Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 439 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 183 HD_C 9.9999997e-06 ROLL_MIN 330 ALTIM_TOP_TURN_MARGIN 5

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 439 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 37 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 3 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 4 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00065 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -8296.6299 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 311 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3850 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2475 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043469137

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -62.615704 SEABIRD_T_H 0.00062159239

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00012025224 SEABIRD_T_I 2.0014088e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 1.6690842e-06

MASS 51717 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9685602

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1354375

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 1 SEABIRD_C_I -0.0013495153

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019269099

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 609.0799

AH0_24V 150 D_PITCH 3 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3850 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.00065 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00012025224 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -62.615704 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -8296.6299

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 37 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9685602 VBD_MIN 440

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1354375 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0013495153 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 439 NAV_MODE 0 SEABIRD_C_J 0.00019269099 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0043469137 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 4 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 021210,064408,6656.004,-5642.248,49,1.0,49,-37.4 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 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021210,070226,6656.388,-5642.068,11,1.2,11,-37.4 MHEAD_RNG_PITCHd_Wd 18.1,12973,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 534

Post-dive calculations and measurements:

FREEZE 1.03,0.662,-1.782,0,1,0 ALTIM_TOP_PING 19.9,18.1

FINISH 1.0,1.026080 _24V_AH 22.7,53.343

SM_CCo 10851,169.40,0.535,1,0,440,609.08 _10V_AH 10.1,39.388

SM_GC 1.86,0.00,0.00,169.40,0.000,0.000,0.535,296,2790,440,-6.78,0.28,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 441 FG_AHR_10Vo 0.000

RAFOS 0,1291276868,8.033334,8.018888,47,45,45,44,40,39,1854,852,436,1275,1295,1601 MEM 151616

RAFOS_FIX 6701.095215,-5648.407227,021210,000022,3,77,0.35 DATA_FILE_SIZE 40037,1100

IRIDIUM_FIX 6625.71,-5635.34,021210,060655 CAP_FILE_SIZE 147818,0

TT8_MAMPS 0.028462 CFSIZE 260165632,218714112

HUMID 43.38 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.56325 SOUNDSPEED 1476.3

TCM_TEMP 17.00 GPS 021210,100824,6659.067,-5642.876,50,0.9,50,-37.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 250 115.48 SBE_CT 755 24 411.76

Roll_motor 104 74 176.40 SBE_O2 0 0 0.00

VBD_pump_during_apogee 411 895 8360.71 nil 0 0 0.00

VBD_pump_during_surface 169 534 2056.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 49 103 116.30 nil 0 0 0.00

Iridium_during_connect 88 160 319.63 nil 0 0 0.00

Iridium_during_xfer 585 223 2965.73 nil 0 0 0.00

Transponder_ping 1 420 16.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.66

TT8 2666 19 536.42

LPSleep 5737 2 133.86

TT8_Active 703 19 141.47

TT8_Sampling 2568 39 1035.54

TT8_CF8 458 45 212.56

TT8_Kalman 0 0 0.00

Analog_circuits 1722 12 208.73

GPS_charging 0 0 0.00

Compass 1852 15 280.68

RAFOS 2520 3 76.36

Transponder 14 30 4.36

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.57 -146.0 0.0 0.0 0 151 0.00 0.00 -132.27 0.000 2 0.000 0.000 254 2779 3292 0 0 0 0 0 0

155 -0.57 -146.0 5.8 -13.5 23 175 8.55 1.90 -4.57 0.000 4 0.251 0.074 2277 3929 3521 0 0 0 0 0 0

188 0.17 -146.0 20.4 -41.4 28 195 0.85 1.85 0.00 0.000 6 0.167 0.044 2524 2772 3523 0 0 0 0 0 0

534 -0.24 -146.0 45.5 -7.7 89 541 0.35 1.92 0.00 0.000 4 0.104 0.065 2397 3926 3523 0 0 0 0 0 0

556 -0.56 -146.0 47.1 -7.4 92 563 0.28 2.22 0.00 0.000 6 0.077 0.042 2285 2528 3523 0 0 0 0 0 0

902 -0.68 -146.0 76.5 -8.4 153 909 0.00 1.80 0.00 0.000 4 0.000 0.046 2285 1368 3522 0 0 0 0 0 0

916 -0.79 -146.0 77.6 -8.7 155 924 0.17 2.15 0.00 0.000 6 0.084 0.057 2206 2702 3522 0 0 0 0 0 0

1252 -0.67 -146.0 126.5 -14.9 200 1257 0.17 2.05 0.00 0.000 4 0.177 0.066 2247 3928 3522 0 0 0 0 0 0

1301 -0.63 -146.0 133.4 -12.1 204 1308 0.00 1.95 0.00 0.000 6 0.000 0.042 2247 2692 3522 0 0 0 0 0 0

1627 -0.60 -146.0 169.5 -10.5 235 1631 0.12 2.08 0.00 0.000 4 0.179 0.067 2274 3928 3522 0 0 0 0 0 0

1673 -0.63 -146.0 173.7 -8.9 239 1676 0.00 1.92 0.00 0.000 6 0.000 0.042 2274 2708 3522 0 0 0 0 0 0

2004 -0.66 -146.0 201.1 -8.4 270 2008 0.00 2.03 0.00 0.000 4 0.000 0.067 2273 3932 3523 0 0 0 0 0 0

2050 -0.70 -146.0 205.0 -8.3 274 2054 0.00 1.90 0.00 0.000 6 0.000 0.041 2273 2711 3523 0 0 0 0 0 0

2381 -0.73 -146.0 232.3 -8.1 305 2385 0.10 2.03 0.00 0.000 4 0.112 0.067 2222 3926 3524 0 0 0 0 0 0

2408 -0.69 -146.0 235.2 -10.5 307 2415 0.10 1.90 0.00 0.000 6 0.183 0.040 2246 2716 3524 0 0 0 0 0 0

2733 -0.69 -146.0 266.1 -9.7 338 2737 0.00 2.00 0.00 0.000 4 0.000 0.064 2241 3931 3525 0 0 0 0 0 0

2846 -0.69 -146.0 278.7 -11.4 348 2850 0.00 1.88 0.00 0.000 6 0.000 0.040 2241 2734 3525 0 0 0 0 0 0

3177 -0.67 -146.0 313.0 -10.2 379 3181 0.00 2.00 0.00 0.000 4 0.000 0.065 2234 3933 3526 0 0 0 0 0 0

3223 -0.64 -146.0 318.0 -10.6 383 3228 0.12 1.85 0.00 0.000 6 0.167 0.040 2267 2752 3526 0 0 0 0 0 0

3555 -0.68 -146.0 342.2 -6.7 414 3558 0.00 2.15 0.00 0.000 4 0.000 0.043 2268 1364 3527 0 0 0 0 0 0

3612 -0.75 -146.0 346.3 -7.2 419 3616 0.00 2.22 0.00 0.000 6 0.000 0.054 2266 2754 3527 0 0 0 0 0 0

3938 -0.79 -146.0 367.4 -6.5 449 3942 0.12 1.92 0.00 0.000 4 0.099 0.063 2195 3927 3528 0 0 0 0 0 0

3983 -0.69 -146.0 371.9 -10.6 453 3987 0.20 1.83 0.00 0.000 6 0.159 0.039 2251 2759 3528 0 0 0 0 0 0

4313 -0.69 -146.0 398.5 -8.4 484 4314 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2759 3529 0 0 0 0 0 0

4632 -0.71 -146.0 426.1 -9.0 514 4633 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2759 3529 0 0 0 0 0 0

4951 -0.73 -146.0 453.4 -8.6 544 4952 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2759 3530 0 0 0 0 0 0

5271 -0.76 -146.0 480.1 -8.4 574 5275 0.00 1.92 0.00 0.000 4 0.000 0.064 2249 3928 3530 0 0 0 0 0 0

5362 -0.79 -146.0 488.6 -9.4 582 5366 0.00 1.80 0.00 0.000 6 0.000 0.040 2248 2765 3530 0 0 0 0 0 0

5688 -0.81 -146.0 515.0 -8.0 601 5693 0.10 2.17 0.00 0.000 4 0.113 0.043 2195 1368 3531 0 0 0 0 0 0

5726 -0.74 -146.0 519.1 -10.7 602 5731 0.15 2.25 0.00 0.000 6 0.172 0.054 2229 2773 3531 0 0 0 0 0 0

5903 end dive: TARGET_DEPTH_EXCEEDED

state 5903 begin apogee

5909 -0.14 0.0 534.4 8.7 608 6035 0.57 0.00 119.40 0.895 4 0.131 0.000 2422 2604 2923 0 0 0 0 0 0

6036 end apogee: CONTROL_FINISHED_OK

state 6036 begin climb

6039 0.57 146.0 536.5 0.0 612 6169 0.68 2.30 121.55 0.880 4 0.063 0.043 2669 1190 2327 0 0 0 0 0 0

6361 0.53 146.0 501.8 12.7 622 6366 0.00 2.30 0.00 0.000 6 0.000 0.049 2669 2602 2319 0 0 0 0 0 0

6693 0.44 146.0 456.6 14.0 651 6698 0.17 2.25 0.00 0.000 4 0.181 0.045 2624 1179 2317 0 0 0 0 0 0

6834 0.49 149.0 442.3 9.9 663 6838 0.00 2.30 0.00 0.000 6 0.000 0.049 2624 2615 2317 0 0 0 0 0 0

7164 0.49 149.0 407.7 10.4 694 7167 0.00 2.15 0.00 0.000 4 0.000 0.060 2624 3926 2316 0 0 0 0 0 0

7214 0.43 149.0 401.5 12.2 698 7221 0.00 2.10 0.00 0.000 6 0.000 0.039 2625 2588 2315 0 0 0 0 0 0

7539 0.44 161.1 369.8 9.4 729 7560 0.00 2.28 11.90 0.747 4 0.000 0.061 2625 3936 2265 0 0 0 0 0 0

7588 0.40 161.1 364.6 11.9 733 7595 0.00 2.08 0.00 0.000 6 0.000 0.038 2628 2612 2263 0 0 0 0 0 0

7913 0.40 163.7 332.4 9.9 764 7917 0.00 2.20 0.00 0.000 4 0.000 0.045 2628 1183 2263 0 0 0 0 0 0

7969 0.47 184.6 327.1 9.0 768 7998 0.00 2.28 20.55 0.752 6 0.000 0.049 2628 2609 2171 0 0 0 0 0 0

8316 0.50 184.6 292.7 10.5 801 8320 0.00 2.12 0.00 0.000 4 0.000 0.060 2628 3924 2167 0 0 0 0 0 0

8360 0.50 184.6 287.4 12.9 805 8364 0.00 2.03 0.00 0.000 6 0.000 0.038 2628 2614 2165 0 0 0 0 0 0

8691 0.53 184.6 252.3 10.4 836 8695 0.00 2.17 0.00 0.000 4 0.000 0.044 2628 1197 2165 0 0 0 0 0 0

8724 0.60 184.6 248.6 10.4 838 8732 0.12 2.22 0.00 0.000 6 0.097 0.048 2684 2606 2165 0 0 0 0 0 0

9050 0.54 184.6 203.3 14.2 869 9055 0.12 2.17 0.00 0.000 4 0.192 0.060 2652 3926 2165 0 0 0 0 0 0

9124 0.49 184.6 192.9 13.1 875 9128 0.00 2.05 0.00 0.000 6 0.000 0.038 2653 2612 2165 0 0 0 0 0 0

9454 0.49 184.6 154.8 11.2 906 9458 0.00 2.15 0.00 0.000 4 0.000 0.060 2653 3930 2164 0 0 0 0 0 0

9483 0.45 184.6 151.3 12.6 908 9488 0.12 2.03 0.00 0.000 6 0.196 0.037 2624 2612 2165 0 0 0 0 0 0

9811 0.51 199.1 121.8 9.3 938 9834 0.00 2.28 12.57 0.622 4 0.000 0.044 2624 1188 2110 0 0 0 0 0 0

9869 0.65 230.1 116.4 8.6 943 9904 0.17 2.25 26.60 0.630 6 0.080 0.047 2699 2613 1984 0 0 0 0 0 0

10235 0.59 230.1 64.9 15.7 997 10242 0.12 2.17 0.00 0.000 4 0.181 0.059 2666 3930 1978 0 0 0 0 0 0

10261 0.56 230.1 60.9 15.0 1001 10268 0.00 2.10 0.00 0.000 6 0.000 0.037 2666 2591 1978 0 0 0 0 0 0

10608 0.61 260.9 24.5 8.6 1062 10639 0.00 2.25 25.10 0.582 4 0.000 0.045 2666 1196 1859 0 0 0 0 0 0

10724 0.82 353.0 15.9 5.7 1082 10805 0.20 2.25 73.82 0.573 6 0.080 0.048 2752 2598 1482 0 0 0 0 0 0

10818 end climb: SURFACE_DEPTH_REACHED

state 10818 begin surface coast

10835 end surface coast: CONTROL_FINISHED_OK

state 10835 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	439	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	37	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	3	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	4	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00065	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-8296.6299	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	311	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3850	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2475	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043469137
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-62.615704	SEABIRD_T_H	0.00062159239
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00012025224	SEABIRD_T_I	2.0014088e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	1.6690842e-06
MASS	51717	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9685602
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1354375
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	1	SEABIRD_C_I	-0.0013495153
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019269099
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	021210,064408,6656.004,-5642.248,49,1.0,49,-37.4	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	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021210,070226,6656.388,-5642.068,11,1.2,11,-37.4	MHEAD_RNG_PITCHd_Wd	18.1,12973,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	534

FREEZE	1.03,0.662,-1.782,0,1,0	ALTIM_TOP_PING	19.9,18.1
FINISH	1.0,1.026080	_24V_AH	22.7,53.343
SM_CCo	10851,169.40,0.535,1,0,440,609.08	_10V_AH	10.1,39.388
SM_GC	1.86,0.00,0.00,169.40,0.000,0.000,0.535,296,2790,440,-6.78,0.28,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	441	FG_AHR_10Vo	0.000
RAFOS	0,1291276868,8.033334,8.018888,47,45,45,44,40,39,1854,852,436,1275,1295,1601	MEM	151616
RAFOS_FIX	6701.095215,-5648.407227,021210,000022,3,77,0.35	DATA_FILE_SIZE	40037,1100
IRIDIUM_FIX	6625.71,-5635.34,021210,060655	CAP_FILE_SIZE	147818,0
TT8_MAMPS	0.028462	CFSIZE	260165632,218714112
HUMID	43.38	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.56325	SOUNDSPEED	1476.3
TCM_TEMP	17.00	GPS	021210,100824,6659.067,-5642.876,50,0.9,50,-37.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	250	115.48	SBE_CT	755	24	411.76
Roll_motor	104	74	176.40	SBE_O2	0	0	0.00
VBD_pump_during_apogee	411	895	8360.71	nil	0	0	0.00
VBD_pump_during_surface	169	534	2056.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	49	103	116.30	nil	0	0	0.00
Iridium_during_connect	88	160	319.63	nil	0	0	0.00
Iridium_during_xfer	585	223	2965.73	nil	0	0	0.00
Transponder_ping	1	420	16.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.66
TT8	2666	19	536.42
LPSleep	5737	2	133.86
TT8_Active	703	19	141.47
TT8_Sampling	2568	39	1035.54
TT8_CF8	458	45	212.56
TT8_Kalman	0	0	0.00
Analog_circuits	1722	12	208.73
GPS_charging	0	0	0.00
Compass	1852	15	280.68
RAFOS	2520	3	76.36
Transponder	14	30	4.36

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.57	-146.0	0.0	0.0	0	151	0.00	0.00	-132.27	0.000	2	0.000	0.000	254	2779	3292	0	0	0	0	0	0
155	-0.57	-146.0	5.8	-13.5	23	175	8.55	1.90	-4.57	0.000	4	0.251	0.074	2277	3929	3521	0	0	0	0	0	0
188	0.17	-146.0	20.4	-41.4	28	195	0.85	1.85	0.00	0.000	6	0.167	0.044	2524	2772	3523	0	0	0	0	0	0
534	-0.24	-146.0	45.5	-7.7	89	541	0.35	1.92	0.00	0.000	4	0.104	0.065	2397	3926	3523	0	0	0	0	0	0
556	-0.56	-146.0	47.1	-7.4	92	563	0.28	2.22	0.00	0.000	6	0.077	0.042	2285	2528	3523	0	0	0	0	0	0
902	-0.68	-146.0	76.5	-8.4	153	909	0.00	1.80	0.00	0.000	4	0.000	0.046	2285	1368	3522	0	0	0	0	0	0
916	-0.79	-146.0	77.6	-8.7	155	924	0.17	2.15	0.00	0.000	6	0.084	0.057	2206	2702	3522	0	0	0	0	0	0
1252	-0.67	-146.0	126.5	-14.9	200	1257	0.17	2.05	0.00	0.000	4	0.177	0.066	2247	3928	3522	0	0	0	0	0	0
1301	-0.63	-146.0	133.4	-12.1	204	1308	0.00	1.95	0.00	0.000	6	0.000	0.042	2247	2692	3522	0	0	0	0	0	0
1627	-0.60	-146.0	169.5	-10.5	235	1631	0.12	2.08	0.00	0.000	4	0.179	0.067	2274	3928	3522	0	0	0	0	0	0
1673	-0.63	-146.0	173.7	-8.9	239	1676	0.00	1.92	0.00	0.000	6	0.000	0.042	2274	2708	3522	0	0	0	0	0	0
2004	-0.66	-146.0	201.1	-8.4	270	2008	0.00	2.03	0.00	0.000	4	0.000	0.067	2273	3932	3523	0	0	0	0	0	0
2050	-0.70	-146.0	205.0	-8.3	274	2054	0.00	1.90	0.00	0.000	6	0.000	0.041	2273	2711	3523	0	0	0	0	0	0
2381	-0.73	-146.0	232.3	-8.1	305	2385	0.10	2.03	0.00	0.000	4	0.112	0.067	2222	3926	3524	0	0	0	0	0	0
2408	-0.69	-146.0	235.2	-10.5	307	2415	0.10	1.90	0.00	0.000	6	0.183	0.040	2246	2716	3524	0	0	0	0	0	0
2733	-0.69	-146.0	266.1	-9.7	338	2737	0.00	2.00	0.00	0.000	4	0.000	0.064	2241	3931	3525	0	0	0	0	0	0
2846	-0.69	-146.0	278.7	-11.4	348	2850	0.00	1.88	0.00	0.000	6	0.000	0.040	2241	2734	3525	0	0	0	0	0	0
3177	-0.67	-146.0	313.0	-10.2	379	3181	0.00	2.00	0.00	0.000	4	0.000	0.065	2234	3933	3526	0	0	0	0	0	0
3223	-0.64	-146.0	318.0	-10.6	383	3228	0.12	1.85	0.00	0.000	6	0.167	0.040	2267	2752	3526	0	0	0	0	0	0
3555	-0.68	-146.0	342.2	-6.7	414	3558	0.00	2.15	0.00	0.000	4	0.000	0.043	2268	1364	3527	0	0	0	0	0	0
3612	-0.75	-146.0	346.3	-7.2	419	3616	0.00	2.22	0.00	0.000	6	0.000	0.054	2266	2754	3527	0	0	0	0	0	0
3938	-0.79	-146.0	367.4	-6.5	449	3942	0.12	1.92	0.00	0.000	4	0.099	0.063	2195	3927	3528	0	0	0	0	0	0
3983	-0.69	-146.0	371.9	-10.6	453	3987	0.20	1.83	0.00	0.000	6	0.159	0.039	2251	2759	3528	0	0	0	0	0	0
4313	-0.69	-146.0	398.5	-8.4	484	4314	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2759	3529	0	0	0	0	0	0
4632	-0.71	-146.0	426.1	-9.0	514	4633	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2759	3529	0	0	0	0	0	0
4951	-0.73	-146.0	453.4	-8.6	544	4952	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2759	3530	0	0	0	0	0	0
5271	-0.76	-146.0	480.1	-8.4	574	5275	0.00	1.92	0.00	0.000	4	0.000	0.064	2249	3928	3530	0	0	0	0	0	0
5362	-0.79	-146.0	488.6	-9.4	582	5366	0.00	1.80	0.00	0.000	6	0.000	0.040	2248	2765	3530	0	0	0	0	0	0
5688	-0.81	-146.0	515.0	-8.0	601	5693	0.10	2.17	0.00	0.000	4	0.113	0.043	2195	1368	3531	0	0	0	0	0	0
5726	-0.74	-146.0	519.1	-10.7	602	5731	0.15	2.25	0.00	0.000	6	0.172	0.054	2229	2773	3531	0	0	0	0	0	0
5903	end dive: TARGET_DEPTH_EXCEEDED
state	5903	begin apogee
5909	-0.14	0.0	534.4	8.7	608	6035	0.57	0.00	119.40	0.895	4	0.131	0.000	2422	2604	2923	0	0	0	0	0	0
6036	end apogee: CONTROL_FINISHED_OK
state	6036	begin climb
6039	0.57	146.0	536.5	0.0	612	6169	0.68	2.30	121.55	0.880	4	0.063	0.043	2669	1190	2327	0	0	0	0	0	0
6361	0.53	146.0	501.8	12.7	622	6366	0.00	2.30	0.00	0.000	6	0.000	0.049	2669	2602	2319	0	0	0	0	0	0
6693	0.44	146.0	456.6	14.0	651	6698	0.17	2.25	0.00	0.000	4	0.181	0.045	2624	1179	2317	0	0	0	0	0	0
6834	0.49	149.0	442.3	9.9	663	6838	0.00	2.30	0.00	0.000	6	0.000	0.049	2624	2615	2317	0	0	0	0	0	0
7164	0.49	149.0	407.7	10.4	694	7167	0.00	2.15	0.00	0.000	4	0.000	0.060	2624	3926	2316	0	0	0	0	0	0
7214	0.43	149.0	401.5	12.2	698	7221	0.00	2.10	0.00	0.000	6	0.000	0.039	2625	2588	2315	0	0	0	0	0	0
7539	0.44	161.1	369.8	9.4	729	7560	0.00	2.28	11.90	0.747	4	0.000	0.061	2625	3936	2265	0	0	0	0	0	0
7588	0.40	161.1	364.6	11.9	733	7595	0.00	2.08	0.00	0.000	6	0.000	0.038	2628	2612	2263	0	0	0	0	0	0
7913	0.40	163.7	332.4	9.9	764	7917	0.00	2.20	0.00	0.000	4	0.000	0.045	2628	1183	2263	0	0	0	0	0	0
7969	0.47	184.6	327.1	9.0	768	7998	0.00	2.28	20.55	0.752	6	0.000	0.049	2628	2609	2171	0	0	0	0	0	0
8316	0.50	184.6	292.7	10.5	801	8320	0.00	2.12	0.00	0.000	4	0.000	0.060	2628	3924	2167	0	0	0	0	0	0
8360	0.50	184.6	287.4	12.9	805	8364	0.00	2.03	0.00	0.000	6	0.000	0.038	2628	2614	2165	0	0	0	0	0	0
8691	0.53	184.6	252.3	10.4	836	8695	0.00	2.17	0.00	0.000	4	0.000	0.044	2628	1197	2165	0	0	0	0	0	0
8724	0.60	184.6	248.6	10.4	838	8732	0.12	2.22	0.00	0.000	6	0.097	0.048	2684	2606	2165	0	0	0	0	0	0
9050	0.54	184.6	203.3	14.2	869	9055	0.12	2.17	0.00	0.000	4	0.192	0.060	2652	3926	2165	0	0	0	0	0	0
9124	0.49	184.6	192.9	13.1	875	9128	0.00	2.05	0.00	0.000	6	0.000	0.038	2653	2612	2165	0	0	0	0	0	0
9454	0.49	184.6	154.8	11.2	906	9458	0.00	2.15	0.00	0.000	4	0.000	0.060	2653	3930	2164	0	0	0	0	0	0
9483	0.45	184.6	151.3	12.6	908	9488	0.12	2.03	0.00	0.000	6	0.196	0.037	2624	2612	2165	0	0	0	0	0	0
9811	0.51	199.1	121.8	9.3	938	9834	0.00	2.28	12.57	0.622	4	0.000	0.044	2624	1188	2110	0	0	0	0	0	0
9869	0.65	230.1	116.4	8.6	943	9904	0.17	2.25	26.60	0.630	6	0.080	0.047	2699	2613	1984	0	0	0	0	0	0
10235	0.59	230.1	64.9	15.7	997	10242	0.12	2.17	0.00	0.000	4	0.181	0.059	2666	3930	1978	0	0	0	0	0	0
10261	0.56	230.1	60.9	15.0	1001	10268	0.00	2.10	0.00	0.000	6	0.000	0.037	2666	2591	1978	0	0	0	0	0	0
10608	0.61	260.9	24.5	8.6	1062	10639	0.00	2.25	25.10	0.582	4	0.000	0.045	2666	1196	1859	0	0	0	0	0	0
10724	0.82	353.0	15.9	5.7	1082	10805	0.20	2.25	73.82	0.573	6	0.080	0.048	2752	2598	1482	0	0	0	0	0	0
10818	end climb: SURFACE_DEPTH_REACHED
state	10818	begin surface coast
10835	end surface coast: CONTROL_FINISHED_OK
state	10835	begin surface