Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 848 * 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 848 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 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 23 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 -3 T_GPS_CHARGE -13520.367 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 5 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 -13520.367

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 -3

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 34 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 23 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 848 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 280111,134237,6647.396,-5738.764,26,1.1,26,-37.4 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280111,135908,6647.324,-5739.188,15,1.4,15,-37.4 MHEAD_RNG_PITCHd_Wd 89.3,47003,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 649

Post-dive calculations and measurements:

FREEZE 0.87,-0.918,-1.725,3,1,0 ALTIM_TOP_PING 20.0,19.1

FINISH 0.9,1.025343 ALTIM_BOTTOM_PING 601.2,12.0

SM_CCo 11561,212.15,0.083,0,0,440,609.08 _24V_AH 21.4,95.747

SM_GC 1.55,0.00,0.00,212.15,0.000,0.000,0.083,299,2793,440,-6.80,0.37,609.08 _10V_AH 9.6,64.962

RAFOS_CLK 619 FG_AHR_24Vo 0.000

RAFOS 0,1296230464,16.033333,16.017778,52,44,44,43,42,39,1759,1293,508,805,592,183 FG_AHR_10Vo 0.000

RAFOS_FIX 6647.971680,-5742.632324,280111,161656,2,70,0.28 MEM 151672

IRIDIUM_FIX 6609.62,-5524.46,280111,101023 DATA_FILE_SIZE 33365,943

TT8_MAMPS 0.028462 CAP_FILE_SIZE 131648,0

HUMID 47.48 CFSIZE 260165632,194265088

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

TCM_TEMP 15.00 SOUNDSPEED 1455.8

XPDR_PINGS 0 GPS 280111,171731,6647.924,-5735.403,38,1.6,38,-37.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 244 91.42 SBE_CT 655 24 336.72

Roll_motor 98 81 170.15 SBE_O2 0 0 0.00

VBD_pump_during_apogee 345 968 7168.50 nil 0 0 0.00

VBD_pump_during_surface 212 83 378.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 63.97 nil 0 0 0.00

Iridium_during_connect 17 160 59.24 nil 0 0 0.00

Iridium_during_xfer 543 223 2594.83 nil 0 0 0.00

Transponder_ping 2 420 20.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.44

TT8 2346 19 448.65

LPSleep 6881 2 152.61

TT8_Active 699 19 133.83

TT8_Sampling 2202 39 844.18

TT8_CF8 644 45 283.91

TT8_Kalman 0 0 0.00

Analog_circuits 1633 12 188.16

GPS_charging 0 0 0.00

Compass 1656 15 238.49

RAFOS 2520 3 72.58

Transponder 17 30 5.10

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

16 -0.57 -146.0 0.0 0.0 0 175 0.00 0.00 -152.43 0.000 2 0.000 0.000 265 2781 3504 0 0 0 0 0 0

178 -0.57 -146.0 5.7 -14.0 27 193 8.55 2.03 -0.30 0.000 4 0.245 0.081 2277 3933 3521 0 0 0 0 0 0

364 -0.57 -146.0 43.4 -11.7 59 371 0.00 1.90 0.00 0.000 6 0.000 0.051 2277 2776 3523 0 0 0 0 0 0

712 -0.57 -146.0 80.1 -8.6 120 718 0.00 2.03 0.00 0.000 4 0.000 0.075 2275 3925 3523 0 0 0 0 0 0

738 -0.57 -146.0 82.6 -8.9 124 745 0.00 1.85 0.00 0.000 6 0.000 0.051 2275 2800 3523 0 0 0 0 0 0

1082 -0.57 -146.0 115.2 -9.5 171 1086 0.00 2.33 0.00 0.000 4 0.000 0.052 2274 1367 3522 0 0 0 0 0 0

1127 -0.61 -146.0 119.7 -9.4 174 1133 0.00 2.45 0.00 0.000 6 0.000 0.063 2274 2801 3522 0 0 0 0 0 0

1453 -0.63 -146.0 150.6 -10.5 205 1457 0.00 2.33 0.00 0.000 4 0.000 0.050 2274 1370 3522 0 0 0 0 0 0

1475 -0.66 -146.0 153.0 -10.3 206 1481 0.00 2.40 0.00 0.000 6 0.000 0.063 2274 2777 3522 0 0 0 0 0 0

1801 -0.70 -146.0 187.0 -10.0 237 1802 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2777 3521 0 0 0 0 0 0

2122 -0.73 -146.0 214.3 -8.0 267 2127 0.10 2.33 0.00 0.000 4 0.113 0.050 2227 1364 3521 0 0 0 0 0 0

2175 -0.71 -146.0 219.7 -10.7 271 2179 0.00 2.38 0.00 0.000 6 0.000 0.062 2222 2771 3521 0 0 0 0 0 0

2506 -0.64 -146.0 258.8 -12.3 302 2511 0.15 2.03 0.00 0.000 4 0.172 0.073 2256 3928 3521 0 0 0 0 0 0

2576 -0.67 -146.0 265.9 -9.9 308 2580 0.00 1.90 0.00 0.000 6 0.000 0.049 2257 2766 3521 0 0 0 0 0 0

2908 -0.67 -146.0 297.4 -9.0 339 2909 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2766 3521 0 0 0 0 0 0

3229 -0.67 -146.0 326.1 -8.9 369 3233 0.00 2.28 0.00 0.000 4 0.000 0.050 2256 1368 3522 0 0 0 0 0 0

3275 -0.71 -146.0 330.4 -7.9 372 3281 0.00 2.38 0.00 0.000 6 0.000 0.061 2249 2776 3522 0 0 0 0 0 0

3601 -0.71 -146.0 358.9 -8.5 403 3602 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2776 3522 0 0 0 0 0 0

3923 -0.71 -146.0 387.7 -9.1 433 3929 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2776 3522 0 0 0 0 0 0

4243 -0.71 -146.0 416.8 -9.1 452 4247 0.00 1.98 0.00 0.000 4 0.000 0.073 2247 3927 3523 0 0 0 0 0 0

4271 -0.71 -146.0 419.7 -9.4 452 4278 0.00 1.90 0.00 0.000 6 0.000 0.048 2247 2779 3523 0 0 0 0 0 0

4586 -0.71 -146.0 447.3 -8.7 463 4590 0.00 2.28 0.00 0.000 4 0.000 0.050 2247 1370 3523 0 0 0 0 0 0

4630 -0.73 -146.0 451.5 -8.7 464 4634 0.00 2.40 0.00 0.000 6 0.000 0.061 2247 2778 3523 0 0 0 0 0 0

4955 -0.73 -146.0 478.8 -8.5 475 4959 0.00 2.30 0.00 0.000 4 0.000 0.049 2247 1362 3524 0 0 0 0 0 0

4979 -0.73 -146.0 481.2 -9.6 475 4986 0.00 2.40 0.00 0.000 6 0.000 0.060 2247 2771 3523 0 0 0 0 0 0

5292 -0.73 -146.0 509.0 -9.2 486 5296 0.00 2.03 0.00 0.000 4 0.000 0.072 2247 3920 3523 0 0 0 0 0 0

5320 -0.73 -146.0 511.8 -9.4 486 5327 0.00 1.90 0.00 0.000 6 0.000 0.047 2247 2757 3523 0 0 0 0 0 0

5635 -0.73 -146.0 539.9 -9.0 497 5639 0.00 2.25 0.00 0.000 4 0.000 0.050 2247 1367 3523 0 0 0 0 0 0

5657 -0.73 -146.0 542.3 -9.6 497 5661 0.00 2.38 0.00 0.000 6 0.000 0.060 2247 2765 3523 0 0 0 0 0 0

5971 -0.73 -146.0 570.7 -9.3 507 5974 0.00 2.00 0.00 0.000 4 0.000 0.073 2247 3927 3523 0 0 0 0 0 0

6011 -0.73 -146.0 574.5 -9.8 508 6015 0.00 1.90 0.00 0.000 6 0.000 0.048 2247 2766 3524 0 0 0 0 0 0

6318 end dive: BOTTOM_OBSTACLE_DETECTED

state 6318 begin apogee

6325 -0.14 0.0 601.2 8.7 518 6457 0.55 0.00 124.38 0.968 4 0.135 0.000 2423 2601 2923 0 0 0 0 0 0

6457 end apogee: CONTROL_FINISHED_OK

state 6458 begin climb

6460 0.57 146.0 605.7 0.0 522 6601 0.68 2.42 131.45 0.940 4 0.072 0.050 2658 1180 2326 0 0 0 0 0 0

6770 0.57 146.0 581.6 10.0 531 6777 0.00 2.42 0.00 0.000 6 0.000 0.055 2658 2601 2318 0 0 0 0 0 0

7084 0.53 146.0 545.1 11.7 542 7088 0.00 2.28 0.00 0.000 4 0.000 0.052 2660 1188 2315 0 0 0 0 0 0

7320 0.53 146.0 518.5 11.0 549 7324 0.00 2.35 0.00 0.000 6 0.000 0.056 2660 2606 2315 0 0 0 0 0 0

7651 0.49 146.0 480.0 11.6 560 7655 0.00 2.20 0.00 0.000 4 0.000 0.067 2660 3923 2314 0 0 0 0 0 0

7673 0.42 146.0 477.1 11.8 560 7678 0.20 2.15 0.00 0.000 6 0.189 0.044 2611 2589 2312 0 0 0 0 0 0

7987 0.50 191.9 451.3 7.9 570 8032 0.00 2.38 38.22 0.867 4 0.000 0.051 2611 1182 2140 0 0 0 0 0 0

8064 0.66 250.6 445.4 7.3 572 8122 0.22 2.35 51.83 0.856 6 0.073 0.055 2701 2594 1902 0 0 0 0 0 0

8435 0.61 250.6 388.5 16.1 587 8439 0.00 2.30 0.00 0.000 4 0.000 0.053 2704 1182 1889 0 0 0 0 0 0

8464 0.58 250.6 383.9 14.9 589 8469 0.15 2.30 0.00 0.000 6 0.174 0.055 2665 2579 1888 0 0 0 0 0 0

8791 0.60 250.6 344.0 12.0 619 8793 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2579 1887 0 0 0 0 0 0

9110 0.63 250.6 305.2 12.6 649 9116 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2579 1886 0 0 0 0 0 0

9441 0.66 250.6 265.4 11.7 680 9447 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2579 1886 0 0 0 0 0 0

9767 0.69 250.6 227.0 11.5 711 9772 0.10 2.25 0.00 0.000 4 0.112 0.052 2709 1194 1886 0 0 0 0 0 0

9823 0.69 250.6 219.7 13.4 715 9830 0.00 2.30 0.00 0.000 6 0.000 0.054 2709 2583 1886 0 0 0 0 0 0

10150 0.65 250.6 171.3 14.6 746 10151 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2583 1885 0 0 0 0 0 0

10473 0.61 250.6 126.6 13.6 776 10478 0.12 2.28 0.00 0.000 4 0.190 0.053 2679 1184 1884 0 0 0 0 0 0

10517 0.67 250.6 120.9 10.1 779 10524 0.00 2.28 0.00 0.000 6 0.000 0.055 2679 2575 1885 0 0 0 0 0 0

10852 0.71 250.6 84.4 11.4 822 10859 0.00 2.33 0.00 0.000 4 0.000 0.067 2679 3928 1885 0 0 0 0 0 0

10935 0.71 250.6 73.9 13.3 836 10942 0.00 2.17 0.00 0.000 6 0.000 0.044 2679 2590 1884 0 0 0 0 0 0

11282 0.75 250.6 37.3 11.2 897 11290 0.10 2.30 0.00 0.000 4 0.120 0.068 2724 3928 1884 0 0 0 0 0 0

11371 0.68 250.6 24.0 16.7 912 11377 0.00 2.15 0.00 0.000 6 0.000 0.044 2724 2597 1883 0 0 0 0 0 0

11520 end climb: SURFACE_DEPTH_REACHED

state 11521 begin surface coast

11543 end surface coast: CONTROL_FINISHED_OK

state 11543 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	848	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	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	23	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	-3	T_GPS_CHARGE	-13520.367	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	280111,134237,6647.396,-5738.764,26,1.1,26,-37.4	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280111,135908,6647.324,-5739.188,15,1.4,15,-37.4	MHEAD_RNG_PITCHd_Wd	89.3,47003,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	649

FREEZE	0.87,-0.918,-1.725,3,1,0	ALTIM_TOP_PING	20.0,19.1
FINISH	0.9,1.025343	ALTIM_BOTTOM_PING	601.2,12.0
SM_CCo	11561,212.15,0.083,0,0,440,609.08	_24V_AH	21.4,95.747
SM_GC	1.55,0.00,0.00,212.15,0.000,0.000,0.083,299,2793,440,-6.80,0.37,609.08	_10V_AH	9.6,64.962
RAFOS_CLK	619	FG_AHR_24Vo	0.000
RAFOS	0,1296230464,16.033333,16.017778,52,44,44,43,42,39,1759,1293,508,805,592,183	FG_AHR_10Vo	0.000
RAFOS_FIX	6647.971680,-5742.632324,280111,161656,2,70,0.28	MEM	151672
IRIDIUM_FIX	6609.62,-5524.46,280111,101023	DATA_FILE_SIZE	33365,943
TT8_MAMPS	0.028462	CAP_FILE_SIZE	131648,0
HUMID	47.48	CFSIZE	260165632,194265088
INTERNAL_PRESSURE	8.45583	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.00	SOUNDSPEED	1455.8
XPDR_PINGS	0	GPS	280111,171731,6647.924,-5735.403,38,1.6,38,-37.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	244	91.42	SBE_CT	655	24	336.72
Roll_motor	98	81	170.15	SBE_O2	0	0	0.00
VBD_pump_during_apogee	345	968	7168.50	nil	0	0	0.00
VBD_pump_during_surface	212	83	378.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	63.97	nil	0	0	0.00
Iridium_during_connect	17	160	59.24	nil	0	0	0.00
Iridium_during_xfer	543	223	2594.83	nil	0	0	0.00
Transponder_ping	2	420	20.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.44
TT8	2346	19	448.65
LPSleep	6881	2	152.61
TT8_Active	699	19	133.83
TT8_Sampling	2202	39	844.18
TT8_CF8	644	45	283.91
TT8_Kalman	0	0	0.00
Analog_circuits	1633	12	188.16
GPS_charging	0	0	0.00
Compass	1656	15	238.49
RAFOS	2520	3	72.58
Transponder	17	30	5.10

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
16	-0.57	-146.0	0.0	0.0	0	175	0.00	0.00	-152.43	0.000	2	0.000	0.000	265	2781	3504	0	0	0	0	0	0
178	-0.57	-146.0	5.7	-14.0	27	193	8.55	2.03	-0.30	0.000	4	0.245	0.081	2277	3933	3521	0	0	0	0	0	0
364	-0.57	-146.0	43.4	-11.7	59	371	0.00	1.90	0.00	0.000	6	0.000	0.051	2277	2776	3523	0	0	0	0	0	0
712	-0.57	-146.0	80.1	-8.6	120	718	0.00	2.03	0.00	0.000	4	0.000	0.075	2275	3925	3523	0	0	0	0	0	0
738	-0.57	-146.0	82.6	-8.9	124	745	0.00	1.85	0.00	0.000	6	0.000	0.051	2275	2800	3523	0	0	0	0	0	0
1082	-0.57	-146.0	115.2	-9.5	171	1086	0.00	2.33	0.00	0.000	4	0.000	0.052	2274	1367	3522	0	0	0	0	0	0
1127	-0.61	-146.0	119.7	-9.4	174	1133	0.00	2.45	0.00	0.000	6	0.000	0.063	2274	2801	3522	0	0	0	0	0	0
1453	-0.63	-146.0	150.6	-10.5	205	1457	0.00	2.33	0.00	0.000	4	0.000	0.050	2274	1370	3522	0	0	0	0	0	0
1475	-0.66	-146.0	153.0	-10.3	206	1481	0.00	2.40	0.00	0.000	6	0.000	0.063	2274	2777	3522	0	0	0	0	0	0
1801	-0.70	-146.0	187.0	-10.0	237	1802	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2777	3521	0	0	0	0	0	0
2122	-0.73	-146.0	214.3	-8.0	267	2127	0.10	2.33	0.00	0.000	4	0.113	0.050	2227	1364	3521	0	0	0	0	0	0
2175	-0.71	-146.0	219.7	-10.7	271	2179	0.00	2.38	0.00	0.000	6	0.000	0.062	2222	2771	3521	0	0	0	0	0	0
2506	-0.64	-146.0	258.8	-12.3	302	2511	0.15	2.03	0.00	0.000	4	0.172	0.073	2256	3928	3521	0	0	0	0	0	0
2576	-0.67	-146.0	265.9	-9.9	308	2580	0.00	1.90	0.00	0.000	6	0.000	0.049	2257	2766	3521	0	0	0	0	0	0
2908	-0.67	-146.0	297.4	-9.0	339	2909	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2766	3521	0	0	0	0	0	0
3229	-0.67	-146.0	326.1	-8.9	369	3233	0.00	2.28	0.00	0.000	4	0.000	0.050	2256	1368	3522	0	0	0	0	0	0
3275	-0.71	-146.0	330.4	-7.9	372	3281	0.00	2.38	0.00	0.000	6	0.000	0.061	2249	2776	3522	0	0	0	0	0	0
3601	-0.71	-146.0	358.9	-8.5	403	3602	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2776	3522	0	0	0	0	0	0
3923	-0.71	-146.0	387.7	-9.1	433	3929	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2776	3522	0	0	0	0	0	0
4243	-0.71	-146.0	416.8	-9.1	452	4247	0.00	1.98	0.00	0.000	4	0.000	0.073	2247	3927	3523	0	0	0	0	0	0
4271	-0.71	-146.0	419.7	-9.4	452	4278	0.00	1.90	0.00	0.000	6	0.000	0.048	2247	2779	3523	0	0	0	0	0	0
4586	-0.71	-146.0	447.3	-8.7	463	4590	0.00	2.28	0.00	0.000	4	0.000	0.050	2247	1370	3523	0	0	0	0	0	0
4630	-0.73	-146.0	451.5	-8.7	464	4634	0.00	2.40	0.00	0.000	6	0.000	0.061	2247	2778	3523	0	0	0	0	0	0
4955	-0.73	-146.0	478.8	-8.5	475	4959	0.00	2.30	0.00	0.000	4	0.000	0.049	2247	1362	3524	0	0	0	0	0	0
4979	-0.73	-146.0	481.2	-9.6	475	4986	0.00	2.40	0.00	0.000	6	0.000	0.060	2247	2771	3523	0	0	0	0	0	0
5292	-0.73	-146.0	509.0	-9.2	486	5296	0.00	2.03	0.00	0.000	4	0.000	0.072	2247	3920	3523	0	0	0	0	0	0
5320	-0.73	-146.0	511.8	-9.4	486	5327	0.00	1.90	0.00	0.000	6	0.000	0.047	2247	2757	3523	0	0	0	0	0	0
5635	-0.73	-146.0	539.9	-9.0	497	5639	0.00	2.25	0.00	0.000	4	0.000	0.050	2247	1367	3523	0	0	0	0	0	0
5657	-0.73	-146.0	542.3	-9.6	497	5661	0.00	2.38	0.00	0.000	6	0.000	0.060	2247	2765	3523	0	0	0	0	0	0
5971	-0.73	-146.0	570.7	-9.3	507	5974	0.00	2.00	0.00	0.000	4	0.000	0.073	2247	3927	3523	0	0	0	0	0	0
6011	-0.73	-146.0	574.5	-9.8	508	6015	0.00	1.90	0.00	0.000	6	0.000	0.048	2247	2766	3524	0	0	0	0	0	0
6318	end dive: BOTTOM_OBSTACLE_DETECTED
state	6318	begin apogee
6325	-0.14	0.0	601.2	8.7	518	6457	0.55	0.00	124.38	0.968	4	0.135	0.000	2423	2601	2923	0	0	0	0	0	0
6457	end apogee: CONTROL_FINISHED_OK
state	6458	begin climb
6460	0.57	146.0	605.7	0.0	522	6601	0.68	2.42	131.45	0.940	4	0.072	0.050	2658	1180	2326	0	0	0	0	0	0
6770	0.57	146.0	581.6	10.0	531	6777	0.00	2.42	0.00	0.000	6	0.000	0.055	2658	2601	2318	0	0	0	0	0	0
7084	0.53	146.0	545.1	11.7	542	7088	0.00	2.28	0.00	0.000	4	0.000	0.052	2660	1188	2315	0	0	0	0	0	0
7320	0.53	146.0	518.5	11.0	549	7324	0.00	2.35	0.00	0.000	6	0.000	0.056	2660	2606	2315	0	0	0	0	0	0
7651	0.49	146.0	480.0	11.6	560	7655	0.00	2.20	0.00	0.000	4	0.000	0.067	2660	3923	2314	0	0	0	0	0	0
7673	0.42	146.0	477.1	11.8	560	7678	0.20	2.15	0.00	0.000	6	0.189	0.044	2611	2589	2312	0	0	0	0	0	0
7987	0.50	191.9	451.3	7.9	570	8032	0.00	2.38	38.22	0.867	4	0.000	0.051	2611	1182	2140	0	0	0	0	0	0
8064	0.66	250.6	445.4	7.3	572	8122	0.22	2.35	51.83	0.856	6	0.073	0.055	2701	2594	1902	0	0	0	0	0	0
8435	0.61	250.6	388.5	16.1	587	8439	0.00	2.30	0.00	0.000	4	0.000	0.053	2704	1182	1889	0	0	0	0	0	0
8464	0.58	250.6	383.9	14.9	589	8469	0.15	2.30	0.00	0.000	6	0.174	0.055	2665	2579	1888	0	0	0	0	0	0
8791	0.60	250.6	344.0	12.0	619	8793	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2579	1887	0	0	0	0	0	0
9110	0.63	250.6	305.2	12.6	649	9116	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2579	1886	0	0	0	0	0	0
9441	0.66	250.6	265.4	11.7	680	9447	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2579	1886	0	0	0	0	0	0
9767	0.69	250.6	227.0	11.5	711	9772	0.10	2.25	0.00	0.000	4	0.112	0.052	2709	1194	1886	0	0	0	0	0	0
9823	0.69	250.6	219.7	13.4	715	9830	0.00	2.30	0.00	0.000	6	0.000	0.054	2709	2583	1886	0	0	0	0	0	0
10150	0.65	250.6	171.3	14.6	746	10151	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2583	1885	0	0	0	0	0	0
10473	0.61	250.6	126.6	13.6	776	10478	0.12	2.28	0.00	0.000	4	0.190	0.053	2679	1184	1884	0	0	0	0	0	0
10517	0.67	250.6	120.9	10.1	779	10524	0.00	2.28	0.00	0.000	6	0.000	0.055	2679	2575	1885	0	0	0	0	0	0
10852	0.71	250.6	84.4	11.4	822	10859	0.00	2.33	0.00	0.000	4	0.000	0.067	2679	3928	1885	0	0	0	0	0	0
10935	0.71	250.6	73.9	13.3	836	10942	0.00	2.17	0.00	0.000	6	0.000	0.044	2679	2590	1884	0	0	0	0	0	0
11282	0.75	250.6	37.3	11.2	897	11290	0.10	2.30	0.00	0.000	4	0.120	0.068	2724	3928	1884	0	0	0	0	0	0
11371	0.68	250.6	24.0	16.7	912	11377	0.00	2.15	0.00	0.000	6	0.000	0.044	2724	2597	1883	0	0	0	0	0	0
11520	end climb: SURFACE_DEPTH_REACHED
state	11521	begin surface coast
11543	end surface coast: CONTROL_FINISHED_OK
state	11543	begin surface