Glider dive log

WA coast Sep08 * SG119 * Dive index * Mission links * Dive 24 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 24 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3772 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.130001 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -122.366 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2300 ALTIM_PULSE 3

D_FINISH 0 SM_CC 400 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

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 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 13 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 440 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 480 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 403 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3857 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2837 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 -210167.03 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 27 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 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 1 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 863 AH0_24V 147 SEABIRD_T_G 0.0044304794

SPEED_FACTOR 1 PITCH_MAX 3325 AH0_10V 122.2 SEABIRD_T_H 0.00064686994

RHO 1.023 C_PITCH 2800 PRESSURE_YINT -2.9385166 SEABIRD_T_I 2.8000688e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 3.1833417e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8991232

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.099651

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012204468

HD_A 0.0038945 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_J 0.00018128238

HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3325 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 863 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.9385166 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.366

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 440

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 -210167.03

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 480

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 27

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 119 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3772 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_ROLL_CLIMB 2300 KALMAN_USE 1 ROLL_MIN 200 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2837 MASS 51528 R_PORT_OVSHOOT 13 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -9.8991232 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.099651 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012204468 VBD_MAX 3857

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00018128238 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044304794 VBD_MIN 403

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064686994 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8000688e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 24 PHONE_DEVICE 48 SEABIRD_T_J 3.1833417e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 033137,4701.415,-12553.896,42,1.6,42,18.5 TGT_NAME W_47N_128W

_CALLS 2 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.239,0.009

_SM_DEPTHo 1.19 KALMAN_X 16010.4,1366.4,1108.7,-89036.9,-2308.2

_SM_ANGLEo -72.2 KALMAN_Y 20704.6,409.5,717.7,-16521.8,-388.2

GPS2 033935,4701.425,-12553.814,10,2.3,29,18.5 MHEAD_RNG_PITCHd_Wd 253.7,159402,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.020863 ALTIM_BOTTOM_PING 575.4,5.6

SM_CCo 14770,37.12,0.789,0,0,1206,400.08 _24V_AH 23.1,38.106

SM_GC 1.63,0.00,0.00,37.12,0.000,0.000,0.789,862,2189,1206,-8.91,-0.31,400.08 _10V_AH 10.6,24.117

IRIDIUM_FIX 1630.63,-17433.26,141297,202059 DATA_FILE_SIZE 34859,698

TT8_MAMPS 0.027612 CAP_FILE_SIZE 129954,0

HUMID 2115 CFSIZE 260165632,257683456

INTERNAL_PRESSURE 8.71127 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,19,0,0

TCM_TEMP 17.40 GPS 200908,074825,4702.135,-12554.209,36,1.7,36,18.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 150 99.58 SBE_CT 474 24 263.06

Roll_motor 168 115 450.73 SBE_O2 548 19 240.59

VBD_pump_during_apogee 392 1194 10831.88 WL_BB2F 962 105 2334.32

VBD_pump_during_surface 37 789 676.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 61 103 145.44 nil 0 0 0.00

Iridium_during_connect 55 160 206.11 nil 0 0 0.00

Iridium_during_xfer 172 223 888.16

Transponder_ping 5 420 48.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.81

TT8 1392 19 292.31

LPSleep 10977 2 254.84

TT8_Active 546 19 114.70

TT8_Sampling 1871 39 789.53

TT8_CF8 485 45 235.93

TT8_Kalman 33 81 28.93

Analog_circuits 1466 12 186.55

GPS_charging 0 0 0.00

Compass 1821 8 154.47

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.81 -146.6 0.0 0.0 0 89 0.00 0.00 -66.75 0.000 2 0.000 0.000 861 2205 2843

92 -0.81 -146.6 4.0 -5.8 7 119 12.12 0.00 -11.73 0.000 6 0.150 0.000 2613 2205 3437

448 -0.59 -146.6 64.6 -12.6 56 455 0.30 2.38 0.00 0.000 4 0.089 0.074 2666 780 3439

529 -0.67 -146.6 72.5 -9.0 70 535 0.00 2.30 0.00 0.000 6 0.000 0.062 2666 2203 3439

860 -0.76 -146.6 97.6 -6.8 109 865 0.15 2.40 0.00 0.000 4 0.060 0.088 2630 3610 3439

888 -0.76 -146.6 100.1 -9.5 111 892 0.00 2.35 0.00 0.000 6 0.000 0.067 2631 2181 3439

1213 -0.76 -146.6 128.3 -7.4 141 1217 0.00 2.33 0.00 0.000 4 0.000 0.085 2631 796 3439

1267 -0.76 -146.6 132.2 -7.3 145 1274 0.00 2.30 0.00 0.000 6 0.000 0.070 2630 2200 3439

1592 -0.76 -146.6 155.0 -7.9 173 1596 0.00 2.38 0.00 0.000 4 0.000 0.084 2631 796 3439

1618 -0.76 -146.6 157.4 -8.1 174 1623 0.00 2.35 0.00 0.000 6 0.000 0.071 2631 2200 3439

1941 -0.76 -146.6 181.4 -7.3 190 1944 0.00 2.38 0.00 0.000 4 0.000 0.084 2630 786 3439

1986 -0.76 -146.6 184.9 -7.7 192 1990 0.00 2.35 0.00 0.000 6 0.000 0.072 2630 2206 3440

2312 -0.76 -146.6 210.9 -8.2 208 2316 0.00 2.40 0.00 0.000 4 0.000 0.086 2631 789 3439

2344 -0.76 -146.6 213.7 -8.5 209 2351 0.00 2.38 0.00 0.000 6 0.000 0.073 2631 2203 3439

2660 -0.76 -146.6 240.4 -9.1 225 2661 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2203 3439

2969 -0.76 -146.6 268.0 -8.8 240 2973 0.00 2.40 0.00 0.000 4 0.000 0.087 2631 791 3438

3018 -0.76 -146.6 272.5 -8.5 242 3022 0.00 2.33 0.00 0.000 6 0.000 0.074 2630 2199 3438

3339 -0.76 -146.6 299.4 -8.1 258 3343 0.00 2.40 0.00 0.000 4 0.000 0.087 2631 789 3438

3366 -0.76 -146.6 301.6 -7.9 259 3370 0.00 2.35 0.00 0.000 6 0.000 0.074 2630 2208 3438

3710 -0.76 -146.6 326.5 -7.1 265 3714 0.00 2.40 0.00 0.000 4 0.000 0.088 2631 796 3437

3737 -0.76 -146.6 328.5 -7.1 265 3741 0.00 2.33 0.00 0.000 6 0.000 0.074 2631 2201 3437

4069 -0.76 -146.6 350.2 -6.6 271 4073 0.00 2.40 0.00 0.000 4 0.000 0.089 2631 793 3437

4092 -0.76 -146.6 351.7 -6.5 271 4096 0.00 2.33 0.00 0.000 6 0.000 0.074 2630 2199 3437

4429 -0.76 -146.6 374.2 -6.6 277 4433 0.00 2.40 0.00 0.000 4 0.000 0.090 2631 796 3436

4452 -0.80 -146.6 375.6 -6.5 277 4456 0.00 2.33 0.00 0.000 6 0.000 0.074 2630 2199 3437

4788 -0.80 -146.6 397.6 -6.5 283 4793 0.00 2.40 0.00 0.000 4 0.000 0.091 2631 796 3436

4824 -0.85 -146.6 400.1 -7.0 283 4828 0.00 2.35 0.00 0.000 6 0.000 0.076 2630 2208 3436

5149 -0.85 -146.6 423.0 -7.1 289 5150 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2208 3435

5452 -0.85 -146.6 444.7 -7.1 294 5456 0.00 2.42 0.00 0.000 4 0.000 0.093 2631 797 3434

5496 -0.91 -146.6 447.9 -7.1 294 5501 0.15 2.35 0.00 0.000 6 0.061 0.077 2599 2204 3434

5810 -0.81 -146.6 474.6 -8.5 300 5815 0.12 2.45 0.00 0.000 4 0.102 0.094 2619 790 3434

5843 -0.81 -146.6 477.3 -7.4 300 5847 0.00 2.38 0.00 0.000 6 0.000 0.077 2619 2208 3434

6180 -0.81 -146.6 499.2 -6.4 306 6184 0.00 2.45 0.00 0.000 4 0.000 0.095 2620 794 3434

6213 -0.81 -146.6 501.3 -6.2 306 6217 0.00 2.38 0.00 0.000 6 0.000 0.079 2620 2206 3434

6545 -0.81 -146.6 521.2 -6.0 312 6549 0.00 2.45 0.00 0.000 4 0.000 0.097 2619 797 3434

6579 -0.81 -146.6 523.3 -6.9 312 6583 0.00 2.38 0.00 0.000 6 0.000 0.080 2620 2208 3433

6904 -0.81 -146.6 544.1 -6.5 318 6908 0.00 2.47 0.00 0.000 4 0.000 0.097 2619 790 3433

6938 -0.81 -146.6 546.5 -7.4 318 6942 0.00 2.38 0.00 0.000 6 0.000 0.081 2619 2202 3433

7263 -0.81 -146.6 567.7 -6.5 324 7267 0.00 2.45 0.00 0.000 4 0.000 0.098 2619 799 3432

7290 -0.81 -146.6 569.4 -6.3 324 7295 0.00 2.35 0.00 0.000 6 0.000 0.082 2619 2201 3432

7387 end dive: BOTTOM_OBSTACLE_DETECTED

state 7388 begin apogee

7393 -0.23 0.0 575.4 6.3 326 7516 0.75 0.00 120.07 1.195 6 0.079 0.000 2747 2302 2837

7517 end apogee: CONTROL_FINISHED_OK

state 7517 begin climb

7519 0.81 146.6 578.9 0.0 328 7648 1.30 0.00 124.40 1.144 6 0.050 0.000 2974 2302 2239

7945 0.56 146.6 541.3 11.5 335 7950 0.30 2.55 0.00 0.000 4 0.100 0.106 2926 3704 2239

7983 0.45 146.6 537.3 10.1 335 7989 0.17 2.42 0.00 0.000 6 0.107 0.082 2900 2308 2239

8303 0.48 169.7 515.2 6.7 341 8328 0.00 2.53 20.00 1.107 4 0.000 0.100 2900 883 2145

8401 0.48 175.3 508.3 7.3 342 8412 0.00 2.42 6.55 0.926 6 0.000 0.081 2900 2299 2122

8727 0.56 205.0 487.3 6.5 348 8759 0.12 2.55 25.58 1.111 4 0.071 0.096 2925 884 2000

8820 0.51 205.0 479.6 9.3 349 8824 0.00 2.45 0.00 0.000 6 0.000 0.081 2925 2302 1999

9157 0.51 205.0 451.4 8.5 355 9161 0.00 2.50 0.00 0.000 4 0.000 0.097 2925 887 1998

9234 0.47 205.0 444.3 9.2 356 9239 0.12 2.40 0.00 0.000 6 0.107 0.081 2906 2301 1998

9582 0.53 205.0 415.4 8.4 362 9586 0.00 2.47 0.00 0.000 4 0.000 0.095 2906 883 1998

9653 0.53 205.0 408.8 9.3 363 9658 0.00 2.42 0.00 0.000 6 0.000 0.081 2905 2300 1998

10013 0.59 205.0 377.9 8.4 369 10017 0.00 2.45 0.00 0.000 4 0.000 0.094 2906 889 1998

10107 0.59 205.0 369.5 8.5 370 10112 0.00 2.38 0.00 0.000 6 0.000 0.081 2906 2300 1997

10445 0.65 205.0 343.0 7.8 376 10450 0.15 2.45 0.00 0.000 4 0.067 0.092 2941 888 1998

10507 0.55 205.0 337.2 9.4 377 10511 0.00 2.38 0.00 0.000 6 0.000 0.081 2941 2300 1997

10871 0.49 205.0 300.8 10.1 383 10876 0.17 2.45 0.00 0.000 4 0.099 0.092 2909 885 1997

10920 0.49 205.0 296.3 9.2 383 10925 0.00 2.38 0.00 0.000 6 0.000 0.080 2909 2309 1997

11242 0.56 205.0 270.2 7.9 399 11246 0.00 2.45 0.00 0.000 4 0.000 0.091 2909 888 1997

11328 0.56 205.0 263.4 8.4 403 11332 0.00 2.38 0.00 0.000 6 0.000 0.079 2909 2303 1997

11655 0.63 208.0 239.7 7.4 419 11665 0.15 2.42 3.50 0.609 4 0.064 0.092 2945 897 1989

11715 0.54 208.0 233.7 10.1 421 11722 0.15 2.33 0.00 0.000 6 0.104 0.078 2922 2300 1989

12031 0.54 208.0 207.1 8.1 437 12035 0.00 2.42 0.00 0.000 4 0.000 0.091 2922 888 1989

12119 0.54 208.0 199.7 7.9 441 12123 0.00 2.35 0.00 0.000 6 0.000 0.077 2922 2300 1989

12446 0.54 209.2 175.5 7.5 457 12450 0.00 2.42 0.00 0.000 4 0.000 0.090 2922 885 1988

12523 0.54 209.2 169.1 8.2 460 12531 0.00 2.38 0.00 0.000 6 0.000 0.077 2922 2297 1989

12842 0.58 209.2 143.2 7.8 480 12846 0.00 2.42 0.00 0.000 4 0.000 0.088 2922 878 1989

12875 0.58 209.2 140.5 7.6 482 12882 0.00 2.38 0.00 0.000 6 0.000 0.076 2922 2296 1989

13202 0.64 214.3 118.0 7.3 513 13214 0.00 2.42 6.85 0.805 4 0.000 0.087 2921 887 1962

13293 0.64 214.3 110.3 8.3 521 13297 0.00 2.35 0.00 0.000 6 0.000 0.076 2922 2300 1962

13621 0.80 258.0 88.5 6.0 551 13662 0.28 2.50 34.60 0.887 4 0.052 0.086 2978 878 1785

13708 0.68 258.0 81.4 9.0 559 13712 0.17 2.40 0.00 0.000 6 0.097 0.074 2951 2300 1784

14052 0.77 286.8 55.7 6.5 618 14081 0.00 2.53 23.73 0.851 4 0.000 0.087 2951 883 1667

14139 0.84 301.6 49.8 7.0 633 14158 0.17 2.40 13.05 0.808 6 0.058 0.074 2986 2304 1607

14483 0.92 317.7 19.4 7.0 674 14505 0.00 2.47 14.07 0.807 4 0.000 0.094 2986 3697 1541

14595 0.92 317.7 10.9 7.7 684 14600 0.00 2.35 0.00 0.000 6 0.000 0.069 2986 2293 1541

14727 end climb: SURFACE_DEPTH_REACHED

state 14727 begin surface coast

14749 end surface coast: CONTROL_FINISHED_OK

state 14749 begin surface

ID	119	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	24	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3772	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.130001	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-122.366	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2300	ALTIM_PULSE	3
D_FINISH	0	SM_CC	400	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
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	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	13	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	440	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	480	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	403	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3857	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2837	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	-210167.03	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	27	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	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	1	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	863	AH0_24V	147	SEABIRD_T_G	0.0044304794
SPEED_FACTOR	1	PITCH_MAX	3325	AH0_10V	122.2	SEABIRD_T_H	0.00064686994
RHO	1.023	C_PITCH	2800	PRESSURE_YINT	-2.9385166	SEABIRD_T_I	2.8000688e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	3.1833417e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8991232
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.099651
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012204468
HD_A	0.0038945	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_J	0.00018128238
HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_BOTTOM_PING_RANGE	0

GPS1	033137,4701.415,-12553.896,42,1.6,42,18.5	TGT_NAME	W_47N_128W
_CALLS	2	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.239,0.009
_SM_DEPTHo	1.19	KALMAN_X	16010.4,1366.4,1108.7,-89036.9,-2308.2
_SM_ANGLEo	-72.2	KALMAN_Y	20704.6,409.5,717.7,-16521.8,-388.2
GPS2	033935,4701.425,-12553.814,10,2.3,29,18.5	MHEAD_RNG_PITCHd_Wd	253.7,159402,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.3,1.020863	ALTIM_BOTTOM_PING	575.4,5.6
SM_CCo	14770,37.12,0.789,0,0,1206,400.08	_24V_AH	23.1,38.106
SM_GC	1.63,0.00,0.00,37.12,0.000,0.000,0.789,862,2189,1206,-8.91,-0.31,400.08	_10V_AH	10.6,24.117
IRIDIUM_FIX	1630.63,-17433.26,141297,202059	DATA_FILE_SIZE	34859,698
TT8_MAMPS	0.027612	CAP_FILE_SIZE	129954,0
HUMID	2115	CFSIZE	260165632,257683456
INTERNAL_PRESSURE	8.71127	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
TCM_TEMP	17.40	GPS	200908,074825,4702.135,-12554.209,36,1.7,36,18.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	150	99.58	SBE_CT	474	24	263.06
Roll_motor	168	115	450.73	SBE_O2	548	19	240.59
VBD_pump_during_apogee	392	1194	10831.88	WL_BB2F	962	105	2334.32
VBD_pump_during_surface	37	789	676.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	61	103	145.44	nil	0	0	0.00
Iridium_during_connect	55	160	206.11	nil	0	0	0.00
Iridium_during_xfer	172	223	888.16
Transponder_ping	5	420	48.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.81
TT8	1392	19	292.31
LPSleep	10977	2	254.84
TT8_Active	546	19	114.70
TT8_Sampling	1871	39	789.53
TT8_CF8	485	45	235.93
TT8_Kalman	33	81	28.93
Analog_circuits	1466	12	186.55
GPS_charging	0	0	0.00
Compass	1821	8	154.47
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.81	-146.6	0.0	0.0	0	89	0.00	0.00	-66.75	0.000	2	0.000	0.000	861	2205	2843
92	-0.81	-146.6	4.0	-5.8	7	119	12.12	0.00	-11.73	0.000	6	0.150	0.000	2613	2205	3437
448	-0.59	-146.6	64.6	-12.6	56	455	0.30	2.38	0.00	0.000	4	0.089	0.074	2666	780	3439
529	-0.67	-146.6	72.5	-9.0	70	535	0.00	2.30	0.00	0.000	6	0.000	0.062	2666	2203	3439
860	-0.76	-146.6	97.6	-6.8	109	865	0.15	2.40	0.00	0.000	4	0.060	0.088	2630	3610	3439
888	-0.76	-146.6	100.1	-9.5	111	892	0.00	2.35	0.00	0.000	6	0.000	0.067	2631	2181	3439
1213	-0.76	-146.6	128.3	-7.4	141	1217	0.00	2.33	0.00	0.000	4	0.000	0.085	2631	796	3439
1267	-0.76	-146.6	132.2	-7.3	145	1274	0.00	2.30	0.00	0.000	6	0.000	0.070	2630	2200	3439
1592	-0.76	-146.6	155.0	-7.9	173	1596	0.00	2.38	0.00	0.000	4	0.000	0.084	2631	796	3439
1618	-0.76	-146.6	157.4	-8.1	174	1623	0.00	2.35	0.00	0.000	6	0.000	0.071	2631	2200	3439
1941	-0.76	-146.6	181.4	-7.3	190	1944	0.00	2.38	0.00	0.000	4	0.000	0.084	2630	786	3439
1986	-0.76	-146.6	184.9	-7.7	192	1990	0.00	2.35	0.00	0.000	6	0.000	0.072	2630	2206	3440
2312	-0.76	-146.6	210.9	-8.2	208	2316	0.00	2.40	0.00	0.000	4	0.000	0.086	2631	789	3439
2344	-0.76	-146.6	213.7	-8.5	209	2351	0.00	2.38	0.00	0.000	6	0.000	0.073	2631	2203	3439
2660	-0.76	-146.6	240.4	-9.1	225	2661	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2203	3439
2969	-0.76	-146.6	268.0	-8.8	240	2973	0.00	2.40	0.00	0.000	4	0.000	0.087	2631	791	3438
3018	-0.76	-146.6	272.5	-8.5	242	3022	0.00	2.33	0.00	0.000	6	0.000	0.074	2630	2199	3438
3339	-0.76	-146.6	299.4	-8.1	258	3343	0.00	2.40	0.00	0.000	4	0.000	0.087	2631	789	3438
3366	-0.76	-146.6	301.6	-7.9	259	3370	0.00	2.35	0.00	0.000	6	0.000	0.074	2630	2208	3438
3710	-0.76	-146.6	326.5	-7.1	265	3714	0.00	2.40	0.00	0.000	4	0.000	0.088	2631	796	3437
3737	-0.76	-146.6	328.5	-7.1	265	3741	0.00	2.33	0.00	0.000	6	0.000	0.074	2631	2201	3437
4069	-0.76	-146.6	350.2	-6.6	271	4073	0.00	2.40	0.00	0.000	4	0.000	0.089	2631	793	3437
4092	-0.76	-146.6	351.7	-6.5	271	4096	0.00	2.33	0.00	0.000	6	0.000	0.074	2630	2199	3437
4429	-0.76	-146.6	374.2	-6.6	277	4433	0.00	2.40	0.00	0.000	4	0.000	0.090	2631	796	3436
4452	-0.80	-146.6	375.6	-6.5	277	4456	0.00	2.33	0.00	0.000	6	0.000	0.074	2630	2199	3437
4788	-0.80	-146.6	397.6	-6.5	283	4793	0.00	2.40	0.00	0.000	4	0.000	0.091	2631	796	3436
4824	-0.85	-146.6	400.1	-7.0	283	4828	0.00	2.35	0.00	0.000	6	0.000	0.076	2630	2208	3436
5149	-0.85	-146.6	423.0	-7.1	289	5150	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2208	3435
5452	-0.85	-146.6	444.7	-7.1	294	5456	0.00	2.42	0.00	0.000	4	0.000	0.093	2631	797	3434
5496	-0.91	-146.6	447.9	-7.1	294	5501	0.15	2.35	0.00	0.000	6	0.061	0.077	2599	2204	3434
5810	-0.81	-146.6	474.6	-8.5	300	5815	0.12	2.45	0.00	0.000	4	0.102	0.094	2619	790	3434
5843	-0.81	-146.6	477.3	-7.4	300	5847	0.00	2.38	0.00	0.000	6	0.000	0.077	2619	2208	3434
6180	-0.81	-146.6	499.2	-6.4	306	6184	0.00	2.45	0.00	0.000	4	0.000	0.095	2620	794	3434
6213	-0.81	-146.6	501.3	-6.2	306	6217	0.00	2.38	0.00	0.000	6	0.000	0.079	2620	2206	3434
6545	-0.81	-146.6	521.2	-6.0	312	6549	0.00	2.45	0.00	0.000	4	0.000	0.097	2619	797	3434
6579	-0.81	-146.6	523.3	-6.9	312	6583	0.00	2.38	0.00	0.000	6	0.000	0.080	2620	2208	3433
6904	-0.81	-146.6	544.1	-6.5	318	6908	0.00	2.47	0.00	0.000	4	0.000	0.097	2619	790	3433
6938	-0.81	-146.6	546.5	-7.4	318	6942	0.00	2.38	0.00	0.000	6	0.000	0.081	2619	2202	3433
7263	-0.81	-146.6	567.7	-6.5	324	7267	0.00	2.45	0.00	0.000	4	0.000	0.098	2619	799	3432
7290	-0.81	-146.6	569.4	-6.3	324	7295	0.00	2.35	0.00	0.000	6	0.000	0.082	2619	2201	3432
7387	end dive: BOTTOM_OBSTACLE_DETECTED
state	7388	begin apogee
7393	-0.23	0.0	575.4	6.3	326	7516	0.75	0.00	120.07	1.195	6	0.079	0.000	2747	2302	2837
7517	end apogee: CONTROL_FINISHED_OK
state	7517	begin climb
7519	0.81	146.6	578.9	0.0	328	7648	1.30	0.00	124.40	1.144	6	0.050	0.000	2974	2302	2239
7945	0.56	146.6	541.3	11.5	335	7950	0.30	2.55	0.00	0.000	4	0.100	0.106	2926	3704	2239
7983	0.45	146.6	537.3	10.1	335	7989	0.17	2.42	0.00	0.000	6	0.107	0.082	2900	2308	2239
8303	0.48	169.7	515.2	6.7	341	8328	0.00	2.53	20.00	1.107	4	0.000	0.100	2900	883	2145
8401	0.48	175.3	508.3	7.3	342	8412	0.00	2.42	6.55	0.926	6	0.000	0.081	2900	2299	2122
8727	0.56	205.0	487.3	6.5	348	8759	0.12	2.55	25.58	1.111	4	0.071	0.096	2925	884	2000
8820	0.51	205.0	479.6	9.3	349	8824	0.00	2.45	0.00	0.000	6	0.000	0.081	2925	2302	1999
9157	0.51	205.0	451.4	8.5	355	9161	0.00	2.50	0.00	0.000	4	0.000	0.097	2925	887	1998
9234	0.47	205.0	444.3	9.2	356	9239	0.12	2.40	0.00	0.000	6	0.107	0.081	2906	2301	1998
9582	0.53	205.0	415.4	8.4	362	9586	0.00	2.47	0.00	0.000	4	0.000	0.095	2906	883	1998
9653	0.53	205.0	408.8	9.3	363	9658	0.00	2.42	0.00	0.000	6	0.000	0.081	2905	2300	1998
10013	0.59	205.0	377.9	8.4	369	10017	0.00	2.45	0.00	0.000	4	0.000	0.094	2906	889	1998
10107	0.59	205.0	369.5	8.5	370	10112	0.00	2.38	0.00	0.000	6	0.000	0.081	2906	2300	1997
10445	0.65	205.0	343.0	7.8	376	10450	0.15	2.45	0.00	0.000	4	0.067	0.092	2941	888	1998
10507	0.55	205.0	337.2	9.4	377	10511	0.00	2.38	0.00	0.000	6	0.000	0.081	2941	2300	1997
10871	0.49	205.0	300.8	10.1	383	10876	0.17	2.45	0.00	0.000	4	0.099	0.092	2909	885	1997
10920	0.49	205.0	296.3	9.2	383	10925	0.00	2.38	0.00	0.000	6	0.000	0.080	2909	2309	1997
11242	0.56	205.0	270.2	7.9	399	11246	0.00	2.45	0.00	0.000	4	0.000	0.091	2909	888	1997
11328	0.56	205.0	263.4	8.4	403	11332	0.00	2.38	0.00	0.000	6	0.000	0.079	2909	2303	1997
11655	0.63	208.0	239.7	7.4	419	11665	0.15	2.42	3.50	0.609	4	0.064	0.092	2945	897	1989
11715	0.54	208.0	233.7	10.1	421	11722	0.15	2.33	0.00	0.000	6	0.104	0.078	2922	2300	1989
12031	0.54	208.0	207.1	8.1	437	12035	0.00	2.42	0.00	0.000	4	0.000	0.091	2922	888	1989
12119	0.54	208.0	199.7	7.9	441	12123	0.00	2.35	0.00	0.000	6	0.000	0.077	2922	2300	1989
12446	0.54	209.2	175.5	7.5	457	12450	0.00	2.42	0.00	0.000	4	0.000	0.090	2922	885	1988
12523	0.54	209.2	169.1	8.2	460	12531	0.00	2.38	0.00	0.000	6	0.000	0.077	2922	2297	1989
12842	0.58	209.2	143.2	7.8	480	12846	0.00	2.42	0.00	0.000	4	0.000	0.088	2922	878	1989
12875	0.58	209.2	140.5	7.6	482	12882	0.00	2.38	0.00	0.000	6	0.000	0.076	2922	2296	1989
13202	0.64	214.3	118.0	7.3	513	13214	0.00	2.42	6.85	0.805	4	0.000	0.087	2921	887	1962
13293	0.64	214.3	110.3	8.3	521	13297	0.00	2.35	0.00	0.000	6	0.000	0.076	2922	2300	1962
13621	0.80	258.0	88.5	6.0	551	13662	0.28	2.50	34.60	0.887	4	0.052	0.086	2978	878	1785
13708	0.68	258.0	81.4	9.0	559	13712	0.17	2.40	0.00	0.000	6	0.097	0.074	2951	2300	1784
14052	0.77	286.8	55.7	6.5	618	14081	0.00	2.53	23.73	0.851	4	0.000	0.087	2951	883	1667
14139	0.84	301.6	49.8	7.0	633	14158	0.17	2.40	13.05	0.808	6	0.058	0.074	2986	2304	1607
14483	0.92	317.7	19.4	7.0	674	14505	0.00	2.47	14.07	0.807	4	0.000	0.094	2986	3697	1541
14595	0.92	317.7	10.9	7.7	684	14600	0.00	2.35	0.00	0.000	6	0.000	0.069	2986	2293	1541
14727	end climb: SURFACE_DEPTH_REACHED
state	14727	begin surface coast
14749	end surface coast: CONTROL_FINISHED_OK
state	14749	begin surface