Glider dive log

Taiwan Jan14 * SG017 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 17 HD_C 2.6800001e-06 ROLL_MAX 3750 ALTIM_BOTTOM_TURN_MARGIN 20

MISSION 10 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 15 ESCAPE_HEADING 0 C_ROLL_DIVE 1920 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1860 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 66 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LON 6 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 500 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 27 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 562.03961 R_STBD_OVSHOOT 54 XPDR_VALID 0

D_BOOST 2 N_FILEKB 8 ROLL_AD_RATE 320 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 2.5 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 452 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3835 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 3050 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 53

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 38

T_DIVE 120 CALL_TRIES 5 VBD_TIMEOUT 540 DEVICE4 -1

T_MISSION 160 CALL_WAIT 60 PITCH_VBD_SHIFT 0.001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -7 T_GPS_CHARGE -228969.38 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 180 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 85 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 56 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 1050 MINV_24V 22 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2880 FG_AHR_10V 0 SEABIRD_T_G 0.0043326267

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00063240388

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PHONE_SUPPLY -2 SEABIRD_T_I 2.4142833e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -5.3696866 SEABIRD_T_J 2.5545187e-06

MASS 52130 PITCH_GAIN 20 PRESSURE_SLOPE 9.1642258e-05 SEABIRD_C_G -9.8342714

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 64 SEABIRD_C_H 1.1014049

NAV_MODE 2 PITCH_AD_RATE 150 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0017558541

FERRY_MAX 60 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00021975346

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.00251 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0080399998 ROLL_MIN 250 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 64 D_OFFGRID 180 PHONE_SUPPLY -2 SM_CC 562.03961

AH0_10V 56 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 85 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_TGT 450 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 20 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 60 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 1050 TGT_DEFAULT_LAT 66

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON 6

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 120

CALL_NDIVES 1 HD_A 0.00251 PRESSURE_SLOPE 9.1642258e-05 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0080399998 PRESSURE_YINT -5.3696866 T_GPS 15

CALL_WAIT 60 HD_C 2.6800001e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -228969.38

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 160

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 17 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_PITCH 2880 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 2.5 UNCOM_BLEED 20

C_ROLL_CLIMB 1860 LOGGERDEVICE2 -1 ROLL_AD_RATE 320 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1920 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -7

C_VBD 3050 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3750 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52130 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 250 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3835

DEVICE2 53 MINV_10V 9.5 R_PORT_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE3 38 MINV_24V 22 R_STBD_OVSHOOT 54 VBD_MIN 452

DEVICE4 -1 MISSION 10 SEABIRD_C_G -9.8342714 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1014049 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.0017558541 VBD_TIMEOUT 540

DIVE 15 NOCOMM_ACTION 163 SEABIRD_C_J 0.00021975346 W_ADJ_DBAND 0

D_ABORT 500 N_DIVES 0 SEABIRD_T_G 0.0043326267 XPDR_DEVICE 24

D_BOOST 2 N_FILEKB 8 SEABIRD_T_H 0.00063240388 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.4142833e-05 XPDR_VALID 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.5545187e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 310114,070800,2110.154,11956.159,91,1.5,92,-2.5 TGT_NAME r4s

_CALLS 1 TGT_LATLONG 2107.600,11957.600

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -47.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 310114,071330,2110.109,11956.106,33,1.8,44,-2.5 MHEAD_RNG_PITCHd_Wd 100.5,5314,-19.0,-12.500,-21.90,1796

SPEED_LIMITS 0.217,0.311 D_GRID 3458

Post-dive calculations and measurements:

FINISH 0.3,1.023189 _10V_AH 9.9,7.458

SM_CCo 8285,80.43,0.094,0,0,757,562.47 FG_AHR_24Vo 0.000

SM_GC 0.87,9.27,0.20,80.43,0.034,0.044,0.094,1044,1955,757,-8.39,-0.82,562.47,0,0,0,0,0,0,24.82,24.87,24.65 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2101.76,11957.59,310114,050555 MEM 324264

TT8_MAMPS 0.020972,0.020972 DATA_FILE_SIZE 93637,1551

HUMID 50.78 CAP_FILE_SIZE 197020,0

INTERNAL_PRESSURE 8.88706 CFSIZE 256368640,251117568

TCM_TEMP 22.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,440

XPDR_PINGS -1 CURRENT 0.155,233.9,1

_24V_AH 23.7,8.424 GPS 310114,093503,2109.634,11956.717,42,3.1,63,-2.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 159 76.74 SBE_CT 722 23 397.57

Roll_motor 84 74 149.74 AA3830 927 33 725.12

VBD_pump_during_apogee 442 1006 10559.72 WL_BB2FLVMG 650 105 1619.22

VBD_pump_during_surface 80 94 179.35 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 209 125 623.08 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 45 34 15.38

TT8 3373 12 424.76

LPSleep 1306 2 28.32

TT8_Active 580 12 73.06

TT8_Sampling 3211 39 1261.47

TT8_CF8 230 50 114.41

TT8_Kalman 0 0 0.00

Analog_circuits 2000 12 237.60

GPS_charging 0 0 0.00

Compass 2957 5 146.39

RAFOS 0 0 0.00

Transponder 1 5 0.08

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.10 -146.0 1039 1930 685 813 0.0 0.0 0 106 0.00 0.00 -87.72 0.000 16386 0.000 0.000 1039 1930 3111 3093 3130 0 0 0 0 0 0 28.83 28.83 28.83

109 -1.10 -146.0 1039 1930 3093 3130 3.7 -7.8 14 135 8.80 0.00 -10.10 0.000 18950 0.159 0.000 2634 1931 3647 3611 3683 0 0 0 0 0 0 24.68 28.83 25.09

439 -1.10 -146.0 1664 1929 3604 3682 75.2 -15.1 78 446 0.00 2.45 0.00 0.000 516 0.000 0.063 2634 512 3648 3612 3684 0 0 0 0 0 0 28.83 24.89 28.83

468 -1.10 -146.0 1672 512 3604 3682 79.3 -13.2 83 475 0.00 2.33 0.00 0.000 1030 0.000 0.026 2634 1896 3648 3612 3685 0 0 0 0 0 0 28.83 24.92 28.83

778 -1.10 -146.0 1672 1895 3604 3685 121.7 -15.0 144 785 0.00 2.50 0.00 0.000 260 0.000 0.071 2634 3327 3649 3612 3687 0 0 0 0 0 0 28.83 24.91 28.83

802 -1.10 -146.0 1680 3325 3604 3685 125.3 -14.8 148 809 0.00 2.40 0.00 0.000 1030 0.000 0.054 2634 1900 3649 3612 3687 0 0 0 0 0 0 28.83 24.96 28.83

1114 -1.10 -146.0 2634 1900 3612 3689 164.1 -10.6 209 1121 0.00 2.35 0.00 0.000 516 0.000 0.037 2634 520 3650 3612 3689 0 0 0 0 0 0 28.83 24.94 28.83

1261 -1.10 -146.0 2634 520 3613 3689 179.6 -11.5 237 1269 0.00 2.28 0.00 0.000 1030 0.000 0.028 2634 1873 3650 3613 3688 0 0 0 0 0 0 28.83 24.98 28.83

1572 -1.10 -146.0 1672 1871 3604 3687 216.2 -12.0 298 1580 0.00 2.55 0.00 0.000 260 0.000 0.047 2634 3322 3651 3613 3689 0 0 0 0 0 0 28.83 24.96 28.83

1647 -1.10 -146.0 1680 3321 3605 3686 223.8 -9.5 312 1654 0.00 2.42 0.00 0.000 1030 0.000 0.055 2634 1882 3650 3612 3689 0 0 0 0 0 0 28.83 25.01 28.83

1957 -1.10 -146.0 2634 1882 3612 3688 252.4 -10.1 373 1964 0.00 2.35 0.00 0.000 516 0.000 0.041 2634 516 3650 3612 3688 0 0 0 0 0 0 28.83 24.99 28.83

2016 -1.10 -146.0 1680 516 3603 3686 258.2 -9.7 384 2023 0.00 2.35 0.00 0.000 1030 0.000 0.060 2634 1889 3650 3611 3689 0 0 0 0 0 0 28.83 25.01 28.83

2327 -1.10 -146.0 2634 1889 3610 3688 288.1 -9.0 445 2333 0.00 2.55 0.00 0.000 260 0.000 0.052 2634 3330 3649 3610 3688 0 0 0 0 0 0 28.83 24.98 28.83

2375 -1.10 -146.0 2634 3330 3610 3688 292.2 -7.9 454 2383 0.00 2.45 0.00 0.000 1030 0.000 0.029 2634 1884 3649 3610 3689 0 0 0 0 0 0 28.83 25.04 28.83

2687 -1.10 -146.0 2634 1884 3607 3689 313.3 -7.5 515 2693 0.00 2.55 0.00 0.000 260 0.000 0.047 2634 3326 3647 3607 3688 0 0 0 0 0 0 28.83 25.02 28.83

2732 -1.10 -146.0 2634 3326 3607 3688 317.0 -8.4 523 2738 0.00 2.45 0.00 0.000 1030 0.000 0.031 2634 1886 3647 3606 3688 0 0 0 0 0 0 28.83 25.06 28.83

3053 -1.10 -146.0 2634 1886 3603 3688 347.4 -9.1 584 3061 0.00 2.42 0.00 0.000 516 0.000 0.047 2634 515 3645 3603 3688 0 0 0 0 0 0 28.83 25.05 28.83

3305 -1.10 -146.0 2634 515 3601 3686 370.3 -9.5 630 3314 0.00 2.42 0.00 0.000 1030 0.000 0.035 2634 1894 3643 3601 3686 0 0 0 0 0 0 28.83 25.08 28.83

3640 -1.10 -146.0 1640 1892 3590 3682 399.0 -6.7 691 3647 0.00 2.45 0.00 0.000 516 0.000 0.047 2634 520 3641 3598 3684 0 0 0 0 0 0 28.83 25.07 28.83

3891 -1.10 -146.0 1632 520 3589 3680 415.9 -7.0 737 3898 0.00 2.42 0.00 0.000 1030 0.000 0.036 2634 1897 3640 3598 3682 0 0 0 0 0 0 28.83 25.10 28.83

4220 -1.10 -146.0 1632 1895 3585 3678 443.3 -9.6 798 4228 0.00 2.47 0.00 0.000 516 0.000 0.048 2634 516 3637 3595 3680 0 0 0 0 0 0 28.83 25.08 28.83

4293 end dive: TARGET_DEPTH_EXCEEDED

state 4293 begin apogee

4301 -0.25 0.0 2634 1860 3594 3680 450.2 -9.0 811 4425 0.88 0.00 114.65 1.007 10244 0.083 0.000 2821 1861 3050 2984 3116 0 0 0 0 0 0 25.06 28.83 23.70

4426 end apogee: CONTROL_FINISHED_OK

state 4426 begin climb

4428 1.10 146.0 2821 1861 2984 3116 457.3 0.0 829 4556 1.27 2.65 116.62 0.974 10500 0.044 0.058 3121 3264 2454 2390 2519 0 0 0 0 0 0 24.56 24.52 23.70

4797 1.14 193.4 2112 3262 2317 2506 438.6 9.8 892 4847 0.00 2.50 38.70 0.939 9222 0.000 0.040 3121 1867 2261 2197 2325 0 0 0 0 0 0 28.83 24.75 23.72

5166 1.18 226.6 2096 1865 2125 2310 398.5 10.6 959 5201 0.00 2.60 27.88 0.921 8452 0.000 0.053 3121 3261 2126 2062 2190 0 0 0 0 0 0 28.83 24.42 23.74

5436 1.19 241.3 3121 3262 2061 2187 366.2 11.7 1009 5460 0.00 2.45 13.27 0.855 9222 0.000 0.038 3121 1859 2065 2005 2126 0 0 0 0 0 0 28.83 24.80 23.82

5765 1.19 241.3 3121 1859 2002 2121 319.4 14.7 1073 5771 0.00 2.53 0.00 0.000 516 0.000 0.053 3121 444 2061 2002 2120 0 0 0 0 0 0 28.83 24.82 28.83

5853 1.19 241.3 2176 443 1946 2108 305.6 15.4 1090 5860 0.00 2.47 0.00 0.000 1030 0.000 0.037 3121 1851 2059 2001 2117 0 0 0 0 0 0 28.83 24.86 28.83

6166 1.23 284.7 3121 1851 2001 2118 267.0 10.0 1151 6209 0.12 2.70 36.05 0.884 10500 0.068 0.057 3157 3261 1889 1830 1948 0 0 0 0 0 0 24.94 24.42 23.78

6339 1.23 284.7 3157 3261 1830 1946 245.2 13.7 1183 6345 0.00 2.47 0.00 0.000 1030 0.000 0.036 3157 1858 1887 1828 1946 0 0 0 0 0 0 28.83 24.79 28.83

6652 1.23 284.7 3157 1857 1824 1944 194.6 17.8 1244 6660 0.00 2.50 0.00 0.000 516 0.000 0.075 3157 443 1883 1824 1943 0 0 0 0 0 0 28.83 24.83 28.83

6727 1.23 284.7 3157 443 1824 1941 180.9 17.7 1258 6734 0.00 2.45 0.00 0.000 1030 0.000 0.063 3157 1848 1882 1824 1941 0 0 0 0 0 0 28.83 24.87 28.83

7042 1.25 303.3 3157 1848 1824 1942 140.4 11.4 1319 7068 0.00 2.58 16.10 0.748 8708 0.000 0.054 3157 446 1811 1753 1870 0 0 0 0 0 0 28.83 24.50 23.94

7259 1.25 303.3 3157 446 1750 1866 111.6 13.4 1360 7267 0.00 2.38 0.00 0.000 1030 0.000 0.064 3157 1805 1808 1750 1866 0 0 0 0 0 0 28.83 24.85 28.83

7576 1.30 349.7 3157 1805 1750 1867 76.6 9.8 1421 7620 0.00 2.75 38.40 0.715 8452 0.000 0.052 3157 3273 1624 1562 1686 0 0 0 0 0 0 28.83 24.46 23.91

7823 1.33 378.0 3157 3273 1559 1683 49.2 10.9 1467 7855 0.00 2.50 24.20 0.659 9222 0.000 0.031 3157 1813 1508 1445 1571 0 0 0 0 0 0 28.83 24.84 23.96

8163 1.35 397.3 2176 1811 1409 1564 13.1 11.4 1532 8183 0.00 0.00 16.70 0.602 8198 0.000 0.000 3157 1813 1429 1364 1495 0 0 0 0 0 0 28.83 28.83 24.06

8248 end climb: SURFACE_DEPTH_REACHED

state 8248 begin surface coast

8267 end surface coast: CONTROL_FINISHED_OK

state 8267 begin surface

ID	17	HD_C	2.6800001e-06	ROLL_MAX	3750	ALTIM_BOTTOM_TURN_MARGIN	20
MISSION	10	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	15	ESCAPE_HEADING	0	C_ROLL_DIVE	1920	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1860	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	66	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LON	6	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	500	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	27	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	562.03961	R_STBD_OVSHOOT	54	XPDR_VALID	0
D_BOOST	2	N_FILEKB	8	ROLL_AD_RATE	320	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	2.5	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	452	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3835	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	3050	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	53
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	38
T_DIVE	120	CALL_TRIES	5	VBD_TIMEOUT	540	DEVICE4	-1
T_MISSION	160	CALL_WAIT	60	PITCH_VBD_SHIFT	0.001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-7	T_GPS_CHARGE	-228969.38	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	180	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	85	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	56	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	1050	MINV_24V	22	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2880	FG_AHR_10V	0	SEABIRD_T_G	0.0043326267
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00063240388
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PHONE_SUPPLY	-2	SEABIRD_T_I	2.4142833e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-5.3696866	SEABIRD_T_J	2.5545187e-06
MASS	52130	PITCH_GAIN	20	PRESSURE_SLOPE	9.1642258e-05	SEABIRD_C_G	-9.8342714
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	64	SEABIRD_C_H	1.1014049
NAV_MODE	2	PITCH_AD_RATE	150	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0017558541
FERRY_MAX	60	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00021975346
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.00251	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0080399998	ROLL_MIN	250	ALTIM_TOP_PING_RANGE	0

GPS1	310114,070800,2110.154,11956.159,91,1.5,92,-2.5	TGT_NAME	r4s
_CALLS	1	TGT_LATLONG	2107.600,11957.600
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-47.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	310114,071330,2110.109,11956.106,33,1.8,44,-2.5	MHEAD_RNG_PITCHd_Wd	100.5,5314,-19.0,-12.500,-21.90,1796
SPEED_LIMITS	0.217,0.311	D_GRID	3458

FINISH	0.3,1.023189	_10V_AH	9.9,7.458
SM_CCo	8285,80.43,0.094,0,0,757,562.47	FG_AHR_24Vo	0.000
SM_GC	0.87,9.27,0.20,80.43,0.034,0.044,0.094,1044,1955,757,-8.39,-0.82,562.47,0,0,0,0,0,0,24.82,24.87,24.65	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2101.76,11957.59,310114,050555	MEM	324264
TT8_MAMPS	0.020972,0.020972	DATA_FILE_SIZE	93637,1551
HUMID	50.78	CAP_FILE_SIZE	197020,0
INTERNAL_PRESSURE	8.88706	CFSIZE	256368640,251117568
TCM_TEMP	22.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,440
XPDR_PINGS	-1	CURRENT	0.155,233.9,1
_24V_AH	23.7,8.424	GPS	310114,093503,2109.634,11956.717,42,3.1,63,-2.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	159	76.74	SBE_CT	722	23	397.57
Roll_motor	84	74	149.74	AA3830	927	33	725.12
VBD_pump_during_apogee	442	1006	10559.72	WL_BB2FLVMG	650	105	1619.22
VBD_pump_during_surface	80	94	179.35	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	209	125	623.08	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	45	34	15.38
TT8	3373	12	424.76
LPSleep	1306	2	28.32
TT8_Active	580	12	73.06
TT8_Sampling	3211	39	1261.47
TT8_CF8	230	50	114.41
TT8_Kalman	0	0	0.00
Analog_circuits	2000	12	237.60
GPS_charging	0	0	0.00
Compass	2957	5	146.39
RAFOS	0	0	0.00
Transponder	1	5	0.08

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.10	-146.0	1039	1930	685	813	0.0	0.0	0	106	0.00	0.00	-87.72	0.000	16386	0.000	0.000	1039	1930	3111	3093	3130	0	0	0	0	0	0	28.83	28.83	28.83
109	-1.10	-146.0	1039	1930	3093	3130	3.7	-7.8	14	135	8.80	0.00	-10.10	0.000	18950	0.159	0.000	2634	1931	3647	3611	3683	0	0	0	0	0	0	24.68	28.83	25.09
439	-1.10	-146.0	1664	1929	3604	3682	75.2	-15.1	78	446	0.00	2.45	0.00	0.000	516	0.000	0.063	2634	512	3648	3612	3684	0	0	0	0	0	0	28.83	24.89	28.83
468	-1.10	-146.0	1672	512	3604	3682	79.3	-13.2	83	475	0.00	2.33	0.00	0.000	1030	0.000	0.026	2634	1896	3648	3612	3685	0	0	0	0	0	0	28.83	24.92	28.83
778	-1.10	-146.0	1672	1895	3604	3685	121.7	-15.0	144	785	0.00	2.50	0.00	0.000	260	0.000	0.071	2634	3327	3649	3612	3687	0	0	0	0	0	0	28.83	24.91	28.83
802	-1.10	-146.0	1680	3325	3604	3685	125.3	-14.8	148	809	0.00	2.40	0.00	0.000	1030	0.000	0.054	2634	1900	3649	3612	3687	0	0	0	0	0	0	28.83	24.96	28.83
1114	-1.10	-146.0	2634	1900	3612	3689	164.1	-10.6	209	1121	0.00	2.35	0.00	0.000	516	0.000	0.037	2634	520	3650	3612	3689	0	0	0	0	0	0	28.83	24.94	28.83
1261	-1.10	-146.0	2634	520	3613	3689	179.6	-11.5	237	1269	0.00	2.28	0.00	0.000	1030	0.000	0.028	2634	1873	3650	3613	3688	0	0	0	0	0	0	28.83	24.98	28.83
1572	-1.10	-146.0	1672	1871	3604	3687	216.2	-12.0	298	1580	0.00	2.55	0.00	0.000	260	0.000	0.047	2634	3322	3651	3613	3689	0	0	0	0	0	0	28.83	24.96	28.83
1647	-1.10	-146.0	1680	3321	3605	3686	223.8	-9.5	312	1654	0.00	2.42	0.00	0.000	1030	0.000	0.055	2634	1882	3650	3612	3689	0	0	0	0	0	0	28.83	25.01	28.83
1957	-1.10	-146.0	2634	1882	3612	3688	252.4	-10.1	373	1964	0.00	2.35	0.00	0.000	516	0.000	0.041	2634	516	3650	3612	3688	0	0	0	0	0	0	28.83	24.99	28.83
2016	-1.10	-146.0	1680	516	3603	3686	258.2	-9.7	384	2023	0.00	2.35	0.00	0.000	1030	0.000	0.060	2634	1889	3650	3611	3689	0	0	0	0	0	0	28.83	25.01	28.83
2327	-1.10	-146.0	2634	1889	3610	3688	288.1	-9.0	445	2333	0.00	2.55	0.00	0.000	260	0.000	0.052	2634	3330	3649	3610	3688	0	0	0	0	0	0	28.83	24.98	28.83
2375	-1.10	-146.0	2634	3330	3610	3688	292.2	-7.9	454	2383	0.00	2.45	0.00	0.000	1030	0.000	0.029	2634	1884	3649	3610	3689	0	0	0	0	0	0	28.83	25.04	28.83
2687	-1.10	-146.0	2634	1884	3607	3689	313.3	-7.5	515	2693	0.00	2.55	0.00	0.000	260	0.000	0.047	2634	3326	3647	3607	3688	0	0	0	0	0	0	28.83	25.02	28.83
2732	-1.10	-146.0	2634	3326	3607	3688	317.0	-8.4	523	2738	0.00	2.45	0.00	0.000	1030	0.000	0.031	2634	1886	3647	3606	3688	0	0	0	0	0	0	28.83	25.06	28.83
3053	-1.10	-146.0	2634	1886	3603	3688	347.4	-9.1	584	3061	0.00	2.42	0.00	0.000	516	0.000	0.047	2634	515	3645	3603	3688	0	0	0	0	0	0	28.83	25.05	28.83
3305	-1.10	-146.0	2634	515	3601	3686	370.3	-9.5	630	3314	0.00	2.42	0.00	0.000	1030	0.000	0.035	2634	1894	3643	3601	3686	0	0	0	0	0	0	28.83	25.08	28.83
3640	-1.10	-146.0	1640	1892	3590	3682	399.0	-6.7	691	3647	0.00	2.45	0.00	0.000	516	0.000	0.047	2634	520	3641	3598	3684	0	0	0	0	0	0	28.83	25.07	28.83
3891	-1.10	-146.0	1632	520	3589	3680	415.9	-7.0	737	3898	0.00	2.42	0.00	0.000	1030	0.000	0.036	2634	1897	3640	3598	3682	0	0	0	0	0	0	28.83	25.10	28.83
4220	-1.10	-146.0	1632	1895	3585	3678	443.3	-9.6	798	4228	0.00	2.47	0.00	0.000	516	0.000	0.048	2634	516	3637	3595	3680	0	0	0	0	0	0	28.83	25.08	28.83
4293	end dive: TARGET_DEPTH_EXCEEDED
state	4293	begin apogee
4301	-0.25	0.0	2634	1860	3594	3680	450.2	-9.0	811	4425	0.88	0.00	114.65	1.007	10244	0.083	0.000	2821	1861	3050	2984	3116	0	0	0	0	0	0	25.06	28.83	23.70
4426	end apogee: CONTROL_FINISHED_OK
state	4426	begin climb
4428	1.10	146.0	2821	1861	2984	3116	457.3	0.0	829	4556	1.27	2.65	116.62	0.974	10500	0.044	0.058	3121	3264	2454	2390	2519	0	0	0	0	0	0	24.56	24.52	23.70
4797	1.14	193.4	2112	3262	2317	2506	438.6	9.8	892	4847	0.00	2.50	38.70	0.939	9222	0.000	0.040	3121	1867	2261	2197	2325	0	0	0	0	0	0	28.83	24.75	23.72
5166	1.18	226.6	2096	1865	2125	2310	398.5	10.6	959	5201	0.00	2.60	27.88	0.921	8452	0.000	0.053	3121	3261	2126	2062	2190	0	0	0	0	0	0	28.83	24.42	23.74
5436	1.19	241.3	3121	3262	2061	2187	366.2	11.7	1009	5460	0.00	2.45	13.27	0.855	9222	0.000	0.038	3121	1859	2065	2005	2126	0	0	0	0	0	0	28.83	24.80	23.82
5765	1.19	241.3	3121	1859	2002	2121	319.4	14.7	1073	5771	0.00	2.53	0.00	0.000	516	0.000	0.053	3121	444	2061	2002	2120	0	0	0	0	0	0	28.83	24.82	28.83
5853	1.19	241.3	2176	443	1946	2108	305.6	15.4	1090	5860	0.00	2.47	0.00	0.000	1030	0.000	0.037	3121	1851	2059	2001	2117	0	0	0	0	0	0	28.83	24.86	28.83
6166	1.23	284.7	3121	1851	2001	2118	267.0	10.0	1151	6209	0.12	2.70	36.05	0.884	10500	0.068	0.057	3157	3261	1889	1830	1948	0	0	0	0	0	0	24.94	24.42	23.78
6339	1.23	284.7	3157	3261	1830	1946	245.2	13.7	1183	6345	0.00	2.47	0.00	0.000	1030	0.000	0.036	3157	1858	1887	1828	1946	0	0	0	0	0	0	28.83	24.79	28.83
6652	1.23	284.7	3157	1857	1824	1944	194.6	17.8	1244	6660	0.00	2.50	0.00	0.000	516	0.000	0.075	3157	443	1883	1824	1943	0	0	0	0	0	0	28.83	24.83	28.83
6727	1.23	284.7	3157	443	1824	1941	180.9	17.7	1258	6734	0.00	2.45	0.00	0.000	1030	0.000	0.063	3157	1848	1882	1824	1941	0	0	0	0	0	0	28.83	24.87	28.83
7042	1.25	303.3	3157	1848	1824	1942	140.4	11.4	1319	7068	0.00	2.58	16.10	0.748	8708	0.000	0.054	3157	446	1811	1753	1870	0	0	0	0	0	0	28.83	24.50	23.94
7259	1.25	303.3	3157	446	1750	1866	111.6	13.4	1360	7267	0.00	2.38	0.00	0.000	1030	0.000	0.064	3157	1805	1808	1750	1866	0	0	0	0	0	0	28.83	24.85	28.83
7576	1.30	349.7	3157	1805	1750	1867	76.6	9.8	1421	7620	0.00	2.75	38.40	0.715	8452	0.000	0.052	3157	3273	1624	1562	1686	0	0	0	0	0	0	28.83	24.46	23.91
7823	1.33	378.0	3157	3273	1559	1683	49.2	10.9	1467	7855	0.00	2.50	24.20	0.659	9222	0.000	0.031	3157	1813	1508	1445	1571	0	0	0	0	0	0	28.83	24.84	23.96
8163	1.35	397.3	2176	1811	1409	1564	13.1	11.4	1532	8183	0.00	0.00	16.70	0.602	8198	0.000	0.000	3157	1813	1429	1364	1495	0	0	0	0	0	0	28.83	28.83	24.06
8248	end climb: SURFACE_DEPTH_REACHED
state	8248	begin surface coast
8267	end surface coast: CONTROL_FINISHED_OK
state	8267	begin surface