Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 223 * 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 223 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 300 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 44 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 25 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 360 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 400 CALL_TRIES 3 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 -80796.742 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 300

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 3 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 360

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 -80796.742

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 44 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 25 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 223 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 111111,013025,6701.812,-5709.741,51,0.9,51,-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 -0.228,-0.110

_SM_DEPTHo 2.89 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -69.1 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 111111,013530,6701.794,-5709.748,18,1.1,18,-33.5 MHEAD_RNG_PITCHd_Wd 279.4,147304,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 740

Post-dive calculations and measurements:

FINISH 1.9,1.012357 _24V_AH 22.9,28.054

SM_CCo 13616,38.40,0.080,0,0,1262,300.00 _10V_AH 10.3,21.544

SM_GC 3.04,6.82,0.57,38.40,0.044,0.063,0.080,118,2504,1262,-7.07,-0.99,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 847 FG_AHR_10Vo 0.000

RAFOS 0,1320984062,4.033333,4.017222,63,57,51,0,0,0,193,216,112,0,0,0 MEM 150332

RAFOS_FIX 6700.041992,-5701.583984,091111,202044,3,88,2.03 DATA_FILE_SIZE 43328,1165

IRIDIUM_FIX 6631.12,-5704.33,101111,212145 CAP_FILE_SIZE 121100,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,232579072

HUMID 58.30 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.89296 SOUNDSPEED 1463.2

TCM_TEMP 16.60 CURRENT 0.107, 42.0,1

XPDR_PINGS 18 GPS 111111,052506,6701.572,-5714.437,41,0.8,41,-33.6

ALTIM_BOTTOM_PING 702.8,60.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 248 95.65 SBE_CT 844 23 449.31

Roll_motor 37 95 81.19 SBE_O2 637 5 76.49

VBD_pump_during_apogee 310 1344 9541.80 nil 0 0 0.00

VBD_pump_during_surface 38 79 69.96 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 191 262 1152.21 nil 0 0 0.00

Transponder_ping 7 420 67.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.27

TT8 3191 18 615.03

LPSleep 7996 2 190.27

TT8_Active 504 18 97.29

TT8_Sampling 2064 41 891.46

TT8_CF8 207 47 102.62

TT8_Kalman 0 0 0.00

Analog_circuits 1673 12 206.86

GPS_charging 0 0 0.00

Compass 1855 6 128.78

RAFOS 2520 1 38.93

Transponder 19 30 6.09

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 -0.73 -146.0 0.0 0.0 0 44 0.00 0.00 -25.67 0.000 2 0.000 0.000 117 2517 1640 0 0 0 0 0 0

47 -0.73 -146.0 3.0 -2.3 4 152 8.43 1.12 -87.90 0.000 4 0.249 0.096 2155 3212 3082 0 0 0 0 0 0

407 -0.73 -146.0 52.4 -19.0 58 414 0.00 1.08 0.00 0.000 6 0.000 0.028 2155 2508 3083 0 0 0 0 0 0

745 -0.73 -146.0 101.9 -14.1 109 754 0.00 1.17 0.00 0.000 4 0.000 0.063 2151 3216 3083 0 0 0 0 0 0

794 -0.73 -146.0 108.8 -13.5 116 800 0.00 1.08 0.00 0.000 6 0.000 0.028 2151 2505 3083 0 0 0 0 0 0

1131 -0.73 -146.0 152.1 -12.8 167 1137 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2506 3083 0 0 0 0 0 0

1470 -0.73 -146.0 192.7 -12.1 218 1477 0.00 1.17 0.00 0.000 4 0.000 0.063 2146 3214 3083 0 0 0 0 0 0

1563 -0.73 -146.0 204.0 -11.6 232 1570 0.00 1.08 0.00 0.000 6 0.000 0.028 2146 2499 3083 0 0 0 0 0 0

1900 -0.73 -146.0 243.9 -11.4 283 1907 0.00 1.17 0.00 0.000 4 0.000 0.063 2142 3211 3082 0 0 0 0 0 0

1998 -0.73 -146.0 254.9 -12.0 294 2006 0.00 1.08 0.00 0.000 6 0.000 0.028 2142 2502 3082 0 0 0 0 0 0

2323 -0.73 -146.0 292.9 -11.3 320 2324 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2502 3082 0 0 0 0 0 0

2636 -0.73 -146.0 328.4 -11.2 345 2640 0.00 1.17 0.00 0.000 4 0.000 0.061 2137 3216 3082 0 0 0 0 0 0

2690 -0.73 -146.0 334.5 -11.4 349 2693 0.00 1.05 0.00 0.000 6 0.000 0.027 2137 2516 3082 0 0 0 0 0 0

3018 -0.73 -146.0 371.8 -11.3 375 3019 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2515 3082 0 0 0 0 0 0

3335 -0.73 -146.0 407.8 -11.8 400 3336 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2515 3082 0 0 0 0 0 0

3649 -0.73 -146.0 443.8 -11.6 425 3653 0.00 1.15 0.00 0.000 4 0.000 0.061 2133 3217 3083 0 0 0 0 0 0

3728 -0.73 -146.0 453.0 -11.8 431 3732 0.10 1.08 0.00 0.000 6 0.144 0.028 2164 2493 3083 0 0 0 0 0 0

4057 -0.73 -146.0 483.5 -9.1 457 4060 0.00 1.17 0.00 0.000 4 0.000 0.062 2161 3210 3084 0 0 0 0 0 0

4101 -0.73 -146.0 487.3 -9.3 460 4109 0.00 1.08 0.00 0.000 6 0.000 0.027 2161 2496 3084 0 0 0 0 0 0

4434 -0.73 -146.0 517.6 -8.9 478 4435 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2496 3084 0 0 0 0 0 0

4738 -0.73 -146.0 545.2 -8.9 488 4742 0.00 1.17 0.00 0.000 4 0.000 0.060 2157 3216 3085 0 0 0 0 0 0

4796 -0.73 -146.0 548.3 -9.0 489 4807 0.00 1.08 0.00 0.000 6 0.000 0.027 2157 2503 3085 0 0 0 0 0 0

5110 -0.73 -146.0 579.7 -9.2 500 5112 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2503 3085 0 0 0 0 0 0

5417 -0.73 -146.0 608.5 -9.5 510 5421 0.00 1.15 0.00 0.000 4 0.000 0.060 2152 3210 3086 0 0 0 0 0 0

5475 -0.73 -146.0 611.9 -9.6 511 5483 0.00 1.08 0.00 0.000 6 0.000 0.027 2152 2495 3086 0 0 0 0 0 0

5791 -0.73 -146.0 644.9 -9.8 522 5792 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2495 3086 0 0 0 0 0 0

6096 -0.73 -146.0 674.7 -9.6 532 6100 0.00 1.17 0.00 0.000 4 0.000 0.060 2148 3214 3086 0 0 0 0 0 0

6173 -0.73 -146.0 681.4 -9.8 534 6178 0.00 1.08 0.00 0.000 6 0.000 0.026 2148 2503 3086 0 0 0 0 0 0

6501 -0.73 -146.0 714.1 -9.2 545 6502 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2503 3086 0 0 0 0 0 0

6775 end dive: TARGET_DEPTH_EXCEEDED

state 6776 begin apogee

6781 -0.16 0.0 741.0 -9.9 554 6908 0.60 0.00 119.93 1.344 6 0.132 0.000 2341 2192 2484 0 0 0 0 0 0

6909 end apogee: CONTROL_FINISHED_OK

state 6909 begin climb

6912 0.73 146.0 745.6 0.0 558 7048 0.85 1.10 128.30 1.289 4 0.068 0.043 2638 1513 1888 0 0 0 0 0 0

7278 0.73 146.0 716.0 12.3 569 7288 0.00 1.20 0.00 0.000 6 0.000 0.042 2638 2213 1880 0 0 0 0 0 0

7592 0.73 146.0 674.1 12.4 580 7593 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2213 1878 0 0 0 0 0 0

7899 0.73 146.0 636.5 12.2 590 7900 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2213 1876 0 0 0 0 0 0

8204 0.73 146.0 599.7 12.0 600 8205 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2213 1876 0 0 0 0 0 0

8512 0.73 146.0 563.5 11.8 610 8516 0.00 1.10 0.00 0.000 4 0.000 0.054 2637 2902 1875 0 0 0 0 0 0

8583 0.73 146.0 555.3 12.0 612 8588 0.00 1.10 0.00 0.000 6 0.000 0.036 2642 2215 1875 0 0 0 0 0 0

8916 0.73 146.0 515.2 11.7 623 8917 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2215 1874 0 0 0 0 0 0

9234 0.73 146.0 478.1 11.6 641 9237 0.00 1.10 0.00 0.000 4 0.000 0.050 2648 1493 1873 0 0 0 0 0 0

9339 0.73 146.0 465.5 11.9 649 9342 0.00 1.15 0.00 0.000 6 0.000 0.046 2648 2206 1873 0 0 0 0 0 0

9672 0.73 146.0 424.9 12.1 675 9673 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2206 1873 0 0 0 0 0 0

9984 0.73 146.0 386.2 12.7 700 9985 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2206 1872 0 0 0 0 0 0

10300 0.73 146.0 346.4 12.7 725 10301 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2206 1873 0 0 0 0 0 0

10617 0.73 146.0 306.9 12.6 750 10619 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2206 1873 0 0 0 0 0 0

10930 0.73 146.0 267.7 12.2 775 10931 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2206 1873 0 0 0 0 0 0

11253 0.73 146.0 228.4 11.8 813 11261 0.00 1.10 0.00 0.000 4 0.000 0.055 2648 2903 1873 0 0 0 0 0 0

11400 0.73 146.0 210.5 12.0 835 11408 0.00 1.12 0.00 0.000 6 0.000 0.037 2652 2194 1873 0 0 0 0 0 0

11740 0.73 146.0 173.0 10.7 886 11746 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2194 1873 0 0 0 0 0 0

12078 0.73 146.0 138.1 10.1 937 12087 0.00 1.17 0.00 0.000 4 0.000 0.051 2652 2903 1873 0 0 0 0 0 0

12168 0.73 146.0 129.5 9.3 950 12175 0.00 1.12 0.00 0.000 6 0.000 0.037 2657 2193 1873 0 0 0 0 0 0

12506 0.75 164.6 100.2 8.4 1001 12527 0.00 0.00 14.27 0.897 6 0.000 0.000 2657 2193 1813 0 0 0 0 0 0

12858 0.81 215.6 70.4 7.0 1054 12912 0.00 1.25 43.42 0.920 4 0.000 0.050 2657 2909 1605 0 0 0 0 0 0

13099 0.82 219.5 50.2 9.0 1090 13107 0.00 1.15 4.07 0.654 6 0.000 0.036 2662 2201 1590 0 0 0 0 0 0

13439 0.82 219.5 16.4 9.7 1141 13447 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2201 1588 0 0 0 0 0 0

13578 end climb: SURFACE_DEPTH_REACHED

state 13578 begin surface coast

13599 end surface coast: CONTROL_FINISHED_OK

state 13600 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	223	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	300	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	44	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	25	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	360	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	400	CALL_TRIES	3	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	-80796.742	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	111111,013025,6701.812,-5709.741,51,0.9,51,-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	-0.228,-0.110
_SM_DEPTHo	2.89	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-69.1	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	111111,013530,6701.794,-5709.748,18,1.1,18,-33.5	MHEAD_RNG_PITCHd_Wd	279.4,147304,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	740

FINISH	1.9,1.012357	_24V_AH	22.9,28.054
SM_CCo	13616,38.40,0.080,0,0,1262,300.00	_10V_AH	10.3,21.544
SM_GC	3.04,6.82,0.57,38.40,0.044,0.063,0.080,118,2504,1262,-7.07,-0.99,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	847	FG_AHR_10Vo	0.000
RAFOS	0,1320984062,4.033333,4.017222,63,57,51,0,0,0,193,216,112,0,0,0	MEM	150332
RAFOS_FIX	6700.041992,-5701.583984,091111,202044,3,88,2.03	DATA_FILE_SIZE	43328,1165
IRIDIUM_FIX	6631.12,-5704.33,101111,212145	CAP_FILE_SIZE	121100,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,232579072
HUMID	58.30	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.89296	SOUNDSPEED	1463.2
TCM_TEMP	16.60	CURRENT	0.107, 42.0,1
XPDR_PINGS	18	GPS	111111,052506,6701.572,-5714.437,41,0.8,41,-33.6
ALTIM_BOTTOM_PING	702.8,60.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	248	95.65	SBE_CT	844	23	449.31
Roll_motor	37	95	81.19	SBE_O2	637	5	76.49
VBD_pump_during_apogee	310	1344	9541.80	nil	0	0	0.00
VBD_pump_during_surface	38	79	69.96	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	191	262	1152.21	nil	0	0	0.00
Transponder_ping	7	420	67.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.27
TT8	3191	18	615.03
LPSleep	7996	2	190.27
TT8_Active	504	18	97.29
TT8_Sampling	2064	41	891.46
TT8_CF8	207	47	102.62
TT8_Kalman	0	0	0.00
Analog_circuits	1673	12	206.86
GPS_charging	0	0	0.00
Compass	1855	6	128.78
RAFOS	2520	1	38.93
Transponder	19	30	6.09

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	-0.73	-146.0	0.0	0.0	0	44	0.00	0.00	-25.67	0.000	2	0.000	0.000	117	2517	1640	0	0	0	0	0	0
47	-0.73	-146.0	3.0	-2.3	4	152	8.43	1.12	-87.90	0.000	4	0.249	0.096	2155	3212	3082	0	0	0	0	0	0
407	-0.73	-146.0	52.4	-19.0	58	414	0.00	1.08	0.00	0.000	6	0.000	0.028	2155	2508	3083	0	0	0	0	0	0
745	-0.73	-146.0	101.9	-14.1	109	754	0.00	1.17	0.00	0.000	4	0.000	0.063	2151	3216	3083	0	0	0	0	0	0
794	-0.73	-146.0	108.8	-13.5	116	800	0.00	1.08	0.00	0.000	6	0.000	0.028	2151	2505	3083	0	0	0	0	0	0
1131	-0.73	-146.0	152.1	-12.8	167	1137	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2506	3083	0	0	0	0	0	0
1470	-0.73	-146.0	192.7	-12.1	218	1477	0.00	1.17	0.00	0.000	4	0.000	0.063	2146	3214	3083	0	0	0	0	0	0
1563	-0.73	-146.0	204.0	-11.6	232	1570	0.00	1.08	0.00	0.000	6	0.000	0.028	2146	2499	3083	0	0	0	0	0	0
1900	-0.73	-146.0	243.9	-11.4	283	1907	0.00	1.17	0.00	0.000	4	0.000	0.063	2142	3211	3082	0	0	0	0	0	0
1998	-0.73	-146.0	254.9	-12.0	294	2006	0.00	1.08	0.00	0.000	6	0.000	0.028	2142	2502	3082	0	0	0	0	0	0
2323	-0.73	-146.0	292.9	-11.3	320	2324	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2502	3082	0	0	0	0	0	0
2636	-0.73	-146.0	328.4	-11.2	345	2640	0.00	1.17	0.00	0.000	4	0.000	0.061	2137	3216	3082	0	0	0	0	0	0
2690	-0.73	-146.0	334.5	-11.4	349	2693	0.00	1.05	0.00	0.000	6	0.000	0.027	2137	2516	3082	0	0	0	0	0	0
3018	-0.73	-146.0	371.8	-11.3	375	3019	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2515	3082	0	0	0	0	0	0
3335	-0.73	-146.0	407.8	-11.8	400	3336	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2515	3082	0	0	0	0	0	0
3649	-0.73	-146.0	443.8	-11.6	425	3653	0.00	1.15	0.00	0.000	4	0.000	0.061	2133	3217	3083	0	0	0	0	0	0
3728	-0.73	-146.0	453.0	-11.8	431	3732	0.10	1.08	0.00	0.000	6	0.144	0.028	2164	2493	3083	0	0	0	0	0	0
4057	-0.73	-146.0	483.5	-9.1	457	4060	0.00	1.17	0.00	0.000	4	0.000	0.062	2161	3210	3084	0	0	0	0	0	0
4101	-0.73	-146.0	487.3	-9.3	460	4109	0.00	1.08	0.00	0.000	6	0.000	0.027	2161	2496	3084	0	0	0	0	0	0
4434	-0.73	-146.0	517.6	-8.9	478	4435	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2496	3084	0	0	0	0	0	0
4738	-0.73	-146.0	545.2	-8.9	488	4742	0.00	1.17	0.00	0.000	4	0.000	0.060	2157	3216	3085	0	0	0	0	0	0
4796	-0.73	-146.0	548.3	-9.0	489	4807	0.00	1.08	0.00	0.000	6	0.000	0.027	2157	2503	3085	0	0	0	0	0	0
5110	-0.73	-146.0	579.7	-9.2	500	5112	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2503	3085	0	0	0	0	0	0
5417	-0.73	-146.0	608.5	-9.5	510	5421	0.00	1.15	0.00	0.000	4	0.000	0.060	2152	3210	3086	0	0	0	0	0	0
5475	-0.73	-146.0	611.9	-9.6	511	5483	0.00	1.08	0.00	0.000	6	0.000	0.027	2152	2495	3086	0	0	0	0	0	0
5791	-0.73	-146.0	644.9	-9.8	522	5792	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2495	3086	0	0	0	0	0	0
6096	-0.73	-146.0	674.7	-9.6	532	6100	0.00	1.17	0.00	0.000	4	0.000	0.060	2148	3214	3086	0	0	0	0	0	0
6173	-0.73	-146.0	681.4	-9.8	534	6178	0.00	1.08	0.00	0.000	6	0.000	0.026	2148	2503	3086	0	0	0	0	0	0
6501	-0.73	-146.0	714.1	-9.2	545	6502	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2503	3086	0	0	0	0	0	0
6775	end dive: TARGET_DEPTH_EXCEEDED
state	6776	begin apogee
6781	-0.16	0.0	741.0	-9.9	554	6908	0.60	0.00	119.93	1.344	6	0.132	0.000	2341	2192	2484	0	0	0	0	0	0
6909	end apogee: CONTROL_FINISHED_OK
state	6909	begin climb
6912	0.73	146.0	745.6	0.0	558	7048	0.85	1.10	128.30	1.289	4	0.068	0.043	2638	1513	1888	0	0	0	0	0	0
7278	0.73	146.0	716.0	12.3	569	7288	0.00	1.20	0.00	0.000	6	0.000	0.042	2638	2213	1880	0	0	0	0	0	0
7592	0.73	146.0	674.1	12.4	580	7593	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2213	1878	0	0	0	0	0	0
7899	0.73	146.0	636.5	12.2	590	7900	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2213	1876	0	0	0	0	0	0
8204	0.73	146.0	599.7	12.0	600	8205	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2213	1876	0	0	0	0	0	0
8512	0.73	146.0	563.5	11.8	610	8516	0.00	1.10	0.00	0.000	4	0.000	0.054	2637	2902	1875	0	0	0	0	0	0
8583	0.73	146.0	555.3	12.0	612	8588	0.00	1.10	0.00	0.000	6	0.000	0.036	2642	2215	1875	0	0	0	0	0	0
8916	0.73	146.0	515.2	11.7	623	8917	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2215	1874	0	0	0	0	0	0
9234	0.73	146.0	478.1	11.6	641	9237	0.00	1.10	0.00	0.000	4	0.000	0.050	2648	1493	1873	0	0	0	0	0	0
9339	0.73	146.0	465.5	11.9	649	9342	0.00	1.15	0.00	0.000	6	0.000	0.046	2648	2206	1873	0	0	0	0	0	0
9672	0.73	146.0	424.9	12.1	675	9673	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2206	1873	0	0	0	0	0	0
9984	0.73	146.0	386.2	12.7	700	9985	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2206	1872	0	0	0	0	0	0
10300	0.73	146.0	346.4	12.7	725	10301	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2206	1873	0	0	0	0	0	0
10617	0.73	146.0	306.9	12.6	750	10619	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2206	1873	0	0	0	0	0	0
10930	0.73	146.0	267.7	12.2	775	10931	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2206	1873	0	0	0	0	0	0
11253	0.73	146.0	228.4	11.8	813	11261	0.00	1.10	0.00	0.000	4	0.000	0.055	2648	2903	1873	0	0	0	0	0	0
11400	0.73	146.0	210.5	12.0	835	11408	0.00	1.12	0.00	0.000	6	0.000	0.037	2652	2194	1873	0	0	0	0	0	0
11740	0.73	146.0	173.0	10.7	886	11746	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2194	1873	0	0	0	0	0	0
12078	0.73	146.0	138.1	10.1	937	12087	0.00	1.17	0.00	0.000	4	0.000	0.051	2652	2903	1873	0	0	0	0	0	0
12168	0.73	146.0	129.5	9.3	950	12175	0.00	1.12	0.00	0.000	6	0.000	0.037	2657	2193	1873	0	0	0	0	0	0
12506	0.75	164.6	100.2	8.4	1001	12527	0.00	0.00	14.27	0.897	6	0.000	0.000	2657	2193	1813	0	0	0	0	0	0
12858	0.81	215.6	70.4	7.0	1054	12912	0.00	1.25	43.42	0.920	4	0.000	0.050	2657	2909	1605	0	0	0	0	0	0
13099	0.82	219.5	50.2	9.0	1090	13107	0.00	1.15	4.07	0.654	6	0.000	0.036	2662	2201	1590	0	0	0	0	0	0
13439	0.82	219.5	16.4	9.7	1141	13447	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2201	1588	0	0	0	0	0	0
13578	end climb: SURFACE_DEPTH_REACHED
state	13578	begin surface coast
13599	end surface coast: CONTROL_FINISHED_OK
state	13600	begin surface