Glider dive log

OKMC Aug11 * SG166 * Dive index * Mission links * Dive 131 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8500004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 30

DIVE 131 HEADING -1 ROLL_MIN 197 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3786 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 5 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1500 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1850 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_BOOST 3 SM_CC 400 ROLL_TIMEOUT 15 XPDR_VALID 4

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 43 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 43 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.7

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MIN 455 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 53

T_DIVE 340 UPLOAD_DIVES_MAX -1 C_VBD 2884 DEVICE3 35

T_MISSION 370 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 3 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -9 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -24557.549 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 AH0_24V 147 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 109 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 160 PITCH_MIN 160 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3938 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2745 PHONE_SUPPLY 2 SEABIRD_T_G 0.004315557

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -27.509327 SEABIRD_T_H 0.00063223497

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_I 2.3993638e-05

MASS 51906 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.5696888e-06

NAV_MODE 2 PITCH_GAIN 28 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9842854

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1210135

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0013500623

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00018873326

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 109 D_OFFGRID 1000 PHONE_DEVICE 49 SIM_W 0

AH0_24V 147 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 30 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_GAIN 28 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAX 3938 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 160 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001160501 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -27.509327 T_DIVE 340

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 1 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8500004e-06 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -24557.549

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 370

COMPASS_DEVICE 33 ID 166 RELAUNCH 1 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2745 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1850 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 1500 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2884 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3786 USE_BATHY -9

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51906 ROLL_MIN 197 VBD_BLEED_AD_RATE 8

DEVICE2 53 MAX_BUOY 160 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 35 MINV_10V 8 R_PORT_OVSHOOT 43 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 43 VBD_MAX 3960

DEVICE5 -1 MISSION 6 SEABIRD_C_G -9.9842854 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1210135 VBD_MIN 455

DIVE 131 NAV_MODE 2 SEABIRD_C_I -0.0013500623 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 0 SEABIRD_C_J 0.00018873326 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 3 N_DIVES 0 SEABIRD_T_G 0.004315557 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00063223497 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.3993638e-05 XPDR_INHIBIT 90

D_FLARE 5 N_NOCOMM 1 SEABIRD_T_J 2.5696888e-06 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 280811,130556,2246.349,12352.866,55,99.0,74,-3.1 TGT_NAME N3

_CALLS 2 TGT_LATLONG 2130.000,12400.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280811,131334,2246.440,12352.890,33,99.0,52,-3.1 MHEAD_RNG_PITCHd_Wd 163.1,142096,-17.2,-9.706

SPEED_LIMITS 0.168,0.265 D_GRID 5000

Post-dive calculations and measurements:

FINISH 0.9,1.021674 _10V_AH 10.2,22.441

SM_CCo 12831,43.58,0.438,1,0,1252,400.08 FG_AHR_24Vo 0.000

SM_GC 1.52,0.00,0.00,43.58,0.000,0.000,0.438,130,1492,1252,-8.17,-0.23,400.08,0,0,0,0,1,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2239.35,12349.83,280811,131314 MEM 330412

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 70147,1233

HUMID 34.28 CAP_FILE_SIZE 129088,0

INTERNAL_PRESSURE 9.45807 CFSIZE 260165632,135745536

TCM_TEMP 26.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 78 CURRENT 0.104,287.5,1

_24V_AH 23.3,32.712 GPS 280811,165001,2245.073,12353.118,44,1.9,44,-3.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 221 97.10 SBE_CT 842 24 470.89

Roll_motor 90 61 128.73 AA3830 1262 33 971.05

VBD_pump_during_apogee 429 1443 14446.16 WL_BB2F 1562 105 3821.66

VBD_pump_during_surface 43 438 445.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 49 103 117.66 nil 0 0 0.00

Iridium_during_connect 110 160 411.19 nil 0 0 0.00

Iridium_during_xfer 0 223 0.83 nil 0 0 0.00

Transponder_ping 19 420 190.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 54 50 27.89

TT8 3038 19 613.73

LPSleep 6297 2 140.68

TT8_Active 524 19 105.86

TT8_Sampling 3108 39 1262.03

TT8_CF8 356 45 166.47

TT8_Kalman 0 0 0.00

Analog_circuits 1687 12 206.60

GPS_charging 0 0 0.00

Compass 2853 15 436.54

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.81 -155.7 0.0 0.0 0 98 0.00 0.00 -79.53 0.000 2 0.000 0.000 140 1489 3229 0 0 0 0 0 0

103 -0.81 -155.7 6.4 -11.2 11 127 9.07 2.20 -5.28 0.000 4 0.221 0.053 2461 2908 3519 0 0 0 0 0 0

135 -0.81 -155.7 26.0 -46.0 15 143 0.00 2.15 0.00 0.000 6 0.000 0.034 2462 1507 3520 0 0 0 0 0 0

461 -0.81 -155.7 135.5 -25.2 76 468 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 1503 3524 0 0 0 0 0 0

790 -0.81 -155.7 219.8 -24.3 137 799 0.00 2.03 0.00 0.000 4 0.000 0.046 2460 203 3524 0 0 0 0 0 0

997 -0.81 -155.7 270.4 -24.3 168 1002 0.12 1.95 0.00 0.000 6 0.186 0.037 2484 1509 3524 0 0 0 0 0 0

1323 -0.81 -155.7 332.5 -16.9 198 1326 0.00 2.03 0.00 0.000 4 0.000 0.046 2485 205 3524 0 0 0 0 0 0

1383 -0.81 -155.7 344.0 -18.1 203 1390 0.00 1.98 0.00 0.000 6 0.000 0.036 2480 1500 3524 0 0 0 0 0 0

1710 -0.81 -155.7 399.2 -16.9 234 1711 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 1500 3524 0 0 0 0 0 0

2031 -0.81 -155.7 453.5 -16.0 264 2035 0.00 2.05 0.00 0.000 4 0.000 0.048 2496 199 3522 0 0 0 0 0 0

2114 -0.81 -155.7 468.4 -17.2 271 2122 0.00 1.98 0.00 0.000 6 0.000 0.037 2487 1494 3521 0 0 0 0 0 0

2442 -0.81 -155.7 514.1 -12.8 302 2443 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 1494 3519 0 0 0 0 0 0

2759 -0.81 -155.7 557.3 -14.1 332 2763 0.00 2.03 0.00 0.000 4 0.000 0.049 2487 208 3517 0 0 0 0 0 0

2890 -0.81 -155.7 578.0 -15.7 343 2896 0.00 1.98 0.00 0.000 6 0.000 0.038 2477 1503 3516 0 0 0 0 0 0

3210 -0.81 -155.7 626.5 -15.2 366 3211 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 1504 3514 0 0 0 0 0 0

3519 -0.81 -155.7 673.1 -15.5 381 3523 0.00 2.05 0.00 0.000 4 0.000 0.052 2474 199 3511 0 0 0 0 0 0

3634 -0.81 -155.7 691.5 -16.7 386 3638 0.00 2.00 0.00 0.000 6 0.000 0.040 2462 1499 3509 0 0 0 0 0 0

3967 -0.81 -155.7 740.4 -13.8 402 3971 0.00 2.17 0.00 0.000 4 0.000 0.053 2454 2904 3506 0 0 0 0 0 0

4039 -0.81 -155.7 750.0 -12.6 405 4044 0.12 2.10 0.00 0.000 6 0.171 0.041 2487 1504 3505 0 0 0 0 0 0

4360 -0.81 -155.7 786.0 -11.3 421 4364 0.00 2.03 0.00 0.000 4 0.000 0.054 2491 186 3503 0 0 0 0 0 0

4410 -0.81 -155.7 792.2 -12.3 423 4414 0.00 2.03 0.00 0.000 6 0.000 0.041 2482 1511 3502 0 0 0 0 0 0

4739 -0.81 -155.7 832.2 -12.2 439 4743 0.00 2.05 0.00 0.000 4 0.000 0.054 2484 198 3500 0 0 0 0 0 0

4867 -0.81 -155.7 850.1 -13.7 444 4874 0.00 2.03 0.00 0.000 6 0.000 0.043 2472 1500 3498 0 0 0 0 0 0

5185 -0.81 -155.7 891.5 -13.2 460 5186 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 1501 3496 0 0 0 0 0 0

5493 -0.81 -155.7 929.8 -12.2 475 5496 0.00 2.05 0.00 0.000 4 0.000 0.056 2469 195 3493 0 0 0 0 0 0

5531 -0.81 -155.7 935.3 -13.7 476 5538 0.00 2.03 0.00 0.000 6 0.000 0.044 2459 1496 3492 0 0 0 0 0 0

5849 -0.81 -155.7 977.8 -13.8 492 5850 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 1496 3491 0 0 0 0 0 0

5948 end dive: TARGET_DEPTH_EXCEEDED

state 5948 begin apogee

5954 -0.18 0.0 992.1 13.9 497 6089 0.70 0.00 126.90 1.444 6 0.138 0.000 2678 1862 2884 0 0 0 0 0 0

6090 end apogee: CONTROL_FINISHED_OK

state 6090 begin climb

6092 0.81 155.7 998.0 0.0 503 6240 0.93 2.40 139.88 1.392 4 0.075 0.061 3004 3254 2248 0 0 0 0 0 0

6275 0.81 155.7 979.7 16.4 511 6283 0.00 2.28 0.00 0.000 6 0.000 0.044 3012 1849 2246 0 0 0 0 0 0

6591 0.81 155.7 926.3 17.5 527 6595 0.00 2.22 0.00 0.000 4 0.000 0.059 3004 3248 2240 0 0 0 0 0 0

6663 0.81 155.7 912.6 18.8 530 6667 0.00 2.17 0.00 0.000 6 0.000 0.045 3012 1836 2238 0 0 0 0 0 0

6992 0.81 155.7 851.8 18.5 546 6996 0.00 2.25 0.00 0.000 4 0.000 0.059 3004 3254 2237 0 0 0 0 0 0

7063 0.81 155.7 837.5 19.1 549 7068 0.00 2.17 0.00 0.000 6 0.000 0.044 3014 1857 2236 0 0 0 0 0 0

7387 0.81 155.7 774.9 20.8 565 7388 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 1856 2235 0 0 0 0 0 0

7695 0.81 155.7 712.6 19.7 580 7696 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1856 2233 0 0 0 0 0 0

8003 0.81 155.7 655.6 18.5 595 8007 0.00 2.20 0.00 0.000 4 0.000 0.056 3005 3255 2232 0 0 0 0 0 0

8178 0.81 155.7 624.2 17.7 603 8182 0.00 2.15 0.00 0.000 6 0.000 0.043 3014 1835 2231 0 0 0 0 0 0

8500 0.81 155.7 570.6 17.4 626 8504 0.00 2.22 0.00 0.000 4 0.000 0.056 3012 3252 2231 0 0 0 0 0 0

8656 0.81 155.7 542.5 17.2 639 8660 0.00 2.15 0.00 0.000 6 0.000 0.041 3021 1840 2231 0 0 0 0 0 0

8983 0.81 155.7 484.8 18.4 669 8987 0.00 2.20 0.00 0.000 4 0.000 0.054 3012 3263 2230 0 0 0 0 0 0

9157 0.81 155.7 453.3 18.1 684 9164 0.00 2.12 0.00 0.000 6 0.000 0.041 3021 1844 2229 0 0 0 0 0 0

9482 0.81 155.7 397.4 17.3 715 9486 0.00 2.20 0.00 0.000 4 0.000 0.052 3014 3261 2229 0 0 0 0 0 0

9514 0.81 155.7 391.3 18.2 717 9521 0.00 2.12 0.00 0.000 6 0.000 0.039 3022 1841 2229 0 0 0 0 0 0

9842 0.81 155.7 338.1 13.6 748 9843 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 1841 2229 0 0 0 0 0 0

10159 0.81 155.7 293.6 14.5 778 10160 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 1841 2229 0 0 0 0 0 0

10481 0.81 155.7 244.9 14.5 811 10489 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1841 2229 0 0 0 0 0 0

10807 0.81 155.7 204.1 11.1 872 10815 0.00 2.22 0.00 0.000 4 0.000 0.050 3025 3261 2228 0 0 0 0 0 0

10885 0.81 155.7 194.7 11.5 886 10893 0.00 2.15 0.00 0.000 6 0.000 0.037 3033 1852 2229 0 0 0 0 0 0

11211 0.81 155.7 159.3 9.7 947 11220 0.00 2.17 0.00 0.000 4 0.000 0.046 3043 442 2229 0 0 0 0 0 0

11249 0.81 162.6 155.4 9.4 953 11257 0.00 2.15 0.00 0.000 6 0.000 0.036 3035 1862 2229 0 0 0 0 0 0

11575 0.81 162.6 117.1 11.6 1014 11582 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 1862 2228 0 0 0 0 0 0

11900 0.89 226.9 88.2 7.0 1075 11967 0.00 2.17 57.17 0.735 4 0.000 0.046 3025 3243 1957 0 0 0 0 0 0

12073 0.92 248.2 72.4 8.8 1103 12097 0.00 2.15 18.62 0.679 6 0.000 0.035 3034 1852 1871 0 0 0 0 0 0

12419 0.98 294.0 50.2 7.8 1166 12466 0.00 2.22 39.28 0.675 4 0.000 0.043 3044 434 1684 0 0 0 0 0 0

12484 1.05 350.3 44.9 7.3 1175 12538 0.08 2.17 47.65 0.668 6 0.055 0.031 3105 1854 1454 0 0 0 0 0 0

12789 end climb: SURFACE_DEPTH_REACHED

state 12789 begin surface coast

12811 end surface coast: CONTROL_FINISHED_OK

state 12811 begin surface

ID	166	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8500004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	30
DIVE	131	HEADING	-1	ROLL_MIN	197	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3786	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	5	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1500	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1850	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_BOOST	3	SM_CC	400	ROLL_TIMEOUT	15	XPDR_VALID	4
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	43	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	43	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.7
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MIN	455	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	53
T_DIVE	340	UPLOAD_DIVES_MAX	-1	C_VBD	2884	DEVICE3	35
T_MISSION	370	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	3	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-9	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-24557.549	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	AH0_24V	147	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	109	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	160	PITCH_MIN	160	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3938	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2745	PHONE_SUPPLY	2	SEABIRD_T_G	0.004315557
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-27.509327	SEABIRD_T_H	0.00063223497
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_I	2.3993638e-05
MASS	51906	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.5696888e-06
NAV_MODE	2	PITCH_GAIN	28	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9842854
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1210135
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0013500623
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00018873326

GPS1	280811,130556,2246.349,12352.866,55,99.0,74,-3.1	TGT_NAME	N3
_CALLS	2	TGT_LATLONG	2130.000,12400.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280811,131334,2246.440,12352.890,33,99.0,52,-3.1	MHEAD_RNG_PITCHd_Wd	163.1,142096,-17.2,-9.706
SPEED_LIMITS	0.168,0.265	D_GRID	5000

FINISH	0.9,1.021674	_10V_AH	10.2,22.441
SM_CCo	12831,43.58,0.438,1,0,1252,400.08	FG_AHR_24Vo	0.000
SM_GC	1.52,0.00,0.00,43.58,0.000,0.000,0.438,130,1492,1252,-8.17,-0.23,400.08,0,0,0,0,1,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2239.35,12349.83,280811,131314	MEM	330412
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	70147,1233
HUMID	34.28	CAP_FILE_SIZE	129088,0
INTERNAL_PRESSURE	9.45807	CFSIZE	260165632,135745536
TCM_TEMP	26.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	78	CURRENT	0.104,287.5,1
_24V_AH	23.3,32.712	GPS	280811,165001,2245.073,12353.118,44,1.9,44,-3.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	221	97.10	SBE_CT	842	24	470.89
Roll_motor	90	61	128.73	AA3830	1262	33	971.05
VBD_pump_during_apogee	429	1443	14446.16	WL_BB2F	1562	105	3821.66
VBD_pump_during_surface	43	438	445.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	49	103	117.66	nil	0	0	0.00
Iridium_during_connect	110	160	411.19	nil	0	0	0.00
Iridium_during_xfer	0	223	0.83	nil	0	0	0.00
Transponder_ping	19	420	190.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	54	50	27.89
TT8	3038	19	613.73
LPSleep	6297	2	140.68
TT8_Active	524	19	105.86
TT8_Sampling	3108	39	1262.03
TT8_CF8	356	45	166.47
TT8_Kalman	0	0	0.00
Analog_circuits	1687	12	206.60
GPS_charging	0	0	0.00
Compass	2853	15	436.54
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.81	-155.7	0.0	0.0	0	98	0.00	0.00	-79.53	0.000	2	0.000	0.000	140	1489	3229	0	0	0	0	0	0
103	-0.81	-155.7	6.4	-11.2	11	127	9.07	2.20	-5.28	0.000	4	0.221	0.053	2461	2908	3519	0	0	0	0	0	0
135	-0.81	-155.7	26.0	-46.0	15	143	0.00	2.15	0.00	0.000	6	0.000	0.034	2462	1507	3520	0	0	0	0	0	0
461	-0.81	-155.7	135.5	-25.2	76	468	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	1503	3524	0	0	0	0	0	0
790	-0.81	-155.7	219.8	-24.3	137	799	0.00	2.03	0.00	0.000	4	0.000	0.046	2460	203	3524	0	0	0	0	0	0
997	-0.81	-155.7	270.4	-24.3	168	1002	0.12	1.95	0.00	0.000	6	0.186	0.037	2484	1509	3524	0	0	0	0	0	0
1323	-0.81	-155.7	332.5	-16.9	198	1326	0.00	2.03	0.00	0.000	4	0.000	0.046	2485	205	3524	0	0	0	0	0	0
1383	-0.81	-155.7	344.0	-18.1	203	1390	0.00	1.98	0.00	0.000	6	0.000	0.036	2480	1500	3524	0	0	0	0	0	0
1710	-0.81	-155.7	399.2	-16.9	234	1711	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	1500	3524	0	0	0	0	0	0
2031	-0.81	-155.7	453.5	-16.0	264	2035	0.00	2.05	0.00	0.000	4	0.000	0.048	2496	199	3522	0	0	0	0	0	0
2114	-0.81	-155.7	468.4	-17.2	271	2122	0.00	1.98	0.00	0.000	6	0.000	0.037	2487	1494	3521	0	0	0	0	0	0
2442	-0.81	-155.7	514.1	-12.8	302	2443	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	1494	3519	0	0	0	0	0	0
2759	-0.81	-155.7	557.3	-14.1	332	2763	0.00	2.03	0.00	0.000	4	0.000	0.049	2487	208	3517	0	0	0	0	0	0
2890	-0.81	-155.7	578.0	-15.7	343	2896	0.00	1.98	0.00	0.000	6	0.000	0.038	2477	1503	3516	0	0	0	0	0	0
3210	-0.81	-155.7	626.5	-15.2	366	3211	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	1504	3514	0	0	0	0	0	0
3519	-0.81	-155.7	673.1	-15.5	381	3523	0.00	2.05	0.00	0.000	4	0.000	0.052	2474	199	3511	0	0	0	0	0	0
3634	-0.81	-155.7	691.5	-16.7	386	3638	0.00	2.00	0.00	0.000	6	0.000	0.040	2462	1499	3509	0	0	0	0	0	0
3967	-0.81	-155.7	740.4	-13.8	402	3971	0.00	2.17	0.00	0.000	4	0.000	0.053	2454	2904	3506	0	0	0	0	0	0
4039	-0.81	-155.7	750.0	-12.6	405	4044	0.12	2.10	0.00	0.000	6	0.171	0.041	2487	1504	3505	0	0	0	0	0	0
4360	-0.81	-155.7	786.0	-11.3	421	4364	0.00	2.03	0.00	0.000	4	0.000	0.054	2491	186	3503	0	0	0	0	0	0
4410	-0.81	-155.7	792.2	-12.3	423	4414	0.00	2.03	0.00	0.000	6	0.000	0.041	2482	1511	3502	0	0	0	0	0	0
4739	-0.81	-155.7	832.2	-12.2	439	4743	0.00	2.05	0.00	0.000	4	0.000	0.054	2484	198	3500	0	0	0	0	0	0
4867	-0.81	-155.7	850.1	-13.7	444	4874	0.00	2.03	0.00	0.000	6	0.000	0.043	2472	1500	3498	0	0	0	0	0	0
5185	-0.81	-155.7	891.5	-13.2	460	5186	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	1501	3496	0	0	0	0	0	0
5493	-0.81	-155.7	929.8	-12.2	475	5496	0.00	2.05	0.00	0.000	4	0.000	0.056	2469	195	3493	0	0	0	0	0	0
5531	-0.81	-155.7	935.3	-13.7	476	5538	0.00	2.03	0.00	0.000	6	0.000	0.044	2459	1496	3492	0	0	0	0	0	0
5849	-0.81	-155.7	977.8	-13.8	492	5850	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	1496	3491	0	0	0	0	0	0
5948	end dive: TARGET_DEPTH_EXCEEDED
state	5948	begin apogee
5954	-0.18	0.0	992.1	13.9	497	6089	0.70	0.00	126.90	1.444	6	0.138	0.000	2678	1862	2884	0	0	0	0	0	0
6090	end apogee: CONTROL_FINISHED_OK
state	6090	begin climb
6092	0.81	155.7	998.0	0.0	503	6240	0.93	2.40	139.88	1.392	4	0.075	0.061	3004	3254	2248	0	0	0	0	0	0
6275	0.81	155.7	979.7	16.4	511	6283	0.00	2.28	0.00	0.000	6	0.000	0.044	3012	1849	2246	0	0	0	0	0	0
6591	0.81	155.7	926.3	17.5	527	6595	0.00	2.22	0.00	0.000	4	0.000	0.059	3004	3248	2240	0	0	0	0	0	0
6663	0.81	155.7	912.6	18.8	530	6667	0.00	2.17	0.00	0.000	6	0.000	0.045	3012	1836	2238	0	0	0	0	0	0
6992	0.81	155.7	851.8	18.5	546	6996	0.00	2.25	0.00	0.000	4	0.000	0.059	3004	3254	2237	0	0	0	0	0	0
7063	0.81	155.7	837.5	19.1	549	7068	0.00	2.17	0.00	0.000	6	0.000	0.044	3014	1857	2236	0	0	0	0	0	0
7387	0.81	155.7	774.9	20.8	565	7388	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	1856	2235	0	0	0	0	0	0
7695	0.81	155.7	712.6	19.7	580	7696	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1856	2233	0	0	0	0	0	0
8003	0.81	155.7	655.6	18.5	595	8007	0.00	2.20	0.00	0.000	4	0.000	0.056	3005	3255	2232	0	0	0	0	0	0
8178	0.81	155.7	624.2	17.7	603	8182	0.00	2.15	0.00	0.000	6	0.000	0.043	3014	1835	2231	0	0	0	0	0	0
8500	0.81	155.7	570.6	17.4	626	8504	0.00	2.22	0.00	0.000	4	0.000	0.056	3012	3252	2231	0	0	0	0	0	0
8656	0.81	155.7	542.5	17.2	639	8660	0.00	2.15	0.00	0.000	6	0.000	0.041	3021	1840	2231	0	0	0	0	0	0
8983	0.81	155.7	484.8	18.4	669	8987	0.00	2.20	0.00	0.000	4	0.000	0.054	3012	3263	2230	0	0	0	0	0	0
9157	0.81	155.7	453.3	18.1	684	9164	0.00	2.12	0.00	0.000	6	0.000	0.041	3021	1844	2229	0	0	0	0	0	0
9482	0.81	155.7	397.4	17.3	715	9486	0.00	2.20	0.00	0.000	4	0.000	0.052	3014	3261	2229	0	0	0	0	0	0
9514	0.81	155.7	391.3	18.2	717	9521	0.00	2.12	0.00	0.000	6	0.000	0.039	3022	1841	2229	0	0	0	0	0	0
9842	0.81	155.7	338.1	13.6	748	9843	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	1841	2229	0	0	0	0	0	0
10159	0.81	155.7	293.6	14.5	778	10160	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	1841	2229	0	0	0	0	0	0
10481	0.81	155.7	244.9	14.5	811	10489	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	1841	2229	0	0	0	0	0	0
10807	0.81	155.7	204.1	11.1	872	10815	0.00	2.22	0.00	0.000	4	0.000	0.050	3025	3261	2228	0	0	0	0	0	0
10885	0.81	155.7	194.7	11.5	886	10893	0.00	2.15	0.00	0.000	6	0.000	0.037	3033	1852	2229	0	0	0	0	0	0
11211	0.81	155.7	159.3	9.7	947	11220	0.00	2.17	0.00	0.000	4	0.000	0.046	3043	442	2229	0	0	0	0	0	0
11249	0.81	162.6	155.4	9.4	953	11257	0.00	2.15	0.00	0.000	6	0.000	0.036	3035	1862	2229	0	0	0	0	0	0
11575	0.81	162.6	117.1	11.6	1014	11582	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	1862	2228	0	0	0	0	0	0
11900	0.89	226.9	88.2	7.0	1075	11967	0.00	2.17	57.17	0.735	4	0.000	0.046	3025	3243	1957	0	0	0	0	0	0
12073	0.92	248.2	72.4	8.8	1103	12097	0.00	2.15	18.62	0.679	6	0.000	0.035	3034	1852	1871	0	0	0	0	0	0
12419	0.98	294.0	50.2	7.8	1166	12466	0.00	2.22	39.28	0.675	4	0.000	0.043	3044	434	1684	0	0	0	0	0	0
12484	1.05	350.3	44.9	7.3	1175	12538	0.08	2.17	47.65	0.668	6	0.055	0.031	3105	1854	1454	0	0	0	0	0	0
12789	end climb: SURFACE_DEPTH_REACHED
state	12789	begin surface coast
12811	end surface coast: CONTROL_FINISHED_OK
state	12811	begin surface