Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 818 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 183 HD_C 9.9999997e-06 ROLL_MIN 330 ALTIM_TOP_TURN_MARGIN 5

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 2.4000001

DIVE 818 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 3 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 4 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 2923 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 0.00065 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 -13322.154 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 311 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3850 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2475 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043469137

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -62.615704 SEABIRD_T_H 0.00062159239

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00012025224 SEABIRD_T_I 2.0014088e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 1.6690842e-06

MASS 51717 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9685602

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1354375

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 1 SEABIRD_C_I -0.0013495153

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019269099

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 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 609.0799

AH0_24V 150 D_PITCH 3 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 160 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3850 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2.4000001 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.00065 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00012025224 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -62.615704 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 -13322.154

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 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 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 35 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 32 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9685602 VBD_MIN 440

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1354375 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0013495153 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 818 NAV_MODE 0 SEABIRD_C_J 0.00019269099 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0043469137 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 4 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 6.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2 MHEAD_RNG_PITCHd_Wd 109.0,123621,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 873

Post-dive calculations and measurements:

FREEZE 9.00,-1.759,-1.776,3,36,0 ALTIM_BOTTOM_PING 600.1,12.0

FINISH1 9.0,1.026005,73 _24V_AH 21.2,92.438

FINISH2 7.7 _10V_AH 9.7,62.965

RAFOS_CLK 671 FG_AHR_24Vo 0.000

RAFOS 0,1295841663,4.033333,4.017500,48,45,44,42,37,36,341,1855,26,581,1386,373 FG_AHR_10Vo 0.000

RAFOS_FIX 6641.038574,-5929.654785,240111,000000,5,113,0.32 MEM 151708

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 33344,933

TT8_MAMPS 0.031458 CAP_FILE_SIZE 116221,0

HUMID 50.19 CFSIZE 260165632,196182016

INTERNAL_PRESSURE 8.60232 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.00 SOUNDSPEED 1449.9

XPDR_PINGS 0 GPS 240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2

ALTIM_TOP_PING 19.3,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 184 15.15 SBE_CT 651 24 331.58

Roll_motor 98 112 234.23 SBE_O2 0 0 0.00

VBD_pump_during_apogee 393 981 8188.87 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 20.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2335 19 451.18

LPSleep 6927 2 155.23

TT8_Active 429 19 83.08

TT8_Sampling 1647 39 637.82

TT8_CF8 236 45 105.39

TT8_Kalman 0 0 0.00

Analog_circuits 1330 12 154.85

GPS_charging 0 0 0.00

Compass 1630 15 237.31

RAFOS 720 3 20.95

Transponder 17 30 5.15

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 -0.57 -146.0 0.0 0.0 0 24 0.00 0.00 -5.62 0.000 2 0.000 0.000 2492 3921 2867 0 0 0 0 0 0

28 -0.57 -146.0 11.9 -0.0 1 47 0.57 0.00 -13.98 0.000 4 0.109 0.000 2296 3921 3521 0 0 0 0 0 0

82 -0.59 -146.0 17.3 -10.9 10 89 0.00 1.88 0.00 0.000 6 0.000 0.048 2296 2783 3523 0 0 0 0 0 0

429 -0.59 -146.0 57.1 -11.1 71 436 0.00 2.30 0.00 0.000 4 0.000 0.054 2295 1367 3524 0 0 0 0 0 0

485 -0.62 -146.0 63.6 -11.7 80 492 0.00 2.35 0.00 0.000 6 0.000 0.063 2292 2766 3524 0 0 0 0 0 0

829 -0.62 -146.0 105.6 -12.0 137 833 0.00 2.28 0.00 0.000 4 0.000 0.053 2292 1373 3523 0 0 0 0 0 0

897 -0.67 -146.0 113.2 -10.7 142 904 0.00 2.38 0.00 0.000 6 0.000 0.064 2292 2766 3523 0 0 0 0 0 0

1223 -0.72 -146.0 149.1 -9.9 173 1225 0.15 0.00 0.00 0.000 6 0.093 0.000 2226 2766 3522 0 0 0 0 0 0

1541 -0.65 -146.0 192.3 -12.8 203 1543 0.12 0.00 0.00 0.000 6 0.178 0.000 2259 2766 3521 0 0 0 0 0 0

1859 -0.65 -146.0 223.2 -9.4 233 1863 0.00 2.00 0.00 0.000 4 0.000 0.076 2252 3927 3521 0 0 0 0 0 0

1883 -0.65 -146.0 225.5 -9.5 235 1886 0.00 1.95 0.00 0.000 6 0.000 0.050 2252 2736 3521 0 0 0 0 0 0

2215 -0.65 -146.0 261.2 -11.0 266 2219 0.00 2.22 0.00 0.000 4 0.000 0.053 2252 1365 3521 0 0 0 0 0 0

2260 -0.68 -146.0 266.4 -10.6 269 2267 0.00 2.33 0.00 0.000 6 0.000 0.064 2250 2741 3521 0 0 0 0 0 0

2587 -0.68 -146.0 301.0 -10.5 300 2590 0.00 2.05 0.00 0.000 4 0.000 0.075 2247 3926 3520 0 0 0 0 0 0

2660 -0.68 -146.0 309.0 -10.2 306 2667 0.00 1.95 0.00 0.000 6 0.000 0.050 2247 2753 3521 0 0 0 0 0 0

2986 -0.68 -146.0 340.2 -9.6 337 2990 0.00 2.25 0.00 0.000 4 0.000 0.053 2247 1368 3521 0 0 0 0 0 0

3010 -0.68 -146.0 342.7 -9.9 338 3016 0.00 2.35 0.00 0.000 6 0.000 0.063 2247 2758 3521 0 0 0 0 0 0

3336 -0.68 -146.0 374.3 -9.1 369 3337 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2758 3521 0 0 0 0 0 0

3656 -0.68 -146.0 403.9 -9.5 397 3657 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2758 3521 0 0 0 0 0 0

3959 -0.68 -146.0 432.1 -9.2 407 3960 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2758 3521 0 0 0 0 0 0

4266 -0.68 -146.0 459.6 -9.0 417 4270 0.00 2.05 0.00 0.000 4 0.000 0.073 2247 3922 3521 0 0 0 0 0 0

4306 -0.71 -146.0 463.5 -9.1 418 4310 0.00 1.98 0.00 0.000 6 0.000 0.048 2247 2742 3521 0 0 0 0 0 0

4641 -0.71 -146.0 494.3 -9.4 429 4645 0.00 2.22 0.00 0.000 4 0.000 0.051 2247 1365 3522 0 0 0 0 0 0

4676 -0.74 -146.0 497.7 -8.7 430 4680 0.00 2.35 0.00 0.000 6 0.000 0.062 2247 2748 3522 0 0 0 0 0 0

5007 -0.77 -146.0 527.0 -8.7 441 5011 0.00 2.03 0.00 0.000 4 0.000 0.073 2247 3926 3522 0 0 0 0 0 0

5046 -0.80 -146.0 530.5 -8.4 442 5050 0.00 1.92 0.00 0.000 6 0.000 0.047 2247 2748 3522 0 0 0 0 0 0

5383 -0.82 -146.0 558.6 -8.4 453 5388 0.10 2.25 0.00 0.000 4 0.118 0.050 2197 1368 3522 0 0 0 0 0 0

5422 -0.77 -146.0 563.0 -11.1 454 5427 0.15 2.33 0.00 0.000 6 0.164 0.062 2225 2750 3523 0 0 0 0 0 0

5747 -0.77 -146.0 593.5 -9.6 465 5751 0.00 2.03 0.00 0.000 4 0.000 0.073 2220 3928 3523 0 0 0 0 0 0

5811 end dive: BOTTOM_OBSTACLE_DETECTED

state 5811 begin apogee

5819 -0.14 0.0 600.1 10.4 466 5953 0.65 0.00 124.22 0.981 4 0.133 0.000 2426 2590 2923 0 0 0 0 0 0

5954 end apogee: CONTROL_FINISHED_OK

state 5954 begin climb

5957 0.57 146.0 604.3 0.0 471 6099 0.68 2.40 131.70 0.955 4 0.060 0.050 2668 1187 2326 0 0 0 0 0 0

6252 0.57 146.0 580.0 11.6 480 6257 0.00 2.47 0.00 0.000 6 0.000 0.054 2668 2601 2319 0 0 0 0 0 0

6589 0.52 146.0 539.0 12.0 491 6594 0.00 2.30 0.00 0.000 4 0.000 0.054 2672 1185 2315 0 0 0 0 0 0

6827 0.52 146.0 512.2 11.1 498 6831 0.00 2.33 0.00 0.000 6 0.000 0.057 2671 2605 2315 0 0 0 0 0 0

7158 0.47 146.0 473.6 11.7 509 7162 0.15 2.30 0.00 0.000 4 0.184 0.054 2631 1184 2314 0 0 0 0 0 0

7174 0.47 146.0 471.4 11.6 509 7178 0.00 2.35 0.00 0.000 6 0.000 0.056 2631 2605 2314 0 0 0 0 0 0

7487 0.51 162.5 442.5 9.2 519 7503 0.00 0.00 13.45 0.855 6 0.000 0.000 2631 2605 2260 0 0 0 0 0 0

7795 0.55 175.5 413.8 9.4 529 7810 0.00 0.00 12.98 0.835 6 0.000 0.000 2632 2605 2207 0 0 0 0 0 0

8106 0.59 176.6 383.6 9.9 549 8111 0.10 2.33 0.00 0.000 4 0.112 0.054 2681 1180 2204 0 0 0 0 0 0

8138 0.59 176.6 380.2 11.8 551 8142 0.00 2.30 0.00 0.000 6 0.000 0.056 2681 2589 2203 0 0 0 0 0 0

8464 0.55 176.6 338.2 12.4 581 8465 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2589 2203 0 0 0 0 0 0

8785 0.52 176.6 302.0 11.3 611 8790 0.15 2.28 0.00 0.000 4 0.182 0.067 2640 3925 2202 0 0 0 0 0 0

8819 0.52 176.6 297.6 11.1 613 8826 0.00 2.20 0.00 0.000 6 0.000 0.045 2642 2578 2201 0 0 0 0 0 0

9145 0.56 189.1 268.0 9.4 644 9167 0.00 2.28 12.45 0.765 4 0.000 0.051 2642 1185 2151 0 0 0 0 0 0

9185 0.64 224.0 264.4 8.4 647 9225 0.12 2.30 31.27 0.767 6 0.098 0.056 2697 2578 2010 0 0 0 0 0 0

9543 0.64 224.0 218.1 12.2 681 9547 0.00 2.25 0.00 0.000 4 0.000 0.054 2697 1191 2004 0 0 0 0 0 0

9584 0.67 224.0 213.3 11.4 684 9588 0.00 2.28 0.00 0.000 6 0.000 0.056 2697 2571 2004 0 0 0 0 0 0

9910 0.67 224.0 172.7 12.4 714 9911 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2571 2002 0 0 0 0 0 0

10233 0.67 225.6 137.0 9.9 744 10237 0.00 2.33 0.00 0.000 4 0.000 0.068 2697 3933 2002 0 0 0 0 0 0

10263 0.63 225.6 133.4 12.1 746 10267 0.00 2.28 0.00 0.000 6 0.000 0.046 2699 2541 2001 0 0 0 0 0 0

10595 0.64 238.7 100.2 9.4 777 10614 0.00 2.28 12.88 0.692 4 0.000 0.055 2699 1186 1949 0 0 0 0 0 0

10698 0.71 251.3 91.5 9.4 793 10718 0.00 2.20 12.32 0.680 6 0.000 0.057 2699 2529 1898 0 0 0 0 0 0

11060 0.78 258.3 59.2 9.7 856 11074 0.00 2.38 6.62 0.636 4 0.000 0.066 2699 3933 1871 0 0 0 0 0 0

11168 0.80 297.6 49.4 8.2 874 11211 0.10 2.28 35.65 0.666 6 0.118 0.047 2742 2533 1709 0 0 0 0 0 0

11474 end climb: FINISH_DEPTH_REACHED

state 11474 begin subsurface finish

11482 0.05 73.3 9.0 -11.4 927 11518 0.82 2.38 -27.92 0.000 4 0.159 0.068 2495 1182 2626 0 0 0 0 0 0

11519 end subsurface finish: CONTROL_FINISHED_OK

state 11519 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	2.4000001
DIVE	818	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	3	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	4	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	2923	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	0.00065	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	-13322.154	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	311	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3850	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2475	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043469137
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-62.615704	SEABIRD_T_H	0.00062159239
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00012025224	SEABIRD_T_I	2.0014088e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	1.6690842e-06
MASS	51717	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9685602
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1354375
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	1	SEABIRD_C_I	-0.0013495153
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019269099
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	240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	6.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2	MHEAD_RNG_PITCHd_Wd	109.0,123621,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	873

FREEZE	9.00,-1.759,-1.776,3,36,0	ALTIM_BOTTOM_PING	600.1,12.0
FINISH1	9.0,1.026005,73	_24V_AH	21.2,92.438
FINISH2	7.7	_10V_AH	9.7,62.965
RAFOS_CLK	671	FG_AHR_24Vo	0.000
RAFOS	0,1295841663,4.033333,4.017500,48,45,44,42,37,36,341,1855,26,581,1386,373	FG_AHR_10Vo	0.000
RAFOS_FIX	6641.038574,-5929.654785,240111,000000,5,113,0.32	MEM	151708
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	33344,933
TT8_MAMPS	0.031458	CAP_FILE_SIZE	116221,0
HUMID	50.19	CFSIZE	260165632,196182016
INTERNAL_PRESSURE	8.60232	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.00	SOUNDSPEED	1449.9
XPDR_PINGS	0	GPS	240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2
ALTIM_TOP_PING	19.3,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	184	15.15	SBE_CT	651	24	331.58
Roll_motor	98	112	234.23	SBE_O2	0	0	0.00
VBD_pump_during_apogee	393	981	8188.87	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	20.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2335	19	451.18
LPSleep	6927	2	155.23
TT8_Active	429	19	83.08
TT8_Sampling	1647	39	637.82
TT8_CF8	236	45	105.39
TT8_Kalman	0	0	0.00
Analog_circuits	1330	12	154.85
GPS_charging	0	0	0.00
Compass	1630	15	237.31
RAFOS	720	3	20.95
Transponder	17	30	5.15

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	-0.57	-146.0	0.0	0.0	0	24	0.00	0.00	-5.62	0.000	2	0.000	0.000	2492	3921	2867	0	0	0	0	0	0
28	-0.57	-146.0	11.9	-0.0	1	47	0.57	0.00	-13.98	0.000	4	0.109	0.000	2296	3921	3521	0	0	0	0	0	0
82	-0.59	-146.0	17.3	-10.9	10	89	0.00	1.88	0.00	0.000	6	0.000	0.048	2296	2783	3523	0	0	0	0	0	0
429	-0.59	-146.0	57.1	-11.1	71	436	0.00	2.30	0.00	0.000	4	0.000	0.054	2295	1367	3524	0	0	0	0	0	0
485	-0.62	-146.0	63.6	-11.7	80	492	0.00	2.35	0.00	0.000	6	0.000	0.063	2292	2766	3524	0	0	0	0	0	0
829	-0.62	-146.0	105.6	-12.0	137	833	0.00	2.28	0.00	0.000	4	0.000	0.053	2292	1373	3523	0	0	0	0	0	0
897	-0.67	-146.0	113.2	-10.7	142	904	0.00	2.38	0.00	0.000	6	0.000	0.064	2292	2766	3523	0	0	0	0	0	0
1223	-0.72	-146.0	149.1	-9.9	173	1225	0.15	0.00	0.00	0.000	6	0.093	0.000	2226	2766	3522	0	0	0	0	0	0
1541	-0.65	-146.0	192.3	-12.8	203	1543	0.12	0.00	0.00	0.000	6	0.178	0.000	2259	2766	3521	0	0	0	0	0	0
1859	-0.65	-146.0	223.2	-9.4	233	1863	0.00	2.00	0.00	0.000	4	0.000	0.076	2252	3927	3521	0	0	0	0	0	0
1883	-0.65	-146.0	225.5	-9.5	235	1886	0.00	1.95	0.00	0.000	6	0.000	0.050	2252	2736	3521	0	0	0	0	0	0
2215	-0.65	-146.0	261.2	-11.0	266	2219	0.00	2.22	0.00	0.000	4	0.000	0.053	2252	1365	3521	0	0	0	0	0	0
2260	-0.68	-146.0	266.4	-10.6	269	2267	0.00	2.33	0.00	0.000	6	0.000	0.064	2250	2741	3521	0	0	0	0	0	0
2587	-0.68	-146.0	301.0	-10.5	300	2590	0.00	2.05	0.00	0.000	4	0.000	0.075	2247	3926	3520	0	0	0	0	0	0
2660	-0.68	-146.0	309.0	-10.2	306	2667	0.00	1.95	0.00	0.000	6	0.000	0.050	2247	2753	3521	0	0	0	0	0	0
2986	-0.68	-146.0	340.2	-9.6	337	2990	0.00	2.25	0.00	0.000	4	0.000	0.053	2247	1368	3521	0	0	0	0	0	0
3010	-0.68	-146.0	342.7	-9.9	338	3016	0.00	2.35	0.00	0.000	6	0.000	0.063	2247	2758	3521	0	0	0	0	0	0
3336	-0.68	-146.0	374.3	-9.1	369	3337	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2758	3521	0	0	0	0	0	0
3656	-0.68	-146.0	403.9	-9.5	397	3657	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2758	3521	0	0	0	0	0	0
3959	-0.68	-146.0	432.1	-9.2	407	3960	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2758	3521	0	0	0	0	0	0
4266	-0.68	-146.0	459.6	-9.0	417	4270	0.00	2.05	0.00	0.000	4	0.000	0.073	2247	3922	3521	0	0	0	0	0	0
4306	-0.71	-146.0	463.5	-9.1	418	4310	0.00	1.98	0.00	0.000	6	0.000	0.048	2247	2742	3521	0	0	0	0	0	0
4641	-0.71	-146.0	494.3	-9.4	429	4645	0.00	2.22	0.00	0.000	4	0.000	0.051	2247	1365	3522	0	0	0	0	0	0
4676	-0.74	-146.0	497.7	-8.7	430	4680	0.00	2.35	0.00	0.000	6	0.000	0.062	2247	2748	3522	0	0	0	0	0	0
5007	-0.77	-146.0	527.0	-8.7	441	5011	0.00	2.03	0.00	0.000	4	0.000	0.073	2247	3926	3522	0	0	0	0	0	0
5046	-0.80	-146.0	530.5	-8.4	442	5050	0.00	1.92	0.00	0.000	6	0.000	0.047	2247	2748	3522	0	0	0	0	0	0
5383	-0.82	-146.0	558.6	-8.4	453	5388	0.10	2.25	0.00	0.000	4	0.118	0.050	2197	1368	3522	0	0	0	0	0	0
5422	-0.77	-146.0	563.0	-11.1	454	5427	0.15	2.33	0.00	0.000	6	0.164	0.062	2225	2750	3523	0	0	0	0	0	0
5747	-0.77	-146.0	593.5	-9.6	465	5751	0.00	2.03	0.00	0.000	4	0.000	0.073	2220	3928	3523	0	0	0	0	0	0
5811	end dive: BOTTOM_OBSTACLE_DETECTED
state	5811	begin apogee
5819	-0.14	0.0	600.1	10.4	466	5953	0.65	0.00	124.22	0.981	4	0.133	0.000	2426	2590	2923	0	0	0	0	0	0
5954	end apogee: CONTROL_FINISHED_OK
state	5954	begin climb
5957	0.57	146.0	604.3	0.0	471	6099	0.68	2.40	131.70	0.955	4	0.060	0.050	2668	1187	2326	0	0	0	0	0	0
6252	0.57	146.0	580.0	11.6	480	6257	0.00	2.47	0.00	0.000	6	0.000	0.054	2668	2601	2319	0	0	0	0	0	0
6589	0.52	146.0	539.0	12.0	491	6594	0.00	2.30	0.00	0.000	4	0.000	0.054	2672	1185	2315	0	0	0	0	0	0
6827	0.52	146.0	512.2	11.1	498	6831	0.00	2.33	0.00	0.000	6	0.000	0.057	2671	2605	2315	0	0	0	0	0	0
7158	0.47	146.0	473.6	11.7	509	7162	0.15	2.30	0.00	0.000	4	0.184	0.054	2631	1184	2314	0	0	0	0	0	0
7174	0.47	146.0	471.4	11.6	509	7178	0.00	2.35	0.00	0.000	6	0.000	0.056	2631	2605	2314	0	0	0	0	0	0
7487	0.51	162.5	442.5	9.2	519	7503	0.00	0.00	13.45	0.855	6	0.000	0.000	2631	2605	2260	0	0	0	0	0	0
7795	0.55	175.5	413.8	9.4	529	7810	0.00	0.00	12.98	0.835	6	0.000	0.000	2632	2605	2207	0	0	0	0	0	0
8106	0.59	176.6	383.6	9.9	549	8111	0.10	2.33	0.00	0.000	4	0.112	0.054	2681	1180	2204	0	0	0	0	0	0
8138	0.59	176.6	380.2	11.8	551	8142	0.00	2.30	0.00	0.000	6	0.000	0.056	2681	2589	2203	0	0	0	0	0	0
8464	0.55	176.6	338.2	12.4	581	8465	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2589	2203	0	0	0	0	0	0
8785	0.52	176.6	302.0	11.3	611	8790	0.15	2.28	0.00	0.000	4	0.182	0.067	2640	3925	2202	0	0	0	0	0	0
8819	0.52	176.6	297.6	11.1	613	8826	0.00	2.20	0.00	0.000	6	0.000	0.045	2642	2578	2201	0	0	0	0	0	0
9145	0.56	189.1	268.0	9.4	644	9167	0.00	2.28	12.45	0.765	4	0.000	0.051	2642	1185	2151	0	0	0	0	0	0
9185	0.64	224.0	264.4	8.4	647	9225	0.12	2.30	31.27	0.767	6	0.098	0.056	2697	2578	2010	0	0	0	0	0	0
9543	0.64	224.0	218.1	12.2	681	9547	0.00	2.25	0.00	0.000	4	0.000	0.054	2697	1191	2004	0	0	0	0	0	0
9584	0.67	224.0	213.3	11.4	684	9588	0.00	2.28	0.00	0.000	6	0.000	0.056	2697	2571	2004	0	0	0	0	0	0
9910	0.67	224.0	172.7	12.4	714	9911	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2571	2002	0	0	0	0	0	0
10233	0.67	225.6	137.0	9.9	744	10237	0.00	2.33	0.00	0.000	4	0.000	0.068	2697	3933	2002	0	0	0	0	0	0
10263	0.63	225.6	133.4	12.1	746	10267	0.00	2.28	0.00	0.000	6	0.000	0.046	2699	2541	2001	0	0	0	0	0	0
10595	0.64	238.7	100.2	9.4	777	10614	0.00	2.28	12.88	0.692	4	0.000	0.055	2699	1186	1949	0	0	0	0	0	0
10698	0.71	251.3	91.5	9.4	793	10718	0.00	2.20	12.32	0.680	6	0.000	0.057	2699	2529	1898	0	0	0	0	0	0
11060	0.78	258.3	59.2	9.7	856	11074	0.00	2.38	6.62	0.636	4	0.000	0.066	2699	3933	1871	0	0	0	0	0	0
11168	0.80	297.6	49.4	8.2	874	11211	0.10	2.28	35.65	0.666	6	0.118	0.047	2742	2533	1709	0	0	0	0	0	0
11474	end climb: FINISH_DEPTH_REACHED
state	11474	begin subsurface finish
11482	0.05	73.3	9.0	-11.4	927	11518	0.82	2.38	-27.92	0.000	4	0.159	0.068	2495	1182	2626	0	0	0	0	0	0
11519	end subsurface finish: CONTROL_FINISHED_OK
state	11519	begin surface