Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 310 * 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 310 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 -1652.8605 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 -1652.8605

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 310 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 021112,032459,6636.953,-5949.373,52,1.1,53,-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 3.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021112,033404,6636.910,-5949.438,4,0.8,4,-33.7 MHEAD_RNG_PITCHd_Wd 103.8,139651,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 705

Post-dive calculations and measurements:

FINISH 2.5,1.024731 _24V_AH 12.4,99.811

SM_CCo 13970,31.98,0.198,0,0,1587,290.19 _10V_AH 12.7,0.000

SM_GC 3.85,8.62,14.85,31.98,0.102,0.076,0.198,139,1938,1587,-11.60,-5.15,290.19,0,0,6,1,0,0,14.59,14.58,14.39 FG_AHR_24Vo 0.000

RAFOS_CLK 624 FG_AHR_10Vo 0.000

RAFOS 0,1351828866,4.033333,4.018333,60,59,57,56,52,49,216,121,147,177,201,160 MEM 188724

RAFOS_FIX 6653.698730,-5953.745117,021112,040444,4,93,8.46 DATA_FILE_SIZE 53415,1133

IRIDIUM_FIX 6609.62,-5950.46,011112,232311 CAP_FILE_SIZE 103960,32

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,229478400

HUMID 46.69 ERRORS 0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0

INTERNAL_PRESSURE 8.66467 SOUNDSPEED 1451.1

TCM_TEMP 12.70 CURRENT 0.094,172.7,1

XPDR_PINGS 5 GPS 021112,073035,6636.257,-5949.435,28,0.8,28,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 452 126.14 SBE_CT 825 23 245.35

Roll_motor 59 76 56.35 SBE_O2 807 3 37.46

VBD_pump_during_apogee 370 2529 11606.97 nil 0 0 0.00

VBD_pump_during_surface 31 198 78.56 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 320 161 642.00 nil 0 0 0.00

Transponder_ping 1 420 6.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 10 21 3.01

TT8 2865 14 544.47

LPSleep 8615 2 252.75

TT8_Active 578 14 109.96

TT8_Sampling 1929 33 825.37

TT8_CF8 581 38 282.17

TT8_Kalman 0 0 0.00

Analog_circuits 1782 12 271.71

GPS_charging 0 0 0.00

Compass 1667 6 142.72

RAFOS 2520 1 48.01

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

19 -1.50 -136.9 0.0 0.0 0 26 0.00 0.00 -5.62 0.000 2 0.000 0.000 111 1936 1685 0 0 0 0 0 0 28.83 28.83 28.83

33 -1.50 -136.9 3.4 0.0 1 153 11.48 0.00 -104.57 0.000 6 0.452 0.000 2350 1937 3330 0 0 0 0 0 0 14.14 28.83 14.73

468 -1.50 -136.9 56.5 -15.0 81 474 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1937 3331 0 0 0 0 0 0 28.83 28.83 28.83

785 -1.50 -136.9 101.5 -13.4 141 791 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1937 3331 0 0 0 0 0 0 28.83 28.83 28.83

1100 -1.50 -136.9 145.5 -13.5 172 1106 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1937 3331 0 0 0 0 0 0 28.83 28.83 28.83

1412 -1.50 -136.9 185.0 -12.6 203 1418 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1938 3331 0 0 0 0 0 0 28.83 28.83 28.83

1725 -1.50 -136.9 225.5 -13.0 234 1731 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 1937 3331 0 0 0 0 0 0 28.83 28.83 28.83

2037 -1.50 -136.9 266.0 -13.0 265 2045 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1937 3331 0 0 0 0 0 0 28.83 28.83 28.83

2350 -1.50 -136.9 304.9 -12.2 296 2356 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1938 3331 0 0 0 0 0 0 28.83 28.83 28.83

2656 -1.50 -136.9 341.9 -11.7 327 2662 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1938 3330 0 0 0 0 0 0 28.83 28.83 28.83

2972 -1.50 -136.9 375.9 -10.5 358 2978 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1937 3330 0 0 0 0 0 0 28.83 28.83 28.83

3289 -1.50 -136.9 409.4 -10.1 384 3290 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1937 3330 0 0 0 0 0 0 28.83 28.83 28.83

3589 -1.50 -136.9 439.3 -9.8 394 3590 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1938 3331 0 0 0 0 0 0 28.83 28.83 28.83

3890 -1.50 -136.9 468.6 -9.6 404 3892 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1937 3331 0 0 0 0 0 0 28.83 28.83 28.83

4189 -1.50 -136.9 497.6 -9.7 414 4190 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1938 3331 0 0 0 0 0 0 28.83 28.83 28.83

4489 -1.50 -136.9 526.1 -9.7 424 4490 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1938 3331 0 0 0 0 0 0 28.83 28.83 28.83

4790 -1.50 -136.9 555.0 -9.8 434 4791 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1938 3331 0 0 0 0 0 0 28.83 28.83 28.83

5089 -1.50 -136.9 585.2 -10.2 444 5090 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1938 3332 0 0 0 0 0 0 28.83 28.83 28.83

5389 -1.50 -136.9 615.9 -10.3 454 5390 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1937 3332 0 0 0 0 0 0 28.83 28.83 28.83

5689 -1.50 -136.9 645.6 -9.6 464 5690 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 1938 3332 0 0 0 0 0 0 28.83 28.83 28.83

5990 -1.50 -136.9 676.3 -10.2 474 5991 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1938 3333 0 0 0 0 0 0 28.83 28.83 28.83

6283 end dive: TARGET_DEPTH_EXCEEDED

state 6284 begin apogee

6310 -0.38 0.0 707.1 -10.1 484 6480 0.88 14.85 143.10 2.530 6 0.263 0.074 2588 1938 2772 0 0 6 1 0 0 14.27 13.66 12.81

6481 end apogee: CONTROL_FINISHED_OK

state 6481 begin climb

6487 1.50 136.9 713.2 0.0 490 6651 1.42 0.00 159.48 2.489 6 0.174 0.000 3000 1938 2214 0 0 0 0 0 0 13.71 28.83 12.39

6944 1.50 136.9 670.8 10.8 506 6945 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1938 2206 0 0 0 0 0 0 28.83 28.83 28.83

7244 1.50 136.9 637.1 11.3 516 7245 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1938 2204 0 0 0 0 0 0 28.83 28.83 28.83

7544 1.50 136.9 603.4 10.8 526 7545 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1938 2203 0 0 0 0 0 0 28.83 28.83 28.83

7844 1.50 136.9 571.8 10.1 536 7845 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1938 2202 0 0 0 0 0 0 28.83 28.83 28.83

8145 1.50 136.9 539.0 10.8 546 8146 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1938 2202 0 0 0 0 0 0 28.83 28.83 28.83

8444 1.50 136.9 508.3 10.4 556 8445 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1938 2202 0 0 0 0 0 0 28.83 28.83 28.83

8744 1.50 136.9 476.8 10.6 566 8745 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1938 2202 0 0 0 0 0 0 28.83 28.83 28.83

9044 1.50 136.9 447.0 9.6 576 9045 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1938 2202 0 0 0 0 0 0 28.83 28.83 28.83

9345 1.50 136.9 417.9 9.7 586 9346 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1938 2202 0 0 0 0 0 0 28.83 28.83 28.83

9644 1.50 136.9 389.9 9.4 602 9650 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1938 2201 0 0 0 0 0 0 28.83 28.83 28.83

9958 1.50 136.9 358.0 10.5 633 9965 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1938 2202 0 0 0 0 0 0 28.83 28.83 28.83

10272 1.50 136.9 326.3 9.9 664 10278 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1938 2202 0 0 0 0 0 0 28.83 28.83 28.83

10585 1.50 136.9 295.9 10.2 695 10591 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1938 2201 0 0 0 0 0 0 28.83 28.83 28.83

10896 1.50 136.9 263.6 10.1 726 10902 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1938 2202 0 0 0 0 0 0 28.83 28.83 28.83

11210 1.50 136.9 234.3 9.1 757 11217 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1938 2202 0 0 0 0 0 0 28.83 28.83 28.83

11522 1.51 146.6 207.8 8.5 788 11536 0.00 0.00 8.25 1.838 6 0.000 0.000 3001 1938 2174 0 0 0 0 0 0 28.83 28.83 13.81

11838 1.54 171.8 181.4 7.8 820 11867 0.00 0.00 27.05 1.974 6 0.000 0.000 3000 1938 2070 0 0 0 0 0 0 28.83 28.83 13.74

12168 1.54 171.8 151.4 9.5 853 12175 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1938 2067 0 0 0 0 0 0 28.83 28.83 28.83

12484 1.56 183.0 123.4 8.4 884 12497 0.00 0.00 6.38 1.634 6 0.000 0.000 3000 1938 2026 0 0 0 0 0 0 28.83 28.83 13.76

12798 1.58 201.1 98.3 8.1 918 12812 0.10 0.00 10.50 0.478 6 0.177 0.000 3040 1938 1951 0 0 0 0 0 0 14.60 28.83 14.20

13127 1.60 218.9 69.4 8.1 980 13140 0.00 0.00 9.68 0.407 6 0.000 0.000 3040 1937 1879 0 0 0 0 0 0 28.83 28.83 14.33

13451 1.61 229.2 40.1 8.5 1042 13464 0.00 0.00 5.57 0.332 6 0.000 0.000 3039 1938 1836 0 0 0 0 0 0 28.83 28.83 14.30

13775 1.62 231.5 11.8 8.8 1104 13781 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 1938 1831 0 0 0 0 0 0 28.83 28.83 28.83

13891 end climb: SURFACE_DEPTH_REACHED

state 13891 begin surface coast

13927 end surface coast: CONTROL_FINISHED_OK

state 13927 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	310	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	-1652.8605	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	021112,032459,6636.953,-5949.373,52,1.1,53,-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	3.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021112,033404,6636.910,-5949.438,4,0.8,4,-33.7	MHEAD_RNG_PITCHd_Wd	103.8,139651,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	705

FINISH	2.5,1.024731	_24V_AH	12.4,99.811
SM_CCo	13970,31.98,0.198,0,0,1587,290.19	_10V_AH	12.7,0.000
SM_GC	3.85,8.62,14.85,31.98,0.102,0.076,0.198,139,1938,1587,-11.60,-5.15,290.19,0,0,6,1,0,0,14.59,14.58,14.39	FG_AHR_24Vo	0.000
RAFOS_CLK	624	FG_AHR_10Vo	0.000
RAFOS	0,1351828866,4.033333,4.018333,60,59,57,56,52,49,216,121,147,177,201,160	MEM	188724
RAFOS_FIX	6653.698730,-5953.745117,021112,040444,4,93,8.46	DATA_FILE_SIZE	53415,1133
IRIDIUM_FIX	6609.62,-5950.46,011112,232311	CAP_FILE_SIZE	103960,32
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,229478400
HUMID	46.69	ERRORS	0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
INTERNAL_PRESSURE	8.66467	SOUNDSPEED	1451.1
TCM_TEMP	12.70	CURRENT	0.094,172.7,1
XPDR_PINGS	5	GPS	021112,073035,6636.257,-5949.435,28,0.8,28,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	452	126.14	SBE_CT	825	23	245.35
Roll_motor	59	76	56.35	SBE_O2	807	3	37.46
VBD_pump_during_apogee	370	2529	11606.97	nil	0	0	0.00
VBD_pump_during_surface	31	198	78.56	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	320	161	642.00	nil	0	0	0.00
Transponder_ping	1	420	6.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	10	21	3.01
TT8	2865	14	544.47
LPSleep	8615	2	252.75
TT8_Active	578	14	109.96
TT8_Sampling	1929	33	825.37
TT8_CF8	581	38	282.17
TT8_Kalman	0	0	0.00
Analog_circuits	1782	12	271.71
GPS_charging	0	0	0.00
Compass	1667	6	142.72
RAFOS	2520	1	48.01
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
19	-1.50	-136.9	0.0	0.0	0	26	0.00	0.00	-5.62	0.000	2	0.000	0.000	111	1936	1685	0	0	0	0	0	0	28.83	28.83	28.83
33	-1.50	-136.9	3.4	0.0	1	153	11.48	0.00	-104.57	0.000	6	0.452	0.000	2350	1937	3330	0	0	0	0	0	0	14.14	28.83	14.73
468	-1.50	-136.9	56.5	-15.0	81	474	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1937	3331	0	0	0	0	0	0	28.83	28.83	28.83
785	-1.50	-136.9	101.5	-13.4	141	791	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1937	3331	0	0	0	0	0	0	28.83	28.83	28.83
1100	-1.50	-136.9	145.5	-13.5	172	1106	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1937	3331	0	0	0	0	0	0	28.83	28.83	28.83
1412	-1.50	-136.9	185.0	-12.6	203	1418	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1938	3331	0	0	0	0	0	0	28.83	28.83	28.83
1725	-1.50	-136.9	225.5	-13.0	234	1731	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	1937	3331	0	0	0	0	0	0	28.83	28.83	28.83
2037	-1.50	-136.9	266.0	-13.0	265	2045	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1937	3331	0	0	0	0	0	0	28.83	28.83	28.83
2350	-1.50	-136.9	304.9	-12.2	296	2356	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1938	3331	0	0	0	0	0	0	28.83	28.83	28.83
2656	-1.50	-136.9	341.9	-11.7	327	2662	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1938	3330	0	0	0	0	0	0	28.83	28.83	28.83
2972	-1.50	-136.9	375.9	-10.5	358	2978	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1937	3330	0	0	0	0	0	0	28.83	28.83	28.83
3289	-1.50	-136.9	409.4	-10.1	384	3290	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1937	3330	0	0	0	0	0	0	28.83	28.83	28.83
3589	-1.50	-136.9	439.3	-9.8	394	3590	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1938	3331	0	0	0	0	0	0	28.83	28.83	28.83
3890	-1.50	-136.9	468.6	-9.6	404	3892	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1937	3331	0	0	0	0	0	0	28.83	28.83	28.83
4189	-1.50	-136.9	497.6	-9.7	414	4190	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1938	3331	0	0	0	0	0	0	28.83	28.83	28.83
4489	-1.50	-136.9	526.1	-9.7	424	4490	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1938	3331	0	0	0	0	0	0	28.83	28.83	28.83
4790	-1.50	-136.9	555.0	-9.8	434	4791	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1938	3331	0	0	0	0	0	0	28.83	28.83	28.83
5089	-1.50	-136.9	585.2	-10.2	444	5090	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1938	3332	0	0	0	0	0	0	28.83	28.83	28.83
5389	-1.50	-136.9	615.9	-10.3	454	5390	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1937	3332	0	0	0	0	0	0	28.83	28.83	28.83
5689	-1.50	-136.9	645.6	-9.6	464	5690	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	1938	3332	0	0	0	0	0	0	28.83	28.83	28.83
5990	-1.50	-136.9	676.3	-10.2	474	5991	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1938	3333	0	0	0	0	0	0	28.83	28.83	28.83
6283	end dive: TARGET_DEPTH_EXCEEDED
state	6284	begin apogee
6310	-0.38	0.0	707.1	-10.1	484	6480	0.88	14.85	143.10	2.530	6	0.263	0.074	2588	1938	2772	0	0	6	1	0	0	14.27	13.66	12.81
6481	end apogee: CONTROL_FINISHED_OK
state	6481	begin climb
6487	1.50	136.9	713.2	0.0	490	6651	1.42	0.00	159.48	2.489	6	0.174	0.000	3000	1938	2214	0	0	0	0	0	0	13.71	28.83	12.39
6944	1.50	136.9	670.8	10.8	506	6945	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1938	2206	0	0	0	0	0	0	28.83	28.83	28.83
7244	1.50	136.9	637.1	11.3	516	7245	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1938	2204	0	0	0	0	0	0	28.83	28.83	28.83
7544	1.50	136.9	603.4	10.8	526	7545	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1938	2203	0	0	0	0	0	0	28.83	28.83	28.83
7844	1.50	136.9	571.8	10.1	536	7845	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1938	2202	0	0	0	0	0	0	28.83	28.83	28.83
8145	1.50	136.9	539.0	10.8	546	8146	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1938	2202	0	0	0	0	0	0	28.83	28.83	28.83
8444	1.50	136.9	508.3	10.4	556	8445	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1938	2202	0	0	0	0	0	0	28.83	28.83	28.83
8744	1.50	136.9	476.8	10.6	566	8745	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1938	2202	0	0	0	0	0	0	28.83	28.83	28.83
9044	1.50	136.9	447.0	9.6	576	9045	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1938	2202	0	0	0	0	0	0	28.83	28.83	28.83
9345	1.50	136.9	417.9	9.7	586	9346	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1938	2202	0	0	0	0	0	0	28.83	28.83	28.83
9644	1.50	136.9	389.9	9.4	602	9650	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1938	2201	0	0	0	0	0	0	28.83	28.83	28.83
9958	1.50	136.9	358.0	10.5	633	9965	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1938	2202	0	0	0	0	0	0	28.83	28.83	28.83
10272	1.50	136.9	326.3	9.9	664	10278	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1938	2202	0	0	0	0	0	0	28.83	28.83	28.83
10585	1.50	136.9	295.9	10.2	695	10591	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1938	2201	0	0	0	0	0	0	28.83	28.83	28.83
10896	1.50	136.9	263.6	10.1	726	10902	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1938	2202	0	0	0	0	0	0	28.83	28.83	28.83
11210	1.50	136.9	234.3	9.1	757	11217	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1938	2202	0	0	0	0	0	0	28.83	28.83	28.83
11522	1.51	146.6	207.8	8.5	788	11536	0.00	0.00	8.25	1.838	6	0.000	0.000	3001	1938	2174	0	0	0	0	0	0	28.83	28.83	13.81
11838	1.54	171.8	181.4	7.8	820	11867	0.00	0.00	27.05	1.974	6	0.000	0.000	3000	1938	2070	0	0	0	0	0	0	28.83	28.83	13.74
12168	1.54	171.8	151.4	9.5	853	12175	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1938	2067	0	0	0	0	0	0	28.83	28.83	28.83
12484	1.56	183.0	123.4	8.4	884	12497	0.00	0.00	6.38	1.634	6	0.000	0.000	3000	1938	2026	0	0	0	0	0	0	28.83	28.83	13.76
12798	1.58	201.1	98.3	8.1	918	12812	0.10	0.00	10.50	0.478	6	0.177	0.000	3040	1938	1951	0	0	0	0	0	0	14.60	28.83	14.20
13127	1.60	218.9	69.4	8.1	980	13140	0.00	0.00	9.68	0.407	6	0.000	0.000	3040	1937	1879	0	0	0	0	0	0	28.83	28.83	14.33
13451	1.61	229.2	40.1	8.5	1042	13464	0.00	0.00	5.57	0.332	6	0.000	0.000	3039	1938	1836	0	0	0	0	0	0	28.83	28.83	14.30
13775	1.62	231.5	11.8	8.8	1104	13781	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	1938	1831	0	0	0	0	0	0	28.83	28.83	28.83
13891	end climb: SURFACE_DEPTH_REACHED
state	13891	begin surface coast
13927	end surface coast: CONTROL_FINISHED_OK
state	13927	begin surface