Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 226 * 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 226 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 250 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 500 CALL_TRIES 8 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -17595.541 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 -17595.541

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 33 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 36 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.141768 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1640214 VBD_MAX 3959

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00094225706 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.0001682234 VBD_MIN 404

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043524536 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062548812 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3784551e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5490917e-06 XPDR_DEVICE 24

DIVE 226 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 095800,2843.368,-8836.195,38,1.2,43,-0.3 TGT_NAME NEW0617E

_CALLS 2 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.221,0.145

_SM_DEPTHo 1.62 KALMAN_X -55701.4,19.1,230.3,78040.7,1130.8

_SM_ANGLEo -64.7 KALMAN_Y -227573.8,1222.0,1056.5,253046.8,-11807.6

GPS2 100737,2843.353,-8836.214,11,0.9,16,-0.3 MHEAD_RNG_PITCHd_Wd 273.4,14381,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 976

Post-dive calculations and measurements:

FINISH 0.9,1.009192 ALTIM_BOTTOM_PING 870.4,59.6

SM_CCo 16984,105.10,0.488,0,0,495,575.22 _24V_AH 23.0,39.744

SM_GC 1.61,0.00,0.00,105.10,0.000,0.000,0.488,198,2348,495,-7.96,-0.76,575.22 _10V_AH 10.6,55.181

IRIDIUM_FIX 2831.00,-8836.47,021099,101049 DATA_FILE_SIZE 85241,1627

TT8_MAMPS 0.051389 CAP_FILE_SIZE 166422,0

HUMID 1372 CFSIZE 260165632,234942464

INTERNAL_PRESSURE 9.22887 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.00 CURRENT 0.034,159.9,1

XPDR_PINGS 1 GPS 080710,145406,2843.143,-8839.021,39,0.8,39,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 255 116.17 SBE_CT 1110 24 612.96

Roll_motor 93 67 144.65 SBE_O2 1184 19 517.75

VBD_pump_during_apogee 440 1189 12043.71 WL_BBFL2VMT 3656 105 8831.25

VBD_pump_during_surface 105 487 1179.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 103 123.66 nil 0 0 0.00

Iridium_during_connect 55 160 204.01 nil 0 0 0.00

Iridium_during_xfer 277 223 1424.01

Transponder_ping 1 420 12.07

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.72

TT8 0 19 0.00

LPSleep 11369 2 263.94

TT8_Active 636 19 133.52

TT8_Sampling 4927 39 2078.87

TT8_CF8 704 45 342.22

TT8_Kalman 33 81 28.91

Analog_circuits 2066 12 262.90

GPS_charging 0 0 0.00

Compass 4388 8 372.18

RAFOS 0 0 0.00

Transponder 11 30 3.50

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 0 107 0.00 0.00 -92.78 0.000 2 0.000 0.000 194 2392 3045

109 -0.63 -194.6 3.4 -3.2 9 136 10.60 1.50 -12.20 0.000 4 0.255 0.067 2530 3261 3635

375 -0.63 -194.6 60.3 -16.5 33 382 0.00 1.48 0.00 0.000 6 0.000 0.027 2534 2354 3638

567 -0.63 -194.6 87.7 -13.9 52 570 0.00 1.52 0.00 0.000 4 0.000 0.047 2529 3253 3639

689 -0.63 -194.6 104.7 -13.5 63 696 0.00 1.42 0.00 0.000 6 0.000 0.028 2534 2358 3639

1006 -0.63 -194.6 145.9 -12.2 94 1010 0.00 1.23 0.00 0.000 4 0.000 0.036 2534 1482 3639

1059 -0.63 -194.6 152.5 -11.5 99 1062 0.00 1.25 0.00 0.000 6 0.000 0.038 2530 2356 3639

1382 -0.63 -194.6 191.2 -12.2 130 1385 0.00 1.23 0.00 0.000 4 0.000 0.037 2530 1496 3638

1460 -0.63 -194.6 200.9 -11.7 137 1468 0.00 1.30 0.00 0.000 6 0.000 0.038 2524 2386 3639

1779 -0.63 -194.6 238.2 -11.3 168 1779 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2386 3637

2087 -0.63 -194.6 273.1 -11.1 198 2090 0.00 1.27 0.00 0.000 4 0.000 0.038 2524 1499 3636

2166 -0.63 -194.6 282.2 -11.3 205 2174 0.00 1.25 0.00 0.000 6 0.000 0.039 2518 2362 3635

2484 -0.63 -194.6 317.3 -11.2 236 2487 0.00 1.25 0.00 0.000 4 0.000 0.038 2518 1491 3634

2526 -0.63 -194.6 322.1 -11.1 240 2530 0.08 1.30 0.00 0.000 6 0.144 0.041 2537 2383 3633

2847 -0.63 -194.6 355.1 -10.4 271 2850 0.00 1.48 0.00 0.000 4 0.000 0.052 2532 3248 3631

2894 -0.63 -194.6 360.4 -10.5 275 2901 0.00 1.40 0.00 0.000 6 0.000 0.031 2532 2369 3631

3211 -0.63 -194.6 394.2 -10.5 306 3215 0.00 1.25 0.00 0.000 4 0.000 0.040 2532 1498 3629

3275 -0.63 -194.6 400.9 -10.5 312 3278 0.00 1.27 0.00 0.000 6 0.000 0.042 2527 2365 3629

3598 -0.63 -194.6 435.8 -11.2 343 3598 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2365 3627

3906 -0.63 -194.6 469.8 -10.6 373 3909 0.00 1.25 0.00 0.000 4 0.000 0.041 2527 1508 3624

3964 -0.63 -194.6 476.1 -10.8 378 3972 0.00 1.30 0.00 0.000 6 0.000 0.042 2521 2387 3624

4282 -0.63 -194.6 509.7 -10.7 409 4285 0.00 1.30 0.00 0.000 4 0.000 0.041 2521 1500 3621

4313 -0.63 -194.6 513.2 -11.0 412 4316 0.00 1.27 0.00 0.000 6 0.000 0.044 2516 2362 3621

4636 -0.63 -194.6 549.6 -11.0 443 4637 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2362 3619

4945 -0.63 -194.6 583.9 -11.2 473 4945 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2362 3617

5255 -0.63 -194.6 618.0 -11.0 503 5259 0.00 1.25 0.00 0.000 4 0.000 0.042 2516 1511 3615

5298 -0.63 -194.6 622.4 -10.7 507 5301 0.10 1.30 0.00 0.000 6 0.140 0.045 2541 2379 3615

5619 -0.63 -194.6 650.8 -8.3 538 5620 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2379 3612

5929 -0.63 -194.6 677.5 -8.6 568 5932 0.00 1.30 0.00 0.000 4 0.000 0.044 2541 1502 3610

5972 -0.63 -194.6 681.3 -8.8 572 5974 0.00 1.30 0.00 0.000 6 0.000 0.047 2538 2370 3610

6293 -0.63 -194.6 710.7 -9.4 603 6297 0.00 1.27 0.00 0.000 4 0.000 0.044 2538 1511 3608

6325 -0.63 -194.6 713.7 -9.9 606 6328 0.00 1.30 0.00 0.000 6 0.000 0.048 2532 2372 3608

6647 -0.63 -194.6 744.1 -9.7 637 6650 0.00 1.30 0.00 0.000 4 0.000 0.044 2532 1500 3606

6679 -0.63 -194.6 747.3 -10.1 640 6682 0.00 1.35 0.00 0.000 6 0.000 0.048 2527 2391 3606

7001 -0.63 -194.6 778.0 -9.6 671 7002 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2391 3604

7311 -0.63 -194.6 806.8 -8.9 701 7313 0.00 1.33 0.00 0.000 4 0.000 0.046 2527 1501 3603

7357 -0.63 -194.6 811.4 -9.2 705 7364 0.00 1.33 0.00 0.000 6 0.000 0.048 2521 2366 3603

7675 -0.63 -194.6 841.6 -9.6 736 7676 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2366 3602

7984 -0.63 -194.6 871.5 -9.5 766 7987 0.00 1.58 0.00 0.000 4 0.000 0.062 2514 3268 3600

8016 -0.63 -194.6 874.4 -9.7 769 8019 0.00 1.45 0.00 0.000 6 0.000 0.038 2515 2389 3599

8338 -0.63 -194.6 905.4 -9.6 800 8341 0.12 1.33 0.00 0.000 4 0.149 0.044 2546 1495 3598

8394 end dive: BOTTOM_OBSTACLE_DETECTED

state 8394 begin apogee

8399 -0.25 0.0 910.5 8.2 805 8556 0.35 0.00 150.77 1.190 6 0.130 0.000 2656 2277 2840

8556 end apogee: CONTROL_FINISHED_OK

state 8556 begin climb

8558 0.63 194.6 915.5 0.0 821 8729 0.90 1.77 165.93 1.158 4 0.107 0.057 2940 3165 2045

8758 0.63 194.6 900.0 11.0 838 8761 0.00 1.60 0.00 0.000 6 0.000 0.036 2947 2296 2040

9079 0.63 194.6 862.8 11.9 869 9083 0.00 1.27 0.00 0.000 4 0.000 0.044 2953 1366 2035

9179 0.63 194.6 851.2 11.2 878 9188 0.00 1.27 0.00 0.000 6 0.000 0.045 2953 2275 2034

9497 0.63 194.6 814.6 11.5 909 9498 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2276 2032

9806 0.63 194.6 778.8 11.7 939 9807 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2276 2031

10117 0.63 194.6 742.0 12.4 969 10120 0.00 1.23 0.00 0.000 4 0.000 0.044 2958 1363 2030

10149 0.63 194.6 738.1 11.9 972 10152 0.00 1.25 0.00 0.000 6 0.000 0.046 2958 2277 2030

10469 0.63 194.6 698.6 12.4 1003 10473 0.00 1.23 0.00 0.000 4 0.000 0.044 2963 1367 2029

10512 0.63 194.6 693.5 12.1 1007 10515 0.00 1.23 0.00 0.000 6 0.000 0.044 2963 2272 2029

10834 0.63 194.6 654.3 12.3 1038 10837 0.00 1.62 0.00 0.000 4 0.000 0.054 2963 3179 2029

10859 0.63 194.6 650.8 12.9 1040 10867 0.00 1.62 0.00 0.000 6 0.000 0.037 2971 2260 2028

11177 0.63 194.6 612.3 11.9 1071 11180 0.00 1.15 0.00 0.000 4 0.000 0.044 2976 1368 2027

11213 0.63 194.6 607.5 12.7 1074 11221 0.00 1.25 0.00 0.000 6 0.000 0.044 2976 2281 2027

11530 0.63 194.6 568.2 11.9 1105 11531 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2280 2028

11840 0.63 194.6 527.7 13.4 1135 11841 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2281 2027

12150 0.63 194.6 488.3 12.1 1165 12153 0.00 1.23 0.00 0.000 4 0.000 0.043 2982 1370 2027

12214 0.63 194.6 480.5 12.1 1171 12217 0.10 1.23 0.00 0.000 6 0.140 0.043 2951 2274 2027

12535 0.63 194.6 447.5 10.4 1202 12538 0.00 1.62 0.00 0.000 4 0.000 0.053 2950 3164 2027

12560 0.63 194.6 444.5 11.6 1204 12568 0.00 1.60 0.00 0.000 6 0.000 0.036 2956 2260 2026

12878 0.63 194.6 410.9 10.6 1235 12881 0.00 1.15 0.00 0.000 4 0.000 0.042 2961 1366 2026

12925 0.63 194.6 405.6 10.8 1239 12932 0.00 1.25 0.00 0.000 6 0.000 0.041 2961 2278 2026

13243 0.63 194.6 369.9 11.4 1270 13244 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2278 2026

13552 0.63 194.6 334.3 11.4 1300 13552 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2278 2026

13862 0.63 194.6 297.5 12.0 1330 13863 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2279 2026

14173 0.63 194.6 261.2 11.4 1360 14174 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2279 2026

14483 0.63 194.6 226.7 11.5 1390 14486 0.00 1.20 0.00 0.000 4 0.000 0.041 2966 1375 2026

14540 0.63 194.6 220.0 11.2 1395 14548 0.00 1.23 0.00 0.000 6 0.000 0.039 2966 2278 2027

14858 0.63 194.6 183.1 11.5 1426 14862 0.00 1.20 0.00 0.000 4 0.000 0.039 2971 1368 2026

14900 0.63 194.6 178.2 10.7 1430 14904 0.00 1.20 0.00 0.000 6 0.000 0.039 2971 2275 2027

15221 0.63 194.6 142.1 10.6 1461 15224 0.00 1.20 0.00 0.000 4 0.000 0.038 2975 1357 2027

15258 0.63 194.6 138.3 10.3 1464 15265 0.00 1.23 0.00 0.000 6 0.000 0.038 2975 2279 2028

15575 0.63 194.6 104.1 11.1 1495 15578 0.00 1.20 0.00 0.000 4 0.000 0.037 2980 1361 2029

15617 0.63 194.6 99.4 10.2 1499 15621 0.08 1.20 0.00 0.000 6 0.133 0.038 2956 2276 2029

15814 0.63 194.6 80.8 8.8 1518 15817 0.00 1.17 0.00 0.000 4 0.000 0.037 2959 1369 2029

15857 0.63 197.0 77.3 7.4 1522 15860 0.00 1.20 0.00 0.000 6 0.000 0.037 2959 2279 2030

16054 0.63 199.5 61.1 7.4 1541 16056 0.00 1.58 0.00 0.000 4 0.000 0.047 2959 3160 2031

16096 0.63 199.5 57.4 8.4 1545 16099 0.00 1.52 0.00 0.000 6 0.000 0.030 2966 2270 2031

16293 0.67 233.3 43.5 6.6 1564 16328 0.00 1.60 28.55 0.537 4 0.000 0.045 2966 3168 1888

16350 0.69 250.4 39.7 7.1 1569 16374 0.00 1.55 14.35 0.506 6 0.000 0.030 2974 2273 1818

16557 0.79 329.8 27.1 5.4 1589 16620 0.00 1.15 59.83 0.525 4 0.000 0.034 2978 1369 1495

16649 0.82 350.9 22.1 6.9 1597 16673 0.00 1.20 17.20 0.492 6 0.000 0.034 2979 2272 1407

16857 0.82 354.9 8.1 7.4 1617 16869 0.00 1.62 3.55 0.304 4 0.000 0.044 2979 3172 1392

16925 end climb: SURFACE_DEPTH_REACHED

state 16925 begin surface coast

16969 end surface coast: CONTROL_FINISHED_OK

state 16969 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	226	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	250	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	500	CALL_TRIES	8	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-17595.541	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	095800,2843.368,-8836.195,38,1.2,43,-0.3	TGT_NAME	NEW0617E
_CALLS	2	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.221,0.145
_SM_DEPTHo	1.62	KALMAN_X	-55701.4,19.1,230.3,78040.7,1130.8
_SM_ANGLEo	-64.7	KALMAN_Y	-227573.8,1222.0,1056.5,253046.8,-11807.6
GPS2	100737,2843.353,-8836.214,11,0.9,16,-0.3	MHEAD_RNG_PITCHd_Wd	273.4,14381,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	976

FINISH	0.9,1.009192	ALTIM_BOTTOM_PING	870.4,59.6
SM_CCo	16984,105.10,0.488,0,0,495,575.22	_24V_AH	23.0,39.744
SM_GC	1.61,0.00,0.00,105.10,0.000,0.000,0.488,198,2348,495,-7.96,-0.76,575.22	_10V_AH	10.6,55.181
IRIDIUM_FIX	2831.00,-8836.47,021099,101049	DATA_FILE_SIZE	85241,1627
TT8_MAMPS	0.051389	CAP_FILE_SIZE	166422,0
HUMID	1372	CFSIZE	260165632,234942464
INTERNAL_PRESSURE	9.22887	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.00	CURRENT	0.034,159.9,1
XPDR_PINGS	1	GPS	080710,145406,2843.143,-8839.021,39,0.8,39,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	255	116.17	SBE_CT	1110	24	612.96
Roll_motor	93	67	144.65	SBE_O2	1184	19	517.75
VBD_pump_during_apogee	440	1189	12043.71	WL_BBFL2VMT	3656	105	8831.25
VBD_pump_during_surface	105	487	1179.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	103	123.66	nil	0	0	0.00
Iridium_during_connect	55	160	204.01	nil	0	0	0.00
Iridium_during_xfer	277	223	1424.01
Transponder_ping	1	420	12.07
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.72
TT8	0	19	0.00
LPSleep	11369	2	263.94
TT8_Active	636	19	133.52
TT8_Sampling	4927	39	2078.87
TT8_CF8	704	45	342.22
TT8_Kalman	33	81	28.91
Analog_circuits	2066	12	262.90
GPS_charging	0	0	0.00
Compass	4388	8	372.18
RAFOS	0	0	0.00
Transponder	11	30	3.50

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	107	0.00	0.00	-92.78	0.000	2	0.000	0.000	194	2392	3045
109	-0.63	-194.6	3.4	-3.2	9	136	10.60	1.50	-12.20	0.000	4	0.255	0.067	2530	3261	3635
375	-0.63	-194.6	60.3	-16.5	33	382	0.00	1.48	0.00	0.000	6	0.000	0.027	2534	2354	3638
567	-0.63	-194.6	87.7	-13.9	52	570	0.00	1.52	0.00	0.000	4	0.000	0.047	2529	3253	3639
689	-0.63	-194.6	104.7	-13.5	63	696	0.00	1.42	0.00	0.000	6	0.000	0.028	2534	2358	3639
1006	-0.63	-194.6	145.9	-12.2	94	1010	0.00	1.23	0.00	0.000	4	0.000	0.036	2534	1482	3639
1059	-0.63	-194.6	152.5	-11.5	99	1062	0.00	1.25	0.00	0.000	6	0.000	0.038	2530	2356	3639
1382	-0.63	-194.6	191.2	-12.2	130	1385	0.00	1.23	0.00	0.000	4	0.000	0.037	2530	1496	3638
1460	-0.63	-194.6	200.9	-11.7	137	1468	0.00	1.30	0.00	0.000	6	0.000	0.038	2524	2386	3639
1779	-0.63	-194.6	238.2	-11.3	168	1779	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2386	3637
2087	-0.63	-194.6	273.1	-11.1	198	2090	0.00	1.27	0.00	0.000	4	0.000	0.038	2524	1499	3636
2166	-0.63	-194.6	282.2	-11.3	205	2174	0.00	1.25	0.00	0.000	6	0.000	0.039	2518	2362	3635
2484	-0.63	-194.6	317.3	-11.2	236	2487	0.00	1.25	0.00	0.000	4	0.000	0.038	2518	1491	3634
2526	-0.63	-194.6	322.1	-11.1	240	2530	0.08	1.30	0.00	0.000	6	0.144	0.041	2537	2383	3633
2847	-0.63	-194.6	355.1	-10.4	271	2850	0.00	1.48	0.00	0.000	4	0.000	0.052	2532	3248	3631
2894	-0.63	-194.6	360.4	-10.5	275	2901	0.00	1.40	0.00	0.000	6	0.000	0.031	2532	2369	3631
3211	-0.63	-194.6	394.2	-10.5	306	3215	0.00	1.25	0.00	0.000	4	0.000	0.040	2532	1498	3629
3275	-0.63	-194.6	400.9	-10.5	312	3278	0.00	1.27	0.00	0.000	6	0.000	0.042	2527	2365	3629
3598	-0.63	-194.6	435.8	-11.2	343	3598	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2365	3627
3906	-0.63	-194.6	469.8	-10.6	373	3909	0.00	1.25	0.00	0.000	4	0.000	0.041	2527	1508	3624
3964	-0.63	-194.6	476.1	-10.8	378	3972	0.00	1.30	0.00	0.000	6	0.000	0.042	2521	2387	3624
4282	-0.63	-194.6	509.7	-10.7	409	4285	0.00	1.30	0.00	0.000	4	0.000	0.041	2521	1500	3621
4313	-0.63	-194.6	513.2	-11.0	412	4316	0.00	1.27	0.00	0.000	6	0.000	0.044	2516	2362	3621
4636	-0.63	-194.6	549.6	-11.0	443	4637	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2362	3619
4945	-0.63	-194.6	583.9	-11.2	473	4945	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2362	3617
5255	-0.63	-194.6	618.0	-11.0	503	5259	0.00	1.25	0.00	0.000	4	0.000	0.042	2516	1511	3615
5298	-0.63	-194.6	622.4	-10.7	507	5301	0.10	1.30	0.00	0.000	6	0.140	0.045	2541	2379	3615
5619	-0.63	-194.6	650.8	-8.3	538	5620	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2379	3612
5929	-0.63	-194.6	677.5	-8.6	568	5932	0.00	1.30	0.00	0.000	4	0.000	0.044	2541	1502	3610
5972	-0.63	-194.6	681.3	-8.8	572	5974	0.00	1.30	0.00	0.000	6	0.000	0.047	2538	2370	3610
6293	-0.63	-194.6	710.7	-9.4	603	6297	0.00	1.27	0.00	0.000	4	0.000	0.044	2538	1511	3608
6325	-0.63	-194.6	713.7	-9.9	606	6328	0.00	1.30	0.00	0.000	6	0.000	0.048	2532	2372	3608
6647	-0.63	-194.6	744.1	-9.7	637	6650	0.00	1.30	0.00	0.000	4	0.000	0.044	2532	1500	3606
6679	-0.63	-194.6	747.3	-10.1	640	6682	0.00	1.35	0.00	0.000	6	0.000	0.048	2527	2391	3606
7001	-0.63	-194.6	778.0	-9.6	671	7002	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2391	3604
7311	-0.63	-194.6	806.8	-8.9	701	7313	0.00	1.33	0.00	0.000	4	0.000	0.046	2527	1501	3603
7357	-0.63	-194.6	811.4	-9.2	705	7364	0.00	1.33	0.00	0.000	6	0.000	0.048	2521	2366	3603
7675	-0.63	-194.6	841.6	-9.6	736	7676	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2366	3602
7984	-0.63	-194.6	871.5	-9.5	766	7987	0.00	1.58	0.00	0.000	4	0.000	0.062	2514	3268	3600
8016	-0.63	-194.6	874.4	-9.7	769	8019	0.00	1.45	0.00	0.000	6	0.000	0.038	2515	2389	3599
8338	-0.63	-194.6	905.4	-9.6	800	8341	0.12	1.33	0.00	0.000	4	0.149	0.044	2546	1495	3598
8394	end dive: BOTTOM_OBSTACLE_DETECTED
state	8394	begin apogee
8399	-0.25	0.0	910.5	8.2	805	8556	0.35	0.00	150.77	1.190	6	0.130	0.000	2656	2277	2840
8556	end apogee: CONTROL_FINISHED_OK
state	8556	begin climb
8558	0.63	194.6	915.5	0.0	821	8729	0.90	1.77	165.93	1.158	4	0.107	0.057	2940	3165	2045
8758	0.63	194.6	900.0	11.0	838	8761	0.00	1.60	0.00	0.000	6	0.000	0.036	2947	2296	2040
9079	0.63	194.6	862.8	11.9	869	9083	0.00	1.27	0.00	0.000	4	0.000	0.044	2953	1366	2035
9179	0.63	194.6	851.2	11.2	878	9188	0.00	1.27	0.00	0.000	6	0.000	0.045	2953	2275	2034
9497	0.63	194.6	814.6	11.5	909	9498	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2276	2032
9806	0.63	194.6	778.8	11.7	939	9807	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2276	2031
10117	0.63	194.6	742.0	12.4	969	10120	0.00	1.23	0.00	0.000	4	0.000	0.044	2958	1363	2030
10149	0.63	194.6	738.1	11.9	972	10152	0.00	1.25	0.00	0.000	6	0.000	0.046	2958	2277	2030
10469	0.63	194.6	698.6	12.4	1003	10473	0.00	1.23	0.00	0.000	4	0.000	0.044	2963	1367	2029
10512	0.63	194.6	693.5	12.1	1007	10515	0.00	1.23	0.00	0.000	6	0.000	0.044	2963	2272	2029
10834	0.63	194.6	654.3	12.3	1038	10837	0.00	1.62	0.00	0.000	4	0.000	0.054	2963	3179	2029
10859	0.63	194.6	650.8	12.9	1040	10867	0.00	1.62	0.00	0.000	6	0.000	0.037	2971	2260	2028
11177	0.63	194.6	612.3	11.9	1071	11180	0.00	1.15	0.00	0.000	4	0.000	0.044	2976	1368	2027
11213	0.63	194.6	607.5	12.7	1074	11221	0.00	1.25	0.00	0.000	6	0.000	0.044	2976	2281	2027
11530	0.63	194.6	568.2	11.9	1105	11531	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2280	2028
11840	0.63	194.6	527.7	13.4	1135	11841	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2281	2027
12150	0.63	194.6	488.3	12.1	1165	12153	0.00	1.23	0.00	0.000	4	0.000	0.043	2982	1370	2027
12214	0.63	194.6	480.5	12.1	1171	12217	0.10	1.23	0.00	0.000	6	0.140	0.043	2951	2274	2027
12535	0.63	194.6	447.5	10.4	1202	12538	0.00	1.62	0.00	0.000	4	0.000	0.053	2950	3164	2027
12560	0.63	194.6	444.5	11.6	1204	12568	0.00	1.60	0.00	0.000	6	0.000	0.036	2956	2260	2026
12878	0.63	194.6	410.9	10.6	1235	12881	0.00	1.15	0.00	0.000	4	0.000	0.042	2961	1366	2026
12925	0.63	194.6	405.6	10.8	1239	12932	0.00	1.25	0.00	0.000	6	0.000	0.041	2961	2278	2026
13243	0.63	194.6	369.9	11.4	1270	13244	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2278	2026
13552	0.63	194.6	334.3	11.4	1300	13552	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2278	2026
13862	0.63	194.6	297.5	12.0	1330	13863	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2279	2026
14173	0.63	194.6	261.2	11.4	1360	14174	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2279	2026
14483	0.63	194.6	226.7	11.5	1390	14486	0.00	1.20	0.00	0.000	4	0.000	0.041	2966	1375	2026
14540	0.63	194.6	220.0	11.2	1395	14548	0.00	1.23	0.00	0.000	6	0.000	0.039	2966	2278	2027
14858	0.63	194.6	183.1	11.5	1426	14862	0.00	1.20	0.00	0.000	4	0.000	0.039	2971	1368	2026
14900	0.63	194.6	178.2	10.7	1430	14904	0.00	1.20	0.00	0.000	6	0.000	0.039	2971	2275	2027
15221	0.63	194.6	142.1	10.6	1461	15224	0.00	1.20	0.00	0.000	4	0.000	0.038	2975	1357	2027
15258	0.63	194.6	138.3	10.3	1464	15265	0.00	1.23	0.00	0.000	6	0.000	0.038	2975	2279	2028
15575	0.63	194.6	104.1	11.1	1495	15578	0.00	1.20	0.00	0.000	4	0.000	0.037	2980	1361	2029
15617	0.63	194.6	99.4	10.2	1499	15621	0.08	1.20	0.00	0.000	6	0.133	0.038	2956	2276	2029
15814	0.63	194.6	80.8	8.8	1518	15817	0.00	1.17	0.00	0.000	4	0.000	0.037	2959	1369	2029
15857	0.63	197.0	77.3	7.4	1522	15860	0.00	1.20	0.00	0.000	6	0.000	0.037	2959	2279	2030
16054	0.63	199.5	61.1	7.4	1541	16056	0.00	1.58	0.00	0.000	4	0.000	0.047	2959	3160	2031
16096	0.63	199.5	57.4	8.4	1545	16099	0.00	1.52	0.00	0.000	6	0.000	0.030	2966	2270	2031
16293	0.67	233.3	43.5	6.6	1564	16328	0.00	1.60	28.55	0.537	4	0.000	0.045	2966	3168	1888
16350	0.69	250.4	39.7	7.1	1569	16374	0.00	1.55	14.35	0.506	6	0.000	0.030	2974	2273	1818
16557	0.79	329.8	27.1	5.4	1589	16620	0.00	1.15	59.83	0.525	4	0.000	0.034	2978	1369	1495
16649	0.82	350.9	22.1	6.9	1597	16673	0.00	1.20	17.20	0.492	6	0.000	0.034	2979	2272	1407
16857	0.82	354.9	8.1	7.4	1617	16869	0.00	1.62	3.55	0.304	4	0.000	0.044	2979	3172	1392
16925	end climb: SURFACE_DEPTH_REACHED
state	16925	begin surface coast
16969	end surface coast: CONTROL_FINISHED_OK
state	16969	begin surface