Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 603 * 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 603 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 27 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -48067.812 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 -48067.812

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 27 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 26 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 603 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 120511,203238,6710.927,-5738.085,0,5111.2,0,-37.6 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 10.28 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120511,203238,6710.927,-5738.085,0,5111.2,0,-37.6 MHEAD_RNG_PITCHd_Wd 149.7,39034,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 753

Post-dive calculations and measurements:

FREEZE 8.42,-1.728,-1.822,3,138,0 ALTIM_BOTTOM_PING 652.8,56.0

FINISH1 8.4,1.026665,41 _24V_AH 21.6,79.787

FINISH2 6.6 _10V_AH 10.0,41.196

RAFOS_CLK 677 FG_AHR_24Vo 0.000

RAFOS 0,1305244870,0.033333,0.019444,58,55,54,54,53,51,142,162,119,175,212,197 FG_AHR_10Vo 0.000

RAFOS_FIX 6711.362793,-5733.888672,130511,000022,3,118,0.21 MEM 150600

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 46660,1179

TT8_MAMPS 0.026215 CAP_FILE_SIZE 131081,0

HUMID 45.86 CFSIZE 260165632,214335488

INTERNAL_PRESSURE 8.75034 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 SOUNDSPEED 1464.8

XPDR_PINGS 16 GPS 130511,004322,6711.363,-5733.889,0,3118.0,0,-37.6

ALTIM_TOP_PING 19.8,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 214 22.98 SBE_CT 835 24 433.14

Roll_motor 91 83 165.52 SBE_O2 895 19 367.51

VBD_pump_during_apogee 355 1356 10409.24 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 6 420 58.97 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2861 19 570.04

LPSleep 7553 2 174.49

TT8_Active 430 19 85.76

TT8_Sampling 1921 39 767.26

TT8_CF8 227 45 104.49

TT8_Kalman 0 0 0.00

Analog_circuits 1436 12 172.42

GPS_charging 0 0 0.00

Compass 1901 15 285.30

RAFOS 2520 1 37.80

Transponder 19 30 5.87

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 -5.95 0.000 2 0.000 0.000 2887 861 3110 0 0 0 0 0 0

28 -0.62 -146.0 12.0 -0.0 1 53 0.62 5.00 -11.75 0.000 4 0.111 0.071 2670 3896 3627 0 0 0 0 0 0

184 -0.56 -146.0 32.7 -14.9 28 191 0.00 2.22 0.00 0.000 6 0.000 0.049 2671 2481 3628 0 0 0 0 0 0

530 -0.47 -146.0 87.7 -16.3 89 537 0.15 2.25 0.00 0.000 4 0.215 0.063 2706 1072 3627 0 0 0 0 0 0

601 -0.51 -146.0 97.4 -11.1 101 608 0.00 2.30 0.00 0.000 6 0.000 0.062 2706 2494 3627 0 0 0 0 0 0

935 -0.51 -146.0 133.0 -10.1 134 939 0.00 2.25 0.00 0.000 4 0.000 0.064 2705 1083 3625 0 0 0 0 0 0

1002 -0.55 -146.0 139.6 -9.4 139 1009 0.00 2.30 0.00 0.000 6 0.000 0.063 2706 2499 3625 0 0 0 0 0 0

1329 -0.58 -146.0 171.5 -9.7 170 1330 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2499 3624 0 0 0 0 0 0

1648 -0.62 -146.0 201.2 -9.1 200 1655 0.12 0.00 0.00 0.000 6 0.122 0.000 2660 2499 3622 0 0 0 0 0 0

1975 -0.56 -146.0 241.3 -12.1 231 1977 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2499 3622 0 0 0 0 0 0

2294 -0.50 -146.0 277.3 -11.3 261 2295 0.15 0.00 0.00 0.000 6 0.200 0.000 2696 2499 3623 0 0 0 0 0 0

2611 -0.54 -146.0 305.3 -8.7 291 2612 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2499 3623 0 0 0 0 0 0

2932 -0.58 -146.0 332.8 -8.7 321 2938 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2500 3624 0 0 0 0 0 0

3260 -0.62 -146.0 361.7 -8.9 352 3266 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2500 3625 0 0 0 0 0 0

3588 -0.67 -146.0 389.3 -8.0 383 3593 0.15 2.30 0.00 0.000 4 0.114 0.073 2642 3904 3625 0 0 0 0 0 0

3599 -0.69 -146.0 390.5 -8.4 383 3606 0.00 2.20 0.00 0.000 6 0.000 0.043 2642 2487 3625 0 0 0 0 0 0

3925 -0.61 -146.0 431.2 -12.5 414 3926 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2487 3626 0 0 0 0 0 0

4247 -0.53 -146.0 470.9 -12.3 444 4251 0.17 2.22 0.00 0.000 4 0.198 0.059 2686 1083 3626 0 0 0 0 0 0

4258 -0.45 -146.0 472.8 -12.2 444 4265 0.12 2.25 0.00 0.000 6 0.207 0.057 2716 2500 3626 0 0 0 0 0 0

4584 -0.55 -146.0 495.3 -6.6 475 4585 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2500 3627 0 0 0 0 0 0

4904 -0.65 -146.0 517.4 -7.0 505 4911 0.20 0.00 0.00 0.000 6 0.096 0.000 2642 2500 3627 0 0 0 0 0 0

5231 -0.58 -146.0 556.8 -11.8 536 5233 0.12 0.00 0.00 0.000 6 0.201 0.000 2670 2500 3627 0 0 0 0 0 0

5550 -0.58 -146.0 587.9 -9.8 566 5551 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2500 3627 0 0 0 0 0 0

5860 -0.58 -146.0 617.8 -9.7 584 5861 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2500 3627 0 0 0 0 0 0

6166 -0.58 -146.0 646.9 -9.6 594 6167 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2500 3627 0 0 0 0 0 0

6472 -0.58 -146.0 676.4 -9.7 604 6473 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2500 3626 0 0 0 0 0 0

6653 end dive: BOTTOM_OBSTACLE_DETECTED

state 6653 begin apogee

6660 -0.12 0.0 694.0 9.6 610 6794 0.50 0.00 126.00 1.356 6 0.184 0.000 2815 2272 3030 0 0 0 0 0 0

6795 end apogee: CONTROL_FINISHED_OK

state 6795 begin climb

6798 0.62 146.0 698.5 0.0 614 6944 0.77 2.62 133.15 1.304 4 0.132 0.069 3060 880 2432 0 0 0 0 0 0

7029 0.59 146.0 681.5 10.1 621 7034 0.00 2.42 0.00 0.000 6 0.000 0.057 3060 2276 2428 0 0 0 0 0 0

7349 0.53 146.0 647.7 10.6 632 7353 0.00 2.33 0.00 0.000 4 0.000 0.073 3060 3696 2426 0 0 0 0 0 0

7460 0.45 146.0 633.6 12.7 635 7465 0.22 2.28 0.00 0.000 6 0.178 0.054 3011 2282 2425 0 0 0 0 0 0

7780 0.55 197.9 608.6 7.6 646 7827 0.00 0.00 45.53 1.261 6 0.000 0.000 3012 2282 2223 0 0 0 0 0 0

8128 0.68 229.4 580.1 8.5 671 8165 0.20 0.00 29.38 1.219 6 0.079 0.000 3097 2282 2093 0 0 0 0 0 0

8483 0.59 229.4 526.8 14.9 705 8488 0.15 2.33 0.00 0.000 4 0.193 0.073 3060 3688 2087 0 0 0 0 0 0

8546 0.59 229.4 518.0 13.4 710 8550 0.00 2.25 0.00 0.000 6 0.000 0.056 3067 2277 2086 0 0 0 0 0 0

8877 0.56 229.4 475.4 12.9 741 8881 0.00 2.28 0.00 0.000 4 0.000 0.070 3079 863 2085 0 0 0 0 0 0

8918 0.56 229.4 470.3 12.3 744 8923 0.12 2.28 0.00 0.000 6 0.180 0.059 3047 2278 2083 0 0 0 0 0 0

9243 0.60 229.4 434.8 11.0 774 9247 0.00 2.28 0.00 0.000 4 0.000 0.073 3047 3687 2083 0 0 0 0 0 0

9310 0.60 229.4 426.5 12.9 779 9316 0.00 2.25 0.00 0.000 6 0.000 0.055 3055 2265 2083 0 0 0 0 0 0

9635 0.60 229.4 389.4 11.3 810 9639 0.00 2.25 0.00 0.000 4 0.000 0.068 3067 858 2083 0 0 0 0 0 0

9679 0.64 229.4 384.5 10.9 813 9686 0.00 2.25 0.00 0.000 6 0.000 0.058 3067 2277 2081 0 0 0 0 0 0

10006 0.61 229.4 342.1 13.6 844 10010 0.00 2.28 0.00 0.000 4 0.000 0.072 3067 3694 2081 0 0 0 0 0 0

10084 0.57 229.4 330.0 14.9 850 10091 0.00 2.25 0.00 0.000 6 0.000 0.054 3077 2266 2081 0 0 0 0 0 0

10410 0.53 229.4 283.7 13.7 881 10415 0.15 2.25 0.00 0.000 4 0.186 0.066 3045 857 2080 0 0 0 0 0 0

10451 0.60 229.4 279.2 10.1 884 10455 0.00 2.25 0.00 0.000 6 0.000 0.056 3045 2281 2079 0 0 0 0 0 0

10776 0.64 229.4 245.9 10.0 914 10781 0.00 2.28 0.00 0.000 4 0.000 0.069 3045 3688 2079 0 0 0 0 0 0

10862 0.64 229.4 236.5 11.0 921 10867 0.00 2.22 0.00 0.000 6 0.000 0.052 3056 2269 2080 0 0 0 0 0 0

11188 0.64 229.4 201.1 10.9 951 11192 0.00 2.25 0.00 0.000 4 0.000 0.064 3066 856 2079 0 0 0 0 0 0

11240 0.69 229.4 195.6 10.8 955 11244 0.00 2.25 0.00 0.000 6 0.000 0.053 3066 2289 2079 0 0 0 0 0 0

11568 0.69 229.4 158.1 11.7 985 11572 0.00 2.22 0.00 0.000 4 0.000 0.068 3065 3686 2079 0 0 0 0 0 0

11665 0.69 229.4 145.4 12.9 993 11669 0.00 2.22 0.00 0.000 6 0.000 0.050 3076 2263 2080 0 0 0 0 0 0

11990 0.71 229.4 107.4 10.9 1023 11994 0.00 2.22 0.00 0.000 4 0.000 0.063 3084 856 2079 0 0 0 0 0 0

12031 0.74 229.4 103.0 10.8 1026 12038 0.00 2.25 0.00 0.000 6 0.000 0.053 3084 2278 2080 0 0 0 0 0 0

12375 0.80 254.3 65.8 8.8 1085 12406 0.10 2.33 21.25 0.908 4 0.115 0.067 3133 3683 1992 0 0 0 0 0 0

12497 0.72 254.3 49.7 14.3 1106 12504 0.17 2.22 0.00 0.000 6 0.197 0.051 3099 2275 1991 0 0 0 0 0 0

12844 0.75 254.3 12.3 10.0 1167 12851 0.00 2.28 0.00 0.000 4 0.000 0.065 3109 858 1990 0 0 0 0 0 0

12879 end climb: FINISH_DEPTH_REACHED

state 12879 begin subsurface finish

12888 0.05 40.9 8.4 -10.1 1173 12926 0.73 2.38 -30.25 0.000 4 0.155 0.083 2886 3689 2866 0 0 0 0 0 0

12927 end subsurface finish: CONTROL_FINISHED_OK

state 12927 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	603	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	27	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-48067.812	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	120511,203238,6710.927,-5738.085,0,5111.2,0,-37.6	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	10.28	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120511,203238,6710.927,-5738.085,0,5111.2,0,-37.6	MHEAD_RNG_PITCHd_Wd	149.7,39034,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	753

FREEZE	8.42,-1.728,-1.822,3,138,0	ALTIM_BOTTOM_PING	652.8,56.0
FINISH1	8.4,1.026665,41	_24V_AH	21.6,79.787
FINISH2	6.6	_10V_AH	10.0,41.196
RAFOS_CLK	677	FG_AHR_24Vo	0.000
RAFOS	0,1305244870,0.033333,0.019444,58,55,54,54,53,51,142,162,119,175,212,197	FG_AHR_10Vo	0.000
RAFOS_FIX	6711.362793,-5733.888672,130511,000022,3,118,0.21	MEM	150600
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	46660,1179
TT8_MAMPS	0.026215	CAP_FILE_SIZE	131081,0
HUMID	45.86	CFSIZE	260165632,214335488
INTERNAL_PRESSURE	8.75034	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	SOUNDSPEED	1464.8
XPDR_PINGS	16	GPS	130511,004322,6711.363,-5733.889,0,3118.0,0,-37.6
ALTIM_TOP_PING	19.8,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	214	22.98	SBE_CT	835	24	433.14
Roll_motor	91	83	165.52	SBE_O2	895	19	367.51
VBD_pump_during_apogee	355	1356	10409.24	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	6	420	58.97	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2861	19	570.04
LPSleep	7553	2	174.49
TT8_Active	430	19	85.76
TT8_Sampling	1921	39	767.26
TT8_CF8	227	45	104.49
TT8_Kalman	0	0	0.00
Analog_circuits	1436	12	172.42
GPS_charging	0	0	0.00
Compass	1901	15	285.30
RAFOS	2520	1	37.80
Transponder	19	30	5.87

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	-5.95	0.000	2	0.000	0.000	2887	861	3110	0	0	0	0	0	0
28	-0.62	-146.0	12.0	-0.0	1	53	0.62	5.00	-11.75	0.000	4	0.111	0.071	2670	3896	3627	0	0	0	0	0	0
184	-0.56	-146.0	32.7	-14.9	28	191	0.00	2.22	0.00	0.000	6	0.000	0.049	2671	2481	3628	0	0	0	0	0	0
530	-0.47	-146.0	87.7	-16.3	89	537	0.15	2.25	0.00	0.000	4	0.215	0.063	2706	1072	3627	0	0	0	0	0	0
601	-0.51	-146.0	97.4	-11.1	101	608	0.00	2.30	0.00	0.000	6	0.000	0.062	2706	2494	3627	0	0	0	0	0	0
935	-0.51	-146.0	133.0	-10.1	134	939	0.00	2.25	0.00	0.000	4	0.000	0.064	2705	1083	3625	0	0	0	0	0	0
1002	-0.55	-146.0	139.6	-9.4	139	1009	0.00	2.30	0.00	0.000	6	0.000	0.063	2706	2499	3625	0	0	0	0	0	0
1329	-0.58	-146.0	171.5	-9.7	170	1330	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2499	3624	0	0	0	0	0	0
1648	-0.62	-146.0	201.2	-9.1	200	1655	0.12	0.00	0.00	0.000	6	0.122	0.000	2660	2499	3622	0	0	0	0	0	0
1975	-0.56	-146.0	241.3	-12.1	231	1977	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2499	3622	0	0	0	0	0	0
2294	-0.50	-146.0	277.3	-11.3	261	2295	0.15	0.00	0.00	0.000	6	0.200	0.000	2696	2499	3623	0	0	0	0	0	0
2611	-0.54	-146.0	305.3	-8.7	291	2612	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2499	3623	0	0	0	0	0	0
2932	-0.58	-146.0	332.8	-8.7	321	2938	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2500	3624	0	0	0	0	0	0
3260	-0.62	-146.0	361.7	-8.9	352	3266	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2500	3625	0	0	0	0	0	0
3588	-0.67	-146.0	389.3	-8.0	383	3593	0.15	2.30	0.00	0.000	4	0.114	0.073	2642	3904	3625	0	0	0	0	0	0
3599	-0.69	-146.0	390.5	-8.4	383	3606	0.00	2.20	0.00	0.000	6	0.000	0.043	2642	2487	3625	0	0	0	0	0	0
3925	-0.61	-146.0	431.2	-12.5	414	3926	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2487	3626	0	0	0	0	0	0
4247	-0.53	-146.0	470.9	-12.3	444	4251	0.17	2.22	0.00	0.000	4	0.198	0.059	2686	1083	3626	0	0	0	0	0	0
4258	-0.45	-146.0	472.8	-12.2	444	4265	0.12	2.25	0.00	0.000	6	0.207	0.057	2716	2500	3626	0	0	0	0	0	0
4584	-0.55	-146.0	495.3	-6.6	475	4585	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2500	3627	0	0	0	0	0	0
4904	-0.65	-146.0	517.4	-7.0	505	4911	0.20	0.00	0.00	0.000	6	0.096	0.000	2642	2500	3627	0	0	0	0	0	0
5231	-0.58	-146.0	556.8	-11.8	536	5233	0.12	0.00	0.00	0.000	6	0.201	0.000	2670	2500	3627	0	0	0	0	0	0
5550	-0.58	-146.0	587.9	-9.8	566	5551	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2500	3627	0	0	0	0	0	0
5860	-0.58	-146.0	617.8	-9.7	584	5861	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2500	3627	0	0	0	0	0	0
6166	-0.58	-146.0	646.9	-9.6	594	6167	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2500	3627	0	0	0	0	0	0
6472	-0.58	-146.0	676.4	-9.7	604	6473	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2500	3626	0	0	0	0	0	0
6653	end dive: BOTTOM_OBSTACLE_DETECTED
state	6653	begin apogee
6660	-0.12	0.0	694.0	9.6	610	6794	0.50	0.00	126.00	1.356	6	0.184	0.000	2815	2272	3030	0	0	0	0	0	0
6795	end apogee: CONTROL_FINISHED_OK
state	6795	begin climb
6798	0.62	146.0	698.5	0.0	614	6944	0.77	2.62	133.15	1.304	4	0.132	0.069	3060	880	2432	0	0	0	0	0	0
7029	0.59	146.0	681.5	10.1	621	7034	0.00	2.42	0.00	0.000	6	0.000	0.057	3060	2276	2428	0	0	0	0	0	0
7349	0.53	146.0	647.7	10.6	632	7353	0.00	2.33	0.00	0.000	4	0.000	0.073	3060	3696	2426	0	0	0	0	0	0
7460	0.45	146.0	633.6	12.7	635	7465	0.22	2.28	0.00	0.000	6	0.178	0.054	3011	2282	2425	0	0	0	0	0	0
7780	0.55	197.9	608.6	7.6	646	7827	0.00	0.00	45.53	1.261	6	0.000	0.000	3012	2282	2223	0	0	0	0	0	0
8128	0.68	229.4	580.1	8.5	671	8165	0.20	0.00	29.38	1.219	6	0.079	0.000	3097	2282	2093	0	0	0	0	0	0
8483	0.59	229.4	526.8	14.9	705	8488	0.15	2.33	0.00	0.000	4	0.193	0.073	3060	3688	2087	0	0	0	0	0	0
8546	0.59	229.4	518.0	13.4	710	8550	0.00	2.25	0.00	0.000	6	0.000	0.056	3067	2277	2086	0	0	0	0	0	0
8877	0.56	229.4	475.4	12.9	741	8881	0.00	2.28	0.00	0.000	4	0.000	0.070	3079	863	2085	0	0	0	0	0	0
8918	0.56	229.4	470.3	12.3	744	8923	0.12	2.28	0.00	0.000	6	0.180	0.059	3047	2278	2083	0	0	0	0	0	0
9243	0.60	229.4	434.8	11.0	774	9247	0.00	2.28	0.00	0.000	4	0.000	0.073	3047	3687	2083	0	0	0	0	0	0
9310	0.60	229.4	426.5	12.9	779	9316	0.00	2.25	0.00	0.000	6	0.000	0.055	3055	2265	2083	0	0	0	0	0	0
9635	0.60	229.4	389.4	11.3	810	9639	0.00	2.25	0.00	0.000	4	0.000	0.068	3067	858	2083	0	0	0	0	0	0
9679	0.64	229.4	384.5	10.9	813	9686	0.00	2.25	0.00	0.000	6	0.000	0.058	3067	2277	2081	0	0	0	0	0	0
10006	0.61	229.4	342.1	13.6	844	10010	0.00	2.28	0.00	0.000	4	0.000	0.072	3067	3694	2081	0	0	0	0	0	0
10084	0.57	229.4	330.0	14.9	850	10091	0.00	2.25	0.00	0.000	6	0.000	0.054	3077	2266	2081	0	0	0	0	0	0
10410	0.53	229.4	283.7	13.7	881	10415	0.15	2.25	0.00	0.000	4	0.186	0.066	3045	857	2080	0	0	0	0	0	0
10451	0.60	229.4	279.2	10.1	884	10455	0.00	2.25	0.00	0.000	6	0.000	0.056	3045	2281	2079	0	0	0	0	0	0
10776	0.64	229.4	245.9	10.0	914	10781	0.00	2.28	0.00	0.000	4	0.000	0.069	3045	3688	2079	0	0	0	0	0	0
10862	0.64	229.4	236.5	11.0	921	10867	0.00	2.22	0.00	0.000	6	0.000	0.052	3056	2269	2080	0	0	0	0	0	0
11188	0.64	229.4	201.1	10.9	951	11192	0.00	2.25	0.00	0.000	4	0.000	0.064	3066	856	2079	0	0	0	0	0	0
11240	0.69	229.4	195.6	10.8	955	11244	0.00	2.25	0.00	0.000	6	0.000	0.053	3066	2289	2079	0	0	0	0	0	0
11568	0.69	229.4	158.1	11.7	985	11572	0.00	2.22	0.00	0.000	4	0.000	0.068	3065	3686	2079	0	0	0	0	0	0
11665	0.69	229.4	145.4	12.9	993	11669	0.00	2.22	0.00	0.000	6	0.000	0.050	3076	2263	2080	0	0	0	0	0	0
11990	0.71	229.4	107.4	10.9	1023	11994	0.00	2.22	0.00	0.000	4	0.000	0.063	3084	856	2079	0	0	0	0	0	0
12031	0.74	229.4	103.0	10.8	1026	12038	0.00	2.25	0.00	0.000	6	0.000	0.053	3084	2278	2080	0	0	0	0	0	0
12375	0.80	254.3	65.8	8.8	1085	12406	0.10	2.33	21.25	0.908	4	0.115	0.067	3133	3683	1992	0	0	0	0	0	0
12497	0.72	254.3	49.7	14.3	1106	12504	0.17	2.22	0.00	0.000	6	0.197	0.051	3099	2275	1991	0	0	0	0	0	0
12844	0.75	254.3	12.3	10.0	1167	12851	0.00	2.28	0.00	0.000	4	0.000	0.065	3109	858	1990	0	0	0	0	0	0
12879	end climb: FINISH_DEPTH_REACHED
state	12879	begin subsurface finish
12888	0.05	40.9	8.4	-10.1	1173	12926	0.73	2.38	-30.25	0.000	4	0.155	0.083	2886	3689	2866	0	0	0	0	0	0
12927	end subsurface finish: CONTROL_FINISHED_OK
state	12927	begin surface