Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 215 * 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 215 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 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 21 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 -3 T_GPS_CHARGE -30163.6 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 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 -30163.6

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 31 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 21 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 215 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 250311,124344,6714.742,-5809.877,0,3099.0,0,-38.2 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 102.22 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 250311,124344,6714.742,-5809.877,0,3099.0,0,-38.2 MHEAD_RNG_PITCHd_Wd 148.4,62999,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 1046

Post-dive calculations and measurements:

FREEZE 2.23,-1.731,-1.823,3,90,2 ALTIM_TOP_PING 19.7,17.2

FINISH 2.2,1.026744 _24V_AH 22.5,31.400

SM_CCo 11963,98.78,0.073,0,0,750,559.04 _10V_AH 10.2,17.282

SM_GC 2.82,0.00,0.00,98.78,0.000,0.000,0.073,113,2503,750,-8.60,0.37,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 649 FG_AHR_10Vo 0.000

RAFOS 5,1301071269,16.700001,16.685833,75,63,62,60,59,48,644,173,199,213,147,113 MEM 150556

RAFOS_FIX 6716.117188,-5807.223145,250311,161656,2,99,0.22 DATA_FILE_SIZE 36775,961

IRIDIUM_FIX 6652.93,-5737.74,100311,101013 CAP_FILE_SIZE 121777,0

TT8_MAMPS 0.028462 CFSIZE 260165632,237244416

HUMID 46.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.48665 SOUNDSPEED 1460.6

TCM_TEMP 16.60 GPS 250311,164656,6716.117,-5807.223,0,2099.0,0,-38.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 221 66.04 SBE_CT 684 24 369.65

Roll_motor 87 70 138.84 SBE_O2 743 19 317.72

VBD_pump_during_apogee 425 1388 13292.13 nil 0 0 0.00

VBD_pump_during_surface 98 72 161.52 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 3 420 30.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2421 19 491.96

LPSleep 7399 2 174.34

TT8_Active 509 19 103.62

TT8_Sampling 1639 39 667.71

TT8_CF8 160 45 75.19

TT8_Kalman 0 0 0.00

Analog_circuits 1418 12 173.61

GPS_charging 0 0 0.00

Compass 1623 15 248.46

RAFOS 720 1 11.02

Transponder 26 30 8.01

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

15 -0.62 -146.0 0.0 0.0 0 24 0.00 1.90 -4.35 0.000 6 0.000 0.060 2881 2483 3637 0 0 0 0 0 0

27 -0.62 -146.0 103.5 -0.0 1 34 0.62 2.17 0.00 0.000 4 0.131 0.054 2674 1078 3638 0 0 0 0 0 0

96 -0.59 -146.0 110.6 -10.9 7 103 0.00 2.22 0.00 0.000 6 0.000 0.057 2674 2498 3638 0 0 0 0 0 0

421 -0.54 -146.0 152.5 -13.0 38 425 0.00 2.25 0.00 0.000 4 0.000 0.070 2674 3905 3639 0 0 0 0 0 0

454 -0.51 -146.0 157.0 -13.3 40 461 0.00 2.15 0.00 0.000 6 0.000 0.041 2674 2490 3638 0 0 0 0 0 0

779 -0.47 -146.0 196.9 -11.9 71 784 0.12 2.20 0.00 0.000 4 0.216 0.057 2705 1080 3638 0 0 0 0 0 0

789 -0.44 -146.0 198.1 -11.9 71 796 0.00 2.22 0.00 0.000 6 0.000 0.054 2704 2490 3638 0 0 0 0 0 0

1116 -0.50 -146.0 223.9 -7.4 102 1117 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2490 3638 0 0 0 0 0 0

1434 -0.56 -146.0 249.0 -7.7 132 1435 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2490 3638 0 0 0 0 0 0

1752 -0.63 -146.0 274.5 -7.8 162 1757 0.15 2.28 0.00 0.000 4 0.114 0.070 2651 3901 3638 0 0 0 0 0 0

1770 -0.66 -146.0 276.1 -8.0 163 1774 0.00 2.15 0.00 0.000 6 0.000 0.041 2651 2489 3637 0 0 0 0 0 0

2095 -0.59 -146.0 315.4 -12.0 193 2099 0.00 2.20 0.00 0.000 4 0.000 0.056 2651 1077 3637 0 0 0 0 0 0

2106 -0.52 -146.0 316.9 -11.9 193 2113 0.15 2.25 0.00 0.000 6 0.213 0.054 2687 2496 3638 0 0 0 0 0 0

2431 -0.55 -146.0 346.6 -8.9 224 2436 0.00 2.25 0.00 0.000 4 0.000 0.070 2687 3904 3638 0 0 0 0 0 0

2442 -0.57 -146.0 347.7 -8.9 224 2449 0.00 2.15 0.00 0.000 6 0.000 0.040 2687 2481 3638 0 0 0 0 0 0

2768 -0.61 -146.0 376.6 -9.0 255 2769 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2481 3638 0 0 0 0 0 0

3088 -0.64 -146.0 405.5 -8.7 285 3092 0.00 2.15 0.00 0.000 4 0.000 0.056 2687 1087 3639 0 0 0 0 0 0

3134 -0.69 -146.0 409.8 -9.1 289 3139 0.15 2.20 0.00 0.000 6 0.117 0.054 2637 2492 3639 0 0 0 0 0 0

3460 -0.60 -146.0 450.9 -12.9 319 3462 0.12 0.00 0.00 0.000 6 0.221 0.000 2665 2492 3639 0 0 0 0 0 0

3777 -0.60 -146.0 483.0 -9.9 349 3778 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2492 3639 0 0 0 0 0 0

4097 -0.60 -146.0 514.4 -9.9 379 4101 0.00 2.25 0.00 0.000 4 0.000 0.070 2665 3899 3639 0 0 0 0 0 0

4118 -0.60 -146.0 516.7 -9.7 380 4125 0.00 2.17 0.00 0.000 6 0.000 0.041 2665 2480 3638 0 0 0 0 0 0

4444 -0.60 -146.0 548.0 -9.6 411 4445 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2480 3639 0 0 0 0 0 0

4763 -0.60 -146.0 579.6 -9.5 441 4764 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2480 3639 0 0 0 0 0 0

5078 -0.60 -146.0 608.6 -9.0 465 5081 0.00 2.15 0.00 0.000 4 0.000 0.057 2665 1085 3638 0 0 0 0 0 0

5099 -0.60 -146.0 610.7 -9.1 465 5106 0.00 2.22 0.00 0.000 6 0.000 0.057 2665 2500 3638 0 0 0 0 0 0

5413 -0.60 -146.0 637.6 -8.8 476 5414 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2500 3638 0 0 0 0 0 0

5718 -0.60 -146.0 665.5 -9.1 486 5719 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2499 3638 0 0 0 0 0 0

6025 -0.60 -146.0 692.4 -8.5 496 6026 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2500 3638 0 0 0 0 0 0

6331 -0.60 -146.0 717.8 -8.0 506 6332 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2500 3637 0 0 0 0 0 0

6637 -0.60 -146.0 744.8 -9.3 516 6639 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2500 3637 0 0 0 0 0 0

6944 -0.89 -146.0 753.8 0.1 526 6948 0.25 2.20 0.00 0.000 4 0.095 0.051 2568 1081 3637 0 0 0 0 0 0

6954 -1.18 -146.0 753.7 0.2 526 6959 0.22 2.25 0.00 0.000 6 0.093 0.059 2481 2497 3637 0 0 0 0 0 0

6994 end dive: NO_VERTICAL_VELOCITY

state 6995 begin apogee

7000 -0.12 0.0 753.8 0.0 528 7131 1.02 0.00 124.97 1.388 6 0.133 0.000 2814 2264 3030 0 0 0 0 0 0

7131 end apogee: CONTROL_FINISHED_OK

state 7132 begin climb

7134 0.62 146.0 753.5 0.0 532 7272 0.77 2.58 128.93 1.343 4 0.132 0.069 3053 3672 2432 0 0 0 0 0 0

7323 0.77 334.3 752.8 1.3 538 7503 0.15 2.38 171.57 1.300 6 0.094 0.048 3117 2279 1666 0 0 0 0 0 0

7839 0.60 334.3 631.9 25.1 555 7844 0.22 2.35 0.00 0.000 4 0.213 0.059 3062 3685 1652 0 0 0 0 0 0

7934 0.60 334.3 613.8 16.5 558 7939 0.00 2.30 0.00 0.000 6 0.000 0.053 3071 2274 1649 0 0 0 0 0 0

8258 0.53 334.3 556.3 17.7 583 8263 0.12 2.33 0.00 0.000 4 0.197 0.064 3049 859 1648 0 0 0 0 0 0

8346 0.60 334.3 544.0 12.1 590 8353 0.00 2.25 0.00 0.000 6 0.000 0.050 3049 2280 1648 0 0 0 0 0 0

8673 0.60 334.3 496.9 15.4 621 8677 0.00 2.28 0.00 0.000 4 0.000 0.064 3049 3689 1647 0 0 0 0 0 0

8712 0.60 334.3 490.4 16.4 624 8716 0.00 2.25 0.00 0.000 6 0.000 0.052 3058 2269 1646 0 0 0 0 0 0

9037 0.60 334.3 438.5 16.3 654 9041 0.00 2.22 0.00 0.000 4 0.000 0.063 3069 865 1646 0 0 0 0 0 0

9114 0.62 334.3 426.1 14.8 660 9121 0.00 2.22 0.00 0.000 6 0.000 0.049 3069 2285 1645 0 0 0 0 0 0

9441 0.58 334.3 370.5 17.0 691 9445 0.00 2.25 0.00 0.000 4 0.000 0.063 3069 3692 1645 0 0 0 0 0 0

9481 0.55 334.3 362.9 18.7 694 9485 0.15 2.25 0.00 0.000 6 0.187 0.052 3041 2262 1645 0 0 0 0 0 0

9806 0.59 334.3 319.5 12.8 724 9810 0.00 2.22 0.00 0.000 4 0.000 0.064 3043 857 1645 0 0 0 0 0 0

9872 0.69 334.3 311.6 11.0 729 9880 0.12 2.22 0.00 0.000 6 0.115 0.049 3097 2277 1643 0 0 0 0 0 0

10198 0.57 334.3 244.1 21.9 760 10200 0.17 0.00 0.00 0.000 6 0.188 0.000 3052 2277 1644 0 0 0 0 0 0

10517 0.57 334.3 194.8 14.5 790 10519 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2277 1643 0 0 0 0 0 0

10837 0.61 334.3 149.7 14.6 820 10838 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2277 1643 0 0 0 0 0 0

11155 0.68 334.3 108.3 11.9 850 11159 0.00 2.25 0.00 0.000 4 0.000 0.063 3055 866 1644 0 0 0 0 0 0

11194 0.78 334.3 103.8 10.7 853 11199 0.17 2.20 0.00 0.000 6 0.094 0.047 3127 2279 1644 0 0 0 0 0 0

11536 0.71 334.3 43.9 17.6 910 11544 0.12 2.22 0.00 0.000 4 0.197 0.062 3096 3681 1644 0 0 0 0 0 0

11590 0.69 334.3 34.8 15.9 919 11597 0.00 2.20 0.00 0.000 6 0.000 0.052 3104 2274 1643 0 0 0 0 0 0

11802 end climb: SURFACE_DEPTH_REACHED

state 11802 begin surface coast

11826 end surface coast: CONTROL_FINISHED_OK

state 11826 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	215	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	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	21	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	-3	T_GPS_CHARGE	-30163.6	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	250311,124344,6714.742,-5809.877,0,3099.0,0,-38.2	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	102.22	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	250311,124344,6714.742,-5809.877,0,3099.0,0,-38.2	MHEAD_RNG_PITCHd_Wd	148.4,62999,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	1046

FREEZE	2.23,-1.731,-1.823,3,90,2	ALTIM_TOP_PING	19.7,17.2
FINISH	2.2,1.026744	_24V_AH	22.5,31.400
SM_CCo	11963,98.78,0.073,0,0,750,559.04	_10V_AH	10.2,17.282
SM_GC	2.82,0.00,0.00,98.78,0.000,0.000,0.073,113,2503,750,-8.60,0.37,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	649	FG_AHR_10Vo	0.000
RAFOS	5,1301071269,16.700001,16.685833,75,63,62,60,59,48,644,173,199,213,147,113	MEM	150556
RAFOS_FIX	6716.117188,-5807.223145,250311,161656,2,99,0.22	DATA_FILE_SIZE	36775,961
IRIDIUM_FIX	6652.93,-5737.74,100311,101013	CAP_FILE_SIZE	121777,0
TT8_MAMPS	0.028462	CFSIZE	260165632,237244416
HUMID	46.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.48665	SOUNDSPEED	1460.6
TCM_TEMP	16.60	GPS	250311,164656,6716.117,-5807.223,0,2099.0,0,-38.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	221	66.04	SBE_CT	684	24	369.65
Roll_motor	87	70	138.84	SBE_O2	743	19	317.72
VBD_pump_during_apogee	425	1388	13292.13	nil	0	0	0.00
VBD_pump_during_surface	98	72	161.52	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	3	420	30.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2421	19	491.96
LPSleep	7399	2	174.34
TT8_Active	509	19	103.62
TT8_Sampling	1639	39	667.71
TT8_CF8	160	45	75.19
TT8_Kalman	0	0	0.00
Analog_circuits	1418	12	173.61
GPS_charging	0	0	0.00
Compass	1623	15	248.46
RAFOS	720	1	11.02
Transponder	26	30	8.01

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
15	-0.62	-146.0	0.0	0.0	0	24	0.00	1.90	-4.35	0.000	6	0.000	0.060	2881	2483	3637	0	0	0	0	0	0
27	-0.62	-146.0	103.5	-0.0	1	34	0.62	2.17	0.00	0.000	4	0.131	0.054	2674	1078	3638	0	0	0	0	0	0
96	-0.59	-146.0	110.6	-10.9	7	103	0.00	2.22	0.00	0.000	6	0.000	0.057	2674	2498	3638	0	0	0	0	0	0
421	-0.54	-146.0	152.5	-13.0	38	425	0.00	2.25	0.00	0.000	4	0.000	0.070	2674	3905	3639	0	0	0	0	0	0
454	-0.51	-146.0	157.0	-13.3	40	461	0.00	2.15	0.00	0.000	6	0.000	0.041	2674	2490	3638	0	0	0	0	0	0
779	-0.47	-146.0	196.9	-11.9	71	784	0.12	2.20	0.00	0.000	4	0.216	0.057	2705	1080	3638	0	0	0	0	0	0
789	-0.44	-146.0	198.1	-11.9	71	796	0.00	2.22	0.00	0.000	6	0.000	0.054	2704	2490	3638	0	0	0	0	0	0
1116	-0.50	-146.0	223.9	-7.4	102	1117	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2490	3638	0	0	0	0	0	0
1434	-0.56	-146.0	249.0	-7.7	132	1435	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2490	3638	0	0	0	0	0	0
1752	-0.63	-146.0	274.5	-7.8	162	1757	0.15	2.28	0.00	0.000	4	0.114	0.070	2651	3901	3638	0	0	0	0	0	0
1770	-0.66	-146.0	276.1	-8.0	163	1774	0.00	2.15	0.00	0.000	6	0.000	0.041	2651	2489	3637	0	0	0	0	0	0
2095	-0.59	-146.0	315.4	-12.0	193	2099	0.00	2.20	0.00	0.000	4	0.000	0.056	2651	1077	3637	0	0	0	0	0	0
2106	-0.52	-146.0	316.9	-11.9	193	2113	0.15	2.25	0.00	0.000	6	0.213	0.054	2687	2496	3638	0	0	0	0	0	0
2431	-0.55	-146.0	346.6	-8.9	224	2436	0.00	2.25	0.00	0.000	4	0.000	0.070	2687	3904	3638	0	0	0	0	0	0
2442	-0.57	-146.0	347.7	-8.9	224	2449	0.00	2.15	0.00	0.000	6	0.000	0.040	2687	2481	3638	0	0	0	0	0	0
2768	-0.61	-146.0	376.6	-9.0	255	2769	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2481	3638	0	0	0	0	0	0
3088	-0.64	-146.0	405.5	-8.7	285	3092	0.00	2.15	0.00	0.000	4	0.000	0.056	2687	1087	3639	0	0	0	0	0	0
3134	-0.69	-146.0	409.8	-9.1	289	3139	0.15	2.20	0.00	0.000	6	0.117	0.054	2637	2492	3639	0	0	0	0	0	0
3460	-0.60	-146.0	450.9	-12.9	319	3462	0.12	0.00	0.00	0.000	6	0.221	0.000	2665	2492	3639	0	0	0	0	0	0
3777	-0.60	-146.0	483.0	-9.9	349	3778	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2492	3639	0	0	0	0	0	0
4097	-0.60	-146.0	514.4	-9.9	379	4101	0.00	2.25	0.00	0.000	4	0.000	0.070	2665	3899	3639	0	0	0	0	0	0
4118	-0.60	-146.0	516.7	-9.7	380	4125	0.00	2.17	0.00	0.000	6	0.000	0.041	2665	2480	3638	0	0	0	0	0	0
4444	-0.60	-146.0	548.0	-9.6	411	4445	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2480	3639	0	0	0	0	0	0
4763	-0.60	-146.0	579.6	-9.5	441	4764	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2480	3639	0	0	0	0	0	0
5078	-0.60	-146.0	608.6	-9.0	465	5081	0.00	2.15	0.00	0.000	4	0.000	0.057	2665	1085	3638	0	0	0	0	0	0
5099	-0.60	-146.0	610.7	-9.1	465	5106	0.00	2.22	0.00	0.000	6	0.000	0.057	2665	2500	3638	0	0	0	0	0	0
5413	-0.60	-146.0	637.6	-8.8	476	5414	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2500	3638	0	0	0	0	0	0
5718	-0.60	-146.0	665.5	-9.1	486	5719	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2499	3638	0	0	0	0	0	0
6025	-0.60	-146.0	692.4	-8.5	496	6026	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2500	3638	0	0	0	0	0	0
6331	-0.60	-146.0	717.8	-8.0	506	6332	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2500	3637	0	0	0	0	0	0
6637	-0.60	-146.0	744.8	-9.3	516	6639	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2500	3637	0	0	0	0	0	0
6944	-0.89	-146.0	753.8	0.1	526	6948	0.25	2.20	0.00	0.000	4	0.095	0.051	2568	1081	3637	0	0	0	0	0	0
6954	-1.18	-146.0	753.7	0.2	526	6959	0.22	2.25	0.00	0.000	6	0.093	0.059	2481	2497	3637	0	0	0	0	0	0
6994	end dive: NO_VERTICAL_VELOCITY
state	6995	begin apogee
7000	-0.12	0.0	753.8	0.0	528	7131	1.02	0.00	124.97	1.388	6	0.133	0.000	2814	2264	3030	0	0	0	0	0	0
7131	end apogee: CONTROL_FINISHED_OK
state	7132	begin climb
7134	0.62	146.0	753.5	0.0	532	7272	0.77	2.58	128.93	1.343	4	0.132	0.069	3053	3672	2432	0	0	0	0	0	0
7323	0.77	334.3	752.8	1.3	538	7503	0.15	2.38	171.57	1.300	6	0.094	0.048	3117	2279	1666	0	0	0	0	0	0
7839	0.60	334.3	631.9	25.1	555	7844	0.22	2.35	0.00	0.000	4	0.213	0.059	3062	3685	1652	0	0	0	0	0	0
7934	0.60	334.3	613.8	16.5	558	7939	0.00	2.30	0.00	0.000	6	0.000	0.053	3071	2274	1649	0	0	0	0	0	0
8258	0.53	334.3	556.3	17.7	583	8263	0.12	2.33	0.00	0.000	4	0.197	0.064	3049	859	1648	0	0	0	0	0	0
8346	0.60	334.3	544.0	12.1	590	8353	0.00	2.25	0.00	0.000	6	0.000	0.050	3049	2280	1648	0	0	0	0	0	0
8673	0.60	334.3	496.9	15.4	621	8677	0.00	2.28	0.00	0.000	4	0.000	0.064	3049	3689	1647	0	0	0	0	0	0
8712	0.60	334.3	490.4	16.4	624	8716	0.00	2.25	0.00	0.000	6	0.000	0.052	3058	2269	1646	0	0	0	0	0	0
9037	0.60	334.3	438.5	16.3	654	9041	0.00	2.22	0.00	0.000	4	0.000	0.063	3069	865	1646	0	0	0	0	0	0
9114	0.62	334.3	426.1	14.8	660	9121	0.00	2.22	0.00	0.000	6	0.000	0.049	3069	2285	1645	0	0	0	0	0	0
9441	0.58	334.3	370.5	17.0	691	9445	0.00	2.25	0.00	0.000	4	0.000	0.063	3069	3692	1645	0	0	0	0	0	0
9481	0.55	334.3	362.9	18.7	694	9485	0.15	2.25	0.00	0.000	6	0.187	0.052	3041	2262	1645	0	0	0	0	0	0
9806	0.59	334.3	319.5	12.8	724	9810	0.00	2.22	0.00	0.000	4	0.000	0.064	3043	857	1645	0	0	0	0	0	0
9872	0.69	334.3	311.6	11.0	729	9880	0.12	2.22	0.00	0.000	6	0.115	0.049	3097	2277	1643	0	0	0	0	0	0
10198	0.57	334.3	244.1	21.9	760	10200	0.17	0.00	0.00	0.000	6	0.188	0.000	3052	2277	1644	0	0	0	0	0	0
10517	0.57	334.3	194.8	14.5	790	10519	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2277	1643	0	0	0	0	0	0
10837	0.61	334.3	149.7	14.6	820	10838	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	2277	1643	0	0	0	0	0	0
11155	0.68	334.3	108.3	11.9	850	11159	0.00	2.25	0.00	0.000	4	0.000	0.063	3055	866	1644	0	0	0	0	0	0
11194	0.78	334.3	103.8	10.7	853	11199	0.17	2.20	0.00	0.000	6	0.094	0.047	3127	2279	1644	0	0	0	0	0	0
11536	0.71	334.3	43.9	17.6	910	11544	0.12	2.22	0.00	0.000	4	0.197	0.062	3096	3681	1644	0	0	0	0	0	0
11590	0.69	334.3	34.8	15.9	919	11597	0.00	2.20	0.00	0.000	6	0.000	0.052	3104	2274	1643	0	0	0	0	0	0
11802	end climb: SURFACE_DEPTH_REACHED
state	11802	begin surface coast
11826	end surface coast: CONTROL_FINISHED_OK
state	11826	begin surface