Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 123 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 515 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 123 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2230 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 575 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 48 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 47 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 495 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 520 CALL_TRIES 5 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 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 100 T_GPS_CHARGE -7320.7397 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -7 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 205 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3967 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2733 PRESSURE_YINT -42.932224 SEABIRD_T_G 0.0043524536

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011628702 SEABIRD_T_H 0.00062548812

MASS 51931 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3784551e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5490917e-06

FERRY_MAX 45 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.141768

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1640214

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00094225706

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0001682234

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

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 200 PITCH_DBAND 0.1 SM_CC 575

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 27 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3967 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 205 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 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 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011628702 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -42.932224 TGT_DEFAULT_LAT 2841

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8830

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -7 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 495

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -7320.7397

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 520

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 515 ROLL_DEG 25 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3575 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2733 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -4

C_ROLL_CLIMB 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2400 MASS 51931 R_PORT_OVSHOOT 48 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 47 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.141768 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1640214 VBD_MAX 3959

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00094225706 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.0001682234 VBD_MIN 404

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043524536 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062548812 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3784551e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5490917e-06 XPDR_DEVICE 24

DIVE 123 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 120554,2844.985,-8830.801,41,1.7,41,-0.4 TGT_NAME NEW0602B

_CALLS 1 TGT_LATLONG 2845.000,-8829.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.023,0.251

_SM_DEPTHo 1.60 KALMAN_X -249835.5,-130.5,-487.0,288769.5,3980.8

_SM_ANGLEo -74.1 KALMAN_Y -11860.1,583.3,652.9,2586.4,-13949.1

GPS2 121225,2845.016,-8830.704,14,1.1,25,-0.4 MHEAD_RNG_PITCHd_Wd 96.1,2767,-26.6,-6.667

SPEED_LIMITS 0.115,0.252 D_GRID 1238

Post-dive calculations and measurements:

FINISH 2.7,1.020075 _24V_AH 23.8,23.231

SM_CCo 20097,161.82,0.498,0,0,494,575.22 _10V_AH 10.7,31.561

SM_GC 1.54,0.00,0.00,161.82,0.000,0.000,0.498,206,2376,494,-7.90,-0.68,575.22 DATA_FILE_SIZE 97665,1913

IRIDIUM_FIX 2833.46,-8831.56,090999,060605 CAP_FILE_SIZE 198869,0

TT8_MAMPS 0.050622 CFSIZE 260165632,244195328

HUMID 1255 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,4,0,0

INTERNAL_PRESSURE 9.28747 CURRENT 0.020,280.7,1

TCM_TEMP 24.90 GPS 150610,175137,2845.019,-8830.900,34,1.2,34,-0.4

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 257 126.96 SBE_CT 1312 24 749.67

Roll_motor 108 59 152.58 SBE_O2 1416 19 640.47

VBD_pump_during_apogee 261 1251 7795.69 WL_BBFL2VMT 4300 105 10746.06

VBD_pump_during_surface 161 497 1917.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 77.31 nil 0 0 0.00

Iridium_during_connect 24 160 94.47 nil 0 0 0.00

Iridium_during_xfer 207 223 1100.21

Transponder_ping 0 420 2.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 26 50 14.39

TT8 0 19 0.00

LPSleep 13037 2 305.52

TT8_Active 532 19 112.92

TT8_Sampling 6475 39 2757.48

TT8_CF8 568 45 278.42

TT8_Kalman 33 81 29.20

Analog_circuits 2401 12 308.35

GPS_charging 0 0 0.00

Compass 5813 8 497.66

RAFOS 0 0 0.00

Transponder 0 30 0.27

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 -1.03 -34.4 0.0 0.0 0 62 0.00 0.00 -48.67 0.000 2 0.000 0.000 197 2402 1881

64 -1.05 -52.0 3.4 -4.4 5 112 9.77 1.27 -31.73 0.000 4 0.258 0.055 2392 1510 3054

137 -1.05 -52.0 13.0 -20.1 11 144 0.00 1.25 0.00 0.000 6 0.000 0.030 2387 2384 3055

329 -1.05 -54.1 34.0 -6.4 30 332 0.00 1.20 0.00 0.000 4 0.000 0.033 2391 1511 3056

574 -1.05 -54.1 51.0 -7.1 53 578 0.00 1.25 0.00 0.000 6 0.000 0.032 2387 2395 3057

771 -1.05 -54.1 66.0 -6.9 72 774 0.00 1.23 0.00 0.000 4 0.000 0.033 2392 1504 3057

1017 -1.05 -54.1 82.4 -6.9 95 1020 0.00 1.25 0.00 0.000 6 0.000 0.031 2387 2396 3057

1213 -1.05 -54.1 96.2 -7.4 114 1214 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2396 3057

1400 -1.05 -54.1 110.4 -8.2 132 1400 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2396 3057

1710 -1.05 -54.1 135.1 -8.1 162 1713 0.00 1.48 0.00 0.000 4 0.000 0.042 2380 3302 3057

1955 -1.05 -54.1 154.8 -7.5 185 1959 0.00 1.42 0.00 0.000 6 0.000 0.028 2386 2390 3056

2278 -1.05 -54.1 178.8 -7.6 216 2280 0.00 1.48 0.00 0.000 4 0.000 0.042 2380 3284 3055

2298 -1.05 -54.1 180.6 -7.9 218 2301 0.00 1.40 0.00 0.000 6 0.000 0.028 2386 2396 3055

2620 -1.05 -54.1 202.5 -6.7 249 2623 0.00 1.23 0.00 0.000 4 0.000 0.035 2392 1512 3053

2865 -1.05 -54.1 219.7 -6.7 272 2868 0.00 1.25 0.00 0.000 6 0.000 0.035 2387 2396 3053

3187 -1.05 -54.1 242.3 -7.2 303 3190 0.00 1.25 0.00 0.000 4 0.000 0.037 2391 1512 3051

3389 -1.05 -54.1 255.8 -7.0 322 3392 0.00 1.27 0.00 0.000 6 0.000 0.035 2387 2410 3050

3711 -1.05 -54.1 278.1 -7.1 353 3714 0.00 1.45 0.00 0.000 4 0.000 0.045 2380 3288 3048

3896 -1.05 -54.1 292.3 -7.9 370 3905 0.00 1.42 0.00 0.000 6 0.000 0.029 2385 2397 3047

4213 -1.05 -54.1 315.8 -7.7 401 4216 0.00 1.48 0.00 0.000 4 0.000 0.045 2379 3283 3045

4458 -1.05 -54.1 335.2 -7.7 424 4462 0.00 1.40 0.00 0.000 6 0.000 0.030 2385 2404 3044

4780 -1.05 -54.1 359.3 -7.6 455 4783 0.00 1.48 0.00 0.000 4 0.000 0.046 2380 3288 3042

5025 -1.05 -54.1 379.2 -7.6 478 5029 0.00 1.42 0.00 0.000 6 0.000 0.031 2385 2399 3042

5347 -1.05 -54.1 403.7 -7.8 509 5350 0.00 1.25 0.00 0.000 4 0.000 0.040 2389 1511 3039

5592 -1.05 -54.1 422.2 -7.4 532 5595 0.00 1.25 0.00 0.000 6 0.000 0.038 2384 2389 3038

5913 -1.05 -54.1 447.0 -7.7 563 5916 0.00 1.25 0.00 0.000 4 0.000 0.040 2389 1509 3037

6158 -1.05 -54.1 465.9 -8.0 586 6162 0.00 1.27 0.00 0.000 6 0.000 0.038 2384 2399 3035

6480 -1.05 -54.1 490.4 -7.4 617 6481 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2399 3034

6790 -1.05 -54.1 514.2 -8.0 647 6793 0.00 1.50 0.00 0.000 4 0.000 0.050 2377 3301 3032

7035 -1.05 -54.1 534.6 -7.8 670 7039 0.00 1.45 0.00 0.000 6 0.000 0.033 2378 2398 3032

7357 -1.05 -54.1 560.3 -8.0 701 7360 0.00 1.50 0.00 0.000 4 0.000 0.051 2372 3287 3031

7602 -1.05 -54.1 580.0 -7.5 724 7605 0.00 1.42 0.00 0.000 6 0.000 0.035 2374 2405 3029

7924 -1.05 -54.1 605.4 -8.0 755 7927 0.00 1.50 0.00 0.000 4 0.000 0.052 2368 3289 3029

8169 -1.05 -54.1 626.1 -8.8 778 8172 0.00 1.45 0.00 0.000 6 0.000 0.035 2374 2395 3028

8490 -1.05 -54.1 651.8 -7.8 809 8494 0.00 1.27 0.00 0.000 4 0.000 0.046 2374 1509 3026

8736 -1.05 -54.1 671.2 -8.2 832 8739 0.00 1.30 0.00 0.000 6 0.000 0.043 2369 2398 3025

9057 -1.05 -54.1 695.4 -7.0 863 9060 0.00 1.30 0.00 0.000 4 0.000 0.046 2374 1511 3023

9302 -1.05 -54.1 714.3 -7.5 886 9305 0.00 1.30 0.00 0.000 6 0.000 0.044 2369 2397 3022

9623 -1.05 -54.1 738.2 -7.1 917 9627 0.00 1.30 0.00 0.000 4 0.000 0.046 2374 1512 3022

9847 -1.05 -54.1 754.6 -7.1 938 9850 0.00 1.30 0.00 0.000 6 0.000 0.044 2368 2396 3020

10169 -1.05 -54.1 778.2 -7.5 969 10172 0.00 1.52 0.00 0.000 4 0.000 0.054 2361 3300 3020

10414 -1.05 -54.1 796.9 -7.2 992 10417 0.10 1.48 0.00 0.000 6 0.216 0.037 2387 2396 3019

10735 -1.05 -54.2 817.9 -6.7 1023 10738 0.00 1.55 0.00 0.000 4 0.000 0.054 2381 3307 3018

10981 -1.06 -58.5 834.6 -6.1 1046 10984 0.00 1.48 0.00 0.000 6 0.000 0.038 2386 2400 3017

11302 -1.07 -68.4 853.7 -5.4 1077 11305 0.00 1.52 0.00 0.000 4 0.000 0.055 2380 3290 3016

11547 -1.08 -73.6 868.9 -6.0 1100 11550 0.00 1.45 0.00 0.000 6 0.000 0.038 2386 2403 3016

11868 -1.09 -84.5 887.4 -5.3 1131 11872 0.00 1.52 0.00 0.000 4 0.000 0.056 2381 3291 3015

12114 -1.10 -90.5 901.9 -5.9 1154 12117 0.00 1.48 0.00 0.000 6 0.000 0.038 2386 2397 3014

12434 -1.11 -100.3 919.8 -5.4 1185 12438 0.00 1.30 0.00 0.000 4 0.000 0.048 2389 1506 3013

12680 -1.12 -107.0 934.0 -5.8 1208 12683 0.00 1.33 0.00 0.000 6 0.000 0.047 2384 2402 3013

13001 -1.13 -113.5 952.9 -5.8 1239 13004 0.00 1.30 0.00 0.000 4 0.000 0.047 2388 1511 3012

13247 -1.13 -118.9 967.5 -6.0 1262 13250 0.00 1.30 0.00 0.000 6 0.000 0.047 2384 2388 3012

13568 -1.14 -129.3 986.1 -5.3 1293 13571 0.00 1.27 0.00 0.000 4 0.000 0.048 2388 1504 3011

13641 end dive: TARGET_DEPTH_EXCEEDED

state 13641 begin apogee

13646 -0.26 0.0 990.1 4.8 1300 13684 0.98 0.00 34.92 1.243 6 0.196 0.000 2642 2267 2840

13685 end apogee: CONTROL_FINISHED_OK

state 13685 begin climb

13686 1.14 129.3 991.0 0.0 1304 13804 1.40 1.70 110.55 1.252 4 0.114 0.059 3092 3098 2311

13839 1.14 129.3 969.7 21.5 1317 13847 0.00 1.70 0.00 0.000 6 0.000 0.038 3100 2224 2306

14157 1.14 129.3 904.7 20.0 1348 14160 0.00 1.12 0.00 0.000 4 0.000 0.045 3105 1337 2300

14199 1.14 129.3 896.0 18.2 1352 14202 0.00 1.17 0.00 0.000 6 0.000 0.046 3105 2234 2300

14520 1.14 129.3 830.1 21.0 1383 14523 0.00 1.67 0.00 0.000 4 0.000 0.055 3100 3107 2297

14583 1.14 129.3 816.2 22.0 1389 14587 0.00 1.62 0.00 0.000 6 0.000 0.038 3107 2226 2296

14904 1.14 129.3 750.2 20.3 1420 14908 0.00 1.10 0.00 0.000 4 0.000 0.044 3112 1342 2296

14936 1.14 129.3 743.9 20.3 1423 14939 0.00 1.15 0.00 0.000 6 0.000 0.045 3112 2230 2295

15258 1.14 129.3 680.1 19.7 1454 15261 0.00 1.67 0.00 0.000 4 0.000 0.056 3113 3110 2295

15321 1.14 129.3 667.0 19.4 1460 15324 0.00 1.60 0.00 0.000 6 0.000 0.038 3120 2236 2294

15642 1.14 129.3 602.7 19.5 1491 15645 0.00 1.12 0.00 0.000 4 0.000 0.043 3126 1331 2294

15742 1.14 129.3 582.5 18.4 1500 15750 0.00 1.20 0.00 0.000 6 0.000 0.044 3125 2254 2294

16059 1.14 129.3 526.3 16.3 1531 16062 0.00 1.15 0.00 0.000 4 0.000 0.042 3130 1338 2292

16176 1.14 129.3 506.4 16.5 1542 16179 0.00 1.15 0.00 0.000 6 0.000 0.044 3130 2244 2293

16497 1.14 129.3 450.8 18.5 1573 16500 0.00 1.15 0.00 0.000 4 0.000 0.041 3135 1331 2292

16682 1.14 129.3 417.1 16.6 1590 16691 0.12 1.17 0.00 0.000 6 0.197 0.043 3104 2240 2291

16998 1.14 129.3 363.0 17.7 1621 17002 0.00 1.15 0.00 0.000 4 0.000 0.041 3109 1323 2291

17244 1.14 129.3 319.6 18.5 1644 17247 0.00 1.15 0.00 0.000 6 0.000 0.043 3104 2226 2291

17565 1.14 129.3 262.9 17.8 1675 17568 0.00 1.65 0.00 0.000 4 0.000 0.052 3100 3104 2291

17639 1.14 129.3 249.7 19.7 1682 17643 0.00 1.60 0.00 0.000 6 0.000 0.035 3107 2216 2291

17960 1.14 129.3 194.2 16.4 1713 17963 0.00 1.67 0.00 0.000 4 0.000 0.051 3104 3102 2291

18178 1.14 129.3 157.0 14.4 1733 18185 0.00 1.58 0.00 0.000 6 0.000 0.034 3112 2236 2291

18495 1.14 129.3 104.0 16.9 1764 18498 0.00 1.62 0.00 0.000 4 0.000 0.051 3112 3115 2292

18719 1.14 129.3 65.9 14.9 1785 18722 0.00 1.60 0.00 0.000 6 0.000 0.033 3120 2217 2293

18916 1.14 129.3 38.5 12.4 1804 18919 0.00 1.05 0.00 0.000 4 0.000 0.038 3125 1343 2293

19162 1.17 149.8 20.1 4.0 1827 19178 0.00 1.12 13.90 0.528 6 0.000 0.037 3125 2245 2229

19365 1.21 178.5 14.9 2.9 1846 19390 0.00 1.15 22.70 0.533 4 0.000 0.036 3129 1338 2111

19629 1.26 222.7 11.1 0.9 1870 19667 0.00 1.15 33.58 0.523 6 0.000 0.035 3129 2249 1932

19861 1.30 256.0 5.2 2.3 1892 19896 0.00 1.17 25.48 0.501 4 0.000 0.035 3135 1328 1795

19917 1.33 283.0 4.0 3.2 1897 19942 0.00 1.12 20.55 0.489 6 0.000 0.033 3134 2228 1685

19957 end climb: SURFACE_DEPTH_REACHED

state 19958 begin surface coast

20083 end surface coast: CONTROL_FINISHED_OK

state 20083 begin surface

ID	515	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	123	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2230	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	575	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	48	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	47	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	495	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	520	CALL_TRIES	5	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	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	100	T_GPS_CHARGE	-7320.7397	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-7	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	205	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3967	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2733	PRESSURE_YINT	-42.932224	SEABIRD_T_G	0.0043524536
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011628702	SEABIRD_T_H	0.00062548812
MASS	51931	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3784551e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5490917e-06
FERRY_MAX	45	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.141768
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1640214
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00094225706
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0001682234
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	120554,2844.985,-8830.801,41,1.7,41,-0.4	TGT_NAME	NEW0602B
_CALLS	1	TGT_LATLONG	2845.000,-8829.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.023,0.251
_SM_DEPTHo	1.60	KALMAN_X	-249835.5,-130.5,-487.0,288769.5,3980.8
_SM_ANGLEo	-74.1	KALMAN_Y	-11860.1,583.3,652.9,2586.4,-13949.1
GPS2	121225,2845.016,-8830.704,14,1.1,25,-0.4	MHEAD_RNG_PITCHd_Wd	96.1,2767,-26.6,-6.667
SPEED_LIMITS	0.115,0.252	D_GRID	1238

FINISH	2.7,1.020075	_24V_AH	23.8,23.231
SM_CCo	20097,161.82,0.498,0,0,494,575.22	_10V_AH	10.7,31.561
SM_GC	1.54,0.00,0.00,161.82,0.000,0.000,0.498,206,2376,494,-7.90,-0.68,575.22	DATA_FILE_SIZE	97665,1913
IRIDIUM_FIX	2833.46,-8831.56,090999,060605	CAP_FILE_SIZE	198869,0
TT8_MAMPS	0.050622	CFSIZE	260165632,244195328
HUMID	1255	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
INTERNAL_PRESSURE	9.28747	CURRENT	0.020,280.7,1
TCM_TEMP	24.90	GPS	150610,175137,2845.019,-8830.900,34,1.2,34,-0.4
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	257	126.96	SBE_CT	1312	24	749.67
Roll_motor	108	59	152.58	SBE_O2	1416	19	640.47
VBD_pump_during_apogee	261	1251	7795.69	WL_BBFL2VMT	4300	105	10746.06
VBD_pump_during_surface	161	497	1917.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	77.31	nil	0	0	0.00
Iridium_during_connect	24	160	94.47	nil	0	0	0.00
Iridium_during_xfer	207	223	1100.21
Transponder_ping	0	420	2.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	26	50	14.39
TT8	0	19	0.00
LPSleep	13037	2	305.52
TT8_Active	532	19	112.92
TT8_Sampling	6475	39	2757.48
TT8_CF8	568	45	278.42
TT8_Kalman	33	81	29.20
Analog_circuits	2401	12	308.35
GPS_charging	0	0	0.00
Compass	5813	8	497.66
RAFOS	0	0	0.00
Transponder	0	30	0.27

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	-1.03	-34.4	0.0	0.0	0	62	0.00	0.00	-48.67	0.000	2	0.000	0.000	197	2402	1881
64	-1.05	-52.0	3.4	-4.4	5	112	9.77	1.27	-31.73	0.000	4	0.258	0.055	2392	1510	3054
137	-1.05	-52.0	13.0	-20.1	11	144	0.00	1.25	0.00	0.000	6	0.000	0.030	2387	2384	3055
329	-1.05	-54.1	34.0	-6.4	30	332	0.00	1.20	0.00	0.000	4	0.000	0.033	2391	1511	3056
574	-1.05	-54.1	51.0	-7.1	53	578	0.00	1.25	0.00	0.000	6	0.000	0.032	2387	2395	3057
771	-1.05	-54.1	66.0	-6.9	72	774	0.00	1.23	0.00	0.000	4	0.000	0.033	2392	1504	3057
1017	-1.05	-54.1	82.4	-6.9	95	1020	0.00	1.25	0.00	0.000	6	0.000	0.031	2387	2396	3057
1213	-1.05	-54.1	96.2	-7.4	114	1214	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2396	3057
1400	-1.05	-54.1	110.4	-8.2	132	1400	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2396	3057
1710	-1.05	-54.1	135.1	-8.1	162	1713	0.00	1.48	0.00	0.000	4	0.000	0.042	2380	3302	3057
1955	-1.05	-54.1	154.8	-7.5	185	1959	0.00	1.42	0.00	0.000	6	0.000	0.028	2386	2390	3056
2278	-1.05	-54.1	178.8	-7.6	216	2280	0.00	1.48	0.00	0.000	4	0.000	0.042	2380	3284	3055
2298	-1.05	-54.1	180.6	-7.9	218	2301	0.00	1.40	0.00	0.000	6	0.000	0.028	2386	2396	3055
2620	-1.05	-54.1	202.5	-6.7	249	2623	0.00	1.23	0.00	0.000	4	0.000	0.035	2392	1512	3053
2865	-1.05	-54.1	219.7	-6.7	272	2868	0.00	1.25	0.00	0.000	6	0.000	0.035	2387	2396	3053
3187	-1.05	-54.1	242.3	-7.2	303	3190	0.00	1.25	0.00	0.000	4	0.000	0.037	2391	1512	3051
3389	-1.05	-54.1	255.8	-7.0	322	3392	0.00	1.27	0.00	0.000	6	0.000	0.035	2387	2410	3050
3711	-1.05	-54.1	278.1	-7.1	353	3714	0.00	1.45	0.00	0.000	4	0.000	0.045	2380	3288	3048
3896	-1.05	-54.1	292.3	-7.9	370	3905	0.00	1.42	0.00	0.000	6	0.000	0.029	2385	2397	3047
4213	-1.05	-54.1	315.8	-7.7	401	4216	0.00	1.48	0.00	0.000	4	0.000	0.045	2379	3283	3045
4458	-1.05	-54.1	335.2	-7.7	424	4462	0.00	1.40	0.00	0.000	6	0.000	0.030	2385	2404	3044
4780	-1.05	-54.1	359.3	-7.6	455	4783	0.00	1.48	0.00	0.000	4	0.000	0.046	2380	3288	3042
5025	-1.05	-54.1	379.2	-7.6	478	5029	0.00	1.42	0.00	0.000	6	0.000	0.031	2385	2399	3042
5347	-1.05	-54.1	403.7	-7.8	509	5350	0.00	1.25	0.00	0.000	4	0.000	0.040	2389	1511	3039
5592	-1.05	-54.1	422.2	-7.4	532	5595	0.00	1.25	0.00	0.000	6	0.000	0.038	2384	2389	3038
5913	-1.05	-54.1	447.0	-7.7	563	5916	0.00	1.25	0.00	0.000	4	0.000	0.040	2389	1509	3037
6158	-1.05	-54.1	465.9	-8.0	586	6162	0.00	1.27	0.00	0.000	6	0.000	0.038	2384	2399	3035
6480	-1.05	-54.1	490.4	-7.4	617	6481	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2399	3034
6790	-1.05	-54.1	514.2	-8.0	647	6793	0.00	1.50	0.00	0.000	4	0.000	0.050	2377	3301	3032
7035	-1.05	-54.1	534.6	-7.8	670	7039	0.00	1.45	0.00	0.000	6	0.000	0.033	2378	2398	3032
7357	-1.05	-54.1	560.3	-8.0	701	7360	0.00	1.50	0.00	0.000	4	0.000	0.051	2372	3287	3031
7602	-1.05	-54.1	580.0	-7.5	724	7605	0.00	1.42	0.00	0.000	6	0.000	0.035	2374	2405	3029
7924	-1.05	-54.1	605.4	-8.0	755	7927	0.00	1.50	0.00	0.000	4	0.000	0.052	2368	3289	3029
8169	-1.05	-54.1	626.1	-8.8	778	8172	0.00	1.45	0.00	0.000	6	0.000	0.035	2374	2395	3028
8490	-1.05	-54.1	651.8	-7.8	809	8494	0.00	1.27	0.00	0.000	4	0.000	0.046	2374	1509	3026
8736	-1.05	-54.1	671.2	-8.2	832	8739	0.00	1.30	0.00	0.000	6	0.000	0.043	2369	2398	3025
9057	-1.05	-54.1	695.4	-7.0	863	9060	0.00	1.30	0.00	0.000	4	0.000	0.046	2374	1511	3023
9302	-1.05	-54.1	714.3	-7.5	886	9305	0.00	1.30	0.00	0.000	6	0.000	0.044	2369	2397	3022
9623	-1.05	-54.1	738.2	-7.1	917	9627	0.00	1.30	0.00	0.000	4	0.000	0.046	2374	1512	3022
9847	-1.05	-54.1	754.6	-7.1	938	9850	0.00	1.30	0.00	0.000	6	0.000	0.044	2368	2396	3020
10169	-1.05	-54.1	778.2	-7.5	969	10172	0.00	1.52	0.00	0.000	4	0.000	0.054	2361	3300	3020
10414	-1.05	-54.1	796.9	-7.2	992	10417	0.10	1.48	0.00	0.000	6	0.216	0.037	2387	2396	3019
10735	-1.05	-54.2	817.9	-6.7	1023	10738	0.00	1.55	0.00	0.000	4	0.000	0.054	2381	3307	3018
10981	-1.06	-58.5	834.6	-6.1	1046	10984	0.00	1.48	0.00	0.000	6	0.000	0.038	2386	2400	3017
11302	-1.07	-68.4	853.7	-5.4	1077	11305	0.00	1.52	0.00	0.000	4	0.000	0.055	2380	3290	3016
11547	-1.08	-73.6	868.9	-6.0	1100	11550	0.00	1.45	0.00	0.000	6	0.000	0.038	2386	2403	3016
11868	-1.09	-84.5	887.4	-5.3	1131	11872	0.00	1.52	0.00	0.000	4	0.000	0.056	2381	3291	3015
12114	-1.10	-90.5	901.9	-5.9	1154	12117	0.00	1.48	0.00	0.000	6	0.000	0.038	2386	2397	3014
12434	-1.11	-100.3	919.8	-5.4	1185	12438	0.00	1.30	0.00	0.000	4	0.000	0.048	2389	1506	3013
12680	-1.12	-107.0	934.0	-5.8	1208	12683	0.00	1.33	0.00	0.000	6	0.000	0.047	2384	2402	3013
13001	-1.13	-113.5	952.9	-5.8	1239	13004	0.00	1.30	0.00	0.000	4	0.000	0.047	2388	1511	3012
13247	-1.13	-118.9	967.5	-6.0	1262	13250	0.00	1.30	0.00	0.000	6	0.000	0.047	2384	2388	3012
13568	-1.14	-129.3	986.1	-5.3	1293	13571	0.00	1.27	0.00	0.000	4	0.000	0.048	2388	1504	3011
13641	end dive: TARGET_DEPTH_EXCEEDED
state	13641	begin apogee
13646	-0.26	0.0	990.1	4.8	1300	13684	0.98	0.00	34.92	1.243	6	0.196	0.000	2642	2267	2840
13685	end apogee: CONTROL_FINISHED_OK
state	13685	begin climb
13686	1.14	129.3	991.0	0.0	1304	13804	1.40	1.70	110.55	1.252	4	0.114	0.059	3092	3098	2311
13839	1.14	129.3	969.7	21.5	1317	13847	0.00	1.70	0.00	0.000	6	0.000	0.038	3100	2224	2306
14157	1.14	129.3	904.7	20.0	1348	14160	0.00	1.12	0.00	0.000	4	0.000	0.045	3105	1337	2300
14199	1.14	129.3	896.0	18.2	1352	14202	0.00	1.17	0.00	0.000	6	0.000	0.046	3105	2234	2300
14520	1.14	129.3	830.1	21.0	1383	14523	0.00	1.67	0.00	0.000	4	0.000	0.055	3100	3107	2297
14583	1.14	129.3	816.2	22.0	1389	14587	0.00	1.62	0.00	0.000	6	0.000	0.038	3107	2226	2296
14904	1.14	129.3	750.2	20.3	1420	14908	0.00	1.10	0.00	0.000	4	0.000	0.044	3112	1342	2296
14936	1.14	129.3	743.9	20.3	1423	14939	0.00	1.15	0.00	0.000	6	0.000	0.045	3112	2230	2295
15258	1.14	129.3	680.1	19.7	1454	15261	0.00	1.67	0.00	0.000	4	0.000	0.056	3113	3110	2295
15321	1.14	129.3	667.0	19.4	1460	15324	0.00	1.60	0.00	0.000	6	0.000	0.038	3120	2236	2294
15642	1.14	129.3	602.7	19.5	1491	15645	0.00	1.12	0.00	0.000	4	0.000	0.043	3126	1331	2294
15742	1.14	129.3	582.5	18.4	1500	15750	0.00	1.20	0.00	0.000	6	0.000	0.044	3125	2254	2294
16059	1.14	129.3	526.3	16.3	1531	16062	0.00	1.15	0.00	0.000	4	0.000	0.042	3130	1338	2292
16176	1.14	129.3	506.4	16.5	1542	16179	0.00	1.15	0.00	0.000	6	0.000	0.044	3130	2244	2293
16497	1.14	129.3	450.8	18.5	1573	16500	0.00	1.15	0.00	0.000	4	0.000	0.041	3135	1331	2292
16682	1.14	129.3	417.1	16.6	1590	16691	0.12	1.17	0.00	0.000	6	0.197	0.043	3104	2240	2291
16998	1.14	129.3	363.0	17.7	1621	17002	0.00	1.15	0.00	0.000	4	0.000	0.041	3109	1323	2291
17244	1.14	129.3	319.6	18.5	1644	17247	0.00	1.15	0.00	0.000	6	0.000	0.043	3104	2226	2291
17565	1.14	129.3	262.9	17.8	1675	17568	0.00	1.65	0.00	0.000	4	0.000	0.052	3100	3104	2291
17639	1.14	129.3	249.7	19.7	1682	17643	0.00	1.60	0.00	0.000	6	0.000	0.035	3107	2216	2291
17960	1.14	129.3	194.2	16.4	1713	17963	0.00	1.67	0.00	0.000	4	0.000	0.051	3104	3102	2291
18178	1.14	129.3	157.0	14.4	1733	18185	0.00	1.58	0.00	0.000	6	0.000	0.034	3112	2236	2291
18495	1.14	129.3	104.0	16.9	1764	18498	0.00	1.62	0.00	0.000	4	0.000	0.051	3112	3115	2292
18719	1.14	129.3	65.9	14.9	1785	18722	0.00	1.60	0.00	0.000	6	0.000	0.033	3120	2217	2293
18916	1.14	129.3	38.5	12.4	1804	18919	0.00	1.05	0.00	0.000	4	0.000	0.038	3125	1343	2293
19162	1.17	149.8	20.1	4.0	1827	19178	0.00	1.12	13.90	0.528	6	0.000	0.037	3125	2245	2229
19365	1.21	178.5	14.9	2.9	1846	19390	0.00	1.15	22.70	0.533	4	0.000	0.036	3129	1338	2111
19629	1.26	222.7	11.1	0.9	1870	19667	0.00	1.15	33.58	0.523	6	0.000	0.035	3129	2249	1932
19861	1.30	256.0	5.2	2.3	1892	19896	0.00	1.17	25.48	0.501	4	0.000	0.035	3135	1328	1795
19917	1.33	283.0	4.0	3.2	1897	19942	0.00	1.12	20.55	0.489	6	0.000	0.033	3134	2228	1685
19957	end climb: SURFACE_DEPTH_REACHED
state	19958	begin surface coast
20083	end surface coast: CONTROL_FINISHED_OK
state	20083	begin surface