Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 187 * 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 187 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 2400 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -15722.847 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 -15722.847

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 2400 MASS 51931 R_PORT_OVSHOOT 31 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 36 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 187 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 040706,2836.652,-8829.910,26,1.2,26,-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 -0.216,0.153

_SM_DEPTHo 1.53 KALMAN_X -20053.2,-82.9,545.4,52347.1,-2033.1

_SM_ANGLEo -63.4 KALMAN_Y -101465.4,999.9,1340.3,114502.5,-15295.4

GPS2 041344,2836.682,-8829.982,9,1.7,9,-0.4 MHEAD_RNG_PITCHd_Wd 288.3,24422,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1638

Post-dive calculations and measurements:

FINISH 0.7,1.022945 _24V_AH 20.5,33.639

SM_CCo 18180,83.50,0.495,0,0,494,575.22 _10V_AH 10.6,46.726

SM_GC 1.43,0.00,0.00,83.50,0.000,0.000,0.495,200,2418,494,-7.96,0.51,575.22 DATA_FILE_SIZE 91505,1748

IRIDIUM_FIX 2826.10,-8826.71,230999,232329 CAP_FILE_SIZE 163536,0

TT8_MAMPS 0.052156 CFSIZE 260165632,238284800

HUMID 1336 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2191 CURRENT 52.797,288.1,1

TCM_TEMP 23.00 GPS 300610,041344,2836.682,-8829.982,9,1.7,9,-0.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 260 109.59 SBE_CT 1196 24 588.64

Roll_motor 75 59 91.05 SBE_O2 1276 19 497.08

VBD_pump_during_apogee 479 1250 12277.08 WL_BBFL2VMT 3928 105 8456.49

VBD_pump_during_surface 83 494 846.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 58.24 nil 0 0 0.00

Iridium_during_connect 28 160 92.28 nil 0 0 0.00

Iridium_during_xfer 228 223 1045.92

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.20

TT8 0 19 0.00

LPSleep 12266 2 284.75

TT8_Active 642 19 134.80

TT8_Sampling 5135 39 2166.70

TT8_CF8 628 45 305.13

TT8_Kalman 33 81 28.90

Analog_circuits 2085 12 265.32

GPS_charging 0 0 0.00

Compass 4617 8 391.56

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 0 108 0.00 0.00 -94.00 0.000 2 0.000 0.000 195 2402 3083

110 -0.63 -194.6 3.6 -3.9 9 136 10.75 1.35 -10.95 0.000 4 0.261 0.059 2543 1489 3635

375 -0.63 -194.6 59.5 -14.0 33 382 0.00 1.35 0.00 0.000 6 0.000 0.036 2539 2403 3638

567 -0.63 -194.6 85.5 -12.7 52 570 0.00 1.33 0.00 0.000 4 0.000 0.038 2539 1486 3639

657 -0.63 -194.6 96.8 -12.2 60 664 0.00 1.35 0.00 0.000 6 0.000 0.036 2535 2405 3640

849 -0.63 -194.6 120.9 -12.5 79 850 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2405 3640

1160 -0.63 -194.6 157.9 -10.6 109 1160 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2405 3640

1470 -0.63 -194.6 192.8 -10.7 139 1473 0.00 1.30 0.00 0.000 4 0.000 0.039 2535 1501 3640

1517 -0.63 -194.6 198.3 -11.7 143 1524 0.00 1.33 0.00 0.000 6 0.000 0.038 2529 2404 3640

1834 -0.63 -194.6 233.5 -10.9 174 1835 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2404 3638

2144 -0.63 -194.6 268.9 -10.5 204 2147 0.00 1.48 0.00 0.000 4 0.000 0.049 2522 3280 3636

2197 -0.63 -194.6 275.0 -11.6 209 2200 0.00 1.45 0.00 0.000 6 0.000 0.030 2522 2371 3636

2519 -0.63 -194.6 312.4 -11.9 240 2519 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2371 3634

2828 -0.63 -194.6 347.3 -11.0 270 2831 0.00 1.23 0.00 0.000 4 0.000 0.041 2522 1515 3632

2860 -0.63 -194.6 350.8 -10.7 273 2863 0.00 1.30 0.00 0.000 6 0.000 0.041 2516 2401 3632

3181 -0.63 -194.6 385.3 -11.3 304 3182 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2401 3630

3492 -0.63 -194.6 421.3 -12.2 334 3492 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2401 3627

3801 -0.63 -194.6 456.9 -11.0 364 3804 0.00 1.30 0.00 0.000 4 0.000 0.043 2516 1517 3625

3848 -0.63 -194.6 462.1 -10.8 368 3856 0.10 1.33 0.00 0.000 6 0.140 0.042 2541 2410 3625

4165 -0.63 -194.6 491.5 -9.6 399 4166 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2411 3622

4475 -0.63 -194.6 522.1 -10.2 429 4478 0.00 1.30 0.00 0.000 4 0.000 0.044 2543 1530 3620

4507 -0.63 -194.6 525.4 -10.6 432 4510 0.00 1.27 0.00 0.000 6 0.000 0.044 2539 2391 3620

4829 -0.63 -194.6 558.2 -10.2 463 4832 0.00 1.27 0.00 0.000 4 0.000 0.044 2539 1525 3618

4871 -0.63 -194.6 562.6 -9.8 467 4874 0.00 1.30 0.00 0.000 6 0.000 0.045 2534 2400 3618

5192 -0.63 -194.6 592.8 -9.2 498 5196 0.00 1.52 0.00 0.000 4 0.000 0.058 2527 3288 3616

5228 -0.63 -194.6 596.5 -9.5 501 5236 0.00 1.48 0.00 0.000 6 0.000 0.035 2527 2398 3616

5546 -0.63 -194.6 628.7 -10.3 532 5547 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2398 3614

5855 -0.63 -194.6 660.7 -10.2 562 5858 0.00 1.30 0.00 0.000 4 0.000 0.045 2526 1510 3612

5892 -0.63 -194.6 664.6 -10.5 565 5899 0.00 1.33 0.00 0.000 6 0.000 0.046 2521 2397 3611

6209 -0.63 -194.6 697.9 -10.6 596 6209 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2398 3609

6519 -0.63 -194.6 728.9 -9.5 626 6519 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2398 3608

6828 -0.63 -194.6 760.3 -10.2 656 6832 0.00 1.33 0.00 0.000 4 0.000 0.048 2521 1509 3606

6865 -0.63 -194.6 764.2 -10.2 659 6872 0.00 1.35 0.00 0.000 6 0.000 0.048 2515 2399 3606

7182 -0.63 -194.6 797.5 -10.8 690 7183 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2398 3604

7492 -0.63 -194.6 830.2 -10.4 720 7493 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2398 3603

7802 -0.63 -194.6 861.8 -10.3 750 7803 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2398 3602

8112 -0.63 -194.6 892.9 -9.9 780 8113 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2398 3600

8423 -0.63 -194.6 923.9 -10.0 810 8424 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2399 3599

8733 -0.63 -194.6 953.7 -9.5 840 8736 0.00 1.33 0.00 0.000 4 0.000 0.048 2515 1519 3598

8776 -0.63 -194.6 957.7 -9.9 844 8779 0.10 1.33 0.00 0.000 6 0.145 0.050 2540 2394 3598

9097 -0.63 -194.6 983.4 -7.9 875 9098 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2395 3596

9188 end dive: TARGET_DEPTH_EXCEEDED

state 9188 begin apogee

9192 -0.25 0.0 990.5 7.5 884 9352 0.40 0.00 151.90 1.250 6 0.137 0.000 2660 2264 2839

9352 end apogee: CONTROL_FINISHED_OK

state 9352 begin climb

9354 0.63 194.6 994.6 0.0 900 9525 0.93 0.00 167.68 1.217 6 0.107 0.000 2943 2264 2046

9832 0.63 194.6 943.9 12.0 947 9833 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2264 2035

10141 0.63 194.6 907.7 11.8 977 10145 0.00 1.20 0.00 0.000 4 0.000 0.052 2948 1360 2033

10184 0.63 194.6 902.7 13.0 981 10187 0.00 1.17 0.00 0.000 6 0.000 0.044 2948 2251 2033

10505 0.63 194.6 864.6 11.7 1012 10508 0.00 1.67 0.00 0.000 4 0.000 0.054 2948 3135 2032

10526 0.63 194.6 862.1 11.9 1014 10529 0.00 1.60 0.00 0.000 6 0.000 0.038 2955 2258 2031

10847 0.63 194.6 822.0 12.9 1045 10850 0.00 1.17 0.00 0.000 4 0.000 0.046 2961 1349 2031

10893 0.63 194.6 816.1 13.0 1049 10901 0.00 1.23 0.00 0.000 6 0.000 0.044 2961 2260 2031

11211 0.63 194.6 775.9 12.9 1080 11212 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2260 2030

11520 0.63 194.6 737.7 12.4 1110 11521 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2261 2030

11831 0.63 194.6 699.1 12.1 1140 11834 0.00 1.20 0.00 0.000 4 0.000 0.046 2967 1342 2029

11899 0.63 194.6 690.6 12.3 1146 11907 0.00 1.23 0.00 0.000 6 0.000 0.044 2967 2258 2029

12217 0.63 194.6 651.0 12.3 1177 12220 0.00 1.65 0.00 0.000 4 0.000 0.054 2967 3138 2028

12248 0.63 194.6 646.9 12.6 1180 12251 0.00 1.62 0.00 0.000 6 0.000 0.038 2974 2244 2028

12569 0.63 194.6 606.6 12.4 1211 12572 0.00 1.12 0.00 0.000 4 0.000 0.045 2980 1356 2027

12633 0.63 194.6 598.6 12.6 1217 12636 0.08 1.17 0.00 0.000 6 0.150 0.044 2956 2254 2027

12953 0.63 194.6 560.2 12.3 1248 12957 0.00 1.65 0.00 0.000 4 0.000 0.054 2956 3131 2028

12975 0.63 194.6 557.5 12.9 1250 12978 0.00 1.60 0.00 0.000 6 0.000 0.038 2962 2252 2027

13295 0.63 194.6 516.1 12.2 1281 13299 0.00 1.15 0.00 0.000 4 0.000 0.045 2967 1348 2027

13338 0.63 194.6 510.9 11.7 1285 13341 0.00 1.17 0.00 0.000 6 0.000 0.044 2967 2248 2026

13659 0.63 194.6 471.3 12.4 1316 13662 0.00 1.67 0.00 0.000 4 0.000 0.053 2967 3164 2027

13690 0.63 194.6 467.1 13.9 1319 13694 0.00 1.65 0.00 0.000 6 0.000 0.037 2974 2248 2026

14011 0.63 194.6 426.0 12.8 1350 14014 0.00 1.15 0.00 0.000 4 0.000 0.044 2981 1344 2026

14079 0.63 194.6 417.1 13.3 1356 14087 0.12 1.23 0.00 0.000 6 0.150 0.042 2949 2262 2026

14396 0.63 194.6 382.7 10.8 1387 14397 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2262 2026

14706 0.63 194.6 348.9 10.8 1417 14707 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2262 2027

15017 0.63 194.6 315.8 11.0 1447 15020 0.00 1.20 0.00 0.000 4 0.000 0.042 2953 1341 2026

15053 0.63 194.6 311.9 10.8 1450 15061 0.00 1.23 0.00 0.000 6 0.000 0.041 2953 2263 2026

15370 0.63 194.6 278.1 10.8 1481 15371 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2263 2027

15680 0.63 194.6 242.5 11.3 1511 15681 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2263 2027

15990 0.63 194.6 208.1 11.1 1541 15991 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2263 2028

16301 0.63 194.6 173.0 11.0 1571 16304 0.00 1.62 0.00 0.000 4 0.000 0.049 2953 3164 2028

16332 0.63 194.6 169.3 10.8 1574 16336 0.00 1.62 0.00 0.000 6 0.000 0.034 2961 2249 2028

16653 0.63 194.6 133.9 10.0 1605 16654 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2250 2028

16964 0.63 194.6 100.6 10.3 1635 16967 0.00 1.12 0.00 0.000 4 0.000 0.039 2966 1339 2029

17028 0.63 194.6 94.2 10.5 1641 17031 0.00 1.17 0.00 0.000 6 0.000 0.038 2966 2257 2030

17224 0.63 194.6 74.8 10.5 1660 17227 0.00 1.15 0.00 0.000 4 0.000 0.038 2971 1351 2030

17299 0.63 194.6 67.3 7.9 1667 17302 0.00 1.15 0.00 0.000 6 0.000 0.037 2971 2256 2030

17496 0.63 194.6 50.2 8.7 1686 17497 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 2256 2031

17682 0.71 261.9 37.9 5.7 1704 17734 0.00 1.20 49.55 0.545 4 0.000 0.037 2976 1339 1771

17749 0.75 296.4 33.6 6.6 1709 17782 0.00 1.20 27.10 0.525 6 0.000 0.035 2976 2263 1629

17968 0.89 408.1 20.9 4.6 1730 18056 0.17 1.23 82.80 0.521 4 0.061 0.036 3074 1343 1174

18111 0.89 408.1 6.9 12.2 1742 18119 0.10 1.20 0.00 0.000 6 0.115 0.034 3041 2265 1171

18145 end climb: SURFACE_DEPTH_REACHED

state 18145 begin surface coast

18166 end surface coast: CONTROL_FINISHED_OK

state 18166 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	187	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	2400	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-15722.847	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	040706,2836.652,-8829.910,26,1.2,26,-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	-0.216,0.153
_SM_DEPTHo	1.53	KALMAN_X	-20053.2,-82.9,545.4,52347.1,-2033.1
_SM_ANGLEo	-63.4	KALMAN_Y	-101465.4,999.9,1340.3,114502.5,-15295.4
GPS2	041344,2836.682,-8829.982,9,1.7,9,-0.4	MHEAD_RNG_PITCHd_Wd	288.3,24422,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1638

FINISH	0.7,1.022945	_24V_AH	20.5,33.639
SM_CCo	18180,83.50,0.495,0,0,494,575.22	_10V_AH	10.6,46.726
SM_GC	1.43,0.00,0.00,83.50,0.000,0.000,0.495,200,2418,494,-7.96,0.51,575.22	DATA_FILE_SIZE	91505,1748
IRIDIUM_FIX	2826.10,-8826.71,230999,232329	CAP_FILE_SIZE	163536,0
TT8_MAMPS	0.052156	CFSIZE	260165632,238284800
HUMID	1336	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2191	CURRENT	52.797,288.1,1
TCM_TEMP	23.00	GPS	300610,041344,2836.682,-8829.982,9,1.7,9,-0.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	260	109.59	SBE_CT	1196	24	588.64
Roll_motor	75	59	91.05	SBE_O2	1276	19	497.08
VBD_pump_during_apogee	479	1250	12277.08	WL_BBFL2VMT	3928	105	8456.49
VBD_pump_during_surface	83	494	846.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	58.24	nil	0	0	0.00
Iridium_during_connect	28	160	92.28	nil	0	0	0.00
Iridium_during_xfer	228	223	1045.92
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.20
TT8	0	19	0.00
LPSleep	12266	2	284.75
TT8_Active	642	19	134.80
TT8_Sampling	5135	39	2166.70
TT8_CF8	628	45	305.13
TT8_Kalman	33	81	28.90
Analog_circuits	2085	12	265.32
GPS_charging	0	0	0.00
Compass	4617	8	391.56
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	108	0.00	0.00	-94.00	0.000	2	0.000	0.000	195	2402	3083
110	-0.63	-194.6	3.6	-3.9	9	136	10.75	1.35	-10.95	0.000	4	0.261	0.059	2543	1489	3635
375	-0.63	-194.6	59.5	-14.0	33	382	0.00	1.35	0.00	0.000	6	0.000	0.036	2539	2403	3638
567	-0.63	-194.6	85.5	-12.7	52	570	0.00	1.33	0.00	0.000	4	0.000	0.038	2539	1486	3639
657	-0.63	-194.6	96.8	-12.2	60	664	0.00	1.35	0.00	0.000	6	0.000	0.036	2535	2405	3640
849	-0.63	-194.6	120.9	-12.5	79	850	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2405	3640
1160	-0.63	-194.6	157.9	-10.6	109	1160	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2405	3640
1470	-0.63	-194.6	192.8	-10.7	139	1473	0.00	1.30	0.00	0.000	4	0.000	0.039	2535	1501	3640
1517	-0.63	-194.6	198.3	-11.7	143	1524	0.00	1.33	0.00	0.000	6	0.000	0.038	2529	2404	3640
1834	-0.63	-194.6	233.5	-10.9	174	1835	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2404	3638
2144	-0.63	-194.6	268.9	-10.5	204	2147	0.00	1.48	0.00	0.000	4	0.000	0.049	2522	3280	3636
2197	-0.63	-194.6	275.0	-11.6	209	2200	0.00	1.45	0.00	0.000	6	0.000	0.030	2522	2371	3636
2519	-0.63	-194.6	312.4	-11.9	240	2519	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2371	3634
2828	-0.63	-194.6	347.3	-11.0	270	2831	0.00	1.23	0.00	0.000	4	0.000	0.041	2522	1515	3632
2860	-0.63	-194.6	350.8	-10.7	273	2863	0.00	1.30	0.00	0.000	6	0.000	0.041	2516	2401	3632
3181	-0.63	-194.6	385.3	-11.3	304	3182	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2401	3630
3492	-0.63	-194.6	421.3	-12.2	334	3492	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2401	3627
3801	-0.63	-194.6	456.9	-11.0	364	3804	0.00	1.30	0.00	0.000	4	0.000	0.043	2516	1517	3625
3848	-0.63	-194.6	462.1	-10.8	368	3856	0.10	1.33	0.00	0.000	6	0.140	0.042	2541	2410	3625
4165	-0.63	-194.6	491.5	-9.6	399	4166	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2411	3622
4475	-0.63	-194.6	522.1	-10.2	429	4478	0.00	1.30	0.00	0.000	4	0.000	0.044	2543	1530	3620
4507	-0.63	-194.6	525.4	-10.6	432	4510	0.00	1.27	0.00	0.000	6	0.000	0.044	2539	2391	3620
4829	-0.63	-194.6	558.2	-10.2	463	4832	0.00	1.27	0.00	0.000	4	0.000	0.044	2539	1525	3618
4871	-0.63	-194.6	562.6	-9.8	467	4874	0.00	1.30	0.00	0.000	6	0.000	0.045	2534	2400	3618
5192	-0.63	-194.6	592.8	-9.2	498	5196	0.00	1.52	0.00	0.000	4	0.000	0.058	2527	3288	3616
5228	-0.63	-194.6	596.5	-9.5	501	5236	0.00	1.48	0.00	0.000	6	0.000	0.035	2527	2398	3616
5546	-0.63	-194.6	628.7	-10.3	532	5547	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2398	3614
5855	-0.63	-194.6	660.7	-10.2	562	5858	0.00	1.30	0.00	0.000	4	0.000	0.045	2526	1510	3612
5892	-0.63	-194.6	664.6	-10.5	565	5899	0.00	1.33	0.00	0.000	6	0.000	0.046	2521	2397	3611
6209	-0.63	-194.6	697.9	-10.6	596	6209	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2398	3609
6519	-0.63	-194.6	728.9	-9.5	626	6519	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2398	3608
6828	-0.63	-194.6	760.3	-10.2	656	6832	0.00	1.33	0.00	0.000	4	0.000	0.048	2521	1509	3606
6865	-0.63	-194.6	764.2	-10.2	659	6872	0.00	1.35	0.00	0.000	6	0.000	0.048	2515	2399	3606
7182	-0.63	-194.6	797.5	-10.8	690	7183	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2398	3604
7492	-0.63	-194.6	830.2	-10.4	720	7493	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2398	3603
7802	-0.63	-194.6	861.8	-10.3	750	7803	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2398	3602
8112	-0.63	-194.6	892.9	-9.9	780	8113	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2398	3600
8423	-0.63	-194.6	923.9	-10.0	810	8424	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2399	3599
8733	-0.63	-194.6	953.7	-9.5	840	8736	0.00	1.33	0.00	0.000	4	0.000	0.048	2515	1519	3598
8776	-0.63	-194.6	957.7	-9.9	844	8779	0.10	1.33	0.00	0.000	6	0.145	0.050	2540	2394	3598
9097	-0.63	-194.6	983.4	-7.9	875	9098	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2395	3596
9188	end dive: TARGET_DEPTH_EXCEEDED
state	9188	begin apogee
9192	-0.25	0.0	990.5	7.5	884	9352	0.40	0.00	151.90	1.250	6	0.137	0.000	2660	2264	2839
9352	end apogee: CONTROL_FINISHED_OK
state	9352	begin climb
9354	0.63	194.6	994.6	0.0	900	9525	0.93	0.00	167.68	1.217	6	0.107	0.000	2943	2264	2046
9832	0.63	194.6	943.9	12.0	947	9833	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	2264	2035
10141	0.63	194.6	907.7	11.8	977	10145	0.00	1.20	0.00	0.000	4	0.000	0.052	2948	1360	2033
10184	0.63	194.6	902.7	13.0	981	10187	0.00	1.17	0.00	0.000	6	0.000	0.044	2948	2251	2033
10505	0.63	194.6	864.6	11.7	1012	10508	0.00	1.67	0.00	0.000	4	0.000	0.054	2948	3135	2032
10526	0.63	194.6	862.1	11.9	1014	10529	0.00	1.60	0.00	0.000	6	0.000	0.038	2955	2258	2031
10847	0.63	194.6	822.0	12.9	1045	10850	0.00	1.17	0.00	0.000	4	0.000	0.046	2961	1349	2031
10893	0.63	194.6	816.1	13.0	1049	10901	0.00	1.23	0.00	0.000	6	0.000	0.044	2961	2260	2031
11211	0.63	194.6	775.9	12.9	1080	11212	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2260	2030
11520	0.63	194.6	737.7	12.4	1110	11521	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2261	2030
11831	0.63	194.6	699.1	12.1	1140	11834	0.00	1.20	0.00	0.000	4	0.000	0.046	2967	1342	2029
11899	0.63	194.6	690.6	12.3	1146	11907	0.00	1.23	0.00	0.000	6	0.000	0.044	2967	2258	2029
12217	0.63	194.6	651.0	12.3	1177	12220	0.00	1.65	0.00	0.000	4	0.000	0.054	2967	3138	2028
12248	0.63	194.6	646.9	12.6	1180	12251	0.00	1.62	0.00	0.000	6	0.000	0.038	2974	2244	2028
12569	0.63	194.6	606.6	12.4	1211	12572	0.00	1.12	0.00	0.000	4	0.000	0.045	2980	1356	2027
12633	0.63	194.6	598.6	12.6	1217	12636	0.08	1.17	0.00	0.000	6	0.150	0.044	2956	2254	2027
12953	0.63	194.6	560.2	12.3	1248	12957	0.00	1.65	0.00	0.000	4	0.000	0.054	2956	3131	2028
12975	0.63	194.6	557.5	12.9	1250	12978	0.00	1.60	0.00	0.000	6	0.000	0.038	2962	2252	2027
13295	0.63	194.6	516.1	12.2	1281	13299	0.00	1.15	0.00	0.000	4	0.000	0.045	2967	1348	2027
13338	0.63	194.6	510.9	11.7	1285	13341	0.00	1.17	0.00	0.000	6	0.000	0.044	2967	2248	2026
13659	0.63	194.6	471.3	12.4	1316	13662	0.00	1.67	0.00	0.000	4	0.000	0.053	2967	3164	2027
13690	0.63	194.6	467.1	13.9	1319	13694	0.00	1.65	0.00	0.000	6	0.000	0.037	2974	2248	2026
14011	0.63	194.6	426.0	12.8	1350	14014	0.00	1.15	0.00	0.000	4	0.000	0.044	2981	1344	2026
14079	0.63	194.6	417.1	13.3	1356	14087	0.12	1.23	0.00	0.000	6	0.150	0.042	2949	2262	2026
14396	0.63	194.6	382.7	10.8	1387	14397	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2262	2026
14706	0.63	194.6	348.9	10.8	1417	14707	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2262	2027
15017	0.63	194.6	315.8	11.0	1447	15020	0.00	1.20	0.00	0.000	4	0.000	0.042	2953	1341	2026
15053	0.63	194.6	311.9	10.8	1450	15061	0.00	1.23	0.00	0.000	6	0.000	0.041	2953	2263	2026
15370	0.63	194.6	278.1	10.8	1481	15371	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2263	2027
15680	0.63	194.6	242.5	11.3	1511	15681	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2263	2027
15990	0.63	194.6	208.1	11.1	1541	15991	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2263	2028
16301	0.63	194.6	173.0	11.0	1571	16304	0.00	1.62	0.00	0.000	4	0.000	0.049	2953	3164	2028
16332	0.63	194.6	169.3	10.8	1574	16336	0.00	1.62	0.00	0.000	6	0.000	0.034	2961	2249	2028
16653	0.63	194.6	133.9	10.0	1605	16654	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2250	2028
16964	0.63	194.6	100.6	10.3	1635	16967	0.00	1.12	0.00	0.000	4	0.000	0.039	2966	1339	2029
17028	0.63	194.6	94.2	10.5	1641	17031	0.00	1.17	0.00	0.000	6	0.000	0.038	2966	2257	2030
17224	0.63	194.6	74.8	10.5	1660	17227	0.00	1.15	0.00	0.000	4	0.000	0.038	2971	1351	2030
17299	0.63	194.6	67.3	7.9	1667	17302	0.00	1.15	0.00	0.000	6	0.000	0.037	2971	2256	2030
17496	0.63	194.6	50.2	8.7	1686	17497	0.00	0.00	0.00	0.000	6	0.000	0.000	2971	2256	2031
17682	0.71	261.9	37.9	5.7	1704	17734	0.00	1.20	49.55	0.545	4	0.000	0.037	2976	1339	1771
17749	0.75	296.4	33.6	6.6	1709	17782	0.00	1.20	27.10	0.525	6	0.000	0.035	2976	2263	1629
17968	0.89	408.1	20.9	4.6	1730	18056	0.17	1.23	82.80	0.521	4	0.061	0.036	3074	1343	1174
18111	0.89	408.1	6.9	12.2	1742	18119	0.10	1.20	0.00	0.000	6	0.115	0.034	3041	2265	1171
18145	end climb: SURFACE_DEPTH_REACHED
state	18145	begin surface coast
18166	end surface coast: CONTROL_FINISHED_OK
state	18166	begin surface