Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 371 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 371 ESCAPE_HEADING_DELTA 5 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 3 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1740 ALTIM_PULSE 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 7 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 1.75 FILEMGR 2 R_PORT_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 0

D_CALL 3 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 10 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOCOMM 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX 5 VBD_MIN 588 DEVICE2 20

T_MISSION 550 CALL_TRIES 3 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2650 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -2 T_GPS 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 2 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -119219.47 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 60 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2680 PRESSURE_YINT -22.639299 SEABIRD_T_G 0.0043498399

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_H 0.0006493734

MASS 51779 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.8112627e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0038000001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 2.7999999e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 7 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.75 PITCH_MAX 3700 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SAFE 500 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 80 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 5 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 70 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 470

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 3

CALL_TRIES 3 HD_A 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -119219.47

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 1 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.106751 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1366181 VBD_MAX 3951

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.00038917549 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 7.9540005e-05 VBD_MIN 588

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043498399 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 0 SEABIRD_T_H 0.0006493734 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8112627e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.1957888e-06 XPDR_DEVICE 24

DIVE 371 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1070 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 3 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 162640,6549.961,-5953.022,0,2106.0,0,-37.3 TGT_NAME TARGET_E_IN

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 5 TGT_RADIUS 10000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.161,0.169

_SM_DEPTHo 2.76 KALMAN_X 172088.4,-673.5,-237.8,-270298.4,1543.7

_SM_ANGLEo 0.4 KALMAN_Y -332420.0,1474.3,-1808.9,213952.5,-3716.1

GPS2 162640,6549.961,-5953.022,0,2106.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 81.0,190132,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 539

Post-dive calculations and measurements:

FREEZE 6.58,-1.812,-1.795 TCM_TEMP 14.90

FINISH1 6.6,1.026303,66 XPDR_PINGS 56

FINISH2 4.6 _24V_AH 22.0,62.944

RAFOS_CLK 698 _10V_AH 10.5,28.580

RAFOS 0,1227657848,0.083333,0.068889,67,60,57,56,52,51,120,201,159,211,222,175 DATA_FILE_SIZE 28384,923

RAFOS_FIX 48417.492188,-99720.539062,261108,000036,2,72,2605.71 CAP_FILE_SIZE 118774,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151529 CFSIZE 260165632,226906112

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1799 SOUNDSPEED 1446.6

INTERNAL_PRESSURE 9.90272 GPS 251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 156 21.77 SBE_CT 647 24 341.62

Roll_motor 141 90 281.20 SBE_O2 0 0 0.00

VBD_pump_during_apogee 357 1200 9439.47 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 14 420 129.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1729 19 361.75

LPSleep 11216 2 272.05

TT8_Active 496 19 103.91

TT8_Sampling 1692 39 709.28

TT8_CF8 235 45 113.67

TT8_Kalman 33 81 28.68

Analog_circuits 1405 12 177.11

GPS_charging 0 0 0.00

Compass 1685 8 141.56

RAFOS 1800 1 28.35

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.99 -146.0 0.0 0.0 0 52 0.00 0.00 -33.03 0.000 2 0.000 0.000 2696 1725 3113

55 -0.99 -146.0 3.1 -1.8 6 68 0.65 1.48 -5.65 0.000 4 0.077 0.091 2455 811 3247

171 -0.74 -146.0 14.2 -10.6 26 178 0.25 2.35 0.00 0.000 6 0.146 0.068 2517 2241 3251

516 -0.74 -146.0 42.3 -7.7 87 521 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2241 3252

859 -0.74 -146.0 69.0 -7.9 148 865 0.00 2.33 0.00 0.000 4 0.000 0.068 2521 815 3251

894 -0.74 -146.0 72.0 -8.2 154 900 0.00 2.33 0.00 0.000 6 0.000 0.068 2513 2233 3251

1247 -0.74 -146.0 102.3 -8.9 214 1248 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2233 3251

1556 -0.74 -146.0 128.5 -7.7 229 1560 0.00 2.33 0.00 0.000 4 0.000 0.068 2512 809 3251

1602 -0.74 -146.0 132.0 -7.5 231 1606 0.00 2.35 0.00 0.000 6 0.000 0.068 2503 2236 3251

1931 -0.74 -146.0 154.2 -6.6 247 1935 0.00 2.33 0.00 0.000 4 0.000 0.069 2502 815 3251

1987 -0.74 -146.0 158.2 -6.8 249 1992 0.10 2.35 0.00 0.000 6 0.143 0.070 2519 2241 3250

2305 -0.84 -146.0 175.0 -5.2 264 2309 0.00 2.33 0.00 0.000 4 0.000 0.068 2519 817 3251

2345 -0.89 -146.0 177.5 -6.3 265 2352 0.10 2.35 0.00 0.000 6 0.088 0.070 2469 2242 3250

2662 -0.82 -146.0 200.2 -7.1 281 2666 0.12 2.22 0.00 0.000 4 0.156 0.082 2493 3596 3250

2769 -0.88 -146.0 207.4 -6.4 286 2773 0.00 2.17 0.00 0.000 6 0.000 0.055 2494 2216 3250

3102 -0.88 -146.0 228.7 -6.6 302 3106 0.00 2.25 0.00 0.000 4 0.000 0.070 2494 814 3249

3175 -0.88 -146.0 233.8 -7.2 305 3179 0.00 2.35 0.00 0.000 6 0.000 0.069 2486 2240 3249

3497 -0.88 -146.0 255.5 -6.3 321 3501 0.00 2.33 0.00 0.000 4 0.000 0.069 2486 812 3249

3547 -0.88 -146.0 258.9 -6.8 323 3551 0.00 2.35 0.00 0.000 6 0.000 0.069 2476 2239 3249

3876 -0.88 -146.0 279.1 -6.0 339 3879 0.00 2.25 0.00 0.000 4 0.000 0.084 2465 3608 3249

3955 -0.88 -146.0 284.6 -6.7 342 3960 0.10 2.20 0.00 0.000 6 0.156 0.056 2490 2216 3249

4277 -0.88 -146.0 303.7 -6.3 358 4281 0.00 2.25 0.00 0.000 4 0.000 0.068 2491 811 3249

4305 -0.88 -146.0 305.8 -7.7 359 4309 0.00 2.35 0.00 0.000 6 0.000 0.067 2484 2243 3249

4628 -0.88 -146.0 326.6 -6.3 375 4632 0.00 2.33 0.00 0.000 4 0.000 0.067 2484 817 3249

4707 -0.88 -146.0 332.0 -6.8 378 4711 0.00 2.35 0.00 0.000 6 0.000 0.068 2474 2242 3249

5028 -0.88 -146.0 351.7 -6.1 394 5029 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2242 3249

5339 -0.88 -146.0 370.1 -5.9 409 5340 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2242 3249

5648 -0.88 -146.0 387.8 -5.7 424 5649 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2241 3250

5955 -0.88 -146.0 405.2 -5.4 437 5956 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2242 3250

6280 -0.88 -146.0 422.1 -5.1 445 6284 0.00 2.35 0.00 0.000 4 0.000 0.066 2474 811 3251

6341 -0.88 -146.0 425.3 -5.6 446 6346 0.10 2.35 0.00 0.000 6 0.143 0.065 2489 2244 3251

6690 -0.96 -146.0 441.2 -4.6 455 6693 0.00 2.33 0.00 0.000 4 0.000 0.064 2490 811 3251

6780 -0.96 -146.0 445.8 -5.1 457 6784 0.00 2.35 0.00 0.000 6 0.000 0.065 2482 2242 3251

7112 -1.01 -146.0 462.3 -5.0 465 7116 0.00 2.33 0.00 0.000 4 0.000 0.064 2482 810 3252

7158 -1.01 -146.0 464.9 -5.8 466 7161 0.00 2.35 0.00 0.000 6 0.000 0.064 2472 2236 3252

7488 -1.01 -146.0 482.9 -5.5 474 7492 0.00 2.22 0.00 0.000 4 0.000 0.078 2462 3598 3252

7527 -1.01 -146.0 485.2 -5.7 474 7534 0.00 2.15 0.00 0.000 6 0.000 0.051 2461 2224 3252

7859 -1.01 -146.0 505.0 -6.0 483 7860 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2224 3253

8184 -1.01 -146.0 523.9 -5.8 491 8185 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2223 3253

8465 end dive: TARGET_DEPTH_EXCEEDED

state 8465 begin apogee

8473 -0.31 0.0 540.2 5.7 498 8602 0.50 0.00 126.38 1.200 6 0.126 0.000 2618 1743 2650

8603 end apogee: CONTROL_FINISHED_OK

state 8603 begin climb

8606 0.99 146.0 541.5 0.0 501 8749 0.90 2.65 132.30 1.122 4 0.094 0.067 2903 3158 2052

8761 0.68 146.0 527.4 11.2 505 8766 0.32 2.50 0.00 0.000 6 0.135 0.051 2828 1743 2051

9074 0.68 146.0 503.6 7.4 513 9078 0.00 2.42 0.00 0.000 4 0.000 0.068 2829 3157 2047

9108 0.60 146.0 500.8 8.3 513 9113 0.12 2.35 0.00 0.000 6 0.134 0.052 2804 1731 2046

9440 0.75 164.2 479.5 6.4 521 9458 0.15 0.00 15.55 1.072 6 0.070 0.000 2870 1731 1980

9765 0.63 164.2 448.8 9.6 529 9770 0.20 2.38 0.00 0.000 4 0.123 0.069 2805 3153 1978

9798 0.63 164.2 445.9 7.6 529 9804 0.00 2.28 0.00 0.000 6 0.000 0.052 2813 1727 1978

10129 0.75 170.4 423.4 6.8 538 10138 0.12 0.00 6.47 0.921 6 0.074 0.000 2870 1727 1955

10435 0.65 170.4 394.5 9.4 546 10440 0.17 2.35 0.00 0.000 4 0.123 0.067 2818 3155 1955

10484 0.65 170.4 390.2 7.9 548 10488 0.00 2.25 0.00 0.000 6 0.000 0.052 2826 1729 1955

10806 0.76 198.2 369.8 6.1 564 10837 0.00 2.40 25.25 1.076 4 0.000 0.069 2826 3161 1841

10855 0.82 208.6 366.7 6.7 566 10873 0.08 2.30 10.62 0.970 6 0.096 0.052 2873 1728 1799

11181 0.74 208.6 337.5 9.2 582 11186 0.12 2.30 0.00 0.000 4 0.127 0.066 2846 325 1795

11199 0.74 208.6 336.0 9.0 583 11203 0.00 2.35 0.00 0.000 6 0.000 0.055 2846 1743 1795

11531 0.80 208.6 308.6 8.3 599 11535 0.00 2.30 0.00 0.000 4 0.000 0.070 2846 3155 1794

11577 0.73 208.6 304.2 10.6 601 11581 0.00 2.25 0.00 0.000 6 0.000 0.053 2856 1737 1792

11910 0.73 208.6 275.2 8.3 617 11914 0.00 2.33 0.00 0.000 4 0.000 0.069 2856 3153 1792

11938 0.73 208.6 272.6 9.2 618 11942 0.12 2.25 0.00 0.000 6 0.136 0.053 2830 1739 1792

12266 0.93 244.5 252.6 5.9 634 12304 0.17 0.00 31.67 1.022 6 0.068 0.000 2906 1739 1653

12615 0.82 244.5 218.5 9.3 651 12619 0.17 2.30 0.00 0.000 4 0.127 0.067 2863 333 1648

12639 0.82 244.5 216.5 8.7 652 12642 0.00 2.33 0.00 0.000 6 0.000 0.056 2863 1750 1648

12974 0.92 249.0 193.2 6.9 668 12983 0.00 2.30 4.22 0.704 4 0.000 0.072 2863 3159 1635

13018 0.92 249.0 189.7 8.3 670 13022 0.00 2.28 0.00 0.000 6 0.000 0.054 2872 1729 1634

13351 0.99 252.9 166.1 6.9 686 13358 0.08 0.00 4.97 0.767 6 0.099 0.000 2910 1728 1619

13660 0.92 252.9 138.5 9.1 701 13665 0.12 2.35 0.00 0.000 4 0.133 0.071 2874 3150 1619

13704 0.92 252.9 134.6 8.3 703 13708 0.00 2.25 0.00 0.000 6 0.000 0.055 2882 1731 1618

14034 1.01 252.9 109.3 7.1 719 14038 0.00 2.30 0.00 0.000 4 0.000 0.072 2891 321 1618

14062 1.12 252.9 106.9 7.6 720 14066 0.12 2.33 0.00 0.000 6 0.079 0.060 2946 1752 1618

14399 1.00 252.9 72.4 10.1 770 14406 0.17 2.28 0.00 0.000 4 0.135 0.075 2893 3153 1617

14447 0.92 252.9 68.0 8.9 778 14453 0.00 2.25 0.00 0.000 6 0.000 0.058 2900 1730 1617

14792 0.92 252.9 40.6 7.7 839 14798 0.00 2.28 0.00 0.000 4 0.000 0.073 2911 332 1616

14821 0.92 252.9 38.1 8.2 844 14828 0.12 2.30 0.00 0.000 6 0.129 0.061 2875 1746 1617

15167 1.27 252.9 14.2 7.7 905 15174 0.22 2.30 0.00 0.000 4 0.074 0.076 2966 3160 1615

15235 end climb: FINISH_DEPTH_REACHED

state 15235 begin subsurface finish

15245 0.08 66.1 6.6 -12.4 917 15281 0.88 2.40 -26.92 0.000 4 0.130 0.089 2687 3153 2385

15282 end subsurface finish: CONTROL_FINISHED_OK

state 15282 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	371	ESCAPE_HEADING_DELTA	5	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	3	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1740	ALTIM_PULSE	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	7	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	1.75	FILEMGR	2	R_PORT_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	0
D_CALL	3	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	10	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOCOMM	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	5	VBD_MIN	588	DEVICE2	20
T_MISSION	550	CALL_TRIES	3	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2650	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-2	T_GPS	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	2	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-119219.47	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	60	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	70	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2680	PRESSURE_YINT	-22.639299	SEABIRD_T_G	0.0043498399
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_H	0.0006493734
MASS	51779	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.8112627e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0038000001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	162640,6549.961,-5953.022,0,2106.0,0,-37.3	TGT_NAME	TARGET_E_IN
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	5	TGT_RADIUS	10000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.161,0.169
_SM_DEPTHo	2.76	KALMAN_X	172088.4,-673.5,-237.8,-270298.4,1543.7
_SM_ANGLEo	0.4	KALMAN_Y	-332420.0,1474.3,-1808.9,213952.5,-3716.1
GPS2	162640,6549.961,-5953.022,0,2106.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	81.0,190132,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	539

FREEZE	6.58,-1.812,-1.795	TCM_TEMP	14.90
FINISH1	6.6,1.026303,66	XPDR_PINGS	56
FINISH2	4.6	_24V_AH	22.0,62.944
RAFOS_CLK	698	_10V_AH	10.5,28.580
RAFOS	0,1227657848,0.083333,0.068889,67,60,57,56,52,51,120,201,159,211,222,175	DATA_FILE_SIZE	28384,923
RAFOS_FIX	48417.492188,-99720.539062,261108,000036,2,72,2605.71	CAP_FILE_SIZE	118774,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151529	CFSIZE	260165632,226906112
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1799	SOUNDSPEED	1446.6
INTERNAL_PRESSURE	9.90272	GPS	251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	156	21.77	SBE_CT	647	24	341.62
Roll_motor	141	90	281.20	SBE_O2	0	0	0.00
VBD_pump_during_apogee	357	1200	9439.47	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	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	14	420	129.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1729	19	361.75
LPSleep	11216	2	272.05
TT8_Active	496	19	103.91
TT8_Sampling	1692	39	709.28
TT8_CF8	235	45	113.67
TT8_Kalman	33	81	28.68
Analog_circuits	1405	12	177.11
GPS_charging	0	0	0.00
Compass	1685	8	141.56
RAFOS	1800	1	28.35
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.99	-146.0	0.0	0.0	0	52	0.00	0.00	-33.03	0.000	2	0.000	0.000	2696	1725	3113
55	-0.99	-146.0	3.1	-1.8	6	68	0.65	1.48	-5.65	0.000	4	0.077	0.091	2455	811	3247
171	-0.74	-146.0	14.2	-10.6	26	178	0.25	2.35	0.00	0.000	6	0.146	0.068	2517	2241	3251
516	-0.74	-146.0	42.3	-7.7	87	521	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2241	3252
859	-0.74	-146.0	69.0	-7.9	148	865	0.00	2.33	0.00	0.000	4	0.000	0.068	2521	815	3251
894	-0.74	-146.0	72.0	-8.2	154	900	0.00	2.33	0.00	0.000	6	0.000	0.068	2513	2233	3251
1247	-0.74	-146.0	102.3	-8.9	214	1248	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2233	3251
1556	-0.74	-146.0	128.5	-7.7	229	1560	0.00	2.33	0.00	0.000	4	0.000	0.068	2512	809	3251
1602	-0.74	-146.0	132.0	-7.5	231	1606	0.00	2.35	0.00	0.000	6	0.000	0.068	2503	2236	3251
1931	-0.74	-146.0	154.2	-6.6	247	1935	0.00	2.33	0.00	0.000	4	0.000	0.069	2502	815	3251
1987	-0.74	-146.0	158.2	-6.8	249	1992	0.10	2.35	0.00	0.000	6	0.143	0.070	2519	2241	3250
2305	-0.84	-146.0	175.0	-5.2	264	2309	0.00	2.33	0.00	0.000	4	0.000	0.068	2519	817	3251
2345	-0.89	-146.0	177.5	-6.3	265	2352	0.10	2.35	0.00	0.000	6	0.088	0.070	2469	2242	3250
2662	-0.82	-146.0	200.2	-7.1	281	2666	0.12	2.22	0.00	0.000	4	0.156	0.082	2493	3596	3250
2769	-0.88	-146.0	207.4	-6.4	286	2773	0.00	2.17	0.00	0.000	6	0.000	0.055	2494	2216	3250
3102	-0.88	-146.0	228.7	-6.6	302	3106	0.00	2.25	0.00	0.000	4	0.000	0.070	2494	814	3249
3175	-0.88	-146.0	233.8	-7.2	305	3179	0.00	2.35	0.00	0.000	6	0.000	0.069	2486	2240	3249
3497	-0.88	-146.0	255.5	-6.3	321	3501	0.00	2.33	0.00	0.000	4	0.000	0.069	2486	812	3249
3547	-0.88	-146.0	258.9	-6.8	323	3551	0.00	2.35	0.00	0.000	6	0.000	0.069	2476	2239	3249
3876	-0.88	-146.0	279.1	-6.0	339	3879	0.00	2.25	0.00	0.000	4	0.000	0.084	2465	3608	3249
3955	-0.88	-146.0	284.6	-6.7	342	3960	0.10	2.20	0.00	0.000	6	0.156	0.056	2490	2216	3249
4277	-0.88	-146.0	303.7	-6.3	358	4281	0.00	2.25	0.00	0.000	4	0.000	0.068	2491	811	3249
4305	-0.88	-146.0	305.8	-7.7	359	4309	0.00	2.35	0.00	0.000	6	0.000	0.067	2484	2243	3249
4628	-0.88	-146.0	326.6	-6.3	375	4632	0.00	2.33	0.00	0.000	4	0.000	0.067	2484	817	3249
4707	-0.88	-146.0	332.0	-6.8	378	4711	0.00	2.35	0.00	0.000	6	0.000	0.068	2474	2242	3249
5028	-0.88	-146.0	351.7	-6.1	394	5029	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2242	3249
5339	-0.88	-146.0	370.1	-5.9	409	5340	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2242	3249
5648	-0.88	-146.0	387.8	-5.7	424	5649	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2241	3250
5955	-0.88	-146.0	405.2	-5.4	437	5956	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2242	3250
6280	-0.88	-146.0	422.1	-5.1	445	6284	0.00	2.35	0.00	0.000	4	0.000	0.066	2474	811	3251
6341	-0.88	-146.0	425.3	-5.6	446	6346	0.10	2.35	0.00	0.000	6	0.143	0.065	2489	2244	3251
6690	-0.96	-146.0	441.2	-4.6	455	6693	0.00	2.33	0.00	0.000	4	0.000	0.064	2490	811	3251
6780	-0.96	-146.0	445.8	-5.1	457	6784	0.00	2.35	0.00	0.000	6	0.000	0.065	2482	2242	3251
7112	-1.01	-146.0	462.3	-5.0	465	7116	0.00	2.33	0.00	0.000	4	0.000	0.064	2482	810	3252
7158	-1.01	-146.0	464.9	-5.8	466	7161	0.00	2.35	0.00	0.000	6	0.000	0.064	2472	2236	3252
7488	-1.01	-146.0	482.9	-5.5	474	7492	0.00	2.22	0.00	0.000	4	0.000	0.078	2462	3598	3252
7527	-1.01	-146.0	485.2	-5.7	474	7534	0.00	2.15	0.00	0.000	6	0.000	0.051	2461	2224	3252
7859	-1.01	-146.0	505.0	-6.0	483	7860	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2224	3253
8184	-1.01	-146.0	523.9	-5.8	491	8185	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2223	3253
8465	end dive: TARGET_DEPTH_EXCEEDED
state	8465	begin apogee
8473	-0.31	0.0	540.2	5.7	498	8602	0.50	0.00	126.38	1.200	6	0.126	0.000	2618	1743	2650
8603	end apogee: CONTROL_FINISHED_OK
state	8603	begin climb
8606	0.99	146.0	541.5	0.0	501	8749	0.90	2.65	132.30	1.122	4	0.094	0.067	2903	3158	2052
8761	0.68	146.0	527.4	11.2	505	8766	0.32	2.50	0.00	0.000	6	0.135	0.051	2828	1743	2051
9074	0.68	146.0	503.6	7.4	513	9078	0.00	2.42	0.00	0.000	4	0.000	0.068	2829	3157	2047
9108	0.60	146.0	500.8	8.3	513	9113	0.12	2.35	0.00	0.000	6	0.134	0.052	2804	1731	2046
9440	0.75	164.2	479.5	6.4	521	9458	0.15	0.00	15.55	1.072	6	0.070	0.000	2870	1731	1980
9765	0.63	164.2	448.8	9.6	529	9770	0.20	2.38	0.00	0.000	4	0.123	0.069	2805	3153	1978
9798	0.63	164.2	445.9	7.6	529	9804	0.00	2.28	0.00	0.000	6	0.000	0.052	2813	1727	1978
10129	0.75	170.4	423.4	6.8	538	10138	0.12	0.00	6.47	0.921	6	0.074	0.000	2870	1727	1955
10435	0.65	170.4	394.5	9.4	546	10440	0.17	2.35	0.00	0.000	4	0.123	0.067	2818	3155	1955
10484	0.65	170.4	390.2	7.9	548	10488	0.00	2.25	0.00	0.000	6	0.000	0.052	2826	1729	1955
10806	0.76	198.2	369.8	6.1	564	10837	0.00	2.40	25.25	1.076	4	0.000	0.069	2826	3161	1841
10855	0.82	208.6	366.7	6.7	566	10873	0.08	2.30	10.62	0.970	6	0.096	0.052	2873	1728	1799
11181	0.74	208.6	337.5	9.2	582	11186	0.12	2.30	0.00	0.000	4	0.127	0.066	2846	325	1795
11199	0.74	208.6	336.0	9.0	583	11203	0.00	2.35	0.00	0.000	6	0.000	0.055	2846	1743	1795
11531	0.80	208.6	308.6	8.3	599	11535	0.00	2.30	0.00	0.000	4	0.000	0.070	2846	3155	1794
11577	0.73	208.6	304.2	10.6	601	11581	0.00	2.25	0.00	0.000	6	0.000	0.053	2856	1737	1792
11910	0.73	208.6	275.2	8.3	617	11914	0.00	2.33	0.00	0.000	4	0.000	0.069	2856	3153	1792
11938	0.73	208.6	272.6	9.2	618	11942	0.12	2.25	0.00	0.000	6	0.136	0.053	2830	1739	1792
12266	0.93	244.5	252.6	5.9	634	12304	0.17	0.00	31.67	1.022	6	0.068	0.000	2906	1739	1653
12615	0.82	244.5	218.5	9.3	651	12619	0.17	2.30	0.00	0.000	4	0.127	0.067	2863	333	1648
12639	0.82	244.5	216.5	8.7	652	12642	0.00	2.33	0.00	0.000	6	0.000	0.056	2863	1750	1648
12974	0.92	249.0	193.2	6.9	668	12983	0.00	2.30	4.22	0.704	4	0.000	0.072	2863	3159	1635
13018	0.92	249.0	189.7	8.3	670	13022	0.00	2.28	0.00	0.000	6	0.000	0.054	2872	1729	1634
13351	0.99	252.9	166.1	6.9	686	13358	0.08	0.00	4.97	0.767	6	0.099	0.000	2910	1728	1619
13660	0.92	252.9	138.5	9.1	701	13665	0.12	2.35	0.00	0.000	4	0.133	0.071	2874	3150	1619
13704	0.92	252.9	134.6	8.3	703	13708	0.00	2.25	0.00	0.000	6	0.000	0.055	2882	1731	1618
14034	1.01	252.9	109.3	7.1	719	14038	0.00	2.30	0.00	0.000	4	0.000	0.072	2891	321	1618
14062	1.12	252.9	106.9	7.6	720	14066	0.12	2.33	0.00	0.000	6	0.079	0.060	2946	1752	1618
14399	1.00	252.9	72.4	10.1	770	14406	0.17	2.28	0.00	0.000	4	0.135	0.075	2893	3153	1617
14447	0.92	252.9	68.0	8.9	778	14453	0.00	2.25	0.00	0.000	6	0.000	0.058	2900	1730	1617
14792	0.92	252.9	40.6	7.7	839	14798	0.00	2.28	0.00	0.000	4	0.000	0.073	2911	332	1616
14821	0.92	252.9	38.1	8.2	844	14828	0.12	2.30	0.00	0.000	6	0.129	0.061	2875	1746	1617
15167	1.27	252.9	14.2	7.7	905	15174	0.22	2.30	0.00	0.000	4	0.074	0.076	2966	3160	1615
15235	end climb: FINISH_DEPTH_REACHED
state	15235	begin subsurface finish
15245	0.08	66.1	6.6	-12.4	917	15281	0.88	2.40	-26.92	0.000	4	0.130	0.089	2687	3153	2385
15282	end subsurface finish: CONTROL_FINISHED_OK
state	15282	begin surface