Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 34 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 34 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 40 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 ESCAPE_HEADING_DELTA 5 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 2 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 750 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 20 SM_CC 420 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 2 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 161 VBD_MIN 442 DEVICE1 2

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_MAX 3793 DEVICE2 20

T_DIVE 250 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 300 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80495.578 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 200 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2400 PHONE_SUPPLY -1 SEABIRD_T_G 0.0043394179

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -22.40402 SEABIRD_T_H 0.00062698836

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_I 2.474318e-05

MASS 51400 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.7476094e-06

NAV_MODE 2 PITCH_GAIN 31 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9261332

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1046007

KALMAN_USE 2 PITCH_AD_RATE 150 COMPASS_USE 1 SEABIRD_C_I -0.00064730336

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014311814

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 420

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 2 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 750 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 5 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163694 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 250

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -80495.578

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 300

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2400 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 240 T_WATCHDOG 10

C_ROLL_DIVE 2510 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2485 LOGGERDEVICE3 -1 ROLL_DEG 20 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3915 USE_BATHY -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 0

DEVICE1 2 MASS 51400 ROLL_MIN 290 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 28 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 22 VBD_MAX 3793

DEVICE5 -1 MISSION 13 SEABIRD_C_G -9.9261332 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1046007 VBD_MIN 442

DIVE 34 NAV_MODE 2 SEABIRD_C_I -0.00064730336 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 161 SEABIRD_C_J 0.00014311814 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_DIVES 40 SEABIRD_T_G 0.0043394179 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 101011,134600,6633.461,-6007.076,21,0.9,21,-33.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.10 KALMAN_X 0.0,0.0,0.0,0.0,0.0

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

GPS2 101011,135131,6633.407,-6007.166,18,0.9,18,-33.6 MHEAD_RNG_PITCHd_Wd 147.7,153916,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 540

Post-dive calculations and measurements:

FINISH 1.3,1.012522 _24V_AH 23.2,5.322

SM_CCo 8798,62.08,0.086,0,0,771,420.20 _10V_AH 10.2,4.737

SM_GC 2.12,7.15,1.77,62.08,0.061,0.064,0.086,121,2518,771,-7.08,-0.42,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 574 FG_AHR_10Vo 0.000

RAFOS 0,1318262461,16.033333,16.016945,104,61,60,0,0,0,658,179,209,0,0,0 MEM 150408

RAFOS_FIX 6635.309082,-6007.772461,101011,161624,2,118,0.44 DATA_FILE_SIZE 36680,952

IRIDIUM_FIX 6604.29,-6010.62,101011,111143 CAP_FILE_SIZE 112355,0

TT8_MAMPS 0.028462,0.028462 CFSIZE 260165632,245837824

HUMID 56.85 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.78553 SOUNDSPEED 1454.0

TCM_TEMP 16.10 CURRENT 0.101,264.4,1

XPDR_PINGS 20 GPS 101011,162106,6632.628,-6005.082,32,0.8,32,-33.6

ALTIM_BOTTOM_PING 501.3,52.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 276 113.72 SBE_CT 686 23 369.58

Roll_motor 50 112 131.49 SBE_O2 673 5 81.90

VBD_pump_during_apogee 340 1220 9624.74 nil 0 0 0.00

VBD_pump_during_surface 62 86 124.49 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 221 249 1281.20 nil 0 0 0.00

Transponder_ping 7 420 68.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.50

TT8 2587 18 493.76

LPSleep 4056 2 95.59

TT8_Active 540 18 103.18

TT8_Sampling 1839 41 786.54

TT8_CF8 180 47 88.33

TT8_Kalman 0 0 0.00

Analog_circuits 1644 12 201.30

GPS_charging 0 0 0.00

Compass 1600 6 110.00

RAFOS 1080 1 16.52

Transponder 18 30 5.69

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.77 -146.0 0.0 0.0 0 108 0.00 0.00 -88.82 0.000 2 0.000 0.000 128 2525 2037 0 0 0 0 0 0

111 -0.77 -146.0 3.0 -2.0 14 166 8.85 1.17 -39.40 0.000 4 0.276 0.112 2143 3212 3083 0 0 0 0 0 0

229 -0.77 -146.0 22.7 -20.7 33 235 0.00 1.17 0.00 0.000 6 0.000 0.051 2143 2496 3084 0 0 0 0 0 0

434 -0.77 -146.0 57.5 -16.1 70 441 0.00 1.12 0.00 0.000 4 0.000 0.060 2143 1806 3084 0 0 0 0 0 0

540 -0.77 -146.0 73.5 -14.5 89 547 0.00 1.25 0.00 0.000 6 0.000 0.072 2138 2511 3084 0 0 0 0 0 0

751 -0.77 -146.0 105.2 -15.2 124 755 0.00 1.15 0.00 0.000 4 0.000 0.082 2132 3213 3084 0 0 0 0 0 0

830 -0.77 -146.0 117.3 -15.3 131 834 0.00 1.15 0.00 0.000 6 0.000 0.050 2132 2506 3085 0 0 0 0 0 0

1056 -0.77 -146.0 152.6 -15.9 152 1057 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2505 3084 0 0 0 0 0 0

1268 -0.77 -146.0 186.5 -15.3 172 1271 0.00 1.12 0.00 0.000 4 0.000 0.059 2132 1808 3084 0 0 0 0 0 0

1347 -0.77 -146.0 198.5 -15.0 179 1350 0.00 1.25 0.00 0.000 6 0.000 0.072 2127 2519 3084 0 0 0 0 0 0

1573 -0.77 -146.0 230.2 -14.0 200 1576 0.00 1.15 0.00 0.000 4 0.000 0.083 2122 3221 3085 0 0 0 0 0 0

1700 -0.77 -146.0 248.1 -13.9 211 1709 0.00 1.15 0.00 0.000 6 0.000 0.050 2122 2505 3084 0 0 0 0 0 0

1921 -0.77 -146.0 279.6 -14.1 232 1925 0.12 1.12 0.00 0.000 4 0.191 0.059 2150 1806 3084 0 0 0 0 0 0

1981 -0.77 -146.0 286.8 -12.2 237 1988 0.00 1.23 0.00 0.000 6 0.000 0.071 2148 2507 3084 0 0 0 0 0 0

2200 -0.77 -146.0 313.6 -12.4 258 2204 0.00 1.15 0.00 0.000 4 0.000 0.080 2142 3214 3084 0 0 0 0 0 0

2269 -0.77 -146.0 322.2 -12.9 264 2273 0.00 1.12 0.00 0.000 6 0.000 0.047 2142 2508 3084 0 0 0 0 0 0

2495 -0.77 -146.0 350.8 -12.5 285 2496 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2508 3084 0 0 0 0 0 0

2707 -0.77 -146.0 377.5 -12.7 305 2710 0.00 1.20 0.00 0.000 4 0.000 0.079 2137 3214 3084 0 0 0 0 0 0

2787 -0.77 -146.0 387.7 -12.6 312 2790 0.00 1.12 0.00 0.000 6 0.000 0.047 2137 2508 3084 0 0 0 0 0 0

3011 -0.77 -146.0 415.3 -11.7 333 3015 0.00 1.10 0.00 0.000 4 0.000 0.058 2137 1817 3084 0 0 0 0 0 0

3093 -0.77 -146.0 424.5 -11.6 340 3101 0.00 1.23 0.00 0.000 6 0.000 0.070 2133 2516 3084 0 0 0 0 0 0

3313 -0.77 -146.0 451.4 -12.2 361 3316 0.00 1.12 0.00 0.000 4 0.000 0.083 2127 3213 3084 0 0 0 0 0 0

3507 -0.77 -146.0 475.0 -12.2 378 3515 0.00 1.12 0.00 0.000 6 0.000 0.047 2127 2510 3084 0 0 0 0 0 0

3729 -0.77 -146.0 502.6 -12.7 399 3730 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2510 3084 0 0 0 0 0 0

3939 -0.77 -146.0 528.7 -11.3 419 3943 0.00 1.20 0.00 0.000 4 0.000 0.080 2123 3217 3084 0 0 0 0 0 0

4007 -0.77 -146.0 536.5 -11.7 425 4010 0.00 1.12 0.00 0.000 6 0.000 0.050 2122 2511 3085 0 0 0 0 0 0

4039 end dive: TARGET_DEPTH_EXCEEDED

state 4039 begin apogee

4045 -0.16 0.0 540.3 -11.4 428 4171 0.70 0.00 118.40 1.220 6 0.155 0.000 2340 2197 2485 0 0 0 0 0 0

4172 end apogee: CONTROL_FINISHED_OK

state 4172 begin climb

4174 0.77 146.0 545.4 0.0 439 4311 0.93 1.23 125.43 1.180 4 0.078 0.065 2652 1507 1887 0 0 0 0 0 0

4324 0.82 185.0 541.8 8.2 452 4363 0.00 1.27 34.83 1.112 6 0.000 0.061 2651 2203 1730 0 0 0 0 0 0

4584 0.82 185.0 504.9 13.3 476 4585 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2202 1723 0 0 0 0 0 0

4794 0.82 185.0 473.1 14.7 496 4796 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2202 1721 0 0 0 0 0 0

5007 0.82 185.0 442.8 14.1 516 5011 0.00 1.20 0.00 0.000 4 0.000 0.068 2651 2911 1720 0 0 0 0 0 0

5033 0.82 185.0 439.5 14.4 518 5041 0.00 1.20 0.00 0.000 6 0.000 0.049 2655 2209 1720 0 0 0 0 0 0

5253 0.82 185.0 408.6 13.6 539 5257 0.00 1.15 0.00 0.000 4 0.000 0.063 2661 1497 1719 0 0 0 0 0 0

5313 0.82 185.0 401.1 13.4 544 5323 0.00 1.20 0.00 0.000 6 0.000 0.061 2661 2198 1719 0 0 0 0 0 0

5534 0.82 185.0 371.6 13.0 565 5538 0.00 1.20 0.00 0.000 4 0.000 0.061 2666 1492 1718 0 0 0 0 0 0

5616 0.82 185.0 361.2 12.8 572 5625 0.00 1.20 0.00 0.000 6 0.000 0.060 2666 2200 1718 0 0 0 0 0 0

5837 0.82 185.0 331.2 13.5 593 5841 0.00 1.17 0.00 0.000 4 0.000 0.070 2666 2904 1718 0 0 0 0 0 0

5852 0.82 185.0 329.5 13.4 594 5860 0.00 1.20 0.00 0.000 6 0.000 0.054 2670 2200 1718 0 0 0 0 0 0

6072 0.82 185.0 299.7 13.3 615 6073 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2200 1718 0 0 0 0 0 0

6284 0.82 185.0 272.2 12.7 635 6288 0.00 1.12 0.00 0.000 4 0.000 0.065 2676 1496 1718 0 0 0 0 0 0

6385 0.82 185.0 259.7 12.3 644 6389 0.00 1.20 0.00 0.000 6 0.000 0.061 2676 2208 1718 0 0 0 0 0 0

6611 0.82 185.0 231.9 12.3 665 6615 0.00 1.20 0.00 0.000 4 0.000 0.062 2681 1494 1718 0 0 0 0 0 0

6638 0.82 185.0 228.8 12.3 667 6645 0.00 1.17 0.00 0.000 6 0.000 0.061 2681 2196 1718 0 0 0 0 0 0

6858 0.82 185.0 201.7 12.4 688 6859 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2196 1718 0 0 0 0 0 0

7070 0.82 185.0 174.6 12.9 708 7071 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2196 1718 0 0 0 0 0 0

7283 0.82 185.0 148.3 12.0 728 7284 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2196 1718 0 0 0 0 0 0

7495 0.82 185.0 124.7 10.6 748 7499 0.00 1.17 0.00 0.000 4 0.000 0.064 2685 1496 1718 0 0 0 0 0 0

7751 0.82 187.1 99.5 9.9 771 7757 0.00 1.17 0.00 0.000 6 0.000 0.063 2685 2200 1718 0 0 0 0 0 0

7957 0.83 194.3 79.4 9.7 808 7967 0.00 0.00 6.75 0.868 6 0.000 0.000 2685 2199 1693 0 0 0 0 0 0

8168 0.83 197.8 57.8 9.8 845 8176 0.00 0.00 4.72 0.774 6 0.000 0.000 2685 2200 1678 0 0 0 0 0 0

8374 0.85 211.2 37.8 9.4 882 8395 0.00 1.17 12.68 0.911 4 0.000 0.070 2685 2918 1623 0 0 0 0 0 0

8413 0.85 211.2 33.8 10.3 888 8422 0.00 1.23 0.00 0.000 6 0.000 0.054 2690 2196 1622 0 0 0 0 0 0

8623 0.94 284.0 15.4 6.7 925 8668 0.00 1.10 37.20 0.114 4 0.000 0.063 2695 1495 1325 0 0 0 0 0 0

8763 end climb: SURFACE_DEPTH_REACHED

state 8763 begin surface coast

8779 end surface coast: CONTROL_FINISHED_OK

state 8779 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	34	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	40	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	ESCAPE_HEADING_DELTA	5	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	2	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	750	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	20	SM_CC	420	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	2	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	161	VBD_MIN	442	DEVICE1	2
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_MAX	3793	DEVICE2	20
T_DIVE	250	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	300	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80495.578	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	200	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2400	PHONE_SUPPLY	-1	SEABIRD_T_G	0.0043394179
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-22.40402	SEABIRD_T_H	0.00062698836
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_I	2.474318e-05
MASS	51400	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.7476094e-06
NAV_MODE	2	PITCH_GAIN	31	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9261332
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1046007
KALMAN_USE	2	PITCH_AD_RATE	150	COMPASS_USE	1	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	101011,134600,6633.461,-6007.076,21,0.9,21,-33.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.10	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101011,135131,6633.407,-6007.166,18,0.9,18,-33.6	MHEAD_RNG_PITCHd_Wd	147.7,153916,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	540

FINISH	1.3,1.012522	_24V_AH	23.2,5.322
SM_CCo	8798,62.08,0.086,0,0,771,420.20	_10V_AH	10.2,4.737
SM_GC	2.12,7.15,1.77,62.08,0.061,0.064,0.086,121,2518,771,-7.08,-0.42,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	574	FG_AHR_10Vo	0.000
RAFOS	0,1318262461,16.033333,16.016945,104,61,60,0,0,0,658,179,209,0,0,0	MEM	150408
RAFOS_FIX	6635.309082,-6007.772461,101011,161624,2,118,0.44	DATA_FILE_SIZE	36680,952
IRIDIUM_FIX	6604.29,-6010.62,101011,111143	CAP_FILE_SIZE	112355,0
TT8_MAMPS	0.028462,0.028462	CFSIZE	260165632,245837824
HUMID	56.85	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.78553	SOUNDSPEED	1454.0
TCM_TEMP	16.10	CURRENT	0.101,264.4,1
XPDR_PINGS	20	GPS	101011,162106,6632.628,-6005.082,32,0.8,32,-33.6
ALTIM_BOTTOM_PING	501.3,52.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	276	113.72	SBE_CT	686	23	369.58
Roll_motor	50	112	131.49	SBE_O2	673	5	81.90
VBD_pump_during_apogee	340	1220	9624.74	nil	0	0	0.00
VBD_pump_during_surface	62	86	124.49	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	221	249	1281.20	nil	0	0	0.00
Transponder_ping	7	420	68.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.50
TT8	2587	18	493.76
LPSleep	4056	2	95.59
TT8_Active	540	18	103.18
TT8_Sampling	1839	41	786.54
TT8_CF8	180	47	88.33
TT8_Kalman	0	0	0.00
Analog_circuits	1644	12	201.30
GPS_charging	0	0	0.00
Compass	1600	6	110.00
RAFOS	1080	1	16.52
Transponder	18	30	5.69

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.77	-146.0	0.0	0.0	0	108	0.00	0.00	-88.82	0.000	2	0.000	0.000	128	2525	2037	0	0	0	0	0	0
111	-0.77	-146.0	3.0	-2.0	14	166	8.85	1.17	-39.40	0.000	4	0.276	0.112	2143	3212	3083	0	0	0	0	0	0
229	-0.77	-146.0	22.7	-20.7	33	235	0.00	1.17	0.00	0.000	6	0.000	0.051	2143	2496	3084	0	0	0	0	0	0
434	-0.77	-146.0	57.5	-16.1	70	441	0.00	1.12	0.00	0.000	4	0.000	0.060	2143	1806	3084	0	0	0	0	0	0
540	-0.77	-146.0	73.5	-14.5	89	547	0.00	1.25	0.00	0.000	6	0.000	0.072	2138	2511	3084	0	0	0	0	0	0
751	-0.77	-146.0	105.2	-15.2	124	755	0.00	1.15	0.00	0.000	4	0.000	0.082	2132	3213	3084	0	0	0	0	0	0
830	-0.77	-146.0	117.3	-15.3	131	834	0.00	1.15	0.00	0.000	6	0.000	0.050	2132	2506	3085	0	0	0	0	0	0
1056	-0.77	-146.0	152.6	-15.9	152	1057	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2505	3084	0	0	0	0	0	0
1268	-0.77	-146.0	186.5	-15.3	172	1271	0.00	1.12	0.00	0.000	4	0.000	0.059	2132	1808	3084	0	0	0	0	0	0
1347	-0.77	-146.0	198.5	-15.0	179	1350	0.00	1.25	0.00	0.000	6	0.000	0.072	2127	2519	3084	0	0	0	0	0	0
1573	-0.77	-146.0	230.2	-14.0	200	1576	0.00	1.15	0.00	0.000	4	0.000	0.083	2122	3221	3085	0	0	0	0	0	0
1700	-0.77	-146.0	248.1	-13.9	211	1709	0.00	1.15	0.00	0.000	6	0.000	0.050	2122	2505	3084	0	0	0	0	0	0
1921	-0.77	-146.0	279.6	-14.1	232	1925	0.12	1.12	0.00	0.000	4	0.191	0.059	2150	1806	3084	0	0	0	0	0	0
1981	-0.77	-146.0	286.8	-12.2	237	1988	0.00	1.23	0.00	0.000	6	0.000	0.071	2148	2507	3084	0	0	0	0	0	0
2200	-0.77	-146.0	313.6	-12.4	258	2204	0.00	1.15	0.00	0.000	4	0.000	0.080	2142	3214	3084	0	0	0	0	0	0
2269	-0.77	-146.0	322.2	-12.9	264	2273	0.00	1.12	0.00	0.000	6	0.000	0.047	2142	2508	3084	0	0	0	0	0	0
2495	-0.77	-146.0	350.8	-12.5	285	2496	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2508	3084	0	0	0	0	0	0
2707	-0.77	-146.0	377.5	-12.7	305	2710	0.00	1.20	0.00	0.000	4	0.000	0.079	2137	3214	3084	0	0	0	0	0	0
2787	-0.77	-146.0	387.7	-12.6	312	2790	0.00	1.12	0.00	0.000	6	0.000	0.047	2137	2508	3084	0	0	0	0	0	0
3011	-0.77	-146.0	415.3	-11.7	333	3015	0.00	1.10	0.00	0.000	4	0.000	0.058	2137	1817	3084	0	0	0	0	0	0
3093	-0.77	-146.0	424.5	-11.6	340	3101	0.00	1.23	0.00	0.000	6	0.000	0.070	2133	2516	3084	0	0	0	0	0	0
3313	-0.77	-146.0	451.4	-12.2	361	3316	0.00	1.12	0.00	0.000	4	0.000	0.083	2127	3213	3084	0	0	0	0	0	0
3507	-0.77	-146.0	475.0	-12.2	378	3515	0.00	1.12	0.00	0.000	6	0.000	0.047	2127	2510	3084	0	0	0	0	0	0
3729	-0.77	-146.0	502.6	-12.7	399	3730	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2510	3084	0	0	0	0	0	0
3939	-0.77	-146.0	528.7	-11.3	419	3943	0.00	1.20	0.00	0.000	4	0.000	0.080	2123	3217	3084	0	0	0	0	0	0
4007	-0.77	-146.0	536.5	-11.7	425	4010	0.00	1.12	0.00	0.000	6	0.000	0.050	2122	2511	3085	0	0	0	0	0	0
4039	end dive: TARGET_DEPTH_EXCEEDED
state	4039	begin apogee
4045	-0.16	0.0	540.3	-11.4	428	4171	0.70	0.00	118.40	1.220	6	0.155	0.000	2340	2197	2485	0	0	0	0	0	0
4172	end apogee: CONTROL_FINISHED_OK
state	4172	begin climb
4174	0.77	146.0	545.4	0.0	439	4311	0.93	1.23	125.43	1.180	4	0.078	0.065	2652	1507	1887	0	0	0	0	0	0
4324	0.82	185.0	541.8	8.2	452	4363	0.00	1.27	34.83	1.112	6	0.000	0.061	2651	2203	1730	0	0	0	0	0	0
4584	0.82	185.0	504.9	13.3	476	4585	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2202	1723	0	0	0	0	0	0
4794	0.82	185.0	473.1	14.7	496	4796	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2202	1721	0	0	0	0	0	0
5007	0.82	185.0	442.8	14.1	516	5011	0.00	1.20	0.00	0.000	4	0.000	0.068	2651	2911	1720	0	0	0	0	0	0
5033	0.82	185.0	439.5	14.4	518	5041	0.00	1.20	0.00	0.000	6	0.000	0.049	2655	2209	1720	0	0	0	0	0	0
5253	0.82	185.0	408.6	13.6	539	5257	0.00	1.15	0.00	0.000	4	0.000	0.063	2661	1497	1719	0	0	0	0	0	0
5313	0.82	185.0	401.1	13.4	544	5323	0.00	1.20	0.00	0.000	6	0.000	0.061	2661	2198	1719	0	0	0	0	0	0
5534	0.82	185.0	371.6	13.0	565	5538	0.00	1.20	0.00	0.000	4	0.000	0.061	2666	1492	1718	0	0	0	0	0	0
5616	0.82	185.0	361.2	12.8	572	5625	0.00	1.20	0.00	0.000	6	0.000	0.060	2666	2200	1718	0	0	0	0	0	0
5837	0.82	185.0	331.2	13.5	593	5841	0.00	1.17	0.00	0.000	4	0.000	0.070	2666	2904	1718	0	0	0	0	0	0
5852	0.82	185.0	329.5	13.4	594	5860	0.00	1.20	0.00	0.000	6	0.000	0.054	2670	2200	1718	0	0	0	0	0	0
6072	0.82	185.0	299.7	13.3	615	6073	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2200	1718	0	0	0	0	0	0
6284	0.82	185.0	272.2	12.7	635	6288	0.00	1.12	0.00	0.000	4	0.000	0.065	2676	1496	1718	0	0	0	0	0	0
6385	0.82	185.0	259.7	12.3	644	6389	0.00	1.20	0.00	0.000	6	0.000	0.061	2676	2208	1718	0	0	0	0	0	0
6611	0.82	185.0	231.9	12.3	665	6615	0.00	1.20	0.00	0.000	4	0.000	0.062	2681	1494	1718	0	0	0	0	0	0
6638	0.82	185.0	228.8	12.3	667	6645	0.00	1.17	0.00	0.000	6	0.000	0.061	2681	2196	1718	0	0	0	0	0	0
6858	0.82	185.0	201.7	12.4	688	6859	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2196	1718	0	0	0	0	0	0
7070	0.82	185.0	174.6	12.9	708	7071	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2196	1718	0	0	0	0	0	0
7283	0.82	185.0	148.3	12.0	728	7284	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2196	1718	0	0	0	0	0	0
7495	0.82	185.0	124.7	10.6	748	7499	0.00	1.17	0.00	0.000	4	0.000	0.064	2685	1496	1718	0	0	0	0	0	0
7751	0.82	187.1	99.5	9.9	771	7757	0.00	1.17	0.00	0.000	6	0.000	0.063	2685	2200	1718	0	0	0	0	0	0
7957	0.83	194.3	79.4	9.7	808	7967	0.00	0.00	6.75	0.868	6	0.000	0.000	2685	2199	1693	0	0	0	0	0	0
8168	0.83	197.8	57.8	9.8	845	8176	0.00	0.00	4.72	0.774	6	0.000	0.000	2685	2200	1678	0	0	0	0	0	0
8374	0.85	211.2	37.8	9.4	882	8395	0.00	1.17	12.68	0.911	4	0.000	0.070	2685	2918	1623	0	0	0	0	0	0
8413	0.85	211.2	33.8	10.3	888	8422	0.00	1.23	0.00	0.000	6	0.000	0.054	2690	2196	1622	0	0	0	0	0	0
8623	0.94	284.0	15.4	6.7	925	8668	0.00	1.10	37.20	0.114	4	0.000	0.063	2695	1495	1325	0	0	0	0	0	0
8763	end climb: SURFACE_DEPTH_REACHED
state	8763	begin surface coast
8779	end surface coast: CONTROL_FINISHED_OK
state	8779	begin surface