Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 174 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 174 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 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 -2 T_GPS_CHARGE -28688.277 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

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 -28688.277

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 28 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 174 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 180311,122952,6655.830,-6000.730,0,4103.2,0,-38.2 TGT_NAME TARGET_W2

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 10.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180311,122952,6655.830,-6000.730,0,4103.2,0,-38.2 MHEAD_RNG_PITCHd_Wd 258.4,28666,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 774

Post-dive calculations and measurements:

FINISH1 86.4,1.026405,54 ALTIM_BOTTOM_PING 87.2,22.9

FINISH2 85.4 _24V_AH 22.6,25.464

RAFOS_CLK 637 _10V_AH 10.2,14.129

RAFOS 0,1300464069,16.033333,16.019167,63,63,56,56,55,52,191,218,209,110,641,126 FG_AHR_24Vo 0.000

RAFOS_FIX 6656.417480,-6004.600098,180311,161642,3,140,0.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 MEM 150560

TT8_MAMPS 0.026215 DATA_FILE_SIZE 39981,1018

HUMID 48.11 CAP_FILE_SIZE 122536,0

INTERNAL_PRESSURE 8.70151 CFSIZE 260165632,240242688

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1454.9

ALTIM_TOP_PING 23.1,23.6 GPS 180311,163242,6656.417,-6004.600,0,3139.7,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 234 23.09 SBE_CT 726 24 394.23

Roll_motor 104 79 187.36 SBE_O2 789 19 338.97

VBD_pump_during_apogee 249 1354 7624.37 nil 0 0 0.00

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 21.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2564 19 521.05

LPSleep 6905 2 162.71

TT8_Active 304 19 61.94

TT8_Sampling 1730 39 704.72

TT8_CF8 155 45 72.74

TT8_Kalman 0 0 0.00

Analog_circuits 1219 12 149.21

GPS_charging 0 0 0.00

Compass 1716 15 262.69

RAFOS 2520 1 38.56

Transponder 17 30 5.48

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -6.93 0.000 2 0.000 0.000 2900 3693 3008 0 0 0 0 0 0

27 -0.62 -146.0 12.3 -0.0 1 52 0.65 4.22 -14.90 0.000 4 0.105 0.061 2670 1070 3629 0 0 0 0 0 0

251 -0.51 -146.0 52.2 -18.2 40 258 0.00 2.28 0.00 0.000 6 0.000 0.060 2670 2488 3630 0 0 0 0 0 0

597 -0.38 -146.0 117.9 -17.2 93 602 0.25 2.33 0.00 0.000 4 0.229 0.073 2736 3908 3630 0 0 0 0 0 0

659 -0.48 -146.0 125.7 -10.2 98 664 0.00 2.22 0.00 0.000 6 0.000 0.045 2736 2483 3630 0 0 0 0 0 0

985 -0.54 -146.0 157.5 -8.9 128 990 0.15 2.25 0.00 0.000 4 0.123 0.065 2686 1083 3629 0 0 0 0 0 0

1025 -0.50 -146.0 162.3 -13.1 131 1029 0.00 2.25 0.00 0.000 6 0.000 0.059 2685 2490 3629 0 0 0 0 0 0

1351 -0.45 -146.0 204.3 -12.6 161 1356 0.12 2.33 0.00 0.000 4 0.235 0.076 2713 3904 3629 0 0 0 0 0 0

1407 -0.51 -146.0 210.4 -9.3 165 1414 0.00 2.20 0.00 0.000 6 0.000 0.046 2713 2489 3629 0 0 0 0 0 0

1734 -0.55 -146.0 241.3 -9.8 196 1738 0.00 2.30 0.00 0.000 4 0.000 0.073 2713 3907 3629 0 0 0 0 0 0

1755 -0.59 -146.0 243.7 -10.1 197 1763 0.12 2.20 0.00 0.000 6 0.128 0.045 2671 2481 3629 0 0 0 0 0 0

2082 -0.53 -146.0 283.9 -12.2 228 2083 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2481 3628 0 0 0 0 0 0

2400 -0.47 -146.0 322.6 -11.4 258 2405 0.15 2.22 0.00 0.000 4 0.220 0.064 2706 1086 3628 0 0 0 0 0 0

2441 -0.52 -146.0 326.4 -8.5 261 2445 0.00 2.25 0.00 0.000 6 0.000 0.060 2706 2495 3628 0 0 0 0 0 0

2766 -0.55 -146.0 351.5 -7.2 291 2770 0.00 2.28 0.00 0.000 4 0.000 0.075 2706 3899 3628 0 0 0 0 0 0

2796 -0.60 -146.0 353.7 -7.6 293 2801 0.12 2.17 0.00 0.000 6 0.133 0.046 2665 2487 3628 0 0 0 0 0 0

3121 -0.54 -146.0 389.5 -11.2 323 3125 0.00 2.20 0.00 0.000 4 0.000 0.062 2665 1077 3628 0 0 0 0 0 0

3184 -0.52 -146.0 396.8 -11.4 328 3189 0.12 2.25 0.00 0.000 6 0.223 0.059 2693 2500 3628 0 0 0 0 0 0

3510 -0.52 -146.0 425.5 -8.8 358 3514 0.00 2.28 0.00 0.000 4 0.000 0.076 2692 3900 3628 0 0 0 0 0 0

3538 -0.54 -146.0 427.9 -8.6 360 3542 0.00 2.17 0.00 0.000 6 0.000 0.046 2692 2486 3629 0 0 0 0 0 0

3864 -0.56 -146.0 457.0 -8.9 390 3868 0.00 2.20 0.00 0.000 4 0.000 0.060 2693 1084 3629 0 0 0 0 0 0

3894 -0.59 -146.0 459.9 -9.3 392 3898 0.00 2.25 0.00 0.000 6 0.000 0.057 2693 2501 3629 0 0 0 0 0 0

4219 -0.61 -146.0 489.5 -8.6 422 4221 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2501 3629 0 0 0 0 0 0

4541 -0.64 -146.0 517.5 -9.2 452 4547 0.10 0.00 0.00 0.000 6 0.142 0.000 2658 2501 3629 0 0 0 0 0 0

4866 -0.58 -146.0 556.5 -12.3 483 4870 0.00 2.25 0.00 0.000 4 0.000 0.060 2657 1079 3629 0 0 0 0 0 0

4898 -0.52 -146.0 560.8 -13.0 485 4906 0.15 2.25 0.00 0.000 6 0.209 0.060 2693 2495 3629 0 0 0 0 0 0

5224 -0.55 -146.0 590.0 -8.6 516 5228 0.00 2.25 0.00 0.000 4 0.000 0.074 2693 3899 3629 0 0 0 0 0 0

5256 -0.60 -146.0 593.0 -8.8 518 5263 0.00 2.20 0.00 0.000 6 0.000 0.045 2693 2478 3629 0 0 0 0 0 0

5584 -0.64 -146.0 620.8 -8.4 534 5586 0.12 0.00 0.00 0.000 6 0.135 0.000 2651 2478 3629 0 0 0 0 0 0

5889 -0.57 -146.0 656.7 -12.0 544 5890 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2478 3629 0 0 0 0 0 0

6132 end dive: BOTTOM_OBSTACLE_DETECTED

state 6132 begin apogee

6137 -0.12 0.0 685.3 11.7 552 6266 0.57 0.00 122.20 1.354 6 0.200 0.000 2814 2264 3030 0 0 0 0 0 0

6267 end apogee: CONTROL_FINISHED_OK

state 6267 begin climb

6269 0.62 146.0 688.2 0.0 556 6405 0.77 2.50 126.95 1.308 4 0.134 0.063 3064 884 2432 0 0 0 0 0 0

6433 0.62 146.0 675.8 23240.8 561 6437 0.00 2.42 0.00 0.000 6 0.000 0.051 3064 2275 2429 0 0 0 0 0 0

6763 0.62 146.0 633.9 23240.8 572 6767 0.00 2.35 0.00 0.000 4 0.000 0.067 3064 3688 2425 0 0 0 0 0 0

6941 0.62 146.0 607.9 23240.8 577 6945 0.00 2.30 0.00 0.000 6 0.000 0.050 3074 2283 2424 0 0 0 0 0 0

7265 0.62 146.0 566.9 23240.8 603 7269 0.00 2.33 0.00 0.000 4 0.000 0.066 3074 3692 2423 0 0 0 0 0 0

7298 0.62 146.0 562.1 23240.8 605 7305 0.00 2.28 0.00 0.000 6 0.000 0.050 3085 2274 2423 0 0 0 0 0 0

7625 0.62 146.0 520.3 23240.8 636 7629 0.00 2.30 0.00 0.000 4 0.000 0.064 3084 3697 2422 0 0 0 0 0 0

7646 0.62 146.0 517.0 23240.8 637 7654 0.12 2.28 0.00 0.000 6 0.216 0.051 3067 2272 2423 0 0 0 0 0 0

7973 0.62 146.0 477.7 23240.8 668 7974 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2271 2422 0 0 0 0 0 0

8291 0.62 146.0 438.2 23240.8 698 8292 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2271 2422 0 0 0 0 0 0

8610 0.62 146.0 400.8 23240.8 728 8614 0.00 2.30 0.00 0.000 4 0.000 0.065 3065 3692 2422 0 0 0 0 0 0

8653 0.62 146.0 394.9 23240.8 731 8660 0.00 2.25 0.00 0.000 6 0.000 0.051 3074 2272 2422 0 0 0 0 0 0

8980 0.62 146.0 356.2 23240.8 762 8984 0.00 2.25 0.00 0.000 4 0.000 0.064 3084 867 2422 0 0 0 0 0 0

9024 0.62 146.0 350.5 23240.8 765 9031 0.00 2.22 0.00 0.000 6 0.000 0.053 3084 2280 2421 0 0 0 0 0 0

9350 0.62 146.0 311.4 23240.8 796 9354 0.00 2.25 0.00 0.000 4 0.000 0.067 3084 3698 2421 0 0 0 0 0 0

9440 0.62 146.0 299.5 23240.8 804 9445 0.12 2.25 0.00 0.000 6 0.215 0.050 3066 2269 2422 0 0 0 0 0 0

9765 0.62 146.0 265.3 23240.8 834 9769 0.00 2.28 0.00 0.000 4 0.000 0.063 3065 3686 2422 0 0 0 0 0 0

9821 0.62 146.0 258.7 23240.8 838 9828 0.00 2.22 0.00 0.000 6 0.000 0.050 3074 2276 2422 0 0 0 0 0 0

10146 0.62 146.0 223.2 23240.8 869 10150 0.00 2.28 0.00 0.000 4 0.000 0.064 3073 3692 2422 0 0 0 0 0 0

10266 0.62 146.0 208.7 23240.8 879 10271 0.00 2.22 0.00 0.000 6 0.000 0.050 3083 2275 2422 0 0 0 0 0 0

10592 0.62 146.0 174.9 23240.8 909 10596 0.00 2.25 0.00 0.000 4 0.000 0.064 3083 3688 2422 0 0 0 0 0 0

10676 0.62 146.0 166.0 23240.8 916 10683 0.00 2.22 0.00 0.000 6 0.000 0.049 3094 2270 2422 0 0 0 0 0 0

11002 0.62 146.0 135.0 23240.8 947 11003 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 2270 2422 0 0 0 0 0 0

11322 0.62 146.0 106.4 23240.8 977 11323 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 2270 2422 0 0 0 0 0 0

11576 end climb: SURFACE_OBSTACLE_DETECTED

state 11577 begin subsurface finish

11582 0.07 53.7 86.4 -23240.8 1016 11596 0.68 2.35 -2.80 0.000 4 0.179 0.080 2894 3690 2823 0 0 0 0 0 0

11597 end subsurface finish: CONTROL_FINISHED_OK

state 11597 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	174	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	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	-2	T_GPS_CHARGE	-28688.277	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	180311,122952,6655.830,-6000.730,0,4103.2,0,-38.2	TGT_NAME	TARGET_W2
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	10.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180311,122952,6655.830,-6000.730,0,4103.2,0,-38.2	MHEAD_RNG_PITCHd_Wd	258.4,28666,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	774

FINISH1	86.4,1.026405,54	ALTIM_BOTTOM_PING	87.2,22.9
FINISH2	85.4	_24V_AH	22.6,25.464
RAFOS_CLK	637	_10V_AH	10.2,14.129
RAFOS	0,1300464069,16.033333,16.019167,63,63,56,56,55,52,191,218,209,110,641,126	FG_AHR_24Vo	0.000
RAFOS_FIX	6656.417480,-6004.600098,180311,161642,3,140,0.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	MEM	150560
TT8_MAMPS	0.026215	DATA_FILE_SIZE	39981,1018
HUMID	48.11	CAP_FILE_SIZE	122536,0
INTERNAL_PRESSURE	8.70151	CFSIZE	260165632,240242688
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1454.9
ALTIM_TOP_PING	23.1,23.6	GPS	180311,163242,6656.417,-6004.600,0,3139.7,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	234	23.09	SBE_CT	726	24	394.23
Roll_motor	104	79	187.36	SBE_O2	789	19	338.97
VBD_pump_during_apogee	249	1354	7624.37	nil	0	0	0.00
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	21.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2564	19	521.05
LPSleep	6905	2	162.71
TT8_Active	304	19	61.94
TT8_Sampling	1730	39	704.72
TT8_CF8	155	45	72.74
TT8_Kalman	0	0	0.00
Analog_circuits	1219	12	149.21
GPS_charging	0	0	0.00
Compass	1716	15	262.69
RAFOS	2520	1	38.56
Transponder	17	30	5.48

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-6.93	0.000	2	0.000	0.000	2900	3693	3008	0	0	0	0	0	0
27	-0.62	-146.0	12.3	-0.0	1	52	0.65	4.22	-14.90	0.000	4	0.105	0.061	2670	1070	3629	0	0	0	0	0	0
251	-0.51	-146.0	52.2	-18.2	40	258	0.00	2.28	0.00	0.000	6	0.000	0.060	2670	2488	3630	0	0	0	0	0	0
597	-0.38	-146.0	117.9	-17.2	93	602	0.25	2.33	0.00	0.000	4	0.229	0.073	2736	3908	3630	0	0	0	0	0	0
659	-0.48	-146.0	125.7	-10.2	98	664	0.00	2.22	0.00	0.000	6	0.000	0.045	2736	2483	3630	0	0	0	0	0	0
985	-0.54	-146.0	157.5	-8.9	128	990	0.15	2.25	0.00	0.000	4	0.123	0.065	2686	1083	3629	0	0	0	0	0	0
1025	-0.50	-146.0	162.3	-13.1	131	1029	0.00	2.25	0.00	0.000	6	0.000	0.059	2685	2490	3629	0	0	0	0	0	0
1351	-0.45	-146.0	204.3	-12.6	161	1356	0.12	2.33	0.00	0.000	4	0.235	0.076	2713	3904	3629	0	0	0	0	0	0
1407	-0.51	-146.0	210.4	-9.3	165	1414	0.00	2.20	0.00	0.000	6	0.000	0.046	2713	2489	3629	0	0	0	0	0	0
1734	-0.55	-146.0	241.3	-9.8	196	1738	0.00	2.30	0.00	0.000	4	0.000	0.073	2713	3907	3629	0	0	0	0	0	0
1755	-0.59	-146.0	243.7	-10.1	197	1763	0.12	2.20	0.00	0.000	6	0.128	0.045	2671	2481	3629	0	0	0	0	0	0
2082	-0.53	-146.0	283.9	-12.2	228	2083	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2481	3628	0	0	0	0	0	0
2400	-0.47	-146.0	322.6	-11.4	258	2405	0.15	2.22	0.00	0.000	4	0.220	0.064	2706	1086	3628	0	0	0	0	0	0
2441	-0.52	-146.0	326.4	-8.5	261	2445	0.00	2.25	0.00	0.000	6	0.000	0.060	2706	2495	3628	0	0	0	0	0	0
2766	-0.55	-146.0	351.5	-7.2	291	2770	0.00	2.28	0.00	0.000	4	0.000	0.075	2706	3899	3628	0	0	0	0	0	0
2796	-0.60	-146.0	353.7	-7.6	293	2801	0.12	2.17	0.00	0.000	6	0.133	0.046	2665	2487	3628	0	0	0	0	0	0
3121	-0.54	-146.0	389.5	-11.2	323	3125	0.00	2.20	0.00	0.000	4	0.000	0.062	2665	1077	3628	0	0	0	0	0	0
3184	-0.52	-146.0	396.8	-11.4	328	3189	0.12	2.25	0.00	0.000	6	0.223	0.059	2693	2500	3628	0	0	0	0	0	0
3510	-0.52	-146.0	425.5	-8.8	358	3514	0.00	2.28	0.00	0.000	4	0.000	0.076	2692	3900	3628	0	0	0	0	0	0
3538	-0.54	-146.0	427.9	-8.6	360	3542	0.00	2.17	0.00	0.000	6	0.000	0.046	2692	2486	3629	0	0	0	0	0	0
3864	-0.56	-146.0	457.0	-8.9	390	3868	0.00	2.20	0.00	0.000	4	0.000	0.060	2693	1084	3629	0	0	0	0	0	0
3894	-0.59	-146.0	459.9	-9.3	392	3898	0.00	2.25	0.00	0.000	6	0.000	0.057	2693	2501	3629	0	0	0	0	0	0
4219	-0.61	-146.0	489.5	-8.6	422	4221	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2501	3629	0	0	0	0	0	0
4541	-0.64	-146.0	517.5	-9.2	452	4547	0.10	0.00	0.00	0.000	6	0.142	0.000	2658	2501	3629	0	0	0	0	0	0
4866	-0.58	-146.0	556.5	-12.3	483	4870	0.00	2.25	0.00	0.000	4	0.000	0.060	2657	1079	3629	0	0	0	0	0	0
4898	-0.52	-146.0	560.8	-13.0	485	4906	0.15	2.25	0.00	0.000	6	0.209	0.060	2693	2495	3629	0	0	0	0	0	0
5224	-0.55	-146.0	590.0	-8.6	516	5228	0.00	2.25	0.00	0.000	4	0.000	0.074	2693	3899	3629	0	0	0	0	0	0
5256	-0.60	-146.0	593.0	-8.8	518	5263	0.00	2.20	0.00	0.000	6	0.000	0.045	2693	2478	3629	0	0	0	0	0	0
5584	-0.64	-146.0	620.8	-8.4	534	5586	0.12	0.00	0.00	0.000	6	0.135	0.000	2651	2478	3629	0	0	0	0	0	0
5889	-0.57	-146.0	656.7	-12.0	544	5890	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2478	3629	0	0	0	0	0	0
6132	end dive: BOTTOM_OBSTACLE_DETECTED
state	6132	begin apogee
6137	-0.12	0.0	685.3	11.7	552	6266	0.57	0.00	122.20	1.354	6	0.200	0.000	2814	2264	3030	0	0	0	0	0	0
6267	end apogee: CONTROL_FINISHED_OK
state	6267	begin climb
6269	0.62	146.0	688.2	0.0	556	6405	0.77	2.50	126.95	1.308	4	0.134	0.063	3064	884	2432	0	0	0	0	0	0
6433	0.62	146.0	675.8	23240.8	561	6437	0.00	2.42	0.00	0.000	6	0.000	0.051	3064	2275	2429	0	0	0	0	0	0
6763	0.62	146.0	633.9	23240.8	572	6767	0.00	2.35	0.00	0.000	4	0.000	0.067	3064	3688	2425	0	0	0	0	0	0
6941	0.62	146.0	607.9	23240.8	577	6945	0.00	2.30	0.00	0.000	6	0.000	0.050	3074	2283	2424	0	0	0	0	0	0
7265	0.62	146.0	566.9	23240.8	603	7269	0.00	2.33	0.00	0.000	4	0.000	0.066	3074	3692	2423	0	0	0	0	0	0
7298	0.62	146.0	562.1	23240.8	605	7305	0.00	2.28	0.00	0.000	6	0.000	0.050	3085	2274	2423	0	0	0	0	0	0
7625	0.62	146.0	520.3	23240.8	636	7629	0.00	2.30	0.00	0.000	4	0.000	0.064	3084	3697	2422	0	0	0	0	0	0
7646	0.62	146.0	517.0	23240.8	637	7654	0.12	2.28	0.00	0.000	6	0.216	0.051	3067	2272	2423	0	0	0	0	0	0
7973	0.62	146.0	477.7	23240.8	668	7974	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2271	2422	0	0	0	0	0	0
8291	0.62	146.0	438.2	23240.8	698	8292	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2271	2422	0	0	0	0	0	0
8610	0.62	146.0	400.8	23240.8	728	8614	0.00	2.30	0.00	0.000	4	0.000	0.065	3065	3692	2422	0	0	0	0	0	0
8653	0.62	146.0	394.9	23240.8	731	8660	0.00	2.25	0.00	0.000	6	0.000	0.051	3074	2272	2422	0	0	0	0	0	0
8980	0.62	146.0	356.2	23240.8	762	8984	0.00	2.25	0.00	0.000	4	0.000	0.064	3084	867	2422	0	0	0	0	0	0
9024	0.62	146.0	350.5	23240.8	765	9031	0.00	2.22	0.00	0.000	6	0.000	0.053	3084	2280	2421	0	0	0	0	0	0
9350	0.62	146.0	311.4	23240.8	796	9354	0.00	2.25	0.00	0.000	4	0.000	0.067	3084	3698	2421	0	0	0	0	0	0
9440	0.62	146.0	299.5	23240.8	804	9445	0.12	2.25	0.00	0.000	6	0.215	0.050	3066	2269	2422	0	0	0	0	0	0
9765	0.62	146.0	265.3	23240.8	834	9769	0.00	2.28	0.00	0.000	4	0.000	0.063	3065	3686	2422	0	0	0	0	0	0
9821	0.62	146.0	258.7	23240.8	838	9828	0.00	2.22	0.00	0.000	6	0.000	0.050	3074	2276	2422	0	0	0	0	0	0
10146	0.62	146.0	223.2	23240.8	869	10150	0.00	2.28	0.00	0.000	4	0.000	0.064	3073	3692	2422	0	0	0	0	0	0
10266	0.62	146.0	208.7	23240.8	879	10271	0.00	2.22	0.00	0.000	6	0.000	0.050	3083	2275	2422	0	0	0	0	0	0
10592	0.62	146.0	174.9	23240.8	909	10596	0.00	2.25	0.00	0.000	4	0.000	0.064	3083	3688	2422	0	0	0	0	0	0
10676	0.62	146.0	166.0	23240.8	916	10683	0.00	2.22	0.00	0.000	6	0.000	0.049	3094	2270	2422	0	0	0	0	0	0
11002	0.62	146.0	135.0	23240.8	947	11003	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	2270	2422	0	0	0	0	0	0
11322	0.62	146.0	106.4	23240.8	977	11323	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	2270	2422	0	0	0	0	0	0
11576	end climb: SURFACE_OBSTACLE_DETECTED
state	11577	begin subsurface finish
11582	0.07	53.7	86.4	-23240.8	1016	11596	0.68	2.35	-2.80	0.000	4	0.179	0.080	2894	3690	2823	0	0	0	0	0	0
11597	end subsurface finish: CONTROL_FINISHED_OK
state	11597	begin surface