Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 229 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 229 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 INT_PRESSURE_YINT -1.8522969

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -1632085.6 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 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 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 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 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 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 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

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 -1632085.6

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2250 MASS 52000 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 31 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 229 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 090037,6155.439,-926.369,40,0.9,40,-9.6 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.92 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -59.2 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 090614,6155.536,-926.312,10,1.2,10,-9.6 MHEAD_RNG_PITCHd_Wd 162.7,21888,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.011504 ALTIM_BOTTOM_PING 500.4,93.9

SM_CCo 16234,6.35,0.651,0,0,1609,300.00 _24V_AH 23.2,50.842

SM_GC 1.71,0.00,0.00,6.35,0.000,0.000,0.651,386,2253,1609,-11.10,0.08,300.00 _10V_AH 10.1,31.056

IRIDIUM_FIX 6126.23,-927.74,291098,040455 DATA_FILE_SIZE 41198,780

TT8_MAMPS 0.027612 CAP_FILE_SIZE 120130,0

HUMID 1921 CFSIZE 260165632,241016832

INTERNAL_PRESSURE 8.13832 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 14.20 GPS 040809,133836,6155.770,-923.605,39,1.8,39,-9.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 133 78.02 SBE_CT 653 24 364.05

Roll_motor 145 62 210.26 SBE_O2 569 19 250.95

VBD_pump_during_apogee 384 1163 10381.93 WL_BB2F 524 105 1278.51

VBD_pump_during_surface 6 651 95.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.12 nil 0 0 0.00

Iridium_during_connect 31 160 117.73 nil 0 0 0.00

Iridium_during_xfer 150 223 779.75

Transponder_ping 4 420 38.98

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.53

TT8 1473 19 294.62

LPSleep 12054 2 266.63

TT8_Active 472 19 94.44

TT8_Sampling 1851 39 744.08

TT8_CF8 728 45 337.10

TT8_Kalman 0 81 0.00

Analog_circuits 1451 12 175.96

GPS_charging 0 0 0.00

Compass 1983 8 160.28

RAFOS 0 0 0.00

Transponder 28 30 8.57

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 -0.96 -146.6 0.0 0.0 0 78 0.00 0.00 -61.20 0.000 6 0.000 0.000 394 2242 3430

81 -0.96 -146.6 4.3 -7.9 3 102 11.65 2.50 0.00 0.000 4 0.133 0.038 2584 839 3432

171 -0.96 -146.6 19.9 -6.9 7 175 0.00 2.47 0.00 0.000 6 0.000 0.034 2583 2258 3433

498 -0.96 -146.6 45.0 -8.1 23 502 0.00 2.53 0.00 0.000 4 0.000 0.056 2584 3651 3434

598 -0.96 -146.6 53.2 -7.9 27 604 0.00 2.42 0.00 0.000 6 0.000 0.030 2583 2231 3434

915 -0.96 -146.6 77.3 -7.6 43 920 0.00 2.58 0.00 0.000 4 0.000 0.051 2584 3653 3434

1050 -0.96 -146.6 89.2 -8.9 49 1054 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2248 3435

1371 -0.96 -146.6 118.1 -9.4 65 1376 0.00 2.55 0.00 0.000 4 0.000 0.051 2583 3644 3435

1432 -0.96 -146.6 124.4 -10.3 67 1438 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2242 3435

1750 -0.96 -146.6 151.3 -8.5 83 1754 0.00 2.55 0.00 0.000 4 0.000 0.053 2583 3648 3434

1805 -0.96 -146.6 156.7 -9.5 85 1812 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2247 3435

2122 -0.96 -146.6 182.5 -7.5 101 2123 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2247 3435

2430 -0.96 -146.6 204.4 -6.9 116 2434 0.00 2.53 0.00 0.000 4 0.000 0.051 2584 3648 3434

2514 -0.96 -146.6 210.8 -7.5 120 2519 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2247 3435

2842 -0.96 -146.6 235.2 -7.6 136 2846 0.00 2.53 0.00 0.000 4 0.000 0.051 2584 3648 3435

2926 -0.96 -146.6 242.0 -7.8 140 2930 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2247 3434

3254 -0.96 -146.6 266.8 -7.5 156 3259 0.00 2.55 0.00 0.000 4 0.000 0.052 2583 3654 3434

3304 -0.96 -146.6 271.2 -8.4 158 3308 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2242 3434

3622 -0.96 -146.6 296.0 -8.1 173 3626 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3648 3434

3677 -0.96 -146.6 301.0 -9.3 175 3684 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3434

3994 -0.96 -146.6 327.6 -8.6 191 3999 0.00 2.53 0.00 0.000 4 0.000 0.052 2583 3648 3434

4050 -0.96 -146.6 333.0 -9.6 193 4056 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3434

4366 -0.96 -146.6 359.3 -8.4 209 4370 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3650 3433

4432 -0.96 -146.6 365.3 -9.0 212 4437 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2251 3433

4759 -0.96 -146.6 392.2 -8.1 228 4763 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3651 3433

4822 -0.96 -146.6 397.5 -7.9 231 4826 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2251 3433

5151 -0.96 -146.6 421.8 -7.0 247 5155 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3650 3433

5217 -0.96 -146.6 426.8 -6.9 250 5221 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2253 3433

5539 -0.96 -146.6 445.6 -5.5 266 5543 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3648 3433

5623 -0.96 -146.6 450.7 -6.0 270 5627 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3432

5952 -0.96 -146.6 469.8 -5.9 286 5956 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3648 3433

6090 -0.96 -146.6 479.3 -6.6 292 6095 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3432

6407 -0.96 -146.6 499.1 -6.9 307 6411 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3642 3432

6529 -0.96 -146.6 508.7 -8.5 312 6534 0.00 2.42 0.00 0.000 6 0.000 0.032 2583 2251 3432

6850 -0.96 -146.6 532.4 -7.6 328 6854 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3653 3432

7113 -0.96 -146.6 553.1 -6.7 340 7118 0.00 2.42 0.00 0.000 6 0.000 0.032 2583 2237 3431

7441 -0.96 -146.6 573.0 -6.3 356 7442 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2236 3431

7687 end dive: BOTTOM_OBSTACLE_DETECTED

state 7687 begin apogee

7695 -0.36 0.0 585.1 4.9 368 7828 0.65 0.00 126.70 1.164 6 0.067 0.000 2723 1457 2832

7828 end apogee: CONTROL_FINISHED_OK

state 7828 begin climb

7831 0.96 146.6 588.8 0.0 375 7966 1.27 2.25 127.05 1.128 4 0.039 0.062 3015 262 2233

8205 0.97 153.4 569.8 5.8 392 8216 0.00 2.05 5.80 0.841 6 0.000 0.036 3015 1456 2207

8533 1.04 206.8 552.0 4.5 408 8588 0.00 2.60 48.28 1.133 4 0.000 0.048 3015 2850 1987

8732 1.12 269.4 542.2 4.3 417 8795 0.12 2.47 55.90 1.127 6 0.042 0.042 3065 1454 1733

9103 1.12 269.4 510.6 9.2 435 9108 0.12 2.53 0.00 0.000 4 0.077 0.044 3039 2855 1724

9170 1.12 269.4 504.7 8.4 438 9175 0.00 2.53 0.00 0.000 6 0.000 0.041 3039 1454 1722

9496 1.12 269.4 475.8 9.2 454 9497 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1454 1720

9805 1.12 269.4 449.6 7.8 469 9810 0.00 2.47 0.00 0.000 4 0.000 0.043 3038 2857 1719

9867 1.12 269.4 445.0 6.9 472 9872 0.00 2.47 0.00 0.000 6 0.000 0.038 3040 1450 1719

10194 1.12 269.4 421.6 7.0 488 10199 0.00 2.50 0.00 0.000 4 0.000 0.041 3039 2853 1719

10246 1.12 269.4 418.0 7.0 490 10251 0.00 2.45 0.00 0.000 6 0.000 0.038 3039 1454 1718

10568 1.12 269.4 394.0 7.5 506 10569 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 1454 1718

10880 1.12 269.4 370.0 7.7 521 10881 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1454 1718

11187 1.12 269.4 346.9 7.1 536 11191 0.00 2.47 0.00 0.000 4 0.000 0.041 3039 2859 1719

11226 1.12 269.4 344.0 7.6 538 11230 0.00 2.47 0.00 0.000 6 0.000 0.038 3039 1446 1718

11555 1.12 269.4 321.9 6.6 554 11556 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1446 1718

11861 1.12 269.4 302.2 6.2 569 11865 0.00 2.47 0.00 0.000 4 0.000 0.040 3039 2858 1718

11910 1.12 269.4 298.9 6.4 571 11915 0.00 2.45 0.00 0.000 6 0.000 0.036 3039 1454 1718

12229 1.12 269.4 279.4 6.4 586 12230 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1455 1718

12536 1.12 269.4 259.3 6.6 601 12540 0.00 2.47 0.00 0.000 4 0.000 0.041 3039 2862 1719

12575 1.12 269.4 256.5 7.1 603 12579 0.00 2.47 0.00 0.000 6 0.000 0.037 3039 1447 1719

12904 1.12 269.4 234.5 6.7 619 12905 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1447 1719

13210 1.12 269.4 212.3 7.4 634 13214 0.00 2.47 0.00 0.000 4 0.000 0.040 3039 2857 1719

13242 1.12 269.4 209.9 6.9 635 13249 0.00 2.45 0.00 0.000 6 0.000 0.036 3039 1456 1719

13559 1.12 269.4 188.2 6.5 651 13560 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1456 1719

13870 1.12 276.5 169.5 5.8 666 13881 0.00 2.50 5.28 0.683 4 0.000 0.040 3039 2859 1703

13910 1.14 292.6 167.1 5.6 668 13931 0.00 2.47 15.60 0.849 6 0.000 0.037 3039 1449 1639

14241 1.14 292.6 147.2 6.6 684 14242 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1449 1636

14550 1.14 292.6 125.7 7.2 699 14554 0.00 2.50 0.00 0.000 4 0.000 0.039 3039 2863 1636

14595 1.14 292.6 122.3 7.7 701 14599 0.00 2.47 0.00 0.000 6 0.000 0.036 3039 1450 1636

14916 1.14 292.6 98.7 7.4 717 14917 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1450 1636

15226 1.14 292.6 74.4 8.1 732 15227 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1450 1636

15534 1.14 292.6 48.8 7.8 747 15538 0.00 2.50 0.00 0.000 4 0.000 0.041 3039 2862 1636

15579 1.14 292.6 45.6 6.7 749 15584 0.00 2.47 0.00 0.000 6 0.000 0.036 3039 1444 1635

15901 1.14 292.6 21.9 6.8 765 15902 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1444 1635

16166 end climb: SURFACE_DEPTH_REACHED

state 16166 begin surface coast

16210 end surface coast: CONTROL_FINISHED_OK

state 16210 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	229	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	INT_PRESSURE_YINT	-1.8522969
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-1632085.6	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	090037,6155.439,-926.369,40,0.9,40,-9.6	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.92	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-59.2	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	090614,6155.536,-926.312,10,1.2,10,-9.6	MHEAD_RNG_PITCHd_Wd	162.7,21888,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.011504	ALTIM_BOTTOM_PING	500.4,93.9
SM_CCo	16234,6.35,0.651,0,0,1609,300.00	_24V_AH	23.2,50.842
SM_GC	1.71,0.00,0.00,6.35,0.000,0.000,0.651,386,2253,1609,-11.10,0.08,300.00	_10V_AH	10.1,31.056
IRIDIUM_FIX	6126.23,-927.74,291098,040455	DATA_FILE_SIZE	41198,780
TT8_MAMPS	0.027612	CAP_FILE_SIZE	120130,0
HUMID	1921	CFSIZE	260165632,241016832
INTERNAL_PRESSURE	8.13832	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	14.20	GPS	040809,133836,6155.770,-923.605,39,1.8,39,-9.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	133	78.02	SBE_CT	653	24	364.05
Roll_motor	145	62	210.26	SBE_O2	569	19	250.95
VBD_pump_during_apogee	384	1163	10381.93	WL_BB2F	524	105	1278.51
VBD_pump_during_surface	6	651	95.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.12	nil	0	0	0.00
Iridium_during_connect	31	160	117.73	nil	0	0	0.00
Iridium_during_xfer	150	223	779.75
Transponder_ping	4	420	38.98
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.53
TT8	1473	19	294.62
LPSleep	12054	2	266.63
TT8_Active	472	19	94.44
TT8_Sampling	1851	39	744.08
TT8_CF8	728	45	337.10
TT8_Kalman	0	81	0.00
Analog_circuits	1451	12	175.96
GPS_charging	0	0	0.00
Compass	1983	8	160.28
RAFOS	0	0	0.00
Transponder	28	30	8.57

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	-0.96	-146.6	0.0	0.0	0	78	0.00	0.00	-61.20	0.000	6	0.000	0.000	394	2242	3430
81	-0.96	-146.6	4.3	-7.9	3	102	11.65	2.50	0.00	0.000	4	0.133	0.038	2584	839	3432
171	-0.96	-146.6	19.9	-6.9	7	175	0.00	2.47	0.00	0.000	6	0.000	0.034	2583	2258	3433
498	-0.96	-146.6	45.0	-8.1	23	502	0.00	2.53	0.00	0.000	4	0.000	0.056	2584	3651	3434
598	-0.96	-146.6	53.2	-7.9	27	604	0.00	2.42	0.00	0.000	6	0.000	0.030	2583	2231	3434
915	-0.96	-146.6	77.3	-7.6	43	920	0.00	2.58	0.00	0.000	4	0.000	0.051	2584	3653	3434
1050	-0.96	-146.6	89.2	-8.9	49	1054	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2248	3435
1371	-0.96	-146.6	118.1	-9.4	65	1376	0.00	2.55	0.00	0.000	4	0.000	0.051	2583	3644	3435
1432	-0.96	-146.6	124.4	-10.3	67	1438	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2242	3435
1750	-0.96	-146.6	151.3	-8.5	83	1754	0.00	2.55	0.00	0.000	4	0.000	0.053	2583	3648	3434
1805	-0.96	-146.6	156.7	-9.5	85	1812	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2247	3435
2122	-0.96	-146.6	182.5	-7.5	101	2123	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2247	3435
2430	-0.96	-146.6	204.4	-6.9	116	2434	0.00	2.53	0.00	0.000	4	0.000	0.051	2584	3648	3434
2514	-0.96	-146.6	210.8	-7.5	120	2519	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2247	3435
2842	-0.96	-146.6	235.2	-7.6	136	2846	0.00	2.53	0.00	0.000	4	0.000	0.051	2584	3648	3435
2926	-0.96	-146.6	242.0	-7.8	140	2930	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2247	3434
3254	-0.96	-146.6	266.8	-7.5	156	3259	0.00	2.55	0.00	0.000	4	0.000	0.052	2583	3654	3434
3304	-0.96	-146.6	271.2	-8.4	158	3308	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2242	3434
3622	-0.96	-146.6	296.0	-8.1	173	3626	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3648	3434
3677	-0.96	-146.6	301.0	-9.3	175	3684	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3434
3994	-0.96	-146.6	327.6	-8.6	191	3999	0.00	2.53	0.00	0.000	4	0.000	0.052	2583	3648	3434
4050	-0.96	-146.6	333.0	-9.6	193	4056	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3434
4366	-0.96	-146.6	359.3	-8.4	209	4370	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3650	3433
4432	-0.96	-146.6	365.3	-9.0	212	4437	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2251	3433
4759	-0.96	-146.6	392.2	-8.1	228	4763	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3651	3433
4822	-0.96	-146.6	397.5	-7.9	231	4826	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2251	3433
5151	-0.96	-146.6	421.8	-7.0	247	5155	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3650	3433
5217	-0.96	-146.6	426.8	-6.9	250	5221	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2253	3433
5539	-0.96	-146.6	445.6	-5.5	266	5543	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3648	3433
5623	-0.96	-146.6	450.7	-6.0	270	5627	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3432
5952	-0.96	-146.6	469.8	-5.9	286	5956	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3648	3433
6090	-0.96	-146.6	479.3	-6.6	292	6095	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3432
6407	-0.96	-146.6	499.1	-6.9	307	6411	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3642	3432
6529	-0.96	-146.6	508.7	-8.5	312	6534	0.00	2.42	0.00	0.000	6	0.000	0.032	2583	2251	3432
6850	-0.96	-146.6	532.4	-7.6	328	6854	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3653	3432
7113	-0.96	-146.6	553.1	-6.7	340	7118	0.00	2.42	0.00	0.000	6	0.000	0.032	2583	2237	3431
7441	-0.96	-146.6	573.0	-6.3	356	7442	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2236	3431
7687	end dive: BOTTOM_OBSTACLE_DETECTED
state	7687	begin apogee
7695	-0.36	0.0	585.1	4.9	368	7828	0.65	0.00	126.70	1.164	6	0.067	0.000	2723	1457	2832
7828	end apogee: CONTROL_FINISHED_OK
state	7828	begin climb
7831	0.96	146.6	588.8	0.0	375	7966	1.27	2.25	127.05	1.128	4	0.039	0.062	3015	262	2233
8205	0.97	153.4	569.8	5.8	392	8216	0.00	2.05	5.80	0.841	6	0.000	0.036	3015	1456	2207
8533	1.04	206.8	552.0	4.5	408	8588	0.00	2.60	48.28	1.133	4	0.000	0.048	3015	2850	1987
8732	1.12	269.4	542.2	4.3	417	8795	0.12	2.47	55.90	1.127	6	0.042	0.042	3065	1454	1733
9103	1.12	269.4	510.6	9.2	435	9108	0.12	2.53	0.00	0.000	4	0.077	0.044	3039	2855	1724
9170	1.12	269.4	504.7	8.4	438	9175	0.00	2.53	0.00	0.000	6	0.000	0.041	3039	1454	1722
9496	1.12	269.4	475.8	9.2	454	9497	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1454	1720
9805	1.12	269.4	449.6	7.8	469	9810	0.00	2.47	0.00	0.000	4	0.000	0.043	3038	2857	1719
9867	1.12	269.4	445.0	6.9	472	9872	0.00	2.47	0.00	0.000	6	0.000	0.038	3040	1450	1719
10194	1.12	269.4	421.6	7.0	488	10199	0.00	2.50	0.00	0.000	4	0.000	0.041	3039	2853	1719
10246	1.12	269.4	418.0	7.0	490	10251	0.00	2.45	0.00	0.000	6	0.000	0.038	3039	1454	1718
10568	1.12	269.4	394.0	7.5	506	10569	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	1454	1718
10880	1.12	269.4	370.0	7.7	521	10881	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1454	1718
11187	1.12	269.4	346.9	7.1	536	11191	0.00	2.47	0.00	0.000	4	0.000	0.041	3039	2859	1719
11226	1.12	269.4	344.0	7.6	538	11230	0.00	2.47	0.00	0.000	6	0.000	0.038	3039	1446	1718
11555	1.12	269.4	321.9	6.6	554	11556	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1446	1718
11861	1.12	269.4	302.2	6.2	569	11865	0.00	2.47	0.00	0.000	4	0.000	0.040	3039	2858	1718
11910	1.12	269.4	298.9	6.4	571	11915	0.00	2.45	0.00	0.000	6	0.000	0.036	3039	1454	1718
12229	1.12	269.4	279.4	6.4	586	12230	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1455	1718
12536	1.12	269.4	259.3	6.6	601	12540	0.00	2.47	0.00	0.000	4	0.000	0.041	3039	2862	1719
12575	1.12	269.4	256.5	7.1	603	12579	0.00	2.47	0.00	0.000	6	0.000	0.037	3039	1447	1719
12904	1.12	269.4	234.5	6.7	619	12905	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1447	1719
13210	1.12	269.4	212.3	7.4	634	13214	0.00	2.47	0.00	0.000	4	0.000	0.040	3039	2857	1719
13242	1.12	269.4	209.9	6.9	635	13249	0.00	2.45	0.00	0.000	6	0.000	0.036	3039	1456	1719
13559	1.12	269.4	188.2	6.5	651	13560	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1456	1719
13870	1.12	276.5	169.5	5.8	666	13881	0.00	2.50	5.28	0.683	4	0.000	0.040	3039	2859	1703
13910	1.14	292.6	167.1	5.6	668	13931	0.00	2.47	15.60	0.849	6	0.000	0.037	3039	1449	1639
14241	1.14	292.6	147.2	6.6	684	14242	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1449	1636
14550	1.14	292.6	125.7	7.2	699	14554	0.00	2.50	0.00	0.000	4	0.000	0.039	3039	2863	1636
14595	1.14	292.6	122.3	7.7	701	14599	0.00	2.47	0.00	0.000	6	0.000	0.036	3039	1450	1636
14916	1.14	292.6	98.7	7.4	717	14917	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1450	1636
15226	1.14	292.6	74.4	8.1	732	15227	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1450	1636
15534	1.14	292.6	48.8	7.8	747	15538	0.00	2.50	0.00	0.000	4	0.000	0.041	3039	2862	1636
15579	1.14	292.6	45.6	6.7	749	15584	0.00	2.47	0.00	0.000	6	0.000	0.036	3039	1444	1635
15901	1.14	292.6	21.9	6.8	765	15902	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1444	1635
16166	end climb: SURFACE_DEPTH_REACHED
state	16166	begin surface coast
16210	end surface coast: CONTROL_FINISHED_OK
state	16210	begin surface