Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 550 * 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 550 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 24 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 19 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 -2 T_GPS_CHARGE -46224.43 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 -46224.43

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 -2

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 24 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 19 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 550 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 050511,042536,6655.952,-6015.461,0,4099.8,0,-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 9.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -7.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6 MHEAD_RNG_PITCHd_Wd 236.8,23440,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 627

Post-dive calculations and measurements:

FREEZE 6.91,-1.736,-1.764,2,85,1 ALTIM_TOP_PING 19.4,17.3

FINISH1 6.9,1.025856,81 _24V_AH 21.5,72.747

FINISH2 3.6 _10V_AH 10.0,37.660

RAFOS_CLK 635 FG_AHR_24Vo 0.000

RAFOS 0,1304582467,8.033334,8.018611,84,62,61,56,56,56,611,171,209,156,224,196 FG_AHR_10Vo 0.000

RAFOS_FIX 6655.952148,-6015.460938,050511,040436,4,100,0.89 MEM 150588

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 43370,1166

TT8_MAMPS 0.029211 CAP_FILE_SIZE 128885,0

HUMID 47.04 CFSIZE 260165632,217784320

INTERNAL_PRESSURE 8.67221 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1453.5

XPDR_PINGS 0 GPS 050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 214 23.57 SBE_CT 831 24 428.87

Roll_motor 110 94 225.52 SBE_O2 895 19 365.63

VBD_pump_during_apogee 439 1308 12362.44 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 1 420 15.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2776 19 553.08

LPSleep 6173 2 142.61

TT8_Active 517 19 103.07

TT8_Sampling 1857 39 741.57

TT8_CF8 228 45 104.92

TT8_Kalman 0 0 0.00

Analog_circuits 1523 12 182.84

GPS_charging 0 0 0.00

Compass 1849 15 277.44

RAFOS 720 1 10.80

Transponder 13 30 3.97

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

17 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -6.15 0.000 2 0.000 0.000 2902 2281 2925 0 0 0 0 0 0

28 -0.62 -146.0 11.0 -0.0 1 53 0.62 2.80 -18.10 0.000 4 0.068 0.095 2655 3904 3630 0 0 0 0 0 0

77 -0.46 -146.0 18.5 -18.9 9 85 0.22 2.25 0.00 0.000 6 0.215 0.054 2708 2489 3632 0 0 0 0 0 0

424 -0.40 -146.0 79.1 -17.8 70 431 0.00 2.30 0.00 0.000 4 0.000 0.070 2708 1074 3632 0 0 0 0 0 0

467 -0.40 -146.0 86.3 -15.6 77 474 0.00 2.33 0.00 0.000 6 0.000 0.069 2708 2490 3632 0 0 0 0 0 0

804 -0.40 -146.0 129.3 -12.3 117 808 0.00 2.40 0.00 0.000 4 0.000 0.085 2708 3907 3631 0 0 0 0 0 0

845 -0.43 -146.0 134.1 -11.9 120 850 0.00 2.28 0.00 0.000 6 0.000 0.054 2708 2482 3631 0 0 0 0 0 0

1171 -0.43 -146.0 169.8 -11.4 150 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2482 3630 0 0 0 0 0 0

1493 -0.46 -146.0 203.5 -10.6 180 1500 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2482 3630 0 0 0 0 0 0

1821 -0.50 -146.0 238.4 -11.0 211 1822 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2482 3630 0 0 0 0 0 0

2140 -0.55 -146.0 270.1 -8.3 241 2144 0.00 2.28 0.00 0.000 4 0.000 0.070 2708 1079 3630 0 0 0 0 0 0

2169 -0.60 -146.0 272.9 -8.9 243 2174 0.12 2.33 0.00 0.000 6 0.133 0.067 2667 2494 3629 0 0 0 0 0 0

2495 -0.56 -146.0 306.5 -10.9 273 2499 0.00 2.38 0.00 0.000 4 0.000 0.084 2667 3908 3629 0 0 0 0 0 0

2527 -0.53 -146.0 310.4 -11.6 275 2534 0.00 2.28 0.00 0.000 6 0.000 0.054 2667 2482 3629 0 0 0 0 0 0

2853 -0.49 -146.0 347.3 -12.0 306 2855 0.15 0.00 0.00 0.000 6 0.207 0.000 2703 2482 3629 0 0 0 0 0 0

3173 -0.55 -146.0 376.8 -8.8 336 3174 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2482 3630 0 0 0 0 0 0

3492 -0.61 -146.0 404.0 -8.2 366 3499 0.12 0.00 0.00 0.000 6 0.135 0.000 2661 2482 3630 0 0 0 0 0 0

3818 -0.57 -146.0 439.0 -10.8 397 3822 0.00 2.38 0.00 0.000 4 0.000 0.078 2659 3899 3630 0 0 0 0 0 0

3858 -0.55 -146.0 443.4 -11.8 400 3862 0.00 2.25 0.00 0.000 6 0.000 0.050 2660 2482 3630 0 0 0 0 0 0

4184 -0.50 -146.0 479.5 -11.5 430 4189 0.15 2.28 0.00 0.000 4 0.207 0.067 2695 1071 3630 0 0 0 0 0 0

4205 -0.50 -146.0 482.0 -10.7 431 4212 0.00 2.33 0.00 0.000 6 0.000 0.065 2696 2499 3630 0 0 0 0 0 0

4531 -0.56 -146.0 508.7 -8.2 462 4535 0.00 2.35 0.00 0.000 4 0.000 0.082 2696 3903 3630 0 0 0 0 0 0

4561 -0.63 -146.0 511.1 -7.8 464 4566 0.12 2.25 0.00 0.000 6 0.129 0.051 2654 2485 3630 0 0 0 0 0 0

4887 -0.59 -146.0 546.6 -10.2 494 4888 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2485 3630 0 0 0 0 0 0

5207 -0.55 -146.0 579.9 -10.1 524 5212 0.12 2.40 0.00 0.000 4 0.202 0.079 2683 3899 3630 0 0 0 0 0 0

5225 -0.55 -146.0 581.8 -10.2 525 5229 0.00 2.22 0.00 0.000 6 0.000 0.050 2684 2488 3630 0 0 0 0 0 0

5556 -0.73 -146.0 596.8 -0.0 556 5561 0.17 2.40 0.00 0.000 4 0.113 0.076 2622 3910 3631 0 0 0 0 0 0

5573 end dive: NO_VERTICAL_VELOCITY

state 5573 begin apogee

5582 -0.12 0.0 596.8 0.0 557 5715 0.65 0.00 126.18 1.308 6 0.158 0.000 2818 2263 3030 0 0 0 0 0 0

5715 end apogee: CONTROL_FINISHED_OK

state 5716 begin climb

5718 0.62 146.0 596.7 0.0 569 5861 0.77 2.72 132.77 1.260 4 0.130 0.073 3053 3692 2432 0 0 0 0 0 0

5900 0.48 146.0 589.8 11.2 585 5908 0.17 2.53 0.00 0.000 6 0.197 0.058 3026 2282 2429 0 0 0 0 0 0

6225 0.50 161.1 560.6 9.3 616 6245 0.00 0.00 13.77 1.130 6 0.000 0.000 3026 2282 2371 0 0 0 0 0 0

6566 0.54 190.1 530.8 8.7 648 6595 0.00 0.00 26.58 1.187 6 0.000 0.000 3026 2282 2255 0 0 0 0 0 0

6913 0.58 196.6 497.7 9.7 681 6926 0.00 2.40 6.78 0.975 4 0.000 0.072 3026 3692 2228 0 0 0 0 0 0

6954 0.58 196.6 493.0 11.5 684 6961 0.00 2.33 0.00 0.000 6 0.000 0.060 3033 2267 2227 0 0 0 0 0 0

7281 0.61 196.6 459.1 10.1 715 7285 0.00 2.30 0.00 0.000 4 0.000 0.074 3043 856 2227 0 0 0 0 0 0

7344 0.65 196.6 452.5 10.3 720 7348 0.00 2.33 0.00 0.000 6 0.000 0.062 3043 2282 2225 0 0 0 0 0 0

7671 0.66 204.1 419.7 9.7 750 7684 0.00 2.38 7.95 1.017 4 0.000 0.076 3043 3689 2198 0 0 0 0 0 0

7754 0.63 204.1 410.7 11.6 757 7758 0.00 2.30 0.00 0.000 6 0.000 0.059 3053 2265 2197 0 0 0 0 0 0

8079 0.63 204.1 378.4 10.2 787 8083 0.00 2.28 0.00 0.000 4 0.000 0.073 3063 869 2197 0 0 0 0 0 0

8114 0.63 204.1 374.9 10.7 790 8118 0.00 2.28 0.00 0.000 6 0.000 0.061 3063 2277 2196 0 0 0 0 0 0

8444 0.63 204.1 336.1 11.9 821 8448 0.00 2.30 0.00 0.000 4 0.000 0.075 3063 3693 2196 0 0 0 0 0 0

8530 0.57 204.1 324.5 15.1 828 8534 0.00 2.30 0.00 0.000 6 0.000 0.059 3073 2266 2195 0 0 0 0 0 0

8857 0.54 204.1 282.1 13.0 858 8862 0.12 2.33 0.00 0.000 4 0.188 0.073 3049 860 2196 0 0 0 0 0 0

8909 0.59 204.1 276.1 10.9 862 8913 0.00 2.28 0.00 0.000 6 0.000 0.061 3049 2278 2195 0 0 0 0 0 0

9236 0.65 232.9 244.1 8.7 892 9271 0.00 2.33 27.60 1.070 4 0.000 0.076 3049 3685 2079 0 0 0 0 0 0

9340 0.65 232.9 233.4 11.2 901 9344 0.00 2.30 0.00 0.000 6 0.000 0.059 3059 2276 2077 0 0 0 0 0 0

9666 0.69 238.4 202.5 9.7 931 9679 0.00 2.30 5.47 0.815 4 0.000 0.072 3070 867 2059 0 0 0 0 0 0

9730 0.74 238.7 196.3 10.0 936 9737 0.00 2.30 0.00 0.000 6 0.000 0.061 3070 2278 2057 0 0 0 0 0 0

10056 0.81 269.5 166.9 8.6 967 10094 0.15 2.40 29.95 1.028 4 0.097 0.077 3133 3687 1930 0 0 0 0 0 0

10168 0.71 269.5 150.4 16.2 977 10174 0.20 2.33 0.00 0.000 6 0.207 0.061 3094 2273 1928 0 0 0 0 0 0

10495 0.72 279.1 116.1 9.6 1007 10510 0.00 2.38 9.73 0.931 4 0.000 0.076 3103 859 1892 0 0 0 0 0 0

10557 0.76 279.1 110.0 10.1 1012 10564 0.00 2.33 0.00 0.000 6 0.000 0.062 3103 2278 1890 0 0 0 0 0 0

10896 0.84 312.6 79.1 8.5 1064 10933 0.00 2.45 31.40 0.993 4 0.000 0.075 3111 859 1754 0 0 0 0 0 0

10981 0.96 334.4 71.6 9.0 1078 11012 0.17 2.35 21.38 0.956 6 0.101 0.063 3178 2277 1666 0 0 0 0 0 0

11352 0.90 334.4 16.1 14.0 1143 11359 0.00 2.33 0.00 0.000 4 0.000 0.079 3178 3687 1658 0 0 0 0 0 0

11413 end climb: SURFACE_OBSTACLE_DETECTED

state 11413 begin subsurface finish

11423 0.10 80.6 6.9 -13.9 1154 11494 1.02 2.42 -62.22 0.000 4 0.202 0.089 2905 3697 2698 0 0 0 0 0 0

11497 end subsurface finish: CONTROL_FINISHED_OK

state 11497 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	550	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	24	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	19	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	-2	T_GPS_CHARGE	-46224.43	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	050511,042536,6655.952,-6015.461,0,4099.8,0,-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	9.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-7.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6	MHEAD_RNG_PITCHd_Wd	236.8,23440,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	627

FREEZE	6.91,-1.736,-1.764,2,85,1	ALTIM_TOP_PING	19.4,17.3
FINISH1	6.9,1.025856,81	_24V_AH	21.5,72.747
FINISH2	3.6	_10V_AH	10.0,37.660
RAFOS_CLK	635	FG_AHR_24Vo	0.000
RAFOS	0,1304582467,8.033334,8.018611,84,62,61,56,56,56,611,171,209,156,224,196	FG_AHR_10Vo	0.000
RAFOS_FIX	6655.952148,-6015.460938,050511,040436,4,100,0.89	MEM	150588
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	43370,1166
TT8_MAMPS	0.029211	CAP_FILE_SIZE	128885,0
HUMID	47.04	CFSIZE	260165632,217784320
INTERNAL_PRESSURE	8.67221	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1453.5
XPDR_PINGS	0	GPS	050511,042536,6655.952,-6015.461,0,4099.8,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	214	23.57	SBE_CT	831	24	428.87
Roll_motor	110	94	225.52	SBE_O2	895	19	365.63
VBD_pump_during_apogee	439	1308	12362.44	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	1	420	15.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2776	19	553.08
LPSleep	6173	2	142.61
TT8_Active	517	19	103.07
TT8_Sampling	1857	39	741.57
TT8_CF8	228	45	104.92
TT8_Kalman	0	0	0.00
Analog_circuits	1523	12	182.84
GPS_charging	0	0	0.00
Compass	1849	15	277.44
RAFOS	720	1	10.80
Transponder	13	30	3.97

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
17	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-6.15	0.000	2	0.000	0.000	2902	2281	2925	0	0	0	0	0	0
28	-0.62	-146.0	11.0	-0.0	1	53	0.62	2.80	-18.10	0.000	4	0.068	0.095	2655	3904	3630	0	0	0	0	0	0
77	-0.46	-146.0	18.5	-18.9	9	85	0.22	2.25	0.00	0.000	6	0.215	0.054	2708	2489	3632	0	0	0	0	0	0
424	-0.40	-146.0	79.1	-17.8	70	431	0.00	2.30	0.00	0.000	4	0.000	0.070	2708	1074	3632	0	0	0	0	0	0
467	-0.40	-146.0	86.3	-15.6	77	474	0.00	2.33	0.00	0.000	6	0.000	0.069	2708	2490	3632	0	0	0	0	0	0
804	-0.40	-146.0	129.3	-12.3	117	808	0.00	2.40	0.00	0.000	4	0.000	0.085	2708	3907	3631	0	0	0	0	0	0
845	-0.43	-146.0	134.1	-11.9	120	850	0.00	2.28	0.00	0.000	6	0.000	0.054	2708	2482	3631	0	0	0	0	0	0
1171	-0.43	-146.0	169.8	-11.4	150	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2482	3630	0	0	0	0	0	0
1493	-0.46	-146.0	203.5	-10.6	180	1500	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2482	3630	0	0	0	0	0	0
1821	-0.50	-146.0	238.4	-11.0	211	1822	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2482	3630	0	0	0	0	0	0
2140	-0.55	-146.0	270.1	-8.3	241	2144	0.00	2.28	0.00	0.000	4	0.000	0.070	2708	1079	3630	0	0	0	0	0	0
2169	-0.60	-146.0	272.9	-8.9	243	2174	0.12	2.33	0.00	0.000	6	0.133	0.067	2667	2494	3629	0	0	0	0	0	0
2495	-0.56	-146.0	306.5	-10.9	273	2499	0.00	2.38	0.00	0.000	4	0.000	0.084	2667	3908	3629	0	0	0	0	0	0
2527	-0.53	-146.0	310.4	-11.6	275	2534	0.00	2.28	0.00	0.000	6	0.000	0.054	2667	2482	3629	0	0	0	0	0	0
2853	-0.49	-146.0	347.3	-12.0	306	2855	0.15	0.00	0.00	0.000	6	0.207	0.000	2703	2482	3629	0	0	0	0	0	0
3173	-0.55	-146.0	376.8	-8.8	336	3174	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2482	3630	0	0	0	0	0	0
3492	-0.61	-146.0	404.0	-8.2	366	3499	0.12	0.00	0.00	0.000	6	0.135	0.000	2661	2482	3630	0	0	0	0	0	0
3818	-0.57	-146.0	439.0	-10.8	397	3822	0.00	2.38	0.00	0.000	4	0.000	0.078	2659	3899	3630	0	0	0	0	0	0
3858	-0.55	-146.0	443.4	-11.8	400	3862	0.00	2.25	0.00	0.000	6	0.000	0.050	2660	2482	3630	0	0	0	0	0	0
4184	-0.50	-146.0	479.5	-11.5	430	4189	0.15	2.28	0.00	0.000	4	0.207	0.067	2695	1071	3630	0	0	0	0	0	0
4205	-0.50	-146.0	482.0	-10.7	431	4212	0.00	2.33	0.00	0.000	6	0.000	0.065	2696	2499	3630	0	0	0	0	0	0
4531	-0.56	-146.0	508.7	-8.2	462	4535	0.00	2.35	0.00	0.000	4	0.000	0.082	2696	3903	3630	0	0	0	0	0	0
4561	-0.63	-146.0	511.1	-7.8	464	4566	0.12	2.25	0.00	0.000	6	0.129	0.051	2654	2485	3630	0	0	0	0	0	0
4887	-0.59	-146.0	546.6	-10.2	494	4888	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2485	3630	0	0	0	0	0	0
5207	-0.55	-146.0	579.9	-10.1	524	5212	0.12	2.40	0.00	0.000	4	0.202	0.079	2683	3899	3630	0	0	0	0	0	0
5225	-0.55	-146.0	581.8	-10.2	525	5229	0.00	2.22	0.00	0.000	6	0.000	0.050	2684	2488	3630	0	0	0	0	0	0
5556	-0.73	-146.0	596.8	-0.0	556	5561	0.17	2.40	0.00	0.000	4	0.113	0.076	2622	3910	3631	0	0	0	0	0	0
5573	end dive: NO_VERTICAL_VELOCITY
state	5573	begin apogee
5582	-0.12	0.0	596.8	0.0	557	5715	0.65	0.00	126.18	1.308	6	0.158	0.000	2818	2263	3030	0	0	0	0	0	0
5715	end apogee: CONTROL_FINISHED_OK
state	5716	begin climb
5718	0.62	146.0	596.7	0.0	569	5861	0.77	2.72	132.77	1.260	4	0.130	0.073	3053	3692	2432	0	0	0	0	0	0
5900	0.48	146.0	589.8	11.2	585	5908	0.17	2.53	0.00	0.000	6	0.197	0.058	3026	2282	2429	0	0	0	0	0	0
6225	0.50	161.1	560.6	9.3	616	6245	0.00	0.00	13.77	1.130	6	0.000	0.000	3026	2282	2371	0	0	0	0	0	0
6566	0.54	190.1	530.8	8.7	648	6595	0.00	0.00	26.58	1.187	6	0.000	0.000	3026	2282	2255	0	0	0	0	0	0
6913	0.58	196.6	497.7	9.7	681	6926	0.00	2.40	6.78	0.975	4	0.000	0.072	3026	3692	2228	0	0	0	0	0	0
6954	0.58	196.6	493.0	11.5	684	6961	0.00	2.33	0.00	0.000	6	0.000	0.060	3033	2267	2227	0	0	0	0	0	0
7281	0.61	196.6	459.1	10.1	715	7285	0.00	2.30	0.00	0.000	4	0.000	0.074	3043	856	2227	0	0	0	0	0	0
7344	0.65	196.6	452.5	10.3	720	7348	0.00	2.33	0.00	0.000	6	0.000	0.062	3043	2282	2225	0	0	0	0	0	0
7671	0.66	204.1	419.7	9.7	750	7684	0.00	2.38	7.95	1.017	4	0.000	0.076	3043	3689	2198	0	0	0	0	0	0
7754	0.63	204.1	410.7	11.6	757	7758	0.00	2.30	0.00	0.000	6	0.000	0.059	3053	2265	2197	0	0	0	0	0	0
8079	0.63	204.1	378.4	10.2	787	8083	0.00	2.28	0.00	0.000	4	0.000	0.073	3063	869	2197	0	0	0	0	0	0
8114	0.63	204.1	374.9	10.7	790	8118	0.00	2.28	0.00	0.000	6	0.000	0.061	3063	2277	2196	0	0	0	0	0	0
8444	0.63	204.1	336.1	11.9	821	8448	0.00	2.30	0.00	0.000	4	0.000	0.075	3063	3693	2196	0	0	0	0	0	0
8530	0.57	204.1	324.5	15.1	828	8534	0.00	2.30	0.00	0.000	6	0.000	0.059	3073	2266	2195	0	0	0	0	0	0
8857	0.54	204.1	282.1	13.0	858	8862	0.12	2.33	0.00	0.000	4	0.188	0.073	3049	860	2196	0	0	0	0	0	0
8909	0.59	204.1	276.1	10.9	862	8913	0.00	2.28	0.00	0.000	6	0.000	0.061	3049	2278	2195	0	0	0	0	0	0
9236	0.65	232.9	244.1	8.7	892	9271	0.00	2.33	27.60	1.070	4	0.000	0.076	3049	3685	2079	0	0	0	0	0	0
9340	0.65	232.9	233.4	11.2	901	9344	0.00	2.30	0.00	0.000	6	0.000	0.059	3059	2276	2077	0	0	0	0	0	0
9666	0.69	238.4	202.5	9.7	931	9679	0.00	2.30	5.47	0.815	4	0.000	0.072	3070	867	2059	0	0	0	0	0	0
9730	0.74	238.7	196.3	10.0	936	9737	0.00	2.30	0.00	0.000	6	0.000	0.061	3070	2278	2057	0	0	0	0	0	0
10056	0.81	269.5	166.9	8.6	967	10094	0.15	2.40	29.95	1.028	4	0.097	0.077	3133	3687	1930	0	0	0	0	0	0
10168	0.71	269.5	150.4	16.2	977	10174	0.20	2.33	0.00	0.000	6	0.207	0.061	3094	2273	1928	0	0	0	0	0	0
10495	0.72	279.1	116.1	9.6	1007	10510	0.00	2.38	9.73	0.931	4	0.000	0.076	3103	859	1892	0	0	0	0	0	0
10557	0.76	279.1	110.0	10.1	1012	10564	0.00	2.33	0.00	0.000	6	0.000	0.062	3103	2278	1890	0	0	0	0	0	0
10896	0.84	312.6	79.1	8.5	1064	10933	0.00	2.45	31.40	0.993	4	0.000	0.075	3111	859	1754	0	0	0	0	0	0
10981	0.96	334.4	71.6	9.0	1078	11012	0.17	2.35	21.38	0.956	6	0.101	0.063	3178	2277	1666	0	0	0	0	0	0
11352	0.90	334.4	16.1	14.0	1143	11359	0.00	2.33	0.00	0.000	4	0.000	0.079	3178	3687	1658	0	0	0	0	0	0
11413	end climb: SURFACE_OBSTACLE_DETECTED
state	11413	begin subsurface finish
11423	0.10	80.6	6.9	-13.9	1154	11494	1.02	2.42	-62.22	0.000	4	0.202	0.089	2905	3697	2698	0	0	0	0	0	0
11497	end subsurface finish: CONTROL_FINISHED_OK
state	11497	begin surface