Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 339 * 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 339 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 14 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 15 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 -42319.055 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 -42319.055

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 14 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 15 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 339 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 001131,6707.655,-5709.618,38,1.2,38,-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 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 001725,6707.651,-5709.664,14,1.2,14,-37.7 MHEAD_RNG_PITCHd_Wd 156.5,17859,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 599

Post-dive calculations and measurements:

FREEZE 0.59,-0.275,-1.101,0,1,0 ALTIM_TOP_PING 19.6,19.1

FINISH 0.6,1.016268 ALTIM_BOTTOM_PING 500.7,133.5

SM_CCo 12611,130.38,0.719,0,0,1066,425.10 _24V_AH 22.6,63.542

SM_GC 1.38,0.00,0.00,130.38,0.000,0.000,0.719,125,2458,1066,-8.02,-0.08,425.10 _10V_AH 10.1,33.666

RAFOS_CLK 777 FG_AHR_24Vo 0.000

RAFOS 3,1261182306,0.433333,0.418333,59,58,57,0,0,0,209,171,190,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6704.868164,-5715.641602,191209,000044,2,78,4.26 MEM 152556

IRIDIUM_FIX 6641.98,-5709.24,140399,202045 DATA_FILE_SIZE 50512,1309

TT8_MAMPS 0.026078 CAP_FILE_SIZE 153237,0

HUMID 46.69 CFSIZE 260165632,223735808

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,152,0,0

TCM_TEMP 17.20 SOUNDSPEED 1468.7

XPDR_PINGS 2 GPS 191209,035136,6708.298,-5711.220,37,1.0,37,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 288 154.14 SBE_CT 955 24 518.41

Roll_motor 170 97 375.62 SBE_O2 894 19 383.95

VBD_pump_during_apogee 298 1100 7432.52 nil 0 0 0.00

VBD_pump_during_surface 130 718 2117.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 64.92 nil 0 0 0.00

Iridium_during_connect 39 160 141.06 nil 0 0 0.00

Iridium_during_xfer 156 223 789.76

Transponder_ping 2 420 23.73

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.04

TT8 2273 19 457.48

LPSleep 7398 2 172.60

TT8_Active 626 19 125.97

TT8_Sampling 2348 39 946.85

TT8_CF8 448 45 207.82

TT8_Kalman 0 0 0.00

Analog_circuits 1811 12 219.56

GPS_charging 0 0 0.00

Compass 2299 8 185.83

RAFOS 1440 1 21.82

Transponder 17 30 5.31

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 0 133 0.00 0.00 -114.82 0.000 2 0.000 0.000 125 2470 3137 0 0 0 0 0 0

137 -0.73 -146.0 3.3 -5.5 23 164 11.10 2.25 -6.95 0.000 4 0.288 0.097 2443 861 3399 0 0 0 0 0 0

299 -0.73 -146.0 26.8 -12.5 52 304 0.00 2.12 0.00 0.000 6 0.000 0.067 2443 2462 3401 0 0 0 0 0 0

641 -0.73 -146.0 66.6 -11.5 113 647 0.00 3.35 0.00 0.000 4 0.000 0.087 2444 3929 3401 0 0 3 0 0 0

894 -0.73 -146.0 94.9 -10.5 158 900 0.00 3.12 0.00 0.000 6 0.000 0.064 2443 2500 3401 0 0 3 0 0 0

1222 -0.73 -146.0 121.6 -6.7 193 1227 0.00 3.25 0.00 0.000 4 0.000 0.087 2443 3928 3399 0 0 4 0 0 0

1480 -0.81 -146.0 143.4 -9.4 215 1486 0.00 3.03 0.00 0.000 6 0.000 0.064 2444 2556 3398 0 0 3 0 0 0

1805 -0.89 -146.0 171.8 -8.1 246 1811 0.12 3.15 0.00 0.000 4 0.123 0.085 2400 3918 3398 0 0 3 0 0 0

1984 -0.89 -146.0 190.0 -9.9 261 1990 0.00 2.97 0.00 0.000 6 0.000 0.061 2400 2571 3397 0 0 2 0 0 0

2309 -0.89 -146.0 220.3 -9.4 292 2314 0.00 3.10 0.00 0.000 4 0.000 0.085 2399 3930 3397 0 0 4 0 0 0

2562 -0.84 -146.0 244.7 -9.7 314 2567 0.00 2.88 0.00 0.000 6 0.000 0.061 2399 2618 3397 0 0 3 0 0 0

2886 -0.79 -146.0 275.6 -9.3 344 2892 0.15 3.00 0.00 0.000 4 0.204 0.081 2428 3920 3397 0 0 3 0 0 0

3022 -0.84 -146.0 287.1 -8.7 355 3028 0.00 2.83 0.00 0.000 6 0.000 0.058 2428 2626 3398 0 0 3 0 0 0

3347 -0.90 -146.0 314.7 -8.8 386 3352 0.00 2.95 0.00 0.000 4 0.000 0.081 2428 3925 3399 0 0 4 0 0 0

3532 -0.95 -146.0 331.7 -9.2 402 3538 0.12 2.80 0.00 0.000 6 0.110 0.058 2384 2637 3399 0 0 3 0 0 0

3857 -0.87 -146.0 364.4 -9.6 432 3862 0.00 2.92 0.00 0.000 4 0.000 0.081 2383 3929 3400 0 0 4 0 0 0

4069 -0.78 -146.0 386.3 -9.6 450 4076 0.20 2.78 0.00 0.000 6 0.189 0.056 2432 2667 3400 0 0 2 0 0 0

4394 -0.86 -146.0 410.9 -7.2 481 4399 0.00 2.90 0.00 0.000 4 0.000 0.079 2432 3929 3401 0 0 3 0 0 0

4536 -0.94 -146.0 421.7 -8.0 493 4541 0.15 2.72 0.00 0.000 6 0.111 0.055 2381 2685 3401 0 0 3 0 0 0

4860 -0.85 -146.0 451.2 -9.5 523 4866 0.15 2.88 0.00 0.000 4 0.196 0.079 2413 3929 3401 0 0 3 0 0 0

5006 -0.85 -146.0 464.1 -8.0 535 5012 0.00 2.67 0.00 0.000 6 0.000 0.054 2413 2709 3401 0 0 3 0 0 0

5331 -0.85 -146.0 489.0 -7.6 566 5335 0.00 2.83 0.00 0.000 4 0.000 0.079 2413 3929 3402 0 0 3 0 0 0

5426 -0.85 -146.0 496.7 -7.9 574 5431 0.00 2.65 0.00 0.000 6 0.000 0.054 2413 2723 3402 0 0 3 0 0 0

5751 -0.85 -146.0 522.2 -8.0 604 5755 0.00 2.80 0.00 0.000 4 0.000 0.079 2413 3930 3403 0 0 3 0 0 0

5881 -0.85 -146.0 532.8 -8.6 615 5885 0.00 2.62 0.00 0.000 6 0.000 0.055 2413 2741 3403 0 0 3 0 0 0

6206 -0.85 -146.0 558.1 -8.0 645 6211 0.00 2.78 0.00 0.000 4 0.000 0.080 2413 3928 3403 0 0 3 0 0 0

6352 -0.85 -146.0 570.8 -8.1 657 6357 0.00 2.60 0.00 0.000 6 0.000 0.055 2413 2756 3403 0 0 3 0 0 0

6676 -0.85 -146.0 596.9 -7.2 688 6681 0.00 2.75 0.00 0.000 4 0.000 0.081 2413 3931 3403 0 0 5 0 0 0

6701 end dive: TARGET_DEPTH_EXCEEDED

state 6702 begin apogee

6710 -0.16 0.0 599.0 8.4 690 6837 0.77 0.00 122.88 1.101 6 0.176 0.000 2628 1935 2800 0 0 0 0 0 0

6838 end apogee: CONTROL_FINISHED_OK

state 6838 begin climb

6840 0.73 146.0 601.2 0.0 695 6974 0.95 2.15 125.57 1.053 4 0.126 0.083 2923 357 2202 0 0 0 0 0 0

7002 0.64 146.0 588.0 11.6 706 7008 0.00 2.08 0.00 0.000 6 0.000 0.054 2923 1992 2199 0 0 0 0 0 0

7327 0.55 146.0 549.9 11.8 737 7333 0.22 3.45 0.00 0.000 4 0.198 0.071 2854 3529 2195 0 0 4 0 0 0

7441 0.62 148.4 538.9 9.1 746 7447 0.00 3.47 0.00 0.000 6 0.000 0.064 2868 1959 2194 0 0 3 0 0 0

7766 0.74 174.0 512.0 8.1 777 7798 0.17 3.53 23.10 1.002 4 0.098 0.074 2930 3529 2089 0 0 3 0 0 0

7926 0.62 174.0 492.3 12.4 791 7933 0.22 3.47 0.00 0.000 6 0.202 0.067 2894 1971 2085 0 0 2 0 0 0

8251 0.62 174.0 459.9 9.8 822 8256 0.00 3.42 0.00 0.000 4 0.000 0.073 2893 3529 2085 0 0 4 0 0 0

8384 0.62 174.0 445.1 11.3 833 8391 0.00 3.38 0.00 0.000 6 0.000 0.067 2907 2000 2084 0 0 4 0 0 0

8709 0.62 174.0 409.2 11.5 864 8715 0.00 3.40 0.00 0.000 4 0.000 0.074 2907 3534 2084 0 0 4 0 0 0

8821 0.57 174.0 395.3 12.7 873 8828 0.20 3.38 0.00 0.000 6 0.194 0.067 2875 2014 2084 0 0 3 0 0 0

9146 0.67 174.0 363.6 9.8 904 9151 0.00 3.38 0.00 0.000 4 0.000 0.074 2875 3534 2084 0 0 4 0 0 0

9276 0.73 174.0 349.6 11.9 915 9282 0.12 3.33 0.00 0.000 6 0.111 0.065 2930 2043 2084 0 0 3 0 0 0

9600 0.67 174.0 309.3 12.6 945 9606 0.00 3.38 0.00 0.000 4 0.000 0.074 2931 3539 2084 0 0 3 0 0 0

9689 0.54 174.0 296.8 13.6 952 9696 0.30 3.30 0.00 0.000 6 0.197 0.066 2872 2060 2084 0 0 3 0 0 0

10014 0.66 174.0 264.4 9.7 983 10020 0.00 3.35 0.00 0.000 4 0.000 0.073 2872 3533 2084 0 0 2 0 0 0

10111 0.73 174.0 254.1 11.9 991 10116 0.12 3.28 0.00 0.000 6 0.113 0.064 2927 2069 2084 0 0 3 0 0 0

10435 0.73 174.0 214.6 12.1 1021 10440 0.00 3.33 0.00 0.000 4 0.000 0.072 2928 3537 2084 0 0 3 0 0 0

10554 0.64 174.0 198.8 13.6 1031 10560 0.17 3.25 0.00 0.000 6 0.202 0.065 2903 2089 2084 0 0 3 0 0 0

10879 0.69 174.0 164.1 10.3 1061 10884 0.00 3.28 0.00 0.000 4 0.000 0.072 2902 3534 2084 0 0 3 0 0 0

10952 0.69 174.0 155.9 11.2 1067 10957 0.00 3.22 0.00 0.000 6 0.000 0.064 2915 2105 2084 0 0 3 0 0 0

11277 0.75 174.0 122.9 10.0 1097 11282 0.00 3.28 0.00 0.000 4 0.000 0.073 2915 3533 2084 0 0 2 0 0 0

11350 0.75 174.0 115.2 11.0 1103 11355 0.00 3.20 0.00 0.000 6 0.000 0.064 2929 2122 2084 0 0 1 0 0 0

11685 0.80 179.4 85.3 8.9 1148 11696 0.00 3.20 5.25 0.615 4 0.000 0.071 2929 3531 2068 0 0 3 0 0 0

11764 0.80 179.4 77.2 10.2 1162 11769 0.00 3.15 0.00 0.000 6 0.000 0.064 2943 2124 2068 0 0 1 0 0 0

12107 0.84 204.5 45.9 8.1 1223 12138 0.00 3.22 22.00 0.742 4 0.000 0.074 2943 3523 1965 0 0 2 0 0 0

12202 0.84 204.5 37.4 9.6 1240 12208 0.00 3.17 0.00 0.000 6 0.000 0.065 2957 2122 1963 0 0 1 0 0 0

12546 0.84 204.5 4.7 10.2 1301 12552 0.00 3.22 0.00 0.000 4 0.000 0.075 2957 3530 1962 0 0 1 0 0 0

12574 end climb: SURFACE_DEPTH_REACHED

state 12574 begin surface coast

12591 end surface coast: CONTROL_FINISHED_OK

state 12591 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	339	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	14	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	15	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	-42319.055	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	001131,6707.655,-5709.618,38,1.2,38,-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	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	001725,6707.651,-5709.664,14,1.2,14,-37.7	MHEAD_RNG_PITCHd_Wd	156.5,17859,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	599

FREEZE	0.59,-0.275,-1.101,0,1,0	ALTIM_TOP_PING	19.6,19.1
FINISH	0.6,1.016268	ALTIM_BOTTOM_PING	500.7,133.5
SM_CCo	12611,130.38,0.719,0,0,1066,425.10	_24V_AH	22.6,63.542
SM_GC	1.38,0.00,0.00,130.38,0.000,0.000,0.719,125,2458,1066,-8.02,-0.08,425.10	_10V_AH	10.1,33.666
RAFOS_CLK	777	FG_AHR_24Vo	0.000
RAFOS	3,1261182306,0.433333,0.418333,59,58,57,0,0,0,209,171,190,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6704.868164,-5715.641602,191209,000044,2,78,4.26	MEM	152556
IRIDIUM_FIX	6641.98,-5709.24,140399,202045	DATA_FILE_SIZE	50512,1309
TT8_MAMPS	0.026078	CAP_FILE_SIZE	153237,0
HUMID	46.69	CFSIZE	260165632,223735808
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,152,0,0
TCM_TEMP	17.20	SOUNDSPEED	1468.7
XPDR_PINGS	2	GPS	191209,035136,6708.298,-5711.220,37,1.0,37,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	288	154.14	SBE_CT	955	24	518.41
Roll_motor	170	97	375.62	SBE_O2	894	19	383.95
VBD_pump_during_apogee	298	1100	7432.52	nil	0	0	0.00
VBD_pump_during_surface	130	718	2117.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	64.92	nil	0	0	0.00
Iridium_during_connect	39	160	141.06	nil	0	0	0.00
Iridium_during_xfer	156	223	789.76
Transponder_ping	2	420	23.73
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.04
TT8	2273	19	457.48
LPSleep	7398	2	172.60
TT8_Active	626	19	125.97
TT8_Sampling	2348	39	946.85
TT8_CF8	448	45	207.82
TT8_Kalman	0	0	0.00
Analog_circuits	1811	12	219.56
GPS_charging	0	0	0.00
Compass	2299	8	185.83
RAFOS	1440	1	21.82
Transponder	17	30	5.31

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	133	0.00	0.00	-114.82	0.000	2	0.000	0.000	125	2470	3137	0	0	0	0	0	0
137	-0.73	-146.0	3.3	-5.5	23	164	11.10	2.25	-6.95	0.000	4	0.288	0.097	2443	861	3399	0	0	0	0	0	0
299	-0.73	-146.0	26.8	-12.5	52	304	0.00	2.12	0.00	0.000	6	0.000	0.067	2443	2462	3401	0	0	0	0	0	0
641	-0.73	-146.0	66.6	-11.5	113	647	0.00	3.35	0.00	0.000	4	0.000	0.087	2444	3929	3401	0	0	3	0	0	0
894	-0.73	-146.0	94.9	-10.5	158	900	0.00	3.12	0.00	0.000	6	0.000	0.064	2443	2500	3401	0	0	3	0	0	0
1222	-0.73	-146.0	121.6	-6.7	193	1227	0.00	3.25	0.00	0.000	4	0.000	0.087	2443	3928	3399	0	0	4	0	0	0
1480	-0.81	-146.0	143.4	-9.4	215	1486	0.00	3.03	0.00	0.000	6	0.000	0.064	2444	2556	3398	0	0	3	0	0	0
1805	-0.89	-146.0	171.8	-8.1	246	1811	0.12	3.15	0.00	0.000	4	0.123	0.085	2400	3918	3398	0	0	3	0	0	0
1984	-0.89	-146.0	190.0	-9.9	261	1990	0.00	2.97	0.00	0.000	6	0.000	0.061	2400	2571	3397	0	0	2	0	0	0
2309	-0.89	-146.0	220.3	-9.4	292	2314	0.00	3.10	0.00	0.000	4	0.000	0.085	2399	3930	3397	0	0	4	0	0	0
2562	-0.84	-146.0	244.7	-9.7	314	2567	0.00	2.88	0.00	0.000	6	0.000	0.061	2399	2618	3397	0	0	3	0	0	0
2886	-0.79	-146.0	275.6	-9.3	344	2892	0.15	3.00	0.00	0.000	4	0.204	0.081	2428	3920	3397	0	0	3	0	0	0
3022	-0.84	-146.0	287.1	-8.7	355	3028	0.00	2.83	0.00	0.000	6	0.000	0.058	2428	2626	3398	0	0	3	0	0	0
3347	-0.90	-146.0	314.7	-8.8	386	3352	0.00	2.95	0.00	0.000	4	0.000	0.081	2428	3925	3399	0	0	4	0	0	0
3532	-0.95	-146.0	331.7	-9.2	402	3538	0.12	2.80	0.00	0.000	6	0.110	0.058	2384	2637	3399	0	0	3	0	0	0
3857	-0.87	-146.0	364.4	-9.6	432	3862	0.00	2.92	0.00	0.000	4	0.000	0.081	2383	3929	3400	0	0	4	0	0	0
4069	-0.78	-146.0	386.3	-9.6	450	4076	0.20	2.78	0.00	0.000	6	0.189	0.056	2432	2667	3400	0	0	2	0	0	0
4394	-0.86	-146.0	410.9	-7.2	481	4399	0.00	2.90	0.00	0.000	4	0.000	0.079	2432	3929	3401	0	0	3	0	0	0
4536	-0.94	-146.0	421.7	-8.0	493	4541	0.15	2.72	0.00	0.000	6	0.111	0.055	2381	2685	3401	0	0	3	0	0	0
4860	-0.85	-146.0	451.2	-9.5	523	4866	0.15	2.88	0.00	0.000	4	0.196	0.079	2413	3929	3401	0	0	3	0	0	0
5006	-0.85	-146.0	464.1	-8.0	535	5012	0.00	2.67	0.00	0.000	6	0.000	0.054	2413	2709	3401	0	0	3	0	0	0
5331	-0.85	-146.0	489.0	-7.6	566	5335	0.00	2.83	0.00	0.000	4	0.000	0.079	2413	3929	3402	0	0	3	0	0	0
5426	-0.85	-146.0	496.7	-7.9	574	5431	0.00	2.65	0.00	0.000	6	0.000	0.054	2413	2723	3402	0	0	3	0	0	0
5751	-0.85	-146.0	522.2	-8.0	604	5755	0.00	2.80	0.00	0.000	4	0.000	0.079	2413	3930	3403	0	0	3	0	0	0
5881	-0.85	-146.0	532.8	-8.6	615	5885	0.00	2.62	0.00	0.000	6	0.000	0.055	2413	2741	3403	0	0	3	0	0	0
6206	-0.85	-146.0	558.1	-8.0	645	6211	0.00	2.78	0.00	0.000	4	0.000	0.080	2413	3928	3403	0	0	3	0	0	0
6352	-0.85	-146.0	570.8	-8.1	657	6357	0.00	2.60	0.00	0.000	6	0.000	0.055	2413	2756	3403	0	0	3	0	0	0
6676	-0.85	-146.0	596.9	-7.2	688	6681	0.00	2.75	0.00	0.000	4	0.000	0.081	2413	3931	3403	0	0	5	0	0	0
6701	end dive: TARGET_DEPTH_EXCEEDED
state	6702	begin apogee
6710	-0.16	0.0	599.0	8.4	690	6837	0.77	0.00	122.88	1.101	6	0.176	0.000	2628	1935	2800	0	0	0	0	0	0
6838	end apogee: CONTROL_FINISHED_OK
state	6838	begin climb
6840	0.73	146.0	601.2	0.0	695	6974	0.95	2.15	125.57	1.053	4	0.126	0.083	2923	357	2202	0	0	0	0	0	0
7002	0.64	146.0	588.0	11.6	706	7008	0.00	2.08	0.00	0.000	6	0.000	0.054	2923	1992	2199	0	0	0	0	0	0
7327	0.55	146.0	549.9	11.8	737	7333	0.22	3.45	0.00	0.000	4	0.198	0.071	2854	3529	2195	0	0	4	0	0	0
7441	0.62	148.4	538.9	9.1	746	7447	0.00	3.47	0.00	0.000	6	0.000	0.064	2868	1959	2194	0	0	3	0	0	0
7766	0.74	174.0	512.0	8.1	777	7798	0.17	3.53	23.10	1.002	4	0.098	0.074	2930	3529	2089	0	0	3	0	0	0
7926	0.62	174.0	492.3	12.4	791	7933	0.22	3.47	0.00	0.000	6	0.202	0.067	2894	1971	2085	0	0	2	0	0	0
8251	0.62	174.0	459.9	9.8	822	8256	0.00	3.42	0.00	0.000	4	0.000	0.073	2893	3529	2085	0	0	4	0	0	0
8384	0.62	174.0	445.1	11.3	833	8391	0.00	3.38	0.00	0.000	6	0.000	0.067	2907	2000	2084	0	0	4	0	0	0
8709	0.62	174.0	409.2	11.5	864	8715	0.00	3.40	0.00	0.000	4	0.000	0.074	2907	3534	2084	0	0	4	0	0	0
8821	0.57	174.0	395.3	12.7	873	8828	0.20	3.38	0.00	0.000	6	0.194	0.067	2875	2014	2084	0	0	3	0	0	0
9146	0.67	174.0	363.6	9.8	904	9151	0.00	3.38	0.00	0.000	4	0.000	0.074	2875	3534	2084	0	0	4	0	0	0
9276	0.73	174.0	349.6	11.9	915	9282	0.12	3.33	0.00	0.000	6	0.111	0.065	2930	2043	2084	0	0	3	0	0	0
9600	0.67	174.0	309.3	12.6	945	9606	0.00	3.38	0.00	0.000	4	0.000	0.074	2931	3539	2084	0	0	3	0	0	0
9689	0.54	174.0	296.8	13.6	952	9696	0.30	3.30	0.00	0.000	6	0.197	0.066	2872	2060	2084	0	0	3	0	0	0
10014	0.66	174.0	264.4	9.7	983	10020	0.00	3.35	0.00	0.000	4	0.000	0.073	2872	3533	2084	0	0	2	0	0	0
10111	0.73	174.0	254.1	11.9	991	10116	0.12	3.28	0.00	0.000	6	0.113	0.064	2927	2069	2084	0	0	3	0	0	0
10435	0.73	174.0	214.6	12.1	1021	10440	0.00	3.33	0.00	0.000	4	0.000	0.072	2928	3537	2084	0	0	3	0	0	0
10554	0.64	174.0	198.8	13.6	1031	10560	0.17	3.25	0.00	0.000	6	0.202	0.065	2903	2089	2084	0	0	3	0	0	0
10879	0.69	174.0	164.1	10.3	1061	10884	0.00	3.28	0.00	0.000	4	0.000	0.072	2902	3534	2084	0	0	3	0	0	0
10952	0.69	174.0	155.9	11.2	1067	10957	0.00	3.22	0.00	0.000	6	0.000	0.064	2915	2105	2084	0	0	3	0	0	0
11277	0.75	174.0	122.9	10.0	1097	11282	0.00	3.28	0.00	0.000	4	0.000	0.073	2915	3533	2084	0	0	2	0	0	0
11350	0.75	174.0	115.2	11.0	1103	11355	0.00	3.20	0.00	0.000	6	0.000	0.064	2929	2122	2084	0	0	1	0	0	0
11685	0.80	179.4	85.3	8.9	1148	11696	0.00	3.20	5.25	0.615	4	0.000	0.071	2929	3531	2068	0	0	3	0	0	0
11764	0.80	179.4	77.2	10.2	1162	11769	0.00	3.15	0.00	0.000	6	0.000	0.064	2943	2124	2068	0	0	1	0	0	0
12107	0.84	204.5	45.9	8.1	1223	12138	0.00	3.22	22.00	0.742	4	0.000	0.074	2943	3523	1965	0	0	2	0	0	0
12202	0.84	204.5	37.4	9.6	1240	12208	0.00	3.17	0.00	0.000	6	0.000	0.065	2957	2122	1963	0	0	1	0	0	0
12546	0.84	204.5	4.7	10.2	1301	12552	0.00	3.22	0.00	0.000	4	0.000	0.075	2957	3530	1962	0	0	1	0	0	0
12574	end climb: SURFACE_DEPTH_REACHED
state	12574	begin surface coast
12591	end surface coast: CONTROL_FINISHED_OK
state	12591	begin surface