Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 143 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 502 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 3 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 143 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2650 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 3 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7715 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 750 TGT_DEFAULT_LON 16530 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 200 SM_CC 400 R_PORT_OVSHOOT 46 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 420 DEVICE1 2

SURFACE_URGENCY 2 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 2 UPLOAD_DIVES_MAX 5 C_VBD 2961 DEVICE3 86

SURFACE_URGENCY_FORCE 2 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 250 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 320 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 5 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 50 LOGGERDEVICE4 -1

USE_BATHY -1 T_GPS_CHARGE -27624.4 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.025 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 450 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3944 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3065 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043373196

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -70.546913 SEABIRD_T_H 0.00062598457

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011650941 SEABIRD_T_I 2.5066851e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.8555498e-06

MASS 51763 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7998753

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1362277

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00070417771

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014171835

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 2

ALTIM_FREQUENCY 13 D_TGT 750 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 2

ALTIM_PING_DELTA 50 ESCAPE_HEADING 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 2

ALTIM_PING_DEPTH 250 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3944 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 3 FG_AHR_24V 0 PITCH_MIN 450 TGT_DEFAULT_LAT -7715

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON 16530

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011650941 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -70.546913 T_DIVE 250

CALL_TRIES 3 HD_A 0.003 PROTOCOL 0 T_GPS 5

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -27624.4

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 320

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.025 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 502 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_PITCH 3065 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2650 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -1

C_VBD 2961 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51763 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 150 R_PORT_OVSHOOT 46 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.7998753 VBD_MIN 420

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1362277 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00070417771 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 143 NAV_MODE 0 SEABIRD_C_J 0.00014171835 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043373196 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.00062598457 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.5066851e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.8555498e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 051210,081407,-7723.596,16501.402,15,1.9,15,144.3 TGT_NAME NORTH

_CALLS 3 TGT_LATLONG -7640.000,16530.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.80 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 3.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051210,081407,-7723.596,16501.402,15,1.9,15,144.3 MHEAD_RNG_PITCHd_Wd 224.3,81658,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 465

Post-dive calculations and measurements:

FREEZE 8.51,-1.923,-1.907,2,2,0 _24V_AH 21.1,34.460

FINISH1 8.5,1.027883,-19 _10V_AH 9.9,20.144

FINISH2 6.2 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16505.38,051210,080810 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 276264

HUMID 52.83 DATA_FILE_SIZE 50463,732

INTERNAL_PRESSURE 8.88706 CAP_FILE_SIZE 93098,0

TCM_TEMP 14.10 CFSIZE 260165632,244875264

XPDR_PINGS 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_TOP_PING 19.7,18.7 GPS 051210,081407,-7723.596,16501.402,15,1.9,15,144.3

ALTIM_BOTTOM_PING 450.2,32.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 172 12.80 SBE_CT 516 24 261.52

Roll_motor 80 91 154.96 AA4330 888 33 618.89

VBD_pump_during_apogee 274 1094 6332.45 WL_BBFL2VMT 888 105 1968.12

VBD_pump_during_surface 0 0 0.00 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 24.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1788 19 350.67

LPSleep 2843 2 61.66

TT8_Active 337 19 66.21

TT8_Sampling 1711 39 674.39

TT8_CF8 114 45 51.82

TT8_Kalman 0 0 0.00

Analog_circuits 1063 12 126.30

GPS_charging 0 0 0.00

Compass 1228 15 182.43

RAFOS 0 0 0.00

Transponder 16 30 5.02

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.76 -146.0 0.0 0.0 0 25 0.00 0.00 -8.48 0.000 2 0.000 0.000 3066 2477 3267 0 0 0 0 0 0

27 -0.76 -146.0 4.7 -0.0 1 48 0.65 2.17 -10.57 0.000 4 0.069 0.080 2809 3757 3560 0 0 0 0 0 0

67 -0.76 -146.0 7.5 -9.5 7 74 0.00 1.75 0.00 0.000 6 0.000 0.044 2809 2638 3561 0 0 0 0 0 0

203 -0.76 -146.0 29.8 -19.4 32 211 0.00 2.25 0.00 0.000 4 0.000 0.053 2808 1246 3562 0 0 0 0 0 0

226 -0.76 -146.0 33.7 -18.2 35 233 0.00 2.33 0.00 0.000 6 0.000 0.060 2799 2662 3563 0 0 0 0 0 0

362 -0.76 -146.0 57.2 -15.5 60 370 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2662 3563 0 0 0 0 0 0

502 -0.76 -146.0 78.5 -15.9 85 508 0.00 1.77 0.00 0.000 4 0.000 0.063 2790 3769 3563 0 0 0 0 0 0

570 -0.76 -146.0 89.9 -16.2 97 577 0.00 1.75 0.00 0.000 6 0.000 0.044 2790 2674 3563 0 0 0 0 0 0

715 -0.76 -146.0 112.8 -16.5 116 718 0.00 1.77 0.00 0.000 4 0.000 0.064 2781 3770 3563 0 0 0 0 0 0

750 -0.76 -146.0 118.8 -16.3 119 755 0.12 1.73 0.00 0.000 6 0.170 0.044 2815 2659 3563 0 0 0 0 0 0

892 -0.76 -146.0 138.7 -13.4 132 899 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2658 3564 0 0 0 0 0 0

1027 -0.76 -146.0 157.6 -13.9 145 1028 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2657 3564 0 0 0 0 0 0

1154 -0.76 -146.0 174.9 -13.3 157 1158 0.00 1.80 0.00 0.000 4 0.000 0.066 2808 3767 3564 0 0 0 0 0 0

1210 -0.76 -146.0 182.9 -15.2 162 1213 0.00 1.70 0.00 0.000 6 0.000 0.044 2808 2672 3564 0 0 0 0 0 0

1350 -0.76 -146.0 203.1 -14.6 175 1352 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2669 3564 0 0 0 0 0 0

1477 -0.76 -146.0 221.1 -14.3 187 1478 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2669 3563 0 0 0 0 0 0

1605 -0.76 -146.0 238.9 -13.8 199 1608 0.00 1.77 0.00 0.000 4 0.000 0.065 2800 3764 3563 0 0 0 0 0 0

1650 -0.76 -146.0 245.6 -15.4 203 1654 0.00 1.70 0.00 0.000 6 0.000 0.044 2799 2667 3564 0 0 0 0 0 0

1789 -0.76 -146.0 266.4 -14.7 216 1790 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2665 3564 0 0 0 0 0 0

1982 -0.76 -146.0 297.3 -16.1 234 1986 0.00 1.77 0.00 0.000 4 0.000 0.065 2791 3764 3564 0 0 0 0 0 0

2051 -0.76 -146.0 308.9 -16.9 240 2054 0.00 1.67 0.00 0.000 6 0.000 0.044 2791 2682 3564 0 0 0 0 0 0

2253 -0.76 -146.0 341.5 -15.9 259 2255 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2680 3564 0 0 0 0 0 0

2447 -0.76 -146.0 372.2 -15.6 277 2448 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2680 3563 0 0 0 0 0 0

2639 -0.76 -146.0 401.6 -15.6 295 2640 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2680 3563 0 0 0 0 0 0

2827 -0.76 -146.0 431.3 -15.7 313 2830 0.00 1.77 0.00 0.000 4 0.000 0.067 2782 3770 3563 0 0 0 0 0 0

2877 -0.76 -146.0 439.4 -15.6 317 2884 0.12 1.67 0.00 0.000 6 0.167 0.044 2816 2687 3563 0 0 0 0 0 0

3076 -0.76 -146.0 464.8 -12.1 336 3077 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2686 3563 0 0 0 0 0 0

3083 end dive: TARGET_DEPTH_EXCEEDED

state 3083 begin apogee

3087 -0.17 0.0 466.1 12.4 337 3224 0.57 0.00 131.30 1.095 4 0.130 0.000 3006 2493 2961 0 0 0 0 0 0

3224 end apogee: CONTROL_FINISHED_OK

state 3224 begin climb

3226 0.76 146.0 470.8 0.0 349 3380 0.95 2.53 142.85 1.021 4 0.075 0.052 3309 1097 2364 0 0 0 0 0 0

3507 0.76 146.0 445.0 12.2 374 3515 0.00 2.47 0.00 0.000 6 0.000 0.054 3309 2500 2353 0 0 0 0 0 0

3705 0.76 146.0 420.0 12.6 393 3710 0.00 2.33 0.00 0.000 4 0.000 0.053 3318 1098 2350 0 0 0 0 0 0

3824 0.76 146.0 405.4 12.1 403 3828 0.00 2.35 0.00 0.000 6 0.000 0.054 3318 2528 2348 0 0 0 0 0 0

4021 0.76 146.0 378.9 13.9 421 4025 0.00 2.03 0.00 0.000 4 0.000 0.062 3318 3779 2346 0 0 0 0 0 0

4133 0.76 146.0 361.5 16.4 431 4137 0.00 1.95 0.00 0.000 6 0.000 0.044 3327 2550 2345 0 0 0 0 0 0

4336 0.76 146.0 331.0 14.6 450 4339 0.00 1.98 0.00 0.000 4 0.000 0.062 3327 3764 2344 0 0 0 0 0 0

4369 0.76 146.0 325.6 16.2 453 4373 0.00 1.90 0.00 0.000 6 0.000 0.043 3337 2542 2344 0 0 0 0 0 0

4572 0.76 146.0 296.1 14.1 472 4576 0.00 1.98 0.00 0.000 4 0.000 0.060 3337 3763 2343 0 0 0 0 0 0

4606 0.76 146.0 291.0 15.8 475 4610 0.12 1.88 0.00 0.000 6 0.172 0.042 3313 2553 2343 0 0 0 0 0 0

4808 0.76 146.0 265.0 12.6 494 4812 0.00 1.98 0.00 0.000 4 0.000 0.063 3313 3771 2343 0 0 0 0 0 0

4853 0.76 146.0 258.6 14.6 498 4857 0.00 1.90 0.00 0.000 6 0.000 0.044 3321 2551 2343 0 0 0 0 0 0

5057 0.76 146.0 231.7 12.7 517 5061 0.00 1.98 0.00 0.000 4 0.000 0.062 3321 3771 2342 0 0 0 0 0 0

5104 0.76 146.0 224.4 15.1 521 5114 0.00 1.90 0.00 0.000 6 0.000 0.043 3330 2570 2342 0 0 0 0 0 0

5241 0.76 146.0 207.2 12.3 534 5242 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 2569 2342 0 0 0 0 0 0

5367 0.76 146.0 191.6 13.1 546 5371 0.00 1.92 0.00 0.000 4 0.000 0.061 3330 3764 2342 0 0 0 0 0 0

5423 0.76 146.0 183.4 15.6 551 5427 0.00 1.85 0.00 0.000 6 0.000 0.043 3339 2566 2342 0 0 0 0 0 0

5565 0.76 146.0 163.6 14.4 564 5569 0.00 1.95 0.00 0.000 4 0.000 0.063 3339 3771 2342 0 0 0 0 0 0

5590 0.76 146.0 159.0 17.0 566 5601 0.10 1.90 0.00 0.000 6 0.151 0.043 3316 2575 2341 0 0 0 0 0 0

5726 0.76 146.0 141.2 12.9 579 5727 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 2574 2342 0 0 0 0 0 0

5854 0.76 146.0 125.4 12.2 591 5857 0.00 1.92 0.00 0.000 4 0.000 0.062 3316 3767 2342 0 0 0 0 0 0

5932 0.76 146.0 114.3 14.6 598 5935 0.00 1.83 0.00 0.000 6 0.000 0.042 3323 2587 2341 0 0 0 0 0 0

6067 0.76 146.0 95.6 14.0 613 6073 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 2583 2341 0 0 0 0 0 0

6204 0.76 146.0 78.4 11.0 638 6213 0.00 1.95 0.00 0.000 4 0.000 0.063 3324 3762 2341 0 0 0 0 0 0

6268 0.76 146.0 69.2 16.3 649 6275 0.00 1.83 0.00 0.000 6 0.000 0.044 3332 2589 2341 0 0 0 0 0 0

6406 0.76 146.0 51.0 12.6 674 6413 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 2587 2341 0 0 0 0 0 0

6546 0.76 146.0 33.2 13.9 699 6553 0.00 1.92 0.00 0.000 4 0.000 0.063 3333 3773 2341 0 0 0 0 0 0

6604 0.76 146.0 23.9 17.5 709 6612 0.12 1.85 0.00 0.000 6 0.172 0.044 3309 2588 2341 0 0 0 0 0 0

6708 end climb: FINISH_DEPTH_REACHED

state 6708 begin subsurface finish

6713 -0.02 -18.8 8.5 -14.0 727 6747 0.75 2.15 -23.80 0.000 4 0.135 0.080 3064 3757 3041 0 0 0 0 0 0

6748 end subsurface finish: CONTROL_FINISHED_OK

state 6748 begin surface

ID	502	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	143	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2650	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	3	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7715	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	750	TGT_DEFAULT_LON	16530	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	200	SM_CC	400	R_PORT_OVSHOOT	46	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	420	DEVICE1	2
SURFACE_URGENCY	2	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	2	UPLOAD_DIVES_MAX	5	C_VBD	2961	DEVICE3	86
SURFACE_URGENCY_FORCE	2	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	250	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	320	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	5	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	50	LOGGERDEVICE4	-1
USE_BATHY	-1	T_GPS_CHARGE	-27624.4	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.025	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	450	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3944	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3065	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043373196
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-70.546913	SEABIRD_T_H	0.00062598457
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011650941	SEABIRD_T_I	2.5066851e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.8555498e-06
MASS	51763	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7998753
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1362277
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00070417771
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014171835
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	051210,081407,-7723.596,16501.402,15,1.9,15,144.3	TGT_NAME	NORTH
_CALLS	3	TGT_LATLONG	-7640.000,16530.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.80	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	3.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051210,081407,-7723.596,16501.402,15,1.9,15,144.3	MHEAD_RNG_PITCHd_Wd	224.3,81658,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	465

FREEZE	8.51,-1.923,-1.907,2,2,0	_24V_AH	21.1,34.460
FINISH1	8.5,1.027883,-19	_10V_AH	9.9,20.144
FINISH2	6.2	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16505.38,051210,080810	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	276264
HUMID	52.83	DATA_FILE_SIZE	50463,732
INTERNAL_PRESSURE	8.88706	CAP_FILE_SIZE	93098,0
TCM_TEMP	14.10	CFSIZE	260165632,244875264
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	19.7,18.7	GPS	051210,081407,-7723.596,16501.402,15,1.9,15,144.3
ALTIM_BOTTOM_PING	450.2,32.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	172	12.80	SBE_CT	516	24	261.52
Roll_motor	80	91	154.96	AA4330	888	33	618.89
VBD_pump_during_apogee	274	1094	6332.45	WL_BBFL2VMT	888	105	1968.12
VBD_pump_during_surface	0	0	0.00	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	24.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1788	19	350.67
LPSleep	2843	2	61.66
TT8_Active	337	19	66.21
TT8_Sampling	1711	39	674.39
TT8_CF8	114	45	51.82
TT8_Kalman	0	0	0.00
Analog_circuits	1063	12	126.30
GPS_charging	0	0	0.00
Compass	1228	15	182.43
RAFOS	0	0	0.00
Transponder	16	30	5.02

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.76	-146.0	0.0	0.0	0	25	0.00	0.00	-8.48	0.000	2	0.000	0.000	3066	2477	3267	0	0	0	0	0	0
27	-0.76	-146.0	4.7	-0.0	1	48	0.65	2.17	-10.57	0.000	4	0.069	0.080	2809	3757	3560	0	0	0	0	0	0
67	-0.76	-146.0	7.5	-9.5	7	74	0.00	1.75	0.00	0.000	6	0.000	0.044	2809	2638	3561	0	0	0	0	0	0
203	-0.76	-146.0	29.8	-19.4	32	211	0.00	2.25	0.00	0.000	4	0.000	0.053	2808	1246	3562	0	0	0	0	0	0
226	-0.76	-146.0	33.7	-18.2	35	233	0.00	2.33	0.00	0.000	6	0.000	0.060	2799	2662	3563	0	0	0	0	0	0
362	-0.76	-146.0	57.2	-15.5	60	370	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2662	3563	0	0	0	0	0	0
502	-0.76	-146.0	78.5	-15.9	85	508	0.00	1.77	0.00	0.000	4	0.000	0.063	2790	3769	3563	0	0	0	0	0	0
570	-0.76	-146.0	89.9	-16.2	97	577	0.00	1.75	0.00	0.000	6	0.000	0.044	2790	2674	3563	0	0	0	0	0	0
715	-0.76	-146.0	112.8	-16.5	116	718	0.00	1.77	0.00	0.000	4	0.000	0.064	2781	3770	3563	0	0	0	0	0	0
750	-0.76	-146.0	118.8	-16.3	119	755	0.12	1.73	0.00	0.000	6	0.170	0.044	2815	2659	3563	0	0	0	0	0	0
892	-0.76	-146.0	138.7	-13.4	132	899	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2658	3564	0	0	0	0	0	0
1027	-0.76	-146.0	157.6	-13.9	145	1028	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2657	3564	0	0	0	0	0	0
1154	-0.76	-146.0	174.9	-13.3	157	1158	0.00	1.80	0.00	0.000	4	0.000	0.066	2808	3767	3564	0	0	0	0	0	0
1210	-0.76	-146.0	182.9	-15.2	162	1213	0.00	1.70	0.00	0.000	6	0.000	0.044	2808	2672	3564	0	0	0	0	0	0
1350	-0.76	-146.0	203.1	-14.6	175	1352	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2669	3564	0	0	0	0	0	0
1477	-0.76	-146.0	221.1	-14.3	187	1478	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2669	3563	0	0	0	0	0	0
1605	-0.76	-146.0	238.9	-13.8	199	1608	0.00	1.77	0.00	0.000	4	0.000	0.065	2800	3764	3563	0	0	0	0	0	0
1650	-0.76	-146.0	245.6	-15.4	203	1654	0.00	1.70	0.00	0.000	6	0.000	0.044	2799	2667	3564	0	0	0	0	0	0
1789	-0.76	-146.0	266.4	-14.7	216	1790	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2665	3564	0	0	0	0	0	0
1982	-0.76	-146.0	297.3	-16.1	234	1986	0.00	1.77	0.00	0.000	4	0.000	0.065	2791	3764	3564	0	0	0	0	0	0
2051	-0.76	-146.0	308.9	-16.9	240	2054	0.00	1.67	0.00	0.000	6	0.000	0.044	2791	2682	3564	0	0	0	0	0	0
2253	-0.76	-146.0	341.5	-15.9	259	2255	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2680	3564	0	0	0	0	0	0
2447	-0.76	-146.0	372.2	-15.6	277	2448	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2680	3563	0	0	0	0	0	0
2639	-0.76	-146.0	401.6	-15.6	295	2640	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2680	3563	0	0	0	0	0	0
2827	-0.76	-146.0	431.3	-15.7	313	2830	0.00	1.77	0.00	0.000	4	0.000	0.067	2782	3770	3563	0	0	0	0	0	0
2877	-0.76	-146.0	439.4	-15.6	317	2884	0.12	1.67	0.00	0.000	6	0.167	0.044	2816	2687	3563	0	0	0	0	0	0
3076	-0.76	-146.0	464.8	-12.1	336	3077	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2686	3563	0	0	0	0	0	0
3083	end dive: TARGET_DEPTH_EXCEEDED
state	3083	begin apogee
3087	-0.17	0.0	466.1	12.4	337	3224	0.57	0.00	131.30	1.095	4	0.130	0.000	3006	2493	2961	0	0	0	0	0	0
3224	end apogee: CONTROL_FINISHED_OK
state	3224	begin climb
3226	0.76	146.0	470.8	0.0	349	3380	0.95	2.53	142.85	1.021	4	0.075	0.052	3309	1097	2364	0	0	0	0	0	0
3507	0.76	146.0	445.0	12.2	374	3515	0.00	2.47	0.00	0.000	6	0.000	0.054	3309	2500	2353	0	0	0	0	0	0
3705	0.76	146.0	420.0	12.6	393	3710	0.00	2.33	0.00	0.000	4	0.000	0.053	3318	1098	2350	0	0	0	0	0	0
3824	0.76	146.0	405.4	12.1	403	3828	0.00	2.35	0.00	0.000	6	0.000	0.054	3318	2528	2348	0	0	0	0	0	0
4021	0.76	146.0	378.9	13.9	421	4025	0.00	2.03	0.00	0.000	4	0.000	0.062	3318	3779	2346	0	0	0	0	0	0
4133	0.76	146.0	361.5	16.4	431	4137	0.00	1.95	0.00	0.000	6	0.000	0.044	3327	2550	2345	0	0	0	0	0	0
4336	0.76	146.0	331.0	14.6	450	4339	0.00	1.98	0.00	0.000	4	0.000	0.062	3327	3764	2344	0	0	0	0	0	0
4369	0.76	146.0	325.6	16.2	453	4373	0.00	1.90	0.00	0.000	6	0.000	0.043	3337	2542	2344	0	0	0	0	0	0
4572	0.76	146.0	296.1	14.1	472	4576	0.00	1.98	0.00	0.000	4	0.000	0.060	3337	3763	2343	0	0	0	0	0	0
4606	0.76	146.0	291.0	15.8	475	4610	0.12	1.88	0.00	0.000	6	0.172	0.042	3313	2553	2343	0	0	0	0	0	0
4808	0.76	146.0	265.0	12.6	494	4812	0.00	1.98	0.00	0.000	4	0.000	0.063	3313	3771	2343	0	0	0	0	0	0
4853	0.76	146.0	258.6	14.6	498	4857	0.00	1.90	0.00	0.000	6	0.000	0.044	3321	2551	2343	0	0	0	0	0	0
5057	0.76	146.0	231.7	12.7	517	5061	0.00	1.98	0.00	0.000	4	0.000	0.062	3321	3771	2342	0	0	0	0	0	0
5104	0.76	146.0	224.4	15.1	521	5114	0.00	1.90	0.00	0.000	6	0.000	0.043	3330	2570	2342	0	0	0	0	0	0
5241	0.76	146.0	207.2	12.3	534	5242	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	2569	2342	0	0	0	0	0	0
5367	0.76	146.0	191.6	13.1	546	5371	0.00	1.92	0.00	0.000	4	0.000	0.061	3330	3764	2342	0	0	0	0	0	0
5423	0.76	146.0	183.4	15.6	551	5427	0.00	1.85	0.00	0.000	6	0.000	0.043	3339	2566	2342	0	0	0	0	0	0
5565	0.76	146.0	163.6	14.4	564	5569	0.00	1.95	0.00	0.000	4	0.000	0.063	3339	3771	2342	0	0	0	0	0	0
5590	0.76	146.0	159.0	17.0	566	5601	0.10	1.90	0.00	0.000	6	0.151	0.043	3316	2575	2341	0	0	0	0	0	0
5726	0.76	146.0	141.2	12.9	579	5727	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	2574	2342	0	0	0	0	0	0
5854	0.76	146.0	125.4	12.2	591	5857	0.00	1.92	0.00	0.000	4	0.000	0.062	3316	3767	2342	0	0	0	0	0	0
5932	0.76	146.0	114.3	14.6	598	5935	0.00	1.83	0.00	0.000	6	0.000	0.042	3323	2587	2341	0	0	0	0	0	0
6067	0.76	146.0	95.6	14.0	613	6073	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	2583	2341	0	0	0	0	0	0
6204	0.76	146.0	78.4	11.0	638	6213	0.00	1.95	0.00	0.000	4	0.000	0.063	3324	3762	2341	0	0	0	0	0	0
6268	0.76	146.0	69.2	16.3	649	6275	0.00	1.83	0.00	0.000	6	0.000	0.044	3332	2589	2341	0	0	0	0	0	0
6406	0.76	146.0	51.0	12.6	674	6413	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	2587	2341	0	0	0	0	0	0
6546	0.76	146.0	33.2	13.9	699	6553	0.00	1.92	0.00	0.000	4	0.000	0.063	3333	3773	2341	0	0	0	0	0	0
6604	0.76	146.0	23.9	17.5	709	6612	0.12	1.85	0.00	0.000	6	0.172	0.044	3309	2588	2341	0	0	0	0	0	0
6708	end climb: FINISH_DEPTH_REACHED
state	6708	begin subsurface finish
6713	-0.02	-18.8	8.5	-14.0	727	6747	0.75	2.15	-23.80	0.000	4	0.135	0.080	3064	3757	3041	0	0	0	0	0	0
6748	end subsurface finish: CONTROL_FINISHED_OK
state	6748	begin surface