Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 213 * 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 213 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 850

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 29 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 -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 -17361.271 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 850 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 -17361.271

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 -4

C_ROLL_CLIMB 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 29 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 213 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 165901,2843.685,-8831.730,41,1.6,41,-0.4 TGT_NAME NEW0617E

_CALLS 1 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.251,0.083

_SM_DEPTHo 1.65 KALMAN_X -54956.7,-343.5,-163.6,85327.8,-892.3

_SM_ANGLEo -65.7 KALMAN_Y -184472.0,885.8,968.4,211120.0,-9349.2

GPS2 170544,2843.756,-8831.736,11,1.6,11,-0.4 MHEAD_RNG_PITCHd_Wd 271.7,21691,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1198

Post-dive calculations and measurements:

FINISH 0.6,1.010460 _24V_AH 22.9,37.635

SM_CCo 18185,93.03,0.494,0,0,494,575.22 _10V_AH 10.6,52.415

SM_GC 1.52,0.00,0.00,93.03,0.000,0.000,0.494,196,2393,494,-7.97,0.48,575.22 DATA_FILE_SIZE 91505,1748

IRIDIUM_FIX 2833.46,-8831.56,290999,111148 CAP_FILE_SIZE 164995,0

TT8_MAMPS 0.051389 CFSIZE 260165632,236036096

HUMID 1358 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.22887 CURRENT 0.053,199.4,1

TCM_TEMP 23.50 GPS 050710,221200,2843.235,-8834.996,37,1.4,37,-0.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 254 117.21 SBE_CT 1195 24 657.30

Roll_motor 77 57 101.99 SBE_O2 1279 19 556.65

VBD_pump_during_apogee 463 1250 13257.03 WL_BBFL2VMT 3928 105 9445.72

VBD_pump_during_surface 93 493 1052.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 72.95 nil 0 0 0.00

Iridium_during_connect 31 160 113.86 nil 0 0 0.00

Iridium_during_xfer 225 223 1153.47

Transponder_ping 4 420 38.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.94

TT8 0 19 0.00

LPSleep 12289 2 285.28

TT8_Active 625 19 131.32

TT8_Sampling 5144 39 2170.55

TT8_CF8 593 45 287.94

TT8_Kalman 33 81 28.91

Analog_circuits 2064 12 262.64

GPS_charging 0 0 0.00

Compass 4598 8 389.94

RAFOS 0 0 0.00

Transponder 28 30 9.01

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 -82.88 0.000 2 0.000 0.000 194 2382 2752

99 -0.63 -194.6 3.0 -3.1 8 137 10.50 1.35 -22.92 0.000 4 0.255 0.056 2542 1466 3635

375 -0.63 -194.6 56.8 -16.2 33 383 0.00 1.35 0.00 0.000 6 0.000 0.036 2539 2384 3637

568 -0.63 -194.6 83.9 -13.8 52 571 0.00 1.30 0.00 0.000 4 0.000 0.035 2540 1471 3638

604 -0.63 -194.6 89.0 -12.7 55 612 0.00 1.30 0.00 0.000 6 0.000 0.038 2535 2366 3638

796 -0.63 -194.6 114.1 -12.7 74 797 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2366 3639

1107 -0.63 -194.6 154.1 -13.1 104 1110 0.00 1.27 0.00 0.000 4 0.000 0.035 2535 1472 3640

1171 -0.63 -194.6 162.3 -12.6 110 1174 0.00 1.30 0.00 0.000 6 0.000 0.038 2530 2373 3640

1493 -0.63 -194.6 201.3 -11.9 141 1493 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2373 3640

1802 -0.63 -194.6 237.2 -11.3 171 1806 0.00 1.30 0.00 0.000 4 0.000 0.036 2529 1470 3638

1866 -0.63 -194.6 244.1 -11.0 177 1869 0.00 1.30 0.00 0.000 6 0.000 0.039 2524 2370 3638

2188 -0.63 -194.6 280.9 -11.8 208 2191 0.00 1.30 0.00 0.000 4 0.000 0.037 2523 1468 3636

2235 -0.63 -194.6 286.4 -11.3 212 2242 0.00 1.35 0.00 0.000 6 0.000 0.038 2517 2389 3636

2553 -0.63 -194.6 321.9 -10.7 243 2555 0.00 1.33 0.00 0.000 4 0.000 0.037 2518 1466 3634

2595 -0.63 -194.6 327.1 -11.9 247 2599 0.08 1.30 0.00 0.000 6 0.146 0.040 2537 2364 3634

2916 -0.63 -194.6 358.7 -10.0 278 2919 0.00 1.52 0.00 0.000 4 0.000 0.051 2531 3264 3632

2948 -0.63 -194.6 361.9 -9.7 281 2951 0.00 1.48 0.00 0.000 6 0.000 0.031 2531 2353 3632

3270 -0.63 -194.6 394.8 -10.2 312 3271 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2354 3630

3579 -0.63 -194.6 427.9 -10.7 342 3580 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2354 3627

3890 -0.63 -194.6 460.9 -10.5 372 3891 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2353 3625

4200 -0.63 -194.6 492.5 -10.0 402 4201 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2353 3623

4511 -0.63 -194.6 524.2 -10.1 432 4512 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2353 3621

4821 -0.63 -194.6 555.6 -9.8 462 4824 0.00 1.58 0.00 0.000 4 0.000 0.055 2524 3255 3619

4868 -0.63 -194.6 560.6 -9.9 466 4876 0.00 1.45 0.00 0.000 6 0.000 0.034 2524 2366 3618

5185 -0.63 -194.6 593.4 -10.7 497 5186 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2366 3616

5495 -0.63 -194.6 626.2 -10.3 527 5496 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2365 3615

5805 -0.63 -194.6 658.7 -10.0 557 5805 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2365 3613

6116 -0.63 -194.6 689.7 -10.0 587 6119 0.00 1.58 0.00 0.000 4 0.000 0.058 2517 3267 3610

6147 -0.63 -194.6 693.0 -10.6 590 6150 0.00 1.48 0.00 0.000 6 0.000 0.036 2517 2370 3610

6469 -0.63 -194.6 726.5 -10.9 621 6472 0.00 1.27 0.00 0.000 4 0.000 0.044 2517 1496 3608

6491 -0.63 -194.6 728.6 -9.5 623 6494 0.08 1.33 0.00 0.000 6 0.150 0.048 2536 2378 3608

6811 -0.63 -194.6 757.7 -9.3 654 6812 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2378 3606

7122 -0.63 -194.6 784.7 -8.7 684 7125 0.00 1.30 0.00 0.000 4 0.000 0.045 2536 1500 3605

7158 -0.63 -194.6 788.0 -8.5 687 7166 0.00 1.35 0.00 0.000 6 0.000 0.048 2533 2383 3604

7475 -0.63 -194.6 817.3 -9.2 718 7476 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2383 3603

7785 -0.63 -194.6 846.1 -9.0 748 7789 0.00 1.33 0.00 0.000 4 0.000 0.045 2532 1493 3602

7842 -0.63 -194.6 851.9 -10.5 753 7850 0.00 1.35 0.00 0.000 6 0.000 0.048 2528 2374 3602

8159 -0.63 -194.6 882.2 -9.4 784 8162 0.00 1.30 0.00 0.000 4 0.000 0.044 2528 1500 3600

8212 -0.63 -194.6 887.5 -9.9 789 8216 0.00 1.33 0.00 0.000 6 0.000 0.049 2522 2375 3600

8533 -0.63 -194.6 918.8 -9.9 820 8534 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2376 3599

8844 -0.63 -194.6 947.8 -9.4 850 8846 0.00 1.30 0.00 0.000 4 0.000 0.046 2522 1502 3597

8890 -0.63 -194.6 952.2 -9.0 854 8899 0.00 1.33 0.00 0.000 6 0.000 0.048 2516 2375 3597

9207 -0.63 -194.6 982.4 -9.9 885 9210 0.00 1.33 0.00 0.000 4 0.000 0.045 2517 1487 3595

9249 -0.63 -194.6 986.6 -10.6 889 9253 0.08 1.35 0.00 0.000 6 0.151 0.049 2534 2374 3596

9290 end dive: TARGET_DEPTH_EXCEEDED

state 9290 begin apogee

9294 -0.25 0.0 990.1 8.5 893 9452 0.43 0.00 152.65 1.250 6 0.134 0.000 2663 2293 2841

9453 end apogee: CONTROL_FINISHED_OK

state 9453 begin climb

9454 0.63 194.6 994.7 0.0 909 9627 0.93 0.00 169.62 1.214 6 0.104 0.000 2947 2292 2046

9935 0.63 194.6 945.4 11.8 956 9938 0.00 1.30 0.00 0.000 4 0.000 0.049 2953 1362 2036

9967 0.63 194.6 941.5 12.4 959 9970 0.00 1.25 0.00 0.000 6 0.000 0.046 2953 2270 2035

10289 0.63 194.6 903.1 12.5 990 10290 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2271 2034

10598 0.63 194.6 866.1 12.1 1020 10599 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2271 2033

10909 0.63 194.6 828.6 11.8 1050 10910 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2271 2032

11219 0.63 194.6 790.8 12.5 1080 11220 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2271 2031

11530 0.63 194.6 752.8 12.1 1110 11532 0.00 1.65 0.00 0.000 4 0.000 0.056 2953 3182 2031

11561 0.63 194.6 748.7 13.1 1113 11564 0.00 1.62 0.00 0.000 6 0.000 0.038 2961 2269 2029

11882 0.63 194.6 709.3 12.0 1144 11885 0.00 1.17 0.00 0.000 4 0.000 0.044 2966 1372 2030

11918 0.63 194.6 704.8 11.8 1147 11925 0.00 1.27 0.00 0.000 6 0.000 0.044 2966 2286 2030

12236 0.63 194.6 666.1 12.2 1178 12237 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2286 2030

12545 0.63 194.6 627.0 12.4 1208 12548 0.00 1.62 0.00 0.000 4 0.000 0.055 2966 3176 2029

12566 0.63 194.6 624.2 13.6 1210 12569 0.00 1.60 0.00 0.000 6 0.000 0.038 2974 2275 2028

12888 0.63 194.6 582.0 12.8 1241 12889 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2276 2028

13197 0.63 194.6 540.9 13.2 1271 13198 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2277 2028

13508 0.63 194.6 500.8 12.2 1301 13509 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2276 2028

13818 0.63 194.6 461.1 12.6 1331 13821 0.00 1.62 0.00 0.000 4 0.000 0.054 2974 3168 2028

13861 0.63 194.6 455.6 13.2 1335 13864 0.12 1.58 0.00 0.000 6 0.156 0.037 2950 2276 2026

14181 0.63 194.6 419.7 11.8 1366 14185 0.00 1.20 0.00 0.000 4 0.000 0.043 2955 1358 2027

14256 0.63 194.6 411.3 11.1 1373 14260 0.00 1.23 0.00 0.000 6 0.000 0.044 2955 2274 2027

14577 0.63 194.6 374.3 11.4 1404 14580 0.00 1.65 0.00 0.000 4 0.000 0.053 2954 3175 2027

14613 0.63 194.6 369.8 12.6 1407 14620 0.00 1.60 0.00 0.000 6 0.000 0.035 2963 2273 2027

14931 0.63 194.6 331.7 11.4 1438 14932 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2274 2027

15240 0.63 194.6 294.5 12.3 1468 15241 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2274 2027

15551 0.63 194.6 257.8 11.4 1498 15554 0.00 1.17 0.00 0.000 4 0.000 0.042 2968 1365 2027

15582 0.63 194.6 254.3 11.3 1501 15585 0.00 1.23 0.00 0.000 6 0.000 0.042 2968 2278 2027

15905 0.63 194.6 215.5 12.9 1532 15905 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2279 2027

16213 0.63 194.6 177.5 11.9 1562 16216 0.00 1.20 0.00 0.000 4 0.000 0.040 2973 1371 2028

16256 0.63 194.6 172.6 11.5 1566 16259 0.00 1.20 0.00 0.000 6 0.000 0.040 2973 2280 2028

16577 0.63 194.6 135.5 11.6 1597 16578 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2279 2028

16888 0.63 194.6 100.4 11.2 1627 16890 0.00 1.60 0.00 0.000 4 0.000 0.048 2973 3165 2029

16930 0.63 194.6 95.3 13.5 1631 16933 0.08 1.55 0.00 0.000 6 0.139 0.031 2956 2274 2029

17127 0.63 194.6 76.8 9.1 1650 17127 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2275 2029

17313 0.63 194.6 62.3 7.7 1668 17314 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2275 2030

17499 0.68 242.6 49.0 6.2 1686 17538 0.00 1.17 36.05 0.546 4 0.000 0.038 2960 1369 1849

17578 0.73 282.0 44.0 6.5 1693 17614 0.00 1.20 30.92 0.535 6 0.000 0.035 2960 2274 1688

17800 0.86 381.1 32.1 4.9 1714 17878 0.17 1.60 73.80 0.527 4 0.060 0.043 3051 3170 1286

17927 0.86 381.1 20.2 11.8 1724 17933 0.10 1.58 0.00 0.000 6 0.125 0.028 3026 2275 1282

18118 0.86 381.1 3.8 8.7 1743 18122 0.00 1.17 0.00 0.000 4 0.000 0.036 3030 1361 1278

18127 end climb: SURFACE_DEPTH_REACHED

state 18127 begin surface coast

18170 end surface coast: CONTROL_FINISHED_OK

state 18170 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	213	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	850
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	29	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	-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	-17361.271	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	165901,2843.685,-8831.730,41,1.6,41,-0.4	TGT_NAME	NEW0617E
_CALLS	1	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.251,0.083
_SM_DEPTHo	1.65	KALMAN_X	-54956.7,-343.5,-163.6,85327.8,-892.3
_SM_ANGLEo	-65.7	KALMAN_Y	-184472.0,885.8,968.4,211120.0,-9349.2
GPS2	170544,2843.756,-8831.736,11,1.6,11,-0.4	MHEAD_RNG_PITCHd_Wd	271.7,21691,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1198

FINISH	0.6,1.010460	_24V_AH	22.9,37.635
SM_CCo	18185,93.03,0.494,0,0,494,575.22	_10V_AH	10.6,52.415
SM_GC	1.52,0.00,0.00,93.03,0.000,0.000,0.494,196,2393,494,-7.97,0.48,575.22	DATA_FILE_SIZE	91505,1748
IRIDIUM_FIX	2833.46,-8831.56,290999,111148	CAP_FILE_SIZE	164995,0
TT8_MAMPS	0.051389	CFSIZE	260165632,236036096
HUMID	1358	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.22887	CURRENT	0.053,199.4,1
TCM_TEMP	23.50	GPS	050710,221200,2843.235,-8834.996,37,1.4,37,-0.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	254	117.21	SBE_CT	1195	24	657.30
Roll_motor	77	57	101.99	SBE_O2	1279	19	556.65
VBD_pump_during_apogee	463	1250	13257.03	WL_BBFL2VMT	3928	105	9445.72
VBD_pump_during_surface	93	493	1052.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	72.95	nil	0	0	0.00
Iridium_during_connect	31	160	113.86	nil	0	0	0.00
Iridium_during_xfer	225	223	1153.47
Transponder_ping	4	420	38.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.94
TT8	0	19	0.00
LPSleep	12289	2	285.28
TT8_Active	625	19	131.32
TT8_Sampling	5144	39	2170.55
TT8_CF8	593	45	287.94
TT8_Kalman	33	81	28.91
Analog_circuits	2064	12	262.64
GPS_charging	0	0	0.00
Compass	4598	8	389.94
RAFOS	0	0	0.00
Transponder	28	30	9.01

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	-82.88	0.000	2	0.000	0.000	194	2382	2752
99	-0.63	-194.6	3.0	-3.1	8	137	10.50	1.35	-22.92	0.000	4	0.255	0.056	2542	1466	3635
375	-0.63	-194.6	56.8	-16.2	33	383	0.00	1.35	0.00	0.000	6	0.000	0.036	2539	2384	3637
568	-0.63	-194.6	83.9	-13.8	52	571	0.00	1.30	0.00	0.000	4	0.000	0.035	2540	1471	3638
604	-0.63	-194.6	89.0	-12.7	55	612	0.00	1.30	0.00	0.000	6	0.000	0.038	2535	2366	3638
796	-0.63	-194.6	114.1	-12.7	74	797	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2366	3639
1107	-0.63	-194.6	154.1	-13.1	104	1110	0.00	1.27	0.00	0.000	4	0.000	0.035	2535	1472	3640
1171	-0.63	-194.6	162.3	-12.6	110	1174	0.00	1.30	0.00	0.000	6	0.000	0.038	2530	2373	3640
1493	-0.63	-194.6	201.3	-11.9	141	1493	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2373	3640
1802	-0.63	-194.6	237.2	-11.3	171	1806	0.00	1.30	0.00	0.000	4	0.000	0.036	2529	1470	3638
1866	-0.63	-194.6	244.1	-11.0	177	1869	0.00	1.30	0.00	0.000	6	0.000	0.039	2524	2370	3638
2188	-0.63	-194.6	280.9	-11.8	208	2191	0.00	1.30	0.00	0.000	4	0.000	0.037	2523	1468	3636
2235	-0.63	-194.6	286.4	-11.3	212	2242	0.00	1.35	0.00	0.000	6	0.000	0.038	2517	2389	3636
2553	-0.63	-194.6	321.9	-10.7	243	2555	0.00	1.33	0.00	0.000	4	0.000	0.037	2518	1466	3634
2595	-0.63	-194.6	327.1	-11.9	247	2599	0.08	1.30	0.00	0.000	6	0.146	0.040	2537	2364	3634
2916	-0.63	-194.6	358.7	-10.0	278	2919	0.00	1.52	0.00	0.000	4	0.000	0.051	2531	3264	3632
2948	-0.63	-194.6	361.9	-9.7	281	2951	0.00	1.48	0.00	0.000	6	0.000	0.031	2531	2353	3632
3270	-0.63	-194.6	394.8	-10.2	312	3271	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2354	3630
3579	-0.63	-194.6	427.9	-10.7	342	3580	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2354	3627
3890	-0.63	-194.6	460.9	-10.5	372	3891	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2353	3625
4200	-0.63	-194.6	492.5	-10.0	402	4201	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2353	3623
4511	-0.63	-194.6	524.2	-10.1	432	4512	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2353	3621
4821	-0.63	-194.6	555.6	-9.8	462	4824	0.00	1.58	0.00	0.000	4	0.000	0.055	2524	3255	3619
4868	-0.63	-194.6	560.6	-9.9	466	4876	0.00	1.45	0.00	0.000	6	0.000	0.034	2524	2366	3618
5185	-0.63	-194.6	593.4	-10.7	497	5186	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2366	3616
5495	-0.63	-194.6	626.2	-10.3	527	5496	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2365	3615
5805	-0.63	-194.6	658.7	-10.0	557	5805	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2365	3613
6116	-0.63	-194.6	689.7	-10.0	587	6119	0.00	1.58	0.00	0.000	4	0.000	0.058	2517	3267	3610
6147	-0.63	-194.6	693.0	-10.6	590	6150	0.00	1.48	0.00	0.000	6	0.000	0.036	2517	2370	3610
6469	-0.63	-194.6	726.5	-10.9	621	6472	0.00	1.27	0.00	0.000	4	0.000	0.044	2517	1496	3608
6491	-0.63	-194.6	728.6	-9.5	623	6494	0.08	1.33	0.00	0.000	6	0.150	0.048	2536	2378	3608
6811	-0.63	-194.6	757.7	-9.3	654	6812	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2378	3606
7122	-0.63	-194.6	784.7	-8.7	684	7125	0.00	1.30	0.00	0.000	4	0.000	0.045	2536	1500	3605
7158	-0.63	-194.6	788.0	-8.5	687	7166	0.00	1.35	0.00	0.000	6	0.000	0.048	2533	2383	3604
7475	-0.63	-194.6	817.3	-9.2	718	7476	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2383	3603
7785	-0.63	-194.6	846.1	-9.0	748	7789	0.00	1.33	0.00	0.000	4	0.000	0.045	2532	1493	3602
7842	-0.63	-194.6	851.9	-10.5	753	7850	0.00	1.35	0.00	0.000	6	0.000	0.048	2528	2374	3602
8159	-0.63	-194.6	882.2	-9.4	784	8162	0.00	1.30	0.00	0.000	4	0.000	0.044	2528	1500	3600
8212	-0.63	-194.6	887.5	-9.9	789	8216	0.00	1.33	0.00	0.000	6	0.000	0.049	2522	2375	3600
8533	-0.63	-194.6	918.8	-9.9	820	8534	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2376	3599
8844	-0.63	-194.6	947.8	-9.4	850	8846	0.00	1.30	0.00	0.000	4	0.000	0.046	2522	1502	3597
8890	-0.63	-194.6	952.2	-9.0	854	8899	0.00	1.33	0.00	0.000	6	0.000	0.048	2516	2375	3597
9207	-0.63	-194.6	982.4	-9.9	885	9210	0.00	1.33	0.00	0.000	4	0.000	0.045	2517	1487	3595
9249	-0.63	-194.6	986.6	-10.6	889	9253	0.08	1.35	0.00	0.000	6	0.151	0.049	2534	2374	3596
9290	end dive: TARGET_DEPTH_EXCEEDED
state	9290	begin apogee
9294	-0.25	0.0	990.1	8.5	893	9452	0.43	0.00	152.65	1.250	6	0.134	0.000	2663	2293	2841
9453	end apogee: CONTROL_FINISHED_OK
state	9453	begin climb
9454	0.63	194.6	994.7	0.0	909	9627	0.93	0.00	169.62	1.214	6	0.104	0.000	2947	2292	2046
9935	0.63	194.6	945.4	11.8	956	9938	0.00	1.30	0.00	0.000	4	0.000	0.049	2953	1362	2036
9967	0.63	194.6	941.5	12.4	959	9970	0.00	1.25	0.00	0.000	6	0.000	0.046	2953	2270	2035
10289	0.63	194.6	903.1	12.5	990	10290	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2271	2034
10598	0.63	194.6	866.1	12.1	1020	10599	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2271	2033
10909	0.63	194.6	828.6	11.8	1050	10910	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2271	2032
11219	0.63	194.6	790.8	12.5	1080	11220	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2271	2031
11530	0.63	194.6	752.8	12.1	1110	11532	0.00	1.65	0.00	0.000	4	0.000	0.056	2953	3182	2031
11561	0.63	194.6	748.7	13.1	1113	11564	0.00	1.62	0.00	0.000	6	0.000	0.038	2961	2269	2029
11882	0.63	194.6	709.3	12.0	1144	11885	0.00	1.17	0.00	0.000	4	0.000	0.044	2966	1372	2030
11918	0.63	194.6	704.8	11.8	1147	11925	0.00	1.27	0.00	0.000	6	0.000	0.044	2966	2286	2030
12236	0.63	194.6	666.1	12.2	1178	12237	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2286	2030
12545	0.63	194.6	627.0	12.4	1208	12548	0.00	1.62	0.00	0.000	4	0.000	0.055	2966	3176	2029
12566	0.63	194.6	624.2	13.6	1210	12569	0.00	1.60	0.00	0.000	6	0.000	0.038	2974	2275	2028
12888	0.63	194.6	582.0	12.8	1241	12889	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2276	2028
13197	0.63	194.6	540.9	13.2	1271	13198	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2277	2028
13508	0.63	194.6	500.8	12.2	1301	13509	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2276	2028
13818	0.63	194.6	461.1	12.6	1331	13821	0.00	1.62	0.00	0.000	4	0.000	0.054	2974	3168	2028
13861	0.63	194.6	455.6	13.2	1335	13864	0.12	1.58	0.00	0.000	6	0.156	0.037	2950	2276	2026
14181	0.63	194.6	419.7	11.8	1366	14185	0.00	1.20	0.00	0.000	4	0.000	0.043	2955	1358	2027
14256	0.63	194.6	411.3	11.1	1373	14260	0.00	1.23	0.00	0.000	6	0.000	0.044	2955	2274	2027
14577	0.63	194.6	374.3	11.4	1404	14580	0.00	1.65	0.00	0.000	4	0.000	0.053	2954	3175	2027
14613	0.63	194.6	369.8	12.6	1407	14620	0.00	1.60	0.00	0.000	6	0.000	0.035	2963	2273	2027
14931	0.63	194.6	331.7	11.4	1438	14932	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2274	2027
15240	0.63	194.6	294.5	12.3	1468	15241	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2274	2027
15551	0.63	194.6	257.8	11.4	1498	15554	0.00	1.17	0.00	0.000	4	0.000	0.042	2968	1365	2027
15582	0.63	194.6	254.3	11.3	1501	15585	0.00	1.23	0.00	0.000	6	0.000	0.042	2968	2278	2027
15905	0.63	194.6	215.5	12.9	1532	15905	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2279	2027
16213	0.63	194.6	177.5	11.9	1562	16216	0.00	1.20	0.00	0.000	4	0.000	0.040	2973	1371	2028
16256	0.63	194.6	172.6	11.5	1566	16259	0.00	1.20	0.00	0.000	6	0.000	0.040	2973	2280	2028
16577	0.63	194.6	135.5	11.6	1597	16578	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2279	2028
16888	0.63	194.6	100.4	11.2	1627	16890	0.00	1.60	0.00	0.000	4	0.000	0.048	2973	3165	2029
16930	0.63	194.6	95.3	13.5	1631	16933	0.08	1.55	0.00	0.000	6	0.139	0.031	2956	2274	2029
17127	0.63	194.6	76.8	9.1	1650	17127	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2275	2029
17313	0.63	194.6	62.3	7.7	1668	17314	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2275	2030
17499	0.68	242.6	49.0	6.2	1686	17538	0.00	1.17	36.05	0.546	4	0.000	0.038	2960	1369	1849
17578	0.73	282.0	44.0	6.5	1693	17614	0.00	1.20	30.92	0.535	6	0.000	0.035	2960	2274	1688
17800	0.86	381.1	32.1	4.9	1714	17878	0.17	1.60	73.80	0.527	4	0.060	0.043	3051	3170	1286
17927	0.86	381.1	20.2	11.8	1724	17933	0.10	1.58	0.00	0.000	6	0.125	0.028	3026	2275	1282
18118	0.86	381.1	3.8	8.7	1743	18122	0.00	1.17	0.00	0.000	4	0.000	0.036	3030	1361	1278
18127	end climb: SURFACE_DEPTH_REACHED
state	18127	begin surface coast
18170	end surface coast: CONTROL_FINISHED_OK
state	18170	begin surface