Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 301 * 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 301 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 360 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 14 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 15 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 20 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 200 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 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 3 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 -1641.4536 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 360 RAFOS_DEVICE 32 T_GPS_CHARGE -1641.4536

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 20 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 -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 200 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 14 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 15 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 301 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 720

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 311012,143041,6643.033,-5952.611,14,0.7,14,-33.8 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 2.90 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 311012,143600,6643.002,-5952.713,14,0.9,14,-33.8 MHEAD_RNG_PITCHd_Wd 63.3,138436,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 724

Post-dive calculations and measurements:

FINISH 2.5,1.025594 _24V_AH 12.4,96.957

SM_CCo 14072,17.45,0.203,0,0,1588,290.19 _10V_AH 12.7,0.000

SM_GC 3.15,8.77,14.85,17.45,0.117,0.086,0.203,141,1958,1588,-11.59,-4.58,290.19,0,0,6,1,0,0,14.59,14.58,14.42 FG_AHR_24Vo 0.000

RAFOS_CLK 631 FG_AHR_10Vo 0.000

RAFOS 0,1351699266,16.033333,16.018333,62,55,55,54,54,50,199,148,133,176,216,124 MEM 188768

RAFOS_FIX 6656.315430,-5942.899414,311012,161622,3,82,3.36 DATA_FILE_SIZE 53369,1134

IRIDIUM_FIX 6614.97,-5951.67,311012,141444 CAP_FILE_SIZE 118952,40

TT8_MAMPS 0.026215,0.026215 CFSIZE 259252224,229990400

HUMID 47.16 ERRORS 0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0

INTERNAL_PRESSURE 8.66467 SOUNDSPEED 1451.1

TCM_TEMP 12.50 CURRENT 0.083,170.3,1

XPDR_PINGS 3 GPS 311012,183328,6642.377,-5951.397,38,0.9,39,-33.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 426 115.79 SBE_CT 825 23 245.24

Roll_motor 59 86 63.67 SBE_O2 801 3 37.18

VBD_pump_during_apogee 382 2554 12119.96 nil 0 0 0.00

VBD_pump_during_surface 17 202 43.87 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 3.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 21 4.38

TT8 2771 14 526.61

LPSleep 8724 2 255.95

TT8_Active 616 14 117.14

TT8_Sampling 1688 33 722.64

TT8_CF8 412 38 200.22

TT8_Kalman 0 0 0.00

Analog_circuits 1503 12 229.07

GPS_charging 0 0 0.00

Compass 1666 6 142.62

RAFOS 2520 1 48.01

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 26 0.00 0.00 -5.50 0.000 2 0.000 0.000 140 2029 608 0 0 0 0 0 0 28.83 28.83 28.83

33 -1.50 -136.9 3.1 0.0 1 216 10.70 0.00 -163.62 0.000 6 0.427 0.000 2353 1958 3329 0 0 0 0 0 0 14.25 28.83 14.78

533 -1.50 -136.9 56.2 -14.2 92 539 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3331 0 0 0 0 0 0 28.83 28.83 28.83

854 -1.50 -136.9 101.7 -14.2 153 861 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1959 3331 0 0 0 0 0 0 28.83 28.83 28.83

1168 -1.50 -136.9 144.2 -13.5 184 1174 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3331 0 0 0 0 0 0 28.83 28.83 28.83

1481 -1.50 -136.9 183.9 -13.0 215 1487 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1957 3331 0 0 0 0 0 0 28.83 28.83 28.83

1793 -1.50 -136.9 222.2 -11.4 246 1799 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3331 0 0 0 0 0 0 28.83 28.83 28.83

2105 -1.50 -136.9 261.0 -12.5 277 2111 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3331 0 0 0 0 0 0 28.83 28.83 28.83

2418 -1.50 -136.9 298.0 -11.4 308 2424 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3331 0 0 0 0 0 0 28.83 28.83 28.83

2730 -1.50 -136.9 333.9 -11.7 339 2736 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3331 0 0 0 0 0 0 28.83 28.83 28.83

3041 -1.50 -136.9 369.7 -11.1 370 3047 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3331 0 0 0 0 0 0 28.83 28.83 28.83

3348 -1.50 -136.9 403.6 -10.9 399 3350 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3331 0 0 0 0 0 0 28.83 28.83 28.83

3648 -1.50 -136.9 436.3 -10.5 409 3649 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3331 0 0 0 0 0 0 28.83 28.83 28.83

3948 -1.50 -136.9 468.0 -10.8 419 3949 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3331 0 0 0 0 0 0 28.83 28.83 28.83

4248 -1.50 -136.9 500.5 -10.9 429 4249 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3331 0 0 0 0 0 0 28.83 28.83 28.83

4548 -1.50 -136.9 532.2 -10.3 439 4549 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3331 0 0 0 0 0 0 28.83 28.83 28.83

4848 -1.50 -136.9 562.1 -9.9 449 4849 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1958 3332 0 0 0 0 0 0 28.83 28.83 28.83

5148 -1.50 -136.9 590.4 -9.4 459 5149 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3332 0 0 0 0 0 0 28.83 28.83 28.83

5449 -1.50 -136.9 617.7 -9.4 469 5451 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3333 0 0 0 0 0 0 28.83 28.83 28.83

5748 -1.50 -136.9 647.2 -9.9 479 5749 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3333 0 0 0 0 0 0 28.83 28.83 28.83

6048 -1.50 -136.9 677.7 -10.5 489 6049 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1958 3333 0 0 0 0 0 0 28.83 28.83 28.83

6348 -1.50 -136.9 706.7 -9.4 499 6349 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1958 3333 0 0 0 0 0 0 28.83 28.83 28.83

6553 end dive: TARGET_DEPTH_EXCEEDED

state 6553 begin apogee

6580 -0.38 0.0 725.7 -8.6 506 6749 0.88 14.85 141.95 2.554 6 0.265 0.081 2590 1958 2772 0 0 6 1 0 0 14.29 13.65 12.81

6750 end apogee: CONTROL_FINISHED_OK

state 6750 begin climb

6755 1.50 136.9 730.0 0.0 512 6916 1.42 0.00 156.77 2.484 6 0.171 0.000 3004 1959 2214 0 0 0 0 0 0 13.66 28.83 12.40

7218 1.50 136.9 686.3 11.2 528 7219 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2205 0 0 0 0 0 0 28.83 28.83 28.83

7514 1.50 136.9 651.1 11.8 538 7515 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2203 0 0 0 0 0 0 28.83 28.83 28.83

7813 1.50 136.9 617.3 11.0 548 7814 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2202 0 0 0 0 0 0 28.83 28.83 28.83

8113 1.50 136.9 585.3 10.7 558 8115 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2201 0 0 0 0 0 0 28.83 28.83 28.83

8413 1.50 136.9 551.9 11.3 568 8414 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2201 0 0 0 0 0 0 28.83 28.83 28.83

8713 1.50 136.9 517.8 11.4 578 8715 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2201 0 0 0 0 0 0 28.83 28.83 28.83

9013 1.50 136.9 484.5 10.9 588 9014 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2201 0 0 0 0 0 0 28.83 28.83 28.83

9314 1.50 136.9 452.4 10.8 598 9315 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2199 0 0 0 0 0 0 28.83 28.83 28.83

9613 1.50 136.9 418.4 11.4 608 9614 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2200 0 0 0 0 0 0 28.83 28.83 28.83

9913 1.50 136.9 385.4 10.6 626 9920 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1958 2200 0 0 0 0 0 0 28.83 28.83 28.83

10228 1.50 136.9 352.9 10.3 657 10235 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2199 0 0 0 0 0 0 28.83 28.83 28.83

10542 1.50 136.9 319.8 10.2 688 10548 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2199 0 0 0 0 0 0 28.83 28.83 28.83

10854 1.50 136.9 289.2 9.9 719 10860 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2199 0 0 0 0 0 0 28.83 28.83 28.83

11166 1.50 139.0 259.8 8.8 750 11172 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2199 0 0 0 0 0 0 28.83 28.83 28.83

11479 1.50 140.8 232.0 8.8 781 11486 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2199 0 0 0 0 0 0 28.83 28.83 28.83

11792 1.51 148.6 204.2 8.6 812 11805 0.00 0.00 9.88 1.877 6 0.000 0.000 3004 1958 2167 0 0 0 0 0 0 28.83 28.83 13.85

12106 1.51 148.6 172.8 9.9 844 12112 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1958 2165 0 0 0 0 0 0 28.83 28.83 28.83

12423 1.55 176.6 145.2 7.7 875 12455 0.00 0.00 29.25 1.927 6 0.000 0.000 3004 1958 2051 0 0 0 0 0 0 28.83 28.83 13.76

12757 1.60 222.8 117.7 6.9 909 12793 0.10 0.00 28.35 1.797 6 0.177 0.000 3043 1958 1862 0 0 0 0 0 0 14.56 28.83 13.69

13100 1.60 222.8 86.8 10.2 955 13106 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 1958 1853 0 0 0 0 0 0 28.83 28.83 28.83

13417 1.61 226.5 54.1 8.8 1016 13423 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 1958 1851 0 0 0 0 0 0 28.83 28.83 28.83

13733 1.64 254.9 27.7 7.7 1077 13752 0.00 0.00 16.45 0.267 6 0.000 0.000 3043 1958 1729 0 0 0 0 0 0 28.83 28.83 14.35

13997 end climb: SURFACE_DEPTH_REACHED

state 13998 begin surface coast

14029 end surface coast: CONTROL_FINISHED_OK

state 14029 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	301	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	360	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	14	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	15	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	20	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	200	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	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	3	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	-1641.4536	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	311012,143041,6643.033,-5952.611,14,0.7,14,-33.8	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	2.90	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	311012,143600,6643.002,-5952.713,14,0.9,14,-33.8	MHEAD_RNG_PITCHd_Wd	63.3,138436,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	724

FINISH	2.5,1.025594	_24V_AH	12.4,96.957
SM_CCo	14072,17.45,0.203,0,0,1588,290.19	_10V_AH	12.7,0.000
SM_GC	3.15,8.77,14.85,17.45,0.117,0.086,0.203,141,1958,1588,-11.59,-4.58,290.19,0,0,6,1,0,0,14.59,14.58,14.42	FG_AHR_24Vo	0.000
RAFOS_CLK	631	FG_AHR_10Vo	0.000
RAFOS	0,1351699266,16.033333,16.018333,62,55,55,54,54,50,199,148,133,176,216,124	MEM	188768
RAFOS_FIX	6656.315430,-5942.899414,311012,161622,3,82,3.36	DATA_FILE_SIZE	53369,1134
IRIDIUM_FIX	6614.97,-5951.67,311012,141444	CAP_FILE_SIZE	118952,40
TT8_MAMPS	0.026215,0.026215	CFSIZE	259252224,229990400
HUMID	47.16	ERRORS	0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
INTERNAL_PRESSURE	8.66467	SOUNDSPEED	1451.1
TCM_TEMP	12.50	CURRENT	0.083,170.3,1
XPDR_PINGS	3	GPS	311012,183328,6642.377,-5951.397,38,0.9,39,-33.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	426	115.79	SBE_CT	825	23	245.24
Roll_motor	59	86	63.67	SBE_O2	801	3	37.18
VBD_pump_during_apogee	382	2554	12119.96	nil	0	0	0.00
VBD_pump_during_surface	17	202	43.87	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	3.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	21	4.38
TT8	2771	14	526.61
LPSleep	8724	2	255.95
TT8_Active	616	14	117.14
TT8_Sampling	1688	33	722.64
TT8_CF8	412	38	200.22
TT8_Kalman	0	0	0.00
Analog_circuits	1503	12	229.07
GPS_charging	0	0	0.00
Compass	1666	6	142.62
RAFOS	2520	1	48.01
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	26	0.00	0.00	-5.50	0.000	2	0.000	0.000	140	2029	608	0	0	0	0	0	0	28.83	28.83	28.83
33	-1.50	-136.9	3.1	0.0	1	216	10.70	0.00	-163.62	0.000	6	0.427	0.000	2353	1958	3329	0	0	0	0	0	0	14.25	28.83	14.78
533	-1.50	-136.9	56.2	-14.2	92	539	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3331	0	0	0	0	0	0	28.83	28.83	28.83
854	-1.50	-136.9	101.7	-14.2	153	861	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1959	3331	0	0	0	0	0	0	28.83	28.83	28.83
1168	-1.50	-136.9	144.2	-13.5	184	1174	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3331	0	0	0	0	0	0	28.83	28.83	28.83
1481	-1.50	-136.9	183.9	-13.0	215	1487	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1957	3331	0	0	0	0	0	0	28.83	28.83	28.83
1793	-1.50	-136.9	222.2	-11.4	246	1799	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3331	0	0	0	0	0	0	28.83	28.83	28.83
2105	-1.50	-136.9	261.0	-12.5	277	2111	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3331	0	0	0	0	0	0	28.83	28.83	28.83
2418	-1.50	-136.9	298.0	-11.4	308	2424	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3331	0	0	0	0	0	0	28.83	28.83	28.83
2730	-1.50	-136.9	333.9	-11.7	339	2736	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3331	0	0	0	0	0	0	28.83	28.83	28.83
3041	-1.50	-136.9	369.7	-11.1	370	3047	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3331	0	0	0	0	0	0	28.83	28.83	28.83
3348	-1.50	-136.9	403.6	-10.9	399	3350	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3331	0	0	0	0	0	0	28.83	28.83	28.83
3648	-1.50	-136.9	436.3	-10.5	409	3649	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3331	0	0	0	0	0	0	28.83	28.83	28.83
3948	-1.50	-136.9	468.0	-10.8	419	3949	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3331	0	0	0	0	0	0	28.83	28.83	28.83
4248	-1.50	-136.9	500.5	-10.9	429	4249	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3331	0	0	0	0	0	0	28.83	28.83	28.83
4548	-1.50	-136.9	532.2	-10.3	439	4549	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3331	0	0	0	0	0	0	28.83	28.83	28.83
4848	-1.50	-136.9	562.1	-9.9	449	4849	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1958	3332	0	0	0	0	0	0	28.83	28.83	28.83
5148	-1.50	-136.9	590.4	-9.4	459	5149	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3332	0	0	0	0	0	0	28.83	28.83	28.83
5449	-1.50	-136.9	617.7	-9.4	469	5451	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3333	0	0	0	0	0	0	28.83	28.83	28.83
5748	-1.50	-136.9	647.2	-9.9	479	5749	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3333	0	0	0	0	0	0	28.83	28.83	28.83
6048	-1.50	-136.9	677.7	-10.5	489	6049	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1958	3333	0	0	0	0	0	0	28.83	28.83	28.83
6348	-1.50	-136.9	706.7	-9.4	499	6349	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1958	3333	0	0	0	0	0	0	28.83	28.83	28.83
6553	end dive: TARGET_DEPTH_EXCEEDED
state	6553	begin apogee
6580	-0.38	0.0	725.7	-8.6	506	6749	0.88	14.85	141.95	2.554	6	0.265	0.081	2590	1958	2772	0	0	6	1	0	0	14.29	13.65	12.81
6750	end apogee: CONTROL_FINISHED_OK
state	6750	begin climb
6755	1.50	136.9	730.0	0.0	512	6916	1.42	0.00	156.77	2.484	6	0.171	0.000	3004	1959	2214	0	0	0	0	0	0	13.66	28.83	12.40
7218	1.50	136.9	686.3	11.2	528	7219	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2205	0	0	0	0	0	0	28.83	28.83	28.83
7514	1.50	136.9	651.1	11.8	538	7515	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2203	0	0	0	0	0	0	28.83	28.83	28.83
7813	1.50	136.9	617.3	11.0	548	7814	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2202	0	0	0	0	0	0	28.83	28.83	28.83
8113	1.50	136.9	585.3	10.7	558	8115	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2201	0	0	0	0	0	0	28.83	28.83	28.83
8413	1.50	136.9	551.9	11.3	568	8414	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2201	0	0	0	0	0	0	28.83	28.83	28.83
8713	1.50	136.9	517.8	11.4	578	8715	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2201	0	0	0	0	0	0	28.83	28.83	28.83
9013	1.50	136.9	484.5	10.9	588	9014	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2201	0	0	0	0	0	0	28.83	28.83	28.83
9314	1.50	136.9	452.4	10.8	598	9315	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2199	0	0	0	0	0	0	28.83	28.83	28.83
9613	1.50	136.9	418.4	11.4	608	9614	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2200	0	0	0	0	0	0	28.83	28.83	28.83
9913	1.50	136.9	385.4	10.6	626	9920	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1958	2200	0	0	0	0	0	0	28.83	28.83	28.83
10228	1.50	136.9	352.9	10.3	657	10235	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2199	0	0	0	0	0	0	28.83	28.83	28.83
10542	1.50	136.9	319.8	10.2	688	10548	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2199	0	0	0	0	0	0	28.83	28.83	28.83
10854	1.50	136.9	289.2	9.9	719	10860	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2199	0	0	0	0	0	0	28.83	28.83	28.83
11166	1.50	139.0	259.8	8.8	750	11172	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2199	0	0	0	0	0	0	28.83	28.83	28.83
11479	1.50	140.8	232.0	8.8	781	11486	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2199	0	0	0	0	0	0	28.83	28.83	28.83
11792	1.51	148.6	204.2	8.6	812	11805	0.00	0.00	9.88	1.877	6	0.000	0.000	3004	1958	2167	0	0	0	0	0	0	28.83	28.83	13.85
12106	1.51	148.6	172.8	9.9	844	12112	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1958	2165	0	0	0	0	0	0	28.83	28.83	28.83
12423	1.55	176.6	145.2	7.7	875	12455	0.00	0.00	29.25	1.927	6	0.000	0.000	3004	1958	2051	0	0	0	0	0	0	28.83	28.83	13.76
12757	1.60	222.8	117.7	6.9	909	12793	0.10	0.00	28.35	1.797	6	0.177	0.000	3043	1958	1862	0	0	0	0	0	0	14.56	28.83	13.69
13100	1.60	222.8	86.8	10.2	955	13106	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	1958	1853	0	0	0	0	0	0	28.83	28.83	28.83
13417	1.61	226.5	54.1	8.8	1016	13423	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	1958	1851	0	0	0	0	0	0	28.83	28.83	28.83
13733	1.64	254.9	27.7	7.7	1077	13752	0.00	0.00	16.45	0.267	6	0.000	0.000	3043	1958	1729	0	0	0	0	0	0	28.83	28.83	14.35
13997	end climb: SURFACE_DEPTH_REACHED
state	13998	begin surface coast
14029	end surface coast: CONTROL_FINISHED_OK
state	14029	begin surface