Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 154 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 154 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 13 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

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 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 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 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2096197.8 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

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 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

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 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2096197.8

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 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 13 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 154 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 012738,6212.796,-1014.552,34,1.4,34,-10.2 TGT_NAME DW

_CALLS 1 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.21 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -49.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 013303,6212.766,-1014.576,15,1.7,15,-10.2 MHEAD_RNG_PITCHd_Wd 293.4,18091,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027052 ALTIM_BOTTOM_PING 801.0,27.9

SM_CCo 17086,135.20,0.621,0,0,508,557.32 _24V_AH 23.6,27.499

SM_GC 1.19,0.00,0.00,135.20,0.000,0.000,0.621,72,2304,508,-10.24,0.11,557.32 _10V_AH 10.2,13.532

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41131,821

TT8_MAMPS 0.02301 CAP_FILE_SIZE 123216,0

HUMID 1857 CFSIZE 260165632,249245696

TCM_TEMP 19.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,1,0

XPDR_PINGS 16 GPS 070708,062138,6211.817,-1022.133,39,1.2,39,-10.2

ALTIM_TOP_PING 18.4,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 168 100.05 SBE_CT 600 24 339.90

Roll_motor 132 80 251.22 SBE_O2 563 19 252.68

VBD_pump_during_apogee 392 1175 10883.91 WL_BB2F 468 105 1160.11

VBD_pump_during_surface 135 621 1982.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.79 nil 0 0 0.00

Iridium_during_connect 25 160 97.19 nil 0 0 0.00

Iridium_during_xfer 153 223 807.50

Transponder_ping 11 420 113.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.09

TT8 1503 19 303.69

LPSleep 13060 2 291.74

TT8_Active 696 19 140.71

TT8_Sampling 1803 39 732.30

TT8_CF8 477 45 223.09

TT8_Kalman 0 81 0.00

Analog_circuits 1612 12 197.38

GPS_charging 0 0 0.00

Compass 1753 8 143.06

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.08 -146.6 0.0 0.0 0 155 0.00 0.00 -125.57 0.000 2 0.000 0.000 70 2294 3157

158 -1.08 -146.6 4.8 -4.1 7 181 11.15 2.65 -4.43 0.000 4 0.169 0.078 2056 3712 3380

434 -0.89 -146.6 55.6 -14.4 19 439 0.25 2.60 0.00 0.000 6 0.097 0.053 2105 2294 3380

756 -0.85 -146.6 90.0 -11.3 35 757 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2293 3380

1066 -0.85 -146.6 126.5 -11.4 50 1067 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2294 3381

1373 -0.85 -146.6 157.2 -9.1 65 1375 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2294 3381

1683 -0.85 -146.6 186.8 -10.0 80 1687 0.00 2.62 0.00 0.000 4 0.000 0.066 2105 876 3381

1727 -0.85 -146.6 191.3 -9.3 82 1731 0.00 2.60 0.00 0.000 6 0.000 0.052 2105 2303 3381

2048 -0.85 -146.6 225.2 -11.2 98 2049 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2303 3381

2357 -0.85 -146.6 259.0 -10.8 113 2361 0.00 2.65 0.00 0.000 4 0.000 0.065 2105 877 3380

2406 -0.85 -146.6 264.4 -10.2 115 2411 0.00 2.60 0.00 0.000 6 0.000 0.051 2105 2300 3381

2722 -0.85 -146.6 298.9 -11.3 130 2723 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2300 3380

3031 -0.85 -146.6 334.0 -11.3 145 3036 0.00 2.67 0.00 0.000 4 0.000 0.067 2105 875 3380

3081 -0.85 -146.6 339.7 -11.1 147 3085 0.00 2.60 0.00 0.000 6 0.000 0.053 2105 2304 3380

3396 -0.85 -146.6 374.1 -10.9 162 3401 0.00 2.67 0.00 0.000 4 0.000 0.067 2105 881 3380

3452 -0.85 -146.6 380.3 -10.1 164 3458 0.00 2.60 0.00 0.000 6 0.000 0.053 2105 2300 3380

3768 -0.85 -146.6 413.9 -10.5 180 3772 0.00 2.65 0.00 0.000 4 0.000 0.066 2105 884 3380

3817 -0.85 -146.6 419.1 -10.3 182 3821 0.00 2.58 0.00 0.000 6 0.000 0.054 2105 2299 3380

4134 -0.85 -146.6 451.3 -10.3 197 4138 0.00 2.65 0.00 0.000 4 0.000 0.067 2105 883 3380

4189 -0.85 -146.6 457.2 -10.2 199 4195 0.00 2.60 0.00 0.000 6 0.000 0.054 2105 2305 3380

4504 -0.85 -146.6 490.1 -11.0 215 4505 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2304 3380

4814 -0.85 -146.6 522.7 -10.2 230 4818 0.00 2.67 0.00 0.000 4 0.000 0.066 2105 877 3380

4864 -0.89 -146.6 528.1 -10.5 232 4869 0.00 2.60 0.00 0.000 6 0.000 0.053 2105 2303 3380

5180 -0.89 -146.6 562.3 -11.2 247 5185 0.00 2.65 0.00 0.000 4 0.000 0.066 2105 883 3378

5225 -0.89 -146.6 567.3 -10.8 249 5229 0.00 2.58 0.00 0.000 6 0.000 0.052 2105 2299 3380

5546 -0.89 -146.6 602.1 -10.4 265 5551 0.00 2.65 0.00 0.000 4 0.000 0.064 2105 880 3379

5586 -0.89 -146.6 606.1 -9.6 267 5590 0.00 2.60 0.00 0.000 6 0.000 0.052 2105 2302 3379

5913 -0.89 -146.6 639.1 -10.5 283 5917 0.00 2.65 0.00 0.000 4 0.000 0.064 2105 881 3379

5952 -0.93 -146.6 643.2 -10.8 285 5957 0.00 2.60 0.00 0.000 6 0.000 0.053 2105 2303 3379

6280 -0.93 -146.6 675.7 -10.0 301 6285 0.00 2.65 0.00 0.000 4 0.000 0.064 2105 884 3379

6337 -0.98 -146.6 681.6 -9.9 303 6343 0.00 2.58 0.00 0.000 6 0.000 0.053 2105 2299 3379

6652 -0.98 -146.6 714.6 -10.8 319 6653 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2300 3378

6962 -0.98 -146.6 743.9 -8.7 334 6963 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2299 3378

7271 -0.98 -146.6 770.6 -8.5 349 7272 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2299 3378

7580 -0.98 -146.6 795.4 -8.3 364 7581 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2300 3378

7846 end dive: BOTTOM_OBSTACLE_DETECTED

state 7846 begin apogee

7853 -0.31 0.0 820.5 9.1 377 7990 0.62 0.00 133.32 1.176 6 0.097 0.000 2229 2195 2781

7990 end apogee: CONTROL_FINISHED_OK

state 7990 begin climb

7993 1.08 146.6 826.3 0.0 384 8137 1.42 2.83 131.52 1.158 4 0.075 0.081 2532 3598 2183

8254 1.12 222.5 815.4 5.2 396 8337 0.00 2.65 69.97 1.113 6 0.000 0.063 2532 2204 1874

8647 1.19 222.5 786.8 8.2 415 8649 0.12 0.00 0.00 0.000 6 0.053 0.000 2568 2204 1873

8955 1.19 222.5 756.6 9.9 430 8956 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2204 1872

9264 1.15 222.5 726.7 9.0 445 9269 0.00 2.70 0.00 0.000 4 0.000 0.077 2568 3604 1871

9435 1.11 222.5 709.8 10.3 452 9441 0.15 2.62 0.00 0.000 6 0.100 0.061 2540 2201 1870

9751 1.16 228.6 685.4 7.8 468 9759 0.00 0.00 6.53 0.872 6 0.000 0.000 2540 2201 1849

10060 1.22 231.6 661.2 7.9 483 10070 0.12 2.70 4.30 0.713 4 0.054 0.073 2576 3607 1837

10185 1.14 231.6 648.7 10.5 488 10192 0.15 2.60 0.00 0.000 6 0.100 0.058 2548 2201 1837

10501 1.15 234.8 623.8 7.9 504 10511 0.00 2.67 4.82 0.747 4 0.000 0.074 2548 3606 1823

10545 1.15 234.8 619.8 9.6 506 10549 0.00 2.60 0.00 0.000 6 0.000 0.058 2548 2201 1823

10865 1.15 234.8 592.7 8.5 522 10866 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2201 1823

11175 1.15 234.8 565.6 9.0 537 11179 0.00 2.65 0.00 0.000 4 0.000 0.072 2548 3606 1823

11254 1.15 234.8 558.0 9.9 540 11260 0.00 2.58 0.00 0.000 6 0.000 0.058 2548 2202 1823

11570 1.15 234.8 530.7 8.7 556 11571 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2197 1823

11879 1.15 234.8 505.1 8.2 571 11880 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2197 1823

12188 1.16 243.7 480.8 7.7 586 12203 0.00 2.67 9.32 0.833 4 0.000 0.074 2548 3606 1787

12253 1.16 243.7 475.3 8.7 588 12258 0.00 2.62 0.00 0.000 6 0.000 0.059 2548 2198 1787

12575 1.22 257.9 450.9 7.5 604 12594 0.00 0.00 14.05 0.869 6 0.000 0.000 2548 2197 1728

12904 1.28 264.9 425.7 7.7 620 12919 0.15 2.72 7.75 0.769 4 0.046 0.073 2592 3609 1700

12959 1.20 264.9 419.9 11.7 622 12964 0.17 2.65 0.00 0.000 6 0.092 0.061 2559 2192 1700

13274 1.20 264.9 386.7 11.4 637 13275 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2192 1700

13583 1.20 264.9 348.9 12.4 652 13588 0.00 2.67 0.00 0.000 4 0.000 0.074 2559 3606 1700

13639 1.20 264.9 341.3 13.2 654 13645 0.00 2.62 0.00 0.000 6 0.000 0.062 2559 2194 1700

13955 1.20 264.9 301.6 11.9 670 13956 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2194 1701

14264 1.20 264.9 270.0 9.5 685 14265 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2194 1700

14574 1.20 264.9 243.7 8.5 700 14578 0.00 2.67 0.00 0.000 4 0.000 0.072 2559 3612 1701

14613 1.20 264.9 239.8 10.1 702 14617 0.00 2.62 0.00 0.000 6 0.000 0.062 2559 2202 1701

14939 1.20 264.9 211.0 9.2 718 14940 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2201 1701

15249 1.20 264.9 180.1 10.3 733 15253 0.00 2.65 0.00 0.000 4 0.000 0.072 2559 3607 1701

15288 1.20 264.9 175.7 11.5 735 15292 0.00 2.62 0.00 0.000 6 0.000 0.061 2559 2196 1701

15616 1.20 264.9 141.9 10.3 751 15617 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2196 1701

15924 1.20 264.9 111.4 9.6 766 15928 0.00 2.65 0.00 0.000 4 0.000 0.071 2559 3607 1701

15986 1.20 264.9 105.2 10.0 769 15991 0.00 2.60 0.00 0.000 6 0.000 0.061 2559 2200 1701

16315 1.20 264.9 73.9 10.0 785 16316 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2200 1701

16623 1.20 264.9 40.8 9.8 800 16628 0.00 2.62 0.00 0.000 4 0.000 0.067 2559 781 1701

16668 1.21 270.3 36.5 7.8 802 16684 0.00 2.58 6.30 0.549 6 0.000 0.049 2559 2204 1679

16993 1.21 270.3 6.1 9.1 818 16997 0.00 2.65 0.00 0.000 4 0.000 0.064 2559 781 1678

17033 1.23 284.4 2.8 7.5 820 17043 0.00 2.60 4.32 0.459 2 0.000 0.050 2559 2203 1657

17043 end climb: SURFACE_DEPTH_REACHED

state 17044 begin surface coast

17064 end surface coast: CONTROL_FINISHED_OK

state 17064 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	154	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	13	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
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	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	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	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2096197.8	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
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	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	012738,6212.796,-1014.552,34,1.4,34,-10.2	TGT_NAME	DW
_CALLS	1	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.21	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-49.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	013303,6212.766,-1014.576,15,1.7,15,-10.2	MHEAD_RNG_PITCHd_Wd	293.4,18091,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.027052	ALTIM_BOTTOM_PING	801.0,27.9
SM_CCo	17086,135.20,0.621,0,0,508,557.32	_24V_AH	23.6,27.499
SM_GC	1.19,0.00,0.00,135.20,0.000,0.000,0.621,72,2304,508,-10.24,0.11,557.32	_10V_AH	10.2,13.532
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41131,821
TT8_MAMPS	0.02301	CAP_FILE_SIZE	123216,0
HUMID	1857	CFSIZE	260165632,249245696
TCM_TEMP	19.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
XPDR_PINGS	16	GPS	070708,062138,6211.817,-1022.133,39,1.2,39,-10.2
ALTIM_TOP_PING	18.4,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	168	100.05	SBE_CT	600	24	339.90
Roll_motor	132	80	251.22	SBE_O2	563	19	252.68
VBD_pump_during_apogee	392	1175	10883.91	WL_BB2F	468	105	1160.11
VBD_pump_during_surface	135	621	1982.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.79	nil	0	0	0.00
Iridium_during_connect	25	160	97.19	nil	0	0	0.00
Iridium_during_xfer	153	223	807.50
Transponder_ping	11	420	113.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.09
TT8	1503	19	303.69
LPSleep	13060	2	291.74
TT8_Active	696	19	140.71
TT8_Sampling	1803	39	732.30
TT8_CF8	477	45	223.09
TT8_Kalman	0	81	0.00
Analog_circuits	1612	12	197.38
GPS_charging	0	0	0.00
Compass	1753	8	143.06
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.08	-146.6	0.0	0.0	0	155	0.00	0.00	-125.57	0.000	2	0.000	0.000	70	2294	3157
158	-1.08	-146.6	4.8	-4.1	7	181	11.15	2.65	-4.43	0.000	4	0.169	0.078	2056	3712	3380
434	-0.89	-146.6	55.6	-14.4	19	439	0.25	2.60	0.00	0.000	6	0.097	0.053	2105	2294	3380
756	-0.85	-146.6	90.0	-11.3	35	757	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2293	3380
1066	-0.85	-146.6	126.5	-11.4	50	1067	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2294	3381
1373	-0.85	-146.6	157.2	-9.1	65	1375	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2294	3381
1683	-0.85	-146.6	186.8	-10.0	80	1687	0.00	2.62	0.00	0.000	4	0.000	0.066	2105	876	3381
1727	-0.85	-146.6	191.3	-9.3	82	1731	0.00	2.60	0.00	0.000	6	0.000	0.052	2105	2303	3381
2048	-0.85	-146.6	225.2	-11.2	98	2049	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2303	3381
2357	-0.85	-146.6	259.0	-10.8	113	2361	0.00	2.65	0.00	0.000	4	0.000	0.065	2105	877	3380
2406	-0.85	-146.6	264.4	-10.2	115	2411	0.00	2.60	0.00	0.000	6	0.000	0.051	2105	2300	3381
2722	-0.85	-146.6	298.9	-11.3	130	2723	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2300	3380
3031	-0.85	-146.6	334.0	-11.3	145	3036	0.00	2.67	0.00	0.000	4	0.000	0.067	2105	875	3380
3081	-0.85	-146.6	339.7	-11.1	147	3085	0.00	2.60	0.00	0.000	6	0.000	0.053	2105	2304	3380
3396	-0.85	-146.6	374.1	-10.9	162	3401	0.00	2.67	0.00	0.000	4	0.000	0.067	2105	881	3380
3452	-0.85	-146.6	380.3	-10.1	164	3458	0.00	2.60	0.00	0.000	6	0.000	0.053	2105	2300	3380
3768	-0.85	-146.6	413.9	-10.5	180	3772	0.00	2.65	0.00	0.000	4	0.000	0.066	2105	884	3380
3817	-0.85	-146.6	419.1	-10.3	182	3821	0.00	2.58	0.00	0.000	6	0.000	0.054	2105	2299	3380
4134	-0.85	-146.6	451.3	-10.3	197	4138	0.00	2.65	0.00	0.000	4	0.000	0.067	2105	883	3380
4189	-0.85	-146.6	457.2	-10.2	199	4195	0.00	2.60	0.00	0.000	6	0.000	0.054	2105	2305	3380
4504	-0.85	-146.6	490.1	-11.0	215	4505	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2304	3380
4814	-0.85	-146.6	522.7	-10.2	230	4818	0.00	2.67	0.00	0.000	4	0.000	0.066	2105	877	3380
4864	-0.89	-146.6	528.1	-10.5	232	4869	0.00	2.60	0.00	0.000	6	0.000	0.053	2105	2303	3380
5180	-0.89	-146.6	562.3	-11.2	247	5185	0.00	2.65	0.00	0.000	4	0.000	0.066	2105	883	3378
5225	-0.89	-146.6	567.3	-10.8	249	5229	0.00	2.58	0.00	0.000	6	0.000	0.052	2105	2299	3380
5546	-0.89	-146.6	602.1	-10.4	265	5551	0.00	2.65	0.00	0.000	4	0.000	0.064	2105	880	3379
5586	-0.89	-146.6	606.1	-9.6	267	5590	0.00	2.60	0.00	0.000	6	0.000	0.052	2105	2302	3379
5913	-0.89	-146.6	639.1	-10.5	283	5917	0.00	2.65	0.00	0.000	4	0.000	0.064	2105	881	3379
5952	-0.93	-146.6	643.2	-10.8	285	5957	0.00	2.60	0.00	0.000	6	0.000	0.053	2105	2303	3379
6280	-0.93	-146.6	675.7	-10.0	301	6285	0.00	2.65	0.00	0.000	4	0.000	0.064	2105	884	3379
6337	-0.98	-146.6	681.6	-9.9	303	6343	0.00	2.58	0.00	0.000	6	0.000	0.053	2105	2299	3379
6652	-0.98	-146.6	714.6	-10.8	319	6653	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2300	3378
6962	-0.98	-146.6	743.9	-8.7	334	6963	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2299	3378
7271	-0.98	-146.6	770.6	-8.5	349	7272	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2299	3378
7580	-0.98	-146.6	795.4	-8.3	364	7581	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2300	3378
7846	end dive: BOTTOM_OBSTACLE_DETECTED
state	7846	begin apogee
7853	-0.31	0.0	820.5	9.1	377	7990	0.62	0.00	133.32	1.176	6	0.097	0.000	2229	2195	2781
7990	end apogee: CONTROL_FINISHED_OK
state	7990	begin climb
7993	1.08	146.6	826.3	0.0	384	8137	1.42	2.83	131.52	1.158	4	0.075	0.081	2532	3598	2183
8254	1.12	222.5	815.4	5.2	396	8337	0.00	2.65	69.97	1.113	6	0.000	0.063	2532	2204	1874
8647	1.19	222.5	786.8	8.2	415	8649	0.12	0.00	0.00	0.000	6	0.053	0.000	2568	2204	1873
8955	1.19	222.5	756.6	9.9	430	8956	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2204	1872
9264	1.15	222.5	726.7	9.0	445	9269	0.00	2.70	0.00	0.000	4	0.000	0.077	2568	3604	1871
9435	1.11	222.5	709.8	10.3	452	9441	0.15	2.62	0.00	0.000	6	0.100	0.061	2540	2201	1870
9751	1.16	228.6	685.4	7.8	468	9759	0.00	0.00	6.53	0.872	6	0.000	0.000	2540	2201	1849
10060	1.22	231.6	661.2	7.9	483	10070	0.12	2.70	4.30	0.713	4	0.054	0.073	2576	3607	1837
10185	1.14	231.6	648.7	10.5	488	10192	0.15	2.60	0.00	0.000	6	0.100	0.058	2548	2201	1837
10501	1.15	234.8	623.8	7.9	504	10511	0.00	2.67	4.82	0.747	4	0.000	0.074	2548	3606	1823
10545	1.15	234.8	619.8	9.6	506	10549	0.00	2.60	0.00	0.000	6	0.000	0.058	2548	2201	1823
10865	1.15	234.8	592.7	8.5	522	10866	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2201	1823
11175	1.15	234.8	565.6	9.0	537	11179	0.00	2.65	0.00	0.000	4	0.000	0.072	2548	3606	1823
11254	1.15	234.8	558.0	9.9	540	11260	0.00	2.58	0.00	0.000	6	0.000	0.058	2548	2202	1823
11570	1.15	234.8	530.7	8.7	556	11571	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2197	1823
11879	1.15	234.8	505.1	8.2	571	11880	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2197	1823
12188	1.16	243.7	480.8	7.7	586	12203	0.00	2.67	9.32	0.833	4	0.000	0.074	2548	3606	1787
12253	1.16	243.7	475.3	8.7	588	12258	0.00	2.62	0.00	0.000	6	0.000	0.059	2548	2198	1787
12575	1.22	257.9	450.9	7.5	604	12594	0.00	0.00	14.05	0.869	6	0.000	0.000	2548	2197	1728
12904	1.28	264.9	425.7	7.7	620	12919	0.15	2.72	7.75	0.769	4	0.046	0.073	2592	3609	1700
12959	1.20	264.9	419.9	11.7	622	12964	0.17	2.65	0.00	0.000	6	0.092	0.061	2559	2192	1700
13274	1.20	264.9	386.7	11.4	637	13275	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2192	1700
13583	1.20	264.9	348.9	12.4	652	13588	0.00	2.67	0.00	0.000	4	0.000	0.074	2559	3606	1700
13639	1.20	264.9	341.3	13.2	654	13645	0.00	2.62	0.00	0.000	6	0.000	0.062	2559	2194	1700
13955	1.20	264.9	301.6	11.9	670	13956	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2194	1701
14264	1.20	264.9	270.0	9.5	685	14265	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2194	1700
14574	1.20	264.9	243.7	8.5	700	14578	0.00	2.67	0.00	0.000	4	0.000	0.072	2559	3612	1701
14613	1.20	264.9	239.8	10.1	702	14617	0.00	2.62	0.00	0.000	6	0.000	0.062	2559	2202	1701
14939	1.20	264.9	211.0	9.2	718	14940	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2201	1701
15249	1.20	264.9	180.1	10.3	733	15253	0.00	2.65	0.00	0.000	4	0.000	0.072	2559	3607	1701
15288	1.20	264.9	175.7	11.5	735	15292	0.00	2.62	0.00	0.000	6	0.000	0.061	2559	2196	1701
15616	1.20	264.9	141.9	10.3	751	15617	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2196	1701
15924	1.20	264.9	111.4	9.6	766	15928	0.00	2.65	0.00	0.000	4	0.000	0.071	2559	3607	1701
15986	1.20	264.9	105.2	10.0	769	15991	0.00	2.60	0.00	0.000	6	0.000	0.061	2559	2200	1701
16315	1.20	264.9	73.9	10.0	785	16316	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2200	1701
16623	1.20	264.9	40.8	9.8	800	16628	0.00	2.62	0.00	0.000	4	0.000	0.067	2559	781	1701
16668	1.21	270.3	36.5	7.8	802	16684	0.00	2.58	6.30	0.549	6	0.000	0.049	2559	2204	1679
16993	1.21	270.3	6.1	9.1	818	16997	0.00	2.65	0.00	0.000	4	0.000	0.064	2559	781	1678
17033	1.23	284.4	2.8	7.5	820	17043	0.00	2.60	4.32	0.459	2	0.000	0.050	2559	2203	1657
17043	end climb: SURFACE_DEPTH_REACHED
state	17044	begin surface coast
17064	end surface coast: CONTROL_FINISHED_OK
state	17064	begin surface