Glider dive log

Faroes Nov08 * SG101 * Dive index * Mission links * Dive 139 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 101 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 60 ROLL_MIN 177 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 139 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3698 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 48.150002 C_ROLL_DIVE 2517 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -125.67 C_ROLL_CLIMB 2317 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 657 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3935 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2915 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 0 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 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -734743.5 VBD_BLEED_AD_RATE 10 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 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 29 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3302 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 0.94999993 C_PITCH 2375 PRESSURE_YINT -14.271928 SEABIRD_T_G 0.0042858003

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00062598009

MASS 50300 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.1740922e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -1.3 SEABIRD_T_J 2.0518198e-06

FERRY_MAX 45 PITCH_GAIN 11 TCM_ROLL_OFFSET -0.2 SEABIRD_C_G -9.9824123

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1171527

HD_A 0.0034169999 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00017022179

HD_B 0.0095870001 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010324208

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 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 1001 PITCH_GAIN 11 SPEED_FACTOR 0.94999993

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3302 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 29 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -1.3

ALTIM_PULSE 3 ESCAPE_HEADING 60 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET -0.2

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.271928 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -125.67

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 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -734743.5

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 101 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3698 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2375 KALMAN_USE 2 ROLL_MIN 177 USE_BATHY 0

C_ROLL_CLIMB 2317 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2517 MASS 50300 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 10

C_VBD 2915 MAX_BUOY 150 R_STBD_OVSHOOT 30 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.9824123 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1171527 VBD_MAX 3935

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00017022179 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00010324208 VBD_MIN 657

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0042858003 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062598009 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1740922e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.0518198e-06 XPDR_DEVICE 24

DIVE 139 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 161007,6327.916,-1306.347,24,1.1,24,-12.3 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6330.000,-1257.000

_XMS_NAKs 9 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -44.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161615,6327.849,-1306.625,12,1.5,12,-12.3 MHEAD_RNG_PITCHd_Wd 75.7,8896,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.2,1.027422 ALTIM_BOTTOM_PING 601.5,90.8

SM_CCo 16294,0.00,0.000,0,0,655,554.38 _24V_AH 23.1,23.106

SM_GC 1.55,11.73,0.00,0.00,0.034,0.000,0.000,22,2540,655,-10.76,0.62,554.38 _10V_AH 10.1,10.196

IRIDIUM_FIX 6303.50,-1306.17,230298,111143 DATA_FILE_SIZE 37995,770

TT8_MAMPS 0.028379 CAP_FILE_SIZE 126146,0

HUMID 2029 CFSIZE 260165632,251011072

INTERNAL_PRESSURE 7.72491 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 17.30 GPS 291108,204931,6328.666,-1305.117,39,1.4,39,-12.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 124 75.92 SBE_CT 568 24 315.24

Roll_motor 143 84 279.87 SBE_O2 524 19 230.17

VBD_pump_during_apogee 613 1279 18123.45 WL_BB2F 465 105 1129.10

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 26 103 62.14 nil 0 0 0.00

Iridium_during_connect 26 160 98.61 nil 0 0 0.00

Iridium_during_xfer 185 223 957.38

Transponder_ping 5 420 50.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.92

TT8 1460 19 291.98

LPSleep 11947 2 264.28

TT8_Active 654 19 130.84

TT8_Sampling 2027 39 814.89

TT8_CF8 574 45 265.71

TT8_Kalman 0 0 0.00

Analog_circuits 1720 12 208.57

GPS_charging 0 0 0.00

Compass 1975 8 159.64

RAFOS 0 0 0.00

Transponder 34 30 10.54

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 -1.16 -146.6 0.0 0.0 0 99 0.00 0.00 -80.80 0.000 2 0.000 0.000 22 2534 2996

103 -1.16 -146.6 3.7 -3.7 4 134 10.88 2.53 -14.82 0.000 4 0.124 0.056 2114 1110 3513

337 -1.09 -146.6 41.0 -8.2 14 344 0.10 2.47 0.00 0.000 6 0.100 0.040 2133 2522 3514

656 -1.03 -146.6 60.9 -9.4 30 657 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2522 3514

964 -0.95 -146.6 88.7 -8.7 45 966 0.17 0.00 0.00 0.000 6 0.077 0.000 2170 2522 3513

1273 -1.00 -146.6 97.9 -2.7 60 1274 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2522 3513

1582 -1.00 -146.6 108.8 -6.8 75 1585 0.00 2.08 0.00 0.000 4 0.000 0.059 2169 3692 3513

1733 -1.00 -146.6 120.3 -8.0 81 1740 0.00 2.03 0.00 0.000 6 0.000 0.035 2170 2500 3513

2050 -1.00 -146.6 168.3 -17.3 97 2053 0.00 2.15 0.00 0.000 4 0.000 0.056 2170 3698 3513

2078 -1.05 -146.6 173.3 -17.0 98 2083 0.12 2.03 0.00 0.000 6 0.055 0.036 2137 2506 3513

2409 -0.98 -146.6 202.1 -5.6 114 2411 0.12 0.00 0.00 0.000 6 0.080 0.000 2163 2506 3513

2715 -0.98 -146.6 214.6 -3.7 129 2718 0.00 2.12 0.00 0.000 4 0.000 0.057 2162 3691 3513

2839 -0.98 -146.6 221.8 -6.4 134 2842 0.00 2.00 0.00 0.000 6 0.000 0.035 2163 2511 3513

3161 -0.98 -146.6 238.6 -5.0 150 3162 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2510 3513

3470 -0.98 -146.6 255.7 -6.5 165 3474 0.00 2.12 0.00 0.000 4 0.000 0.057 2163 3696 3513

3607 -0.98 -146.6 265.9 -6.3 171 3610 0.00 2.00 0.00 0.000 6 0.000 0.035 2163 2514 3513

3940 -0.98 -146.6 290.2 -6.5 187 3943 0.00 2.10 0.00 0.000 4 0.000 0.058 2163 3689 3513

4024 -0.98 -146.6 295.3 -4.8 190 4031 0.00 2.03 0.00 0.000 6 0.000 0.035 2163 2494 3513

4341 -0.98 -146.6 309.7 -6.1 206 4345 0.00 2.15 0.00 0.000 4 0.000 0.058 2163 3692 3513

4437 -0.98 -146.6 316.4 -6.6 210 4441 0.00 2.00 0.00 0.000 6 0.000 0.035 2163 2512 3513

4765 -0.98 -146.6 337.8 -6.5 226 4769 0.00 2.12 0.00 0.000 4 0.000 0.058 2163 3696 3513

4856 -0.98 -146.6 343.4 -6.3 230 4860 0.00 2.00 0.00 0.000 6 0.000 0.035 2163 2517 3513

5190 -0.98 -146.6 363.1 -6.2 246 5194 0.00 2.12 0.00 0.000 4 0.000 0.060 2163 3695 3513

5281 -0.98 -146.6 369.7 -7.7 250 5285 0.00 2.00 0.00 0.000 6 0.000 0.036 2163 2519 3513

5614 -0.98 -146.6 393.8 -7.2 266 5618 0.00 2.12 0.00 0.000 4 0.000 0.061 2163 3692 3513

5706 -0.98 -146.6 400.5 -7.1 270 5709 0.00 2.00 0.00 0.000 6 0.000 0.036 2163 2518 3512

6039 -0.98 -146.6 419.9 -4.1 286 6043 0.00 2.12 0.00 0.000 4 0.000 0.063 2163 3688 3513

6131 -0.98 -146.6 424.3 -5.7 290 6135 0.00 2.00 0.00 0.000 6 0.000 0.037 2163 2518 3512

6465 -0.98 -146.6 438.9 -2.9 306 6466 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2518 3512

6774 -0.98 -146.6 455.6 -7.7 321 6777 0.00 2.15 0.00 0.000 4 0.000 0.068 2163 3686 3512

6865 -0.98 -146.6 462.2 -5.4 325 6869 0.00 2.00 0.00 0.000 6 0.000 0.038 2163 2524 3512

7199 -0.98 -146.6 487.0 -7.6 341 7200 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2524 3512

7508 -0.98 -146.6 510.5 -7.2 356 7512 0.00 2.20 0.00 0.000 4 0.000 0.081 2163 3690 3512

7593 -0.98 -146.6 515.5 -6.1 359 7599 0.00 2.08 0.00 0.000 6 0.000 0.048 2163 2515 3512

7909 -0.98 -146.6 537.5 -8.3 375 7913 0.00 2.22 0.00 0.000 4 0.000 0.084 2163 3692 3512

8022 -0.98 -146.6 548.4 -10.0 380 8026 0.00 2.08 0.00 0.000 6 0.000 0.049 2163 2517 3512

8356 -1.05 -146.6 590.7 -13.9 396 8358 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2516 3512

8665 -1.11 -146.6 614.4 -9.6 411 8667 0.15 0.00 0.00 0.000 6 0.050 0.000 2121 2515 3511

8975 -1.04 -146.6 633.0 -2.1 426 8980 0.12 2.22 0.00 0.000 4 0.081 0.083 2147 3689 3512

9129 -1.04 -146.6 640.5 2.0 432 9135 0.00 2.08 0.00 0.000 6 0.000 0.049 2147 2517 3511

9446 -1.04 -146.6 640.1 -1.2 448 9450 0.00 2.60 0.00 0.000 4 0.000 0.072 2147 1103 3511

9576 -1.04 -146.6 648.4 -1.1 454 9581 0.00 2.58 0.00 0.000 6 0.000 0.061 2147 2516 3511

9904 -1.04 -146.6 639.9 -5.5 470 9905 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2516 3511

10213 -1.04 -146.6 674.7 -11.8 485 10216 0.00 2.20 0.00 0.000 4 0.000 0.084 2147 3699 3510

10266 end dive: BOTTOM_OBSTACLE_DETECTED

state 10266 begin apogee

10276 -0.45 0.0 682.8 14.0 487 10408 0.55 0.00 128.35 1.279 6 0.070 0.000 2269 2317 2915

10409 end apogee: CONTROL_FINISHED_OK

state 10409 begin climb

10413 1.16 146.6 693.4 0.0 494 10551 1.62 2.72 127.90 1.243 4 0.055 0.073 2623 914 2317

10629 1.26 267.2 687.6 2.4 504 10741 0.12 2.60 105.53 1.223 6 0.067 0.060 2651 2315 1825

11064 1.21 267.2 650.3 10.5 525 11068 0.00 2.60 0.00 0.000 4 0.000 0.080 2651 3693 1824

11176 1.10 267.2 640.2 11.9 530 11181 0.17 2.47 0.00 0.000 6 0.091 0.048 2617 2315 1823

11498 1.57 650.7 640.0 -5.4 546 11759 0.43 2.72 251.48 1.218 4 0.039 0.076 2723 3697 658

11882 1.46 650.7 590.0 23.3 564 11887 0.15 2.47 0.00 0.000 6 0.101 0.044 2694 2313 656

12209 1.46 650.7 525.7 18.4 580 12214 0.00 2.60 0.00 0.000 4 0.000 0.071 2694 3696 656

12295 1.46 650.7 510.4 15.5 584 12299 0.00 2.45 0.00 0.000 6 0.000 0.043 2694 2311 655

12628 1.46 650.7 465.3 10.9 600 12632 0.00 2.58 0.00 0.000 4 0.000 0.065 2694 3697 655

12690 1.46 650.7 458.8 10.2 603 12695 0.00 2.45 0.00 0.000 6 0.000 0.041 2694 2305 655

13018 1.46 650.7 419.0 10.8 619 13022 0.00 2.58 0.00 0.000 4 0.000 0.062 2694 3703 655

13090 1.46 650.7 410.8 11.9 622 13095 0.00 2.42 0.00 0.000 6 0.000 0.038 2694 2313 655

13407 1.46 650.7 373.4 11.6 637 13411 0.00 2.55 0.00 0.000 4 0.000 0.060 2694 3707 655

13463 1.46 650.7 366.1 12.9 639 13469 0.00 2.42 0.00 0.000 6 0.000 0.038 2695 2312 655

13779 1.46 650.7 324.2 13.3 655 13783 0.00 2.53 0.00 0.000 4 0.000 0.058 2694 3697 655

13835 1.46 650.7 316.3 14.5 657 13841 0.00 2.40 0.00 0.000 6 0.000 0.036 2695 2310 655

14151 1.46 650.7 273.2 13.1 673 14155 0.00 2.53 0.00 0.000 4 0.000 0.057 2695 3700 655

14207 1.46 650.7 265.4 13.8 675 14212 0.00 2.40 0.00 0.000 6 0.000 0.036 2694 2310 655

14524 1.46 650.7 222.5 15.3 690 14528 0.00 2.53 0.00 0.000 4 0.000 0.056 2695 3705 655

14579 1.46 650.7 213.8 14.6 692 14585 0.00 2.40 0.00 0.000 6 0.000 0.035 2694 2314 655

14895 1.46 650.7 171.7 13.1 708 14900 0.00 2.50 0.00 0.000 4 0.000 0.054 2694 3697 655

14963 1.46 650.7 162.3 14.1 711 14967 0.00 2.38 0.00 0.000 6 0.000 0.035 2694 2310 656

15290 1.46 650.7 122.9 11.6 727 15294 0.00 2.50 0.00 0.000 4 0.000 0.054 2694 3699 655

15346 1.46 650.7 115.3 13.2 729 15353 0.00 2.38 0.00 0.000 6 0.000 0.035 2694 2305 655

15663 1.46 650.7 70.7 14.6 745 15667 0.00 2.53 0.00 0.000 4 0.000 0.054 2694 3709 655

15713 1.46 650.7 63.0 13.9 747 15718 0.00 2.40 0.00 0.000 6 0.000 0.035 2695 2309 655

16030 1.46 650.7 19.9 15.6 762 16034 0.00 2.50 0.00 0.000 4 0.000 0.051 2694 3707 656

16080 1.46 650.7 12.8 11.7 764 16084 0.00 2.40 0.00 0.000 6 0.000 0.035 2694 2309 656

16187 end climb: SURFACE_DEPTH_REACHED

state 16188 begin surface coast

16209 end surface coast: CONTROL_FINISHED_OK

state 16209 begin surface

ID	101	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	60	ROLL_MIN	177	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	139	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3698	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	48.150002	C_ROLL_DIVE	2517	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-125.67	C_ROLL_CLIMB	2317	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	657	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3935	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2915	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	0	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	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-734743.5	VBD_BLEED_AD_RATE	10	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	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	29	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3302	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	0.94999993	C_PITCH	2375	PRESSURE_YINT	-14.271928	SEABIRD_T_G	0.0042858003
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00062598009
MASS	50300	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.1740922e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-1.3	SEABIRD_T_J	2.0518198e-06
FERRY_MAX	45	PITCH_GAIN	11	TCM_ROLL_OFFSET	-0.2	SEABIRD_C_G	-9.9824123
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1171527
HD_A	0.0034169999	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00017022179
HD_B	0.0095870001	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010324208
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	161007,6327.916,-1306.347,24,1.1,24,-12.3	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6330.000,-1257.000
_XMS_NAKs	9	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-44.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161615,6327.849,-1306.625,12,1.5,12,-12.3	MHEAD_RNG_PITCHd_Wd	75.7,8896,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	1.2,1.027422	ALTIM_BOTTOM_PING	601.5,90.8
SM_CCo	16294,0.00,0.000,0,0,655,554.38	_24V_AH	23.1,23.106
SM_GC	1.55,11.73,0.00,0.00,0.034,0.000,0.000,22,2540,655,-10.76,0.62,554.38	_10V_AH	10.1,10.196
IRIDIUM_FIX	6303.50,-1306.17,230298,111143	DATA_FILE_SIZE	37995,770
TT8_MAMPS	0.028379	CAP_FILE_SIZE	126146,0
HUMID	2029	CFSIZE	260165632,251011072
INTERNAL_PRESSURE	7.72491	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	17.30	GPS	291108,204931,6328.666,-1305.117,39,1.4,39,-12.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	124	75.92	SBE_CT	568	24	315.24
Roll_motor	143	84	279.87	SBE_O2	524	19	230.17
VBD_pump_during_apogee	613	1279	18123.45	WL_BB2F	465	105	1129.10
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	26	103	62.14	nil	0	0	0.00
Iridium_during_connect	26	160	98.61	nil	0	0	0.00
Iridium_during_xfer	185	223	957.38
Transponder_ping	5	420	50.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.92
TT8	1460	19	291.98
LPSleep	11947	2	264.28
TT8_Active	654	19	130.84
TT8_Sampling	2027	39	814.89
TT8_CF8	574	45	265.71
TT8_Kalman	0	0	0.00
Analog_circuits	1720	12	208.57
GPS_charging	0	0	0.00
Compass	1975	8	159.64
RAFOS	0	0	0.00
Transponder	34	30	10.54

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	-1.16	-146.6	0.0	0.0	0	99	0.00	0.00	-80.80	0.000	2	0.000	0.000	22	2534	2996
103	-1.16	-146.6	3.7	-3.7	4	134	10.88	2.53	-14.82	0.000	4	0.124	0.056	2114	1110	3513
337	-1.09	-146.6	41.0	-8.2	14	344	0.10	2.47	0.00	0.000	6	0.100	0.040	2133	2522	3514
656	-1.03	-146.6	60.9	-9.4	30	657	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2522	3514
964	-0.95	-146.6	88.7	-8.7	45	966	0.17	0.00	0.00	0.000	6	0.077	0.000	2170	2522	3513
1273	-1.00	-146.6	97.9	-2.7	60	1274	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2522	3513
1582	-1.00	-146.6	108.8	-6.8	75	1585	0.00	2.08	0.00	0.000	4	0.000	0.059	2169	3692	3513
1733	-1.00	-146.6	120.3	-8.0	81	1740	0.00	2.03	0.00	0.000	6	0.000	0.035	2170	2500	3513
2050	-1.00	-146.6	168.3	-17.3	97	2053	0.00	2.15	0.00	0.000	4	0.000	0.056	2170	3698	3513
2078	-1.05	-146.6	173.3	-17.0	98	2083	0.12	2.03	0.00	0.000	6	0.055	0.036	2137	2506	3513
2409	-0.98	-146.6	202.1	-5.6	114	2411	0.12	0.00	0.00	0.000	6	0.080	0.000	2163	2506	3513
2715	-0.98	-146.6	214.6	-3.7	129	2718	0.00	2.12	0.00	0.000	4	0.000	0.057	2162	3691	3513
2839	-0.98	-146.6	221.8	-6.4	134	2842	0.00	2.00	0.00	0.000	6	0.000	0.035	2163	2511	3513
3161	-0.98	-146.6	238.6	-5.0	150	3162	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2510	3513
3470	-0.98	-146.6	255.7	-6.5	165	3474	0.00	2.12	0.00	0.000	4	0.000	0.057	2163	3696	3513
3607	-0.98	-146.6	265.9	-6.3	171	3610	0.00	2.00	0.00	0.000	6	0.000	0.035	2163	2514	3513
3940	-0.98	-146.6	290.2	-6.5	187	3943	0.00	2.10	0.00	0.000	4	0.000	0.058	2163	3689	3513
4024	-0.98	-146.6	295.3	-4.8	190	4031	0.00	2.03	0.00	0.000	6	0.000	0.035	2163	2494	3513
4341	-0.98	-146.6	309.7	-6.1	206	4345	0.00	2.15	0.00	0.000	4	0.000	0.058	2163	3692	3513
4437	-0.98	-146.6	316.4	-6.6	210	4441	0.00	2.00	0.00	0.000	6	0.000	0.035	2163	2512	3513
4765	-0.98	-146.6	337.8	-6.5	226	4769	0.00	2.12	0.00	0.000	4	0.000	0.058	2163	3696	3513
4856	-0.98	-146.6	343.4	-6.3	230	4860	0.00	2.00	0.00	0.000	6	0.000	0.035	2163	2517	3513
5190	-0.98	-146.6	363.1	-6.2	246	5194	0.00	2.12	0.00	0.000	4	0.000	0.060	2163	3695	3513
5281	-0.98	-146.6	369.7	-7.7	250	5285	0.00	2.00	0.00	0.000	6	0.000	0.036	2163	2519	3513
5614	-0.98	-146.6	393.8	-7.2	266	5618	0.00	2.12	0.00	0.000	4	0.000	0.061	2163	3692	3513
5706	-0.98	-146.6	400.5	-7.1	270	5709	0.00	2.00	0.00	0.000	6	0.000	0.036	2163	2518	3512
6039	-0.98	-146.6	419.9	-4.1	286	6043	0.00	2.12	0.00	0.000	4	0.000	0.063	2163	3688	3513
6131	-0.98	-146.6	424.3	-5.7	290	6135	0.00	2.00	0.00	0.000	6	0.000	0.037	2163	2518	3512
6465	-0.98	-146.6	438.9	-2.9	306	6466	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2518	3512
6774	-0.98	-146.6	455.6	-7.7	321	6777	0.00	2.15	0.00	0.000	4	0.000	0.068	2163	3686	3512
6865	-0.98	-146.6	462.2	-5.4	325	6869	0.00	2.00	0.00	0.000	6	0.000	0.038	2163	2524	3512
7199	-0.98	-146.6	487.0	-7.6	341	7200	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2524	3512
7508	-0.98	-146.6	510.5	-7.2	356	7512	0.00	2.20	0.00	0.000	4	0.000	0.081	2163	3690	3512
7593	-0.98	-146.6	515.5	-6.1	359	7599	0.00	2.08	0.00	0.000	6	0.000	0.048	2163	2515	3512
7909	-0.98	-146.6	537.5	-8.3	375	7913	0.00	2.22	0.00	0.000	4	0.000	0.084	2163	3692	3512
8022	-0.98	-146.6	548.4	-10.0	380	8026	0.00	2.08	0.00	0.000	6	0.000	0.049	2163	2517	3512
8356	-1.05	-146.6	590.7	-13.9	396	8358	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2516	3512
8665	-1.11	-146.6	614.4	-9.6	411	8667	0.15	0.00	0.00	0.000	6	0.050	0.000	2121	2515	3511
8975	-1.04	-146.6	633.0	-2.1	426	8980	0.12	2.22	0.00	0.000	4	0.081	0.083	2147	3689	3512
9129	-1.04	-146.6	640.5	2.0	432	9135	0.00	2.08	0.00	0.000	6	0.000	0.049	2147	2517	3511
9446	-1.04	-146.6	640.1	-1.2	448	9450	0.00	2.60	0.00	0.000	4	0.000	0.072	2147	1103	3511
9576	-1.04	-146.6	648.4	-1.1	454	9581	0.00	2.58	0.00	0.000	6	0.000	0.061	2147	2516	3511
9904	-1.04	-146.6	639.9	-5.5	470	9905	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2516	3511
10213	-1.04	-146.6	674.7	-11.8	485	10216	0.00	2.20	0.00	0.000	4	0.000	0.084	2147	3699	3510
10266	end dive: BOTTOM_OBSTACLE_DETECTED
state	10266	begin apogee
10276	-0.45	0.0	682.8	14.0	487	10408	0.55	0.00	128.35	1.279	6	0.070	0.000	2269	2317	2915
10409	end apogee: CONTROL_FINISHED_OK
state	10409	begin climb
10413	1.16	146.6	693.4	0.0	494	10551	1.62	2.72	127.90	1.243	4	0.055	0.073	2623	914	2317
10629	1.26	267.2	687.6	2.4	504	10741	0.12	2.60	105.53	1.223	6	0.067	0.060	2651	2315	1825
11064	1.21	267.2	650.3	10.5	525	11068	0.00	2.60	0.00	0.000	4	0.000	0.080	2651	3693	1824
11176	1.10	267.2	640.2	11.9	530	11181	0.17	2.47	0.00	0.000	6	0.091	0.048	2617	2315	1823
11498	1.57	650.7	640.0	-5.4	546	11759	0.43	2.72	251.48	1.218	4	0.039	0.076	2723	3697	658
11882	1.46	650.7	590.0	23.3	564	11887	0.15	2.47	0.00	0.000	6	0.101	0.044	2694	2313	656
12209	1.46	650.7	525.7	18.4	580	12214	0.00	2.60	0.00	0.000	4	0.000	0.071	2694	3696	656
12295	1.46	650.7	510.4	15.5	584	12299	0.00	2.45	0.00	0.000	6	0.000	0.043	2694	2311	655
12628	1.46	650.7	465.3	10.9	600	12632	0.00	2.58	0.00	0.000	4	0.000	0.065	2694	3697	655
12690	1.46	650.7	458.8	10.2	603	12695	0.00	2.45	0.00	0.000	6	0.000	0.041	2694	2305	655
13018	1.46	650.7	419.0	10.8	619	13022	0.00	2.58	0.00	0.000	4	0.000	0.062	2694	3703	655
13090	1.46	650.7	410.8	11.9	622	13095	0.00	2.42	0.00	0.000	6	0.000	0.038	2694	2313	655
13407	1.46	650.7	373.4	11.6	637	13411	0.00	2.55	0.00	0.000	4	0.000	0.060	2694	3707	655
13463	1.46	650.7	366.1	12.9	639	13469	0.00	2.42	0.00	0.000	6	0.000	0.038	2695	2312	655
13779	1.46	650.7	324.2	13.3	655	13783	0.00	2.53	0.00	0.000	4	0.000	0.058	2694	3697	655
13835	1.46	650.7	316.3	14.5	657	13841	0.00	2.40	0.00	0.000	6	0.000	0.036	2695	2310	655
14151	1.46	650.7	273.2	13.1	673	14155	0.00	2.53	0.00	0.000	4	0.000	0.057	2695	3700	655
14207	1.46	650.7	265.4	13.8	675	14212	0.00	2.40	0.00	0.000	6	0.000	0.036	2694	2310	655
14524	1.46	650.7	222.5	15.3	690	14528	0.00	2.53	0.00	0.000	4	0.000	0.056	2695	3705	655
14579	1.46	650.7	213.8	14.6	692	14585	0.00	2.40	0.00	0.000	6	0.000	0.035	2694	2314	655
14895	1.46	650.7	171.7	13.1	708	14900	0.00	2.50	0.00	0.000	4	0.000	0.054	2694	3697	655
14963	1.46	650.7	162.3	14.1	711	14967	0.00	2.38	0.00	0.000	6	0.000	0.035	2694	2310	656
15290	1.46	650.7	122.9	11.6	727	15294	0.00	2.50	0.00	0.000	4	0.000	0.054	2694	3699	655
15346	1.46	650.7	115.3	13.2	729	15353	0.00	2.38	0.00	0.000	6	0.000	0.035	2694	2305	655
15663	1.46	650.7	70.7	14.6	745	15667	0.00	2.53	0.00	0.000	4	0.000	0.054	2694	3709	655
15713	1.46	650.7	63.0	13.9	747	15718	0.00	2.40	0.00	0.000	6	0.000	0.035	2695	2309	655
16030	1.46	650.7	19.9	15.6	762	16034	0.00	2.50	0.00	0.000	4	0.000	0.051	2694	3707	656
16080	1.46	650.7	12.8	11.7	764	16084	0.00	2.40	0.00	0.000	6	0.000	0.035	2694	2309	656
16187	end climb: SURFACE_DEPTH_REACHED
state	16188	begin surface coast
16209	end surface coast: CONTROL_FINISHED_OK
state	16209	begin surface