Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 218 * 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 218 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 33 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 -17460.674 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 -17460.674

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 33 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 218 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 174855,2842.816,-8841.008,38,1.8,38,-0.2 TGT_NAME NEW0528A

_CALLS 3 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.220,0.147

_SM_DEPTHo 1.44 KALMAN_X -56230.6,22.5,-309.0,71289.1,-433.2

_SM_ANGLEo -53.3 KALMAN_Y -206498.0,1288.2,1422.8,230694.7,-15349.1

GPS2 180320,2842.906,-8841.023,13,1.5,13,-0.2 MHEAD_RNG_PITCHd_Wd 74.0,24433,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1031

Post-dive calculations and measurements:

FINISH 0.8,1.023198 ALTIM_BOTTOM_PING 880.3,100.6

SM_CCo 17621,66.22,0.488,0,0,494,575.22 _24V_AH 23.0,38.447

SM_GC 1.43,0.00,0.00,66.22,0.000,0.000,0.488,197,2384,494,-7.96,0.25,575.22 _10V_AH 10.6,53.476

IRIDIUM_FIX 2833.46,-8841.38,300999,181803 DATA_FILE_SIZE 88205,1693

TT8_MAMPS 0.050622 CAP_FILE_SIZE 162920,0

HUMID 1372 CFSIZE 260165632,235614208

INTERNAL_PRESSURE 9.23864 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 23.50 CURRENT 0.055,174.8,1

XPDR_PINGS 0 GPS 060710,225937,2843.042,-8838.101,29,1.4,29,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 256 117.90 SBE_CT 1157 24 638.76

Roll_motor 65 63 96.31 SBE_O2 1235 19 540.09

VBD_pump_during_apogee 500 1227 14127.27 WL_BBFL2VMT 3805 105 9189.86

VBD_pump_during_surface 66 487 743.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 188.56 nil 0 0 0.00

Iridium_during_connect 88 160 324.31 nil 0 0 0.00

Iridium_during_xfer 444 223 2280.06

Transponder_ping 1 420 14.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.36

TT8 0 19 0.00

LPSleep 12014 2 278.90

TT8_Active 621 19 130.42

TT8_Sampling 4947 39 2087.36

TT8_CF8 940 45 456.46

TT8_Kalman 33 81 28.90

Analog_circuits 2019 12 256.94

GPS_charging 0 0 0.00

Compass 4448 8 377.20

RAFOS 0 0 0.00

Transponder 14 30 4.76

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

13 -0.63 -194.6 0.0 0.0 0 89 0.00 0.00 -75.00 0.000 2 0.000 0.000 194 2390 2537

91 -0.63 -194.6 3.0 -3.3 7 140 10.68 1.50 -33.00 0.000 4 0.257 0.064 2532 3255 3635

165 -0.63 -194.6 11.9 -22.2 13 173 0.00 1.45 0.00 0.000 6 0.000 0.027 2536 2358 3636

357 -0.63 -194.6 54.8 -17.3 32 358 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2357 3636

544 -0.63 -194.6 83.5 -13.7 50 544 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2358 3637

730 -0.63 -194.6 108.3 -13.9 68 733 0.00 1.50 0.00 0.000 4 0.000 0.044 2532 3249 3638

755 -0.63 -194.6 112.1 -14.6 70 764 0.00 1.42 0.00 0.000 6 0.000 0.026 2533 2363 3638

1072 -0.63 -194.6 153.1 -12.2 101 1073 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2362 3638

1383 -0.63 -194.6 189.9 -10.9 131 1384 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2362 3638

1693 -0.63 -194.6 225.0 -11.4 161 1696 0.00 1.50 0.00 0.000 4 0.000 0.047 2528 3250 3636

1718 -0.63 -194.6 228.1 -11.2 163 1726 0.00 1.42 0.00 0.000 6 0.000 0.028 2528 2361 3635

2036 -0.63 -194.6 264.1 -11.2 194 2039 0.00 1.50 0.00 0.000 4 0.000 0.048 2521 3248 3633

2072 -0.63 -194.6 268.5 -11.1 197 2079 0.00 1.40 0.00 0.000 6 0.000 0.028 2522 2364 3633

2390 -0.63 -194.6 304.9 -12.3 228 2393 0.00 1.23 0.00 0.000 4 0.000 0.038 2521 1503 3631

2443 -0.63 -194.6 311.4 -11.3 233 2446 0.00 1.25 0.00 0.000 6 0.000 0.039 2516 2364 3631

2765 -0.63 -194.6 350.1 -11.6 264 2766 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2365 3628

3074 -0.63 -194.6 386.6 -11.5 294 3077 0.00 1.25 0.00 0.000 4 0.000 0.039 2516 1500 3626

3106 -0.63 -194.6 390.4 -11.8 297 3109 0.08 1.27 0.00 0.000 6 0.146 0.041 2535 2372 3626

3426 -0.63 -194.6 423.0 -10.0 328 3427 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2372 3623

3738 -0.63 -194.6 455.2 -10.1 358 3739 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2373 3621

4048 -0.63 -194.6 487.3 -10.2 388 4049 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2373 3618

4358 -0.63 -194.6 518.5 -9.8 418 4359 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2373 3616

4669 -0.63 -194.6 549.7 -10.1 448 4672 0.00 1.27 0.00 0.000 4 0.000 0.043 2535 1509 3614

4716 -0.63 -194.6 554.6 -10.0 452 4723 0.00 1.30 0.00 0.000 6 0.000 0.043 2531 2376 3614

5033 -0.63 -194.6 587.0 -10.3 483 5034 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2376 3611

5343 -0.63 -194.6 618.2 -10.1 513 5344 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2376 3609

5653 -0.63 -194.6 648.4 -9.5 543 5654 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2376 3607

5964 -0.63 -194.6 678.2 -9.8 573 5967 0.00 1.30 0.00 0.000 4 0.000 0.044 2531 1500 3605

5999 -0.63 -194.6 681.5 -9.3 576 6007 0.00 1.33 0.00 0.000 6 0.000 0.046 2526 2373 3605

6318 -0.63 -194.6 711.1 -9.5 607 6319 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2374 3603

6626 -0.63 -194.6 741.2 -10.0 637 6629 0.00 1.30 0.00 0.000 4 0.000 0.045 2526 1498 3601

6658 -0.63 -194.6 744.4 -11.0 640 6661 0.00 1.33 0.00 0.000 6 0.000 0.048 2520 2379 3601

6980 -0.63 -194.6 777.6 -10.7 671 6981 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2379 3599

7289 -0.63 -194.6 809.8 -10.3 701 7290 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2380 3598

7600 -0.63 -194.6 841.6 -10.2 731 7603 0.00 1.30 0.00 0.000 4 0.000 0.046 2520 1505 3595

7642 -0.63 -194.6 846.1 -10.4 735 7645 0.00 1.30 0.00 0.000 6 0.000 0.048 2515 2368 3595

7963 -0.63 -194.6 879.4 -10.2 766 7964 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2370 3594

8274 -0.63 -194.6 910.2 -10.2 796 8275 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2371 3593

8584 -0.63 -194.6 940.9 -10.2 826 8587 0.00 1.30 0.00 0.000 4 0.000 0.047 2515 1502 3592

8637 -0.63 -194.6 946.2 -9.6 831 8641 0.10 1.33 0.00 0.000 6 0.143 0.049 2539 2378 3592

8812 end dive: BOTTOM_OBSTACLE_DETECTED

state 8812 begin apogee

8816 -0.25 0.0 961.3 8.3 848 8975 0.40 0.00 150.90 1.228 6 0.133 0.000 2662 2301 2839

8975 end apogee: CONTROL_FINISHED_OK

state 8975 begin climb

8977 0.63 194.6 964.5 0.0 864 9148 0.90 0.00 167.50 1.194 6 0.100 0.000 2943 2301 2045

9455 0.63 194.6 917.4 11.6 910 9458 0.00 1.30 0.00 0.000 4 0.000 0.049 2948 1374 2035

9523 0.63 194.6 909.6 10.9 916 9531 0.00 1.23 0.00 0.000 6 0.000 0.044 2948 2270 2035

9841 0.63 194.6 872.7 11.9 947 9842 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2271 2033

10150 0.63 194.6 836.7 11.5 977 10153 0.00 1.20 0.00 0.000 4 0.000 0.044 2954 1370 2032

10197 0.63 194.6 831.2 11.7 981 10204 0.00 1.25 0.00 0.000 6 0.000 0.045 2954 2282 2032

10515 0.63 194.6 792.1 12.4 1012 10516 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2282 2031

10824 0.63 194.6 755.2 12.3 1042 10825 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2282 2030

11135 0.63 194.6 719.4 11.5 1072 11138 0.00 1.23 0.00 0.000 4 0.000 0.044 2959 1375 2030

11166 0.63 194.6 715.8 11.1 1075 11169 0.00 1.23 0.00 0.000 6 0.000 0.046 2959 2281 2030

11487 0.63 194.6 678.6 12.1 1106 11488 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2281 2029

11798 0.63 194.6 642.5 11.4 1136 11801 0.00 1.23 0.00 0.000 4 0.000 0.044 2964 1369 2029

11862 0.63 194.6 635.3 10.9 1142 11865 0.00 1.23 0.00 0.000 6 0.000 0.045 2964 2277 2029

12183 0.63 194.6 597.6 12.2 1173 12184 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2277 2028

12494 0.63 194.6 560.0 11.9 1203 12495 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2277 2028

12803 0.63 194.6 523.7 12.0 1233 12806 0.00 1.20 0.00 0.000 4 0.000 0.043 2970 1377 2027

12850 0.63 194.6 518.1 12.2 1237 12857 0.00 1.23 0.00 0.000 6 0.000 0.044 2969 2277 2028

13168 0.63 194.6 479.6 12.5 1268 13169 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2277 2028

13476 0.63 194.6 441.0 12.3 1298 13479 0.00 1.20 0.00 0.000 4 0.000 0.043 2975 1374 2028

13513 0.63 194.6 436.6 11.8 1301 13520 0.00 1.20 0.00 0.000 6 0.000 0.043 2975 2274 2028

13830 0.63 194.6 397.3 12.7 1332 13833 0.00 1.20 0.00 0.000 4 0.000 0.041 2980 1365 2028

13862 0.63 194.6 393.2 12.9 1335 13865 0.08 1.23 0.00 0.000 6 0.144 0.043 2956 2278 2028

14182 0.63 194.6 356.2 11.8 1366 14185 0.00 1.20 0.00 0.000 4 0.000 0.041 2960 1379 2028

14225 0.63 194.6 351.4 11.5 1370 14228 0.00 1.20 0.00 0.000 6 0.000 0.042 2960 2277 2028

14548 0.63 194.6 313.1 12.0 1401 14550 0.00 1.62 0.00 0.000 4 0.000 0.052 2960 3187 2028

14579 0.63 194.6 309.0 12.6 1404 14582 0.00 1.58 0.00 0.000 6 0.000 0.035 2967 2281 2028

14902 0.63 194.6 269.8 12.3 1435 14905 0.00 1.20 0.00 0.000 4 0.000 0.041 2973 1362 2027

14937 0.63 194.6 265.3 12.2 1438 14946 0.00 1.25 0.00 0.000 6 0.000 0.041 2973 2281 2027

15255 0.63 194.6 227.2 12.6 1469 15256 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2281 2028

15565 0.63 194.6 190.1 11.9 1499 15566 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2281 2028

15875 0.63 194.6 153.4 12.4 1529 15876 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2281 2028

16186 0.63 194.6 117.1 11.2 1559 16186 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2281 2028

16495 0.63 194.6 83.1 9.9 1589 16499 0.00 1.20 0.00 0.000 4 0.000 0.038 2979 1374 2029

16549 0.63 194.6 77.6 10.2 1594 16552 0.00 1.17 0.00 0.000 6 0.000 0.038 2978 2273 2029

16746 0.63 194.6 60.3 7.9 1613 16749 0.00 1.60 0.00 0.000 4 0.000 0.048 2978 3188 2030

16788 0.63 194.6 56.3 9.9 1617 16791 0.08 1.55 0.00 0.000 6 0.114 0.031 2950 2279 2030

16985 0.69 247.9 43.0 6.1 1636 17033 0.00 1.23 39.40 0.544 4 0.000 0.036 2954 1354 1829

17086 0.83 357.0 38.0 4.6 1645 17173 0.12 1.23 82.12 0.536 6 0.051 0.035 3021 2278 1382

17366 0.91 423.0 18.0 5.8 1671 17418 0.00 1.25 48.92 0.509 4 0.000 0.035 3026 1366 1113

17476 0.92 436.5 10.2 7.1 1680 17495 0.00 1.23 11.35 0.458 6 0.000 0.032 3027 2277 1058

17575 end climb: SURFACE_DEPTH_REACHED

state 17575 begin surface coast

17606 end surface coast: CONTROL_FINISHED_OK

state 17606 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	218	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	33	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	-17460.674	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	174855,2842.816,-8841.008,38,1.8,38,-0.2	TGT_NAME	NEW0528A
_CALLS	3	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.220,0.147
_SM_DEPTHo	1.44	KALMAN_X	-56230.6,22.5,-309.0,71289.1,-433.2
_SM_ANGLEo	-53.3	KALMAN_Y	-206498.0,1288.2,1422.8,230694.7,-15349.1
GPS2	180320,2842.906,-8841.023,13,1.5,13,-0.2	MHEAD_RNG_PITCHd_Wd	74.0,24433,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1031

FINISH	0.8,1.023198	ALTIM_BOTTOM_PING	880.3,100.6
SM_CCo	17621,66.22,0.488,0,0,494,575.22	_24V_AH	23.0,38.447
SM_GC	1.43,0.00,0.00,66.22,0.000,0.000,0.488,197,2384,494,-7.96,0.25,575.22	_10V_AH	10.6,53.476
IRIDIUM_FIX	2833.46,-8841.38,300999,181803	DATA_FILE_SIZE	88205,1693
TT8_MAMPS	0.050622	CAP_FILE_SIZE	162920,0
HUMID	1372	CFSIZE	260165632,235614208
INTERNAL_PRESSURE	9.23864	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	23.50	CURRENT	0.055,174.8,1
XPDR_PINGS	0	GPS	060710,225937,2843.042,-8838.101,29,1.4,29,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	256	117.90	SBE_CT	1157	24	638.76
Roll_motor	65	63	96.31	SBE_O2	1235	19	540.09
VBD_pump_during_apogee	500	1227	14127.27	WL_BBFL2VMT	3805	105	9189.86
VBD_pump_during_surface	66	487	743.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	188.56	nil	0	0	0.00
Iridium_during_connect	88	160	324.31	nil	0	0	0.00
Iridium_during_xfer	444	223	2280.06
Transponder_ping	1	420	14.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.36
TT8	0	19	0.00
LPSleep	12014	2	278.90
TT8_Active	621	19	130.42
TT8_Sampling	4947	39	2087.36
TT8_CF8	940	45	456.46
TT8_Kalman	33	81	28.90
Analog_circuits	2019	12	256.94
GPS_charging	0	0	0.00
Compass	4448	8	377.20
RAFOS	0	0	0.00
Transponder	14	30	4.76

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
13	-0.63	-194.6	0.0	0.0	0	89	0.00	0.00	-75.00	0.000	2	0.000	0.000	194	2390	2537
91	-0.63	-194.6	3.0	-3.3	7	140	10.68	1.50	-33.00	0.000	4	0.257	0.064	2532	3255	3635
165	-0.63	-194.6	11.9	-22.2	13	173	0.00	1.45	0.00	0.000	6	0.000	0.027	2536	2358	3636
357	-0.63	-194.6	54.8	-17.3	32	358	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2357	3636
544	-0.63	-194.6	83.5	-13.7	50	544	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2358	3637
730	-0.63	-194.6	108.3	-13.9	68	733	0.00	1.50	0.00	0.000	4	0.000	0.044	2532	3249	3638
755	-0.63	-194.6	112.1	-14.6	70	764	0.00	1.42	0.00	0.000	6	0.000	0.026	2533	2363	3638
1072	-0.63	-194.6	153.1	-12.2	101	1073	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2362	3638
1383	-0.63	-194.6	189.9	-10.9	131	1384	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2362	3638
1693	-0.63	-194.6	225.0	-11.4	161	1696	0.00	1.50	0.00	0.000	4	0.000	0.047	2528	3250	3636
1718	-0.63	-194.6	228.1	-11.2	163	1726	0.00	1.42	0.00	0.000	6	0.000	0.028	2528	2361	3635
2036	-0.63	-194.6	264.1	-11.2	194	2039	0.00	1.50	0.00	0.000	4	0.000	0.048	2521	3248	3633
2072	-0.63	-194.6	268.5	-11.1	197	2079	0.00	1.40	0.00	0.000	6	0.000	0.028	2522	2364	3633
2390	-0.63	-194.6	304.9	-12.3	228	2393	0.00	1.23	0.00	0.000	4	0.000	0.038	2521	1503	3631
2443	-0.63	-194.6	311.4	-11.3	233	2446	0.00	1.25	0.00	0.000	6	0.000	0.039	2516	2364	3631
2765	-0.63	-194.6	350.1	-11.6	264	2766	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2365	3628
3074	-0.63	-194.6	386.6	-11.5	294	3077	0.00	1.25	0.00	0.000	4	0.000	0.039	2516	1500	3626
3106	-0.63	-194.6	390.4	-11.8	297	3109	0.08	1.27	0.00	0.000	6	0.146	0.041	2535	2372	3626
3426	-0.63	-194.6	423.0	-10.0	328	3427	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2372	3623
3738	-0.63	-194.6	455.2	-10.1	358	3739	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2373	3621
4048	-0.63	-194.6	487.3	-10.2	388	4049	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2373	3618
4358	-0.63	-194.6	518.5	-9.8	418	4359	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2373	3616
4669	-0.63	-194.6	549.7	-10.1	448	4672	0.00	1.27	0.00	0.000	4	0.000	0.043	2535	1509	3614
4716	-0.63	-194.6	554.6	-10.0	452	4723	0.00	1.30	0.00	0.000	6	0.000	0.043	2531	2376	3614
5033	-0.63	-194.6	587.0	-10.3	483	5034	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2376	3611
5343	-0.63	-194.6	618.2	-10.1	513	5344	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2376	3609
5653	-0.63	-194.6	648.4	-9.5	543	5654	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2376	3607
5964	-0.63	-194.6	678.2	-9.8	573	5967	0.00	1.30	0.00	0.000	4	0.000	0.044	2531	1500	3605
5999	-0.63	-194.6	681.5	-9.3	576	6007	0.00	1.33	0.00	0.000	6	0.000	0.046	2526	2373	3605
6318	-0.63	-194.6	711.1	-9.5	607	6319	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2374	3603
6626	-0.63	-194.6	741.2	-10.0	637	6629	0.00	1.30	0.00	0.000	4	0.000	0.045	2526	1498	3601
6658	-0.63	-194.6	744.4	-11.0	640	6661	0.00	1.33	0.00	0.000	6	0.000	0.048	2520	2379	3601
6980	-0.63	-194.6	777.6	-10.7	671	6981	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2379	3599
7289	-0.63	-194.6	809.8	-10.3	701	7290	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2380	3598
7600	-0.63	-194.6	841.6	-10.2	731	7603	0.00	1.30	0.00	0.000	4	0.000	0.046	2520	1505	3595
7642	-0.63	-194.6	846.1	-10.4	735	7645	0.00	1.30	0.00	0.000	6	0.000	0.048	2515	2368	3595
7963	-0.63	-194.6	879.4	-10.2	766	7964	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2370	3594
8274	-0.63	-194.6	910.2	-10.2	796	8275	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2371	3593
8584	-0.63	-194.6	940.9	-10.2	826	8587	0.00	1.30	0.00	0.000	4	0.000	0.047	2515	1502	3592
8637	-0.63	-194.6	946.2	-9.6	831	8641	0.10	1.33	0.00	0.000	6	0.143	0.049	2539	2378	3592
8812	end dive: BOTTOM_OBSTACLE_DETECTED
state	8812	begin apogee
8816	-0.25	0.0	961.3	8.3	848	8975	0.40	0.00	150.90	1.228	6	0.133	0.000	2662	2301	2839
8975	end apogee: CONTROL_FINISHED_OK
state	8975	begin climb
8977	0.63	194.6	964.5	0.0	864	9148	0.90	0.00	167.50	1.194	6	0.100	0.000	2943	2301	2045
9455	0.63	194.6	917.4	11.6	910	9458	0.00	1.30	0.00	0.000	4	0.000	0.049	2948	1374	2035
9523	0.63	194.6	909.6	10.9	916	9531	0.00	1.23	0.00	0.000	6	0.000	0.044	2948	2270	2035
9841	0.63	194.6	872.7	11.9	947	9842	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2271	2033
10150	0.63	194.6	836.7	11.5	977	10153	0.00	1.20	0.00	0.000	4	0.000	0.044	2954	1370	2032
10197	0.63	194.6	831.2	11.7	981	10204	0.00	1.25	0.00	0.000	6	0.000	0.045	2954	2282	2032
10515	0.63	194.6	792.1	12.4	1012	10516	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2282	2031
10824	0.63	194.6	755.2	12.3	1042	10825	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2282	2030
11135	0.63	194.6	719.4	11.5	1072	11138	0.00	1.23	0.00	0.000	4	0.000	0.044	2959	1375	2030
11166	0.63	194.6	715.8	11.1	1075	11169	0.00	1.23	0.00	0.000	6	0.000	0.046	2959	2281	2030
11487	0.63	194.6	678.6	12.1	1106	11488	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2281	2029
11798	0.63	194.6	642.5	11.4	1136	11801	0.00	1.23	0.00	0.000	4	0.000	0.044	2964	1369	2029
11862	0.63	194.6	635.3	10.9	1142	11865	0.00	1.23	0.00	0.000	6	0.000	0.045	2964	2277	2029
12183	0.63	194.6	597.6	12.2	1173	12184	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2277	2028
12494	0.63	194.6	560.0	11.9	1203	12495	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2277	2028
12803	0.63	194.6	523.7	12.0	1233	12806	0.00	1.20	0.00	0.000	4	0.000	0.043	2970	1377	2027
12850	0.63	194.6	518.1	12.2	1237	12857	0.00	1.23	0.00	0.000	6	0.000	0.044	2969	2277	2028
13168	0.63	194.6	479.6	12.5	1268	13169	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2277	2028
13476	0.63	194.6	441.0	12.3	1298	13479	0.00	1.20	0.00	0.000	4	0.000	0.043	2975	1374	2028
13513	0.63	194.6	436.6	11.8	1301	13520	0.00	1.20	0.00	0.000	6	0.000	0.043	2975	2274	2028
13830	0.63	194.6	397.3	12.7	1332	13833	0.00	1.20	0.00	0.000	4	0.000	0.041	2980	1365	2028
13862	0.63	194.6	393.2	12.9	1335	13865	0.08	1.23	0.00	0.000	6	0.144	0.043	2956	2278	2028
14182	0.63	194.6	356.2	11.8	1366	14185	0.00	1.20	0.00	0.000	4	0.000	0.041	2960	1379	2028
14225	0.63	194.6	351.4	11.5	1370	14228	0.00	1.20	0.00	0.000	6	0.000	0.042	2960	2277	2028
14548	0.63	194.6	313.1	12.0	1401	14550	0.00	1.62	0.00	0.000	4	0.000	0.052	2960	3187	2028
14579	0.63	194.6	309.0	12.6	1404	14582	0.00	1.58	0.00	0.000	6	0.000	0.035	2967	2281	2028
14902	0.63	194.6	269.8	12.3	1435	14905	0.00	1.20	0.00	0.000	4	0.000	0.041	2973	1362	2027
14937	0.63	194.6	265.3	12.2	1438	14946	0.00	1.25	0.00	0.000	6	0.000	0.041	2973	2281	2027
15255	0.63	194.6	227.2	12.6	1469	15256	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2281	2028
15565	0.63	194.6	190.1	11.9	1499	15566	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2281	2028
15875	0.63	194.6	153.4	12.4	1529	15876	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2281	2028
16186	0.63	194.6	117.1	11.2	1559	16186	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2281	2028
16495	0.63	194.6	83.1	9.9	1589	16499	0.00	1.20	0.00	0.000	4	0.000	0.038	2979	1374	2029
16549	0.63	194.6	77.6	10.2	1594	16552	0.00	1.17	0.00	0.000	6	0.000	0.038	2978	2273	2029
16746	0.63	194.6	60.3	7.9	1613	16749	0.00	1.60	0.00	0.000	4	0.000	0.048	2978	3188	2030
16788	0.63	194.6	56.3	9.9	1617	16791	0.08	1.55	0.00	0.000	6	0.114	0.031	2950	2279	2030
16985	0.69	247.9	43.0	6.1	1636	17033	0.00	1.23	39.40	0.544	4	0.000	0.036	2954	1354	1829
17086	0.83	357.0	38.0	4.6	1645	17173	0.12	1.23	82.12	0.536	6	0.051	0.035	3021	2278	1382
17366	0.91	423.0	18.0	5.8	1671	17418	0.00	1.25	48.92	0.509	4	0.000	0.035	3026	1366	1113
17476	0.92	436.5	10.2	7.1	1680	17495	0.00	1.23	11.35	0.458	6	0.000	0.032	3027	2277	1058
17575	end climb: SURFACE_DEPTH_REACHED
state	17575	begin surface coast
17606	end surface coast: CONTROL_FINISHED_OK
state	17606	begin surface