Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 354 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 20

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 354 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 1

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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -84186.758 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

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

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

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 -84186.758

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 57

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 31 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

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

DIVE 354 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 071031,6237.375,-1148.905,38,1.4,43,-11.2 TGT_NAME FE

_CALLS 2 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.022,-0.237

_SM_DEPTHo 1.73 KALMAN_X 508045.0,-641.1,-1231.7,-681555.3,5993.6

_SM_ANGLEo -56.3 KALMAN_Y 73917.9,-290.6,-874.1,46290.6,5861.3

GPS2 071926,6237.420,-1148.851,14,1.5,14,-11.2 MHEAD_RNG_PITCHd_Wd 185.9,15689,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 731

Post-dive calculations and measurements:

FINISH 1.0,1.027376 XPDR_PINGS 2

SM_CCo 16044,56.05,0.796,7,0,1654,300.00 ALTIM_TOP_PING 19.1,999.0

SM_GC 1.76,0.00,0.00,56.05,0.000,0.000,0.796,34,1884,1654,-11.32,-0.42,300.00 _24V_AH 23.1,70.979

IRIDIUM_FIX 6211.90,-1146.10,220497,070714 _10V_AH 10.1,34.329

TT8_MAMPS 0.026845 DATA_FILE_SIZE 38081,768

HUMID 2047 CFSIZE 260165632,237154304

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,7,0

TCM_TEMP 16.60 GPS 270108,115107,6237.436,-1144.530,23,1.5,23,-11.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 142 86.18 SBE_CT 568 24 314.93

Roll_motor 169 80 315.10 SBE_O2 520 19 228.23

VBD_pump_during_apogee 330 1288 9822.69 WL_BB2F 461 105 1118.45

VBD_pump_during_surface 56 796 1030.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 77 103 183.47 nil 0 0 0.00

Iridium_during_connect 67 160 248.98 nil 0 0 0.00

Iridium_during_xfer 204 223 1052.75

Transponder_ping 6 420 65.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.84

TT8 1469 19 293.82

LPSleep 12181 2 269.45

TT8_Active 569 19 113.85

TT8_Sampling 1838 39 739.04

TT8_CF8 665 45 308.03

TT8_Kalman 33 81 27.57

Analog_circuits 1508 12 182.88

GPS_charging 0 0 0.00

Compass 1797 8 145.25

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

21 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.23 -146.6 0.0 0.0 0 86 0.00 0.00 -58.90 0.000 2 0.000 0.000 28 1884 2816

89 -1.23 -146.6 3.2 -3.5 3 132 11.70 2.62 -22.23 0.000 4 0.143 0.061 2223 3303 3478

328 -1.23 -146.6 30.0 -8.9 13 335 0.00 2.53 0.00 0.000 6 0.000 0.043 2223 1915 3478

645 -1.23 -146.6 62.4 -9.7 29 649 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3312 3478

672 -1.23 -146.6 65.2 -9.7 30 676 0.00 2.53 0.00 0.000 6 0.000 0.043 2223 1898 3478

988 -1.23 -146.6 98.1 -10.3 45 992 0.00 2.55 0.00 0.000 4 0.000 0.046 2223 3314 3478

1028 -1.23 -146.6 102.1 -9.6 47 1032 0.00 2.53 0.00 0.000 6 0.000 0.041 2223 1895 3478

1354 -1.23 -146.6 134.8 -11.1 63 1356 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1895 3478

1663 -1.23 -146.6 167.8 -10.2 78 1668 0.00 2.53 0.00 0.000 4 0.000 0.046 2223 3308 3478

1708 -1.23 -146.6 172.5 -10.7 80 1712 0.00 2.50 0.00 0.000 6 0.000 0.043 2223 1902 3478

2028 -1.23 -146.6 204.2 -10.6 96 2033 0.00 2.53 0.00 0.000 4 0.000 0.047 2223 3307 3478

2061 -1.23 -146.6 207.7 -10.0 97 2067 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1900 3478

2377 -1.23 -146.6 239.3 -10.1 113 2381 0.00 2.53 0.00 0.000 4 0.000 0.047 2223 3307 3478

2417 -1.23 -146.6 243.3 -9.9 115 2421 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1900 3478

2744 -1.23 -146.6 275.2 -9.5 131 2745 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1900 3478

3053 -1.23 -146.6 305.7 -10.3 146 3057 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3307 3478

3137 -1.23 -146.6 314.7 -11.2 150 3141 0.00 2.50 0.00 0.000 6 0.000 0.044 2223 1899 3478

3463 -1.23 -146.6 347.0 -9.3 166 3464 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1899 3478

3773 -1.23 -146.6 374.8 -9.1 181 3778 0.00 2.55 0.00 0.000 4 0.000 0.048 2223 3307 3478

3828 -1.23 -146.6 380.0 -8.6 183 3832 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1899 3478

4144 -1.23 -146.6 409.3 -9.5 198 4145 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1899 3478

4453 -1.23 -146.6 437.6 -9.2 213 4458 0.00 2.55 0.00 0.000 4 0.000 0.049 2223 3312 3478

4497 -1.23 -146.6 441.6 -9.0 215 4502 0.00 2.55 0.00 0.000 6 0.000 0.044 2223 1894 3478

4819 -1.23 -146.6 469.5 -8.5 231 4820 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1894 3478

5129 -1.23 -146.6 495.2 -8.4 246 5133 0.00 2.58 0.00 0.000 4 0.000 0.051 2223 3308 3478

5161 -1.23 -146.6 498.2 -8.8 247 5168 0.00 2.55 0.00 0.000 6 0.000 0.046 2223 1895 3478

5476 -1.23 -146.6 527.5 -9.8 263 5481 0.00 2.58 0.00 0.000 4 0.000 0.051 2223 3311 3478

5498 -1.23 -146.6 529.7 -9.8 264 5503 0.00 2.55 0.00 0.000 6 0.000 0.048 2223 1895 3478

5819 -1.23 -146.6 559.9 -9.0 280 5820 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1893 3477

6129 -1.23 -146.6 589.3 -9.6 295 6133 0.00 2.58 0.00 0.000 4 0.000 0.054 2223 3303 3477

6207 -1.23 -146.6 597.2 -9.7 298 6213 0.00 2.55 0.00 0.000 6 0.000 0.049 2223 1896 3477

6524 -1.23 -146.6 626.4 -8.6 314 6529 0.00 2.65 0.00 0.000 4 0.000 0.078 2223 494 3477

6564 -1.23 -146.6 630.0 -9.0 316 6569 0.00 2.50 0.00 0.000 6 0.000 0.044 2223 1910 3477

6892 -1.23 -146.6 657.4 -8.0 332 6896 0.00 2.55 0.00 0.000 4 0.000 0.059 2223 3305 3477

7031 -1.23 -146.6 669.7 -8.9 338 7035 0.00 2.55 0.00 0.000 6 0.000 0.054 2223 1903 3477

7347 -1.23 -146.6 698.7 -9.8 353 7351 0.00 2.58 0.00 0.000 4 0.000 0.058 2223 3301 3476

7436 -1.23 -146.6 707.0 -10.0 357 7440 0.00 2.58 0.00 0.000 6 0.000 0.054 2223 1895 3476

7757 -1.23 -146.6 728.6 -0.6 373 7761 0.00 2.60 0.00 0.000 4 0.000 0.064 2223 3299 3476

7784 -1.23 -146.6 728.6 0.3 374 7788 0.00 2.55 0.00 0.000 6 0.000 0.054 2223 1901 3475

8056 end dive: NO_VERTICAL_VELOCITY

state 8056 begin apogee

8062 -0.36 0.0 728.7 0.0 387 8191 0.88 0.00 125.80 1.289 6 0.062 0.000 2419 2103 2878

8192 end apogee: CONTROL_FINISHED_OK

state 8192 begin climb

8195 1.23 146.6 728.3 0.0 393 8327 1.55 2.67 123.90 1.249 4 0.054 0.064 2763 3495 2280

8388 1.23 146.6 717.6 8.6 402 8393 0.00 2.58 0.00 0.000 6 0.000 0.053 2763 2096 2280

8705 1.27 180.7 696.2 6.7 417 8740 0.00 2.78 29.60 1.253 4 0.000 0.081 2763 686 2141

8992 1.27 180.7 672.6 9.0 429 8997 0.00 2.55 0.00 0.000 6 0.000 0.048 2763 2101 2140

9314 1.27 180.7 646.6 8.1 445 9318 0.00 2.67 0.00 0.000 4 0.000 0.076 2763 692 2139

9346 1.27 180.7 643.5 9.1 446 9352 0.00 2.53 0.00 0.000 6 0.000 0.048 2763 2100 2139

9661 1.27 180.7 617.4 8.4 462 9662 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2100 2138

9971 1.30 206.1 594.1 7.0 477 10000 0.00 2.65 21.73 1.243 4 0.000 0.059 2763 3499 2036

10120 1.30 206.1 582.2 8.4 483 10126 0.00 2.58 0.00 0.000 6 0.000 0.048 2764 2093 2036

10436 1.30 206.1 554.9 8.7 499 10437 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 2093 2036

10745 1.32 217.5 530.3 7.6 514 10761 0.00 2.65 10.80 1.200 4 0.000 0.054 2763 3501 1990

10829 1.34 238.1 524.1 7.2 517 10854 0.10 2.58 18.17 1.180 6 0.061 0.047 2793 2093 1906

11183 1.34 238.1 491.7 9.9 534 11187 0.00 2.60 0.00 0.000 4 0.000 0.054 2793 3505 1906

11238 1.34 238.1 485.5 11.7 536 11244 0.00 2.53 0.00 0.000 6 0.000 0.046 2792 2101 1907

11554 1.34 238.1 454.2 9.9 552 11558 0.00 2.58 0.00 0.000 4 0.000 0.053 2793 3508 1906

11586 1.34 238.1 450.8 10.3 553 11592 0.00 2.53 0.00 0.000 6 0.000 0.045 2793 2100 1906

11902 1.34 238.1 417.0 11.3 569 11903 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2100 1906

12211 1.34 238.1 383.5 10.5 584 12216 0.00 2.55 0.00 0.000 4 0.000 0.051 2793 3502 1907

12306 1.34 238.1 373.1 10.2 588 12310 0.00 2.55 0.00 0.000 6 0.000 0.044 2793 2088 1907

12627 1.34 238.1 339.8 10.1 604 12631 0.00 2.58 0.00 0.000 4 0.000 0.051 2792 3504 1907

12671 1.34 238.1 335.0 10.9 606 12675 0.00 2.53 0.00 0.000 6 0.000 0.042 2793 2093 1907

12991 1.34 238.1 302.4 10.2 622 12996 0.00 2.58 0.00 0.000 4 0.000 0.051 2793 3504 1908

13086 1.34 238.1 291.8 11.3 626 13090 0.00 2.53 0.00 0.000 6 0.000 0.041 2792 2093 1908

13402 1.34 238.1 259.1 10.0 641 13407 0.00 2.58 0.00 0.000 4 0.000 0.051 2793 3505 1908

13491 1.34 238.1 249.7 10.7 645 13496 0.00 2.50 0.00 0.000 6 0.000 0.041 2792 2097 1908

13814 1.34 238.1 217.8 9.7 661 13818 0.00 2.55 0.00 0.000 4 0.000 0.050 2793 3502 1909

13857 1.34 238.1 213.1 10.2 663 13862 0.00 2.50 0.00 0.000 6 0.000 0.041 2792 2097 1909

14178 1.34 238.1 182.5 9.6 679 14183 0.00 2.55 0.00 0.000 4 0.000 0.050 2793 3503 1909

14228 1.34 238.1 177.2 10.2 681 14233 0.00 2.47 0.00 0.000 6 0.000 0.041 2793 2099 1909

14544 1.34 238.1 144.7 10.7 696 14548 0.00 2.55 0.00 0.000 4 0.000 0.049 2793 3506 1910

14606 1.34 238.1 137.7 11.7 699 14610 0.00 2.50 0.00 0.000 6 0.000 0.041 2793 2092 1909

14934 1.34 238.1 104.5 9.5 715 14939 0.00 2.58 0.00 0.000 4 0.000 0.050 2793 3509 1909

14974 1.34 238.1 100.9 8.2 717 14979 0.00 2.50 0.00 0.000 6 0.000 0.039 2793 2092 1909

15301 1.34 238.1 70.8 10.3 733 15306 0.00 2.58 0.00 0.000 4 0.000 0.050 2793 3510 1909

15366 1.34 238.1 64.3 9.7 736 15370 0.00 2.50 0.00 0.000 6 0.000 0.040 2793 2093 1909

15692 1.34 238.1 29.9 8.8 752 15696 0.00 2.55 0.00 0.000 4 0.000 0.048 2793 3504 1910

15748 1.34 238.1 24.1 10.8 754 15754 0.00 2.50 0.00 0.000 6 0.000 0.040 2793 2096 1910

16001 end climb: SURFACE_DEPTH_REACHED

state 16001 begin surface coast

16021 end surface coast: CONTROL_FINISHED_OK

state 16021 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	20
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	354	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	1
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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-84186.758	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	071031,6237.375,-1148.905,38,1.4,43,-11.2	TGT_NAME	FE
_CALLS	2	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.022,-0.237
_SM_DEPTHo	1.73	KALMAN_X	508045.0,-641.1,-1231.7,-681555.3,5993.6
_SM_ANGLEo	-56.3	KALMAN_Y	73917.9,-290.6,-874.1,46290.6,5861.3
GPS2	071926,6237.420,-1148.851,14,1.5,14,-11.2	MHEAD_RNG_PITCHd_Wd	185.9,15689,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	731

FINISH	1.0,1.027376	XPDR_PINGS	2
SM_CCo	16044,56.05,0.796,7,0,1654,300.00	ALTIM_TOP_PING	19.1,999.0
SM_GC	1.76,0.00,0.00,56.05,0.000,0.000,0.796,34,1884,1654,-11.32,-0.42,300.00	_24V_AH	23.1,70.979
IRIDIUM_FIX	6211.90,-1146.10,220497,070714	_10V_AH	10.1,34.329
TT8_MAMPS	0.026845	DATA_FILE_SIZE	38081,768
HUMID	2047	CFSIZE	260165632,237154304
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,7,0
TCM_TEMP	16.60	GPS	270108,115107,6237.436,-1144.530,23,1.5,23,-11.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	142	86.18	SBE_CT	568	24	314.93
Roll_motor	169	80	315.10	SBE_O2	520	19	228.23
VBD_pump_during_apogee	330	1288	9822.69	WL_BB2F	461	105	1118.45
VBD_pump_during_surface	56	796	1030.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	77	103	183.47	nil	0	0	0.00
Iridium_during_connect	67	160	248.98	nil	0	0	0.00
Iridium_during_xfer	204	223	1052.75
Transponder_ping	6	420	65.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.84
TT8	1469	19	293.82
LPSleep	12181	2	269.45
TT8_Active	569	19	113.85
TT8_Sampling	1838	39	739.04
TT8_CF8	665	45	308.03
TT8_Kalman	33	81	27.57
Analog_circuits	1508	12	182.88
GPS_charging	0	0	0.00
Compass	1797	8	145.25
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
21	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.23	-146.6	0.0	0.0	0	86	0.00	0.00	-58.90	0.000	2	0.000	0.000	28	1884	2816
89	-1.23	-146.6	3.2	-3.5	3	132	11.70	2.62	-22.23	0.000	4	0.143	0.061	2223	3303	3478
328	-1.23	-146.6	30.0	-8.9	13	335	0.00	2.53	0.00	0.000	6	0.000	0.043	2223	1915	3478
645	-1.23	-146.6	62.4	-9.7	29	649	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3312	3478
672	-1.23	-146.6	65.2	-9.7	30	676	0.00	2.53	0.00	0.000	6	0.000	0.043	2223	1898	3478
988	-1.23	-146.6	98.1	-10.3	45	992	0.00	2.55	0.00	0.000	4	0.000	0.046	2223	3314	3478
1028	-1.23	-146.6	102.1	-9.6	47	1032	0.00	2.53	0.00	0.000	6	0.000	0.041	2223	1895	3478
1354	-1.23	-146.6	134.8	-11.1	63	1356	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1895	3478
1663	-1.23	-146.6	167.8	-10.2	78	1668	0.00	2.53	0.00	0.000	4	0.000	0.046	2223	3308	3478
1708	-1.23	-146.6	172.5	-10.7	80	1712	0.00	2.50	0.00	0.000	6	0.000	0.043	2223	1902	3478
2028	-1.23	-146.6	204.2	-10.6	96	2033	0.00	2.53	0.00	0.000	4	0.000	0.047	2223	3307	3478
2061	-1.23	-146.6	207.7	-10.0	97	2067	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1900	3478
2377	-1.23	-146.6	239.3	-10.1	113	2381	0.00	2.53	0.00	0.000	4	0.000	0.047	2223	3307	3478
2417	-1.23	-146.6	243.3	-9.9	115	2421	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1900	3478
2744	-1.23	-146.6	275.2	-9.5	131	2745	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1900	3478
3053	-1.23	-146.6	305.7	-10.3	146	3057	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3307	3478
3137	-1.23	-146.6	314.7	-11.2	150	3141	0.00	2.50	0.00	0.000	6	0.000	0.044	2223	1899	3478
3463	-1.23	-146.6	347.0	-9.3	166	3464	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1899	3478
3773	-1.23	-146.6	374.8	-9.1	181	3778	0.00	2.55	0.00	0.000	4	0.000	0.048	2223	3307	3478
3828	-1.23	-146.6	380.0	-8.6	183	3832	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1899	3478
4144	-1.23	-146.6	409.3	-9.5	198	4145	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1899	3478
4453	-1.23	-146.6	437.6	-9.2	213	4458	0.00	2.55	0.00	0.000	4	0.000	0.049	2223	3312	3478
4497	-1.23	-146.6	441.6	-9.0	215	4502	0.00	2.55	0.00	0.000	6	0.000	0.044	2223	1894	3478
4819	-1.23	-146.6	469.5	-8.5	231	4820	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1894	3478
5129	-1.23	-146.6	495.2	-8.4	246	5133	0.00	2.58	0.00	0.000	4	0.000	0.051	2223	3308	3478
5161	-1.23	-146.6	498.2	-8.8	247	5168	0.00	2.55	0.00	0.000	6	0.000	0.046	2223	1895	3478
5476	-1.23	-146.6	527.5	-9.8	263	5481	0.00	2.58	0.00	0.000	4	0.000	0.051	2223	3311	3478
5498	-1.23	-146.6	529.7	-9.8	264	5503	0.00	2.55	0.00	0.000	6	0.000	0.048	2223	1895	3478
5819	-1.23	-146.6	559.9	-9.0	280	5820	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1893	3477
6129	-1.23	-146.6	589.3	-9.6	295	6133	0.00	2.58	0.00	0.000	4	0.000	0.054	2223	3303	3477
6207	-1.23	-146.6	597.2	-9.7	298	6213	0.00	2.55	0.00	0.000	6	0.000	0.049	2223	1896	3477
6524	-1.23	-146.6	626.4	-8.6	314	6529	0.00	2.65	0.00	0.000	4	0.000	0.078	2223	494	3477
6564	-1.23	-146.6	630.0	-9.0	316	6569	0.00	2.50	0.00	0.000	6	0.000	0.044	2223	1910	3477
6892	-1.23	-146.6	657.4	-8.0	332	6896	0.00	2.55	0.00	0.000	4	0.000	0.059	2223	3305	3477
7031	-1.23	-146.6	669.7	-8.9	338	7035	0.00	2.55	0.00	0.000	6	0.000	0.054	2223	1903	3477
7347	-1.23	-146.6	698.7	-9.8	353	7351	0.00	2.58	0.00	0.000	4	0.000	0.058	2223	3301	3476
7436	-1.23	-146.6	707.0	-10.0	357	7440	0.00	2.58	0.00	0.000	6	0.000	0.054	2223	1895	3476
7757	-1.23	-146.6	728.6	-0.6	373	7761	0.00	2.60	0.00	0.000	4	0.000	0.064	2223	3299	3476
7784	-1.23	-146.6	728.6	0.3	374	7788	0.00	2.55	0.00	0.000	6	0.000	0.054	2223	1901	3475
8056	end dive: NO_VERTICAL_VELOCITY
state	8056	begin apogee
8062	-0.36	0.0	728.7	0.0	387	8191	0.88	0.00	125.80	1.289	6	0.062	0.000	2419	2103	2878
8192	end apogee: CONTROL_FINISHED_OK
state	8192	begin climb
8195	1.23	146.6	728.3	0.0	393	8327	1.55	2.67	123.90	1.249	4	0.054	0.064	2763	3495	2280
8388	1.23	146.6	717.6	8.6	402	8393	0.00	2.58	0.00	0.000	6	0.000	0.053	2763	2096	2280
8705	1.27	180.7	696.2	6.7	417	8740	0.00	2.78	29.60	1.253	4	0.000	0.081	2763	686	2141
8992	1.27	180.7	672.6	9.0	429	8997	0.00	2.55	0.00	0.000	6	0.000	0.048	2763	2101	2140
9314	1.27	180.7	646.6	8.1	445	9318	0.00	2.67	0.00	0.000	4	0.000	0.076	2763	692	2139
9346	1.27	180.7	643.5	9.1	446	9352	0.00	2.53	0.00	0.000	6	0.000	0.048	2763	2100	2139
9661	1.27	180.7	617.4	8.4	462	9662	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2100	2138
9971	1.30	206.1	594.1	7.0	477	10000	0.00	2.65	21.73	1.243	4	0.000	0.059	2763	3499	2036
10120	1.30	206.1	582.2	8.4	483	10126	0.00	2.58	0.00	0.000	6	0.000	0.048	2764	2093	2036
10436	1.30	206.1	554.9	8.7	499	10437	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	2093	2036
10745	1.32	217.5	530.3	7.6	514	10761	0.00	2.65	10.80	1.200	4	0.000	0.054	2763	3501	1990
10829	1.34	238.1	524.1	7.2	517	10854	0.10	2.58	18.17	1.180	6	0.061	0.047	2793	2093	1906
11183	1.34	238.1	491.7	9.9	534	11187	0.00	2.60	0.00	0.000	4	0.000	0.054	2793	3505	1906
11238	1.34	238.1	485.5	11.7	536	11244	0.00	2.53	0.00	0.000	6	0.000	0.046	2792	2101	1907
11554	1.34	238.1	454.2	9.9	552	11558	0.00	2.58	0.00	0.000	4	0.000	0.053	2793	3508	1906
11586	1.34	238.1	450.8	10.3	553	11592	0.00	2.53	0.00	0.000	6	0.000	0.045	2793	2100	1906
11902	1.34	238.1	417.0	11.3	569	11903	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2100	1906
12211	1.34	238.1	383.5	10.5	584	12216	0.00	2.55	0.00	0.000	4	0.000	0.051	2793	3502	1907
12306	1.34	238.1	373.1	10.2	588	12310	0.00	2.55	0.00	0.000	6	0.000	0.044	2793	2088	1907
12627	1.34	238.1	339.8	10.1	604	12631	0.00	2.58	0.00	0.000	4	0.000	0.051	2792	3504	1907
12671	1.34	238.1	335.0	10.9	606	12675	0.00	2.53	0.00	0.000	6	0.000	0.042	2793	2093	1907
12991	1.34	238.1	302.4	10.2	622	12996	0.00	2.58	0.00	0.000	4	0.000	0.051	2793	3504	1908
13086	1.34	238.1	291.8	11.3	626	13090	0.00	2.53	0.00	0.000	6	0.000	0.041	2792	2093	1908
13402	1.34	238.1	259.1	10.0	641	13407	0.00	2.58	0.00	0.000	4	0.000	0.051	2793	3505	1908
13491	1.34	238.1	249.7	10.7	645	13496	0.00	2.50	0.00	0.000	6	0.000	0.041	2792	2097	1908
13814	1.34	238.1	217.8	9.7	661	13818	0.00	2.55	0.00	0.000	4	0.000	0.050	2793	3502	1909
13857	1.34	238.1	213.1	10.2	663	13862	0.00	2.50	0.00	0.000	6	0.000	0.041	2792	2097	1909
14178	1.34	238.1	182.5	9.6	679	14183	0.00	2.55	0.00	0.000	4	0.000	0.050	2793	3503	1909
14228	1.34	238.1	177.2	10.2	681	14233	0.00	2.47	0.00	0.000	6	0.000	0.041	2793	2099	1909
14544	1.34	238.1	144.7	10.7	696	14548	0.00	2.55	0.00	0.000	4	0.000	0.049	2793	3506	1910
14606	1.34	238.1	137.7	11.7	699	14610	0.00	2.50	0.00	0.000	6	0.000	0.041	2793	2092	1909
14934	1.34	238.1	104.5	9.5	715	14939	0.00	2.58	0.00	0.000	4	0.000	0.050	2793	3509	1909
14974	1.34	238.1	100.9	8.2	717	14979	0.00	2.50	0.00	0.000	6	0.000	0.039	2793	2092	1909
15301	1.34	238.1	70.8	10.3	733	15306	0.00	2.58	0.00	0.000	4	0.000	0.050	2793	3510	1909
15366	1.34	238.1	64.3	9.7	736	15370	0.00	2.50	0.00	0.000	6	0.000	0.040	2793	2093	1909
15692	1.34	238.1	29.9	8.8	752	15696	0.00	2.55	0.00	0.000	4	0.000	0.048	2793	3504	1910
15748	1.34	238.1	24.1	10.8	754	15754	0.00	2.50	0.00	0.000	6	0.000	0.040	2793	2096	1910
16001	end climb: SURFACE_DEPTH_REACHED
state	16001	begin surface coast
16021	end surface coast: CONTROL_FINISHED_OK
state	16021	begin surface