Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 268 * 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 268 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2860 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2670 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 230 R_PORT_OVSHOOT 43 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 36 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 1 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 353 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 368 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 -11346.38 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 150 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1830 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 52816 PITCH_GAIN 39 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 230

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 39 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 353

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 -11346.38

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 368

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 1830 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2670 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2860 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 43 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 36 VBD_MAXERRORS 1

DEVICE3 115 MAX_BUOY 150 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 268 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 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 210113,032434,-4642.654,447.712,42,0.8,42,-23.6 TGT_NAME GH4

_CALLS 1 TGT_LATLONG -4700.000,440.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.121,-0.225

_SM_DEPTHo 1.67 KALMAN_X -212709.3,235.4,207.0,251206.2,-3215.8

_SM_ANGLEo -65.4 KALMAN_Y 124032.4,-345.8,-199.2,-107546.0,2630.5

GPS2 210113,033506,-4642.675,447.736,14,0.7,15,-23.6 MHEAD_RNG_PITCHd_Wd 175.3,33540,-16.5,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.014953 _10V_AH 10.0,24.802

SM_CCo 14512,42.55,0.768,1,0,1878,230.09 FG_AHR_24Vo 0.000

SM_GC 2.08,0.00,0.00,42.55,0.000,0.000,0.768,60,2872,1878,-5.53,0.34,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4622.97,442.69,200113,232333 MEM 353864

TT8_MAMPS 0.026215 DATA_FILE_SIZE 50461,726

HUMID 58.70 CAP_FILE_SIZE 95750,0

INTERNAL_PRESSURE 9.33597 CFSIZE 259252224,212832256

TCM_TEMP 10.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 GPS 210113,074004,-4644.553,448.866,38,0.8,38,-23.6

_24V_AH 21.9,50.722

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 255 75.54 SBE_CT 480 24 252.46

Roll_motor 39 68 59.37 AA4330 1429 33 1032.91

VBD_pump_during_apogee 298 1793 11740.91 WL_BB2FLVMT 759 105 1745.98

VBD_pump_during_surface 42 768 715.71 QSP2150 282 4 27.06

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 55.53 nil 0 0 0.00

Iridium_during_connect 50 160 175.75 nil 0 0 0.00

Iridium_during_xfer 324 223 1586.25 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 5.81

TT8 1749 14 261.76

LPSleep 10332 2 226.29

TT8_Active 402 14 57.16

TT8_Sampling 2121 37 794.15

TT8_CF8 571 47 269.58

TT8_Kalman 33 59 19.74

Analog_circuits 1094 12 131.37

GPS_charging 0 0 0.00

Compass 1657 15 260.69

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

27 -0.60 -146.1 0.0 0.0 0 100 0.00 0.00 -71.03 0.000 2 0.000 0.000 58 2878 3255 0 0 0 0 0 0

107 -0.60 -146.1 3.4 -2.7 9 125 6.78 1.60 -4.05 0.000 4 0.256 0.069 1619 3890 3417 0 0 0 0 0 0

374 -0.60 -146.1 50.1 -14.6 51 380 0.00 1.60 0.00 0.000 6 0.000 0.031 1619 2845 3418 0 0 0 0 0 0

615 -0.60 -146.1 85.3 -13.4 92 622 0.00 1.70 0.00 0.000 4 0.000 0.057 1611 3884 3419 0 0 0 0 0 0

695 -0.60 -146.1 96.3 -13.7 105 701 0.00 1.55 0.00 0.000 6 0.000 0.031 1611 2852 3419 0 0 0 0 0 0

1022 -0.60 -146.1 140.8 -13.5 128 1023 0.00 0.00 0.00 0.000 6 0.000 0.000 1611 2852 3420 0 0 0 0 0 0

1332 -0.60 -146.1 183.1 -13.6 148 1333 0.00 0.00 0.00 0.000 6 0.000 0.000 1611 2852 3421 0 0 0 0 0 0

1645 -0.60 -146.1 223.1 -12.2 168 1646 0.00 0.00 0.00 0.000 6 0.000 0.000 1611 2852 3421 0 0 0 0 0 0

1964 -0.60 -146.1 260.8 -11.7 187 1965 0.00 0.00 0.00 0.000 6 0.000 0.000 1611 2852 3421 0 0 0 0 0 0

2271 -0.60 -146.1 296.8 -11.6 202 2272 0.00 0.00 0.00 0.000 6 0.000 0.000 1611 2852 3421 0 0 0 0 0 0

2583 -0.60 -146.1 332.3 -11.6 217 2586 0.00 1.67 0.00 0.000 4 0.000 0.060 1603 3881 3422 0 0 0 0 0 0

2654 -0.60 -146.1 341.4 -12.4 220 2658 0.08 1.52 0.00 0.000 6 0.166 0.033 1626 2877 3421 0 0 0 0 0 0

2989 -0.60 -146.1 379.0 -11.4 236 2990 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2873 3421 0 0 0 0 0 0

3297 -0.60 -146.1 415.8 -11.9 249 3298 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2873 3421 0 0 0 0 0 0

3603 -0.60 -146.1 449.0 -10.7 259 3604 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2873 3421 0 0 0 0 0 0

3910 -0.60 -146.1 480.2 -10.0 269 3914 0.00 2.12 0.00 0.000 4 0.000 0.038 1626 1475 3421 0 0 0 0 0 0

3956 -0.60 -146.1 485.0 -9.7 270 3960 0.00 2.22 0.00 0.000 6 0.000 0.054 1617 2861 3421 0 0 0 0 0 0

4288 -0.60 -146.1 520.9 -11.3 281 4289 0.00 0.00 0.00 0.000 6 0.000 0.000 1617 2862 3420 0 0 0 0 0 0

4594 -0.60 -146.1 554.6 -11.0 291 4595 0.00 0.00 0.00 0.000 6 0.000 0.000 1617 2862 3420 0 0 0 0 0 0

4900 -0.60 -146.1 587.0 -10.7 301 4904 0.00 1.65 0.00 0.000 4 0.000 0.062 1609 3903 3419 0 0 0 0 0 0

4937 -0.60 -146.1 591.0 -11.4 302 4941 0.00 1.60 0.00 0.000 6 0.000 0.033 1609 2850 3419 0 0 0 0 0 0

5280 -0.60 -146.1 629.7 -11.2 313 5281 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2847 3419 0 0 0 0 0 0

5586 -0.60 -146.1 663.4 -10.8 323 5587 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2847 3419 0 0 0 0 0 0

5892 -0.60 -146.1 696.3 -10.8 333 5893 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2847 3419 0 0 0 0 0 0

6198 -0.60 -146.1 728.4 -10.2 343 6199 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2847 3418 0 0 0 0 0 0

6505 -0.60 -146.1 759.1 -10.0 353 6506 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2846 3418 0 0 0 0 0 0

6811 -0.60 -146.1 788.6 -9.5 363 6812 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2847 3418 0 0 0 0 0 0

7117 -0.60 -146.1 817.1 -9.4 373 7118 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2846 3418 0 0 0 0 0 0

7424 -0.60 -146.1 844.8 -8.9 383 7425 0.00 0.00 0.00 0.000 6 0.000 0.000 1609 2846 3418 0 0 0 0 0 0

7730 -0.60 -146.1 873.3 -9.5 393 7731 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2846 3418 0 0 0 0 0 0

8036 -0.60 -146.1 903.0 -9.7 403 8037 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2846 3418 0 0 0 0 0 0

8342 -0.60 -146.1 932.6 -9.7 413 8343 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2846 3417 0 0 0 0 0 0

8648 -0.60 -146.1 962.4 -9.7 423 8650 0.00 0.00 0.00 0.000 6 0.000 0.000 1608 2846 3417 0 0 0 0 0 0

8954 -0.60 -146.1 991.8 -9.6 433 8958 0.00 2.10 0.00 0.000 4 0.000 0.039 1609 1478 3417 0 0 0 0 0 0

8991 -0.60 -146.1 995.2 -8.6 434 8996 0.12 2.22 0.00 0.000 6 0.184 0.054 1629 2862 3417 0 0 0 0 0 0

9055 end dive: TARGET_DEPTH_EXCEEDED

state 9055 begin apogee

9066 -0.18 0.0 1000.8 7.6 436 9216 0.47 0.00 146.62 1.246 6 0.155 0.000 1770 2677 2819 0 0 0 0 0 0

9218 end apogee: CONTROL_FINISHED_OK

state 9218 begin climb

9223 0.60 146.1 1004.1 0.0 441 9389 0.75 2.53 152.23 1.794 4 0.094 0.044 2027 1290 2224 0 0 0 0 1 0

9437 0.60 146.1 972.1 19.1 447 9441 0.00 2.42 0.00 0.000 6 0.000 0.051 2027 2664 2221 0 0 0 0 0 0

9752 0.60 146.1 903.6 22.1 457 9753 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2664 2217 0 0 0 0 0 0

10059 0.60 146.1 835.3 22.3 467 10060 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2664 2215 0 0 0 0 0 0

10364 0.60 146.1 768.9 21.3 477 10365 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2664 2215 0 0 0 0 0 0

10672 0.60 146.1 704.5 20.4 487 10673 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2664 2214 0 0 0 0 0 0

10977 0.60 146.1 644.4 20.2 497 10978 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2664 2214 0 0 0 0 0 0

11285 0.60 146.1 584.5 19.6 507 11286 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2664 2214 0 0 0 0 0 0

11589 0.60 146.1 524.2 19.6 517 11590 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2663 2213 0 0 0 0 0 0

11895 0.60 146.1 464.0 19.6 527 11897 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2664 2213 0 0 0 0 0 0

12202 0.60 146.1 405.0 19.3 537 12203 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2664 2213 0 0 0 0 0 0

12521 0.60 146.1 344.3 19.0 552 12522 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2664 2212 0 0 0 0 0 0

12832 0.60 146.1 286.3 18.7 567 12836 0.00 2.00 0.00 0.000 4 0.000 0.060 2027 3898 2212 0 0 0 0 0 0

12867 0.60 146.1 278.5 21.9 568 12871 0.00 1.92 0.00 0.000 6 0.000 0.038 2036 2673 2212 0 0 0 0 0 0

13200 0.60 146.1 218.0 17.6 587 13201 0.00 0.00 0.00 0.000 6 0.000 0.000 2037 2668 2212 0 0 0 0 0 0

13513 0.60 146.1 165.0 17.6 607 13514 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2668 2212 0 0 0 0 0 0

13825 0.60 146.1 112.4 16.1 627 13829 0.00 2.20 0.00 0.000 4 0.000 0.044 2047 1268 2211 0 0 0 0 0 0

13900 0.60 146.1 100.1 15.7 631 13907 0.00 2.28 0.00 0.000 6 0.000 0.052 2047 2682 2209 0 0 0 0 0 0

14258 0.60 146.1 39.4 16.5 692 14266 0.00 1.95 0.00 0.000 4 0.000 0.060 2047 3891 2209 0 0 0 0 0 0

14310 0.60 146.1 30.0 20.1 699 14320 0.10 1.90 0.00 0.000 6 0.219 0.037 2030 2670 2210 0 0 0 0 0 0

14399 0.60 146.1 14.7 16.9 712 14408 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2670 2210 0 0 0 0 0 0

14470 end climb: SURFACE_DEPTH_REACHED

state 14470 begin surface coast

14489 end surface coast: CONTROL_FINISHED_OK

state 14489 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	268	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2860	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2670	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	230	R_PORT_OVSHOOT	43	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	36	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	1	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	353	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	368	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	-11346.38	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	150	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1830	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	52816	PITCH_GAIN	39	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	210113,032434,-4642.654,447.712,42,0.8,42,-23.6	TGT_NAME	GH4
_CALLS	1	TGT_LATLONG	-4700.000,440.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.121,-0.225
_SM_DEPTHo	1.67	KALMAN_X	-212709.3,235.4,207.0,251206.2,-3215.8
_SM_ANGLEo	-65.4	KALMAN_Y	124032.4,-345.8,-199.2,-107546.0,2630.5
GPS2	210113,033506,-4642.675,447.736,14,0.7,15,-23.6	MHEAD_RNG_PITCHd_Wd	175.3,33540,-16.5,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.8,1.014953	_10V_AH	10.0,24.802
SM_CCo	14512,42.55,0.768,1,0,1878,230.09	FG_AHR_24Vo	0.000
SM_GC	2.08,0.00,0.00,42.55,0.000,0.000,0.768,60,2872,1878,-5.53,0.34,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4622.97,442.69,200113,232333	MEM	353864
TT8_MAMPS	0.026215	DATA_FILE_SIZE	50461,726
HUMID	58.70	CAP_FILE_SIZE	95750,0
INTERNAL_PRESSURE	9.33597	CFSIZE	259252224,212832256
TCM_TEMP	10.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	GPS	210113,074004,-4644.553,448.866,38,0.8,38,-23.6
_24V_AH	21.9,50.722

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	255	75.54	SBE_CT	480	24	252.46
Roll_motor	39	68	59.37	AA4330	1429	33	1032.91
VBD_pump_during_apogee	298	1793	11740.91	WL_BB2FLVMT	759	105	1745.98
VBD_pump_during_surface	42	768	715.71	QSP2150	282	4	27.06
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	55.53	nil	0	0	0.00
Iridium_during_connect	50	160	175.75	nil	0	0	0.00
Iridium_during_xfer	324	223	1586.25	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	5.81
TT8	1749	14	261.76
LPSleep	10332	2	226.29
TT8_Active	402	14	57.16
TT8_Sampling	2121	37	794.15
TT8_CF8	571	47	269.58
TT8_Kalman	33	59	19.74
Analog_circuits	1094	12	131.37
GPS_charging	0	0	0.00
Compass	1657	15	260.69
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
27	-0.60	-146.1	0.0	0.0	0	100	0.00	0.00	-71.03	0.000	2	0.000	0.000	58	2878	3255	0	0	0	0	0	0
107	-0.60	-146.1	3.4	-2.7	9	125	6.78	1.60	-4.05	0.000	4	0.256	0.069	1619	3890	3417	0	0	0	0	0	0
374	-0.60	-146.1	50.1	-14.6	51	380	0.00	1.60	0.00	0.000	6	0.000	0.031	1619	2845	3418	0	0	0	0	0	0
615	-0.60	-146.1	85.3	-13.4	92	622	0.00	1.70	0.00	0.000	4	0.000	0.057	1611	3884	3419	0	0	0	0	0	0
695	-0.60	-146.1	96.3	-13.7	105	701	0.00	1.55	0.00	0.000	6	0.000	0.031	1611	2852	3419	0	0	0	0	0	0
1022	-0.60	-146.1	140.8	-13.5	128	1023	0.00	0.00	0.00	0.000	6	0.000	0.000	1611	2852	3420	0	0	0	0	0	0
1332	-0.60	-146.1	183.1	-13.6	148	1333	0.00	0.00	0.00	0.000	6	0.000	0.000	1611	2852	3421	0	0	0	0	0	0
1645	-0.60	-146.1	223.1	-12.2	168	1646	0.00	0.00	0.00	0.000	6	0.000	0.000	1611	2852	3421	0	0	0	0	0	0
1964	-0.60	-146.1	260.8	-11.7	187	1965	0.00	0.00	0.00	0.000	6	0.000	0.000	1611	2852	3421	0	0	0	0	0	0
2271	-0.60	-146.1	296.8	-11.6	202	2272	0.00	0.00	0.00	0.000	6	0.000	0.000	1611	2852	3421	0	0	0	0	0	0
2583	-0.60	-146.1	332.3	-11.6	217	2586	0.00	1.67	0.00	0.000	4	0.000	0.060	1603	3881	3422	0	0	0	0	0	0
2654	-0.60	-146.1	341.4	-12.4	220	2658	0.08	1.52	0.00	0.000	6	0.166	0.033	1626	2877	3421	0	0	0	0	0	0
2989	-0.60	-146.1	379.0	-11.4	236	2990	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2873	3421	0	0	0	0	0	0
3297	-0.60	-146.1	415.8	-11.9	249	3298	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2873	3421	0	0	0	0	0	0
3603	-0.60	-146.1	449.0	-10.7	259	3604	0.00	0.00	0.00	0.000	6	0.000	0.000	1626	2873	3421	0	0	0	0	0	0
3910	-0.60	-146.1	480.2	-10.0	269	3914	0.00	2.12	0.00	0.000	4	0.000	0.038	1626	1475	3421	0	0	0	0	0	0
3956	-0.60	-146.1	485.0	-9.7	270	3960	0.00	2.22	0.00	0.000	6	0.000	0.054	1617	2861	3421	0	0	0	0	0	0
4288	-0.60	-146.1	520.9	-11.3	281	4289	0.00	0.00	0.00	0.000	6	0.000	0.000	1617	2862	3420	0	0	0	0	0	0
4594	-0.60	-146.1	554.6	-11.0	291	4595	0.00	0.00	0.00	0.000	6	0.000	0.000	1617	2862	3420	0	0	0	0	0	0
4900	-0.60	-146.1	587.0	-10.7	301	4904	0.00	1.65	0.00	0.000	4	0.000	0.062	1609	3903	3419	0	0	0	0	0	0
4937	-0.60	-146.1	591.0	-11.4	302	4941	0.00	1.60	0.00	0.000	6	0.000	0.033	1609	2850	3419	0	0	0	0	0	0
5280	-0.60	-146.1	629.7	-11.2	313	5281	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2847	3419	0	0	0	0	0	0
5586	-0.60	-146.1	663.4	-10.8	323	5587	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2847	3419	0	0	0	0	0	0
5892	-0.60	-146.1	696.3	-10.8	333	5893	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2847	3419	0	0	0	0	0	0
6198	-0.60	-146.1	728.4	-10.2	343	6199	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2847	3418	0	0	0	0	0	0
6505	-0.60	-146.1	759.1	-10.0	353	6506	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2846	3418	0	0	0	0	0	0
6811	-0.60	-146.1	788.6	-9.5	363	6812	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2847	3418	0	0	0	0	0	0
7117	-0.60	-146.1	817.1	-9.4	373	7118	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2846	3418	0	0	0	0	0	0
7424	-0.60	-146.1	844.8	-8.9	383	7425	0.00	0.00	0.00	0.000	6	0.000	0.000	1609	2846	3418	0	0	0	0	0	0
7730	-0.60	-146.1	873.3	-9.5	393	7731	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2846	3418	0	0	0	0	0	0
8036	-0.60	-146.1	903.0	-9.7	403	8037	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2846	3418	0	0	0	0	0	0
8342	-0.60	-146.1	932.6	-9.7	413	8343	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2846	3417	0	0	0	0	0	0
8648	-0.60	-146.1	962.4	-9.7	423	8650	0.00	0.00	0.00	0.000	6	0.000	0.000	1608	2846	3417	0	0	0	0	0	0
8954	-0.60	-146.1	991.8	-9.6	433	8958	0.00	2.10	0.00	0.000	4	0.000	0.039	1609	1478	3417	0	0	0	0	0	0
8991	-0.60	-146.1	995.2	-8.6	434	8996	0.12	2.22	0.00	0.000	6	0.184	0.054	1629	2862	3417	0	0	0	0	0	0
9055	end dive: TARGET_DEPTH_EXCEEDED
state	9055	begin apogee
9066	-0.18	0.0	1000.8	7.6	436	9216	0.47	0.00	146.62	1.246	6	0.155	0.000	1770	2677	2819	0	0	0	0	0	0
9218	end apogee: CONTROL_FINISHED_OK
state	9218	begin climb
9223	0.60	146.1	1004.1	0.0	441	9389	0.75	2.53	152.23	1.794	4	0.094	0.044	2027	1290	2224	0	0	0	0	1	0
9437	0.60	146.1	972.1	19.1	447	9441	0.00	2.42	0.00	0.000	6	0.000	0.051	2027	2664	2221	0	0	0	0	0	0
9752	0.60	146.1	903.6	22.1	457	9753	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2664	2217	0	0	0	0	0	0
10059	0.60	146.1	835.3	22.3	467	10060	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2664	2215	0	0	0	0	0	0
10364	0.60	146.1	768.9	21.3	477	10365	0.00	0.00	0.00	0.000	6	0.000	0.000	2026	2664	2215	0	0	0	0	0	0
10672	0.60	146.1	704.5	20.4	487	10673	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2664	2214	0	0	0	0	0	0
10977	0.60	146.1	644.4	20.2	497	10978	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2664	2214	0	0	0	0	0	0
11285	0.60	146.1	584.5	19.6	507	11286	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2664	2214	0	0	0	0	0	0
11589	0.60	146.1	524.2	19.6	517	11590	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2663	2213	0	0	0	0	0	0
11895	0.60	146.1	464.0	19.6	527	11897	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2664	2213	0	0	0	0	0	0
12202	0.60	146.1	405.0	19.3	537	12203	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2664	2213	0	0	0	0	0	0
12521	0.60	146.1	344.3	19.0	552	12522	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2664	2212	0	0	0	0	0	0
12832	0.60	146.1	286.3	18.7	567	12836	0.00	2.00	0.00	0.000	4	0.000	0.060	2027	3898	2212	0	0	0	0	0	0
12867	0.60	146.1	278.5	21.9	568	12871	0.00	1.92	0.00	0.000	6	0.000	0.038	2036	2673	2212	0	0	0	0	0	0
13200	0.60	146.1	218.0	17.6	587	13201	0.00	0.00	0.00	0.000	6	0.000	0.000	2037	2668	2212	0	0	0	0	0	0
13513	0.60	146.1	165.0	17.6	607	13514	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2668	2212	0	0	0	0	0	0
13825	0.60	146.1	112.4	16.1	627	13829	0.00	2.20	0.00	0.000	4	0.000	0.044	2047	1268	2211	0	0	0	0	0	0
13900	0.60	146.1	100.1	15.7	631	13907	0.00	2.28	0.00	0.000	6	0.000	0.052	2047	2682	2209	0	0	0	0	0	0
14258	0.60	146.1	39.4	16.5	692	14266	0.00	1.95	0.00	0.000	4	0.000	0.060	2047	3891	2209	0	0	0	0	0	0
14310	0.60	146.1	30.0	20.1	699	14320	0.10	1.90	0.00	0.000	6	0.219	0.037	2030	2670	2210	0	0	0	0	0	0
14399	0.60	146.1	14.7	16.9	712	14408	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2670	2210	0	0	0	0	0	0
14470	end climb: SURFACE_DEPTH_REACHED
state	14470	begin surface coast
14489	end surface coast: CONTROL_FINISHED_OK
state	14489	begin surface