Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 190 * 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 190 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 24 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 -29425.438 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 -29425.438

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 24 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 190 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 200311,122913,6651.671,-6007.529,0,5100.0,0,-38.2 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 9.85 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200311,122913,6651.671,-6007.529,0,5100.0,0,-38.2 MHEAD_RNG_PITCHd_Wd 119.9,145609,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 665

Post-dive calculations and measurements:

FREEZE 6.73,-1.754,-1.775,3,65,1 ALTIM_TOP_PING 19.7,17.1

FINISH1 6.7,1.026006,73 _24V_AH 22.6,27.495

FINISH2 4.9 _10V_AH 10.2,15.173

RAFOS_CLK 655 FG_AHR_24Vo 0.000

RAFOS 0,1300636862,16.033333,16.017221,64,63,56,54,54,52,684,204,175,217,116,126 FG_AHR_10Vo 0.000

RAFOS_FIX 6653.177734,-6002.632812,200311,161653,5,90,0.32 MEM 150560

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 43353,1149

TT8_MAMPS 0.026215 CAP_FILE_SIZE 127856,0

HUMID 46.10 CFSIZE 260165632,239222784

INTERNAL_PRESSURE 8.66244 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1452.4

XPDR_PINGS 0 GPS 200311,162353,6653.178,-6002.633,0,5090.0,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 222 21.63 SBE_CT 820 24 444.80

Roll_motor 96 81 176.89 SBE_O2 872 19 374.76

VBD_pump_during_apogee 414 1339 12548.17 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 23.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2754 19 559.65

LPSleep 6675 2 157.30

TT8_Active 470 19 95.61

TT8_Sampling 1882 39 766.41

TT8_CF8 159 45 74.48

TT8_Kalman 0 0 0.00

Analog_circuits 1477 12 180.81

GPS_charging 0 0 0.00

Compass 1859 15 284.54

RAFOS 2520 1 38.56

Transponder 19 30 6.01

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 12 begin dive

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.70 0.000 2 0.000 0.000 2897 861 2969 0 0 0 0 0 0

26 -0.62 -146.0 11.0 -0.0 1 57 0.65 5.05 -17.15 0.000 4 0.108 0.074 2671 3899 3627 0 0 0 0 0 0

289 -0.55 -146.0 52.7 -16.8 47 296 0.00 2.22 0.00 0.000 6 0.000 0.048 2670 2481 3628 0 0 0 0 0 0

630 -0.44 -146.0 112.5 -16.0 101 632 0.17 0.00 0.00 0.000 6 0.223 0.000 2713 2481 3628 0 0 0 0 0 0

950 -0.47 -146.0 147.7 -10.3 131 954 0.00 2.22 0.00 0.000 4 0.000 0.063 2713 1083 3628 0 0 0 0 0 0

971 -0.49 -146.0 150.3 -10.5 132 978 0.00 2.22 0.00 0.000 6 0.000 0.058 2713 2487 3628 0 0 0 0 0 0

1298 -0.53 -146.0 182.1 -9.7 163 1302 0.00 2.22 0.00 0.000 4 0.000 0.063 2713 1083 3627 0 0 0 0 0 0

1349 -0.60 -146.0 187.1 -9.9 167 1354 0.15 2.25 0.00 0.000 6 0.129 0.058 2665 2500 3627 0 0 0 0 0 0

1675 -0.53 -146.0 230.0 -13.6 197 1676 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2500 3626 0 0 0 0 0 0

1996 -0.48 -146.0 270.3 -12.4 227 2003 0.17 0.00 0.00 0.000 6 0.216 0.000 2707 2500 3626 0 0 0 0 0 0

2322 -0.53 -146.0 299.4 -9.0 258 2323 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2500 3626 0 0 0 0 0 0

2642 -0.59 -146.0 328.8 -9.2 288 2646 0.00 2.25 0.00 0.000 4 0.000 0.063 2707 1083 3626 0 0 0 0 0 0

2669 -0.65 -146.0 331.8 -10.1 290 2677 0.17 2.25 0.00 0.000 6 0.116 0.059 2648 2495 3625 0 0 0 0 0 0

2995 -0.57 -146.0 376.1 -13.5 321 3000 0.12 2.28 0.00 0.000 4 0.220 0.074 2675 3897 3626 0 0 0 0 0 0

3038 -0.60 -146.0 381.6 -10.7 324 3046 0.00 2.20 0.00 0.000 6 0.000 0.047 2676 2485 3626 0 0 0 0 0 0

3364 -0.60 -146.0 415.6 -10.2 355 3368 0.00 2.22 0.00 0.000 4 0.000 0.061 2675 1073 3626 0 0 0 0 0 0

3396 -0.60 -146.0 419.0 -10.4 357 3404 0.00 2.25 0.00 0.000 6 0.000 0.058 2676 2488 3626 0 0 0 0 0 0

3723 -0.60 -146.0 453.5 -10.6 388 3727 0.00 2.30 0.00 0.000 4 0.000 0.075 2676 3905 3626 0 0 0 0 0 0

3766 -0.62 -146.0 458.2 -10.2 391 3773 0.00 2.20 0.00 0.000 6 0.000 0.047 2676 2490 3626 0 0 0 0 0 0

4093 -0.62 -146.0 490.1 -9.8 422 4097 0.00 2.25 0.00 0.000 4 0.000 0.061 2676 1075 3626 0 0 0 0 0 0

4145 -0.65 -146.0 495.3 -9.3 426 4149 0.00 2.25 0.00 0.000 6 0.000 0.059 2675 2501 3626 0 0 0 0 0 0

4470 -0.65 -146.0 526.4 -8.9 456 4474 0.00 2.25 0.00 0.000 4 0.000 0.063 2676 1079 3626 0 0 0 0 0 0

4485 -0.65 -146.0 528.0 -9.0 457 4492 0.00 2.25 0.00 0.000 6 0.000 0.059 2676 2493 3626 0 0 0 0 0 0

4811 -0.65 -146.0 557.5 -9.1 488 4812 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2493 3627 0 0 0 0 0 0

5130 -0.65 -146.0 584.4 -8.4 518 5134 0.00 2.25 0.00 0.000 4 0.000 0.074 2676 3899 3627 0 0 0 0 0 0

5181 -0.69 -146.0 589.0 -9.0 522 5185 0.00 2.20 0.00 0.000 6 0.000 0.047 2676 2486 3627 0 0 0 0 0 0

5520 -0.71 -146.0 621.3 -9.7 540 5525 0.12 2.33 0.00 0.000 4 0.129 0.072 2634 3907 3627 0 0 0 0 0 0

5541 -0.68 -146.0 624.0 -11.2 540 5546 0.00 2.20 0.00 0.000 6 0.000 0.047 2634 2493 3627 0 0 0 0 0 0

5854 -0.60 -146.0 664.2 -12.9 550 5856 0.15 0.00 0.00 0.000 6 0.219 0.000 2669 2493 3627 0 0 0 0 0 0

5884 end dive: TARGET_DEPTH_EXCEEDED

state 5884 begin apogee

5889 -0.12 0.0 667.6 12.6 551 6018 0.50 0.00 122.65 1.340 6 0.189 0.000 2816 2247 3029 0 0 0 0 0 0

6019 end apogee: CONTROL_FINISHED_OK

state 6019 begin climb

6021 0.62 146.0 671.9 0.0 555 6157 0.77 2.38 127.80 1.291 4 0.137 0.064 3062 894 2433 0 0 0 0 0 0

6190 0.62 146.0 659.1 22306.4 560 6194 0.00 2.42 0.00 0.000 6 0.000 0.053 3062 2277 2430 0 0 0 0 0 0

6515 0.62 146.0 615.1 22306.4 571 6519 0.00 2.38 0.00 0.000 4 0.000 0.070 3062 3687 2425 0 0 0 0 0 0

6622 0.62 146.0 598.2 22306.4 575 6626 0.00 2.30 0.00 0.000 6 0.000 0.052 3071 2294 2424 0 0 0 0 0 0

6947 0.62 146.0 551.6 22306.4 605 6951 0.00 2.30 0.00 0.000 4 0.000 0.067 3071 3692 2423 0 0 0 0 0 0

7019 0.62 146.0 540.4 22306.4 611 7026 0.00 2.30 0.00 0.000 6 0.000 0.051 3081 2270 2423 0 0 0 0 0 0

7346 0.62 146.0 497.4 22306.4 642 7348 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 2269 2423 0 0 0 0 0 0

7665 0.62 146.0 457.1 22306.4 672 7666 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 2269 2422 0 0 0 0 0 0

7984 0.62 146.0 416.5 22306.4 702 7988 0.00 2.30 0.00 0.000 4 0.000 0.067 3081 3694 2422 0 0 0 0 0 0

8058 0.62 146.0 405.5 22306.4 708 8062 0.00 2.28 0.00 0.000 6 0.000 0.052 3091 2269 2423 0 0 0 0 0 0

8383 0.62 146.0 360.8 22306.4 738 8384 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2268 2422 0 0 0 0 0 0

8702 0.62 146.0 318.9 22306.4 768 8707 0.00 2.33 0.00 0.000 4 0.000 0.066 3091 3701 2422 0 0 0 0 0 0

8758 0.62 146.0 310.7 22306.4 772 8765 0.15 2.28 0.00 0.000 6 0.213 0.051 3066 2267 2422 0 0 0 0 0 0

9083 0.62 146.0 272.3 22306.4 803 9084 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2267 2422 0 0 0 0 0 0

9403 0.62 146.0 236.8 22306.4 833 9404 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2267 2422 0 0 0 0 0 0

9723 0.62 146.0 201.2 22306.4 863 9727 0.00 2.28 0.00 0.000 4 0.000 0.066 3065 3692 2422 0 0 0 0 0 0

9785 0.62 146.0 193.4 22306.4 868 9789 0.00 2.25 0.00 0.000 6 0.000 0.052 3074 2269 2423 0 0 0 0 0 0

10112 0.62 146.0 159.9 22306.4 898 10113 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2268 2423 0 0 0 0 0 0

10430 0.62 146.0 130.9 22306.4 928 10434 0.00 2.28 0.00 0.000 4 0.000 0.066 3074 3696 2423 0 0 0 0 0 0

10576 0.62 146.0 116.1 22306.4 940 10583 0.00 2.25 0.00 0.000 6 0.000 0.051 3084 2267 2422 0 0 0 0 0 0

10909 0.59 191.1 90.7 7.9 983 10957 0.12 2.40 38.38 0.995 4 0.201 0.066 3053 3691 2250 0 0 0 0 0 0

11059 0.57 199.2 78.3 9.6 1009 11073 0.00 2.28 8.20 0.881 6 0.000 0.051 3061 2277 2217 0 0 0 0 0 0

11412 0.68 266.7 52.2 6.9 1071 11483 0.00 2.40 60.25 0.972 4 0.000 0.066 3070 876 1940 0 0 0 0 0 0

11529 0.86 332.7 44.2 7.0 1091 11594 0.20 2.30 57.22 0.941 6 0.094 0.054 3145 2281 1673 0 0 0 0 0 0

11796 end climb: SURFACE_OBSTACLE_DETECTED

state 11796 begin subsurface finish

11802 0.09 73.2 6.7 -15.8 1138 11867 0.82 2.38 -53.47 0.000 4 0.166 0.081 2901 3684 2733 0 0 0 0 0 0

11868 end subsurface finish: CONTROL_FINISHED_OK

state 11868 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	190	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	24	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	-29425.438	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	200311,122913,6651.671,-6007.529,0,5100.0,0,-38.2	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	9.85	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200311,122913,6651.671,-6007.529,0,5100.0,0,-38.2	MHEAD_RNG_PITCHd_Wd	119.9,145609,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	665

FREEZE	6.73,-1.754,-1.775,3,65,1	ALTIM_TOP_PING	19.7,17.1
FINISH1	6.7,1.026006,73	_24V_AH	22.6,27.495
FINISH2	4.9	_10V_AH	10.2,15.173
RAFOS_CLK	655	FG_AHR_24Vo	0.000
RAFOS	0,1300636862,16.033333,16.017221,64,63,56,54,54,52,684,204,175,217,116,126	FG_AHR_10Vo	0.000
RAFOS_FIX	6653.177734,-6002.632812,200311,161653,5,90,0.32	MEM	150560
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	43353,1149
TT8_MAMPS	0.026215	CAP_FILE_SIZE	127856,0
HUMID	46.10	CFSIZE	260165632,239222784
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1452.4
XPDR_PINGS	0	GPS	200311,162353,6653.178,-6002.633,0,5090.0,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	222	21.63	SBE_CT	820	24	444.80
Roll_motor	96	81	176.89	SBE_O2	872	19	374.76
VBD_pump_during_apogee	414	1339	12548.17	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	23.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2754	19	559.65
LPSleep	6675	2	157.30
TT8_Active	470	19	95.61
TT8_Sampling	1882	39	766.41
TT8_CF8	159	45	74.48
TT8_Kalman	0	0	0.00
Analog_circuits	1477	12	180.81
GPS_charging	0	0	0.00
Compass	1859	15	284.54
RAFOS	2520	1	38.56
Transponder	19	30	6.01

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	12	begin dive
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.70	0.000	2	0.000	0.000	2897	861	2969	0	0	0	0	0	0
26	-0.62	-146.0	11.0	-0.0	1	57	0.65	5.05	-17.15	0.000	4	0.108	0.074	2671	3899	3627	0	0	0	0	0	0
289	-0.55	-146.0	52.7	-16.8	47	296	0.00	2.22	0.00	0.000	6	0.000	0.048	2670	2481	3628	0	0	0	0	0	0
630	-0.44	-146.0	112.5	-16.0	101	632	0.17	0.00	0.00	0.000	6	0.223	0.000	2713	2481	3628	0	0	0	0	0	0
950	-0.47	-146.0	147.7	-10.3	131	954	0.00	2.22	0.00	0.000	4	0.000	0.063	2713	1083	3628	0	0	0	0	0	0
971	-0.49	-146.0	150.3	-10.5	132	978	0.00	2.22	0.00	0.000	6	0.000	0.058	2713	2487	3628	0	0	0	0	0	0
1298	-0.53	-146.0	182.1	-9.7	163	1302	0.00	2.22	0.00	0.000	4	0.000	0.063	2713	1083	3627	0	0	0	0	0	0
1349	-0.60	-146.0	187.1	-9.9	167	1354	0.15	2.25	0.00	0.000	6	0.129	0.058	2665	2500	3627	0	0	0	0	0	0
1675	-0.53	-146.0	230.0	-13.6	197	1676	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2500	3626	0	0	0	0	0	0
1996	-0.48	-146.0	270.3	-12.4	227	2003	0.17	0.00	0.00	0.000	6	0.216	0.000	2707	2500	3626	0	0	0	0	0	0
2322	-0.53	-146.0	299.4	-9.0	258	2323	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2500	3626	0	0	0	0	0	0
2642	-0.59	-146.0	328.8	-9.2	288	2646	0.00	2.25	0.00	0.000	4	0.000	0.063	2707	1083	3626	0	0	0	0	0	0
2669	-0.65	-146.0	331.8	-10.1	290	2677	0.17	2.25	0.00	0.000	6	0.116	0.059	2648	2495	3625	0	0	0	0	0	0
2995	-0.57	-146.0	376.1	-13.5	321	3000	0.12	2.28	0.00	0.000	4	0.220	0.074	2675	3897	3626	0	0	0	0	0	0
3038	-0.60	-146.0	381.6	-10.7	324	3046	0.00	2.20	0.00	0.000	6	0.000	0.047	2676	2485	3626	0	0	0	0	0	0
3364	-0.60	-146.0	415.6	-10.2	355	3368	0.00	2.22	0.00	0.000	4	0.000	0.061	2675	1073	3626	0	0	0	0	0	0
3396	-0.60	-146.0	419.0	-10.4	357	3404	0.00	2.25	0.00	0.000	6	0.000	0.058	2676	2488	3626	0	0	0	0	0	0
3723	-0.60	-146.0	453.5	-10.6	388	3727	0.00	2.30	0.00	0.000	4	0.000	0.075	2676	3905	3626	0	0	0	0	0	0
3766	-0.62	-146.0	458.2	-10.2	391	3773	0.00	2.20	0.00	0.000	6	0.000	0.047	2676	2490	3626	0	0	0	0	0	0
4093	-0.62	-146.0	490.1	-9.8	422	4097	0.00	2.25	0.00	0.000	4	0.000	0.061	2676	1075	3626	0	0	0	0	0	0
4145	-0.65	-146.0	495.3	-9.3	426	4149	0.00	2.25	0.00	0.000	6	0.000	0.059	2675	2501	3626	0	0	0	0	0	0
4470	-0.65	-146.0	526.4	-8.9	456	4474	0.00	2.25	0.00	0.000	4	0.000	0.063	2676	1079	3626	0	0	0	0	0	0
4485	-0.65	-146.0	528.0	-9.0	457	4492	0.00	2.25	0.00	0.000	6	0.000	0.059	2676	2493	3626	0	0	0	0	0	0
4811	-0.65	-146.0	557.5	-9.1	488	4812	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2493	3627	0	0	0	0	0	0
5130	-0.65	-146.0	584.4	-8.4	518	5134	0.00	2.25	0.00	0.000	4	0.000	0.074	2676	3899	3627	0	0	0	0	0	0
5181	-0.69	-146.0	589.0	-9.0	522	5185	0.00	2.20	0.00	0.000	6	0.000	0.047	2676	2486	3627	0	0	0	0	0	0
5520	-0.71	-146.0	621.3	-9.7	540	5525	0.12	2.33	0.00	0.000	4	0.129	0.072	2634	3907	3627	0	0	0	0	0	0
5541	-0.68	-146.0	624.0	-11.2	540	5546	0.00	2.20	0.00	0.000	6	0.000	0.047	2634	2493	3627	0	0	0	0	0	0
5854	-0.60	-146.0	664.2	-12.9	550	5856	0.15	0.00	0.00	0.000	6	0.219	0.000	2669	2493	3627	0	0	0	0	0	0
5884	end dive: TARGET_DEPTH_EXCEEDED
state	5884	begin apogee
5889	-0.12	0.0	667.6	12.6	551	6018	0.50	0.00	122.65	1.340	6	0.189	0.000	2816	2247	3029	0	0	0	0	0	0
6019	end apogee: CONTROL_FINISHED_OK
state	6019	begin climb
6021	0.62	146.0	671.9	0.0	555	6157	0.77	2.38	127.80	1.291	4	0.137	0.064	3062	894	2433	0	0	0	0	0	0
6190	0.62	146.0	659.1	22306.4	560	6194	0.00	2.42	0.00	0.000	6	0.000	0.053	3062	2277	2430	0	0	0	0	0	0
6515	0.62	146.0	615.1	22306.4	571	6519	0.00	2.38	0.00	0.000	4	0.000	0.070	3062	3687	2425	0	0	0	0	0	0
6622	0.62	146.0	598.2	22306.4	575	6626	0.00	2.30	0.00	0.000	6	0.000	0.052	3071	2294	2424	0	0	0	0	0	0
6947	0.62	146.0	551.6	22306.4	605	6951	0.00	2.30	0.00	0.000	4	0.000	0.067	3071	3692	2423	0	0	0	0	0	0
7019	0.62	146.0	540.4	22306.4	611	7026	0.00	2.30	0.00	0.000	6	0.000	0.051	3081	2270	2423	0	0	0	0	0	0
7346	0.62	146.0	497.4	22306.4	642	7348	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	2269	2423	0	0	0	0	0	0
7665	0.62	146.0	457.1	22306.4	672	7666	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	2269	2422	0	0	0	0	0	0
7984	0.62	146.0	416.5	22306.4	702	7988	0.00	2.30	0.00	0.000	4	0.000	0.067	3081	3694	2422	0	0	0	0	0	0
8058	0.62	146.0	405.5	22306.4	708	8062	0.00	2.28	0.00	0.000	6	0.000	0.052	3091	2269	2423	0	0	0	0	0	0
8383	0.62	146.0	360.8	22306.4	738	8384	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2268	2422	0	0	0	0	0	0
8702	0.62	146.0	318.9	22306.4	768	8707	0.00	2.33	0.00	0.000	4	0.000	0.066	3091	3701	2422	0	0	0	0	0	0
8758	0.62	146.0	310.7	22306.4	772	8765	0.15	2.28	0.00	0.000	6	0.213	0.051	3066	2267	2422	0	0	0	0	0	0
9083	0.62	146.0	272.3	22306.4	803	9084	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2267	2422	0	0	0	0	0	0
9403	0.62	146.0	236.8	22306.4	833	9404	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2267	2422	0	0	0	0	0	0
9723	0.62	146.0	201.2	22306.4	863	9727	0.00	2.28	0.00	0.000	4	0.000	0.066	3065	3692	2422	0	0	0	0	0	0
9785	0.62	146.0	193.4	22306.4	868	9789	0.00	2.25	0.00	0.000	6	0.000	0.052	3074	2269	2423	0	0	0	0	0	0
10112	0.62	146.0	159.9	22306.4	898	10113	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2268	2423	0	0	0	0	0	0
10430	0.62	146.0	130.9	22306.4	928	10434	0.00	2.28	0.00	0.000	4	0.000	0.066	3074	3696	2423	0	0	0	0	0	0
10576	0.62	146.0	116.1	22306.4	940	10583	0.00	2.25	0.00	0.000	6	0.000	0.051	3084	2267	2422	0	0	0	0	0	0
10909	0.59	191.1	90.7	7.9	983	10957	0.12	2.40	38.38	0.995	4	0.201	0.066	3053	3691	2250	0	0	0	0	0	0
11059	0.57	199.2	78.3	9.6	1009	11073	0.00	2.28	8.20	0.881	6	0.000	0.051	3061	2277	2217	0	0	0	0	0	0
11412	0.68	266.7	52.2	6.9	1071	11483	0.00	2.40	60.25	0.972	4	0.000	0.066	3070	876	1940	0	0	0	0	0	0
11529	0.86	332.7	44.2	7.0	1091	11594	0.20	2.30	57.22	0.941	6	0.094	0.054	3145	2281	1673	0	0	0	0	0	0
11796	end climb: SURFACE_OBSTACLE_DETECTED
state	11796	begin subsurface finish
11802	0.09	73.2	6.7	-15.8	1138	11867	0.82	2.38	-53.47	0.000	4	0.166	0.081	2901	3684	2733	0	0	0	0	0	0
11868	end subsurface finish: CONTROL_FINISHED_OK
state	11868	begin surface