Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 56 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HEADING 315 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 202 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 56 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3893 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 330 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 340 CALL_TRIES 5 VBD_MAX 3559 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2539 DEVICE4 -1

T_TURN 240 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 0.00159 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -651179.5 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 95.400002 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 383 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3719 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2705 PRESSURE_YINT -15.110782 SEABIRD_T_G 0.0043093944

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064003747

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.16239e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_T_J 2.0570888e-06

FERRY_MAX 22 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_G -10.001513

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1265433

HD_A 0.00312 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010666439

HD_B 0.0099099996 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016314148

HD_C 2.4896e-05 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3719 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 383 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -0.69999999

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_ROLL_OFFSET 0.5

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.110782 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

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 330

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_CHARGE -651179.5

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 340

CAPUPLOAD 0 HEADING 315 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 400 T_TURN 240

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 14 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3893 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2705 KALMAN_USE 2 ROLL_MIN 202 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1600 MASS 52000 R_PORT_OVSHOOT 29 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.001513 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1265433 VBD_MAX 3559

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010666439 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016314148 VBD_MIN 187

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043093944 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064003747 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.16239e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.0570888e-06 XPDR_DEVICE 21

DIVE 56 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 013138,6338.769,-735.927,38,1.0,38,-9.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6346.413,-753.226

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.23 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -59.8 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 013727,6338.777,-735.947,12,1.2,12,-9.2 MHEAD_RNG_PITCHd_Wd 324.2,20000,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026884 _24V_AH 23.4,11.889

SM_CCo 17841,48.88,0.695,0,0,1315,300.00 _10V_AH 10.1,6.708

SM_GC 1.21,0.00,0.00,48.88,0.000,0.000,0.695,380,1602,1315,-10.70,0.08,300.00 DATA_FILE_SIZE 44179,854

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 122447,0

TT8_MAMPS 0.023777 CFSIZE 254472192,248340480

HUMID 1909 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,27,1,0

TCM_TEMP 17.30 GPS 100908,063726,6339.654,-739.720,40,1.1,40,-9.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 177 108.26 SBE_CT 643 24 361.52

Roll_motor 115 91 247.70 SBE_O2 582 19 259.10

VBD_pump_during_apogee 326 1332 10190.44 WL_BB2F 444 105 1092.05

VBD_pump_during_surface 48 694 794.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.02 nil 0 0 0.00

Iridium_during_connect 26 160 97.42 nil 0 0 0.00

Iridium_during_xfer 148 223 775.50

Transponder_ping 8 420 83.54

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.98

TT8 1573 19 314.67

LPSleep 13705 2 303.15

TT8_Active 503 19 100.64

TT8_Sampling 1900 39 763.86

TT8_CF8 563 45 260.64

TT8_Kalman 0 81 0.00

Analog_circuits 1444 12 175.05

GPS_charging 0 0 0.00

Compass 1855 8 149.94

RAFOS 0 0 0.00

Transponder 55 30 16.97

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 -1.38 -146.6 0.0 0.0 0 79 0.00 0.00 -60.47 0.000 2 0.000 0.000 383 1594 2758

83 -1.38 -146.6 3.7 -5.5 3 109 11.30 2.47 -8.90 0.000 4 0.178 0.077 2397 3002 3139

294 -1.38 -146.6 36.1 -14.3 12 298 0.00 2.40 0.00 0.000 6 0.000 0.060 2397 1604 3142

612 -1.38 -146.6 77.0 -12.4 27 613 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1604 3143

920 -1.38 -146.6 113.4 -11.9 42 924 0.00 2.50 0.00 0.000 4 0.000 0.080 2398 212 3144

1006 -1.38 -146.6 125.0 -13.8 46 1010 0.00 2.33 0.00 0.000 6 0.000 0.054 2398 1633 3144

1339 -1.38 -146.6 167.5 -12.8 62 1343 0.00 2.58 0.00 0.000 4 0.000 0.076 2397 209 3145

1406 -1.38 -146.6 176.8 -13.6 65 1410 0.00 2.30 0.00 0.000 6 0.000 0.054 2398 1600 3145

1733 -1.38 -146.6 218.4 -12.8 81 1738 0.00 2.50 0.00 0.000 4 0.000 0.074 2397 209 3145

1812 -1.38 -146.6 229.4 -13.5 84 1818 0.00 2.30 0.00 0.000 6 0.000 0.054 2398 1602 3145

2129 -1.38 -146.6 270.4 -12.7 100 2133 0.00 2.50 0.00 0.000 4 0.000 0.075 2397 211 3145

2191 -1.38 -146.6 279.1 -14.0 102 2197 0.00 2.30 0.00 0.000 6 0.000 0.054 2398 1597 3145

2507 -1.38 -146.6 314.4 -10.0 118 2509 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 1599 3145

2817 -1.38 -146.6 343.1 -9.6 133 2821 0.00 2.50 0.00 0.000 4 0.000 0.077 2397 213 3146

2929 -1.38 -146.6 356.5 -12.8 138 2933 0.00 2.33 0.00 0.000 6 0.000 0.054 2398 1599 3146

3250 -1.38 -146.6 396.3 -12.3 154 3252 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 1601 3147

3559 -1.38 -146.6 434.6 -12.6 169 3564 0.00 2.53 0.00 0.000 4 0.000 0.079 2397 211 3148

3616 -1.38 -146.6 442.1 -12.7 171 3622 0.00 2.35 0.00 0.000 6 0.000 0.055 2398 1602 3148

3932 -1.38 -146.6 478.1 -10.6 187 3936 0.00 2.53 0.00 0.000 4 0.000 0.081 2397 213 3148

4017 -1.38 -146.6 487.9 -11.4 190 4024 0.00 2.35 0.00 0.000 6 0.000 0.055 2397 1603 3148

4334 -1.38 -146.6 519.8 -10.2 206 4335 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 1604 3148

4644 -1.38 -146.6 550.5 -9.7 221 4645 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1605 3148

4952 -1.38 -146.6 581.4 -10.0 236 4954 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1604 3147

5262 -1.38 -146.6 613.0 -10.7 251 5266 0.00 2.55 0.00 0.000 4 0.000 0.084 2398 211 3147

5306 -1.38 -146.6 618.5 -11.8 253 5311 0.00 2.35 0.00 0.000 6 0.000 0.054 2397 1601 3147

5628 -1.38 -146.6 653.5 -10.9 269 5629 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1601 3145

5938 -1.38 -146.6 688.2 -11.4 284 5942 0.00 2.55 0.00 0.000 4 0.000 0.083 2397 209 3144

5978 -1.38 -146.6 693.2 -13.2 286 5982 0.00 2.35 0.00 0.000 6 0.000 0.054 2397 1599 3143

6306 -1.38 -146.6 730.4 -11.3 302 6307 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 1599 3142

6615 -1.38 -146.6 765.3 -11.4 317 6617 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1599 3141

6924 -1.38 -146.6 799.8 -10.9 332 6926 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1599 3140

7234 -1.38 -146.6 832.7 -10.6 347 7235 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1599 3138

7543 -1.38 -146.6 864.9 -10.4 362 7544 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 1599 3137

7852 -1.38 -146.6 896.5 -10.1 377 7853 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 1600 3136

8162 -1.38 -146.6 927.2 -9.8 392 8166 0.00 2.53 0.00 0.000 4 0.000 0.082 2397 213 3135

8212 -1.38 -146.6 932.8 -10.7 394 8217 0.00 2.35 0.00 0.000 6 0.000 0.054 2397 1609 3135

8529 -1.38 -146.6 963.4 -9.6 409 8530 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 1613 3134

8814 end dive: TARGET_DEPTH_EXCEEDED

state 8814 begin apogee

8823 -0.32 0.0 991.1 9.6 423 8963 1.15 0.00 131.10 1.332 6 0.116 0.000 2631 2188 2539

8964 end apogee: CONTROL_FINISHED_OK

state 8964 begin climb

8968 1.38 146.6 996.8 0.0 430 9101 1.77 2.72 125.28 1.307 4 0.085 0.091 3005 3596 1941

9336 1.38 146.6 968.0 11.7 446 9342 0.00 2.45 0.00 0.000 6 0.000 0.060 3005 2195 1940

9652 1.39 149.7 936.5 9.9 462 9658 0.00 0.00 4.07 0.883 6 0.000 0.000 3005 2195 1929

9961 1.39 149.7 905.1 10.3 477 9966 0.00 2.58 0.00 0.000 4 0.000 0.081 3004 3594 1928

10074 1.39 149.7 892.9 11.2 482 10078 0.00 2.42 0.00 0.000 6 0.000 0.059 3004 2203 1928

10395 1.39 149.7 860.1 10.5 498 10396 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2203 1928

10705 1.39 149.7 827.8 10.5 513 10709 0.00 2.58 0.00 0.000 4 0.000 0.082 3003 3604 1928

10823 1.39 149.7 814.8 11.8 518 10827 0.00 2.45 0.00 0.000 6 0.000 0.059 3004 2199 1928

11144 1.39 149.7 781.7 10.1 534 11146 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2199 1928

11454 1.41 162.6 752.1 9.4 549 11475 0.00 2.67 11.90 1.115 4 0.000 0.082 3005 3593 1877

11532 1.41 164.4 744.0 9.9 552 11544 0.00 2.45 3.50 0.697 6 0.000 0.060 3005 2199 1868

11854 1.44 182.7 713.4 9.1 568 11873 0.00 0.00 16.77 1.118 6 0.000 0.000 3005 2199 1794

12183 1.45 188.4 682.1 9.7 584 12197 0.00 2.65 6.72 0.972 4 0.000 0.083 3004 3602 1770

12283 1.45 188.4 671.5 10.6 588 12287 0.00 2.47 0.00 0.000 6 0.000 0.061 3004 2196 1770

12599 1.45 188.4 639.1 10.4 603 12600 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2196 1769

12908 1.45 188.4 607.4 10.6 618 12909 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2196 1769

13218 1.45 188.4 574.2 10.5 633 13219 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2196 1768

13527 1.46 193.9 543.6 9.7 648 13540 0.00 2.62 6.25 0.919 4 0.000 0.081 3003 3601 1747

13609 1.46 193.9 535.2 10.0 651 13615 0.00 2.45 0.00 0.000 6 0.000 0.061 3005 2199 1747

13926 1.50 217.7 507.0 8.9 667 13949 0.12 0.00 21.27 1.015 6 0.072 0.000 3038 2199 1651

14254 1.50 217.7 467.8 12.5 683 14256 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2199 1649

14564 1.50 217.7 425.8 13.5 698 14568 0.00 2.55 0.00 0.000 4 0.000 0.081 3038 3596 1648

14710 1.50 217.7 405.1 13.8 704 14716 0.00 2.45 0.00 0.000 6 0.000 0.060 3038 2191 1648

15026 1.50 217.7 366.5 11.7 720 15030 0.00 2.58 0.00 0.000 4 0.000 0.081 3038 3596 1647

15071 1.50 217.7 361.0 11.9 722 15075 0.00 2.42 0.00 0.000 6 0.000 0.060 3038 2199 1648

15392 1.50 217.7 321.1 13.9 738 15393 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2199 1647

15701 1.50 217.7 277.9 13.5 753 15706 0.00 2.58 0.00 0.000 4 0.000 0.083 3038 3601 1646

15836 1.50 217.7 258.7 14.2 759 15841 0.00 2.45 0.00 0.000 6 0.000 0.062 3038 2198 1645

16158 1.50 217.7 215.1 13.4 775 16163 0.00 2.55 0.00 0.000 4 0.000 0.083 3038 3593 1645

16232 1.50 217.7 205.0 14.2 778 16236 0.00 2.42 0.00 0.000 6 0.000 0.061 3038 2201 1645

16548 1.50 217.7 165.1 12.5 793 16552 0.00 2.55 0.00 0.000 4 0.000 0.082 3038 3599 1645

16621 1.50 217.7 155.5 12.1 796 16625 0.00 2.42 0.00 0.000 6 0.000 0.061 3038 2198 1646

16943 1.50 217.7 114.6 13.2 812 16944 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2199 1645

17253 1.50 217.7 72.7 13.9 827 17258 0.00 2.55 0.00 0.000 4 0.000 0.081 3038 3603 1646

17377 1.50 217.7 54.7 13.0 832 17384 0.00 2.42 0.00 0.000 6 0.000 0.061 3038 2198 1646

17695 1.50 217.7 14.3 12.4 848 17697 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2199 1646

17795 end climb: SURFACE_DEPTH_REACHED

state 17795 begin surface coast

17815 end surface coast: CONTROL_FINISHED_OK

state 17815 begin surface

ID	14	HEADING	315	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	202	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	56	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3893	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	340	CALL_TRIES	5	VBD_MAX	3559	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2539	DEVICE4	-1
T_TURN	240	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	0.00159	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-651179.5	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	95.400002	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	383	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3719	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2705	PRESSURE_YINT	-15.110782	SEABIRD_T_G	0.0043093944
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064003747
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.16239e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_T_J	2.0570888e-06
FERRY_MAX	22	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_G	-10.001513
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1265433
HD_A	0.00312	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010666439
HD_B	0.0099099996	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016314148
HD_C	2.4896e-05	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	013138,6338.769,-735.927,38,1.0,38,-9.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6346.413,-753.226
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.23	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-59.8	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	013727,6338.777,-735.947,12,1.2,12,-9.2	MHEAD_RNG_PITCHd_Wd	324.2,20000,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.6,1.026884	_24V_AH	23.4,11.889
SM_CCo	17841,48.88,0.695,0,0,1315,300.00	_10V_AH	10.1,6.708
SM_GC	1.21,0.00,0.00,48.88,0.000,0.000,0.695,380,1602,1315,-10.70,0.08,300.00	DATA_FILE_SIZE	44179,854
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	122447,0
TT8_MAMPS	0.023777	CFSIZE	254472192,248340480
HUMID	1909	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
TCM_TEMP	17.30	GPS	100908,063726,6339.654,-739.720,40,1.1,40,-9.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	177	108.26	SBE_CT	643	24	361.52
Roll_motor	115	91	247.70	SBE_O2	582	19	259.10
VBD_pump_during_apogee	326	1332	10190.44	WL_BB2F	444	105	1092.05
VBD_pump_during_surface	48	694	794.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.02	nil	0	0	0.00
Iridium_during_connect	26	160	97.42	nil	0	0	0.00
Iridium_during_xfer	148	223	775.50
Transponder_ping	8	420	83.54
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.98
TT8	1573	19	314.67
LPSleep	13705	2	303.15
TT8_Active	503	19	100.64
TT8_Sampling	1900	39	763.86
TT8_CF8	563	45	260.64
TT8_Kalman	0	81	0.00
Analog_circuits	1444	12	175.05
GPS_charging	0	0	0.00
Compass	1855	8	149.94
RAFOS	0	0	0.00
Transponder	55	30	16.97

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	-1.38	-146.6	0.0	0.0	0	79	0.00	0.00	-60.47	0.000	2	0.000	0.000	383	1594	2758
83	-1.38	-146.6	3.7	-5.5	3	109	11.30	2.47	-8.90	0.000	4	0.178	0.077	2397	3002	3139
294	-1.38	-146.6	36.1	-14.3	12	298	0.00	2.40	0.00	0.000	6	0.000	0.060	2397	1604	3142
612	-1.38	-146.6	77.0	-12.4	27	613	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1604	3143
920	-1.38	-146.6	113.4	-11.9	42	924	0.00	2.50	0.00	0.000	4	0.000	0.080	2398	212	3144
1006	-1.38	-146.6	125.0	-13.8	46	1010	0.00	2.33	0.00	0.000	6	0.000	0.054	2398	1633	3144
1339	-1.38	-146.6	167.5	-12.8	62	1343	0.00	2.58	0.00	0.000	4	0.000	0.076	2397	209	3145
1406	-1.38	-146.6	176.8	-13.6	65	1410	0.00	2.30	0.00	0.000	6	0.000	0.054	2398	1600	3145
1733	-1.38	-146.6	218.4	-12.8	81	1738	0.00	2.50	0.00	0.000	4	0.000	0.074	2397	209	3145
1812	-1.38	-146.6	229.4	-13.5	84	1818	0.00	2.30	0.00	0.000	6	0.000	0.054	2398	1602	3145
2129	-1.38	-146.6	270.4	-12.7	100	2133	0.00	2.50	0.00	0.000	4	0.000	0.075	2397	211	3145
2191	-1.38	-146.6	279.1	-14.0	102	2197	0.00	2.30	0.00	0.000	6	0.000	0.054	2398	1597	3145
2507	-1.38	-146.6	314.4	-10.0	118	2509	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	1599	3145
2817	-1.38	-146.6	343.1	-9.6	133	2821	0.00	2.50	0.00	0.000	4	0.000	0.077	2397	213	3146
2929	-1.38	-146.6	356.5	-12.8	138	2933	0.00	2.33	0.00	0.000	6	0.000	0.054	2398	1599	3146
3250	-1.38	-146.6	396.3	-12.3	154	3252	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	1601	3147
3559	-1.38	-146.6	434.6	-12.6	169	3564	0.00	2.53	0.00	0.000	4	0.000	0.079	2397	211	3148
3616	-1.38	-146.6	442.1	-12.7	171	3622	0.00	2.35	0.00	0.000	6	0.000	0.055	2398	1602	3148
3932	-1.38	-146.6	478.1	-10.6	187	3936	0.00	2.53	0.00	0.000	4	0.000	0.081	2397	213	3148
4017	-1.38	-146.6	487.9	-11.4	190	4024	0.00	2.35	0.00	0.000	6	0.000	0.055	2397	1603	3148
4334	-1.38	-146.6	519.8	-10.2	206	4335	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	1604	3148
4644	-1.38	-146.6	550.5	-9.7	221	4645	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1605	3148
4952	-1.38	-146.6	581.4	-10.0	236	4954	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1604	3147
5262	-1.38	-146.6	613.0	-10.7	251	5266	0.00	2.55	0.00	0.000	4	0.000	0.084	2398	211	3147
5306	-1.38	-146.6	618.5	-11.8	253	5311	0.00	2.35	0.00	0.000	6	0.000	0.054	2397	1601	3147
5628	-1.38	-146.6	653.5	-10.9	269	5629	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1601	3145
5938	-1.38	-146.6	688.2	-11.4	284	5942	0.00	2.55	0.00	0.000	4	0.000	0.083	2397	209	3144
5978	-1.38	-146.6	693.2	-13.2	286	5982	0.00	2.35	0.00	0.000	6	0.000	0.054	2397	1599	3143
6306	-1.38	-146.6	730.4	-11.3	302	6307	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	1599	3142
6615	-1.38	-146.6	765.3	-11.4	317	6617	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1599	3141
6924	-1.38	-146.6	799.8	-10.9	332	6926	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1599	3140
7234	-1.38	-146.6	832.7	-10.6	347	7235	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1599	3138
7543	-1.38	-146.6	864.9	-10.4	362	7544	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	1599	3137
7852	-1.38	-146.6	896.5	-10.1	377	7853	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	1600	3136
8162	-1.38	-146.6	927.2	-9.8	392	8166	0.00	2.53	0.00	0.000	4	0.000	0.082	2397	213	3135
8212	-1.38	-146.6	932.8	-10.7	394	8217	0.00	2.35	0.00	0.000	6	0.000	0.054	2397	1609	3135
8529	-1.38	-146.6	963.4	-9.6	409	8530	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	1613	3134
8814	end dive: TARGET_DEPTH_EXCEEDED
state	8814	begin apogee
8823	-0.32	0.0	991.1	9.6	423	8963	1.15	0.00	131.10	1.332	6	0.116	0.000	2631	2188	2539
8964	end apogee: CONTROL_FINISHED_OK
state	8964	begin climb
8968	1.38	146.6	996.8	0.0	430	9101	1.77	2.72	125.28	1.307	4	0.085	0.091	3005	3596	1941
9336	1.38	146.6	968.0	11.7	446	9342	0.00	2.45	0.00	0.000	6	0.000	0.060	3005	2195	1940
9652	1.39	149.7	936.5	9.9	462	9658	0.00	0.00	4.07	0.883	6	0.000	0.000	3005	2195	1929
9961	1.39	149.7	905.1	10.3	477	9966	0.00	2.58	0.00	0.000	4	0.000	0.081	3004	3594	1928
10074	1.39	149.7	892.9	11.2	482	10078	0.00	2.42	0.00	0.000	6	0.000	0.059	3004	2203	1928
10395	1.39	149.7	860.1	10.5	498	10396	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2203	1928
10705	1.39	149.7	827.8	10.5	513	10709	0.00	2.58	0.00	0.000	4	0.000	0.082	3003	3604	1928
10823	1.39	149.7	814.8	11.8	518	10827	0.00	2.45	0.00	0.000	6	0.000	0.059	3004	2199	1928
11144	1.39	149.7	781.7	10.1	534	11146	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2199	1928
11454	1.41	162.6	752.1	9.4	549	11475	0.00	2.67	11.90	1.115	4	0.000	0.082	3005	3593	1877
11532	1.41	164.4	744.0	9.9	552	11544	0.00	2.45	3.50	0.697	6	0.000	0.060	3005	2199	1868
11854	1.44	182.7	713.4	9.1	568	11873	0.00	0.00	16.77	1.118	6	0.000	0.000	3005	2199	1794
12183	1.45	188.4	682.1	9.7	584	12197	0.00	2.65	6.72	0.972	4	0.000	0.083	3004	3602	1770
12283	1.45	188.4	671.5	10.6	588	12287	0.00	2.47	0.00	0.000	6	0.000	0.061	3004	2196	1770
12599	1.45	188.4	639.1	10.4	603	12600	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2196	1769
12908	1.45	188.4	607.4	10.6	618	12909	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2196	1769
13218	1.45	188.4	574.2	10.5	633	13219	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2196	1768
13527	1.46	193.9	543.6	9.7	648	13540	0.00	2.62	6.25	0.919	4	0.000	0.081	3003	3601	1747
13609	1.46	193.9	535.2	10.0	651	13615	0.00	2.45	0.00	0.000	6	0.000	0.061	3005	2199	1747
13926	1.50	217.7	507.0	8.9	667	13949	0.12	0.00	21.27	1.015	6	0.072	0.000	3038	2199	1651
14254	1.50	217.7	467.8	12.5	683	14256	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2199	1649
14564	1.50	217.7	425.8	13.5	698	14568	0.00	2.55	0.00	0.000	4	0.000	0.081	3038	3596	1648
14710	1.50	217.7	405.1	13.8	704	14716	0.00	2.45	0.00	0.000	6	0.000	0.060	3038	2191	1648
15026	1.50	217.7	366.5	11.7	720	15030	0.00	2.58	0.00	0.000	4	0.000	0.081	3038	3596	1647
15071	1.50	217.7	361.0	11.9	722	15075	0.00	2.42	0.00	0.000	6	0.000	0.060	3038	2199	1648
15392	1.50	217.7	321.1	13.9	738	15393	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2199	1647
15701	1.50	217.7	277.9	13.5	753	15706	0.00	2.58	0.00	0.000	4	0.000	0.083	3038	3601	1646
15836	1.50	217.7	258.7	14.2	759	15841	0.00	2.45	0.00	0.000	6	0.000	0.062	3038	2198	1645
16158	1.50	217.7	215.1	13.4	775	16163	0.00	2.55	0.00	0.000	4	0.000	0.083	3038	3593	1645
16232	1.50	217.7	205.0	14.2	778	16236	0.00	2.42	0.00	0.000	6	0.000	0.061	3038	2201	1645
16548	1.50	217.7	165.1	12.5	793	16552	0.00	2.55	0.00	0.000	4	0.000	0.082	3038	3599	1645
16621	1.50	217.7	155.5	12.1	796	16625	0.00	2.42	0.00	0.000	6	0.000	0.061	3038	2198	1646
16943	1.50	217.7	114.6	13.2	812	16944	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2199	1645
17253	1.50	217.7	72.7	13.9	827	17258	0.00	2.55	0.00	0.000	4	0.000	0.081	3038	3603	1646
17377	1.50	217.7	54.7	13.0	832	17384	0.00	2.42	0.00	0.000	6	0.000	0.061	3038	2198	1646
17695	1.50	217.7	14.3	12.4	848	17697	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2199	1646
17795	end climb: SURFACE_DEPTH_REACHED
state	17795	begin surface coast
17815	end surface coast: CONTROL_FINISHED_OK
state	17815	begin surface