Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 248 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 ROLL_MIN 294 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 14 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_TURN_MARGIN 5

DIVE 248 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 5

D_SURF 4 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 605.89099 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 4

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 36 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 24 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 300 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 588 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3951 DEVICE1 2

T_DIVE 330 CALL_TRIES 3 C_VBD 3058 DEVICE2 20

T_MISSION 440 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 540 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 -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -181488.17 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 900 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 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3112 FG_AHR_24V 0 SEABIRD_T_G 0.0043387706

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063929392

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -21.817678 SEABIRD_T_I 2.2459495e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_J 2.0328812e-06

NAV_MODE 0 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -10.121161

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1529624

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.002153415

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002365096

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 0 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 605.89099

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.0046000001 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 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 5 FG_AHR_10V 0 PITCH_MIN 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 20 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 0.0001161151 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -21.817678 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -181488.17

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 64 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 440

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 1.027 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 108 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_PITCH 3112 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 2

C_VBD 3058 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 294 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 36 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.121161 VBD_MIN 588

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1529624 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I -0.002153415 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002365096 VBD_TIMEOUT 540

DIVE 248 NAV_MODE 0 SEABIRD_T_G 0.0043387706 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 8 SEABIRD_T_H 0.00063929392 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.2459495e-05 XPDR_VALID 4

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 052531,6703.486,-5652.772,36,1.5,36,-37.6 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 2.76 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 053202,6703.466,-5652.677,12,1.5,12,-37.6 MHEAD_RNG_PITCHd_Wd 294.6,160168,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 553

Post-dive calculations and measurements:

FREEZE 2.00,6.989,-1.809,0,1,0 ALTIM_TOP_PING 19.8,999.0

FINISH 2.0,1.025839 ALTIM_BOTTOM_PING 500.8,63.1

SM_CCo 12352,212.52,0.780,0,0,587,605.89 _24V_AH 23.1,41.113

SM_GC 2.85,0.00,0.00,212.52,0.000,0.000,0.780,337,2259,587,-12.77,0.25,605.89 _10V_AH 10.1,22.934

RAFOS_CLK 470 FG_AHR_24Vo 0.000

RAFOS 0,1280217663,8.033334,8.017500,93,92,48,45,42,41,1171,1172,187,286,1828,1574 FG_AHR_10Vo 0.000

RAFOS_FIX 6704.190918,-5656.987305,270710,080853,6,103,0.33 MEM 135708

IRIDIUM_FIX 6631.12,-5650.71,211099,020238 DATA_FILE_SIZE 53553,1325

TT8_MAMPS 0.026845 CAP_FILE_SIZE 140112,0

HUMID 41.25 CFSIZE 260165632,227844096

INTERNAL_PRESSURE 10.2152 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 SOUNDSPEED 1465.8

XPDR_PINGS 14 GPS 270710,090337,6702.637,-5654.359,35,0.9,35,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 232 107.10 SBE_CT 958 24 531.20

Roll_motor 97 228 515.58 SBE_O2 935 19 410.74

VBD_pump_during_apogee 399 1176 10855.95 nil 0 0 0.00

VBD_pump_during_surface 212 780 3829.47 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.53 nil 0 0 0.00

Iridium_during_connect 31 160 115.95 nil 0 0 0.00

Iridium_during_xfer 179 223 924.83

Transponder_ping 5 420 50.94

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.17

TT8 2172 19 437.06

LPSleep 7424 2 173.23

TT8_Active 716 19 144.07

TT8_Sampling 2074 39 836.29

TT8_CF8 581 45 269.82

TT8_Kalman 0 0 0.00

Analog_circuits 1810 12 219.38

GPS_charging 0 0 0.00

Compass 2051 8 165.77

RAFOS 2520 3 76.36

Transponder 14 30 4.38

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 13 begin dive

16 -0.78 -146.1 0.0 0.0 0 83 0.00 0.00 -64.55 0.000 2 0.000 0.000 336 2253 2232 0 0 0 0 0 0

87 -0.78 -146.1 3.1 -0.8 13 169 10.18 2.28 -64.88 0.000 4 0.232 0.065 2934 834 3655 0 0 0 0 0 0

178 -0.78 -146.1 5.6 -9.2 30 183 0.00 2.33 0.00 0.000 6 0.000 0.057 2927 2251 3657 0 0 0 0 0 0

521 -0.78 -146.1 46.2 -10.1 91 527 0.00 2.15 0.00 0.000 4 0.000 0.067 2916 3602 3661 0 0 0 0 0 0

764 -0.78 -146.1 75.3 -13.0 134 770 0.10 2.10 0.00 0.000 6 0.160 0.044 2944 2247 3662 0 0 0 0 0 0

1104 -0.78 -146.1 108.7 -8.3 186 1105 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2245 3663 0 0 0 0 0 0

1424 -0.78 -146.1 135.3 -8.7 216 1425 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2245 3663 0 0 0 0 0 0

1742 -0.78 -146.1 161.2 -8.5 246 1746 0.00 2.20 0.00 0.000 4 0.000 0.056 2944 836 3663 0 0 0 0 0 0

1770 -0.78 -146.1 163.7 -8.6 248 1776 0.00 2.30 0.00 0.000 6 0.000 0.058 2936 2264 3662 0 0 0 0 0 0

2096 -0.78 -146.1 193.6 -9.7 279 2100 0.00 2.10 0.00 0.000 4 0.000 0.069 2926 3593 3662 0 0 0 0 0 0

2153 -0.78 -146.1 199.4 -10.1 284 2157 0.00 2.10 0.00 0.000 6 0.000 0.047 2926 2234 3662 0 0 0 0 0 0

2484 -0.78 -146.1 230.9 -8.9 315 2488 0.00 2.17 0.00 0.000 4 0.000 0.057 2926 834 3661 0 0 0 0 0 0

2518 -0.78 -146.1 234.1 -9.5 318 2523 0.10 2.30 0.00 0.000 6 0.150 0.059 2946 2263 3661 0 0 0 0 0 0

2843 -0.78 -146.1 258.4 -7.2 348 2847 0.00 2.10 0.00 0.000 4 0.000 0.070 2938 3593 3661 0 0 0 0 0 0

2894 -0.78 -146.1 262.5 -8.2 352 2899 0.00 2.08 0.00 0.000 6 0.000 0.046 2938 2247 3661 0 0 0 0 0 0

3219 -0.78 -146.1 288.0 -8.0 383 3222 0.00 2.17 0.00 0.000 4 0.000 0.056 2938 847 3661 0 0 0 0 0 0

3258 -0.78 -146.1 291.5 -8.6 386 3264 0.00 2.25 0.00 0.000 6 0.000 0.058 2928 2248 3661 0 0 0 0 0 0

3584 -0.78 -146.1 320.2 -8.7 417 3587 0.00 2.12 0.00 0.000 4 0.000 0.069 2918 3597 3661 0 0 0 0 0 0

3630 -0.78 -146.1 324.5 -8.9 421 3635 0.10 2.08 0.00 0.000 6 0.151 0.046 2946 2248 3661 0 0 0 0 0 0

3962 -0.78 -146.1 350.2 -7.5 452 3965 0.00 2.17 0.00 0.000 4 0.000 0.056 2946 849 3660 0 0 0 0 0 0

3997 -0.78 -146.1 353.0 -8.2 455 4001 0.00 2.25 0.00 0.000 6 0.000 0.058 2939 2251 3661 0 0 0 0 0 0

4322 -0.78 -146.1 377.6 -7.3 485 4326 0.00 2.12 0.00 0.000 4 0.000 0.069 2929 3599 3661 0 0 0 0 0 0

4392 -0.78 -146.1 383.1 -7.8 491 4396 0.00 2.08 0.00 0.000 6 0.000 0.046 2929 2251 3660 0 0 0 0 0 0

4722 -0.78 -146.1 409.3 -7.7 522 4726 0.00 2.22 0.00 0.000 4 0.000 0.056 2929 835 3660 0 0 0 0 0 0

4773 -0.78 -146.1 413.3 -7.3 526 4779 0.10 2.28 0.00 0.000 6 0.150 0.058 2949 2251 3660 0 0 0 0 0 0

5099 -0.78 -146.1 432.6 -5.6 557 5102 0.00 2.12 0.00 0.000 4 0.000 0.069 2941 3599 3660 0 0 0 0 0 0

5150 -0.78 -146.1 435.8 -6.4 561 5155 0.00 2.08 0.00 0.000 6 0.000 0.045 2941 2247 3660 0 0 0 0 0 0

5475 -0.78 -146.1 456.9 -7.2 592 5476 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2247 3661 0 0 0 0 0 0

5796 -0.78 -146.1 480.4 -7.5 622 5801 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2247 3661 0 0 0 0 0 0

6121 -0.78 -146.1 504.7 -7.4 653 6123 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2247 3661 0 0 0 0 0 0

6443 -0.78 -146.1 527.5 -7.0 683 6448 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2246 3660 0 0 0 0 0 0

6746 end dive: BOTTOM_OBSTACLE_DETECTED

state 6746 begin apogee

6754 -0.17 0.0 549.6 7.1 712 6875 0.40 0.00 118.12 1.177 6 0.111 0.000 3078 2202 3058 0 0 0 0 0 0

6876 end apogee: CONTROL_FINISHED_OK

state 6876 begin climb

6879 0.78 146.1 553.9 0.0 724 7014 0.57 2.55 121.10 1.111 4 0.071 0.064 3285 3592 2461 0 0 0 0 0 0

7042 0.81 168.9 546.1 9.0 739 7069 0.00 2.35 20.52 1.026 6 0.000 0.044 3295 2197 2369 0 0 0 0 0 0

7388 0.84 189.3 514.8 9.1 772 7413 0.00 2.38 17.50 1.045 4 0.000 0.056 3305 789 2286 0 0 0 0 0 0

7476 0.84 189.3 506.5 10.1 780 7481 0.00 2.38 0.00 0.000 6 0.000 0.058 3305 2206 2287 0 0 0 0 0 0

7801 0.84 189.3 473.1 10.4 810 7802 0.00 0.00 0.00 0.000 6 0.000 0.000 3305 2206 2285 0 0 0 0 0 0

8122 0.84 189.3 439.3 11.1 840 8126 0.00 2.20 0.00 0.000 4 0.000 0.068 3305 3596 2284 0 0 0 0 0 0

8150 0.84 189.3 435.9 11.9 842 8155 0.00 2.20 0.00 0.000 6 0.000 0.046 3315 2185 2283 0 0 0 0 0 0

8475 0.84 189.3 396.4 12.1 872 8479 0.00 2.20 0.00 0.000 4 0.000 0.056 3325 786 2282 0 0 0 0 0 0

8565 0.84 189.3 385.6 12.1 879 8571 0.12 2.30 0.00 0.000 6 0.164 0.058 3292 2206 2283 0 0 0 0 0 0

8890 0.84 194.6 352.0 9.8 910 8899 0.00 0.00 5.03 0.785 6 0.000 0.000 3292 2205 2264 0 0 0 0 0 0

9219 0.85 204.3 320.1 9.6 941 9230 0.00 0.00 9.30 0.926 6 0.000 0.000 3292 2205 2225 0 0 0 0 0 0

9547 0.85 204.3 284.7 11.0 972 9548 0.00 0.00 0.00 0.000 6 0.000 0.000 3292 2205 2225 0 0 0 0 0 0

9866 0.85 204.3 250.4 10.6 1002 9870 0.00 2.25 0.00 0.000 4 0.000 0.054 3296 794 2225 0 0 0 0 0 0

9905 0.85 204.3 246.3 10.6 1005 9909 0.00 2.28 0.00 0.000 6 0.000 0.058 3296 2201 2225 0 0 0 0 0 0

10230 0.85 204.3 210.5 10.4 1035 10234 0.00 2.20 0.00 0.000 4 0.000 0.067 3296 3596 2226 0 0 0 0 0 0

10258 0.85 204.3 207.2 12.1 1037 10262 0.00 2.15 0.00 0.000 6 0.000 0.045 3305 2202 2225 0 0 0 0 0 0

10588 0.85 204.3 169.2 11.2 1068 10592 0.00 2.17 0.00 0.000 4 0.000 0.055 3316 793 2226 0 0 0 0 0 0

10665 0.85 204.3 159.8 12.4 1074 10671 0.00 2.28 0.00 0.000 6 0.000 0.057 3316 2208 2226 0 0 0 0 0 0

10990 0.85 204.3 122.9 10.9 1105 10994 0.00 2.20 0.00 0.000 4 0.000 0.068 3316 3604 2226 0 0 0 0 0 0

11064 0.85 204.3 113.9 12.5 1111 11068 0.12 2.17 0.00 0.000 6 0.166 0.047 3291 2190 2226 0 0 0 0 0 0

11398 0.91 249.7 85.0 7.9 1158 11444 0.00 2.28 37.60 0.881 4 0.000 0.056 3293 797 2039 0 0 0 0 0 0

11481 0.97 299.9 79.1 7.7 1173 11528 0.10 2.30 41.40 0.848 6 0.105 0.057 3345 2203 1835 0 0 0 0 0 0

11866 0.97 299.9 37.0 11.1 1242 11872 0.10 2.28 0.00 0.000 4 0.173 0.054 3327 795 1825 0 0 0 0 0 0

11952 1.02 335.6 29.3 8.4 1257 11988 0.00 2.30 28.85 0.817 6 0.000 0.058 3327 2204 1688 0 0 0 0 0 0

12269 end climb: SURFACE_DEPTH_REACHED

state 12269 begin surface coast

12333 end surface coast: CONTROL_FINISHED_OK

state 12333 begin surface

ID	108	HEADING	-1	ROLL_MIN	294	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	14	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_TURN_MARGIN	5
DIVE	248	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	5
D_SURF	4	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	605.89099	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	4
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	36	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	24	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	300	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	588	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3951	DEVICE1	2
T_DIVE	330	CALL_TRIES	3	C_VBD	3058	DEVICE2	20
T_MISSION	440	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	540	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	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-181488.17	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	900	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	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3112	FG_AHR_24V	0	SEABIRD_T_G	0.0043387706
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063929392
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-21.817678	SEABIRD_T_I	2.2459495e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_J	2.0328812e-06
NAV_MODE	0	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-10.121161
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1529624
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.002153415
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002365096
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	20

GPS1	052531,6703.486,-5652.772,36,1.5,36,-37.6	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	2.76	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	053202,6703.466,-5652.677,12,1.5,12,-37.6	MHEAD_RNG_PITCHd_Wd	294.6,160168,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	553

FREEZE	2.00,6.989,-1.809,0,1,0	ALTIM_TOP_PING	19.8,999.0
FINISH	2.0,1.025839	ALTIM_BOTTOM_PING	500.8,63.1
SM_CCo	12352,212.52,0.780,0,0,587,605.89	_24V_AH	23.1,41.113
SM_GC	2.85,0.00,0.00,212.52,0.000,0.000,0.780,337,2259,587,-12.77,0.25,605.89	_10V_AH	10.1,22.934
RAFOS_CLK	470	FG_AHR_24Vo	0.000
RAFOS	0,1280217663,8.033334,8.017500,93,92,48,45,42,41,1171,1172,187,286,1828,1574	FG_AHR_10Vo	0.000
RAFOS_FIX	6704.190918,-5656.987305,270710,080853,6,103,0.33	MEM	135708
IRIDIUM_FIX	6631.12,-5650.71,211099,020238	DATA_FILE_SIZE	53553,1325
TT8_MAMPS	0.026845	CAP_FILE_SIZE	140112,0
HUMID	41.25	CFSIZE	260165632,227844096
INTERNAL_PRESSURE	10.2152	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	SOUNDSPEED	1465.8
XPDR_PINGS	14	GPS	270710,090337,6702.637,-5654.359,35,0.9,35,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	232	107.10	SBE_CT	958	24	531.20
Roll_motor	97	228	515.58	SBE_O2	935	19	410.74
VBD_pump_during_apogee	399	1176	10855.95	nil	0	0	0.00
VBD_pump_during_surface	212	780	3829.47	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.53	nil	0	0	0.00
Iridium_during_connect	31	160	115.95	nil	0	0	0.00
Iridium_during_xfer	179	223	924.83
Transponder_ping	5	420	50.94
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.17
TT8	2172	19	437.06
LPSleep	7424	2	173.23
TT8_Active	716	19	144.07
TT8_Sampling	2074	39	836.29
TT8_CF8	581	45	269.82
TT8_Kalman	0	0	0.00
Analog_circuits	1810	12	219.38
GPS_charging	0	0	0.00
Compass	2051	8	165.77
RAFOS	2520	3	76.36
Transponder	14	30	4.38

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	13	begin dive
16	-0.78	-146.1	0.0	0.0	0	83	0.00	0.00	-64.55	0.000	2	0.000	0.000	336	2253	2232	0	0	0	0	0	0
87	-0.78	-146.1	3.1	-0.8	13	169	10.18	2.28	-64.88	0.000	4	0.232	0.065	2934	834	3655	0	0	0	0	0	0
178	-0.78	-146.1	5.6	-9.2	30	183	0.00	2.33	0.00	0.000	6	0.000	0.057	2927	2251	3657	0	0	0	0	0	0
521	-0.78	-146.1	46.2	-10.1	91	527	0.00	2.15	0.00	0.000	4	0.000	0.067	2916	3602	3661	0	0	0	0	0	0
764	-0.78	-146.1	75.3	-13.0	134	770	0.10	2.10	0.00	0.000	6	0.160	0.044	2944	2247	3662	0	0	0	0	0	0
1104	-0.78	-146.1	108.7	-8.3	186	1105	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2245	3663	0	0	0	0	0	0
1424	-0.78	-146.1	135.3	-8.7	216	1425	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2245	3663	0	0	0	0	0	0
1742	-0.78	-146.1	161.2	-8.5	246	1746	0.00	2.20	0.00	0.000	4	0.000	0.056	2944	836	3663	0	0	0	0	0	0
1770	-0.78	-146.1	163.7	-8.6	248	1776	0.00	2.30	0.00	0.000	6	0.000	0.058	2936	2264	3662	0	0	0	0	0	0
2096	-0.78	-146.1	193.6	-9.7	279	2100	0.00	2.10	0.00	0.000	4	0.000	0.069	2926	3593	3662	0	0	0	0	0	0
2153	-0.78	-146.1	199.4	-10.1	284	2157	0.00	2.10	0.00	0.000	6	0.000	0.047	2926	2234	3662	0	0	0	0	0	0
2484	-0.78	-146.1	230.9	-8.9	315	2488	0.00	2.17	0.00	0.000	4	0.000	0.057	2926	834	3661	0	0	0	0	0	0
2518	-0.78	-146.1	234.1	-9.5	318	2523	0.10	2.30	0.00	0.000	6	0.150	0.059	2946	2263	3661	0	0	0	0	0	0
2843	-0.78	-146.1	258.4	-7.2	348	2847	0.00	2.10	0.00	0.000	4	0.000	0.070	2938	3593	3661	0	0	0	0	0	0
2894	-0.78	-146.1	262.5	-8.2	352	2899	0.00	2.08	0.00	0.000	6	0.000	0.046	2938	2247	3661	0	0	0	0	0	0
3219	-0.78	-146.1	288.0	-8.0	383	3222	0.00	2.17	0.00	0.000	4	0.000	0.056	2938	847	3661	0	0	0	0	0	0
3258	-0.78	-146.1	291.5	-8.6	386	3264	0.00	2.25	0.00	0.000	6	0.000	0.058	2928	2248	3661	0	0	0	0	0	0
3584	-0.78	-146.1	320.2	-8.7	417	3587	0.00	2.12	0.00	0.000	4	0.000	0.069	2918	3597	3661	0	0	0	0	0	0
3630	-0.78	-146.1	324.5	-8.9	421	3635	0.10	2.08	0.00	0.000	6	0.151	0.046	2946	2248	3661	0	0	0	0	0	0
3962	-0.78	-146.1	350.2	-7.5	452	3965	0.00	2.17	0.00	0.000	4	0.000	0.056	2946	849	3660	0	0	0	0	0	0
3997	-0.78	-146.1	353.0	-8.2	455	4001	0.00	2.25	0.00	0.000	6	0.000	0.058	2939	2251	3661	0	0	0	0	0	0
4322	-0.78	-146.1	377.6	-7.3	485	4326	0.00	2.12	0.00	0.000	4	0.000	0.069	2929	3599	3661	0	0	0	0	0	0
4392	-0.78	-146.1	383.1	-7.8	491	4396	0.00	2.08	0.00	0.000	6	0.000	0.046	2929	2251	3660	0	0	0	0	0	0
4722	-0.78	-146.1	409.3	-7.7	522	4726	0.00	2.22	0.00	0.000	4	0.000	0.056	2929	835	3660	0	0	0	0	0	0
4773	-0.78	-146.1	413.3	-7.3	526	4779	0.10	2.28	0.00	0.000	6	0.150	0.058	2949	2251	3660	0	0	0	0	0	0
5099	-0.78	-146.1	432.6	-5.6	557	5102	0.00	2.12	0.00	0.000	4	0.000	0.069	2941	3599	3660	0	0	0	0	0	0
5150	-0.78	-146.1	435.8	-6.4	561	5155	0.00	2.08	0.00	0.000	6	0.000	0.045	2941	2247	3660	0	0	0	0	0	0
5475	-0.78	-146.1	456.9	-7.2	592	5476	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2247	3661	0	0	0	0	0	0
5796	-0.78	-146.1	480.4	-7.5	622	5801	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2247	3661	0	0	0	0	0	0
6121	-0.78	-146.1	504.7	-7.4	653	6123	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2247	3661	0	0	0	0	0	0
6443	-0.78	-146.1	527.5	-7.0	683	6448	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2246	3660	0	0	0	0	0	0
6746	end dive: BOTTOM_OBSTACLE_DETECTED
state	6746	begin apogee
6754	-0.17	0.0	549.6	7.1	712	6875	0.40	0.00	118.12	1.177	6	0.111	0.000	3078	2202	3058	0	0	0	0	0	0
6876	end apogee: CONTROL_FINISHED_OK
state	6876	begin climb
6879	0.78	146.1	553.9	0.0	724	7014	0.57	2.55	121.10	1.111	4	0.071	0.064	3285	3592	2461	0	0	0	0	0	0
7042	0.81	168.9	546.1	9.0	739	7069	0.00	2.35	20.52	1.026	6	0.000	0.044	3295	2197	2369	0	0	0	0	0	0
7388	0.84	189.3	514.8	9.1	772	7413	0.00	2.38	17.50	1.045	4	0.000	0.056	3305	789	2286	0	0	0	0	0	0
7476	0.84	189.3	506.5	10.1	780	7481	0.00	2.38	0.00	0.000	6	0.000	0.058	3305	2206	2287	0	0	0	0	0	0
7801	0.84	189.3	473.1	10.4	810	7802	0.00	0.00	0.00	0.000	6	0.000	0.000	3305	2206	2285	0	0	0	0	0	0
8122	0.84	189.3	439.3	11.1	840	8126	0.00	2.20	0.00	0.000	4	0.000	0.068	3305	3596	2284	0	0	0	0	0	0
8150	0.84	189.3	435.9	11.9	842	8155	0.00	2.20	0.00	0.000	6	0.000	0.046	3315	2185	2283	0	0	0	0	0	0
8475	0.84	189.3	396.4	12.1	872	8479	0.00	2.20	0.00	0.000	4	0.000	0.056	3325	786	2282	0	0	0	0	0	0
8565	0.84	189.3	385.6	12.1	879	8571	0.12	2.30	0.00	0.000	6	0.164	0.058	3292	2206	2283	0	0	0	0	0	0
8890	0.84	194.6	352.0	9.8	910	8899	0.00	0.00	5.03	0.785	6	0.000	0.000	3292	2205	2264	0	0	0	0	0	0
9219	0.85	204.3	320.1	9.6	941	9230	0.00	0.00	9.30	0.926	6	0.000	0.000	3292	2205	2225	0	0	0	0	0	0
9547	0.85	204.3	284.7	11.0	972	9548	0.00	0.00	0.00	0.000	6	0.000	0.000	3292	2205	2225	0	0	0	0	0	0
9866	0.85	204.3	250.4	10.6	1002	9870	0.00	2.25	0.00	0.000	4	0.000	0.054	3296	794	2225	0	0	0	0	0	0
9905	0.85	204.3	246.3	10.6	1005	9909	0.00	2.28	0.00	0.000	6	0.000	0.058	3296	2201	2225	0	0	0	0	0	0
10230	0.85	204.3	210.5	10.4	1035	10234	0.00	2.20	0.00	0.000	4	0.000	0.067	3296	3596	2226	0	0	0	0	0	0
10258	0.85	204.3	207.2	12.1	1037	10262	0.00	2.15	0.00	0.000	6	0.000	0.045	3305	2202	2225	0	0	0	0	0	0
10588	0.85	204.3	169.2	11.2	1068	10592	0.00	2.17	0.00	0.000	4	0.000	0.055	3316	793	2226	0	0	0	0	0	0
10665	0.85	204.3	159.8	12.4	1074	10671	0.00	2.28	0.00	0.000	6	0.000	0.057	3316	2208	2226	0	0	0	0	0	0
10990	0.85	204.3	122.9	10.9	1105	10994	0.00	2.20	0.00	0.000	4	0.000	0.068	3316	3604	2226	0	0	0	0	0	0
11064	0.85	204.3	113.9	12.5	1111	11068	0.12	2.17	0.00	0.000	6	0.166	0.047	3291	2190	2226	0	0	0	0	0	0
11398	0.91	249.7	85.0	7.9	1158	11444	0.00	2.28	37.60	0.881	4	0.000	0.056	3293	797	2039	0	0	0	0	0	0
11481	0.97	299.9	79.1	7.7	1173	11528	0.10	2.30	41.40	0.848	6	0.105	0.057	3345	2203	1835	0	0	0	0	0	0
11866	0.97	299.9	37.0	11.1	1242	11872	0.10	2.28	0.00	0.000	4	0.173	0.054	3327	795	1825	0	0	0	0	0	0
11952	1.02	335.6	29.3	8.4	1257	11988	0.00	2.30	28.85	0.817	6	0.000	0.058	3327	2204	1688	0	0	0	0	0	0
12269	end climb: SURFACE_DEPTH_REACHED
state	12269	begin surface coast
12333	end surface coast: CONTROL_FINISHED_OK
state	12333	begin surface