Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 577 * 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 577 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 21 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 -2 T_GPS_CHARGE -9856.0127 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 -9856.0127

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 -2

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 21 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 577 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 251210,001707,6701.542,-5901.147,27,1.5,27,-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 1.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 251210,002244,6701.479,-5901.075,13,1.5,13,-38.1 MHEAD_RNG_PITCHd_Wd 280.6,70055,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 1181

Post-dive calculations and measurements:

FREEZE 1.08,-1.413,-1.750,2,1,0 ALTIM_TOP_PING 19.8,18.1

FINISH 1.1,1.025708 ALTIM_BOTTOM_PING 600.2,11.0

SM_CCo 12006,215.10,0.585,1,0,439,609.08 _24V_AH 21.7,68.895

SM_GC 1.74,0.00,0.00,215.10,0.000,0.000,0.585,298,2791,439,-6.80,0.31,609.08 _10V_AH 9.8,48.869

RAFOS_CLK 641 FG_AHR_24Vo 0.000

RAFOS 1,1293235744,0.166667,0.151111,46,45,41,40,40,40,1175,933,949,1046,563,1033 FG_AHR_10Vo 0.000

RAFOS_FIX 6703.572266,-5857.770508,251210,000056,2,82,3.14 MEM 151700

IRIDIUM_FIX 6631.12,-5857.45,241210,202004 DATA_FILE_SIZE 36632,996

TT8_MAMPS 0.029211 CAP_FILE_SIZE 129203,0

HUMID 45.19 CFSIZE 260165632,209715200

INTERNAL_PRESSURE 8.45583 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 14.80 SOUNDSPEED 1456.5

XPDR_PINGS 0 GPS 251210,034837,6700.893,-5903.927,38,1.2,38,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 246 95.68 SBE_CT 690 24 359.75

Roll_motor 86 78 146.13 SBE_O2 0 0 0.00

VBD_pump_during_apogee 394 973 8331.99 nil 0 0 0.00

VBD_pump_during_surface 215 585 2731.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 62.53 nil 0 0 0.00

Iridium_during_connect 21 160 73.89 nil 0 0 0.00

Iridium_during_xfer 133 223 644.92 nil 0 0 0.00

Transponder_ping 2 420 20.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 7.97

TT8 2461 19 480.62

LPSleep 7190 2 162.77

TT8_Active 732 19 142.91

TT8_Sampling 1895 39 741.40

TT8_CF8 297 45 133.94

TT8_Kalman 0 0 0.00

Analog_circuits 1673 12 196.75

GPS_charging 0 0 0.00

Compass 1693 15 248.96

RAFOS 1440 3 42.34

Transponder 17 30 5.20

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

14 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.57 -146.0 0.0 0.0 0 149 0.00 0.00 -126.97 0.000 2 0.000 0.000 291 2779 3139 0 0 0 0 0 0

151 -0.57 -146.0 5.1 -10.2 22 177 8.40 2.30 -8.35 0.000 4 0.246 0.067 2286 1374 3522 0 0 0 0 0 0

297 -0.57 -146.0 30.9 -12.7 47 303 0.00 2.38 0.00 0.000 6 0.000 0.063 2284 2784 3523 0 0 0 0 0 0

643 -0.57 -146.0 72.7 -10.6 108 650 0.00 1.95 0.00 0.000 4 0.000 0.074 2275 3936 3523 0 0 0 0 0 0

795 -0.59 -146.0 89.0 -10.6 134 802 0.00 1.88 0.00 0.000 6 0.000 0.049 2275 2785 3522 0 0 0 0 0 0

1133 -0.59 -146.0 125.6 -10.5 174 1134 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2785 3523 0 0 0 0 0 0

1452 -0.62 -146.0 157.7 -9.5 204 1456 0.00 2.25 0.00 0.000 4 0.000 0.052 2275 1372 3523 0 0 0 0 0 0

1473 -0.65 -146.0 160.0 -10.0 205 1480 0.00 2.38 0.00 0.000 6 0.000 0.063 2275 2798 3523 0 0 0 0 0 0

1799 -0.68 -146.0 188.6 -8.1 236 1800 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2798 3522 0 0 0 0 0 0

2118 -0.72 -146.0 214.6 -7.7 266 2120 0.10 0.00 0.00 0.000 6 0.117 0.000 2229 2798 3522 0 0 0 0 0 0

2436 -0.68 -146.0 249.3 -11.3 296 2440 0.00 2.28 0.00 0.000 4 0.000 0.050 2228 1371 3522 0 0 0 0 0 0

2477 -0.66 -146.0 253.9 -11.5 299 2482 0.12 2.40 0.00 0.000 6 0.173 0.063 2258 2803 3522 0 0 0 0 0 0

2803 -0.68 -146.0 283.7 -8.5 329 2804 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2803 3522 0 0 0 0 0 0

3124 -0.71 -146.0 310.5 -8.5 359 3130 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2803 3523 0 0 0 0 0 0

3454 -0.74 -146.0 337.7 -8.1 390 3458 0.00 2.30 0.00 0.000 4 0.000 0.050 2259 1368 3523 0 0 0 0 0 0

3489 -0.78 -146.0 341.1 -8.0 392 3497 0.10 2.40 0.00 0.000 6 0.110 0.061 2209 2800 3523 0 0 0 0 0 0

3816 -0.71 -146.0 377.9 -11.4 423 3820 0.12 1.92 0.00 0.000 4 0.182 0.071 2235 3932 3524 0 0 0 0 0 0

3854 -0.71 -146.0 382.2 -10.3 426 3861 0.00 1.85 0.00 0.000 6 0.000 0.047 2235 2803 3524 0 0 0 0 0 0

4176 -0.71 -146.0 411.9 -9.4 449 4180 0.00 2.28 0.00 0.000 4 0.000 0.050 2235 1371 3524 0 0 0 0 0 0

4227 -0.71 -146.0 416.9 -8.8 450 4231 0.00 2.38 0.00 0.000 6 0.000 0.061 2235 2791 3524 0 0 0 0 0 0

4540 -0.71 -146.0 445.7 -9.4 460 4541 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2791 3524 0 0 0 0 0 0

4848 -0.71 -146.0 474.0 -9.2 470 4852 0.00 2.28 0.00 0.000 4 0.000 0.050 2235 1368 3525 0 0 0 0 0 0

4886 -0.71 -146.0 478.1 -9.7 471 4890 0.00 2.38 0.00 0.000 6 0.000 0.061 2235 2789 3525 0 0 0 0 0 0

5211 -0.71 -146.0 507.9 -9.2 482 5212 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2789 3526 0 0 0 0 0 0

5518 -0.71 -146.0 535.9 -9.0 492 5519 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2789 3525 0 0 0 0 0 0

5823 -0.71 -146.0 564.6 -9.4 502 5825 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2789 3525 0 0 0 0 0 0

6129 -0.71 -146.0 594.7 -9.9 512 6133 0.00 2.28 0.00 0.000 4 0.000 0.050 2235 1367 3526 0 0 0 0 0 0

6164 -0.71 -146.0 598.4 -10.3 513 6169 0.00 2.38 0.00 0.000 6 0.000 0.062 2235 2786 3526 0 0 0 0 0 0

6183 end dive: BOTTOM_OBSTACLE_DETECTED

state 6183 begin apogee

6189 -0.14 0.0 600.2 10.0 513 6322 0.57 0.00 123.60 0.974 4 0.132 0.000 2422 2599 2922 0 0 0 0 0 0

6323 end apogee: CONTROL_FINISHED_OK

state 6323 begin climb

6325 0.57 146.0 605.1 0.0 518 6464 0.70 2.40 130.02 0.952 4 0.070 0.050 2666 1185 2326 0 0 0 0 0 0

6644 0.57 146.0 579.8 11.0 527 6651 0.00 2.42 0.00 0.000 6 0.000 0.055 2666 2602 2317 0 0 0 0 0 0

6957 0.51 146.0 544.1 11.5 538 6961 0.00 2.30 0.00 0.000 4 0.000 0.054 2665 1182 2314 0 0 0 0 0 0

7193 0.51 146.0 517.2 11.5 545 7197 0.00 2.35 0.00 0.000 6 0.000 0.057 2666 2605 2314 0 0 0 0 0 0

7528 0.46 146.0 476.2 12.2 556 7533 0.15 2.25 0.00 0.000 4 0.194 0.068 2627 3933 2313 0 0 0 0 0 0

7579 0.44 146.0 470.1 11.8 557 7583 0.00 2.12 0.00 0.000 6 0.000 0.045 2627 2601 2311 0 0 0 0 0 0

7903 0.44 152.6 438.1 9.7 568 7909 0.00 0.00 4.47 0.665 6 0.000 0.000 2627 2600 2300 0 0 0 0 0 0

8210 0.47 158.8 408.1 9.7 578 8219 0.00 0.00 7.20 0.770 6 0.000 0.000 2626 2600 2274 0 0 0 0 0 0

8526 0.50 163.9 377.9 9.8 602 8534 0.00 0.00 6.12 0.728 6 0.000 0.000 2627 2600 2254 0 0 0 0 0 0

8853 0.54 179.9 346.5 9.3 633 8876 0.00 2.25 15.50 0.805 4 0.000 0.069 2627 3926 2187 0 0 0 0 0 0

8900 0.54 179.9 341.6 11.5 637 8904 0.00 2.15 0.00 0.000 6 0.000 0.044 2627 2602 2186 0 0 0 0 0 0

9231 0.59 195.7 310.5 9.3 668 9255 0.10 2.30 14.45 0.780 4 0.118 0.053 2678 1200 2124 0 0 0 0 0 0

9294 0.59 195.7 303.2 11.7 673 9301 0.00 2.33 0.00 0.000 6 0.000 0.055 2678 2609 2123 0 0 0 0 0 0

9620 0.56 195.7 261.9 13.1 704 9624 0.00 2.20 0.00 0.000 4 0.000 0.067 2678 3929 2121 0 0 0 0 0 0

9664 0.48 195.7 255.1 15.0 707 9671 0.17 2.15 0.00 0.000 6 0.187 0.044 2635 2599 2119 0 0 0 0 0 0

9989 0.54 204.3 222.2 9.6 738 10005 0.00 2.33 8.55 0.705 4 0.000 0.053 2635 1189 2090 0 0 0 0 0 0

10035 0.64 216.4 217.8 9.4 742 10058 0.12 2.33 12.10 0.715 6 0.100 0.055 2689 2610 2039 0 0 0 0 0 0

10376 0.61 216.4 173.2 13.3 774 10379 0.00 2.22 0.00 0.000 4 0.000 0.067 2690 3933 2036 0 0 0 0 0 0

10444 0.55 216.4 162.8 15.6 780 10449 0.15 2.12 0.00 0.000 6 0.187 0.044 2652 2603 2034 0 0 0 0 0 0

10770 0.60 216.4 129.8 10.2 810 10771 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2601 2034 0 0 0 0 0 0

11091 0.67 249.0 100.5 8.5 840 11123 0.12 0.00 28.30 0.672 6 0.104 0.000 2702 2602 1907 0 0 0 0 0 0

11461 0.67 249.0 54.7 10.8 905 11468 0.00 2.25 0.00 0.000 4 0.000 0.053 2704 1186 1901 0 0 0 0 0 0

11480 0.67 249.0 52.5 11.5 908 11487 0.00 2.35 0.00 0.000 6 0.000 0.055 2704 2621 1901 0 0 0 0 0 0

11829 0.72 269.3 17.6 9.1 969 11854 0.00 2.33 17.50 0.632 4 0.000 0.052 2704 1181 1824 0 0 0 0 0 0

11896 0.82 299.2 11.6 8.6 980 11929 0.10 2.35 26.45 0.621 6 0.116 0.056 2747 2622 1702 0 0 0 0 0 0

11967 end climb: SURFACE_DEPTH_REACHED

state 11967 begin surface coast

11988 end surface coast: CONTROL_FINISHED_OK

state 11989 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	577	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	21	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	-2	T_GPS_CHARGE	-9856.0127	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	251210,001707,6701.542,-5901.147,27,1.5,27,-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	1.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	251210,002244,6701.479,-5901.075,13,1.5,13,-38.1	MHEAD_RNG_PITCHd_Wd	280.6,70055,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	1181

FREEZE	1.08,-1.413,-1.750,2,1,0	ALTIM_TOP_PING	19.8,18.1
FINISH	1.1,1.025708	ALTIM_BOTTOM_PING	600.2,11.0
SM_CCo	12006,215.10,0.585,1,0,439,609.08	_24V_AH	21.7,68.895
SM_GC	1.74,0.00,0.00,215.10,0.000,0.000,0.585,298,2791,439,-6.80,0.31,609.08	_10V_AH	9.8,48.869
RAFOS_CLK	641	FG_AHR_24Vo	0.000
RAFOS	1,1293235744,0.166667,0.151111,46,45,41,40,40,40,1175,933,949,1046,563,1033	FG_AHR_10Vo	0.000
RAFOS_FIX	6703.572266,-5857.770508,251210,000056,2,82,3.14	MEM	151700
IRIDIUM_FIX	6631.12,-5857.45,241210,202004	DATA_FILE_SIZE	36632,996
TT8_MAMPS	0.029211	CAP_FILE_SIZE	129203,0
HUMID	45.19	CFSIZE	260165632,209715200
INTERNAL_PRESSURE	8.45583	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	14.80	SOUNDSPEED	1456.5
XPDR_PINGS	0	GPS	251210,034837,6700.893,-5903.927,38,1.2,38,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	246	95.68	SBE_CT	690	24	359.75
Roll_motor	86	78	146.13	SBE_O2	0	0	0.00
VBD_pump_during_apogee	394	973	8331.99	nil	0	0	0.00
VBD_pump_during_surface	215	585	2731.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	62.53	nil	0	0	0.00
Iridium_during_connect	21	160	73.89	nil	0	0	0.00
Iridium_during_xfer	133	223	644.92	nil	0	0	0.00
Transponder_ping	2	420	20.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	7.97
TT8	2461	19	480.62
LPSleep	7190	2	162.77
TT8_Active	732	19	142.91
TT8_Sampling	1895	39	741.40
TT8_CF8	297	45	133.94
TT8_Kalman	0	0	0.00
Analog_circuits	1673	12	196.75
GPS_charging	0	0	0.00
Compass	1693	15	248.96
RAFOS	1440	3	42.34
Transponder	17	30	5.20

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
14	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.57	-146.0	0.0	0.0	0	149	0.00	0.00	-126.97	0.000	2	0.000	0.000	291	2779	3139	0	0	0	0	0	0
151	-0.57	-146.0	5.1	-10.2	22	177	8.40	2.30	-8.35	0.000	4	0.246	0.067	2286	1374	3522	0	0	0	0	0	0
297	-0.57	-146.0	30.9	-12.7	47	303	0.00	2.38	0.00	0.000	6	0.000	0.063	2284	2784	3523	0	0	0	0	0	0
643	-0.57	-146.0	72.7	-10.6	108	650	0.00	1.95	0.00	0.000	4	0.000	0.074	2275	3936	3523	0	0	0	0	0	0
795	-0.59	-146.0	89.0	-10.6	134	802	0.00	1.88	0.00	0.000	6	0.000	0.049	2275	2785	3522	0	0	0	0	0	0
1133	-0.59	-146.0	125.6	-10.5	174	1134	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2785	3523	0	0	0	0	0	0
1452	-0.62	-146.0	157.7	-9.5	204	1456	0.00	2.25	0.00	0.000	4	0.000	0.052	2275	1372	3523	0	0	0	0	0	0
1473	-0.65	-146.0	160.0	-10.0	205	1480	0.00	2.38	0.00	0.000	6	0.000	0.063	2275	2798	3523	0	0	0	0	0	0
1799	-0.68	-146.0	188.6	-8.1	236	1800	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2798	3522	0	0	0	0	0	0
2118	-0.72	-146.0	214.6	-7.7	266	2120	0.10	0.00	0.00	0.000	6	0.117	0.000	2229	2798	3522	0	0	0	0	0	0
2436	-0.68	-146.0	249.3	-11.3	296	2440	0.00	2.28	0.00	0.000	4	0.000	0.050	2228	1371	3522	0	0	0	0	0	0
2477	-0.66	-146.0	253.9	-11.5	299	2482	0.12	2.40	0.00	0.000	6	0.173	0.063	2258	2803	3522	0	0	0	0	0	0
2803	-0.68	-146.0	283.7	-8.5	329	2804	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2803	3522	0	0	0	0	0	0
3124	-0.71	-146.0	310.5	-8.5	359	3130	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	2803	3523	0	0	0	0	0	0
3454	-0.74	-146.0	337.7	-8.1	390	3458	0.00	2.30	0.00	0.000	4	0.000	0.050	2259	1368	3523	0	0	0	0	0	0
3489	-0.78	-146.0	341.1	-8.0	392	3497	0.10	2.40	0.00	0.000	6	0.110	0.061	2209	2800	3523	0	0	0	0	0	0
3816	-0.71	-146.0	377.9	-11.4	423	3820	0.12	1.92	0.00	0.000	4	0.182	0.071	2235	3932	3524	0	0	0	0	0	0
3854	-0.71	-146.0	382.2	-10.3	426	3861	0.00	1.85	0.00	0.000	6	0.000	0.047	2235	2803	3524	0	0	0	0	0	0
4176	-0.71	-146.0	411.9	-9.4	449	4180	0.00	2.28	0.00	0.000	4	0.000	0.050	2235	1371	3524	0	0	0	0	0	0
4227	-0.71	-146.0	416.9	-8.8	450	4231	0.00	2.38	0.00	0.000	6	0.000	0.061	2235	2791	3524	0	0	0	0	0	0
4540	-0.71	-146.0	445.7	-9.4	460	4541	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2791	3524	0	0	0	0	0	0
4848	-0.71	-146.0	474.0	-9.2	470	4852	0.00	2.28	0.00	0.000	4	0.000	0.050	2235	1368	3525	0	0	0	0	0	0
4886	-0.71	-146.0	478.1	-9.7	471	4890	0.00	2.38	0.00	0.000	6	0.000	0.061	2235	2789	3525	0	0	0	0	0	0
5211	-0.71	-146.0	507.9	-9.2	482	5212	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2789	3526	0	0	0	0	0	0
5518	-0.71	-146.0	535.9	-9.0	492	5519	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2789	3525	0	0	0	0	0	0
5823	-0.71	-146.0	564.6	-9.4	502	5825	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2789	3525	0	0	0	0	0	0
6129	-0.71	-146.0	594.7	-9.9	512	6133	0.00	2.28	0.00	0.000	4	0.000	0.050	2235	1367	3526	0	0	0	0	0	0
6164	-0.71	-146.0	598.4	-10.3	513	6169	0.00	2.38	0.00	0.000	6	0.000	0.062	2235	2786	3526	0	0	0	0	0	0
6183	end dive: BOTTOM_OBSTACLE_DETECTED
state	6183	begin apogee
6189	-0.14	0.0	600.2	10.0	513	6322	0.57	0.00	123.60	0.974	4	0.132	0.000	2422	2599	2922	0	0	0	0	0	0
6323	end apogee: CONTROL_FINISHED_OK
state	6323	begin climb
6325	0.57	146.0	605.1	0.0	518	6464	0.70	2.40	130.02	0.952	4	0.070	0.050	2666	1185	2326	0	0	0	0	0	0
6644	0.57	146.0	579.8	11.0	527	6651	0.00	2.42	0.00	0.000	6	0.000	0.055	2666	2602	2317	0	0	0	0	0	0
6957	0.51	146.0	544.1	11.5	538	6961	0.00	2.30	0.00	0.000	4	0.000	0.054	2665	1182	2314	0	0	0	0	0	0
7193	0.51	146.0	517.2	11.5	545	7197	0.00	2.35	0.00	0.000	6	0.000	0.057	2666	2605	2314	0	0	0	0	0	0
7528	0.46	146.0	476.2	12.2	556	7533	0.15	2.25	0.00	0.000	4	0.194	0.068	2627	3933	2313	0	0	0	0	0	0
7579	0.44	146.0	470.1	11.8	557	7583	0.00	2.12	0.00	0.000	6	0.000	0.045	2627	2601	2311	0	0	0	0	0	0
7903	0.44	152.6	438.1	9.7	568	7909	0.00	0.00	4.47	0.665	6	0.000	0.000	2627	2600	2300	0	0	0	0	0	0
8210	0.47	158.8	408.1	9.7	578	8219	0.00	0.00	7.20	0.770	6	0.000	0.000	2626	2600	2274	0	0	0	0	0	0
8526	0.50	163.9	377.9	9.8	602	8534	0.00	0.00	6.12	0.728	6	0.000	0.000	2627	2600	2254	0	0	0	0	0	0
8853	0.54	179.9	346.5	9.3	633	8876	0.00	2.25	15.50	0.805	4	0.000	0.069	2627	3926	2187	0	0	0	0	0	0
8900	0.54	179.9	341.6	11.5	637	8904	0.00	2.15	0.00	0.000	6	0.000	0.044	2627	2602	2186	0	0	0	0	0	0
9231	0.59	195.7	310.5	9.3	668	9255	0.10	2.30	14.45	0.780	4	0.118	0.053	2678	1200	2124	0	0	0	0	0	0
9294	0.59	195.7	303.2	11.7	673	9301	0.00	2.33	0.00	0.000	6	0.000	0.055	2678	2609	2123	0	0	0	0	0	0
9620	0.56	195.7	261.9	13.1	704	9624	0.00	2.20	0.00	0.000	4	0.000	0.067	2678	3929	2121	0	0	0	0	0	0
9664	0.48	195.7	255.1	15.0	707	9671	0.17	2.15	0.00	0.000	6	0.187	0.044	2635	2599	2119	0	0	0	0	0	0
9989	0.54	204.3	222.2	9.6	738	10005	0.00	2.33	8.55	0.705	4	0.000	0.053	2635	1189	2090	0	0	0	0	0	0
10035	0.64	216.4	217.8	9.4	742	10058	0.12	2.33	12.10	0.715	6	0.100	0.055	2689	2610	2039	0	0	0	0	0	0
10376	0.61	216.4	173.2	13.3	774	10379	0.00	2.22	0.00	0.000	4	0.000	0.067	2690	3933	2036	0	0	0	0	0	0
10444	0.55	216.4	162.8	15.6	780	10449	0.15	2.12	0.00	0.000	6	0.187	0.044	2652	2603	2034	0	0	0	0	0	0
10770	0.60	216.4	129.8	10.2	810	10771	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2601	2034	0	0	0	0	0	0
11091	0.67	249.0	100.5	8.5	840	11123	0.12	0.00	28.30	0.672	6	0.104	0.000	2702	2602	1907	0	0	0	0	0	0
11461	0.67	249.0	54.7	10.8	905	11468	0.00	2.25	0.00	0.000	4	0.000	0.053	2704	1186	1901	0	0	0	0	0	0
11480	0.67	249.0	52.5	11.5	908	11487	0.00	2.35	0.00	0.000	6	0.000	0.055	2704	2621	1901	0	0	0	0	0	0
11829	0.72	269.3	17.6	9.1	969	11854	0.00	2.33	17.50	0.632	4	0.000	0.052	2704	1181	1824	0	0	0	0	0	0
11896	0.82	299.2	11.6	8.6	980	11929	0.10	2.35	26.45	0.621	6	0.116	0.056	2747	2622	1702	0	0	0	0	0	0
11967	end climb: SURFACE_DEPTH_REACHED
state	11967	begin surface coast
11988	end surface coast: CONTROL_FINISHED_OK
state	11989	begin surface