Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 132 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 132 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 578.41736 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 18 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 19 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 5 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -29973.453 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2390 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -24.446302 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 2 PITCH_GAIN 31 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 1 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 578.41736

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 8 D_SAFE 0 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0.5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -29973.453

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2390 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 KERMIT 0 ROLL_MAX 3915 USE_ICE 0

C_VBD 2800 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51204 R_PORT_OVSHOOT 18 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 19 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 10 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 132 NAV_MODE 2 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4454023e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 233630,6657.926,-5742.436,37,1.2,38,-37.7 TGT_NAME TARGET_E_IN

_CALLS 5 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 235150,6657.907,-5742.655,13,1.5,13,-37.7 MHEAD_RNG_PITCHd_Wd 116.7,40580,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 855

Post-dive calculations and measurements:

FINISH 0.5,1.019035 _24V_AH 22.7,33.991

SM_CCo 12812,139.20,0.732,0,0,442,578.42 _10V_AH 10.1,17.668

SM_GC 1.05,0.00,0.00,139.20,0.000,0.000,0.732,128,2465,442,-7.07,0.14,578.42 FG_AHR_24Vo 0.000

RAFOS_CLK 873 FG_AHR_10Vo 0.000

RAFOS 0,1258243264,0.033333,0.017778,89,58,55,0,0,0,1048,147,200,0,0,0 MEM 188408

RAFOS_FIX 6652.736816,-5748.613281,151109,000044,5,92,5.33 DATA_FILE_SIZE 44284,1048

IRIDIUM_FIX 6631.12,-5736.37,080299,232354 CAP_FILE_SIZE 136913,0

TT8_MAMPS 0.026845 CFSIZE 260165632,239415296

HUMID 46.88 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.7894 SOUNDSPEED 1462.2

TCM_TEMP 17.40 CURRENT 0.511,215.6,1

XPDR_PINGS 10 GPS 151109,032937,6657.882,-5741.365,32,1.9,32,-37.7

ALTIM_TOP_PING 19.6,19.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 313 141.35 SBE_CT 753 24 410.26

Roll_motor 131 95 282.98 SBE_O2 753 19 325.12

VBD_pump_during_apogee 450 1324 13537.65 nil 0 0 0.00

VBD_pump_during_surface 139 732 2314.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 155 103 364.11 nil 0 0 0.00

Iridium_during_connect 400 160 1454.35 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 2 420 26.22

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.34

TT8 2101 19 422.77

LPSleep 8206 2 191.47

TT8_Active 741 19 149.22

TT8_Sampling 2090 39 842.87

TT8_CF8 740 45 343.24

TT8_Kalman 0 0 0.00

Analog_circuits 1854 12 224.77

GPS_charging 0 0 0.00

Compass 2056 8 166.15

RAFOS 2520 1 38.18

Transponder 2 30 0.79

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

15 -0.73 -146.0 0.0 0.0 0 175 0.00 0.00 -156.00 0.000 2 0.000 0.000 125 2475 3135 0 0 0 0 0 0

178 -0.73 -146.0 3.4 -5.5 29 199 10.12 0.00 -7.30 0.000 6 0.314 0.000 2150 2474 3396 0 0 0 0 0 0

539 -0.73 -146.0 103.6 -26.0 92 543 0.00 2.47 0.00 0.000 4 0.000 0.094 2150 3908 3400 0 0 0 0 0 0

600 -0.73 -146.0 120.1 -25.5 97 604 0.00 2.42 0.00 0.000 6 0.000 0.071 2151 2448 3400 0 0 0 0 0 0

924 -0.73 -146.0 200.6 -23.9 127 928 0.00 2.53 0.00 0.000 4 0.000 0.094 2150 3910 3399 0 0 0 0 0 0

1124 -0.73 -146.0 246.4 -21.7 144 1131 0.00 2.40 0.00 0.000 6 0.000 0.069 2150 2478 3399 0 0 0 0 0 0

1449 -0.73 -146.0 317.1 -22.9 175 1453 0.00 2.47 0.00 0.000 4 0.000 0.093 2150 3920 3400 0 0 0 0 0 0

1548 -0.73 -146.0 340.7 -24.2 183 1555 0.00 2.42 0.00 0.000 6 0.000 0.070 2150 2473 3400 0 0 0 0 0 0

1873 -0.73 -146.0 411.3 -21.2 214 1877 0.00 2.47 0.00 0.000 4 0.000 0.094 2150 3916 3400 0 0 0 0 0 0

1950 -0.73 -146.0 428.4 -22.2 220 1956 0.00 2.38 0.00 0.000 6 0.000 0.069 2150 2488 3400 0 0 0 0 0 0

2275 -0.73 -146.0 494.7 -20.7 251 2279 0.00 2.42 0.00 0.000 4 0.000 0.094 2150 3909 3400 0 0 0 0 0 0

2392 -0.73 -146.0 519.9 -21.3 261 2396 0.00 2.33 0.00 0.000 6 0.000 0.071 2150 2491 3400 0 0 0 0 0 0

2716 -0.73 -146.0 586.4 -20.3 291 2720 0.00 2.42 0.00 0.000 4 0.000 0.093 2150 3915 3400 0 0 0 0 0 0

2788 -0.73 -146.0 602.0 -21.9 297 2792 0.00 2.33 0.00 0.000 6 0.000 0.071 2150 2493 3400 0 0 0 0 0 0

3111 -0.73 -146.0 667.6 -20.2 308 3115 0.00 2.42 0.00 0.000 4 0.000 0.094 2150 3920 3400 0 0 0 0 0 0

3160 -0.73 -146.0 678.1 -20.7 309 3164 0.00 2.38 0.00 0.000 6 0.000 0.070 2151 2468 3400 0 0 0 0 0 0

3480 -0.73 -146.0 742.4 -20.1 320 3484 0.00 2.45 0.00 0.000 4 0.000 0.093 2150 3909 3400 0 0 0 0 0 0

3562 -0.73 -146.0 760.2 -21.3 322 3566 0.00 2.30 0.00 0.000 6 0.000 0.069 2150 2504 3400 0 0 0 0 0 0

3882 -0.73 -146.0 821.7 -19.1 333 3886 0.00 2.40 0.00 0.000 4 0.000 0.094 2150 3917 3400 0 0 0 0 0 0

3979 -0.73 -146.0 841.2 -20.6 336 3983 0.00 2.30 0.00 0.000 6 0.000 0.070 2151 2509 3400 0 0 0 0 0 0

4066 end dive: TARGET_DEPTH_EXCEEDED

state 4066 begin apogee

4071 -0.16 0.0 859.2 19.7 339 4198 0.75 0.00 123.62 1.325 6 0.250 0.000 2331 1943 2800 0 0 0 0 0 0

4199 end apogee: CONTROL_FINISHED_OK

state 4199 begin climb

4201 0.73 146.0 872.2 0.0 343 4341 1.17 2.95 129.48 1.269 4 0.225 0.091 2610 360 2202 0 0 0 0 0 0

4369 0.79 200.0 862.5 6.9 348 4425 0.12 2.78 49.20 1.226 6 0.179 0.068 2639 1949 1983 0 0 0 0 0 0

4754 0.81 211.0 829.4 8.7 361 4769 0.00 2.80 9.45 1.091 4 0.000 0.087 2639 3539 1939 0 0 0 0 0 0

5020 0.81 219.0 805.8 8.8 369 5035 0.00 2.55 7.88 1.061 6 0.000 0.072 2639 2030 1908 0 0 0 0 0 0

5354 0.83 233.4 777.7 8.6 380 5373 0.00 2.85 14.23 1.176 4 0.000 0.095 2639 357 1847 0 0 0 0 0 0

5384 0.88 275.7 775.3 7.4 381 5430 0.12 2.83 38.78 1.225 6 0.175 0.071 2672 2078 1674 0 0 0 0 0 0

5747 0.88 275.7 737.0 11.2 393 5752 0.00 2.50 0.00 0.000 4 0.000 0.090 2672 3544 1666 0 0 0 0 0 0

6004 0.88 275.7 709.3 11.2 400 6011 0.00 2.47 0.00 0.000 6 0.000 0.072 2673 2086 1664 0 0 0 0 0 0

6317 0.88 275.7 675.6 10.7 411 6321 0.00 2.47 0.00 0.000 4 0.000 0.090 2673 3541 1662 0 0 0 0 0 0

6573 0.88 275.7 648.8 10.7 418 6579 0.00 2.42 0.00 0.000 6 0.000 0.074 2673 2102 1662 0 0 0 0 0 0

6886 0.88 275.7 616.2 10.7 429 6890 0.00 2.42 0.00 0.000 4 0.000 0.088 2673 3538 1662 0 0 0 0 0 0

6934 0.88 275.7 610.9 9.9 430 6939 0.00 2.38 0.00 0.000 6 0.000 0.073 2673 2097 1662 0 0 0 0 0 0

7260 0.88 275.7 576.7 10.7 453 7262 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2097 1660 0 0 0 0 0 0

7580 0.88 275.7 542.6 10.4 483 7584 0.00 2.42 0.00 0.000 4 0.000 0.090 2673 3539 1661 0 0 0 0 0 0

7663 0.88 275.7 533.9 10.1 490 7667 0.00 2.35 0.00 0.000 6 0.000 0.073 2673 2111 1661 0 0 0 0 0 0

7987 0.88 275.7 498.9 10.8 520 7988 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2111 1661 0 0 0 0 0 0

8307 0.88 275.7 463.1 11.3 550 8311 0.00 2.40 0.00 0.000 4 0.000 0.090 2673 3539 1660 0 0 0 0 0 0

8373 0.88 275.7 455.5 11.3 555 8379 0.00 2.35 0.00 0.000 6 0.000 0.073 2673 2108 1661 0 0 0 0 0 0

8697 0.88 275.7 417.6 12.3 586 8701 0.00 2.40 0.00 0.000 4 0.000 0.089 2673 3536 1660 0 0 0 0 0 0

8754 0.88 275.7 411.0 11.5 591 8758 0.00 2.33 0.00 0.000 6 0.000 0.073 2673 2119 1660 0 0 0 0 0 0

9078 0.88 275.7 372.1 12.5 621 9083 0.00 2.88 0.00 0.000 4 0.000 0.095 2672 360 1660 0 0 0 0 0 0

9166 0.88 275.7 361.7 11.2 628 9173 0.00 2.83 0.00 0.000 6 0.000 0.071 2673 2142 1659 0 0 0 0 0 0

9492 0.88 275.7 323.1 12.1 659 9497 0.00 2.33 0.00 0.000 4 0.000 0.087 2673 3544 1659 0 0 0 0 0 0

9525 0.88 275.7 319.1 11.9 661 9531 0.00 2.35 0.00 0.000 6 0.000 0.074 2673 2139 1659 0 0 0 0 0 0

9850 0.88 275.7 282.1 11.7 692 9855 0.00 2.90 0.00 0.000 4 0.000 0.094 2673 358 1659 0 0 0 0 0 0

9933 0.88 275.7 273.6 9.7 699 9938 0.00 2.83 0.00 0.000 6 0.000 0.071 2673 2146 1659 0 0 0 0 0 0

10258 0.88 275.7 243.7 9.7 729 10262 0.00 2.30 0.00 0.000 4 0.000 0.088 2673 3536 1659 0 0 0 0 0 0

10515 0.88 275.7 218.8 10.3 751 10521 0.00 2.35 0.00 0.000 6 0.000 0.074 2673 2123 1659 0 0 0 0 0 0

10840 0.89 283.1 190.2 8.9 782 10851 0.00 2.40 4.95 0.719 4 0.000 0.091 2673 3546 1644 0 0 0 0 0 0

11103 0.89 283.1 164.2 10.6 805 11109 0.00 2.25 0.00 0.000 6 0.000 0.072 2673 2194 1644 0 0 0 0 0 0

11428 0.89 283.1 130.6 9.4 836 11432 0.00 2.25 0.00 0.000 4 0.000 0.089 2673 3538 1644 0 0 0 0 0 0

11617 0.91 293.0 113.5 8.8 852 11634 0.00 2.25 9.93 0.792 6 0.000 0.071 2673 2182 1603 0 0 0 0 0 0

11961 0.97 347.4 88.5 6.9 898 12013 0.00 3.05 45.20 0.813 4 0.000 0.089 2673 364 1381 0 0 0 0 0 0

12019 1.00 367.5 84.0 8.3 909 12043 0.12 2.90 17.52 0.762 6 0.209 0.069 2702 2143 1301 0 0 0 0 0 0

12380 1.00 367.5 45.8 11.0 973 12386 0.00 2.35 0.00 0.000 4 0.000 0.087 2702 3536 1291 0 0 0 0 0 0

12447 1.00 367.5 38.7 9.8 985 12452 0.00 2.35 0.00 0.000 6 0.000 0.069 2703 2116 1289 0 0 0 0 0 0

12777 end climb: SURFACE_DEPTH_REACHED

state 12777 begin surface coast

12796 end surface coast: CONTROL_FINISHED_OK

state 12796 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	132	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	578.41736	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	18	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	19	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	5	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-29973.453	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2390	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-24.446302	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	2	PITCH_GAIN	31	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	1	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	233630,6657.926,-5742.436,37,1.2,38,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	5	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	235150,6657.907,-5742.655,13,1.5,13,-37.7	MHEAD_RNG_PITCHd_Wd	116.7,40580,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	855

FINISH	0.5,1.019035	_24V_AH	22.7,33.991
SM_CCo	12812,139.20,0.732,0,0,442,578.42	_10V_AH	10.1,17.668
SM_GC	1.05,0.00,0.00,139.20,0.000,0.000,0.732,128,2465,442,-7.07,0.14,578.42	FG_AHR_24Vo	0.000
RAFOS_CLK	873	FG_AHR_10Vo	0.000
RAFOS	0,1258243264,0.033333,0.017778,89,58,55,0,0,0,1048,147,200,0,0,0	MEM	188408
RAFOS_FIX	6652.736816,-5748.613281,151109,000044,5,92,5.33	DATA_FILE_SIZE	44284,1048
IRIDIUM_FIX	6631.12,-5736.37,080299,232354	CAP_FILE_SIZE	136913,0
TT8_MAMPS	0.026845	CFSIZE	260165632,239415296
HUMID	46.88	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.7894	SOUNDSPEED	1462.2
TCM_TEMP	17.40	CURRENT	0.511,215.6,1
XPDR_PINGS	10	GPS	151109,032937,6657.882,-5741.365,32,1.9,32,-37.7
ALTIM_TOP_PING	19.6,19.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	313	141.35	SBE_CT	753	24	410.26
Roll_motor	131	95	282.98	SBE_O2	753	19	325.12
VBD_pump_during_apogee	450	1324	13537.65	nil	0	0	0.00
VBD_pump_during_surface	139	732	2314.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	155	103	364.11	nil	0	0	0.00
Iridium_during_connect	400	160	1454.35	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	2	420	26.22
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.34
TT8	2101	19	422.77
LPSleep	8206	2	191.47
TT8_Active	741	19	149.22
TT8_Sampling	2090	39	842.87
TT8_CF8	740	45	343.24
TT8_Kalman	0	0	0.00
Analog_circuits	1854	12	224.77
GPS_charging	0	0	0.00
Compass	2056	8	166.15
RAFOS	2520	1	38.18
Transponder	2	30	0.79

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
15	-0.73	-146.0	0.0	0.0	0	175	0.00	0.00	-156.00	0.000	2	0.000	0.000	125	2475	3135	0	0	0	0	0	0
178	-0.73	-146.0	3.4	-5.5	29	199	10.12	0.00	-7.30	0.000	6	0.314	0.000	2150	2474	3396	0	0	0	0	0	0
539	-0.73	-146.0	103.6	-26.0	92	543	0.00	2.47	0.00	0.000	4	0.000	0.094	2150	3908	3400	0	0	0	0	0	0
600	-0.73	-146.0	120.1	-25.5	97	604	0.00	2.42	0.00	0.000	6	0.000	0.071	2151	2448	3400	0	0	0	0	0	0
924	-0.73	-146.0	200.6	-23.9	127	928	0.00	2.53	0.00	0.000	4	0.000	0.094	2150	3910	3399	0	0	0	0	0	0
1124	-0.73	-146.0	246.4	-21.7	144	1131	0.00	2.40	0.00	0.000	6	0.000	0.069	2150	2478	3399	0	0	0	0	0	0
1449	-0.73	-146.0	317.1	-22.9	175	1453	0.00	2.47	0.00	0.000	4	0.000	0.093	2150	3920	3400	0	0	0	0	0	0
1548	-0.73	-146.0	340.7	-24.2	183	1555	0.00	2.42	0.00	0.000	6	0.000	0.070	2150	2473	3400	0	0	0	0	0	0
1873	-0.73	-146.0	411.3	-21.2	214	1877	0.00	2.47	0.00	0.000	4	0.000	0.094	2150	3916	3400	0	0	0	0	0	0
1950	-0.73	-146.0	428.4	-22.2	220	1956	0.00	2.38	0.00	0.000	6	0.000	0.069	2150	2488	3400	0	0	0	0	0	0
2275	-0.73	-146.0	494.7	-20.7	251	2279	0.00	2.42	0.00	0.000	4	0.000	0.094	2150	3909	3400	0	0	0	0	0	0
2392	-0.73	-146.0	519.9	-21.3	261	2396	0.00	2.33	0.00	0.000	6	0.000	0.071	2150	2491	3400	0	0	0	0	0	0
2716	-0.73	-146.0	586.4	-20.3	291	2720	0.00	2.42	0.00	0.000	4	0.000	0.093	2150	3915	3400	0	0	0	0	0	0
2788	-0.73	-146.0	602.0	-21.9	297	2792	0.00	2.33	0.00	0.000	6	0.000	0.071	2150	2493	3400	0	0	0	0	0	0
3111	-0.73	-146.0	667.6	-20.2	308	3115	0.00	2.42	0.00	0.000	4	0.000	0.094	2150	3920	3400	0	0	0	0	0	0
3160	-0.73	-146.0	678.1	-20.7	309	3164	0.00	2.38	0.00	0.000	6	0.000	0.070	2151	2468	3400	0	0	0	0	0	0
3480	-0.73	-146.0	742.4	-20.1	320	3484	0.00	2.45	0.00	0.000	4	0.000	0.093	2150	3909	3400	0	0	0	0	0	0
3562	-0.73	-146.0	760.2	-21.3	322	3566	0.00	2.30	0.00	0.000	6	0.000	0.069	2150	2504	3400	0	0	0	0	0	0
3882	-0.73	-146.0	821.7	-19.1	333	3886	0.00	2.40	0.00	0.000	4	0.000	0.094	2150	3917	3400	0	0	0	0	0	0
3979	-0.73	-146.0	841.2	-20.6	336	3983	0.00	2.30	0.00	0.000	6	0.000	0.070	2151	2509	3400	0	0	0	0	0	0
4066	end dive: TARGET_DEPTH_EXCEEDED
state	4066	begin apogee
4071	-0.16	0.0	859.2	19.7	339	4198	0.75	0.00	123.62	1.325	6	0.250	0.000	2331	1943	2800	0	0	0	0	0	0
4199	end apogee: CONTROL_FINISHED_OK
state	4199	begin climb
4201	0.73	146.0	872.2	0.0	343	4341	1.17	2.95	129.48	1.269	4	0.225	0.091	2610	360	2202	0	0	0	0	0	0
4369	0.79	200.0	862.5	6.9	348	4425	0.12	2.78	49.20	1.226	6	0.179	0.068	2639	1949	1983	0	0	0	0	0	0
4754	0.81	211.0	829.4	8.7	361	4769	0.00	2.80	9.45	1.091	4	0.000	0.087	2639	3539	1939	0	0	0	0	0	0
5020	0.81	219.0	805.8	8.8	369	5035	0.00	2.55	7.88	1.061	6	0.000	0.072	2639	2030	1908	0	0	0	0	0	0
5354	0.83	233.4	777.7	8.6	380	5373	0.00	2.85	14.23	1.176	4	0.000	0.095	2639	357	1847	0	0	0	0	0	0
5384	0.88	275.7	775.3	7.4	381	5430	0.12	2.83	38.78	1.225	6	0.175	0.071	2672	2078	1674	0	0	0	0	0	0
5747	0.88	275.7	737.0	11.2	393	5752	0.00	2.50	0.00	0.000	4	0.000	0.090	2672	3544	1666	0	0	0	0	0	0
6004	0.88	275.7	709.3	11.2	400	6011	0.00	2.47	0.00	0.000	6	0.000	0.072	2673	2086	1664	0	0	0	0	0	0
6317	0.88	275.7	675.6	10.7	411	6321	0.00	2.47	0.00	0.000	4	0.000	0.090	2673	3541	1662	0	0	0	0	0	0
6573	0.88	275.7	648.8	10.7	418	6579	0.00	2.42	0.00	0.000	6	0.000	0.074	2673	2102	1662	0	0	0	0	0	0
6886	0.88	275.7	616.2	10.7	429	6890	0.00	2.42	0.00	0.000	4	0.000	0.088	2673	3538	1662	0	0	0	0	0	0
6934	0.88	275.7	610.9	9.9	430	6939	0.00	2.38	0.00	0.000	6	0.000	0.073	2673	2097	1662	0	0	0	0	0	0
7260	0.88	275.7	576.7	10.7	453	7262	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2097	1660	0	0	0	0	0	0
7580	0.88	275.7	542.6	10.4	483	7584	0.00	2.42	0.00	0.000	4	0.000	0.090	2673	3539	1661	0	0	0	0	0	0
7663	0.88	275.7	533.9	10.1	490	7667	0.00	2.35	0.00	0.000	6	0.000	0.073	2673	2111	1661	0	0	0	0	0	0
7987	0.88	275.7	498.9	10.8	520	7988	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2111	1661	0	0	0	0	0	0
8307	0.88	275.7	463.1	11.3	550	8311	0.00	2.40	0.00	0.000	4	0.000	0.090	2673	3539	1660	0	0	0	0	0	0
8373	0.88	275.7	455.5	11.3	555	8379	0.00	2.35	0.00	0.000	6	0.000	0.073	2673	2108	1661	0	0	0	0	0	0
8697	0.88	275.7	417.6	12.3	586	8701	0.00	2.40	0.00	0.000	4	0.000	0.089	2673	3536	1660	0	0	0	0	0	0
8754	0.88	275.7	411.0	11.5	591	8758	0.00	2.33	0.00	0.000	6	0.000	0.073	2673	2119	1660	0	0	0	0	0	0
9078	0.88	275.7	372.1	12.5	621	9083	0.00	2.88	0.00	0.000	4	0.000	0.095	2672	360	1660	0	0	0	0	0	0
9166	0.88	275.7	361.7	11.2	628	9173	0.00	2.83	0.00	0.000	6	0.000	0.071	2673	2142	1659	0	0	0	0	0	0
9492	0.88	275.7	323.1	12.1	659	9497	0.00	2.33	0.00	0.000	4	0.000	0.087	2673	3544	1659	0	0	0	0	0	0
9525	0.88	275.7	319.1	11.9	661	9531	0.00	2.35	0.00	0.000	6	0.000	0.074	2673	2139	1659	0	0	0	0	0	0
9850	0.88	275.7	282.1	11.7	692	9855	0.00	2.90	0.00	0.000	4	0.000	0.094	2673	358	1659	0	0	0	0	0	0
9933	0.88	275.7	273.6	9.7	699	9938	0.00	2.83	0.00	0.000	6	0.000	0.071	2673	2146	1659	0	0	0	0	0	0
10258	0.88	275.7	243.7	9.7	729	10262	0.00	2.30	0.00	0.000	4	0.000	0.088	2673	3536	1659	0	0	0	0	0	0
10515	0.88	275.7	218.8	10.3	751	10521	0.00	2.35	0.00	0.000	6	0.000	0.074	2673	2123	1659	0	0	0	0	0	0
10840	0.89	283.1	190.2	8.9	782	10851	0.00	2.40	4.95	0.719	4	0.000	0.091	2673	3546	1644	0	0	0	0	0	0
11103	0.89	283.1	164.2	10.6	805	11109	0.00	2.25	0.00	0.000	6	0.000	0.072	2673	2194	1644	0	0	0	0	0	0
11428	0.89	283.1	130.6	9.4	836	11432	0.00	2.25	0.00	0.000	4	0.000	0.089	2673	3538	1644	0	0	0	0	0	0
11617	0.91	293.0	113.5	8.8	852	11634	0.00	2.25	9.93	0.792	6	0.000	0.071	2673	2182	1603	0	0	0	0	0	0
11961	0.97	347.4	88.5	6.9	898	12013	0.00	3.05	45.20	0.813	4	0.000	0.089	2673	364	1381	0	0	0	0	0	0
12019	1.00	367.5	84.0	8.3	909	12043	0.12	2.90	17.52	0.762	6	0.209	0.069	2702	2143	1301	0	0	0	0	0	0
12380	1.00	367.5	45.8	11.0	973	12386	0.00	2.35	0.00	0.000	4	0.000	0.087	2702	3536	1291	0	0	0	0	0	0
12447	1.00	367.5	38.7	9.8	985	12452	0.00	2.35	0.00	0.000	6	0.000	0.069	2703	2116	1289	0	0	0	0	0	0
12777	end climb: SURFACE_DEPTH_REACHED
state	12777	begin surface coast
12796	end surface coast: CONTROL_FINISHED_OK
state	12796	begin surface