Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 203 * 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 203 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 2275 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 15 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 -17156.252 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 -17156.252

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 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 31 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 15 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 203 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 140037,2837.087,-8832.702,29,1.8,29,-0.3 TGT_NAME NEW0607F

_CALLS 4 TGT_LATLONG 2837.000,-8845.000

_XMS_NAKs 4 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.215,0.155

_SM_DEPTHo 1.55 KALMAN_X -36783.3,558.1,-84.6,64319.9,-1359.4

_SM_ANGLEo -61.5 KALMAN_Y -160265.6,1995.8,715.4,173952.6,-13595.4

GPS2 141714,2837.245,-8832.888,14,1.7,14,-0.3 MHEAD_RNG_PITCHd_Wd 283.7,19697,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1566

Post-dive calculations and measurements:

FINISH 0.6,1.012017 _24V_AH 22.9,36.071

SM_CCo 18682,81.55,0.491,0,0,494,575.22 _10V_AH 10.6,50.249

SM_GC 1.57,0.00,0.00,81.55,0.000,0.000,0.491,201,2381,494,-7.96,0.14,575.22 DATA_FILE_SIZE 94554,1796

IRIDIUM_FIX 2828.55,-8834.07,270999,141405 CAP_FILE_SIZE 170790,0

TT8_MAMPS 0.050622 CFSIZE 260165632,236883968

HUMID 1365 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.22887 CURRENT 0.084,219.4,1

TCM_TEMP 23.20 GPS 030710,193137,2837.358,-8836.395,38,1.1,38,-0.3

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 257 120.98 SBE_CT 1230 24 676.04

Roll_motor 69 62 98.31 SBE_O2 1307 19 568.91

VBD_pump_during_apogee 475 1250 13626.84 WL_BBFL2VMT 4036 105 9705.86

VBD_pump_during_surface 81 490 916.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 113 103 266.93 nil 0 0 0.00

Iridium_during_connect 206 160 757.78 nil 0 0 0.00

Iridium_during_xfer 372 223 1901.30

Transponder_ping 0 420 7.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.54

TT8 0 19 0.00

LPSleep 12807 2 297.32

TT8_Active 608 19 127.65

TT8_Sampling 5295 39 2234.20

TT8_CF8 1020 45 495.30

TT8_Kalman 33 81 28.90

Analog_circuits 2088 12 265.61

GPS_charging 0 0 0.00

Compass 4766 8 404.21

RAFOS 0 0 0.00

Transponder 1 30 0.37

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 94 0.00 0.00 -78.78 0.000 2 0.000 0.000 193 2376 2659

96 -0.63 -194.6 3.2 -3.8 8 136 10.73 1.50 -25.70 0.000 4 0.258 0.062 2532 3280 3634

378 -0.63 -194.6 60.7 -17.4 34 381 0.00 1.48 0.00 0.000 6 0.000 0.027 2537 2358 3635

575 -0.63 -194.6 88.4 -13.9 53 578 0.00 1.55 0.00 0.000 4 0.000 0.044 2531 3281 3636

692 -0.63 -194.6 104.3 -14.0 64 695 0.00 1.45 0.00 0.000 6 0.000 0.026 2535 2364 3636

1014 -0.63 -194.6 144.9 -12.5 95 1015 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2364 3636

1323 -0.63 -194.6 181.3 -11.1 125 1326 0.00 1.23 0.00 0.000 4 0.000 0.035 2535 1482 3635

1360 -0.63 -194.6 185.7 -11.6 128 1367 0.00 1.30 0.00 0.000 6 0.000 0.036 2531 2388 3635

1677 -0.63 -194.6 220.6 -10.8 159 1678 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2389 3634

1987 -0.63 -194.6 254.0 -10.0 189 1990 0.00 1.27 0.00 0.000 4 0.000 0.036 2531 1499 3632

2061 -0.63 -194.6 261.8 -10.3 196 2064 0.00 1.25 0.00 0.000 6 0.000 0.038 2525 2365 3632

2383 -0.63 -194.6 297.7 -11.1 227 2384 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2366 3629

2692 -0.63 -194.6 331.7 -10.7 257 2695 0.00 1.25 0.00 0.000 4 0.000 0.038 2525 1494 3626

2745 -0.63 -194.6 337.3 -10.8 262 2749 0.00 1.30 0.00 0.000 6 0.000 0.041 2519 2386 3626

3067 -0.63 -194.6 372.9 -11.6 293 3068 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2386 3624

3377 -0.63 -194.6 407.7 -10.8 323 3377 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2386 3621

3688 -0.63 -194.6 441.6 -10.8 353 3688 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2386 3618

3997 -0.63 -194.6 475.8 -10.8 383 4000 0.00 1.30 0.00 0.000 4 0.000 0.040 2519 1491 3616

4034 -0.63 -194.6 479.9 -11.4 386 4042 0.12 1.30 0.00 0.000 6 0.146 0.042 2550 2365 3615

4350 -0.63 -194.6 508.5 -9.4 417 4353 0.00 1.52 0.00 0.000 4 0.000 0.054 2545 3255 3612

4386 -0.63 -194.6 511.8 -9.0 420 4393 0.00 1.45 0.00 0.000 6 0.000 0.032 2545 2365 3612

4704 -0.63 -194.6 540.9 -9.4 451 4705 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2365 3610

5013 -0.63 -194.6 570.0 -9.0 481 5016 0.00 1.55 0.00 0.000 4 0.000 0.057 2539 3257 3607

5045 -0.63 -194.6 573.0 -9.9 484 5048 0.00 1.42 0.00 0.000 6 0.000 0.035 2539 2384 3607

5367 -0.63 -194.6 604.4 -10.3 515 5368 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2384 3605

5677 -0.63 -194.6 634.0 -9.8 545 5678 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2382 3603

5987 -0.63 -194.6 663.2 -9.0 575 5987 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2381 3601

6298 -0.63 -194.6 691.3 -8.9 605 6298 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2381 3599

6608 -0.63 -194.6 719.7 -9.3 635 6611 0.00 1.52 0.00 0.000 4 0.000 0.058 2532 3254 3597

6639 -0.63 -194.6 722.5 -9.6 638 6643 0.00 1.45 0.00 0.000 6 0.000 0.036 2532 2374 3597

6962 -0.63 -194.6 752.8 -9.2 669 6965 0.00 1.30 0.00 0.000 4 0.000 0.045 2532 1486 3595

7004 -0.63 -194.6 756.9 -9.6 673 7007 0.00 1.35 0.00 0.000 6 0.000 0.048 2527 2382 3595

7326 -0.63 -194.6 787.5 -9.4 704 7327 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2383 3593

7636 -0.63 -194.6 816.1 -9.4 734 7636 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2383 3592

7946 -0.63 -194.6 844.7 -9.5 764 7949 0.00 1.33 0.00 0.000 4 0.000 0.045 2527 1494 3590

7978 -0.63 -194.6 847.6 -9.2 767 7981 0.00 1.30 0.00 0.000 6 0.000 0.049 2521 2362 3590

8300 -0.63 -194.6 879.2 -10.2 798 8301 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2362 3589

8610 -0.63 -194.6 909.0 -9.4 828 8611 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2362 3588

8920 -0.63 -194.6 938.4 -9.5 858 8923 0.00 1.58 0.00 0.000 4 0.000 0.061 2514 3258 3587

8966 -0.63 -194.6 943.1 -9.7 862 8975 0.12 1.50 0.00 0.000 6 0.145 0.037 2545 2363 3586

9283 -0.63 -194.6 968.7 -8.1 893 9286 0.00 1.27 0.00 0.000 4 0.000 0.047 2545 1496 3586

9315 -0.63 -194.6 971.3 -7.6 896 9318 0.00 1.35 0.00 0.000 6 0.000 0.050 2542 2384 3586

9551 end dive: TARGET_DEPTH_EXCEEDED

state 9551 begin apogee

9556 -0.25 0.0 990.2 7.9 919 9715 0.40 0.00 150.68 1.251 6 0.135 0.000 2661 2289 2839

9715 end apogee: CONTROL_FINISHED_OK

state 9715 begin climb

9717 0.63 194.6 994.3 0.0 935 9889 0.90 0.00 168.57 1.220 6 0.104 0.000 2943 2288 2045

10198 0.63 194.6 945.3 10.4 982 10201 0.00 1.27 0.00 0.000 4 0.000 0.053 2949 1367 2035

10304 0.63 194.6 932.7 11.5 992 10308 0.00 1.23 0.00 0.000 6 0.000 0.045 2949 2266 2034

10625 0.63 194.6 895.0 11.9 1023 10628 0.00 1.20 0.00 0.000 4 0.000 0.044 2954 1367 2032

10657 0.63 194.6 891.1 12.4 1026 10660 0.00 1.25 0.00 0.000 6 0.000 0.046 2954 2279 2033

10979 0.63 194.6 851.5 12.0 1057 10982 0.00 1.23 0.00 0.000 4 0.000 0.044 2960 1366 2031

11036 0.63 194.6 844.0 13.1 1062 11045 0.00 1.25 0.00 0.000 6 0.000 0.045 2959 2278 2031

11355 0.63 194.6 804.1 12.8 1093 11358 0.00 1.23 0.00 0.000 4 0.000 0.044 2964 1361 2030

11397 0.63 194.6 798.3 12.9 1097 11400 0.00 1.23 0.00 0.000 6 0.000 0.045 2964 2274 2030

11718 0.63 194.6 757.0 12.2 1128 11719 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2274 2029

12029 0.63 194.6 718.8 11.8 1158 12032 0.00 1.20 0.00 0.000 4 0.000 0.044 2970 1371 2029

12076 0.63 194.6 712.9 10.9 1162 12084 0.00 1.25 0.00 0.000 6 0.000 0.044 2970 2286 2028

12394 0.63 194.6 673.2 12.0 1193 12397 0.00 1.23 0.00 0.000 4 0.000 0.044 2975 1371 2029

12436 0.63 194.6 667.7 13.0 1197 12439 0.00 1.23 0.00 0.000 6 0.000 0.045 2974 2278 2029

12756 0.63 194.6 627.8 10.8 1228 12760 0.00 1.23 0.00 0.000 4 0.000 0.044 2980 1361 2028

12799 0.63 194.6 623.4 10.6 1232 12803 0.08 1.23 0.00 0.000 6 0.146 0.044 2956 2274 2028

13120 0.63 194.6 589.9 10.5 1263 13121 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2274 2028

13430 0.63 194.6 558.2 10.5 1293 13431 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2274 2028

13741 0.63 194.6 524.5 11.1 1323 13742 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2274 2028

14051 0.63 194.6 489.9 11.2 1353 14052 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2274 2027

14362 0.63 194.6 456.2 11.0 1383 14363 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2274 2027

14672 0.63 194.6 421.6 11.3 1413 14675 0.00 1.20 0.00 0.000 4 0.000 0.043 2959 1371 2027

14725 0.63 194.6 415.8 11.0 1418 14728 0.00 1.23 0.00 0.000 6 0.000 0.044 2959 2280 2027

15047 0.63 194.6 379.0 11.5 1449 15048 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2280 2027

15357 0.63 194.6 344.0 11.4 1479 15357 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2280 2027

15667 0.63 194.6 307.8 12.0 1509 15668 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2280 2027

15977 0.63 194.6 271.0 12.0 1539 15980 0.00 1.20 0.00 0.000 4 0.000 0.041 2965 1375 2028

16031 0.63 194.6 264.7 11.9 1544 16034 0.00 1.20 0.00 0.000 6 0.000 0.041 2965 2278 2028

16351 0.63 194.6 225.8 12.7 1575 16355 0.00 1.20 0.00 0.000 4 0.000 0.041 2970 1364 2028

16416 0.63 194.6 217.8 11.1 1581 16418 0.00 1.20 0.00 0.000 6 0.000 0.041 2970 2274 2028

16736 0.63 194.6 176.5 12.9 1612 16737 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2274 2028

17047 0.63 194.6 141.5 10.8 1642 17048 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2274 2028

17357 0.63 194.6 106.8 11.2 1672 17360 0.00 1.17 0.00 0.000 4 0.000 0.038 2974 1371 2029

17410 0.63 194.6 101.3 11.1 1677 17413 0.00 1.20 0.00 0.000 6 0.000 0.039 2974 2282 2030

17731 0.63 194.6 69.5 10.2 1708 17732 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2282 2031

17918 0.63 194.6 52.9 8.7 1726 17921 0.00 1.20 0.00 0.000 4 0.000 0.037 2979 1361 2031

18046 0.73 281.1 44.1 5.2 1738 18118 0.00 1.20 63.92 0.550 6 0.000 0.038 2979 2282 1692

18303 0.84 371.2 27.9 5.1 1762 18375 0.12 1.67 67.35 0.528 4 0.066 0.050 3043 3174 1325

18418 0.84 371.2 17.5 10.4 1772 18422 0.12 1.60 0.00 0.000 6 0.123 0.030 3016 2261 1321

18615 0.95 454.5 4.9 5.3 1791 18642 0.10 0.00 25.15 0.492 2 0.070 0.000 3069 2260 1188

18642 end climb: SURFACE_DEPTH_REACHED

state 18642 begin surface coast

18668 end surface coast: CONTROL_FINISHED_OK

state 18668 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	203	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	2275	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	15	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	-17156.252	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	140037,2837.087,-8832.702,29,1.8,29,-0.3	TGT_NAME	NEW0607F
_CALLS	4	TGT_LATLONG	2837.000,-8845.000
_XMS_NAKs	4	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.215,0.155
_SM_DEPTHo	1.55	KALMAN_X	-36783.3,558.1,-84.6,64319.9,-1359.4
_SM_ANGLEo	-61.5	KALMAN_Y	-160265.6,1995.8,715.4,173952.6,-13595.4
GPS2	141714,2837.245,-8832.888,14,1.7,14,-0.3	MHEAD_RNG_PITCHd_Wd	283.7,19697,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1566

FINISH	0.6,1.012017	_24V_AH	22.9,36.071
SM_CCo	18682,81.55,0.491,0,0,494,575.22	_10V_AH	10.6,50.249
SM_GC	1.57,0.00,0.00,81.55,0.000,0.000,0.491,201,2381,494,-7.96,0.14,575.22	DATA_FILE_SIZE	94554,1796
IRIDIUM_FIX	2828.55,-8834.07,270999,141405	CAP_FILE_SIZE	170790,0
TT8_MAMPS	0.050622	CFSIZE	260165632,236883968
HUMID	1365	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.22887	CURRENT	0.084,219.4,1
TCM_TEMP	23.20	GPS	030710,193137,2837.358,-8836.395,38,1.1,38,-0.3
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	257	120.98	SBE_CT	1230	24	676.04
Roll_motor	69	62	98.31	SBE_O2	1307	19	568.91
VBD_pump_during_apogee	475	1250	13626.84	WL_BBFL2VMT	4036	105	9705.86
VBD_pump_during_surface	81	490	916.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	113	103	266.93	nil	0	0	0.00
Iridium_during_connect	206	160	757.78	nil	0	0	0.00
Iridium_during_xfer	372	223	1901.30
Transponder_ping	0	420	7.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.54
TT8	0	19	0.00
LPSleep	12807	2	297.32
TT8_Active	608	19	127.65
TT8_Sampling	5295	39	2234.20
TT8_CF8	1020	45	495.30
TT8_Kalman	33	81	28.90
Analog_circuits	2088	12	265.61
GPS_charging	0	0	0.00
Compass	4766	8	404.21
RAFOS	0	0	0.00
Transponder	1	30	0.37

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	94	0.00	0.00	-78.78	0.000	2	0.000	0.000	193	2376	2659
96	-0.63	-194.6	3.2	-3.8	8	136	10.73	1.50	-25.70	0.000	4	0.258	0.062	2532	3280	3634
378	-0.63	-194.6	60.7	-17.4	34	381	0.00	1.48	0.00	0.000	6	0.000	0.027	2537	2358	3635
575	-0.63	-194.6	88.4	-13.9	53	578	0.00	1.55	0.00	0.000	4	0.000	0.044	2531	3281	3636
692	-0.63	-194.6	104.3	-14.0	64	695	0.00	1.45	0.00	0.000	6	0.000	0.026	2535	2364	3636
1014	-0.63	-194.6	144.9	-12.5	95	1015	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2364	3636
1323	-0.63	-194.6	181.3	-11.1	125	1326	0.00	1.23	0.00	0.000	4	0.000	0.035	2535	1482	3635
1360	-0.63	-194.6	185.7	-11.6	128	1367	0.00	1.30	0.00	0.000	6	0.000	0.036	2531	2388	3635
1677	-0.63	-194.6	220.6	-10.8	159	1678	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2389	3634
1987	-0.63	-194.6	254.0	-10.0	189	1990	0.00	1.27	0.00	0.000	4	0.000	0.036	2531	1499	3632
2061	-0.63	-194.6	261.8	-10.3	196	2064	0.00	1.25	0.00	0.000	6	0.000	0.038	2525	2365	3632
2383	-0.63	-194.6	297.7	-11.1	227	2384	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2366	3629
2692	-0.63	-194.6	331.7	-10.7	257	2695	0.00	1.25	0.00	0.000	4	0.000	0.038	2525	1494	3626
2745	-0.63	-194.6	337.3	-10.8	262	2749	0.00	1.30	0.00	0.000	6	0.000	0.041	2519	2386	3626
3067	-0.63	-194.6	372.9	-11.6	293	3068	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2386	3624
3377	-0.63	-194.6	407.7	-10.8	323	3377	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2386	3621
3688	-0.63	-194.6	441.6	-10.8	353	3688	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2386	3618
3997	-0.63	-194.6	475.8	-10.8	383	4000	0.00	1.30	0.00	0.000	4	0.000	0.040	2519	1491	3616
4034	-0.63	-194.6	479.9	-11.4	386	4042	0.12	1.30	0.00	0.000	6	0.146	0.042	2550	2365	3615
4350	-0.63	-194.6	508.5	-9.4	417	4353	0.00	1.52	0.00	0.000	4	0.000	0.054	2545	3255	3612
4386	-0.63	-194.6	511.8	-9.0	420	4393	0.00	1.45	0.00	0.000	6	0.000	0.032	2545	2365	3612
4704	-0.63	-194.6	540.9	-9.4	451	4705	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2365	3610
5013	-0.63	-194.6	570.0	-9.0	481	5016	0.00	1.55	0.00	0.000	4	0.000	0.057	2539	3257	3607
5045	-0.63	-194.6	573.0	-9.9	484	5048	0.00	1.42	0.00	0.000	6	0.000	0.035	2539	2384	3607
5367	-0.63	-194.6	604.4	-10.3	515	5368	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2384	3605
5677	-0.63	-194.6	634.0	-9.8	545	5678	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2382	3603
5987	-0.63	-194.6	663.2	-9.0	575	5987	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2381	3601
6298	-0.63	-194.6	691.3	-8.9	605	6298	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2381	3599
6608	-0.63	-194.6	719.7	-9.3	635	6611	0.00	1.52	0.00	0.000	4	0.000	0.058	2532	3254	3597
6639	-0.63	-194.6	722.5	-9.6	638	6643	0.00	1.45	0.00	0.000	6	0.000	0.036	2532	2374	3597
6962	-0.63	-194.6	752.8	-9.2	669	6965	0.00	1.30	0.00	0.000	4	0.000	0.045	2532	1486	3595
7004	-0.63	-194.6	756.9	-9.6	673	7007	0.00	1.35	0.00	0.000	6	0.000	0.048	2527	2382	3595
7326	-0.63	-194.6	787.5	-9.4	704	7327	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2383	3593
7636	-0.63	-194.6	816.1	-9.4	734	7636	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2383	3592
7946	-0.63	-194.6	844.7	-9.5	764	7949	0.00	1.33	0.00	0.000	4	0.000	0.045	2527	1494	3590
7978	-0.63	-194.6	847.6	-9.2	767	7981	0.00	1.30	0.00	0.000	6	0.000	0.049	2521	2362	3590
8300	-0.63	-194.6	879.2	-10.2	798	8301	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2362	3589
8610	-0.63	-194.6	909.0	-9.4	828	8611	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2362	3588
8920	-0.63	-194.6	938.4	-9.5	858	8923	0.00	1.58	0.00	0.000	4	0.000	0.061	2514	3258	3587
8966	-0.63	-194.6	943.1	-9.7	862	8975	0.12	1.50	0.00	0.000	6	0.145	0.037	2545	2363	3586
9283	-0.63	-194.6	968.7	-8.1	893	9286	0.00	1.27	0.00	0.000	4	0.000	0.047	2545	1496	3586
9315	-0.63	-194.6	971.3	-7.6	896	9318	0.00	1.35	0.00	0.000	6	0.000	0.050	2542	2384	3586
9551	end dive: TARGET_DEPTH_EXCEEDED
state	9551	begin apogee
9556	-0.25	0.0	990.2	7.9	919	9715	0.40	0.00	150.68	1.251	6	0.135	0.000	2661	2289	2839
9715	end apogee: CONTROL_FINISHED_OK
state	9715	begin climb
9717	0.63	194.6	994.3	0.0	935	9889	0.90	0.00	168.57	1.220	6	0.104	0.000	2943	2288	2045
10198	0.63	194.6	945.3	10.4	982	10201	0.00	1.27	0.00	0.000	4	0.000	0.053	2949	1367	2035
10304	0.63	194.6	932.7	11.5	992	10308	0.00	1.23	0.00	0.000	6	0.000	0.045	2949	2266	2034
10625	0.63	194.6	895.0	11.9	1023	10628	0.00	1.20	0.00	0.000	4	0.000	0.044	2954	1367	2032
10657	0.63	194.6	891.1	12.4	1026	10660	0.00	1.25	0.00	0.000	6	0.000	0.046	2954	2279	2033
10979	0.63	194.6	851.5	12.0	1057	10982	0.00	1.23	0.00	0.000	4	0.000	0.044	2960	1366	2031
11036	0.63	194.6	844.0	13.1	1062	11045	0.00	1.25	0.00	0.000	6	0.000	0.045	2959	2278	2031
11355	0.63	194.6	804.1	12.8	1093	11358	0.00	1.23	0.00	0.000	4	0.000	0.044	2964	1361	2030
11397	0.63	194.6	798.3	12.9	1097	11400	0.00	1.23	0.00	0.000	6	0.000	0.045	2964	2274	2030
11718	0.63	194.6	757.0	12.2	1128	11719	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2274	2029
12029	0.63	194.6	718.8	11.8	1158	12032	0.00	1.20	0.00	0.000	4	0.000	0.044	2970	1371	2029
12076	0.63	194.6	712.9	10.9	1162	12084	0.00	1.25	0.00	0.000	6	0.000	0.044	2970	2286	2028
12394	0.63	194.6	673.2	12.0	1193	12397	0.00	1.23	0.00	0.000	4	0.000	0.044	2975	1371	2029
12436	0.63	194.6	667.7	13.0	1197	12439	0.00	1.23	0.00	0.000	6	0.000	0.045	2974	2278	2029
12756	0.63	194.6	627.8	10.8	1228	12760	0.00	1.23	0.00	0.000	4	0.000	0.044	2980	1361	2028
12799	0.63	194.6	623.4	10.6	1232	12803	0.08	1.23	0.00	0.000	6	0.146	0.044	2956	2274	2028
13120	0.63	194.6	589.9	10.5	1263	13121	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2274	2028
13430	0.63	194.6	558.2	10.5	1293	13431	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2274	2028
13741	0.63	194.6	524.5	11.1	1323	13742	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2274	2028
14051	0.63	194.6	489.9	11.2	1353	14052	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2274	2027
14362	0.63	194.6	456.2	11.0	1383	14363	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2274	2027
14672	0.63	194.6	421.6	11.3	1413	14675	0.00	1.20	0.00	0.000	4	0.000	0.043	2959	1371	2027
14725	0.63	194.6	415.8	11.0	1418	14728	0.00	1.23	0.00	0.000	6	0.000	0.044	2959	2280	2027
15047	0.63	194.6	379.0	11.5	1449	15048	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2280	2027
15357	0.63	194.6	344.0	11.4	1479	15357	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2280	2027
15667	0.63	194.6	307.8	12.0	1509	15668	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2280	2027
15977	0.63	194.6	271.0	12.0	1539	15980	0.00	1.20	0.00	0.000	4	0.000	0.041	2965	1375	2028
16031	0.63	194.6	264.7	11.9	1544	16034	0.00	1.20	0.00	0.000	6	0.000	0.041	2965	2278	2028
16351	0.63	194.6	225.8	12.7	1575	16355	0.00	1.20	0.00	0.000	4	0.000	0.041	2970	1364	2028
16416	0.63	194.6	217.8	11.1	1581	16418	0.00	1.20	0.00	0.000	6	0.000	0.041	2970	2274	2028
16736	0.63	194.6	176.5	12.9	1612	16737	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2274	2028
17047	0.63	194.6	141.5	10.8	1642	17048	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2274	2028
17357	0.63	194.6	106.8	11.2	1672	17360	0.00	1.17	0.00	0.000	4	0.000	0.038	2974	1371	2029
17410	0.63	194.6	101.3	11.1	1677	17413	0.00	1.20	0.00	0.000	6	0.000	0.039	2974	2282	2030
17731	0.63	194.6	69.5	10.2	1708	17732	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2282	2031
17918	0.63	194.6	52.9	8.7	1726	17921	0.00	1.20	0.00	0.000	4	0.000	0.037	2979	1361	2031
18046	0.73	281.1	44.1	5.2	1738	18118	0.00	1.20	63.92	0.550	6	0.000	0.038	2979	2282	1692
18303	0.84	371.2	27.9	5.1	1762	18375	0.12	1.67	67.35	0.528	4	0.066	0.050	3043	3174	1325
18418	0.84	371.2	17.5	10.4	1772	18422	0.12	1.60	0.00	0.000	6	0.123	0.030	3016	2261	1321
18615	0.95	454.5	4.9	5.3	1791	18642	0.10	0.00	25.15	0.492	2	0.070	0.000	3069	2260	1188
18642	end climb: SURFACE_DEPTH_REACHED
state	18642	begin surface coast
18668	end surface coast: CONTROL_FINISHED_OK
state	18668	begin surface