Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 218 * 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 218 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 23 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 -80790.469 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 -80790.469

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 23 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 218 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 101111,073435,6701.369,-5655.330,24,1.1,24,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.59 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -66.3 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 101111,073930,6701.336,-5655.226,22,1.0,22,-33.5 MHEAD_RNG_PITCHd_Wd 308.0,157501,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 650

Post-dive calculations and measurements:

FINISH 1.8,1.025824 _24V_AH 23.2,27.519

SM_CCo 11485,33.35,0.076,0,0,1261,300.00 _10V_AH 10.2,21.131

SM_GC 2.93,6.78,0.50,33.35,0.038,0.055,0.076,117,2509,1261,-7.08,-0.99,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 696 FG_AHR_10Vo 0.000

RAFOS 0,1320912065,8.033334,8.018056,73,57,55,0,0,0,195,153,211,0,0,0 MEM 150256

RAFOS_FIX 6700.041992,-5701.583984,091111,202044,3,88,2.03 DATA_FILE_SIZE 43237,1102

IRIDIUM_FIX 6636.54,-5650.71,101111,040414 CAP_FILE_SIZE 118070,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,232906752

HUMID 55.59 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.92226 SOUNDSPEED 1466.3

TCM_TEMP 17.20 CURRENT 0.194, 62.1,1

XPDR_PINGS 15 GPS 101111,105353,6702.192,-5657.728,64,0.9,64,-33.5

ALTIM_BOTTOM_PING 551.7,88.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 252 98.83 SBE_CT 795 23 428.79

Roll_motor 47 89 99.47 SBE_O2 611 5 74.33

VBD_pump_during_apogee 310 1246 8968.79 nil 0 0 0.00

VBD_pump_during_surface 33 75 58.60 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 181 253 1064.75 nil 0 0 0.00

Transponder_ping 5 420 56.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 26 6.48

TT8 3015 18 575.41

LPSleep 6142 2 144.72

TT8_Active 500 18 95.58

TT8_Sampling 1961 41 838.90

TT8_CF8 203 47 99.26

TT8_Kalman 0 0 0.00

Analog_circuits 1623 12 198.75

GPS_charging 0 0 0.00

Compass 1757 6 120.80

RAFOS 2520 1 38.56

Transponder 17 30 5.38

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

16 -0.73 -146.0 0.0 0.0 0 56 0.00 0.00 -38.30 0.000 2 0.000 0.000 118 2509 1735 0 0 0 0 0 0

59 -0.73 -146.0 3.1 -2.5 5 157 8.45 1.17 -83.50 0.000 4 0.252 0.090 2158 3223 3082 0 0 0 0 0 0

171 -0.73 -146.0 8.1 -12.7 22 178 0.00 1.10 0.00 0.000 6 0.000 0.030 2158 2499 3083 0 0 0 0 0 0

510 -0.73 -146.0 61.1 -15.1 73 517 0.00 1.17 0.00 0.000 4 0.000 0.061 2153 3212 3084 0 0 0 0 0 0

604 -0.73 -146.0 74.7 -13.9 87 611 0.00 1.05 0.00 0.000 6 0.000 0.027 2153 2512 3084 0 0 0 0 0 0

942 -0.73 -146.0 121.0 -13.1 138 948 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2512 3084 0 0 0 0 0 0

1279 -0.73 -146.0 162.5 -11.2 189 1286 0.00 1.08 0.00 0.000 4 0.000 0.042 2153 1814 3083 0 0 0 0 0 0

1320 -0.73 -146.0 167.1 -11.0 195 1326 0.00 1.17 0.00 0.000 6 0.000 0.051 2149 2514 3083 0 0 0 0 0 0

1658 -0.73 -146.0 206.3 -11.8 246 1665 0.00 1.10 0.00 0.000 4 0.000 0.063 2143 3217 3083 0 0 0 0 0 0

1719 -0.73 -146.0 213.6 -12.2 255 1726 0.00 1.05 0.00 0.000 6 0.000 0.027 2143 2516 3082 0 0 0 0 0 0

2058 -0.73 -146.0 251.6 -11.1 305 2061 0.00 1.15 0.00 0.000 4 0.000 0.061 2139 3219 3083 0 0 0 0 0 0

2076 -0.73 -146.0 253.3 -10.9 306 2084 0.00 1.10 0.00 0.000 6 0.000 0.028 2138 2493 3083 0 0 0 0 0 0

2399 -0.73 -146.0 292.1 -11.8 332 2402 0.00 1.17 0.00 0.000 4 0.000 0.060 2134 3214 3083 0 0 0 0 0 0

2457 -0.73 -146.0 298.4 -12.2 336 2467 0.12 1.08 0.00 0.000 6 0.167 0.026 2164 2498 3083 0 0 0 0 0 0

2780 -0.73 -146.0 330.4 -9.1 362 2784 0.00 1.17 0.00 0.000 4 0.000 0.060 2161 3217 3083 0 0 0 0 0 0

2798 -0.73 -146.0 331.7 -9.2 363 2806 0.00 1.08 0.00 0.000 6 0.000 0.027 2161 2506 3082 0 0 0 0 0 0

3123 -0.73 -146.0 363.6 -9.7 389 3126 0.00 1.15 0.00 0.000 4 0.000 0.060 2156 3213 3083 0 0 0 0 0 0

3162 -0.73 -146.0 367.7 -10.1 392 3166 0.00 1.05 0.00 0.000 6 0.000 0.028 2156 2511 3083 0 0 0 0 0 0

3492 -0.73 -146.0 399.2 -9.4 418 3496 0.00 1.15 0.00 0.000 4 0.000 0.059 2151 3217 3083 0 0 0 0 0 0

3533 -0.73 -146.0 403.2 -9.6 421 3537 0.00 1.05 0.00 0.000 6 0.000 0.027 2152 2504 3083 0 0 0 0 0 0

3862 -0.73 -146.0 437.2 -10.6 447 3865 0.00 1.15 0.00 0.000 4 0.000 0.059 2147 3214 3083 0 0 0 0 0 0

3906 -0.73 -146.0 441.5 -10.8 450 3914 0.00 1.08 0.00 0.000 6 0.000 0.027 2147 2496 3083 0 0 0 0 0 0

4229 -0.73 -146.0 476.1 -10.2 476 4233 0.00 1.17 0.00 0.000 4 0.000 0.059 2142 3219 3084 0 0 0 0 0 0

4296 -0.73 -146.0 482.9 -10.4 481 4300 0.00 1.05 0.00 0.000 6 0.000 0.028 2142 2512 3084 0 0 0 0 0 0

4628 -0.73 -146.0 516.7 -10.2 500 4632 0.00 1.15 0.00 0.000 4 0.000 0.060 2138 3219 3085 0 0 0 0 0 0

4679 -0.73 -146.0 520.1 -10.1 501 4684 0.00 1.08 0.00 0.000 6 0.000 0.026 2138 2502 3085 0 0 0 0 0 0

4999 -0.73 -146.0 554.8 -10.1 512 5003 0.00 1.15 0.00 0.000 4 0.000 0.059 2133 3211 3084 0 0 0 0 0 0

5071 -0.73 -146.0 561.9 -10.6 514 5076 0.12 1.05 0.00 0.000 6 0.162 0.026 2164 2511 3085 0 0 0 0 0 0

5406 -0.73 -146.0 591.0 -8.3 525 5410 0.00 1.15 0.00 0.000 4 0.000 0.060 2161 3218 3085 0 0 0 0 0 0

5424 -0.73 -146.0 591.0 -8.3 525 5429 0.00 1.08 0.00 0.000 6 0.000 0.026 2161 2498 3085 0 0 0 0 0 0

5746 -0.73 -146.0 618.1 -7.4 536 5750 0.00 1.17 0.00 0.000 4 0.000 0.059 2156 3222 3085 0 0 0 0 0 0

5783 -0.73 -146.0 620.5 -7.2 537 5788 0.00 1.08 0.00 0.000 6 0.000 0.026 2156 2508 3085 0 0 0 0 0 0

5839 end dive: BOTTOM_OBSTACLE_DETECTED

state 5839 begin apogee

5845 -0.16 0.0 625.6 -7.6 539 5971 0.55 0.00 117.43 1.247 6 0.127 0.000 2338 2188 2484 0 0 0 0 0 0

5972 end apogee: CONTROL_FINISHED_OK

state 5972 begin climb

5975 0.73 146.0 629.2 0.0 543 6108 0.85 1.12 125.00 1.199 4 0.070 0.044 2637 1513 1889 0 0 0 0 0 0

6206 0.73 146.0 610.2 12.6 550 6211 0.00 1.23 0.00 0.000 6 0.000 0.040 2637 2220 1884 0 0 0 0 0 0

6534 0.73 146.0 567.3 12.4 561 6538 0.00 1.10 0.00 0.000 4 0.000 0.052 2637 2897 1880 0 0 0 0 0 0

6612 0.73 146.0 558.3 12.9 563 6617 0.00 1.12 0.00 0.000 6 0.000 0.033 2642 2211 1880 0 0 0 0 0 0

6939 0.73 146.0 514.4 13.1 574 6940 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2211 1879 0 0 0 0 0 0

7252 0.73 146.0 475.0 12.4 593 7253 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2211 1878 0 0 0 0 0 0

7567 0.73 146.0 436.5 11.7 618 7570 0.00 1.15 0.00 0.000 4 0.000 0.049 2642 2901 1878 0 0 0 0 0 0

7647 0.73 146.0 426.5 12.6 624 7651 0.00 1.10 0.00 0.000 6 0.000 0.035 2647 2207 1878 0 0 0 0 0 0

7978 0.73 146.0 383.9 13.0 650 7979 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2207 1878 0 0 0 0 0 0

8293 0.73 146.0 342.1 13.5 675 8294 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2207 1877 0 0 0 0 0 0

8607 0.73 146.0 300.5 13.0 700 8609 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2207 1877 0 0 0 0 0 0

8924 0.73 146.0 260.1 12.3 725 8925 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2207 1877 0 0 0 0 0 0

9248 0.73 146.0 220.0 12.8 768 9256 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2207 1877 0 0 0 0 0 0

9588 0.73 146.0 180.1 11.9 819 9595 0.00 1.15 0.00 0.000 4 0.000 0.048 2647 2903 1877 0 0 0 0 0 0

9735 0.73 146.0 161.9 12.1 841 9741 0.00 1.10 0.00 0.000 6 0.000 0.034 2651 2199 1877 0 0 0 0 0 0

10073 0.73 146.0 124.5 11.1 892 10081 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2199 1877 0 0 0 0 0 0

10413 0.73 146.0 91.1 9.7 943 10420 0.00 1.17 0.00 0.000 4 0.000 0.048 2651 2913 1877 0 0 0 0 0 0

10671 0.77 181.6 68.6 7.7 982 10705 0.00 1.12 28.45 0.900 6 0.000 0.033 2656 2190 1744 0 0 0 0 0 0

11037 0.83 228.2 42.6 7.2 1037 11083 0.00 1.02 39.15 0.884 4 0.000 0.044 2661 1495 1553 0 0 0 0 0 0

11189 0.83 228.2 30.0 9.7 1060 11198 0.00 1.15 0.00 0.000 6 0.000 0.041 2661 2206 1550 0 0 0 0 0 0

11454 end climb: SURFACE_DEPTH_REACHED

state 11454 begin surface coast

11469 end surface coast: CONTROL_FINISHED_OK

state 11469 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	218	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	23	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	-80790.469	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	101111,073435,6701.369,-5655.330,24,1.1,24,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.59	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-66.3	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	101111,073930,6701.336,-5655.226,22,1.0,22,-33.5	MHEAD_RNG_PITCHd_Wd	308.0,157501,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	650

FINISH	1.8,1.025824	_24V_AH	23.2,27.519
SM_CCo	11485,33.35,0.076,0,0,1261,300.00	_10V_AH	10.2,21.131
SM_GC	2.93,6.78,0.50,33.35,0.038,0.055,0.076,117,2509,1261,-7.08,-0.99,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	696	FG_AHR_10Vo	0.000
RAFOS	0,1320912065,8.033334,8.018056,73,57,55,0,0,0,195,153,211,0,0,0	MEM	150256
RAFOS_FIX	6700.041992,-5701.583984,091111,202044,3,88,2.03	DATA_FILE_SIZE	43237,1102
IRIDIUM_FIX	6636.54,-5650.71,101111,040414	CAP_FILE_SIZE	118070,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,232906752
HUMID	55.59	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.92226	SOUNDSPEED	1466.3
TCM_TEMP	17.20	CURRENT	0.194, 62.1,1
XPDR_PINGS	15	GPS	101111,105353,6702.192,-5657.728,64,0.9,64,-33.5
ALTIM_BOTTOM_PING	551.7,88.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	252	98.83	SBE_CT	795	23	428.79
Roll_motor	47	89	99.47	SBE_O2	611	5	74.33
VBD_pump_during_apogee	310	1246	8968.79	nil	0	0	0.00
VBD_pump_during_surface	33	75	58.60	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	181	253	1064.75	nil	0	0	0.00
Transponder_ping	5	420	56.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	26	6.48
TT8	3015	18	575.41
LPSleep	6142	2	144.72
TT8_Active	500	18	95.58
TT8_Sampling	1961	41	838.90
TT8_CF8	203	47	99.26
TT8_Kalman	0	0	0.00
Analog_circuits	1623	12	198.75
GPS_charging	0	0	0.00
Compass	1757	6	120.80
RAFOS	2520	1	38.56
Transponder	17	30	5.38

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
16	-0.73	-146.0	0.0	0.0	0	56	0.00	0.00	-38.30	0.000	2	0.000	0.000	118	2509	1735	0	0	0	0	0	0
59	-0.73	-146.0	3.1	-2.5	5	157	8.45	1.17	-83.50	0.000	4	0.252	0.090	2158	3223	3082	0	0	0	0	0	0
171	-0.73	-146.0	8.1	-12.7	22	178	0.00	1.10	0.00	0.000	6	0.000	0.030	2158	2499	3083	0	0	0	0	0	0
510	-0.73	-146.0	61.1	-15.1	73	517	0.00	1.17	0.00	0.000	4	0.000	0.061	2153	3212	3084	0	0	0	0	0	0
604	-0.73	-146.0	74.7	-13.9	87	611	0.00	1.05	0.00	0.000	6	0.000	0.027	2153	2512	3084	0	0	0	0	0	0
942	-0.73	-146.0	121.0	-13.1	138	948	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2512	3084	0	0	0	0	0	0
1279	-0.73	-146.0	162.5	-11.2	189	1286	0.00	1.08	0.00	0.000	4	0.000	0.042	2153	1814	3083	0	0	0	0	0	0
1320	-0.73	-146.0	167.1	-11.0	195	1326	0.00	1.17	0.00	0.000	6	0.000	0.051	2149	2514	3083	0	0	0	0	0	0
1658	-0.73	-146.0	206.3	-11.8	246	1665	0.00	1.10	0.00	0.000	4	0.000	0.063	2143	3217	3083	0	0	0	0	0	0
1719	-0.73	-146.0	213.6	-12.2	255	1726	0.00	1.05	0.00	0.000	6	0.000	0.027	2143	2516	3082	0	0	0	0	0	0
2058	-0.73	-146.0	251.6	-11.1	305	2061	0.00	1.15	0.00	0.000	4	0.000	0.061	2139	3219	3083	0	0	0	0	0	0
2076	-0.73	-146.0	253.3	-10.9	306	2084	0.00	1.10	0.00	0.000	6	0.000	0.028	2138	2493	3083	0	0	0	0	0	0
2399	-0.73	-146.0	292.1	-11.8	332	2402	0.00	1.17	0.00	0.000	4	0.000	0.060	2134	3214	3083	0	0	0	0	0	0
2457	-0.73	-146.0	298.4	-12.2	336	2467	0.12	1.08	0.00	0.000	6	0.167	0.026	2164	2498	3083	0	0	0	0	0	0
2780	-0.73	-146.0	330.4	-9.1	362	2784	0.00	1.17	0.00	0.000	4	0.000	0.060	2161	3217	3083	0	0	0	0	0	0
2798	-0.73	-146.0	331.7	-9.2	363	2806	0.00	1.08	0.00	0.000	6	0.000	0.027	2161	2506	3082	0	0	0	0	0	0
3123	-0.73	-146.0	363.6	-9.7	389	3126	0.00	1.15	0.00	0.000	4	0.000	0.060	2156	3213	3083	0	0	0	0	0	0
3162	-0.73	-146.0	367.7	-10.1	392	3166	0.00	1.05	0.00	0.000	6	0.000	0.028	2156	2511	3083	0	0	0	0	0	0
3492	-0.73	-146.0	399.2	-9.4	418	3496	0.00	1.15	0.00	0.000	4	0.000	0.059	2151	3217	3083	0	0	0	0	0	0
3533	-0.73	-146.0	403.2	-9.6	421	3537	0.00	1.05	0.00	0.000	6	0.000	0.027	2152	2504	3083	0	0	0	0	0	0
3862	-0.73	-146.0	437.2	-10.6	447	3865	0.00	1.15	0.00	0.000	4	0.000	0.059	2147	3214	3083	0	0	0	0	0	0
3906	-0.73	-146.0	441.5	-10.8	450	3914	0.00	1.08	0.00	0.000	6	0.000	0.027	2147	2496	3083	0	0	0	0	0	0
4229	-0.73	-146.0	476.1	-10.2	476	4233	0.00	1.17	0.00	0.000	4	0.000	0.059	2142	3219	3084	0	0	0	0	0	0
4296	-0.73	-146.0	482.9	-10.4	481	4300	0.00	1.05	0.00	0.000	6	0.000	0.028	2142	2512	3084	0	0	0	0	0	0
4628	-0.73	-146.0	516.7	-10.2	500	4632	0.00	1.15	0.00	0.000	4	0.000	0.060	2138	3219	3085	0	0	0	0	0	0
4679	-0.73	-146.0	520.1	-10.1	501	4684	0.00	1.08	0.00	0.000	6	0.000	0.026	2138	2502	3085	0	0	0	0	0	0
4999	-0.73	-146.0	554.8	-10.1	512	5003	0.00	1.15	0.00	0.000	4	0.000	0.059	2133	3211	3084	0	0	0	0	0	0
5071	-0.73	-146.0	561.9	-10.6	514	5076	0.12	1.05	0.00	0.000	6	0.162	0.026	2164	2511	3085	0	0	0	0	0	0
5406	-0.73	-146.0	591.0	-8.3	525	5410	0.00	1.15	0.00	0.000	4	0.000	0.060	2161	3218	3085	0	0	0	0	0	0
5424	-0.73	-146.0	591.0	-8.3	525	5429	0.00	1.08	0.00	0.000	6	0.000	0.026	2161	2498	3085	0	0	0	0	0	0
5746	-0.73	-146.0	618.1	-7.4	536	5750	0.00	1.17	0.00	0.000	4	0.000	0.059	2156	3222	3085	0	0	0	0	0	0
5783	-0.73	-146.0	620.5	-7.2	537	5788	0.00	1.08	0.00	0.000	6	0.000	0.026	2156	2508	3085	0	0	0	0	0	0
5839	end dive: BOTTOM_OBSTACLE_DETECTED
state	5839	begin apogee
5845	-0.16	0.0	625.6	-7.6	539	5971	0.55	0.00	117.43	1.247	6	0.127	0.000	2338	2188	2484	0	0	0	0	0	0
5972	end apogee: CONTROL_FINISHED_OK
state	5972	begin climb
5975	0.73	146.0	629.2	0.0	543	6108	0.85	1.12	125.00	1.199	4	0.070	0.044	2637	1513	1889	0	0	0	0	0	0
6206	0.73	146.0	610.2	12.6	550	6211	0.00	1.23	0.00	0.000	6	0.000	0.040	2637	2220	1884	0	0	0	0	0	0
6534	0.73	146.0	567.3	12.4	561	6538	0.00	1.10	0.00	0.000	4	0.000	0.052	2637	2897	1880	0	0	0	0	0	0
6612	0.73	146.0	558.3	12.9	563	6617	0.00	1.12	0.00	0.000	6	0.000	0.033	2642	2211	1880	0	0	0	0	0	0
6939	0.73	146.0	514.4	13.1	574	6940	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2211	1879	0	0	0	0	0	0
7252	0.73	146.0	475.0	12.4	593	7253	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2211	1878	0	0	0	0	0	0
7567	0.73	146.0	436.5	11.7	618	7570	0.00	1.15	0.00	0.000	4	0.000	0.049	2642	2901	1878	0	0	0	0	0	0
7647	0.73	146.0	426.5	12.6	624	7651	0.00	1.10	0.00	0.000	6	0.000	0.035	2647	2207	1878	0	0	0	0	0	0
7978	0.73	146.0	383.9	13.0	650	7979	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2207	1878	0	0	0	0	0	0
8293	0.73	146.0	342.1	13.5	675	8294	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2207	1877	0	0	0	0	0	0
8607	0.73	146.0	300.5	13.0	700	8609	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2207	1877	0	0	0	0	0	0
8924	0.73	146.0	260.1	12.3	725	8925	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2207	1877	0	0	0	0	0	0
9248	0.73	146.0	220.0	12.8	768	9256	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2207	1877	0	0	0	0	0	0
9588	0.73	146.0	180.1	11.9	819	9595	0.00	1.15	0.00	0.000	4	0.000	0.048	2647	2903	1877	0	0	0	0	0	0
9735	0.73	146.0	161.9	12.1	841	9741	0.00	1.10	0.00	0.000	6	0.000	0.034	2651	2199	1877	0	0	0	0	0	0
10073	0.73	146.0	124.5	11.1	892	10081	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2199	1877	0	0	0	0	0	0
10413	0.73	146.0	91.1	9.7	943	10420	0.00	1.17	0.00	0.000	4	0.000	0.048	2651	2913	1877	0	0	0	0	0	0
10671	0.77	181.6	68.6	7.7	982	10705	0.00	1.12	28.45	0.900	6	0.000	0.033	2656	2190	1744	0	0	0	0	0	0
11037	0.83	228.2	42.6	7.2	1037	11083	0.00	1.02	39.15	0.884	4	0.000	0.044	2661	1495	1553	0	0	0	0	0	0
11189	0.83	228.2	30.0	9.7	1060	11198	0.00	1.15	0.00	0.000	6	0.000	0.041	2661	2206	1550	0	0	0	0	0	0
11454	end climb: SURFACE_DEPTH_REACHED
state	11454	begin surface coast
11469	end surface coast: CONTROL_FINISHED_OK
state	11469	begin surface