Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 679 * 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 679 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 18 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 17 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 -50107.605 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 -50107.605

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 18 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 17 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 679 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 240511,083117,6655.446,-6016.329,0,6114.2,0,-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 10.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240511,083117,6655.446,-6016.329,0,6114.2,0,-37.6 MHEAD_RNG_PITCHd_Wd 236.1,22347,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 610

Post-dive calculations and measurements:

FREEZE 8.75,-1.710,-1.772,2,42,0 ALTIM_BOTTOM_PING 550.6,29.3

FINISH1 8.7,1.025950,76 _24V_AH 21.2,90.626

FINISH2 7.0 _10V_AH 9.8,46.858

RAFOS_CLK 588 FG_AHR_24Vo 0.000

RAFOS 0,1306238468,12.033333,12.018888,101,67,57,54,52,49,599,199,164,216,155,123 FG_AHR_10Vo 0.000

RAFOS_FIX 6652.213867,-6019.515625,240511,121258,7,109,0.45 MEM 150560

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 40027,1086

TT8_MAMPS 0.026215 CAP_FILE_SIZE 128251,0

HUMID 48.11 CFSIZE 260165632,209055744

INTERNAL_PRESSURE 8.67221 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1452.5

XPDR_PINGS 9 GPS 240511,122658,6652.214,-6019.516,0,7109.3,0,-37.6

ALTIM_TOP_PING 19.6,15.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 246 27.94 SBE_CT 774 24 394.22

Roll_motor 118 100 252.88 SBE_O2 831 19 335.01

VBD_pump_during_apogee 451 1289 12350.40 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 4 420 37.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2604 19 508.40

LPSleep 5663 2 128.20

TT8_Active 514 19 100.44

TT8_Sampling 1741 39 681.16

TT8_CF8 251 45 113.08

TT8_Kalman 0 0 0.00

Analog_circuits 1473 12 173.26

GPS_charging 0 0 0.00

Compass 1732 15 254.64

RAFOS 2520 1 37.04

Transponder 15 30 4.69

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

17 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -5.90 0.000 2 0.000 0.000 2901 2276 2954 0 0 0 0 0 0

28 -0.62 -146.0 12.8 -0.0 1 53 0.65 2.85 -16.17 0.000 4 0.099 0.101 2670 3907 3630 0 0 0 0 0 0

107 -0.46 -146.0 26.0 -21.4 14 115 0.17 2.33 0.00 0.000 6 0.220 0.065 2709 2491 3632 0 0 0 0 0 0

455 -0.38 -146.0 85.9 -15.7 75 462 0.10 2.38 0.00 0.000 4 0.246 0.082 2731 1068 3632 0 0 0 0 0 0

499 -0.38 -146.0 92.2 -13.4 82 506 0.00 2.40 0.00 0.000 6 0.000 0.079 2731 2488 3631 0 0 0 0 0 0

829 -0.38 -146.0 132.4 -10.9 118 833 0.00 2.38 0.00 0.000 4 0.000 0.082 2731 1069 3631 0 0 0 0 0 0

848 -0.38 -146.0 134.4 -10.7 119 852 0.00 2.42 0.00 0.000 6 0.000 0.081 2731 2495 3630 0 0 0 0 0 0

1174 -0.43 -146.0 165.5 -8.7 149 1178 0.00 2.42 0.00 0.000 4 0.000 0.096 2731 3906 3630 0 0 0 0 0 0

1227 -0.52 -146.0 170.1 -9.1 153 1231 0.12 2.35 0.00 0.000 6 0.128 0.068 2690 2483 3630 0 0 0 0 0 0

1558 -0.47 -146.0 210.2 -12.4 184 1562 0.00 2.35 0.00 0.000 4 0.000 0.082 2690 1079 3629 0 0 0 0 0 0

1588 -0.43 -146.0 213.8 -12.2 186 1592 0.12 2.40 0.00 0.000 6 0.214 0.080 2717 2490 3629 0 0 0 0 0 0

1914 -0.47 -146.0 245.1 -9.8 216 1915 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2490 3629 0 0 0 0 0 0

2237 -0.51 -146.0 274.1 -9.0 246 2241 0.00 2.47 0.00 0.000 4 0.000 0.096 2716 3905 3629 0 0 0 0 0 0

2281 -0.60 -146.0 278.5 -8.6 249 2289 0.15 2.35 0.00 0.000 6 0.115 0.067 2666 2485 3629 0 0 0 0 0 0

2607 -0.53 -146.0 320.1 -12.4 280 2611 0.00 2.33 0.00 0.000 4 0.000 0.080 2666 1079 3629 0 0 0 0 0 0

2625 -0.45 -146.0 322.4 -12.7 281 2630 0.20 2.38 0.00 0.000 6 0.208 0.079 2714 2490 3629 0 0 0 0 0 0

2956 -0.50 -146.0 351.5 -8.8 312 2960 0.00 2.45 0.00 0.000 4 0.000 0.094 2714 3906 3629 0 0 0 0 0 0

2974 -0.56 -146.0 353.2 -8.9 313 2978 0.00 2.33 0.00 0.000 6 0.000 0.066 2714 2484 3629 0 0 0 0 0 0

3306 -0.62 -146.0 381.8 -8.8 344 3308 0.15 0.00 0.00 0.000 6 0.122 0.000 2664 2484 3629 0 0 0 0 0 0

3625 -0.55 -146.0 421.5 -12.5 374 3626 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2484 3629 0 0 0 0 0 0

3944 -0.48 -146.0 461.2 -12.6 404 3949 0.15 2.47 0.00 0.000 4 0.220 0.088 2699 3904 3629 0 0 0 0 0 0

3966 -0.48 -146.0 464.1 -11.2 405 3973 0.00 2.33 0.00 0.000 6 0.000 0.064 2699 2489 3629 0 0 0 0 0 0

4293 -0.52 -146.0 493.1 -8.6 436 4294 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2489 3630 0 0 0 0 0 0

4611 -0.55 -146.0 520.5 -8.3 466 4613 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2489 3630 0 0 0 0 0 0

4930 -0.60 -146.0 547.0 -8.0 496 4934 0.00 2.33 0.00 0.000 4 0.000 0.077 2699 1076 3630 0 0 0 0 0 0

4952 -0.64 -146.0 548.9 -7.8 497 4960 0.12 2.38 0.00 0.000 6 0.126 0.074 2660 2491 3630 0 0 0 0 0 0

5106 end dive: BOTTOM_OBSTACLE_DETECTED

state 5108 begin apogee

5114 -0.12 0.0 565.6 10.0 512 5247 0.55 0.00 127.07 1.290 6 0.194 0.000 2810 2269 3030 0 0 0 0 0 0

5248 end apogee: CONTROL_FINISHED_OK

state 5248 begin climb

5251 0.62 146.0 569.5 0.0 524 5395 0.82 2.75 134.15 1.242 4 0.148 0.085 3060 867 2433 0 0 0 0 0 0

5412 0.63 181.5 560.0 8.4 538 5454 0.00 2.65 34.92 1.184 6 0.000 0.068 3060 2280 2290 0 0 0 0 0 0

5781 0.63 181.5 523.2 10.0 573 5785 0.00 2.42 0.00 0.000 4 0.000 0.084 3060 3692 2282 0 0 0 0 0 0

5825 0.57 181.5 517.9 12.6 576 5831 0.00 2.40 0.00 0.000 6 0.000 0.070 3071 2270 2282 0 0 0 0 0 0

6151 0.54 181.5 480.4 11.7 607 6155 0.12 2.35 0.00 0.000 4 0.188 0.084 3048 861 2281 0 0 0 0 0 0

6191 0.58 188.7 476.5 9.7 610 6204 0.00 2.35 6.55 0.945 6 0.000 0.071 3048 2285 2260 0 0 0 0 0 0

6521 0.60 202.4 445.6 9.4 641 6544 0.00 2.42 13.65 1.107 4 0.000 0.086 3048 3693 2204 0 0 0 0 0 0

6591 0.60 202.4 438.1 11.7 647 6595 0.00 2.35 0.00 0.000 6 0.000 0.070 3057 2273 2203 0 0 0 0 0 0

6922 0.60 207.1 404.5 9.8 678 6935 0.00 2.38 5.85 0.906 4 0.000 0.081 3069 857 2184 0 0 0 0 0 0

6970 0.63 207.1 399.8 10.1 682 6974 0.00 2.38 0.00 0.000 6 0.000 0.071 3069 2283 2183 0 0 0 0 0 0

7296 0.63 207.1 366.4 10.1 712 7300 0.00 2.35 0.00 0.000 4 0.000 0.084 3068 3696 2183 0 0 0 0 0 0

7351 0.58 207.1 359.8 12.2 716 7358 0.00 2.38 0.00 0.000 6 0.000 0.076 3078 2269 2183 0 0 0 0 0 0

7677 0.55 207.1 324.3 11.0 747 7682 0.12 2.35 0.00 0.000 4 0.191 0.083 3055 865 2183 0 0 0 0 0 0

7722 0.61 214.5 319.8 9.7 750 7740 0.00 2.35 8.18 0.979 6 0.000 0.070 3055 2282 2154 0 0 0 0 0 0

8059 0.67 232.5 288.4 9.2 782 8082 0.00 2.42 17.83 1.070 4 0.000 0.085 3055 3686 2081 0 0 0 0 0 0

8133 0.67 232.5 280.6 11.3 788 8140 0.00 2.35 0.00 0.000 6 0.000 0.070 3066 2269 2080 0 0 0 0 0 0

8459 0.71 242.1 250.0 9.6 819 8475 0.00 2.40 9.90 0.991 4 0.000 0.084 3076 864 2043 0 0 0 0 0 0

8532 0.75 242.1 242.4 10.5 825 8539 0.00 2.35 0.00 0.000 6 0.000 0.070 3075 2281 2041 0 0 0 0 0 0

8858 0.79 247.4 209.8 9.8 856 8871 0.12 2.42 6.40 0.877 4 0.109 0.085 3129 3689 2020 0 0 0 0 0 0

8911 0.67 247.4 202.1 16.2 860 8919 0.22 2.35 0.00 0.000 6 0.204 0.071 3083 2277 2019 0 0 0 0 0 0

9237 0.70 247.4 168.7 10.1 891 9241 0.00 2.35 0.00 0.000 4 0.000 0.085 3091 863 2019 0 0 0 0 0 0

9283 0.76 265.3 164.5 9.2 894 9306 0.00 2.35 17.77 1.015 6 0.000 0.071 3091 2277 1948 0 0 0 0 0 0

9626 0.85 295.5 132.3 8.6 926 9660 0.12 2.47 29.27 1.012 4 0.108 0.086 3144 3696 1824 0 0 0 0 0 0

9714 0.77 295.5 121.0 14.5 933 9722 0.17 2.40 0.00 0.000 6 0.208 0.073 3112 2269 1821 0 0 0 0 0 0

10049 0.83 314.1 87.5 9.1 976 10073 0.00 2.38 17.52 0.971 4 0.000 0.086 3118 862 1748 0 0 0 0 0 0

10161 0.94 337.3 77.2 8.9 995 10192 0.15 2.38 22.60 0.968 6 0.108 0.073 3176 2283 1654 0 0 0 0 0 0

10531 0.89 337.3 25.3 14.7 1060 10538 0.00 2.35 0.00 0.000 4 0.000 0.086 3176 3688 1646 0 0 0 0 0 0

10602 0.82 337.3 14.0 16.8 1072 10610 0.22 2.38 0.00 0.000 6 0.208 0.074 3131 2267 1644 0 0 0 0 0 0

10638 end climb: FINISH_DEPTH_REACHED

state 10638 begin subsurface finish

10645 0.09 76.0 8.7 -12.7 1078 10694 0.75 2.45 -41.30 0.000 4 0.168 0.096 2903 854 2722 0 0 0 0 0 0

10695 end subsurface finish: CONTROL_FINISHED_OK

state 10695 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	679	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	18	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	17	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	-50107.605	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	240511,083117,6655.446,-6016.329,0,6114.2,0,-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	10.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240511,083117,6655.446,-6016.329,0,6114.2,0,-37.6	MHEAD_RNG_PITCHd_Wd	236.1,22347,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	610

FREEZE	8.75,-1.710,-1.772,2,42,0	ALTIM_BOTTOM_PING	550.6,29.3
FINISH1	8.7,1.025950,76	_24V_AH	21.2,90.626
FINISH2	7.0	_10V_AH	9.8,46.858
RAFOS_CLK	588	FG_AHR_24Vo	0.000
RAFOS	0,1306238468,12.033333,12.018888,101,67,57,54,52,49,599,199,164,216,155,123	FG_AHR_10Vo	0.000
RAFOS_FIX	6652.213867,-6019.515625,240511,121258,7,109,0.45	MEM	150560
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	40027,1086
TT8_MAMPS	0.026215	CAP_FILE_SIZE	128251,0
HUMID	48.11	CFSIZE	260165632,209055744
INTERNAL_PRESSURE	8.67221	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1452.5
XPDR_PINGS	9	GPS	240511,122658,6652.214,-6019.516,0,7109.3,0,-37.6
ALTIM_TOP_PING	19.6,15.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	246	27.94	SBE_CT	774	24	394.22
Roll_motor	118	100	252.88	SBE_O2	831	19	335.01
VBD_pump_during_apogee	451	1289	12350.40	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	4	420	37.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2604	19	508.40
LPSleep	5663	2	128.20
TT8_Active	514	19	100.44
TT8_Sampling	1741	39	681.16
TT8_CF8	251	45	113.08
TT8_Kalman	0	0	0.00
Analog_circuits	1473	12	173.26
GPS_charging	0	0	0.00
Compass	1732	15	254.64
RAFOS	2520	1	37.04
Transponder	15	30	4.69

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
17	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-5.90	0.000	2	0.000	0.000	2901	2276	2954	0	0	0	0	0	0
28	-0.62	-146.0	12.8	-0.0	1	53	0.65	2.85	-16.17	0.000	4	0.099	0.101	2670	3907	3630	0	0	0	0	0	0
107	-0.46	-146.0	26.0	-21.4	14	115	0.17	2.33	0.00	0.000	6	0.220	0.065	2709	2491	3632	0	0	0	0	0	0
455	-0.38	-146.0	85.9	-15.7	75	462	0.10	2.38	0.00	0.000	4	0.246	0.082	2731	1068	3632	0	0	0	0	0	0
499	-0.38	-146.0	92.2	-13.4	82	506	0.00	2.40	0.00	0.000	6	0.000	0.079	2731	2488	3631	0	0	0	0	0	0
829	-0.38	-146.0	132.4	-10.9	118	833	0.00	2.38	0.00	0.000	4	0.000	0.082	2731	1069	3631	0	0	0	0	0	0
848	-0.38	-146.0	134.4	-10.7	119	852	0.00	2.42	0.00	0.000	6	0.000	0.081	2731	2495	3630	0	0	0	0	0	0
1174	-0.43	-146.0	165.5	-8.7	149	1178	0.00	2.42	0.00	0.000	4	0.000	0.096	2731	3906	3630	0	0	0	0	0	0
1227	-0.52	-146.0	170.1	-9.1	153	1231	0.12	2.35	0.00	0.000	6	0.128	0.068	2690	2483	3630	0	0	0	0	0	0
1558	-0.47	-146.0	210.2	-12.4	184	1562	0.00	2.35	0.00	0.000	4	0.000	0.082	2690	1079	3629	0	0	0	0	0	0
1588	-0.43	-146.0	213.8	-12.2	186	1592	0.12	2.40	0.00	0.000	6	0.214	0.080	2717	2490	3629	0	0	0	0	0	0
1914	-0.47	-146.0	245.1	-9.8	216	1915	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2490	3629	0	0	0	0	0	0
2237	-0.51	-146.0	274.1	-9.0	246	2241	0.00	2.47	0.00	0.000	4	0.000	0.096	2716	3905	3629	0	0	0	0	0	0
2281	-0.60	-146.0	278.5	-8.6	249	2289	0.15	2.35	0.00	0.000	6	0.115	0.067	2666	2485	3629	0	0	0	0	0	0
2607	-0.53	-146.0	320.1	-12.4	280	2611	0.00	2.33	0.00	0.000	4	0.000	0.080	2666	1079	3629	0	0	0	0	0	0
2625	-0.45	-146.0	322.4	-12.7	281	2630	0.20	2.38	0.00	0.000	6	0.208	0.079	2714	2490	3629	0	0	0	0	0	0
2956	-0.50	-146.0	351.5	-8.8	312	2960	0.00	2.45	0.00	0.000	4	0.000	0.094	2714	3906	3629	0	0	0	0	0	0
2974	-0.56	-146.0	353.2	-8.9	313	2978	0.00	2.33	0.00	0.000	6	0.000	0.066	2714	2484	3629	0	0	0	0	0	0
3306	-0.62	-146.0	381.8	-8.8	344	3308	0.15	0.00	0.00	0.000	6	0.122	0.000	2664	2484	3629	0	0	0	0	0	0
3625	-0.55	-146.0	421.5	-12.5	374	3626	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2484	3629	0	0	0	0	0	0
3944	-0.48	-146.0	461.2	-12.6	404	3949	0.15	2.47	0.00	0.000	4	0.220	0.088	2699	3904	3629	0	0	0	0	0	0
3966	-0.48	-146.0	464.1	-11.2	405	3973	0.00	2.33	0.00	0.000	6	0.000	0.064	2699	2489	3629	0	0	0	0	0	0
4293	-0.52	-146.0	493.1	-8.6	436	4294	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2489	3630	0	0	0	0	0	0
4611	-0.55	-146.0	520.5	-8.3	466	4613	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2489	3630	0	0	0	0	0	0
4930	-0.60	-146.0	547.0	-8.0	496	4934	0.00	2.33	0.00	0.000	4	0.000	0.077	2699	1076	3630	0	0	0	0	0	0
4952	-0.64	-146.0	548.9	-7.8	497	4960	0.12	2.38	0.00	0.000	6	0.126	0.074	2660	2491	3630	0	0	0	0	0	0
5106	end dive: BOTTOM_OBSTACLE_DETECTED
state	5108	begin apogee
5114	-0.12	0.0	565.6	10.0	512	5247	0.55	0.00	127.07	1.290	6	0.194	0.000	2810	2269	3030	0	0	0	0	0	0
5248	end apogee: CONTROL_FINISHED_OK
state	5248	begin climb
5251	0.62	146.0	569.5	0.0	524	5395	0.82	2.75	134.15	1.242	4	0.148	0.085	3060	867	2433	0	0	0	0	0	0
5412	0.63	181.5	560.0	8.4	538	5454	0.00	2.65	34.92	1.184	6	0.000	0.068	3060	2280	2290	0	0	0	0	0	0
5781	0.63	181.5	523.2	10.0	573	5785	0.00	2.42	0.00	0.000	4	0.000	0.084	3060	3692	2282	0	0	0	0	0	0
5825	0.57	181.5	517.9	12.6	576	5831	0.00	2.40	0.00	0.000	6	0.000	0.070	3071	2270	2282	0	0	0	0	0	0
6151	0.54	181.5	480.4	11.7	607	6155	0.12	2.35	0.00	0.000	4	0.188	0.084	3048	861	2281	0	0	0	0	0	0
6191	0.58	188.7	476.5	9.7	610	6204	0.00	2.35	6.55	0.945	6	0.000	0.071	3048	2285	2260	0	0	0	0	0	0
6521	0.60	202.4	445.6	9.4	641	6544	0.00	2.42	13.65	1.107	4	0.000	0.086	3048	3693	2204	0	0	0	0	0	0
6591	0.60	202.4	438.1	11.7	647	6595	0.00	2.35	0.00	0.000	6	0.000	0.070	3057	2273	2203	0	0	0	0	0	0
6922	0.60	207.1	404.5	9.8	678	6935	0.00	2.38	5.85	0.906	4	0.000	0.081	3069	857	2184	0	0	0	0	0	0
6970	0.63	207.1	399.8	10.1	682	6974	0.00	2.38	0.00	0.000	6	0.000	0.071	3069	2283	2183	0	0	0	0	0	0
7296	0.63	207.1	366.4	10.1	712	7300	0.00	2.35	0.00	0.000	4	0.000	0.084	3068	3696	2183	0	0	0	0	0	0
7351	0.58	207.1	359.8	12.2	716	7358	0.00	2.38	0.00	0.000	6	0.000	0.076	3078	2269	2183	0	0	0	0	0	0
7677	0.55	207.1	324.3	11.0	747	7682	0.12	2.35	0.00	0.000	4	0.191	0.083	3055	865	2183	0	0	0	0	0	0
7722	0.61	214.5	319.8	9.7	750	7740	0.00	2.35	8.18	0.979	6	0.000	0.070	3055	2282	2154	0	0	0	0	0	0
8059	0.67	232.5	288.4	9.2	782	8082	0.00	2.42	17.83	1.070	4	0.000	0.085	3055	3686	2081	0	0	0	0	0	0
8133	0.67	232.5	280.6	11.3	788	8140	0.00	2.35	0.00	0.000	6	0.000	0.070	3066	2269	2080	0	0	0	0	0	0
8459	0.71	242.1	250.0	9.6	819	8475	0.00	2.40	9.90	0.991	4	0.000	0.084	3076	864	2043	0	0	0	0	0	0
8532	0.75	242.1	242.4	10.5	825	8539	0.00	2.35	0.00	0.000	6	0.000	0.070	3075	2281	2041	0	0	0	0	0	0
8858	0.79	247.4	209.8	9.8	856	8871	0.12	2.42	6.40	0.877	4	0.109	0.085	3129	3689	2020	0	0	0	0	0	0
8911	0.67	247.4	202.1	16.2	860	8919	0.22	2.35	0.00	0.000	6	0.204	0.071	3083	2277	2019	0	0	0	0	0	0
9237	0.70	247.4	168.7	10.1	891	9241	0.00	2.35	0.00	0.000	4	0.000	0.085	3091	863	2019	0	0	0	0	0	0
9283	0.76	265.3	164.5	9.2	894	9306	0.00	2.35	17.77	1.015	6	0.000	0.071	3091	2277	1948	0	0	0	0	0	0
9626	0.85	295.5	132.3	8.6	926	9660	0.12	2.47	29.27	1.012	4	0.108	0.086	3144	3696	1824	0	0	0	0	0	0
9714	0.77	295.5	121.0	14.5	933	9722	0.17	2.40	0.00	0.000	6	0.208	0.073	3112	2269	1821	0	0	0	0	0	0
10049	0.83	314.1	87.5	9.1	976	10073	0.00	2.38	17.52	0.971	4	0.000	0.086	3118	862	1748	0	0	0	0	0	0
10161	0.94	337.3	77.2	8.9	995	10192	0.15	2.38	22.60	0.968	6	0.108	0.073	3176	2283	1654	0	0	0	0	0	0
10531	0.89	337.3	25.3	14.7	1060	10538	0.00	2.35	0.00	0.000	4	0.000	0.086	3176	3688	1646	0	0	0	0	0	0
10602	0.82	337.3	14.0	16.8	1072	10610	0.22	2.38	0.00	0.000	6	0.208	0.074	3131	2267	1644	0	0	0	0	0	0
10638	end climb: FINISH_DEPTH_REACHED
state	10638	begin subsurface finish
10645	0.09	76.0	8.7	-12.7	1078	10694	0.75	2.45	-41.30	0.000	4	0.168	0.096	2903	854	2722	0	0	0	0	0	0
10695	end subsurface finish: CONTROL_FINISHED_OK
state	10695	begin surface