Glider dive log

QPE May09 * SG164 * Dive index * Mission links * Dive 34 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 164 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 204 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 34 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3782 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 1471 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1580 ALTIM_PULSE 1

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 415 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 INT_PRESSURE_YINT 0.94

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 330 UPLOAD_DIVES_MAX -1 VBD_MIN 490 DEVICE2 53

T_MISSION 396 CALL_TRIES 5 VBD_MAX 3962 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2947 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 -33819.422 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 40 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 126 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3926 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2744 PRESSURE_YINT -9.4660435 SEABIRD_T_G 0.0043488215

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160742 SEABIRD_T_H 0.00063635618

MASS 51863 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5028745e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7326657e-06

FERRY_MAX 45 PITCH_GAIN 21 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.160287

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1436546

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00018147723

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010835609

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.035 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 415

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 21 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3926 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 126 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160742 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -9.4660435 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 -33819.422

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 396

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 164 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3782 UNCOM_BLEED 40

COURSE_BIAS 0 INT_PRESSURE_YINT 0.94 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2744 KALMAN_USE 2 ROLL_MIN 204 USE_BATHY -4

C_ROLL_CLIMB 1580 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1471 MASS 51863 R_PORT_OVSHOOT 29 VBD_BLEED_AD_RATE 8

C_VBD 2947 MAX_BUOY 200 R_STBD_OVSHOOT 37 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -10.160287 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1436546 VBD_MAX 3962

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00018147723 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00010835609 VBD_MIN 490

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043488215 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063635618 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5028745e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7326657e-06 XPDR_DEVICE 24

DIVE 34 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 0.035 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 113857,2500.963,12330.188,24,2.2,43,-3.7 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2448.000,12324.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 114510,2500.956,12330.039,11,2.2,30,-3.7 MHEAD_RNG_PITCHd_Wd 194.7,26054,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 2081

Post-dive calculations and measurements:

FINISH -0.1,1.008608 _24V_AH 23.6,11.075

SM_CCo 18477,0.00,0.000,0,0,1101,452.58 _10V_AH 10.7,6.235

SM_GC 0.80,7.45,0.00,0.00,0.031,0.000,0.000,109,1475,1101,-8.16,0.11,452.58 DATA_FILE_SIZE 98055,1723

IRIDIUM_FIX 2456.07,12328.87,210898,060608 CAP_FILE_SIZE 186378,0

TT8_MAMPS 0.049855 CFSIZE 260165632,254599168

HUMID 1449 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0

INTERNAL_PRESSURE 8.97742 CURRENT 0.134,229.8,1

TCM_TEMP 26.10 GPS 270509,165407,2457.235,12328.020,36,1.0,36,-3.6

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 212 122.59 SBE_CT 1168 24 661.91

Roll_motor 147 67 235.27 Optode 1178 33 917.64

VBD_pump_during_apogee 562 1468 19482.79 WL_BB2F 1967 105 4876.36

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 22 103 54.54 nil 0 0 0.00

Iridium_during_connect 31 160 117.78 nil 0 0 0.00

Iridium_during_xfer 196 223 1032.52

Transponder_ping 10 420 99.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.94

TT8 0 19 0.00

LPSleep 13660 2 320.10

TT8_Active 736 19 156.12

TT8_Sampling 3931 39 1674.33

TT8_CF8 490 45 240.43

TT8_Kalman 0 0 0.00

Analog_circuits 2189 12 281.13

GPS_charging 0 0 0.00

Compass 3312 8 283.57

RAFOS 0 0 0.00

Transponder 53 30 17.32

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.99 -194.7 0.0 0.0 0 90 0.00 0.00 -75.72 0.000 2 0.000 0.000 114 1484 2928

91 -0.99 -194.7 3.5 -7.8 11 123 8.52 2.15 -15.62 0.000 4 0.212 0.054 2415 2888 3745

363 -0.61 -194.7 77.3 -24.8 61 371 0.40 2.15 0.00 0.000 6 0.130 0.035 2547 1465 3747

690 -0.57 -194.7 124.2 -14.2 122 697 0.00 2.15 0.00 0.000 4 0.000 0.040 2547 2887 3748

727 -0.57 -194.7 129.0 -12.5 129 736 0.00 2.15 0.00 0.000 6 0.000 0.035 2547 1457 3748

1055 -0.57 -194.7 168.3 -11.8 190 1061 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 1457 3749

1380 -0.65 -194.7 204.0 -8.5 251 1386 0.00 2.15 0.00 0.000 4 0.000 0.040 2547 2887 3750

1423 -0.80 -194.7 207.3 -7.6 259 1429 0.15 2.10 0.00 0.000 6 0.041 0.035 2462 1476 3750

1748 -0.65 -194.7 252.7 -14.1 320 1755 0.22 1.90 0.00 0.000 4 0.125 0.046 2533 218 3750

1829 -0.69 -194.7 262.0 -10.4 335 1835 0.00 1.88 0.00 0.000 6 0.000 0.035 2533 1479 3750

2155 -0.78 -194.7 294.3 -9.2 396 2161 0.12 1.92 0.00 0.000 4 0.070 0.047 2471 215 3749

2208 -0.65 -194.7 301.2 -13.5 406 2213 0.17 1.85 0.00 0.000 6 0.120 0.035 2533 1459 3749

2530 -0.75 -194.7 331.3 -8.9 437 2531 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 1460 3749

2841 -0.85 -194.7 358.8 -9.4 467 2844 0.17 1.88 0.00 0.000 4 0.058 0.047 2454 208 3748

2882 -0.69 -194.7 364.3 -14.4 471 2886 0.17 1.85 0.00 0.000 6 0.123 0.035 2516 1458 3748

3203 -0.74 -194.7 392.1 -8.0 502 3207 0.00 1.90 0.00 0.000 4 0.000 0.048 2517 218 3747

3277 -0.74 -194.7 398.5 -8.8 509 3281 0.00 1.85 0.00 0.000 6 0.000 0.035 2517 1458 3747

3599 -0.82 -194.7 425.3 -8.5 540 3600 0.12 0.00 0.00 0.000 6 0.071 0.000 2457 1461 3745

3909 -0.75 -194.7 462.9 -12.2 570 3910 0.15 0.00 0.00 0.000 6 0.131 0.000 2501 1461 3743

4220 -0.80 -194.7 494.5 -10.9 600 4220 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 1461 3742

4536 -0.85 -194.7 525.9 -8.6 618 4537 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 1461 3740

4842 -0.92 -194.7 551.1 -8.0 633 4845 0.15 1.90 0.00 0.000 4 0.064 0.051 2433 213 3738

4867 -0.83 -194.7 553.8 -11.7 634 4871 0.12 1.88 0.00 0.000 6 0.131 0.036 2474 1464 3738

5188 -0.83 -194.7 581.3 -8.9 650 5192 0.00 2.12 0.00 0.000 4 0.000 0.044 2474 2876 3735

5235 -0.88 -194.7 585.4 -8.8 652 5240 0.00 2.12 0.00 0.000 6 0.000 0.038 2474 1466 3736

5556 -0.88 -194.7 615.6 -9.7 668 5557 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1466 3734

5862 -0.88 -194.7 644.0 -8.5 683 5866 0.00 2.15 0.00 0.000 4 0.000 0.046 2475 2894 3731

5941 -0.94 -194.7 650.5 -8.3 686 5948 0.00 2.17 0.00 0.000 6 0.000 0.041 2474 1461 3731

6252 -0.94 -194.7 674.3 -7.4 702 6256 0.00 1.92 0.00 0.000 4 0.000 0.056 2474 221 3729

6305 -0.94 -194.7 678.8 -9.1 704 6309 0.08 1.85 0.00 0.000 6 0.068 0.038 2430 1447 3729

6621 -0.86 -194.7 712.2 -11.5 720 6622 0.12 0.00 0.00 0.000 6 0.143 0.000 2464 1447 3727

6926 -0.86 -194.7 744.1 -10.8 735 6930 0.00 2.17 0.00 0.000 4 0.000 0.049 2464 2874 3725

6952 -0.90 -194.7 746.9 -11.2 736 6956 0.00 2.15 0.00 0.000 6 0.000 0.042 2464 1463 3724

7273 -0.90 -194.7 781.2 -10.0 752 7274 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1463 3723

7579 -0.90 -194.7 808.7 -8.3 767 7582 0.00 2.17 0.00 0.000 4 0.000 0.051 2464 2874 3721

7605 -0.95 -194.7 810.8 -8.8 768 7609 0.00 2.15 0.00 0.000 6 0.000 0.044 2464 1470 3721

7926 -0.95 -194.7 837.7 -8.3 784 7930 0.00 1.98 0.00 0.000 4 0.000 0.062 2464 211 3719

7952 -0.95 -194.7 840.1 -9.9 785 7956 0.00 1.90 0.00 0.000 6 0.000 0.041 2464 1465 3718

8273 -0.95 -194.7 866.7 -8.3 801 8274 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1465 3717

8578 -0.95 -194.7 891.6 -8.1 816 8579 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1465 3715

8884 -0.95 -194.7 916.7 -8.3 831 8888 0.00 2.15 0.00 0.000 4 0.000 0.051 2464 2872 3714

8926 -1.02 -194.7 920.2 -8.1 833 8930 0.10 2.15 0.00 0.000 6 0.063 0.046 2409 1469 3714

9254 -0.91 -194.7 956.9 -11.3 849 9257 0.15 1.95 0.00 0.000 4 0.144 0.065 2452 210 3711

9316 -0.87 -194.7 963.9 -10.7 852 9320 0.00 1.90 0.00 0.000 6 0.000 0.043 2451 1460 3712

9600 end dive: TARGET_DEPTH_EXCEEDED

state 9600 begin apogee

9604 -0.24 0.0 991.3 9.6 866 9767 0.65 0.00 160.43 1.469 6 0.117 0.000 2668 1585 2948

9767 end apogee: CONTROL_FINISHED_OK

state 9767 begin climb

9769 0.99 194.7 997.2 0.0 874 9948 1.12 2.42 169.32 1.419 4 0.074 0.060 3057 206 2151

10001 0.51 194.7 968.6 20.7 885 10005 0.50 2.22 0.00 0.000 6 0.181 0.041 2909 1577 2147

10327 0.44 194.7 931.6 10.7 901 10331 0.00 2.22 0.00 0.000 4 0.000 0.061 2909 213 2143

10364 0.38 194.7 927.4 11.1 902 10372 0.12 2.12 0.00 0.000 6 0.150 0.042 2868 1574 2143

10675 0.48 238.0 900.7 8.5 918 10716 0.00 0.00 37.33 1.365 6 0.000 0.000 2868 1574 1975

11020 0.62 281.2 870.8 8.5 935 11070 0.22 2.30 40.55 1.297 4 0.065 0.062 2958 201 1798

11098 0.43 281.2 860.2 15.9 938 11107 0.22 2.20 0.00 0.000 6 0.155 0.043 2891 1565 1794

11408 0.45 298.7 829.5 9.4 954 11435 0.00 2.25 17.38 1.144 4 0.000 0.062 2891 213 1728

11457 0.52 315.2 824.9 9.4 956 11484 0.00 2.12 17.92 1.137 6 0.000 0.044 2891 1551 1662

11794 0.58 321.5 792.5 9.8 973 11807 0.12 2.30 6.43 1.048 4 0.081 0.051 2946 2984 1635

11829 0.46 321.5 787.6 15.5 974 11837 0.15 2.25 0.00 0.000 6 0.161 0.048 2900 1566 1634

12139 0.46 321.5 750.5 11.8 990 12143 0.00 2.17 0.00 0.000 4 0.000 0.062 2900 212 1631

12176 0.51 321.5 746.5 10.7 991 12182 0.00 2.08 0.00 0.000 6 0.000 0.045 2900 1539 1631

12487 0.52 328.7 716.3 9.8 1007 12500 0.00 2.30 7.65 1.095 4 0.000 0.052 2900 2985 1605

12522 0.52 328.7 712.5 11.0 1008 12529 0.00 2.25 0.00 0.000 6 0.000 0.048 2902 1554 1603

12832 0.52 328.7 679.3 10.4 1024 12836 0.00 2.15 0.00 0.000 4 0.000 0.063 2901 209 1601

12885 0.58 328.7 673.8 10.1 1026 12890 0.00 2.08 0.00 0.000 6 0.000 0.045 2902 1543 1601

13201 0.63 328.7 642.4 10.5 1042 13202 0.12 0.00 0.00 0.000 6 0.078 0.000 2959 1543 1601

13507 0.46 328.7 593.2 16.5 1057 13511 0.22 2.22 0.00 0.000 4 0.157 0.052 2896 2983 1600

13538 0.46 328.7 588.8 13.2 1058 13542 0.00 2.25 0.00 0.000 6 0.000 0.048 2895 1538 1600

13854 0.56 328.7 556.3 10.8 1074 13858 0.00 2.10 0.00 0.000 4 0.000 0.063 2895 215 1600

13907 0.70 328.7 550.3 11.0 1076 13911 0.17 2.05 0.00 0.000 6 0.053 0.047 2976 1535 1600

14223 0.50 328.7 493.1 18.6 1093 14225 0.25 0.00 0.00 0.000 6 0.161 0.000 2905 1536 1600

14535 0.64 358.3 460.9 9.0 1123 14567 0.12 2.28 26.30 1.095 4 0.075 0.051 2962 2991 1485

14577 0.57 358.3 455.6 13.7 1127 14580 0.10 2.33 0.00 0.000 6 0.163 0.048 2932 1526 1483

14897 0.57 358.3 416.1 12.0 1158 14901 0.00 2.10 0.00 0.000 4 0.000 0.061 2932 211 1479

14929 0.57 358.3 412.2 11.6 1161 14933 0.00 2.05 0.00 0.000 6 0.000 0.046 2931 1519 1478

15250 0.57 358.3 372.6 13.4 1192 15254 0.00 2.25 0.00 0.000 4 0.000 0.050 2931 2989 1478

15276 0.57 358.3 368.9 13.4 1194 15284 0.00 2.28 0.00 0.000 6 0.000 0.047 2931 1524 1478

15593 0.61 358.3 330.9 10.0 1225 15596 0.00 2.05 0.00 0.000 4 0.000 0.059 2931 208 1478

15656 0.67 358.3 323.9 10.7 1231 15659 0.00 2.03 0.00 0.000 6 0.000 0.044 2931 1516 1477

15974 0.71 358.3 284.9 12.9 1272 15976 0.12 0.00 0.00 0.000 6 0.072 0.000 2989 1516 1477

16295 0.58 358.3 227.8 15.1 1332 16302 0.20 2.05 0.00 0.000 4 0.153 0.058 2934 214 1477

16333 0.64 358.3 223.2 11.3 1339 16339 0.00 1.98 0.00 0.000 6 0.000 0.043 2934 1502 1477

16659 0.78 382.0 195.1 9.2 1400 16686 0.17 2.28 20.65 0.857 4 0.060 0.045 3016 2989 1387

16711 0.63 382.0 188.1 16.3 1409 16718 0.20 2.30 0.00 0.000 6 0.154 0.044 2956 1517 1385

17038 0.74 382.0 151.5 11.5 1470 17044 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 1517 1383

17364 0.96 429.9 119.9 8.3 1531 17409 0.28 2.12 40.67 0.800 4 0.048 0.054 3081 210 1193

17440 0.70 429.9 106.0 23.2 1544 17447 0.35 2.00 0.00 0.000 6 0.148 0.038 2972 1490 1189

17767 0.90 450.5 71.6 9.3 1605 17789 0.17 2.10 17.42 0.722 4 0.057 0.054 3056 197 1109

17820 0.80 450.5 63.8 18.2 1614 17827 0.15 1.98 0.00 0.000 6 0.136 0.038 3007 1476 1106

18147 0.96 450.5 31.6 10.3 1675 18154 0.15 2.30 0.00 0.000 4 0.058 0.042 3082 2987 1104

18180 0.91 450.5 27.0 15.0 1681 18186 0.12 2.33 0.00 0.000 6 0.143 0.042 3042 1477 1104

18376 end climb: SURFACE_DEPTH_REACHED

state 18376 begin surface coast

18403 end surface coast: CONTROL_FINISHED_OK

state 18403 begin surface

ID	164	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	204	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	34	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3782	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	1471	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1580	ALTIM_PULSE	1
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	415	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	INT_PRESSURE_YINT	0.94
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	490	DEVICE2	53
T_MISSION	396	CALL_TRIES	5	VBD_MAX	3962	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2947	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	-33819.422	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	40	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	126	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3926	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2744	PRESSURE_YINT	-9.4660435	SEABIRD_T_G	0.0043488215
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160742	SEABIRD_T_H	0.00063635618
MASS	51863	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5028745e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7326657e-06
FERRY_MAX	45	PITCH_GAIN	21	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.160287
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1436546
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00018147723
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010835609
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.035	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	113857,2500.963,12330.188,24,2.2,43,-3.7	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2448.000,12324.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	114510,2500.956,12330.039,11,2.2,30,-3.7	MHEAD_RNG_PITCHd_Wd	194.7,26054,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	2081

FINISH	-0.1,1.008608	_24V_AH	23.6,11.075
SM_CCo	18477,0.00,0.000,0,0,1101,452.58	_10V_AH	10.7,6.235
SM_GC	0.80,7.45,0.00,0.00,0.031,0.000,0.000,109,1475,1101,-8.16,0.11,452.58	DATA_FILE_SIZE	98055,1723
IRIDIUM_FIX	2456.07,12328.87,210898,060608	CAP_FILE_SIZE	186378,0
TT8_MAMPS	0.049855	CFSIZE	260165632,254599168
HUMID	1449	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
INTERNAL_PRESSURE	8.97742	CURRENT	0.134,229.8,1
TCM_TEMP	26.10	GPS	270509,165407,2457.235,12328.020,36,1.0,36,-3.6
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	212	122.59	SBE_CT	1168	24	661.91
Roll_motor	147	67	235.27	Optode	1178	33	917.64
VBD_pump_during_apogee	562	1468	19482.79	WL_BB2F	1967	105	4876.36
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	22	103	54.54	nil	0	0	0.00
Iridium_during_connect	31	160	117.78	nil	0	0	0.00
Iridium_during_xfer	196	223	1032.52
Transponder_ping	10	420	99.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.94
TT8	0	19	0.00
LPSleep	13660	2	320.10
TT8_Active	736	19	156.12
TT8_Sampling	3931	39	1674.33
TT8_CF8	490	45	240.43
TT8_Kalman	0	0	0.00
Analog_circuits	2189	12	281.13
GPS_charging	0	0	0.00
Compass	3312	8	283.57
RAFOS	0	0	0.00
Transponder	53	30	17.32

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.99	-194.7	0.0	0.0	0	90	0.00	0.00	-75.72	0.000	2	0.000	0.000	114	1484	2928
91	-0.99	-194.7	3.5	-7.8	11	123	8.52	2.15	-15.62	0.000	4	0.212	0.054	2415	2888	3745
363	-0.61	-194.7	77.3	-24.8	61	371	0.40	2.15	0.00	0.000	6	0.130	0.035	2547	1465	3747
690	-0.57	-194.7	124.2	-14.2	122	697	0.00	2.15	0.00	0.000	4	0.000	0.040	2547	2887	3748
727	-0.57	-194.7	129.0	-12.5	129	736	0.00	2.15	0.00	0.000	6	0.000	0.035	2547	1457	3748
1055	-0.57	-194.7	168.3	-11.8	190	1061	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	1457	3749
1380	-0.65	-194.7	204.0	-8.5	251	1386	0.00	2.15	0.00	0.000	4	0.000	0.040	2547	2887	3750
1423	-0.80	-194.7	207.3	-7.6	259	1429	0.15	2.10	0.00	0.000	6	0.041	0.035	2462	1476	3750
1748	-0.65	-194.7	252.7	-14.1	320	1755	0.22	1.90	0.00	0.000	4	0.125	0.046	2533	218	3750
1829	-0.69	-194.7	262.0	-10.4	335	1835	0.00	1.88	0.00	0.000	6	0.000	0.035	2533	1479	3750
2155	-0.78	-194.7	294.3	-9.2	396	2161	0.12	1.92	0.00	0.000	4	0.070	0.047	2471	215	3749
2208	-0.65	-194.7	301.2	-13.5	406	2213	0.17	1.85	0.00	0.000	6	0.120	0.035	2533	1459	3749
2530	-0.75	-194.7	331.3	-8.9	437	2531	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	1460	3749
2841	-0.85	-194.7	358.8	-9.4	467	2844	0.17	1.88	0.00	0.000	4	0.058	0.047	2454	208	3748
2882	-0.69	-194.7	364.3	-14.4	471	2886	0.17	1.85	0.00	0.000	6	0.123	0.035	2516	1458	3748
3203	-0.74	-194.7	392.1	-8.0	502	3207	0.00	1.90	0.00	0.000	4	0.000	0.048	2517	218	3747
3277	-0.74	-194.7	398.5	-8.8	509	3281	0.00	1.85	0.00	0.000	6	0.000	0.035	2517	1458	3747
3599	-0.82	-194.7	425.3	-8.5	540	3600	0.12	0.00	0.00	0.000	6	0.071	0.000	2457	1461	3745
3909	-0.75	-194.7	462.9	-12.2	570	3910	0.15	0.00	0.00	0.000	6	0.131	0.000	2501	1461	3743
4220	-0.80	-194.7	494.5	-10.9	600	4220	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	1461	3742
4536	-0.85	-194.7	525.9	-8.6	618	4537	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	1461	3740
4842	-0.92	-194.7	551.1	-8.0	633	4845	0.15	1.90	0.00	0.000	4	0.064	0.051	2433	213	3738
4867	-0.83	-194.7	553.8	-11.7	634	4871	0.12	1.88	0.00	0.000	6	0.131	0.036	2474	1464	3738
5188	-0.83	-194.7	581.3	-8.9	650	5192	0.00	2.12	0.00	0.000	4	0.000	0.044	2474	2876	3735
5235	-0.88	-194.7	585.4	-8.8	652	5240	0.00	2.12	0.00	0.000	6	0.000	0.038	2474	1466	3736
5556	-0.88	-194.7	615.6	-9.7	668	5557	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	1466	3734
5862	-0.88	-194.7	644.0	-8.5	683	5866	0.00	2.15	0.00	0.000	4	0.000	0.046	2475	2894	3731
5941	-0.94	-194.7	650.5	-8.3	686	5948	0.00	2.17	0.00	0.000	6	0.000	0.041	2474	1461	3731
6252	-0.94	-194.7	674.3	-7.4	702	6256	0.00	1.92	0.00	0.000	4	0.000	0.056	2474	221	3729
6305	-0.94	-194.7	678.8	-9.1	704	6309	0.08	1.85	0.00	0.000	6	0.068	0.038	2430	1447	3729
6621	-0.86	-194.7	712.2	-11.5	720	6622	0.12	0.00	0.00	0.000	6	0.143	0.000	2464	1447	3727
6926	-0.86	-194.7	744.1	-10.8	735	6930	0.00	2.17	0.00	0.000	4	0.000	0.049	2464	2874	3725
6952	-0.90	-194.7	746.9	-11.2	736	6956	0.00	2.15	0.00	0.000	6	0.000	0.042	2464	1463	3724
7273	-0.90	-194.7	781.2	-10.0	752	7274	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	1463	3723
7579	-0.90	-194.7	808.7	-8.3	767	7582	0.00	2.17	0.00	0.000	4	0.000	0.051	2464	2874	3721
7605	-0.95	-194.7	810.8	-8.8	768	7609	0.00	2.15	0.00	0.000	6	0.000	0.044	2464	1470	3721
7926	-0.95	-194.7	837.7	-8.3	784	7930	0.00	1.98	0.00	0.000	4	0.000	0.062	2464	211	3719
7952	-0.95	-194.7	840.1	-9.9	785	7956	0.00	1.90	0.00	0.000	6	0.000	0.041	2464	1465	3718
8273	-0.95	-194.7	866.7	-8.3	801	8274	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	1465	3717
8578	-0.95	-194.7	891.6	-8.1	816	8579	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	1465	3715
8884	-0.95	-194.7	916.7	-8.3	831	8888	0.00	2.15	0.00	0.000	4	0.000	0.051	2464	2872	3714
8926	-1.02	-194.7	920.2	-8.1	833	8930	0.10	2.15	0.00	0.000	6	0.063	0.046	2409	1469	3714
9254	-0.91	-194.7	956.9	-11.3	849	9257	0.15	1.95	0.00	0.000	4	0.144	0.065	2452	210	3711
9316	-0.87	-194.7	963.9	-10.7	852	9320	0.00	1.90	0.00	0.000	6	0.000	0.043	2451	1460	3712
9600	end dive: TARGET_DEPTH_EXCEEDED
state	9600	begin apogee
9604	-0.24	0.0	991.3	9.6	866	9767	0.65	0.00	160.43	1.469	6	0.117	0.000	2668	1585	2948
9767	end apogee: CONTROL_FINISHED_OK
state	9767	begin climb
9769	0.99	194.7	997.2	0.0	874	9948	1.12	2.42	169.32	1.419	4	0.074	0.060	3057	206	2151
10001	0.51	194.7	968.6	20.7	885	10005	0.50	2.22	0.00	0.000	6	0.181	0.041	2909	1577	2147
10327	0.44	194.7	931.6	10.7	901	10331	0.00	2.22	0.00	0.000	4	0.000	0.061	2909	213	2143
10364	0.38	194.7	927.4	11.1	902	10372	0.12	2.12	0.00	0.000	6	0.150	0.042	2868	1574	2143
10675	0.48	238.0	900.7	8.5	918	10716	0.00	0.00	37.33	1.365	6	0.000	0.000	2868	1574	1975
11020	0.62	281.2	870.8	8.5	935	11070	0.22	2.30	40.55	1.297	4	0.065	0.062	2958	201	1798
11098	0.43	281.2	860.2	15.9	938	11107	0.22	2.20	0.00	0.000	6	0.155	0.043	2891	1565	1794
11408	0.45	298.7	829.5	9.4	954	11435	0.00	2.25	17.38	1.144	4	0.000	0.062	2891	213	1728
11457	0.52	315.2	824.9	9.4	956	11484	0.00	2.12	17.92	1.137	6	0.000	0.044	2891	1551	1662
11794	0.58	321.5	792.5	9.8	973	11807	0.12	2.30	6.43	1.048	4	0.081	0.051	2946	2984	1635
11829	0.46	321.5	787.6	15.5	974	11837	0.15	2.25	0.00	0.000	6	0.161	0.048	2900	1566	1634
12139	0.46	321.5	750.5	11.8	990	12143	0.00	2.17	0.00	0.000	4	0.000	0.062	2900	212	1631
12176	0.51	321.5	746.5	10.7	991	12182	0.00	2.08	0.00	0.000	6	0.000	0.045	2900	1539	1631
12487	0.52	328.7	716.3	9.8	1007	12500	0.00	2.30	7.65	1.095	4	0.000	0.052	2900	2985	1605
12522	0.52	328.7	712.5	11.0	1008	12529	0.00	2.25	0.00	0.000	6	0.000	0.048	2902	1554	1603
12832	0.52	328.7	679.3	10.4	1024	12836	0.00	2.15	0.00	0.000	4	0.000	0.063	2901	209	1601
12885	0.58	328.7	673.8	10.1	1026	12890	0.00	2.08	0.00	0.000	6	0.000	0.045	2902	1543	1601
13201	0.63	328.7	642.4	10.5	1042	13202	0.12	0.00	0.00	0.000	6	0.078	0.000	2959	1543	1601
13507	0.46	328.7	593.2	16.5	1057	13511	0.22	2.22	0.00	0.000	4	0.157	0.052	2896	2983	1600
13538	0.46	328.7	588.8	13.2	1058	13542	0.00	2.25	0.00	0.000	6	0.000	0.048	2895	1538	1600
13854	0.56	328.7	556.3	10.8	1074	13858	0.00	2.10	0.00	0.000	4	0.000	0.063	2895	215	1600
13907	0.70	328.7	550.3	11.0	1076	13911	0.17	2.05	0.00	0.000	6	0.053	0.047	2976	1535	1600
14223	0.50	328.7	493.1	18.6	1093	14225	0.25	0.00	0.00	0.000	6	0.161	0.000	2905	1536	1600
14535	0.64	358.3	460.9	9.0	1123	14567	0.12	2.28	26.30	1.095	4	0.075	0.051	2962	2991	1485
14577	0.57	358.3	455.6	13.7	1127	14580	0.10	2.33	0.00	0.000	6	0.163	0.048	2932	1526	1483
14897	0.57	358.3	416.1	12.0	1158	14901	0.00	2.10	0.00	0.000	4	0.000	0.061	2932	211	1479
14929	0.57	358.3	412.2	11.6	1161	14933	0.00	2.05	0.00	0.000	6	0.000	0.046	2931	1519	1478
15250	0.57	358.3	372.6	13.4	1192	15254	0.00	2.25	0.00	0.000	4	0.000	0.050	2931	2989	1478
15276	0.57	358.3	368.9	13.4	1194	15284	0.00	2.28	0.00	0.000	6	0.000	0.047	2931	1524	1478
15593	0.61	358.3	330.9	10.0	1225	15596	0.00	2.05	0.00	0.000	4	0.000	0.059	2931	208	1478
15656	0.67	358.3	323.9	10.7	1231	15659	0.00	2.03	0.00	0.000	6	0.000	0.044	2931	1516	1477
15974	0.71	358.3	284.9	12.9	1272	15976	0.12	0.00	0.00	0.000	6	0.072	0.000	2989	1516	1477
16295	0.58	358.3	227.8	15.1	1332	16302	0.20	2.05	0.00	0.000	4	0.153	0.058	2934	214	1477
16333	0.64	358.3	223.2	11.3	1339	16339	0.00	1.98	0.00	0.000	6	0.000	0.043	2934	1502	1477
16659	0.78	382.0	195.1	9.2	1400	16686	0.17	2.28	20.65	0.857	4	0.060	0.045	3016	2989	1387
16711	0.63	382.0	188.1	16.3	1409	16718	0.20	2.30	0.00	0.000	6	0.154	0.044	2956	1517	1385
17038	0.74	382.0	151.5	11.5	1470	17044	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	1517	1383
17364	0.96	429.9	119.9	8.3	1531	17409	0.28	2.12	40.67	0.800	4	0.048	0.054	3081	210	1193
17440	0.70	429.9	106.0	23.2	1544	17447	0.35	2.00	0.00	0.000	6	0.148	0.038	2972	1490	1189
17767	0.90	450.5	71.6	9.3	1605	17789	0.17	2.10	17.42	0.722	4	0.057	0.054	3056	197	1109
17820	0.80	450.5	63.8	18.2	1614	17827	0.15	1.98	0.00	0.000	6	0.136	0.038	3007	1476	1106
18147	0.96	450.5	31.6	10.3	1675	18154	0.15	2.30	0.00	0.000	4	0.058	0.042	3082	2987	1104
18180	0.91	450.5	27.0	15.0	1681	18186	0.12	2.33	0.00	0.000	6	0.143	0.042	3042	1477	1104
18376	end climb: SURFACE_DEPTH_REACHED
state	18376	begin surface coast
18403	end surface coast: CONTROL_FINISHED_OK
state	18403	begin surface