Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 303 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 183 HD_C 9.9999997e-06 ROLL_MIN 330 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 303 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 20

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 350 R_PORT_OVSHOOT 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00065 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 8 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -8149.3735 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 311 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3850 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2475 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043469137

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -62.615704 SEABIRD_T_H 0.00062159239

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00012025224 SEABIRD_T_I 2.0014088e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 1.6690842e-06

MASS 51717 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9685602

NAV_MODE 2 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1354375

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 1 SEABIRD_C_I -0.0013495153

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019269099

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 49 SIM_W 0

AH0_10V 100 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 20 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3850 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00065 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00012025224 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -62.615704 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 PROTOCOL 9 T_GPS 8

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -8149.3735

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 35 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 20 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9685602 VBD_MIN 440

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1354375 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0013495153 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 303 NAV_MODE 2 SEABIRD_C_J 0.00019269099 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0043469137 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 081110,020525,6647.047,-6006.366,42,1.6,42,-38.1 TGT_NAME TARGET_W

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

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

GPS2 081110,021232,6647.052,-6006.399,12,1.7,12,-38.1 MHEAD_RNG_PITCHd_Wd 263.1,15413,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 598

Post-dive calculations and measurements:

FINISH 0.7,1.024957 _24V_AH 22.5,37.259

SM_CCo 12451,0.00,0.000,0,0,1079,452.09 _10V_AH 10.0,29.208

SM_GC 1.49,6.65,0.00,0.00,0.060,0.000,0.000,298,2786,1079,-6.72,0.17,452.09 FG_AHR_24Vo 0.000

RAFOS_CLK 669 FG_AHR_10Vo 0.000

RAFOS 0,1289188864,4.033333,4.017778,58,46,45,44,41,41,651,665,90,154,1596,1750 MEM 189524

RAFOS_FIX 6646.976562,-6002.946289,081110,040448,5,76,0.31 DATA_FILE_SIZE 39967,1145

IRIDIUM_FIX 6614.97,-5951.67,081110,020206 CAP_FILE_SIZE 128733,0

TT8_MAMPS 0.028462 CFSIZE 260165632,228159488

HUMID 50.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.47536 SOUNDSPEED 1451.4

TCM_TEMP 14.20 CURRENT 0.003,334.8,1

XPDR_PINGS 0 GPS 081110,054227,6646.041,-6008.822,28,99.0,47,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 260 96.42 SBE_CT 796 24 430.29

Roll_motor 90 85 174.13 SBE_O2 0 0 0.00

VBD_pump_during_apogee 492 991 10992.53 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 126.67 nil 0 0 0.00

Iridium_during_connect 65 160 236.08 nil 0 0 0.00

Iridium_during_xfer 113 223 571.67 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.52

TT8 2902 19 578.26

LPSleep 7070 2 163.32

TT8_Active 565 19 112.73

TT8_Sampling 2175 39 868.64

TT8_CF8 187 45 86.10

TT8_Kalman 0 0 0.00

Analog_circuits 1605 12 192.72

GPS_charging 0 0 0.00

Compass 1909 15 286.40

RAFOS 2520 3 75.60

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.57 -146.0 0.0 0.0 0 108 0.00 0.00 -90.03 0.000 2 0.000 0.000 285 2785 3120 0 0 0 0 0 0

110 -0.57 -146.0 5.6 -13.5 15 137 8.52 2.35 -8.15 0.000 4 0.260 0.065 2284 1374 3522 0 0 0 0 0 0

166 -0.57 -146.0 26.8 -25.9 24 173 0.00 2.38 0.00 0.000 6 0.000 0.063 2277 2781 3524 0 0 0 0 0 0

509 -0.57 -146.0 81.0 -14.8 85 516 0.00 1.95 0.00 0.000 4 0.000 0.073 2271 3928 3525 0 0 0 0 0 0

630 -0.57 -146.0 99.6 -14.9 106 637 0.00 1.85 0.00 0.000 6 0.000 0.049 2270 2789 3524 0 0 0 0 0 0

955 -0.57 -146.0 144.2 -12.4 137 959 0.00 2.25 0.00 0.000 4 0.000 0.052 2270 1373 3525 0 0 0 0 0 0

1039 -0.57 -146.0 155.1 -12.1 144 1043 0.00 2.35 0.00 0.000 6 0.000 0.065 2265 2778 3525 0 0 0 0 0 0

1364 -0.57 -146.0 194.8 -12.5 174 1365 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2778 3524 0 0 0 0 0 0

1683 -0.57 -146.0 233.8 -12.3 204 1687 0.00 2.28 0.00 0.000 4 0.000 0.054 2266 1370 3524 0 0 0 0 0 0

1756 -0.57 -146.0 242.9 -13.1 210 1760 0.00 2.33 0.00 0.000 6 0.000 0.065 2262 2773 3524 0 0 0 0 0 0

2081 -0.57 -146.0 281.2 -11.6 240 2082 0.00 0.00 0.00 0.000 6 0.000 0.000 2263 2774 3523 0 0 0 0 0 0

2403 -0.57 -146.0 316.5 -11.1 270 2407 0.00 2.25 0.00 0.000 4 0.000 0.053 2262 1365 3523 0 0 0 0 0 0

2424 -0.57 -146.0 319.5 -11.3 271 2432 0.08 2.38 0.00 0.000 6 0.158 0.064 2283 2777 3523 0 0 0 0 0 0

2751 -0.57 -146.0 349.1 -8.6 302 2752 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2776 3523 0 0 0 0 0 0

3071 -0.57 -146.0 375.1 -7.4 332 3072 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2777 3523 0 0 0 0 0 0

3389 -0.57 -146.0 397.7 -6.8 362 3390 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2777 3523 0 0 0 0 0 0

3706 -0.57 -146.0 420.2 -7.5 392 3710 0.00 1.95 0.00 0.000 4 0.000 0.076 2283 3938 3523 0 0 0 0 0 0

3740 -0.57 -146.0 423.0 -8.0 395 3744 0.00 1.90 0.00 0.000 6 0.000 0.050 2283 2763 3523 0 0 0 0 0 0

4071 -0.57 -146.0 449.3 -7.8 426 4073 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2763 3523 0 0 0 0 0 0

4391 -0.57 -146.0 473.3 -6.9 456 4395 0.00 2.22 0.00 0.000 4 0.000 0.051 2283 1363 3523 0 0 0 0 0 0

4448 -0.57 -146.0 477.3 -6.5 460 4455 0.00 2.33 0.00 0.000 6 0.000 0.062 2283 2766 3523 0 0 0 0 0 0

4773 -0.57 -146.0 498.0 -6.3 491 4774 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2766 3524 0 0 0 0 0 0

5091 -0.57 -146.0 518.9 -6.9 504 5095 0.00 2.22 0.00 0.000 4 0.000 0.051 2283 1361 3524 0 0 0 0 0 0

5123 -0.57 -146.0 521.4 -7.5 505 5127 0.00 2.30 0.00 0.000 6 0.000 0.062 2283 2761 3524 0 0 0 0 0 0

5459 -0.57 -146.0 544.2 -6.7 516 5463 0.00 2.22 0.00 0.000 4 0.000 0.050 2283 1366 3524 0 0 0 0 0 0

5485 -0.57 -146.0 546.4 -7.7 516 5493 0.00 2.30 0.00 0.000 6 0.000 0.060 2283 2755 3525 0 0 0 0 0 0

5799 -0.57 -146.0 567.5 -6.7 527 5800 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2754 3525 0 0 0 0 0 0

6105 -0.57 -146.0 588.5 -6.9 537 6106 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2755 3525 0 0 0 0 0 0

6256 end dive: TARGET_DEPTH_EXCEEDED

state 6256 begin apogee

6261 -0.14 0.0 599.6 7.2 542 6388 0.43 0.00 119.47 0.991 4 0.135 0.000 2425 2596 2922 0 0 0 0 0 0

6389 end apogee: CONTROL_FINISHED_OK

state 6389 begin climb

6391 0.57 146.0 603.6 0.0 546 6526 0.68 2.40 125.18 0.968 4 0.078 0.050 2657 1184 2326 0 0 0 0 0 0

6676 0.57 146.0 579.3 11.7 554 6685 0.00 2.50 0.00 0.000 6 0.000 0.055 2657 2597 2317 0 0 0 0 0 0

6990 0.57 146.0 543.5 11.8 565 6994 0.00 2.33 0.00 0.000 4 0.000 0.052 2662 1185 2315 0 0 0 0 0 0

7200 0.57 146.0 519.0 11.7 571 7205 0.00 2.40 0.00 0.000 6 0.000 0.057 2662 2612 2314 0 0 0 0 0 0

7524 0.57 146.0 482.1 11.1 591 7530 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2612 2314 0 0 0 0 0 0

7849 0.57 146.0 445.4 10.5 622 7853 0.00 2.20 0.00 0.000 4 0.000 0.068 2662 3929 2313 0 0 0 0 0 0

7888 0.57 146.0 440.5 13.0 625 7892 0.00 2.15 0.00 0.000 6 0.000 0.045 2664 2597 2312 0 0 0 0 0 0

8218 0.57 146.0 401.1 12.5 656 8222 0.00 2.28 0.00 0.000 4 0.000 0.068 2664 3937 2312 0 0 0 0 0 0

8327 0.57 146.0 385.1 14.8 665 8334 0.00 2.10 0.00 0.000 6 0.000 0.045 2666 2613 2311 0 0 0 0 0 0

8652 0.57 146.0 345.9 12.0 696 8656 0.00 2.22 0.00 0.000 4 0.000 0.070 2666 3938 2311 0 0 0 0 0 0

8695 0.57 146.0 340.1 13.7 699 8702 0.00 2.12 0.00 0.000 6 0.000 0.045 2667 2626 2311 0 0 0 0 0 0

9021 0.57 146.0 305.0 10.2 730 9025 0.00 2.20 0.00 0.000 4 0.000 0.069 2666 3929 2311 0 0 0 0 0 0

9088 0.57 146.0 296.9 12.8 736 9092 0.00 2.08 0.00 0.000 6 0.000 0.045 2666 2632 2311 0 0 0 0 0 0

9413 0.57 146.0 263.7 10.3 766 9414 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2631 2311 0 0 0 0 0 0

9734 0.57 146.0 231.2 10.7 796 9736 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2632 2311 0 0 0 0 0 0

10051 0.57 146.0 198.1 10.6 826 10055 0.00 2.22 0.00 0.000 4 0.000 0.070 2666 3939 2311 0 0 0 0 0 0

10142 0.57 146.0 187.8 11.0 834 10146 0.00 2.08 0.00 0.000 6 0.000 0.046 2666 2642 2311 0 0 0 0 0 0

10472 0.59 186.3 160.0 8.1 865 10510 0.00 2.40 31.50 0.737 4 0.000 0.054 2666 1184 2162 0 0 0 0 0 0

10532 0.61 212.5 154.8 8.8 870 10563 0.00 2.38 22.90 0.716 6 0.000 0.057 2666 2638 2054 0 0 0 0 0 0

10881 0.61 213.7 121.7 9.9 903 10884 0.00 2.17 0.00 0.000 4 0.000 0.070 2666 3933 2046 0 0 0 0 0 0

10908 0.61 213.7 118.6 11.1 905 10915 0.00 2.10 0.00 0.000 6 0.000 0.046 2666 2623 2046 0 0 0 0 0 0

11240 0.62 224.9 87.9 9.5 947 11258 0.00 2.35 9.85 0.690 4 0.000 0.055 2667 1191 2006 0 0 0 0 0 0

11282 0.63 240.3 84.1 9.3 954 11303 0.00 2.40 14.48 0.689 6 0.000 0.058 2667 2642 1943 0 0 0 0 0 0

11640 0.68 313.2 56.1 6.6 1017 11702 0.00 0.00 60.25 0.680 6 0.000 0.000 2666 2642 1646 0 0 0 0 0 0

12037 0.72 382.9 28.5 6.8 1087 12100 0.12 2.50 56.15 0.661 4 0.112 0.056 2717 1191 1359 0 0 0 0 0 0

12167 0.76 449.0 17.6 7.0 1109 12231 0.00 2.45 53.00 0.644 6 0.000 0.058 2717 2639 1091 0 0 0 0 0 0

12341 end climb: SURFACE_DEPTH_REACHED

state 12341 begin surface coast

12376 end surface coast: CONTROL_FINISHED_OK

state 12376 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	303	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	20
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	350	R_PORT_OVSHOOT	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00065	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	8	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-8149.3735	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	311	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3850	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2475	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043469137
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-62.615704	SEABIRD_T_H	0.00062159239
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00012025224	SEABIRD_T_I	2.0014088e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	1.6690842e-06
MASS	51717	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9685602
NAV_MODE	2	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1354375
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	1	SEABIRD_C_I	-0.0013495153
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019269099
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	081110,020525,6647.047,-6006.366,42,1.6,42,-38.1	TGT_NAME	TARGET_W
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081110,021232,6647.052,-6006.399,12,1.7,12,-38.1	MHEAD_RNG_PITCHd_Wd	263.1,15413,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	598

FINISH	0.7,1.024957	_24V_AH	22.5,37.259
SM_CCo	12451,0.00,0.000,0,0,1079,452.09	_10V_AH	10.0,29.208
SM_GC	1.49,6.65,0.00,0.00,0.060,0.000,0.000,298,2786,1079,-6.72,0.17,452.09	FG_AHR_24Vo	0.000
RAFOS_CLK	669	FG_AHR_10Vo	0.000
RAFOS	0,1289188864,4.033333,4.017778,58,46,45,44,41,41,651,665,90,154,1596,1750	MEM	189524
RAFOS_FIX	6646.976562,-6002.946289,081110,040448,5,76,0.31	DATA_FILE_SIZE	39967,1145
IRIDIUM_FIX	6614.97,-5951.67,081110,020206	CAP_FILE_SIZE	128733,0
TT8_MAMPS	0.028462	CFSIZE	260165632,228159488
HUMID	50.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.47536	SOUNDSPEED	1451.4
TCM_TEMP	14.20	CURRENT	0.003,334.8,1
XPDR_PINGS	0	GPS	081110,054227,6646.041,-6008.822,28,99.0,47,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	260	96.42	SBE_CT	796	24	430.29
Roll_motor	90	85	174.13	SBE_O2	0	0	0.00
VBD_pump_during_apogee	492	991	10992.53	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	126.67	nil	0	0	0.00
Iridium_during_connect	65	160	236.08	nil	0	0	0.00
Iridium_during_xfer	113	223	571.67	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.52
TT8	2902	19	578.26
LPSleep	7070	2	163.32
TT8_Active	565	19	112.73
TT8_Sampling	2175	39	868.64
TT8_CF8	187	45	86.10
TT8_Kalman	0	0	0.00
Analog_circuits	1605	12	192.72
GPS_charging	0	0	0.00
Compass	1909	15	286.40
RAFOS	2520	3	75.60
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.57	-146.0	0.0	0.0	0	108	0.00	0.00	-90.03	0.000	2	0.000	0.000	285	2785	3120	0	0	0	0	0	0
110	-0.57	-146.0	5.6	-13.5	15	137	8.52	2.35	-8.15	0.000	4	0.260	0.065	2284	1374	3522	0	0	0	0	0	0
166	-0.57	-146.0	26.8	-25.9	24	173	0.00	2.38	0.00	0.000	6	0.000	0.063	2277	2781	3524	0	0	0	0	0	0
509	-0.57	-146.0	81.0	-14.8	85	516	0.00	1.95	0.00	0.000	4	0.000	0.073	2271	3928	3525	0	0	0	0	0	0
630	-0.57	-146.0	99.6	-14.9	106	637	0.00	1.85	0.00	0.000	6	0.000	0.049	2270	2789	3524	0	0	0	0	0	0
955	-0.57	-146.0	144.2	-12.4	137	959	0.00	2.25	0.00	0.000	4	0.000	0.052	2270	1373	3525	0	0	0	0	0	0
1039	-0.57	-146.0	155.1	-12.1	144	1043	0.00	2.35	0.00	0.000	6	0.000	0.065	2265	2778	3525	0	0	0	0	0	0
1364	-0.57	-146.0	194.8	-12.5	174	1365	0.00	0.00	0.00	0.000	6	0.000	0.000	2265	2778	3524	0	0	0	0	0	0
1683	-0.57	-146.0	233.8	-12.3	204	1687	0.00	2.28	0.00	0.000	4	0.000	0.054	2266	1370	3524	0	0	0	0	0	0
1756	-0.57	-146.0	242.9	-13.1	210	1760	0.00	2.33	0.00	0.000	6	0.000	0.065	2262	2773	3524	0	0	0	0	0	0
2081	-0.57	-146.0	281.2	-11.6	240	2082	0.00	0.00	0.00	0.000	6	0.000	0.000	2263	2774	3523	0	0	0	0	0	0
2403	-0.57	-146.0	316.5	-11.1	270	2407	0.00	2.25	0.00	0.000	4	0.000	0.053	2262	1365	3523	0	0	0	0	0	0
2424	-0.57	-146.0	319.5	-11.3	271	2432	0.08	2.38	0.00	0.000	6	0.158	0.064	2283	2777	3523	0	0	0	0	0	0
2751	-0.57	-146.0	349.1	-8.6	302	2752	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2776	3523	0	0	0	0	0	0
3071	-0.57	-146.0	375.1	-7.4	332	3072	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2777	3523	0	0	0	0	0	0
3389	-0.57	-146.0	397.7	-6.8	362	3390	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2777	3523	0	0	0	0	0	0
3706	-0.57	-146.0	420.2	-7.5	392	3710	0.00	1.95	0.00	0.000	4	0.000	0.076	2283	3938	3523	0	0	0	0	0	0
3740	-0.57	-146.0	423.0	-8.0	395	3744	0.00	1.90	0.00	0.000	6	0.000	0.050	2283	2763	3523	0	0	0	0	0	0
4071	-0.57	-146.0	449.3	-7.8	426	4073	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2763	3523	0	0	0	0	0	0
4391	-0.57	-146.0	473.3	-6.9	456	4395	0.00	2.22	0.00	0.000	4	0.000	0.051	2283	1363	3523	0	0	0	0	0	0
4448	-0.57	-146.0	477.3	-6.5	460	4455	0.00	2.33	0.00	0.000	6	0.000	0.062	2283	2766	3523	0	0	0	0	0	0
4773	-0.57	-146.0	498.0	-6.3	491	4774	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2766	3524	0	0	0	0	0	0
5091	-0.57	-146.0	518.9	-6.9	504	5095	0.00	2.22	0.00	0.000	4	0.000	0.051	2283	1361	3524	0	0	0	0	0	0
5123	-0.57	-146.0	521.4	-7.5	505	5127	0.00	2.30	0.00	0.000	6	0.000	0.062	2283	2761	3524	0	0	0	0	0	0
5459	-0.57	-146.0	544.2	-6.7	516	5463	0.00	2.22	0.00	0.000	4	0.000	0.050	2283	1366	3524	0	0	0	0	0	0
5485	-0.57	-146.0	546.4	-7.7	516	5493	0.00	2.30	0.00	0.000	6	0.000	0.060	2283	2755	3525	0	0	0	0	0	0
5799	-0.57	-146.0	567.5	-6.7	527	5800	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2754	3525	0	0	0	0	0	0
6105	-0.57	-146.0	588.5	-6.9	537	6106	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2755	3525	0	0	0	0	0	0
6256	end dive: TARGET_DEPTH_EXCEEDED
state	6256	begin apogee
6261	-0.14	0.0	599.6	7.2	542	6388	0.43	0.00	119.47	0.991	4	0.135	0.000	2425	2596	2922	0	0	0	0	0	0
6389	end apogee: CONTROL_FINISHED_OK
state	6389	begin climb
6391	0.57	146.0	603.6	0.0	546	6526	0.68	2.40	125.18	0.968	4	0.078	0.050	2657	1184	2326	0	0	0	0	0	0
6676	0.57	146.0	579.3	11.7	554	6685	0.00	2.50	0.00	0.000	6	0.000	0.055	2657	2597	2317	0	0	0	0	0	0
6990	0.57	146.0	543.5	11.8	565	6994	0.00	2.33	0.00	0.000	4	0.000	0.052	2662	1185	2315	0	0	0	0	0	0
7200	0.57	146.0	519.0	11.7	571	7205	0.00	2.40	0.00	0.000	6	0.000	0.057	2662	2612	2314	0	0	0	0	0	0
7524	0.57	146.0	482.1	11.1	591	7530	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2612	2314	0	0	0	0	0	0
7849	0.57	146.0	445.4	10.5	622	7853	0.00	2.20	0.00	0.000	4	0.000	0.068	2662	3929	2313	0	0	0	0	0	0
7888	0.57	146.0	440.5	13.0	625	7892	0.00	2.15	0.00	0.000	6	0.000	0.045	2664	2597	2312	0	0	0	0	0	0
8218	0.57	146.0	401.1	12.5	656	8222	0.00	2.28	0.00	0.000	4	0.000	0.068	2664	3937	2312	0	0	0	0	0	0
8327	0.57	146.0	385.1	14.8	665	8334	0.00	2.10	0.00	0.000	6	0.000	0.045	2666	2613	2311	0	0	0	0	0	0
8652	0.57	146.0	345.9	12.0	696	8656	0.00	2.22	0.00	0.000	4	0.000	0.070	2666	3938	2311	0	0	0	0	0	0
8695	0.57	146.0	340.1	13.7	699	8702	0.00	2.12	0.00	0.000	6	0.000	0.045	2667	2626	2311	0	0	0	0	0	0
9021	0.57	146.0	305.0	10.2	730	9025	0.00	2.20	0.00	0.000	4	0.000	0.069	2666	3929	2311	0	0	0	0	0	0
9088	0.57	146.0	296.9	12.8	736	9092	0.00	2.08	0.00	0.000	6	0.000	0.045	2666	2632	2311	0	0	0	0	0	0
9413	0.57	146.0	263.7	10.3	766	9414	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2631	2311	0	0	0	0	0	0
9734	0.57	146.0	231.2	10.7	796	9736	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2632	2311	0	0	0	0	0	0
10051	0.57	146.0	198.1	10.6	826	10055	0.00	2.22	0.00	0.000	4	0.000	0.070	2666	3939	2311	0	0	0	0	0	0
10142	0.57	146.0	187.8	11.0	834	10146	0.00	2.08	0.00	0.000	6	0.000	0.046	2666	2642	2311	0	0	0	0	0	0
10472	0.59	186.3	160.0	8.1	865	10510	0.00	2.40	31.50	0.737	4	0.000	0.054	2666	1184	2162	0	0	0	0	0	0
10532	0.61	212.5	154.8	8.8	870	10563	0.00	2.38	22.90	0.716	6	0.000	0.057	2666	2638	2054	0	0	0	0	0	0
10881	0.61	213.7	121.7	9.9	903	10884	0.00	2.17	0.00	0.000	4	0.000	0.070	2666	3933	2046	0	0	0	0	0	0
10908	0.61	213.7	118.6	11.1	905	10915	0.00	2.10	0.00	0.000	6	0.000	0.046	2666	2623	2046	0	0	0	0	0	0
11240	0.62	224.9	87.9	9.5	947	11258	0.00	2.35	9.85	0.690	4	0.000	0.055	2667	1191	2006	0	0	0	0	0	0
11282	0.63	240.3	84.1	9.3	954	11303	0.00	2.40	14.48	0.689	6	0.000	0.058	2667	2642	1943	0	0	0	0	0	0
11640	0.68	313.2	56.1	6.6	1017	11702	0.00	0.00	60.25	0.680	6	0.000	0.000	2666	2642	1646	0	0	0	0	0	0
12037	0.72	382.9	28.5	6.8	1087	12100	0.12	2.50	56.15	0.661	4	0.112	0.056	2717	1191	1359	0	0	0	0	0	0
12167	0.76	449.0	17.6	7.0	1109	12231	0.00	2.45	53.00	0.644	6	0.000	0.058	2717	2639	1091	0	0	0	0	0	0
12341	end climb: SURFACE_DEPTH_REACHED
state	12341	begin surface coast
12376	end surface coast: CONTROL_FINISHED_OK
state	12376	begin surface