Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 338 * 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 338 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 15 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 28 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 -42302.5 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 -42302.5

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 15 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 338 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 202801,6708.053,-5710.744,40,1.5,40,-37.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 203320,6708.048,-5710.783,11,1.3,11,-37.7 MHEAD_RNG_PITCHd_Wd 157.3,18923,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 599

Post-dive calculations and measurements:

FREEZE 0.61,-0.202,-1.074,0,1,0 ALTIM_TOP_PING 19.9,19.9

FINISH 0.6,1.015870 ALTIM_BOTTOM_PING 500.4,140.6

SM_CCo 12871,115.80,0.726,0,0,1066,425.10 _24V_AH 22.6,63.413

SM_GC 1.47,0.00,0.00,115.80,0.000,0.000,0.726,125,2469,1066,-8.02,0.25,425.10 _10V_AH 10.1,33.589

RAFOS_CLK 788 FG_AHR_24Vo 0.000

RAFOS 4,1261168438,20.566668,20.566111,60,57,57,0,0,0,192,180,124,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6707.912598,-5712.275879,181209,161656,2,91,0.38 MEM 152552

IRIDIUM_FIX 6641.98,-5710.89,140399,171706 DATA_FILE_SIZE 50307,1329

TT8_MAMPS 0.027612 CAP_FILE_SIZE 152895,0

HUMID 46.92 CFSIZE 260165632,223817728

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,141,0,0

TCM_TEMP 17.20 SOUNDSPEED 1469.0

XPDR_PINGS 4 GPS 191209,001131,6707.655,-5709.618,38,1.2,38,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 286 151.70 SBE_CT 972 24 527.34

Roll_motor 165 97 365.33 SBE_O2 906 19 389.29

VBD_pump_during_apogee 326 1099 8113.40 nil 0 0 0.00

VBD_pump_during_surface 115 726 1900.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 70.17 nil 0 0 0.00

Iridium_during_connect 32 160 117.69 nil 0 0 0.00

Iridium_during_xfer 136 223 686.26

Transponder_ping 2 420 26.10

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.52

TT8 2225 19 447.74

LPSleep 7630 2 178.02

TT8_Active 631 19 127.02

TT8_Sampling 2392 39 964.47

TT8_CF8 419 45 194.47

TT8_Kalman 0 0 0.00

Analog_circuits 1841 12 223.24

GPS_charging 0 0 0.00

Compass 2345 8 189.53

RAFOS 1440 1 21.82

Transponder 14 30 4.39

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.73 -146.0 0.0 0.0 0 133 0.00 0.00 -115.47 0.000 2 0.000 0.000 125 2465 3174 0 0 0 0 0 0

137 -0.73 -146.0 3.5 -5.8 23 163 11.02 2.28 -5.85 0.000 4 0.287 0.097 2445 862 3400 0 0 0 0 0 0

232 -0.73 -146.0 18.9 -11.6 40 237 0.00 2.12 0.00 0.000 6 0.000 0.067 2445 2454 3402 0 0 0 0 0 0

574 -0.73 -146.0 55.1 -10.2 101 579 0.00 2.17 0.00 0.000 4 0.000 0.085 2445 861 3401 0 0 0 0 0 0

833 -0.73 -146.0 84.5 -11.4 147 838 0.00 2.22 0.00 0.000 6 0.000 0.069 2445 2504 3402 0 0 0 0 0 0

1166 -0.73 -146.0 118.1 -9.8 191 1171 0.00 3.25 0.00 0.000 4 0.000 0.089 2445 3929 3401 0 0 3 0 0 0

1411 -0.73 -146.0 141.9 -9.3 212 1418 0.00 3.05 0.00 0.000 6 0.000 0.064 2445 2534 3400 0 0 3 0 0 0

1737 -0.81 -146.0 168.2 -8.2 243 1742 0.00 3.17 0.00 0.000 4 0.000 0.087 2445 3917 3398 0 0 3 0 0 0

1984 -0.90 -146.0 189.6 -8.3 264 1991 0.15 2.95 0.00 0.000 6 0.117 0.064 2396 2578 3398 0 0 3 0 0 0

2309 -0.83 -146.0 223.4 -10.5 295 2314 0.00 3.08 0.00 0.000 4 0.000 0.085 2396 3920 3397 0 0 4 0 0 0

2566 -0.76 -146.0 251.0 -9.7 317 2573 0.20 2.88 0.00 0.000 6 0.196 0.061 2444 2617 3397 0 0 2 0 0 0

2891 -0.85 -146.0 272.7 -6.3 348 2896 0.00 2.97 0.00 0.000 4 0.000 0.083 2444 3924 3398 0 0 4 0 0 0

3100 -0.95 -146.0 285.8 -6.2 366 3105 0.20 2.80 0.00 0.000 6 0.101 0.059 2373 2636 3398 0 0 3 0 0 0

3424 -0.82 -146.0 315.4 -9.4 396 3430 0.20 2.92 0.00 0.000 4 0.196 0.079 2413 3924 3399 0 0 4 0 0 0

3503 -0.82 -146.0 322.2 -8.3 402 3509 0.00 2.78 0.00 0.000 6 0.000 0.057 2413 2644 3399 0 0 3 0 0 0

3829 -0.82 -146.0 348.4 -8.1 433 3834 0.00 2.92 0.00 0.000 4 0.000 0.081 2413 3926 3400 0 0 3 0 0 0

3953 -0.82 -146.0 358.9 -8.1 443 3959 0.00 2.78 0.00 0.000 6 0.000 0.057 2413 2651 3400 0 0 3 0 0 0

4277 -0.82 -146.0 384.1 -7.9 474 4282 0.00 2.92 0.00 0.000 4 0.000 0.080 2413 3927 3401 0 0 3 0 0 0

4444 -0.82 -146.0 397.6 -8.0 488 4450 0.00 2.75 0.00 0.000 6 0.000 0.056 2414 2666 3401 0 0 3 0 0 0

4769 -0.82 -146.0 425.5 -9.6 519 4774 0.00 2.90 0.00 0.000 4 0.000 0.080 2413 3924 3402 0 0 2 0 0 0

4936 -0.82 -146.0 442.3 -10.0 533 4942 0.00 2.72 0.00 0.000 6 0.000 0.055 2414 2680 3401 0 0 3 0 0 0

5261 -0.82 -146.0 472.6 -9.0 564 5266 0.00 2.88 0.00 0.000 4 0.000 0.080 2413 3918 3402 0 0 2 0 0 0

5418 -0.82 -146.0 487.4 -9.0 577 5424 0.00 2.70 0.00 0.000 6 0.000 0.055 2413 2702 3402 0 0 2 0 0 0

5742 -0.82 -146.0 513.1 -7.0 608 5747 0.00 2.85 0.00 0.000 4 0.000 0.078 2413 3929 3403 0 0 2 0 0 0

5873 -0.82 -146.0 523.2 -7.8 619 5877 0.00 2.67 0.00 0.000 6 0.000 0.055 2413 2714 3403 0 0 3 0 0 0

6197 -0.82 -146.0 547.0 -7.0 649 6202 0.00 2.80 0.00 0.000 4 0.000 0.080 2413 3918 3403 0 0 3 0 0 0

6320 -0.82 -146.0 555.8 -6.9 659 6325 0.00 2.62 0.00 0.000 6 0.000 0.054 2413 2736 3403 0 0 3 0 0 0

6644 -0.82 -146.0 579.1 -7.7 690 6649 0.00 2.78 0.00 0.000 4 0.000 0.080 2413 3922 3403 0 0 3 0 0 0

6802 -0.82 -146.0 590.9 -7.9 703 6807 0.00 2.58 0.00 0.000 6 0.000 0.054 2413 2756 3403 0 0 3 0 0 0

6922 end dive: TARGET_DEPTH_EXCEEDED

state 6922 begin apogee

6928 -0.16 0.0 599.7 7.0 715 7055 0.77 0.00 123.15 1.100 6 0.177 0.000 2629 1941 2800 0 0 0 0 0 0

7056 end apogee: CONTROL_FINISHED_OK

state 7056 begin climb

7058 0.73 146.0 601.3 0.0 720 7191 0.95 0.00 125.45 1.052 6 0.127 0.000 2914 1940 2204 0 0 0 0 0 0

7508 0.73 146.0 553.0 11.9 761 7514 0.00 3.58 0.00 0.000 4 0.000 0.072 2914 3547 2196 0 0 4 0 0 0

7650 0.62 146.0 534.4 13.2 773 7656 0.17 3.53 0.00 0.000 6 0.205 0.065 2892 1964 2195 0 0 1 0 0 0

7974 0.62 146.0 499.9 10.7 803 7979 0.00 3.50 0.00 0.000 4 0.000 0.073 2892 3550 2194 0 0 3 0 0 0

8074 0.62 146.0 488.5 11.0 811 8080 0.00 3.45 0.00 0.000 6 0.000 0.067 2905 1977 2193 0 0 3 0 0 0

8399 0.62 146.0 456.4 9.4 842 8404 0.00 3.45 0.00 0.000 4 0.000 0.074 2905 3546 2193 0 0 4 0 0 0

8524 0.54 146.0 442.9 11.7 852 8531 0.22 3.42 0.00 0.000 6 0.193 0.067 2866 1994 2192 0 0 3 0 0 0

8849 0.68 185.0 417.8 7.5 883 8891 0.15 3.53 31.50 0.967 4 0.112 0.074 2917 3549 2044 0 0 4 0 0 0

9015 0.60 185.0 398.6 11.9 898 9021 0.20 3.45 0.00 0.000 6 0.193 0.066 2886 2024 2041 0 0 1 0 0 0

9340 0.67 185.0 369.0 9.3 928 9345 0.00 3.40 0.00 0.000 4 0.000 0.074 2886 3545 2039 0 0 3 0 0 0

9463 0.67 185.0 356.1 10.6 938 9469 0.00 3.35 0.00 0.000 6 0.000 0.066 2899 2046 2039 0 0 3 0 0 0

9787 0.67 185.0 322.6 10.4 969 9792 0.00 3.40 0.00 0.000 4 0.000 0.074 2899 3553 2039 0 0 3 0 0 0

9916 0.67 185.0 307.6 11.5 980 9921 0.00 3.38 0.00 0.000 6 0.000 0.066 2914 2057 2038 0 0 1 0 0 0

10240 0.67 185.0 270.7 11.6 1010 10245 0.00 3.35 0.00 0.000 4 0.000 0.073 2913 3549 2038 0 0 3 0 0 0

10324 0.67 185.0 260.4 12.2 1017 10329 0.00 3.30 0.00 0.000 6 0.000 0.066 2929 2075 2038 0 0 3 0 0 0

10649 0.67 185.0 220.7 12.6 1047 10655 0.00 3.33 0.00 0.000 4 0.000 0.073 2929 3548 2038 0 0 3 0 0 0

10711 0.57 185.0 212.5 13.2 1052 10717 0.28 3.28 0.00 0.000 6 0.193 0.064 2875 2083 2038 0 0 3 0 0 0

11036 0.73 204.6 183.5 8.3 1082 11061 0.15 3.38 16.65 0.802 4 0.111 0.072 2928 3550 1964 0 0 3 0 0 0

11150 0.68 204.6 169.7 12.4 1092 11156 0.15 3.30 0.00 0.000 6 0.199 0.065 2910 2102 1962 0 0 2 0 0 0

11475 0.75 213.2 138.6 8.8 1123 11489 0.00 3.30 8.38 0.724 4 0.000 0.072 2910 3546 1929 0 0 3 0 0 0

11545 0.75 213.2 131.7 10.2 1129 11551 0.00 3.28 0.00 0.000 6 0.000 0.064 2922 2101 1928 0 0 4 0 0 0

11870 0.86 237.7 105.0 8.1 1160 11902 0.12 3.33 21.27 0.769 4 0.106 0.071 2972 3550 1830 0 0 3 0 0 0

12003 0.78 237.7 89.8 12.2 1179 12010 0.17 3.30 0.00 0.000 6 0.197 0.064 2947 2122 1829 0 0 1 0 0 0

12348 0.84 237.7 56.5 9.7 1240 12354 0.00 3.28 0.00 0.000 4 0.000 0.074 2947 3547 1829 0 0 3 0 0 0

12463 0.84 237.7 43.7 11.6 1260 12468 0.00 3.25 0.00 0.000 6 0.000 0.066 2959 2132 1828 0 0 2 0 0 0

12806 0.84 237.7 5.2 10.6 1321 12812 0.00 3.28 0.00 0.000 4 0.000 0.076 2959 3549 1828 0 0 3 0 0 0

12835 end climb: SURFACE_DEPTH_REACHED

state 12835 begin surface coast

12851 end surface coast: CONTROL_FINISHED_OK

state 12853 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	338	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	15	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	28	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	-42302.5	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	202801,6708.053,-5710.744,40,1.5,40,-37.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	203320,6708.048,-5710.783,11,1.3,11,-37.7	MHEAD_RNG_PITCHd_Wd	157.3,18923,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	599

FREEZE	0.61,-0.202,-1.074,0,1,0	ALTIM_TOP_PING	19.9,19.9
FINISH	0.6,1.015870	ALTIM_BOTTOM_PING	500.4,140.6
SM_CCo	12871,115.80,0.726,0,0,1066,425.10	_24V_AH	22.6,63.413
SM_GC	1.47,0.00,0.00,115.80,0.000,0.000,0.726,125,2469,1066,-8.02,0.25,425.10	_10V_AH	10.1,33.589
RAFOS_CLK	788	FG_AHR_24Vo	0.000
RAFOS	4,1261168438,20.566668,20.566111,60,57,57,0,0,0,192,180,124,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6707.912598,-5712.275879,181209,161656,2,91,0.38	MEM	152552
IRIDIUM_FIX	6641.98,-5710.89,140399,171706	DATA_FILE_SIZE	50307,1329
TT8_MAMPS	0.027612	CAP_FILE_SIZE	152895,0
HUMID	46.92	CFSIZE	260165632,223817728
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,141,0,0
TCM_TEMP	17.20	SOUNDSPEED	1469.0
XPDR_PINGS	4	GPS	191209,001131,6707.655,-5709.618,38,1.2,38,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	286	151.70	SBE_CT	972	24	527.34
Roll_motor	165	97	365.33	SBE_O2	906	19	389.29
VBD_pump_during_apogee	326	1099	8113.40	nil	0	0	0.00
VBD_pump_during_surface	115	726	1900.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	70.17	nil	0	0	0.00
Iridium_during_connect	32	160	117.69	nil	0	0	0.00
Iridium_during_xfer	136	223	686.26
Transponder_ping	2	420	26.10
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.52
TT8	2225	19	447.74
LPSleep	7630	2	178.02
TT8_Active	631	19	127.02
TT8_Sampling	2392	39	964.47
TT8_CF8	419	45	194.47
TT8_Kalman	0	0	0.00
Analog_circuits	1841	12	223.24
GPS_charging	0	0	0.00
Compass	2345	8	189.53
RAFOS	1440	1	21.82
Transponder	14	30	4.39

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.73	-146.0	0.0	0.0	0	133	0.00	0.00	-115.47	0.000	2	0.000	0.000	125	2465	3174	0	0	0	0	0	0
137	-0.73	-146.0	3.5	-5.8	23	163	11.02	2.28	-5.85	0.000	4	0.287	0.097	2445	862	3400	0	0	0	0	0	0
232	-0.73	-146.0	18.9	-11.6	40	237	0.00	2.12	0.00	0.000	6	0.000	0.067	2445	2454	3402	0	0	0	0	0	0
574	-0.73	-146.0	55.1	-10.2	101	579	0.00	2.17	0.00	0.000	4	0.000	0.085	2445	861	3401	0	0	0	0	0	0
833	-0.73	-146.0	84.5	-11.4	147	838	0.00	2.22	0.00	0.000	6	0.000	0.069	2445	2504	3402	0	0	0	0	0	0
1166	-0.73	-146.0	118.1	-9.8	191	1171	0.00	3.25	0.00	0.000	4	0.000	0.089	2445	3929	3401	0	0	3	0	0	0
1411	-0.73	-146.0	141.9	-9.3	212	1418	0.00	3.05	0.00	0.000	6	0.000	0.064	2445	2534	3400	0	0	3	0	0	0
1737	-0.81	-146.0	168.2	-8.2	243	1742	0.00	3.17	0.00	0.000	4	0.000	0.087	2445	3917	3398	0	0	3	0	0	0
1984	-0.90	-146.0	189.6	-8.3	264	1991	0.15	2.95	0.00	0.000	6	0.117	0.064	2396	2578	3398	0	0	3	0	0	0
2309	-0.83	-146.0	223.4	-10.5	295	2314	0.00	3.08	0.00	0.000	4	0.000	0.085	2396	3920	3397	0	0	4	0	0	0
2566	-0.76	-146.0	251.0	-9.7	317	2573	0.20	2.88	0.00	0.000	6	0.196	0.061	2444	2617	3397	0	0	2	0	0	0
2891	-0.85	-146.0	272.7	-6.3	348	2896	0.00	2.97	0.00	0.000	4	0.000	0.083	2444	3924	3398	0	0	4	0	0	0
3100	-0.95	-146.0	285.8	-6.2	366	3105	0.20	2.80	0.00	0.000	6	0.101	0.059	2373	2636	3398	0	0	3	0	0	0
3424	-0.82	-146.0	315.4	-9.4	396	3430	0.20	2.92	0.00	0.000	4	0.196	0.079	2413	3924	3399	0	0	4	0	0	0
3503	-0.82	-146.0	322.2	-8.3	402	3509	0.00	2.78	0.00	0.000	6	0.000	0.057	2413	2644	3399	0	0	3	0	0	0
3829	-0.82	-146.0	348.4	-8.1	433	3834	0.00	2.92	0.00	0.000	4	0.000	0.081	2413	3926	3400	0	0	3	0	0	0
3953	-0.82	-146.0	358.9	-8.1	443	3959	0.00	2.78	0.00	0.000	6	0.000	0.057	2413	2651	3400	0	0	3	0	0	0
4277	-0.82	-146.0	384.1	-7.9	474	4282	0.00	2.92	0.00	0.000	4	0.000	0.080	2413	3927	3401	0	0	3	0	0	0
4444	-0.82	-146.0	397.6	-8.0	488	4450	0.00	2.75	0.00	0.000	6	0.000	0.056	2414	2666	3401	0	0	3	0	0	0
4769	-0.82	-146.0	425.5	-9.6	519	4774	0.00	2.90	0.00	0.000	4	0.000	0.080	2413	3924	3402	0	0	2	0	0	0
4936	-0.82	-146.0	442.3	-10.0	533	4942	0.00	2.72	0.00	0.000	6	0.000	0.055	2414	2680	3401	0	0	3	0	0	0
5261	-0.82	-146.0	472.6	-9.0	564	5266	0.00	2.88	0.00	0.000	4	0.000	0.080	2413	3918	3402	0	0	2	0	0	0
5418	-0.82	-146.0	487.4	-9.0	577	5424	0.00	2.70	0.00	0.000	6	0.000	0.055	2413	2702	3402	0	0	2	0	0	0
5742	-0.82	-146.0	513.1	-7.0	608	5747	0.00	2.85	0.00	0.000	4	0.000	0.078	2413	3929	3403	0	0	2	0	0	0
5873	-0.82	-146.0	523.2	-7.8	619	5877	0.00	2.67	0.00	0.000	6	0.000	0.055	2413	2714	3403	0	0	3	0	0	0
6197	-0.82	-146.0	547.0	-7.0	649	6202	0.00	2.80	0.00	0.000	4	0.000	0.080	2413	3918	3403	0	0	3	0	0	0
6320	-0.82	-146.0	555.8	-6.9	659	6325	0.00	2.62	0.00	0.000	6	0.000	0.054	2413	2736	3403	0	0	3	0	0	0
6644	-0.82	-146.0	579.1	-7.7	690	6649	0.00	2.78	0.00	0.000	4	0.000	0.080	2413	3922	3403	0	0	3	0	0	0
6802	-0.82	-146.0	590.9	-7.9	703	6807	0.00	2.58	0.00	0.000	6	0.000	0.054	2413	2756	3403	0	0	3	0	0	0
6922	end dive: TARGET_DEPTH_EXCEEDED
state	6922	begin apogee
6928	-0.16	0.0	599.7	7.0	715	7055	0.77	0.00	123.15	1.100	6	0.177	0.000	2629	1941	2800	0	0	0	0	0	0
7056	end apogee: CONTROL_FINISHED_OK
state	7056	begin climb
7058	0.73	146.0	601.3	0.0	720	7191	0.95	0.00	125.45	1.052	6	0.127	0.000	2914	1940	2204	0	0	0	0	0	0
7508	0.73	146.0	553.0	11.9	761	7514	0.00	3.58	0.00	0.000	4	0.000	0.072	2914	3547	2196	0	0	4	0	0	0
7650	0.62	146.0	534.4	13.2	773	7656	0.17	3.53	0.00	0.000	6	0.205	0.065	2892	1964	2195	0	0	1	0	0	0
7974	0.62	146.0	499.9	10.7	803	7979	0.00	3.50	0.00	0.000	4	0.000	0.073	2892	3550	2194	0	0	3	0	0	0
8074	0.62	146.0	488.5	11.0	811	8080	0.00	3.45	0.00	0.000	6	0.000	0.067	2905	1977	2193	0	0	3	0	0	0
8399	0.62	146.0	456.4	9.4	842	8404	0.00	3.45	0.00	0.000	4	0.000	0.074	2905	3546	2193	0	0	4	0	0	0
8524	0.54	146.0	442.9	11.7	852	8531	0.22	3.42	0.00	0.000	6	0.193	0.067	2866	1994	2192	0	0	3	0	0	0
8849	0.68	185.0	417.8	7.5	883	8891	0.15	3.53	31.50	0.967	4	0.112	0.074	2917	3549	2044	0	0	4	0	0	0
9015	0.60	185.0	398.6	11.9	898	9021	0.20	3.45	0.00	0.000	6	0.193	0.066	2886	2024	2041	0	0	1	0	0	0
9340	0.67	185.0	369.0	9.3	928	9345	0.00	3.40	0.00	0.000	4	0.000	0.074	2886	3545	2039	0	0	3	0	0	0
9463	0.67	185.0	356.1	10.6	938	9469	0.00	3.35	0.00	0.000	6	0.000	0.066	2899	2046	2039	0	0	3	0	0	0
9787	0.67	185.0	322.6	10.4	969	9792	0.00	3.40	0.00	0.000	4	0.000	0.074	2899	3553	2039	0	0	3	0	0	0
9916	0.67	185.0	307.6	11.5	980	9921	0.00	3.38	0.00	0.000	6	0.000	0.066	2914	2057	2038	0	0	1	0	0	0
10240	0.67	185.0	270.7	11.6	1010	10245	0.00	3.35	0.00	0.000	4	0.000	0.073	2913	3549	2038	0	0	3	0	0	0
10324	0.67	185.0	260.4	12.2	1017	10329	0.00	3.30	0.00	0.000	6	0.000	0.066	2929	2075	2038	0	0	3	0	0	0
10649	0.67	185.0	220.7	12.6	1047	10655	0.00	3.33	0.00	0.000	4	0.000	0.073	2929	3548	2038	0	0	3	0	0	0
10711	0.57	185.0	212.5	13.2	1052	10717	0.28	3.28	0.00	0.000	6	0.193	0.064	2875	2083	2038	0	0	3	0	0	0
11036	0.73	204.6	183.5	8.3	1082	11061	0.15	3.38	16.65	0.802	4	0.111	0.072	2928	3550	1964	0	0	3	0	0	0
11150	0.68	204.6	169.7	12.4	1092	11156	0.15	3.30	0.00	0.000	6	0.199	0.065	2910	2102	1962	0	0	2	0	0	0
11475	0.75	213.2	138.6	8.8	1123	11489	0.00	3.30	8.38	0.724	4	0.000	0.072	2910	3546	1929	0	0	3	0	0	0
11545	0.75	213.2	131.7	10.2	1129	11551	0.00	3.28	0.00	0.000	6	0.000	0.064	2922	2101	1928	0	0	4	0	0	0
11870	0.86	237.7	105.0	8.1	1160	11902	0.12	3.33	21.27	0.769	4	0.106	0.071	2972	3550	1830	0	0	3	0	0	0
12003	0.78	237.7	89.8	12.2	1179	12010	0.17	3.30	0.00	0.000	6	0.197	0.064	2947	2122	1829	0	0	1	0	0	0
12348	0.84	237.7	56.5	9.7	1240	12354	0.00	3.28	0.00	0.000	4	0.000	0.074	2947	3547	1829	0	0	3	0	0	0
12463	0.84	237.7	43.7	11.6	1260	12468	0.00	3.25	0.00	0.000	6	0.000	0.066	2959	2132	1828	0	0	2	0	0	0
12806	0.84	237.7	5.2	10.6	1321	12812	0.00	3.28	0.00	0.000	4	0.000	0.076	2959	3549	1828	0	0	3	0	0	0
12835	end climb: SURFACE_DEPTH_REACHED
state	12835	begin surface coast
12851	end surface coast: CONTROL_FINISHED_OK
state	12853	begin surface