Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 136 * 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 136 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 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -102769.34 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 -102769.34

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 20 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 136 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 125408,6340.292,-1309.533,35,2.0,36,-12.4 TGT_NAME KW

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 16 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.086,0.238

_SM_DEPTHo 1.24 KALMAN_X -99281.7,-1.5,857.5,-138969.5,-2172.1

_SM_ANGLEo -57.5 KALMAN_Y -19123.8,554.0,317.6,247182.4,-3942.1

GPS2 130050,6340.242,-1309.405,16,2.0,17,-12.4 MHEAD_RNG_PITCHd_Wd 32.2,18078,-14.2,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.023724 _24V_AH 23.8,25.214

SM_CCo 16253,0.00,0.000,0,0,1459,336.55 _10V_AH 10.1,11.301

SM_GC 1.21,11.38,0.00,0.00,0.035,0.000,0.000,417,2142,1459,-10.61,0.34,336.55 DATA_FILE_SIZE 37976,776

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 124643,0

TT8_MAMPS 0.029146 CFSIZE 254472192,244183040

HUMID 1817 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 17.50 GPS 210909,173337,6340.980,-1309.435,28,1.4,28,-12.4

XPDR_PINGS 48

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 156 101.94 SBE_CT 530 24 303.27

Roll_motor 142 77 263.51 SBE_O2 581 19 262.91

VBD_pump_during_apogee 438 1310 13685.96 WL_BB2F 461 105 1152.21

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 92.57 nil 0 0 0.00

Iridium_during_connect 37 160 141.27 nil 0 0 0.00

Iridium_during_xfer 203 223 1078.37

Transponder_ping 19 420 192.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.75

TT8 1436 19 287.26

LPSleep 12302 2 272.12

TT8_Active 562 19 112.56

TT8_Sampling 1778 39 714.88

TT8_CF8 571 45 264.45

TT8_Kalman 33 81 27.56

Analog_circuits 1483 12 179.76

GPS_charging 0 0 0.00

Compass 1728 8 139.63

RAFOS 0 0 0.00

Transponder 53 30 16.06

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

15 -1.18 -146.6 0.0 0.0 0 79 0.00 0.00 -61.35 0.000 2 0.000 0.000 419 2147 2495

83 -1.18 -146.6 2.3 -2.7 3 139 11.32 2.60 -36.28 0.000 4 0.156 0.068 2478 704 3428

147 -1.03 -146.6 7.0 -12.6 6 152 0.20 2.53 0.00 0.000 6 0.093 0.045 2519 2136 3429

474 -1.03 -146.6 47.1 -12.7 22 478 0.00 2.58 0.00 0.000 4 0.000 0.059 2519 706 3429

732 -1.06 -146.6 77.9 -10.9 33 739 0.00 2.53 0.00 0.000 6 0.000 0.046 2519 2139 3429

1048 -1.06 -146.6 107.7 -8.8 49 1053 0.00 2.58 0.00 0.000 4 0.000 0.071 2519 715 3430

1135 -1.06 -146.6 114.7 -7.8 53 1139 0.00 2.50 0.00 0.000 6 0.000 0.046 2519 2134 3430

1462 -1.06 -146.6 141.3 -8.0 69 1466 0.00 2.58 0.00 0.000 4 0.000 0.058 2519 704 3430

1525 -1.09 -146.6 146.4 -8.6 72 1530 0.00 2.50 0.00 0.000 6 0.000 0.047 2519 2120 3430

1852 -1.09 -146.6 174.1 -8.5 88 1854 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2120 3430

2162 -1.09 -146.6 201.3 -8.9 103 2166 0.00 2.55 0.00 0.000 4 0.000 0.058 2519 702 3430

2213 -1.12 -146.6 206.1 -9.1 105 2217 0.00 2.50 0.00 0.000 6 0.000 0.048 2519 2116 3430

2528 -1.12 -146.6 235.6 -9.6 120 2533 0.00 2.53 0.00 0.000 4 0.000 0.060 2519 716 3430

2579 -1.16 -146.6 241.1 -11.0 122 2584 0.15 2.47 0.00 0.000 6 0.052 0.049 2478 2114 3429

2896 -1.10 -146.6 283.6 -13.6 137 2898 0.12 0.00 0.00 0.000 6 0.092 0.000 2504 2114 3430

3204 -1.10 -146.6 319.8 -11.8 152 3209 0.00 2.53 0.00 0.000 4 0.000 0.061 2504 704 3430

3277 -1.10 -146.6 328.8 -12.5 155 3281 0.00 2.47 0.00 0.000 6 0.000 0.049 2504 2103 3430

3598 -1.10 -146.6 366.4 -11.5 171 3599 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2103 3429

3907 -1.10 -146.6 397.6 -9.6 186 3911 0.00 2.50 0.00 0.000 4 0.000 0.062 2503 713 3429

3947 -1.10 -146.6 401.5 -9.6 187 3953 0.00 2.47 0.00 0.000 6 0.000 0.050 2504 2110 3429

4263 -1.10 -146.6 429.6 -9.2 203 4267 0.00 2.53 0.00 0.000 4 0.000 0.061 2504 710 3429

4302 -1.10 -146.6 433.4 -10.0 205 4306 0.00 2.47 0.00 0.000 6 0.000 0.050 2504 2104 3429

4630 -1.10 -146.6 465.2 -10.1 221 4631 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2105 3428

4939 -1.10 -146.6 495.0 -9.6 236 4947 0.00 2.53 0.00 0.000 4 0.000 0.064 2504 714 3428

4969 -1.10 -146.6 498.0 -9.4 237 4973 0.00 2.45 0.00 0.000 6 0.000 0.051 2504 2093 3428

5291 -1.10 -146.6 524.8 -7.8 253 5292 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2093 3428

5599 -1.10 -146.6 550.7 -8.4 268 5600 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2093 3427

5909 -1.10 -146.6 574.5 -7.5 283 5910 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2093 3427

6218 -1.10 -146.6 594.6 -6.1 298 6223 0.00 2.50 0.00 0.000 4 0.000 0.062 2503 714 3427

6268 -1.10 -146.6 598.6 -8.8 300 6273 0.00 2.45 0.00 0.000 6 0.000 0.051 2504 2094 3427

6591 -1.10 -146.6 625.2 -7.9 316 6595 0.00 2.50 0.00 0.000 4 0.000 0.063 2504 716 3427

6664 -1.10 -146.6 630.8 -7.6 319 6668 0.00 2.40 0.00 0.000 6 0.000 0.051 2504 2068 3427

6980 -1.10 -146.6 654.0 -6.4 334 6984 0.00 2.47 0.00 0.000 4 0.000 0.064 2504 705 3427

7021 -1.10 -146.6 656.7 -6.6 336 7025 0.00 2.42 0.00 0.000 6 0.000 0.052 2504 2068 3427

7348 -1.10 -146.6 680.4 -7.9 352 7352 0.00 2.67 0.00 0.000 4 0.000 0.071 2504 3537 3427

7403 -1.10 -146.6 685.4 -9.7 354 7409 0.00 2.67 0.00 0.000 6 0.000 0.058 2504 2053 3426

7719 -1.10 -146.6 712.8 -8.7 370 7723 0.00 2.42 0.00 0.000 4 0.000 0.068 2503 705 3426

7763 -1.10 -146.6 717.2 -9.8 372 7767 0.00 2.45 0.00 0.000 6 0.000 0.054 2504 2075 3426

8085 -1.36 -146.6 732.7 0.0 388 8090 0.22 2.70 0.00 0.000 4 0.051 0.077 2437 3540 3425

8343 -1.63 -146.6 732.8 0.0 399 8350 0.22 2.70 0.00 0.000 6 0.051 0.061 2377 2046 3424

8512 end dive: NO_VERTICAL_VELOCITY

state 8512 begin apogee

8520 -0.33 0.0 732.7 0.0 408 8656 1.33 0.00 132.30 1.310 6 0.058 0.000 2678 1840 2831

8657 end apogee: CONTROL_FINISHED_OK

state 8657 begin climb

8660 1.18 146.6 732.6 0.0 415 8805 1.45 2.62 135.18 1.264 4 0.051 0.072 3003 448 2233

8910 1.02 146.9 718.1 8.0 426 8915 0.17 2.55 0.00 0.000 6 0.097 0.054 2971 1855 2233

9227 1.11 220.1 698.8 5.5 441 9295 0.00 0.00 66.18 1.242 6 0.000 0.000 2971 1871 1933

9599 1.14 237.4 671.7 7.4 459 9618 0.00 0.00 17.15 1.171 6 0.000 0.000 2970 1871 1863

9928 1.14 237.4 638.8 11.4 475 9933 0.10 2.62 0.00 0.000 4 0.062 0.073 2997 443 1862

9978 1.06 237.4 632.2 13.0 477 9983 0.00 2.55 0.00 0.000 6 0.000 0.055 2997 1853 1862

10294 1.06 237.4 598.7 8.1 492 10296 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 1867 1862

10604 1.10 278.9 578.5 6.6 507 10646 0.00 2.67 36.65 1.203 4 0.000 0.069 2997 448 1694

10699 1.05 278.9 570.7 9.5 511 10704 0.12 2.53 0.00 0.000 6 0.094 0.053 2974 1844 1693

11022 1.18 337.2 549.8 6.0 527 11079 0.15 2.62 51.50 1.183 4 0.053 0.062 3013 3262 1456

11132 1.18 337.2 537.1 12.7 531 11136 0.00 2.60 0.00 0.000 6 0.000 0.060 3013 1853 1456

11453 1.18 337.2 494.1 12.8 547 11457 0.00 2.58 0.00 0.000 4 0.000 0.068 3013 433 1456

11493 1.14 337.2 489.0 12.8 549 11498 0.00 2.55 0.00 0.000 6 0.000 0.050 3013 1858 1457

11820 1.14 337.2 450.9 11.0 565 11821 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1872 1458

12129 1.14 337.2 419.1 10.1 580 12133 0.00 2.62 0.00 0.000 4 0.000 0.066 3013 433 1457

12162 1.10 337.2 415.4 10.6 581 12169 0.15 2.53 0.00 0.000 6 0.087 0.049 2983 1853 1457

12479 1.15 337.2 386.8 9.1 597 12480 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 1868 1457

12787 1.20 337.2 357.2 9.7 612 12789 0.10 0.00 0.00 0.000 6 0.060 0.000 3013 1868 1457

13096 1.20 337.2 320.7 12.0 627 13097 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1868 1458

13406 1.20 337.2 287.5 10.3 642 13407 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1868 1458

13715 1.20 337.2 256.4 10.1 657 13719 0.00 2.58 0.00 0.000 4 0.000 0.064 3013 436 1458

13748 1.17 337.2 252.4 11.7 658 13754 0.00 2.47 0.00 0.000 6 0.000 0.048 3013 1837 1458

14064 1.17 337.2 218.8 10.3 674 14068 0.00 2.50 0.00 0.000 4 0.000 0.059 3013 3255 1458

14103 1.20 337.2 214.8 9.9 675 14110 0.00 2.55 0.00 0.000 6 0.000 0.052 3013 1827 1458

14419 1.20 337.2 185.0 9.3 691 14420 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1827 1458

14729 1.20 337.2 156.1 9.3 706 14733 0.00 2.60 0.00 0.000 4 0.000 0.058 3013 3264 1458

14784 1.25 337.2 150.9 8.3 708 14790 0.00 2.55 0.00 0.000 6 0.000 0.051 3013 1836 1459

15101 1.25 337.2 118.5 11.4 724 15106 0.00 2.58 0.00 0.000 4 0.000 0.058 3013 3261 1459

15143 1.28 337.2 113.3 13.0 726 15147 0.00 2.53 0.00 0.000 6 0.000 0.051 3013 1845 1459

15470 1.28 337.2 75.3 10.8 742 15474 0.00 2.55 0.00 0.000 4 0.000 0.058 3013 3258 1459

15510 1.33 337.2 71.0 11.5 744 15514 0.00 2.45 0.00 0.000 6 0.000 0.048 3013 1864 1459

15837 1.33 337.2 37.8 9.3 760 15842 0.00 2.53 0.00 0.000 4 0.000 0.057 3013 3264 1459

15916 1.40 337.2 30.2 9.1 763 15923 0.17 2.45 0.00 0.000 6 0.049 0.048 3061 1873 1459

16148 end climb: SURFACE_DEPTH_REACHED

state 16148 begin surface coast

16169 end surface coast: CONTROL_FINISHED_OK

state 16169 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	136	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	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-102769.34	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	125408,6340.292,-1309.533,35,2.0,36,-12.4	TGT_NAME	KW
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	16	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.086,0.238
_SM_DEPTHo	1.24	KALMAN_X	-99281.7,-1.5,857.5,-138969.5,-2172.1
_SM_ANGLEo	-57.5	KALMAN_Y	-19123.8,554.0,317.6,247182.4,-3942.1
GPS2	130050,6340.242,-1309.405,16,2.0,17,-12.4	MHEAD_RNG_PITCHd_Wd	32.2,18078,-14.2,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.3,1.023724	_24V_AH	23.8,25.214
SM_CCo	16253,0.00,0.000,0,0,1459,336.55	_10V_AH	10.1,11.301
SM_GC	1.21,11.38,0.00,0.00,0.035,0.000,0.000,417,2142,1459,-10.61,0.34,336.55	DATA_FILE_SIZE	37976,776
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	124643,0
TT8_MAMPS	0.029146	CFSIZE	254472192,244183040
HUMID	1817	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	17.50	GPS	210909,173337,6340.980,-1309.435,28,1.4,28,-12.4
XPDR_PINGS	48

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	156	101.94	SBE_CT	530	24	303.27
Roll_motor	142	77	263.51	SBE_O2	581	19	262.91
VBD_pump_during_apogee	438	1310	13685.96	WL_BB2F	461	105	1152.21
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	92.57	nil	0	0	0.00
Iridium_during_connect	37	160	141.27	nil	0	0	0.00
Iridium_during_xfer	203	223	1078.37
Transponder_ping	19	420	192.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.75
TT8	1436	19	287.26
LPSleep	12302	2	272.12
TT8_Active	562	19	112.56
TT8_Sampling	1778	39	714.88
TT8_CF8	571	45	264.45
TT8_Kalman	33	81	27.56
Analog_circuits	1483	12	179.76
GPS_charging	0	0	0.00
Compass	1728	8	139.63
RAFOS	0	0	0.00
Transponder	53	30	16.06

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
15	-1.18	-146.6	0.0	0.0	0	79	0.00	0.00	-61.35	0.000	2	0.000	0.000	419	2147	2495
83	-1.18	-146.6	2.3	-2.7	3	139	11.32	2.60	-36.28	0.000	4	0.156	0.068	2478	704	3428
147	-1.03	-146.6	7.0	-12.6	6	152	0.20	2.53	0.00	0.000	6	0.093	0.045	2519	2136	3429
474	-1.03	-146.6	47.1	-12.7	22	478	0.00	2.58	0.00	0.000	4	0.000	0.059	2519	706	3429
732	-1.06	-146.6	77.9	-10.9	33	739	0.00	2.53	0.00	0.000	6	0.000	0.046	2519	2139	3429
1048	-1.06	-146.6	107.7	-8.8	49	1053	0.00	2.58	0.00	0.000	4	0.000	0.071	2519	715	3430
1135	-1.06	-146.6	114.7	-7.8	53	1139	0.00	2.50	0.00	0.000	6	0.000	0.046	2519	2134	3430
1462	-1.06	-146.6	141.3	-8.0	69	1466	0.00	2.58	0.00	0.000	4	0.000	0.058	2519	704	3430
1525	-1.09	-146.6	146.4	-8.6	72	1530	0.00	2.50	0.00	0.000	6	0.000	0.047	2519	2120	3430
1852	-1.09	-146.6	174.1	-8.5	88	1854	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2120	3430
2162	-1.09	-146.6	201.3	-8.9	103	2166	0.00	2.55	0.00	0.000	4	0.000	0.058	2519	702	3430
2213	-1.12	-146.6	206.1	-9.1	105	2217	0.00	2.50	0.00	0.000	6	0.000	0.048	2519	2116	3430
2528	-1.12	-146.6	235.6	-9.6	120	2533	0.00	2.53	0.00	0.000	4	0.000	0.060	2519	716	3430
2579	-1.16	-146.6	241.1	-11.0	122	2584	0.15	2.47	0.00	0.000	6	0.052	0.049	2478	2114	3429
2896	-1.10	-146.6	283.6	-13.6	137	2898	0.12	0.00	0.00	0.000	6	0.092	0.000	2504	2114	3430
3204	-1.10	-146.6	319.8	-11.8	152	3209	0.00	2.53	0.00	0.000	4	0.000	0.061	2504	704	3430
3277	-1.10	-146.6	328.8	-12.5	155	3281	0.00	2.47	0.00	0.000	6	0.000	0.049	2504	2103	3430
3598	-1.10	-146.6	366.4	-11.5	171	3599	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2103	3429
3907	-1.10	-146.6	397.6	-9.6	186	3911	0.00	2.50	0.00	0.000	4	0.000	0.062	2503	713	3429
3947	-1.10	-146.6	401.5	-9.6	187	3953	0.00	2.47	0.00	0.000	6	0.000	0.050	2504	2110	3429
4263	-1.10	-146.6	429.6	-9.2	203	4267	0.00	2.53	0.00	0.000	4	0.000	0.061	2504	710	3429
4302	-1.10	-146.6	433.4	-10.0	205	4306	0.00	2.47	0.00	0.000	6	0.000	0.050	2504	2104	3429
4630	-1.10	-146.6	465.2	-10.1	221	4631	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2105	3428
4939	-1.10	-146.6	495.0	-9.6	236	4947	0.00	2.53	0.00	0.000	4	0.000	0.064	2504	714	3428
4969	-1.10	-146.6	498.0	-9.4	237	4973	0.00	2.45	0.00	0.000	6	0.000	0.051	2504	2093	3428
5291	-1.10	-146.6	524.8	-7.8	253	5292	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2093	3428
5599	-1.10	-146.6	550.7	-8.4	268	5600	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2093	3427
5909	-1.10	-146.6	574.5	-7.5	283	5910	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2093	3427
6218	-1.10	-146.6	594.6	-6.1	298	6223	0.00	2.50	0.00	0.000	4	0.000	0.062	2503	714	3427
6268	-1.10	-146.6	598.6	-8.8	300	6273	0.00	2.45	0.00	0.000	6	0.000	0.051	2504	2094	3427
6591	-1.10	-146.6	625.2	-7.9	316	6595	0.00	2.50	0.00	0.000	4	0.000	0.063	2504	716	3427
6664	-1.10	-146.6	630.8	-7.6	319	6668	0.00	2.40	0.00	0.000	6	0.000	0.051	2504	2068	3427
6980	-1.10	-146.6	654.0	-6.4	334	6984	0.00	2.47	0.00	0.000	4	0.000	0.064	2504	705	3427
7021	-1.10	-146.6	656.7	-6.6	336	7025	0.00	2.42	0.00	0.000	6	0.000	0.052	2504	2068	3427
7348	-1.10	-146.6	680.4	-7.9	352	7352	0.00	2.67	0.00	0.000	4	0.000	0.071	2504	3537	3427
7403	-1.10	-146.6	685.4	-9.7	354	7409	0.00	2.67	0.00	0.000	6	0.000	0.058	2504	2053	3426
7719	-1.10	-146.6	712.8	-8.7	370	7723	0.00	2.42	0.00	0.000	4	0.000	0.068	2503	705	3426
7763	-1.10	-146.6	717.2	-9.8	372	7767	0.00	2.45	0.00	0.000	6	0.000	0.054	2504	2075	3426
8085	-1.36	-146.6	732.7	0.0	388	8090	0.22	2.70	0.00	0.000	4	0.051	0.077	2437	3540	3425
8343	-1.63	-146.6	732.8	0.0	399	8350	0.22	2.70	0.00	0.000	6	0.051	0.061	2377	2046	3424
8512	end dive: NO_VERTICAL_VELOCITY
state	8512	begin apogee
8520	-0.33	0.0	732.7	0.0	408	8656	1.33	0.00	132.30	1.310	6	0.058	0.000	2678	1840	2831
8657	end apogee: CONTROL_FINISHED_OK
state	8657	begin climb
8660	1.18	146.6	732.6	0.0	415	8805	1.45	2.62	135.18	1.264	4	0.051	0.072	3003	448	2233
8910	1.02	146.9	718.1	8.0	426	8915	0.17	2.55	0.00	0.000	6	0.097	0.054	2971	1855	2233
9227	1.11	220.1	698.8	5.5	441	9295	0.00	0.00	66.18	1.242	6	0.000	0.000	2971	1871	1933
9599	1.14	237.4	671.7	7.4	459	9618	0.00	0.00	17.15	1.171	6	0.000	0.000	2970	1871	1863
9928	1.14	237.4	638.8	11.4	475	9933	0.10	2.62	0.00	0.000	4	0.062	0.073	2997	443	1862
9978	1.06	237.4	632.2	13.0	477	9983	0.00	2.55	0.00	0.000	6	0.000	0.055	2997	1853	1862
10294	1.06	237.4	598.7	8.1	492	10296	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	1867	1862
10604	1.10	278.9	578.5	6.6	507	10646	0.00	2.67	36.65	1.203	4	0.000	0.069	2997	448	1694
10699	1.05	278.9	570.7	9.5	511	10704	0.12	2.53	0.00	0.000	6	0.094	0.053	2974	1844	1693
11022	1.18	337.2	549.8	6.0	527	11079	0.15	2.62	51.50	1.183	4	0.053	0.062	3013	3262	1456
11132	1.18	337.2	537.1	12.7	531	11136	0.00	2.60	0.00	0.000	6	0.000	0.060	3013	1853	1456
11453	1.18	337.2	494.1	12.8	547	11457	0.00	2.58	0.00	0.000	4	0.000	0.068	3013	433	1456
11493	1.14	337.2	489.0	12.8	549	11498	0.00	2.55	0.00	0.000	6	0.000	0.050	3013	1858	1457
11820	1.14	337.2	450.9	11.0	565	11821	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1872	1458
12129	1.14	337.2	419.1	10.1	580	12133	0.00	2.62	0.00	0.000	4	0.000	0.066	3013	433	1457
12162	1.10	337.2	415.4	10.6	581	12169	0.15	2.53	0.00	0.000	6	0.087	0.049	2983	1853	1457
12479	1.15	337.2	386.8	9.1	597	12480	0.00	0.00	0.00	0.000	6	0.000	0.000	2983	1868	1457
12787	1.20	337.2	357.2	9.7	612	12789	0.10	0.00	0.00	0.000	6	0.060	0.000	3013	1868	1457
13096	1.20	337.2	320.7	12.0	627	13097	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1868	1458
13406	1.20	337.2	287.5	10.3	642	13407	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1868	1458
13715	1.20	337.2	256.4	10.1	657	13719	0.00	2.58	0.00	0.000	4	0.000	0.064	3013	436	1458
13748	1.17	337.2	252.4	11.7	658	13754	0.00	2.47	0.00	0.000	6	0.000	0.048	3013	1837	1458
14064	1.17	337.2	218.8	10.3	674	14068	0.00	2.50	0.00	0.000	4	0.000	0.059	3013	3255	1458
14103	1.20	337.2	214.8	9.9	675	14110	0.00	2.55	0.00	0.000	6	0.000	0.052	3013	1827	1458
14419	1.20	337.2	185.0	9.3	691	14420	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1827	1458
14729	1.20	337.2	156.1	9.3	706	14733	0.00	2.60	0.00	0.000	4	0.000	0.058	3013	3264	1458
14784	1.25	337.2	150.9	8.3	708	14790	0.00	2.55	0.00	0.000	6	0.000	0.051	3013	1836	1459
15101	1.25	337.2	118.5	11.4	724	15106	0.00	2.58	0.00	0.000	4	0.000	0.058	3013	3261	1459
15143	1.28	337.2	113.3	13.0	726	15147	0.00	2.53	0.00	0.000	6	0.000	0.051	3013	1845	1459
15470	1.28	337.2	75.3	10.8	742	15474	0.00	2.55	0.00	0.000	4	0.000	0.058	3013	3258	1459
15510	1.33	337.2	71.0	11.5	744	15514	0.00	2.45	0.00	0.000	6	0.000	0.048	3013	1864	1459
15837	1.33	337.2	37.8	9.3	760	15842	0.00	2.53	0.00	0.000	4	0.000	0.057	3013	3264	1459
15916	1.40	337.2	30.2	9.1	763	15923	0.17	2.45	0.00	0.000	6	0.049	0.048	3061	1873	1459
16148	end climb: SURFACE_DEPTH_REACHED
state	16148	begin surface coast
16169	end surface coast: CONTROL_FINISHED_OK
state	16169	begin surface