Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 80 * 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 0

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 80 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 112 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 ESCAPE_HEADING_DELTA 5 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 2 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON 5900 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 350 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 33 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 2 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 330 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 400 CALL_TRIES 5 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 5 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 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80616.148 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 200 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 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 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 5 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 1.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

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 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 330

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 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -80616.148

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 5

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 -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 0

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 33 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 20 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 80 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 112 SEABIRD_T_G 0.0043394179 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 171011,142517,6659.702,-5711.643,37,0.7,37,-33.5 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 171011,143031,6659.762,-5711.665,18,1.2,18,-33.5 MHEAD_RNG_PITCHd_Wd 146.5,18112,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 743

Post-dive calculations and measurements:

FINISH 1.7,1.007418 _24V_AH 23.1,10.703

SM_CCo 12511,44.70,0.083,0,0,1057,350.04 _10V_AH 10.3,8.985

SM_GC 2.23,6.95,0.60,44.70,0.043,0.066,0.083,118,2507,1057,-7.07,-0.79,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 807 FG_AHR_10Vo 0.000

RAFOS 0,1318867287,16.033333,16.024166,59,58,52,0,0,0,198,157,178,0,0,0 MEM 150328

RAFOS_FIX 6704.805664,-5718.011719,171011,161628,2,94,1.35 DATA_FILE_SIZE 49979,1320

IRIDIUM_FIX 6631.12,-5711.93,171011,101034 CAP_FILE_SIZE 132420,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,242356224

HUMID 57.67 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.84413 SOUNDSPEED 1457.4

TCM_TEMP 16.30 CURRENT 0.392,329.1,1

XPDR_PINGS 18 GPS 171011,180223,6701.454,-5710.454,49,0.8,49,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 264 105.78 SBE_CT 944 23 506.81

Roll_motor 50 101 118.98 SBE_O2 785 5 95.03

VBD_pump_during_apogee 336 1343 10455.17 nil 0 0 0.00

VBD_pump_during_surface 44 83 86.10 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 199 261 1202.60 nil 0 0 0.00

Transponder_ping 6 420 65.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.54

TT8 3584 18 690.71

LPSleep 6257 2 148.88

TT8_Active 546 18 105.38

TT8_Sampling 2301 41 994.06

TT8_CF8 211 47 104.28

TT8_Kalman 0 0 0.00

Analog_circuits 1826 12 225.81

GPS_charging 0 0 0.00

Compass 2083 6 144.64

RAFOS 2520 1 38.93

Transponder 16 30 5.22

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 -0.77 -146.0 0.0 0.0 0 75 0.00 0.00 -55.95 0.000 2 0.000 0.000 116 2508 1845 0 0 0 0 0 0

78 -0.77 -146.0 3.0 -1.0 9 166 8.65 1.20 -70.15 0.000 4 0.265 0.102 2145 3217 3082 0 0 0 0 0 0

415 -0.77 -146.0 51.8 -16.6 67 422 0.00 1.12 0.00 0.000 6 0.000 0.041 2145 2510 3084 0 0 0 0 0 0

755 -0.77 -146.0 101.8 -14.2 128 761 0.00 1.20 0.00 0.000 4 0.000 0.071 2140 3217 3084 0 0 0 0 0 0

836 -0.77 -146.0 113.9 -15.3 142 842 0.00 1.12 0.00 0.000 6 0.000 0.040 2141 2504 3085 0 0 0 0 0 0

1172 -0.77 -146.0 164.7 -15.1 203 1179 0.00 1.10 0.00 0.000 4 0.000 0.051 2141 1812 3084 0 0 0 0 0 0

1306 -0.77 -146.0 184.0 -13.9 227 1313 0.00 1.20 0.00 0.000 6 0.000 0.063 2136 2505 3084 0 0 0 0 0 0

1644 -0.77 -146.0 230.4 -13.3 288 1650 0.00 1.15 0.00 0.000 4 0.000 0.050 2136 1815 3084 0 0 0 0 0 0

1717 -0.77 -146.0 240.5 -13.7 301 1726 0.00 1.20 0.00 0.000 6 0.000 0.063 2131 2510 3084 0 0 0 0 0 0

2058 -0.77 -146.0 286.8 -13.5 362 2065 0.00 1.15 0.00 0.000 4 0.000 0.075 2126 3222 3084 0 0 0 0 0 0

2237 -0.77 -146.0 311.5 -13.6 387 2241 0.00 1.12 0.00 0.000 6 0.000 0.041 2126 2508 3083 0 0 0 0 0 0

2569 -0.77 -146.0 355.9 -13.3 418 2570 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2508 3083 0 0 0 0 0 0

2887 -0.77 -146.0 399.0 -13.2 448 2888 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2508 3083 0 0 0 0 0 0

3207 -0.77 -146.0 440.1 -12.7 478 3211 0.00 1.10 0.00 0.000 4 0.000 0.051 2126 1812 3083 0 0 0 0 0 0

3267 -0.77 -146.0 447.6 -12.7 483 3275 0.08 1.20 0.00 0.000 6 0.164 0.062 2145 2513 3083 0 0 0 0 0 0

3594 -0.77 -146.0 485.3 -11.3 514 3596 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2513 3083 0 0 0 0 0 0

3915 -0.77 -146.0 520.4 -10.9 533 3916 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2513 3084 0 0 0 0 0 0

4223 -0.77 -146.0 554.1 -11.0 543 4224 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2512 3084 0 0 0 0 0 0

4528 -0.77 -146.0 586.9 -10.5 553 4532 0.00 1.15 0.00 0.000 4 0.000 0.048 2145 1812 3084 0 0 0 0 0 0

4599 -0.77 -146.0 594.3 -10.6 555 4603 0.00 1.20 0.00 0.000 6 0.000 0.059 2142 2515 3084 0 0 0 0 0 0

4936 -0.77 -146.0 630.9 -10.9 566 4938 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2515 3084 0 0 0 0 0 0

5242 -0.77 -146.0 663.8 -11.0 576 5243 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2515 3085 0 0 0 0 0 0

5549 -0.77 -146.0 697.7 -10.9 586 5552 0.00 1.12 0.00 0.000 4 0.000 0.072 2137 3221 3085 0 0 0 0 0 0

5616 -0.77 -146.0 705.6 -11.2 588 5620 0.00 1.10 0.00 0.000 6 0.000 0.036 2137 2510 3085 0 0 0 0 0 0

5955 end dive: TARGET_DEPTH_EXCEEDED

state 5955 begin apogee

5961 -0.16 0.0 743.2 -10.9 599 6090 0.65 0.00 120.30 1.343 6 0.142 0.000 2345 2184 2484 0 0 0 0 0 0

6091 end apogee: CONTROL_FINISHED_OK

state 6091 begin climb

6093 0.77 146.0 747.7 0.0 603 6227 0.88 1.33 128.15 1.309 4 0.073 0.056 2643 2906 1889 0 0 0 0 0 0

6380 0.77 146.0 726.8 13.6 611 6387 0.00 1.23 0.00 0.000 6 0.000 0.041 2648 2203 1882 0 0 0 0 0 0

6694 0.77 146.0 681.7 13.4 622 6698 0.00 1.25 0.00 0.000 4 0.000 0.057 2647 2908 1879 0 0 0 0 0 0

6721 0.77 146.0 681.7 13.4 622 6728 0.00 1.20 0.00 0.000 6 0.000 0.041 2653 2201 1879 0 0 0 0 0 0

7036 0.77 146.0 637.5 12.7 633 7040 0.00 1.23 0.00 0.000 4 0.000 0.057 2653 2904 1878 0 0 0 0 0 0

7090 0.77 146.0 632.8 12.8 634 7095 0.00 1.17 0.00 0.000 6 0.000 0.041 2657 2200 1878 0 0 0 0 0 0

7411 0.77 146.0 590.0 12.4 645 7414 0.00 1.12 0.00 0.000 4 0.000 0.055 2663 1491 1877 0 0 0 0 0 0

7421 0.77 146.0 590.0 12.4 645 7425 0.00 1.20 0.00 0.000 6 0.000 0.052 2663 2208 1877 0 0 0 0 0 0

7751 0.77 146.0 547.2 12.5 656 7755 0.00 1.17 0.00 0.000 4 0.000 0.051 2667 1495 1877 0 0 0 0 0 0

7772 0.77 146.0 547.2 12.5 656 7776 0.00 1.17 0.00 0.000 6 0.000 0.053 2667 2204 1877 0 0 0 0 0 0

8091 0.77 146.0 503.1 13.3 667 8095 0.00 1.17 0.00 0.000 4 0.000 0.052 2672 1492 1877 0 0 0 0 0 0

8149 0.77 146.0 495.6 13.1 670 8153 0.00 1.17 0.00 0.000 6 0.000 0.053 2672 2202 1877 0 0 0 0 0 0

8480 0.77 146.0 451.2 13.1 701 8481 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2202 1876 0 0 0 0 0 0

8801 0.77 146.0 409.6 13.3 731 8807 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2202 1876 0 0 0 0 0 0

9130 0.77 146.0 366.0 13.4 762 9133 0.00 1.15 0.00 0.000 4 0.000 0.061 2672 2910 1876 0 0 0 0 0 0

9168 0.77 146.0 360.9 13.4 765 9177 0.00 1.17 0.00 0.000 6 0.000 0.041 2677 2195 1876 0 0 0 0 0 0

9493 0.77 146.0 316.5 13.6 796 9497 0.00 1.20 0.00 0.000 4 0.000 0.057 2677 2902 1876 0 0 0 0 0 0

9521 0.77 146.0 313.3 13.6 798 9529 0.10 1.15 0.00 0.000 6 0.170 0.042 2652 2199 1875 0 0 0 0 0 0

9853 0.77 146.0 273.4 11.1 849 9862 0.00 1.20 0.00 0.000 4 0.000 0.057 2652 2906 1876 0 0 0 0 0 0

9909 0.77 146.0 267.1 11.8 858 9916 0.00 1.15 0.00 0.000 6 0.000 0.041 2655 2197 1876 0 0 0 0 0 0

10247 0.77 146.0 228.5 11.1 919 10254 0.00 1.20 0.00 0.000 4 0.000 0.057 2655 2905 1876 0 0 0 0 0 0

10337 0.77 146.0 217.5 13.0 935 10344 0.00 1.15 0.00 0.000 6 0.000 0.042 2660 2195 1876 0 0 0 0 0 0

10675 0.78 152.5 181.5 9.7 996 10683 0.00 1.25 4.40 0.759 4 0.000 0.057 2660 2918 1863 0 0 0 0 0 0

10739 0.78 155.0 175.1 9.9 1007 10747 0.00 1.17 4.15 0.731 6 0.000 0.041 2665 2190 1853 0 0 0 0 0 0

11079 0.80 168.5 141.6 9.4 1068 11100 0.00 1.25 13.07 0.942 4 0.000 0.058 2664 2910 1798 0 0 0 0 0 0

11350 0.80 168.5 112.1 11.6 1116 11357 0.00 1.17 0.00 0.000 6 0.000 0.043 2669 2193 1796 0 0 0 0 0 0

11687 0.82 186.6 80.1 9.2 1177 11708 0.00 0.00 16.38 0.926 6 0.000 0.000 2670 2193 1723 0 0 0 0 0 0

12040 0.86 223.5 48.0 8.3 1240 12080 0.00 1.23 31.40 0.925 4 0.000 0.057 2669 2915 1572 0 0 0 0 0 0

12273 0.90 255.2 24.8 8.5 1281 12301 0.00 1.20 19.08 0.868 6 0.000 0.045 2674 2201 1443 0 0 0 0 0 0

12476 end climb: SURFACE_DEPTH_REACHED

state 12477 begin surface coast

12494 end surface coast: CONTROL_FINISHED_OK

state 12494 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	80	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	112	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	ESCAPE_HEADING_DELTA	5	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	2	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	5900	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	350	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	33	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	2	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	330	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	400	CALL_TRIES	5	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	5	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	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80616.148	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	200	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	171011,142517,6659.702,-5711.643,37,0.7,37,-33.5	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	171011,143031,6659.762,-5711.665,18,1.2,18,-33.5	MHEAD_RNG_PITCHd_Wd	146.5,18112,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	743

FINISH	1.7,1.007418	_24V_AH	23.1,10.703
SM_CCo	12511,44.70,0.083,0,0,1057,350.04	_10V_AH	10.3,8.985
SM_GC	2.23,6.95,0.60,44.70,0.043,0.066,0.083,118,2507,1057,-7.07,-0.79,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	807	FG_AHR_10Vo	0.000
RAFOS	0,1318867287,16.033333,16.024166,59,58,52,0,0,0,198,157,178,0,0,0	MEM	150328
RAFOS_FIX	6704.805664,-5718.011719,171011,161628,2,94,1.35	DATA_FILE_SIZE	49979,1320
IRIDIUM_FIX	6631.12,-5711.93,171011,101034	CAP_FILE_SIZE	132420,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,242356224
HUMID	57.67	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.84413	SOUNDSPEED	1457.4
TCM_TEMP	16.30	CURRENT	0.392,329.1,1
XPDR_PINGS	18	GPS	171011,180223,6701.454,-5710.454,49,0.8,49,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	264	105.78	SBE_CT	944	23	506.81
Roll_motor	50	101	118.98	SBE_O2	785	5	95.03
VBD_pump_during_apogee	336	1343	10455.17	nil	0	0	0.00
VBD_pump_during_surface	44	83	86.10	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	199	261	1202.60	nil	0	0	0.00
Transponder_ping	6	420	65.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.54
TT8	3584	18	690.71
LPSleep	6257	2	148.88
TT8_Active	546	18	105.38
TT8_Sampling	2301	41	994.06
TT8_CF8	211	47	104.28
TT8_Kalman	0	0	0.00
Analog_circuits	1826	12	225.81
GPS_charging	0	0	0.00
Compass	2083	6	144.64
RAFOS	2520	1	38.93
Transponder	16	30	5.22

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	-0.77	-146.0	0.0	0.0	0	75	0.00	0.00	-55.95	0.000	2	0.000	0.000	116	2508	1845	0	0	0	0	0	0
78	-0.77	-146.0	3.0	-1.0	9	166	8.65	1.20	-70.15	0.000	4	0.265	0.102	2145	3217	3082	0	0	0	0	0	0
415	-0.77	-146.0	51.8	-16.6	67	422	0.00	1.12	0.00	0.000	6	0.000	0.041	2145	2510	3084	0	0	0	0	0	0
755	-0.77	-146.0	101.8	-14.2	128	761	0.00	1.20	0.00	0.000	4	0.000	0.071	2140	3217	3084	0	0	0	0	0	0
836	-0.77	-146.0	113.9	-15.3	142	842	0.00	1.12	0.00	0.000	6	0.000	0.040	2141	2504	3085	0	0	0	0	0	0
1172	-0.77	-146.0	164.7	-15.1	203	1179	0.00	1.10	0.00	0.000	4	0.000	0.051	2141	1812	3084	0	0	0	0	0	0
1306	-0.77	-146.0	184.0	-13.9	227	1313	0.00	1.20	0.00	0.000	6	0.000	0.063	2136	2505	3084	0	0	0	0	0	0
1644	-0.77	-146.0	230.4	-13.3	288	1650	0.00	1.15	0.00	0.000	4	0.000	0.050	2136	1815	3084	0	0	0	0	0	0
1717	-0.77	-146.0	240.5	-13.7	301	1726	0.00	1.20	0.00	0.000	6	0.000	0.063	2131	2510	3084	0	0	0	0	0	0
2058	-0.77	-146.0	286.8	-13.5	362	2065	0.00	1.15	0.00	0.000	4	0.000	0.075	2126	3222	3084	0	0	0	0	0	0
2237	-0.77	-146.0	311.5	-13.6	387	2241	0.00	1.12	0.00	0.000	6	0.000	0.041	2126	2508	3083	0	0	0	0	0	0
2569	-0.77	-146.0	355.9	-13.3	418	2570	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2508	3083	0	0	0	0	0	0
2887	-0.77	-146.0	399.0	-13.2	448	2888	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2508	3083	0	0	0	0	0	0
3207	-0.77	-146.0	440.1	-12.7	478	3211	0.00	1.10	0.00	0.000	4	0.000	0.051	2126	1812	3083	0	0	0	0	0	0
3267	-0.77	-146.0	447.6	-12.7	483	3275	0.08	1.20	0.00	0.000	6	0.164	0.062	2145	2513	3083	0	0	0	0	0	0
3594	-0.77	-146.0	485.3	-11.3	514	3596	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2513	3083	0	0	0	0	0	0
3915	-0.77	-146.0	520.4	-10.9	533	3916	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2513	3084	0	0	0	0	0	0
4223	-0.77	-146.0	554.1	-11.0	543	4224	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2512	3084	0	0	0	0	0	0
4528	-0.77	-146.0	586.9	-10.5	553	4532	0.00	1.15	0.00	0.000	4	0.000	0.048	2145	1812	3084	0	0	0	0	0	0
4599	-0.77	-146.0	594.3	-10.6	555	4603	0.00	1.20	0.00	0.000	6	0.000	0.059	2142	2515	3084	0	0	0	0	0	0
4936	-0.77	-146.0	630.9	-10.9	566	4938	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2515	3084	0	0	0	0	0	0
5242	-0.77	-146.0	663.8	-11.0	576	5243	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2515	3085	0	0	0	0	0	0
5549	-0.77	-146.0	697.7	-10.9	586	5552	0.00	1.12	0.00	0.000	4	0.000	0.072	2137	3221	3085	0	0	0	0	0	0
5616	-0.77	-146.0	705.6	-11.2	588	5620	0.00	1.10	0.00	0.000	6	0.000	0.036	2137	2510	3085	0	0	0	0	0	0
5955	end dive: TARGET_DEPTH_EXCEEDED
state	5955	begin apogee
5961	-0.16	0.0	743.2	-10.9	599	6090	0.65	0.00	120.30	1.343	6	0.142	0.000	2345	2184	2484	0	0	0	0	0	0
6091	end apogee: CONTROL_FINISHED_OK
state	6091	begin climb
6093	0.77	146.0	747.7	0.0	603	6227	0.88	1.33	128.15	1.309	4	0.073	0.056	2643	2906	1889	0	0	0	0	0	0
6380	0.77	146.0	726.8	13.6	611	6387	0.00	1.23	0.00	0.000	6	0.000	0.041	2648	2203	1882	0	0	0	0	0	0
6694	0.77	146.0	681.7	13.4	622	6698	0.00	1.25	0.00	0.000	4	0.000	0.057	2647	2908	1879	0	0	0	0	0	0
6721	0.77	146.0	681.7	13.4	622	6728	0.00	1.20	0.00	0.000	6	0.000	0.041	2653	2201	1879	0	0	0	0	0	0
7036	0.77	146.0	637.5	12.7	633	7040	0.00	1.23	0.00	0.000	4	0.000	0.057	2653	2904	1878	0	0	0	0	0	0
7090	0.77	146.0	632.8	12.8	634	7095	0.00	1.17	0.00	0.000	6	0.000	0.041	2657	2200	1878	0	0	0	0	0	0
7411	0.77	146.0	590.0	12.4	645	7414	0.00	1.12	0.00	0.000	4	0.000	0.055	2663	1491	1877	0	0	0	0	0	0
7421	0.77	146.0	590.0	12.4	645	7425	0.00	1.20	0.00	0.000	6	0.000	0.052	2663	2208	1877	0	0	0	0	0	0
7751	0.77	146.0	547.2	12.5	656	7755	0.00	1.17	0.00	0.000	4	0.000	0.051	2667	1495	1877	0	0	0	0	0	0
7772	0.77	146.0	547.2	12.5	656	7776	0.00	1.17	0.00	0.000	6	0.000	0.053	2667	2204	1877	0	0	0	0	0	0
8091	0.77	146.0	503.1	13.3	667	8095	0.00	1.17	0.00	0.000	4	0.000	0.052	2672	1492	1877	0	0	0	0	0	0
8149	0.77	146.0	495.6	13.1	670	8153	0.00	1.17	0.00	0.000	6	0.000	0.053	2672	2202	1877	0	0	0	0	0	0
8480	0.77	146.0	451.2	13.1	701	8481	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2202	1876	0	0	0	0	0	0
8801	0.77	146.0	409.6	13.3	731	8807	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2202	1876	0	0	0	0	0	0
9130	0.77	146.0	366.0	13.4	762	9133	0.00	1.15	0.00	0.000	4	0.000	0.061	2672	2910	1876	0	0	0	0	0	0
9168	0.77	146.0	360.9	13.4	765	9177	0.00	1.17	0.00	0.000	6	0.000	0.041	2677	2195	1876	0	0	0	0	0	0
9493	0.77	146.0	316.5	13.6	796	9497	0.00	1.20	0.00	0.000	4	0.000	0.057	2677	2902	1876	0	0	0	0	0	0
9521	0.77	146.0	313.3	13.6	798	9529	0.10	1.15	0.00	0.000	6	0.170	0.042	2652	2199	1875	0	0	0	0	0	0
9853	0.77	146.0	273.4	11.1	849	9862	0.00	1.20	0.00	0.000	4	0.000	0.057	2652	2906	1876	0	0	0	0	0	0
9909	0.77	146.0	267.1	11.8	858	9916	0.00	1.15	0.00	0.000	6	0.000	0.041	2655	2197	1876	0	0	0	0	0	0
10247	0.77	146.0	228.5	11.1	919	10254	0.00	1.20	0.00	0.000	4	0.000	0.057	2655	2905	1876	0	0	0	0	0	0
10337	0.77	146.0	217.5	13.0	935	10344	0.00	1.15	0.00	0.000	6	0.000	0.042	2660	2195	1876	0	0	0	0	0	0
10675	0.78	152.5	181.5	9.7	996	10683	0.00	1.25	4.40	0.759	4	0.000	0.057	2660	2918	1863	0	0	0	0	0	0
10739	0.78	155.0	175.1	9.9	1007	10747	0.00	1.17	4.15	0.731	6	0.000	0.041	2665	2190	1853	0	0	0	0	0	0
11079	0.80	168.5	141.6	9.4	1068	11100	0.00	1.25	13.07	0.942	4	0.000	0.058	2664	2910	1798	0	0	0	0	0	0
11350	0.80	168.5	112.1	11.6	1116	11357	0.00	1.17	0.00	0.000	6	0.000	0.043	2669	2193	1796	0	0	0	0	0	0
11687	0.82	186.6	80.1	9.2	1177	11708	0.00	0.00	16.38	0.926	6	0.000	0.000	2670	2193	1723	0	0	0	0	0	0
12040	0.86	223.5	48.0	8.3	1240	12080	0.00	1.23	31.40	0.925	4	0.000	0.057	2669	2915	1572	0	0	0	0	0	0
12273	0.90	255.2	24.8	8.5	1281	12301	0.00	1.20	19.08	0.868	6	0.000	0.045	2674	2201	1443	0	0	0	0	0	0
12476	end climb: SURFACE_DEPTH_REACHED
state	12477	begin surface coast
12494	end surface coast: CONTROL_FINISHED_OK
state	12494	begin surface