Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 910 * 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 910 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 33 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 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 1 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 -15622.674 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 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 -15622.674

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 33 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 26 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 910 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 040211,203527,6653.845,-5816.570,49,99.0,68,-37.8 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.27 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040211,204619,6653.692,-5816.138,68,2.3,87,-37.7 MHEAD_RNG_PITCHd_Wd 297.0,96683,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 880

Post-dive calculations and measurements:

FREEZE 0.87,-0.970,-1.828,3,1,0 ALTIM_TOP_PING 19.7,18.6

FINISH 0.9,1.026807 ALTIM_BOTTOM_PING 602.5,11.8

SM_CCo 11533,204.45,0.086,0,0,440,609.08 _24V_AH 21.3,101.771

SM_GC 1.21,0.00,0.00,204.45,0.000,0.000,0.086,294,2779,440,-6.80,-0.03,609.08 _10V_AH 9.6,68.800

RAFOS_CLK 624 FG_AHR_24Vo 0.000

RAFOS 3,1296851104,20.433332,20.417778,45,44,43,43,41,40,790,1692,932,1451,1937,1198 FG_AHR_10Vo 0.000

RAFOS_FIX 6658.286621,-5817.503906,040211,161656,2,107,0.76 MEM 151612

IRIDIUM_FIX 6625.71,-5819.97,040211,171749 DATA_FILE_SIZE 33396,952

TT8_MAMPS 0.031458 CAP_FILE_SIZE 129517,0

HUMID 47.99 CFSIZE 260165632,190853120

INTERNAL_PRESSURE 8.4363 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.50 SOUNDSPEED 1452.6

XPDR_PINGS 0 GPS 050211,000355,6652.517,-5816.991,37,1.0,37,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 246 96.54 SBE_CT 662 24 338.66

Roll_motor 98 80 168.53 SBE_O2 0 0 0.00

VBD_pump_during_apogee 357 977 7442.11 nil 0 0 0.00

VBD_pump_during_surface 204 85 373.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 51.80 nil 0 0 0.00

Iridium_during_connect 24 160 83.20 nil 0 0 0.00

Iridium_during_xfer 351 223 1669.15 nil 0 0 0.00

Transponder_ping 2 420 20.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 90 50 43.58

TT8 2327 19 445.19

LPSleep 6826 2 151.39

TT8_Active 697 19 133.37

TT8_Sampling 2128 39 815.67

TT8_CF8 411 45 181.24

TT8_Kalman 0 0 0.00

Analog_circuits 1639 12 188.84

GPS_charging 0 0 0.00

Compass 1666 15 239.92

RAFOS 360 3 10.37

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.57 -146.0 0.0 0.0 0 187 0.00 0.00 -162.45 0.000 6 0.000 0.000 280 2793 3519 0 0 0 0 0 0

191 -0.57 -146.0 4.2 -8.4 29 204 8.50 1.98 0.00 0.000 4 0.246 0.059 2277 3936 3522 0 0 0 0 0 0

393 -0.45 -146.0 49.3 -15.3 64 401 0.17 1.92 0.00 0.000 6 0.174 0.049 2323 2773 3522 0 0 0 0 0 0

744 -0.51 -146.0 79.5 -7.3 125 751 0.00 2.00 0.00 0.000 4 0.000 0.073 2319 3924 3523 0 0 0 0 0 0

771 -0.57 -146.0 82.0 -8.1 129 778 0.00 1.88 0.00 0.000 6 0.000 0.050 2319 2779 3523 0 0 0 0 0 0

1118 -0.64 -146.0 110.4 -7.7 179 1122 0.15 2.33 0.00 0.000 4 0.085 0.051 2248 1366 3523 0 0 0 0 0 0

1168 -0.60 -146.0 116.5 -12.5 183 1176 0.12 2.40 0.00 0.000 6 0.180 0.063 2277 2780 3523 0 0 0 0 0 0

1495 -0.64 -146.0 150.3 -11.0 214 1498 0.00 2.03 0.00 0.000 4 0.000 0.074 2275 3936 3522 0 0 0 0 0 0

1523 -0.67 -146.0 153.7 -10.7 216 1529 0.00 1.90 0.00 0.000 6 0.000 0.048 2274 2777 3522 0 0 0 0 0 0

1849 -0.71 -146.0 187.5 -9.5 247 1853 0.00 2.30 0.00 0.000 4 0.000 0.050 2275 1370 3522 0 0 0 0 0 0

1881 -0.75 -146.0 190.6 -9.7 249 1886 0.12 2.40 0.00 0.000 6 0.093 0.062 2218 2783 3522 0 0 0 0 0 0

2209 -0.68 -146.0 233.8 -13.7 279 2214 0.15 2.03 0.00 0.000 4 0.174 0.072 2252 3928 3522 0 0 0 0 0 0

2242 -0.68 -146.0 238.4 -11.5 281 2249 0.00 1.88 0.00 0.000 6 0.000 0.048 2251 2781 3522 0 0 0 0 0 0

2570 -0.68 -146.0 274.1 -10.7 312 2574 0.00 2.30 0.00 0.000 4 0.000 0.049 2251 1371 3522 0 0 0 0 0 0

2604 -0.68 -146.0 278.0 -10.6 314 2611 0.00 2.40 0.00 0.000 6 0.000 0.062 2248 2785 3522 0 0 0 0 0 0

2930 -0.68 -146.0 313.2 -10.9 345 2931 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2784 3522 0 0 0 0 0 0

3254 -0.68 -146.0 346.4 -9.9 375 3258 0.00 2.33 0.00 0.000 4 0.000 0.050 2247 1370 3523 0 0 0 0 0 0

3286 -0.68 -146.0 350.1 -10.3 377 3291 0.00 2.38 0.00 0.000 6 0.000 0.061 2247 2769 3523 0 0 0 0 0 0

3613 -0.68 -146.0 381.1 -9.5 407 3614 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2769 3523 0 0 0 0 0 0

3938 -0.68 -146.0 412.3 -9.7 430 3942 0.00 2.28 0.00 0.000 4 0.000 0.049 2247 1372 3523 0 0 0 0 0 0

3994 -0.71 -146.0 418.1 -9.9 431 4001 0.00 2.40 0.00 0.000 6 0.000 0.061 2248 2773 3523 0 0 0 0 0 0

4309 -0.71 -146.0 448.5 -10.0 442 4310 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2773 3523 0 0 0 0 0 0

4614 -0.71 -146.0 479.0 -10.0 452 4618 0.00 2.03 0.00 0.000 4 0.000 0.070 2247 3934 3523 0 0 0 0 0 0

4659 -0.73 -146.0 484.0 -10.7 453 4663 0.00 1.92 0.00 0.000 6 0.000 0.047 2247 2757 3523 0 0 0 0 0 0

4990 -0.73 -146.0 516.7 -10.0 464 4994 0.00 2.25 0.00 0.000 4 0.000 0.049 2247 1364 3524 0 0 0 0 0 0

5036 -0.77 -146.0 521.6 -9.5 465 5040 0.00 2.38 0.00 0.000 6 0.000 0.059 2247 2770 3523 0 0 0 0 0 0

5356 -0.77 -146.0 550.3 -8.9 476 5357 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2770 3524 0 0 0 0 0 0

5662 -0.77 -146.0 576.9 -8.5 486 5663 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2770 3524 0 0 0 0 0 0

5967 end dive: BOTTOM_OBSTACLE_DETECTED

state 5967 begin apogee

5974 -0.14 0.0 602.5 8.3 496 6106 0.55 0.00 124.18 0.978 4 0.133 0.000 2421 2602 2923 0 0 0 0 0 0

6107 end apogee: CONTROL_FINISHED_OK

state 6107 begin climb

6110 0.57 146.0 606.5 0.0 500 6249 0.70 2.45 132.12 0.948 4 0.070 0.049 2663 1184 2327 0 0 0 0 0 0

6386 0.57 146.0 583.8 11.4 508 6391 0.00 2.50 0.00 0.000 6 0.000 0.054 2663 2607 2319 0 0 0 0 0 0

6724 0.52 146.0 542.3 12.6 519 6728 0.00 2.30 0.00 0.000 4 0.000 0.051 2665 1181 2316 0 0 0 0 0 0

6948 0.52 146.0 515.4 11.7 525 6955 0.00 2.35 0.00 0.000 6 0.000 0.054 2665 2602 2315 0 0 0 0 0 0

7263 0.47 146.0 477.9 11.9 536 7268 0.15 2.25 0.00 0.000 4 0.194 0.066 2626 3926 2314 0 0 0 0 0 0

7302 0.45 146.0 473.0 11.5 537 7306 0.00 2.17 0.00 0.000 6 0.000 0.044 2627 2589 2313 0 0 0 0 0 0

7639 0.48 163.4 441.8 9.2 548 7658 0.00 2.35 14.07 0.846 4 0.000 0.067 2626 3950 2256 0 0 0 0 0 0

7693 0.48 163.4 435.7 11.2 549 7698 0.00 2.20 0.00 0.000 6 0.000 0.044 2628 2601 2253 0 0 0 0 0 0

8008 0.52 186.3 406.2 8.9 559 8033 0.00 2.28 20.62 0.838 4 0.000 0.050 2628 1195 2165 0 0 0 0 0 0

8080 0.63 220.8 400.0 8.4 560 8117 0.15 2.30 31.45 0.833 6 0.089 0.054 2693 2594 2022 0 0 0 0 0 0

8439 0.59 220.8 351.6 13.7 592 8443 0.00 2.25 0.00 0.000 4 0.000 0.066 2693 3925 2014 0 0 0 0 0 0

8495 0.51 220.8 342.4 16.5 596 8502 0.20 2.15 0.00 0.000 6 0.177 0.044 2640 2599 2012 0 0 0 0 0 0

8821 0.57 220.8 309.6 10.2 627 8825 0.00 2.28 0.00 0.000 4 0.000 0.051 2640 1184 2012 0 0 0 0 0 0

8872 0.68 244.8 304.5 8.9 631 8901 0.15 2.33 20.40 0.782 6 0.090 0.054 2702 2593 1924 0 0 0 0 0 0

9221 0.65 244.8 253.9 14.4 664 9225 0.00 2.25 0.00 0.000 4 0.000 0.066 2702 3925 1918 0 0 0 0 0 0

9254 0.57 244.8 248.1 16.8 666 9262 0.17 2.17 0.00 0.000 6 0.181 0.044 2660 2588 1917 0 0 0 0 0 0

9581 0.62 244.8 211.6 11.6 697 9582 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2588 1917 0 0 0 0 0 0

9903 0.67 244.8 175.2 10.9 727 9909 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2588 1916 0 0 0 0 0 0

10233 0.73 244.8 140.9 10.1 758 10238 0.15 2.33 0.00 0.000 4 0.095 0.067 2722 3925 1916 0 0 0 0 0 0

10285 0.63 244.8 132.6 17.2 762 10290 0.17 2.20 0.00 0.000 6 0.185 0.044 2679 2582 1914 0 0 0 0 0 0

10614 0.66 244.8 93.8 11.3 796 10620 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2581 1915 0 0 0 0 0 0

10961 0.71 261.9 58.8 9.2 857 10980 0.00 2.38 14.52 0.661 4 0.000 0.067 2680 3925 1855 0 0 0 0 0 0

11070 0.73 261.9 47.1 11.1 875 11076 0.00 2.20 0.00 0.000 6 0.000 0.044 2680 2576 1852 0 0 0 0 0 0

11419 0.78 261.9 12.1 10.6 936 11426 0.12 2.25 0.00 0.000 4 0.106 0.052 2732 1194 1851 0 0 0 0 0 0

11461 0.78 261.9 6.5 13.4 943 11468 0.00 2.30 0.00 0.000 6 0.000 0.054 2732 2582 1851 0 0 0 0 0 0

11488 end climb: SURFACE_DEPTH_REACHED

state 11489 begin surface coast

11514 end surface coast: CONTROL_FINISHED_OK

state 11514 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	910	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	33	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	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	1	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	-15622.674	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	040211,203527,6653.845,-5816.570,49,99.0,68,-37.8	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.27	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040211,204619,6653.692,-5816.138,68,2.3,87,-37.7	MHEAD_RNG_PITCHd_Wd	297.0,96683,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	880

FREEZE	0.87,-0.970,-1.828,3,1,0	ALTIM_TOP_PING	19.7,18.6
FINISH	0.9,1.026807	ALTIM_BOTTOM_PING	602.5,11.8
SM_CCo	11533,204.45,0.086,0,0,440,609.08	_24V_AH	21.3,101.771
SM_GC	1.21,0.00,0.00,204.45,0.000,0.000,0.086,294,2779,440,-6.80,-0.03,609.08	_10V_AH	9.6,68.800
RAFOS_CLK	624	FG_AHR_24Vo	0.000
RAFOS	3,1296851104,20.433332,20.417778,45,44,43,43,41,40,790,1692,932,1451,1937,1198	FG_AHR_10Vo	0.000
RAFOS_FIX	6658.286621,-5817.503906,040211,161656,2,107,0.76	MEM	151612
IRIDIUM_FIX	6625.71,-5819.97,040211,171749	DATA_FILE_SIZE	33396,952
TT8_MAMPS	0.031458	CAP_FILE_SIZE	129517,0
HUMID	47.99	CFSIZE	260165632,190853120
INTERNAL_PRESSURE	8.4363	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.50	SOUNDSPEED	1452.6
XPDR_PINGS	0	GPS	050211,000355,6652.517,-5816.991,37,1.0,37,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	246	96.54	SBE_CT	662	24	338.66
Roll_motor	98	80	168.53	SBE_O2	0	0	0.00
VBD_pump_during_apogee	357	977	7442.11	nil	0	0	0.00
VBD_pump_during_surface	204	85	373.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	51.80	nil	0	0	0.00
Iridium_during_connect	24	160	83.20	nil	0	0	0.00
Iridium_during_xfer	351	223	1669.15	nil	0	0	0.00
Transponder_ping	2	420	20.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	90	50	43.58
TT8	2327	19	445.19
LPSleep	6826	2	151.39
TT8_Active	697	19	133.37
TT8_Sampling	2128	39	815.67
TT8_CF8	411	45	181.24
TT8_Kalman	0	0	0.00
Analog_circuits	1639	12	188.84
GPS_charging	0	0	0.00
Compass	1666	15	239.92
RAFOS	360	3	10.37
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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.57	-146.0	0.0	0.0	0	187	0.00	0.00	-162.45	0.000	6	0.000	0.000	280	2793	3519	0	0	0	0	0	0
191	-0.57	-146.0	4.2	-8.4	29	204	8.50	1.98	0.00	0.000	4	0.246	0.059	2277	3936	3522	0	0	0	0	0	0
393	-0.45	-146.0	49.3	-15.3	64	401	0.17	1.92	0.00	0.000	6	0.174	0.049	2323	2773	3522	0	0	0	0	0	0
744	-0.51	-146.0	79.5	-7.3	125	751	0.00	2.00	0.00	0.000	4	0.000	0.073	2319	3924	3523	0	0	0	0	0	0
771	-0.57	-146.0	82.0	-8.1	129	778	0.00	1.88	0.00	0.000	6	0.000	0.050	2319	2779	3523	0	0	0	0	0	0
1118	-0.64	-146.0	110.4	-7.7	179	1122	0.15	2.33	0.00	0.000	4	0.085	0.051	2248	1366	3523	0	0	0	0	0	0
1168	-0.60	-146.0	116.5	-12.5	183	1176	0.12	2.40	0.00	0.000	6	0.180	0.063	2277	2780	3523	0	0	0	0	0	0
1495	-0.64	-146.0	150.3	-11.0	214	1498	0.00	2.03	0.00	0.000	4	0.000	0.074	2275	3936	3522	0	0	0	0	0	0
1523	-0.67	-146.0	153.7	-10.7	216	1529	0.00	1.90	0.00	0.000	6	0.000	0.048	2274	2777	3522	0	0	0	0	0	0
1849	-0.71	-146.0	187.5	-9.5	247	1853	0.00	2.30	0.00	0.000	4	0.000	0.050	2275	1370	3522	0	0	0	0	0	0
1881	-0.75	-146.0	190.6	-9.7	249	1886	0.12	2.40	0.00	0.000	6	0.093	0.062	2218	2783	3522	0	0	0	0	0	0
2209	-0.68	-146.0	233.8	-13.7	279	2214	0.15	2.03	0.00	0.000	4	0.174	0.072	2252	3928	3522	0	0	0	0	0	0
2242	-0.68	-146.0	238.4	-11.5	281	2249	0.00	1.88	0.00	0.000	6	0.000	0.048	2251	2781	3522	0	0	0	0	0	0
2570	-0.68	-146.0	274.1	-10.7	312	2574	0.00	2.30	0.00	0.000	4	0.000	0.049	2251	1371	3522	0	0	0	0	0	0
2604	-0.68	-146.0	278.0	-10.6	314	2611	0.00	2.40	0.00	0.000	6	0.000	0.062	2248	2785	3522	0	0	0	0	0	0
2930	-0.68	-146.0	313.2	-10.9	345	2931	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2784	3522	0	0	0	0	0	0
3254	-0.68	-146.0	346.4	-9.9	375	3258	0.00	2.33	0.00	0.000	4	0.000	0.050	2247	1370	3523	0	0	0	0	0	0
3286	-0.68	-146.0	350.1	-10.3	377	3291	0.00	2.38	0.00	0.000	6	0.000	0.061	2247	2769	3523	0	0	0	0	0	0
3613	-0.68	-146.0	381.1	-9.5	407	3614	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2769	3523	0	0	0	0	0	0
3938	-0.68	-146.0	412.3	-9.7	430	3942	0.00	2.28	0.00	0.000	4	0.000	0.049	2247	1372	3523	0	0	0	0	0	0
3994	-0.71	-146.0	418.1	-9.9	431	4001	0.00	2.40	0.00	0.000	6	0.000	0.061	2248	2773	3523	0	0	0	0	0	0
4309	-0.71	-146.0	448.5	-10.0	442	4310	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2773	3523	0	0	0	0	0	0
4614	-0.71	-146.0	479.0	-10.0	452	4618	0.00	2.03	0.00	0.000	4	0.000	0.070	2247	3934	3523	0	0	0	0	0	0
4659	-0.73	-146.0	484.0	-10.7	453	4663	0.00	1.92	0.00	0.000	6	0.000	0.047	2247	2757	3523	0	0	0	0	0	0
4990	-0.73	-146.0	516.7	-10.0	464	4994	0.00	2.25	0.00	0.000	4	0.000	0.049	2247	1364	3524	0	0	0	0	0	0
5036	-0.77	-146.0	521.6	-9.5	465	5040	0.00	2.38	0.00	0.000	6	0.000	0.059	2247	2770	3523	0	0	0	0	0	0
5356	-0.77	-146.0	550.3	-8.9	476	5357	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2770	3524	0	0	0	0	0	0
5662	-0.77	-146.0	576.9	-8.5	486	5663	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2770	3524	0	0	0	0	0	0
5967	end dive: BOTTOM_OBSTACLE_DETECTED
state	5967	begin apogee
5974	-0.14	0.0	602.5	8.3	496	6106	0.55	0.00	124.18	0.978	4	0.133	0.000	2421	2602	2923	0	0	0	0	0	0
6107	end apogee: CONTROL_FINISHED_OK
state	6107	begin climb
6110	0.57	146.0	606.5	0.0	500	6249	0.70	2.45	132.12	0.948	4	0.070	0.049	2663	1184	2327	0	0	0	0	0	0
6386	0.57	146.0	583.8	11.4	508	6391	0.00	2.50	0.00	0.000	6	0.000	0.054	2663	2607	2319	0	0	0	0	0	0
6724	0.52	146.0	542.3	12.6	519	6728	0.00	2.30	0.00	0.000	4	0.000	0.051	2665	1181	2316	0	0	0	0	0	0
6948	0.52	146.0	515.4	11.7	525	6955	0.00	2.35	0.00	0.000	6	0.000	0.054	2665	2602	2315	0	0	0	0	0	0
7263	0.47	146.0	477.9	11.9	536	7268	0.15	2.25	0.00	0.000	4	0.194	0.066	2626	3926	2314	0	0	0	0	0	0
7302	0.45	146.0	473.0	11.5	537	7306	0.00	2.17	0.00	0.000	6	0.000	0.044	2627	2589	2313	0	0	0	0	0	0
7639	0.48	163.4	441.8	9.2	548	7658	0.00	2.35	14.07	0.846	4	0.000	0.067	2626	3950	2256	0	0	0	0	0	0
7693	0.48	163.4	435.7	11.2	549	7698	0.00	2.20	0.00	0.000	6	0.000	0.044	2628	2601	2253	0	0	0	0	0	0
8008	0.52	186.3	406.2	8.9	559	8033	0.00	2.28	20.62	0.838	4	0.000	0.050	2628	1195	2165	0	0	0	0	0	0
8080	0.63	220.8	400.0	8.4	560	8117	0.15	2.30	31.45	0.833	6	0.089	0.054	2693	2594	2022	0	0	0	0	0	0
8439	0.59	220.8	351.6	13.7	592	8443	0.00	2.25	0.00	0.000	4	0.000	0.066	2693	3925	2014	0	0	0	0	0	0
8495	0.51	220.8	342.4	16.5	596	8502	0.20	2.15	0.00	0.000	6	0.177	0.044	2640	2599	2012	0	0	0	0	0	0
8821	0.57	220.8	309.6	10.2	627	8825	0.00	2.28	0.00	0.000	4	0.000	0.051	2640	1184	2012	0	0	0	0	0	0
8872	0.68	244.8	304.5	8.9	631	8901	0.15	2.33	20.40	0.782	6	0.090	0.054	2702	2593	1924	0	0	0	0	0	0
9221	0.65	244.8	253.9	14.4	664	9225	0.00	2.25	0.00	0.000	4	0.000	0.066	2702	3925	1918	0	0	0	0	0	0
9254	0.57	244.8	248.1	16.8	666	9262	0.17	2.17	0.00	0.000	6	0.181	0.044	2660	2588	1917	0	0	0	0	0	0
9581	0.62	244.8	211.6	11.6	697	9582	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2588	1917	0	0	0	0	0	0
9903	0.67	244.8	175.2	10.9	727	9909	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2588	1916	0	0	0	0	0	0
10233	0.73	244.8	140.9	10.1	758	10238	0.15	2.33	0.00	0.000	4	0.095	0.067	2722	3925	1916	0	0	0	0	0	0
10285	0.63	244.8	132.6	17.2	762	10290	0.17	2.20	0.00	0.000	6	0.185	0.044	2679	2582	1914	0	0	0	0	0	0
10614	0.66	244.8	93.8	11.3	796	10620	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2581	1915	0	0	0	0	0	0
10961	0.71	261.9	58.8	9.2	857	10980	0.00	2.38	14.52	0.661	4	0.000	0.067	2680	3925	1855	0	0	0	0	0	0
11070	0.73	261.9	47.1	11.1	875	11076	0.00	2.20	0.00	0.000	6	0.000	0.044	2680	2576	1852	0	0	0	0	0	0
11419	0.78	261.9	12.1	10.6	936	11426	0.12	2.25	0.00	0.000	4	0.106	0.052	2732	1194	1851	0	0	0	0	0	0
11461	0.78	261.9	6.5	13.4	943	11468	0.00	2.30	0.00	0.000	6	0.000	0.054	2732	2582	1851	0	0	0	0	0	0
11488	end climb: SURFACE_DEPTH_REACHED
state	11489	begin surface coast
11514	end surface coast: CONTROL_FINISHED_OK
state	11514	begin surface