Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 29 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 29 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 32 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 ESCAPE_HEADING_DELTA 5 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 2 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 750 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 20 SM_CC 420 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 27 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 2 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 161 VBD_MIN 442 DEVICE1 2

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_MAX 3793 DEVICE2 20

T_DIVE 250 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 300 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 720 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 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80454.312 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 200 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2400 PHONE_SUPPLY -1 SEABIRD_T_G 0.0043394179

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -22.40402 SEABIRD_T_H 0.00062698836

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_I 2.474318e-05

MASS 51400 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.7476094e-06

NAV_MODE 2 PITCH_GAIN 31 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9261332

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1046007

KALMAN_USE 2 PITCH_AD_RATE 150 COMPASS_USE 1 SEABIRD_C_I -0.00064730336

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014311814

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 420

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 2 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 750 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 5 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163694 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 250

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -80454.312

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 300

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2400 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 240 T_WATCHDOG 10

C_ROLL_DIVE 2510 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2485 LOGGERDEVICE3 -1 ROLL_DEG 20 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3915 USE_BATHY -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 0

DEVICE1 2 MASS 51400 ROLL_MIN 290 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 27 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 22 VBD_MAX 3793

DEVICE5 -1 MISSION 13 SEABIRD_C_G -9.9261332 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1046007 VBD_MIN 442

DIVE 29 NAV_MODE 2 SEABIRD_C_I -0.00064730336 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 161 SEABIRD_C_J 0.00014311814 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_DIVES 32 SEABIRD_T_G 0.0043394179 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 101011,001402,6633.900,-6013.296,29,0.8,30,-33.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101011,001837,6633.869,-6013.270,18,1.4,18,-33.7 MHEAD_RNG_PITCHd_Wd 147.1,157747,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 523

Post-dive calculations and measurements:

FINISH 1.4,1.013862 _24V_AH 23.2,4.803

SM_CCo 9098,58.78,0.086,0,0,772,420.20 _10V_AH 10.3,4.353

SM_GC 2.11,7.12,0.55,58.78,0.057,0.077,0.086,121,2512,772,-7.07,-0.62,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 593 FG_AHR_10Vo 0.000

RAFOS 1,1318205343,0.166667,0.150833,82,64,58,0,0,0,607,167,217,0,0,0 MEM 150468

RAFOS_FIX 6634.596680,-6011.902344,101011,000019,5,81,4.96 DATA_FILE_SIZE 36722,971

IRIDIUM_FIX 6604.29,-6020.00,091011,212141 CAP_FILE_SIZE 116183,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,246153216

HUMID 57.99 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.78553 SOUNDSPEED 1453.0

TCM_TEMP 16.20 CURRENT 0.155,293.3,1

XPDR_PINGS 19 GPS 101011,025323,6633.328,-6011.758,37,1.2,37,-33.6

ALTIM_BOTTOM_PING 450.8,85.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 275 113.89 SBE_CT 701 23 377.95

Roll_motor 53 109 135.97 SBE_O2 685 5 83.33

VBD_pump_during_apogee 364 1210 10230.12 nil 0 0 0.00

VBD_pump_during_surface 58 85 116.83 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 167 262 1021.53 nil 0 0 0.00

Transponder_ping 6 420 58.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.56

TT8 2679 18 516.39

LPSleep 4188 2 99.66

TT8_Active 557 18 107.51

TT8_Sampling 1844 41 796.46

TT8_CF8 185 47 91.40

TT8_Kalman 0 0 0.00

Analog_circuits 1637 12 202.45

GPS_charging 0 0 0.00

Compass 1660 6 115.27

RAFOS 1440 1 22.25

Transponder 10 30 3.38

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 pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.77 -146.0 0.0 0.0 0 113 0.00 0.00 -95.12 0.000 2 0.000 0.000 119 2525 2140 0 0 0 0 0 0

116 -0.77 -146.0 3.3 -3.2 15 166 8.90 1.17 -31.45 0.000 4 0.275 0.109 2140 3217 3083 0 0 0 0 0 0

370 -0.77 -146.0 49.2 -17.1 59 376 0.00 1.15 0.00 0.000 6 0.000 0.050 2140 2509 3084 0 0 0 0 0 0

576 -0.77 -146.0 81.3 -15.1 96 584 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2510 3084 0 0 0 0 0 0

787 -0.77 -146.0 112.7 -14.7 126 790 0.00 1.12 0.00 0.000 4 0.000 0.058 2140 1815 3084 0 0 0 0 0 0

869 -0.77 -146.0 124.5 -14.3 133 876 0.00 1.23 0.00 0.000 6 0.000 0.071 2135 2510 3084 0 0 0 0 0 0

1088 -0.77 -146.0 157.8 -15.0 154 1092 0.00 1.15 0.00 0.000 4 0.000 0.080 2130 3214 3084 0 0 0 0 0 0

1257 -0.77 -146.0 182.7 -14.5 169 1261 0.00 1.15 0.00 0.000 6 0.000 0.050 2130 2502 3084 0 0 0 0 0 0

1482 -0.77 -146.0 215.8 -14.0 190 1485 0.00 1.12 0.00 0.000 4 0.000 0.060 2130 1806 3084 0 0 0 0 0 0

1562 -0.77 -146.0 227.1 -14.3 197 1566 0.00 1.25 0.00 0.000 6 0.000 0.072 2125 2516 3084 0 0 0 0 0 0

1787 -0.77 -146.0 260.9 -15.7 218 1790 0.00 1.15 0.00 0.000 4 0.000 0.083 2119 3220 3084 0 0 0 0 0 0

1950 -0.77 -146.0 285.6 -15.7 232 1959 0.10 1.15 0.00 0.000 6 0.168 0.049 2149 2509 3084 0 0 0 0 0 0

2172 -0.77 -146.0 316.3 -13.4 253 2175 0.00 1.12 0.00 0.000 4 0.000 0.061 2149 1813 3084 0 0 0 0 0 0

2232 -0.77 -146.0 324.2 -12.7 258 2239 0.00 1.23 0.00 0.000 6 0.000 0.071 2146 2515 3084 0 0 0 0 0 0

2451 -0.77 -146.0 353.0 -12.8 279 2455 0.00 1.15 0.00 0.000 4 0.000 0.083 2141 3220 3084 0 0 0 0 0 0

2541 -0.77 -146.0 364.3 -12.6 287 2545 0.00 1.15 0.00 0.000 6 0.000 0.051 2141 2509 3084 0 0 0 0 0 0

2767 -0.77 -146.0 391.6 -11.5 308 2768 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2508 3084 0 0 0 0 0 0

2978 -0.77 -146.0 416.0 -11.3 328 2979 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2508 3084 0 0 0 0 0 0

3191 -0.77 -146.0 440.8 -11.7 348 3195 0.00 1.12 0.00 0.000 4 0.000 0.060 2141 1806 3084 0 0 0 0 0 0

3251 -0.77 -146.0 447.5 -11.8 353 3258 0.00 1.23 0.00 0.000 6 0.000 0.070 2137 2509 3084 0 0 0 0 0 0

3472 -0.77 -146.0 473.0 -11.9 374 3475 0.00 1.15 0.00 0.000 4 0.000 0.080 2131 3221 3084 0 0 0 0 0 0

3622 -0.77 -146.0 490.6 -11.8 387 3629 0.00 1.15 0.00 0.000 6 0.000 0.047 2131 2504 3084 0 0 0 0 0 0

3841 -0.77 -146.0 518.1 -11.9 408 3842 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2503 3084 0 0 0 0 0 0

3871 end dive: BOTTOM_OBSTACLE_DETECTED

state 3871 begin apogee

3877 -0.16 0.0 521.6 -11.2 411 4003 0.68 0.00 117.93 1.211 6 0.148 0.000 2344 2194 2485 0 0 0 0 0 0

4004 end apogee: CONTROL_FINISHED_OK

state 4004 begin climb

4006 0.77 146.0 526.2 0.0 422 4144 0.90 1.25 125.03 1.165 4 0.070 0.064 2652 1502 1888 0 0 0 0 0 0

4180 0.77 146.0 519.0 10.2 437 4184 0.00 1.27 0.00 0.000 6 0.000 0.060 2652 2205 1884 0 0 0 0 0 0

4406 0.77 146.0 491.6 11.7 458 4410 0.00 1.23 0.00 0.000 4 0.000 0.068 2651 2915 1879 0 0 0 0 0 0

4418 0.77 146.0 490.1 11.7 459 4422 0.00 1.25 0.00 0.000 6 0.000 0.052 2656 2201 1879 0 0 0 0 0 0

4643 0.77 146.0 460.6 13.9 480 4644 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2201 1878 0 0 0 0 0 0

4855 0.77 146.0 433.5 11.7 500 4859 0.00 1.27 0.00 0.000 4 0.000 0.069 2656 2917 1877 0 0 0 0 0 0

4868 0.77 146.0 432.0 12.0 501 4872 0.00 1.23 0.00 0.000 6 0.000 0.053 2661 2200 1876 0 0 0 0 0 0

5093 0.77 146.0 405.2 11.6 522 5097 0.00 1.15 0.00 0.000 4 0.000 0.064 2667 1493 1876 0 0 0 0 0 0

5308 0.77 146.0 381.0 10.8 541 5312 0.00 1.23 0.00 0.000 6 0.000 0.063 2667 2209 1876 0 0 0 0 0 0

5533 0.77 146.0 356.9 10.5 562 5534 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2209 1876 0 0 0 0 0 0

5745 0.77 146.0 335.4 10.2 582 5749 0.00 1.20 0.00 0.000 4 0.000 0.063 2671 1497 1876 0 0 0 0 0 0

5850 0.77 146.0 324.8 10.3 591 5857 0.00 1.20 0.00 0.000 6 0.000 0.062 2671 2205 1876 0 0 0 0 0 0

6069 0.77 146.0 301.3 10.8 612 6073 0.00 1.20 0.00 0.000 4 0.000 0.063 2676 1494 1876 0 0 0 0 0 0

6174 0.77 146.0 290.8 10.5 621 6181 0.00 1.20 0.00 0.000 6 0.000 0.063 2676 2206 1876 0 0 0 0 0 0

6393 0.77 146.0 267.2 10.6 642 6396 0.00 1.20 0.00 0.000 4 0.000 0.064 2681 1495 1876 0 0 0 0 0 0

6453 0.77 146.0 261.5 10.3 647 6461 0.12 1.20 0.00 0.000 6 0.174 0.062 2645 2208 1876 0 0 0 0 0 0

6674 0.78 156.9 240.2 9.5 668 6689 0.00 1.23 7.95 0.948 4 0.000 0.062 2649 1496 1845 0 0 0 0 0 0

6746 0.78 156.9 232.8 10.3 674 6750 0.00 1.20 0.00 0.000 6 0.000 0.063 2648 2205 1845 0 0 0 0 0 0

6971 0.78 156.9 209.3 10.6 695 6972 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2205 1844 0 0 0 0 0 0

7183 0.78 156.9 186.7 10.3 715 7187 0.00 1.17 0.00 0.000 4 0.000 0.064 2653 1499 1844 0 0 0 0 0 0

7199 0.78 156.9 185.4 10.5 716 7208 0.00 1.20 0.00 0.000 6 0.000 0.062 2653 2208 1844 0 0 0 0 0 0

7420 0.78 156.9 162.6 10.3 737 7424 0.00 1.17 0.00 0.000 4 0.000 0.064 2657 1499 1844 0 0 0 0 0 0

7592 0.81 179.9 146.5 8.9 752 7617 0.00 1.17 20.60 0.978 6 0.000 0.063 2657 2199 1751 0 0 0 0 0 0

7831 0.82 186.1 122.8 9.7 774 7841 0.00 0.00 6.35 0.856 6 0.000 0.000 2658 2199 1726 0 0 0 0 0 0

8053 0.84 206.7 102.1 9.1 795 8079 0.00 1.25 18.52 0.944 4 0.000 0.063 2662 1491 1641 0 0 0 0 0 0

8279 0.85 212.9 79.0 9.7 832 8289 0.00 1.23 6.10 0.825 6 0.000 0.063 2662 2203 1616 0 0 0 0 0 0

8492 0.88 236.6 59.2 8.9 869 8520 0.00 1.25 21.00 0.922 4 0.000 0.070 2662 2920 1519 0 0 0 0 0 0

8538 0.92 268.9 55.2 8.5 876 8574 0.00 1.25 28.27 0.897 6 0.000 0.054 2667 2200 1387 0 0 0 0 0 0

8775 0.92 271.0 30.8 9.9 917 8782 0.00 1.15 0.00 0.000 4 0.000 0.067 2672 1496 1381 0 0 0 0 0 0

8922 0.95 294.3 16.7 8.9 943 8939 0.00 1.23 12.38 0.119 6 0.000 0.063 2672 2205 1285 0 0 0 0 0 0

9064 end climb: SURFACE_DEPTH_REACHED

state 9064 begin surface coast

9081 end surface coast: CONTROL_FINISHED_OK

state 9081 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	29	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	32	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	ESCAPE_HEADING_DELTA	5	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	2	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	750	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	20	SM_CC	420	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	27	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	2	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	161	VBD_MIN	442	DEVICE1	2
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_MAX	3793	DEVICE2	20
T_DIVE	250	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	300	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	720	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	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80454.312	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	200	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2400	PHONE_SUPPLY	-1	SEABIRD_T_G	0.0043394179
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-22.40402	SEABIRD_T_H	0.00062698836
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_I	2.474318e-05
MASS	51400	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.7476094e-06
NAV_MODE	2	PITCH_GAIN	31	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9261332
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1046007
KALMAN_USE	2	PITCH_AD_RATE	150	COMPASS_USE	1	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	101011,001402,6633.900,-6013.296,29,0.8,30,-33.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101011,001837,6633.869,-6013.270,18,1.4,18,-33.7	MHEAD_RNG_PITCHd_Wd	147.1,157747,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	523

FINISH	1.4,1.013862	_24V_AH	23.2,4.803
SM_CCo	9098,58.78,0.086,0,0,772,420.20	_10V_AH	10.3,4.353
SM_GC	2.11,7.12,0.55,58.78,0.057,0.077,0.086,121,2512,772,-7.07,-0.62,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	593	FG_AHR_10Vo	0.000
RAFOS	1,1318205343,0.166667,0.150833,82,64,58,0,0,0,607,167,217,0,0,0	MEM	150468
RAFOS_FIX	6634.596680,-6011.902344,101011,000019,5,81,4.96	DATA_FILE_SIZE	36722,971
IRIDIUM_FIX	6604.29,-6020.00,091011,212141	CAP_FILE_SIZE	116183,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,246153216
HUMID	57.99	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.78553	SOUNDSPEED	1453.0
TCM_TEMP	16.20	CURRENT	0.155,293.3,1
XPDR_PINGS	19	GPS	101011,025323,6633.328,-6011.758,37,1.2,37,-33.6
ALTIM_BOTTOM_PING	450.8,85.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	275	113.89	SBE_CT	701	23	377.95
Roll_motor	53	109	135.97	SBE_O2	685	5	83.33
VBD_pump_during_apogee	364	1210	10230.12	nil	0	0	0.00
VBD_pump_during_surface	58	85	116.83	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	167	262	1021.53	nil	0	0	0.00
Transponder_ping	6	420	58.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.56
TT8	2679	18	516.39
LPSleep	4188	2	99.66
TT8_Active	557	18	107.51
TT8_Sampling	1844	41	796.46
TT8_CF8	185	47	91.40
TT8_Kalman	0	0	0.00
Analog_circuits	1637	12	202.45
GPS_charging	0	0	0.00
Compass	1660	6	115.27
RAFOS	1440	1	22.25
Transponder	10	30	3.38

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	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.77	-146.0	0.0	0.0	0	113	0.00	0.00	-95.12	0.000	2	0.000	0.000	119	2525	2140	0	0	0	0	0	0
116	-0.77	-146.0	3.3	-3.2	15	166	8.90	1.17	-31.45	0.000	4	0.275	0.109	2140	3217	3083	0	0	0	0	0	0
370	-0.77	-146.0	49.2	-17.1	59	376	0.00	1.15	0.00	0.000	6	0.000	0.050	2140	2509	3084	0	0	0	0	0	0
576	-0.77	-146.0	81.3	-15.1	96	584	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2510	3084	0	0	0	0	0	0
787	-0.77	-146.0	112.7	-14.7	126	790	0.00	1.12	0.00	0.000	4	0.000	0.058	2140	1815	3084	0	0	0	0	0	0
869	-0.77	-146.0	124.5	-14.3	133	876	0.00	1.23	0.00	0.000	6	0.000	0.071	2135	2510	3084	0	0	0	0	0	0
1088	-0.77	-146.0	157.8	-15.0	154	1092	0.00	1.15	0.00	0.000	4	0.000	0.080	2130	3214	3084	0	0	0	0	0	0
1257	-0.77	-146.0	182.7	-14.5	169	1261	0.00	1.15	0.00	0.000	6	0.000	0.050	2130	2502	3084	0	0	0	0	0	0
1482	-0.77	-146.0	215.8	-14.0	190	1485	0.00	1.12	0.00	0.000	4	0.000	0.060	2130	1806	3084	0	0	0	0	0	0
1562	-0.77	-146.0	227.1	-14.3	197	1566	0.00	1.25	0.00	0.000	6	0.000	0.072	2125	2516	3084	0	0	0	0	0	0
1787	-0.77	-146.0	260.9	-15.7	218	1790	0.00	1.15	0.00	0.000	4	0.000	0.083	2119	3220	3084	0	0	0	0	0	0
1950	-0.77	-146.0	285.6	-15.7	232	1959	0.10	1.15	0.00	0.000	6	0.168	0.049	2149	2509	3084	0	0	0	0	0	0
2172	-0.77	-146.0	316.3	-13.4	253	2175	0.00	1.12	0.00	0.000	4	0.000	0.061	2149	1813	3084	0	0	0	0	0	0
2232	-0.77	-146.0	324.2	-12.7	258	2239	0.00	1.23	0.00	0.000	6	0.000	0.071	2146	2515	3084	0	0	0	0	0	0
2451	-0.77	-146.0	353.0	-12.8	279	2455	0.00	1.15	0.00	0.000	4	0.000	0.083	2141	3220	3084	0	0	0	0	0	0
2541	-0.77	-146.0	364.3	-12.6	287	2545	0.00	1.15	0.00	0.000	6	0.000	0.051	2141	2509	3084	0	0	0	0	0	0
2767	-0.77	-146.0	391.6	-11.5	308	2768	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2508	3084	0	0	0	0	0	0
2978	-0.77	-146.0	416.0	-11.3	328	2979	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2508	3084	0	0	0	0	0	0
3191	-0.77	-146.0	440.8	-11.7	348	3195	0.00	1.12	0.00	0.000	4	0.000	0.060	2141	1806	3084	0	0	0	0	0	0
3251	-0.77	-146.0	447.5	-11.8	353	3258	0.00	1.23	0.00	0.000	6	0.000	0.070	2137	2509	3084	0	0	0	0	0	0
3472	-0.77	-146.0	473.0	-11.9	374	3475	0.00	1.15	0.00	0.000	4	0.000	0.080	2131	3221	3084	0	0	0	0	0	0
3622	-0.77	-146.0	490.6	-11.8	387	3629	0.00	1.15	0.00	0.000	6	0.000	0.047	2131	2504	3084	0	0	0	0	0	0
3841	-0.77	-146.0	518.1	-11.9	408	3842	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2503	3084	0	0	0	0	0	0
3871	end dive: BOTTOM_OBSTACLE_DETECTED
state	3871	begin apogee
3877	-0.16	0.0	521.6	-11.2	411	4003	0.68	0.00	117.93	1.211	6	0.148	0.000	2344	2194	2485	0	0	0	0	0	0
4004	end apogee: CONTROL_FINISHED_OK
state	4004	begin climb
4006	0.77	146.0	526.2	0.0	422	4144	0.90	1.25	125.03	1.165	4	0.070	0.064	2652	1502	1888	0	0	0	0	0	0
4180	0.77	146.0	519.0	10.2	437	4184	0.00	1.27	0.00	0.000	6	0.000	0.060	2652	2205	1884	0	0	0	0	0	0
4406	0.77	146.0	491.6	11.7	458	4410	0.00	1.23	0.00	0.000	4	0.000	0.068	2651	2915	1879	0	0	0	0	0	0
4418	0.77	146.0	490.1	11.7	459	4422	0.00	1.25	0.00	0.000	6	0.000	0.052	2656	2201	1879	0	0	0	0	0	0
4643	0.77	146.0	460.6	13.9	480	4644	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2201	1878	0	0	0	0	0	0
4855	0.77	146.0	433.5	11.7	500	4859	0.00	1.27	0.00	0.000	4	0.000	0.069	2656	2917	1877	0	0	0	0	0	0
4868	0.77	146.0	432.0	12.0	501	4872	0.00	1.23	0.00	0.000	6	0.000	0.053	2661	2200	1876	0	0	0	0	0	0
5093	0.77	146.0	405.2	11.6	522	5097	0.00	1.15	0.00	0.000	4	0.000	0.064	2667	1493	1876	0	0	0	0	0	0
5308	0.77	146.0	381.0	10.8	541	5312	0.00	1.23	0.00	0.000	6	0.000	0.063	2667	2209	1876	0	0	0	0	0	0
5533	0.77	146.0	356.9	10.5	562	5534	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2209	1876	0	0	0	0	0	0
5745	0.77	146.0	335.4	10.2	582	5749	0.00	1.20	0.00	0.000	4	0.000	0.063	2671	1497	1876	0	0	0	0	0	0
5850	0.77	146.0	324.8	10.3	591	5857	0.00	1.20	0.00	0.000	6	0.000	0.062	2671	2205	1876	0	0	0	0	0	0
6069	0.77	146.0	301.3	10.8	612	6073	0.00	1.20	0.00	0.000	4	0.000	0.063	2676	1494	1876	0	0	0	0	0	0
6174	0.77	146.0	290.8	10.5	621	6181	0.00	1.20	0.00	0.000	6	0.000	0.063	2676	2206	1876	0	0	0	0	0	0
6393	0.77	146.0	267.2	10.6	642	6396	0.00	1.20	0.00	0.000	4	0.000	0.064	2681	1495	1876	0	0	0	0	0	0
6453	0.77	146.0	261.5	10.3	647	6461	0.12	1.20	0.00	0.000	6	0.174	0.062	2645	2208	1876	0	0	0	0	0	0
6674	0.78	156.9	240.2	9.5	668	6689	0.00	1.23	7.95	0.948	4	0.000	0.062	2649	1496	1845	0	0	0	0	0	0
6746	0.78	156.9	232.8	10.3	674	6750	0.00	1.20	0.00	0.000	6	0.000	0.063	2648	2205	1845	0	0	0	0	0	0
6971	0.78	156.9	209.3	10.6	695	6972	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2205	1844	0	0	0	0	0	0
7183	0.78	156.9	186.7	10.3	715	7187	0.00	1.17	0.00	0.000	4	0.000	0.064	2653	1499	1844	0	0	0	0	0	0
7199	0.78	156.9	185.4	10.5	716	7208	0.00	1.20	0.00	0.000	6	0.000	0.062	2653	2208	1844	0	0	0	0	0	0
7420	0.78	156.9	162.6	10.3	737	7424	0.00	1.17	0.00	0.000	4	0.000	0.064	2657	1499	1844	0	0	0	0	0	0
7592	0.81	179.9	146.5	8.9	752	7617	0.00	1.17	20.60	0.978	6	0.000	0.063	2657	2199	1751	0	0	0	0	0	0
7831	0.82	186.1	122.8	9.7	774	7841	0.00	0.00	6.35	0.856	6	0.000	0.000	2658	2199	1726	0	0	0	0	0	0
8053	0.84	206.7	102.1	9.1	795	8079	0.00	1.25	18.52	0.944	4	0.000	0.063	2662	1491	1641	0	0	0	0	0	0
8279	0.85	212.9	79.0	9.7	832	8289	0.00	1.23	6.10	0.825	6	0.000	0.063	2662	2203	1616	0	0	0	0	0	0
8492	0.88	236.6	59.2	8.9	869	8520	0.00	1.25	21.00	0.922	4	0.000	0.070	2662	2920	1519	0	0	0	0	0	0
8538	0.92	268.9	55.2	8.5	876	8574	0.00	1.25	28.27	0.897	6	0.000	0.054	2667	2200	1387	0	0	0	0	0	0
8775	0.92	271.0	30.8	9.9	917	8782	0.00	1.15	0.00	0.000	4	0.000	0.067	2672	1496	1381	0	0	0	0	0	0
8922	0.95	294.3	16.7	8.9	943	8939	0.00	1.23	12.38	0.119	6	0.000	0.063	2672	2205	1285	0	0	0	0	0	0
9064	end climb: SURFACE_DEPTH_REACHED
state	9064	begin surface coast
9081	end surface coast: CONTROL_FINISHED_OK
state	9081	begin surface