Glider dive log

QPE May09 * SG165 * Dive index * Mission links * Dive 382 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 165 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 382 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3692 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 2285 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2300 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 475 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 55 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 INT_PRESSURE_YINT 0

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 0.025 DEVICE1 2

T_DIVE 367 UPLOAD_DIVES_MAX -1 VBD_MIN 485 DEVICE2 53

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3959 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2854 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 -5 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 -125504.95 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 225 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 180 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3922 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -19.66094 SEABIRD_T_G 0.0043383995

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116182 SEABIRD_T_H 0.00062454981

MASS 52067 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3067754e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3616824e-06

FERRY_MAX 45 PITCH_GAIN 21.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9113674

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.100266

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.0005534364

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 6.0498875e-05

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 475

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 21.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3922 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 180 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000116182 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -19.66094 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 367

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 -125504.95

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.025 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 165 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3692 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 2 ROLL_MIN 200 USE_BATHY -5

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2285 MASS 52067 R_PORT_OVSHOOT 55 VBD_BLEED_AD_RATE 8

C_VBD 2854 MAX_BUOY 225 R_STBD_OVSHOOT 41 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9113674 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.100266 VBD_MAX 3959

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I 0.0005534364 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 6.0498875e-05 VBD_MIN 485

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043383995 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062454981 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3067754e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3616824e-06 XPDR_DEVICE 24

DIVE 382 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 044137,2514.414,12535.842,40,1.1,40,-3.9 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2441.200,12552.200

_XMS_NAKs 5 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 045031,2514.343,12535.749,14,1.6,31,-3.9 MHEAD_RNG_PITCHd_Wd 149.1,67335,-13.3,-8.992

SPEED_LIMITS 0.156,0.300 D_GRID 947

Post-dive calculations and measurements:

FINISH 1.5,1.004531 _24V_AH 23.2,86.700

SM_CCo 18039,52.62,0.597,0,0,916,475.15 _10V_AH 10.6,58.734

SM_GC 2.26,0.00,0.00,52.62,0.000,0.000,0.597,152,2301,916,-8.11,0.45,475.15 DATA_FILE_SIZE 104167,1770

IRIDIUM_FIX 2507.97,12536.42,231098,232330 CAP_FILE_SIZE 179033,0

TT8_MAMPS 0.048321 CFSIZE 260165632,223035392

HUMID 1595 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.93589 CURRENT 0.081,266.0,1

TCM_TEMP 26.90 GPS 300709,095306,2513.218,12535.894,32,1.5,32,-3.9

XPDR_PINGS 721

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 223 97.09 SBE_CT 1193 24 664.48

Roll_motor 171 74 296.54 Optode 1225 33 937.87

VBD_pump_during_apogee 532 1350 16690.30 WL_BB2F 1925 105 4689.44

VBD_pump_during_surface 52 597 729.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.98 nil 0 0 0.00

Iridium_during_connect 36 160 135.40 nil 0 0 0.00

Iridium_during_xfer 283 223 1465.29

Transponder_ping 187 420 1829.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.95

TT8 0 19 0.00

LPSleep 12942 2 300.45

TT8_Active 733 19 153.93

TT8_Sampling 4118 39 1737.49

TT8_CF8 793 45 385.46

TT8_Kalman 0 0 0.00

Analog_circuits 2267 12 288.42

GPS_charging 0 0 0.00

Compass 3499 8 296.78

RAFOS 0 0 0.00

Transponder 50 30 16.13

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

13 -0.89 -219.0 0.0 0.0 0 59 0.00 0.00 -44.80 0.000 2 0.000 0.000 157 2263 2035

62 -0.89 -219.0 3.3 -4.0 7 126 9.10 2.17 -46.38 0.000 4 0.223 0.053 2450 887 3748

158 -0.89 -219.0 17.6 -19.9 23 164 0.00 2.17 0.00 0.000 6 0.000 0.038 2441 2272 3749

484 -0.89 -219.0 80.3 -19.7 84 491 0.00 2.22 0.00 0.000 4 0.000 0.052 2434 3694 3749

528 -0.89 -219.0 89.8 -22.8 92 535 0.00 2.03 0.00 0.000 6 0.000 0.031 2434 2322 3749

856 -0.89 -219.0 144.3 -14.7 153 862 0.00 2.15 0.00 0.000 4 0.000 0.050 2424 3693 3750

985 -0.89 -219.0 166.1 -17.5 177 991 0.12 2.05 0.00 0.000 6 0.147 0.031 2460 2305 3750

1312 -0.89 -219.0 213.6 -12.9 238 1318 0.00 2.15 0.00 0.000 4 0.000 0.040 2460 884 3751

1365 -0.89 -219.0 220.9 -14.1 248 1372 0.00 2.22 0.00 0.000 6 0.000 0.035 2454 2319 3751

1693 -0.89 -219.0 265.8 -12.5 309 1698 0.00 2.17 0.00 0.000 4 0.000 0.038 2454 893 3751

1746 -0.89 -219.0 272.8 -13.1 319 1752 0.00 2.15 0.00 0.000 6 0.000 0.038 2454 2296 3751

2069 -0.89 -219.0 310.1 -10.7 371 2072 0.00 2.15 0.00 0.000 4 0.000 0.039 2454 887 3751

2148 -0.89 -219.0 319.6 -12.9 378 2155 0.00 2.15 0.00 0.000 6 0.000 0.044 2454 2254 3751

2465 -0.89 -219.0 355.0 -10.5 409 2468 0.00 2.10 0.00 0.000 4 0.000 0.041 2454 887 3752

2550 -0.89 -219.0 364.8 -11.7 417 2553 0.00 2.08 0.00 0.000 6 0.000 0.039 2454 2237 3751

2873 -0.89 -219.0 399.5 -11.1 448 2880 0.00 2.08 0.00 0.000 4 0.000 0.041 2454 885 3751

2906 -0.89 -219.0 403.8 -11.6 451 2910 0.00 2.05 0.00 0.000 6 0.000 0.040 2454 2222 3750

3229 -0.89 -219.0 438.6 -10.4 482 3230 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2222 3748

3537 -0.89 -219.0 467.7 -9.7 512 3541 0.00 2.08 0.00 0.000 4 0.000 0.044 2454 903 3746

3574 -0.89 -219.0 471.7 -11.0 515 3580 0.00 2.08 0.00 0.000 6 0.000 0.041 2454 2224 3746

3892 -0.89 -219.0 504.6 -10.1 544 3896 0.00 2.30 0.00 0.000 4 0.000 0.057 2454 3683 3744

3923 -0.89 -219.0 508.2 -11.1 545 3929 0.00 2.17 0.00 0.000 6 0.000 0.034 2455 2234 3743

4234 -0.89 -219.0 539.7 -9.8 561 4235 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2234 3741

4539 -0.89 -219.0 569.4 -10.0 576 4542 0.00 2.08 0.00 0.000 4 0.000 0.046 2454 899 3739

4651 -0.89 -219.0 581.9 -10.9 581 4655 0.00 2.20 0.00 0.000 6 0.000 0.045 2454 2281 3738

4972 -0.89 -219.0 615.5 -9.8 597 4975 0.00 2.17 0.00 0.000 4 0.000 0.046 2454 899 3736

4987 -0.89 -219.0 617.0 -9.4 597 4994 0.00 2.22 0.00 0.000 6 0.000 0.045 2454 2288 3735

5298 -0.89 -219.0 643.7 -8.5 613 5302 0.00 2.17 0.00 0.000 4 0.000 0.046 2454 902 3733

5363 -0.89 -219.0 649.7 -9.5 616 5367 0.00 2.12 0.00 0.000 6 0.000 0.044 2454 2249 3733

5688 -0.89 -219.0 679.7 -9.2 632 5692 0.00 2.33 0.00 0.000 4 0.000 0.060 2455 3694 3730

5714 -0.89 -219.0 682.4 -10.5 633 5718 0.00 2.22 0.00 0.000 6 0.000 0.035 2454 2249 3730

6037 -0.89 -219.0 714.0 -10.4 649 6038 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2244 3727

6341 -0.89 -219.0 746.8 -10.6 664 6345 0.00 2.38 0.00 0.000 4 0.000 0.063 2454 3697 3725

6421 -0.89 -219.0 755.3 -10.4 668 6424 0.00 2.22 0.00 0.000 6 0.000 0.035 2454 2252 3724

6748 -0.89 -219.0 786.8 -9.6 684 6751 0.00 2.35 0.00 0.000 4 0.000 0.061 2454 3691 3722

6854 -0.89 -219.0 797.2 -9.3 689 6857 0.00 2.12 0.00 0.000 6 0.000 0.035 2454 2314 3720

7176 -0.89 -219.0 828.0 -9.6 705 7179 0.00 2.25 0.00 0.000 4 0.000 0.063 2454 3686 3719

7255 -0.89 -219.0 836.2 -9.8 708 7262 0.00 2.05 0.00 0.000 6 0.000 0.041 2454 2368 3718

7566 -0.89 -219.0 867.1 -10.1 724 7566 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2368 3716

7871 -0.89 -219.0 899.3 -10.2 739 7872 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2368 3715

8176 -0.89 -219.0 927.6 -8.8 754 8179 0.00 2.17 0.00 0.000 4 0.000 0.066 2454 3686 3713

8223 -0.89 -219.0 932.0 -10.3 756 8227 0.00 2.00 0.00 0.000 6 0.000 0.037 2454 2395 3712

8400 end dive: TARGET_DEPTH_EXCEEDED

state 8400 begin apogee

8406 -0.23 0.0 948.0 8.8 765 8587 0.62 0.00 178.45 1.351 6 0.100 0.000 2669 2297 2854

8587 end apogee: CONTROL_FINISHED_OK

state 8587 begin climb

8590 0.89 219.0 959.8 0.0 774 8785 0.98 2.45 185.30 1.312 4 0.056 0.061 3030 3685 1960

8853 0.89 219.0 942.3 14.5 786 8857 0.00 2.20 0.00 0.000 6 0.000 0.039 3040 2317 1957

9175 0.89 219.0 903.5 12.1 802 9179 0.00 2.28 0.00 0.000 4 0.000 0.052 3051 889 1953

9239 0.89 219.0 895.4 13.1 805 9242 0.00 2.22 0.00 0.000 6 0.000 0.045 3052 2292 1952

9560 0.89 219.0 854.6 12.6 821 9563 0.00 2.25 0.00 0.000 4 0.000 0.050 3061 887 1951

9580 0.89 219.0 851.9 12.4 822 9584 0.08 2.25 0.00 0.000 6 0.173 0.044 3038 2292 1950

9908 0.89 219.0 813.3 11.4 838 9911 0.00 2.25 0.00 0.000 4 0.000 0.058 3038 3693 1949

9976 0.89 219.0 804.5 12.5 841 9980 0.00 2.17 0.00 0.000 6 0.000 0.038 3047 2306 1949

10298 0.89 219.0 765.2 12.8 857 10301 0.00 2.25 0.00 0.000 4 0.000 0.057 3048 3695 1948

10357 0.89 219.0 756.9 14.8 859 10362 0.00 2.12 0.00 0.000 6 0.000 0.038 3057 2316 1947

10666 0.89 219.0 716.2 12.4 875 10670 0.00 2.25 0.00 0.000 4 0.000 0.049 3068 892 1947

10762 0.89 219.0 704.2 13.5 879 10766 0.12 2.22 0.00 0.000 6 0.179 0.044 3031 2287 1946

11079 0.89 219.0 669.7 10.8 895 11082 0.00 2.22 0.00 0.000 4 0.000 0.049 3041 893 1946

11148 0.89 219.0 662.3 10.1 898 11151 0.00 2.22 0.00 0.000 6 0.000 0.042 3041 2289 1945

11470 0.89 219.0 629.1 10.4 914 11473 0.00 2.25 0.00 0.000 4 0.000 0.057 3041 3690 1944

11559 0.89 219.0 618.2 11.7 918 11563 0.00 2.15 0.00 0.000 6 0.000 0.038 3051 2325 1945

11881 0.89 219.0 584.4 10.5 934 11884 0.00 2.25 0.00 0.000 4 0.000 0.048 3062 893 1945

11950 0.89 219.0 577.3 10.3 937 11954 0.12 2.25 0.00 0.000 6 0.181 0.041 3032 2325 1944

12265 0.89 219.0 543.6 10.8 953 12269 0.00 2.20 0.00 0.000 4 0.000 0.058 3032 3692 1944

12439 0.89 219.0 524.9 9.9 961 12442 0.00 2.05 0.00 0.000 6 0.000 0.038 3041 2359 1944

12756 0.89 219.0 494.9 9.0 979 12759 0.00 2.33 0.00 0.000 4 0.000 0.048 3052 884 1944

12782 0.89 219.0 492.5 9.6 981 12789 0.00 2.35 0.00 0.000 6 0.000 0.041 3052 2358 1943

13100 0.89 219.0 463.1 9.7 1012 13103 0.00 2.35 0.00 0.000 4 0.000 0.047 3062 884 1943

13152 0.89 219.0 457.9 10.0 1016 13159 0.08 2.33 0.00 0.000 6 0.175 0.040 3039 2342 1943

13468 0.90 228.4 428.9 8.7 1047 13478 0.00 0.00 6.57 0.833 6 0.000 0.000 3039 2342 1923

13790 0.90 228.4 400.2 9.4 1078 13791 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 2342 1923

14101 0.94 259.7 370.7 8.1 1108 14135 0.00 2.35 28.85 0.940 4 0.000 0.047 3049 891 1794

14215 0.98 293.7 361.3 8.1 1118 14254 0.00 2.33 30.38 0.923 6 0.000 0.044 3049 2332 1655

14562 0.98 293.7 327.1 11.0 1152 14566 0.00 2.17 0.00 0.000 4 0.000 0.055 3049 3688 1652

14583 0.98 293.7 324.8 11.3 1154 14587 0.00 2.15 0.00 0.000 6 0.000 0.035 3060 2312 1652

14901 0.98 293.7 293.2 9.1 1191 14907 0.00 2.20 0.00 0.000 4 0.000 0.045 3070 899 1651

14933 0.98 293.7 290.2 9.0 1197 14940 0.00 2.17 0.00 0.000 6 0.000 0.038 3069 2297 1649

15261 0.98 293.7 255.3 9.3 1258 15267 0.00 2.22 0.00 0.000 4 0.000 0.058 3069 3684 1649

15353 0.98 293.7 246.1 10.1 1275 15358 0.00 2.12 0.00 0.000 6 0.000 0.035 3080 2292 1649

15678 1.00 312.8 217.0 8.5 1336 15703 0.00 2.22 17.15 0.788 4 0.000 0.044 3090 903 1577

15830 1.00 312.8 202.0 10.1 1364 15837 0.00 2.20 0.00 0.000 6 0.000 0.043 3090 2285 1575

16157 1.06 359.2 171.4 7.7 1425 16202 0.00 2.22 39.70 0.765 4 0.000 0.044 3101 893 1389

16223 1.06 359.2 165.3 9.9 1436 16229 0.00 2.20 0.00 0.000 6 0.000 0.042 3100 2268 1387

16549 1.06 359.2 131.2 10.5 1497 16556 0.00 2.25 0.00 0.000 4 0.000 0.051 3100 3690 1387

16631 1.06 359.2 122.1 10.5 1512 16636 0.00 2.17 0.00 0.000 6 0.000 0.037 3111 2266 1387

16958 1.07 362.4 89.1 8.9 1573 16966 0.00 2.17 4.30 0.472 4 0.000 0.043 3121 899 1375

17158 1.11 401.5 73.3 7.9 1610 17196 0.00 2.12 33.25 0.672 6 0.000 0.041 3122 2272 1216

17518 1.12 410.2 43.9 8.8 1676 17532 0.00 2.28 8.68 0.567 4 0.000 0.049 3121 3680 1180

17692 1.12 410.2 28.2 9.0 1708 17698 0.00 2.28 0.00 0.000 6 0.000 0.037 3132 2197 1180

17984 end climb: SURFACE_DEPTH_REACHED

state 17984 begin surface coast

18022 end surface coast: CONTROL_FINISHED_OK

state 18023 begin surface

ID	165	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	382	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3692	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	2285	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2300	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	475	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	55	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	INT_PRESSURE_YINT	0
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	0.025	DEVICE1	2
T_DIVE	367	UPLOAD_DIVES_MAX	-1	VBD_MIN	485	DEVICE2	53
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3959	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2854	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	-5	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	-125504.95	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	225	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	180	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3922	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-19.66094	SEABIRD_T_G	0.0043383995
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116182	SEABIRD_T_H	0.00062454981
MASS	52067	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3067754e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3616824e-06
FERRY_MAX	45	PITCH_GAIN	21.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9113674
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.100266
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.0005534364
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	6.0498875e-05
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	044137,2514.414,12535.842,40,1.1,40,-3.9	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2441.200,12552.200
_XMS_NAKs	5	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	045031,2514.343,12535.749,14,1.6,31,-3.9	MHEAD_RNG_PITCHd_Wd	149.1,67335,-13.3,-8.992
SPEED_LIMITS	0.156,0.300	D_GRID	947

FINISH	1.5,1.004531	_24V_AH	23.2,86.700
SM_CCo	18039,52.62,0.597,0,0,916,475.15	_10V_AH	10.6,58.734
SM_GC	2.26,0.00,0.00,52.62,0.000,0.000,0.597,152,2301,916,-8.11,0.45,475.15	DATA_FILE_SIZE	104167,1770
IRIDIUM_FIX	2507.97,12536.42,231098,232330	CAP_FILE_SIZE	179033,0
TT8_MAMPS	0.048321	CFSIZE	260165632,223035392
HUMID	1595	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.93589	CURRENT	0.081,266.0,1
TCM_TEMP	26.90	GPS	300709,095306,2513.218,12535.894,32,1.5,32,-3.9
XPDR_PINGS	721

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	223	97.09	SBE_CT	1193	24	664.48
Roll_motor	171	74	296.54	Optode	1225	33	937.87
VBD_pump_during_apogee	532	1350	16690.30	WL_BB2F	1925	105	4689.44
VBD_pump_during_surface	52	597	729.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.98	nil	0	0	0.00
Iridium_during_connect	36	160	135.40	nil	0	0	0.00
Iridium_during_xfer	283	223	1465.29
Transponder_ping	187	420	1829.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.95
TT8	0	19	0.00
LPSleep	12942	2	300.45
TT8_Active	733	19	153.93
TT8_Sampling	4118	39	1737.49
TT8_CF8	793	45	385.46
TT8_Kalman	0	0	0.00
Analog_circuits	2267	12	288.42
GPS_charging	0	0	0.00
Compass	3499	8	296.78
RAFOS	0	0	0.00
Transponder	50	30	16.13

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
13	-0.89	-219.0	0.0	0.0	0	59	0.00	0.00	-44.80	0.000	2	0.000	0.000	157	2263	2035
62	-0.89	-219.0	3.3	-4.0	7	126	9.10	2.17	-46.38	0.000	4	0.223	0.053	2450	887	3748
158	-0.89	-219.0	17.6	-19.9	23	164	0.00	2.17	0.00	0.000	6	0.000	0.038	2441	2272	3749
484	-0.89	-219.0	80.3	-19.7	84	491	0.00	2.22	0.00	0.000	4	0.000	0.052	2434	3694	3749
528	-0.89	-219.0	89.8	-22.8	92	535	0.00	2.03	0.00	0.000	6	0.000	0.031	2434	2322	3749
856	-0.89	-219.0	144.3	-14.7	153	862	0.00	2.15	0.00	0.000	4	0.000	0.050	2424	3693	3750
985	-0.89	-219.0	166.1	-17.5	177	991	0.12	2.05	0.00	0.000	6	0.147	0.031	2460	2305	3750
1312	-0.89	-219.0	213.6	-12.9	238	1318	0.00	2.15	0.00	0.000	4	0.000	0.040	2460	884	3751
1365	-0.89	-219.0	220.9	-14.1	248	1372	0.00	2.22	0.00	0.000	6	0.000	0.035	2454	2319	3751
1693	-0.89	-219.0	265.8	-12.5	309	1698	0.00	2.17	0.00	0.000	4	0.000	0.038	2454	893	3751
1746	-0.89	-219.0	272.8	-13.1	319	1752	0.00	2.15	0.00	0.000	6	0.000	0.038	2454	2296	3751
2069	-0.89	-219.0	310.1	-10.7	371	2072	0.00	2.15	0.00	0.000	4	0.000	0.039	2454	887	3751
2148	-0.89	-219.0	319.6	-12.9	378	2155	0.00	2.15	0.00	0.000	6	0.000	0.044	2454	2254	3751
2465	-0.89	-219.0	355.0	-10.5	409	2468	0.00	2.10	0.00	0.000	4	0.000	0.041	2454	887	3752
2550	-0.89	-219.0	364.8	-11.7	417	2553	0.00	2.08	0.00	0.000	6	0.000	0.039	2454	2237	3751
2873	-0.89	-219.0	399.5	-11.1	448	2880	0.00	2.08	0.00	0.000	4	0.000	0.041	2454	885	3751
2906	-0.89	-219.0	403.8	-11.6	451	2910	0.00	2.05	0.00	0.000	6	0.000	0.040	2454	2222	3750
3229	-0.89	-219.0	438.6	-10.4	482	3230	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2222	3748
3537	-0.89	-219.0	467.7	-9.7	512	3541	0.00	2.08	0.00	0.000	4	0.000	0.044	2454	903	3746
3574	-0.89	-219.0	471.7	-11.0	515	3580	0.00	2.08	0.00	0.000	6	0.000	0.041	2454	2224	3746
3892	-0.89	-219.0	504.6	-10.1	544	3896	0.00	2.30	0.00	0.000	4	0.000	0.057	2454	3683	3744
3923	-0.89	-219.0	508.2	-11.1	545	3929	0.00	2.17	0.00	0.000	6	0.000	0.034	2455	2234	3743
4234	-0.89	-219.0	539.7	-9.8	561	4235	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2234	3741
4539	-0.89	-219.0	569.4	-10.0	576	4542	0.00	2.08	0.00	0.000	4	0.000	0.046	2454	899	3739
4651	-0.89	-219.0	581.9	-10.9	581	4655	0.00	2.20	0.00	0.000	6	0.000	0.045	2454	2281	3738
4972	-0.89	-219.0	615.5	-9.8	597	4975	0.00	2.17	0.00	0.000	4	0.000	0.046	2454	899	3736
4987	-0.89	-219.0	617.0	-9.4	597	4994	0.00	2.22	0.00	0.000	6	0.000	0.045	2454	2288	3735
5298	-0.89	-219.0	643.7	-8.5	613	5302	0.00	2.17	0.00	0.000	4	0.000	0.046	2454	902	3733
5363	-0.89	-219.0	649.7	-9.5	616	5367	0.00	2.12	0.00	0.000	6	0.000	0.044	2454	2249	3733
5688	-0.89	-219.0	679.7	-9.2	632	5692	0.00	2.33	0.00	0.000	4	0.000	0.060	2455	3694	3730
5714	-0.89	-219.0	682.4	-10.5	633	5718	0.00	2.22	0.00	0.000	6	0.000	0.035	2454	2249	3730
6037	-0.89	-219.0	714.0	-10.4	649	6038	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2244	3727
6341	-0.89	-219.0	746.8	-10.6	664	6345	0.00	2.38	0.00	0.000	4	0.000	0.063	2454	3697	3725
6421	-0.89	-219.0	755.3	-10.4	668	6424	0.00	2.22	0.00	0.000	6	0.000	0.035	2454	2252	3724
6748	-0.89	-219.0	786.8	-9.6	684	6751	0.00	2.35	0.00	0.000	4	0.000	0.061	2454	3691	3722
6854	-0.89	-219.0	797.2	-9.3	689	6857	0.00	2.12	0.00	0.000	6	0.000	0.035	2454	2314	3720
7176	-0.89	-219.0	828.0	-9.6	705	7179	0.00	2.25	0.00	0.000	4	0.000	0.063	2454	3686	3719
7255	-0.89	-219.0	836.2	-9.8	708	7262	0.00	2.05	0.00	0.000	6	0.000	0.041	2454	2368	3718
7566	-0.89	-219.0	867.1	-10.1	724	7566	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2368	3716
7871	-0.89	-219.0	899.3	-10.2	739	7872	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2368	3715
8176	-0.89	-219.0	927.6	-8.8	754	8179	0.00	2.17	0.00	0.000	4	0.000	0.066	2454	3686	3713
8223	-0.89	-219.0	932.0	-10.3	756	8227	0.00	2.00	0.00	0.000	6	0.000	0.037	2454	2395	3712
8400	end dive: TARGET_DEPTH_EXCEEDED
state	8400	begin apogee
8406	-0.23	0.0	948.0	8.8	765	8587	0.62	0.00	178.45	1.351	6	0.100	0.000	2669	2297	2854
8587	end apogee: CONTROL_FINISHED_OK
state	8587	begin climb
8590	0.89	219.0	959.8	0.0	774	8785	0.98	2.45	185.30	1.312	4	0.056	0.061	3030	3685	1960
8853	0.89	219.0	942.3	14.5	786	8857	0.00	2.20	0.00	0.000	6	0.000	0.039	3040	2317	1957
9175	0.89	219.0	903.5	12.1	802	9179	0.00	2.28	0.00	0.000	4	0.000	0.052	3051	889	1953
9239	0.89	219.0	895.4	13.1	805	9242	0.00	2.22	0.00	0.000	6	0.000	0.045	3052	2292	1952
9560	0.89	219.0	854.6	12.6	821	9563	0.00	2.25	0.00	0.000	4	0.000	0.050	3061	887	1951
9580	0.89	219.0	851.9	12.4	822	9584	0.08	2.25	0.00	0.000	6	0.173	0.044	3038	2292	1950
9908	0.89	219.0	813.3	11.4	838	9911	0.00	2.25	0.00	0.000	4	0.000	0.058	3038	3693	1949
9976	0.89	219.0	804.5	12.5	841	9980	0.00	2.17	0.00	0.000	6	0.000	0.038	3047	2306	1949
10298	0.89	219.0	765.2	12.8	857	10301	0.00	2.25	0.00	0.000	4	0.000	0.057	3048	3695	1948
10357	0.89	219.0	756.9	14.8	859	10362	0.00	2.12	0.00	0.000	6	0.000	0.038	3057	2316	1947
10666	0.89	219.0	716.2	12.4	875	10670	0.00	2.25	0.00	0.000	4	0.000	0.049	3068	892	1947
10762	0.89	219.0	704.2	13.5	879	10766	0.12	2.22	0.00	0.000	6	0.179	0.044	3031	2287	1946
11079	0.89	219.0	669.7	10.8	895	11082	0.00	2.22	0.00	0.000	4	0.000	0.049	3041	893	1946
11148	0.89	219.0	662.3	10.1	898	11151	0.00	2.22	0.00	0.000	6	0.000	0.042	3041	2289	1945
11470	0.89	219.0	629.1	10.4	914	11473	0.00	2.25	0.00	0.000	4	0.000	0.057	3041	3690	1944
11559	0.89	219.0	618.2	11.7	918	11563	0.00	2.15	0.00	0.000	6	0.000	0.038	3051	2325	1945
11881	0.89	219.0	584.4	10.5	934	11884	0.00	2.25	0.00	0.000	4	0.000	0.048	3062	893	1945
11950	0.89	219.0	577.3	10.3	937	11954	0.12	2.25	0.00	0.000	6	0.181	0.041	3032	2325	1944
12265	0.89	219.0	543.6	10.8	953	12269	0.00	2.20	0.00	0.000	4	0.000	0.058	3032	3692	1944
12439	0.89	219.0	524.9	9.9	961	12442	0.00	2.05	0.00	0.000	6	0.000	0.038	3041	2359	1944
12756	0.89	219.0	494.9	9.0	979	12759	0.00	2.33	0.00	0.000	4	0.000	0.048	3052	884	1944
12782	0.89	219.0	492.5	9.6	981	12789	0.00	2.35	0.00	0.000	6	0.000	0.041	3052	2358	1943
13100	0.89	219.0	463.1	9.7	1012	13103	0.00	2.35	0.00	0.000	4	0.000	0.047	3062	884	1943
13152	0.89	219.0	457.9	10.0	1016	13159	0.08	2.33	0.00	0.000	6	0.175	0.040	3039	2342	1943
13468	0.90	228.4	428.9	8.7	1047	13478	0.00	0.00	6.57	0.833	6	0.000	0.000	3039	2342	1923
13790	0.90	228.4	400.2	9.4	1078	13791	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	2342	1923
14101	0.94	259.7	370.7	8.1	1108	14135	0.00	2.35	28.85	0.940	4	0.000	0.047	3049	891	1794
14215	0.98	293.7	361.3	8.1	1118	14254	0.00	2.33	30.38	0.923	6	0.000	0.044	3049	2332	1655
14562	0.98	293.7	327.1	11.0	1152	14566	0.00	2.17	0.00	0.000	4	0.000	0.055	3049	3688	1652
14583	0.98	293.7	324.8	11.3	1154	14587	0.00	2.15	0.00	0.000	6	0.000	0.035	3060	2312	1652
14901	0.98	293.7	293.2	9.1	1191	14907	0.00	2.20	0.00	0.000	4	0.000	0.045	3070	899	1651
14933	0.98	293.7	290.2	9.0	1197	14940	0.00	2.17	0.00	0.000	6	0.000	0.038	3069	2297	1649
15261	0.98	293.7	255.3	9.3	1258	15267	0.00	2.22	0.00	0.000	4	0.000	0.058	3069	3684	1649
15353	0.98	293.7	246.1	10.1	1275	15358	0.00	2.12	0.00	0.000	6	0.000	0.035	3080	2292	1649
15678	1.00	312.8	217.0	8.5	1336	15703	0.00	2.22	17.15	0.788	4	0.000	0.044	3090	903	1577
15830	1.00	312.8	202.0	10.1	1364	15837	0.00	2.20	0.00	0.000	6	0.000	0.043	3090	2285	1575
16157	1.06	359.2	171.4	7.7	1425	16202	0.00	2.22	39.70	0.765	4	0.000	0.044	3101	893	1389
16223	1.06	359.2	165.3	9.9	1436	16229	0.00	2.20	0.00	0.000	6	0.000	0.042	3100	2268	1387
16549	1.06	359.2	131.2	10.5	1497	16556	0.00	2.25	0.00	0.000	4	0.000	0.051	3100	3690	1387
16631	1.06	359.2	122.1	10.5	1512	16636	0.00	2.17	0.00	0.000	6	0.000	0.037	3111	2266	1387
16958	1.07	362.4	89.1	8.9	1573	16966	0.00	2.17	4.30	0.472	4	0.000	0.043	3121	899	1375
17158	1.11	401.5	73.3	7.9	1610	17196	0.00	2.12	33.25	0.672	6	0.000	0.041	3122	2272	1216
17518	1.12	410.2	43.9	8.8	1676	17532	0.00	2.28	8.68	0.567	4	0.000	0.049	3121	3680	1180
17692	1.12	410.2	28.2	9.0	1708	17698	0.00	2.28	0.00	0.000	6	0.000	0.037	3132	2197	1180
17984	end climb: SURFACE_DEPTH_REACHED
state	17984	begin surface coast
18022	end surface coast: CONTROL_FINISHED_OK
state	18023	begin surface