Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 147 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 147 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 229 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3788 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2900 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 10 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 10 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 572 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3921 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2901 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -3 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -65060.008 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

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 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -14.98249 SEABIRD_T_I 2.37435e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 1 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

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 12 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 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 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -65060.008

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 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 103 ROLL_MAX 3788 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 20 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 10 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.8560104 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1097485 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0009817977 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017126031 VBD_MAX 3921

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712188 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064056052 VBD_MIN 572

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.37435e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 147 PHONE_DEVICE 48 SEABIRD_T_J 2.3296527e-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 24

Pre-dive calculations and measurements:

GPS1 143438,6231.942,-1049.905,41,1.0,41,-10.6 TGT_NAME DW

_CALLS 1 TGT_LATLONG 6237.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.179,0.125

_SM_DEPTHo -0.30 KALMAN_X -192607.6,544.4,-456.5,72878.1,-3834.7

_SM_ANGLEo -58.2 KALMAN_Y -2157.4,323.8,-1159.0,110400.7,5473.2

GPS2 144008,6231.978,-1050.080,11,1.0,16,-10.6 MHEAD_RNG_PITCHd_Wd 315.4,12566,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 640

Post-dive calculations and measurements:

FINISH -0.9,1.027336 XPDR_PINGS 2

SM_CCo 16472,15.12,0.669,1,0,1678,300.00 ALTIM_BOTTOM_PING 575.1,78.3

SM_GC -0.64,0.00,0.00,15.12,0.000,0.000,0.669,43,2897,1678,-10.89,-0.08,300.00 _24V_AH 23.4,27.946

IRIDIUM_FIX 6207.28,-1046.62,081207,131319 _10V_AH 10.1,13.001

TT8_MAMPS 0.028379 DATA_FILE_SIZE 41223,797

HUMID 2085 CFSIZE 260165632,250171392

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,33,1,0

TCM_TEMP 17.20 GPS 081207,191728,6234.870,-1100.027,28,3.2,47,-10.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 159 96.97 SBE_CT 579 24 325.35

Roll_motor 159 125 469.55 SBE_O2 559 19 248.94

VBD_pump_during_apogee 361 1193 10092.04 WL_BB2F 499 105 1226.72

VBD_pump_during_surface 15 668 236.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 97.24 nil 0 0 0.00

Iridium_during_connect 38 160 144.10 nil 0 0 0.00

Iridium_during_xfer 150 223 785.57

Transponder_ping 5 420 51.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.29

TT8 1484 19 296.86

LPSleep 12555 2 277.72

TT8_Active 520 19 104.12

TT8_Sampling 1845 39 741.97

TT8_CF8 431 45 199.56

TT8_Kalman 33 81 27.57

Analog_circuits 1461 12 177.08

GPS_charging 0 0 0.00

Compass 1819 8 147.04

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 -1.10 -146.6 0.0 0.0 0 84 0.00 0.00 -62.12 0.000 2 0.000 0.000 44 2905 3366

86 -1.10 -146.6 3.5 -9.2 3 109 12.00 1.77 -2.42 0.000 4 0.160 0.126 2164 3782 3501

360 -1.10 -146.6 33.3 -6.7 15 365 0.00 1.52 0.00 0.000 6 0.000 0.033 2164 2888 3502

687 -1.10 -146.6 65.5 -7.4 31 691 0.00 1.73 0.00 0.000 4 0.000 0.084 2164 3790 3502

912 -1.10 -146.6 81.2 -6.0 41 915 0.00 1.52 0.00 0.000 6 0.000 0.034 2164 2907 3502

1245 -1.10 -146.6 106.2 -8.5 57 1249 0.00 2.58 0.00 0.000 4 0.000 0.069 2164 1500 3502

1284 -1.10 -146.6 109.3 -8.0 59 1288 0.00 2.65 0.00 0.000 6 0.000 0.074 2164 2908 3502

1609 -1.10 -146.6 134.7 -7.0 75 1610 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2908 3502

1918 -1.10 -146.6 160.3 -8.0 90 1922 0.00 2.60 0.00 0.000 4 0.000 0.068 2164 1502 3502

1960 -1.10 -146.6 163.9 -8.4 92 1965 0.00 2.60 0.00 0.000 6 0.000 0.069 2164 2889 3502

2287 -1.10 -146.6 188.0 -6.7 108 2292 0.00 2.58 0.00 0.000 4 0.000 0.067 2164 1497 3502

2326 -1.10 -146.6 190.8 -7.3 110 2331 0.00 2.62 0.00 0.000 6 0.000 0.074 2164 2903 3502

2652 -1.10 -146.6 213.8 -7.2 126 2654 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2903 3502

2962 -1.10 -146.6 237.6 -7.4 141 2966 0.00 2.60 0.00 0.000 4 0.000 0.070 2164 1502 3502

3038 -1.10 -146.6 243.5 -7.1 144 3045 0.00 2.60 0.00 0.000 6 0.000 0.074 2164 2895 3502

3354 -1.10 -146.6 263.5 -6.1 160 3355 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2895 3502

3663 -1.10 -146.6 281.4 -5.7 175 3668 0.00 2.58 0.00 0.000 4 0.000 0.068 2164 1500 3502

3696 -1.10 -146.6 283.3 -5.3 176 3702 0.00 2.62 0.00 0.000 6 0.000 0.075 2164 2907 3502

4011 -1.10 -146.6 302.4 -6.5 192 4016 0.00 2.60 0.00 0.000 4 0.000 0.069 2164 1502 3502

4043 -1.10 -146.6 304.8 -7.1 193 4050 0.00 2.62 0.00 0.000 6 0.000 0.076 2164 2900 3502

4359 -1.10 -146.6 328.4 -7.9 209 4363 0.00 2.58 0.00 0.000 4 0.000 0.069 2164 1500 3502

4392 -1.10 -146.6 331.2 -8.1 210 4398 0.00 2.62 0.00 0.000 6 0.000 0.076 2164 2898 3502

4707 -1.10 -146.6 355.1 -7.0 226 4711 0.00 2.55 0.00 0.000 4 0.000 0.068 2164 1501 3502

4738 -1.10 -146.6 357.4 -7.0 227 4745 0.00 2.62 0.00 0.000 6 0.000 0.076 2164 2899 3502

5054 -1.10 -146.6 378.6 -7.0 243 5058 0.00 2.58 0.00 0.000 4 0.000 0.068 2164 1500 3502

5119 -1.10 -146.6 383.4 -7.7 246 5124 0.00 2.62 0.00 0.000 6 0.000 0.077 2164 2905 3502

5446 -1.10 -146.6 405.3 -6.5 262 5450 0.00 2.58 0.00 0.000 4 0.000 0.069 2164 1500 3502

5478 -1.10 -146.6 407.2 -5.9 263 5484 0.00 2.62 0.00 0.000 6 0.000 0.077 2164 2901 3502

5793 -1.10 -146.6 430.4 -8.9 279 5797 0.00 2.60 0.00 0.000 4 0.000 0.068 2164 1493 3502

5832 -1.10 -146.6 434.0 -9.4 281 5836 0.00 2.62 0.00 0.000 6 0.000 0.074 2164 2898 3502

6157 -1.10 -146.6 463.3 -8.1 297 6161 0.00 2.55 0.00 0.000 4 0.000 0.067 2164 1500 3502

6211 -1.10 -146.6 467.2 -6.8 299 6218 0.00 2.62 0.00 0.000 6 0.000 0.071 2164 2914 3502

6527 -1.10 -146.6 478.7 -2.0 315 6531 0.00 2.58 0.00 0.000 4 0.000 0.065 2164 1500 3502

6658 -1.10 -146.6 483.0 -4.0 321 6662 0.00 2.60 0.00 0.000 6 0.000 0.071 2164 2899 3502

6983 -1.10 -146.6 501.1 -8.1 337 6985 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3502

7292 -1.10 -146.6 532.7 -9.6 352 7293 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3502

7602 -1.10 -146.6 548.1 -2.8 367 7606 0.00 2.55 0.00 0.000 4 0.000 0.064 2164 1494 3502

7686 -1.10 -146.6 551.2 -4.2 371 7690 0.00 2.62 0.00 0.000 6 0.000 0.071 2164 2906 3502

8011 -1.10 -146.6 573.5 -7.9 387 8015 0.00 2.55 0.00 0.000 4 0.000 0.063 2164 1499 3502

8043 -1.10 -146.6 576.1 -8.2 388 8047 0.00 2.60 0.00 0.000 6 0.000 0.069 2164 2906 3502

8364 -1.10 -146.6 599.8 -7.8 404 8365 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2906 3502

8673 -1.10 -146.6 623.8 -7.5 419 8677 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1500 3502

8712 -1.10 -146.6 626.4 -7.0 421 8717 0.00 2.60 0.00 0.000 6 0.000 0.068 2164 2903 3502

8913 end dive: TARGET_DEPTH_EXCEEDED

state 8913 begin apogee

8919 -0.42 0.0 641.5 8.8 431 9047 0.75 0.00 124.50 1.193 6 0.086 0.000 2316 2113 2901

9048 end apogee: CONTROL_FINISHED_OK

state 9048 begin climb

9050 1.10 146.6 647.3 0.0 437 9181 1.55 2.70 121.53 1.162 4 0.053 0.064 2650 692 2303

9434 1.21 234.2 634.5 3.6 454 9515 0.12 2.53 73.10 1.159 6 0.044 0.041 2694 2114 1946

9829 1.21 234.2 595.6 11.2 474 9831 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2115 1945

10139 1.21 234.2 573.2 6.3 489 10143 0.00 2.65 0.00 0.000 4 0.000 0.078 2694 3512 1944

10200 1.21 234.2 569.2 6.8 492 10204 0.00 2.55 0.00 0.000 6 0.000 0.048 2694 2092 1944

10525 1.27 284.2 548.5 4.6 508 10569 0.00 0.00 42.25 1.138 6 0.000 0.000 2694 2092 1742

10874 1.27 284.2 518.1 11.1 525 10879 0.00 2.55 0.00 0.000 4 0.000 0.064 2694 693 1741

10928 1.27 284.2 513.0 9.2 527 10935 0.00 2.53 0.00 0.000 6 0.000 0.048 2694 2087 1741

11244 1.27 284.2 482.3 13.0 543 11245 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2087 1740

11553 1.27 284.2 439.3 11.6 558 11554 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2087 1740

11862 1.27 284.2 416.4 6.3 573 11867 0.00 2.67 0.00 0.000 4 0.000 0.076 2694 3519 1740

11916 1.27 284.2 412.5 7.0 575 11923 0.00 2.55 0.00 0.000 6 0.000 0.048 2694 2103 1740

12232 1.27 284.2 386.9 8.5 591 12237 0.00 2.55 0.00 0.000 4 0.000 0.061 2694 692 1740

12276 1.27 284.2 382.6 9.3 593 12280 0.00 2.53 0.00 0.000 6 0.000 0.048 2694 2095 1740

12602 1.27 284.2 352.1 9.1 609 12607 0.00 2.65 0.00 0.000 4 0.000 0.076 2694 3512 1740

12646 1.27 284.2 348.0 9.2 611 12650 0.00 2.53 0.00 0.000 6 0.000 0.048 2694 2096 1740

12972 1.27 284.2 319.2 8.7 627 12973 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2096 1740

13282 1.27 284.2 291.9 9.3 642 13283 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2096 1741

13591 1.27 284.2 269.1 6.2 657 13592 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2096 1741

13900 1.27 284.2 239.4 11.4 672 13904 0.00 2.67 0.00 0.000 4 0.000 0.076 2694 3512 1741

13938 1.27 284.2 235.5 10.4 674 13942 0.00 2.50 0.00 0.000 6 0.000 0.048 2694 2100 1741

14270 1.27 284.2 201.9 10.5 690 14274 0.00 2.55 0.00 0.000 4 0.000 0.064 2694 693 1742

14301 1.27 284.2 198.6 10.5 691 14308 0.00 2.53 0.00 0.000 6 0.000 0.048 2694 2098 1742

14617 1.27 284.2 165.3 10.8 707 14621 0.00 2.62 0.00 0.000 4 0.000 0.074 2694 3513 1742

14661 1.27 284.2 160.0 11.5 709 14666 0.00 2.53 0.00 0.000 6 0.000 0.048 2694 2100 1742

14983 1.27 284.2 129.6 7.1 725 14987 0.00 2.55 0.00 0.000 4 0.000 0.062 2694 693 1743

15037 1.27 284.2 125.2 7.6 727 15044 0.00 2.53 0.00 0.000 6 0.000 0.049 2694 2100 1743

15353 1.27 284.2 103.0 8.5 743 15357 0.00 2.62 0.00 0.000 4 0.000 0.075 2694 3512 1743

15392 1.27 284.2 99.1 10.3 745 15396 0.00 2.50 0.00 0.000 6 0.000 0.048 2694 2100 1743

15717 1.27 284.2 72.9 8.7 761 15721 0.00 2.58 0.00 0.000 4 0.000 0.067 2694 692 1743

15760 1.27 284.2 68.4 10.2 763 15765 0.00 2.53 0.00 0.000 6 0.000 0.048 2694 2097 1743

16087 1.27 284.2 33.3 11.1 779 16091 0.00 2.65 0.00 0.000 4 0.000 0.075 2694 3518 1743

16126 1.27 284.2 29.9 8.7 781 16130 0.00 2.50 0.00 0.000 6 0.000 0.049 2694 2101 1743

16429 end climb: SURFACE_DEPTH_REACHED

state 16429 begin surface coast

16451 end surface coast: CONTROL_FINISHED_OK

state 16451 begin surface

ID	103	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	147	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	229	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3788	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2900	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	10	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	10	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	572	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3921	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2901	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-3	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-65060.008	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
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	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	1	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	143438,6231.942,-1049.905,41,1.0,41,-10.6	TGT_NAME	DW
_CALLS	1	TGT_LATLONG	6237.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.179,0.125
_SM_DEPTHo	-0.30	KALMAN_X	-192607.6,544.4,-456.5,72878.1,-3834.7
_SM_ANGLEo	-58.2	KALMAN_Y	-2157.4,323.8,-1159.0,110400.7,5473.2
GPS2	144008,6231.978,-1050.080,11,1.0,16,-10.6	MHEAD_RNG_PITCHd_Wd	315.4,12566,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	640

FINISH	-0.9,1.027336	XPDR_PINGS	2
SM_CCo	16472,15.12,0.669,1,0,1678,300.00	ALTIM_BOTTOM_PING	575.1,78.3
SM_GC	-0.64,0.00,0.00,15.12,0.000,0.000,0.669,43,2897,1678,-10.89,-0.08,300.00	_24V_AH	23.4,27.946
IRIDIUM_FIX	6207.28,-1046.62,081207,131319	_10V_AH	10.1,13.001
TT8_MAMPS	0.028379	DATA_FILE_SIZE	41223,797
HUMID	2085	CFSIZE	260165632,250171392
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
TCM_TEMP	17.20	GPS	081207,191728,6234.870,-1100.027,28,3.2,47,-10.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	159	96.97	SBE_CT	579	24	325.35
Roll_motor	159	125	469.55	SBE_O2	559	19	248.94
VBD_pump_during_apogee	361	1193	10092.04	WL_BB2F	499	105	1226.72
VBD_pump_during_surface	15	668	236.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	97.24	nil	0	0	0.00
Iridium_during_connect	38	160	144.10	nil	0	0	0.00
Iridium_during_xfer	150	223	785.57
Transponder_ping	5	420	51.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.29
TT8	1484	19	296.86
LPSleep	12555	2	277.72
TT8_Active	520	19	104.12
TT8_Sampling	1845	39	741.97
TT8_CF8	431	45	199.56
TT8_Kalman	33	81	27.57
Analog_circuits	1461	12	177.08
GPS_charging	0	0	0.00
Compass	1819	8	147.04
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	-1.10	-146.6	0.0	0.0	0	84	0.00	0.00	-62.12	0.000	2	0.000	0.000	44	2905	3366
86	-1.10	-146.6	3.5	-9.2	3	109	12.00	1.77	-2.42	0.000	4	0.160	0.126	2164	3782	3501
360	-1.10	-146.6	33.3	-6.7	15	365	0.00	1.52	0.00	0.000	6	0.000	0.033	2164	2888	3502
687	-1.10	-146.6	65.5	-7.4	31	691	0.00	1.73	0.00	0.000	4	0.000	0.084	2164	3790	3502
912	-1.10	-146.6	81.2	-6.0	41	915	0.00	1.52	0.00	0.000	6	0.000	0.034	2164	2907	3502
1245	-1.10	-146.6	106.2	-8.5	57	1249	0.00	2.58	0.00	0.000	4	0.000	0.069	2164	1500	3502
1284	-1.10	-146.6	109.3	-8.0	59	1288	0.00	2.65	0.00	0.000	6	0.000	0.074	2164	2908	3502
1609	-1.10	-146.6	134.7	-7.0	75	1610	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2908	3502
1918	-1.10	-146.6	160.3	-8.0	90	1922	0.00	2.60	0.00	0.000	4	0.000	0.068	2164	1502	3502
1960	-1.10	-146.6	163.9	-8.4	92	1965	0.00	2.60	0.00	0.000	6	0.000	0.069	2164	2889	3502
2287	-1.10	-146.6	188.0	-6.7	108	2292	0.00	2.58	0.00	0.000	4	0.000	0.067	2164	1497	3502
2326	-1.10	-146.6	190.8	-7.3	110	2331	0.00	2.62	0.00	0.000	6	0.000	0.074	2164	2903	3502
2652	-1.10	-146.6	213.8	-7.2	126	2654	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2903	3502
2962	-1.10	-146.6	237.6	-7.4	141	2966	0.00	2.60	0.00	0.000	4	0.000	0.070	2164	1502	3502
3038	-1.10	-146.6	243.5	-7.1	144	3045	0.00	2.60	0.00	0.000	6	0.000	0.074	2164	2895	3502
3354	-1.10	-146.6	263.5	-6.1	160	3355	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2895	3502
3663	-1.10	-146.6	281.4	-5.7	175	3668	0.00	2.58	0.00	0.000	4	0.000	0.068	2164	1500	3502
3696	-1.10	-146.6	283.3	-5.3	176	3702	0.00	2.62	0.00	0.000	6	0.000	0.075	2164	2907	3502
4011	-1.10	-146.6	302.4	-6.5	192	4016	0.00	2.60	0.00	0.000	4	0.000	0.069	2164	1502	3502
4043	-1.10	-146.6	304.8	-7.1	193	4050	0.00	2.62	0.00	0.000	6	0.000	0.076	2164	2900	3502
4359	-1.10	-146.6	328.4	-7.9	209	4363	0.00	2.58	0.00	0.000	4	0.000	0.069	2164	1500	3502
4392	-1.10	-146.6	331.2	-8.1	210	4398	0.00	2.62	0.00	0.000	6	0.000	0.076	2164	2898	3502
4707	-1.10	-146.6	355.1	-7.0	226	4711	0.00	2.55	0.00	0.000	4	0.000	0.068	2164	1501	3502
4738	-1.10	-146.6	357.4	-7.0	227	4745	0.00	2.62	0.00	0.000	6	0.000	0.076	2164	2899	3502
5054	-1.10	-146.6	378.6	-7.0	243	5058	0.00	2.58	0.00	0.000	4	0.000	0.068	2164	1500	3502
5119	-1.10	-146.6	383.4	-7.7	246	5124	0.00	2.62	0.00	0.000	6	0.000	0.077	2164	2905	3502
5446	-1.10	-146.6	405.3	-6.5	262	5450	0.00	2.58	0.00	0.000	4	0.000	0.069	2164	1500	3502
5478	-1.10	-146.6	407.2	-5.9	263	5484	0.00	2.62	0.00	0.000	6	0.000	0.077	2164	2901	3502
5793	-1.10	-146.6	430.4	-8.9	279	5797	0.00	2.60	0.00	0.000	4	0.000	0.068	2164	1493	3502
5832	-1.10	-146.6	434.0	-9.4	281	5836	0.00	2.62	0.00	0.000	6	0.000	0.074	2164	2898	3502
6157	-1.10	-146.6	463.3	-8.1	297	6161	0.00	2.55	0.00	0.000	4	0.000	0.067	2164	1500	3502
6211	-1.10	-146.6	467.2	-6.8	299	6218	0.00	2.62	0.00	0.000	6	0.000	0.071	2164	2914	3502
6527	-1.10	-146.6	478.7	-2.0	315	6531	0.00	2.58	0.00	0.000	4	0.000	0.065	2164	1500	3502
6658	-1.10	-146.6	483.0	-4.0	321	6662	0.00	2.60	0.00	0.000	6	0.000	0.071	2164	2899	3502
6983	-1.10	-146.6	501.1	-8.1	337	6985	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3502
7292	-1.10	-146.6	532.7	-9.6	352	7293	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3502
7602	-1.10	-146.6	548.1	-2.8	367	7606	0.00	2.55	0.00	0.000	4	0.000	0.064	2164	1494	3502
7686	-1.10	-146.6	551.2	-4.2	371	7690	0.00	2.62	0.00	0.000	6	0.000	0.071	2164	2906	3502
8011	-1.10	-146.6	573.5	-7.9	387	8015	0.00	2.55	0.00	0.000	4	0.000	0.063	2164	1499	3502
8043	-1.10	-146.6	576.1	-8.2	388	8047	0.00	2.60	0.00	0.000	6	0.000	0.069	2164	2906	3502
8364	-1.10	-146.6	599.8	-7.8	404	8365	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2906	3502
8673	-1.10	-146.6	623.8	-7.5	419	8677	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1500	3502
8712	-1.10	-146.6	626.4	-7.0	421	8717	0.00	2.60	0.00	0.000	6	0.000	0.068	2164	2903	3502
8913	end dive: TARGET_DEPTH_EXCEEDED
state	8913	begin apogee
8919	-0.42	0.0	641.5	8.8	431	9047	0.75	0.00	124.50	1.193	6	0.086	0.000	2316	2113	2901
9048	end apogee: CONTROL_FINISHED_OK
state	9048	begin climb
9050	1.10	146.6	647.3	0.0	437	9181	1.55	2.70	121.53	1.162	4	0.053	0.064	2650	692	2303
9434	1.21	234.2	634.5	3.6	454	9515	0.12	2.53	73.10	1.159	6	0.044	0.041	2694	2114	1946
9829	1.21	234.2	595.6	11.2	474	9831	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2115	1945
10139	1.21	234.2	573.2	6.3	489	10143	0.00	2.65	0.00	0.000	4	0.000	0.078	2694	3512	1944
10200	1.21	234.2	569.2	6.8	492	10204	0.00	2.55	0.00	0.000	6	0.000	0.048	2694	2092	1944
10525	1.27	284.2	548.5	4.6	508	10569	0.00	0.00	42.25	1.138	6	0.000	0.000	2694	2092	1742
10874	1.27	284.2	518.1	11.1	525	10879	0.00	2.55	0.00	0.000	4	0.000	0.064	2694	693	1741
10928	1.27	284.2	513.0	9.2	527	10935	0.00	2.53	0.00	0.000	6	0.000	0.048	2694	2087	1741
11244	1.27	284.2	482.3	13.0	543	11245	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2087	1740
11553	1.27	284.2	439.3	11.6	558	11554	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2087	1740
11862	1.27	284.2	416.4	6.3	573	11867	0.00	2.67	0.00	0.000	4	0.000	0.076	2694	3519	1740
11916	1.27	284.2	412.5	7.0	575	11923	0.00	2.55	0.00	0.000	6	0.000	0.048	2694	2103	1740
12232	1.27	284.2	386.9	8.5	591	12237	0.00	2.55	0.00	0.000	4	0.000	0.061	2694	692	1740
12276	1.27	284.2	382.6	9.3	593	12280	0.00	2.53	0.00	0.000	6	0.000	0.048	2694	2095	1740
12602	1.27	284.2	352.1	9.1	609	12607	0.00	2.65	0.00	0.000	4	0.000	0.076	2694	3512	1740
12646	1.27	284.2	348.0	9.2	611	12650	0.00	2.53	0.00	0.000	6	0.000	0.048	2694	2096	1740
12972	1.27	284.2	319.2	8.7	627	12973	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2096	1740
13282	1.27	284.2	291.9	9.3	642	13283	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2096	1741
13591	1.27	284.2	269.1	6.2	657	13592	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2096	1741
13900	1.27	284.2	239.4	11.4	672	13904	0.00	2.67	0.00	0.000	4	0.000	0.076	2694	3512	1741
13938	1.27	284.2	235.5	10.4	674	13942	0.00	2.50	0.00	0.000	6	0.000	0.048	2694	2100	1741
14270	1.27	284.2	201.9	10.5	690	14274	0.00	2.55	0.00	0.000	4	0.000	0.064	2694	693	1742
14301	1.27	284.2	198.6	10.5	691	14308	0.00	2.53	0.00	0.000	6	0.000	0.048	2694	2098	1742
14617	1.27	284.2	165.3	10.8	707	14621	0.00	2.62	0.00	0.000	4	0.000	0.074	2694	3513	1742
14661	1.27	284.2	160.0	11.5	709	14666	0.00	2.53	0.00	0.000	6	0.000	0.048	2694	2100	1742
14983	1.27	284.2	129.6	7.1	725	14987	0.00	2.55	0.00	0.000	4	0.000	0.062	2694	693	1743
15037	1.27	284.2	125.2	7.6	727	15044	0.00	2.53	0.00	0.000	6	0.000	0.049	2694	2100	1743
15353	1.27	284.2	103.0	8.5	743	15357	0.00	2.62	0.00	0.000	4	0.000	0.075	2694	3512	1743
15392	1.27	284.2	99.1	10.3	745	15396	0.00	2.50	0.00	0.000	6	0.000	0.048	2694	2100	1743
15717	1.27	284.2	72.9	8.7	761	15721	0.00	2.58	0.00	0.000	4	0.000	0.067	2694	692	1743
15760	1.27	284.2	68.4	10.2	763	15765	0.00	2.53	0.00	0.000	6	0.000	0.048	2694	2097	1743
16087	1.27	284.2	33.3	11.1	779	16091	0.00	2.65	0.00	0.000	4	0.000	0.075	2694	3518	1743
16126	1.27	284.2	29.9	8.7	781	16130	0.00	2.50	0.00	0.000	6	0.000	0.049	2694	2101	1743
16429	end climb: SURFACE_DEPTH_REACHED
state	16429	begin surface coast
16451	end surface coast: CONTROL_FINISHED_OK
state	16451	begin surface