Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 313 * 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 313 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 -1656.8209 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 -1656.8209

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 313 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 021112,153434,6637.224,-5949.331,27,0.9,28,-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 3.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021112,154346,6637.281,-5949.374,4,0.9,5,-33.7 MHEAD_RNG_PITCHd_Wd 148.7,139370,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 710

Post-dive calculations and measurements:

FINISH 2.4,1.024651 _24V_AH 12.4,100.777

SM_CCo 13954,0.00,0.000,0,0,1577,293.13 _10V_AH 12.7,0.000

SM_GC 3.28,8.73,14.85,0.00,0.111,0.076,0.000,141,1925,1577,-11.59,-5.54,293.13,0,0,6,1,0,0,14.57,14.56,28.83 FG_AHR_24Vo 0.000

RAFOS_CLK 624 FG_AHR_10Vo 0.000

RAFOS 0,1351872069,16.033333,16.019167,59,56,56,55,47,46,224,175,158,206,120,193 MEM 188680

RAFOS_FIX 6649.052246,-5944.512207,021112,161656,2,104,5.84 DATA_FILE_SIZE 53436,1136

IRIDIUM_FIX 6609.62,-5953.18,021112,111155 CAP_FILE_SIZE 103811,32

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,229306368

HUMID 46.22 ERRORS 0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0

INTERNAL_PRESSURE 8.67444 SOUNDSPEED 1451.1

TCM_TEMP 12.50 CURRENT 0.029,169.8,1

XPDR_PINGS 7 GPS 021112,193904,6637.086,-5949.349,55,0.9,56,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 441 122.33 SBE_CT 831 23 247.02

Roll_motor 59 79 58.60 SBE_O2 804 3 37.33

VBD_pump_during_apogee 410 2528 12857.14 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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 326 163 662.19 nil 0 0 0.00

Transponder_ping 1 420 9.11 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 21 1.66

TT8 2782 14 528.72

LPSleep 8606 2 252.50

TT8_Active 578 14 109.91

TT8_Sampling 1939 33 829.74

TT8_CF8 568 38 275.76

TT8_Kalman 0 0 0.00

Analog_circuits 1796 12 273.74

GPS_charging 0 0 0.00

Compass 1672 6 143.12

RAFOS 2520 1 48.01

Transponder 0 5 0.03

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

19 -1.50 -136.9 0.0 0.0 0 26 0.00 0.00 -5.55 0.000 2 0.000 0.000 111 2035 1686 0 0 0 0 0 0 28.83 28.83 28.83

32 -1.50 -136.9 3.3 0.0 1 157 11.23 0.00 -107.65 0.000 6 0.441 0.000 2349 1924 3331 0 0 0 0 0 0 14.14 28.83 14.73

473 -1.50 -136.9 54.5 -15.6 82 479 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3332 0 0 0 0 0 0 28.83 28.83 28.83

795 -1.50 -136.9 104.7 -15.1 141 802 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3332 0 0 0 0 0 0 28.83 28.83 28.83

1109 -1.50 -136.9 149.2 -14.1 172 1115 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3332 0 0 0 0 0 0 28.83 28.83 28.83

1421 -1.50 -136.9 190.2 -12.2 203 1427 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3332 0 0 0 0 0 0 28.83 28.83 28.83

1732 -1.50 -136.9 229.9 -12.4 234 1738 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3332 0 0 0 0 0 0 28.83 28.83 28.83

2039 -1.50 -136.9 268.4 -12.3 265 2045 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3332 0 0 0 0 0 0 28.83 28.83 28.83

2353 -1.50 -136.9 306.2 -11.8 296 2359 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3331 0 0 0 0 0 0 28.83 28.83 28.83

2667 -1.50 -136.9 342.4 -11.5 327 2673 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3331 0 0 0 0 0 0 28.83 28.83 28.83

2973 -1.50 -136.9 377.5 -10.9 358 2979 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3331 0 0 0 0 0 0 28.83 28.83 28.83

3304 -1.50 -136.9 413.9 -11.2 383 3306 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3331 0 0 0 0 0 0 28.83 28.83 28.83

3603 -1.50 -136.9 445.1 -10.0 393 3604 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3331 0 0 0 0 0 0 28.83 28.83 28.83

3904 -1.50 -136.9 476.1 -10.4 403 3905 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3331 0 0 0 0 0 0 28.83 28.83 28.83

4203 -1.50 -136.9 507.4 -10.4 413 4204 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3331 0 0 0 0 0 0 28.83 28.83 28.83

4503 -1.50 -136.9 538.5 -10.5 423 4504 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3332 0 0 0 0 0 0 28.83 28.83 28.83

4804 -1.50 -136.9 569.1 -9.9 433 4805 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3332 0 0 0 0 0 0 28.83 28.83 28.83

5103 -1.50 -136.9 599.2 -10.1 443 5104 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 1924 3332 0 0 0 0 0 0 28.83 28.83 28.83

5403 -1.50 -136.9 629.4 -9.7 453 5404 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3333 0 0 0 0 0 0 28.83 28.83 28.83

5703 -1.50 -136.9 659.2 -10.1 463 5704 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3333 0 0 0 0 0 0 28.83 28.83 28.83

6004 -1.50 -136.9 688.9 -9.4 473 6005 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 1924 3333 0 0 0 0 0 0 28.83 28.83 28.83

6238 end dive: TARGET_DEPTH_EXCEEDED

state 6238 begin apogee

6265 -0.38 0.0 712.8 -10.0 481 6434 0.90 14.85 142.20 2.528 6 0.258 0.077 2593 1924 2772 0 0 6 1 0 0 14.26 13.67 12.81

6435 end apogee: CONTROL_FINISHED_OK

state 6435 begin climb

6440 1.50 136.9 719.1 0.0 487 6604 1.40 0.00 159.00 2.496 6 0.168 0.000 3002 1924 2214 0 0 0 0 0 0 13.69 28.83 12.37

6898 1.50 136.9 676.1 11.0 503 6899 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1924 2206 0 0 0 0 0 0 28.83 28.83 28.83

7199 1.50 136.9 642.0 11.5 513 7200 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1924 2204 0 0 0 0 0 0 28.83 28.83 28.83

7498 1.50 136.9 606.7 11.4 523 7499 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1924 2203 0 0 0 0 0 0 28.83 28.83 28.83

7798 1.50 136.9 572.5 11.7 533 7799 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1924 2203 0 0 0 0 0 0 28.83 28.83 28.83

8099 1.50 136.9 538.3 11.3 543 8100 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1924 2202 0 0 0 0 0 0 28.83 28.83 28.83

8398 1.50 136.9 502.9 12.1 553 8399 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1924 2202 0 0 0 0 0 0 28.83 28.83 28.83

8698 1.50 136.9 467.9 11.1 563 8699 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1924 2202 0 0 0 0 0 0 28.83 28.83 28.83

8998 1.50 136.9 437.5 9.8 573 8999 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1924 2202 0 0 0 0 0 0 28.83 28.83 28.83

9299 1.50 136.9 407.9 9.8 583 9300 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1924 2202 0 0 0 0 0 0 28.83 28.83 28.83

9598 1.50 136.9 380.2 9.4 607 9604 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1924 2202 0 0 0 0 0 0 28.83 28.83 28.83

9914 1.50 136.9 350.8 9.4 638 9920 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1924 2201 0 0 0 0 0 0 28.83 28.83 28.83

10227 1.50 136.9 320.7 10.0 669 10233 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1924 2202 0 0 0 0 0 0 28.83 28.83 28.83

10539 1.50 136.9 289.3 10.1 700 10545 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1924 2201 0 0 0 0 0 0 28.83 28.83 28.83

10851 1.50 138.6 260.3 8.8 731 10857 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1924 2202 0 0 0 0 0 0 28.83 28.83 28.83

11165 1.50 138.6 231.6 9.2 762 11171 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1924 2202 0 0 0 0 0 0 28.83 28.83 28.83

11476 1.51 145.8 203.8 8.6 793 11489 0.00 0.00 7.78 1.845 6 0.000 0.000 3001 1924 2177 0 0 0 0 0 0 28.83 28.83 13.78

11792 1.53 162.5 176.5 8.2 825 11817 0.00 0.00 18.75 1.981 6 0.000 0.000 3002 1924 2109 0 0 0 0 0 0 28.83 28.83 13.78

12122 1.56 189.9 148.7 7.7 858 12159 0.00 0.00 28.58 1.961 6 0.000 0.000 3002 1924 1997 0 0 0 0 0 0 28.83 28.83 13.66

12462 1.57 197.7 119.3 8.6 892 12469 0.00 0.00 4.38 1.436 6 0.000 0.000 3001 1924 1965 0 0 0 0 0 0 28.83 28.83 13.66

12776 1.57 197.9 90.3 8.9 932 12782 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1924 1962 0 0 0 0 0 0 28.83 28.83 28.83

13092 1.60 220.5 63.3 7.9 993 13112 0.10 0.00 12.60 0.383 6 0.180 0.000 3041 1924 1871 0 0 0 0 0 0 14.59 28.83 14.24

13429 1.64 248.4 35.2 7.7 1056 13449 0.00 0.00 15.23 0.300 6 0.000 0.000 3041 1924 1756 0 0 0 0 0 0 28.83 28.83 14.31

13759 1.69 289.8 7.6 7.1 1119 13784 0.00 0.00 21.60 0.214 6 0.000 0.000 3042 1924 1588 0 0 0 0 0 0 28.83 28.83 14.40

13814 end climb: SURFACE_DEPTH_REACHED

state 13814 begin surface coast

13850 end surface coast: CONTROL_FINISHED_OK

state 13850 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	313	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	-1656.8209	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	021112,153434,6637.224,-5949.331,27,0.9,28,-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	3.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021112,154346,6637.281,-5949.374,4,0.9,5,-33.7	MHEAD_RNG_PITCHd_Wd	148.7,139370,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	710

FINISH	2.4,1.024651	_24V_AH	12.4,100.777
SM_CCo	13954,0.00,0.000,0,0,1577,293.13	_10V_AH	12.7,0.000
SM_GC	3.28,8.73,14.85,0.00,0.111,0.076,0.000,141,1925,1577,-11.59,-5.54,293.13,0,0,6,1,0,0,14.57,14.56,28.83	FG_AHR_24Vo	0.000
RAFOS_CLK	624	FG_AHR_10Vo	0.000
RAFOS	0,1351872069,16.033333,16.019167,59,56,56,55,47,46,224,175,158,206,120,193	MEM	188680
RAFOS_FIX	6649.052246,-5944.512207,021112,161656,2,104,5.84	DATA_FILE_SIZE	53436,1136
IRIDIUM_FIX	6609.62,-5953.18,021112,111155	CAP_FILE_SIZE	103811,32
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,229306368
HUMID	46.22	ERRORS	0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
INTERNAL_PRESSURE	8.67444	SOUNDSPEED	1451.1
TCM_TEMP	12.50	CURRENT	0.029,169.8,1
XPDR_PINGS	7	GPS	021112,193904,6637.086,-5949.349,55,0.9,56,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	441	122.33	SBE_CT	831	23	247.02
Roll_motor	59	79	58.60	SBE_O2	804	3	37.33
VBD_pump_during_apogee	410	2528	12857.14	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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	326	163	662.19	nil	0	0	0.00
Transponder_ping	1	420	9.11	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	21	1.66
TT8	2782	14	528.72
LPSleep	8606	2	252.50
TT8_Active	578	14	109.91
TT8_Sampling	1939	33	829.74
TT8_CF8	568	38	275.76
TT8_Kalman	0	0	0.00
Analog_circuits	1796	12	273.74
GPS_charging	0	0	0.00
Compass	1672	6	143.12
RAFOS	2520	1	48.01
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
19	-1.50	-136.9	0.0	0.0	0	26	0.00	0.00	-5.55	0.000	2	0.000	0.000	111	2035	1686	0	0	0	0	0	0	28.83	28.83	28.83
32	-1.50	-136.9	3.3	0.0	1	157	11.23	0.00	-107.65	0.000	6	0.441	0.000	2349	1924	3331	0	0	0	0	0	0	14.14	28.83	14.73
473	-1.50	-136.9	54.5	-15.6	82	479	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3332	0	0	0	0	0	0	28.83	28.83	28.83
795	-1.50	-136.9	104.7	-15.1	141	802	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3332	0	0	0	0	0	0	28.83	28.83	28.83
1109	-1.50	-136.9	149.2	-14.1	172	1115	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3332	0	0	0	0	0	0	28.83	28.83	28.83
1421	-1.50	-136.9	190.2	-12.2	203	1427	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3332	0	0	0	0	0	0	28.83	28.83	28.83
1732	-1.50	-136.9	229.9	-12.4	234	1738	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3332	0	0	0	0	0	0	28.83	28.83	28.83
2039	-1.50	-136.9	268.4	-12.3	265	2045	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3332	0	0	0	0	0	0	28.83	28.83	28.83
2353	-1.50	-136.9	306.2	-11.8	296	2359	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3331	0	0	0	0	0	0	28.83	28.83	28.83
2667	-1.50	-136.9	342.4	-11.5	327	2673	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3331	0	0	0	0	0	0	28.83	28.83	28.83
2973	-1.50	-136.9	377.5	-10.9	358	2979	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3331	0	0	0	0	0	0	28.83	28.83	28.83
3304	-1.50	-136.9	413.9	-11.2	383	3306	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3331	0	0	0	0	0	0	28.83	28.83	28.83
3603	-1.50	-136.9	445.1	-10.0	393	3604	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3331	0	0	0	0	0	0	28.83	28.83	28.83
3904	-1.50	-136.9	476.1	-10.4	403	3905	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3331	0	0	0	0	0	0	28.83	28.83	28.83
4203	-1.50	-136.9	507.4	-10.4	413	4204	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3331	0	0	0	0	0	0	28.83	28.83	28.83
4503	-1.50	-136.9	538.5	-10.5	423	4504	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3332	0	0	0	0	0	0	28.83	28.83	28.83
4804	-1.50	-136.9	569.1	-9.9	433	4805	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3332	0	0	0	0	0	0	28.83	28.83	28.83
5103	-1.50	-136.9	599.2	-10.1	443	5104	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	1924	3332	0	0	0	0	0	0	28.83	28.83	28.83
5403	-1.50	-136.9	629.4	-9.7	453	5404	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3333	0	0	0	0	0	0	28.83	28.83	28.83
5703	-1.50	-136.9	659.2	-10.1	463	5704	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3333	0	0	0	0	0	0	28.83	28.83	28.83
6004	-1.50	-136.9	688.9	-9.4	473	6005	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	1924	3333	0	0	0	0	0	0	28.83	28.83	28.83
6238	end dive: TARGET_DEPTH_EXCEEDED
state	6238	begin apogee
6265	-0.38	0.0	712.8	-10.0	481	6434	0.90	14.85	142.20	2.528	6	0.258	0.077	2593	1924	2772	0	0	6	1	0	0	14.26	13.67	12.81
6435	end apogee: CONTROL_FINISHED_OK
state	6435	begin climb
6440	1.50	136.9	719.1	0.0	487	6604	1.40	0.00	159.00	2.496	6	0.168	0.000	3002	1924	2214	0	0	0	0	0	0	13.69	28.83	12.37
6898	1.50	136.9	676.1	11.0	503	6899	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1924	2206	0	0	0	0	0	0	28.83	28.83	28.83
7199	1.50	136.9	642.0	11.5	513	7200	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1924	2204	0	0	0	0	0	0	28.83	28.83	28.83
7498	1.50	136.9	606.7	11.4	523	7499	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1924	2203	0	0	0	0	0	0	28.83	28.83	28.83
7798	1.50	136.9	572.5	11.7	533	7799	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1924	2203	0	0	0	0	0	0	28.83	28.83	28.83
8099	1.50	136.9	538.3	11.3	543	8100	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1924	2202	0	0	0	0	0	0	28.83	28.83	28.83
8398	1.50	136.9	502.9	12.1	553	8399	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1924	2202	0	0	0	0	0	0	28.83	28.83	28.83
8698	1.50	136.9	467.9	11.1	563	8699	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1924	2202	0	0	0	0	0	0	28.83	28.83	28.83
8998	1.50	136.9	437.5	9.8	573	8999	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1924	2202	0	0	0	0	0	0	28.83	28.83	28.83
9299	1.50	136.9	407.9	9.8	583	9300	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1924	2202	0	0	0	0	0	0	28.83	28.83	28.83
9598	1.50	136.9	380.2	9.4	607	9604	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1924	2202	0	0	0	0	0	0	28.83	28.83	28.83
9914	1.50	136.9	350.8	9.4	638	9920	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1924	2201	0	0	0	0	0	0	28.83	28.83	28.83
10227	1.50	136.9	320.7	10.0	669	10233	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1924	2202	0	0	0	0	0	0	28.83	28.83	28.83
10539	1.50	136.9	289.3	10.1	700	10545	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1924	2201	0	0	0	0	0	0	28.83	28.83	28.83
10851	1.50	138.6	260.3	8.8	731	10857	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1924	2202	0	0	0	0	0	0	28.83	28.83	28.83
11165	1.50	138.6	231.6	9.2	762	11171	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1924	2202	0	0	0	0	0	0	28.83	28.83	28.83
11476	1.51	145.8	203.8	8.6	793	11489	0.00	0.00	7.78	1.845	6	0.000	0.000	3001	1924	2177	0	0	0	0	0	0	28.83	28.83	13.78
11792	1.53	162.5	176.5	8.2	825	11817	0.00	0.00	18.75	1.981	6	0.000	0.000	3002	1924	2109	0	0	0	0	0	0	28.83	28.83	13.78
12122	1.56	189.9	148.7	7.7	858	12159	0.00	0.00	28.58	1.961	6	0.000	0.000	3002	1924	1997	0	0	0	0	0	0	28.83	28.83	13.66
12462	1.57	197.7	119.3	8.6	892	12469	0.00	0.00	4.38	1.436	6	0.000	0.000	3001	1924	1965	0	0	0	0	0	0	28.83	28.83	13.66
12776	1.57	197.9	90.3	8.9	932	12782	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1924	1962	0	0	0	0	0	0	28.83	28.83	28.83
13092	1.60	220.5	63.3	7.9	993	13112	0.10	0.00	12.60	0.383	6	0.180	0.000	3041	1924	1871	0	0	0	0	0	0	14.59	28.83	14.24
13429	1.64	248.4	35.2	7.7	1056	13449	0.00	0.00	15.23	0.300	6	0.000	0.000	3041	1924	1756	0	0	0	0	0	0	28.83	28.83	14.31
13759	1.69	289.8	7.6	7.1	1119	13784	0.00	0.00	21.60	0.214	6	0.000	0.000	3042	1924	1588	0	0	0	0	0	0	28.83	28.83	14.40
13814	end climb: SURFACE_DEPTH_REACHED
state	13814	begin surface coast
13850	end surface coast: CONTROL_FINISHED_OK
state	13850	begin surface