT	0.033,170.59,1
ALTIM_BOTTOM_PING	100.2,0.0	GPS	110718,054045,4743.533,-12224.659,9,1.4,49,16.3,0.2,0.0,9,6.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	265	143.21	SBE_CT	317	23	176.77
Roll_motor	69	104	174.65	AA4330	621	13	201.10
VBD_pump_during_apogee	272	906	5928.55	nil	0	0	0.00
VBD_pump_during_surface	80	782	1518.78	nil	0	0	0.00
VBD_valve	211	144	732.44	nil	0	0	0.00
Iridium_during_init	24	126	73.24	nil	0	0	0.00
Iridium_during_connect	37	160	143.43	nil	0	0	0.00
Iridium_during_xfer	267	223	1431.95	nil	0	0	0.00
Transponder_ping	1	420	10.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.94
TT8	1269	15	209.10
LPSleep	1651	2	38.53
TT8_Active	591	15	97.43
TT8_Sampling	1244	41	552.63
TT8_CF8	64	64	44.26
TT8_Kalman	0	0	0.00
Analog_circuits	1135	10	120.94
GPS_charging	0	0	0.00
Compass	870	8	76.42
RAFOS	0	0	0.00
Transponder	7	30	2.25

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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
6	-0.92	-146.6	179	1971	647	618	0.0	0.0	0	228	0.00	0.00	-211.82	0.144	16390	0.000	0.000	180	1972	2179	2207	2152	0	0	0	0	0	0	26.13	25.70	25.63	8.22	18.06
231	-0.92	-146.6	179	1972	2208	2152	3.2	-4.2	35	252	11.15	2.53	0.00	0.000	2820	0.266	0.079	3085	398	2178	2205	2151	0	0	0	0	0	0	25.49	25.70	25.69	8.37	16.80
523	-0.84	-146.6	3085	398	2196	2151	39.2	-12.3	75	532	0.10	2.40	0.00	0.000	3078	0.219	0.072	3105	1973	2173	2196	2151	0	0	0	0	0	0	25.98	26.08	26.12	8.38	17.12
651	-0.84	-146.6	3105	1973	2196	2149	51.3	-8.1	88	655	0.00	2.45	0.00	0.000	260	0.000	0.097	3095	3564	2172	2196	2149	0	0	0	0	0	0	26.45	26.15	26.46	8.38	17.04
762	-0.84	-146.6	3094	3564	2196	2147	61.1	-8.3	99	772	0.00	2.40	0.00	0.000	1030	0.000	0.072	3095	1964	2172	2196	2148	0	0	0	0	0	0	26.32	26.25	26.33	8.37	17.04
892	-0.84	-146.6	3094	1964	2196	2147	71.7	-8.4	112	897	0.00	2.50	0.00	0.000	260	0.000	0.097	3084	3564	2172	2196	2148	0	0	0	0	0	0	26.57	26.25	26.58	8.37	17.78
926	-0.84	-146.6	3083	3564	2196	2147	74.6	-8.6	115	935	0.00	2.40	0.00	0.000	1030	0.000	0.074	3084	1976	2171	2196	2147	0	0	0	0	0	0	26.36	26.32	26.37	8.37	17.04
1054	-0.84	-146.6	3083	1977	2196	2147	86.7	-9.1	128	1055	0.00	0.00	0.00	0.000	6	0.000	0.000	3084	1977	2171	2196	2146	0	0	0	0	0	0	26.62	26.63	26.63	8.37	17.27
1174	-0.84	-146.6	3083	1977	2196	2146	96.6	-7.7	140	1179	0.00	2.45	0.00	0.000	260	0.000	0.094	3073	3557	2171	2196	2147	0	0	0	0	0	0	26.65	26.34	26.66	8.36	17.23
1300	-0.84	-146.6	3073	3557	2196	2145	107.5	-8.8	152	1306	0.12	2.38	0.00	0.000	3078	0.196	0.074	3114	1958	2170	2196	2145	0	0	0	0	0	0	26.30	26.42	26.44	8.36	17.12
1553	-0.84	-146.6	3113	1957	2196	2145	126.7	-7.3	177	1562	0.00	2.50	0.00	0.000	260	0.000	0.097	3104	3565	2170	2196	2145	0	0	0	0	0	0	26.73	26.42	26.74	8.36	17.27
1617	-0.84	-146.6	3104	3565	2196	2144	131.7	-7.5	183	1625	0.00	2.40	0.00	0.000	1030	0.000	0.072	3104	1978	2170	2196	2144	0	0	0	0	0	0	26.51	26.47	26.53	8.36	17.31
1865	-0.84	-146.6	3104	1978	2196	2144	151.6	-8.1	208	1870	0.00	2.45	0.00	0.000	260	0.000	0.097	3094	3566	2170	2196	2144	0	0	0	0	0	0	26.77	26.46	26.78	8.35	17.75
1967	-0.84	-146.6	3093	3566	2196	2144	160.0	-8.0	218	1972	0.00	2.40	0.00	0.000	1030	0.000	0.074	3094	1952	2170	2196	2144	0	0	0	0	0	0	26.59	26.51	26.60	8.35	17.27
2118	end dive: BOTTOM_OBSTACLE_DETECTED
state	2118	begin apogee
2123	-0.26	0.0	3091	2423	2196	2143	172.8	-8.8	233	2232	0.55	0.00	105.10	0.906	10246	0.159	0.000	3289	2424	1674	1697	1652	0	0	0	0	0	0	26.44	24.79	24.24	8.35	17.47
2233	end apogee: CONTROL_FINISHED_OK
state	2233	begin climb
2234	0.92	146.6	3289	2424	1697	1652	176.3	0.0	244	2361	0.95	2.55	114.03	0.879	10500	0.124	0.104	3636	3922	1168	1185	1151	0	0	0	0	0	0	24.88	24.41	24.01	8.30	17.15
2384	0.81	146.6	3635	3922	1185	1148	167.4	9.3	259	2394	0.00	2.42	0.00	0.000	1030	0.000	0.072	3646	2429	1167	1185	1149	0	0	0	0	0	0	25.14	25.07	25.15	8.26	16.88
2635	0.74	146.6	3646	2429	1185	1146	139.2	11.3	284	2645	0.10	2.47	0.00	0.000	4612	0.221	0.082	3625	847	1165	1184	1147	0	0	0	0	0	0	25.76	25.86	25.86	8.26	17.00
2739	0.74	146.6	3624	846	1183	1147	129.7	8.8	294	2748	0.00	2.47	0.00	0.000	1030	0.000	0.082	3625	2443	1165	1183	1147	0	0	0	0	0	0	26.08	25.99	26.10	8.26	17.82
2989	0.74	146.6	3625	2443	1183	1147	105.6	10.2	319	2999	0.00	2.53	0.00	0.000	516	0.000	0.084	3636	846	1165	1183	1147	0	0	0	0	0	0	26.46	26.17	26.48	8.25	17.04
3011	0.74	146.6	3635	847	1182	1147	103.3	10.5	321	3022	0.00	2.45	0.00	0.000	1030	0.000	0.082	3636	2440	1165	1183	1147	0	0	0	0	0	0	26.28	26.19	26.29	8.25	17.51
3262	0.74	146.6	3635	2441	1182	1147	78.4	10.0	346	3263	0.00	0.00	0.00	0.000	6	0.000	0.000	3636	2441	1165	1183	1147	0	0	0	0	0	0	26.58	26.59	26.59	8.25	17.55
3382	0.74	146.6	3635	2441	1183	1147	67.3	9.4	358	3391	0.00	2.35	0.00	0.000	260	0.000	0.104	3636	3922	1164	1183	1146	0	0	0	0	0	0	26.63	26.31	26.63	8.25	17.67
3404	0.74	146.6	3635	3922	1183	1145	65.0	9.6	360	3414	0.10	2.30	0.00	0.000	5126	0.219	0.074	3615	2430	1163	1182	1145	0	0	0	0	0	0	26.23	26.36	26.38	8.25	17.39
3534	0.74	146.6	3615	2430	1183	1146	54.6	6.9	373	3544	0.00	2.45	0.00	0.000	516	0.000	0.087	3626	844	1164	1182	1146	0	0	0	0	0	0	26.66	26.36	26.67	8.25	18.02
3658	0.77	207.5	3626	844	1182	1146	47.4	5.4	385	3718	0.00	2.42	53.33	0.819	9222	0.000	0.082	3626	2431	958	973	944	0	0	0	0	0	0	26.48	26.40	24.88	8.25	17.43
3838	0.82	207.5	3626	2432	971	938	33.1	8.3	403	3848	0.00	2.53	0.00	0.000	516	0.000	0.087	3635	841	953	969	938	0	0	0	0	0	0	26.09	25.80	26.10	8.23	17.51
3873	0.88	207.5	3635	841	967	938	30.5	7.9	406	3881	0.00	2.47	0.00	0.000	1030	0.000	0.082	3636	2422	952	967	938	0	0	0	0	0	0	25.96	25.88	25.98	8.23	17.51
4001	0.95	207.5	3635	2422	967	938	20.2	6.7	419	4002	0.00	0.00	0.00	0.000	2054	0.000	0.000	3636	2423	952	967	938	0	0	0	0	0	0	26.33	26.33	26.33	8.23	17.51
4123	1.06	207.5	3635	2423	967	937	11.4	7.5	442	4131	0.10	2.53	0.00	0.000	2564	0.134	0.087	3706	838	952	967	937	0	0	0	0	0	0	26.18	26.12	26.22	8.23	17.23
4144	1.15	207.5	3706	838	967	938	9.5	8.0	445	4152	0.00	2.47	0.00	0.000	3078	0.000	0.082	3706	2437	951	965	938	0	0	0	0	0	0	26.25	26.15	26.27	8.23	17.67
4214	1.24	207.5	3706	2437	967	938	4.0	7.1	458	4221	0.10	2.38	0.00	0.000	2308	0.129	0.104	3772	3918	952	967	937	0	0	0	0	0	0	26.25	26.17	26.27	8.23	17.31
4228	1.33	207.5	3770	3917	967	936	3.0	7.1	460	4236	0.00	2.33	0.00	0.000	1030	0.000	0.074	3781	2418	951	966	936	0	0	0	0	0	0	26.29	26.22	26.32	8.24	18.14
4241	end climb: SURFACE_DEPTH_REACHED
state	4241	begin surface coast
4278	end surface coast: CONTROL_FINISHED_OK
state	4278	begin surface