Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 591 * 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 591 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 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 33 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 -9861.1309 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 -9861.1309

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 31 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 33 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 591 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 271210,002453,6647.448,-5941.745,0,6089.2,0,-38.0 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 11.66 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 271210,002453,6647.448,-5941.745,0,6089.2,0,-38.0 MHEAD_RNG_PITCHd_Wd 296.8,32999,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 877

Post-dive calculations and measurements:

FREEZE 7.72,-1.660,-1.741,2,2,0 ALTIM_BOTTOM_PING 602.2,11.0

FINISH1 7.7,1.025518,97 _24V_AH 21.5,70.322

FINISH2 6.2 _10V_AH 9.8,49.745

RAFOS_CLK 690 FG_AHR_24Vo 0.000

RAFOS 0,1293422467,4.033333,4.018611,95,50,46,44,43,42,692,877,1486,1586,901,1052 FG_AHR_10Vo 0.000

RAFOS_FIX 6646.907227,-5943.550293,271210,040453,6,90,0.11 MEM 151756

IRIDIUM_FIX 6631.12,-5905.01,251210,111108 DATA_FILE_SIZE 33417,977

TT8_MAMPS 0.028462 CAP_FILE_SIZE 118738,0

HUMID 48.93 CFSIZE 260165632,208867328

INTERNAL_PRESSURE 8.59255 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.00 SOUNDSPEED 1449.5

XPDR_PINGS 0 GPS 271210,042453,6646.907,-5943.550,0,6090.3,0,-38.0

ALTIM_TOP_PING 20.0,21.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 191 17.89 SBE_CT 682 24 352.26

Roll_motor 91 110 216.06 SBE_O2 0 0 0.00

VBD_pump_during_apogee 393 983 8314.65 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 20.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2444 19 477.30

LPSleep 7128 2 161.39

TT8_Active 426 19 83.32

TT8_Sampling 1692 39 662.07

TT8_CF8 199 45 89.89

TT8_Kalman 0 0 0.00

Analog_circuits 1346 12 158.40

GPS_charging 0 0 0.00

Compass 1674 15 246.11

RAFOS 2520 3 74.09

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.57 -146.0 0.0 0.0 0 24 0.00 0.00 -5.75 0.000 2 0.000 0.000 2484 1189 2823 0 0 0 0 0 0

27 -0.57 -146.0 14.6 -0.0 1 52 0.50 4.68 -13.70 0.000 4 0.065 0.070 2273 3915 3523 0 0 0 0 0 0

245 -0.53 -146.0 45.9 -13.5 39 252 0.12 1.88 0.00 0.000 6 0.171 0.048 2306 2768 3524 0 0 0 0 0 0

592 -0.57 -146.0 80.3 -10.2 100 599 0.00 2.00 0.00 0.000 4 0.000 0.076 2301 3920 3524 0 0 0 0 0 0

646 -0.64 -146.0 85.9 -10.5 109 653 0.00 1.85 0.00 0.000 6 0.000 0.050 2301 2777 3524 0 0 0 0 0 0

989 -0.69 -146.0 118.3 -9.8 154 996 0.12 0.00 0.00 0.000 6 0.103 0.000 2246 2777 3523 0 0 0 0 0 0

1315 -0.64 -146.0 159.9 -13.5 185 1316 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2777 3523 0 0 0 0 0 0

1636 -0.62 -146.0 197.5 -11.2 215 1639 0.00 1.98 0.00 0.000 4 0.000 0.075 2239 3915 3523 0 0 0 0 0 0

1671 -0.58 -146.0 201.9 -12.2 218 1675 0.17 1.85 0.00 0.000 6 0.158 0.050 2288 2787 3522 0 0 0 0 0 0

2002 -0.65 -146.0 230.2 -8.2 249 2003 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 2787 3523 0 0 0 0 0 0

2324 -0.72 -146.0 256.3 -8.0 279 2329 0.15 2.30 0.00 0.000 4 0.093 0.052 2226 1367 3522 0 0 0 0 0 0

2368 -0.70 -146.0 261.8 -11.8 282 2375 0.00 2.38 0.00 0.000 6 0.000 0.064 2223 2787 3522 0 0 0 0 0 0

2695 -0.65 -146.0 299.8 -12.3 313 2700 0.15 2.00 0.00 0.000 4 0.182 0.076 2257 3931 3522 0 0 0 0 0 0

2730 -0.65 -146.0 303.7 -10.1 316 2733 0.00 1.85 0.00 0.000 6 0.000 0.050 2257 2791 3522 0 0 0 0 0 0

3062 -0.67 -146.0 333.7 -9.0 347 3063 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2791 3522 0 0 0 0 0 0

3381 -0.70 -146.0 362.5 -8.9 377 3382 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2791 3522 0 0 0 0 0 0

3702 -0.73 -146.0 390.9 -8.2 407 3708 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2791 3522 0 0 0 0 0 0

4029 -0.76 -146.0 419.0 -8.4 425 4031 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2791 3522 0 0 0 0 0 0

4336 -0.80 -146.0 445.1 -8.3 435 4341 0.12 2.33 0.00 0.000 4 0.107 0.052 2199 1368 3523 0 0 0 0 0 0

4369 -0.74 -146.0 448.8 -11.7 436 4374 0.17 2.40 0.00 0.000 6 0.167 0.063 2236 2803 3523 0 0 0 0 0 0

4699 -0.74 -146.0 479.8 -9.3 447 4700 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 2803 3524 0 0 0 0 0 0

5006 -0.74 -146.0 508.3 -9.3 457 5007 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 2803 3523 0 0 0 0 0 0

5311 -0.74 -146.0 536.5 -9.2 467 5313 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 2803 3523 0 0 0 0 0 0

5618 -0.74 -146.0 564.3 -9.3 477 5622 0.00 2.33 0.00 0.000 4 0.000 0.051 2237 1363 3524 0 0 0 0 0 0

5646 -0.74 -146.0 567.2 -9.7 477 5653 0.00 2.42 0.00 0.000 6 0.000 0.063 2235 2802 3524 0 0 0 0 0 0

5959 -0.74 -146.0 596.5 -9.3 488 5960 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2802 3524 0 0 0 0 0 0

6020 end dive: BOTTOM_OBSTACLE_DETECTED

state 6021 begin apogee

6027 -0.14 0.0 602.2 9.2 490 6158 0.57 0.00 124.43 0.984 4 0.135 0.000 2421 2602 2923 0 0 0 0 0 0

6158 end apogee: CONTROL_FINISHED_OK

state 6159 begin climb

6161 0.57 146.0 606.3 0.0 494 6300 0.70 2.45 130.65 0.957 4 0.073 0.050 2661 1182 2330 0 0 0 0 0 0

6475 0.57 146.0 580.7 10.7 504 6479 0.00 2.50 0.00 0.000 6 0.000 0.056 2661 2610 2322 0 0 0 0 0 0

6811 0.53 146.0 542.9 11.1 515 6816 0.00 2.30 0.00 0.000 4 0.000 0.053 2662 1185 2318 0 0 0 0 0 0

7000 0.53 146.0 522.9 10.8 520 7004 0.00 2.35 0.00 0.000 6 0.000 0.057 2662 2618 2318 0 0 0 0 0 0

7323 0.49 146.0 488.0 11.2 531 7327 0.00 2.22 0.00 0.000 4 0.000 0.069 2662 3930 2317 0 0 0 0 0 0

7368 0.39 146.0 481.7 13.9 532 7373 0.22 2.12 0.00 0.000 6 0.190 0.046 2604 2606 2315 0 0 0 0 0 0

7687 0.50 198.5 456.5 7.6 543 7739 0.00 2.38 44.65 0.883 4 0.000 0.070 2604 3930 2112 0 0 0 0 0 0

7756 0.59 222.8 450.8 8.9 545 7785 0.17 2.17 22.65 0.853 6 0.088 0.044 2675 2613 2014 0 0 0 0 0 0

8115 0.59 222.8 406.1 13.0 557 8119 0.00 2.30 0.00 0.000 4 0.000 0.055 2676 1194 2005 0 0 0 0 0 0

8181 0.62 222.8 397.7 12.3 559 8188 0.00 2.35 0.00 0.000 6 0.000 0.057 2675 2619 2004 0 0 0 0 0 0

8507 0.62 222.8 356.3 12.7 590 8511 0.00 2.17 0.00 0.000 4 0.000 0.068 2676 3926 2002 0 0 0 0 0 0

8536 0.59 222.8 352.4 13.5 592 8540 0.00 2.12 0.00 0.000 6 0.000 0.046 2677 2616 2001 0 0 0 0 0 0

8861 0.59 222.8 312.3 11.9 622 8862 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2615 2001 0 0 0 0 0 0

9180 0.59 222.8 272.9 12.7 652 9184 0.00 2.22 0.00 0.000 4 0.000 0.070 2677 3933 2001 0 0 0 0 0 0

9236 0.55 222.8 264.8 14.5 656 9242 0.00 2.17 0.00 0.000 6 0.000 0.047 2677 2593 2000 0 0 0 0 0 0

9561 0.55 222.8 226.4 11.3 687 9565 0.00 2.22 0.00 0.000 4 0.000 0.054 2677 1192 2000 0 0 0 0 0 0

9624 0.60 222.8 219.7 10.7 692 9628 0.00 2.30 0.00 0.000 6 0.000 0.057 2677 2600 2000 0 0 0 0 0 0

9955 0.63 222.8 182.8 10.6 723 9959 0.00 2.25 0.00 0.000 4 0.000 0.070 2677 3930 1999 0 0 0 0 0 0

10024 0.63 222.8 174.9 11.9 729 10028 0.00 2.15 0.00 0.000 6 0.000 0.045 2679 2602 1999 0 0 0 0 0 0

10356 0.66 228.6 142.8 9.7 760 10360 0.00 2.25 0.00 0.000 4 0.000 0.070 2679 3928 2000 0 0 0 0 0 0

10408 0.66 228.6 137.0 12.3 764 10412 0.00 2.12 0.00 0.000 6 0.000 0.047 2680 2614 1999 0 0 0 0 0 0

10739 0.70 228.6 103.8 10.3 795 10743 0.00 2.30 0.00 0.000 4 0.000 0.054 2679 1189 1999 0 0 0 0 0 0

10791 0.77 228.6 98.6 10.3 800 10800 0.12 2.35 0.00 0.000 6 0.109 0.057 2730 2617 1999 0 0 0 0 0 0

11141 0.74 228.6 59.5 10.1 861 11148 0.00 2.22 0.00 0.000 4 0.000 0.070 2730 3925 1999 0 0 0 0 0 0

11234 0.65 228.6 48.4 11.8 877 11241 0.17 2.12 0.00 0.000 6 0.191 0.047 2688 2618 1998 0 0 0 0 0 0

11581 0.77 308.5 27.6 6.3 938 11659 0.10 2.35 70.72 0.649 4 0.119 0.072 2728 3924 1664 0 0 0 0 0 0

11764 0.77 308.5 9.8 12.1 969 11771 0.00 2.10 0.00 0.000 6 0.000 0.047 2732 2653 1656 0 0 0 0 0 0

11776 end climb: FINISH_DEPTH_REACHED

state 11776 begin subsurface finish

11784 0.06 97.3 7.7 -13.3 971 11820 0.75 0.00 -29.12 0.000 6 0.146 0.000 2500 2601 2527 0 0 0 0 0 0

11820 end subsurface finish: CONTROL_FINISHED_OK

state 11820 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	591	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	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	33	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	-9861.1309	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	271210,002453,6647.448,-5941.745,0,6089.2,0,-38.0	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	11.66	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	271210,002453,6647.448,-5941.745,0,6089.2,0,-38.0	MHEAD_RNG_PITCHd_Wd	296.8,32999,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	877

FREEZE	7.72,-1.660,-1.741,2,2,0	ALTIM_BOTTOM_PING	602.2,11.0
FINISH1	7.7,1.025518,97	_24V_AH	21.5,70.322
FINISH2	6.2	_10V_AH	9.8,49.745
RAFOS_CLK	690	FG_AHR_24Vo	0.000
RAFOS	0,1293422467,4.033333,4.018611,95,50,46,44,43,42,692,877,1486,1586,901,1052	FG_AHR_10Vo	0.000
RAFOS_FIX	6646.907227,-5943.550293,271210,040453,6,90,0.11	MEM	151756
IRIDIUM_FIX	6631.12,-5905.01,251210,111108	DATA_FILE_SIZE	33417,977
TT8_MAMPS	0.028462	CAP_FILE_SIZE	118738,0
HUMID	48.93	CFSIZE	260165632,208867328
INTERNAL_PRESSURE	8.59255	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.00	SOUNDSPEED	1449.5
XPDR_PINGS	0	GPS	271210,042453,6646.907,-5943.550,0,6090.3,0,-38.0
ALTIM_TOP_PING	20.0,21.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	191	17.89	SBE_CT	682	24	352.26
Roll_motor	91	110	216.06	SBE_O2	0	0	0.00
VBD_pump_during_apogee	393	983	8314.65	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	20.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2444	19	477.30
LPSleep	7128	2	161.39
TT8_Active	426	19	83.32
TT8_Sampling	1692	39	662.07
TT8_CF8	199	45	89.89
TT8_Kalman	0	0	0.00
Analog_circuits	1346	12	158.40
GPS_charging	0	0	0.00
Compass	1674	15	246.11
RAFOS	2520	3	74.09
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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.57	-146.0	0.0	0.0	0	24	0.00	0.00	-5.75	0.000	2	0.000	0.000	2484	1189	2823	0	0	0	0	0	0
27	-0.57	-146.0	14.6	-0.0	1	52	0.50	4.68	-13.70	0.000	4	0.065	0.070	2273	3915	3523	0	0	0	0	0	0
245	-0.53	-146.0	45.9	-13.5	39	252	0.12	1.88	0.00	0.000	6	0.171	0.048	2306	2768	3524	0	0	0	0	0	0
592	-0.57	-146.0	80.3	-10.2	100	599	0.00	2.00	0.00	0.000	4	0.000	0.076	2301	3920	3524	0	0	0	0	0	0
646	-0.64	-146.0	85.9	-10.5	109	653	0.00	1.85	0.00	0.000	6	0.000	0.050	2301	2777	3524	0	0	0	0	0	0
989	-0.69	-146.0	118.3	-9.8	154	996	0.12	0.00	0.00	0.000	6	0.103	0.000	2246	2777	3523	0	0	0	0	0	0
1315	-0.64	-146.0	159.9	-13.5	185	1316	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2777	3523	0	0	0	0	0	0
1636	-0.62	-146.0	197.5	-11.2	215	1639	0.00	1.98	0.00	0.000	4	0.000	0.075	2239	3915	3523	0	0	0	0	0	0
1671	-0.58	-146.0	201.9	-12.2	218	1675	0.17	1.85	0.00	0.000	6	0.158	0.050	2288	2787	3522	0	0	0	0	0	0
2002	-0.65	-146.0	230.2	-8.2	249	2003	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	2787	3523	0	0	0	0	0	0
2324	-0.72	-146.0	256.3	-8.0	279	2329	0.15	2.30	0.00	0.000	4	0.093	0.052	2226	1367	3522	0	0	0	0	0	0
2368	-0.70	-146.0	261.8	-11.8	282	2375	0.00	2.38	0.00	0.000	6	0.000	0.064	2223	2787	3522	0	0	0	0	0	0
2695	-0.65	-146.0	299.8	-12.3	313	2700	0.15	2.00	0.00	0.000	4	0.182	0.076	2257	3931	3522	0	0	0	0	0	0
2730	-0.65	-146.0	303.7	-10.1	316	2733	0.00	1.85	0.00	0.000	6	0.000	0.050	2257	2791	3522	0	0	0	0	0	0
3062	-0.67	-146.0	333.7	-9.0	347	3063	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2791	3522	0	0	0	0	0	0
3381	-0.70	-146.0	362.5	-8.9	377	3382	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2791	3522	0	0	0	0	0	0
3702	-0.73	-146.0	390.9	-8.2	407	3708	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2791	3522	0	0	0	0	0	0
4029	-0.76	-146.0	419.0	-8.4	425	4031	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2791	3522	0	0	0	0	0	0
4336	-0.80	-146.0	445.1	-8.3	435	4341	0.12	2.33	0.00	0.000	4	0.107	0.052	2199	1368	3523	0	0	0	0	0	0
4369	-0.74	-146.0	448.8	-11.7	436	4374	0.17	2.40	0.00	0.000	6	0.167	0.063	2236	2803	3523	0	0	0	0	0	0
4699	-0.74	-146.0	479.8	-9.3	447	4700	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	2803	3524	0	0	0	0	0	0
5006	-0.74	-146.0	508.3	-9.3	457	5007	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	2803	3523	0	0	0	0	0	0
5311	-0.74	-146.0	536.5	-9.2	467	5313	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	2803	3523	0	0	0	0	0	0
5618	-0.74	-146.0	564.3	-9.3	477	5622	0.00	2.33	0.00	0.000	4	0.000	0.051	2237	1363	3524	0	0	0	0	0	0
5646	-0.74	-146.0	567.2	-9.7	477	5653	0.00	2.42	0.00	0.000	6	0.000	0.063	2235	2802	3524	0	0	0	0	0	0
5959	-0.74	-146.0	596.5	-9.3	488	5960	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2802	3524	0	0	0	0	0	0
6020	end dive: BOTTOM_OBSTACLE_DETECTED
state	6021	begin apogee
6027	-0.14	0.0	602.2	9.2	490	6158	0.57	0.00	124.43	0.984	4	0.135	0.000	2421	2602	2923	0	0	0	0	0	0
6158	end apogee: CONTROL_FINISHED_OK
state	6159	begin climb
6161	0.57	146.0	606.3	0.0	494	6300	0.70	2.45	130.65	0.957	4	0.073	0.050	2661	1182	2330	0	0	0	0	0	0
6475	0.57	146.0	580.7	10.7	504	6479	0.00	2.50	0.00	0.000	6	0.000	0.056	2661	2610	2322	0	0	0	0	0	0
6811	0.53	146.0	542.9	11.1	515	6816	0.00	2.30	0.00	0.000	4	0.000	0.053	2662	1185	2318	0	0	0	0	0	0
7000	0.53	146.0	522.9	10.8	520	7004	0.00	2.35	0.00	0.000	6	0.000	0.057	2662	2618	2318	0	0	0	0	0	0
7323	0.49	146.0	488.0	11.2	531	7327	0.00	2.22	0.00	0.000	4	0.000	0.069	2662	3930	2317	0	0	0	0	0	0
7368	0.39	146.0	481.7	13.9	532	7373	0.22	2.12	0.00	0.000	6	0.190	0.046	2604	2606	2315	0	0	0	0	0	0
7687	0.50	198.5	456.5	7.6	543	7739	0.00	2.38	44.65	0.883	4	0.000	0.070	2604	3930	2112	0	0	0	0	0	0
7756	0.59	222.8	450.8	8.9	545	7785	0.17	2.17	22.65	0.853	6	0.088	0.044	2675	2613	2014	0	0	0	0	0	0
8115	0.59	222.8	406.1	13.0	557	8119	0.00	2.30	0.00	0.000	4	0.000	0.055	2676	1194	2005	0	0	0	0	0	0
8181	0.62	222.8	397.7	12.3	559	8188	0.00	2.35	0.00	0.000	6	0.000	0.057	2675	2619	2004	0	0	0	0	0	0
8507	0.62	222.8	356.3	12.7	590	8511	0.00	2.17	0.00	0.000	4	0.000	0.068	2676	3926	2002	0	0	0	0	0	0
8536	0.59	222.8	352.4	13.5	592	8540	0.00	2.12	0.00	0.000	6	0.000	0.046	2677	2616	2001	0	0	0	0	0	0
8861	0.59	222.8	312.3	11.9	622	8862	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2615	2001	0	0	0	0	0	0
9180	0.59	222.8	272.9	12.7	652	9184	0.00	2.22	0.00	0.000	4	0.000	0.070	2677	3933	2001	0	0	0	0	0	0
9236	0.55	222.8	264.8	14.5	656	9242	0.00	2.17	0.00	0.000	6	0.000	0.047	2677	2593	2000	0	0	0	0	0	0
9561	0.55	222.8	226.4	11.3	687	9565	0.00	2.22	0.00	0.000	4	0.000	0.054	2677	1192	2000	0	0	0	0	0	0
9624	0.60	222.8	219.7	10.7	692	9628	0.00	2.30	0.00	0.000	6	0.000	0.057	2677	2600	2000	0	0	0	0	0	0
9955	0.63	222.8	182.8	10.6	723	9959	0.00	2.25	0.00	0.000	4	0.000	0.070	2677	3930	1999	0	0	0	0	0	0
10024	0.63	222.8	174.9	11.9	729	10028	0.00	2.15	0.00	0.000	6	0.000	0.045	2679	2602	1999	0	0	0	0	0	0
10356	0.66	228.6	142.8	9.7	760	10360	0.00	2.25	0.00	0.000	4	0.000	0.070	2679	3928	2000	0	0	0	0	0	0
10408	0.66	228.6	137.0	12.3	764	10412	0.00	2.12	0.00	0.000	6	0.000	0.047	2680	2614	1999	0	0	0	0	0	0
10739	0.70	228.6	103.8	10.3	795	10743	0.00	2.30	0.00	0.000	4	0.000	0.054	2679	1189	1999	0	0	0	0	0	0
10791	0.77	228.6	98.6	10.3	800	10800	0.12	2.35	0.00	0.000	6	0.109	0.057	2730	2617	1999	0	0	0	0	0	0
11141	0.74	228.6	59.5	10.1	861	11148	0.00	2.22	0.00	0.000	4	0.000	0.070	2730	3925	1999	0	0	0	0	0	0
11234	0.65	228.6	48.4	11.8	877	11241	0.17	2.12	0.00	0.000	6	0.191	0.047	2688	2618	1998	0	0	0	0	0	0
11581	0.77	308.5	27.6	6.3	938	11659	0.10	2.35	70.72	0.649	4	0.119	0.072	2728	3924	1664	0	0	0	0	0	0
11764	0.77	308.5	9.8	12.1	969	11771	0.00	2.10	0.00	0.000	6	0.000	0.047	2732	2653	1656	0	0	0	0	0	0
11776	end climb: FINISH_DEPTH_REACHED
state	11776	begin subsurface finish
11784	0.06	97.3	7.7	-13.3	971	11820	0.75	0.00	-29.12	0.000	6	0.146	0.000	2500	2601	2527	0	0	0	0	0	0
11820	end subsurface finish: CONTROL_FINISHED_OK
state	11820	begin surface