Glider dive log

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 615 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 2061 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1694 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 475 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 50 INT_PRESSURE_YINT 2.7

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 1.75 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 390 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2945 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 10 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 -19335.768 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 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 250 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 2820 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 22 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 0.029999999 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 475

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22 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 10

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 -19335.768

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 390

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 1.75 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 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 2820 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -4

C_ROLL_CLIMB 1694 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2061 MASS 51956 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2945 MAX_BUOY 250 R_STBD_OVSHOOT 50 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 615 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 210406,2443.070,12337.438,30,0.9,30,-3.6 TGT_NAME IN_2

_CALLS 1 TGT_LATLONG 2525.000,12225.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211307,2443.133,12337.544,11,1.5,11,-3.6 MHEAD_RNG_PITCHd_Wd 290.4,144005,-13.9,-10.000

SPEED_LIMITS 0.173,0.326 D_GRID 1785

Post-dive calculations and measurements:

FINISH 0.9,1.001879 _24V_AH 18.3,144.293

SM_CCo 18239,0.00,0.000,0,0,831,518.56 _10V_AH 10.4,91.496

SM_GC 1.58,10.73,0.00,0.00,0.037,0.000,0.000,167,2089,831,-8.28,0.79,518.56 DATA_FILE_SIZE 91631,1629

IRIDIUM_FIX 2434.69,12339.43,021298,161641 CAP_FILE_SIZE 191298,0

TT8_MAMPS 0.026845 CFSIZE 260165632,183828480

HUMID 1661 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,93,0

INTERNAL_PRESSURE 9.95614 CURRENT 0.079, 27.0,1

TCM_TEMP 25.30 GPS 080909,021836,2443.850,12334.885,30,1.1,30,-3.6

XPDR_PINGS 161

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 218 130.41 SBE_CT 1101 24 483.68

Roll_motor 180 52 175.15 Optode 1129 33 682.36

VBD_pump_during_apogee 1060 1232 23909.37 WL_BB2F 2413 105 4638.13

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 24 103 45.67 nil 0 0 0.00

Iridium_during_connect 31 160 90.98 nil 0 0 0.00

Iridium_during_xfer 290 223 1185.93

Transponder_ping 48 420 370.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.77

TT8 2812 19 579.08

LPSleep 9524 2 216.94

TT8_Active 1377 19 283.71

TT8_Sampling 4053 39 1678.01

TT8_CF8 987 45 470.51

TT8_Kalman 0 0 0.00

Analog_circuits 3160 12 394.39

GPS_charging 0 0 0.00

Compass 4020 8 334.50

RAFOS 0 0 0.00

Transponder 54 30 16.98

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

17 -0.93 -243.4 0.0 0.0 0 88 0.00 0.00 -68.43 0.000 2 0.000 0.000 168 2099 2459

93 -0.93 -243.4 3.1 -3.1 10 146 13.88 2.80 -33.38 0.000 4 0.219 0.044 2500 3454 3940

211 -0.41 -243.4 40.1 -37.7 29 219 0.85 2.72 0.00 0.000 6 0.139 0.024 2681 2040 3939

560 -0.41 -243.4 88.7 -10.2 90 566 0.00 2.85 0.00 0.000 4 0.000 0.038 2677 3444 3942

598 -0.50 -243.4 91.7 -7.4 96 607 0.00 2.60 0.00 0.000 6 0.000 0.022 2677 2073 3942

949 -0.59 -243.4 120.9 -8.9 157 955 0.17 0.00 0.00 0.000 6 0.042 0.000 2611 2071 3943

1295 -0.50 -243.4 169.0 -13.4 218 1302 0.17 0.00 0.00 0.000 6 0.116 0.000 2651 2071 3943

1643 -0.57 -243.4 201.2 -9.1 279 1649 0.00 2.78 0.00 0.000 4 0.000 0.038 2641 3444 3943

1694 -0.70 -243.4 205.3 -8.4 287 1701 0.17 2.55 0.00 0.000 6 0.040 0.022 2579 2090 3943

2042 -0.58 -243.4 255.0 -14.0 348 2050 0.20 2.78 0.00 0.000 4 0.115 0.031 2625 666 3942

2121 -0.68 -243.4 263.7 -9.8 361 2127 0.00 2.72 0.00 0.000 6 0.000 0.026 2605 2078 3942

2467 -0.73 -243.4 295.7 -8.7 422 2474 0.00 2.75 0.00 0.000 4 0.000 0.041 2600 3462 3941

2576 -0.86 -243.4 305.1 -9.1 435 2581 0.20 2.58 0.00 0.000 6 0.039 0.023 2535 2099 3941

2905 -0.74 -243.4 359.9 -15.4 465 2910 0.17 2.80 0.00 0.000 4 0.118 0.032 2577 670 3940

2985 -0.74 -243.4 369.1 -10.2 471 2990 0.00 2.78 0.00 0.000 6 0.000 0.028 2561 2099 3939

3312 -0.74 -243.4 405.9 -11.0 501 3316 0.00 2.75 0.00 0.000 4 0.000 0.043 2555 3468 3937

3344 -0.74 -243.4 409.3 -11.7 503 3349 0.00 2.60 0.00 0.000 6 0.000 0.025 2555 2103 3937

3673 -0.74 -243.4 443.9 -9.1 533 3678 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2102 3935

4005 -0.74 -243.4 475.5 -10.8 564 4010 0.00 2.80 0.00 0.000 4 0.000 0.044 2545 3465 3933

4086 -0.78 -243.4 484.4 -9.8 570 4094 0.00 2.60 0.00 0.000 6 0.000 0.026 2546 2105 3932

4416 -0.78 -243.4 516.1 -9.4 593 4420 0.00 2.85 0.00 0.000 4 0.000 0.037 2546 663 3930

4466 -0.78 -243.4 522.4 -10.1 595 4471 0.00 2.85 0.00 0.000 6 0.000 0.032 2543 2111 3929

4782 -0.78 -243.4 556.7 -10.9 610 4783 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2112 3927

5094 -0.78 -243.4 587.4 -9.4 625 5098 0.00 2.75 0.00 0.000 4 0.000 0.048 2534 3468 3924

5122 -0.78 -243.4 590.3 -9.5 626 5127 0.15 2.62 0.00 0.000 6 0.101 0.028 2568 2099 3923

5444 -0.88 -243.4 616.9 -9.1 641 5449 0.00 2.85 0.00 0.000 4 0.000 0.041 2568 665 3921

5495 -0.98 -243.4 622.4 -9.8 643 5500 0.20 2.83 0.00 0.000 6 0.043 0.034 2489 2099 3921

5816 -0.88 -243.4 665.0 -13.9 658 5821 0.17 2.80 0.00 0.000 4 0.120 0.052 2530 3467 3918

5850 -0.88 -243.4 669.5 -10.5 659 5856 0.00 2.65 0.00 0.000 6 0.000 0.030 2530 2091 3918

6169 -0.88 -243.4 702.8 -11.1 675 6173 0.00 2.85 0.00 0.000 4 0.000 0.041 2530 662 3916

6226 -0.88 -243.4 709.6 -11.3 677 6232 0.00 2.85 0.00 0.000 6 0.000 0.038 2530 2091 3915

6545 -0.88 -243.4 742.0 -10.6 693 6550 0.00 2.83 0.00 0.000 4 0.000 0.053 2530 3470 3913

6596 -0.95 -243.4 747.6 -10.1 695 6600 0.00 2.65 0.00 0.000 6 0.000 0.031 2530 2099 3913

6913 -0.95 -243.4 780.3 -10.3 710 6918 0.00 2.88 0.00 0.000 4 0.000 0.044 2530 663 3910

6958 -0.95 -243.4 785.2 -10.9 712 6963 0.00 2.88 0.00 0.000 6 0.000 0.038 2530 2102 3910

7284 -0.98 -243.4 816.0 -9.6 728 7286 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2103 3908

7592 -1.02 -243.4 847.3 -10.3 743 7593 0.12 0.00 0.00 0.000 6 0.054 0.000 2479 2103 3905

7900 -0.93 -243.4 885.8 -11.8 758 7902 0.17 0.00 0.00 0.000 6 0.119 0.000 2516 2102 3904

8210 -0.93 -243.4 913.0 -8.8 773 8215 0.00 2.95 0.00 0.000 4 0.000 0.047 2517 657 3902

8268 -0.93 -243.4 918.7 -9.6 775 8274 0.00 2.90 0.00 0.000 6 0.000 0.041 2517 2096 3902

8587 -0.93 -243.4 947.0 -8.6 791 8592 0.00 2.92 0.00 0.000 4 0.000 0.045 2517 655 3900

8631 -0.93 -243.4 951.0 -9.3 793 8636 0.00 2.92 0.00 0.000 6 0.000 0.041 2517 2101 3900

8966 -0.93 -243.4 980.0 -8.6 809 8967 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2100 3898

9081 end dive: TARGET_DEPTH_EXCEEDED

state 9081 begin apogee

9090 -0.23 0.0 990.1 8.2 815 9572 0.88 0.00 327.92 1.233 6 0.091 0.000 2741 1694 2945

9573 end apogee: CONTROL_FINISHED_OK

state 9573 begin climb

9577 0.93 243.4 1017.3 0.0 839 10085 1.25 3.00 341.52 1.196 4 0.031 0.052 3129 3108 1952

10342 0.52 243.4 918.5 20.9 874 10348 0.70 2.90 0.00 0.000 6 0.153 0.038 2993 1690 1947

10676 0.45 243.4 880.6 10.6 890 10680 0.00 2.95 0.00 0.000 4 0.000 0.051 3003 281 1946

10846 0.38 243.4 861.9 10.6 897 10853 0.28 2.95 0.00 0.000 6 0.123 0.039 2945 1720 1945

11169 0.59 389.6 841.2 6.0 913 11489 0.20 3.10 213.93 1.134 4 0.048 0.051 3027 285 1355

11584 0.59 389.6 795.8 13.0 931 11589 0.00 3.03 0.00 0.000 6 0.000 0.039 3027 1741 1353

11901 0.51 389.6 749.5 15.4 946 11906 0.20 2.85 0.00 0.000 4 0.127 0.050 2983 3105 1350

12094 0.51 389.6 724.1 12.8 954 12102 0.00 2.75 0.00 0.000 6 0.000 0.038 2991 1763 1350

12410 0.51 389.6 682.4 13.1 970 12415 0.00 2.80 0.00 0.000 4 0.000 0.050 2990 3103 1349

12552 0.51 389.6 663.8 12.9 976 12556 0.00 2.67 0.00 0.000 6 0.000 0.037 3000 1779 1349

12871 0.51 389.6 626.2 11.8 991 12875 0.00 2.78 0.00 0.000 4 0.000 0.049 3000 3107 1348

13040 0.51 389.6 605.9 10.9 998 13048 0.00 2.65 0.00 0.000 6 0.000 0.037 3009 1807 1348

13357 0.51 389.6 570.1 11.3 1014 13362 0.00 2.70 0.00 0.000 4 0.000 0.048 3010 3104 1348

13490 0.51 389.6 554.4 11.6 1020 13495 0.15 2.60 0.00 0.000 6 0.123 0.036 2989 1813 1348

13822 0.55 389.6 519.3 11.1 1036 13826 0.00 2.70 0.00 0.000 4 0.000 0.048 2987 3110 1348

13992 0.60 389.6 498.7 12.0 1043 13998 0.00 2.55 0.00 0.000 6 0.000 0.035 2996 1837 1348

14321 0.62 408.5 462.4 9.5 1074 14365 0.00 2.70 26.12 0.917 4 0.000 0.046 2996 3101 1278

14485 0.70 432.3 447.4 9.3 1088 14545 0.12 2.50 36.10 0.896 6 0.054 0.034 3049 1860 1182

14862 0.62 432.3 389.6 15.4 1123 14866 0.00 2.60 0.00 0.000 4 0.000 0.046 3049 3106 1181

15040 0.56 432.3 364.6 13.7 1138 15045 0.25 2.45 0.00 0.000 6 0.121 0.033 3005 1884 1181

15366 0.64 432.3 329.8 11.2 1168 15371 0.00 2.53 0.00 0.000 4 0.000 0.044 3006 3107 1180

15442 0.72 432.3 321.4 10.3 1174 15447 0.12 2.42 0.00 0.000 6 0.051 0.032 3059 1892 1180

15779 0.68 432.3 273.7 12.4 1220 15787 0.00 2.50 0.00 0.000 4 0.000 0.044 3060 3106 1180

15869 0.64 432.3 261.7 13.6 1235 15876 0.20 2.38 0.00 0.000 6 0.122 0.031 3027 1910 1180

16218 0.71 432.3 225.9 10.2 1296 16226 0.00 3.33 0.00 0.000 4 0.000 0.043 3037 278 1180

16256 0.85 444.5 221.9 9.7 1302 16287 0.17 3.30 17.58 0.734 6 0.044 0.031 3107 1931 1131

16633 0.74 444.5 166.2 13.4 1367 16640 0.20 2.38 0.00 0.000 4 0.120 0.040 3056 3108 1132

16858 0.81 459.0 141.0 9.6 1406 16889 0.00 2.30 19.83 0.680 6 0.000 0.029 3062 1948 1074

17232 0.89 459.0 100.5 11.8 1471 17239 0.15 2.35 0.00 0.000 4 0.045 0.038 3124 3110 1074

17253 0.89 459.0 97.1 12.9 1474 17259 0.00 2.30 0.00 0.000 6 0.000 0.028 3131 1950 1074

17599 0.89 459.0 47.4 13.4 1535 17606 0.00 2.35 0.00 0.000 4 0.000 0.038 3132 3115 1074

17664 0.89 459.0 40.1 10.4 1546 17671 0.15 2.20 0.00 0.000 6 0.109 0.026 3109 1977 1074

18013 1.13 552.5 17.3 7.4 1607 18127 0.20 0.00 77.00 0.565 2 0.039 0.000 3194 1977 835

18127 end climb: SURFACE_DEPTH_REACHED

state 18128 begin surface coast

18155 end surface coast: CONTROL_FINISHED_OK

state 18155 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	615	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	2061	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1694	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	475	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	50	INT_PRESSURE_YINT	2.7
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	1.75	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	390	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2945	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	10	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	-19335.768	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	250	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	2820	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	22	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	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	210406,2443.070,12337.438,30,0.9,30,-3.6	TGT_NAME	IN_2
_CALLS	1	TGT_LATLONG	2525.000,12225.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211307,2443.133,12337.544,11,1.5,11,-3.6	MHEAD_RNG_PITCHd_Wd	290.4,144005,-13.9,-10.000
SPEED_LIMITS	0.173,0.326	D_GRID	1785

FINISH	0.9,1.001879	_24V_AH	18.3,144.293
SM_CCo	18239,0.00,0.000,0,0,831,518.56	_10V_AH	10.4,91.496
SM_GC	1.58,10.73,0.00,0.00,0.037,0.000,0.000,167,2089,831,-8.28,0.79,518.56	DATA_FILE_SIZE	91631,1629
IRIDIUM_FIX	2434.69,12339.43,021298,161641	CAP_FILE_SIZE	191298,0
TT8_MAMPS	0.026845	CFSIZE	260165632,183828480
HUMID	1661	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,93,0
INTERNAL_PRESSURE	9.95614	CURRENT	0.079, 27.0,1
TCM_TEMP	25.30	GPS	080909,021836,2443.850,12334.885,30,1.1,30,-3.6
XPDR_PINGS	161

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	218	130.41	SBE_CT	1101	24	483.68
Roll_motor	180	52	175.15	Optode	1129	33	682.36
VBD_pump_during_apogee	1060	1232	23909.37	WL_BB2F	2413	105	4638.13
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	24	103	45.67	nil	0	0	0.00
Iridium_during_connect	31	160	90.98	nil	0	0	0.00
Iridium_during_xfer	290	223	1185.93
Transponder_ping	48	420	370.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.77
TT8	2812	19	579.08
LPSleep	9524	2	216.94
TT8_Active	1377	19	283.71
TT8_Sampling	4053	39	1678.01
TT8_CF8	987	45	470.51
TT8_Kalman	0	0	0.00
Analog_circuits	3160	12	394.39
GPS_charging	0	0	0.00
Compass	4020	8	334.50
RAFOS	0	0	0.00
Transponder	54	30	16.98

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
17	-0.93	-243.4	0.0	0.0	0	88	0.00	0.00	-68.43	0.000	2	0.000	0.000	168	2099	2459
93	-0.93	-243.4	3.1	-3.1	10	146	13.88	2.80	-33.38	0.000	4	0.219	0.044	2500	3454	3940
211	-0.41	-243.4	40.1	-37.7	29	219	0.85	2.72	0.00	0.000	6	0.139	0.024	2681	2040	3939
560	-0.41	-243.4	88.7	-10.2	90	566	0.00	2.85	0.00	0.000	4	0.000	0.038	2677	3444	3942
598	-0.50	-243.4	91.7	-7.4	96	607	0.00	2.60	0.00	0.000	6	0.000	0.022	2677	2073	3942
949	-0.59	-243.4	120.9	-8.9	157	955	0.17	0.00	0.00	0.000	6	0.042	0.000	2611	2071	3943
1295	-0.50	-243.4	169.0	-13.4	218	1302	0.17	0.00	0.00	0.000	6	0.116	0.000	2651	2071	3943
1643	-0.57	-243.4	201.2	-9.1	279	1649	0.00	2.78	0.00	0.000	4	0.000	0.038	2641	3444	3943
1694	-0.70	-243.4	205.3	-8.4	287	1701	0.17	2.55	0.00	0.000	6	0.040	0.022	2579	2090	3943
2042	-0.58	-243.4	255.0	-14.0	348	2050	0.20	2.78	0.00	0.000	4	0.115	0.031	2625	666	3942
2121	-0.68	-243.4	263.7	-9.8	361	2127	0.00	2.72	0.00	0.000	6	0.000	0.026	2605	2078	3942
2467	-0.73	-243.4	295.7	-8.7	422	2474	0.00	2.75	0.00	0.000	4	0.000	0.041	2600	3462	3941
2576	-0.86	-243.4	305.1	-9.1	435	2581	0.20	2.58	0.00	0.000	6	0.039	0.023	2535	2099	3941
2905	-0.74	-243.4	359.9	-15.4	465	2910	0.17	2.80	0.00	0.000	4	0.118	0.032	2577	670	3940
2985	-0.74	-243.4	369.1	-10.2	471	2990	0.00	2.78	0.00	0.000	6	0.000	0.028	2561	2099	3939
3312	-0.74	-243.4	405.9	-11.0	501	3316	0.00	2.75	0.00	0.000	4	0.000	0.043	2555	3468	3937
3344	-0.74	-243.4	409.3	-11.7	503	3349	0.00	2.60	0.00	0.000	6	0.000	0.025	2555	2103	3937
3673	-0.74	-243.4	443.9	-9.1	533	3678	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2102	3935
4005	-0.74	-243.4	475.5	-10.8	564	4010	0.00	2.80	0.00	0.000	4	0.000	0.044	2545	3465	3933
4086	-0.78	-243.4	484.4	-9.8	570	4094	0.00	2.60	0.00	0.000	6	0.000	0.026	2546	2105	3932
4416	-0.78	-243.4	516.1	-9.4	593	4420	0.00	2.85	0.00	0.000	4	0.000	0.037	2546	663	3930
4466	-0.78	-243.4	522.4	-10.1	595	4471	0.00	2.85	0.00	0.000	6	0.000	0.032	2543	2111	3929
4782	-0.78	-243.4	556.7	-10.9	610	4783	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2112	3927
5094	-0.78	-243.4	587.4	-9.4	625	5098	0.00	2.75	0.00	0.000	4	0.000	0.048	2534	3468	3924
5122	-0.78	-243.4	590.3	-9.5	626	5127	0.15	2.62	0.00	0.000	6	0.101	0.028	2568	2099	3923
5444	-0.88	-243.4	616.9	-9.1	641	5449	0.00	2.85	0.00	0.000	4	0.000	0.041	2568	665	3921
5495	-0.98	-243.4	622.4	-9.8	643	5500	0.20	2.83	0.00	0.000	6	0.043	0.034	2489	2099	3921
5816	-0.88	-243.4	665.0	-13.9	658	5821	0.17	2.80	0.00	0.000	4	0.120	0.052	2530	3467	3918
5850	-0.88	-243.4	669.5	-10.5	659	5856	0.00	2.65	0.00	0.000	6	0.000	0.030	2530	2091	3918
6169	-0.88	-243.4	702.8	-11.1	675	6173	0.00	2.85	0.00	0.000	4	0.000	0.041	2530	662	3916
6226	-0.88	-243.4	709.6	-11.3	677	6232	0.00	2.85	0.00	0.000	6	0.000	0.038	2530	2091	3915
6545	-0.88	-243.4	742.0	-10.6	693	6550	0.00	2.83	0.00	0.000	4	0.000	0.053	2530	3470	3913
6596	-0.95	-243.4	747.6	-10.1	695	6600	0.00	2.65	0.00	0.000	6	0.000	0.031	2530	2099	3913
6913	-0.95	-243.4	780.3	-10.3	710	6918	0.00	2.88	0.00	0.000	4	0.000	0.044	2530	663	3910
6958	-0.95	-243.4	785.2	-10.9	712	6963	0.00	2.88	0.00	0.000	6	0.000	0.038	2530	2102	3910
7284	-0.98	-243.4	816.0	-9.6	728	7286	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2103	3908
7592	-1.02	-243.4	847.3	-10.3	743	7593	0.12	0.00	0.00	0.000	6	0.054	0.000	2479	2103	3905
7900	-0.93	-243.4	885.8	-11.8	758	7902	0.17	0.00	0.00	0.000	6	0.119	0.000	2516	2102	3904
8210	-0.93	-243.4	913.0	-8.8	773	8215	0.00	2.95	0.00	0.000	4	0.000	0.047	2517	657	3902
8268	-0.93	-243.4	918.7	-9.6	775	8274	0.00	2.90	0.00	0.000	6	0.000	0.041	2517	2096	3902
8587	-0.93	-243.4	947.0	-8.6	791	8592	0.00	2.92	0.00	0.000	4	0.000	0.045	2517	655	3900
8631	-0.93	-243.4	951.0	-9.3	793	8636	0.00	2.92	0.00	0.000	6	0.000	0.041	2517	2101	3900
8966	-0.93	-243.4	980.0	-8.6	809	8967	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2100	3898
9081	end dive: TARGET_DEPTH_EXCEEDED
state	9081	begin apogee
9090	-0.23	0.0	990.1	8.2	815	9572	0.88	0.00	327.92	1.233	6	0.091	0.000	2741	1694	2945
9573	end apogee: CONTROL_FINISHED_OK
state	9573	begin climb
9577	0.93	243.4	1017.3	0.0	839	10085	1.25	3.00	341.52	1.196	4	0.031	0.052	3129	3108	1952
10342	0.52	243.4	918.5	20.9	874	10348	0.70	2.90	0.00	0.000	6	0.153	0.038	2993	1690	1947
10676	0.45	243.4	880.6	10.6	890	10680	0.00	2.95	0.00	0.000	4	0.000	0.051	3003	281	1946
10846	0.38	243.4	861.9	10.6	897	10853	0.28	2.95	0.00	0.000	6	0.123	0.039	2945	1720	1945
11169	0.59	389.6	841.2	6.0	913	11489	0.20	3.10	213.93	1.134	4	0.048	0.051	3027	285	1355
11584	0.59	389.6	795.8	13.0	931	11589	0.00	3.03	0.00	0.000	6	0.000	0.039	3027	1741	1353
11901	0.51	389.6	749.5	15.4	946	11906	0.20	2.85	0.00	0.000	4	0.127	0.050	2983	3105	1350
12094	0.51	389.6	724.1	12.8	954	12102	0.00	2.75	0.00	0.000	6	0.000	0.038	2991	1763	1350
12410	0.51	389.6	682.4	13.1	970	12415	0.00	2.80	0.00	0.000	4	0.000	0.050	2990	3103	1349
12552	0.51	389.6	663.8	12.9	976	12556	0.00	2.67	0.00	0.000	6	0.000	0.037	3000	1779	1349
12871	0.51	389.6	626.2	11.8	991	12875	0.00	2.78	0.00	0.000	4	0.000	0.049	3000	3107	1348
13040	0.51	389.6	605.9	10.9	998	13048	0.00	2.65	0.00	0.000	6	0.000	0.037	3009	1807	1348
13357	0.51	389.6	570.1	11.3	1014	13362	0.00	2.70	0.00	0.000	4	0.000	0.048	3010	3104	1348
13490	0.51	389.6	554.4	11.6	1020	13495	0.15	2.60	0.00	0.000	6	0.123	0.036	2989	1813	1348
13822	0.55	389.6	519.3	11.1	1036	13826	0.00	2.70	0.00	0.000	4	0.000	0.048	2987	3110	1348
13992	0.60	389.6	498.7	12.0	1043	13998	0.00	2.55	0.00	0.000	6	0.000	0.035	2996	1837	1348
14321	0.62	408.5	462.4	9.5	1074	14365	0.00	2.70	26.12	0.917	4	0.000	0.046	2996	3101	1278
14485	0.70	432.3	447.4	9.3	1088	14545	0.12	2.50	36.10	0.896	6	0.054	0.034	3049	1860	1182
14862	0.62	432.3	389.6	15.4	1123	14866	0.00	2.60	0.00	0.000	4	0.000	0.046	3049	3106	1181
15040	0.56	432.3	364.6	13.7	1138	15045	0.25	2.45	0.00	0.000	6	0.121	0.033	3005	1884	1181
15366	0.64	432.3	329.8	11.2	1168	15371	0.00	2.53	0.00	0.000	4	0.000	0.044	3006	3107	1180
15442	0.72	432.3	321.4	10.3	1174	15447	0.12	2.42	0.00	0.000	6	0.051	0.032	3059	1892	1180
15779	0.68	432.3	273.7	12.4	1220	15787	0.00	2.50	0.00	0.000	4	0.000	0.044	3060	3106	1180
15869	0.64	432.3	261.7	13.6	1235	15876	0.20	2.38	0.00	0.000	6	0.122	0.031	3027	1910	1180
16218	0.71	432.3	225.9	10.2	1296	16226	0.00	3.33	0.00	0.000	4	0.000	0.043	3037	278	1180
16256	0.85	444.5	221.9	9.7	1302	16287	0.17	3.30	17.58	0.734	6	0.044	0.031	3107	1931	1131
16633	0.74	444.5	166.2	13.4	1367	16640	0.20	2.38	0.00	0.000	4	0.120	0.040	3056	3108	1132
16858	0.81	459.0	141.0	9.6	1406	16889	0.00	2.30	19.83	0.680	6	0.000	0.029	3062	1948	1074
17232	0.89	459.0	100.5	11.8	1471	17239	0.15	2.35	0.00	0.000	4	0.045	0.038	3124	3110	1074
17253	0.89	459.0	97.1	12.9	1474	17259	0.00	2.30	0.00	0.000	6	0.000	0.028	3131	1950	1074
17599	0.89	459.0	47.4	13.4	1535	17606	0.00	2.35	0.00	0.000	4	0.000	0.038	3132	3115	1074
17664	0.89	459.0	40.1	10.4	1546	17671	0.15	2.20	0.00	0.000	6	0.109	0.026	3109	1977	1074
18013	1.13	552.5	17.3	7.4	1607	18127	0.20	0.00	77.00	0.565	2	0.039	0.000	3194	1977	835
18127	end climb: SURFACE_DEPTH_REACHED
state	18128	begin surface coast
18155	end surface coast: CONTROL_FINISHED_OK
state	18155	begin surface