Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 311 * 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 311 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 51 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 47 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 -11456.273 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 -11456.273

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 51 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 47 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 311 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 290113,053022,-4630.747,439.932,38,0.8,38,-23.5 TGT_NAME GH4

_CALLS 1 TGT_LATLONG -4700.000,440.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.120,-0.171

_SM_DEPTHo 1.72 KALMAN_X -242668.8,10.7,86.6,271836.7,-2548.3

_SM_ANGLEo -64.7 KALMAN_Y 163480.6,-288.1,20.7,-125232.0,1984.5

GPS2 290113,054311,-4630.769,440.089,23,0.7,23,-23.5 MHEAD_RNG_PITCHd_Wd 168.5,54137,-21.0,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.013901 _10V_AH 10.0,29.356

SM_CCo 12282,42.22,0.773,1,0,1879,230.09 FG_AHR_24Vo 0.000

SM_GC 1.97,0.00,0.00,42.22,0.000,0.000,0.773,56,2884,1879,-5.55,0.71,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4616.72,435.68,290113,000043 MEM 354128

TT8_MAMPS 0.026215 DATA_FILE_SIZE 43784,619

HUMID 59.68 CAP_FILE_SIZE 103641,0

INTERNAL_PRESSURE 9.34573 CFSIZE 259252224,210026496

TCM_TEMP 10.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 GPS 290113,091104,-4632.280,441.712,39,1.0,39,-23.5

_24V_AH 21.8,57.929

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 247 77.40 SBE_CT 407 24 213.13

Roll_motor 79 71 124.31 AA4330 1231 33 885.63

VBD_pump_during_apogee 297 1802 11701.85 WL_BB2FLVMT 670 105 1534.00

VBD_pump_during_surface 42 773 711.93 QSP2150 267 4 25.58

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 63.82 nil 0 0 0.00

Iridium_during_connect 22 160 77.04 nil 0 0 0.00

Iridium_during_xfer 463 223 2255.47 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 26 7.05

TT8 1580 14 236.43

LPSleep 8235 2 180.35

TT8_Active 403 14 57.27

TT8_Sampling 2197 37 822.58

TT8_CF8 669 47 315.67

TT8_Kalman 33 59 19.76

Analog_circuits 1154 12 138.53

GPS_charging 0 0 0.00

Compass 1684 15 265.01

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 -0.65 -95.0 0.0 0.0 0 100 0.00 0.00 -68.22 0.000 6 0.000 0.000 55 2893 3209 0 0 0 0 0 0

106 -0.72 -146.1 3.6 -2.7 9 125 6.53 1.58 -5.10 0.000 4 0.248 0.072 1585 3884 3416 0 0 0 0 0 0

401 -0.72 -146.1 59.6 -16.7 56 410 0.00 1.58 0.00 0.000 6 0.000 0.030 1591 2848 3418 0 0 0 0 0 0

648 -0.72 -146.1 99.8 -16.1 97 652 0.00 1.67 0.00 0.000 4 0.000 0.057 1584 3875 3418 0 0 0 0 0 0

705 -0.72 -146.1 108.8 -15.6 101 709 0.00 1.55 0.00 0.000 6 0.000 0.030 1590 2853 3419 0 0 0 0 0 0

1037 -0.72 -146.1 159.2 -14.7 122 1041 0.00 1.67 0.00 0.000 4 0.000 0.057 1584 3878 3420 0 0 0 0 0 0

1177 -0.72 -146.1 180.3 -14.7 130 1180 0.00 1.52 0.00 0.000 6 0.000 0.031 1589 2863 3421 0 0 0 0 0 0

1511 -0.72 -146.1 222.7 -12.3 151 1515 0.00 1.65 0.00 0.000 4 0.000 0.057 1582 3873 3421 0 0 0 0 0 0

1550 -0.72 -146.1 228.0 -14.0 153 1554 0.00 1.52 0.00 0.000 6 0.000 0.031 1582 2860 3421 0 0 0 0 0 0

1878 -0.72 -146.1 274.7 -14.9 171 1882 0.00 1.65 0.00 0.000 4 0.000 0.057 1575 3872 3420 0 0 0 0 0 0

1930 -0.72 -146.1 283.6 -15.9 173 1934 0.00 1.52 0.00 0.000 6 0.000 0.031 1574 2854 3421 0 0 0 0 0 0

2262 -0.72 -146.1 334.5 -15.2 189 2265 0.00 1.65 0.00 0.000 4 0.000 0.057 1567 3880 3421 0 0 0 0 0 0

2381 -0.72 -146.1 354.6 -16.0 194 2386 0.08 1.55 0.00 0.000 6 0.174 0.031 1588 2856 3420 0 0 0 0 0 0

2712 -0.72 -146.1 400.8 -14.0 210 2715 0.00 1.67 0.00 0.000 4 0.000 0.058 1582 3892 3420 0 0 0 0 0 0

2769 -0.72 -146.1 409.6 -14.8 211 2772 0.00 1.55 0.00 0.000 6 0.000 0.031 1582 2866 3420 0 0 0 0 0 0

3089 -0.72 -146.1 455.1 -14.4 222 3090 0.00 0.00 0.00 0.000 6 0.000 0.000 1582 2861 3420 0 0 0 0 0 0

3397 -0.72 -146.1 499.3 -14.3 232 3401 0.00 1.65 0.00 0.000 4 0.000 0.059 1574 3887 3420 0 0 0 0 0 0

3477 -0.72 -146.1 511.8 -14.7 234 3481 0.00 1.55 0.00 0.000 6 0.000 0.032 1574 2865 3419 0 0 0 0 0 0

3809 -0.72 -146.1 559.4 -14.1 245 3813 0.00 1.67 0.00 0.000 4 0.000 0.060 1567 3872 3419 0 0 0 0 0 0

3880 -0.72 -146.1 569.7 -14.2 247 3884 0.08 1.52 0.00 0.000 6 0.173 0.032 1588 2864 3419 0 0 0 0 0 0

4223 -0.72 -146.1 612.3 -12.3 258 4226 0.00 1.65 0.00 0.000 4 0.000 0.060 1582 3883 3418 0 0 0 0 0 0

4274 -0.72 -146.1 619.5 -13.6 259 4278 0.00 1.55 0.00 0.000 6 0.000 0.032 1582 2860 3418 0 0 0 0 0 0

4601 -0.72 -146.1 662.0 -13.2 270 4605 0.00 1.67 0.00 0.000 4 0.000 0.060 1575 3880 3418 0 0 0 0 0 0

4714 -0.72 -146.1 678.5 -14.0 273 4718 0.00 1.55 0.00 0.000 6 0.000 0.032 1574 2857 3418 0 0 0 0 0 0

5046 -0.72 -146.1 723.7 -13.6 284 5050 0.00 1.65 0.00 0.000 4 0.000 0.060 1567 3877 3418 0 0 0 0 0 0

5109 -0.72 -146.1 733.2 -15.0 285 5115 0.00 1.55 0.00 0.000 6 0.000 0.033 1566 2854 3418 0 0 0 0 0 0

5424 -0.72 -146.1 776.8 -13.8 296 5428 0.12 1.67 0.00 0.000 4 0.202 0.060 1589 3879 3418 0 0 0 0 0 0

5471 -0.72 -146.1 783.3 -12.8 297 5474 0.00 1.55 0.00 0.000 6 0.000 0.032 1589 2858 3418 0 0 0 0 0 0

5802 -0.72 -146.1 821.2 -11.3 308 5803 0.00 0.00 0.00 0.000 6 0.000 0.000 1589 2853 3418 0 0 0 0 0 0

6109 -0.72 -146.1 853.9 -10.5 318 6112 0.00 1.65 0.00 0.000 4 0.000 0.060 1581 3876 3417 0 0 0 0 0 0

6154 -0.72 -146.1 859.3 -11.5 319 6158 0.00 1.55 0.00 0.000 6 0.000 0.032 1581 2856 3417 0 0 0 0 0 0

6486 -0.72 -146.1 894.5 -10.6 330 6487 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2852 3417 0 0 0 0 0 0

6792 -0.72 -146.1 927.4 -10.7 340 6796 0.00 1.67 0.00 0.000 4 0.000 0.060 1574 3873 3417 0 0 0 0 0 0

6872 -0.72 -146.1 936.8 -11.5 342 6876 0.00 1.55 0.00 0.000 6 0.000 0.033 1573 2854 3417 0 0 0 0 0 0

7204 -0.72 -146.1 974.5 -11.4 353 7206 0.00 0.00 0.00 0.000 6 0.000 0.000 1574 2849 3417 0 0 0 0 0 0

7445 end dive: TARGET_DEPTH_EXCEEDED

state 7445 begin apogee

7456 -0.18 0.0 1002.7 11.5 361 7603 0.68 0.00 143.52 1.248 6 0.171 0.000 1764 2674 2819 0 0 0 0 0 0

7604 end apogee: CONTROL_FINISHED_OK

state 7605 begin climb

7610 0.72 146.1 1007.4 0.0 366 7777 0.90 2.47 154.30 1.802 4 0.095 0.044 2065 1286 2225 0 0 0 0 1 0

7876 0.72 146.1 964.0 19.7 374 7880 0.00 2.35 0.00 0.000 6 0.000 0.050 2065 2644 2221 0 0 0 0 0 0

8208 0.72 146.1 885.6 24.1 385 8209 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 2644 2217 0 0 0 0 0 0

8514 0.72 146.1 810.3 24.5 395 8515 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 2644 2216 0 0 0 0 0 0

8821 0.72 146.1 735.3 24.5 405 8822 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 2644 2215 0 0 0 0 0 0

9127 0.72 146.1 663.2 23.0 415 9128 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 2644 2215 0 0 0 0 0 0

9433 0.72 146.1 592.3 23.5 425 9437 0.00 2.15 0.00 0.000 4 0.000 0.044 2075 1281 2215 0 0 0 0 0 0

9485 0.72 146.1 580.6 20.6 426 9489 0.00 2.22 0.00 0.000 6 0.000 0.050 2076 2673 2213 0 0 0 0 0 0

9808 0.72 146.1 506.1 23.0 437 9809 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2673 2213 0 0 0 0 0 0

10112 0.72 146.1 435.6 22.8 447 10116 0.00 2.20 0.00 0.000 4 0.000 0.044 2086 1273 2213 0 0 0 0 0 0

10144 0.72 146.1 428.5 23.0 448 10148 0.00 2.22 0.00 0.000 6 0.000 0.050 2086 2670 2213 0 0 0 0 0 0

10465 0.72 146.1 355.8 23.0 461 10466 0.00 0.00 0.00 0.000 6 0.000 0.000 2086 2670 2213 0 0 0 0 0 0

10772 0.72 146.1 282.6 23.6 476 10776 0.00 2.17 0.00 0.000 4 0.000 0.043 2096 1273 2213 0 0 0 0 0 0

10815 0.72 146.1 273.0 21.5 478 10820 0.15 2.22 0.00 0.000 6 0.227 0.050 2063 2670 2212 0 0 0 0 0 0

11150 0.72 146.1 206.1 19.9 497 11154 0.00 2.20 0.00 0.000 4 0.000 0.044 2072 1274 2212 0 0 0 0 0 0

11185 0.72 146.1 197.5 18.4 499 11189 0.00 2.22 0.00 0.000 6 0.000 0.050 2072 2670 2211 0 0 0 0 0 0

11509 0.72 146.1 135.9 19.3 519 11513 0.00 2.20 0.00 0.000 4 0.000 0.044 2083 1273 2211 0 0 0 0 0 0

11582 0.72 146.1 122.6 16.6 523 11586 0.00 2.22 0.00 0.000 6 0.000 0.050 2083 2670 2211 0 0 0 0 0 0

11923 0.72 146.1 60.7 18.8 567 11930 0.00 1.98 0.00 0.000 4 0.000 0.059 2083 3897 2211 0 0 0 0 0 0

11966 0.72 146.1 52.3 21.3 573 11974 0.12 1.88 0.00 0.000 6 0.246 0.038 2067 2670 2211 0 0 0 0 0 0

12223 0.72 146.1 4.6 16.8 614 12231 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 2670 2211 0 0 0 0 0 0

12239 end climb: SURFACE_DEPTH_REACHED

state 12239 begin surface coast

12259 end surface coast: CONTROL_FINISHED_OK

state 12259 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	311	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	51	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	47	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	-11456.273	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	290113,053022,-4630.747,439.932,38,0.8,38,-23.5	TGT_NAME	GH4
_CALLS	1	TGT_LATLONG	-4700.000,440.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.120,-0.171
_SM_DEPTHo	1.72	KALMAN_X	-242668.8,10.7,86.6,271836.7,-2548.3
_SM_ANGLEo	-64.7	KALMAN_Y	163480.6,-288.1,20.7,-125232.0,1984.5
GPS2	290113,054311,-4630.769,440.089,23,0.7,23,-23.5	MHEAD_RNG_PITCHd_Wd	168.5,54137,-21.0,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.7,1.013901	_10V_AH	10.0,29.356
SM_CCo	12282,42.22,0.773,1,0,1879,230.09	FG_AHR_24Vo	0.000
SM_GC	1.97,0.00,0.00,42.22,0.000,0.000,0.773,56,2884,1879,-5.55,0.71,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4616.72,435.68,290113,000043	MEM	354128
TT8_MAMPS	0.026215	DATA_FILE_SIZE	43784,619
HUMID	59.68	CAP_FILE_SIZE	103641,0
INTERNAL_PRESSURE	9.34573	CFSIZE	259252224,210026496
TCM_TEMP	10.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	GPS	290113,091104,-4632.280,441.712,39,1.0,39,-23.5
_24V_AH	21.8,57.929

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	247	77.40	SBE_CT	407	24	213.13
Roll_motor	79	71	124.31	AA4330	1231	33	885.63
VBD_pump_during_apogee	297	1802	11701.85	WL_BB2FLVMT	670	105	1534.00
VBD_pump_during_surface	42	773	711.93	QSP2150	267	4	25.58
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	63.82	nil	0	0	0.00
Iridium_during_connect	22	160	77.04	nil	0	0	0.00
Iridium_during_xfer	463	223	2255.47	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	26	7.05
TT8	1580	14	236.43
LPSleep	8235	2	180.35
TT8_Active	403	14	57.27
TT8_Sampling	2197	37	822.58
TT8_CF8	669	47	315.67
TT8_Kalman	33	59	19.76
Analog_circuits	1154	12	138.53
GPS_charging	0	0	0.00
Compass	1684	15	265.01
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	-0.65	-95.0	0.0	0.0	0	100	0.00	0.00	-68.22	0.000	6	0.000	0.000	55	2893	3209	0	0	0	0	0	0
106	-0.72	-146.1	3.6	-2.7	9	125	6.53	1.58	-5.10	0.000	4	0.248	0.072	1585	3884	3416	0	0	0	0	0	0
401	-0.72	-146.1	59.6	-16.7	56	410	0.00	1.58	0.00	0.000	6	0.000	0.030	1591	2848	3418	0	0	0	0	0	0
648	-0.72	-146.1	99.8	-16.1	97	652	0.00	1.67	0.00	0.000	4	0.000	0.057	1584	3875	3418	0	0	0	0	0	0
705	-0.72	-146.1	108.8	-15.6	101	709	0.00	1.55	0.00	0.000	6	0.000	0.030	1590	2853	3419	0	0	0	0	0	0
1037	-0.72	-146.1	159.2	-14.7	122	1041	0.00	1.67	0.00	0.000	4	0.000	0.057	1584	3878	3420	0	0	0	0	0	0
1177	-0.72	-146.1	180.3	-14.7	130	1180	0.00	1.52	0.00	0.000	6	0.000	0.031	1589	2863	3421	0	0	0	0	0	0
1511	-0.72	-146.1	222.7	-12.3	151	1515	0.00	1.65	0.00	0.000	4	0.000	0.057	1582	3873	3421	0	0	0	0	0	0
1550	-0.72	-146.1	228.0	-14.0	153	1554	0.00	1.52	0.00	0.000	6	0.000	0.031	1582	2860	3421	0	0	0	0	0	0
1878	-0.72	-146.1	274.7	-14.9	171	1882	0.00	1.65	0.00	0.000	4	0.000	0.057	1575	3872	3420	0	0	0	0	0	0
1930	-0.72	-146.1	283.6	-15.9	173	1934	0.00	1.52	0.00	0.000	6	0.000	0.031	1574	2854	3421	0	0	0	0	0	0
2262	-0.72	-146.1	334.5	-15.2	189	2265	0.00	1.65	0.00	0.000	4	0.000	0.057	1567	3880	3421	0	0	0	0	0	0
2381	-0.72	-146.1	354.6	-16.0	194	2386	0.08	1.55	0.00	0.000	6	0.174	0.031	1588	2856	3420	0	0	0	0	0	0
2712	-0.72	-146.1	400.8	-14.0	210	2715	0.00	1.67	0.00	0.000	4	0.000	0.058	1582	3892	3420	0	0	0	0	0	0
2769	-0.72	-146.1	409.6	-14.8	211	2772	0.00	1.55	0.00	0.000	6	0.000	0.031	1582	2866	3420	0	0	0	0	0	0
3089	-0.72	-146.1	455.1	-14.4	222	3090	0.00	0.00	0.00	0.000	6	0.000	0.000	1582	2861	3420	0	0	0	0	0	0
3397	-0.72	-146.1	499.3	-14.3	232	3401	0.00	1.65	0.00	0.000	4	0.000	0.059	1574	3887	3420	0	0	0	0	0	0
3477	-0.72	-146.1	511.8	-14.7	234	3481	0.00	1.55	0.00	0.000	6	0.000	0.032	1574	2865	3419	0	0	0	0	0	0
3809	-0.72	-146.1	559.4	-14.1	245	3813	0.00	1.67	0.00	0.000	4	0.000	0.060	1567	3872	3419	0	0	0	0	0	0
3880	-0.72	-146.1	569.7	-14.2	247	3884	0.08	1.52	0.00	0.000	6	0.173	0.032	1588	2864	3419	0	0	0	0	0	0
4223	-0.72	-146.1	612.3	-12.3	258	4226	0.00	1.65	0.00	0.000	4	0.000	0.060	1582	3883	3418	0	0	0	0	0	0
4274	-0.72	-146.1	619.5	-13.6	259	4278	0.00	1.55	0.00	0.000	6	0.000	0.032	1582	2860	3418	0	0	0	0	0	0
4601	-0.72	-146.1	662.0	-13.2	270	4605	0.00	1.67	0.00	0.000	4	0.000	0.060	1575	3880	3418	0	0	0	0	0	0
4714	-0.72	-146.1	678.5	-14.0	273	4718	0.00	1.55	0.00	0.000	6	0.000	0.032	1574	2857	3418	0	0	0	0	0	0
5046	-0.72	-146.1	723.7	-13.6	284	5050	0.00	1.65	0.00	0.000	4	0.000	0.060	1567	3877	3418	0	0	0	0	0	0
5109	-0.72	-146.1	733.2	-15.0	285	5115	0.00	1.55	0.00	0.000	6	0.000	0.033	1566	2854	3418	0	0	0	0	0	0
5424	-0.72	-146.1	776.8	-13.8	296	5428	0.12	1.67	0.00	0.000	4	0.202	0.060	1589	3879	3418	0	0	0	0	0	0
5471	-0.72	-146.1	783.3	-12.8	297	5474	0.00	1.55	0.00	0.000	6	0.000	0.032	1589	2858	3418	0	0	0	0	0	0
5802	-0.72	-146.1	821.2	-11.3	308	5803	0.00	0.00	0.00	0.000	6	0.000	0.000	1589	2853	3418	0	0	0	0	0	0
6109	-0.72	-146.1	853.9	-10.5	318	6112	0.00	1.65	0.00	0.000	4	0.000	0.060	1581	3876	3417	0	0	0	0	0	0
6154	-0.72	-146.1	859.3	-11.5	319	6158	0.00	1.55	0.00	0.000	6	0.000	0.032	1581	2856	3417	0	0	0	0	0	0
6486	-0.72	-146.1	894.5	-10.6	330	6487	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2852	3417	0	0	0	0	0	0
6792	-0.72	-146.1	927.4	-10.7	340	6796	0.00	1.67	0.00	0.000	4	0.000	0.060	1574	3873	3417	0	0	0	0	0	0
6872	-0.72	-146.1	936.8	-11.5	342	6876	0.00	1.55	0.00	0.000	6	0.000	0.033	1573	2854	3417	0	0	0	0	0	0
7204	-0.72	-146.1	974.5	-11.4	353	7206	0.00	0.00	0.00	0.000	6	0.000	0.000	1574	2849	3417	0	0	0	0	0	0
7445	end dive: TARGET_DEPTH_EXCEEDED
state	7445	begin apogee
7456	-0.18	0.0	1002.7	11.5	361	7603	0.68	0.00	143.52	1.248	6	0.171	0.000	1764	2674	2819	0	0	0	0	0	0
7604	end apogee: CONTROL_FINISHED_OK
state	7605	begin climb
7610	0.72	146.1	1007.4	0.0	366	7777	0.90	2.47	154.30	1.802	4	0.095	0.044	2065	1286	2225	0	0	0	0	1	0
7876	0.72	146.1	964.0	19.7	374	7880	0.00	2.35	0.00	0.000	6	0.000	0.050	2065	2644	2221	0	0	0	0	0	0
8208	0.72	146.1	885.6	24.1	385	8209	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	2644	2217	0	0	0	0	0	0
8514	0.72	146.1	810.3	24.5	395	8515	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	2644	2216	0	0	0	0	0	0
8821	0.72	146.1	735.3	24.5	405	8822	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	2644	2215	0	0	0	0	0	0
9127	0.72	146.1	663.2	23.0	415	9128	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	2644	2215	0	0	0	0	0	0
9433	0.72	146.1	592.3	23.5	425	9437	0.00	2.15	0.00	0.000	4	0.000	0.044	2075	1281	2215	0	0	0	0	0	0
9485	0.72	146.1	580.6	20.6	426	9489	0.00	2.22	0.00	0.000	6	0.000	0.050	2076	2673	2213	0	0	0	0	0	0
9808	0.72	146.1	506.1	23.0	437	9809	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2673	2213	0	0	0	0	0	0
10112	0.72	146.1	435.6	22.8	447	10116	0.00	2.20	0.00	0.000	4	0.000	0.044	2086	1273	2213	0	0	0	0	0	0
10144	0.72	146.1	428.5	23.0	448	10148	0.00	2.22	0.00	0.000	6	0.000	0.050	2086	2670	2213	0	0	0	0	0	0
10465	0.72	146.1	355.8	23.0	461	10466	0.00	0.00	0.00	0.000	6	0.000	0.000	2086	2670	2213	0	0	0	0	0	0
10772	0.72	146.1	282.6	23.6	476	10776	0.00	2.17	0.00	0.000	4	0.000	0.043	2096	1273	2213	0	0	0	0	0	0
10815	0.72	146.1	273.0	21.5	478	10820	0.15	2.22	0.00	0.000	6	0.227	0.050	2063	2670	2212	0	0	0	0	0	0
11150	0.72	146.1	206.1	19.9	497	11154	0.00	2.20	0.00	0.000	4	0.000	0.044	2072	1274	2212	0	0	0	0	0	0
11185	0.72	146.1	197.5	18.4	499	11189	0.00	2.22	0.00	0.000	6	0.000	0.050	2072	2670	2211	0	0	0	0	0	0
11509	0.72	146.1	135.9	19.3	519	11513	0.00	2.20	0.00	0.000	4	0.000	0.044	2083	1273	2211	0	0	0	0	0	0
11582	0.72	146.1	122.6	16.6	523	11586	0.00	2.22	0.00	0.000	6	0.000	0.050	2083	2670	2211	0	0	0	0	0	0
11923	0.72	146.1	60.7	18.8	567	11930	0.00	1.98	0.00	0.000	4	0.000	0.059	2083	3897	2211	0	0	0	0	0	0
11966	0.72	146.1	52.3	21.3	573	11974	0.12	1.88	0.00	0.000	6	0.246	0.038	2067	2670	2211	0	0	0	0	0	0
12223	0.72	146.1	4.6	16.8	614	12231	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	2670	2211	0	0	0	0	0	0
12239	end climb: SURFACE_DEPTH_REACHED
state	12239	begin surface coast
12259	end surface coast: CONTROL_FINISHED_OK
state	12259	begin surface