Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 337 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 337 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2675 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2075 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 15 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 10 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -150388.89 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 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 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 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 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -150388.89

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2075 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2675 MASS 52000 R_PORT_OVSHOOT 15 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 10 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 337 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 030425,6239.431,-1222.577,42,1.2,42,-11.5 TGT_NAME P1

_CALLS 3 TGT_LATLONG 6215.000,-1130.000

_XMS_NAKs 24 TGT_RADIUS 5000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.192,-0.150

_SM_DEPTHo 1.18 KALMAN_X -113580.9,1595.5,698.3,143513.2,-13653.2

_SM_ANGLEo -54.9 KALMAN_Y 18677.7,372.0,-11.8,-39494.2,25.1

GPS2 032201,6239.465,-1222.552,11,1.7,11,-11.5 MHEAD_RNG_PITCHd_Wd 139.5,64083,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027421 ALTIM_BOTTOM_PING 750.8,53.3

SM_CCo 15662,0.00,0.000,0,0,1728,287.98 _24V_AH 23.2,56.308

SM_GC 1.23,12.07,0.00,0.00,0.030,0.000,0.000,54,2667,1728,-10.92,-0.23,287.98 _10V_AH 10.1,32.430

IRIDIUM_FIX 6211.90,-1307.74,310798,030306 DATA_FILE_SIZE 38018,737

TT8_MAMPS 0.029146 CAP_FILE_SIZE 135477,0

HUMID 1781 CFSIZE 260165632,237101056

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.00 GPS 060509,074506,6238.386,-1220.490,33,1.3,33,-11.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 161 101.66 SBE_CT 513 24 285.84

Roll_motor 164 86 330.12 SBE_O2 535 19 236.12

VBD_pump_during_apogee 376 1181 10326.81 WL_BB2F 406 105 989.92

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 88 103 211.14 nil 0 0 0.00

Iridium_during_connect 82 160 304.40 nil 0 0 0.00

Iridium_during_xfer 629 223 3257.78

Transponder_ping 6 420 65.77

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.04

TT8 1454 19 290.88

LPSleep 11556 2 255.61

TT8_Active 491 19 98.28

TT8_Sampling 2085 39 838.28

TT8_CF8 1128 45 521.89

TT8_Kalman 33 81 27.55

Analog_circuits 1535 12 186.08

GPS_charging 0 0 0.00

Compass 2022 8 163.45

RAFOS 0 0 0.00

Transponder 49 30 15.11

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.42 -146.6 0.0 0.0 0 78 0.00 0.00 -58.60 0.000 6 0.000 0.000 46 2672 3502

81 -1.42 -146.6 6.0 -11.7 3 102 11.85 2.17 0.00 0.000 4 0.162 0.077 2124 3793 3503

356 -1.42 -146.6 50.8 -13.1 15 359 0.00 2.00 0.00 0.000 6 0.000 0.044 2124 2667 3503

683 -1.42 -146.6 88.8 -12.4 31 687 0.00 2.15 0.00 0.000 4 0.000 0.081 2124 3789 3503

846 -1.42 -146.6 111.6 -13.4 38 850 0.00 1.98 0.00 0.000 6 0.000 0.044 2124 2672 3503

1173 -1.42 -146.6 157.1 -13.7 54 1177 0.00 2.15 0.00 0.000 4 0.000 0.080 2124 3796 3503

1242 -1.42 -146.6 165.8 -12.3 57 1246 0.00 2.00 0.00 0.000 6 0.000 0.044 2124 2664 3503

1574 -1.42 -146.6 204.1 -10.9 73 1578 0.00 2.15 0.00 0.000 4 0.000 0.079 2124 3790 3503

1630 -1.42 -146.6 210.4 -11.0 75 1634 0.00 1.98 0.00 0.000 6 0.000 0.044 2124 2667 3503

1952 -1.42 -146.6 244.6 -10.5 91 1956 0.00 2.15 0.00 0.000 4 0.000 0.079 2124 3796 3502

2054 -1.42 -146.6 256.0 -11.1 95 2057 0.00 1.98 0.00 0.000 6 0.000 0.045 2124 2676 3502

2375 -1.42 -146.6 287.7 -9.9 111 2379 0.00 2.12 0.00 0.000 4 0.000 0.080 2124 3796 3502

2466 -1.42 -146.6 297.6 -11.4 115 2470 0.00 2.00 0.00 0.000 6 0.000 0.048 2124 2668 3501

2800 -1.42 -146.6 329.4 -9.7 131 2803 0.00 2.15 0.00 0.000 4 0.000 0.079 2124 3797 3501

2839 -1.42 -146.6 333.5 -9.8 132 2845 0.00 2.00 0.00 0.000 6 0.000 0.048 2124 2668 3501

3155 -1.42 -146.6 363.5 -9.0 148 3158 0.00 2.15 0.00 0.000 4 0.000 0.081 2124 3794 3502

3239 -1.42 -146.6 371.8 -10.1 151 3245 0.00 2.00 0.00 0.000 6 0.000 0.048 2124 2664 3501

3556 -1.42 -146.6 401.8 -9.5 167 3560 0.00 2.15 0.00 0.000 4 0.000 0.080 2124 3797 3502

3662 -1.42 -146.6 412.4 -10.3 171 3668 0.00 1.98 0.00 0.000 6 0.000 0.044 2124 2671 3501

3978 -1.42 -146.6 442.0 -9.4 187 3982 0.00 2.12 0.00 0.000 4 0.000 0.082 2124 3786 3502

4070 -1.42 -146.6 451.0 -9.7 191 4073 0.00 1.98 0.00 0.000 6 0.000 0.046 2124 2663 3501

4403 -1.42 -146.6 482.2 -9.1 207 4406 0.00 2.15 0.00 0.000 4 0.000 0.084 2124 3787 3502

4504 -1.42 -146.6 491.8 -9.6 211 4507 0.00 1.98 0.00 0.000 6 0.000 0.045 2124 2664 3502

4825 -1.42 -146.6 519.4 -8.8 227 4829 0.00 2.17 0.00 0.000 4 0.000 0.083 2124 3796 3502

4904 -1.42 -146.6 526.6 -9.6 230 4908 0.00 1.98 0.00 0.000 6 0.000 0.044 2124 2672 3501

5226 -1.42 -146.6 555.3 -8.9 246 5230 0.00 2.12 0.00 0.000 4 0.000 0.083 2124 3787 3501

5299 -1.42 -146.6 562.1 -9.1 249 5303 0.00 1.95 0.00 0.000 6 0.000 0.042 2124 2670 3501

5626 -1.42 -146.6 591.6 -9.3 265 5630 0.00 2.15 0.00 0.000 4 0.000 0.082 2124 3793 3502

5688 -1.42 -146.6 597.9 -10.1 267 5694 0.00 1.98 0.00 0.000 6 0.000 0.044 2124 2671 3502

6004 -1.42 -146.6 627.5 -9.4 283 6005 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2671 3502

6314 -1.42 -146.6 657.4 -10.2 298 6317 0.00 2.12 0.00 0.000 4 0.000 0.081 2124 3786 3502

6504 -1.42 -146.6 680.1 -12.8 306 6508 0.00 1.98 0.00 0.000 6 0.000 0.044 2124 2661 3502

6826 -1.42 -146.6 717.6 -11.5 322 6830 0.00 2.17 0.00 0.000 4 0.000 0.085 2124 3793 3501

6918 -1.42 -146.6 728.8 -12.5 326 6922 0.00 1.98 0.00 0.000 6 0.000 0.046 2124 2675 3501

7251 -1.42 -146.6 765.0 -9.5 342 7255 0.00 2.15 0.00 0.000 4 0.000 0.087 2124 3794 3501

7477 -1.42 -146.6 784.6 -8.0 352 7481 0.00 1.98 0.00 0.000 6 0.000 0.047 2124 2671 3501

7601 end dive: BOTTOM_OBSTACLE_DETECTED

state 7601 begin apogee

7610 -0.42 0.0 795.9 8.8 358 7744 1.12 0.00 127.53 1.182 6 0.094 0.000 2347 2073 2902

7745 end apogee: CONTROL_FINISHED_OK

state 7745 begin climb

7748 1.42 146.6 803.2 0.0 365 7882 1.88 2.65 125.03 1.159 4 0.054 0.059 2751 659 2304

8141 1.52 228.4 795.0 5.0 383 8218 0.00 2.53 70.80 1.147 6 0.000 0.037 2751 2097 1970

8535 1.52 228.4 765.0 8.8 402 8540 0.00 2.65 0.00 0.000 4 0.000 0.058 2751 656 1970

8692 1.52 228.4 750.9 8.4 409 8697 0.00 2.50 0.00 0.000 6 0.000 0.038 2751 2074 1969

9014 1.59 280.6 729.6 6.1 425 9062 0.15 0.00 45.17 1.136 6 0.039 0.000 2798 2075 1758

9363 1.59 280.6 699.9 8.5 442 9367 0.00 2.58 0.00 0.000 4 0.000 0.057 2798 666 1757

9410 1.59 282.6 696.3 7.9 444 9414 0.00 2.47 0.00 0.000 6 0.000 0.038 2798 2074 1757

9743 1.60 288.2 669.2 7.8 460 9757 0.00 2.65 8.07 0.954 4 0.000 0.056 2798 663 1727

9848 1.60 288.2 660.0 9.1 464 9854 0.00 2.50 0.00 0.000 6 0.000 0.037 2798 2082 1726

10164 1.60 288.2 629.7 10.3 480 10169 0.00 2.60 0.00 0.000 4 0.000 0.055 2798 655 1726

10288 1.60 288.2 615.4 12.3 485 10294 0.00 2.47 0.00 0.000 6 0.000 0.036 2798 2075 1727

10604 1.60 288.2 578.9 11.2 501 10608 0.00 2.55 0.00 0.000 4 0.000 0.055 2798 661 1727

10638 1.60 288.2 574.7 12.3 502 10642 0.00 2.50 0.00 0.000 6 0.000 0.037 2798 2087 1727

10954 1.60 288.2 536.8 12.1 517 10958 0.00 2.58 0.00 0.000 4 0.000 0.055 2798 665 1727

11083 1.60 288.2 519.9 12.8 522 11089 0.00 2.47 0.00 0.000 6 0.000 0.037 2798 2079 1727

11398 1.60 288.2 484.3 10.6 538 11402 0.00 2.58 0.00 0.000 4 0.000 0.056 2798 657 1727

11505 1.60 288.2 471.3 11.6 542 11511 0.00 2.50 0.00 0.000 6 0.000 0.036 2798 2086 1727

11821 1.60 288.2 438.1 10.1 558 11826 0.00 2.60 0.00 0.000 4 0.000 0.056 2798 653 1727

11900 1.60 288.2 429.6 10.8 561 11906 0.00 2.50 0.00 0.000 6 0.000 0.038 2798 2082 1727

12216 1.60 288.2 395.8 11.2 577 12220 0.00 2.58 0.00 0.000 4 0.000 0.056 2798 664 1728

12316 1.60 288.2 383.9 12.0 581 12323 0.00 2.45 0.00 0.000 6 0.000 0.038 2798 2075 1728

12633 1.60 288.2 347.6 11.6 597 12637 0.00 2.58 0.00 0.000 4 0.000 0.057 2798 655 1728

12750 1.60 288.2 333.0 12.4 602 12754 0.00 2.47 0.00 0.000 6 0.000 0.038 2798 2076 1728

13071 1.60 288.2 294.6 11.8 618 13076 0.00 2.58 0.00 0.000 4 0.000 0.058 2798 661 1728

13167 1.60 288.2 282.6 12.5 622 13171 0.00 2.50 0.00 0.000 6 0.000 0.038 2798 2086 1728

13483 1.60 288.2 243.9 12.7 637 13487 0.00 2.60 0.00 0.000 4 0.000 0.058 2798 658 1728

13550 1.60 288.2 234.8 13.5 640 13555 0.00 2.50 0.00 0.000 6 0.000 0.039 2798 2081 1728

13872 1.60 288.2 195.1 12.0 656 13877 0.00 2.58 0.00 0.000 4 0.000 0.058 2798 663 1728

13906 1.60 288.2 190.7 11.9 657 13912 0.00 2.47 0.00 0.000 6 0.000 0.039 2798 2074 1728

14222 1.60 288.2 152.8 11.8 673 14226 0.00 2.55 0.00 0.000 4 0.000 0.058 2798 663 1728

14328 1.60 288.2 139.9 11.8 677 14335 0.00 2.47 0.00 0.000 6 0.000 0.040 2798 2079 1728

14644 1.60 288.2 106.7 10.2 693 14649 0.00 2.60 0.00 0.000 4 0.000 0.060 2798 656 1728

14757 1.60 288.2 92.4 12.1 698 14761 0.00 2.50 0.00 0.000 6 0.000 0.039 2798 2078 1728

15078 1.60 288.2 58.5 11.7 714 15083 0.00 2.60 0.00 0.000 4 0.000 0.061 2798 656 1728

15202 1.60 288.2 42.9 12.4 719 15209 0.00 2.50 0.00 0.000 6 0.000 0.039 2798 2076 1728

15520 1.60 288.2 7.0 11.7 735 15524 0.00 2.60 0.00 0.000 4 0.000 0.063 2798 663 1728

15567 end climb: SURFACE_DEPTH_REACHED

state 15567 begin surface coast

15573 end surface coast: CONTROL_FINISHED_OK

state 15574 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	337	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2675	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2075	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	15	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	10	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-150388.89	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	030425,6239.431,-1222.577,42,1.2,42,-11.5	TGT_NAME	P1
_CALLS	3	TGT_LATLONG	6215.000,-1130.000
_XMS_NAKs	24	TGT_RADIUS	5000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.192,-0.150
_SM_DEPTHo	1.18	KALMAN_X	-113580.9,1595.5,698.3,143513.2,-13653.2
_SM_ANGLEo	-54.9	KALMAN_Y	18677.7,372.0,-11.8,-39494.2,25.1
GPS2	032201,6239.465,-1222.552,11,1.7,11,-11.5	MHEAD_RNG_PITCHd_Wd	139.5,64083,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	0.7,1.027421	ALTIM_BOTTOM_PING	750.8,53.3
SM_CCo	15662,0.00,0.000,0,0,1728,287.98	_24V_AH	23.2,56.308
SM_GC	1.23,12.07,0.00,0.00,0.030,0.000,0.000,54,2667,1728,-10.92,-0.23,287.98	_10V_AH	10.1,32.430
IRIDIUM_FIX	6211.90,-1307.74,310798,030306	DATA_FILE_SIZE	38018,737
TT8_MAMPS	0.029146	CAP_FILE_SIZE	135477,0
HUMID	1781	CFSIZE	260165632,237101056
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.00	GPS	060509,074506,6238.386,-1220.490,33,1.3,33,-11.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	161	101.66	SBE_CT	513	24	285.84
Roll_motor	164	86	330.12	SBE_O2	535	19	236.12
VBD_pump_during_apogee	376	1181	10326.81	WL_BB2F	406	105	989.92
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	88	103	211.14	nil	0	0	0.00
Iridium_during_connect	82	160	304.40	nil	0	0	0.00
Iridium_during_xfer	629	223	3257.78
Transponder_ping	6	420	65.77
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.04
TT8	1454	19	290.88
LPSleep	11556	2	255.61
TT8_Active	491	19	98.28
TT8_Sampling	2085	39	838.28
TT8_CF8	1128	45	521.89
TT8_Kalman	33	81	27.55
Analog_circuits	1535	12	186.08
GPS_charging	0	0	0.00
Compass	2022	8	163.45
RAFOS	0	0	0.00
Transponder	49	30	15.11

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.42	-146.6	0.0	0.0	0	78	0.00	0.00	-58.60	0.000	6	0.000	0.000	46	2672	3502
81	-1.42	-146.6	6.0	-11.7	3	102	11.85	2.17	0.00	0.000	4	0.162	0.077	2124	3793	3503
356	-1.42	-146.6	50.8	-13.1	15	359	0.00	2.00	0.00	0.000	6	0.000	0.044	2124	2667	3503
683	-1.42	-146.6	88.8	-12.4	31	687	0.00	2.15	0.00	0.000	4	0.000	0.081	2124	3789	3503
846	-1.42	-146.6	111.6	-13.4	38	850	0.00	1.98	0.00	0.000	6	0.000	0.044	2124	2672	3503
1173	-1.42	-146.6	157.1	-13.7	54	1177	0.00	2.15	0.00	0.000	4	0.000	0.080	2124	3796	3503
1242	-1.42	-146.6	165.8	-12.3	57	1246	0.00	2.00	0.00	0.000	6	0.000	0.044	2124	2664	3503
1574	-1.42	-146.6	204.1	-10.9	73	1578	0.00	2.15	0.00	0.000	4	0.000	0.079	2124	3790	3503
1630	-1.42	-146.6	210.4	-11.0	75	1634	0.00	1.98	0.00	0.000	6	0.000	0.044	2124	2667	3503
1952	-1.42	-146.6	244.6	-10.5	91	1956	0.00	2.15	0.00	0.000	4	0.000	0.079	2124	3796	3502
2054	-1.42	-146.6	256.0	-11.1	95	2057	0.00	1.98	0.00	0.000	6	0.000	0.045	2124	2676	3502
2375	-1.42	-146.6	287.7	-9.9	111	2379	0.00	2.12	0.00	0.000	4	0.000	0.080	2124	3796	3502
2466	-1.42	-146.6	297.6	-11.4	115	2470	0.00	2.00	0.00	0.000	6	0.000	0.048	2124	2668	3501
2800	-1.42	-146.6	329.4	-9.7	131	2803	0.00	2.15	0.00	0.000	4	0.000	0.079	2124	3797	3501
2839	-1.42	-146.6	333.5	-9.8	132	2845	0.00	2.00	0.00	0.000	6	0.000	0.048	2124	2668	3501
3155	-1.42	-146.6	363.5	-9.0	148	3158	0.00	2.15	0.00	0.000	4	0.000	0.081	2124	3794	3502
3239	-1.42	-146.6	371.8	-10.1	151	3245	0.00	2.00	0.00	0.000	6	0.000	0.048	2124	2664	3501
3556	-1.42	-146.6	401.8	-9.5	167	3560	0.00	2.15	0.00	0.000	4	0.000	0.080	2124	3797	3502
3662	-1.42	-146.6	412.4	-10.3	171	3668	0.00	1.98	0.00	0.000	6	0.000	0.044	2124	2671	3501
3978	-1.42	-146.6	442.0	-9.4	187	3982	0.00	2.12	0.00	0.000	4	0.000	0.082	2124	3786	3502
4070	-1.42	-146.6	451.0	-9.7	191	4073	0.00	1.98	0.00	0.000	6	0.000	0.046	2124	2663	3501
4403	-1.42	-146.6	482.2	-9.1	207	4406	0.00	2.15	0.00	0.000	4	0.000	0.084	2124	3787	3502
4504	-1.42	-146.6	491.8	-9.6	211	4507	0.00	1.98	0.00	0.000	6	0.000	0.045	2124	2664	3502
4825	-1.42	-146.6	519.4	-8.8	227	4829	0.00	2.17	0.00	0.000	4	0.000	0.083	2124	3796	3502
4904	-1.42	-146.6	526.6	-9.6	230	4908	0.00	1.98	0.00	0.000	6	0.000	0.044	2124	2672	3501
5226	-1.42	-146.6	555.3	-8.9	246	5230	0.00	2.12	0.00	0.000	4	0.000	0.083	2124	3787	3501
5299	-1.42	-146.6	562.1	-9.1	249	5303	0.00	1.95	0.00	0.000	6	0.000	0.042	2124	2670	3501
5626	-1.42	-146.6	591.6	-9.3	265	5630	0.00	2.15	0.00	0.000	4	0.000	0.082	2124	3793	3502
5688	-1.42	-146.6	597.9	-10.1	267	5694	0.00	1.98	0.00	0.000	6	0.000	0.044	2124	2671	3502
6004	-1.42	-146.6	627.5	-9.4	283	6005	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2671	3502
6314	-1.42	-146.6	657.4	-10.2	298	6317	0.00	2.12	0.00	0.000	4	0.000	0.081	2124	3786	3502
6504	-1.42	-146.6	680.1	-12.8	306	6508	0.00	1.98	0.00	0.000	6	0.000	0.044	2124	2661	3502
6826	-1.42	-146.6	717.6	-11.5	322	6830	0.00	2.17	0.00	0.000	4	0.000	0.085	2124	3793	3501
6918	-1.42	-146.6	728.8	-12.5	326	6922	0.00	1.98	0.00	0.000	6	0.000	0.046	2124	2675	3501
7251	-1.42	-146.6	765.0	-9.5	342	7255	0.00	2.15	0.00	0.000	4	0.000	0.087	2124	3794	3501
7477	-1.42	-146.6	784.6	-8.0	352	7481	0.00	1.98	0.00	0.000	6	0.000	0.047	2124	2671	3501
7601	end dive: BOTTOM_OBSTACLE_DETECTED
state	7601	begin apogee
7610	-0.42	0.0	795.9	8.8	358	7744	1.12	0.00	127.53	1.182	6	0.094	0.000	2347	2073	2902
7745	end apogee: CONTROL_FINISHED_OK
state	7745	begin climb
7748	1.42	146.6	803.2	0.0	365	7882	1.88	2.65	125.03	1.159	4	0.054	0.059	2751	659	2304
8141	1.52	228.4	795.0	5.0	383	8218	0.00	2.53	70.80	1.147	6	0.000	0.037	2751	2097	1970
8535	1.52	228.4	765.0	8.8	402	8540	0.00	2.65	0.00	0.000	4	0.000	0.058	2751	656	1970
8692	1.52	228.4	750.9	8.4	409	8697	0.00	2.50	0.00	0.000	6	0.000	0.038	2751	2074	1969
9014	1.59	280.6	729.6	6.1	425	9062	0.15	0.00	45.17	1.136	6	0.039	0.000	2798	2075	1758
9363	1.59	280.6	699.9	8.5	442	9367	0.00	2.58	0.00	0.000	4	0.000	0.057	2798	666	1757
9410	1.59	282.6	696.3	7.9	444	9414	0.00	2.47	0.00	0.000	6	0.000	0.038	2798	2074	1757
9743	1.60	288.2	669.2	7.8	460	9757	0.00	2.65	8.07	0.954	4	0.000	0.056	2798	663	1727
9848	1.60	288.2	660.0	9.1	464	9854	0.00	2.50	0.00	0.000	6	0.000	0.037	2798	2082	1726
10164	1.60	288.2	629.7	10.3	480	10169	0.00	2.60	0.00	0.000	4	0.000	0.055	2798	655	1726
10288	1.60	288.2	615.4	12.3	485	10294	0.00	2.47	0.00	0.000	6	0.000	0.036	2798	2075	1727
10604	1.60	288.2	578.9	11.2	501	10608	0.00	2.55	0.00	0.000	4	0.000	0.055	2798	661	1727
10638	1.60	288.2	574.7	12.3	502	10642	0.00	2.50	0.00	0.000	6	0.000	0.037	2798	2087	1727
10954	1.60	288.2	536.8	12.1	517	10958	0.00	2.58	0.00	0.000	4	0.000	0.055	2798	665	1727
11083	1.60	288.2	519.9	12.8	522	11089	0.00	2.47	0.00	0.000	6	0.000	0.037	2798	2079	1727
11398	1.60	288.2	484.3	10.6	538	11402	0.00	2.58	0.00	0.000	4	0.000	0.056	2798	657	1727
11505	1.60	288.2	471.3	11.6	542	11511	0.00	2.50	0.00	0.000	6	0.000	0.036	2798	2086	1727
11821	1.60	288.2	438.1	10.1	558	11826	0.00	2.60	0.00	0.000	4	0.000	0.056	2798	653	1727
11900	1.60	288.2	429.6	10.8	561	11906	0.00	2.50	0.00	0.000	6	0.000	0.038	2798	2082	1727
12216	1.60	288.2	395.8	11.2	577	12220	0.00	2.58	0.00	0.000	4	0.000	0.056	2798	664	1728
12316	1.60	288.2	383.9	12.0	581	12323	0.00	2.45	0.00	0.000	6	0.000	0.038	2798	2075	1728
12633	1.60	288.2	347.6	11.6	597	12637	0.00	2.58	0.00	0.000	4	0.000	0.057	2798	655	1728
12750	1.60	288.2	333.0	12.4	602	12754	0.00	2.47	0.00	0.000	6	0.000	0.038	2798	2076	1728
13071	1.60	288.2	294.6	11.8	618	13076	0.00	2.58	0.00	0.000	4	0.000	0.058	2798	661	1728
13167	1.60	288.2	282.6	12.5	622	13171	0.00	2.50	0.00	0.000	6	0.000	0.038	2798	2086	1728
13483	1.60	288.2	243.9	12.7	637	13487	0.00	2.60	0.00	0.000	4	0.000	0.058	2798	658	1728
13550	1.60	288.2	234.8	13.5	640	13555	0.00	2.50	0.00	0.000	6	0.000	0.039	2798	2081	1728
13872	1.60	288.2	195.1	12.0	656	13877	0.00	2.58	0.00	0.000	4	0.000	0.058	2798	663	1728
13906	1.60	288.2	190.7	11.9	657	13912	0.00	2.47	0.00	0.000	6	0.000	0.039	2798	2074	1728
14222	1.60	288.2	152.8	11.8	673	14226	0.00	2.55	0.00	0.000	4	0.000	0.058	2798	663	1728
14328	1.60	288.2	139.9	11.8	677	14335	0.00	2.47	0.00	0.000	6	0.000	0.040	2798	2079	1728
14644	1.60	288.2	106.7	10.2	693	14649	0.00	2.60	0.00	0.000	4	0.000	0.060	2798	656	1728
14757	1.60	288.2	92.4	12.1	698	14761	0.00	2.50	0.00	0.000	6	0.000	0.039	2798	2078	1728
15078	1.60	288.2	58.5	11.7	714	15083	0.00	2.60	0.00	0.000	4	0.000	0.061	2798	656	1728
15202	1.60	288.2	42.9	12.4	719	15209	0.00	2.50	0.00	0.000	6	0.000	0.039	2798	2076	1728
15520	1.60	288.2	7.0	11.7	735	15524	0.00	2.60	0.00	0.000	4	0.000	0.063	2798	663	1728
15567	end climb: SURFACE_DEPTH_REACHED
state	15567	begin surface coast
15573	end surface coast: CONTROL_FINISHED_OK
state	15574	begin surface