Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 120 * 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 120 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 52 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 60 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 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 -7488.6411 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 -7488.6411

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 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 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 52 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 175 R_STBD_OVSHOOT 60 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 120 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 233537,2445.568,12322.941,28,1.4,28,-3.6 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2407.200,12312.300

_XMS_NAKs 7 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 234255,2445.575,12322.938,13,1.4,30,-3.6 MHEAD_RNG_PITCHd_Wd 169.9,73311,-16.8,-10.000

SPEED_LIMITS 0.173,0.279 D_GRID 1707

Post-dive calculations and measurements:

FINISH 0.9,1.008698 _24V_AH 23.3,28.529

SM_CCo 18261,14.73,0.645,0,0,1130,425.10 _10V_AH 10.7,17.655

SM_GC 2.18,0.00,0.00,14.73,0.000,0.000,0.645,142,1475,1130,-8.09,-0.71,425.10 DATA_FILE_SIZE 94664,1654

IRIDIUM_FIX 2439.44,12325.61,040998,181817 CAP_FILE_SIZE 187368,0

TT8_MAMPS 0.026845 CFSIZE 260165632,225214464

HUMID 1504 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.92684 CURRENT 0.180,338.8,1

TCM_TEMP 25.10 GPS 110609,044907,2444.369,12322.899,41,1.1,41,-3.6

XPDR_PINGS 114

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 240 159.98 SBE_CT 1125 24 629.48

Roll_motor 150 59 207.62 Optode 1136 33 873.76

VBD_pump_during_apogee 508 1491 17664.27 WL_BB2F 1910 105 4674.95

VBD_pump_during_surface 14 645 221.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 56.88 nil 0 0 0.00

Iridium_during_connect 32 160 121.65 nil 0 0 0.00

Iridium_during_xfer 243 223 1267.50

Transponder_ping 36 420 357.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 16.48

TT8 2959 19 626.90

LPSleep 11223 2 263.00

TT8_Active 655 19 138.96

TT8_Sampling 3320 39 1414.13

TT8_CF8 540 45 264.71

TT8_Kalman 0 0 0.00

Analog_circuits 2128 12 273.25

GPS_charging 0 0 0.00

Compass 3270 8 279.92

RAFOS 0 0 0.00

Transponder 54 30 17.47

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

15 -0.90 -170.3 0.0 0.0 0 75 0.00 0.00 -58.15 0.000 2 0.000 0.000 161 1475 2421

77 -0.90 -170.3 3.2 -5.3 9 124 9.25 2.20 -31.38 0.000 4 0.240 0.050 2421 2899 3560

170 -0.10 -170.3 26.5 -36.4 24 177 0.88 2.08 0.00 0.000 6 0.160 0.031 2699 1506 3561

513 -0.50 -170.3 59.7 -5.3 85 520 0.28 2.08 0.00 0.000 4 0.041 0.036 2554 2908 3563

549 -0.50 -170.3 63.4 -12.4 91 556 0.00 2.05 0.00 0.000 6 0.000 0.031 2557 1518 3563

893 -0.35 -170.3 116.1 -15.2 152 900 0.17 1.95 0.00 0.000 4 0.139 0.041 2618 195 3563

951 -0.48 -170.3 123.5 -11.4 162 959 0.00 1.90 0.00 0.000 6 0.000 0.027 2610 1510 3563

1298 -0.74 -170.3 152.3 -6.7 223 1305 0.28 2.00 0.00 0.000 4 0.048 0.036 2479 2892 3564

1340 -0.55 -170.3 157.3 -15.2 230 1349 0.22 2.03 0.00 0.000 6 0.137 0.031 2555 1485 3564

1685 -0.55 -170.3 203.4 -11.2 291 1691 0.00 1.90 0.00 0.000 4 0.000 0.044 2550 198 3565

1753 -0.55 -170.3 211.6 -11.9 303 1759 0.00 1.85 0.00 0.000 6 0.000 0.028 2547 1500 3565

2097 -0.63 -170.3 243.4 -8.8 364 2103 0.00 2.03 0.00 0.000 4 0.000 0.041 2544 2890 3565

2172 -0.82 -170.3 249.6 -8.0 377 2179 0.20 2.00 0.00 0.000 6 0.052 0.031 2452 1502 3564

2521 -0.53 -170.3 305.8 -16.1 436 2525 0.32 2.05 0.00 0.000 4 0.139 0.041 2557 2889 3564

2556 -0.70 -170.3 309.4 -8.8 439 2560 0.15 2.00 0.00 0.000 6 0.056 0.032 2480 1503 3565

2886 -0.55 -170.3 351.4 -13.1 470 2888 0.25 0.00 0.00 0.000 6 0.133 0.000 2557 1503 3564

3204 -0.77 -170.3 376.6 -7.5 500 3209 0.17 2.08 0.00 0.000 4 0.057 0.042 2465 2898 3562

3259 -0.71 -170.3 382.5 -11.2 504 3266 0.12 2.05 0.00 0.000 6 0.128 0.035 2509 1516 3562

3584 -0.71 -170.3 413.4 -10.5 535 3585 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 1516 3560

3905 -0.71 -170.3 444.2 -9.9 565 3906 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 1516 3560

4222 -0.77 -170.3 473.6 -9.6 595 4223 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 1516 3557

4539 -0.86 -170.3 504.6 -9.9 623 4544 0.15 1.98 0.00 0.000 4 0.064 0.049 2437 205 3555

4607 -0.57 -170.3 514.8 -16.4 626 4611 0.38 1.90 0.00 0.000 6 0.142 0.035 2551 1505 3555

4934 -0.86 -170.3 538.2 -6.7 642 4938 0.22 2.08 0.00 0.000 4 0.051 0.045 2441 2898 3553

4995 -0.78 -170.3 544.9 -12.1 645 4999 0.15 2.05 0.00 0.000 6 0.137 0.041 2485 1509 3552

5327 -0.78 -170.3 580.3 -10.4 661 5330 0.00 2.10 0.00 0.000 4 0.000 0.048 2482 2902 3550

5354 -0.85 -170.3 583.1 -9.9 662 5358 0.00 2.03 0.00 0.000 6 0.000 0.038 2482 1527 3550

5680 -0.85 -170.3 611.6 -9.0 678 5681 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1527 3548

5991 -0.89 -170.3 639.7 -9.3 693 5994 0.00 2.00 0.00 0.000 4 0.000 0.054 2482 206 3546

6080 -0.89 -170.3 649.2 -10.4 697 6084 0.00 1.92 0.00 0.000 6 0.000 0.035 2479 1519 3545

6413 -0.94 -170.3 680.9 -9.6 713 6415 0.12 0.00 0.00 0.000 6 0.074 0.000 2419 1521 3543

6721 -0.77 -170.3 719.4 -12.4 728 6725 0.20 2.10 0.00 0.000 4 0.145 0.051 2479 2904 3541

6809 -0.90 -170.3 727.3 -7.8 732 6813 0.00 2.05 0.00 0.000 6 0.000 0.041 2479 1527 3540

7136 -0.96 -170.3 757.3 -9.3 748 7140 0.15 2.03 0.00 0.000 4 0.064 0.055 2408 201 3538

7219 -0.70 -170.3 769.0 -14.9 751 7226 0.30 1.98 0.00 0.000 6 0.139 0.038 2517 1514 3537

7536 -0.93 -170.3 791.2 -6.6 767 7541 0.17 2.10 0.00 0.000 4 0.060 0.052 2426 2910 3535

7575 -0.86 -170.3 795.0 -10.6 769 7580 0.12 2.08 0.00 0.000 6 0.143 0.041 2461 1516 3535

7908 -0.86 -170.3 826.8 -9.8 785 7912 0.00 2.00 0.00 0.000 4 0.000 0.057 2461 204 3533

7946 -0.81 -170.3 830.8 -10.6 786 7955 0.00 2.00 0.00 0.000 6 0.000 0.038 2454 1532 3533

8262 -0.81 -170.3 860.6 -9.5 802 8265 0.00 2.05 0.00 0.000 4 0.000 0.057 2454 201 3531

8300 -0.73 -170.3 864.6 -10.5 803 8307 0.17 2.00 0.00 0.000 6 0.145 0.040 2505 1525 3531

8617 -0.91 -170.3 886.5 -6.7 819 8622 0.17 2.10 0.00 0.000 4 0.061 0.053 2425 2905 3530

8672 -0.86 -170.3 892.0 -10.4 821 8678 0.12 2.08 0.00 0.000 6 0.144 0.043 2458 1523 3530

8989 -0.86 -170.3 921.0 -8.9 837 8990 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 1523 3528

9297 -0.86 -170.3 950.2 -9.7 852 9298 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 1523 3527

9606 -0.86 -170.3 981.6 -10.4 867 9607 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 1523 3526

9687 end dive: TARGET_DEPTH_EXCEEDED

state 9687 begin apogee

9691 -0.20 0.0 990.3 10.4 871 9836 0.65 0.00 141.82 1.491 6 0.122 0.000 2669 1759 2862

9837 end apogee: CONTROL_FINISHED_OK

state 9837 begin climb

9839 0.90 170.3 997.8 0.0 878 9999 0.98 2.42 151.18 1.437 4 0.042 0.057 3042 3151 2167

10057 0.31 170.3 977.9 18.4 888 10062 0.77 2.25 0.00 0.000 6 0.170 0.044 2841 1752 2163

10384 0.50 236.2 953.2 7.4 904 10458 0.17 2.40 60.62 1.371 4 0.061 0.059 2938 338 1898

10520 0.33 236.2 934.5 16.8 910 10525 0.32 2.20 0.00 0.000 6 0.142 0.042 2846 1740 1894

10840 0.50 236.5 901.5 10.0 926 10842 0.17 0.00 0.00 0.000 6 0.058 0.000 2926 1741 1891

11150 0.37 236.5 856.2 14.8 941 11154 0.20 2.20 0.00 0.000 4 0.145 0.058 2873 341 1890

11182 0.42 236.5 851.8 11.6 942 11190 0.00 2.15 0.00 0.000 6 0.000 0.043 2873 1734 1890

11498 0.49 237.5 819.1 10.0 958 11501 0.00 2.17 0.00 0.000 4 0.000 0.058 2883 339 1888

11575 0.49 237.5 811.0 11.2 961 11579 0.00 2.12 0.00 0.000 6 0.000 0.043 2883 1722 1888

11898 0.53 267.9 781.4 8.8 977 11932 0.00 2.28 27.48 1.342 4 0.000 0.058 2893 342 1769

11966 0.54 274.9 774.9 9.7 980 11979 0.00 2.15 7.55 1.127 6 0.000 0.041 2892 1711 1742

12288 0.54 274.9 742.0 10.6 995 12291 0.00 2.15 0.00 0.000 4 0.000 0.056 2902 342 1738

12365 0.54 274.9 732.9 11.3 998 12369 0.00 2.10 0.00 0.000 6 0.000 0.041 2902 1697 1738

12686 0.54 274.9 694.2 11.9 1014 12690 0.00 2.25 0.00 0.000 4 0.000 0.057 2902 3154 1737

12724 0.54 274.9 689.4 12.9 1016 12728 0.00 2.22 0.00 0.000 6 0.000 0.044 2913 1692 1736

13055 0.54 274.9 646.0 13.2 1032 13059 0.00 2.10 0.00 0.000 4 0.000 0.056 2923 329 1736

13082 0.54 274.9 642.0 14.4 1033 13087 0.00 2.10 0.00 0.000 6 0.000 0.041 2923 1701 1736

13409 0.54 274.9 598.2 13.1 1049 13410 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 1702 1735

13718 0.54 274.9 556.6 13.3 1064 13722 0.00 2.22 0.00 0.000 4 0.000 0.054 2924 3157 1735

13744 0.54 274.9 552.9 13.4 1065 13749 0.00 2.25 0.00 0.000 6 0.000 0.042 2934 1685 1734

14072 0.47 274.9 511.4 12.1 1081 14076 0.15 2.08 0.00 0.000 4 0.152 0.054 2900 332 1733

14132 0.58 289.6 505.3 9.4 1083 14152 0.00 2.05 13.32 1.115 6 0.000 0.041 2901 1704 1682

14476 0.67 289.6 470.4 10.8 1113 14481 0.15 2.12 0.00 0.000 4 0.060 0.054 2984 335 1680

14576 0.46 289.6 454.9 15.3 1121 14583 0.32 2.05 0.00 0.000 6 0.142 0.039 2889 1686 1680

14901 0.64 311.0 426.5 9.2 1152 14924 0.17 0.00 19.92 1.071 6 0.055 0.000 2971 1687 1594

15239 0.50 311.0 371.1 17.7 1184 15244 0.22 2.10 0.00 0.000 4 0.144 0.051 2910 329 1591

15271 0.57 311.0 366.4 12.5 1186 15279 0.00 2.05 0.00 0.000 6 0.000 0.038 2910 1680 1591

15597 0.69 313.9 331.8 9.9 1217 15601 0.15 2.08 0.00 0.000 4 0.060 0.051 2996 334 1591

15635 0.50 313.9 326.2 16.6 1220 15644 0.28 2.03 3.47 0.578 6 0.136 0.037 2908 1684 1583

15962 0.71 354.9 296.5 8.4 1254 16006 0.17 2.30 36.47 0.968 4 0.055 0.047 2992 3154 1414

16042 0.59 354.9 285.5 15.3 1267 16048 0.25 2.30 0.00 0.000 6 0.142 0.038 2933 1652 1413

16386 0.70 354.9 243.2 14.1 1328 16393 0.00 2.03 0.00 0.000 4 0.000 0.051 2942 326 1410

16438 0.80 354.9 235.4 14.2 1337 16445 0.15 2.00 0.00 0.000 6 0.065 0.035 3020 1681 1409

16781 0.64 354.9 175.4 14.4 1398 16789 0.22 2.08 0.00 0.000 4 0.141 0.047 2957 340 1409

16820 0.70 354.9 170.8 11.0 1404 16826 0.00 1.95 0.00 0.000 6 0.000 0.035 2957 1657 1409

17163 0.89 395.9 142.8 8.4 1465 17203 0.17 0.00 35.05 0.824 6 0.052 0.000 3058 1658 1248

17544 0.83 395.9 86.7 10.3 1531 17551 0.17 2.25 0.00 0.000 4 0.136 0.041 3003 3148 1245

17619 1.04 408.1 79.0 9.5 1544 17640 0.12 2.25 11.55 0.707 6 0.042 0.035 3092 1658 1198

17980 0.92 408.1 28.9 15.8 1607 17987 0.17 2.00 0.00 0.000 4 0.142 0.044 3045 330 1196

18038 1.03 408.1 21.5 11.1 1617 18044 0.00 1.98 0.00 0.000 6 0.000 0.033 3045 1672 1196

18212 end climb: SURFACE_DEPTH_REACHED

state 18212 begin surface coast

18246 end surface coast: CONTROL_FINISHED_OK

state 18246 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	120	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	52	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	60	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	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	-7488.6411	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	233537,2445.568,12322.941,28,1.4,28,-3.6	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2407.200,12312.300
_XMS_NAKs	7	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	234255,2445.575,12322.938,13,1.4,30,-3.6	MHEAD_RNG_PITCHd_Wd	169.9,73311,-16.8,-10.000
SPEED_LIMITS	0.173,0.279	D_GRID	1707

FINISH	0.9,1.008698	_24V_AH	23.3,28.529
SM_CCo	18261,14.73,0.645,0,0,1130,425.10	_10V_AH	10.7,17.655
SM_GC	2.18,0.00,0.00,14.73,0.000,0.000,0.645,142,1475,1130,-8.09,-0.71,425.10	DATA_FILE_SIZE	94664,1654
IRIDIUM_FIX	2439.44,12325.61,040998,181817	CAP_FILE_SIZE	187368,0
TT8_MAMPS	0.026845	CFSIZE	260165632,225214464
HUMID	1504	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.92684	CURRENT	0.180,338.8,1
TCM_TEMP	25.10	GPS	110609,044907,2444.369,12322.899,41,1.1,41,-3.6
XPDR_PINGS	114

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	240	159.98	SBE_CT	1125	24	629.48
Roll_motor	150	59	207.62	Optode	1136	33	873.76
VBD_pump_during_apogee	508	1491	17664.27	WL_BB2F	1910	105	4674.95
VBD_pump_during_surface	14	645	221.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	56.88	nil	0	0	0.00
Iridium_during_connect	32	160	121.65	nil	0	0	0.00
Iridium_during_xfer	243	223	1267.50
Transponder_ping	36	420	357.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	16.48
TT8	2959	19	626.90
LPSleep	11223	2	263.00
TT8_Active	655	19	138.96
TT8_Sampling	3320	39	1414.13
TT8_CF8	540	45	264.71
TT8_Kalman	0	0	0.00
Analog_circuits	2128	12	273.25
GPS_charging	0	0	0.00
Compass	3270	8	279.92
RAFOS	0	0	0.00
Transponder	54	30	17.47

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
15	-0.90	-170.3	0.0	0.0	0	75	0.00	0.00	-58.15	0.000	2	0.000	0.000	161	1475	2421
77	-0.90	-170.3	3.2	-5.3	9	124	9.25	2.20	-31.38	0.000	4	0.240	0.050	2421	2899	3560
170	-0.10	-170.3	26.5	-36.4	24	177	0.88	2.08	0.00	0.000	6	0.160	0.031	2699	1506	3561
513	-0.50	-170.3	59.7	-5.3	85	520	0.28	2.08	0.00	0.000	4	0.041	0.036	2554	2908	3563
549	-0.50	-170.3	63.4	-12.4	91	556	0.00	2.05	0.00	0.000	6	0.000	0.031	2557	1518	3563
893	-0.35	-170.3	116.1	-15.2	152	900	0.17	1.95	0.00	0.000	4	0.139	0.041	2618	195	3563
951	-0.48	-170.3	123.5	-11.4	162	959	0.00	1.90	0.00	0.000	6	0.000	0.027	2610	1510	3563
1298	-0.74	-170.3	152.3	-6.7	223	1305	0.28	2.00	0.00	0.000	4	0.048	0.036	2479	2892	3564
1340	-0.55	-170.3	157.3	-15.2	230	1349	0.22	2.03	0.00	0.000	6	0.137	0.031	2555	1485	3564
1685	-0.55	-170.3	203.4	-11.2	291	1691	0.00	1.90	0.00	0.000	4	0.000	0.044	2550	198	3565
1753	-0.55	-170.3	211.6	-11.9	303	1759	0.00	1.85	0.00	0.000	6	0.000	0.028	2547	1500	3565
2097	-0.63	-170.3	243.4	-8.8	364	2103	0.00	2.03	0.00	0.000	4	0.000	0.041	2544	2890	3565
2172	-0.82	-170.3	249.6	-8.0	377	2179	0.20	2.00	0.00	0.000	6	0.052	0.031	2452	1502	3564
2521	-0.53	-170.3	305.8	-16.1	436	2525	0.32	2.05	0.00	0.000	4	0.139	0.041	2557	2889	3564
2556	-0.70	-170.3	309.4	-8.8	439	2560	0.15	2.00	0.00	0.000	6	0.056	0.032	2480	1503	3565
2886	-0.55	-170.3	351.4	-13.1	470	2888	0.25	0.00	0.00	0.000	6	0.133	0.000	2557	1503	3564
3204	-0.77	-170.3	376.6	-7.5	500	3209	0.17	2.08	0.00	0.000	4	0.057	0.042	2465	2898	3562
3259	-0.71	-170.3	382.5	-11.2	504	3266	0.12	2.05	0.00	0.000	6	0.128	0.035	2509	1516	3562
3584	-0.71	-170.3	413.4	-10.5	535	3585	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	1516	3560
3905	-0.71	-170.3	444.2	-9.9	565	3906	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	1516	3560
4222	-0.77	-170.3	473.6	-9.6	595	4223	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	1516	3557
4539	-0.86	-170.3	504.6	-9.9	623	4544	0.15	1.98	0.00	0.000	4	0.064	0.049	2437	205	3555
4607	-0.57	-170.3	514.8	-16.4	626	4611	0.38	1.90	0.00	0.000	6	0.142	0.035	2551	1505	3555
4934	-0.86	-170.3	538.2	-6.7	642	4938	0.22	2.08	0.00	0.000	4	0.051	0.045	2441	2898	3553
4995	-0.78	-170.3	544.9	-12.1	645	4999	0.15	2.05	0.00	0.000	6	0.137	0.041	2485	1509	3552
5327	-0.78	-170.3	580.3	-10.4	661	5330	0.00	2.10	0.00	0.000	4	0.000	0.048	2482	2902	3550
5354	-0.85	-170.3	583.1	-9.9	662	5358	0.00	2.03	0.00	0.000	6	0.000	0.038	2482	1527	3550
5680	-0.85	-170.3	611.6	-9.0	678	5681	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	1527	3548
5991	-0.89	-170.3	639.7	-9.3	693	5994	0.00	2.00	0.00	0.000	4	0.000	0.054	2482	206	3546
6080	-0.89	-170.3	649.2	-10.4	697	6084	0.00	1.92	0.00	0.000	6	0.000	0.035	2479	1519	3545
6413	-0.94	-170.3	680.9	-9.6	713	6415	0.12	0.00	0.00	0.000	6	0.074	0.000	2419	1521	3543
6721	-0.77	-170.3	719.4	-12.4	728	6725	0.20	2.10	0.00	0.000	4	0.145	0.051	2479	2904	3541
6809	-0.90	-170.3	727.3	-7.8	732	6813	0.00	2.05	0.00	0.000	6	0.000	0.041	2479	1527	3540
7136	-0.96	-170.3	757.3	-9.3	748	7140	0.15	2.03	0.00	0.000	4	0.064	0.055	2408	201	3538
7219	-0.70	-170.3	769.0	-14.9	751	7226	0.30	1.98	0.00	0.000	6	0.139	0.038	2517	1514	3537
7536	-0.93	-170.3	791.2	-6.6	767	7541	0.17	2.10	0.00	0.000	4	0.060	0.052	2426	2910	3535
7575	-0.86	-170.3	795.0	-10.6	769	7580	0.12	2.08	0.00	0.000	6	0.143	0.041	2461	1516	3535
7908	-0.86	-170.3	826.8	-9.8	785	7912	0.00	2.00	0.00	0.000	4	0.000	0.057	2461	204	3533
7946	-0.81	-170.3	830.8	-10.6	786	7955	0.00	2.00	0.00	0.000	6	0.000	0.038	2454	1532	3533
8262	-0.81	-170.3	860.6	-9.5	802	8265	0.00	2.05	0.00	0.000	4	0.000	0.057	2454	201	3531
8300	-0.73	-170.3	864.6	-10.5	803	8307	0.17	2.00	0.00	0.000	6	0.145	0.040	2505	1525	3531
8617	-0.91	-170.3	886.5	-6.7	819	8622	0.17	2.10	0.00	0.000	4	0.061	0.053	2425	2905	3530
8672	-0.86	-170.3	892.0	-10.4	821	8678	0.12	2.08	0.00	0.000	6	0.144	0.043	2458	1523	3530
8989	-0.86	-170.3	921.0	-8.9	837	8990	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	1523	3528
9297	-0.86	-170.3	950.2	-9.7	852	9298	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	1523	3527
9606	-0.86	-170.3	981.6	-10.4	867	9607	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	1523	3526
9687	end dive: TARGET_DEPTH_EXCEEDED
state	9687	begin apogee
9691	-0.20	0.0	990.3	10.4	871	9836	0.65	0.00	141.82	1.491	6	0.122	0.000	2669	1759	2862
9837	end apogee: CONTROL_FINISHED_OK
state	9837	begin climb
9839	0.90	170.3	997.8	0.0	878	9999	0.98	2.42	151.18	1.437	4	0.042	0.057	3042	3151	2167
10057	0.31	170.3	977.9	18.4	888	10062	0.77	2.25	0.00	0.000	6	0.170	0.044	2841	1752	2163
10384	0.50	236.2	953.2	7.4	904	10458	0.17	2.40	60.62	1.371	4	0.061	0.059	2938	338	1898
10520	0.33	236.2	934.5	16.8	910	10525	0.32	2.20	0.00	0.000	6	0.142	0.042	2846	1740	1894
10840	0.50	236.5	901.5	10.0	926	10842	0.17	0.00	0.00	0.000	6	0.058	0.000	2926	1741	1891
11150	0.37	236.5	856.2	14.8	941	11154	0.20	2.20	0.00	0.000	4	0.145	0.058	2873	341	1890
11182	0.42	236.5	851.8	11.6	942	11190	0.00	2.15	0.00	0.000	6	0.000	0.043	2873	1734	1890
11498	0.49	237.5	819.1	10.0	958	11501	0.00	2.17	0.00	0.000	4	0.000	0.058	2883	339	1888
11575	0.49	237.5	811.0	11.2	961	11579	0.00	2.12	0.00	0.000	6	0.000	0.043	2883	1722	1888
11898	0.53	267.9	781.4	8.8	977	11932	0.00	2.28	27.48	1.342	4	0.000	0.058	2893	342	1769
11966	0.54	274.9	774.9	9.7	980	11979	0.00	2.15	7.55	1.127	6	0.000	0.041	2892	1711	1742
12288	0.54	274.9	742.0	10.6	995	12291	0.00	2.15	0.00	0.000	4	0.000	0.056	2902	342	1738
12365	0.54	274.9	732.9	11.3	998	12369	0.00	2.10	0.00	0.000	6	0.000	0.041	2902	1697	1738
12686	0.54	274.9	694.2	11.9	1014	12690	0.00	2.25	0.00	0.000	4	0.000	0.057	2902	3154	1737
12724	0.54	274.9	689.4	12.9	1016	12728	0.00	2.22	0.00	0.000	6	0.000	0.044	2913	1692	1736
13055	0.54	274.9	646.0	13.2	1032	13059	0.00	2.10	0.00	0.000	4	0.000	0.056	2923	329	1736
13082	0.54	274.9	642.0	14.4	1033	13087	0.00	2.10	0.00	0.000	6	0.000	0.041	2923	1701	1736
13409	0.54	274.9	598.2	13.1	1049	13410	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	1702	1735
13718	0.54	274.9	556.6	13.3	1064	13722	0.00	2.22	0.00	0.000	4	0.000	0.054	2924	3157	1735
13744	0.54	274.9	552.9	13.4	1065	13749	0.00	2.25	0.00	0.000	6	0.000	0.042	2934	1685	1734
14072	0.47	274.9	511.4	12.1	1081	14076	0.15	2.08	0.00	0.000	4	0.152	0.054	2900	332	1733
14132	0.58	289.6	505.3	9.4	1083	14152	0.00	2.05	13.32	1.115	6	0.000	0.041	2901	1704	1682
14476	0.67	289.6	470.4	10.8	1113	14481	0.15	2.12	0.00	0.000	4	0.060	0.054	2984	335	1680
14576	0.46	289.6	454.9	15.3	1121	14583	0.32	2.05	0.00	0.000	6	0.142	0.039	2889	1686	1680
14901	0.64	311.0	426.5	9.2	1152	14924	0.17	0.00	19.92	1.071	6	0.055	0.000	2971	1687	1594
15239	0.50	311.0	371.1	17.7	1184	15244	0.22	2.10	0.00	0.000	4	0.144	0.051	2910	329	1591
15271	0.57	311.0	366.4	12.5	1186	15279	0.00	2.05	0.00	0.000	6	0.000	0.038	2910	1680	1591
15597	0.69	313.9	331.8	9.9	1217	15601	0.15	2.08	0.00	0.000	4	0.060	0.051	2996	334	1591
15635	0.50	313.9	326.2	16.6	1220	15644	0.28	2.03	3.47	0.578	6	0.136	0.037	2908	1684	1583
15962	0.71	354.9	296.5	8.4	1254	16006	0.17	2.30	36.47	0.968	4	0.055	0.047	2992	3154	1414
16042	0.59	354.9	285.5	15.3	1267	16048	0.25	2.30	0.00	0.000	6	0.142	0.038	2933	1652	1413
16386	0.70	354.9	243.2	14.1	1328	16393	0.00	2.03	0.00	0.000	4	0.000	0.051	2942	326	1410
16438	0.80	354.9	235.4	14.2	1337	16445	0.15	2.00	0.00	0.000	6	0.065	0.035	3020	1681	1409
16781	0.64	354.9	175.4	14.4	1398	16789	0.22	2.08	0.00	0.000	4	0.141	0.047	2957	340	1409
16820	0.70	354.9	170.8	11.0	1404	16826	0.00	1.95	0.00	0.000	6	0.000	0.035	2957	1657	1409
17163	0.89	395.9	142.8	8.4	1465	17203	0.17	0.00	35.05	0.824	6	0.052	0.000	3058	1658	1248
17544	0.83	395.9	86.7	10.3	1531	17551	0.17	2.25	0.00	0.000	4	0.136	0.041	3003	3148	1245
17619	1.04	408.1	79.0	9.5	1544	17640	0.12	2.25	11.55	0.707	6	0.042	0.035	3092	1658	1198
17980	0.92	408.1	28.9	15.8	1607	17987	0.17	2.00	0.00	0.000	4	0.142	0.044	3045	330	1196
18038	1.03	408.1	21.5	11.1	1617	18044	0.00	1.98	0.00	0.000	6	0.000	0.033	3045	1672	1196
18212	end climb: SURFACE_DEPTH_REACHED
state	18212	begin surface coast
18246	end surface coast: CONTROL_FINISHED_OK
state	18246	begin surface