Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 38 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 38 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2427 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2505 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 425 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 60 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 275 UPLOAD_DIVES_MAX -1 VBD_MIN 389 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3987 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3532 DEVICE4 -1

T_TURN 225 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 -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 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 -4548.7114 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 134 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2545 PRESSURE_YINT -14.600696 SEABIRD_T_G 0.0043387017

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_H 0.00063414662

MASS 51932 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_T_I 2.5692387e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8978091e-06

FERRY_MAX 45 PITCH_GAIN 22.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8799791

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1029794

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010948726

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016878155

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0031256729 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3944 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 134 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158971 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -14.600696 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

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 275

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -4548.7114

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 167 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2545 KALMAN_USE 2 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2505 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2427 MASS 51932 R_PORT_OVSHOOT 60 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 200 R_STBD_OVSHOOT 36 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.8799791 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1029794 VBD_MAX 3987

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010948726 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016878155 VBD_MIN 389

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043387017 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063414662 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5692387e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8978091e-06 XPDR_DEVICE 24

DIVE 38 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 212207,2522.518,12324.479,32,1.6,33,-3.7 TGT_NAME OFF_4

_CALLS 1 TGT_LATLONG 2517.000,12320.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 212813,2522.563,12324.538,13,2.0,30,-3.7 MHEAD_RNG_PITCHd_Wd 259.4,12802,-18.3,-12.000

SPEED_LIMITS 0.208,0.315 D_GRID 1455

Post-dive calculations and measurements:

FINISH 1.6,1.022113 _24V_AH 23.9,10.667

SM_CCo 16460,0.00,0.000,0,0,1666,457.48 _10V_AH 10.8,7.220

SM_GC 2.47,7.25,0.00,0.00,0.058,0.000,0.000,145,2494,1666,-7.49,1.89,457.48 DATA_FILE_SIZE 78923,1477

IRIDIUM_FIX 2515.12,12323.54,210898,171756 CAP_FILE_SIZE 166597,0

TT8_MAMPS 0.028379 CFSIZE 260165632,221933568

HUMID 1536 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.38513 CURRENT 0.264, 81.7,1

TCM_TEMP 25.90 GPS 280509,020425,2522.465,12324.341,40,1.7,41,-3.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 261 168.62 SBE_CT 998 24 573.02

Roll_motor 122 62 182.19 Optode 1011 33 798.10

VBD_pump_during_apogee 460 1455 16009.04 WL_BB2F 0 105 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 73.73 nil 0 0 0.00

Iridium_during_connect 31 160 121.61 nil 0 0 0.00

Iridium_during_xfer 168 223 899.57

Transponder_ping 8 420 80.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 16.49

TT8 2657 19 568.35

LPSleep 10462 2 247.47

TT8_Active 574 19 122.82

TT8_Sampling 2639 39 1134.40

TT8_CF8 501 45 248.29

TT8_Kalman 0 0 0.00

Analog_circuits 1896 12 245.73

GPS_charging 0 0 0.00

Compass 2557 8 220.96

RAFOS 0 0 0.00

Transponder 54 30 17.63

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.05 -194.7 0.0 0.0 0 48 0.00 0.00 -31.73 0.000 2 0.000 0.000 144 2425 2598

51 -1.05 -194.7 3.1 -2.2 5 112 8.62 2.12 -41.75 0.000 4 0.262 0.062 2193 3760 3990

253 0.04 -194.7 68.5 -45.9 40 260 1.33 1.95 0.00 0.000 6 0.208 0.027 2552 2408 3991

598 -0.83 -194.7 104.6 -10.5 101 605 0.75 2.10 0.00 0.000 4 0.086 0.048 2278 3761 3993

707 -0.45 -194.7 123.1 -22.8 120 714 0.40 1.92 0.00 0.000 6 0.157 0.028 2396 2420 3993

1052 -0.65 -194.7 152.3 -7.8 181 1059 0.17 2.08 0.00 0.000 4 0.065 0.048 2315 3766 3994

1083 -0.60 -194.7 155.5 -12.0 186 1091 0.12 1.92 0.00 0.000 6 0.161 0.026 2347 2412 3994

1429 -0.67 -194.7 202.4 -13.1 247 1435 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2412 3996

1773 -0.82 -194.7 234.9 -7.3 308 1780 0.17 2.08 0.00 0.000 4 0.068 0.049 2261 3758 3996

1804 -0.71 -194.7 238.3 -11.5 313 1810 0.20 1.90 0.00 0.000 6 0.160 0.028 2318 2426 3996

2150 -0.78 -194.7 277.7 -10.4 374 2157 0.00 2.05 0.00 0.000 4 0.000 0.050 2316 3761 3997

2208 -0.88 -194.7 283.8 -9.5 384 2215 0.15 1.90 0.00 0.000 6 0.072 0.028 2248 2425 3997

2543 -0.68 -194.7 326.5 -12.9 426 2547 0.22 2.00 0.00 0.000 4 0.163 0.030 2318 1030 3997

2650 -0.82 -194.7 335.8 -8.3 435 2655 0.10 2.08 0.00 0.000 6 0.086 0.036 2272 2432 3997

2981 -0.77 -194.7 377.2 -15.3 466 2984 0.00 2.03 0.00 0.000 4 0.000 0.052 2270 3763 3997

3039 -0.77 -194.7 386.7 -16.9 471 3043 0.00 1.90 0.00 0.000 6 0.000 0.029 2270 2431 3997

3369 -0.77 -194.7 436.1 -14.3 502 3373 0.00 2.00 0.00 0.000 4 0.000 0.032 2270 1041 3997

3448 -0.77 -194.7 447.1 -14.0 509 3452 0.12 2.08 0.00 0.000 6 0.162 0.035 2296 2432 3997

3778 -0.88 -194.7 482.1 -9.6 540 3780 0.12 0.00 0.00 0.000 6 0.082 0.000 2245 2434 3996

4104 -0.81 -194.7 520.6 -12.3 563 4108 0.15 2.03 0.00 0.000 4 0.171 0.052 2276 3760 3995

4205 -0.87 -194.7 532.5 -10.6 567 4208 0.00 1.90 0.00 0.000 6 0.000 0.031 2276 2445 3995

4527 -0.95 -194.7 565.9 -9.8 583 4531 0.10 2.05 0.00 0.000 4 0.091 0.054 2232 3762 3994

4622 -0.82 -194.7 576.7 -11.1 587 4626 0.17 1.90 0.00 0.000 6 0.172 0.032 2279 2457 3993

4951 -0.94 -194.7 600.6 -7.1 603 4953 0.12 0.00 0.00 0.000 6 0.084 0.000 2229 2457 3992

5257 -0.89 -194.7 637.4 -13.1 618 5259 0.12 0.00 0.00 0.000 6 0.179 0.000 2260 2457 3990

5567 -0.95 -194.7 667.8 -9.6 633 5571 0.00 2.08 0.00 0.000 4 0.000 0.035 2260 1033 3988

5674 -1.05 -194.7 678.4 -10.1 637 5680 0.15 2.15 0.00 0.000 6 0.080 0.041 2202 2454 3987

5989 -0.89 -194.7 719.2 -12.2 653 5993 0.20 2.03 0.00 0.000 4 0.177 0.058 2260 3761 3985

6067 -0.97 -194.7 726.4 -8.5 656 6071 0.00 1.90 0.00 0.000 6 0.000 0.035 2260 2466 3983

6388 -1.05 -194.7 752.0 -8.5 672 6393 0.15 2.12 0.00 0.000 4 0.081 0.036 2201 1020 3981

6433 -0.92 -194.7 756.7 -11.5 674 6437 0.20 2.20 0.00 0.000 6 0.176 0.041 2248 2472 3981

6753 -0.92 -194.7 785.4 -8.8 690 6754 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2472 3979

7062 -0.92 -194.7 815.0 -9.6 705 7064 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2472 3977

7372 -0.97 -194.7 844.5 -9.1 720 7373 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2472 3975

7682 -1.03 -194.7 870.8 -8.3 735 7686 0.12 2.03 0.00 0.000 4 0.090 0.061 2201 3768 3973

7773 -0.90 -194.7 880.8 -10.8 739 7778 0.17 1.92 0.00 0.000 6 0.173 0.035 2248 2467 3972

8108 -0.96 -194.7 906.1 -7.1 755 8112 0.00 2.12 0.00 0.000 4 0.000 0.037 2248 1022 3970

8158 -1.04 -194.7 910.1 -7.8 757 8163 0.12 2.20 0.00 0.000 6 0.090 0.043 2200 2464 3971

8481 -0.94 -194.7 940.6 -9.6 773 8483 0.15 0.00 0.00 0.000 6 0.190 0.000 2237 2465 3969

8788 -0.94 -194.7 963.2 -7.4 788 8789 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 2465 3968

9098 -0.94 -194.7 988.3 -8.5 803 9102 0.00 2.15 0.00 0.000 4 0.000 0.037 2237 1024 3966

9118 end dive: TARGET_DEPTH_EXCEEDED

state 9118 begin apogee

9126 -0.22 0.0 990.4 9.0 804 9221 0.77 0.00 87.97 1.456 6 0.159 0.000 2473 2507 3531

9222 end apogee: CONTROL_FINISHED_OK

state 9222 begin climb

9225 1.05 194.7 993.6 0.0 809 9393 1.17 2.33 160.02 1.409 4 0.058 0.038 2900 1112 2737

9573 0.46 194.7 950.5 22.5 825 9579 0.77 2.22 0.00 0.000 6 0.205 0.044 2695 2509 2732

9889 0.48 207.8 912.0 11.5 840 9905 0.00 2.03 11.27 1.243 4 0.000 0.059 2695 3765 2685

9944 0.37 207.8 905.1 13.4 841 9950 0.15 1.95 0.00 0.000 6 0.191 0.035 2664 2492 2683

10260 0.52 257.9 874.3 9.9 857 10307 0.15 2.17 41.20 1.346 4 0.087 0.061 2718 3758 2479

10341 0.42 257.9 863.0 15.9 860 10348 0.15 1.95 0.00 0.000 6 0.187 0.034 2685 2504 2477

10657 0.55 290.8 828.4 10.6 876 10692 0.12 2.15 27.83 1.305 4 0.089 0.059 2729 3759 2345

10778 0.43 290.8 810.7 16.8 881 10782 0.17 1.92 0.00 0.000 6 0.185 0.036 2690 2512 2341

11099 0.58 316.3 774.0 10.9 897 11125 0.12 2.08 21.27 1.266 4 0.090 0.061 2734 3762 2242

11170 0.53 316.3 763.3 16.2 900 11174 0.00 1.92 0.00 0.000 6 0.000 0.035 2735 2515 2239

11491 0.53 316.3 718.2 13.3 916 11495 0.00 2.15 0.00 0.000 4 0.000 0.041 2735 1099 2237

11575 0.59 316.3 707.3 13.1 919 11581 0.00 2.22 0.00 0.000 6 0.000 0.042 2735 2526 2236

11891 0.59 316.3 664.1 13.5 935 11892 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2526 2236

12199 0.59 316.3 618.5 15.0 950 12203 0.00 2.15 0.00 0.000 4 0.000 0.040 2735 1107 2235

12328 0.71 316.3 599.8 14.3 955 12335 0.12 2.17 0.00 0.000 6 0.087 0.044 2782 2514 2234

12644 0.60 316.3 547.5 16.6 971 12649 0.15 1.95 0.00 0.000 4 0.179 0.060 2744 3759 2234

12773 0.54 316.3 527.8 14.3 976 12779 0.00 1.90 0.00 0.000 6 0.000 0.035 2745 2487 2233

13093 0.54 316.3 484.8 14.0 997 13096 0.00 2.03 0.00 0.000 4 0.000 0.059 2745 3761 2233

13221 0.48 316.3 463.8 15.5 1008 13228 0.17 1.88 0.00 0.000 6 0.179 0.035 2705 2495 2233

13547 0.80 419.3 431.8 7.7 1039 13636 0.25 2.25 80.75 1.048 4 0.073 0.040 2814 1112 1820

13730 0.80 419.3 402.0 16.9 1055 13737 0.00 2.22 0.00 0.000 6 0.000 0.041 2814 2515 1812

14057 0.75 419.3 339.8 19.0 1086 14061 0.00 2.00 0.00 0.000 4 0.000 0.061 2814 3768 1807

14125 0.64 419.3 325.1 22.3 1092 14129 0.25 1.90 0.00 0.000 6 0.174 0.032 2753 2503 1807

14459 0.83 419.3 278.9 12.7 1137 14465 0.17 2.08 0.00 0.000 4 0.080 0.037 2828 1110 1807

14517 0.83 419.3 270.4 16.0 1147 14523 0.00 2.15 0.00 0.000 6 0.000 0.040 2828 2511 1807

14861 0.83 419.3 209.1 18.7 1208 14867 0.00 1.95 0.00 0.000 4 0.000 0.058 2828 3761 1807

14902 0.73 419.3 201.4 20.6 1215 14909 0.17 1.88 0.00 0.000 6 0.173 0.032 2783 2494 1807

15249 0.89 424.9 158.0 11.8 1276 15256 0.15 0.00 3.62 0.507 6 0.078 0.000 2843 2492 1799

15592 0.89 424.9 105.2 13.8 1337 15598 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 2492 1799

15935 1.03 456.1 63.5 10.7 1398 15967 0.10 2.08 26.17 0.687 4 0.087 0.054 2885 3766 1671

16091 0.99 456.1 39.4 15.5 1425 16098 0.12 1.85 0.00 0.000 6 0.179 0.029 2864 2498 1668

16365 end climb: SURFACE_DEPTH_REACHED

state 16365 begin surface coast

16384 end surface coast: CONTROL_FINISHED_OK

state 16384 begin surface

ID	167	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	38	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2427	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2505	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	425	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	60	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	389	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3987	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3532	DEVICE4	-1
T_TURN	225	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	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	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	-4548.7114	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	134	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2545	PRESSURE_YINT	-14.600696	SEABIRD_T_G	0.0043387017
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_H	0.00063414662
MASS	51932	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_T_I	2.5692387e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8978091e-06
FERRY_MAX	45	PITCH_GAIN	22.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8799791
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1029794
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010948726
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016878155
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	212207,2522.518,12324.479,32,1.6,33,-3.7	TGT_NAME	OFF_4
_CALLS	1	TGT_LATLONG	2517.000,12320.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	212813,2522.563,12324.538,13,2.0,30,-3.7	MHEAD_RNG_PITCHd_Wd	259.4,12802,-18.3,-12.000
SPEED_LIMITS	0.208,0.315	D_GRID	1455

FINISH	1.6,1.022113	_24V_AH	23.9,10.667
SM_CCo	16460,0.00,0.000,0,0,1666,457.48	_10V_AH	10.8,7.220
SM_GC	2.47,7.25,0.00,0.00,0.058,0.000,0.000,145,2494,1666,-7.49,1.89,457.48	DATA_FILE_SIZE	78923,1477
IRIDIUM_FIX	2515.12,12323.54,210898,171756	CAP_FILE_SIZE	166597,0
TT8_MAMPS	0.028379	CFSIZE	260165632,221933568
HUMID	1536	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.38513	CURRENT	0.264, 81.7,1
TCM_TEMP	25.90	GPS	280509,020425,2522.465,12324.341,40,1.7,41,-3.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	261	168.62	SBE_CT	998	24	573.02
Roll_motor	122	62	182.19	Optode	1011	33	798.10
VBD_pump_during_apogee	460	1455	16009.04	WL_BB2F	0	105	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	73.73	nil	0	0	0.00
Iridium_during_connect	31	160	121.61	nil	0	0	0.00
Iridium_during_xfer	168	223	899.57
Transponder_ping	8	420	80.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	16.49
TT8	2657	19	568.35
LPSleep	10462	2	247.47
TT8_Active	574	19	122.82
TT8_Sampling	2639	39	1134.40
TT8_CF8	501	45	248.29
TT8_Kalman	0	0	0.00
Analog_circuits	1896	12	245.73
GPS_charging	0	0	0.00
Compass	2557	8	220.96
RAFOS	0	0	0.00
Transponder	54	30	17.63

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.05	-194.7	0.0	0.0	0	48	0.00	0.00	-31.73	0.000	2	0.000	0.000	144	2425	2598
51	-1.05	-194.7	3.1	-2.2	5	112	8.62	2.12	-41.75	0.000	4	0.262	0.062	2193	3760	3990
253	0.04	-194.7	68.5	-45.9	40	260	1.33	1.95	0.00	0.000	6	0.208	0.027	2552	2408	3991
598	-0.83	-194.7	104.6	-10.5	101	605	0.75	2.10	0.00	0.000	4	0.086	0.048	2278	3761	3993
707	-0.45	-194.7	123.1	-22.8	120	714	0.40	1.92	0.00	0.000	6	0.157	0.028	2396	2420	3993
1052	-0.65	-194.7	152.3	-7.8	181	1059	0.17	2.08	0.00	0.000	4	0.065	0.048	2315	3766	3994
1083	-0.60	-194.7	155.5	-12.0	186	1091	0.12	1.92	0.00	0.000	6	0.161	0.026	2347	2412	3994
1429	-0.67	-194.7	202.4	-13.1	247	1435	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2412	3996
1773	-0.82	-194.7	234.9	-7.3	308	1780	0.17	2.08	0.00	0.000	4	0.068	0.049	2261	3758	3996
1804	-0.71	-194.7	238.3	-11.5	313	1810	0.20	1.90	0.00	0.000	6	0.160	0.028	2318	2426	3996
2150	-0.78	-194.7	277.7	-10.4	374	2157	0.00	2.05	0.00	0.000	4	0.000	0.050	2316	3761	3997
2208	-0.88	-194.7	283.8	-9.5	384	2215	0.15	1.90	0.00	0.000	6	0.072	0.028	2248	2425	3997
2543	-0.68	-194.7	326.5	-12.9	426	2547	0.22	2.00	0.00	0.000	4	0.163	0.030	2318	1030	3997
2650	-0.82	-194.7	335.8	-8.3	435	2655	0.10	2.08	0.00	0.000	6	0.086	0.036	2272	2432	3997
2981	-0.77	-194.7	377.2	-15.3	466	2984	0.00	2.03	0.00	0.000	4	0.000	0.052	2270	3763	3997
3039	-0.77	-194.7	386.7	-16.9	471	3043	0.00	1.90	0.00	0.000	6	0.000	0.029	2270	2431	3997
3369	-0.77	-194.7	436.1	-14.3	502	3373	0.00	2.00	0.00	0.000	4	0.000	0.032	2270	1041	3997
3448	-0.77	-194.7	447.1	-14.0	509	3452	0.12	2.08	0.00	0.000	6	0.162	0.035	2296	2432	3997
3778	-0.88	-194.7	482.1	-9.6	540	3780	0.12	0.00	0.00	0.000	6	0.082	0.000	2245	2434	3996
4104	-0.81	-194.7	520.6	-12.3	563	4108	0.15	2.03	0.00	0.000	4	0.171	0.052	2276	3760	3995
4205	-0.87	-194.7	532.5	-10.6	567	4208	0.00	1.90	0.00	0.000	6	0.000	0.031	2276	2445	3995
4527	-0.95	-194.7	565.9	-9.8	583	4531	0.10	2.05	0.00	0.000	4	0.091	0.054	2232	3762	3994
4622	-0.82	-194.7	576.7	-11.1	587	4626	0.17	1.90	0.00	0.000	6	0.172	0.032	2279	2457	3993
4951	-0.94	-194.7	600.6	-7.1	603	4953	0.12	0.00	0.00	0.000	6	0.084	0.000	2229	2457	3992
5257	-0.89	-194.7	637.4	-13.1	618	5259	0.12	0.00	0.00	0.000	6	0.179	0.000	2260	2457	3990
5567	-0.95	-194.7	667.8	-9.6	633	5571	0.00	2.08	0.00	0.000	4	0.000	0.035	2260	1033	3988
5674	-1.05	-194.7	678.4	-10.1	637	5680	0.15	2.15	0.00	0.000	6	0.080	0.041	2202	2454	3987
5989	-0.89	-194.7	719.2	-12.2	653	5993	0.20	2.03	0.00	0.000	4	0.177	0.058	2260	3761	3985
6067	-0.97	-194.7	726.4	-8.5	656	6071	0.00	1.90	0.00	0.000	6	0.000	0.035	2260	2466	3983
6388	-1.05	-194.7	752.0	-8.5	672	6393	0.15	2.12	0.00	0.000	4	0.081	0.036	2201	1020	3981
6433	-0.92	-194.7	756.7	-11.5	674	6437	0.20	2.20	0.00	0.000	6	0.176	0.041	2248	2472	3981
6753	-0.92	-194.7	785.4	-8.8	690	6754	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2472	3979
7062	-0.92	-194.7	815.0	-9.6	705	7064	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2472	3977
7372	-0.97	-194.7	844.5	-9.1	720	7373	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2472	3975
7682	-1.03	-194.7	870.8	-8.3	735	7686	0.12	2.03	0.00	0.000	4	0.090	0.061	2201	3768	3973
7773	-0.90	-194.7	880.8	-10.8	739	7778	0.17	1.92	0.00	0.000	6	0.173	0.035	2248	2467	3972
8108	-0.96	-194.7	906.1	-7.1	755	8112	0.00	2.12	0.00	0.000	4	0.000	0.037	2248	1022	3970
8158	-1.04	-194.7	910.1	-7.8	757	8163	0.12	2.20	0.00	0.000	6	0.090	0.043	2200	2464	3971
8481	-0.94	-194.7	940.6	-9.6	773	8483	0.15	0.00	0.00	0.000	6	0.190	0.000	2237	2465	3969
8788	-0.94	-194.7	963.2	-7.4	788	8789	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	2465	3968
9098	-0.94	-194.7	988.3	-8.5	803	9102	0.00	2.15	0.00	0.000	4	0.000	0.037	2237	1024	3966
9118	end dive: TARGET_DEPTH_EXCEEDED
state	9118	begin apogee
9126	-0.22	0.0	990.4	9.0	804	9221	0.77	0.00	87.97	1.456	6	0.159	0.000	2473	2507	3531
9222	end apogee: CONTROL_FINISHED_OK
state	9222	begin climb
9225	1.05	194.7	993.6	0.0	809	9393	1.17	2.33	160.02	1.409	4	0.058	0.038	2900	1112	2737
9573	0.46	194.7	950.5	22.5	825	9579	0.77	2.22	0.00	0.000	6	0.205	0.044	2695	2509	2732
9889	0.48	207.8	912.0	11.5	840	9905	0.00	2.03	11.27	1.243	4	0.000	0.059	2695	3765	2685
9944	0.37	207.8	905.1	13.4	841	9950	0.15	1.95	0.00	0.000	6	0.191	0.035	2664	2492	2683
10260	0.52	257.9	874.3	9.9	857	10307	0.15	2.17	41.20	1.346	4	0.087	0.061	2718	3758	2479
10341	0.42	257.9	863.0	15.9	860	10348	0.15	1.95	0.00	0.000	6	0.187	0.034	2685	2504	2477
10657	0.55	290.8	828.4	10.6	876	10692	0.12	2.15	27.83	1.305	4	0.089	0.059	2729	3759	2345
10778	0.43	290.8	810.7	16.8	881	10782	0.17	1.92	0.00	0.000	6	0.185	0.036	2690	2512	2341
11099	0.58	316.3	774.0	10.9	897	11125	0.12	2.08	21.27	1.266	4	0.090	0.061	2734	3762	2242
11170	0.53	316.3	763.3	16.2	900	11174	0.00	1.92	0.00	0.000	6	0.000	0.035	2735	2515	2239
11491	0.53	316.3	718.2	13.3	916	11495	0.00	2.15	0.00	0.000	4	0.000	0.041	2735	1099	2237
11575	0.59	316.3	707.3	13.1	919	11581	0.00	2.22	0.00	0.000	6	0.000	0.042	2735	2526	2236
11891	0.59	316.3	664.1	13.5	935	11892	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2526	2236
12199	0.59	316.3	618.5	15.0	950	12203	0.00	2.15	0.00	0.000	4	0.000	0.040	2735	1107	2235
12328	0.71	316.3	599.8	14.3	955	12335	0.12	2.17	0.00	0.000	6	0.087	0.044	2782	2514	2234
12644	0.60	316.3	547.5	16.6	971	12649	0.15	1.95	0.00	0.000	4	0.179	0.060	2744	3759	2234
12773	0.54	316.3	527.8	14.3	976	12779	0.00	1.90	0.00	0.000	6	0.000	0.035	2745	2487	2233
13093	0.54	316.3	484.8	14.0	997	13096	0.00	2.03	0.00	0.000	4	0.000	0.059	2745	3761	2233
13221	0.48	316.3	463.8	15.5	1008	13228	0.17	1.88	0.00	0.000	6	0.179	0.035	2705	2495	2233
13547	0.80	419.3	431.8	7.7	1039	13636	0.25	2.25	80.75	1.048	4	0.073	0.040	2814	1112	1820
13730	0.80	419.3	402.0	16.9	1055	13737	0.00	2.22	0.00	0.000	6	0.000	0.041	2814	2515	1812
14057	0.75	419.3	339.8	19.0	1086	14061	0.00	2.00	0.00	0.000	4	0.000	0.061	2814	3768	1807
14125	0.64	419.3	325.1	22.3	1092	14129	0.25	1.90	0.00	0.000	6	0.174	0.032	2753	2503	1807
14459	0.83	419.3	278.9	12.7	1137	14465	0.17	2.08	0.00	0.000	4	0.080	0.037	2828	1110	1807
14517	0.83	419.3	270.4	16.0	1147	14523	0.00	2.15	0.00	0.000	6	0.000	0.040	2828	2511	1807
14861	0.83	419.3	209.1	18.7	1208	14867	0.00	1.95	0.00	0.000	4	0.000	0.058	2828	3761	1807
14902	0.73	419.3	201.4	20.6	1215	14909	0.17	1.88	0.00	0.000	6	0.173	0.032	2783	2494	1807
15249	0.89	424.9	158.0	11.8	1276	15256	0.15	0.00	3.62	0.507	6	0.078	0.000	2843	2492	1799
15592	0.89	424.9	105.2	13.8	1337	15598	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	2492	1799
15935	1.03	456.1	63.5	10.7	1398	15967	0.10	2.08	26.17	0.687	4	0.087	0.054	2885	3766	1671
16091	0.99	456.1	39.4	15.5	1425	16098	0.12	1.85	0.00	0.000	6	0.179	0.029	2864	2498	1668
16365	end climb: SURFACE_DEPTH_REACHED
state	16365	begin surface coast
16384	end surface coast: CONTROL_FINISHED_OK
state	16384	begin surface