Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 226 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 226 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 18 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 17 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -35700.973 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2690 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -24.446302 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 0 PITCH_GAIN 31 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 1 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 325

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -35700.973

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -2

C_ROLL_DIVE 2460 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

C_VBD 2800 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51204 R_PORT_OVSHOOT 18 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 17 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 10 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 226 NAV_MODE 0 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 202734,6641.807,-6002.562,0,7108.7,0,-37.8 TGT_NAME TARGET_W

_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 2.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 202734,6641.807,-6002.562,181,99.0,181,-37.8 MHEAD_RNG_PITCHd_Wd 321.1,17620,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 603

Post-dive calculations and measurements:

FREEZE 8.65,-1.773,-1.761,2,21,0 ALTIM_BOTTOM_PING 500.5,89.6

FINISH1 8.7,1.025791,83 _24V_AH 22.5,48.301

FINISH2 7.0 _10V_AH 10.1,25.158

RAFOS_CLK 870 FG_AHR_24Vo 0.000

RAFOS 0,1259712068,0.033333,0.018889,91,61,57,0,0,0,594,150,118,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6641.763672,-6006.633789,021209,000007,7,113,0.21 MEM 152552

IRIDIUM_FIX 6620.33,-5850.01,230299,080832 DATA_FILE_SIZE 47223,1236

TT8_MAMPS 0.027612 CAP_FILE_SIZE 143748,0

HUMID 50.15 CFSIZE 260165632,232083456

INTERNAL_PRESSURE 8.88706 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1449.6

XPDR_PINGS 6 GPS 021209,002707,6641.764,-6006.634,0,7112.9,0,-37.8

ALTIM_TOP_PING 19.4,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 312 123.92 SBE_CT 915 24 494.42

Roll_motor 147 115 382.79 SBE_O2 853 19 364.88

VBD_pump_during_apogee 371 1157 9661.42 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 98 103 228.26 nil 0 0 0.00

Iridium_during_connect 84 160 303.76 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 3 420 33.08

GUMSTIX_24V 0 0 0.00

GPS 183 50 92.53

TT8 2065 19 415.66

LPSleep 7241 2 168.96

TT8_Active 519 19 104.60

TT8_Sampling 2235 39 901.31

TT8_CF8 494 45 229.35

TT8_Kalman 0 0 0.00

Analog_circuits 1606 12 194.72

GPS_charging 0 0 0.00

Compass 2030 8 164.05

RAFOS 2520 1 38.18

Transponder 17 30 5.25

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

14 -0.73 -146.0 0.0 0.0 0 98 0.00 0.00 -80.57 0.000 2 0.000 0.000 122 2453 2816 0 0 0 0 0 0

100 -0.73 -146.0 3.3 -4.1 16 137 11.75 2.90 -18.00 0.000 4 0.313 0.115 2447 3910 3398 0 0 0 0 0 0

339 -0.60 -146.0 40.6 -15.9 59 346 0.17 2.72 0.00 0.000 6 0.223 0.077 2488 2462 3400 0 0 0 0 0 0

683 -0.60 -146.0 83.1 -11.9 120 689 0.00 2.85 0.00 0.000 4 0.000 0.103 2488 3911 3400 0 0 0 0 0 0

842 -0.60 -146.0 100.7 -11.2 148 846 0.00 2.70 0.00 0.000 6 0.000 0.077 2489 2471 3400 0 0 0 0 0 0

1166 -0.60 -146.0 133.6 -10.0 178 1170 0.00 2.83 0.00 0.000 4 0.000 0.102 2488 3910 3400 0 0 0 0 0 0

1296 -0.66 -146.0 147.1 -10.1 189 1301 0.00 2.70 0.00 0.000 6 0.000 0.077 2488 2472 3400 0 0 0 0 0 0

1621 -0.73 -146.0 177.4 -8.8 219 1625 0.00 2.83 0.00 0.000 4 0.000 0.103 2488 3910 3400 0 0 0 0 0 0

1705 -0.80 -146.0 185.0 -8.5 226 1711 0.17 2.70 0.00 0.000 6 0.122 0.077 2433 2480 3400 0 0 0 0 0 0

2030 -0.71 -146.0 224.3 -12.4 256 2035 0.00 2.80 0.00 0.000 4 0.000 0.101 2432 3910 3400 0 0 0 0 0 0

2171 -0.63 -146.0 241.9 -12.1 268 2177 0.22 2.67 0.00 0.000 6 0.217 0.077 2485 2486 3400 0 0 0 0 0 0

2496 -0.72 -146.0 270.8 -8.4 298 2500 0.00 2.80 0.00 0.000 4 0.000 0.102 2485 3909 3400 0 0 0 0 0 0

2626 -0.84 -146.0 282.2 -9.4 309 2631 0.20 2.65 0.00 0.000 6 0.117 0.077 2420 2499 3400 0 0 0 0 0 0

2950 -0.73 -146.0 318.2 -10.8 339 2955 0.12 2.80 0.00 0.000 4 0.229 0.100 2436 3914 3400 0 0 0 0 0 0

3105 -0.73 -146.0 335.4 -11.0 352 3112 0.00 2.62 0.00 0.000 6 0.000 0.075 2436 2513 3400 0 0 0 0 0 0

3430 -0.73 -146.0 370.7 -10.8 383 3435 0.00 2.75 0.00 0.000 4 0.000 0.103 2436 3910 3400 0 0 0 0 0 0

3485 -0.73 -146.0 376.8 -11.2 387 3491 0.00 2.60 0.00 0.000 6 0.000 0.077 2436 2524 3400 0 0 0 0 0 0

3809 -0.73 -146.0 409.4 -9.7 418 3814 0.00 2.75 0.00 0.000 4 0.000 0.102 2436 3916 3400 0 0 0 0 0 0

3938 -0.73 -146.0 422.6 -10.4 429 3942 0.00 2.60 0.00 0.000 6 0.000 0.077 2436 2533 3400 0 0 0 0 0 0

4262 -0.73 -146.0 452.8 -9.0 459 4267 0.00 2.72 0.00 0.000 4 0.000 0.101 2436 3917 3399 0 0 0 0 0 0

4403 -0.73 -146.0 465.9 -10.3 471 4407 0.00 2.60 0.00 0.000 6 0.000 0.076 2436 2533 3400 0 0 0 0 0 0

4727 -0.73 -146.0 495.8 -8.6 501 4732 0.00 2.72 0.00 0.000 4 0.000 0.100 2436 3919 3400 0 0 0 0 0 0

4803 -0.73 -146.0 502.7 -9.1 507 4807 0.00 2.58 0.00 0.000 6 0.000 0.074 2436 2547 3400 0 0 0 0 0 0

5127 -0.73 -146.0 531.1 -8.8 537 5132 0.00 2.70 0.00 0.000 4 0.000 0.099 2436 3921 3400 0 0 0 0 0 0

5159 -0.73 -146.0 534.1 -9.3 539 5165 0.00 2.60 0.00 0.000 6 0.000 0.072 2436 2526 3400 0 0 0 0 0 0

5486 -0.73 -146.0 563.4 -8.9 570 5491 0.00 2.72 0.00 0.000 4 0.000 0.097 2436 3919 3401 0 0 0 0 0 0

5536 -0.73 -146.0 567.8 -7.9 574 5541 0.00 2.55 0.00 0.000 6 0.000 0.072 2436 2554 3401 0 0 0 0 0 0

5625 end dive: BOTTOM_OBSTACLE_DETECTED

state 5625 begin apogee

5631 -0.16 0.0 575.3 8.7 582 5758 0.73 0.00 120.93 1.157 6 0.186 0.000 2631 1953 2799 0 0 0 0 0 0

5758 end apogee: CONTROL_FINISHED_OK

state 5758 begin climb

5761 0.73 146.0 579.0 0.0 595 5894 0.98 0.00 126.95 1.101 6 0.144 0.000 2911 1953 2203 0 0 0 0 0 0

6212 0.73 146.0 539.9 9.8 638 6217 0.00 3.12 0.00 0.000 4 0.000 0.089 2912 3537 2196 0 0 0 0 0 0

6240 0.67 146.0 537.1 10.2 640 6245 0.00 3.08 0.00 0.000 6 0.000 0.079 2924 1949 2195 0 0 0 0 0 0

6564 0.61 146.0 504.8 10.2 670 6569 0.15 2.53 0.00 0.000 4 0.209 0.098 2900 361 2194 0 0 0 0 0 0

6582 0.61 146.0 503.4 9.2 671 6586 0.00 2.42 0.00 0.000 6 0.000 0.074 2900 1957 2193 0 0 0 0 0 0

6906 0.62 149.3 474.8 9.0 701 6911 0.00 2.97 0.00 0.000 4 0.000 0.089 2900 3538 2193 0 0 0 0 0 0

7004 0.62 149.3 464.9 10.2 709 7011 0.00 2.92 0.00 0.000 6 0.000 0.080 2913 1978 2192 0 0 0 0 0 0

7330 0.62 149.3 434.5 9.5 740 7334 0.00 2.95 0.00 0.000 4 0.000 0.090 2913 3538 2193 0 0 0 0 0 0

7369 0.55 149.3 430.4 10.7 743 7374 0.22 2.90 0.00 0.000 6 0.202 0.079 2872 1988 2192 0 0 0 0 0 0

7693 0.73 168.7 404.2 8.3 773 7718 0.17 2.95 18.45 1.001 4 0.115 0.088 2930 3543 2111 0 0 0 0 0 0

7797 0.64 168.7 392.5 11.9 782 7803 0.17 2.90 0.00 0.000 6 0.202 0.078 2903 2005 2109 0 0 0 0 0 0

8122 0.77 196.2 364.3 8.0 813 8152 0.12 0.00 24.65 0.990 6 0.127 0.000 2942 2007 1999 0 0 0 0 0 0

8470 0.77 196.2 332.6 9.7 846 8471 0.00 0.00 0.00 0.000 6 0.000 0.000 2942 2006 1994 0 0 0 0 0 0

8790 0.77 196.2 301.2 9.4 876 8794 0.00 2.92 0.00 0.000 4 0.000 0.090 2942 3542 1993 0 0 0 0 0 0

8833 0.70 196.2 296.6 11.0 879 8840 0.15 2.88 0.00 0.000 6 0.201 0.080 2922 2010 1992 0 0 0 0 0 0

9159 0.83 238.1 270.5 7.4 910 9201 0.12 2.95 35.88 0.959 4 0.127 0.089 2961 3538 1828 0 0 0 0 0 0

9258 0.76 238.1 259.9 12.1 919 9263 0.15 2.88 0.00 0.000 6 0.198 0.079 2941 2030 1824 0 0 0 0 0 0

9584 0.86 238.1 228.1 9.7 949 9588 0.00 2.62 0.00 0.000 4 0.000 0.099 2950 355 1821 0 0 0 0 0 0

9611 0.93 238.1 225.2 9.8 951 9616 0.12 2.58 0.00 0.000 6 0.131 0.075 2989 2047 1821 0 0 0 0 0 0

9935 0.93 238.1 190.5 10.9 981 9940 0.00 2.85 0.00 0.000 4 0.000 0.092 2988 3545 1820 0 0 0 0 0 0

10030 0.82 238.1 179.3 12.0 989 10036 0.20 2.83 0.00 0.000 6 0.199 0.082 2955 2050 1820 0 0 0 0 0 0

10355 0.90 238.1 149.4 9.5 1019 10359 0.00 2.65 0.00 0.000 4 0.000 0.101 2965 355 1819 0 0 0 0 0 0

10387 0.90 238.1 146.3 9.7 1021 10393 0.00 2.58 0.00 0.000 6 0.000 0.076 2964 2058 1819 0 0 0 0 0 0

10712 0.99 256.1 118.1 8.4 1052 10734 0.15 2.83 15.35 0.880 4 0.115 0.092 3015 3543 1755 0 0 0 0 0 0

10773 0.83 256.1 111.3 12.5 1057 10780 0.28 2.80 0.00 0.000 6 0.201 0.083 2961 2065 1754 0 0 0 0 0 0

11108 0.99 288.8 84.3 7.8 1105 11145 0.15 2.88 28.80 0.871 4 0.122 0.094 3008 3540 1621 0 0 0 0 0 0

11163 0.99 288.8 79.1 10.1 1115 11168 0.00 2.80 0.00 0.000 6 0.000 0.083 3020 2082 1620 0 0 0 0 0 0

11508 0.99 288.8 40.8 12.3 1176 11514 0.00 2.70 0.00 0.000 4 0.000 0.104 3032 364 1615 0 0 0 0 0 0

11554 0.91 288.8 33.8 14.6 1184 11560 0.20 2.62 0.00 0.000 6 0.194 0.079 2985 2082 1615 0 0 0 0 0 0

11803 end climb: FINISH_DEPTH_REACHED

state 11803 begin subsurface finish

11809 0.10 83.0 8.7 -8.2 1228 11851 0.88 3.05 -30.27 0.000 4 0.169 0.102 2731 3538 2464 0 0 0 0 0 0

11852 end subsurface finish: CONTROL_FINISHED_OK

state 11852 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	226	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	18	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	17	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-35700.973	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2690	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-24.446302	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	0	PITCH_GAIN	31	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	1	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	202734,6641.807,-6002.562,0,7108.7,0,-37.8	TGT_NAME	TARGET_W
_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	2.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	202734,6641.807,-6002.562,181,99.0,181,-37.8	MHEAD_RNG_PITCHd_Wd	321.1,17620,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	603

FREEZE	8.65,-1.773,-1.761,2,21,0	ALTIM_BOTTOM_PING	500.5,89.6
FINISH1	8.7,1.025791,83	_24V_AH	22.5,48.301
FINISH2	7.0	_10V_AH	10.1,25.158
RAFOS_CLK	870	FG_AHR_24Vo	0.000
RAFOS	0,1259712068,0.033333,0.018889,91,61,57,0,0,0,594,150,118,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6641.763672,-6006.633789,021209,000007,7,113,0.21	MEM	152552
IRIDIUM_FIX	6620.33,-5850.01,230299,080832	DATA_FILE_SIZE	47223,1236
TT8_MAMPS	0.027612	CAP_FILE_SIZE	143748,0
HUMID	50.15	CFSIZE	260165632,232083456
INTERNAL_PRESSURE	8.88706	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1449.6
XPDR_PINGS	6	GPS	021209,002707,6641.764,-6006.634,0,7112.9,0,-37.8
ALTIM_TOP_PING	19.4,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	312	123.92	SBE_CT	915	24	494.42
Roll_motor	147	115	382.79	SBE_O2	853	19	364.88
VBD_pump_during_apogee	371	1157	9661.42	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	98	103	228.26	nil	0	0	0.00
Iridium_during_connect	84	160	303.76	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	3	420	33.08
GUMSTIX_24V	0	0	0.00
GPS	183	50	92.53
TT8	2065	19	415.66
LPSleep	7241	2	168.96
TT8_Active	519	19	104.60
TT8_Sampling	2235	39	901.31
TT8_CF8	494	45	229.35
TT8_Kalman	0	0	0.00
Analog_circuits	1606	12	194.72
GPS_charging	0	0	0.00
Compass	2030	8	164.05
RAFOS	2520	1	38.18
Transponder	17	30	5.25

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
14	-0.73	-146.0	0.0	0.0	0	98	0.00	0.00	-80.57	0.000	2	0.000	0.000	122	2453	2816	0	0	0	0	0	0
100	-0.73	-146.0	3.3	-4.1	16	137	11.75	2.90	-18.00	0.000	4	0.313	0.115	2447	3910	3398	0	0	0	0	0	0
339	-0.60	-146.0	40.6	-15.9	59	346	0.17	2.72	0.00	0.000	6	0.223	0.077	2488	2462	3400	0	0	0	0	0	0
683	-0.60	-146.0	83.1	-11.9	120	689	0.00	2.85	0.00	0.000	4	0.000	0.103	2488	3911	3400	0	0	0	0	0	0
842	-0.60	-146.0	100.7	-11.2	148	846	0.00	2.70	0.00	0.000	6	0.000	0.077	2489	2471	3400	0	0	0	0	0	0
1166	-0.60	-146.0	133.6	-10.0	178	1170	0.00	2.83	0.00	0.000	4	0.000	0.102	2488	3910	3400	0	0	0	0	0	0
1296	-0.66	-146.0	147.1	-10.1	189	1301	0.00	2.70	0.00	0.000	6	0.000	0.077	2488	2472	3400	0	0	0	0	0	0
1621	-0.73	-146.0	177.4	-8.8	219	1625	0.00	2.83	0.00	0.000	4	0.000	0.103	2488	3910	3400	0	0	0	0	0	0
1705	-0.80	-146.0	185.0	-8.5	226	1711	0.17	2.70	0.00	0.000	6	0.122	0.077	2433	2480	3400	0	0	0	0	0	0
2030	-0.71	-146.0	224.3	-12.4	256	2035	0.00	2.80	0.00	0.000	4	0.000	0.101	2432	3910	3400	0	0	0	0	0	0
2171	-0.63	-146.0	241.9	-12.1	268	2177	0.22	2.67	0.00	0.000	6	0.217	0.077	2485	2486	3400	0	0	0	0	0	0
2496	-0.72	-146.0	270.8	-8.4	298	2500	0.00	2.80	0.00	0.000	4	0.000	0.102	2485	3909	3400	0	0	0	0	0	0
2626	-0.84	-146.0	282.2	-9.4	309	2631	0.20	2.65	0.00	0.000	6	0.117	0.077	2420	2499	3400	0	0	0	0	0	0
2950	-0.73	-146.0	318.2	-10.8	339	2955	0.12	2.80	0.00	0.000	4	0.229	0.100	2436	3914	3400	0	0	0	0	0	0
3105	-0.73	-146.0	335.4	-11.0	352	3112	0.00	2.62	0.00	0.000	6	0.000	0.075	2436	2513	3400	0	0	0	0	0	0
3430	-0.73	-146.0	370.7	-10.8	383	3435	0.00	2.75	0.00	0.000	4	0.000	0.103	2436	3910	3400	0	0	0	0	0	0
3485	-0.73	-146.0	376.8	-11.2	387	3491	0.00	2.60	0.00	0.000	6	0.000	0.077	2436	2524	3400	0	0	0	0	0	0
3809	-0.73	-146.0	409.4	-9.7	418	3814	0.00	2.75	0.00	0.000	4	0.000	0.102	2436	3916	3400	0	0	0	0	0	0
3938	-0.73	-146.0	422.6	-10.4	429	3942	0.00	2.60	0.00	0.000	6	0.000	0.077	2436	2533	3400	0	0	0	0	0	0
4262	-0.73	-146.0	452.8	-9.0	459	4267	0.00	2.72	0.00	0.000	4	0.000	0.101	2436	3917	3399	0	0	0	0	0	0
4403	-0.73	-146.0	465.9	-10.3	471	4407	0.00	2.60	0.00	0.000	6	0.000	0.076	2436	2533	3400	0	0	0	0	0	0
4727	-0.73	-146.0	495.8	-8.6	501	4732	0.00	2.72	0.00	0.000	4	0.000	0.100	2436	3919	3400	0	0	0	0	0	0
4803	-0.73	-146.0	502.7	-9.1	507	4807	0.00	2.58	0.00	0.000	6	0.000	0.074	2436	2547	3400	0	0	0	0	0	0
5127	-0.73	-146.0	531.1	-8.8	537	5132	0.00	2.70	0.00	0.000	4	0.000	0.099	2436	3921	3400	0	0	0	0	0	0
5159	-0.73	-146.0	534.1	-9.3	539	5165	0.00	2.60	0.00	0.000	6	0.000	0.072	2436	2526	3400	0	0	0	0	0	0
5486	-0.73	-146.0	563.4	-8.9	570	5491	0.00	2.72	0.00	0.000	4	0.000	0.097	2436	3919	3401	0	0	0	0	0	0
5536	-0.73	-146.0	567.8	-7.9	574	5541	0.00	2.55	0.00	0.000	6	0.000	0.072	2436	2554	3401	0	0	0	0	0	0
5625	end dive: BOTTOM_OBSTACLE_DETECTED
state	5625	begin apogee
5631	-0.16	0.0	575.3	8.7	582	5758	0.73	0.00	120.93	1.157	6	0.186	0.000	2631	1953	2799	0	0	0	0	0	0
5758	end apogee: CONTROL_FINISHED_OK
state	5758	begin climb
5761	0.73	146.0	579.0	0.0	595	5894	0.98	0.00	126.95	1.101	6	0.144	0.000	2911	1953	2203	0	0	0	0	0	0
6212	0.73	146.0	539.9	9.8	638	6217	0.00	3.12	0.00	0.000	4	0.000	0.089	2912	3537	2196	0	0	0	0	0	0
6240	0.67	146.0	537.1	10.2	640	6245	0.00	3.08	0.00	0.000	6	0.000	0.079	2924	1949	2195	0	0	0	0	0	0
6564	0.61	146.0	504.8	10.2	670	6569	0.15	2.53	0.00	0.000	4	0.209	0.098	2900	361	2194	0	0	0	0	0	0
6582	0.61	146.0	503.4	9.2	671	6586	0.00	2.42	0.00	0.000	6	0.000	0.074	2900	1957	2193	0	0	0	0	0	0
6906	0.62	149.3	474.8	9.0	701	6911	0.00	2.97	0.00	0.000	4	0.000	0.089	2900	3538	2193	0	0	0	0	0	0
7004	0.62	149.3	464.9	10.2	709	7011	0.00	2.92	0.00	0.000	6	0.000	0.080	2913	1978	2192	0	0	0	0	0	0
7330	0.62	149.3	434.5	9.5	740	7334	0.00	2.95	0.00	0.000	4	0.000	0.090	2913	3538	2193	0	0	0	0	0	0
7369	0.55	149.3	430.4	10.7	743	7374	0.22	2.90	0.00	0.000	6	0.202	0.079	2872	1988	2192	0	0	0	0	0	0
7693	0.73	168.7	404.2	8.3	773	7718	0.17	2.95	18.45	1.001	4	0.115	0.088	2930	3543	2111	0	0	0	0	0	0
7797	0.64	168.7	392.5	11.9	782	7803	0.17	2.90	0.00	0.000	6	0.202	0.078	2903	2005	2109	0	0	0	0	0	0
8122	0.77	196.2	364.3	8.0	813	8152	0.12	0.00	24.65	0.990	6	0.127	0.000	2942	2007	1999	0	0	0	0	0	0
8470	0.77	196.2	332.6	9.7	846	8471	0.00	0.00	0.00	0.000	6	0.000	0.000	2942	2006	1994	0	0	0	0	0	0
8790	0.77	196.2	301.2	9.4	876	8794	0.00	2.92	0.00	0.000	4	0.000	0.090	2942	3542	1993	0	0	0	0	0	0
8833	0.70	196.2	296.6	11.0	879	8840	0.15	2.88	0.00	0.000	6	0.201	0.080	2922	2010	1992	0	0	0	0	0	0
9159	0.83	238.1	270.5	7.4	910	9201	0.12	2.95	35.88	0.959	4	0.127	0.089	2961	3538	1828	0	0	0	0	0	0
9258	0.76	238.1	259.9	12.1	919	9263	0.15	2.88	0.00	0.000	6	0.198	0.079	2941	2030	1824	0	0	0	0	0	0
9584	0.86	238.1	228.1	9.7	949	9588	0.00	2.62	0.00	0.000	4	0.000	0.099	2950	355	1821	0	0	0	0	0	0
9611	0.93	238.1	225.2	9.8	951	9616	0.12	2.58	0.00	0.000	6	0.131	0.075	2989	2047	1821	0	0	0	0	0	0
9935	0.93	238.1	190.5	10.9	981	9940	0.00	2.85	0.00	0.000	4	0.000	0.092	2988	3545	1820	0	0	0	0	0	0
10030	0.82	238.1	179.3	12.0	989	10036	0.20	2.83	0.00	0.000	6	0.199	0.082	2955	2050	1820	0	0	0	0	0	0
10355	0.90	238.1	149.4	9.5	1019	10359	0.00	2.65	0.00	0.000	4	0.000	0.101	2965	355	1819	0	0	0	0	0	0
10387	0.90	238.1	146.3	9.7	1021	10393	0.00	2.58	0.00	0.000	6	0.000	0.076	2964	2058	1819	0	0	0	0	0	0
10712	0.99	256.1	118.1	8.4	1052	10734	0.15	2.83	15.35	0.880	4	0.115	0.092	3015	3543	1755	0	0	0	0	0	0
10773	0.83	256.1	111.3	12.5	1057	10780	0.28	2.80	0.00	0.000	6	0.201	0.083	2961	2065	1754	0	0	0	0	0	0
11108	0.99	288.8	84.3	7.8	1105	11145	0.15	2.88	28.80	0.871	4	0.122	0.094	3008	3540	1621	0	0	0	0	0	0
11163	0.99	288.8	79.1	10.1	1115	11168	0.00	2.80	0.00	0.000	6	0.000	0.083	3020	2082	1620	0	0	0	0	0	0
11508	0.99	288.8	40.8	12.3	1176	11514	0.00	2.70	0.00	0.000	4	0.000	0.104	3032	364	1615	0	0	0	0	0	0
11554	0.91	288.8	33.8	14.6	1184	11560	0.20	2.62	0.00	0.000	6	0.194	0.079	2985	2082	1615	0	0	0	0	0	0
11803	end climb: FINISH_DEPTH_REACHED
state	11803	begin subsurface finish
11809	0.10	83.0	8.7	-8.2	1228	11851	0.88	3.05	-30.27	0.000	4	0.169	0.102	2731	3538	2464	0	0	0	0	0	0
11852	end subsurface finish: CONTROL_FINISHED_OK
state	11852	begin surface