Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 99 * 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 99 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 63 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 300 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 360 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 -2 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 -7117.5059 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 200 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 300

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 -7117.5059

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 360

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 -2

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 200 R_STBD_OVSHOOT 63 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 99 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 155007,2526.485,12332.685,42,0.9,42,-3.8 TGT_NAME OFF_5

_CALLS 3 TGT_LATLONG 2514.000,12340.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160225,2526.610,12332.689,12,1.1,17,-3.8 MHEAD_RNG_PITCHd_Wd 192.0,26371,-17.1,-11.000

SPEED_LIMITS 0.191,0.306 D_GRID 1563

Post-dive calculations and measurements:

FINISH 1.0,1.009868 _24V_AH 23.3,23.663

SM_CCo 16432,0.00,0.000,0,0,450,591.66 _10V_AH 10.7,14.434

SM_GC 1.69,8.07,0.00,0.00,0.044,0.000,0.000,151,1523,450,-8.04,0.65,591.66 DATA_FILE_SIZE 85103,1485

IRIDIUM_FIX 2517.50,12335.45,310898,161636 CAP_FILE_SIZE 173672,0

TT8_MAMPS 0.026845 CFSIZE 260165632,227192832

HUMID 1473 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 9.81941 CURRENT 0.195, 86.5,1

TCM_TEMP 24.40 GPS 060609,203755,2524.010,12333.963,44,1.1,44,-3.8

XPDR_PINGS 105

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 240 166.94 SBE_CT 1006 24 563.02

Roll_motor 137 59 189.14 Optode 1036 33 797.22

VBD_pump_during_apogee 680 1478 23440.06 WL_BB2F 1742 105 4262.42

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 74 103 179.13 nil 0 0 0.00

Iridium_during_connect 108 160 403.43 nil 0 0 0.00

Iridium_during_xfer 306 223 1595.11

Transponder_ping 34 420 335.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.27

TT8 2614 19 553.82

LPSleep 10049 2 235.49

TT8_Active 776 19 164.41

TT8_Sampling 3010 39 1281.98

TT8_CF8 709 45 347.46

TT8_Kalman 0 0 0.00

Analog_circuits 2167 12 278.25

GPS_charging 0 0 0.00

Compass 2976 8 254.76

RAFOS 0 0 0.00

Transponder 55 30 17.93

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

14 -0.94 -194.7 0.0 0.0 0 104 0.00 0.00 -87.12 0.000 2 0.000 0.000 208 1524 2403

106 -0.94 -194.7 3.3 -5.8 13 158 8.98 2.03 -35.28 0.000 4 0.241 0.059 2431 195 3658

194 -0.03 -194.7 23.7 -36.6 27 202 0.95 1.92 0.00 0.000 6 0.166 0.031 2720 1486 3658

540 -0.51 -194.7 52.6 -4.6 88 547 0.38 2.08 0.00 0.000 4 0.041 0.038 2545 2905 3658

581 -0.37 -194.7 57.8 -15.9 95 589 0.25 2.05 0.00 0.000 6 0.140 0.032 2617 1494 3658

929 -0.37 -194.7 97.3 -11.5 156 935 0.00 1.92 0.00 0.000 4 0.000 0.044 2617 214 3658

993 -0.44 -194.7 105.3 -12.8 167 1001 0.00 1.88 0.00 0.000 6 0.000 0.028 2617 1508 3658

1339 -0.64 -194.7 146.0 -11.1 228 1346 0.22 2.05 0.00 0.000 4 0.052 0.039 2508 2890 3659

1387 -0.53 -194.7 152.7 -15.0 236 1394 0.15 2.03 0.00 0.000 6 0.136 0.033 2559 1515 3660

1732 -0.53 -194.7 202.0 -12.7 297 1737 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 1515 3660

2074 -0.59 -194.7 243.0 -11.3 358 2080 0.00 2.05 0.00 0.000 4 0.000 0.043 2559 2902 3659

2121 -0.79 -194.7 247.6 -9.2 366 2128 0.22 2.05 0.00 0.000 6 0.051 0.034 2457 1487 3659

2463 -0.48 -194.7 307.1 -15.9 423 2468 0.38 1.90 0.00 0.000 4 0.144 0.046 2576 209 3660

2507 -0.64 -194.7 312.3 -9.2 426 2514 0.10 1.88 0.00 0.000 6 0.052 0.028 2513 1503 3659

2832 -0.58 -194.7 354.0 -13.8 457 2836 0.12 2.05 0.00 0.000 4 0.149 0.042 2537 2895 3659

2934 -0.79 -194.7 364.2 -9.5 466 2938 0.15 2.03 0.00 0.000 6 0.061 0.035 2461 1504 3659

3263 -0.63 -194.7 411.0 -13.1 497 3268 0.22 2.08 0.00 0.000 4 0.139 0.044 2523 2888 3658

3315 -0.88 -194.7 415.8 -7.5 501 3320 0.20 2.00 0.00 0.000 6 0.051 0.035 2429 1517 3657

3645 -0.64 -194.7 460.3 -13.6 532 3650 0.30 1.98 0.00 0.000 4 0.138 0.048 2531 197 3655

3734 -0.79 -194.7 467.9 -8.2 539 3742 0.10 1.90 0.00 0.000 6 0.080 0.031 2468 1518 3654

4067 -0.79 -194.7 506.2 -12.9 569 4071 0.00 2.05 0.00 0.000 4 0.000 0.049 2465 2894 3652

4151 -0.86 -194.7 516.1 -11.4 572 4157 0.00 2.05 0.00 0.000 6 0.000 0.038 2465 1524 3651

4466 -0.86 -194.7 554.7 -11.7 588 4470 0.00 2.08 0.00 0.000 4 0.000 0.054 2464 2898 3648

4521 -0.96 -194.7 560.3 -9.6 590 4525 0.00 2.03 0.00 0.000 6 0.000 0.041 2465 1526 3648

4841 -0.96 -194.7 596.4 -11.7 606 4845 0.00 2.00 0.00 0.000 4 0.000 0.053 2465 200 3646

4930 -0.96 -194.7 607.5 -12.5 610 4934 0.00 1.95 0.00 0.000 6 0.000 0.035 2464 1513 3645

5262 -0.96 -194.7 644.6 -10.7 626 5266 0.00 2.00 0.00 0.000 4 0.000 0.054 2464 199 3642

5329 -0.96 -194.7 652.4 -11.5 629 5333 0.00 1.95 0.00 0.000 6 0.000 0.037 2464 1523 3641

5662 -0.96 -194.7 687.2 -10.1 645 5666 0.00 2.08 0.00 0.000 4 0.000 0.051 2464 2905 3638

5700 -1.06 -194.7 691.0 -9.3 646 5707 0.15 2.08 0.00 0.000 6 0.047 0.041 2384 1527 3637

6015 -0.82 -194.7 736.2 -14.9 662 6017 0.30 0.00 0.00 0.000 6 0.151 0.000 2474 1527 3635

6326 -0.92 -194.7 764.8 -9.2 677 6327 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 1527 3633

6635 -1.02 -194.7 793.6 -9.4 692 6637 0.17 0.00 0.00 0.000 6 0.064 0.000 2398 1527 3630

6944 -0.83 -194.7 836.9 -14.3 707 6948 0.22 2.03 0.00 0.000 4 0.150 0.058 2468 207 3628

6983 -0.83 -194.7 841.7 -11.6 708 6989 0.00 1.98 0.00 0.000 6 0.000 0.040 2466 1519 3628

7298 -0.90 -194.7 872.3 -9.6 724 7299 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 1520 3626

7609 -0.98 -194.7 901.7 -9.5 739 7610 0.12 0.00 0.00 0.000 6 0.076 0.000 2409 1521 3624

7916 -0.84 -194.7 939.0 -11.6 754 7918 0.20 0.00 0.00 0.000 6 0.150 0.000 2468 1521 3623

8226 -0.93 -194.7 964.9 -8.5 769 8228 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1521 3621

8533 end dive: TARGET_DEPTH_EXCEEDED

state 8533 begin apogee

8538 -0.20 0.0 991.1 8.6 784 8702 0.62 0.00 161.15 1.479 6 0.120 0.000 2674 1748 2863

8703 end apogee: CONTROL_FINISHED_OK

state 8703 begin climb

8704 0.94 194.7 998.0 0.0 792 8886 1.00 2.40 172.95 1.434 4 0.040 0.057 3057 3153 2068

8969 0.33 194.7 963.3 21.0 804 8975 0.75 2.25 0.00 0.000 6 0.193 0.044 2851 1752 2062

9292 0.51 253.4 933.4 8.8 820 9349 0.15 2.33 51.45 1.387 4 0.067 0.058 2929 344 1829

9432 0.39 253.4 913.3 16.1 825 9440 0.20 2.20 0.00 0.000 6 0.142 0.041 2868 1735 1825

9749 0.48 253.4 877.7 11.2 841 9752 0.00 2.20 0.00 0.000 4 0.000 0.058 2876 339 1822

9781 0.55 253.4 873.8 11.7 842 9786 0.08 2.15 0.00 0.000 6 0.062 0.041 2924 1725 1822

10102 0.42 253.4 828.3 13.7 858 10107 0.17 2.22 0.00 0.000 4 0.151 0.056 2876 3160 1820

10151 0.50 259.3 822.3 10.8 860 10163 0.00 2.17 5.28 1.023 6 0.000 0.044 2884 1725 1804

10472 0.55 259.3 786.7 11.3 876 10476 0.00 2.12 0.00 0.000 4 0.000 0.058 2895 341 1803

10532 0.55 259.3 779.2 12.4 878 10539 0.00 2.12 0.00 0.000 6 0.000 0.041 2895 1726 1803

10848 0.55 259.3 741.8 11.8 894 10851 0.00 2.15 0.00 0.000 4 0.000 0.057 2905 342 1802

10874 0.55 259.3 738.4 12.8 895 10879 0.00 2.10 0.00 0.000 6 0.000 0.041 2905 1720 1802

11201 0.55 259.3 699.2 11.6 911 11205 0.00 2.20 0.00 0.000 4 0.000 0.055 2905 3160 1801

11268 0.55 259.3 691.1 12.5 914 11272 0.00 2.15 0.00 0.000 6 0.000 0.044 2915 1728 1800

11600 0.50 259.3 648.1 13.5 930 11603 0.00 2.12 0.00 0.000 4 0.000 0.056 2926 345 1800

11649 0.42 259.3 641.0 14.1 932 11654 0.15 2.10 0.00 0.000 6 0.143 0.042 2878 1730 1800

11976 0.53 260.4 606.0 11.0 948 11980 0.00 2.15 0.00 0.000 4 0.000 0.056 2886 339 1800

12059 0.63 271.8 596.8 10.6 951 12088 0.15 2.08 13.98 1.025 6 0.064 0.041 2955 1731 1753

12397 0.46 271.8 548.7 14.3 968 12401 0.20 2.17 0.00 0.000 4 0.153 0.053 2892 3145 1751

12428 0.46 271.8 544.3 11.0 969 12435 0.00 2.17 0.00 0.000 6 0.000 0.042 2900 1726 1750

12745 0.51 271.8 509.1 12.0 985 12746 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 1726 1751

13061 0.59 285.5 471.9 10.5 1011 13078 0.00 2.12 13.07 1.088 4 0.000 0.054 2911 346 1698

13106 0.68 311.7 467.2 10.0 1014 13138 0.10 2.10 24.10 1.101 6 0.056 0.040 2968 1720 1591

13454 0.49 311.7 412.8 17.2 1047 13459 0.22 2.20 0.00 0.000 4 0.149 0.051 2900 3147 1586

13561 0.65 326.5 400.0 10.4 1056 13584 0.12 2.15 13.40 1.017 6 0.064 0.041 2975 1727 1530

13902 0.48 326.5 341.8 17.8 1088 13906 0.25 2.12 0.00 0.000 4 0.148 0.051 2907 349 1527

13956 0.61 326.5 334.0 12.2 1092 13963 0.00 2.10 0.00 0.000 6 0.000 0.038 2907 1725 1527

14282 0.76 326.5 297.3 11.4 1125 14288 0.20 2.12 0.00 0.000 4 0.052 0.051 3024 345 1527

14362 0.47 326.5 282.3 21.6 1139 14370 0.45 2.05 0.00 0.000 6 0.146 0.038 2889 1729 1527

14708 0.88 410.9 247.9 7.8 1200 14788 0.32 2.22 71.90 0.928 4 0.087 0.048 3057 341 1187

14906 0.55 410.9 204.7 23.5 1234 14913 0.47 2.05 0.00 0.000 6 0.143 0.035 2920 1705 1182

15250 0.99 471.7 173.0 8.7 1295 15310 0.35 2.15 51.95 0.841 4 0.039 0.046 3090 346 939

15385 0.66 471.7 141.3 25.6 1317 15392 0.47 2.03 0.00 0.000 6 0.143 0.034 2949 1700 935

15731 1.20 575.3 103.9 7.1 1378 15828 0.43 2.20 87.40 0.773 4 0.037 0.045 3153 346 516

15907 0.82 575.3 59.6 28.5 1407 15915 0.50 2.00 0.00 0.000 6 0.143 0.032 3004 1664 513

16255 1.32 645.0 25.3 8.4 1468 16275 0.40 2.08 13.68 0.652 4 0.037 0.044 3196 344 454

16343 end climb: SURFACE_DEPTH_REACHED

state 16343 begin surface coast

16355 end surface coast: CONTROL_FINISHED_OK

state 16355 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	99	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	63	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	300	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	360	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	-2	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	-7117.5059	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	200	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	155007,2526.485,12332.685,42,0.9,42,-3.8	TGT_NAME	OFF_5
_CALLS	3	TGT_LATLONG	2514.000,12340.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160225,2526.610,12332.689,12,1.1,17,-3.8	MHEAD_RNG_PITCHd_Wd	192.0,26371,-17.1,-11.000
SPEED_LIMITS	0.191,0.306	D_GRID	1563

FINISH	1.0,1.009868	_24V_AH	23.3,23.663
SM_CCo	16432,0.00,0.000,0,0,450,591.66	_10V_AH	10.7,14.434
SM_GC	1.69,8.07,0.00,0.00,0.044,0.000,0.000,151,1523,450,-8.04,0.65,591.66	DATA_FILE_SIZE	85103,1485
IRIDIUM_FIX	2517.50,12335.45,310898,161636	CAP_FILE_SIZE	173672,0
TT8_MAMPS	0.026845	CFSIZE	260165632,227192832
HUMID	1473	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	9.81941	CURRENT	0.195, 86.5,1
TCM_TEMP	24.40	GPS	060609,203755,2524.010,12333.963,44,1.1,44,-3.8
XPDR_PINGS	105

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	240	166.94	SBE_CT	1006	24	563.02
Roll_motor	137	59	189.14	Optode	1036	33	797.22
VBD_pump_during_apogee	680	1478	23440.06	WL_BB2F	1742	105	4262.42
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	74	103	179.13	nil	0	0	0.00
Iridium_during_connect	108	160	403.43	nil	0	0	0.00
Iridium_during_xfer	306	223	1595.11
Transponder_ping	34	420	335.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.27
TT8	2614	19	553.82
LPSleep	10049	2	235.49
TT8_Active	776	19	164.41
TT8_Sampling	3010	39	1281.98
TT8_CF8	709	45	347.46
TT8_Kalman	0	0	0.00
Analog_circuits	2167	12	278.25
GPS_charging	0	0	0.00
Compass	2976	8	254.76
RAFOS	0	0	0.00
Transponder	55	30	17.93

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
14	-0.94	-194.7	0.0	0.0	0	104	0.00	0.00	-87.12	0.000	2	0.000	0.000	208	1524	2403
106	-0.94	-194.7	3.3	-5.8	13	158	8.98	2.03	-35.28	0.000	4	0.241	0.059	2431	195	3658
194	-0.03	-194.7	23.7	-36.6	27	202	0.95	1.92	0.00	0.000	6	0.166	0.031	2720	1486	3658
540	-0.51	-194.7	52.6	-4.6	88	547	0.38	2.08	0.00	0.000	4	0.041	0.038	2545	2905	3658
581	-0.37	-194.7	57.8	-15.9	95	589	0.25	2.05	0.00	0.000	6	0.140	0.032	2617	1494	3658
929	-0.37	-194.7	97.3	-11.5	156	935	0.00	1.92	0.00	0.000	4	0.000	0.044	2617	214	3658
993	-0.44	-194.7	105.3	-12.8	167	1001	0.00	1.88	0.00	0.000	6	0.000	0.028	2617	1508	3658
1339	-0.64	-194.7	146.0	-11.1	228	1346	0.22	2.05	0.00	0.000	4	0.052	0.039	2508	2890	3659
1387	-0.53	-194.7	152.7	-15.0	236	1394	0.15	2.03	0.00	0.000	6	0.136	0.033	2559	1515	3660
1732	-0.53	-194.7	202.0	-12.7	297	1737	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	1515	3660
2074	-0.59	-194.7	243.0	-11.3	358	2080	0.00	2.05	0.00	0.000	4	0.000	0.043	2559	2902	3659
2121	-0.79	-194.7	247.6	-9.2	366	2128	0.22	2.05	0.00	0.000	6	0.051	0.034	2457	1487	3659
2463	-0.48	-194.7	307.1	-15.9	423	2468	0.38	1.90	0.00	0.000	4	0.144	0.046	2576	209	3660
2507	-0.64	-194.7	312.3	-9.2	426	2514	0.10	1.88	0.00	0.000	6	0.052	0.028	2513	1503	3659
2832	-0.58	-194.7	354.0	-13.8	457	2836	0.12	2.05	0.00	0.000	4	0.149	0.042	2537	2895	3659
2934	-0.79	-194.7	364.2	-9.5	466	2938	0.15	2.03	0.00	0.000	6	0.061	0.035	2461	1504	3659
3263	-0.63	-194.7	411.0	-13.1	497	3268	0.22	2.08	0.00	0.000	4	0.139	0.044	2523	2888	3658
3315	-0.88	-194.7	415.8	-7.5	501	3320	0.20	2.00	0.00	0.000	6	0.051	0.035	2429	1517	3657
3645	-0.64	-194.7	460.3	-13.6	532	3650	0.30	1.98	0.00	0.000	4	0.138	0.048	2531	197	3655
3734	-0.79	-194.7	467.9	-8.2	539	3742	0.10	1.90	0.00	0.000	6	0.080	0.031	2468	1518	3654
4067	-0.79	-194.7	506.2	-12.9	569	4071	0.00	2.05	0.00	0.000	4	0.000	0.049	2465	2894	3652
4151	-0.86	-194.7	516.1	-11.4	572	4157	0.00	2.05	0.00	0.000	6	0.000	0.038	2465	1524	3651
4466	-0.86	-194.7	554.7	-11.7	588	4470	0.00	2.08	0.00	0.000	4	0.000	0.054	2464	2898	3648
4521	-0.96	-194.7	560.3	-9.6	590	4525	0.00	2.03	0.00	0.000	6	0.000	0.041	2465	1526	3648
4841	-0.96	-194.7	596.4	-11.7	606	4845	0.00	2.00	0.00	0.000	4	0.000	0.053	2465	200	3646
4930	-0.96	-194.7	607.5	-12.5	610	4934	0.00	1.95	0.00	0.000	6	0.000	0.035	2464	1513	3645
5262	-0.96	-194.7	644.6	-10.7	626	5266	0.00	2.00	0.00	0.000	4	0.000	0.054	2464	199	3642
5329	-0.96	-194.7	652.4	-11.5	629	5333	0.00	1.95	0.00	0.000	6	0.000	0.037	2464	1523	3641
5662	-0.96	-194.7	687.2	-10.1	645	5666	0.00	2.08	0.00	0.000	4	0.000	0.051	2464	2905	3638
5700	-1.06	-194.7	691.0	-9.3	646	5707	0.15	2.08	0.00	0.000	6	0.047	0.041	2384	1527	3637
6015	-0.82	-194.7	736.2	-14.9	662	6017	0.30	0.00	0.00	0.000	6	0.151	0.000	2474	1527	3635
6326	-0.92	-194.7	764.8	-9.2	677	6327	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	1527	3633
6635	-1.02	-194.7	793.6	-9.4	692	6637	0.17	0.00	0.00	0.000	6	0.064	0.000	2398	1527	3630
6944	-0.83	-194.7	836.9	-14.3	707	6948	0.22	2.03	0.00	0.000	4	0.150	0.058	2468	207	3628
6983	-0.83	-194.7	841.7	-11.6	708	6989	0.00	1.98	0.00	0.000	6	0.000	0.040	2466	1519	3628
7298	-0.90	-194.7	872.3	-9.6	724	7299	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	1520	3626
7609	-0.98	-194.7	901.7	-9.5	739	7610	0.12	0.00	0.00	0.000	6	0.076	0.000	2409	1521	3624
7916	-0.84	-194.7	939.0	-11.6	754	7918	0.20	0.00	0.00	0.000	6	0.150	0.000	2468	1521	3623
8226	-0.93	-194.7	964.9	-8.5	769	8228	0.00	0.00	0.00	0.000	6	0.000	0.000	2468	1521	3621
8533	end dive: TARGET_DEPTH_EXCEEDED
state	8533	begin apogee
8538	-0.20	0.0	991.1	8.6	784	8702	0.62	0.00	161.15	1.479	6	0.120	0.000	2674	1748	2863
8703	end apogee: CONTROL_FINISHED_OK
state	8703	begin climb
8704	0.94	194.7	998.0	0.0	792	8886	1.00	2.40	172.95	1.434	4	0.040	0.057	3057	3153	2068
8969	0.33	194.7	963.3	21.0	804	8975	0.75	2.25	0.00	0.000	6	0.193	0.044	2851	1752	2062
9292	0.51	253.4	933.4	8.8	820	9349	0.15	2.33	51.45	1.387	4	0.067	0.058	2929	344	1829
9432	0.39	253.4	913.3	16.1	825	9440	0.20	2.20	0.00	0.000	6	0.142	0.041	2868	1735	1825
9749	0.48	253.4	877.7	11.2	841	9752	0.00	2.20	0.00	0.000	4	0.000	0.058	2876	339	1822
9781	0.55	253.4	873.8	11.7	842	9786	0.08	2.15	0.00	0.000	6	0.062	0.041	2924	1725	1822
10102	0.42	253.4	828.3	13.7	858	10107	0.17	2.22	0.00	0.000	4	0.151	0.056	2876	3160	1820
10151	0.50	259.3	822.3	10.8	860	10163	0.00	2.17	5.28	1.023	6	0.000	0.044	2884	1725	1804
10472	0.55	259.3	786.7	11.3	876	10476	0.00	2.12	0.00	0.000	4	0.000	0.058	2895	341	1803
10532	0.55	259.3	779.2	12.4	878	10539	0.00	2.12	0.00	0.000	6	0.000	0.041	2895	1726	1803
10848	0.55	259.3	741.8	11.8	894	10851	0.00	2.15	0.00	0.000	4	0.000	0.057	2905	342	1802
10874	0.55	259.3	738.4	12.8	895	10879	0.00	2.10	0.00	0.000	6	0.000	0.041	2905	1720	1802
11201	0.55	259.3	699.2	11.6	911	11205	0.00	2.20	0.00	0.000	4	0.000	0.055	2905	3160	1801
11268	0.55	259.3	691.1	12.5	914	11272	0.00	2.15	0.00	0.000	6	0.000	0.044	2915	1728	1800
11600	0.50	259.3	648.1	13.5	930	11603	0.00	2.12	0.00	0.000	4	0.000	0.056	2926	345	1800
11649	0.42	259.3	641.0	14.1	932	11654	0.15	2.10	0.00	0.000	6	0.143	0.042	2878	1730	1800
11976	0.53	260.4	606.0	11.0	948	11980	0.00	2.15	0.00	0.000	4	0.000	0.056	2886	339	1800
12059	0.63	271.8	596.8	10.6	951	12088	0.15	2.08	13.98	1.025	6	0.064	0.041	2955	1731	1753
12397	0.46	271.8	548.7	14.3	968	12401	0.20	2.17	0.00	0.000	4	0.153	0.053	2892	3145	1751
12428	0.46	271.8	544.3	11.0	969	12435	0.00	2.17	0.00	0.000	6	0.000	0.042	2900	1726	1750
12745	0.51	271.8	509.1	12.0	985	12746	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	1726	1751
13061	0.59	285.5	471.9	10.5	1011	13078	0.00	2.12	13.07	1.088	4	0.000	0.054	2911	346	1698
13106	0.68	311.7	467.2	10.0	1014	13138	0.10	2.10	24.10	1.101	6	0.056	0.040	2968	1720	1591
13454	0.49	311.7	412.8	17.2	1047	13459	0.22	2.20	0.00	0.000	4	0.149	0.051	2900	3147	1586
13561	0.65	326.5	400.0	10.4	1056	13584	0.12	2.15	13.40	1.017	6	0.064	0.041	2975	1727	1530
13902	0.48	326.5	341.8	17.8	1088	13906	0.25	2.12	0.00	0.000	4	0.148	0.051	2907	349	1527
13956	0.61	326.5	334.0	12.2	1092	13963	0.00	2.10	0.00	0.000	6	0.000	0.038	2907	1725	1527
14282	0.76	326.5	297.3	11.4	1125	14288	0.20	2.12	0.00	0.000	4	0.052	0.051	3024	345	1527
14362	0.47	326.5	282.3	21.6	1139	14370	0.45	2.05	0.00	0.000	6	0.146	0.038	2889	1729	1527
14708	0.88	410.9	247.9	7.8	1200	14788	0.32	2.22	71.90	0.928	4	0.087	0.048	3057	341	1187
14906	0.55	410.9	204.7	23.5	1234	14913	0.47	2.05	0.00	0.000	6	0.143	0.035	2920	1705	1182
15250	0.99	471.7	173.0	8.7	1295	15310	0.35	2.15	51.95	0.841	4	0.039	0.046	3090	346	939
15385	0.66	471.7	141.3	25.6	1317	15392	0.47	2.03	0.00	0.000	6	0.143	0.034	2949	1700	935
15731	1.20	575.3	103.9	7.1	1378	15828	0.43	2.20	87.40	0.773	4	0.037	0.045	3153	346	516
15907	0.82	575.3	59.6	28.5	1407	15915	0.50	2.00	0.00	0.000	6	0.143	0.032	3004	1664	513
16255	1.32	645.0	25.3	8.4	1468	16275	0.40	2.08	13.68	0.652	4	0.037	0.044	3196	344	454
16343	end climb: SURFACE_DEPTH_REACHED
state	16343	begin surface coast
16355	end surface coast: CONTROL_FINISHED_OK
state	16355	begin surface