Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 473 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 473 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 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 2383 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2365 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 76 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 50 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 0.029999999 DEVICE1 2

T_DIVE 253 UPLOAD_DIVES_MAX -1 VBD_MIN 389 DEVICE2 53

T_MISSION 304 CALL_TRIES 5 VBD_MAX 3987 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3532 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 5 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 -15267.948 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 125 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 134 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2545 PRESSURE_YINT -14.600696 SEABIRD_T_G 0.0043387017

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_H 0.00063414662

MASS 51932 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_T_I 2.5692387e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8978091e-06

FERRY_MAX 45 PITCH_GAIN 18.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8799791

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1029794

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010948726

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016878155

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 0.0031256729 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 18.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3944 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 134 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 0.0001158971 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -14.600696 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 253

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 -15267.948

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 304

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 167 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2545 KALMAN_USE 2 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2365 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2383 MASS 51932 R_PORT_OVSHOOT 76 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 50 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.8799791 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1029794 VBD_MAX 3987

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010948726 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016878155 VBD_MIN 389

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043387017 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063414662 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5692387e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8978091e-06 XPDR_DEVICE 24

DIVE 473 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 063401,2448.938,12352.397,56,1.2,57,-3.6 TGT_NAME OFF_1

_CALLS 1 TGT_LATLONG 2433.700,12329.700

_XMS_NAKs 15 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.45 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -57.6 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 064310,2449.159,12352.352,14,2.1,33,-3.6 MHEAD_RNG_PITCHd_Wd 226.4,47702,-24.8,-13.043

SPEED_LIMITS 0.226,0.258 D_GRID 1896

Post-dive calculations and measurements:

FINISH 1.8,1.022080 _24V_AH 22.5,81.851

SM_CCo 17112,0.00,0.000,0,0,1457,509.00 _10V_AH 10.6,43.772

SM_GC 2.40,7.75,0.00,0.00,0.058,0.000,0.000,140,2424,1457,-7.50,1.16,509.00 DATA_FILE_SIZE 85075,1588

IRIDIUM_FIX 2439.44,12351.28,021198,010140 CAP_FILE_SIZE 193621,0

TT8_MAMPS 0.029146 CFSIZE 260165632,188076032

HUMID 1735 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.38513 CURRENT 0.231, 32.1,1

TCM_TEMP 25.60 GPS 080809,113024,2450.191,12352.759,43,1.5,61,-3.7

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 236 170.62 SBE_CT 1071 24 578.49

Roll_motor 169 50 193.37 Optode 1100 33 816.91

VBD_pump_during_apogee 537 1392 16845.05 WL_BB2F 0 105 0.00

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 31 103 72.68 nil 0 0 0.00

Iridium_during_connect 35 160 128.09 nil 0 0 0.00

Iridium_during_xfer 286 223 1438.78

Transponder_ping 8 420 77.96

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 18.36

TT8 2856 19 599.52

LPSleep 10435 2 242.25

TT8_Active 679 19 142.63

TT8_Sampling 2807 39 1184.24

TT8_CF8 868 45 421.60

TT8_Kalman 0 81 0.00

Analog_circuits 2135 12 271.60

GPS_charging 0 0 0.00

Compass 2725 8 231.09

RAFOS 0 0 0.00

Transponder 51 30 16.25

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

16 -1.49 -121.7 0.0 0.0 0 59 0.00 0.00 -40.65 0.000 2 0.000 0.000 140 2418 2402

63 -1.49 -121.7 3.0 -2.7 7 124 8.02 2.17 -47.45 0.000 4 0.236 0.038 2061 985 3989

250 -0.99 -121.7 39.6 -21.9 39 257 0.60 2.08 0.00 0.000 6 0.176 0.026 2217 2384 3990

595 -1.04 -121.7 83.1 -12.3 100 603 0.00 2.03 0.00 0.000 4 0.000 0.025 2218 990 3991

656 -1.11 -121.7 90.1 -12.8 110 662 0.00 2.05 0.00 0.000 6 0.000 0.026 2210 2385 3991

1002 -1.35 -121.7 130.8 -10.5 171 1009 0.25 2.03 0.00 0.000 4 0.057 0.022 2097 985 3992

1072 -1.05 -121.7 141.1 -16.0 183 1080 0.40 2.03 0.00 0.000 6 0.158 0.028 2202 2360 3992

1421 -1.31 -121.7 179.0 -8.3 244 1428 0.20 2.12 0.00 0.000 4 0.060 0.041 2111 3763 3994

1453 -1.19 -121.7 182.1 -10.5 249 1460 0.17 2.03 0.00 0.000 6 0.164 0.020 2156 2300 3994

1800 -1.30 -121.7 214.9 -9.0 310 1805 0.00 1.88 0.00 0.000 4 0.000 0.023 2156 972 3994

1859 -1.30 -121.7 220.7 -10.0 320 1866 0.00 1.98 0.00 0.000 6 0.000 0.025 2152 2327 3994

2206 -1.43 -121.7 256.3 -9.7 381 2213 0.17 1.95 0.00 0.000 4 0.068 0.023 2070 982 3995

2259 -1.16 -121.7 262.8 -12.2 390 2266 0.35 1.92 0.00 0.000 6 0.160 0.027 2168 2297 3995

2605 -1.34 -121.7 295.7 -10.8 451 2611 0.17 0.00 0.00 0.000 6 0.067 0.000 2091 2299 3995

2935 -1.26 -121.7 333.2 -11.5 485 2940 0.17 2.22 0.00 0.000 4 0.158 0.041 2137 3763 3995

2969 -1.21 -121.7 337.3 -11.4 487 2975 0.00 2.10 0.00 0.000 6 0.000 0.020 2137 2262 3994

3298 -1.31 -121.7 370.4 -10.0 518 3302 0.00 1.83 0.00 0.000 4 0.000 0.025 2137 976 3994

3349 -1.31 -121.7 376.5 -11.3 522 3355 0.00 1.92 0.00 0.000 6 0.000 0.026 2130 2292 3995

3679 -1.42 -121.7 410.7 -10.4 553 3683 0.12 2.22 0.00 0.000 4 0.079 0.042 2071 3751 3994

3713 -1.18 -121.7 415.5 -12.8 556 3718 0.32 2.12 0.00 0.000 6 0.163 0.021 2161 2240 3994

4040 -1.42 -121.7 448.4 -10.0 586 4045 0.20 1.80 0.00 0.000 4 0.065 0.024 2075 980 3993

4064 -1.42 -121.7 451.1 -10.4 588 4068 0.00 1.90 0.00 0.000 6 0.000 0.028 2071 2268 3993

4398 -1.25 -121.7 487.7 -10.2 619 4402 0.22 2.28 0.00 0.000 4 0.163 0.041 2128 3754 3992

4526 -1.17 -121.7 500.3 -10.1 629 4532 0.15 2.15 0.00 0.000 6 0.160 0.022 2166 2246 3992

4843 -1.42 -121.7 528.5 -8.9 645 4847 0.20 1.83 0.00 0.000 4 0.066 0.025 2082 976 3990

4957 -1.25 -121.7 541.4 -11.6 650 4962 0.15 1.90 0.00 0.000 6 0.159 0.030 2136 2230 3990

5294 -1.40 -121.7 572.1 -8.8 666 5299 0.12 2.35 0.00 0.000 4 0.080 0.044 2085 3756 3987

5390 -1.21 -121.7 583.2 -11.4 670 5394 0.25 2.20 0.00 0.000 6 0.162 0.022 2153 2213 3987

5708 -1.46 -121.7 614.1 -10.3 685 5712 0.20 1.77 0.00 0.000 4 0.067 0.025 2069 982 3985

5770 -1.29 -121.7 622.2 -12.8 687 5776 0.22 1.85 0.00 0.000 6 0.165 0.029 2124 2230 3985

6089 -1.40 -121.7 654.6 -9.1 703 6093 0.00 2.35 0.00 0.000 4 0.000 0.046 2124 3750 3982

6157 -1.40 -121.7 661.5 -9.4 706 6161 0.00 2.20 0.00 0.000 6 0.000 0.021 2124 2208 3982

6480 -1.52 -121.7 690.2 -8.8 722 6484 0.17 1.75 0.00 0.000 4 0.069 0.025 2046 994 3979

6566 -1.28 -121.7 700.1 -11.7 725 6573 0.32 1.83 0.00 0.000 6 0.170 0.031 2131 2212 3979

6883 -1.48 -121.7 730.0 -9.3 741 6888 0.17 2.40 0.00 0.000 4 0.074 0.047 2057 3754 3976

6918 -1.22 -121.7 734.1 -12.9 742 6925 0.35 2.25 0.00 0.000 6 0.172 0.023 2152 2186 3976

7235 -1.40 -121.7 763.1 -8.9 758 7239 0.17 1.75 0.00 0.000 4 0.072 0.025 2079 981 3974

7274 -1.28 -121.7 766.7 -9.8 759 7281 0.22 1.83 0.00 0.000 6 0.165 0.031 2131 2200 3974

7592 -1.47 -121.7 793.5 -8.3 775 7596 0.17 2.42 0.00 0.000 4 0.077 0.048 2056 3748 3972

7608 -1.47 -121.7 795.3 -8.7 775 7614 0.00 2.30 0.00 0.000 6 0.000 0.023 2056 2159 3971

7926 -1.29 -121.7 830.1 -10.8 791 7931 0.22 2.50 0.00 0.000 4 0.172 0.045 2112 3743 3969

8054 -1.22 -121.7 843.3 -10.7 796 8061 0.15 2.25 0.00 0.000 6 0.168 0.024 2149 2181 3969

8372 -1.47 -121.7 869.8 -8.4 812 8376 0.20 1.75 0.00 0.000 4 0.071 0.027 2067 982 3967

8423 -1.30 -121.7 875.4 -11.2 814 8428 0.25 1.83 0.00 0.000 6 0.167 0.031 2125 2193 3967

8754 -1.45 -121.7 906.3 -9.3 830 8758 0.15 2.45 0.00 0.000 4 0.083 0.049 2069 3750 3965

8777 -1.37 -121.7 909.1 -11.0 831 8782 0.12 2.33 0.00 0.000 6 0.181 0.024 2099 2151 3965

9099 -1.37 -121.7 945.5 -11.1 847 9103 0.00 2.55 0.00 0.000 4 0.000 0.049 2098 3756 3964

9123 end dive: HALF_MISSION_TIME_EXCEEDED

state 9123 begin apogee

9133 -0.27 0.0 948.9 13.1 848 9229 1.20 0.00 92.00 1.393 6 0.170 0.000 2446 2338 3532

9230 end apogee: CONTROL_FINISHED_OK

state 9230 begin climb

9233 1.49 121.7 955.5 0.0 853 9345 1.62 2.38 103.82 1.352 4 0.063 0.044 3025 3741 3034

9392 0.69 189.9 958.4 8.2 860 9456 1.08 2.05 57.47 1.323 6 0.221 0.024 2769 2381 2758

9773 0.84 270.4 930.5 7.3 879 9847 0.12 2.28 67.43 1.324 4 0.094 0.049 2815 3743 2429

9948 0.78 291.4 911.1 11.5 887 9973 0.00 2.00 19.12 1.246 6 0.000 0.024 2816 2399 2343

10298 0.80 305.9 870.1 12.0 904 10320 0.00 2.20 12.80 1.205 4 0.000 0.032 2816 982 2284

10339 0.89 312.5 864.7 12.6 905 10353 0.00 2.20 7.28 1.068 6 0.000 0.031 2815 2409 2257

10678 0.95 322.2 823.5 12.3 922 10693 0.10 2.15 9.55 1.151 4 0.091 0.051 2856 3757 2218

10794 0.79 322.2 805.8 15.8 927 10798 0.25 1.95 0.00 0.000 6 0.182 0.026 2801 2438 2215

11127 0.93 328.2 762.9 12.6 943 11138 0.12 2.10 6.55 1.047 4 0.090 0.048 2847 3755 2193

11185 0.85 328.2 753.8 15.6 945 11191 0.15 1.90 0.00 0.000 6 0.189 0.024 2819 2467 2192

11502 0.94 337.8 712.5 12.4 961 11516 0.00 2.08 9.68 1.127 4 0.000 0.051 2819 3758 2154

11540 0.94 337.8 707.2 13.6 962 11546 0.00 1.88 0.00 0.000 6 0.000 0.027 2827 2484 2153

11857 1.04 350.0 668.3 12.2 978 11878 0.15 2.33 11.73 1.136 4 0.083 0.031 2885 984 2104

11890 1.00 350.0 663.5 14.7 979 11894 0.00 2.33 0.00 0.000 6 0.000 0.031 2885 2492 2104

12207 0.92 350.0 617.8 13.9 994 12209 0.17 0.00 0.00 0.000 6 0.184 0.000 2841 2495 2101

12516 1.09 380.7 582.1 10.8 1009 12548 0.15 2.08 26.65 1.144 4 0.078 0.051 2896 3756 1979

12608 0.96 380.7 569.5 15.5 1013 12612 0.20 1.90 0.00 0.000 6 0.186 0.025 2856 2471 1976

12936 1.16 399.4 531.4 11.7 1029 12959 0.17 2.12 16.95 1.078 4 0.079 0.050 2927 3750 1902

13016 0.98 399.4 519.2 15.1 1032 13021 0.20 1.83 0.00 0.000 6 0.178 0.024 2868 2522 1900

13345 1.22 417.5 479.2 11.7 1056 13368 0.20 2.03 16.42 1.037 4 0.075 0.048 2942 3757 1827

13392 1.05 417.5 472.0 17.3 1060 13400 0.25 1.75 0.00 0.000 6 0.184 0.024 2885 2562 1827

13718 1.16 430.3 429.2 12.1 1091 13734 0.00 1.92 11.88 0.972 4 0.000 0.051 2886 3757 1776

13808 1.16 430.3 417.2 13.7 1098 13814 0.00 1.80 0.00 0.000 6 0.000 0.025 2894 2521 1774

14137 1.39 430.3 375.5 13.1 1129 14141 0.25 1.95 0.00 0.000 4 0.070 0.047 2996 3754 1772

14165 1.23 430.3 370.6 17.3 1131 14172 0.25 1.92 0.00 0.000 6 0.190 0.023 2943 2430 1772

14492 1.17 430.3 324.8 13.8 1162 14496 0.00 2.15 0.00 0.000 4 0.000 0.029 2952 972 1772

14542 1.12 430.3 317.7 13.0 1166 14549 0.17 2.20 0.00 0.000 6 0.179 0.031 2908 2429 1772

14879 1.29 446.5 278.0 11.9 1213 14903 0.15 2.22 14.70 0.871 4 0.081 0.031 2971 987 1710

14998 1.22 446.5 261.5 15.4 1233 15005 0.15 2.25 0.00 0.000 6 0.182 0.030 2935 2463 1709

15345 1.37 459.7 215.1 12.1 1294 15365 0.15 2.08 12.48 0.805 4 0.074 0.045 2993 3764 1656

15459 1.16 459.7 197.8 15.7 1313 15465 0.30 1.88 0.00 0.000 6 0.181 0.024 2924 2464 1654

15806 1.45 475.3 152.3 11.9 1374 15826 0.20 2.10 13.62 0.756 4 0.070 0.046 3010 3759 1593

15857 1.24 475.3 144.5 16.9 1382 15863 0.28 1.83 0.00 0.000 6 0.177 0.024 2947 2490 1592

16203 1.52 506.9 103.8 10.8 1443 16239 0.22 2.30 27.38 0.734 4 0.068 0.030 3050 985 1463

16258 1.37 506.9 94.7 18.7 1452 16265 0.25 2.20 0.00 0.000 6 0.173 0.029 2984 2433 1462

16606 1.60 507.3 52.1 13.0 1513 16613 0.17 2.05 0.00 0.000 4 0.074 0.045 3063 3753 1460

16689 1.43 507.3 39.3 14.4 1527 16695 0.25 1.92 0.00 0.000 6 0.187 0.021 3007 2428 1459

16979 end climb: SURFACE_DEPTH_REACHED

state 16980 begin surface coast

17031 end surface coast: CONTROL_FINISHED_OK

state 17032 begin surface

ID	167	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	473	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	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	2383	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2365	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	76	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	50	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	0.029999999	DEVICE1	2
T_DIVE	253	UPLOAD_DIVES_MAX	-1	VBD_MIN	389	DEVICE2	53
T_MISSION	304	CALL_TRIES	5	VBD_MAX	3987	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3532	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	5	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	-15267.948	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	125	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	134	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2545	PRESSURE_YINT	-14.600696	SEABIRD_T_G	0.0043387017
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_H	0.00063414662
MASS	51932	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_T_I	2.5692387e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8978091e-06
FERRY_MAX	45	PITCH_GAIN	18.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8799791
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1029794
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010948726
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016878155
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	063401,2448.938,12352.397,56,1.2,57,-3.6	TGT_NAME	OFF_1
_CALLS	1	TGT_LATLONG	2433.700,12329.700
_XMS_NAKs	15	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.45	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-57.6	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	064310,2449.159,12352.352,14,2.1,33,-3.6	MHEAD_RNG_PITCHd_Wd	226.4,47702,-24.8,-13.043
SPEED_LIMITS	0.226,0.258	D_GRID	1896

FINISH	1.8,1.022080	_24V_AH	22.5,81.851
SM_CCo	17112,0.00,0.000,0,0,1457,509.00	_10V_AH	10.6,43.772
SM_GC	2.40,7.75,0.00,0.00,0.058,0.000,0.000,140,2424,1457,-7.50,1.16,509.00	DATA_FILE_SIZE	85075,1588
IRIDIUM_FIX	2439.44,12351.28,021198,010140	CAP_FILE_SIZE	193621,0
TT8_MAMPS	0.029146	CFSIZE	260165632,188076032
HUMID	1735	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.38513	CURRENT	0.231, 32.1,1
TCM_TEMP	25.60	GPS	080809,113024,2450.191,12352.759,43,1.5,61,-3.7
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	236	170.62	SBE_CT	1071	24	578.49
Roll_motor	169	50	193.37	Optode	1100	33	816.91
VBD_pump_during_apogee	537	1392	16845.05	WL_BB2F	0	105	0.00
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	31	103	72.68	nil	0	0	0.00
Iridium_during_connect	35	160	128.09	nil	0	0	0.00
Iridium_during_xfer	286	223	1438.78
Transponder_ping	8	420	77.96
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	18.36
TT8	2856	19	599.52
LPSleep	10435	2	242.25
TT8_Active	679	19	142.63
TT8_Sampling	2807	39	1184.24
TT8_CF8	868	45	421.60
TT8_Kalman	0	81	0.00
Analog_circuits	2135	12	271.60
GPS_charging	0	0	0.00
Compass	2725	8	231.09
RAFOS	0	0	0.00
Transponder	51	30	16.25

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
16	-1.49	-121.7	0.0	0.0	0	59	0.00	0.00	-40.65	0.000	2	0.000	0.000	140	2418	2402
63	-1.49	-121.7	3.0	-2.7	7	124	8.02	2.17	-47.45	0.000	4	0.236	0.038	2061	985	3989
250	-0.99	-121.7	39.6	-21.9	39	257	0.60	2.08	0.00	0.000	6	0.176	0.026	2217	2384	3990
595	-1.04	-121.7	83.1	-12.3	100	603	0.00	2.03	0.00	0.000	4	0.000	0.025	2218	990	3991
656	-1.11	-121.7	90.1	-12.8	110	662	0.00	2.05	0.00	0.000	6	0.000	0.026	2210	2385	3991
1002	-1.35	-121.7	130.8	-10.5	171	1009	0.25	2.03	0.00	0.000	4	0.057	0.022	2097	985	3992
1072	-1.05	-121.7	141.1	-16.0	183	1080	0.40	2.03	0.00	0.000	6	0.158	0.028	2202	2360	3992
1421	-1.31	-121.7	179.0	-8.3	244	1428	0.20	2.12	0.00	0.000	4	0.060	0.041	2111	3763	3994
1453	-1.19	-121.7	182.1	-10.5	249	1460	0.17	2.03	0.00	0.000	6	0.164	0.020	2156	2300	3994
1800	-1.30	-121.7	214.9	-9.0	310	1805	0.00	1.88	0.00	0.000	4	0.000	0.023	2156	972	3994
1859	-1.30	-121.7	220.7	-10.0	320	1866	0.00	1.98	0.00	0.000	6	0.000	0.025	2152	2327	3994
2206	-1.43	-121.7	256.3	-9.7	381	2213	0.17	1.95	0.00	0.000	4	0.068	0.023	2070	982	3995
2259	-1.16	-121.7	262.8	-12.2	390	2266	0.35	1.92	0.00	0.000	6	0.160	0.027	2168	2297	3995
2605	-1.34	-121.7	295.7	-10.8	451	2611	0.17	0.00	0.00	0.000	6	0.067	0.000	2091	2299	3995
2935	-1.26	-121.7	333.2	-11.5	485	2940	0.17	2.22	0.00	0.000	4	0.158	0.041	2137	3763	3995
2969	-1.21	-121.7	337.3	-11.4	487	2975	0.00	2.10	0.00	0.000	6	0.000	0.020	2137	2262	3994
3298	-1.31	-121.7	370.4	-10.0	518	3302	0.00	1.83	0.00	0.000	4	0.000	0.025	2137	976	3994
3349	-1.31	-121.7	376.5	-11.3	522	3355	0.00	1.92	0.00	0.000	6	0.000	0.026	2130	2292	3995
3679	-1.42	-121.7	410.7	-10.4	553	3683	0.12	2.22	0.00	0.000	4	0.079	0.042	2071	3751	3994
3713	-1.18	-121.7	415.5	-12.8	556	3718	0.32	2.12	0.00	0.000	6	0.163	0.021	2161	2240	3994
4040	-1.42	-121.7	448.4	-10.0	586	4045	0.20	1.80	0.00	0.000	4	0.065	0.024	2075	980	3993
4064	-1.42	-121.7	451.1	-10.4	588	4068	0.00	1.90	0.00	0.000	6	0.000	0.028	2071	2268	3993
4398	-1.25	-121.7	487.7	-10.2	619	4402	0.22	2.28	0.00	0.000	4	0.163	0.041	2128	3754	3992
4526	-1.17	-121.7	500.3	-10.1	629	4532	0.15	2.15	0.00	0.000	6	0.160	0.022	2166	2246	3992
4843	-1.42	-121.7	528.5	-8.9	645	4847	0.20	1.83	0.00	0.000	4	0.066	0.025	2082	976	3990
4957	-1.25	-121.7	541.4	-11.6	650	4962	0.15	1.90	0.00	0.000	6	0.159	0.030	2136	2230	3990
5294	-1.40	-121.7	572.1	-8.8	666	5299	0.12	2.35	0.00	0.000	4	0.080	0.044	2085	3756	3987
5390	-1.21	-121.7	583.2	-11.4	670	5394	0.25	2.20	0.00	0.000	6	0.162	0.022	2153	2213	3987
5708	-1.46	-121.7	614.1	-10.3	685	5712	0.20	1.77	0.00	0.000	4	0.067	0.025	2069	982	3985
5770	-1.29	-121.7	622.2	-12.8	687	5776	0.22	1.85	0.00	0.000	6	0.165	0.029	2124	2230	3985
6089	-1.40	-121.7	654.6	-9.1	703	6093	0.00	2.35	0.00	0.000	4	0.000	0.046	2124	3750	3982
6157	-1.40	-121.7	661.5	-9.4	706	6161	0.00	2.20	0.00	0.000	6	0.000	0.021	2124	2208	3982
6480	-1.52	-121.7	690.2	-8.8	722	6484	0.17	1.75	0.00	0.000	4	0.069	0.025	2046	994	3979
6566	-1.28	-121.7	700.1	-11.7	725	6573	0.32	1.83	0.00	0.000	6	0.170	0.031	2131	2212	3979
6883	-1.48	-121.7	730.0	-9.3	741	6888	0.17	2.40	0.00	0.000	4	0.074	0.047	2057	3754	3976
6918	-1.22	-121.7	734.1	-12.9	742	6925	0.35	2.25	0.00	0.000	6	0.172	0.023	2152	2186	3976
7235	-1.40	-121.7	763.1	-8.9	758	7239	0.17	1.75	0.00	0.000	4	0.072	0.025	2079	981	3974
7274	-1.28	-121.7	766.7	-9.8	759	7281	0.22	1.83	0.00	0.000	6	0.165	0.031	2131	2200	3974
7592	-1.47	-121.7	793.5	-8.3	775	7596	0.17	2.42	0.00	0.000	4	0.077	0.048	2056	3748	3972
7608	-1.47	-121.7	795.3	-8.7	775	7614	0.00	2.30	0.00	0.000	6	0.000	0.023	2056	2159	3971
7926	-1.29	-121.7	830.1	-10.8	791	7931	0.22	2.50	0.00	0.000	4	0.172	0.045	2112	3743	3969
8054	-1.22	-121.7	843.3	-10.7	796	8061	0.15	2.25	0.00	0.000	6	0.168	0.024	2149	2181	3969
8372	-1.47	-121.7	869.8	-8.4	812	8376	0.20	1.75	0.00	0.000	4	0.071	0.027	2067	982	3967
8423	-1.30	-121.7	875.4	-11.2	814	8428	0.25	1.83	0.00	0.000	6	0.167	0.031	2125	2193	3967
8754	-1.45	-121.7	906.3	-9.3	830	8758	0.15	2.45	0.00	0.000	4	0.083	0.049	2069	3750	3965
8777	-1.37	-121.7	909.1	-11.0	831	8782	0.12	2.33	0.00	0.000	6	0.181	0.024	2099	2151	3965
9099	-1.37	-121.7	945.5	-11.1	847	9103	0.00	2.55	0.00	0.000	4	0.000	0.049	2098	3756	3964
9123	end dive: HALF_MISSION_TIME_EXCEEDED
state	9123	begin apogee
9133	-0.27	0.0	948.9	13.1	848	9229	1.20	0.00	92.00	1.393	6	0.170	0.000	2446	2338	3532
9230	end apogee: CONTROL_FINISHED_OK
state	9230	begin climb
9233	1.49	121.7	955.5	0.0	853	9345	1.62	2.38	103.82	1.352	4	0.063	0.044	3025	3741	3034
9392	0.69	189.9	958.4	8.2	860	9456	1.08	2.05	57.47	1.323	6	0.221	0.024	2769	2381	2758
9773	0.84	270.4	930.5	7.3	879	9847	0.12	2.28	67.43	1.324	4	0.094	0.049	2815	3743	2429
9948	0.78	291.4	911.1	11.5	887	9973	0.00	2.00	19.12	1.246	6	0.000	0.024	2816	2399	2343
10298	0.80	305.9	870.1	12.0	904	10320	0.00	2.20	12.80	1.205	4	0.000	0.032	2816	982	2284
10339	0.89	312.5	864.7	12.6	905	10353	0.00	2.20	7.28	1.068	6	0.000	0.031	2815	2409	2257
10678	0.95	322.2	823.5	12.3	922	10693	0.10	2.15	9.55	1.151	4	0.091	0.051	2856	3757	2218
10794	0.79	322.2	805.8	15.8	927	10798	0.25	1.95	0.00	0.000	6	0.182	0.026	2801	2438	2215
11127	0.93	328.2	762.9	12.6	943	11138	0.12	2.10	6.55	1.047	4	0.090	0.048	2847	3755	2193
11185	0.85	328.2	753.8	15.6	945	11191	0.15	1.90	0.00	0.000	6	0.189	0.024	2819	2467	2192
11502	0.94	337.8	712.5	12.4	961	11516	0.00	2.08	9.68	1.127	4	0.000	0.051	2819	3758	2154
11540	0.94	337.8	707.2	13.6	962	11546	0.00	1.88	0.00	0.000	6	0.000	0.027	2827	2484	2153
11857	1.04	350.0	668.3	12.2	978	11878	0.15	2.33	11.73	1.136	4	0.083	0.031	2885	984	2104
11890	1.00	350.0	663.5	14.7	979	11894	0.00	2.33	0.00	0.000	6	0.000	0.031	2885	2492	2104
12207	0.92	350.0	617.8	13.9	994	12209	0.17	0.00	0.00	0.000	6	0.184	0.000	2841	2495	2101
12516	1.09	380.7	582.1	10.8	1009	12548	0.15	2.08	26.65	1.144	4	0.078	0.051	2896	3756	1979
12608	0.96	380.7	569.5	15.5	1013	12612	0.20	1.90	0.00	0.000	6	0.186	0.025	2856	2471	1976
12936	1.16	399.4	531.4	11.7	1029	12959	0.17	2.12	16.95	1.078	4	0.079	0.050	2927	3750	1902
13016	0.98	399.4	519.2	15.1	1032	13021	0.20	1.83	0.00	0.000	6	0.178	0.024	2868	2522	1900
13345	1.22	417.5	479.2	11.7	1056	13368	0.20	2.03	16.42	1.037	4	0.075	0.048	2942	3757	1827
13392	1.05	417.5	472.0	17.3	1060	13400	0.25	1.75	0.00	0.000	6	0.184	0.024	2885	2562	1827
13718	1.16	430.3	429.2	12.1	1091	13734	0.00	1.92	11.88	0.972	4	0.000	0.051	2886	3757	1776
13808	1.16	430.3	417.2	13.7	1098	13814	0.00	1.80	0.00	0.000	6	0.000	0.025	2894	2521	1774
14137	1.39	430.3	375.5	13.1	1129	14141	0.25	1.95	0.00	0.000	4	0.070	0.047	2996	3754	1772
14165	1.23	430.3	370.6	17.3	1131	14172	0.25	1.92	0.00	0.000	6	0.190	0.023	2943	2430	1772
14492	1.17	430.3	324.8	13.8	1162	14496	0.00	2.15	0.00	0.000	4	0.000	0.029	2952	972	1772
14542	1.12	430.3	317.7	13.0	1166	14549	0.17	2.20	0.00	0.000	6	0.179	0.031	2908	2429	1772
14879	1.29	446.5	278.0	11.9	1213	14903	0.15	2.22	14.70	0.871	4	0.081	0.031	2971	987	1710
14998	1.22	446.5	261.5	15.4	1233	15005	0.15	2.25	0.00	0.000	6	0.182	0.030	2935	2463	1709
15345	1.37	459.7	215.1	12.1	1294	15365	0.15	2.08	12.48	0.805	4	0.074	0.045	2993	3764	1656
15459	1.16	459.7	197.8	15.7	1313	15465	0.30	1.88	0.00	0.000	6	0.181	0.024	2924	2464	1654
15806	1.45	475.3	152.3	11.9	1374	15826	0.20	2.10	13.62	0.756	4	0.070	0.046	3010	3759	1593
15857	1.24	475.3	144.5	16.9	1382	15863	0.28	1.83	0.00	0.000	6	0.177	0.024	2947	2490	1592
16203	1.52	506.9	103.8	10.8	1443	16239	0.22	2.30	27.38	0.734	4	0.068	0.030	3050	985	1463
16258	1.37	506.9	94.7	18.7	1452	16265	0.25	2.20	0.00	0.000	6	0.173	0.029	2984	2433	1462
16606	1.60	507.3	52.1	13.0	1513	16613	0.17	2.05	0.00	0.000	4	0.074	0.045	3063	3753	1460
16689	1.43	507.3	39.3	14.4	1527	16695	0.25	1.92	0.00	0.000	6	0.187	0.021	3007	2428	1459
16979	end climb: SURFACE_DEPTH_REACHED
state	16980	begin surface coast
17031	end surface coast: CONTROL_FINISHED_OK
state	17032	begin surface