Glider dive log

Faroes 14Feb08 * SG014 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HD_B 0.0099099996 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 20

MISSION 3 HD_C 2.4896e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 11 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 202 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3893 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2380 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2170 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 250 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 187 DEVICE4 -1

T_TURN 240 CALL_WAIT 60 VBD_MAX 3559 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2540 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00159 COMPASS_DEVICE 17

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -131630.86 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 42 AH0_24V 95.400002 SEABIRD_T_G 0.0042855334

SPEED_FACTOR 1 PITCH_MAX 3363 AH0_10V 61.200001 SEABIRD_T_H 0.00062604493

RHO 1.023 C_PITCH 2340 PRESSURE_YINT -15.807375 SEABIRD_T_I 2.1829796e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.0724553e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.9956274

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_C_H 1.1210338

KALMAN_USE 1 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_I -0.0011134691

HD_A 0.00312 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00016706332

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SM_CC 250

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3363 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 42 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_PITCH_OFFSET -0.69999999

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0.5

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.807375 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_GPS_CHARGE -131630.86

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 57

COMPASS_DEVICE 17 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 240

COURSE_BIAS 0 ID 14 ROLL_MAX 3893 T_TURN_SAMPINT 5

C_PITCH 2340 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2170 INT_PRESSURE_YINT 0 ROLL_MIN 202 UNCOM_BLEED 20

C_ROLL_DIVE 2380 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2540 MASS 52000 R_PORT_OVSHOOT 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 USE_ICE 0

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -9.9956274 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1210338 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011134691 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00016706332 VBD_MAX 3559

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0042855334 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062604493 VBD_MIN 187

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1829796e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 11 PHONE_DEVICE 16 SEABIRD_T_J 2.0724553e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 202437,6132.263,-246.021,36,1.1,42,-5.9 TGT_NAME BE

_CALLS 4 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.249,0.060

_SM_DEPTHo 1.11 KALMAN_X 37024.5,-920.0,871.5,-16061.7,7414.6

_SM_ANGLEo -59.5 KALMAN_Y 565.7,-495.5,594.3,-3982.1,-1351.8

GPS2 203945,6132.161,-245.229,12,1.2,12,-5.9 MHEAD_RNG_PITCHd_Wd 289.4,342495,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027381 ALTIM_TOP_PING 19.7,18.6

SM_CCo 19045,0.00,0.000,0,0,1505,253.89 _24V_AH 23.5,4.682

SM_GC 1.44,11.57,0.00,0.00,0.060,0.000,0.000,42,2394,1505,-10.52,0.40,253.89 _10V_AH 10.1,1.852

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47455,915

TT8_MAMPS 0.023777 CFSIZE 254472192,251904000

HUMID 1737 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 2.50 GPS 160208,015908,6131.315,-246.844,27,1.4,27,-5.9

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 182 110.68 SBE_CT 892 24 503.61

Roll_motor 99 140 329.68 SBE_O2 864 19 386.19

VBD_pump_during_apogee 349 1395 11470.12 WL_BB2F 467 105 1152.72

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 130 103 315.06 nil 0 0 0.00

Iridium_during_connect 190 160 714.92 nil 0 0 0.00

Iridium_during_xfer 281 223 1477.23

Transponder_ping 9 420 93.77

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.88

TT8 1646 19 329.25

LPSleep 15477 2 342.34

TT8_Active 521 19 104.20

TT8_Sampling 1357 39 545.79

TT8_CF8 957 45 442.85

TT8_Kalman 33 81 27.56

Analog_circuits 1385 12 167.93

GPS_charging 0 0 0.00

Compass 980 26 257.59

RAFOS 0 0 0.00

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

31 -1.38 -146.6 0.0 0.0 0 112 0.00 0.00 -78.47 0.000 6 0.000 0.000 34 2312 3139

117 -1.38 -146.6 7.6 -9.9 4 133 11.35 2.42 0.00 0.000 4 0.183 0.066 2036 972 3141

247 -1.38 -146.6 36.0 -14.1 9 252 0.00 2.42 0.00 0.000 6 0.000 0.061 2036 2366 3143

575 -1.38 -146.6 74.3 -10.8 25 576 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2367 3144

884 -1.38 -146.6 105.4 -10.3 40 885 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2367 3144

1193 -1.38 -146.6 136.8 -10.5 55 1195 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2367 3145

1502 -1.38 -146.6 170.6 -10.6 70 1503 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2367 3145

1811 -1.38 -146.6 206.0 -11.9 85 1812 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2367 3145

2121 -1.38 -146.6 240.5 -11.2 100 2122 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2367 3146

2430 -1.38 -146.6 273.7 -10.5 115 2431 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2367 3146

2739 -1.38 -146.6 305.5 -10.5 130 2743 0.00 2.50 0.00 0.000 4 0.000 0.073 2036 968 3146

2772 -1.38 -146.6 309.2 -11.1 131 2777 0.00 2.45 0.00 0.000 6 0.000 0.062 2036 2379 3146

3088 -1.38 -146.6 342.2 -10.3 147 3089 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2378 3146

3397 -1.38 -146.6 373.5 -10.2 162 3398 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2378 3146

3706 -1.38 -146.6 408.4 -11.2 177 3707 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2378 3146

4016 -1.38 -146.6 441.9 -10.8 192 4020 0.00 2.53 0.00 0.000 4 0.000 0.077 2036 976 3147

4055 -1.38 -146.6 446.3 -11.2 194 4060 0.00 2.47 0.00 0.000 6 0.000 0.065 2036 2381 3147

4382 -1.38 -146.6 481.1 -10.5 210 4386 0.00 2.85 0.00 0.000 4 0.000 0.140 2036 3785 3147

4467 -1.38 -146.6 490.5 -11.4 214 4471 0.00 2.47 0.00 0.000 6 0.000 0.072 2036 2383 3147

4795 -1.38 -146.6 526.0 -10.4 230 4796 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2383 3146

5103 -1.38 -146.6 556.4 -9.8 245 5104 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2383 3145

5412 -1.38 -146.6 586.1 -9.4 260 5413 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2383 3145

5721 -1.38 -146.6 615.9 -9.5 275 5723 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2383 3143

6031 -1.38 -146.6 646.2 -10.0 290 6035 0.00 2.62 0.00 0.000 4 0.000 0.097 2036 976 3141

6071 -1.38 -146.6 650.4 -10.9 292 6075 0.00 2.47 0.00 0.000 6 0.000 0.066 2036 2380 3141

6398 -1.38 -146.6 681.5 -9.4 308 6399 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2380 3139

6707 -1.38 -146.6 709.9 -9.0 323 6711 0.00 2.58 0.00 0.000 4 0.000 0.084 2036 973 3139

6740 -1.38 -146.6 713.1 -9.4 324 6746 0.00 2.50 0.00 0.000 6 0.000 0.066 2036 2382 3139

7056 -1.38 -146.6 741.7 -9.2 340 7057 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2382 3138

7365 -1.38 -146.6 770.2 -9.1 355 7367 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2382 3136

7675 -1.38 -146.6 800.4 -10.2 370 7677 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2382 3135

7984 -1.38 -146.6 831.1 -9.8 385 7985 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2382 3135

8293 -1.38 -146.6 862.6 -10.2 400 8294 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2382 3133

8602 -1.38 -146.6 894.9 -10.4 415 8607 0.00 2.58 0.00 0.000 4 0.000 0.081 2036 970 3133

8636 -1.38 -146.6 898.6 -10.5 416 8641 0.00 2.47 0.00 0.000 6 0.000 0.064 2036 2383 3133

8952 -1.38 -146.6 930.7 -10.1 432 8953 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2383 3132

9261 -1.38 -146.6 961.1 -9.5 447 9262 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2384 3131

9571 -1.38 -146.6 989.7 -9.0 462 9574 0.00 1.85 0.00 0.000 3 0.000 0.074 2036 1336 3130

9575 end dive: TARGET_DEPTH_EXCEEDED

state 9575 begin apogee

9585 -0.32 0.0 990.3 9.0 462 9712 1.08 0.00 123.30 1.396 6 0.113 0.000 2265 2180 2540

9712 end apogee: CONTROL_FINISHED_OK

state 9712 begin climb

9716 1.38 146.6 996.2 0.0 468 9847 1.67 2.75 122.53 1.359 4 0.072 0.112 2644 3568 1942

10116 1.45 187.5 982.9 8.1 486 10157 0.00 2.53 35.50 1.338 6 0.000 0.067 2644 2160 1775

10476 1.47 201.0 949.6 9.4 504 10492 0.00 0.00 12.70 1.265 6 0.000 0.000 2644 2160 1719

10802 1.48 204.8 917.2 9.8 520 10809 0.00 0.00 5.18 0.992 6 0.000 0.000 2643 2160 1704

11112 1.48 205.1 886.3 10.0 535 11113 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2160 1704

11421 1.49 215.0 856.1 9.5 550 11432 0.00 0.00 10.00 1.174 6 0.000 0.000 2644 2160 1663

11730 1.49 215.0 825.2 10.1 565 11731 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2160 1662

12039 1.49 215.0 793.3 10.0 580 12044 0.00 2.72 0.00 0.000 4 0.000 0.104 2644 3568 1662

12079 1.50 219.1 789.2 9.8 582 12089 0.00 2.47 4.95 0.942 6 0.000 0.067 2644 2168 1647

12405 1.50 222.8 756.4 9.8 598 12413 0.12 0.00 4.95 0.929 6 0.074 0.000 2675 2168 1631

12714 1.50 222.8 723.6 10.5 613 12715 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2168 1631

13024 1.50 223.1 691.6 10.0 628 13025 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2167 1630

13333 1.51 223.3 660.9 10.0 643 13334 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2168 1631

13642 1.53 237.3 631.6 9.3 658 13661 0.00 0.00 13.30 1.105 6 0.000 0.000 2675 2168 1572

13971 1.53 237.3 597.8 10.5 674 13976 0.00 2.62 0.00 0.000 4 0.000 0.097 2675 765 1571

14038 1.53 237.3 590.0 11.6 677 14043 0.00 2.47 0.00 0.000 6 0.000 0.060 2675 2169 1571

14360 1.53 237.3 551.8 12.4 693 14361 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2170 1571

14669 1.53 237.3 514.3 11.6 708 14673 0.00 2.70 0.00 0.000 4 0.000 0.114 2675 3567 1570

14736 1.53 237.3 506.2 11.5 711 14740 0.00 2.47 0.00 0.000 6 0.000 0.067 2675 2171 1570

15056 1.53 237.3 467.7 12.9 727 15061 0.00 2.62 0.00 0.000 4 0.000 0.096 2675 766 1570

15123 1.53 237.3 458.7 12.9 730 15128 0.00 2.45 0.00 0.000 6 0.000 0.060 2675 2169 1570

15446 1.53 237.3 421.6 10.8 746 15450 0.00 2.60 0.00 0.000 4 0.000 0.085 2675 768 1570

15546 1.53 237.3 409.4 11.7 750 15552 0.00 2.45 0.00 0.000 6 0.000 0.059 2675 2173 1570

15862 1.53 237.3 375.9 10.6 766 15867 0.00 2.67 0.00 0.000 4 0.000 0.106 2675 3572 1569

15963 1.53 238.8 365.2 9.9 770 15969 0.00 2.47 0.00 0.000 6 0.000 0.064 2675 2167 1569

16280 1.54 244.9 334.4 9.7 786 16293 0.00 2.65 7.70 0.923 4 0.000 0.087 2675 770 1540

16324 1.54 244.9 329.6 10.3 788 16329 0.00 2.42 0.00 0.000 6 0.000 0.057 2675 2173 1540

16652 1.55 254.4 295.9 9.6 804 16663 0.00 0.00 9.55 0.917 6 0.000 0.000 2675 2173 1501

16961 1.55 254.4 261.9 11.6 819 16965 0.00 2.55 0.00 0.000 4 0.000 0.077 2675 770 1501

17045 1.55 254.4 251.5 11.3 823 17049 0.00 2.40 0.00 0.000 6 0.000 0.057 2675 2174 1502

17372 1.55 254.4 211.0 11.6 839 17373 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2174 1502

17681 1.55 254.4 175.0 12.7 854 17682 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2174 1503

17991 1.55 254.4 131.9 13.8 869 17995 0.00 2.55 0.00 0.000 4 0.000 0.077 2675 767 1504

18054 1.55 254.4 122.6 14.8 872 18058 0.00 2.40 0.00 0.000 6 0.000 0.058 2675 2176 1504

18383 1.55 254.4 78.3 14.4 888 18387 0.00 2.60 0.00 0.000 4 0.000 0.100 2675 3565 1505

18460 1.55 254.4 67.5 12.5 891 18467 0.00 2.45 0.00 0.000 6 0.000 0.061 2675 2160 1505

18778 1.55 254.4 27.8 13.9 907 18782 0.00 2.50 0.00 0.000 4 0.000 0.077 2675 769 1506

18851 1.55 254.4 16.1 16.4 910 18855 0.00 2.40 0.00 0.000 6 0.000 0.057 2675 2172 1506

18937 end climb: SURFACE_DEPTH_REACHED

state 18937 begin surface coast

18959 end surface coast: CONTROL_FINISHED_OK

state 18960 begin surface

ID	14	HD_B	0.0099099996	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	20
MISSION	3	HD_C	2.4896e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	11	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	202	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3893	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2380	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2170	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	250	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	187	DEVICE4	-1
T_TURN	240	CALL_WAIT	60	VBD_MAX	3559	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2540	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00159	COMPASS_DEVICE	17
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-131630.86	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	42	AH0_24V	95.400002	SEABIRD_T_G	0.0042855334
SPEED_FACTOR	1	PITCH_MAX	3363	AH0_10V	61.200001	SEABIRD_T_H	0.00062604493
RHO	1.023	C_PITCH	2340	PRESSURE_YINT	-15.807375	SEABIRD_T_I	2.1829796e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.0724553e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9956274
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_C_H	1.1210338
KALMAN_USE	1	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_I	-0.0011134691
HD_A	0.00312	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00016706332

GPS1	202437,6132.263,-246.021,36,1.1,42,-5.9	TGT_NAME	BE
_CALLS	4	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.249,0.060
_SM_DEPTHo	1.11	KALMAN_X	37024.5,-920.0,871.5,-16061.7,7414.6
_SM_ANGLEo	-59.5	KALMAN_Y	565.7,-495.5,594.3,-3982.1,-1351.8
GPS2	203945,6132.161,-245.229,12,1.2,12,-5.9	MHEAD_RNG_PITCHd_Wd	289.4,342495,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.5,1.027381	ALTIM_TOP_PING	19.7,18.6
SM_CCo	19045,0.00,0.000,0,0,1505,253.89	_24V_AH	23.5,4.682
SM_GC	1.44,11.57,0.00,0.00,0.060,0.000,0.000,42,2394,1505,-10.52,0.40,253.89	_10V_AH	10.1,1.852
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47455,915
TT8_MAMPS	0.023777	CFSIZE	254472192,251904000
HUMID	1737	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	2.50	GPS	160208,015908,6131.315,-246.844,27,1.4,27,-5.9
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	182	110.68	SBE_CT	892	24	503.61
Roll_motor	99	140	329.68	SBE_O2	864	19	386.19
VBD_pump_during_apogee	349	1395	11470.12	WL_BB2F	467	105	1152.72
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	130	103	315.06	nil	0	0	0.00
Iridium_during_connect	190	160	714.92	nil	0	0	0.00
Iridium_during_xfer	281	223	1477.23
Transponder_ping	9	420	93.77
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.88
TT8	1646	19	329.25
LPSleep	15477	2	342.34
TT8_Active	521	19	104.20
TT8_Sampling	1357	39	545.79
TT8_CF8	957	45	442.85
TT8_Kalman	33	81	27.56
Analog_circuits	1385	12	167.93
GPS_charging	0	0	0.00
Compass	980	26	257.59
RAFOS	0	0	0.00

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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
31	-1.38	-146.6	0.0	0.0	0	112	0.00	0.00	-78.47	0.000	6	0.000	0.000	34	2312	3139
117	-1.38	-146.6	7.6	-9.9	4	133	11.35	2.42	0.00	0.000	4	0.183	0.066	2036	972	3141
247	-1.38	-146.6	36.0	-14.1	9	252	0.00	2.42	0.00	0.000	6	0.000	0.061	2036	2366	3143
575	-1.38	-146.6	74.3	-10.8	25	576	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2367	3144
884	-1.38	-146.6	105.4	-10.3	40	885	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2367	3144
1193	-1.38	-146.6	136.8	-10.5	55	1195	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2367	3145
1502	-1.38	-146.6	170.6	-10.6	70	1503	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2367	3145
1811	-1.38	-146.6	206.0	-11.9	85	1812	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2367	3145
2121	-1.38	-146.6	240.5	-11.2	100	2122	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2367	3146
2430	-1.38	-146.6	273.7	-10.5	115	2431	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2367	3146
2739	-1.38	-146.6	305.5	-10.5	130	2743	0.00	2.50	0.00	0.000	4	0.000	0.073	2036	968	3146
2772	-1.38	-146.6	309.2	-11.1	131	2777	0.00	2.45	0.00	0.000	6	0.000	0.062	2036	2379	3146
3088	-1.38	-146.6	342.2	-10.3	147	3089	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2378	3146
3397	-1.38	-146.6	373.5	-10.2	162	3398	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2378	3146
3706	-1.38	-146.6	408.4	-11.2	177	3707	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2378	3146
4016	-1.38	-146.6	441.9	-10.8	192	4020	0.00	2.53	0.00	0.000	4	0.000	0.077	2036	976	3147
4055	-1.38	-146.6	446.3	-11.2	194	4060	0.00	2.47	0.00	0.000	6	0.000	0.065	2036	2381	3147
4382	-1.38	-146.6	481.1	-10.5	210	4386	0.00	2.85	0.00	0.000	4	0.000	0.140	2036	3785	3147
4467	-1.38	-146.6	490.5	-11.4	214	4471	0.00	2.47	0.00	0.000	6	0.000	0.072	2036	2383	3147
4795	-1.38	-146.6	526.0	-10.4	230	4796	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2383	3146
5103	-1.38	-146.6	556.4	-9.8	245	5104	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2383	3145
5412	-1.38	-146.6	586.1	-9.4	260	5413	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2383	3145
5721	-1.38	-146.6	615.9	-9.5	275	5723	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2383	3143
6031	-1.38	-146.6	646.2	-10.0	290	6035	0.00	2.62	0.00	0.000	4	0.000	0.097	2036	976	3141
6071	-1.38	-146.6	650.4	-10.9	292	6075	0.00	2.47	0.00	0.000	6	0.000	0.066	2036	2380	3141
6398	-1.38	-146.6	681.5	-9.4	308	6399	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2380	3139
6707	-1.38	-146.6	709.9	-9.0	323	6711	0.00	2.58	0.00	0.000	4	0.000	0.084	2036	973	3139
6740	-1.38	-146.6	713.1	-9.4	324	6746	0.00	2.50	0.00	0.000	6	0.000	0.066	2036	2382	3139
7056	-1.38	-146.6	741.7	-9.2	340	7057	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2382	3138
7365	-1.38	-146.6	770.2	-9.1	355	7367	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2382	3136
7675	-1.38	-146.6	800.4	-10.2	370	7677	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2382	3135
7984	-1.38	-146.6	831.1	-9.8	385	7985	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2382	3135
8293	-1.38	-146.6	862.6	-10.2	400	8294	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2382	3133
8602	-1.38	-146.6	894.9	-10.4	415	8607	0.00	2.58	0.00	0.000	4	0.000	0.081	2036	970	3133
8636	-1.38	-146.6	898.6	-10.5	416	8641	0.00	2.47	0.00	0.000	6	0.000	0.064	2036	2383	3133
8952	-1.38	-146.6	930.7	-10.1	432	8953	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2383	3132
9261	-1.38	-146.6	961.1	-9.5	447	9262	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2384	3131
9571	-1.38	-146.6	989.7	-9.0	462	9574	0.00	1.85	0.00	0.000	3	0.000	0.074	2036	1336	3130
9575	end dive: TARGET_DEPTH_EXCEEDED
state	9575	begin apogee
9585	-0.32	0.0	990.3	9.0	462	9712	1.08	0.00	123.30	1.396	6	0.113	0.000	2265	2180	2540
9712	end apogee: CONTROL_FINISHED_OK
state	9712	begin climb
9716	1.38	146.6	996.2	0.0	468	9847	1.67	2.75	122.53	1.359	4	0.072	0.112	2644	3568	1942
10116	1.45	187.5	982.9	8.1	486	10157	0.00	2.53	35.50	1.338	6	0.000	0.067	2644	2160	1775
10476	1.47	201.0	949.6	9.4	504	10492	0.00	0.00	12.70	1.265	6	0.000	0.000	2644	2160	1719
10802	1.48	204.8	917.2	9.8	520	10809	0.00	0.00	5.18	0.992	6	0.000	0.000	2643	2160	1704
11112	1.48	205.1	886.3	10.0	535	11113	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2160	1704
11421	1.49	215.0	856.1	9.5	550	11432	0.00	0.00	10.00	1.174	6	0.000	0.000	2644	2160	1663
11730	1.49	215.0	825.2	10.1	565	11731	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2160	1662
12039	1.49	215.0	793.3	10.0	580	12044	0.00	2.72	0.00	0.000	4	0.000	0.104	2644	3568	1662
12079	1.50	219.1	789.2	9.8	582	12089	0.00	2.47	4.95	0.942	6	0.000	0.067	2644	2168	1647
12405	1.50	222.8	756.4	9.8	598	12413	0.12	0.00	4.95	0.929	6	0.074	0.000	2675	2168	1631
12714	1.50	222.8	723.6	10.5	613	12715	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2168	1631
13024	1.50	223.1	691.6	10.0	628	13025	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2167	1630
13333	1.51	223.3	660.9	10.0	643	13334	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2168	1631
13642	1.53	237.3	631.6	9.3	658	13661	0.00	0.00	13.30	1.105	6	0.000	0.000	2675	2168	1572
13971	1.53	237.3	597.8	10.5	674	13976	0.00	2.62	0.00	0.000	4	0.000	0.097	2675	765	1571
14038	1.53	237.3	590.0	11.6	677	14043	0.00	2.47	0.00	0.000	6	0.000	0.060	2675	2169	1571
14360	1.53	237.3	551.8	12.4	693	14361	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2170	1571
14669	1.53	237.3	514.3	11.6	708	14673	0.00	2.70	0.00	0.000	4	0.000	0.114	2675	3567	1570
14736	1.53	237.3	506.2	11.5	711	14740	0.00	2.47	0.00	0.000	6	0.000	0.067	2675	2171	1570
15056	1.53	237.3	467.7	12.9	727	15061	0.00	2.62	0.00	0.000	4	0.000	0.096	2675	766	1570
15123	1.53	237.3	458.7	12.9	730	15128	0.00	2.45	0.00	0.000	6	0.000	0.060	2675	2169	1570
15446	1.53	237.3	421.6	10.8	746	15450	0.00	2.60	0.00	0.000	4	0.000	0.085	2675	768	1570
15546	1.53	237.3	409.4	11.7	750	15552	0.00	2.45	0.00	0.000	6	0.000	0.059	2675	2173	1570
15862	1.53	237.3	375.9	10.6	766	15867	0.00	2.67	0.00	0.000	4	0.000	0.106	2675	3572	1569
15963	1.53	238.8	365.2	9.9	770	15969	0.00	2.47	0.00	0.000	6	0.000	0.064	2675	2167	1569
16280	1.54	244.9	334.4	9.7	786	16293	0.00	2.65	7.70	0.923	4	0.000	0.087	2675	770	1540
16324	1.54	244.9	329.6	10.3	788	16329	0.00	2.42	0.00	0.000	6	0.000	0.057	2675	2173	1540
16652	1.55	254.4	295.9	9.6	804	16663	0.00	0.00	9.55	0.917	6	0.000	0.000	2675	2173	1501
16961	1.55	254.4	261.9	11.6	819	16965	0.00	2.55	0.00	0.000	4	0.000	0.077	2675	770	1501
17045	1.55	254.4	251.5	11.3	823	17049	0.00	2.40	0.00	0.000	6	0.000	0.057	2675	2174	1502
17372	1.55	254.4	211.0	11.6	839	17373	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2174	1502
17681	1.55	254.4	175.0	12.7	854	17682	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2174	1503
17991	1.55	254.4	131.9	13.8	869	17995	0.00	2.55	0.00	0.000	4	0.000	0.077	2675	767	1504
18054	1.55	254.4	122.6	14.8	872	18058	0.00	2.40	0.00	0.000	6	0.000	0.058	2675	2176	1504
18383	1.55	254.4	78.3	14.4	888	18387	0.00	2.60	0.00	0.000	4	0.000	0.100	2675	3565	1505
18460	1.55	254.4	67.5	12.5	891	18467	0.00	2.45	0.00	0.000	6	0.000	0.061	2675	2160	1505
18778	1.55	254.4	27.8	13.9	907	18782	0.00	2.50	0.00	0.000	4	0.000	0.077	2675	769	1506
18851	1.55	254.4	16.1	16.4	910	18855	0.00	2.40	0.00	0.000	6	0.000	0.057	2675	2172	1506
18937	end climb: SURFACE_DEPTH_REACHED
state	18937	begin surface coast
18959	end surface coast: CONTROL_FINISHED_OK
state	18960	begin surface