Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 53 * 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 53 ESCAPE_HEADING 100 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 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 27 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 9 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 -2 T_GPS_CHARGE -22406.588 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 100 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 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 -22406.588

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 -2

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 29 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 27 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 53 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 280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0 TGT_NAME TARGET_W

_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 10.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0 MHEAD_RNG_PITCHd_Wd 247.6,22799,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 651

Post-dive calculations and measurements:

FREEZE 1.74,-1.787,-1.713,3,30,2 ALTIM_TOP_PING 19.2,17.6

FINISH 1.7,1.025182 ALTIM_BOTTOM_PING 601.3,36.6

SM_CCo 11591,107.40,0.075,0,0,750,559.04 _24V_AH 23.0,10.780

SM_GC 2.64,0.00,0.00,107.40,0.000,0.000,0.075,107,2494,750,-8.62,0.14,559.04 _10V_AH 10.3,5.230

RAFOS_CLK 646 FG_AHR_24Vo 0.000

RAFOS 0,1298880062,8.033334,8.017222,93,61,60,60,58,55,661,166,206,130,189,120 FG_AHR_10Vo 0.000

RAFOS_FIX 6654.948730,-6011.001953,280211,080832,6,96,0.04 MEM 150732

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 DATA_FILE_SIZE 43329,1146

TT8_MAMPS 0.026215 CAP_FILE_SIZE 131749,0

HUMID 45.43 CFSIZE 260165632,248389632

INTERNAL_PRESSURE 8.45736 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1453.0

XPDR_PINGS 0 GPS 280211,082432,6654.949,-6011.002,0,6095.5,0,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 232 70.87 SBE_CT 821 24 453.72

Roll_motor 100 82 191.12 SBE_O2 884 19 386.53

VBD_pump_during_apogee 403 1315 12210.99 nil 0 0 0.00

VBD_pump_during_surface 107 74 185.19 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 21.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2824 19 579.55

LPSleep 6361 2 151.36

TT8_Active 566 19 116.21

TT8_Sampling 1846 39 759.30

TT8_CF8 172 45 81.82

TT8_Kalman 0 0 0.00

Analog_circuits 1546 12 191.11

GPS_charging 0 0 0.00

Compass 1837 15 283.94

RAFOS 2520 1 38.93

Transponder 17 30 5.48

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 25 0.00 0.00 -6.93 0.000 2 0.000 0.000 2895 2267 3009 0 0 0 0 0 0

27 -0.62 -146.0 10.4 -0.0 1 53 0.62 2.70 -17.30 0.000 4 0.090 0.083 2668 3903 3627 0 0 0 0 0 0

184 -0.50 -146.0 33.2 -17.6 28 191 0.12 2.25 0.00 0.000 6 0.228 0.048 2693 2490 3629 0 0 0 0 0 0

529 -0.40 -146.0 91.8 -19.5 89 536 0.15 0.00 0.00 0.000 6 0.233 0.000 2729 2490 3629 0 0 0 0 0 0

862 -0.40 -146.0 138.5 -11.5 124 864 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2490 3629 0 0 0 0 0 0

1183 -0.44 -146.0 172.8 -10.9 154 1187 0.00 2.25 0.00 0.000 4 0.000 0.066 2729 1082 3628 0 0 0 0 0 0

1227 -0.50 -146.0 177.5 -9.5 157 1234 0.00 2.25 0.00 0.000 6 0.000 0.060 2729 2487 3627 0 0 0 0 0 0

1554 -0.56 -146.0 204.6 -8.9 188 1559 0.15 2.33 0.00 0.000 4 0.123 0.077 2679 3902 3627 0 0 0 0 0 0

1571 -0.56 -146.0 206.5 -9.6 189 1575 0.00 2.22 0.00 0.000 6 0.000 0.048 2679 2481 3627 0 0 0 0 0 0

1896 -0.50 -146.0 249.5 -12.3 219 1900 0.00 2.20 0.00 0.000 4 0.000 0.067 2678 1085 3626 0 0 0 0 0 0

1929 -0.44 -146.0 253.8 -12.6 221 1936 0.15 2.25 0.00 0.000 6 0.219 0.060 2714 2492 3626 0 0 0 0 0 0

2254 -0.48 -146.0 285.1 -9.8 252 2258 0.00 2.25 0.00 0.000 4 0.000 0.065 2714 1085 3626 0 0 0 0 0 0

2276 -0.51 -146.0 287.7 -11.1 253 2283 0.00 2.25 0.00 0.000 6 0.000 0.059 2715 2497 3627 0 0 0 0 0 0

2602 -0.56 -146.0 318.1 -7.5 284 2606 0.00 2.25 0.00 0.000 4 0.000 0.076 2714 3899 3626 0 0 0 0 0 0

2618 -0.62 -146.0 319.7 -7.6 285 2625 0.15 2.20 0.00 0.000 6 0.121 0.047 2665 2481 3626 0 0 0 0 0 0

2943 -0.54 -146.0 356.2 -12.0 316 2947 0.00 2.20 0.00 0.000 4 0.000 0.065 2665 1089 3626 0 0 0 0 0 0

2972 -0.46 -146.0 359.9 -13.1 318 2977 0.17 2.25 0.00 0.000 6 0.222 0.060 2706 2500 3626 0 0 0 0 0 0

3298 -0.50 -146.0 390.2 -9.2 348 3299 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2500 3626 0 0 0 0 0 0

3618 -0.54 -146.0 419.3 -8.8 378 3619 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2500 3627 0 0 0 0 0 0

3936 -0.59 -146.0 446.3 -8.2 408 3937 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2500 3627 0 0 0 0 0 0

4255 -0.63 -146.0 471.9 -8.0 438 4257 0.15 0.00 0.00 0.000 6 0.124 0.000 2656 2500 3627 0 0 0 0 0 0

4571 -0.55 -146.0 509.9 -12.4 468 4575 0.00 2.22 0.00 0.000 4 0.000 0.063 2656 1085 3627 0 0 0 0 0 0

4593 -0.47 -146.0 513.0 -13.5 469 4601 0.20 2.22 0.00 0.000 6 0.212 0.060 2705 2489 3627 0 0 0 0 0 0

4919 -0.51 -146.0 541.1 -8.9 500 4923 0.00 2.25 0.00 0.000 4 0.000 0.076 2705 3899 3628 0 0 0 0 0 0

4948 -0.58 -146.0 543.6 -8.7 502 4952 0.00 2.17 0.00 0.000 6 0.000 0.046 2705 2488 3627 0 0 0 0 0 0

5275 -0.63 -146.0 571.5 -8.6 532 5279 0.15 2.22 0.00 0.000 4 0.120 0.062 2654 1075 3628 0 0 0 0 0 0

5330 -0.59 -146.0 578.3 -12.5 536 5337 0.00 2.25 0.00 0.000 6 0.000 0.060 2654 2499 3627 0 0 0 0 0 0

5671 -0.52 -146.0 619.7 -12.0 559 5676 0.15 2.22 0.00 0.000 4 0.223 0.063 2689 1087 3628 0 0 0 0 0 0

5699 end dive: BOTTOM_OBSTACLE_DETECTED

state 5700 begin apogee

5707 -0.12 0.0 623.2 12.0 560 5834 0.43 0.00 121.93 1.315 6 0.191 0.000 2816 2277 3030 0 0 0 0 0 0

5834 end apogee: CONTROL_FINISHED_OK

state 5835 begin climb

5837 0.62 146.0 626.3 0.0 564 5972 0.77 2.55 125.70 1.269 4 0.139 0.067 3061 882 2433 0 0 0 0 0 0

6050 0.54 146.0 608.7 11.3 570 6055 0.00 2.40 0.00 0.000 6 0.000 0.054 3061 2283 2427 0 0 0 0 0 0

6373 0.44 146.0 570.5 11.8 594 6378 0.20 2.35 0.00 0.000 4 0.181 0.068 3009 3688 2425 0 0 0 0 0 0

6462 0.39 146.0 560.8 10.8 601 6469 0.00 2.30 0.00 0.000 6 0.000 0.051 3017 2280 2424 0 0 0 0 0 0

6787 0.41 164.0 531.4 9.2 632 6809 0.00 2.42 15.30 1.143 4 0.000 0.067 3017 3689 2361 0 0 0 0 0 0

6844 0.36 164.0 525.7 11.2 637 6849 0.17 2.30 0.00 0.000 6 0.184 0.052 2985 2269 2359 0 0 0 0 0 0

7169 0.49 211.2 500.2 7.8 667 7220 0.12 0.00 42.90 1.196 6 0.105 0.000 3033 2269 2167 0 0 0 0 0 0

7537 0.49 211.2 458.2 11.4 702 7542 0.00 2.35 0.00 0.000 4 0.000 0.066 3033 3696 2161 0 0 0 0 0 0

7594 0.45 211.2 450.8 13.8 707 7599 0.12 2.30 0.00 0.000 6 0.200 0.053 3014 2278 2160 0 0 0 0 0 0

7920 0.49 211.2 416.9 10.7 737 7924 0.00 2.28 0.00 0.000 4 0.000 0.067 3021 864 2159 0 0 0 0 0 0

7948 0.55 211.2 413.8 10.0 739 7953 0.00 2.28 0.00 0.000 6 0.000 0.054 3021 2280 2158 0 0 0 0 0 0

8274 0.59 216.4 380.6 9.8 769 8287 0.10 2.28 4.45 0.779 4 0.119 0.068 3061 3690 2147 0 0 0 0 0 0

8372 0.50 216.4 366.9 14.6 777 8379 0.15 2.28 0.00 0.000 6 0.186 0.052 3034 2266 2146 0 0 0 0 0 0

8697 0.50 216.4 330.2 11.5 808 8701 0.00 2.30 0.00 0.000 4 0.000 0.067 3033 3685 2146 0 0 0 0 0 0

8729 0.50 216.4 325.8 13.3 810 8736 0.00 2.28 0.00 0.000 6 0.000 0.052 3041 2272 2146 0 0 0 0 0 0

9054 0.50 216.4 284.4 12.7 841 9055 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 2273 2146 0 0 0 0 0 0

9376 0.50 216.4 245.1 12.7 871 9380 0.00 2.25 0.00 0.000 4 0.000 0.065 3041 3685 2145 0 0 0 0 0 0

9427 0.47 216.4 238.0 13.9 875 9432 0.12 2.22 0.00 0.000 6 0.197 0.052 3020 2274 2145 0 0 0 0 0 0

9753 0.61 286.4 210.5 6.8 905 9824 0.12 0.00 63.85 1.053 6 0.117 0.000 3068 2273 1860 0 0 0 0 0 0

10142 0.64 286.4 161.6 12.1 942 10143 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2273 1851 0 0 0 0 0 0

10463 0.68 286.4 123.5 11.4 972 10467 0.00 2.30 0.00 0.000 4 0.000 0.065 3069 3687 1849 0 0 0 0 0 0

10507 0.68 286.4 118.0 11.7 975 10514 0.00 2.28 0.00 0.000 6 0.000 0.050 3077 2277 1849 0 0 0 0 0 0

10839 0.73 297.5 87.4 9.5 1017 10853 0.00 2.35 8.93 0.883 4 0.000 0.067 3084 865 1816 0 0 0 0 0 0

10916 0.83 319.0 79.5 9.0 1030 10947 0.12 2.25 20.67 0.962 6 0.117 0.054 3132 2276 1730 0 0 0 0 0 0

11285 0.79 319.0 35.4 12.1 1095 11292 0.00 2.28 0.00 0.000 4 0.000 0.069 3132 3685 1725 0 0 0 0 0 0

11395 0.73 319.0 20.2 14.9 1114 11405 0.17 2.28 0.00 0.000 6 0.195 0.053 3099 2266 1723 0 0 0 0 0 0

11547 end climb: SURFACE_DEPTH_REACHED

state 11547 begin surface coast

11574 end surface coast: CONTROL_FINISHED_OK

state 11575 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	53	ESCAPE_HEADING	100	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	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	27	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	9	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	-2	T_GPS_CHARGE	-22406.588	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	280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0	TGT_NAME	TARGET_W
_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	10.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280211,041736,6654.704,-6010.605,0,4104.8,0,-38.0	MHEAD_RNG_PITCHd_Wd	247.6,22799,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	651

FREEZE	1.74,-1.787,-1.713,3,30,2	ALTIM_TOP_PING	19.2,17.6
FINISH	1.7,1.025182	ALTIM_BOTTOM_PING	601.3,36.6
SM_CCo	11591,107.40,0.075,0,0,750,559.04	_24V_AH	23.0,10.780
SM_GC	2.64,0.00,0.00,107.40,0.000,0.000,0.075,107,2494,750,-8.62,0.14,559.04	_10V_AH	10.3,5.230
RAFOS_CLK	646	FG_AHR_24Vo	0.000
RAFOS	0,1298880062,8.033334,8.017222,93,61,60,60,58,55,661,166,206,130,189,120	FG_AHR_10Vo	0.000
RAFOS_FIX	6654.948730,-6011.001953,280211,080832,6,96,0.04	MEM	150732
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	DATA_FILE_SIZE	43329,1146
TT8_MAMPS	0.026215	CAP_FILE_SIZE	131749,0
HUMID	45.43	CFSIZE	260165632,248389632
INTERNAL_PRESSURE	8.45736	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1453.0
XPDR_PINGS	0	GPS	280211,082432,6654.949,-6011.002,0,6095.5,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	232	70.87	SBE_CT	821	24	453.72
Roll_motor	100	82	191.12	SBE_O2	884	19	386.53
VBD_pump_during_apogee	403	1315	12210.99	nil	0	0	0.00
VBD_pump_during_surface	107	74	185.19	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	21.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2824	19	579.55
LPSleep	6361	2	151.36
TT8_Active	566	19	116.21
TT8_Sampling	1846	39	759.30
TT8_CF8	172	45	81.82
TT8_Kalman	0	0	0.00
Analog_circuits	1546	12	191.11
GPS_charging	0	0	0.00
Compass	1837	15	283.94
RAFOS	2520	1	38.93
Transponder	17	30	5.48

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	25	0.00	0.00	-6.93	0.000	2	0.000	0.000	2895	2267	3009	0	0	0	0	0	0
27	-0.62	-146.0	10.4	-0.0	1	53	0.62	2.70	-17.30	0.000	4	0.090	0.083	2668	3903	3627	0	0	0	0	0	0
184	-0.50	-146.0	33.2	-17.6	28	191	0.12	2.25	0.00	0.000	6	0.228	0.048	2693	2490	3629	0	0	0	0	0	0
529	-0.40	-146.0	91.8	-19.5	89	536	0.15	0.00	0.00	0.000	6	0.233	0.000	2729	2490	3629	0	0	0	0	0	0
862	-0.40	-146.0	138.5	-11.5	124	864	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2490	3629	0	0	0	0	0	0
1183	-0.44	-146.0	172.8	-10.9	154	1187	0.00	2.25	0.00	0.000	4	0.000	0.066	2729	1082	3628	0	0	0	0	0	0
1227	-0.50	-146.0	177.5	-9.5	157	1234	0.00	2.25	0.00	0.000	6	0.000	0.060	2729	2487	3627	0	0	0	0	0	0
1554	-0.56	-146.0	204.6	-8.9	188	1559	0.15	2.33	0.00	0.000	4	0.123	0.077	2679	3902	3627	0	0	0	0	0	0
1571	-0.56	-146.0	206.5	-9.6	189	1575	0.00	2.22	0.00	0.000	6	0.000	0.048	2679	2481	3627	0	0	0	0	0	0
1896	-0.50	-146.0	249.5	-12.3	219	1900	0.00	2.20	0.00	0.000	4	0.000	0.067	2678	1085	3626	0	0	0	0	0	0
1929	-0.44	-146.0	253.8	-12.6	221	1936	0.15	2.25	0.00	0.000	6	0.219	0.060	2714	2492	3626	0	0	0	0	0	0
2254	-0.48	-146.0	285.1	-9.8	252	2258	0.00	2.25	0.00	0.000	4	0.000	0.065	2714	1085	3626	0	0	0	0	0	0
2276	-0.51	-146.0	287.7	-11.1	253	2283	0.00	2.25	0.00	0.000	6	0.000	0.059	2715	2497	3627	0	0	0	0	0	0
2602	-0.56	-146.0	318.1	-7.5	284	2606	0.00	2.25	0.00	0.000	4	0.000	0.076	2714	3899	3626	0	0	0	0	0	0
2618	-0.62	-146.0	319.7	-7.6	285	2625	0.15	2.20	0.00	0.000	6	0.121	0.047	2665	2481	3626	0	0	0	0	0	0
2943	-0.54	-146.0	356.2	-12.0	316	2947	0.00	2.20	0.00	0.000	4	0.000	0.065	2665	1089	3626	0	0	0	0	0	0
2972	-0.46	-146.0	359.9	-13.1	318	2977	0.17	2.25	0.00	0.000	6	0.222	0.060	2706	2500	3626	0	0	0	0	0	0
3298	-0.50	-146.0	390.2	-9.2	348	3299	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2500	3626	0	0	0	0	0	0
3618	-0.54	-146.0	419.3	-8.8	378	3619	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2500	3627	0	0	0	0	0	0
3936	-0.59	-146.0	446.3	-8.2	408	3937	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2500	3627	0	0	0	0	0	0
4255	-0.63	-146.0	471.9	-8.0	438	4257	0.15	0.00	0.00	0.000	6	0.124	0.000	2656	2500	3627	0	0	0	0	0	0
4571	-0.55	-146.0	509.9	-12.4	468	4575	0.00	2.22	0.00	0.000	4	0.000	0.063	2656	1085	3627	0	0	0	0	0	0
4593	-0.47	-146.0	513.0	-13.5	469	4601	0.20	2.22	0.00	0.000	6	0.212	0.060	2705	2489	3627	0	0	0	0	0	0
4919	-0.51	-146.0	541.1	-8.9	500	4923	0.00	2.25	0.00	0.000	4	0.000	0.076	2705	3899	3628	0	0	0	0	0	0
4948	-0.58	-146.0	543.6	-8.7	502	4952	0.00	2.17	0.00	0.000	6	0.000	0.046	2705	2488	3627	0	0	0	0	0	0
5275	-0.63	-146.0	571.5	-8.6	532	5279	0.15	2.22	0.00	0.000	4	0.120	0.062	2654	1075	3628	0	0	0	0	0	0
5330	-0.59	-146.0	578.3	-12.5	536	5337	0.00	2.25	0.00	0.000	6	0.000	0.060	2654	2499	3627	0	0	0	0	0	0
5671	-0.52	-146.0	619.7	-12.0	559	5676	0.15	2.22	0.00	0.000	4	0.223	0.063	2689	1087	3628	0	0	0	0	0	0
5699	end dive: BOTTOM_OBSTACLE_DETECTED
state	5700	begin apogee
5707	-0.12	0.0	623.2	12.0	560	5834	0.43	0.00	121.93	1.315	6	0.191	0.000	2816	2277	3030	0	0	0	0	0	0
5834	end apogee: CONTROL_FINISHED_OK
state	5835	begin climb
5837	0.62	146.0	626.3	0.0	564	5972	0.77	2.55	125.70	1.269	4	0.139	0.067	3061	882	2433	0	0	0	0	0	0
6050	0.54	146.0	608.7	11.3	570	6055	0.00	2.40	0.00	0.000	6	0.000	0.054	3061	2283	2427	0	0	0	0	0	0
6373	0.44	146.0	570.5	11.8	594	6378	0.20	2.35	0.00	0.000	4	0.181	0.068	3009	3688	2425	0	0	0	0	0	0
6462	0.39	146.0	560.8	10.8	601	6469	0.00	2.30	0.00	0.000	6	0.000	0.051	3017	2280	2424	0	0	0	0	0	0
6787	0.41	164.0	531.4	9.2	632	6809	0.00	2.42	15.30	1.143	4	0.000	0.067	3017	3689	2361	0	0	0	0	0	0
6844	0.36	164.0	525.7	11.2	637	6849	0.17	2.30	0.00	0.000	6	0.184	0.052	2985	2269	2359	0	0	0	0	0	0
7169	0.49	211.2	500.2	7.8	667	7220	0.12	0.00	42.90	1.196	6	0.105	0.000	3033	2269	2167	0	0	0	0	0	0
7537	0.49	211.2	458.2	11.4	702	7542	0.00	2.35	0.00	0.000	4	0.000	0.066	3033	3696	2161	0	0	0	0	0	0
7594	0.45	211.2	450.8	13.8	707	7599	0.12	2.30	0.00	0.000	6	0.200	0.053	3014	2278	2160	0	0	0	0	0	0
7920	0.49	211.2	416.9	10.7	737	7924	0.00	2.28	0.00	0.000	4	0.000	0.067	3021	864	2159	0	0	0	0	0	0
7948	0.55	211.2	413.8	10.0	739	7953	0.00	2.28	0.00	0.000	6	0.000	0.054	3021	2280	2158	0	0	0	0	0	0
8274	0.59	216.4	380.6	9.8	769	8287	0.10	2.28	4.45	0.779	4	0.119	0.068	3061	3690	2147	0	0	0	0	0	0
8372	0.50	216.4	366.9	14.6	777	8379	0.15	2.28	0.00	0.000	6	0.186	0.052	3034	2266	2146	0	0	0	0	0	0
8697	0.50	216.4	330.2	11.5	808	8701	0.00	2.30	0.00	0.000	4	0.000	0.067	3033	3685	2146	0	0	0	0	0	0
8729	0.50	216.4	325.8	13.3	810	8736	0.00	2.28	0.00	0.000	6	0.000	0.052	3041	2272	2146	0	0	0	0	0	0
9054	0.50	216.4	284.4	12.7	841	9055	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	2273	2146	0	0	0	0	0	0
9376	0.50	216.4	245.1	12.7	871	9380	0.00	2.25	0.00	0.000	4	0.000	0.065	3041	3685	2145	0	0	0	0	0	0
9427	0.47	216.4	238.0	13.9	875	9432	0.12	2.22	0.00	0.000	6	0.197	0.052	3020	2274	2145	0	0	0	0	0	0
9753	0.61	286.4	210.5	6.8	905	9824	0.12	0.00	63.85	1.053	6	0.117	0.000	3068	2273	1860	0	0	0	0	0	0
10142	0.64	286.4	161.6	12.1	942	10143	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2273	1851	0	0	0	0	0	0
10463	0.68	286.4	123.5	11.4	972	10467	0.00	2.30	0.00	0.000	4	0.000	0.065	3069	3687	1849	0	0	0	0	0	0
10507	0.68	286.4	118.0	11.7	975	10514	0.00	2.28	0.00	0.000	6	0.000	0.050	3077	2277	1849	0	0	0	0	0	0
10839	0.73	297.5	87.4	9.5	1017	10853	0.00	2.35	8.93	0.883	4	0.000	0.067	3084	865	1816	0	0	0	0	0	0
10916	0.83	319.0	79.5	9.0	1030	10947	0.12	2.25	20.67	0.962	6	0.117	0.054	3132	2276	1730	0	0	0	0	0	0
11285	0.79	319.0	35.4	12.1	1095	11292	0.00	2.28	0.00	0.000	4	0.000	0.069	3132	3685	1725	0	0	0	0	0	0
11395	0.73	319.0	20.2	14.9	1114	11405	0.17	2.28	0.00	0.000	6	0.195	0.053	3099	2266	1723	0	0	0	0	0	0
11547	end climb: SURFACE_DEPTH_REACHED
state	11547	begin surface coast
11574	end surface coast: CONTROL_FINISHED_OK
state	11575	begin surface