Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 676 * 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 676 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 19 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 18 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 1 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 -2 T_GPS_CHARGE -49740.031 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 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 -49740.031

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 -2

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 19 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 18 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 676 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 240511,002419,6655.861,-6009.000,0,5117.0,0,-37.6 TGT_NAME TARGET_W2

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 10.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240511,002419,6655.861,-6009.000,0,5117.0,0,-37.6 MHEAD_RNG_PITCHd_Wd 247.1,25244,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 680

Post-dive calculations and measurements:

FINISH1 11.0,1.025954,76 ALTIM_BOTTOM_PING 600.9,49.5

FINISH2 9.5 _24V_AH 21.0,90.147

RAFOS_CLK 639 _10V_AH 9.9,46.638

RAFOS 0,1306209663,4.033333,4.017500,155,68,58,57,55,52,657,205,119,151,218,190 FG_AHR_24Vo 0.000

RAFOS_FIX 6654.402832,-6018.578613,240511,040428,4,100,0.54 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 MEM 150616

TT8_MAMPS 0.029211 DATA_FILE_SIZE 43360,1113

HUMID 48.54 CAP_FILE_SIZE 128971,0

INTERNAL_PRESSURE 8.67221 CFSIZE 260165632,209260544

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 3 SOUNDSPEED 1453.3

ALTIM_TOP_PING 19.3,13.1 GPS 240511,041528,6654.403,-6018.579,0,4100.2,0,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 232 28.08 SBE_CT 798 24 402.47

Roll_motor 110 100 232.02 SBE_O2 848 19 338.37

VBD_pump_during_apogee 417 1333 11690.54 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 3 420 26.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2733 19 539.01

LPSleep 6385 2 146.04

TT8_Active 469 19 92.55

TT8_Sampling 1836 39 725.72

TT8_CF8 238 45 108.34

TT8_Kalman 0 0 0.00

Analog_circuits 1469 12 174.58

GPS_charging 0 0 0.00

Compass 1815 15 269.55

RAFOS 1800 1 26.73

Transponder 20 30 6.01

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 24 0.00 0.00 -5.60 0.000 2 0.000 0.000 2902 2274 2935 0 0 0 0 0 0

27 -0.62 -146.0 11.8 -0.0 1 53 0.65 2.83 -17.75 0.000 4 0.084 0.100 2661 3908 3627 0 0 0 0 0 0

147 -0.48 -146.0 32.5 -21.0 21 155 0.17 2.33 0.00 0.000 6 0.216 0.065 2702 2491 3630 0 0 0 0 0 0

495 -0.38 -146.0 95.6 -15.8 82 502 0.12 0.00 0.00 0.000 6 0.233 0.000 2731 2491 3630 0 0 0 0 0 0

824 -0.38 -146.0 134.6 -10.9 115 828 0.00 2.35 0.00 0.000 4 0.000 0.079 2731 1079 3630 0 0 0 0 0 0

858 -0.43 -146.0 138.5 -11.3 118 862 0.00 2.38 0.00 0.000 6 0.000 0.077 2731 2487 3629 0 0 0 0 0 0

1190 -0.47 -146.0 171.1 -9.8 149 1194 0.00 2.42 0.00 0.000 4 0.000 0.093 2731 3907 3629 0 0 0 0 0 0

1234 -0.56 -146.0 175.4 -9.2 152 1242 0.15 2.33 0.00 0.000 6 0.116 0.065 2681 2480 3628 0 0 0 0 0 0

1560 -0.48 -146.0 219.2 -13.2 183 1564 0.00 2.35 0.00 0.000 4 0.000 0.080 2681 1072 3628 0 0 0 0 0 0

1582 -0.41 -146.0 222.6 -14.2 184 1590 0.17 2.42 0.00 0.000 6 0.213 0.080 2722 2497 3628 0 0 0 0 0 0

1909 -0.46 -146.0 252.0 -8.4 215 1910 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2497 3628 0 0 0 0 0 0

2231 -0.52 -146.0 278.5 -8.3 245 2237 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2497 3628 0 0 0 0 0 0

2559 -0.59 -146.0 307.6 -8.7 276 2566 0.15 0.00 0.00 0.000 6 0.121 0.000 2668 2497 3628 0 0 0 0 0 0

2886 -0.52 -146.0 348.3 -12.3 307 2890 0.00 2.40 0.00 0.000 4 0.000 0.093 2668 3903 3627 0 0 0 0 0 0

2919 -0.46 -146.0 352.9 -12.3 309 2927 0.17 2.33 0.00 0.000 6 0.197 0.064 2710 2489 3628 0 0 0 0 0 0

3245 -0.51 -146.0 380.9 -8.6 340 3250 0.00 2.33 0.00 0.000 4 0.000 0.078 2711 1079 3627 0 0 0 0 0 0

3264 -0.56 -146.0 382.5 -8.3 341 3268 0.00 2.38 0.00 0.000 6 0.000 0.077 2711 2490 3628 0 0 0 0 0 0

3595 -0.62 -146.0 410.7 -8.5 372 3600 0.15 2.42 0.00 0.000 4 0.116 0.091 2657 3903 3628 0 0 0 0 0 0

3628 -0.58 -146.0 414.7 -12.3 374 3635 0.00 2.33 0.00 0.000 6 0.000 0.063 2657 2486 3628 0 0 0 0 0 0

3954 -0.50 -146.0 456.6 -12.9 405 3956 0.17 0.00 0.00 0.000 6 0.206 0.000 2700 2486 3628 0 0 0 0 0 0

4273 -0.53 -146.0 486.0 -9.0 435 4274 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2486 3628 0 0 0 0 0 0

4594 -0.56 -146.0 514.7 -8.8 465 4598 0.00 2.33 0.00 0.000 4 0.000 0.075 2700 1077 3628 0 0 0 0 0 0

4621 -0.60 -146.0 517.5 -9.3 467 4628 0.00 2.38 0.00 0.000 6 0.000 0.074 2700 2491 3629 0 0 0 0 0 0

4948 -0.64 -146.0 544.8 -8.1 498 4953 0.12 2.45 0.00 0.000 4 0.124 0.090 2655 3906 3629 0 0 0 0 0 0

4977 -0.62 -146.0 547.8 -10.4 500 4981 0.00 2.33 0.00 0.000 6 0.000 0.061 2656 2484 3629 0 0 0 0 0 0

5303 -0.54 -146.0 587.6 -12.6 530 5308 0.12 2.38 0.00 0.000 4 0.207 0.076 2684 1069 3629 0 0 0 0 0 0

5325 -0.49 -146.0 590.2 -11.0 531 5332 0.00 2.40 0.00 0.000 6 0.000 0.075 2685 2492 3630 0 0 0 0 0 0

5653 -0.49 -146.0 620.8 -9.3 549 5655 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2493 3629 0 0 0 0 0 0

5834 end dive: BOTTOM_OBSTACLE_DETECTED

state 5834 begin apogee

5840 -0.12 0.0 638.3 9.5 555 5976 0.45 0.00 127.75 1.333 6 0.187 0.000 2813 2269 3029 0 0 0 0 0 0

5977 end apogee: CONTROL_FINISHED_OK

state 5977 begin climb

5980 0.62 146.0 642.9 0.0 559 6127 0.80 2.75 135.60 1.286 4 0.140 0.081 3059 877 2433 0 0 0 0 0 0

6178 0.60 151.0 630.9 9.8 565 6189 0.00 2.55 5.72 0.916 6 0.000 0.068 3060 2275 2413 0 0 0 0 0 0

6496 0.56 151.0 598.7 10.2 575 6501 0.00 2.42 0.00 0.000 4 0.000 0.084 3059 3691 2411 0 0 0 0 0 0

6566 0.47 151.0 590.6 12.6 581 6571 0.20 2.35 0.00 0.000 6 0.182 0.069 3020 2273 2410 0 0 0 0 0 0

6893 0.56 193.8 564.6 8.0 611 6938 0.00 2.50 38.67 1.229 4 0.000 0.084 3028 857 2238 0 0 0 0 0 0

6963 0.67 219.8 558.7 8.8 617 6998 0.15 2.40 25.27 1.194 6 0.100 0.070 3094 2280 2132 0 0 0 0 0 0

7315 0.60 219.8 510.3 13.8 650 7320 0.15 2.38 0.00 0.000 4 0.182 0.083 3055 3691 2126 0 0 0 0 0 0

7383 0.60 219.8 501.4 12.8 656 7388 0.00 2.35 0.00 0.000 6 0.000 0.069 3064 2268 2124 0 0 0 0 0 0

7709 0.60 219.8 465.6 10.7 686 7713 0.00 2.33 0.00 0.000 4 0.000 0.083 3075 864 2124 0 0 0 0 0 0

7760 0.60 219.8 460.0 11.6 690 7764 0.00 2.35 0.00 0.000 6 0.000 0.070 3074 2283 2122 0 0 0 0 0 0

8085 0.60 219.8 423.3 11.6 720 8089 0.00 2.35 0.00 0.000 4 0.000 0.083 3074 3689 2122 0 0 0 0 0 0

8147 0.54 219.8 415.2 13.6 725 8154 0.17 2.35 0.00 0.000 6 0.194 0.069 3040 2267 2122 0 0 0 0 0 0

8473 0.62 237.1 385.5 9.2 756 8496 0.00 2.35 15.18 1.109 4 0.000 0.084 3047 864 2062 0 0 0 0 0 0

8522 0.74 269.5 381.1 8.5 760 8560 0.15 2.35 31.35 1.137 6 0.101 0.069 3112 2277 1931 0 0 0 0 0 0

8886 0.67 269.5 323.6 16.3 794 8891 0.12 2.38 0.00 0.000 4 0.191 0.083 3081 3691 1924 0 0 0 0 0 0

8960 0.67 269.5 312.5 14.1 800 8964 0.00 2.35 0.00 0.000 6 0.000 0.069 3089 2269 1923 0 0 0 0 0 0

9285 0.67 269.5 270.0 12.2 830 9289 0.00 2.33 0.00 0.000 4 0.000 0.081 3099 861 1923 0 0 0 0 0 0

9337 0.67 269.5 263.9 11.4 834 9341 0.00 2.35 0.00 0.000 6 0.000 0.069 3099 2286 1922 0 0 0 0 0 0

9668 0.67 269.5 221.6 12.2 865 9672 0.00 2.33 0.00 0.000 4 0.000 0.083 3100 3693 1921 0 0 0 0 0 0

9723 0.64 269.5 213.7 14.3 869 9731 0.15 2.35 0.00 0.000 6 0.190 0.068 3073 2269 1921 0 0 0 0 0 0

10049 0.71 279.1 182.4 9.6 900 10064 0.00 2.40 8.60 0.936 4 0.000 0.083 3082 864 1892 0 0 0 0 0 0

10106 0.80 290.9 177.0 9.5 905 10130 0.12 2.33 13.12 0.992 6 0.113 0.068 3133 2273 1843 0 0 0 0 0 0

10448 0.77 290.9 132.0 12.6 937 10449 0.00 0.00 0.00 0.000 6 0.000 0.000 3133 2274 1839 0 0 0 0 0 0

10769 0.77 290.9 94.5 10.7 971 10776 0.00 2.38 0.00 0.000 4 0.000 0.085 3133 3687 1838 0 0 0 0 0 0

10874 0.77 290.9 81.8 12.2 989 10881 0.12 2.35 0.00 0.000 6 0.195 0.070 3114 2268 1837 0 0 0 0 0 0

11223 0.84 301.1 50.5 9.5 1050 11241 0.00 2.40 10.12 0.924 4 0.000 0.084 3122 864 1802 0 0 0 0 0 0

11267 0.92 305.7 46.3 9.8 1057 11280 0.10 2.35 6.10 0.822 6 0.127 0.072 3162 2275 1783 0 0 0 0 0 0

11550 end climb: SURFACE_OBSTACLE_DETECTED

state 11550 begin subsurface finish

11557 0.09 75.8 11.0 -12.6 1107 11593 0.88 0.00 -30.83 0.000 6 0.169 0.000 2903 2276 2722 0 0 0 0 0 0

11593 end subsurface finish: CONTROL_FINISHED_OK

state 11594 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	676	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	19	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	18	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	1	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	-2	T_GPS_CHARGE	-49740.031	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	240511,002419,6655.861,-6009.000,0,5117.0,0,-37.6	TGT_NAME	TARGET_W2
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	10.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240511,002419,6655.861,-6009.000,0,5117.0,0,-37.6	MHEAD_RNG_PITCHd_Wd	247.1,25244,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	680

FINISH1	11.0,1.025954,76	ALTIM_BOTTOM_PING	600.9,49.5
FINISH2	9.5	_24V_AH	21.0,90.147
RAFOS_CLK	639	_10V_AH	9.9,46.638
RAFOS	0,1306209663,4.033333,4.017500,155,68,58,57,55,52,657,205,119,151,218,190	FG_AHR_24Vo	0.000
RAFOS_FIX	6654.402832,-6018.578613,240511,040428,4,100,0.54	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	MEM	150616
TT8_MAMPS	0.029211	DATA_FILE_SIZE	43360,1113
HUMID	48.54	CAP_FILE_SIZE	128971,0
INTERNAL_PRESSURE	8.67221	CFSIZE	260165632,209260544
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	3	SOUNDSPEED	1453.3
ALTIM_TOP_PING	19.3,13.1	GPS	240511,041528,6654.403,-6018.579,0,4100.2,0,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	232	28.08	SBE_CT	798	24	402.47
Roll_motor	110	100	232.02	SBE_O2	848	19	338.37
VBD_pump_during_apogee	417	1333	11690.54	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	3	420	26.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2733	19	539.01
LPSleep	6385	2	146.04
TT8_Active	469	19	92.55
TT8_Sampling	1836	39	725.72
TT8_CF8	238	45	108.34
TT8_Kalman	0	0	0.00
Analog_circuits	1469	12	174.58
GPS_charging	0	0	0.00
Compass	1815	15	269.55
RAFOS	1800	1	26.73
Transponder	20	30	6.01

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	24	0.00	0.00	-5.60	0.000	2	0.000	0.000	2902	2274	2935	0	0	0	0	0	0
27	-0.62	-146.0	11.8	-0.0	1	53	0.65	2.83	-17.75	0.000	4	0.084	0.100	2661	3908	3627	0	0	0	0	0	0
147	-0.48	-146.0	32.5	-21.0	21	155	0.17	2.33	0.00	0.000	6	0.216	0.065	2702	2491	3630	0	0	0	0	0	0
495	-0.38	-146.0	95.6	-15.8	82	502	0.12	0.00	0.00	0.000	6	0.233	0.000	2731	2491	3630	0	0	0	0	0	0
824	-0.38	-146.0	134.6	-10.9	115	828	0.00	2.35	0.00	0.000	4	0.000	0.079	2731	1079	3630	0	0	0	0	0	0
858	-0.43	-146.0	138.5	-11.3	118	862	0.00	2.38	0.00	0.000	6	0.000	0.077	2731	2487	3629	0	0	0	0	0	0
1190	-0.47	-146.0	171.1	-9.8	149	1194	0.00	2.42	0.00	0.000	4	0.000	0.093	2731	3907	3629	0	0	0	0	0	0
1234	-0.56	-146.0	175.4	-9.2	152	1242	0.15	2.33	0.00	0.000	6	0.116	0.065	2681	2480	3628	0	0	0	0	0	0
1560	-0.48	-146.0	219.2	-13.2	183	1564	0.00	2.35	0.00	0.000	4	0.000	0.080	2681	1072	3628	0	0	0	0	0	0
1582	-0.41	-146.0	222.6	-14.2	184	1590	0.17	2.42	0.00	0.000	6	0.213	0.080	2722	2497	3628	0	0	0	0	0	0
1909	-0.46	-146.0	252.0	-8.4	215	1910	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2497	3628	0	0	0	0	0	0
2231	-0.52	-146.0	278.5	-8.3	245	2237	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2497	3628	0	0	0	0	0	0
2559	-0.59	-146.0	307.6	-8.7	276	2566	0.15	0.00	0.00	0.000	6	0.121	0.000	2668	2497	3628	0	0	0	0	0	0
2886	-0.52	-146.0	348.3	-12.3	307	2890	0.00	2.40	0.00	0.000	4	0.000	0.093	2668	3903	3627	0	0	0	0	0	0
2919	-0.46	-146.0	352.9	-12.3	309	2927	0.17	2.33	0.00	0.000	6	0.197	0.064	2710	2489	3628	0	0	0	0	0	0
3245	-0.51	-146.0	380.9	-8.6	340	3250	0.00	2.33	0.00	0.000	4	0.000	0.078	2711	1079	3627	0	0	0	0	0	0
3264	-0.56	-146.0	382.5	-8.3	341	3268	0.00	2.38	0.00	0.000	6	0.000	0.077	2711	2490	3628	0	0	0	0	0	0
3595	-0.62	-146.0	410.7	-8.5	372	3600	0.15	2.42	0.00	0.000	4	0.116	0.091	2657	3903	3628	0	0	0	0	0	0
3628	-0.58	-146.0	414.7	-12.3	374	3635	0.00	2.33	0.00	0.000	6	0.000	0.063	2657	2486	3628	0	0	0	0	0	0
3954	-0.50	-146.0	456.6	-12.9	405	3956	0.17	0.00	0.00	0.000	6	0.206	0.000	2700	2486	3628	0	0	0	0	0	0
4273	-0.53	-146.0	486.0	-9.0	435	4274	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2486	3628	0	0	0	0	0	0
4594	-0.56	-146.0	514.7	-8.8	465	4598	0.00	2.33	0.00	0.000	4	0.000	0.075	2700	1077	3628	0	0	0	0	0	0
4621	-0.60	-146.0	517.5	-9.3	467	4628	0.00	2.38	0.00	0.000	6	0.000	0.074	2700	2491	3629	0	0	0	0	0	0
4948	-0.64	-146.0	544.8	-8.1	498	4953	0.12	2.45	0.00	0.000	4	0.124	0.090	2655	3906	3629	0	0	0	0	0	0
4977	-0.62	-146.0	547.8	-10.4	500	4981	0.00	2.33	0.00	0.000	6	0.000	0.061	2656	2484	3629	0	0	0	0	0	0
5303	-0.54	-146.0	587.6	-12.6	530	5308	0.12	2.38	0.00	0.000	4	0.207	0.076	2684	1069	3629	0	0	0	0	0	0
5325	-0.49	-146.0	590.2	-11.0	531	5332	0.00	2.40	0.00	0.000	6	0.000	0.075	2685	2492	3630	0	0	0	0	0	0
5653	-0.49	-146.0	620.8	-9.3	549	5655	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2493	3629	0	0	0	0	0	0
5834	end dive: BOTTOM_OBSTACLE_DETECTED
state	5834	begin apogee
5840	-0.12	0.0	638.3	9.5	555	5976	0.45	0.00	127.75	1.333	6	0.187	0.000	2813	2269	3029	0	0	0	0	0	0
5977	end apogee: CONTROL_FINISHED_OK
state	5977	begin climb
5980	0.62	146.0	642.9	0.0	559	6127	0.80	2.75	135.60	1.286	4	0.140	0.081	3059	877	2433	0	0	0	0	0	0
6178	0.60	151.0	630.9	9.8	565	6189	0.00	2.55	5.72	0.916	6	0.000	0.068	3060	2275	2413	0	0	0	0	0	0
6496	0.56	151.0	598.7	10.2	575	6501	0.00	2.42	0.00	0.000	4	0.000	0.084	3059	3691	2411	0	0	0	0	0	0
6566	0.47	151.0	590.6	12.6	581	6571	0.20	2.35	0.00	0.000	6	0.182	0.069	3020	2273	2410	0	0	0	0	0	0
6893	0.56	193.8	564.6	8.0	611	6938	0.00	2.50	38.67	1.229	4	0.000	0.084	3028	857	2238	0	0	0	0	0	0
6963	0.67	219.8	558.7	8.8	617	6998	0.15	2.40	25.27	1.194	6	0.100	0.070	3094	2280	2132	0	0	0	0	0	0
7315	0.60	219.8	510.3	13.8	650	7320	0.15	2.38	0.00	0.000	4	0.182	0.083	3055	3691	2126	0	0	0	0	0	0
7383	0.60	219.8	501.4	12.8	656	7388	0.00	2.35	0.00	0.000	6	0.000	0.069	3064	2268	2124	0	0	0	0	0	0
7709	0.60	219.8	465.6	10.7	686	7713	0.00	2.33	0.00	0.000	4	0.000	0.083	3075	864	2124	0	0	0	0	0	0
7760	0.60	219.8	460.0	11.6	690	7764	0.00	2.35	0.00	0.000	6	0.000	0.070	3074	2283	2122	0	0	0	0	0	0
8085	0.60	219.8	423.3	11.6	720	8089	0.00	2.35	0.00	0.000	4	0.000	0.083	3074	3689	2122	0	0	0	0	0	0
8147	0.54	219.8	415.2	13.6	725	8154	0.17	2.35	0.00	0.000	6	0.194	0.069	3040	2267	2122	0	0	0	0	0	0
8473	0.62	237.1	385.5	9.2	756	8496	0.00	2.35	15.18	1.109	4	0.000	0.084	3047	864	2062	0	0	0	0	0	0
8522	0.74	269.5	381.1	8.5	760	8560	0.15	2.35	31.35	1.137	6	0.101	0.069	3112	2277	1931	0	0	0	0	0	0
8886	0.67	269.5	323.6	16.3	794	8891	0.12	2.38	0.00	0.000	4	0.191	0.083	3081	3691	1924	0	0	0	0	0	0
8960	0.67	269.5	312.5	14.1	800	8964	0.00	2.35	0.00	0.000	6	0.000	0.069	3089	2269	1923	0	0	0	0	0	0
9285	0.67	269.5	270.0	12.2	830	9289	0.00	2.33	0.00	0.000	4	0.000	0.081	3099	861	1923	0	0	0	0	0	0
9337	0.67	269.5	263.9	11.4	834	9341	0.00	2.35	0.00	0.000	6	0.000	0.069	3099	2286	1922	0	0	0	0	0	0
9668	0.67	269.5	221.6	12.2	865	9672	0.00	2.33	0.00	0.000	4	0.000	0.083	3100	3693	1921	0	0	0	0	0	0
9723	0.64	269.5	213.7	14.3	869	9731	0.15	2.35	0.00	0.000	6	0.190	0.068	3073	2269	1921	0	0	0	0	0	0
10049	0.71	279.1	182.4	9.6	900	10064	0.00	2.40	8.60	0.936	4	0.000	0.083	3082	864	1892	0	0	0	0	0	0
10106	0.80	290.9	177.0	9.5	905	10130	0.12	2.33	13.12	0.992	6	0.113	0.068	3133	2273	1843	0	0	0	0	0	0
10448	0.77	290.9	132.0	12.6	937	10449	0.00	0.00	0.00	0.000	6	0.000	0.000	3133	2274	1839	0	0	0	0	0	0
10769	0.77	290.9	94.5	10.7	971	10776	0.00	2.38	0.00	0.000	4	0.000	0.085	3133	3687	1838	0	0	0	0	0	0
10874	0.77	290.9	81.8	12.2	989	10881	0.12	2.35	0.00	0.000	6	0.195	0.070	3114	2268	1837	0	0	0	0	0	0
11223	0.84	301.1	50.5	9.5	1050	11241	0.00	2.40	10.12	0.924	4	0.000	0.084	3122	864	1802	0	0	0	0	0	0
11267	0.92	305.7	46.3	9.8	1057	11280	0.10	2.35	6.10	0.822	6	0.127	0.072	3162	2275	1783	0	0	0	0	0	0
11550	end climb: SURFACE_OBSTACLE_DETECTED
state	11550	begin subsurface finish
11557	0.09	75.8	11.0	-12.6	1107	11593	0.88	0.00	-30.83	0.000	6	0.169	0.000	2903	2276	2722	0	0	0	0	0	0
11593	end subsurface finish: CONTROL_FINISHED_OK
state	11594	begin surface