Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 157 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 515 HEADING 135 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 157 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2375 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2250 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 597.54108 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 38 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 250 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 440 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 500 CALL_TRIES 8 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 4 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 -15202.752 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 2747 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 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5490917e-06

FERRY_MAX 45 PITCH_GAIN 28 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.141768

KALMAN_USE 2 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 20

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 597.54108

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 28 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 20 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 10 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 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 8 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 -15202.752

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

CAPUPLOAD 0 HEADING 135 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 250 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 2747 KALMAN_USE 2 ROLL_MIN 159 USE_BATHY -4

C_ROLL_CLIMB 2250 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 38 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 27 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 0 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 4

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 157 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 173236,2831.454,-8851.441,31,1.5,31,-0.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 2823.855,-8842.732

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,0.196

_SM_DEPTHo 1.63 KALMAN_X -233724.4,1015.6,520.2,247427.7,-2138.7

_SM_ANGLEo -71.9 KALMAN_Y -133612.2,986.1,598.9,114190.8,-5173.9

GPS2 173932,2831.491,-8851.413,12,1.6,12,-0.1 MHEAD_RNG_PITCHd_Wd 135.1,20000,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 959

Post-dive calculations and measurements:

FINISH 0.6,0.998105 XPDR_PINGS 1

SM_CCo 17853,62.53,0.489,0,0,403,597.54 _24V_AH 23.2,28.921

SM_GC 1.48,0.00,0.00,62.53,0.000,0.000,0.489,196,2373,403,-7.97,-0.06,597.54 _10V_AH 10.7,40.079

IRIDIUM_FIX 2823.64,-9210.08,170999,121226 DATA_FILE_SIZE 91615,1714

TT8_MAMPS 0.051389 CAP_FILE_SIZE 166991,0

HUMID 1347 CFSIZE 260165632,240930816

INTERNAL_PRESSURE 9.2484 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 23.20 GPS 230610,223907,2828.421,-8850.104,33,0.9,33,-0.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 249 118.27 SBE_CT 1171 24 652.17

Roll_motor 103 59 144.00 SBE_O2 1251 19 551.73

VBD_pump_during_apogee 536 1231 15336.99 WL_BBFL2VMT 3852 105 9385.13

VBD_pump_during_surface 62 488 708.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 67.38 nil 0 0 0.00

Iridium_during_connect 30 160 114.75 nil 0 0 0.00

Iridium_during_xfer 244 223 1265.91

Transponder_ping 0 420 2.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.60

TT8 0 19 0.00

LPSleep 11903 2 278.93

TT8_Active 656 19 139.09

TT8_Sampling 5130 39 2184.92

TT8_CF8 613 45 300.71

TT8_Kalman 0 81 0.00

Analog_circuits 2168 12 278.45

GPS_charging 0 0 0.00

Compass 4629 8 396.30

RAFOS 0 0 0.00

Transponder 0 30 0.17

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -0.63 -194.6 0.0 0.0 0 53 0.00 0.00 -38.12 0.000 2 0.000 0.000 201 2373 1577

55 -0.63 -194.6 3.1 -4.8 4 125 10.25 1.55 -55.90 0.000 4 0.249 0.060 2531 3280 3636

364 -0.63 -194.6 54.1 -11.9 32 371 0.00 1.50 0.00 0.000 6 0.000 0.027 2536 2364 3638

556 -0.63 -194.6 79.5 -13.6 51 559 0.00 1.52 0.00 0.000 4 0.000 0.044 2531 3261 3639

673 -0.63 -194.6 95.7 -13.1 62 676 0.00 1.45 0.00 0.000 6 0.000 0.028 2536 2365 3639

870 -0.63 -194.6 122.1 -13.2 81 873 0.00 1.23 0.00 0.000 4 0.000 0.038 2537 1478 3639

906 -0.63 -194.6 127.3 -13.2 84 913 0.00 1.30 0.00 0.000 6 0.000 0.036 2533 2376 3639

1223 -0.63 -194.6 168.2 -12.1 115 1224 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2377 3637

1533 -0.63 -194.6 205.9 -12.2 145 1534 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2377 3636

1843 -0.63 -194.6 241.0 -11.3 175 1844 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2377 3634

2153 -0.63 -194.6 276.0 -11.0 205 2157 0.00 1.27 0.00 0.000 4 0.000 0.038 2532 1475 3631

2260 -0.63 -194.6 288.0 -10.9 215 2263 0.00 1.30 0.00 0.000 6 0.000 0.039 2526 2377 3630

2582 -0.63 -194.6 324.9 -11.5 246 2583 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2377 3628

2891 -0.63 -194.6 360.6 -11.3 276 2894 0.00 1.27 0.00 0.000 4 0.000 0.040 2526 1488 3624

2960 -0.63 -194.6 368.5 -11.2 282 2967 0.00 1.30 0.00 0.000 6 0.000 0.040 2521 2376 3624

3277 -0.63 -194.6 404.3 -11.1 313 3280 0.00 1.27 0.00 0.000 4 0.000 0.041 2521 1488 3622

3334 -0.63 -194.6 410.8 -11.0 318 3342 0.12 1.30 0.00 0.000 6 0.150 0.041 2550 2374 3622

3650 -0.63 -194.6 439.2 -8.8 349 3651 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2374 3619

3961 -0.63 -194.6 467.6 -9.6 379 3962 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2374 3618

4271 -0.63 -194.6 497.6 -9.4 409 4274 0.00 1.27 0.00 0.000 4 0.000 0.043 2550 1489 3614

4307 -0.63 -194.6 501.2 -9.0 412 4314 0.00 1.30 0.00 0.000 6 0.000 0.044 2546 2374 3613

4625 -0.63 -194.6 530.6 -9.3 443 4628 0.00 1.27 0.00 0.000 4 0.000 0.044 2546 1490 3611

4656 -0.63 -194.6 533.7 -9.9 446 4659 0.00 1.30 0.00 0.000 6 0.000 0.044 2541 2375 3611

4978 -0.63 -194.6 563.8 -9.0 477 4981 0.00 1.27 0.00 0.000 4 0.000 0.044 2541 1489 3608

5020 -0.63 -194.6 567.7 -8.4 481 5023 0.00 1.30 0.00 0.000 6 0.000 0.045 2535 2376 3608

5342 -0.63 -194.6 599.2 -10.5 512 5345 0.00 1.30 0.00 0.000 4 0.000 0.044 2536 1480 3605

5431 -0.63 -194.6 608.5 -10.0 520 5439 0.00 1.35 0.00 0.000 6 0.000 0.045 2530 2382 3605

5748 -0.63 -194.6 640.3 -10.3 551 5749 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2383 3604

6058 -0.63 -194.6 671.3 -10.1 581 6061 0.00 1.30 0.00 0.000 4 0.000 0.045 2529 1492 3601

6090 -0.63 -194.6 674.6 -10.3 584 6093 0.00 1.30 0.00 0.000 6 0.000 0.046 2524 2375 3601

6412 -0.63 -194.6 707.7 -10.4 615 6415 0.00 1.55 0.00 0.000 4 0.000 0.058 2517 3269 3598

6443 -0.63 -194.6 711.0 -10.7 618 6446 0.00 1.48 0.00 0.000 6 0.000 0.036 2517 2375 3599

6765 -0.63 -194.6 745.6 -10.8 649 6766 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2375 3597

7074 -0.63 -194.6 779.4 -11.1 679 7077 0.00 1.27 0.00 0.000 4 0.000 0.048 2517 1492 3595

7110 -0.63 -194.6 783.5 -11.6 682 7118 0.12 1.33 0.00 0.000 6 0.155 0.047 2542 2376 3595

7427 -0.63 -194.6 812.4 -8.8 713 7430 0.00 1.30 0.00 0.000 4 0.000 0.046 2543 1489 3593

7527 -0.63 -194.6 821.4 -8.4 722 7535 0.00 1.35 0.00 0.000 6 0.000 0.048 2539 2380 3592

7844 -0.63 -194.6 848.4 -8.4 753 7848 0.00 1.52 0.00 0.000 4 0.000 0.060 2533 3263 3591

7876 -0.63 -194.6 851.2 -9.2 756 7879 0.00 1.48 0.00 0.000 6 0.000 0.038 2533 2374 3591

8198 -0.63 -194.6 880.0 -8.7 787 8200 0.00 1.30 0.00 0.000 4 0.000 0.048 2533 1479 3589

8240 -0.63 -194.6 883.9 -8.7 791 8243 0.00 1.33 0.00 0.000 6 0.000 0.049 2528 2373 3590

8561 -0.63 -194.6 912.3 -8.8 822 8562 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2373 3589

8872 -0.63 -194.6 940.3 -9.4 852 8874 0.00 1.30 0.00 0.000 4 0.000 0.048 2527 1487 3587

8924 -0.63 -194.6 945.6 -10.5 857 8928 0.00 1.33 0.00 0.000 6 0.000 0.050 2522 2375 3587

9068 end dive: TARGET_DEPTH_EXCEEDED

state 9068 begin apogee

9072 -0.25 0.0 959.6 9.6 871 9223 0.47 0.00 148.00 1.232 6 0.150 0.000 2659 2252 2840

9223 end apogee: CONTROL_FINISHED_OK

state 9223 begin climb

9225 0.63 194.6 963.4 0.0 886 9398 0.90 0.00 164.40 1.203 6 0.113 0.000 2938 2252 2045

9707 0.63 194.6 914.2 11.7 932 9710 0.00 1.70 0.00 0.000 4 0.000 0.056 2938 3146 2035

9742 0.63 194.6 909.7 13.1 935 9750 0.00 1.67 0.00 0.000 6 0.000 0.038 2946 2253 2033

10060 0.63 194.6 872.1 11.5 966 10063 0.00 1.70 0.00 0.000 4 0.000 0.057 2946 3157 2033

10096 0.63 194.6 867.5 12.4 969 10103 0.00 1.67 0.00 0.000 6 0.000 0.038 2954 2244 2032

10413 0.63 194.6 828.2 12.1 1000 10416 0.00 1.73 0.00 0.000 4 0.000 0.056 2954 3148 2031

10465 0.63 194.6 821.0 13.9 1005 10469 0.00 1.65 0.00 0.000 6 0.000 0.038 2963 2248 2030

10788 0.63 194.6 778.5 13.4 1036 10791 0.00 1.12 0.00 0.000 4 0.000 0.045 2967 1354 2030

10812 0.63 194.6 775.1 13.9 1038 10820 0.00 1.23 0.00 0.000 6 0.000 0.044 2968 2268 2030

11130 0.63 194.6 734.0 13.1 1069 11133 0.00 1.65 0.00 0.000 4 0.000 0.056 2968 3147 2030

11165 0.63 194.6 728.8 14.9 1072 11173 0.00 1.65 0.00 0.000 6 0.000 0.038 2976 2248 2028

11484 0.63 194.6 686.0 13.8 1103 11486 0.00 1.67 0.00 0.000 4 0.000 0.054 2975 3149 2029

11526 0.63 194.6 679.9 14.8 1107 11529 0.08 1.62 0.00 0.000 6 0.160 0.038 2950 2253 2027

11846 0.63 194.6 642.7 11.4 1138 11847 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2254 2027

12157 0.63 194.6 608.4 10.8 1168 12158 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2254 2027

12467 0.63 194.6 573.9 11.0 1198 12470 0.00 1.67 0.00 0.000 4 0.000 0.054 2950 3137 2027

12493 0.63 194.6 570.7 12.8 1200 12501 0.00 1.60 0.00 0.000 6 0.000 0.038 2956 2255 2026

12810 0.63 194.6 533.2 11.3 1231 12813 0.00 1.65 0.00 0.000 4 0.000 0.054 2956 3142 2026

12846 0.63 194.6 528.5 12.8 1234 12853 0.00 1.62 0.00 0.000 6 0.000 0.038 2963 2247 2026

13163 0.63 194.6 490.0 12.6 1265 13164 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2247 2025

13473 0.63 194.6 451.0 12.3 1295 13476 0.00 1.67 0.00 0.000 4 0.000 0.054 2964 3149 2026

13526 0.63 194.6 443.9 13.5 1300 13529 0.00 1.62 0.00 0.000 6 0.000 0.037 2971 2249 2025

13848 0.63 194.6 401.8 13.0 1331 13850 0.00 1.65 0.00 0.000 4 0.000 0.053 2971 3141 2025

13890 0.63 194.6 395.9 13.8 1335 13893 0.00 1.60 0.00 0.000 6 0.000 0.038 2979 2233 2026

14210 0.63 194.6 352.4 13.4 1366 14211 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2233 2026

14522 0.63 194.6 310.0 13.7 1396 14525 0.12 1.67 0.00 0.000 4 0.162 0.051 2949 3140 2026

14546 0.63 194.6 306.5 14.2 1398 14554 0.00 1.62 0.00 0.000 6 0.000 0.035 2955 2248 2026

14864 0.63 194.6 269.6 11.9 1429 14867 0.00 1.67 0.00 0.000 4 0.000 0.051 2954 3139 2026

14889 0.63 194.6 266.4 12.5 1431 14897 0.00 1.60 0.00 0.000 6 0.000 0.035 2962 2249 2025

15206 0.63 194.6 227.2 12.6 1462 15210 0.00 1.67 0.00 0.000 4 0.000 0.051 2962 3141 2026

15232 0.63 194.6 223.6 13.9 1464 15239 0.00 1.60 0.00 0.000 6 0.000 0.034 2970 2248 2026

15549 0.63 194.6 181.6 12.9 1495 15552 0.00 1.67 0.00 0.000 4 0.000 0.050 2970 3143 2026

15601 0.63 194.6 174.2 13.3 1500 15605 0.00 1.60 0.00 0.000 6 0.000 0.034 2978 2248 2026

15924 0.63 194.6 133.5 12.6 1531 15927 0.00 1.65 0.00 0.000 4 0.000 0.048 2977 3154 2026

15955 0.63 194.6 129.2 13.3 1534 15959 0.12 1.60 0.00 0.000 6 0.142 0.033 2947 2255 2026

16276 0.63 194.6 98.2 9.3 1565 16277 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2256 2027

16462 0.63 194.6 80.9 9.5 1583 16463 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2256 2028

16648 0.63 194.6 62.9 9.3 1601 16651 0.00 1.65 0.00 0.000 4 0.000 0.047 2946 3143 2029

16674 0.63 194.6 60.4 10.4 1603 16681 0.00 1.60 0.00 0.000 6 0.000 0.031 2952 2236 2029

16866 0.63 197.5 44.2 7.4 1622 16869 0.00 1.67 0.00 0.000 4 0.000 0.047 2953 3144 2029

16988 0.64 205.0 35.2 7.3 1633 16999 0.00 1.55 6.60 0.456 6 0.000 0.031 2960 2261 2005

17192 0.79 327.5 25.0 4.3 1653 17288 0.12 1.20 92.07 0.538 4 0.066 0.036 3028 1334 1504

17373 0.90 420.7 14.7 5.1 1670 17445 0.00 1.20 69.00 0.518 6 0.000 0.035 3028 2263 1124

17638 1.16 624.8 3.5 2.1 1695 17697 0.28 0.00 56.60 0.499 2 0.121 0.000 3112 2263 810

17697 end climb: SURFACE_DEPTH_REACHED

state 17697 begin surface coast

17839 end surface coast: CONTROL_FINISHED_OK

state 17839 begin surface

ID	515	HEADING	135	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	157	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2375	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2250	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	597.54108	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	38	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	250	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	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	500	CALL_TRIES	8	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	4	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	-15202.752	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	2747	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	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5490917e-06
FERRY_MAX	45	PITCH_GAIN	28	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.141768
KALMAN_USE	2	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	20

GPS1	173236,2831.454,-8851.441,31,1.5,31,-0.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	2823.855,-8842.732
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,0.196
_SM_DEPTHo	1.63	KALMAN_X	-233724.4,1015.6,520.2,247427.7,-2138.7
_SM_ANGLEo	-71.9	KALMAN_Y	-133612.2,986.1,598.9,114190.8,-5173.9
GPS2	173932,2831.491,-8851.413,12,1.6,12,-0.1	MHEAD_RNG_PITCHd_Wd	135.1,20000,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	959

FINISH	0.6,0.998105	XPDR_PINGS	1
SM_CCo	17853,62.53,0.489,0,0,403,597.54	_24V_AH	23.2,28.921
SM_GC	1.48,0.00,0.00,62.53,0.000,0.000,0.489,196,2373,403,-7.97,-0.06,597.54	_10V_AH	10.7,40.079
IRIDIUM_FIX	2823.64,-9210.08,170999,121226	DATA_FILE_SIZE	91615,1714
TT8_MAMPS	0.051389	CAP_FILE_SIZE	166991,0
HUMID	1347	CFSIZE	260165632,240930816
INTERNAL_PRESSURE	9.2484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	23.20	GPS	230610,223907,2828.421,-8850.104,33,0.9,33,-0.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	249	118.27	SBE_CT	1171	24	652.17
Roll_motor	103	59	144.00	SBE_O2	1251	19	551.73
VBD_pump_during_apogee	536	1231	15336.99	WL_BBFL2VMT	3852	105	9385.13
VBD_pump_during_surface	62	488	708.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	67.38	nil	0	0	0.00
Iridium_during_connect	30	160	114.75	nil	0	0	0.00
Iridium_during_xfer	244	223	1265.91
Transponder_ping	0	420	2.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.60
TT8	0	19	0.00
LPSleep	11903	2	278.93
TT8_Active	656	19	139.09
TT8_Sampling	5130	39	2184.92
TT8_CF8	613	45	300.71
TT8_Kalman	0	81	0.00
Analog_circuits	2168	12	278.45
GPS_charging	0	0	0.00
Compass	4629	8	396.30
RAFOS	0	0	0.00
Transponder	0	30	0.17

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-0.63	-194.6	0.0	0.0	0	53	0.00	0.00	-38.12	0.000	2	0.000	0.000	201	2373	1577
55	-0.63	-194.6	3.1	-4.8	4	125	10.25	1.55	-55.90	0.000	4	0.249	0.060	2531	3280	3636
364	-0.63	-194.6	54.1	-11.9	32	371	0.00	1.50	0.00	0.000	6	0.000	0.027	2536	2364	3638
556	-0.63	-194.6	79.5	-13.6	51	559	0.00	1.52	0.00	0.000	4	0.000	0.044	2531	3261	3639
673	-0.63	-194.6	95.7	-13.1	62	676	0.00	1.45	0.00	0.000	6	0.000	0.028	2536	2365	3639
870	-0.63	-194.6	122.1	-13.2	81	873	0.00	1.23	0.00	0.000	4	0.000	0.038	2537	1478	3639
906	-0.63	-194.6	127.3	-13.2	84	913	0.00	1.30	0.00	0.000	6	0.000	0.036	2533	2376	3639
1223	-0.63	-194.6	168.2	-12.1	115	1224	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2377	3637
1533	-0.63	-194.6	205.9	-12.2	145	1534	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2377	3636
1843	-0.63	-194.6	241.0	-11.3	175	1844	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2377	3634
2153	-0.63	-194.6	276.0	-11.0	205	2157	0.00	1.27	0.00	0.000	4	0.000	0.038	2532	1475	3631
2260	-0.63	-194.6	288.0	-10.9	215	2263	0.00	1.30	0.00	0.000	6	0.000	0.039	2526	2377	3630
2582	-0.63	-194.6	324.9	-11.5	246	2583	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2377	3628
2891	-0.63	-194.6	360.6	-11.3	276	2894	0.00	1.27	0.00	0.000	4	0.000	0.040	2526	1488	3624
2960	-0.63	-194.6	368.5	-11.2	282	2967	0.00	1.30	0.00	0.000	6	0.000	0.040	2521	2376	3624
3277	-0.63	-194.6	404.3	-11.1	313	3280	0.00	1.27	0.00	0.000	4	0.000	0.041	2521	1488	3622
3334	-0.63	-194.6	410.8	-11.0	318	3342	0.12	1.30	0.00	0.000	6	0.150	0.041	2550	2374	3622
3650	-0.63	-194.6	439.2	-8.8	349	3651	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2374	3619
3961	-0.63	-194.6	467.6	-9.6	379	3962	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2374	3618
4271	-0.63	-194.6	497.6	-9.4	409	4274	0.00	1.27	0.00	0.000	4	0.000	0.043	2550	1489	3614
4307	-0.63	-194.6	501.2	-9.0	412	4314	0.00	1.30	0.00	0.000	6	0.000	0.044	2546	2374	3613
4625	-0.63	-194.6	530.6	-9.3	443	4628	0.00	1.27	0.00	0.000	4	0.000	0.044	2546	1490	3611
4656	-0.63	-194.6	533.7	-9.9	446	4659	0.00	1.30	0.00	0.000	6	0.000	0.044	2541	2375	3611
4978	-0.63	-194.6	563.8	-9.0	477	4981	0.00	1.27	0.00	0.000	4	0.000	0.044	2541	1489	3608
5020	-0.63	-194.6	567.7	-8.4	481	5023	0.00	1.30	0.00	0.000	6	0.000	0.045	2535	2376	3608
5342	-0.63	-194.6	599.2	-10.5	512	5345	0.00	1.30	0.00	0.000	4	0.000	0.044	2536	1480	3605
5431	-0.63	-194.6	608.5	-10.0	520	5439	0.00	1.35	0.00	0.000	6	0.000	0.045	2530	2382	3605
5748	-0.63	-194.6	640.3	-10.3	551	5749	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2383	3604
6058	-0.63	-194.6	671.3	-10.1	581	6061	0.00	1.30	0.00	0.000	4	0.000	0.045	2529	1492	3601
6090	-0.63	-194.6	674.6	-10.3	584	6093	0.00	1.30	0.00	0.000	6	0.000	0.046	2524	2375	3601
6412	-0.63	-194.6	707.7	-10.4	615	6415	0.00	1.55	0.00	0.000	4	0.000	0.058	2517	3269	3598
6443	-0.63	-194.6	711.0	-10.7	618	6446	0.00	1.48	0.00	0.000	6	0.000	0.036	2517	2375	3599
6765	-0.63	-194.6	745.6	-10.8	649	6766	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2375	3597
7074	-0.63	-194.6	779.4	-11.1	679	7077	0.00	1.27	0.00	0.000	4	0.000	0.048	2517	1492	3595
7110	-0.63	-194.6	783.5	-11.6	682	7118	0.12	1.33	0.00	0.000	6	0.155	0.047	2542	2376	3595
7427	-0.63	-194.6	812.4	-8.8	713	7430	0.00	1.30	0.00	0.000	4	0.000	0.046	2543	1489	3593
7527	-0.63	-194.6	821.4	-8.4	722	7535	0.00	1.35	0.00	0.000	6	0.000	0.048	2539	2380	3592
7844	-0.63	-194.6	848.4	-8.4	753	7848	0.00	1.52	0.00	0.000	4	0.000	0.060	2533	3263	3591
7876	-0.63	-194.6	851.2	-9.2	756	7879	0.00	1.48	0.00	0.000	6	0.000	0.038	2533	2374	3591
8198	-0.63	-194.6	880.0	-8.7	787	8200	0.00	1.30	0.00	0.000	4	0.000	0.048	2533	1479	3589
8240	-0.63	-194.6	883.9	-8.7	791	8243	0.00	1.33	0.00	0.000	6	0.000	0.049	2528	2373	3590
8561	-0.63	-194.6	912.3	-8.8	822	8562	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2373	3589
8872	-0.63	-194.6	940.3	-9.4	852	8874	0.00	1.30	0.00	0.000	4	0.000	0.048	2527	1487	3587
8924	-0.63	-194.6	945.6	-10.5	857	8928	0.00	1.33	0.00	0.000	6	0.000	0.050	2522	2375	3587
9068	end dive: TARGET_DEPTH_EXCEEDED
state	9068	begin apogee
9072	-0.25	0.0	959.6	9.6	871	9223	0.47	0.00	148.00	1.232	6	0.150	0.000	2659	2252	2840
9223	end apogee: CONTROL_FINISHED_OK
state	9223	begin climb
9225	0.63	194.6	963.4	0.0	886	9398	0.90	0.00	164.40	1.203	6	0.113	0.000	2938	2252	2045
9707	0.63	194.6	914.2	11.7	932	9710	0.00	1.70	0.00	0.000	4	0.000	0.056	2938	3146	2035
9742	0.63	194.6	909.7	13.1	935	9750	0.00	1.67	0.00	0.000	6	0.000	0.038	2946	2253	2033
10060	0.63	194.6	872.1	11.5	966	10063	0.00	1.70	0.00	0.000	4	0.000	0.057	2946	3157	2033
10096	0.63	194.6	867.5	12.4	969	10103	0.00	1.67	0.00	0.000	6	0.000	0.038	2954	2244	2032
10413	0.63	194.6	828.2	12.1	1000	10416	0.00	1.73	0.00	0.000	4	0.000	0.056	2954	3148	2031
10465	0.63	194.6	821.0	13.9	1005	10469	0.00	1.65	0.00	0.000	6	0.000	0.038	2963	2248	2030
10788	0.63	194.6	778.5	13.4	1036	10791	0.00	1.12	0.00	0.000	4	0.000	0.045	2967	1354	2030
10812	0.63	194.6	775.1	13.9	1038	10820	0.00	1.23	0.00	0.000	6	0.000	0.044	2968	2268	2030
11130	0.63	194.6	734.0	13.1	1069	11133	0.00	1.65	0.00	0.000	4	0.000	0.056	2968	3147	2030
11165	0.63	194.6	728.8	14.9	1072	11173	0.00	1.65	0.00	0.000	6	0.000	0.038	2976	2248	2028
11484	0.63	194.6	686.0	13.8	1103	11486	0.00	1.67	0.00	0.000	4	0.000	0.054	2975	3149	2029
11526	0.63	194.6	679.9	14.8	1107	11529	0.08	1.62	0.00	0.000	6	0.160	0.038	2950	2253	2027
11846	0.63	194.6	642.7	11.4	1138	11847	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2254	2027
12157	0.63	194.6	608.4	10.8	1168	12158	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2254	2027
12467	0.63	194.6	573.9	11.0	1198	12470	0.00	1.67	0.00	0.000	4	0.000	0.054	2950	3137	2027
12493	0.63	194.6	570.7	12.8	1200	12501	0.00	1.60	0.00	0.000	6	0.000	0.038	2956	2255	2026
12810	0.63	194.6	533.2	11.3	1231	12813	0.00	1.65	0.00	0.000	4	0.000	0.054	2956	3142	2026
12846	0.63	194.6	528.5	12.8	1234	12853	0.00	1.62	0.00	0.000	6	0.000	0.038	2963	2247	2026
13163	0.63	194.6	490.0	12.6	1265	13164	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2247	2025
13473	0.63	194.6	451.0	12.3	1295	13476	0.00	1.67	0.00	0.000	4	0.000	0.054	2964	3149	2026
13526	0.63	194.6	443.9	13.5	1300	13529	0.00	1.62	0.00	0.000	6	0.000	0.037	2971	2249	2025
13848	0.63	194.6	401.8	13.0	1331	13850	0.00	1.65	0.00	0.000	4	0.000	0.053	2971	3141	2025
13890	0.63	194.6	395.9	13.8	1335	13893	0.00	1.60	0.00	0.000	6	0.000	0.038	2979	2233	2026
14210	0.63	194.6	352.4	13.4	1366	14211	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2233	2026
14522	0.63	194.6	310.0	13.7	1396	14525	0.12	1.67	0.00	0.000	4	0.162	0.051	2949	3140	2026
14546	0.63	194.6	306.5	14.2	1398	14554	0.00	1.62	0.00	0.000	6	0.000	0.035	2955	2248	2026
14864	0.63	194.6	269.6	11.9	1429	14867	0.00	1.67	0.00	0.000	4	0.000	0.051	2954	3139	2026
14889	0.63	194.6	266.4	12.5	1431	14897	0.00	1.60	0.00	0.000	6	0.000	0.035	2962	2249	2025
15206	0.63	194.6	227.2	12.6	1462	15210	0.00	1.67	0.00	0.000	4	0.000	0.051	2962	3141	2026
15232	0.63	194.6	223.6	13.9	1464	15239	0.00	1.60	0.00	0.000	6	0.000	0.034	2970	2248	2026
15549	0.63	194.6	181.6	12.9	1495	15552	0.00	1.67	0.00	0.000	4	0.000	0.050	2970	3143	2026
15601	0.63	194.6	174.2	13.3	1500	15605	0.00	1.60	0.00	0.000	6	0.000	0.034	2978	2248	2026
15924	0.63	194.6	133.5	12.6	1531	15927	0.00	1.65	0.00	0.000	4	0.000	0.048	2977	3154	2026
15955	0.63	194.6	129.2	13.3	1534	15959	0.12	1.60	0.00	0.000	6	0.142	0.033	2947	2255	2026
16276	0.63	194.6	98.2	9.3	1565	16277	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2256	2027
16462	0.63	194.6	80.9	9.5	1583	16463	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2256	2028
16648	0.63	194.6	62.9	9.3	1601	16651	0.00	1.65	0.00	0.000	4	0.000	0.047	2946	3143	2029
16674	0.63	194.6	60.4	10.4	1603	16681	0.00	1.60	0.00	0.000	6	0.000	0.031	2952	2236	2029
16866	0.63	197.5	44.2	7.4	1622	16869	0.00	1.67	0.00	0.000	4	0.000	0.047	2953	3144	2029
16988	0.64	205.0	35.2	7.3	1633	16999	0.00	1.55	6.60	0.456	6	0.000	0.031	2960	2261	2005
17192	0.79	327.5	25.0	4.3	1653	17288	0.12	1.20	92.07	0.538	4	0.066	0.036	3028	1334	1504
17373	0.90	420.7	14.7	5.1	1670	17445	0.00	1.20	69.00	0.518	6	0.000	0.035	3028	2263	1124
17638	1.16	624.8	3.5	2.1	1695	17697	0.28	0.00	56.60	0.499	2	0.121	0.000	3112	2263	810
17697	end climb: SURFACE_DEPTH_REACHED
state	17697	begin surface coast
17839	end surface coast: CONTROL_FINISHED_OK
state	17839	begin surface