Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 109 * 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 109 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 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 40 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 23 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 6 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 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 -80652.695 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 -80652.695

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2400 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 6

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 240 T_WATCHDOG 10

C_ROLL_DIVE 2510 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2485 LOGGERDEVICE3 -1 ROLL_DEG 20 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3915 USE_BATHY -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 40 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 23 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 109 NAV_MODE 2 SEABIRD_C_I -0.00064730336 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 161 SEABIRD_C_J 0.00014311814 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_DIVES 0 SEABIRD_T_G 0.0043394179 VBD_TIMEOUT 720

D_CALL 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 211011,162231,6654.691,-5744.552,39,0.9,40,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211011,162754,6654.595,-5744.545,19,0.9,20,-33.5 MHEAD_RNG_PITCHd_Wd 304.4,119733,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 800

Post-dive calculations and measurements:

FINISH 1.7,1.002695 _24V_AH 22.9,13.826

SM_CCo 13471,54.40,0.084,0,0,1057,350.04 _10V_AH 10.3,11.436

SM_GC 2.68,7.00,0.68,54.40,0.047,0.038,0.084,117,2486,1057,-7.08,0.90,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 883 FG_AHR_10Vo 0.000

RAFOS 2,1319213826,16.299999,16.285000,62,61,57,0,0,0,157,195,215,0,0,0 MEM 150200

RAFOS_FIX 6657.810547,-5747.259766,211011,161636,4,88,18.56 DATA_FILE_SIZE 43313,1119

IRIDIUM_FIX 6625.71,-5745.17,211011,121220 CAP_FILE_SIZE 120449,0

TT8_MAMPS 0.029211,0.029211 CFSIZE 260165632,240484352

HUMID 57.99 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.83436 SOUNDSPEED 1456.3

TCM_TEMP 16.40 CURRENT 0.161, 56.6,1

XPDR_PINGS 21 GPS 211011,201535,6655.402,-5747.718,40,0.9,40,-33.6

ALTIM_BOTTOM_PING 752.7,106.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 261 102.75 SBE_CT 806 23 428.60

Roll_motor 39 78 70.37 SBE_O2 623 5 74.76

VBD_pump_during_apogee 316 1380 10002.47 nil 0 0 0.00

VBD_pump_during_surface 54 84 104.83 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 211 251 1218.96 nil 0 0 0.00

Transponder_ping 8 420 79.35 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.82

TT8 3070 18 591.66

LPSleep 8053 2 191.62

TT8_Active 507 18 97.75

TT8_Sampling 2043 41 882.37

TT8_CF8 199 47 98.32

TT8_Kalman 0 0 0.00

Analog_circuits 1677 12 207.40

GPS_charging 0 0 0.00

Compass 1811 6 125.78

RAFOS 1800 1 27.81

Transponder 24 30 7.61

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

16 -0.77 -146.0 0.0 0.0 0 72 0.00 0.00 -53.67 0.000 2 0.000 0.000 120 2488 1814 0 0 0 0 0 0

75 -0.77 -146.0 3.1 -1.1 8 159 8.52 1.12 -69.55 0.000 4 0.262 0.079 2150 1816 3082 0 0 0 0 0 0

219 -0.77 -146.0 17.6 -17.5 29 226 0.00 1.20 0.00 0.000 6 0.000 0.057 2147 2510 3084 0 0 0 0 0 0

558 -0.77 -146.0 75.7 -15.9 80 564 0.00 1.12 0.00 0.000 4 0.000 0.070 2142 3211 3084 0 0 0 0 0 0

670 -0.77 -146.0 94.7 -16.9 97 677 0.00 1.10 0.00 0.000 6 0.000 0.036 2142 2509 3084 0 0 0 0 0 0

1009 -0.77 -146.0 145.5 -14.7 148 1016 0.00 1.17 0.00 0.000 4 0.000 0.067 2137 3213 3085 0 0 0 0 0 0

1144 -0.77 -146.0 164.7 -14.5 168 1150 0.00 1.10 0.00 0.000 6 0.000 0.036 2137 2506 3085 0 0 0 0 0 0

1482 -0.77 -146.0 214.5 -14.6 219 1490 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2506 3084 0 0 0 0 0 0

1824 -0.77 -146.0 263.1 -13.9 264 1825 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2506 3084 0 0 0 0 0 0

2139 -0.77 -146.0 305.2 -12.4 289 2140 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2506 3084 0 0 0 0 0 0

2454 -0.77 -146.0 345.6 -13.0 314 2455 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2506 3084 0 0 0 0 0 0

2770 -0.77 -146.0 386.1 -12.7 339 2771 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2506 3084 0 0 0 0 0 0

3086 -0.77 -146.0 426.2 -12.7 364 3090 0.00 1.17 0.00 0.000 4 0.000 0.069 2133 3211 3084 0 0 0 0 0 0

3126 -0.77 -146.0 431.6 -12.8 367 3129 0.00 1.10 0.00 0.000 6 0.000 0.036 2132 2501 3084 0 0 0 0 0 0

3454 -0.77 -146.0 473.1 -12.5 393 3455 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2501 3084 0 0 0 0 0 0

3775 -0.77 -146.0 512.7 -12.3 414 3776 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2501 3084 0 0 0 0 0 0

4081 -0.77 -146.0 549.7 -12.1 424 4085 0.00 1.17 0.00 0.000 4 0.000 0.067 2128 3213 3084 0 0 0 0 0 0

4099 -0.77 -146.0 549.7 -12.1 424 4104 0.00 1.10 0.00 0.000 6 0.000 0.033 2128 2506 3083 0 0 0 0 0 0

4420 -0.77 -146.0 591.4 -12.2 435 4423 0.00 1.17 0.00 0.000 4 0.000 0.066 2123 3216 3084 0 0 0 0 0 0

4454 -0.77 -146.0 595.5 -12.3 436 4457 0.00 1.08 0.00 0.000 6 0.000 0.033 2123 2515 3084 0 0 0 0 0 0

4793 -0.77 -146.0 636.3 -11.9 447 4794 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2515 3084 0 0 0 0 0 0

5099 -0.77 -146.0 672.8 -11.9 457 5100 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2515 3084 0 0 0 0 0 0

5405 -0.77 -146.0 708.6 -11.6 467 5409 0.00 1.08 0.00 0.000 4 0.000 0.046 2123 1820 3085 0 0 0 0 0 0

5423 -0.77 -146.0 708.6 -11.6 467 5429 0.12 1.20 0.00 0.000 6 0.178 0.057 2148 2517 3085 0 0 0 0 0 0

5744 -0.77 -146.0 743.4 -10.2 478 5745 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2517 3085 0 0 0 0 0 0

6052 -0.77 -146.0 774.1 -10.0 488 6056 0.00 1.10 0.00 0.000 4 0.000 0.068 2144 3216 3085 0 0 0 0 0 0

6071 -0.77 -146.0 774.1 -10.0 488 6075 0.00 1.08 0.00 0.000 6 0.000 0.032 2145 2508 3085 0 0 0 0 0 0

6327 end dive: TARGET_DEPTH_EXCEEDED

state 6327 begin apogee

6333 -0.16 0.0 801.2 -9.8 497 6462 0.62 0.00 121.75 1.380 6 0.140 0.000 2345 2194 2484 0 0 0 0 0 0

6463 end apogee: CONTROL_FINISHED_OK

state 6463 begin climb

6465 0.77 146.0 805.5 0.0 501 6602 0.88 1.23 128.90 1.320 4 0.068 0.053 2649 1504 1889 0 0 0 0 0 0

6781 0.77 146.0 778.2 12.8 511 6784 0.00 1.23 0.00 0.000 6 0.000 0.047 2649 2205 1880 0 0 0 0 0 0

7113 0.77 146.0 734.6 12.6 522 7117 0.00 1.17 0.00 0.000 4 0.000 0.055 2649 2907 1878 0 0 0 0 0 0

7224 0.77 146.0 721.1 13.4 525 7229 0.00 1.20 0.00 0.000 6 0.000 0.038 2654 2203 1877 0 0 0 0 0 0

7553 0.77 146.0 677.0 12.9 536 7554 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2203 1876 0 0 0 0 0 0

7857 0.77 146.0 637.8 12.7 546 7859 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2203 1876 0 0 0 0 0 0

8165 0.77 146.0 598.7 12.6 556 8169 0.00 1.20 0.00 0.000 4 0.000 0.054 2654 2904 1875 0 0 0 0 0 0

8302 0.77 146.0 580.7 13.5 560 8307 0.00 1.17 0.00 0.000 6 0.000 0.038 2658 2197 1875 0 0 0 0 0 0

8637 0.77 146.0 538.7 12.7 571 8641 0.00 1.20 0.00 0.000 4 0.000 0.055 2658 2901 1875 0 0 0 0 0 0

8808 0.77 146.0 516.1 13.8 576 8813 0.00 1.17 0.00 0.000 6 0.000 0.039 2663 2189 1874 0 0 0 0 0 0

9130 0.77 146.0 471.9 13.5 596 9132 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2189 1874 0 0 0 0 0 0

9445 0.77 146.0 428.2 13.7 621 9449 0.00 1.08 0.00 0.000 4 0.000 0.053 2668 1494 1874 0 0 0 0 0 0

9489 0.77 146.0 422.7 13.7 624 9497 0.00 1.17 0.00 0.000 6 0.000 0.050 2669 2204 1873 0 0 0 0 0 0

9814 0.77 146.0 378.9 13.5 650 9815 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2203 1874 0 0 0 0 0 0

10127 0.77 146.0 339.0 11.9 675 10129 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2203 1874 0 0 0 0 0 0

10445 0.77 146.0 301.9 11.4 700 10446 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2203 1874 0 0 0 0 0 0

10760 0.77 146.0 266.4 11.4 725 10761 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2203 1874 0 0 0 0 0 0

11082 0.77 146.0 230.1 11.8 763 11090 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2204 1874 0 0 0 0 0 0

11421 0.77 146.0 194.1 10.3 814 11427 0.00 1.12 0.00 0.000 4 0.000 0.057 2668 2904 1874 0 0 0 0 0 0

11467 0.77 146.0 189.4 10.6 821 11473 0.00 1.12 0.00 0.000 6 0.000 0.040 2673 2205 1874 0 0 0 0 0 0

11806 0.77 146.0 155.2 10.0 872 11812 0.00 1.08 0.00 0.000 4 0.000 0.052 2679 1497 1874 0 0 0 0 0 0

12019 0.78 151.6 133.3 9.7 904 12025 0.00 1.12 0.00 0.000 6 0.000 0.050 2678 2195 1874 0 0 0 0 0 0

12357 0.81 181.9 102.6 8.6 955 12392 0.00 0.00 28.40 0.957 6 0.000 0.000 2678 2195 1742 0 0 0 0 0 0

12723 0.81 181.9 65.5 10.2 1010 12730 0.00 1.15 0.00 0.000 4 0.000 0.059 2679 2906 1738 0 0 0 0 0 0

12899 0.84 207.8 48.8 8.8 1036 12928 0.00 1.15 22.08 0.918 6 0.000 0.041 2683 2203 1637 0 0 0 0 0 0

13261 0.88 235.6 20.7 8.7 1090 13283 0.00 1.20 15.38 0.844 4 0.000 0.054 2683 2908 1522 0 0 0 0 0 0

13434 end climb: SURFACE_DEPTH_REACHED

state 13435 begin surface coast

13453 end surface coast: CONTROL_FINISHED_OK

state 13454 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	109	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	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	40	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	23	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	6	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	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	-80652.695	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	211011,162231,6654.691,-5744.552,39,0.9,40,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211011,162754,6654.595,-5744.545,19,0.9,20,-33.5	MHEAD_RNG_PITCHd_Wd	304.4,119733,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	800

FINISH	1.7,1.002695	_24V_AH	22.9,13.826
SM_CCo	13471,54.40,0.084,0,0,1057,350.04	_10V_AH	10.3,11.436
SM_GC	2.68,7.00,0.68,54.40,0.047,0.038,0.084,117,2486,1057,-7.08,0.90,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	883	FG_AHR_10Vo	0.000
RAFOS	2,1319213826,16.299999,16.285000,62,61,57,0,0,0,157,195,215,0,0,0	MEM	150200
RAFOS_FIX	6657.810547,-5747.259766,211011,161636,4,88,18.56	DATA_FILE_SIZE	43313,1119
IRIDIUM_FIX	6625.71,-5745.17,211011,121220	CAP_FILE_SIZE	120449,0
TT8_MAMPS	0.029211,0.029211	CFSIZE	260165632,240484352
HUMID	57.99	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.83436	SOUNDSPEED	1456.3
TCM_TEMP	16.40	CURRENT	0.161, 56.6,1
XPDR_PINGS	21	GPS	211011,201535,6655.402,-5747.718,40,0.9,40,-33.6
ALTIM_BOTTOM_PING	752.7,106.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	261	102.75	SBE_CT	806	23	428.60
Roll_motor	39	78	70.37	SBE_O2	623	5	74.76
VBD_pump_during_apogee	316	1380	10002.47	nil	0	0	0.00
VBD_pump_during_surface	54	84	104.83	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	211	251	1218.96	nil	0	0	0.00
Transponder_ping	8	420	79.35	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.82
TT8	3070	18	591.66
LPSleep	8053	2	191.62
TT8_Active	507	18	97.75
TT8_Sampling	2043	41	882.37
TT8_CF8	199	47	98.32
TT8_Kalman	0	0	0.00
Analog_circuits	1677	12	207.40
GPS_charging	0	0	0.00
Compass	1811	6	125.78
RAFOS	1800	1	27.81
Transponder	24	30	7.61

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
16	-0.77	-146.0	0.0	0.0	0	72	0.00	0.00	-53.67	0.000	2	0.000	0.000	120	2488	1814	0	0	0	0	0	0
75	-0.77	-146.0	3.1	-1.1	8	159	8.52	1.12	-69.55	0.000	4	0.262	0.079	2150	1816	3082	0	0	0	0	0	0
219	-0.77	-146.0	17.6	-17.5	29	226	0.00	1.20	0.00	0.000	6	0.000	0.057	2147	2510	3084	0	0	0	0	0	0
558	-0.77	-146.0	75.7	-15.9	80	564	0.00	1.12	0.00	0.000	4	0.000	0.070	2142	3211	3084	0	0	0	0	0	0
670	-0.77	-146.0	94.7	-16.9	97	677	0.00	1.10	0.00	0.000	6	0.000	0.036	2142	2509	3084	0	0	0	0	0	0
1009	-0.77	-146.0	145.5	-14.7	148	1016	0.00	1.17	0.00	0.000	4	0.000	0.067	2137	3213	3085	0	0	0	0	0	0
1144	-0.77	-146.0	164.7	-14.5	168	1150	0.00	1.10	0.00	0.000	6	0.000	0.036	2137	2506	3085	0	0	0	0	0	0
1482	-0.77	-146.0	214.5	-14.6	219	1490	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2506	3084	0	0	0	0	0	0
1824	-0.77	-146.0	263.1	-13.9	264	1825	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2506	3084	0	0	0	0	0	0
2139	-0.77	-146.0	305.2	-12.4	289	2140	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2506	3084	0	0	0	0	0	0
2454	-0.77	-146.0	345.6	-13.0	314	2455	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2506	3084	0	0	0	0	0	0
2770	-0.77	-146.0	386.1	-12.7	339	2771	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2506	3084	0	0	0	0	0	0
3086	-0.77	-146.0	426.2	-12.7	364	3090	0.00	1.17	0.00	0.000	4	0.000	0.069	2133	3211	3084	0	0	0	0	0	0
3126	-0.77	-146.0	431.6	-12.8	367	3129	0.00	1.10	0.00	0.000	6	0.000	0.036	2132	2501	3084	0	0	0	0	0	0
3454	-0.77	-146.0	473.1	-12.5	393	3455	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2501	3084	0	0	0	0	0	0
3775	-0.77	-146.0	512.7	-12.3	414	3776	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2501	3084	0	0	0	0	0	0
4081	-0.77	-146.0	549.7	-12.1	424	4085	0.00	1.17	0.00	0.000	4	0.000	0.067	2128	3213	3084	0	0	0	0	0	0
4099	-0.77	-146.0	549.7	-12.1	424	4104	0.00	1.10	0.00	0.000	6	0.000	0.033	2128	2506	3083	0	0	0	0	0	0
4420	-0.77	-146.0	591.4	-12.2	435	4423	0.00	1.17	0.00	0.000	4	0.000	0.066	2123	3216	3084	0	0	0	0	0	0
4454	-0.77	-146.0	595.5	-12.3	436	4457	0.00	1.08	0.00	0.000	6	0.000	0.033	2123	2515	3084	0	0	0	0	0	0
4793	-0.77	-146.0	636.3	-11.9	447	4794	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2515	3084	0	0	0	0	0	0
5099	-0.77	-146.0	672.8	-11.9	457	5100	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2515	3084	0	0	0	0	0	0
5405	-0.77	-146.0	708.6	-11.6	467	5409	0.00	1.08	0.00	0.000	4	0.000	0.046	2123	1820	3085	0	0	0	0	0	0
5423	-0.77	-146.0	708.6	-11.6	467	5429	0.12	1.20	0.00	0.000	6	0.178	0.057	2148	2517	3085	0	0	0	0	0	0
5744	-0.77	-146.0	743.4	-10.2	478	5745	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2517	3085	0	0	0	0	0	0
6052	-0.77	-146.0	774.1	-10.0	488	6056	0.00	1.10	0.00	0.000	4	0.000	0.068	2144	3216	3085	0	0	0	0	0	0
6071	-0.77	-146.0	774.1	-10.0	488	6075	0.00	1.08	0.00	0.000	6	0.000	0.032	2145	2508	3085	0	0	0	0	0	0
6327	end dive: TARGET_DEPTH_EXCEEDED
state	6327	begin apogee
6333	-0.16	0.0	801.2	-9.8	497	6462	0.62	0.00	121.75	1.380	6	0.140	0.000	2345	2194	2484	0	0	0	0	0	0
6463	end apogee: CONTROL_FINISHED_OK
state	6463	begin climb
6465	0.77	146.0	805.5	0.0	501	6602	0.88	1.23	128.90	1.320	4	0.068	0.053	2649	1504	1889	0	0	0	0	0	0
6781	0.77	146.0	778.2	12.8	511	6784	0.00	1.23	0.00	0.000	6	0.000	0.047	2649	2205	1880	0	0	0	0	0	0
7113	0.77	146.0	734.6	12.6	522	7117	0.00	1.17	0.00	0.000	4	0.000	0.055	2649	2907	1878	0	0	0	0	0	0
7224	0.77	146.0	721.1	13.4	525	7229	0.00	1.20	0.00	0.000	6	0.000	0.038	2654	2203	1877	0	0	0	0	0	0
7553	0.77	146.0	677.0	12.9	536	7554	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2203	1876	0	0	0	0	0	0
7857	0.77	146.0	637.8	12.7	546	7859	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2203	1876	0	0	0	0	0	0
8165	0.77	146.0	598.7	12.6	556	8169	0.00	1.20	0.00	0.000	4	0.000	0.054	2654	2904	1875	0	0	0	0	0	0
8302	0.77	146.0	580.7	13.5	560	8307	0.00	1.17	0.00	0.000	6	0.000	0.038	2658	2197	1875	0	0	0	0	0	0
8637	0.77	146.0	538.7	12.7	571	8641	0.00	1.20	0.00	0.000	4	0.000	0.055	2658	2901	1875	0	0	0	0	0	0
8808	0.77	146.0	516.1	13.8	576	8813	0.00	1.17	0.00	0.000	6	0.000	0.039	2663	2189	1874	0	0	0	0	0	0
9130	0.77	146.0	471.9	13.5	596	9132	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2189	1874	0	0	0	0	0	0
9445	0.77	146.0	428.2	13.7	621	9449	0.00	1.08	0.00	0.000	4	0.000	0.053	2668	1494	1874	0	0	0	0	0	0
9489	0.77	146.0	422.7	13.7	624	9497	0.00	1.17	0.00	0.000	6	0.000	0.050	2669	2204	1873	0	0	0	0	0	0
9814	0.77	146.0	378.9	13.5	650	9815	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2203	1874	0	0	0	0	0	0
10127	0.77	146.0	339.0	11.9	675	10129	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2203	1874	0	0	0	0	0	0
10445	0.77	146.0	301.9	11.4	700	10446	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2203	1874	0	0	0	0	0	0
10760	0.77	146.0	266.4	11.4	725	10761	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2203	1874	0	0	0	0	0	0
11082	0.77	146.0	230.1	11.8	763	11090	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2204	1874	0	0	0	0	0	0
11421	0.77	146.0	194.1	10.3	814	11427	0.00	1.12	0.00	0.000	4	0.000	0.057	2668	2904	1874	0	0	0	0	0	0
11467	0.77	146.0	189.4	10.6	821	11473	0.00	1.12	0.00	0.000	6	0.000	0.040	2673	2205	1874	0	0	0	0	0	0
11806	0.77	146.0	155.2	10.0	872	11812	0.00	1.08	0.00	0.000	4	0.000	0.052	2679	1497	1874	0	0	0	0	0	0
12019	0.78	151.6	133.3	9.7	904	12025	0.00	1.12	0.00	0.000	6	0.000	0.050	2678	2195	1874	0	0	0	0	0	0
12357	0.81	181.9	102.6	8.6	955	12392	0.00	0.00	28.40	0.957	6	0.000	0.000	2678	2195	1742	0	0	0	0	0	0
12723	0.81	181.9	65.5	10.2	1010	12730	0.00	1.15	0.00	0.000	4	0.000	0.059	2679	2906	1738	0	0	0	0	0	0
12899	0.84	207.8	48.8	8.8	1036	12928	0.00	1.15	22.08	0.918	6	0.000	0.041	2683	2203	1637	0	0	0	0	0	0
13261	0.88	235.6	20.7	8.7	1090	13283	0.00	1.20	15.38	0.844	4	0.000	0.054	2683	2908	1522	0	0	0	0	0	0
13434	end climb: SURFACE_DEPTH_REACHED
state	13435	begin surface coast
13453	end surface coast: CONTROL_FINISHED_OK
state	13454	begin surface