Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 30 * 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 30 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 26 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 21 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 -80455.57 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 -80455.57

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 26 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 21 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 30 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 101011,025323,6633.328,-6011.758,37,1.2,37,-33.6 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 2.09 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101011,025759,6633.275,-6011.853,19,1.3,20,-33.6 MHEAD_RNG_PITCHd_Wd 127.4,157168,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 526

Post-dive calculations and measurements:

FINISH 1.3,1.012880 _24V_AH 23.2,4.904

SM_CCo 9175,47.42,0.086,0,0,772,420.20 _10V_AH 10.3,4.425

SM_GC 2.22,7.25,0.57,47.42,0.060,0.080,0.086,118,2512,772,-7.08,-0.54,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 598 FG_AHR_10Vo 0.000

RAFOS 0,1318219271,4.033333,4.019722,89,65,61,0,0,0,602,220,197,0,0,0 MEM 150376

RAFOS_FIX 6632.916992,-6006.013184,101011,040453,6,95,0.84 DATA_FILE_SIZE 36811,985

IRIDIUM_FIX 6609.62,-6017.32,101011,000035 CAP_FILE_SIZE 114474,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,246091776

HUMID 57.08 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.78553 SOUNDSPEED 1453.4

TCM_TEMP 16.20 CURRENT 0.265,213.0,1

XPDR_PINGS 13 GPS 101011,053359,6631.846,-6009.951,38,0.9,38,-33.6

ALTIM_BOTTOM_PING 350.4,183.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 274 114.37 SBE_CT 708 23 381.76

Roll_motor 48 110 124.02 SBE_O2 696 5 84.65

VBD_pump_during_apogee 352 1207 9875.74 nil 0 0 0.00

VBD_pump_during_surface 47 85 94.27 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 166 255 983.69 nil 0 0 0.00

Transponder_ping 4 420 38.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.66

TT8 2707 18 521.84

LPSleep 4266 2 101.51

TT8_Active 547 18 105.52

TT8_Sampling 1822 41 786.94

TT8_CF8 184 47 90.82

TT8_Kalman 0 0 0.00

Analog_circuits 1617 12 199.92

GPS_charging 0 0 0.00

Compass 1642 6 114.00

RAFOS 2520 1 38.93

Transponder 7 30 2.37

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 0 116 0.00 0.00 -97.57 0.000 2 0.000 0.000 121 2515 2169 0 0 0 0 0 0

119 -0.77 -146.0 3.4 -3.4 15 163 8.90 1.20 -30.38 0.000 4 0.275 0.110 2140 3213 3083 0 0 0 0 0 0

414 -0.77 -146.0 57.9 -16.9 66 423 0.00 1.17 0.00 0.000 6 0.000 0.051 2141 2498 3085 0 0 0 0 0 0

624 -0.77 -146.0 90.8 -14.3 103 631 0.00 1.25 0.00 0.000 4 0.000 0.081 2135 3218 3085 0 0 0 0 0 0

697 -0.77 -146.0 101.0 -13.8 115 704 0.00 1.17 0.00 0.000 6 0.000 0.052 2136 2505 3085 0 0 0 0 0 0

916 -0.77 -146.0 134.2 -15.3 136 920 0.00 1.12 0.00 0.000 4 0.000 0.060 2136 1812 3085 0 0 0 0 0 0

983 -0.77 -146.0 144.0 -14.4 142 987 0.00 1.23 0.00 0.000 6 0.000 0.070 2131 2506 3085 0 0 0 0 0 0

1209 -0.77 -146.0 176.3 -14.3 163 1213 0.00 1.15 0.00 0.000 4 0.000 0.080 2126 3211 3085 0 0 0 0 0 0

1322 -0.77 -146.0 192.5 -14.2 173 1325 0.00 1.15 0.00 0.000 6 0.000 0.049 2126 2501 3085 0 0 0 0 0 0

1548 -0.77 -146.0 224.9 -14.7 194 1551 0.00 1.23 0.00 0.000 4 0.000 0.079 2121 3217 3085 0 0 0 0 0 0

1615 -0.77 -146.0 234.9 -14.0 200 1619 0.08 1.15 0.00 0.000 6 0.180 0.050 2143 2504 3085 0 0 0 0 0 0

1842 -0.77 -146.0 264.0 -12.7 221 1848 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2504 3085 0 0 0 0 0 0

2061 -0.77 -146.0 293.1 -13.1 242 2062 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2504 3085 0 0 0 0 0 0

2273 -0.77 -146.0 319.7 -12.2 262 2274 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2504 3085 0 0 0 0 0 0

2486 -0.77 -146.0 345.1 -12.1 282 2489 0.00 1.20 0.00 0.000 4 0.000 0.079 2140 3213 3084 0 0 0 0 0 0

2567 -0.77 -146.0 354.8 -12.2 289 2571 0.00 1.12 0.00 0.000 6 0.000 0.049 2140 2510 3085 0 0 0 0 0 0

2793 -0.77 -146.0 382.2 -12.3 310 2797 0.00 1.20 0.00 0.000 4 0.000 0.078 2135 3218 3084 0 0 0 0 0 0

2864 -0.77 -146.0 390.7 -12.1 316 2871 0.00 1.15 0.00 0.000 6 0.000 0.047 2135 2502 3085 0 0 0 0 0 0

3083 -0.77 -146.0 417.3 -11.8 337 3087 0.00 1.10 0.00 0.000 4 0.000 0.060 2135 1814 3085 0 0 0 0 0 0

3133 -0.77 -146.0 422.7 -12.0 341 3140 0.00 1.23 0.00 0.000 6 0.000 0.070 2130 2517 3085 0 0 0 0 0 0

3352 -0.77 -146.0 449.4 -12.2 362 3355 0.00 1.12 0.00 0.000 4 0.000 0.080 2125 3214 3085 0 0 0 0 0 0

3490 -0.77 -146.0 466.2 -12.5 374 3499 0.00 1.12 0.00 0.000 6 0.000 0.047 2125 2508 3084 0 0 0 0 0 0

3710 -0.77 -146.0 493.0 -12.2 395 3711 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2508 3084 0 0 0 0 0 0

3922 -0.77 -146.0 518.5 -11.7 415 3923 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2508 3085 0 0 0 0 0 0

3928 end dive: BOTTOM_OBSTACLE_DETECTED

state 3928 begin apogee

3934 -0.16 0.0 519.6 -11.4 416 4059 0.70 0.00 118.18 1.207 6 0.149 0.000 2345 2200 2485 0 0 0 0 0 0

4060 end apogee: CONTROL_FINISHED_OK

state 4060 begin climb

4062 0.77 146.0 524.9 0.0 427 4201 0.88 1.20 125.38 1.175 4 0.063 0.062 2651 1503 1887 0 0 0 0 0 0

4402 0.77 146.0 499.6 11.6 457 4405 0.00 1.25 0.00 0.000 6 0.000 0.061 2651 2209 1880 0 0 0 0 0 0

4627 0.77 146.0 472.0 12.1 478 4629 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2209 1877 0 0 0 0 0 0

4839 0.77 146.0 447.1 11.5 498 4840 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2209 1877 0 0 0 0 0 0

5051 0.77 146.0 422.8 11.8 518 5054 0.00 1.20 0.00 0.000 4 0.000 0.063 2656 1505 1876 0 0 0 0 0 0

5110 0.77 146.0 416.2 11.8 523 5118 0.00 1.20 0.00 0.000 6 0.000 0.060 2655 2205 1876 0 0 0 0 0 0

5330 0.77 146.0 390.0 11.9 544 5334 0.00 1.20 0.00 0.000 4 0.000 0.063 2660 1497 1876 0 0 0 0 0 0

5375 0.77 146.0 384.8 11.8 548 5378 0.00 1.20 0.00 0.000 6 0.000 0.061 2660 2202 1875 0 0 0 0 0 0

5601 0.77 146.0 358.9 10.8 569 5602 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2202 1875 0 0 0 0 0 0

5811 0.77 146.0 335.8 10.4 589 5814 0.00 1.17 0.00 0.000 4 0.000 0.071 2660 2908 1875 0 0 0 0 0 0

5912 0.77 146.0 324.5 10.9 598 5916 0.00 1.20 0.00 0.000 6 0.000 0.053 2665 2196 1874 0 0 0 0 0 0

6139 0.77 146.0 300.4 10.7 619 6145 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2196 1874 0 0 0 0 0 0

6358 0.77 146.0 276.5 10.5 640 6362 0.00 1.12 0.00 0.000 4 0.000 0.065 2670 1493 1874 0 0 0 0 0 0

6419 0.77 146.0 270.6 10.4 645 6425 0.00 1.20 0.00 0.000 6 0.000 0.060 2670 2203 1874 0 0 0 0 0 0

6641 0.78 152.8 248.1 9.7 666 6655 0.00 1.20 4.55 0.803 4 0.000 0.062 2675 1493 1861 0 0 0 0 0 0

6727 0.78 152.8 239.6 10.0 673 6734 0.00 1.20 0.00 0.000 6 0.000 0.060 2675 2205 1862 0 0 0 0 0 0

6946 0.78 152.8 216.5 10.4 694 6947 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2205 1862 0 0 0 0 0 0

7159 0.78 152.8 195.4 10.1 714 7163 0.00 1.15 0.00 0.000 4 0.000 0.069 2675 2913 1862 0 0 0 0 0 0

7318 0.78 152.8 179.4 10.0 728 7322 0.08 1.20 0.00 0.000 6 0.176 0.053 2658 2196 1861 0 0 0 0 0 0

7544 0.81 177.7 158.7 8.9 749 7572 0.00 0.00 22.45 0.981 6 0.000 0.000 2658 2196 1759 0 0 0 0 0 0

7784 0.81 177.7 133.6 10.4 772 7788 0.00 1.23 0.00 0.000 4 0.000 0.067 2658 2901 1756 0 0 0 0 0 0

7800 0.81 177.7 132.4 10.4 773 7807 0.00 1.20 0.00 0.000 6 0.000 0.053 2662 2197 1756 0 0 0 0 0 0

8020 0.82 186.6 109.8 9.6 794 8035 0.00 1.27 8.43 0.900 4 0.000 0.068 2661 2905 1723 0 0 0 0 0 0

8122 0.82 186.6 99.2 10.9 803 8128 0.00 1.20 0.00 0.000 6 0.000 0.054 2666 2199 1723 0 0 0 0 0 0

8327 0.82 186.6 78.4 10.2 840 8333 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2199 1723 0 0 0 0 0 0

8532 0.84 200.8 58.4 9.3 877 8553 0.00 1.25 13.10 0.920 4 0.000 0.070 2666 2901 1665 0 0 0 0 0 0

8673 0.84 200.8 44.4 10.1 901 8679 0.00 1.20 0.00 0.000 6 0.000 0.056 2670 2198 1664 0 0 0 0 0 0

8881 0.87 225.9 25.0 8.8 938 8902 0.00 1.12 15.02 0.881 4 0.000 0.063 2676 1493 1563 0 0 0 0 0 0

9022 0.98 315.2 15.4 5.9 962 9075 0.08 1.20 45.53 0.110 6 0.080 0.063 2713 2195 1197 0 0 0 0 0 0

9147 end climb: SURFACE_DEPTH_REACHED

state 9147 begin surface coast

9158 end surface coast: CONTROL_FINISHED_OK

state 9159 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	30	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	26	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	21	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	-80455.57	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	101011,025323,6633.328,-6011.758,37,1.2,37,-33.6	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	2.09	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101011,025759,6633.275,-6011.853,19,1.3,20,-33.6	MHEAD_RNG_PITCHd_Wd	127.4,157168,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	526

FINISH	1.3,1.012880	_24V_AH	23.2,4.904
SM_CCo	9175,47.42,0.086,0,0,772,420.20	_10V_AH	10.3,4.425
SM_GC	2.22,7.25,0.57,47.42,0.060,0.080,0.086,118,2512,772,-7.08,-0.54,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	598	FG_AHR_10Vo	0.000
RAFOS	0,1318219271,4.033333,4.019722,89,65,61,0,0,0,602,220,197,0,0,0	MEM	150376
RAFOS_FIX	6632.916992,-6006.013184,101011,040453,6,95,0.84	DATA_FILE_SIZE	36811,985
IRIDIUM_FIX	6609.62,-6017.32,101011,000035	CAP_FILE_SIZE	114474,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,246091776
HUMID	57.08	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.78553	SOUNDSPEED	1453.4
TCM_TEMP	16.20	CURRENT	0.265,213.0,1
XPDR_PINGS	13	GPS	101011,053359,6631.846,-6009.951,38,0.9,38,-33.6
ALTIM_BOTTOM_PING	350.4,183.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	274	114.37	SBE_CT	708	23	381.76
Roll_motor	48	110	124.02	SBE_O2	696	5	84.65
VBD_pump_during_apogee	352	1207	9875.74	nil	0	0	0.00
VBD_pump_during_surface	47	85	94.27	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	166	255	983.69	nil	0	0	0.00
Transponder_ping	4	420	38.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.66
TT8	2707	18	521.84
LPSleep	4266	2	101.51
TT8_Active	547	18	105.52
TT8_Sampling	1822	41	786.94
TT8_CF8	184	47	90.82
TT8_Kalman	0	0	0.00
Analog_circuits	1617	12	199.92
GPS_charging	0	0	0.00
Compass	1642	6	114.00
RAFOS	2520	1	38.93
Transponder	7	30	2.37

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	116	0.00	0.00	-97.57	0.000	2	0.000	0.000	121	2515	2169	0	0	0	0	0	0
119	-0.77	-146.0	3.4	-3.4	15	163	8.90	1.20	-30.38	0.000	4	0.275	0.110	2140	3213	3083	0	0	0	0	0	0
414	-0.77	-146.0	57.9	-16.9	66	423	0.00	1.17	0.00	0.000	6	0.000	0.051	2141	2498	3085	0	0	0	0	0	0
624	-0.77	-146.0	90.8	-14.3	103	631	0.00	1.25	0.00	0.000	4	0.000	0.081	2135	3218	3085	0	0	0	0	0	0
697	-0.77	-146.0	101.0	-13.8	115	704	0.00	1.17	0.00	0.000	6	0.000	0.052	2136	2505	3085	0	0	0	0	0	0
916	-0.77	-146.0	134.2	-15.3	136	920	0.00	1.12	0.00	0.000	4	0.000	0.060	2136	1812	3085	0	0	0	0	0	0
983	-0.77	-146.0	144.0	-14.4	142	987	0.00	1.23	0.00	0.000	6	0.000	0.070	2131	2506	3085	0	0	0	0	0	0
1209	-0.77	-146.0	176.3	-14.3	163	1213	0.00	1.15	0.00	0.000	4	0.000	0.080	2126	3211	3085	0	0	0	0	0	0
1322	-0.77	-146.0	192.5	-14.2	173	1325	0.00	1.15	0.00	0.000	6	0.000	0.049	2126	2501	3085	0	0	0	0	0	0
1548	-0.77	-146.0	224.9	-14.7	194	1551	0.00	1.23	0.00	0.000	4	0.000	0.079	2121	3217	3085	0	0	0	0	0	0
1615	-0.77	-146.0	234.9	-14.0	200	1619	0.08	1.15	0.00	0.000	6	0.180	0.050	2143	2504	3085	0	0	0	0	0	0
1842	-0.77	-146.0	264.0	-12.7	221	1848	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2504	3085	0	0	0	0	0	0
2061	-0.77	-146.0	293.1	-13.1	242	2062	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2504	3085	0	0	0	0	0	0
2273	-0.77	-146.0	319.7	-12.2	262	2274	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2504	3085	0	0	0	0	0	0
2486	-0.77	-146.0	345.1	-12.1	282	2489	0.00	1.20	0.00	0.000	4	0.000	0.079	2140	3213	3084	0	0	0	0	0	0
2567	-0.77	-146.0	354.8	-12.2	289	2571	0.00	1.12	0.00	0.000	6	0.000	0.049	2140	2510	3085	0	0	0	0	0	0
2793	-0.77	-146.0	382.2	-12.3	310	2797	0.00	1.20	0.00	0.000	4	0.000	0.078	2135	3218	3084	0	0	0	0	0	0
2864	-0.77	-146.0	390.7	-12.1	316	2871	0.00	1.15	0.00	0.000	6	0.000	0.047	2135	2502	3085	0	0	0	0	0	0
3083	-0.77	-146.0	417.3	-11.8	337	3087	0.00	1.10	0.00	0.000	4	0.000	0.060	2135	1814	3085	0	0	0	0	0	0
3133	-0.77	-146.0	422.7	-12.0	341	3140	0.00	1.23	0.00	0.000	6	0.000	0.070	2130	2517	3085	0	0	0	0	0	0
3352	-0.77	-146.0	449.4	-12.2	362	3355	0.00	1.12	0.00	0.000	4	0.000	0.080	2125	3214	3085	0	0	0	0	0	0
3490	-0.77	-146.0	466.2	-12.5	374	3499	0.00	1.12	0.00	0.000	6	0.000	0.047	2125	2508	3084	0	0	0	0	0	0
3710	-0.77	-146.0	493.0	-12.2	395	3711	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2508	3084	0	0	0	0	0	0
3922	-0.77	-146.0	518.5	-11.7	415	3923	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2508	3085	0	0	0	0	0	0
3928	end dive: BOTTOM_OBSTACLE_DETECTED
state	3928	begin apogee
3934	-0.16	0.0	519.6	-11.4	416	4059	0.70	0.00	118.18	1.207	6	0.149	0.000	2345	2200	2485	0	0	0	0	0	0
4060	end apogee: CONTROL_FINISHED_OK
state	4060	begin climb
4062	0.77	146.0	524.9	0.0	427	4201	0.88	1.20	125.38	1.175	4	0.063	0.062	2651	1503	1887	0	0	0	0	0	0
4402	0.77	146.0	499.6	11.6	457	4405	0.00	1.25	0.00	0.000	6	0.000	0.061	2651	2209	1880	0	0	0	0	0	0
4627	0.77	146.0	472.0	12.1	478	4629	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2209	1877	0	0	0	0	0	0
4839	0.77	146.0	447.1	11.5	498	4840	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2209	1877	0	0	0	0	0	0
5051	0.77	146.0	422.8	11.8	518	5054	0.00	1.20	0.00	0.000	4	0.000	0.063	2656	1505	1876	0	0	0	0	0	0
5110	0.77	146.0	416.2	11.8	523	5118	0.00	1.20	0.00	0.000	6	0.000	0.060	2655	2205	1876	0	0	0	0	0	0
5330	0.77	146.0	390.0	11.9	544	5334	0.00	1.20	0.00	0.000	4	0.000	0.063	2660	1497	1876	0	0	0	0	0	0
5375	0.77	146.0	384.8	11.8	548	5378	0.00	1.20	0.00	0.000	6	0.000	0.061	2660	2202	1875	0	0	0	0	0	0
5601	0.77	146.0	358.9	10.8	569	5602	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2202	1875	0	0	0	0	0	0
5811	0.77	146.0	335.8	10.4	589	5814	0.00	1.17	0.00	0.000	4	0.000	0.071	2660	2908	1875	0	0	0	0	0	0
5912	0.77	146.0	324.5	10.9	598	5916	0.00	1.20	0.00	0.000	6	0.000	0.053	2665	2196	1874	0	0	0	0	0	0
6139	0.77	146.0	300.4	10.7	619	6145	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2196	1874	0	0	0	0	0	0
6358	0.77	146.0	276.5	10.5	640	6362	0.00	1.12	0.00	0.000	4	0.000	0.065	2670	1493	1874	0	0	0	0	0	0
6419	0.77	146.0	270.6	10.4	645	6425	0.00	1.20	0.00	0.000	6	0.000	0.060	2670	2203	1874	0	0	0	0	0	0
6641	0.78	152.8	248.1	9.7	666	6655	0.00	1.20	4.55	0.803	4	0.000	0.062	2675	1493	1861	0	0	0	0	0	0
6727	0.78	152.8	239.6	10.0	673	6734	0.00	1.20	0.00	0.000	6	0.000	0.060	2675	2205	1862	0	0	0	0	0	0
6946	0.78	152.8	216.5	10.4	694	6947	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2205	1862	0	0	0	0	0	0
7159	0.78	152.8	195.4	10.1	714	7163	0.00	1.15	0.00	0.000	4	0.000	0.069	2675	2913	1862	0	0	0	0	0	0
7318	0.78	152.8	179.4	10.0	728	7322	0.08	1.20	0.00	0.000	6	0.176	0.053	2658	2196	1861	0	0	0	0	0	0
7544	0.81	177.7	158.7	8.9	749	7572	0.00	0.00	22.45	0.981	6	0.000	0.000	2658	2196	1759	0	0	0	0	0	0
7784	0.81	177.7	133.6	10.4	772	7788	0.00	1.23	0.00	0.000	4	0.000	0.067	2658	2901	1756	0	0	0	0	0	0
7800	0.81	177.7	132.4	10.4	773	7807	0.00	1.20	0.00	0.000	6	0.000	0.053	2662	2197	1756	0	0	0	0	0	0
8020	0.82	186.6	109.8	9.6	794	8035	0.00	1.27	8.43	0.900	4	0.000	0.068	2661	2905	1723	0	0	0	0	0	0
8122	0.82	186.6	99.2	10.9	803	8128	0.00	1.20	0.00	0.000	6	0.000	0.054	2666	2199	1723	0	0	0	0	0	0
8327	0.82	186.6	78.4	10.2	840	8333	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2199	1723	0	0	0	0	0	0
8532	0.84	200.8	58.4	9.3	877	8553	0.00	1.25	13.10	0.920	4	0.000	0.070	2666	2901	1665	0	0	0	0	0	0
8673	0.84	200.8	44.4	10.1	901	8679	0.00	1.20	0.00	0.000	6	0.000	0.056	2670	2198	1664	0	0	0	0	0	0
8881	0.87	225.9	25.0	8.8	938	8902	0.00	1.12	15.02	0.881	4	0.000	0.063	2676	1493	1563	0	0	0	0	0	0
9022	0.98	315.2	15.4	5.9	962	9075	0.08	1.20	45.53	0.110	6	0.080	0.063	2713	2195	1197	0	0	0	0	0	0
9147	end climb: SURFACE_DEPTH_REACHED
state	9147	begin surface coast
9158	end surface coast: CONTROL_FINISHED_OK
state	9159	begin surface