Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 0 C_ROLL_CLIMB 2800 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 19 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 21 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 420 SM_CC 688.85968 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

D_ABORT 480 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 3349 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 115 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 145 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 COMPASS_DEVICE 97

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -21642.227 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044001359

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063958467

T_WATCHDOG 10 PITCH_MIN 200 MINV_10V 11 SEABIRD_T_I 2.6420161e-05

RELAUNCH 1 PITCH_MAX 3900 FG_AHR_10V 0 SEABIRD_T_J 3.2747387e-06

APOGEE_PITCH -5 C_PITCH 2470 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1147131

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -64.963387 SEABIRD_C_I -0.0015239087

GLIDE_SLOPE 40 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001159754 SEABIRD_C_J 0.00019379995

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54269 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.0099999998 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.0031999999 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3771 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2200 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 420 PITCH_GAIN 32 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3900 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 200 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 40 PRESSURE_SLOPE 0.0001159754 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -64.963387 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 2.1999999e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 5 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 115

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1 T_GPS 5

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21642.227

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_MISSION 145

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2470 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2800 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2200 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3349 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 21 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 16 USE_ICE 0

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 5 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 10 SEABIRD_C_G -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 19 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 480 N_GPS -20 SEABIRD_T_G 0.0044001359 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.2747387e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0099999998 SM_CC 688.85968

D_PITCH 0 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 0 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 280714,221951,7053.551,-14426.880,2,0.7,23,22.3 SPEED_LIMITS 0.145,0.255

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.60 MHEAD_RNG_PITCHd_Wd 321.9,92508,-22.4,-12.174,-25.50,1846

_SM_ANGLEo -73.4 D_GRID 1000

GPS2 280714,222729,7053.498,-14426.865,5,0.8,25,22.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,0,20140729001621.420310,3,1002,05,0155,0150,100,00,00,04,07,1,010,000,0,5,1,0,150,1.8,2.4,-100,0.6,-01,-0.3,13,900,0025*2F SC_FREEKB 4014688

EKF 7300,4254.443359,-8667.007812,0.894566,-0.219680,0.075115,-0.093367,0.000091,0.000851,0.000095,0.001525,0.001525,0.000034 TM_FREEKB 7761440

FINISH 0.9,1.019835 _24V_AH 13.02,44.276

SM_CCo 7174,23.17,0.190,0,0,537,689.05 _10V_AH 12.68,0.000

SM_GC 1.44,8.40,1.50,23.17,0.103,0.108,0.190,200,2205,537,-7.06,-0.48,689.05,0,0,0,0,0,0,14.26,14.26,14.22 FG_AHR_24Vo 0.000

RAFOS_CLK 71 FG_AHR_10Vo 0.000

MODEM 4,1406592306,74.83900,-143.51601,305.734,442295.3 MEM 304760

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 26661,744

IRIDIUM_FIX 7019.90,-14443.79,280714,204215 CAP_FILE_SIZE 116473,0

TT8_MAMPS 0.047187,0.047187 CFSIZE 2097872896,2089713664

HUMID 50.39 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.4948 SOUNDSPEED 1449.2

TCM_TEMP 12.70 CURRENT 0.098,188.08,1

XPDR_PINGS 0 GPS 290714,002924,7054.041,-14427.156,36,0.9,56,22.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 478 142.40 nil 0 0 0.00

Roll_motor 75 154 151.15 nil 0 0 0.00

VBD_pump_during_apogee 638 1582 13149.36 nil 0 0 0.00

VBD_pump_during_surface 23 189 57.25 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 SciCon 7170 17 1643.30

Iridium_during_xfer 283 179 663.46 TMICL 7180 1000 93483.60

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.19

TT8 0 0 0.00

LPSleep 4815 2 141.04

TT8_Active 777 10 108.15

TT8_Sampling 2009 29 756.66

TT8_CF8 67 36 31.27

TT8_Kalman 0 0 0.00

Analog_circuits 1739 10 220.58

GPS_charging 0 0 0.00

Compass 1101 5 69.86

RAFOS 1440 48 876.44

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -0.88 -145.9 201 2197 580 515 0.0 0.0 0 85 0.00 0.00 -63.78 0.000 16386 0.000 0.000 196 2197 2151 2160 2142 0 0 0 0 0 0 28.83 28.83 28.83

87 -0.88 -145.9 196 2197 2162 2145 3.3 -3.4 6 142 11.00 2.65 -33.08 0.000 18692 0.478 0.155 2169 3609 3946 4001 3891 0 0 0 0 0 0 14.05 14.19 14.47

366 -0.79 -145.9 2171 3610 4001 3894 79.0 -23.6 59 377 0.17 2.47 0.00 0.000 3078 0.340 0.100 2205 2194 3947 4001 3893 0 0 0 0 0 0 14.21 14.33 28.83

671 -0.79 -145.9 2204 2195 4002 3895 134.7 -16.9 90 680 0.00 2.55 0.00 0.000 260 0.000 0.137 2196 3606 3947 4001 3893 0 0 0 0 0 0 28.83 14.33 28.83

769 -0.77 -145.9 2196 3607 4002 3895 152.4 -17.1 109 778 0.00 2.45 0.00 0.000 1030 0.000 0.100 2196 2198 3948 4001 3895 0 0 0 0 0 0 28.83 14.40 28.83

1074 -0.77 -145.9 2197 2198 4000 3894 199.1 -13.4 140 1076 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2198 3947 4001 3894 0 0 0 0 0 0 28.83 28.83 28.83

1374 -0.77 -145.9 2198 2198 4000 3894 237.9 -12.5 170 1382 0.00 2.58 0.00 0.000 260 0.000 0.138 2189 3618 3947 4000 3894 0 0 0 0 0 0 28.83 14.43 28.83

1510 -0.77 -145.9 2187 3618 4000 3894 257.1 -13.7 197 1519 0.15 2.45 0.00 0.000 3078 0.305 0.099 2217 2198 3946 4000 3893 0 0 0 0 0 0 14.35 14.46 28.83

1828 -0.80 -145.9 2217 2198 4000 3894 293.7 -11.4 210 1836 0.00 2.55 0.00 0.000 260 0.000 0.138 2206 3613 3946 4000 3893 0 0 0 0 0 0 28.83 14.47 28.83

1925 -0.83 -145.9 2207 3614 4000 3893 305.6 -12.4 229 1933 0.00 2.45 0.00 0.000 1030 0.000 0.099 2206 2193 3946 4000 3893 0 0 0 0 0 0 28.83 14.50 28.83

2252 -0.85 -145.9 2206 2199 4002 3893 343.5 -11.4 244 2262 0.00 2.55 0.00 0.000 260 0.000 0.138 2196 3612 3946 4000 3892 0 0 0 0 0 0 28.83 14.49 28.83

2341 -0.85 -145.9 2197 3613 3998 3893 354.7 -12.4 261 2350 0.00 2.42 0.00 0.000 1030 0.000 0.098 2196 2202 3946 4000 3892 0 0 0 0 0 0 28.83 14.51 28.83

2646 -0.87 -145.9 2196 2202 4000 3893 391.2 -11.8 272 2656 0.00 2.53 0.00 0.000 260 0.000 0.138 2186 3612 3946 4000 3892 0 0 0 0 0 0 28.83 14.50 28.83

2725 -0.87 -145.9 2188 3612 4002 3893 401.5 -12.6 287 2733 0.00 2.45 0.00 0.000 1030 0.000 0.098 2186 2190 3946 4000 3892 0 0 0 0 0 0 28.83 14.52 28.83

2891 end dive: TARGET_DEPTH_EXCEEDED

state 2891 begin apogee

2895 -0.16 0.0 2182 2810 4000 3891 422.4 -12.4 295 3086 0.93 0.00 186.02 1.414 10246 0.297 0.000 2411 2810 3347 3401 3294 0 0 0 0 0 0 14.42 28.83 13.21

3088 end apogee: CONTROL_FINISHED_OK

state 3088 begin climb

3089 0.88 145.9 2412 2811 3397 3288 428.9 0.0 301 3231 1.15 1.90 128.65 1.583 10500 0.159 0.137 2748 3767 2742 2789 2696 0 0 0 0 0 0 13.78 13.59 13.02

3255 0.77 145.9 2748 3768 2779 2682 418.8 16.6 327 3263 0.17 1.75 0.00 0.000 5126 0.324 0.093 2723 2793 2728 2777 2679 0 0 0 0 0 0 13.64 13.78 28.83

3578 0.72 145.9 2728 2794 2778 2673 372.7 14.1 341 3586 0.00 2.50 0.00 0.000 516 0.000 0.108 2732 1394 2724 2777 2672 0 0 0 0 0 0 28.83 14.17 28.83

3649 0.67 145.9 2733 1394 2777 2672 362.9 13.5 355 3658 0.20 2.58 0.00 0.000 5126 0.308 0.116 2691 2806 2724 2777 2672 0 0 0 0 0 0 14.12 14.21 28.83

3972 0.64 145.9 2694 2807 2776 2672 322.1 12.5 369 3980 0.00 2.47 0.00 0.000 516 0.000 0.107 2699 1386 2724 2777 2672 0 0 0 0 0 0 28.83 14.33 28.83

4044 0.64 145.9 2699 1387 2779 2672 313.3 12.4 383 4052 0.00 2.55 0.00 0.000 1030 0.000 0.116 2699 2799 2724 2777 2671 0 0 0 0 0 0 28.83 14.35 28.83

4367 0.61 145.9 2699 2800 2779 2672 272.4 12.5 397 4375 0.12 2.50 0.00 0.000 4612 0.311 0.104 2688 1386 2724 2777 2671 0 0 0 0 0 0 14.33 14.40 28.83

4449 0.64 175.0 2681 1386 2778 2677 263.3 10.6 413 4482 0.00 2.55 25.33 1.391 9222 0.000 0.116 2682 2812 2627 2685 2569 0 0 0 0 0 0 28.83 14.42 13.73

4786 0.64 175.5 2681 2812 2674 2547 222.5 12.1 444 4796 0.00 2.53 0.00 0.000 516 0.000 0.107 2692 1389 2609 2672 2546 0 0 0 0 0 0 28.83 14.32 28.83

4875 0.67 196.4 2693 1389 2672 2546 212.5 11.0 461 4904 0.00 2.53 18.12 1.319 9222 0.000 0.117 2691 2800 2535 2600 2470 0 0 0 0 0 0 28.83 14.33 13.70

5208 0.71 231.4 2694 2800 2593 2457 173.2 10.2 496 5252 0.00 2.58 31.95 1.281 8708 0.000 0.106 2702 1404 2388 2458 2319 0 0 0 0 0 0 28.83 14.14 13.67

5396 0.80 281.4 2701 1405 2449 2308 154.2 9.4 531 5451 0.00 2.53 44.85 1.259 9222 0.000 0.116 2701 2800 2189 2266 2113 0 0 0 0 0 0 28.83 14.21 13.54

5766 0.86 313.9 2702 2798 2256 2092 113.1 10.4 570 5801 0.15 2.62 28.58 1.217 10756 0.158 0.109 2759 1395 2064 2149 1980 0 0 0 0 0 0 14.26 14.03 13.61

5965 0.86 313.9 2758 1397 2135 1950 88.2 12.7 608 5975 0.00 2.55 0.00 0.000 1030 0.000 0.116 2758 2798 2041 2134 1949 0 0 0 0 0 0 28.83 14.14 28.83

6279 0.89 343.3 2758 2799 2135 1949 48.0 10.5 640 6295 0.00 0.00 11.88 0.290 8198 0.000 0.000 2759 2798 1948 2041 1856 0 0 0 0 0 0 28.83 28.83 14.14

6589 0.99 417.3 2760 2795 2060 1888 22.7 8.1 671 6637 0.00 2.53 39.90 0.237 8708 0.000 0.109 2768 1398 1648 1742 1555 0 0 0 0 0 0 28.83 14.23 14.15

6682 1.09 456.0 2771 1398 1751 1564 14.6 10.0 687 6711 0.17 2.55 21.52 0.217 11270 0.152 0.119 2826 2802 1487 1584 1391 0 0 0 0 0 0 14.28 14.26 14.18

7005 1.36 646.9 2826 2803 1597 1404 10.7 1.5 721 7114 0.25 2.62 101.28 0.200 10756 0.133 0.113 2921 1394 711 788 635 0 0 0 0 0 0 14.34 14.21 14.15

7143 end climb: SURFACE_DEPTH_REACHED

state 7143 begin surface coast

7152 end surface coast: CONTROL_FINISHED_OK

state 7152 begin surface

ID	199	ESCAPE_HEADING	0	C_ROLL_CLIMB	2800	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	19	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	21	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	420	SM_CC	688.85968	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
D_ABORT	480	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	3349	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	115	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	145	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	COMPASS_DEVICE	97
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-21642.227	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044001359
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063958467
T_WATCHDOG	10	PITCH_MIN	200	MINV_10V	11	SEABIRD_T_I	2.6420161e-05
RELAUNCH	1	PITCH_MAX	3900	FG_AHR_10V	0	SEABIRD_T_J	3.2747387e-06
APOGEE_PITCH	-5	C_PITCH	2470	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1147131
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-64.963387	SEABIRD_C_I	-0.0015239087
GLIDE_SLOPE	40	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001159754	SEABIRD_C_J	0.00019379995
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54269	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.0099999998	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.0031999999	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3771	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2200	ALTIM_PING_DELTA	5

GPS1	280714,221951,7053.551,-14426.880,2,0.7,23,22.3	SPEED_LIMITS	0.145,0.255
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.60	MHEAD_RNG_PITCHd_Wd	321.9,92508,-22.4,-12.174,-25.50,1846
_SM_ANGLEo	-73.4	D_GRID	1000
GPS2	280714,222729,7053.498,-14426.865,5,0.8,25,22.3

MODEM_MSG	CACST,6,0,20140729001621.420310,3,1002,05,0155,0150,100,00,00,04,07,1,010,000,0,5,1,0,150,1.8,2.4,-100,0.6,-01,-0.3,13,900,0025*2F	SC_FREEKB	4014688
EKF	7300,4254.443359,-8667.007812,0.894566,-0.219680,0.075115,-0.093367,0.000091,0.000851,0.000095,0.001525,0.001525,0.000034	TM_FREEKB	7761440
FINISH	0.9,1.019835	_24V_AH	13.02,44.276
SM_CCo	7174,23.17,0.190,0,0,537,689.05	_10V_AH	12.68,0.000
SM_GC	1.44,8.40,1.50,23.17,0.103,0.108,0.190,200,2205,537,-7.06,-0.48,689.05,0,0,0,0,0,0,14.26,14.26,14.22	FG_AHR_24Vo	0.000
RAFOS_CLK	71	FG_AHR_10Vo	0.000
MODEM	4,1406592306,74.83900,-143.51601,305.734,442295.3	MEM	304760
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	26661,744
IRIDIUM_FIX	7019.90,-14443.79,280714,204215	CAP_FILE_SIZE	116473,0
TT8_MAMPS	0.047187,0.047187	CFSIZE	2097872896,2089713664
HUMID	50.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.4948	SOUNDSPEED	1449.2
TCM_TEMP	12.70	CURRENT	0.098,188.08,1
XPDR_PINGS	0	GPS	290714,002924,7054.041,-14427.156,36,0.9,56,22.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	478	142.40	nil	0	0	0.00
Roll_motor	75	154	151.15	nil	0	0	0.00
VBD_pump_during_apogee	638	1582	13149.36	nil	0	0	0.00
VBD_pump_during_surface	23	189	57.25	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	SciCon	7170	17	1643.30
Iridium_during_xfer	283	179	663.46	TMICL	7180	1000	93483.60
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.19
TT8	0	0	0.00
LPSleep	4815	2	141.04
TT8_Active	777	10	108.15
TT8_Sampling	2009	29	756.66
TT8_CF8	67	36	31.27
TT8_Kalman	0	0	0.00
Analog_circuits	1739	10	220.58
GPS_charging	0	0	0.00
Compass	1101	5	69.86
RAFOS	1440	48	876.44
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-0.88	-145.9	201	2197	580	515	0.0	0.0	0	85	0.00	0.00	-63.78	0.000	16386	0.000	0.000	196	2197	2151	2160	2142	0	0	0	0	0	0	28.83	28.83	28.83
87	-0.88	-145.9	196	2197	2162	2145	3.3	-3.4	6	142	11.00	2.65	-33.08	0.000	18692	0.478	0.155	2169	3609	3946	4001	3891	0	0	0	0	0	0	14.05	14.19	14.47
366	-0.79	-145.9	2171	3610	4001	3894	79.0	-23.6	59	377	0.17	2.47	0.00	0.000	3078	0.340	0.100	2205	2194	3947	4001	3893	0	0	0	0	0	0	14.21	14.33	28.83
671	-0.79	-145.9	2204	2195	4002	3895	134.7	-16.9	90	680	0.00	2.55	0.00	0.000	260	0.000	0.137	2196	3606	3947	4001	3893	0	0	0	0	0	0	28.83	14.33	28.83
769	-0.77	-145.9	2196	3607	4002	3895	152.4	-17.1	109	778	0.00	2.45	0.00	0.000	1030	0.000	0.100	2196	2198	3948	4001	3895	0	0	0	0	0	0	28.83	14.40	28.83
1074	-0.77	-145.9	2197	2198	4000	3894	199.1	-13.4	140	1076	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2198	3947	4001	3894	0	0	0	0	0	0	28.83	28.83	28.83
1374	-0.77	-145.9	2198	2198	4000	3894	237.9	-12.5	170	1382	0.00	2.58	0.00	0.000	260	0.000	0.138	2189	3618	3947	4000	3894	0	0	0	0	0	0	28.83	14.43	28.83
1510	-0.77	-145.9	2187	3618	4000	3894	257.1	-13.7	197	1519	0.15	2.45	0.00	0.000	3078	0.305	0.099	2217	2198	3946	4000	3893	0	0	0	0	0	0	14.35	14.46	28.83
1828	-0.80	-145.9	2217	2198	4000	3894	293.7	-11.4	210	1836	0.00	2.55	0.00	0.000	260	0.000	0.138	2206	3613	3946	4000	3893	0	0	0	0	0	0	28.83	14.47	28.83
1925	-0.83	-145.9	2207	3614	4000	3893	305.6	-12.4	229	1933	0.00	2.45	0.00	0.000	1030	0.000	0.099	2206	2193	3946	4000	3893	0	0	0	0	0	0	28.83	14.50	28.83
2252	-0.85	-145.9	2206	2199	4002	3893	343.5	-11.4	244	2262	0.00	2.55	0.00	0.000	260	0.000	0.138	2196	3612	3946	4000	3892	0	0	0	0	0	0	28.83	14.49	28.83
2341	-0.85	-145.9	2197	3613	3998	3893	354.7	-12.4	261	2350	0.00	2.42	0.00	0.000	1030	0.000	0.098	2196	2202	3946	4000	3892	0	0	0	0	0	0	28.83	14.51	28.83
2646	-0.87	-145.9	2196	2202	4000	3893	391.2	-11.8	272	2656	0.00	2.53	0.00	0.000	260	0.000	0.138	2186	3612	3946	4000	3892	0	0	0	0	0	0	28.83	14.50	28.83
2725	-0.87	-145.9	2188	3612	4002	3893	401.5	-12.6	287	2733	0.00	2.45	0.00	0.000	1030	0.000	0.098	2186	2190	3946	4000	3892	0	0	0	0	0	0	28.83	14.52	28.83
2891	end dive: TARGET_DEPTH_EXCEEDED
state	2891	begin apogee
2895	-0.16	0.0	2182	2810	4000	3891	422.4	-12.4	295	3086	0.93	0.00	186.02	1.414	10246	0.297	0.000	2411	2810	3347	3401	3294	0	0	0	0	0	0	14.42	28.83	13.21
3088	end apogee: CONTROL_FINISHED_OK
state	3088	begin climb
3089	0.88	145.9	2412	2811	3397	3288	428.9	0.0	301	3231	1.15	1.90	128.65	1.583	10500	0.159	0.137	2748	3767	2742	2789	2696	0	0	0	0	0	0	13.78	13.59	13.02
3255	0.77	145.9	2748	3768	2779	2682	418.8	16.6	327	3263	0.17	1.75	0.00	0.000	5126	0.324	0.093	2723	2793	2728	2777	2679	0	0	0	0	0	0	13.64	13.78	28.83
3578	0.72	145.9	2728	2794	2778	2673	372.7	14.1	341	3586	0.00	2.50	0.00	0.000	516	0.000	0.108	2732	1394	2724	2777	2672	0	0	0	0	0	0	28.83	14.17	28.83
3649	0.67	145.9	2733	1394	2777	2672	362.9	13.5	355	3658	0.20	2.58	0.00	0.000	5126	0.308	0.116	2691	2806	2724	2777	2672	0	0	0	0	0	0	14.12	14.21	28.83
3972	0.64	145.9	2694	2807	2776	2672	322.1	12.5	369	3980	0.00	2.47	0.00	0.000	516	0.000	0.107	2699	1386	2724	2777	2672	0	0	0	0	0	0	28.83	14.33	28.83
4044	0.64	145.9	2699	1387	2779	2672	313.3	12.4	383	4052	0.00	2.55	0.00	0.000	1030	0.000	0.116	2699	2799	2724	2777	2671	0	0	0	0	0	0	28.83	14.35	28.83
4367	0.61	145.9	2699	2800	2779	2672	272.4	12.5	397	4375	0.12	2.50	0.00	0.000	4612	0.311	0.104	2688	1386	2724	2777	2671	0	0	0	0	0	0	14.33	14.40	28.83
4449	0.64	175.0	2681	1386	2778	2677	263.3	10.6	413	4482	0.00	2.55	25.33	1.391	9222	0.000	0.116	2682	2812	2627	2685	2569	0	0	0	0	0	0	28.83	14.42	13.73
4786	0.64	175.5	2681	2812	2674	2547	222.5	12.1	444	4796	0.00	2.53	0.00	0.000	516	0.000	0.107	2692	1389	2609	2672	2546	0	0	0	0	0	0	28.83	14.32	28.83
4875	0.67	196.4	2693	1389	2672	2546	212.5	11.0	461	4904	0.00	2.53	18.12	1.319	9222	0.000	0.117	2691	2800	2535	2600	2470	0	0	0	0	0	0	28.83	14.33	13.70
5208	0.71	231.4	2694	2800	2593	2457	173.2	10.2	496	5252	0.00	2.58	31.95	1.281	8708	0.000	0.106	2702	1404	2388	2458	2319	0	0	0	0	0	0	28.83	14.14	13.67
5396	0.80	281.4	2701	1405	2449	2308	154.2	9.4	531	5451	0.00	2.53	44.85	1.259	9222	0.000	0.116	2701	2800	2189	2266	2113	0	0	0	0	0	0	28.83	14.21	13.54
5766	0.86	313.9	2702	2798	2256	2092	113.1	10.4	570	5801	0.15	2.62	28.58	1.217	10756	0.158	0.109	2759	1395	2064	2149	1980	0	0	0	0	0	0	14.26	14.03	13.61
5965	0.86	313.9	2758	1397	2135	1950	88.2	12.7	608	5975	0.00	2.55	0.00	0.000	1030	0.000	0.116	2758	2798	2041	2134	1949	0	0	0	0	0	0	28.83	14.14	28.83
6279	0.89	343.3	2758	2799	2135	1949	48.0	10.5	640	6295	0.00	0.00	11.88	0.290	8198	0.000	0.000	2759	2798	1948	2041	1856	0	0	0	0	0	0	28.83	28.83	14.14
6589	0.99	417.3	2760	2795	2060	1888	22.7	8.1	671	6637	0.00	2.53	39.90	0.237	8708	0.000	0.109	2768	1398	1648	1742	1555	0	0	0	0	0	0	28.83	14.23	14.15
6682	1.09	456.0	2771	1398	1751	1564	14.6	10.0	687	6711	0.17	2.55	21.52	0.217	11270	0.152	0.119	2826	2802	1487	1584	1391	0	0	0	0	0	0	14.28	14.26	14.18
7005	1.36	646.9	2826	2803	1597	1404	10.7	1.5	721	7114	0.25	2.62	101.28	0.200	10756	0.133	0.113	2921	1394	711	788	635	0	0	0	0	0	0	14.34	14.21	14.15
7143	end climb: SURFACE_DEPTH_REACHED
state	7143	begin surface coast
7152	end surface coast: CONTROL_FINISHED_OK
state	7152	begin surface