Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 364 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 142 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 364 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 220 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3900 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT 5900 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON -2030 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

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 -1.65

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 28 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 24 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 475 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 DEVICE6 -1

T_NO_W 240 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 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 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -19833.967 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1435 AH0_24V 150 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3965 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.0273 C_PITCH 2920 PRESSURE_YINT -2.876246 SEABIRD_T_I 2.3931538e-05

MASS 51804 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1518581e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 2 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 PITCH_AD_RATE 100 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3965 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1435 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1518581e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.876246 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 5900

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -2030

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0273 T_GPS_CHARGE -19833.967

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 240

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 142 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 T_WATCHDOG 10

C_PITCH 2920 INT_PRESSURE_YINT -1.65 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2750 KALMAN_USE 2 ROLL_MIN 220 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51804 R_PORT_OVSHOOT 28 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 24 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.0037964056 VBD_MAX 3964

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 475

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 364 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 1040 PITCH_ADJ_DBAND 2 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

Pre-dive calculations and measurements:

GPS1 134058,6154.339,-2617.284,29,99.0,48,-18.8 TGT_NAME NW

_CALLS 2 TGT_LATLONG 6156.130,-2622.980

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 135256,6154.245,-2617.184,9,0.8,14,-18.8 MHEAD_RNG_PITCHd_Wd 325.6,6139,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.014401 _24V_AH 19.2,113.147

SM_CCo 15000,0.00,0.000,0,0,1087,486.68 _10V_AH 9.8,74.367

SM_GC 0.81,8.60,0.00,0.00,0.042,0.000,0.000,1430,2291,1087,-6.79,-0.25,486.68 DATA_FILE_SIZE 129667,1792

IRIDIUM_FIX 6130.75,-2617.54,130997,131317 CAP_FILE_SIZE 164954,0

TT8_MAMPS 0.026078 CFSIZE 260165632,222330880

HUMID 1854 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.89728 CURRENT 0.049,213.8,1

TCM_TEMP 16.60 GPS 190608,180452,6155.282,-2620.972,39,2.7,58,-18.9

XPDR_PINGS 773

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 249 116.42 SBE_CT 1244 24 573.37

Roll_motor 169 62 205.07 SBE_O2 1335 19 487.26

VBD_pump_during_apogee 705 1407 19071.44 Optode 752 33 476.79

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1677 105 3382.12

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 60 103 118.78 nil 0 0 0.00

Iridium_during_connect 64 160 197.64 nil 0 0 0.00

Iridium_during_xfer 360 223 1545.35

Transponder_ping 193 420 1558.37

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 7.87

TT8 3626 19 703.68

LPSleep 7017 2 150.62

TT8_Active 918 19 178.23

TT8_Sampling 3235 39 1262.16

TT8_CF8 901 45 404.61

TT8_Kalman 0 0 0.00

Analog_circuits 2388 12 280.87

GPS_charging 0 0 0.00

Compass 3222 8 252.63

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.86 -194.7 0.0 0.0 0 143 0.00 0.00 -118.05 0.000 2 0.000 0.000 1430 2273 3392

147 -0.86 -194.7 3.0 -4.9 15 177 12.00 0.00 -13.38 0.000 6 0.249 0.000 2727 2273 3867

315 -0.76 -194.7 27.8 -13.3 43 322 0.15 0.00 0.00 0.000 6 0.147 0.000 2750 2273 3868

458 -0.76 -194.7 45.4 -11.3 68 465 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2273 3868

601 -0.76 -194.7 60.9 -10.2 93 608 0.00 2.85 0.00 0.000 4 0.000 0.043 2749 3710 3868

694 -0.76 -194.7 70.1 -9.7 109 701 0.00 2.72 0.00 0.000 6 0.000 0.031 2750 2303 3868

1038 -0.76 -194.7 105.2 -10.0 170 1046 0.00 2.80 0.00 0.000 4 0.000 0.044 2750 3707 3868

1098 -0.76 -194.7 111.1 -9.7 180 1105 0.00 2.70 0.00 0.000 6 0.000 0.032 2749 2316 3868

1446 -0.76 -194.7 149.3 -11.4 241 1453 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2315 3868

1792 -0.76 -194.7 187.5 -10.9 302 1799 0.00 2.78 0.00 0.000 4 0.000 0.044 2750 3703 3868

1857 -0.76 -194.7 194.3 -10.6 313 1864 0.00 2.67 0.00 0.000 6 0.000 0.032 2750 2329 3868

2203 -0.76 -194.7 230.4 -10.8 374 2210 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2329 3868

2548 -0.76 -194.7 268.0 -10.8 435 2556 0.00 2.78 0.00 0.000 4 0.000 0.045 2750 3712 3868

2602 -0.76 -194.7 273.9 -10.5 444 2610 0.00 2.67 0.00 0.000 6 0.000 0.032 2749 2336 3868

2949 -0.76 -194.7 311.0 -10.1 505 2956 0.00 2.90 0.00 0.000 4 0.000 0.049 2750 882 3868

2986 -0.76 -194.7 314.8 -10.6 511 2993 0.00 2.85 0.00 0.000 6 0.000 0.031 2750 2356 3868

3330 -0.76 -194.7 349.1 -9.7 572 3338 0.00 2.67 0.00 0.000 4 0.000 0.046 2749 3707 3867

3405 -0.76 -194.7 356.4 -9.7 579 3412 0.00 2.65 0.00 0.000 6 0.000 0.033 2750 2343 3867

3733 -0.76 -194.7 386.8 -9.3 610 3737 0.00 2.90 0.00 0.000 4 0.000 0.048 2749 885 3867

3774 -0.76 -194.7 390.5 -9.1 613 3778 0.00 2.85 0.00 0.000 6 0.000 0.030 2750 2359 3867

4101 -0.76 -194.7 418.0 -8.4 643 4106 0.00 2.67 0.00 0.000 4 0.000 0.046 2750 3707 3867

4176 -0.76 -194.7 424.4 -8.2 649 4180 0.00 2.65 0.00 0.000 6 0.000 0.034 2750 2351 3867

4504 -0.76 -194.7 450.5 -7.8 679 4508 0.00 2.92 0.00 0.000 4 0.000 0.050 2749 888 3866

4548 -0.76 -194.7 454.3 -7.9 682 4555 0.00 2.83 0.00 0.000 6 0.000 0.030 2749 2354 3866

4878 -0.76 -194.7 479.4 -7.6 713 4882 0.00 2.70 0.00 0.000 4 0.000 0.048 2750 3709 3866

4955 -0.76 -194.7 485.7 -7.6 719 4962 0.00 2.65 0.00 0.000 6 0.000 0.034 2750 2353 3866

5283 -0.76 -194.7 513.3 -9.7 750 5288 0.00 2.95 0.00 0.000 4 0.000 0.051 2749 882 3866

5316 -0.76 -194.7 517.0 -10.5 752 5324 0.00 2.88 0.00 0.000 6 0.000 0.031 2750 2364 3865

5644 -0.76 -194.7 549.2 -9.5 783 5648 0.00 2.70 0.00 0.000 4 0.000 0.050 2750 3710 3865

5706 -0.76 -194.7 555.4 -9.5 788 5711 0.00 2.62 0.00 0.000 6 0.000 0.034 2749 2368 3865

6034 -0.76 -194.7 588.5 -10.8 818 6039 0.00 3.00 0.00 0.000 4 0.000 0.053 2750 884 3865

6078 -0.76 -194.7 593.6 -10.6 821 6085 0.00 2.90 0.00 0.000 6 0.000 0.031 2750 2370 3865

6397 -0.76 -194.7 626.3 -10.3 840 6402 0.00 2.70 0.00 0.000 4 0.000 0.054 2749 3704 3865

6447 -0.76 -194.7 631.5 -9.5 842 6452 0.00 2.65 0.00 0.000 6 0.000 0.037 2749 2365 3864

6764 -0.76 -194.7 662.1 -9.9 857 6769 0.00 3.03 0.00 0.000 4 0.000 0.060 2749 893 3865

6805 -0.76 -194.7 666.1 -9.5 859 6809 0.00 2.90 0.00 0.000 6 0.000 0.036 2749 2359 3864

7133 -0.76 -194.7 696.6 -9.8 875 7138 0.00 2.78 0.00 0.000 4 0.000 0.061 2749 3703 3864

7196 -0.76 -194.7 702.3 -9.1 878 7200 0.00 2.70 0.00 0.000 6 0.000 0.044 2749 2363 3864

7523 -1.07 -194.7 718.8 -0.0 894 7525 0.32 0.00 0.00 0.000 6 0.055 0.000 2688 2362 3864

7684 end dive: NO_VERTICAL_VELOCITY

state 7685 begin apogee

7692 -0.21 0.0 718.8 0.0 902 7897 1.00 0.00 200.68 1.407 6 0.072 0.000 2869 2751 3071

7898 end apogee: CONTROL_FINISHED_OK

state 7898 begin climb

7900 0.86 194.7 718.7 0.0 912 8115 1.45 2.60 203.88 1.346 4 0.110 0.063 3097 3903 2276

8123 0.74 194.7 703.2 10.6 923 8128 0.00 2.47 0.00 0.000 6 0.000 0.041 3097 2755 2275

8446 0.63 194.7 666.3 11.6 939 8451 0.22 2.95 0.00 0.000 4 0.124 0.058 3061 1331 2274

8457 0.53 194.7 664.8 11.7 939 8465 0.15 2.83 0.00 0.000 6 0.108 0.037 3038 2745 2274

8774 0.60 247.6 638.2 8.2 955 8834 0.00 2.97 53.50 1.310 4 0.000 0.048 3038 1330 2060

8851 0.78 344.3 632.1 6.6 957 8958 0.28 2.85 99.70 1.308 6 0.044 0.034 3094 2740 1667

9278 0.78 344.3 586.0 10.9 984 9282 0.00 2.85 0.00 0.000 4 0.000 0.047 3094 1334 1661

9306 0.78 344.3 582.6 11.5 986 9310 0.00 2.72 0.00 0.000 6 0.000 0.032 3094 2717 1659

9633 0.78 344.3 546.4 11.0 1016 9637 0.00 2.35 0.00 0.000 4 0.000 0.051 3094 3891 1659

9651 0.78 344.3 544.1 11.3 1017 9656 0.00 2.30 0.00 0.000 6 0.000 0.033 3094 2707 1658

9981 0.78 344.3 506.1 11.9 1047 9987 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 2705 1657

10306 0.78 344.3 466.6 11.4 1078 10310 0.00 2.40 0.00 0.000 4 0.000 0.051 3094 3893 1657

10318 0.78 344.3 465.3 11.7 1079 10322 0.00 2.25 0.00 0.000 6 0.000 0.031 3094 2724 1656

10643 0.78 344.3 428.5 11.1 1109 10648 0.00 2.75 0.00 0.000 4 0.000 0.046 3094 1346 1656

10653 0.78 344.3 427.2 11.2 1109 10661 0.00 2.67 0.00 0.000 6 0.000 0.031 3094 2724 1656

10981 0.78 344.3 392.2 10.7 1140 10982 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 2723 1656

11299 0.78 344.3 357.3 11.5 1170 11303 0.00 2.78 0.00 0.000 4 0.000 0.044 3094 1341 1656

11327 0.78 344.3 353.7 12.3 1172 11331 0.00 2.65 0.00 0.000 6 0.000 0.031 3094 2704 1656

11669 0.78 344.3 316.8 10.1 1229 11676 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 2704 1655

12014 0.78 344.3 282.5 10.0 1290 12020 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 2705 1656

12360 0.78 344.3 248.7 10.1 1351 12367 0.00 2.72 0.00 0.000 4 0.000 0.044 3094 1346 1656

12374 0.78 344.3 247.2 10.3 1353 12381 0.00 2.62 0.00 0.000 6 0.000 0.031 3094 2696 1655

12720 0.78 344.3 212.2 10.4 1414 12727 0.00 2.38 0.00 0.000 4 0.000 0.049 3094 3889 1655

12734 0.78 344.3 210.7 10.7 1416 12741 0.00 2.33 0.00 0.000 6 0.000 0.031 3094 2695 1655

13079 0.80 361.2 175.8 9.4 1477 13101 0.00 2.78 16.12 0.973 4 0.000 0.044 3094 1338 1598

13109 0.82 376.8 173.0 9.5 1481 13136 0.00 2.67 17.75 1.006 6 0.000 0.031 3094 2705 1535

13478 0.82 377.7 139.2 10.0 1545 13485 0.00 2.72 0.00 0.000 4 0.000 0.044 3094 1347 1531

13492 0.82 377.7 137.4 10.1 1547 13499 0.00 2.62 0.00 0.000 6 0.000 0.031 3094 2695 1531

13839 0.83 385.4 103.3 9.7 1608 13854 0.00 2.80 9.88 0.864 4 0.000 0.044 3094 1337 1499

13862 0.87 413.2 101.2 9.0 1611 13902 0.00 2.62 30.23 0.989 6 0.000 0.031 3094 2683 1385

14243 0.97 450.5 71.0 8.7 1677 14291 0.15 2.78 38.58 0.969 4 0.052 0.046 3131 1342 1233

14310 0.97 450.5 63.2 12.0 1687 14317 0.00 2.62 0.00 0.000 6 0.000 0.030 3131 2671 1231

14656 1.01 484.8 26.9 8.8 1748 14699 0.00 2.70 35.45 0.935 4 0.000 0.045 3131 1347 1092

14737 1.05 484.8 19.2 10.2 1760 14744 0.00 2.50 0.00 0.000 6 0.000 0.030 3131 2630 1090

14880 1.05 484.8 4.5 10.1 1785 14887 0.00 0.00 0.00 0.000 6 0.000 0.000 3131 2629 1089

14903 end climb: SURFACE_DEPTH_REACHED

state 14903 begin surface coast

14920 end surface coast: CONTROL_FINISHED_OK

state 14921 begin surface

ID	142	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	364	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	220	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3900	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	5900	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	-2030	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
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	-1.65
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	28	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	24	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	475	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	DEVICE6	-1
T_NO_W	240	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	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	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-19833.967	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1435	AH0_24V	150	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3965	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.0273	C_PITCH	2920	PRESSURE_YINT	-2.876246	SEABIRD_T_I	2.3931538e-05
MASS	51804	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1518581e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	2	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	134058,6154.339,-2617.284,29,99.0,48,-18.8	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	6156.130,-2622.980
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	135256,6154.245,-2617.184,9,0.8,14,-18.8	MHEAD_RNG_PITCHd_Wd	325.6,6139,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.2,1.014401	_24V_AH	19.2,113.147
SM_CCo	15000,0.00,0.000,0,0,1087,486.68	_10V_AH	9.8,74.367
SM_GC	0.81,8.60,0.00,0.00,0.042,0.000,0.000,1430,2291,1087,-6.79,-0.25,486.68	DATA_FILE_SIZE	129667,1792
IRIDIUM_FIX	6130.75,-2617.54,130997,131317	CAP_FILE_SIZE	164954,0
TT8_MAMPS	0.026078	CFSIZE	260165632,222330880
HUMID	1854	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.89728	CURRENT	0.049,213.8,1
TCM_TEMP	16.60	GPS	190608,180452,6155.282,-2620.972,39,2.7,58,-18.9
XPDR_PINGS	773

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	249	116.42	SBE_CT	1244	24	573.37
Roll_motor	169	62	205.07	SBE_O2	1335	19	487.26
VBD_pump_during_apogee	705	1407	19071.44	Optode	752	33	476.79
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1677	105	3382.12
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	60	103	118.78	nil	0	0	0.00
Iridium_during_connect	64	160	197.64	nil	0	0	0.00
Iridium_during_xfer	360	223	1545.35
Transponder_ping	193	420	1558.37
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	7.87
TT8	3626	19	703.68
LPSleep	7017	2	150.62
TT8_Active	918	19	178.23
TT8_Sampling	3235	39	1262.16
TT8_CF8	901	45	404.61
TT8_Kalman	0	0	0.00
Analog_circuits	2388	12	280.87
GPS_charging	0	0	0.00
Compass	3222	8	252.63
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.86	-194.7	0.0	0.0	0	143	0.00	0.00	-118.05	0.000	2	0.000	0.000	1430	2273	3392
147	-0.86	-194.7	3.0	-4.9	15	177	12.00	0.00	-13.38	0.000	6	0.249	0.000	2727	2273	3867
315	-0.76	-194.7	27.8	-13.3	43	322	0.15	0.00	0.00	0.000	6	0.147	0.000	2750	2273	3868
458	-0.76	-194.7	45.4	-11.3	68	465	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2273	3868
601	-0.76	-194.7	60.9	-10.2	93	608	0.00	2.85	0.00	0.000	4	0.000	0.043	2749	3710	3868
694	-0.76	-194.7	70.1	-9.7	109	701	0.00	2.72	0.00	0.000	6	0.000	0.031	2750	2303	3868
1038	-0.76	-194.7	105.2	-10.0	170	1046	0.00	2.80	0.00	0.000	4	0.000	0.044	2750	3707	3868
1098	-0.76	-194.7	111.1	-9.7	180	1105	0.00	2.70	0.00	0.000	6	0.000	0.032	2749	2316	3868
1446	-0.76	-194.7	149.3	-11.4	241	1453	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2315	3868
1792	-0.76	-194.7	187.5	-10.9	302	1799	0.00	2.78	0.00	0.000	4	0.000	0.044	2750	3703	3868
1857	-0.76	-194.7	194.3	-10.6	313	1864	0.00	2.67	0.00	0.000	6	0.000	0.032	2750	2329	3868
2203	-0.76	-194.7	230.4	-10.8	374	2210	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2329	3868
2548	-0.76	-194.7	268.0	-10.8	435	2556	0.00	2.78	0.00	0.000	4	0.000	0.045	2750	3712	3868
2602	-0.76	-194.7	273.9	-10.5	444	2610	0.00	2.67	0.00	0.000	6	0.000	0.032	2749	2336	3868
2949	-0.76	-194.7	311.0	-10.1	505	2956	0.00	2.90	0.00	0.000	4	0.000	0.049	2750	882	3868
2986	-0.76	-194.7	314.8	-10.6	511	2993	0.00	2.85	0.00	0.000	6	0.000	0.031	2750	2356	3868
3330	-0.76	-194.7	349.1	-9.7	572	3338	0.00	2.67	0.00	0.000	4	0.000	0.046	2749	3707	3867
3405	-0.76	-194.7	356.4	-9.7	579	3412	0.00	2.65	0.00	0.000	6	0.000	0.033	2750	2343	3867
3733	-0.76	-194.7	386.8	-9.3	610	3737	0.00	2.90	0.00	0.000	4	0.000	0.048	2749	885	3867
3774	-0.76	-194.7	390.5	-9.1	613	3778	0.00	2.85	0.00	0.000	6	0.000	0.030	2750	2359	3867
4101	-0.76	-194.7	418.0	-8.4	643	4106	0.00	2.67	0.00	0.000	4	0.000	0.046	2750	3707	3867
4176	-0.76	-194.7	424.4	-8.2	649	4180	0.00	2.65	0.00	0.000	6	0.000	0.034	2750	2351	3867
4504	-0.76	-194.7	450.5	-7.8	679	4508	0.00	2.92	0.00	0.000	4	0.000	0.050	2749	888	3866
4548	-0.76	-194.7	454.3	-7.9	682	4555	0.00	2.83	0.00	0.000	6	0.000	0.030	2749	2354	3866
4878	-0.76	-194.7	479.4	-7.6	713	4882	0.00	2.70	0.00	0.000	4	0.000	0.048	2750	3709	3866
4955	-0.76	-194.7	485.7	-7.6	719	4962	0.00	2.65	0.00	0.000	6	0.000	0.034	2750	2353	3866
5283	-0.76	-194.7	513.3	-9.7	750	5288	0.00	2.95	0.00	0.000	4	0.000	0.051	2749	882	3866
5316	-0.76	-194.7	517.0	-10.5	752	5324	0.00	2.88	0.00	0.000	6	0.000	0.031	2750	2364	3865
5644	-0.76	-194.7	549.2	-9.5	783	5648	0.00	2.70	0.00	0.000	4	0.000	0.050	2750	3710	3865
5706	-0.76	-194.7	555.4	-9.5	788	5711	0.00	2.62	0.00	0.000	6	0.000	0.034	2749	2368	3865
6034	-0.76	-194.7	588.5	-10.8	818	6039	0.00	3.00	0.00	0.000	4	0.000	0.053	2750	884	3865
6078	-0.76	-194.7	593.6	-10.6	821	6085	0.00	2.90	0.00	0.000	6	0.000	0.031	2750	2370	3865
6397	-0.76	-194.7	626.3	-10.3	840	6402	0.00	2.70	0.00	0.000	4	0.000	0.054	2749	3704	3865
6447	-0.76	-194.7	631.5	-9.5	842	6452	0.00	2.65	0.00	0.000	6	0.000	0.037	2749	2365	3864
6764	-0.76	-194.7	662.1	-9.9	857	6769	0.00	3.03	0.00	0.000	4	0.000	0.060	2749	893	3865
6805	-0.76	-194.7	666.1	-9.5	859	6809	0.00	2.90	0.00	0.000	6	0.000	0.036	2749	2359	3864
7133	-0.76	-194.7	696.6	-9.8	875	7138	0.00	2.78	0.00	0.000	4	0.000	0.061	2749	3703	3864
7196	-0.76	-194.7	702.3	-9.1	878	7200	0.00	2.70	0.00	0.000	6	0.000	0.044	2749	2363	3864
7523	-1.07	-194.7	718.8	-0.0	894	7525	0.32	0.00	0.00	0.000	6	0.055	0.000	2688	2362	3864
7684	end dive: NO_VERTICAL_VELOCITY
state	7685	begin apogee
7692	-0.21	0.0	718.8	0.0	902	7897	1.00	0.00	200.68	1.407	6	0.072	0.000	2869	2751	3071
7898	end apogee: CONTROL_FINISHED_OK
state	7898	begin climb
7900	0.86	194.7	718.7	0.0	912	8115	1.45	2.60	203.88	1.346	4	0.110	0.063	3097	3903	2276
8123	0.74	194.7	703.2	10.6	923	8128	0.00	2.47	0.00	0.000	6	0.000	0.041	3097	2755	2275
8446	0.63	194.7	666.3	11.6	939	8451	0.22	2.95	0.00	0.000	4	0.124	0.058	3061	1331	2274
8457	0.53	194.7	664.8	11.7	939	8465	0.15	2.83	0.00	0.000	6	0.108	0.037	3038	2745	2274
8774	0.60	247.6	638.2	8.2	955	8834	0.00	2.97	53.50	1.310	4	0.000	0.048	3038	1330	2060
8851	0.78	344.3	632.1	6.6	957	8958	0.28	2.85	99.70	1.308	6	0.044	0.034	3094	2740	1667
9278	0.78	344.3	586.0	10.9	984	9282	0.00	2.85	0.00	0.000	4	0.000	0.047	3094	1334	1661
9306	0.78	344.3	582.6	11.5	986	9310	0.00	2.72	0.00	0.000	6	0.000	0.032	3094	2717	1659
9633	0.78	344.3	546.4	11.0	1016	9637	0.00	2.35	0.00	0.000	4	0.000	0.051	3094	3891	1659
9651	0.78	344.3	544.1	11.3	1017	9656	0.00	2.30	0.00	0.000	6	0.000	0.033	3094	2707	1658
9981	0.78	344.3	506.1	11.9	1047	9987	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	2705	1657
10306	0.78	344.3	466.6	11.4	1078	10310	0.00	2.40	0.00	0.000	4	0.000	0.051	3094	3893	1657
10318	0.78	344.3	465.3	11.7	1079	10322	0.00	2.25	0.00	0.000	6	0.000	0.031	3094	2724	1656
10643	0.78	344.3	428.5	11.1	1109	10648	0.00	2.75	0.00	0.000	4	0.000	0.046	3094	1346	1656
10653	0.78	344.3	427.2	11.2	1109	10661	0.00	2.67	0.00	0.000	6	0.000	0.031	3094	2724	1656
10981	0.78	344.3	392.2	10.7	1140	10982	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	2723	1656
11299	0.78	344.3	357.3	11.5	1170	11303	0.00	2.78	0.00	0.000	4	0.000	0.044	3094	1341	1656
11327	0.78	344.3	353.7	12.3	1172	11331	0.00	2.65	0.00	0.000	6	0.000	0.031	3094	2704	1656
11669	0.78	344.3	316.8	10.1	1229	11676	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	2704	1655
12014	0.78	344.3	282.5	10.0	1290	12020	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	2705	1656
12360	0.78	344.3	248.7	10.1	1351	12367	0.00	2.72	0.00	0.000	4	0.000	0.044	3094	1346	1656
12374	0.78	344.3	247.2	10.3	1353	12381	0.00	2.62	0.00	0.000	6	0.000	0.031	3094	2696	1655
12720	0.78	344.3	212.2	10.4	1414	12727	0.00	2.38	0.00	0.000	4	0.000	0.049	3094	3889	1655
12734	0.78	344.3	210.7	10.7	1416	12741	0.00	2.33	0.00	0.000	6	0.000	0.031	3094	2695	1655
13079	0.80	361.2	175.8	9.4	1477	13101	0.00	2.78	16.12	0.973	4	0.000	0.044	3094	1338	1598
13109	0.82	376.8	173.0	9.5	1481	13136	0.00	2.67	17.75	1.006	6	0.000	0.031	3094	2705	1535
13478	0.82	377.7	139.2	10.0	1545	13485	0.00	2.72	0.00	0.000	4	0.000	0.044	3094	1347	1531
13492	0.82	377.7	137.4	10.1	1547	13499	0.00	2.62	0.00	0.000	6	0.000	0.031	3094	2695	1531
13839	0.83	385.4	103.3	9.7	1608	13854	0.00	2.80	9.88	0.864	4	0.000	0.044	3094	1337	1499
13862	0.87	413.2	101.2	9.0	1611	13902	0.00	2.62	30.23	0.989	6	0.000	0.031	3094	2683	1385
14243	0.97	450.5	71.0	8.7	1677	14291	0.15	2.78	38.58	0.969	4	0.052	0.046	3131	1342	1233
14310	0.97	450.5	63.2	12.0	1687	14317	0.00	2.62	0.00	0.000	6	0.000	0.030	3131	2671	1231
14656	1.01	484.8	26.9	8.8	1748	14699	0.00	2.70	35.45	0.935	4	0.000	0.045	3131	1347	1092
14737	1.05	484.8	19.2	10.2	1760	14744	0.00	2.50	0.00	0.000	6	0.000	0.030	3131	2630	1090
14880	1.05	484.8	4.5	10.1	1785	14887	0.00	0.00	0.00	0.000	6	0.000	0.000	3131	2629	1089
14903	end climb: SURFACE_DEPTH_REACHED
state	14903	begin surface coast
14920	end surface coast: CONTROL_FINISHED_OK
state	14921	begin surface