Glider dive log

WA coast Apr08 * SG101 * Dive index * Mission links * Dive 26 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 101 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 26 ESCAPE_HEADING 60 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 180 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3635 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.150002 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -125.67 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 400 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 294 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3583 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2564 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 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 -691172.38 VBD_PUMP_AD_RATE_APOGEE 2 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 10 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 29 AH0_24V 91.800003 SEABIRD_T_G 0.0043762224

SPEED_FACTOR 0.94999993 PITCH_MAX 3302 AH0_10V 61.200001 SEABIRD_T_H 0.0006433985

RHO 1.023 C_PITCH 2500 PRESSURE_YINT -14.435382 SEABIRD_T_I 2.5567888e-05

MASS 50300 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.722762e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.209094

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -1.3 SEABIRD_C_H 1.1488034

KALMAN_USE 1 PITCH_GAIN 11 TCM_ROLL_OFFSET -0.2 SEABIRD_C_I -0.0015548224

HD_A 0.0034169999 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_J 0.00021813136

HD_B 0.0095870001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 11 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3302 SPEED_FACTOR 0.94999993

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 29 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 17 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 60 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET -1.3

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET -0.2

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.435382 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -125.67

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

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 -691172.38

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 101 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3635 T_WATCHDOG 10

C_PITCH 2500 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 180 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2600 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -1

C_VBD 2564 MASS 50300 R_PORT_OVSHOOT 14 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 VBD_BLEED_AD_RATE 10

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.209094 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1488034 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015548224 VBD_MAX 3583

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021813136 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043762224 VBD_MIN 294

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006433985 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5567888e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 26 PHONE_DEVICE 48 SEABIRD_T_J 2.722762e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 062758,4755.682,-12602.063,30,2.1,49,18.8 TGT_NAME SW_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.215,-0.145

_SM_DEPTHo 1.47 KALMAN_X 14928.2,-211.8,43.3,-44223.4,420.9

_SM_ANGLEo -65.3 KALMAN_Y 689.5,-119.9,-21.1,-22940.1,172.9

GPS2 063355,4755.693,-12602.011,37,1.1,47,18.8 MHEAD_RNG_PITCHd_Wd 217.1,181240,-17.9,-10.000

SPEED_LIMITS 0.165,0.247 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.8,1.024507 ALTIM_TOP_PING 19.6,18.9

SM_CCo 18078,47.80,0.713,2,0,933,400.08 _24V_AH 23.2,7.129

SM_GC 1.26,0.00,0.00,47.80,0.000,0.000,0.713,34,2605,933,-11.34,0.17,400.08 _10V_AH 10.1,3.187

IRIDIUM_FIX 4742.09,-12601.41,290697,010124 DATA_FILE_SIZE 31640,615

TT8_MAMPS 0.026078 CAP_FILE_SIZE 130755,0

HUMID 1803 CFSIZE 260165632,256983040

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,2,0

TCM_TEMP 19.10 GPS 040408,113838,4754.163,-12605.097,43,1.6,43,18.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 161 111.45 SBE_CT 428 24 238.76

Roll_motor 165 99 381.86 SBE_O2 500 19 220.67

VBD_pump_during_apogee 428 1464 14553.39 WL_BB2F 702 105 1710.52

VBD_pump_during_surface 47 713 791.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 75.28 nil 0 0 0.00

Iridium_during_connect 24 160 90.40 nil 0 0 0.00

Iridium_during_xfer 140 223 727.00

Transponder_ping 9 420 87.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 47 50 23.81

TT8 1336 19 267.18

LPSleep 13802 2 305.29

TT8_Active 622 19 124.56

TT8_Sampling 2154 39 866.10

TT8_CF8 587 45 271.71

TT8_Kalman 33 81 27.55

Analog_circuits 1671 12 202.58

GPS_charging 0 0 0.00

Compass 2072 8 167.46

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

28 -1.81 -146.6 0.0 0.0 0 80 0.00 0.00 -50.00 0.000 2 0.000 0.000 34 2607 1993

85 -1.81 -146.6 3.3 -5.1 5 139 11.60 2.00 -34.83 0.000 4 0.161 0.100 2096 3629 3163

268 -1.81 -146.6 36.5 -20.2 21 275 0.00 1.88 0.00 0.000 6 0.000 0.047 2096 2577 3162

607 -1.81 -146.6 94.2 -15.6 72 611 0.00 2.47 0.00 0.000 4 0.000 0.051 2096 1198 3162

663 -1.81 -146.6 103.3 -16.3 76 669 0.00 2.50 0.00 0.000 6 0.000 0.045 2097 2598 3162

998 -1.81 -146.6 153.6 -15.0 107 1000 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2598 3162

1309 -1.81 -146.6 200.8 -15.5 122 1313 0.00 2.50 0.00 0.000 4 0.000 0.051 2096 1204 3162

1349 -1.81 -146.6 207.3 -15.3 124 1354 0.00 2.50 0.00 0.000 6 0.000 0.046 2096 2599 3162

1677 -1.81 -146.6 255.1 -13.6 140 1678 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2599 3162

1986 -1.81 -146.6 296.8 -13.5 155 1991 0.00 2.53 0.00 0.000 4 0.000 0.053 2097 1202 3162

2043 -1.81 -146.6 304.5 -13.2 157 2049 0.00 2.53 0.00 0.000 6 0.000 0.049 2097 2605 3162

2353 -1.81 -146.6 345.3 -13.3 163 2357 0.00 2.55 0.00 0.000 4 0.000 0.057 2097 1205 3162

2425 -1.81 -146.6 354.8 -12.4 164 2430 0.00 2.55 0.00 0.000 6 0.000 0.054 2097 2607 3162

2782 -1.81 -146.6 400.0 -12.7 170 2787 0.00 2.60 0.00 0.000 4 0.000 0.064 2096 1198 3162

2833 -1.81 -146.6 407.0 -12.7 170 2837 0.00 2.60 0.00 0.000 6 0.000 0.062 2096 2608 3161

3144 -1.81 -146.6 447.9 -13.3 175 3146 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2609 3161

3446 -1.81 -146.6 487.2 -12.9 180 3447 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2609 3161

3750 -1.81 -146.6 527.9 -13.5 185 3754 0.00 2.78 0.00 0.000 4 0.000 0.097 2097 1201 3161

3806 -1.81 -146.6 535.8 -13.9 185 3812 0.00 2.75 0.00 0.000 6 0.000 0.094 2096 2600 3161

4116 -1.81 -146.6 575.3 -12.7 191 4121 0.00 2.70 0.00 0.000 4 0.000 0.091 2097 1209 3161

4150 -1.81 -146.6 579.7 -12.1 191 4154 0.00 2.72 0.00 0.000 6 0.000 0.090 2097 2607 3161

4476 -1.81 -146.6 616.6 -11.3 197 4477 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2607 3160

4781 -1.81 -146.6 649.5 -11.0 202 4786 0.00 2.67 0.00 0.000 4 0.000 0.087 2097 1214 3159

4837 -1.81 -146.6 655.9 -11.4 202 4841 0.00 2.70 0.00 0.000 6 0.000 0.087 2097 2608 3159

5146 -1.81 -146.6 691.0 -11.4 207 5148 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2608 3158

5450 -1.81 -146.6 726.4 -11.8 212 5455 0.00 2.70 0.00 0.000 4 0.000 0.087 2097 1208 3158

5507 -1.81 -146.6 733.0 -11.1 212 5513 0.00 2.70 0.00 0.000 6 0.000 0.086 2096 2607 3158

5817 -1.81 -146.6 768.3 -11.4 218 5818 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2607 3157

6120 -1.81 -146.6 802.9 -11.5 223 6122 0.00 0.00 0.00 0.000 6 0.000 0.000 2097 2607 3157

6423 -1.81 -146.6 837.2 -11.1 228 6427 0.00 2.70 0.00 0.000 4 0.000 0.086 2096 1206 3157

6495 -1.81 -146.6 844.8 -10.2 229 6500 0.00 2.67 0.00 0.000 6 0.000 0.084 2096 2601 3156

6850 -1.81 -146.6 882.4 -10.7 235 6851 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2601 3156

7155 -1.81 -146.6 914.1 -10.5 240 7159 0.00 2.67 0.00 0.000 4 0.000 0.085 2096 1208 3156

7222 -1.81 -146.6 922.0 -11.3 241 7226 0.00 2.67 0.00 0.000 6 0.000 0.082 2096 2602 3156

7582 -1.81 -146.6 962.5 -11.3 247 7583 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2602 3156

7882 end dive: TARGET_DEPTH_EXCEEDED

state 7882 begin apogee

7891 -0.45 0.0 995.5 10.9 252 8021 1.45 0.00 126.62 1.464 6 0.080 0.000 2400 2210 2564

8022 end apogee: CONTROL_FINISHED_OK

state 8022 begin climb

8025 1.81 146.6 1000.0 0.0 254 8163 2.22 2.92 127.38 1.422 4 0.044 0.097 2896 793 1966

8209 1.81 146.6 994.5 11.3 257 8213 0.00 2.72 0.00 0.000 6 0.000 0.074 2896 2207 1965

8552 1.81 146.6 954.9 11.6 263 8557 0.00 2.83 0.00 0.000 4 0.000 0.094 2896 785 1965

8810 1.81 146.6 925.2 11.1 266 8816 0.00 2.70 0.00 0.000 6 0.000 0.074 2896 2201 1965

9120 1.81 146.6 892.8 10.4 272 9124 0.00 2.78 0.00 0.000 4 0.000 0.092 2896 785 1965

9378 1.81 147.8 865.8 9.9 275 9384 0.00 2.70 0.00 0.000 6 0.000 0.074 2896 2202 1965

9688 1.82 152.2 835.6 9.8 281 9702 0.00 2.85 6.47 1.101 4 0.000 0.092 2896 791 1943

9846 1.82 152.2 819.3 10.7 283 9851 0.00 2.70 0.00 0.000 6 0.000 0.074 2896 2206 1943

10190 1.82 152.2 783.9 10.2 289 10194 0.00 2.78 0.00 0.000 4 0.000 0.091 2896 791 1943

10252 1.82 152.2 777.5 10.3 290 10257 0.00 2.67 0.00 0.000 6 0.000 0.074 2896 2201 1943

10619 1.83 159.3 742.0 9.7 296 10633 0.00 2.83 7.65 1.124 4 0.000 0.092 2896 795 1914

10814 1.83 159.3 721.7 10.3 298 10820 0.00 2.67 0.00 0.000 6 0.000 0.073 2896 2203 1914

11124 1.83 159.3 690.7 10.1 304 11128 0.00 2.78 0.00 0.000 4 0.000 0.092 2896 789 1914

11269 1.83 159.3 675.3 10.3 306 11274 0.00 2.67 0.00 0.000 6 0.000 0.073 2896 2202 1914

11619 1.83 159.3 640.6 10.0 312 11623 0.00 2.75 0.00 0.000 4 0.000 0.091 2896 792 1914

11804 1.83 159.3 620.4 10.7 314 11808 0.00 2.65 0.00 0.000 6 0.000 0.071 2896 2201 1914

12114 1.83 159.3 586.9 11.0 319 12118 0.00 2.75 0.00 0.000 4 0.000 0.089 2896 789 1914

12197 1.83 159.3 577.7 10.9 320 12202 0.00 2.65 0.00 0.000 6 0.000 0.070 2896 2202 1914

12541 1.83 159.3 542.5 10.3 326 12545 0.00 2.75 0.00 0.000 4 0.000 0.088 2896 788 1914

12799 1.83 159.3 514.5 11.0 329 12805 0.00 2.65 0.00 0.000 6 0.000 0.067 2896 2208 1914

13108 1.83 159.3 483.2 10.1 335 13113 0.00 2.72 0.00 0.000 4 0.000 0.083 2896 784 1914

13227 1.83 160.1 471.1 10.0 336 13231 0.00 2.62 0.00 0.000 6 0.000 0.061 2896 2206 1914

13537 1.85 174.6 442.2 9.3 341 13553 0.00 0.00 14.55 1.067 6 0.000 0.000 2896 2208 1852

13840 1.85 174.6 411.8 10.1 346 13844 0.00 2.67 0.00 0.000 4 0.000 0.073 2896 791 1852

14097 1.85 174.6 383.4 11.3 349 14104 0.00 2.55 0.00 0.000 6 0.000 0.051 2896 2202 1852

14407 1.85 174.6 351.4 10.2 355 14412 0.00 2.62 0.00 0.000 4 0.000 0.067 2896 791 1852

14637 1.85 174.6 328.3 10.5 358 14642 0.00 2.55 0.00 0.000 6 0.000 0.048 2896 2209 1852

14969 1.86 184.4 296.7 9.5 364 14984 0.00 2.70 9.70 0.931 4 0.000 0.065 2896 781 1812

15105 1.86 184.8 283.2 10.0 369 15110 0.00 2.55 0.00 0.000 6 0.000 0.046 2896 2207 1812

15428 1.86 190.3 251.3 9.7 385 15442 0.00 2.72 6.82 0.851 4 0.000 0.064 2896 785 1787

15528 1.86 190.3 240.7 10.3 389 15532 0.00 2.55 0.00 0.000 6 0.000 0.044 2896 2211 1787

15844 1.86 190.3 208.9 10.1 404 15849 0.00 2.62 0.00 0.000 4 0.000 0.064 2896 789 1787

16002 1.86 190.3 192.8 10.0 411 16006 0.00 2.53 0.00 0.000 6 0.000 0.045 2896 2204 1787

16324 1.88 204.6 162.3 9.3 427 16345 0.00 2.70 13.30 0.878 4 0.000 0.061 2896 791 1729

16437 1.88 204.6 150.9 10.6 432 16442 0.00 2.55 0.00 0.000 6 0.000 0.044 2896 2209 1730

16764 1.88 204.6 117.2 10.1 462 16768 0.00 2.62 0.00 0.000 4 0.000 0.061 2896 781 1730

16906 1.89 214.5 103.0 9.5 474 16920 0.00 2.53 9.82 0.806 6 0.000 0.044 2896 2200 1689

17247 1.96 265.3 73.8 7.6 512 17292 0.12 0.00 41.25 0.834 6 0.068 0.000 2925 2199 1481

17630 1.96 269.4 35.4 9.8 576 17639 0.00 0.00 5.20 0.647 6 0.000 0.000 2926 2199 1465

17959 2.05 342.3 9.2 6.6 607 18025 0.00 2.70 59.65 0.779 4 0.000 0.061 2925 792 1167

18035 end climb: SURFACE_DEPTH_REACHED

state 18035 begin surface coast

18047 end surface coast: CONTROL_FINISHED_OK

state 18047 begin surface

ID	101	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	26	ESCAPE_HEADING	60	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	180	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3635	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.150002	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-125.67	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	400	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	294	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3583	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2564	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	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	-691172.38	VBD_PUMP_AD_RATE_APOGEE	2	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	10	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	29	AH0_24V	91.800003	SEABIRD_T_G	0.0043762224
SPEED_FACTOR	0.94999993	PITCH_MAX	3302	AH0_10V	61.200001	SEABIRD_T_H	0.0006433985
RHO	1.023	C_PITCH	2500	PRESSURE_YINT	-14.435382	SEABIRD_T_I	2.5567888e-05
MASS	50300	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.722762e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.209094
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-1.3	SEABIRD_C_H	1.1488034
KALMAN_USE	1	PITCH_GAIN	11	TCM_ROLL_OFFSET	-0.2	SEABIRD_C_I	-0.0015548224
HD_A	0.0034169999	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_J	0.00021813136
HD_B	0.0095870001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	062758,4755.682,-12602.063,30,2.1,49,18.8	TGT_NAME	SW_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.215,-0.145
_SM_DEPTHo	1.47	KALMAN_X	14928.2,-211.8,43.3,-44223.4,420.9
_SM_ANGLEo	-65.3	KALMAN_Y	689.5,-119.9,-21.1,-22940.1,172.9
GPS2	063355,4755.693,-12602.011,37,1.1,47,18.8	MHEAD_RNG_PITCHd_Wd	217.1,181240,-17.9,-10.000
SPEED_LIMITS	0.165,0.247	D_GRID	1001

FINISH	0.8,1.024507	ALTIM_TOP_PING	19.6,18.9
SM_CCo	18078,47.80,0.713,2,0,933,400.08	_24V_AH	23.2,7.129
SM_GC	1.26,0.00,0.00,47.80,0.000,0.000,0.713,34,2605,933,-11.34,0.17,400.08	_10V_AH	10.1,3.187
IRIDIUM_FIX	4742.09,-12601.41,290697,010124	DATA_FILE_SIZE	31640,615
TT8_MAMPS	0.026078	CAP_FILE_SIZE	130755,0
HUMID	1803	CFSIZE	260165632,256983040
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
TCM_TEMP	19.10	GPS	040408,113838,4754.163,-12605.097,43,1.6,43,18.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	161	111.45	SBE_CT	428	24	238.76
Roll_motor	165	99	381.86	SBE_O2	500	19	220.67
VBD_pump_during_apogee	428	1464	14553.39	WL_BB2F	702	105	1710.52
VBD_pump_during_surface	47	713	791.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	75.28	nil	0	0	0.00
Iridium_during_connect	24	160	90.40	nil	0	0	0.00
Iridium_during_xfer	140	223	727.00
Transponder_ping	9	420	87.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	47	50	23.81
TT8	1336	19	267.18
LPSleep	13802	2	305.29
TT8_Active	622	19	124.56
TT8_Sampling	2154	39	866.10
TT8_CF8	587	45	271.71
TT8_Kalman	33	81	27.55
Analog_circuits	1671	12	202.58
GPS_charging	0	0	0.00
Compass	2072	8	167.46
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
28	-1.81	-146.6	0.0	0.0	0	80	0.00	0.00	-50.00	0.000	2	0.000	0.000	34	2607	1993
85	-1.81	-146.6	3.3	-5.1	5	139	11.60	2.00	-34.83	0.000	4	0.161	0.100	2096	3629	3163
268	-1.81	-146.6	36.5	-20.2	21	275	0.00	1.88	0.00	0.000	6	0.000	0.047	2096	2577	3162
607	-1.81	-146.6	94.2	-15.6	72	611	0.00	2.47	0.00	0.000	4	0.000	0.051	2096	1198	3162
663	-1.81	-146.6	103.3	-16.3	76	669	0.00	2.50	0.00	0.000	6	0.000	0.045	2097	2598	3162
998	-1.81	-146.6	153.6	-15.0	107	1000	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2598	3162
1309	-1.81	-146.6	200.8	-15.5	122	1313	0.00	2.50	0.00	0.000	4	0.000	0.051	2096	1204	3162
1349	-1.81	-146.6	207.3	-15.3	124	1354	0.00	2.50	0.00	0.000	6	0.000	0.046	2096	2599	3162
1677	-1.81	-146.6	255.1	-13.6	140	1678	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2599	3162
1986	-1.81	-146.6	296.8	-13.5	155	1991	0.00	2.53	0.00	0.000	4	0.000	0.053	2097	1202	3162
2043	-1.81	-146.6	304.5	-13.2	157	2049	0.00	2.53	0.00	0.000	6	0.000	0.049	2097	2605	3162
2353	-1.81	-146.6	345.3	-13.3	163	2357	0.00	2.55	0.00	0.000	4	0.000	0.057	2097	1205	3162
2425	-1.81	-146.6	354.8	-12.4	164	2430	0.00	2.55	0.00	0.000	6	0.000	0.054	2097	2607	3162
2782	-1.81	-146.6	400.0	-12.7	170	2787	0.00	2.60	0.00	0.000	4	0.000	0.064	2096	1198	3162
2833	-1.81	-146.6	407.0	-12.7	170	2837	0.00	2.60	0.00	0.000	6	0.000	0.062	2096	2608	3161
3144	-1.81	-146.6	447.9	-13.3	175	3146	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2609	3161
3446	-1.81	-146.6	487.2	-12.9	180	3447	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2609	3161
3750	-1.81	-146.6	527.9	-13.5	185	3754	0.00	2.78	0.00	0.000	4	0.000	0.097	2097	1201	3161
3806	-1.81	-146.6	535.8	-13.9	185	3812	0.00	2.75	0.00	0.000	6	0.000	0.094	2096	2600	3161
4116	-1.81	-146.6	575.3	-12.7	191	4121	0.00	2.70	0.00	0.000	4	0.000	0.091	2097	1209	3161
4150	-1.81	-146.6	579.7	-12.1	191	4154	0.00	2.72	0.00	0.000	6	0.000	0.090	2097	2607	3161
4476	-1.81	-146.6	616.6	-11.3	197	4477	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2607	3160
4781	-1.81	-146.6	649.5	-11.0	202	4786	0.00	2.67	0.00	0.000	4	0.000	0.087	2097	1214	3159
4837	-1.81	-146.6	655.9	-11.4	202	4841	0.00	2.70	0.00	0.000	6	0.000	0.087	2097	2608	3159
5146	-1.81	-146.6	691.0	-11.4	207	5148	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2608	3158
5450	-1.81	-146.6	726.4	-11.8	212	5455	0.00	2.70	0.00	0.000	4	0.000	0.087	2097	1208	3158
5507	-1.81	-146.6	733.0	-11.1	212	5513	0.00	2.70	0.00	0.000	6	0.000	0.086	2096	2607	3158
5817	-1.81	-146.6	768.3	-11.4	218	5818	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2607	3157
6120	-1.81	-146.6	802.9	-11.5	223	6122	0.00	0.00	0.00	0.000	6	0.000	0.000	2097	2607	3157
6423	-1.81	-146.6	837.2	-11.1	228	6427	0.00	2.70	0.00	0.000	4	0.000	0.086	2096	1206	3157
6495	-1.81	-146.6	844.8	-10.2	229	6500	0.00	2.67	0.00	0.000	6	0.000	0.084	2096	2601	3156
6850	-1.81	-146.6	882.4	-10.7	235	6851	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2601	3156
7155	-1.81	-146.6	914.1	-10.5	240	7159	0.00	2.67	0.00	0.000	4	0.000	0.085	2096	1208	3156
7222	-1.81	-146.6	922.0	-11.3	241	7226	0.00	2.67	0.00	0.000	6	0.000	0.082	2096	2602	3156
7582	-1.81	-146.6	962.5	-11.3	247	7583	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2602	3156
7882	end dive: TARGET_DEPTH_EXCEEDED
state	7882	begin apogee
7891	-0.45	0.0	995.5	10.9	252	8021	1.45	0.00	126.62	1.464	6	0.080	0.000	2400	2210	2564
8022	end apogee: CONTROL_FINISHED_OK
state	8022	begin climb
8025	1.81	146.6	1000.0	0.0	254	8163	2.22	2.92	127.38	1.422	4	0.044	0.097	2896	793	1966
8209	1.81	146.6	994.5	11.3	257	8213	0.00	2.72	0.00	0.000	6	0.000	0.074	2896	2207	1965
8552	1.81	146.6	954.9	11.6	263	8557	0.00	2.83	0.00	0.000	4	0.000	0.094	2896	785	1965
8810	1.81	146.6	925.2	11.1	266	8816	0.00	2.70	0.00	0.000	6	0.000	0.074	2896	2201	1965
9120	1.81	146.6	892.8	10.4	272	9124	0.00	2.78	0.00	0.000	4	0.000	0.092	2896	785	1965
9378	1.81	147.8	865.8	9.9	275	9384	0.00	2.70	0.00	0.000	6	0.000	0.074	2896	2202	1965
9688	1.82	152.2	835.6	9.8	281	9702	0.00	2.85	6.47	1.101	4	0.000	0.092	2896	791	1943
9846	1.82	152.2	819.3	10.7	283	9851	0.00	2.70	0.00	0.000	6	0.000	0.074	2896	2206	1943
10190	1.82	152.2	783.9	10.2	289	10194	0.00	2.78	0.00	0.000	4	0.000	0.091	2896	791	1943
10252	1.82	152.2	777.5	10.3	290	10257	0.00	2.67	0.00	0.000	6	0.000	0.074	2896	2201	1943
10619	1.83	159.3	742.0	9.7	296	10633	0.00	2.83	7.65	1.124	4	0.000	0.092	2896	795	1914
10814	1.83	159.3	721.7	10.3	298	10820	0.00	2.67	0.00	0.000	6	0.000	0.073	2896	2203	1914
11124	1.83	159.3	690.7	10.1	304	11128	0.00	2.78	0.00	0.000	4	0.000	0.092	2896	789	1914
11269	1.83	159.3	675.3	10.3	306	11274	0.00	2.67	0.00	0.000	6	0.000	0.073	2896	2202	1914
11619	1.83	159.3	640.6	10.0	312	11623	0.00	2.75	0.00	0.000	4	0.000	0.091	2896	792	1914
11804	1.83	159.3	620.4	10.7	314	11808	0.00	2.65	0.00	0.000	6	0.000	0.071	2896	2201	1914
12114	1.83	159.3	586.9	11.0	319	12118	0.00	2.75	0.00	0.000	4	0.000	0.089	2896	789	1914
12197	1.83	159.3	577.7	10.9	320	12202	0.00	2.65	0.00	0.000	6	0.000	0.070	2896	2202	1914
12541	1.83	159.3	542.5	10.3	326	12545	0.00	2.75	0.00	0.000	4	0.000	0.088	2896	788	1914
12799	1.83	159.3	514.5	11.0	329	12805	0.00	2.65	0.00	0.000	6	0.000	0.067	2896	2208	1914
13108	1.83	159.3	483.2	10.1	335	13113	0.00	2.72	0.00	0.000	4	0.000	0.083	2896	784	1914
13227	1.83	160.1	471.1	10.0	336	13231	0.00	2.62	0.00	0.000	6	0.000	0.061	2896	2206	1914
13537	1.85	174.6	442.2	9.3	341	13553	0.00	0.00	14.55	1.067	6	0.000	0.000	2896	2208	1852
13840	1.85	174.6	411.8	10.1	346	13844	0.00	2.67	0.00	0.000	4	0.000	0.073	2896	791	1852
14097	1.85	174.6	383.4	11.3	349	14104	0.00	2.55	0.00	0.000	6	0.000	0.051	2896	2202	1852
14407	1.85	174.6	351.4	10.2	355	14412	0.00	2.62	0.00	0.000	4	0.000	0.067	2896	791	1852
14637	1.85	174.6	328.3	10.5	358	14642	0.00	2.55	0.00	0.000	6	0.000	0.048	2896	2209	1852
14969	1.86	184.4	296.7	9.5	364	14984	0.00	2.70	9.70	0.931	4	0.000	0.065	2896	781	1812
15105	1.86	184.8	283.2	10.0	369	15110	0.00	2.55	0.00	0.000	6	0.000	0.046	2896	2207	1812
15428	1.86	190.3	251.3	9.7	385	15442	0.00	2.72	6.82	0.851	4	0.000	0.064	2896	785	1787
15528	1.86	190.3	240.7	10.3	389	15532	0.00	2.55	0.00	0.000	6	0.000	0.044	2896	2211	1787
15844	1.86	190.3	208.9	10.1	404	15849	0.00	2.62	0.00	0.000	4	0.000	0.064	2896	789	1787
16002	1.86	190.3	192.8	10.0	411	16006	0.00	2.53	0.00	0.000	6	0.000	0.045	2896	2204	1787
16324	1.88	204.6	162.3	9.3	427	16345	0.00	2.70	13.30	0.878	4	0.000	0.061	2896	791	1729
16437	1.88	204.6	150.9	10.6	432	16442	0.00	2.55	0.00	0.000	6	0.000	0.044	2896	2209	1730
16764	1.88	204.6	117.2	10.1	462	16768	0.00	2.62	0.00	0.000	4	0.000	0.061	2896	781	1730
16906	1.89	214.5	103.0	9.5	474	16920	0.00	2.53	9.82	0.806	6	0.000	0.044	2896	2200	1689
17247	1.96	265.3	73.8	7.6	512	17292	0.12	0.00	41.25	0.834	6	0.068	0.000	2925	2199	1481
17630	1.96	269.4	35.4	9.8	576	17639	0.00	0.00	5.20	0.647	6	0.000	0.000	2926	2199	1465
17959	2.05	342.3	9.2	6.6	607	18025	0.00	2.70	59.65	0.779	4	0.000	0.061	2925	792	1167
18035	end climb: SURFACE_DEPTH_REACHED
state	18035	begin surface coast
18047	end surface coast: CONTROL_FINISHED_OK
state	18047	begin surface