Glider dive log

Parameter values: Sort by alphabetical glider order

ID 143 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 4 HEADING 70 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 243 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 182 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3816 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT -2030 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON 5900 C_ROLL_DIVE 2295 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 8 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 18 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 28 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 490 DEVICE4 35

T_TURN 270 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -9863.8457 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1469 AH0_24V 150 SEABIRD_T_G 0.0043273759

SPEED_FACTOR 1 PITCH_MAX 4022 AH0_10V 100 SEABIRD_T_H 0.00064184016

RHO 1.0273 C_PITCH 2800 PRESSURE_YINT -13.47135 SEABIRD_T_I 2.4188148e-05

MASS 51457 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1530041e-05 SEABIRD_T_J 2.4070987e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.197048

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1695373

KALMAN_USE 2 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015330453

HD_A 0.0038360001 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00015523176

HD_B 0.010078 PITCH_AD_RATE 100 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 27 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1469 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1530041e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -13.47135 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0273 T_GPS_CHARGE -9863.8457

CAPUPLOAD 0 HEADING 70 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COMPASS_USE 0 ID 143 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3816 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2050 KALMAN_USE 2 ROLL_MIN 182 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2295 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51457 R_PORT_OVSHOOT 18 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 28 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.197048 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1695373 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.0015330453 VBD_MAX 3964

DEVICE3 53 N_FILEKB 8 SEABIRD_C_J 0.00015523176 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273759 VBD_MIN 490

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00064184016 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4188148e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 243 PHONE_DEVICE 48 SEABIRD_T_J 2.4070987e-06 VBD_TIMEOUT 720

D_ABORT 1040 PITCH_ADJ_DBAND 2 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

Pre-dive calculations and measurements:

GPS1 120756,6136.583,-2615.062,40,1.0,40,-18.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6140.309,-2610.398

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 121508,6136.616,-2615.214,9,0.9,14,-18.6 MHEAD_RNG_PITCHd_Wd 88.6,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.012641 XPDR_PINGS 48

SM_CCo 17862,0.00,0.000,0,0,1300,434.43 _24V_AH 19.1,77.216

SM_GC 0.88,7.50,0.00,0.00,0.039,0.000,0.000,1466,2300,1300,-6.09,0.17,434.43 _10V_AH 9.8,52.439

IRIDIUM_FIX 6112.75,-2617.74,170897,070739 DATA_FILE_SIZE 139162,1865

TT8_MAMPS 0.021476 CAP_FILE_SIZE 167601,0

HUMID 1740 CFSIZE 260165632,233676800

INTERNAL_PRESSURE 8.14484 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.70 GPS 230508,171437,6137.360,-2614.493,40,1.1,52,-18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 245 100.91 SBE_CT 1403 24 643.23

Roll_motor 159 71 217.54 SBE_O2 1305 19 473.88

VBD_pump_during_apogee 655 1418 17750.98 Optode 719 33 453.52

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1648 105 3305.83

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 30 103 59.43 nil 0 0 0.00

Iridium_during_connect 34 160 106.05 nil 0 0 0.00

Iridium_during_xfer 240 223 1024.28

Transponder_ping 12 420 96.26

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 7.91

TT8 2928 19 568.26

LPSleep 10528 2 225.96

TT8_Active 777 19 150.91

TT8_Sampling 3411 39 1330.67

TT8_CF8 631 45 283.32

TT8_Kalman 0 0 0.00

Analog_circuits 2340 12 275.20

GPS_charging 0 0 0.00

Compass 3404 8 266.92

RAFOS 0 0 0.00

Guidance and control:

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.82 -194.7 0.0 0.0 0 133 0.00 0.00 -103.65 0.000 2 0.000 0.000 1466 2321 3399

136 -0.82 -194.7 3.4 -5.8 19 166 9.80 2.83 -11.32 0.000 4 0.245 0.069 2614 3695 3867

206 -0.72 -194.7 17.2 -16.9 31 213 0.17 2.70 0.00 0.000 6 0.140 0.040 2640 2292 3868

353 -0.67 -194.7 38.8 -15.9 56 358 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2292 3868

494 -0.63 -194.7 59.5 -13.8 81 501 0.12 2.78 0.00 0.000 4 0.142 0.054 2657 879 3868

529 -0.63 -194.7 63.7 -10.7 87 535 0.00 2.72 0.00 0.000 6 0.000 0.044 2657 2279 3868

872 -0.63 -194.7 98.3 -10.1 148 879 0.00 2.85 0.00 0.000 4 0.000 0.058 2657 3710 3868

902 -0.63 -194.7 101.4 -10.7 153 908 0.00 2.75 0.00 0.000 6 0.000 0.041 2657 2284 3868

1245 -0.63 -194.7 138.9 -11.2 214 1252 0.00 2.75 0.00 0.000 4 0.000 0.055 2657 877 3868

1281 -0.68 -194.7 142.8 -11.2 220 1288 0.00 2.75 0.00 0.000 6 0.000 0.046 2657 2298 3868

1626 -0.68 -194.7 182.6 -11.3 281 1631 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2299 3868

1968 -0.68 -194.7 222.1 -11.6 342 1974 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2299 3868

2311 -0.68 -194.7 262.0 -11.1 403 2317 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2299 3868

2653 -0.68 -194.7 300.2 -11.4 464 2659 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2299 3868

2996 -0.68 -194.7 339.4 -12.3 525 3002 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2299 3868

3327 -0.68 -194.7 377.4 -11.5 564 3328 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2299 3868

3644 -0.68 -194.7 412.8 -10.7 594 3645 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2299 3868

3962 -0.68 -194.7 446.4 -10.1 624 3967 0.00 2.80 0.00 0.000 4 0.000 0.056 2657 883 3868

3990 -0.68 -194.7 449.2 -10.5 626 3994 0.00 2.70 0.00 0.000 6 0.000 0.043 2657 2288 3868

4316 -0.68 -194.7 482.1 -10.3 656 4317 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2288 3868

4632 -0.68 -194.7 515.9 -11.1 686 4633 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2288 3868

4951 -0.68 -194.7 552.1 -11.8 716 4952 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2288 3867

5269 -0.68 -194.7 592.2 -12.6 746 5274 0.00 2.83 0.00 0.000 4 0.000 0.059 2657 3704 3868

5302 -0.73 -194.7 596.5 -13.1 748 5309 0.00 2.75 0.00 0.000 6 0.000 0.044 2657 2285 3867

5629 -0.77 -194.7 637.6 -12.3 766 5631 0.15 0.00 0.00 0.000 6 0.062 0.000 2625 2285 3867

5938 -0.77 -194.7 674.6 -12.0 781 5939 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2285 3867

6247 -0.77 -194.7 713.7 -12.9 796 6252 0.00 2.90 0.00 0.000 4 0.000 0.066 2625 3701 3867

6342 -0.77 -194.7 727.7 -14.6 800 6346 0.00 2.78 0.00 0.000 6 0.000 0.052 2625 2293 3867

6663 -0.77 -194.7 773.2 -13.2 816 6668 0.00 2.90 0.00 0.000 4 0.000 0.065 2625 3709 3867

6695 -0.77 -194.7 777.7 -13.9 817 6702 0.00 2.80 0.00 0.000 6 0.000 0.052 2624 2298 3867

7011 -0.77 -194.7 818.7 -12.9 833 7012 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2298 3867

7320 -0.77 -194.7 858.7 -13.0 848 7325 0.00 2.90 0.00 0.000 4 0.000 0.066 2625 3708 3866

7363 -0.77 -194.7 864.5 -13.4 850 7368 0.00 2.80 0.00 0.000 6 0.000 0.051 2625 2301 3866

7684 -0.77 -194.7 905.1 -12.8 866 7688 0.00 2.85 0.00 0.000 4 0.000 0.067 2625 880 3866

7704 -0.77 -194.7 907.8 -12.8 867 7709 0.00 2.80 0.00 0.000 6 0.000 0.049 2624 2309 3865

8025 -0.77 -194.7 947.1 -12.3 883 8030 0.00 2.85 0.00 0.000 4 0.000 0.067 2625 3705 3865

8057 -0.77 -194.7 951.4 -13.3 884 8064 0.00 2.78 0.00 0.000 6 0.000 0.051 2625 2305 3865

8372 end dive: TARGET_DEPTH_EXCEEDED

state 8372 begin apogee

8377 -0.19 0.0 990.9 12.3 900 8583 0.80 0.00 202.25 1.418 6 0.127 0.000 2757 2033 3071

8584 end apogee: CONTROL_FINISHED_OK

state 8584 begin climb

8587 0.82 194.7 1000.7 0.0 910 8805 1.25 3.17 207.75 1.351 4 0.085 0.071 2973 644 2277

8878 0.70 194.7 979.3 12.4 923 8883 0.00 2.95 0.00 0.000 6 0.000 0.047 2972 2057 2274

9198 0.57 194.7 941.8 11.7 939 9204 0.28 2.90 0.00 0.000 4 0.137 0.062 2928 3471 2271

9253 0.57 194.7 936.0 10.1 941 9260 0.00 2.83 0.00 0.000 6 0.000 0.052 2928 2068 2271

9570 0.62 238.3 908.7 8.5 957 9619 0.00 2.92 44.05 1.356 4 0.000 0.061 2928 3462 2098

9630 0.26 284.0 903.2 8.4 960 9687 0.43 2.85 47.22 1.300 6 0.114 0.051 2858 2069 1914

9998 0.63 297.3 871.6 9.5 978 10020 0.43 2.90 14.82 1.337 4 0.076 0.060 2936 3460 1858

10031 0.60 320.1 868.2 9.2 979 10062 0.00 2.80 24.77 1.247 6 0.000 0.051 2936 2071 1765

10386 0.84 371.6 839.9 8.2 997 10449 0.20 2.95 53.42 1.312 4 0.061 0.059 2982 3456 1555

10495 0.78 371.6 827.6 13.8 1002 10500 0.00 2.60 0.00 0.000 6 0.000 0.052 2982 2179 1552

10822 0.70 371.6 775.7 16.4 1018 10828 0.17 2.62 0.00 0.000 4 0.132 0.057 2953 3475 1549

10906 0.70 371.6 763.7 13.7 1022 10911 0.00 2.60 0.00 0.000 6 0.000 0.052 2954 2173 1548

11233 0.70 371.6 721.9 12.8 1038 11238 0.00 3.12 0.00 0.000 4 0.000 0.070 2953 638 1547

11277 0.70 371.6 716.1 12.4 1040 11281 0.00 2.97 0.00 0.000 6 0.000 0.046 2953 2169 1546

11604 0.70 371.6 676.0 11.9 1056 11605 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2169 1546

11914 0.70 371.6 642.6 10.5 1071 11915 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2169 1546

12222 0.70 371.6 609.4 10.6 1086 12227 0.00 3.10 0.00 0.000 4 0.000 0.067 2953 641 1545

12243 0.70 371.6 607.0 10.9 1087 12247 0.00 2.92 0.00 0.000 6 0.000 0.044 2953 2156 1545

12575 0.70 371.6 573.3 11.1 1115 12580 0.00 2.60 0.00 0.000 4 0.000 0.055 2953 3471 1545

12596 0.70 371.6 570.4 11.1 1116 12604 0.00 2.62 0.00 0.000 6 0.000 0.047 2953 2142 1544

12923 0.70 371.6 533.1 12.4 1147 12928 0.00 3.03 0.00 0.000 4 0.000 0.066 2953 637 1545

12956 0.70 371.6 528.8 12.2 1149 12962 0.00 2.92 0.00 0.000 6 0.000 0.043 2953 2158 1544

13281 0.70 371.6 491.2 10.6 1180 13283 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2158 1544

13599 0.70 371.6 456.9 10.6 1210 13600 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2158 1545

13917 0.70 371.6 422.5 10.3 1240 13922 0.00 3.08 0.00 0.000 4 0.000 0.063 2953 634 1544

13944 0.70 371.6 419.5 10.3 1242 13949 0.00 2.90 0.00 0.000 6 0.000 0.041 2953 2148 1544

14271 0.70 371.6 386.8 10.5 1272 14272 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2148 1544

14588 0.70 371.6 352.4 10.8 1302 14589 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2148 1545

14923 0.70 371.6 315.2 10.6 1360 14929 0.00 3.03 0.00 0.000 4 0.000 0.063 2953 640 1544

14953 0.70 371.6 312.0 10.7 1365 14959 0.00 2.88 0.00 0.000 6 0.000 0.041 2953 2143 1544

15296 0.70 371.6 274.4 10.7 1426 15302 0.00 2.60 0.00 0.000 4 0.000 0.052 2953 3471 1544

15315 0.70 371.6 272.3 11.1 1429 15321 0.00 2.62 0.00 0.000 6 0.000 0.044 2953 2120 1545

15658 0.70 371.6 232.3 11.8 1490 15665 0.00 2.95 0.00 0.000 4 0.000 0.064 2953 637 1544

15682 0.70 371.6 229.2 12.3 1494 15688 0.00 2.85 0.00 0.000 6 0.000 0.040 2953 2137 1544

16026 0.70 371.6 187.2 11.6 1555 16031 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2137 1545

16370 0.70 371.6 146.7 10.5 1616 16376 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2137 1544

16713 0.70 371.6 111.3 10.5 1677 16718 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2137 1544

17055 0.70 371.6 77.4 10.2 1738 17061 0.00 3.03 0.00 0.000 4 0.000 0.063 2953 633 1544

17078 0.70 371.6 74.9 11.8 1742 17085 0.00 2.85 0.00 0.000 6 0.000 0.040 2953 2130 1544

17423 0.70 371.6 40.8 10.6 1803 17429 0.00 2.62 0.00 0.000 4 0.000 0.053 2953 3471 1544

17454 0.75 371.6 37.5 11.3 1808 17460 0.00 2.65 0.00 0.000 6 0.000 0.044 2953 2099 1545

17598 0.78 399.9 23.2 9.0 1833 17632 0.00 2.95 28.10 0.838 4 0.000 0.064 2953 637 1438

17670 0.91 432.9 16.7 8.9 1845 17710 0.22 2.80 32.92 0.760 6 0.053 0.038 3001 2103 1306

17771 end climb: SURFACE_DEPTH_REACHED

state 17771 begin surface coast

17785 end surface coast: CONTROL_FINISHED_OK

state 17785 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	70	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	243	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	182	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3816	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	-2030	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	5900	C_ROLL_DIVE	2295	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	8	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	18	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	28	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	490	DEVICE4	35
T_TURN	270	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-9863.8457	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1469	AH0_24V	150	SEABIRD_T_G	0.0043273759
SPEED_FACTOR	1	PITCH_MAX	4022	AH0_10V	100	SEABIRD_T_H	0.00064184016
RHO	1.0273	C_PITCH	2800	PRESSURE_YINT	-13.47135	SEABIRD_T_I	2.4188148e-05
MASS	51457	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1530041e-05	SEABIRD_T_J	2.4070987e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.197048
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1695373
KALMAN_USE	2	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015330453
HD_A	0.0038360001	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00015523176
HD_B	0.010078	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	120756,6136.583,-2615.062,40,1.0,40,-18.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6140.309,-2610.398
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	121508,6136.616,-2615.214,9,0.9,14,-18.6	MHEAD_RNG_PITCHd_Wd	88.6,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	0.3,1.012641	XPDR_PINGS	48
SM_CCo	17862,0.00,0.000,0,0,1300,434.43	_24V_AH	19.1,77.216
SM_GC	0.88,7.50,0.00,0.00,0.039,0.000,0.000,1466,2300,1300,-6.09,0.17,434.43	_10V_AH	9.8,52.439
IRIDIUM_FIX	6112.75,-2617.74,170897,070739	DATA_FILE_SIZE	139162,1865
TT8_MAMPS	0.021476	CAP_FILE_SIZE	167601,0
HUMID	1740	CFSIZE	260165632,233676800
INTERNAL_PRESSURE	8.14484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.70	GPS	230508,171437,6137.360,-2614.493,40,1.1,52,-18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	245	100.91	SBE_CT	1403	24	643.23
Roll_motor	159	71	217.54	SBE_O2	1305	19	473.88
VBD_pump_during_apogee	655	1418	17750.98	Optode	719	33	453.52
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1648	105	3305.83
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	30	103	59.43	nil	0	0	0.00
Iridium_during_connect	34	160	106.05	nil	0	0	0.00
Iridium_during_xfer	240	223	1024.28
Transponder_ping	12	420	96.26
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	7.91
TT8	2928	19	568.26
LPSleep	10528	2	225.96
TT8_Active	777	19	150.91
TT8_Sampling	3411	39	1330.67
TT8_CF8	631	45	283.32
TT8_Kalman	0	0	0.00
Analog_circuits	2340	12	275.20
GPS_charging	0	0	0.00
Compass	3404	8	266.92
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.82	-194.7	0.0	0.0	0	133	0.00	0.00	-103.65	0.000	2	0.000	0.000	1466	2321	3399
136	-0.82	-194.7	3.4	-5.8	19	166	9.80	2.83	-11.32	0.000	4	0.245	0.069	2614	3695	3867
206	-0.72	-194.7	17.2	-16.9	31	213	0.17	2.70	0.00	0.000	6	0.140	0.040	2640	2292	3868
353	-0.67	-194.7	38.8	-15.9	56	358	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2292	3868
494	-0.63	-194.7	59.5	-13.8	81	501	0.12	2.78	0.00	0.000	4	0.142	0.054	2657	879	3868
529	-0.63	-194.7	63.7	-10.7	87	535	0.00	2.72	0.00	0.000	6	0.000	0.044	2657	2279	3868
872	-0.63	-194.7	98.3	-10.1	148	879	0.00	2.85	0.00	0.000	4	0.000	0.058	2657	3710	3868
902	-0.63	-194.7	101.4	-10.7	153	908	0.00	2.75	0.00	0.000	6	0.000	0.041	2657	2284	3868
1245	-0.63	-194.7	138.9	-11.2	214	1252	0.00	2.75	0.00	0.000	4	0.000	0.055	2657	877	3868
1281	-0.68	-194.7	142.8	-11.2	220	1288	0.00	2.75	0.00	0.000	6	0.000	0.046	2657	2298	3868
1626	-0.68	-194.7	182.6	-11.3	281	1631	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2299	3868
1968	-0.68	-194.7	222.1	-11.6	342	1974	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2299	3868
2311	-0.68	-194.7	262.0	-11.1	403	2317	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2299	3868
2653	-0.68	-194.7	300.2	-11.4	464	2659	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2299	3868
2996	-0.68	-194.7	339.4	-12.3	525	3002	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2299	3868
3327	-0.68	-194.7	377.4	-11.5	564	3328	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2299	3868
3644	-0.68	-194.7	412.8	-10.7	594	3645	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2299	3868
3962	-0.68	-194.7	446.4	-10.1	624	3967	0.00	2.80	0.00	0.000	4	0.000	0.056	2657	883	3868
3990	-0.68	-194.7	449.2	-10.5	626	3994	0.00	2.70	0.00	0.000	6	0.000	0.043	2657	2288	3868
4316	-0.68	-194.7	482.1	-10.3	656	4317	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2288	3868
4632	-0.68	-194.7	515.9	-11.1	686	4633	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2288	3868
4951	-0.68	-194.7	552.1	-11.8	716	4952	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2288	3867
5269	-0.68	-194.7	592.2	-12.6	746	5274	0.00	2.83	0.00	0.000	4	0.000	0.059	2657	3704	3868
5302	-0.73	-194.7	596.5	-13.1	748	5309	0.00	2.75	0.00	0.000	6	0.000	0.044	2657	2285	3867
5629	-0.77	-194.7	637.6	-12.3	766	5631	0.15	0.00	0.00	0.000	6	0.062	0.000	2625	2285	3867
5938	-0.77	-194.7	674.6	-12.0	781	5939	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2285	3867
6247	-0.77	-194.7	713.7	-12.9	796	6252	0.00	2.90	0.00	0.000	4	0.000	0.066	2625	3701	3867
6342	-0.77	-194.7	727.7	-14.6	800	6346	0.00	2.78	0.00	0.000	6	0.000	0.052	2625	2293	3867
6663	-0.77	-194.7	773.2	-13.2	816	6668	0.00	2.90	0.00	0.000	4	0.000	0.065	2625	3709	3867
6695	-0.77	-194.7	777.7	-13.9	817	6702	0.00	2.80	0.00	0.000	6	0.000	0.052	2624	2298	3867
7011	-0.77	-194.7	818.7	-12.9	833	7012	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2298	3867
7320	-0.77	-194.7	858.7	-13.0	848	7325	0.00	2.90	0.00	0.000	4	0.000	0.066	2625	3708	3866
7363	-0.77	-194.7	864.5	-13.4	850	7368	0.00	2.80	0.00	0.000	6	0.000	0.051	2625	2301	3866
7684	-0.77	-194.7	905.1	-12.8	866	7688	0.00	2.85	0.00	0.000	4	0.000	0.067	2625	880	3866
7704	-0.77	-194.7	907.8	-12.8	867	7709	0.00	2.80	0.00	0.000	6	0.000	0.049	2624	2309	3865
8025	-0.77	-194.7	947.1	-12.3	883	8030	0.00	2.85	0.00	0.000	4	0.000	0.067	2625	3705	3865
8057	-0.77	-194.7	951.4	-13.3	884	8064	0.00	2.78	0.00	0.000	6	0.000	0.051	2625	2305	3865
8372	end dive: TARGET_DEPTH_EXCEEDED
state	8372	begin apogee
8377	-0.19	0.0	990.9	12.3	900	8583	0.80	0.00	202.25	1.418	6	0.127	0.000	2757	2033	3071
8584	end apogee: CONTROL_FINISHED_OK
state	8584	begin climb
8587	0.82	194.7	1000.7	0.0	910	8805	1.25	3.17	207.75	1.351	4	0.085	0.071	2973	644	2277
8878	0.70	194.7	979.3	12.4	923	8883	0.00	2.95	0.00	0.000	6	0.000	0.047	2972	2057	2274
9198	0.57	194.7	941.8	11.7	939	9204	0.28	2.90	0.00	0.000	4	0.137	0.062	2928	3471	2271
9253	0.57	194.7	936.0	10.1	941	9260	0.00	2.83	0.00	0.000	6	0.000	0.052	2928	2068	2271
9570	0.62	238.3	908.7	8.5	957	9619	0.00	2.92	44.05	1.356	4	0.000	0.061	2928	3462	2098
9630	0.26	284.0	903.2	8.4	960	9687	0.43	2.85	47.22	1.300	6	0.114	0.051	2858	2069	1914
9998	0.63	297.3	871.6	9.5	978	10020	0.43	2.90	14.82	1.337	4	0.076	0.060	2936	3460	1858
10031	0.60	320.1	868.2	9.2	979	10062	0.00	2.80	24.77	1.247	6	0.000	0.051	2936	2071	1765
10386	0.84	371.6	839.9	8.2	997	10449	0.20	2.95	53.42	1.312	4	0.061	0.059	2982	3456	1555
10495	0.78	371.6	827.6	13.8	1002	10500	0.00	2.60	0.00	0.000	6	0.000	0.052	2982	2179	1552
10822	0.70	371.6	775.7	16.4	1018	10828	0.17	2.62	0.00	0.000	4	0.132	0.057	2953	3475	1549
10906	0.70	371.6	763.7	13.7	1022	10911	0.00	2.60	0.00	0.000	6	0.000	0.052	2954	2173	1548
11233	0.70	371.6	721.9	12.8	1038	11238	0.00	3.12	0.00	0.000	4	0.000	0.070	2953	638	1547
11277	0.70	371.6	716.1	12.4	1040	11281	0.00	2.97	0.00	0.000	6	0.000	0.046	2953	2169	1546
11604	0.70	371.6	676.0	11.9	1056	11605	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2169	1546
11914	0.70	371.6	642.6	10.5	1071	11915	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2169	1546
12222	0.70	371.6	609.4	10.6	1086	12227	0.00	3.10	0.00	0.000	4	0.000	0.067	2953	641	1545
12243	0.70	371.6	607.0	10.9	1087	12247	0.00	2.92	0.00	0.000	6	0.000	0.044	2953	2156	1545
12575	0.70	371.6	573.3	11.1	1115	12580	0.00	2.60	0.00	0.000	4	0.000	0.055	2953	3471	1545
12596	0.70	371.6	570.4	11.1	1116	12604	0.00	2.62	0.00	0.000	6	0.000	0.047	2953	2142	1544
12923	0.70	371.6	533.1	12.4	1147	12928	0.00	3.03	0.00	0.000	4	0.000	0.066	2953	637	1545
12956	0.70	371.6	528.8	12.2	1149	12962	0.00	2.92	0.00	0.000	6	0.000	0.043	2953	2158	1544
13281	0.70	371.6	491.2	10.6	1180	13283	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2158	1544
13599	0.70	371.6	456.9	10.6	1210	13600	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2158	1545
13917	0.70	371.6	422.5	10.3	1240	13922	0.00	3.08	0.00	0.000	4	0.000	0.063	2953	634	1544
13944	0.70	371.6	419.5	10.3	1242	13949	0.00	2.90	0.00	0.000	6	0.000	0.041	2953	2148	1544
14271	0.70	371.6	386.8	10.5	1272	14272	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2148	1544
14588	0.70	371.6	352.4	10.8	1302	14589	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2148	1545
14923	0.70	371.6	315.2	10.6	1360	14929	0.00	3.03	0.00	0.000	4	0.000	0.063	2953	640	1544
14953	0.70	371.6	312.0	10.7	1365	14959	0.00	2.88	0.00	0.000	6	0.000	0.041	2953	2143	1544
15296	0.70	371.6	274.4	10.7	1426	15302	0.00	2.60	0.00	0.000	4	0.000	0.052	2953	3471	1544
15315	0.70	371.6	272.3	11.1	1429	15321	0.00	2.62	0.00	0.000	6	0.000	0.044	2953	2120	1545
15658	0.70	371.6	232.3	11.8	1490	15665	0.00	2.95	0.00	0.000	4	0.000	0.064	2953	637	1544
15682	0.70	371.6	229.2	12.3	1494	15688	0.00	2.85	0.00	0.000	6	0.000	0.040	2953	2137	1544
16026	0.70	371.6	187.2	11.6	1555	16031	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2137	1545
16370	0.70	371.6	146.7	10.5	1616	16376	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2137	1544
16713	0.70	371.6	111.3	10.5	1677	16718	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2137	1544
17055	0.70	371.6	77.4	10.2	1738	17061	0.00	3.03	0.00	0.000	4	0.000	0.063	2953	633	1544
17078	0.70	371.6	74.9	11.8	1742	17085	0.00	2.85	0.00	0.000	6	0.000	0.040	2953	2130	1544
17423	0.70	371.6	40.8	10.6	1803	17429	0.00	2.62	0.00	0.000	4	0.000	0.053	2953	3471	1544
17454	0.75	371.6	37.5	11.3	1808	17460	0.00	2.65	0.00	0.000	6	0.000	0.044	2953	2099	1545
17598	0.78	399.9	23.2	9.0	1833	17632	0.00	2.95	28.10	0.838	4	0.000	0.064	2953	637	1438
17670	0.91	432.9	16.7	8.9	1845	17710	0.22	2.80	32.92	0.760	6	0.053	0.038	3001	2103	1306
17771	end climb: SURFACE_DEPTH_REACHED
state	17771	begin surface coast
17785	end surface coast: CONTROL_FINISHED_OK
state	17785	begin surface