Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 175 * 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 175 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 31 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 31 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 175 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 180311,163242,6656.417,-6004.600,0,3139.7,0,-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 86.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 5.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180311,163242,6656.417,-6004.600,0,3139.7,0,-38.2 MHEAD_RNG_PITCHd_Wd 252.4,27821,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 737

Post-dive calculations and measurements:

FREEZE 2.82,-1.762,-1.772,3,50,2 ALTIM_TOP_PING 10677.0,10682.0

FINISH 2.8,1.026005 ALTIM_BOTTOM_PING 10632.0,10665.0

SM_CCo 11994,181.88,0.078,0,0,750,559.04 _24V_AH 22.6,25.561

SM_GC 4.14,0.00,0.00,181.88,0.000,0.000,0.078,106,2509,750,-8.62,0.54,559.04 _10V_AH 10.2,14.200

RAFOS_CLK 668 FG_AHR_24Vo 0.000

RAFOS 0,1300478464,20.033333,20.017778,82,63,58,56,53,51,647,218,202,173,148,136 FG_AHR_10Vo 0.000

RAFOS_FIX 6652.023438,-6013.063965,180311,202028,2,113,0.79 MEM 150552

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 46639,1195

TT8_MAMPS 0.026215 CAP_FILE_SIZE 130678,0

HUMID 45.94 CFSIZE 260165632,240160768

INTERNAL_PRESSURE 8.44759 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1451.3

XPDR_PINGS 0 GPS 180311,200728,6652.023,-6013.064,0,2113.0,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 225 60.06 SBE_CT 856 24 464.42

Roll_motor 93 84 177.06 SBE_O2 915 19 393.24

VBD_pump_during_apogee 250 1328 7521.26 nil 0 0 0.00

VBD_pump_during_surface 181 78 320.73 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 2959 19 601.26

LPSleep 6716 2 158.25

TT8_Active 481 19 97.85

TT8_Sampling 1924 39 783.49

TT8_CF8 164 45 76.87

TT8_Kalman 0 0 0.00

Analog_circuits 1477 12 180.88

GPS_charging 0 0 0.00

Compass 1903 15 291.23

RAFOS 2520 1 38.56

Transponder 17 30 5.45

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

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.82 -5.55 0.000 3 0.000 0.084 2894 3140 3637 0 0 0 0 0 0

27 -0.62 -146.0 88.0 -0.0 1 34 0.68 3.22 0.00 0.000 4 0.132 0.051 2668 1071 3639 0 0 0 0 0 0

92 -0.53 -146.0 95.3 -13.2 12 99 0.00 2.25 0.00 0.000 6 0.000 0.059 2668 2489 3638 0 0 0 0 0 0

425 -0.41 -146.0 150.1 -16.3 46 427 0.22 0.00 0.00 0.000 6 0.223 0.000 2723 2489 3638 0 0 0 0 0 0

746 -0.45 -146.0 184.9 -10.5 76 750 0.00 2.28 0.00 0.000 4 0.000 0.073 2723 3899 3638 0 0 0 0 0 0

775 -0.51 -146.0 188.0 -10.5 78 779 0.00 2.20 0.00 0.000 6 0.000 0.044 2724 2477 3637 0 0 0 0 0 0

1100 -0.57 -146.0 218.9 -9.1 108 1102 0.12 0.00 0.00 0.000 6 0.132 0.000 2681 2476 3637 0 0 0 0 0 0

1420 -0.52 -146.0 258.9 -12.4 138 1424 0.00 2.30 0.00 0.000 4 0.000 0.070 2681 3907 3636 0 0 0 0 0 0

1459 -0.52 -146.0 263.9 -11.8 141 1463 0.00 2.20 0.00 0.000 6 0.000 0.045 2681 2486 3636 0 0 0 0 0 0

1784 -0.49 -146.0 302.3 -11.4 171 1788 0.00 2.20 0.00 0.000 4 0.000 0.060 2681 1081 3636 0 0 0 0 0 0

1828 -0.49 -146.0 307.6 -11.3 174 1835 0.00 2.25 0.00 0.000 6 0.000 0.057 2682 2485 3636 0 0 0 0 0 0

2155 -0.46 -146.0 346.2 -11.9 205 2160 0.12 2.28 0.00 0.000 4 0.221 0.073 2710 3899 3635 0 0 0 0 0 0

2176 -0.46 -146.0 349.0 -11.6 206 2183 0.00 2.20 0.00 0.000 6 0.000 0.044 2710 2495 3636 0 0 0 0 0 0

2502 -0.51 -146.0 378.0 -8.6 237 2506 0.00 2.22 0.00 0.000 4 0.000 0.059 2710 1073 3636 0 0 0 0 0 0

2559 -0.59 -146.0 383.3 -8.9 241 2567 0.12 2.25 0.00 0.000 6 0.135 0.057 2668 2490 3636 0 0 0 0 0 0

2884 -0.54 -146.0 420.4 -11.6 272 2886 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2491 3635 0 0 0 0 0 0

3205 -0.50 -146.0 459.6 -12.9 302 3207 0.12 0.00 0.00 0.000 6 0.217 0.000 2696 2491 3636 0 0 0 0 0 0

3522 -0.53 -146.0 491.2 -9.7 332 3523 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2490 3636 0 0 0 0 0 0

3842 -0.57 -146.0 520.3 -9.4 362 3843 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2491 3636 0 0 0 0 0 0

4160 -0.61 -146.0 549.1 -8.8 392 4164 0.00 2.28 0.00 0.000 4 0.000 0.074 2696 3899 3636 0 0 0 0 0 0

4186 -0.66 -146.0 551.8 -8.6 394 4194 0.15 2.17 0.00 0.000 6 0.119 0.045 2645 2486 3636 0 0 0 0 0 0

4512 -0.57 -146.0 592.5 -12.5 425 4514 0.12 0.00 0.00 0.000 6 0.226 0.000 2672 2486 3637 0 0 0 0 0 0

4830 -0.57 -146.0 628.5 -11.0 440 4834 0.00 2.30 0.00 0.000 4 0.000 0.072 2672 3902 3636 0 0 0 0 0 0

4859 -0.57 -146.0 631.6 -11.9 441 4863 0.00 2.15 0.00 0.000 6 0.000 0.043 2672 2486 3636 0 0 0 0 0 0

5043 end dive: BOTTOM_OBSTACLE_DETECTED

state 5043 begin apogee

5048 -0.12 0.0 650.4 10.3 447 5177 0.47 0.00 123.45 1.329 6 0.195 0.000 2810 2258 3030 0 0 0 0 0 0

5178 end apogee: CONTROL_FINISHED_OK

state 5178 begin climb

5180 0.62 146.0 655.4 0.0 451 5315 0.80 2.42 127.00 1.281 4 0.145 0.068 3062 892 2433 0 0 0 0 0 0

5382 0.62 146.0 636.7 18739.6 457 5387 0.00 2.40 0.00 0.000 6 0.000 0.054 3063 2274 2427 0 0 0 0 0 0

5703 0.62 146.0 595.3 18739.6 470 5707 0.00 2.35 0.00 0.000 4 0.000 0.067 3063 3690 2425 0 0 0 0 0 0

5780 0.62 146.0 584.2 18739.6 476 5787 0.00 2.30 0.00 0.000 6 0.000 0.049 3072 2282 2425 0 0 0 0 0 0

6105 0.62 146.0 542.2 18739.6 507 6109 0.00 2.33 0.00 0.000 4 0.000 0.065 3072 3691 2423 0 0 0 0 0 0

6171 0.62 146.0 532.7 18739.6 512 6178 0.00 2.28 0.00 0.000 6 0.000 0.050 3082 2277 2423 0 0 0 0 0 0

6497 0.62 146.0 490.4 18739.6 543 6498 0.00 0.00 0.00 0.000 6 0.000 0.000 3082 2276 2422 0 0 0 0 0 0

6815 0.62 146.0 449.3 18739.6 573 6819 0.00 2.30 0.00 0.000 4 0.000 0.063 3082 3693 2422 0 0 0 0 0 0

6855 0.62 146.0 443.7 18739.6 576 6860 0.00 2.28 0.00 0.000 6 0.000 0.050 3092 2265 2422 0 0 0 0 0 0

7181 0.62 146.0 399.2 18739.6 606 7185 0.00 2.33 0.00 0.000 4 0.000 0.063 3092 3700 2422 0 0 0 0 0 0

7221 0.62 146.0 393.3 18739.6 609 7226 0.15 2.25 0.00 0.000 6 0.210 0.050 3068 2270 2422 0 0 0 0 0 0

7546 0.62 146.0 354.9 18739.6 639 7547 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2270 2422 0 0 0 0 0 0

7864 0.62 146.0 318.2 18739.6 669 7869 0.00 2.30 0.00 0.000 4 0.000 0.063 3067 3692 2422 0 0 0 0 0 0

7916 0.62 146.0 311.7 18739.6 673 7920 0.00 2.22 0.00 0.000 6 0.000 0.050 3076 2273 2422 0 0 0 0 0 0

8247 0.62 146.0 272.1 18739.6 704 8248 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2273 2422 0 0 0 0 0 0

8569 0.62 146.0 235.6 18739.6 734 8575 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2273 2422 0 0 0 0 0 0

8895 0.62 146.0 199.9 18739.6 765 8899 0.00 2.30 0.00 0.000 4 0.000 0.063 3076 3703 2422 0 0 0 0 0 0

9002 0.62 146.0 187.4 18739.6 774 9006 0.00 2.25 0.00 0.000 6 0.000 0.050 3086 2273 2423 0 0 0 0 0 0

9334 0.62 146.0 153.7 18739.6 805 9338 0.00 2.28 0.00 0.000 4 0.000 0.063 3086 3693 2422 0 0 0 0 0 0

9419 0.62 146.0 144.5 18739.6 812 9423 0.12 2.22 0.00 0.000 6 0.213 0.049 3067 2274 2422 0 0 0 0 0 0

9744 0.62 146.0 117.0 18739.6 842 9745 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2274 2422 0 0 0 0 0 0

10068 0.62 146.0 94.4 18739.6 879 10075 0.00 2.28 0.00 0.000 4 0.000 0.064 3067 3704 2422 0 0 0 0 0 0

10239 0.62 146.0 81.8 18739.6 909 10246 0.00 2.25 0.00 0.000 6 0.000 0.049 3077 2266 2421 0 0 0 0 0 0

10585 0.62 146.0 64.4 18739.6 970 10591 0.00 2.30 0.00 0.000 4 0.000 0.065 3076 3698 2421 0 0 0 0 0 0

10717 0.62 146.0 57.2 18739.6 993 10724 0.00 2.22 0.00 0.000 6 0.000 0.049 3086 2275 2421 0 0 0 0 0 0

11062 0.62 146.0 39.2 18739.6 1054 11069 0.00 2.28 0.00 0.000 4 0.000 0.065 3086 3692 2421 0 0 0 0 0 0

11138 0.62 146.0 34.6 18739.6 1067 11145 0.12 2.22 0.00 0.000 6 0.210 0.049 3067 2269 2421 0 0 0 0 0 0

11485 0.62 146.0 18.4 18739.6 1128 11491 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2269 2420 0 0 0 0 0 0

11821 0.62 146.0 4.4 18739.6 1189 11827 0.00 2.22 0.00 0.000 4 0.000 0.064 3075 866 2420 0 0 0 0 0 0

11848 end climb: SURFACE_DEPTH_REACHED

state 11848 begin surface coast

11855 end surface coast: CONTROL_FINISHED_OK

state 11855 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	175	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	31	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	180311,163242,6656.417,-6004.600,0,3139.7,0,-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	86.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	5.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180311,163242,6656.417,-6004.600,0,3139.7,0,-38.2	MHEAD_RNG_PITCHd_Wd	252.4,27821,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	737

FREEZE	2.82,-1.762,-1.772,3,50,2	ALTIM_TOP_PING	10677.0,10682.0
FINISH	2.8,1.026005	ALTIM_BOTTOM_PING	10632.0,10665.0
SM_CCo	11994,181.88,0.078,0,0,750,559.04	_24V_AH	22.6,25.561
SM_GC	4.14,0.00,0.00,181.88,0.000,0.000,0.078,106,2509,750,-8.62,0.54,559.04	_10V_AH	10.2,14.200
RAFOS_CLK	668	FG_AHR_24Vo	0.000
RAFOS	0,1300478464,20.033333,20.017778,82,63,58,56,53,51,647,218,202,173,148,136	FG_AHR_10Vo	0.000
RAFOS_FIX	6652.023438,-6013.063965,180311,202028,2,113,0.79	MEM	150552
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	46639,1195
TT8_MAMPS	0.026215	CAP_FILE_SIZE	130678,0
HUMID	45.94	CFSIZE	260165632,240160768
INTERNAL_PRESSURE	8.44759	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1451.3
XPDR_PINGS	0	GPS	180311,200728,6652.023,-6013.064,0,2113.0,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	225	60.06	SBE_CT	856	24	464.42
Roll_motor	93	84	177.06	SBE_O2	915	19	393.24
VBD_pump_during_apogee	250	1328	7521.26	nil	0	0	0.00
VBD_pump_during_surface	181	78	320.73	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	2959	19	601.26
LPSleep	6716	2	158.25
TT8_Active	481	19	97.85
TT8_Sampling	1924	39	783.49
TT8_CF8	164	45	76.87
TT8_Kalman	0	0	0.00
Analog_circuits	1477	12	180.88
GPS_charging	0	0	0.00
Compass	1903	15	291.23
RAFOS	2520	1	38.56
Transponder	17	30	5.45

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
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.82	-5.55	0.000	3	0.000	0.084	2894	3140	3637	0	0	0	0	0	0
27	-0.62	-146.0	88.0	-0.0	1	34	0.68	3.22	0.00	0.000	4	0.132	0.051	2668	1071	3639	0	0	0	0	0	0
92	-0.53	-146.0	95.3	-13.2	12	99	0.00	2.25	0.00	0.000	6	0.000	0.059	2668	2489	3638	0	0	0	0	0	0
425	-0.41	-146.0	150.1	-16.3	46	427	0.22	0.00	0.00	0.000	6	0.223	0.000	2723	2489	3638	0	0	0	0	0	0
746	-0.45	-146.0	184.9	-10.5	76	750	0.00	2.28	0.00	0.000	4	0.000	0.073	2723	3899	3638	0	0	0	0	0	0
775	-0.51	-146.0	188.0	-10.5	78	779	0.00	2.20	0.00	0.000	6	0.000	0.044	2724	2477	3637	0	0	0	0	0	0
1100	-0.57	-146.0	218.9	-9.1	108	1102	0.12	0.00	0.00	0.000	6	0.132	0.000	2681	2476	3637	0	0	0	0	0	0
1420	-0.52	-146.0	258.9	-12.4	138	1424	0.00	2.30	0.00	0.000	4	0.000	0.070	2681	3907	3636	0	0	0	0	0	0
1459	-0.52	-146.0	263.9	-11.8	141	1463	0.00	2.20	0.00	0.000	6	0.000	0.045	2681	2486	3636	0	0	0	0	0	0
1784	-0.49	-146.0	302.3	-11.4	171	1788	0.00	2.20	0.00	0.000	4	0.000	0.060	2681	1081	3636	0	0	0	0	0	0
1828	-0.49	-146.0	307.6	-11.3	174	1835	0.00	2.25	0.00	0.000	6	0.000	0.057	2682	2485	3636	0	0	0	0	0	0
2155	-0.46	-146.0	346.2	-11.9	205	2160	0.12	2.28	0.00	0.000	4	0.221	0.073	2710	3899	3635	0	0	0	0	0	0
2176	-0.46	-146.0	349.0	-11.6	206	2183	0.00	2.20	0.00	0.000	6	0.000	0.044	2710	2495	3636	0	0	0	0	0	0
2502	-0.51	-146.0	378.0	-8.6	237	2506	0.00	2.22	0.00	0.000	4	0.000	0.059	2710	1073	3636	0	0	0	0	0	0
2559	-0.59	-146.0	383.3	-8.9	241	2567	0.12	2.25	0.00	0.000	6	0.135	0.057	2668	2490	3636	0	0	0	0	0	0
2884	-0.54	-146.0	420.4	-11.6	272	2886	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2491	3635	0	0	0	0	0	0
3205	-0.50	-146.0	459.6	-12.9	302	3207	0.12	0.00	0.00	0.000	6	0.217	0.000	2696	2491	3636	0	0	0	0	0	0
3522	-0.53	-146.0	491.2	-9.7	332	3523	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2490	3636	0	0	0	0	0	0
3842	-0.57	-146.0	520.3	-9.4	362	3843	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2491	3636	0	0	0	0	0	0
4160	-0.61	-146.0	549.1	-8.8	392	4164	0.00	2.28	0.00	0.000	4	0.000	0.074	2696	3899	3636	0	0	0	0	0	0
4186	-0.66	-146.0	551.8	-8.6	394	4194	0.15	2.17	0.00	0.000	6	0.119	0.045	2645	2486	3636	0	0	0	0	0	0
4512	-0.57	-146.0	592.5	-12.5	425	4514	0.12	0.00	0.00	0.000	6	0.226	0.000	2672	2486	3637	0	0	0	0	0	0
4830	-0.57	-146.0	628.5	-11.0	440	4834	0.00	2.30	0.00	0.000	4	0.000	0.072	2672	3902	3636	0	0	0	0	0	0
4859	-0.57	-146.0	631.6	-11.9	441	4863	0.00	2.15	0.00	0.000	6	0.000	0.043	2672	2486	3636	0	0	0	0	0	0
5043	end dive: BOTTOM_OBSTACLE_DETECTED
state	5043	begin apogee
5048	-0.12	0.0	650.4	10.3	447	5177	0.47	0.00	123.45	1.329	6	0.195	0.000	2810	2258	3030	0	0	0	0	0	0
5178	end apogee: CONTROL_FINISHED_OK
state	5178	begin climb
5180	0.62	146.0	655.4	0.0	451	5315	0.80	2.42	127.00	1.281	4	0.145	0.068	3062	892	2433	0	0	0	0	0	0
5382	0.62	146.0	636.7	18739.6	457	5387	0.00	2.40	0.00	0.000	6	0.000	0.054	3063	2274	2427	0	0	0	0	0	0
5703	0.62	146.0	595.3	18739.6	470	5707	0.00	2.35	0.00	0.000	4	0.000	0.067	3063	3690	2425	0	0	0	0	0	0
5780	0.62	146.0	584.2	18739.6	476	5787	0.00	2.30	0.00	0.000	6	0.000	0.049	3072	2282	2425	0	0	0	0	0	0
6105	0.62	146.0	542.2	18739.6	507	6109	0.00	2.33	0.00	0.000	4	0.000	0.065	3072	3691	2423	0	0	0	0	0	0
6171	0.62	146.0	532.7	18739.6	512	6178	0.00	2.28	0.00	0.000	6	0.000	0.050	3082	2277	2423	0	0	0	0	0	0
6497	0.62	146.0	490.4	18739.6	543	6498	0.00	0.00	0.00	0.000	6	0.000	0.000	3082	2276	2422	0	0	0	0	0	0
6815	0.62	146.0	449.3	18739.6	573	6819	0.00	2.30	0.00	0.000	4	0.000	0.063	3082	3693	2422	0	0	0	0	0	0
6855	0.62	146.0	443.7	18739.6	576	6860	0.00	2.28	0.00	0.000	6	0.000	0.050	3092	2265	2422	0	0	0	0	0	0
7181	0.62	146.0	399.2	18739.6	606	7185	0.00	2.33	0.00	0.000	4	0.000	0.063	3092	3700	2422	0	0	0	0	0	0
7221	0.62	146.0	393.3	18739.6	609	7226	0.15	2.25	0.00	0.000	6	0.210	0.050	3068	2270	2422	0	0	0	0	0	0
7546	0.62	146.0	354.9	18739.6	639	7547	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2270	2422	0	0	0	0	0	0
7864	0.62	146.0	318.2	18739.6	669	7869	0.00	2.30	0.00	0.000	4	0.000	0.063	3067	3692	2422	0	0	0	0	0	0
7916	0.62	146.0	311.7	18739.6	673	7920	0.00	2.22	0.00	0.000	6	0.000	0.050	3076	2273	2422	0	0	0	0	0	0
8247	0.62	146.0	272.1	18739.6	704	8248	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2273	2422	0	0	0	0	0	0
8569	0.62	146.0	235.6	18739.6	734	8575	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2273	2422	0	0	0	0	0	0
8895	0.62	146.0	199.9	18739.6	765	8899	0.00	2.30	0.00	0.000	4	0.000	0.063	3076	3703	2422	0	0	0	0	0	0
9002	0.62	146.0	187.4	18739.6	774	9006	0.00	2.25	0.00	0.000	6	0.000	0.050	3086	2273	2423	0	0	0	0	0	0
9334	0.62	146.0	153.7	18739.6	805	9338	0.00	2.28	0.00	0.000	4	0.000	0.063	3086	3693	2422	0	0	0	0	0	0
9419	0.62	146.0	144.5	18739.6	812	9423	0.12	2.22	0.00	0.000	6	0.213	0.049	3067	2274	2422	0	0	0	0	0	0
9744	0.62	146.0	117.0	18739.6	842	9745	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2274	2422	0	0	0	0	0	0
10068	0.62	146.0	94.4	18739.6	879	10075	0.00	2.28	0.00	0.000	4	0.000	0.064	3067	3704	2422	0	0	0	0	0	0
10239	0.62	146.0	81.8	18739.6	909	10246	0.00	2.25	0.00	0.000	6	0.000	0.049	3077	2266	2421	0	0	0	0	0	0
10585	0.62	146.0	64.4	18739.6	970	10591	0.00	2.30	0.00	0.000	4	0.000	0.065	3076	3698	2421	0	0	0	0	0	0
10717	0.62	146.0	57.2	18739.6	993	10724	0.00	2.22	0.00	0.000	6	0.000	0.049	3086	2275	2421	0	0	0	0	0	0
11062	0.62	146.0	39.2	18739.6	1054	11069	0.00	2.28	0.00	0.000	4	0.000	0.065	3086	3692	2421	0	0	0	0	0	0
11138	0.62	146.0	34.6	18739.6	1067	11145	0.12	2.22	0.00	0.000	6	0.210	0.049	3067	2269	2421	0	0	0	0	0	0
11485	0.62	146.0	18.4	18739.6	1128	11491	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2269	2420	0	0	0	0	0	0
11821	0.62	146.0	4.4	18739.6	1189	11827	0.00	2.22	0.00	0.000	4	0.000	0.064	3075	866	2420	0	0	0	0	0	0
11848	end climb: SURFACE_DEPTH_REACHED
state	11848	begin surface coast
11855	end surface coast: CONTROL_FINISHED_OK
state	11855	begin surface