Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 303 * 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 303 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 -1643.9685 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 -1643.9685

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 303 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 311012,223928,6640.120,-5950.737,38,0.7,38,-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 3.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 311012,224759,6640.039,-5950.596,4,0.7,4,-33.7 MHEAD_RNG_PITCHd_Wd 60.8,138548,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 723

Post-dive calculations and measurements:

FINISH 2.5,1.013058 _24V_AH 12.4,97.584

SM_CCo 13989,31.70,0.200,0,0,1588,290.19 _10V_AH 12.7,0.000

SM_GC 3.97,8.70,14.85,31.70,0.109,0.080,0.200,134,1957,1588,-11.62,-4.61,290.19,0,0,6,1,0,0,14.62,14.60,14.42 FG_AHR_24Vo 0.000

RAFOS_CLK 622 FG_AHR_10Vo 0.000

RAFOS 0,1351728087,0.033333,0.024167,62,59,57,51,49,48,220,193,163,151,133,176 MEM 188752

RAFOS_FIX 6654.094238,-5947.406250,011112,000044,2,81,3.77 DATA_FILE_SIZE 50021,1126

IRIDIUM_FIX 6614.97,-5954.40,311012,181808 CAP_FILE_SIZE 102875,32

TT8_MAMPS 0.026215,0.026215 CFSIZE 259252224,229892096

HUMID 46.61 ERRORS 0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0

INTERNAL_PRESSURE 8.67444 SOUNDSPEED 1451.8

TCM_TEMP 12.60 CURRENT 0.029,317.6,1

XPDR_PINGS 5 GPS 011112,024404,6640.551,-5950.053,22,0.9,23,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 449 124.87 SBE_CT 826 23 245.69

Roll_motor 59 79 58.60 SBE_O2 801 3 37.19

VBD_pump_during_apogee 377 2561 11995.03 nil 0 0 0.00

VBD_pump_during_surface 31 200 78.79 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 302 164 616.54 nil 0 0 0.00

Transponder_ping 1 420 6.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 21 1.64

TT8 2802 14 532.43

LPSleep 8675 2 254.52

TT8_Active 566 14 107.63

TT8_Sampling 1896 33 811.36

TT8_CF8 580 38 281.29

TT8_Kalman 0 0 0.00

Analog_circuits 1746 12 266.23

GPS_charging 0 0 0.00

Compass 1657 6 141.86

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

19 -1.50 -136.9 0.0 0.0 0 26 0.00 0.00 -5.53 0.000 2 0.000 0.000 128 1957 1682 0 0 0 0 0 0 28.83 28.83 28.83

32 -1.50 -136.9 3.3 0.0 1 145 11.32 0.00 -96.43 0.000 6 0.449 0.000 2352 1957 3330 0 0 0 0 0 0 14.19 28.83 14.73

459 -1.50 -136.9 57.3 -14.6 80 465 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1957 3332 0 0 0 0 0 0 28.83 28.83 28.83

780 -1.50 -136.9 103.4 -14.6 140 786 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3332 0 0 0 0 0 0 28.83 28.83 28.83

1094 -1.50 -136.9 147.1 -13.6 171 1100 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3332 0 0 0 0 0 0 28.83 28.83 28.83

1406 -1.50 -136.9 188.7 -13.0 202 1412 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3332 0 0 0 0 0 0 28.83 28.83 28.83

1719 -1.50 -136.9 227.0 -12.2 233 1726 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3332 0 0 0 0 0 0 28.83 28.83 28.83

2032 -1.50 -136.9 263.9 -11.5 264 2038 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3331 0 0 0 0 0 0 28.83 28.83 28.83

2343 -1.50 -136.9 298.0 -11.3 295 2349 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3332 0 0 0 0 0 0 28.83 28.83 28.83

2657 -1.50 -136.9 332.6 -11.3 326 2663 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3331 0 0 0 0 0 0 28.83 28.83 28.83

2968 -1.50 -136.9 366.7 -10.6 357 2974 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3331 0 0 0 0 0 0 28.83 28.83 28.83

3280 -1.50 -136.9 400.1 -10.7 388 3281 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1957 3332 0 0 0 0 0 0 28.83 28.83 28.83

3576 -1.50 -136.9 432.5 -10.8 398 3577 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3332 0 0 0 0 0 0 28.83 28.83 28.83

3875 -1.50 -136.9 465.5 -11.1 408 3876 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3332 0 0 0 0 0 0 28.83 28.83 28.83

4176 -1.50 -136.9 497.7 -10.6 418 4177 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3332 0 0 0 0 0 0 28.83 28.83 28.83

4475 -1.50 -136.9 529.2 -10.2 428 4476 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3333 0 0 0 0 0 0 28.83 28.83 28.83

4775 -1.50 -136.9 559.3 -10.1 438 4777 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3333 0 0 0 0 0 0 28.83 28.83 28.83

5075 -1.50 -136.9 587.9 -9.4 448 5077 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1957 3333 0 0 0 0 0 0 28.83 28.83 28.83

5375 -1.50 -136.9 616.7 -10.6 458 5377 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3333 0 0 0 0 0 0 28.83 28.83 28.83

5675 -1.50 -136.9 643.9 -9.7 468 5676 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3334 0 0 0 0 0 0 28.83 28.83 28.83

5976 -1.50 -136.9 671.9 -9.6 478 5977 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3334 0 0 0 0 0 0 28.83 28.83 28.83

6278 -1.50 -136.9 701.7 -10.3 488 6279 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 1957 3334 0 0 0 0 0 0 28.83 28.83 28.83

6510 end dive: TARGET_DEPTH_EXCEEDED

state 6510 begin apogee

6536 -0.38 0.0 725.0 -9.4 496 6706 0.88 14.85 142.73 2.562 6 0.266 0.076 2589 1957 2772 0 0 6 1 0 0 14.28 13.66 12.81

6707 end apogee: CONTROL_FINISHED_OK

state 6708 begin climb

6713 1.50 136.9 730.1 0.0 502 6876 1.42 0.00 158.15 2.512 6 0.171 0.000 3002 1957 2214 0 0 0 0 0 0 13.68 28.83 12.40

7176 1.50 136.9 683.9 10.8 518 7177 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1957 2205 0 0 0 0 0 0 28.83 28.83 28.83

7470 1.50 136.9 650.8 11.9 528 7471 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1957 2202 0 0 0 0 0 0 28.83 28.83 28.83

7771 1.50 136.9 617.0 11.1 538 7772 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1957 2203 0 0 0 0 0 0 28.83 28.83 28.83

8070 1.50 136.9 581.9 11.5 548 8071 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1957 2202 0 0 0 0 0 0 28.83 28.83 28.83

8371 1.50 136.9 547.2 11.8 558 8372 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1957 2202 0 0 0 0 0 0 28.83 28.83 28.83

8670 1.50 136.9 512.4 11.5 568 8671 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1957 2201 0 0 0 0 0 0 28.83 28.83 28.83

8970 1.50 136.9 478.0 11.4 578 8972 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 1956 2201 0 0 0 0 0 0 28.83 28.83 28.83

9271 1.50 136.9 444.3 11.1 588 9272 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1958 2201 0 0 0 0 0 0 28.83 28.83 28.83

9571 1.50 136.9 410.4 11.5 598 9572 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1956 2200 0 0 0 0 0 0 28.83 28.83 28.83

9870 1.50 136.9 376.8 10.9 620 9876 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1957 2200 0 0 0 0 0 0 28.83 28.83 28.83

10185 1.50 136.9 343.2 10.8 651 10191 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1957 2200 0 0 0 0 0 0 28.83 28.83 28.83

10499 1.50 136.9 310.4 10.3 682 10505 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 1957 2200 0 0 0 0 0 0 28.83 28.83 28.83

10811 1.50 136.9 280.2 9.1 713 10818 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1957 2200 0 0 0 0 0 0 28.83 28.83 28.83

11124 1.50 136.9 251.5 9.6 744 11130 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1957 2200 0 0 0 0 0 0 28.83 28.83 28.83

11437 1.51 146.8 223.3 8.5 775 11450 0.00 0.00 8.55 1.862 6 0.000 0.000 3002 1957 2173 0 0 0 0 0 0 28.83 28.83 13.83

11751 1.52 157.0 195.1 8.5 807 11767 0.00 0.00 11.90 1.902 6 0.000 0.000 3002 1957 2131 0 0 0 0 0 0 28.83 28.83 13.83

12071 1.55 180.3 168.4 7.9 839 12098 0.00 0.00 24.90 1.955 6 0.000 0.000 3003 1957 2036 0 0 0 0 0 0 28.83 28.83 13.72

12401 1.56 187.4 140.7 8.6 872 12411 0.00 0.00 7.78 1.765 6 0.000 0.000 3002 1957 2008 0 0 0 0 0 0 28.83 28.83 13.71

12712 1.56 187.4 112.9 9.1 903 12718 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1957 2007 0 0 0 0 0 0 28.83 28.83 28.83

13026 1.61 228.2 86.6 7.1 950 13052 0.10 0.00 23.58 0.450 6 0.181 0.000 3041 1957 1840 0 0 0 0 0 0 14.62 28.83 14.26

13368 1.61 228.2 52.5 10.5 1014 13374 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 1957 1833 0 0 0 0 0 0 28.83 28.83 28.83

13684 1.61 228.2 21.9 9.1 1075 13690 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 1957 1831 0 0 0 0 0 0 28.83 28.83 28.83

13915 end climb: SURFACE_DEPTH_REACHED

state 13915 begin surface coast

13946 end surface coast: CONTROL_FINISHED_OK

state 13946 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	303	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	-1643.9685	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	311012,223928,6640.120,-5950.737,38,0.7,38,-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	3.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	311012,224759,6640.039,-5950.596,4,0.7,4,-33.7	MHEAD_RNG_PITCHd_Wd	60.8,138548,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	723

FINISH	2.5,1.013058	_24V_AH	12.4,97.584
SM_CCo	13989,31.70,0.200,0,0,1588,290.19	_10V_AH	12.7,0.000
SM_GC	3.97,8.70,14.85,31.70,0.109,0.080,0.200,134,1957,1588,-11.62,-4.61,290.19,0,0,6,1,0,0,14.62,14.60,14.42	FG_AHR_24Vo	0.000
RAFOS_CLK	622	FG_AHR_10Vo	0.000
RAFOS	0,1351728087,0.033333,0.024167,62,59,57,51,49,48,220,193,163,151,133,176	MEM	188752
RAFOS_FIX	6654.094238,-5947.406250,011112,000044,2,81,3.77	DATA_FILE_SIZE	50021,1126
IRIDIUM_FIX	6614.97,-5954.40,311012,181808	CAP_FILE_SIZE	102875,32
TT8_MAMPS	0.026215,0.026215	CFSIZE	259252224,229892096
HUMID	46.61	ERRORS	0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
INTERNAL_PRESSURE	8.67444	SOUNDSPEED	1451.8
TCM_TEMP	12.60	CURRENT	0.029,317.6,1
XPDR_PINGS	5	GPS	011112,024404,6640.551,-5950.053,22,0.9,23,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	449	124.87	SBE_CT	826	23	245.69
Roll_motor	59	79	58.60	SBE_O2	801	3	37.19
VBD_pump_during_apogee	377	2561	11995.03	nil	0	0	0.00
VBD_pump_during_surface	31	200	78.79	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	302	164	616.54	nil	0	0	0.00
Transponder_ping	1	420	6.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	21	1.64
TT8	2802	14	532.43
LPSleep	8675	2	254.52
TT8_Active	566	14	107.63
TT8_Sampling	1896	33	811.36
TT8_CF8	580	38	281.29
TT8_Kalman	0	0	0.00
Analog_circuits	1746	12	266.23
GPS_charging	0	0	0.00
Compass	1657	6	141.86
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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
19	-1.50	-136.9	0.0	0.0	0	26	0.00	0.00	-5.53	0.000	2	0.000	0.000	128	1957	1682	0	0	0	0	0	0	28.83	28.83	28.83
32	-1.50	-136.9	3.3	0.0	1	145	11.32	0.00	-96.43	0.000	6	0.449	0.000	2352	1957	3330	0	0	0	0	0	0	14.19	28.83	14.73
459	-1.50	-136.9	57.3	-14.6	80	465	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1957	3332	0	0	0	0	0	0	28.83	28.83	28.83
780	-1.50	-136.9	103.4	-14.6	140	786	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3332	0	0	0	0	0	0	28.83	28.83	28.83
1094	-1.50	-136.9	147.1	-13.6	171	1100	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3332	0	0	0	0	0	0	28.83	28.83	28.83
1406	-1.50	-136.9	188.7	-13.0	202	1412	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3332	0	0	0	0	0	0	28.83	28.83	28.83
1719	-1.50	-136.9	227.0	-12.2	233	1726	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3332	0	0	0	0	0	0	28.83	28.83	28.83
2032	-1.50	-136.9	263.9	-11.5	264	2038	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3331	0	0	0	0	0	0	28.83	28.83	28.83
2343	-1.50	-136.9	298.0	-11.3	295	2349	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3332	0	0	0	0	0	0	28.83	28.83	28.83
2657	-1.50	-136.9	332.6	-11.3	326	2663	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3331	0	0	0	0	0	0	28.83	28.83	28.83
2968	-1.50	-136.9	366.7	-10.6	357	2974	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3331	0	0	0	0	0	0	28.83	28.83	28.83
3280	-1.50	-136.9	400.1	-10.7	388	3281	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1957	3332	0	0	0	0	0	0	28.83	28.83	28.83
3576	-1.50	-136.9	432.5	-10.8	398	3577	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3332	0	0	0	0	0	0	28.83	28.83	28.83
3875	-1.50	-136.9	465.5	-11.1	408	3876	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3332	0	0	0	0	0	0	28.83	28.83	28.83
4176	-1.50	-136.9	497.7	-10.6	418	4177	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3332	0	0	0	0	0	0	28.83	28.83	28.83
4475	-1.50	-136.9	529.2	-10.2	428	4476	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3333	0	0	0	0	0	0	28.83	28.83	28.83
4775	-1.50	-136.9	559.3	-10.1	438	4777	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3333	0	0	0	0	0	0	28.83	28.83	28.83
5075	-1.50	-136.9	587.9	-9.4	448	5077	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1957	3333	0	0	0	0	0	0	28.83	28.83	28.83
5375	-1.50	-136.9	616.7	-10.6	458	5377	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3333	0	0	0	0	0	0	28.83	28.83	28.83
5675	-1.50	-136.9	643.9	-9.7	468	5676	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3334	0	0	0	0	0	0	28.83	28.83	28.83
5976	-1.50	-136.9	671.9	-9.6	478	5977	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3334	0	0	0	0	0	0	28.83	28.83	28.83
6278	-1.50	-136.9	701.7	-10.3	488	6279	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	1957	3334	0	0	0	0	0	0	28.83	28.83	28.83
6510	end dive: TARGET_DEPTH_EXCEEDED
state	6510	begin apogee
6536	-0.38	0.0	725.0	-9.4	496	6706	0.88	14.85	142.73	2.562	6	0.266	0.076	2589	1957	2772	0	0	6	1	0	0	14.28	13.66	12.81
6707	end apogee: CONTROL_FINISHED_OK
state	6708	begin climb
6713	1.50	136.9	730.1	0.0	502	6876	1.42	0.00	158.15	2.512	6	0.171	0.000	3002	1957	2214	0	0	0	0	0	0	13.68	28.83	12.40
7176	1.50	136.9	683.9	10.8	518	7177	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1957	2205	0	0	0	0	0	0	28.83	28.83	28.83
7470	1.50	136.9	650.8	11.9	528	7471	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1957	2202	0	0	0	0	0	0	28.83	28.83	28.83
7771	1.50	136.9	617.0	11.1	538	7772	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1957	2203	0	0	0	0	0	0	28.83	28.83	28.83
8070	1.50	136.9	581.9	11.5	548	8071	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1957	2202	0	0	0	0	0	0	28.83	28.83	28.83
8371	1.50	136.9	547.2	11.8	558	8372	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1957	2202	0	0	0	0	0	0	28.83	28.83	28.83
8670	1.50	136.9	512.4	11.5	568	8671	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1957	2201	0	0	0	0	0	0	28.83	28.83	28.83
8970	1.50	136.9	478.0	11.4	578	8972	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	1956	2201	0	0	0	0	0	0	28.83	28.83	28.83
9271	1.50	136.9	444.3	11.1	588	9272	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1958	2201	0	0	0	0	0	0	28.83	28.83	28.83
9571	1.50	136.9	410.4	11.5	598	9572	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1956	2200	0	0	0	0	0	0	28.83	28.83	28.83
9870	1.50	136.9	376.8	10.9	620	9876	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1957	2200	0	0	0	0	0	0	28.83	28.83	28.83
10185	1.50	136.9	343.2	10.8	651	10191	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1957	2200	0	0	0	0	0	0	28.83	28.83	28.83
10499	1.50	136.9	310.4	10.3	682	10505	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	1957	2200	0	0	0	0	0	0	28.83	28.83	28.83
10811	1.50	136.9	280.2	9.1	713	10818	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1957	2200	0	0	0	0	0	0	28.83	28.83	28.83
11124	1.50	136.9	251.5	9.6	744	11130	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1957	2200	0	0	0	0	0	0	28.83	28.83	28.83
11437	1.51	146.8	223.3	8.5	775	11450	0.00	0.00	8.55	1.862	6	0.000	0.000	3002	1957	2173	0	0	0	0	0	0	28.83	28.83	13.83
11751	1.52	157.0	195.1	8.5	807	11767	0.00	0.00	11.90	1.902	6	0.000	0.000	3002	1957	2131	0	0	0	0	0	0	28.83	28.83	13.83
12071	1.55	180.3	168.4	7.9	839	12098	0.00	0.00	24.90	1.955	6	0.000	0.000	3003	1957	2036	0	0	0	0	0	0	28.83	28.83	13.72
12401	1.56	187.4	140.7	8.6	872	12411	0.00	0.00	7.78	1.765	6	0.000	0.000	3002	1957	2008	0	0	0	0	0	0	28.83	28.83	13.71
12712	1.56	187.4	112.9	9.1	903	12718	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1957	2007	0	0	0	0	0	0	28.83	28.83	28.83
13026	1.61	228.2	86.6	7.1	950	13052	0.10	0.00	23.58	0.450	6	0.181	0.000	3041	1957	1840	0	0	0	0	0	0	14.62	28.83	14.26
13368	1.61	228.2	52.5	10.5	1014	13374	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	1957	1833	0	0	0	0	0	0	28.83	28.83	28.83
13684	1.61	228.2	21.9	9.1	1075	13690	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	1957	1831	0	0	0	0	0	0	28.83	28.83	28.83
13915	end climb: SURFACE_DEPTH_REACHED
state	13915	begin surface coast
13946	end surface coast: CONTROL_FINISHED_OK
state	13946	begin surface