Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 61 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 ROLL_MIN 294 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 14 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_TURN_MARGIN 5

DIVE 61 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 300 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 30 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 41 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 300 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 588 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3951 DEVICE1 2

T_DIVE 330 CALL_TRIES 3 C_VBD 3058 DEVICE2 20

T_MISSION 440 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 540 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -179891.89 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 900 STROBE 0 CF8_MAXERRORS 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3112 FG_AHR_24V 0 SEABIRD_T_G 0.0043387706

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063929392

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -21.817678 SEABIRD_T_I 2.2459495e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_J 2.0328812e-06

NAV_MODE 0 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -10.121161

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1529624

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.002153415

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002365096

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 300

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001161151 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -21.817678 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -179891.89

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 64 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 440

CF8_MAXERRORS 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 108 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_PITCH 3112 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 2

C_VBD 3058 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 294 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 30 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 41 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.121161 VBD_MIN 588

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1529624 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I -0.002153415 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002365096 VBD_TIMEOUT 540

DIVE 61 NAV_MODE 0 SEABIRD_T_G 0.0043387706 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 8 SEABIRD_T_H 0.00063929392 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.2459495e-05 XPDR_VALID 4

D_CALL 3 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 105231,6701.232,-5649.686,39,1.4,39,-37.5 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 105926,6701.200,-5649.594,14,1.4,14,-37.5 MHEAD_RNG_PITCHd_Wd 56.6,3528,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 561

Post-dive calculations and measurements:

FREEZE 6.42,3.963,-1.833,0,1,0 ALTIM_BOTTOM_PING 500.6,46.8

FINISH1 6.4,1.026485,25 _24V_AH 23.7,10.580

FINISH2 4.5 _10V_AH 10.4,5.667

RAFOS_CLK 440 FG_AHR_24Vo 0.000

RAFOS 0,1276776062,12.033333,12.017222,47,46,43,43,41,41,1153,1154,1330,1942,138,1597 FG_AHR_10Vo 0.000

RAFOS_FIX 6704.023438,-5650.256348,170610,121244,3,70,0.84 MEM 135652

IRIDIUM_FIX 6631.12,-5701.34,110999,060645 DATA_FILE_SIZE 50434,1278

TT8_MAMPS 0.026845 CAP_FILE_SIZE 135350,0

HUMID 40.58 CFSIZE 260165632,244396032

INTERNAL_PRESSURE 10.3617 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 SOUNDSPEED 1467.2

XPDR_PINGS 0 GPS 170610,124344,6704.023,-5650.256,0,3070.3,0,-37.5

ALTIM_TOP_PING 19.4,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 242 71.66 SBE_CT 934 24 531.82

Roll_motor 105 75 190.40 SBE_O2 878 19 395.41

VBD_pump_during_apogee 323 1152 8838.05 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 32 103 79.97 nil 0 0 0.00

Iridium_during_connect 41 160 156.46 nil 0 0 0.00

Iridium_during_xfer 188 223 996.13

Transponder_ping 1 420 17.42

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.45

TT8 2093 19 433.67

LPSleep 7104 2 170.68

TT8_Active 435 19 90.28

TT8_Sampling 2098 39 871.40

TT8_CF8 579 45 276.80

TT8_Kalman 0 0 0.00

Analog_circuits 1523 12 190.16

GPS_charging 0 0 0.00

Compass 2067 8 171.99

RAFOS 2520 3 78.62

Transponder 14 30 4.44

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 -0.78 -146.1 0.0 0.0 0 67 0.00 0.00 -49.50 0.000 2 0.000 0.000 339 2274 2948 0 0 0 0 0 0

71 -0.78 -146.1 3.1 -2.5 10 118 10.20 2.33 -31.00 0.000 4 0.242 0.071 2935 835 3655 0 0 0 0 0 0

181 -0.78 -146.1 11.2 -11.5 30 186 0.00 2.33 0.00 0.000 6 0.000 0.065 2928 2242 3659 0 0 0 0 0 0

526 -0.78 -146.1 48.4 -10.5 91 531 0.00 2.17 0.00 0.000 4 0.000 0.074 2917 3605 3661 0 0 0 0 0 0

566 -0.78 -146.1 53.0 -11.0 98 572 0.10 2.15 0.00 0.000 6 0.172 0.051 2942 2241 3661 0 0 0 0 0 0

912 -0.78 -146.1 84.1 -8.8 159 918 0.00 2.22 0.00 0.000 4 0.000 0.072 2935 3606 3661 0 0 0 0 0 0

1032 -0.78 -146.1 95.3 -9.4 180 1037 0.00 2.12 0.00 0.000 6 0.000 0.051 2934 2248 3662 0 0 0 0 0 0

1365 -0.78 -146.1 124.5 -8.6 216 1369 0.00 2.20 0.00 0.000 4 0.000 0.062 2935 831 3661 0 0 0 0 0 0

1514 -0.78 -146.1 138.5 -9.1 228 1520 0.00 2.30 0.00 0.000 6 0.000 0.064 2925 2257 3661 0 0 0 0 0 0

1839 -0.78 -146.1 170.5 -9.5 259 1843 0.00 2.12 0.00 0.000 4 0.000 0.075 2915 3604 3661 0 0 0 0 0 0

1934 -0.78 -146.1 180.7 -11.0 267 1940 0.10 2.12 0.00 0.000 6 0.169 0.052 2940 2238 3660 0 0 0 0 0 0

2260 -0.78 -146.1 207.3 -7.8 298 2263 0.00 2.17 0.00 0.000 4 0.000 0.063 2940 846 3661 0 0 0 0 0 0

2433 -0.78 -146.1 220.8 -7.9 313 2437 0.00 2.28 0.00 0.000 6 0.000 0.065 2933 2258 3661 0 0 0 0 0 0

2758 -0.78 -146.1 245.4 -7.2 343 2762 0.00 2.12 0.00 0.000 4 0.000 0.076 2923 3598 3660 0 0 0 0 0 0

2848 -0.78 -146.1 252.3 -7.6 351 2852 0.00 2.10 0.00 0.000 6 0.000 0.052 2923 2240 3660 0 0 0 0 0 0

3179 -0.78 -146.1 277.5 -8.0 382 3183 0.00 2.17 0.00 0.000 4 0.000 0.063 2923 843 3660 0 0 0 0 0 0

3319 -0.78 -146.1 289.5 -8.2 394 3326 0.08 2.22 0.00 0.000 6 0.131 0.064 2940 2247 3660 0 0 0 0 0 0

3645 -0.78 -146.1 312.9 -7.2 425 3648 0.00 2.15 0.00 0.000 4 0.000 0.075 2932 3605 3660 0 0 0 0 0 0

3740 -0.78 -146.1 320.6 -8.4 433 3745 0.00 2.10 0.00 0.000 6 0.000 0.051 2931 2246 3660 0 0 0 0 0 0

4065 -0.78 -146.1 345.4 -7.6 464 4069 0.00 2.17 0.00 0.000 4 0.000 0.062 2931 845 3660 0 0 0 0 0 0

4227 -0.78 -146.1 358.5 -7.8 478 4232 0.00 2.25 0.00 0.000 6 0.000 0.064 2922 2253 3660 0 0 0 0 0 0

4552 -0.78 -146.1 383.4 -7.2 509 4555 0.00 2.12 0.00 0.000 4 0.000 0.074 2912 3602 3660 0 0 0 0 0 0

4621 -0.78 -146.1 389.1 -8.3 515 4625 0.12 2.08 0.00 0.000 6 0.158 0.051 2946 2250 3659 0 0 0 0 0 0

4951 -0.78 -146.1 409.8 -6.3 546 4955 0.00 2.17 0.00 0.000 4 0.000 0.061 2946 846 3660 0 0 0 0 0 0

5036 -0.78 -146.1 415.6 -6.8 553 5040 0.00 2.25 0.00 0.000 6 0.000 0.064 2939 2255 3660 0 0 0 0 0 0

5361 -0.78 -146.1 437.0 -6.4 583 5365 0.00 2.10 0.00 0.000 4 0.000 0.074 2929 3604 3660 0 0 0 0 0 0

5491 -0.78 -146.1 446.0 -6.9 594 5496 0.00 2.08 0.00 0.000 6 0.000 0.050 2929 2241 3660 0 0 0 0 0 0

5822 -0.78 -146.1 467.5 -6.7 625 5824 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2240 3660 0 0 0 0 0 0

6141 -0.78 -146.1 487.8 -6.3 655 6145 0.00 2.15 0.00 0.000 4 0.000 0.061 2929 846 3661 0 0 0 0 0 0

6302 -0.78 -146.1 498.7 -6.6 668 6308 0.10 2.25 0.00 0.000 6 0.160 0.063 2947 2262 3661 0 0 0 0 0 0

6627 -0.78 -146.1 517.1 -5.8 699 6631 0.00 2.10 0.00 0.000 4 0.000 0.073 2938 3602 3661 0 0 0 0 0 0

6678 -0.78 -146.1 520.3 -6.7 703 6684 0.00 2.08 0.00 0.000 6 0.000 0.049 2938 2245 3661 0 0 0 0 0 0

6873 end dive: BOTTOM_OBSTACLE_DETECTED

state 6873 begin apogee

6879 -0.17 0.0 532.9 6.7 722 7006 0.40 0.00 119.78 1.152 6 0.127 0.000 3073 2244 3058 0 0 0 0 0 0

7006 end apogee: CONTROL_FINISHED_OK

state 7009 begin climb

7012 0.78 146.1 534.7 0.0 735 7141 0.60 2.38 120.30 1.093 4 0.084 0.067 3281 3595 2461 0 0 0 0 0 0

7188 0.78 146.1 517.5 14.9 751 7192 0.00 2.28 0.00 0.000 6 0.000 0.047 3291 2203 2459 0 0 0 0 0 0

7519 0.78 146.1 472.9 13.4 782 7523 0.00 2.28 0.00 0.000 4 0.000 0.058 3302 783 2457 0 0 0 0 0 0

7552 0.78 146.1 468.2 13.3 784 7558 0.00 2.35 0.00 0.000 6 0.000 0.058 3302 2215 2457 0 0 0 0 0 0

7877 0.78 146.1 424.0 13.4 815 7881 0.00 2.20 0.00 0.000 4 0.000 0.070 3302 3598 2455 0 0 0 0 0 0

7932 0.78 146.1 415.6 15.2 819 7938 0.12 2.20 0.00 0.000 6 0.178 0.048 3280 2195 2455 0 0 0 0 0 0

8257 0.78 146.1 378.2 11.4 850 8258 0.00 0.00 0.00 0.000 6 0.000 0.000 3280 2194 2455 0 0 0 0 0 0

8578 0.78 146.1 342.3 11.3 880 8582 0.00 2.25 0.00 0.000 4 0.000 0.068 3280 3592 2455 0 0 0 0 0 0

8600 0.78 146.1 339.5 11.4 882 8605 0.00 2.17 0.00 0.000 6 0.000 0.048 3288 2192 2455 0 0 0 0 0 0

8926 0.78 146.1 303.4 10.3 912 8930 0.00 2.25 0.00 0.000 4 0.000 0.068 3288 3591 2456 0 0 0 0 0 0

8944 0.78 146.1 301.5 10.8 913 8948 0.00 2.15 0.00 0.000 6 0.000 0.048 3298 2200 2456 0 0 0 0 0 0

9269 0.78 146.1 265.0 11.4 943 9270 0.00 0.00 0.00 0.000 6 0.000 0.000 3297 2199 2456 0 0 0 0 0 0

9590 0.78 146.1 230.0 11.3 973 9591 0.00 0.00 0.00 0.000 6 0.000 0.000 3297 2200 2456 0 0 0 0 0 0

9907 0.78 146.1 193.4 11.6 1003 9911 0.00 2.17 0.00 0.000 4 0.000 0.059 3308 786 2456 0 0 0 0 0 0

9935 0.78 146.1 190.0 11.5 1005 9941 0.10 2.28 0.00 0.000 6 0.176 0.060 3282 2214 2456 0 0 0 0 0 0

10260 0.79 151.3 156.7 9.8 1036 10269 0.00 0.00 4.78 0.694 6 0.000 0.000 3283 2214 2440 0 0 0 0 0 0

10589 0.81 167.8 125.3 9.2 1067 10608 0.00 0.00 14.60 0.879 6 0.000 0.000 3283 2214 2373 0 0 0 0 0 0

10932 0.83 187.4 93.8 9.1 1105 10953 0.00 2.30 16.50 0.864 4 0.000 0.074 3283 3602 2292 0 0 0 0 0 0

10988 0.83 187.4 88.4 10.0 1115 10993 0.00 2.22 0.00 0.000 6 0.000 0.051 3290 2191 2290 0 0 0 0 0 0

11332 0.85 202.3 57.1 9.3 1176 11353 0.00 2.28 12.55 0.821 4 0.000 0.061 3297 797 2233 0 0 0 0 0 0

11365 0.88 227.0 54.0 8.9 1182 11392 0.00 2.30 21.45 0.840 6 0.000 0.062 3297 2205 2132 0 0 0 0 0 0

11729 0.88 227.0 18.9 11.3 1247 11735 0.00 2.28 0.00 0.000 4 0.000 0.059 3306 793 2125 0 0 0 0 0 0

11747 0.90 243.0 17.3 9.3 1250 11768 0.00 2.28 13.75 0.797 6 0.000 0.062 3306 2201 2066 0 0 0 0 0 0

11863 end climb: SURFACE_OBSTACLE_DETECTED

state 11863 begin subsurface finish

11871 0.03 25.3 6.4 -9.6 1271 11907 0.55 0.00 -29.85 0.000 6 0.117 0.000 3120 2201 2958 0 0 0 0 0 0

11908 end subsurface finish: CONTROL_FINISHED_OK

state 11908 begin surface

ID	108	HEADING	-1	ROLL_MIN	294	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	14	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_TURN_MARGIN	5
DIVE	61	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	300	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	30	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	41	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	300	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	588	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3951	DEVICE1	2
T_DIVE	330	CALL_TRIES	3	C_VBD	3058	DEVICE2	20
T_MISSION	440	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	540	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-179891.89	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	900	STROBE	0	CF8_MAXERRORS	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3112	FG_AHR_24V	0	SEABIRD_T_G	0.0043387706
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063929392
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-21.817678	SEABIRD_T_I	2.2459495e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_J	2.0328812e-06
NAV_MODE	0	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-10.121161
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1529624
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.002153415
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002365096
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	20

GPS1	105231,6701.232,-5649.686,39,1.4,39,-37.5	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	105926,6701.200,-5649.594,14,1.4,14,-37.5	MHEAD_RNG_PITCHd_Wd	56.6,3528,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	561

FREEZE	6.42,3.963,-1.833,0,1,0	ALTIM_BOTTOM_PING	500.6,46.8
FINISH1	6.4,1.026485,25	_24V_AH	23.7,10.580
FINISH2	4.5	_10V_AH	10.4,5.667
RAFOS_CLK	440	FG_AHR_24Vo	0.000
RAFOS	0,1276776062,12.033333,12.017222,47,46,43,43,41,41,1153,1154,1330,1942,138,1597	FG_AHR_10Vo	0.000
RAFOS_FIX	6704.023438,-5650.256348,170610,121244,3,70,0.84	MEM	135652
IRIDIUM_FIX	6631.12,-5701.34,110999,060645	DATA_FILE_SIZE	50434,1278
TT8_MAMPS	0.026845	CAP_FILE_SIZE	135350,0
HUMID	40.58	CFSIZE	260165632,244396032
INTERNAL_PRESSURE	10.3617	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	SOUNDSPEED	1467.2
XPDR_PINGS	0	GPS	170610,124344,6704.023,-5650.256,0,3070.3,0,-37.5
ALTIM_TOP_PING	19.4,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	242	71.66	SBE_CT	934	24	531.82
Roll_motor	105	75	190.40	SBE_O2	878	19	395.41
VBD_pump_during_apogee	323	1152	8838.05	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	32	103	79.97	nil	0	0	0.00
Iridium_during_connect	41	160	156.46	nil	0	0	0.00
Iridium_during_xfer	188	223	996.13
Transponder_ping	1	420	17.42
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.45
TT8	2093	19	433.67
LPSleep	7104	2	170.68
TT8_Active	435	19	90.28
TT8_Sampling	2098	39	871.40
TT8_CF8	579	45	276.80
TT8_Kalman	0	0	0.00
Analog_circuits	1523	12	190.16
GPS_charging	0	0	0.00
Compass	2067	8	171.99
RAFOS	2520	3	78.62
Transponder	14	30	4.44

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	-0.78	-146.1	0.0	0.0	0	67	0.00	0.00	-49.50	0.000	2	0.000	0.000	339	2274	2948	0	0	0	0	0	0
71	-0.78	-146.1	3.1	-2.5	10	118	10.20	2.33	-31.00	0.000	4	0.242	0.071	2935	835	3655	0	0	0	0	0	0
181	-0.78	-146.1	11.2	-11.5	30	186	0.00	2.33	0.00	0.000	6	0.000	0.065	2928	2242	3659	0	0	0	0	0	0
526	-0.78	-146.1	48.4	-10.5	91	531	0.00	2.17	0.00	0.000	4	0.000	0.074	2917	3605	3661	0	0	0	0	0	0
566	-0.78	-146.1	53.0	-11.0	98	572	0.10	2.15	0.00	0.000	6	0.172	0.051	2942	2241	3661	0	0	0	0	0	0
912	-0.78	-146.1	84.1	-8.8	159	918	0.00	2.22	0.00	0.000	4	0.000	0.072	2935	3606	3661	0	0	0	0	0	0
1032	-0.78	-146.1	95.3	-9.4	180	1037	0.00	2.12	0.00	0.000	6	0.000	0.051	2934	2248	3662	0	0	0	0	0	0
1365	-0.78	-146.1	124.5	-8.6	216	1369	0.00	2.20	0.00	0.000	4	0.000	0.062	2935	831	3661	0	0	0	0	0	0
1514	-0.78	-146.1	138.5	-9.1	228	1520	0.00	2.30	0.00	0.000	6	0.000	0.064	2925	2257	3661	0	0	0	0	0	0
1839	-0.78	-146.1	170.5	-9.5	259	1843	0.00	2.12	0.00	0.000	4	0.000	0.075	2915	3604	3661	0	0	0	0	0	0
1934	-0.78	-146.1	180.7	-11.0	267	1940	0.10	2.12	0.00	0.000	6	0.169	0.052	2940	2238	3660	0	0	0	0	0	0
2260	-0.78	-146.1	207.3	-7.8	298	2263	0.00	2.17	0.00	0.000	4	0.000	0.063	2940	846	3661	0	0	0	0	0	0
2433	-0.78	-146.1	220.8	-7.9	313	2437	0.00	2.28	0.00	0.000	6	0.000	0.065	2933	2258	3661	0	0	0	0	0	0
2758	-0.78	-146.1	245.4	-7.2	343	2762	0.00	2.12	0.00	0.000	4	0.000	0.076	2923	3598	3660	0	0	0	0	0	0
2848	-0.78	-146.1	252.3	-7.6	351	2852	0.00	2.10	0.00	0.000	6	0.000	0.052	2923	2240	3660	0	0	0	0	0	0
3179	-0.78	-146.1	277.5	-8.0	382	3183	0.00	2.17	0.00	0.000	4	0.000	0.063	2923	843	3660	0	0	0	0	0	0
3319	-0.78	-146.1	289.5	-8.2	394	3326	0.08	2.22	0.00	0.000	6	0.131	0.064	2940	2247	3660	0	0	0	0	0	0
3645	-0.78	-146.1	312.9	-7.2	425	3648	0.00	2.15	0.00	0.000	4	0.000	0.075	2932	3605	3660	0	0	0	0	0	0
3740	-0.78	-146.1	320.6	-8.4	433	3745	0.00	2.10	0.00	0.000	6	0.000	0.051	2931	2246	3660	0	0	0	0	0	0
4065	-0.78	-146.1	345.4	-7.6	464	4069	0.00	2.17	0.00	0.000	4	0.000	0.062	2931	845	3660	0	0	0	0	0	0
4227	-0.78	-146.1	358.5	-7.8	478	4232	0.00	2.25	0.00	0.000	6	0.000	0.064	2922	2253	3660	0	0	0	0	0	0
4552	-0.78	-146.1	383.4	-7.2	509	4555	0.00	2.12	0.00	0.000	4	0.000	0.074	2912	3602	3660	0	0	0	0	0	0
4621	-0.78	-146.1	389.1	-8.3	515	4625	0.12	2.08	0.00	0.000	6	0.158	0.051	2946	2250	3659	0	0	0	0	0	0
4951	-0.78	-146.1	409.8	-6.3	546	4955	0.00	2.17	0.00	0.000	4	0.000	0.061	2946	846	3660	0	0	0	0	0	0
5036	-0.78	-146.1	415.6	-6.8	553	5040	0.00	2.25	0.00	0.000	6	0.000	0.064	2939	2255	3660	0	0	0	0	0	0
5361	-0.78	-146.1	437.0	-6.4	583	5365	0.00	2.10	0.00	0.000	4	0.000	0.074	2929	3604	3660	0	0	0	0	0	0
5491	-0.78	-146.1	446.0	-6.9	594	5496	0.00	2.08	0.00	0.000	6	0.000	0.050	2929	2241	3660	0	0	0	0	0	0
5822	-0.78	-146.1	467.5	-6.7	625	5824	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	2240	3660	0	0	0	0	0	0
6141	-0.78	-146.1	487.8	-6.3	655	6145	0.00	2.15	0.00	0.000	4	0.000	0.061	2929	846	3661	0	0	0	0	0	0
6302	-0.78	-146.1	498.7	-6.6	668	6308	0.10	2.25	0.00	0.000	6	0.160	0.063	2947	2262	3661	0	0	0	0	0	0
6627	-0.78	-146.1	517.1	-5.8	699	6631	0.00	2.10	0.00	0.000	4	0.000	0.073	2938	3602	3661	0	0	0	0	0	0
6678	-0.78	-146.1	520.3	-6.7	703	6684	0.00	2.08	0.00	0.000	6	0.000	0.049	2938	2245	3661	0	0	0	0	0	0
6873	end dive: BOTTOM_OBSTACLE_DETECTED
state	6873	begin apogee
6879	-0.17	0.0	532.9	6.7	722	7006	0.40	0.00	119.78	1.152	6	0.127	0.000	3073	2244	3058	0	0	0	0	0	0
7006	end apogee: CONTROL_FINISHED_OK
state	7009	begin climb
7012	0.78	146.1	534.7	0.0	735	7141	0.60	2.38	120.30	1.093	4	0.084	0.067	3281	3595	2461	0	0	0	0	0	0
7188	0.78	146.1	517.5	14.9	751	7192	0.00	2.28	0.00	0.000	6	0.000	0.047	3291	2203	2459	0	0	0	0	0	0
7519	0.78	146.1	472.9	13.4	782	7523	0.00	2.28	0.00	0.000	4	0.000	0.058	3302	783	2457	0	0	0	0	0	0
7552	0.78	146.1	468.2	13.3	784	7558	0.00	2.35	0.00	0.000	6	0.000	0.058	3302	2215	2457	0	0	0	0	0	0
7877	0.78	146.1	424.0	13.4	815	7881	0.00	2.20	0.00	0.000	4	0.000	0.070	3302	3598	2455	0	0	0	0	0	0
7932	0.78	146.1	415.6	15.2	819	7938	0.12	2.20	0.00	0.000	6	0.178	0.048	3280	2195	2455	0	0	0	0	0	0
8257	0.78	146.1	378.2	11.4	850	8258	0.00	0.00	0.00	0.000	6	0.000	0.000	3280	2194	2455	0	0	0	0	0	0
8578	0.78	146.1	342.3	11.3	880	8582	0.00	2.25	0.00	0.000	4	0.000	0.068	3280	3592	2455	0	0	0	0	0	0
8600	0.78	146.1	339.5	11.4	882	8605	0.00	2.17	0.00	0.000	6	0.000	0.048	3288	2192	2455	0	0	0	0	0	0
8926	0.78	146.1	303.4	10.3	912	8930	0.00	2.25	0.00	0.000	4	0.000	0.068	3288	3591	2456	0	0	0	0	0	0
8944	0.78	146.1	301.5	10.8	913	8948	0.00	2.15	0.00	0.000	6	0.000	0.048	3298	2200	2456	0	0	0	0	0	0
9269	0.78	146.1	265.0	11.4	943	9270	0.00	0.00	0.00	0.000	6	0.000	0.000	3297	2199	2456	0	0	0	0	0	0
9590	0.78	146.1	230.0	11.3	973	9591	0.00	0.00	0.00	0.000	6	0.000	0.000	3297	2200	2456	0	0	0	0	0	0
9907	0.78	146.1	193.4	11.6	1003	9911	0.00	2.17	0.00	0.000	4	0.000	0.059	3308	786	2456	0	0	0	0	0	0
9935	0.78	146.1	190.0	11.5	1005	9941	0.10	2.28	0.00	0.000	6	0.176	0.060	3282	2214	2456	0	0	0	0	0	0
10260	0.79	151.3	156.7	9.8	1036	10269	0.00	0.00	4.78	0.694	6	0.000	0.000	3283	2214	2440	0	0	0	0	0	0
10589	0.81	167.8	125.3	9.2	1067	10608	0.00	0.00	14.60	0.879	6	0.000	0.000	3283	2214	2373	0	0	0	0	0	0
10932	0.83	187.4	93.8	9.1	1105	10953	0.00	2.30	16.50	0.864	4	0.000	0.074	3283	3602	2292	0	0	0	0	0	0
10988	0.83	187.4	88.4	10.0	1115	10993	0.00	2.22	0.00	0.000	6	0.000	0.051	3290	2191	2290	0	0	0	0	0	0
11332	0.85	202.3	57.1	9.3	1176	11353	0.00	2.28	12.55	0.821	4	0.000	0.061	3297	797	2233	0	0	0	0	0	0
11365	0.88	227.0	54.0	8.9	1182	11392	0.00	2.30	21.45	0.840	6	0.000	0.062	3297	2205	2132	0	0	0	0	0	0
11729	0.88	227.0	18.9	11.3	1247	11735	0.00	2.28	0.00	0.000	4	0.000	0.059	3306	793	2125	0	0	0	0	0	0
11747	0.90	243.0	17.3	9.3	1250	11768	0.00	2.28	13.75	0.797	6	0.000	0.062	3306	2201	2066	0	0	0	0	0	0
11863	end climb: SURFACE_OBSTACLE_DETECTED
state	11863	begin subsurface finish
11871	0.03	25.3	6.4	-9.6	1271	11907	0.55	0.00	-29.85	0.000	6	0.117	0.000	3120	2201	2958	0	0	0	0	0	0
11908	end subsurface finish: CONTROL_FINISHED_OK
state	11908	begin surface