Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 229 * 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 229 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -17644.539 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 -17644.539

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 28 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 35 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 229 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 001306,2842.529,-8844.396,25,1.6,25,-0.2 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 4 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.232,0.127

_SM_DEPTHo 1.64 KALMAN_X -51482.9,-163.3,-312.3,61237.8,4344.0

_SM_ANGLEo -67.2 KALMAN_Y -237700.8,816.0,43.5,263158.2,-12010.5

GPS2 001925,2842.567,-8844.398,9,2.0,14,-0.2 MHEAD_RNG_PITCHd_Wd 71.2,29941,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1131

Post-dive calculations and measurements:

FINISH 0.7,1.023146 _24V_AH 22.8,40.223

SM_CCo 18124,107.07,0.492,0,0,495,575.22 _10V_AH 10.6,55.803

SM_GC 1.60,0.00,0.00,107.07,0.000,0.000,0.492,204,2391,495,-7.95,0.42,575.22 DATA_FILE_SIZE 91382,1742

IRIDIUM_FIX 2833.46,-8843.84,021099,202030 CAP_FILE_SIZE 159676,0

TT8_MAMPS 0.050622 CFSIZE 260165632,234692608

HUMID 1334 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.22887 CURRENT 0.053,161.8,1

TCM_TEMP 23.70 GPS 090710,052500,2842.876,-8841.265,35,1.3,40,-0.2

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 253 114.90 SBE_CT 1191 24 651.83

Roll_motor 67 65 102.12 SBE_O2 1270 19 550.32

VBD_pump_during_apogee 438 1246 12449.64 WL_BBFL2VMT 3915 105 9373.19

VBD_pump_during_surface 107 491 1200.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.09 nil 0 0 0.00

Iridium_during_connect 32 160 117.00 nil 0 0 0.00

Iridium_during_xfer 205 223 1044.80

Transponder_ping 4 420 40.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.84

TT8 0 19 0.00

LPSleep 12256 2 284.52

TT8_Active 636 19 133.61

TT8_Sampling 5115 39 2158.05

TT8_CF8 582 45 282.72

TT8_Kalman 33 81 28.93

Analog_circuits 2067 12 262.93

GPS_charging 0 0 0.00

Compass 4574 8 387.94

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 87 0.00 0.00 -73.18 0.000 2 0.000 0.000 201 2391 2490

89 -0.63 -194.6 3.1 -3.3 7 136 10.45 1.45 -32.92 0.000 4 0.254 0.066 2530 3258 3633

180 -0.63 -194.6 17.4 -27.4 15 183 0.00 1.48 0.00 0.000 6 0.000 0.028 2535 2357 3634

377 -0.63 -194.6 59.2 -15.4 34 378 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2357 3635

563 -0.63 -194.6 85.6 -13.7 52 563 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2357 3636

749 -0.63 -194.6 110.6 -13.5 70 752 0.00 1.50 0.00 0.000 4 0.000 0.044 2530 3250 3637

781 -0.63 -194.6 115.0 -13.7 73 784 0.00 1.42 0.00 0.000 6 0.000 0.028 2534 2352 3637

1103 -0.63 -194.6 156.5 -13.1 104 1104 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2353 3638

1412 -0.63 -194.6 193.7 -11.9 134 1415 0.00 1.20 0.00 0.000 4 0.000 0.035 2535 1484 3638

1454 -0.63 -194.6 198.6 -11.8 138 1458 0.00 1.27 0.00 0.000 6 0.000 0.035 2530 2368 3638

1777 -0.63 -194.6 235.7 -11.3 169 1780 0.00 1.48 0.00 0.000 4 0.000 0.046 2523 3255 3636

1866 -0.63 -194.6 246.8 -12.0 177 1874 0.00 1.42 0.00 0.000 6 0.000 0.028 2523 2361 3636

2184 -0.63 -194.6 284.1 -11.6 208 2185 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2360 3634

2493 -0.63 -194.6 319.8 -11.3 238 2496 0.00 1.52 0.00 0.000 4 0.000 0.049 2516 3257 3633

2519 -0.63 -194.6 323.0 -11.5 240 2527 0.00 1.40 0.00 0.000 6 0.000 0.029 2516 2379 3633

2836 -0.63 -194.6 360.7 -11.8 271 2837 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2378 3632

3146 -0.63 -194.6 397.7 -11.8 301 3147 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2378 3630

3456 -0.63 -194.6 435.4 -12.5 331 3457 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2378 3628

3767 -0.63 -194.6 472.3 -11.6 361 3767 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2378 3625

4077 -0.63 -194.6 508.7 -11.4 391 4080 0.00 1.27 0.00 0.000 4 0.000 0.042 2516 1495 3623

4135 -0.63 -194.6 515.6 -11.1 396 4143 0.08 1.30 0.00 0.000 6 0.147 0.043 2535 2370 3623

4451 -0.63 -194.6 546.1 -9.7 427 4452 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2371 3621

4762 -0.63 -194.6 575.3 -9.1 457 4762 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2371 3619

5072 -0.63 -194.6 603.5 -9.3 487 5072 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2371 3616

5383 -0.63 -194.6 632.4 -9.4 517 5386 0.00 1.27 0.00 0.000 4 0.000 0.044 2536 1510 3615

5440 -0.63 -194.6 638.1 -9.7 522 5447 0.00 1.33 0.00 0.000 6 0.000 0.045 2532 2388 3614

5758 -0.63 -194.6 668.3 -9.7 553 5759 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2389 3612

6067 -0.63 -194.6 698.7 -10.0 583 6070 0.00 1.33 0.00 0.000 4 0.000 0.044 2532 1497 3610

6124 -0.63 -194.6 704.5 -9.9 588 6133 0.00 1.33 0.00 0.000 6 0.000 0.046 2527 2368 3610

6443 -0.63 -194.6 734.9 -9.7 619 6443 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2368 3608

6752 -0.63 -194.6 765.3 -10.0 649 6753 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2368 3606

7062 -0.63 -194.6 795.2 -9.6 679 7063 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2368 3605

7372 -0.63 -194.6 824.5 -9.3 709 7375 0.00 1.30 0.00 0.000 4 0.000 0.045 2527 1499 3603

7426 -0.63 -194.6 829.3 -8.7 714 7429 0.00 1.33 0.00 0.000 6 0.000 0.049 2521 2375 3603

7746 -0.63 -194.6 858.9 -9.3 745 7747 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2375 3602

8057 -0.63 -194.6 888.7 -9.6 775 8058 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2376 3600

8367 -0.63 -194.6 918.3 -9.3 805 8368 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2375 3599

8677 -0.63 -194.6 947.3 -9.1 835 8680 0.00 1.30 0.00 0.000 4 0.000 0.047 2521 1511 3597

8745 -0.63 -194.6 953.8 -9.4 841 8753 0.00 1.35 0.00 0.000 6 0.000 0.049 2516 2386 3597

9063 -0.63 -194.6 983.5 -9.4 872 9066 0.00 1.33 0.00 0.000 4 0.000 0.046 2516 1499 3596

9099 -0.63 -194.6 987.0 -9.0 875 9107 0.12 1.35 0.00 0.000 6 0.150 0.049 2541 2375 3596

9135 end dive: TARGET_DEPTH_EXCEEDED

state 9135 begin apogee

9140 -0.25 0.0 990.2 8.5 879 9298 0.40 0.00 153.18 1.246 6 0.132 0.000 2664 2299 2839

9298 end apogee: CONTROL_FINISHED_OK

state 9298 begin climb

9301 0.63 194.6 994.3 0.0 895 9480 0.88 1.42 168.57 1.215 4 0.102 0.048 2945 1375 2045

9506 0.63 194.6 977.3 11.7 912 9515 0.00 1.33 0.00 0.000 6 0.000 0.043 2945 2271 2042

9824 0.63 194.6 940.0 11.8 943 9827 0.00 1.20 0.00 0.000 4 0.000 0.044 2950 1381 2036

9856 0.63 194.6 936.3 11.4 946 9859 0.00 1.23 0.00 0.000 6 0.000 0.044 2950 2273 2035

10179 0.63 194.6 898.5 12.0 977 10179 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2273 2034

10487 0.63 194.6 861.5 12.5 1007 10490 0.00 1.20 0.00 0.000 4 0.000 0.044 2955 1374 2032

10534 0.63 194.6 855.6 12.7 1011 10541 0.00 1.25 0.00 0.000 6 0.000 0.044 2955 2278 2032

10852 0.63 194.6 816.6 12.3 1042 10853 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2278 2031

11161 0.63 194.6 778.8 11.9 1072 11164 0.00 1.23 0.00 0.000 4 0.000 0.044 2961 1367 2030

11208 0.63 194.6 772.9 12.1 1076 11216 0.00 1.23 0.00 0.000 6 0.000 0.044 2960 2273 2030

11525 0.63 194.6 733.2 12.3 1107 11526 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2273 2030

11835 0.63 194.6 695.3 12.3 1137 11838 0.00 1.20 0.00 0.000 4 0.000 0.044 2966 1372 2030

11871 0.63 194.6 690.5 12.2 1140 11879 0.00 1.25 0.00 0.000 6 0.000 0.044 2966 2281 2030

12188 0.63 194.6 650.6 12.6 1171 12189 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2281 2029

12498 0.63 194.6 612.5 11.9 1201 12501 0.00 1.23 0.00 0.000 4 0.000 0.044 2971 1369 2029

12555 0.63 194.6 605.4 12.5 1206 12563 0.00 1.25 0.00 0.000 6 0.000 0.044 2971 2280 2029

12874 0.63 194.6 565.4 12.5 1237 12875 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 2279 2028

13182 0.63 194.6 526.5 12.3 1267 13185 0.00 1.23 0.00 0.000 4 0.000 0.043 2976 1369 2028

13236 0.63 194.6 520.1 12.0 1272 13239 0.00 1.23 0.00 0.000 6 0.000 0.045 2976 2279 2028

13556 0.63 194.6 479.1 12.8 1303 13557 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2278 2028

13868 0.63 194.6 438.7 13.2 1333 13871 0.00 1.20 0.00 0.000 4 0.000 0.043 2981 1378 2028

13931 0.63 194.6 430.4 12.9 1339 13935 0.08 1.20 0.00 0.000 6 0.144 0.043 2957 2274 2028

14252 0.63 194.6 393.9 11.1 1370 14256 0.00 1.20 0.00 0.000 4 0.000 0.042 2961 1369 2028

14288 0.63 194.6 389.8 11.0 1373 14296 0.00 1.25 0.00 0.000 6 0.000 0.042 2961 2281 2029

14606 0.63 194.6 353.8 11.5 1404 14609 0.00 1.62 0.00 0.000 4 0.000 0.052 2961 3193 2028

14638 0.63 194.6 349.6 12.8 1407 14641 0.00 1.60 0.00 0.000 6 0.000 0.036 2969 2261 2028

14959 0.63 194.6 309.1 12.8 1438 14962 0.00 1.15 0.00 0.000 4 0.000 0.041 2974 1367 2028

15016 0.63 194.6 301.8 11.8 1443 15023 0.00 1.25 0.00 0.000 6 0.000 0.041 2974 2283 2028

15335 0.63 194.6 260.7 13.1 1474 15335 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2283 2028

15643 0.63 194.6 220.7 12.6 1504 15646 0.00 1.23 0.00 0.000 4 0.000 0.039 2980 1364 2029

15685 0.63 194.6 215.4 12.7 1508 15689 0.08 1.20 0.00 0.000 6 0.140 0.041 2956 2274 2029

16007 0.63 194.6 181.1 10.2 1539 16007 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2274 2029

16317 0.63 194.6 149.3 10.1 1569 16320 0.00 1.20 0.00 0.000 4 0.000 0.039 2959 1362 2030

16359 0.63 194.6 144.9 9.0 1573 16362 0.00 1.20 0.00 0.000 6 0.000 0.039 2959 2273 2031

16682 0.63 194.6 111.1 9.9 1604 16683 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2274 2031

16991 0.63 194.6 82.9 8.1 1634 16994 0.00 1.20 0.00 0.000 4 0.000 0.037 2965 1357 2032

17070 0.63 194.6 76.2 8.6 1641 17077 0.00 1.20 0.00 0.000 6 0.000 0.037 2965 2274 2033

17262 0.63 194.6 60.5 7.8 1660 17263 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2275 2033

17449 0.66 223.2 45.3 6.8 1678 17472 0.00 0.00 21.38 0.528 6 0.000 0.000 2965 2274 1930

17657 0.82 349.3 34.1 4.2 1698 17758 0.12 0.00 94.97 0.532 6 0.068 0.000 3025 2275 1414

17944 0.82 349.3 13.3 7.7 1726 17947 0.00 1.20 0.00 0.000 4 0.000 0.035 3031 1359 1407

18029 0.82 349.3 6.9 8.5 1734 18032 0.00 1.20 0.00 0.000 6 0.000 0.035 3030 2271 1407

18079 end climb: SURFACE_DEPTH_REACHED

state 18079 begin surface coast

18110 end surface coast: CONTROL_FINISHED_OK

state 18110 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	229	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-17644.539	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	001306,2842.529,-8844.396,25,1.6,25,-0.2	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	4	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.232,0.127
_SM_DEPTHo	1.64	KALMAN_X	-51482.9,-163.3,-312.3,61237.8,4344.0
_SM_ANGLEo	-67.2	KALMAN_Y	-237700.8,816.0,43.5,263158.2,-12010.5
GPS2	001925,2842.567,-8844.398,9,2.0,14,-0.2	MHEAD_RNG_PITCHd_Wd	71.2,29941,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1131

FINISH	0.7,1.023146	_24V_AH	22.8,40.223
SM_CCo	18124,107.07,0.492,0,0,495,575.22	_10V_AH	10.6,55.803
SM_GC	1.60,0.00,0.00,107.07,0.000,0.000,0.492,204,2391,495,-7.95,0.42,575.22	DATA_FILE_SIZE	91382,1742
IRIDIUM_FIX	2833.46,-8843.84,021099,202030	CAP_FILE_SIZE	159676,0
TT8_MAMPS	0.050622	CFSIZE	260165632,234692608
HUMID	1334	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.22887	CURRENT	0.053,161.8,1
TCM_TEMP	23.70	GPS	090710,052500,2842.876,-8841.265,35,1.3,40,-0.2
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	253	114.90	SBE_CT	1191	24	651.83
Roll_motor	67	65	102.12	SBE_O2	1270	19	550.32
VBD_pump_during_apogee	438	1246	12449.64	WL_BBFL2VMT	3915	105	9373.19
VBD_pump_during_surface	107	491	1200.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.09	nil	0	0	0.00
Iridium_during_connect	32	160	117.00	nil	0	0	0.00
Iridium_during_xfer	205	223	1044.80
Transponder_ping	4	420	40.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.84
TT8	0	19	0.00
LPSleep	12256	2	284.52
TT8_Active	636	19	133.61
TT8_Sampling	5115	39	2158.05
TT8_CF8	582	45	282.72
TT8_Kalman	33	81	28.93
Analog_circuits	2067	12	262.93
GPS_charging	0	0	0.00
Compass	4574	8	387.94
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	87	0.00	0.00	-73.18	0.000	2	0.000	0.000	201	2391	2490
89	-0.63	-194.6	3.1	-3.3	7	136	10.45	1.45	-32.92	0.000	4	0.254	0.066	2530	3258	3633
180	-0.63	-194.6	17.4	-27.4	15	183	0.00	1.48	0.00	0.000	6	0.000	0.028	2535	2357	3634
377	-0.63	-194.6	59.2	-15.4	34	378	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2357	3635
563	-0.63	-194.6	85.6	-13.7	52	563	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2357	3636
749	-0.63	-194.6	110.6	-13.5	70	752	0.00	1.50	0.00	0.000	4	0.000	0.044	2530	3250	3637
781	-0.63	-194.6	115.0	-13.7	73	784	0.00	1.42	0.00	0.000	6	0.000	0.028	2534	2352	3637
1103	-0.63	-194.6	156.5	-13.1	104	1104	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2353	3638
1412	-0.63	-194.6	193.7	-11.9	134	1415	0.00	1.20	0.00	0.000	4	0.000	0.035	2535	1484	3638
1454	-0.63	-194.6	198.6	-11.8	138	1458	0.00	1.27	0.00	0.000	6	0.000	0.035	2530	2368	3638
1777	-0.63	-194.6	235.7	-11.3	169	1780	0.00	1.48	0.00	0.000	4	0.000	0.046	2523	3255	3636
1866	-0.63	-194.6	246.8	-12.0	177	1874	0.00	1.42	0.00	0.000	6	0.000	0.028	2523	2361	3636
2184	-0.63	-194.6	284.1	-11.6	208	2185	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2360	3634
2493	-0.63	-194.6	319.8	-11.3	238	2496	0.00	1.52	0.00	0.000	4	0.000	0.049	2516	3257	3633
2519	-0.63	-194.6	323.0	-11.5	240	2527	0.00	1.40	0.00	0.000	6	0.000	0.029	2516	2379	3633
2836	-0.63	-194.6	360.7	-11.8	271	2837	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2378	3632
3146	-0.63	-194.6	397.7	-11.8	301	3147	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2378	3630
3456	-0.63	-194.6	435.4	-12.5	331	3457	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2378	3628
3767	-0.63	-194.6	472.3	-11.6	361	3767	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2378	3625
4077	-0.63	-194.6	508.7	-11.4	391	4080	0.00	1.27	0.00	0.000	4	0.000	0.042	2516	1495	3623
4135	-0.63	-194.6	515.6	-11.1	396	4143	0.08	1.30	0.00	0.000	6	0.147	0.043	2535	2370	3623
4451	-0.63	-194.6	546.1	-9.7	427	4452	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2371	3621
4762	-0.63	-194.6	575.3	-9.1	457	4762	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2371	3619
5072	-0.63	-194.6	603.5	-9.3	487	5072	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2371	3616
5383	-0.63	-194.6	632.4	-9.4	517	5386	0.00	1.27	0.00	0.000	4	0.000	0.044	2536	1510	3615
5440	-0.63	-194.6	638.1	-9.7	522	5447	0.00	1.33	0.00	0.000	6	0.000	0.045	2532	2388	3614
5758	-0.63	-194.6	668.3	-9.7	553	5759	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2389	3612
6067	-0.63	-194.6	698.7	-10.0	583	6070	0.00	1.33	0.00	0.000	4	0.000	0.044	2532	1497	3610
6124	-0.63	-194.6	704.5	-9.9	588	6133	0.00	1.33	0.00	0.000	6	0.000	0.046	2527	2368	3610
6443	-0.63	-194.6	734.9	-9.7	619	6443	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2368	3608
6752	-0.63	-194.6	765.3	-10.0	649	6753	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2368	3606
7062	-0.63	-194.6	795.2	-9.6	679	7063	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2368	3605
7372	-0.63	-194.6	824.5	-9.3	709	7375	0.00	1.30	0.00	0.000	4	0.000	0.045	2527	1499	3603
7426	-0.63	-194.6	829.3	-8.7	714	7429	0.00	1.33	0.00	0.000	6	0.000	0.049	2521	2375	3603
7746	-0.63	-194.6	858.9	-9.3	745	7747	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2375	3602
8057	-0.63	-194.6	888.7	-9.6	775	8058	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2376	3600
8367	-0.63	-194.6	918.3	-9.3	805	8368	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2375	3599
8677	-0.63	-194.6	947.3	-9.1	835	8680	0.00	1.30	0.00	0.000	4	0.000	0.047	2521	1511	3597
8745	-0.63	-194.6	953.8	-9.4	841	8753	0.00	1.35	0.00	0.000	6	0.000	0.049	2516	2386	3597
9063	-0.63	-194.6	983.5	-9.4	872	9066	0.00	1.33	0.00	0.000	4	0.000	0.046	2516	1499	3596
9099	-0.63	-194.6	987.0	-9.0	875	9107	0.12	1.35	0.00	0.000	6	0.150	0.049	2541	2375	3596
9135	end dive: TARGET_DEPTH_EXCEEDED
state	9135	begin apogee
9140	-0.25	0.0	990.2	8.5	879	9298	0.40	0.00	153.18	1.246	6	0.132	0.000	2664	2299	2839
9298	end apogee: CONTROL_FINISHED_OK
state	9298	begin climb
9301	0.63	194.6	994.3	0.0	895	9480	0.88	1.42	168.57	1.215	4	0.102	0.048	2945	1375	2045
9506	0.63	194.6	977.3	11.7	912	9515	0.00	1.33	0.00	0.000	6	0.000	0.043	2945	2271	2042
9824	0.63	194.6	940.0	11.8	943	9827	0.00	1.20	0.00	0.000	4	0.000	0.044	2950	1381	2036
9856	0.63	194.6	936.3	11.4	946	9859	0.00	1.23	0.00	0.000	6	0.000	0.044	2950	2273	2035
10179	0.63	194.6	898.5	12.0	977	10179	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2273	2034
10487	0.63	194.6	861.5	12.5	1007	10490	0.00	1.20	0.00	0.000	4	0.000	0.044	2955	1374	2032
10534	0.63	194.6	855.6	12.7	1011	10541	0.00	1.25	0.00	0.000	6	0.000	0.044	2955	2278	2032
10852	0.63	194.6	816.6	12.3	1042	10853	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2278	2031
11161	0.63	194.6	778.8	11.9	1072	11164	0.00	1.23	0.00	0.000	4	0.000	0.044	2961	1367	2030
11208	0.63	194.6	772.9	12.1	1076	11216	0.00	1.23	0.00	0.000	6	0.000	0.044	2960	2273	2030
11525	0.63	194.6	733.2	12.3	1107	11526	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2273	2030
11835	0.63	194.6	695.3	12.3	1137	11838	0.00	1.20	0.00	0.000	4	0.000	0.044	2966	1372	2030
11871	0.63	194.6	690.5	12.2	1140	11879	0.00	1.25	0.00	0.000	6	0.000	0.044	2966	2281	2030
12188	0.63	194.6	650.6	12.6	1171	12189	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2281	2029
12498	0.63	194.6	612.5	11.9	1201	12501	0.00	1.23	0.00	0.000	4	0.000	0.044	2971	1369	2029
12555	0.63	194.6	605.4	12.5	1206	12563	0.00	1.25	0.00	0.000	6	0.000	0.044	2971	2280	2029
12874	0.63	194.6	565.4	12.5	1237	12875	0.00	0.00	0.00	0.000	6	0.000	0.000	2971	2279	2028
13182	0.63	194.6	526.5	12.3	1267	13185	0.00	1.23	0.00	0.000	4	0.000	0.043	2976	1369	2028
13236	0.63	194.6	520.1	12.0	1272	13239	0.00	1.23	0.00	0.000	6	0.000	0.045	2976	2279	2028
13556	0.63	194.6	479.1	12.8	1303	13557	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2278	2028
13868	0.63	194.6	438.7	13.2	1333	13871	0.00	1.20	0.00	0.000	4	0.000	0.043	2981	1378	2028
13931	0.63	194.6	430.4	12.9	1339	13935	0.08	1.20	0.00	0.000	6	0.144	0.043	2957	2274	2028
14252	0.63	194.6	393.9	11.1	1370	14256	0.00	1.20	0.00	0.000	4	0.000	0.042	2961	1369	2028
14288	0.63	194.6	389.8	11.0	1373	14296	0.00	1.25	0.00	0.000	6	0.000	0.042	2961	2281	2029
14606	0.63	194.6	353.8	11.5	1404	14609	0.00	1.62	0.00	0.000	4	0.000	0.052	2961	3193	2028
14638	0.63	194.6	349.6	12.8	1407	14641	0.00	1.60	0.00	0.000	6	0.000	0.036	2969	2261	2028
14959	0.63	194.6	309.1	12.8	1438	14962	0.00	1.15	0.00	0.000	4	0.000	0.041	2974	1367	2028
15016	0.63	194.6	301.8	11.8	1443	15023	0.00	1.25	0.00	0.000	6	0.000	0.041	2974	2283	2028
15335	0.63	194.6	260.7	13.1	1474	15335	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2283	2028
15643	0.63	194.6	220.7	12.6	1504	15646	0.00	1.23	0.00	0.000	4	0.000	0.039	2980	1364	2029
15685	0.63	194.6	215.4	12.7	1508	15689	0.08	1.20	0.00	0.000	6	0.140	0.041	2956	2274	2029
16007	0.63	194.6	181.1	10.2	1539	16007	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2274	2029
16317	0.63	194.6	149.3	10.1	1569	16320	0.00	1.20	0.00	0.000	4	0.000	0.039	2959	1362	2030
16359	0.63	194.6	144.9	9.0	1573	16362	0.00	1.20	0.00	0.000	6	0.000	0.039	2959	2273	2031
16682	0.63	194.6	111.1	9.9	1604	16683	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2274	2031
16991	0.63	194.6	82.9	8.1	1634	16994	0.00	1.20	0.00	0.000	4	0.000	0.037	2965	1357	2032
17070	0.63	194.6	76.2	8.6	1641	17077	0.00	1.20	0.00	0.000	6	0.000	0.037	2965	2274	2033
17262	0.63	194.6	60.5	7.8	1660	17263	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2275	2033
17449	0.66	223.2	45.3	6.8	1678	17472	0.00	0.00	21.38	0.528	6	0.000	0.000	2965	2274	1930
17657	0.82	349.3	34.1	4.2	1698	17758	0.12	0.00	94.97	0.532	6	0.068	0.000	3025	2275	1414
17944	0.82	349.3	13.3	7.7	1726	17947	0.00	1.20	0.00	0.000	4	0.000	0.035	3031	1359	1407
18029	0.82	349.3	6.9	8.5	1734	18032	0.00	1.20	0.00	0.000	6	0.000	0.035	3030	2271	1407
18079	end climb: SURFACE_DEPTH_REACHED
state	18079	begin surface coast
18110	end surface coast: CONTROL_FINISHED_OK
state	18110	begin surface