Glider dive log

RapidMocha 18May10 * SG033 * Dive index * Mission links * Dive 32 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 33 HEADING -1 ROLL_MAX 3837 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 17 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 100

DIVE 32 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1900 ALTIM_PING_DELTA 20

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1650 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 18.5 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1440 TGT_DEFAULT_LON -125 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 5800 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 0

D_NO_BLEED 200 SM_CC 450 R_PORT_OVSHOOT 34 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 50 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 1

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 1

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 163 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3981 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2074 DEVICE3 101

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 480 CALL_WAIT 60 VBD_CNV -0.29522699 DEVICE5 -1

T_MISSION 510 CAPUPLOAD 0 VBD_TIMEOUT 950 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 600 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 2 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 -1

T_NO_W 300 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -220644.81 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 CF8_MAXERRORS 2 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 151 PHONE_DEVICE 48

D_OFFGRID 5761 RAFOS_PEAK_OFFSET 1.5 AH0_10V 122.2 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 -5 PITCH_MIN 27 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 200 PITCH_MAX 2563 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1550 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043575475

GLIDE_SLOPE 45 PITCH_DBAND 0.1 PRESSURE_YINT -20.171059 SEABIRD_T_H 0.00062940316

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.00093601202 SEABIRD_T_I 2.4306677e-05

RHO 1.023 P_OVSHOOT 0.039999999 AD7714Ch0Gain 32 SEABIRD_T_J 2.6223986e-06

MASS 52000 PITCH_GAIN 12 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.332057

NAV_MODE 1 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.2094743

FERRY_MAX 2 PITCH_AD_RATE 160 COMPASS_USE 0 SEABIRD_C_I -0.0016192879

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021825745

HD_A 0.0038945 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099684997 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 2.5700001e-06 ROLL_MIN 60 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 450

AH0_10V 122.2 D_OFFGRID 5761 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 151 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 20 D_SURF 4 PITCH_AD_RATE 160 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1440 PITCH_CNV 0.0046000001 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 20 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 12 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 2 PITCH_MAX 2563 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 18.5

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 27 TGT_DEFAULT_LON -125

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 PITCH_TIMEOUT 20 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PRESSURE_SLOPE 0.00093601202 T_DIVE 480

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -20.171059 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -220644.81

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 510

CF8_MAXERRORS 2 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 2

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.023 T_TURN 600

COMPASS_DEVICE 33 ID 33 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 0 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_PITCH 1550 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1650 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 1900 LOGGERDEVICE1 -1 ROLL_MAX 3837 USE_ICE 0

C_VBD 2074 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 1 LOGGERDEVICE3 -1 ROLL_MIN 60 VBD_CNV -0.29522699

DEEPGLIDERMB 1 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 34 VBD_MAX 3981

DEVICE2 -1 MASS 52000 R_STBD_OVSHOOT 50 VBD_MAXERRORS 1

DEVICE3 101 MAX_BUOY 200 SEABIRD_C_G -10.332057 VBD_MIN 163

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.2094743 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0016192879 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE6 -1 MISSION 17 SEABIRD_C_J 0.00021825745 VBD_TIMEOUT 950

DIVE 32 MOTHERBOARD 4 SEABIRD_T_G 0.0043575475 XPDR_DEVICE 24

D_ABORT 5800 NAV_MODE 1 SEABIRD_T_H 0.00062940316 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.4306677e-05 XPDR_VALID 0

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.6223986e-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 210510,114806,1832.725,-6558.392,10,1.3,26,-12.7 TGT_NAME SAN_JUAN_VM

_CALLS 1 TGT_LATLONG 1836.000,-6600.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.062,0.293

_SM_DEPTHo 0.53 KALMAN_X 3772.3,110.8,-121.6,-2752.8,7434.7

_SM_ANGLEo -47.7 KALMAN_Y -10292.7,-312.6,768.5,14934.9,-20190.4

GPS2 210510,115238,1832.742,-6558.348,12,1.5,12,-12.7 MHEAD_RNG_PITCHd_Wd 0.7,6694,-15.6,-10.000

SPEED_LIMITS 0.100,0.300 D_GRID 1440

Post-dive calculations and measurements:

FINISH -0.2,0.997640 _24V_AH 24.4,5.023

SM_CCo 12732,0.00,0.000,0,0,373,501.89 _10V_AH 10.5,1.815

SM_GC 0.34,7.72,0.00,0.00,0.067,0.000,0.000,13,1921,373,-6.97,0.59,501.89 FG_AHR_24Vo 0.000

IRIDIUM_FIX 1823.67,-6557.63,141111,030357 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972 MEM 328588

HUMID 1078249668 DATA_FILE_SIZE 30211,549

INTERNAL_PRESSURE 8.00812 CAP_FILE_SIZE 113827,0

TCM_TEMP 23.20 CFSIZE 260280320,253403136

XPDR_PINGS 6 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,17,0,0

ALTIM_TOP_PING 18.2,17.1 GPS 210510,152655,1834.952,-6557.850,39,1.4,39,-12.8

ALTIM_BOTTOM_PING 940.2,39.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 198 84.70 SBE_CT 370 24 216.96

Roll_motor 111 136 371.96 nil 0 0 0.00

VBD_pump_during_apogee 503 1432 17588.95 AA4330 837 33 674.41

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 0 0.00 nil 0 0 0.00

Iridium_during_connect 35 0 0.00 nil 0 0 0.00

Iridium_during_xfer 129 0 0.00 nil 0 0 0.00

Transponder_ping 12 420 130.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 0 0.00

TT8 1113 19 231.54

LPSleep 9463 2 217.62

TT8_Active 601 19 125.02

TT8_Sampling 1755 39 733.77

TT8_CF8 78 45 37.55

TT8_Kalman 32 0 0.00

Analog_circuits 1438 12 181.26

GPS_charging 0 0 0.00

Compass 1428 15 224.93

RAFOS 0 0 0.00

Transponder 73 30 23.11

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -1.54 -195.5 0.0 0.0 0 118 0.00 0.00 -101.90 0.000 2 0.000 0.000 11 1914 2071 0 0 0 0 0 0

121 -1.54 -195.5 4.1 -7.0 10 157 6.25 2.20 -24.35 0.000 4 0.199 0.079 1208 3288 2738 0 0 0 0 0 0

471 -1.54 -195.5 64.6 -17.2 41 475 0.00 2.15 0.00 0.000 6 0.000 0.070 1208 1892 2737 0 0 0 0 0 0

795 -1.54 -195.5 111.4 -13.1 71 798 0.00 2.20 0.00 0.000 4 0.000 0.084 1208 3289 2738 0 0 0 0 0 0

900 -1.54 -195.5 124.6 -11.2 80 907 0.00 2.17 0.00 0.000 6 0.000 0.072 1208 1897 2738 0 0 0 0 0 0

1221 -1.54 -195.5 163.0 -11.4 106 1225 0.00 2.22 0.00 0.000 4 0.000 0.084 1208 482 2739 0 0 0 0 0 0

1288 -1.54 -195.5 170.7 -12.3 109 1292 0.00 2.12 0.00 0.000 6 0.000 0.065 1208 1903 2740 0 0 0 0 0 0

1620 -1.54 -195.5 208.0 -11.2 125 1623 0.00 2.17 0.00 0.000 4 0.000 0.092 1208 3284 2740 0 0 0 0 0 0

1736 -1.54 -195.5 220.9 -11.1 130 1741 0.00 2.15 0.00 0.000 6 0.000 0.070 1208 1911 2740 0 0 0 0 0 0

2064 -1.54 -195.5 260.1 -12.8 146 2068 0.00 2.20 0.00 0.000 4 0.000 0.087 1208 3286 2741 0 0 0 0 0 0

2157 -1.54 -195.5 273.4 -13.5 150 2162 0.00 2.17 0.00 0.000 6 0.000 0.072 1208 1910 2741 0 0 0 0 0 0

2477 -1.54 -195.5 319.2 -14.2 164 2481 0.00 2.20 0.00 0.000 4 0.000 0.087 1208 3290 2741 0 0 0 0 0 0

2509 -1.54 -195.5 323.8 -13.2 165 2514 0.00 2.20 0.00 0.000 6 0.000 0.074 1208 1906 2741 0 0 0 0 0 0

2844 -1.54 -195.5 374.4 -14.9 176 2845 0.00 0.00 0.00 0.000 6 0.000 0.000 1208 1906 2741 0 0 0 0 0 0

3151 -1.54 -195.5 420.5 -15.2 186 3152 0.00 0.00 0.00 0.000 6 0.000 0.000 1208 1906 2741 0 0 0 0 0 0

3456 -1.54 -195.5 468.3 -15.7 196 3457 0.00 0.00 0.00 0.000 6 0.000 0.000 1208 1906 2740 0 0 0 0 0 0

3764 -1.54 -195.5 518.3 -17.1 206 3768 0.00 2.25 0.00 0.000 4 0.000 0.097 1208 3282 2740 0 0 0 0 0 0

3818 -1.54 -195.5 527.2 -15.6 207 3825 0.00 2.22 0.00 0.000 6 0.000 0.082 1208 1914 2740 0 0 0 0 0 0

4131 -1.54 -195.5 580.1 -16.8 218 4135 0.00 2.33 0.00 0.000 4 0.000 0.104 1208 487 2741 0 0 0 0 0 0

4162 -1.54 -195.5 585.9 -17.4 219 4167 0.00 2.22 0.00 0.000 6 0.000 0.079 1208 1876 2740 0 0 0 0 0 0

4497 -1.54 -195.5 645.6 -18.3 230 4501 0.00 2.35 0.00 0.000 4 0.000 0.102 1208 3307 2740 0 0 0 0 0 0

4596 -1.54 -195.5 663.6 -18.1 233 4601 0.00 2.30 0.00 0.000 6 0.000 0.089 1208 1906 2739 0 0 1 0 0 0

4931 -1.54 -195.5 727.2 -19.5 244 4935 0.00 2.33 0.00 0.000 4 0.000 0.104 1208 3303 2740 0 0 0 0 0 0

4963 -1.54 -195.5 733.5 -19.8 245 4968 0.00 2.33 0.00 0.000 6 0.000 0.092 1208 1896 2740 0 0 1 0 0 0

5298 -1.54 -195.5 795.3 -18.2 256 5302 0.00 2.35 0.00 0.000 4 0.000 0.117 1208 493 2739 0 0 0 0 0 0

5326 -1.54 -195.5 800.2 -18.2 257 5331 0.00 2.25 0.00 0.000 6 0.000 0.092 1208 1893 2739 0 0 1 0 0 0

5662 -1.54 -195.5 860.4 -18.3 268 5666 0.00 2.38 0.00 0.000 4 0.000 0.112 1208 3309 2739 0 0 0 0 0 0

5756 -1.54 -195.5 877.4 -17.1 271 5760 0.00 2.33 0.00 0.000 6 0.000 0.102 1208 1900 2738 0 0 1 0 0 0

6090 -1.54 -195.5 939.4 -19.6 282 6099 0.00 2.42 0.00 0.000 4 0.000 0.122 1208 490 2737 0 0 0 0 0 0

6119 -1.54 -195.5 945.7 -21.0 282 6127 0.00 2.35 0.00 0.000 6 0.000 0.097 1208 1896 2737 0 0 1 0 0 0

6218 end dive: BOTTOM_OBSTACLE_DETECTED

state 6218 begin apogee

6222 -0.42 0.0 965.3 20.4 286 6369 1.12 0.00 141.43 1.433 6 0.137 0.000 1455 1652 2074 0 0 0 0 0 0

6370 end apogee: CONTROL_FINISHED_OK

state 6370 begin climb

6371 1.54 195.5 971.8 0.0 291 6524 2.00 2.65 143.00 1.400 4 0.132 0.122 1875 3064 1410 0 0 0 0 0 0

7198 1.91 501.4 971.7 -0.4 316 7426 0.38 2.42 218.73 1.413 6 0.089 0.112 1973 1643 375 0 0 1 0 0 0

7743 1.91 501.4 908.8 16.5 334 7747 0.00 2.50 0.00 0.000 4 0.000 0.137 1973 243 374 0 0 0 0 0 0

7797 1.91 501.4 899.4 17.8 335 7805 0.00 2.42 0.00 0.000 6 0.000 0.102 1973 1659 373 0 0 1 0 0 0

8110 1.91 501.4 849.5 15.7 346 8114 0.00 2.42 0.00 0.000 4 0.000 0.124 1973 3051 373 0 0 0 0 0 0

8142 1.91 501.4 844.4 15.5 347 8147 0.00 2.42 0.00 0.000 6 0.000 0.109 1973 1658 373 0 0 1 0 0 0

8477 1.91 501.4 793.1 15.4 358 8481 0.00 2.50 0.00 0.000 4 0.000 0.134 1973 241 372 0 0 0 0 0 0

8606 1.91 501.4 771.8 16.4 362 8610 0.00 2.33 0.00 0.000 6 0.000 0.104 1973 1647 372 0 0 1 0 0 0

8939 1.91 501.4 720.5 15.8 373 8940 0.00 0.00 0.00 0.000 6 0.000 0.000 1973 1653 371 0 0 0 0 0 0

9245 1.91 501.4 668.8 16.7 383 9249 0.00 2.45 0.00 0.000 4 0.000 0.127 1973 240 370 0 0 0 0 0 0

9282 1.91 501.4 661.8 18.6 384 9287 0.00 2.35 0.00 0.000 6 0.000 0.097 1973 1649 370 0 0 1 0 0 0

9612 1.91 501.4 605.8 16.5 395 9613 0.00 0.00 0.00 0.000 6 0.000 0.000 1973 1654 370 0 0 0 0 0 0

9918 1.91 501.4 553.8 16.8 405 9922 0.00 2.42 0.00 0.000 4 0.000 0.122 1973 238 370 0 0 0 0 0 0

10001 1.91 501.4 538.7 17.6 407 10006 0.00 2.33 0.00 0.000 6 0.000 0.094 1974 1644 370 0 0 1 0 0 0

10319 1.91 501.4 484.3 17.8 418 10323 0.00 2.40 0.00 0.000 4 0.000 0.119 1973 238 370 0 0 1 0 0 0

10356 1.91 501.4 477.2 18.3 419 10361 0.00 2.33 0.00 0.000 6 0.000 0.089 1973 1654 370 0 0 1 0 0 0

10685 1.91 501.4 414.1 20.1 430 10689 0.00 2.40 0.00 0.000 4 0.000 0.112 1973 237 370 0 0 0 0 0 0

10717 1.91 501.4 406.8 22.2 431 10722 0.00 2.30 0.00 0.000 6 0.000 0.084 1973 1655 370 0 0 1 0 0 0

11052 1.91 501.4 338.0 20.9 442 11056 0.00 2.38 0.00 0.000 4 0.000 0.109 1973 236 370 0 0 0 0 0 0

11140 1.91 501.4 318.1 23.6 444 11147 0.00 2.28 0.00 0.000 6 0.000 0.079 1973 1660 370 0 0 1 0 0 0

11465 1.91 501.4 249.6 21.2 459 11469 0.00 2.25 0.00 0.000 4 0.000 0.097 1973 3045 370 0 0 0 0 0 0

11497 1.91 501.4 242.8 19.6 460 11504 0.00 2.30 0.00 0.000 6 0.000 0.087 1973 1637 370 0 0 1 0 0 0

11814 1.91 501.4 175.4 21.9 476 11815 0.00 0.00 0.00 0.000 6 0.000 0.000 1973 1636 371 0 0 0 0 0 0

12128 1.91 501.4 105.9 22.1 500 12132 0.00 2.25 0.00 0.000 4 0.000 0.099 1973 242 372 0 0 0 0 0 0

12211 1.91 501.4 87.5 21.1 507 12215 0.00 2.17 0.00 0.000 6 0.000 0.070 1973 1655 372 0 0 0 0 0 0

12541 1.91 501.4 22.4 21.0 538 12542 0.00 0.00 0.00 0.000 6 0.000 0.000 1973 1664 373 0 0 0 0 0 0

12635 end climb: SURFACE_DEPTH_REACHED

state 12635 begin surface coast

12658 end surface coast: CONTROL_FINISHED_OK

state 12658 begin surface

ID	33	HEADING	-1	ROLL_MAX	3837	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	17	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	100
DIVE	32	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1900	ALTIM_PING_DELTA	20
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1650	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	18.5	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1440	TGT_DEFAULT_LON	-125	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	5800	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	0
D_NO_BLEED	200	SM_CC	450	R_PORT_OVSHOOT	34	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	50	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	1
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	1
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	163	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3981	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2074	DEVICE3	101
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	480	CALL_WAIT	60	VBD_CNV	-0.29522699	DEVICE5	-1
T_MISSION	510	CAPUPLOAD	0	VBD_TIMEOUT	950	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	600	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	2	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	-1
T_NO_W	300	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-220644.81	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	CF8_MAXERRORS	2	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	151	PHONE_DEVICE	48
D_OFFGRID	5761	RAFOS_PEAK_OFFSET	1.5	AH0_10V	122.2	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	-5	PITCH_MIN	27	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	200	PITCH_MAX	2563	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1550	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043575475
GLIDE_SLOPE	45	PITCH_DBAND	0.1	PRESSURE_YINT	-20.171059	SEABIRD_T_H	0.00062940316
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.00093601202	SEABIRD_T_I	2.4306677e-05
RHO	1.023	P_OVSHOOT	0.039999999	AD7714Ch0Gain	32	SEABIRD_T_J	2.6223986e-06
MASS	52000	PITCH_GAIN	12	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.332057
NAV_MODE	1	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.2094743
FERRY_MAX	2	PITCH_AD_RATE	160	COMPASS_USE	0	SEABIRD_C_I	-0.0016192879
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021825745
HD_A	0.0038945	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099684997	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	2.5700001e-06	ROLL_MIN	60	ALTIM_TOP_TURN_MARGIN	0

GPS1	210510,114806,1832.725,-6558.392,10,1.3,26,-12.7	TGT_NAME	SAN_JUAN_VM
_CALLS	1	TGT_LATLONG	1836.000,-6600.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.062,0.293
_SM_DEPTHo	0.53	KALMAN_X	3772.3,110.8,-121.6,-2752.8,7434.7
_SM_ANGLEo	-47.7	KALMAN_Y	-10292.7,-312.6,768.5,14934.9,-20190.4
GPS2	210510,115238,1832.742,-6558.348,12,1.5,12,-12.7	MHEAD_RNG_PITCHd_Wd	0.7,6694,-15.6,-10.000
SPEED_LIMITS	0.100,0.300	D_GRID	1440

FINISH	-0.2,0.997640	_24V_AH	24.4,5.023
SM_CCo	12732,0.00,0.000,0,0,373,501.89	_10V_AH	10.5,1.815
SM_GC	0.34,7.72,0.00,0.00,0.067,0.000,0.000,13,1921,373,-6.97,0.59,501.89	FG_AHR_24Vo	0.000
IRIDIUM_FIX	1823.67,-6557.63,141111,030357	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972	MEM	328588
HUMID	1078249668	DATA_FILE_SIZE	30211,549
INTERNAL_PRESSURE	8.00812	CAP_FILE_SIZE	113827,0
TCM_TEMP	23.20	CFSIZE	260280320,253403136
XPDR_PINGS	6	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,17,0,0
ALTIM_TOP_PING	18.2,17.1	GPS	210510,152655,1834.952,-6557.850,39,1.4,39,-12.8
ALTIM_BOTTOM_PING	940.2,39.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	198	84.70	SBE_CT	370	24	216.96
Roll_motor	111	136	371.96	nil	0	0	0.00
VBD_pump_during_apogee	503	1432	17588.95	AA4330	837	33	674.41
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	0	0.00	nil	0	0	0.00
Iridium_during_connect	35	0	0.00	nil	0	0	0.00
Iridium_during_xfer	129	0	0.00	nil	0	0	0.00
Transponder_ping	12	420	130.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	0	0.00
TT8	1113	19	231.54
LPSleep	9463	2	217.62
TT8_Active	601	19	125.02
TT8_Sampling	1755	39	733.77
TT8_CF8	78	45	37.55
TT8_Kalman	32	0	0.00
Analog_circuits	1438	12	181.26
GPS_charging	0	0	0.00
Compass	1428	15	224.93
RAFOS	0	0	0.00
Transponder	73	30	23.11

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-1.54	-195.5	0.0	0.0	0	118	0.00	0.00	-101.90	0.000	2	0.000	0.000	11	1914	2071	0	0	0	0	0	0
121	-1.54	-195.5	4.1	-7.0	10	157	6.25	2.20	-24.35	0.000	4	0.199	0.079	1208	3288	2738	0	0	0	0	0	0
471	-1.54	-195.5	64.6	-17.2	41	475	0.00	2.15	0.00	0.000	6	0.000	0.070	1208	1892	2737	0	0	0	0	0	0
795	-1.54	-195.5	111.4	-13.1	71	798	0.00	2.20	0.00	0.000	4	0.000	0.084	1208	3289	2738	0	0	0	0	0	0
900	-1.54	-195.5	124.6	-11.2	80	907	0.00	2.17	0.00	0.000	6	0.000	0.072	1208	1897	2738	0	0	0	0	0	0
1221	-1.54	-195.5	163.0	-11.4	106	1225	0.00	2.22	0.00	0.000	4	0.000	0.084	1208	482	2739	0	0	0	0	0	0
1288	-1.54	-195.5	170.7	-12.3	109	1292	0.00	2.12	0.00	0.000	6	0.000	0.065	1208	1903	2740	0	0	0	0	0	0
1620	-1.54	-195.5	208.0	-11.2	125	1623	0.00	2.17	0.00	0.000	4	0.000	0.092	1208	3284	2740	0	0	0	0	0	0
1736	-1.54	-195.5	220.9	-11.1	130	1741	0.00	2.15	0.00	0.000	6	0.000	0.070	1208	1911	2740	0	0	0	0	0	0
2064	-1.54	-195.5	260.1	-12.8	146	2068	0.00	2.20	0.00	0.000	4	0.000	0.087	1208	3286	2741	0	0	0	0	0	0
2157	-1.54	-195.5	273.4	-13.5	150	2162	0.00	2.17	0.00	0.000	6	0.000	0.072	1208	1910	2741	0	0	0	0	0	0
2477	-1.54	-195.5	319.2	-14.2	164	2481	0.00	2.20	0.00	0.000	4	0.000	0.087	1208	3290	2741	0	0	0	0	0	0
2509	-1.54	-195.5	323.8	-13.2	165	2514	0.00	2.20	0.00	0.000	6	0.000	0.074	1208	1906	2741	0	0	0	0	0	0
2844	-1.54	-195.5	374.4	-14.9	176	2845	0.00	0.00	0.00	0.000	6	0.000	0.000	1208	1906	2741	0	0	0	0	0	0
3151	-1.54	-195.5	420.5	-15.2	186	3152	0.00	0.00	0.00	0.000	6	0.000	0.000	1208	1906	2741	0	0	0	0	0	0
3456	-1.54	-195.5	468.3	-15.7	196	3457	0.00	0.00	0.00	0.000	6	0.000	0.000	1208	1906	2740	0	0	0	0	0	0
3764	-1.54	-195.5	518.3	-17.1	206	3768	0.00	2.25	0.00	0.000	4	0.000	0.097	1208	3282	2740	0	0	0	0	0	0
3818	-1.54	-195.5	527.2	-15.6	207	3825	0.00	2.22	0.00	0.000	6	0.000	0.082	1208	1914	2740	0	0	0	0	0	0
4131	-1.54	-195.5	580.1	-16.8	218	4135	0.00	2.33	0.00	0.000	4	0.000	0.104	1208	487	2741	0	0	0	0	0	0
4162	-1.54	-195.5	585.9	-17.4	219	4167	0.00	2.22	0.00	0.000	6	0.000	0.079	1208	1876	2740	0	0	0	0	0	0
4497	-1.54	-195.5	645.6	-18.3	230	4501	0.00	2.35	0.00	0.000	4	0.000	0.102	1208	3307	2740	0	0	0	0	0	0
4596	-1.54	-195.5	663.6	-18.1	233	4601	0.00	2.30	0.00	0.000	6	0.000	0.089	1208	1906	2739	0	0	1	0	0	0
4931	-1.54	-195.5	727.2	-19.5	244	4935	0.00	2.33	0.00	0.000	4	0.000	0.104	1208	3303	2740	0	0	0	0	0	0
4963	-1.54	-195.5	733.5	-19.8	245	4968	0.00	2.33	0.00	0.000	6	0.000	0.092	1208	1896	2740	0	0	1	0	0	0
5298	-1.54	-195.5	795.3	-18.2	256	5302	0.00	2.35	0.00	0.000	4	0.000	0.117	1208	493	2739	0	0	0	0	0	0
5326	-1.54	-195.5	800.2	-18.2	257	5331	0.00	2.25	0.00	0.000	6	0.000	0.092	1208	1893	2739	0	0	1	0	0	0
5662	-1.54	-195.5	860.4	-18.3	268	5666	0.00	2.38	0.00	0.000	4	0.000	0.112	1208	3309	2739	0	0	0	0	0	0
5756	-1.54	-195.5	877.4	-17.1	271	5760	0.00	2.33	0.00	0.000	6	0.000	0.102	1208	1900	2738	0	0	1	0	0	0
6090	-1.54	-195.5	939.4	-19.6	282	6099	0.00	2.42	0.00	0.000	4	0.000	0.122	1208	490	2737	0	0	0	0	0	0
6119	-1.54	-195.5	945.7	-21.0	282	6127	0.00	2.35	0.00	0.000	6	0.000	0.097	1208	1896	2737	0	0	1	0	0	0
6218	end dive: BOTTOM_OBSTACLE_DETECTED
state	6218	begin apogee
6222	-0.42	0.0	965.3	20.4	286	6369	1.12	0.00	141.43	1.433	6	0.137	0.000	1455	1652	2074	0	0	0	0	0	0
6370	end apogee: CONTROL_FINISHED_OK
state	6370	begin climb
6371	1.54	195.5	971.8	0.0	291	6524	2.00	2.65	143.00	1.400	4	0.132	0.122	1875	3064	1410	0	0	0	0	0	0
7198	1.91	501.4	971.7	-0.4	316	7426	0.38	2.42	218.73	1.413	6	0.089	0.112	1973	1643	375	0	0	1	0	0	0
7743	1.91	501.4	908.8	16.5	334	7747	0.00	2.50	0.00	0.000	4	0.000	0.137	1973	243	374	0	0	0	0	0	0
7797	1.91	501.4	899.4	17.8	335	7805	0.00	2.42	0.00	0.000	6	0.000	0.102	1973	1659	373	0	0	1	0	0	0
8110	1.91	501.4	849.5	15.7	346	8114	0.00	2.42	0.00	0.000	4	0.000	0.124	1973	3051	373	0	0	0	0	0	0
8142	1.91	501.4	844.4	15.5	347	8147	0.00	2.42	0.00	0.000	6	0.000	0.109	1973	1658	373	0	0	1	0	0	0
8477	1.91	501.4	793.1	15.4	358	8481	0.00	2.50	0.00	0.000	4	0.000	0.134	1973	241	372	0	0	0	0	0	0
8606	1.91	501.4	771.8	16.4	362	8610	0.00	2.33	0.00	0.000	6	0.000	0.104	1973	1647	372	0	0	1	0	0	0
8939	1.91	501.4	720.5	15.8	373	8940	0.00	0.00	0.00	0.000	6	0.000	0.000	1973	1653	371	0	0	0	0	0	0
9245	1.91	501.4	668.8	16.7	383	9249	0.00	2.45	0.00	0.000	4	0.000	0.127	1973	240	370	0	0	0	0	0	0
9282	1.91	501.4	661.8	18.6	384	9287	0.00	2.35	0.00	0.000	6	0.000	0.097	1973	1649	370	0	0	1	0	0	0
9612	1.91	501.4	605.8	16.5	395	9613	0.00	0.00	0.00	0.000	6	0.000	0.000	1973	1654	370	0	0	0	0	0	0
9918	1.91	501.4	553.8	16.8	405	9922	0.00	2.42	0.00	0.000	4	0.000	0.122	1973	238	370	0	0	0	0	0	0
10001	1.91	501.4	538.7	17.6	407	10006	0.00	2.33	0.00	0.000	6	0.000	0.094	1974	1644	370	0	0	1	0	0	0
10319	1.91	501.4	484.3	17.8	418	10323	0.00	2.40	0.00	0.000	4	0.000	0.119	1973	238	370	0	0	1	0	0	0
10356	1.91	501.4	477.2	18.3	419	10361	0.00	2.33	0.00	0.000	6	0.000	0.089	1973	1654	370	0	0	1	0	0	0
10685	1.91	501.4	414.1	20.1	430	10689	0.00	2.40	0.00	0.000	4	0.000	0.112	1973	237	370	0	0	0	0	0	0
10717	1.91	501.4	406.8	22.2	431	10722	0.00	2.30	0.00	0.000	6	0.000	0.084	1973	1655	370	0	0	1	0	0	0
11052	1.91	501.4	338.0	20.9	442	11056	0.00	2.38	0.00	0.000	4	0.000	0.109	1973	236	370	0	0	0	0	0	0
11140	1.91	501.4	318.1	23.6	444	11147	0.00	2.28	0.00	0.000	6	0.000	0.079	1973	1660	370	0	0	1	0	0	0
11465	1.91	501.4	249.6	21.2	459	11469	0.00	2.25	0.00	0.000	4	0.000	0.097	1973	3045	370	0	0	0	0	0	0
11497	1.91	501.4	242.8	19.6	460	11504	0.00	2.30	0.00	0.000	6	0.000	0.087	1973	1637	370	0	0	1	0	0	0
11814	1.91	501.4	175.4	21.9	476	11815	0.00	0.00	0.00	0.000	6	0.000	0.000	1973	1636	371	0	0	0	0	0	0
12128	1.91	501.4	105.9	22.1	500	12132	0.00	2.25	0.00	0.000	4	0.000	0.099	1973	242	372	0	0	0	0	0	0
12211	1.91	501.4	87.5	21.1	507	12215	0.00	2.17	0.00	0.000	6	0.000	0.070	1973	1655	372	0	0	0	0	0	0
12541	1.91	501.4	22.4	21.0	538	12542	0.00	0.00	0.00	0.000	6	0.000	0.000	1973	1664	373	0	0	0	0	0	0
12635	end climb: SURFACE_DEPTH_REACHED
state	12635	begin surface coast
12658	end surface coast: CONTROL_FINISHED_OK
state	12658	begin surface