Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 357 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 357 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 13 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 27 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -42586.867 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2690 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -24.446302 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 0 PITCH_GAIN 31 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 1 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 325

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -42586.867

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

C_VBD 2800 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51204 R_PORT_OVSHOOT 13 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 10 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 357 NAV_MODE 0 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 070507,6710.714,-5721.844,30,1.0,30,-37.9 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071731,6710.756,-5721.990,13,0.9,13,-37.9 MHEAD_RNG_PITCHd_Wd 158.2,28440,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 667

Post-dive calculations and measurements:

FREEZE 0.61,-1.720,-1.813,0,1,0 ALTIM_TOP_PING 19.9,19.5

FINISH 0.6,1.026626 ALTIM_BOTTOM_PING 650.5,60.0

SM_CCo 14182,48.70,0.765,1,0,1475,325.02 _24V_AH 22.1,66.095

SM_GC 1.46,0.00,0.00,48.70,0.000,0.000,0.765,130,2454,1475,-8.00,-0.17,325.02 _10V_AH 10.1,35.246

RAFOS_CLK 945 FG_AHR_24Vo 0.000

RAFOS 0,1261468862,8.033334,8.017222,62,58,57,0,0,0,139,193,118,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.488281,-5730.500488,221209,080856,2,127,1.22 MEM 152476

IRIDIUM_FIX 6647.44,-5732.58,180399,070703 DATA_FILE_SIZE 53575,1367

TT8_MAMPS 0.027612 CAP_FILE_SIZE 169331,0

HUMID 48.74 CFSIZE 260165632,222171136

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,178,1,0

TCM_TEMP 16.50 SOUNDSPEED 1457.2

XPDR_PINGS 6 GPS 221209,111654,6710.824,-5722.740,34,1.4,52,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 301 166.21 SBE_CT 999 24 530.27

Roll_motor 180 108 435.49 SBE_O2 954 19 400.75

VBD_pump_during_apogee 359 1180 9382.89 nil 0 0 0.00

VBD_pump_during_surface 48 764 823.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 78 103 179.17 nil 0 0 0.00

Iridium_during_connect 112 160 396.53 nil 0 0 0.00

Iridium_during_xfer 279 223 1379.19

Transponder_ping 4 420 41.77

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.59

TT8 2404 19 483.77

LPSleep 8567 2 199.89

TT8_Active 599 19 120.52

TT8_Sampling 2672 39 1077.57

TT8_CF8 733 45 340.17

TT8_Kalman 0 0 0.00

Analog_circuits 1931 12 234.06

GPS_charging 0 0 0.00

Compass 2609 8 210.83

RAFOS 2520 1 38.18

Transponder 26 30 8.03

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.73 -146.0 0.0 0.0 0 113 0.00 0.00 -95.45 0.000 2 0.000 0.000 130 2465 2985 0 0 0 0 0 0

116 -0.73 -146.0 3.1 -4.2 19 148 11.62 2.17 -12.75 0.000 4 0.301 0.109 2450 857 3397 0 0 0 0 0 0

379 -0.73 -146.0 35.2 -10.7 66 385 0.00 2.08 0.00 0.000 6 0.000 0.076 2450 2454 3401 0 0 0 0 0 0

722 -0.73 -146.0 72.1 -11.1 127 727 0.00 2.15 0.00 0.000 4 0.000 0.094 2450 841 3401 0 0 0 0 0 0

980 -0.73 -146.0 98.7 -9.9 173 986 0.00 2.10 0.00 0.000 6 0.000 0.077 2450 2461 3401 0 0 0 0 0 0

1306 -0.78 -146.0 127.4 -9.5 205 1312 0.00 3.53 0.00 0.000 4 0.000 0.096 2450 3921 3400 0 0 6 0 0 0

1565 -0.85 -146.0 152.1 -9.8 227 1570 0.00 3.38 0.00 0.000 6 0.000 0.073 2450 2458 3400 0 0 4 0 0 0

1889 -0.93 -146.0 183.0 -9.3 258 1899 0.20 3.50 0.00 0.000 4 0.110 0.092 2373 3925 3399 0 0 6 0 0 0

2151 -0.74 -146.0 215.8 -12.4 281 2158 0.30 3.38 0.00 0.000 6 0.212 0.071 2443 2459 3399 0 0 3 0 0 0

2476 -0.81 -146.0 242.9 -7.9 312 2482 0.00 3.47 0.00 0.000 4 0.000 0.093 2443 3917 3399 0 0 6 0 0 0

2734 -0.89 -146.0 265.0 -8.3 334 2741 0.15 3.35 0.00 0.000 6 0.121 0.071 2394 2459 3399 0 0 4 0 0 0

3059 -0.82 -146.0 298.0 -10.0 365 3063 0.12 2.17 0.00 0.000 4 0.208 0.093 2423 859 3399 0 0 0 0 0 0

3315 -0.82 -146.0 323.2 -9.6 387 3321 0.00 2.12 0.00 0.000 6 0.000 0.074 2423 2455 3399 0 0 0 0 0 0

3640 -0.82 -146.0 351.7 -8.7 418 3646 0.00 3.50 0.00 0.000 4 0.000 0.092 2423 3924 3399 0 0 5 0 0 0

3837 -0.82 -146.0 369.4 -8.5 435 3843 0.00 3.35 0.00 0.000 6 0.000 0.070 2423 2458 3398 0 0 4 0 0 0

4162 -0.82 -146.0 397.9 -8.8 465 4167 0.00 3.50 0.00 0.000 4 0.000 0.091 2423 3926 3399 0 0 6 0 0 0

4419 -0.82 -146.0 421.1 -9.2 487 4425 0.00 3.35 0.00 0.000 6 0.000 0.068 2423 2457 3400 0 0 4 0 0 0

4746 -0.82 -146.0 448.4 -8.2 518 4752 0.00 3.47 0.00 0.000 4 0.000 0.089 2423 3918 3400 0 0 5 0 0 0

5003 -0.82 -146.0 469.8 -8.0 540 5009 0.00 3.33 0.00 0.000 6 0.000 0.068 2423 2460 3401 0 0 4 0 0 0

5328 -0.86 -146.0 494.4 -7.6 571 5333 0.00 3.50 0.00 0.000 4 0.000 0.089 2423 3929 3401 0 0 4 0 0 0

5585 -0.86 -146.0 514.1 -7.8 593 5591 0.00 3.35 0.00 0.000 6 0.000 0.068 2423 2459 3401 0 0 4 0 0 0

5910 -0.86 -146.0 539.0 -8.0 624 5914 0.00 2.17 0.00 0.000 4 0.000 0.090 2423 860 3401 0 0 0 0 0 0

6169 -0.86 -146.0 561.6 -9.0 647 6173 0.00 2.08 0.00 0.000 6 0.000 0.072 2423 2462 3402 0 0 0 0 0 0

6499 -0.92 -146.0 588.9 -8.2 678 6505 0.00 3.47 0.00 0.000 4 0.000 0.089 2423 3918 3402 0 0 4 0 0 0

6668 -0.98 -146.0 603.5 -8.7 690 6674 0.15 3.35 0.00 0.000 6 0.117 0.067 2373 2458 3402 0 0 3 0 0 0

6998 -0.88 -146.0 636.6 -9.8 701 7004 0.12 3.53 0.00 0.000 4 0.207 0.086 2387 3926 3402 0 0 3 0 0 0

7250 -0.81 -146.0 660.4 -9.4 708 7256 0.17 3.35 0.00 0.000 6 0.203 0.066 2425 2460 3402 0 0 3 0 0 0

7346 end dive: TARGET_DEPTH_EXCEEDED

state 7346 begin apogee

7352 -0.16 0.0 667.8 7.6 711 7481 0.75 0.00 125.82 1.180 6 0.185 0.000 2628 1934 2800 0 0 0 0 0 0

7482 end apogee: CONTROL_FINISHED_OK

state 7482 begin climb

7485 0.73 146.0 669.9 0.0 715 7625 0.98 2.17 131.07 1.122 4 0.136 0.093 2920 343 2202 0 0 0 0 0 0

7681 0.64 146.0 651.9 12.5 721 7686 0.00 1.98 0.00 0.000 6 0.000 0.062 2920 1963 2199 0 0 0 0 0 0

8010 0.55 146.0 613.0 11.8 732 8019 0.22 3.75 0.00 0.000 4 0.196 0.078 2852 3539 2195 0 0 4 0 0 0

8133 0.61 148.5 601.3 9.1 735 8139 0.00 3.75 0.00 0.000 6 0.000 0.072 2867 1941 2194 0 0 2 0 0 0

8458 0.73 163.2 573.2 8.5 763 8480 0.17 3.72 14.38 1.029 4 0.111 0.081 2926 3531 2134 0 0 4 0 0 0

8638 0.59 163.2 550.4 13.5 779 8648 0.25 3.70 0.00 0.000 6 0.203 0.074 2884 1945 2132 0 0 3 0 0 0

8966 0.65 164.6 519.8 9.1 810 8972 0.00 3.67 0.00 0.000 4 0.000 0.081 2884 3535 2132 0 0 5 0 0 0

9108 0.65 164.6 504.9 11.3 822 9113 0.00 3.70 0.00 0.000 6 0.000 0.074 2898 1943 2132 0 0 2 0 0 0

9432 0.65 164.6 472.5 10.2 852 9437 0.00 3.67 0.00 0.000 4 0.000 0.082 2898 3535 2132 0 0 5 0 0 0

9589 0.59 164.6 454.5 11.5 865 9596 0.12 3.70 0.00 0.000 6 0.206 0.074 2888 1939 2131 0 0 2 0 0 0

9914 0.65 164.6 423.4 9.3 896 9919 0.00 3.67 0.00 0.000 4 0.000 0.081 2887 3535 2131 0 0 5 0 0 0

10072 0.65 164.6 406.8 10.7 909 10078 0.00 3.70 0.00 0.000 6 0.000 0.074 2902 1944 2131 0 0 2 0 0 0

10396 0.65 164.6 374.8 9.9 940 10401 0.00 3.67 0.00 0.000 4 0.000 0.081 2902 3534 2131 0 0 5 0 0 0

10538 0.59 164.6 359.4 10.8 952 10548 0.15 3.65 0.00 0.000 6 0.203 0.074 2886 1949 2130 0 0 4 0 0 0

10867 0.68 169.7 328.9 8.9 983 10881 0.00 3.65 6.28 0.816 4 0.000 0.080 2886 3534 2109 0 0 5 0 0 0

11027 0.68 169.7 312.8 10.0 997 11034 0.00 3.65 0.00 0.000 6 0.000 0.074 2899 1950 2109 0 0 4 0 0 0

11352 0.74 169.7 282.1 9.5 1028 11358 0.00 3.67 0.00 0.000 4 0.000 0.081 2899 3535 2109 0 0 5 0 0 0

11487 0.74 169.7 267.2 11.1 1039 11493 0.00 3.67 0.00 0.000 6 0.000 0.074 2916 1941 2108 0 0 4 0 0 0

11811 0.74 171.4 235.3 9.1 1070 11817 0.00 3.70 0.00 0.000 4 0.000 0.081 2916 3531 2109 0 0 4 0 0 0

11958 0.67 171.4 220.1 10.6 1082 11964 0.00 3.67 0.00 0.000 6 0.000 0.075 2932 1938 2109 0 0 4 0 0 0

12282 0.67 171.4 185.7 10.3 1113 12287 0.00 3.70 0.00 0.000 4 0.000 0.081 2932 3532 2109 0 0 4 0 0 0

12418 0.55 171.4 171.0 10.8 1124 12424 0.30 3.67 0.00 0.000 6 0.198 0.075 2875 1936 2108 0 0 4 0 0 0

12742 0.80 228.6 148.6 6.8 1155 12804 0.22 3.80 50.50 0.863 4 0.104 0.081 2951 3535 1866 0 0 4 0 0 0

12967 0.71 228.6 121.2 12.2 1175 12974 0.20 3.75 0.00 0.000 6 0.197 0.076 2922 1948 1861 0 0 3 0 0 0

13298 0.85 265.6 92.9 7.6 1213 13340 0.12 3.80 31.62 0.821 4 0.130 0.083 2961 3534 1715 0 0 5 0 0 0

13503 0.79 265.6 69.1 12.5 1250 13509 0.15 3.75 0.00 0.000 6 0.200 0.076 2945 1941 1712 0 0 3 0 0 0

13849 0.88 265.6 34.9 10.2 1311 13855 0.00 3.75 0.00 0.000 4 0.000 0.083 2945 3536 1708 0 0 4 0 0 0

14001 0.88 265.6 17.3 11.8 1338 14007 0.00 3.72 0.00 0.000 6 0.000 0.078 2960 1942 1708 0 0 4 0 0 0

14140 end climb: SURFACE_DEPTH_REACHED

state 14140 begin surface coast

14164 end surface coast: CONTROL_FINISHED_OK

state 14164 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	357	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	13	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	27	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-42586.867	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2690	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-24.446302	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	0	PITCH_GAIN	31	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	1	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	070507,6710.714,-5721.844,30,1.0,30,-37.9	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071731,6710.756,-5721.990,13,0.9,13,-37.9	MHEAD_RNG_PITCHd_Wd	158.2,28440,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	667

FREEZE	0.61,-1.720,-1.813,0,1,0	ALTIM_TOP_PING	19.9,19.5
FINISH	0.6,1.026626	ALTIM_BOTTOM_PING	650.5,60.0
SM_CCo	14182,48.70,0.765,1,0,1475,325.02	_24V_AH	22.1,66.095
SM_GC	1.46,0.00,0.00,48.70,0.000,0.000,0.765,130,2454,1475,-8.00,-0.17,325.02	_10V_AH	10.1,35.246
RAFOS_CLK	945	FG_AHR_24Vo	0.000
RAFOS	0,1261468862,8.033334,8.017222,62,58,57,0,0,0,139,193,118,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.488281,-5730.500488,221209,080856,2,127,1.22	MEM	152476
IRIDIUM_FIX	6647.44,-5732.58,180399,070703	DATA_FILE_SIZE	53575,1367
TT8_MAMPS	0.027612	CAP_FILE_SIZE	169331,0
HUMID	48.74	CFSIZE	260165632,222171136
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,178,1,0
TCM_TEMP	16.50	SOUNDSPEED	1457.2
XPDR_PINGS	6	GPS	221209,111654,6710.824,-5722.740,34,1.4,52,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	301	166.21	SBE_CT	999	24	530.27
Roll_motor	180	108	435.49	SBE_O2	954	19	400.75
VBD_pump_during_apogee	359	1180	9382.89	nil	0	0	0.00
VBD_pump_during_surface	48	764	823.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	78	103	179.17	nil	0	0	0.00
Iridium_during_connect	112	160	396.53	nil	0	0	0.00
Iridium_during_xfer	279	223	1379.19
Transponder_ping	4	420	41.77
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.59
TT8	2404	19	483.77
LPSleep	8567	2	199.89
TT8_Active	599	19	120.52
TT8_Sampling	2672	39	1077.57
TT8_CF8	733	45	340.17
TT8_Kalman	0	0	0.00
Analog_circuits	1931	12	234.06
GPS_charging	0	0	0.00
Compass	2609	8	210.83
RAFOS	2520	1	38.18
Transponder	26	30	8.03

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.73	-146.0	0.0	0.0	0	113	0.00	0.00	-95.45	0.000	2	0.000	0.000	130	2465	2985	0	0	0	0	0	0
116	-0.73	-146.0	3.1	-4.2	19	148	11.62	2.17	-12.75	0.000	4	0.301	0.109	2450	857	3397	0	0	0	0	0	0
379	-0.73	-146.0	35.2	-10.7	66	385	0.00	2.08	0.00	0.000	6	0.000	0.076	2450	2454	3401	0	0	0	0	0	0
722	-0.73	-146.0	72.1	-11.1	127	727	0.00	2.15	0.00	0.000	4	0.000	0.094	2450	841	3401	0	0	0	0	0	0
980	-0.73	-146.0	98.7	-9.9	173	986	0.00	2.10	0.00	0.000	6	0.000	0.077	2450	2461	3401	0	0	0	0	0	0
1306	-0.78	-146.0	127.4	-9.5	205	1312	0.00	3.53	0.00	0.000	4	0.000	0.096	2450	3921	3400	0	0	6	0	0	0
1565	-0.85	-146.0	152.1	-9.8	227	1570	0.00	3.38	0.00	0.000	6	0.000	0.073	2450	2458	3400	0	0	4	0	0	0
1889	-0.93	-146.0	183.0	-9.3	258	1899	0.20	3.50	0.00	0.000	4	0.110	0.092	2373	3925	3399	0	0	6	0	0	0
2151	-0.74	-146.0	215.8	-12.4	281	2158	0.30	3.38	0.00	0.000	6	0.212	0.071	2443	2459	3399	0	0	3	0	0	0
2476	-0.81	-146.0	242.9	-7.9	312	2482	0.00	3.47	0.00	0.000	4	0.000	0.093	2443	3917	3399	0	0	6	0	0	0
2734	-0.89	-146.0	265.0	-8.3	334	2741	0.15	3.35	0.00	0.000	6	0.121	0.071	2394	2459	3399	0	0	4	0	0	0
3059	-0.82	-146.0	298.0	-10.0	365	3063	0.12	2.17	0.00	0.000	4	0.208	0.093	2423	859	3399	0	0	0	0	0	0
3315	-0.82	-146.0	323.2	-9.6	387	3321	0.00	2.12	0.00	0.000	6	0.000	0.074	2423	2455	3399	0	0	0	0	0	0
3640	-0.82	-146.0	351.7	-8.7	418	3646	0.00	3.50	0.00	0.000	4	0.000	0.092	2423	3924	3399	0	0	5	0	0	0
3837	-0.82	-146.0	369.4	-8.5	435	3843	0.00	3.35	0.00	0.000	6	0.000	0.070	2423	2458	3398	0	0	4	0	0	0
4162	-0.82	-146.0	397.9	-8.8	465	4167	0.00	3.50	0.00	0.000	4	0.000	0.091	2423	3926	3399	0	0	6	0	0	0
4419	-0.82	-146.0	421.1	-9.2	487	4425	0.00	3.35	0.00	0.000	6	0.000	0.068	2423	2457	3400	0	0	4	0	0	0
4746	-0.82	-146.0	448.4	-8.2	518	4752	0.00	3.47	0.00	0.000	4	0.000	0.089	2423	3918	3400	0	0	5	0	0	0
5003	-0.82	-146.0	469.8	-8.0	540	5009	0.00	3.33	0.00	0.000	6	0.000	0.068	2423	2460	3401	0	0	4	0	0	0
5328	-0.86	-146.0	494.4	-7.6	571	5333	0.00	3.50	0.00	0.000	4	0.000	0.089	2423	3929	3401	0	0	4	0	0	0
5585	-0.86	-146.0	514.1	-7.8	593	5591	0.00	3.35	0.00	0.000	6	0.000	0.068	2423	2459	3401	0	0	4	0	0	0
5910	-0.86	-146.0	539.0	-8.0	624	5914	0.00	2.17	0.00	0.000	4	0.000	0.090	2423	860	3401	0	0	0	0	0	0
6169	-0.86	-146.0	561.6	-9.0	647	6173	0.00	2.08	0.00	0.000	6	0.000	0.072	2423	2462	3402	0	0	0	0	0	0
6499	-0.92	-146.0	588.9	-8.2	678	6505	0.00	3.47	0.00	0.000	4	0.000	0.089	2423	3918	3402	0	0	4	0	0	0
6668	-0.98	-146.0	603.5	-8.7	690	6674	0.15	3.35	0.00	0.000	6	0.117	0.067	2373	2458	3402	0	0	3	0	0	0
6998	-0.88	-146.0	636.6	-9.8	701	7004	0.12	3.53	0.00	0.000	4	0.207	0.086	2387	3926	3402	0	0	3	0	0	0
7250	-0.81	-146.0	660.4	-9.4	708	7256	0.17	3.35	0.00	0.000	6	0.203	0.066	2425	2460	3402	0	0	3	0	0	0
7346	end dive: TARGET_DEPTH_EXCEEDED
state	7346	begin apogee
7352	-0.16	0.0	667.8	7.6	711	7481	0.75	0.00	125.82	1.180	6	0.185	0.000	2628	1934	2800	0	0	0	0	0	0
7482	end apogee: CONTROL_FINISHED_OK
state	7482	begin climb
7485	0.73	146.0	669.9	0.0	715	7625	0.98	2.17	131.07	1.122	4	0.136	0.093	2920	343	2202	0	0	0	0	0	0
7681	0.64	146.0	651.9	12.5	721	7686	0.00	1.98	0.00	0.000	6	0.000	0.062	2920	1963	2199	0	0	0	0	0	0
8010	0.55	146.0	613.0	11.8	732	8019	0.22	3.75	0.00	0.000	4	0.196	0.078	2852	3539	2195	0	0	4	0	0	0
8133	0.61	148.5	601.3	9.1	735	8139	0.00	3.75	0.00	0.000	6	0.000	0.072	2867	1941	2194	0	0	2	0	0	0
8458	0.73	163.2	573.2	8.5	763	8480	0.17	3.72	14.38	1.029	4	0.111	0.081	2926	3531	2134	0	0	4	0	0	0
8638	0.59	163.2	550.4	13.5	779	8648	0.25	3.70	0.00	0.000	6	0.203	0.074	2884	1945	2132	0	0	3	0	0	0
8966	0.65	164.6	519.8	9.1	810	8972	0.00	3.67	0.00	0.000	4	0.000	0.081	2884	3535	2132	0	0	5	0	0	0
9108	0.65	164.6	504.9	11.3	822	9113	0.00	3.70	0.00	0.000	6	0.000	0.074	2898	1943	2132	0	0	2	0	0	0
9432	0.65	164.6	472.5	10.2	852	9437	0.00	3.67	0.00	0.000	4	0.000	0.082	2898	3535	2132	0	0	5	0	0	0
9589	0.59	164.6	454.5	11.5	865	9596	0.12	3.70	0.00	0.000	6	0.206	0.074	2888	1939	2131	0	0	2	0	0	0
9914	0.65	164.6	423.4	9.3	896	9919	0.00	3.67	0.00	0.000	4	0.000	0.081	2887	3535	2131	0	0	5	0	0	0
10072	0.65	164.6	406.8	10.7	909	10078	0.00	3.70	0.00	0.000	6	0.000	0.074	2902	1944	2131	0	0	2	0	0	0
10396	0.65	164.6	374.8	9.9	940	10401	0.00	3.67	0.00	0.000	4	0.000	0.081	2902	3534	2131	0	0	5	0	0	0
10538	0.59	164.6	359.4	10.8	952	10548	0.15	3.65	0.00	0.000	6	0.203	0.074	2886	1949	2130	0	0	4	0	0	0
10867	0.68	169.7	328.9	8.9	983	10881	0.00	3.65	6.28	0.816	4	0.000	0.080	2886	3534	2109	0	0	5	0	0	0
11027	0.68	169.7	312.8	10.0	997	11034	0.00	3.65	0.00	0.000	6	0.000	0.074	2899	1950	2109	0	0	4	0	0	0
11352	0.74	169.7	282.1	9.5	1028	11358	0.00	3.67	0.00	0.000	4	0.000	0.081	2899	3535	2109	0	0	5	0	0	0
11487	0.74	169.7	267.2	11.1	1039	11493	0.00	3.67	0.00	0.000	6	0.000	0.074	2916	1941	2108	0	0	4	0	0	0
11811	0.74	171.4	235.3	9.1	1070	11817	0.00	3.70	0.00	0.000	4	0.000	0.081	2916	3531	2109	0	0	4	0	0	0
11958	0.67	171.4	220.1	10.6	1082	11964	0.00	3.67	0.00	0.000	6	0.000	0.075	2932	1938	2109	0	0	4	0	0	0
12282	0.67	171.4	185.7	10.3	1113	12287	0.00	3.70	0.00	0.000	4	0.000	0.081	2932	3532	2109	0	0	4	0	0	0
12418	0.55	171.4	171.0	10.8	1124	12424	0.30	3.67	0.00	0.000	6	0.198	0.075	2875	1936	2108	0	0	4	0	0	0
12742	0.80	228.6	148.6	6.8	1155	12804	0.22	3.80	50.50	0.863	4	0.104	0.081	2951	3535	1866	0	0	4	0	0	0
12967	0.71	228.6	121.2	12.2	1175	12974	0.20	3.75	0.00	0.000	6	0.197	0.076	2922	1948	1861	0	0	3	0	0	0
13298	0.85	265.6	92.9	7.6	1213	13340	0.12	3.80	31.62	0.821	4	0.130	0.083	2961	3534	1715	0	0	5	0	0	0
13503	0.79	265.6	69.1	12.5	1250	13509	0.15	3.75	0.00	0.000	6	0.200	0.076	2945	1941	1712	0	0	3	0	0	0
13849	0.88	265.6	34.9	10.2	1311	13855	0.00	3.75	0.00	0.000	4	0.000	0.083	2945	3536	1708	0	0	4	0	0	0
14001	0.88	265.6	17.3	11.8	1338	14007	0.00	3.72	0.00	0.000	6	0.000	0.078	2960	1942	1708	0	0	4	0	0	0
14140	end climb: SURFACE_DEPTH_REACHED
state	14140	begin surface coast
14164	end surface coast: CONTROL_FINISHED_OK
state	14164	begin surface