Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 64 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 502 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 3 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 64 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2650 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 10 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7715 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 450 TGT_DEFAULT_LON 16530 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 200 SM_CC 623.29712 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 420 DEVICE1 2

SURFACE_URGENCY 1 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 2 UPLOAD_DIVES_MAX 5 C_VBD 2961 DEVICE3 86

SURFACE_URGENCY_FORCE 2 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 125 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 150 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -1 T_GPS_CHARGE -21309.688 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.0049999999 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 450 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 180 PITCH_MAX 3944 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3065 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043373196

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -70.546913 SEABIRD_T_H 0.00062598457

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011650941 SEABIRD_T_I 2.5066851e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.8555498e-06

MASS 51763 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7998753

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1362277

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00070417771

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014171835

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 623.29712

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 1

ALTIM_FREQUENCY 13 D_TGT 450 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 2

ALTIM_PING_DELTA 50 ESCAPE_HEADING 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 2

ALTIM_PING_DEPTH 250 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3944 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 3 FG_AHR_24V 0 PITCH_MIN 450 TGT_DEFAULT_LAT -7715

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON 16530

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 10 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011650941 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -70.546913 T_DIVE 125

CALL_TRIES 3 HD_A 0.003 PROTOCOL 0 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -21309.688

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 150

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.0049999999 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 502 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 3065 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2650 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -1

C_VBD 2961 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51763 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 180 R_PORT_OVSHOOT 29 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.7998753 VBD_MIN 420

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1362277 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00070417771 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 64 NAV_MODE 0 SEABIRD_C_J 0.00014171835 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043373196 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.00062598457 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.5066851e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.8555498e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 261110,062908,-7726.157,16510.441,181,99.0,181,144.2 TGT_NAME SOUND2

_CALLS 3 TGT_LATLONG -7723.000,16505.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.19 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -12.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261110,062908,-7726.157,16510.441,181,99.0,181,144.2 MHEAD_RNG_PITCHd_Wd 195.2,6247,-18.7,-12.000

SPEED_LIMITS 0.208,0.300 D_GRID 544

Post-dive calculations and measurements:

FREEZE 0.97,-1.688,-1.899,2,7,0 ALTIM_BOTTOM_PING 400.5,55.8

FINISH 1.0,1.027835 _24V_AH 21.7,21.891

SM_CCo 7198,195.27,0.772,1,0,419,623.30 _10V_AH 10.0,12.058

SM_GC 1.27,0.00,0.00,195.27,0.000,0.000,0.772,419,2660,419,-8.27,0.28,623.30 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,16500.29,261110,060609 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028462 MEM 275884

HUMID 51.22 DATA_FILE_SIZE 53850,790

INTERNAL_PRESSURE 8.66244 CAP_FILE_SIZE 108744,0

TCM_TEMP 14.10 CFSIZE 260165632,250105856

XPDR_PINGS 3 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_TOP_PING 19.8,18.5 GPS 261110,062908,-7726.157,16510.441,181,99.0,181,144.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 221 95.20 SBE_CT 553 24 288.47

Roll_motor 75 75 124.45 AA4330 968 33 693.70

VBD_pump_during_apogee 422 1097 10053.50 WL_BBFL2VMT 971 105 2213.16

VBD_pump_during_surface 195 771 3270.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 99 103 221.66 nil 0 0 0.00

Iridium_during_connect 17 160 60.35 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 20.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 50 90.83

TT8 1873 19 370.96

LPSleep 3018 2 66.10

TT8_Active 747 19 147.97

TT8_Sampling 2137 39 850.66

TT8_CF8 172 45 78.90

TT8_Kalman 0 0 0.00

Analog_circuits 1558 12 187.05

GPS_charging 0 0 0.00

Compass 1303 15 195.55

RAFOS 0 0 0.00

Transponder 12 30 3.70

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 -0.84 -175.2 0.0 0.0 0 155 0.00 0.00 -136.82 0.000 2 0.000 0.000 425 2660 2921 0 0 0 0 0 0

157 -0.84 -175.2 3.3 -7.4 21 199 9.02 2.38 -27.30 0.000 4 0.222 0.070 2791 1237 3678 0 0 0 0 0 0

442 -0.78 -175.2 42.6 -14.7 72 450 0.00 2.38 0.00 0.000 6 0.000 0.065 2784 2647 3682 0 0 0 0 0 0

583 -0.65 -175.2 66.4 -17.4 97 590 0.25 1.85 0.00 0.000 4 0.169 0.069 2854 3770 3681 0 0 0 0 0 0

630 -0.65 -175.2 73.1 -12.8 105 637 0.00 1.77 0.00 0.000 6 0.000 0.048 2854 2644 3682 0 0 0 0 0 0

768 -0.65 -175.2 89.1 -11.8 130 776 0.00 1.88 0.00 0.000 4 0.000 0.070 2846 3757 3682 0 0 0 0 0 0

811 -0.65 -175.2 94.3 -12.6 137 817 0.00 1.77 0.00 0.000 6 0.000 0.047 2846 2632 3681 0 0 0 0 0 0

955 -0.65 -175.2 112.1 -12.4 154 956 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 2631 3682 0 0 0 0 0 0

1080 -0.65 -175.2 127.8 -12.4 166 1084 0.00 1.88 0.00 0.000 4 0.000 0.073 2842 3769 3682 0 0 0 0 0 0

1147 -0.65 -175.2 136.5 -12.8 172 1150 0.00 1.75 0.00 0.000 6 0.000 0.049 2842 2653 3681 0 0 0 0 0 0

1287 -0.65 -175.2 153.9 -12.5 185 1288 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2651 3682 0 0 0 0 0 0

1414 -0.65 -175.2 169.6 -12.3 197 1418 0.00 1.83 0.00 0.000 4 0.000 0.071 2833 3766 3681 0 0 0 0 0 0

1470 -0.65 -175.2 176.9 -12.8 202 1474 0.00 1.75 0.00 0.000 6 0.000 0.048 2833 2648 3681 0 0 0 0 0 0

1613 -0.62 -175.2 194.3 -11.9 215 1617 0.10 1.85 0.00 0.000 4 0.181 0.072 2854 3764 3681 0 0 0 0 0 0

1649 -0.62 -175.2 198.9 -10.7 218 1658 0.00 1.77 0.00 0.000 6 0.000 0.047 2854 2653 3681 0 0 0 0 0 0

1787 -0.65 -175.2 212.2 -10.0 231 1790 0.00 1.83 0.00 0.000 4 0.000 0.072 2845 3766 3681 0 0 0 0 0 0

1823 -0.65 -175.2 216.3 -11.0 234 1826 0.00 1.75 0.00 0.000 6 0.000 0.048 2845 2646 3682 0 0 0 0 0 0

1964 -0.65 -175.2 233.2 -12.4 247 1965 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 2644 3682 0 0 0 0 0 0

2090 -0.65 -175.2 248.3 -11.9 259 2094 0.00 1.83 0.00 0.000 4 0.000 0.072 2842 3763 3682 0 0 0 0 0 0

2148 -0.65 -175.2 256.2 -12.4 264 2157 0.00 1.77 0.00 0.000 6 0.000 0.047 2841 2652 3682 0 0 0 0 0 0

2347 -0.65 -175.2 279.8 -11.6 283 2351 0.00 1.88 0.00 0.000 4 0.000 0.073 2833 3767 3682 0 0 0 0 0 0

2403 -0.65 -175.2 286.7 -11.9 288 2407 0.00 1.75 0.00 0.000 6 0.000 0.048 2834 2647 3682 0 0 0 0 0 0

2607 -0.65 -175.2 311.7 -13.3 307 2611 0.00 1.83 0.00 0.000 4 0.000 0.073 2826 3764 3681 0 0 0 0 0 0

2643 -0.61 -175.2 316.3 -13.7 310 2647 0.15 1.75 0.00 0.000 6 0.157 0.048 2869 2641 3681 0 0 0 0 0 0

2846 -0.68 -175.2 335.8 -9.0 329 2849 0.00 1.85 0.00 0.000 4 0.000 0.073 2867 3763 3682 0 0 0 0 0 0

2906 -0.75 -175.2 341.8 -9.4 334 2914 0.10 1.77 0.00 0.000 6 0.057 0.047 2798 2651 3681 0 0 0 0 0 0

3105 -0.67 -175.2 368.6 -14.1 353 3110 0.17 1.88 0.00 0.000 4 0.162 0.072 2842 3758 3681 0 0 0 0 0 0

3143 -0.67 -175.2 373.5 -12.1 356 3150 0.00 1.77 0.00 0.000 6 0.000 0.048 2842 2630 3682 0 0 0 0 0 0

3341 -0.67 -175.2 395.6 -11.4 375 3344 0.00 1.88 0.00 0.000 4 0.000 0.073 2837 3771 3682 0 0 0 0 0 0

3390 -0.67 -175.2 402.0 -11.6 379 3398 0.00 1.80 0.00 0.000 6 0.000 0.048 2837 2647 3682 0 0 0 0 0 0

3588 -0.67 -175.2 425.4 -11.8 398 3592 0.00 1.83 0.00 0.000 4 0.000 0.072 2828 3764 3682 0 0 0 0 0 0

3639 -0.67 -175.2 432.0 -12.9 402 3645 0.00 1.77 0.00 0.000 6 0.000 0.048 2828 2635 3681 0 0 0 0 0 0

3718 end dive: BOTTOM_OBSTACLE_DETECTED

state 3718 begin apogee

3722 -0.17 0.0 442.0 12.2 410 3886 0.55 0.00 157.20 1.097 6 0.134 0.000 3007 2490 2960 0 0 0 0 0 0

3887 end apogee: CONTROL_FINISHED_OK

state 3887 begin climb

3888 0.84 175.2 448.3 0.0 425 4064 1.00 2.55 165.10 1.018 4 0.081 0.054 3337 1102 2246 0 0 0 0 0 0

4156 0.73 175.2 418.4 15.5 449 4161 0.15 2.45 0.00 0.000 6 0.160 0.057 3301 2503 2235 0 0 0 0 0 0

4354 0.64 175.2 388.8 14.6 467 4358 0.00 2.12 0.00 0.000 4 0.000 0.067 3301 3767 2231 0 0 0 0 0 0

4416 0.51 175.2 378.5 16.7 472 4420 0.28 2.05 0.00 0.000 6 0.158 0.047 3232 2508 2229 0 0 0 0 0 0

4613 0.62 225.2 357.5 9.7 490 4664 0.00 0.00 45.08 1.006 6 0.000 0.000 3232 2505 2041 0 0 0 0 0 0

4856 0.77 284.3 334.3 9.3 513 4923 0.22 2.55 54.95 0.989 4 0.063 0.057 3339 1083 1798 0 0 0 0 0 0

4939 0.71 284.3 320.9 16.9 520 4947 0.17 2.50 0.00 0.000 6 0.148 0.055 3294 2506 1795 0 0 0 0 0 0

5136 0.71 284.3 293.5 13.6 539 5137 0.00 0.00 0.00 0.000 6 0.000 0.000 3294 2506 1788 0 0 0 0 0 0

5329 0.71 284.3 267.4 13.6 557 5333 0.00 2.33 0.00 0.000 4 0.000 0.059 3300 1087 1785 0 0 0 0 0 0

5357 0.74 284.3 263.5 13.5 559 5361 0.00 2.35 0.00 0.000 6 0.000 0.058 3300 2502 1785 0 0 0 0 0 0

5560 0.74 284.3 234.8 14.2 578 5561 0.00 0.00 0.00 0.000 6 0.000 0.000 3300 2502 1784 0 0 0 0 0 0

5688 0.74 284.3 217.1 13.5 590 5689 0.00 0.00 0.00 0.000 6 0.000 0.000 3300 2502 1783 0 0 0 0 0 0

5815 0.74 284.3 199.3 13.7 602 5819 0.00 2.28 0.00 0.000 4 0.000 0.058 3309 1088 1783 0 0 0 0 0 0

5834 0.74 284.3 196.2 13.8 603 5844 0.00 2.33 0.00 0.000 6 0.000 0.057 3310 2493 1782 0 0 0 0 0 0

5970 0.74 284.3 176.3 15.2 616 5972 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2494 1781 0 0 0 0 0 0

6098 0.74 284.3 157.3 14.6 628 6099 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2494 1781 0 0 0 0 0 0

6225 0.74 284.3 137.9 15.0 640 6226 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2494 1781 0 0 0 0 0 0

6353 0.74 284.3 119.3 14.4 652 6354 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2494 1781 0 0 0 0 0 0

6480 0.74 284.3 100.9 14.5 664 6481 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2494 1780 0 0 0 0 0 0

6609 0.74 284.3 82.5 14.0 687 6616 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2494 1780 0 0 0 0 0 0

6746 0.74 284.3 63.0 13.8 712 6753 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2494 1780 0 0 0 0 0 0

6885 0.74 284.3 43.0 14.5 737 6891 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2494 1780 0 0 0 0 0 0

7022 0.74 284.3 22.6 15.0 762 7029 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2494 1780 0 0 0 0 0 0

7159 end climb: SURFACE_DEPTH_REACHED

state 7160 begin surface coast

7184 end surface coast: CONTROL_FINISHED_OK

state 7184 begin surface

ID	502	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	64	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2650	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	10	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7715	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	450	TGT_DEFAULT_LON	16530	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	200	SM_CC	623.29712	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	420	DEVICE1	2
SURFACE_URGENCY	1	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	2	UPLOAD_DIVES_MAX	5	C_VBD	2961	DEVICE3	86
SURFACE_URGENCY_FORCE	2	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	125	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	150	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-1	T_GPS_CHARGE	-21309.688	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.0049999999	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	450	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	180	PITCH_MAX	3944	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3065	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043373196
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-70.546913	SEABIRD_T_H	0.00062598457
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011650941	SEABIRD_T_I	2.5066851e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.8555498e-06
MASS	51763	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7998753
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1362277
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00070417771
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014171835
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	261110,062908,-7726.157,16510.441,181,99.0,181,144.2	TGT_NAME	SOUND2
_CALLS	3	TGT_LATLONG	-7723.000,16505.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.19	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-12.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261110,062908,-7726.157,16510.441,181,99.0,181,144.2	MHEAD_RNG_PITCHd_Wd	195.2,6247,-18.7,-12.000
SPEED_LIMITS	0.208,0.300	D_GRID	544

FREEZE	0.97,-1.688,-1.899,2,7,0	ALTIM_BOTTOM_PING	400.5,55.8
FINISH	1.0,1.027835	_24V_AH	21.7,21.891
SM_CCo	7198,195.27,0.772,1,0,419,623.30	_10V_AH	10.0,12.058
SM_GC	1.27,0.00,0.00,195.27,0.000,0.000,0.772,419,2660,419,-8.27,0.28,623.30	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,16500.29,261110,060609	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028462	MEM	275884
HUMID	51.22	DATA_FILE_SIZE	53850,790
INTERNAL_PRESSURE	8.66244	CAP_FILE_SIZE	108744,0
TCM_TEMP	14.10	CFSIZE	260165632,250105856
XPDR_PINGS	3	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING	19.8,18.5	GPS	261110,062908,-7726.157,16510.441,181,99.0,181,144.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	221	95.20	SBE_CT	553	24	288.47
Roll_motor	75	75	124.45	AA4330	968	33	693.70
VBD_pump_during_apogee	422	1097	10053.50	WL_BBFL2VMT	971	105	2213.16
VBD_pump_during_surface	195	771	3270.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	99	103	221.66	nil	0	0	0.00
Iridium_during_connect	17	160	60.35	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	20.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	50	90.83
TT8	1873	19	370.96
LPSleep	3018	2	66.10
TT8_Active	747	19	147.97
TT8_Sampling	2137	39	850.66
TT8_CF8	172	45	78.90
TT8_Kalman	0	0	0.00
Analog_circuits	1558	12	187.05
GPS_charging	0	0	0.00
Compass	1303	15	195.55
RAFOS	0	0	0.00
Transponder	12	30	3.70

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	-0.84	-175.2	0.0	0.0	0	155	0.00	0.00	-136.82	0.000	2	0.000	0.000	425	2660	2921	0	0	0	0	0	0
157	-0.84	-175.2	3.3	-7.4	21	199	9.02	2.38	-27.30	0.000	4	0.222	0.070	2791	1237	3678	0	0	0	0	0	0
442	-0.78	-175.2	42.6	-14.7	72	450	0.00	2.38	0.00	0.000	6	0.000	0.065	2784	2647	3682	0	0	0	0	0	0
583	-0.65	-175.2	66.4	-17.4	97	590	0.25	1.85	0.00	0.000	4	0.169	0.069	2854	3770	3681	0	0	0	0	0	0
630	-0.65	-175.2	73.1	-12.8	105	637	0.00	1.77	0.00	0.000	6	0.000	0.048	2854	2644	3682	0	0	0	0	0	0
768	-0.65	-175.2	89.1	-11.8	130	776	0.00	1.88	0.00	0.000	4	0.000	0.070	2846	3757	3682	0	0	0	0	0	0
811	-0.65	-175.2	94.3	-12.6	137	817	0.00	1.77	0.00	0.000	6	0.000	0.047	2846	2632	3681	0	0	0	0	0	0
955	-0.65	-175.2	112.1	-12.4	154	956	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	2631	3682	0	0	0	0	0	0
1080	-0.65	-175.2	127.8	-12.4	166	1084	0.00	1.88	0.00	0.000	4	0.000	0.073	2842	3769	3682	0	0	0	0	0	0
1147	-0.65	-175.2	136.5	-12.8	172	1150	0.00	1.75	0.00	0.000	6	0.000	0.049	2842	2653	3681	0	0	0	0	0	0
1287	-0.65	-175.2	153.9	-12.5	185	1288	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	2651	3682	0	0	0	0	0	0
1414	-0.65	-175.2	169.6	-12.3	197	1418	0.00	1.83	0.00	0.000	4	0.000	0.071	2833	3766	3681	0	0	0	0	0	0
1470	-0.65	-175.2	176.9	-12.8	202	1474	0.00	1.75	0.00	0.000	6	0.000	0.048	2833	2648	3681	0	0	0	0	0	0
1613	-0.62	-175.2	194.3	-11.9	215	1617	0.10	1.85	0.00	0.000	4	0.181	0.072	2854	3764	3681	0	0	0	0	0	0
1649	-0.62	-175.2	198.9	-10.7	218	1658	0.00	1.77	0.00	0.000	6	0.000	0.047	2854	2653	3681	0	0	0	0	0	0
1787	-0.65	-175.2	212.2	-10.0	231	1790	0.00	1.83	0.00	0.000	4	0.000	0.072	2845	3766	3681	0	0	0	0	0	0
1823	-0.65	-175.2	216.3	-11.0	234	1826	0.00	1.75	0.00	0.000	6	0.000	0.048	2845	2646	3682	0	0	0	0	0	0
1964	-0.65	-175.2	233.2	-12.4	247	1965	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	2644	3682	0	0	0	0	0	0
2090	-0.65	-175.2	248.3	-11.9	259	2094	0.00	1.83	0.00	0.000	4	0.000	0.072	2842	3763	3682	0	0	0	0	0	0
2148	-0.65	-175.2	256.2	-12.4	264	2157	0.00	1.77	0.00	0.000	6	0.000	0.047	2841	2652	3682	0	0	0	0	0	0
2347	-0.65	-175.2	279.8	-11.6	283	2351	0.00	1.88	0.00	0.000	4	0.000	0.073	2833	3767	3682	0	0	0	0	0	0
2403	-0.65	-175.2	286.7	-11.9	288	2407	0.00	1.75	0.00	0.000	6	0.000	0.048	2834	2647	3682	0	0	0	0	0	0
2607	-0.65	-175.2	311.7	-13.3	307	2611	0.00	1.83	0.00	0.000	4	0.000	0.073	2826	3764	3681	0	0	0	0	0	0
2643	-0.61	-175.2	316.3	-13.7	310	2647	0.15	1.75	0.00	0.000	6	0.157	0.048	2869	2641	3681	0	0	0	0	0	0
2846	-0.68	-175.2	335.8	-9.0	329	2849	0.00	1.85	0.00	0.000	4	0.000	0.073	2867	3763	3682	0	0	0	0	0	0
2906	-0.75	-175.2	341.8	-9.4	334	2914	0.10	1.77	0.00	0.000	6	0.057	0.047	2798	2651	3681	0	0	0	0	0	0
3105	-0.67	-175.2	368.6	-14.1	353	3110	0.17	1.88	0.00	0.000	4	0.162	0.072	2842	3758	3681	0	0	0	0	0	0
3143	-0.67	-175.2	373.5	-12.1	356	3150	0.00	1.77	0.00	0.000	6	0.000	0.048	2842	2630	3682	0	0	0	0	0	0
3341	-0.67	-175.2	395.6	-11.4	375	3344	0.00	1.88	0.00	0.000	4	0.000	0.073	2837	3771	3682	0	0	0	0	0	0
3390	-0.67	-175.2	402.0	-11.6	379	3398	0.00	1.80	0.00	0.000	6	0.000	0.048	2837	2647	3682	0	0	0	0	0	0
3588	-0.67	-175.2	425.4	-11.8	398	3592	0.00	1.83	0.00	0.000	4	0.000	0.072	2828	3764	3682	0	0	0	0	0	0
3639	-0.67	-175.2	432.0	-12.9	402	3645	0.00	1.77	0.00	0.000	6	0.000	0.048	2828	2635	3681	0	0	0	0	0	0
3718	end dive: BOTTOM_OBSTACLE_DETECTED
state	3718	begin apogee
3722	-0.17	0.0	442.0	12.2	410	3886	0.55	0.00	157.20	1.097	6	0.134	0.000	3007	2490	2960	0	0	0	0	0	0
3887	end apogee: CONTROL_FINISHED_OK
state	3887	begin climb
3888	0.84	175.2	448.3	0.0	425	4064	1.00	2.55	165.10	1.018	4	0.081	0.054	3337	1102	2246	0	0	0	0	0	0
4156	0.73	175.2	418.4	15.5	449	4161	0.15	2.45	0.00	0.000	6	0.160	0.057	3301	2503	2235	0	0	0	0	0	0
4354	0.64	175.2	388.8	14.6	467	4358	0.00	2.12	0.00	0.000	4	0.000	0.067	3301	3767	2231	0	0	0	0	0	0
4416	0.51	175.2	378.5	16.7	472	4420	0.28	2.05	0.00	0.000	6	0.158	0.047	3232	2508	2229	0	0	0	0	0	0
4613	0.62	225.2	357.5	9.7	490	4664	0.00	0.00	45.08	1.006	6	0.000	0.000	3232	2505	2041	0	0	0	0	0	0
4856	0.77	284.3	334.3	9.3	513	4923	0.22	2.55	54.95	0.989	4	0.063	0.057	3339	1083	1798	0	0	0	0	0	0
4939	0.71	284.3	320.9	16.9	520	4947	0.17	2.50	0.00	0.000	6	0.148	0.055	3294	2506	1795	0	0	0	0	0	0
5136	0.71	284.3	293.5	13.6	539	5137	0.00	0.00	0.00	0.000	6	0.000	0.000	3294	2506	1788	0	0	0	0	0	0
5329	0.71	284.3	267.4	13.6	557	5333	0.00	2.33	0.00	0.000	4	0.000	0.059	3300	1087	1785	0	0	0	0	0	0
5357	0.74	284.3	263.5	13.5	559	5361	0.00	2.35	0.00	0.000	6	0.000	0.058	3300	2502	1785	0	0	0	0	0	0
5560	0.74	284.3	234.8	14.2	578	5561	0.00	0.00	0.00	0.000	6	0.000	0.000	3300	2502	1784	0	0	0	0	0	0
5688	0.74	284.3	217.1	13.5	590	5689	0.00	0.00	0.00	0.000	6	0.000	0.000	3300	2502	1783	0	0	0	0	0	0
5815	0.74	284.3	199.3	13.7	602	5819	0.00	2.28	0.00	0.000	4	0.000	0.058	3309	1088	1783	0	0	0	0	0	0
5834	0.74	284.3	196.2	13.8	603	5844	0.00	2.33	0.00	0.000	6	0.000	0.057	3310	2493	1782	0	0	0	0	0	0
5970	0.74	284.3	176.3	15.2	616	5972	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2494	1781	0	0	0	0	0	0
6098	0.74	284.3	157.3	14.6	628	6099	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2494	1781	0	0	0	0	0	0
6225	0.74	284.3	137.9	15.0	640	6226	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2494	1781	0	0	0	0	0	0
6353	0.74	284.3	119.3	14.4	652	6354	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2494	1781	0	0	0	0	0	0
6480	0.74	284.3	100.9	14.5	664	6481	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2494	1780	0	0	0	0	0	0
6609	0.74	284.3	82.5	14.0	687	6616	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2494	1780	0	0	0	0	0	0
6746	0.74	284.3	63.0	13.8	712	6753	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2494	1780	0	0	0	0	0	0
6885	0.74	284.3	43.0	14.5	737	6891	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2494	1780	0	0	0	0	0	0
7022	0.74	284.3	22.6	15.0	762	7029	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2494	1780	0	0	0	0	0	0
7159	end climb: SURFACE_DEPTH_REACHED
state	7160	begin surface coast
7184	end surface coast: CONTROL_FINISHED_OK
state	7184	begin surface