Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 57 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 57 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2350 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 120 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 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -77341.297 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

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

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -77341.297

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2350 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 26 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 30 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

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

DIVE 57 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 132155,6142.370,-909.314,37,1.6,55,-9.4 TGT_NAME AW

_CALLS 2 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.002,-0.238

_SM_DEPTHo 0.18 KALMAN_X 29925.8,-340.5,-479.3,-63621.9,7776.6

_SM_ANGLEo -51.0 KALMAN_Y 139473.2,178.0,46.9,-122649.8,6757.3

GPS2 132923,6142.339,-909.202,12,2.6,31,-9.4 MHEAD_RNG_PITCHd_Wd 189.0,42172,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027249 XPDR_PINGS 263

SM_CCo 16896,66.10,0.800,8,0,1655,300.00 ALTIM_BOTTOM_PING 700.9,109.3

SM_GC 0.39,0.00,0.00,66.10,0.000,0.000,0.800,32,1891,1655,-11.33,-0.25,300.00 _24V_AH 23.3,20.624

IRIDIUM_FIX 6117.23,-957.59,211107,171723 _10V_AH 10.1,8.483

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41190,816

HUMID 2057 CFSIZE 260165632,255234048

INTERNAL_PRESSURE 9.23864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,26,8,0

TCM_TEMP 16.90 GPS 211107,181438,6141.774,-905.098,25,1.6,25,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 141 85.71 SBE_CT 599 24 335.35

Roll_motor 155 76 277.90 SBE_O2 552 19 244.52

VBD_pump_during_apogee 313 1372 10040.63 WL_BB2F 468 105 1145.17

VBD_pump_during_surface 66 799 1232.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 182.00 nil 0 0 0.00

Iridium_during_connect 54 160 202.65 nil 0 0 0.00

Iridium_during_xfer 151 223 786.02

Transponder_ping 71 420 702.15

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.18

TT8 1522 19 304.43

LPSleep 12997 2 287.48

TT8_Active 623 19 124.60

TT8_Sampling 1916 39 770.23

TT8_CF8 402 45 186.13

TT8_Kalman 33 81 27.56

Analog_circuits 1573 12 190.70

GPS_charging 0 0 0.00

Compass 1856 8 149.97

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.23 -146.6 0.0 0.0 0 142 0.00 0.00 -122.38 0.000 2 0.000 0.000 37 1883 3458

145 -1.23 -146.6 4.7 -5.1 6 167 11.57 2.60 -0.40 0.000 4 0.142 0.058 2221 3304 3478

418 -1.23 -146.6 42.4 -10.4 18 423 0.00 2.55 0.00 0.000 6 0.000 0.043 2221 1904 3478

745 -1.23 -146.6 77.0 -10.7 34 749 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3302 3478

973 -1.23 -146.6 104.9 -10.2 44 978 0.00 2.55 0.00 0.000 6 0.000 0.044 2221 1900 3477

1295 -1.23 -146.6 139.5 -10.7 60 1296 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1900 3478

1603 -1.23 -146.6 170.1 -9.9 75 1607 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3307 3478

1647 -1.23 -146.6 174.6 -10.4 77 1652 0.00 2.53 0.00 0.000 6 0.000 0.043 2221 1900 3478

1973 -1.23 -146.6 207.7 -10.3 93 1974 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1899 3478

2282 -1.23 -146.6 237.1 -8.9 108 2287 0.00 2.53 0.00 0.000 4 0.000 0.047 2221 3306 3478

2331 -1.23 -146.6 241.5 -8.6 110 2336 0.00 2.55 0.00 0.000 6 0.000 0.043 2221 1898 3478

2653 -1.23 -146.6 270.1 -9.1 126 2657 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3302 3478

2678 -1.23 -146.6 272.5 -9.0 127 2683 0.00 2.53 0.00 0.000 6 0.000 0.043 2221 1906 3478

3000 -1.23 -146.6 301.3 -9.0 143 3002 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1906 3478

3309 -1.23 -146.6 328.8 -9.0 158 3310 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1906 3478

3618 -1.23 -146.6 358.1 -9.3 173 3622 0.00 2.53 0.00 0.000 4 0.000 0.050 2221 3304 3478

3661 -1.23 -146.6 362.5 -10.0 175 3666 0.00 2.55 0.00 0.000 6 0.000 0.044 2221 1903 3478

3989 -1.23 -146.6 393.9 -10.3 191 3990 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1903 3478

4299 -1.23 -146.6 426.5 -10.8 206 4303 0.00 2.53 0.00 0.000 4 0.000 0.051 2221 3304 3479

4336 -1.23 -146.6 430.8 -11.2 208 4341 0.00 2.53 0.00 0.000 6 0.000 0.045 2221 1900 3479

4662 -1.23 -146.6 465.2 -10.4 224 4663 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1900 3479

4971 -1.23 -146.6 496.3 -10.1 239 4976 0.00 2.55 0.00 0.000 4 0.000 0.051 2221 3308 3479

5033 -1.23 -146.6 502.4 -9.7 242 5037 0.00 2.53 0.00 0.000 6 0.000 0.046 2221 1898 3478

5358 -1.23 -146.6 531.1 -8.6 258 5359 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1898 3478

5667 -1.23 -146.6 561.9 -10.4 273 5672 0.00 2.55 0.00 0.000 4 0.000 0.051 2220 3305 3478

5750 -1.23 -146.6 570.2 -9.1 276 5757 0.00 2.58 0.00 0.000 6 0.000 0.048 2221 1898 3478

6066 -1.23 -146.6 596.3 -8.0 292 6070 0.00 2.55 0.00 0.000 4 0.000 0.054 2221 3300 3478

6104 -1.23 -146.6 599.3 -8.3 294 6108 0.00 2.53 0.00 0.000 6 0.000 0.048 2221 1901 3478

6429 -1.23 -146.6 632.7 -9.2 310 6433 0.00 2.55 0.00 0.000 4 0.000 0.057 2221 3298 3478

6477 -1.23 -146.6 636.9 -8.8 312 6482 0.00 2.53 0.00 0.000 6 0.000 0.050 2221 1907 3478

6798 -1.23 -146.6 658.7 -2.9 328 6803 0.00 2.55 0.00 0.000 4 0.000 0.058 2221 3298 3478

6819 -1.23 -146.6 661.6 -13.5 329 6824 0.00 2.55 0.00 0.000 6 0.000 0.050 2221 1907 3478

7146 -1.23 -146.6 691.9 -9.4 345 7150 0.00 2.65 0.00 0.000 4 0.000 0.074 2221 494 3478

7404 -1.23 -146.6 721.0 -6.8 356 7411 0.00 2.53 0.00 0.000 6 0.000 0.051 2221 1915 3478

7719 -1.23 -146.6 732.7 -22.4 372 7724 0.00 2.58 0.00 0.000 4 0.000 0.065 2221 3301 3478

7976 -1.23 -146.6 748.0 -0.4 383 7983 0.00 2.58 0.00 0.000 6 0.000 0.061 2221 1903 3477

8292 -1.23 -146.6 775.1 -9.6 399 8296 0.00 2.62 0.00 0.000 4 0.000 0.067 2221 3303 3476

8413 -1.23 -146.6 784.1 -10.0 404 8418 0.00 2.62 0.00 0.000 6 0.000 0.064 2221 1903 3475

8589 end dive: NO_VERTICAL_VELOCITY

state 8589 begin apogee

8594 -0.36 0.0 784.6 0.0 413 8721 0.90 0.00 123.90 1.373 6 0.072 0.000 2418 2347 2878

8722 end apogee: CONTROL_FINISHED_OK

state 8722 begin climb

8723 1.23 146.6 783.7 0.0 419 8851 1.58 0.00 122.25 1.321 6 0.062 0.000 2761 2347 2280

9171 1.23 146.6 753.1 9.3 441 9175 0.00 2.70 0.00 0.000 4 0.000 0.077 2761 938 2279

9236 1.33 227.5 747.5 4.9 444 9310 0.05 2.62 67.72 1.328 6 0.051 0.060 2791 2341 1950

9617 1.33 227.5 707.8 9.7 462 9621 0.00 2.65 0.00 0.000 4 0.000 0.073 2791 3751 1949

9713 1.33 227.5 700.2 9.2 466 9717 0.00 2.60 0.00 0.000 6 0.000 0.058 2790 2343 1948

10032 1.33 227.5 680.4 8.3 482 10036 0.00 2.67 0.00 0.000 4 0.000 0.070 2791 3751 1947

10142 1.33 227.5 668.4 10.2 487 10147 0.00 2.60 0.00 0.000 6 0.000 0.056 2791 2353 1946

10468 1.33 227.5 639.1 8.8 503 10473 0.00 2.67 0.00 0.000 4 0.000 0.073 2791 938 1945

10494 1.33 227.5 636.7 8.5 504 10499 0.00 2.58 0.00 0.000 6 0.000 0.051 2791 2340 1945

10815 1.33 227.5 603.8 10.5 520 10817 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2342 1945

11125 1.33 227.5 572.3 9.9 535 11126 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2341 1945

11434 1.33 227.5 541.3 9.9 550 11438 0.00 2.60 0.00 0.000 4 0.000 0.063 2791 934 1946

11477 1.33 227.5 536.6 10.5 552 11482 0.00 2.55 0.00 0.000 6 0.000 0.045 2791 2351 1946

11804 1.33 227.5 505.5 9.5 568 11805 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2351 1947

12113 1.33 227.5 474.7 10.3 583 12118 0.00 2.60 0.00 0.000 4 0.000 0.062 2791 939 1947

12139 1.33 227.5 471.9 10.6 584 12145 0.00 2.53 0.00 0.000 6 0.000 0.043 2791 2343 1947

12461 1.33 227.5 439.2 10.1 600 12462 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2343 1948

12770 1.33 227.5 409.0 9.4 615 12774 0.00 2.60 0.00 0.000 4 0.000 0.061 2791 930 1949

12786 1.33 227.5 407.5 9.5 616 12791 0.00 2.53 0.00 0.000 6 0.000 0.043 2791 2352 1949

13111 1.33 227.5 375.8 10.3 632 13115 0.00 2.60 0.00 0.000 4 0.000 0.060 2791 939 1950

13142 1.33 227.5 372.5 9.6 633 13149 0.00 2.53 0.00 0.000 6 0.000 0.041 2791 2348 1950

13458 1.33 227.5 340.8 10.0 649 13459 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2349 1950

13767 1.33 227.5 310.7 9.6 664 13771 0.00 2.58 0.00 0.000 4 0.000 0.059 2791 939 1951

13789 1.33 227.5 308.5 10.0 665 13793 0.00 2.50 0.00 0.000 6 0.000 0.041 2791 2352 1951

14114 1.33 227.5 277.0 9.5 681 14116 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2352 1951

14423 1.33 227.5 248.2 9.4 696 14428 0.00 2.60 0.00 0.000 4 0.000 0.058 2791 934 1952

14444 1.33 227.5 246.0 9.4 697 14449 0.00 2.55 0.00 0.000 6 0.000 0.041 2791 2354 1952

14771 1.33 227.5 213.4 10.2 713 14775 0.00 2.60 0.00 0.000 4 0.000 0.057 2791 933 1952

14796 1.33 227.5 210.6 10.0 714 14801 0.00 2.55 0.00 0.000 6 0.000 0.041 2791 2351 1952

15117 1.33 227.5 178.8 10.0 730 15122 0.00 2.60 0.00 0.000 4 0.000 0.058 2791 931 1952

15179 1.33 227.5 172.2 10.9 733 15183 0.00 2.53 0.00 0.000 6 0.000 0.041 2791 2356 1953

15504 1.33 227.5 137.6 10.4 749 15508 0.00 2.60 0.00 0.000 4 0.000 0.054 2791 937 1953

15535 1.33 227.5 134.5 8.9 750 15543 0.00 2.53 0.00 0.000 6 0.000 0.040 2791 2347 1953

15853 1.33 227.5 104.2 11.5 766 15854 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2347 1953

16161 1.33 227.5 72.7 9.7 781 16165 0.00 2.53 0.00 0.000 4 0.000 0.052 2791 3748 1954

16192 1.33 227.5 69.8 8.6 782 16200 0.00 2.50 0.00 0.000 6 0.000 0.038 2791 2344 1953

16508 1.33 227.5 38.9 10.7 798 16513 0.00 2.55 0.00 0.000 4 0.000 0.056 2791 943 1954

16540 1.33 227.5 35.6 9.9 799 16547 0.00 2.47 0.00 0.000 6 0.000 0.038 2791 2342 1954

16856 end climb: SURFACE_DEPTH_REACHED

state 16856 begin surface coast

16877 end surface coast: CONTROL_FINISHED_OK

state 16877 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	57	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2350	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	120	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	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-77341.297	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	132155,6142.370,-909.314,37,1.6,55,-9.4	TGT_NAME	AW
_CALLS	2	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.002,-0.238
_SM_DEPTHo	0.18	KALMAN_X	29925.8,-340.5,-479.3,-63621.9,7776.6
_SM_ANGLEo	-51.0	KALMAN_Y	139473.2,178.0,46.9,-122649.8,6757.3
GPS2	132923,6142.339,-909.202,12,2.6,31,-9.4	MHEAD_RNG_PITCHd_Wd	189.0,42172,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	0.2,1.027249	XPDR_PINGS	263
SM_CCo	16896,66.10,0.800,8,0,1655,300.00	ALTIM_BOTTOM_PING	700.9,109.3
SM_GC	0.39,0.00,0.00,66.10,0.000,0.000,0.800,32,1891,1655,-11.33,-0.25,300.00	_24V_AH	23.3,20.624
IRIDIUM_FIX	6117.23,-957.59,211107,171723	_10V_AH	10.1,8.483
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41190,816
HUMID	2057	CFSIZE	260165632,255234048
INTERNAL_PRESSURE	9.23864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,26,8,0
TCM_TEMP	16.90	GPS	211107,181438,6141.774,-905.098,25,1.6,25,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	141	85.71	SBE_CT	599	24	335.35
Roll_motor	155	76	277.90	SBE_O2	552	19	244.52
VBD_pump_during_apogee	313	1372	10040.63	WL_BB2F	468	105	1145.17
VBD_pump_during_surface	66	799	1232.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	182.00	nil	0	0	0.00
Iridium_during_connect	54	160	202.65	nil	0	0	0.00
Iridium_during_xfer	151	223	786.02
Transponder_ping	71	420	702.15
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.18
TT8	1522	19	304.43
LPSleep	12997	2	287.48
TT8_Active	623	19	124.60
TT8_Sampling	1916	39	770.23
TT8_CF8	402	45	186.13
TT8_Kalman	33	81	27.56
Analog_circuits	1573	12	190.70
GPS_charging	0	0	0.00
Compass	1856	8	149.97
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.23	-146.6	0.0	0.0	0	142	0.00	0.00	-122.38	0.000	2	0.000	0.000	37	1883	3458
145	-1.23	-146.6	4.7	-5.1	6	167	11.57	2.60	-0.40	0.000	4	0.142	0.058	2221	3304	3478
418	-1.23	-146.6	42.4	-10.4	18	423	0.00	2.55	0.00	0.000	6	0.000	0.043	2221	1904	3478
745	-1.23	-146.6	77.0	-10.7	34	749	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3302	3478
973	-1.23	-146.6	104.9	-10.2	44	978	0.00	2.55	0.00	0.000	6	0.000	0.044	2221	1900	3477
1295	-1.23	-146.6	139.5	-10.7	60	1296	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1900	3478
1603	-1.23	-146.6	170.1	-9.9	75	1607	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3307	3478
1647	-1.23	-146.6	174.6	-10.4	77	1652	0.00	2.53	0.00	0.000	6	0.000	0.043	2221	1900	3478
1973	-1.23	-146.6	207.7	-10.3	93	1974	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1899	3478
2282	-1.23	-146.6	237.1	-8.9	108	2287	0.00	2.53	0.00	0.000	4	0.000	0.047	2221	3306	3478
2331	-1.23	-146.6	241.5	-8.6	110	2336	0.00	2.55	0.00	0.000	6	0.000	0.043	2221	1898	3478
2653	-1.23	-146.6	270.1	-9.1	126	2657	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3302	3478
2678	-1.23	-146.6	272.5	-9.0	127	2683	0.00	2.53	0.00	0.000	6	0.000	0.043	2221	1906	3478
3000	-1.23	-146.6	301.3	-9.0	143	3002	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1906	3478
3309	-1.23	-146.6	328.8	-9.0	158	3310	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1906	3478
3618	-1.23	-146.6	358.1	-9.3	173	3622	0.00	2.53	0.00	0.000	4	0.000	0.050	2221	3304	3478
3661	-1.23	-146.6	362.5	-10.0	175	3666	0.00	2.55	0.00	0.000	6	0.000	0.044	2221	1903	3478
3989	-1.23	-146.6	393.9	-10.3	191	3990	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1903	3478
4299	-1.23	-146.6	426.5	-10.8	206	4303	0.00	2.53	0.00	0.000	4	0.000	0.051	2221	3304	3479
4336	-1.23	-146.6	430.8	-11.2	208	4341	0.00	2.53	0.00	0.000	6	0.000	0.045	2221	1900	3479
4662	-1.23	-146.6	465.2	-10.4	224	4663	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1900	3479
4971	-1.23	-146.6	496.3	-10.1	239	4976	0.00	2.55	0.00	0.000	4	0.000	0.051	2221	3308	3479
5033	-1.23	-146.6	502.4	-9.7	242	5037	0.00	2.53	0.00	0.000	6	0.000	0.046	2221	1898	3478
5358	-1.23	-146.6	531.1	-8.6	258	5359	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1898	3478
5667	-1.23	-146.6	561.9	-10.4	273	5672	0.00	2.55	0.00	0.000	4	0.000	0.051	2220	3305	3478
5750	-1.23	-146.6	570.2	-9.1	276	5757	0.00	2.58	0.00	0.000	6	0.000	0.048	2221	1898	3478
6066	-1.23	-146.6	596.3	-8.0	292	6070	0.00	2.55	0.00	0.000	4	0.000	0.054	2221	3300	3478
6104	-1.23	-146.6	599.3	-8.3	294	6108	0.00	2.53	0.00	0.000	6	0.000	0.048	2221	1901	3478
6429	-1.23	-146.6	632.7	-9.2	310	6433	0.00	2.55	0.00	0.000	4	0.000	0.057	2221	3298	3478
6477	-1.23	-146.6	636.9	-8.8	312	6482	0.00	2.53	0.00	0.000	6	0.000	0.050	2221	1907	3478
6798	-1.23	-146.6	658.7	-2.9	328	6803	0.00	2.55	0.00	0.000	4	0.000	0.058	2221	3298	3478
6819	-1.23	-146.6	661.6	-13.5	329	6824	0.00	2.55	0.00	0.000	6	0.000	0.050	2221	1907	3478
7146	-1.23	-146.6	691.9	-9.4	345	7150	0.00	2.65	0.00	0.000	4	0.000	0.074	2221	494	3478
7404	-1.23	-146.6	721.0	-6.8	356	7411	0.00	2.53	0.00	0.000	6	0.000	0.051	2221	1915	3478
7719	-1.23	-146.6	732.7	-22.4	372	7724	0.00	2.58	0.00	0.000	4	0.000	0.065	2221	3301	3478
7976	-1.23	-146.6	748.0	-0.4	383	7983	0.00	2.58	0.00	0.000	6	0.000	0.061	2221	1903	3477
8292	-1.23	-146.6	775.1	-9.6	399	8296	0.00	2.62	0.00	0.000	4	0.000	0.067	2221	3303	3476
8413	-1.23	-146.6	784.1	-10.0	404	8418	0.00	2.62	0.00	0.000	6	0.000	0.064	2221	1903	3475
8589	end dive: NO_VERTICAL_VELOCITY
state	8589	begin apogee
8594	-0.36	0.0	784.6	0.0	413	8721	0.90	0.00	123.90	1.373	6	0.072	0.000	2418	2347	2878
8722	end apogee: CONTROL_FINISHED_OK
state	8722	begin climb
8723	1.23	146.6	783.7	0.0	419	8851	1.58	0.00	122.25	1.321	6	0.062	0.000	2761	2347	2280
9171	1.23	146.6	753.1	9.3	441	9175	0.00	2.70	0.00	0.000	4	0.000	0.077	2761	938	2279
9236	1.33	227.5	747.5	4.9	444	9310	0.05	2.62	67.72	1.328	6	0.051	0.060	2791	2341	1950
9617	1.33	227.5	707.8	9.7	462	9621	0.00	2.65	0.00	0.000	4	0.000	0.073	2791	3751	1949
9713	1.33	227.5	700.2	9.2	466	9717	0.00	2.60	0.00	0.000	6	0.000	0.058	2790	2343	1948
10032	1.33	227.5	680.4	8.3	482	10036	0.00	2.67	0.00	0.000	4	0.000	0.070	2791	3751	1947
10142	1.33	227.5	668.4	10.2	487	10147	0.00	2.60	0.00	0.000	6	0.000	0.056	2791	2353	1946
10468	1.33	227.5	639.1	8.8	503	10473	0.00	2.67	0.00	0.000	4	0.000	0.073	2791	938	1945
10494	1.33	227.5	636.7	8.5	504	10499	0.00	2.58	0.00	0.000	6	0.000	0.051	2791	2340	1945
10815	1.33	227.5	603.8	10.5	520	10817	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2342	1945
11125	1.33	227.5	572.3	9.9	535	11126	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2341	1945
11434	1.33	227.5	541.3	9.9	550	11438	0.00	2.60	0.00	0.000	4	0.000	0.063	2791	934	1946
11477	1.33	227.5	536.6	10.5	552	11482	0.00	2.55	0.00	0.000	6	0.000	0.045	2791	2351	1946
11804	1.33	227.5	505.5	9.5	568	11805	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2351	1947
12113	1.33	227.5	474.7	10.3	583	12118	0.00	2.60	0.00	0.000	4	0.000	0.062	2791	939	1947
12139	1.33	227.5	471.9	10.6	584	12145	0.00	2.53	0.00	0.000	6	0.000	0.043	2791	2343	1947
12461	1.33	227.5	439.2	10.1	600	12462	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2343	1948
12770	1.33	227.5	409.0	9.4	615	12774	0.00	2.60	0.00	0.000	4	0.000	0.061	2791	930	1949
12786	1.33	227.5	407.5	9.5	616	12791	0.00	2.53	0.00	0.000	6	0.000	0.043	2791	2352	1949
13111	1.33	227.5	375.8	10.3	632	13115	0.00	2.60	0.00	0.000	4	0.000	0.060	2791	939	1950
13142	1.33	227.5	372.5	9.6	633	13149	0.00	2.53	0.00	0.000	6	0.000	0.041	2791	2348	1950
13458	1.33	227.5	340.8	10.0	649	13459	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2349	1950
13767	1.33	227.5	310.7	9.6	664	13771	0.00	2.58	0.00	0.000	4	0.000	0.059	2791	939	1951
13789	1.33	227.5	308.5	10.0	665	13793	0.00	2.50	0.00	0.000	6	0.000	0.041	2791	2352	1951
14114	1.33	227.5	277.0	9.5	681	14116	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2352	1951
14423	1.33	227.5	248.2	9.4	696	14428	0.00	2.60	0.00	0.000	4	0.000	0.058	2791	934	1952
14444	1.33	227.5	246.0	9.4	697	14449	0.00	2.55	0.00	0.000	6	0.000	0.041	2791	2354	1952
14771	1.33	227.5	213.4	10.2	713	14775	0.00	2.60	0.00	0.000	4	0.000	0.057	2791	933	1952
14796	1.33	227.5	210.6	10.0	714	14801	0.00	2.55	0.00	0.000	6	0.000	0.041	2791	2351	1952
15117	1.33	227.5	178.8	10.0	730	15122	0.00	2.60	0.00	0.000	4	0.000	0.058	2791	931	1952
15179	1.33	227.5	172.2	10.9	733	15183	0.00	2.53	0.00	0.000	6	0.000	0.041	2791	2356	1953
15504	1.33	227.5	137.6	10.4	749	15508	0.00	2.60	0.00	0.000	4	0.000	0.054	2791	937	1953
15535	1.33	227.5	134.5	8.9	750	15543	0.00	2.53	0.00	0.000	6	0.000	0.040	2791	2347	1953
15853	1.33	227.5	104.2	11.5	766	15854	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2347	1953
16161	1.33	227.5	72.7	9.7	781	16165	0.00	2.53	0.00	0.000	4	0.000	0.052	2791	3748	1954
16192	1.33	227.5	69.8	8.6	782	16200	0.00	2.50	0.00	0.000	6	0.000	0.038	2791	2344	1953
16508	1.33	227.5	38.9	10.7	798	16513	0.00	2.55	0.00	0.000	4	0.000	0.056	2791	943	1954
16540	1.33	227.5	35.6	9.9	799	16547	0.00	2.47	0.00	0.000	6	0.000	0.038	2791	2342	1954
16856	end climb: SURFACE_DEPTH_REACHED
state	16856	begin surface coast
16877	end surface coast: CONTROL_FINISHED_OK
state	16877	begin surface