Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 97 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 97 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 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 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 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 3 COMPASS_DEVICE 33

D_OFFGRID 990 T_GPS_CHARGE -102097.45 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 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 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 990 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 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 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

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 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -102097.45

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 31 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 97 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 014937,6226.701,-1133.253,30,1.0,30,-11.0 TGT_NAME FW

_CALLS 1 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.011,0.245

_SM_DEPTHo 1.62 KALMAN_X -92617.1,446.2,335.9,-60813.7,-6770.8

_SM_ANGLEo -60.1 KALMAN_Y 8753.0,1262.6,776.3,82047.4,-11635.9

GPS2 015456,6226.760,-1133.190,14,1.6,14,-11.0 MHEAD_RNG_PITCHd_Wd 13.5,8361,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.1,1.026817 ALTIM_BOTTOM_PING 795.6,18.5

SM_CCo 16751,1.38,0.117,0,0,1608,300.00 _24V_AH 23.8,18.796

SM_GC 2.76,0.00,0.00,1.38,0.000,0.000,0.117,425,2152,1608,-10.67,0.62,300.00 _10V_AH 10.1,8.399

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41191,806

TT8_MAMPS 0.029146 CAP_FILE_SIZE 121198,0

HUMID 1836 CFSIZE 254472192,246448128

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 41 GPS 140909,063607,6228.809,-1134.491,28,1.2,28,-11.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 156 97.29 SBE_CT 552 24 315.49

Roll_motor 132 81 256.05 SBE_O2 599 19 271.03

VBD_pump_during_apogee 395 1379 12986.59 WL_BB2F 462 105 1155.87

VBD_pump_during_surface 1 117 3.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 27 160 102.88 nil 0 0 0.00

Iridium_during_xfer 134 223 715.92

Transponder_ping 18 420 179.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.16

TT8 1481 19 296.17

LPSleep 12781 2 282.70

TT8_Active 528 19 105.66

TT8_Sampling 1786 39 718.15

TT8_CF8 495 45 229.17

TT8_Kalman 33 81 27.56

Analog_circuits 1425 12 172.77

GPS_charging 0 0 0.00

Compass 1740 8 140.62

RAFOS 0 0 0.00

Transponder 54 30 16.66

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.22 -146.6 0.0 0.0 0 61 0.00 0.00 -41.60 0.000 2 0.000 0.000 420 2142 2464

65 -1.22 -146.6 2.3 -3.3 2 121 11.25 2.62 -37.15 0.000 4 0.156 0.071 2471 716 3429

376 -1.16 -146.6 40.0 -12.9 16 380 0.00 2.50 0.00 0.000 6 0.000 0.048 2471 2132 3430

703 -1.10 -146.6 77.1 -10.6 32 708 0.17 2.55 0.00 0.000 4 0.098 0.057 2507 714 3431

887 -1.10 -146.6 97.0 -11.0 40 891 0.00 2.50 0.00 0.000 6 0.000 0.052 2507 2130 3431

1205 -1.10 -146.6 128.1 -10.0 55 1209 0.00 2.55 0.00 0.000 4 0.000 0.062 2507 718 3431

1250 -1.13 -146.6 133.1 -11.3 57 1254 0.00 2.47 0.00 0.000 6 0.000 0.050 2507 2115 3431

1571 -1.13 -146.6 165.8 -10.4 73 1572 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2115 3432

1880 -1.13 -146.6 197.3 -9.8 88 1884 0.00 2.50 0.00 0.000 4 0.000 0.061 2508 719 3432

1932 -1.17 -146.6 202.7 -10.2 90 1936 0.00 2.47 0.00 0.000 6 0.000 0.054 2507 2118 3431

2253 -1.17 -146.6 235.6 -10.2 106 2254 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2118 3431

2563 -1.17 -146.6 266.7 -10.0 121 2567 0.00 2.53 0.00 0.000 4 0.000 0.064 2507 720 3431

2625 -1.20 -146.6 273.3 -10.2 124 2630 0.10 2.47 0.00 0.000 6 0.061 0.055 2477 2117 3431

2952 -1.16 -146.6 310.7 -11.4 140 2953 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2117 3430

3263 -1.12 -146.6 345.3 -11.2 155 3268 0.12 2.55 0.00 0.000 4 0.094 0.064 2503 710 3430

3325 -1.12 -146.6 352.1 -10.6 158 3329 0.00 2.47 0.00 0.000 6 0.000 0.053 2503 2106 3430

3652 -1.12 -146.6 384.6 -9.9 174 3653 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2110 3430

3961 -1.12 -146.6 415.3 -9.8 189 3965 0.00 2.53 0.00 0.000 4 0.000 0.066 2503 716 3429

4012 -1.15 -146.6 420.3 -9.5 191 4016 0.00 2.45 0.00 0.000 6 0.000 0.051 2503 2100 3430

4328 -1.15 -146.6 448.8 -8.7 206 4329 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2100 3429

4637 -1.15 -146.6 475.4 -8.6 221 4641 0.00 2.50 0.00 0.000 4 0.000 0.066 2503 719 3429

4682 -1.19 -146.6 479.6 -9.4 223 4686 0.00 2.45 0.00 0.000 6 0.000 0.052 2503 2100 3429

5003 -1.19 -146.6 509.3 -9.5 239 5004 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2100 3429

5312 -1.19 -146.6 540.0 -10.1 254 5316 0.00 2.53 0.00 0.000 4 0.000 0.067 2503 716 3428

5357 -1.23 -146.6 544.6 -10.6 256 5362 0.12 2.45 0.00 0.000 6 0.058 0.056 2467 2096 3429

5687 -1.18 -146.6 583.1 -11.7 272 5691 0.00 2.50 0.00 0.000 4 0.000 0.066 2467 718 3428

5755 -1.18 -146.6 591.8 -12.0 275 5759 0.10 2.45 0.00 0.000 6 0.103 0.056 2485 2096 3428

6082 -1.18 -146.6 627.3 -10.4 291 6083 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2096 3428

6391 -1.18 -146.6 656.4 -8.9 306 6395 0.00 2.53 0.00 0.000 4 0.000 0.071 2486 713 3428

6463 -1.18 -146.6 662.9 -8.1 309 6467 0.00 2.45 0.00 0.000 6 0.000 0.056 2486 2090 3428

6779 -1.18 -146.6 685.5 -7.0 324 6784 0.00 2.50 0.00 0.000 4 0.000 0.070 2486 719 3428

6887 -1.18 -146.6 693.9 -7.4 329 6891 0.00 2.40 0.00 0.000 6 0.000 0.061 2486 2073 3428

7220 -1.18 -146.6 719.8 -8.0 345 7222 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2073 3427

7529 -1.18 -146.6 748.1 -10.0 360 7533 0.00 2.50 0.00 0.000 4 0.000 0.077 2486 719 3426

7592 -1.18 -146.6 754.9 -10.9 363 7596 0.00 2.42 0.00 0.000 6 0.000 0.059 2486 2068 3426

7925 -1.18 -146.6 787.6 -10.0 379 7926 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2068 3426

8107 end dive: BOTTOM_OBSTACLE_DETECTED

state 8107 begin apogee

8115 -0.33 0.0 806.0 10.1 388 8250 0.85 0.00 129.43 1.380 6 0.079 0.000 2668 1833 2831

8251 end apogee: CONTROL_FINISHED_OK

state 8251 begin climb

8254 1.22 146.6 810.5 0.0 395 8394 1.58 2.70 130.10 1.338 4 0.064 0.068 3008 3254 2233

8508 1.16 175.0 797.2 7.0 407 8541 0.00 2.58 26.62 1.264 6 0.000 0.066 3009 1870 2117

8862 1.09 175.0 764.9 9.7 424 8867 0.15 2.60 0.00 0.000 4 0.100 0.070 2980 3256 2115

8917 1.09 175.0 759.2 8.9 426 8923 0.00 2.62 0.00 0.000 6 0.000 0.067 2980 1847 2115

9233 1.09 175.0 730.9 8.9 442 9238 0.00 2.60 0.00 0.000 4 0.000 0.081 2981 439 2114

9301 1.01 175.0 724.3 9.6 445 9305 0.00 2.55 0.00 0.000 6 0.000 0.058 2981 1842 2114

9623 1.01 175.0 694.6 8.8 461 9627 0.00 2.60 0.00 0.000 4 0.000 0.073 2981 3258 2114

9656 1.01 175.0 691.5 9.4 462 9662 0.00 2.65 0.00 0.000 6 0.000 0.068 2981 1835 2114

9972 1.01 175.0 662.2 8.7 478 9973 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 1834 2114

10281 1.08 216.8 640.3 6.5 493 10320 0.00 0.00 36.97 1.274 6 0.000 0.000 2981 1834 1947

10630 1.21 298.7 621.0 5.0 510 10709 0.12 0.00 72.32 1.259 6 0.059 0.000 3013 1834 1613

11019 1.21 298.7 588.2 9.6 529 11020 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1834 1614

11328 1.21 298.7 557.2 10.1 544 11329 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1834 1614

11637 1.21 298.7 525.1 10.4 559 11642 0.00 2.62 0.00 0.000 4 0.000 0.064 3013 3259 1614

11693 1.24 298.7 519.0 10.6 561 11699 0.00 2.58 0.00 0.000 6 0.000 0.058 3013 1849 1614

12009 1.24 298.7 484.5 11.4 577 12010 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1849 1614

12318 1.24 298.7 448.6 11.6 592 12322 0.00 2.58 0.00 0.000 4 0.000 0.062 3014 3254 1615

12357 1.24 298.7 444.1 10.9 593 12364 0.00 2.53 0.00 0.000 6 0.000 0.057 3013 1853 1614

12673 1.24 298.7 409.5 10.7 609 12674 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1853 1615

12982 1.24 298.7 378.4 10.0 624 12987 0.00 2.58 0.00 0.000 4 0.000 0.061 3013 3262 1615

13024 1.27 298.7 374.3 9.4 626 13028 0.00 2.53 0.00 0.000 6 0.000 0.055 3013 1861 1615

13350 1.27 298.7 342.4 10.1 642 13351 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1861 1616

13659 1.27 298.7 311.0 10.3 657 13663 0.00 2.55 0.00 0.000 4 0.000 0.061 3013 3262 1617

13700 1.31 298.7 306.9 9.8 659 13704 0.00 2.50 0.00 0.000 6 0.000 0.054 3013 1862 1617

14026 1.31 298.7 272.9 10.5 675 14027 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 1862 1617

14336 1.31 298.7 242.4 9.6 690 14340 0.00 2.53 0.00 0.000 4 0.000 0.060 3014 3259 1617

14363 1.31 298.7 239.6 10.3 691 14368 0.00 2.50 0.00 0.000 6 0.000 0.052 3013 1861 1617

14685 1.31 298.7 209.4 9.5 707 14689 0.00 2.53 0.00 0.000 4 0.000 0.059 3013 3254 1617

14712 1.31 298.7 206.6 9.6 708 14716 0.00 2.45 0.00 0.000 6 0.000 0.051 3013 1878 1617

15033 1.31 298.7 175.4 9.7 724 15034 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 1879 1617

15343 1.31 298.7 144.9 10.0 739 15347 0.00 2.50 0.00 0.000 4 0.000 0.059 3013 3260 1617

15376 1.35 298.7 141.3 9.3 740 15384 0.12 2.42 0.00 0.000 6 0.054 0.051 3050 1889 1617

15693 1.29 298.7 103.6 12.1 756 15698 0.12 2.60 0.00 0.000 4 0.090 0.066 3025 443 1617

15727 1.24 298.7 99.3 12.5 757 15733 0.00 2.58 0.00 0.000 6 0.000 0.048 3025 1900 1617

16045 1.24 298.7 66.5 9.9 773 16046 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 1900 1617

16352 1.24 298.7 36.1 9.7 788 16357 0.00 2.67 0.00 0.000 4 0.000 0.066 3025 443 1618

16484 1.24 298.7 22.7 8.9 794 16489 0.00 2.47 0.00 0.000 6 0.000 0.047 3025 1848 1618

16706 end climb: SURFACE_DEPTH_REACHED

state 16706 begin surface coast

16728 end surface coast: CONTROL_FINISHED_OK

state 16728 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	97	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	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	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	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	3	COMPASS_DEVICE	33
D_OFFGRID	990	T_GPS_CHARGE	-102097.45	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	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	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	014937,6226.701,-1133.253,30,1.0,30,-11.0	TGT_NAME	FW
_CALLS	1	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.011,0.245
_SM_DEPTHo	1.62	KALMAN_X	-92617.1,446.2,335.9,-60813.7,-6770.8
_SM_ANGLEo	-60.1	KALMAN_Y	8753.0,1262.6,776.3,82047.4,-11635.9
GPS2	015456,6226.760,-1133.190,14,1.6,14,-11.0	MHEAD_RNG_PITCHd_Wd	13.5,8361,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	1.1,1.026817	ALTIM_BOTTOM_PING	795.6,18.5
SM_CCo	16751,1.38,0.117,0,0,1608,300.00	_24V_AH	23.8,18.796
SM_GC	2.76,0.00,0.00,1.38,0.000,0.000,0.117,425,2152,1608,-10.67,0.62,300.00	_10V_AH	10.1,8.399
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41191,806
TT8_MAMPS	0.029146	CAP_FILE_SIZE	121198,0
HUMID	1836	CFSIZE	254472192,246448128
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	41	GPS	140909,063607,6228.809,-1134.491,28,1.2,28,-11.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	156	97.29	SBE_CT	552	24	315.49
Roll_motor	132	81	256.05	SBE_O2	599	19	271.03
VBD_pump_during_apogee	395	1379	12986.59	WL_BB2F	462	105	1155.87
VBD_pump_during_surface	1	117	3.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	27	160	102.88	nil	0	0	0.00
Iridium_during_xfer	134	223	715.92
Transponder_ping	18	420	179.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.16
TT8	1481	19	296.17
LPSleep	12781	2	282.70
TT8_Active	528	19	105.66
TT8_Sampling	1786	39	718.15
TT8_CF8	495	45	229.17
TT8_Kalman	33	81	27.56
Analog_circuits	1425	12	172.77
GPS_charging	0	0	0.00
Compass	1740	8	140.62
RAFOS	0	0	0.00
Transponder	54	30	16.66

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.22	-146.6	0.0	0.0	0	61	0.00	0.00	-41.60	0.000	2	0.000	0.000	420	2142	2464
65	-1.22	-146.6	2.3	-3.3	2	121	11.25	2.62	-37.15	0.000	4	0.156	0.071	2471	716	3429
376	-1.16	-146.6	40.0	-12.9	16	380	0.00	2.50	0.00	0.000	6	0.000	0.048	2471	2132	3430
703	-1.10	-146.6	77.1	-10.6	32	708	0.17	2.55	0.00	0.000	4	0.098	0.057	2507	714	3431
887	-1.10	-146.6	97.0	-11.0	40	891	0.00	2.50	0.00	0.000	6	0.000	0.052	2507	2130	3431
1205	-1.10	-146.6	128.1	-10.0	55	1209	0.00	2.55	0.00	0.000	4	0.000	0.062	2507	718	3431
1250	-1.13	-146.6	133.1	-11.3	57	1254	0.00	2.47	0.00	0.000	6	0.000	0.050	2507	2115	3431
1571	-1.13	-146.6	165.8	-10.4	73	1572	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2115	3432
1880	-1.13	-146.6	197.3	-9.8	88	1884	0.00	2.50	0.00	0.000	4	0.000	0.061	2508	719	3432
1932	-1.17	-146.6	202.7	-10.2	90	1936	0.00	2.47	0.00	0.000	6	0.000	0.054	2507	2118	3431
2253	-1.17	-146.6	235.6	-10.2	106	2254	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2118	3431
2563	-1.17	-146.6	266.7	-10.0	121	2567	0.00	2.53	0.00	0.000	4	0.000	0.064	2507	720	3431
2625	-1.20	-146.6	273.3	-10.2	124	2630	0.10	2.47	0.00	0.000	6	0.061	0.055	2477	2117	3431
2952	-1.16	-146.6	310.7	-11.4	140	2953	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2117	3430
3263	-1.12	-146.6	345.3	-11.2	155	3268	0.12	2.55	0.00	0.000	4	0.094	0.064	2503	710	3430
3325	-1.12	-146.6	352.1	-10.6	158	3329	0.00	2.47	0.00	0.000	6	0.000	0.053	2503	2106	3430
3652	-1.12	-146.6	384.6	-9.9	174	3653	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2110	3430
3961	-1.12	-146.6	415.3	-9.8	189	3965	0.00	2.53	0.00	0.000	4	0.000	0.066	2503	716	3429
4012	-1.15	-146.6	420.3	-9.5	191	4016	0.00	2.45	0.00	0.000	6	0.000	0.051	2503	2100	3430
4328	-1.15	-146.6	448.8	-8.7	206	4329	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2100	3429
4637	-1.15	-146.6	475.4	-8.6	221	4641	0.00	2.50	0.00	0.000	4	0.000	0.066	2503	719	3429
4682	-1.19	-146.6	479.6	-9.4	223	4686	0.00	2.45	0.00	0.000	6	0.000	0.052	2503	2100	3429
5003	-1.19	-146.6	509.3	-9.5	239	5004	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2100	3429
5312	-1.19	-146.6	540.0	-10.1	254	5316	0.00	2.53	0.00	0.000	4	0.000	0.067	2503	716	3428
5357	-1.23	-146.6	544.6	-10.6	256	5362	0.12	2.45	0.00	0.000	6	0.058	0.056	2467	2096	3429
5687	-1.18	-146.6	583.1	-11.7	272	5691	0.00	2.50	0.00	0.000	4	0.000	0.066	2467	718	3428
5755	-1.18	-146.6	591.8	-12.0	275	5759	0.10	2.45	0.00	0.000	6	0.103	0.056	2485	2096	3428
6082	-1.18	-146.6	627.3	-10.4	291	6083	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2096	3428
6391	-1.18	-146.6	656.4	-8.9	306	6395	0.00	2.53	0.00	0.000	4	0.000	0.071	2486	713	3428
6463	-1.18	-146.6	662.9	-8.1	309	6467	0.00	2.45	0.00	0.000	6	0.000	0.056	2486	2090	3428
6779	-1.18	-146.6	685.5	-7.0	324	6784	0.00	2.50	0.00	0.000	4	0.000	0.070	2486	719	3428
6887	-1.18	-146.6	693.9	-7.4	329	6891	0.00	2.40	0.00	0.000	6	0.000	0.061	2486	2073	3428
7220	-1.18	-146.6	719.8	-8.0	345	7222	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2073	3427
7529	-1.18	-146.6	748.1	-10.0	360	7533	0.00	2.50	0.00	0.000	4	0.000	0.077	2486	719	3426
7592	-1.18	-146.6	754.9	-10.9	363	7596	0.00	2.42	0.00	0.000	6	0.000	0.059	2486	2068	3426
7925	-1.18	-146.6	787.6	-10.0	379	7926	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2068	3426
8107	end dive: BOTTOM_OBSTACLE_DETECTED
state	8107	begin apogee
8115	-0.33	0.0	806.0	10.1	388	8250	0.85	0.00	129.43	1.380	6	0.079	0.000	2668	1833	2831
8251	end apogee: CONTROL_FINISHED_OK
state	8251	begin climb
8254	1.22	146.6	810.5	0.0	395	8394	1.58	2.70	130.10	1.338	4	0.064	0.068	3008	3254	2233
8508	1.16	175.0	797.2	7.0	407	8541	0.00	2.58	26.62	1.264	6	0.000	0.066	3009	1870	2117
8862	1.09	175.0	764.9	9.7	424	8867	0.15	2.60	0.00	0.000	4	0.100	0.070	2980	3256	2115
8917	1.09	175.0	759.2	8.9	426	8923	0.00	2.62	0.00	0.000	6	0.000	0.067	2980	1847	2115
9233	1.09	175.0	730.9	8.9	442	9238	0.00	2.60	0.00	0.000	4	0.000	0.081	2981	439	2114
9301	1.01	175.0	724.3	9.6	445	9305	0.00	2.55	0.00	0.000	6	0.000	0.058	2981	1842	2114
9623	1.01	175.0	694.6	8.8	461	9627	0.00	2.60	0.00	0.000	4	0.000	0.073	2981	3258	2114
9656	1.01	175.0	691.5	9.4	462	9662	0.00	2.65	0.00	0.000	6	0.000	0.068	2981	1835	2114
9972	1.01	175.0	662.2	8.7	478	9973	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	1834	2114
10281	1.08	216.8	640.3	6.5	493	10320	0.00	0.00	36.97	1.274	6	0.000	0.000	2981	1834	1947
10630	1.21	298.7	621.0	5.0	510	10709	0.12	0.00	72.32	1.259	6	0.059	0.000	3013	1834	1613
11019	1.21	298.7	588.2	9.6	529	11020	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1834	1614
11328	1.21	298.7	557.2	10.1	544	11329	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1834	1614
11637	1.21	298.7	525.1	10.4	559	11642	0.00	2.62	0.00	0.000	4	0.000	0.064	3013	3259	1614
11693	1.24	298.7	519.0	10.6	561	11699	0.00	2.58	0.00	0.000	6	0.000	0.058	3013	1849	1614
12009	1.24	298.7	484.5	11.4	577	12010	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1849	1614
12318	1.24	298.7	448.6	11.6	592	12322	0.00	2.58	0.00	0.000	4	0.000	0.062	3014	3254	1615
12357	1.24	298.7	444.1	10.9	593	12364	0.00	2.53	0.00	0.000	6	0.000	0.057	3013	1853	1614
12673	1.24	298.7	409.5	10.7	609	12674	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1853	1615
12982	1.24	298.7	378.4	10.0	624	12987	0.00	2.58	0.00	0.000	4	0.000	0.061	3013	3262	1615
13024	1.27	298.7	374.3	9.4	626	13028	0.00	2.53	0.00	0.000	6	0.000	0.055	3013	1861	1615
13350	1.27	298.7	342.4	10.1	642	13351	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1861	1616
13659	1.27	298.7	311.0	10.3	657	13663	0.00	2.55	0.00	0.000	4	0.000	0.061	3013	3262	1617
13700	1.31	298.7	306.9	9.8	659	13704	0.00	2.50	0.00	0.000	6	0.000	0.054	3013	1862	1617
14026	1.31	298.7	272.9	10.5	675	14027	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	1862	1617
14336	1.31	298.7	242.4	9.6	690	14340	0.00	2.53	0.00	0.000	4	0.000	0.060	3014	3259	1617
14363	1.31	298.7	239.6	10.3	691	14368	0.00	2.50	0.00	0.000	6	0.000	0.052	3013	1861	1617
14685	1.31	298.7	209.4	9.5	707	14689	0.00	2.53	0.00	0.000	4	0.000	0.059	3013	3254	1617
14712	1.31	298.7	206.6	9.6	708	14716	0.00	2.45	0.00	0.000	6	0.000	0.051	3013	1878	1617
15033	1.31	298.7	175.4	9.7	724	15034	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	1879	1617
15343	1.31	298.7	144.9	10.0	739	15347	0.00	2.50	0.00	0.000	4	0.000	0.059	3013	3260	1617
15376	1.35	298.7	141.3	9.3	740	15384	0.12	2.42	0.00	0.000	6	0.054	0.051	3050	1889	1617
15693	1.29	298.7	103.6	12.1	756	15698	0.12	2.60	0.00	0.000	4	0.090	0.066	3025	443	1617
15727	1.24	298.7	99.3	12.5	757	15733	0.00	2.58	0.00	0.000	6	0.000	0.048	3025	1900	1617
16045	1.24	298.7	66.5	9.9	773	16046	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	1900	1617
16352	1.24	298.7	36.1	9.7	788	16357	0.00	2.67	0.00	0.000	4	0.000	0.066	3025	443	1618
16484	1.24	298.7	22.7	8.9	794	16489	0.00	2.47	0.00	0.000	6	0.000	0.047	3025	1848	1618
16706	end climb: SURFACE_DEPTH_REACHED
state	16706	begin surface coast
16728	end surface coast: CONTROL_FINISHED_OK
state	16728	begin surface