Glider dive log

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 7 HEADING 320 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 210 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3732 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT 5900 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON -2030 C_ROLL_DIVE 2030 ALTIM_FREQUENCY 14

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 1985 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 1

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 20 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 14 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 500 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3955 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3062 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 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -10226.48 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 581 AH0_24V 86.599998 SEABIRD_T_G 0.0043133562

SPEED_FACTOR 1 PITCH_MAX 3865 AH0_10V 100 SEABIRD_T_H 0.00062858552

RHO 1.0273 C_PITCH 2780 PRESSURE_YINT -2.8638275 SEABIRD_T_I 2.3249919e-05

MASS 52046 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1207337e-05 SEABIRD_T_J 2.3890996e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.024263

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1472844

KALMAN_USE 2 PITCH_GAIN 13.5 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00073099177

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00011512569

HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 86.599998 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 13.5 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3865 SPEED_FACTOR 1

ALTIM_FREQUENCY 14 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 581 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1207337e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -2.8638275 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 5900

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -2030

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0273 T_GPS_CHARGE -10226.48

CAPUPLOAD 0 HEADING 320 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 141 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3732 T_WATCHDOG 10

C_PITCH 2780 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 1985 KALMAN_USE 2 ROLL_MIN 157 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2030 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3062 MASS 52046 R_PORT_OVSHOOT 20 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 14 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -10.024263 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1472844 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00073099177 VBD_MAX 3955

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00011512569 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043133562 VBD_MIN 500

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00062858552 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3249919e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 210 PHONE_DEVICE 48 SEABIRD_T_J 2.3890996e-06 VBD_TIMEOUT 720

D_ABORT 1040 PITCH_ADJ_DBAND 2 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

Pre-dive calculations and measurements:

GPS1 173002,6111.592,-2534.205,40,1.2,40,-18.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6119.913,-2537.521

_XMS_NAKs 32 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 174039,6111.640,-2534.191,14,1.5,14,-18.0 MHEAD_RNG_PITCHd_Wd 338.0,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.013840 XPDR_PINGS 526

SM_CCo 18761,0.00,0.000,0,0,1587,361.57 _24V_AH 23.4,42.176

SM_GC 0.79,10.60,0.00,0.00,0.037,0.000,0.000,569,2056,1587,-10.07,0.74,361.57 _10V_AH 10.6,47.666

IRIDIUM_FIX 6046.07,-2540.07,140897,121230 DATA_FILE_SIZE 139318,1876

TT8_MAMPS 0.041418 CAP_FILE_SIZE 169419,0

HUMID 1658 CFSIZE 260165632,236257280

INTERNAL_PRESSURE 10.0004 ERRORS 0,43,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.70 GPS 200508,225455,6113.737,-2537.642,24,1.2,41,-18.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 195 112.59 SBE_CT 1323 24 743.17

Roll_motor 127 102 304.17 SBE_O2 1363 19 606.00

VBD_pump_during_apogee 496 1299 15109.06 Optode 692 33 535.12

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1658 105 4075.19

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 29 103 70.95 nil 0 0 0.00

Iridium_during_connect 34 160 127.81 nil 0 0 0.00

Iridium_during_xfer 433 223 2260.53

Transponder_ping 131 420 1292.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.57

TT8 2953 19 619.85

LPSleep 11578 2 268.78

TT8_Active 644 19 135.30

TT8_Sampling 3354 39 1415.30

TT8_CF8 847 45 411.45

TT8_Kalman 0 0 0.00

Analog_circuits 2129 12 270.86

GPS_charging 0 0 0.00

Compass 3367 8 285.56

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

28 -1.34 -194.7 0.0 0.0 0 119 0.00 0.00 -87.80 0.000 2 0.000 0.000 570 2033 3703

121 -1.34 -194.7 3.5 -7.4 16 146 11.07 2.72 -3.58 0.000 4 0.196 0.073 2484 3442 3859

387 -1.34 -194.7 42.8 -12.4 63 394 0.00 2.55 0.00 0.000 6 0.000 0.046 2484 2028 3860

529 -1.34 -194.7 60.7 -13.1 88 536 0.00 2.60 0.00 0.000 4 0.000 0.065 2484 623 3860

581 -1.34 -194.7 67.7 -13.5 97 587 0.00 2.58 0.00 0.000 6 0.000 0.046 2483 2038 3860

924 -1.34 -194.7 109.9 -11.7 158 931 0.00 2.60 0.00 0.000 4 0.000 0.066 2484 3435 3860

977 -1.34 -194.7 116.1 -11.6 167 983 0.00 2.58 0.00 0.000 6 0.000 0.046 2483 2013 3860

1320 -1.34 -194.7 156.4 -12.1 228 1326 0.00 2.55 0.00 0.000 4 0.000 0.061 2484 626 3860

1395 -1.34 -194.7 166.0 -13.0 241 1401 0.00 2.53 0.00 0.000 6 0.000 0.046 2484 2027 3861

1739 -1.34 -194.7 205.4 -10.4 302 1745 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2029 3861

2083 -1.34 -194.7 242.6 -11.1 363 2088 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2029 3861

2425 -1.34 -194.7 280.8 -11.6 424 2430 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2029 3861

2768 -1.34 -194.7 319.6 -10.9 485 2774 0.00 2.62 0.00 0.000 4 0.000 0.062 2483 615 3860

2836 -1.34 -194.7 327.4 -11.7 497 2842 0.00 2.53 0.00 0.000 6 0.000 0.047 2483 2019 3860

3177 -1.34 -194.7 365.4 -11.1 546 3181 0.00 2.65 0.00 0.000 4 0.000 0.068 2484 3441 3861

3226 -1.34 -194.7 371.3 -12.0 550 3231 0.00 2.60 0.00 0.000 6 0.000 0.049 2484 2002 3861

3552 -1.34 -194.7 407.7 -11.1 580 3553 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2000 3860

3869 -1.34 -194.7 443.0 -10.9 610 3870 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1999 3860

4188 -1.34 -194.7 477.8 -10.9 640 4189 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2000 3860

4506 -1.34 -194.7 512.1 -10.6 670 4507 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1999 3860

4825 -1.34 -194.7 546.3 -10.6 700 4829 0.00 2.62 0.00 0.000 4 0.000 0.077 2483 617 3860

4879 -1.34 -194.7 552.4 -11.1 704 4886 0.00 2.55 0.00 0.000 6 0.000 0.052 2484 2011 3860

5206 -1.34 -194.7 586.3 -10.3 735 5211 0.00 2.72 0.00 0.000 4 0.000 0.082 2483 3442 3859

5290 -1.34 -194.7 595.4 -10.4 742 5294 0.00 2.60 0.00 0.000 6 0.000 0.058 2483 2030 3859

5607 -1.34 -194.7 628.0 -10.8 759 5611 0.00 2.78 0.00 0.000 4 0.000 0.099 2484 618 3859

5695 -1.34 -194.7 638.4 -11.4 763 5699 0.00 2.55 0.00 0.000 6 0.000 0.058 2484 2013 3859

6023 -1.34 -194.7 669.9 -8.5 779 6027 0.00 2.83 0.00 0.000 4 0.000 0.098 2484 3445 3859

6095 -1.34 -194.7 676.6 -9.3 782 6099 0.00 2.67 0.00 0.000 6 0.000 0.067 2483 2017 3859

6410 -1.34 -194.7 706.3 -10.0 797 6415 0.00 2.78 0.00 0.000 4 0.000 0.102 2484 618 3859

6482 -1.34 -194.7 713.7 -10.1 800 6486 0.00 2.60 0.00 0.000 6 0.000 0.061 2484 2030 3859

6804 -1.34 -194.7 745.0 -9.7 816 6805 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2031 3858

7113 -1.34 -194.7 772.9 -8.4 831 7114 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2031 3858

7422 -1.34 -194.7 800.0 -9.2 846 7426 0.00 2.70 0.00 0.000 4 0.000 0.081 2483 621 3858

7488 -1.34 -194.7 806.4 -10.1 849 7492 0.00 2.58 0.00 0.000 6 0.000 0.061 2483 2016 3858

7808 -1.34 -194.7 837.8 -10.1 865 7813 0.00 2.80 0.00 0.000 4 0.000 0.095 2484 3446 3857

7893 -1.34 -194.7 847.0 -11.3 869 7898 0.00 2.65 0.00 0.000 6 0.000 0.062 2484 2023 3857

8220 -1.34 -194.7 880.2 -10.0 885 8221 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2022 3856

8529 -1.34 -194.7 910.6 -9.8 900 8530 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2022 3856

8839 -1.34 -194.7 941.5 -9.8 915 8843 0.00 2.75 0.00 0.000 4 0.000 0.097 2484 614 3856

8893 -1.34 -194.7 947.2 -10.1 917 8900 0.00 2.62 0.00 0.000 6 0.000 0.059 2484 2041 3856

9209 -1.34 -194.7 978.3 -10.0 933 9210 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2042 3855

9330 end dive: TARGET_DEPTH_EXCEEDED

state 9330 begin apogee

9336 -0.37 0.0 991.0 10.3 939 9513 1.00 0.00 169.77 1.299 6 0.100 0.000 2695 1969 3062

9514 end apogee: CONTROL_FINISHED_OK

state 9514 begin climb

9516 1.34 194.7 997.4 0.0 948 9690 1.70 0.00 169.27 1.267 6 0.075 0.000 3070 1969 2268

9988 1.28 194.7 956.3 10.2 971 9989 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 1969 2262

10297 1.23 194.7 923.4 10.8 986 10299 0.12 0.00 0.00 0.000 6 0.109 0.000 3045 1969 2261

10606 1.25 210.9 894.4 9.4 1001 10628 0.00 2.88 14.90 1.137 4 0.000 0.080 3046 3398 2201

10644 1.28 238.1 890.4 9.1 1002 10676 0.00 2.65 26.15 1.174 6 0.000 0.055 3046 1982 2091

10998 1.28 238.1 854.8 10.4 1020 10999 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1982 2086

11307 1.28 238.1 821.8 10.5 1035 11308 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 1980 2086

11615 1.28 238.1 790.8 10.2 1050 11616 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1979 2085

11925 1.28 238.1 758.9 10.3 1065 11926 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1979 2084

12234 1.29 245.8 728.8 9.7 1080 12248 0.00 2.80 7.65 0.966 4 0.000 0.071 3045 3392 2059

12270 1.29 245.8 724.9 10.0 1081 12277 0.00 2.62 0.00 0.000 6 0.000 0.055 3046 1988 2058

12586 1.29 245.8 692.9 10.0 1097 12587 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1988 2058

12895 1.29 245.8 661.4 10.1 1112 12896 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1988 2057

13205 1.29 245.8 629.1 10.2 1127 13209 0.00 2.72 0.00 0.000 4 0.000 0.072 3046 3400 2057

13231 1.30 253.2 626.1 9.7 1128 13244 0.00 2.62 8.05 0.927 6 0.000 0.055 3045 1986 2029

13553 1.31 260.8 594.5 9.7 1146 13564 0.00 0.00 8.45 0.917 6 0.000 0.000 3046 1985 1998

13884 1.31 260.8 561.7 10.5 1177 13888 0.00 2.72 0.00 0.000 4 0.000 0.071 3045 3403 1996

13911 1.31 260.8 558.4 11.2 1179 13916 0.00 2.60 0.00 0.000 6 0.000 0.054 3045 1996 1995

14236 1.31 260.8 522.1 12.0 1209 14237 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 1993 1996

14557 1.32 267.8 489.6 9.8 1239 14572 0.00 2.75 7.50 0.841 4 0.000 0.068 3045 3399 1969

14591 1.33 276.3 485.9 9.7 1242 14606 0.10 2.58 9.52 0.872 6 0.071 0.052 3076 2005 1935

14931 1.33 276.3 444.6 12.7 1274 14932 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2002 1933

15251 1.33 276.3 404.0 12.8 1304 15255 0.00 2.65 0.00 0.000 4 0.000 0.065 3076 3401 1933

15278 1.33 276.3 400.1 13.2 1306 15282 0.00 2.55 0.00 0.000 6 0.000 0.051 3076 2011 1933

15602 1.33 276.3 358.1 12.8 1336 15603 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2008 1933

15935 1.33 276.3 315.9 12.7 1390 15942 0.00 2.62 0.00 0.000 4 0.000 0.062 3076 3403 1932

15954 1.33 276.3 313.6 12.8 1393 15960 0.00 2.55 0.00 0.000 6 0.000 0.049 3076 2009 1933

16298 1.33 276.3 270.7 12.1 1454 16304 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2006 1933

16641 1.33 276.3 229.9 10.9 1515 16647 0.00 2.65 0.00 0.000 4 0.000 0.061 3076 3406 1933

16676 1.33 276.3 225.6 12.7 1521 16683 0.00 2.55 0.00 0.000 6 0.000 0.048 3076 2016 1933

17020 1.33 276.3 183.6 11.9 1582 17026 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2014 1933

17364 1.33 276.3 143.0 11.1 1643 17369 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2013 1932

17706 1.33 276.3 105.3 11.3 1704 17712 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2014 1932

18050 1.37 308.7 70.4 8.9 1765 18088 0.00 2.72 29.67 0.709 4 0.000 0.061 3076 3400 1801

18105 1.37 308.7 64.6 12.7 1775 18112 0.00 2.55 0.00 0.000 6 0.000 0.048 3076 2020 1799

18448 1.38 321.0 25.3 9.6 1836 18461 0.00 0.00 10.82 0.637 6 0.000 0.000 3076 2019 1753

18600 1.43 360.0 10.6 8.6 1862 18641 0.00 2.85 35.17 0.663 4 0.000 0.067 3076 580 1593

18647 1.43 360.0 3.3 12.9 1870 18654 0.00 2.72 0.00 0.000 6 0.000 0.048 3076 2050 1592

18659 end climb: SURFACE_DEPTH_REACHED

state 18659 begin surface coast

18681 end surface coast: CONTROL_FINISHED_OK

state 18681 begin surface

ID	141	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	7	HEADING	320	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	210	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3732	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	5900	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	-2030	C_ROLL_DIVE	2030	ALTIM_FREQUENCY	14
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	1985	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	1
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	20	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	14	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	500	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3955	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3062	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	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-10226.48	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	581	AH0_24V	86.599998	SEABIRD_T_G	0.0043133562
SPEED_FACTOR	1	PITCH_MAX	3865	AH0_10V	100	SEABIRD_T_H	0.00062858552
RHO	1.0273	C_PITCH	2780	PRESSURE_YINT	-2.8638275	SEABIRD_T_I	2.3249919e-05
MASS	52046	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1207337e-05	SEABIRD_T_J	2.3890996e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.024263
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1472844
KALMAN_USE	2	PITCH_GAIN	13.5	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00073099177
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00011512569
HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	173002,6111.592,-2534.205,40,1.2,40,-18.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6119.913,-2537.521
_XMS_NAKs	32	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	174039,6111.640,-2534.191,14,1.5,14,-18.0	MHEAD_RNG_PITCHd_Wd	338.0,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.1,1.013840	XPDR_PINGS	526
SM_CCo	18761,0.00,0.000,0,0,1587,361.57	_24V_AH	23.4,42.176
SM_GC	0.79,10.60,0.00,0.00,0.037,0.000,0.000,569,2056,1587,-10.07,0.74,361.57	_10V_AH	10.6,47.666
IRIDIUM_FIX	6046.07,-2540.07,140897,121230	DATA_FILE_SIZE	139318,1876
TT8_MAMPS	0.041418	CAP_FILE_SIZE	169419,0
HUMID	1658	CFSIZE	260165632,236257280
INTERNAL_PRESSURE	10.0004	ERRORS	0,43,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.70	GPS	200508,225455,6113.737,-2537.642,24,1.2,41,-18.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	195	112.59	SBE_CT	1323	24	743.17
Roll_motor	127	102	304.17	SBE_O2	1363	19	606.00
VBD_pump_during_apogee	496	1299	15109.06	Optode	692	33	535.12
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1658	105	4075.19
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	29	103	70.95	nil	0	0	0.00
Iridium_during_connect	34	160	127.81	nil	0	0	0.00
Iridium_during_xfer	433	223	2260.53
Transponder_ping	131	420	1292.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.57
TT8	2953	19	619.85
LPSleep	11578	2	268.78
TT8_Active	644	19	135.30
TT8_Sampling	3354	39	1415.30
TT8_CF8	847	45	411.45
TT8_Kalman	0	0	0.00
Analog_circuits	2129	12	270.86
GPS_charging	0	0	0.00
Compass	3367	8	285.56
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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
28	-1.34	-194.7	0.0	0.0	0	119	0.00	0.00	-87.80	0.000	2	0.000	0.000	570	2033	3703
121	-1.34	-194.7	3.5	-7.4	16	146	11.07	2.72	-3.58	0.000	4	0.196	0.073	2484	3442	3859
387	-1.34	-194.7	42.8	-12.4	63	394	0.00	2.55	0.00	0.000	6	0.000	0.046	2484	2028	3860
529	-1.34	-194.7	60.7	-13.1	88	536	0.00	2.60	0.00	0.000	4	0.000	0.065	2484	623	3860
581	-1.34	-194.7	67.7	-13.5	97	587	0.00	2.58	0.00	0.000	6	0.000	0.046	2483	2038	3860
924	-1.34	-194.7	109.9	-11.7	158	931	0.00	2.60	0.00	0.000	4	0.000	0.066	2484	3435	3860
977	-1.34	-194.7	116.1	-11.6	167	983	0.00	2.58	0.00	0.000	6	0.000	0.046	2483	2013	3860
1320	-1.34	-194.7	156.4	-12.1	228	1326	0.00	2.55	0.00	0.000	4	0.000	0.061	2484	626	3860
1395	-1.34	-194.7	166.0	-13.0	241	1401	0.00	2.53	0.00	0.000	6	0.000	0.046	2484	2027	3861
1739	-1.34	-194.7	205.4	-10.4	302	1745	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2029	3861
2083	-1.34	-194.7	242.6	-11.1	363	2088	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2029	3861
2425	-1.34	-194.7	280.8	-11.6	424	2430	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2029	3861
2768	-1.34	-194.7	319.6	-10.9	485	2774	0.00	2.62	0.00	0.000	4	0.000	0.062	2483	615	3860
2836	-1.34	-194.7	327.4	-11.7	497	2842	0.00	2.53	0.00	0.000	6	0.000	0.047	2483	2019	3860
3177	-1.34	-194.7	365.4	-11.1	546	3181	0.00	2.65	0.00	0.000	4	0.000	0.068	2484	3441	3861
3226	-1.34	-194.7	371.3	-12.0	550	3231	0.00	2.60	0.00	0.000	6	0.000	0.049	2484	2002	3861
3552	-1.34	-194.7	407.7	-11.1	580	3553	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2000	3860
3869	-1.34	-194.7	443.0	-10.9	610	3870	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1999	3860
4188	-1.34	-194.7	477.8	-10.9	640	4189	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2000	3860
4506	-1.34	-194.7	512.1	-10.6	670	4507	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1999	3860
4825	-1.34	-194.7	546.3	-10.6	700	4829	0.00	2.62	0.00	0.000	4	0.000	0.077	2483	617	3860
4879	-1.34	-194.7	552.4	-11.1	704	4886	0.00	2.55	0.00	0.000	6	0.000	0.052	2484	2011	3860
5206	-1.34	-194.7	586.3	-10.3	735	5211	0.00	2.72	0.00	0.000	4	0.000	0.082	2483	3442	3859
5290	-1.34	-194.7	595.4	-10.4	742	5294	0.00	2.60	0.00	0.000	6	0.000	0.058	2483	2030	3859
5607	-1.34	-194.7	628.0	-10.8	759	5611	0.00	2.78	0.00	0.000	4	0.000	0.099	2484	618	3859
5695	-1.34	-194.7	638.4	-11.4	763	5699	0.00	2.55	0.00	0.000	6	0.000	0.058	2484	2013	3859
6023	-1.34	-194.7	669.9	-8.5	779	6027	0.00	2.83	0.00	0.000	4	0.000	0.098	2484	3445	3859
6095	-1.34	-194.7	676.6	-9.3	782	6099	0.00	2.67	0.00	0.000	6	0.000	0.067	2483	2017	3859
6410	-1.34	-194.7	706.3	-10.0	797	6415	0.00	2.78	0.00	0.000	4	0.000	0.102	2484	618	3859
6482	-1.34	-194.7	713.7	-10.1	800	6486	0.00	2.60	0.00	0.000	6	0.000	0.061	2484	2030	3859
6804	-1.34	-194.7	745.0	-9.7	816	6805	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2031	3858
7113	-1.34	-194.7	772.9	-8.4	831	7114	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2031	3858
7422	-1.34	-194.7	800.0	-9.2	846	7426	0.00	2.70	0.00	0.000	4	0.000	0.081	2483	621	3858
7488	-1.34	-194.7	806.4	-10.1	849	7492	0.00	2.58	0.00	0.000	6	0.000	0.061	2483	2016	3858
7808	-1.34	-194.7	837.8	-10.1	865	7813	0.00	2.80	0.00	0.000	4	0.000	0.095	2484	3446	3857
7893	-1.34	-194.7	847.0	-11.3	869	7898	0.00	2.65	0.00	0.000	6	0.000	0.062	2484	2023	3857
8220	-1.34	-194.7	880.2	-10.0	885	8221	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2022	3856
8529	-1.34	-194.7	910.6	-9.8	900	8530	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2022	3856
8839	-1.34	-194.7	941.5	-9.8	915	8843	0.00	2.75	0.00	0.000	4	0.000	0.097	2484	614	3856
8893	-1.34	-194.7	947.2	-10.1	917	8900	0.00	2.62	0.00	0.000	6	0.000	0.059	2484	2041	3856
9209	-1.34	-194.7	978.3	-10.0	933	9210	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2042	3855
9330	end dive: TARGET_DEPTH_EXCEEDED
state	9330	begin apogee
9336	-0.37	0.0	991.0	10.3	939	9513	1.00	0.00	169.77	1.299	6	0.100	0.000	2695	1969	3062
9514	end apogee: CONTROL_FINISHED_OK
state	9514	begin climb
9516	1.34	194.7	997.4	0.0	948	9690	1.70	0.00	169.27	1.267	6	0.075	0.000	3070	1969	2268
9988	1.28	194.7	956.3	10.2	971	9989	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	1969	2262
10297	1.23	194.7	923.4	10.8	986	10299	0.12	0.00	0.00	0.000	6	0.109	0.000	3045	1969	2261
10606	1.25	210.9	894.4	9.4	1001	10628	0.00	2.88	14.90	1.137	4	0.000	0.080	3046	3398	2201
10644	1.28	238.1	890.4	9.1	1002	10676	0.00	2.65	26.15	1.174	6	0.000	0.055	3046	1982	2091
10998	1.28	238.1	854.8	10.4	1020	10999	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1982	2086
11307	1.28	238.1	821.8	10.5	1035	11308	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	1980	2086
11615	1.28	238.1	790.8	10.2	1050	11616	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1979	2085
11925	1.28	238.1	758.9	10.3	1065	11926	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1979	2084
12234	1.29	245.8	728.8	9.7	1080	12248	0.00	2.80	7.65	0.966	4	0.000	0.071	3045	3392	2059
12270	1.29	245.8	724.9	10.0	1081	12277	0.00	2.62	0.00	0.000	6	0.000	0.055	3046	1988	2058
12586	1.29	245.8	692.9	10.0	1097	12587	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1988	2058
12895	1.29	245.8	661.4	10.1	1112	12896	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1988	2057
13205	1.29	245.8	629.1	10.2	1127	13209	0.00	2.72	0.00	0.000	4	0.000	0.072	3046	3400	2057
13231	1.30	253.2	626.1	9.7	1128	13244	0.00	2.62	8.05	0.927	6	0.000	0.055	3045	1986	2029
13553	1.31	260.8	594.5	9.7	1146	13564	0.00	0.00	8.45	0.917	6	0.000	0.000	3046	1985	1998
13884	1.31	260.8	561.7	10.5	1177	13888	0.00	2.72	0.00	0.000	4	0.000	0.071	3045	3403	1996
13911	1.31	260.8	558.4	11.2	1179	13916	0.00	2.60	0.00	0.000	6	0.000	0.054	3045	1996	1995
14236	1.31	260.8	522.1	12.0	1209	14237	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	1993	1996
14557	1.32	267.8	489.6	9.8	1239	14572	0.00	2.75	7.50	0.841	4	0.000	0.068	3045	3399	1969
14591	1.33	276.3	485.9	9.7	1242	14606	0.10	2.58	9.52	0.872	6	0.071	0.052	3076	2005	1935
14931	1.33	276.3	444.6	12.7	1274	14932	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2002	1933
15251	1.33	276.3	404.0	12.8	1304	15255	0.00	2.65	0.00	0.000	4	0.000	0.065	3076	3401	1933
15278	1.33	276.3	400.1	13.2	1306	15282	0.00	2.55	0.00	0.000	6	0.000	0.051	3076	2011	1933
15602	1.33	276.3	358.1	12.8	1336	15603	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2008	1933
15935	1.33	276.3	315.9	12.7	1390	15942	0.00	2.62	0.00	0.000	4	0.000	0.062	3076	3403	1932
15954	1.33	276.3	313.6	12.8	1393	15960	0.00	2.55	0.00	0.000	6	0.000	0.049	3076	2009	1933
16298	1.33	276.3	270.7	12.1	1454	16304	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2006	1933
16641	1.33	276.3	229.9	10.9	1515	16647	0.00	2.65	0.00	0.000	4	0.000	0.061	3076	3406	1933
16676	1.33	276.3	225.6	12.7	1521	16683	0.00	2.55	0.00	0.000	6	0.000	0.048	3076	2016	1933
17020	1.33	276.3	183.6	11.9	1582	17026	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2014	1933
17364	1.33	276.3	143.0	11.1	1643	17369	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2013	1932
17706	1.33	276.3	105.3	11.3	1704	17712	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2014	1932
18050	1.37	308.7	70.4	8.9	1765	18088	0.00	2.72	29.67	0.709	4	0.000	0.061	3076	3400	1801
18105	1.37	308.7	64.6	12.7	1775	18112	0.00	2.55	0.00	0.000	6	0.000	0.048	3076	2020	1799
18448	1.38	321.0	25.3	9.6	1836	18461	0.00	0.00	10.82	0.637	6	0.000	0.000	3076	2019	1753
18600	1.43	360.0	10.6	8.6	1862	18641	0.00	2.85	35.17	0.663	4	0.000	0.067	3076	580	1593
18647	1.43	360.0	3.3	12.9	1870	18654	0.00	2.72	0.00	0.000	6	0.000	0.048	3076	2050	1592
18659	end climb: SURFACE_DEPTH_REACHED
state	18659	begin surface coast
18681	end surface coast: CONTROL_FINISHED_OK
state	18681	begin surface