Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 63 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 63 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3353 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3250 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

D_TGT 1000 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 482.49722 R_PORT_OVSHOOT 51 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 370 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 385 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -8000.874 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1650 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043127281

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.913475 SEABIRD_T_H 0.00062185986

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2048062e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2117231e-06

MASS 52459 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.303595

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1762303

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001936322

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024357962

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 482.49722

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON -200

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00061500003 T_BOOST 5

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 370

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.913475 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -8000.874

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 385

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 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 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1650 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3250 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3353 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 51 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 21 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 200 SEABIRD_C_G -10.303595 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1762303 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.001936322 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00024357962 VBD_TIMEOUT 800

DIVE 63 MOTHERBOARD 4 SEABIRD_T_G 0.0043127281 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00062185986 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2048062e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.2117231e-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 181212,212522,-4230.650,822.473,41,0.9,41,-25.0 TGT_NAME GH1

_CALLS 3 TGT_LATLONG -4230.000,820.000

_XMS_NAKs 0 TGT_RADIUS 800.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.164,0.016

_SM_DEPTHo 1.03 KALMAN_X -3484.9,417.5,251.5,31353.6,139.7

_SM_ANGLEo -23.2 KALMAN_Y 83535.0,-129.3,-85.5,-84203.6,592.4

GPS2 181212,214311,-4230.517,822.574,16,1.3,17,-25.0 MHEAD_RNG_PITCHd_Wd 300.7,3642,-25.7,-9.009

SPEED_LIMITS 0.156,0.284 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.017512 _10V_AH 10.1,6.910

SM_CCo 12081,168.62,0.749,1,0,505,482.50 FG_AHR_24Vo 0.000

SM_GC 1.46,0.00,0.00,168.62,0.000,0.000,0.749,54,3369,505,-4.99,0.45,482.50 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4215.72,821.02,181212,212124 MEM 354260

TT8_MAMPS 0.025466 DATA_FILE_SIZE 47036,615

HUMID 54.96 CAP_FILE_SIZE 114063,0

INTERNAL_PRESSURE 8.93706 CFSIZE 259252224,254529536

TCM_TEMP 13.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1

XPDR_PINGS 0 GPS 191212,010934,-4230.042,821.246,31,0.9,31,-25.0

_24V_AH 23.0,13.733

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 239 67.46 SBE_CT 400 24 221.25

Roll_motor 57 86 115.02 AA4330 1359 33 1032.04

VBD_pump_during_apogee 193 1800 8013.17 WL_BB2FLVMT 648 105 1566.64

VBD_pump_during_surface 168 748 2904.65 QSP2150 307 4 30.97

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 91 103 216.92 nil 0 0 0.00

Iridium_during_connect 106 160 391.59 nil 0 0 0.00

Iridium_during_xfer 550 223 2822.10 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.30

TT8 1610 14 243.41

LPSleep 7897 2 174.68

TT8_Active 481 14 69.06

TT8_Sampling 2565 37 969.90

TT8_CF8 771 47 367.32

TT8_Kalman 33 59 19.93

Analog_circuits 1315 12 159.44

GPS_charging 0 0 0.00

Compass 1983 15 315.17

RAFOS 0 0 0.00

Transponder 1 5 0.05

Guidance and control:

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

20 -0.75 -59.9 0.0 0.0 0 118 0.00 0.00 -89.47 0.000 6 0.000 0.000 57 3361 2721 0 0 0 0 0 0

122 -0.77 -97.2 3.6 -5.2 12 141 5.45 2.20 -3.75 0.000 4 0.239 0.045 1395 1950 2870 0 0 0 0 0 0

203 -0.77 -97.2 16.7 -14.2 23 214 0.00 2.33 0.00 0.000 6 0.000 0.058 1386 3343 2872 0 0 0 0 0 0

292 -0.77 -97.2 32.5 -16.7 36 300 0.00 0.00 0.00 0.000 6 0.000 0.000 1386 3343 2872 0 0 0 0 0 0

542 -0.77 -97.2 72.9 -15.4 77 547 0.00 2.12 0.00 0.000 4 0.000 0.032 1386 1952 2872 0 0 0 0 0 0

597 -0.77 -97.2 79.9 -12.9 85 602 0.00 2.30 0.00 0.000 6 0.000 0.060 1375 3358 2872 0 0 0 0 0 0

928 -0.77 -97.2 133.3 -15.7 120 932 0.00 0.93 0.00 0.000 4 0.000 0.057 1371 3944 2873 0 0 0 0 0 0

1196 -0.77 -97.2 178.8 -17.1 135 1199 0.00 0.88 0.00 0.000 6 0.000 0.034 1371 3362 2873 0 0 0 0 0 0

1520 -0.77 -97.2 229.6 -16.0 156 1524 0.00 0.93 0.00 0.000 4 0.000 0.055 1366 3950 2873 0 0 0 0 0 0

1578 -0.77 -97.2 238.5 -17.5 159 1582 0.10 0.90 0.00 0.000 6 0.187 0.034 1394 3353 2872 0 0 0 0 0 0

1907 -0.77 -97.2 285.7 -14.1 176 1910 0.00 0.98 0.00 0.000 4 0.000 0.058 1391 3955 2873 0 0 0 0 0 0

2000 -0.77 -97.2 300.0 -14.8 180 2003 0.00 0.90 0.00 0.000 6 0.000 0.035 1391 3354 2873 0 0 0 0 0 0

2334 -0.77 -97.2 348.1 -14.3 196 2337 0.00 0.95 0.00 0.000 4 0.000 0.057 1387 3958 2873 0 0 0 0 0 0

2460 -0.77 -97.2 367.3 -14.6 201 2464 0.00 0.90 0.00 0.000 6 0.000 0.035 1387 3357 2872 0 0 0 0 0 0

2782 -0.77 -97.2 409.4 -12.4 216 2785 0.00 0.93 0.00 0.000 4 0.000 0.057 1382 3948 2873 0 0 0 0 0 0

2876 -0.77 -97.2 423.0 -14.4 218 2882 0.00 0.90 0.00 0.000 6 0.000 0.036 1382 3348 2872 0 0 0 0 0 0

3189 -0.77 -97.2 464.0 -13.3 229 3190 0.00 0.00 0.00 0.000 6 0.000 0.000 1382 3348 2872 0 0 0 0 0 0

3496 -0.77 -97.2 506.4 -14.0 239 3498 0.00 0.00 0.00 0.000 6 0.000 0.000 1382 3348 2871 0 0 0 0 0 0

3802 -0.77 -97.2 548.8 -14.0 249 3807 0.00 0.95 0.00 0.000 4 0.000 0.057 1378 3954 2870 0 0 0 0 0 0

3881 -0.77 -97.2 561.0 -15.5 251 3884 0.00 0.90 0.00 0.000 6 0.000 0.035 1378 3350 2871 0 0 0 0 0 0

4211 -0.77 -97.2 607.2 -13.9 262 4212 0.00 0.00 0.00 0.000 6 0.000 0.000 1378 3350 2870 0 0 0 0 0 0

4517 -0.77 -97.2 649.1 -13.4 272 4521 0.00 0.95 0.00 0.000 4 0.000 0.058 1374 3955 2869 0 0 0 0 0 0

4713 -0.77 -97.2 678.0 -14.9 277 4720 0.00 0.90 0.00 0.000 6 0.000 0.036 1373 3352 2868 0 0 0 0 0 0

5027 -0.77 -97.2 720.0 -13.5 288 5030 0.00 0.95 0.00 0.000 4 0.000 0.058 1369 3958 2867 0 0 0 0 0 0

5157 -0.77 -97.2 739.5 -15.0 291 5164 0.08 0.90 0.00 0.000 6 0.192 0.037 1390 3359 2867 0 0 0 0 0 0

5470 -0.77 -97.2 777.8 -12.1 302 5476 0.00 2.15 0.00 0.000 4 0.000 0.034 1390 1938 2866 0 0 0 0 0 0

5498 -0.77 -97.2 781.4 -11.7 302 5505 0.00 2.28 0.00 0.000 6 0.000 0.057 1381 3363 2866 0 0 0 0 0 0

5812 -0.77 -97.2 822.7 -13.7 313 5813 0.00 0.00 0.00 0.000 6 0.000 0.000 1381 3363 2866 0 0 0 0 0 0

6119 -0.77 -97.2 865.0 -14.0 323 6123 0.00 0.93 0.00 0.000 4 0.000 0.059 1377 3953 2865 0 0 0 0 0 0

6221 -0.77 -97.2 880.0 -15.2 326 6224 0.00 0.90 0.00 0.000 6 0.000 0.037 1377 3351 2864 0 0 0 0 0 0

6562 -0.77 -97.2 927.1 -13.6 337 6567 0.00 0.95 0.00 0.000 4 0.000 0.059 1372 3954 2864 0 0 0 0 0 0

6641 -0.77 -97.2 938.8 -14.5 339 6644 0.00 0.90 0.00 0.000 6 0.000 0.038 1372 3355 2864 0 0 0 0 0 0

6971 -0.77 -97.2 983.6 -13.3 350 6977 0.00 0.93 0.00 0.000 4 0.000 0.058 1368 3947 2863 0 0 0 0 0 0

7061 -0.77 -97.2 996.6 -14.9 352 7067 0.10 0.90 0.00 0.000 6 0.192 0.038 1396 3349 2862 0 0 0 0 0 0

7103 end dive: TARGET_DEPTH_EXCEEDED

state 7103 begin apogee

7110 -0.14 0.0 1001.8 12.5 354 7212 0.68 0.00 94.45 1.800 6 0.163 0.000 1596 3257 2472 0 0 0 0 1 0

7214 end apogee: CONTROL_FINISHED_OK

state 7214 begin climb

7217 0.77 97.2 1004.2 0.0 357 7325 0.90 0.00 99.10 1.779 6 0.074 0.000 1896 3256 2077 0 0 0 0 1 0

7625 0.77 97.2 924.9 22.4 371 7628 0.00 1.15 0.00 0.000 4 0.000 0.054 1896 3951 2069 0 0 0 0 0 0

7668 0.77 97.2 913.9 25.1 372 7672 0.00 1.10 0.00 0.000 6 0.000 0.033 1901 3242 2069 0 0 0 0 0 0

7999 0.77 97.2 840.0 22.5 383 8002 0.00 1.15 0.00 0.000 4 0.000 0.054 1901 3947 2066 0 0 0 0 0 0

8121 0.77 97.2 810.8 24.2 386 8124 0.00 1.08 0.00 0.000 6 0.000 0.033 1905 3244 2065 0 0 0 0 0 0

8441 0.77 97.2 742.5 21.3 397 8442 0.00 0.00 0.00 0.000 6 0.000 0.000 1905 3244 2064 0 0 0 0 0 0

8745 0.77 97.2 677.5 21.0 407 8751 0.00 1.12 0.00 0.000 4 0.000 0.055 1905 3946 2063 0 0 0 0 0 0

9004 0.77 97.2 618.0 23.2 414 9008 0.00 1.05 0.00 0.000 6 0.000 0.032 1911 3246 2062 0 0 0 0 0 0

9324 0.77 97.2 551.6 20.5 425 9328 0.00 1.12 0.00 0.000 4 0.000 0.054 1911 3950 2062 0 0 0 0 0 0

9400 0.77 97.2 534.9 22.7 427 9403 0.00 1.05 0.00 0.000 6 0.000 0.033 1916 3249 2062 0 0 0 0 0 0

9735 0.77 97.2 464.4 21.0 438 9739 0.00 1.12 0.00 0.000 4 0.000 0.054 1916 3958 2061 0 0 0 0 0 0

9847 0.77 97.2 439.1 22.0 441 9853 0.00 1.05 0.00 0.000 6 0.000 0.033 1921 3253 2060 0 0 0 0 0 0

10179 0.77 97.2 369.4 20.9 454 10183 0.00 1.10 0.00 0.000 4 0.000 0.053 1921 3950 2060 0 0 0 0 0 0

10259 0.77 97.2 351.1 23.5 457 10263 0.00 1.05 0.00 0.000 6 0.000 0.033 1926 3247 2060 0 0 0 0 0 0

10584 0.77 97.2 283.0 21.3 473 10589 0.00 1.12 0.00 0.000 4 0.000 0.053 1926 3954 2060 0 0 0 0 0 0

10668 0.77 97.2 263.9 23.8 476 10672 0.10 1.05 0.00 0.000 6 0.216 0.033 1905 3248 2060 0 0 0 0 0 0

10995 0.77 97.2 200.3 18.9 496 10999 0.00 1.10 0.00 0.000 4 0.000 0.054 1904 3947 2059 0 0 0 0 0 0

11016 0.77 97.2 196.2 19.6 497 11020 0.00 1.02 0.00 0.000 6 0.000 0.033 1908 3256 2059 0 0 0 0 0 0

11348 0.77 97.2 130.8 19.4 518 11352 0.00 1.10 0.00 0.000 4 0.000 0.053 1908 3955 2059 0 0 0 0 0 0

11620 0.77 97.2 74.0 20.3 546 11629 0.00 1.05 0.00 0.000 6 0.000 0.032 1914 3246 2059 0 0 0 0 0 0

12001 0.77 97.2 11.3 16.0 607 12010 0.00 2.12 0.00 0.000 4 0.000 0.031 1925 1837 2059 0 0 0 0 0 0

12027 0.77 97.2 6.2 17.4 610 12036 0.00 2.25 0.00 0.000 6 0.000 0.047 1925 3258 2057 0 0 0 0 0 0

12042 end climb: SURFACE_DEPTH_REACHED

state 12042 begin surface coast

12065 end surface coast: CONTROL_FINISHED_OK

state 12065 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	63	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3353	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3250	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
D_TGT	1000	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	482.49722	R_PORT_OVSHOOT	51	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	370	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	385	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-8000.874	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1650	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043127281
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.913475	SEABIRD_T_H	0.00062185986
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2048062e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2117231e-06
MASS	52459	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.303595
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1762303
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001936322
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024357962
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	181212,212522,-4230.650,822.473,41,0.9,41,-25.0	TGT_NAME	GH1
_CALLS	3	TGT_LATLONG	-4230.000,820.000
_XMS_NAKs	0	TGT_RADIUS	800.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.164,0.016
_SM_DEPTHo	1.03	KALMAN_X	-3484.9,417.5,251.5,31353.6,139.7
_SM_ANGLEo	-23.2	KALMAN_Y	83535.0,-129.3,-85.5,-84203.6,592.4
GPS2	181212,214311,-4230.517,822.574,16,1.3,17,-25.0	MHEAD_RNG_PITCHd_Wd	300.7,3642,-25.7,-9.009
SPEED_LIMITS	0.156,0.284	D_GRID	1000

FINISH	0.9,1.017512	_10V_AH	10.1,6.910
SM_CCo	12081,168.62,0.749,1,0,505,482.50	FG_AHR_24Vo	0.000
SM_GC	1.46,0.00,0.00,168.62,0.000,0.000,0.749,54,3369,505,-4.99,0.45,482.50	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4215.72,821.02,181212,212124	MEM	354260
TT8_MAMPS	0.025466	DATA_FILE_SIZE	47036,615
HUMID	54.96	CAP_FILE_SIZE	114063,0
INTERNAL_PRESSURE	8.93706	CFSIZE	259252224,254529536
TCM_TEMP	13.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS	0	GPS	191212,010934,-4230.042,821.246,31,0.9,31,-25.0
_24V_AH	23.0,13.733

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	239	67.46	SBE_CT	400	24	221.25
Roll_motor	57	86	115.02	AA4330	1359	33	1032.04
VBD_pump_during_apogee	193	1800	8013.17	WL_BB2FLVMT	648	105	1566.64
VBD_pump_during_surface	168	748	2904.65	QSP2150	307	4	30.97
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	91	103	216.92	nil	0	0	0.00
Iridium_during_connect	106	160	391.59	nil	0	0	0.00
Iridium_during_xfer	550	223	2822.10	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.30
TT8	1610	14	243.41
LPSleep	7897	2	174.68
TT8_Active	481	14	69.06
TT8_Sampling	2565	37	969.90
TT8_CF8	771	47	367.32
TT8_Kalman	33	59	19.93
Analog_circuits	1315	12	159.44
GPS_charging	0	0	0.00
Compass	1983	15	315.17
RAFOS	0	0	0.00
Transponder	1	5	0.05

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
20	-0.75	-59.9	0.0	0.0	0	118	0.00	0.00	-89.47	0.000	6	0.000	0.000	57	3361	2721	0	0	0	0	0	0
122	-0.77	-97.2	3.6	-5.2	12	141	5.45	2.20	-3.75	0.000	4	0.239	0.045	1395	1950	2870	0	0	0	0	0	0
203	-0.77	-97.2	16.7	-14.2	23	214	0.00	2.33	0.00	0.000	6	0.000	0.058	1386	3343	2872	0	0	0	0	0	0
292	-0.77	-97.2	32.5	-16.7	36	300	0.00	0.00	0.00	0.000	6	0.000	0.000	1386	3343	2872	0	0	0	0	0	0
542	-0.77	-97.2	72.9	-15.4	77	547	0.00	2.12	0.00	0.000	4	0.000	0.032	1386	1952	2872	0	0	0	0	0	0
597	-0.77	-97.2	79.9	-12.9	85	602	0.00	2.30	0.00	0.000	6	0.000	0.060	1375	3358	2872	0	0	0	0	0	0
928	-0.77	-97.2	133.3	-15.7	120	932	0.00	0.93	0.00	0.000	4	0.000	0.057	1371	3944	2873	0	0	0	0	0	0
1196	-0.77	-97.2	178.8	-17.1	135	1199	0.00	0.88	0.00	0.000	6	0.000	0.034	1371	3362	2873	0	0	0	0	0	0
1520	-0.77	-97.2	229.6	-16.0	156	1524	0.00	0.93	0.00	0.000	4	0.000	0.055	1366	3950	2873	0	0	0	0	0	0
1578	-0.77	-97.2	238.5	-17.5	159	1582	0.10	0.90	0.00	0.000	6	0.187	0.034	1394	3353	2872	0	0	0	0	0	0
1907	-0.77	-97.2	285.7	-14.1	176	1910	0.00	0.98	0.00	0.000	4	0.000	0.058	1391	3955	2873	0	0	0	0	0	0
2000	-0.77	-97.2	300.0	-14.8	180	2003	0.00	0.90	0.00	0.000	6	0.000	0.035	1391	3354	2873	0	0	0	0	0	0
2334	-0.77	-97.2	348.1	-14.3	196	2337	0.00	0.95	0.00	0.000	4	0.000	0.057	1387	3958	2873	0	0	0	0	0	0
2460	-0.77	-97.2	367.3	-14.6	201	2464	0.00	0.90	0.00	0.000	6	0.000	0.035	1387	3357	2872	0	0	0	0	0	0
2782	-0.77	-97.2	409.4	-12.4	216	2785	0.00	0.93	0.00	0.000	4	0.000	0.057	1382	3948	2873	0	0	0	0	0	0
2876	-0.77	-97.2	423.0	-14.4	218	2882	0.00	0.90	0.00	0.000	6	0.000	0.036	1382	3348	2872	0	0	0	0	0	0
3189	-0.77	-97.2	464.0	-13.3	229	3190	0.00	0.00	0.00	0.000	6	0.000	0.000	1382	3348	2872	0	0	0	0	0	0
3496	-0.77	-97.2	506.4	-14.0	239	3498	0.00	0.00	0.00	0.000	6	0.000	0.000	1382	3348	2871	0	0	0	0	0	0
3802	-0.77	-97.2	548.8	-14.0	249	3807	0.00	0.95	0.00	0.000	4	0.000	0.057	1378	3954	2870	0	0	0	0	0	0
3881	-0.77	-97.2	561.0	-15.5	251	3884	0.00	0.90	0.00	0.000	6	0.000	0.035	1378	3350	2871	0	0	0	0	0	0
4211	-0.77	-97.2	607.2	-13.9	262	4212	0.00	0.00	0.00	0.000	6	0.000	0.000	1378	3350	2870	0	0	0	0	0	0
4517	-0.77	-97.2	649.1	-13.4	272	4521	0.00	0.95	0.00	0.000	4	0.000	0.058	1374	3955	2869	0	0	0	0	0	0
4713	-0.77	-97.2	678.0	-14.9	277	4720	0.00	0.90	0.00	0.000	6	0.000	0.036	1373	3352	2868	0	0	0	0	0	0
5027	-0.77	-97.2	720.0	-13.5	288	5030	0.00	0.95	0.00	0.000	4	0.000	0.058	1369	3958	2867	0	0	0	0	0	0
5157	-0.77	-97.2	739.5	-15.0	291	5164	0.08	0.90	0.00	0.000	6	0.192	0.037	1390	3359	2867	0	0	0	0	0	0
5470	-0.77	-97.2	777.8	-12.1	302	5476	0.00	2.15	0.00	0.000	4	0.000	0.034	1390	1938	2866	0	0	0	0	0	0
5498	-0.77	-97.2	781.4	-11.7	302	5505	0.00	2.28	0.00	0.000	6	0.000	0.057	1381	3363	2866	0	0	0	0	0	0
5812	-0.77	-97.2	822.7	-13.7	313	5813	0.00	0.00	0.00	0.000	6	0.000	0.000	1381	3363	2866	0	0	0	0	0	0
6119	-0.77	-97.2	865.0	-14.0	323	6123	0.00	0.93	0.00	0.000	4	0.000	0.059	1377	3953	2865	0	0	0	0	0	0
6221	-0.77	-97.2	880.0	-15.2	326	6224	0.00	0.90	0.00	0.000	6	0.000	0.037	1377	3351	2864	0	0	0	0	0	0
6562	-0.77	-97.2	927.1	-13.6	337	6567	0.00	0.95	0.00	0.000	4	0.000	0.059	1372	3954	2864	0	0	0	0	0	0
6641	-0.77	-97.2	938.8	-14.5	339	6644	0.00	0.90	0.00	0.000	6	0.000	0.038	1372	3355	2864	0	0	0	0	0	0
6971	-0.77	-97.2	983.6	-13.3	350	6977	0.00	0.93	0.00	0.000	4	0.000	0.058	1368	3947	2863	0	0	0	0	0	0
7061	-0.77	-97.2	996.6	-14.9	352	7067	0.10	0.90	0.00	0.000	6	0.192	0.038	1396	3349	2862	0	0	0	0	0	0
7103	end dive: TARGET_DEPTH_EXCEEDED
state	7103	begin apogee
7110	-0.14	0.0	1001.8	12.5	354	7212	0.68	0.00	94.45	1.800	6	0.163	0.000	1596	3257	2472	0	0	0	0	1	0
7214	end apogee: CONTROL_FINISHED_OK
state	7214	begin climb
7217	0.77	97.2	1004.2	0.0	357	7325	0.90	0.00	99.10	1.779	6	0.074	0.000	1896	3256	2077	0	0	0	0	1	0
7625	0.77	97.2	924.9	22.4	371	7628	0.00	1.15	0.00	0.000	4	0.000	0.054	1896	3951	2069	0	0	0	0	0	0
7668	0.77	97.2	913.9	25.1	372	7672	0.00	1.10	0.00	0.000	6	0.000	0.033	1901	3242	2069	0	0	0	0	0	0
7999	0.77	97.2	840.0	22.5	383	8002	0.00	1.15	0.00	0.000	4	0.000	0.054	1901	3947	2066	0	0	0	0	0	0
8121	0.77	97.2	810.8	24.2	386	8124	0.00	1.08	0.00	0.000	6	0.000	0.033	1905	3244	2065	0	0	0	0	0	0
8441	0.77	97.2	742.5	21.3	397	8442	0.00	0.00	0.00	0.000	6	0.000	0.000	1905	3244	2064	0	0	0	0	0	0
8745	0.77	97.2	677.5	21.0	407	8751	0.00	1.12	0.00	0.000	4	0.000	0.055	1905	3946	2063	0	0	0	0	0	0
9004	0.77	97.2	618.0	23.2	414	9008	0.00	1.05	0.00	0.000	6	0.000	0.032	1911	3246	2062	0	0	0	0	0	0
9324	0.77	97.2	551.6	20.5	425	9328	0.00	1.12	0.00	0.000	4	0.000	0.054	1911	3950	2062	0	0	0	0	0	0
9400	0.77	97.2	534.9	22.7	427	9403	0.00	1.05	0.00	0.000	6	0.000	0.033	1916	3249	2062	0	0	0	0	0	0
9735	0.77	97.2	464.4	21.0	438	9739	0.00	1.12	0.00	0.000	4	0.000	0.054	1916	3958	2061	0	0	0	0	0	0
9847	0.77	97.2	439.1	22.0	441	9853	0.00	1.05	0.00	0.000	6	0.000	0.033	1921	3253	2060	0	0	0	0	0	0
10179	0.77	97.2	369.4	20.9	454	10183	0.00	1.10	0.00	0.000	4	0.000	0.053	1921	3950	2060	0	0	0	0	0	0
10259	0.77	97.2	351.1	23.5	457	10263	0.00	1.05	0.00	0.000	6	0.000	0.033	1926	3247	2060	0	0	0	0	0	0
10584	0.77	97.2	283.0	21.3	473	10589	0.00	1.12	0.00	0.000	4	0.000	0.053	1926	3954	2060	0	0	0	0	0	0
10668	0.77	97.2	263.9	23.8	476	10672	0.10	1.05	0.00	0.000	6	0.216	0.033	1905	3248	2060	0	0	0	0	0	0
10995	0.77	97.2	200.3	18.9	496	10999	0.00	1.10	0.00	0.000	4	0.000	0.054	1904	3947	2059	0	0	0	0	0	0
11016	0.77	97.2	196.2	19.6	497	11020	0.00	1.02	0.00	0.000	6	0.000	0.033	1908	3256	2059	0	0	0	0	0	0
11348	0.77	97.2	130.8	19.4	518	11352	0.00	1.10	0.00	0.000	4	0.000	0.053	1908	3955	2059	0	0	0	0	0	0
11620	0.77	97.2	74.0	20.3	546	11629	0.00	1.05	0.00	0.000	6	0.000	0.032	1914	3246	2059	0	0	0	0	0	0
12001	0.77	97.2	11.3	16.0	607	12010	0.00	2.12	0.00	0.000	4	0.000	0.031	1925	1837	2059	0	0	0	0	0	0
12027	0.77	97.2	6.2	17.4	610	12036	0.00	2.25	0.00	0.000	6	0.000	0.047	1925	3258	2057	0	0	0	0	0	0
12042	end climb: SURFACE_DEPTH_REACHED
state	12042	begin surface coast
12065	end surface coast: CONTROL_FINISHED_OK
state	12065	begin surface