Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 510 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 510 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

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 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 26 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 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 0.0012300001 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 -44746.707 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

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 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 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 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 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 -44746.707

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 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 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 26 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 510 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6 TGT_NAME TARGET_W2

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 8.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6 MHEAD_RNG_PITCHd_Wd 294.0,153348,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 656

Post-dive calculations and measurements:

FREEZE 1.98,-1.712,-1.829,2,45,1 _24V_AH 21.8,66.399

FINISH 2.0,1.026834 _10V_AH 10.1,34.271

RAFOS_CLK 637 FG_AHR_24Vo 0.000

RAFOS 6,1303908546,12.833333,12.818334,133,64,58,58,55,54,794,212,142,188,165,153 FG_AHR_10Vo 0.000

RAFOS_FIX 6703.493164,-5702.274414,270411,080856,2,128,0.29 MEM 150616

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 43411,1108

TT8_MAMPS 0.026215 CAP_FILE_SIZE 130523,0

HUMID 47.40 CFSIZE 260165632,220983296

INTERNAL_PRESSURE 8.61361 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.40 SOUNDSPEED 1458.8

XPDR_PINGS 0 GPS 270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6

ALTIM_TOP_PING 19.9,21.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 272 36.22 SBE_CT 789 24 413.21

Roll_motor 107 156 365.05 SBE_O2 842 19 348.92

VBD_pump_during_apogee 361 1332 10515.86 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 2 420 20.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2707 19 544.81

LPSleep 6650 2 155.15

TT8_Active 479 19 96.55

TT8_Sampling 1868 39 753.24

TT8_CF8 206 45 95.84

TT8_Kalman 0 0 0.00

Analog_circuits 1497 12 181.44

GPS_charging 0 0 0.00

Compass 1850 15 280.39

RAFOS 360 1 5.45

Transponder 18 30 5.53

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 -0.62 -146.0 0.0 0.0 0 156 0.00 0.38 -132.73 0.000 6 0.000 0.156 3097 2493 3627 0 0 0 0 0 0

160 -0.62 -146.0 4.0 -6.2 24 167 1.33 2.35 0.00 0.000 4 0.133 0.067 2672 1069 3627 0 0 0 0 0 0

175 -1.19 -146.0 5.5 -7.1 26 183 0.55 2.33 0.00 0.000 6 0.086 0.061 2478 2496 3627 0 0 0 0 0 0

527 -0.77 -146.0 111.8 -32.4 85 532 0.55 2.35 0.00 0.000 4 0.272 0.077 2602 3903 3627 0 0 0 0 0 0

702 -0.66 -146.0 145.4 -17.4 100 707 0.17 2.28 0.00 0.000 6 0.224 0.053 2644 2481 3626 0 0 0 0 0 0

1029 -0.60 -146.0 194.4 -13.8 130 1031 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2480 3625 0 0 0 0 0 0

1348 -0.53 -146.0 235.9 -13.0 160 1353 0.17 2.40 0.00 0.000 4 0.205 0.078 2690 3897 3625 0 0 0 0 0 0

1388 -0.61 -146.0 240.6 -9.7 163 1392 0.00 2.22 0.00 0.000 6 0.000 0.050 2690 2480 3625 0 0 0 0 0 0

1714 -0.65 -146.0 273.3 -9.8 193 1719 0.12 2.28 0.00 0.000 4 0.126 0.070 2646 1081 3626 0 0 0 0 0 0

1771 -0.62 -146.0 280.4 -12.6 198 1775 0.00 2.30 0.00 0.000 6 0.000 0.067 2646 2488 3626 0 0 0 0 0 0

2096 -0.56 -146.0 320.8 -12.6 228 2101 0.12 2.38 0.00 0.000 4 0.220 0.081 2675 3909 3626 0 0 0 0 0 0

2135 -0.59 -146.0 325.0 -9.5 231 2142 0.00 2.25 0.00 0.000 6 0.000 0.052 2675 2482 3626 0 0 0 0 0 0

2461 -0.62 -146.0 355.5 -9.6 262 2465 0.00 2.25 0.00 0.000 4 0.000 0.070 2675 1082 3626 0 0 0 0 0 0

2505 -0.66 -146.0 360.3 -10.6 265 2511 0.00 2.30 0.00 0.000 6 0.000 0.066 2675 2490 3625 0 0 0 0 0 0

2832 -0.68 -146.0 392.7 -9.7 296 2836 0.00 2.38 0.00 0.000 4 0.000 0.081 2675 3909 3626 0 0 0 0 0 0

2884 -0.74 -146.0 398.0 -9.4 300 2889 0.15 2.25 0.00 0.000 6 0.116 0.053 2625 2483 3625 0 0 0 0 0 0

3211 -0.65 -146.0 440.9 -13.6 330 3215 0.00 2.25 0.00 0.000 4 0.000 0.069 2625 1081 3625 0 0 0 0 0 0

3280 -0.60 -146.0 450.1 -12.6 335 3287 0.17 2.33 0.00 0.000 6 0.211 0.067 2665 2493 3625 0 0 0 0 0 0

3605 -0.60 -146.0 481.1 -9.3 366 3609 0.00 2.38 0.00 0.000 4 0.000 0.081 2665 3907 3625 0 0 0 0 0 0

3657 -0.65 -146.0 485.5 -8.5 370 3661 0.00 2.25 0.00 0.000 6 0.000 0.051 2666 2487 3625 0 0 0 0 0 0

3988 -0.65 -146.0 513.6 -8.7 401 3992 0.00 2.28 0.00 0.000 4 0.000 0.067 2666 1080 3625 0 0 0 0 0 0

4055 -0.68 -146.0 519.7 -8.8 406 4062 0.00 2.30 0.00 0.000 6 0.000 0.063 2666 2490 3626 0 0 0 0 0 0

4381 -0.70 -146.0 548.8 -9.0 437 4385 0.00 2.38 0.00 0.000 4 0.000 0.080 2666 3903 3626 0 0 0 0 0 0

4461 -0.74 -146.0 556.4 -9.3 444 4466 0.12 2.22 0.00 0.000 6 0.124 0.050 2623 2485 3626 0 0 0 0 0 0

4786 -0.66 -146.0 596.6 -12.4 474 4791 0.12 2.28 0.00 0.000 4 0.223 0.067 2651 1083 3626 0 0 0 0 0 0

4864 -0.66 -146.0 605.3 -10.5 477 4868 0.00 2.30 0.00 0.000 6 0.000 0.063 2650 2489 3626 0 0 0 0 0 0

5182 -0.66 -146.0 637.3 -9.9 488 5186 0.00 2.40 0.00 0.000 4 0.000 0.081 2649 3905 3627 0 0 0 0 0 0

5231 -0.66 -146.0 642.4 -9.6 489 5236 0.00 2.25 0.00 0.000 6 0.000 0.053 2650 2491 3627 0 0 0 0 0 0

5389 end dive: TARGET_DEPTH_EXCEEDED

state 5389 begin apogee

5395 -0.12 0.0 657.9 9.8 494 5525 0.57 0.00 124.20 1.333 6 0.188 0.000 2814 2261 3030 0 0 0 0 0 0

5526 end apogee: CONTROL_FINISHED_OK

state 5526 begin climb

5528 0.62 146.0 661.7 0.0 498 5668 0.80 2.58 131.75 1.284 4 0.135 0.071 3065 878 2433 0 0 0 0 0 0

5704 0.57 146.0 649.2 11.6 503 5708 0.00 2.50 0.00 0.000 6 0.000 0.059 3065 2280 2428 0 0 0 0 0 0

6039 0.50 146.0 608.5 11.9 514 6044 0.15 2.38 0.00 0.000 4 0.181 0.074 3027 3696 2426 0 0 0 0 0 0

6111 0.45 146.0 600.1 11.3 516 6115 0.00 2.33 0.00 0.000 6 0.000 0.058 3035 2280 2425 0 0 0 0 0 0

6437 0.45 146.0 568.1 10.1 546 6438 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2280 2424 0 0 0 0 0 0

6757 0.45 146.0 535.2 10.0 576 6758 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2280 2425 0 0 0 0 0 0

7078 0.45 146.0 502.3 10.6 606 7084 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2280 2424 0 0 0 0 0 0

7404 0.45 146.0 468.4 10.3 637 7405 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2281 2423 0 0 0 0 0 0

7723 0.45 146.0 435.7 10.0 667 7725 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2280 2423 0 0 0 0 0 0

8041 0.45 146.0 402.3 10.8 697 8043 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2281 2423 0 0 0 0 0 0

8360 0.45 146.0 369.5 10.1 727 8364 0.00 2.33 0.00 0.000 4 0.000 0.072 3035 3698 2424 0 0 0 0 0 0

8370 0.45 146.0 367.9 10.1 727 8378 0.12 2.30 0.00 0.000 6 0.196 0.055 3016 2264 2423 0 0 0 0 0 0

8698 0.53 183.2 340.2 8.3 758 8736 0.00 0.00 31.58 1.114 6 0.000 0.000 3016 2264 2282 0 0 0 0 0 0

9056 0.66 231.6 311.2 7.8 792 9107 0.17 2.40 43.72 1.087 4 0.092 0.069 3088 3691 2086 0 0 0 0 0 0

9120 0.60 231.6 303.4 14.0 798 9125 0.15 2.33 0.00 0.000 6 0.194 0.055 3063 2265 2084 0 0 0 0 0 0

9446 0.62 231.6 264.3 12.1 828 9450 0.00 2.30 0.00 0.000 4 0.000 0.073 3072 856 2079 0 0 0 0 0 0

9486 0.65 231.6 259.5 11.6 831 9490 0.00 2.33 0.00 0.000 6 0.000 0.059 3072 2285 2077 0 0 0 0 0 0

9813 0.65 231.6 221.3 11.5 861 9817 0.00 2.30 0.00 0.000 4 0.000 0.073 3072 3684 2077 0 0 0 0 0 0

9891 0.61 231.6 211.2 13.3 867 9898 0.00 2.28 0.00 0.000 6 0.000 0.057 3082 2273 2077 0 0 0 0 0 0

10216 0.58 231.6 172.2 11.9 898 10220 0.00 2.33 0.00 0.000 4 0.000 0.071 3082 3686 2076 0 0 0 0 0 0

10234 0.55 231.6 170.0 11.8 899 10239 0.17 2.28 0.00 0.000 6 0.187 0.057 3047 2271 2076 0 0 0 0 0 0

10560 0.62 250.8 140.1 9.1 929 10583 0.00 2.30 16.40 0.979 4 0.000 0.073 3047 864 2007 0 0 0 0 0 0

10642 0.75 264.5 132.7 9.4 936 10665 0.17 2.30 14.32 0.952 6 0.096 0.058 3117 2282 1949 0 0 0 0 0 0

10989 0.72 264.5 83.9 13.1 978 10996 0.00 2.30 0.00 0.000 4 0.000 0.073 3117 3694 1945 0 0 0 0 0 0

11025 0.67 264.5 78.6 14.4 984 11033 0.17 2.30 0.00 0.000 6 0.191 0.057 3085 2268 1946 0 0 0 0 0 0

11374 0.71 264.5 40.8 10.2 1045 11380 0.00 2.28 0.00 0.000 4 0.000 0.072 3093 862 1946 0 0 0 0 0 0

11404 0.75 264.5 37.0 11.5 1050 11411 0.00 2.28 0.00 0.000 6 0.000 0.057 3093 2279 1945 0 0 0 0 0 0

11709 end climb: SURFACE_DEPTH_REACHED

state 11709 begin surface coast

11731 end surface coast: CONTROL_FINISHED_OK

state 11731 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	510	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
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	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	26	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	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	0.0012300001	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	-44746.707	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
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	270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6	TGT_NAME	TARGET_W2
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	8.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6	MHEAD_RNG_PITCHd_Wd	294.0,153348,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	656

FREEZE	1.98,-1.712,-1.829,2,45,1	_24V_AH	21.8,66.399
FINISH	2.0,1.026834	_10V_AH	10.1,34.271
RAFOS_CLK	637	FG_AHR_24Vo	0.000
RAFOS	6,1303908546,12.833333,12.818334,133,64,58,58,55,54,794,212,142,188,165,153	FG_AHR_10Vo	0.000
RAFOS_FIX	6703.493164,-5702.274414,270411,080856,2,128,0.29	MEM	150616
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	43411,1108
TT8_MAMPS	0.026215	CAP_FILE_SIZE	130523,0
HUMID	47.40	CFSIZE	260165632,220983296
INTERNAL_PRESSURE	8.61361	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.40	SOUNDSPEED	1458.8
XPDR_PINGS	0	GPS	270411,084656,6703.493,-5702.274,0,2128.5,0,-37.6
ALTIM_TOP_PING	19.9,21.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	272	36.22	SBE_CT	789	24	413.21
Roll_motor	107	156	365.05	SBE_O2	842	19	348.92
VBD_pump_during_apogee	361	1332	10515.86	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	2	420	20.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2707	19	544.81
LPSleep	6650	2	155.15
TT8_Active	479	19	96.55
TT8_Sampling	1868	39	753.24
TT8_CF8	206	45	95.84
TT8_Kalman	0	0	0.00
Analog_circuits	1497	12	181.44
GPS_charging	0	0	0.00
Compass	1850	15	280.39
RAFOS	360	1	5.45
Transponder	18	30	5.53

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	-0.62	-146.0	0.0	0.0	0	156	0.00	0.38	-132.73	0.000	6	0.000	0.156	3097	2493	3627	0	0	0	0	0	0
160	-0.62	-146.0	4.0	-6.2	24	167	1.33	2.35	0.00	0.000	4	0.133	0.067	2672	1069	3627	0	0	0	0	0	0
175	-1.19	-146.0	5.5	-7.1	26	183	0.55	2.33	0.00	0.000	6	0.086	0.061	2478	2496	3627	0	0	0	0	0	0
527	-0.77	-146.0	111.8	-32.4	85	532	0.55	2.35	0.00	0.000	4	0.272	0.077	2602	3903	3627	0	0	0	0	0	0
702	-0.66	-146.0	145.4	-17.4	100	707	0.17	2.28	0.00	0.000	6	0.224	0.053	2644	2481	3626	0	0	0	0	0	0
1029	-0.60	-146.0	194.4	-13.8	130	1031	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2480	3625	0	0	0	0	0	0
1348	-0.53	-146.0	235.9	-13.0	160	1353	0.17	2.40	0.00	0.000	4	0.205	0.078	2690	3897	3625	0	0	0	0	0	0
1388	-0.61	-146.0	240.6	-9.7	163	1392	0.00	2.22	0.00	0.000	6	0.000	0.050	2690	2480	3625	0	0	0	0	0	0
1714	-0.65	-146.0	273.3	-9.8	193	1719	0.12	2.28	0.00	0.000	4	0.126	0.070	2646	1081	3626	0	0	0	0	0	0
1771	-0.62	-146.0	280.4	-12.6	198	1775	0.00	2.30	0.00	0.000	6	0.000	0.067	2646	2488	3626	0	0	0	0	0	0
2096	-0.56	-146.0	320.8	-12.6	228	2101	0.12	2.38	0.00	0.000	4	0.220	0.081	2675	3909	3626	0	0	0	0	0	0
2135	-0.59	-146.0	325.0	-9.5	231	2142	0.00	2.25	0.00	0.000	6	0.000	0.052	2675	2482	3626	0	0	0	0	0	0
2461	-0.62	-146.0	355.5	-9.6	262	2465	0.00	2.25	0.00	0.000	4	0.000	0.070	2675	1082	3626	0	0	0	0	0	0
2505	-0.66	-146.0	360.3	-10.6	265	2511	0.00	2.30	0.00	0.000	6	0.000	0.066	2675	2490	3625	0	0	0	0	0	0
2832	-0.68	-146.0	392.7	-9.7	296	2836	0.00	2.38	0.00	0.000	4	0.000	0.081	2675	3909	3626	0	0	0	0	0	0
2884	-0.74	-146.0	398.0	-9.4	300	2889	0.15	2.25	0.00	0.000	6	0.116	0.053	2625	2483	3625	0	0	0	0	0	0
3211	-0.65	-146.0	440.9	-13.6	330	3215	0.00	2.25	0.00	0.000	4	0.000	0.069	2625	1081	3625	0	0	0	0	0	0
3280	-0.60	-146.0	450.1	-12.6	335	3287	0.17	2.33	0.00	0.000	6	0.211	0.067	2665	2493	3625	0	0	0	0	0	0
3605	-0.60	-146.0	481.1	-9.3	366	3609	0.00	2.38	0.00	0.000	4	0.000	0.081	2665	3907	3625	0	0	0	0	0	0
3657	-0.65	-146.0	485.5	-8.5	370	3661	0.00	2.25	0.00	0.000	6	0.000	0.051	2666	2487	3625	0	0	0	0	0	0
3988	-0.65	-146.0	513.6	-8.7	401	3992	0.00	2.28	0.00	0.000	4	0.000	0.067	2666	1080	3625	0	0	0	0	0	0
4055	-0.68	-146.0	519.7	-8.8	406	4062	0.00	2.30	0.00	0.000	6	0.000	0.063	2666	2490	3626	0	0	0	0	0	0
4381	-0.70	-146.0	548.8	-9.0	437	4385	0.00	2.38	0.00	0.000	4	0.000	0.080	2666	3903	3626	0	0	0	0	0	0
4461	-0.74	-146.0	556.4	-9.3	444	4466	0.12	2.22	0.00	0.000	6	0.124	0.050	2623	2485	3626	0	0	0	0	0	0
4786	-0.66	-146.0	596.6	-12.4	474	4791	0.12	2.28	0.00	0.000	4	0.223	0.067	2651	1083	3626	0	0	0	0	0	0
4864	-0.66	-146.0	605.3	-10.5	477	4868	0.00	2.30	0.00	0.000	6	0.000	0.063	2650	2489	3626	0	0	0	0	0	0
5182	-0.66	-146.0	637.3	-9.9	488	5186	0.00	2.40	0.00	0.000	4	0.000	0.081	2649	3905	3627	0	0	0	0	0	0
5231	-0.66	-146.0	642.4	-9.6	489	5236	0.00	2.25	0.00	0.000	6	0.000	0.053	2650	2491	3627	0	0	0	0	0	0
5389	end dive: TARGET_DEPTH_EXCEEDED
state	5389	begin apogee
5395	-0.12	0.0	657.9	9.8	494	5525	0.57	0.00	124.20	1.333	6	0.188	0.000	2814	2261	3030	0	0	0	0	0	0
5526	end apogee: CONTROL_FINISHED_OK
state	5526	begin climb
5528	0.62	146.0	661.7	0.0	498	5668	0.80	2.58	131.75	1.284	4	0.135	0.071	3065	878	2433	0	0	0	0	0	0
5704	0.57	146.0	649.2	11.6	503	5708	0.00	2.50	0.00	0.000	6	0.000	0.059	3065	2280	2428	0	0	0	0	0	0
6039	0.50	146.0	608.5	11.9	514	6044	0.15	2.38	0.00	0.000	4	0.181	0.074	3027	3696	2426	0	0	0	0	0	0
6111	0.45	146.0	600.1	11.3	516	6115	0.00	2.33	0.00	0.000	6	0.000	0.058	3035	2280	2425	0	0	0	0	0	0
6437	0.45	146.0	568.1	10.1	546	6438	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2280	2424	0	0	0	0	0	0
6757	0.45	146.0	535.2	10.0	576	6758	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2280	2425	0	0	0	0	0	0
7078	0.45	146.0	502.3	10.6	606	7084	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2280	2424	0	0	0	0	0	0
7404	0.45	146.0	468.4	10.3	637	7405	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2281	2423	0	0	0	0	0	0
7723	0.45	146.0	435.7	10.0	667	7725	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2280	2423	0	0	0	0	0	0
8041	0.45	146.0	402.3	10.8	697	8043	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2281	2423	0	0	0	0	0	0
8360	0.45	146.0	369.5	10.1	727	8364	0.00	2.33	0.00	0.000	4	0.000	0.072	3035	3698	2424	0	0	0	0	0	0
8370	0.45	146.0	367.9	10.1	727	8378	0.12	2.30	0.00	0.000	6	0.196	0.055	3016	2264	2423	0	0	0	0	0	0
8698	0.53	183.2	340.2	8.3	758	8736	0.00	0.00	31.58	1.114	6	0.000	0.000	3016	2264	2282	0	0	0	0	0	0
9056	0.66	231.6	311.2	7.8	792	9107	0.17	2.40	43.72	1.087	4	0.092	0.069	3088	3691	2086	0	0	0	0	0	0
9120	0.60	231.6	303.4	14.0	798	9125	0.15	2.33	0.00	0.000	6	0.194	0.055	3063	2265	2084	0	0	0	0	0	0
9446	0.62	231.6	264.3	12.1	828	9450	0.00	2.30	0.00	0.000	4	0.000	0.073	3072	856	2079	0	0	0	0	0	0
9486	0.65	231.6	259.5	11.6	831	9490	0.00	2.33	0.00	0.000	6	0.000	0.059	3072	2285	2077	0	0	0	0	0	0
9813	0.65	231.6	221.3	11.5	861	9817	0.00	2.30	0.00	0.000	4	0.000	0.073	3072	3684	2077	0	0	0	0	0	0
9891	0.61	231.6	211.2	13.3	867	9898	0.00	2.28	0.00	0.000	6	0.000	0.057	3082	2273	2077	0	0	0	0	0	0
10216	0.58	231.6	172.2	11.9	898	10220	0.00	2.33	0.00	0.000	4	0.000	0.071	3082	3686	2076	0	0	0	0	0	0
10234	0.55	231.6	170.0	11.8	899	10239	0.17	2.28	0.00	0.000	6	0.187	0.057	3047	2271	2076	0	0	0	0	0	0
10560	0.62	250.8	140.1	9.1	929	10583	0.00	2.30	16.40	0.979	4	0.000	0.073	3047	864	2007	0	0	0	0	0	0
10642	0.75	264.5	132.7	9.4	936	10665	0.17	2.30	14.32	0.952	6	0.096	0.058	3117	2282	1949	0	0	0	0	0	0
10989	0.72	264.5	83.9	13.1	978	10996	0.00	2.30	0.00	0.000	4	0.000	0.073	3117	3694	1945	0	0	0	0	0	0
11025	0.67	264.5	78.6	14.4	984	11033	0.17	2.30	0.00	0.000	6	0.191	0.057	3085	2268	1946	0	0	0	0	0	0
11374	0.71	264.5	40.8	10.2	1045	11380	0.00	2.28	0.00	0.000	4	0.000	0.072	3093	862	1946	0	0	0	0	0	0
11404	0.75	264.5	37.0	11.5	1050	11411	0.00	2.28	0.00	0.000	6	0.000	0.057	3093	2279	1945	0	0	0	0	0	0
11709	end climb: SURFACE_DEPTH_REACHED
state	11709	begin surface coast
11731	end surface coast: CONTROL_FINISHED_OK
state	11731	begin surface