Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 230 * 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 230 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 26 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 -17658.305 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 -17658.305

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 26 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 230 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 052500,2842.876,-8841.265,35,1.3,40,-0.2 TGT_NAME NEW0528A

_CALLS 2 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.216,0.153

_SM_DEPTHo 1.69 KALMAN_X -52429.4,-523.6,-563.9,67933.3,2834.5

_SM_ANGLEo -69.4 KALMAN_Y -241405.9,1221.6,1454.6,265536.0,-14167.6

GPS2 053556,2842.845,-8841.251,11,1.9,11,-0.2 MHEAD_RNG_PITCHd_Wd 75.9,24808,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1039

Post-dive calculations and measurements:

FINISH 0.8,1.009914 ALTIM_BOTTOM_PING 890.2,91.0

SM_CCo 18098,78.07,0.489,0,0,494,575.22 _24V_AH 22.9,40.393

SM_GC 1.45,0.00,0.00,78.07,0.000,0.000,0.489,202,2391,494,-7.96,0.45,575.22 _10V_AH 10.6,56.027

IRIDIUM_FIX 2833.46,-8843.84,031099,050551 DATA_FILE_SIZE 91433,1739

TT8_MAMPS 0.052156 CAP_FILE_SIZE 161288,0

HUMID 1362 CFSIZE 260165632,234602496

INTERNAL_PRESSURE 9.2191 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 22.90 CURRENT 0.045,147.0,1

XPDR_PINGS 0 GPS 090710,104036,2843.144,-8838.032,38,1.1,43,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 256 117.33 SBE_CT 1189 24 653.60

Roll_motor 64 60 89.88 SBE_O2 1268 19 551.95

VBD_pump_during_apogee 488 1230 13750.60 WL_BBFL2VMT 3908 105 9398.14

VBD_pump_during_surface 78 488 873.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 57 103 135.46 nil 0 0 0.00

Iridium_during_connect 89 160 327.81 nil 0 0 0.00

Iridium_during_xfer 315 223 1610.09

Transponder_ping 2 420 19.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.96

TT8 0 19 0.00

LPSleep 12313 2 285.85

TT8_Active 624 19 131.14

TT8_Sampling 5078 39 2142.34

TT8_CF8 786 45 382.07

TT8_Kalman 33 81 28.91

Analog_circuits 2049 12 260.66

GPS_charging 0 0 0.00

Compass 4553 8 386.10

RAFOS 0 0 0.00

Transponder 20 30 6.56

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 89 0.00 0.00 -75.07 0.000 2 0.000 0.000 203 2393 2547

91 -0.63 -194.6 3.1 -3.1 7 136 10.62 0.00 -31.25 0.000 6 0.256 0.000 2539 2394 3635

318 -0.63 -194.6 49.5 -18.9 29 321 0.00 1.33 0.00 0.000 4 0.000 0.033 2545 1463 3636

397 -0.63 -194.6 61.2 -13.2 36 404 0.00 1.30 0.00 0.000 6 0.000 0.035 2542 2361 3637

589 -0.63 -194.6 88.5 -14.0 55 592 0.00 1.27 0.00 0.000 4 0.000 0.034 2541 1457 3637

625 -0.63 -194.6 93.4 -12.6 58 634 0.00 1.35 0.00 0.000 6 0.000 0.034 2536 2389 3638

818 -0.63 -194.6 119.0 -13.6 77 819 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2389 3638

1128 -0.63 -194.6 157.7 -11.2 107 1131 0.00 1.30 0.00 0.000 4 0.000 0.034 2536 1466 3638

1164 -0.63 -194.6 162.0 -12.0 110 1173 0.00 1.27 0.00 0.000 6 0.000 0.035 2530 2362 3638

1481 -0.63 -194.6 199.1 -11.7 141 1482 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2362 3638

1792 -0.63 -194.6 235.9 -12.5 171 1794 0.00 1.50 0.00 0.000 4 0.000 0.046 2522 3260 3636

1827 -0.63 -194.6 240.6 -11.3 174 1836 0.00 1.48 0.00 0.000 6 0.000 0.028 2522 2348 3636

2145 -0.63 -194.6 278.3 -12.0 205 2146 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2349 3634

2455 -0.63 -194.6 314.2 -11.3 235 2458 0.00 1.20 0.00 0.000 4 0.000 0.037 2522 1484 3633

2490 -0.63 -194.6 318.5 -11.4 238 2499 0.00 1.33 0.00 0.000 6 0.000 0.038 2516 2387 3633

2809 -0.63 -194.6 354.6 -11.5 269 2812 0.00 1.30 0.00 0.000 4 0.000 0.038 2516 1485 3630

2851 -0.63 -194.6 359.8 -11.4 273 2854 0.08 1.27 0.00 0.000 6 0.144 0.040 2536 2360 3630

3172 -0.63 -194.6 391.8 -9.9 304 3175 0.00 1.52 0.00 0.000 4 0.000 0.051 2531 3261 3628

3225 -0.63 -194.6 397.0 -9.9 309 3228 0.00 1.42 0.00 0.000 6 0.000 0.031 2530 2368 3628

3547 -0.63 -194.6 430.1 -10.5 340 3548 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2368 3625

3857 -0.63 -194.6 463.5 -10.7 370 3858 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2368 3623

4167 -0.63 -194.6 497.2 -10.6 400 4170 0.00 1.25 0.00 0.000 4 0.000 0.041 2531 1500 3621

4209 -0.63 -194.6 501.6 -10.2 404 4213 0.00 1.30 0.00 0.000 6 0.000 0.043 2525 2383 3620

4532 -0.63 -194.6 535.4 -10.1 435 4533 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2384 3618

4840 -0.63 -194.6 567.1 -10.1 465 4841 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2384 3616

5152 -0.63 -194.6 598.7 -10.4 495 5155 0.00 1.30 0.00 0.000 4 0.000 0.043 2525 1502 3614

5194 -0.63 -194.6 603.3 -10.5 499 5197 0.00 1.27 0.00 0.000 6 0.000 0.045 2519 2359 3614

5516 -0.63 -194.6 638.1 -11.0 530 5520 0.00 1.25 0.00 0.000 4 0.000 0.042 2519 1509 3611

5552 -0.63 -194.6 642.4 -11.6 533 5560 0.12 1.33 0.00 0.000 6 0.146 0.044 2545 2388 3611

5869 -0.63 -194.6 671.0 -8.7 564 5870 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2388 3609

6179 -0.63 -194.6 698.7 -8.9 594 6182 0.00 1.30 0.00 0.000 4 0.000 0.044 2545 1509 3607

6221 -0.63 -194.6 702.5 -9.3 598 6225 0.00 1.27 0.00 0.000 6 0.000 0.045 2542 2361 3607

6544 -0.63 -194.6 730.5 -8.8 629 6545 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2362 3605

6853 -0.63 -194.6 756.2 -8.4 659 6854 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2362 3603

7164 -0.63 -194.6 781.5 -8.1 689 7164 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2362 3602

7474 -0.63 -194.6 808.1 -8.5 719 7475 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2362 3600

7784 -0.63 -194.6 835.0 -8.6 749 7787 0.00 1.27 0.00 0.000 4 0.000 0.045 2542 1506 3599

7837 -0.63 -194.6 839.7 -9.0 754 7841 0.00 1.33 0.00 0.000 6 0.000 0.048 2537 2385 3598

8158 -0.63 -194.6 867.9 -8.9 785 8159 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2385 3597

8468 -0.63 -194.6 894.8 -8.7 815 8469 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2385 3596

8780 -0.63 -194.6 921.9 -8.7 845 8780 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2385 3594

9089 -0.63 -194.6 948.3 -8.2 875 9092 0.00 1.33 0.00 0.000 4 0.000 0.047 2537 1499 3593

9153 -0.63 -194.6 953.8 -9.0 881 9156 0.00 1.33 0.00 0.000 6 0.000 0.049 2531 2369 3593

9234 end dive: BOTTOM_OBSTACLE_DETECTED

state 9234 begin apogee

9239 -0.25 0.0 961.2 9.3 889 9398 0.45 0.00 151.43 1.230 6 0.133 0.000 2665 2297 2839

9398 end apogee: CONTROL_FINISHED_OK

state 9398 begin climb

9400 0.63 194.6 965.8 0.0 905 9572 0.88 0.00 168.20 1.195 6 0.099 0.000 2944 2296 2046

9880 0.63 194.6 917.0 11.7 950 9883 0.00 1.30 0.00 0.000 4 0.000 0.047 2950 1365 2036

9937 0.63 194.6 910.4 11.1 955 9945 0.00 1.27 0.00 0.000 6 0.000 0.044 2950 2276 2035

10256 0.63 194.6 874.1 11.5 986 10256 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2276 2033

10565 0.63 194.6 837.6 11.3 1016 10566 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2276 2032

10875 0.63 194.6 800.2 12.2 1046 10876 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2276 2031

11185 0.63 194.6 763.9 11.7 1076 11186 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2276 2030

11496 0.63 194.6 728.5 11.3 1106 11499 0.00 1.23 0.00 0.000 4 0.000 0.044 2955 1364 2030

11539 0.63 194.6 723.8 11.4 1110 11542 0.00 1.25 0.00 0.000 6 0.000 0.045 2955 2281 2030

11859 0.63 194.6 687.8 11.4 1141 11860 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2281 2029

12170 0.63 194.6 651.7 11.8 1171 12171 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2281 2029

12481 0.63 194.6 615.4 11.4 1201 12483 0.00 1.23 0.00 0.000 4 0.000 0.044 2961 1369 2028

12523 0.63 194.6 610.4 11.9 1205 12526 0.00 1.23 0.00 0.000 6 0.000 0.044 2961 2274 2029

12844 0.63 194.6 572.4 12.0 1236 12845 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2274 2029

13154 0.63 194.6 535.3 11.8 1266 13155 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2274 2028

13464 0.63 194.6 499.2 11.2 1296 13465 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2274 2028

13776 0.63 194.6 463.8 11.4 1326 13779 0.00 1.20 0.00 0.000 4 0.000 0.043 2966 1376 2028

13807 0.63 194.6 460.0 10.2 1329 13810 0.00 1.23 0.00 0.000 6 0.000 0.043 2965 2280 2028

14128 0.63 194.6 422.1 12.1 1360 14129 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2280 2028

14439 0.63 194.6 384.6 12.3 1390 14439 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2280 2028

14749 0.63 194.6 346.9 12.5 1420 14750 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2280 2028

15060 0.63 194.6 309.4 11.6 1450 15061 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2280 2028

15370 0.63 194.6 272.7 11.8 1480 15373 0.00 1.23 0.00 0.000 4 0.000 0.041 2971 1362 2028

15434 0.63 194.6 265.1 11.2 1486 15437 0.00 1.23 0.00 0.000 6 0.000 0.041 2971 2279 2028

15755 0.63 194.6 225.6 12.4 1517 15758 0.00 1.62 0.00 0.000 4 0.000 0.051 2971 3173 2029

15780 0.63 194.6 222.4 12.7 1519 15788 0.08 1.60 0.00 0.000 6 0.143 0.033 2955 2262 2029

16097 0.63 194.6 189.0 10.7 1550 16098 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2262 2029

16407 0.63 194.6 155.6 10.9 1580 16410 0.00 1.62 0.00 0.000 4 0.000 0.049 2955 3167 2030

16432 0.63 194.6 152.8 12.6 1582 16441 0.00 1.58 0.00 0.000 6 0.000 0.032 2961 2270 2030

16751 0.63 194.6 118.5 11.0 1613 16751 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2271 2031

17060 0.63 194.6 85.8 10.6 1643 17062 0.00 1.62 0.00 0.000 4 0.000 0.048 2961 3164 2032

17095 0.63 194.6 81.9 11.7 1646 17104 0.00 1.55 0.00 0.000 6 0.000 0.031 2968 2274 2032

17288 0.63 194.6 63.3 9.0 1665 17292 0.00 1.15 0.00 0.000 4 0.000 0.037 2974 1373 2032

17335 0.63 194.6 59.1 9.6 1669 17342 0.00 1.23 0.00 0.000 6 0.000 0.036 2973 2284 2033

17528 0.70 252.5 44.1 6.0 1688 17574 0.00 1.62 43.33 0.540 4 0.000 0.046 2973 3175 1810

17595 0.73 280.4 39.8 6.8 1694 17621 0.00 1.55 22.45 0.517 6 0.000 0.030 2981 2279 1696

17806 0.90 418.5 27.3 3.9 1714 17915 0.15 1.25 102.68 0.521 4 0.058 0.035 3063 1358 1132

18053 0.90 418.5 3.8 11.1 1736 18056 0.00 1.23 0.00 0.000 6 0.000 0.034 3063 2276 1126

18062 end climb: SURFACE_DEPTH_REACHED

state 18062 begin surface coast

18083 end surface coast: CONTROL_FINISHED_OK

state 18083 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	230	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	26	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	-17658.305	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	052500,2842.876,-8841.265,35,1.3,40,-0.2	TGT_NAME	NEW0528A
_CALLS	2	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.216,0.153
_SM_DEPTHo	1.69	KALMAN_X	-52429.4,-523.6,-563.9,67933.3,2834.5
_SM_ANGLEo	-69.4	KALMAN_Y	-241405.9,1221.6,1454.6,265536.0,-14167.6
GPS2	053556,2842.845,-8841.251,11,1.9,11,-0.2	MHEAD_RNG_PITCHd_Wd	75.9,24808,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1039

FINISH	0.8,1.009914	ALTIM_BOTTOM_PING	890.2,91.0
SM_CCo	18098,78.07,0.489,0,0,494,575.22	_24V_AH	22.9,40.393
SM_GC	1.45,0.00,0.00,78.07,0.000,0.000,0.489,202,2391,494,-7.96,0.45,575.22	_10V_AH	10.6,56.027
IRIDIUM_FIX	2833.46,-8843.84,031099,050551	DATA_FILE_SIZE	91433,1739
TT8_MAMPS	0.052156	CAP_FILE_SIZE	161288,0
HUMID	1362	CFSIZE	260165632,234602496
INTERNAL_PRESSURE	9.2191	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	22.90	CURRENT	0.045,147.0,1
XPDR_PINGS	0	GPS	090710,104036,2843.144,-8838.032,38,1.1,43,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	256	117.33	SBE_CT	1189	24	653.60
Roll_motor	64	60	89.88	SBE_O2	1268	19	551.95
VBD_pump_during_apogee	488	1230	13750.60	WL_BBFL2VMT	3908	105	9398.14
VBD_pump_during_surface	78	488	873.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	57	103	135.46	nil	0	0	0.00
Iridium_during_connect	89	160	327.81	nil	0	0	0.00
Iridium_during_xfer	315	223	1610.09
Transponder_ping	2	420	19.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.96
TT8	0	19	0.00
LPSleep	12313	2	285.85
TT8_Active	624	19	131.14
TT8_Sampling	5078	39	2142.34
TT8_CF8	786	45	382.07
TT8_Kalman	33	81	28.91
Analog_circuits	2049	12	260.66
GPS_charging	0	0	0.00
Compass	4553	8	386.10
RAFOS	0	0	0.00
Transponder	20	30	6.56

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	89	0.00	0.00	-75.07	0.000	2	0.000	0.000	203	2393	2547
91	-0.63	-194.6	3.1	-3.1	7	136	10.62	0.00	-31.25	0.000	6	0.256	0.000	2539	2394	3635
318	-0.63	-194.6	49.5	-18.9	29	321	0.00	1.33	0.00	0.000	4	0.000	0.033	2545	1463	3636
397	-0.63	-194.6	61.2	-13.2	36	404	0.00	1.30	0.00	0.000	6	0.000	0.035	2542	2361	3637
589	-0.63	-194.6	88.5	-14.0	55	592	0.00	1.27	0.00	0.000	4	0.000	0.034	2541	1457	3637
625	-0.63	-194.6	93.4	-12.6	58	634	0.00	1.35	0.00	0.000	6	0.000	0.034	2536	2389	3638
818	-0.63	-194.6	119.0	-13.6	77	819	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2389	3638
1128	-0.63	-194.6	157.7	-11.2	107	1131	0.00	1.30	0.00	0.000	4	0.000	0.034	2536	1466	3638
1164	-0.63	-194.6	162.0	-12.0	110	1173	0.00	1.27	0.00	0.000	6	0.000	0.035	2530	2362	3638
1481	-0.63	-194.6	199.1	-11.7	141	1482	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2362	3638
1792	-0.63	-194.6	235.9	-12.5	171	1794	0.00	1.50	0.00	0.000	4	0.000	0.046	2522	3260	3636
1827	-0.63	-194.6	240.6	-11.3	174	1836	0.00	1.48	0.00	0.000	6	0.000	0.028	2522	2348	3636
2145	-0.63	-194.6	278.3	-12.0	205	2146	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2349	3634
2455	-0.63	-194.6	314.2	-11.3	235	2458	0.00	1.20	0.00	0.000	4	0.000	0.037	2522	1484	3633
2490	-0.63	-194.6	318.5	-11.4	238	2499	0.00	1.33	0.00	0.000	6	0.000	0.038	2516	2387	3633
2809	-0.63	-194.6	354.6	-11.5	269	2812	0.00	1.30	0.00	0.000	4	0.000	0.038	2516	1485	3630
2851	-0.63	-194.6	359.8	-11.4	273	2854	0.08	1.27	0.00	0.000	6	0.144	0.040	2536	2360	3630
3172	-0.63	-194.6	391.8	-9.9	304	3175	0.00	1.52	0.00	0.000	4	0.000	0.051	2531	3261	3628
3225	-0.63	-194.6	397.0	-9.9	309	3228	0.00	1.42	0.00	0.000	6	0.000	0.031	2530	2368	3628
3547	-0.63	-194.6	430.1	-10.5	340	3548	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2368	3625
3857	-0.63	-194.6	463.5	-10.7	370	3858	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2368	3623
4167	-0.63	-194.6	497.2	-10.6	400	4170	0.00	1.25	0.00	0.000	4	0.000	0.041	2531	1500	3621
4209	-0.63	-194.6	501.6	-10.2	404	4213	0.00	1.30	0.00	0.000	6	0.000	0.043	2525	2383	3620
4532	-0.63	-194.6	535.4	-10.1	435	4533	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2384	3618
4840	-0.63	-194.6	567.1	-10.1	465	4841	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2384	3616
5152	-0.63	-194.6	598.7	-10.4	495	5155	0.00	1.30	0.00	0.000	4	0.000	0.043	2525	1502	3614
5194	-0.63	-194.6	603.3	-10.5	499	5197	0.00	1.27	0.00	0.000	6	0.000	0.045	2519	2359	3614
5516	-0.63	-194.6	638.1	-11.0	530	5520	0.00	1.25	0.00	0.000	4	0.000	0.042	2519	1509	3611
5552	-0.63	-194.6	642.4	-11.6	533	5560	0.12	1.33	0.00	0.000	6	0.146	0.044	2545	2388	3611
5869	-0.63	-194.6	671.0	-8.7	564	5870	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2388	3609
6179	-0.63	-194.6	698.7	-8.9	594	6182	0.00	1.30	0.00	0.000	4	0.000	0.044	2545	1509	3607
6221	-0.63	-194.6	702.5	-9.3	598	6225	0.00	1.27	0.00	0.000	6	0.000	0.045	2542	2361	3607
6544	-0.63	-194.6	730.5	-8.8	629	6545	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2362	3605
6853	-0.63	-194.6	756.2	-8.4	659	6854	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2362	3603
7164	-0.63	-194.6	781.5	-8.1	689	7164	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2362	3602
7474	-0.63	-194.6	808.1	-8.5	719	7475	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2362	3600
7784	-0.63	-194.6	835.0	-8.6	749	7787	0.00	1.27	0.00	0.000	4	0.000	0.045	2542	1506	3599
7837	-0.63	-194.6	839.7	-9.0	754	7841	0.00	1.33	0.00	0.000	6	0.000	0.048	2537	2385	3598
8158	-0.63	-194.6	867.9	-8.9	785	8159	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2385	3597
8468	-0.63	-194.6	894.8	-8.7	815	8469	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2385	3596
8780	-0.63	-194.6	921.9	-8.7	845	8780	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2385	3594
9089	-0.63	-194.6	948.3	-8.2	875	9092	0.00	1.33	0.00	0.000	4	0.000	0.047	2537	1499	3593
9153	-0.63	-194.6	953.8	-9.0	881	9156	0.00	1.33	0.00	0.000	6	0.000	0.049	2531	2369	3593
9234	end dive: BOTTOM_OBSTACLE_DETECTED
state	9234	begin apogee
9239	-0.25	0.0	961.2	9.3	889	9398	0.45	0.00	151.43	1.230	6	0.133	0.000	2665	2297	2839
9398	end apogee: CONTROL_FINISHED_OK
state	9398	begin climb
9400	0.63	194.6	965.8	0.0	905	9572	0.88	0.00	168.20	1.195	6	0.099	0.000	2944	2296	2046
9880	0.63	194.6	917.0	11.7	950	9883	0.00	1.30	0.00	0.000	4	0.000	0.047	2950	1365	2036
9937	0.63	194.6	910.4	11.1	955	9945	0.00	1.27	0.00	0.000	6	0.000	0.044	2950	2276	2035
10256	0.63	194.6	874.1	11.5	986	10256	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2276	2033
10565	0.63	194.6	837.6	11.3	1016	10566	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2276	2032
10875	0.63	194.6	800.2	12.2	1046	10876	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2276	2031
11185	0.63	194.6	763.9	11.7	1076	11186	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2276	2030
11496	0.63	194.6	728.5	11.3	1106	11499	0.00	1.23	0.00	0.000	4	0.000	0.044	2955	1364	2030
11539	0.63	194.6	723.8	11.4	1110	11542	0.00	1.25	0.00	0.000	6	0.000	0.045	2955	2281	2030
11859	0.63	194.6	687.8	11.4	1141	11860	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2281	2029
12170	0.63	194.6	651.7	11.8	1171	12171	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2281	2029
12481	0.63	194.6	615.4	11.4	1201	12483	0.00	1.23	0.00	0.000	4	0.000	0.044	2961	1369	2028
12523	0.63	194.6	610.4	11.9	1205	12526	0.00	1.23	0.00	0.000	6	0.000	0.044	2961	2274	2029
12844	0.63	194.6	572.4	12.0	1236	12845	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2274	2029
13154	0.63	194.6	535.3	11.8	1266	13155	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2274	2028
13464	0.63	194.6	499.2	11.2	1296	13465	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2274	2028
13776	0.63	194.6	463.8	11.4	1326	13779	0.00	1.20	0.00	0.000	4	0.000	0.043	2966	1376	2028
13807	0.63	194.6	460.0	10.2	1329	13810	0.00	1.23	0.00	0.000	6	0.000	0.043	2965	2280	2028
14128	0.63	194.6	422.1	12.1	1360	14129	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2280	2028
14439	0.63	194.6	384.6	12.3	1390	14439	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2280	2028
14749	0.63	194.6	346.9	12.5	1420	14750	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2280	2028
15060	0.63	194.6	309.4	11.6	1450	15061	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2280	2028
15370	0.63	194.6	272.7	11.8	1480	15373	0.00	1.23	0.00	0.000	4	0.000	0.041	2971	1362	2028
15434	0.63	194.6	265.1	11.2	1486	15437	0.00	1.23	0.00	0.000	6	0.000	0.041	2971	2279	2028
15755	0.63	194.6	225.6	12.4	1517	15758	0.00	1.62	0.00	0.000	4	0.000	0.051	2971	3173	2029
15780	0.63	194.6	222.4	12.7	1519	15788	0.08	1.60	0.00	0.000	6	0.143	0.033	2955	2262	2029
16097	0.63	194.6	189.0	10.7	1550	16098	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2262	2029
16407	0.63	194.6	155.6	10.9	1580	16410	0.00	1.62	0.00	0.000	4	0.000	0.049	2955	3167	2030
16432	0.63	194.6	152.8	12.6	1582	16441	0.00	1.58	0.00	0.000	6	0.000	0.032	2961	2270	2030
16751	0.63	194.6	118.5	11.0	1613	16751	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2271	2031
17060	0.63	194.6	85.8	10.6	1643	17062	0.00	1.62	0.00	0.000	4	0.000	0.048	2961	3164	2032
17095	0.63	194.6	81.9	11.7	1646	17104	0.00	1.55	0.00	0.000	6	0.000	0.031	2968	2274	2032
17288	0.63	194.6	63.3	9.0	1665	17292	0.00	1.15	0.00	0.000	4	0.000	0.037	2974	1373	2032
17335	0.63	194.6	59.1	9.6	1669	17342	0.00	1.23	0.00	0.000	6	0.000	0.036	2973	2284	2033
17528	0.70	252.5	44.1	6.0	1688	17574	0.00	1.62	43.33	0.540	4	0.000	0.046	2973	3175	1810
17595	0.73	280.4	39.8	6.8	1694	17621	0.00	1.55	22.45	0.517	6	0.000	0.030	2981	2279	1696
17806	0.90	418.5	27.3	3.9	1714	17915	0.15	1.25	102.68	0.521	4	0.058	0.035	3063	1358	1132
18053	0.90	418.5	3.8	11.1	1736	18056	0.00	1.23	0.00	0.000	6	0.000	0.034	3063	2276	1126
18062	end climb: SURFACE_DEPTH_REACHED
state	18062	begin surface coast
18083	end surface coast: CONTROL_FINISHED_OK
state	18083	begin surface