Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 126 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 502 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 3 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 126 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2650 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 10 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7715 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 750 TGT_DEFAULT_LON 16530 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 200 SM_CC 400 R_PORT_OVSHOOT 38 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 420 DEVICE1 2

SURFACE_URGENCY 2 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 2 UPLOAD_DIVES_MAX 5 C_VBD 2961 DEVICE3 86

SURFACE_URGENCY_FORCE 2 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 250 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 320 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 2 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 -1 T_GPS_CHARGE -26259.959 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.025 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 -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 450 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3944 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3065 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043373196

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -70.546913 SEABIRD_T_H 0.00062598457

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011650941 SEABIRD_T_I 2.5066851e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.8555498e-06

MASS 51763 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7998753

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1362277

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00070417771

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014171835

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 2

ALTIM_FREQUENCY 13 D_TGT 750 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 2

ALTIM_PING_DELTA 50 ESCAPE_HEADING 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 2

ALTIM_PING_DEPTH 250 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3944 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 3 FG_AHR_24V 0 PITCH_MIN 450 TGT_DEFAULT_LAT -7715

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON 16530

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 10 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011650941 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -70.546913 T_DIVE 250

CALL_TRIES 3 HD_A 0.003 PROTOCOL 0 T_GPS 2

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 -26259.959

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 320

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.025 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 502 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_PITCH 3065 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2650 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -1

C_VBD 2961 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51763 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 150 R_PORT_OVSHOOT 38 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 23 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.7998753 VBD_MIN 420

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1362277 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00070417771 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 126 NAV_MODE 0 SEABIRD_C_J 0.00014171835 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043373196 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.00062598457 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.5066851e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.8555498e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 031210,211806,-7723.354,16505.316,34,1.1,40,144.2 TGT_NAME SOUND1

_CALLS 2 TGT_LATLONG -7728.000,16520.000

_XMS_NAKs 6 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 031210,212833,-7723.282,16504.719,13,1.7,32,144.2 MHEAD_RNG_PITCHd_Wd 0.7,10680,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 488

Post-dive calculations and measurements:

FREEZE 1.29,-2.066,-1.267,2,1,0 ALTIM_BOTTOM_PING 450.4,33.0

FINISH 1.3,1.018703 _24V_AH 21.3,32.175

SM_CCo 6276,131.70,0.773,1,0,1329,400.08 _10V_AH 9.9,18.627

SM_GC 1.98,0.00,0.00,131.70,0.000,0.000,0.773,418,2655,1329,-8.27,0.14,400.08 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7603.11,15716.93,031210,212141 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 275960

HUMID 50.55 DATA_FILE_SIZE 47053,681

INTERNAL_PRESSURE 8.7308 CAP_FILE_SIZE 102643,0

TCM_TEMP 14.10 CFSIZE 260165632,245858304

XPDR_PINGS 1 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_TOP_PING 19.8,18.3 GPS 031210,231655,-7723.958,16505.855,12,1.4,29,144.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 214 85.39 SBE_CT 477 24 244.27

Roll_motor 90 128 248.91 AA4330 821 33 577.67

VBD_pump_during_apogee 273 1100 6401.83 WL_BBFL2VMT 798 105 1786.83

VBD_pump_during_surface 131 772 2167.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 60 103 132.52 nil 0 0 0.00

Iridium_during_connect 114 160 391.35 nil 0 0 0.00

Iridium_during_xfer 274 223 1305.12 nil 0 0 0.00

Transponder_ping 2 420 17.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 16.53

TT8 1647 19 322.94

LPSleep 2633 2 57.09

TT8_Active 561 19 110.10

TT8_Sampling 2090 39 823.68

TT8_CF8 116 45 52.95

TT8_Kalman 0 0 0.00

Analog_circuits 1282 12 152.35

GPS_charging 0 0 0.00

Compass 1145 15 170.07

RAFOS 0 0 0.00

Transponder 14 30 4.16

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 -0.76 -146.0 0.0 0.0 0 103 0.00 0.00 -85.93 0.000 2 0.000 0.000 419 2656 2879 0 0 0 0 0 0

106 -0.76 -146.0 3.0 -2.6 13 153 9.15 2.30 -29.35 0.000 4 0.215 0.064 2810 1236 3560 0 0 0 0 0 0

251 -0.76 -146.0 26.0 -21.1 38 259 0.00 2.35 0.00 0.000 6 0.000 0.058 2801 2649 3563 0 0 0 0 0 0

391 -0.76 -146.0 52.5 -20.1 63 398 0.00 1.83 0.00 0.000 4 0.000 0.065 2793 3763 3563 0 0 0 0 0 0

427 -0.76 -146.0 59.7 -20.3 69 434 0.00 1.77 0.00 0.000 6 0.000 0.044 2793 2632 3563 0 0 0 0 0 0

565 -0.76 -146.0 78.4 -15.7 94 573 0.00 1.90 0.00 0.000 4 0.000 0.067 2784 3762 3563 0 0 0 0 0 0

612 -0.76 -146.0 88.2 -22.0 102 620 0.08 1.75 0.00 0.000 6 0.162 0.044 2808 2666 3563 0 0 0 0 0 0

756 -0.76 -146.0 113.8 -17.6 121 757 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2666 3563 0 0 0 0 0 0

883 -0.76 -146.0 140.3 -23.5 133 884 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2666 3563 0 0 0 0 0 0

1011 -0.76 -146.0 166.8 -20.3 145 1012 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2666 3563 0 0 0 0 0 0

1138 -0.76 -146.0 189.7 -18.2 157 1142 0.00 2.25 0.00 0.000 4 0.000 0.053 2808 1231 3563 0 0 0 0 0 0

1191 -0.76 -146.0 198.9 -14.7 161 1201 0.00 2.33 0.00 0.000 6 0.000 0.058 2799 2641 3563 0 0 0 0 0 0

1329 -0.76 -146.0 221.7 -17.4 174 1332 0.00 1.80 0.00 0.000 4 0.000 0.064 2790 3767 3564 0 0 0 0 0 0

1365 -0.76 -146.0 229.8 -20.8 177 1374 0.00 1.77 0.00 0.000 6 0.000 0.045 2790 2645 3563 0 0 0 0 0 0

1500 -0.76 -146.0 253.5 -17.0 190 1504 0.00 2.20 0.00 0.000 4 0.000 0.054 2790 1243 3563 0 0 0 0 0 0

1528 -0.76 -146.0 257.8 -14.5 192 1532 0.12 2.30 0.00 0.000 6 0.177 0.059 2813 2653 3563 0 0 0 0 0 0

1725 -0.76 -146.0 291.5 -18.0 210 1728 0.00 1.77 0.00 0.000 4 0.000 0.063 2806 3768 3563 0 0 0 0 0 0

1770 -0.76 -146.0 298.7 -14.2 214 1773 0.00 1.75 0.00 0.000 6 0.000 0.044 2806 2636 3563 0 0 0 0 0 0

1973 -0.76 -146.0 329.7 -16.1 233 1976 0.00 1.83 0.00 0.000 4 0.000 0.066 2798 3761 3563 0 0 0 0 0 0

1999 -0.76 -146.0 333.8 -13.8 235 2007 0.00 1.73 0.00 0.000 6 0.000 0.043 2798 2672 3563 0 0 0 0 0 0

2197 -0.76 -146.0 366.2 -19.2 254 2198 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2671 3563 0 0 0 0 0 0

2390 -0.76 -146.0 396.7 -15.7 272 2394 0.00 1.77 0.00 0.000 4 0.000 0.064 2790 3767 3563 0 0 0 0 0 0

2417 -0.76 -146.0 401.7 -16.8 274 2425 0.00 1.75 0.00 0.000 6 0.000 0.044 2790 2662 3563 0 0 0 0 0 0

2616 -0.76 -146.0 432.2 -15.6 293 2617 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2662 3563 0 0 0 0 0 0

2806 -0.76 -146.0 461.7 -15.0 311 2810 0.00 1.80 0.00 0.000 4 0.000 0.065 2782 3773 3563 0 0 0 0 0 0

2844 -0.76 -146.0 468.1 -16.4 314 2852 0.10 1.75 0.00 0.000 6 0.151 0.044 2815 2672 3563 0 0 0 0 0 0

2862 end dive: BOTTOM_OBSTACLE_DETECTED

state 2862 begin apogee

2866 -0.17 0.0 470.4 15.6 316 3003 0.57 0.00 130.95 1.101 4 0.131 0.000 3003 2494 2961 0 0 0 0 0 0

3003 end apogee: CONTROL_FINISHED_OK

state 3003 begin climb

3005 0.76 146.0 475.7 0.0 328 3159 0.95 2.53 142.07 1.028 4 0.076 0.051 3306 1103 2363 0 0 0 0 0 0

3242 0.76 146.0 454.1 11.8 349 3250 0.00 2.47 0.00 0.000 6 0.000 0.054 3306 2493 2353 0 0 0 0 0 0

3440 0.76 146.0 429.3 12.6 368 3445 0.00 2.30 0.00 0.000 4 0.000 0.052 3316 1099 2349 0 0 0 0 0 0

3585 0.76 146.0 410.4 12.9 380 3593 0.00 2.38 0.00 0.000 6 0.000 0.054 3316 2534 2346 0 0 0 0 0 0

3783 0.76 146.0 380.8 15.8 399 3787 0.00 1.98 0.00 0.000 4 0.000 0.062 3316 3761 2345 0 0 0 0 0 0

3888 0.76 146.0 361.3 18.7 408 3896 0.00 1.98 0.00 0.000 6 0.000 0.042 3325 2530 2345 0 0 0 0 0 0

4087 0.76 146.0 327.2 16.7 427 4091 0.00 2.00 0.00 0.000 4 0.000 0.061 3325 3767 2344 0 0 0 0 0 0

4147 0.76 146.0 315.8 18.8 432 4155 0.00 1.98 0.00 0.000 6 0.000 0.042 3335 2525 2343 0 0 0 0 0 0

4345 0.76 146.0 283.0 16.0 451 4349 0.00 2.00 0.00 0.000 4 0.000 0.060 3335 3762 2343 0 0 0 0 0 0

4379 0.76 146.0 277.0 19.2 454 4384 0.10 1.95 0.00 0.000 6 0.148 0.042 3312 2541 2342 0 0 0 0 0 0

4583 0.76 146.0 247.4 13.8 473 4587 0.00 1.98 0.00 0.000 4 0.000 0.061 3312 3761 2342 0 0 0 0 0 0

4619 0.76 146.0 241.5 15.4 476 4629 0.00 1.92 0.00 0.000 6 0.000 0.044 3320 2553 2342 0 0 0 0 0 0

4756 0.76 146.0 223.0 13.6 489 4759 0.00 1.95 0.00 0.000 4 0.000 0.061 3320 3761 2341 0 0 0 0 0 0

4791 0.76 146.0 217.8 15.0 492 4795 0.00 1.88 0.00 0.000 6 0.000 0.044 3328 2556 2341 0 0 0 0 0 0

4932 0.76 146.0 197.7 14.2 505 4933 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2555 2341 0 0 0 0 0 0

5059 0.76 146.0 180.4 13.5 517 5062 0.00 1.95 0.00 0.000 4 0.000 0.060 3328 3768 2341 0 0 0 0 0 0

5105 0.76 146.0 172.7 15.3 521 5115 0.00 1.90 0.00 0.000 6 0.000 0.042 3337 2568 2341 0 0 0 0 0 0

5243 0.76 146.0 152.4 15.5 534 5247 0.00 1.92 0.00 0.000 4 0.000 0.063 3337 3761 2341 0 0 0 0 0 0

5266 0.76 146.0 148.4 15.4 536 5271 0.12 1.83 0.00 0.000 6 0.176 0.043 3314 2577 2341 0 0 0 0 0 0

5407 0.76 146.0 129.0 13.1 549 5411 0.00 1.90 0.00 0.000 4 0.000 0.060 3314 3761 2341 0 0 0 0 0 0

5423 0.76 146.0 126.5 13.1 550 5431 0.00 1.88 0.00 0.000 6 0.000 0.044 3321 2579 2340 0 0 0 0 0 0

5558 0.76 146.0 109.3 13.5 563 5559 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 2578 2340 0 0 0 0 0 0

5684 0.76 146.0 91.8 13.1 580 5692 0.00 1.95 0.00 0.000 4 0.000 0.061 3322 3762 2340 0 0 0 0 0 0

5716 0.76 146.0 87.2 15.1 585 5723 0.00 1.83 0.00 0.000 6 0.000 0.043 3330 2588 2340 0 0 0 0 0 0

5853 0.76 146.0 66.9 15.2 610 5861 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 2587 2340 0 0 0 0 0 0

5993 0.76 146.0 46.5 16.2 635 6000 0.00 1.92 0.00 0.000 4 0.000 0.063 3330 3769 2340 0 0 0 0 0 0

6022 0.76 146.0 41.3 18.3 640 6030 0.00 1.85 0.00 0.000 6 0.000 0.043 3339 2602 2340 0 0 0 0 0 0

6164 0.76 146.0 17.9 16.8 665 6170 0.00 1.88 0.00 0.000 4 0.000 0.060 3339 3762 2340 0 0 0 0 0 0

6193 0.76 146.0 11.4 19.9 670 6202 0.10 1.83 0.00 0.000 6 0.156 0.045 3316 2616 2340 0 0 0 0 0 0

6249 end climb: SURFACE_DEPTH_REACHED

state 6249 begin surface coast

6262 end surface coast: FINISH_DEPTH_REACHED

state 6262 begin surface

ID	502	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	126	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2650	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	10	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7715	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	750	TGT_DEFAULT_LON	16530	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	200	SM_CC	400	R_PORT_OVSHOOT	38	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	420	DEVICE1	2
SURFACE_URGENCY	2	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	2	UPLOAD_DIVES_MAX	5	C_VBD	2961	DEVICE3	86
SURFACE_URGENCY_FORCE	2	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	250	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	320	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	2	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	-1	T_GPS_CHARGE	-26259.959	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.025	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	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	450	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3944	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3065	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043373196
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-70.546913	SEABIRD_T_H	0.00062598457
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011650941	SEABIRD_T_I	2.5066851e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.8555498e-06
MASS	51763	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7998753
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1362277
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00070417771
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014171835
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	031210,211806,-7723.354,16505.316,34,1.1,40,144.2	TGT_NAME	SOUND1
_CALLS	2	TGT_LATLONG	-7728.000,16520.000
_XMS_NAKs	6	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	031210,212833,-7723.282,16504.719,13,1.7,32,144.2	MHEAD_RNG_PITCHd_Wd	0.7,10680,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	488

FREEZE	1.29,-2.066,-1.267,2,1,0	ALTIM_BOTTOM_PING	450.4,33.0
FINISH	1.3,1.018703	_24V_AH	21.3,32.175
SM_CCo	6276,131.70,0.773,1,0,1329,400.08	_10V_AH	9.9,18.627
SM_GC	1.98,0.00,0.00,131.70,0.000,0.000,0.773,418,2655,1329,-8.27,0.14,400.08	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7603.11,15716.93,031210,212141	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	275960
HUMID	50.55	DATA_FILE_SIZE	47053,681
INTERNAL_PRESSURE	8.7308	CAP_FILE_SIZE	102643,0
TCM_TEMP	14.10	CFSIZE	260165632,245858304
XPDR_PINGS	1	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.8,18.3	GPS	031210,231655,-7723.958,16505.855,12,1.4,29,144.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	214	85.39	SBE_CT	477	24	244.27
Roll_motor	90	128	248.91	AA4330	821	33	577.67
VBD_pump_during_apogee	273	1100	6401.83	WL_BBFL2VMT	798	105	1786.83
VBD_pump_during_surface	131	772	2167.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	60	103	132.52	nil	0	0	0.00
Iridium_during_connect	114	160	391.35	nil	0	0	0.00
Iridium_during_xfer	274	223	1305.12	nil	0	0	0.00
Transponder_ping	2	420	17.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	16.53
TT8	1647	19	322.94
LPSleep	2633	2	57.09
TT8_Active	561	19	110.10
TT8_Sampling	2090	39	823.68
TT8_CF8	116	45	52.95
TT8_Kalman	0	0	0.00
Analog_circuits	1282	12	152.35
GPS_charging	0	0	0.00
Compass	1145	15	170.07
RAFOS	0	0	0.00
Transponder	14	30	4.16

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	-0.76	-146.0	0.0	0.0	0	103	0.00	0.00	-85.93	0.000	2	0.000	0.000	419	2656	2879	0	0	0	0	0	0
106	-0.76	-146.0	3.0	-2.6	13	153	9.15	2.30	-29.35	0.000	4	0.215	0.064	2810	1236	3560	0	0	0	0	0	0
251	-0.76	-146.0	26.0	-21.1	38	259	0.00	2.35	0.00	0.000	6	0.000	0.058	2801	2649	3563	0	0	0	0	0	0
391	-0.76	-146.0	52.5	-20.1	63	398	0.00	1.83	0.00	0.000	4	0.000	0.065	2793	3763	3563	0	0	0	0	0	0
427	-0.76	-146.0	59.7	-20.3	69	434	0.00	1.77	0.00	0.000	6	0.000	0.044	2793	2632	3563	0	0	0	0	0	0
565	-0.76	-146.0	78.4	-15.7	94	573	0.00	1.90	0.00	0.000	4	0.000	0.067	2784	3762	3563	0	0	0	0	0	0
612	-0.76	-146.0	88.2	-22.0	102	620	0.08	1.75	0.00	0.000	6	0.162	0.044	2808	2666	3563	0	0	0	0	0	0
756	-0.76	-146.0	113.8	-17.6	121	757	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2666	3563	0	0	0	0	0	0
883	-0.76	-146.0	140.3	-23.5	133	884	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2666	3563	0	0	0	0	0	0
1011	-0.76	-146.0	166.8	-20.3	145	1012	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2666	3563	0	0	0	0	0	0
1138	-0.76	-146.0	189.7	-18.2	157	1142	0.00	2.25	0.00	0.000	4	0.000	0.053	2808	1231	3563	0	0	0	0	0	0
1191	-0.76	-146.0	198.9	-14.7	161	1201	0.00	2.33	0.00	0.000	6	0.000	0.058	2799	2641	3563	0	0	0	0	0	0
1329	-0.76	-146.0	221.7	-17.4	174	1332	0.00	1.80	0.00	0.000	4	0.000	0.064	2790	3767	3564	0	0	0	0	0	0
1365	-0.76	-146.0	229.8	-20.8	177	1374	0.00	1.77	0.00	0.000	6	0.000	0.045	2790	2645	3563	0	0	0	0	0	0
1500	-0.76	-146.0	253.5	-17.0	190	1504	0.00	2.20	0.00	0.000	4	0.000	0.054	2790	1243	3563	0	0	0	0	0	0
1528	-0.76	-146.0	257.8	-14.5	192	1532	0.12	2.30	0.00	0.000	6	0.177	0.059	2813	2653	3563	0	0	0	0	0	0
1725	-0.76	-146.0	291.5	-18.0	210	1728	0.00	1.77	0.00	0.000	4	0.000	0.063	2806	3768	3563	0	0	0	0	0	0
1770	-0.76	-146.0	298.7	-14.2	214	1773	0.00	1.75	0.00	0.000	6	0.000	0.044	2806	2636	3563	0	0	0	0	0	0
1973	-0.76	-146.0	329.7	-16.1	233	1976	0.00	1.83	0.00	0.000	4	0.000	0.066	2798	3761	3563	0	0	0	0	0	0
1999	-0.76	-146.0	333.8	-13.8	235	2007	0.00	1.73	0.00	0.000	6	0.000	0.043	2798	2672	3563	0	0	0	0	0	0
2197	-0.76	-146.0	366.2	-19.2	254	2198	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2671	3563	0	0	0	0	0	0
2390	-0.76	-146.0	396.7	-15.7	272	2394	0.00	1.77	0.00	0.000	4	0.000	0.064	2790	3767	3563	0	0	0	0	0	0
2417	-0.76	-146.0	401.7	-16.8	274	2425	0.00	1.75	0.00	0.000	6	0.000	0.044	2790	2662	3563	0	0	0	0	0	0
2616	-0.76	-146.0	432.2	-15.6	293	2617	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2662	3563	0	0	0	0	0	0
2806	-0.76	-146.0	461.7	-15.0	311	2810	0.00	1.80	0.00	0.000	4	0.000	0.065	2782	3773	3563	0	0	0	0	0	0
2844	-0.76	-146.0	468.1	-16.4	314	2852	0.10	1.75	0.00	0.000	6	0.151	0.044	2815	2672	3563	0	0	0	0	0	0
2862	end dive: BOTTOM_OBSTACLE_DETECTED
state	2862	begin apogee
2866	-0.17	0.0	470.4	15.6	316	3003	0.57	0.00	130.95	1.101	4	0.131	0.000	3003	2494	2961	0	0	0	0	0	0
3003	end apogee: CONTROL_FINISHED_OK
state	3003	begin climb
3005	0.76	146.0	475.7	0.0	328	3159	0.95	2.53	142.07	1.028	4	0.076	0.051	3306	1103	2363	0	0	0	0	0	0
3242	0.76	146.0	454.1	11.8	349	3250	0.00	2.47	0.00	0.000	6	0.000	0.054	3306	2493	2353	0	0	0	0	0	0
3440	0.76	146.0	429.3	12.6	368	3445	0.00	2.30	0.00	0.000	4	0.000	0.052	3316	1099	2349	0	0	0	0	0	0
3585	0.76	146.0	410.4	12.9	380	3593	0.00	2.38	0.00	0.000	6	0.000	0.054	3316	2534	2346	0	0	0	0	0	0
3783	0.76	146.0	380.8	15.8	399	3787	0.00	1.98	0.00	0.000	4	0.000	0.062	3316	3761	2345	0	0	0	0	0	0
3888	0.76	146.0	361.3	18.7	408	3896	0.00	1.98	0.00	0.000	6	0.000	0.042	3325	2530	2345	0	0	0	0	0	0
4087	0.76	146.0	327.2	16.7	427	4091	0.00	2.00	0.00	0.000	4	0.000	0.061	3325	3767	2344	0	0	0	0	0	0
4147	0.76	146.0	315.8	18.8	432	4155	0.00	1.98	0.00	0.000	6	0.000	0.042	3335	2525	2343	0	0	0	0	0	0
4345	0.76	146.0	283.0	16.0	451	4349	0.00	2.00	0.00	0.000	4	0.000	0.060	3335	3762	2343	0	0	0	0	0	0
4379	0.76	146.0	277.0	19.2	454	4384	0.10	1.95	0.00	0.000	6	0.148	0.042	3312	2541	2342	0	0	0	0	0	0
4583	0.76	146.0	247.4	13.8	473	4587	0.00	1.98	0.00	0.000	4	0.000	0.061	3312	3761	2342	0	0	0	0	0	0
4619	0.76	146.0	241.5	15.4	476	4629	0.00	1.92	0.00	0.000	6	0.000	0.044	3320	2553	2342	0	0	0	0	0	0
4756	0.76	146.0	223.0	13.6	489	4759	0.00	1.95	0.00	0.000	4	0.000	0.061	3320	3761	2341	0	0	0	0	0	0
4791	0.76	146.0	217.8	15.0	492	4795	0.00	1.88	0.00	0.000	6	0.000	0.044	3328	2556	2341	0	0	0	0	0	0
4932	0.76	146.0	197.7	14.2	505	4933	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2555	2341	0	0	0	0	0	0
5059	0.76	146.0	180.4	13.5	517	5062	0.00	1.95	0.00	0.000	4	0.000	0.060	3328	3768	2341	0	0	0	0	0	0
5105	0.76	146.0	172.7	15.3	521	5115	0.00	1.90	0.00	0.000	6	0.000	0.042	3337	2568	2341	0	0	0	0	0	0
5243	0.76	146.0	152.4	15.5	534	5247	0.00	1.92	0.00	0.000	4	0.000	0.063	3337	3761	2341	0	0	0	0	0	0
5266	0.76	146.0	148.4	15.4	536	5271	0.12	1.83	0.00	0.000	6	0.176	0.043	3314	2577	2341	0	0	0	0	0	0
5407	0.76	146.0	129.0	13.1	549	5411	0.00	1.90	0.00	0.000	4	0.000	0.060	3314	3761	2341	0	0	0	0	0	0
5423	0.76	146.0	126.5	13.1	550	5431	0.00	1.88	0.00	0.000	6	0.000	0.044	3321	2579	2340	0	0	0	0	0	0
5558	0.76	146.0	109.3	13.5	563	5559	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	2578	2340	0	0	0	0	0	0
5684	0.76	146.0	91.8	13.1	580	5692	0.00	1.95	0.00	0.000	4	0.000	0.061	3322	3762	2340	0	0	0	0	0	0
5716	0.76	146.0	87.2	15.1	585	5723	0.00	1.83	0.00	0.000	6	0.000	0.043	3330	2588	2340	0	0	0	0	0	0
5853	0.76	146.0	66.9	15.2	610	5861	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	2587	2340	0	0	0	0	0	0
5993	0.76	146.0	46.5	16.2	635	6000	0.00	1.92	0.00	0.000	4	0.000	0.063	3330	3769	2340	0	0	0	0	0	0
6022	0.76	146.0	41.3	18.3	640	6030	0.00	1.85	0.00	0.000	6	0.000	0.043	3339	2602	2340	0	0	0	0	0	0
6164	0.76	146.0	17.9	16.8	665	6170	0.00	1.88	0.00	0.000	4	0.000	0.060	3339	3762	2340	0	0	0	0	0	0
6193	0.76	146.0	11.4	19.9	670	6202	0.10	1.83	0.00	0.000	6	0.156	0.045	3316	2616	2340	0	0	0	0	0	0
6249	end climb: SURFACE_DEPTH_REACHED
state	6249	begin surface coast
6262	end surface coast: FINISH_DEPTH_REACHED
state	6262	begin surface