Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 67 * 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 67 ESCAPE_HEADING 100 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 27 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 9 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 -2 T_GPS_CHARGE -23144.75 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 100 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 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 -23144.75

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 -2

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 27 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 67 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 020311,001122,6651.833,-6006.962,0,3108.3,0,-38.0 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 9.03 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020311,001122,6651.833,-6006.962,0,3108.3,0,-38.0 MHEAD_RNG_PITCHd_Wd 119.8,145160,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 665

Post-dive calculations and measurements:

FREEZE 8.59,-1.765,-1.779,3,44,0 ALTIM_TOP_PING 19.9,18.6

FINISH1 8.6,1.026046,71 _24V_AH 22.8,12.614

FINISH2 7.5 _10V_AH 10.3,6.184

RAFOS_CLK 679 FG_AHR_24Vo 0.000

RAFOS 0,1299038464,4.033333,4.017778,106,65,56,54,53,52,689,189,202,220,176,134 FG_AHR_10Vo 0.000

RAFOS_FIX 6653.317871,-5956.769531,020311,040444,6,108,0.51 MEM 150708

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 DATA_FILE_SIZE 43396,1169

TT8_MAMPS 0.026215 CAP_FILE_SIZE 127660,0

HUMID 46.96 CFSIZE 260165632,247463936

INTERNAL_PRESSURE 8.66244 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1452.4

XPDR_PINGS 0 GPS 020311,042744,6653.318,-5956.770,0,6108.0,0,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 222 19.03 SBE_CT 835 24 457.09

Roll_motor 93 189 405.85 SBE_O2 900 19 389.93

VBD_pump_during_apogee 377 1334 11474.48 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 21.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2858 19 586.40

LPSleep 6980 2 166.08

TT8_Active 418 19 85.82

TT8_Sampling 1909 39 784.99

TT8_CF8 170 45 80.47

TT8_Kalman 0 0 0.00

Analog_circuits 1433 12 177.14

GPS_charging 0 0 0.00

Compass 1897 15 293.16

RAFOS 2520 1 38.93

Transponder 16 30 5.18

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

15 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -7.43 0.000 2 0.000 0.000 2900 3680 3008 0 0 0 0 0 0

27 -0.62 -146.0 10.6 -0.0 1 52 0.68 0.35 -16.42 0.000 4 0.109 0.190 2666 3896 3628 0 0 0 0 0 0

274 -0.53 -146.0 52.0 -17.1 44 280 0.00 2.22 0.00 0.000 6 0.000 0.050 2667 2489 3631 0 0 0 0 0 0

613 -0.38 -146.0 116.5 -17.6 97 618 0.25 2.25 0.00 0.000 4 0.223 0.064 2732 1073 3629 0 0 0 0 0 0

714 -0.42 -146.0 128.4 -9.6 105 720 0.00 2.25 0.00 0.000 6 0.000 0.061 2732 2490 3629 0 0 0 0 0 0

1039 -0.47 -146.0 159.8 -10.0 136 1040 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2490 3629 0 0 0 0 0 0

1359 -0.53 -146.0 191.4 -9.4 166 1364 0.12 2.30 0.00 0.000 4 0.132 0.079 2691 3899 3628 0 0 0 0 0 0

1377 -0.57 -146.0 193.3 -9.9 167 1381 0.00 2.22 0.00 0.000 6 0.000 0.048 2691 2477 3628 0 0 0 0 0 0

1702 -0.54 -146.0 234.4 -12.2 197 1706 0.00 2.20 0.00 0.000 4 0.000 0.067 2692 1083 3628 0 0 0 0 0 0

1742 -0.54 -146.0 239.4 -12.2 200 1746 0.00 2.28 0.00 0.000 6 0.000 0.063 2692 2498 3628 0 0 0 0 0 0

2069 -0.54 -146.0 277.0 -11.1 230 2075 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2498 3627 0 0 0 0 0 0

2395 -0.54 -146.0 310.8 -10.3 261 2399 0.00 2.30 0.00 0.000 4 0.000 0.080 2692 3906 3627 0 0 0 0 0 0

2417 -0.54 -146.0 313.1 -9.6 262 2424 0.00 2.17 0.00 0.000 6 0.000 0.047 2692 2490 3627 0 0 0 0 0 0

2743 -0.54 -146.0 345.3 -10.2 293 2747 0.00 2.25 0.00 0.000 4 0.000 0.065 2691 1081 3627 0 0 0 0 0 0

2795 -0.56 -146.0 351.1 -10.3 297 2799 0.00 2.25 0.00 0.000 6 0.000 0.061 2691 2494 3627 0 0 0 0 0 0

3120 -0.56 -146.0 384.4 -10.2 327 3121 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2493 3628 0 0 0 0 0 0

3439 -0.56 -146.0 416.7 -9.9 357 3440 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2494 3628 0 0 0 0 0 0

3758 -0.56 -146.0 446.9 -9.2 387 3760 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2495 3628 0 0 0 0 0 0

4077 -0.56 -146.0 476.1 -9.3 417 4081 0.00 2.22 0.00 0.000 4 0.000 0.063 2692 1085 3628 0 0 0 0 0 0

4096 -0.56 -146.0 477.9 -8.8 418 4100 0.00 2.22 0.00 0.000 6 0.000 0.061 2691 2498 3628 0 0 0 0 0 0

4427 -0.56 -146.0 507.5 -9.4 449 4428 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2498 3629 0 0 0 0 0 0

4746 -0.56 -146.0 536.9 -8.8 479 4750 0.00 2.22 0.00 0.000 4 0.000 0.062 2691 1072 3629 0 0 0 0 0 0

4763 -0.56 -146.0 538.6 -9.4 480 4767 0.00 2.25 0.00 0.000 6 0.000 0.061 2692 2490 3630 0 0 0 0 0 0

5088 -0.56 -146.0 568.9 -9.4 510 5092 0.00 2.28 0.00 0.000 4 0.000 0.077 2691 3899 3629 0 0 0 0 0 0

5118 -0.58 -146.0 571.5 -9.4 512 5121 0.00 2.15 0.00 0.000 6 0.000 0.046 2691 2488 3629 0 0 0 0 0 0

5468 -0.58 -146.0 603.0 -9.0 543 5472 0.00 2.17 0.00 0.000 4 0.000 0.062 2691 1080 3629 0 0 0 0 0 0

5507 -0.62 -146.0 606.7 -9.3 544 5511 0.00 2.22 0.00 0.000 6 0.000 0.060 2691 2499 3630 0 0 0 0 0 0

5836 -0.62 -146.0 635.6 -9.0 555 5838 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2499 3629 0 0 0 0 0 0

6143 -0.64 -146.0 662.7 -8.7 565 6144 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2499 3630 0 0 0 0 0 0

6171 end dive: TARGET_DEPTH_EXCEEDED

state 6171 begin apogee

6176 -0.12 0.0 665.3 8.7 566 6305 0.43 0.00 123.22 1.335 6 0.187 0.000 2817 2268 3029 0 0 0 0 0 0

6306 end apogee: CONTROL_FINISHED_OK

state 6306 begin climb

6308 0.62 146.0 669.4 0.0 570 6444 0.77 2.53 125.18 1.292 4 0.135 0.069 3065 886 2433 0 0 0 0 0 0

6500 0.62 146.0 654.1 22088.2 576 6504 0.00 2.40 0.00 0.000 6 0.000 0.055 3065 2274 2428 0 0 0 0 0 0

6829 0.62 146.0 613.7 22088.2 587 6834 0.00 2.38 0.00 0.000 4 0.000 0.071 3065 3693 2425 0 0 0 0 0 0

6941 0.62 146.0 597.7 22088.2 590 6945 0.00 2.33 0.00 0.000 6 0.000 0.054 3075 2273 2423 0 0 0 0 0 0

7267 0.62 146.0 556.5 22088.2 620 7271 0.00 2.33 0.00 0.000 4 0.000 0.069 3075 3690 2423 0 0 0 0 0 0

7322 0.62 146.0 548.6 22088.2 624 7330 0.00 2.30 0.00 0.000 6 0.000 0.052 3085 2272 2422 0 0 0 0 0 0

7650 0.62 146.0 505.2 22088.2 655 7651 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 2272 2423 0 0 0 0 0 0

7967 0.62 146.0 462.8 22088.2 685 7971 0.00 2.30 0.00 0.000 4 0.000 0.067 3085 3697 2422 0 0 0 0 0 0

8019 0.62 146.0 455.1 22088.2 689 8024 0.12 2.28 0.00 0.000 6 0.217 0.053 3068 2272 2421 0 0 0 0 0 0

8344 0.62 146.0 414.2 22088.2 719 8348 0.00 2.30 0.00 0.000 4 0.000 0.067 3067 3691 2421 0 0 0 0 0 0

8390 0.62 146.0 407.8 22088.2 723 8394 0.00 2.25 0.00 0.000 6 0.000 0.052 3076 2274 2421 0 0 0 0 0 0

8716 0.62 146.0 364.4 22088.2 753 8717 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2274 2421 0 0 0 0 0 0

9036 0.62 146.0 323.9 22088.2 783 9040 0.00 2.28 0.00 0.000 4 0.000 0.067 3076 3695 2422 0 0 0 0 0 0

9102 0.62 146.0 314.1 22088.2 788 9109 0.00 2.25 0.00 0.000 6 0.000 0.051 3086 2264 2421 0 0 0 0 0 0

9427 0.62 146.0 271.2 22088.2 819 9431 0.00 2.30 0.00 0.000 4 0.000 0.067 3086 3698 2421 0 0 0 0 0 0

9467 0.62 146.0 265.7 22088.2 822 9474 0.12 2.25 0.00 0.000 6 0.216 0.052 3068 2270 2421 0 0 0 0 0 0

9792 0.62 146.0 229.7 22088.2 853 9796 0.00 2.30 0.00 0.000 4 0.000 0.067 3068 3699 2421 0 0 0 0 0 0

9831 0.62 146.0 225.2 22088.2 856 9836 0.00 2.25 0.00 0.000 6 0.000 0.052 3077 2269 2422 0 0 0 0 0 0

10158 0.62 146.0 190.1 22088.2 886 10159 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 2269 2422 0 0 0 0 0 0

10476 0.62 146.0 157.1 22088.2 916 10477 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 2269 2421 0 0 0 0 0 0

10795 0.62 146.0 130.7 22088.2 946 10799 0.00 2.28 0.00 0.000 4 0.000 0.068 3077 3698 2422 0 0 0 0 0 0

10872 0.62 146.0 123.1 22088.2 952 10879 0.00 2.25 0.00 0.000 6 0.000 0.051 3087 2263 2422 0 0 0 0 0 0

11199 0.50 146.0 97.7 11.7 985 11206 0.20 2.22 0.00 0.000 4 0.184 0.065 3041 864 2422 0 0 0 0 0 0

11321 0.64 228.8 89.9 6.2 1006 11405 0.00 2.22 76.93 0.957 6 0.000 0.056 3041 2287 2097 0 0 0 0 0 0

11742 0.81 288.0 62.5 7.3 1080 11802 0.22 2.38 51.67 0.965 4 0.088 0.067 3128 3692 1854 0 0 0 0 0 0

11881 0.73 288.0 43.1 15.7 1104 11889 0.15 2.33 0.00 0.000 6 0.200 0.053 3103 2279 1848 0 0 0 0 0 0

12210 end climb: FINISH_DEPTH_REACHED

state 12210 begin subsurface finish

12216 0.09 71.3 8.6 -9.6 1162 12257 0.68 0.00 -33.35 0.000 6 0.158 0.000 2895 2278 2742 0 0 0 0 0 0

12258 end subsurface finish: CONTROL_FINISHED_OK

state 12258 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	67	ESCAPE_HEADING	100	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	27	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	9	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	-2	T_GPS_CHARGE	-23144.75	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	020311,001122,6651.833,-6006.962,0,3108.3,0,-38.0	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	9.03	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020311,001122,6651.833,-6006.962,0,3108.3,0,-38.0	MHEAD_RNG_PITCHd_Wd	119.8,145160,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	665

FREEZE	8.59,-1.765,-1.779,3,44,0	ALTIM_TOP_PING	19.9,18.6
FINISH1	8.6,1.026046,71	_24V_AH	22.8,12.614
FINISH2	7.5	_10V_AH	10.3,6.184
RAFOS_CLK	679	FG_AHR_24Vo	0.000
RAFOS	0,1299038464,4.033333,4.017778,106,65,56,54,53,52,689,189,202,220,176,134	FG_AHR_10Vo	0.000
RAFOS_FIX	6653.317871,-5956.769531,020311,040444,6,108,0.51	MEM	150708
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	DATA_FILE_SIZE	43396,1169
TT8_MAMPS	0.026215	CAP_FILE_SIZE	127660,0
HUMID	46.96	CFSIZE	260165632,247463936
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1452.4
XPDR_PINGS	0	GPS	020311,042744,6653.318,-5956.770,0,6108.0,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	222	19.03	SBE_CT	835	24	457.09
Roll_motor	93	189	405.85	SBE_O2	900	19	389.93
VBD_pump_during_apogee	377	1334	11474.48	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	21.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2858	19	586.40
LPSleep	6980	2	166.08
TT8_Active	418	19	85.82
TT8_Sampling	1909	39	784.99
TT8_CF8	170	45	80.47
TT8_Kalman	0	0	0.00
Analog_circuits	1433	12	177.14
GPS_charging	0	0	0.00
Compass	1897	15	293.16
RAFOS	2520	1	38.93
Transponder	16	30	5.18

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
15	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-7.43	0.000	2	0.000	0.000	2900	3680	3008	0	0	0	0	0	0
27	-0.62	-146.0	10.6	-0.0	1	52	0.68	0.35	-16.42	0.000	4	0.109	0.190	2666	3896	3628	0	0	0	0	0	0
274	-0.53	-146.0	52.0	-17.1	44	280	0.00	2.22	0.00	0.000	6	0.000	0.050	2667	2489	3631	0	0	0	0	0	0
613	-0.38	-146.0	116.5	-17.6	97	618	0.25	2.25	0.00	0.000	4	0.223	0.064	2732	1073	3629	0	0	0	0	0	0
714	-0.42	-146.0	128.4	-9.6	105	720	0.00	2.25	0.00	0.000	6	0.000	0.061	2732	2490	3629	0	0	0	0	0	0
1039	-0.47	-146.0	159.8	-10.0	136	1040	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2490	3629	0	0	0	0	0	0
1359	-0.53	-146.0	191.4	-9.4	166	1364	0.12	2.30	0.00	0.000	4	0.132	0.079	2691	3899	3628	0	0	0	0	0	0
1377	-0.57	-146.0	193.3	-9.9	167	1381	0.00	2.22	0.00	0.000	6	0.000	0.048	2691	2477	3628	0	0	0	0	0	0
1702	-0.54	-146.0	234.4	-12.2	197	1706	0.00	2.20	0.00	0.000	4	0.000	0.067	2692	1083	3628	0	0	0	0	0	0
1742	-0.54	-146.0	239.4	-12.2	200	1746	0.00	2.28	0.00	0.000	6	0.000	0.063	2692	2498	3628	0	0	0	0	0	0
2069	-0.54	-146.0	277.0	-11.1	230	2075	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2498	3627	0	0	0	0	0	0
2395	-0.54	-146.0	310.8	-10.3	261	2399	0.00	2.30	0.00	0.000	4	0.000	0.080	2692	3906	3627	0	0	0	0	0	0
2417	-0.54	-146.0	313.1	-9.6	262	2424	0.00	2.17	0.00	0.000	6	0.000	0.047	2692	2490	3627	0	0	0	0	0	0
2743	-0.54	-146.0	345.3	-10.2	293	2747	0.00	2.25	0.00	0.000	4	0.000	0.065	2691	1081	3627	0	0	0	0	0	0
2795	-0.56	-146.0	351.1	-10.3	297	2799	0.00	2.25	0.00	0.000	6	0.000	0.061	2691	2494	3627	0	0	0	0	0	0
3120	-0.56	-146.0	384.4	-10.2	327	3121	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2493	3628	0	0	0	0	0	0
3439	-0.56	-146.0	416.7	-9.9	357	3440	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2494	3628	0	0	0	0	0	0
3758	-0.56	-146.0	446.9	-9.2	387	3760	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2495	3628	0	0	0	0	0	0
4077	-0.56	-146.0	476.1	-9.3	417	4081	0.00	2.22	0.00	0.000	4	0.000	0.063	2692	1085	3628	0	0	0	0	0	0
4096	-0.56	-146.0	477.9	-8.8	418	4100	0.00	2.22	0.00	0.000	6	0.000	0.061	2691	2498	3628	0	0	0	0	0	0
4427	-0.56	-146.0	507.5	-9.4	449	4428	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2498	3629	0	0	0	0	0	0
4746	-0.56	-146.0	536.9	-8.8	479	4750	0.00	2.22	0.00	0.000	4	0.000	0.062	2691	1072	3629	0	0	0	0	0	0
4763	-0.56	-146.0	538.6	-9.4	480	4767	0.00	2.25	0.00	0.000	6	0.000	0.061	2692	2490	3630	0	0	0	0	0	0
5088	-0.56	-146.0	568.9	-9.4	510	5092	0.00	2.28	0.00	0.000	4	0.000	0.077	2691	3899	3629	0	0	0	0	0	0
5118	-0.58	-146.0	571.5	-9.4	512	5121	0.00	2.15	0.00	0.000	6	0.000	0.046	2691	2488	3629	0	0	0	0	0	0
5468	-0.58	-146.0	603.0	-9.0	543	5472	0.00	2.17	0.00	0.000	4	0.000	0.062	2691	1080	3629	0	0	0	0	0	0
5507	-0.62	-146.0	606.7	-9.3	544	5511	0.00	2.22	0.00	0.000	6	0.000	0.060	2691	2499	3630	0	0	0	0	0	0
5836	-0.62	-146.0	635.6	-9.0	555	5838	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2499	3629	0	0	0	0	0	0
6143	-0.64	-146.0	662.7	-8.7	565	6144	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2499	3630	0	0	0	0	0	0
6171	end dive: TARGET_DEPTH_EXCEEDED
state	6171	begin apogee
6176	-0.12	0.0	665.3	8.7	566	6305	0.43	0.00	123.22	1.335	6	0.187	0.000	2817	2268	3029	0	0	0	0	0	0
6306	end apogee: CONTROL_FINISHED_OK
state	6306	begin climb
6308	0.62	146.0	669.4	0.0	570	6444	0.77	2.53	125.18	1.292	4	0.135	0.069	3065	886	2433	0	0	0	0	0	0
6500	0.62	146.0	654.1	22088.2	576	6504	0.00	2.40	0.00	0.000	6	0.000	0.055	3065	2274	2428	0	0	0	0	0	0
6829	0.62	146.0	613.7	22088.2	587	6834	0.00	2.38	0.00	0.000	4	0.000	0.071	3065	3693	2425	0	0	0	0	0	0
6941	0.62	146.0	597.7	22088.2	590	6945	0.00	2.33	0.00	0.000	6	0.000	0.054	3075	2273	2423	0	0	0	0	0	0
7267	0.62	146.0	556.5	22088.2	620	7271	0.00	2.33	0.00	0.000	4	0.000	0.069	3075	3690	2423	0	0	0	0	0	0
7322	0.62	146.0	548.6	22088.2	624	7330	0.00	2.30	0.00	0.000	6	0.000	0.052	3085	2272	2422	0	0	0	0	0	0
7650	0.62	146.0	505.2	22088.2	655	7651	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	2272	2423	0	0	0	0	0	0
7967	0.62	146.0	462.8	22088.2	685	7971	0.00	2.30	0.00	0.000	4	0.000	0.067	3085	3697	2422	0	0	0	0	0	0
8019	0.62	146.0	455.1	22088.2	689	8024	0.12	2.28	0.00	0.000	6	0.217	0.053	3068	2272	2421	0	0	0	0	0	0
8344	0.62	146.0	414.2	22088.2	719	8348	0.00	2.30	0.00	0.000	4	0.000	0.067	3067	3691	2421	0	0	0	0	0	0
8390	0.62	146.0	407.8	22088.2	723	8394	0.00	2.25	0.00	0.000	6	0.000	0.052	3076	2274	2421	0	0	0	0	0	0
8716	0.62	146.0	364.4	22088.2	753	8717	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2274	2421	0	0	0	0	0	0
9036	0.62	146.0	323.9	22088.2	783	9040	0.00	2.28	0.00	0.000	4	0.000	0.067	3076	3695	2422	0	0	0	0	0	0
9102	0.62	146.0	314.1	22088.2	788	9109	0.00	2.25	0.00	0.000	6	0.000	0.051	3086	2264	2421	0	0	0	0	0	0
9427	0.62	146.0	271.2	22088.2	819	9431	0.00	2.30	0.00	0.000	4	0.000	0.067	3086	3698	2421	0	0	0	0	0	0
9467	0.62	146.0	265.7	22088.2	822	9474	0.12	2.25	0.00	0.000	6	0.216	0.052	3068	2270	2421	0	0	0	0	0	0
9792	0.62	146.0	229.7	22088.2	853	9796	0.00	2.30	0.00	0.000	4	0.000	0.067	3068	3699	2421	0	0	0	0	0	0
9831	0.62	146.0	225.2	22088.2	856	9836	0.00	2.25	0.00	0.000	6	0.000	0.052	3077	2269	2422	0	0	0	0	0	0
10158	0.62	146.0	190.1	22088.2	886	10159	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	2269	2422	0	0	0	0	0	0
10476	0.62	146.0	157.1	22088.2	916	10477	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	2269	2421	0	0	0	0	0	0
10795	0.62	146.0	130.7	22088.2	946	10799	0.00	2.28	0.00	0.000	4	0.000	0.068	3077	3698	2422	0	0	0	0	0	0
10872	0.62	146.0	123.1	22088.2	952	10879	0.00	2.25	0.00	0.000	6	0.000	0.051	3087	2263	2422	0	0	0	0	0	0
11199	0.50	146.0	97.7	11.7	985	11206	0.20	2.22	0.00	0.000	4	0.184	0.065	3041	864	2422	0	0	0	0	0	0
11321	0.64	228.8	89.9	6.2	1006	11405	0.00	2.22	76.93	0.957	6	0.000	0.056	3041	2287	2097	0	0	0	0	0	0
11742	0.81	288.0	62.5	7.3	1080	11802	0.22	2.38	51.67	0.965	4	0.088	0.067	3128	3692	1854	0	0	0	0	0	0
11881	0.73	288.0	43.1	15.7	1104	11889	0.15	2.33	0.00	0.000	6	0.200	0.053	3103	2279	1848	0	0	0	0	0	0
12210	end climb: FINISH_DEPTH_REACHED
state	12210	begin subsurface finish
12216	0.09	71.3	8.6	-9.6	1162	12257	0.68	0.00	-33.35	0.000	6	0.158	0.000	2895	2278	2742	0	0	0	0	0	0
12258	end subsurface finish: CONTROL_FINISHED_OK
state	12258	begin surface