Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 227 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 113 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 ROLL_MIN 280 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 227 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2340 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2520 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 275 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 500 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2420 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -2 T_GPS 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -26185.424 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 171 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2436 PRESSURE_YINT -25.705193 SEABIRD_T_G 0.004371644

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51576 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 14.7 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.00342 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0096000005 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 275

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 14.7 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 171 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00135 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160825 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -25.705193 TGT_DEFAULT_LAT 21

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 70 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 470

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.00342 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0096000005 RELAUNCH 1 T_GPS_CHARGE -26185.424

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.02765 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2436 KALMAN_USE 1 ROLL_MIN 280 USE_BATHY -2

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2340 MASS 51576 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 227 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 191858,6642.078,-6007.942,37,2.9,56,-38.0 TGT_NAME TARGET_ADD1_EB

_CALLS 1 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.141,0.174

_SM_DEPTHo 1.43 KALMAN_X 18568.0,-264.2,84.7,-136953.4,256.0

_SM_ANGLEo -58.7 KALMAN_Y -34075.3,1322.7,-1540.2,10537.1,-115.1

GPS2 192429,6642.049,-6007.815,12,2.7,31,-38.0 MHEAD_RNG_PITCHd_Wd 77.0,12589,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 578

Post-dive calculations and measurements:

FINISH 0.8,1.017011 TCM_TEMP 15.20

SM_CCo 15338,0.00,0.000,0,0,1065,332.38 XPDR_PINGS 2

SM_GC 1.60,7.30,0.00,0.00,0.071,0.000,0.000,163,2340,1065,-10.39,-0.03,332.38 _24V_AH 21.1,44.904

RAFOS_CLK 877 _10V_AH 10.5,18.912

RAFOS 0,1224965054,20.083334,20.070555,99,67,59,55,55,54,486,220,176,145,209,198 DATA_FILE_SIZE 31635,894

RAFOS_FIX 6716.375977,-5739.854980,251008,202023,5,96,33.80 CAP_FILE_SIZE 124424,0

IRIDIUM_FIX 6614.97,-6013.96,190198,151552 CFSIZE 260165632,234106880

TT8_MAMPS 0.026845 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1898 SOUNDSPEED 1448.0

INTERNAL_PRESSURE 8.48665 GPS 251008,234325,6644.125,-6004.881,22,1.1,40,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 273 123.58 SBE_CT 703 24 356.34

Roll_motor 132 84 236.19 SBE_O2 609 19 244.43

VBD_pump_during_apogee 430 1265 11490.35 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 29 103 63.43 nil 0 0 0.00

Iridium_during_connect 36 160 123.15 nil 0 0 0.00

Iridium_during_xfer 127 223 599.09

Transponder_ping 0 420 4.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.89

TT8 1653 19 345.83

LPSleep 11365 2 275.67

TT8_Active 573 19 119.96

TT8_Sampling 1722 39 722.12

TT8_CF8 414 45 199.64

TT8_Kalman 33 81 28.70

Analog_circuits 1530 12 192.84

GPS_charging 0 0 0.00

Compass 1676 8 140.83

RAFOS 1800 1 28.35

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.08 -146.0 0.0 0.0 0 154 0.00 0.00 -135.62 0.000 2 0.000 0.000 164 2335 2871

157 -1.08 -146.0 3.8 -4.1 24 177 9.00 2.45 -4.55 0.000 4 0.273 0.084 2201 3754 3019

413 -0.77 -146.0 52.9 -14.4 69 419 0.22 2.22 0.00 0.000 6 0.170 0.044 2264 2340 3022

757 -0.68 -146.0 87.6 -10.0 130 764 0.10 2.25 0.00 0.000 4 0.183 0.058 2291 929 3023

809 -0.62 -146.0 92.6 -9.5 139 815 0.00 2.28 0.00 0.000 6 0.000 0.054 2291 2348 3023

1148 -0.62 -146.0 120.1 -7.6 167 1152 0.00 2.28 0.00 0.000 4 0.000 0.059 2291 932 3023

1225 -0.62 -146.0 126.3 -8.5 170 1229 0.00 2.28 0.00 0.000 6 0.000 0.054 2291 2352 3023

1547 -0.67 -146.0 149.1 -7.0 186 1550 0.00 2.30 0.00 0.000 4 0.000 0.071 2291 3757 3023

1580 -0.77 -146.0 151.6 -7.5 187 1585 0.10 2.22 0.00 0.000 6 0.109 0.044 2257 2330 3023

1900 -0.77 -146.0 179.0 -8.4 203 1901 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2330 3023

2209 -0.77 -146.0 204.5 -7.8 218 2210 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2330 3023

2519 -0.77 -146.0 225.4 -6.2 233 2520 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2330 3022

2828 -0.77 -146.0 245.3 -6.5 248 2832 0.00 2.22 0.00 0.000 4 0.000 0.061 2257 931 3022

2878 -0.71 -146.0 249.0 -7.4 250 2882 0.10 2.28 0.00 0.000 6 0.184 0.055 2281 2355 3022

3205 -0.81 -146.0 270.3 -6.9 266 3209 0.00 2.28 0.00 0.000 4 0.000 0.071 2281 3750 3021

3299 -0.95 -146.0 276.5 -6.3 270 3305 0.17 2.20 0.00 0.000 6 0.091 0.045 2219 2342 3021

3626 -0.85 -146.0 302.4 -8.0 286 3631 0.12 2.25 0.00 0.000 4 0.163 0.058 2253 932 3021

3720 -0.85 -146.0 309.6 -7.6 290 3724 0.00 2.28 0.00 0.000 6 0.000 0.054 2253 2352 3021

4042 -0.85 -146.0 331.3 -7.0 306 4043 0.00 0.00 0.00 0.000 6 0.000 0.000 2253 2352 3021

4350 -0.85 -146.0 354.3 -7.4 321 4354 0.00 2.30 0.00 0.000 4 0.000 0.071 2253 3754 3021

4406 -0.93 -146.0 358.7 -7.7 323 4410 0.00 2.22 0.00 0.000 6 0.000 0.044 2253 2326 3021

4731 -0.93 -146.0 380.8 -6.5 339 4734 0.00 2.22 0.00 0.000 4 0.000 0.059 2253 927 3021

4775 -0.93 -146.0 384.3 -7.1 341 4779 0.00 2.28 0.00 0.000 6 0.000 0.054 2253 2348 3021

5123 -0.98 -146.0 405.9 -6.1 356 5127 0.12 2.28 0.00 0.000 4 0.103 0.069 2208 3744 3021

5184 -0.90 -146.0 410.6 -7.8 357 5188 0.12 2.20 0.00 0.000 6 0.166 0.043 2240 2330 3021

5525 -0.90 -146.0 433.3 -6.7 366 5529 0.00 2.20 0.00 0.000 4 0.000 0.058 2240 939 3021

5575 -0.90 -146.0 436.9 -7.0 367 5579 0.00 2.25 0.00 0.000 6 0.000 0.054 2240 2352 3022

5900 -0.90 -146.0 458.4 -6.6 375 5904 0.00 2.28 0.00 0.000 4 0.000 0.070 2240 3744 3022

5977 -0.97 -146.0 464.2 -7.5 376 5981 0.00 2.20 0.00 0.000 6 0.000 0.042 2240 2327 3022

6314 -0.97 -146.0 487.5 -6.8 385 6318 0.00 2.35 0.00 0.000 4 0.000 0.070 2240 3746 3022

6348 -1.02 -146.0 489.9 -6.9 385 6352 0.12 2.20 0.00 0.000 6 0.097 0.042 2197 2330 3022

6679 -0.91 -146.0 516.5 -8.0 393 6681 0.15 0.00 0.00 0.000 6 0.161 0.000 2238 2330 3022

7004 -0.91 -146.0 537.9 -6.6 401 7007 0.00 2.35 0.00 0.000 4 0.000 0.069 2238 3746 3023

7037 -0.97 -146.0 540.1 -7.0 401 7041 0.00 2.17 0.00 0.000 6 0.000 0.042 2238 2340 3023

7373 -0.97 -146.0 562.3 -6.6 410 7374 0.00 0.00 0.00 0.000 6 0.000 0.000 2238 2339 3023

7655 end dive: TARGET_DEPTH_EXCEEDED

state 7655 begin apogee

7661 -0.34 0.0 580.2 6.2 417 7795 0.40 0.00 131.68 1.266 6 0.144 0.000 2362 2523 2420

7796 end apogee: CONTROL_FINISHED_OK

state 7796 begin climb

7799 1.08 146.0 583.3 0.0 420 7950 1.05 2.62 136.95 1.165 4 0.112 0.052 2668 1122 1823

7979 0.98 146.0 571.9 7.9 424 7983 0.00 2.53 0.00 0.000 6 0.000 0.051 2668 2532 1822

8293 0.86 146.0 545.5 8.6 432 8298 0.17 2.38 0.00 0.000 4 0.145 0.067 2620 3929 1820

8337 0.81 146.0 541.9 7.8 433 8340 0.00 2.28 0.00 0.000 6 0.000 0.041 2620 2516 1820

8661 0.81 151.3 519.7 6.8 441 8668 0.00 0.00 5.55 0.929 6 0.000 0.000 2620 2516 1802

8986 0.83 163.9 498.0 6.6 449 9005 0.00 2.33 12.23 1.126 4 0.000 0.055 2620 1109 1751

9022 0.99 214.2 495.7 5.3 449 9071 0.12 2.30 43.15 1.187 6 0.084 0.050 2669 2539 1546

9395 0.93 214.2 463.5 8.7 459 9399 0.12 2.33 0.00 0.000 4 0.131 0.054 2635 1114 1542

9416 0.93 214.2 461.9 7.4 459 9420 0.00 2.28 0.00 0.000 6 0.000 0.050 2635 2529 1542

9758 1.00 214.2 437.5 7.2 468 9762 0.00 2.28 0.00 0.000 4 0.000 0.055 2635 1111 1542

9779 1.10 216.4 435.9 6.9 468 9784 0.15 2.25 0.00 0.000 6 0.079 0.050 2693 2527 1542

10127 0.99 216.4 402.6 9.5 477 10129 0.15 0.00 0.00 0.000 6 0.133 0.000 2650 2528 1542

10435 1.01 232.0 381.4 6.5 491 10457 0.00 2.30 15.45 1.114 4 0.000 0.054 2650 1109 1474

10485 1.12 241.5 378.3 6.7 493 10503 0.12 2.28 9.55 1.024 6 0.085 0.051 2698 2525 1435

10811 1.01 241.5 348.9 9.2 509 10816 0.15 2.28 0.00 0.000 4 0.139 0.054 2655 1111 1433

10832 1.01 241.5 347.1 7.9 510 10836 0.00 2.25 0.00 0.000 6 0.000 0.050 2655 2526 1433

11159 1.07 241.5 322.3 7.9 526 11161 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2526 1433

11468 1.07 241.5 297.7 7.9 541 11472 0.00 2.25 0.00 0.000 4 0.000 0.054 2655 1108 1433

11535 1.17 241.5 292.5 7.8 544 11540 0.12 2.25 0.00 0.000 6 0.083 0.051 2705 2531 1433

11862 1.07 241.5 261.3 9.3 560 11867 0.15 2.28 0.00 0.000 4 0.133 0.055 2661 1111 1433

11895 1.17 242.5 258.7 7.0 561 11901 0.10 2.22 0.00 0.000 6 0.091 0.051 2704 2518 1433

12210 1.10 242.5 231.3 8.8 577 12214 0.12 2.28 0.00 0.000 4 0.136 0.066 2667 3926 1433

12249 1.10 242.5 228.1 8.1 579 12253 0.00 2.17 0.00 0.000 6 0.000 0.042 2667 2516 1434

12581 1.10 242.5 203.8 7.2 595 12582 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2516 1433

12891 1.16 242.5 180.0 7.9 610 12895 0.08 2.22 0.00 0.000 4 0.100 0.056 2705 1109 1433

12962 1.16 242.5 173.5 8.8 613 12966 0.00 2.28 0.00 0.000 6 0.000 0.051 2705 2525 1433

13289 1.16 242.5 143.9 8.9 629 13290 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2525 1433

13599 1.16 242.5 119.9 7.7 644 13602 0.00 2.30 0.00 0.000 4 0.000 0.071 2705 3941 1433

13637 1.04 242.5 116.3 8.6 645 13644 0.17 2.20 0.00 0.000 6 0.140 0.044 2654 2518 1432

13955 1.35 265.0 98.1 6.3 664 13985 0.20 2.30 20.62 1.045 4 0.076 0.058 2735 1118 1338

14077 1.30 265.0 88.6 8.2 685 14084 0.00 2.28 0.00 0.000 6 0.000 0.052 2735 2531 1336

14421 1.25 265.0 58.3 8.7 746 14428 0.12 2.30 0.00 0.000 4 0.136 0.071 2696 3927 1336

14456 1.25 265.0 55.5 7.8 752 14463 0.00 2.20 0.00 0.000 6 0.000 0.043 2697 2515 1335

14800 1.44 310.9 33.9 5.5 813 14847 0.17 2.35 38.35 1.023 4 0.074 0.060 2770 1120 1151

14870 1.44 310.9 28.6 8.0 825 14877 0.10 2.30 0.00 0.000 6 0.147 0.053 2747 2520 1149

15214 1.48 345.8 3.1 5.8 886 15233 0.00 0.00 16.77 0.967 2 0.000 0.000 2747 2520 1071

15233 end climb: SURFACE_DEPTH_REACHED

state 15233 begin surface coast

15261 end surface coast: CONTROL_FINISHED_OK

state 15261 begin surface

ID	113	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	280	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	227	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2340	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2520	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	275	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	500	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2420	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-2	T_GPS	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-26185.424	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	70	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	171	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4022	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2436	PRESSURE_YINT	-25.705193	SEABIRD_T_G	0.004371644
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160825	SEABIRD_T_H	0.00064727472
MASS	51576	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6231954e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8174416e-06
FERRY_MAX	45	PITCH_GAIN	14.7	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9426794
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.00342	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0096000005	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012778315
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	191858,6642.078,-6007.942,37,2.9,56,-38.0	TGT_NAME	TARGET_ADD1_EB
_CALLS	1	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.141,0.174
_SM_DEPTHo	1.43	KALMAN_X	18568.0,-264.2,84.7,-136953.4,256.0
_SM_ANGLEo	-58.7	KALMAN_Y	-34075.3,1322.7,-1540.2,10537.1,-115.1
GPS2	192429,6642.049,-6007.815,12,2.7,31,-38.0	MHEAD_RNG_PITCHd_Wd	77.0,12589,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	578

FINISH	0.8,1.017011	TCM_TEMP	15.20
SM_CCo	15338,0.00,0.000,0,0,1065,332.38	XPDR_PINGS	2
SM_GC	1.60,7.30,0.00,0.00,0.071,0.000,0.000,163,2340,1065,-10.39,-0.03,332.38	_24V_AH	21.1,44.904
RAFOS_CLK	877	_10V_AH	10.5,18.912
RAFOS	0,1224965054,20.083334,20.070555,99,67,59,55,55,54,486,220,176,145,209,198	DATA_FILE_SIZE	31635,894
RAFOS_FIX	6716.375977,-5739.854980,251008,202023,5,96,33.80	CAP_FILE_SIZE	124424,0
IRIDIUM_FIX	6614.97,-6013.96,190198,151552	CFSIZE	260165632,234106880
TT8_MAMPS	0.026845	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1898	SOUNDSPEED	1448.0
INTERNAL_PRESSURE	8.48665	GPS	251008,234325,6644.125,-6004.881,22,1.1,40,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	273	123.58	SBE_CT	703	24	356.34
Roll_motor	132	84	236.19	SBE_O2	609	19	244.43
VBD_pump_during_apogee	430	1265	11490.35	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	29	103	63.43	nil	0	0	0.00
Iridium_during_connect	36	160	123.15	nil	0	0	0.00
Iridium_during_xfer	127	223	599.09
Transponder_ping	0	420	4.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.89
TT8	1653	19	345.83
LPSleep	11365	2	275.67
TT8_Active	573	19	119.96
TT8_Sampling	1722	39	722.12
TT8_CF8	414	45	199.64
TT8_Kalman	33	81	28.70
Analog_circuits	1530	12	192.84
GPS_charging	0	0	0.00
Compass	1676	8	140.83
RAFOS	1800	1	28.35
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.08	-146.0	0.0	0.0	0	154	0.00	0.00	-135.62	0.000	2	0.000	0.000	164	2335	2871
157	-1.08	-146.0	3.8	-4.1	24	177	9.00	2.45	-4.55	0.000	4	0.273	0.084	2201	3754	3019
413	-0.77	-146.0	52.9	-14.4	69	419	0.22	2.22	0.00	0.000	6	0.170	0.044	2264	2340	3022
757	-0.68	-146.0	87.6	-10.0	130	764	0.10	2.25	0.00	0.000	4	0.183	0.058	2291	929	3023
809	-0.62	-146.0	92.6	-9.5	139	815	0.00	2.28	0.00	0.000	6	0.000	0.054	2291	2348	3023
1148	-0.62	-146.0	120.1	-7.6	167	1152	0.00	2.28	0.00	0.000	4	0.000	0.059	2291	932	3023
1225	-0.62	-146.0	126.3	-8.5	170	1229	0.00	2.28	0.00	0.000	6	0.000	0.054	2291	2352	3023
1547	-0.67	-146.0	149.1	-7.0	186	1550	0.00	2.30	0.00	0.000	4	0.000	0.071	2291	3757	3023
1580	-0.77	-146.0	151.6	-7.5	187	1585	0.10	2.22	0.00	0.000	6	0.109	0.044	2257	2330	3023
1900	-0.77	-146.0	179.0	-8.4	203	1901	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2330	3023
2209	-0.77	-146.0	204.5	-7.8	218	2210	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2330	3023
2519	-0.77	-146.0	225.4	-6.2	233	2520	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2330	3022
2828	-0.77	-146.0	245.3	-6.5	248	2832	0.00	2.22	0.00	0.000	4	0.000	0.061	2257	931	3022
2878	-0.71	-146.0	249.0	-7.4	250	2882	0.10	2.28	0.00	0.000	6	0.184	0.055	2281	2355	3022
3205	-0.81	-146.0	270.3	-6.9	266	3209	0.00	2.28	0.00	0.000	4	0.000	0.071	2281	3750	3021
3299	-0.95	-146.0	276.5	-6.3	270	3305	0.17	2.20	0.00	0.000	6	0.091	0.045	2219	2342	3021
3626	-0.85	-146.0	302.4	-8.0	286	3631	0.12	2.25	0.00	0.000	4	0.163	0.058	2253	932	3021
3720	-0.85	-146.0	309.6	-7.6	290	3724	0.00	2.28	0.00	0.000	6	0.000	0.054	2253	2352	3021
4042	-0.85	-146.0	331.3	-7.0	306	4043	0.00	0.00	0.00	0.000	6	0.000	0.000	2253	2352	3021
4350	-0.85	-146.0	354.3	-7.4	321	4354	0.00	2.30	0.00	0.000	4	0.000	0.071	2253	3754	3021
4406	-0.93	-146.0	358.7	-7.7	323	4410	0.00	2.22	0.00	0.000	6	0.000	0.044	2253	2326	3021
4731	-0.93	-146.0	380.8	-6.5	339	4734	0.00	2.22	0.00	0.000	4	0.000	0.059	2253	927	3021
4775	-0.93	-146.0	384.3	-7.1	341	4779	0.00	2.28	0.00	0.000	6	0.000	0.054	2253	2348	3021
5123	-0.98	-146.0	405.9	-6.1	356	5127	0.12	2.28	0.00	0.000	4	0.103	0.069	2208	3744	3021
5184	-0.90	-146.0	410.6	-7.8	357	5188	0.12	2.20	0.00	0.000	6	0.166	0.043	2240	2330	3021
5525	-0.90	-146.0	433.3	-6.7	366	5529	0.00	2.20	0.00	0.000	4	0.000	0.058	2240	939	3021
5575	-0.90	-146.0	436.9	-7.0	367	5579	0.00	2.25	0.00	0.000	6	0.000	0.054	2240	2352	3022
5900	-0.90	-146.0	458.4	-6.6	375	5904	0.00	2.28	0.00	0.000	4	0.000	0.070	2240	3744	3022
5977	-0.97	-146.0	464.2	-7.5	376	5981	0.00	2.20	0.00	0.000	6	0.000	0.042	2240	2327	3022
6314	-0.97	-146.0	487.5	-6.8	385	6318	0.00	2.35	0.00	0.000	4	0.000	0.070	2240	3746	3022
6348	-1.02	-146.0	489.9	-6.9	385	6352	0.12	2.20	0.00	0.000	6	0.097	0.042	2197	2330	3022
6679	-0.91	-146.0	516.5	-8.0	393	6681	0.15	0.00	0.00	0.000	6	0.161	0.000	2238	2330	3022
7004	-0.91	-146.0	537.9	-6.6	401	7007	0.00	2.35	0.00	0.000	4	0.000	0.069	2238	3746	3023
7037	-0.97	-146.0	540.1	-7.0	401	7041	0.00	2.17	0.00	0.000	6	0.000	0.042	2238	2340	3023
7373	-0.97	-146.0	562.3	-6.6	410	7374	0.00	0.00	0.00	0.000	6	0.000	0.000	2238	2339	3023
7655	end dive: TARGET_DEPTH_EXCEEDED
state	7655	begin apogee
7661	-0.34	0.0	580.2	6.2	417	7795	0.40	0.00	131.68	1.266	6	0.144	0.000	2362	2523	2420
7796	end apogee: CONTROL_FINISHED_OK
state	7796	begin climb
7799	1.08	146.0	583.3	0.0	420	7950	1.05	2.62	136.95	1.165	4	0.112	0.052	2668	1122	1823
7979	0.98	146.0	571.9	7.9	424	7983	0.00	2.53	0.00	0.000	6	0.000	0.051	2668	2532	1822
8293	0.86	146.0	545.5	8.6	432	8298	0.17	2.38	0.00	0.000	4	0.145	0.067	2620	3929	1820
8337	0.81	146.0	541.9	7.8	433	8340	0.00	2.28	0.00	0.000	6	0.000	0.041	2620	2516	1820
8661	0.81	151.3	519.7	6.8	441	8668	0.00	0.00	5.55	0.929	6	0.000	0.000	2620	2516	1802
8986	0.83	163.9	498.0	6.6	449	9005	0.00	2.33	12.23	1.126	4	0.000	0.055	2620	1109	1751
9022	0.99	214.2	495.7	5.3	449	9071	0.12	2.30	43.15	1.187	6	0.084	0.050	2669	2539	1546
9395	0.93	214.2	463.5	8.7	459	9399	0.12	2.33	0.00	0.000	4	0.131	0.054	2635	1114	1542
9416	0.93	214.2	461.9	7.4	459	9420	0.00	2.28	0.00	0.000	6	0.000	0.050	2635	2529	1542
9758	1.00	214.2	437.5	7.2	468	9762	0.00	2.28	0.00	0.000	4	0.000	0.055	2635	1111	1542
9779	1.10	216.4	435.9	6.9	468	9784	0.15	2.25	0.00	0.000	6	0.079	0.050	2693	2527	1542
10127	0.99	216.4	402.6	9.5	477	10129	0.15	0.00	0.00	0.000	6	0.133	0.000	2650	2528	1542
10435	1.01	232.0	381.4	6.5	491	10457	0.00	2.30	15.45	1.114	4	0.000	0.054	2650	1109	1474
10485	1.12	241.5	378.3	6.7	493	10503	0.12	2.28	9.55	1.024	6	0.085	0.051	2698	2525	1435
10811	1.01	241.5	348.9	9.2	509	10816	0.15	2.28	0.00	0.000	4	0.139	0.054	2655	1111	1433
10832	1.01	241.5	347.1	7.9	510	10836	0.00	2.25	0.00	0.000	6	0.000	0.050	2655	2526	1433
11159	1.07	241.5	322.3	7.9	526	11161	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2526	1433
11468	1.07	241.5	297.7	7.9	541	11472	0.00	2.25	0.00	0.000	4	0.000	0.054	2655	1108	1433
11535	1.17	241.5	292.5	7.8	544	11540	0.12	2.25	0.00	0.000	6	0.083	0.051	2705	2531	1433
11862	1.07	241.5	261.3	9.3	560	11867	0.15	2.28	0.00	0.000	4	0.133	0.055	2661	1111	1433
11895	1.17	242.5	258.7	7.0	561	11901	0.10	2.22	0.00	0.000	6	0.091	0.051	2704	2518	1433
12210	1.10	242.5	231.3	8.8	577	12214	0.12	2.28	0.00	0.000	4	0.136	0.066	2667	3926	1433
12249	1.10	242.5	228.1	8.1	579	12253	0.00	2.17	0.00	0.000	6	0.000	0.042	2667	2516	1434
12581	1.10	242.5	203.8	7.2	595	12582	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2516	1433
12891	1.16	242.5	180.0	7.9	610	12895	0.08	2.22	0.00	0.000	4	0.100	0.056	2705	1109	1433
12962	1.16	242.5	173.5	8.8	613	12966	0.00	2.28	0.00	0.000	6	0.000	0.051	2705	2525	1433
13289	1.16	242.5	143.9	8.9	629	13290	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2525	1433
13599	1.16	242.5	119.9	7.7	644	13602	0.00	2.30	0.00	0.000	4	0.000	0.071	2705	3941	1433
13637	1.04	242.5	116.3	8.6	645	13644	0.17	2.20	0.00	0.000	6	0.140	0.044	2654	2518	1432
13955	1.35	265.0	98.1	6.3	664	13985	0.20	2.30	20.62	1.045	4	0.076	0.058	2735	1118	1338
14077	1.30	265.0	88.6	8.2	685	14084	0.00	2.28	0.00	0.000	6	0.000	0.052	2735	2531	1336
14421	1.25	265.0	58.3	8.7	746	14428	0.12	2.30	0.00	0.000	4	0.136	0.071	2696	3927	1336
14456	1.25	265.0	55.5	7.8	752	14463	0.00	2.20	0.00	0.000	6	0.000	0.043	2697	2515	1335
14800	1.44	310.9	33.9	5.5	813	14847	0.17	2.35	38.35	1.023	4	0.074	0.060	2770	1120	1151
14870	1.44	310.9	28.6	8.0	825	14877	0.10	2.30	0.00	0.000	6	0.147	0.053	2747	2520	1149
15214	1.48	345.8	3.1	5.8	886	15233	0.00	0.00	16.77	0.967	2	0.000	0.000	2747	2520	1071
15233	end climb: SURFACE_DEPTH_REACHED
state	15233	begin surface coast
15261	end surface coast: CONTROL_FINISHED_OK
state	15261	begin surface