Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 45 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HEADING 315 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 202 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 45 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 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 340 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 -651025.25 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 2705 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 330

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 -651025.25

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 340

CAPUPLOAD 0 HEADING 315 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 2705 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 21 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 45 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 160838,6335.995,-653.691,26,1.2,26,-8.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6343.533,-710.905

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.55 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -66.3 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 161439,6335.897,-653.655,15,1.6,15,-8.8 MHEAD_RNG_PITCHd_Wd 323.8,20000,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026897 _24V_AH 23.3,10.354

SM_CCo 18328,51.35,0.719,0,0,1316,300.00 _10V_AH 10.1,5.811

SM_GC 1.40,0.00,0.00,51.35,0.000,0.000,0.719,376,1593,1316,-10.71,-0.20,300.00 DATA_FILE_SIZE 44166,878

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 121763,0

TT8_MAMPS 0.023777 CFSIZE 254472192,249032704

HUMID 1916 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,30,0,0

TCM_TEMP 17.00 GPS 070908,212237,6335.607,-658.609,30,1.7,30,-8.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 184 112.80 SBE_CT 659 24 368.83

Roll_motor 101 91 216.39 SBE_O2 600 19 265.77

VBD_pump_during_apogee 314 1358 9952.25 WL_BB2F 463 105 1134.37

VBD_pump_during_surface 51 719 860.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 93.66 nil 0 0 0.00

Iridium_during_connect 26 160 97.64 nil 0 0 0.00

Iridium_during_xfer 155 223 807.52

Transponder_ping 8 420 83.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.39

TT8 1610 19 321.99

LPSleep 14163 2 313.28

TT8_Active 482 19 96.46

TT8_Sampling 1914 39 769.43

TT8_CF8 576 45 266.69

TT8_Kalman 0 81 0.00

Analog_circuits 1413 12 171.30

GPS_charging 0 0 0.00

Compass 1869 8 151.07

RAFOS 0 0 0.00

Transponder 55 30 16.96

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

16 -1.38 -146.6 0.0 0.0 0 79 0.00 0.00 -60.55 0.000 2 0.000 0.000 380 1603 2703

83 -1.38 -146.6 3.8 -5.4 3 112 11.57 2.58 -10.15 0.000 4 0.184 0.091 2400 212 3140

158 -1.38 -146.6 18.9 -15.9 6 164 0.00 2.35 0.00 0.000 6 0.000 0.054 2400 1625 3141

474 -1.38 -146.6 64.8 -12.6 22 479 0.00 2.58 0.00 0.000 4 0.000 0.075 2400 201 3143

643 -1.38 -146.6 86.7 -12.1 29 650 0.00 2.33 0.00 0.000 6 0.000 0.054 2400 1605 3144

960 -1.38 -146.6 124.5 -11.6 45 961 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1609 3147

1269 -1.38 -146.6 162.6 -12.3 60 1273 0.00 2.53 0.00 0.000 4 0.000 0.077 2400 203 3149

1429 -1.38 -146.6 182.6 -12.3 67 1433 0.00 2.33 0.00 0.000 6 0.000 0.054 2401 1598 3149

1756 -1.38 -146.6 218.2 -10.6 83 1757 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1602 3150

2068 -1.38 -146.6 252.0 -10.9 98 2069 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1602 3150

2375 -1.38 -146.6 288.1 -11.8 113 2379 0.00 2.55 0.00 0.000 4 0.000 0.081 2400 208 3150

2442 -1.38 -146.6 296.7 -13.3 116 2446 0.00 2.35 0.00 0.000 6 0.000 0.054 2400 1602 3150

2763 -1.38 -146.6 332.9 -10.7 132 2768 0.00 2.47 0.00 0.000 4 0.000 0.077 2400 2983 3150

2793 -1.38 -146.6 336.2 -11.4 133 2798 0.00 2.40 0.00 0.000 6 0.000 0.062 2400 1597 3150

3110 -1.38 -146.6 371.0 -11.4 148 3111 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1597 3150

3419 -1.38 -146.6 406.8 -11.5 163 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1597 3150

3728 -1.38 -146.6 442.5 -11.2 178 3729 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1597 3150

4037 -1.38 -146.6 478.0 -11.7 193 4038 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1597 3149

4347 -1.38 -146.6 514.5 -12.0 208 4348 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1597 3148

4657 -1.38 -146.6 550.6 -11.9 223 4658 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1598 3148

4965 -1.38 -146.6 586.9 -11.8 238 4966 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1597 3146

5274 -1.38 -146.6 622.5 -11.2 253 5276 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1598 3145

5584 -1.38 -146.6 654.9 -10.0 268 5585 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1598 3144

5893 -1.38 -146.6 686.6 -10.2 283 5894 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1598 3143

6202 -1.38 -146.6 718.7 -10.7 298 6203 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1598 3143

6512 -1.38 -146.6 749.8 -9.9 313 6513 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1598 3143

6821 -1.38 -146.6 781.3 -10.2 328 6822 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1598 3142

7131 -1.38 -146.6 811.6 -9.8 343 7132 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1598 3142

7440 -1.38 -146.6 841.4 -9.4 358 7441 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1599 3140

7749 -1.38 -146.6 870.3 -9.3 373 7751 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1600 3140

8058 -1.38 -146.6 899.1 -9.4 388 8059 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1600 3139

8367 -1.38 -146.6 928.3 -9.4 403 8369 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1600 3139

8677 -1.38 -146.6 958.0 -9.4 418 8678 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1600 3139

8986 -1.38 -146.6 986.9 -9.2 433 8987 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 1601 3138

9023 end dive: TARGET_DEPTH_EXCEEDED

state 9023 begin apogee

9033 -0.32 0.0 990.7 9.3 435 9167 1.15 0.00 129.52 1.358 6 0.117 0.000 2632 2195 2538

9168 end apogee: CONTROL_FINISHED_OK

state 9168 begin climb

9171 1.38 146.6 995.4 0.0 442 9305 1.75 2.70 125.43 1.322 4 0.084 0.090 3003 3590 1941

9506 1.38 146.6 971.0 10.7 457 9510 0.00 2.45 0.00 0.000 6 0.000 0.060 3003 2197 1941

9822 1.38 146.6 938.6 10.2 472 9823 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2197 1941

10131 1.38 146.6 907.5 10.0 487 10135 0.00 2.58 0.00 0.000 4 0.000 0.081 3003 3597 1940

10217 1.38 146.6 898.4 11.3 491 10221 0.00 2.45 0.00 0.000 6 0.000 0.060 3003 2199 1939

10550 1.38 146.6 864.5 10.1 507 10551 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2199 1939

10859 1.40 156.4 834.4 9.5 522 10871 0.00 0.00 9.60 1.118 6 0.000 0.000 3003 2199 1901

11169 1.40 156.4 803.0 10.2 537 11173 0.00 2.58 0.00 0.000 4 0.000 0.083 3003 3596 1901

11282 1.40 156.4 791.2 10.6 542 11287 0.00 2.45 0.00 0.000 6 0.000 0.061 3003 2197 1901

11610 1.41 165.2 759.7 9.6 558 11624 0.00 2.60 8.95 1.062 4 0.000 0.081 3003 3589 1865

11688 1.41 165.2 751.6 10.7 561 11692 0.00 2.45 0.00 0.000 6 0.000 0.061 3003 2201 1865

12005 1.43 173.9 721.0 9.6 576 12016 0.00 0.00 9.05 1.048 6 0.000 0.000 3003 2201 1830

12315 1.45 187.8 691.5 9.3 591 12336 0.00 2.65 12.77 1.088 4 0.000 0.082 3003 3585 1773

12393 1.45 187.8 683.5 10.0 594 12397 0.00 2.45 0.00 0.000 6 0.000 0.061 3003 2196 1773

12715 1.48 208.3 654.2 9.0 610 12736 0.12 0.00 19.12 1.098 6 0.071 0.000 3036 2196 1689

13044 1.48 208.3 618.7 11.0 626 13049 0.00 2.58 0.00 0.000 4 0.000 0.083 3036 3596 1688

13123 1.48 208.3 609.6 11.3 629 13129 0.00 2.45 0.00 0.000 6 0.000 0.061 3036 2200 1688

13439 1.48 208.3 576.6 10.2 645 13443 0.00 2.58 0.00 0.000 4 0.000 0.082 3036 3597 1687

13524 1.48 208.3 567.6 10.5 648 13530 0.00 2.45 0.00 0.000 6 0.000 0.061 3036 2200 1687

13840 1.48 208.3 534.3 10.9 664 13845 0.00 2.58 0.00 0.000 4 0.000 0.082 3036 3590 1687

13914 1.48 208.3 525.8 11.1 667 13918 0.00 2.45 0.00 0.000 6 0.000 0.061 3036 2197 1687

14230 1.48 208.3 490.6 11.3 682 14231 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2197 1687

14540 1.48 208.3 454.5 11.8 697 14544 0.00 2.58 0.00 0.000 4 0.000 0.082 3036 3596 1687

14607 1.48 208.3 445.7 12.1 700 14611 0.00 2.45 0.00 0.000 6 0.000 0.061 3036 2197 1687

14929 1.48 208.3 406.5 11.7 716 14933 0.00 2.55 0.00 0.000 4 0.000 0.081 3036 3589 1687

15037 1.48 208.3 393.5 12.2 721 15041 0.00 2.42 0.00 0.000 6 0.000 0.061 3036 2200 1687

15370 1.48 208.3 352.3 12.3 737 15371 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2200 1686

15679 1.48 208.3 314.2 12.4 752 15683 0.00 2.55 0.00 0.000 4 0.000 0.082 3036 3589 1686

15857 1.48 208.3 290.5 14.5 760 15861 0.00 2.42 0.00 0.000 6 0.000 0.061 3036 2200 1686

16185 1.48 208.3 244.5 13.6 776 16189 0.00 2.55 0.00 0.000 4 0.000 0.083 3036 3593 1685

16362 1.48 208.3 221.4 12.3 784 16367 0.00 2.45 0.00 0.000 6 0.000 0.063 3036 2197 1686

16690 1.48 208.3 183.4 11.2 800 16691 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2197 1685

16999 1.48 208.3 148.4 11.2 815 17003 0.00 2.55 0.00 0.000 4 0.000 0.082 3036 3596 1684

17130 1.48 208.3 133.2 13.3 821 17135 0.00 2.42 0.00 0.000 6 0.000 0.061 3036 2199 1684

17458 1.48 208.3 96.0 11.3 837 17463 0.00 2.53 0.00 0.000 4 0.000 0.081 3036 3590 1684

17526 1.48 208.3 88.0 11.4 840 17530 0.00 2.40 0.00 0.000 6 0.000 0.061 3036 2198 1684

17848 1.48 208.3 50.2 12.5 856 17852 0.00 2.53 0.00 0.000 4 0.000 0.077 3036 790 1685

17904 1.48 208.3 42.8 11.5 858 17910 0.00 2.38 0.00 0.000 6 0.000 0.055 3036 2200 1684

18221 1.48 208.3 7.0 11.3 874 18222 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2199 1685

18279 end climb: SURFACE_DEPTH_REACHED

state 18279 begin surface coast

18302 end surface coast: CONTROL_FINISHED_OK

state 18302 begin surface

ID	14	HEADING	315	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	202	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	45	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	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	340	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	-651025.25	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	2705	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	160838,6335.995,-653.691,26,1.2,26,-8.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6343.533,-710.905
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.55	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-66.3	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	161439,6335.897,-653.655,15,1.6,15,-8.8	MHEAD_RNG_PITCHd_Wd	323.8,20000,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.8,1.026897	_24V_AH	23.3,10.354
SM_CCo	18328,51.35,0.719,0,0,1316,300.00	_10V_AH	10.1,5.811
SM_GC	1.40,0.00,0.00,51.35,0.000,0.000,0.719,376,1593,1316,-10.71,-0.20,300.00	DATA_FILE_SIZE	44166,878
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	121763,0
TT8_MAMPS	0.023777	CFSIZE	254472192,249032704
HUMID	1916	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
TCM_TEMP	17.00	GPS	070908,212237,6335.607,-658.609,30,1.7,30,-8.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	184	112.80	SBE_CT	659	24	368.83
Roll_motor	101	91	216.39	SBE_O2	600	19	265.77
VBD_pump_during_apogee	314	1358	9952.25	WL_BB2F	463	105	1134.37
VBD_pump_during_surface	51	719	860.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	93.66	nil	0	0	0.00
Iridium_during_connect	26	160	97.64	nil	0	0	0.00
Iridium_during_xfer	155	223	807.52
Transponder_ping	8	420	83.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.39
TT8	1610	19	321.99
LPSleep	14163	2	313.28
TT8_Active	482	19	96.46
TT8_Sampling	1914	39	769.43
TT8_CF8	576	45	266.69
TT8_Kalman	0	81	0.00
Analog_circuits	1413	12	171.30
GPS_charging	0	0	0.00
Compass	1869	8	151.07
RAFOS	0	0	0.00
Transponder	55	30	16.96

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
16	-1.38	-146.6	0.0	0.0	0	79	0.00	0.00	-60.55	0.000	2	0.000	0.000	380	1603	2703
83	-1.38	-146.6	3.8	-5.4	3	112	11.57	2.58	-10.15	0.000	4	0.184	0.091	2400	212	3140
158	-1.38	-146.6	18.9	-15.9	6	164	0.00	2.35	0.00	0.000	6	0.000	0.054	2400	1625	3141
474	-1.38	-146.6	64.8	-12.6	22	479	0.00	2.58	0.00	0.000	4	0.000	0.075	2400	201	3143
643	-1.38	-146.6	86.7	-12.1	29	650	0.00	2.33	0.00	0.000	6	0.000	0.054	2400	1605	3144
960	-1.38	-146.6	124.5	-11.6	45	961	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1609	3147
1269	-1.38	-146.6	162.6	-12.3	60	1273	0.00	2.53	0.00	0.000	4	0.000	0.077	2400	203	3149
1429	-1.38	-146.6	182.6	-12.3	67	1433	0.00	2.33	0.00	0.000	6	0.000	0.054	2401	1598	3149
1756	-1.38	-146.6	218.2	-10.6	83	1757	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1602	3150
2068	-1.38	-146.6	252.0	-10.9	98	2069	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1602	3150
2375	-1.38	-146.6	288.1	-11.8	113	2379	0.00	2.55	0.00	0.000	4	0.000	0.081	2400	208	3150
2442	-1.38	-146.6	296.7	-13.3	116	2446	0.00	2.35	0.00	0.000	6	0.000	0.054	2400	1602	3150
2763	-1.38	-146.6	332.9	-10.7	132	2768	0.00	2.47	0.00	0.000	4	0.000	0.077	2400	2983	3150
2793	-1.38	-146.6	336.2	-11.4	133	2798	0.00	2.40	0.00	0.000	6	0.000	0.062	2400	1597	3150
3110	-1.38	-146.6	371.0	-11.4	148	3111	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1597	3150
3419	-1.38	-146.6	406.8	-11.5	163	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1597	3150
3728	-1.38	-146.6	442.5	-11.2	178	3729	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1597	3150
4037	-1.38	-146.6	478.0	-11.7	193	4038	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1597	3149
4347	-1.38	-146.6	514.5	-12.0	208	4348	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1597	3148
4657	-1.38	-146.6	550.6	-11.9	223	4658	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1598	3148
4965	-1.38	-146.6	586.9	-11.8	238	4966	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1597	3146
5274	-1.38	-146.6	622.5	-11.2	253	5276	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1598	3145
5584	-1.38	-146.6	654.9	-10.0	268	5585	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1598	3144
5893	-1.38	-146.6	686.6	-10.2	283	5894	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1598	3143
6202	-1.38	-146.6	718.7	-10.7	298	6203	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1598	3143
6512	-1.38	-146.6	749.8	-9.9	313	6513	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1598	3143
6821	-1.38	-146.6	781.3	-10.2	328	6822	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1598	3142
7131	-1.38	-146.6	811.6	-9.8	343	7132	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1598	3142
7440	-1.38	-146.6	841.4	-9.4	358	7441	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1599	3140
7749	-1.38	-146.6	870.3	-9.3	373	7751	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1600	3140
8058	-1.38	-146.6	899.1	-9.4	388	8059	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1600	3139
8367	-1.38	-146.6	928.3	-9.4	403	8369	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1600	3139
8677	-1.38	-146.6	958.0	-9.4	418	8678	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1600	3139
8986	-1.38	-146.6	986.9	-9.2	433	8987	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	1601	3138
9023	end dive: TARGET_DEPTH_EXCEEDED
state	9023	begin apogee
9033	-0.32	0.0	990.7	9.3	435	9167	1.15	0.00	129.52	1.358	6	0.117	0.000	2632	2195	2538
9168	end apogee: CONTROL_FINISHED_OK
state	9168	begin climb
9171	1.38	146.6	995.4	0.0	442	9305	1.75	2.70	125.43	1.322	4	0.084	0.090	3003	3590	1941
9506	1.38	146.6	971.0	10.7	457	9510	0.00	2.45	0.00	0.000	6	0.000	0.060	3003	2197	1941
9822	1.38	146.6	938.6	10.2	472	9823	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2197	1941
10131	1.38	146.6	907.5	10.0	487	10135	0.00	2.58	0.00	0.000	4	0.000	0.081	3003	3597	1940
10217	1.38	146.6	898.4	11.3	491	10221	0.00	2.45	0.00	0.000	6	0.000	0.060	3003	2199	1939
10550	1.38	146.6	864.5	10.1	507	10551	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2199	1939
10859	1.40	156.4	834.4	9.5	522	10871	0.00	0.00	9.60	1.118	6	0.000	0.000	3003	2199	1901
11169	1.40	156.4	803.0	10.2	537	11173	0.00	2.58	0.00	0.000	4	0.000	0.083	3003	3596	1901
11282	1.40	156.4	791.2	10.6	542	11287	0.00	2.45	0.00	0.000	6	0.000	0.061	3003	2197	1901
11610	1.41	165.2	759.7	9.6	558	11624	0.00	2.60	8.95	1.062	4	0.000	0.081	3003	3589	1865
11688	1.41	165.2	751.6	10.7	561	11692	0.00	2.45	0.00	0.000	6	0.000	0.061	3003	2201	1865
12005	1.43	173.9	721.0	9.6	576	12016	0.00	0.00	9.05	1.048	6	0.000	0.000	3003	2201	1830
12315	1.45	187.8	691.5	9.3	591	12336	0.00	2.65	12.77	1.088	4	0.000	0.082	3003	3585	1773
12393	1.45	187.8	683.5	10.0	594	12397	0.00	2.45	0.00	0.000	6	0.000	0.061	3003	2196	1773
12715	1.48	208.3	654.2	9.0	610	12736	0.12	0.00	19.12	1.098	6	0.071	0.000	3036	2196	1689
13044	1.48	208.3	618.7	11.0	626	13049	0.00	2.58	0.00	0.000	4	0.000	0.083	3036	3596	1688
13123	1.48	208.3	609.6	11.3	629	13129	0.00	2.45	0.00	0.000	6	0.000	0.061	3036	2200	1688
13439	1.48	208.3	576.6	10.2	645	13443	0.00	2.58	0.00	0.000	4	0.000	0.082	3036	3597	1687
13524	1.48	208.3	567.6	10.5	648	13530	0.00	2.45	0.00	0.000	6	0.000	0.061	3036	2200	1687
13840	1.48	208.3	534.3	10.9	664	13845	0.00	2.58	0.00	0.000	4	0.000	0.082	3036	3590	1687
13914	1.48	208.3	525.8	11.1	667	13918	0.00	2.45	0.00	0.000	6	0.000	0.061	3036	2197	1687
14230	1.48	208.3	490.6	11.3	682	14231	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2197	1687
14540	1.48	208.3	454.5	11.8	697	14544	0.00	2.58	0.00	0.000	4	0.000	0.082	3036	3596	1687
14607	1.48	208.3	445.7	12.1	700	14611	0.00	2.45	0.00	0.000	6	0.000	0.061	3036	2197	1687
14929	1.48	208.3	406.5	11.7	716	14933	0.00	2.55	0.00	0.000	4	0.000	0.081	3036	3589	1687
15037	1.48	208.3	393.5	12.2	721	15041	0.00	2.42	0.00	0.000	6	0.000	0.061	3036	2200	1687
15370	1.48	208.3	352.3	12.3	737	15371	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2200	1686
15679	1.48	208.3	314.2	12.4	752	15683	0.00	2.55	0.00	0.000	4	0.000	0.082	3036	3589	1686
15857	1.48	208.3	290.5	14.5	760	15861	0.00	2.42	0.00	0.000	6	0.000	0.061	3036	2200	1686
16185	1.48	208.3	244.5	13.6	776	16189	0.00	2.55	0.00	0.000	4	0.000	0.083	3036	3593	1685
16362	1.48	208.3	221.4	12.3	784	16367	0.00	2.45	0.00	0.000	6	0.000	0.063	3036	2197	1686
16690	1.48	208.3	183.4	11.2	800	16691	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2197	1685
16999	1.48	208.3	148.4	11.2	815	17003	0.00	2.55	0.00	0.000	4	0.000	0.082	3036	3596	1684
17130	1.48	208.3	133.2	13.3	821	17135	0.00	2.42	0.00	0.000	6	0.000	0.061	3036	2199	1684
17458	1.48	208.3	96.0	11.3	837	17463	0.00	2.53	0.00	0.000	4	0.000	0.081	3036	3590	1684
17526	1.48	208.3	88.0	11.4	840	17530	0.00	2.40	0.00	0.000	6	0.000	0.061	3036	2198	1684
17848	1.48	208.3	50.2	12.5	856	17852	0.00	2.53	0.00	0.000	4	0.000	0.077	3036	790	1685
17904	1.48	208.3	42.8	11.5	858	17910	0.00	2.38	0.00	0.000	6	0.000	0.055	3036	2200	1684
18221	1.48	208.3	7.0	11.3	874	18222	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2199	1685
18279	end climb: SURFACE_DEPTH_REACHED
state	18279	begin surface coast
18302	end surface coast: CONTROL_FINISHED_OK
state	18302	begin surface