Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 281 * 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 281 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 39 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 28 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 -81604.484 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 -81604.484

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 39 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 28 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 281 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 221111,042952,6644.538,-5958.748,0,6111.0,0,-33.9 TGT_NAME TARGET_W

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 8.04 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo 0.5 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 221111,042952,6644.538,-5958.748,0,6111.0,0,-33.9 MHEAD_RNG_PITCHd_Wd 340.7,32756,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 660

Post-dive calculations and measurements:

FREEZE 1.77,-0.763,-1.681,2,4,0 ALTIM_BOTTOM_PING 551.3,132.3

FINISH 1.8,1.024694 _24V_AH 22.6,35.593

SM_CCo 12494,105.75,0.088,0,0,441,501.15 _10V_AH 10.1,26.832

SM_GC 2.66,6.97,0.52,105.75,0.054,0.060,0.088,118,2510,441,-7.06,-0.85,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 872 FG_AHR_10Vo 0.000

RAFOS 0,1321948863,8.033334,8.017500,147,71,59,0,0,0,658,209,162,0,0,0 MEM 150304

RAFOS_FIX 6646.218262,-5959.535156,221111,080849,7,124,0.22 DATA_FILE_SIZE 43349,1137

IRIDIUM_FIX 6604.29,-5951.22,211111,232331 CAP_FILE_SIZE 118839,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,228462592

HUMID 55.71 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.75623 SOUNDSPEED 1453.7

TCM_TEMP 16.30 CURRENT 0.250, 69.1,1

XPDR_PINGS 6 GPS 221111,082649,6646.218,-5959.535,0,7123.9,0,-33.9

ALTIM_TOP_PING 19.9,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 175 37.02 SBE_CT 824 23 432.73

Roll_motor 48 72 79.45 SBE_O2 631 5 74.84

VBD_pump_during_apogee 365 1323 10929.10 nil 0 0 0.00

VBD_pump_during_surface 105 87 210.26 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 3158 18 596.80

LPSleep 6967 2 162.56

TT8_Active 533 18 100.84

TT8_Sampling 1843 41 780.72

TT8_CF8 176 47 85.56

TT8_Kalman 0 0 0.00

Analog_circuits 1489 12 180.50

GPS_charging 0 0 0.00

Compass 1827 6 124.38

RAFOS 2520 1 38.18

Transponder 16 30 4.92

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.73 -146.0 0.0 0.0 0 27 0.00 0.00 -7.80 0.000 2 0.000 0.000 2431 1496 2430 0 0 0 0 0 0

30 -0.73 -146.0 10.3 0.0 1 58 0.73 2.90 -18.20 0.000 4 0.067 0.073 2150 3203 3084 0 0 0 0 0 0

65 -0.73 -146.0 13.8 -9.8 6 71 0.00 1.10 0.00 0.000 6 0.000 0.034 2150 2507 3085 0 0 0 0 0 0

402 -0.73 -146.0 76.8 -17.7 57 409 0.00 1.20 0.00 0.000 4 0.000 0.064 2145 3214 3086 0 0 0 0 0 0

583 -0.73 -146.0 107.1 -16.0 84 590 0.00 1.12 0.00 0.000 6 0.000 0.034 2145 2498 3087 0 0 0 0 0 0

921 -0.73 -146.0 161.1 -14.8 135 930 0.00 1.08 0.00 0.000 4 0.000 0.044 2145 1814 3086 0 0 0 0 0 0

959 -0.73 -146.0 166.4 -15.0 140 965 0.00 1.20 0.00 0.000 6 0.000 0.054 2141 2508 3086 0 0 0 0 0 0

1297 -0.73 -146.0 215.6 -13.7 191 1306 0.00 1.12 0.00 0.000 4 0.000 0.069 2136 3211 3086 0 0 0 0 0 0

1326 -0.73 -146.0 219.6 -13.5 195 1335 0.00 1.10 0.00 0.000 6 0.000 0.034 2135 2506 3086 0 0 0 0 0 0

1661 -0.73 -146.0 264.3 -13.5 238 1663 0.12 0.00 0.00 0.000 6 0.175 0.000 2165 2506 3086 0 0 0 0 0 0

1977 -0.73 -146.0 299.0 -10.8 263 1981 0.00 1.08 0.00 0.000 4 0.000 0.044 2165 1818 3085 0 0 0 0 0 0

1996 -0.73 -146.0 300.5 -10.9 264 2004 0.00 1.23 0.00 0.000 6 0.000 0.054 2162 2520 3085 0 0 0 0 0 0

2321 -0.73 -146.0 335.2 -10.2 290 2322 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2520 3085 0 0 0 0 0 0

2635 -0.73 -146.0 367.4 -10.4 315 2636 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2521 3086 0 0 0 0 0 0

2954 -0.73 -146.0 399.5 -10.5 340 2957 0.00 1.10 0.00 0.000 4 0.000 0.070 2157 3211 3085 0 0 0 0 0 0

3008 -0.73 -146.0 405.4 -10.4 344 3012 0.00 1.10 0.00 0.000 6 0.000 0.032 2157 2496 3085 0 0 0 0 0 0

3338 -0.73 -146.0 439.0 -10.3 370 3339 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2496 3085 0 0 0 0 0 0

3652 -0.73 -146.0 471.9 -10.5 395 3653 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2496 3086 0 0 0 0 0 0

3991 -0.73 -146.0 507.0 -10.2 419 3993 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2496 3086 0 0 0 0 0 0

4297 -0.73 -146.0 538.9 -10.3 429 4298 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2496 3086 0 0 0 0 0 0

4603 -0.73 -146.0 570.0 -10.2 439 4604 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2496 3086 0 0 0 0 0 0

4910 -0.73 -146.0 601.0 -10.2 449 4913 0.00 1.20 0.00 0.000 4 0.000 0.062 2152 3217 3087 0 0 0 0 0 0

4954 -0.73 -146.0 604.1 -10.0 450 4959 0.00 1.10 0.00 0.000 6 0.000 0.028 2153 2502 3087 0 0 0 0 0 0

5283 -0.73 -146.0 637.8 -10.0 461 5286 0.00 1.17 0.00 0.000 4 0.000 0.062 2148 3213 3087 0 0 0 0 0 0

5340 -0.73 -146.0 641.4 -10.3 462 5348 0.00 1.10 0.00 0.000 6 0.000 0.028 2148 2499 3087 0 0 0 0 0 0

5500 end dive: TARGET_DEPTH_EXCEEDED

state 5500 begin apogee

5507 -0.16 0.0 660.8 -10.5 468 5633 0.60 0.00 121.25 1.323 6 0.131 0.000 2341 2198 2485 0 0 0 0 0 0

5634 end apogee: CONTROL_FINISHED_OK

state 5634 begin climb

5637 0.73 146.0 665.2 0.0 472 5780 0.85 1.23 130.80 1.258 4 0.068 0.048 2635 1509 1888 0 0 0 0 0 0

5973 0.73 146.0 643.3 11.0 482 5980 0.00 1.20 0.00 0.000 6 0.000 0.044 2635 2203 1881 0 0 0 0 0 0

6285 0.73 146.0 606.6 10.9 493 6289 0.00 1.17 0.00 0.000 4 0.000 0.054 2635 2911 1879 0 0 0 0 0 0

6386 0.73 146.0 595.5 11.2 496 6390 0.00 1.15 0.00 0.000 6 0.000 0.034 2639 2210 1878 0 0 0 0 0 0

6725 0.73 146.0 557.5 11.0 507 6727 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2210 1877 0 0 0 0 0 0

7031 0.73 146.0 523.4 11.0 517 7032 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2210 1877 0 0 0 0 0 0

7348 0.73 146.0 488.8 11.0 532 7349 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2210 1876 0 0 0 0 0 0

7662 0.73 146.0 454.8 10.4 557 7666 0.00 1.10 0.00 0.000 4 0.000 0.050 2645 1495 1876 0 0 0 0 0 0

7836 0.73 146.0 436.8 10.5 570 7839 0.00 1.15 0.00 0.000 6 0.000 0.045 2645 2202 1876 0 0 0 0 0 0

8166 0.73 146.0 402.2 10.7 596 8169 0.00 1.15 0.00 0.000 4 0.000 0.045 2649 1490 1876 0 0 0 0 0 0

8220 0.73 146.0 396.6 10.4 600 8225 0.00 1.15 0.00 0.000 6 0.000 0.046 2649 2199 1875 0 0 0 0 0 0

8550 0.73 146.0 360.6 10.4 626 8554 0.00 1.12 0.00 0.000 4 0.000 0.057 2649 2900 1876 0 0 0 0 0 0

8660 0.73 146.0 348.8 11.2 634 8668 0.00 1.15 0.00 0.000 6 0.000 0.036 2654 2195 1876 0 0 0 0 0 0

8987 0.73 146.0 314.9 10.3 660 8990 0.00 1.08 0.00 0.000 4 0.000 0.049 2659 1491 1876 0 0 0 0 0 0

9105 0.73 146.0 302.3 10.0 669 9109 0.00 1.15 0.00 0.000 6 0.000 0.044 2659 2202 1875 0 0 0 0 0 0

9436 0.73 146.0 269.4 9.8 695 9439 0.00 1.12 0.00 0.000 4 0.000 0.055 2659 2905 1876 0 0 0 0 0 0

9514 0.73 146.0 261.2 10.2 701 9518 0.08 1.12 0.00 0.000 6 0.150 0.037 2640 2203 1875 0 0 0 0 0 0

9846 0.75 164.4 231.4 8.4 742 9868 0.00 1.05 14.60 1.014 4 0.000 0.046 2643 1487 1814 0 0 0 0 0 0

9974 0.75 164.4 220.0 9.4 761 9980 0.00 1.17 0.00 0.000 6 0.000 0.045 2643 2206 1813 0 0 0 0 0 0

10313 0.77 184.8 189.6 8.3 812 10341 0.00 1.12 18.95 1.014 4 0.000 0.052 2643 2913 1729 0 0 0 0 0 0

10591 0.77 184.8 161.5 10.5 854 10598 0.00 1.15 0.00 0.000 6 0.000 0.036 2648 2205 1728 0 0 0 0 0 0

10928 0.81 213.9 131.9 7.9 905 10962 0.00 1.12 25.23 0.993 4 0.000 0.048 2653 1494 1612 0 0 0 0 0 0

11037 0.82 226.0 122.7 8.7 921 11058 0.00 1.17 11.62 0.940 6 0.000 0.045 2653 2203 1562 0 0 0 0 0 0

11390 0.84 239.0 92.0 8.6 974 11407 0.00 1.17 12.38 0.938 4 0.000 0.056 2653 2902 1509 0 0 0 0 0 0

11631 0.85 250.2 69.5 8.7 1010 11647 0.00 1.15 10.80 0.918 6 0.000 0.037 2658 2201 1464 0 0 0 0 0 0

11977 0.88 268.0 38.9 8.4 1062 11999 0.00 1.15 16.10 0.936 4 0.000 0.051 2663 1490 1391 0 0 0 0 0 0

12207 0.88 275.6 19.4 8.8 1096 12215 0.00 1.17 3.67 0.139 6 0.000 0.046 2663 2200 1361 0 0 0 0 0 0

12423 end climb: SURFACE_DEPTH_REACHED

state 12423 begin surface coast

12477 end surface coast: CONTROL_FINISHED_OK

state 12478 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	281	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	39	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	28	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	-81604.484	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	221111,042952,6644.538,-5958.748,0,6111.0,0,-33.9	TGT_NAME	TARGET_W
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	8.04	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	0.5	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	221111,042952,6644.538,-5958.748,0,6111.0,0,-33.9	MHEAD_RNG_PITCHd_Wd	340.7,32756,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	660

FREEZE	1.77,-0.763,-1.681,2,4,0	ALTIM_BOTTOM_PING	551.3,132.3
FINISH	1.8,1.024694	_24V_AH	22.6,35.593
SM_CCo	12494,105.75,0.088,0,0,441,501.15	_10V_AH	10.1,26.832
SM_GC	2.66,6.97,0.52,105.75,0.054,0.060,0.088,118,2510,441,-7.06,-0.85,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	872	FG_AHR_10Vo	0.000
RAFOS	0,1321948863,8.033334,8.017500,147,71,59,0,0,0,658,209,162,0,0,0	MEM	150304
RAFOS_FIX	6646.218262,-5959.535156,221111,080849,7,124,0.22	DATA_FILE_SIZE	43349,1137
IRIDIUM_FIX	6604.29,-5951.22,211111,232331	CAP_FILE_SIZE	118839,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,228462592
HUMID	55.71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.75623	SOUNDSPEED	1453.7
TCM_TEMP	16.30	CURRENT	0.250, 69.1,1
XPDR_PINGS	6	GPS	221111,082649,6646.218,-5959.535,0,7123.9,0,-33.9
ALTIM_TOP_PING	19.9,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	175	37.02	SBE_CT	824	23	432.73
Roll_motor	48	72	79.45	SBE_O2	631	5	74.84
VBD_pump_during_apogee	365	1323	10929.10	nil	0	0	0.00
VBD_pump_during_surface	105	87	210.26	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	3158	18	596.80
LPSleep	6967	2	162.56
TT8_Active	533	18	100.84
TT8_Sampling	1843	41	780.72
TT8_CF8	176	47	85.56
TT8_Kalman	0	0	0.00
Analog_circuits	1489	12	180.50
GPS_charging	0	0	0.00
Compass	1827	6	124.38
RAFOS	2520	1	38.18
Transponder	16	30	4.92

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.73	-146.0	0.0	0.0	0	27	0.00	0.00	-7.80	0.000	2	0.000	0.000	2431	1496	2430	0	0	0	0	0	0
30	-0.73	-146.0	10.3	0.0	1	58	0.73	2.90	-18.20	0.000	4	0.067	0.073	2150	3203	3084	0	0	0	0	0	0
65	-0.73	-146.0	13.8	-9.8	6	71	0.00	1.10	0.00	0.000	6	0.000	0.034	2150	2507	3085	0	0	0	0	0	0
402	-0.73	-146.0	76.8	-17.7	57	409	0.00	1.20	0.00	0.000	4	0.000	0.064	2145	3214	3086	0	0	0	0	0	0
583	-0.73	-146.0	107.1	-16.0	84	590	0.00	1.12	0.00	0.000	6	0.000	0.034	2145	2498	3087	0	0	0	0	0	0
921	-0.73	-146.0	161.1	-14.8	135	930	0.00	1.08	0.00	0.000	4	0.000	0.044	2145	1814	3086	0	0	0	0	0	0
959	-0.73	-146.0	166.4	-15.0	140	965	0.00	1.20	0.00	0.000	6	0.000	0.054	2141	2508	3086	0	0	0	0	0	0
1297	-0.73	-146.0	215.6	-13.7	191	1306	0.00	1.12	0.00	0.000	4	0.000	0.069	2136	3211	3086	0	0	0	0	0	0
1326	-0.73	-146.0	219.6	-13.5	195	1335	0.00	1.10	0.00	0.000	6	0.000	0.034	2135	2506	3086	0	0	0	0	0	0
1661	-0.73	-146.0	264.3	-13.5	238	1663	0.12	0.00	0.00	0.000	6	0.175	0.000	2165	2506	3086	0	0	0	0	0	0
1977	-0.73	-146.0	299.0	-10.8	263	1981	0.00	1.08	0.00	0.000	4	0.000	0.044	2165	1818	3085	0	0	0	0	0	0
1996	-0.73	-146.0	300.5	-10.9	264	2004	0.00	1.23	0.00	0.000	6	0.000	0.054	2162	2520	3085	0	0	0	0	0	0
2321	-0.73	-146.0	335.2	-10.2	290	2322	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2520	3085	0	0	0	0	0	0
2635	-0.73	-146.0	367.4	-10.4	315	2636	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2521	3086	0	0	0	0	0	0
2954	-0.73	-146.0	399.5	-10.5	340	2957	0.00	1.10	0.00	0.000	4	0.000	0.070	2157	3211	3085	0	0	0	0	0	0
3008	-0.73	-146.0	405.4	-10.4	344	3012	0.00	1.10	0.00	0.000	6	0.000	0.032	2157	2496	3085	0	0	0	0	0	0
3338	-0.73	-146.0	439.0	-10.3	370	3339	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2496	3085	0	0	0	0	0	0
3652	-0.73	-146.0	471.9	-10.5	395	3653	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2496	3086	0	0	0	0	0	0
3991	-0.73	-146.0	507.0	-10.2	419	3993	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2496	3086	0	0	0	0	0	0
4297	-0.73	-146.0	538.9	-10.3	429	4298	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2496	3086	0	0	0	0	0	0
4603	-0.73	-146.0	570.0	-10.2	439	4604	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2496	3086	0	0	0	0	0	0
4910	-0.73	-146.0	601.0	-10.2	449	4913	0.00	1.20	0.00	0.000	4	0.000	0.062	2152	3217	3087	0	0	0	0	0	0
4954	-0.73	-146.0	604.1	-10.0	450	4959	0.00	1.10	0.00	0.000	6	0.000	0.028	2153	2502	3087	0	0	0	0	0	0
5283	-0.73	-146.0	637.8	-10.0	461	5286	0.00	1.17	0.00	0.000	4	0.000	0.062	2148	3213	3087	0	0	0	0	0	0
5340	-0.73	-146.0	641.4	-10.3	462	5348	0.00	1.10	0.00	0.000	6	0.000	0.028	2148	2499	3087	0	0	0	0	0	0
5500	end dive: TARGET_DEPTH_EXCEEDED
state	5500	begin apogee
5507	-0.16	0.0	660.8	-10.5	468	5633	0.60	0.00	121.25	1.323	6	0.131	0.000	2341	2198	2485	0	0	0	0	0	0
5634	end apogee: CONTROL_FINISHED_OK
state	5634	begin climb
5637	0.73	146.0	665.2	0.0	472	5780	0.85	1.23	130.80	1.258	4	0.068	0.048	2635	1509	1888	0	0	0	0	0	0
5973	0.73	146.0	643.3	11.0	482	5980	0.00	1.20	0.00	0.000	6	0.000	0.044	2635	2203	1881	0	0	0	0	0	0
6285	0.73	146.0	606.6	10.9	493	6289	0.00	1.17	0.00	0.000	4	0.000	0.054	2635	2911	1879	0	0	0	0	0	0
6386	0.73	146.0	595.5	11.2	496	6390	0.00	1.15	0.00	0.000	6	0.000	0.034	2639	2210	1878	0	0	0	0	0	0
6725	0.73	146.0	557.5	11.0	507	6727	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2210	1877	0	0	0	0	0	0
7031	0.73	146.0	523.4	11.0	517	7032	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2210	1877	0	0	0	0	0	0
7348	0.73	146.0	488.8	11.0	532	7349	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2210	1876	0	0	0	0	0	0
7662	0.73	146.0	454.8	10.4	557	7666	0.00	1.10	0.00	0.000	4	0.000	0.050	2645	1495	1876	0	0	0	0	0	0
7836	0.73	146.0	436.8	10.5	570	7839	0.00	1.15	0.00	0.000	6	0.000	0.045	2645	2202	1876	0	0	0	0	0	0
8166	0.73	146.0	402.2	10.7	596	8169	0.00	1.15	0.00	0.000	4	0.000	0.045	2649	1490	1876	0	0	0	0	0	0
8220	0.73	146.0	396.6	10.4	600	8225	0.00	1.15	0.00	0.000	6	0.000	0.046	2649	2199	1875	0	0	0	0	0	0
8550	0.73	146.0	360.6	10.4	626	8554	0.00	1.12	0.00	0.000	4	0.000	0.057	2649	2900	1876	0	0	0	0	0	0
8660	0.73	146.0	348.8	11.2	634	8668	0.00	1.15	0.00	0.000	6	0.000	0.036	2654	2195	1876	0	0	0	0	0	0
8987	0.73	146.0	314.9	10.3	660	8990	0.00	1.08	0.00	0.000	4	0.000	0.049	2659	1491	1876	0	0	0	0	0	0
9105	0.73	146.0	302.3	10.0	669	9109	0.00	1.15	0.00	0.000	6	0.000	0.044	2659	2202	1875	0	0	0	0	0	0
9436	0.73	146.0	269.4	9.8	695	9439	0.00	1.12	0.00	0.000	4	0.000	0.055	2659	2905	1876	0	0	0	0	0	0
9514	0.73	146.0	261.2	10.2	701	9518	0.08	1.12	0.00	0.000	6	0.150	0.037	2640	2203	1875	0	0	0	0	0	0
9846	0.75	164.4	231.4	8.4	742	9868	0.00	1.05	14.60	1.014	4	0.000	0.046	2643	1487	1814	0	0	0	0	0	0
9974	0.75	164.4	220.0	9.4	761	9980	0.00	1.17	0.00	0.000	6	0.000	0.045	2643	2206	1813	0	0	0	0	0	0
10313	0.77	184.8	189.6	8.3	812	10341	0.00	1.12	18.95	1.014	4	0.000	0.052	2643	2913	1729	0	0	0	0	0	0
10591	0.77	184.8	161.5	10.5	854	10598	0.00	1.15	0.00	0.000	6	0.000	0.036	2648	2205	1728	0	0	0	0	0	0
10928	0.81	213.9	131.9	7.9	905	10962	0.00	1.12	25.23	0.993	4	0.000	0.048	2653	1494	1612	0	0	0	0	0	0
11037	0.82	226.0	122.7	8.7	921	11058	0.00	1.17	11.62	0.940	6	0.000	0.045	2653	2203	1562	0	0	0	0	0	0
11390	0.84	239.0	92.0	8.6	974	11407	0.00	1.17	12.38	0.938	4	0.000	0.056	2653	2902	1509	0	0	0	0	0	0
11631	0.85	250.2	69.5	8.7	1010	11647	0.00	1.15	10.80	0.918	6	0.000	0.037	2658	2201	1464	0	0	0	0	0	0
11977	0.88	268.0	38.9	8.4	1062	11999	0.00	1.15	16.10	0.936	4	0.000	0.051	2663	1490	1391	0	0	0	0	0	0
12207	0.88	275.6	19.4	8.8	1096	12215	0.00	1.17	3.67	0.139	6	0.000	0.046	2663	2200	1361	0	0	0	0	0	0
12423	end climb: SURFACE_DEPTH_REACHED
state	12423	begin surface coast
12477	end surface coast: CONTROL_FINISHED_OK
state	12478	begin surface