Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 241 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 6.0000002e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 241 HEADING -1 ROLL_MIN 300 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3841 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2120 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2150 ALTIM_FREQUENCY 13

D_ABORT 1015 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 10 ALTIM_PULSE 5

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_BOOST 100 SM_CC 290 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 16 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 12 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 260 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 1 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 370 UPLOAD_DIVES_MAX -1 C_VBD 2772 DEVICE3 -1

T_MISSION 420 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1273.5142 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 AH0_24V 350 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 12 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 12 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 149 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3928 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 50 C_PITCH 2680 PHONE_SUPPLY -2 SEABIRD_T_G 0.0043053469

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -48.048229 SEABIRD_T_H 0.00061871461

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.0001163556 SEABIRD_T_I 2.1533233e-05

MASS 52000 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.1546668e-06

NAV_MODE 2 PITCH_GAIN 13 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8788214

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1391871

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 4 SEABIRD_C_I -0.0018439521

HD_A 0.0043000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022276744

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 0 D_OFFGRID 100 PHONE_DEVICE 49 SIM_W 0

AH0_24V 350 D_PITCH 0 PHONE_SUPPLY -2 SM_CC 290

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FERRY_MAX 45 PITCH_GAIN 13 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FG_AHR_10V 0 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 149 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0.5 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 50 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163556 T_BOOST 0

CALL_TRIES 5 HD_A 0.0043000001 PRESSURE_YINT -48.048229 T_DIVE 370

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 6.0000002e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE 32 T_GPS_CHARGE -1273.5142

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 420

COMPASS_DEVICE 97 ID 193 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.93000001 ROLL_ADJ_DBAND 1 T_TURN 225

C_PITCH 2680 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2150 LOGGERDEVICE1 -1 ROLL_AD_RATE 260 T_WATCHDOG 10

C_ROLL_DIVE 2120 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2772 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3841 USE_BATHY -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 52000 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 12 R_PORT_OVSHOOT 16 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 12 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.8788214 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1391871 VBD_MIN 500

DIVE 241 NAV_MODE 2 SEABIRD_C_I -0.0018439521 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1015 NOCOMM_ACTION 161 SEABIRD_C_J 0.00022276744 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0043053469 VBD_TIMEOUT 360

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00061871461 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.1533233e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.1546668e-06 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 211012,001852,6702.795,-5648.052,41,0.9,41,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211012,002516,6702.756,-5647.910,5,0.9,5,-33.5 MHEAD_RNG_PITCHd_Wd 305.3,163284,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 515

Post-dive calculations and measurements:

FINISH 2.0,1.025919 _24V_AH 12.6,77.572

SM_CCo 9458,31.60,0.182,0,0,1588,290.19 _10V_AH 12.9,0.000

SM_GC 3.44,8.48,0.00,31.60,0.098,0.000,0.182,133,2141,1588,-11.61,0.59,290.19,0,0,0,0,0,0,14.72,28.83,14.55 FG_AHR_24Vo 0.000

RAFOS_CLK 375 FG_AHR_10Vo 0.000

RAFOS 4,1350779584,0.566667,0.551111,64,60,60,57,54,54,186,217,896,202,115,150 MEM 188756

RAFOS_FIX 6711.400879,-5719.106934,211012,000040,2,112,362.27 DATA_FILE_SIZE 43515,944

IRIDIUM_FIX 6636.54,-5650.71,201012,212134 CAP_FILE_SIZE 101419,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,234057728

HUMID 45.86 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.78186 SOUNDSPEED 1464.3

TCM_TEMP 14.10 CURRENT 0.043, 37.1,1

XPDR_PINGS 8 GPS 211012,030604,6702.961,-5650.704,40,0.8,40,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 437 121.57 SBE_CT 693 23 209.53

Roll_motor 94 284 339.75 SBE_O2 645 3 30.42

VBD_pump_during_apogee 332 2370 9929.95 nil 0 0 0.00

VBD_pump_during_surface 31 182 72.49 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 232 145 425.21 nil 0 0 0.00

Transponder_ping 2 420 10.58 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 21 3.18

TT8 2409 14 464.93

LPSleep 4671 2 139.20

TT8_Active 519 14 100.18

TT8_Sampling 1781 33 774.05

TT8_CF8 514 38 253.37

TT8_Kalman 0 0 0.00

Analog_circuits 1650 12 255.56

GPS_charging 0 0 0.00

Compass 1585 6 137.86

RAFOS 1080 1 20.90

Transponder 0 5 0.03

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 pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

19 -1.50 -136.9 0.0 0.0 0 38 0.00 0.00 -17.33 0.000 2 0.000 0.000 136 2119 1922 0 0 0 0 0 0 28.83 28.83 28.83

44 -1.50 -136.9 3.0 -0.6 3 149 10.82 2.88 -82.95 0.000 4 0.438 0.181 2339 3532 3331 0 0 0 0 0 0 14.28 14.40 14.81

233 -1.50 -136.9 17.0 -17.8 35 239 0.00 2.58 0.00 0.000 6 0.000 0.103 2339 2108 3332 0 0 0 0 0 0 28.83 14.56 28.83

550 -1.50 -136.9 70.1 -16.6 96 557 0.00 2.83 0.00 0.000 4 0.000 0.158 2329 3540 3332 0 0 0 0 0 0 28.83 14.51 28.83

592 -1.50 -136.9 77.3 -17.3 103 600 0.12 2.55 0.00 0.000 6 0.295 0.099 2353 2113 3332 0 0 0 0 0 0 14.42 14.62 28.83

918 -1.50 -136.9 118.4 -10.3 149 927 0.00 2.75 0.00 0.000 4 0.000 0.151 2344 3533 3332 0 0 0 0 0 0 28.83 14.52 28.83

1003 -1.50 -136.9 127.3 -9.9 157 1012 0.00 2.50 0.00 0.000 6 0.000 0.097 2344 2122 3332 0 0 0 0 0 0 28.83 14.60 28.83

1314 -1.50 -136.9 160.8 -10.4 188 1323 0.00 2.55 0.00 0.000 4 0.000 0.127 2344 703 3331 0 0 0 0 0 0 28.83 14.55 28.83

1412 -1.50 -136.9 172.2 -11.8 197 1420 0.00 2.65 0.00 0.000 6 0.000 0.127 2337 2126 3331 0 0 0 0 0 0 28.83 14.61 28.83

1720 -1.50 -136.9 208.9 -12.4 228 1726 0.00 0.00 0.00 0.000 6 0.000 0.000 2337 2127 3331 0 0 0 0 0 0 28.83 28.83 28.83

2037 -1.50 -136.9 246.5 -11.8 259 2045 0.00 2.67 0.00 0.000 4 0.000 0.146 2326 3534 3331 0 0 0 0 0 0 28.83 14.54 28.83

2114 -1.50 -136.9 256.5 -12.3 266 2122 0.12 2.53 0.00 0.000 6 0.299 0.099 2350 2112 3331 0 0 0 0 0 0 14.49 14.71 28.83

2423 -1.50 -136.9 289.5 -10.2 297 2429 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2112 3331 0 0 0 0 0 0 28.83 28.83 28.83

2738 -1.50 -136.9 319.6 -9.5 328 2747 0.00 2.53 0.00 0.000 4 0.000 0.127 2351 700 3331 0 0 0 0 0 0 28.83 14.59 28.83

2776 -1.50 -136.9 323.5 -9.8 331 2783 0.00 2.65 0.00 0.000 6 0.000 0.131 2345 2121 3331 0 0 0 0 0 0 28.83 14.64 28.83

3084 -1.50 -136.9 354.3 -10.4 362 3090 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2121 3330 0 0 0 0 0 0 28.83 28.83 28.83

3398 -1.50 -136.9 385.9 -10.1 393 3408 0.00 2.70 0.00 0.000 4 0.000 0.149 2334 3528 3331 0 0 0 0 0 0 28.83 14.56 28.83

3435 -1.50 -136.9 390.1 -10.3 396 3444 0.00 2.50 0.00 0.000 6 0.000 0.103 2334 2120 3331 0 0 0 0 0 0 28.83 14.66 28.83

3744 -1.50 -136.9 422.7 -10.5 413 3750 0.00 2.53 0.00 0.000 4 0.000 0.132 2334 712 3331 0 0 0 0 0 0 28.83 14.64 28.83

3789 -1.50 -136.9 426.2 -10.7 414 3795 0.08 2.62 0.00 0.000 6 0.287 0.136 2346 2120 3331 0 0 0 0 0 0 14.49 14.65 28.83

4106 -1.50 -136.9 460.0 -10.2 425 4112 0.00 2.67 0.00 0.000 4 0.000 0.155 2338 3525 3331 0 0 0 0 0 0 28.83 14.62 28.83

4176 -1.50 -136.9 466.4 -10.2 427 4182 0.00 2.47 0.00 0.000 6 0.000 0.102 2338 2123 3331 0 0 0 0 0 0 28.83 14.71 28.83

4499 -1.50 -136.9 500.6 -10.0 438 4505 0.00 2.55 0.00 0.000 4 0.000 0.130 2337 703 3332 0 0 0 0 0 0 28.83 14.65 28.83

4554 -1.50 -136.9 504.1 -10.3 439 4561 0.10 2.65 0.00 0.000 6 0.323 0.133 2348 2125 3332 0 0 0 0 0 0 14.53 14.66 28.83

4645 end dive: TARGET_DEPTH_EXCEEDED

state 4645 begin apogee

4657 -0.38 0.0 516.3 -10.1 443 4805 0.77 0.00 136.55 2.371 6 0.178 0.000 2591 2148 2773 0 0 0 0 0 0 14.63 28.83 13.16

4806 end apogee: CONTROL_FINISHED_OK

state 4806 begin climb

4811 1.50 136.9 516.9 0.0 448 4974 1.35 3.08 147.95 2.323 4 0.158 0.145 3001 3559 2214 0 0 0 0 0 0 13.94 13.33 12.64

5004 1.50 136.9 503.8 9.0 454 5013 0.00 2.72 0.00 0.000 6 0.000 0.103 3012 2152 2211 0 0 0 0 0 0 28.83 13.62 28.83

5315 1.50 136.9 461.1 12.8 465 5321 0.00 2.62 0.00 0.000 4 0.000 0.130 3022 740 2207 0 0 0 0 0 0 28.83 14.21 28.83

5335 1.50 136.9 461.1 12.8 465 5344 0.00 2.67 0.00 0.000 6 0.000 0.120 3022 2153 2205 0 0 0 0 0 0 28.83 14.22 28.83

5647 1.50 136.9 418.5 12.8 476 5652 0.00 2.70 0.00 0.000 4 0.000 0.147 3022 3557 2205 0 0 0 0 0 0 28.83 14.43 28.83

5717 1.50 136.9 409.8 13.6 478 5723 0.08 2.53 0.00 0.000 6 0.271 0.102 3013 2148 2205 0 0 0 0 0 0 14.38 14.52 28.83

6030 1.50 136.9 368.6 13.0 504 6036 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2148 2204 0 0 0 0 0 0 28.83 28.83 28.83

6344 1.50 136.9 328.5 12.8 535 6350 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2148 2204 0 0 0 0 0 0 28.83 28.83 28.83

6656 1.50 136.9 289.6 12.4 566 6662 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2148 2204 0 0 0 0 0 0 28.83 28.83 28.83

6969 1.50 136.9 252.8 11.7 597 6976 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2148 2203 0 0 0 0 0 0 28.83 28.83 28.83

7282 1.50 136.9 214.9 12.3 628 7288 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2148 2203 0 0 0 0 0 0 28.83 28.83 28.83

7593 1.50 136.9 179.3 11.2 659 7602 0.00 2.70 0.00 0.000 4 0.000 0.143 3012 3559 2204 0 0 0 0 0 0 28.83 14.62 28.83

7651 1.50 136.9 171.9 12.6 664 7658 0.00 2.55 0.00 0.000 6 0.000 0.109 3021 2142 2204 0 0 0 0 0 0 28.83 14.73 28.83

7958 1.50 136.9 132.7 12.5 695 7967 0.00 2.53 0.00 0.000 4 0.000 0.132 3032 741 2203 0 0 0 0 0 0 28.83 14.62 28.83

8047 1.50 136.9 122.1 12.5 703 8055 0.12 2.58 0.00 0.000 6 0.285 0.119 3005 2151 2202 0 0 0 0 0 0 14.57 14.70 28.83

8359 1.51 146.9 91.1 8.5 743 8372 0.00 2.72 4.20 0.476 4 0.000 0.144 3004 3559 2173 0 0 0 0 0 0 28.83 14.64 14.40

8448 1.51 146.9 82.8 9.4 759 8455 0.00 2.53 0.00 0.000 6 0.000 0.103 3013 2142 2173 0 0 0 0 0 0 28.83 14.72 28.83

8765 1.51 146.9 56.7 9.2 820 8772 0.00 2.53 0.00 0.000 4 0.000 0.128 3024 737 2172 0 0 0 0 0 0 28.83 14.67 28.83

8818 1.51 146.9 51.5 9.7 829 8826 0.00 2.58 0.00 0.000 6 0.000 0.116 3024 2151 2171 0 0 0 0 0 0 28.83 14.68 28.83

9136 1.61 226.7 26.6 5.4 890 9186 0.00 2.78 43.72 0.249 4 0.000 0.144 3024 3563 1846 0 0 0 0 0 0 28.83 14.60 14.52

9221 1.61 226.7 20.1 9.9 904 9228 0.00 2.55 0.00 0.000 6 0.000 0.104 3034 2142 1842 0 0 0 0 0 0 28.83 14.66 28.83

9399 end climb: SURFACE_DEPTH_REACHED

state 9400 begin surface coast

9431 end surface coast: CONTROL_FINISHED_OK

state 9431 begin surface

ID	193	HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	6.0000002e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	241	HEADING	-1	ROLL_MIN	300	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3841	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2120	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2150	ALTIM_FREQUENCY	13
D_ABORT	1015	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	10	ALTIM_PULSE	5
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_BOOST	100	SM_CC	290	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	16	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	12	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	260	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	1	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	370	UPLOAD_DIVES_MAX	-1	C_VBD	2772	DEVICE3	-1
T_MISSION	420	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1273.5142	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	AH0_24V	350	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	12	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	12	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	149	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3928	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	50	C_PITCH	2680	PHONE_SUPPLY	-2	SEABIRD_T_G	0.0043053469
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-48.048229	SEABIRD_T_H	0.00061871461
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.0001163556	SEABIRD_T_I	2.1533233e-05
MASS	52000	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.1546668e-06
NAV_MODE	2	PITCH_GAIN	13	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8788214
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1391871
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	4	SEABIRD_C_I	-0.0018439521
HD_A	0.0043000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022276744

GPS1	211012,001852,6702.795,-5648.052,41,0.9,41,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211012,002516,6702.756,-5647.910,5,0.9,5,-33.5	MHEAD_RNG_PITCHd_Wd	305.3,163284,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	515

FINISH	2.0,1.025919	_24V_AH	12.6,77.572
SM_CCo	9458,31.60,0.182,0,0,1588,290.19	_10V_AH	12.9,0.000
SM_GC	3.44,8.48,0.00,31.60,0.098,0.000,0.182,133,2141,1588,-11.61,0.59,290.19,0,0,0,0,0,0,14.72,28.83,14.55	FG_AHR_24Vo	0.000
RAFOS_CLK	375	FG_AHR_10Vo	0.000
RAFOS	4,1350779584,0.566667,0.551111,64,60,60,57,54,54,186,217,896,202,115,150	MEM	188756
RAFOS_FIX	6711.400879,-5719.106934,211012,000040,2,112,362.27	DATA_FILE_SIZE	43515,944
IRIDIUM_FIX	6636.54,-5650.71,201012,212134	CAP_FILE_SIZE	101419,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,234057728
HUMID	45.86	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.78186	SOUNDSPEED	1464.3
TCM_TEMP	14.10	CURRENT	0.043, 37.1,1
XPDR_PINGS	8	GPS	211012,030604,6702.961,-5650.704,40,0.8,40,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	437	121.57	SBE_CT	693	23	209.53
Roll_motor	94	284	339.75	SBE_O2	645	3	30.42
VBD_pump_during_apogee	332	2370	9929.95	nil	0	0	0.00
VBD_pump_during_surface	31	182	72.49	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	232	145	425.21	nil	0	0	0.00
Transponder_ping	2	420	10.58	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	21	3.18
TT8	2409	14	464.93
LPSleep	4671	2	139.20
TT8_Active	519	14	100.18
TT8_Sampling	1781	33	774.05
TT8_CF8	514	38	253.37
TT8_Kalman	0	0	0.00
Analog_circuits	1650	12	255.56
GPS_charging	0	0	0.00
Compass	1585	6	137.86
RAFOS	1080	1	20.90
Transponder	0	5	0.03

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	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
19	-1.50	-136.9	0.0	0.0	0	38	0.00	0.00	-17.33	0.000	2	0.000	0.000	136	2119	1922	0	0	0	0	0	0	28.83	28.83	28.83
44	-1.50	-136.9	3.0	-0.6	3	149	10.82	2.88	-82.95	0.000	4	0.438	0.181	2339	3532	3331	0	0	0	0	0	0	14.28	14.40	14.81
233	-1.50	-136.9	17.0	-17.8	35	239	0.00	2.58	0.00	0.000	6	0.000	0.103	2339	2108	3332	0	0	0	0	0	0	28.83	14.56	28.83
550	-1.50	-136.9	70.1	-16.6	96	557	0.00	2.83	0.00	0.000	4	0.000	0.158	2329	3540	3332	0	0	0	0	0	0	28.83	14.51	28.83
592	-1.50	-136.9	77.3	-17.3	103	600	0.12	2.55	0.00	0.000	6	0.295	0.099	2353	2113	3332	0	0	0	0	0	0	14.42	14.62	28.83
918	-1.50	-136.9	118.4	-10.3	149	927	0.00	2.75	0.00	0.000	4	0.000	0.151	2344	3533	3332	0	0	0	0	0	0	28.83	14.52	28.83
1003	-1.50	-136.9	127.3	-9.9	157	1012	0.00	2.50	0.00	0.000	6	0.000	0.097	2344	2122	3332	0	0	0	0	0	0	28.83	14.60	28.83
1314	-1.50	-136.9	160.8	-10.4	188	1323	0.00	2.55	0.00	0.000	4	0.000	0.127	2344	703	3331	0	0	0	0	0	0	28.83	14.55	28.83
1412	-1.50	-136.9	172.2	-11.8	197	1420	0.00	2.65	0.00	0.000	6	0.000	0.127	2337	2126	3331	0	0	0	0	0	0	28.83	14.61	28.83
1720	-1.50	-136.9	208.9	-12.4	228	1726	0.00	0.00	0.00	0.000	6	0.000	0.000	2337	2127	3331	0	0	0	0	0	0	28.83	28.83	28.83
2037	-1.50	-136.9	246.5	-11.8	259	2045	0.00	2.67	0.00	0.000	4	0.000	0.146	2326	3534	3331	0	0	0	0	0	0	28.83	14.54	28.83
2114	-1.50	-136.9	256.5	-12.3	266	2122	0.12	2.53	0.00	0.000	6	0.299	0.099	2350	2112	3331	0	0	0	0	0	0	14.49	14.71	28.83
2423	-1.50	-136.9	289.5	-10.2	297	2429	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2112	3331	0	0	0	0	0	0	28.83	28.83	28.83
2738	-1.50	-136.9	319.6	-9.5	328	2747	0.00	2.53	0.00	0.000	4	0.000	0.127	2351	700	3331	0	0	0	0	0	0	28.83	14.59	28.83
2776	-1.50	-136.9	323.5	-9.8	331	2783	0.00	2.65	0.00	0.000	6	0.000	0.131	2345	2121	3331	0	0	0	0	0	0	28.83	14.64	28.83
3084	-1.50	-136.9	354.3	-10.4	362	3090	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	2121	3330	0	0	0	0	0	0	28.83	28.83	28.83
3398	-1.50	-136.9	385.9	-10.1	393	3408	0.00	2.70	0.00	0.000	4	0.000	0.149	2334	3528	3331	0	0	0	0	0	0	28.83	14.56	28.83
3435	-1.50	-136.9	390.1	-10.3	396	3444	0.00	2.50	0.00	0.000	6	0.000	0.103	2334	2120	3331	0	0	0	0	0	0	28.83	14.66	28.83
3744	-1.50	-136.9	422.7	-10.5	413	3750	0.00	2.53	0.00	0.000	4	0.000	0.132	2334	712	3331	0	0	0	0	0	0	28.83	14.64	28.83
3789	-1.50	-136.9	426.2	-10.7	414	3795	0.08	2.62	0.00	0.000	6	0.287	0.136	2346	2120	3331	0	0	0	0	0	0	14.49	14.65	28.83
4106	-1.50	-136.9	460.0	-10.2	425	4112	0.00	2.67	0.00	0.000	4	0.000	0.155	2338	3525	3331	0	0	0	0	0	0	28.83	14.62	28.83
4176	-1.50	-136.9	466.4	-10.2	427	4182	0.00	2.47	0.00	0.000	6	0.000	0.102	2338	2123	3331	0	0	0	0	0	0	28.83	14.71	28.83
4499	-1.50	-136.9	500.6	-10.0	438	4505	0.00	2.55	0.00	0.000	4	0.000	0.130	2337	703	3332	0	0	0	0	0	0	28.83	14.65	28.83
4554	-1.50	-136.9	504.1	-10.3	439	4561	0.10	2.65	0.00	0.000	6	0.323	0.133	2348	2125	3332	0	0	0	0	0	0	14.53	14.66	28.83
4645	end dive: TARGET_DEPTH_EXCEEDED
state	4645	begin apogee
4657	-0.38	0.0	516.3	-10.1	443	4805	0.77	0.00	136.55	2.371	6	0.178	0.000	2591	2148	2773	0	0	0	0	0	0	14.63	28.83	13.16
4806	end apogee: CONTROL_FINISHED_OK
state	4806	begin climb
4811	1.50	136.9	516.9	0.0	448	4974	1.35	3.08	147.95	2.323	4	0.158	0.145	3001	3559	2214	0	0	0	0	0	0	13.94	13.33	12.64
5004	1.50	136.9	503.8	9.0	454	5013	0.00	2.72	0.00	0.000	6	0.000	0.103	3012	2152	2211	0	0	0	0	0	0	28.83	13.62	28.83
5315	1.50	136.9	461.1	12.8	465	5321	0.00	2.62	0.00	0.000	4	0.000	0.130	3022	740	2207	0	0	0	0	0	0	28.83	14.21	28.83
5335	1.50	136.9	461.1	12.8	465	5344	0.00	2.67	0.00	0.000	6	0.000	0.120	3022	2153	2205	0	0	0	0	0	0	28.83	14.22	28.83
5647	1.50	136.9	418.5	12.8	476	5652	0.00	2.70	0.00	0.000	4	0.000	0.147	3022	3557	2205	0	0	0	0	0	0	28.83	14.43	28.83
5717	1.50	136.9	409.8	13.6	478	5723	0.08	2.53	0.00	0.000	6	0.271	0.102	3013	2148	2205	0	0	0	0	0	0	14.38	14.52	28.83
6030	1.50	136.9	368.6	13.0	504	6036	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2148	2204	0	0	0	0	0	0	28.83	28.83	28.83
6344	1.50	136.9	328.5	12.8	535	6350	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2148	2204	0	0	0	0	0	0	28.83	28.83	28.83
6656	1.50	136.9	289.6	12.4	566	6662	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2148	2204	0	0	0	0	0	0	28.83	28.83	28.83
6969	1.50	136.9	252.8	11.7	597	6976	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2148	2203	0	0	0	0	0	0	28.83	28.83	28.83
7282	1.50	136.9	214.9	12.3	628	7288	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2148	2203	0	0	0	0	0	0	28.83	28.83	28.83
7593	1.50	136.9	179.3	11.2	659	7602	0.00	2.70	0.00	0.000	4	0.000	0.143	3012	3559	2204	0	0	0	0	0	0	28.83	14.62	28.83
7651	1.50	136.9	171.9	12.6	664	7658	0.00	2.55	0.00	0.000	6	0.000	0.109	3021	2142	2204	0	0	0	0	0	0	28.83	14.73	28.83
7958	1.50	136.9	132.7	12.5	695	7967	0.00	2.53	0.00	0.000	4	0.000	0.132	3032	741	2203	0	0	0	0	0	0	28.83	14.62	28.83
8047	1.50	136.9	122.1	12.5	703	8055	0.12	2.58	0.00	0.000	6	0.285	0.119	3005	2151	2202	0	0	0	0	0	0	14.57	14.70	28.83
8359	1.51	146.9	91.1	8.5	743	8372	0.00	2.72	4.20	0.476	4	0.000	0.144	3004	3559	2173	0	0	0	0	0	0	28.83	14.64	14.40
8448	1.51	146.9	82.8	9.4	759	8455	0.00	2.53	0.00	0.000	6	0.000	0.103	3013	2142	2173	0	0	0	0	0	0	28.83	14.72	28.83
8765	1.51	146.9	56.7	9.2	820	8772	0.00	2.53	0.00	0.000	4	0.000	0.128	3024	737	2172	0	0	0	0	0	0	28.83	14.67	28.83
8818	1.51	146.9	51.5	9.7	829	8826	0.00	2.58	0.00	0.000	6	0.000	0.116	3024	2151	2171	0	0	0	0	0	0	28.83	14.68	28.83
9136	1.61	226.7	26.6	5.4	890	9186	0.00	2.78	43.72	0.249	4	0.000	0.144	3024	3563	1846	0	0	0	0	0	0	28.83	14.60	14.52
9221	1.61	226.7	20.1	9.9	904	9228	0.00	2.55	0.00	0.000	6	0.000	0.104	3034	2142	1842	0	0	0	0	0	0	28.83	14.66	28.83
9399	end climb: SURFACE_DEPTH_REACHED
state	9400	begin surface coast
9431	end surface coast: CONTROL_FINISHED_OK
state	9431	begin surface