Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 266 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 266 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 425 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 16 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 19 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -39096.387 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2690 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -24.446302 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 0 PITCH_GAIN 31 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 1 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 425

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -39096.387

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

C_VBD 2800 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51204 R_PORT_OVSHOOT 16 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 19 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 10 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 266 NAV_MODE 0 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 212836,6655.821,-5724.850,26,1.7,26,-37.6 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 1.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 212836,6655.821,-5724.850,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd 101.1,29748,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 767

Post-dive calculations and measurements:

FREEZE 0.54,-0.903,-1.821,0,31,0 ALTIM_TOP_PING 19.9,20.0

FINISH 0.5,1.026715 ALTIM_BOTTOM_PING 550.1,9.3

SM_CCo 11636,77.45,0.761,0,0,1066,425.10 _24V_AH 22.5,53.572

SM_GC 1.19,0.00,0.00,77.45,0.000,0.000,0.761,125,2456,1066,-8.01,-0.11,425.10 _10V_AH 10.1,28.330

RAFOS_CLK 806 FG_AHR_24Vo 0.000

RAFOS 0,1260316870,0.033333,0.019444,59,54,53,0,0,0,157,189,116,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6654.122559,-5725.164551,091209,000056,2,106,0.27 MEM 152260

IRIDIUM_FIX 6625.71,-5725.43,040399,212140 DATA_FILE_SIZE 47267,1223

TT8_MAMPS 0.027612 CAP_FILE_SIZE 149954,0

HUMID 47.63 CFSIZE 260165632,227815424

INTERNAL_PRESSURE 8.7894 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.40 SOUNDSPEED 1455.5

XPDR_PINGS 4 GPS 091209,010208,6655.637,-5720.370,51,2.0,52,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 304 171.79 SBE_CT 899 24 485.87

Roll_motor 159 106 383.09 SBE_O2 846 19 361.75

VBD_pump_during_apogee 396 1120 10001.45 nil 0 0 0.00

VBD_pump_during_surface 77 760 1325.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 82 103 191.23 nil 0 0 0.00

Iridium_during_connect 184 160 664.80 nil 0 0 0.00

Iridium_during_xfer 173 223 870.76

Transponder_ping 3 420 28.35

GUMSTIX_24V 0 0 0.00

GPS 183 50 92.53

TT8 2044 19 411.33

LPSleep 6979 2 162.83

TT8_Active 610 19 122.80

TT8_Sampling 2301 39 927.96

TT8_CF8 744 45 345.40

TT8_Kalman 0 0 0.00

Analog_circuits 1731 12 209.88

GPS_charging 0 0 0.00

Compass 2089 8 168.85

RAFOS 2520 1 38.18

Transponder 15 30 4.82

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 -0.73 -146.0 0.0 0.0 0 128 0.00 0.00 -109.62 0.000 2 0.000 0.000 127 2470 3171 0 0 0 0 0 0

131 -0.73 -146.0 3.2 -4.7 22 158 11.50 2.55 -6.78 0.000 4 0.304 0.107 2454 871 3399 0 0 0 0 0 0

227 -0.55 -146.0 18.5 -12.7 39 233 0.22 2.42 0.00 0.000 6 0.223 0.081 2507 2457 3402 0 0 0 0 0 0

571 -0.65 -146.0 58.0 -10.2 100 577 0.00 3.05 0.00 0.000 4 0.000 0.099 2507 3914 3402 0 0 0 0 0 0

769 -0.77 -146.0 77.4 -8.0 135 775 0.20 2.90 0.00 0.000 6 0.110 0.073 2441 2470 3402 0 0 0 0 0 0

1112 -0.77 -146.0 114.4 -12.9 186 1116 0.00 2.47 0.00 0.000 4 0.000 0.094 2440 856 3402 0 0 0 0 0 0

1162 -0.72 -146.0 120.7 -12.8 190 1166 0.00 2.47 0.00 0.000 6 0.000 0.081 2440 2482 3402 0 0 0 0 0 0

1487 -0.72 -146.0 154.7 -8.6 220 1492 0.00 3.00 0.00 0.000 4 0.000 0.098 2440 3917 3401 0 0 0 0 0 0

1744 -0.72 -146.0 177.1 -8.3 242 1750 0.00 2.85 0.00 0.000 6 0.000 0.074 2440 2505 3401 0 0 0 0 0 0

2068 -0.72 -146.0 205.6 -10.0 273 2073 0.00 2.97 0.00 0.000 4 0.000 0.098 2440 3913 3401 0 0 0 0 0 0

2276 -0.72 -146.0 226.4 -10.2 291 2281 0.00 2.83 0.00 0.000 6 0.000 0.074 2440 2514 3400 0 0 0 0 0 0

2600 -0.72 -146.0 255.6 -8.4 321 2605 0.00 2.95 0.00 0.000 4 0.000 0.097 2440 3911 3400 0 0 0 0 0 0

2746 -0.72 -146.0 268.1 -8.1 333 2752 0.00 2.80 0.00 0.000 6 0.000 0.072 2441 2527 3400 0 0 0 0 0 0

3071 -0.72 -146.0 295.5 -9.1 364 3075 0.00 2.92 0.00 0.000 4 0.000 0.096 2440 3911 3400 0 0 0 0 0 0

3217 -0.77 -146.0 309.3 -9.7 376 3222 0.00 2.75 0.00 0.000 6 0.000 0.071 2440 2554 3400 0 0 0 0 0 0

3542 -0.82 -146.0 338.5 -8.3 407 3547 0.00 2.88 0.00 0.000 4 0.000 0.095 2440 3911 3400 0 0 0 0 0 0

3638 -0.88 -146.0 346.4 -7.9 415 3643 0.12 2.75 0.00 0.000 6 0.130 0.071 2400 2552 3400 0 0 0 0 0 0

3962 -0.80 -146.0 375.0 -8.8 445 3968 0.12 2.90 0.00 0.000 4 0.209 0.094 2425 3912 3400 0 0 0 0 0 0

4103 -0.80 -146.0 387.2 -8.7 457 4108 0.00 2.72 0.00 0.000 6 0.000 0.069 2425 2563 3400 0 0 0 0 0 0

4427 -0.80 -146.0 415.4 -8.6 487 4432 0.00 2.85 0.00 0.000 4 0.000 0.093 2425 3912 3401 0 0 0 0 0 0

4538 -0.80 -146.0 425.5 -8.8 496 4544 0.00 2.70 0.00 0.000 6 0.000 0.068 2426 2577 3401 0 0 0 0 0 0

4863 -0.80 -146.0 454.5 -9.1 527 4868 0.00 2.85 0.00 0.000 4 0.000 0.093 2425 3917 3401 0 0 0 0 0 0

4985 -0.80 -146.0 466.0 -9.2 537 4991 0.00 2.67 0.00 0.000 6 0.000 0.067 2426 2588 3401 0 0 0 0 0 0

5310 -0.80 -146.0 493.6 -8.2 568 5315 0.00 2.83 0.00 0.000 4 0.000 0.092 2425 3921 3402 0 0 0 0 0 0

5445 -0.80 -146.0 504.9 -8.5 579 5450 0.00 2.67 0.00 0.000 6 0.000 0.067 2425 2600 3402 0 0 0 0 0 0

5769 -0.80 -146.0 531.1 -8.2 610 5774 0.00 2.80 0.00 0.000 4 0.000 0.092 2425 3920 3403 0 0 0 0 0 0

5865 -0.80 -146.0 539.1 -8.8 618 5869 0.00 2.65 0.00 0.000 6 0.000 0.067 2425 2608 3402 0 0 0 0 0 0

6000 end dive: BOTTOM_OBSTACLE_DETECTED

state 6000 begin apogee

6006 -0.16 0.0 550.1 8.2 630 6132 0.75 0.00 121.32 1.121 6 0.187 0.000 2629 1952 2800 0 0 0 0 0 0

6133 end apogee: CONTROL_FINISHED_OK

state 6133 begin climb

6135 0.73 146.0 553.8 0.0 643 6271 0.98 2.53 126.35 1.066 4 0.140 0.094 2922 361 2203 0 0 0 0 0 0

6323 0.64 146.0 540.5 10.1 661 6327 0.00 2.38 0.00 0.000 6 0.000 0.067 2922 1957 2199 0 0 0 0 0 0

6647 0.56 146.0 507.3 10.4 691 6653 0.22 3.30 0.00 0.000 4 0.205 0.082 2857 3538 2194 0 0 0 0 0 0

6750 0.62 148.4 498.1 9.1 699 6756 0.00 3.25 0.00 0.000 6 0.000 0.075 2869 1959 2193 0 0 0 0 0 0

7075 0.76 176.3 471.6 8.0 730 7107 0.20 3.28 25.00 1.024 4 0.103 0.084 2938 3535 2080 0 0 0 0 0 0

7176 0.58 176.3 459.1 13.7 739 7182 0.30 3.22 0.00 0.000 6 0.210 0.077 2882 1962 2077 0 0 0 0 0 0

7500 0.65 176.3 425.8 10.2 769 7505 0.00 3.22 0.00 0.000 4 0.000 0.084 2881 3538 2075 0 0 0 0 0 0

7595 0.65 176.3 415.2 11.6 777 7600 0.00 3.15 0.00 0.000 6 0.000 0.076 2894 1984 2075 0 0 0 0 0 0

7920 0.69 176.3 381.9 10.0 807 7925 0.00 3.17 0.00 0.000 4 0.000 0.084 2894 3537 2075 0 0 0 0 0 0

7997 0.69 176.3 373.2 11.0 813 8003 0.00 3.10 0.00 0.000 6 0.000 0.075 2907 2005 2073 0 0 0 0 0 0

8322 0.69 176.3 339.8 10.3 844 8327 0.00 3.12 0.00 0.000 4 0.000 0.084 2907 3533 2073 0 0 0 0 0 0

8410 0.63 176.3 330.1 10.9 851 8416 0.00 3.08 0.00 0.000 6 0.000 0.076 2920 2018 2073 0 0 0 0 0 0

8735 0.63 176.3 299.1 9.4 882 8740 0.00 3.10 0.00 0.000 4 0.000 0.084 2920 3534 2073 0 0 0 0 0 0

8778 0.54 176.3 294.7 10.6 885 8785 0.28 3.05 0.00 0.000 6 0.205 0.075 2868 2029 2073 0 0 0 0 0 0

9103 0.77 228.5 272.4 7.0 916 9155 0.22 3.15 43.95 0.932 4 0.104 0.084 2945 3534 1867 0 0 0 0 0 0

9207 0.65 228.5 260.1 14.5 925 9214 0.22 3.10 0.00 0.000 6 0.205 0.075 2907 2035 1864 0 0 0 0 0 0

9533 0.72 228.5 222.0 12.7 956 9538 0.00 3.12 0.00 0.000 4 0.000 0.084 2906 3542 1860 0 0 0 0 0 0

9566 0.72 228.5 217.2 14.7 958 9572 0.00 3.05 0.00 0.000 6 0.000 0.075 2917 2048 1860 0 0 0 0 0 0

9891 0.78 228.5 179.9 10.0 989 9895 0.00 3.08 0.00 0.000 4 0.000 0.084 2917 3533 1860 0 0 0 0 0 0

9952 0.78 228.5 173.5 10.5 994 9957 0.00 3.03 0.00 0.000 6 0.000 0.076 2930 2057 1860 0 0 0 0 0 0

10277 0.85 228.5 140.8 9.9 1024 10282 0.10 3.05 0.00 0.000 4 0.126 0.085 2970 3534 1860 0 0 0 0 0 0

10310 0.72 228.5 136.9 12.6 1026 10317 0.25 3.00 0.00 0.000 6 0.207 0.076 2925 2065 1859 0 0 0 0 0 0

10635 0.83 228.5 108.8 9.4 1057 10640 0.00 3.05 0.00 0.000 4 0.000 0.086 2925 3540 1859 0 0 0 0 0 0

10701 0.83 228.5 101.7 11.1 1062 10707 0.00 3.00 0.00 0.000 6 0.000 0.077 2936 2072 1859 0 0 0 0 0 0

11045 0.91 228.5 65.7 11.3 1121 11051 0.15 3.03 0.00 0.000 4 0.110 0.087 2993 3533 1859 0 0 0 0 0 0

11091 0.72 228.5 58.8 15.0 1129 11097 0.32 2.97 0.00 0.000 6 0.204 0.077 2927 2079 1859 0 0 0 0 0 0

11436 0.94 324.9 24.4 5.1 1190 11525 0.20 3.12 80.05 0.797 4 0.108 0.088 2994 3532 1473 0 0 0 0 0 0

11577 0.81 324.9 6.6 18.0 1216 11584 0.22 3.03 0.00 0.000 6 0.196 0.078 2955 2094 1468 0 0 0 0 0 0

11605 end climb: SURFACE_DEPTH_REACHED

state 11605 begin surface coast

11618 end surface coast: CONTROL_FINISHED_OK

state 11619 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	266	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	425	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	16	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	19	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-39096.387	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2690	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-24.446302	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	0	PITCH_GAIN	31	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	1	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	212836,6655.821,-5724.850,26,1.7,26,-37.6	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	1.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	212836,6655.821,-5724.850,181,99.0,181,-37.6	MHEAD_RNG_PITCHd_Wd	101.1,29748,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	767

FREEZE	0.54,-0.903,-1.821,0,31,0	ALTIM_TOP_PING	19.9,20.0
FINISH	0.5,1.026715	ALTIM_BOTTOM_PING	550.1,9.3
SM_CCo	11636,77.45,0.761,0,0,1066,425.10	_24V_AH	22.5,53.572
SM_GC	1.19,0.00,0.00,77.45,0.000,0.000,0.761,125,2456,1066,-8.01,-0.11,425.10	_10V_AH	10.1,28.330
RAFOS_CLK	806	FG_AHR_24Vo	0.000
RAFOS	0,1260316870,0.033333,0.019444,59,54,53,0,0,0,157,189,116,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6654.122559,-5725.164551,091209,000056,2,106,0.27	MEM	152260
IRIDIUM_FIX	6625.71,-5725.43,040399,212140	DATA_FILE_SIZE	47267,1223
TT8_MAMPS	0.027612	CAP_FILE_SIZE	149954,0
HUMID	47.63	CFSIZE	260165632,227815424
INTERNAL_PRESSURE	8.7894	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.40	SOUNDSPEED	1455.5
XPDR_PINGS	4	GPS	091209,010208,6655.637,-5720.370,51,2.0,52,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	304	171.79	SBE_CT	899	24	485.87
Roll_motor	159	106	383.09	SBE_O2	846	19	361.75
VBD_pump_during_apogee	396	1120	10001.45	nil	0	0	0.00
VBD_pump_during_surface	77	760	1325.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	82	103	191.23	nil	0	0	0.00
Iridium_during_connect	184	160	664.80	nil	0	0	0.00
Iridium_during_xfer	173	223	870.76
Transponder_ping	3	420	28.35
GUMSTIX_24V	0	0	0.00
GPS	183	50	92.53
TT8	2044	19	411.33
LPSleep	6979	2	162.83
TT8_Active	610	19	122.80
TT8_Sampling	2301	39	927.96
TT8_CF8	744	45	345.40
TT8_Kalman	0	0	0.00
Analog_circuits	1731	12	209.88
GPS_charging	0	0	0.00
Compass	2089	8	168.85
RAFOS	2520	1	38.18
Transponder	15	30	4.82

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	-0.73	-146.0	0.0	0.0	0	128	0.00	0.00	-109.62	0.000	2	0.000	0.000	127	2470	3171	0	0	0	0	0	0
131	-0.73	-146.0	3.2	-4.7	22	158	11.50	2.55	-6.78	0.000	4	0.304	0.107	2454	871	3399	0	0	0	0	0	0
227	-0.55	-146.0	18.5	-12.7	39	233	0.22	2.42	0.00	0.000	6	0.223	0.081	2507	2457	3402	0	0	0	0	0	0
571	-0.65	-146.0	58.0	-10.2	100	577	0.00	3.05	0.00	0.000	4	0.000	0.099	2507	3914	3402	0	0	0	0	0	0
769	-0.77	-146.0	77.4	-8.0	135	775	0.20	2.90	0.00	0.000	6	0.110	0.073	2441	2470	3402	0	0	0	0	0	0
1112	-0.77	-146.0	114.4	-12.9	186	1116	0.00	2.47	0.00	0.000	4	0.000	0.094	2440	856	3402	0	0	0	0	0	0
1162	-0.72	-146.0	120.7	-12.8	190	1166	0.00	2.47	0.00	0.000	6	0.000	0.081	2440	2482	3402	0	0	0	0	0	0
1487	-0.72	-146.0	154.7	-8.6	220	1492	0.00	3.00	0.00	0.000	4	0.000	0.098	2440	3917	3401	0	0	0	0	0	0
1744	-0.72	-146.0	177.1	-8.3	242	1750	0.00	2.85	0.00	0.000	6	0.000	0.074	2440	2505	3401	0	0	0	0	0	0
2068	-0.72	-146.0	205.6	-10.0	273	2073	0.00	2.97	0.00	0.000	4	0.000	0.098	2440	3913	3401	0	0	0	0	0	0
2276	-0.72	-146.0	226.4	-10.2	291	2281	0.00	2.83	0.00	0.000	6	0.000	0.074	2440	2514	3400	0	0	0	0	0	0
2600	-0.72	-146.0	255.6	-8.4	321	2605	0.00	2.95	0.00	0.000	4	0.000	0.097	2440	3911	3400	0	0	0	0	0	0
2746	-0.72	-146.0	268.1	-8.1	333	2752	0.00	2.80	0.00	0.000	6	0.000	0.072	2441	2527	3400	0	0	0	0	0	0
3071	-0.72	-146.0	295.5	-9.1	364	3075	0.00	2.92	0.00	0.000	4	0.000	0.096	2440	3911	3400	0	0	0	0	0	0
3217	-0.77	-146.0	309.3	-9.7	376	3222	0.00	2.75	0.00	0.000	6	0.000	0.071	2440	2554	3400	0	0	0	0	0	0
3542	-0.82	-146.0	338.5	-8.3	407	3547	0.00	2.88	0.00	0.000	4	0.000	0.095	2440	3911	3400	0	0	0	0	0	0
3638	-0.88	-146.0	346.4	-7.9	415	3643	0.12	2.75	0.00	0.000	6	0.130	0.071	2400	2552	3400	0	0	0	0	0	0
3962	-0.80	-146.0	375.0	-8.8	445	3968	0.12	2.90	0.00	0.000	4	0.209	0.094	2425	3912	3400	0	0	0	0	0	0
4103	-0.80	-146.0	387.2	-8.7	457	4108	0.00	2.72	0.00	0.000	6	0.000	0.069	2425	2563	3400	0	0	0	0	0	0
4427	-0.80	-146.0	415.4	-8.6	487	4432	0.00	2.85	0.00	0.000	4	0.000	0.093	2425	3912	3401	0	0	0	0	0	0
4538	-0.80	-146.0	425.5	-8.8	496	4544	0.00	2.70	0.00	0.000	6	0.000	0.068	2426	2577	3401	0	0	0	0	0	0
4863	-0.80	-146.0	454.5	-9.1	527	4868	0.00	2.85	0.00	0.000	4	0.000	0.093	2425	3917	3401	0	0	0	0	0	0
4985	-0.80	-146.0	466.0	-9.2	537	4991	0.00	2.67	0.00	0.000	6	0.000	0.067	2426	2588	3401	0	0	0	0	0	0
5310	-0.80	-146.0	493.6	-8.2	568	5315	0.00	2.83	0.00	0.000	4	0.000	0.092	2425	3921	3402	0	0	0	0	0	0
5445	-0.80	-146.0	504.9	-8.5	579	5450	0.00	2.67	0.00	0.000	6	0.000	0.067	2425	2600	3402	0	0	0	0	0	0
5769	-0.80	-146.0	531.1	-8.2	610	5774	0.00	2.80	0.00	0.000	4	0.000	0.092	2425	3920	3403	0	0	0	0	0	0
5865	-0.80	-146.0	539.1	-8.8	618	5869	0.00	2.65	0.00	0.000	6	0.000	0.067	2425	2608	3402	0	0	0	0	0	0
6000	end dive: BOTTOM_OBSTACLE_DETECTED
state	6000	begin apogee
6006	-0.16	0.0	550.1	8.2	630	6132	0.75	0.00	121.32	1.121	6	0.187	0.000	2629	1952	2800	0	0	0	0	0	0
6133	end apogee: CONTROL_FINISHED_OK
state	6133	begin climb
6135	0.73	146.0	553.8	0.0	643	6271	0.98	2.53	126.35	1.066	4	0.140	0.094	2922	361	2203	0	0	0	0	0	0
6323	0.64	146.0	540.5	10.1	661	6327	0.00	2.38	0.00	0.000	6	0.000	0.067	2922	1957	2199	0	0	0	0	0	0
6647	0.56	146.0	507.3	10.4	691	6653	0.22	3.30	0.00	0.000	4	0.205	0.082	2857	3538	2194	0	0	0	0	0	0
6750	0.62	148.4	498.1	9.1	699	6756	0.00	3.25	0.00	0.000	6	0.000	0.075	2869	1959	2193	0	0	0	0	0	0
7075	0.76	176.3	471.6	8.0	730	7107	0.20	3.28	25.00	1.024	4	0.103	0.084	2938	3535	2080	0	0	0	0	0	0
7176	0.58	176.3	459.1	13.7	739	7182	0.30	3.22	0.00	0.000	6	0.210	0.077	2882	1962	2077	0	0	0	0	0	0
7500	0.65	176.3	425.8	10.2	769	7505	0.00	3.22	0.00	0.000	4	0.000	0.084	2881	3538	2075	0	0	0	0	0	0
7595	0.65	176.3	415.2	11.6	777	7600	0.00	3.15	0.00	0.000	6	0.000	0.076	2894	1984	2075	0	0	0	0	0	0
7920	0.69	176.3	381.9	10.0	807	7925	0.00	3.17	0.00	0.000	4	0.000	0.084	2894	3537	2075	0	0	0	0	0	0
7997	0.69	176.3	373.2	11.0	813	8003	0.00	3.10	0.00	0.000	6	0.000	0.075	2907	2005	2073	0	0	0	0	0	0
8322	0.69	176.3	339.8	10.3	844	8327	0.00	3.12	0.00	0.000	4	0.000	0.084	2907	3533	2073	0	0	0	0	0	0
8410	0.63	176.3	330.1	10.9	851	8416	0.00	3.08	0.00	0.000	6	0.000	0.076	2920	2018	2073	0	0	0	0	0	0
8735	0.63	176.3	299.1	9.4	882	8740	0.00	3.10	0.00	0.000	4	0.000	0.084	2920	3534	2073	0	0	0	0	0	0
8778	0.54	176.3	294.7	10.6	885	8785	0.28	3.05	0.00	0.000	6	0.205	0.075	2868	2029	2073	0	0	0	0	0	0
9103	0.77	228.5	272.4	7.0	916	9155	0.22	3.15	43.95	0.932	4	0.104	0.084	2945	3534	1867	0	0	0	0	0	0
9207	0.65	228.5	260.1	14.5	925	9214	0.22	3.10	0.00	0.000	6	0.205	0.075	2907	2035	1864	0	0	0	0	0	0
9533	0.72	228.5	222.0	12.7	956	9538	0.00	3.12	0.00	0.000	4	0.000	0.084	2906	3542	1860	0	0	0	0	0	0
9566	0.72	228.5	217.2	14.7	958	9572	0.00	3.05	0.00	0.000	6	0.000	0.075	2917	2048	1860	0	0	0	0	0	0
9891	0.78	228.5	179.9	10.0	989	9895	0.00	3.08	0.00	0.000	4	0.000	0.084	2917	3533	1860	0	0	0	0	0	0
9952	0.78	228.5	173.5	10.5	994	9957	0.00	3.03	0.00	0.000	6	0.000	0.076	2930	2057	1860	0	0	0	0	0	0
10277	0.85	228.5	140.8	9.9	1024	10282	0.10	3.05	0.00	0.000	4	0.126	0.085	2970	3534	1860	0	0	0	0	0	0
10310	0.72	228.5	136.9	12.6	1026	10317	0.25	3.00	0.00	0.000	6	0.207	0.076	2925	2065	1859	0	0	0	0	0	0
10635	0.83	228.5	108.8	9.4	1057	10640	0.00	3.05	0.00	0.000	4	0.000	0.086	2925	3540	1859	0	0	0	0	0	0
10701	0.83	228.5	101.7	11.1	1062	10707	0.00	3.00	0.00	0.000	6	0.000	0.077	2936	2072	1859	0	0	0	0	0	0
11045	0.91	228.5	65.7	11.3	1121	11051	0.15	3.03	0.00	0.000	4	0.110	0.087	2993	3533	1859	0	0	0	0	0	0
11091	0.72	228.5	58.8	15.0	1129	11097	0.32	2.97	0.00	0.000	6	0.204	0.077	2927	2079	1859	0	0	0	0	0	0
11436	0.94	324.9	24.4	5.1	1190	11525	0.20	3.12	80.05	0.797	4	0.108	0.088	2994	3532	1473	0	0	0	0	0	0
11577	0.81	324.9	6.6	18.0	1216	11584	0.22	3.03	0.00	0.000	6	0.196	0.078	2955	2094	1468	0	0	0	0	0	0
11605	end climb: SURFACE_DEPTH_REACHED
state	11605	begin surface coast
11618	end surface coast: CONTROL_FINISHED_OK
state	11619	begin surface