Glider dive log

SOSCEx Dec15 * SG574 * Dive index * Mission links * Dive 27 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_B 0.010078 ROLL_MIN 245 ALTIM_TOP_TURN_MARGIN 0

MISSION 18 HD_C 9.8500004e-06 ROLL_MAX 3880 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 27 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 20

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 2299 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2062 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 1020 TGT_DEFAULT_LAT 4808 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 TGT_DEFAULT_LON -12223 ROLL_TIMEOUT 15 XPDR_VALID 2

D_BOOST 5 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 39 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

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 500 DEVICE2 20

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE3 118

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 3000 DEVICE4 131

T_DIVE 335 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 720 CAPUPLOAD 1 VBD_TIMEOUT 720 LOGGERS 0

T_TURN 500 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 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 -2328117.2 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 145 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 95 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 19 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8.5 SIM_W 0

MAX_BUOY 150 PITCH_MIN 143 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3888 FG_AHR_24V 0 SEABIRD_T_G 0.0043017557

GLIDE_SLOPE 30 C_PITCH 2871 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062339538

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -47.417881 SEABIRD_T_I 2.3377639e-05

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001171049 SEABIRD_T_J 2.5612862e-06

MASS 53452 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9136524

LENGTH 1.8 PITCH_GAIN 39 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1456692

NAV_MODE 2 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00078246131

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00012677554

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 2 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 0

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15 GC_LAST_COLLECTION 26

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.5612862e-06

AH0_10V 95 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 145 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 0 STROBE 0

ALTIM_PING_DELTA 10 EBE_ENABLE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 20 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 2 FERRY_MAX 45 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 39 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3888 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4808

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 143 TGT_DEFAULT_LON -12223

CALL_NDIVES 1 GC_LAST_COLLECTION 26 PITCH_TIMEOUT 17 T_ABORT 720

CALL_TRIES 5 GC_WINDOW 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001171049 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -47.417881 T_DIVE 335

CAPUPLOAD 1 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 -2328117.2

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 350

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0275 T_RSLEEP 3

C_PITCH 2871 ID 574 ROLL_ADJ_DBAND 0 T_TURN 500

C_ROLL_CLIMB 2062 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 2299 INT_PRESSURE_YINT 0 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 3000 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 3880 USE_ICE 0

DEVICE2 20 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 118 LOGGERDEVICE3 -1 ROLL_MIN 245 VBD_CNV -0.245296

DEVICE4 131 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 0 R_PORT_OVSHOOT 28 VBD_MAX 3961

DEVICE6 -1 MASS 53452 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 500

DIVE 27 MINV_10V 8.5 SEABIRD_C_H 1.1456692 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 MINV_24V 19 SEABIRD_C_I -0.00078246131 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 5 MISSION 18 SEABIRD_C_J 0.00012677554 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0043017557 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 2 SEABIRD_T_H 0.00062339538 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.3377639e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 111215,043521,-4503.479,623.919,54,0.8,54,-24.4 TGT_NAME SAF_BUT1

_CALLS 1 TGT_LATLONG -4504.000,624.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -80.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 111215,044656,-4503.325,623.906,5,1.1,5,-24.4 MHEAD_RNG_PITCHd_Wd 231.5,1256,-27.8,-9.950

SPEED_LIMITS 0.172,0.260 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.1,1.026614 _10V_AH 10.3,5.891

SM_CCo 11947,57.10,0.055,0,0,1774,300.24 FG_AHR_24Vo 0.000

SM_GC 3.04,0.00,0.00,57.10,0.000,0.000,0.055,139,2308,1774,-8.54,0.25,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4447.43,622.10,061008,141415 MEM 354272

TT8_MAMPS 0.025466 DATA_FILE_SIZE 50157,882

HUMID 48.42 CAP_FILE_SIZE 130550,0

INTERNAL_PRESSURE 8.88706 CFSIZE 2097086464,2092597248

TCM_TEMP 8.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 CURRENT 0.090, 49.8,1

_24V_AH 23.2,10.908 GPS 111215,080857,-4503.851,623.520,55,0.9,56,-24.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 255 125.23 SBE_CT 623 54 790.59

Roll_motor 104 64 155.31 SBE_O2 599 2 31.28

VBD_pump_during_apogee 254 1299 7659.08 QSP2150 69 6 10.90

VBD_pump_during_surface 57 55 72.97 WL_BB2FLVMT 686 105 1672.95

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 91 69.14 nil 0 0 0.00

Iridium_during_connect 58 160 215.99 nil 0 0 0.00

Iridium_during_xfer 494 223 2556.17 nil 0 0 0.00

Transponder_ping 24 420 241.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 32 3.04

TT8 2369 13 331.14

LPSleep 7059 2 159.25

TT8_Active 446 13 62.37

TT8_Sampling 2719 41 1156.17

TT8_CF8 100 48 49.92

TT8_Kalman 0 0 0.00

Analog_circuits 1327 15 213.84

GPS_charging 0 0 0.00

Compass 2055 19 412.13

RAFOS 0 0 0.00

Transponder 148 30 45.76

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

23 -0.79 -62.6 0.0 0.0 0 75 0.00 0.00 -49.92 0.000 2 0.000 0.000 140 2319 3044 0 0 0 0 0 0

77 -0.88 -136.4 3.0 -2.1 6 105 10.23 2.28 -10.90 0.000 4 0.249 0.062 2565 3709 3557 0 0 0 0 0 0

162 -0.88 -136.4 31.4 -33.2 18 171 0.00 2.25 0.00 0.000 6 0.000 0.042 2565 2306 3558 0 0 0 0 0 0

316 -0.88 -136.4 89.5 -38.8 43 324 0.00 2.22 0.00 0.000 4 0.000 0.045 2566 882 3558 0 0 0 0 0 0

356 -0.88 -136.4 106.1 -37.3 49 365 0.08 2.28 0.00 0.000 6 0.207 0.048 2575 2277 3558 0 0 0 0 0 0

682 -0.88 -136.4 222.8 -35.2 80 686 0.00 2.28 0.00 0.000 4 0.000 0.054 2566 3715 3558 0 0 0 0 0 0

762 -0.88 -136.4 248.8 -29.4 87 768 0.00 2.20 0.00 0.000 6 0.000 0.044 2566 2300 3559 0 0 0 0 0 0

1095 -0.88 -136.4 362.7 -33.9 118 1096 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2297 3559 0 0 0 0 0 0

1416 -0.88 -136.4 471.2 -34.1 139 1420 0.00 2.22 0.00 0.000 4 0.000 0.055 2555 3716 3559 0 0 0 0 0 0

1465 -0.88 -136.4 487.7 -30.8 141 1471 0.08 2.25 0.00 0.000 6 0.183 0.048 2577 2307 3559 0 0 0 0 0 0

1787 -0.88 -136.4 586.9 -30.5 157 1791 0.00 2.22 0.00 0.000 4 0.000 0.052 2588 878 3559 0 0 0 0 0 0

1813 -0.88 -136.4 595.6 -30.5 158 1818 0.00 2.28 0.00 0.000 6 0.000 0.050 2579 2291 3559 0 0 0 0 0 0

2136 -0.88 -136.4 692.4 -30.2 174 2140 0.00 2.22 0.00 0.000 4 0.000 0.059 2568 3711 3559 0 0 0 0 0 0

2237 -0.88 -136.4 720.1 -25.5 178 2243 0.00 2.22 0.00 0.000 6 0.000 0.053 2568 2293 3559 0 0 0 0 0 0

2552 -0.88 -136.4 814.9 -30.2 194 2553 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2289 3558 0 0 0 0 0 0

2862 -0.88 -136.4 905.5 -28.6 209 2866 0.00 2.25 0.00 0.000 4 0.000 0.063 2558 3711 3558 0 0 0 0 0 0

2910 -0.88 -136.4 919.5 -25.5 211 2916 0.08 2.28 0.00 0.000 6 0.181 0.055 2579 2296 3558 0 0 0 0 0 0

3231 end dive: TARGET_DEPTH_EXCEEDED

state 3231 begin apogee

3235 -0.13 0.0 1005.1 26.4 227 3354 0.85 0.00 112.07 1.300 6 0.176 0.000 2823 2051 2999 0 0 0 0 0 0

3354 end apogee: CONTROL_FINISHED_OK

state 3354 begin climb

3356 0.88 136.4 1013.1 0.0 233 3479 1.00 2.47 114.18 1.264 4 0.085 0.053 3158 657 2443 0 0 0 0 0 0

3741 0.88 136.4 977.3 15.2 250 3746 0.00 2.35 0.00 0.000 6 0.000 0.047 3155 2062 2441 0 0 0 0 0 0

4063 0.88 136.4 929.6 14.9 266 4067 0.00 2.28 0.00 0.000 4 0.000 0.057 3155 3477 2441 0 0 0 0 0 0

4089 0.88 136.4 925.3 15.3 267 4094 0.00 2.30 0.00 0.000 6 0.000 0.045 3165 2059 2440 0 0 0 0 0 0

4411 0.88 136.4 877.0 14.7 283 4412 0.00 0.00 0.00 0.000 6 0.000 0.000 3165 2056 2439 0 0 0 0 0 0

4721 0.88 136.4 831.8 14.4 298 4725 0.00 2.22 0.00 0.000 4 0.000 0.054 3175 653 2439 0 0 0 0 0 0

4737 0.88 136.4 829.5 13.9 299 4741 0.00 2.25 0.00 0.000 6 0.000 0.048 3171 2070 2439 0 0 0 0 0 0

5062 0.88 136.4 784.6 13.7 315 5066 0.00 2.25 0.00 0.000 4 0.000 0.053 3180 653 2439 0 0 0 0 0 0

5207 0.88 136.4 764.2 14.0 321 5215 0.00 2.25 0.00 0.000 6 0.000 0.047 3178 2051 2439 0 0 0 0 0 0

5523 0.88 136.4 721.5 13.8 337 5524 0.00 0.00 0.00 0.000 6 0.000 0.000 3178 2052 2438 0 0 0 0 0 0

5832 0.88 136.4 680.8 12.8 352 5833 0.00 0.00 0.00 0.000 6 0.000 0.000 3178 2052 2438 0 0 0 0 0 0

6141 0.88 136.4 641.3 12.6 367 6145 0.00 2.22 0.00 0.000 4 0.000 0.056 3177 3478 2438 0 0 0 0 0 0

6173 0.88 136.4 636.9 13.2 368 6181 0.00 2.22 0.00 0.000 6 0.000 0.044 3186 2066 2438 0 0 0 0 0 0

6489 0.88 136.4 596.9 12.3 384 6494 0.12 2.25 0.00 0.000 4 0.256 0.054 3172 641 2438 0 0 0 0 0 0

6531 0.88 136.4 591.6 12.1 386 6537 0.00 2.28 0.00 0.000 6 0.000 0.046 3171 2063 2438 0 0 0 0 0 0

6861 0.88 136.4 552.9 12.2 402 6865 0.00 2.22 0.00 0.000 4 0.000 0.053 3180 644 2438 0 0 0 0 0 0

6931 0.88 136.4 543.9 11.9 405 6937 0.05 2.25 0.00 0.000 6 0.227 0.046 3165 2062 2438 0 0 0 0 0 0

7254 0.88 136.4 507.5 11.2 421 7258 0.00 2.22 0.00 0.000 4 0.000 0.052 3175 652 2438 0 0 0 0 0 0

7376 0.88 136.4 493.7 11.3 426 7384 0.00 2.25 0.00 0.000 6 0.000 0.046 3174 2064 2438 0 0 0 0 0 0

7692 0.88 136.4 460.1 10.5 442 7696 0.00 2.22 0.00 0.000 4 0.000 0.052 3184 642 2438 0 0 0 0 0 0

7763 0.88 136.4 452.7 10.2 445 7769 0.00 2.28 0.00 0.000 6 0.000 0.046 3182 2071 2438 0 0 0 0 0 0

8085 0.88 136.4 419.1 10.7 461 8089 0.00 2.17 0.00 0.000 4 0.000 0.054 3182 3479 2437 0 0 0 0 0 0

8263 0.88 136.4 399.5 10.7 469 8269 0.12 2.22 0.00 0.000 6 0.233 0.044 3160 2060 2437 0 0 0 0 0 0

8589 0.89 146.3 370.2 8.9 499 8602 0.00 2.30 8.07 0.767 4 0.000 0.054 3159 3481 2402 0 0 0 0 0 0

8615 0.90 151.8 367.9 9.4 501 8629 0.00 2.20 5.75 0.707 6 0.000 0.044 3169 2051 2381 0 0 0 0 0 0

8944 0.90 151.8 330.6 11.8 532 8948 0.00 2.20 0.00 0.000 4 0.000 0.054 3179 649 2381 0 0 0 0 0 0

9077 0.90 151.8 314.5 11.9 543 9085 0.00 2.25 0.00 0.000 6 0.000 0.046 3179 2058 2381 0 0 0 0 0 0

9403 0.90 151.8 273.5 12.2 574 9407 0.00 2.20 0.00 0.000 4 0.000 0.051 3189 651 2381 0 0 0 0 0 0

9524 0.90 151.8 258.6 12.1 584 9535 0.00 2.25 0.00 0.000 6 0.000 0.046 3189 2061 2381 0 0 0 0 0 0

9850 0.90 151.8 217.5 12.8 615 9851 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2061 2382 0 0 0 0 0 0

10171 0.90 151.8 180.9 10.3 645 10172 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2062 2382 0 0 0 0 0 0

10487 0.91 158.5 149.7 9.2 675 10498 0.00 0.00 7.28 0.637 6 0.000 0.000 3189 2062 2352 0 0 0 0 0 0

10816 0.91 158.5 116.1 10.6 706 10820 0.00 2.22 0.00 0.000 4 0.000 0.051 3199 652 2352 0 0 0 0 0 0

10962 0.91 158.5 99.9 11.2 718 10969 0.15 2.20 0.00 0.000 6 0.220 0.046 3166 2064 2353 0 0 0 0 0 0

11310 0.91 158.5 63.7 10.7 779 11317 0.00 2.20 0.00 0.000 4 0.000 0.051 3175 653 2353 0 0 0 0 0 0

11413 0.92 165.8 53.8 9.2 797 11429 0.00 2.22 6.65 0.576 6 0.000 0.047 3175 2071 2325 0 0 0 0 0 0

11786 0.92 165.8 15.9 10.0 859 11795 0.00 2.25 0.00 0.000 4 0.000 0.051 3185 657 2325 0 0 0 0 0 0

11897 end climb: SURFACE_DEPTH_REACHED

state 11898 begin surface coast

11930 end surface coast: CONTROL_FINISHED_OK

state 11930 begin surface

ID	574	HD_B	0.010078	ROLL_MIN	245	ALTIM_TOP_TURN_MARGIN	0
MISSION	18	HD_C	9.8500004e-06	ROLL_MAX	3880	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	27	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	20
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	2299	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2062	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	1020	TGT_DEFAULT_LAT	4808	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	TGT_DEFAULT_LON	-12223	ROLL_TIMEOUT	15	XPDR_VALID	2
D_BOOST	5	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	39	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
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	500	DEVICE2	20
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE3	118
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	3000	DEVICE4	131
T_DIVE	335	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	1	VBD_TIMEOUT	720	LOGGERS	0
T_TURN	500	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	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	-2328117.2	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	145	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	95	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	19	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8.5	SIM_W	0
MAX_BUOY	150	PITCH_MIN	143	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3888	FG_AHR_24V	0	SEABIRD_T_G	0.0043017557
GLIDE_SLOPE	30	C_PITCH	2871	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062339538
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-47.417881	SEABIRD_T_I	2.3377639e-05
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001171049	SEABIRD_T_J	2.5612862e-06
MASS	53452	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9136524
LENGTH	1.8	PITCH_GAIN	39	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1456692
NAV_MODE	2	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00078246131
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00012677554
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	0
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15	GC_LAST_COLLECTION	26

GPS1	111215,043521,-4503.479,623.919,54,0.8,54,-24.4	TGT_NAME	SAF_BUT1
_CALLS	1	TGT_LATLONG	-4504.000,624.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-80.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	111215,044656,-4503.325,623.906,5,1.1,5,-24.4	MHEAD_RNG_PITCHd_Wd	231.5,1256,-27.8,-9.950
SPEED_LIMITS	0.172,0.260	D_GRID	1000

FINISH	1.1,1.026614	_10V_AH	10.3,5.891
SM_CCo	11947,57.10,0.055,0,0,1774,300.24	FG_AHR_24Vo	0.000
SM_GC	3.04,0.00,0.00,57.10,0.000,0.000,0.055,139,2308,1774,-8.54,0.25,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4447.43,622.10,061008,141415	MEM	354272
TT8_MAMPS	0.025466	DATA_FILE_SIZE	50157,882
HUMID	48.42	CAP_FILE_SIZE	130550,0
INTERNAL_PRESSURE	8.88706	CFSIZE	2097086464,2092597248
TCM_TEMP	8.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	CURRENT	0.090, 49.8,1
_24V_AH	23.2,10.908	GPS	111215,080857,-4503.851,623.520,55,0.9,56,-24.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	255	125.23	SBE_CT	623	54	790.59
Roll_motor	104	64	155.31	SBE_O2	599	2	31.28
VBD_pump_during_apogee	254	1299	7659.08	QSP2150	69	6	10.90
VBD_pump_during_surface	57	55	72.97	WL_BB2FLVMT	686	105	1672.95
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	91	69.14	nil	0	0	0.00
Iridium_during_connect	58	160	215.99	nil	0	0	0.00
Iridium_during_xfer	494	223	2556.17	nil	0	0	0.00
Transponder_ping	24	420	241.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	32	3.04
TT8	2369	13	331.14
LPSleep	7059	2	159.25
TT8_Active	446	13	62.37
TT8_Sampling	2719	41	1156.17
TT8_CF8	100	48	49.92
TT8_Kalman	0	0	0.00
Analog_circuits	1327	15	213.84
GPS_charging	0	0	0.00
Compass	2055	19	412.13
RAFOS	0	0	0.00
Transponder	148	30	45.76

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
23	-0.79	-62.6	0.0	0.0	0	75	0.00	0.00	-49.92	0.000	2	0.000	0.000	140	2319	3044	0	0	0	0	0	0
77	-0.88	-136.4	3.0	-2.1	6	105	10.23	2.28	-10.90	0.000	4	0.249	0.062	2565	3709	3557	0	0	0	0	0	0
162	-0.88	-136.4	31.4	-33.2	18	171	0.00	2.25	0.00	0.000	6	0.000	0.042	2565	2306	3558	0	0	0	0	0	0
316	-0.88	-136.4	89.5	-38.8	43	324	0.00	2.22	0.00	0.000	4	0.000	0.045	2566	882	3558	0	0	0	0	0	0
356	-0.88	-136.4	106.1	-37.3	49	365	0.08	2.28	0.00	0.000	6	0.207	0.048	2575	2277	3558	0	0	0	0	0	0
682	-0.88	-136.4	222.8	-35.2	80	686	0.00	2.28	0.00	0.000	4	0.000	0.054	2566	3715	3558	0	0	0	0	0	0
762	-0.88	-136.4	248.8	-29.4	87	768	0.00	2.20	0.00	0.000	6	0.000	0.044	2566	2300	3559	0	0	0	0	0	0
1095	-0.88	-136.4	362.7	-33.9	118	1096	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2297	3559	0	0	0	0	0	0
1416	-0.88	-136.4	471.2	-34.1	139	1420	0.00	2.22	0.00	0.000	4	0.000	0.055	2555	3716	3559	0	0	0	0	0	0
1465	-0.88	-136.4	487.7	-30.8	141	1471	0.08	2.25	0.00	0.000	6	0.183	0.048	2577	2307	3559	0	0	0	0	0	0
1787	-0.88	-136.4	586.9	-30.5	157	1791	0.00	2.22	0.00	0.000	4	0.000	0.052	2588	878	3559	0	0	0	0	0	0
1813	-0.88	-136.4	595.6	-30.5	158	1818	0.00	2.28	0.00	0.000	6	0.000	0.050	2579	2291	3559	0	0	0	0	0	0
2136	-0.88	-136.4	692.4	-30.2	174	2140	0.00	2.22	0.00	0.000	4	0.000	0.059	2568	3711	3559	0	0	0	0	0	0
2237	-0.88	-136.4	720.1	-25.5	178	2243	0.00	2.22	0.00	0.000	6	0.000	0.053	2568	2293	3559	0	0	0	0	0	0
2552	-0.88	-136.4	814.9	-30.2	194	2553	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2289	3558	0	0	0	0	0	0
2862	-0.88	-136.4	905.5	-28.6	209	2866	0.00	2.25	0.00	0.000	4	0.000	0.063	2558	3711	3558	0	0	0	0	0	0
2910	-0.88	-136.4	919.5	-25.5	211	2916	0.08	2.28	0.00	0.000	6	0.181	0.055	2579	2296	3558	0	0	0	0	0	0
3231	end dive: TARGET_DEPTH_EXCEEDED
state	3231	begin apogee
3235	-0.13	0.0	1005.1	26.4	227	3354	0.85	0.00	112.07	1.300	6	0.176	0.000	2823	2051	2999	0	0	0	0	0	0
3354	end apogee: CONTROL_FINISHED_OK
state	3354	begin climb
3356	0.88	136.4	1013.1	0.0	233	3479	1.00	2.47	114.18	1.264	4	0.085	0.053	3158	657	2443	0	0	0	0	0	0
3741	0.88	136.4	977.3	15.2	250	3746	0.00	2.35	0.00	0.000	6	0.000	0.047	3155	2062	2441	0	0	0	0	0	0
4063	0.88	136.4	929.6	14.9	266	4067	0.00	2.28	0.00	0.000	4	0.000	0.057	3155	3477	2441	0	0	0	0	0	0
4089	0.88	136.4	925.3	15.3	267	4094	0.00	2.30	0.00	0.000	6	0.000	0.045	3165	2059	2440	0	0	0	0	0	0
4411	0.88	136.4	877.0	14.7	283	4412	0.00	0.00	0.00	0.000	6	0.000	0.000	3165	2056	2439	0	0	0	0	0	0
4721	0.88	136.4	831.8	14.4	298	4725	0.00	2.22	0.00	0.000	4	0.000	0.054	3175	653	2439	0	0	0	0	0	0
4737	0.88	136.4	829.5	13.9	299	4741	0.00	2.25	0.00	0.000	6	0.000	0.048	3171	2070	2439	0	0	0	0	0	0
5062	0.88	136.4	784.6	13.7	315	5066	0.00	2.25	0.00	0.000	4	0.000	0.053	3180	653	2439	0	0	0	0	0	0
5207	0.88	136.4	764.2	14.0	321	5215	0.00	2.25	0.00	0.000	6	0.000	0.047	3178	2051	2439	0	0	0	0	0	0
5523	0.88	136.4	721.5	13.8	337	5524	0.00	0.00	0.00	0.000	6	0.000	0.000	3178	2052	2438	0	0	0	0	0	0
5832	0.88	136.4	680.8	12.8	352	5833	0.00	0.00	0.00	0.000	6	0.000	0.000	3178	2052	2438	0	0	0	0	0	0
6141	0.88	136.4	641.3	12.6	367	6145	0.00	2.22	0.00	0.000	4	0.000	0.056	3177	3478	2438	0	0	0	0	0	0
6173	0.88	136.4	636.9	13.2	368	6181	0.00	2.22	0.00	0.000	6	0.000	0.044	3186	2066	2438	0	0	0	0	0	0
6489	0.88	136.4	596.9	12.3	384	6494	0.12	2.25	0.00	0.000	4	0.256	0.054	3172	641	2438	0	0	0	0	0	0
6531	0.88	136.4	591.6	12.1	386	6537	0.00	2.28	0.00	0.000	6	0.000	0.046	3171	2063	2438	0	0	0	0	0	0
6861	0.88	136.4	552.9	12.2	402	6865	0.00	2.22	0.00	0.000	4	0.000	0.053	3180	644	2438	0	0	0	0	0	0
6931	0.88	136.4	543.9	11.9	405	6937	0.05	2.25	0.00	0.000	6	0.227	0.046	3165	2062	2438	0	0	0	0	0	0
7254	0.88	136.4	507.5	11.2	421	7258	0.00	2.22	0.00	0.000	4	0.000	0.052	3175	652	2438	0	0	0	0	0	0
7376	0.88	136.4	493.7	11.3	426	7384	0.00	2.25	0.00	0.000	6	0.000	0.046	3174	2064	2438	0	0	0	0	0	0
7692	0.88	136.4	460.1	10.5	442	7696	0.00	2.22	0.00	0.000	4	0.000	0.052	3184	642	2438	0	0	0	0	0	0
7763	0.88	136.4	452.7	10.2	445	7769	0.00	2.28	0.00	0.000	6	0.000	0.046	3182	2071	2438	0	0	0	0	0	0
8085	0.88	136.4	419.1	10.7	461	8089	0.00	2.17	0.00	0.000	4	0.000	0.054	3182	3479	2437	0	0	0	0	0	0
8263	0.88	136.4	399.5	10.7	469	8269	0.12	2.22	0.00	0.000	6	0.233	0.044	3160	2060	2437	0	0	0	0	0	0
8589	0.89	146.3	370.2	8.9	499	8602	0.00	2.30	8.07	0.767	4	0.000	0.054	3159	3481	2402	0	0	0	0	0	0
8615	0.90	151.8	367.9	9.4	501	8629	0.00	2.20	5.75	0.707	6	0.000	0.044	3169	2051	2381	0	0	0	0	0	0
8944	0.90	151.8	330.6	11.8	532	8948	0.00	2.20	0.00	0.000	4	0.000	0.054	3179	649	2381	0	0	0	0	0	0
9077	0.90	151.8	314.5	11.9	543	9085	0.00	2.25	0.00	0.000	6	0.000	0.046	3179	2058	2381	0	0	0	0	0	0
9403	0.90	151.8	273.5	12.2	574	9407	0.00	2.20	0.00	0.000	4	0.000	0.051	3189	651	2381	0	0	0	0	0	0
9524	0.90	151.8	258.6	12.1	584	9535	0.00	2.25	0.00	0.000	6	0.000	0.046	3189	2061	2381	0	0	0	0	0	0
9850	0.90	151.8	217.5	12.8	615	9851	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2061	2382	0	0	0	0	0	0
10171	0.90	151.8	180.9	10.3	645	10172	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2062	2382	0	0	0	0	0	0
10487	0.91	158.5	149.7	9.2	675	10498	0.00	0.00	7.28	0.637	6	0.000	0.000	3189	2062	2352	0	0	0	0	0	0
10816	0.91	158.5	116.1	10.6	706	10820	0.00	2.22	0.00	0.000	4	0.000	0.051	3199	652	2352	0	0	0	0	0	0
10962	0.91	158.5	99.9	11.2	718	10969	0.15	2.20	0.00	0.000	6	0.220	0.046	3166	2064	2353	0	0	0	0	0	0
11310	0.91	158.5	63.7	10.7	779	11317	0.00	2.20	0.00	0.000	4	0.000	0.051	3175	653	2353	0	0	0	0	0	0
11413	0.92	165.8	53.8	9.2	797	11429	0.00	2.22	6.65	0.576	6	0.000	0.047	3175	2071	2325	0	0	0	0	0	0
11786	0.92	165.8	15.9	10.0	859	11795	0.00	2.25	0.00	0.000	4	0.000	0.051	3185	657	2325	0	0	0	0	0	0
11897	end climb: SURFACE_DEPTH_REACHED
state	11898	begin surface coast
11930	end surface coast: CONTROL_FINISHED_OK
state	11930	begin surface