Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 25 * 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 25 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 32 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 750 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 420 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 26 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 19 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 250 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 300 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 720 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 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80449.305 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 2415 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 1 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 420

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 750 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 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 250

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 -80449.305

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 300

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 1 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 2415 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

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 -2

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 26 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 19 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 25 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 32 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 091011,132435,6634.158,-6017.563,37,0.9,37,-33.7 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 2.03 KALMAN_X 0.0,0.0,0.0,0.0,0.0

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

GPS2 091011,133125,6634.114,-6017.690,19,1.1,19,-33.7 MHEAD_RNG_PITCHd_Wd 149.2,160599,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 512

Post-dive calculations and measurements:

FINISH 1.2,1.009735 _24V_AH 23.2,4.378

SM_CCo 9300,73.80,0.086,0,0,771,420.20 _10V_AH 10.2,4.059

SM_GC 2.22,7.03,1.77,73.80,0.047,0.064,0.086,123,2510,771,-7.11,-0.62,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 604 FG_AHR_10Vo 0.000

RAFOS_FIX 6634.957520,-6012.986816,091011,121255,5,78,0.76 MEM 150416

IRIDIUM_FIX 6609.62,-6022.02,091011,131316 DATA_FILE_SIZE 40013,1001

TT8_MAMPS 0.027713,0.027713 CAP_FILE_SIZE 116469,0

HUMID 57.60 CFSIZE 260165632,246407168

INTERNAL_PRESSURE 9.77577 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

TCM_TEMP 16.10 SOUNDSPEED 1452.5

XPDR_PINGS 19 CURRENT 0.153,269.7,1

ALTIM_BOTTOM_PING 351.0,177.2 GPS 091011,160935,6633.281,-6016.389,39,0.9,39,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 277 114.52 SBE_CT 721 23 388.62

Roll_motor 55 110 143.92 SBE_O2 707 5 85.99

VBD_pump_during_apogee 330 1204 9226.62 nil 0 0 0.00

VBD_pump_during_surface 73 85 146.70 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 242 262 1477.62 nil 0 0 0.00

Transponder_ping 5 420 53.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.80

TT8 2723 18 519.69

LPSleep 4385 2 103.32

TT8_Active 551 18 105.34

TT8_Sampling 1953 41 835.36

TT8_CF8 178 47 87.29

TT8_Kalman 0 0 0.00

Analog_circuits 1709 12 209.25

GPS_charging 0 0 0.00

Compass 1695 6 116.57

RAFOS 360 1 5.51

Transponder 7 30 2.34

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 -0.77 -146.0 0.0 0.0 0 116 0.00 0.00 -97.60 0.000 2 0.000 0.000 128 2521 2170 0 0 0 0 0 0

119 -0.77 -146.0 3.3 -3.0 16 168 9.02 1.20 -30.62 0.000 4 0.278 0.111 2159 3217 3083 0 0 0 0 0 0

340 -0.77 -146.0 39.7 -14.8 54 347 0.00 1.17 0.00 0.000 6 0.000 0.054 2159 2507 3084 0 0 0 0 0 0

549 -0.77 -146.0 68.1 -13.4 91 555 0.00 1.15 0.00 0.000 4 0.000 0.063 2159 1807 3084 0 0 0 0 0 0

666 -0.77 -146.0 83.5 -12.2 112 673 0.00 1.25 0.00 0.000 6 0.000 0.072 2154 2513 3085 0 0 0 0 0 0

877 -0.77 -146.0 110.4 -13.7 143 881 0.00 1.15 0.00 0.000 4 0.000 0.084 2150 3210 3085 0 0 0 0 0 0

1039 -0.77 -146.0 132.2 -13.6 157 1048 0.00 1.15 0.00 0.000 6 0.000 0.054 2149 2509 3085 0 0 0 0 0 0

1259 -0.77 -146.0 162.6 -13.5 178 1263 0.00 1.20 0.00 0.000 4 0.000 0.081 2145 3208 3085 0 0 0 0 0 0

1315 -0.77 -146.0 170.7 -14.0 183 1319 0.00 1.15 0.00 0.000 6 0.000 0.054 2145 2507 3085 0 0 0 0 0 0

1540 -0.77 -146.0 200.9 -13.0 204 1543 0.00 1.12 0.00 0.000 4 0.000 0.063 2145 1813 3085 0 0 0 0 0 0

1596 -0.77 -146.0 208.2 -12.8 209 1600 0.00 1.23 0.00 0.000 6 0.000 0.071 2140 2509 3085 0 0 0 0 0 0

1822 -0.77 -146.0 238.2 -13.5 230 1826 0.00 1.15 0.00 0.000 4 0.000 0.084 2136 3213 3084 0 0 0 0 0 0

1938 -0.77 -146.0 253.1 -12.9 240 1946 0.08 1.15 0.00 0.000 6 0.166 0.052 2159 2506 3084 0 0 0 0 0 0

2158 -0.77 -146.0 278.8 -11.3 261 2162 0.00 1.12 0.00 0.000 4 0.000 0.063 2159 1810 3084 0 0 0 0 0 0

2216 -0.77 -146.0 285.1 -11.0 266 2219 0.00 1.23 0.00 0.000 6 0.000 0.070 2156 2511 3084 0 0 0 0 0 0

2440 -0.77 -146.0 310.6 -11.7 287 2444 0.00 1.15 0.00 0.000 4 0.000 0.083 2151 3215 3084 0 0 0 0 0 0

2575 -0.77 -146.0 325.7 -11.1 299 2578 0.00 1.15 0.00 0.000 6 0.000 0.052 2151 2505 3083 0 0 0 0 0 0

2799 -0.77 -146.0 349.8 -10.5 320 2800 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2505 3084 0 0 0 0 0 0

3012 -0.77 -146.0 373.2 -11.3 340 3013 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2505 3083 0 0 0 0 0 0

3224 -0.77 -146.0 396.3 -10.6 360 3228 0.00 1.20 0.00 0.000 4 0.000 0.080 2147 3211 3084 0 0 0 0 0 0

3339 -0.77 -146.0 408.1 -10.6 370 3346 0.00 1.15 0.00 0.000 6 0.000 0.052 2147 2501 3083 0 0 0 0 0 0

3559 -0.77 -146.0 431.4 -10.6 391 3560 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2501 3083 0 0 0 0 0 0

3771 -0.77 -146.0 454.0 -10.9 411 3772 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2501 3083 0 0 0 0 0 0

3984 -0.77 -146.0 476.6 -10.7 431 3987 0.00 1.23 0.00 0.000 4 0.000 0.080 2141 3223 3084 0 0 0 0 0 0

4129 -0.77 -146.0 492.5 -10.7 444 4133 0.00 1.15 0.00 0.000 6 0.000 0.050 2142 2507 3084 0 0 0 0 0 0

4309 end dive: TARGET_DEPTH_EXCEEDED

state 4309 begin apogee

4315 -0.16 0.0 512.1 -10.5 461 4442 0.68 0.00 117.85 1.205 6 0.144 0.000 2356 2182 2484 0 0 0 0 0 0

4442 end apogee: CONTROL_FINISHED_OK

state 4442 begin climb

4445 0.77 146.0 518.8 0.0 472 4574 0.88 0.00 125.32 1.157 6 0.060 0.000 2661 2181 1889 0 0 0 0 0 0

4785 0.77 146.0 494.4 12.3 505 4789 0.00 1.33 0.00 0.000 4 0.000 0.069 2661 2906 1880 0 0 0 0 0 0

4812 0.77 146.0 491.4 12.7 507 4819 0.00 1.25 0.00 0.000 6 0.000 0.054 2665 2201 1879 0 0 0 0 0 0

5031 0.77 146.0 462.5 12.9 528 5035 0.00 1.27 0.00 0.000 4 0.000 0.068 2666 2911 1877 0 0 0 0 0 0

5177 0.77 146.0 443.1 13.0 541 5180 0.00 1.23 0.00 0.000 6 0.000 0.055 2670 2202 1877 0 0 0 0 0 0

5402 0.77 146.0 414.6 12.4 562 5404 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2202 1876 0 0 0 0 0 0

5615 0.77 146.0 387.8 12.4 582 5619 0.00 1.15 0.00 0.000 4 0.000 0.067 2676 1496 1876 0 0 0 0 0 0

5672 0.77 146.0 380.5 12.6 587 5676 0.00 1.23 0.00 0.000 6 0.000 0.063 2676 2210 1876 0 0 0 0 0 0

5896 0.77 146.0 352.6 12.1 608 5900 0.00 1.23 0.00 0.000 4 0.000 0.065 2681 1493 1876 0 0 0 0 0 0

6032 0.77 146.0 336.6 12.0 620 6035 0.00 1.20 0.00 0.000 6 0.000 0.063 2680 2201 1875 0 0 0 0 0 0

6256 0.77 146.0 310.4 11.2 641 6260 0.00 1.17 0.00 0.000 4 0.000 0.072 2680 2905 1875 0 0 0 0 0 0

6390 0.77 146.0 295.3 11.3 653 6394 0.00 1.20 0.00 0.000 6 0.000 0.056 2685 2198 1875 0 0 0 0 0 0

6616 0.77 146.0 270.8 10.5 674 6620 0.00 1.12 0.00 0.000 4 0.000 0.067 2690 1496 1875 0 0 0 0 0 0

6717 0.77 146.0 260.1 10.3 683 6721 0.00 1.20 0.00 0.000 6 0.000 0.063 2690 2206 1875 0 0 0 0 0 0

6942 0.77 146.0 237.1 10.4 704 6945 0.00 1.20 0.00 0.000 4 0.000 0.066 2695 1496 1875 0 0 0 0 0 0

7125 0.77 146.0 218.6 10.5 720 7133 0.10 1.20 0.00 0.000 6 0.177 0.064 2666 2205 1875 0 0 0 0 0 0

7346 0.78 154.0 196.9 9.6 741 7357 0.00 0.00 5.43 0.852 6 0.000 0.000 2666 2205 1857 0 0 0 0 0 0

7568 0.80 175.6 176.4 9.0 762 7592 0.00 1.25 19.58 0.986 4 0.000 0.066 2670 1495 1769 0 0 0 0 0 0

7705 0.80 175.6 162.7 10.3 774 7709 0.00 1.20 0.00 0.000 6 0.000 0.063 2670 2199 1766 0 0 0 0 0 0

7930 0.80 175.6 139.1 10.7 795 7934 0.00 1.17 0.00 0.000 4 0.000 0.065 2675 1499 1766 0 0 0 0 0 0

7944 0.80 175.6 137.7 10.8 796 7947 0.00 1.20 0.00 0.000 6 0.000 0.063 2675 2203 1766 0 0 0 0 0 0

8168 0.80 175.6 113.2 10.8 817 8169 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2203 1766 0 0 0 0 0 0

8383 0.80 175.6 90.9 10.1 844 8390 0.00 1.17 0.00 0.000 4 0.000 0.073 2674 2913 1765 0 0 0 0 0 0

8451 0.80 175.6 83.7 10.7 856 8458 0.00 1.23 0.00 0.000 6 0.000 0.056 2680 2191 1765 0 0 0 0 0 0

8658 0.85 215.8 64.7 8.1 893 8699 0.00 1.17 33.55 0.941 4 0.000 0.071 2684 1492 1604 0 0 0 0 0 0

8719 0.87 231.7 59.5 9.3 902 8738 0.00 1.23 14.52 0.887 6 0.000 0.063 2684 2199 1540 0 0 0 0 0 0

8939 0.87 231.7 34.2 11.5 941 8947 0.00 1.20 0.00 0.000 4 0.000 0.073 2684 2908 1534 0 0 0 0 0 0

9025 0.87 231.7 24.4 10.7 956 9032 0.00 1.23 0.00 0.000 6 0.000 0.057 2689 2200 1533 0 0 0 0 0 0

9232 0.91 261.4 5.4 8.6 993 9254 0.00 1.15 13.82 0.091 4 0.000 0.067 2694 1497 1418 0 0 0 0 0 0

9269 end climb: SURFACE_DEPTH_REACHED

state 9270 begin surface coast

9281 end surface coast: CONTROL_FINISHED_OK

state 9281 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	25	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	32	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	750	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	420	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	26	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	19	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	250	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	300	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	720	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	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80449.305	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	2415	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	1	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	091011,132435,6634.158,-6017.563,37,0.9,37,-33.7	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	2.03	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091011,133125,6634.114,-6017.690,19,1.1,19,-33.7	MHEAD_RNG_PITCHd_Wd	149.2,160599,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	512

FINISH	1.2,1.009735	_24V_AH	23.2,4.378
SM_CCo	9300,73.80,0.086,0,0,771,420.20	_10V_AH	10.2,4.059
SM_GC	2.22,7.03,1.77,73.80,0.047,0.064,0.086,123,2510,771,-7.11,-0.62,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	604	FG_AHR_10Vo	0.000
RAFOS_FIX	6634.957520,-6012.986816,091011,121255,5,78,0.76	MEM	150416
IRIDIUM_FIX	6609.62,-6022.02,091011,131316	DATA_FILE_SIZE	40013,1001
TT8_MAMPS	0.027713,0.027713	CAP_FILE_SIZE	116469,0
HUMID	57.60	CFSIZE	260165632,246407168
INTERNAL_PRESSURE	9.77577	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
TCM_TEMP	16.10	SOUNDSPEED	1452.5
XPDR_PINGS	19	CURRENT	0.153,269.7,1
ALTIM_BOTTOM_PING	351.0,177.2	GPS	091011,160935,6633.281,-6016.389,39,0.9,39,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	277	114.52	SBE_CT	721	23	388.62
Roll_motor	55	110	143.92	SBE_O2	707	5	85.99
VBD_pump_during_apogee	330	1204	9226.62	nil	0	0	0.00
VBD_pump_during_surface	73	85	146.70	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	242	262	1477.62	nil	0	0	0.00
Transponder_ping	5	420	53.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.80
TT8	2723	18	519.69
LPSleep	4385	2	103.32
TT8_Active	551	18	105.34
TT8_Sampling	1953	41	835.36
TT8_CF8	178	47	87.29
TT8_Kalman	0	0	0.00
Analog_circuits	1709	12	209.25
GPS_charging	0	0	0.00
Compass	1695	6	116.57
RAFOS	360	1	5.51
Transponder	7	30	2.34

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	-0.77	-146.0	0.0	0.0	0	116	0.00	0.00	-97.60	0.000	2	0.000	0.000	128	2521	2170	0	0	0	0	0	0
119	-0.77	-146.0	3.3	-3.0	16	168	9.02	1.20	-30.62	0.000	4	0.278	0.111	2159	3217	3083	0	0	0	0	0	0
340	-0.77	-146.0	39.7	-14.8	54	347	0.00	1.17	0.00	0.000	6	0.000	0.054	2159	2507	3084	0	0	0	0	0	0
549	-0.77	-146.0	68.1	-13.4	91	555	0.00	1.15	0.00	0.000	4	0.000	0.063	2159	1807	3084	0	0	0	0	0	0
666	-0.77	-146.0	83.5	-12.2	112	673	0.00	1.25	0.00	0.000	6	0.000	0.072	2154	2513	3085	0	0	0	0	0	0
877	-0.77	-146.0	110.4	-13.7	143	881	0.00	1.15	0.00	0.000	4	0.000	0.084	2150	3210	3085	0	0	0	0	0	0
1039	-0.77	-146.0	132.2	-13.6	157	1048	0.00	1.15	0.00	0.000	6	0.000	0.054	2149	2509	3085	0	0	0	0	0	0
1259	-0.77	-146.0	162.6	-13.5	178	1263	0.00	1.20	0.00	0.000	4	0.000	0.081	2145	3208	3085	0	0	0	0	0	0
1315	-0.77	-146.0	170.7	-14.0	183	1319	0.00	1.15	0.00	0.000	6	0.000	0.054	2145	2507	3085	0	0	0	0	0	0
1540	-0.77	-146.0	200.9	-13.0	204	1543	0.00	1.12	0.00	0.000	4	0.000	0.063	2145	1813	3085	0	0	0	0	0	0
1596	-0.77	-146.0	208.2	-12.8	209	1600	0.00	1.23	0.00	0.000	6	0.000	0.071	2140	2509	3085	0	0	0	0	0	0
1822	-0.77	-146.0	238.2	-13.5	230	1826	0.00	1.15	0.00	0.000	4	0.000	0.084	2136	3213	3084	0	0	0	0	0	0
1938	-0.77	-146.0	253.1	-12.9	240	1946	0.08	1.15	0.00	0.000	6	0.166	0.052	2159	2506	3084	0	0	0	0	0	0
2158	-0.77	-146.0	278.8	-11.3	261	2162	0.00	1.12	0.00	0.000	4	0.000	0.063	2159	1810	3084	0	0	0	0	0	0
2216	-0.77	-146.0	285.1	-11.0	266	2219	0.00	1.23	0.00	0.000	6	0.000	0.070	2156	2511	3084	0	0	0	0	0	0
2440	-0.77	-146.0	310.6	-11.7	287	2444	0.00	1.15	0.00	0.000	4	0.000	0.083	2151	3215	3084	0	0	0	0	0	0
2575	-0.77	-146.0	325.7	-11.1	299	2578	0.00	1.15	0.00	0.000	6	0.000	0.052	2151	2505	3083	0	0	0	0	0	0
2799	-0.77	-146.0	349.8	-10.5	320	2800	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2505	3084	0	0	0	0	0	0
3012	-0.77	-146.0	373.2	-11.3	340	3013	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2505	3083	0	0	0	0	0	0
3224	-0.77	-146.0	396.3	-10.6	360	3228	0.00	1.20	0.00	0.000	4	0.000	0.080	2147	3211	3084	0	0	0	0	0	0
3339	-0.77	-146.0	408.1	-10.6	370	3346	0.00	1.15	0.00	0.000	6	0.000	0.052	2147	2501	3083	0	0	0	0	0	0
3559	-0.77	-146.0	431.4	-10.6	391	3560	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2501	3083	0	0	0	0	0	0
3771	-0.77	-146.0	454.0	-10.9	411	3772	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2501	3083	0	0	0	0	0	0
3984	-0.77	-146.0	476.6	-10.7	431	3987	0.00	1.23	0.00	0.000	4	0.000	0.080	2141	3223	3084	0	0	0	0	0	0
4129	-0.77	-146.0	492.5	-10.7	444	4133	0.00	1.15	0.00	0.000	6	0.000	0.050	2142	2507	3084	0	0	0	0	0	0
4309	end dive: TARGET_DEPTH_EXCEEDED
state	4309	begin apogee
4315	-0.16	0.0	512.1	-10.5	461	4442	0.68	0.00	117.85	1.205	6	0.144	0.000	2356	2182	2484	0	0	0	0	0	0
4442	end apogee: CONTROL_FINISHED_OK
state	4442	begin climb
4445	0.77	146.0	518.8	0.0	472	4574	0.88	0.00	125.32	1.157	6	0.060	0.000	2661	2181	1889	0	0	0	0	0	0
4785	0.77	146.0	494.4	12.3	505	4789	0.00	1.33	0.00	0.000	4	0.000	0.069	2661	2906	1880	0	0	0	0	0	0
4812	0.77	146.0	491.4	12.7	507	4819	0.00	1.25	0.00	0.000	6	0.000	0.054	2665	2201	1879	0	0	0	0	0	0
5031	0.77	146.0	462.5	12.9	528	5035	0.00	1.27	0.00	0.000	4	0.000	0.068	2666	2911	1877	0	0	0	0	0	0
5177	0.77	146.0	443.1	13.0	541	5180	0.00	1.23	0.00	0.000	6	0.000	0.055	2670	2202	1877	0	0	0	0	0	0
5402	0.77	146.0	414.6	12.4	562	5404	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2202	1876	0	0	0	0	0	0
5615	0.77	146.0	387.8	12.4	582	5619	0.00	1.15	0.00	0.000	4	0.000	0.067	2676	1496	1876	0	0	0	0	0	0
5672	0.77	146.0	380.5	12.6	587	5676	0.00	1.23	0.00	0.000	6	0.000	0.063	2676	2210	1876	0	0	0	0	0	0
5896	0.77	146.0	352.6	12.1	608	5900	0.00	1.23	0.00	0.000	4	0.000	0.065	2681	1493	1876	0	0	0	0	0	0
6032	0.77	146.0	336.6	12.0	620	6035	0.00	1.20	0.00	0.000	6	0.000	0.063	2680	2201	1875	0	0	0	0	0	0
6256	0.77	146.0	310.4	11.2	641	6260	0.00	1.17	0.00	0.000	4	0.000	0.072	2680	2905	1875	0	0	0	0	0	0
6390	0.77	146.0	295.3	11.3	653	6394	0.00	1.20	0.00	0.000	6	0.000	0.056	2685	2198	1875	0	0	0	0	0	0
6616	0.77	146.0	270.8	10.5	674	6620	0.00	1.12	0.00	0.000	4	0.000	0.067	2690	1496	1875	0	0	0	0	0	0
6717	0.77	146.0	260.1	10.3	683	6721	0.00	1.20	0.00	0.000	6	0.000	0.063	2690	2206	1875	0	0	0	0	0	0
6942	0.77	146.0	237.1	10.4	704	6945	0.00	1.20	0.00	0.000	4	0.000	0.066	2695	1496	1875	0	0	0	0	0	0
7125	0.77	146.0	218.6	10.5	720	7133	0.10	1.20	0.00	0.000	6	0.177	0.064	2666	2205	1875	0	0	0	0	0	0
7346	0.78	154.0	196.9	9.6	741	7357	0.00	0.00	5.43	0.852	6	0.000	0.000	2666	2205	1857	0	0	0	0	0	0
7568	0.80	175.6	176.4	9.0	762	7592	0.00	1.25	19.58	0.986	4	0.000	0.066	2670	1495	1769	0	0	0	0	0	0
7705	0.80	175.6	162.7	10.3	774	7709	0.00	1.20	0.00	0.000	6	0.000	0.063	2670	2199	1766	0	0	0	0	0	0
7930	0.80	175.6	139.1	10.7	795	7934	0.00	1.17	0.00	0.000	4	0.000	0.065	2675	1499	1766	0	0	0	0	0	0
7944	0.80	175.6	137.7	10.8	796	7947	0.00	1.20	0.00	0.000	6	0.000	0.063	2675	2203	1766	0	0	0	0	0	0
8168	0.80	175.6	113.2	10.8	817	8169	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2203	1766	0	0	0	0	0	0
8383	0.80	175.6	90.9	10.1	844	8390	0.00	1.17	0.00	0.000	4	0.000	0.073	2674	2913	1765	0	0	0	0	0	0
8451	0.80	175.6	83.7	10.7	856	8458	0.00	1.23	0.00	0.000	6	0.000	0.056	2680	2191	1765	0	0	0	0	0	0
8658	0.85	215.8	64.7	8.1	893	8699	0.00	1.17	33.55	0.941	4	0.000	0.071	2684	1492	1604	0	0	0	0	0	0
8719	0.87	231.7	59.5	9.3	902	8738	0.00	1.23	14.52	0.887	6	0.000	0.063	2684	2199	1540	0	0	0	0	0	0
8939	0.87	231.7	34.2	11.5	941	8947	0.00	1.20	0.00	0.000	4	0.000	0.073	2684	2908	1534	0	0	0	0	0	0
9025	0.87	231.7	24.4	10.7	956	9032	0.00	1.23	0.00	0.000	6	0.000	0.057	2689	2200	1533	0	0	0	0	0	0
9232	0.91	261.4	5.4	8.6	993	9254	0.00	1.15	13.82	0.091	4	0.000	0.067	2694	1497	1418	0	0	0	0	0	0
9269	end climb: SURFACE_DEPTH_REACHED
state	9270	begin surface coast
9281	end surface coast: CONTROL_FINISHED_OK
state	9281	begin surface