Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 171 * 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 171 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 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -15452.449 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 -15452.449

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 -4

C_ROLL_CLIMB 2250 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 36 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 24 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 171 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 181037,2837.631,-8829.520,40,1.0,40,-0.4 TGT_NAME NEW0607F

_CALLS 1 TGT_LATLONG 2837.000,-8845.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.235,0.122

_SM_DEPTHo 1.58 KALMAN_X -9591.3,163.4,64.3,42852.0,721.9

_SM_ANGLEo -68.6 KALMAN_Y -40665.9,777.9,1655.4,55412.6,-14621.0

GPS2 181644,2837.653,-8829.526,14,1.0,14,-0.4 MHEAD_RNG_PITCHd_Wd 276.8,25186,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1591

Post-dive calculations and measurements:

FINISH 0.7,1.022447 _24V_AH 23.0,31.180

SM_CCo 18255,79.97,0.491,0,0,495,575.22 _10V_AH 10.6,43.206

SM_GC 1.49,0.00,0.00,79.97,0.000,0.000,0.491,200,2371,495,-7.96,-0.14,575.22 DATA_FILE_SIZE 91414,1739

IRIDIUM_FIX 2828.55,-8824.26,200999,131311 CAP_FILE_SIZE 183443,0

TT8_MAMPS 0.050622 CFSIZE 260165632,239685632

HUMID 1330 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2191 CURRENT 0.104,230.4,1

TCM_TEMP 23.00 GPS 260610,232437,2838.391,-8832.952,36,1.1,36,-0.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 256 119.90 SBE_CT 1189 24 656.85

Roll_motor 114 62 165.38 SBE_O2 1281 19 559.82

VBD_pump_during_apogee 482 1253 13901.05 WL_BBFL2VMT 3908 105 9438.56

VBD_pump_during_surface 79 490 902.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 75.25 nil 0 0 0.00

Iridium_during_connect 24 160 88.61 nil 0 0 0.00

Iridium_during_xfer 194 223 999.69

Transponder_ping 0 420 2.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.77

TT8 0 19 0.00

LPSleep 11747 2 272.70

TT8_Active 645 19 135.46

TT8_Sampling 5711 39 2409.78

TT8_CF8 608 45 295.63

TT8_Kalman 33 81 28.90

Analog_circuits 2362 12 300.46

GPS_charging 0 0 0.00

Compass 5124 8 434.54

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 -0.63 -194.6 0.0 0.0 0 97 0.00 0.00 -83.25 0.000 2 0.000 0.000 196 2369 2791

99 -0.63 -194.6 3.1 -3.8 8 136 10.50 1.55 -19.77 0.000 4 0.256 0.063 2531 3270 3634

374 -0.63 -194.6 58.3 -14.6 33 383 0.00 1.50 0.00 0.000 6 0.000 0.028 2535 2363 3637

567 -0.63 -194.6 85.1 -15.0 52 570 0.00 1.52 0.00 0.000 4 0.000 0.045 2530 3257 3638

784 -0.63 -194.6 113.6 -13.9 72 792 0.00 1.45 0.00 0.000 6 0.000 0.028 2535 2368 3639

1102 -0.63 -194.6 153.2 -11.7 103 1105 0.00 1.52 0.00 0.000 4 0.000 0.046 2530 3267 3639

1155 -0.63 -194.6 159.7 -12.2 108 1158 0.00 1.45 0.00 0.000 6 0.000 0.028 2533 2369 3639

1477 -0.63 -194.6 196.1 -11.4 139 1480 0.00 1.52 0.00 0.000 4 0.000 0.047 2527 3265 3638

1598 -0.63 -194.6 209.7 -10.9 150 1605 0.00 1.45 0.00 0.000 6 0.000 0.029 2527 2368 3638

1915 -0.63 -194.6 245.4 -11.6 181 1918 0.00 1.52 0.00 0.000 4 0.000 0.047 2520 3265 3636

2025 -0.63 -194.6 258.8 -12.1 191 2033 0.00 1.48 0.00 0.000 6 0.000 0.029 2520 2365 3636

2344 -0.63 -194.6 295.1 -11.8 222 2347 0.00 1.52 0.00 0.000 4 0.000 0.048 2513 3257 3634

2461 -0.63 -194.6 308.8 -11.3 233 2464 0.08 1.42 0.00 0.000 6 0.143 0.031 2537 2368 3633

2782 -0.63 -194.6 340.7 -10.2 264 2785 0.00 1.52 0.00 0.000 4 0.000 0.049 2532 3261 3631

2871 -0.63 -194.6 350.1 -10.1 272 2878 0.00 1.48 0.00 0.000 6 0.000 0.031 2532 2368 3631

3189 -0.63 -194.6 381.5 -10.4 303 3192 0.00 1.52 0.00 0.000 4 0.000 0.051 2525 3257 3627

3295 -0.63 -194.6 393.0 -10.3 313 3298 0.00 1.45 0.00 0.000 6 0.000 0.032 2525 2367 3628

3617 -0.63 -194.6 428.0 -10.7 344 3620 0.00 1.55 0.00 0.000 4 0.000 0.051 2518 3261 3625

3760 -0.63 -194.6 443.8 -10.8 357 3768 0.00 1.50 0.00 0.000 6 0.000 0.032 2518 2364 3624

4078 -0.63 -194.6 478.5 -10.7 388 4081 0.00 1.55 0.00 0.000 4 0.000 0.053 2511 3255 3622

4194 -0.63 -194.6 491.8 -11.6 399 4198 0.00 1.45 0.00 0.000 6 0.000 0.034 2511 2371 3621

4517 -0.63 -194.6 529.2 -11.5 430 4520 0.12 1.52 0.00 0.000 4 0.151 0.051 2537 3267 3619

4655 -0.63 -194.6 543.7 -10.5 443 4658 0.00 1.48 0.00 0.000 6 0.000 0.035 2537 2372 3618

4977 -0.63 -194.6 575.3 -9.8 474 4980 0.00 1.52 0.00 0.000 4 0.000 0.054 2531 3255 3616

5073 -0.63 -194.6 584.7 -10.1 483 5076 0.00 1.45 0.00 0.000 6 0.000 0.035 2531 2373 3616

5395 -0.63 -194.6 615.3 -9.8 514 5398 0.00 1.52 0.00 0.000 4 0.000 0.054 2524 3254 3613

5491 -0.63 -194.6 625.1 -10.5 523 5494 0.00 1.45 0.00 0.000 6 0.000 0.036 2524 2371 3613

5813 -0.63 -194.6 657.4 -9.9 554 5816 0.00 1.55 0.00 0.000 4 0.000 0.055 2517 3260 3610

5891 -0.63 -194.6 666.2 -11.2 561 5900 0.00 1.50 0.00 0.000 6 0.000 0.035 2517 2365 3610

6209 -0.63 -194.6 699.1 -10.6 592 6212 0.00 1.55 0.00 0.000 4 0.000 0.055 2509 3256 3608

6326 -0.63 -194.6 712.0 -11.6 603 6329 0.10 1.48 0.00 0.000 6 0.142 0.037 2541 2366 3608

6646 -0.63 -194.6 741.1 -9.1 634 6650 0.00 1.55 0.00 0.000 4 0.000 0.056 2535 3255 3605

6775 -0.63 -194.6 753.2 -9.8 646 6778 0.00 1.45 0.00 0.000 6 0.000 0.037 2535 2374 3605

7097 -0.63 -194.6 782.9 -8.8 677 7099 0.00 1.55 0.00 0.000 4 0.000 0.058 2529 3260 3603

7214 -0.63 -194.6 794.2 -9.3 688 7217 0.00 1.48 0.00 0.000 6 0.000 0.038 2529 2372 3603

7535 -0.63 -194.6 824.8 -9.7 719 7538 0.00 1.55 0.00 0.000 4 0.000 0.058 2522 3253 3602

7642 -0.63 -194.6 835.4 -9.4 729 7645 0.00 1.48 0.00 0.000 6 0.000 0.038 2522 2368 3601

7963 -0.63 -194.6 867.7 -10.0 760 7966 0.00 1.55 0.00 0.000 4 0.000 0.058 2515 3250 3599

8091 -0.63 -194.6 880.6 -9.8 772 8094 0.00 1.48 0.00 0.000 6 0.000 0.038 2515 2368 3599

8413 -0.63 -194.6 912.6 -9.8 803 8416 0.00 1.58 0.00 0.000 4 0.000 0.058 2507 3260 3597

8513 -0.63 -194.6 923.0 -10.2 812 8521 0.10 1.48 0.00 0.000 6 0.145 0.038 2539 2371 3597

8829 -0.63 -194.6 950.2 -8.8 843 8833 0.00 1.55 0.00 0.000 4 0.000 0.058 2533 3255 3596

8962 -0.63 -194.6 962.4 -8.5 855 8969 0.00 1.48 0.00 0.000 6 0.000 0.038 2533 2368 3595

9279 -0.63 -194.6 988.6 -7.9 886 9282 0.00 1.55 0.00 0.000 4 0.000 0.059 2526 3252 3594

9292 end dive: TARGET_DEPTH_EXCEEDED

state 9292 begin apogee

9298 -0.25 0.0 990.2 8.7 887 9454 0.43 0.00 151.35 1.253 6 0.143 0.000 2657 2260 2840

9455 end apogee: CONTROL_FINISHED_OK

state 9455 begin climb

9456 0.63 194.6 994.4 0.0 903 9636 0.90 1.33 167.20 1.220 4 0.110 0.044 2942 1349 2045

9765 0.63 194.6 964.6 11.6 930 9767 0.00 1.25 0.00 0.000 6 0.000 0.044 2942 2259 2038

10086 0.63 194.6 925.9 12.0 961 10089 0.00 1.20 0.00 0.000 4 0.000 0.045 2947 1352 2034

10258 0.63 194.6 905.1 12.8 977 10260 0.00 1.20 0.00 0.000 6 0.000 0.045 2948 2258 2034

10578 0.63 194.6 865.1 12.5 1008 10581 0.00 1.20 0.00 0.000 4 0.000 0.045 2953 1342 2032

10732 0.63 194.6 846.4 12.8 1022 10739 0.00 1.23 0.00 0.000 6 0.000 0.044 2953 2259 2032

11049 0.63 194.6 808.2 11.8 1053 11052 0.00 1.20 0.00 0.000 4 0.000 0.045 2958 1333 2031

11198 0.63 194.6 790.4 11.4 1067 11202 0.00 1.23 0.00 0.000 6 0.000 0.044 2958 2260 2031

11519 0.63 194.6 751.0 12.5 1098 11523 0.00 1.20 0.00 0.000 4 0.000 0.044 2963 1335 2030

11691 0.63 194.6 730.0 11.3 1114 11694 0.00 1.20 0.00 0.000 6 0.000 0.045 2963 2254 2030

12011 0.63 194.6 689.0 12.9 1145 12015 0.00 1.17 0.00 0.000 4 0.000 0.044 2969 1346 2029

12172 0.63 194.6 668.4 14.0 1160 12175 0.00 1.17 0.00 0.000 6 0.000 0.044 2968 2251 2029

12493 0.63 194.6 626.5 12.6 1191 12496 0.00 1.17 0.00 0.000 4 0.000 0.044 2974 1340 2029

12658 0.63 194.6 606.3 11.9 1206 12665 0.00 1.20 0.00 0.000 6 0.000 0.043 2973 2257 2028

12975 0.63 194.6 565.5 12.9 1237 12978 0.00 1.17 0.00 0.000 4 0.000 0.044 2979 1346 2028

13146 0.63 194.6 543.6 11.6 1253 13149 0.00 1.17 0.00 0.000 6 0.000 0.044 2979 2251 2028

13466 0.63 194.6 501.4 13.4 1284 13470 0.00 1.17 0.00 0.000 4 0.000 0.043 2984 1335 2027

13573 0.63 194.6 487.5 12.7 1294 13577 0.10 1.20 0.00 0.000 6 0.144 0.043 2954 2256 2027

13894 0.63 194.6 450.9 10.8 1325 13897 0.00 1.17 0.00 0.000 4 0.000 0.044 2957 1342 2027

14043 0.63 194.6 434.2 12.2 1339 14047 0.00 1.17 0.00 0.000 6 0.000 0.042 2957 2251 2027

14364 0.63 194.6 397.1 11.2 1370 14367 0.00 1.15 0.00 0.000 4 0.000 0.043 2962 1346 2027

14503 0.63 194.6 381.2 10.2 1383 14506 0.00 1.17 0.00 0.000 6 0.000 0.042 2962 2255 2027

14825 0.63 194.6 343.8 11.4 1414 14828 0.00 1.17 0.00 0.000 4 0.000 0.042 2967 1333 2027

14931 0.63 194.6 331.2 12.1 1424 14934 0.00 1.20 0.00 0.000 6 0.000 0.041 2967 2259 2027

15253 0.63 194.6 291.8 12.2 1455 15256 0.00 1.17 0.00 0.000 4 0.000 0.041 2972 1337 2027

15360 0.63 194.6 278.5 12.0 1465 15363 0.00 1.17 0.00 0.000 6 0.000 0.041 2973 2250 2028

15681 0.63 194.6 238.1 11.8 1496 15684 0.00 1.15 0.00 0.000 4 0.000 0.041 2978 1340 2028

15802 0.63 194.6 223.6 12.7 1507 15810 0.00 1.20 0.00 0.000 6 0.000 0.040 2977 2260 2028

16120 0.63 194.6 183.5 12.8 1538 16123 0.00 1.17 0.00 0.000 4 0.000 0.040 2983 1335 2029

16280 0.63 194.6 163.6 12.0 1553 16284 0.10 1.17 0.00 0.000 6 0.137 0.041 2952 2257 2029

16601 0.63 194.6 129.7 11.0 1584 16604 0.00 1.17 0.00 0.000 4 0.000 0.039 2955 1330 2029

16751 0.63 194.6 114.7 10.4 1598 16754 0.00 1.17 0.00 0.000 6 0.000 0.038 2955 2253 2030

17071 0.63 194.6 84.3 8.9 1629 17074 0.00 1.15 0.00 0.000 4 0.000 0.037 2960 1335 2030

17182 0.63 194.6 74.1 8.5 1639 17190 0.00 1.20 0.00 0.000 6 0.000 0.037 2960 2266 2031

17374 0.63 194.6 56.6 8.8 1658 17378 0.00 1.17 0.00 0.000 4 0.000 0.036 2965 1330 2031

17470 0.66 218.5 49.4 6.9 1667 17494 0.00 1.17 17.38 0.536 6 0.000 0.036 2965 2260 1949

17679 0.73 276.3 35.8 6.0 1687 17727 0.00 1.23 44.40 0.542 4 0.000 0.036 2970 1323 1712

17791 0.78 316.3 28.9 6.4 1697 17828 0.00 1.20 30.92 0.522 6 0.000 0.035 2971 2257 1550

18014 0.88 402.7 16.4 5.2 1718 18085 0.17 1.15 64.68 0.515 4 0.076 0.034 3045 1331 1196

18170 0.89 409.9 5.4 7.3 1732 18182 0.00 1.20 6.32 0.406 6 0.000 0.033 3045 2261 1167

18210 end climb: SURFACE_DEPTH_REACHED

state 18210 begin surface coast

18241 end surface coast: CONTROL_FINISHED_OK

state 18241 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	171	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	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-15452.449	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	181037,2837.631,-8829.520,40,1.0,40,-0.4	TGT_NAME	NEW0607F
_CALLS	1	TGT_LATLONG	2837.000,-8845.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.235,0.122
_SM_DEPTHo	1.58	KALMAN_X	-9591.3,163.4,64.3,42852.0,721.9
_SM_ANGLEo	-68.6	KALMAN_Y	-40665.9,777.9,1655.4,55412.6,-14621.0
GPS2	181644,2837.653,-8829.526,14,1.0,14,-0.4	MHEAD_RNG_PITCHd_Wd	276.8,25186,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1591

FINISH	0.7,1.022447	_24V_AH	23.0,31.180
SM_CCo	18255,79.97,0.491,0,0,495,575.22	_10V_AH	10.6,43.206
SM_GC	1.49,0.00,0.00,79.97,0.000,0.000,0.491,200,2371,495,-7.96,-0.14,575.22	DATA_FILE_SIZE	91414,1739
IRIDIUM_FIX	2828.55,-8824.26,200999,131311	CAP_FILE_SIZE	183443,0
TT8_MAMPS	0.050622	CFSIZE	260165632,239685632
HUMID	1330	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2191	CURRENT	0.104,230.4,1
TCM_TEMP	23.00	GPS	260610,232437,2838.391,-8832.952,36,1.1,36,-0.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	256	119.90	SBE_CT	1189	24	656.85
Roll_motor	114	62	165.38	SBE_O2	1281	19	559.82
VBD_pump_during_apogee	482	1253	13901.05	WL_BBFL2VMT	3908	105	9438.56
VBD_pump_during_surface	79	490	902.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	75.25	nil	0	0	0.00
Iridium_during_connect	24	160	88.61	nil	0	0	0.00
Iridium_during_xfer	194	223	999.69
Transponder_ping	0	420	2.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.77
TT8	0	19	0.00
LPSleep	11747	2	272.70
TT8_Active	645	19	135.46
TT8_Sampling	5711	39	2409.78
TT8_CF8	608	45	295.63
TT8_Kalman	33	81	28.90
Analog_circuits	2362	12	300.46
GPS_charging	0	0	0.00
Compass	5124	8	434.54
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	-0.63	-194.6	0.0	0.0	0	97	0.00	0.00	-83.25	0.000	2	0.000	0.000	196	2369	2791
99	-0.63	-194.6	3.1	-3.8	8	136	10.50	1.55	-19.77	0.000	4	0.256	0.063	2531	3270	3634
374	-0.63	-194.6	58.3	-14.6	33	383	0.00	1.50	0.00	0.000	6	0.000	0.028	2535	2363	3637
567	-0.63	-194.6	85.1	-15.0	52	570	0.00	1.52	0.00	0.000	4	0.000	0.045	2530	3257	3638
784	-0.63	-194.6	113.6	-13.9	72	792	0.00	1.45	0.00	0.000	6	0.000	0.028	2535	2368	3639
1102	-0.63	-194.6	153.2	-11.7	103	1105	0.00	1.52	0.00	0.000	4	0.000	0.046	2530	3267	3639
1155	-0.63	-194.6	159.7	-12.2	108	1158	0.00	1.45	0.00	0.000	6	0.000	0.028	2533	2369	3639
1477	-0.63	-194.6	196.1	-11.4	139	1480	0.00	1.52	0.00	0.000	4	0.000	0.047	2527	3265	3638
1598	-0.63	-194.6	209.7	-10.9	150	1605	0.00	1.45	0.00	0.000	6	0.000	0.029	2527	2368	3638
1915	-0.63	-194.6	245.4	-11.6	181	1918	0.00	1.52	0.00	0.000	4	0.000	0.047	2520	3265	3636
2025	-0.63	-194.6	258.8	-12.1	191	2033	0.00	1.48	0.00	0.000	6	0.000	0.029	2520	2365	3636
2344	-0.63	-194.6	295.1	-11.8	222	2347	0.00	1.52	0.00	0.000	4	0.000	0.048	2513	3257	3634
2461	-0.63	-194.6	308.8	-11.3	233	2464	0.08	1.42	0.00	0.000	6	0.143	0.031	2537	2368	3633
2782	-0.63	-194.6	340.7	-10.2	264	2785	0.00	1.52	0.00	0.000	4	0.000	0.049	2532	3261	3631
2871	-0.63	-194.6	350.1	-10.1	272	2878	0.00	1.48	0.00	0.000	6	0.000	0.031	2532	2368	3631
3189	-0.63	-194.6	381.5	-10.4	303	3192	0.00	1.52	0.00	0.000	4	0.000	0.051	2525	3257	3627
3295	-0.63	-194.6	393.0	-10.3	313	3298	0.00	1.45	0.00	0.000	6	0.000	0.032	2525	2367	3628
3617	-0.63	-194.6	428.0	-10.7	344	3620	0.00	1.55	0.00	0.000	4	0.000	0.051	2518	3261	3625
3760	-0.63	-194.6	443.8	-10.8	357	3768	0.00	1.50	0.00	0.000	6	0.000	0.032	2518	2364	3624
4078	-0.63	-194.6	478.5	-10.7	388	4081	0.00	1.55	0.00	0.000	4	0.000	0.053	2511	3255	3622
4194	-0.63	-194.6	491.8	-11.6	399	4198	0.00	1.45	0.00	0.000	6	0.000	0.034	2511	2371	3621
4517	-0.63	-194.6	529.2	-11.5	430	4520	0.12	1.52	0.00	0.000	4	0.151	0.051	2537	3267	3619
4655	-0.63	-194.6	543.7	-10.5	443	4658	0.00	1.48	0.00	0.000	6	0.000	0.035	2537	2372	3618
4977	-0.63	-194.6	575.3	-9.8	474	4980	0.00	1.52	0.00	0.000	4	0.000	0.054	2531	3255	3616
5073	-0.63	-194.6	584.7	-10.1	483	5076	0.00	1.45	0.00	0.000	6	0.000	0.035	2531	2373	3616
5395	-0.63	-194.6	615.3	-9.8	514	5398	0.00	1.52	0.00	0.000	4	0.000	0.054	2524	3254	3613
5491	-0.63	-194.6	625.1	-10.5	523	5494	0.00	1.45	0.00	0.000	6	0.000	0.036	2524	2371	3613
5813	-0.63	-194.6	657.4	-9.9	554	5816	0.00	1.55	0.00	0.000	4	0.000	0.055	2517	3260	3610
5891	-0.63	-194.6	666.2	-11.2	561	5900	0.00	1.50	0.00	0.000	6	0.000	0.035	2517	2365	3610
6209	-0.63	-194.6	699.1	-10.6	592	6212	0.00	1.55	0.00	0.000	4	0.000	0.055	2509	3256	3608
6326	-0.63	-194.6	712.0	-11.6	603	6329	0.10	1.48	0.00	0.000	6	0.142	0.037	2541	2366	3608
6646	-0.63	-194.6	741.1	-9.1	634	6650	0.00	1.55	0.00	0.000	4	0.000	0.056	2535	3255	3605
6775	-0.63	-194.6	753.2	-9.8	646	6778	0.00	1.45	0.00	0.000	6	0.000	0.037	2535	2374	3605
7097	-0.63	-194.6	782.9	-8.8	677	7099	0.00	1.55	0.00	0.000	4	0.000	0.058	2529	3260	3603
7214	-0.63	-194.6	794.2	-9.3	688	7217	0.00	1.48	0.00	0.000	6	0.000	0.038	2529	2372	3603
7535	-0.63	-194.6	824.8	-9.7	719	7538	0.00	1.55	0.00	0.000	4	0.000	0.058	2522	3253	3602
7642	-0.63	-194.6	835.4	-9.4	729	7645	0.00	1.48	0.00	0.000	6	0.000	0.038	2522	2368	3601
7963	-0.63	-194.6	867.7	-10.0	760	7966	0.00	1.55	0.00	0.000	4	0.000	0.058	2515	3250	3599
8091	-0.63	-194.6	880.6	-9.8	772	8094	0.00	1.48	0.00	0.000	6	0.000	0.038	2515	2368	3599
8413	-0.63	-194.6	912.6	-9.8	803	8416	0.00	1.58	0.00	0.000	4	0.000	0.058	2507	3260	3597
8513	-0.63	-194.6	923.0	-10.2	812	8521	0.10	1.48	0.00	0.000	6	0.145	0.038	2539	2371	3597
8829	-0.63	-194.6	950.2	-8.8	843	8833	0.00	1.55	0.00	0.000	4	0.000	0.058	2533	3255	3596
8962	-0.63	-194.6	962.4	-8.5	855	8969	0.00	1.48	0.00	0.000	6	0.000	0.038	2533	2368	3595
9279	-0.63	-194.6	988.6	-7.9	886	9282	0.00	1.55	0.00	0.000	4	0.000	0.059	2526	3252	3594
9292	end dive: TARGET_DEPTH_EXCEEDED
state	9292	begin apogee
9298	-0.25	0.0	990.2	8.7	887	9454	0.43	0.00	151.35	1.253	6	0.143	0.000	2657	2260	2840
9455	end apogee: CONTROL_FINISHED_OK
state	9455	begin climb
9456	0.63	194.6	994.4	0.0	903	9636	0.90	1.33	167.20	1.220	4	0.110	0.044	2942	1349	2045
9765	0.63	194.6	964.6	11.6	930	9767	0.00	1.25	0.00	0.000	6	0.000	0.044	2942	2259	2038
10086	0.63	194.6	925.9	12.0	961	10089	0.00	1.20	0.00	0.000	4	0.000	0.045	2947	1352	2034
10258	0.63	194.6	905.1	12.8	977	10260	0.00	1.20	0.00	0.000	6	0.000	0.045	2948	2258	2034
10578	0.63	194.6	865.1	12.5	1008	10581	0.00	1.20	0.00	0.000	4	0.000	0.045	2953	1342	2032
10732	0.63	194.6	846.4	12.8	1022	10739	0.00	1.23	0.00	0.000	6	0.000	0.044	2953	2259	2032
11049	0.63	194.6	808.2	11.8	1053	11052	0.00	1.20	0.00	0.000	4	0.000	0.045	2958	1333	2031
11198	0.63	194.6	790.4	11.4	1067	11202	0.00	1.23	0.00	0.000	6	0.000	0.044	2958	2260	2031
11519	0.63	194.6	751.0	12.5	1098	11523	0.00	1.20	0.00	0.000	4	0.000	0.044	2963	1335	2030
11691	0.63	194.6	730.0	11.3	1114	11694	0.00	1.20	0.00	0.000	6	0.000	0.045	2963	2254	2030
12011	0.63	194.6	689.0	12.9	1145	12015	0.00	1.17	0.00	0.000	4	0.000	0.044	2969	1346	2029
12172	0.63	194.6	668.4	14.0	1160	12175	0.00	1.17	0.00	0.000	6	0.000	0.044	2968	2251	2029
12493	0.63	194.6	626.5	12.6	1191	12496	0.00	1.17	0.00	0.000	4	0.000	0.044	2974	1340	2029
12658	0.63	194.6	606.3	11.9	1206	12665	0.00	1.20	0.00	0.000	6	0.000	0.043	2973	2257	2028
12975	0.63	194.6	565.5	12.9	1237	12978	0.00	1.17	0.00	0.000	4	0.000	0.044	2979	1346	2028
13146	0.63	194.6	543.6	11.6	1253	13149	0.00	1.17	0.00	0.000	6	0.000	0.044	2979	2251	2028
13466	0.63	194.6	501.4	13.4	1284	13470	0.00	1.17	0.00	0.000	4	0.000	0.043	2984	1335	2027
13573	0.63	194.6	487.5	12.7	1294	13577	0.10	1.20	0.00	0.000	6	0.144	0.043	2954	2256	2027
13894	0.63	194.6	450.9	10.8	1325	13897	0.00	1.17	0.00	0.000	4	0.000	0.044	2957	1342	2027
14043	0.63	194.6	434.2	12.2	1339	14047	0.00	1.17	0.00	0.000	6	0.000	0.042	2957	2251	2027
14364	0.63	194.6	397.1	11.2	1370	14367	0.00	1.15	0.00	0.000	4	0.000	0.043	2962	1346	2027
14503	0.63	194.6	381.2	10.2	1383	14506	0.00	1.17	0.00	0.000	6	0.000	0.042	2962	2255	2027
14825	0.63	194.6	343.8	11.4	1414	14828	0.00	1.17	0.00	0.000	4	0.000	0.042	2967	1333	2027
14931	0.63	194.6	331.2	12.1	1424	14934	0.00	1.20	0.00	0.000	6	0.000	0.041	2967	2259	2027
15253	0.63	194.6	291.8	12.2	1455	15256	0.00	1.17	0.00	0.000	4	0.000	0.041	2972	1337	2027
15360	0.63	194.6	278.5	12.0	1465	15363	0.00	1.17	0.00	0.000	6	0.000	0.041	2973	2250	2028
15681	0.63	194.6	238.1	11.8	1496	15684	0.00	1.15	0.00	0.000	4	0.000	0.041	2978	1340	2028
15802	0.63	194.6	223.6	12.7	1507	15810	0.00	1.20	0.00	0.000	6	0.000	0.040	2977	2260	2028
16120	0.63	194.6	183.5	12.8	1538	16123	0.00	1.17	0.00	0.000	4	0.000	0.040	2983	1335	2029
16280	0.63	194.6	163.6	12.0	1553	16284	0.10	1.17	0.00	0.000	6	0.137	0.041	2952	2257	2029
16601	0.63	194.6	129.7	11.0	1584	16604	0.00	1.17	0.00	0.000	4	0.000	0.039	2955	1330	2029
16751	0.63	194.6	114.7	10.4	1598	16754	0.00	1.17	0.00	0.000	6	0.000	0.038	2955	2253	2030
17071	0.63	194.6	84.3	8.9	1629	17074	0.00	1.15	0.00	0.000	4	0.000	0.037	2960	1335	2030
17182	0.63	194.6	74.1	8.5	1639	17190	0.00	1.20	0.00	0.000	6	0.000	0.037	2960	2266	2031
17374	0.63	194.6	56.6	8.8	1658	17378	0.00	1.17	0.00	0.000	4	0.000	0.036	2965	1330	2031
17470	0.66	218.5	49.4	6.9	1667	17494	0.00	1.17	17.38	0.536	6	0.000	0.036	2965	2260	1949
17679	0.73	276.3	35.8	6.0	1687	17727	0.00	1.23	44.40	0.542	4	0.000	0.036	2970	1323	1712
17791	0.78	316.3	28.9	6.4	1697	17828	0.00	1.20	30.92	0.522	6	0.000	0.035	2971	2257	1550
18014	0.88	402.7	16.4	5.2	1718	18085	0.17	1.15	64.68	0.515	4	0.076	0.034	3045	1331	1196
18170	0.89	409.9	5.4	7.3	1732	18182	0.00	1.20	6.32	0.406	6	0.000	0.033	3045	2261	1167
18210	end climb: SURFACE_DEPTH_REACHED
state	18210	begin surface coast
18241	end surface coast: CONTROL_FINISHED_OK
state	18241	begin surface