Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 111 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 111 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 990 T_GPS_CHARGE -102314.91 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 990 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -102314.91

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 37 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 111 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 192837,6249.222,-1237.352,30,1.0,30,-11.7 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 7 TGT_RADIUS 5000.000

_XMS_TOUTs 2 KALMAN_CONTROL -0.172,0.175

_SM_DEPTHo 1.50 KALMAN_X -105385.1,-27.7,887.6,-104602.0,-4065.3

_SM_ANGLEo -61.4 KALMAN_Y -8243.1,255.2,749.8,141834.3,-3882.0

GPS2 193443,6249.307,-1237.325,15,1.1,15,-11.7 MHEAD_RNG_PITCHd_Wd 327.2,23437,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026875 ALTIM_BOTTOM_PING 670.8,40.1

SM_CCo 14325,0.00,0.000,0,0,1574,308.34 _24V_AH 23.8,21.006

SM_GC 1.48,11.20,0.00,0.00,0.038,0.000,0.000,426,2166,1574,-10.59,0.99,308.34 _10V_AH 10.1,9.444

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34941,683

TT8_MAMPS 0.028379 CAP_FILE_SIZE 118013,0

HUMID 1815 CFSIZE 254472192,245641216

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

XPDR_PINGS 42 GPS 160909,233537,6250.864,-1242.287,41,1.3,41,-11.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 156 96.17 SBE_CT 466 24 266.67

Roll_motor 163 74 290.35 SBE_O2 506 19 229.07

VBD_pump_during_apogee 410 1287 12592.34 WL_BB2F 409 105 1023.81

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 37 103 92.56 nil 0 0 0.00

Iridium_during_connect 30 160 117.80 nil 0 0 0.00

Iridium_during_xfer 161 223 858.72

Transponder_ping 16 420 167.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.95

TT8 1303 19 260.60

LPSleep 10718 2 237.09

TT8_Active 545 19 109.06

TT8_Sampling 1589 39 639.00

TT8_CF8 533 45 246.64

TT8_Kalman 33 81 27.56

Analog_circuits 1381 12 167.38

GPS_charging 0 0 0.00

Compass 1542 8 124.67

RAFOS 0 0 0.00

Transponder 44 30 13.40

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.22 -146.6 0.0 0.0 0 59 0.00 0.00 -41.55 0.000 2 0.000 0.000 425 2151 2503

63 -1.22 -146.6 2.4 -4.0 2 114 11.02 2.58 -34.65 0.000 4 0.156 0.067 2469 717 3429

177 -1.12 -146.6 13.2 -12.5 7 182 0.15 2.47 0.00 0.000 6 0.101 0.045 2500 2118 3429

499 -1.12 -146.6 52.4 -12.5 23 503 0.00 2.53 0.00 0.000 4 0.000 0.055 2500 712 3430

562 -1.12 -146.6 60.5 -13.1 26 566 0.00 2.50 0.00 0.000 6 0.000 0.045 2500 2130 3430

891 -1.12 -146.6 101.6 -12.3 42 895 0.00 2.55 0.00 0.000 4 0.000 0.058 2501 715 3431

985 -1.12 -146.6 114.3 -13.0 46 990 0.00 2.47 0.00 0.000 6 0.000 0.045 2500 2119 3431

1302 -1.12 -146.6 151.6 -10.8 61 1303 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2120 3431

1611 -1.12 -146.6 183.6 -10.3 76 1615 0.00 2.53 0.00 0.000 4 0.000 0.058 2501 718 3431

1644 -1.12 -146.6 187.3 -10.9 77 1650 0.00 2.45 0.00 0.000 6 0.000 0.048 2500 2107 3431

1960 -1.12 -146.6 221.1 -11.0 93 1962 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2107 3431

2268 -1.12 -146.6 254.9 -10.8 108 2273 0.00 2.53 0.00 0.000 4 0.000 0.062 2500 716 3431

2309 -1.12 -146.6 259.3 -11.1 110 2313 0.00 2.45 0.00 0.000 6 0.000 0.049 2501 2099 3431

2636 -1.12 -146.6 293.0 -10.3 126 2640 0.00 2.50 0.00 0.000 4 0.000 0.061 2501 717 3431

2669 -1.12 -146.6 296.7 -10.9 127 2675 0.00 2.45 0.00 0.000 6 0.000 0.048 2501 2100 3431

2985 -1.12 -146.6 328.3 -9.7 143 2989 0.00 2.53 0.00 0.000 4 0.000 0.063 2501 705 3431

3007 -1.12 -146.6 330.7 -10.3 144 3011 0.00 2.45 0.00 0.000 6 0.000 0.049 2500 2096 3431

3333 -1.12 -146.6 363.2 -10.1 160 3334 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2096 3431

3643 -1.12 -146.6 393.0 -9.6 175 3646 0.00 2.47 0.00 0.000 4 0.000 0.062 2500 718 3430

3677 -1.12 -146.6 396.4 -10.3 176 3681 0.00 2.42 0.00 0.000 6 0.000 0.050 2501 2089 3430

3993 -1.12 -146.6 425.0 -8.6 191 3994 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2089 3430

4302 -1.12 -146.6 450.5 -8.7 206 4306 0.00 2.47 0.00 0.000 4 0.000 0.062 2500 716 3430

4349 -1.16 -146.6 454.7 -9.3 208 4353 0.00 2.42 0.00 0.000 6 0.000 0.050 2501 2082 3430

4681 -1.16 -146.6 485.7 -10.0 224 4686 0.00 2.50 0.00 0.000 4 0.000 0.064 2501 706 3429

4709 -1.16 -146.6 488.8 -10.8 225 4713 0.00 2.42 0.00 0.000 6 0.000 0.051 2500 2073 3429

5028 -1.16 -146.6 520.1 -9.5 240 5032 0.00 2.47 0.00 0.000 4 0.000 0.063 2501 711 3429

5068 -1.16 -146.6 524.3 -9.8 242 5072 0.00 2.42 0.00 0.000 6 0.000 0.050 2500 2073 3429

5395 -1.16 -146.6 551.9 -7.8 258 5399 0.00 2.47 0.00 0.000 4 0.000 0.064 2501 712 3429

5458 -1.16 -146.6 556.8 -7.8 261 5462 0.00 2.38 0.00 0.000 6 0.000 0.050 2501 2052 3429

5785 -1.16 -146.6 584.6 -9.1 277 5789 0.00 2.45 0.00 0.000 4 0.000 0.067 2501 714 3429

5825 -1.16 -146.6 588.3 -9.0 279 5829 0.00 2.40 0.00 0.000 6 0.000 0.051 2501 2058 3429

6151 -1.16 -146.6 618.3 -9.3 295 6156 0.00 2.47 0.00 0.000 4 0.000 0.068 2501 709 3429

6220 -1.16 -146.6 624.9 -9.8 298 6224 0.00 2.40 0.00 0.000 6 0.000 0.053 2501 2054 3428

6541 -1.16 -146.6 655.3 -9.5 314 6542 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2055 3428

6850 -1.16 -146.6 685.3 -10.2 329 6854 0.00 2.47 0.00 0.000 4 0.000 0.074 2501 720 3428

6923 -1.19 -146.6 692.0 -9.4 332 6928 0.00 2.38 0.00 0.000 6 0.000 0.057 2500 2044 3428

7030 end dive: BOTTOM_OBSTACLE_DETECTED

state 7030 begin apogee

7038 -0.33 0.0 702.1 9.0 337 7173 0.80 0.00 130.65 1.288 6 0.077 0.000 2673 1832 2831

7174 end apogee: CONTROL_FINISHED_OK

state 7174 begin climb

7177 1.22 146.6 707.3 0.0 344 7314 1.55 0.00 132.05 1.247 6 0.058 0.000 3010 1832 2233

7627 1.12 146.6 676.6 8.8 366 7631 0.00 2.65 0.00 0.000 4 0.000 0.067 3010 3252 2233

7682 1.03 146.6 671.2 8.6 368 7689 0.20 2.58 0.00 0.000 6 0.098 0.064 2974 1861 2233

7999 1.13 207.7 650.3 5.8 384 8062 0.00 2.65 55.28 1.225 4 0.000 0.068 2974 3255 1984

8118 1.17 231.9 642.1 7.1 389 8151 0.12 2.58 22.73 1.174 6 0.060 0.065 3004 1871 1885

8463 1.19 264.3 615.5 6.8 406 8498 0.00 2.60 30.05 1.192 4 0.000 0.067 3004 3252 1753

8568 1.26 308.5 608.4 6.4 410 8613 0.00 2.53 40.10 1.197 6 0.000 0.064 3004 1891 1573

8943 1.26 308.5 578.8 9.3 428 8948 0.00 2.53 0.00 0.000 4 0.000 0.067 3004 3258 1573

9029 1.29 308.5 570.3 9.7 432 9034 0.10 2.47 0.00 0.000 6 0.063 0.063 3031 1914 1572

9356 1.23 308.5 531.0 12.5 448 9360 0.00 2.47 0.00 0.000 4 0.000 0.067 3031 3258 1573

9396 1.23 308.5 525.7 12.9 449 9402 0.00 2.42 0.00 0.000 6 0.000 0.061 3031 1936 1573

9712 1.17 308.5 484.7 13.1 465 9717 0.17 2.42 0.00 0.000 4 0.091 0.064 2997 3251 1572

9774 1.23 308.5 477.7 11.2 468 9778 0.00 2.33 0.00 0.000 6 0.000 0.060 2997 1959 1573

10108 1.23 308.5 443.5 10.1 484 10112 0.00 2.38 0.00 0.000 4 0.000 0.063 2997 3252 1572

10148 1.29 308.5 439.3 10.0 486 10153 0.15 2.33 0.00 0.000 6 0.054 0.058 3035 1964 1572

10476 1.22 308.5 398.5 12.6 502 10480 0.12 2.38 0.00 0.000 4 0.094 0.062 3012 3258 1573

10531 1.22 308.5 391.8 11.1 504 10537 0.00 2.30 0.00 0.000 6 0.000 0.057 3012 1987 1573

10847 1.22 308.5 356.7 11.1 520 10851 0.00 2.30 0.00 0.000 4 0.000 0.062 3012 3259 1573

10908 1.22 308.5 349.8 11.6 522 10914 0.00 2.25 0.00 0.000 6 0.000 0.055 3012 2013 1573

11224 1.22 308.5 315.9 10.7 538 11228 0.00 2.28 0.00 0.000 4 0.000 0.061 3011 3258 1573

11269 1.22 308.5 310.9 10.9 540 11273 0.00 2.22 0.00 0.000 6 0.000 0.054 3011 2021 1573

11591 1.22 308.5 277.0 10.5 556 11595 0.00 2.25 0.00 0.000 4 0.000 0.061 3011 3254 1573

11624 1.25 308.5 273.3 10.1 557 11630 0.00 2.20 0.00 0.000 6 0.000 0.054 3011 2028 1574

11940 1.25 308.5 240.3 10.4 573 11944 0.00 2.25 0.00 0.000 4 0.000 0.061 3012 3262 1574

11974 1.29 308.5 236.6 10.0 574 11978 0.00 2.20 0.00 0.000 6 0.000 0.052 3011 2036 1574

12290 1.29 308.5 205.8 9.6 589 12295 0.00 2.88 0.00 0.000 4 0.000 0.067 3012 438 1573

12330 1.29 308.5 201.7 10.1 591 12334 0.00 2.85 0.00 0.000 6 0.000 0.048 3011 2052 1574

12657 1.29 308.5 169.8 9.8 607 12661 0.00 2.97 0.00 0.000 4 0.000 0.069 3011 433 1573

12701 1.29 308.5 165.0 10.7 609 12705 0.00 2.85 0.00 0.000 6 0.000 0.049 3011 2045 1574

13024 1.29 308.5 132.0 11.1 625 13028 0.00 2.95 0.00 0.000 4 0.000 0.068 3011 435 1574

13064 1.29 308.5 127.0 11.8 627 13068 0.00 2.80 0.00 0.000 6 0.000 0.049 3011 2020 1574

13391 1.29 308.5 93.7 9.9 643 13394 0.00 2.20 0.00 0.000 4 0.000 0.058 3012 3262 1574

13425 1.33 308.5 90.0 10.2 644 13429 0.10 2.25 0.00 0.000 6 0.059 0.051 3040 1999 1574

13741 1.33 308.5 53.8 10.2 659 13746 0.00 2.80 0.00 0.000 4 0.000 0.066 3040 437 1574

13798 1.28 308.5 47.2 11.0 661 13804 0.00 2.72 0.00 0.000 6 0.000 0.047 3040 1993 1574

14116 1.24 308.5 14.5 11.5 677 14121 0.12 2.22 0.00 0.000 4 0.090 0.056 3015 3257 1574

14194 1.28 308.5 5.8 12.6 680 14201 0.00 2.22 0.00 0.000 6 0.000 0.048 3015 1991 1574

14219 end climb: SURFACE_DEPTH_REACHED

state 14219 begin surface coast

14241 end surface coast: CONTROL_FINISHED_OK

state 14241 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	111	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	990	T_GPS_CHARGE	-102314.91	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	192837,6249.222,-1237.352,30,1.0,30,-11.7	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	7	TGT_RADIUS	5000.000
_XMS_TOUTs	2	KALMAN_CONTROL	-0.172,0.175
_SM_DEPTHo	1.50	KALMAN_X	-105385.1,-27.7,887.6,-104602.0,-4065.3
_SM_ANGLEo	-61.4	KALMAN_Y	-8243.1,255.2,749.8,141834.3,-3882.0
GPS2	193443,6249.307,-1237.325,15,1.1,15,-11.7	MHEAD_RNG_PITCHd_Wd	327.2,23437,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.026875	ALTIM_BOTTOM_PING	670.8,40.1
SM_CCo	14325,0.00,0.000,0,0,1574,308.34	_24V_AH	23.8,21.006
SM_GC	1.48,11.20,0.00,0.00,0.038,0.000,0.000,426,2166,1574,-10.59,0.99,308.34	_10V_AH	10.1,9.444
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34941,683
TT8_MAMPS	0.028379	CAP_FILE_SIZE	118013,0
HUMID	1815	CFSIZE	254472192,245641216
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
XPDR_PINGS	42	GPS	160909,233537,6250.864,-1242.287,41,1.3,41,-11.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	156	96.17	SBE_CT	466	24	266.67
Roll_motor	163	74	290.35	SBE_O2	506	19	229.07
VBD_pump_during_apogee	410	1287	12592.34	WL_BB2F	409	105	1023.81
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	37	103	92.56	nil	0	0	0.00
Iridium_during_connect	30	160	117.80	nil	0	0	0.00
Iridium_during_xfer	161	223	858.72
Transponder_ping	16	420	167.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.95
TT8	1303	19	260.60
LPSleep	10718	2	237.09
TT8_Active	545	19	109.06
TT8_Sampling	1589	39	639.00
TT8_CF8	533	45	246.64
TT8_Kalman	33	81	27.56
Analog_circuits	1381	12	167.38
GPS_charging	0	0	0.00
Compass	1542	8	124.67
RAFOS	0	0	0.00
Transponder	44	30	13.40

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.22	-146.6	0.0	0.0	0	59	0.00	0.00	-41.55	0.000	2	0.000	0.000	425	2151	2503
63	-1.22	-146.6	2.4	-4.0	2	114	11.02	2.58	-34.65	0.000	4	0.156	0.067	2469	717	3429
177	-1.12	-146.6	13.2	-12.5	7	182	0.15	2.47	0.00	0.000	6	0.101	0.045	2500	2118	3429
499	-1.12	-146.6	52.4	-12.5	23	503	0.00	2.53	0.00	0.000	4	0.000	0.055	2500	712	3430
562	-1.12	-146.6	60.5	-13.1	26	566	0.00	2.50	0.00	0.000	6	0.000	0.045	2500	2130	3430
891	-1.12	-146.6	101.6	-12.3	42	895	0.00	2.55	0.00	0.000	4	0.000	0.058	2501	715	3431
985	-1.12	-146.6	114.3	-13.0	46	990	0.00	2.47	0.00	0.000	6	0.000	0.045	2500	2119	3431
1302	-1.12	-146.6	151.6	-10.8	61	1303	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2120	3431
1611	-1.12	-146.6	183.6	-10.3	76	1615	0.00	2.53	0.00	0.000	4	0.000	0.058	2501	718	3431
1644	-1.12	-146.6	187.3	-10.9	77	1650	0.00	2.45	0.00	0.000	6	0.000	0.048	2500	2107	3431
1960	-1.12	-146.6	221.1	-11.0	93	1962	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2107	3431
2268	-1.12	-146.6	254.9	-10.8	108	2273	0.00	2.53	0.00	0.000	4	0.000	0.062	2500	716	3431
2309	-1.12	-146.6	259.3	-11.1	110	2313	0.00	2.45	0.00	0.000	6	0.000	0.049	2501	2099	3431
2636	-1.12	-146.6	293.0	-10.3	126	2640	0.00	2.50	0.00	0.000	4	0.000	0.061	2501	717	3431
2669	-1.12	-146.6	296.7	-10.9	127	2675	0.00	2.45	0.00	0.000	6	0.000	0.048	2501	2100	3431
2985	-1.12	-146.6	328.3	-9.7	143	2989	0.00	2.53	0.00	0.000	4	0.000	0.063	2501	705	3431
3007	-1.12	-146.6	330.7	-10.3	144	3011	0.00	2.45	0.00	0.000	6	0.000	0.049	2500	2096	3431
3333	-1.12	-146.6	363.2	-10.1	160	3334	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2096	3431
3643	-1.12	-146.6	393.0	-9.6	175	3646	0.00	2.47	0.00	0.000	4	0.000	0.062	2500	718	3430
3677	-1.12	-146.6	396.4	-10.3	176	3681	0.00	2.42	0.00	0.000	6	0.000	0.050	2501	2089	3430
3993	-1.12	-146.6	425.0	-8.6	191	3994	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2089	3430
4302	-1.12	-146.6	450.5	-8.7	206	4306	0.00	2.47	0.00	0.000	4	0.000	0.062	2500	716	3430
4349	-1.16	-146.6	454.7	-9.3	208	4353	0.00	2.42	0.00	0.000	6	0.000	0.050	2501	2082	3430
4681	-1.16	-146.6	485.7	-10.0	224	4686	0.00	2.50	0.00	0.000	4	0.000	0.064	2501	706	3429
4709	-1.16	-146.6	488.8	-10.8	225	4713	0.00	2.42	0.00	0.000	6	0.000	0.051	2500	2073	3429
5028	-1.16	-146.6	520.1	-9.5	240	5032	0.00	2.47	0.00	0.000	4	0.000	0.063	2501	711	3429
5068	-1.16	-146.6	524.3	-9.8	242	5072	0.00	2.42	0.00	0.000	6	0.000	0.050	2500	2073	3429
5395	-1.16	-146.6	551.9	-7.8	258	5399	0.00	2.47	0.00	0.000	4	0.000	0.064	2501	712	3429
5458	-1.16	-146.6	556.8	-7.8	261	5462	0.00	2.38	0.00	0.000	6	0.000	0.050	2501	2052	3429
5785	-1.16	-146.6	584.6	-9.1	277	5789	0.00	2.45	0.00	0.000	4	0.000	0.067	2501	714	3429
5825	-1.16	-146.6	588.3	-9.0	279	5829	0.00	2.40	0.00	0.000	6	0.000	0.051	2501	2058	3429
6151	-1.16	-146.6	618.3	-9.3	295	6156	0.00	2.47	0.00	0.000	4	0.000	0.068	2501	709	3429
6220	-1.16	-146.6	624.9	-9.8	298	6224	0.00	2.40	0.00	0.000	6	0.000	0.053	2501	2054	3428
6541	-1.16	-146.6	655.3	-9.5	314	6542	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2055	3428
6850	-1.16	-146.6	685.3	-10.2	329	6854	0.00	2.47	0.00	0.000	4	0.000	0.074	2501	720	3428
6923	-1.19	-146.6	692.0	-9.4	332	6928	0.00	2.38	0.00	0.000	6	0.000	0.057	2500	2044	3428
7030	end dive: BOTTOM_OBSTACLE_DETECTED
state	7030	begin apogee
7038	-0.33	0.0	702.1	9.0	337	7173	0.80	0.00	130.65	1.288	6	0.077	0.000	2673	1832	2831
7174	end apogee: CONTROL_FINISHED_OK
state	7174	begin climb
7177	1.22	146.6	707.3	0.0	344	7314	1.55	0.00	132.05	1.247	6	0.058	0.000	3010	1832	2233
7627	1.12	146.6	676.6	8.8	366	7631	0.00	2.65	0.00	0.000	4	0.000	0.067	3010	3252	2233
7682	1.03	146.6	671.2	8.6	368	7689	0.20	2.58	0.00	0.000	6	0.098	0.064	2974	1861	2233
7999	1.13	207.7	650.3	5.8	384	8062	0.00	2.65	55.28	1.225	4	0.000	0.068	2974	3255	1984
8118	1.17	231.9	642.1	7.1	389	8151	0.12	2.58	22.73	1.174	6	0.060	0.065	3004	1871	1885
8463	1.19	264.3	615.5	6.8	406	8498	0.00	2.60	30.05	1.192	4	0.000	0.067	3004	3252	1753
8568	1.26	308.5	608.4	6.4	410	8613	0.00	2.53	40.10	1.197	6	0.000	0.064	3004	1891	1573
8943	1.26	308.5	578.8	9.3	428	8948	0.00	2.53	0.00	0.000	4	0.000	0.067	3004	3258	1573
9029	1.29	308.5	570.3	9.7	432	9034	0.10	2.47	0.00	0.000	6	0.063	0.063	3031	1914	1572
9356	1.23	308.5	531.0	12.5	448	9360	0.00	2.47	0.00	0.000	4	0.000	0.067	3031	3258	1573
9396	1.23	308.5	525.7	12.9	449	9402	0.00	2.42	0.00	0.000	6	0.000	0.061	3031	1936	1573
9712	1.17	308.5	484.7	13.1	465	9717	0.17	2.42	0.00	0.000	4	0.091	0.064	2997	3251	1572
9774	1.23	308.5	477.7	11.2	468	9778	0.00	2.33	0.00	0.000	6	0.000	0.060	2997	1959	1573
10108	1.23	308.5	443.5	10.1	484	10112	0.00	2.38	0.00	0.000	4	0.000	0.063	2997	3252	1572
10148	1.29	308.5	439.3	10.0	486	10153	0.15	2.33	0.00	0.000	6	0.054	0.058	3035	1964	1572
10476	1.22	308.5	398.5	12.6	502	10480	0.12	2.38	0.00	0.000	4	0.094	0.062	3012	3258	1573
10531	1.22	308.5	391.8	11.1	504	10537	0.00	2.30	0.00	0.000	6	0.000	0.057	3012	1987	1573
10847	1.22	308.5	356.7	11.1	520	10851	0.00	2.30	0.00	0.000	4	0.000	0.062	3012	3259	1573
10908	1.22	308.5	349.8	11.6	522	10914	0.00	2.25	0.00	0.000	6	0.000	0.055	3012	2013	1573
11224	1.22	308.5	315.9	10.7	538	11228	0.00	2.28	0.00	0.000	4	0.000	0.061	3011	3258	1573
11269	1.22	308.5	310.9	10.9	540	11273	0.00	2.22	0.00	0.000	6	0.000	0.054	3011	2021	1573
11591	1.22	308.5	277.0	10.5	556	11595	0.00	2.25	0.00	0.000	4	0.000	0.061	3011	3254	1573
11624	1.25	308.5	273.3	10.1	557	11630	0.00	2.20	0.00	0.000	6	0.000	0.054	3011	2028	1574
11940	1.25	308.5	240.3	10.4	573	11944	0.00	2.25	0.00	0.000	4	0.000	0.061	3012	3262	1574
11974	1.29	308.5	236.6	10.0	574	11978	0.00	2.20	0.00	0.000	6	0.000	0.052	3011	2036	1574
12290	1.29	308.5	205.8	9.6	589	12295	0.00	2.88	0.00	0.000	4	0.000	0.067	3012	438	1573
12330	1.29	308.5	201.7	10.1	591	12334	0.00	2.85	0.00	0.000	6	0.000	0.048	3011	2052	1574
12657	1.29	308.5	169.8	9.8	607	12661	0.00	2.97	0.00	0.000	4	0.000	0.069	3011	433	1573
12701	1.29	308.5	165.0	10.7	609	12705	0.00	2.85	0.00	0.000	6	0.000	0.049	3011	2045	1574
13024	1.29	308.5	132.0	11.1	625	13028	0.00	2.95	0.00	0.000	4	0.000	0.068	3011	435	1574
13064	1.29	308.5	127.0	11.8	627	13068	0.00	2.80	0.00	0.000	6	0.000	0.049	3011	2020	1574
13391	1.29	308.5	93.7	9.9	643	13394	0.00	2.20	0.00	0.000	4	0.000	0.058	3012	3262	1574
13425	1.33	308.5	90.0	10.2	644	13429	0.10	2.25	0.00	0.000	6	0.059	0.051	3040	1999	1574
13741	1.33	308.5	53.8	10.2	659	13746	0.00	2.80	0.00	0.000	4	0.000	0.066	3040	437	1574
13798	1.28	308.5	47.2	11.0	661	13804	0.00	2.72	0.00	0.000	6	0.000	0.047	3040	1993	1574
14116	1.24	308.5	14.5	11.5	677	14121	0.12	2.22	0.00	0.000	4	0.090	0.056	3015	3257	1574
14194	1.28	308.5	5.8	12.6	680	14201	0.00	2.22	0.00	0.000	6	0.000	0.048	3015	1991	1574
14219	end climb: SURFACE_DEPTH_REACHED
state	14219	begin surface coast
14241	end surface coast: CONTROL_FINISHED_OK
state	14241	begin surface