Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 37 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 37 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 425 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 38 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 58 INT_PRESSURE_YINT 2.7

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 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 330 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 396 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 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 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -5932.8931 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0 RAFOS_DEVICE -1

MAX_BUOY 175 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3938 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

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 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -5932.8931

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 396

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -4

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 38 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 175 R_STBD_OVSHOOT 58 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 37 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 154636,2516.634,12255.032,33,0.8,33,-3.7 TGT_NAME OFF_3

_CALLS 2 TGT_LATLONG 2511.000,12258.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 155532,2516.835,12255.006,12,1.3,12,-3.7 MHEAD_RNG_PITCHd_Wd 203.8,11914,-16.8,-10.000

SPEED_LIMITS 0.173,0.279 D_GRID 1415

Post-dive calculations and measurements:

FINISH 1.0,1.022209 _24V_AH 23.6,10.579

SM_CCo 18116,15.82,0.656,0,0,1129,425.10 _10V_AH 10.7,6.315

SM_GC 1.57,0.00,0.00,15.82,0.000,0.000,0.656,191,1474,1129,-7.97,-0.74,425.10 DATA_FILE_SIZE 91668,1597

IRIDIUM_FIX 2507.97,12255.14,210898,151557 CAP_FILE_SIZE 185661,0

TT8_MAMPS 0.027612 CFSIZE 260165632,232161280

HUMID 1454 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 9.87801 CURRENT 0.195, 28.7,1

TCM_TEMP 24.50 GPS 270509,205906,2516.043,12255.002,28,1.2,28,-3.7

XPDR_PINGS 104

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 243 162.47 SBE_CT 1090 24 617.51

Roll_motor 149 62 219.64 Optode 1069 33 833.25

VBD_pump_during_apogee 497 1485 17435.47 WL_BB2F 1797 105 4455.28

VBD_pump_during_surface 15 655 244.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 49 103 120.88 nil 0 0 0.00

Iridium_during_connect 62 160 234.78 nil 0 0 0.00

Iridium_during_xfer 255 223 1344.21

Transponder_ping 34 420 337.01

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.00

TT8 2884 19 611.08

LPSleep 11382 2 266.72

TT8_Active 644 19 136.50

TT8_Sampling 3195 39 1360.68

TT8_CF8 551 45 270.05

TT8_Kalman 0 0 0.00

Analog_circuits 2081 12 267.20

GPS_charging 0 0 0.00

Compass 3168 8 271.25

RAFOS 0 0 0.00

Transponder 54 30 17.46

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

14 -0.90 -170.3 0.0 0.0 0 77 0.00 0.00 -60.30 0.000 2 0.000 0.000 184 1505 2427

79 -0.90 -170.3 3.0 -4.9 9 131 9.18 2.03 -33.40 0.000 4 0.244 0.062 2442 202 3559

386 -0.13 -170.3 104.6 -33.0 62 394 0.80 1.92 0.00 0.000 6 0.163 0.033 2693 1496 3561

730 -0.98 -170.3 133.8 -7.7 123 738 0.75 2.05 0.00 0.000 4 0.081 0.038 2421 2908 3563

788 -0.50 -170.3 143.0 -20.3 133 795 0.52 2.05 0.00 0.000 6 0.166 0.035 2573 1503 3562

1134 -0.50 -170.3 180.9 -7.6 194 1141 0.00 1.95 0.00 0.000 4 0.000 0.048 2572 209 3563

1283 -0.50 -170.3 195.5 -10.5 220 1289 0.00 1.90 0.00 0.000 6 0.000 0.029 2573 1517 3563

1628 -0.61 -170.3 230.8 -10.7 281 1634 0.00 1.98 0.00 0.000 4 0.000 0.048 2572 198 3563

1703 -0.69 -170.3 238.7 -10.6 294 1710 0.12 1.88 0.00 0.000 6 0.054 0.029 2488 1502 3563

2047 -0.48 -170.3 285.0 -11.5 355 2054 0.28 1.95 0.00 0.000 4 0.143 0.047 2576 198 3563

2100 -0.59 -170.3 289.3 -6.5 364 2107 0.00 1.85 0.00 0.000 6 0.000 0.029 2576 1480 3563

2437 -0.80 -170.3 307.5 -6.3 413 2441 0.22 1.90 0.00 0.000 4 0.051 0.047 2464 207 3562

2470 -0.54 -170.3 311.3 -13.3 416 2475 0.32 1.83 0.00 0.000 6 0.149 0.030 2560 1487 3562

2801 -0.72 -170.3 334.2 -6.7 447 2805 0.15 2.05 0.00 0.000 4 0.063 0.042 2467 2893 3561

2849 -0.72 -170.3 338.9 -10.1 451 2858 0.08 2.08 0.00 0.000 6 0.143 0.035 2503 1488 3561

3174 -0.72 -170.3 369.9 -9.2 482 3177 0.00 1.90 0.00 0.000 4 0.000 0.050 2505 208 3560

3241 -0.67 -170.3 376.7 -10.4 488 3245 0.00 1.83 0.00 0.000 6 0.000 0.032 2494 1481 3559

3571 -0.67 -170.3 412.2 -11.2 519 3574 0.00 2.10 0.00 0.000 4 0.000 0.051 2493 2901 3557

3604 -0.75 -170.3 415.9 -11.2 522 3608 0.00 2.10 0.00 0.000 6 0.000 0.044 2494 1467 3557

3933 -0.75 -170.3 455.5 -12.9 553 3937 0.00 2.12 0.00 0.000 4 0.000 0.047 2493 2891 3555

4034 -0.87 -170.3 467.8 -11.6 562 4038 0.00 2.05 0.00 0.000 6 0.000 0.045 2493 1493 3554

4364 -0.92 -170.3 502.2 -8.4 592 4368 0.15 2.10 0.00 0.000 4 0.064 0.047 2425 2896 3552

4425 -0.81 -170.3 508.3 -9.8 595 4430 0.17 2.08 0.00 0.000 6 0.145 0.044 2475 1494 3552

4757 -0.81 -170.3 531.3 -6.9 611 4761 0.00 1.92 0.00 0.000 4 0.000 0.053 2475 205 3549

4819 -0.75 -170.3 536.3 -8.5 613 4825 0.00 1.85 0.00 0.000 6 0.000 0.035 2476 1485 3549

5134 -0.75 -170.3 559.0 -7.5 629 5138 0.00 1.92 0.00 0.000 4 0.000 0.054 2477 208 3547

5224 -0.69 -170.3 567.3 -9.5 633 5228 0.15 1.88 0.00 0.000 6 0.153 0.037 2517 1495 3546

5557 -0.85 -170.3 591.1 -7.5 649 5559 0.15 0.00 0.00 0.000 6 0.066 0.000 2446 1497 3543

5865 -0.75 -170.3 624.0 -10.3 664 5867 0.17 0.00 0.00 0.000 6 0.152 0.000 2496 1497 3541

6175 -0.84 -170.3 646.6 -7.1 679 6179 0.00 2.10 0.00 0.000 4 0.000 0.054 2499 2893 3540

6207 -1.00 -170.3 649.1 -7.4 680 6212 0.20 2.12 0.00 0.000 6 0.046 0.042 2397 1485 3539

6529 -0.73 -170.3 690.1 -13.2 696 6533 0.30 1.92 0.00 0.000 4 0.156 0.058 2493 206 3538

6577 -0.73 -170.3 695.5 -9.7 698 6582 0.00 1.90 0.00 0.000 6 0.000 0.039 2500 1478 3537

6905 -0.79 -170.3 726.1 -9.3 714 6906 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1478 3534

7214 -0.86 -170.3 757.3 -10.0 729 7219 0.12 2.12 0.00 0.000 4 0.077 0.054 2448 2896 3532

7285 -0.79 -170.3 766.3 -13.0 732 7290 0.10 2.15 0.00 0.000 6 0.152 0.044 2480 1475 3532

7611 -0.79 -170.3 804.7 -11.8 748 7615 0.00 2.17 0.00 0.000 4 0.000 0.055 2477 2905 3531

7656 -0.84 -170.3 809.7 -11.4 750 7660 0.00 2.12 0.00 0.000 6 0.000 0.044 2477 1483 3530

7986 -0.84 -170.3 846.6 -10.7 766 7988 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1483 3529

8298 -0.84 -170.3 875.5 -8.8 781 8299 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1482 3528

8606 -0.84 -170.3 899.6 -7.2 796 8607 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 1482 3527

8915 -0.84 -170.3 920.7 -6.5 811 8919 0.00 1.95 0.00 0.000 4 0.000 0.061 2477 204 3526

8977 -0.77 -170.3 925.2 -7.6 813 8983 0.00 1.90 0.00 0.000 6 0.000 0.041 2473 1490 3525

9292 -0.77 -170.3 945.2 -6.2 829 9293 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1490 3524

9601 -0.77 -170.3 964.3 -6.0 844 9605 0.00 2.15 0.00 0.000 4 0.000 0.058 2467 2905 3523

9651 -0.83 -170.3 967.1 -4.9 846 9655 0.00 2.12 0.00 0.000 6 0.000 0.046 2469 1490 3523

9977 -0.83 -170.3 986.7 -6.4 862 9980 0.00 2.15 0.00 0.000 4 0.000 0.057 2459 2898 3522

10009 -0.83 -170.3 988.8 -5.7 863 10013 0.00 2.15 0.00 0.000 6 0.000 0.046 2469 1488 3521

10040 end dive: TARGET_DEPTH_EXCEEDED

state 10040 begin apogee

10045 -0.20 0.0 990.8 6.4 865 10188 0.62 0.00 140.25 1.486 6 0.132 0.000 2663 1757 2864

10189 end apogee: CONTROL_FINISHED_OK

state 10189 begin climb

10190 0.90 170.3 991.7 0.0 872 10349 1.05 2.35 150.15 1.432 4 0.069 0.059 3020 3151 2167

10445 0.37 170.3 954.5 21.9 884 10450 0.62 2.20 0.00 0.000 6 0.175 0.044 2862 1749 2163

10771 0.42 170.3 916.7 10.7 900 10772 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1749 2161

11080 0.49 170.5 884.2 10.0 915 11085 0.12 2.20 0.00 0.000 4 0.073 0.058 2931 341 2160

11123 0.29 170.5 878.4 14.3 917 11128 0.30 2.15 0.00 0.000 6 0.151 0.043 2837 1740 2160

11450 0.52 230.5 851.2 7.6 933 11508 0.17 2.30 52.35 1.388 4 0.065 0.058 2935 346 1922

11569 0.39 230.5 836.1 13.7 937 11576 0.25 2.20 0.00 0.000 6 0.150 0.043 2867 1748 1918

11885 0.55 264.2 807.9 8.7 953 11927 0.15 0.00 32.47 1.282 6 0.067 0.000 2931 1750 1784

12234 0.45 264.2 761.0 14.3 970 12238 0.17 2.20 0.00 0.000 4 0.156 0.057 2883 3154 1778

12276 0.53 264.2 755.5 10.7 972 12281 0.00 2.22 0.00 0.000 6 0.000 0.044 2894 1728 1777

12604 0.59 264.2 719.4 11.0 988 12608 0.10 2.15 0.00 0.000 4 0.078 0.058 2953 335 1777

12630 0.49 264.2 715.7 14.2 989 12635 0.17 2.15 0.00 0.000 6 0.150 0.044 2898 1734 1777

12951 0.54 264.2 679.8 10.7 1005 12955 0.00 2.17 0.00 0.000 4 0.000 0.058 2908 339 1777

13005 0.54 264.2 673.3 11.8 1007 13011 0.00 2.10 0.00 0.000 6 0.000 0.043 2908 1711 1777

13328 0.55 269.2 639.5 9.8 1023 13337 0.00 2.22 4.38 0.894 4 0.000 0.056 2907 3150 1765

13387 0.55 269.2 633.1 11.0 1025 13394 0.00 2.20 0.00 0.000 6 0.000 0.044 2917 1719 1764

13703 0.55 269.2 597.8 11.7 1041 13706 0.00 2.12 0.00 0.000 4 0.000 0.058 2929 338 1764

13730 0.55 269.2 594.2 13.0 1042 13734 0.00 2.08 0.00 0.000 6 0.000 0.043 2928 1720 1764

14056 0.55 269.2 549.6 13.9 1058 14059 0.00 2.12 0.00 0.000 4 0.000 0.058 2940 343 1764

14138 0.49 269.2 536.8 15.5 1061 14146 0.12 2.08 0.00 0.000 6 0.149 0.043 2901 1709 1764

14455 0.58 269.2 496.3 11.6 1078 14456 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 1709 1763

14774 0.68 269.2 459.5 12.3 1108 14776 0.17 0.00 0.00 0.000 6 0.064 0.000 2976 1709 1763

15092 0.46 269.2 406.1 16.4 1138 15097 0.28 2.20 0.00 0.000 4 0.156 0.054 2891 3154 1763

15237 0.64 306.1 391.3 8.5 1150 15278 0.08 2.22 32.95 1.088 6 0.061 0.044 2967 1696 1613

15595 0.55 306.1 341.5 13.6 1184 15600 0.17 2.10 0.00 0.000 4 0.155 0.053 2924 334 1609

15646 0.70 323.1 336.2 9.3 1188 15669 0.12 2.08 15.30 0.999 6 0.074 0.040 2984 1712 1544

15993 0.57 323.1 285.6 16.4 1228 16000 0.20 2.20 0.00 0.000 4 0.154 0.051 2923 3145 1541

16124 0.74 323.1 269.9 10.8 1251 16132 0.12 2.15 0.00 0.000 6 0.067 0.040 2994 1715 1540

16470 0.64 323.1 213.2 15.8 1312 16477 0.17 2.10 0.00 0.000 4 0.154 0.051 2950 336 1540

16607 0.81 357.5 197.7 8.6 1336 16646 0.15 2.03 29.62 0.903 6 0.064 0.038 3028 1713 1405

16985 0.69 357.5 142.7 14.5 1402 16992 0.20 2.17 0.00 0.000 4 0.148 0.046 2965 3142 1400

17054 0.85 357.5 133.8 11.9 1414 17061 0.15 2.17 0.00 0.000 6 0.058 0.038 3039 1687 1399

17400 0.75 357.5 76.6 13.3 1475 17408 0.17 2.05 0.00 0.000 4 0.148 0.048 2993 330 1399

17470 0.87 357.5 68.4 10.1 1487 17477 0.00 2.00 0.00 0.000 6 0.000 0.034 2993 1681 1399

17817 1.15 404.7 37.9 8.1 1548 17863 0.28 2.12 39.80 0.725 4 0.046 0.046 3138 342 1211

17898 0.83 404.7 23.6 22.0 1561 17905 0.45 2.00 0.00 0.000 6 0.150 0.032 3003 1673 1209

18066 end climb: SURFACE_DEPTH_REACHED

state 18066 begin surface coast

18101 end surface coast: CONTROL_FINISHED_OK

state 18102 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	37	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	425	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	38	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	58	INT_PRESSURE_YINT	2.7
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	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	396	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	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	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-5932.8931	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0	RAFOS_DEVICE	-1
MAX_BUOY	175	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	154636,2516.634,12255.032,33,0.8,33,-3.7	TGT_NAME	OFF_3
_CALLS	2	TGT_LATLONG	2511.000,12258.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	155532,2516.835,12255.006,12,1.3,12,-3.7	MHEAD_RNG_PITCHd_Wd	203.8,11914,-16.8,-10.000
SPEED_LIMITS	0.173,0.279	D_GRID	1415

FINISH	1.0,1.022209	_24V_AH	23.6,10.579
SM_CCo	18116,15.82,0.656,0,0,1129,425.10	_10V_AH	10.7,6.315
SM_GC	1.57,0.00,0.00,15.82,0.000,0.000,0.656,191,1474,1129,-7.97,-0.74,425.10	DATA_FILE_SIZE	91668,1597
IRIDIUM_FIX	2507.97,12255.14,210898,151557	CAP_FILE_SIZE	185661,0
TT8_MAMPS	0.027612	CFSIZE	260165632,232161280
HUMID	1454	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	9.87801	CURRENT	0.195, 28.7,1
TCM_TEMP	24.50	GPS	270509,205906,2516.043,12255.002,28,1.2,28,-3.7
XPDR_PINGS	104

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	243	162.47	SBE_CT	1090	24	617.51
Roll_motor	149	62	219.64	Optode	1069	33	833.25
VBD_pump_during_apogee	497	1485	17435.47	WL_BB2F	1797	105	4455.28
VBD_pump_during_surface	15	655	244.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	49	103	120.88	nil	0	0	0.00
Iridium_during_connect	62	160	234.78	nil	0	0	0.00
Iridium_during_xfer	255	223	1344.21
Transponder_ping	34	420	337.01
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.00
TT8	2884	19	611.08
LPSleep	11382	2	266.72
TT8_Active	644	19	136.50
TT8_Sampling	3195	39	1360.68
TT8_CF8	551	45	270.05
TT8_Kalman	0	0	0.00
Analog_circuits	2081	12	267.20
GPS_charging	0	0	0.00
Compass	3168	8	271.25
RAFOS	0	0	0.00
Transponder	54	30	17.46

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
14	-0.90	-170.3	0.0	0.0	0	77	0.00	0.00	-60.30	0.000	2	0.000	0.000	184	1505	2427
79	-0.90	-170.3	3.0	-4.9	9	131	9.18	2.03	-33.40	0.000	4	0.244	0.062	2442	202	3559
386	-0.13	-170.3	104.6	-33.0	62	394	0.80	1.92	0.00	0.000	6	0.163	0.033	2693	1496	3561
730	-0.98	-170.3	133.8	-7.7	123	738	0.75	2.05	0.00	0.000	4	0.081	0.038	2421	2908	3563
788	-0.50	-170.3	143.0	-20.3	133	795	0.52	2.05	0.00	0.000	6	0.166	0.035	2573	1503	3562
1134	-0.50	-170.3	180.9	-7.6	194	1141	0.00	1.95	0.00	0.000	4	0.000	0.048	2572	209	3563
1283	-0.50	-170.3	195.5	-10.5	220	1289	0.00	1.90	0.00	0.000	6	0.000	0.029	2573	1517	3563
1628	-0.61	-170.3	230.8	-10.7	281	1634	0.00	1.98	0.00	0.000	4	0.000	0.048	2572	198	3563
1703	-0.69	-170.3	238.7	-10.6	294	1710	0.12	1.88	0.00	0.000	6	0.054	0.029	2488	1502	3563
2047	-0.48	-170.3	285.0	-11.5	355	2054	0.28	1.95	0.00	0.000	4	0.143	0.047	2576	198	3563
2100	-0.59	-170.3	289.3	-6.5	364	2107	0.00	1.85	0.00	0.000	6	0.000	0.029	2576	1480	3563
2437	-0.80	-170.3	307.5	-6.3	413	2441	0.22	1.90	0.00	0.000	4	0.051	0.047	2464	207	3562
2470	-0.54	-170.3	311.3	-13.3	416	2475	0.32	1.83	0.00	0.000	6	0.149	0.030	2560	1487	3562
2801	-0.72	-170.3	334.2	-6.7	447	2805	0.15	2.05	0.00	0.000	4	0.063	0.042	2467	2893	3561
2849	-0.72	-170.3	338.9	-10.1	451	2858	0.08	2.08	0.00	0.000	6	0.143	0.035	2503	1488	3561
3174	-0.72	-170.3	369.9	-9.2	482	3177	0.00	1.90	0.00	0.000	4	0.000	0.050	2505	208	3560
3241	-0.67	-170.3	376.7	-10.4	488	3245	0.00	1.83	0.00	0.000	6	0.000	0.032	2494	1481	3559
3571	-0.67	-170.3	412.2	-11.2	519	3574	0.00	2.10	0.00	0.000	4	0.000	0.051	2493	2901	3557
3604	-0.75	-170.3	415.9	-11.2	522	3608	0.00	2.10	0.00	0.000	6	0.000	0.044	2494	1467	3557
3933	-0.75	-170.3	455.5	-12.9	553	3937	0.00	2.12	0.00	0.000	4	0.000	0.047	2493	2891	3555
4034	-0.87	-170.3	467.8	-11.6	562	4038	0.00	2.05	0.00	0.000	6	0.000	0.045	2493	1493	3554
4364	-0.92	-170.3	502.2	-8.4	592	4368	0.15	2.10	0.00	0.000	4	0.064	0.047	2425	2896	3552
4425	-0.81	-170.3	508.3	-9.8	595	4430	0.17	2.08	0.00	0.000	6	0.145	0.044	2475	1494	3552
4757	-0.81	-170.3	531.3	-6.9	611	4761	0.00	1.92	0.00	0.000	4	0.000	0.053	2475	205	3549
4819	-0.75	-170.3	536.3	-8.5	613	4825	0.00	1.85	0.00	0.000	6	0.000	0.035	2476	1485	3549
5134	-0.75	-170.3	559.0	-7.5	629	5138	0.00	1.92	0.00	0.000	4	0.000	0.054	2477	208	3547
5224	-0.69	-170.3	567.3	-9.5	633	5228	0.15	1.88	0.00	0.000	6	0.153	0.037	2517	1495	3546
5557	-0.85	-170.3	591.1	-7.5	649	5559	0.15	0.00	0.00	0.000	6	0.066	0.000	2446	1497	3543
5865	-0.75	-170.3	624.0	-10.3	664	5867	0.17	0.00	0.00	0.000	6	0.152	0.000	2496	1497	3541
6175	-0.84	-170.3	646.6	-7.1	679	6179	0.00	2.10	0.00	0.000	4	0.000	0.054	2499	2893	3540
6207	-1.00	-170.3	649.1	-7.4	680	6212	0.20	2.12	0.00	0.000	6	0.046	0.042	2397	1485	3539
6529	-0.73	-170.3	690.1	-13.2	696	6533	0.30	1.92	0.00	0.000	4	0.156	0.058	2493	206	3538
6577	-0.73	-170.3	695.5	-9.7	698	6582	0.00	1.90	0.00	0.000	6	0.000	0.039	2500	1478	3537
6905	-0.79	-170.3	726.1	-9.3	714	6906	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1478	3534
7214	-0.86	-170.3	757.3	-10.0	729	7219	0.12	2.12	0.00	0.000	4	0.077	0.054	2448	2896	3532
7285	-0.79	-170.3	766.3	-13.0	732	7290	0.10	2.15	0.00	0.000	6	0.152	0.044	2480	1475	3532
7611	-0.79	-170.3	804.7	-11.8	748	7615	0.00	2.17	0.00	0.000	4	0.000	0.055	2477	2905	3531
7656	-0.84	-170.3	809.7	-11.4	750	7660	0.00	2.12	0.00	0.000	6	0.000	0.044	2477	1483	3530
7986	-0.84	-170.3	846.6	-10.7	766	7988	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1483	3529
8298	-0.84	-170.3	875.5	-8.8	781	8299	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1482	3528
8606	-0.84	-170.3	899.6	-7.2	796	8607	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	1482	3527
8915	-0.84	-170.3	920.7	-6.5	811	8919	0.00	1.95	0.00	0.000	4	0.000	0.061	2477	204	3526
8977	-0.77	-170.3	925.2	-7.6	813	8983	0.00	1.90	0.00	0.000	6	0.000	0.041	2473	1490	3525
9292	-0.77	-170.3	945.2	-6.2	829	9293	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	1490	3524
9601	-0.77	-170.3	964.3	-6.0	844	9605	0.00	2.15	0.00	0.000	4	0.000	0.058	2467	2905	3523
9651	-0.83	-170.3	967.1	-4.9	846	9655	0.00	2.12	0.00	0.000	6	0.000	0.046	2469	1490	3523
9977	-0.83	-170.3	986.7	-6.4	862	9980	0.00	2.15	0.00	0.000	4	0.000	0.057	2459	2898	3522
10009	-0.83	-170.3	988.8	-5.7	863	10013	0.00	2.15	0.00	0.000	6	0.000	0.046	2469	1488	3521
10040	end dive: TARGET_DEPTH_EXCEEDED
state	10040	begin apogee
10045	-0.20	0.0	990.8	6.4	865	10188	0.62	0.00	140.25	1.486	6	0.132	0.000	2663	1757	2864
10189	end apogee: CONTROL_FINISHED_OK
state	10189	begin climb
10190	0.90	170.3	991.7	0.0	872	10349	1.05	2.35	150.15	1.432	4	0.069	0.059	3020	3151	2167
10445	0.37	170.3	954.5	21.9	884	10450	0.62	2.20	0.00	0.000	6	0.175	0.044	2862	1749	2163
10771	0.42	170.3	916.7	10.7	900	10772	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1749	2161
11080	0.49	170.5	884.2	10.0	915	11085	0.12	2.20	0.00	0.000	4	0.073	0.058	2931	341	2160
11123	0.29	170.5	878.4	14.3	917	11128	0.30	2.15	0.00	0.000	6	0.151	0.043	2837	1740	2160
11450	0.52	230.5	851.2	7.6	933	11508	0.17	2.30	52.35	1.388	4	0.065	0.058	2935	346	1922
11569	0.39	230.5	836.1	13.7	937	11576	0.25	2.20	0.00	0.000	6	0.150	0.043	2867	1748	1918
11885	0.55	264.2	807.9	8.7	953	11927	0.15	0.00	32.47	1.282	6	0.067	0.000	2931	1750	1784
12234	0.45	264.2	761.0	14.3	970	12238	0.17	2.20	0.00	0.000	4	0.156	0.057	2883	3154	1778
12276	0.53	264.2	755.5	10.7	972	12281	0.00	2.22	0.00	0.000	6	0.000	0.044	2894	1728	1777
12604	0.59	264.2	719.4	11.0	988	12608	0.10	2.15	0.00	0.000	4	0.078	0.058	2953	335	1777
12630	0.49	264.2	715.7	14.2	989	12635	0.17	2.15	0.00	0.000	6	0.150	0.044	2898	1734	1777
12951	0.54	264.2	679.8	10.7	1005	12955	0.00	2.17	0.00	0.000	4	0.000	0.058	2908	339	1777
13005	0.54	264.2	673.3	11.8	1007	13011	0.00	2.10	0.00	0.000	6	0.000	0.043	2908	1711	1777
13328	0.55	269.2	639.5	9.8	1023	13337	0.00	2.22	4.38	0.894	4	0.000	0.056	2907	3150	1765
13387	0.55	269.2	633.1	11.0	1025	13394	0.00	2.20	0.00	0.000	6	0.000	0.044	2917	1719	1764
13703	0.55	269.2	597.8	11.7	1041	13706	0.00	2.12	0.00	0.000	4	0.000	0.058	2929	338	1764
13730	0.55	269.2	594.2	13.0	1042	13734	0.00	2.08	0.00	0.000	6	0.000	0.043	2928	1720	1764
14056	0.55	269.2	549.6	13.9	1058	14059	0.00	2.12	0.00	0.000	4	0.000	0.058	2940	343	1764
14138	0.49	269.2	536.8	15.5	1061	14146	0.12	2.08	0.00	0.000	6	0.149	0.043	2901	1709	1764
14455	0.58	269.2	496.3	11.6	1078	14456	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	1709	1763
14774	0.68	269.2	459.5	12.3	1108	14776	0.17	0.00	0.00	0.000	6	0.064	0.000	2976	1709	1763
15092	0.46	269.2	406.1	16.4	1138	15097	0.28	2.20	0.00	0.000	4	0.156	0.054	2891	3154	1763
15237	0.64	306.1	391.3	8.5	1150	15278	0.08	2.22	32.95	1.088	6	0.061	0.044	2967	1696	1613
15595	0.55	306.1	341.5	13.6	1184	15600	0.17	2.10	0.00	0.000	4	0.155	0.053	2924	334	1609
15646	0.70	323.1	336.2	9.3	1188	15669	0.12	2.08	15.30	0.999	6	0.074	0.040	2984	1712	1544
15993	0.57	323.1	285.6	16.4	1228	16000	0.20	2.20	0.00	0.000	4	0.154	0.051	2923	3145	1541
16124	0.74	323.1	269.9	10.8	1251	16132	0.12	2.15	0.00	0.000	6	0.067	0.040	2994	1715	1540
16470	0.64	323.1	213.2	15.8	1312	16477	0.17	2.10	0.00	0.000	4	0.154	0.051	2950	336	1540
16607	0.81	357.5	197.7	8.6	1336	16646	0.15	2.03	29.62	0.903	6	0.064	0.038	3028	1713	1405
16985	0.69	357.5	142.7	14.5	1402	16992	0.20	2.17	0.00	0.000	4	0.148	0.046	2965	3142	1400
17054	0.85	357.5	133.8	11.9	1414	17061	0.15	2.17	0.00	0.000	6	0.058	0.038	3039	1687	1399
17400	0.75	357.5	76.6	13.3	1475	17408	0.17	2.05	0.00	0.000	4	0.148	0.048	2993	330	1399
17470	0.87	357.5	68.4	10.1	1487	17477	0.00	2.00	0.00	0.000	6	0.000	0.034	2993	1681	1399
17817	1.15	404.7	37.9	8.1	1548	17863	0.28	2.12	39.80	0.725	4	0.046	0.046	3138	342	1211
17898	0.83	404.7	23.6	22.0	1561	17905	0.45	2.00	0.00	0.000	6	0.150	0.032	3003	1673	1209
18066	end climb: SURFACE_DEPTH_REACHED
state	18066	begin surface coast
18101	end surface coast: CONTROL_FINISHED_OK
state	18102	begin surface