Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 414 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 ESCAPE_HEADING 0 C_ROLL_CLIMB 2330 ALTIM_FREQUENCY 13

MISSION 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 4

DIVE 414 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 1

D_SURF 4 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 31 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 SM_CC 375 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_ABORT 1010 N_FILEKB 4 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MIN 470 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3900 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 2858 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 83

T_DIVE 450 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_MISSION 510 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_TURN 225 T_GPS 15 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -10 N_GPS 20 W_ADJ_DBAND 2 PHONE_DEVICE 48

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -1593962.9 PITCH_W_GAIN 2 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 2 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

USE_BATHY -1 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0043206038

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00062367303

T_WATCHDOG 10 PITCH_MIN 400 MINV_10V 11 SEABIRD_T_I 2.3110064e-05

RELAUNCH 1 PITCH_MAX 3700 FG_AHR_10V 0 SEABIRD_T_J 2.4313138e-06

APOGEE_PITCH -7 C_PITCH 3325 FG_AHR_24V 0 SEABIRD_C_G -10.199382

MAX_BUOY 120 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1587334

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -63.106686 SEABIRD_C_I -0.0027609179

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_C_J 0.00029025986

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_GAIN 27.5 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 53474 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 165 COMPASS_USE 4 PM_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 1.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0027000001 ROLL_MIN 440 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 2.0

HD_B 0.0098999999 ROLL_MAX 4000 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2400 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_SURF 4 PITCH_DBAND 0.1 SEABIRD_T_J 2.4313138e-06

AH0_10V 0 D_TGT 990 PITCH_GAIN 27.5 SIM_PITCH 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3700 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SM_CC 375

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 400 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 STROBE 0

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0.5 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 2 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PM_NDIVE 2.0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0027000001 PM_PROFILE 1.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0098999999 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -7 HD_C 2.1999999e-06 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 PM_XMITRAW 0.0 T_ABORT 1440

CALL_TRIES 5 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.0001138132 T_BOOST 5

CALL_WAIT 60 HEAPDBG 0 PRESSURE_YINT -63.106686 T_DIVE 450

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_EPIRB 0

CAPUPLOAD 0 ID 187 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_GPS_ALMANAC 0

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1593962.9

COMPASS2_DEVICE -1 KALMAN_USE 2 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_MISSION 510

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RELAUNCH 1 T_RSLEEP 2

C_PITCH 3325 LOGGERDEVICE4 -1 RHO 1.0275 T_TURN 225

C_ROLL_CLIMB 2330 LOGGERS 3 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -10

C_ROLL_DIVE 2400 MASS 53474 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2858 MASS_COMP 0 ROLL_AD_RATE 350 UNCOM_BLEED 50

DBDW 0 MAX_BUOY 120 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MINV_10V 11 ROLL_DEG 40 USE_BATHY -1

DEVICE1 -1 MINV_24V 11 ROLL_MAX 4000 USE_ICE 0

DEVICE2 -1 MISSION 4 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MOTHERBOARD 4 ROLL_MIN 440 VBD_CNV -0.24529999

DEVICE4 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 NOCOMM_ACTION 163 R_PORT_OVSHOOT 31 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 21 VBD_MAXERRORS 1

DIVE 414 N_FILEKB 4 SC_PROFILE 3.0 VBD_MIN 470

D_ABORT 1010 N_GPS 20 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_NOCOMM 1 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_G -10.199382 VBD_TIMEOUT 720

D_FINISH 0 PHONE_DEVICE 48 SEABIRD_C_H 1.1587334 W_ADJ_DBAND 2

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_C_I -0.0027609179 XPDR_DEVICE 24

D_NO_BLEED 200 PITCH_ADJ_DBAND 0 SEABIRD_C_J 0.00029025986 XPDR_INHIBIT 90

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 SEABIRD_T_G 0.0043206038 XPDR_VALID 1

D_PITCH 0 PITCH_AD_RATE 165 SEABIRD_T_H 0.00062367303

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_I 2.3110064e-05

Pre-dive calculations and measurements:

GPS1 300914,090505,4752.979,-12516.459,38,1.3,43,18.8 SPEED_LIMITS 0.127,0.215

_CALLS 1 TGT_NAME SHELF

_XMS_NAKs 0 TGT_LATLONG 4751.930,-12510.270

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.18 MHEAD_RNG_PITCHd_Wd 118.7,7808,-14.0,-7.333,-18.81,2445

_SM_ANGLEo -69.1 D_GRID 293

GPS2 300914,091236,4752.978,-12516.356,16,1.5,21,18.8

Post-dive calculations and measurements:

FINISH 1.4,1.014687 _10V_AH 13.7,0.000

SM_CCo 7548,23.80,0.099,0,0,1329,375.06 FG_AHR_24Vo 0.000

SM_GC 2.79,9.02,0.10,23.80,0.058,0.177,0.099,389,2398,1329,-9.11,-0.76,375.06,0,0,0,0,0,0,14.31,14.31,14.25 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4738.89,-12517.69,300914,060655 MEM 290864

TT8_MAMPS 0.023968,0.023968 DATA_FILE_SIZE 23443,669

HUMID 50.98 CAP_FILE_SIZE 114503,0

INTERNAL_PRESSURE 8.9718 CFSIZE 260034560,216199168

TCM_TEMP 18.90 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,7765.88,0x2378ba,7,5

SC_FREEKB 3805536 CURRENT 0.239,336.3,1

PM_FREEKB 50648256 GPS 300914,112019,4753.282,-12516.587,11,1.6,11,18.8

_24V_AH 13.5,100.898

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 371 114.56 nil 0 0 0.00

Roll_motor 55 176 131.21 nil 0 0 0.00

VBD_pump_during_apogee 334 1042 4714.53 nil 0 0 0.00

VBD_pump_during_surface 23 99 31.95 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 SciCon 7535 7 792.83

Iridium_during_xfer 230 157 490.54 PMAR 3333 4 185.52

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 22 6.87

TT8 1595 10 223.39

LPSleep 4082 2 122.48

TT8_Active 540 10 75.63

TT8_Sampling 1414 28 560.82

TT8_CF8 390 35 190.74

TT8_Kalman 0 0 0.00

Analog_circuits 1427 10 195.57

GPS_charging 0 0 0.00

Compass 1047 0 10.76

RAFOS 0 0 0.00

Transponder 0 5 0.04

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

28 -0.59 -116.8 396 2401 529 420 0.0 0.0 0 111 0.00 0.00 -78.22 0.000 16386 0.000 0.000 396 2400 2542 2638 2446 0 0 0 0 0 0 28.83 28.83 28.83

117 -0.59 -116.8 396 2400 2638 2448 3.2 -1.8 8 161 12.48 2.60 -18.52 0.000 19204 0.372 0.110 3127 3821 3337 3388 3286 0 0 0 0 0 0 13.89 14.21 14.53

392 -0.59 -116.8 3127 3821 3389 3290 41.7 -11.5 36 401 0.00 2.45 0.00 0.000 1030 0.000 0.060 3127 2405 3339 3389 3290 0 0 0 0 0 0 28.83 14.26 28.83

642 -0.59 -116.8 3127 2402 3390 3288 71.6 -12.1 61 651 0.00 2.50 0.00 0.000 260 0.000 0.086 3127 3810 3340 3389 3292 0 0 0 0 0 0 28.83 14.20 28.83

882 -0.59 -116.8 3123 3810 3389 3292 98.1 -9.3 85 891 0.00 2.47 0.00 0.000 1030 0.000 0.061 3127 2386 3340 3389 3292 0 0 0 0 0 0 28.83 14.21 28.83

1132 -0.59 -116.8 3127 2381 3389 3292 118.5 -7.9 110 1142 0.00 2.55 0.00 0.000 260 0.000 0.087 3127 3810 3340 3389 3292 0 0 0 0 0 0 28.83 14.22 28.83

1372 -0.59 -116.8 3127 3808 3389 3292 140.9 -10.0 134 1382 0.00 2.45 0.00 0.000 1030 0.000 0.063 3127 2391 3340 3389 3292 0 0 0 0 0 0 28.83 14.26 28.83

1623 -0.59 -116.8 3127 2390 3387 3292 164.8 -9.5 159 1632 0.00 2.55 0.00 0.000 260 0.000 0.088 3127 3817 3343 3389 3298 0 0 0 0 0 0 28.83 14.23 28.83

1745 -0.59 -116.8 3132 3816 3389 3292 175.7 -8.7 171 1754 0.00 2.45 0.00 0.000 1030 0.000 0.063 3133 2399 3340 3389 3292 0 0 0 0 0 0 28.83 14.28 28.83

1994 -0.59 -116.8 3127 2398 3388 3291 195.5 -7.5 196 2002 0.00 0.00 0.00 0.000 6 0.000 0.000 3127 2396 3340 3389 3291 0 0 0 0 0 0 28.83 28.83 28.83

2244 -0.59 -116.8 3127 2394 3389 3289 216.4 -8.8 221 2252 0.00 0.00 0.00 0.000 6 0.000 0.000 3127 2398 3339 3389 3289 0 0 0 0 0 0 28.83 28.83 28.83

2494 -0.59 -116.8 3127 2397 3389 3289 237.1 -7.8 246 2502 0.00 0.00 0.00 0.000 6 0.000 0.000 3127 2398 3339 3389 3289 0 0 0 0 0 0 28.83 28.83 28.83

2754 -0.59 -116.8 3128 2398 3389 3288 258.0 -8.2 266 2757 0.00 0.00 0.00 0.000 6 0.000 0.000 3127 2398 3338 3389 3288 0 0 0 0 0 0 28.83 28.83 28.83

3054 -0.59 -116.8 3127 2398 3384 3287 281.6 -7.8 276 3062 0.00 2.55 0.00 0.000 260 0.000 0.089 3128 3819 3338 3389 3287 0 0 0 0 0 0 28.83 14.22 28.83

3124 -0.59 -116.8 3127 3819 3389 3287 287.4 -8.4 283 3132 0.00 2.47 0.00 0.000 1030 0.000 0.064 3127 2397 3338 3389 3287 0 0 0 0 0 0 28.83 14.27 28.83

3201 end dive: TARGET_DEPTH_EXCEEDED

state 3201 begin apogee

3210 -0.25 0.0 3127 2313 3389 3286 293.9 -8.3 287 3307 0.38 0.00 91.57 1.043 10246 0.185 0.000 3236 2313 2860 2939 2781 0 0 0 0 0 0 14.09 28.83 13.59

3311 end apogee: CONTROL_FINISHED_OK

state 3311 begin climb

3315 0.59 116.8 3236 2313 2934 2777 297.9 0.0 290 3417 0.85 0.00 92.93 1.021 10246 0.134 0.000 3509 2313 2379 2518 2241 0 0 0 0 0 0 14.08 28.83 13.47

3714 0.59 116.8 3509 2313 2517 2240 275.7 6.9 304 3724 0.00 2.55 0.00 0.000 260 0.000 0.086 3509 3744 2378 2517 2240 0 0 0 0 0 0 28.83 14.20 28.83

3823 0.59 116.8 3510 3744 2517 2240 266.6 8.5 315 3835 0.00 2.47 0.00 0.000 1030 0.000 0.065 3510 2336 2380 2521 2240 0 0 0 0 0 0 28.83 14.26 28.83

4135 0.59 116.8 3511 2336 2521 2240 242.6 7.5 332 4145 0.00 2.50 0.00 0.000 260 0.000 0.086 3510 3742 2378 2517 2240 0 0 0 0 0 0 28.83 14.26 28.83

4225 0.59 116.8 3509 3743 2516 2240 234.9 8.9 341 4236 0.00 2.45 0.00 0.000 1030 0.000 0.065 3510 2320 2378 2517 2240 0 0 0 0 0 0 28.83 14.30 28.83

4476 0.59 116.8 3510 2321 2516 2239 213.7 8.7 366 4486 0.00 0.00 0.00 0.000 6 0.000 0.000 3510 2321 2377 2516 2239 0 0 0 0 0 0 28.83 28.83 28.83

4726 0.59 116.8 3515 2320 2523 2239 193.4 7.8 391 4736 0.00 0.00 0.00 0.000 6 0.000 0.000 3510 2321 2377 2516 2239 0 0 0 0 0 0 28.83 28.83 28.83

4977 0.59 116.8 3510 2321 2516 2238 174.4 7.7 416 4987 0.00 0.00 0.00 0.000 6 0.000 0.000 3510 2321 2375 2517 2234 0 0 0 0 0 0 28.83 28.83 28.83

5227 0.61 116.8 3510 2322 2516 2237 156.8 6.3 441 5236 0.00 0.00 0.00 0.000 6 0.000 0.000 3509 2320 2376 2516 2237 0 0 0 0 0 0 28.83 28.83 28.83

5477 0.65 167.5 3510 2321 2516 2236 143.2 5.2 466 5526 0.00 0.00 38.40 0.868 8198 0.000 0.000 3509 2321 2172 2324 2021 0 0 0 0 0 0 28.83 28.83 13.84

5770 0.66 167.5 3510 2321 2324 2021 126.0 6.7 495 5782 0.00 2.45 0.00 0.000 516 0.000 0.080 3510 917 2173 2324 2022 0 0 0 0 0 0 28.83 14.24 28.83

5832 0.68 167.5 3510 917 2323 2025 121.6 6.5 501 5844 0.10 2.47 0.00 0.000 3078 0.156 0.070 3555 2345 2173 2325 2022 0 0 0 0 0 0 14.28 14.29 28.83

6084 0.69 167.5 3555 2345 2324 2022 102.2 6.5 526 6095 0.00 2.45 0.00 0.000 260 0.000 0.087 3555 3735 2173 2324 2022 0 0 0 0 0 0 28.83 14.25 28.83

6175 0.69 167.5 3555 3734 2324 2022 94.7 8.8 535 6187 0.00 2.42 0.00 0.000 1030 0.000 0.066 3562 2335 2173 2324 2022 0 0 0 0 0 0 28.83 14.29 28.83

6428 0.69 167.5 3561 2335 2324 2019 73.9 7.3 560 6438 0.00 2.47 0.00 0.000 516 0.000 0.080 3562 917 2173 2324 2022 0 0 0 0 0 0 28.83 14.19 28.83

6669 0.69 167.5 3562 917 2324 2022 56.8 7.5 584 6680 0.00 2.45 0.00 0.000 1030 0.000 0.068 3561 2329 2176 2330 2022 0 0 0 0 0 0 28.83 14.31 28.83

6920 0.76 265.4 3562 2328 2319 2022 42.1 3.2 609 7002 0.00 2.55 71.95 0.732 8708 0.000 0.080 3567 921 1773 1920 1626 0 0 0 0 0 0 28.83 14.24 13.83

7042 0.80 318.4 3563 921 1919 1626 36.8 5.1 621 7092 0.00 2.47 40.08 0.720 9222 0.000 0.070 3562 2340 1555 1701 1410 0 0 0 0 0 0 28.83 14.23 13.74

7335 0.80 318.4 3562 2340 1699 1408 12.1 7.2 650 7345 0.00 0.00 0.00 0.000 6 0.000 0.000 3561 2340 1552 1697 1408 0 0 0 0 0 0 28.83 28.83 28.83

7464 end climb: SURFACE_DEPTH_REACHED

state 7464 begin surface coast

7522 end surface coast: CONTROL_FINISHED_OK

state 7522 begin surface

ID	187	ESCAPE_HEADING	0	C_ROLL_CLIMB	2330	ALTIM_FREQUENCY	13
MISSION	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	4
DIVE	414	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	1
D_SURF	4	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	31	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	SM_CC	375	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_ABORT	1010	N_FILEKB	4	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MIN	470	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3900	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	2858	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	83
T_DIVE	450	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_MISSION	510	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_TURN	225	T_GPS	15	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-10	N_GPS	20	W_ADJ_DBAND	2	PHONE_DEVICE	48
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-1593962.9	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	2	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
USE_BATHY	-1	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0043206038
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00062367303
T_WATCHDOG	10	PITCH_MIN	400	MINV_10V	11	SEABIRD_T_I	2.3110064e-05
RELAUNCH	1	PITCH_MAX	3700	FG_AHR_10V	0	SEABIRD_T_J	2.4313138e-06
APOGEE_PITCH	-7	C_PITCH	3325	FG_AHR_24V	0	SEABIRD_C_G	-10.199382
MAX_BUOY	120	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1587334
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-63.106686	SEABIRD_C_I	-0.0027609179
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_C_J	0.00029025986
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_GAIN	27.5	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	53474	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	165	COMPASS_USE	4	PM_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	1.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0027000001	ROLL_MIN	440	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	2.0
HD_B	0.0098999999	ROLL_MAX	4000	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2400	ALTIM_PING_DELTA	0

GPS1	300914,090505,4752.979,-12516.459,38,1.3,43,18.8	SPEED_LIMITS	0.127,0.215
_CALLS	1	TGT_NAME	SHELF
_XMS_NAKs	0	TGT_LATLONG	4751.930,-12510.270
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.18	MHEAD_RNG_PITCHd_Wd	118.7,7808,-14.0,-7.333,-18.81,2445
_SM_ANGLEo	-69.1	D_GRID	293
GPS2	300914,091236,4752.978,-12516.356,16,1.5,21,18.8

FINISH	1.4,1.014687	_10V_AH	13.7,0.000
SM_CCo	7548,23.80,0.099,0,0,1329,375.06	FG_AHR_24Vo	0.000
SM_GC	2.79,9.02,0.10,23.80,0.058,0.177,0.099,389,2398,1329,-9.11,-0.76,375.06,0,0,0,0,0,0,14.31,14.31,14.25	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4738.89,-12517.69,300914,060655	MEM	290864
TT8_MAMPS	0.023968,0.023968	DATA_FILE_SIZE	23443,669
HUMID	50.98	CAP_FILE_SIZE	114503,0
INTERNAL_PRESSURE	8.9718	CFSIZE	260034560,216199168
TCM_TEMP	18.90	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,7765.88,0x2378ba,7,5
SC_FREEKB	3805536	CURRENT	0.239,336.3,1
PM_FREEKB	50648256	GPS	300914,112019,4753.282,-12516.587,11,1.6,11,18.8
_24V_AH	13.5,100.898

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	371	114.56	nil	0	0	0.00
Roll_motor	55	176	131.21	nil	0	0	0.00
VBD_pump_during_apogee	334	1042	4714.53	nil	0	0	0.00
VBD_pump_during_surface	23	99	31.95	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	SciCon	7535	7	792.83
Iridium_during_xfer	230	157	490.54	PMAR	3333	4	185.52
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	22	6.87
TT8	1595	10	223.39
LPSleep	4082	2	122.48
TT8_Active	540	10	75.63
TT8_Sampling	1414	28	560.82
TT8_CF8	390	35	190.74
TT8_Kalman	0	0	0.00
Analog_circuits	1427	10	195.57
GPS_charging	0	0	0.00
Compass	1047	0	10.76
RAFOS	0	0	0.00
Transponder	0	5	0.04

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
28	-0.59	-116.8	396	2401	529	420	0.0	0.0	0	111	0.00	0.00	-78.22	0.000	16386	0.000	0.000	396	2400	2542	2638	2446	0	0	0	0	0	0	28.83	28.83	28.83
117	-0.59	-116.8	396	2400	2638	2448	3.2	-1.8	8	161	12.48	2.60	-18.52	0.000	19204	0.372	0.110	3127	3821	3337	3388	3286	0	0	0	0	0	0	13.89	14.21	14.53
392	-0.59	-116.8	3127	3821	3389	3290	41.7	-11.5	36	401	0.00	2.45	0.00	0.000	1030	0.000	0.060	3127	2405	3339	3389	3290	0	0	0	0	0	0	28.83	14.26	28.83
642	-0.59	-116.8	3127	2402	3390	3288	71.6	-12.1	61	651	0.00	2.50	0.00	0.000	260	0.000	0.086	3127	3810	3340	3389	3292	0	0	0	0	0	0	28.83	14.20	28.83
882	-0.59	-116.8	3123	3810	3389	3292	98.1	-9.3	85	891	0.00	2.47	0.00	0.000	1030	0.000	0.061	3127	2386	3340	3389	3292	0	0	0	0	0	0	28.83	14.21	28.83
1132	-0.59	-116.8	3127	2381	3389	3292	118.5	-7.9	110	1142	0.00	2.55	0.00	0.000	260	0.000	0.087	3127	3810	3340	3389	3292	0	0	0	0	0	0	28.83	14.22	28.83
1372	-0.59	-116.8	3127	3808	3389	3292	140.9	-10.0	134	1382	0.00	2.45	0.00	0.000	1030	0.000	0.063	3127	2391	3340	3389	3292	0	0	0	0	0	0	28.83	14.26	28.83
1623	-0.59	-116.8	3127	2390	3387	3292	164.8	-9.5	159	1632	0.00	2.55	0.00	0.000	260	0.000	0.088	3127	3817	3343	3389	3298	0	0	0	0	0	0	28.83	14.23	28.83
1745	-0.59	-116.8	3132	3816	3389	3292	175.7	-8.7	171	1754	0.00	2.45	0.00	0.000	1030	0.000	0.063	3133	2399	3340	3389	3292	0	0	0	0	0	0	28.83	14.28	28.83
1994	-0.59	-116.8	3127	2398	3388	3291	195.5	-7.5	196	2002	0.00	0.00	0.00	0.000	6	0.000	0.000	3127	2396	3340	3389	3291	0	0	0	0	0	0	28.83	28.83	28.83
2244	-0.59	-116.8	3127	2394	3389	3289	216.4	-8.8	221	2252	0.00	0.00	0.00	0.000	6	0.000	0.000	3127	2398	3339	3389	3289	0	0	0	0	0	0	28.83	28.83	28.83
2494	-0.59	-116.8	3127	2397	3389	3289	237.1	-7.8	246	2502	0.00	0.00	0.00	0.000	6	0.000	0.000	3127	2398	3339	3389	3289	0	0	0	0	0	0	28.83	28.83	28.83
2754	-0.59	-116.8	3128	2398	3389	3288	258.0	-8.2	266	2757	0.00	0.00	0.00	0.000	6	0.000	0.000	3127	2398	3338	3389	3288	0	0	0	0	0	0	28.83	28.83	28.83
3054	-0.59	-116.8	3127	2398	3384	3287	281.6	-7.8	276	3062	0.00	2.55	0.00	0.000	260	0.000	0.089	3128	3819	3338	3389	3287	0	0	0	0	0	0	28.83	14.22	28.83
3124	-0.59	-116.8	3127	3819	3389	3287	287.4	-8.4	283	3132	0.00	2.47	0.00	0.000	1030	0.000	0.064	3127	2397	3338	3389	3287	0	0	0	0	0	0	28.83	14.27	28.83
3201	end dive: TARGET_DEPTH_EXCEEDED
state	3201	begin apogee
3210	-0.25	0.0	3127	2313	3389	3286	293.9	-8.3	287	3307	0.38	0.00	91.57	1.043	10246	0.185	0.000	3236	2313	2860	2939	2781	0	0	0	0	0	0	14.09	28.83	13.59
3311	end apogee: CONTROL_FINISHED_OK
state	3311	begin climb
3315	0.59	116.8	3236	2313	2934	2777	297.9	0.0	290	3417	0.85	0.00	92.93	1.021	10246	0.134	0.000	3509	2313	2379	2518	2241	0	0	0	0	0	0	14.08	28.83	13.47
3714	0.59	116.8	3509	2313	2517	2240	275.7	6.9	304	3724	0.00	2.55	0.00	0.000	260	0.000	0.086	3509	3744	2378	2517	2240	0	0	0	0	0	0	28.83	14.20	28.83
3823	0.59	116.8	3510	3744	2517	2240	266.6	8.5	315	3835	0.00	2.47	0.00	0.000	1030	0.000	0.065	3510	2336	2380	2521	2240	0	0	0	0	0	0	28.83	14.26	28.83
4135	0.59	116.8	3511	2336	2521	2240	242.6	7.5	332	4145	0.00	2.50	0.00	0.000	260	0.000	0.086	3510	3742	2378	2517	2240	0	0	0	0	0	0	28.83	14.26	28.83
4225	0.59	116.8	3509	3743	2516	2240	234.9	8.9	341	4236	0.00	2.45	0.00	0.000	1030	0.000	0.065	3510	2320	2378	2517	2240	0	0	0	0	0	0	28.83	14.30	28.83
4476	0.59	116.8	3510	2321	2516	2239	213.7	8.7	366	4486	0.00	0.00	0.00	0.000	6	0.000	0.000	3510	2321	2377	2516	2239	0	0	0	0	0	0	28.83	28.83	28.83
4726	0.59	116.8	3515	2320	2523	2239	193.4	7.8	391	4736	0.00	0.00	0.00	0.000	6	0.000	0.000	3510	2321	2377	2516	2239	0	0	0	0	0	0	28.83	28.83	28.83
4977	0.59	116.8	3510	2321	2516	2238	174.4	7.7	416	4987	0.00	0.00	0.00	0.000	6	0.000	0.000	3510	2321	2375	2517	2234	0	0	0	0	0	0	28.83	28.83	28.83
5227	0.61	116.8	3510	2322	2516	2237	156.8	6.3	441	5236	0.00	0.00	0.00	0.000	6	0.000	0.000	3509	2320	2376	2516	2237	0	0	0	0	0	0	28.83	28.83	28.83
5477	0.65	167.5	3510	2321	2516	2236	143.2	5.2	466	5526	0.00	0.00	38.40	0.868	8198	0.000	0.000	3509	2321	2172	2324	2021	0	0	0	0	0	0	28.83	28.83	13.84
5770	0.66	167.5	3510	2321	2324	2021	126.0	6.7	495	5782	0.00	2.45	0.00	0.000	516	0.000	0.080	3510	917	2173	2324	2022	0	0	0	0	0	0	28.83	14.24	28.83
5832	0.68	167.5	3510	917	2323	2025	121.6	6.5	501	5844	0.10	2.47	0.00	0.000	3078	0.156	0.070	3555	2345	2173	2325	2022	0	0	0	0	0	0	14.28	14.29	28.83
6084	0.69	167.5	3555	2345	2324	2022	102.2	6.5	526	6095	0.00	2.45	0.00	0.000	260	0.000	0.087	3555	3735	2173	2324	2022	0	0	0	0	0	0	28.83	14.25	28.83
6175	0.69	167.5	3555	3734	2324	2022	94.7	8.8	535	6187	0.00	2.42	0.00	0.000	1030	0.000	0.066	3562	2335	2173	2324	2022	0	0	0	0	0	0	28.83	14.29	28.83
6428	0.69	167.5	3561	2335	2324	2019	73.9	7.3	560	6438	0.00	2.47	0.00	0.000	516	0.000	0.080	3562	917	2173	2324	2022	0	0	0	0	0	0	28.83	14.19	28.83
6669	0.69	167.5	3562	917	2324	2022	56.8	7.5	584	6680	0.00	2.45	0.00	0.000	1030	0.000	0.068	3561	2329	2176	2330	2022	0	0	0	0	0	0	28.83	14.31	28.83
6920	0.76	265.4	3562	2328	2319	2022	42.1	3.2	609	7002	0.00	2.55	71.95	0.732	8708	0.000	0.080	3567	921	1773	1920	1626	0	0	0	0	0	0	28.83	14.24	13.83
7042	0.80	318.4	3563	921	1919	1626	36.8	5.1	621	7092	0.00	2.47	40.08	0.720	9222	0.000	0.070	3562	2340	1555	1701	1410	0	0	0	0	0	0	28.83	14.23	13.74
7335	0.80	318.4	3562	2340	1699	1408	12.1	7.2	650	7345	0.00	0.00	0.00	0.000	6	0.000	0.000	3561	2340	1552	1697	1408	0	0	0	0	0	0	28.83	28.83	28.83
7464	end climb: SURFACE_DEPTH_REACHED
state	7464	begin surface coast
7522	end surface coast: CONTROL_FINISHED_OK
state	7522	begin surface