Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 276 * 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 20

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 276 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 2.8

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 7 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON -5500 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 501.14789 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 41 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 2 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 3 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 6 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 3 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 2 T_GPS_CHARGE -81050.227 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 250 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 250 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 2 PHONE_SUPPLY -1 SM_CC 501.14789

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 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 10 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 2.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_MIN 127 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 7 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

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 3

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -81050.227

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 -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 2

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 41 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 27 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 276 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 3 N_FILEKB 8 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 9 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 6 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 211111,122120,6645.158,-5957.055,0,4131.5,0,-33.9 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 11.41 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo 2.9 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 211111,122120,6645.158,-5957.055,0,4131.5,0,-33.9 MHEAD_RNG_PITCHd_Wd 339.0,34162,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 679

Post-dive calculations and measurements:

FREEZE 1.41,-1.152,-0.867,2,2,0 ALTIM_BOTTOM_PING 601.1,108.5

FINISH 1.4,1.012779 _24V_AH 22.6,34.994

SM_CCo 12739,90.45,0.087,0,0,441,501.15 _10V_AH 10.2,26.446

SM_GC 2.24,6.97,0.52,90.45,0.047,0.061,0.087,118,2514,441,-7.07,-0.71,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 898 FG_AHR_10Vo 0.000

RAFOS 5,1321879262,12.700000,12.683888,75,60,59,0,0,0,893,186,200,0,0,0 MEM 150220

RAFOS_FIX 6646.085938,-5953.558594,211111,121252,6,115,6.01 DATA_FILE_SIZE 43403,1146

IRIDIUM_FIX 6614.97,-5959.11,211111,050520 CAP_FILE_SIZE 118900,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,228782080

HUMID 55.67 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1452.8

TCM_TEMP 16.10 CURRENT 0.248,342.4,1

XPDR_PINGS 5 GPS 211111,161959,6648.162,-6002.383,39,0.8,39,-33.9

ALTIM_TOP_PING 19.8,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 152 31.31 SBE_CT 832 23 436.97

Roll_motor 43 97 96.39 SBE_O2 637 5 75.50

VBD_pump_during_apogee 374 1336 11305.31 nil 0 0 0.00

VBD_pump_during_surface 90 87 178.27 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 33.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 3194 18 609.70

LPSleep 7182 2 169.24

TT8_Active 499 18 95.28

TT8_Sampling 1886 41 806.67

TT8_CF8 174 47 85.46

TT8_Kalman 0 0 0.00

Analog_circuits 1471 12 180.14

GPS_charging 0 0 0.00

Compass 1870 6 128.57

RAFOS 1080 1 16.52

Transponder 17 30 5.49

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 26 0.00 0.00 -7.45 0.000 2 0.000 0.000 2395 2200 2797 0 0 0 0 0 0

28 -0.73 -146.0 14.5 0.0 1 42 0.62 0.57 -6.45 0.000 4 0.077 0.097 2168 1809 3083 0 0 0 0 0 0

294 -0.73 -146.0 54.6 -15.2 41 301 0.00 1.20 0.00 0.000 6 0.000 0.055 2164 2501 3086 0 0 0 0 0 0

634 -0.73 -146.0 107.2 -14.3 92 640 0.00 1.15 0.00 0.000 4 0.000 0.069 2158 3214 3085 0 0 0 0 0 0

688 -0.73 -146.0 115.1 -14.2 100 695 0.00 1.10 0.00 0.000 6 0.000 0.032 2158 2506 3086 0 0 0 0 0 0

1027 -0.73 -146.0 162.7 -13.8 151 1035 0.00 1.20 0.00 0.000 4 0.000 0.065 2153 3219 3086 0 0 0 0 0 0

1090 -0.73 -146.0 170.8 -12.8 160 1097 0.00 1.10 0.00 0.000 6 0.000 0.034 2154 2515 3085 0 0 0 0 0 0

1428 -0.73 -146.0 213.8 -12.9 211 1437 0.00 1.17 0.00 0.000 4 0.000 0.063 2149 3216 3086 0 0 0 0 0 0

1444 -0.73 -146.0 215.7 -12.5 213 1450 0.00 1.10 0.00 0.000 6 0.000 0.032 2149 2509 3085 0 0 0 0 0 0

1783 -0.73 -146.0 260.0 -12.6 259 1786 0.00 1.08 0.00 0.000 4 0.000 0.042 2149 1814 3085 0 0 0 0 0 0

1809 -0.73 -146.0 263.2 -12.5 261 1812 0.00 1.20 0.00 0.000 6 0.000 0.054 2145 2515 3085 0 0 0 0 0 0

2139 -0.73 -146.0 303.3 -11.8 287 2140 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2515 3085 0 0 0 0 0 0

2454 -0.73 -146.0 340.1 -11.6 312 2458 0.00 1.12 0.00 0.000 4 0.000 0.069 2139 3217 3085 0 0 0 0 0 0

2520 -0.73 -146.0 348.2 -12.3 317 2524 0.00 1.10 0.00 0.000 6 0.000 0.033 2139 2506 3085 0 0 0 0 0 0

2849 -0.73 -146.0 387.3 -11.8 343 2850 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2506 3084 0 0 0 0 0 0

3166 -0.73 -146.0 423.7 -11.4 368 3169 0.00 1.08 0.00 0.000 4 0.000 0.044 2139 1816 3084 0 0 0 0 0 0

3179 -0.73 -146.0 425.4 -11.6 369 3183 0.08 1.20 0.00 0.000 6 0.152 0.054 2158 2517 3085 0 0 0 0 0 0

3508 -0.73 -146.0 458.8 -10.0 395 3509 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2517 3085 0 0 0 0 0 0

3825 -0.73 -146.0 491.7 -10.3 420 3829 0.00 1.12 0.00 0.000 4 0.000 0.068 2155 3223 3085 0 0 0 0 0 0

3942 -0.73 -146.0 502.2 -10.4 427 3947 0.00 1.12 0.00 0.000 6 0.000 0.032 2155 2505 3085 0 0 0 0 0 0

4263 -0.73 -146.0 536.7 -9.9 438 4264 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2505 3085 0 0 0 0 0 0

4570 -0.73 -146.0 567.3 -10.0 448 4571 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2504 3085 0 0 0 0 0 0

4876 -0.73 -146.0 595.3 -8.9 458 4877 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2504 3086 0 0 0 0 0 0

5184 -0.73 -146.0 624.5 -9.7 468 5185 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2505 3087 0 0 0 0 0 0

5488 -0.73 -146.0 654.6 -9.9 478 5489 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2504 3087 0 0 0 0 0 0

5761 end dive: TARGET_DEPTH_EXCEEDED

state 5761 begin apogee

5767 -0.16 0.0 680.4 -9.5 487 5896 0.57 0.00 121.28 1.336 6 0.129 0.000 2340 2190 2484 0 0 0 0 0 0

5897 end apogee: CONTROL_FINISHED_OK

state 5897 begin climb

5899 0.73 146.0 685.0 0.0 491 6038 0.85 1.15 131.27 1.276 4 0.068 0.047 2633 1501 1888 0 0 0 0 0 0

6224 0.73 146.0 662.3 11.7 501 6228 0.00 1.23 0.00 0.000 6 0.000 0.044 2634 2206 1880 0 0 0 0 0 0

6550 0.73 146.0 622.7 11.5 512 6553 0.00 1.17 0.00 0.000 4 0.000 0.056 2634 2912 1877 0 0 0 0 0 0

6729 0.73 146.0 602.8 12.0 517 6732 0.00 1.17 0.00 0.000 6 0.000 0.036 2638 2200 1876 0 0 0 0 0 0

7054 0.73 146.0 563.8 11.5 528 7058 0.00 1.10 0.00 0.000 4 0.000 0.050 2644 1493 1875 0 0 0 0 0 0

7221 0.73 146.0 545.1 11.3 533 7225 0.00 1.17 0.00 0.000 6 0.000 0.047 2644 2206 1875 0 0 0 0 0 0

7561 0.73 146.0 506.8 11.1 544 7564 0.00 1.12 0.00 0.000 4 0.000 0.057 2644 2899 1875 0 0 0 0 0 0

7658 0.73 146.0 496.5 11.2 548 7668 0.00 1.15 0.00 0.000 6 0.000 0.036 2648 2199 1875 0 0 0 0 0 0

7983 0.73 146.0 459.5 11.9 574 7984 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2199 1874 0 0 0 0 0 0

8296 0.73 146.0 423.4 11.7 599 8298 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2199 1874 0 0 0 0 0 0

8614 0.73 146.0 387.7 11.3 624 8615 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2199 1874 0 0 0 0 0 0

8929 0.73 146.0 352.5 11.1 649 8933 0.00 1.08 0.00 0.000 4 0.000 0.051 2654 1496 1874 0 0 0 0 0 0

9089 0.73 146.0 335.0 10.7 661 9093 0.00 1.15 0.00 0.000 6 0.000 0.047 2654 2201 1874 0 0 0 0 0 0

9419 0.73 146.0 300.1 10.6 687 9423 0.00 1.12 0.00 0.000 4 0.000 0.055 2654 2902 1874 0 0 0 0 0 0

9530 0.73 146.0 288.6 11.0 695 9538 0.00 1.15 0.00 0.000 6 0.000 0.037 2658 2198 1874 0 0 0 0 0 0

9856 0.73 146.0 255.2 9.6 721 9857 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2198 1874 0 0 0 0 0 0

10181 0.75 167.5 225.4 8.3 766 10203 0.00 1.10 16.95 1.026 4 0.000 0.049 2663 1496 1802 0 0 0 0 0 0

10455 0.76 177.3 201.7 8.8 807 10471 0.00 1.15 9.70 0.967 6 0.000 0.046 2663 2200 1762 0 0 0 0 0 0

10802 0.77 181.9 168.9 9.0 859 10810 0.00 0.00 5.57 0.855 6 0.000 0.000 2663 2200 1742 0 0 0 0 0 0

11141 0.77 181.9 136.8 9.4 910 11148 0.00 1.12 0.00 0.000 4 0.000 0.048 2668 1499 1742 0 0 0 0 0 0

11253 0.77 184.5 126.4 9.1 927 11261 0.00 1.15 3.85 0.717 6 0.000 0.048 2668 2199 1732 0 0 0 0 0 0

11592 0.81 213.8 96.8 7.9 978 11626 0.00 1.17 26.08 0.989 4 0.000 0.058 2668 2902 1613 0 0 0 0 0 0

11853 0.81 218.5 73.8 9.0 1017 11866 0.00 1.15 5.25 0.805 6 0.000 0.037 2672 2202 1593 0 0 0 0 0 0

12199 0.85 247.4 44.1 8.0 1069 12233 0.00 1.12 25.75 0.953 4 0.000 0.050 2678 1497 1475 0 0 0 0 0 0

12293 0.85 247.4 35.1 9.6 1083 12299 0.00 1.17 0.00 0.000 6 0.000 0.045 2678 2202 1473 0 0 0 0 0 0

12632 0.91 296.8 8.8 7.1 1134 12664 0.00 1.17 24.50 0.098 4 0.000 0.047 2682 1498 1273 0 0 0 0 0 0

12687 0.92 305.5 4.4 8.8 1141 12695 0.00 1.17 4.10 0.090 6 0.000 0.046 2682 2206 1238 0 0 0 0 0 0

12715 end climb: SURFACE_DEPTH_REACHED

state 12715 begin surface coast

12722 end surface coast: FINISH_DEPTH_REACHED

state 12722 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	276	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	2.8
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	7	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	-5500	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	501.14789	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	41	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	2	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	3	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	6	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	3	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	2	T_GPS_CHARGE	-81050.227	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	250	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	211111,122120,6645.158,-5957.055,0,4131.5,0,-33.9	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	11.41	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	2.9	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	211111,122120,6645.158,-5957.055,0,4131.5,0,-33.9	MHEAD_RNG_PITCHd_Wd	339.0,34162,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	679

FREEZE	1.41,-1.152,-0.867,2,2,0	ALTIM_BOTTOM_PING	601.1,108.5
FINISH	1.4,1.012779	_24V_AH	22.6,34.994
SM_CCo	12739,90.45,0.087,0,0,441,501.15	_10V_AH	10.2,26.446
SM_GC	2.24,6.97,0.52,90.45,0.047,0.061,0.087,118,2514,441,-7.07,-0.71,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	898	FG_AHR_10Vo	0.000
RAFOS	5,1321879262,12.700000,12.683888,75,60,59,0,0,0,893,186,200,0,0,0	MEM	150220
RAFOS_FIX	6646.085938,-5953.558594,211111,121252,6,115,6.01	DATA_FILE_SIZE	43403,1146
IRIDIUM_FIX	6614.97,-5959.11,211111,050520	CAP_FILE_SIZE	118900,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,228782080
HUMID	55.67	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1452.8
TCM_TEMP	16.10	CURRENT	0.248,342.4,1
XPDR_PINGS	5	GPS	211111,161959,6648.162,-6002.383,39,0.8,39,-33.9
ALTIM_TOP_PING	19.8,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	152	31.31	SBE_CT	832	23	436.97
Roll_motor	43	97	96.39	SBE_O2	637	5	75.50
VBD_pump_during_apogee	374	1336	11305.31	nil	0	0	0.00
VBD_pump_during_surface	90	87	178.27	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	33.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	3194	18	609.70
LPSleep	7182	2	169.24
TT8_Active	499	18	95.28
TT8_Sampling	1886	41	806.67
TT8_CF8	174	47	85.46
TT8_Kalman	0	0	0.00
Analog_circuits	1471	12	180.14
GPS_charging	0	0	0.00
Compass	1870	6	128.57
RAFOS	1080	1	16.52
Transponder	17	30	5.49

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	26	0.00	0.00	-7.45	0.000	2	0.000	0.000	2395	2200	2797	0	0	0	0	0	0
28	-0.73	-146.0	14.5	0.0	1	42	0.62	0.57	-6.45	0.000	4	0.077	0.097	2168	1809	3083	0	0	0	0	0	0
294	-0.73	-146.0	54.6	-15.2	41	301	0.00	1.20	0.00	0.000	6	0.000	0.055	2164	2501	3086	0	0	0	0	0	0
634	-0.73	-146.0	107.2	-14.3	92	640	0.00	1.15	0.00	0.000	4	0.000	0.069	2158	3214	3085	0	0	0	0	0	0
688	-0.73	-146.0	115.1	-14.2	100	695	0.00	1.10	0.00	0.000	6	0.000	0.032	2158	2506	3086	0	0	0	0	0	0
1027	-0.73	-146.0	162.7	-13.8	151	1035	0.00	1.20	0.00	0.000	4	0.000	0.065	2153	3219	3086	0	0	0	0	0	0
1090	-0.73	-146.0	170.8	-12.8	160	1097	0.00	1.10	0.00	0.000	6	0.000	0.034	2154	2515	3085	0	0	0	0	0	0
1428	-0.73	-146.0	213.8	-12.9	211	1437	0.00	1.17	0.00	0.000	4	0.000	0.063	2149	3216	3086	0	0	0	0	0	0
1444	-0.73	-146.0	215.7	-12.5	213	1450	0.00	1.10	0.00	0.000	6	0.000	0.032	2149	2509	3085	0	0	0	0	0	0
1783	-0.73	-146.0	260.0	-12.6	259	1786	0.00	1.08	0.00	0.000	4	0.000	0.042	2149	1814	3085	0	0	0	0	0	0
1809	-0.73	-146.0	263.2	-12.5	261	1812	0.00	1.20	0.00	0.000	6	0.000	0.054	2145	2515	3085	0	0	0	0	0	0
2139	-0.73	-146.0	303.3	-11.8	287	2140	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2515	3085	0	0	0	0	0	0
2454	-0.73	-146.0	340.1	-11.6	312	2458	0.00	1.12	0.00	0.000	4	0.000	0.069	2139	3217	3085	0	0	0	0	0	0
2520	-0.73	-146.0	348.2	-12.3	317	2524	0.00	1.10	0.00	0.000	6	0.000	0.033	2139	2506	3085	0	0	0	0	0	0
2849	-0.73	-146.0	387.3	-11.8	343	2850	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2506	3084	0	0	0	0	0	0
3166	-0.73	-146.0	423.7	-11.4	368	3169	0.00	1.08	0.00	0.000	4	0.000	0.044	2139	1816	3084	0	0	0	0	0	0
3179	-0.73	-146.0	425.4	-11.6	369	3183	0.08	1.20	0.00	0.000	6	0.152	0.054	2158	2517	3085	0	0	0	0	0	0
3508	-0.73	-146.0	458.8	-10.0	395	3509	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2517	3085	0	0	0	0	0	0
3825	-0.73	-146.0	491.7	-10.3	420	3829	0.00	1.12	0.00	0.000	4	0.000	0.068	2155	3223	3085	0	0	0	0	0	0
3942	-0.73	-146.0	502.2	-10.4	427	3947	0.00	1.12	0.00	0.000	6	0.000	0.032	2155	2505	3085	0	0	0	0	0	0
4263	-0.73	-146.0	536.7	-9.9	438	4264	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2505	3085	0	0	0	0	0	0
4570	-0.73	-146.0	567.3	-10.0	448	4571	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2504	3085	0	0	0	0	0	0
4876	-0.73	-146.0	595.3	-8.9	458	4877	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2504	3086	0	0	0	0	0	0
5184	-0.73	-146.0	624.5	-9.7	468	5185	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2505	3087	0	0	0	0	0	0
5488	-0.73	-146.0	654.6	-9.9	478	5489	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2504	3087	0	0	0	0	0	0
5761	end dive: TARGET_DEPTH_EXCEEDED
state	5761	begin apogee
5767	-0.16	0.0	680.4	-9.5	487	5896	0.57	0.00	121.28	1.336	6	0.129	0.000	2340	2190	2484	0	0	0	0	0	0
5897	end apogee: CONTROL_FINISHED_OK
state	5897	begin climb
5899	0.73	146.0	685.0	0.0	491	6038	0.85	1.15	131.27	1.276	4	0.068	0.047	2633	1501	1888	0	0	0	0	0	0
6224	0.73	146.0	662.3	11.7	501	6228	0.00	1.23	0.00	0.000	6	0.000	0.044	2634	2206	1880	0	0	0	0	0	0
6550	0.73	146.0	622.7	11.5	512	6553	0.00	1.17	0.00	0.000	4	0.000	0.056	2634	2912	1877	0	0	0	0	0	0
6729	0.73	146.0	602.8	12.0	517	6732	0.00	1.17	0.00	0.000	6	0.000	0.036	2638	2200	1876	0	0	0	0	0	0
7054	0.73	146.0	563.8	11.5	528	7058	0.00	1.10	0.00	0.000	4	0.000	0.050	2644	1493	1875	0	0	0	0	0	0
7221	0.73	146.0	545.1	11.3	533	7225	0.00	1.17	0.00	0.000	6	0.000	0.047	2644	2206	1875	0	0	0	0	0	0
7561	0.73	146.0	506.8	11.1	544	7564	0.00	1.12	0.00	0.000	4	0.000	0.057	2644	2899	1875	0	0	0	0	0	0
7658	0.73	146.0	496.5	11.2	548	7668	0.00	1.15	0.00	0.000	6	0.000	0.036	2648	2199	1875	0	0	0	0	0	0
7983	0.73	146.0	459.5	11.9	574	7984	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2199	1874	0	0	0	0	0	0
8296	0.73	146.0	423.4	11.7	599	8298	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2199	1874	0	0	0	0	0	0
8614	0.73	146.0	387.7	11.3	624	8615	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2199	1874	0	0	0	0	0	0
8929	0.73	146.0	352.5	11.1	649	8933	0.00	1.08	0.00	0.000	4	0.000	0.051	2654	1496	1874	0	0	0	0	0	0
9089	0.73	146.0	335.0	10.7	661	9093	0.00	1.15	0.00	0.000	6	0.000	0.047	2654	2201	1874	0	0	0	0	0	0
9419	0.73	146.0	300.1	10.6	687	9423	0.00	1.12	0.00	0.000	4	0.000	0.055	2654	2902	1874	0	0	0	0	0	0
9530	0.73	146.0	288.6	11.0	695	9538	0.00	1.15	0.00	0.000	6	0.000	0.037	2658	2198	1874	0	0	0	0	0	0
9856	0.73	146.0	255.2	9.6	721	9857	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2198	1874	0	0	0	0	0	0
10181	0.75	167.5	225.4	8.3	766	10203	0.00	1.10	16.95	1.026	4	0.000	0.049	2663	1496	1802	0	0	0	0	0	0
10455	0.76	177.3	201.7	8.8	807	10471	0.00	1.15	9.70	0.967	6	0.000	0.046	2663	2200	1762	0	0	0	0	0	0
10802	0.77	181.9	168.9	9.0	859	10810	0.00	0.00	5.57	0.855	6	0.000	0.000	2663	2200	1742	0	0	0	0	0	0
11141	0.77	181.9	136.8	9.4	910	11148	0.00	1.12	0.00	0.000	4	0.000	0.048	2668	1499	1742	0	0	0	0	0	0
11253	0.77	184.5	126.4	9.1	927	11261	0.00	1.15	3.85	0.717	6	0.000	0.048	2668	2199	1732	0	0	0	0	0	0
11592	0.81	213.8	96.8	7.9	978	11626	0.00	1.17	26.08	0.989	4	0.000	0.058	2668	2902	1613	0	0	0	0	0	0
11853	0.81	218.5	73.8	9.0	1017	11866	0.00	1.15	5.25	0.805	6	0.000	0.037	2672	2202	1593	0	0	0	0	0	0
12199	0.85	247.4	44.1	8.0	1069	12233	0.00	1.12	25.75	0.953	4	0.000	0.050	2678	1497	1475	0	0	0	0	0	0
12293	0.85	247.4	35.1	9.6	1083	12299	0.00	1.17	0.00	0.000	6	0.000	0.045	2678	2202	1473	0	0	0	0	0	0
12632	0.91	296.8	8.8	7.1	1134	12664	0.00	1.17	24.50	0.098	4	0.000	0.047	2682	1498	1273	0	0	0	0	0	0
12687	0.92	305.5	4.4	8.8	1141	12695	0.00	1.17	4.10	0.090	6	0.000	0.046	2682	2206	1238	0	0	0	0	0	0
12715	end climb: SURFACE_DEPTH_REACHED
state	12715	begin surface coast
12722	end surface coast: FINISH_DEPTH_REACHED
state	12722	begin surface