Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 217 * 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 217 ESCAPE_HEADING 120 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 33 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 -3 T_GPS_CHARGE -30532.186 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 120 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 -30532.186

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 -3

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 33 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 217 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 250311,204800,6718.357,-5805.202,0,2106.5,0,-38.2 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 33.01 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 1.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250311,204800,6718.357,-5805.202,0,2106.5,0,-38.2 MHEAD_RNG_PITCHd_Wd 155.2,62587,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 952

Post-dive calculations and measurements:

FREEZE 8.60,-1.680,-1.833,3,92,0 ALTIM_BOTTOM_PING 600.9,26.6

FINISH1 8.6,1.026816,34 _24V_AH 22.7,31.621

FINISH2 7.2 _10V_AH 10.2,17.430

RAFOS_CLK 623 FG_AHR_24Vo 0.000

RAFOS 0,1301097661,0.033333,0.016944,61,58,53,51,50,50,197,218,620,119,178,206 FG_AHR_10Vo 0.000

RAFOS_FIX 6720.367676,-5801.220703,260311,000022,3,126,0.33 MEM 150556

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 DATA_FILE_SIZE 46742,1148

TT8_MAMPS 0.026215 CAP_FILE_SIZE 132148,0

HUMID 44.92 CFSIZE 260165632,237092864

INTERNAL_PRESSURE 8.7308 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 SOUNDSPEED 1460.3

XPDR_PINGS 0 GPS 260311,004322,6720.368,-5801.221,0,3125.7,0,-38.2

ALTIM_TOP_PING 20.0,16.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 229 25.79 SBE_CT 815 24 444.38

Roll_motor 108 71 174.94 SBE_O2 874 19 377.07

VBD_pump_during_apogee 373 1295 10986.70 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 21.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2810 19 571.02

LPSleep 6361 2 149.89

TT8_Active 444 19 90.29

TT8_Sampling 1875 39 763.74

TT8_CF8 172 45 80.90

TT8_Kalman 0 0 0.00

Analog_circuits 1441 12 176.43

GPS_charging 0 0 0.00

Compass 1858 15 284.36

RAFOS 2520 1 38.56

Transponder 17 30 5.42

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -6.50 0.000 2 0.000 0.000 2886 870 3426 0 0 0 0 0 0

26 -0.62 -146.0 34.2 -0.0 1 40 0.65 4.90 -2.42 0.000 4 0.139 0.063 2672 3906 3632 0 0 0 0 0 0

120 -0.58 -146.0 44.9 -13.0 17 127 0.00 2.20 0.00 0.000 6 0.000 0.041 2672 2480 3634 0 0 0 0 0 0

465 -0.49 -146.0 99.2 -17.0 78 472 0.12 2.30 0.00 0.000 4 0.230 0.068 2700 3897 3633 0 0 0 0 0 0

483 -0.43 -146.0 102.3 -15.8 80 490 0.00 2.17 0.00 0.000 6 0.000 0.041 2700 2479 3634 0 0 0 0 0 0

811 -0.43 -146.0 140.4 -11.4 111 812 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2479 3633 0 0 0 0 0 0

1129 -0.45 -146.0 174.4 -10.0 141 1133 0.00 2.17 0.00 0.000 4 0.000 0.059 2700 1082 3632 0 0 0 0 0 0

1158 -0.48 -146.0 177.4 -10.0 143 1162 0.00 2.20 0.00 0.000 6 0.000 0.054 2700 2487 3632 0 0 0 0 0 0

1483 -0.51 -146.0 206.7 -8.4 173 1484 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2487 3631 0 0 0 0 0 0

1803 -0.56 -146.0 232.2 -8.2 203 1807 0.00 2.28 0.00 0.000 4 0.000 0.070 2700 3906 3631 0 0 0 0 0 0

1859 -0.64 -146.0 237.0 -8.5 207 1866 0.15 2.17 0.00 0.000 6 0.120 0.041 2650 2477 3631 0 0 0 0 0 0

2184 -0.57 -146.0 278.0 -13.0 238 2185 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2477 3630 0 0 0 0 0 0

2503 -0.50 -146.0 318.7 -13.0 268 2507 0.20 2.15 0.00 0.000 4 0.208 0.054 2700 1089 3631 0 0 0 0 0 0

2535 -0.53 -146.0 322.4 -10.0 270 2542 0.00 2.20 0.00 0.000 6 0.000 0.052 2700 2500 3631 0 0 0 0 0 0

2861 -0.59 -146.0 348.4 -8.1 301 2862 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2500 3631 0 0 0 0 0 0

3181 -0.65 -146.0 373.5 -7.7 331 3186 0.15 2.25 0.00 0.000 4 0.121 0.070 2648 3899 3631 0 0 0 0 0 0

3202 -0.65 -146.0 375.9 -9.8 332 3209 0.00 2.15 0.00 0.000 6 0.000 0.041 2649 2490 3631 0 0 0 0 0 0

3528 -0.58 -146.0 414.9 -12.0 363 3529 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2489 3632 0 0 0 0 0 0

3849 -0.51 -146.0 450.7 -11.0 393 3853 0.17 2.20 0.00 0.000 4 0.210 0.055 2691 1080 3632 0 0 0 0 0 0

3870 -0.49 -146.0 453.2 -10.1 394 3877 0.00 2.22 0.00 0.000 6 0.000 0.054 2691 2501 3632 0 0 0 0 0 0

4196 -0.53 -146.0 476.9 -7.4 425 4197 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2501 3633 0 0 0 0 0 0

4518 -0.59 -146.0 500.2 -7.3 455 4522 0.00 2.28 0.00 0.000 4 0.000 0.071 2691 3906 3632 0 0 0 0 0 0

4559 -0.67 -146.0 503.6 -7.7 458 4564 0.12 2.17 0.00 0.000 6 0.125 0.041 2649 2487 3632 0 0 0 0 0 0

4884 -0.61 -146.0 538.2 -10.9 488 4885 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2487 3632 0 0 0 0 0 0

5206 -0.54 -146.0 572.2 -10.9 518 5211 0.15 2.30 0.00 0.000 4 0.208 0.068 2684 3899 3632 0 0 0 0 0 0

5216 -0.49 -146.0 573.7 -11.0 518 5223 0.00 2.12 0.00 0.000 6 0.000 0.039 2684 2487 3632 0 0 0 0 0 0

5543 -0.53 -146.0 598.6 -7.7 549 5547 0.00 2.25 0.00 0.000 4 0.000 0.066 2684 3899 3632 0 0 0 0 0 0

5553 -0.58 -146.0 599.6 -7.6 549 5560 0.00 2.15 0.00 0.000 6 0.000 0.039 2684 2489 3632 0 0 0 0 0 0

5721 end dive: BOTTOM_OBSTACLE_DETECTED

state 5722 begin apogee

5727 -0.12 0.0 612.6 7.5 556 5854 0.43 0.00 121.47 1.295 6 0.181 0.000 2812 2250 3030 0 0 0 0 0 0

5855 end apogee: CONTROL_FINISHED_OK

state 5855 begin climb

5857 0.62 146.0 615.3 0.0 560 5989 0.77 0.00 125.90 1.245 6 0.132 0.000 3051 2249 2434 0 0 0 0 0 0

6299 0.54 146.0 567.5 12.3 590 6303 0.00 2.40 0.00 0.000 4 0.000 0.060 3051 3690 2425 0 0 0 0 0 0

6365 0.40 146.0 557.7 15.0 595 6373 0.25 2.28 0.00 0.000 6 0.192 0.046 2999 2297 2424 0 0 0 0 0 0

6690 0.42 162.3 525.6 9.2 626 6714 0.00 2.38 13.68 1.112 4 0.000 0.062 3007 871 2367 0 0 0 0 0 0

6753 0.45 163.5 519.3 9.9 631 6760 0.00 2.28 0.00 0.000 6 0.000 0.048 3007 2287 2366 0 0 0 0 0 0

7079 0.45 163.5 486.2 10.1 662 7083 0.00 2.25 0.00 0.000 4 0.000 0.062 3007 3694 2365 0 0 0 0 0 0

7175 0.41 163.5 474.7 12.2 670 7179 0.00 2.25 0.00 0.000 6 0.000 0.047 3017 2275 2364 0 0 0 0 0 0

7502 0.41 163.5 439.3 10.7 700 7506 0.00 2.28 0.00 0.000 4 0.000 0.061 3028 868 2364 0 0 0 0 0 0

7553 0.41 163.5 433.6 10.9 704 7558 0.12 2.22 0.00 0.000 6 0.189 0.048 2999 2279 2364 0 0 0 0 0 0

7879 0.48 193.8 404.3 8.6 734 7913 0.00 2.35 27.90 1.133 4 0.000 0.063 2999 3682 2239 0 0 0 0 0 0

7963 0.50 193.8 396.1 10.3 741 7970 0.00 2.25 0.00 0.000 6 0.000 0.047 3006 2265 2238 0 0 0 0 0 0

8289 0.55 199.0 365.9 9.8 772 8302 0.10 2.22 5.82 0.886 4 0.122 0.060 3060 868 2217 0 0 0 0 0 0

8353 0.52 199.0 358.0 12.7 777 8360 0.00 2.25 0.00 0.000 6 0.000 0.048 3060 2284 2216 0 0 0 0 0 0

8679 0.46 199.0 316.2 12.3 808 8683 0.17 2.25 0.00 0.000 4 0.181 0.063 3013 3692 2215 0 0 0 0 0 0

8756 0.46 199.0 307.5 11.1 814 8763 0.00 2.25 0.00 0.000 6 0.000 0.048 3021 2280 2214 0 0 0 0 0 0

9083 0.46 199.0 275.2 10.1 845 9087 0.00 2.25 0.00 0.000 4 0.000 0.063 3030 867 2214 0 0 0 0 0 0

9149 0.49 199.0 268.3 10.7 850 9156 0.00 2.22 0.00 0.000 6 0.000 0.048 3030 2281 2213 0 0 0 0 0 0

9476 0.49 199.0 234.1 11.0 881 9480 0.00 2.25 0.00 0.000 4 0.000 0.063 3029 3694 2213 0 0 0 0 0 0

9543 0.46 199.0 225.3 13.0 886 9550 0.00 2.22 0.00 0.000 6 0.000 0.049 3040 2266 2213 0 0 0 0 0 0

9870 0.43 199.0 184.6 11.7 917 9875 0.15 2.22 0.00 0.000 4 0.184 0.062 3010 863 2213 0 0 0 0 0 0

9937 0.53 216.8 177.9 9.2 922 9958 0.00 2.22 15.68 0.983 6 0.000 0.048 3010 2283 2147 0 0 0 0 0 0

10284 0.61 232.6 147.2 9.3 955 10308 0.15 2.25 15.38 0.954 4 0.098 0.063 3073 3684 2080 0 0 0 0 0 0

10389 0.53 232.6 132.2 15.8 964 10395 0.17 2.22 0.00 0.000 6 0.187 0.048 3038 2273 2079 0 0 0 0 0 0

10716 0.54 237.6 97.3 9.8 996 10729 0.00 2.28 5.45 0.743 4 0.000 0.063 3042 858 2061 0 0 0 0 0 0

10775 0.60 237.6 91.6 10.0 1006 10782 0.00 2.25 0.00 0.000 6 0.000 0.047 3042 2283 2060 0 0 0 0 0 0

11122 0.72 284.7 60.4 7.8 1067 11171 0.15 2.35 42.42 0.932 4 0.098 0.060 3106 3685 1869 0 0 0 0 0 0

11218 0.65 284.7 48.2 15.4 1083 11226 0.17 2.25 0.00 0.000 6 0.190 0.047 3073 2273 1865 0 0 0 0 0 0

11547 end climb: FINISH_DEPTH_REACHED

state 11547 begin subsurface finish

11553 0.04 33.5 8.6 -8.6 1141 11596 0.57 2.25 -35.15 0.000 4 0.129 0.070 2883 865 2895 0 0 0 0 0 0

11597 end subsurface finish: CONTROL_FINISHED_OK

state 11597 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	217	ESCAPE_HEADING	120	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	33	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	-3	T_GPS_CHARGE	-30532.186	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	250311,204800,6718.357,-5805.202,0,2106.5,0,-38.2	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	33.01	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	1.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250311,204800,6718.357,-5805.202,0,2106.5,0,-38.2	MHEAD_RNG_PITCHd_Wd	155.2,62587,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	952

FREEZE	8.60,-1.680,-1.833,3,92,0	ALTIM_BOTTOM_PING	600.9,26.6
FINISH1	8.6,1.026816,34	_24V_AH	22.7,31.621
FINISH2	7.2	_10V_AH	10.2,17.430
RAFOS_CLK	623	FG_AHR_24Vo	0.000
RAFOS	0,1301097661,0.033333,0.016944,61,58,53,51,50,50,197,218,620,119,178,206	FG_AHR_10Vo	0.000
RAFOS_FIX	6720.367676,-5801.220703,260311,000022,3,126,0.33	MEM	150556
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	DATA_FILE_SIZE	46742,1148
TT8_MAMPS	0.026215	CAP_FILE_SIZE	132148,0
HUMID	44.92	CFSIZE	260165632,237092864
INTERNAL_PRESSURE	8.7308	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	SOUNDSPEED	1460.3
XPDR_PINGS	0	GPS	260311,004322,6720.368,-5801.221,0,3125.7,0,-38.2
ALTIM_TOP_PING	20.0,16.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	229	25.79	SBE_CT	815	24	444.38
Roll_motor	108	71	174.94	SBE_O2	874	19	377.07
VBD_pump_during_apogee	373	1295	10986.70	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	21.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2810	19	571.02
LPSleep	6361	2	149.89
TT8_Active	444	19	90.29
TT8_Sampling	1875	39	763.74
TT8_CF8	172	45	80.90
TT8_Kalman	0	0	0.00
Analog_circuits	1441	12	176.43
GPS_charging	0	0	0.00
Compass	1858	15	284.36
RAFOS	2520	1	38.56
Transponder	17	30	5.42

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-6.50	0.000	2	0.000	0.000	2886	870	3426	0	0	0	0	0	0
26	-0.62	-146.0	34.2	-0.0	1	40	0.65	4.90	-2.42	0.000	4	0.139	0.063	2672	3906	3632	0	0	0	0	0	0
120	-0.58	-146.0	44.9	-13.0	17	127	0.00	2.20	0.00	0.000	6	0.000	0.041	2672	2480	3634	0	0	0	0	0	0
465	-0.49	-146.0	99.2	-17.0	78	472	0.12	2.30	0.00	0.000	4	0.230	0.068	2700	3897	3633	0	0	0	0	0	0
483	-0.43	-146.0	102.3	-15.8	80	490	0.00	2.17	0.00	0.000	6	0.000	0.041	2700	2479	3634	0	0	0	0	0	0
811	-0.43	-146.0	140.4	-11.4	111	812	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2479	3633	0	0	0	0	0	0
1129	-0.45	-146.0	174.4	-10.0	141	1133	0.00	2.17	0.00	0.000	4	0.000	0.059	2700	1082	3632	0	0	0	0	0	0
1158	-0.48	-146.0	177.4	-10.0	143	1162	0.00	2.20	0.00	0.000	6	0.000	0.054	2700	2487	3632	0	0	0	0	0	0
1483	-0.51	-146.0	206.7	-8.4	173	1484	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2487	3631	0	0	0	0	0	0
1803	-0.56	-146.0	232.2	-8.2	203	1807	0.00	2.28	0.00	0.000	4	0.000	0.070	2700	3906	3631	0	0	0	0	0	0
1859	-0.64	-146.0	237.0	-8.5	207	1866	0.15	2.17	0.00	0.000	6	0.120	0.041	2650	2477	3631	0	0	0	0	0	0
2184	-0.57	-146.0	278.0	-13.0	238	2185	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2477	3630	0	0	0	0	0	0
2503	-0.50	-146.0	318.7	-13.0	268	2507	0.20	2.15	0.00	0.000	4	0.208	0.054	2700	1089	3631	0	0	0	0	0	0
2535	-0.53	-146.0	322.4	-10.0	270	2542	0.00	2.20	0.00	0.000	6	0.000	0.052	2700	2500	3631	0	0	0	0	0	0
2861	-0.59	-146.0	348.4	-8.1	301	2862	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2500	3631	0	0	0	0	0	0
3181	-0.65	-146.0	373.5	-7.7	331	3186	0.15	2.25	0.00	0.000	4	0.121	0.070	2648	3899	3631	0	0	0	0	0	0
3202	-0.65	-146.0	375.9	-9.8	332	3209	0.00	2.15	0.00	0.000	6	0.000	0.041	2649	2490	3631	0	0	0	0	0	0
3528	-0.58	-146.0	414.9	-12.0	363	3529	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2489	3632	0	0	0	0	0	0
3849	-0.51	-146.0	450.7	-11.0	393	3853	0.17	2.20	0.00	0.000	4	0.210	0.055	2691	1080	3632	0	0	0	0	0	0
3870	-0.49	-146.0	453.2	-10.1	394	3877	0.00	2.22	0.00	0.000	6	0.000	0.054	2691	2501	3632	0	0	0	0	0	0
4196	-0.53	-146.0	476.9	-7.4	425	4197	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2501	3633	0	0	0	0	0	0
4518	-0.59	-146.0	500.2	-7.3	455	4522	0.00	2.28	0.00	0.000	4	0.000	0.071	2691	3906	3632	0	0	0	0	0	0
4559	-0.67	-146.0	503.6	-7.7	458	4564	0.12	2.17	0.00	0.000	6	0.125	0.041	2649	2487	3632	0	0	0	0	0	0
4884	-0.61	-146.0	538.2	-10.9	488	4885	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2487	3632	0	0	0	0	0	0
5206	-0.54	-146.0	572.2	-10.9	518	5211	0.15	2.30	0.00	0.000	4	0.208	0.068	2684	3899	3632	0	0	0	0	0	0
5216	-0.49	-146.0	573.7	-11.0	518	5223	0.00	2.12	0.00	0.000	6	0.000	0.039	2684	2487	3632	0	0	0	0	0	0
5543	-0.53	-146.0	598.6	-7.7	549	5547	0.00	2.25	0.00	0.000	4	0.000	0.066	2684	3899	3632	0	0	0	0	0	0
5553	-0.58	-146.0	599.6	-7.6	549	5560	0.00	2.15	0.00	0.000	6	0.000	0.039	2684	2489	3632	0	0	0	0	0	0
5721	end dive: BOTTOM_OBSTACLE_DETECTED
state	5722	begin apogee
5727	-0.12	0.0	612.6	7.5	556	5854	0.43	0.00	121.47	1.295	6	0.181	0.000	2812	2250	3030	0	0	0	0	0	0
5855	end apogee: CONTROL_FINISHED_OK
state	5855	begin climb
5857	0.62	146.0	615.3	0.0	560	5989	0.77	0.00	125.90	1.245	6	0.132	0.000	3051	2249	2434	0	0	0	0	0	0
6299	0.54	146.0	567.5	12.3	590	6303	0.00	2.40	0.00	0.000	4	0.000	0.060	3051	3690	2425	0	0	0	0	0	0
6365	0.40	146.0	557.7	15.0	595	6373	0.25	2.28	0.00	0.000	6	0.192	0.046	2999	2297	2424	0	0	0	0	0	0
6690	0.42	162.3	525.6	9.2	626	6714	0.00	2.38	13.68	1.112	4	0.000	0.062	3007	871	2367	0	0	0	0	0	0
6753	0.45	163.5	519.3	9.9	631	6760	0.00	2.28	0.00	0.000	6	0.000	0.048	3007	2287	2366	0	0	0	0	0	0
7079	0.45	163.5	486.2	10.1	662	7083	0.00	2.25	0.00	0.000	4	0.000	0.062	3007	3694	2365	0	0	0	0	0	0
7175	0.41	163.5	474.7	12.2	670	7179	0.00	2.25	0.00	0.000	6	0.000	0.047	3017	2275	2364	0	0	0	0	0	0
7502	0.41	163.5	439.3	10.7	700	7506	0.00	2.28	0.00	0.000	4	0.000	0.061	3028	868	2364	0	0	0	0	0	0
7553	0.41	163.5	433.6	10.9	704	7558	0.12	2.22	0.00	0.000	6	0.189	0.048	2999	2279	2364	0	0	0	0	0	0
7879	0.48	193.8	404.3	8.6	734	7913	0.00	2.35	27.90	1.133	4	0.000	0.063	2999	3682	2239	0	0	0	0	0	0
7963	0.50	193.8	396.1	10.3	741	7970	0.00	2.25	0.00	0.000	6	0.000	0.047	3006	2265	2238	0	0	0	0	0	0
8289	0.55	199.0	365.9	9.8	772	8302	0.10	2.22	5.82	0.886	4	0.122	0.060	3060	868	2217	0	0	0	0	0	0
8353	0.52	199.0	358.0	12.7	777	8360	0.00	2.25	0.00	0.000	6	0.000	0.048	3060	2284	2216	0	0	0	0	0	0
8679	0.46	199.0	316.2	12.3	808	8683	0.17	2.25	0.00	0.000	4	0.181	0.063	3013	3692	2215	0	0	0	0	0	0
8756	0.46	199.0	307.5	11.1	814	8763	0.00	2.25	0.00	0.000	6	0.000	0.048	3021	2280	2214	0	0	0	0	0	0
9083	0.46	199.0	275.2	10.1	845	9087	0.00	2.25	0.00	0.000	4	0.000	0.063	3030	867	2214	0	0	0	0	0	0
9149	0.49	199.0	268.3	10.7	850	9156	0.00	2.22	0.00	0.000	6	0.000	0.048	3030	2281	2213	0	0	0	0	0	0
9476	0.49	199.0	234.1	11.0	881	9480	0.00	2.25	0.00	0.000	4	0.000	0.063	3029	3694	2213	0	0	0	0	0	0
9543	0.46	199.0	225.3	13.0	886	9550	0.00	2.22	0.00	0.000	6	0.000	0.049	3040	2266	2213	0	0	0	0	0	0
9870	0.43	199.0	184.6	11.7	917	9875	0.15	2.22	0.00	0.000	4	0.184	0.062	3010	863	2213	0	0	0	0	0	0
9937	0.53	216.8	177.9	9.2	922	9958	0.00	2.22	15.68	0.983	6	0.000	0.048	3010	2283	2147	0	0	0	0	0	0
10284	0.61	232.6	147.2	9.3	955	10308	0.15	2.25	15.38	0.954	4	0.098	0.063	3073	3684	2080	0	0	0	0	0	0
10389	0.53	232.6	132.2	15.8	964	10395	0.17	2.22	0.00	0.000	6	0.187	0.048	3038	2273	2079	0	0	0	0	0	0
10716	0.54	237.6	97.3	9.8	996	10729	0.00	2.28	5.45	0.743	4	0.000	0.063	3042	858	2061	0	0	0	0	0	0
10775	0.60	237.6	91.6	10.0	1006	10782	0.00	2.25	0.00	0.000	6	0.000	0.047	3042	2283	2060	0	0	0	0	0	0
11122	0.72	284.7	60.4	7.8	1067	11171	0.15	2.35	42.42	0.932	4	0.098	0.060	3106	3685	1869	0	0	0	0	0	0
11218	0.65	284.7	48.2	15.4	1083	11226	0.17	2.25	0.00	0.000	6	0.190	0.047	3073	2273	1865	0	0	0	0	0	0
11547	end climb: FINISH_DEPTH_REACHED
state	11547	begin subsurface finish
11553	0.04	33.5	8.6	-8.6	1141	11596	0.57	2.25	-35.15	0.000	4	0.129	0.070	2883	865	2895	0	0	0	0	0	0
11597	end subsurface finish: CONTROL_FINISHED_OK
state	11597	begin surface