Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 224 * 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 224 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -17557.406 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 -17557.406

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 30 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 224 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 234607,2843.388,-8829.838,24,1.6,24,-0.4 TGT_NAME NEW0617E

_CALLS 1 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 20 TGT_RADIUS 2000.000

_XMS_TOUTs 3 KALMAN_CONTROL -0.237,0.118

_SM_DEPTHo 1.58 KALMAN_X -59257.6,438.8,551.2,91144.5,-1716.4

_SM_ANGLEo -61.9 KALMAN_Y -223672.2,1067.2,1453.7,249132.2,-13411.9

GPS2 235426,2843.481,-8829.881,11,1.6,11,-0.4 MHEAD_RNG_PITCHd_Wd 286.0,24640,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1303

Post-dive calculations and measurements:

FINISH 0.7,1.023168 _24V_AH 22.8,39.421

SM_CCo 17881,88.12,0.491,0,0,494,575.22 _10V_AH 10.6,54.754

SM_GC 1.52,0.00,0.00,88.12,0.000,0.000,0.491,195,2398,494,-7.97,0.65,575.22 DATA_FILE_SIZE 88332,1719

IRIDIUM_FIX 2831.00,-8831.56,011099,181852 CAP_FILE_SIZE 162296,0

TT8_MAMPS 0.049855 CFSIZE 260165632,235114496

HUMID 1349 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.22887 CURRENT 0.058,202.9,1

TCM_TEMP 23.10 GPS 080710,045607,2843.590,-8833.065,28,1.7,28,-0.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 256 117.69 SBE_CT 1174 24 642.86

Roll_motor 69 59 93.69 SBE_O2 1255 19 543.71

VBD_pump_during_apogee 471 1250 13434.31 WL_BBFL2VMT 3863 105 9249.47

VBD_pump_during_surface 88 490 986.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 70.88 nil 0 0 0.00

Iridium_during_connect 26 160 95.68 nil 0 0 0.00

Iridium_during_xfer 323 223 1643.67

Transponder_ping 4 420 38.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.11

TT8 0 19 0.00

LPSleep 12054 2 279.84

TT8_Active 631 19 132.45

TT8_Sampling 5054 39 2132.57

TT8_CF8 740 45 359.72

TT8_Kalman 33 81 28.91

Analog_circuits 2049 12 260.76

GPS_charging 0 0 0.00

Compass 4525 8 383.78

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -0.63 -194.6 0.0 0.0 0 93 0.00 0.00 -78.22 0.000 2 0.000 0.000 191 2386 2616

95 -0.63 -194.6 3.1 -3.3 8 137 10.57 1.38 -27.67 0.000 4 0.256 0.058 2537 1453 3634

376 -0.63 -194.6 54.9 -13.2 33 384 0.00 1.35 0.00 0.000 6 0.000 0.035 2533 2375 3636

569 -0.63 -194.6 82.4 -13.9 52 570 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2376 3638

755 -0.63 -194.6 109.7 -14.0 70 758 0.00 1.30 0.00 0.000 4 0.000 0.037 2533 1465 3638

818 -0.63 -194.6 118.2 -13.2 76 822 0.00 1.30 0.00 0.000 6 0.000 0.037 2529 2367 3638

1141 -0.63 -194.6 162.9 -13.9 107 1144 0.00 1.48 0.00 0.000 4 0.000 0.047 2521 3255 3638

1177 -0.63 -194.6 168.4 -13.7 110 1186 0.00 1.48 0.00 0.000 6 0.000 0.028 2521 2348 3638

1495 -0.63 -194.6 209.1 -13.1 141 1496 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2348 3638

1804 -0.63 -194.6 248.6 -12.8 171 1805 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2347 3637

2115 -0.63 -194.6 287.2 -11.8 201 2118 0.00 1.20 0.00 0.000 4 0.000 0.038 2521 1487 3635

2162 -0.63 -194.6 293.1 -12.3 205 2169 0.00 1.30 0.00 0.000 6 0.000 0.038 2515 2384 3636

2479 -0.63 -194.6 330.0 -11.6 236 2480 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2385 3633

2789 -0.63 -194.6 367.3 -11.7 266 2792 0.00 1.30 0.00 0.000 4 0.000 0.038 2516 1484 3632

2878 -0.63 -194.6 378.1 -11.8 274 2887 0.12 1.30 0.00 0.000 6 0.143 0.038 2541 2366 3631

3195 -0.63 -194.6 408.5 -9.5 305 3196 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2366 3629

3506 -0.63 -194.6 437.8 -9.5 335 3507 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2366 3627

3816 -0.63 -194.6 467.0 -9.5 365 3819 0.00 1.27 0.00 0.000 4 0.000 0.042 2543 1493 3625

3852 -0.63 -194.6 470.6 -9.4 368 3859 0.00 1.30 0.00 0.000 6 0.000 0.041 2539 2374 3624

4170 -0.63 -194.6 500.5 -10.0 399 4171 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2375 3622

4479 -0.63 -194.6 530.4 -9.5 429 4482 0.00 1.30 0.00 0.000 4 0.000 0.043 2540 1485 3619

4511 -0.63 -194.6 533.4 -10.0 432 4514 0.00 1.30 0.00 0.000 6 0.000 0.043 2534 2365 3619

4833 -0.63 -194.6 565.1 -10.2 463 4834 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2366 3618

5142 -0.63 -194.6 596.2 -10.0 493 5143 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2366 3615

5453 -0.63 -194.6 626.2 -9.5 523 5456 0.00 1.30 0.00 0.000 4 0.000 0.044 2534 1486 3613

5499 -0.63 -194.6 630.9 -9.6 527 5507 0.00 1.38 0.00 0.000 6 0.000 0.044 2528 2396 3613

5817 -0.63 -194.6 662.2 -9.8 558 5818 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2396 3611

6127 -0.63 -194.6 693.9 -10.1 588 6129 0.00 1.35 0.00 0.000 4 0.000 0.044 2528 1489 3609

6162 -0.63 -194.6 697.6 -10.4 591 6170 0.00 1.33 0.00 0.000 6 0.000 0.045 2524 2366 3609

6480 -0.63 -194.6 729.0 -10.2 622 6481 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2366 3607

6789 -0.63 -194.6 760.2 -10.0 652 6793 0.00 1.55 0.00 0.000 4 0.000 0.058 2517 3263 3605

6826 -0.63 -194.6 764.2 -10.7 655 6833 0.00 1.48 0.00 0.000 6 0.000 0.036 2516 2366 3605

7143 -0.63 -194.6 796.0 -10.3 686 7144 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2366 3603

7453 -0.63 -194.6 827.6 -10.4 716 7453 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2366 3602

7764 -0.63 -194.6 858.8 -10.1 746 7765 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2367 3601

8073 -0.63 -194.6 889.7 -10.0 776 8074 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2367 3599

8384 -0.63 -194.6 921.0 -9.9 806 8387 0.00 1.27 0.00 0.000 4 0.000 0.048 2517 1502 3597

8438 -0.63 -194.6 926.3 -9.7 811 8441 0.08 1.33 0.00 0.000 6 0.151 0.049 2535 2380 3597

8758 -0.63 -194.6 954.9 -8.9 842 8759 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2380 3596

9069 -0.63 -194.6 982.4 -8.4 872 9072 0.00 1.33 0.00 0.000 4 0.000 0.047 2536 1496 3595

9112 -0.63 -194.6 986.1 -8.8 876 9115 0.00 1.33 0.00 0.000 6 0.000 0.050 2533 2367 3595

9163 end dive: TARGET_DEPTH_EXCEEDED

state 9163 begin apogee

9168 -0.25 0.0 990.5 8.6 881 9325 0.45 0.00 152.27 1.250 6 0.133 0.000 2667 2287 2840

9326 end apogee: CONTROL_FINISHED_OK

state 9326 begin climb

9328 0.63 194.6 995.2 0.0 897 9501 0.88 0.00 169.18 1.215 6 0.102 0.000 2942 2287 2046

9810 0.63 194.6 946.0 11.2 944 9813 0.00 1.27 0.00 0.000 4 0.000 0.051 2948 1365 2035

9857 0.63 194.6 940.5 12.3 948 9864 0.00 1.27 0.00 0.000 6 0.000 0.044 2948 2275 2035

10174 0.63 194.6 902.3 12.3 979 10178 0.00 1.23 0.00 0.000 4 0.000 0.044 2953 1370 2033

10210 0.63 194.6 897.9 11.2 982 10219 0.00 1.25 0.00 0.000 6 0.000 0.044 2953 2279 2033

10528 0.63 194.6 858.5 12.6 1013 10529 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2279 2032

10838 0.63 194.6 820.2 12.3 1043 10840 0.00 1.23 0.00 0.000 4 0.000 0.044 2959 1370 2031

10869 0.63 194.6 816.2 12.4 1046 10872 0.00 1.23 0.00 0.000 6 0.000 0.044 2959 2275 2031

11190 0.63 194.6 776.2 12.3 1077 11191 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2275 2030

11501 0.63 194.6 738.2 12.7 1107 11504 0.00 1.62 0.00 0.000 4 0.000 0.055 2958 3182 2029

11526 0.63 194.6 734.9 12.8 1109 11533 0.00 1.62 0.00 0.000 6 0.000 0.037 2966 2264 2029

11844 0.63 194.6 694.8 12.8 1140 11845 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2265 2029

12153 0.63 194.6 655.8 12.6 1170 12156 0.00 1.15 0.00 0.000 4 0.000 0.044 2972 1377 2029

12185 0.63 194.6 652.0 12.3 1173 12188 0.00 1.20 0.00 0.000 6 0.000 0.044 2972 2270 2029

12507 0.63 194.6 611.2 12.4 1204 12507 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2269 2028

12816 0.63 194.6 572.3 12.6 1234 12817 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2270 2028

13126 0.63 194.6 532.7 12.8 1264 13129 0.00 1.20 0.00 0.000 4 0.000 0.043 2977 1369 2028

13147 0.63 194.6 530.0 13.0 1266 13150 0.00 1.23 0.00 0.000 6 0.000 0.044 2977 2277 2028

13468 0.63 194.6 487.5 13.1 1297 13469 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2277 2028

13779 0.63 194.6 446.3 13.2 1327 13780 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2278 2028

14089 0.63 194.6 404.2 13.7 1357 14090 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2278 2028

14399 0.63 194.6 361.5 13.1 1387 14400 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2277 2028

14710 0.63 194.6 318.6 14.0 1417 14713 0.00 1.20 0.00 0.000 4 0.000 0.042 2982 1376 2028

14753 0.63 194.6 312.7 13.5 1421 14756 0.10 1.20 0.00 0.000 6 0.143 0.041 2951 2276 2028

15074 0.63 194.6 275.6 10.1 1452 15077 0.00 1.20 0.00 0.000 4 0.000 0.041 2955 1374 2028

15127 0.63 194.6 270.0 10.5 1457 15130 0.00 1.20 0.00 0.000 6 0.000 0.041 2955 2277 2028

15447 0.63 194.6 234.5 11.0 1488 15451 0.00 1.60 0.00 0.000 4 0.000 0.051 2955 3161 2028

15468 0.63 194.6 232.0 11.2 1490 15472 0.00 1.55 0.00 0.000 6 0.000 0.034 2962 2273 2029

15790 0.63 194.6 195.5 11.3 1521 15793 0.00 1.17 0.00 0.000 4 0.000 0.040 2967 1361 2029

15822 0.63 194.6 191.8 10.8 1524 15824 0.00 1.20 0.00 0.000 6 0.000 0.040 2968 2274 2029

16144 0.63 194.6 154.9 10.8 1555 16145 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2274 2030

16453 0.63 194.6 120.3 11.2 1585 16454 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2274 2031

16763 0.63 194.6 87.4 10.2 1615 16766 0.00 1.60 0.00 0.000 4 0.000 0.048 2968 3166 2032

16784 0.63 194.6 85.2 10.7 1617 16787 0.00 1.55 0.00 0.000 6 0.000 0.031 2975 2268 2031

16981 0.63 194.6 65.5 9.6 1636 16984 0.00 1.15 0.00 0.000 4 0.000 0.038 2981 1362 2033

17023 0.63 194.6 61.5 8.6 1640 17027 0.10 1.20 0.00 0.000 6 0.120 0.037 2948 2277 2032

17221 0.69 243.9 47.8 6.2 1659 17268 0.00 1.65 36.85 0.542 4 0.000 0.045 2947 3183 1843

17321 0.72 268.6 41.6 6.9 1668 17344 0.00 1.55 19.62 0.517 6 0.000 0.030 2953 2278 1745

17529 0.87 393.4 30.5 4.2 1688 17626 0.17 1.23 93.38 0.522 4 0.058 0.035 3050 1373 1234

17737 0.87 393.4 13.5 8.5 1706 17745 0.00 1.23 0.00 0.000 6 0.000 0.033 3050 2278 1229

17845 end climb: SURFACE_DEPTH_REACHED

state 17845 begin surface coast

17866 end surface coast: CONTROL_FINISHED_OK

state 17866 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	224	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-17557.406	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	234607,2843.388,-8829.838,24,1.6,24,-0.4	TGT_NAME	NEW0617E
_CALLS	1	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	20	TGT_RADIUS	2000.000
_XMS_TOUTs	3	KALMAN_CONTROL	-0.237,0.118
_SM_DEPTHo	1.58	KALMAN_X	-59257.6,438.8,551.2,91144.5,-1716.4
_SM_ANGLEo	-61.9	KALMAN_Y	-223672.2,1067.2,1453.7,249132.2,-13411.9
GPS2	235426,2843.481,-8829.881,11,1.6,11,-0.4	MHEAD_RNG_PITCHd_Wd	286.0,24640,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1303

FINISH	0.7,1.023168	_24V_AH	22.8,39.421
SM_CCo	17881,88.12,0.491,0,0,494,575.22	_10V_AH	10.6,54.754
SM_GC	1.52,0.00,0.00,88.12,0.000,0.000,0.491,195,2398,494,-7.97,0.65,575.22	DATA_FILE_SIZE	88332,1719
IRIDIUM_FIX	2831.00,-8831.56,011099,181852	CAP_FILE_SIZE	162296,0
TT8_MAMPS	0.049855	CFSIZE	260165632,235114496
HUMID	1349	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.22887	CURRENT	0.058,202.9,1
TCM_TEMP	23.10	GPS	080710,045607,2843.590,-8833.065,28,1.7,28,-0.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	256	117.69	SBE_CT	1174	24	642.86
Roll_motor	69	59	93.69	SBE_O2	1255	19	543.71
VBD_pump_during_apogee	471	1250	13434.31	WL_BBFL2VMT	3863	105	9249.47
VBD_pump_during_surface	88	490	986.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	70.88	nil	0	0	0.00
Iridium_during_connect	26	160	95.68	nil	0	0	0.00
Iridium_during_xfer	323	223	1643.67
Transponder_ping	4	420	38.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.11
TT8	0	19	0.00
LPSleep	12054	2	279.84
TT8_Active	631	19	132.45
TT8_Sampling	5054	39	2132.57
TT8_CF8	740	45	359.72
TT8_Kalman	33	81	28.91
Analog_circuits	2049	12	260.76
GPS_charging	0	0	0.00
Compass	4525	8	383.78
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-0.63	-194.6	0.0	0.0	0	93	0.00	0.00	-78.22	0.000	2	0.000	0.000	191	2386	2616
95	-0.63	-194.6	3.1	-3.3	8	137	10.57	1.38	-27.67	0.000	4	0.256	0.058	2537	1453	3634
376	-0.63	-194.6	54.9	-13.2	33	384	0.00	1.35	0.00	0.000	6	0.000	0.035	2533	2375	3636
569	-0.63	-194.6	82.4	-13.9	52	570	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2376	3638
755	-0.63	-194.6	109.7	-14.0	70	758	0.00	1.30	0.00	0.000	4	0.000	0.037	2533	1465	3638
818	-0.63	-194.6	118.2	-13.2	76	822	0.00	1.30	0.00	0.000	6	0.000	0.037	2529	2367	3638
1141	-0.63	-194.6	162.9	-13.9	107	1144	0.00	1.48	0.00	0.000	4	0.000	0.047	2521	3255	3638
1177	-0.63	-194.6	168.4	-13.7	110	1186	0.00	1.48	0.00	0.000	6	0.000	0.028	2521	2348	3638
1495	-0.63	-194.6	209.1	-13.1	141	1496	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2348	3638
1804	-0.63	-194.6	248.6	-12.8	171	1805	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2347	3637
2115	-0.63	-194.6	287.2	-11.8	201	2118	0.00	1.20	0.00	0.000	4	0.000	0.038	2521	1487	3635
2162	-0.63	-194.6	293.1	-12.3	205	2169	0.00	1.30	0.00	0.000	6	0.000	0.038	2515	2384	3636
2479	-0.63	-194.6	330.0	-11.6	236	2480	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2385	3633
2789	-0.63	-194.6	367.3	-11.7	266	2792	0.00	1.30	0.00	0.000	4	0.000	0.038	2516	1484	3632
2878	-0.63	-194.6	378.1	-11.8	274	2887	0.12	1.30	0.00	0.000	6	0.143	0.038	2541	2366	3631
3195	-0.63	-194.6	408.5	-9.5	305	3196	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2366	3629
3506	-0.63	-194.6	437.8	-9.5	335	3507	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2366	3627
3816	-0.63	-194.6	467.0	-9.5	365	3819	0.00	1.27	0.00	0.000	4	0.000	0.042	2543	1493	3625
3852	-0.63	-194.6	470.6	-9.4	368	3859	0.00	1.30	0.00	0.000	6	0.000	0.041	2539	2374	3624
4170	-0.63	-194.6	500.5	-10.0	399	4171	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2375	3622
4479	-0.63	-194.6	530.4	-9.5	429	4482	0.00	1.30	0.00	0.000	4	0.000	0.043	2540	1485	3619
4511	-0.63	-194.6	533.4	-10.0	432	4514	0.00	1.30	0.00	0.000	6	0.000	0.043	2534	2365	3619
4833	-0.63	-194.6	565.1	-10.2	463	4834	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2366	3618
5142	-0.63	-194.6	596.2	-10.0	493	5143	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2366	3615
5453	-0.63	-194.6	626.2	-9.5	523	5456	0.00	1.30	0.00	0.000	4	0.000	0.044	2534	1486	3613
5499	-0.63	-194.6	630.9	-9.6	527	5507	0.00	1.38	0.00	0.000	6	0.000	0.044	2528	2396	3613
5817	-0.63	-194.6	662.2	-9.8	558	5818	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2396	3611
6127	-0.63	-194.6	693.9	-10.1	588	6129	0.00	1.35	0.00	0.000	4	0.000	0.044	2528	1489	3609
6162	-0.63	-194.6	697.6	-10.4	591	6170	0.00	1.33	0.00	0.000	6	0.000	0.045	2524	2366	3609
6480	-0.63	-194.6	729.0	-10.2	622	6481	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2366	3607
6789	-0.63	-194.6	760.2	-10.0	652	6793	0.00	1.55	0.00	0.000	4	0.000	0.058	2517	3263	3605
6826	-0.63	-194.6	764.2	-10.7	655	6833	0.00	1.48	0.00	0.000	6	0.000	0.036	2516	2366	3605
7143	-0.63	-194.6	796.0	-10.3	686	7144	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2366	3603
7453	-0.63	-194.6	827.6	-10.4	716	7453	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2366	3602
7764	-0.63	-194.6	858.8	-10.1	746	7765	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2367	3601
8073	-0.63	-194.6	889.7	-10.0	776	8074	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2367	3599
8384	-0.63	-194.6	921.0	-9.9	806	8387	0.00	1.27	0.00	0.000	4	0.000	0.048	2517	1502	3597
8438	-0.63	-194.6	926.3	-9.7	811	8441	0.08	1.33	0.00	0.000	6	0.151	0.049	2535	2380	3597
8758	-0.63	-194.6	954.9	-8.9	842	8759	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2380	3596
9069	-0.63	-194.6	982.4	-8.4	872	9072	0.00	1.33	0.00	0.000	4	0.000	0.047	2536	1496	3595
9112	-0.63	-194.6	986.1	-8.8	876	9115	0.00	1.33	0.00	0.000	6	0.000	0.050	2533	2367	3595
9163	end dive: TARGET_DEPTH_EXCEEDED
state	9163	begin apogee
9168	-0.25	0.0	990.5	8.6	881	9325	0.45	0.00	152.27	1.250	6	0.133	0.000	2667	2287	2840
9326	end apogee: CONTROL_FINISHED_OK
state	9326	begin climb
9328	0.63	194.6	995.2	0.0	897	9501	0.88	0.00	169.18	1.215	6	0.102	0.000	2942	2287	2046
9810	0.63	194.6	946.0	11.2	944	9813	0.00	1.27	0.00	0.000	4	0.000	0.051	2948	1365	2035
9857	0.63	194.6	940.5	12.3	948	9864	0.00	1.27	0.00	0.000	6	0.000	0.044	2948	2275	2035
10174	0.63	194.6	902.3	12.3	979	10178	0.00	1.23	0.00	0.000	4	0.000	0.044	2953	1370	2033
10210	0.63	194.6	897.9	11.2	982	10219	0.00	1.25	0.00	0.000	6	0.000	0.044	2953	2279	2033
10528	0.63	194.6	858.5	12.6	1013	10529	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2279	2032
10838	0.63	194.6	820.2	12.3	1043	10840	0.00	1.23	0.00	0.000	4	0.000	0.044	2959	1370	2031
10869	0.63	194.6	816.2	12.4	1046	10872	0.00	1.23	0.00	0.000	6	0.000	0.044	2959	2275	2031
11190	0.63	194.6	776.2	12.3	1077	11191	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2275	2030
11501	0.63	194.6	738.2	12.7	1107	11504	0.00	1.62	0.00	0.000	4	0.000	0.055	2958	3182	2029
11526	0.63	194.6	734.9	12.8	1109	11533	0.00	1.62	0.00	0.000	6	0.000	0.037	2966	2264	2029
11844	0.63	194.6	694.8	12.8	1140	11845	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2265	2029
12153	0.63	194.6	655.8	12.6	1170	12156	0.00	1.15	0.00	0.000	4	0.000	0.044	2972	1377	2029
12185	0.63	194.6	652.0	12.3	1173	12188	0.00	1.20	0.00	0.000	6	0.000	0.044	2972	2270	2029
12507	0.63	194.6	611.2	12.4	1204	12507	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2269	2028
12816	0.63	194.6	572.3	12.6	1234	12817	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2270	2028
13126	0.63	194.6	532.7	12.8	1264	13129	0.00	1.20	0.00	0.000	4	0.000	0.043	2977	1369	2028
13147	0.63	194.6	530.0	13.0	1266	13150	0.00	1.23	0.00	0.000	6	0.000	0.044	2977	2277	2028
13468	0.63	194.6	487.5	13.1	1297	13469	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2277	2028
13779	0.63	194.6	446.3	13.2	1327	13780	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2278	2028
14089	0.63	194.6	404.2	13.7	1357	14090	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2278	2028
14399	0.63	194.6	361.5	13.1	1387	14400	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2277	2028
14710	0.63	194.6	318.6	14.0	1417	14713	0.00	1.20	0.00	0.000	4	0.000	0.042	2982	1376	2028
14753	0.63	194.6	312.7	13.5	1421	14756	0.10	1.20	0.00	0.000	6	0.143	0.041	2951	2276	2028
15074	0.63	194.6	275.6	10.1	1452	15077	0.00	1.20	0.00	0.000	4	0.000	0.041	2955	1374	2028
15127	0.63	194.6	270.0	10.5	1457	15130	0.00	1.20	0.00	0.000	6	0.000	0.041	2955	2277	2028
15447	0.63	194.6	234.5	11.0	1488	15451	0.00	1.60	0.00	0.000	4	0.000	0.051	2955	3161	2028
15468	0.63	194.6	232.0	11.2	1490	15472	0.00	1.55	0.00	0.000	6	0.000	0.034	2962	2273	2029
15790	0.63	194.6	195.5	11.3	1521	15793	0.00	1.17	0.00	0.000	4	0.000	0.040	2967	1361	2029
15822	0.63	194.6	191.8	10.8	1524	15824	0.00	1.20	0.00	0.000	6	0.000	0.040	2968	2274	2029
16144	0.63	194.6	154.9	10.8	1555	16145	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2274	2030
16453	0.63	194.6	120.3	11.2	1585	16454	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2274	2031
16763	0.63	194.6	87.4	10.2	1615	16766	0.00	1.60	0.00	0.000	4	0.000	0.048	2968	3166	2032
16784	0.63	194.6	85.2	10.7	1617	16787	0.00	1.55	0.00	0.000	6	0.000	0.031	2975	2268	2031
16981	0.63	194.6	65.5	9.6	1636	16984	0.00	1.15	0.00	0.000	4	0.000	0.038	2981	1362	2033
17023	0.63	194.6	61.5	8.6	1640	17027	0.10	1.20	0.00	0.000	6	0.120	0.037	2948	2277	2032
17221	0.69	243.9	47.8	6.2	1659	17268	0.00	1.65	36.85	0.542	4	0.000	0.045	2947	3183	1843
17321	0.72	268.6	41.6	6.9	1668	17344	0.00	1.55	19.62	0.517	6	0.000	0.030	2953	2278	1745
17529	0.87	393.4	30.5	4.2	1688	17626	0.17	1.23	93.38	0.522	4	0.058	0.035	3050	1373	1234
17737	0.87	393.4	13.5	8.5	1706	17745	0.00	1.23	0.00	0.000	6	0.000	0.033	3050	2278	1229
17845	end climb: SURFACE_DEPTH_REACHED
state	17845	begin surface coast
17866	end surface coast: CONTROL_FINISHED_OK
state	17866	begin surface