Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 316 * 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 316 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 -1660.5911 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 -1660.5911

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 316 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 031112,033433,6634.971,-5948.778,91,0.9,96,-33.6 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.09 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 031112,034809,6635.038,-5948.608,5,0.9,5,-33.6 MHEAD_RNG_PITCHd_Wd 106.5,140330,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 703

Post-dive calculations and measurements:

FINISH 2.3,1.013134 _24V_AH 12.4,101.775

SM_CCo 13713,36.50,0.200,0,0,1586,290.19 _10V_AH 12.7,0.000

SM_GC 3.57,8.98,14.85,36.50,0.133,0.076,0.200,133,1774,1586,-11.62,-9.81,290.19,0,0,6,1,0,0,14.61,14.59,14.39 FG_AHR_24Vo 0.000

RAFOS_CLK 614 FG_AHR_10Vo 0.000

RAFOS 0,1351915263,4.033333,4.017500,67,58,57,55,54,53,134,215,201,175,117,159 MEM 188756

RAFOS_FIX 6649.052246,-5944.512207,021112,161656,2,104,5.84 DATA_FILE_SIZE 50131,1118

IRIDIUM_FIX 6609.62,-5945.78,031112,030317 CAP_FILE_SIZE 105328,32

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,229138432

HUMID 46.73 ERRORS 0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0

INTERNAL_PRESSURE 8.67444 SOUNDSPEED 1451.2

TCM_TEMP 12.50 CURRENT 0.040,175.2,1

XPDR_PINGS 6 GPS 031112,074023,6634.793,-5948.588,76,1.0,77,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 426 118.83 SBE_CT 816 23 242.79

Roll_motor 59 78 58.04 SBE_O2 791 3 36.72

VBD_pump_during_apogee 375 2557 11899.81 nil 0 0 0.00

VBD_pump_during_surface 36 199 90.37 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 531 159 1048.45 nil 0 0 0.00

Transponder_ping 1 420 7.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 21 1.64

TT8 2776 14 527.55

LPSleep 8472 2 248.56

TT8_Active 595 14 113.18

TT8_Sampling 2090 33 894.27

TT8_CF8 601 38 291.84

TT8_Kalman 0 0 0.00

Analog_circuits 1997 12 304.49

GPS_charging 0 0 0.00

Compass 1649 6 141.16

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 27 0.00 0.00 -5.60 0.000 2 0.000 0.000 86 2490 1683 0 0 0 0 0 0 28.83 28.83 28.83

33 -1.50 -136.9 3.1 0.0 1 158 11.07 0.00 -108.45 0.000 6 0.427 0.000 2354 1773 3331 0 0 0 0 0 0 14.21 28.83 14.73

474 -1.50 -136.9 56.8 -16.2 82 480 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3333 0 0 0 0 0 0 28.83 28.83 28.83

797 -1.50 -136.9 107.7 -15.1 139 803 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3332 0 0 0 0 0 0 28.83 28.83 28.83

1113 -1.50 -136.9 150.6 -13.0 170 1119 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3333 0 0 0 0 0 0 28.83 28.83 28.83

1424 -1.50 -136.9 192.4 -14.4 201 1431 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3332 0 0 0 0 0 0 28.83 28.83 28.83

1731 -1.50 -136.9 233.7 -13.1 232 1737 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3333 0 0 0 0 0 0 28.83 28.83 28.83

2046 -1.50 -136.9 274.5 -12.6 263 2052 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3333 0 0 0 0 0 0 28.83 28.83 28.83

2352 -1.50 -136.9 311.2 -11.5 294 2358 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3332 0 0 0 0 0 0 28.83 28.83 28.83

2663 -1.50 -136.9 344.7 -11.0 325 2669 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3332 0 0 0 0 0 0 28.83 28.83 28.83

2978 -1.50 -136.9 379.1 -10.9 356 2984 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3332 0 0 0 0 0 0 28.83 28.83 28.83

3305 -1.50 -136.9 417.1 -11.5 379 3306 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3332 0 0 0 0 0 0 28.83 28.83 28.83

3607 -1.50 -136.9 451.0 -11.0 389 3609 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3332 0 0 0 0 0 0 28.83 28.83 28.83

3904 -1.50 -136.9 481.6 -10.3 399 3906 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3332 0 0 0 0 0 0 28.83 28.83 28.83

4205 -1.50 -136.9 511.4 -10.0 409 4206 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3333 0 0 0 0 0 0 28.83 28.83 28.83

4505 -1.50 -136.9 541.4 -9.8 419 4506 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3334 0 0 0 0 0 0 28.83 28.83 28.83

4805 -1.50 -136.9 571.0 -9.9 429 4806 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3334 0 0 0 0 0 0 28.83 28.83 28.83

5105 -1.50 -136.9 601.4 -10.3 439 5106 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3334 0 0 0 0 0 0 28.83 28.83 28.83

5405 -1.50 -136.9 631.7 -10.3 449 5406 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3334 0 0 0 0 0 0 28.83 28.83 28.83

5705 -1.50 -136.9 662.5 -9.8 459 5706 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3334 0 0 0 0 0 0 28.83 28.83 28.83

6005 -1.50 -136.9 691.6 -9.9 469 6006 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 1773 3334 0 0 0 0 0 0 28.83 28.83 28.83

6119 end dive: TARGET_DEPTH_EXCEEDED

state 6119 begin apogee

6147 -0.38 0.0 703.4 -9.9 473 6318 0.88 14.85 143.68 2.557 6 0.262 0.077 2590 1773 2773 0 0 6 1 0 0 14.26 13.64 12.77

6319 end apogee: CONTROL_FINISHED_OK

state 6319 begin climb

6325 1.50 136.9 710.8 0.0 479 6490 1.42 0.00 161.15 2.522 6 0.169 0.000 3004 1773 2214 0 0 0 0 0 0 13.65 28.83 12.36

6785 1.50 136.9 666.9 11.0 495 6786 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1773 2206 0 0 0 0 0 0 28.83 28.83 28.83

7085 1.50 136.9 631.8 12.0 505 7086 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1773 2204 0 0 0 0 0 0 28.83 28.83 28.83

7385 1.50 136.9 596.7 11.4 515 7386 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1774 2203 0 0 0 0 0 0 28.83 28.83 28.83

7685 1.50 136.9 562.6 11.2 525 7686 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1773 2202 0 0 0 0 0 0 28.83 28.83 28.83

7985 1.50 136.9 531.8 10.2 535 7986 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1773 2202 0 0 0 0 0 0 28.83 28.83 28.83

8285 1.50 136.9 501.3 9.8 545 8286 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1773 2202 0 0 0 0 0 0 28.83 28.83 28.83

8585 1.50 136.9 470.9 10.2 555 8586 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1773 2201 0 0 0 0 0 0 28.83 28.83 28.83

8885 1.50 136.9 440.4 10.2 565 8886 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1773 2202 0 0 0 0 0 0 28.83 28.83 28.83

9185 1.50 136.9 410.0 10.2 575 9186 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 1773 2202 0 0 0 0 0 0 28.83 28.83 28.83

9485 1.50 136.9 378.4 10.5 597 9492 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1774 2201 0 0 0 0 0 0 28.83 28.83 28.83

9799 1.50 136.9 347.1 9.7 628 9805 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1773 2201 0 0 0 0 0 0 28.83 28.83 28.83

10111 1.50 136.9 318.0 9.4 659 10117 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1773 2201 0 0 0 0 0 0 28.83 28.83 28.83

10425 1.50 136.9 288.9 9.4 690 10431 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1773 2201 0 0 0 0 0 0 28.83 28.83 28.83

10737 1.50 136.9 258.3 10.1 721 10744 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1773 2201 0 0 0 0 0 0 28.83 28.83 28.83

11049 1.50 136.9 227.0 9.1 752 11055 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1773 2201 0 0 0 0 0 0 28.83 28.83 28.83

11363 1.51 147.1 199.3 8.5 783 11375 0.00 0.00 9.00 1.883 6 0.000 0.000 3004 1773 2173 0 0 0 0 0 0 28.83 28.83 13.81

11676 1.53 162.6 173.2 8.2 815 11696 0.00 0.00 17.65 1.970 6 0.000 0.000 3004 1773 2108 0 0 0 0 0 0 28.83 28.83 13.78

11997 1.56 183.3 145.6 8.0 847 12024 0.00 0.00 21.95 1.935 6 0.000 0.000 3004 1773 2024 0 0 0 0 0 0 28.83 28.83 13.71

12327 1.57 198.0 117.5 8.3 880 12343 0.00 0.00 8.77 1.688 6 0.000 0.000 3004 1773 1964 0 0 0 0 0 0 28.83 28.83 13.73

12653 1.60 221.2 88.8 7.9 924 12673 0.10 0.00 13.05 0.456 6 0.174 0.000 3042 1772 1871 0 0 0 0 0 0 14.57 28.83 14.19

12987 1.60 221.2 56.0 9.6 987 12993 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 1773 1866 0 0 0 0 0 0 28.83 28.83 28.83

13305 1.60 222.0 29.2 8.9 1048 13311 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 1773 1865 0 0 0 0 0 0 28.83 28.83 28.83

13621 1.60 222.0 4.9 11.2 1109 13628 0.00 0.00 0.00 0.000 6 0.000 0.000 3043 1774 1863 0 0 0 0 0 0 28.83 28.83 28.83

13638 end climb: SURFACE_DEPTH_REACHED

state 13638 begin surface coast

13670 end surface coast: CONTROL_FINISHED_OK

state 13670 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	316	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	-1660.5911	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	031112,033433,6634.971,-5948.778,91,0.9,96,-33.6	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.09	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	031112,034809,6635.038,-5948.608,5,0.9,5,-33.6	MHEAD_RNG_PITCHd_Wd	106.5,140330,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	703

FINISH	2.3,1.013134	_24V_AH	12.4,101.775
SM_CCo	13713,36.50,0.200,0,0,1586,290.19	_10V_AH	12.7,0.000
SM_GC	3.57,8.98,14.85,36.50,0.133,0.076,0.200,133,1774,1586,-11.62,-9.81,290.19,0,0,6,1,0,0,14.61,14.59,14.39	FG_AHR_24Vo	0.000
RAFOS_CLK	614	FG_AHR_10Vo	0.000
RAFOS	0,1351915263,4.033333,4.017500,67,58,57,55,54,53,134,215,201,175,117,159	MEM	188756
RAFOS_FIX	6649.052246,-5944.512207,021112,161656,2,104,5.84	DATA_FILE_SIZE	50131,1118
IRIDIUM_FIX	6609.62,-5945.78,031112,030317	CAP_FILE_SIZE	105328,32
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,229138432
HUMID	46.73	ERRORS	0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
INTERNAL_PRESSURE	8.67444	SOUNDSPEED	1451.2
TCM_TEMP	12.50	CURRENT	0.040,175.2,1
XPDR_PINGS	6	GPS	031112,074023,6634.793,-5948.588,76,1.0,77,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	426	118.83	SBE_CT	816	23	242.79
Roll_motor	59	78	58.04	SBE_O2	791	3	36.72
VBD_pump_during_apogee	375	2557	11899.81	nil	0	0	0.00
VBD_pump_during_surface	36	199	90.37	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	531	159	1048.45	nil	0	0	0.00
Transponder_ping	1	420	7.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	21	1.64
TT8	2776	14	527.55
LPSleep	8472	2	248.56
TT8_Active	595	14	113.18
TT8_Sampling	2090	33	894.27
TT8_CF8	601	38	291.84
TT8_Kalman	0	0	0.00
Analog_circuits	1997	12	304.49
GPS_charging	0	0	0.00
Compass	1649	6	141.16
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	27	0.00	0.00	-5.60	0.000	2	0.000	0.000	86	2490	1683	0	0	0	0	0	0	28.83	28.83	28.83
33	-1.50	-136.9	3.1	0.0	1	158	11.07	0.00	-108.45	0.000	6	0.427	0.000	2354	1773	3331	0	0	0	0	0	0	14.21	28.83	14.73
474	-1.50	-136.9	56.8	-16.2	82	480	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3333	0	0	0	0	0	0	28.83	28.83	28.83
797	-1.50	-136.9	107.7	-15.1	139	803	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3332	0	0	0	0	0	0	28.83	28.83	28.83
1113	-1.50	-136.9	150.6	-13.0	170	1119	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3333	0	0	0	0	0	0	28.83	28.83	28.83
1424	-1.50	-136.9	192.4	-14.4	201	1431	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3332	0	0	0	0	0	0	28.83	28.83	28.83
1731	-1.50	-136.9	233.7	-13.1	232	1737	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3333	0	0	0	0	0	0	28.83	28.83	28.83
2046	-1.50	-136.9	274.5	-12.6	263	2052	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3333	0	0	0	0	0	0	28.83	28.83	28.83
2352	-1.50	-136.9	311.2	-11.5	294	2358	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3332	0	0	0	0	0	0	28.83	28.83	28.83
2663	-1.50	-136.9	344.7	-11.0	325	2669	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3332	0	0	0	0	0	0	28.83	28.83	28.83
2978	-1.50	-136.9	379.1	-10.9	356	2984	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3332	0	0	0	0	0	0	28.83	28.83	28.83
3305	-1.50	-136.9	417.1	-11.5	379	3306	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3332	0	0	0	0	0	0	28.83	28.83	28.83
3607	-1.50	-136.9	451.0	-11.0	389	3609	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3332	0	0	0	0	0	0	28.83	28.83	28.83
3904	-1.50	-136.9	481.6	-10.3	399	3906	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3332	0	0	0	0	0	0	28.83	28.83	28.83
4205	-1.50	-136.9	511.4	-10.0	409	4206	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3333	0	0	0	0	0	0	28.83	28.83	28.83
4505	-1.50	-136.9	541.4	-9.8	419	4506	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3334	0	0	0	0	0	0	28.83	28.83	28.83
4805	-1.50	-136.9	571.0	-9.9	429	4806	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3334	0	0	0	0	0	0	28.83	28.83	28.83
5105	-1.50	-136.9	601.4	-10.3	439	5106	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3334	0	0	0	0	0	0	28.83	28.83	28.83
5405	-1.50	-136.9	631.7	-10.3	449	5406	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3334	0	0	0	0	0	0	28.83	28.83	28.83
5705	-1.50	-136.9	662.5	-9.8	459	5706	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3334	0	0	0	0	0	0	28.83	28.83	28.83
6005	-1.50	-136.9	691.6	-9.9	469	6006	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	1773	3334	0	0	0	0	0	0	28.83	28.83	28.83
6119	end dive: TARGET_DEPTH_EXCEEDED
state	6119	begin apogee
6147	-0.38	0.0	703.4	-9.9	473	6318	0.88	14.85	143.68	2.557	6	0.262	0.077	2590	1773	2773	0	0	6	1	0	0	14.26	13.64	12.77
6319	end apogee: CONTROL_FINISHED_OK
state	6319	begin climb
6325	1.50	136.9	710.8	0.0	479	6490	1.42	0.00	161.15	2.522	6	0.169	0.000	3004	1773	2214	0	0	0	0	0	0	13.65	28.83	12.36
6785	1.50	136.9	666.9	11.0	495	6786	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1773	2206	0	0	0	0	0	0	28.83	28.83	28.83
7085	1.50	136.9	631.8	12.0	505	7086	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1773	2204	0	0	0	0	0	0	28.83	28.83	28.83
7385	1.50	136.9	596.7	11.4	515	7386	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1774	2203	0	0	0	0	0	0	28.83	28.83	28.83
7685	1.50	136.9	562.6	11.2	525	7686	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1773	2202	0	0	0	0	0	0	28.83	28.83	28.83
7985	1.50	136.9	531.8	10.2	535	7986	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1773	2202	0	0	0	0	0	0	28.83	28.83	28.83
8285	1.50	136.9	501.3	9.8	545	8286	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1773	2202	0	0	0	0	0	0	28.83	28.83	28.83
8585	1.50	136.9	470.9	10.2	555	8586	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1773	2201	0	0	0	0	0	0	28.83	28.83	28.83
8885	1.50	136.9	440.4	10.2	565	8886	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1773	2202	0	0	0	0	0	0	28.83	28.83	28.83
9185	1.50	136.9	410.0	10.2	575	9186	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	1773	2202	0	0	0	0	0	0	28.83	28.83	28.83
9485	1.50	136.9	378.4	10.5	597	9492	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1774	2201	0	0	0	0	0	0	28.83	28.83	28.83
9799	1.50	136.9	347.1	9.7	628	9805	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1773	2201	0	0	0	0	0	0	28.83	28.83	28.83
10111	1.50	136.9	318.0	9.4	659	10117	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1773	2201	0	0	0	0	0	0	28.83	28.83	28.83
10425	1.50	136.9	288.9	9.4	690	10431	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1773	2201	0	0	0	0	0	0	28.83	28.83	28.83
10737	1.50	136.9	258.3	10.1	721	10744	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1773	2201	0	0	0	0	0	0	28.83	28.83	28.83
11049	1.50	136.9	227.0	9.1	752	11055	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1773	2201	0	0	0	0	0	0	28.83	28.83	28.83
11363	1.51	147.1	199.3	8.5	783	11375	0.00	0.00	9.00	1.883	6	0.000	0.000	3004	1773	2173	0	0	0	0	0	0	28.83	28.83	13.81
11676	1.53	162.6	173.2	8.2	815	11696	0.00	0.00	17.65	1.970	6	0.000	0.000	3004	1773	2108	0	0	0	0	0	0	28.83	28.83	13.78
11997	1.56	183.3	145.6	8.0	847	12024	0.00	0.00	21.95	1.935	6	0.000	0.000	3004	1773	2024	0	0	0	0	0	0	28.83	28.83	13.71
12327	1.57	198.0	117.5	8.3	880	12343	0.00	0.00	8.77	1.688	6	0.000	0.000	3004	1773	1964	0	0	0	0	0	0	28.83	28.83	13.73
12653	1.60	221.2	88.8	7.9	924	12673	0.10	0.00	13.05	0.456	6	0.174	0.000	3042	1772	1871	0	0	0	0	0	0	14.57	28.83	14.19
12987	1.60	221.2	56.0	9.6	987	12993	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	1773	1866	0	0	0	0	0	0	28.83	28.83	28.83
13305	1.60	222.0	29.2	8.9	1048	13311	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	1773	1865	0	0	0	0	0	0	28.83	28.83	28.83
13621	1.60	222.0	4.9	11.2	1109	13628	0.00	0.00	0.00	0.000	6	0.000	0.000	3043	1774	1863	0	0	0	0	0	0	28.83	28.83	28.83
13638	end climb: SURFACE_DEPTH_REACHED
state	13638	begin surface coast
13670	end surface coast: CONTROL_FINISHED_OK
state	13670	begin surface