Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 227 * 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 227 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 16 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 16 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 227 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 002707,6641.764,-6006.634,0,7112.9,0,-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 8.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 002707,6641.764,-6006.634,0,7112.9,0,-37.8 MHEAD_RNG_PITCHd_Wd 324.1,14761,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 575

Post-dive calculations and measurements:

FREEZE 8.78,-1.773,-1.762,2,22,0 ALTIM_BOTTOM_PING 500.6,73.0

FINISH1 8.8,1.025803,82 _24V_AH 22.5,48.419

FINISH2 7.6 _10V_AH 10.1,25.221

RAFOS_CLK 796 FG_AHR_24Vo 0.000

RAFOS 0,1259726463,4.033333,4.017500,99,57,56,0,0,0,608,183,214,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.477051,-6011.608887,021209,040434,7,118,0.27 MEM 152544

IRIDIUM_FIX 6620.33,-5850.01,230299,080832 DATA_FILE_SIZE 44171,1180

TT8_MAMPS 0.026845 CAP_FILE_SIZE 138322,0

HUMID 49.76 CFSIZE 260165632,232022016

INTERNAL_PRESSURE 8.88706 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1449.5

XPDR_PINGS 8 GPS 021209,042734,6642.477,-6011.609,0,7118.4,0,-37.8

ALTIM_TOP_PING 19.5,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 233 39.21 SBE_CT 874 24 472.30

Roll_motor 153 120 417.18 SBE_O2 814 19 348.36

VBD_pump_during_apogee 390 1144 10058.53 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 4 420 37.80

GUMSTIX_24V 0 0 0.00

GPS 0 50 0.00

TT8 2019 19 406.22

LPSleep 6769 2 157.94

TT8_Active 470 19 94.71

TT8_Sampling 1977 39 797.15

TT8_CF8 159 45 74.20

TT8_Kalman 0 0 0.00

Analog_circuits 1523 12 184.68

GPS_charging 0 0 0.00

Compass 1952 8 157.76

RAFOS 2520 1 38.18

Transponder 19 30 5.86

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 -0.73 -146.0 0.0 0.0 0 22 0.00 0.00 -5.25 0.000 2 0.000 0.000 2731 3538 2635 0 0 0 0 0 0

25 -0.73 -146.0 8.5 -0.0 1 57 0.80 4.72 -22.17 0.000 4 0.110 0.093 2465 869 3400 0 0 0 0 0 0

109 -0.61 -146.0 17.2 -13.1 16 114 0.00 2.53 0.00 0.000 6 0.000 0.083 2465 2467 3402 0 0 0 0 0 0

452 -0.53 -146.0 63.7 -13.9 77 459 0.22 2.80 0.00 0.000 4 0.234 0.096 2506 3911 3402 0 0 0 0 0 0

712 -0.61 -146.0 91.2 -8.9 123 718 0.00 2.70 0.00 0.000 6 0.000 0.074 2506 2471 3402 0 0 0 0 0 0

1043 -0.71 -146.0 123.8 -10.9 163 1048 0.15 2.85 0.00 0.000 4 0.125 0.100 2453 3910 3402 0 0 0 0 0 0

1162 -0.67 -146.0 138.9 -12.8 173 1166 0.00 2.67 0.00 0.000 6 0.000 0.074 2453 2480 3402 0 0 0 0 0 0

1486 -0.61 -146.0 176.7 -10.1 203 1492 0.17 2.83 0.00 0.000 4 0.227 0.099 2482 3914 3402 0 0 0 0 0 0

1629 -0.67 -146.0 188.9 -8.4 215 1634 0.00 2.67 0.00 0.000 6 0.000 0.073 2482 2479 3402 0 0 0 0 0 0

1954 -0.72 -146.0 216.0 -8.8 245 1958 0.00 2.83 0.00 0.000 4 0.000 0.100 2482 3919 3402 0 0 0 0 0 0

2122 -0.80 -146.0 231.8 -9.5 259 2128 0.15 2.67 0.00 0.000 6 0.123 0.075 2432 2489 3402 0 0 0 0 0 0

2447 -0.72 -146.0 267.4 -10.5 290 2451 0.00 2.80 0.00 0.000 4 0.000 0.102 2432 3912 3401 0 0 0 0 0 0

2553 -0.64 -146.0 279.5 -11.2 299 2558 0.20 2.65 0.00 0.000 6 0.218 0.076 2477 2505 3401 0 0 0 0 0 0

2877 -0.74 -146.0 309.0 -9.3 329 2882 0.00 2.78 0.00 0.000 4 0.000 0.102 2477 3911 3401 0 0 0 0 0 0

2984 -0.84 -146.0 318.8 -9.1 338 2989 0.20 2.60 0.00 0.000 6 0.117 0.076 2414 2528 3401 0 0 0 0 0 0

3308 -0.74 -146.0 354.4 -10.7 368 3314 0.15 2.75 0.00 0.000 4 0.221 0.100 2436 3916 3401 0 0 0 0 0 0

3392 -0.74 -146.0 363.2 -10.4 375 3397 0.00 2.58 0.00 0.000 6 0.000 0.075 2436 2548 3400 0 0 0 0 0 0

3717 -0.74 -146.0 393.3 -8.7 405 3721 0.00 2.70 0.00 0.000 4 0.000 0.102 2436 3913 3400 0 0 0 0 0 0

3812 -0.74 -146.0 402.4 -9.3 413 3816 0.00 2.55 0.00 0.000 6 0.000 0.075 2436 2561 3401 0 0 0 0 0 0

4136 -0.74 -146.0 431.4 -8.7 443 4141 0.00 2.67 0.00 0.000 4 0.000 0.101 2436 3911 3400 0 0 0 0 0 0

4180 -0.74 -146.0 435.6 -9.4 446 4186 0.00 2.55 0.00 0.000 6 0.000 0.075 2436 2556 3400 0 0 0 0 0 0

4505 -0.74 -146.0 464.5 -8.8 477 4510 0.00 2.67 0.00 0.000 4 0.000 0.100 2436 3910 3400 0 0 0 0 0 0

4611 -0.74 -146.0 474.0 -9.3 486 4616 0.00 2.55 0.00 0.000 6 0.000 0.075 2436 2561 3400 0 0 0 0 0 0

4942 -0.74 -146.0 504.2 -8.5 517 4946 0.00 2.67 0.00 0.000 4 0.000 0.099 2436 3918 3401 0 0 0 0 0 0

4974 -0.74 -146.0 507.2 -8.7 519 4980 0.00 2.55 0.00 0.000 6 0.000 0.073 2436 2557 3401 0 0 0 0 0 0

5300 -0.74 -146.0 534.7 -8.3 550 5304 0.00 2.67 0.00 0.000 4 0.000 0.098 2436 3918 3401 0 0 0 0 0 0

5350 -0.74 -146.0 539.0 -8.4 554 5355 0.00 2.53 0.00 0.000 6 0.000 0.072 2436 2572 3401 0 0 0 0 0 0

5588 end dive: BOTTOM_OBSTACLE_DETECTED

state 5589 begin apogee

5594 -0.16 0.0 559.0 8.1 576 5721 0.73 0.00 120.75 1.144 6 0.203 0.000 2627 1951 2799 0 0 0 0 0 0

5722 end apogee: CONTROL_FINISHED_OK

state 5722 begin climb

5724 0.73 146.0 563.0 0.0 589 5860 1.00 2.83 126.70 1.089 4 0.150 0.098 2920 365 2203 0 0 0 0 0 0

5916 0.68 146.0 549.6 10.9 607 5922 0.00 2.58 0.00 0.000 6 0.000 0.072 2920 1948 2199 0 0 0 0 0 0

6240 0.68 146.0 515.4 10.9 638 6245 0.00 3.10 0.00 0.000 4 0.000 0.089 2920 3546 2195 0 0 0 0 0 0

6314 0.57 146.0 506.8 12.2 644 6320 0.25 3.05 0.00 0.000 6 0.197 0.080 2875 1959 2193 0 0 0 0 0 0

6638 0.74 182.6 479.7 7.6 674 6675 0.17 2.58 30.70 1.044 4 0.114 0.097 2942 349 2054 0 0 0 0 0 0

6700 0.66 182.6 473.6 11.6 679 6705 0.15 2.47 0.00 0.000 6 0.200 0.074 2910 1957 2052 0 0 0 0 0 0

7024 0.66 182.6 440.2 10.2 709 7029 0.00 3.00 0.00 0.000 4 0.000 0.089 2910 3544 2049 0 0 0 0 0 0

7097 0.66 182.6 432.3 11.0 715 7101 0.00 2.97 0.00 0.000 6 0.000 0.080 2920 1961 2047 0 0 0 0 0 0

7420 0.66 182.6 400.0 9.6 745 7425 0.00 2.50 0.00 0.000 4 0.000 0.099 2931 350 2047 0 0 0 0 0 0

7437 0.66 182.6 398.3 9.8 746 7442 0.00 2.40 0.00 0.000 6 0.000 0.073 2931 1964 2047 0 0 0 0 0 0

7767 0.66 182.6 364.0 10.3 777 7771 0.00 2.95 0.00 0.000 4 0.000 0.089 2931 3538 2047 0 0 0 0 0 0

7817 0.57 182.6 358.5 11.2 781 7823 0.28 2.92 0.00 0.000 6 0.197 0.080 2876 1970 2047 0 0 0 0 0 0

8142 0.83 228.9 332.9 7.2 811 8188 0.25 3.03 39.28 0.990 4 0.099 0.089 2967 3538 1865 0 0 0 0 0 0

8267 0.70 228.9 317.3 14.2 822 8273 0.25 2.92 0.00 0.000 6 0.195 0.079 2921 2002 1861 0 0 0 0 0 0

8591 0.81 228.9 286.1 9.2 852 8596 0.00 2.92 0.00 0.000 4 0.000 0.089 2921 3538 1858 0 0 0 0 0 0

8613 0.89 228.9 284.0 9.5 853 8619 0.15 2.88 0.00 0.000 6 0.114 0.078 2981 2010 1858 0 0 0 0 0 0

8938 0.83 228.9 245.2 11.7 884 8939 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2012 1858 0 0 0 0 0 0

9259 0.83 228.9 208.6 11.4 914 9264 0.00 2.90 0.00 0.000 4 0.000 0.091 2980 3538 1858 0 0 0 0 0 0

9281 0.78 228.9 205.7 11.5 915 9287 0.20 2.85 0.00 0.000 6 0.201 0.081 2946 2021 1858 0 0 0 0 0 0

9605 0.86 228.9 176.6 9.8 946 9610 0.00 2.90 0.00 0.000 4 0.000 0.091 2945 3546 1857 0 0 0 0 0 0

9637 0.86 228.9 173.1 10.6 948 9643 0.00 2.83 0.00 0.000 6 0.000 0.081 2956 2037 1856 0 0 0 0 0 0

9962 0.96 259.6 144.2 7.9 979 9997 0.12 2.95 26.30 0.897 4 0.123 0.092 3001 3538 1739 0 0 0 0 0 0

10032 0.84 259.6 136.8 12.8 985 10038 0.22 2.83 0.00 0.000 6 0.200 0.081 2961 2052 1737 0 0 0 0 0 0

10357 0.99 283.8 107.2 8.1 1016 10388 0.15 2.75 21.25 0.874 4 0.122 0.102 3018 356 1640 0 0 0 0 0 0

10440 0.91 283.8 98.4 11.5 1024 10446 0.15 2.60 0.00 0.000 6 0.196 0.077 2985 2056 1638 0 0 0 0 0 0

10785 1.01 298.8 69.2 8.5 1085 10806 0.00 2.75 13.32 0.841 4 0.000 0.103 2995 356 1580 0 0 0 0 0 0

10819 1.10 311.1 66.2 8.7 1091 10840 0.15 2.60 12.35 0.810 6 0.128 0.077 3041 2062 1530 0 0 0 0 0 0

11178 1.00 311.1 20.2 12.4 1155 11185 0.00 2.83 0.00 0.000 4 0.000 0.094 3041 3538 1525 0 0 0 0 0 0

11213 0.86 311.1 15.3 13.6 1161 11220 0.32 2.85 0.00 0.000 6 0.202 0.084 2975 2043 1525 0 0 0 0 0 0

11275 end climb: FINISH_DEPTH_REACHED

state 11276 begin subsurface finish

11282 0.10 82.5 8.8 -9.1 1172 11324 0.85 2.50 -32.15 0.000 4 0.165 0.113 2727 366 2467 0 0 0 0 0 0

11325 end subsurface finish: CONTROL_FINISHED_OK

state 11325 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	227	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	16	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	002707,6641.764,-6006.634,0,7112.9,0,-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	8.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	002707,6641.764,-6006.634,0,7112.9,0,-37.8	MHEAD_RNG_PITCHd_Wd	324.1,14761,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	575

FREEZE	8.78,-1.773,-1.762,2,22,0	ALTIM_BOTTOM_PING	500.6,73.0
FINISH1	8.8,1.025803,82	_24V_AH	22.5,48.419
FINISH2	7.6	_10V_AH	10.1,25.221
RAFOS_CLK	796	FG_AHR_24Vo	0.000
RAFOS	0,1259726463,4.033333,4.017500,99,57,56,0,0,0,608,183,214,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.477051,-6011.608887,021209,040434,7,118,0.27	MEM	152544
IRIDIUM_FIX	6620.33,-5850.01,230299,080832	DATA_FILE_SIZE	44171,1180
TT8_MAMPS	0.026845	CAP_FILE_SIZE	138322,0
HUMID	49.76	CFSIZE	260165632,232022016
INTERNAL_PRESSURE	8.88706	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1449.5
XPDR_PINGS	8	GPS	021209,042734,6642.477,-6011.609,0,7118.4,0,-37.8
ALTIM_TOP_PING	19.5,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	233	39.21	SBE_CT	874	24	472.30
Roll_motor	153	120	417.18	SBE_O2	814	19	348.36
VBD_pump_during_apogee	390	1144	10058.53	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	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	4	420	37.80
GUMSTIX_24V	0	0	0.00
GPS	0	50	0.00
TT8	2019	19	406.22
LPSleep	6769	2	157.94
TT8_Active	470	19	94.71
TT8_Sampling	1977	39	797.15
TT8_CF8	159	45	74.20
TT8_Kalman	0	0	0.00
Analog_circuits	1523	12	184.68
GPS_charging	0	0	0.00
Compass	1952	8	157.76
RAFOS	2520	1	38.18
Transponder	19	30	5.86

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	-0.73	-146.0	0.0	0.0	0	22	0.00	0.00	-5.25	0.000	2	0.000	0.000	2731	3538	2635	0	0	0	0	0	0
25	-0.73	-146.0	8.5	-0.0	1	57	0.80	4.72	-22.17	0.000	4	0.110	0.093	2465	869	3400	0	0	0	0	0	0
109	-0.61	-146.0	17.2	-13.1	16	114	0.00	2.53	0.00	0.000	6	0.000	0.083	2465	2467	3402	0	0	0	0	0	0
452	-0.53	-146.0	63.7	-13.9	77	459	0.22	2.80	0.00	0.000	4	0.234	0.096	2506	3911	3402	0	0	0	0	0	0
712	-0.61	-146.0	91.2	-8.9	123	718	0.00	2.70	0.00	0.000	6	0.000	0.074	2506	2471	3402	0	0	0	0	0	0
1043	-0.71	-146.0	123.8	-10.9	163	1048	0.15	2.85	0.00	0.000	4	0.125	0.100	2453	3910	3402	0	0	0	0	0	0
1162	-0.67	-146.0	138.9	-12.8	173	1166	0.00	2.67	0.00	0.000	6	0.000	0.074	2453	2480	3402	0	0	0	0	0	0
1486	-0.61	-146.0	176.7	-10.1	203	1492	0.17	2.83	0.00	0.000	4	0.227	0.099	2482	3914	3402	0	0	0	0	0	0
1629	-0.67	-146.0	188.9	-8.4	215	1634	0.00	2.67	0.00	0.000	6	0.000	0.073	2482	2479	3402	0	0	0	0	0	0
1954	-0.72	-146.0	216.0	-8.8	245	1958	0.00	2.83	0.00	0.000	4	0.000	0.100	2482	3919	3402	0	0	0	0	0	0
2122	-0.80	-146.0	231.8	-9.5	259	2128	0.15	2.67	0.00	0.000	6	0.123	0.075	2432	2489	3402	0	0	0	0	0	0
2447	-0.72	-146.0	267.4	-10.5	290	2451	0.00	2.80	0.00	0.000	4	0.000	0.102	2432	3912	3401	0	0	0	0	0	0
2553	-0.64	-146.0	279.5	-11.2	299	2558	0.20	2.65	0.00	0.000	6	0.218	0.076	2477	2505	3401	0	0	0	0	0	0
2877	-0.74	-146.0	309.0	-9.3	329	2882	0.00	2.78	0.00	0.000	4	0.000	0.102	2477	3911	3401	0	0	0	0	0	0
2984	-0.84	-146.0	318.8	-9.1	338	2989	0.20	2.60	0.00	0.000	6	0.117	0.076	2414	2528	3401	0	0	0	0	0	0
3308	-0.74	-146.0	354.4	-10.7	368	3314	0.15	2.75	0.00	0.000	4	0.221	0.100	2436	3916	3401	0	0	0	0	0	0
3392	-0.74	-146.0	363.2	-10.4	375	3397	0.00	2.58	0.00	0.000	6	0.000	0.075	2436	2548	3400	0	0	0	0	0	0
3717	-0.74	-146.0	393.3	-8.7	405	3721	0.00	2.70	0.00	0.000	4	0.000	0.102	2436	3913	3400	0	0	0	0	0	0
3812	-0.74	-146.0	402.4	-9.3	413	3816	0.00	2.55	0.00	0.000	6	0.000	0.075	2436	2561	3401	0	0	0	0	0	0
4136	-0.74	-146.0	431.4	-8.7	443	4141	0.00	2.67	0.00	0.000	4	0.000	0.101	2436	3911	3400	0	0	0	0	0	0
4180	-0.74	-146.0	435.6	-9.4	446	4186	0.00	2.55	0.00	0.000	6	0.000	0.075	2436	2556	3400	0	0	0	0	0	0
4505	-0.74	-146.0	464.5	-8.8	477	4510	0.00	2.67	0.00	0.000	4	0.000	0.100	2436	3910	3400	0	0	0	0	0	0
4611	-0.74	-146.0	474.0	-9.3	486	4616	0.00	2.55	0.00	0.000	6	0.000	0.075	2436	2561	3400	0	0	0	0	0	0
4942	-0.74	-146.0	504.2	-8.5	517	4946	0.00	2.67	0.00	0.000	4	0.000	0.099	2436	3918	3401	0	0	0	0	0	0
4974	-0.74	-146.0	507.2	-8.7	519	4980	0.00	2.55	0.00	0.000	6	0.000	0.073	2436	2557	3401	0	0	0	0	0	0
5300	-0.74	-146.0	534.7	-8.3	550	5304	0.00	2.67	0.00	0.000	4	0.000	0.098	2436	3918	3401	0	0	0	0	0	0
5350	-0.74	-146.0	539.0	-8.4	554	5355	0.00	2.53	0.00	0.000	6	0.000	0.072	2436	2572	3401	0	0	0	0	0	0
5588	end dive: BOTTOM_OBSTACLE_DETECTED
state	5589	begin apogee
5594	-0.16	0.0	559.0	8.1	576	5721	0.73	0.00	120.75	1.144	6	0.203	0.000	2627	1951	2799	0	0	0	0	0	0
5722	end apogee: CONTROL_FINISHED_OK
state	5722	begin climb
5724	0.73	146.0	563.0	0.0	589	5860	1.00	2.83	126.70	1.089	4	0.150	0.098	2920	365	2203	0	0	0	0	0	0
5916	0.68	146.0	549.6	10.9	607	5922	0.00	2.58	0.00	0.000	6	0.000	0.072	2920	1948	2199	0	0	0	0	0	0
6240	0.68	146.0	515.4	10.9	638	6245	0.00	3.10	0.00	0.000	4	0.000	0.089	2920	3546	2195	0	0	0	0	0	0
6314	0.57	146.0	506.8	12.2	644	6320	0.25	3.05	0.00	0.000	6	0.197	0.080	2875	1959	2193	0	0	0	0	0	0
6638	0.74	182.6	479.7	7.6	674	6675	0.17	2.58	30.70	1.044	4	0.114	0.097	2942	349	2054	0	0	0	0	0	0
6700	0.66	182.6	473.6	11.6	679	6705	0.15	2.47	0.00	0.000	6	0.200	0.074	2910	1957	2052	0	0	0	0	0	0
7024	0.66	182.6	440.2	10.2	709	7029	0.00	3.00	0.00	0.000	4	0.000	0.089	2910	3544	2049	0	0	0	0	0	0
7097	0.66	182.6	432.3	11.0	715	7101	0.00	2.97	0.00	0.000	6	0.000	0.080	2920	1961	2047	0	0	0	0	0	0
7420	0.66	182.6	400.0	9.6	745	7425	0.00	2.50	0.00	0.000	4	0.000	0.099	2931	350	2047	0	0	0	0	0	0
7437	0.66	182.6	398.3	9.8	746	7442	0.00	2.40	0.00	0.000	6	0.000	0.073	2931	1964	2047	0	0	0	0	0	0
7767	0.66	182.6	364.0	10.3	777	7771	0.00	2.95	0.00	0.000	4	0.000	0.089	2931	3538	2047	0	0	0	0	0	0
7817	0.57	182.6	358.5	11.2	781	7823	0.28	2.92	0.00	0.000	6	0.197	0.080	2876	1970	2047	0	0	0	0	0	0
8142	0.83	228.9	332.9	7.2	811	8188	0.25	3.03	39.28	0.990	4	0.099	0.089	2967	3538	1865	0	0	0	0	0	0
8267	0.70	228.9	317.3	14.2	822	8273	0.25	2.92	0.00	0.000	6	0.195	0.079	2921	2002	1861	0	0	0	0	0	0
8591	0.81	228.9	286.1	9.2	852	8596	0.00	2.92	0.00	0.000	4	0.000	0.089	2921	3538	1858	0	0	0	0	0	0
8613	0.89	228.9	284.0	9.5	853	8619	0.15	2.88	0.00	0.000	6	0.114	0.078	2981	2010	1858	0	0	0	0	0	0
8938	0.83	228.9	245.2	11.7	884	8939	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2012	1858	0	0	0	0	0	0
9259	0.83	228.9	208.6	11.4	914	9264	0.00	2.90	0.00	0.000	4	0.000	0.091	2980	3538	1858	0	0	0	0	0	0
9281	0.78	228.9	205.7	11.5	915	9287	0.20	2.85	0.00	0.000	6	0.201	0.081	2946	2021	1858	0	0	0	0	0	0
9605	0.86	228.9	176.6	9.8	946	9610	0.00	2.90	0.00	0.000	4	0.000	0.091	2945	3546	1857	0	0	0	0	0	0
9637	0.86	228.9	173.1	10.6	948	9643	0.00	2.83	0.00	0.000	6	0.000	0.081	2956	2037	1856	0	0	0	0	0	0
9962	0.96	259.6	144.2	7.9	979	9997	0.12	2.95	26.30	0.897	4	0.123	0.092	3001	3538	1739	0	0	0	0	0	0
10032	0.84	259.6	136.8	12.8	985	10038	0.22	2.83	0.00	0.000	6	0.200	0.081	2961	2052	1737	0	0	0	0	0	0
10357	0.99	283.8	107.2	8.1	1016	10388	0.15	2.75	21.25	0.874	4	0.122	0.102	3018	356	1640	0	0	0	0	0	0
10440	0.91	283.8	98.4	11.5	1024	10446	0.15	2.60	0.00	0.000	6	0.196	0.077	2985	2056	1638	0	0	0	0	0	0
10785	1.01	298.8	69.2	8.5	1085	10806	0.00	2.75	13.32	0.841	4	0.000	0.103	2995	356	1580	0	0	0	0	0	0
10819	1.10	311.1	66.2	8.7	1091	10840	0.15	2.60	12.35	0.810	6	0.128	0.077	3041	2062	1530	0	0	0	0	0	0
11178	1.00	311.1	20.2	12.4	1155	11185	0.00	2.83	0.00	0.000	4	0.000	0.094	3041	3538	1525	0	0	0	0	0	0
11213	0.86	311.1	15.3	13.6	1161	11220	0.32	2.85	0.00	0.000	6	0.202	0.084	2975	2043	1525	0	0	0	0	0	0
11275	end climb: FINISH_DEPTH_REACHED
state	11276	begin subsurface finish
11282	0.10	82.5	8.8	-9.1	1172	11324	0.85	2.50	-32.15	0.000	4	0.165	0.113	2727	366	2467	0	0	0	0	0	0
11325	end subsurface finish: CONTROL_FINISHED_OK
state	11325	begin surface