Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 176 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 176 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 ESCAPE_HEADING_DELTA 5 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 2 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 20 SM_CC 300 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 38 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 2 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 161 VBD_MIN 442 DEVICE1 2

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_MAX 3793 DEVICE2 20

T_DIVE 360 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 400 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 6 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80737.398 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 200 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2400 PHONE_SUPPLY -1 SEABIRD_T_G 0.0043394179

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -22.40402 SEABIRD_T_H 0.00062698836

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_I 2.474318e-05

MASS 51400 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.7476094e-06

NAV_MODE 2 PITCH_GAIN 31 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9261332

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1046007

KALMAN_USE 2 PITCH_AD_RATE 150 COMPASS_USE 0 SEABIRD_C_I -0.00064730336

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014311814

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 2 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 5 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163694 T_BOOST 0

CALL_TRIES 3 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 360

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -80737.398

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2400 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 6

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 240 T_WATCHDOG 10

C_ROLL_DIVE 2510 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2485 LOGGERDEVICE3 -1 ROLL_DEG 20 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3915 USE_BATHY -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 0

DEVICE1 2 MASS 51400 ROLL_MIN 290 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 38 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 28 VBD_MAX 3793

DEVICE5 -1 MISSION 13 SEABIRD_C_G -9.9261332 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1046007 VBD_MIN 442

DIVE 176 NAV_MODE 2 SEABIRD_C_I -0.00064730336 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 161 SEABIRD_C_J 0.00014311814 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_DIVES 0 SEABIRD_T_G 0.0043394179 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 021111,160235,6645.833,-5957.472,38,0.9,38,-33.9 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.71 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -73.5 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 021111,160724,6645.775,-5957.461,18,0.9,18,-33.9 MHEAD_RNG_PITCHd_Wd 101.1,140488,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 706

Post-dive calculations and measurements:

FINISH 1.9,1.025357 _24V_AH 22.6,22.240

SM_CCo 13031,4.47,0.090,0,0,1262,300.00 _10V_AH 10.3,17.325

SM_GC 3.92,6.90,0.52,4.47,0.047,0.060,0.090,123,2511,1262,-7.06,-0.88,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 853 FG_AHR_10Vo 0.000

RAFOS 1,1320250148,16.166666,16.152222,96,63,59,0,0,0,512,171,212,0,0,0 MEM 150276

RAFOS_FIX 6645.130371,-5952.768066,021111,161617,6,111,2.54 DATA_FILE_SIZE 43293,1160

IRIDIUM_FIX 6620.33,-6025.46,021111,121242 CAP_FILE_SIZE 125197,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,235859968

HUMID 57.71 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.83436 SOUNDSPEED 1451.7

TCM_TEMP 16.20 CURRENT 0.131,320.0,1

XPDR_PINGS 15 GPS 021111,194654,6647.457,-5954.425,37,0.7,37,-33.9

ALTIM_BOTTOM_PING 650.3,103.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 263 103.34 SBE_CT 844 23 442.92

Roll_motor 49 72 81.55 SBE_O2 649 5 76.92

VBD_pump_during_apogee 354 1350 10813.78 nil 0 0 0.00

VBD_pump_during_surface 4 90 9.13 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 177 262 1053.15 nil 0 0 0.00

Transponder_ping 6 420 59.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.37

TT8 3174 18 611.83

LPSleep 7342 2 174.71

TT8_Active 490 18 94.51

TT8_Sampling 2131 41 920.63

TT8_CF8 210 47 103.83

TT8_Kalman 0 0 0.00

Analog_circuits 1688 12 208.67

GPS_charging 0 0 0.00

Compass 1930 6 134.05

RAFOS 2160 1 33.37

Transponder 21 30 6.54

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.73 -146.0 0.0 0.0 0 44 0.00 0.00 -26.25 0.000 2 0.000 0.000 118 2522 1616 0 0 0 0 0 0

47 -0.73 -146.0 3.1 -1.9 4 153 8.80 1.23 -91.90 0.000 4 0.264 0.073 2164 1812 3082 0 0 0 0 0 0

353 -0.73 -146.0 43.2 -17.0 49 362 0.00 1.20 0.00 0.000 6 0.000 0.057 2161 2504 3084 0 0 0 0 0 0

694 -0.73 -146.0 96.6 -15.6 100 701 0.00 1.15 0.00 0.000 4 0.000 0.043 2161 1812 3084 0 0 0 0 0 0

800 -0.73 -146.0 112.3 -14.5 116 807 0.00 1.20 0.00 0.000 6 0.000 0.057 2157 2510 3084 0 0 0 0 0 0

1136 -0.73 -146.0 159.9 -13.1 167 1142 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2510 3084 0 0 0 0 0 0

1475 -0.73 -146.0 202.3 -12.5 218 1481 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2510 3084 0 0 0 0 0 0

1812 -0.73 -146.0 245.3 -12.6 269 1820 0.00 1.15 0.00 0.000 4 0.000 0.044 2156 1813 3084 0 0 0 0 0 0

1895 -0.73 -146.0 255.7 -12.5 278 1898 0.00 1.20 0.00 0.000 6 0.000 0.057 2152 2514 3084 0 0 0 0 0 0

2225 -0.73 -146.0 299.3 -13.2 304 2228 0.00 1.15 0.00 0.000 4 0.000 0.043 2152 1814 3084 0 0 0 0 0 0

2269 -0.73 -146.0 304.5 -13.0 307 2277 0.00 1.23 0.00 0.000 6 0.000 0.055 2147 2520 3084 0 0 0 0 0 0

2593 -0.73 -146.0 347.7 -13.0 333 2597 0.00 1.15 0.00 0.000 4 0.000 0.043 2147 1816 3083 0 0 0 0 0 0

2637 -0.73 -146.0 352.7 -12.6 336 2645 0.00 1.20 0.00 0.000 6 0.000 0.055 2142 2509 3083 0 0 0 0 0 0

2963 -0.73 -146.0 393.7 -12.0 362 2967 0.00 1.12 0.00 0.000 4 0.000 0.041 2142 1818 3083 0 0 0 0 0 0

3029 -0.73 -146.0 401.7 -11.9 367 3033 0.00 1.17 0.00 0.000 6 0.000 0.056 2138 2508 3083 0 0 0 0 0 0

3359 -0.73 -146.0 441.1 -11.6 393 3363 0.00 1.12 0.00 0.000 4 0.000 0.069 2132 3217 3083 0 0 0 0 0 0

3412 -0.73 -146.0 447.4 -11.6 397 3416 0.10 1.10 0.00 0.000 6 0.153 0.034 2163 2500 3083 0 0 0 0 0 0

3740 -0.73 -146.0 479.7 -9.9 423 3741 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2500 3083 0 0 0 0 0 0

4077 -0.73 -146.0 513.3 -10.0 444 4078 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2500 3084 0 0 0 0 0 0

4385 -0.73 -146.0 542.9 -9.6 454 4387 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2500 3084 0 0 0 0 0 0

4690 -0.73 -146.0 571.3 -9.3 464 4693 0.00 1.05 0.00 0.000 4 0.000 0.044 2163 1818 3084 0 0 0 0 0 0

4728 -0.73 -146.0 574.3 -9.1 465 4733 0.00 1.17 0.00 0.000 6 0.000 0.053 2161 2511 3084 0 0 0 0 0 0

5062 -0.73 -146.0 604.4 -8.8 476 5066 0.00 1.10 0.00 0.000 4 0.000 0.067 2155 3213 3085 0 0 0 0 0 0

5131 -0.73 -146.0 610.5 -9.0 478 5135 0.00 1.08 0.00 0.000 6 0.000 0.031 2155 2508 3084 0 0 0 0 0 0

5471 -0.73 -146.0 641.4 -9.0 489 5472 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2508 3085 0 0 0 0 0 0

5777 -0.73 -146.0 671.8 -10.0 499 5781 0.00 1.17 0.00 0.000 4 0.000 0.064 2151 3219 3085 0 0 0 0 0 0

5823 -0.73 -146.0 675.4 -10.2 500 5826 0.00 1.08 0.00 0.000 6 0.000 0.032 2151 2515 3085 0 0 0 0 0 0

6117 end dive: TARGET_DEPTH_EXCEEDED

state 6117 begin apogee

6124 -0.16 0.0 708.1 -10.7 510 6250 0.60 0.00 120.32 1.350 6 0.133 0.000 2345 2180 2487 0 0 0 0 0 0

6251 end apogee: CONTROL_FINISHED_OK

state 6251 begin climb

6253 0.73 146.0 713.5 0.0 514 6392 0.82 1.42 130.43 1.291 4 0.054 0.051 2641 2908 1889 0 0 0 0 0 0

6642 0.73 146.0 678.3 12.2 526 6647 0.00 1.20 0.00 0.000 6 0.000 0.034 2645 2211 1881 0 0 0 0 0 0

6970 0.73 146.0 636.4 12.4 537 6973 0.00 1.23 0.00 0.000 4 0.000 0.050 2645 2917 1878 0 0 0 0 0 0

7226 0.73 146.0 607.3 12.2 544 7234 0.00 1.20 0.00 0.000 6 0.000 0.034 2650 2194 1878 0 0 0 0 0 0

7540 0.73 146.0 565.5 12.6 555 7544 0.00 1.23 0.00 0.000 4 0.000 0.051 2650 2913 1878 0 0 0 0 0 0

7641 0.73 146.0 552.0 13.3 558 7645 0.00 1.15 0.00 0.000 6 0.000 0.035 2655 2201 1877 0 0 0 0 0 0

7980 0.73 146.0 506.9 13.4 569 7981 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2201 1876 0 0 0 0 0 0

8294 0.73 146.0 465.7 13.0 591 8295 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2201 1875 0 0 0 0 0 0

8609 0.73 146.0 426.1 12.2 616 8613 0.00 1.20 0.00 0.000 4 0.000 0.052 2655 2914 1876 0 0 0 0 0 0

8667 0.73 146.0 419.5 12.5 620 8675 0.00 1.17 0.00 0.000 6 0.000 0.034 2660 2192 1876 0 0 0 0 0 0

8993 0.73 146.0 380.3 12.0 646 8996 0.00 1.05 0.00 0.000 4 0.000 0.047 2665 1498 1876 0 0 0 0 0 0

9100 0.73 146.0 367.2 11.9 654 9105 0.10 1.15 0.00 0.000 6 0.153 0.045 2634 2210 1876 0 0 0 0 0 0

9429 0.73 146.0 332.5 10.6 680 9430 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2210 1875 0 0 0 0 0 0

9745 0.73 146.0 298.7 10.0 705 9746 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2210 1875 0 0 0 0 0 0

10061 0.73 146.0 266.9 10.0 730 10065 0.00 1.10 0.00 0.000 4 0.000 0.056 2634 2901 1875 0 0 0 0 0 0

10199 0.73 146.0 253.0 10.4 740 10206 0.00 1.15 0.00 0.000 6 0.000 0.036 2637 2195 1875 0 0 0 0 0 0

10535 0.74 158.1 221.9 8.7 789 10551 0.00 1.05 9.55 0.980 4 0.000 0.047 2643 1491 1839 0 0 0 0 0 0

10704 0.74 158.1 206.5 9.4 814 10711 0.00 1.15 0.00 0.000 6 0.000 0.046 2643 2202 1839 0 0 0 0 0 0

11042 0.74 160.9 173.7 9.1 865 11052 0.00 1.15 3.72 0.704 4 0.000 0.055 2643 2904 1829 0 0 0 0 0 0

11305 0.76 172.7 149.2 8.7 904 11321 0.00 1.12 12.05 0.974 6 0.000 0.037 2647 2202 1780 0 0 0 0 0 0

11652 0.78 192.8 121.2 8.3 956 11675 0.00 1.12 18.62 0.986 4 0.000 0.049 2653 1496 1697 0 0 0 0 0 0

11776 0.78 192.8 109.9 9.6 974 11782 0.00 1.15 0.00 0.000 6 0.000 0.045 2653 2197 1695 0 0 0 0 0 0

12113 0.78 192.8 77.4 9.6 1025 12122 0.00 1.12 0.00 0.000 4 0.000 0.058 2653 2897 1694 0 0 0 0 0 0

12181 0.78 192.8 70.5 9.9 1035 12188 0.00 1.15 0.00 0.000 6 0.000 0.040 2657 2196 1694 0 0 0 0 0 0

12522 0.82 220.7 39.4 8.0 1086 12550 0.00 1.15 24.02 0.955 4 0.000 0.052 2663 1490 1585 0 0 0 0 0 0

12790 0.90 287.6 19.6 6.4 1126 12830 0.00 1.17 35.65 0.124 6 0.000 0.049 2663 2199 1311 0 0 0 0 0 0

12993 end climb: SURFACE_DEPTH_REACHED

state 12994 begin surface coast

13015 end surface coast: CONTROL_FINISHED_OK

state 13015 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	176	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	ESCAPE_HEADING_DELTA	5	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	2	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	20	SM_CC	300	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	38	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	2	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	161	VBD_MIN	442	DEVICE1	2
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_MAX	3793	DEVICE2	20
T_DIVE	360	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	400	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	6	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80737.398	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	200	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2400	PHONE_SUPPLY	-1	SEABIRD_T_G	0.0043394179
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-22.40402	SEABIRD_T_H	0.00062698836
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_I	2.474318e-05
MASS	51400	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.7476094e-06
NAV_MODE	2	PITCH_GAIN	31	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9261332
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1046007
KALMAN_USE	2	PITCH_AD_RATE	150	COMPASS_USE	0	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	021111,160235,6645.833,-5957.472,38,0.9,38,-33.9	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.71	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-73.5	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	021111,160724,6645.775,-5957.461,18,0.9,18,-33.9	MHEAD_RNG_PITCHd_Wd	101.1,140488,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	706

FINISH	1.9,1.025357	_24V_AH	22.6,22.240
SM_CCo	13031,4.47,0.090,0,0,1262,300.00	_10V_AH	10.3,17.325
SM_GC	3.92,6.90,0.52,4.47,0.047,0.060,0.090,123,2511,1262,-7.06,-0.88,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	853	FG_AHR_10Vo	0.000
RAFOS	1,1320250148,16.166666,16.152222,96,63,59,0,0,0,512,171,212,0,0,0	MEM	150276
RAFOS_FIX	6645.130371,-5952.768066,021111,161617,6,111,2.54	DATA_FILE_SIZE	43293,1160
IRIDIUM_FIX	6620.33,-6025.46,021111,121242	CAP_FILE_SIZE	125197,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,235859968
HUMID	57.71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.83436	SOUNDSPEED	1451.7
TCM_TEMP	16.20	CURRENT	0.131,320.0,1
XPDR_PINGS	15	GPS	021111,194654,6647.457,-5954.425,37,0.7,37,-33.9
ALTIM_BOTTOM_PING	650.3,103.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	263	103.34	SBE_CT	844	23	442.92
Roll_motor	49	72	81.55	SBE_O2	649	5	76.92
VBD_pump_during_apogee	354	1350	10813.78	nil	0	0	0.00
VBD_pump_during_surface	4	90	9.13	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	177	262	1053.15	nil	0	0	0.00
Transponder_ping	6	420	59.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.37
TT8	3174	18	611.83
LPSleep	7342	2	174.71
TT8_Active	490	18	94.51
TT8_Sampling	2131	41	920.63
TT8_CF8	210	47	103.83
TT8_Kalman	0	0	0.00
Analog_circuits	1688	12	208.67
GPS_charging	0	0	0.00
Compass	1930	6	134.05
RAFOS	2160	1	33.37
Transponder	21	30	6.54

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.73	-146.0	0.0	0.0	0	44	0.00	0.00	-26.25	0.000	2	0.000	0.000	118	2522	1616	0	0	0	0	0	0
47	-0.73	-146.0	3.1	-1.9	4	153	8.80	1.23	-91.90	0.000	4	0.264	0.073	2164	1812	3082	0	0	0	0	0	0
353	-0.73	-146.0	43.2	-17.0	49	362	0.00	1.20	0.00	0.000	6	0.000	0.057	2161	2504	3084	0	0	0	0	0	0
694	-0.73	-146.0	96.6	-15.6	100	701	0.00	1.15	0.00	0.000	4	0.000	0.043	2161	1812	3084	0	0	0	0	0	0
800	-0.73	-146.0	112.3	-14.5	116	807	0.00	1.20	0.00	0.000	6	0.000	0.057	2157	2510	3084	0	0	0	0	0	0
1136	-0.73	-146.0	159.9	-13.1	167	1142	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2510	3084	0	0	0	0	0	0
1475	-0.73	-146.0	202.3	-12.5	218	1481	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2510	3084	0	0	0	0	0	0
1812	-0.73	-146.0	245.3	-12.6	269	1820	0.00	1.15	0.00	0.000	4	0.000	0.044	2156	1813	3084	0	0	0	0	0	0
1895	-0.73	-146.0	255.7	-12.5	278	1898	0.00	1.20	0.00	0.000	6	0.000	0.057	2152	2514	3084	0	0	0	0	0	0
2225	-0.73	-146.0	299.3	-13.2	304	2228	0.00	1.15	0.00	0.000	4	0.000	0.043	2152	1814	3084	0	0	0	0	0	0
2269	-0.73	-146.0	304.5	-13.0	307	2277	0.00	1.23	0.00	0.000	6	0.000	0.055	2147	2520	3084	0	0	0	0	0	0
2593	-0.73	-146.0	347.7	-13.0	333	2597	0.00	1.15	0.00	0.000	4	0.000	0.043	2147	1816	3083	0	0	0	0	0	0
2637	-0.73	-146.0	352.7	-12.6	336	2645	0.00	1.20	0.00	0.000	6	0.000	0.055	2142	2509	3083	0	0	0	0	0	0
2963	-0.73	-146.0	393.7	-12.0	362	2967	0.00	1.12	0.00	0.000	4	0.000	0.041	2142	1818	3083	0	0	0	0	0	0
3029	-0.73	-146.0	401.7	-11.9	367	3033	0.00	1.17	0.00	0.000	6	0.000	0.056	2138	2508	3083	0	0	0	0	0	0
3359	-0.73	-146.0	441.1	-11.6	393	3363	0.00	1.12	0.00	0.000	4	0.000	0.069	2132	3217	3083	0	0	0	0	0	0
3412	-0.73	-146.0	447.4	-11.6	397	3416	0.10	1.10	0.00	0.000	6	0.153	0.034	2163	2500	3083	0	0	0	0	0	0
3740	-0.73	-146.0	479.7	-9.9	423	3741	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2500	3083	0	0	0	0	0	0
4077	-0.73	-146.0	513.3	-10.0	444	4078	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2500	3084	0	0	0	0	0	0
4385	-0.73	-146.0	542.9	-9.6	454	4387	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2500	3084	0	0	0	0	0	0
4690	-0.73	-146.0	571.3	-9.3	464	4693	0.00	1.05	0.00	0.000	4	0.000	0.044	2163	1818	3084	0	0	0	0	0	0
4728	-0.73	-146.0	574.3	-9.1	465	4733	0.00	1.17	0.00	0.000	6	0.000	0.053	2161	2511	3084	0	0	0	0	0	0
5062	-0.73	-146.0	604.4	-8.8	476	5066	0.00	1.10	0.00	0.000	4	0.000	0.067	2155	3213	3085	0	0	0	0	0	0
5131	-0.73	-146.0	610.5	-9.0	478	5135	0.00	1.08	0.00	0.000	6	0.000	0.031	2155	2508	3084	0	0	0	0	0	0
5471	-0.73	-146.0	641.4	-9.0	489	5472	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2508	3085	0	0	0	0	0	0
5777	-0.73	-146.0	671.8	-10.0	499	5781	0.00	1.17	0.00	0.000	4	0.000	0.064	2151	3219	3085	0	0	0	0	0	0
5823	-0.73	-146.0	675.4	-10.2	500	5826	0.00	1.08	0.00	0.000	6	0.000	0.032	2151	2515	3085	0	0	0	0	0	0
6117	end dive: TARGET_DEPTH_EXCEEDED
state	6117	begin apogee
6124	-0.16	0.0	708.1	-10.7	510	6250	0.60	0.00	120.32	1.350	6	0.133	0.000	2345	2180	2487	0	0	0	0	0	0
6251	end apogee: CONTROL_FINISHED_OK
state	6251	begin climb
6253	0.73	146.0	713.5	0.0	514	6392	0.82	1.42	130.43	1.291	4	0.054	0.051	2641	2908	1889	0	0	0	0	0	0
6642	0.73	146.0	678.3	12.2	526	6647	0.00	1.20	0.00	0.000	6	0.000	0.034	2645	2211	1881	0	0	0	0	0	0
6970	0.73	146.0	636.4	12.4	537	6973	0.00	1.23	0.00	0.000	4	0.000	0.050	2645	2917	1878	0	0	0	0	0	0
7226	0.73	146.0	607.3	12.2	544	7234	0.00	1.20	0.00	0.000	6	0.000	0.034	2650	2194	1878	0	0	0	0	0	0
7540	0.73	146.0	565.5	12.6	555	7544	0.00	1.23	0.00	0.000	4	0.000	0.051	2650	2913	1878	0	0	0	0	0	0
7641	0.73	146.0	552.0	13.3	558	7645	0.00	1.15	0.00	0.000	6	0.000	0.035	2655	2201	1877	0	0	0	0	0	0
7980	0.73	146.0	506.9	13.4	569	7981	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2201	1876	0	0	0	0	0	0
8294	0.73	146.0	465.7	13.0	591	8295	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2201	1875	0	0	0	0	0	0
8609	0.73	146.0	426.1	12.2	616	8613	0.00	1.20	0.00	0.000	4	0.000	0.052	2655	2914	1876	0	0	0	0	0	0
8667	0.73	146.0	419.5	12.5	620	8675	0.00	1.17	0.00	0.000	6	0.000	0.034	2660	2192	1876	0	0	0	0	0	0
8993	0.73	146.0	380.3	12.0	646	8996	0.00	1.05	0.00	0.000	4	0.000	0.047	2665	1498	1876	0	0	0	0	0	0
9100	0.73	146.0	367.2	11.9	654	9105	0.10	1.15	0.00	0.000	6	0.153	0.045	2634	2210	1876	0	0	0	0	0	0
9429	0.73	146.0	332.5	10.6	680	9430	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2210	1875	0	0	0	0	0	0
9745	0.73	146.0	298.7	10.0	705	9746	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2210	1875	0	0	0	0	0	0
10061	0.73	146.0	266.9	10.0	730	10065	0.00	1.10	0.00	0.000	4	0.000	0.056	2634	2901	1875	0	0	0	0	0	0
10199	0.73	146.0	253.0	10.4	740	10206	0.00	1.15	0.00	0.000	6	0.000	0.036	2637	2195	1875	0	0	0	0	0	0
10535	0.74	158.1	221.9	8.7	789	10551	0.00	1.05	9.55	0.980	4	0.000	0.047	2643	1491	1839	0	0	0	0	0	0
10704	0.74	158.1	206.5	9.4	814	10711	0.00	1.15	0.00	0.000	6	0.000	0.046	2643	2202	1839	0	0	0	0	0	0
11042	0.74	160.9	173.7	9.1	865	11052	0.00	1.15	3.72	0.704	4	0.000	0.055	2643	2904	1829	0	0	0	0	0	0
11305	0.76	172.7	149.2	8.7	904	11321	0.00	1.12	12.05	0.974	6	0.000	0.037	2647	2202	1780	0	0	0	0	0	0
11652	0.78	192.8	121.2	8.3	956	11675	0.00	1.12	18.62	0.986	4	0.000	0.049	2653	1496	1697	0	0	0	0	0	0
11776	0.78	192.8	109.9	9.6	974	11782	0.00	1.15	0.00	0.000	6	0.000	0.045	2653	2197	1695	0	0	0	0	0	0
12113	0.78	192.8	77.4	9.6	1025	12122	0.00	1.12	0.00	0.000	4	0.000	0.058	2653	2897	1694	0	0	0	0	0	0
12181	0.78	192.8	70.5	9.9	1035	12188	0.00	1.15	0.00	0.000	6	0.000	0.040	2657	2196	1694	0	0	0	0	0	0
12522	0.82	220.7	39.4	8.0	1086	12550	0.00	1.15	24.02	0.955	4	0.000	0.052	2663	1490	1585	0	0	0	0	0	0
12790	0.90	287.6	19.6	6.4	1126	12830	0.00	1.17	35.65	0.124	6	0.000	0.049	2663	2199	1311	0	0	0	0	0	0
12993	end climb: SURFACE_DEPTH_REACHED
state	12994	begin surface coast
13015	end surface coast: CONTROL_FINISHED_OK
state	13015	begin surface