Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 172 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_B 0.010078 ROLL_MIN 150 ALTIM_TOP_TURN_MARGIN 0

MISSION 9 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 172 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 50

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1919 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1758 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 1050 TGT_DEFAULT_LAT -3415 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 TGT_DEFAULT_LON 2600 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 18 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.55000001

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 409 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2864 DEVICE4 135

T_DIVE 333 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 348 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012000001 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -14061.682 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 1 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 20 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 200 PITCH_MIN 100 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0042828661

GLIDE_SLOPE 30 C_PITCH 3020 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061930995

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -86.704987 SEABIRD_T_I 2.1971719e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011693723 SEABIRD_T_J 2.301111e-06

MASS 52922 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9469662

LENGTH 1.8 PITCH_GAIN 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.155618

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016006827

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00019558761

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 0

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15 GC_LAST_COLLECTION 171

AD7714Ch0Gain 128 D_NO_BLEED 500 N_GPS 20 SEABIRD_T_J 2.301111e-06

AH0_10V 100 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_PITCH 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PHONE_DEVICE 48 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 10 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3858 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -3415

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TGT_DEFAULT_LON 2600

CALL_NDIVES 1 GC_LAST_COLLECTION 171 PITCH_TIMEOUT 16 T_ABORT 1440

CALL_TRIES 5 GC_WINDOW 0 PITCH_VBD_SHIFT 0.0012000001 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011693723 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -86.704987 T_DIVE 333

CAPUPLOAD 0 HD_A 0.0038360001 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 HD_B 0.010078 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

COMM_SEQ 0 HD_C 9.8500004e-06 RAFOS_DEVICE -1 T_GPS_CHARGE -14061.682

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_MISSION 348

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 1

C_PITCH 3020 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1758 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1919 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2864 KALMAN_USE 2 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3785 USE_ICE 0

DEVICE2 101 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 35 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 135 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 18 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 200 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 172 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 9 SEABIRD_C_J 0.00019558761 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0042828661 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 2 SEABIRD_T_H 0.00061930995 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.1971719e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 290415,055523,-3425.863,2546.392,41,1.1,42,-27.8 TGT_NAME DEPLOY

_CALLS 1 TGT_LATLONG -3435.580,2528.620

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 1.90 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -60.1 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 290415,060253,-3425.846,2546.478,45,1.0,45,-27.8 MHEAD_RNG_PITCHd_Wd 266.9,32653,-15.7,-10.010

SPEED_LIMITS 0.173,0.296 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.021949 _10V_AH 10.3,14.369

SM_CCo 5608,0.00,0.000,0,0,1520,329.43 FG_AHR_24Vo 0.000

SM_GC 2.05,8.55,0.00,0.00,0.034,0.000,0.000,90,1914,1520,-9.08,-0.14,329.43 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3414.71,2546.00,230208,171757 MEM 331528

TT8_MAMPS 0.026964 DATA_FILE_SIZE 63781,879

HUMID 60.27 CAP_FILE_SIZE 105590,0

INTERNAL_PRESSURE 9.34296 CFSIZE 2097086464,2074574848

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 CURRENT 0.140, 55.2,1

ALTIM_BOTTOM_PING 260.4,35.0 GPS 290415,073804,-3426.041,2545.969,38,1.7,50,-27.8

_24V_AH 24.0,18.372

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 260 143.37 SBE_CT 598 23 333.38

Roll_motor 72 137 239.60 AA4330 2281 17 943.27

VBD_pump_during_apogee 425 770 7863.63 WL_BB2F 1563 105 3939.44

VBD_pump_during_surface 0 0 0.00 QSP2150 2463 17 1018.75

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 91 60.93 nil 0 0 0.00

Iridium_during_connect 40 160 155.68 nil 0 0 0.00

Iridium_during_xfer 237 223 1272.49 nil 0 0 0.00

Transponder_ping 5 420 57.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 47 27 13.51

TT8 2067 13 295.83

LPSleep 455 2 10.27

TT8_Active 542 13 77.56

TT8_Sampling 2844 40 1196.82

TT8_CF8 149 50 77.84

TT8_Kalman 0 0 0.00

Analog_circuits 1451 15 229.01

GPS_charging 0 0 0.00

Compass 2247 15 364.13

RAFOS 0 0 0.00

Transponder 37 30 11.57

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -1.02 -194.6 0.0 0.0 0 87 0.00 0.00 -60.72 0.000 2 0.000 0.000 79 1942 2738 0 0 0 0 0 0

89 -1.02 -194.6 3.1 -3.3 7 134 11.32 2.47 -27.52 0.000 4 0.261 0.107 2669 3332 3659 0 0 0 0 0 0

187 -0.81 -194.6 14.8 -18.2 20 196 0.28 2.45 0.00 0.000 6 0.171 0.086 2749 1928 3663 0 0 0 0 0 0

273 -0.69 -194.6 30.3 -17.0 33 282 0.17 2.53 0.00 0.000 4 0.193 0.099 2792 483 3664 0 0 0 0 0 0

353 -0.66 -194.6 43.1 -14.8 46 363 0.05 2.65 0.00 0.000 6 0.213 0.116 2797 1900 3665 0 0 0 0 0 0

469 -0.66 -194.6 56.4 -10.7 65 477 0.00 2.42 0.00 0.000 4 0.000 0.087 2787 3353 3666 0 0 0 0 0 0

592 -0.66 -194.6 68.9 -10.3 85 601 0.08 2.47 0.00 0.000 6 0.176 0.089 2802 1911 3666 0 0 0 0 0 0

707 -0.68 -194.6 79.9 -9.5 104 717 0.00 2.42 0.00 0.000 4 0.000 0.083 2793 3342 3668 0 0 0 0 0 0

758 -0.71 -194.6 85.2 -10.1 112 767 0.00 2.47 0.00 0.000 6 0.000 0.089 2794 1915 3668 0 0 0 0 0 0

873 -0.73 -194.6 97.0 -10.5 131 880 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 1916 3669 0 0 0 0 0 0

985 -0.73 -194.6 109.3 -10.8 150 993 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 1916 3669 0 0 0 0 0 0

1102 -0.73 -194.6 121.8 -11.0 169 1109 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 1916 3670 0 0 0 0 0 0

1217 -0.73 -194.6 133.7 -9.8 188 1225 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 1916 3670 0 0 0 0 0 0

1333 -0.73 -194.6 145.3 -9.9 207 1340 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 1916 3670 0 0 0 0 0 0

1446 -0.73 -194.6 157.6 -11.0 226 1454 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 1916 3670 0 0 0 0 0 0

1563 -0.73 -194.6 169.9 -11.1 245 1571 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 1916 3670 0 0 0 0 0 0

1678 -0.73 -194.6 182.6 -10.6 264 1687 0.00 2.42 0.00 0.000 4 0.000 0.092 2794 491 3671 0 0 0 0 0 0

1706 -0.73 -194.6 185.7 -11.8 268 1715 0.00 2.47 0.00 0.000 6 0.000 0.086 2784 1914 3671 0 0 0 0 0 0

1822 -0.73 -194.6 199.1 -12.4 287 1832 0.00 2.40 0.00 0.000 4 0.000 0.091 2773 3358 3670 0 0 0 0 0 0

1917 -0.73 -194.6 210.1 -11.6 302 1926 0.00 2.53 0.00 0.000 6 0.000 0.099 2773 1923 3670 0 0 0 0 0 0

2031 -0.73 -194.6 223.4 -11.8 321 2038 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 1923 3670 0 0 0 0 0 0

2143 -0.73 -194.6 236.8 -11.4 340 2152 0.00 2.45 0.00 0.000 4 0.000 0.094 2773 489 3670 0 0 0 0 0 0

2172 -0.70 -194.6 239.9 -12.4 344 2184 0.08 2.42 0.00 0.000 6 0.205 0.073 2783 1920 3670 0 0 0 0 0 0

2291 -0.70 -194.6 253.7 -11.8 363 2298 0.00 2.42 0.00 0.000 4 0.000 0.099 2773 3356 3669 0 0 0 0 0 0

2369 -0.70 -194.6 263.1 -10.9 376 2378 0.03 2.53 0.00 0.000 6 0.129 0.098 2782 1918 3669 0 0 0 0 0 0

2485 -0.70 -194.6 276.0 -11.7 395 2492 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1918 3669 0 0 0 0 0 0

2526 end dive: BOTTOM_OBSTACLE_DETECTED

state 2526 begin apogee

2530 -0.25 0.0 281.0 11.4 402 2689 0.50 0.00 152.90 0.770 6 0.166 0.000 2935 1746 2863 0 0 0 0 0 0

2690 end apogee: CONTROL_FINISHED_OK

state 2690 begin climb

2691 1.02 194.6 288.7 0.0 423 2861 1.25 2.47 154.82 0.744 4 0.106 0.050 3348 325 2067 0 0 0 0 0 0

2910 0.92 194.6 275.5 10.9 454 2920 0.08 2.40 0.00 0.000 6 0.137 0.032 3324 1779 2064 0 0 0 0 0 0

3028 0.87 202.5 264.1 9.7 473 3044 0.10 0.00 7.20 0.618 6 0.185 0.000 3300 1780 2037 0 0 0 0 0 0

3152 0.91 251.2 253.0 8.3 493 3198 0.00 0.00 42.20 0.724 6 0.000 0.000 3300 1780 1838 0 0 0 0 0 0

3305 0.93 265.5 238.6 9.5 517 3328 0.00 2.45 13.20 0.675 4 0.000 0.049 3310 329 1779 0 0 0 0 0 0

3372 0.93 265.5 231.5 11.1 527 3379 0.00 2.30 0.00 0.000 6 0.000 0.034 3309 1766 1777 0 0 0 0 0 0

3484 0.96 289.0 220.6 9.2 546 3508 0.00 0.00 21.20 0.698 6 0.000 0.000 3309 1766 1684 0 0 0 0 0 0

3613 0.96 291.3 208.6 9.9 567 3620 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 1766 1679 0 0 0 0 0 0

3725 0.96 291.3 197.8 10.1 586 3734 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 1766 1678 0 0 0 0 0 0

3841 0.97 300.9 187.1 9.7 605 3858 0.08 0.00 10.85 0.659 6 0.120 0.000 3357 1766 1637 0 0 0 0 0 0

3965 0.92 300.9 172.5 12.6 625 3972 0.15 0.00 0.00 0.000 6 0.145 0.000 3315 1767 1634 0 0 0 0 0 0

4077 0.92 300.9 160.0 11.3 644 4086 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 1767 1633 0 0 0 0 0 0

4192 0.92 300.9 147.9 11.0 663 4199 0.00 2.30 0.00 0.000 4 0.000 0.050 3325 329 1633 0 0 0 0 0 0

4247 0.92 300.9 141.1 12.4 672 4256 0.00 2.28 0.00 0.000 6 0.000 0.035 3325 1755 1632 0 0 0 0 0 0

4362 0.92 300.9 127.8 12.3 691 4368 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 1755 1632 0 0 0 0 0 0

4473 0.92 300.9 114.6 11.9 710 4482 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 1755 1631 0 0 0 0 0 0

4588 0.93 302.3 101.8 10.0 729 4596 0.00 2.25 0.00 0.000 4 0.000 0.060 3325 3177 1631 0 0 0 0 0 0

4674 0.90 302.3 91.8 11.0 743 4682 0.10 2.28 0.00 0.000 6 0.168 0.053 3308 1738 1630 0 0 0 0 0 0

4787 0.92 319.3 80.8 9.4 762 4812 0.00 2.25 16.52 0.639 4 0.000 0.054 3319 341 1562 0 0 0 0 0 0

4837 0.92 319.3 76.1 10.2 769 4845 0.00 2.25 0.00 0.000 6 0.000 0.036 3319 1770 1559 0 0 0 0 0 0

4950 0.92 319.3 63.5 11.5 788 4959 0.00 2.25 0.00 0.000 4 0.000 0.060 3319 3169 1558 0 0 0 0 0 0

5012 0.92 319.3 55.9 11.8 798 5021 0.00 2.28 0.00 0.000 6 0.000 0.054 3328 1761 1558 0 0 0 0 0 0

5128 0.92 319.3 44.1 10.0 817 5136 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 1762 1556 0 0 0 0 0 0

5242 0.93 327.0 33.3 9.7 836 5258 0.00 2.33 6.43 0.555 4 0.000 0.054 3339 337 1530 0 0 0 0 0 0

5309 0.93 327.0 26.9 10.3 846 5318 0.05 2.25 0.00 0.000 6 0.127 0.035 3320 1752 1528 0 0 0 0 0 0

5396 0.97 327.0 17.1 11.6 859 5405 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 1752 1527 0 0 0 0 0 0

5483 1.00 327.0 6.8 13.2 872 5491 0.05 0.00 0.00 0.000 6 0.159 0.000 3369 1752 1525 0 0 0 0 0 0

5511 end climb: SURFACE_DEPTH_REACHED

state 5511 begin surface coast

5532 end surface coast: CONTROL_FINISHED_OK

state 5532 begin surface

ID	573	HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_TURN_MARGIN	0
MISSION	9	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	172	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	50
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1919	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1758	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	1050	TGT_DEFAULT_LAT	-3415	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	TGT_DEFAULT_LON	2600	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	18	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.55000001
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	409	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2864	DEVICE4	135
T_DIVE	333	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	348	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012000001	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-14061.682	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	1	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	200	PITCH_MIN	100	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0042828661
GLIDE_SLOPE	30	C_PITCH	3020	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-86.704987	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011693723	SEABIRD_T_J	2.301111e-06
MASS	52922	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9469662
LENGTH	1.8	PITCH_GAIN	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.155618
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016006827
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00019558761
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	0
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15	GC_LAST_COLLECTION	171

GPS1	290415,055523,-3425.863,2546.392,41,1.1,42,-27.8	TGT_NAME	DEPLOY
_CALLS	1	TGT_LATLONG	-3435.580,2528.620
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	1.90	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-60.1	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	290415,060253,-3425.846,2546.478,45,1.0,45,-27.8	MHEAD_RNG_PITCHd_Wd	266.9,32653,-15.7,-10.010
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	1.2,1.021949	_10V_AH	10.3,14.369
SM_CCo	5608,0.00,0.000,0,0,1520,329.43	FG_AHR_24Vo	0.000
SM_GC	2.05,8.55,0.00,0.00,0.034,0.000,0.000,90,1914,1520,-9.08,-0.14,329.43	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3414.71,2546.00,230208,171757	MEM	331528
TT8_MAMPS	0.026964	DATA_FILE_SIZE	63781,879
HUMID	60.27	CAP_FILE_SIZE	105590,0
INTERNAL_PRESSURE	9.34296	CFSIZE	2097086464,2074574848
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	CURRENT	0.140, 55.2,1
ALTIM_BOTTOM_PING	260.4,35.0	GPS	290415,073804,-3426.041,2545.969,38,1.7,50,-27.8
_24V_AH	24.0,18.372

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	260	143.37	SBE_CT	598	23	333.38
Roll_motor	72	137	239.60	AA4330	2281	17	943.27
VBD_pump_during_apogee	425	770	7863.63	WL_BB2F	1563	105	3939.44
VBD_pump_during_surface	0	0	0.00	QSP2150	2463	17	1018.75
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	91	60.93	nil	0	0	0.00
Iridium_during_connect	40	160	155.68	nil	0	0	0.00
Iridium_during_xfer	237	223	1272.49	nil	0	0	0.00
Transponder_ping	5	420	57.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	47	27	13.51
TT8	2067	13	295.83
LPSleep	455	2	10.27
TT8_Active	542	13	77.56
TT8_Sampling	2844	40	1196.82
TT8_CF8	149	50	77.84
TT8_Kalman	0	0	0.00
Analog_circuits	1451	15	229.01
GPS_charging	0	0	0.00
Compass	2247	15	364.13
RAFOS	0	0	0.00
Transponder	37	30	11.57

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-1.02	-194.6	0.0	0.0	0	87	0.00	0.00	-60.72	0.000	2	0.000	0.000	79	1942	2738	0	0	0	0	0	0
89	-1.02	-194.6	3.1	-3.3	7	134	11.32	2.47	-27.52	0.000	4	0.261	0.107	2669	3332	3659	0	0	0	0	0	0
187	-0.81	-194.6	14.8	-18.2	20	196	0.28	2.45	0.00	0.000	6	0.171	0.086	2749	1928	3663	0	0	0	0	0	0
273	-0.69	-194.6	30.3	-17.0	33	282	0.17	2.53	0.00	0.000	4	0.193	0.099	2792	483	3664	0	0	0	0	0	0
353	-0.66	-194.6	43.1	-14.8	46	363	0.05	2.65	0.00	0.000	6	0.213	0.116	2797	1900	3665	0	0	0	0	0	0
469	-0.66	-194.6	56.4	-10.7	65	477	0.00	2.42	0.00	0.000	4	0.000	0.087	2787	3353	3666	0	0	0	0	0	0
592	-0.66	-194.6	68.9	-10.3	85	601	0.08	2.47	0.00	0.000	6	0.176	0.089	2802	1911	3666	0	0	0	0	0	0
707	-0.68	-194.6	79.9	-9.5	104	717	0.00	2.42	0.00	0.000	4	0.000	0.083	2793	3342	3668	0	0	0	0	0	0
758	-0.71	-194.6	85.2	-10.1	112	767	0.00	2.47	0.00	0.000	6	0.000	0.089	2794	1915	3668	0	0	0	0	0	0
873	-0.73	-194.6	97.0	-10.5	131	880	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	1916	3669	0	0	0	0	0	0
985	-0.73	-194.6	109.3	-10.8	150	993	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	1916	3669	0	0	0	0	0	0
1102	-0.73	-194.6	121.8	-11.0	169	1109	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	1916	3670	0	0	0	0	0	0
1217	-0.73	-194.6	133.7	-9.8	188	1225	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	1916	3670	0	0	0	0	0	0
1333	-0.73	-194.6	145.3	-9.9	207	1340	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	1916	3670	0	0	0	0	0	0
1446	-0.73	-194.6	157.6	-11.0	226	1454	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	1916	3670	0	0	0	0	0	0
1563	-0.73	-194.6	169.9	-11.1	245	1571	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	1916	3670	0	0	0	0	0	0
1678	-0.73	-194.6	182.6	-10.6	264	1687	0.00	2.42	0.00	0.000	4	0.000	0.092	2794	491	3671	0	0	0	0	0	0
1706	-0.73	-194.6	185.7	-11.8	268	1715	0.00	2.47	0.00	0.000	6	0.000	0.086	2784	1914	3671	0	0	0	0	0	0
1822	-0.73	-194.6	199.1	-12.4	287	1832	0.00	2.40	0.00	0.000	4	0.000	0.091	2773	3358	3670	0	0	0	0	0	0
1917	-0.73	-194.6	210.1	-11.6	302	1926	0.00	2.53	0.00	0.000	6	0.000	0.099	2773	1923	3670	0	0	0	0	0	0
2031	-0.73	-194.6	223.4	-11.8	321	2038	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	1923	3670	0	0	0	0	0	0
2143	-0.73	-194.6	236.8	-11.4	340	2152	0.00	2.45	0.00	0.000	4	0.000	0.094	2773	489	3670	0	0	0	0	0	0
2172	-0.70	-194.6	239.9	-12.4	344	2184	0.08	2.42	0.00	0.000	6	0.205	0.073	2783	1920	3670	0	0	0	0	0	0
2291	-0.70	-194.6	253.7	-11.8	363	2298	0.00	2.42	0.00	0.000	4	0.000	0.099	2773	3356	3669	0	0	0	0	0	0
2369	-0.70	-194.6	263.1	-10.9	376	2378	0.03	2.53	0.00	0.000	6	0.129	0.098	2782	1918	3669	0	0	0	0	0	0
2485	-0.70	-194.6	276.0	-11.7	395	2492	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1918	3669	0	0	0	0	0	0
2526	end dive: BOTTOM_OBSTACLE_DETECTED
state	2526	begin apogee
2530	-0.25	0.0	281.0	11.4	402	2689	0.50	0.00	152.90	0.770	6	0.166	0.000	2935	1746	2863	0	0	0	0	0	0
2690	end apogee: CONTROL_FINISHED_OK
state	2690	begin climb
2691	1.02	194.6	288.7	0.0	423	2861	1.25	2.47	154.82	0.744	4	0.106	0.050	3348	325	2067	0	0	0	0	0	0
2910	0.92	194.6	275.5	10.9	454	2920	0.08	2.40	0.00	0.000	6	0.137	0.032	3324	1779	2064	0	0	0	0	0	0
3028	0.87	202.5	264.1	9.7	473	3044	0.10	0.00	7.20	0.618	6	0.185	0.000	3300	1780	2037	0	0	0	0	0	0
3152	0.91	251.2	253.0	8.3	493	3198	0.00	0.00	42.20	0.724	6	0.000	0.000	3300	1780	1838	0	0	0	0	0	0
3305	0.93	265.5	238.6	9.5	517	3328	0.00	2.45	13.20	0.675	4	0.000	0.049	3310	329	1779	0	0	0	0	0	0
3372	0.93	265.5	231.5	11.1	527	3379	0.00	2.30	0.00	0.000	6	0.000	0.034	3309	1766	1777	0	0	0	0	0	0
3484	0.96	289.0	220.6	9.2	546	3508	0.00	0.00	21.20	0.698	6	0.000	0.000	3309	1766	1684	0	0	0	0	0	0
3613	0.96	291.3	208.6	9.9	567	3620	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	1766	1679	0	0	0	0	0	0
3725	0.96	291.3	197.8	10.1	586	3734	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	1766	1678	0	0	0	0	0	0
3841	0.97	300.9	187.1	9.7	605	3858	0.08	0.00	10.85	0.659	6	0.120	0.000	3357	1766	1637	0	0	0	0	0	0
3965	0.92	300.9	172.5	12.6	625	3972	0.15	0.00	0.00	0.000	6	0.145	0.000	3315	1767	1634	0	0	0	0	0	0
4077	0.92	300.9	160.0	11.3	644	4086	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	1767	1633	0	0	0	0	0	0
4192	0.92	300.9	147.9	11.0	663	4199	0.00	2.30	0.00	0.000	4	0.000	0.050	3325	329	1633	0	0	0	0	0	0
4247	0.92	300.9	141.1	12.4	672	4256	0.00	2.28	0.00	0.000	6	0.000	0.035	3325	1755	1632	0	0	0	0	0	0
4362	0.92	300.9	127.8	12.3	691	4368	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	1755	1632	0	0	0	0	0	0
4473	0.92	300.9	114.6	11.9	710	4482	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	1755	1631	0	0	0	0	0	0
4588	0.93	302.3	101.8	10.0	729	4596	0.00	2.25	0.00	0.000	4	0.000	0.060	3325	3177	1631	0	0	0	0	0	0
4674	0.90	302.3	91.8	11.0	743	4682	0.10	2.28	0.00	0.000	6	0.168	0.053	3308	1738	1630	0	0	0	0	0	0
4787	0.92	319.3	80.8	9.4	762	4812	0.00	2.25	16.52	0.639	4	0.000	0.054	3319	341	1562	0	0	0	0	0	0
4837	0.92	319.3	76.1	10.2	769	4845	0.00	2.25	0.00	0.000	6	0.000	0.036	3319	1770	1559	0	0	0	0	0	0
4950	0.92	319.3	63.5	11.5	788	4959	0.00	2.25	0.00	0.000	4	0.000	0.060	3319	3169	1558	0	0	0	0	0	0
5012	0.92	319.3	55.9	11.8	798	5021	0.00	2.28	0.00	0.000	6	0.000	0.054	3328	1761	1558	0	0	0	0	0	0
5128	0.92	319.3	44.1	10.0	817	5136	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	1762	1556	0	0	0	0	0	0
5242	0.93	327.0	33.3	9.7	836	5258	0.00	2.33	6.43	0.555	4	0.000	0.054	3339	337	1530	0	0	0	0	0	0
5309	0.93	327.0	26.9	10.3	846	5318	0.05	2.25	0.00	0.000	6	0.127	0.035	3320	1752	1528	0	0	0	0	0	0
5396	0.97	327.0	17.1	11.6	859	5405	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	1752	1527	0	0	0	0	0	0
5483	1.00	327.0	6.8	13.2	872	5491	0.05	0.00	0.00	0.000	6	0.159	0.000	3369	1752	1525	0	0	0	0	0	0
5511	end climb: SURFACE_DEPTH_REACHED
state	5511	begin surface coast
5532	end surface coast: CONTROL_FINISHED_OK
state	5532	begin surface