Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 237 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 6.0000002e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 237 HEADING -1 ROLL_MIN 300 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3841 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2120 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2150 ALTIM_FREQUENCY 13

D_ABORT 1015 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 10 ALTIM_PULSE 5

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_BOOST 100 SM_CC 290 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 18 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 12 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 260 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 1 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 370 UPLOAD_DIVES_MAX -1 C_VBD 2772 DEVICE3 -1

T_MISSION 420 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_TURN_SAMPINT 5 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 3 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 -1254.248 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 AH0_24V 350 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 12 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 12 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 149 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3928 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 50 C_PITCH 2680 PHONE_SUPPLY -2 SEABIRD_T_G 0.0043053469

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -48.048229 SEABIRD_T_H 0.00061871461

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.0001163556 SEABIRD_T_I 2.1533233e-05

MASS 52000 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.1546668e-06

NAV_MODE 2 PITCH_GAIN 13 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8788214

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1391871

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 4 SEABIRD_C_I -0.0018439521

HD_A 0.0043000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022276744

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 0 D_OFFGRID 100 PHONE_DEVICE 49 SIM_W 0

AH0_24V 350 D_PITCH 0 PHONE_SUPPLY -2 SM_CC 290

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FERRY_MAX 45 PITCH_GAIN 13 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FG_AHR_10V 0 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 149 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0.5 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 50 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163556 T_BOOST 0

CALL_TRIES 5 HD_A 0.0043000001 PRESSURE_YINT -48.048229 T_DIVE 370

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 6.0000002e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE 32 T_GPS_CHARGE -1254.248

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 420

COMPASS_DEVICE 97 ID 193 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.93000001 ROLL_ADJ_DBAND 1 T_TURN 225

C_PITCH 2680 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2150 LOGGERDEVICE1 -1 ROLL_AD_RATE 260 T_WATCHDOG 10

C_ROLL_DIVE 2120 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2772 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3841 USE_BATHY -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 52000 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 12 R_PORT_OVSHOOT 18 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 12 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.8788214 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1391871 VBD_MIN 500

DIVE 237 NAV_MODE 2 SEABIRD_C_I -0.0018439521 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1015 NOCOMM_ACTION 161 SEABIRD_C_J 0.00022276744 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0043053469 VBD_TIMEOUT 360

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00061871461 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.1533233e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.1546668e-06 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 201012,130035,6702.491,-5652.226,40,0.7,40,-33.5 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201012,130859,6702.439,-5652.213,5,0.6,5,-33.5 MHEAD_RNG_PITCHd_Wd 91.6,3215,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 567

Post-dive calculations and measurements:

FINISH 2.2,1.018926 _10V_AH 13.0,0.000

SM_CCo 9903,41.22,0.179,0,0,1587,290.19 FG_AHR_24Vo 0.000

SM_GC 3.43,8.35,0.10,41.22,0.087,0.178,0.179,132,2122,1587,-11.61,0.59,290.19,0,0,0,0,0,0,14.75,14.70,14.57 FG_AHR_10Vo 0.000

RAFOS_CLK 399 MEM 188704

RAFOS_FIX 6645.627930,-5714.201660,201012,121204,3,94,3.53 DATA_FILE_SIZE 43416,949

IRIDIUM_FIX 6636.54,-5658.34,201012,131313 CAP_FILE_SIZE 106958,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,234278912

HUMID 46.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.78186 SOUNDSPEED 1464.5

TCM_TEMP 14.60 CURRENT 0.178,323.7,1

XPDR_PINGS 6 GPS 201012,155643,6703.909,-5651.077,21,0.9,21,-33.5

_24V_AH 12.7,76.551

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 436 121.49 SBE_CT 700 23 213.25

Roll_motor 104 178 235.48 SBE_O2 649 3 30.84

VBD_pump_during_apogee 321 2374 9697.71 nil 0 0 0.00

VBD_pump_during_surface 41 179 93.72 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 287 153 560.60 nil 0 0 0.00

Transponder_ping 1 420 8.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 21 1.86

TT8 2408 14 468.39

LPSleep 5044 2 151.49

TT8_Active 510 14 99.29

TT8_Sampling 1960 33 858.54

TT8_CF8 526 38 261.24

TT8_Kalman 0 0 0.00

Analog_circuits 1756 12 273.99

GPS_charging 0 0 0.00

Compass 1708 6 149.69

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

19 -1.50 -136.9 0.0 0.0 0 32 0.00 0.00 -11.57 0.000 2 0.000 0.000 134 2114 1811 0 0 0 0 0 0 28.83 28.83 28.83

38 -1.50 -136.9 3.0 0.0 2 146 10.82 2.65 -90.05 0.000 4 0.437 0.155 2347 712 3330 0 0 0 0 0 0 14.29 14.49 14.81

305 -1.50 -136.9 29.7 -16.7 50 312 0.00 2.70 0.00 0.000 6 0.000 0.141 2342 2124 3331 0 0 0 0 0 0 28.83 14.50 28.83

623 -1.50 -136.9 77.8 -14.2 111 630 0.00 2.62 0.00 0.000 4 0.000 0.135 2342 704 3331 0 0 0 0 0 0 28.83 14.56 28.83

650 -1.50 -136.9 82.0 -14.6 115 657 0.00 2.65 0.00 0.000 6 0.000 0.134 2332 2124 3331 0 0 0 0 0 0 28.83 14.55 28.83

963 -1.50 -136.9 122.4 -12.2 158 969 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2124 3331 0 0 0 0 0 0 28.83 28.83 28.83

1277 -1.50 -136.9 161.0 -12.7 189 1286 0.00 2.55 0.00 0.000 4 0.000 0.130 2333 715 3331 0 0 0 0 0 0 28.83 14.58 28.83

1355 -1.50 -136.9 171.2 -13.0 196 1363 0.12 2.60 0.00 0.000 6 0.302 0.130 2349 2121 3331 0 0 0 0 0 0 14.48 14.61 28.83

1664 -1.50 -136.9 207.3 -10.9 227 1673 0.00 2.67 0.00 0.000 4 0.000 0.149 2340 3529 3331 0 0 0 0 0 0 28.83 14.55 28.83

1753 -1.50 -136.9 217.0 -11.5 235 1759 0.00 2.53 0.00 0.000 6 0.000 0.101 2340 2112 3330 0 0 0 0 0 0 28.83 14.69 28.83

2060 -1.50 -136.9 252.6 -11.6 266 2069 0.00 2.50 0.00 0.000 4 0.000 0.126 2340 713 3330 0 0 0 0 0 0 28.83 14.61 28.83

2115 -1.50 -136.9 259.3 -12.4 271 2124 0.05 2.58 0.00 0.000 6 0.293 0.128 2345 2124 3330 0 0 0 0 0 0 14.45 14.58 28.83

2426 -1.50 -136.9 293.4 -11.0 302 2434 0.00 2.55 0.00 0.000 4 0.000 0.127 2346 712 3330 0 0 0 0 0 0 28.83 14.60 28.83

2480 -1.50 -136.9 299.5 -11.4 307 2489 0.00 2.58 0.00 0.000 6 0.000 0.129 2338 2120 3330 0 0 0 0 0 0 28.83 14.57 28.83

2791 -1.50 -136.9 333.2 -11.0 338 2799 0.00 2.65 0.00 0.000 4 0.000 0.148 2328 3528 3330 0 0 0 0 0 0 28.83 14.59 28.83

2825 -1.50 -136.9 337.2 -11.3 341 2836 0.08 2.47 0.00 0.000 6 0.273 0.099 2346 2122 3330 0 0 0 0 0 0 14.46 14.66 28.83

3136 -1.50 -136.9 369.1 -10.1 372 3145 0.00 2.53 0.00 0.000 4 0.000 0.129 2348 709 3330 0 0 0 0 0 0 28.83 14.59 28.83

3181 -1.50 -136.9 373.8 -10.5 376 3190 0.00 2.58 0.00 0.000 6 0.000 0.132 2341 2113 3330 0 0 0 0 0 0 28.83 14.58 28.83

3506 -1.50 -136.9 406.7 -10.4 404 3508 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2114 3331 0 0 0 0 0 0 28.83 28.83 28.83

3802 -1.50 -136.9 437.6 -10.6 414 3807 0.00 2.67 0.00 0.000 4 0.000 0.152 2330 3527 3330 0 0 0 0 0 0 28.83 14.61 28.83

3836 -1.50 -136.9 441.2 -10.7 415 3842 0.08 2.47 0.00 0.000 6 0.272 0.100 2350 2118 3331 0 0 0 0 0 0 14.52 14.71 28.83

4164 -1.50 -136.9 473.2 -9.5 426 4170 0.00 2.70 0.00 0.000 4 0.000 0.153 2341 3530 3330 0 0 0 0 0 0 28.83 14.62 28.83

4198 -1.50 -136.9 476.3 -9.4 427 4203 0.00 2.50 0.00 0.000 6 0.000 0.100 2341 2114 3331 0 0 0 0 0 0 28.83 14.72 28.83

4526 -1.50 -136.9 507.6 -9.4 438 4528 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2114 3331 0 0 0 0 0 0 28.83 28.83 28.83

4826 -1.50 -136.9 535.0 -8.6 448 4831 0.00 2.72 0.00 0.000 4 0.000 0.158 2332 3527 3332 0 0 0 0 0 0 28.83 14.64 28.83

5036 end dive: NO_VERTICAL_VELOCITY

state 5036 begin apogee

5051 -0.38 0.0 534.9 0.0 455 5199 0.82 0.00 136.38 2.375 6 0.168 0.000 2591 2144 2773 0 0 0 0 0 0 14.64 28.83 13.19

5200 end apogee: CONTROL_FINISHED_OK

state 5200 begin climb

5205 1.50 136.9 534.9 0.0 460 5367 1.35 2.85 147.07 2.288 4 0.158 0.135 3013 738 2214 0 0 0 0 0 0 13.95 13.35 12.65

5585 1.50 136.9 493.1 13.0 472 5590 0.00 2.72 0.00 0.000 6 0.000 0.127 3013 2152 2206 0 0 0 0 0 0 28.83 14.04 28.83

5916 1.50 136.9 450.4 12.7 483 5922 0.00 2.75 0.00 0.000 4 0.000 0.146 3012 3566 2205 0 0 0 0 0 0 28.83 14.38 28.83

6038 1.50 136.9 434.1 13.4 487 6043 0.00 2.55 0.00 0.000 6 0.000 0.105 3022 2153 2205 0 0 0 0 0 0 28.83 14.49 28.83

6349 1.50 136.9 393.3 13.4 500 6355 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2154 2204 0 0 0 0 0 0 28.83 28.83 28.83

6663 1.50 136.9 350.7 13.5 531 6669 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2153 2204 0 0 0 0 0 0 28.83 28.83 28.83

6975 1.50 136.9 308.4 13.7 562 6984 0.00 2.70 0.00 0.000 4 0.000 0.145 3023 3567 2204 0 0 0 0 0 0 28.83 14.60 28.83

7020 1.50 136.9 301.3 14.3 566 7029 0.08 2.53 0.00 0.000 6 0.272 0.106 3012 2149 2204 0 0 0 0 0 0 14.52 14.64 28.83

7330 1.50 136.9 262.7 12.7 597 7339 0.00 2.50 0.00 0.000 4 0.000 0.128 3021 745 2203 0 0 0 0 0 0 28.83 14.62 28.83

7365 1.50 136.9 258.2 12.7 600 7374 0.00 2.55 0.00 0.000 6 0.000 0.117 3021 2151 2202 0 0 0 0 0 0 28.83 14.64 28.83

7675 1.50 136.9 217.4 13.4 631 7684 0.00 2.65 0.00 0.000 4 0.000 0.143 3021 3562 2203 0 0 0 0 0 0 28.83 14.63 28.83

7729 1.50 136.9 210.0 14.3 636 7738 0.08 2.50 0.00 0.000 6 0.272 0.103 3010 2148 2203 0 0 0 0 0 0 14.53 14.67 28.83

8040 1.50 136.9 171.8 12.1 667 8048 0.00 2.67 0.00 0.000 4 0.000 0.145 3011 3561 2202 0 0 0 0 0 0 28.83 14.64 28.83

8134 1.50 136.9 160.3 12.5 676 8143 0.00 2.50 0.00 0.000 6 0.000 0.103 3020 2144 2203 0 0 0 0 0 0 28.83 14.68 28.83

8445 1.50 136.9 127.3 10.2 707 8454 0.00 2.50 0.00 0.000 4 0.000 0.127 3030 737 2202 0 0 0 0 0 0 28.83 14.63 28.83

8529 1.50 136.9 118.2 10.6 715 8539 0.08 2.55 0.00 0.000 6 0.261 0.116 3008 2151 2201 0 0 0 0 0 0 14.54 14.66 28.83

8845 1.51 146.9 92.1 8.5 754 8852 0.00 0.00 4.28 0.469 6 0.000 0.000 3009 2151 2171 0 0 0 0 0 0 28.83 28.83 14.40

9163 1.56 189.0 64.2 7.1 815 9194 0.00 2.67 23.27 0.365 4 0.000 0.141 3009 3564 1999 0 0 0 0 0 0 28.83 14.63 14.42

9225 1.56 189.0 59.3 9.6 825 9232 0.00 2.55 0.00 0.000 6 0.000 0.108 3018 2144 1997 0 0 0 0 0 0 28.83 14.69 28.83

9543 1.59 209.6 31.6 8.0 886 9562 0.00 2.55 10.57 0.277 4 0.000 0.131 3028 737 1916 0 0 0 0 0 0 28.83 14.64 14.54

9597 1.59 209.6 26.3 10.2 895 9604 0.00 2.62 0.00 0.000 6 0.000 0.125 3028 2158 1913 0 0 0 0 0 0 28.83 14.63 28.83

9844 end climb: SURFACE_DEPTH_REACHED

state 9844 begin surface coast

9876 end surface coast: CONTROL_FINISHED_OK

state 9876 begin surface

ID	193	HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	6.0000002e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	237	HEADING	-1	ROLL_MIN	300	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3841	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2120	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2150	ALTIM_FREQUENCY	13
D_ABORT	1015	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	10	ALTIM_PULSE	5
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_BOOST	100	SM_CC	290	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	18	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	12	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	260	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	1	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	370	UPLOAD_DIVES_MAX	-1	C_VBD	2772	DEVICE3	-1
T_MISSION	420	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_TURN_SAMPINT	5	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	3	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	-1254.248	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	AH0_24V	350	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	12	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	12	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	149	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3928	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	50	C_PITCH	2680	PHONE_SUPPLY	-2	SEABIRD_T_G	0.0043053469
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-48.048229	SEABIRD_T_H	0.00061871461
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.0001163556	SEABIRD_T_I	2.1533233e-05
MASS	52000	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.1546668e-06
NAV_MODE	2	PITCH_GAIN	13	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8788214
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1391871
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	4	SEABIRD_C_I	-0.0018439521
HD_A	0.0043000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022276744

GPS1	201012,130035,6702.491,-5652.226,40,0.7,40,-33.5	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201012,130859,6702.439,-5652.213,5,0.6,5,-33.5	MHEAD_RNG_PITCHd_Wd	91.6,3215,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	567

FINISH	2.2,1.018926	_10V_AH	13.0,0.000
SM_CCo	9903,41.22,0.179,0,0,1587,290.19	FG_AHR_24Vo	0.000
SM_GC	3.43,8.35,0.10,41.22,0.087,0.178,0.179,132,2122,1587,-11.61,0.59,290.19,0,0,0,0,0,0,14.75,14.70,14.57	FG_AHR_10Vo	0.000
RAFOS_CLK	399	MEM	188704
RAFOS_FIX	6645.627930,-5714.201660,201012,121204,3,94,3.53	DATA_FILE_SIZE	43416,949
IRIDIUM_FIX	6636.54,-5658.34,201012,131313	CAP_FILE_SIZE	106958,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,234278912
HUMID	46.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.78186	SOUNDSPEED	1464.5
TCM_TEMP	14.60	CURRENT	0.178,323.7,1
XPDR_PINGS	6	GPS	201012,155643,6703.909,-5651.077,21,0.9,21,-33.5
_24V_AH	12.7,76.551

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	436	121.49	SBE_CT	700	23	213.25
Roll_motor	104	178	235.48	SBE_O2	649	3	30.84
VBD_pump_during_apogee	321	2374	9697.71	nil	0	0	0.00
VBD_pump_during_surface	41	179	93.72	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	287	153	560.60	nil	0	0	0.00
Transponder_ping	1	420	8.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	21	1.86
TT8	2408	14	468.39
LPSleep	5044	2	151.49
TT8_Active	510	14	99.29
TT8_Sampling	1960	33	858.54
TT8_CF8	526	38	261.24
TT8_Kalman	0	0	0.00
Analog_circuits	1756	12	273.99
GPS_charging	0	0	0.00
Compass	1708	6	149.69
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
19	-1.50	-136.9	0.0	0.0	0	32	0.00	0.00	-11.57	0.000	2	0.000	0.000	134	2114	1811	0	0	0	0	0	0	28.83	28.83	28.83
38	-1.50	-136.9	3.0	0.0	2	146	10.82	2.65	-90.05	0.000	4	0.437	0.155	2347	712	3330	0	0	0	0	0	0	14.29	14.49	14.81
305	-1.50	-136.9	29.7	-16.7	50	312	0.00	2.70	0.00	0.000	6	0.000	0.141	2342	2124	3331	0	0	0	0	0	0	28.83	14.50	28.83
623	-1.50	-136.9	77.8	-14.2	111	630	0.00	2.62	0.00	0.000	4	0.000	0.135	2342	704	3331	0	0	0	0	0	0	28.83	14.56	28.83
650	-1.50	-136.9	82.0	-14.6	115	657	0.00	2.65	0.00	0.000	6	0.000	0.134	2332	2124	3331	0	0	0	0	0	0	28.83	14.55	28.83
963	-1.50	-136.9	122.4	-12.2	158	969	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2124	3331	0	0	0	0	0	0	28.83	28.83	28.83
1277	-1.50	-136.9	161.0	-12.7	189	1286	0.00	2.55	0.00	0.000	4	0.000	0.130	2333	715	3331	0	0	0	0	0	0	28.83	14.58	28.83
1355	-1.50	-136.9	171.2	-13.0	196	1363	0.12	2.60	0.00	0.000	6	0.302	0.130	2349	2121	3331	0	0	0	0	0	0	14.48	14.61	28.83
1664	-1.50	-136.9	207.3	-10.9	227	1673	0.00	2.67	0.00	0.000	4	0.000	0.149	2340	3529	3331	0	0	0	0	0	0	28.83	14.55	28.83
1753	-1.50	-136.9	217.0	-11.5	235	1759	0.00	2.53	0.00	0.000	6	0.000	0.101	2340	2112	3330	0	0	0	0	0	0	28.83	14.69	28.83
2060	-1.50	-136.9	252.6	-11.6	266	2069	0.00	2.50	0.00	0.000	4	0.000	0.126	2340	713	3330	0	0	0	0	0	0	28.83	14.61	28.83
2115	-1.50	-136.9	259.3	-12.4	271	2124	0.05	2.58	0.00	0.000	6	0.293	0.128	2345	2124	3330	0	0	0	0	0	0	14.45	14.58	28.83
2426	-1.50	-136.9	293.4	-11.0	302	2434	0.00	2.55	0.00	0.000	4	0.000	0.127	2346	712	3330	0	0	0	0	0	0	28.83	14.60	28.83
2480	-1.50	-136.9	299.5	-11.4	307	2489	0.00	2.58	0.00	0.000	6	0.000	0.129	2338	2120	3330	0	0	0	0	0	0	28.83	14.57	28.83
2791	-1.50	-136.9	333.2	-11.0	338	2799	0.00	2.65	0.00	0.000	4	0.000	0.148	2328	3528	3330	0	0	0	0	0	0	28.83	14.59	28.83
2825	-1.50	-136.9	337.2	-11.3	341	2836	0.08	2.47	0.00	0.000	6	0.273	0.099	2346	2122	3330	0	0	0	0	0	0	14.46	14.66	28.83
3136	-1.50	-136.9	369.1	-10.1	372	3145	0.00	2.53	0.00	0.000	4	0.000	0.129	2348	709	3330	0	0	0	0	0	0	28.83	14.59	28.83
3181	-1.50	-136.9	373.8	-10.5	376	3190	0.00	2.58	0.00	0.000	6	0.000	0.132	2341	2113	3330	0	0	0	0	0	0	28.83	14.58	28.83
3506	-1.50	-136.9	406.7	-10.4	404	3508	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	2114	3331	0	0	0	0	0	0	28.83	28.83	28.83
3802	-1.50	-136.9	437.6	-10.6	414	3807	0.00	2.67	0.00	0.000	4	0.000	0.152	2330	3527	3330	0	0	0	0	0	0	28.83	14.61	28.83
3836	-1.50	-136.9	441.2	-10.7	415	3842	0.08	2.47	0.00	0.000	6	0.272	0.100	2350	2118	3331	0	0	0	0	0	0	14.52	14.71	28.83
4164	-1.50	-136.9	473.2	-9.5	426	4170	0.00	2.70	0.00	0.000	4	0.000	0.153	2341	3530	3330	0	0	0	0	0	0	28.83	14.62	28.83
4198	-1.50	-136.9	476.3	-9.4	427	4203	0.00	2.50	0.00	0.000	6	0.000	0.100	2341	2114	3331	0	0	0	0	0	0	28.83	14.72	28.83
4526	-1.50	-136.9	507.6	-9.4	438	4528	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	2114	3331	0	0	0	0	0	0	28.83	28.83	28.83
4826	-1.50	-136.9	535.0	-8.6	448	4831	0.00	2.72	0.00	0.000	4	0.000	0.158	2332	3527	3332	0	0	0	0	0	0	28.83	14.64	28.83
5036	end dive: NO_VERTICAL_VELOCITY
state	5036	begin apogee
5051	-0.38	0.0	534.9	0.0	455	5199	0.82	0.00	136.38	2.375	6	0.168	0.000	2591	2144	2773	0	0	0	0	0	0	14.64	28.83	13.19
5200	end apogee: CONTROL_FINISHED_OK
state	5200	begin climb
5205	1.50	136.9	534.9	0.0	460	5367	1.35	2.85	147.07	2.288	4	0.158	0.135	3013	738	2214	0	0	0	0	0	0	13.95	13.35	12.65
5585	1.50	136.9	493.1	13.0	472	5590	0.00	2.72	0.00	0.000	6	0.000	0.127	3013	2152	2206	0	0	0	0	0	0	28.83	14.04	28.83
5916	1.50	136.9	450.4	12.7	483	5922	0.00	2.75	0.00	0.000	4	0.000	0.146	3012	3566	2205	0	0	0	0	0	0	28.83	14.38	28.83
6038	1.50	136.9	434.1	13.4	487	6043	0.00	2.55	0.00	0.000	6	0.000	0.105	3022	2153	2205	0	0	0	0	0	0	28.83	14.49	28.83
6349	1.50	136.9	393.3	13.4	500	6355	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2154	2204	0	0	0	0	0	0	28.83	28.83	28.83
6663	1.50	136.9	350.7	13.5	531	6669	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2153	2204	0	0	0	0	0	0	28.83	28.83	28.83
6975	1.50	136.9	308.4	13.7	562	6984	0.00	2.70	0.00	0.000	4	0.000	0.145	3023	3567	2204	0	0	0	0	0	0	28.83	14.60	28.83
7020	1.50	136.9	301.3	14.3	566	7029	0.08	2.53	0.00	0.000	6	0.272	0.106	3012	2149	2204	0	0	0	0	0	0	14.52	14.64	28.83
7330	1.50	136.9	262.7	12.7	597	7339	0.00	2.50	0.00	0.000	4	0.000	0.128	3021	745	2203	0	0	0	0	0	0	28.83	14.62	28.83
7365	1.50	136.9	258.2	12.7	600	7374	0.00	2.55	0.00	0.000	6	0.000	0.117	3021	2151	2202	0	0	0	0	0	0	28.83	14.64	28.83
7675	1.50	136.9	217.4	13.4	631	7684	0.00	2.65	0.00	0.000	4	0.000	0.143	3021	3562	2203	0	0	0	0	0	0	28.83	14.63	28.83
7729	1.50	136.9	210.0	14.3	636	7738	0.08	2.50	0.00	0.000	6	0.272	0.103	3010	2148	2203	0	0	0	0	0	0	14.53	14.67	28.83
8040	1.50	136.9	171.8	12.1	667	8048	0.00	2.67	0.00	0.000	4	0.000	0.145	3011	3561	2202	0	0	0	0	0	0	28.83	14.64	28.83
8134	1.50	136.9	160.3	12.5	676	8143	0.00	2.50	0.00	0.000	6	0.000	0.103	3020	2144	2203	0	0	0	0	0	0	28.83	14.68	28.83
8445	1.50	136.9	127.3	10.2	707	8454	0.00	2.50	0.00	0.000	4	0.000	0.127	3030	737	2202	0	0	0	0	0	0	28.83	14.63	28.83
8529	1.50	136.9	118.2	10.6	715	8539	0.08	2.55	0.00	0.000	6	0.261	0.116	3008	2151	2201	0	0	0	0	0	0	14.54	14.66	28.83
8845	1.51	146.9	92.1	8.5	754	8852	0.00	0.00	4.28	0.469	6	0.000	0.000	3009	2151	2171	0	0	0	0	0	0	28.83	28.83	14.40
9163	1.56	189.0	64.2	7.1	815	9194	0.00	2.67	23.27	0.365	4	0.000	0.141	3009	3564	1999	0	0	0	0	0	0	28.83	14.63	14.42
9225	1.56	189.0	59.3	9.6	825	9232	0.00	2.55	0.00	0.000	6	0.000	0.108	3018	2144	1997	0	0	0	0	0	0	28.83	14.69	28.83
9543	1.59	209.6	31.6	8.0	886	9562	0.00	2.55	10.57	0.277	4	0.000	0.131	3028	737	1916	0	0	0	0	0	0	28.83	14.64	14.54
9597	1.59	209.6	26.3	10.2	895	9604	0.00	2.62	0.00	0.000	6	0.000	0.125	3028	2158	1913	0	0	0	0	0	0	28.83	14.63	28.83
9844	end climb: SURFACE_DEPTH_REACHED
state	9844	begin surface coast
9876	end surface coast: CONTROL_FINISHED_OK
state	9876	begin surface