Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 26 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 26 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 32 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 ESCAPE_HEADING_DELTA 5 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 2 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 750 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 20 SM_CC 420 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 26 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 2 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 161 VBD_MIN 442 DEVICE1 2

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_MAX 3793 DEVICE2 20

T_DIVE 250 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 300 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 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80450.555 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 200 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2415 PHONE_SUPPLY -1 SEABIRD_T_G 0.0043394179

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -22.40402 SEABIRD_T_H 0.00062698836

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_I 2.474318e-05

MASS 51400 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.7476094e-06

NAV_MODE 2 PITCH_GAIN 31 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9261332

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1046007

KALMAN_USE 2 PITCH_AD_RATE 150 COMPASS_USE 1 SEABIRD_C_I -0.00064730336

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014311814

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 420

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 2 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 750 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 5 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163694 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 250

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -80450.555

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 300

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2415 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 240 T_WATCHDOG 10

C_ROLL_DIVE 2510 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2485 LOGGERDEVICE3 -1 ROLL_DEG 20 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3915 USE_BATHY -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 0

DEVICE1 2 MASS 51400 ROLL_MIN 290 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 26 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 18 VBD_MAX 3793

DEVICE5 -1 MISSION 13 SEABIRD_C_G -9.9261332 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1046007 VBD_MIN 442

DIVE 26 NAV_MODE 2 SEABIRD_C_I -0.00064730336 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 161 SEABIRD_C_J 0.00014311814 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_DIVES 32 SEABIRD_T_G 0.0043394179 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 091011,160935,6633.281,-6016.389,39,0.9,39,-33.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.05 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091011,161436,6633.259,-6016.559,18,1.1,18,-33.7 MHEAD_RNG_PITCHd_Wd 115.0,160366,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 513

Post-dive calculations and measurements:

FINISH 1.2,1.014318 _24V_AH 23.2,4.477

SM_CCo 9172,67.80,0.086,0,0,771,420.20 _10V_AH 10.2,4.133

SM_GC 1.97,7.12,0.60,67.80,0.061,0.070,0.086,125,2512,771,-7.10,-0.68,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 595 FG_AHR_10Vo 0.000

RAFOS 0,1318176069,16.033333,16.019167,86,62,56,0,0,0,581,213,223,0,0,0 MEM 150368

RAFOS_FIX 6637.641113,-6005.415527,091011,161604,3,99,79.50 DATA_FILE_SIZE 36740,988

IRIDIUM_FIX 6604.29,-6024.69,091011,131325 CAP_FILE_SIZE 112697,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,246349824

HUMID 57.32 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.78553 SOUNDSPEED 1452.8

TCM_TEMP 16.20 CURRENT 0.268,222.2,1

XPDR_PINGS 20 GPS 091011,185105,6632.371,-6015.003,32,1.0,32,-33.6

ALTIM_BOTTOM_PING 400.1,134.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 274 113.41 SBE_CT 715 23 385.30

Roll_motor 48 110 125.84 SBE_O2 698 5 84.91

VBD_pump_during_apogee 326 1202 9099.54 nil 0 0 0.00

VBD_pump_during_surface 67 86 135.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 192 259 1160.30 nil 0 0 0.00

Transponder_ping 6 420 58.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.37

TT8 2701 18 515.48

LPSleep 4318 2 101.75

TT8_Active 544 18 103.87

TT8_Sampling 1851 41 792.03

TT8_CF8 172 47 84.36

TT8_Kalman 0 0 0.00

Analog_circuits 1638 12 200.53

GPS_charging 0 0 0.00

Compass 1643 6 112.97

RAFOS 1800 1 27.54

Transponder 9 30 2.85

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 pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.77 -146.0 0.0 0.0 0 112 0.00 0.00 -93.70 0.000 2 0.000 0.000 122 2514 2106 0 0 0 0 0 0

115 -0.77 -146.0 3.0 -2.0 15 165 8.90 1.23 -35.53 0.000 4 0.275 0.111 2152 3224 3083 0 0 0 0 0 0

409 -0.77 -146.0 50.9 -15.8 66 415 0.00 1.17 0.00 0.000 6 0.000 0.053 2152 2510 3084 0 0 0 0 0 0

614 -0.77 -146.0 81.7 -14.6 103 621 0.00 1.23 0.00 0.000 4 0.000 0.080 2146 3220 3085 0 0 0 0 0 0

666 -0.77 -146.0 89.0 -13.7 112 674 0.00 1.17 0.00 0.000 6 0.000 0.052 2147 2504 3084 0 0 0 0 0 0

875 -0.77 -146.0 117.7 -13.4 138 878 0.00 1.23 0.00 0.000 4 0.000 0.080 2142 3214 3084 0 0 0 0 0 0

964 -0.77 -146.0 129.8 -13.5 146 968 0.00 1.15 0.00 0.000 6 0.000 0.053 2142 2511 3085 0 0 0 0 0 0

1188 -0.77 -146.0 159.8 -13.5 167 1189 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2510 3085 0 0 0 0 0 0

1400 -0.77 -146.0 188.4 -13.6 187 1404 0.00 1.20 0.00 0.000 4 0.000 0.081 2138 3210 3085 0 0 0 0 0 0

1505 -0.77 -146.0 202.4 -14.1 196 1514 0.00 1.15 0.00 0.000 6 0.000 0.052 2138 2502 3085 0 0 0 0 0 0

1726 -0.77 -146.0 233.1 -13.6 217 1728 0.12 0.00 0.00 0.000 6 0.178 0.000 2166 2502 3085 0 0 0 0 0 0

1939 -0.77 -146.0 257.2 -11.1 237 1943 0.00 1.23 0.00 0.000 4 0.000 0.083 2164 3216 3084 0 0 0 0 0 0

2032 -0.77 -146.0 267.4 -11.1 245 2041 0.00 1.15 0.00 0.000 6 0.000 0.052 2164 2509 3084 0 0 0 0 0 0

2252 -0.77 -146.0 292.1 -11.1 266 2255 0.00 1.20 0.00 0.000 4 0.000 0.082 2159 3211 3084 0 0 0 0 0 0

2323 -0.77 -146.0 299.7 -11.3 272 2333 0.00 1.15 0.00 0.000 6 0.000 0.051 2159 2502 3083 0 0 0 0 0 0

2545 -0.77 -146.0 324.7 -10.8 293 2549 0.00 1.23 0.00 0.000 4 0.000 0.082 2154 3218 3084 0 0 0 0 0 0

2657 -0.77 -146.0 337.4 -10.8 303 2661 0.00 1.15 0.00 0.000 6 0.000 0.052 2155 2508 3084 0 0 0 0 0 0

2881 -0.77 -146.0 361.7 -10.4 324 2883 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2508 3084 0 0 0 0 0 0

3094 -0.77 -146.0 384.3 -10.7 344 3098 0.00 1.23 0.00 0.000 4 0.000 0.082 2151 3220 3084 0 0 0 0 0 0

3184 -0.77 -146.0 394.1 -11.0 352 3188 0.00 1.15 0.00 0.000 6 0.000 0.050 2151 2508 3084 0 0 0 0 0 0

3411 -0.77 -146.0 418.4 -11.4 373 3417 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2508 3084 0 0 0 0 0 0

3629 -0.77 -146.0 442.7 -11.0 394 3633 0.00 1.20 0.00 0.000 4 0.000 0.080 2146 3214 3083 0 0 0 0 0 0

3723 -0.77 -146.0 452.7 -11.1 402 3730 0.00 1.15 0.00 0.000 6 0.000 0.049 2146 2499 3083 0 0 0 0 0 0

3942 -0.77 -146.0 477.0 -11.5 423 3944 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2499 3084 0 0 0 0 0 0

4155 -0.77 -146.0 500.1 -10.6 443 4158 0.00 1.10 0.00 0.000 4 0.000 0.062 2147 1811 3084 0 0 0 0 0 0

4200 -0.77 -146.0 505.0 -10.6 447 4204 0.00 1.20 0.00 0.000 6 0.000 0.068 2141 2505 3084 0 0 0 0 0 0

4273 end dive: TARGET_DEPTH_EXCEEDED

state 4273 begin apogee

4280 -0.16 0.0 513.9 -11.4 454 4405 0.68 0.00 117.72 1.203 6 0.140 0.000 2357 2186 2485 0 0 0 0 0 0

4405 end apogee: CONTROL_FINISHED_OK

state 4406 begin climb

4408 0.77 146.0 518.5 0.0 465 4546 0.88 1.17 124.88 1.151 4 0.051 0.065 2675 1496 1886 0 0 0 0 0 0

4795 0.77 146.0 484.8 13.1 499 4803 0.00 1.25 0.00 0.000 6 0.000 0.061 2675 2203 1878 0 0 0 0 0 0

5015 0.77 146.0 454.9 13.0 520 5018 0.00 1.23 0.00 0.000 4 0.000 0.064 2680 1497 1877 0 0 0 0 0 0

5064 0.77 146.0 448.5 14.1 524 5073 0.00 1.23 0.00 0.000 6 0.000 0.062 2680 2202 1876 0 0 0 0 0 0

5285 0.77 146.0 417.8 14.0 545 5288 0.00 1.20 0.00 0.000 4 0.000 0.064 2684 1502 1876 0 0 0 0 0 0

5386 0.77 146.0 403.9 13.9 554 5389 0.00 1.20 0.00 0.000 6 0.000 0.060 2684 2202 1876 0 0 0 0 0 0

5612 0.77 146.0 373.6 13.3 575 5615 0.00 1.17 0.00 0.000 4 0.000 0.070 2684 2902 1875 0 0 0 0 0 0

5668 0.77 146.0 365.6 13.6 580 5672 0.00 1.20 0.00 0.000 6 0.000 0.054 2689 2198 1875 0 0 0 0 0 0

5894 0.77 146.0 336.7 12.4 601 5898 0.00 1.12 0.00 0.000 4 0.000 0.067 2694 1499 1875 0 0 0 0 0 0

5917 0.77 146.0 333.6 12.2 603 5921 0.10 1.20 0.00 0.000 6 0.182 0.062 2666 2205 1875 0 0 0 0 0 0

6141 0.77 146.0 309.5 10.2 624 6145 0.00 1.17 0.00 0.000 4 0.000 0.073 2666 2906 1875 0 0 0 0 0 0

6190 0.77 146.0 304.8 10.7 628 6199 0.00 1.20 0.00 0.000 6 0.000 0.054 2670 2201 1874 0 0 0 0 0 0

6411 0.77 146.0 281.1 10.5 649 6412 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2201 1874 0 0 0 0 0 0

6623 0.77 146.0 258.7 10.8 669 6626 0.00 1.23 0.00 0.000 4 0.000 0.068 2670 2905 1875 0 0 0 0 0 0

6694 0.77 146.0 251.2 11.0 675 6701 0.00 1.20 0.00 0.000 6 0.000 0.055 2674 2195 1874 0 0 0 0 0 0

6914 0.77 146.0 227.6 10.4 696 6917 0.00 1.25 0.00 0.000 4 0.000 0.070 2675 2913 1874 0 0 0 0 0 0

6949 0.77 146.0 224.0 10.5 699 6953 0.00 1.20 0.00 0.000 6 0.000 0.055 2680 2198 1874 0 0 0 0 0 0

7174 0.77 146.0 199.8 10.8 720 7175 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2198 1874 0 0 0 0 0 0

7386 0.77 146.0 178.1 10.6 740 7390 0.00 1.23 0.00 0.000 4 0.000 0.069 2679 2904 1874 0 0 0 0 0 0

7421 0.77 146.0 174.3 10.6 743 7424 0.00 1.17 0.00 0.000 6 0.000 0.055 2684 2203 1874 0 0 0 0 0 0

7645 0.77 146.0 150.7 10.3 764 7646 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2202 1874 0 0 0 0 0 0

7858 0.79 166.5 130.1 9.1 784 7878 0.00 0.00 15.60 0.962 6 0.000 0.000 2684 2203 1806 0 0 0 0 0 0

8091 0.85 212.8 109.9 7.9 806 8132 0.00 0.00 39.08 0.951 6 0.000 0.000 2684 2202 1616 0 0 0 0 0 0

8347 0.85 212.8 82.2 12.2 844 8356 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2203 1611 0 0 0 0 0 0

8556 0.85 212.8 57.2 11.4 881 8562 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2202 1610 0 0 0 0 0 0

8760 0.85 212.8 34.3 11.2 918 8766 0.00 1.25 0.00 0.000 4 0.000 0.071 2684 2910 1609 0 0 0 0 0 0

9015 0.92 271.9 12.0 7.3 964 9050 0.00 1.20 28.88 0.105 6 0.000 0.056 2689 2203 1375 0 0 0 0 0 0

9131 end climb: SURFACE_DEPTH_REACHED

state 9133 begin surface coast

9155 end surface coast: CONTROL_FINISHED_OK

state 9155 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	26	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	32	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	ESCAPE_HEADING_DELTA	5	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	2	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	750	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	20	SM_CC	420	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	26	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	2	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	161	VBD_MIN	442	DEVICE1	2
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_MAX	3793	DEVICE2	20
T_DIVE	250	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	300	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	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80450.555	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	200	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2415	PHONE_SUPPLY	-1	SEABIRD_T_G	0.0043394179
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-22.40402	SEABIRD_T_H	0.00062698836
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_I	2.474318e-05
MASS	51400	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.7476094e-06
NAV_MODE	2	PITCH_GAIN	31	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9261332
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1046007
KALMAN_USE	2	PITCH_AD_RATE	150	COMPASS_USE	1	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	091011,160935,6633.281,-6016.389,39,0.9,39,-33.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.05	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091011,161436,6633.259,-6016.559,18,1.1,18,-33.7	MHEAD_RNG_PITCHd_Wd	115.0,160366,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	513

FINISH	1.2,1.014318	_24V_AH	23.2,4.477
SM_CCo	9172,67.80,0.086,0,0,771,420.20	_10V_AH	10.2,4.133
SM_GC	1.97,7.12,0.60,67.80,0.061,0.070,0.086,125,2512,771,-7.10,-0.68,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	595	FG_AHR_10Vo	0.000
RAFOS	0,1318176069,16.033333,16.019167,86,62,56,0,0,0,581,213,223,0,0,0	MEM	150368
RAFOS_FIX	6637.641113,-6005.415527,091011,161604,3,99,79.50	DATA_FILE_SIZE	36740,988
IRIDIUM_FIX	6604.29,-6024.69,091011,131325	CAP_FILE_SIZE	112697,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,246349824
HUMID	57.32	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.78553	SOUNDSPEED	1452.8
TCM_TEMP	16.20	CURRENT	0.268,222.2,1
XPDR_PINGS	20	GPS	091011,185105,6632.371,-6015.003,32,1.0,32,-33.6
ALTIM_BOTTOM_PING	400.1,134.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	274	113.41	SBE_CT	715	23	385.30
Roll_motor	48	110	125.84	SBE_O2	698	5	84.91
VBD_pump_during_apogee	326	1202	9099.54	nil	0	0	0.00
VBD_pump_during_surface	67	86	135.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	192	259	1160.30	nil	0	0	0.00
Transponder_ping	6	420	58.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.37
TT8	2701	18	515.48
LPSleep	4318	2	101.75
TT8_Active	544	18	103.87
TT8_Sampling	1851	41	792.03
TT8_CF8	172	47	84.36
TT8_Kalman	0	0	0.00
Analog_circuits	1638	12	200.53
GPS_charging	0	0	0.00
Compass	1643	6	112.97
RAFOS	1800	1	27.54
Transponder	9	30	2.85

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	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.77	-146.0	0.0	0.0	0	112	0.00	0.00	-93.70	0.000	2	0.000	0.000	122	2514	2106	0	0	0	0	0	0
115	-0.77	-146.0	3.0	-2.0	15	165	8.90	1.23	-35.53	0.000	4	0.275	0.111	2152	3224	3083	0	0	0	0	0	0
409	-0.77	-146.0	50.9	-15.8	66	415	0.00	1.17	0.00	0.000	6	0.000	0.053	2152	2510	3084	0	0	0	0	0	0
614	-0.77	-146.0	81.7	-14.6	103	621	0.00	1.23	0.00	0.000	4	0.000	0.080	2146	3220	3085	0	0	0	0	0	0
666	-0.77	-146.0	89.0	-13.7	112	674	0.00	1.17	0.00	0.000	6	0.000	0.052	2147	2504	3084	0	0	0	0	0	0
875	-0.77	-146.0	117.7	-13.4	138	878	0.00	1.23	0.00	0.000	4	0.000	0.080	2142	3214	3084	0	0	0	0	0	0
964	-0.77	-146.0	129.8	-13.5	146	968	0.00	1.15	0.00	0.000	6	0.000	0.053	2142	2511	3085	0	0	0	0	0	0
1188	-0.77	-146.0	159.8	-13.5	167	1189	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2510	3085	0	0	0	0	0	0
1400	-0.77	-146.0	188.4	-13.6	187	1404	0.00	1.20	0.00	0.000	4	0.000	0.081	2138	3210	3085	0	0	0	0	0	0
1505	-0.77	-146.0	202.4	-14.1	196	1514	0.00	1.15	0.00	0.000	6	0.000	0.052	2138	2502	3085	0	0	0	0	0	0
1726	-0.77	-146.0	233.1	-13.6	217	1728	0.12	0.00	0.00	0.000	6	0.178	0.000	2166	2502	3085	0	0	0	0	0	0
1939	-0.77	-146.0	257.2	-11.1	237	1943	0.00	1.23	0.00	0.000	4	0.000	0.083	2164	3216	3084	0	0	0	0	0	0
2032	-0.77	-146.0	267.4	-11.1	245	2041	0.00	1.15	0.00	0.000	6	0.000	0.052	2164	2509	3084	0	0	0	0	0	0
2252	-0.77	-146.0	292.1	-11.1	266	2255	0.00	1.20	0.00	0.000	4	0.000	0.082	2159	3211	3084	0	0	0	0	0	0
2323	-0.77	-146.0	299.7	-11.3	272	2333	0.00	1.15	0.00	0.000	6	0.000	0.051	2159	2502	3083	0	0	0	0	0	0
2545	-0.77	-146.0	324.7	-10.8	293	2549	0.00	1.23	0.00	0.000	4	0.000	0.082	2154	3218	3084	0	0	0	0	0	0
2657	-0.77	-146.0	337.4	-10.8	303	2661	0.00	1.15	0.00	0.000	6	0.000	0.052	2155	2508	3084	0	0	0	0	0	0
2881	-0.77	-146.0	361.7	-10.4	324	2883	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2508	3084	0	0	0	0	0	0
3094	-0.77	-146.0	384.3	-10.7	344	3098	0.00	1.23	0.00	0.000	4	0.000	0.082	2151	3220	3084	0	0	0	0	0	0
3184	-0.77	-146.0	394.1	-11.0	352	3188	0.00	1.15	0.00	0.000	6	0.000	0.050	2151	2508	3084	0	0	0	0	0	0
3411	-0.77	-146.0	418.4	-11.4	373	3417	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2508	3084	0	0	0	0	0	0
3629	-0.77	-146.0	442.7	-11.0	394	3633	0.00	1.20	0.00	0.000	4	0.000	0.080	2146	3214	3083	0	0	0	0	0	0
3723	-0.77	-146.0	452.7	-11.1	402	3730	0.00	1.15	0.00	0.000	6	0.000	0.049	2146	2499	3083	0	0	0	0	0	0
3942	-0.77	-146.0	477.0	-11.5	423	3944	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2499	3084	0	0	0	0	0	0
4155	-0.77	-146.0	500.1	-10.6	443	4158	0.00	1.10	0.00	0.000	4	0.000	0.062	2147	1811	3084	0	0	0	0	0	0
4200	-0.77	-146.0	505.0	-10.6	447	4204	0.00	1.20	0.00	0.000	6	0.000	0.068	2141	2505	3084	0	0	0	0	0	0
4273	end dive: TARGET_DEPTH_EXCEEDED
state	4273	begin apogee
4280	-0.16	0.0	513.9	-11.4	454	4405	0.68	0.00	117.72	1.203	6	0.140	0.000	2357	2186	2485	0	0	0	0	0	0
4405	end apogee: CONTROL_FINISHED_OK
state	4406	begin climb
4408	0.77	146.0	518.5	0.0	465	4546	0.88	1.17	124.88	1.151	4	0.051	0.065	2675	1496	1886	0	0	0	0	0	0
4795	0.77	146.0	484.8	13.1	499	4803	0.00	1.25	0.00	0.000	6	0.000	0.061	2675	2203	1878	0	0	0	0	0	0
5015	0.77	146.0	454.9	13.0	520	5018	0.00	1.23	0.00	0.000	4	0.000	0.064	2680	1497	1877	0	0	0	0	0	0
5064	0.77	146.0	448.5	14.1	524	5073	0.00	1.23	0.00	0.000	6	0.000	0.062	2680	2202	1876	0	0	0	0	0	0
5285	0.77	146.0	417.8	14.0	545	5288	0.00	1.20	0.00	0.000	4	0.000	0.064	2684	1502	1876	0	0	0	0	0	0
5386	0.77	146.0	403.9	13.9	554	5389	0.00	1.20	0.00	0.000	6	0.000	0.060	2684	2202	1876	0	0	0	0	0	0
5612	0.77	146.0	373.6	13.3	575	5615	0.00	1.17	0.00	0.000	4	0.000	0.070	2684	2902	1875	0	0	0	0	0	0
5668	0.77	146.0	365.6	13.6	580	5672	0.00	1.20	0.00	0.000	6	0.000	0.054	2689	2198	1875	0	0	0	0	0	0
5894	0.77	146.0	336.7	12.4	601	5898	0.00	1.12	0.00	0.000	4	0.000	0.067	2694	1499	1875	0	0	0	0	0	0
5917	0.77	146.0	333.6	12.2	603	5921	0.10	1.20	0.00	0.000	6	0.182	0.062	2666	2205	1875	0	0	0	0	0	0
6141	0.77	146.0	309.5	10.2	624	6145	0.00	1.17	0.00	0.000	4	0.000	0.073	2666	2906	1875	0	0	0	0	0	0
6190	0.77	146.0	304.8	10.7	628	6199	0.00	1.20	0.00	0.000	6	0.000	0.054	2670	2201	1874	0	0	0	0	0	0
6411	0.77	146.0	281.1	10.5	649	6412	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2201	1874	0	0	0	0	0	0
6623	0.77	146.0	258.7	10.8	669	6626	0.00	1.23	0.00	0.000	4	0.000	0.068	2670	2905	1875	0	0	0	0	0	0
6694	0.77	146.0	251.2	11.0	675	6701	0.00	1.20	0.00	0.000	6	0.000	0.055	2674	2195	1874	0	0	0	0	0	0
6914	0.77	146.0	227.6	10.4	696	6917	0.00	1.25	0.00	0.000	4	0.000	0.070	2675	2913	1874	0	0	0	0	0	0
6949	0.77	146.0	224.0	10.5	699	6953	0.00	1.20	0.00	0.000	6	0.000	0.055	2680	2198	1874	0	0	0	0	0	0
7174	0.77	146.0	199.8	10.8	720	7175	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2198	1874	0	0	0	0	0	0
7386	0.77	146.0	178.1	10.6	740	7390	0.00	1.23	0.00	0.000	4	0.000	0.069	2679	2904	1874	0	0	0	0	0	0
7421	0.77	146.0	174.3	10.6	743	7424	0.00	1.17	0.00	0.000	6	0.000	0.055	2684	2203	1874	0	0	0	0	0	0
7645	0.77	146.0	150.7	10.3	764	7646	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2202	1874	0	0	0	0	0	0
7858	0.79	166.5	130.1	9.1	784	7878	0.00	0.00	15.60	0.962	6	0.000	0.000	2684	2203	1806	0	0	0	0	0	0
8091	0.85	212.8	109.9	7.9	806	8132	0.00	0.00	39.08	0.951	6	0.000	0.000	2684	2202	1616	0	0	0	0	0	0
8347	0.85	212.8	82.2	12.2	844	8356	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2203	1611	0	0	0	0	0	0
8556	0.85	212.8	57.2	11.4	881	8562	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2202	1610	0	0	0	0	0	0
8760	0.85	212.8	34.3	11.2	918	8766	0.00	1.25	0.00	0.000	4	0.000	0.071	2684	2910	1609	0	0	0	0	0	0
9015	0.92	271.9	12.0	7.3	964	9050	0.00	1.20	28.88	0.105	6	0.000	0.056	2689	2203	1375	0	0	0	0	0	0
9131	end climb: SURFACE_DEPTH_REACHED
state	9133	begin surface coast
9155	end surface coast: CONTROL_FINISHED_OK
state	9155	begin surface