Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 311 * 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 311 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 0 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 -1654.212 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 -1654.212

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 0 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 311 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 021112,073035,6636.257,-5949.435,28,0.8,28,-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 3.24 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 021112,073930,6636.223,-5949.447,4,0.7,5,-33.7 MHEAD_RNG_PITCHd_Wd 81.2,140102,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 702

Post-dive calculations and measurements:

FINISH 2.4,1.011406 _24V_AH 12.4,100.131

SM_CCo 13706,9.88,0.216,0,0,1587,290.19 _10V_AH 12.6,0.000

SM_GC 4.00,8.35,14.85,9.88,0.073,0.080,0.216,133,1914,1587,-11.62,-5.80,290.19,0,0,6,1,0,0,14.57,14.57,14.40 FG_AHR_24Vo 0.000

RAFOS_CLK 604 FG_AHR_10Vo 0.000

RAFOS 0,1351843268,8.033334,8.018888,60,60,57,56,55,51,132,214,141,185,173,223 MEM 188724

RAFOS_FIX 6653.679688,-5956.053223,021112,080840,4,113,9.90 DATA_FILE_SIZE 49998,1117

IRIDIUM_FIX 6609.62,-5945.78,021112,030349 CAP_FILE_SIZE 102883,32

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,229425152

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 1451.5

TCM_TEMP 12.50 CURRENT 0.126,184.6,1

XPDR_PINGS 8 GPS 021112,113122,6635.400,-5949.087,33,1.1,34,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 443 120.90 SBE_CT 813 23 241.67

Roll_motor 59 80 59.16 SBE_O2 792 3 36.74

VBD_pump_during_apogee 397 2531 12461.50 nil 0 0 0.00

VBD_pump_during_surface 9 215 26.42 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 310 166 639.72 nil 0 0 0.00

Transponder_ping 2 420 10.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 21 1.65

TT8 2808 14 529.32

LPSleep 8411 2 244.81

TT8_Active 575 14 108.44

TT8_Sampling 1899 33 806.31

TT8_CF8 582 38 280.18

TT8_Kalman 0 0 0.00

Analog_circuits 1763 12 266.64

GPS_charging 0 0 0.00

Compass 1645 6 139.72

RAFOS 2520 1 47.63

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 -5.57 0.000 2 0.000 0.000 125 2102 1682 0 0 0 0 0 0 28.83 28.83 28.83

33 -1.50 -136.9 3.3 0.0 1 152 11.20 0.00 -101.90 0.000 6 0.444 0.000 2350 1915 3331 0 0 0 0 0 0 14.18 28.83 14.72

466 -1.50 -136.9 57.9 -15.9 81 473 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3331 0 0 0 0 0 0 28.83 28.83 28.83

784 -1.50 -136.9 106.5 -14.3 138 790 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3332 0 0 0 0 0 0 28.83 28.83 28.83

1098 -1.50 -136.9 147.4 -12.4 169 1104 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3332 0 0 0 0 0 0 28.83 28.83 28.83

1412 -1.50 -136.9 187.0 -12.1 200 1418 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3332 0 0 0 0 0 0 28.83 28.83 28.83

1724 -1.50 -136.9 224.5 -11.8 231 1730 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3332 0 0 0 0 0 0 28.83 28.83 28.83

2038 -1.50 -136.9 261.6 -11.9 262 2044 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3332 0 0 0 0 0 0 28.83 28.83 28.83

2344 -1.50 -136.9 297.8 -11.4 293 2351 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3332 0 0 0 0 0 0 28.83 28.83 28.83

2661 -1.50 -136.9 331.7 -10.5 324 2667 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3332 0 0 0 0 0 0 28.83 28.83 28.83

2972 -1.50 -136.9 365.3 -11.1 355 2978 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3332 0 0 0 0 0 0 28.83 28.83 28.83

3279 -1.50 -136.9 399.7 -10.8 386 3285 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3332 0 0 0 0 0 0 28.83 28.83 28.83

3589 -1.50 -136.9 433.8 -11.2 397 3590 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3332 0 0 0 0 0 0 28.83 28.83 28.83

3889 -1.50 -136.9 464.4 -10.0 407 3890 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3332 0 0 0 0 0 0 28.83 28.83 28.83

4189 -1.50 -136.9 493.0 -9.5 417 4190 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3332 0 0 0 0 0 0 28.83 28.83 28.83

4489 -1.50 -136.9 520.4 -9.0 427 4490 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3333 0 0 0 0 0 0 28.83 28.83 28.83

4789 -1.50 -136.9 547.7 -9.4 437 4791 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3333 0 0 0 0 0 0 28.83 28.83 28.83

5089 -1.50 -136.9 575.9 -9.3 447 5090 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3334 0 0 0 0 0 0 28.83 28.83 28.83

5389 -1.50 -136.9 604.7 -9.5 457 5390 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3334 0 0 0 0 0 0 28.83 28.83 28.83

5689 -1.50 -136.9 634.2 -10.0 467 5690 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3334 0 0 0 0 0 0 28.83 28.83 28.83

5989 -1.50 -136.9 664.5 -10.1 477 5990 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3334 0 0 0 0 0 0 28.83 28.83 28.83

6289 -1.50 -136.9 694.1 -9.9 487 6290 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1915 3334 0 0 0 0 0 0 28.83 28.83 28.83

6374 end dive: TARGET_DEPTH_EXCEEDED

state 6374 begin apogee

6401 -0.38 0.0 703.2 -10.3 490 6570 0.90 14.85 142.18 2.531 6 0.268 0.075 2592 1915 2772 0 0 6 1 0 0 14.26 13.68 12.81

6571 end apogee: CONTROL_FINISHED_OK

state 6571 begin climb

6576 1.50 136.9 709.1 0.0 496 6738 1.42 0.00 157.62 2.459 6 0.172 0.000 3005 1914 2214 0 0 0 0 0 0 13.68 28.83 12.39

7034 1.50 136.9 665.5 11.3 512 7036 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2206 0 0 0 0 0 0 28.83 28.83 28.83

7334 1.50 136.9 632.6 10.9 522 7336 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2204 0 0 0 0 0 0 28.83 28.83 28.83

7634 1.50 136.9 600.1 10.7 532 7635 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2203 0 0 0 0 0 0 28.83 28.83 28.83

7935 1.50 136.9 568.6 10.5 542 7936 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2202 0 0 0 0 0 0 28.83 28.83 28.83

8234 1.50 136.9 536.2 11.0 552 8235 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2203 0 0 0 0 0 0 28.83 28.83 28.83

8534 1.50 136.9 502.6 11.4 562 8536 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2202 0 0 0 0 0 0 28.83 28.83 28.83

8834 1.50 136.9 468.9 11.3 572 8835 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1914 2202 0 0 0 0 0 0 28.83 28.83 28.83

9135 1.50 136.9 433.0 12.3 582 9136 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2202 0 0 0 0 0 0 28.83 28.83 28.83

9434 1.50 136.9 397.9 11.5 592 9440 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2201 0 0 0 0 0 0 28.83 28.83 28.83

9748 1.50 136.9 362.6 11.0 623 9754 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2202 0 0 0 0 0 0 28.83 28.83 28.83

10061 1.50 136.9 329.1 10.7 654 10067 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2202 0 0 0 0 0 0 28.83 28.83 28.83

10375 1.50 136.9 296.2 10.0 685 10382 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2201 0 0 0 0 0 0 28.83 28.83 28.83

10687 1.50 136.9 264.7 10.4 716 10693 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2201 0 0 0 0 0 0 28.83 28.83 28.83

10999 1.50 136.9 231.9 10.2 747 11005 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 2202 0 0 0 0 0 0 28.83 28.83 28.83

11312 1.51 148.3 202.4 8.4 778 11325 0.00 0.00 10.10 1.880 6 0.000 0.000 3005 1914 2167 0 0 0 0 0 0 28.83 28.83 13.83

11627 1.54 169.8 175.2 8.0 810 11653 0.00 0.00 23.12 1.952 6 0.000 0.000 3005 1914 2079 0 0 0 0 0 0 28.83 28.83 13.76

11956 1.57 190.6 148.4 8.0 843 11983 0.00 0.00 21.58 1.912 6 0.000 0.000 3005 1914 1995 0 0 0 0 0 0 28.83 28.83 13.70

12286 1.57 190.6 119.4 9.0 876 12292 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 1990 0 0 0 0 0 0 28.83 28.83 28.83

12601 1.57 192.8 91.3 8.8 916 12607 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1914 1990 0 0 0 0 0 0 28.83 28.83 28.83

12918 1.60 217.4 65.4 7.8 977 12938 0.10 0.00 14.90 0.392 6 0.182 0.000 3044 1914 1884 0 0 0 0 0 0 14.60 28.83 14.28

13254 1.64 251.4 36.7 7.4 1040 13279 0.00 0.00 18.30 0.308 6 0.000 0.000 3044 1914 1747 0 0 0 0 0 0 28.83 28.83 14.28

13594 1.66 269.8 7.4 8.1 1104 13607 0.00 0.00 9.20 0.214 6 0.000 0.000 3044 1914 1668 0 0 0 0 0 0 28.83 28.83 14.40

13632 end climb: SURFACE_DEPTH_REACHED

state 13632 begin surface coast

13664 end surface coast: CONTROL_FINISHED_OK

state 13664 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	311	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	0	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	-1654.212	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	021112,073035,6636.257,-5949.435,28,0.8,28,-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	3.24	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	021112,073930,6636.223,-5949.447,4,0.7,5,-33.7	MHEAD_RNG_PITCHd_Wd	81.2,140102,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	702

FINISH	2.4,1.011406	_24V_AH	12.4,100.131
SM_CCo	13706,9.88,0.216,0,0,1587,290.19	_10V_AH	12.6,0.000
SM_GC	4.00,8.35,14.85,9.88,0.073,0.080,0.216,133,1914,1587,-11.62,-5.80,290.19,0,0,6,1,0,0,14.57,14.57,14.40	FG_AHR_24Vo	0.000
RAFOS_CLK	604	FG_AHR_10Vo	0.000
RAFOS	0,1351843268,8.033334,8.018888,60,60,57,56,55,51,132,214,141,185,173,223	MEM	188724
RAFOS_FIX	6653.679688,-5956.053223,021112,080840,4,113,9.90	DATA_FILE_SIZE	49998,1117
IRIDIUM_FIX	6609.62,-5945.78,021112,030349	CAP_FILE_SIZE	102883,32
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,229425152
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	1451.5
TCM_TEMP	12.50	CURRENT	0.126,184.6,1
XPDR_PINGS	8	GPS	021112,113122,6635.400,-5949.087,33,1.1,34,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	443	120.90	SBE_CT	813	23	241.67
Roll_motor	59	80	59.16	SBE_O2	792	3	36.74
VBD_pump_during_apogee	397	2531	12461.50	nil	0	0	0.00
VBD_pump_during_surface	9	215	26.42	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	310	166	639.72	nil	0	0	0.00
Transponder_ping	2	420	10.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	21	1.65
TT8	2808	14	529.32
LPSleep	8411	2	244.81
TT8_Active	575	14	108.44
TT8_Sampling	1899	33	806.31
TT8_CF8	582	38	280.18
TT8_Kalman	0	0	0.00
Analog_circuits	1763	12	266.64
GPS_charging	0	0	0.00
Compass	1645	6	139.72
RAFOS	2520	1	47.63
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	-5.57	0.000	2	0.000	0.000	125	2102	1682	0	0	0	0	0	0	28.83	28.83	28.83
33	-1.50	-136.9	3.3	0.0	1	152	11.20	0.00	-101.90	0.000	6	0.444	0.000	2350	1915	3331	0	0	0	0	0	0	14.18	28.83	14.72
466	-1.50	-136.9	57.9	-15.9	81	473	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3331	0	0	0	0	0	0	28.83	28.83	28.83
784	-1.50	-136.9	106.5	-14.3	138	790	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3332	0	0	0	0	0	0	28.83	28.83	28.83
1098	-1.50	-136.9	147.4	-12.4	169	1104	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3332	0	0	0	0	0	0	28.83	28.83	28.83
1412	-1.50	-136.9	187.0	-12.1	200	1418	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3332	0	0	0	0	0	0	28.83	28.83	28.83
1724	-1.50	-136.9	224.5	-11.8	231	1730	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3332	0	0	0	0	0	0	28.83	28.83	28.83
2038	-1.50	-136.9	261.6	-11.9	262	2044	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3332	0	0	0	0	0	0	28.83	28.83	28.83
2344	-1.50	-136.9	297.8	-11.4	293	2351	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3332	0	0	0	0	0	0	28.83	28.83	28.83
2661	-1.50	-136.9	331.7	-10.5	324	2667	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3332	0	0	0	0	0	0	28.83	28.83	28.83
2972	-1.50	-136.9	365.3	-11.1	355	2978	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3332	0	0	0	0	0	0	28.83	28.83	28.83
3279	-1.50	-136.9	399.7	-10.8	386	3285	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3332	0	0	0	0	0	0	28.83	28.83	28.83
3589	-1.50	-136.9	433.8	-11.2	397	3590	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3332	0	0	0	0	0	0	28.83	28.83	28.83
3889	-1.50	-136.9	464.4	-10.0	407	3890	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3332	0	0	0	0	0	0	28.83	28.83	28.83
4189	-1.50	-136.9	493.0	-9.5	417	4190	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3332	0	0	0	0	0	0	28.83	28.83	28.83
4489	-1.50	-136.9	520.4	-9.0	427	4490	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3333	0	0	0	0	0	0	28.83	28.83	28.83
4789	-1.50	-136.9	547.7	-9.4	437	4791	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3333	0	0	0	0	0	0	28.83	28.83	28.83
5089	-1.50	-136.9	575.9	-9.3	447	5090	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3334	0	0	0	0	0	0	28.83	28.83	28.83
5389	-1.50	-136.9	604.7	-9.5	457	5390	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3334	0	0	0	0	0	0	28.83	28.83	28.83
5689	-1.50	-136.9	634.2	-10.0	467	5690	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3334	0	0	0	0	0	0	28.83	28.83	28.83
5989	-1.50	-136.9	664.5	-10.1	477	5990	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3334	0	0	0	0	0	0	28.83	28.83	28.83
6289	-1.50	-136.9	694.1	-9.9	487	6290	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1915	3334	0	0	0	0	0	0	28.83	28.83	28.83
6374	end dive: TARGET_DEPTH_EXCEEDED
state	6374	begin apogee
6401	-0.38	0.0	703.2	-10.3	490	6570	0.90	14.85	142.18	2.531	6	0.268	0.075	2592	1915	2772	0	0	6	1	0	0	14.26	13.68	12.81
6571	end apogee: CONTROL_FINISHED_OK
state	6571	begin climb
6576	1.50	136.9	709.1	0.0	496	6738	1.42	0.00	157.62	2.459	6	0.172	0.000	3005	1914	2214	0	0	0	0	0	0	13.68	28.83	12.39
7034	1.50	136.9	665.5	11.3	512	7036	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2206	0	0	0	0	0	0	28.83	28.83	28.83
7334	1.50	136.9	632.6	10.9	522	7336	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2204	0	0	0	0	0	0	28.83	28.83	28.83
7634	1.50	136.9	600.1	10.7	532	7635	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2203	0	0	0	0	0	0	28.83	28.83	28.83
7935	1.50	136.9	568.6	10.5	542	7936	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2202	0	0	0	0	0	0	28.83	28.83	28.83
8234	1.50	136.9	536.2	11.0	552	8235	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2203	0	0	0	0	0	0	28.83	28.83	28.83
8534	1.50	136.9	502.6	11.4	562	8536	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2202	0	0	0	0	0	0	28.83	28.83	28.83
8834	1.50	136.9	468.9	11.3	572	8835	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1914	2202	0	0	0	0	0	0	28.83	28.83	28.83
9135	1.50	136.9	433.0	12.3	582	9136	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2202	0	0	0	0	0	0	28.83	28.83	28.83
9434	1.50	136.9	397.9	11.5	592	9440	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2201	0	0	0	0	0	0	28.83	28.83	28.83
9748	1.50	136.9	362.6	11.0	623	9754	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2202	0	0	0	0	0	0	28.83	28.83	28.83
10061	1.50	136.9	329.1	10.7	654	10067	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2202	0	0	0	0	0	0	28.83	28.83	28.83
10375	1.50	136.9	296.2	10.0	685	10382	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2201	0	0	0	0	0	0	28.83	28.83	28.83
10687	1.50	136.9	264.7	10.4	716	10693	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2201	0	0	0	0	0	0	28.83	28.83	28.83
10999	1.50	136.9	231.9	10.2	747	11005	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	2202	0	0	0	0	0	0	28.83	28.83	28.83
11312	1.51	148.3	202.4	8.4	778	11325	0.00	0.00	10.10	1.880	6	0.000	0.000	3005	1914	2167	0	0	0	0	0	0	28.83	28.83	13.83
11627	1.54	169.8	175.2	8.0	810	11653	0.00	0.00	23.12	1.952	6	0.000	0.000	3005	1914	2079	0	0	0	0	0	0	28.83	28.83	13.76
11956	1.57	190.6	148.4	8.0	843	11983	0.00	0.00	21.58	1.912	6	0.000	0.000	3005	1914	1995	0	0	0	0	0	0	28.83	28.83	13.70
12286	1.57	190.6	119.4	9.0	876	12292	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	1990	0	0	0	0	0	0	28.83	28.83	28.83
12601	1.57	192.8	91.3	8.8	916	12607	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1914	1990	0	0	0	0	0	0	28.83	28.83	28.83
12918	1.60	217.4	65.4	7.8	977	12938	0.10	0.00	14.90	0.392	6	0.182	0.000	3044	1914	1884	0	0	0	0	0	0	14.60	28.83	14.28
13254	1.64	251.4	36.7	7.4	1040	13279	0.00	0.00	18.30	0.308	6	0.000	0.000	3044	1914	1747	0	0	0	0	0	0	28.83	28.83	14.28
13594	1.66	269.8	7.4	8.1	1104	13607	0.00	0.00	9.20	0.214	6	0.000	0.000	3044	1914	1668	0	0	0	0	0	0	28.83	28.83	14.40
13632	end climb: SURFACE_DEPTH_REACHED
state	13632	begin surface coast
13664	end surface coast: CONTROL_FINISHED_OK
state	13664	begin surface