Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 508 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 508 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -44746.707 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -44746.707

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 29 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 508 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 270411,044800,6702.368,-5657.240,0,2128.5,0,-37.6 TGT_NAME TARGET_W2

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 6.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270411,044800,6702.368,-5657.240,0,2128.5,0,-37.6 MHEAD_RNG_PITCHd_Wd 295.0,156464,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 639

Post-dive calculations and measurements:

FREEZE 8.87,-1.737,-1.835,2,43,0 ALTIM_TOP_PING 19.5,17.5

FINISH1 8.9,1.026849,32 _24V_AH 22.0,66.140

FINISH2 7.1 _10V_AH 10.1,34.131

RAFOS_CLK 613 FG_AHR_24Vo 0.000

RAFOS 0,1303891264,8.033334,8.017777,62,59,58,55,52,51,206,153,179,166,192,222 FG_AHR_10Vo 0.000

RAFOS_FIX 6703.493164,-5702.274414,270411,080856,2,128,0.29 MEM 150616

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 46720,1155

TT8_MAMPS 0.026215 CAP_FILE_SIZE 128369,0

HUMID 47.32 CFSIZE 260165632,221118464

INTERNAL_PRESSURE 8.72104 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.50 SOUNDSPEED 1461.1

XPDR_PINGS 0 GPS 270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 224 25.73 SBE_CT 820 24 433.32

Roll_motor 102 156 351.49 SBE_O2 874 19 365.70

VBD_pump_during_apogee 403 1304 11566.30 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 20.79 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2773 19 557.94

LPSleep 6420 2 149.80

TT8_Active 531 19 106.84

TT8_Sampling 1892 39 763.18

TT8_CF8 206 45 95.82

TT8_Kalman 0 0 0.00

Analog_circuits 1554 12 188.45

GPS_charging 0 0 0.00

Compass 1878 15 284.65

RAFOS 2520 1 38.18

Transponder 17 30 5.42

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 127 0.00 0.38 -105.05 0.000 6 0.000 0.156 3098 2493 3626 0 0 0 0 0 0

132 -0.62 -146.0 3.9 -6.0 19 139 1.35 2.28 0.00 0.000 4 0.143 0.057 2674 1076 3627 0 0 0 0 0 0

242 -0.62 -146.0 16.0 -14.9 38 249 0.00 2.28 0.00 0.000 6 0.000 0.060 2674 2487 3627 0 0 0 0 0 0

587 -0.58 -146.0 59.4 -12.8 99 594 0.00 2.30 0.00 0.000 4 0.000 0.075 2674 3900 3625 0 0 0 0 0 0

691 -0.58 -146.0 72.2 -11.9 117 698 0.00 2.22 0.00 0.000 6 0.000 0.047 2674 2478 3626 0 0 0 0 0 0

1031 -0.58 -146.0 114.9 -12.3 167 1035 0.00 2.20 0.00 0.000 4 0.000 0.063 2675 1085 3624 0 0 0 0 0 0

1086 -0.58 -146.0 122.0 -12.3 171 1093 0.00 2.28 0.00 0.000 6 0.000 0.062 2674 2492 3624 0 0 0 0 0 0

1411 -0.58 -146.0 160.1 -10.8 202 1415 0.00 2.30 0.00 0.000 4 0.000 0.076 2674 3900 3622 0 0 0 0 0 0

1489 -0.62 -146.0 168.2 -10.0 208 1496 0.00 2.22 0.00 0.000 6 0.000 0.047 2675 2481 3622 0 0 0 0 0 0

1816 -0.62 -146.0 199.7 -9.4 239 1817 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2481 3621 0 0 0 0 0 0

2134 -0.62 -146.0 228.0 -8.3 269 2138 0.00 2.22 0.00 0.000 4 0.000 0.060 2674 1075 3621 0 0 0 0 0 0

2186 -0.65 -146.0 232.9 -8.9 273 2190 0.00 2.28 0.00 0.000 6 0.000 0.059 2674 2490 3621 0 0 0 0 0 0

2513 -0.65 -146.0 263.3 -9.5 303 2517 0.00 2.33 0.00 0.000 4 0.000 0.073 2674 3909 3621 0 0 0 0 0 0

2592 -0.69 -146.0 271.2 -9.7 309 2598 0.00 2.20 0.00 0.000 6 0.000 0.044 2674 2480 3621 0 0 0 0 0 0

2917 -0.69 -146.0 302.7 -9.6 340 2918 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2480 3622 0 0 0 0 0 0

3238 -0.72 -146.0 332.3 -9.3 370 3245 0.12 0.00 0.00 0.000 6 0.127 0.000 2632 2480 3622 0 0 0 0 0 0

3564 -0.65 -146.0 373.5 -12.3 401 3565 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2480 3622 0 0 0 0 0 0

3884 -0.58 -146.0 413.0 -12.3 431 3889 0.17 2.22 0.00 0.000 4 0.203 0.058 2675 1085 3622 0 0 0 0 0 0

3936 -0.64 -146.0 418.4 -9.0 435 3940 0.00 2.25 0.00 0.000 6 0.000 0.057 2675 2492 3622 0 0 0 0 0 0

4268 -0.67 -146.0 447.4 -8.9 466 4272 0.00 2.28 0.00 0.000 4 0.000 0.072 2675 3899 3623 0 0 0 0 0 0

4346 -0.73 -146.0 454.5 -8.9 472 4353 0.15 2.17 0.00 0.000 6 0.111 0.044 2625 2487 3623 0 0 0 0 0 0

4673 -0.65 -146.0 494.6 -12.6 503 4675 0.12 0.00 0.00 0.000 6 0.225 0.000 2652 2487 3623 0 0 0 0 0 0

4990 -0.65 -146.0 527.7 -10.4 533 4991 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2487 3625 0 0 0 0 0 0

5310 -0.65 -146.0 561.2 -10.3 563 5314 0.00 2.20 0.00 0.000 4 0.000 0.059 2652 1081 3624 0 0 0 0 0 0

5343 -0.65 -146.0 565.1 -10.3 565 5350 0.00 2.25 0.00 0.000 6 0.000 0.056 2652 2492 3625 0 0 0 0 0 0

5671 -0.65 -146.0 597.7 -10.3 596 5675 0.00 2.28 0.00 0.000 4 0.000 0.073 2652 3897 3624 0 0 0 0 0 0

5734 -0.65 -146.0 604.4 -9.6 599 5738 0.00 2.17 0.00 0.000 6 0.000 0.044 2652 2488 3624 0 0 0 0 0 0

6075 -0.65 -146.0 637.5 -10.0 610 6079 0.00 2.20 0.00 0.000 4 0.000 0.059 2652 1087 3625 0 0 0 0 0 0

6088 end dive: TARGET_DEPTH_EXCEEDED

state 6088 begin apogee

6096 -0.12 0.0 639.3 10.2 610 6226 0.55 0.00 123.03 1.304 6 0.182 0.000 2812 2279 3030 0 0 0 0 0 0

6227 end apogee: CONTROL_FINISHED_OK

state 6227 begin climb

6229 0.62 146.0 643.2 0.0 614 6370 0.77 2.60 129.85 1.258 4 0.131 0.063 3060 883 2432 0 0 0 0 0 0

6415 0.57 146.0 629.5 10.8 620 6419 0.00 2.42 0.00 0.000 6 0.000 0.053 3060 2275 2429 0 0 0 0 0 0

6730 0.51 146.0 593.0 11.3 632 6735 0.12 2.35 0.00 0.000 4 0.184 0.069 3029 3694 2426 0 0 0 0 0 0

6774 0.47 146.0 587.8 11.3 635 6781 0.00 2.30 0.00 0.000 6 0.000 0.053 3037 2275 2426 0 0 0 0 0 0

7099 0.45 146.0 554.7 10.3 666 7104 0.00 2.33 0.00 0.000 4 0.000 0.067 3037 3688 2425 0 0 0 0 0 0

7130 0.40 146.0 551.4 11.3 668 7135 0.20 2.28 0.00 0.000 6 0.189 0.052 2997 2265 2424 0 0 0 0 0 0

7456 0.51 192.7 524.8 7.8 698 7498 0.00 0.00 40.40 1.200 6 0.000 0.000 2998 2265 2243 0 0 0 0 0 0

7814 0.64 231.0 495.7 8.2 732 7854 0.20 0.00 34.85 1.173 6 0.083 0.000 3082 2265 2087 0 0 0 0 0 0

8172 0.59 231.0 444.1 14.9 766 8177 0.00 2.33 0.00 0.000 4 0.000 0.069 3083 3689 2080 0 0 0 0 0 0

8217 0.53 231.0 436.5 16.8 769 8225 0.20 2.28 0.00 0.000 6 0.183 0.053 3041 2270 2079 0 0 0 0 0 0

8543 0.55 231.0 397.1 11.6 800 8547 0.00 2.25 0.00 0.000 4 0.000 0.067 3049 862 2078 0 0 0 0 0 0

8565 0.59 231.0 394.3 11.1 801 8572 0.00 2.28 0.00 0.000 6 0.000 0.054 3049 2288 2077 0 0 0 0 0 0

8890 0.61 231.0 357.0 11.7 832 8894 0.00 2.25 0.00 0.000 4 0.000 0.069 3049 3694 2077 0 0 0 0 0 0

8934 0.61 231.0 351.3 13.5 835 8941 0.00 2.25 0.00 0.000 6 0.000 0.051 3059 2265 2076 0 0 0 0 0 0

9259 0.61 231.0 309.9 13.4 866 9260 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2264 2076 0 0 0 0 0 0

9581 0.61 231.0 268.6 12.4 896 9585 0.00 2.33 0.00 0.000 4 0.000 0.067 3059 3693 2076 0 0 0 0 0 0

9599 0.61 231.0 266.0 12.6 897 9603 0.00 2.25 0.00 0.000 6 0.000 0.050 3070 2268 2076 0 0 0 0 0 0

9924 0.61 231.0 228.8 11.8 927 9928 0.00 2.22 0.00 0.000 4 0.000 0.065 3080 865 2076 0 0 0 0 0 0

9964 0.61 231.0 224.0 11.8 930 9969 0.00 2.22 0.00 0.000 6 0.000 0.054 3080 2277 2075 0 0 0 0 0 0

10290 0.61 231.0 182.6 12.5 960 10294 0.00 2.25 0.00 0.000 4 0.000 0.070 3080 3681 2075 0 0 0 0 0 0

10352 0.57 231.0 174.2 13.6 965 10357 0.15 2.22 0.00 0.000 6 0.187 0.051 3051 2275 2075 0 0 0 0 0 0

10679 0.68 274.1 145.7 8.0 995 10724 0.00 2.30 37.75 1.004 4 0.000 0.064 3055 859 1911 0 0 0 0 0 0

10741 0.81 315.1 140.4 8.1 1000 10784 0.20 2.30 37.20 0.973 6 0.088 0.053 3136 2279 1745 0 0 0 0 0 0

11110 0.77 315.1 84.0 15.8 1043 11116 0.00 2.28 0.00 0.000 4 0.000 0.070 3136 3683 1735 0 0 0 0 0 0

11191 0.73 315.1 71.1 15.4 1057 11198 0.17 2.25 0.00 0.000 6 0.194 0.053 3103 2278 1733 0 0 0 0 0 0

11539 0.76 315.1 29.7 12.8 1118 11545 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 2277 1733 0 0 0 0 0 0

11702 end climb: FINISH_DEPTH_REACHED

state 11702 begin subsurface finish

11709 0.04 31.9 8.9 -13.6 1147 11757 0.70 2.40 -41.25 0.000 4 0.158 0.082 2885 3693 2902 0 0 0 0 0 0

11758 end subsurface finish: CONTROL_FINISHED_OK

state 11758 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	508	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-44746.707	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	270411,044800,6702.368,-5657.240,0,2128.5,0,-37.6	TGT_NAME	TARGET_W2
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	6.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270411,044800,6702.368,-5657.240,0,2128.5,0,-37.6	MHEAD_RNG_PITCHd_Wd	295.0,156464,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	639

FREEZE	8.87,-1.737,-1.835,2,43,0	ALTIM_TOP_PING	19.5,17.5
FINISH1	8.9,1.026849,32	_24V_AH	22.0,66.140
FINISH2	7.1	_10V_AH	10.1,34.131
RAFOS_CLK	613	FG_AHR_24Vo	0.000
RAFOS	0,1303891264,8.033334,8.017777,62,59,58,55,52,51,206,153,179,166,192,222	FG_AHR_10Vo	0.000
RAFOS_FIX	6703.493164,-5702.274414,270411,080856,2,128,0.29	MEM	150616
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	46720,1155
TT8_MAMPS	0.026215	CAP_FILE_SIZE	128369,0
HUMID	47.32	CFSIZE	260165632,221118464
INTERNAL_PRESSURE	8.72104	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.50	SOUNDSPEED	1461.1
XPDR_PINGS	0	GPS	270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	224	25.73	SBE_CT	820	24	433.32
Roll_motor	102	156	351.49	SBE_O2	874	19	365.70
VBD_pump_during_apogee	403	1304	11566.30	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	20.79	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2773	19	557.94
LPSleep	6420	2	149.80
TT8_Active	531	19	106.84
TT8_Sampling	1892	39	763.18
TT8_CF8	206	45	95.82
TT8_Kalman	0	0	0.00
Analog_circuits	1554	12	188.45
GPS_charging	0	0	0.00
Compass	1878	15	284.65
RAFOS	2520	1	38.18
Transponder	17	30	5.42

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	127	0.00	0.38	-105.05	0.000	6	0.000	0.156	3098	2493	3626	0	0	0	0	0	0
132	-0.62	-146.0	3.9	-6.0	19	139	1.35	2.28	0.00	0.000	4	0.143	0.057	2674	1076	3627	0	0	0	0	0	0
242	-0.62	-146.0	16.0	-14.9	38	249	0.00	2.28	0.00	0.000	6	0.000	0.060	2674	2487	3627	0	0	0	0	0	0
587	-0.58	-146.0	59.4	-12.8	99	594	0.00	2.30	0.00	0.000	4	0.000	0.075	2674	3900	3625	0	0	0	0	0	0
691	-0.58	-146.0	72.2	-11.9	117	698	0.00	2.22	0.00	0.000	6	0.000	0.047	2674	2478	3626	0	0	0	0	0	0
1031	-0.58	-146.0	114.9	-12.3	167	1035	0.00	2.20	0.00	0.000	4	0.000	0.063	2675	1085	3624	0	0	0	0	0	0
1086	-0.58	-146.0	122.0	-12.3	171	1093	0.00	2.28	0.00	0.000	6	0.000	0.062	2674	2492	3624	0	0	0	0	0	0
1411	-0.58	-146.0	160.1	-10.8	202	1415	0.00	2.30	0.00	0.000	4	0.000	0.076	2674	3900	3622	0	0	0	0	0	0
1489	-0.62	-146.0	168.2	-10.0	208	1496	0.00	2.22	0.00	0.000	6	0.000	0.047	2675	2481	3622	0	0	0	0	0	0
1816	-0.62	-146.0	199.7	-9.4	239	1817	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2481	3621	0	0	0	0	0	0
2134	-0.62	-146.0	228.0	-8.3	269	2138	0.00	2.22	0.00	0.000	4	0.000	0.060	2674	1075	3621	0	0	0	0	0	0
2186	-0.65	-146.0	232.9	-8.9	273	2190	0.00	2.28	0.00	0.000	6	0.000	0.059	2674	2490	3621	0	0	0	0	0	0
2513	-0.65	-146.0	263.3	-9.5	303	2517	0.00	2.33	0.00	0.000	4	0.000	0.073	2674	3909	3621	0	0	0	0	0	0
2592	-0.69	-146.0	271.2	-9.7	309	2598	0.00	2.20	0.00	0.000	6	0.000	0.044	2674	2480	3621	0	0	0	0	0	0
2917	-0.69	-146.0	302.7	-9.6	340	2918	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2480	3622	0	0	0	0	0	0
3238	-0.72	-146.0	332.3	-9.3	370	3245	0.12	0.00	0.00	0.000	6	0.127	0.000	2632	2480	3622	0	0	0	0	0	0
3564	-0.65	-146.0	373.5	-12.3	401	3565	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2480	3622	0	0	0	0	0	0
3884	-0.58	-146.0	413.0	-12.3	431	3889	0.17	2.22	0.00	0.000	4	0.203	0.058	2675	1085	3622	0	0	0	0	0	0
3936	-0.64	-146.0	418.4	-9.0	435	3940	0.00	2.25	0.00	0.000	6	0.000	0.057	2675	2492	3622	0	0	0	0	0	0
4268	-0.67	-146.0	447.4	-8.9	466	4272	0.00	2.28	0.00	0.000	4	0.000	0.072	2675	3899	3623	0	0	0	0	0	0
4346	-0.73	-146.0	454.5	-8.9	472	4353	0.15	2.17	0.00	0.000	6	0.111	0.044	2625	2487	3623	0	0	0	0	0	0
4673	-0.65	-146.0	494.6	-12.6	503	4675	0.12	0.00	0.00	0.000	6	0.225	0.000	2652	2487	3623	0	0	0	0	0	0
4990	-0.65	-146.0	527.7	-10.4	533	4991	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2487	3625	0	0	0	0	0	0
5310	-0.65	-146.0	561.2	-10.3	563	5314	0.00	2.20	0.00	0.000	4	0.000	0.059	2652	1081	3624	0	0	0	0	0	0
5343	-0.65	-146.0	565.1	-10.3	565	5350	0.00	2.25	0.00	0.000	6	0.000	0.056	2652	2492	3625	0	0	0	0	0	0
5671	-0.65	-146.0	597.7	-10.3	596	5675	0.00	2.28	0.00	0.000	4	0.000	0.073	2652	3897	3624	0	0	0	0	0	0
5734	-0.65	-146.0	604.4	-9.6	599	5738	0.00	2.17	0.00	0.000	6	0.000	0.044	2652	2488	3624	0	0	0	0	0	0
6075	-0.65	-146.0	637.5	-10.0	610	6079	0.00	2.20	0.00	0.000	4	0.000	0.059	2652	1087	3625	0	0	0	0	0	0
6088	end dive: TARGET_DEPTH_EXCEEDED
state	6088	begin apogee
6096	-0.12	0.0	639.3	10.2	610	6226	0.55	0.00	123.03	1.304	6	0.182	0.000	2812	2279	3030	0	0	0	0	0	0
6227	end apogee: CONTROL_FINISHED_OK
state	6227	begin climb
6229	0.62	146.0	643.2	0.0	614	6370	0.77	2.60	129.85	1.258	4	0.131	0.063	3060	883	2432	0	0	0	0	0	0
6415	0.57	146.0	629.5	10.8	620	6419	0.00	2.42	0.00	0.000	6	0.000	0.053	3060	2275	2429	0	0	0	0	0	0
6730	0.51	146.0	593.0	11.3	632	6735	0.12	2.35	0.00	0.000	4	0.184	0.069	3029	3694	2426	0	0	0	0	0	0
6774	0.47	146.0	587.8	11.3	635	6781	0.00	2.30	0.00	0.000	6	0.000	0.053	3037	2275	2426	0	0	0	0	0	0
7099	0.45	146.0	554.7	10.3	666	7104	0.00	2.33	0.00	0.000	4	0.000	0.067	3037	3688	2425	0	0	0	0	0	0
7130	0.40	146.0	551.4	11.3	668	7135	0.20	2.28	0.00	0.000	6	0.189	0.052	2997	2265	2424	0	0	0	0	0	0
7456	0.51	192.7	524.8	7.8	698	7498	0.00	0.00	40.40	1.200	6	0.000	0.000	2998	2265	2243	0	0	0	0	0	0
7814	0.64	231.0	495.7	8.2	732	7854	0.20	0.00	34.85	1.173	6	0.083	0.000	3082	2265	2087	0	0	0	0	0	0
8172	0.59	231.0	444.1	14.9	766	8177	0.00	2.33	0.00	0.000	4	0.000	0.069	3083	3689	2080	0	0	0	0	0	0
8217	0.53	231.0	436.5	16.8	769	8225	0.20	2.28	0.00	0.000	6	0.183	0.053	3041	2270	2079	0	0	0	0	0	0
8543	0.55	231.0	397.1	11.6	800	8547	0.00	2.25	0.00	0.000	4	0.000	0.067	3049	862	2078	0	0	0	0	0	0
8565	0.59	231.0	394.3	11.1	801	8572	0.00	2.28	0.00	0.000	6	0.000	0.054	3049	2288	2077	0	0	0	0	0	0
8890	0.61	231.0	357.0	11.7	832	8894	0.00	2.25	0.00	0.000	4	0.000	0.069	3049	3694	2077	0	0	0	0	0	0
8934	0.61	231.0	351.3	13.5	835	8941	0.00	2.25	0.00	0.000	6	0.000	0.051	3059	2265	2076	0	0	0	0	0	0
9259	0.61	231.0	309.9	13.4	866	9260	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2264	2076	0	0	0	0	0	0
9581	0.61	231.0	268.6	12.4	896	9585	0.00	2.33	0.00	0.000	4	0.000	0.067	3059	3693	2076	0	0	0	0	0	0
9599	0.61	231.0	266.0	12.6	897	9603	0.00	2.25	0.00	0.000	6	0.000	0.050	3070	2268	2076	0	0	0	0	0	0
9924	0.61	231.0	228.8	11.8	927	9928	0.00	2.22	0.00	0.000	4	0.000	0.065	3080	865	2076	0	0	0	0	0	0
9964	0.61	231.0	224.0	11.8	930	9969	0.00	2.22	0.00	0.000	6	0.000	0.054	3080	2277	2075	0	0	0	0	0	0
10290	0.61	231.0	182.6	12.5	960	10294	0.00	2.25	0.00	0.000	4	0.000	0.070	3080	3681	2075	0	0	0	0	0	0
10352	0.57	231.0	174.2	13.6	965	10357	0.15	2.22	0.00	0.000	6	0.187	0.051	3051	2275	2075	0	0	0	0	0	0
10679	0.68	274.1	145.7	8.0	995	10724	0.00	2.30	37.75	1.004	4	0.000	0.064	3055	859	1911	0	0	0	0	0	0
10741	0.81	315.1	140.4	8.1	1000	10784	0.20	2.30	37.20	0.973	6	0.088	0.053	3136	2279	1745	0	0	0	0	0	0
11110	0.77	315.1	84.0	15.8	1043	11116	0.00	2.28	0.00	0.000	4	0.000	0.070	3136	3683	1735	0	0	0	0	0	0
11191	0.73	315.1	71.1	15.4	1057	11198	0.17	2.25	0.00	0.000	6	0.194	0.053	3103	2278	1733	0	0	0	0	0	0
11539	0.76	315.1	29.7	12.8	1118	11545	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	2277	1733	0	0	0	0	0	0
11702	end climb: FINISH_DEPTH_REACHED
state	11702	begin subsurface finish
11709	0.04	31.9	8.9	-13.6	1147	11757	0.70	2.40	-41.25	0.000	4	0.158	0.082	2885	3693	2902	0	0	0	0	0	0
11758	end subsurface finish: CONTROL_FINISHED_OK
state	11758	begin surface