Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 51 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 51 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2350 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -77208.07 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

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

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -77208.07

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2350 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 29 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

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

DIVE 51 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 095037,6139.431,-849.269,37,1.0,37,-9.2 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.236,-0.027

_SM_DEPTHo 0.25 KALMAN_X 17349.5,275.5,-35.6,-34518.6,-1290.0

_SM_ANGLEo -63.8 KALMAN_Y 131119.7,-1130.5,-851.1,-117377.5,12684.2

GPS2 095557,6139.467,-849.228,13,1.5,13,-9.2 MHEAD_RNG_PITCHd_Wd 272.6,24807,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.027315 XPDR_PINGS 451

SM_CCo 18967,55.08,0.796,7,0,1655,300.00 ALTIM_BOTTOM_PING 825.1,53.1

SM_GC 0.30,0.00,0.00,55.08,0.000,0.000,0.796,30,1917,1655,-11.34,0.48,300.00 _24V_AH 23.2,19.546

IRIDIUM_FIX 6112.75,-837.21,201107,080804 _10V_AH 10.1,8.053

TT8_MAMPS 0.026078 DATA_FILE_SIZE 44403,915

HUMID 2042 CFSIZE 260165632,255545344

INTERNAL_PRESSURE 9.23864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,7,0

TCM_TEMP 18.80 GPS 201107,151537,6140.554,-854.662,34,1.1,34,-9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 144 87.40 SBE_CT 671 24 373.93

Roll_motor 113 80 211.41 SBE_O2 619 19 273.10

VBD_pump_during_apogee 329 1437 10995.24 WL_BB2F 495 105 1207.13

VBD_pump_during_surface 55 796 1017.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 93.77 nil 0 0 0.00

Iridium_during_connect 32 160 122.14 nil 0 0 0.00

Iridium_during_xfer 161 223 833.85

Transponder_ping 120 420 1171.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.48

TT8 1652 19 330.38

LPSleep 14835 2 328.14

TT8_Active 562 19 112.43

TT8_Sampling 1981 39 796.71

TT8_CF8 351 45 162.74

TT8_Kalman 33 81 27.58

Analog_circuits 1520 12 184.26

GPS_charging 0 0 0.00

Compass 1945 8 157.20

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.23 -146.6 0.0 0.0 0 102 0.00 0.00 -80.40 0.000 6 0.000 0.000 31 1879 3477

103 -1.23 -146.6 5.9 -8.9 4 125 11.70 2.62 0.00 0.000 4 0.144 0.065 2222 499 3478

237 -1.23 -146.6 32.0 -12.0 10 241 0.00 2.50 0.00 0.000 6 0.000 0.042 2222 1911 3478

562 -1.23 -146.6 68.5 -10.8 26 563 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1915 3478

871 -1.23 -146.6 101.5 -10.6 41 876 0.00 2.50 0.00 0.000 4 0.000 0.048 2222 3302 3479

942 -1.23 -146.6 109.2 -10.7 44 947 0.00 2.53 0.00 0.000 6 0.000 0.044 2222 1914 3479

1264 -1.23 -146.6 143.3 -10.7 60 1265 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1914 3479

1574 -1.23 -146.6 177.1 -10.9 75 1575 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1913 3479

1882 -1.23 -146.6 209.1 -10.3 90 1883 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1914 3479

2191 -1.23 -146.6 241.8 -10.5 105 2195 0.00 2.50 0.00 0.000 4 0.000 0.049 2223 3298 3479

2253 -1.23 -146.6 248.5 -11.0 108 2257 0.00 2.53 0.00 0.000 6 0.000 0.045 2222 1896 3479

2578 -1.23 -146.6 282.4 -9.9 124 2579 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1896 3479

2887 -1.23 -146.6 313.8 -10.3 139 2892 0.00 2.55 0.00 0.000 4 0.000 0.049 2222 3305 3479

2953 -1.23 -146.6 320.7 -10.2 142 2958 0.00 2.55 0.00 0.000 6 0.000 0.045 2222 1905 3479

3280 -1.23 -146.6 354.5 -10.6 158 3281 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1905 3479

3589 -1.23 -146.6 386.9 -10.3 173 3593 0.00 2.53 0.00 0.000 4 0.000 0.051 2222 3301 3479

3651 -1.23 -146.6 393.3 -10.3 176 3655 0.00 2.53 0.00 0.000 6 0.000 0.046 2222 1901 3479

3976 -1.23 -146.6 425.9 -10.0 192 3977 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1901 3479

4285 -1.23 -146.6 456.5 -9.9 207 4286 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1901 3479

4594 -1.23 -146.6 488.0 -10.3 222 4595 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1901 3479

4903 -1.23 -146.6 517.9 -9.2 237 4904 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1901 3479

5213 -1.23 -146.6 546.8 -9.5 252 5217 0.00 2.55 0.00 0.000 4 0.000 0.053 2222 3301 3479

5329 -1.23 -146.6 557.4 -9.3 257 5334 0.00 2.58 0.00 0.000 6 0.000 0.048 2222 1898 3478

5650 -1.23 -146.6 585.5 -8.7 273 5654 0.00 2.55 0.00 0.000 4 0.000 0.054 2222 3297 3479

5699 -1.23 -146.6 589.8 -8.1 275 5704 0.00 2.55 0.00 0.000 6 0.000 0.048 2222 1904 3479

6020 -1.23 -146.6 617.9 -9.2 291 6025 0.00 2.55 0.00 0.000 4 0.000 0.056 2222 3298 3479

6099 -1.23 -146.6 625.3 -9.2 294 6105 0.00 2.55 0.00 0.000 6 0.000 0.051 2222 1894 3479

6413 -1.23 -146.6 654.5 -9.0 310 6414 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1894 3479

6722 -1.23 -146.6 680.0 -8.9 325 6724 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1894 3479

7032 -1.23 -146.6 707.3 -10.1 340 7033 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1894 3479

7341 -1.23 -146.6 736.5 -8.9 355 7342 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1894 3478

7651 -1.23 -146.6 760.8 -7.8 370 7655 0.00 2.60 0.00 0.000 4 0.000 0.061 2222 3301 3478

7766 -1.23 -146.6 770.6 -8.1 375 7771 0.00 2.60 0.00 0.000 6 0.000 0.056 2222 1905 3478

8088 -1.23 -146.6 796.8 -7.4 391 8089 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1905 3478

8398 -1.23 -146.6 823.4 -6.6 406 8402 0.00 2.60 0.00 0.000 4 0.000 0.068 2222 3295 3477

8446 -1.23 -146.6 827.3 -9.4 408 8451 0.00 2.60 0.00 0.000 6 0.000 0.064 2222 1907 3476

8767 -1.23 -146.6 856.2 -7.5 424 8769 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1906 3475

8931 end dive: BOTTOM_OBSTACLE_DETECTED

state 8931 begin apogee

8936 -0.36 0.0 868.7 7.0 432 9065 0.93 0.00 125.38 1.437 6 0.094 0.000 2414 2346 2878

9065 end apogee: CONTROL_FINISHED_OK

state 9065 begin climb

9067 1.23 146.6 873.5 0.0 438 9199 1.58 2.80 123.78 1.394 4 0.059 0.081 2760 933 2280

9453 1.26 172.1 854.7 7.0 456 9482 0.00 2.62 22.23 1.391 6 0.000 0.061 2760 2342 2176

9803 1.27 181.3 824.3 7.7 473 9813 0.00 0.00 9.00 1.382 6 0.000 0.000 2760 2342 2139

10112 1.30 203.0 802.7 7.2 488 10133 0.00 0.00 19.33 1.391 6 0.000 0.000 2760 2342 2050

10441 1.30 203.0 771.9 8.8 504 10442 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2342 2049

10750 1.30 203.0 746.5 8.4 519 10755 0.00 2.67 0.00 0.000 4 0.000 0.074 2760 3756 2048

11007 1.30 203.0 722.8 8.2 530 11015 0.00 2.60 0.00 0.000 6 0.000 0.055 2760 2350 2046

11323 1.30 203.0 696.7 8.9 546 11327 0.00 2.62 0.00 0.000 4 0.000 0.065 2759 3758 2046

11421 1.30 203.0 686.7 10.2 550 11429 0.00 2.60 0.00 0.000 6 0.000 0.051 2760 2347 2046

11737 1.30 203.0 658.3 8.8 566 11742 0.00 2.62 0.00 0.000 4 0.000 0.069 2760 942 2045

11798 1.30 203.0 652.6 9.3 569 11803 0.00 2.55 0.00 0.000 6 0.000 0.048 2759 2359 2046

12124 1.30 203.0 623.7 8.9 585 12128 0.00 2.65 0.00 0.000 4 0.000 0.064 2760 933 2046

12184 1.30 203.0 618.3 8.7 588 12189 0.00 2.55 0.00 0.000 6 0.000 0.047 2760 2354 2046

12510 1.30 203.0 588.9 9.1 604 12511 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2356 2047

12819 1.30 203.0 558.9 9.7 619 12820 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2356 2048

13128 1.30 203.0 528.3 10.8 634 13130 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2355 2049

13438 1.30 203.0 499.4 9.2 649 13439 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2356 2050

13747 1.30 203.0 470.3 9.6 664 13751 0.00 2.60 0.00 0.000 4 0.000 0.059 2760 938 2050

13808 1.30 203.0 464.1 9.4 667 13813 0.00 2.50 0.00 0.000 6 0.000 0.042 2760 2354 2050

14134 1.30 203.0 434.5 9.1 683 14135 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2354 2050

14443 1.30 203.0 407.9 8.5 698 14444 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2354 2052

14752 1.30 203.0 381.8 8.4 713 14757 0.00 2.60 0.00 0.000 4 0.000 0.058 2760 937 2053

14836 1.30 203.0 374.3 9.0 717 14840 0.00 2.50 0.00 0.000 6 0.000 0.041 2760 2352 2053

15162 1.30 203.0 346.4 8.8 733 15166 0.00 2.58 0.00 0.000 4 0.000 0.058 2760 941 2053

15216 1.30 203.0 341.3 9.2 735 15221 0.00 2.53 0.00 0.000 6 0.000 0.041 2760 2352 2053

15538 1.30 203.0 313.5 8.6 751 15542 0.00 2.60 0.00 0.000 4 0.000 0.058 2760 941 2054

15591 1.30 203.0 308.6 8.9 753 15598 0.00 2.50 0.00 0.000 6 0.000 0.041 2760 2343 2054

15907 1.30 203.0 282.6 8.1 769 15908 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2343 2054

16216 1.30 203.0 258.4 8.0 784 16217 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2343 2054

16525 1.30 203.0 232.8 8.2 799 16526 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2343 2055

16834 1.30 203.0 205.0 9.2 814 16839 0.00 2.55 0.00 0.000 4 0.000 0.057 2760 935 2056

16924 1.30 203.0 196.2 8.4 818 16928 0.00 2.53 0.00 0.000 6 0.000 0.041 2760 2357 2055

17249 1.30 203.0 167.7 8.8 834 17250 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2358 2056

17559 1.34 239.4 146.1 6.6 849 17595 0.12 2.65 30.02 0.913 4 0.050 0.056 2800 941 1902

17649 1.34 239.4 137.8 11.3 852 17654 0.00 2.53 0.00 0.000 6 0.000 0.040 2800 2346 1902

17972 1.34 239.4 103.7 10.4 868 17973 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2346 1902

18281 1.34 239.4 71.2 10.7 883 18282 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2346 1902

18590 1.34 239.4 39.4 11.4 898 18591 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2347 1902

18899 1.34 239.4 5.5 10.1 913 18903 0.00 2.60 0.00 0.000 4 0.000 0.058 2800 939 1902

18929 end climb: SURFACE_DEPTH_REACHED

state 18929 begin surface coast

18947 end surface coast: CONTROL_FINISHED_OK

state 18947 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	51	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2350	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-77208.07	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	095037,6139.431,-849.269,37,1.0,37,-9.2	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.236,-0.027
_SM_DEPTHo	0.25	KALMAN_X	17349.5,275.5,-35.6,-34518.6,-1290.0
_SM_ANGLEo	-63.8	KALMAN_Y	131119.7,-1130.5,-851.1,-117377.5,12684.2
GPS2	095557,6139.467,-849.228,13,1.5,13,-9.2	MHEAD_RNG_PITCHd_Wd	272.6,24807,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	-0.1,1.027315	XPDR_PINGS	451
SM_CCo	18967,55.08,0.796,7,0,1655,300.00	ALTIM_BOTTOM_PING	825.1,53.1
SM_GC	0.30,0.00,0.00,55.08,0.000,0.000,0.796,30,1917,1655,-11.34,0.48,300.00	_24V_AH	23.2,19.546
IRIDIUM_FIX	6112.75,-837.21,201107,080804	_10V_AH	10.1,8.053
TT8_MAMPS	0.026078	DATA_FILE_SIZE	44403,915
HUMID	2042	CFSIZE	260165632,255545344
INTERNAL_PRESSURE	9.23864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,7,0
TCM_TEMP	18.80	GPS	201107,151537,6140.554,-854.662,34,1.1,34,-9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	144	87.40	SBE_CT	671	24	373.93
Roll_motor	113	80	211.41	SBE_O2	619	19	273.10
VBD_pump_during_apogee	329	1437	10995.24	WL_BB2F	495	105	1207.13
VBD_pump_during_surface	55	796	1017.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	93.77	nil	0	0	0.00
Iridium_during_connect	32	160	122.14	nil	0	0	0.00
Iridium_during_xfer	161	223	833.85
Transponder_ping	120	420	1171.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.48
TT8	1652	19	330.38
LPSleep	14835	2	328.14
TT8_Active	562	19	112.43
TT8_Sampling	1981	39	796.71
TT8_CF8	351	45	162.74
TT8_Kalman	33	81	27.58
Analog_circuits	1520	12	184.26
GPS_charging	0	0	0.00
Compass	1945	8	157.20
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.23	-146.6	0.0	0.0	0	102	0.00	0.00	-80.40	0.000	6	0.000	0.000	31	1879	3477
103	-1.23	-146.6	5.9	-8.9	4	125	11.70	2.62	0.00	0.000	4	0.144	0.065	2222	499	3478
237	-1.23	-146.6	32.0	-12.0	10	241	0.00	2.50	0.00	0.000	6	0.000	0.042	2222	1911	3478
562	-1.23	-146.6	68.5	-10.8	26	563	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1915	3478
871	-1.23	-146.6	101.5	-10.6	41	876	0.00	2.50	0.00	0.000	4	0.000	0.048	2222	3302	3479
942	-1.23	-146.6	109.2	-10.7	44	947	0.00	2.53	0.00	0.000	6	0.000	0.044	2222	1914	3479
1264	-1.23	-146.6	143.3	-10.7	60	1265	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1914	3479
1574	-1.23	-146.6	177.1	-10.9	75	1575	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1913	3479
1882	-1.23	-146.6	209.1	-10.3	90	1883	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1914	3479
2191	-1.23	-146.6	241.8	-10.5	105	2195	0.00	2.50	0.00	0.000	4	0.000	0.049	2223	3298	3479
2253	-1.23	-146.6	248.5	-11.0	108	2257	0.00	2.53	0.00	0.000	6	0.000	0.045	2222	1896	3479
2578	-1.23	-146.6	282.4	-9.9	124	2579	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1896	3479
2887	-1.23	-146.6	313.8	-10.3	139	2892	0.00	2.55	0.00	0.000	4	0.000	0.049	2222	3305	3479
2953	-1.23	-146.6	320.7	-10.2	142	2958	0.00	2.55	0.00	0.000	6	0.000	0.045	2222	1905	3479
3280	-1.23	-146.6	354.5	-10.6	158	3281	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1905	3479
3589	-1.23	-146.6	386.9	-10.3	173	3593	0.00	2.53	0.00	0.000	4	0.000	0.051	2222	3301	3479
3651	-1.23	-146.6	393.3	-10.3	176	3655	0.00	2.53	0.00	0.000	6	0.000	0.046	2222	1901	3479
3976	-1.23	-146.6	425.9	-10.0	192	3977	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1901	3479
4285	-1.23	-146.6	456.5	-9.9	207	4286	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1901	3479
4594	-1.23	-146.6	488.0	-10.3	222	4595	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1901	3479
4903	-1.23	-146.6	517.9	-9.2	237	4904	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1901	3479
5213	-1.23	-146.6	546.8	-9.5	252	5217	0.00	2.55	0.00	0.000	4	0.000	0.053	2222	3301	3479
5329	-1.23	-146.6	557.4	-9.3	257	5334	0.00	2.58	0.00	0.000	6	0.000	0.048	2222	1898	3478
5650	-1.23	-146.6	585.5	-8.7	273	5654	0.00	2.55	0.00	0.000	4	0.000	0.054	2222	3297	3479
5699	-1.23	-146.6	589.8	-8.1	275	5704	0.00	2.55	0.00	0.000	6	0.000	0.048	2222	1904	3479
6020	-1.23	-146.6	617.9	-9.2	291	6025	0.00	2.55	0.00	0.000	4	0.000	0.056	2222	3298	3479
6099	-1.23	-146.6	625.3	-9.2	294	6105	0.00	2.55	0.00	0.000	6	0.000	0.051	2222	1894	3479
6413	-1.23	-146.6	654.5	-9.0	310	6414	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1894	3479
6722	-1.23	-146.6	680.0	-8.9	325	6724	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1894	3479
7032	-1.23	-146.6	707.3	-10.1	340	7033	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1894	3479
7341	-1.23	-146.6	736.5	-8.9	355	7342	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1894	3478
7651	-1.23	-146.6	760.8	-7.8	370	7655	0.00	2.60	0.00	0.000	4	0.000	0.061	2222	3301	3478
7766	-1.23	-146.6	770.6	-8.1	375	7771	0.00	2.60	0.00	0.000	6	0.000	0.056	2222	1905	3478
8088	-1.23	-146.6	796.8	-7.4	391	8089	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1905	3478
8398	-1.23	-146.6	823.4	-6.6	406	8402	0.00	2.60	0.00	0.000	4	0.000	0.068	2222	3295	3477
8446	-1.23	-146.6	827.3	-9.4	408	8451	0.00	2.60	0.00	0.000	6	0.000	0.064	2222	1907	3476
8767	-1.23	-146.6	856.2	-7.5	424	8769	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1906	3475
8931	end dive: BOTTOM_OBSTACLE_DETECTED
state	8931	begin apogee
8936	-0.36	0.0	868.7	7.0	432	9065	0.93	0.00	125.38	1.437	6	0.094	0.000	2414	2346	2878
9065	end apogee: CONTROL_FINISHED_OK
state	9065	begin climb
9067	1.23	146.6	873.5	0.0	438	9199	1.58	2.80	123.78	1.394	4	0.059	0.081	2760	933	2280
9453	1.26	172.1	854.7	7.0	456	9482	0.00	2.62	22.23	1.391	6	0.000	0.061	2760	2342	2176
9803	1.27	181.3	824.3	7.7	473	9813	0.00	0.00	9.00	1.382	6	0.000	0.000	2760	2342	2139
10112	1.30	203.0	802.7	7.2	488	10133	0.00	0.00	19.33	1.391	6	0.000	0.000	2760	2342	2050
10441	1.30	203.0	771.9	8.8	504	10442	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2342	2049
10750	1.30	203.0	746.5	8.4	519	10755	0.00	2.67	0.00	0.000	4	0.000	0.074	2760	3756	2048
11007	1.30	203.0	722.8	8.2	530	11015	0.00	2.60	0.00	0.000	6	0.000	0.055	2760	2350	2046
11323	1.30	203.0	696.7	8.9	546	11327	0.00	2.62	0.00	0.000	4	0.000	0.065	2759	3758	2046
11421	1.30	203.0	686.7	10.2	550	11429	0.00	2.60	0.00	0.000	6	0.000	0.051	2760	2347	2046
11737	1.30	203.0	658.3	8.8	566	11742	0.00	2.62	0.00	0.000	4	0.000	0.069	2760	942	2045
11798	1.30	203.0	652.6	9.3	569	11803	0.00	2.55	0.00	0.000	6	0.000	0.048	2759	2359	2046
12124	1.30	203.0	623.7	8.9	585	12128	0.00	2.65	0.00	0.000	4	0.000	0.064	2760	933	2046
12184	1.30	203.0	618.3	8.7	588	12189	0.00	2.55	0.00	0.000	6	0.000	0.047	2760	2354	2046
12510	1.30	203.0	588.9	9.1	604	12511	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2356	2047
12819	1.30	203.0	558.9	9.7	619	12820	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2356	2048
13128	1.30	203.0	528.3	10.8	634	13130	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2355	2049
13438	1.30	203.0	499.4	9.2	649	13439	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2356	2050
13747	1.30	203.0	470.3	9.6	664	13751	0.00	2.60	0.00	0.000	4	0.000	0.059	2760	938	2050
13808	1.30	203.0	464.1	9.4	667	13813	0.00	2.50	0.00	0.000	6	0.000	0.042	2760	2354	2050
14134	1.30	203.0	434.5	9.1	683	14135	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2354	2050
14443	1.30	203.0	407.9	8.5	698	14444	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2354	2052
14752	1.30	203.0	381.8	8.4	713	14757	0.00	2.60	0.00	0.000	4	0.000	0.058	2760	937	2053
14836	1.30	203.0	374.3	9.0	717	14840	0.00	2.50	0.00	0.000	6	0.000	0.041	2760	2352	2053
15162	1.30	203.0	346.4	8.8	733	15166	0.00	2.58	0.00	0.000	4	0.000	0.058	2760	941	2053
15216	1.30	203.0	341.3	9.2	735	15221	0.00	2.53	0.00	0.000	6	0.000	0.041	2760	2352	2053
15538	1.30	203.0	313.5	8.6	751	15542	0.00	2.60	0.00	0.000	4	0.000	0.058	2760	941	2054
15591	1.30	203.0	308.6	8.9	753	15598	0.00	2.50	0.00	0.000	6	0.000	0.041	2760	2343	2054
15907	1.30	203.0	282.6	8.1	769	15908	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2343	2054
16216	1.30	203.0	258.4	8.0	784	16217	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2343	2054
16525	1.30	203.0	232.8	8.2	799	16526	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2343	2055
16834	1.30	203.0	205.0	9.2	814	16839	0.00	2.55	0.00	0.000	4	0.000	0.057	2760	935	2056
16924	1.30	203.0	196.2	8.4	818	16928	0.00	2.53	0.00	0.000	6	0.000	0.041	2760	2357	2055
17249	1.30	203.0	167.7	8.8	834	17250	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2358	2056
17559	1.34	239.4	146.1	6.6	849	17595	0.12	2.65	30.02	0.913	4	0.050	0.056	2800	941	1902
17649	1.34	239.4	137.8	11.3	852	17654	0.00	2.53	0.00	0.000	6	0.000	0.040	2800	2346	1902
17972	1.34	239.4	103.7	10.4	868	17973	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2346	1902
18281	1.34	239.4	71.2	10.7	883	18282	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2346	1902
18590	1.34	239.4	39.4	11.4	898	18591	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2347	1902
18899	1.34	239.4	5.5	10.1	913	18903	0.00	2.60	0.00	0.000	4	0.000	0.058	2800	939	1902
18929	end climb: SURFACE_DEPTH_REACHED
state	18929	begin surface coast
18947	end surface coast: CONTROL_FINISHED_OK
state	18947	begin surface