Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 371 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 202 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 371 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3893 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

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 34 INT_PRESSURE_YINT 0

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 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3559 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2539 DEVICE4 -1

T_TURN 240 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00159 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -657385.69 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 95.400002 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 383 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3719 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2675 PRESSURE_YINT -15.110782 SEABIRD_T_G 0.0043093944

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064003747

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.16239e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_T_J 2.0570888e-06

FERRY_MAX 22 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_G -10.001513

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1265433

HD_A 0.00312 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010666439

HD_B 0.0099099996 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016314148

HD_C 2.4896e-05 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3719 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 383 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -0.69999999

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_ROLL_OFFSET 0.5

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.110782 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

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 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_CHARGE -657385.69

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 240

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 14 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3893 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2675 KALMAN_USE 2 ROLL_MIN 202 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1600 MASS 52000 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 34 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.001513 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1265433 VBD_MAX 3559

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010666439 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016314148 VBD_MIN 187

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043093944 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064003747 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.16239e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.0570888e-06 XPDR_DEVICE 21

DIVE 371 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 161431,6318.653,-1321.117,44,1.7,44,-12.3 TGT_NAME IE

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.61 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -60.4 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 162034,6318.671,-1321.063,11,1.8,12,-12.3 MHEAD_RNG_PITCHd_Wd 155.7,8472,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027220 ALTIM_BOTTOM_PING 776.2,37.8

SM_CCo 16646,10.15,0.607,0,0,1316,300.00 _24V_AH 23.5,49.702

SM_GC 1.96,0.00,0.00,10.15,0.000,0.000,0.607,380,1601,1316,-10.56,0.03,300.00 _10V_AH 10.2,25.023

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41264,792

TT8_MAMPS 0.023777 CAP_FILE_SIZE 125455,0

HUMID 1901 CFSIZE 254472192,234815488

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,35,1,0

XPDR_PINGS 0 GPS 211008,210001,6316.717,-1320.929,40,1.5,45,-12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 177 104.72 SBE_CT 588 24 331.93

Roll_motor 156 110 406.14 SBE_O2 540 19 241.17

VBD_pump_during_apogee 382 1206 10849.81 WL_BB2F 476 105 1176.44

VBD_pump_during_surface 10 606 144.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.41 nil 0 0 0.00

Iridium_during_connect 25 160 94.51 nil 0 0 0.00

Iridium_during_xfer 150 223 787.76

Transponder_ping 6 420 66.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.27

TT8 1509 19 304.84

LPSleep 12423 2 277.51

TT8_Active 525 19 106.11

TT8_Sampling 1961 39 796.22

TT8_CF8 600 45 280.64

TT8_Kalman 0 81 0.00

Analog_circuits 1510 12 184.86

GPS_charging 0 0 0.00

Compass 1907 8 155.67

RAFOS 0 0 0.00

Transponder 45 30 14.08

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

20 -1.16 -146.6 0.0 0.0 0 82 0.00 0.00 -60.12 0.000 2 0.000 0.000 380 1620 2701

86 -1.16 -146.6 3.7 -4.1 3 117 11.38 2.60 -10.90 0.000 4 0.177 0.091 2412 213 3139

387 -1.16 -146.6 40.9 -11.4 16 391 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1601 3139

709 -1.16 -146.6 78.4 -10.6 32 713 0.00 2.50 0.00 0.000 4 0.000 0.076 2412 212 3139

788 -1.16 -146.6 87.4 -11.9 35 794 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1601 3139

1105 -1.16 -146.6 117.2 -8.3 51 1106 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1603 3139

1414 -1.16 -146.6 137.9 -6.3 66 1416 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1603 3139

1724 -1.16 -146.6 163.6 -10.2 81 1725 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1604 3139

2034 -1.16 -146.6 200.5 -12.0 96 2037 0.00 2.50 0.00 0.000 4 0.000 0.076 2412 208 3140

2118 -1.16 -146.6 211.5 -12.6 99 2124 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1604 3140

2435 -1.16 -146.6 245.6 -10.0 115 2436 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1605 3140

2745 -1.16 -146.6 276.5 -10.5 130 2749 0.00 2.50 0.00 0.000 4 0.000 0.077 2412 212 3140

2785 -1.16 -146.6 281.1 -10.9 132 2789 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1605 3140

3113 -1.16 -146.6 313.7 -9.3 148 3115 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1606 3140

3422 -1.16 -146.6 347.4 -11.8 163 3426 0.00 2.50 0.00 0.000 4 0.000 0.077 2412 213 3140

3485 -1.16 -146.6 355.6 -13.0 166 3489 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1602 3140

3813 -1.16 -146.6 393.8 -11.6 182 3814 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1606 3140

4121 -1.16 -146.6 431.8 -12.8 197 4125 0.00 2.50 0.00 0.000 4 0.000 0.077 2412 212 3140

4207 -1.16 -146.6 444.0 -14.9 200 4213 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1607 3140

4523 -1.16 -146.6 484.8 -12.7 216 4528 0.00 2.50 0.00 0.000 4 0.000 0.077 2412 213 3140

4569 -1.16 -146.6 490.9 -13.4 218 4573 0.00 2.38 0.00 0.000 6 0.000 0.059 2412 1601 3140

4891 -1.16 -146.6 528.9 -11.7 234 4892 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1604 3140

5200 -1.16 -146.6 568.4 -13.6 249 5201 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1605 3140

5509 -1.16 -146.6 609.7 -12.9 264 5510 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1604 3140

5819 -1.16 -146.6 646.1 -11.2 279 5820 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1605 3141

6128 -1.16 -146.6 678.8 -10.6 294 6129 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1605 3140

6437 -1.16 -146.6 709.9 -9.9 309 6441 0.00 2.50 0.00 0.000 4 0.000 0.077 2412 212 3140

6534 -1.16 -146.6 720.5 -11.4 313 6538 0.00 2.38 0.00 0.000 6 0.000 0.060 2412 1596 3140

6850 -1.16 -146.6 752.3 -9.7 328 6854 0.00 2.50 0.00 0.000 4 0.000 0.078 2412 203 3140

7019 -1.16 -146.6 771.3 -11.0 335 7025 0.00 2.40 0.00 0.000 6 0.000 0.061 2412 1600 3141

7311 end dive: BOTTOM_OBSTACLE_DETECTED

state 7311 begin apogee

7321 -0.32 0.0 804.2 10.6 350 7460 0.93 0.00 131.00 1.206 6 0.107 0.000 2602 2194 2539

7461 end apogee: CONTROL_FINISHED_OK

state 7461 begin climb

7465 1.16 146.6 810.3 0.0 357 7599 1.58 2.83 124.75 1.191 4 0.091 0.110 2930 3593 1940

7673 1.23 186.4 799.5 6.5 367 7713 0.00 2.50 34.15 1.143 6 0.000 0.070 2930 2197 1777

8040 1.26 206.9 775.7 7.2 385 8065 0.00 2.62 18.35 1.113 4 0.000 0.076 2930 795 1695

8089 1.26 206.9 771.7 9.5 387 8094 0.00 2.50 0.00 0.000 6 0.000 0.064 2930 2198 1695

8411 1.27 216.2 745.9 7.6 403 8426 0.10 2.58 9.50 1.028 4 0.071 0.074 2959 793 1657

8523 1.27 216.2 736.1 8.9 407 8527 0.00 2.50 0.00 0.000 6 0.000 0.064 2960 2208 1657

8850 1.27 216.2 709.8 8.0 423 8854 0.00 2.55 0.00 0.000 4 0.000 0.074 2960 793 1654

8958 1.27 216.2 700.2 8.5 428 8962 0.00 2.47 0.00 0.000 6 0.000 0.064 2960 2199 1654

9290 1.27 216.2 670.4 9.7 444 9295 0.00 2.55 0.00 0.000 4 0.000 0.073 2960 784 1652

9358 1.27 216.2 663.6 9.5 447 9362 0.00 2.50 0.00 0.000 6 0.000 0.063 2960 2208 1651

9680 1.27 216.2 633.5 9.4 463 9684 0.00 2.55 0.00 0.000 4 0.000 0.072 2960 785 1651

9736 1.27 216.2 627.7 11.2 465 9740 0.00 2.47 0.00 0.000 6 0.000 0.062 2960 2200 1650

10052 1.27 216.2 598.0 9.2 480 10057 0.00 2.53 0.00 0.000 4 0.000 0.072 2959 792 1651

10103 1.27 216.2 593.1 9.6 482 10107 0.00 2.47 0.00 0.000 6 0.000 0.062 2960 2212 1650

10425 1.28 220.2 566.2 7.8 498 10434 0.00 2.58 3.72 0.654 4 0.000 0.071 2960 792 1640

10498 1.28 220.2 559.7 8.4 501 10503 0.00 2.47 0.00 0.000 6 0.000 0.061 2960 2200 1640

10820 1.28 220.2 530.5 9.2 517 10824 0.00 2.50 0.00 0.000 4 0.000 0.071 2960 789 1640

10917 1.28 220.2 520.8 10.6 521 10922 0.00 2.45 0.00 0.000 6 0.000 0.061 2960 2200 1640

11240 1.28 220.2 490.1 9.7 537 11244 0.00 2.50 0.00 0.000 4 0.000 0.071 2960 791 1640

11326 1.28 220.2 481.2 10.4 541 11330 0.00 2.45 0.00 0.000 6 0.000 0.062 2960 2200 1640

11653 1.28 220.2 450.5 9.5 557 11657 0.00 2.50 0.00 0.000 4 0.000 0.071 2960 786 1640

11749 1.28 220.2 440.9 10.0 561 11753 0.00 2.47 0.00 0.000 6 0.000 0.062 2960 2200 1640

12066 1.28 220.2 410.4 9.7 576 12070 0.00 2.50 0.00 0.000 4 0.000 0.071 2960 784 1640

12150 1.28 220.2 401.7 9.7 579 12156 0.00 2.47 0.00 0.000 6 0.000 0.061 2959 2200 1640

12467 1.28 220.2 370.7 9.8 595 12471 0.00 2.50 0.00 0.000 4 0.000 0.071 2960 783 1640

12536 1.28 220.2 363.4 11.2 598 12540 0.00 2.47 0.00 0.000 6 0.000 0.062 2960 2209 1640

12864 1.28 220.2 332.3 9.4 614 12868 0.00 2.53 0.00 0.000 4 0.000 0.071 2960 783 1641

12937 1.28 220.2 325.1 9.5 617 12941 0.00 2.47 0.00 0.000 6 0.000 0.061 2960 2202 1640

13253 1.28 220.2 296.4 9.1 632 13257 0.00 2.50 0.00 0.000 4 0.000 0.071 2960 791 1640

13310 1.28 220.2 290.9 10.1 634 13316 0.00 2.45 0.00 0.000 6 0.000 0.061 2960 2202 1640

13626 1.28 220.2 263.9 8.4 650 13630 0.00 2.50 0.00 0.000 4 0.000 0.071 2960 792 1640

13711 1.28 220.2 256.5 8.6 654 13715 0.00 2.45 0.00 0.000 6 0.000 0.062 2960 2204 1640

14039 1.30 230.5 230.7 7.6 670 14055 0.00 2.55 11.10 0.747 4 0.000 0.071 2960 792 1598

14151 1.32 245.9 221.9 7.4 674 14171 0.00 2.45 13.60 0.759 6 0.000 0.061 2960 2199 1536

14501 1.34 255.7 196.0 7.6 691 14516 0.00 2.58 8.98 0.700 4 0.000 0.072 2961 790 1496

14618 1.34 255.7 185.7 9.3 696 14622 0.00 2.47 0.00 0.000 6 0.000 0.061 2960 2199 1496

14947 1.34 255.7 158.6 8.1 712 14951 0.00 2.50 0.00 0.000 4 0.000 0.073 2960 792 1496

15010 1.38 283.3 153.9 7.0 715 15040 0.00 2.45 23.17 0.736 6 0.000 0.062 2960 2205 1384

15365 1.38 283.3 122.3 10.1 732 15369 0.00 2.53 0.00 0.000 4 0.000 0.072 2961 792 1383

15466 1.38 283.3 111.2 10.7 736 15473 0.00 2.45 0.00 0.000 6 0.000 0.061 2960 2200 1383

15783 1.38 283.3 79.3 9.0 752 15787 0.00 2.53 0.00 0.000 4 0.000 0.073 2960 790 1383

15884 1.38 283.3 68.0 11.2 756 15891 0.00 2.45 0.00 0.000 6 0.000 0.062 2960 2198 1383

16203 1.38 283.3 35.5 10.3 772 16207 0.00 2.53 0.00 0.000 4 0.000 0.074 2960 785 1383

16299 1.39 286.4 27.3 7.9 776 16310 0.00 2.47 4.35 0.490 6 0.000 0.062 2960 2204 1369

16596 end climb: SURFACE_DEPTH_REACHED

state 16596 begin surface coast

16620 end surface coast: CONTROL_FINISHED_OK

state 16620 begin surface

ID	14	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	202	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	371	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3893	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
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	34	INT_PRESSURE_YINT	0
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	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3559	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2539	DEVICE4	-1
T_TURN	240	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00159	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-657385.69	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	95.400002	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	383	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3719	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2675	PRESSURE_YINT	-15.110782	SEABIRD_T_G	0.0043093944
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064003747
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.16239e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_T_J	2.0570888e-06
FERRY_MAX	22	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_G	-10.001513
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1265433
HD_A	0.00312	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010666439
HD_B	0.0099099996	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016314148
HD_C	2.4896e-05	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	161431,6318.653,-1321.117,44,1.7,44,-12.3	TGT_NAME	IE
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.61	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-60.4	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	162034,6318.671,-1321.063,11,1.8,12,-12.3	MHEAD_RNG_PITCHd_Wd	155.7,8472,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.8,1.027220	ALTIM_BOTTOM_PING	776.2,37.8
SM_CCo	16646,10.15,0.607,0,0,1316,300.00	_24V_AH	23.5,49.702
SM_GC	1.96,0.00,0.00,10.15,0.000,0.000,0.607,380,1601,1316,-10.56,0.03,300.00	_10V_AH	10.2,25.023
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41264,792
TT8_MAMPS	0.023777	CAP_FILE_SIZE	125455,0
HUMID	1901	CFSIZE	254472192,234815488
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,35,1,0
XPDR_PINGS	0	GPS	211008,210001,6316.717,-1320.929,40,1.5,45,-12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	177	104.72	SBE_CT	588	24	331.93
Roll_motor	156	110	406.14	SBE_O2	540	19	241.17
VBD_pump_during_apogee	382	1206	10849.81	WL_BB2F	476	105	1176.44
VBD_pump_during_surface	10	606	144.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.41	nil	0	0	0.00
Iridium_during_connect	25	160	94.51	nil	0	0	0.00
Iridium_during_xfer	150	223	787.76
Transponder_ping	6	420	66.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.27
TT8	1509	19	304.84
LPSleep	12423	2	277.51
TT8_Active	525	19	106.11
TT8_Sampling	1961	39	796.22
TT8_CF8	600	45	280.64
TT8_Kalman	0	81	0.00
Analog_circuits	1510	12	184.86
GPS_charging	0	0	0.00
Compass	1907	8	155.67
RAFOS	0	0	0.00
Transponder	45	30	14.08

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
20	-1.16	-146.6	0.0	0.0	0	82	0.00	0.00	-60.12	0.000	2	0.000	0.000	380	1620	2701
86	-1.16	-146.6	3.7	-4.1	3	117	11.38	2.60	-10.90	0.000	4	0.177	0.091	2412	213	3139
387	-1.16	-146.6	40.9	-11.4	16	391	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1601	3139
709	-1.16	-146.6	78.4	-10.6	32	713	0.00	2.50	0.00	0.000	4	0.000	0.076	2412	212	3139
788	-1.16	-146.6	87.4	-11.9	35	794	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1601	3139
1105	-1.16	-146.6	117.2	-8.3	51	1106	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1603	3139
1414	-1.16	-146.6	137.9	-6.3	66	1416	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1603	3139
1724	-1.16	-146.6	163.6	-10.2	81	1725	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1604	3139
2034	-1.16	-146.6	200.5	-12.0	96	2037	0.00	2.50	0.00	0.000	4	0.000	0.076	2412	208	3140
2118	-1.16	-146.6	211.5	-12.6	99	2124	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1604	3140
2435	-1.16	-146.6	245.6	-10.0	115	2436	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1605	3140
2745	-1.16	-146.6	276.5	-10.5	130	2749	0.00	2.50	0.00	0.000	4	0.000	0.077	2412	212	3140
2785	-1.16	-146.6	281.1	-10.9	132	2789	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1605	3140
3113	-1.16	-146.6	313.7	-9.3	148	3115	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1606	3140
3422	-1.16	-146.6	347.4	-11.8	163	3426	0.00	2.50	0.00	0.000	4	0.000	0.077	2412	213	3140
3485	-1.16	-146.6	355.6	-13.0	166	3489	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1602	3140
3813	-1.16	-146.6	393.8	-11.6	182	3814	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1606	3140
4121	-1.16	-146.6	431.8	-12.8	197	4125	0.00	2.50	0.00	0.000	4	0.000	0.077	2412	212	3140
4207	-1.16	-146.6	444.0	-14.9	200	4213	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1607	3140
4523	-1.16	-146.6	484.8	-12.7	216	4528	0.00	2.50	0.00	0.000	4	0.000	0.077	2412	213	3140
4569	-1.16	-146.6	490.9	-13.4	218	4573	0.00	2.38	0.00	0.000	6	0.000	0.059	2412	1601	3140
4891	-1.16	-146.6	528.9	-11.7	234	4892	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1604	3140
5200	-1.16	-146.6	568.4	-13.6	249	5201	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1605	3140
5509	-1.16	-146.6	609.7	-12.9	264	5510	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1604	3140
5819	-1.16	-146.6	646.1	-11.2	279	5820	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1605	3141
6128	-1.16	-146.6	678.8	-10.6	294	6129	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1605	3140
6437	-1.16	-146.6	709.9	-9.9	309	6441	0.00	2.50	0.00	0.000	4	0.000	0.077	2412	212	3140
6534	-1.16	-146.6	720.5	-11.4	313	6538	0.00	2.38	0.00	0.000	6	0.000	0.060	2412	1596	3140
6850	-1.16	-146.6	752.3	-9.7	328	6854	0.00	2.50	0.00	0.000	4	0.000	0.078	2412	203	3140
7019	-1.16	-146.6	771.3	-11.0	335	7025	0.00	2.40	0.00	0.000	6	0.000	0.061	2412	1600	3141
7311	end dive: BOTTOM_OBSTACLE_DETECTED
state	7311	begin apogee
7321	-0.32	0.0	804.2	10.6	350	7460	0.93	0.00	131.00	1.206	6	0.107	0.000	2602	2194	2539
7461	end apogee: CONTROL_FINISHED_OK
state	7461	begin climb
7465	1.16	146.6	810.3	0.0	357	7599	1.58	2.83	124.75	1.191	4	0.091	0.110	2930	3593	1940
7673	1.23	186.4	799.5	6.5	367	7713	0.00	2.50	34.15	1.143	6	0.000	0.070	2930	2197	1777
8040	1.26	206.9	775.7	7.2	385	8065	0.00	2.62	18.35	1.113	4	0.000	0.076	2930	795	1695
8089	1.26	206.9	771.7	9.5	387	8094	0.00	2.50	0.00	0.000	6	0.000	0.064	2930	2198	1695
8411	1.27	216.2	745.9	7.6	403	8426	0.10	2.58	9.50	1.028	4	0.071	0.074	2959	793	1657
8523	1.27	216.2	736.1	8.9	407	8527	0.00	2.50	0.00	0.000	6	0.000	0.064	2960	2208	1657
8850	1.27	216.2	709.8	8.0	423	8854	0.00	2.55	0.00	0.000	4	0.000	0.074	2960	793	1654
8958	1.27	216.2	700.2	8.5	428	8962	0.00	2.47	0.00	0.000	6	0.000	0.064	2960	2199	1654
9290	1.27	216.2	670.4	9.7	444	9295	0.00	2.55	0.00	0.000	4	0.000	0.073	2960	784	1652
9358	1.27	216.2	663.6	9.5	447	9362	0.00	2.50	0.00	0.000	6	0.000	0.063	2960	2208	1651
9680	1.27	216.2	633.5	9.4	463	9684	0.00	2.55	0.00	0.000	4	0.000	0.072	2960	785	1651
9736	1.27	216.2	627.7	11.2	465	9740	0.00	2.47	0.00	0.000	6	0.000	0.062	2960	2200	1650
10052	1.27	216.2	598.0	9.2	480	10057	0.00	2.53	0.00	0.000	4	0.000	0.072	2959	792	1651
10103	1.27	216.2	593.1	9.6	482	10107	0.00	2.47	0.00	0.000	6	0.000	0.062	2960	2212	1650
10425	1.28	220.2	566.2	7.8	498	10434	0.00	2.58	3.72	0.654	4	0.000	0.071	2960	792	1640
10498	1.28	220.2	559.7	8.4	501	10503	0.00	2.47	0.00	0.000	6	0.000	0.061	2960	2200	1640
10820	1.28	220.2	530.5	9.2	517	10824	0.00	2.50	0.00	0.000	4	0.000	0.071	2960	789	1640
10917	1.28	220.2	520.8	10.6	521	10922	0.00	2.45	0.00	0.000	6	0.000	0.061	2960	2200	1640
11240	1.28	220.2	490.1	9.7	537	11244	0.00	2.50	0.00	0.000	4	0.000	0.071	2960	791	1640
11326	1.28	220.2	481.2	10.4	541	11330	0.00	2.45	0.00	0.000	6	0.000	0.062	2960	2200	1640
11653	1.28	220.2	450.5	9.5	557	11657	0.00	2.50	0.00	0.000	4	0.000	0.071	2960	786	1640
11749	1.28	220.2	440.9	10.0	561	11753	0.00	2.47	0.00	0.000	6	0.000	0.062	2960	2200	1640
12066	1.28	220.2	410.4	9.7	576	12070	0.00	2.50	0.00	0.000	4	0.000	0.071	2960	784	1640
12150	1.28	220.2	401.7	9.7	579	12156	0.00	2.47	0.00	0.000	6	0.000	0.061	2959	2200	1640
12467	1.28	220.2	370.7	9.8	595	12471	0.00	2.50	0.00	0.000	4	0.000	0.071	2960	783	1640
12536	1.28	220.2	363.4	11.2	598	12540	0.00	2.47	0.00	0.000	6	0.000	0.062	2960	2209	1640
12864	1.28	220.2	332.3	9.4	614	12868	0.00	2.53	0.00	0.000	4	0.000	0.071	2960	783	1641
12937	1.28	220.2	325.1	9.5	617	12941	0.00	2.47	0.00	0.000	6	0.000	0.061	2960	2202	1640
13253	1.28	220.2	296.4	9.1	632	13257	0.00	2.50	0.00	0.000	4	0.000	0.071	2960	791	1640
13310	1.28	220.2	290.9	10.1	634	13316	0.00	2.45	0.00	0.000	6	0.000	0.061	2960	2202	1640
13626	1.28	220.2	263.9	8.4	650	13630	0.00	2.50	0.00	0.000	4	0.000	0.071	2960	792	1640
13711	1.28	220.2	256.5	8.6	654	13715	0.00	2.45	0.00	0.000	6	0.000	0.062	2960	2204	1640
14039	1.30	230.5	230.7	7.6	670	14055	0.00	2.55	11.10	0.747	4	0.000	0.071	2960	792	1598
14151	1.32	245.9	221.9	7.4	674	14171	0.00	2.45	13.60	0.759	6	0.000	0.061	2960	2199	1536
14501	1.34	255.7	196.0	7.6	691	14516	0.00	2.58	8.98	0.700	4	0.000	0.072	2961	790	1496
14618	1.34	255.7	185.7	9.3	696	14622	0.00	2.47	0.00	0.000	6	0.000	0.061	2960	2199	1496
14947	1.34	255.7	158.6	8.1	712	14951	0.00	2.50	0.00	0.000	4	0.000	0.073	2960	792	1496
15010	1.38	283.3	153.9	7.0	715	15040	0.00	2.45	23.17	0.736	6	0.000	0.062	2960	2205	1384
15365	1.38	283.3	122.3	10.1	732	15369	0.00	2.53	0.00	0.000	4	0.000	0.072	2961	792	1383
15466	1.38	283.3	111.2	10.7	736	15473	0.00	2.45	0.00	0.000	6	0.000	0.061	2960	2200	1383
15783	1.38	283.3	79.3	9.0	752	15787	0.00	2.53	0.00	0.000	4	0.000	0.073	2960	790	1383
15884	1.38	283.3	68.0	11.2	756	15891	0.00	2.45	0.00	0.000	6	0.000	0.062	2960	2198	1383
16203	1.38	283.3	35.5	10.3	772	16207	0.00	2.53	0.00	0.000	4	0.000	0.074	2960	785	1383
16299	1.39	286.4	27.3	7.9	776	16310	0.00	2.47	4.35	0.490	6	0.000	0.062	2960	2204	1369
16596	end climb: SURFACE_DEPTH_REACHED
state	16596	begin surface coast
16620	end surface coast: CONTROL_FINISHED_OK
state	16620	begin surface