Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 210 * 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 0

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 210 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 20

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 350 R_PORT_OVSHOOT 30 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 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 8 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 -8000.3115 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

D_OFFGRID 100 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 2 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 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 49 SIM_W 0

AH0_10V 100 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 20 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 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 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 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 5 HD_A 0.003 PROTOCOL 9 T_GPS 8

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 -8000.3115

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 0.30000001 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 -1

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 0

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 30 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 210 NAV_MODE 2 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 8 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 191010,222527,6645.664,-6008.949,25,99.0,44,-38.1 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 191010,223008,6645.639,-6009.024,10,1.4,10,-38.1 MHEAD_RNG_PITCHd_Wd 130.2,148687,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 587

Post-dive calculations and measurements:

FINISH 0.5,1.004737 _24V_AH 22.7,27.141

SM_CCo 11806,0.00,0.000,0,0,1267,406.22 _10V_AH 10.1,21.108

SM_GC 1.68,6.65,0.00,0.00,0.062,0.000,0.000,302,2778,1267,-6.73,-0.06,406.22 FG_AHR_24Vo 0.000

RAFOS_CLK 630 FG_AHR_10Vo 0.000

RAFOS 0,1287532865,0.033333,0.018056,67,47,45,44,44,43,655,637,1387,138,1021,104 MEM 189596

RAFOS_FIX 6647.362305,-6002.198730,201010,000028,4,74,0.81 DATA_FILE_SIZE 43325,1237

IRIDIUM_FIX 6614.97,-6035.57,191010,191943 CAP_FILE_SIZE 131934,0

TT8_MAMPS 0.028462 CFSIZE 260165632,235286528

HUMID 50.03 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.49489 SOUNDSPEED 1452.8

TCM_TEMP 14.30 CURRENT 0.094,349.1,1

XPDR_PINGS 0 GPS 201010,014921,6646.154,-6005.884,35,4.1,54,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 268 100.72 SBE_CT 859 24 468.51

Roll_motor 99 94 215.01 SBE_O2 0 0 0.00

VBD_pump_during_apogee 454 983 10147.04 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 30 103 71.17 nil 0 0 0.00

Iridium_during_connect 36 160 131.50 nil 0 0 0.00

Iridium_during_xfer 100 223 506.27 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.64

TT8 3069 19 617.60

LPSleep 6142 2 143.32

TT8_Active 538 19 108.37

TT8_Sampling 2196 39 885.53

TT8_CF8 164 45 76.19

TT8_Kalman 0 0 0.00

Analog_circuits 1611 12 195.30

GPS_charging 0 0 0.00

Compass 1999 15 302.87

RAFOS 2520 3 76.36

Transponder 0 5 0.03

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 -0.57 -146.0 0.0 0.0 0 106 0.00 0.00 -88.47 0.000 2 0.000 0.000 286 2787 3158 0 0 0 0 0 0

108 -0.57 -146.0 5.6 -11.9 15 129 8.55 2.38 -7.32 0.000 4 0.269 0.064 2283 1357 3522 0 0 0 0 0 0

251 -0.57 -146.0 39.3 -14.6 40 258 0.00 2.38 0.00 0.000 6 0.000 0.065 2278 2781 3525 0 0 0 0 0 0

593 -0.57 -146.0 87.0 -13.3 101 600 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 2780 3525 0 0 0 0 0 0

930 -0.57 -146.0 129.8 -11.8 141 933 0.00 1.95 0.00 0.000 4 0.000 0.076 2273 3932 3526 0 0 0 0 0 0

1032 -0.57 -146.0 141.9 -12.3 150 1035 0.00 1.90 0.00 0.000 6 0.000 0.050 2273 2751 3526 0 0 0 0 0 0

1362 -0.57 -146.0 180.1 -11.5 181 1366 0.00 2.20 0.00 0.000 4 0.000 0.054 2272 1360 3525 0 0 0 0 0 0

1438 -0.57 -146.0 188.6 -10.6 187 1446 0.00 2.35 0.00 0.000 6 0.000 0.067 2272 2756 3525 0 0 0 0 0 0

1765 -0.57 -146.0 225.9 -11.7 218 1768 0.00 1.98 0.00 0.000 4 0.000 0.076 2271 3936 3525 0 0 0 0 0 0

1845 -0.57 -146.0 235.2 -11.8 225 1849 0.00 1.90 0.00 0.000 6 0.000 0.051 2271 2751 3524 0 0 0 0 0 0

2175 -0.57 -146.0 270.7 -10.2 256 2176 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2751 3524 0 0 0 0 0 0

2496 -0.57 -146.0 301.8 -9.4 286 2500 0.00 2.20 0.00 0.000 4 0.000 0.054 2271 1366 3523 0 0 0 0 0 0

2524 -0.57 -146.0 304.6 -9.6 288 2528 0.00 2.30 0.00 0.000 6 0.000 0.066 2266 2768 3523 0 0 0 0 0 0

2849 -0.57 -146.0 335.7 -9.5 318 2853 0.00 2.25 0.00 0.000 4 0.000 0.054 2266 1363 3523 0 0 0 0 0 0

2877 -0.57 -146.0 338.7 -10.1 320 2881 0.00 2.30 0.00 0.000 6 0.000 0.066 2265 2753 3523 0 0 0 0 0 0

3206 -0.57 -146.0 371.5 -10.2 351 3210 0.00 1.95 0.00 0.000 4 0.000 0.076 2262 3926 3523 0 0 0 0 0 0

3233 -0.57 -146.0 374.3 -9.5 353 3241 0.00 1.92 0.00 0.000 6 0.000 0.050 2262 2744 3523 0 0 0 0 0 0

3559 -0.57 -146.0 407.6 -10.3 384 3563 0.00 2.00 0.00 0.000 4 0.000 0.077 2257 3927 3523 0 0 0 0 0 0

3586 -0.57 -146.0 410.6 -10.2 386 3594 0.10 1.90 0.00 0.000 6 0.148 0.050 2289 2758 3523 0 0 0 0 0 0

3913 -0.57 -146.0 436.9 -7.6 417 3917 0.00 2.17 0.00 0.000 4 0.000 0.054 2290 1368 3523 0 0 0 0 0 0

3942 -0.57 -146.0 439.3 -7.8 419 3946 0.00 2.28 0.00 0.000 6 0.000 0.065 2289 2756 3523 0 0 0 0 0 0

4273 -0.57 -146.0 463.0 -7.4 450 4274 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 2755 3523 0 0 0 0 0 0

4592 -0.57 -146.0 487.1 -7.5 480 4596 0.00 2.20 0.00 0.000 4 0.000 0.053 2289 1359 3524 0 0 0 0 0 0

4614 -0.57 -146.0 489.0 -7.5 481 4622 0.00 2.28 0.00 0.000 6 0.000 0.063 2288 2755 3523 0 0 0 0 0 0

4939 -0.57 -146.0 511.6 -7.5 512 4943 0.00 1.98 0.00 0.000 4 0.000 0.075 2286 3935 3524 0 0 0 0 0 0

4984 -0.57 -146.0 515.3 -8.3 516 4988 0.00 1.90 0.00 0.000 6 0.000 0.050 2286 2749 3524 0 0 0 0 0 0

5314 -0.57 -146.0 541.3 -7.0 547 5318 0.00 1.98 0.00 0.000 4 0.000 0.076 2286 3928 3524 0 0 0 0 0 0

5360 -0.57 -146.0 544.8 -7.5 551 5364 0.00 1.85 0.00 0.000 6 0.000 0.050 2286 2761 3524 0 0 0 0 0 0

5691 -0.57 -146.0 569.1 -7.7 582 5694 0.00 1.95 0.00 0.000 4 0.000 0.076 2286 3926 3524 0 0 0 0 0 0

5717 -0.57 -146.0 571.3 -7.4 584 5725 0.00 1.88 0.00 0.000 6 0.000 0.049 2285 2767 3524 0 0 0 0 0 0

5947 end dive: TARGET_DEPTH_EXCEEDED

state 5947 begin apogee

5952 -0.14 0.0 587.6 7.6 606 6076 0.43 0.00 119.38 0.983 4 0.135 0.000 2426 2590 2923 0 0 0 0 0 0

6077 end apogee: CONTROL_FINISHED_OK

state 6077 begin climb

6078 0.57 146.0 591.2 0.0 617 6213 0.68 2.38 124.50 0.956 4 0.080 0.052 2658 1187 2326 0 0 0 0 0 0

6363 0.57 146.0 565.8 11.4 642 6371 0.00 2.47 0.00 0.000 6 0.000 0.057 2657 2593 2317 0 0 0 0 0 0

6689 0.57 146.0 526.3 12.4 673 6693 0.00 2.30 0.00 0.000 4 0.000 0.070 2658 3926 2315 0 0 0 0 0 0

6913 0.57 146.0 494.5 14.6 692 6919 0.00 2.20 0.00 0.000 6 0.000 0.047 2663 2576 2313 0 0 0 0 0 0

7239 0.57 146.0 454.1 12.3 723 7241 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2576 2312 0 0 0 0 0 0

7557 0.57 146.0 414.7 12.0 753 7558 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2576 2312 0 0 0 0 0 0

7874 0.57 146.0 377.2 11.6 783 7878 0.00 2.30 0.00 0.000 4 0.000 0.070 2662 3935 2312 0 0 0 0 0 0

7895 0.57 146.0 374.4 12.8 784 7903 0.00 2.20 0.00 0.000 6 0.000 0.046 2664 2582 2311 0 0 0 0 0 0

8221 0.57 146.0 336.6 11.9 815 8225 0.00 2.20 0.00 0.000 4 0.000 0.055 2666 1191 2311 0 0 0 0 0 0

8287 0.57 146.0 329.4 10.6 820 8294 0.00 2.28 0.00 0.000 6 0.000 0.058 2666 2574 2311 0 0 0 0 0 0

8612 0.57 146.0 294.1 10.5 851 8616 0.00 2.28 0.00 0.000 4 0.000 0.070 2666 3934 2312 0 0 0 0 0 0

8640 0.57 146.0 290.7 12.0 853 8644 0.00 2.20 0.00 0.000 6 0.000 0.047 2666 2563 2311 0 0 0 0 0 0

8966 0.57 146.0 256.5 10.7 883 8970 0.00 2.15 0.00 0.000 4 0.000 0.056 2666 1195 2311 0 0 0 0 0 0

9011 0.57 146.0 251.8 10.3 887 9015 0.00 2.22 0.00 0.000 6 0.000 0.058 2666 2581 2311 0 0 0 0 0 0

9336 0.57 146.0 217.3 10.3 917 9340 0.00 2.22 0.00 0.000 4 0.000 0.071 2666 3928 2311 0 0 0 0 0 0

9387 0.57 146.0 211.0 12.9 921 9391 0.00 2.12 0.00 0.000 6 0.000 0.047 2666 2592 2310 0 0 0 0 0 0

9717 0.58 166.8 179.4 9.0 952 9741 0.00 2.28 15.48 0.743 4 0.000 0.073 2666 3925 2242 0 0 0 0 0 0

9768 0.58 166.8 174.0 11.3 956 9776 0.00 2.15 0.00 0.000 6 0.000 0.047 2666 2608 2241 0 0 0 0 0 0

10094 0.59 173.0 141.4 9.7 987 10107 0.00 2.22 6.20 0.663 4 0.000 0.071 2666 3926 2220 0 0 0 0 0 0

10252 0.59 173.0 124.5 11.0 1001 10256 0.00 2.03 0.00 0.000 6 0.000 0.048 2667 2658 2219 0 0 0 0 0 0

10579 0.61 216.4 96.8 8.0 1035 10623 0.00 0.00 37.30 0.705 6 0.000 0.000 2666 2658 2039 0 0 0 0 0 0

10958 0.64 257.8 63.4 8.1 1102 11001 0.00 2.45 34.38 0.685 4 0.000 0.057 2666 1203 1869 0 0 0 0 0 0

11069 0.68 320.7 54.7 7.1 1121 11127 0.00 2.42 51.97 0.669 6 0.000 0.060 2666 2663 1614 0 0 0 0 0 0

11463 0.73 402.3 26.1 6.2 1190 11531 0.12 0.00 65.53 0.652 6 0.107 0.000 2721 2662 1281 0 0 0 0 0 0

11702 end climb: SURFACE_DEPTH_REACHED

state 11702 begin surface coast

11731 end surface coast: CONTROL_FINISHED_OK

state 11731 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	210	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	20
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	350	R_PORT_OVSHOOT	30	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	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	8	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	-8000.3115	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
D_OFFGRID	100	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	2	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	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	191010,222527,6645.664,-6008.949,25,99.0,44,-38.1	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	191010,223008,6645.639,-6009.024,10,1.4,10,-38.1	MHEAD_RNG_PITCHd_Wd	130.2,148687,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	587

FINISH	0.5,1.004737	_24V_AH	22.7,27.141
SM_CCo	11806,0.00,0.000,0,0,1267,406.22	_10V_AH	10.1,21.108
SM_GC	1.68,6.65,0.00,0.00,0.062,0.000,0.000,302,2778,1267,-6.73,-0.06,406.22	FG_AHR_24Vo	0.000
RAFOS_CLK	630	FG_AHR_10Vo	0.000
RAFOS	0,1287532865,0.033333,0.018056,67,47,45,44,44,43,655,637,1387,138,1021,104	MEM	189596
RAFOS_FIX	6647.362305,-6002.198730,201010,000028,4,74,0.81	DATA_FILE_SIZE	43325,1237
IRIDIUM_FIX	6614.97,-6035.57,191010,191943	CAP_FILE_SIZE	131934,0
TT8_MAMPS	0.028462	CFSIZE	260165632,235286528
HUMID	50.03	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.49489	SOUNDSPEED	1452.8
TCM_TEMP	14.30	CURRENT	0.094,349.1,1
XPDR_PINGS	0	GPS	201010,014921,6646.154,-6005.884,35,4.1,54,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	268	100.72	SBE_CT	859	24	468.51
Roll_motor	99	94	215.01	SBE_O2	0	0	0.00
VBD_pump_during_apogee	454	983	10147.04	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	30	103	71.17	nil	0	0	0.00
Iridium_during_connect	36	160	131.50	nil	0	0	0.00
Iridium_during_xfer	100	223	506.27	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.64
TT8	3069	19	617.60
LPSleep	6142	2	143.32
TT8_Active	538	19	108.37
TT8_Sampling	2196	39	885.53
TT8_CF8	164	45	76.19
TT8_Kalman	0	0	0.00
Analog_circuits	1611	12	195.30
GPS_charging	0	0	0.00
Compass	1999	15	302.87
RAFOS	2520	3	76.36
Transponder	0	5	0.03

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	-0.57	-146.0	0.0	0.0	0	106	0.00	0.00	-88.47	0.000	2	0.000	0.000	286	2787	3158	0	0	0	0	0	0
108	-0.57	-146.0	5.6	-11.9	15	129	8.55	2.38	-7.32	0.000	4	0.269	0.064	2283	1357	3522	0	0	0	0	0	0
251	-0.57	-146.0	39.3	-14.6	40	258	0.00	2.38	0.00	0.000	6	0.000	0.065	2278	2781	3525	0	0	0	0	0	0
593	-0.57	-146.0	87.0	-13.3	101	600	0.00	0.00	0.00	0.000	6	0.000	0.000	2278	2780	3525	0	0	0	0	0	0
930	-0.57	-146.0	129.8	-11.8	141	933	0.00	1.95	0.00	0.000	4	0.000	0.076	2273	3932	3526	0	0	0	0	0	0
1032	-0.57	-146.0	141.9	-12.3	150	1035	0.00	1.90	0.00	0.000	6	0.000	0.050	2273	2751	3526	0	0	0	0	0	0
1362	-0.57	-146.0	180.1	-11.5	181	1366	0.00	2.20	0.00	0.000	4	0.000	0.054	2272	1360	3525	0	0	0	0	0	0
1438	-0.57	-146.0	188.6	-10.6	187	1446	0.00	2.35	0.00	0.000	6	0.000	0.067	2272	2756	3525	0	0	0	0	0	0
1765	-0.57	-146.0	225.9	-11.7	218	1768	0.00	1.98	0.00	0.000	4	0.000	0.076	2271	3936	3525	0	0	0	0	0	0
1845	-0.57	-146.0	235.2	-11.8	225	1849	0.00	1.90	0.00	0.000	6	0.000	0.051	2271	2751	3524	0	0	0	0	0	0
2175	-0.57	-146.0	270.7	-10.2	256	2176	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2751	3524	0	0	0	0	0	0
2496	-0.57	-146.0	301.8	-9.4	286	2500	0.00	2.20	0.00	0.000	4	0.000	0.054	2271	1366	3523	0	0	0	0	0	0
2524	-0.57	-146.0	304.6	-9.6	288	2528	0.00	2.30	0.00	0.000	6	0.000	0.066	2266	2768	3523	0	0	0	0	0	0
2849	-0.57	-146.0	335.7	-9.5	318	2853	0.00	2.25	0.00	0.000	4	0.000	0.054	2266	1363	3523	0	0	0	0	0	0
2877	-0.57	-146.0	338.7	-10.1	320	2881	0.00	2.30	0.00	0.000	6	0.000	0.066	2265	2753	3523	0	0	0	0	0	0
3206	-0.57	-146.0	371.5	-10.2	351	3210	0.00	1.95	0.00	0.000	4	0.000	0.076	2262	3926	3523	0	0	0	0	0	0
3233	-0.57	-146.0	374.3	-9.5	353	3241	0.00	1.92	0.00	0.000	6	0.000	0.050	2262	2744	3523	0	0	0	0	0	0
3559	-0.57	-146.0	407.6	-10.3	384	3563	0.00	2.00	0.00	0.000	4	0.000	0.077	2257	3927	3523	0	0	0	0	0	0
3586	-0.57	-146.0	410.6	-10.2	386	3594	0.10	1.90	0.00	0.000	6	0.148	0.050	2289	2758	3523	0	0	0	0	0	0
3913	-0.57	-146.0	436.9	-7.6	417	3917	0.00	2.17	0.00	0.000	4	0.000	0.054	2290	1368	3523	0	0	0	0	0	0
3942	-0.57	-146.0	439.3	-7.8	419	3946	0.00	2.28	0.00	0.000	6	0.000	0.065	2289	2756	3523	0	0	0	0	0	0
4273	-0.57	-146.0	463.0	-7.4	450	4274	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	2755	3523	0	0	0	0	0	0
4592	-0.57	-146.0	487.1	-7.5	480	4596	0.00	2.20	0.00	0.000	4	0.000	0.053	2289	1359	3524	0	0	0	0	0	0
4614	-0.57	-146.0	489.0	-7.5	481	4622	0.00	2.28	0.00	0.000	6	0.000	0.063	2288	2755	3523	0	0	0	0	0	0
4939	-0.57	-146.0	511.6	-7.5	512	4943	0.00	1.98	0.00	0.000	4	0.000	0.075	2286	3935	3524	0	0	0	0	0	0
4984	-0.57	-146.0	515.3	-8.3	516	4988	0.00	1.90	0.00	0.000	6	0.000	0.050	2286	2749	3524	0	0	0	0	0	0
5314	-0.57	-146.0	541.3	-7.0	547	5318	0.00	1.98	0.00	0.000	4	0.000	0.076	2286	3928	3524	0	0	0	0	0	0
5360	-0.57	-146.0	544.8	-7.5	551	5364	0.00	1.85	0.00	0.000	6	0.000	0.050	2286	2761	3524	0	0	0	0	0	0
5691	-0.57	-146.0	569.1	-7.7	582	5694	0.00	1.95	0.00	0.000	4	0.000	0.076	2286	3926	3524	0	0	0	0	0	0
5717	-0.57	-146.0	571.3	-7.4	584	5725	0.00	1.88	0.00	0.000	6	0.000	0.049	2285	2767	3524	0	0	0	0	0	0
5947	end dive: TARGET_DEPTH_EXCEEDED
state	5947	begin apogee
5952	-0.14	0.0	587.6	7.6	606	6076	0.43	0.00	119.38	0.983	4	0.135	0.000	2426	2590	2923	0	0	0	0	0	0
6077	end apogee: CONTROL_FINISHED_OK
state	6077	begin climb
6078	0.57	146.0	591.2	0.0	617	6213	0.68	2.38	124.50	0.956	4	0.080	0.052	2658	1187	2326	0	0	0	0	0	0
6363	0.57	146.0	565.8	11.4	642	6371	0.00	2.47	0.00	0.000	6	0.000	0.057	2657	2593	2317	0	0	0	0	0	0
6689	0.57	146.0	526.3	12.4	673	6693	0.00	2.30	0.00	0.000	4	0.000	0.070	2658	3926	2315	0	0	0	0	0	0
6913	0.57	146.0	494.5	14.6	692	6919	0.00	2.20	0.00	0.000	6	0.000	0.047	2663	2576	2313	0	0	0	0	0	0
7239	0.57	146.0	454.1	12.3	723	7241	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2576	2312	0	0	0	0	0	0
7557	0.57	146.0	414.7	12.0	753	7558	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2576	2312	0	0	0	0	0	0
7874	0.57	146.0	377.2	11.6	783	7878	0.00	2.30	0.00	0.000	4	0.000	0.070	2662	3935	2312	0	0	0	0	0	0
7895	0.57	146.0	374.4	12.8	784	7903	0.00	2.20	0.00	0.000	6	0.000	0.046	2664	2582	2311	0	0	0	0	0	0
8221	0.57	146.0	336.6	11.9	815	8225	0.00	2.20	0.00	0.000	4	0.000	0.055	2666	1191	2311	0	0	0	0	0	0
8287	0.57	146.0	329.4	10.6	820	8294	0.00	2.28	0.00	0.000	6	0.000	0.058	2666	2574	2311	0	0	0	0	0	0
8612	0.57	146.0	294.1	10.5	851	8616	0.00	2.28	0.00	0.000	4	0.000	0.070	2666	3934	2312	0	0	0	0	0	0
8640	0.57	146.0	290.7	12.0	853	8644	0.00	2.20	0.00	0.000	6	0.000	0.047	2666	2563	2311	0	0	0	0	0	0
8966	0.57	146.0	256.5	10.7	883	8970	0.00	2.15	0.00	0.000	4	0.000	0.056	2666	1195	2311	0	0	0	0	0	0
9011	0.57	146.0	251.8	10.3	887	9015	0.00	2.22	0.00	0.000	6	0.000	0.058	2666	2581	2311	0	0	0	0	0	0
9336	0.57	146.0	217.3	10.3	917	9340	0.00	2.22	0.00	0.000	4	0.000	0.071	2666	3928	2311	0	0	0	0	0	0
9387	0.57	146.0	211.0	12.9	921	9391	0.00	2.12	0.00	0.000	6	0.000	0.047	2666	2592	2310	0	0	0	0	0	0
9717	0.58	166.8	179.4	9.0	952	9741	0.00	2.28	15.48	0.743	4	0.000	0.073	2666	3925	2242	0	0	0	0	0	0
9768	0.58	166.8	174.0	11.3	956	9776	0.00	2.15	0.00	0.000	6	0.000	0.047	2666	2608	2241	0	0	0	0	0	0
10094	0.59	173.0	141.4	9.7	987	10107	0.00	2.22	6.20	0.663	4	0.000	0.071	2666	3926	2220	0	0	0	0	0	0
10252	0.59	173.0	124.5	11.0	1001	10256	0.00	2.03	0.00	0.000	6	0.000	0.048	2667	2658	2219	0	0	0	0	0	0
10579	0.61	216.4	96.8	8.0	1035	10623	0.00	0.00	37.30	0.705	6	0.000	0.000	2666	2658	2039	0	0	0	0	0	0
10958	0.64	257.8	63.4	8.1	1102	11001	0.00	2.45	34.38	0.685	4	0.000	0.057	2666	1203	1869	0	0	0	0	0	0
11069	0.68	320.7	54.7	7.1	1121	11127	0.00	2.42	51.97	0.669	6	0.000	0.060	2666	2663	1614	0	0	0	0	0	0
11463	0.73	402.3	26.1	6.2	1190	11531	0.12	0.00	65.53	0.652	6	0.107	0.000	2721	2662	1281	0	0	0	0	0	0
11702	end climb: SURFACE_DEPTH_REACHED
state	11702	begin surface coast
11731	end surface coast: CONTROL_FINISHED_OK
state	11731	begin surface