Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 170 * 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 170 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 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 45 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -14 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 -15435.271 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 2 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 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 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 575

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 -15435.271

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

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 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 1 ROLL_MIN 159 USE_BATHY -14

C_ROLL_CLIMB 2250 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 45 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 26 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 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 170 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 125530,2838.012,-8826.016,37,1.2,42,-0.4 TGT_NAME NEW0607F

_CALLS 1 TGT_LATLONG 2837.000,-8845.000

_XMS_NAKs 6 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.251,0.085

_SM_DEPTHo 1.59 KALMAN_X -9383.6,-460.5,-309.7,49291.7,2813.6

_SM_ANGLEo -68.6 KALMAN_Y -37268.6,1045.9,78.6,54162.6,-13377.2

GPS2 130307,2838.089,-8826.049,12,2.0,18,-0.4 MHEAD_RNG_PITCHd_Wd 262.8,30876,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1433

Post-dive calculations and measurements:

FINISH 1.4,1.022717 _24V_AH 23.0,31.020

SM_CCo 18170,119.30,0.500,0,0,494,575.22 _10V_AH 10.6,42.975

SM_GC 1.51,0.00,0.00,119.30,0.000,0.000,0.500,196,2368,494,-7.97,-0.20,575.22 DATA_FILE_SIZE 91500,1740

IRIDIUM_FIX 2823.64,-8812.07,200999,080813 CAP_FILE_SIZE 174897,0

TT8_MAMPS 0.051389 CFSIZE 260165632,239783936

HUMID 1323 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2191 CURRENT 0.070,230.6,1

TCM_TEMP 22.90 GPS 260610,181037,2837.631,-8829.520,40,1.0,40,-0.4

XPDR_PINGS 36

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 118.68 SBE_CT 1191 24 657.95

Roll_motor 96 61 135.98 SBE_O2 1279 19 559.10

VBD_pump_during_apogee 422 1254 12187.14 WL_BBFL2VMT 3910 105 9444.78

VBD_pump_during_surface 119 500 1372.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.55 nil 0 0 0.00

Iridium_during_connect 31 160 116.04 nil 0 0 0.00

Iridium_during_xfer 278 223 1427.25

Transponder_ping 9 420 86.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 20 50 10.74

TT8 0 19 0.00

LPSleep 12099 2 280.89

TT8_Active 628 19 132.01

TT8_Sampling 5341 39 2253.68

TT8_CF8 707 45 343.49

TT8_Kalman 33 81 28.90

Analog_circuits 2166 12 275.58

GPS_charging 0 0 0.00

Compass 4781 8 405.45

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -0.63 -194.6 0.0 0.0 0 88 0.00 0.00 -73.38 0.000 2 0.000 0.000 197 2366 2511

90 -0.63 -194.6 3.0 -3.3 7 138 10.43 1.25 -31.67 0.000 4 0.254 0.057 2543 1482 3633

313 -0.63 -194.6 44.0 -15.9 27 321 0.00 1.30 0.00 0.000 6 0.000 0.036 2538 2374 3635

505 -0.63 -194.6 71.2 -13.5 46 509 0.00 1.50 0.00 0.000 4 0.000 0.045 2531 3268 3636

591 -0.63 -194.6 82.3 -11.9 54 594 0.00 1.45 0.00 0.000 6 0.000 0.028 2536 2374 3637

788 -0.63 -194.6 105.9 -12.1 73 788 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2373 3638

1098 -0.63 -194.6 145.9 -12.4 103 1099 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2373 3638

1408 -0.63 -194.6 181.1 -10.0 133 1409 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2373 3637

1719 -0.63 -194.6 214.5 -10.8 163 1722 0.00 1.25 0.00 0.000 4 0.000 0.039 2536 1485 3635

1766 -0.63 -194.6 219.9 -10.8 167 1773 0.00 1.30 0.00 0.000 6 0.000 0.038 2532 2377 3634

2083 -0.63 -194.6 255.1 -10.8 198 2084 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2377 3633

2393 -0.63 -194.6 290.5 -11.0 228 2394 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2377 3631

2703 -0.63 -194.6 324.2 -10.6 258 2706 0.00 1.27 0.00 0.000 4 0.000 0.041 2532 1486 3629

2756 -0.63 -194.6 330.0 -10.4 263 2760 0.00 1.27 0.00 0.000 6 0.000 0.041 2526 2372 3628

3078 -0.63 -194.6 364.6 -10.7 294 3078 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2373 3626

3387 -0.63 -194.6 398.3 -10.6 324 3390 0.00 1.52 0.00 0.000 4 0.000 0.053 2519 3264 3623

3419 -0.63 -194.6 401.7 -10.8 327 3422 0.00 1.45 0.00 0.000 6 0.000 0.033 2519 2373 3623

3741 -0.63 -194.6 437.3 -11.1 358 3744 0.00 1.52 0.00 0.000 4 0.000 0.053 2511 3258 3621

3783 -0.63 -194.6 442.2 -11.8 362 3786 0.08 1.42 0.00 0.000 6 0.144 0.034 2536 2375 3620

4103 -0.63 -194.6 474.2 -9.8 393 4104 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2375 3618

4414 -0.63 -194.6 505.7 -10.3 423 4415 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2375 3616

4724 -0.63 -194.6 537.2 -10.0 453 4725 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2376 3613

5035 -0.63 -194.6 568.1 -9.8 483 5038 0.00 1.52 0.00 0.000 4 0.000 0.056 2531 3256 3611

5045 -0.63 -194.6 569.2 -9.8 484 5048 0.00 1.45 0.00 0.000 6 0.000 0.035 2531 2375 3611

5368 -0.63 -194.6 601.2 -10.2 515 5370 0.00 1.55 0.00 0.000 4 0.000 0.056 2524 3262 3609

5410 -0.63 -194.6 605.7 -10.3 519 5413 0.00 1.48 0.00 0.000 6 0.000 0.035 2524 2373 3609

5731 -0.63 -194.6 638.7 -10.3 550 5734 0.00 1.30 0.00 0.000 4 0.000 0.047 2524 1472 3607

5827 -0.63 -194.6 649.0 -10.8 559 5830 0.00 1.33 0.00 0.000 6 0.000 0.047 2518 2373 3606

6149 -0.63 -194.6 682.7 -10.2 590 6149 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2373 3603

6459 -0.63 -194.6 715.1 -9.9 620 6460 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2373 3602

6769 -0.63 -194.6 745.3 -9.9 650 6772 0.00 1.55 0.00 0.000 4 0.000 0.058 2511 3259 3600

6805 -0.63 -194.6 749.1 -10.6 653 6812 0.08 1.48 0.00 0.000 6 0.144 0.037 2535 2369 3600

7121 -0.63 -194.6 777.4 -9.4 684 7125 0.00 1.27 0.00 0.000 4 0.000 0.048 2536 1490 3599

7185 -0.63 -194.6 783.4 -9.5 690 7188 0.00 1.30 0.00 0.000 6 0.000 0.048 2532 2370 3598

7507 -0.63 -194.6 814.9 -9.9 721 7508 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2370 3596

7816 -0.63 -194.6 843.5 -9.0 751 7819 0.00 1.30 0.00 0.000 4 0.000 0.047 2532 1489 3594

7849 -0.63 -194.6 846.5 -8.8 754 7852 0.00 1.33 0.00 0.000 6 0.000 0.048 2528 2374 3595

8170 -0.63 -194.6 876.4 -9.1 785 8173 0.00 1.33 0.00 0.000 4 0.000 0.047 2527 1479 3593

8201 -0.63 -194.6 879.5 -10.1 788 8204 0.00 1.35 0.00 0.000 6 0.000 0.049 2521 2377 3593

8524 -0.63 -194.6 910.6 -9.6 819 8525 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2378 3592

8832 -0.63 -194.6 939.2 -9.1 849 8836 0.00 1.33 0.00 0.000 4 0.000 0.047 2522 1488 3591

8869 -0.63 -194.6 942.9 -9.1 852 8877 0.00 1.33 0.00 0.000 6 0.000 0.049 2516 2373 3591

9186 -0.63 -194.6 972.9 -9.8 883 9189 0.00 1.55 0.00 0.000 4 0.000 0.061 2509 3256 3590

9217 -0.63 -194.6 976.0 -9.9 886 9221 0.08 1.48 0.00 0.000 6 0.146 0.039 2533 2374 3589

9382 end dive: TARGET_DEPTH_EXCEEDED

state 9382 begin apogee

9386 -0.25 0.0 990.5 8.7 902 9539 0.43 0.00 150.18 1.255 6 0.135 0.000 2662 2260 2840

9539 end apogee: CONTROL_FINISHED_OK

state 9539 begin climb

9541 0.63 194.6 995.3 0.0 917 9720 0.90 1.85 167.05 1.222 4 0.106 0.054 2941 3136 2044

9734 0.63 194.6 979.8 12.4 933 9742 0.00 1.77 0.00 0.000 6 0.000 0.036 2949 2251 2041

10052 0.63 194.6 941.6 11.9 964 10055 0.00 1.17 0.00 0.000 4 0.000 0.046 2955 1348 2035

10180 0.63 194.6 926.1 12.8 976 10183 0.00 1.23 0.00 0.000 6 0.000 0.045 2955 2263 2034

10500 0.63 194.6 885.0 12.8 1007 10503 0.00 1.20 0.00 0.000 4 0.000 0.045 2960 1353 2032

10633 0.63 194.6 868.1 13.0 1019 10640 0.00 1.23 0.00 0.000 6 0.000 0.044 2960 2265 2032

10950 0.63 194.6 827.7 12.9 1050 10953 0.00 1.20 0.00 0.000 4 0.000 0.045 2965 1343 2031

11068 0.63 194.6 812.3 12.7 1061 11071 0.00 1.20 0.00 0.000 6 0.000 0.044 2965 2259 2031

11388 0.63 194.6 770.0 12.3 1092 11392 0.00 1.17 0.00 0.000 4 0.000 0.044 2970 1350 2030

11506 0.63 194.6 755.5 12.6 1103 11509 0.00 1.17 0.00 0.000 6 0.000 0.044 2971 2251 2030

11826 0.63 194.6 714.1 13.0 1134 11830 0.00 1.17 0.00 0.000 4 0.000 0.044 2977 1341 2029

11890 0.63 194.6 706.0 12.1 1140 11893 0.00 1.20 0.00 0.000 6 0.000 0.044 2976 2256 2029

12211 0.63 194.6 664.2 13.2 1171 12214 0.00 1.17 0.00 0.000 4 0.000 0.044 2981 1350 2028

12377 0.63 194.6 642.6 12.6 1186 12383 0.10 1.17 0.00 0.000 6 0.145 0.044 2951 2253 2028

12692 0.63 194.6 607.6 10.6 1217 12695 0.00 1.17 0.00 0.000 4 0.000 0.044 2954 1339 2028

12799 0.63 194.6 596.0 10.4 1227 12802 0.00 1.17 0.00 0.000 6 0.000 0.044 2954 2249 2027

13120 0.63 194.6 559.4 11.5 1258 13124 0.00 1.15 0.00 0.000 4 0.000 0.044 2959 1349 2027

13237 0.63 194.6 545.8 10.5 1269 13241 0.00 1.17 0.00 0.000 6 0.000 0.044 2959 2253 2027

13559 0.63 194.6 508.2 11.6 1300 13562 0.00 1.17 0.00 0.000 4 0.000 0.044 2964 1337 2027

13623 0.63 194.6 500.4 12.6 1306 13626 0.00 1.20 0.00 0.000 6 0.000 0.043 2964 2257 2027

13943 0.63 194.6 461.3 12.1 1337 13946 0.00 1.17 0.00 0.000 4 0.000 0.043 2970 1347 2027

14012 0.63 194.6 453.0 11.1 1343 14019 0.00 1.20 0.00 0.000 6 0.000 0.042 2970 2259 2027

14329 0.63 194.6 412.5 13.0 1374 14332 0.00 1.17 0.00 0.000 4 0.000 0.042 2975 1344 2027

14375 0.63 194.6 406.4 12.3 1378 14382 0.00 1.20 0.00 0.000 6 0.000 0.041 2975 2257 2027

14692 0.63 194.6 366.0 12.6 1409 14696 0.00 1.17 0.00 0.000 4 0.000 0.042 2980 1341 2027

14734 0.63 194.6 360.7 12.2 1413 14738 0.00 1.17 0.00 0.000 6 0.000 0.041 2981 2251 2027

15057 0.63 194.6 319.5 13.1 1444 15060 0.12 1.17 0.00 0.000 4 0.154 0.040 2951 1332 2027

15131 0.63 194.6 310.7 11.9 1451 15134 0.00 1.20 0.00 0.000 6 0.000 0.041 2952 2256 2027

15451 0.63 194.6 274.7 11.8 1482 15455 0.00 1.17 0.00 0.000 4 0.000 0.041 2957 1333 2027

15537 0.63 194.6 265.3 11.6 1490 15540 0.00 1.20 0.00 0.000 6 0.000 0.040 2957 2261 2028

15859 0.63 194.6 229.3 11.3 1521 15862 0.00 1.17 0.00 0.000 4 0.000 0.040 2963 1336 2027

15922 0.63 194.6 222.0 11.9 1527 15926 0.00 1.17 0.00 0.000 6 0.000 0.039 2962 2251 2028

16244 0.63 194.6 183.7 12.4 1558 16247 0.00 1.15 0.00 0.000 4 0.000 0.040 2968 1339 2028

16322 0.63 194.6 174.5 11.9 1565 16330 0.00 1.20 0.00 0.000 6 0.000 0.038 2968 2261 2028

16639 0.63 194.6 137.4 11.1 1596 16643 0.00 1.17 0.00 0.000 4 0.000 0.039 2973 1332 2028

16729 0.63 194.6 127.8 9.9 1604 16738 0.00 1.20 0.00 0.000 6 0.000 0.037 2973 2259 2029

17046 0.63 194.6 92.2 11.1 1635 17049 0.00 1.15 0.00 0.000 4 0.000 0.038 2979 1341 2030

17120 0.63 194.6 84.1 10.3 1642 17123 0.00 1.17 0.00 0.000 6 0.000 0.038 2978 2260 2030

17317 0.63 194.6 63.1 10.1 1661 17320 0.00 1.15 0.00 0.000 4 0.000 0.037 2984 1341 2031

17349 0.63 194.6 59.9 9.0 1664 17352 0.10 1.17 0.00 0.000 6 0.127 0.038 2951 2261 2031

17545 0.64 206.8 45.1 7.2 1683 17557 0.00 0.00 8.43 0.491 6 0.000 0.000 2951 2261 1996

17742 0.78 319.2 33.4 4.5 1702 17830 0.15 1.62 84.57 0.543 4 0.062 0.054 3019 3134 1538

17852 0.78 319.2 24.3 9.6 1711 17855 0.00 1.62 0.00 0.000 6 0.000 0.030 3027 2242 1534

18048 0.80 335.0 8.8 7.1 1730 18063 0.00 1.08 12.05 0.474 4 0.000 0.035 3032 1335 1474

18132 end climb: SURFACE_DEPTH_REACHED

state 18132 begin surface coast

18155 end surface coast: CONTROL_FINISHED_OK

state 18155 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	170	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	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	45	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-14	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	-15435.271	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	2	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	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	20

GPS1	125530,2838.012,-8826.016,37,1.2,42,-0.4	TGT_NAME	NEW0607F
_CALLS	1	TGT_LATLONG	2837.000,-8845.000
_XMS_NAKs	6	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.251,0.085
_SM_DEPTHo	1.59	KALMAN_X	-9383.6,-460.5,-309.7,49291.7,2813.6
_SM_ANGLEo	-68.6	KALMAN_Y	-37268.6,1045.9,78.6,54162.6,-13377.2
GPS2	130307,2838.089,-8826.049,12,2.0,18,-0.4	MHEAD_RNG_PITCHd_Wd	262.8,30876,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1433

FINISH	1.4,1.022717	_24V_AH	23.0,31.020
SM_CCo	18170,119.30,0.500,0,0,494,575.22	_10V_AH	10.6,42.975
SM_GC	1.51,0.00,0.00,119.30,0.000,0.000,0.500,196,2368,494,-7.97,-0.20,575.22	DATA_FILE_SIZE	91500,1740
IRIDIUM_FIX	2823.64,-8812.07,200999,080813	CAP_FILE_SIZE	174897,0
TT8_MAMPS	0.051389	CFSIZE	260165632,239783936
HUMID	1323	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2191	CURRENT	0.070,230.6,1
TCM_TEMP	22.90	GPS	260610,181037,2837.631,-8829.520,40,1.0,40,-0.4
XPDR_PINGS	36

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	118.68	SBE_CT	1191	24	657.95
Roll_motor	96	61	135.98	SBE_O2	1279	19	559.10
VBD_pump_during_apogee	422	1254	12187.14	WL_BBFL2VMT	3910	105	9444.78
VBD_pump_during_surface	119	500	1372.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.55	nil	0	0	0.00
Iridium_during_connect	31	160	116.04	nil	0	0	0.00
Iridium_during_xfer	278	223	1427.25
Transponder_ping	9	420	86.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	20	50	10.74
TT8	0	19	0.00
LPSleep	12099	2	280.89
TT8_Active	628	19	132.01
TT8_Sampling	5341	39	2253.68
TT8_CF8	707	45	343.49
TT8_Kalman	33	81	28.90
Analog_circuits	2166	12	275.58
GPS_charging	0	0	0.00
Compass	4781	8	405.45
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-0.63	-194.6	0.0	0.0	0	88	0.00	0.00	-73.38	0.000	2	0.000	0.000	197	2366	2511
90	-0.63	-194.6	3.0	-3.3	7	138	10.43	1.25	-31.67	0.000	4	0.254	0.057	2543	1482	3633
313	-0.63	-194.6	44.0	-15.9	27	321	0.00	1.30	0.00	0.000	6	0.000	0.036	2538	2374	3635
505	-0.63	-194.6	71.2	-13.5	46	509	0.00	1.50	0.00	0.000	4	0.000	0.045	2531	3268	3636
591	-0.63	-194.6	82.3	-11.9	54	594	0.00	1.45	0.00	0.000	6	0.000	0.028	2536	2374	3637
788	-0.63	-194.6	105.9	-12.1	73	788	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2373	3638
1098	-0.63	-194.6	145.9	-12.4	103	1099	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2373	3638
1408	-0.63	-194.6	181.1	-10.0	133	1409	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2373	3637
1719	-0.63	-194.6	214.5	-10.8	163	1722	0.00	1.25	0.00	0.000	4	0.000	0.039	2536	1485	3635
1766	-0.63	-194.6	219.9	-10.8	167	1773	0.00	1.30	0.00	0.000	6	0.000	0.038	2532	2377	3634
2083	-0.63	-194.6	255.1	-10.8	198	2084	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2377	3633
2393	-0.63	-194.6	290.5	-11.0	228	2394	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2377	3631
2703	-0.63	-194.6	324.2	-10.6	258	2706	0.00	1.27	0.00	0.000	4	0.000	0.041	2532	1486	3629
2756	-0.63	-194.6	330.0	-10.4	263	2760	0.00	1.27	0.00	0.000	6	0.000	0.041	2526	2372	3628
3078	-0.63	-194.6	364.6	-10.7	294	3078	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2373	3626
3387	-0.63	-194.6	398.3	-10.6	324	3390	0.00	1.52	0.00	0.000	4	0.000	0.053	2519	3264	3623
3419	-0.63	-194.6	401.7	-10.8	327	3422	0.00	1.45	0.00	0.000	6	0.000	0.033	2519	2373	3623
3741	-0.63	-194.6	437.3	-11.1	358	3744	0.00	1.52	0.00	0.000	4	0.000	0.053	2511	3258	3621
3783	-0.63	-194.6	442.2	-11.8	362	3786	0.08	1.42	0.00	0.000	6	0.144	0.034	2536	2375	3620
4103	-0.63	-194.6	474.2	-9.8	393	4104	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2375	3618
4414	-0.63	-194.6	505.7	-10.3	423	4415	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2375	3616
4724	-0.63	-194.6	537.2	-10.0	453	4725	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2376	3613
5035	-0.63	-194.6	568.1	-9.8	483	5038	0.00	1.52	0.00	0.000	4	0.000	0.056	2531	3256	3611
5045	-0.63	-194.6	569.2	-9.8	484	5048	0.00	1.45	0.00	0.000	6	0.000	0.035	2531	2375	3611
5368	-0.63	-194.6	601.2	-10.2	515	5370	0.00	1.55	0.00	0.000	4	0.000	0.056	2524	3262	3609
5410	-0.63	-194.6	605.7	-10.3	519	5413	0.00	1.48	0.00	0.000	6	0.000	0.035	2524	2373	3609
5731	-0.63	-194.6	638.7	-10.3	550	5734	0.00	1.30	0.00	0.000	4	0.000	0.047	2524	1472	3607
5827	-0.63	-194.6	649.0	-10.8	559	5830	0.00	1.33	0.00	0.000	6	0.000	0.047	2518	2373	3606
6149	-0.63	-194.6	682.7	-10.2	590	6149	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2373	3603
6459	-0.63	-194.6	715.1	-9.9	620	6460	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2373	3602
6769	-0.63	-194.6	745.3	-9.9	650	6772	0.00	1.55	0.00	0.000	4	0.000	0.058	2511	3259	3600
6805	-0.63	-194.6	749.1	-10.6	653	6812	0.08	1.48	0.00	0.000	6	0.144	0.037	2535	2369	3600
7121	-0.63	-194.6	777.4	-9.4	684	7125	0.00	1.27	0.00	0.000	4	0.000	0.048	2536	1490	3599
7185	-0.63	-194.6	783.4	-9.5	690	7188	0.00	1.30	0.00	0.000	6	0.000	0.048	2532	2370	3598
7507	-0.63	-194.6	814.9	-9.9	721	7508	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2370	3596
7816	-0.63	-194.6	843.5	-9.0	751	7819	0.00	1.30	0.00	0.000	4	0.000	0.047	2532	1489	3594
7849	-0.63	-194.6	846.5	-8.8	754	7852	0.00	1.33	0.00	0.000	6	0.000	0.048	2528	2374	3595
8170	-0.63	-194.6	876.4	-9.1	785	8173	0.00	1.33	0.00	0.000	4	0.000	0.047	2527	1479	3593
8201	-0.63	-194.6	879.5	-10.1	788	8204	0.00	1.35	0.00	0.000	6	0.000	0.049	2521	2377	3593
8524	-0.63	-194.6	910.6	-9.6	819	8525	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2378	3592
8832	-0.63	-194.6	939.2	-9.1	849	8836	0.00	1.33	0.00	0.000	4	0.000	0.047	2522	1488	3591
8869	-0.63	-194.6	942.9	-9.1	852	8877	0.00	1.33	0.00	0.000	6	0.000	0.049	2516	2373	3591
9186	-0.63	-194.6	972.9	-9.8	883	9189	0.00	1.55	0.00	0.000	4	0.000	0.061	2509	3256	3590
9217	-0.63	-194.6	976.0	-9.9	886	9221	0.08	1.48	0.00	0.000	6	0.146	0.039	2533	2374	3589
9382	end dive: TARGET_DEPTH_EXCEEDED
state	9382	begin apogee
9386	-0.25	0.0	990.5	8.7	902	9539	0.43	0.00	150.18	1.255	6	0.135	0.000	2662	2260	2840
9539	end apogee: CONTROL_FINISHED_OK
state	9539	begin climb
9541	0.63	194.6	995.3	0.0	917	9720	0.90	1.85	167.05	1.222	4	0.106	0.054	2941	3136	2044
9734	0.63	194.6	979.8	12.4	933	9742	0.00	1.77	0.00	0.000	6	0.000	0.036	2949	2251	2041
10052	0.63	194.6	941.6	11.9	964	10055	0.00	1.17	0.00	0.000	4	0.000	0.046	2955	1348	2035
10180	0.63	194.6	926.1	12.8	976	10183	0.00	1.23	0.00	0.000	6	0.000	0.045	2955	2263	2034
10500	0.63	194.6	885.0	12.8	1007	10503	0.00	1.20	0.00	0.000	4	0.000	0.045	2960	1353	2032
10633	0.63	194.6	868.1	13.0	1019	10640	0.00	1.23	0.00	0.000	6	0.000	0.044	2960	2265	2032
10950	0.63	194.6	827.7	12.9	1050	10953	0.00	1.20	0.00	0.000	4	0.000	0.045	2965	1343	2031
11068	0.63	194.6	812.3	12.7	1061	11071	0.00	1.20	0.00	0.000	6	0.000	0.044	2965	2259	2031
11388	0.63	194.6	770.0	12.3	1092	11392	0.00	1.17	0.00	0.000	4	0.000	0.044	2970	1350	2030
11506	0.63	194.6	755.5	12.6	1103	11509	0.00	1.17	0.00	0.000	6	0.000	0.044	2971	2251	2030
11826	0.63	194.6	714.1	13.0	1134	11830	0.00	1.17	0.00	0.000	4	0.000	0.044	2977	1341	2029
11890	0.63	194.6	706.0	12.1	1140	11893	0.00	1.20	0.00	0.000	6	0.000	0.044	2976	2256	2029
12211	0.63	194.6	664.2	13.2	1171	12214	0.00	1.17	0.00	0.000	4	0.000	0.044	2981	1350	2028
12377	0.63	194.6	642.6	12.6	1186	12383	0.10	1.17	0.00	0.000	6	0.145	0.044	2951	2253	2028
12692	0.63	194.6	607.6	10.6	1217	12695	0.00	1.17	0.00	0.000	4	0.000	0.044	2954	1339	2028
12799	0.63	194.6	596.0	10.4	1227	12802	0.00	1.17	0.00	0.000	6	0.000	0.044	2954	2249	2027
13120	0.63	194.6	559.4	11.5	1258	13124	0.00	1.15	0.00	0.000	4	0.000	0.044	2959	1349	2027
13237	0.63	194.6	545.8	10.5	1269	13241	0.00	1.17	0.00	0.000	6	0.000	0.044	2959	2253	2027
13559	0.63	194.6	508.2	11.6	1300	13562	0.00	1.17	0.00	0.000	4	0.000	0.044	2964	1337	2027
13623	0.63	194.6	500.4	12.6	1306	13626	0.00	1.20	0.00	0.000	6	0.000	0.043	2964	2257	2027
13943	0.63	194.6	461.3	12.1	1337	13946	0.00	1.17	0.00	0.000	4	0.000	0.043	2970	1347	2027
14012	0.63	194.6	453.0	11.1	1343	14019	0.00	1.20	0.00	0.000	6	0.000	0.042	2970	2259	2027
14329	0.63	194.6	412.5	13.0	1374	14332	0.00	1.17	0.00	0.000	4	0.000	0.042	2975	1344	2027
14375	0.63	194.6	406.4	12.3	1378	14382	0.00	1.20	0.00	0.000	6	0.000	0.041	2975	2257	2027
14692	0.63	194.6	366.0	12.6	1409	14696	0.00	1.17	0.00	0.000	4	0.000	0.042	2980	1341	2027
14734	0.63	194.6	360.7	12.2	1413	14738	0.00	1.17	0.00	0.000	6	0.000	0.041	2981	2251	2027
15057	0.63	194.6	319.5	13.1	1444	15060	0.12	1.17	0.00	0.000	4	0.154	0.040	2951	1332	2027
15131	0.63	194.6	310.7	11.9	1451	15134	0.00	1.20	0.00	0.000	6	0.000	0.041	2952	2256	2027
15451	0.63	194.6	274.7	11.8	1482	15455	0.00	1.17	0.00	0.000	4	0.000	0.041	2957	1333	2027
15537	0.63	194.6	265.3	11.6	1490	15540	0.00	1.20	0.00	0.000	6	0.000	0.040	2957	2261	2028
15859	0.63	194.6	229.3	11.3	1521	15862	0.00	1.17	0.00	0.000	4	0.000	0.040	2963	1336	2027
15922	0.63	194.6	222.0	11.9	1527	15926	0.00	1.17	0.00	0.000	6	0.000	0.039	2962	2251	2028
16244	0.63	194.6	183.7	12.4	1558	16247	0.00	1.15	0.00	0.000	4	0.000	0.040	2968	1339	2028
16322	0.63	194.6	174.5	11.9	1565	16330	0.00	1.20	0.00	0.000	6	0.000	0.038	2968	2261	2028
16639	0.63	194.6	137.4	11.1	1596	16643	0.00	1.17	0.00	0.000	4	0.000	0.039	2973	1332	2028
16729	0.63	194.6	127.8	9.9	1604	16738	0.00	1.20	0.00	0.000	6	0.000	0.037	2973	2259	2029
17046	0.63	194.6	92.2	11.1	1635	17049	0.00	1.15	0.00	0.000	4	0.000	0.038	2979	1341	2030
17120	0.63	194.6	84.1	10.3	1642	17123	0.00	1.17	0.00	0.000	6	0.000	0.038	2978	2260	2030
17317	0.63	194.6	63.1	10.1	1661	17320	0.00	1.15	0.00	0.000	4	0.000	0.037	2984	1341	2031
17349	0.63	194.6	59.9	9.0	1664	17352	0.10	1.17	0.00	0.000	6	0.127	0.038	2951	2261	2031
17545	0.64	206.8	45.1	7.2	1683	17557	0.00	0.00	8.43	0.491	6	0.000	0.000	2951	2261	1996
17742	0.78	319.2	33.4	4.5	1702	17830	0.15	1.62	84.57	0.543	4	0.062	0.054	3019	3134	1538
17852	0.78	319.2	24.3	9.6	1711	17855	0.00	1.62	0.00	0.000	6	0.000	0.030	3027	2242	1534
18048	0.80	335.0	8.8	7.1	1730	18063	0.00	1.08	12.05	0.474	4	0.000	0.035	3032	1335	1474
18132	end climb: SURFACE_DEPTH_REACHED
state	18132	begin surface coast
18155	end surface coast: CONTROL_FINISHED_OK
state	18155	begin surface