Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 304 * 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 304 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 -8150.7261 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 -8150.7261

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 304 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 081110,054227,6646.041,-6008.822,28,99.0,47,-38.1 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081110,054831,6646.040,-6008.812,41,1.0,41,-38.1 MHEAD_RNG_PITCHd_Wd 290.7,13129,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 578

Post-dive calculations and measurements:

FINISH 1.3,1.024995 _24V_AH 22.5,37.379

SM_CCo 11891,0.00,0.000,0,0,1236,413.82 _10V_AH 10.0,29.280

SM_GC 1.67,6.68,0.00,0.00,0.063,0.000,0.000,299,2779,1236,-6.74,-0.03,413.82 FG_AHR_24Vo 0.000

RAFOS_CLK 637 FG_AHR_10Vo 0.000

RAFOS 0,1289203272,8.033334,8.020000,48,46,45,45,42,41,1148,1761,1729,586,1882,145 MEM 189568

RAFOS_FIX 6644.470703,-6008.526855,081110,080820,4,76,0.30 DATA_FILE_SIZE 40001,1109

IRIDIUM_FIX 6614.97,-6011.26,081110,020220 CAP_FILE_SIZE 126482,0

TT8_MAMPS 0.028462 CFSIZE 260165632,228098048

HUMID 49.92 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.48513 SOUNDSPEED 1451.2

TCM_TEMP 14.30 CURRENT 0.258,167.0,1

XPDR_PINGS 0 GPS 081110,090855,6643.966,-6011.157,41,1.3,41,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 259 96.28 SBE_CT 771 24 416.81

Roll_motor 98 75 167.21 SBE_O2 0 0 0.00

VBD_pump_during_apogee 462 981 10220.86 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 23 103 54.59 nil 0 0 0.00

Iridium_during_connect 47 160 171.62 nil 0 0 0.00

Iridium_during_xfer 129 223 647.32 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 44 50 22.21

TT8 2810 19 559.78

LPSleep 6577 2 151.94

TT8_Active 561 19 111.85

TT8_Sampling 2138 39 853.77

TT8_CF8 190 45 87.27

TT8_Kalman 0 0 0.00

Analog_circuits 1583 12 190.01

GPS_charging 0 0 0.00

Compass 1864 15 279.68

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.57 -146.0 0.0 0.0 0 122 0.00 0.00 -104.57 0.000 2 0.000 0.000 286 2787 3249 0 0 0 0 0 0

124 -0.57 -146.0 6.6 -14.0 17 145 8.48 2.38 -5.22 0.000 4 0.259 0.066 2285 1369 3523 0 0 0 0 0 0

208 -0.57 -146.0 34.4 -18.8 31 216 0.00 2.38 0.00 0.000 6 0.000 0.064 2277 2788 3525 0 0 0 0 0 0

553 -0.57 -146.0 86.7 -13.8 92 560 0.00 2.28 0.00 0.000 4 0.000 0.053 2277 1371 3525 0 0 0 0 0 0

606 -0.57 -146.0 93.8 -12.3 101 613 0.00 2.33 0.00 0.000 6 0.000 0.063 2273 2772 3526 0 0 0 0 0 0

935 -0.57 -146.0 136.8 -11.9 136 939 0.00 2.25 0.00 0.000 4 0.000 0.053 2273 1370 3525 0 0 0 0 0 0

974 -0.57 -146.0 141.4 -11.2 139 978 0.00 2.30 0.00 0.000 6 0.000 0.063 2273 2757 3525 0 0 0 0 0 0

1299 -0.57 -146.0 180.0 -11.9 169 1300 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2757 3525 0 0 0 0 0 0

1620 -0.57 -146.0 216.3 -10.5 199 1627 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2757 3524 0 0 0 0 0 0

1947 -0.57 -146.0 250.2 -10.0 230 1951 0.00 1.98 0.00 0.000 4 0.000 0.076 2268 3932 3524 0 0 0 0 0 0

1981 -0.57 -146.0 254.0 -11.0 233 1985 0.00 1.90 0.00 0.000 6 0.000 0.050 2268 2744 3524 0 0 0 0 0 0

2312 -0.57 -146.0 288.4 -10.6 264 2315 0.00 2.20 0.00 0.000 4 0.000 0.054 2268 1372 3523 0 0 0 0 0 0

2368 -0.57 -146.0 294.4 -10.5 269 2372 0.00 2.28 0.00 0.000 6 0.000 0.065 2266 2738 3523 0 0 0 0 0 0

2693 -0.57 -146.0 328.6 -10.5 299 2697 0.00 2.05 0.00 0.000 4 0.000 0.076 2259 3931 3524 0 0 0 0 0 0

2741 -0.57 -146.0 334.0 -11.0 303 2750 0.12 1.95 0.00 0.000 6 0.169 0.050 2292 2742 3523 0 0 0 0 0 0

3067 -0.57 -146.0 359.6 -7.4 334 3068 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2741 3523 0 0 0 0 0 0

3389 -0.57 -146.0 383.2 -7.2 364 3395 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2742 3523 0 0 0 0 0 0

3715 -0.57 -146.0 406.5 -7.3 395 3716 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2741 3523 0 0 0 0 0 0

4034 -0.57 -146.0 430.5 -7.7 425 4036 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2741 3524 0 0 0 0 0 0

4353 -0.57 -146.0 455.2 -7.9 455 4357 0.00 2.05 0.00 0.000 4 0.000 0.076 2288 3926 3524 0 0 0 0 0 0

4390 -0.57 -146.0 458.4 -8.7 458 4397 0.00 1.92 0.00 0.000 6 0.000 0.049 2288 2752 3524 0 0 0 0 0 0

4716 -0.57 -146.0 483.9 -7.6 489 4717 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 2753 3524 0 0 0 0 0 0

5031 -0.57 -146.0 506.8 -7.1 513 5035 0.00 2.17 0.00 0.000 4 0.000 0.051 2288 1369 3525 0 0 0 0 0 0

5103 -0.57 -146.0 512.3 -7.4 515 5108 0.00 2.28 0.00 0.000 6 0.000 0.062 2288 2755 3525 0 0 0 0 0 0

5439 -0.57 -146.0 534.9 -6.8 526 5441 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 2754 3525 0 0 0 0 0 0

5746 -0.57 -146.0 555.1 -6.5 536 5747 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 2754 3525 0 0 0 0 0 0

6051 -0.57 -146.0 575.8 -6.8 546 6055 0.00 2.00 0.00 0.000 4 0.000 0.073 2288 3922 3525 0 0 0 0 0 0

6073 -0.57 -146.0 577.4 -6.8 546 6077 0.00 1.88 0.00 0.000 6 0.000 0.048 2288 2744 3525 0 0 0 0 0 0

6084 end dive: TARGET_DEPTH_EXCEEDED

state 6084 begin apogee

6089 -0.14 0.0 578.2 7.2 547 6217 0.40 0.00 119.40 0.981 4 0.129 0.000 2422 2595 2922 0 0 0 0 0 0

6217 end apogee: CONTROL_FINISHED_OK

state 6218 begin climb

6219 0.57 146.0 582.4 0.0 551 6355 0.70 2.38 125.07 0.958 4 0.080 0.050 2661 1184 2327 0 0 0 0 0 0

6538 0.57 146.0 554.8 10.9 560 6546 0.00 2.47 0.00 0.000 6 0.000 0.055 2661 2591 2318 0 0 0 0 0 0

6852 0.57 146.0 518.0 11.7 571 6856 0.00 2.33 0.00 0.000 4 0.000 0.052 2662 1184 2315 0 0 0 0 0 0

7074 0.57 146.0 493.6 10.3 579 7083 0.00 2.38 0.00 0.000 6 0.000 0.056 2663 2596 2314 0 0 0 0 0 0

7400 0.57 146.0 456.7 11.4 610 7404 0.00 2.25 0.00 0.000 4 0.000 0.068 2663 3934 2313 0 0 0 0 0 0

7434 0.57 146.0 452.4 13.6 613 7438 0.00 2.17 0.00 0.000 6 0.000 0.045 2666 2592 2312 0 0 0 0 0 0

7764 0.57 146.0 412.8 12.1 644 7768 0.00 2.28 0.00 0.000 4 0.000 0.069 2666 3934 2313 0 0 0 0 0 0

7832 0.57 146.0 403.2 14.5 650 7836 0.00 2.15 0.00 0.000 6 0.000 0.044 2666 2600 2312 0 0 0 0 0 0

8163 0.57 146.0 362.1 12.1 681 8164 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2599 2312 0 0 0 0 0 0

8481 0.57 146.0 325.2 11.0 711 8485 0.00 2.25 0.00 0.000 4 0.000 0.068 2666 3937 2312 0 0 0 0 0 0

8555 0.57 146.0 315.8 13.0 717 8559 0.00 2.10 0.00 0.000 6 0.000 0.045 2666 2622 2311 0 0 0 0 0 0

8889 0.57 146.0 279.4 10.4 748 8893 0.00 2.20 0.00 0.000 4 0.000 0.069 2667 3936 2311 0 0 0 0 0 0

8918 0.57 146.0 275.7 12.5 750 8922 0.00 2.08 0.00 0.000 6 0.000 0.044 2667 2635 2311 0 0 0 0 0 0

9247 0.57 146.0 239.8 11.3 781 9252 0.00 2.30 0.00 0.000 4 0.000 0.054 2666 1185 2311 0 0 0 0 0 0

9285 0.57 146.0 235.6 10.0 784 9293 0.00 2.38 0.00 0.000 6 0.000 0.057 2666 2628 2312 0 0 0 0 0 0

9611 0.57 146.0 201.8 10.2 815 9615 0.00 2.15 0.00 0.000 4 0.000 0.070 2666 3927 2312 0 0 0 0 0 0

9676 0.57 146.0 193.9 12.6 820 9684 0.00 2.08 0.00 0.000 6 0.000 0.045 2667 2647 2311 0 0 0 0 0 0

10002 0.58 166.5 164.4 9.1 851 10026 0.00 2.20 15.43 0.741 4 0.000 0.070 2666 3925 2242 0 0 0 0 0 0

10098 0.58 166.5 154.3 11.1 859 10106 0.00 2.08 0.00 0.000 6 0.000 0.045 2667 2656 2241 0 0 0 0 0 0

10424 0.60 202.3 126.6 8.3 890 10460 0.00 2.45 30.55 0.718 4 0.000 0.054 2666 1185 2098 0 0 0 0 0 0

10487 0.62 232.4 121.0 8.6 895 10518 0.00 2.40 25.92 0.701 6 0.000 0.057 2666 2642 1975 0 0 0 0 0 0

10842 0.64 258.7 87.6 8.8 940 10873 0.00 2.22 21.83 0.694 4 0.000 0.070 2667 3919 1866 0 0 0 0 0 0

10902 0.64 258.7 81.3 11.2 950 10909 0.00 2.10 0.00 0.000 6 0.000 0.046 2667 2642 1863 0 0 0 0 0 0

11245 0.68 319.0 52.0 7.2 1011 11303 0.00 2.40 49.15 0.674 4 0.000 0.054 2667 1188 1622 0 0 0 0 0 0

11333 0.71 371.1 45.5 7.6 1025 11384 0.12 2.42 43.42 0.659 6 0.110 0.057 2718 2632 1409 0 0 0 0 0 0

11721 0.74 411.4 8.5 8.1 1093 11759 0.00 2.45 32.05 0.648 4 0.000 0.054 2718 1191 1243 0 0 0 0 0 0

11796 end climb: SURFACE_DEPTH_REACHED

state 11796 begin surface coast

11814 end surface coast: CONTROL_FINISHED_OK

state 11814 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	304	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	-8150.7261	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	081110,054227,6646.041,-6008.822,28,99.0,47,-38.1	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081110,054831,6646.040,-6008.812,41,1.0,41,-38.1	MHEAD_RNG_PITCHd_Wd	290.7,13129,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	578

FINISH	1.3,1.024995	_24V_AH	22.5,37.379
SM_CCo	11891,0.00,0.000,0,0,1236,413.82	_10V_AH	10.0,29.280
SM_GC	1.67,6.68,0.00,0.00,0.063,0.000,0.000,299,2779,1236,-6.74,-0.03,413.82	FG_AHR_24Vo	0.000
RAFOS_CLK	637	FG_AHR_10Vo	0.000
RAFOS	0,1289203272,8.033334,8.020000,48,46,45,45,42,41,1148,1761,1729,586,1882,145	MEM	189568
RAFOS_FIX	6644.470703,-6008.526855,081110,080820,4,76,0.30	DATA_FILE_SIZE	40001,1109
IRIDIUM_FIX	6614.97,-6011.26,081110,020220	CAP_FILE_SIZE	126482,0
TT8_MAMPS	0.028462	CFSIZE	260165632,228098048
HUMID	49.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.48513	SOUNDSPEED	1451.2
TCM_TEMP	14.30	CURRENT	0.258,167.0,1
XPDR_PINGS	0	GPS	081110,090855,6643.966,-6011.157,41,1.3,41,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	259	96.28	SBE_CT	771	24	416.81
Roll_motor	98	75	167.21	SBE_O2	0	0	0.00
VBD_pump_during_apogee	462	981	10220.86	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	23	103	54.59	nil	0	0	0.00
Iridium_during_connect	47	160	171.62	nil	0	0	0.00
Iridium_during_xfer	129	223	647.32	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	44	50	22.21
TT8	2810	19	559.78
LPSleep	6577	2	151.94
TT8_Active	561	19	111.85
TT8_Sampling	2138	39	853.77
TT8_CF8	190	45	87.27
TT8_Kalman	0	0	0.00
Analog_circuits	1583	12	190.01
GPS_charging	0	0	0.00
Compass	1864	15	279.68
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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.57	-146.0	0.0	0.0	0	122	0.00	0.00	-104.57	0.000	2	0.000	0.000	286	2787	3249	0	0	0	0	0	0
124	-0.57	-146.0	6.6	-14.0	17	145	8.48	2.38	-5.22	0.000	4	0.259	0.066	2285	1369	3523	0	0	0	0	0	0
208	-0.57	-146.0	34.4	-18.8	31	216	0.00	2.38	0.00	0.000	6	0.000	0.064	2277	2788	3525	0	0	0	0	0	0
553	-0.57	-146.0	86.7	-13.8	92	560	0.00	2.28	0.00	0.000	4	0.000	0.053	2277	1371	3525	0	0	0	0	0	0
606	-0.57	-146.0	93.8	-12.3	101	613	0.00	2.33	0.00	0.000	6	0.000	0.063	2273	2772	3526	0	0	0	0	0	0
935	-0.57	-146.0	136.8	-11.9	136	939	0.00	2.25	0.00	0.000	4	0.000	0.053	2273	1370	3525	0	0	0	0	0	0
974	-0.57	-146.0	141.4	-11.2	139	978	0.00	2.30	0.00	0.000	6	0.000	0.063	2273	2757	3525	0	0	0	0	0	0
1299	-0.57	-146.0	180.0	-11.9	169	1300	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2757	3525	0	0	0	0	0	0
1620	-0.57	-146.0	216.3	-10.5	199	1627	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2757	3524	0	0	0	0	0	0
1947	-0.57	-146.0	250.2	-10.0	230	1951	0.00	1.98	0.00	0.000	4	0.000	0.076	2268	3932	3524	0	0	0	0	0	0
1981	-0.57	-146.0	254.0	-11.0	233	1985	0.00	1.90	0.00	0.000	6	0.000	0.050	2268	2744	3524	0	0	0	0	0	0
2312	-0.57	-146.0	288.4	-10.6	264	2315	0.00	2.20	0.00	0.000	4	0.000	0.054	2268	1372	3523	0	0	0	0	0	0
2368	-0.57	-146.0	294.4	-10.5	269	2372	0.00	2.28	0.00	0.000	6	0.000	0.065	2266	2738	3523	0	0	0	0	0	0
2693	-0.57	-146.0	328.6	-10.5	299	2697	0.00	2.05	0.00	0.000	4	0.000	0.076	2259	3931	3524	0	0	0	0	0	0
2741	-0.57	-146.0	334.0	-11.0	303	2750	0.12	1.95	0.00	0.000	6	0.169	0.050	2292	2742	3523	0	0	0	0	0	0
3067	-0.57	-146.0	359.6	-7.4	334	3068	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2741	3523	0	0	0	0	0	0
3389	-0.57	-146.0	383.2	-7.2	364	3395	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2742	3523	0	0	0	0	0	0
3715	-0.57	-146.0	406.5	-7.3	395	3716	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2741	3523	0	0	0	0	0	0
4034	-0.57	-146.0	430.5	-7.7	425	4036	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2741	3524	0	0	0	0	0	0
4353	-0.57	-146.0	455.2	-7.9	455	4357	0.00	2.05	0.00	0.000	4	0.000	0.076	2288	3926	3524	0	0	0	0	0	0
4390	-0.57	-146.0	458.4	-8.7	458	4397	0.00	1.92	0.00	0.000	6	0.000	0.049	2288	2752	3524	0	0	0	0	0	0
4716	-0.57	-146.0	483.9	-7.6	489	4717	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	2753	3524	0	0	0	0	0	0
5031	-0.57	-146.0	506.8	-7.1	513	5035	0.00	2.17	0.00	0.000	4	0.000	0.051	2288	1369	3525	0	0	0	0	0	0
5103	-0.57	-146.0	512.3	-7.4	515	5108	0.00	2.28	0.00	0.000	6	0.000	0.062	2288	2755	3525	0	0	0	0	0	0
5439	-0.57	-146.0	534.9	-6.8	526	5441	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	2754	3525	0	0	0	0	0	0
5746	-0.57	-146.0	555.1	-6.5	536	5747	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	2754	3525	0	0	0	0	0	0
6051	-0.57	-146.0	575.8	-6.8	546	6055	0.00	2.00	0.00	0.000	4	0.000	0.073	2288	3922	3525	0	0	0	0	0	0
6073	-0.57	-146.0	577.4	-6.8	546	6077	0.00	1.88	0.00	0.000	6	0.000	0.048	2288	2744	3525	0	0	0	0	0	0
6084	end dive: TARGET_DEPTH_EXCEEDED
state	6084	begin apogee
6089	-0.14	0.0	578.2	7.2	547	6217	0.40	0.00	119.40	0.981	4	0.129	0.000	2422	2595	2922	0	0	0	0	0	0
6217	end apogee: CONTROL_FINISHED_OK
state	6218	begin climb
6219	0.57	146.0	582.4	0.0	551	6355	0.70	2.38	125.07	0.958	4	0.080	0.050	2661	1184	2327	0	0	0	0	0	0
6538	0.57	146.0	554.8	10.9	560	6546	0.00	2.47	0.00	0.000	6	0.000	0.055	2661	2591	2318	0	0	0	0	0	0
6852	0.57	146.0	518.0	11.7	571	6856	0.00	2.33	0.00	0.000	4	0.000	0.052	2662	1184	2315	0	0	0	0	0	0
7074	0.57	146.0	493.6	10.3	579	7083	0.00	2.38	0.00	0.000	6	0.000	0.056	2663	2596	2314	0	0	0	0	0	0
7400	0.57	146.0	456.7	11.4	610	7404	0.00	2.25	0.00	0.000	4	0.000	0.068	2663	3934	2313	0	0	0	0	0	0
7434	0.57	146.0	452.4	13.6	613	7438	0.00	2.17	0.00	0.000	6	0.000	0.045	2666	2592	2312	0	0	0	0	0	0
7764	0.57	146.0	412.8	12.1	644	7768	0.00	2.28	0.00	0.000	4	0.000	0.069	2666	3934	2313	0	0	0	0	0	0
7832	0.57	146.0	403.2	14.5	650	7836	0.00	2.15	0.00	0.000	6	0.000	0.044	2666	2600	2312	0	0	0	0	0	0
8163	0.57	146.0	362.1	12.1	681	8164	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2599	2312	0	0	0	0	0	0
8481	0.57	146.0	325.2	11.0	711	8485	0.00	2.25	0.00	0.000	4	0.000	0.068	2666	3937	2312	0	0	0	0	0	0
8555	0.57	146.0	315.8	13.0	717	8559	0.00	2.10	0.00	0.000	6	0.000	0.045	2666	2622	2311	0	0	0	0	0	0
8889	0.57	146.0	279.4	10.4	748	8893	0.00	2.20	0.00	0.000	4	0.000	0.069	2667	3936	2311	0	0	0	0	0	0
8918	0.57	146.0	275.7	12.5	750	8922	0.00	2.08	0.00	0.000	6	0.000	0.044	2667	2635	2311	0	0	0	0	0	0
9247	0.57	146.0	239.8	11.3	781	9252	0.00	2.30	0.00	0.000	4	0.000	0.054	2666	1185	2311	0	0	0	0	0	0
9285	0.57	146.0	235.6	10.0	784	9293	0.00	2.38	0.00	0.000	6	0.000	0.057	2666	2628	2312	0	0	0	0	0	0
9611	0.57	146.0	201.8	10.2	815	9615	0.00	2.15	0.00	0.000	4	0.000	0.070	2666	3927	2312	0	0	0	0	0	0
9676	0.57	146.0	193.9	12.6	820	9684	0.00	2.08	0.00	0.000	6	0.000	0.045	2667	2647	2311	0	0	0	0	0	0
10002	0.58	166.5	164.4	9.1	851	10026	0.00	2.20	15.43	0.741	4	0.000	0.070	2666	3925	2242	0	0	0	0	0	0
10098	0.58	166.5	154.3	11.1	859	10106	0.00	2.08	0.00	0.000	6	0.000	0.045	2667	2656	2241	0	0	0	0	0	0
10424	0.60	202.3	126.6	8.3	890	10460	0.00	2.45	30.55	0.718	4	0.000	0.054	2666	1185	2098	0	0	0	0	0	0
10487	0.62	232.4	121.0	8.6	895	10518	0.00	2.40	25.92	0.701	6	0.000	0.057	2666	2642	1975	0	0	0	0	0	0
10842	0.64	258.7	87.6	8.8	940	10873	0.00	2.22	21.83	0.694	4	0.000	0.070	2667	3919	1866	0	0	0	0	0	0
10902	0.64	258.7	81.3	11.2	950	10909	0.00	2.10	0.00	0.000	6	0.000	0.046	2667	2642	1863	0	0	0	0	0	0
11245	0.68	319.0	52.0	7.2	1011	11303	0.00	2.40	49.15	0.674	4	0.000	0.054	2667	1188	1622	0	0	0	0	0	0
11333	0.71	371.1	45.5	7.6	1025	11384	0.12	2.42	43.42	0.659	6	0.110	0.057	2718	2632	1409	0	0	0	0	0	0
11721	0.74	411.4	8.5	8.1	1093	11759	0.00	2.45	32.05	0.648	4	0.000	0.054	2718	1191	1243	0	0	0	0	0	0
11796	end climb: SURFACE_DEPTH_REACHED
state	11796	begin surface coast
11814	end surface coast: CONTROL_FINISHED_OK
state	11814	begin surface