Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 48 * 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 48 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 2650 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 1800 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 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 19 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 550 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 580 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 -143861.25 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 300

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 550

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 -143861.25

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 580

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 1800 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2650 MASS 52000 R_PORT_OVSHOOT 19 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 14 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 48 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 030826,6150.210,-920.864,39,1.4,39,-9.5 TGT_NAME CW

_CALLS 3 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,0.077

_SM_DEPTHo 1.06 KALMAN_X 30698.9,-1956.4,-924.6,-19966.4,19994.0

_SM_ANGLEo -54.6 KALMAN_Y -79579.8,971.5,820.9,149844.7,-16391.4

GPS2 032026,6150.183,-920.599,12,1.6,12,-9.5 MHEAD_RNG_PITCHd_Wd 300.2,37455,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.013673 ALTIM_BOTTOM_PING 675.5,71.9

SM_CCo 19011,0.00,0.000,0,0,1650,307.12 _24V_AH 23.4,16.685

SM_GC 1.16,11.82,0.00,0.00,0.033,0.000,0.000,54,2665,1650,-10.92,0.42,307.12 _10V_AH 10.1,7.828

IRIDIUM_FIX 6126.23,-923.24,280598,030336 DATA_FILE_SIZE 44336,906

TT8_MAMPS 0.029146 CAP_FILE_SIZE 138052,0

HUMID 1763 CFSIZE 260165632,254906368

INTERNAL_PRESSURE 8.56478 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 GPS 030309,083930,6148.083,-927.284,40,1.6,45,-9.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.88 SBE_CT 637 24 358.07

Roll_motor 160 92 346.48 SBE_O2 678 19 301.78

VBD_pump_during_apogee 384 1150 10356.10 WL_BB2F 533 105 1311.03

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 85 103 206.11 nil 0 0 0.00

Iridium_during_connect 91 160 340.74 nil 0 0 0.00

Iridium_during_xfer 287 223 1498.85

Transponder_ping 5 420 56.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.29

TT8 1667 19 333.50

LPSleep 14708 2 325.35

TT8_Active 485 19 97.07

TT8_Sampling 2040 39 820.40

TT8_CF8 819 45 379.29

TT8_Kalman 33 81 27.56

Analog_circuits 1523 12 184.64

GPS_charging 0 0 0.00

Compass 2013 8 162.66

RAFOS 0 0 0.00

Transponder 40 30 12.28

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 -1.10 -146.6 0.0 0.0 0 72 0.00 0.00 -53.60 0.000 6 0.000 0.000 49 2659 3501

75 -1.10 -146.6 3.0 -9.0 2 92 12.12 2.62 0.00 0.000 4 0.158 0.061 2190 1236 3501

182 -1.10 -146.6 25.9 -9.4 7 189 0.00 2.65 0.00 0.000 6 0.000 0.069 2190 2656 3501

500 -1.10 -146.6 56.0 -9.0 23 501 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2656 3502

808 -1.10 -146.6 83.3 -6.2 38 809 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2657 3502

1117 -1.10 -146.6 103.6 -6.9 53 1120 0.00 2.17 0.00 0.000 4 0.000 0.092 2190 3783 3501

1167 -1.10 -146.6 107.6 -8.3 55 1171 0.00 2.05 0.00 0.000 6 0.000 0.053 2190 2645 3501

1495 -1.10 -146.6 131.5 -7.4 71 1496 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2646 3501

1804 -1.10 -146.6 152.7 -6.1 86 1808 0.00 2.22 0.00 0.000 4 0.000 0.088 2190 3790 3502

1842 -1.10 -146.6 155.3 -7.2 87 1848 0.00 2.05 0.00 0.000 6 0.000 0.050 2190 2645 3502

2159 -1.10 -146.6 175.5 -7.3 103 2160 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2646 3501

2467 -1.10 -146.6 198.6 -8.0 118 2471 0.00 2.22 0.00 0.000 4 0.000 0.088 2190 3793 3501

2558 -1.10 -146.6 206.7 -9.6 122 2562 0.00 2.05 0.00 0.000 6 0.000 0.051 2190 2648 3502

2891 -1.10 -146.6 240.7 -7.8 138 2894 0.00 2.20 0.00 0.000 4 0.000 0.087 2190 3786 3501

2937 -1.10 -146.6 245.0 -8.8 140 2940 0.00 2.05 0.00 0.000 6 0.000 0.052 2190 2643 3501

3270 -1.10 -146.6 267.6 -6.6 156 3271 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2643 3502

3579 -1.10 -146.6 290.2 -8.0 171 3580 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2643 3502

3889 -1.10 -146.6 316.2 -8.7 186 3893 0.00 2.20 0.00 0.000 4 0.000 0.087 2190 3785 3501

3935 -1.10 -146.6 320.1 -8.1 188 3938 0.00 2.03 0.00 0.000 6 0.000 0.051 2190 2653 3502

4268 -1.10 -146.6 344.7 -6.9 204 4269 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2653 3502

4577 -1.10 -146.6 366.1 -6.5 219 4578 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2653 3501

4886 -1.10 -146.6 387.9 -7.3 234 4887 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2653 3501

5196 -1.10 -146.6 410.2 -7.3 249 5197 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2653 3501

5504 -1.10 -146.6 434.3 -7.9 264 5506 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2653 3501

5814 -1.10 -146.6 458.4 -7.7 279 5815 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2653 3501

6123 -1.10 -146.6 483.8 -8.3 294 6124 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2652 3502

6432 -1.10 -146.6 507.9 -7.1 309 6436 0.00 2.17 0.00 0.000 4 0.000 0.084 2190 3789 3502

6466 -1.10 -146.6 510.4 -7.4 310 6469 0.00 2.05 0.00 0.000 6 0.000 0.051 2190 2638 3501

6788 -1.10 -146.6 534.5 -7.9 326 6789 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2638 3501

7097 -1.10 -146.6 560.8 -8.4 341 7100 0.00 2.20 0.00 0.000 4 0.000 0.084 2190 3790 3502

7181 -1.10 -146.6 568.1 -8.9 344 7187 0.00 2.03 0.00 0.000 6 0.000 0.051 2190 2653 3502

7497 -1.10 -146.6 593.4 -8.0 360 7498 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2653 3501

7806 -1.10 -146.6 615.6 -7.3 375 7809 0.00 2.17 0.00 0.000 4 0.000 0.084 2190 3792 3501

7901 -1.10 -146.6 622.5 -6.3 379 7905 0.00 2.05 0.00 0.000 6 0.000 0.051 2190 2644 3501

8228 -1.10 -146.6 646.8 -8.2 395 8229 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2644 3501

8537 -1.10 -146.6 669.0 -7.0 410 8541 0.00 2.20 0.00 0.000 4 0.000 0.087 2190 3787 3501

8570 -1.10 -146.6 671.5 -7.6 411 8574 0.00 2.05 0.00 0.000 6 0.000 0.052 2190 2643 3501

8892 -1.10 -146.6 694.6 -7.0 427 8893 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2643 3501

9201 -1.10 -146.6 716.3 -6.7 442 9205 0.00 2.20 0.00 0.000 4 0.000 0.089 2190 3789 3500

9256 -1.10 -146.6 720.2 -8.5 444 9260 0.00 2.08 0.00 0.000 6 0.000 0.058 2190 2644 3500

9513 end dive: BOTTOM_OBSTACLE_DETECTED

state 9513 begin apogee

9522 -0.42 0.0 738.1 7.5 457 9649 0.77 0.00 123.68 1.148 6 0.093 0.000 2345 1798 2902

9650 end apogee: CONTROL_FINISHED_OK

state 9650 begin climb

9653 1.10 146.6 742.0 0.0 463 9780 1.58 0.00 122.25 1.116 6 0.065 0.000 2677 1798 2305

10087 1.13 172.0 733.4 5.3 484 10112 0.00 0.00 23.20 1.078 6 0.000 0.000 2677 1798 2200

10417 1.19 213.6 720.0 4.8 500 10459 0.00 2.72 35.88 1.151 4 0.000 0.064 2677 3224 2030

10516 1.26 275.1 714.6 4.3 504 10575 0.17 2.65 52.28 1.119 6 0.041 0.053 2726 1785 1780

10896 1.26 275.1 686.9 8.1 523 10901 0.00 2.67 0.00 0.000 4 0.000 0.062 2726 3220 1779

10991 1.26 275.1 678.2 9.5 527 10996 0.00 2.60 0.00 0.000 6 0.000 0.053 2726 1800 1779

11307 1.26 275.1 652.0 8.0 542 11311 0.00 2.65 0.00 0.000 4 0.000 0.064 2726 3223 1779

11402 1.26 275.1 644.0 8.8 546 11406 0.00 2.60 0.00 0.000 6 0.000 0.054 2726 1801 1779

11718 1.26 275.1 618.6 7.0 561 11722 0.00 2.62 0.00 0.000 4 0.000 0.063 2727 3224 1778

11869 1.26 275.1 605.7 7.7 567 11875 0.00 2.60 0.00 0.000 6 0.000 0.052 2726 1796 1778

12185 1.26 275.1 577.6 9.2 583 12189 0.00 2.62 0.00 0.000 4 0.000 0.060 2726 3222 1778

12285 1.26 275.1 569.0 7.9 587 12291 0.00 2.58 0.00 0.000 6 0.000 0.048 2726 1793 1778

12601 1.26 275.1 541.7 8.7 603 12605 0.00 2.62 0.00 0.000 4 0.000 0.059 2726 3223 1778

12679 1.26 275.1 534.5 8.9 606 12683 0.00 2.58 0.00 0.000 6 0.000 0.048 2726 1795 1778

12995 1.26 275.1 506.6 9.0 621 12999 0.00 2.60 0.00 0.000 4 0.000 0.058 2726 3218 1778

13067 1.26 275.1 500.2 8.3 624 13072 0.00 2.58 0.00 0.000 6 0.000 0.048 2726 1789 1778

13388 1.26 275.1 473.1 8.3 640 13392 0.00 2.62 0.00 0.000 4 0.000 0.058 2727 3225 1779

13461 1.26 275.1 467.0 8.3 643 13465 0.00 2.58 0.00 0.000 6 0.000 0.048 2726 1795 1779

13782 1.26 275.1 440.0 8.3 659 13786 0.00 2.62 0.00 0.000 4 0.000 0.059 2726 3227 1779

13861 1.26 275.1 433.3 8.8 662 13867 0.00 2.58 0.00 0.000 6 0.000 0.049 2726 1796 1780

14177 1.26 275.1 405.7 8.9 678 14181 0.00 2.62 0.00 0.000 4 0.000 0.060 2726 3229 1780

14261 1.26 275.1 398.2 9.0 682 14266 0.00 2.58 0.00 0.000 6 0.000 0.051 2726 1800 1781

14589 1.26 275.1 371.1 8.4 698 14593 0.00 2.60 0.00 0.000 4 0.000 0.060 2726 3220 1781

14655 1.26 275.1 365.8 8.3 701 14659 0.00 2.58 0.00 0.000 6 0.000 0.050 2726 1796 1781

14982 1.26 275.1 341.1 7.7 717 14987 0.00 2.62 0.00 0.000 4 0.000 0.062 2726 3222 1781

15067 1.26 275.1 334.1 8.4 721 15072 0.00 2.58 0.00 0.000 6 0.000 0.051 2726 1793 1782

15394 1.26 275.1 309.8 7.7 737 15399 0.00 2.65 0.00 0.000 4 0.000 0.064 2726 3228 1782

15473 1.26 275.1 303.0 8.8 740 15480 0.00 2.58 0.00 0.000 6 0.000 0.051 2726 1793 1782

15789 1.26 275.1 271.4 8.5 756 15790 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1792 1783

16099 1.30 306.9 249.4 5.1 771 16133 0.00 2.78 27.40 0.838 4 0.000 0.063 2726 3224 1650

16218 1.30 306.9 243.9 8.4 776 16223 0.00 2.60 0.00 0.000 6 0.000 0.051 2726 1796 1650

16535 1.30 306.9 215.2 8.3 791 16539 0.00 2.62 0.00 0.000 4 0.000 0.064 2726 3216 1650

16579 1.30 306.9 211.6 7.5 793 16583 0.00 2.58 0.00 0.000 6 0.000 0.052 2726 1794 1650

16900 1.30 306.9 186.0 10.4 809 16904 0.00 2.65 0.00 0.000 4 0.000 0.064 2726 3224 1650

16940 1.30 306.9 181.4 11.4 811 16944 0.00 2.60 0.00 0.000 6 0.000 0.052 2726 1790 1650

17267 1.30 306.9 146.8 9.0 827 17271 0.00 2.65 0.00 0.000 4 0.000 0.066 2726 3217 1650

17333 1.30 306.9 140.6 9.3 830 17338 0.00 2.58 0.00 0.000 6 0.000 0.054 2726 1798 1650

17656 1.30 306.9 119.4 7.4 846 17660 0.00 2.65 0.00 0.000 4 0.000 0.067 2726 3221 1650

17711 1.30 306.9 115.0 8.7 848 17718 0.00 2.58 0.00 0.000 6 0.000 0.054 2726 1797 1650

18027 1.30 306.9 88.0 9.9 864 18032 0.00 2.62 0.00 0.000 4 0.000 0.064 2726 3217 1650

18077 1.30 306.9 82.7 11.2 866 18082 0.00 2.58 0.00 0.000 6 0.000 0.056 2726 1792 1650

18400 1.30 306.9 50.5 9.5 882 18404 0.00 2.67 0.00 0.000 4 0.000 0.068 2726 3226 1650

18427 1.30 306.9 47.8 8.6 883 18431 0.00 2.60 0.00 0.000 6 0.000 0.053 2726 1790 1650

18744 1.30 306.9 18.7 9.6 898 18749 0.00 2.67 0.00 0.000 4 0.000 0.071 2726 3217 1650

18817 1.30 306.9 11.4 10.1 901 18822 0.00 2.55 0.00 0.000 6 0.000 0.048 2726 1793 1650

18905 end climb: SURFACE_DEPTH_REACHED

state 18905 begin surface coast

18926 end surface coast: CONTROL_FINISHED_OK

state 18926 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	48	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	2650	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	1800	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	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	19	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	580	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	-143861.25	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	030826,6150.210,-920.864,39,1.4,39,-9.5	TGT_NAME	CW
_CALLS	3	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,0.077
_SM_DEPTHo	1.06	KALMAN_X	30698.9,-1956.4,-924.6,-19966.4,19994.0
_SM_ANGLEo	-54.6	KALMAN_Y	-79579.8,971.5,820.9,149844.7,-16391.4
GPS2	032026,6150.183,-920.599,12,1.6,12,-9.5	MHEAD_RNG_PITCHd_Wd	300.2,37455,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.2,1.013673	ALTIM_BOTTOM_PING	675.5,71.9
SM_CCo	19011,0.00,0.000,0,0,1650,307.12	_24V_AH	23.4,16.685
SM_GC	1.16,11.82,0.00,0.00,0.033,0.000,0.000,54,2665,1650,-10.92,0.42,307.12	_10V_AH	10.1,7.828
IRIDIUM_FIX	6126.23,-923.24,280598,030336	DATA_FILE_SIZE	44336,906
TT8_MAMPS	0.029146	CAP_FILE_SIZE	138052,0
HUMID	1763	CFSIZE	260165632,254906368
INTERNAL_PRESSURE	8.56478	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	GPS	030309,083930,6148.083,-927.284,40,1.6,45,-9.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.88	SBE_CT	637	24	358.07
Roll_motor	160	92	346.48	SBE_O2	678	19	301.78
VBD_pump_during_apogee	384	1150	10356.10	WL_BB2F	533	105	1311.03
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	85	103	206.11	nil	0	0	0.00
Iridium_during_connect	91	160	340.74	nil	0	0	0.00
Iridium_during_xfer	287	223	1498.85
Transponder_ping	5	420	56.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.29
TT8	1667	19	333.50
LPSleep	14708	2	325.35
TT8_Active	485	19	97.07
TT8_Sampling	2040	39	820.40
TT8_CF8	819	45	379.29
TT8_Kalman	33	81	27.56
Analog_circuits	1523	12	184.64
GPS_charging	0	0	0.00
Compass	2013	8	162.66
RAFOS	0	0	0.00
Transponder	40	30	12.28

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	-1.10	-146.6	0.0	0.0	0	72	0.00	0.00	-53.60	0.000	6	0.000	0.000	49	2659	3501
75	-1.10	-146.6	3.0	-9.0	2	92	12.12	2.62	0.00	0.000	4	0.158	0.061	2190	1236	3501
182	-1.10	-146.6	25.9	-9.4	7	189	0.00	2.65	0.00	0.000	6	0.000	0.069	2190	2656	3501
500	-1.10	-146.6	56.0	-9.0	23	501	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2656	3502
808	-1.10	-146.6	83.3	-6.2	38	809	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2657	3502
1117	-1.10	-146.6	103.6	-6.9	53	1120	0.00	2.17	0.00	0.000	4	0.000	0.092	2190	3783	3501
1167	-1.10	-146.6	107.6	-8.3	55	1171	0.00	2.05	0.00	0.000	6	0.000	0.053	2190	2645	3501
1495	-1.10	-146.6	131.5	-7.4	71	1496	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2646	3501
1804	-1.10	-146.6	152.7	-6.1	86	1808	0.00	2.22	0.00	0.000	4	0.000	0.088	2190	3790	3502
1842	-1.10	-146.6	155.3	-7.2	87	1848	0.00	2.05	0.00	0.000	6	0.000	0.050	2190	2645	3502
2159	-1.10	-146.6	175.5	-7.3	103	2160	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2646	3501
2467	-1.10	-146.6	198.6	-8.0	118	2471	0.00	2.22	0.00	0.000	4	0.000	0.088	2190	3793	3501
2558	-1.10	-146.6	206.7	-9.6	122	2562	0.00	2.05	0.00	0.000	6	0.000	0.051	2190	2648	3502
2891	-1.10	-146.6	240.7	-7.8	138	2894	0.00	2.20	0.00	0.000	4	0.000	0.087	2190	3786	3501
2937	-1.10	-146.6	245.0	-8.8	140	2940	0.00	2.05	0.00	0.000	6	0.000	0.052	2190	2643	3501
3270	-1.10	-146.6	267.6	-6.6	156	3271	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2643	3502
3579	-1.10	-146.6	290.2	-8.0	171	3580	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2643	3502
3889	-1.10	-146.6	316.2	-8.7	186	3893	0.00	2.20	0.00	0.000	4	0.000	0.087	2190	3785	3501
3935	-1.10	-146.6	320.1	-8.1	188	3938	0.00	2.03	0.00	0.000	6	0.000	0.051	2190	2653	3502
4268	-1.10	-146.6	344.7	-6.9	204	4269	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2653	3502
4577	-1.10	-146.6	366.1	-6.5	219	4578	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2653	3501
4886	-1.10	-146.6	387.9	-7.3	234	4887	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2653	3501
5196	-1.10	-146.6	410.2	-7.3	249	5197	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2653	3501
5504	-1.10	-146.6	434.3	-7.9	264	5506	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2653	3501
5814	-1.10	-146.6	458.4	-7.7	279	5815	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2653	3501
6123	-1.10	-146.6	483.8	-8.3	294	6124	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2652	3502
6432	-1.10	-146.6	507.9	-7.1	309	6436	0.00	2.17	0.00	0.000	4	0.000	0.084	2190	3789	3502
6466	-1.10	-146.6	510.4	-7.4	310	6469	0.00	2.05	0.00	0.000	6	0.000	0.051	2190	2638	3501
6788	-1.10	-146.6	534.5	-7.9	326	6789	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2638	3501
7097	-1.10	-146.6	560.8	-8.4	341	7100	0.00	2.20	0.00	0.000	4	0.000	0.084	2190	3790	3502
7181	-1.10	-146.6	568.1	-8.9	344	7187	0.00	2.03	0.00	0.000	6	0.000	0.051	2190	2653	3502
7497	-1.10	-146.6	593.4	-8.0	360	7498	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2653	3501
7806	-1.10	-146.6	615.6	-7.3	375	7809	0.00	2.17	0.00	0.000	4	0.000	0.084	2190	3792	3501
7901	-1.10	-146.6	622.5	-6.3	379	7905	0.00	2.05	0.00	0.000	6	0.000	0.051	2190	2644	3501
8228	-1.10	-146.6	646.8	-8.2	395	8229	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2644	3501
8537	-1.10	-146.6	669.0	-7.0	410	8541	0.00	2.20	0.00	0.000	4	0.000	0.087	2190	3787	3501
8570	-1.10	-146.6	671.5	-7.6	411	8574	0.00	2.05	0.00	0.000	6	0.000	0.052	2190	2643	3501
8892	-1.10	-146.6	694.6	-7.0	427	8893	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2643	3501
9201	-1.10	-146.6	716.3	-6.7	442	9205	0.00	2.20	0.00	0.000	4	0.000	0.089	2190	3789	3500
9256	-1.10	-146.6	720.2	-8.5	444	9260	0.00	2.08	0.00	0.000	6	0.000	0.058	2190	2644	3500
9513	end dive: BOTTOM_OBSTACLE_DETECTED
state	9513	begin apogee
9522	-0.42	0.0	738.1	7.5	457	9649	0.77	0.00	123.68	1.148	6	0.093	0.000	2345	1798	2902
9650	end apogee: CONTROL_FINISHED_OK
state	9650	begin climb
9653	1.10	146.6	742.0	0.0	463	9780	1.58	0.00	122.25	1.116	6	0.065	0.000	2677	1798	2305
10087	1.13	172.0	733.4	5.3	484	10112	0.00	0.00	23.20	1.078	6	0.000	0.000	2677	1798	2200
10417	1.19	213.6	720.0	4.8	500	10459	0.00	2.72	35.88	1.151	4	0.000	0.064	2677	3224	2030
10516	1.26	275.1	714.6	4.3	504	10575	0.17	2.65	52.28	1.119	6	0.041	0.053	2726	1785	1780
10896	1.26	275.1	686.9	8.1	523	10901	0.00	2.67	0.00	0.000	4	0.000	0.062	2726	3220	1779
10991	1.26	275.1	678.2	9.5	527	10996	0.00	2.60	0.00	0.000	6	0.000	0.053	2726	1800	1779
11307	1.26	275.1	652.0	8.0	542	11311	0.00	2.65	0.00	0.000	4	0.000	0.064	2726	3223	1779
11402	1.26	275.1	644.0	8.8	546	11406	0.00	2.60	0.00	0.000	6	0.000	0.054	2726	1801	1779
11718	1.26	275.1	618.6	7.0	561	11722	0.00	2.62	0.00	0.000	4	0.000	0.063	2727	3224	1778
11869	1.26	275.1	605.7	7.7	567	11875	0.00	2.60	0.00	0.000	6	0.000	0.052	2726	1796	1778
12185	1.26	275.1	577.6	9.2	583	12189	0.00	2.62	0.00	0.000	4	0.000	0.060	2726	3222	1778
12285	1.26	275.1	569.0	7.9	587	12291	0.00	2.58	0.00	0.000	6	0.000	0.048	2726	1793	1778
12601	1.26	275.1	541.7	8.7	603	12605	0.00	2.62	0.00	0.000	4	0.000	0.059	2726	3223	1778
12679	1.26	275.1	534.5	8.9	606	12683	0.00	2.58	0.00	0.000	6	0.000	0.048	2726	1795	1778
12995	1.26	275.1	506.6	9.0	621	12999	0.00	2.60	0.00	0.000	4	0.000	0.058	2726	3218	1778
13067	1.26	275.1	500.2	8.3	624	13072	0.00	2.58	0.00	0.000	6	0.000	0.048	2726	1789	1778
13388	1.26	275.1	473.1	8.3	640	13392	0.00	2.62	0.00	0.000	4	0.000	0.058	2727	3225	1779
13461	1.26	275.1	467.0	8.3	643	13465	0.00	2.58	0.00	0.000	6	0.000	0.048	2726	1795	1779
13782	1.26	275.1	440.0	8.3	659	13786	0.00	2.62	0.00	0.000	4	0.000	0.059	2726	3227	1779
13861	1.26	275.1	433.3	8.8	662	13867	0.00	2.58	0.00	0.000	6	0.000	0.049	2726	1796	1780
14177	1.26	275.1	405.7	8.9	678	14181	0.00	2.62	0.00	0.000	4	0.000	0.060	2726	3229	1780
14261	1.26	275.1	398.2	9.0	682	14266	0.00	2.58	0.00	0.000	6	0.000	0.051	2726	1800	1781
14589	1.26	275.1	371.1	8.4	698	14593	0.00	2.60	0.00	0.000	4	0.000	0.060	2726	3220	1781
14655	1.26	275.1	365.8	8.3	701	14659	0.00	2.58	0.00	0.000	6	0.000	0.050	2726	1796	1781
14982	1.26	275.1	341.1	7.7	717	14987	0.00	2.62	0.00	0.000	4	0.000	0.062	2726	3222	1781
15067	1.26	275.1	334.1	8.4	721	15072	0.00	2.58	0.00	0.000	6	0.000	0.051	2726	1793	1782
15394	1.26	275.1	309.8	7.7	737	15399	0.00	2.65	0.00	0.000	4	0.000	0.064	2726	3228	1782
15473	1.26	275.1	303.0	8.8	740	15480	0.00	2.58	0.00	0.000	6	0.000	0.051	2726	1793	1782
15789	1.26	275.1	271.4	8.5	756	15790	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	1792	1783
16099	1.30	306.9	249.4	5.1	771	16133	0.00	2.78	27.40	0.838	4	0.000	0.063	2726	3224	1650
16218	1.30	306.9	243.9	8.4	776	16223	0.00	2.60	0.00	0.000	6	0.000	0.051	2726	1796	1650
16535	1.30	306.9	215.2	8.3	791	16539	0.00	2.62	0.00	0.000	4	0.000	0.064	2726	3216	1650
16579	1.30	306.9	211.6	7.5	793	16583	0.00	2.58	0.00	0.000	6	0.000	0.052	2726	1794	1650
16900	1.30	306.9	186.0	10.4	809	16904	0.00	2.65	0.00	0.000	4	0.000	0.064	2726	3224	1650
16940	1.30	306.9	181.4	11.4	811	16944	0.00	2.60	0.00	0.000	6	0.000	0.052	2726	1790	1650
17267	1.30	306.9	146.8	9.0	827	17271	0.00	2.65	0.00	0.000	4	0.000	0.066	2726	3217	1650
17333	1.30	306.9	140.6	9.3	830	17338	0.00	2.58	0.00	0.000	6	0.000	0.054	2726	1798	1650
17656	1.30	306.9	119.4	7.4	846	17660	0.00	2.65	0.00	0.000	4	0.000	0.067	2726	3221	1650
17711	1.30	306.9	115.0	8.7	848	17718	0.00	2.58	0.00	0.000	6	0.000	0.054	2726	1797	1650
18027	1.30	306.9	88.0	9.9	864	18032	0.00	2.62	0.00	0.000	4	0.000	0.064	2726	3217	1650
18077	1.30	306.9	82.7	11.2	866	18082	0.00	2.58	0.00	0.000	6	0.000	0.056	2726	1792	1650
18400	1.30	306.9	50.5	9.5	882	18404	0.00	2.67	0.00	0.000	4	0.000	0.068	2726	3226	1650
18427	1.30	306.9	47.8	8.6	883	18431	0.00	2.60	0.00	0.000	6	0.000	0.053	2726	1790	1650
18744	1.30	306.9	18.7	9.6	898	18749	0.00	2.67	0.00	0.000	4	0.000	0.071	2726	3217	1650
18817	1.30	306.9	11.4	10.1	901	18822	0.00	2.55	0.00	0.000	6	0.000	0.048	2726	1793	1650
18905	end climb: SURFACE_DEPTH_REACHED
state	18905	begin surface coast
18926	end surface coast: CONTROL_FINISHED_OK
state	18926	begin surface