Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 312 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 6.0000002e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 312 HEADING -1 ROLL_MIN 300 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3841 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2120 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2150 ALTIM_FREQUENCY 13

D_ABORT 1015 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 360 ALTIM_PULSE 5

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_BOOST 100 SM_CC 290 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 0 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 15 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 20 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 200 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 1 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 370 UPLOAD_DIVES_MAX -1 C_VBD 2772 DEVICE3 -1

T_MISSION 420 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1655.4677 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 AH0_24V 350 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 12 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 12 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 149 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3928 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 50 C_PITCH 2680 PHONE_SUPPLY -2 SEABIRD_T_G 0.0043053469

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -48.048229 SEABIRD_T_H 0.00061871461

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.0001163556 SEABIRD_T_I 2.1533233e-05

MASS 52000 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.1546668e-06

NAV_MODE 2 PITCH_GAIN 13 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8788214

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1391871

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 4 SEABIRD_C_I -0.0018439521

HD_A 0.0043000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022276744

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 0 D_OFFGRID 100 PHONE_DEVICE 49 SIM_W 0

AH0_24V 350 D_PITCH 0 PHONE_SUPPLY -2 SM_CC 290

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FERRY_MAX 45 PITCH_GAIN 13 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FG_AHR_10V 0 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 149 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0.5 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 50 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163556 T_BOOST 0

CALL_TRIES 5 HD_A 0.0043000001 PRESSURE_YINT -48.048229 T_DIVE 370

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 6.0000002e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 360 RAFOS_DEVICE 32 T_GPS_CHARGE -1655.4677

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 420

COMPASS_DEVICE 97 ID 193 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.93000001 ROLL_ADJ_DBAND 1 T_TURN 225

C_PITCH 2680 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2150 LOGGERDEVICE1 -1 ROLL_AD_RATE 20 T_WATCHDOG 10

C_ROLL_DIVE 2120 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2772 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3841 USE_BATHY -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 200 USE_ICE 0

DEVICE1 2 MASS 52000 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 12 R_PORT_OVSHOOT 0 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.8788214 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1391871 VBD_MIN 500

DIVE 312 NAV_MODE 2 SEABIRD_C_I -0.0018439521 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1015 NOCOMM_ACTION 161 SEABIRD_C_J 0.00022276744 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0043053469 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00061871461 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.1533233e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.1546668e-06 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 021112,113122,6635.400,-5949.087,33,1.1,34,-33.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021112,113952,6635.440,-5949.089,5,1.1,5,-33.6 MHEAD_RNG_PITCHd_Wd 74.9,140380,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 699

Post-dive calculations and measurements:

FINISH 2.5,1.023320 _24V_AH 12.4,100.451

SM_CCo 13922,12.27,0.208,0,0,1588,290.19 _10V_AH 12.7,0.000

SM_GC 3.43,8.88,14.85,12.27,0.123,0.077,0.208,139,1953,1588,-11.61,-4.75,290.19,0,0,6,1,0,0,14.57,14.56,14.38 FG_AHR_24Vo 0.000

RAFOS_CLK 620 FG_AHR_10Vo 0.000

RAFOS 0,1351857666,12.033333,12.018333,66,59,59,57,53,53,144,209,1583,170,192,158 MEM 188620

RAFOS_FIX 6650.939941,-5952.415039,021112,121244,3,113,7.53 DATA_FILE_SIZE 50130,1129

IRIDIUM_FIX 6609.62,-5953.18,021112,070720 CAP_FILE_SIZE 102806,32

TT8_MAMPS 0.023219,0.023219 CFSIZE 259252224,229367808

HUMID 46.88 ERRORS 0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0

INTERNAL_PRESSURE 8.67444 SOUNDSPEED 1451.3

TCM_TEMP 12.50 CURRENT 0.220,352.8,1

XPDR_PINGS 5 GPS 021112,153434,6637.224,-5949.331,27,0.9,28,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 445 124.22 SBE_CT 831 23 247.26

Roll_motor 59 77 56.91 SBE_O2 803 3 37.24

VBD_pump_during_apogee 393 2526 12337.86 nil 0 0 0.00

VBD_pump_during_surface 12 208 31.67 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 300 165 616.33 nil 0 0 0.00

Transponder_ping 1 420 6.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 21 1.65

TT8 2780 14 528.19

LPSleep 8594 2 252.13

TT8_Active 578 14 110.00

TT8_Sampling 1896 33 811.23

TT8_CF8 581 38 281.99

TT8_Kalman 0 0 0.00

Analog_circuits 1759 12 268.18

GPS_charging 0 0 0.00

Compass 1662 6 142.33

RAFOS 2520 1 48.01

Transponder 0 5 0.03

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 pitch_volts roll_volts vbd_volts

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

18 -1.50 -136.9 0.0 0.0 0 26 0.00 0.00 -5.55 0.000 2 0.000 0.000 127 1951 1685 0 0 0 0 0 0 28.83 28.83 28.83

32 -1.50 -136.9 3.3 0.0 1 157 11.23 0.00 -106.53 0.000 6 0.445 0.000 2350 1950 3330 0 0 0 0 0 0 14.17 28.83 14.73

472 -1.50 -136.9 57.0 -15.3 82 478 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3331 0 0 0 0 0 0 28.83 28.83 28.83

795 -1.50 -136.9 104.1 -13.4 141 801 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3332 0 0 0 0 0 0 28.83 28.83 28.83

1109 -1.50 -136.9 148.2 -13.6 172 1115 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3332 0 0 0 0 0 0 28.83 28.83 28.83

1420 -1.50 -136.9 191.0 -12.9 203 1426 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3332 0 0 0 0 0 0 28.83 28.83 28.83

1727 -1.50 -136.9 227.7 -12.0 234 1733 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3331 0 0 0 0 0 0 28.83 28.83 28.83

2042 -1.50 -136.9 266.2 -12.6 265 2049 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3330 0 0 0 0 0 0 28.83 28.83 28.83

2349 -1.50 -136.9 303.1 -11.6 296 2355 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3330 0 0 0 0 0 0 28.83 28.83 28.83

2666 -1.50 -136.9 339.6 -11.6 327 2672 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3330 0 0 0 0 0 0 28.83 28.83 28.83

2979 -1.50 -136.9 377.1 -12.0 358 2985 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3330 0 0 0 0 0 0 28.83 28.83 28.83

3306 -1.50 -136.9 413.4 -10.4 383 3307 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3330 0 0 0 0 0 0 28.83 28.83 28.83

3606 -1.50 -136.9 442.8 -9.6 393 3607 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3330 0 0 0 0 0 0 28.83 28.83 28.83

3906 -1.50 -136.9 470.1 -9.3 403 3907 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3331 0 0 0 0 0 0 28.83 28.83 28.83

4206 -1.50 -136.9 499.0 -9.7 413 4207 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3331 0 0 0 0 0 0 28.83 28.83 28.83

4507 -1.50 -136.9 526.2 -8.8 423 4508 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3332 0 0 0 0 0 0 28.83 28.83 28.83

4807 -1.50 -136.9 552.5 -8.8 433 4808 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3332 0 0 0 0 0 0 28.83 28.83 28.83

5106 -1.50 -136.9 579.9 -9.4 443 5107 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3332 0 0 0 0 0 0 28.83 28.83 28.83

5406 -1.50 -136.9 608.8 -9.6 453 5407 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 1949 3332 0 0 0 0 0 0 28.83 28.83 28.83

5706 -1.50 -136.9 638.7 -10.0 463 5707 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3332 0 0 0 0 0 0 28.83 28.83 28.83

6006 -1.50 -136.9 668.6 -9.9 473 6008 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 1950 3333 0 0 0 0 0 0 28.83 28.83 28.83

6306 -1.50 -136.9 697.8 -9.7 483 6307 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 1950 3332 0 0 0 0 0 0 28.83 28.83 28.83

6330 end dive: TARGET_DEPTH_EXCEEDED

state 6330 begin apogee

6357 -0.38 0.0 701.1 -9.9 484 6526 0.88 14.85 141.82 2.527 6 0.262 0.076 2587 1949 2772 0 0 6 1 0 0 14.26 13.68 12.82

6527 end apogee: CONTROL_FINISHED_OK

state 6527 begin climb

6532 1.50 136.9 706.8 0.0 490 6694 1.42 0.00 157.30 2.463 6 0.171 0.000 3002 1950 2214 0 0 0 0 0 0 13.69 28.83 12.40

6997 1.50 136.9 663.1 11.3 506 6998 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2205 0 0 0 0 0 0 28.83 28.83 28.83

7296 1.50 136.9 629.8 10.8 516 7297 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2203 0 0 0 0 0 0 28.83 28.83 28.83

7596 1.50 136.9 597.0 11.2 526 7598 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2202 0 0 0 0 0 0 28.83 28.83 28.83

7896 1.50 136.9 563.1 11.1 536 7897 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2202 0 0 0 0 0 0 28.83 28.83 28.83

8197 1.50 136.9 531.0 10.5 546 8198 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2202 0 0 0 0 0 0 28.83 28.83 28.83

8496 1.50 136.9 499.9 10.5 556 8497 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2201 0 0 0 0 0 0 28.83 28.83 28.83

8796 1.50 136.9 468.5 10.1 566 8797 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2202 0 0 0 0 0 0 28.83 28.83 28.83

9096 1.50 136.9 438.2 10.1 576 9097 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1950 2202 0 0 0 0 0 0 28.83 28.83 28.83

9396 1.50 136.9 408.5 9.6 586 9397 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1950 2202 0 0 0 0 0 0 28.83 28.83 28.83

9696 1.50 136.9 378.5 9.9 610 9702 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2201 0 0 0 0 0 0 28.83 28.83 28.83

10011 1.50 136.9 347.3 10.0 641 10018 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2201 0 0 0 0 0 0 28.83 28.83 28.83

10325 1.50 136.9 315.6 9.6 672 10331 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 1950 2201 0 0 0 0 0 0 28.83 28.83 28.83

10637 1.50 136.9 285.2 9.9 703 10643 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2202 0 0 0 0 0 0 28.83 28.83 28.83

10949 1.50 136.9 254.7 9.8 734 10955 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2201 0 0 0 0 0 0 28.83 28.83 28.83

11263 1.50 136.9 225.0 9.2 765 11269 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2201 0 0 0 0 0 0 28.83 28.83 28.83

11576 1.50 137.8 196.4 8.9 796 11582 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 2201 0 0 0 0 0 0 28.83 28.83 28.83

11887 1.56 183.4 171.5 6.9 827 11939 0.00 0.00 44.50 1.976 6 0.000 0.000 3002 1950 2024 0 0 0 0 0 0 28.83 28.83 13.62

12243 1.57 194.4 142.9 8.4 863 12259 0.00 0.00 11.57 1.837 6 0.000 0.000 3002 1950 1979 0 0 0 0 0 0 28.83 28.83 13.69

12563 1.57 196.1 115.6 8.8 895 12568 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1950 1976 0 0 0 0 0 0 28.83 28.83 28.83

12878 1.59 207.4 88.1 8.4 938 12890 0.10 0.00 7.32 0.461 6 0.180 0.000 3041 1950 1925 0 0 0 0 0 0 14.58 28.83 14.21

13206 1.59 207.4 54.7 9.8 1000 13212 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 1950 1922 0 0 0 0 0 0 28.83 28.83 28.83

13522 1.65 263.5 29.7 6.5 1061 13559 0.00 0.00 31.25 0.278 6 0.000 0.000 3042 1950 1695 0 0 0 0 0 0 28.83 28.83 14.33

13844 end climb: SURFACE_DEPTH_REACHED

state 13844 begin surface coast

13880 end surface coast: CONTROL_FINISHED_OK

state 13880 begin surface

ID	193	HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	6.0000002e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	312	HEADING	-1	ROLL_MIN	300	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3841	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2120	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2150	ALTIM_FREQUENCY	13
D_ABORT	1015	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	360	ALTIM_PULSE	5
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_BOOST	100	SM_CC	290	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	0	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	15	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	20	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	200	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	1	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	370	UPLOAD_DIVES_MAX	-1	C_VBD	2772	DEVICE3	-1
T_MISSION	420	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1655.4677	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	AH0_24V	350	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	12	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	12	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	149	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3928	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	50	C_PITCH	2680	PHONE_SUPPLY	-2	SEABIRD_T_G	0.0043053469
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-48.048229	SEABIRD_T_H	0.00061871461
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.0001163556	SEABIRD_T_I	2.1533233e-05
MASS	52000	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.1546668e-06
NAV_MODE	2	PITCH_GAIN	13	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8788214
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1391871
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	4	SEABIRD_C_I	-0.0018439521
HD_A	0.0043000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022276744

GPS1	021112,113122,6635.400,-5949.087,33,1.1,34,-33.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021112,113952,6635.440,-5949.089,5,1.1,5,-33.6	MHEAD_RNG_PITCHd_Wd	74.9,140380,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	699

FINISH	2.5,1.023320	_24V_AH	12.4,100.451
SM_CCo	13922,12.27,0.208,0,0,1588,290.19	_10V_AH	12.7,0.000
SM_GC	3.43,8.88,14.85,12.27,0.123,0.077,0.208,139,1953,1588,-11.61,-4.75,290.19,0,0,6,1,0,0,14.57,14.56,14.38	FG_AHR_24Vo	0.000
RAFOS_CLK	620	FG_AHR_10Vo	0.000
RAFOS	0,1351857666,12.033333,12.018333,66,59,59,57,53,53,144,209,1583,170,192,158	MEM	188620
RAFOS_FIX	6650.939941,-5952.415039,021112,121244,3,113,7.53	DATA_FILE_SIZE	50130,1129
IRIDIUM_FIX	6609.62,-5953.18,021112,070720	CAP_FILE_SIZE	102806,32
TT8_MAMPS	0.023219,0.023219	CFSIZE	259252224,229367808
HUMID	46.88	ERRORS	0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
INTERNAL_PRESSURE	8.67444	SOUNDSPEED	1451.3
TCM_TEMP	12.50	CURRENT	0.220,352.8,1
XPDR_PINGS	5	GPS	021112,153434,6637.224,-5949.331,27,0.9,28,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	445	124.22	SBE_CT	831	23	247.26
Roll_motor	59	77	56.91	SBE_O2	803	3	37.24
VBD_pump_during_apogee	393	2526	12337.86	nil	0	0	0.00
VBD_pump_during_surface	12	208	31.67	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	300	165	616.33	nil	0	0	0.00
Transponder_ping	1	420	6.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	21	1.65
TT8	2780	14	528.19
LPSleep	8594	2	252.13
TT8_Active	578	14	110.00
TT8_Sampling	1896	33	811.23
TT8_CF8	581	38	281.99
TT8_Kalman	0	0	0.00
Analog_circuits	1759	12	268.18
GPS_charging	0	0	0.00
Compass	1662	6	142.33
RAFOS	2520	1	48.01
Transponder	0	5	0.03

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	pitch_volts	roll_volts	vbd_volts
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
18	-1.50	-136.9	0.0	0.0	0	26	0.00	0.00	-5.55	0.000	2	0.000	0.000	127	1951	1685	0	0	0	0	0	0	28.83	28.83	28.83
32	-1.50	-136.9	3.3	0.0	1	157	11.23	0.00	-106.53	0.000	6	0.445	0.000	2350	1950	3330	0	0	0	0	0	0	14.17	28.83	14.73
472	-1.50	-136.9	57.0	-15.3	82	478	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3331	0	0	0	0	0	0	28.83	28.83	28.83
795	-1.50	-136.9	104.1	-13.4	141	801	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3332	0	0	0	0	0	0	28.83	28.83	28.83
1109	-1.50	-136.9	148.2	-13.6	172	1115	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3332	0	0	0	0	0	0	28.83	28.83	28.83
1420	-1.50	-136.9	191.0	-12.9	203	1426	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3332	0	0	0	0	0	0	28.83	28.83	28.83
1727	-1.50	-136.9	227.7	-12.0	234	1733	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3331	0	0	0	0	0	0	28.83	28.83	28.83
2042	-1.50	-136.9	266.2	-12.6	265	2049	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3330	0	0	0	0	0	0	28.83	28.83	28.83
2349	-1.50	-136.9	303.1	-11.6	296	2355	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3330	0	0	0	0	0	0	28.83	28.83	28.83
2666	-1.50	-136.9	339.6	-11.6	327	2672	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3330	0	0	0	0	0	0	28.83	28.83	28.83
2979	-1.50	-136.9	377.1	-12.0	358	2985	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3330	0	0	0	0	0	0	28.83	28.83	28.83
3306	-1.50	-136.9	413.4	-10.4	383	3307	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3330	0	0	0	0	0	0	28.83	28.83	28.83
3606	-1.50	-136.9	442.8	-9.6	393	3607	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3330	0	0	0	0	0	0	28.83	28.83	28.83
3906	-1.50	-136.9	470.1	-9.3	403	3907	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3331	0	0	0	0	0	0	28.83	28.83	28.83
4206	-1.50	-136.9	499.0	-9.7	413	4207	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3331	0	0	0	0	0	0	28.83	28.83	28.83
4507	-1.50	-136.9	526.2	-8.8	423	4508	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3332	0	0	0	0	0	0	28.83	28.83	28.83
4807	-1.50	-136.9	552.5	-8.8	433	4808	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3332	0	0	0	0	0	0	28.83	28.83	28.83
5106	-1.50	-136.9	579.9	-9.4	443	5107	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3332	0	0	0	0	0	0	28.83	28.83	28.83
5406	-1.50	-136.9	608.8	-9.6	453	5407	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	1949	3332	0	0	0	0	0	0	28.83	28.83	28.83
5706	-1.50	-136.9	638.7	-10.0	463	5707	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3332	0	0	0	0	0	0	28.83	28.83	28.83
6006	-1.50	-136.9	668.6	-9.9	473	6008	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	1950	3333	0	0	0	0	0	0	28.83	28.83	28.83
6306	-1.50	-136.9	697.8	-9.7	483	6307	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	1950	3332	0	0	0	0	0	0	28.83	28.83	28.83
6330	end dive: TARGET_DEPTH_EXCEEDED
state	6330	begin apogee
6357	-0.38	0.0	701.1	-9.9	484	6526	0.88	14.85	141.82	2.527	6	0.262	0.076	2587	1949	2772	0	0	6	1	0	0	14.26	13.68	12.82
6527	end apogee: CONTROL_FINISHED_OK
state	6527	begin climb
6532	1.50	136.9	706.8	0.0	490	6694	1.42	0.00	157.30	2.463	6	0.171	0.000	3002	1950	2214	0	0	0	0	0	0	13.69	28.83	12.40
6997	1.50	136.9	663.1	11.3	506	6998	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2205	0	0	0	0	0	0	28.83	28.83	28.83
7296	1.50	136.9	629.8	10.8	516	7297	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2203	0	0	0	0	0	0	28.83	28.83	28.83
7596	1.50	136.9	597.0	11.2	526	7598	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2202	0	0	0	0	0	0	28.83	28.83	28.83
7896	1.50	136.9	563.1	11.1	536	7897	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2202	0	0	0	0	0	0	28.83	28.83	28.83
8197	1.50	136.9	531.0	10.5	546	8198	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2202	0	0	0	0	0	0	28.83	28.83	28.83
8496	1.50	136.9	499.9	10.5	556	8497	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2201	0	0	0	0	0	0	28.83	28.83	28.83
8796	1.50	136.9	468.5	10.1	566	8797	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2202	0	0	0	0	0	0	28.83	28.83	28.83
9096	1.50	136.9	438.2	10.1	576	9097	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1950	2202	0	0	0	0	0	0	28.83	28.83	28.83
9396	1.50	136.9	408.5	9.6	586	9397	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1950	2202	0	0	0	0	0	0	28.83	28.83	28.83
9696	1.50	136.9	378.5	9.9	610	9702	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2201	0	0	0	0	0	0	28.83	28.83	28.83
10011	1.50	136.9	347.3	10.0	641	10018	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2201	0	0	0	0	0	0	28.83	28.83	28.83
10325	1.50	136.9	315.6	9.6	672	10331	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	1950	2201	0	0	0	0	0	0	28.83	28.83	28.83
10637	1.50	136.9	285.2	9.9	703	10643	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2202	0	0	0	0	0	0	28.83	28.83	28.83
10949	1.50	136.9	254.7	9.8	734	10955	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2201	0	0	0	0	0	0	28.83	28.83	28.83
11263	1.50	136.9	225.0	9.2	765	11269	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2201	0	0	0	0	0	0	28.83	28.83	28.83
11576	1.50	137.8	196.4	8.9	796	11582	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	2201	0	0	0	0	0	0	28.83	28.83	28.83
11887	1.56	183.4	171.5	6.9	827	11939	0.00	0.00	44.50	1.976	6	0.000	0.000	3002	1950	2024	0	0	0	0	0	0	28.83	28.83	13.62
12243	1.57	194.4	142.9	8.4	863	12259	0.00	0.00	11.57	1.837	6	0.000	0.000	3002	1950	1979	0	0	0	0	0	0	28.83	28.83	13.69
12563	1.57	196.1	115.6	8.8	895	12568	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1950	1976	0	0	0	0	0	0	28.83	28.83	28.83
12878	1.59	207.4	88.1	8.4	938	12890	0.10	0.00	7.32	0.461	6	0.180	0.000	3041	1950	1925	0	0	0	0	0	0	14.58	28.83	14.21
13206	1.59	207.4	54.7	9.8	1000	13212	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	1950	1922	0	0	0	0	0	0	28.83	28.83	28.83
13522	1.65	263.5	29.7	6.5	1061	13559	0.00	0.00	31.25	0.278	6	0.000	0.000	3042	1950	1695	0	0	0	0	0	0	28.83	28.83	14.33
13844	end climb: SURFACE_DEPTH_REACHED
state	13844	begin surface coast
13880	end surface coast: CONTROL_FINISHED_OK
state	13880	begin surface