Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 542 HEADING -1 ROLL_MAX 3901 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 21 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2923 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2734 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 563.99261 R_PORT_OVSHOOT 46 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 3 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2820 DEVICE3 115

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 333 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 348 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -10335.366 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 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 -7 PITCH_MIN 73 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1870 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -48.034508 SEABIRD_T_H 0.00061853422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011816985 SEABIRD_T_I 2.1182957e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0754619e-06

MASS 52846 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7625904

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1369455

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0017508121

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021125977

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 9.9999997e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 563.99261

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3888 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON -200

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 5

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 333

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -48.034508 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -10335.366

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 348

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 542 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 2.49 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1870 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2734 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2923 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2820 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 46 VBD_MAX 3961

DEVICE2 101 MASS 52846 R_STBD_OVSHOOT 23 VBD_MAXERRORS 1

DEVICE3 115 MAX_BUOY 200 SEABIRD_C_G -9.7625904 VBD_MIN 480

DEVICE4 134 MINV_10V 8 SEABIRD_C_H 1.1369455 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0017508121 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 21 MOTHERBOARD 4 SEABIRD_T_G 0.0042910837 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00061853422 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.1182957e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.0754619e-06

D_FINISH 0 N_NOCOMM 3 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 131212,033134,-4703.986,400.211,30,1.2,30,-23.2 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4700.000,400.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.074,0.157

_SM_DEPTHo 0.80 KALMAN_X -964.3,-678.0,-34.0,-19471.4,647.7

_SM_ANGLEo -33.9 KALMAN_Y 27712.9,-620.5,-250.5,-50325.5,5206.7

GPS2 131212,034035,-4703.966,400.277,15,1.9,15,-23.3 MHEAD_RNG_PITCHd_Wd 358.0,7353,-27.2,-10.010

SPEED_LIMITS 0.173,0.295 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.3,1.026429 _10V_AH 10.2,2.246

SM_CCo 10380,188.55,0.782,1,0,518,564.18 FG_AHR_24Vo 0.000

SM_GC 0.93,0.00,0.00,188.55,0.000,0.000,0.782,58,2933,518,-5.66,0.28,564.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4644.93,357.04,131212,000014 MEM 354288

TT8_MAMPS 0.026215 DATA_FILE_SIZE 37085,529

HUMID 56.37 CAP_FILE_SIZE 95492,0

INTERNAL_PRESSURE 9.19924 CFSIZE 259252224,226611200

TCM_TEMP 10.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 131212,063904,-4702.716,359.714,26,1.2,26,-23.2

_24V_AH 22.6,5.792

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 284 95.03 SBE_CT 348 24 188.92

Roll_motor 112 73 186.31 AA4330 1073 33 800.38

VBD_pump_during_apogee 262 1827 10828.72 WL_BB2FLVMT 597 105 1418.25

VBD_pump_during_surface 188 781 3331.56 QSP2150 243 4 24.08

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 60.36 nil 0 0 0.00

Iridium_during_connect 27 160 100.38 nil 0 0 0.00

Iridium_during_xfer 290 223 1464.62 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.92

TT8 1324 14 202.11

LPSleep 6903 2 154.21

TT8_Active 607 14 88.12

TT8_Sampling 1734 37 662.26

TT8_CF8 546 47 262.92

TT8_Kalman 33 59 20.12

Analog_circuits 1273 12 155.93

GPS_charging 0 0 0.00

Compass 1361 15 218.48

RAFOS 0 0 0.00

Transponder 1 5 0.05

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

26 -0.81 -63.1 0.0 0.0 0 162 0.00 0.00 -132.12 0.000 6 0.000 0.000 67 2914 3079 0 0 0 0 0 0

169 -0.90 -131.6 2.5 -2.7 17 195 6.10 2.22 -8.73 0.000 4 0.243 0.063 1578 1531 3359 0 0 0 0 0 0

250 -0.90 -131.6 15.6 -15.8 28 259 0.00 2.33 0.00 0.000 6 0.000 0.060 1569 2918 3360 0 0 0 0 0 0

337 -0.90 -131.6 32.2 -20.1 41 344 0.00 2.22 0.00 0.000 4 0.000 0.048 1569 1524 3360 0 0 0 0 0 0

395 -0.90 -131.6 43.9 -18.3 50 404 0.00 2.33 0.00 0.000 6 0.000 0.060 1558 2919 3360 0 0 0 0 0 0

642 -0.90 -131.6 93.7 -19.7 91 646 0.00 1.60 0.00 0.000 4 0.000 0.066 1551 3904 3360 0 0 0 0 0 0

663 -0.90 -131.6 98.2 -18.9 94 669 0.00 1.52 0.00 0.000 6 0.000 0.039 1552 2925 3360 0 0 0 0 0 0

992 -0.90 -131.6 161.8 -19.5 116 996 0.00 2.17 0.00 0.000 4 0.000 0.048 1551 1528 3361 0 0 0 0 0 0

1033 -0.90 -131.6 169.5 -16.9 118 1042 0.10 2.30 0.00 0.000 6 0.181 0.060 1569 2924 3361 0 0 0 0 0 0

1360 -0.90 -131.6 223.2 -16.4 139 1364 0.00 2.17 0.00 0.000 4 0.000 0.047 1569 1531 3361 0 0 0 0 0 0

1380 -0.90 -131.6 227.2 -16.1 140 1384 0.00 2.25 0.00 0.000 6 0.000 0.060 1560 2931 3361 0 0 0 0 0 0

1705 -0.90 -131.6 281.1 -16.7 158 1707 0.00 0.00 0.00 0.000 6 0.000 0.000 1560 2931 3361 0 0 0 0 0 0

2018 -0.90 -131.6 332.8 -17.0 173 2022 0.00 2.17 0.00 0.000 4 0.000 0.049 1560 1521 3361 0 0 0 0 0 0

2043 -0.90 -131.6 337.6 -16.4 174 2048 0.12 2.28 0.00 0.000 6 0.210 0.060 1579 2930 3361 0 0 0 0 0 0

2374 -0.90 -131.6 389.6 -16.1 190 2378 0.00 1.55 0.00 0.000 4 0.000 0.067 1572 3897 3361 0 0 0 0 0 0

2414 -0.90 -131.6 396.7 -17.2 191 2421 0.00 1.50 0.00 0.000 6 0.000 0.043 1573 2930 3362 0 0 0 0 0 0

2750 -0.90 -131.6 451.5 -16.1 203 2754 0.00 2.17 0.00 0.000 4 0.000 0.049 1573 1519 3362 0 0 0 0 0 0

2796 -0.90 -131.6 459.0 -14.7 204 2800 0.00 2.28 0.00 0.000 6 0.000 0.063 1562 2919 3362 0 0 0 0 0 0

3117 -0.90 -131.6 512.0 -16.6 215 3121 0.00 2.17 0.00 0.000 4 0.000 0.050 1562 1518 3362 0 0 0 0 0 0

3148 -0.90 -131.6 517.0 -16.0 216 3152 0.00 2.25 0.00 0.000 6 0.000 0.063 1552 2925 3362 0 0 0 0 0 0

3486 -0.90 -131.6 572.6 -16.4 227 3490 0.00 2.17 0.00 0.000 4 0.000 0.049 1552 1525 3362 0 0 0 0 0 0

3521 -0.90 -131.6 578.4 -14.5 228 3526 0.15 2.28 0.00 0.000 6 0.203 0.063 1577 2935 3361 0 0 0 0 0 0

3853 -0.90 -131.6 623.9 -13.4 239 3857 0.00 1.55 0.00 0.000 4 0.000 0.070 1571 3901 3361 0 0 0 0 0 0

3882 -0.90 -131.6 628.4 -14.4 239 3889 0.00 1.52 0.00 0.000 6 0.000 0.043 1571 2915 3361 0 0 0 0 0 0

4197 -0.90 -131.6 673.3 -14.5 250 4199 0.00 0.00 0.00 0.000 6 0.000 0.000 1571 2915 3362 0 0 0 0 0 0

4504 -0.90 -131.6 718.0 -14.7 260 4508 0.00 1.60 0.00 0.000 4 0.000 0.070 1564 3897 3361 0 0 0 0 0 0

4522 -0.90 -131.6 721.1 -14.7 260 4525 0.00 1.50 0.00 0.000 6 0.000 0.043 1564 2929 3360 0 0 0 0 0 0

4848 -0.90 -131.6 769.3 -14.7 271 4852 0.00 2.17 0.00 0.000 4 0.000 0.050 1564 1518 3360 0 0 0 0 0 0

4894 -0.90 -131.6 776.2 -14.3 272 4898 0.00 2.28 0.00 0.000 6 0.000 0.063 1554 2928 3360 0 0 0 0 0 0

5214 -0.90 -131.6 823.8 -15.3 283 5218 0.00 2.20 0.00 0.000 4 0.000 0.049 1554 1516 3360 0 0 0 0 0 0

5245 -0.90 -131.6 828.4 -14.9 284 5250 0.15 2.25 0.00 0.000 6 0.205 0.063 1580 2925 3360 0 0 0 0 0 0

5584 -0.90 -131.6 872.4 -12.8 295 5588 0.00 2.17 0.00 0.000 4 0.000 0.050 1580 1520 3360 0 0 0 0 0 0

5607 -0.90 -131.6 875.8 -13.6 295 5614 0.00 2.28 0.00 0.000 6 0.000 0.063 1571 2933 3360 0 0 0 0 0 0

5923 -0.90 -131.6 917.0 -13.0 306 5927 0.00 2.20 0.00 0.000 4 0.000 0.049 1571 1514 3360 0 0 0 0 0 0

5980 -0.90 -131.6 924.4 -11.7 307 5987 0.00 2.28 0.00 0.000 6 0.000 0.063 1561 2930 3360 0 0 0 0 0 0

6295 -0.90 -131.6 966.4 -13.4 318 6299 0.00 2.20 0.00 0.000 4 0.000 0.049 1560 1516 3360 0 0 0 0 0 0

6336 -0.90 -131.6 971.9 -12.7 319 6340 0.12 2.28 0.00 0.000 6 0.210 0.063 1579 2931 3359 0 0 0 0 0 0

6597 end dive: TARGET_DEPTH_EXCEEDED

state 6597 begin apogee

6608 -0.19 0.0 1002.3 11.6 328 6750 0.75 0.00 128.52 1.828 6 0.177 0.000 1801 2738 2820 0 0 0 0 1 0

6752 end apogee: CONTROL_FINISHED_OK

state 6752 begin climb

6757 0.90 131.6 1004.8 0.0 333 6903 1.02 2.12 133.65 1.819 4 0.068 0.064 2154 3900 2282 0 0 0 0 1 0

6958 0.90 131.6 960.5 34.3 339 6962 0.00 2.00 0.00 0.000 6 0.000 0.048 2163 2732 2282 0 0 0 0 0 0

7289 0.90 131.6 857.8 30.1 350 7294 0.00 2.33 0.00 0.000 4 0.000 0.060 2174 1326 2276 0 0 0 0 0 0

7313 0.90 131.6 850.2 29.4 350 7320 0.00 2.38 0.00 0.000 6 0.000 0.060 2173 2734 2275 0 0 0 0 0 0

7628 0.90 131.6 754.8 30.0 361 7632 0.00 2.33 0.00 0.000 4 0.000 0.060 2182 1318 2273 0 0 0 0 0 0

7657 0.90 131.6 745.6 29.0 361 7664 0.00 2.38 0.00 0.000 6 0.000 0.061 2182 2740 2272 0 0 0 0 0 0

7972 0.90 131.6 649.9 30.8 372 7976 0.00 2.33 0.00 0.000 4 0.000 0.058 2193 1318 2272 0 0 0 0 0 0

7985 0.90 131.6 645.6 30.8 372 7990 0.15 2.33 0.00 0.000 6 0.285 0.059 2166 2736 2271 0 0 0 0 0 0

8306 0.90 131.6 551.4 28.8 383 8308 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2736 2271 0 0 0 0 0 0

8612 0.90 131.6 466.9 27.5 393 8616 0.00 2.30 0.00 0.000 4 0.000 0.057 2175 1314 2271 0 0 0 0 0 0

8625 0.90 131.6 463.0 27.5 393 8629 0.00 2.33 0.00 0.000 6 0.000 0.058 2173 2743 2270 0 0 0 0 0 0

8945 0.90 131.6 375.0 28.1 405 8949 0.00 2.30 0.00 0.000 4 0.000 0.057 2183 1322 2270 0 0 0 0 0 0

8957 0.90 131.6 369.8 27.9 405 8961 0.00 2.30 0.00 0.000 6 0.000 0.059 2183 2745 2270 0 0 0 0 0 0

9276 0.90 131.6 279.4 28.5 420 9280 0.00 2.30 0.00 0.000 4 0.000 0.057 2193 1314 2270 0 0 0 0 0 0

9294 0.90 131.6 273.8 28.6 420 9303 0.10 2.35 0.00 0.000 6 0.273 0.060 2171 2739 2269 0 0 0 0 0 0

9621 0.90 131.6 185.0 27.4 440 9625 0.00 2.28 0.00 0.000 4 0.000 0.057 2180 1322 2269 0 0 0 0 0 0

9662 0.90 131.6 173.2 25.8 442 9671 0.00 2.33 0.00 0.000 6 0.000 0.060 2180 2735 2268 0 0 0 0 0 0

9993 0.90 131.6 86.7 25.1 469 9998 0.00 2.28 0.00 0.000 4 0.000 0.056 2190 1315 2268 0 0 0 0 0 0

10087 0.90 131.6 63.4 23.2 485 10093 0.12 2.30 0.00 0.000 6 0.278 0.060 2167 2736 2267 0 0 0 0 0 0

10343 end climb: SURFACE_DEPTH_REACHED

state 10343 begin surface coast

10357 end surface coast: CONTROL_FINISHED_OK

state 10357 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	21	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2923	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2734	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	563.99261	R_PORT_OVSHOOT	46	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	3	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2820	DEVICE3	115
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	333	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	348	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-10335.366	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	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	-7	PITCH_MIN	73	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1870	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-48.034508	SEABIRD_T_H	0.00061853422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011816985	SEABIRD_T_I	2.1182957e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0754619e-06
MASS	52846	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7625904
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1369455
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0017508121
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021125977
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	9.9999997e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	131212,033134,-4703.986,400.211,30,1.2,30,-23.2	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4700.000,400.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.074,0.157
_SM_DEPTHo	0.80	KALMAN_X	-964.3,-678.0,-34.0,-19471.4,647.7
_SM_ANGLEo	-33.9	KALMAN_Y	27712.9,-620.5,-250.5,-50325.5,5206.7
GPS2	131212,034035,-4703.966,400.277,15,1.9,15,-23.3	MHEAD_RNG_PITCHd_Wd	358.0,7353,-27.2,-10.010
SPEED_LIMITS	0.173,0.295	D_GRID	1000

FINISH	0.3,1.026429	_10V_AH	10.2,2.246
SM_CCo	10380,188.55,0.782,1,0,518,564.18	FG_AHR_24Vo	0.000
SM_GC	0.93,0.00,0.00,188.55,0.000,0.000,0.782,58,2933,518,-5.66,0.28,564.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4644.93,357.04,131212,000014	MEM	354288
TT8_MAMPS	0.026215	DATA_FILE_SIZE	37085,529
HUMID	56.37	CAP_FILE_SIZE	95492,0
INTERNAL_PRESSURE	9.19924	CFSIZE	259252224,226611200
TCM_TEMP	10.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	131212,063904,-4702.716,359.714,26,1.2,26,-23.2
_24V_AH	22.6,5.792

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	284	95.03	SBE_CT	348	24	188.92
Roll_motor	112	73	186.31	AA4330	1073	33	800.38
VBD_pump_during_apogee	262	1827	10828.72	WL_BB2FLVMT	597	105	1418.25
VBD_pump_during_surface	188	781	3331.56	QSP2150	243	4	24.08
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	60.36	nil	0	0	0.00
Iridium_during_connect	27	160	100.38	nil	0	0	0.00
Iridium_during_xfer	290	223	1464.62	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.92
TT8	1324	14	202.11
LPSleep	6903	2	154.21
TT8_Active	607	14	88.12
TT8_Sampling	1734	37	662.26
TT8_CF8	546	47	262.92
TT8_Kalman	33	59	20.12
Analog_circuits	1273	12	155.93
GPS_charging	0	0	0.00
Compass	1361	15	218.48
RAFOS	0	0	0.00
Transponder	1	5	0.05

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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
26	-0.81	-63.1	0.0	0.0	0	162	0.00	0.00	-132.12	0.000	6	0.000	0.000	67	2914	3079	0	0	0	0	0	0
169	-0.90	-131.6	2.5	-2.7	17	195	6.10	2.22	-8.73	0.000	4	0.243	0.063	1578	1531	3359	0	0	0	0	0	0
250	-0.90	-131.6	15.6	-15.8	28	259	0.00	2.33	0.00	0.000	6	0.000	0.060	1569	2918	3360	0	0	0	0	0	0
337	-0.90	-131.6	32.2	-20.1	41	344	0.00	2.22	0.00	0.000	4	0.000	0.048	1569	1524	3360	0	0	0	0	0	0
395	-0.90	-131.6	43.9	-18.3	50	404	0.00	2.33	0.00	0.000	6	0.000	0.060	1558	2919	3360	0	0	0	0	0	0
642	-0.90	-131.6	93.7	-19.7	91	646	0.00	1.60	0.00	0.000	4	0.000	0.066	1551	3904	3360	0	0	0	0	0	0
663	-0.90	-131.6	98.2	-18.9	94	669	0.00	1.52	0.00	0.000	6	0.000	0.039	1552	2925	3360	0	0	0	0	0	0
992	-0.90	-131.6	161.8	-19.5	116	996	0.00	2.17	0.00	0.000	4	0.000	0.048	1551	1528	3361	0	0	0	0	0	0
1033	-0.90	-131.6	169.5	-16.9	118	1042	0.10	2.30	0.00	0.000	6	0.181	0.060	1569	2924	3361	0	0	0	0	0	0
1360	-0.90	-131.6	223.2	-16.4	139	1364	0.00	2.17	0.00	0.000	4	0.000	0.047	1569	1531	3361	0	0	0	0	0	0
1380	-0.90	-131.6	227.2	-16.1	140	1384	0.00	2.25	0.00	0.000	6	0.000	0.060	1560	2931	3361	0	0	0	0	0	0
1705	-0.90	-131.6	281.1	-16.7	158	1707	0.00	0.00	0.00	0.000	6	0.000	0.000	1560	2931	3361	0	0	0	0	0	0
2018	-0.90	-131.6	332.8	-17.0	173	2022	0.00	2.17	0.00	0.000	4	0.000	0.049	1560	1521	3361	0	0	0	0	0	0
2043	-0.90	-131.6	337.6	-16.4	174	2048	0.12	2.28	0.00	0.000	6	0.210	0.060	1579	2930	3361	0	0	0	0	0	0
2374	-0.90	-131.6	389.6	-16.1	190	2378	0.00	1.55	0.00	0.000	4	0.000	0.067	1572	3897	3361	0	0	0	0	0	0
2414	-0.90	-131.6	396.7	-17.2	191	2421	0.00	1.50	0.00	0.000	6	0.000	0.043	1573	2930	3362	0	0	0	0	0	0
2750	-0.90	-131.6	451.5	-16.1	203	2754	0.00	2.17	0.00	0.000	4	0.000	0.049	1573	1519	3362	0	0	0	0	0	0
2796	-0.90	-131.6	459.0	-14.7	204	2800	0.00	2.28	0.00	0.000	6	0.000	0.063	1562	2919	3362	0	0	0	0	0	0
3117	-0.90	-131.6	512.0	-16.6	215	3121	0.00	2.17	0.00	0.000	4	0.000	0.050	1562	1518	3362	0	0	0	0	0	0
3148	-0.90	-131.6	517.0	-16.0	216	3152	0.00	2.25	0.00	0.000	6	0.000	0.063	1552	2925	3362	0	0	0	0	0	0
3486	-0.90	-131.6	572.6	-16.4	227	3490	0.00	2.17	0.00	0.000	4	0.000	0.049	1552	1525	3362	0	0	0	0	0	0
3521	-0.90	-131.6	578.4	-14.5	228	3526	0.15	2.28	0.00	0.000	6	0.203	0.063	1577	2935	3361	0	0	0	0	0	0
3853	-0.90	-131.6	623.9	-13.4	239	3857	0.00	1.55	0.00	0.000	4	0.000	0.070	1571	3901	3361	0	0	0	0	0	0
3882	-0.90	-131.6	628.4	-14.4	239	3889	0.00	1.52	0.00	0.000	6	0.000	0.043	1571	2915	3361	0	0	0	0	0	0
4197	-0.90	-131.6	673.3	-14.5	250	4199	0.00	0.00	0.00	0.000	6	0.000	0.000	1571	2915	3362	0	0	0	0	0	0
4504	-0.90	-131.6	718.0	-14.7	260	4508	0.00	1.60	0.00	0.000	4	0.000	0.070	1564	3897	3361	0	0	0	0	0	0
4522	-0.90	-131.6	721.1	-14.7	260	4525	0.00	1.50	0.00	0.000	6	0.000	0.043	1564	2929	3360	0	0	0	0	0	0
4848	-0.90	-131.6	769.3	-14.7	271	4852	0.00	2.17	0.00	0.000	4	0.000	0.050	1564	1518	3360	0	0	0	0	0	0
4894	-0.90	-131.6	776.2	-14.3	272	4898	0.00	2.28	0.00	0.000	6	0.000	0.063	1554	2928	3360	0	0	0	0	0	0
5214	-0.90	-131.6	823.8	-15.3	283	5218	0.00	2.20	0.00	0.000	4	0.000	0.049	1554	1516	3360	0	0	0	0	0	0
5245	-0.90	-131.6	828.4	-14.9	284	5250	0.15	2.25	0.00	0.000	6	0.205	0.063	1580	2925	3360	0	0	0	0	0	0
5584	-0.90	-131.6	872.4	-12.8	295	5588	0.00	2.17	0.00	0.000	4	0.000	0.050	1580	1520	3360	0	0	0	0	0	0
5607	-0.90	-131.6	875.8	-13.6	295	5614	0.00	2.28	0.00	0.000	6	0.000	0.063	1571	2933	3360	0	0	0	0	0	0
5923	-0.90	-131.6	917.0	-13.0	306	5927	0.00	2.20	0.00	0.000	4	0.000	0.049	1571	1514	3360	0	0	0	0	0	0
5980	-0.90	-131.6	924.4	-11.7	307	5987	0.00	2.28	0.00	0.000	6	0.000	0.063	1561	2930	3360	0	0	0	0	0	0
6295	-0.90	-131.6	966.4	-13.4	318	6299	0.00	2.20	0.00	0.000	4	0.000	0.049	1560	1516	3360	0	0	0	0	0	0
6336	-0.90	-131.6	971.9	-12.7	319	6340	0.12	2.28	0.00	0.000	6	0.210	0.063	1579	2931	3359	0	0	0	0	0	0
6597	end dive: TARGET_DEPTH_EXCEEDED
state	6597	begin apogee
6608	-0.19	0.0	1002.3	11.6	328	6750	0.75	0.00	128.52	1.828	6	0.177	0.000	1801	2738	2820	0	0	0	0	1	0
6752	end apogee: CONTROL_FINISHED_OK
state	6752	begin climb
6757	0.90	131.6	1004.8	0.0	333	6903	1.02	2.12	133.65	1.819	4	0.068	0.064	2154	3900	2282	0	0	0	0	1	0
6958	0.90	131.6	960.5	34.3	339	6962	0.00	2.00	0.00	0.000	6	0.000	0.048	2163	2732	2282	0	0	0	0	0	0
7289	0.90	131.6	857.8	30.1	350	7294	0.00	2.33	0.00	0.000	4	0.000	0.060	2174	1326	2276	0	0	0	0	0	0
7313	0.90	131.6	850.2	29.4	350	7320	0.00	2.38	0.00	0.000	6	0.000	0.060	2173	2734	2275	0	0	0	0	0	0
7628	0.90	131.6	754.8	30.0	361	7632	0.00	2.33	0.00	0.000	4	0.000	0.060	2182	1318	2273	0	0	0	0	0	0
7657	0.90	131.6	745.6	29.0	361	7664	0.00	2.38	0.00	0.000	6	0.000	0.061	2182	2740	2272	0	0	0	0	0	0
7972	0.90	131.6	649.9	30.8	372	7976	0.00	2.33	0.00	0.000	4	0.000	0.058	2193	1318	2272	0	0	0	0	0	0
7985	0.90	131.6	645.6	30.8	372	7990	0.15	2.33	0.00	0.000	6	0.285	0.059	2166	2736	2271	0	0	0	0	0	0
8306	0.90	131.6	551.4	28.8	383	8308	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2736	2271	0	0	0	0	0	0
8612	0.90	131.6	466.9	27.5	393	8616	0.00	2.30	0.00	0.000	4	0.000	0.057	2175	1314	2271	0	0	0	0	0	0
8625	0.90	131.6	463.0	27.5	393	8629	0.00	2.33	0.00	0.000	6	0.000	0.058	2173	2743	2270	0	0	0	0	0	0
8945	0.90	131.6	375.0	28.1	405	8949	0.00	2.30	0.00	0.000	4	0.000	0.057	2183	1322	2270	0	0	0	0	0	0
8957	0.90	131.6	369.8	27.9	405	8961	0.00	2.30	0.00	0.000	6	0.000	0.059	2183	2745	2270	0	0	0	0	0	0
9276	0.90	131.6	279.4	28.5	420	9280	0.00	2.30	0.00	0.000	4	0.000	0.057	2193	1314	2270	0	0	0	0	0	0
9294	0.90	131.6	273.8	28.6	420	9303	0.10	2.35	0.00	0.000	6	0.273	0.060	2171	2739	2269	0	0	0	0	0	0
9621	0.90	131.6	185.0	27.4	440	9625	0.00	2.28	0.00	0.000	4	0.000	0.057	2180	1322	2269	0	0	0	0	0	0
9662	0.90	131.6	173.2	25.8	442	9671	0.00	2.33	0.00	0.000	6	0.000	0.060	2180	2735	2268	0	0	0	0	0	0
9993	0.90	131.6	86.7	25.1	469	9998	0.00	2.28	0.00	0.000	4	0.000	0.056	2190	1315	2268	0	0	0	0	0	0
10087	0.90	131.6	63.4	23.2	485	10093	0.12	2.30	0.00	0.000	6	0.278	0.060	2167	2736	2267	0	0	0	0	0	0
10343	end climb: SURFACE_DEPTH_REACHED
state	10343	begin surface coast
10357	end surface coast: CONTROL_FINISHED_OK
state	10357	begin surface