Glider dive log

RapidMocha Sep10 * SG033 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 33 HEADING -1 ROLL_MAX 3837 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 24 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 200

DIVE 12 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1900 ALTIM_PING_DELTA 5

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1750 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 18.5 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1080 TGT_DEFAULT_LON -66 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 6099 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 0

D_NO_BLEED 200 SM_CC 571.55945 R_PORT_OVSHOOT 20 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 54 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 340 INT_PRESSURE_YINT 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 1

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 1

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 146 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2082 DEVICE3 101

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 450 CALL_WAIT 60 VBD_CNV -0.29522699 DEVICE5 -1

T_MISSION 480 CAPUPLOAD 0 VBD_TIMEOUT 950 DEVICE6 -1

T_ABORT 2880 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 600 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 2 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 -1

T_NO_W 180 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_BATHY -10 T_GPS_CHARGE -237155.45 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 CF8_MAXERRORS 2 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 151 PHONE_DEVICE 48

D_OFFGRID 6084 RAFOS_PEAK_OFFSET 1.5 AH0_10V 122.2 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 27 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 2563 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1835 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043575475

GLIDE_SLOPE 45 PITCH_DBAND 0.1 PRESSURE_YINT -19.047844 SEABIRD_T_H 0.00062940316

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.00093601202 SEABIRD_T_I 2.4306677e-05

RHO 1.023 P_OVSHOOT 0.039999999 AD7714Ch0Gain 32 SEABIRD_T_J 2.6223986e-06

MASS 52000 PITCH_GAIN 16 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.332057

NAV_MODE 1 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.2094743

FERRY_MAX 2 PITCH_AD_RATE 160 COMPASS_USE 0 SEABIRD_C_I -0.0016192879

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021825745

HD_A 0.0048177 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.011392 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 1.0709e-05 ROLL_MIN 60 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 571.55945

AH0_10V 122.2 D_OFFGRID 6084 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 151 D_PITCH 0 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 4 PITCH_AD_RATE 160 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1080 PITCH_CNV 0.0046000001 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 200 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 16 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 2 PITCH_MAX 2563 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 18.5

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 27 TGT_DEFAULT_LON -66

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 PITCH_TIMEOUT 20 T_ABORT 2880

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PRESSURE_SLOPE 0.00093601202 T_DIVE 450

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -19.047844 T_GPS 15

CALL_TRIES 5 HD_A 0.0048177 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.011392 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -237155.45

CAPMAXSIZE 100000 HD_C 1.0709e-05 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 480

CF8_MAXERRORS 2 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 180

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 2

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.023 T_TURN 600

COMPASS_DEVICE 33 ID 33 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_AD_RATE 340 UNCOM_BLEED 20

C_PITCH 1835 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_DEG 40 USE_BATHY -10

C_ROLL_DIVE 1900 LOGGERDEVICE1 -1 ROLL_MAX 3837 USE_ICE 0

C_VBD 2082 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 1 LOGGERDEVICE3 -1 ROLL_MIN 60 VBD_CNV -0.29522699

DEEPGLIDERMB 1 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 20 VBD_MAX 3959

DEVICE2 -1 MASS 52000 R_STBD_OVSHOOT 54 VBD_MAXERRORS 1

DEVICE3 101 MAX_BUOY 150 SEABIRD_C_G -10.332057 VBD_MIN 146

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.2094743 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0016192879 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE6 -1 MISSION 24 SEABIRD_C_J 0.00021825745 VBD_TIMEOUT 950

DIVE 12 MOTHERBOARD 4 SEABIRD_T_G 0.0043575475 XPDR_DEVICE 24

D_ABORT 6099 NAV_MODE 1 SEABIRD_T_H 0.00062940316 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.4306677e-05 XPDR_VALID 0

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.6223986e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 050910,194436,1836.218,-6600.436,38,1.6,39,-12.7 TGT_NAME SAN_JUAN_VM

_CALLS 5 TGT_LATLONG 1836.000,-6600.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050910,195514,1836.201,-6600.511,14,1.8,14,-12.7 MHEAD_RNG_PITCHd_Wd 125.3,972,-43.5,-8.000

SPEED_LIMITS 0.080,0.230 D_GRID 1144

Post-dive calculations and measurements:

FINISH 0.1,1.022069 _24V_AH 23.7,43.534

SM_CCo 17362,200.95,0.752,0,0,145,571.56 _10V_AH 10.3,15.535

SM_GC 0.64,0.00,0.00,200.95,0.000,0.000,0.752,18,1931,145,-8.35,0.85,571.56 FG_AHR_24Vo 0.000

IRIDIUM_FIX 1828.22,-6559.71,050910,151517 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721 MEM 327704

HUMID 51.02 DATA_FILE_SIZE 36908,675

INTERNAL_PRESSURE 7.98859 CAP_FILE_SIZE 186305,0

TCM_TEMP 23.70 CFSIZE 260280320,249683968

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,0,0

ALTIM_TOP_PING 19.0,17.8 GPS 060910,004936,1835.722,-6600.024,41,1.1,42,-12.7

ALTIM_BOTTOM_PING 1080.1,74.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 198 115.69 SBE_CT 459 24 261.14

Roll_motor 148 134 472.69 nil 0 0 0.00

VBD_pump_during_apogee 289 1536 10537.23 AA4330 1031 33 806.83

VBD_pump_during_surface 200 752 3583.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 163 103 400.08 nil 0 0 0.00

Iridium_during_connect 141 160 535.08 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 447.93 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.14

TT8 2223 19 453.44

LPSleep 11879 2 267.97

TT8_Active 615 19 125.57

TT8_Sampling 3334 39 1366.86

TT8_CF8 151 45 71.47

TT8_Kalman 0 0 0.00

Analog_circuits 2015 12 249.11

GPS_charging 0 0 0.00

Compass 2751 15 425.14

RAFOS 0 0 0.00

Transponder 306 30 94.60

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -2.75 -21.3 0.0 0.0 0 117 0.00 0.00 -100.50 0.000 2 0.000 0.000 19 1935 1929 0 0 0 0 0 0

119 -2.75 -25.6 3.6 -6.9 9 141 6.50 2.47 -9.98 0.000 4 0.199 0.074 1228 3289 2170 0 0 0 0 0 0

288 -2.91 -25.6 40.2 -18.3 24 293 0.12 2.53 0.00 0.000 6 0.107 0.065 1192 1877 2171 0 0 0 0 0 0

613 -3.04 -33.6 73.0 -6.0 54 618 0.00 2.55 -0.28 0.000 4 0.000 0.072 1192 3289 2200 0 0 0 0 0 0

1001 -3.16 -38.3 92.6 -6.8 88 1007 0.20 2.47 -0.15 0.000 6 0.092 0.067 1136 1895 2220 0 0 0 0 0 0

1326 -3.27 -52.2 110.4 -4.5 118 1331 0.00 2.53 -0.32 0.000 4 0.000 0.074 1136 3288 2264 0 0 0 0 0 0

2004 -3.34 -52.2 178.7 -10.0 165 2009 0.10 2.53 0.00 0.000 6 0.079 0.070 1100 1900 2264 0 0 0 0 0 0

2327 -3.39 -52.2 214.7 -13.0 181 2334 0.00 2.53 0.00 0.000 4 0.000 0.082 1100 3282 2264 0 0 0 0 0 0

2850 -3.42 -52.2 302.4 -19.6 204 2854 0.00 2.50 0.00 0.000 6 0.000 0.074 1100 1904 2264 0 0 0 0 0 0

3168 -3.47 -52.2 366.9 -21.3 215 3175 0.00 2.58 0.00 0.000 4 0.000 0.087 1100 492 2264 0 0 0 0 0 0

3226 -3.47 -52.2 380.3 -21.7 216 3230 0.00 2.53 0.00 0.000 6 0.000 0.074 1100 1869 2264 0 0 0 0 0 0

3539 -3.51 -52.2 450.5 -23.2 226 3544 0.12 2.70 0.00 0.000 4 0.107 0.092 1062 3305 2264 0 0 0 0 0 0

4219 -3.51 -52.2 641.2 -30.1 246 4224 0.00 2.62 0.00 0.000 6 0.000 0.084 1062 1908 2261 0 0 0 0 0 0

4548 -3.51 -52.2 743.9 -32.1 257 4553 0.00 2.78 0.00 0.000 4 0.000 0.104 1062 3307 2259 0 0 0 0 0 0

5072 -3.51 -52.2 921.7 -32.8 272 5076 0.00 2.72 0.00 0.000 6 0.000 0.094 1062 1904 2255 0 0 0 0 0 0

5385 -3.51 -52.2 1029.4 -34.8 281 5390 0.00 2.85 0.00 0.000 4 0.000 0.119 1062 3302 2252 0 0 0 0 0 0

5524 end dive: TARGET_DEPTH_EXCEEDED

state 5524 begin apogee

5530 -0.31 0.0 1080.1 37.0 283 5574 3.53 0.00 37.72 1.500 6 0.166 0.000 1762 1749 2081 0 0 0 0 0 0

5575 end apogee: CONTROL_FINISHED_OK

state 5575 begin climb

5576 2.78 52.2 1088.2 0.0 283 5627 2.88 3.00 39.80 1.482 4 0.089 0.124 2448 344 1904 0 0 0 0 0 0

5655 3.16 149.5 1094.0 -16.3 285 5737 0.32 2.88 73.70 1.510 6 0.079 0.109 2531 1747 1574 0 0 1 0 0 0

6081 3.41 224.1 1140.0 -10.7 292 6145 0.15 3.03 56.58 1.537 4 0.099 0.124 2575 340 1321 0 0 1 0 0 0

6820 3.64 256.3 1150.9 -0.1 303 6851 0.00 2.80 25.12 1.515 6 0.000 0.112 2575 1756 1213 0 0 1 0 0 0

7184 3.73 262.9 1134.1 6.4 309 7198 0.00 2.88 6.38 1.204 4 0.000 0.119 2575 338 1189 0 0 0 0 0 0

7400 3.77 262.9 1115.9 8.1 312 7404 0.00 2.83 0.00 0.000 6 0.000 0.114 2575 1745 1187 0 0 1 0 0 0

7755 3.85 267.1 1090.2 6.9 318 7765 0.00 2.83 4.12 0.958 4 0.000 0.122 2575 340 1177 0 0 1 0 0 0

7898 3.89 267.1 1079.3 8.5 320 7902 0.00 2.83 0.00 0.000 6 0.000 0.112 2576 1756 1176 0 0 1 0 0 0

8254 3.98 273.5 1056.1 6.4 326 8267 0.00 2.92 6.55 1.212 4 0.000 0.122 2575 339 1155 0 0 1 0 0 0

8616 4.03 276.5 1029.0 7.2 331 8626 0.00 2.85 3.83 0.909 6 0.000 0.112 2575 1758 1144 0 0 1 0 0 0

8959 4.12 280.6 1005.1 7.0 337 8969 0.00 2.88 4.90 1.068 4 0.000 0.134 2575 3157 1131 0 0 0 0 0 0

9036 4.19 280.6 998.7 8.9 338 9041 0.00 2.78 0.00 0.000 6 0.000 0.109 2575 1752 1131 0 0 1 0 0 0

9363 4.27 280.6 970.8 8.5 348 9368 0.00 2.85 0.00 0.000 4 0.000 0.122 2575 337 1130 0 0 0 0 0 0

9563 4.31 281.0 954.0 7.9 354 9568 0.00 2.83 0.00 0.000 6 0.000 0.109 2575 1748 1129 0 0 1 0 0 0

9898 4.40 282.5 929.1 7.6 365 9903 0.00 2.92 0.00 0.000 4 0.000 0.129 2575 3158 1130 0 0 0 0 0 0

9908 4.48 284.0 928.0 7.6 365 9918 0.00 2.85 4.10 0.939 6 0.000 0.109 2575 1745 1120 0 0 0 0 0 0

10232 4.57 284.0 901.8 8.8 376 10236 0.00 2.85 0.00 0.000 4 0.000 0.119 2575 337 1120 0 0 0 0 0 0

10815 4.62 290.9 865.6 6.3 393 10832 0.00 2.83 7.00 1.179 6 0.000 0.107 2575 1753 1096 0 0 1 0 0 0

11137 4.70 290.9 842.3 8.2 404 11142 0.00 2.88 0.00 0.000 4 0.000 0.127 2575 3157 1096 0 0 0 0 0 0

11814 4.78 293.6 792.1 7.3 424 11824 0.00 2.83 3.88 0.859 6 0.000 0.104 2575 1749 1087 0 0 0 0 0 0

12143 4.86 294.4 767.7 7.8 435 12148 0.00 2.83 0.00 0.000 4 0.000 0.117 2575 335 1087 0 0 0 0 0 0

12558 4.91 298.5 733.7 7.0 447 12568 0.00 2.80 5.53 1.023 6 0.000 0.102 2575 1751 1070 0 0 1 0 0 0

12875 4.99 298.5 704.6 10.0 457 12877 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 1751 1070 0 0 0 0 0 0

13182 5.08 298.5 674.6 10.0 467 13183 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 1751 1070 0 0 0 0 0 0

13488 5.16 298.5 643.4 10.3 477 13492 0.00 2.83 0.00 0.000 4 0.000 0.109 2575 337 1070 0 0 0 0 0 0

13873 5.21 298.5 598.5 12.8 488 13878 0.00 2.78 0.00 0.000 6 0.000 0.097 2575 1755 1069 0 0 1 0 0 0

14186 5.28 298.5 560.6 13.4 498 14191 0.00 2.85 0.00 0.000 4 0.000 0.104 2576 331 1069 0 0 0 0 0 0

14207 5.33 298.5 557.2 14.9 498 14214 0.00 2.78 0.00 0.000 6 0.000 0.094 2575 1745 1069 0 0 1 0 0 0

14520 5.41 298.5 513.0 14.8 509 14524 0.00 2.80 0.00 0.000 4 0.000 0.102 2575 335 1069 0 0 0 0 0 0

14703 5.44 298.5 479.9 18.2 514 14708 0.00 2.72 0.00 0.000 6 0.000 0.089 2575 1751 1069 0 0 1 0 0 0

15022 5.51 298.5 422.8 17.9 525 15027 0.00 2.78 0.00 0.000 4 0.000 0.099 2575 334 1069 0 0 0 0 0 0

15152 5.54 298.5 397.6 20.9 529 15156 0.00 2.70 0.00 0.000 6 0.000 0.084 2575 1754 1069 0 0 1 0 0 0

15486 5.54 298.5 329.3 21.2 540 15490 0.00 2.75 0.00 0.000 4 0.000 0.094 2575 332 1069 0 0 0 0 0 0

15669 5.57 298.5 285.8 23.9 546 15674 0.03 2.67 0.00 0.000 6 0.194 0.079 2570 1747 1069 0 0 1 0 0 0

15991 5.57 298.5 208.8 24.5 562 15996 0.00 2.75 0.00 0.000 4 0.000 0.089 2569 327 1069 0 0 0 0 0 0

16191 5.57 298.5 157.9 22.8 571 16196 0.00 2.65 0.00 0.000 6 0.000 0.074 2569 1748 1069 0 0 1 0 0 0

16517 5.57 298.5 88.7 20.3 600 16521 0.00 2.65 0.00 0.000 4 0.000 0.084 2569 3165 1069 0 0 0 0 0 0

16526 5.57 298.5 86.7 20.0 600 16533 0.00 2.70 0.00 0.000 6 0.000 0.077 2569 1738 1069 0 0 0 0 0 0

16853 5.57 298.5 46.6 8.5 631 16857 0.00 2.62 0.00 0.000 4 0.000 0.084 2569 335 1069 0 0 0 0 0 0

17105 5.58 308.2 33.5 5.6 653 17121 0.00 2.55 10.07 0.723 6 0.000 0.062 2570 1766 1037 0 0 0 0 0 0

17322 end climb: SURFACE_DEPTH_REACHED

state 17322 begin surface coast

17345 end surface coast: CONTROL_FINISHED_OK

state 17345 begin surface

ID	33	HEADING	-1	ROLL_MAX	3837	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	24	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	200
DIVE	12	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1900	ALTIM_PING_DELTA	5
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1750	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	18.5	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1080	TGT_DEFAULT_LON	-66	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	6099	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	0
D_NO_BLEED	200	SM_CC	571.55945	R_PORT_OVSHOOT	20	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	54	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	340	INT_PRESSURE_YINT	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	1
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	1
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	146	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2082	DEVICE3	101
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	450	CALL_WAIT	60	VBD_CNV	-0.29522699	DEVICE5	-1
T_MISSION	480	CAPUPLOAD	0	VBD_TIMEOUT	950	DEVICE6	-1
T_ABORT	2880	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	600	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	2	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	-1
T_NO_W	180	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_BATHY	-10	T_GPS_CHARGE	-237155.45	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	CF8_MAXERRORS	2	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	151	PHONE_DEVICE	48
D_OFFGRID	6084	RAFOS_PEAK_OFFSET	1.5	AH0_10V	122.2	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	27	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	2563	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1835	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043575475
GLIDE_SLOPE	45	PITCH_DBAND	0.1	PRESSURE_YINT	-19.047844	SEABIRD_T_H	0.00062940316
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.00093601202	SEABIRD_T_I	2.4306677e-05
RHO	1.023	P_OVSHOOT	0.039999999	AD7714Ch0Gain	32	SEABIRD_T_J	2.6223986e-06
MASS	52000	PITCH_GAIN	16	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.332057
NAV_MODE	1	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.2094743
FERRY_MAX	2	PITCH_AD_RATE	160	COMPASS_USE	0	SEABIRD_C_I	-0.0016192879
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021825745
HD_A	0.0048177	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.011392	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	1.0709e-05	ROLL_MIN	60	ALTIM_TOP_TURN_MARGIN	0

GPS1	050910,194436,1836.218,-6600.436,38,1.6,39,-12.7	TGT_NAME	SAN_JUAN_VM
_CALLS	5	TGT_LATLONG	1836.000,-6600.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050910,195514,1836.201,-6600.511,14,1.8,14,-12.7	MHEAD_RNG_PITCHd_Wd	125.3,972,-43.5,-8.000
SPEED_LIMITS	0.080,0.230	D_GRID	1144

FINISH	0.1,1.022069	_24V_AH	23.7,43.534
SM_CCo	17362,200.95,0.752,0,0,145,571.56	_10V_AH	10.3,15.535
SM_GC	0.64,0.00,0.00,200.95,0.000,0.000,0.752,18,1931,145,-8.35,0.85,571.56	FG_AHR_24Vo	0.000
IRIDIUM_FIX	1828.22,-6559.71,050910,151517	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721	MEM	327704
HUMID	51.02	DATA_FILE_SIZE	36908,675
INTERNAL_PRESSURE	7.98859	CAP_FILE_SIZE	186305,0
TCM_TEMP	23.70	CFSIZE	260280320,249683968
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
ALTIM_TOP_PING	19.0,17.8	GPS	060910,004936,1835.722,-6600.024,41,1.1,42,-12.7
ALTIM_BOTTOM_PING	1080.1,74.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	198	115.69	SBE_CT	459	24	261.14
Roll_motor	148	134	472.69	nil	0	0	0.00
VBD_pump_during_apogee	289	1536	10537.23	AA4330	1031	33	806.83
VBD_pump_during_surface	200	752	3583.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	163	103	400.08	nil	0	0	0.00
Iridium_during_connect	141	160	535.08	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	447.93	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.14
TT8	2223	19	453.44
LPSleep	11879	2	267.97
TT8_Active	615	19	125.57
TT8_Sampling	3334	39	1366.86
TT8_CF8	151	45	71.47
TT8_Kalman	0	0	0.00
Analog_circuits	2015	12	249.11
GPS_charging	0	0	0.00
Compass	2751	15	425.14
RAFOS	0	0	0.00
Transponder	306	30	94.60

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-2.75	-21.3	0.0	0.0	0	117	0.00	0.00	-100.50	0.000	2	0.000	0.000	19	1935	1929	0	0	0	0	0	0
119	-2.75	-25.6	3.6	-6.9	9	141	6.50	2.47	-9.98	0.000	4	0.199	0.074	1228	3289	2170	0	0	0	0	0	0
288	-2.91	-25.6	40.2	-18.3	24	293	0.12	2.53	0.00	0.000	6	0.107	0.065	1192	1877	2171	0	0	0	0	0	0
613	-3.04	-33.6	73.0	-6.0	54	618	0.00	2.55	-0.28	0.000	4	0.000	0.072	1192	3289	2200	0	0	0	0	0	0
1001	-3.16	-38.3	92.6	-6.8	88	1007	0.20	2.47	-0.15	0.000	6	0.092	0.067	1136	1895	2220	0	0	0	0	0	0
1326	-3.27	-52.2	110.4	-4.5	118	1331	0.00	2.53	-0.32	0.000	4	0.000	0.074	1136	3288	2264	0	0	0	0	0	0
2004	-3.34	-52.2	178.7	-10.0	165	2009	0.10	2.53	0.00	0.000	6	0.079	0.070	1100	1900	2264	0	0	0	0	0	0
2327	-3.39	-52.2	214.7	-13.0	181	2334	0.00	2.53	0.00	0.000	4	0.000	0.082	1100	3282	2264	0	0	0	0	0	0
2850	-3.42	-52.2	302.4	-19.6	204	2854	0.00	2.50	0.00	0.000	6	0.000	0.074	1100	1904	2264	0	0	0	0	0	0
3168	-3.47	-52.2	366.9	-21.3	215	3175	0.00	2.58	0.00	0.000	4	0.000	0.087	1100	492	2264	0	0	0	0	0	0
3226	-3.47	-52.2	380.3	-21.7	216	3230	0.00	2.53	0.00	0.000	6	0.000	0.074	1100	1869	2264	0	0	0	0	0	0
3539	-3.51	-52.2	450.5	-23.2	226	3544	0.12	2.70	0.00	0.000	4	0.107	0.092	1062	3305	2264	0	0	0	0	0	0
4219	-3.51	-52.2	641.2	-30.1	246	4224	0.00	2.62	0.00	0.000	6	0.000	0.084	1062	1908	2261	0	0	0	0	0	0
4548	-3.51	-52.2	743.9	-32.1	257	4553	0.00	2.78	0.00	0.000	4	0.000	0.104	1062	3307	2259	0	0	0	0	0	0
5072	-3.51	-52.2	921.7	-32.8	272	5076	0.00	2.72	0.00	0.000	6	0.000	0.094	1062	1904	2255	0	0	0	0	0	0
5385	-3.51	-52.2	1029.4	-34.8	281	5390	0.00	2.85	0.00	0.000	4	0.000	0.119	1062	3302	2252	0	0	0	0	0	0
5524	end dive: TARGET_DEPTH_EXCEEDED
state	5524	begin apogee
5530	-0.31	0.0	1080.1	37.0	283	5574	3.53	0.00	37.72	1.500	6	0.166	0.000	1762	1749	2081	0	0	0	0	0	0
5575	end apogee: CONTROL_FINISHED_OK
state	5575	begin climb
5576	2.78	52.2	1088.2	0.0	283	5627	2.88	3.00	39.80	1.482	4	0.089	0.124	2448	344	1904	0	0	0	0	0	0
5655	3.16	149.5	1094.0	-16.3	285	5737	0.32	2.88	73.70	1.510	6	0.079	0.109	2531	1747	1574	0	0	1	0	0	0
6081	3.41	224.1	1140.0	-10.7	292	6145	0.15	3.03	56.58	1.537	4	0.099	0.124	2575	340	1321	0	0	1	0	0	0
6820	3.64	256.3	1150.9	-0.1	303	6851	0.00	2.80	25.12	1.515	6	0.000	0.112	2575	1756	1213	0	0	1	0	0	0
7184	3.73	262.9	1134.1	6.4	309	7198	0.00	2.88	6.38	1.204	4	0.000	0.119	2575	338	1189	0	0	0	0	0	0
7400	3.77	262.9	1115.9	8.1	312	7404	0.00	2.83	0.00	0.000	6	0.000	0.114	2575	1745	1187	0	0	1	0	0	0
7755	3.85	267.1	1090.2	6.9	318	7765	0.00	2.83	4.12	0.958	4	0.000	0.122	2575	340	1177	0	0	1	0	0	0
7898	3.89	267.1	1079.3	8.5	320	7902	0.00	2.83	0.00	0.000	6	0.000	0.112	2576	1756	1176	0	0	1	0	0	0
8254	3.98	273.5	1056.1	6.4	326	8267	0.00	2.92	6.55	1.212	4	0.000	0.122	2575	339	1155	0	0	1	0	0	0
8616	4.03	276.5	1029.0	7.2	331	8626	0.00	2.85	3.83	0.909	6	0.000	0.112	2575	1758	1144	0	0	1	0	0	0
8959	4.12	280.6	1005.1	7.0	337	8969	0.00	2.88	4.90	1.068	4	0.000	0.134	2575	3157	1131	0	0	0	0	0	0
9036	4.19	280.6	998.7	8.9	338	9041	0.00	2.78	0.00	0.000	6	0.000	0.109	2575	1752	1131	0	0	1	0	0	0
9363	4.27	280.6	970.8	8.5	348	9368	0.00	2.85	0.00	0.000	4	0.000	0.122	2575	337	1130	0	0	0	0	0	0
9563	4.31	281.0	954.0	7.9	354	9568	0.00	2.83	0.00	0.000	6	0.000	0.109	2575	1748	1129	0	0	1	0	0	0
9898	4.40	282.5	929.1	7.6	365	9903	0.00	2.92	0.00	0.000	4	0.000	0.129	2575	3158	1130	0	0	0	0	0	0
9908	4.48	284.0	928.0	7.6	365	9918	0.00	2.85	4.10	0.939	6	0.000	0.109	2575	1745	1120	0	0	0	0	0	0
10232	4.57	284.0	901.8	8.8	376	10236	0.00	2.85	0.00	0.000	4	0.000	0.119	2575	337	1120	0	0	0	0	0	0
10815	4.62	290.9	865.6	6.3	393	10832	0.00	2.83	7.00	1.179	6	0.000	0.107	2575	1753	1096	0	0	1	0	0	0
11137	4.70	290.9	842.3	8.2	404	11142	0.00	2.88	0.00	0.000	4	0.000	0.127	2575	3157	1096	0	0	0	0	0	0
11814	4.78	293.6	792.1	7.3	424	11824	0.00	2.83	3.88	0.859	6	0.000	0.104	2575	1749	1087	0	0	0	0	0	0
12143	4.86	294.4	767.7	7.8	435	12148	0.00	2.83	0.00	0.000	4	0.000	0.117	2575	335	1087	0	0	0	0	0	0
12558	4.91	298.5	733.7	7.0	447	12568	0.00	2.80	5.53	1.023	6	0.000	0.102	2575	1751	1070	0	0	1	0	0	0
12875	4.99	298.5	704.6	10.0	457	12877	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	1751	1070	0	0	0	0	0	0
13182	5.08	298.5	674.6	10.0	467	13183	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	1751	1070	0	0	0	0	0	0
13488	5.16	298.5	643.4	10.3	477	13492	0.00	2.83	0.00	0.000	4	0.000	0.109	2575	337	1070	0	0	0	0	0	0
13873	5.21	298.5	598.5	12.8	488	13878	0.00	2.78	0.00	0.000	6	0.000	0.097	2575	1755	1069	0	0	1	0	0	0
14186	5.28	298.5	560.6	13.4	498	14191	0.00	2.85	0.00	0.000	4	0.000	0.104	2576	331	1069	0	0	0	0	0	0
14207	5.33	298.5	557.2	14.9	498	14214	0.00	2.78	0.00	0.000	6	0.000	0.094	2575	1745	1069	0	0	1	0	0	0
14520	5.41	298.5	513.0	14.8	509	14524	0.00	2.80	0.00	0.000	4	0.000	0.102	2575	335	1069	0	0	0	0	0	0
14703	5.44	298.5	479.9	18.2	514	14708	0.00	2.72	0.00	0.000	6	0.000	0.089	2575	1751	1069	0	0	1	0	0	0
15022	5.51	298.5	422.8	17.9	525	15027	0.00	2.78	0.00	0.000	4	0.000	0.099	2575	334	1069	0	0	0	0	0	0
15152	5.54	298.5	397.6	20.9	529	15156	0.00	2.70	0.00	0.000	6	0.000	0.084	2575	1754	1069	0	0	1	0	0	0
15486	5.54	298.5	329.3	21.2	540	15490	0.00	2.75	0.00	0.000	4	0.000	0.094	2575	332	1069	0	0	0	0	0	0
15669	5.57	298.5	285.8	23.9	546	15674	0.03	2.67	0.00	0.000	6	0.194	0.079	2570	1747	1069	0	0	1	0	0	0
15991	5.57	298.5	208.8	24.5	562	15996	0.00	2.75	0.00	0.000	4	0.000	0.089	2569	327	1069	0	0	0	0	0	0
16191	5.57	298.5	157.9	22.8	571	16196	0.00	2.65	0.00	0.000	6	0.000	0.074	2569	1748	1069	0	0	1	0	0	0
16517	5.57	298.5	88.7	20.3	600	16521	0.00	2.65	0.00	0.000	4	0.000	0.084	2569	3165	1069	0	0	0	0	0	0
16526	5.57	298.5	86.7	20.0	600	16533	0.00	2.70	0.00	0.000	6	0.000	0.077	2569	1738	1069	0	0	0	0	0	0
16853	5.57	298.5	46.6	8.5	631	16857	0.00	2.62	0.00	0.000	4	0.000	0.084	2569	335	1069	0	0	0	0	0	0
17105	5.58	308.2	33.5	5.6	653	17121	0.00	2.55	10.07	0.723	6	0.000	0.062	2570	1766	1037	0	0	0	0	0	0
17322	end climb: SURFACE_DEPTH_REACHED
state	17322	begin surface coast
17345	end surface coast: CONTROL_FINISHED_OK
state	17345	begin surface