Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 124 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 124 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 300 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -78564.125 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

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 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

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 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -78564.125

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 25 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 39 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 124 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 24

Pre-dive calculations and measurements:

GPS1 080531,6214.998,-943.464,42,1.5,42,-9.9 TGT_NAME DW

_CALLS 2 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.203,-0.049

_SM_DEPTHo 3.42 KALMAN_X 122302.7,-2996.4,285.5,-184126.0,27060.6

_SM_ANGLEo -58.5 KALMAN_Y 144873.5,-1955.0,542.0,-65726.0,17402.4

GPS2 081544,6215.080,-943.337,13,1.5,13,-9.9 MHEAD_RNG_PITCHd_Wd 266.3,44550,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 18998,52.10,0.745,0,0,602,558.06 ALTIM_BOTTOM_PING 575.2,82.6

SM_GC 3.45,11.90,0.00,0.00,0.028,0.000,0.000,29,1912,602,-11.26,0.34,558.30 _24V_AH 23.4,31.348

IRIDIUM_FIX 6148.92,-948.98,061207,121223 _10V_AH 10.1,14.180

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44197,918

HUMID 2049 CFSIZE 260165632,251125760

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

TCM_TEMP 18.80 GPS 061207,134226,6214.673,-946.849,41,1.0,41,-9.9

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 113 67.47 SBE_CT 676 24 380.13

Roll_motor 111 67 176.74 SBE_O2 620 19 276.07

VBD_pump_during_apogee 437 1229 12585.58 WL_BB2F 591 105 1453.03

VBD_pump_during_surface 52 744 907.96 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 77 103 186.31 nil 0 0 0.00

Iridium_during_connect 169 160 634.58 nil 0 0 0.00

Iridium_during_xfer 194 223 1016.36

Transponder_ping 6 420 58.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.62

TT8 1635 19 327.14

LPSleep 15154 2 335.21

TT8_Active 676 19 135.33

TT8_Sampling 2008 39 807.45

TT8_CF8 609 45 281.90

TT8_Kalman 33 81 27.57

Analog_circuits 1687 12 204.51

GPS_charging 0 0 0.00

Compass 1974 8 159.54

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.95 -146.6 0.0 0.0 0 44 0.00 0.00 -22.27 0.000 2 0.000 0.000 28 1885 1111

46 -0.95 -146.6 3.4 -0.0 1 226 11.32 2.58 -157.80 0.000 4 0.114 0.058 2286 3294 3477

480 -0.95 -146.6 25.2 -7.1 21 484 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1898 3477

806 -0.95 -146.6 50.5 -7.5 37 810 0.00 2.53 0.00 0.000 4 0.000 0.047 2286 3298 3477

916 -0.95 -146.6 58.8 -8.2 42 920 0.00 2.53 0.00 0.000 6 0.000 0.041 2286 1902 3477

1243 -0.95 -146.6 85.1 -8.2 58 1244 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3477

1552 -0.95 -146.6 109.1 -7.5 73 1553 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3476

1861 -0.95 -146.6 131.7 -7.6 88 1863 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3477

2170 -0.95 -146.6 155.5 -7.5 103 2172 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3477

2479 -0.95 -146.6 177.6 -7.0 118 2481 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3477

2789 -0.95 -146.6 199.0 -6.8 133 2790 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3476

3098 -0.95 -146.6 220.1 -6.9 148 3102 0.00 2.50 0.00 0.000 4 0.000 0.047 2286 3294 3477

3153 -0.95 -146.6 223.9 -7.0 150 3157 0.00 2.50 0.00 0.000 6 0.000 0.042 2286 1892 3477

3474 -0.95 -146.6 244.1 -6.6 166 3475 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1893 3477

3784 -0.95 -146.6 264.5 -6.5 181 3785 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1893 3476

4093 -0.95 -146.6 285.4 -6.7 196 4097 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3294 3477

4158 -0.95 -146.6 289.9 -7.0 199 4162 0.00 2.53 0.00 0.000 6 0.000 0.043 2286 1899 3476

4485 -0.95 -146.6 311.7 -7.0 215 4486 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3477

4794 -0.95 -146.6 333.5 -7.0 230 4795 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3476

5103 -0.95 -146.6 355.2 -7.0 245 5104 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3476

5413 -0.95 -146.6 376.4 -6.9 260 5417 0.00 2.50 0.00 0.000 4 0.000 0.049 2286 3293 3476

5513 -0.95 -146.6 383.4 -7.2 264 5517 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1896 3476

5834 -0.95 -146.6 405.4 -7.2 280 5835 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3476

6143 -0.95 -146.6 427.0 -6.5 295 6148 0.00 2.53 0.00 0.000 4 0.000 0.051 2286 3294 3476

6220 -0.95 -146.6 432.0 -6.6 298 6227 0.00 2.53 0.00 0.000 6 0.000 0.044 2286 1903 3476

6536 -0.95 -146.6 451.4 -6.0 314 6537 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3476

6845 -0.95 -146.6 470.9 -6.7 329 6846 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3476

7155 -0.95 -146.6 490.6 -6.0 344 7159 0.00 2.53 0.00 0.000 4 0.000 0.052 2286 3294 3476

7243 -0.95 -146.6 496.3 -5.8 348 7247 0.00 2.50 0.00 0.000 6 0.000 0.046 2286 1900 3475

7570 -0.95 -146.6 517.2 -6.2 364 7571 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

7879 -0.95 -146.6 537.1 -6.7 379 7883 0.00 2.53 0.00 0.000 4 0.000 0.053 2286 3294 3476

7962 -0.95 -146.6 542.7 -6.7 383 7966 0.00 2.50 0.00 0.000 6 0.000 0.047 2286 1900 3475

8288 -0.95 -146.6 562.9 -5.5 399 8289 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

8597 -0.95 -146.6 579.2 -4.8 414 8601 0.00 2.55 0.00 0.000 4 0.000 0.055 2286 3297 3475

8696 -0.95 -146.6 584.2 -4.5 418 8703 0.00 2.53 0.00 0.000 6 0.000 0.048 2286 1897 3475

9012 -0.95 -146.6 598.1 -4.2 434 9013 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3474

9321 -0.95 -146.6 611.0 -4.6 449 9322 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3475

9630 -0.95 -146.6 624.7 -3.4 464 9635 0.00 2.58 0.00 0.000 4 0.000 0.061 2286 3297 3474

9708 -0.95 -146.6 627.8 -3.7 467 9714 0.00 2.55 0.00 0.000 6 0.000 0.054 2286 1898 3474

10023 -0.95 -146.6 640.7 -3.5 483 10024 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1898 3474

10187 end dive: BOTTOM_OBSTACLE_DETECTED

state 10187 begin apogee

10192 -0.36 0.0 647.9 4.5 491 10317 0.60 0.00 122.07 1.230 6 0.073 0.000 2416 2093 2877

10317 end apogee: CONTROL_FINISHED_OK

state 10318 begin climb

10319 0.95 146.6 651.3 0.0 497 10451 1.30 2.70 120.20 1.190 4 0.053 0.065 2704 3493 2280

10575 0.95 146.6 641.5 6.6 509 10579 0.00 2.58 0.00 0.000 6 0.000 0.050 2704 2100 2279

10896 1.00 186.5 624.4 4.8 525 10936 0.00 0.00 33.95 1.193 6 0.000 0.000 2704 2100 2117

11245 1.00 186.5 602.7 6.5 542 11246 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2099 2117

11554 1.08 256.0 587.6 3.9 557 11615 0.12 0.00 57.47 1.203 6 0.050 0.000 2748 2100 1833

11923 1.08 256.0 565.6 6.7 575 11924 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2099 1832

12232 1.08 256.0 542.5 7.5 590 12234 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2100 1832

12542 1.08 256.0 518.0 7.9 605 12543 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2100 1832

12851 1.08 256.0 492.5 8.2 620 12853 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2099 1832

13160 1.08 256.0 466.0 8.8 635 13164 0.00 2.60 0.00 0.000 4 0.000 0.067 2747 690 1832

13221 1.08 256.0 460.6 8.2 638 13226 0.00 2.47 0.00 0.000 6 0.000 0.043 2748 2102 1832

13547 1.08 256.0 434.6 7.8 654 13552 0.00 2.62 0.00 0.000 4 0.000 0.065 2749 691 1832

13590 1.08 256.0 430.8 8.0 656 13595 0.00 2.50 0.00 0.000 6 0.000 0.043 2748 2093 1832

13917 1.08 256.0 405.1 7.9 672 13918 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2098 1832

14227 1.08 256.0 379.4 8.4 687 14231 0.00 2.60 0.00 0.000 4 0.000 0.063 2748 691 1832

14292 1.08 256.0 373.3 9.3 690 14296 0.00 2.50 0.00 0.000 6 0.000 0.041 2748 2102 1832

14619 1.08 256.0 344.2 9.0 706 14623 0.00 2.62 0.00 0.000 4 0.000 0.064 2748 690 1832

14673 1.08 256.0 339.2 9.0 708 14680 0.00 2.53 0.00 0.000 6 0.000 0.041 2748 2102 1832

14988 1.08 256.0 311.2 8.9 724 14993 0.00 2.62 0.00 0.000 4 0.000 0.064 2748 689 1833

15044 1.08 256.0 306.1 9.7 726 15050 0.00 2.50 0.00 0.000 6 0.000 0.041 2748 2106 1833

15359 1.08 256.0 279.3 8.4 742 15360 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2111 1833

15668 1.08 256.0 252.4 8.9 757 15672 0.00 2.62 0.00 0.000 4 0.000 0.062 2748 689 1834

15744 1.08 256.0 245.1 9.2 760 15752 0.00 2.53 0.00 0.000 6 0.000 0.040 2747 2107 1834

16060 1.08 256.0 218.6 8.3 776 16062 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2108 1834

16370 1.08 256.0 193.0 8.1 791 16374 0.00 2.60 0.00 0.000 4 0.000 0.061 2749 689 1834

16435 1.08 256.0 187.4 8.7 794 16439 0.00 2.50 0.00 0.000 6 0.000 0.039 2748 2096 1834

16762 1.08 256.0 161.2 8.1 810 16763 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2100 1835

17071 1.08 256.0 135.8 8.2 825 17076 0.00 2.60 0.00 0.000 4 0.000 0.061 2749 685 1835

17148 1.08 256.0 129.1 9.2 828 17156 0.00 2.47 0.00 0.000 6 0.000 0.039 2748 2097 1835

17464 1.08 256.0 103.3 8.2 844 17465 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2097 1835

17773 1.08 256.0 76.6 8.7 859 17778 0.00 2.60 0.00 0.000 4 0.000 0.061 2748 684 1835

17850 1.08 256.0 69.4 8.6 862 17858 0.00 2.47 0.00 0.000 6 0.000 0.038 2748 2097 1835

18166 1.08 256.0 40.8 9.1 878 18167 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2097 1835

18475 1.08 256.0 15.7 7.7 893 18480 0.00 2.58 0.00 0.000 4 0.000 0.061 2748 690 1835

18496 1.08 256.0 13.5 9.9 894 18501 0.00 2.47 0.00 0.000 6 0.000 0.038 2748 2089 1835

18825 1.33 456.6 2.8 0.0 910 18937 0.15 2.65 103.75 0.768 4 0.051 0.056 2797 691 1016

18996 end climb: NO_VERTICAL_VELOCITY

state 18996 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	124	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	300	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-78564.125	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
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	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	080531,6214.998,-943.464,42,1.5,42,-9.9	TGT_NAME	DW
_CALLS	2	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.203,-0.049
_SM_DEPTHo	3.42	KALMAN_X	122302.7,-2996.4,285.5,-184126.0,27060.6
_SM_ANGLEo	-58.5	KALMAN_Y	144873.5,-1955.0,542.0,-65726.0,17402.4
GPS2	081544,6215.080,-943.337,13,1.5,13,-9.9	MHEAD_RNG_PITCHd_Wd	266.3,44550,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	18998,52.10,0.745,0,0,602,558.06	ALTIM_BOTTOM_PING	575.2,82.6
SM_GC	3.45,11.90,0.00,0.00,0.028,0.000,0.000,29,1912,602,-11.26,0.34,558.30	_24V_AH	23.4,31.348
IRIDIUM_FIX	6148.92,-948.98,061207,121223	_10V_AH	10.1,14.180
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44197,918
HUMID	2049	CFSIZE	260165632,251125760
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
TCM_TEMP	18.80	GPS	061207,134226,6214.673,-946.849,41,1.0,41,-9.9
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	113	67.47	SBE_CT	676	24	380.13
Roll_motor	111	67	176.74	SBE_O2	620	19	276.07
VBD_pump_during_apogee	437	1229	12585.58	WL_BB2F	591	105	1453.03
VBD_pump_during_surface	52	744	907.96	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	77	103	186.31	nil	0	0	0.00
Iridium_during_connect	169	160	634.58	nil	0	0	0.00
Iridium_during_xfer	194	223	1016.36
Transponder_ping	6	420	58.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.62
TT8	1635	19	327.14
LPSleep	15154	2	335.21
TT8_Active	676	19	135.33
TT8_Sampling	2008	39	807.45
TT8_CF8	609	45	281.90
TT8_Kalman	33	81	27.57
Analog_circuits	1687	12	204.51
GPS_charging	0	0	0.00
Compass	1974	8	159.54
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.95	-146.6	0.0	0.0	0	44	0.00	0.00	-22.27	0.000	2	0.000	0.000	28	1885	1111
46	-0.95	-146.6	3.4	-0.0	1	226	11.32	2.58	-157.80	0.000	4	0.114	0.058	2286	3294	3477
480	-0.95	-146.6	25.2	-7.1	21	484	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1898	3477
806	-0.95	-146.6	50.5	-7.5	37	810	0.00	2.53	0.00	0.000	4	0.000	0.047	2286	3298	3477
916	-0.95	-146.6	58.8	-8.2	42	920	0.00	2.53	0.00	0.000	6	0.000	0.041	2286	1902	3477
1243	-0.95	-146.6	85.1	-8.2	58	1244	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3477
1552	-0.95	-146.6	109.1	-7.5	73	1553	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3476
1861	-0.95	-146.6	131.7	-7.6	88	1863	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3477
2170	-0.95	-146.6	155.5	-7.5	103	2172	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3477
2479	-0.95	-146.6	177.6	-7.0	118	2481	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3477
2789	-0.95	-146.6	199.0	-6.8	133	2790	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3476
3098	-0.95	-146.6	220.1	-6.9	148	3102	0.00	2.50	0.00	0.000	4	0.000	0.047	2286	3294	3477
3153	-0.95	-146.6	223.9	-7.0	150	3157	0.00	2.50	0.00	0.000	6	0.000	0.042	2286	1892	3477
3474	-0.95	-146.6	244.1	-6.6	166	3475	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1893	3477
3784	-0.95	-146.6	264.5	-6.5	181	3785	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1893	3476
4093	-0.95	-146.6	285.4	-6.7	196	4097	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3294	3477
4158	-0.95	-146.6	289.9	-7.0	199	4162	0.00	2.53	0.00	0.000	6	0.000	0.043	2286	1899	3476
4485	-0.95	-146.6	311.7	-7.0	215	4486	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3477
4794	-0.95	-146.6	333.5	-7.0	230	4795	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3476
5103	-0.95	-146.6	355.2	-7.0	245	5104	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3476
5413	-0.95	-146.6	376.4	-6.9	260	5417	0.00	2.50	0.00	0.000	4	0.000	0.049	2286	3293	3476
5513	-0.95	-146.6	383.4	-7.2	264	5517	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1896	3476
5834	-0.95	-146.6	405.4	-7.2	280	5835	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3476
6143	-0.95	-146.6	427.0	-6.5	295	6148	0.00	2.53	0.00	0.000	4	0.000	0.051	2286	3294	3476
6220	-0.95	-146.6	432.0	-6.6	298	6227	0.00	2.53	0.00	0.000	6	0.000	0.044	2286	1903	3476
6536	-0.95	-146.6	451.4	-6.0	314	6537	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3476
6845	-0.95	-146.6	470.9	-6.7	329	6846	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3476
7155	-0.95	-146.6	490.6	-6.0	344	7159	0.00	2.53	0.00	0.000	4	0.000	0.052	2286	3294	3476
7243	-0.95	-146.6	496.3	-5.8	348	7247	0.00	2.50	0.00	0.000	6	0.000	0.046	2286	1900	3475
7570	-0.95	-146.6	517.2	-6.2	364	7571	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
7879	-0.95	-146.6	537.1	-6.7	379	7883	0.00	2.53	0.00	0.000	4	0.000	0.053	2286	3294	3476
7962	-0.95	-146.6	542.7	-6.7	383	7966	0.00	2.50	0.00	0.000	6	0.000	0.047	2286	1900	3475
8288	-0.95	-146.6	562.9	-5.5	399	8289	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
8597	-0.95	-146.6	579.2	-4.8	414	8601	0.00	2.55	0.00	0.000	4	0.000	0.055	2286	3297	3475
8696	-0.95	-146.6	584.2	-4.5	418	8703	0.00	2.53	0.00	0.000	6	0.000	0.048	2286	1897	3475
9012	-0.95	-146.6	598.1	-4.2	434	9013	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3474
9321	-0.95	-146.6	611.0	-4.6	449	9322	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3475
9630	-0.95	-146.6	624.7	-3.4	464	9635	0.00	2.58	0.00	0.000	4	0.000	0.061	2286	3297	3474
9708	-0.95	-146.6	627.8	-3.7	467	9714	0.00	2.55	0.00	0.000	6	0.000	0.054	2286	1898	3474
10023	-0.95	-146.6	640.7	-3.5	483	10024	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1898	3474
10187	end dive: BOTTOM_OBSTACLE_DETECTED
state	10187	begin apogee
10192	-0.36	0.0	647.9	4.5	491	10317	0.60	0.00	122.07	1.230	6	0.073	0.000	2416	2093	2877
10317	end apogee: CONTROL_FINISHED_OK
state	10318	begin climb
10319	0.95	146.6	651.3	0.0	497	10451	1.30	2.70	120.20	1.190	4	0.053	0.065	2704	3493	2280
10575	0.95	146.6	641.5	6.6	509	10579	0.00	2.58	0.00	0.000	6	0.000	0.050	2704	2100	2279
10896	1.00	186.5	624.4	4.8	525	10936	0.00	0.00	33.95	1.193	6	0.000	0.000	2704	2100	2117
11245	1.00	186.5	602.7	6.5	542	11246	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2099	2117
11554	1.08	256.0	587.6	3.9	557	11615	0.12	0.00	57.47	1.203	6	0.050	0.000	2748	2100	1833
11923	1.08	256.0	565.6	6.7	575	11924	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2099	1832
12232	1.08	256.0	542.5	7.5	590	12234	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2100	1832
12542	1.08	256.0	518.0	7.9	605	12543	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2100	1832
12851	1.08	256.0	492.5	8.2	620	12853	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2099	1832
13160	1.08	256.0	466.0	8.8	635	13164	0.00	2.60	0.00	0.000	4	0.000	0.067	2747	690	1832
13221	1.08	256.0	460.6	8.2	638	13226	0.00	2.47	0.00	0.000	6	0.000	0.043	2748	2102	1832
13547	1.08	256.0	434.6	7.8	654	13552	0.00	2.62	0.00	0.000	4	0.000	0.065	2749	691	1832
13590	1.08	256.0	430.8	8.0	656	13595	0.00	2.50	0.00	0.000	6	0.000	0.043	2748	2093	1832
13917	1.08	256.0	405.1	7.9	672	13918	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2098	1832
14227	1.08	256.0	379.4	8.4	687	14231	0.00	2.60	0.00	0.000	4	0.000	0.063	2748	691	1832
14292	1.08	256.0	373.3	9.3	690	14296	0.00	2.50	0.00	0.000	6	0.000	0.041	2748	2102	1832
14619	1.08	256.0	344.2	9.0	706	14623	0.00	2.62	0.00	0.000	4	0.000	0.064	2748	690	1832
14673	1.08	256.0	339.2	9.0	708	14680	0.00	2.53	0.00	0.000	6	0.000	0.041	2748	2102	1832
14988	1.08	256.0	311.2	8.9	724	14993	0.00	2.62	0.00	0.000	4	0.000	0.064	2748	689	1833
15044	1.08	256.0	306.1	9.7	726	15050	0.00	2.50	0.00	0.000	6	0.000	0.041	2748	2106	1833
15359	1.08	256.0	279.3	8.4	742	15360	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2111	1833
15668	1.08	256.0	252.4	8.9	757	15672	0.00	2.62	0.00	0.000	4	0.000	0.062	2748	689	1834
15744	1.08	256.0	245.1	9.2	760	15752	0.00	2.53	0.00	0.000	6	0.000	0.040	2747	2107	1834
16060	1.08	256.0	218.6	8.3	776	16062	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2108	1834
16370	1.08	256.0	193.0	8.1	791	16374	0.00	2.60	0.00	0.000	4	0.000	0.061	2749	689	1834
16435	1.08	256.0	187.4	8.7	794	16439	0.00	2.50	0.00	0.000	6	0.000	0.039	2748	2096	1834
16762	1.08	256.0	161.2	8.1	810	16763	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2100	1835
17071	1.08	256.0	135.8	8.2	825	17076	0.00	2.60	0.00	0.000	4	0.000	0.061	2749	685	1835
17148	1.08	256.0	129.1	9.2	828	17156	0.00	2.47	0.00	0.000	6	0.000	0.039	2748	2097	1835
17464	1.08	256.0	103.3	8.2	844	17465	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2097	1835
17773	1.08	256.0	76.6	8.7	859	17778	0.00	2.60	0.00	0.000	4	0.000	0.061	2748	684	1835
17850	1.08	256.0	69.4	8.6	862	17858	0.00	2.47	0.00	0.000	6	0.000	0.038	2748	2097	1835
18166	1.08	256.0	40.8	9.1	878	18167	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2097	1835
18475	1.08	256.0	15.7	7.7	893	18480	0.00	2.58	0.00	0.000	4	0.000	0.061	2748	690	1835
18496	1.08	256.0	13.5	9.9	894	18501	0.00	2.47	0.00	0.000	6	0.000	0.038	2748	2089	1835
18825	1.33	456.6	2.8	0.0	910	18937	0.15	2.65	103.75	0.768	4	0.051	0.056	2797	691	1016
18996	end climb: NO_VERTICAL_VELOCITY
state	18996	begin surface