Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 136 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 6.0000002e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 136 HEADING -1 ROLL_MIN 300 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3841 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2120 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1015 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 10 ALTIM_PULSE 5

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_BOOST 100 SM_CC 290 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 16 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 14 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 260 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 1 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 370 UPLOAD_DIVES_MAX -1 C_VBD 2772 DEVICE3 -1

T_MISSION 420 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1012.4418 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 AH0_24V 350 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 12 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 12 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 149 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3928 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 50 C_PITCH 2680 PHONE_SUPPLY -2 SEABIRD_T_G 0.0043053469

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -48.048229 SEABIRD_T_H 0.00061871461

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.0001163556 SEABIRD_T_I 2.1533233e-05

MASS 52000 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.1546668e-06

NAV_MODE 2 PITCH_GAIN 13 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8788214

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1391871

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 4 SEABIRD_C_I -0.0018439521

HD_A 0.0043000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022276744

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 0 D_OFFGRID 100 PHONE_DEVICE 49 SIM_W 0

AH0_24V 350 D_PITCH 0 PHONE_SUPPLY -2 SM_CC 290

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FERRY_MAX 45 PITCH_GAIN 13 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FG_AHR_10V 0 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 149 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0.5 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 50 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163556 T_BOOST 0

CALL_TRIES 5 HD_A 0.0043000001 PRESSURE_YINT -48.048229 T_DIVE 370

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 6.0000002e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE 32 T_GPS_CHARGE -1012.4418

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 420

COMPASS_DEVICE 97 ID 193 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.93000001 ROLL_ADJ_DBAND 1 T_TURN 225

C_PITCH 2680 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 260 T_WATCHDOG 10

C_ROLL_DIVE 2120 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2772 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3841 USE_BATHY -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 52000 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 12 R_PORT_OVSHOOT 16 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 14 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.8788214 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1391871 VBD_MIN 500

DIVE 136 NAV_MODE 2 SEABIRD_C_I -0.0018439521 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1015 NOCOMM_ACTION 161 SEABIRD_C_J 0.00022276744 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0043053469 VBD_TIMEOUT 360

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00061871461 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.1533233e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.1546668e-06 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 021012,114711,6702.191,-5648.803,16,0.8,16,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021012,115343,6702.238,-5648.598,4,1.6,4,-33.5 MHEAD_RNG_PITCHd_Wd 313.3,162590,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 547

Post-dive calculations and measurements:

FINISH 1.8,1.025555 _24V_AH 12.9,45.450

SM_CCo 10031,38.78,0.177,0,0,1588,290.19 _10V_AH 13.2,0.000

SM_GC 3.38,8.50,2.75,38.78,0.108,0.108,0.177,134,2115,1588,-11.62,0.40,290.19,0,0,0,0,0,0,14.78,14.76,14.67 FG_AHR_24Vo 0.000

RAFOS_CLK 399 FG_AHR_10Vo 0.000

RAFOS 0,1349179267,12.033333,12.018611,62,59,55,54,48,46,137,210,187,158,227,122 MEM 188752

RAFOS_FIX 6710.738770,-5710.083984,021012,121200,2,94,6.78 DATA_FILE_SIZE 43546,955

IRIDIUM_FIX 6631.12,-5649.11,021012,080839 CAP_FILE_SIZE 105815,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,241209344

HUMID 46.85 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.7721 SOUNDSPEED 1463.5

TCM_TEMP 13.70 CURRENT 0.108,337.2,1

XPDR_PINGS 5 GPS 021012,144404,6702.870,-5652.271,38,0.8,38,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 460 132.63 SBE_CT 707 23 218.73

Roll_motor 93 195 234.95 SBE_O2 654 3 31.58

VBD_pump_during_apogee 312 2224 8965.85 nil 0 0 0.00

VBD_pump_during_surface 38 177 88.78 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 242 142 445.44 nil 0 0 0.00

Transponder_ping 1 420 6.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 21 1.59

TT8 2441 14 482.11

LPSleep 5143 2 156.84

TT8_Active 496 14 97.97

TT8_Sampling 1882 33 837.18

TT8_CF8 514 38 259.19

TT8_Kalman 0 0 0.00

Analog_circuits 1672 12 264.90

GPS_charging 0 0 0.00

Compass 1678 6 149.30

RAFOS 2520 1 49.90

Transponder 0 5 0.04

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

19 -1.50 -136.9 0.0 0.0 0 62 0.00 0.00 -40.95 0.000 2 0.000 0.000 130 2117 2289 0 0 0 0 0 0 28.83 28.83 28.83

68 -1.50 -136.9 3.0 -1.3 7 137 11.10 2.65 -50.30 0.000 4 0.461 0.151 2350 703 3330 0 0 0 0 0 0 14.40 14.55 14.81

363 -1.50 -136.9 43.6 -13.7 61 371 0.00 2.65 0.00 0.000 6 0.000 0.138 2341 2129 3332 0 0 0 0 0 0 28.83 14.62 28.83

682 -1.50 -136.9 85.2 -12.8 122 688 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2128 3332 0 0 0 0 0 0 28.83 28.83 28.83

1000 -1.50 -136.9 124.9 -11.9 164 1009 0.00 2.65 0.00 0.000 4 0.000 0.156 2330 3529 3332 0 0 0 0 0 0 28.83 14.68 28.83

1047 -1.50 -136.9 130.4 -12.3 168 1054 0.10 2.53 0.00 0.000 6 0.308 0.103 2349 2111 3333 0 0 0 0 0 0 14.63 14.73 28.83

1356 -1.50 -136.9 166.0 -11.1 199 1361 0.00 2.53 0.00 0.000 4 0.000 0.132 2349 708 3332 0 0 0 0 0 0 28.83 14.72 28.83

1394 -1.50 -136.9 170.4 -11.9 202 1401 0.00 2.60 0.00 0.000 6 0.000 0.132 2341 2126 3332 0 0 0 0 0 0 28.83 14.73 28.83

1702 -1.50 -136.9 205.9 -11.0 233 1709 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2126 3331 0 0 0 0 0 0 28.83 28.83 28.83

2011 -1.50 -136.9 243.2 -12.8 264 2017 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2126 3331 0 0 0 0 0 0 28.83 28.83 28.83

2328 -1.50 -136.9 281.6 -12.0 295 2337 0.00 2.55 0.00 0.000 4 0.000 0.131 2341 714 3330 0 0 0 0 0 0 28.83 14.76 28.83

2393 -1.50 -136.9 290.6 -12.9 301 2402 0.00 2.55 0.00 0.000 6 0.000 0.132 2333 2119 3330 0 0 0 0 0 0 28.83 14.75 28.83

2705 -1.50 -136.9 324.8 -10.1 332 2714 0.00 2.62 0.00 0.000 4 0.000 0.146 2323 3525 3330 0 0 0 0 0 0 28.83 14.74 28.83

2779 -1.50 -136.9 332.8 -10.5 339 2789 0.10 2.45 0.00 0.000 6 0.280 0.097 2349 2122 3330 0 0 0 0 0 0 14.66 14.79 28.83

3090 -1.50 -136.9 363.5 -9.9 370 3099 0.00 2.50 0.00 0.000 4 0.000 0.129 2349 711 3330 0 0 0 0 0 0 28.83 14.76 28.83

3144 -1.50 -136.9 369.4 -10.8 375 3153 0.00 2.55 0.00 0.000 6 0.000 0.131 2342 2118 3329 0 0 0 0 0 0 28.83 14.75 28.83

3455 -1.50 -136.9 400.4 -10.0 406 3461 0.00 2.60 0.00 0.000 4 0.000 0.148 2332 3523 3330 0 0 0 0 0 0 28.83 14.76 28.83

3540 -1.50 -136.9 406.9 -10.5 408 3547 0.00 2.47 0.00 0.000 6 0.000 0.098 2332 2117 3330 0 0 0 0 0 0 28.83 14.82 28.83

3847 -1.50 -136.9 441.2 -10.4 419 3853 0.10 2.50 0.00 0.000 4 0.321 0.127 2350 706 3330 0 0 0 0 0 0 14.72 14.79 28.83

3892 -1.50 -136.9 444.5 -10.4 420 3897 0.00 2.58 0.00 0.000 6 0.000 0.132 2344 2126 3330 0 0 0 0 0 0 28.83 14.78 28.83

4209 -1.50 -136.9 476.3 -9.6 431 4214 0.00 2.60 0.00 0.000 4 0.000 0.148 2333 3526 3330 0 0 0 0 0 0 28.83 14.79 28.83

4258 -1.50 -136.9 479.4 -9.7 432 4267 0.00 2.45 0.00 0.000 6 0.000 0.099 2333 2117 3330 0 0 0 0 0 0 28.83 14.81 28.83

4571 -1.50 -136.9 511.5 -9.4 443 4572 0.00 0.00 0.00 0.000 6 0.000 0.000 2332 2117 3330 0 0 0 0 0 0 28.83 28.83 28.83

4870 -1.50 -136.9 540.2 -9.6 453 4876 0.00 2.50 0.00 0.000 4 0.000 0.131 2333 706 3330 0 0 0 0 0 0 28.83 14.83 28.83

5110 -1.50 -136.9 542.2 0.0 460 5117 0.10 2.58 0.00 0.000 6 0.272 0.132 2353 2123 3331 0 0 0 0 0 0 14.80 14.82 28.83

5141 end dive: NO_VERTICAL_VELOCITY

state 5141 begin apogee

5153 -0.38 0.0 542.2 0.0 462 5293 0.77 0.00 132.23 2.225 6 0.189 0.000 2597 2199 2773 0 0 0 0 0 0 14.81 28.83 13.25

5299 end apogee: CONTROL_FINISHED_OK

state 5299 begin climb

5304 1.50 136.9 542.1 0.0 467 5460 1.35 2.97 141.10 2.196 4 0.165 0.146 3004 3611 2214 0 0 0 0 0 0 14.01 13.57 12.91

5695 1.50 136.9 495.3 14.7 480 5701 0.00 2.62 0.00 0.000 6 0.000 0.103 3015 2195 2207 0 0 0 0 0 0 28.83 14.17 28.83

6027 1.50 136.9 450.4 13.2 491 6028 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2195 2204 0 0 0 0 0 0 28.83 28.83 28.83

6327 1.50 136.9 410.7 13.4 501 6328 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2195 2203 0 0 0 0 0 0 28.83 28.83 28.83

6627 1.50 136.9 372.6 12.2 525 6636 0.00 2.70 0.00 0.000 4 0.000 0.148 3015 3608 2203 0 0 0 0 0 0 28.83 14.62 28.83

6655 1.50 136.9 369.3 12.5 527 6661 0.00 2.55 0.00 0.000 6 0.000 0.107 3025 2196 2203 0 0 0 0 0 0 28.83 14.66 28.83

6963 1.50 136.9 330.5 12.8 558 6969 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2196 2202 0 0 0 0 0 0 28.83 28.83 28.83

7278 1.50 136.9 291.4 12.8 589 7285 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2196 2202 0 0 0 0 0 0 28.83 28.83 28.83

7591 1.50 136.9 250.4 13.7 620 7597 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2196 2202 0 0 0 0 0 0 28.83 28.83 28.83

7902 1.50 136.9 211.8 11.9 651 7911 0.00 2.53 0.00 0.000 4 0.000 0.132 3036 788 2201 0 0 0 0 0 0 28.83 14.75 28.83

7950 1.50 136.9 205.6 12.6 655 7958 0.12 2.55 0.00 0.000 6 0.289 0.125 3009 2199 2201 0 0 0 0 0 0 14.71 14.77 28.83

8259 1.50 136.9 170.2 10.9 686 8268 0.00 2.62 0.00 0.000 4 0.000 0.147 3009 3615 2201 0 0 0 0 0 0 28.83 14.75 28.83

8314 1.50 136.9 163.5 12.8 691 8323 0.00 2.50 0.00 0.000 6 0.000 0.104 3018 2195 2201 0 0 0 0 0 0 28.83 14.79 28.83

8624 1.50 136.9 129.0 11.1 722 8633 0.00 2.53 0.00 0.000 4 0.000 0.129 3028 785 2200 0 0 0 0 0 0 28.83 14.78 28.83

8670 1.50 136.9 124.0 10.9 726 8679 0.08 2.50 0.00 0.000 6 0.269 0.120 3007 2196 2200 0 0 0 0 0 0 14.71 14.77 28.83

8983 1.51 143.1 94.2 8.6 763 8991 0.00 2.70 1.77 0.505 4 0.000 0.140 3007 3618 2188 0 0 0 0 0 0 28.83 14.78 14.61

9008 1.52 150.7 92.1 8.6 766 9021 0.00 2.50 4.43 0.475 6 0.000 0.099 3016 2198 2156 0 0 0 0 0 0 28.83 14.82 14.60

9331 1.52 150.7 60.2 10.3 828 9338 0.00 2.50 0.00 0.000 4 0.000 0.126 3026 791 2154 0 0 0 0 0 0 28.83 14.78 28.83

9398 1.52 150.7 53.3 9.4 840 9405 0.00 2.53 0.00 0.000 6 0.000 0.118 3026 2203 2153 0 0 0 0 0 0 28.83 14.78 28.83

9716 1.59 212.3 26.3 6.2 901 9759 0.00 2.70 32.90 0.254 4 0.000 0.144 3026 3611 1904 0 0 0 0 0 0 28.83 14.71 14.66

9990 end climb: SURFACE_DEPTH_REACHED

state 9990 begin surface coast

10000 end surface coast: CONTROL_FINISHED_OK

state 10000 begin surface

ID	193	HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	6.0000002e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	136	HEADING	-1	ROLL_MIN	300	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3841	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2120	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1015	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	10	ALTIM_PULSE	5
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_BOOST	100	SM_CC	290	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	16	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	14	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	260	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	1	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	370	UPLOAD_DIVES_MAX	-1	C_VBD	2772	DEVICE3	-1
T_MISSION	420	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1012.4418	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	AH0_24V	350	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	12	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	12	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	149	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3928	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	50	C_PITCH	2680	PHONE_SUPPLY	-2	SEABIRD_T_G	0.0043053469
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-48.048229	SEABIRD_T_H	0.00061871461
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.0001163556	SEABIRD_T_I	2.1533233e-05
MASS	52000	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.1546668e-06
NAV_MODE	2	PITCH_GAIN	13	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8788214
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1391871
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	4	SEABIRD_C_I	-0.0018439521
HD_A	0.0043000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022276744

GPS1	021012,114711,6702.191,-5648.803,16,0.8,16,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021012,115343,6702.238,-5648.598,4,1.6,4,-33.5	MHEAD_RNG_PITCHd_Wd	313.3,162590,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	547

FINISH	1.8,1.025555	_24V_AH	12.9,45.450
SM_CCo	10031,38.78,0.177,0,0,1588,290.19	_10V_AH	13.2,0.000
SM_GC	3.38,8.50,2.75,38.78,0.108,0.108,0.177,134,2115,1588,-11.62,0.40,290.19,0,0,0,0,0,0,14.78,14.76,14.67	FG_AHR_24Vo	0.000
RAFOS_CLK	399	FG_AHR_10Vo	0.000
RAFOS	0,1349179267,12.033333,12.018611,62,59,55,54,48,46,137,210,187,158,227,122	MEM	188752
RAFOS_FIX	6710.738770,-5710.083984,021012,121200,2,94,6.78	DATA_FILE_SIZE	43546,955
IRIDIUM_FIX	6631.12,-5649.11,021012,080839	CAP_FILE_SIZE	105815,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,241209344
HUMID	46.85	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.7721	SOUNDSPEED	1463.5
TCM_TEMP	13.70	CURRENT	0.108,337.2,1
XPDR_PINGS	5	GPS	021012,144404,6702.870,-5652.271,38,0.8,38,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	460	132.63	SBE_CT	707	23	218.73
Roll_motor	93	195	234.95	SBE_O2	654	3	31.58
VBD_pump_during_apogee	312	2224	8965.85	nil	0	0	0.00
VBD_pump_during_surface	38	177	88.78	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	242	142	445.44	nil	0	0	0.00
Transponder_ping	1	420	6.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	21	1.59
TT8	2441	14	482.11
LPSleep	5143	2	156.84
TT8_Active	496	14	97.97
TT8_Sampling	1882	33	837.18
TT8_CF8	514	38	259.19
TT8_Kalman	0	0	0.00
Analog_circuits	1672	12	264.90
GPS_charging	0	0	0.00
Compass	1678	6	149.30
RAFOS	2520	1	49.90
Transponder	0	5	0.04

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
19	-1.50	-136.9	0.0	0.0	0	62	0.00	0.00	-40.95	0.000	2	0.000	0.000	130	2117	2289	0	0	0	0	0	0	28.83	28.83	28.83
68	-1.50	-136.9	3.0	-1.3	7	137	11.10	2.65	-50.30	0.000	4	0.461	0.151	2350	703	3330	0	0	0	0	0	0	14.40	14.55	14.81
363	-1.50	-136.9	43.6	-13.7	61	371	0.00	2.65	0.00	0.000	6	0.000	0.138	2341	2129	3332	0	0	0	0	0	0	28.83	14.62	28.83
682	-1.50	-136.9	85.2	-12.8	122	688	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	2128	3332	0	0	0	0	0	0	28.83	28.83	28.83
1000	-1.50	-136.9	124.9	-11.9	164	1009	0.00	2.65	0.00	0.000	4	0.000	0.156	2330	3529	3332	0	0	0	0	0	0	28.83	14.68	28.83
1047	-1.50	-136.9	130.4	-12.3	168	1054	0.10	2.53	0.00	0.000	6	0.308	0.103	2349	2111	3333	0	0	0	0	0	0	14.63	14.73	28.83
1356	-1.50	-136.9	166.0	-11.1	199	1361	0.00	2.53	0.00	0.000	4	0.000	0.132	2349	708	3332	0	0	0	0	0	0	28.83	14.72	28.83
1394	-1.50	-136.9	170.4	-11.9	202	1401	0.00	2.60	0.00	0.000	6	0.000	0.132	2341	2126	3332	0	0	0	0	0	0	28.83	14.73	28.83
1702	-1.50	-136.9	205.9	-11.0	233	1709	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	2126	3331	0	0	0	0	0	0	28.83	28.83	28.83
2011	-1.50	-136.9	243.2	-12.8	264	2017	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	2126	3331	0	0	0	0	0	0	28.83	28.83	28.83
2328	-1.50	-136.9	281.6	-12.0	295	2337	0.00	2.55	0.00	0.000	4	0.000	0.131	2341	714	3330	0	0	0	0	0	0	28.83	14.76	28.83
2393	-1.50	-136.9	290.6	-12.9	301	2402	0.00	2.55	0.00	0.000	6	0.000	0.132	2333	2119	3330	0	0	0	0	0	0	28.83	14.75	28.83
2705	-1.50	-136.9	324.8	-10.1	332	2714	0.00	2.62	0.00	0.000	4	0.000	0.146	2323	3525	3330	0	0	0	0	0	0	28.83	14.74	28.83
2779	-1.50	-136.9	332.8	-10.5	339	2789	0.10	2.45	0.00	0.000	6	0.280	0.097	2349	2122	3330	0	0	0	0	0	0	14.66	14.79	28.83
3090	-1.50	-136.9	363.5	-9.9	370	3099	0.00	2.50	0.00	0.000	4	0.000	0.129	2349	711	3330	0	0	0	0	0	0	28.83	14.76	28.83
3144	-1.50	-136.9	369.4	-10.8	375	3153	0.00	2.55	0.00	0.000	6	0.000	0.131	2342	2118	3329	0	0	0	0	0	0	28.83	14.75	28.83
3455	-1.50	-136.9	400.4	-10.0	406	3461	0.00	2.60	0.00	0.000	4	0.000	0.148	2332	3523	3330	0	0	0	0	0	0	28.83	14.76	28.83
3540	-1.50	-136.9	406.9	-10.5	408	3547	0.00	2.47	0.00	0.000	6	0.000	0.098	2332	2117	3330	0	0	0	0	0	0	28.83	14.82	28.83
3847	-1.50	-136.9	441.2	-10.4	419	3853	0.10	2.50	0.00	0.000	4	0.321	0.127	2350	706	3330	0	0	0	0	0	0	14.72	14.79	28.83
3892	-1.50	-136.9	444.5	-10.4	420	3897	0.00	2.58	0.00	0.000	6	0.000	0.132	2344	2126	3330	0	0	0	0	0	0	28.83	14.78	28.83
4209	-1.50	-136.9	476.3	-9.6	431	4214	0.00	2.60	0.00	0.000	4	0.000	0.148	2333	3526	3330	0	0	0	0	0	0	28.83	14.79	28.83
4258	-1.50	-136.9	479.4	-9.7	432	4267	0.00	2.45	0.00	0.000	6	0.000	0.099	2333	2117	3330	0	0	0	0	0	0	28.83	14.81	28.83
4571	-1.50	-136.9	511.5	-9.4	443	4572	0.00	0.00	0.00	0.000	6	0.000	0.000	2332	2117	3330	0	0	0	0	0	0	28.83	28.83	28.83
4870	-1.50	-136.9	540.2	-9.6	453	4876	0.00	2.50	0.00	0.000	4	0.000	0.131	2333	706	3330	0	0	0	0	0	0	28.83	14.83	28.83
5110	-1.50	-136.9	542.2	0.0	460	5117	0.10	2.58	0.00	0.000	6	0.272	0.132	2353	2123	3331	0	0	0	0	0	0	14.80	14.82	28.83
5141	end dive: NO_VERTICAL_VELOCITY
state	5141	begin apogee
5153	-0.38	0.0	542.2	0.0	462	5293	0.77	0.00	132.23	2.225	6	0.189	0.000	2597	2199	2773	0	0	0	0	0	0	14.81	28.83	13.25
5299	end apogee: CONTROL_FINISHED_OK
state	5299	begin climb
5304	1.50	136.9	542.1	0.0	467	5460	1.35	2.97	141.10	2.196	4	0.165	0.146	3004	3611	2214	0	0	0	0	0	0	14.01	13.57	12.91
5695	1.50	136.9	495.3	14.7	480	5701	0.00	2.62	0.00	0.000	6	0.000	0.103	3015	2195	2207	0	0	0	0	0	0	28.83	14.17	28.83
6027	1.50	136.9	450.4	13.2	491	6028	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2195	2204	0	0	0	0	0	0	28.83	28.83	28.83
6327	1.50	136.9	410.7	13.4	501	6328	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2195	2203	0	0	0	0	0	0	28.83	28.83	28.83
6627	1.50	136.9	372.6	12.2	525	6636	0.00	2.70	0.00	0.000	4	0.000	0.148	3015	3608	2203	0	0	0	0	0	0	28.83	14.62	28.83
6655	1.50	136.9	369.3	12.5	527	6661	0.00	2.55	0.00	0.000	6	0.000	0.107	3025	2196	2203	0	0	0	0	0	0	28.83	14.66	28.83
6963	1.50	136.9	330.5	12.8	558	6969	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2196	2202	0	0	0	0	0	0	28.83	28.83	28.83
7278	1.50	136.9	291.4	12.8	589	7285	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2196	2202	0	0	0	0	0	0	28.83	28.83	28.83
7591	1.50	136.9	250.4	13.7	620	7597	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2196	2202	0	0	0	0	0	0	28.83	28.83	28.83
7902	1.50	136.9	211.8	11.9	651	7911	0.00	2.53	0.00	0.000	4	0.000	0.132	3036	788	2201	0	0	0	0	0	0	28.83	14.75	28.83
7950	1.50	136.9	205.6	12.6	655	7958	0.12	2.55	0.00	0.000	6	0.289	0.125	3009	2199	2201	0	0	0	0	0	0	14.71	14.77	28.83
8259	1.50	136.9	170.2	10.9	686	8268	0.00	2.62	0.00	0.000	4	0.000	0.147	3009	3615	2201	0	0	0	0	0	0	28.83	14.75	28.83
8314	1.50	136.9	163.5	12.8	691	8323	0.00	2.50	0.00	0.000	6	0.000	0.104	3018	2195	2201	0	0	0	0	0	0	28.83	14.79	28.83
8624	1.50	136.9	129.0	11.1	722	8633	0.00	2.53	0.00	0.000	4	0.000	0.129	3028	785	2200	0	0	0	0	0	0	28.83	14.78	28.83
8670	1.50	136.9	124.0	10.9	726	8679	0.08	2.50	0.00	0.000	6	0.269	0.120	3007	2196	2200	0	0	0	0	0	0	14.71	14.77	28.83
8983	1.51	143.1	94.2	8.6	763	8991	0.00	2.70	1.77	0.505	4	0.000	0.140	3007	3618	2188	0	0	0	0	0	0	28.83	14.78	14.61
9008	1.52	150.7	92.1	8.6	766	9021	0.00	2.50	4.43	0.475	6	0.000	0.099	3016	2198	2156	0	0	0	0	0	0	28.83	14.82	14.60
9331	1.52	150.7	60.2	10.3	828	9338	0.00	2.50	0.00	0.000	4	0.000	0.126	3026	791	2154	0	0	0	0	0	0	28.83	14.78	28.83
9398	1.52	150.7	53.3	9.4	840	9405	0.00	2.53	0.00	0.000	6	0.000	0.118	3026	2203	2153	0	0	0	0	0	0	28.83	14.78	28.83
9716	1.59	212.3	26.3	6.2	901	9759	0.00	2.70	32.90	0.254	4	0.000	0.144	3026	3611	1904	0	0	0	0	0	0	28.83	14.71	14.66
9990	end climb: SURFACE_DEPTH_REACHED
state	9990	begin surface coast
10000	end surface coast: CONTROL_FINISHED_OK
state	10000	begin surface