Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 569 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 183 HD_C 9.9999997e-06 ROLL_MIN 330 ALTIM_TOP_TURN_MARGIN 5

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 2.4000001

DIVE 569 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

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 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 3 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 4 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 2923 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 0.00065 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 -9850.9922 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 311 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3850 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2475 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043469137

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -62.615704 SEABIRD_T_H 0.00062159239

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00012025224 SEABIRD_T_I 2.0014088e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 1.6690842e-06

MASS 51717 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9685602

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1354375

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 1 SEABIRD_C_I -0.0013495153

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019269099

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 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 609.0799

AH0_24V 150 D_PITCH 3 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 160 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3850 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2.4000001 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.00065 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00012025224 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -62.615704 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 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 -9850.9922

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 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 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 32 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9685602 VBD_MIN 440

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1354375 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0013495153 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 569 NAV_MODE 0 SEABIRD_C_J 0.00019269099 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0043469137 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 4 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1 MHEAD_RNG_PITCHd_Wd 279.3,87602,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 1261

Post-dive calculations and measurements:

FREEZE 8.90,-1.759,-1.771,2,8,0 ALTIM_BOTTOM_PING 601.8,10.9

FINISH1 8.9,1.025937,77 _24V_AH 21.6,68.037

FINISH2 7.2 _10V_AH 9.8,48.358

RAFOS_CLK 687 FG_AHR_24Vo 0.000

RAFOS 6,1293137344,20.833334,20.817778,75,54,52,52,49,41,565,1732,274,526,956,765 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.031250,-5843.584473,231210,202038,6,92,12.02 MEM 151680

IRIDIUM_FIX 6641.98,-5815.55,221210,151515 DATA_FILE_SIZE 36695,983

TT8_MAMPS 0.030709 CAP_FILE_SIZE 118033,0

HUMID 49.25 CFSIZE 260165632,210206720

INTERNAL_PRESSURE 8.63162 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.50 SOUNDSPEED 1453.0

XPDR_PINGS 0 GPS 231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1

ALTIM_TOP_PING 19.5,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 200 15.91 SBE_CT 686 24 355.89

Roll_motor 90 84 165.40 SBE_O2 0 0 0.00

VBD_pump_during_apogee 362 983 7704.67 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 22.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2418 19 472.05

LPSleep 7295 2 165.15

TT8_Active 401 19 78.44

TT8_Sampling 1698 39 664.56

TT8_CF8 190 45 85.54

TT8_Kalman 0 0 0.00

Analog_circuits 1318 12 155.06

GPS_charging 0 0 0.00

Compass 1681 15 247.14

RAFOS 720 3 21.17

Transponder 20 30 6.03

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.57 -146.0 0.0 0.0 0 23 0.00 0.00 -5.72 0.000 2 0.000 0.000 2483 3925 2814 0 0 0 0 0 0

26 -0.57 -146.0 8.6 -0.0 1 50 0.52 0.00 -17.92 0.000 4 0.090 0.000 2293 3925 3521 0 0 0 0 0 0

192 -0.57 -146.0 28.6 -13.0 30 198 0.00 1.85 0.00 0.000 6 0.000 0.048 2293 2771 3523 0 0 0 0 0 0

538 -0.59 -146.0 65.1 -11.1 91 544 0.00 2.22 0.00 0.000 4 0.000 0.051 2293 1371 3523 0 0 0 0 0 0

614 -0.65 -146.0 73.6 -10.4 104 621 0.00 2.33 0.00 0.000 6 0.000 0.063 2292 2771 3522 0 0 0 0 0 0

957 -0.69 -146.0 106.0 -8.8 159 961 0.12 2.00 0.00 0.000 4 0.100 0.074 2234 3925 3522 0 0 0 0 0 0

1002 -0.64 -146.0 111.7 -13.1 163 1007 0.12 1.88 0.00 0.000 6 0.173 0.048 2268 2773 3522 0 0 0 0 0 0

1333 -0.64 -146.0 145.8 -9.9 194 1335 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2773 3522 0 0 0 0 0 0

1653 -0.64 -146.0 176.0 -9.3 224 1658 0.00 2.25 0.00 0.000 4 0.000 0.052 2268 1365 3521 0 0 0 0 0 0

1688 -0.67 -146.0 179.4 -9.5 226 1695 0.00 2.35 0.00 0.000 6 0.000 0.063 2264 2775 3521 0 0 0 0 0 0

2013 -0.67 -146.0 208.7 -8.7 257 2015 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2775 3521 0 0 0 0 0 0

2334 -0.67 -146.0 236.7 -8.8 287 2340 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2775 3521 0 0 0 0 0 0

2662 -0.70 -146.0 265.7 -8.3 318 2666 0.00 2.25 0.00 0.000 4 0.000 0.052 2264 1372 3521 0 0 0 0 0 0

2694 -0.73 -146.0 268.4 -8.6 320 2698 0.00 2.35 0.00 0.000 6 0.000 0.063 2263 2782 3521 0 0 0 0 0 0

3019 -0.76 -146.0 295.4 -8.2 350 3023 0.00 1.98 0.00 0.000 4 0.000 0.073 2255 3945 3521 0 0 0 0 0 0

3044 -0.78 -146.0 297.5 -8.7 352 3048 0.00 1.92 0.00 0.000 6 0.000 0.048 2255 2762 3521 0 0 0 0 0 0

3375 -0.78 -146.0 327.0 -8.5 383 3377 0.00 0.00 0.00 0.000 6 0.000 0.000 2255 2762 3521 0 0 0 0 0 0

3697 -0.80 -146.0 354.8 -8.6 413 3703 0.12 0.00 0.00 0.000 6 0.107 0.000 2197 2762 3521 0 0 0 0 0 0

4022 -0.71 -146.0 394.4 -12.3 444 4024 0.17 0.00 0.00 0.000 6 0.170 0.000 2244 2762 3522 0 0 0 0 0 0

4331 -0.71 -146.0 422.7 -9.0 458 4335 0.00 2.25 0.00 0.000 4 0.000 0.050 2244 1363 3523 0 0 0 0 0 0

4371 -0.73 -146.0 426.6 -9.5 459 4375 0.00 2.35 0.00 0.000 6 0.000 0.062 2244 2778 3522 0 0 0 0 0 0

4695 -0.73 -146.0 457.2 -9.6 470 4699 0.00 2.28 0.00 0.000 4 0.000 0.050 2244 1364 3522 0 0 0 0 0 0

4722 -0.73 -146.0 460.2 -9.7 470 4729 0.00 2.38 0.00 0.000 6 0.000 0.062 2244 2782 3522 0 0 0 0 0 0

5036 -0.73 -146.0 490.1 -9.7 481 5037 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2782 3522 0 0 0 0 0 0

5341 -0.73 -146.0 519.6 -9.5 491 5345 0.00 2.28 0.00 0.000 4 0.000 0.050 2244 1364 3523 0 0 0 0 0 0

5363 -0.73 -146.0 522.0 -9.9 491 5370 0.00 2.35 0.00 0.000 6 0.000 0.061 2243 2779 3523 0 0 0 0 0 0

5680 -0.73 -146.0 550.7 -9.1 502 5681 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2779 3523 0 0 0 0 0 0

5982 -0.73 -146.0 575.7 -7.7 512 5986 0.00 2.28 0.00 0.000 4 0.000 0.050 2244 1363 3523 0 0 0 0 0 0

6004 -0.73 -146.0 577.6 -7.9 512 6011 0.00 2.35 0.00 0.000 6 0.000 0.062 2243 2777 3523 0 0 0 0 0 0

6319 end dive: BOTTOM_OBSTACLE_DETECTED

state 6319 begin apogee

6326 -0.14 0.0 601.8 8.1 523 6456 0.55 0.00 124.03 0.984 4 0.135 0.000 2421 2604 2923 0 0 0 0 0 0

6457 end apogee: CONTROL_FINISHED_OK

state 6457 begin climb

6459 0.57 146.0 605.2 0.0 527 6597 0.70 2.45 130.62 0.962 4 0.073 0.050 2662 1182 2327 0 0 0 0 0 0

6761 0.57 146.0 578.8 11.6 536 6765 0.00 2.47 0.00 0.000 6 0.000 0.057 2662 2601 2318 0 0 0 0 0 0

7074 0.52 146.0 541.0 12.2 546 7078 0.00 2.33 0.00 0.000 4 0.000 0.054 2663 1189 2315 0 0 0 0 0 0

7280 0.52 146.0 518.1 10.7 552 7285 0.00 2.35 0.00 0.000 6 0.000 0.057 2663 2606 2315 0 0 0 0 0 0

7605 0.47 146.0 481.8 11.0 563 7609 0.12 2.25 0.00 0.000 4 0.200 0.069 2632 3930 2313 0 0 0 0 0 0

7654 0.44 146.0 476.0 11.2 564 7658 0.00 2.12 0.00 0.000 6 0.000 0.045 2634 2601 2312 0 0 0 0 0 0

7968 0.45 170.3 447.7 8.9 574 7993 0.00 2.30 20.00 0.874 4 0.000 0.070 2635 3928 2228 0 0 0 0 0 0

8021 0.43 170.3 442.2 10.8 574 8028 0.00 2.12 0.00 0.000 6 0.000 0.045 2635 2610 2225 0 0 0 0 0 0

8335 0.44 185.6 412.4 9.3 585 8354 0.00 2.30 14.38 0.844 4 0.000 0.054 2635 1186 2166 0 0 0 0 0 0

8412 0.51 198.7 405.3 9.4 587 8434 0.00 2.33 12.60 0.823 6 0.000 0.057 2635 2606 2112 0 0 0 0 0 0

8751 0.55 200.0 372.4 9.9 614 8755 0.00 2.22 0.00 0.000 4 0.000 0.070 2635 3930 2107 0 0 0 0 0 0

8789 0.55 200.0 367.8 12.2 617 8796 0.00 2.12 0.00 0.000 6 0.000 0.045 2636 2601 2106 0 0 0 0 0 0

9115 0.59 203.3 335.4 9.8 648 9127 0.00 2.28 4.88 0.666 4 0.000 0.054 2636 1192 2093 0 0 0 0 0 0

9163 0.69 232.8 331.0 8.6 652 9197 0.17 2.35 27.33 0.814 6 0.088 0.057 2708 2621 1973 0 0 0 0 0 0

9515 0.62 232.8 278.0 15.3 685 9520 0.12 2.20 0.00 0.000 4 0.193 0.068 2677 3925 1966 0 0 0 0 0 0

9555 0.58 232.8 271.9 14.3 688 9559 0.00 2.12 0.00 0.000 6 0.000 0.046 2677 2616 1964 0 0 0 0 0 0

9880 0.58 232.8 230.0 12.7 718 9884 0.00 2.30 0.00 0.000 4 0.000 0.054 2678 1187 1964 0 0 0 0 0 0

9921 0.62 232.8 225.2 11.7 721 9925 0.00 2.35 0.00 0.000 6 0.000 0.056 2678 2620 1964 0 0 0 0 0 0

10246 0.62 232.8 185.3 11.7 751 10247 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2620 1964 0 0 0 0 0 0

10566 0.62 232.8 149.0 11.0 781 10567 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2620 1964 0 0 0 0 0 0

10885 0.62 232.8 114.6 10.7 811 10886 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2620 1964 0 0 0 0 0 0

11212 0.65 237.0 80.8 9.8 858 11218 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2620 1964 0 0 0 0 0 0

11557 0.69 241.9 47.4 9.8 919 11571 0.00 2.40 7.80 0.641 4 0.000 0.054 2679 1181 1936 0 0 0 0 0 0

11623 0.80 265.1 41.3 8.9 930 11654 0.15 2.33 20.95 0.659 6 0.102 0.057 2741 2608 1843 0 0 0 0 0 0

11897 end climb: FINISH_DEPTH_REACHED

state 11897 begin subsurface finish

11903 0.05 76.7 8.9 -12.3 978 11934 0.77 2.33 -23.50 0.000 4 0.148 0.085 2500 3925 2612 0 0 0 0 0 0

11935 end subsurface finish: CONTROL_FINISHED_OK

state 11935 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	2.4000001
DIVE	569	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
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	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	3	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	4	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	2923	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	0.00065	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	-9850.9922	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	311	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3850	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2475	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043469137
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-62.615704	SEABIRD_T_H	0.00062159239
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00012025224	SEABIRD_T_I	2.0014088e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	1.6690842e-06
MASS	51717	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9685602
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1354375
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	1	SEABIRD_C_I	-0.0013495153
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019269099
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	231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1	MHEAD_RNG_PITCHd_Wd	279.3,87602,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	1261

FREEZE	8.90,-1.759,-1.771,2,8,0	ALTIM_BOTTOM_PING	601.8,10.9
FINISH1	8.9,1.025937,77	_24V_AH	21.6,68.037
FINISH2	7.2	_10V_AH	9.8,48.358
RAFOS_CLK	687	FG_AHR_24Vo	0.000
RAFOS	6,1293137344,20.833334,20.817778,75,54,52,52,49,41,565,1732,274,526,956,765	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.031250,-5843.584473,231210,202038,6,92,12.02	MEM	151680
IRIDIUM_FIX	6641.98,-5815.55,221210,151515	DATA_FILE_SIZE	36695,983
TT8_MAMPS	0.030709	CAP_FILE_SIZE	118033,0
HUMID	49.25	CFSIZE	260165632,210206720
INTERNAL_PRESSURE	8.63162	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.50	SOUNDSPEED	1453.0
XPDR_PINGS	0	GPS	231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1
ALTIM_TOP_PING	19.5,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	200	15.91	SBE_CT	686	24	355.89
Roll_motor	90	84	165.40	SBE_O2	0	0	0.00
VBD_pump_during_apogee	362	983	7704.67	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	22.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2418	19	472.05
LPSleep	7295	2	165.15
TT8_Active	401	19	78.44
TT8_Sampling	1698	39	664.56
TT8_CF8	190	45	85.54
TT8_Kalman	0	0	0.00
Analog_circuits	1318	12	155.06
GPS_charging	0	0	0.00
Compass	1681	15	247.14
RAFOS	720	3	21.17
Transponder	20	30	6.03

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.57	-146.0	0.0	0.0	0	23	0.00	0.00	-5.72	0.000	2	0.000	0.000	2483	3925	2814	0	0	0	0	0	0
26	-0.57	-146.0	8.6	-0.0	1	50	0.52	0.00	-17.92	0.000	4	0.090	0.000	2293	3925	3521	0	0	0	0	0	0
192	-0.57	-146.0	28.6	-13.0	30	198	0.00	1.85	0.00	0.000	6	0.000	0.048	2293	2771	3523	0	0	0	0	0	0
538	-0.59	-146.0	65.1	-11.1	91	544	0.00	2.22	0.00	0.000	4	0.000	0.051	2293	1371	3523	0	0	0	0	0	0
614	-0.65	-146.0	73.6	-10.4	104	621	0.00	2.33	0.00	0.000	6	0.000	0.063	2292	2771	3522	0	0	0	0	0	0
957	-0.69	-146.0	106.0	-8.8	159	961	0.12	2.00	0.00	0.000	4	0.100	0.074	2234	3925	3522	0	0	0	0	0	0
1002	-0.64	-146.0	111.7	-13.1	163	1007	0.12	1.88	0.00	0.000	6	0.173	0.048	2268	2773	3522	0	0	0	0	0	0
1333	-0.64	-146.0	145.8	-9.9	194	1335	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2773	3522	0	0	0	0	0	0
1653	-0.64	-146.0	176.0	-9.3	224	1658	0.00	2.25	0.00	0.000	4	0.000	0.052	2268	1365	3521	0	0	0	0	0	0
1688	-0.67	-146.0	179.4	-9.5	226	1695	0.00	2.35	0.00	0.000	6	0.000	0.063	2264	2775	3521	0	0	0	0	0	0
2013	-0.67	-146.0	208.7	-8.7	257	2015	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2775	3521	0	0	0	0	0	0
2334	-0.67	-146.0	236.7	-8.8	287	2340	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2775	3521	0	0	0	0	0	0
2662	-0.70	-146.0	265.7	-8.3	318	2666	0.00	2.25	0.00	0.000	4	0.000	0.052	2264	1372	3521	0	0	0	0	0	0
2694	-0.73	-146.0	268.4	-8.6	320	2698	0.00	2.35	0.00	0.000	6	0.000	0.063	2263	2782	3521	0	0	0	0	0	0
3019	-0.76	-146.0	295.4	-8.2	350	3023	0.00	1.98	0.00	0.000	4	0.000	0.073	2255	3945	3521	0	0	0	0	0	0
3044	-0.78	-146.0	297.5	-8.7	352	3048	0.00	1.92	0.00	0.000	6	0.000	0.048	2255	2762	3521	0	0	0	0	0	0
3375	-0.78	-146.0	327.0	-8.5	383	3377	0.00	0.00	0.00	0.000	6	0.000	0.000	2255	2762	3521	0	0	0	0	0	0
3697	-0.80	-146.0	354.8	-8.6	413	3703	0.12	0.00	0.00	0.000	6	0.107	0.000	2197	2762	3521	0	0	0	0	0	0
4022	-0.71	-146.0	394.4	-12.3	444	4024	0.17	0.00	0.00	0.000	6	0.170	0.000	2244	2762	3522	0	0	0	0	0	0
4331	-0.71	-146.0	422.7	-9.0	458	4335	0.00	2.25	0.00	0.000	4	0.000	0.050	2244	1363	3523	0	0	0	0	0	0
4371	-0.73	-146.0	426.6	-9.5	459	4375	0.00	2.35	0.00	0.000	6	0.000	0.062	2244	2778	3522	0	0	0	0	0	0
4695	-0.73	-146.0	457.2	-9.6	470	4699	0.00	2.28	0.00	0.000	4	0.000	0.050	2244	1364	3522	0	0	0	0	0	0
4722	-0.73	-146.0	460.2	-9.7	470	4729	0.00	2.38	0.00	0.000	6	0.000	0.062	2244	2782	3522	0	0	0	0	0	0
5036	-0.73	-146.0	490.1	-9.7	481	5037	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2782	3522	0	0	0	0	0	0
5341	-0.73	-146.0	519.6	-9.5	491	5345	0.00	2.28	0.00	0.000	4	0.000	0.050	2244	1364	3523	0	0	0	0	0	0
5363	-0.73	-146.0	522.0	-9.9	491	5370	0.00	2.35	0.00	0.000	6	0.000	0.061	2243	2779	3523	0	0	0	0	0	0
5680	-0.73	-146.0	550.7	-9.1	502	5681	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2779	3523	0	0	0	0	0	0
5982	-0.73	-146.0	575.7	-7.7	512	5986	0.00	2.28	0.00	0.000	4	0.000	0.050	2244	1363	3523	0	0	0	0	0	0
6004	-0.73	-146.0	577.6	-7.9	512	6011	0.00	2.35	0.00	0.000	6	0.000	0.062	2243	2777	3523	0	0	0	0	0	0
6319	end dive: BOTTOM_OBSTACLE_DETECTED
state	6319	begin apogee
6326	-0.14	0.0	601.8	8.1	523	6456	0.55	0.00	124.03	0.984	4	0.135	0.000	2421	2604	2923	0	0	0	0	0	0
6457	end apogee: CONTROL_FINISHED_OK
state	6457	begin climb
6459	0.57	146.0	605.2	0.0	527	6597	0.70	2.45	130.62	0.962	4	0.073	0.050	2662	1182	2327	0	0	0	0	0	0
6761	0.57	146.0	578.8	11.6	536	6765	0.00	2.47	0.00	0.000	6	0.000	0.057	2662	2601	2318	0	0	0	0	0	0
7074	0.52	146.0	541.0	12.2	546	7078	0.00	2.33	0.00	0.000	4	0.000	0.054	2663	1189	2315	0	0	0	0	0	0
7280	0.52	146.0	518.1	10.7	552	7285	0.00	2.35	0.00	0.000	6	0.000	0.057	2663	2606	2315	0	0	0	0	0	0
7605	0.47	146.0	481.8	11.0	563	7609	0.12	2.25	0.00	0.000	4	0.200	0.069	2632	3930	2313	0	0	0	0	0	0
7654	0.44	146.0	476.0	11.2	564	7658	0.00	2.12	0.00	0.000	6	0.000	0.045	2634	2601	2312	0	0	0	0	0	0
7968	0.45	170.3	447.7	8.9	574	7993	0.00	2.30	20.00	0.874	4	0.000	0.070	2635	3928	2228	0	0	0	0	0	0
8021	0.43	170.3	442.2	10.8	574	8028	0.00	2.12	0.00	0.000	6	0.000	0.045	2635	2610	2225	0	0	0	0	0	0
8335	0.44	185.6	412.4	9.3	585	8354	0.00	2.30	14.38	0.844	4	0.000	0.054	2635	1186	2166	0	0	0	0	0	0
8412	0.51	198.7	405.3	9.4	587	8434	0.00	2.33	12.60	0.823	6	0.000	0.057	2635	2606	2112	0	0	0	0	0	0
8751	0.55	200.0	372.4	9.9	614	8755	0.00	2.22	0.00	0.000	4	0.000	0.070	2635	3930	2107	0	0	0	0	0	0
8789	0.55	200.0	367.8	12.2	617	8796	0.00	2.12	0.00	0.000	6	0.000	0.045	2636	2601	2106	0	0	0	0	0	0
9115	0.59	203.3	335.4	9.8	648	9127	0.00	2.28	4.88	0.666	4	0.000	0.054	2636	1192	2093	0	0	0	0	0	0
9163	0.69	232.8	331.0	8.6	652	9197	0.17	2.35	27.33	0.814	6	0.088	0.057	2708	2621	1973	0	0	0	0	0	0
9515	0.62	232.8	278.0	15.3	685	9520	0.12	2.20	0.00	0.000	4	0.193	0.068	2677	3925	1966	0	0	0	0	0	0
9555	0.58	232.8	271.9	14.3	688	9559	0.00	2.12	0.00	0.000	6	0.000	0.046	2677	2616	1964	0	0	0	0	0	0
9880	0.58	232.8	230.0	12.7	718	9884	0.00	2.30	0.00	0.000	4	0.000	0.054	2678	1187	1964	0	0	0	0	0	0
9921	0.62	232.8	225.2	11.7	721	9925	0.00	2.35	0.00	0.000	6	0.000	0.056	2678	2620	1964	0	0	0	0	0	0
10246	0.62	232.8	185.3	11.7	751	10247	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2620	1964	0	0	0	0	0	0
10566	0.62	232.8	149.0	11.0	781	10567	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2620	1964	0	0	0	0	0	0
10885	0.62	232.8	114.6	10.7	811	10886	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2620	1964	0	0	0	0	0	0
11212	0.65	237.0	80.8	9.8	858	11218	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2620	1964	0	0	0	0	0	0
11557	0.69	241.9	47.4	9.8	919	11571	0.00	2.40	7.80	0.641	4	0.000	0.054	2679	1181	1936	0	0	0	0	0	0
11623	0.80	265.1	41.3	8.9	930	11654	0.15	2.33	20.95	0.659	6	0.102	0.057	2741	2608	1843	0	0	0	0	0	0
11897	end climb: FINISH_DEPTH_REACHED
state	11897	begin subsurface finish
11903	0.05	76.7	8.9	-12.3	978	11934	0.77	2.33	-23.50	0.000	4	0.148	0.085	2500	3925	2612	0	0	0	0	0	0
11935	end subsurface finish: CONTROL_FINISHED_OK
state	11935	begin surface