Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 212 * 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 212 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 47 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 24 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 -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80782.938 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 -80782.938

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 -3

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 47 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 24 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 212 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 091111,130153,6701.222,-5702.904,37,0.7,37,-33.5 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 2.67 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -70.0 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 091111,130631,6701.230,-5702.939,19,0.8,19,-33.5 MHEAD_RNG_PITCHd_Wd 134.9,11275,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 697

Post-dive calculations and measurements:

FINISH 1.6,1.014320 _24V_AH 23.0,26.907

SM_CCo 12246,15.57,0.078,0,0,1261,300.00 _10V_AH 10.3,20.686

SM_GC 2.67,6.85,0.52,15.57,0.045,0.051,0.078,126,2514,1261,-7.06,-0.85,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 751 FG_AHR_10Vo 0.000

RAFOS 0,1320854461,16.033333,16.016945,65,62,56,0,0,0,181,208,154,0,0,0 MEM 150300

RAFOS_FIX 6701.478027,-5713.192871,091111,121256,4,72,0.67 DATA_FILE_SIZE 43291,1098

IRIDIUM_FIX 6631.12,-5701.34,091111,090945 CAP_FILE_SIZE 118302,0

TT8_MAMPS 0.027713,0.027713 CFSIZE 260165632,233259008

HUMID 56.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.91249 SOUNDSPEED 1465.9

TCM_TEMP 17.10 CURRENT 0.199,309.6,1

XPDR_PINGS 15 GPS 091111,163323,6701.659,-5700.229,71,0.8,71,-33.5

ALTIM_BOTTOM_PING 600.3,110.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 260 103.05 SBE_CT 796 23 425.37

Roll_motor 50 69 81.06 SBE_O2 602 5 72.65

VBD_pump_during_apogee 348 1307 10470.32 nil 0 0 0.00

VBD_pump_during_surface 15 78 27.95 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 167 259 1003.12 nil 0 0 0.00

Transponder_ping 6 420 57.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.55

TT8 2974 18 573.21

LPSleep 6914 2 164.51

TT8_Active 506 18 97.58

TT8_Sampling 1946 41 840.81

TT8_CF8 206 47 101.83

TT8_Kalman 0 0 0.00

Analog_circuits 1618 12 200.05

GPS_charging 0 0 0.00

Compass 1758 6 122.07

RAFOS 1440 1 22.25

Transponder 19 30 5.98

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 58 0.00 0.00 -40.17 0.000 2 0.000 0.000 116 2512 1851 0 0 0 0 0 0

61 -0.73 -146.0 3.1 -1.6 6 150 8.73 1.15 -70.03 0.000 4 0.260 0.070 2161 1821 3083 0 0 0 0 0 0

402 -0.73 -146.0 50.7 -16.9 57 409 0.00 1.17 0.00 0.000 6 0.000 0.051 2158 2514 3084 0 0 0 0 0 0

739 -0.73 -146.0 102.4 -14.0 108 745 0.00 1.10 0.00 0.000 4 0.000 0.064 2153 3212 3085 0 0 0 0 0 0

851 -0.73 -146.0 117.9 -13.8 125 858 0.00 1.08 0.00 0.000 6 0.000 0.028 2153 2503 3084 0 0 0 0 0 0

1189 -0.73 -146.0 161.7 -11.7 176 1196 0.00 1.05 0.00 0.000 4 0.000 0.041 2153 1818 3084 0 0 0 0 0 0

1275 -0.73 -146.0 171.9 -12.3 189 1281 0.00 1.17 0.00 0.000 6 0.000 0.051 2148 2516 3084 0 0 0 0 0 0

1612 -0.73 -146.0 214.4 -11.9 240 1618 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2516 3083 0 0 0 0 0 0

1947 -0.73 -146.0 255.4 -12.7 288 1950 0.00 1.10 0.00 0.000 4 0.000 0.064 2143 3216 3083 0 0 0 0 0 0

2040 -0.73 -146.0 266.6 -12.4 295 2044 0.00 1.08 0.00 0.000 6 0.000 0.028 2143 2501 3082 0 0 0 0 0 0

2369 -0.73 -146.0 305.0 -11.5 321 2372 0.00 1.05 0.00 0.000 4 0.000 0.041 2143 1812 3082 0 0 0 0 0 0

2435 -0.73 -146.0 312.3 -10.9 326 2438 0.00 1.17 0.00 0.000 6 0.000 0.050 2138 2514 3082 0 0 0 0 0 0

2765 -0.73 -146.0 348.3 -10.5 352 2769 0.00 1.10 0.00 0.000 4 0.000 0.063 2133 3219 3083 0 0 0 0 0 0

2859 -0.73 -146.0 358.9 -11.2 359 2863 0.10 1.08 0.00 0.000 6 0.149 0.028 2164 2499 3083 0 0 0 0 0 0

3188 -0.73 -146.0 389.3 -8.9 385 3189 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2499 3083 0 0 0 0 0 0

3503 -0.73 -146.0 418.7 -9.4 410 3507 0.00 1.17 0.00 0.000 4 0.000 0.061 2161 3217 3083 0 0 0 0 0 0

3614 -0.73 -146.0 428.6 -9.2 418 3624 0.00 1.08 0.00 0.000 6 0.000 0.027 2161 2504 3083 0 0 0 0 0 0

3938 -0.73 -146.0 458.8 -9.5 444 3940 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2504 3084 0 0 0 0 0 0

4253 -0.73 -146.0 488.4 -9.4 469 4257 0.00 1.15 0.00 0.000 4 0.000 0.059 2156 3211 3084 0 0 0 0 0 0

4319 -0.73 -146.0 494.8 -9.8 474 4323 0.00 1.05 0.00 0.000 6 0.000 0.028 2156 2505 3084 0 0 0 0 0 0

4658 -0.73 -146.0 527.1 -9.6 488 4659 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2505 3085 0 0 0 0 0 0

4965 -0.73 -146.0 557.3 -9.8 498 4966 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2505 3085 0 0 0 0 0 0

5271 -0.73 -146.0 587.4 -9.9 508 5274 0.00 1.15 0.00 0.000 4 0.000 0.060 2152 3210 3086 0 0 0 0 0 0

5337 -0.73 -146.0 594.0 -9.8 510 5340 0.00 1.05 0.00 0.000 6 0.000 0.028 2152 2502 3085 0 0 0 0 0 0

5676 -0.73 -146.0 627.3 -9.7 521 5680 0.00 1.15 0.00 0.000 4 0.000 0.059 2147 3210 3085 0 0 0 0 0 0

5743 -0.73 -146.0 633.9 -9.8 523 5747 0.00 1.05 0.00 0.000 6 0.000 0.028 2147 2501 3085 0 0 0 0 0 0

6083 -0.73 -146.0 668.5 -10.1 534 6084 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2501 3085 0 0 0 0 0 0

6358 end dive: BOTTOM_OBSTACLE_DETECTED

state 6358 begin apogee

6365 -0.16 0.0 696.8 -10.2 543 6489 0.60 0.00 118.90 1.307 6 0.136 0.000 2340 2192 2485 0 0 0 0 0 0

6490 end apogee: CONTROL_FINISHED_OK

state 6490 begin climb

6492 0.73 146.0 701.7 0.0 547 6627 0.85 1.30 127.40 1.258 4 0.069 0.044 2635 2906 1888 0 0 0 0 0 0

6659 0.74 160.9 693.1 8.5 552 6680 0.00 1.23 14.75 1.134 6 0.000 0.032 2639 2209 1827 0 0 0 0 0 0

6987 0.74 160.9 649.7 12.9 563 6991 0.00 1.20 0.00 0.000 4 0.000 0.046 2640 2911 1821 0 0 0 0 0 0

6998 0.74 160.9 649.7 12.9 563 7003 0.00 1.20 0.00 0.000 6 0.000 0.033 2645 2195 1821 0 0 0 0 0 0

7325 0.74 160.9 603.0 13.7 574 7329 0.00 1.20 0.00 0.000 4 0.000 0.046 2645 2906 1819 0 0 0 0 0 0

7359 0.74 160.9 598.5 13.7 575 7363 0.00 1.15 0.00 0.000 6 0.000 0.034 2649 2195 1820 0 0 0 0 0 0

7698 0.74 160.9 552.4 13.6 586 7702 0.00 1.20 0.00 0.000 4 0.000 0.047 2649 2910 1819 0 0 0 0 0 0

7709 0.74 160.9 552.4 13.6 586 7714 0.00 1.17 0.00 0.000 6 0.000 0.034 2654 2189 1819 0 0 0 0 0 0

8037 0.74 160.9 503.7 14.6 597 8040 0.00 1.20 0.00 0.000 4 0.000 0.047 2654 2908 1817 0 0 0 0 0 0

8094 0.74 160.9 495.9 14.7 600 8102 0.00 1.15 0.00 0.000 6 0.000 0.034 2659 2199 1817 0 0 0 0 0 0

8419 0.74 160.9 446.8 15.2 626 8423 0.00 1.05 0.00 0.000 4 0.000 0.047 2664 1497 1817 0 0 0 0 0 0

8450 0.74 160.9 442.7 14.7 628 8458 0.00 1.17 0.00 0.000 6 0.000 0.041 2664 2220 1817 0 0 0 0 0 0

8775 0.74 160.9 394.6 14.6 654 8779 0.00 1.08 0.00 0.000 4 0.000 0.052 2664 2899 1817 0 0 0 0 0 0

8806 0.74 160.9 390.4 14.7 656 8814 0.00 1.15 0.00 0.000 6 0.000 0.034 2669 2188 1817 0 0 0 0 0 0

9131 0.74 160.9 342.3 14.4 682 9132 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2188 1817 0 0 0 0 0 0

9446 0.74 160.9 296.6 13.9 707 9450 0.00 1.05 0.00 0.000 4 0.000 0.047 2674 1490 1817 0 0 0 0 0 0

9513 0.74 160.9 286.9 14.4 712 9517 0.10 1.12 0.00 0.000 6 0.152 0.043 2643 2202 1817 0 0 0 0 0 0

9835 0.74 160.9 248.2 12.1 738 9843 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2201 1817 0 0 0 0 0 0

10175 0.74 160.9 206.3 12.1 789 10182 0.00 1.10 0.00 0.000 4 0.000 0.052 2643 2899 1817 0 0 0 0 0 0

10381 0.74 160.9 181.3 11.7 820 10387 0.00 1.10 0.00 0.000 6 0.000 0.034 2646 2199 1817 0 0 0 0 0 0

10719 0.74 160.9 144.4 10.0 871 10725 0.00 1.05 0.00 0.000 4 0.000 0.047 2651 1495 1816 0 0 0 0 0 0

10778 0.74 160.9 138.0 10.3 880 10785 0.00 1.12 0.00 0.000 6 0.000 0.042 2651 2207 1817 0 0 0 0 0 0

11118 0.75 167.8 104.4 8.9 931 11131 0.00 1.10 5.30 0.763 4 0.000 0.052 2651 2898 1799 0 0 0 0 0 0

11384 0.78 189.0 80.3 8.3 971 11413 0.00 1.10 19.15 0.903 6 0.000 0.035 2656 2200 1713 0 0 0 0 0 0

11744 0.87 264.1 51.3 6.0 1025 11813 0.00 1.15 62.70 0.889 4 0.000 0.047 2661 1492 1407 0 0 0 0 0 0

11920 0.87 264.1 34.1 9.6 1051 11927 0.00 1.15 0.00 0.000 6 0.000 0.043 2661 2195 1403 0 0 0 0 0 0

12211 end climb: SURFACE_DEPTH_REACHED

state 12211 begin surface coast

12230 end surface coast: CONTROL_FINISHED_OK

state 12230 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	212	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	47	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	24	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	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80782.938	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	091111,130153,6701.222,-5702.904,37,0.7,37,-33.5	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	2.67	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-70.0	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	091111,130631,6701.230,-5702.939,19,0.8,19,-33.5	MHEAD_RNG_PITCHd_Wd	134.9,11275,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	697

FINISH	1.6,1.014320	_24V_AH	23.0,26.907
SM_CCo	12246,15.57,0.078,0,0,1261,300.00	_10V_AH	10.3,20.686
SM_GC	2.67,6.85,0.52,15.57,0.045,0.051,0.078,126,2514,1261,-7.06,-0.85,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	751	FG_AHR_10Vo	0.000
RAFOS	0,1320854461,16.033333,16.016945,65,62,56,0,0,0,181,208,154,0,0,0	MEM	150300
RAFOS_FIX	6701.478027,-5713.192871,091111,121256,4,72,0.67	DATA_FILE_SIZE	43291,1098
IRIDIUM_FIX	6631.12,-5701.34,091111,090945	CAP_FILE_SIZE	118302,0
TT8_MAMPS	0.027713,0.027713	CFSIZE	260165632,233259008
HUMID	56.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.91249	SOUNDSPEED	1465.9
TCM_TEMP	17.10	CURRENT	0.199,309.6,1
XPDR_PINGS	15	GPS	091111,163323,6701.659,-5700.229,71,0.8,71,-33.5
ALTIM_BOTTOM_PING	600.3,110.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	260	103.05	SBE_CT	796	23	425.37
Roll_motor	50	69	81.06	SBE_O2	602	5	72.65
VBD_pump_during_apogee	348	1307	10470.32	nil	0	0	0.00
VBD_pump_during_surface	15	78	27.95	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	167	259	1003.12	nil	0	0	0.00
Transponder_ping	6	420	57.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.55
TT8	2974	18	573.21
LPSleep	6914	2	164.51
TT8_Active	506	18	97.58
TT8_Sampling	1946	41	840.81
TT8_CF8	206	47	101.83
TT8_Kalman	0	0	0.00
Analog_circuits	1618	12	200.05
GPS_charging	0	0	0.00
Compass	1758	6	122.07
RAFOS	1440	1	22.25
Transponder	19	30	5.98

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	58	0.00	0.00	-40.17	0.000	2	0.000	0.000	116	2512	1851	0	0	0	0	0	0
61	-0.73	-146.0	3.1	-1.6	6	150	8.73	1.15	-70.03	0.000	4	0.260	0.070	2161	1821	3083	0	0	0	0	0	0
402	-0.73	-146.0	50.7	-16.9	57	409	0.00	1.17	0.00	0.000	6	0.000	0.051	2158	2514	3084	0	0	0	0	0	0
739	-0.73	-146.0	102.4	-14.0	108	745	0.00	1.10	0.00	0.000	4	0.000	0.064	2153	3212	3085	0	0	0	0	0	0
851	-0.73	-146.0	117.9	-13.8	125	858	0.00	1.08	0.00	0.000	6	0.000	0.028	2153	2503	3084	0	0	0	0	0	0
1189	-0.73	-146.0	161.7	-11.7	176	1196	0.00	1.05	0.00	0.000	4	0.000	0.041	2153	1818	3084	0	0	0	0	0	0
1275	-0.73	-146.0	171.9	-12.3	189	1281	0.00	1.17	0.00	0.000	6	0.000	0.051	2148	2516	3084	0	0	0	0	0	0
1612	-0.73	-146.0	214.4	-11.9	240	1618	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2516	3083	0	0	0	0	0	0
1947	-0.73	-146.0	255.4	-12.7	288	1950	0.00	1.10	0.00	0.000	4	0.000	0.064	2143	3216	3083	0	0	0	0	0	0
2040	-0.73	-146.0	266.6	-12.4	295	2044	0.00	1.08	0.00	0.000	6	0.000	0.028	2143	2501	3082	0	0	0	0	0	0
2369	-0.73	-146.0	305.0	-11.5	321	2372	0.00	1.05	0.00	0.000	4	0.000	0.041	2143	1812	3082	0	0	0	0	0	0
2435	-0.73	-146.0	312.3	-10.9	326	2438	0.00	1.17	0.00	0.000	6	0.000	0.050	2138	2514	3082	0	0	0	0	0	0
2765	-0.73	-146.0	348.3	-10.5	352	2769	0.00	1.10	0.00	0.000	4	0.000	0.063	2133	3219	3083	0	0	0	0	0	0
2859	-0.73	-146.0	358.9	-11.2	359	2863	0.10	1.08	0.00	0.000	6	0.149	0.028	2164	2499	3083	0	0	0	0	0	0
3188	-0.73	-146.0	389.3	-8.9	385	3189	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2499	3083	0	0	0	0	0	0
3503	-0.73	-146.0	418.7	-9.4	410	3507	0.00	1.17	0.00	0.000	4	0.000	0.061	2161	3217	3083	0	0	0	0	0	0
3614	-0.73	-146.0	428.6	-9.2	418	3624	0.00	1.08	0.00	0.000	6	0.000	0.027	2161	2504	3083	0	0	0	0	0	0
3938	-0.73	-146.0	458.8	-9.5	444	3940	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2504	3084	0	0	0	0	0	0
4253	-0.73	-146.0	488.4	-9.4	469	4257	0.00	1.15	0.00	0.000	4	0.000	0.059	2156	3211	3084	0	0	0	0	0	0
4319	-0.73	-146.0	494.8	-9.8	474	4323	0.00	1.05	0.00	0.000	6	0.000	0.028	2156	2505	3084	0	0	0	0	0	0
4658	-0.73	-146.0	527.1	-9.6	488	4659	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2505	3085	0	0	0	0	0	0
4965	-0.73	-146.0	557.3	-9.8	498	4966	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2505	3085	0	0	0	0	0	0
5271	-0.73	-146.0	587.4	-9.9	508	5274	0.00	1.15	0.00	0.000	4	0.000	0.060	2152	3210	3086	0	0	0	0	0	0
5337	-0.73	-146.0	594.0	-9.8	510	5340	0.00	1.05	0.00	0.000	6	0.000	0.028	2152	2502	3085	0	0	0	0	0	0
5676	-0.73	-146.0	627.3	-9.7	521	5680	0.00	1.15	0.00	0.000	4	0.000	0.059	2147	3210	3085	0	0	0	0	0	0
5743	-0.73	-146.0	633.9	-9.8	523	5747	0.00	1.05	0.00	0.000	6	0.000	0.028	2147	2501	3085	0	0	0	0	0	0
6083	-0.73	-146.0	668.5	-10.1	534	6084	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2501	3085	0	0	0	0	0	0
6358	end dive: BOTTOM_OBSTACLE_DETECTED
state	6358	begin apogee
6365	-0.16	0.0	696.8	-10.2	543	6489	0.60	0.00	118.90	1.307	6	0.136	0.000	2340	2192	2485	0	0	0	0	0	0
6490	end apogee: CONTROL_FINISHED_OK
state	6490	begin climb
6492	0.73	146.0	701.7	0.0	547	6627	0.85	1.30	127.40	1.258	4	0.069	0.044	2635	2906	1888	0	0	0	0	0	0
6659	0.74	160.9	693.1	8.5	552	6680	0.00	1.23	14.75	1.134	6	0.000	0.032	2639	2209	1827	0	0	0	0	0	0
6987	0.74	160.9	649.7	12.9	563	6991	0.00	1.20	0.00	0.000	4	0.000	0.046	2640	2911	1821	0	0	0	0	0	0
6998	0.74	160.9	649.7	12.9	563	7003	0.00	1.20	0.00	0.000	6	0.000	0.033	2645	2195	1821	0	0	0	0	0	0
7325	0.74	160.9	603.0	13.7	574	7329	0.00	1.20	0.00	0.000	4	0.000	0.046	2645	2906	1819	0	0	0	0	0	0
7359	0.74	160.9	598.5	13.7	575	7363	0.00	1.15	0.00	0.000	6	0.000	0.034	2649	2195	1820	0	0	0	0	0	0
7698	0.74	160.9	552.4	13.6	586	7702	0.00	1.20	0.00	0.000	4	0.000	0.047	2649	2910	1819	0	0	0	0	0	0
7709	0.74	160.9	552.4	13.6	586	7714	0.00	1.17	0.00	0.000	6	0.000	0.034	2654	2189	1819	0	0	0	0	0	0
8037	0.74	160.9	503.7	14.6	597	8040	0.00	1.20	0.00	0.000	4	0.000	0.047	2654	2908	1817	0	0	0	0	0	0
8094	0.74	160.9	495.9	14.7	600	8102	0.00	1.15	0.00	0.000	6	0.000	0.034	2659	2199	1817	0	0	0	0	0	0
8419	0.74	160.9	446.8	15.2	626	8423	0.00	1.05	0.00	0.000	4	0.000	0.047	2664	1497	1817	0	0	0	0	0	0
8450	0.74	160.9	442.7	14.7	628	8458	0.00	1.17	0.00	0.000	6	0.000	0.041	2664	2220	1817	0	0	0	0	0	0
8775	0.74	160.9	394.6	14.6	654	8779	0.00	1.08	0.00	0.000	4	0.000	0.052	2664	2899	1817	0	0	0	0	0	0
8806	0.74	160.9	390.4	14.7	656	8814	0.00	1.15	0.00	0.000	6	0.000	0.034	2669	2188	1817	0	0	0	0	0	0
9131	0.74	160.9	342.3	14.4	682	9132	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2188	1817	0	0	0	0	0	0
9446	0.74	160.9	296.6	13.9	707	9450	0.00	1.05	0.00	0.000	4	0.000	0.047	2674	1490	1817	0	0	0	0	0	0
9513	0.74	160.9	286.9	14.4	712	9517	0.10	1.12	0.00	0.000	6	0.152	0.043	2643	2202	1817	0	0	0	0	0	0
9835	0.74	160.9	248.2	12.1	738	9843	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2201	1817	0	0	0	0	0	0
10175	0.74	160.9	206.3	12.1	789	10182	0.00	1.10	0.00	0.000	4	0.000	0.052	2643	2899	1817	0	0	0	0	0	0
10381	0.74	160.9	181.3	11.7	820	10387	0.00	1.10	0.00	0.000	6	0.000	0.034	2646	2199	1817	0	0	0	0	0	0
10719	0.74	160.9	144.4	10.0	871	10725	0.00	1.05	0.00	0.000	4	0.000	0.047	2651	1495	1816	0	0	0	0	0	0
10778	0.74	160.9	138.0	10.3	880	10785	0.00	1.12	0.00	0.000	6	0.000	0.042	2651	2207	1817	0	0	0	0	0	0
11118	0.75	167.8	104.4	8.9	931	11131	0.00	1.10	5.30	0.763	4	0.000	0.052	2651	2898	1799	0	0	0	0	0	0
11384	0.78	189.0	80.3	8.3	971	11413	0.00	1.10	19.15	0.903	6	0.000	0.035	2656	2200	1713	0	0	0	0	0	0
11744	0.87	264.1	51.3	6.0	1025	11813	0.00	1.15	62.70	0.889	4	0.000	0.047	2661	1492	1407	0	0	0	0	0	0
11920	0.87	264.1	34.1	9.6	1051	11927	0.00	1.15	0.00	0.000	6	0.000	0.043	2661	2195	1403	0	0	0	0	0	0
12211	end climb: SURFACE_DEPTH_REACHED
state	12211	begin surface coast
12230	end surface coast: CONTROL_FINISHED_OK
state	12230	begin surface