Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 110 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 1 HEADING -1 ROLL_MIN 300 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 14 ESCAPE_HEADING 0 ROLL_MAX 3750 ALTIM_TOP_TURN_MARGIN 0

DIVE 110 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2025 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2025 ALTIM_PING_DELTA 0

D_TGT 990 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 6 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 6 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0072730002

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 500 MOTHERBOARD 5

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3500 DEVICE1 2

T_DIVE 470 CALL_TRIES 5 C_VBD 2500 DEVICE2 -1

T_MISSION 530 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 540 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERS 1

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -221485.78 UNCOM_BLEED 250 COMPASS_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 2 VBD_MAXERRORS 5 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 300 GPS_DEVICE 48

RELAUNCH 3 RAFOS_CORR_THRESH 60 AH0_10V 200 RAFOS_DEVICE 48

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 450 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3300 FG_AHR_10V 76.444992 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2700 FG_AHR_24V 4.6384106 SEABIRD_T_G 0.0043498399

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006493734

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_YINT -0.036699742 SEABIRD_T_I 2.8112627e-05

MASS 52000 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 3.1957888e-06

NAV_MODE 1 PITCH_GAIN 16 AD7714Ch0Gain 1 SEABIRD_C_G -10.106751

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1366181

KALMAN_USE 1 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I 0.00038917549

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 7.9540005e-05

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_FLARE 3 PHONE_DEVICE 32 SIM_W 0

AH0_10V 200 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 275

AH0_24V 300 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3300 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 76.444992 PITCH_MIN 450 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 4.6384106 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 9.9999997e-05 T_DIVE 470

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -0.036699742 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 48 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -221485.78

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 48 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 530

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 3 T_RSLEEP 2

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.023 T_TURN 225

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0072730002 ROLL_AD_RATE 400 UNCOM_BLEED 250

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2025 KALMAN_USE 1 ROLL_DEG 40 USE_BATHY -2

C_ROLL_DIVE 2025 KERMIT 0 ROLL_MAX 3750 USE_ICE 0

C_VBD 2500 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 300 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52000 R_PORT_OVSHOOT 6 VBD_MAX 3500

DEVICE2 -1 MAX_BUOY 150 R_STBD_OVSHOOT 6 VBD_MAXERRORS 5

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.106751 VBD_MIN 500

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1366181 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I 0.00038917549 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MOTHERBOARD 5 SEABIRD_C_J 7.9540005e-05 VBD_TIMEOUT 540

DIVE 110 NAV_MODE 1 SEABIRD_T_G 0.0043498399 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 4 SEABIRD_T_H 0.0006493734 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.8112627e-05 XPDR_VALID 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 3.1957888e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 194848,6640.372,-6008.833,8,1.1,8,18.0 TGT_NAME HOLD

_CALLS 1 TGT_LATLONG 6400.000,-5448.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.144,-0.184

_SM_DEPTHo 0.04 KALMAN_X -52207.3,-1564.2,-1230.2,-20655.1,1589.1

_SM_ANGLEo -50.0 KALMAN_Y 5296.9,-1485.8,-368.0,-26149.7,288.9

GPS2 195454,6640.323,-6008.789,30,1.1,30,18.0 MHEAD_RNG_PITCHd_Wd 124.1,394953,-13.0,-7.021

SPEED_LIMITS 0.122,0.234 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.8,1.024944 _24V_AH 23.9,266.269

SM_CCo 15803,0.00,0.000,0,0,598,466.81 _10V_AH 10.7,39.934

SM_GC 0.05,14.60,0.00,0.00,0.000,0.007,0.007,425,1574,598,-10.06,-12.66,466.81 FG_AHR_24Vo 4.638

SUPER 3,206,254,0,0,0 FG_AHR_10Vo 76.592

RAFOS_CLK 0 MEM 330716

RAFOS 0,1255637041,20.083334,20.066944,80,0,0,0,0,0,572,0,0,0,0,0 DATA_FILE_SIZE 47214,1464

RAFOS_FIX 6628.995605,-6148.271484,151009,202048,5,80,41.26 CAP_FILE_SIZE 189960,8

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,243589120

HUMID 1078115310 ERRORS 0,0,0,0,0,0,0,0,1,0,0,37,927,3,0

INTERNAL_PRESSURE 16.2446 SOUNDSPEED 1453.8

TCM_TEMP 15.00 GPS 161009,002132,6640.404,-6013.495,31,1.1,31,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 89.73 SBE_CT 883 24 506.97

Roll_motor 180 60 258.77 nil 0 0 0.00

VBD_pump_during_apogee 518 1300 16106.69 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 110 223 589.01

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 30 50 16.53

TT8 2475 19 527.68

LPSleep 10508 2 259.74

TT8_Active 1016 19 216.76

TT8_Sampling 1636 39 699.01

TT8_CF8 532 45 261.53

TT8_Kalman 33 81 29.23

Analog_circuits 1225 12 157.31

GPS_charging 0 0 0.00

Compass 1554 26 432.43

RAFOS 2520 1 40.45

Transponder 2 5 0.14

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.99 -146.6 0.0 0.0 0 96 0.00 0.00 -67.68 0.000 2 0.007 0.000 408 1904 2652 0 0 0 0 0 0

100 -0.99 -146.6 3.2 -1.8 14 143 10.48 2.55 -14.88 0.000 4 0.000 0.000 2524 311 3106 10 0 16 0 0 0

294 -0.94 -146.6 30.0 -7.4 41 309 0.60 3.50 0.00 0.000 6 0.000 0.000 2458 2216 3105 2 0 19 0 0 0

499 -0.94 -146.6 47.3 -9.6 60 505 0.47 2.38 0.00 0.007 4 0.000 0.000 2565 3562 3102 1 0 11 0 0 0

679 -0.94 -146.6 62.4 -7.0 75 690 0.47 3.55 0.00 0.007 6 0.000 0.000 2437 1683 3104 1 0 18 0 0 0

1014 -0.94 -146.6 88.3 -8.2 107 1030 0.80 2.80 0.00 0.007 4 0.000 0.000 2574 513 3103 2 0 16 0 0 0

1156 end dive: TARGET_DEPTH_EXCEEDED

state 1156 begin apogee

1166 -0.31 0.0 100.1 8.0 119 1287 0.52 0.00 116.45 0.000 6 0.000 0.000 2696 2185 2541 0 0 0 0 0 0

1288 end apogee: CONTROL_FINISHED_OK

state 1288 begin climb

1291 0.99 146.6 109.5 0.0 131 1428 1.38 2.42 125.40 0.000 4 0.000 0.000 2990 3720 1906 1 0 12 0 0 0

1682 2.74 607.5 138.9 -7.7 167 1979 2.22 3.72 265.52 0.000 6 0.000 0.000 3427 1842 597 4 0 18 0 3 0

2305 4.46 1061.1 184.7 -7.5 227 2320 0.00 3.00 0.22 0.000 4 0.007 0.000 3426 3650 599 0 0 16 0 0 0

2572 5.01 1507.9 204.7 -7.3 250 2582 0.00 3.58 0.95 0.000 6 0.007 0.000 3427 1978 599 0 0 17 0 0 0

2908 5.59 1972.7 230.7 -7.9 282 2924 0.00 2.90 0.12 0.007 4 0.007 0.000 3425 3634 600 0 0 14 0 0 0

3176 6.05 2348.4 247.2 -5.0 305 3186 0.00 3.28 1.30 0.000 6 0.007 0.000 3429 1818 597 0 0 17 0 0 0

3511 6.58 2777.7 269.4 -6.7 337 3526 0.00 2.83 0.12 0.007 4 0.007 0.000 3427 3529 600 0 0 11 0 0 0

3779 7.04 3154.3 284.6 -5.0 360 3789 0.00 2.62 1.62 0.000 6 0.007 0.000 3427 1962 592 0 0 11 0 0 0

4114 7.56 3577.8 305.0 -6.5 392 4130 0.00 3.33 0.15 0.007 4 0.007 0.000 3427 3565 597 0 0 21 0 0 0

4382 8.12 4036.3 323.6 -7.7 415 4392 0.00 3.40 1.12 0.000 6 0.007 0.000 3424 1744 594 0 0 17 0 0 0

4717 8.64 4453.0 345.1 -6.3 447 4732 0.00 3.25 0.12 0.007 4 0.007 0.000 3425 3675 599 0 0 18 0 0 0

4985 9.12 4844.4 360.5 -5.5 470 4996 0.00 3.72 0.35 0.000 6 0.007 0.000 3430 1836 598 0 0 21 0 0 0

5321 9.66 5289.3 382.9 -7.2 502 5338 0.00 3.55 0.17 0.007 4 0.007 0.000 3424 3690 590 0 0 19 0 0 0

5590 10.13 5670.3 399.8 -5.2 525 5600 0.00 3.33 1.23 0.000 6 0.007 0.000 3430 1909 598 0 0 17 0 0 0

5925 10.61 6061.3 421.1 -5.5 557 5941 0.00 3.22 0.15 0.007 4 0.000 0.000 3424 3475 598 0 0 17 0 0 0

6193 11.12 6469.9 436.3 -6.1 580 6203 0.00 2.80 1.90 0.000 6 0.007 0.000 3425 1774 599 0 0 14 0 0 0

6528 11.62 6876.7 457.8 -6.0 612 6544 0.00 3.30 0.15 0.007 4 0.007 0.000 3430 3595 598 0 0 15 0 0 0

6567 12.13 7292.2 460.3 -6.3 615 6583 0.00 3.22 0.82 0.000 6 0.007 0.000 3427 1983 597 0 0 17 0 0 0

6897 12.60 7672.1 479.2 -5.1 646 6913 0.00 2.85 0.20 0.007 4 0.007 0.000 3427 3778 603 0 0 17 0 0 0

7166 13.14 8111.4 494.2 -7.0 669 7176 0.00 4.03 0.15 0.007 6 0.000 0.000 3427 1636 600 0 0 24 0 0 0

7500 13.68 8550.2 518.3 -7.0 701 7516 0.00 3.30 0.15 0.007 4 0.007 0.000 3425 3572 597 0 0 11 0 0 0

7768 14.19 8968.3 536.2 -6.4 724 7779 0.00 4.15 0.00 0.007 6 0.007 0.000 3423 1851 614 0 0 24 0 0 0

8104 14.67 9362.2 556.0 -5.6 756 8110 0.00 2.70 0.00 0.007 4 0.000 0.000 3426 3469 595 0 0 13 0 0 0

8363 14.99 9615.3 569.3 -1.1 778 8373 0.00 3.28 0.00 0.000 6 0.007 0.000 3424 1817 596 0 0 21 0 0 0

8697 14.92 9615.3 547.4 7.9 810 8712 0.00 3.03 0.00 0.000 4 0.007 0.000 3424 3654 596 0 0 13 0 0 0

8963 14.92 9615.3 522.4 8.2 833 8970 0.00 3.30 0.00 0.007 6 0.007 0.000 3424 1862 603 0 0 16 0 0 0

9288 14.95 9636.8 504.7 6.3 864 9303 0.00 3.05 0.00 0.007 4 0.007 0.000 3423 3594 597 0 0 18 0 0 0

9555 15.08 9636.8 487.8 7.7 887 9565 0.00 3.88 0.00 0.007 6 0.007 0.000 3423 1861 598 0 0 22 0 0 0

9889 14.98 9636.8 462.0 8.6 919 9904 0.00 3.15 0.00 0.007 4 0.007 0.000 3424 3600 598 0 0 15 0 0 0

10156 15.08 9651.1 443.6 6.6 942 10167 0.00 3.58 0.00 0.007 6 0.007 0.000 3426 1906 599 0 0 18 0 0 0

10492 15.16 9651.1 420.1 7.0 974 10498 0.00 2.72 0.00 0.007 4 0.007 0.000 3427 3540 595 0 0 11 0 0 0

10750 15.04 9651.1 399.8 10.3 996 10759 0.00 3.15 0.00 0.007 6 0.007 0.000 3428 1845 597 0 0 20 0 0 0

11084 15.18 9665.8 371.2 6.6 1028 11099 0.00 3.10 0.00 0.007 4 0.007 0.000 3427 3633 598 0 0 17 0 0 0

11351 15.07 9665.8 351.1 9.2 1051 11357 0.00 3.30 0.00 0.007 6 0.007 0.000 3426 1913 599 0 0 17 0 0 0

11676 15.15 9672.9 322.7 6.8 1082 11691 0.00 3.15 0.00 0.007 4 0.007 0.000 3423 3774 596 0 0 16 0 0 0

11944 15.15 9672.9 303.2 7.2 1105 11950 0.00 3.15 0.00 0.007 6 0.007 0.000 3426 1870 613 0 0 13 0 0 0

12275 15.17 9683.7 280.2 6.7 1137 12290 0.00 3.03 0.00 0.007 4 0.007 0.000 3423 3574 585 0 0 15 0 0 0

12542 15.08 9683.7 260.3 9.2 1160 12549 0.00 3.08 0.00 0.007 6 0.007 0.000 3425 1969 599 0 0 14 0 0 0

12866 15.08 9683.7 228.7 8.0 1191 12881 0.00 3.10 0.00 0.007 4 0.007 0.000 3421 3573 597 0 0 17 0 0 0

13133 15.15 9693.8 208.9 6.7 1214 13140 0.00 3.08 0.00 0.007 6 0.007 0.000 3426 1830 602 0 0 16 0 0 0

13465 15.26 9728.2 188.0 5.9 1246 13480 0.00 3.45 0.00 0.007 4 0.007 0.000 3423 3792 597 0 0 17 0 0 0

13732 15.27 9735.9 169.8 6.8 1269 13741 0.00 3.58 0.00 0.000 6 0.007 0.000 3427 2024 602 0 0 17 0 0 0

14066 15.20 9735.9 141.3 10.1 1301 14080 0.00 2.90 0.00 0.007 4 0.000 0.000 3428 3703 600 0 0 11 0 0 0

14299 15.20 9735.9 121.4 7.3 1321 14308 0.00 3.33 0.00 0.007 6 0.007 0.000 3429 1694 601 0 0 13 0 0 0

14634 15.20 9735.9 93.8 9.1 1353 14649 0.00 3.28 0.00 0.007 4 0.007 0.000 3427 3606 599 0 0 16 0 0 0

14902 15.20 9735.9 70.8 8.7 1376 14911 0.00 3.08 0.00 0.000 6 0.007 0.000 3428 2011 599 0 0 15 0 0 0

15236 15.20 9735.9 41.1 7.6 1408 15251 0.00 3.30 0.00 0.007 4 0.007 0.000 3427 3549 600 0 0 22 0 0 0

15382 15.26 9735.9 30.3 8.3 1420 15388 0.00 3.00 0.00 0.007 6 0.007 0.000 3424 2006 597 0 0 18 0 0 0

15582 14.97 9735.9 15.8 10.7 1442 15598 0.00 3.65 0.00 0.007 4 0.000 0.000 3425 390 601 0 0 21 0 0 0

15632 14.66 9735.9 8.9 13.6 1450 15646 0.00 3.17 0.00 0.007 6 0.007 0.000 3424 2311 601 0 0 15 0 0 0

15683 end climb: SURFACE_DEPTH_REACHED

state 15684 begin surface coast

15713 end surface coast: CONTROL_FINISHED_OK

state 15713 begin surface

ID	1	HEADING	-1	ROLL_MIN	300	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	14	ESCAPE_HEADING	0	ROLL_MAX	3750	ALTIM_TOP_TURN_MARGIN	0
DIVE	110	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2025	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2025	ALTIM_PING_DELTA	0
D_TGT	990	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	6	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	6	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0072730002
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	500	MOTHERBOARD	5
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3500	DEVICE1	2
T_DIVE	470	CALL_TRIES	5	C_VBD	2500	DEVICE2	-1
T_MISSION	530	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	540	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERS	1
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-221485.78	UNCOM_BLEED	250	COMPASS_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	2	VBD_MAXERRORS	5	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	300	GPS_DEVICE	48
RELAUNCH	3	RAFOS_CORR_THRESH	60	AH0_10V	200	RAFOS_DEVICE	48
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	450	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3300	FG_AHR_10V	76.444992	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2700	FG_AHR_24V	4.6384106	SEABIRD_T_G	0.0043498399
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006493734
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_YINT	-0.036699742	SEABIRD_T_I	2.8112627e-05
MASS	52000	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	3.1957888e-06
NAV_MODE	1	PITCH_GAIN	16	AD7714Ch0Gain	1	SEABIRD_C_G	-10.106751
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1366181
KALMAN_USE	1	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	0.00038917549
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	7.9540005e-05
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	194848,6640.372,-6008.833,8,1.1,8,18.0	TGT_NAME	HOLD
_CALLS	1	TGT_LATLONG	6400.000,-5448.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.144,-0.184
_SM_DEPTHo	0.04	KALMAN_X	-52207.3,-1564.2,-1230.2,-20655.1,1589.1
_SM_ANGLEo	-50.0	KALMAN_Y	5296.9,-1485.8,-368.0,-26149.7,288.9
GPS2	195454,6640.323,-6008.789,30,1.1,30,18.0	MHEAD_RNG_PITCHd_Wd	124.1,394953,-13.0,-7.021
SPEED_LIMITS	0.122,0.234	D_GRID	100

FINISH	1.8,1.024944	_24V_AH	23.9,266.269
SM_CCo	15803,0.00,0.000,0,0,598,466.81	_10V_AH	10.7,39.934
SM_GC	0.05,14.60,0.00,0.00,0.000,0.007,0.007,425,1574,598,-10.06,-12.66,466.81	FG_AHR_24Vo	4.638
SUPER	3,206,254,0,0,0	FG_AHR_10Vo	76.592
RAFOS_CLK	0	MEM	330716
RAFOS	0,1255637041,20.083334,20.066944,80,0,0,0,0,0,572,0,0,0,0,0	DATA_FILE_SIZE	47214,1464
RAFOS_FIX	6628.995605,-6148.271484,151009,202048,5,80,41.26	CAP_FILE_SIZE	189960,8
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,243589120
HUMID	1078115310	ERRORS	0,0,0,0,0,0,0,0,1,0,0,37,927,3,0
INTERNAL_PRESSURE	16.2446	SOUNDSPEED	1453.8
TCM_TEMP	15.00	GPS	161009,002132,6640.404,-6013.495,31,1.1,31,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	89.73	SBE_CT	883	24	506.97
Roll_motor	180	60	258.77	nil	0	0	0.00
VBD_pump_during_apogee	518	1300	16106.69	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	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	110	223	589.01
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	30	50	16.53
TT8	2475	19	527.68
LPSleep	10508	2	259.74
TT8_Active	1016	19	216.76
TT8_Sampling	1636	39	699.01
TT8_CF8	532	45	261.53
TT8_Kalman	33	81	29.23
Analog_circuits	1225	12	157.31
GPS_charging	0	0	0.00
Compass	1554	26	432.43
RAFOS	2520	1	40.45
Transponder	2	5	0.14

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.99	-146.6	0.0	0.0	0	96	0.00	0.00	-67.68	0.000	2	0.007	0.000	408	1904	2652	0	0	0	0	0	0
100	-0.99	-146.6	3.2	-1.8	14	143	10.48	2.55	-14.88	0.000	4	0.000	0.000	2524	311	3106	10	0	16	0	0	0
294	-0.94	-146.6	30.0	-7.4	41	309	0.60	3.50	0.00	0.000	6	0.000	0.000	2458	2216	3105	2	0	19	0	0	0
499	-0.94	-146.6	47.3	-9.6	60	505	0.47	2.38	0.00	0.007	4	0.000	0.000	2565	3562	3102	1	0	11	0	0	0
679	-0.94	-146.6	62.4	-7.0	75	690	0.47	3.55	0.00	0.007	6	0.000	0.000	2437	1683	3104	1	0	18	0	0	0
1014	-0.94	-146.6	88.3	-8.2	107	1030	0.80	2.80	0.00	0.007	4	0.000	0.000	2574	513	3103	2	0	16	0	0	0
1156	end dive: TARGET_DEPTH_EXCEEDED
state	1156	begin apogee
1166	-0.31	0.0	100.1	8.0	119	1287	0.52	0.00	116.45	0.000	6	0.000	0.000	2696	2185	2541	0	0	0	0	0	0
1288	end apogee: CONTROL_FINISHED_OK
state	1288	begin climb
1291	0.99	146.6	109.5	0.0	131	1428	1.38	2.42	125.40	0.000	4	0.000	0.000	2990	3720	1906	1	0	12	0	0	0
1682	2.74	607.5	138.9	-7.7	167	1979	2.22	3.72	265.52	0.000	6	0.000	0.000	3427	1842	597	4	0	18	0	3	0
2305	4.46	1061.1	184.7	-7.5	227	2320	0.00	3.00	0.22	0.000	4	0.007	0.000	3426	3650	599	0	0	16	0	0	0
2572	5.01	1507.9	204.7	-7.3	250	2582	0.00	3.58	0.95	0.000	6	0.007	0.000	3427	1978	599	0	0	17	0	0	0
2908	5.59	1972.7	230.7	-7.9	282	2924	0.00	2.90	0.12	0.007	4	0.007	0.000	3425	3634	600	0	0	14	0	0	0
3176	6.05	2348.4	247.2	-5.0	305	3186	0.00	3.28	1.30	0.000	6	0.007	0.000	3429	1818	597	0	0	17	0	0	0
3511	6.58	2777.7	269.4	-6.7	337	3526	0.00	2.83	0.12	0.007	4	0.007	0.000	3427	3529	600	0	0	11	0	0	0
3779	7.04	3154.3	284.6	-5.0	360	3789	0.00	2.62	1.62	0.000	6	0.007	0.000	3427	1962	592	0	0	11	0	0	0
4114	7.56	3577.8	305.0	-6.5	392	4130	0.00	3.33	0.15	0.007	4	0.007	0.000	3427	3565	597	0	0	21	0	0	0
4382	8.12	4036.3	323.6	-7.7	415	4392	0.00	3.40	1.12	0.000	6	0.007	0.000	3424	1744	594	0	0	17	0	0	0
4717	8.64	4453.0	345.1	-6.3	447	4732	0.00	3.25	0.12	0.007	4	0.007	0.000	3425	3675	599	0	0	18	0	0	0
4985	9.12	4844.4	360.5	-5.5	470	4996	0.00	3.72	0.35	0.000	6	0.007	0.000	3430	1836	598	0	0	21	0	0	0
5321	9.66	5289.3	382.9	-7.2	502	5338	0.00	3.55	0.17	0.007	4	0.007	0.000	3424	3690	590	0	0	19	0	0	0
5590	10.13	5670.3	399.8	-5.2	525	5600	0.00	3.33	1.23	0.000	6	0.007	0.000	3430	1909	598	0	0	17	0	0	0
5925	10.61	6061.3	421.1	-5.5	557	5941	0.00	3.22	0.15	0.007	4	0.000	0.000	3424	3475	598	0	0	17	0	0	0
6193	11.12	6469.9	436.3	-6.1	580	6203	0.00	2.80	1.90	0.000	6	0.007	0.000	3425	1774	599	0	0	14	0	0	0
6528	11.62	6876.7	457.8	-6.0	612	6544	0.00	3.30	0.15	0.007	4	0.007	0.000	3430	3595	598	0	0	15	0	0	0
6567	12.13	7292.2	460.3	-6.3	615	6583	0.00	3.22	0.82	0.000	6	0.007	0.000	3427	1983	597	0	0	17	0	0	0
6897	12.60	7672.1	479.2	-5.1	646	6913	0.00	2.85	0.20	0.007	4	0.007	0.000	3427	3778	603	0	0	17	0	0	0
7166	13.14	8111.4	494.2	-7.0	669	7176	0.00	4.03	0.15	0.007	6	0.000	0.000	3427	1636	600	0	0	24	0	0	0
7500	13.68	8550.2	518.3	-7.0	701	7516	0.00	3.30	0.15	0.007	4	0.007	0.000	3425	3572	597	0	0	11	0	0	0
7768	14.19	8968.3	536.2	-6.4	724	7779	0.00	4.15	0.00	0.007	6	0.007	0.000	3423	1851	614	0	0	24	0	0	0
8104	14.67	9362.2	556.0	-5.6	756	8110	0.00	2.70	0.00	0.007	4	0.000	0.000	3426	3469	595	0	0	13	0	0	0
8363	14.99	9615.3	569.3	-1.1	778	8373	0.00	3.28	0.00	0.000	6	0.007	0.000	3424	1817	596	0	0	21	0	0	0
8697	14.92	9615.3	547.4	7.9	810	8712	0.00	3.03	0.00	0.000	4	0.007	0.000	3424	3654	596	0	0	13	0	0	0
8963	14.92	9615.3	522.4	8.2	833	8970	0.00	3.30	0.00	0.007	6	0.007	0.000	3424	1862	603	0	0	16	0	0	0
9288	14.95	9636.8	504.7	6.3	864	9303	0.00	3.05	0.00	0.007	4	0.007	0.000	3423	3594	597	0	0	18	0	0	0
9555	15.08	9636.8	487.8	7.7	887	9565	0.00	3.88	0.00	0.007	6	0.007	0.000	3423	1861	598	0	0	22	0	0	0
9889	14.98	9636.8	462.0	8.6	919	9904	0.00	3.15	0.00	0.007	4	0.007	0.000	3424	3600	598	0	0	15	0	0	0
10156	15.08	9651.1	443.6	6.6	942	10167	0.00	3.58	0.00	0.007	6	0.007	0.000	3426	1906	599	0	0	18	0	0	0
10492	15.16	9651.1	420.1	7.0	974	10498	0.00	2.72	0.00	0.007	4	0.007	0.000	3427	3540	595	0	0	11	0	0	0
10750	15.04	9651.1	399.8	10.3	996	10759	0.00	3.15	0.00	0.007	6	0.007	0.000	3428	1845	597	0	0	20	0	0	0
11084	15.18	9665.8	371.2	6.6	1028	11099	0.00	3.10	0.00	0.007	4	0.007	0.000	3427	3633	598	0	0	17	0	0	0
11351	15.07	9665.8	351.1	9.2	1051	11357	0.00	3.30	0.00	0.007	6	0.007	0.000	3426	1913	599	0	0	17	0	0	0
11676	15.15	9672.9	322.7	6.8	1082	11691	0.00	3.15	0.00	0.007	4	0.007	0.000	3423	3774	596	0	0	16	0	0	0
11944	15.15	9672.9	303.2	7.2	1105	11950	0.00	3.15	0.00	0.007	6	0.007	0.000	3426	1870	613	0	0	13	0	0	0
12275	15.17	9683.7	280.2	6.7	1137	12290	0.00	3.03	0.00	0.007	4	0.007	0.000	3423	3574	585	0	0	15	0	0	0
12542	15.08	9683.7	260.3	9.2	1160	12549	0.00	3.08	0.00	0.007	6	0.007	0.000	3425	1969	599	0	0	14	0	0	0
12866	15.08	9683.7	228.7	8.0	1191	12881	0.00	3.10	0.00	0.007	4	0.007	0.000	3421	3573	597	0	0	17	0	0	0
13133	15.15	9693.8	208.9	6.7	1214	13140	0.00	3.08	0.00	0.007	6	0.007	0.000	3426	1830	602	0	0	16	0	0	0
13465	15.26	9728.2	188.0	5.9	1246	13480	0.00	3.45	0.00	0.007	4	0.007	0.000	3423	3792	597	0	0	17	0	0	0
13732	15.27	9735.9	169.8	6.8	1269	13741	0.00	3.58	0.00	0.000	6	0.007	0.000	3427	2024	602	0	0	17	0	0	0
14066	15.20	9735.9	141.3	10.1	1301	14080	0.00	2.90	0.00	0.007	4	0.000	0.000	3428	3703	600	0	0	11	0	0	0
14299	15.20	9735.9	121.4	7.3	1321	14308	0.00	3.33	0.00	0.007	6	0.007	0.000	3429	1694	601	0	0	13	0	0	0
14634	15.20	9735.9	93.8	9.1	1353	14649	0.00	3.28	0.00	0.007	4	0.007	0.000	3427	3606	599	0	0	16	0	0	0
14902	15.20	9735.9	70.8	8.7	1376	14911	0.00	3.08	0.00	0.000	6	0.007	0.000	3428	2011	599	0	0	15	0	0	0
15236	15.20	9735.9	41.1	7.6	1408	15251	0.00	3.30	0.00	0.007	4	0.007	0.000	3427	3549	600	0	0	22	0	0	0
15382	15.26	9735.9	30.3	8.3	1420	15388	0.00	3.00	0.00	0.007	6	0.007	0.000	3424	2006	597	0	0	18	0	0	0
15582	14.97	9735.9	15.8	10.7	1442	15598	0.00	3.65	0.00	0.007	4	0.000	0.000	3425	390	601	0	0	21	0	0	0
15632	14.66	9735.9	8.9	13.6	1450	15646	0.00	3.17	0.00	0.007	6	0.007	0.000	3424	2311	601	0	0	15	0	0	0
15683	end climb: SURFACE_DEPTH_REACHED
state	15684	begin surface coast
15713	end surface coast: CONTROL_FINISHED_OK
state	15713	begin surface