Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 305 * 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 305 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 31 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 -8152.9287 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 -8152.9287

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 31 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 305 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 081110,090855,6643.966,-6011.157,41,1.3,41,-38.0 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 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081110,091326,6643.951,-6011.058,14,1.4,14,-38.0 MHEAD_RNG_PITCHd_Wd 353.5,10932,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 559

Post-dive calculations and measurements:

FINISH 0.6,1.004943 _24V_AH 22.5,37.500

SM_CCo 11395,0.00,0.000,0,0,1180,427.31 _10V_AH 10.1,29.348

SM_GC 1.82,6.70,0.00,0.00,0.063,0.000,0.000,300,2783,1180,-6.73,0.08,427.31 FG_AHR_24Vo 0.000

RAFOS_CLK 608 FG_AHR_10Vo 0.000

RAFOS 0,1289217663,12.033333,12.017500,59,46,45,44,43,43,635,1187,645,1189,698,855 MEM 189560

RAFOS_FIX 6644.470703,-6008.526855,081110,080820,4,76,0.30 DATA_FILE_SIZE 39974,1110

IRIDIUM_FIX 6614.97,-6009.24,081110,050505 CAP_FILE_SIZE 125906,0

TT8_MAMPS 0.029211 CFSIZE 260165632,228032512

HUMID 49.01 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.48513 SOUNDSPEED 1451.1

TCM_TEMP 14.30 CURRENT 0.115, 15.2,1

XPDR_PINGS 0 GPS 081110,122506,6645.419,-6013.152,27,1.0,27,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 258 95.56 SBE_CT 772 24 416.94

Roll_motor 103 94 221.33 SBE_O2 0 0 0.00

VBD_pump_during_apogee 478 971 10467.60 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 27 103 64.26 nil 0 0 0.00

Iridium_during_connect 16 160 57.75 nil 0 0 0.00

Iridium_during_xfer 107 223 541.59 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.81

TT8 2770 19 557.41

LPSleep 6124 2 142.88

TT8_Active 575 19 115.81

TT8_Sampling 2018 39 813.90

TT8_CF8 187 45 86.86

TT8_Kalman 0 0 0.00

Analog_circuits 1592 12 193.03

GPS_charging 0 0 0.00

Compass 1843 15 279.29

RAFOS 1080 3 32.72

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 12 begin dive

14 -0.57 -146.0 0.0 0.0 0 112 0.00 0.00 -95.22 0.000 2 0.000 0.000 294 2779 3193 0 0 0 0 0 0

114 -0.57 -146.0 6.0 -13.5 16 136 8.43 2.35 -6.47 0.000 4 0.259 0.063 2283 1370 3522 0 0 0 0 0 0

271 -0.57 -146.0 45.7 -16.3 43 278 0.00 2.38 0.00 0.000 6 0.000 0.063 2277 2781 3525 0 0 0 0 0 0

614 -0.57 -146.0 92.2 -13.0 104 620 0.00 0.00 0.00 0.000 6 0.000 0.000 2277 2781 3525 0 0 0 0 0 0

942 -0.57 -146.0 135.9 -13.7 140 946 0.00 2.30 0.00 0.000 4 0.000 0.053 2276 1361 3524 0 0 0 0 0 0

975 -0.57 -146.0 140.4 -13.4 142 983 0.00 2.40 0.00 0.000 6 0.000 0.063 2275 2797 3524 0 0 0 0 0 0

1300 -0.57 -146.0 181.0 -11.2 173 1304 0.00 2.30 0.00 0.000 4 0.000 0.053 2275 1371 3524 0 0 0 0 0 0

1333 -0.57 -146.0 184.8 -11.3 175 1340 0.00 2.35 0.00 0.000 6 0.000 0.064 2274 2781 3524 0 0 0 0 0 0

1658 -0.57 -146.0 216.1 -9.6 206 1662 0.00 1.92 0.00 0.000 4 0.000 0.075 2275 3928 3524 0 0 0 0 0 0

1707 -0.57 -146.0 220.9 -9.5 210 1716 0.00 1.88 0.00 0.000 6 0.000 0.050 2274 2789 3523 0 0 0 0 0 0

2033 -0.57 -146.0 251.9 -10.0 241 2037 0.00 2.25 0.00 0.000 4 0.000 0.054 2274 1372 3523 0 0 0 0 0 0

2106 -0.57 -146.0 259.3 -10.0 247 2110 0.00 2.35 0.00 0.000 6 0.000 0.065 2275 2778 3523 0 0 0 0 0 0

2431 -0.57 -146.0 291.5 -9.7 277 2432 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2778 3523 0 0 0 0 0 0

2752 -0.57 -146.0 322.2 -9.9 307 2756 0.00 2.25 0.00 0.000 4 0.000 0.053 2274 1367 3523 0 0 0 0 0 0

2772 -0.57 -146.0 324.9 -10.4 308 2780 0.00 2.35 0.00 0.000 6 0.000 0.063 2274 2766 3522 0 0 0 0 0 0

3099 -0.57 -146.0 356.4 -9.7 339 3100 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2766 3522 0 0 0 0 0 0

3419 -0.57 -146.0 385.5 -9.0 369 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2767 3522 0 0 0 0 0 0

3738 -0.57 -146.0 412.6 -8.2 399 3742 0.00 2.25 0.00 0.000 4 0.000 0.052 2275 1364 3522 0 0 0 0 0 0

3766 -0.57 -146.0 415.1 -8.7 401 3770 0.00 2.33 0.00 0.000 6 0.000 0.063 2274 2766 3522 0 0 0 0 0 0

4092 -0.57 -146.0 442.1 -8.3 431 4093 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2766 3523 0 0 0 0 0 0

4411 -0.57 -146.0 469.0 -8.5 461 4412 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2766 3523 0 0 0 0 0 0

4730 -0.57 -146.0 494.7 -7.8 491 4734 0.00 2.22 0.00 0.000 4 0.000 0.051 2274 1363 3523 0 0 0 0 0 0

4782 -0.57 -146.0 498.9 -8.3 495 4786 0.00 2.30 0.00 0.000 6 0.000 0.063 2275 2761 3523 0 0 0 0 0 0

5112 -0.57 -146.0 523.1 -7.6 507 5116 0.00 2.20 0.00 0.000 4 0.000 0.051 2274 1370 3523 0 0 0 0 0 0

5141 -0.57 -146.0 525.3 -7.5 508 5145 0.00 2.30 0.00 0.000 6 0.000 0.062 2274 2758 3524 0 0 0 0 0 0

5476 -0.57 -146.0 551.0 -8.2 519 5480 0.00 1.98 0.00 0.000 4 0.000 0.073 2272 3928 3524 0 0 0 0 0 0

5497 -0.57 -146.0 553.2 -8.5 519 5501 0.00 1.92 0.00 0.000 6 0.000 0.047 2273 2748 3524 0 0 0 0 0 0

5569 end dive: TARGET_DEPTH_EXCEEDED

state 5569 begin apogee

5574 -0.14 0.0 559.7 8.9 522 5701 0.47 0.00 119.10 0.972 4 0.135 0.000 2427 2598 2923 0 0 0 0 0 0

5702 end apogee: CONTROL_FINISHED_OK

state 5702 begin climb

5704 0.57 146.0 561.7 0.0 526 5840 0.68 2.40 124.85 0.946 4 0.073 0.051 2663 1184 2327 0 0 0 0 0 0

5990 0.57 146.0 537.5 11.4 534 5998 0.00 2.50 0.00 0.000 6 0.000 0.055 2663 2601 2317 0 0 0 0 0 0

6304 0.57 146.0 498.9 12.5 545 6308 0.00 2.33 0.00 0.000 4 0.000 0.053 2664 1191 2315 0 0 0 0 0 0

6498 0.57 146.0 476.3 11.5 562 6507 0.00 2.40 0.00 0.000 6 0.000 0.056 2664 2614 2314 0 0 0 0 0 0

6824 0.57 146.0 438.0 11.8 593 6828 0.00 2.22 0.00 0.000 4 0.000 0.068 2664 3929 2313 0 0 0 0 0 0

6866 0.57 146.0 432.1 14.2 596 6874 0.00 2.17 0.00 0.000 6 0.000 0.044 2666 2602 2313 0 0 0 0 0 0

7192 0.57 146.0 393.2 11.9 627 7196 0.00 2.22 0.00 0.000 4 0.000 0.068 2666 3926 2313 0 0 0 0 0 0

7221 0.57 146.0 389.4 14.2 629 7225 0.00 2.10 0.00 0.000 6 0.000 0.044 2666 2623 2312 0 0 0 0 0 0

7551 0.57 146.0 350.7 11.0 660 7555 0.00 2.28 0.00 0.000 4 0.000 0.054 2666 1194 2312 0 0 0 0 0 0

7596 0.57 146.0 345.9 10.9 664 7600 0.00 2.35 0.00 0.000 6 0.000 0.056 2666 2628 2313 0 0 0 0 0 0

7920 0.57 146.0 310.7 10.5 694 7924 0.00 2.17 0.00 0.000 4 0.000 0.068 2666 3932 2312 0 0 0 0 0 0

8002 0.57 146.0 300.4 12.8 701 8010 0.00 2.10 0.00 0.000 6 0.000 0.044 2666 2635 2312 0 0 0 0 0 0

8328 0.57 146.0 266.9 10.1 732 8329 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2634 2311 0 0 0 0 0 0

8648 0.57 149.5 234.6 9.8 762 8652 0.00 2.30 0.00 0.000 4 0.000 0.054 2666 1179 2311 0 0 0 0 0 0

8703 0.58 161.2 229.3 9.5 766 8723 0.00 2.38 10.95 0.753 6 0.000 0.056 2666 2638 2267 0 0 0 0 0 0

9040 0.58 171.0 196.8 9.5 798 9055 0.00 2.22 10.00 0.734 4 0.000 0.069 2667 3932 2226 0 0 0 0 0 0

9106 0.58 171.0 189.5 11.6 803 9113 0.00 2.10 0.00 0.000 6 0.000 0.045 2666 2631 2224 0 0 0 0 0 0

9431 0.60 194.4 160.4 8.9 834 9458 0.00 2.25 20.65 0.741 4 0.000 0.069 2666 3924 2129 0 0 0 0 0 0

9510 0.60 194.4 152.6 10.4 841 9514 0.00 2.08 0.00 0.000 6 0.000 0.046 2666 2639 2126 0 0 0 0 0 0

9840 0.61 210.6 122.3 9.3 872 9863 0.00 2.38 14.50 0.717 4 0.000 0.054 2667 1197 2062 0 0 0 0 0 0

9890 0.63 237.3 117.9 8.8 876 9920 0.00 2.40 23.55 0.710 6 0.000 0.057 2666 2648 1954 0 0 0 0 0 0

10245 0.65 267.4 85.6 8.6 923 10277 0.00 2.17 24.88 0.701 4 0.000 0.069 2666 3926 1832 0 0 0 0 0 0

10306 0.65 267.4 79.4 10.5 933 10313 0.00 2.08 0.00 0.000 6 0.000 0.046 2666 2646 1829 0 0 0 0 0 0

10650 0.66 292.6 48.2 8.8 994 10682 0.00 2.45 21.20 0.685 4 0.000 0.055 2666 1183 1728 0 0 0 0 0 0

10716 0.70 343.7 42.6 7.6 1005 10766 0.00 2.45 43.15 0.667 6 0.000 0.057 2666 2652 1521 0 0 0 0 0 0

11103 0.74 418.2 17.7 6.6 1073 11172 0.15 2.25 59.67 0.653 4 0.105 0.071 2726 3919 1216 0 0 0 0 0 0

11267 0.75 425.7 3.6 9.7 1101 11280 0.00 2.00 6.35 0.584 6 0.000 0.046 2726 2694 1186 0 0 0 0 0 0

11285 end climb: SURFACE_DEPTH_REACHED

state 11285 begin surface coast

11320 end surface coast: CONTROL_FINISHED_OK

state 11320 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	305	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	31	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	-8152.9287	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	081110,090855,6643.966,-6011.157,41,1.3,41,-38.0	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	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081110,091326,6643.951,-6011.058,14,1.4,14,-38.0	MHEAD_RNG_PITCHd_Wd	353.5,10932,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	559

FINISH	0.6,1.004943	_24V_AH	22.5,37.500
SM_CCo	11395,0.00,0.000,0,0,1180,427.31	_10V_AH	10.1,29.348
SM_GC	1.82,6.70,0.00,0.00,0.063,0.000,0.000,300,2783,1180,-6.73,0.08,427.31	FG_AHR_24Vo	0.000
RAFOS_CLK	608	FG_AHR_10Vo	0.000
RAFOS	0,1289217663,12.033333,12.017500,59,46,45,44,43,43,635,1187,645,1189,698,855	MEM	189560
RAFOS_FIX	6644.470703,-6008.526855,081110,080820,4,76,0.30	DATA_FILE_SIZE	39974,1110
IRIDIUM_FIX	6614.97,-6009.24,081110,050505	CAP_FILE_SIZE	125906,0
TT8_MAMPS	0.029211	CFSIZE	260165632,228032512
HUMID	49.01	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.48513	SOUNDSPEED	1451.1
TCM_TEMP	14.30	CURRENT	0.115, 15.2,1
XPDR_PINGS	0	GPS	081110,122506,6645.419,-6013.152,27,1.0,27,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	258	95.56	SBE_CT	772	24	416.94
Roll_motor	103	94	221.33	SBE_O2	0	0	0.00
VBD_pump_during_apogee	478	971	10467.60	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	27	103	64.26	nil	0	0	0.00
Iridium_during_connect	16	160	57.75	nil	0	0	0.00
Iridium_during_xfer	107	223	541.59	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.81
TT8	2770	19	557.41
LPSleep	6124	2	142.88
TT8_Active	575	19	115.81
TT8_Sampling	2018	39	813.90
TT8_CF8	187	45	86.86
TT8_Kalman	0	0	0.00
Analog_circuits	1592	12	193.03
GPS_charging	0	0	0.00
Compass	1843	15	279.29
RAFOS	1080	3	32.72
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	12	begin dive
14	-0.57	-146.0	0.0	0.0	0	112	0.00	0.00	-95.22	0.000	2	0.000	0.000	294	2779	3193	0	0	0	0	0	0
114	-0.57	-146.0	6.0	-13.5	16	136	8.43	2.35	-6.47	0.000	4	0.259	0.063	2283	1370	3522	0	0	0	0	0	0
271	-0.57	-146.0	45.7	-16.3	43	278	0.00	2.38	0.00	0.000	6	0.000	0.063	2277	2781	3525	0	0	0	0	0	0
614	-0.57	-146.0	92.2	-13.0	104	620	0.00	0.00	0.00	0.000	6	0.000	0.000	2277	2781	3525	0	0	0	0	0	0
942	-0.57	-146.0	135.9	-13.7	140	946	0.00	2.30	0.00	0.000	4	0.000	0.053	2276	1361	3524	0	0	0	0	0	0
975	-0.57	-146.0	140.4	-13.4	142	983	0.00	2.40	0.00	0.000	6	0.000	0.063	2275	2797	3524	0	0	0	0	0	0
1300	-0.57	-146.0	181.0	-11.2	173	1304	0.00	2.30	0.00	0.000	4	0.000	0.053	2275	1371	3524	0	0	0	0	0	0
1333	-0.57	-146.0	184.8	-11.3	175	1340	0.00	2.35	0.00	0.000	6	0.000	0.064	2274	2781	3524	0	0	0	0	0	0
1658	-0.57	-146.0	216.1	-9.6	206	1662	0.00	1.92	0.00	0.000	4	0.000	0.075	2275	3928	3524	0	0	0	0	0	0
1707	-0.57	-146.0	220.9	-9.5	210	1716	0.00	1.88	0.00	0.000	6	0.000	0.050	2274	2789	3523	0	0	0	0	0	0
2033	-0.57	-146.0	251.9	-10.0	241	2037	0.00	2.25	0.00	0.000	4	0.000	0.054	2274	1372	3523	0	0	0	0	0	0
2106	-0.57	-146.0	259.3	-10.0	247	2110	0.00	2.35	0.00	0.000	6	0.000	0.065	2275	2778	3523	0	0	0	0	0	0
2431	-0.57	-146.0	291.5	-9.7	277	2432	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2778	3523	0	0	0	0	0	0
2752	-0.57	-146.0	322.2	-9.9	307	2756	0.00	2.25	0.00	0.000	4	0.000	0.053	2274	1367	3523	0	0	0	0	0	0
2772	-0.57	-146.0	324.9	-10.4	308	2780	0.00	2.35	0.00	0.000	6	0.000	0.063	2274	2766	3522	0	0	0	0	0	0
3099	-0.57	-146.0	356.4	-9.7	339	3100	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2766	3522	0	0	0	0	0	0
3419	-0.57	-146.0	385.5	-9.0	369	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2767	3522	0	0	0	0	0	0
3738	-0.57	-146.0	412.6	-8.2	399	3742	0.00	2.25	0.00	0.000	4	0.000	0.052	2275	1364	3522	0	0	0	0	0	0
3766	-0.57	-146.0	415.1	-8.7	401	3770	0.00	2.33	0.00	0.000	6	0.000	0.063	2274	2766	3522	0	0	0	0	0	0
4092	-0.57	-146.0	442.1	-8.3	431	4093	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2766	3523	0	0	0	0	0	0
4411	-0.57	-146.0	469.0	-8.5	461	4412	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2766	3523	0	0	0	0	0	0
4730	-0.57	-146.0	494.7	-7.8	491	4734	0.00	2.22	0.00	0.000	4	0.000	0.051	2274	1363	3523	0	0	0	0	0	0
4782	-0.57	-146.0	498.9	-8.3	495	4786	0.00	2.30	0.00	0.000	6	0.000	0.063	2275	2761	3523	0	0	0	0	0	0
5112	-0.57	-146.0	523.1	-7.6	507	5116	0.00	2.20	0.00	0.000	4	0.000	0.051	2274	1370	3523	0	0	0	0	0	0
5141	-0.57	-146.0	525.3	-7.5	508	5145	0.00	2.30	0.00	0.000	6	0.000	0.062	2274	2758	3524	0	0	0	0	0	0
5476	-0.57	-146.0	551.0	-8.2	519	5480	0.00	1.98	0.00	0.000	4	0.000	0.073	2272	3928	3524	0	0	0	0	0	0
5497	-0.57	-146.0	553.2	-8.5	519	5501	0.00	1.92	0.00	0.000	6	0.000	0.047	2273	2748	3524	0	0	0	0	0	0
5569	end dive: TARGET_DEPTH_EXCEEDED
state	5569	begin apogee
5574	-0.14	0.0	559.7	8.9	522	5701	0.47	0.00	119.10	0.972	4	0.135	0.000	2427	2598	2923	0	0	0	0	0	0
5702	end apogee: CONTROL_FINISHED_OK
state	5702	begin climb
5704	0.57	146.0	561.7	0.0	526	5840	0.68	2.40	124.85	0.946	4	0.073	0.051	2663	1184	2327	0	0	0	0	0	0
5990	0.57	146.0	537.5	11.4	534	5998	0.00	2.50	0.00	0.000	6	0.000	0.055	2663	2601	2317	0	0	0	0	0	0
6304	0.57	146.0	498.9	12.5	545	6308	0.00	2.33	0.00	0.000	4	0.000	0.053	2664	1191	2315	0	0	0	0	0	0
6498	0.57	146.0	476.3	11.5	562	6507	0.00	2.40	0.00	0.000	6	0.000	0.056	2664	2614	2314	0	0	0	0	0	0
6824	0.57	146.0	438.0	11.8	593	6828	0.00	2.22	0.00	0.000	4	0.000	0.068	2664	3929	2313	0	0	0	0	0	0
6866	0.57	146.0	432.1	14.2	596	6874	0.00	2.17	0.00	0.000	6	0.000	0.044	2666	2602	2313	0	0	0	0	0	0
7192	0.57	146.0	393.2	11.9	627	7196	0.00	2.22	0.00	0.000	4	0.000	0.068	2666	3926	2313	0	0	0	0	0	0
7221	0.57	146.0	389.4	14.2	629	7225	0.00	2.10	0.00	0.000	6	0.000	0.044	2666	2623	2312	0	0	0	0	0	0
7551	0.57	146.0	350.7	11.0	660	7555	0.00	2.28	0.00	0.000	4	0.000	0.054	2666	1194	2312	0	0	0	0	0	0
7596	0.57	146.0	345.9	10.9	664	7600	0.00	2.35	0.00	0.000	6	0.000	0.056	2666	2628	2313	0	0	0	0	0	0
7920	0.57	146.0	310.7	10.5	694	7924	0.00	2.17	0.00	0.000	4	0.000	0.068	2666	3932	2312	0	0	0	0	0	0
8002	0.57	146.0	300.4	12.8	701	8010	0.00	2.10	0.00	0.000	6	0.000	0.044	2666	2635	2312	0	0	0	0	0	0
8328	0.57	146.0	266.9	10.1	732	8329	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2634	2311	0	0	0	0	0	0
8648	0.57	149.5	234.6	9.8	762	8652	0.00	2.30	0.00	0.000	4	0.000	0.054	2666	1179	2311	0	0	0	0	0	0
8703	0.58	161.2	229.3	9.5	766	8723	0.00	2.38	10.95	0.753	6	0.000	0.056	2666	2638	2267	0	0	0	0	0	0
9040	0.58	171.0	196.8	9.5	798	9055	0.00	2.22	10.00	0.734	4	0.000	0.069	2667	3932	2226	0	0	0	0	0	0
9106	0.58	171.0	189.5	11.6	803	9113	0.00	2.10	0.00	0.000	6	0.000	0.045	2666	2631	2224	0	0	0	0	0	0
9431	0.60	194.4	160.4	8.9	834	9458	0.00	2.25	20.65	0.741	4	0.000	0.069	2666	3924	2129	0	0	0	0	0	0
9510	0.60	194.4	152.6	10.4	841	9514	0.00	2.08	0.00	0.000	6	0.000	0.046	2666	2639	2126	0	0	0	0	0	0
9840	0.61	210.6	122.3	9.3	872	9863	0.00	2.38	14.50	0.717	4	0.000	0.054	2667	1197	2062	0	0	0	0	0	0
9890	0.63	237.3	117.9	8.8	876	9920	0.00	2.40	23.55	0.710	6	0.000	0.057	2666	2648	1954	0	0	0	0	0	0
10245	0.65	267.4	85.6	8.6	923	10277	0.00	2.17	24.88	0.701	4	0.000	0.069	2666	3926	1832	0	0	0	0	0	0
10306	0.65	267.4	79.4	10.5	933	10313	0.00	2.08	0.00	0.000	6	0.000	0.046	2666	2646	1829	0	0	0	0	0	0
10650	0.66	292.6	48.2	8.8	994	10682	0.00	2.45	21.20	0.685	4	0.000	0.055	2666	1183	1728	0	0	0	0	0	0
10716	0.70	343.7	42.6	7.6	1005	10766	0.00	2.45	43.15	0.667	6	0.000	0.057	2666	2652	1521	0	0	0	0	0	0
11103	0.74	418.2	17.7	6.6	1073	11172	0.15	2.25	59.67	0.653	4	0.105	0.071	2726	3919	1216	0	0	0	0	0	0
11267	0.75	425.7	3.6	9.7	1101	11280	0.00	2.00	6.35	0.584	6	0.000	0.046	2726	2694	1186	0	0	0	0	0	0
11285	end climb: SURFACE_DEPTH_REACHED
state	11285	begin surface coast
11320	end surface coast: CONTROL_FINISHED_OK
state	11320	begin surface