Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 233 * 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 233 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -17712.258 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 -17712.258

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 31 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 34 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 233 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 210636,2842.627,-8837.243,35,1.0,41,-0.3 TGT_NAME NEW0617E

_CALLS 1 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.218,0.150

_SM_DEPTHo 1.63 KALMAN_X -54249.5,670.6,438.4,74031.8,-1331.6

_SM_ANGLEo -67.0 KALMAN_Y -248343.3,312.9,329.7,274197.2,-8242.7

GPS2 211325,2842.677,-8837.255,13,1.1,18,-0.3 MHEAD_RNG_PITCHd_Wd 280.6,12591,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 973

Post-dive calculations and measurements:

FINISH 0.8,1.022916 ALTIM_BOTTOM_PING 910.5,48.1

SM_CCo 17637,109.25,0.489,0,0,495,575.22 _24V_AH 22.9,40.875

SM_GC 1.71,0.00,0.00,109.25,0.000,0.000,0.489,196,2390,495,-7.97,0.42,575.22 _10V_AH 10.6,56.691

IRIDIUM_FIX 2833.46,-8834.01,031099,161650 DATA_FILE_SIZE 88354,1694

TT8_MAMPS 0.051389 CAP_FILE_SIZE 160748,0

HUMID 1339 CFSIZE 260165632,234348544

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

TCM_TEMP 23.50 CURRENT 0.066,162.9,1

XPDR_PINGS 1 GPS 100710,021037,2842.328,-8839.965,25,1.9,25,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 256 117.77 SBE_CT 1158 24 636.57

Roll_motor 79 62 114.57 SBE_O2 1234 19 537.05

VBD_pump_during_apogee 434 1209 12025.48 WL_BBFL2VMT 3807 105 9155.01

VBD_pump_during_surface 109 488 1222.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 72.47 nil 0 0 0.00

Iridium_during_connect 28 160 105.37 nil 0 0 0.00

Iridium_during_xfer 222 223 1138.27

Transponder_ping 2 420 24.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 20 50 11.11

TT8 0 19 0.00

LPSleep 11908 2 276.45

TT8_Active 611 19 128.25

TT8_Sampling 5006 39 2112.26

TT8_CF8 598 45 290.80

TT8_Kalman 33 81 28.91

Analog_circuits 2018 12 256.70

GPS_charging 0 0 0.00

Compass 4467 8 378.83

RAFOS 0 0 0.00

Transponder 20 30 6.64

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 0 107 0.00 0.00 -92.80 0.000 2 0.000 0.000 200 2390 3046

109 -0.63 -194.6 3.4 -2.9 9 135 10.62 1.38 -12.05 0.000 4 0.256 0.059 2540 1466 3636

189 -0.63 -194.6 26.4 -25.7 16 192 0.00 1.30 0.00 0.000 6 0.000 0.035 2536 2363 3637

385 -0.63 -194.6 64.8 -14.9 35 388 0.00 1.27 0.00 0.000 4 0.000 0.033 2537 1470 3638

432 -0.63 -194.6 72.1 -13.8 39 440 0.00 1.35 0.00 0.000 6 0.000 0.035 2533 2391 3639

625 -0.63 -194.6 97.8 -12.5 58 628 0.00 1.33 0.00 0.000 4 0.000 0.035 2533 1461 3639

667 -0.63 -194.6 103.3 -13.6 62 670 0.00 1.30 0.00 0.000 6 0.000 0.035 2527 2365 3639

989 -0.63 -194.6 146.8 -13.5 93 990 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2365 3639

1299 -0.63 -194.6 188.4 -12.9 123 1300 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2366 3639

1609 -0.63 -194.6 226.9 -11.6 153 1612 0.00 1.27 0.00 0.000 4 0.000 0.035 2527 1463 3639

1694 -0.63 -194.6 236.3 -10.9 161 1697 0.00 1.33 0.00 0.000 6 0.000 0.036 2521 2385 3638

2016 -0.63 -194.6 272.2 -11.1 192 2019 0.00 1.30 0.00 0.000 4 0.000 0.035 2521 1472 3636

2063 -0.63 -194.6 277.9 -11.4 196 2070 0.00 1.30 0.00 0.000 6 0.000 0.036 2515 2368 3636

2380 -0.63 -194.6 314.9 -11.7 227 2384 0.00 1.27 0.00 0.000 4 0.000 0.035 2515 1473 3635

2444 -0.63 -194.6 322.6 -11.3 233 2447 0.10 1.30 0.00 0.000 6 0.138 0.038 2541 2371 3634

2765 -0.63 -194.6 354.4 -9.4 264 2766 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2371 3633

3075 -0.63 -194.6 383.8 -9.5 294 3078 0.00 1.30 0.00 0.000 4 0.000 0.037 2544 1469 3630

3129 -0.63 -194.6 388.9 -9.0 299 3132 0.00 1.33 0.00 0.000 6 0.000 0.040 2540 2379 3630

3451 -0.63 -194.6 420.5 -10.1 330 3454 0.00 1.30 0.00 0.000 4 0.000 0.038 2540 1478 3628

3486 -0.63 -194.6 424.2 -9.8 333 3494 0.00 1.33 0.00 0.000 6 0.000 0.040 2534 2371 3628

3805 -0.63 -194.6 457.0 -10.3 364 3806 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2371 3626

4114 -0.63 -194.6 489.1 -10.5 394 4117 0.00 1.30 0.00 0.000 4 0.000 0.039 2534 1476 3623

4156 -0.63 -194.6 493.7 -10.1 398 4159 0.00 1.33 0.00 0.000 6 0.000 0.042 2528 2376 3623

4478 -0.63 -194.6 528.1 -10.6 429 4479 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2377 3621

4788 -0.63 -194.6 560.8 -10.5 459 4791 0.00 1.33 0.00 0.000 4 0.000 0.041 2529 1473 3618

4830 -0.63 -194.6 565.6 -11.8 463 4833 0.00 1.33 0.00 0.000 6 0.000 0.044 2523 2366 3618

5153 -0.63 -194.6 599.7 -10.3 494 5154 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2367 3616

5461 -0.63 -194.6 632.0 -9.8 524 5464 0.00 1.30 0.00 0.000 4 0.000 0.041 2522 1481 3614

5504 -0.63 -194.6 636.3 -10.2 528 5507 0.00 1.35 0.00 0.000 6 0.000 0.045 2517 2384 3614

5826 -0.63 -194.6 669.4 -9.9 559 5827 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2384 3612

6135 -0.63 -194.6 700.7 -10.2 589 6138 0.00 1.33 0.00 0.000 4 0.000 0.044 2517 1486 3610

6178 -0.63 -194.6 705.1 -10.1 593 6181 0.08 1.33 0.00 0.000 6 0.151 0.046 2535 2373 3610

6498 -0.63 -194.6 733.9 -8.7 624 6499 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2372 3608

6809 -0.63 -194.6 761.8 -9.0 654 6810 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2373 3606

7119 -0.63 -194.6 789.0 -8.6 684 7122 0.00 1.33 0.00 0.000 4 0.000 0.044 2535 1484 3604

7151 -0.63 -194.6 791.9 -9.6 687 7154 0.00 1.35 0.00 0.000 6 0.000 0.047 2532 2382 3604

7473 -0.63 -194.6 820.9 -8.9 718 7474 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2382 3603

7782 -0.63 -194.6 847.6 -8.4 748 7785 0.00 1.33 0.00 0.000 4 0.000 0.044 2531 1488 3602

7825 -0.63 -194.6 851.2 -8.5 752 7828 0.00 1.33 0.00 0.000 6 0.000 0.048 2527 2367 3602

8146 -0.63 -194.6 879.4 -9.1 783 8155 0.00 1.33 0.00 0.000 4 0.000 0.044 2527 1474 3600

8235 -0.63 -194.6 887.9 -9.5 791 8238 0.00 1.35 0.00 0.000 6 0.000 0.048 2521 2373 3599

8555 -0.63 -194.6 916.5 -8.4 822 8559 0.00 1.55 0.00 0.000 4 0.000 0.061 2514 3254 3599

8581 -0.63 -194.6 918.9 -9.1 824 8589 0.08 1.48 0.00 0.000 6 0.137 0.037 2538 2364 3598

8845 end dive: BOTTOM_OBSTACLE_DETECTED

state 8845 begin apogee

8850 -0.25 0.0 939.4 7.7 850 9008 0.40 0.00 151.68 1.210 6 0.132 0.000 2661 2285 2840

9008 end apogee: CONTROL_FINISHED_OK

state 9008 begin climb

9010 0.63 194.6 943.3 0.0 866 9181 0.88 0.00 167.30 1.176 6 0.100 0.000 2940 2285 2046

9488 0.63 194.6 895.2 11.2 910 9489 0.00 0.00 0.00 0.000 6 0.000 0.000 2940 2285 2035

9798 0.63 194.6 861.4 11.0 940 9801 0.00 1.23 0.00 0.000 4 0.000 0.044 2945 1381 2033

9840 0.63 194.6 856.8 11.4 944 9844 0.00 1.23 0.00 0.000 6 0.000 0.043 2945 2275 2033

10163 0.63 194.6 820.5 11.3 975 10166 0.00 1.60 0.00 0.000 4 0.000 0.055 2945 3168 2031

10188 0.63 194.6 817.3 11.8 977 10196 0.00 1.58 0.00 0.000 6 0.000 0.036 2953 2277 2031

10507 0.63 194.6 779.8 12.1 1008 10508 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2277 2030

10815 0.63 194.6 741.9 12.1 1038 10816 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2278 2030

11126 0.63 194.6 705.7 11.7 1068 11127 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2278 2029

11437 0.63 194.6 669.6 11.6 1098 11439 0.00 1.62 0.00 0.000 4 0.000 0.054 2952 3179 2029

11461 0.63 194.6 666.3 13.9 1100 11469 0.00 1.58 0.00 0.000 6 0.000 0.036 2961 2279 2028

11780 0.63 194.6 629.1 11.6 1131 11783 0.00 1.20 0.00 0.000 4 0.000 0.044 2966 1371 2028

11805 0.63 194.6 625.9 12.3 1133 11812 0.00 1.25 0.00 0.000 6 0.000 0.044 2966 2283 2028

12123 0.63 194.6 587.6 11.8 1164 12124 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2284 2028

12432 0.63 194.6 549.0 12.5 1194 12435 0.00 1.60 0.00 0.000 4 0.000 0.054 2966 3164 2028

12457 0.63 194.6 545.7 13.1 1196 12465 0.00 1.58 0.00 0.000 6 0.000 0.036 2973 2272 2027

12775 0.63 194.6 506.2 12.9 1227 12776 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2273 2027

13084 0.63 194.6 466.5 12.4 1257 13085 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2273 2027

13395 0.63 194.6 426.6 12.7 1287 13398 0.00 1.62 0.00 0.000 4 0.000 0.053 2973 3173 2027

13437 0.63 194.6 420.9 13.0 1291 13441 0.10 1.58 0.00 0.000 6 0.145 0.037 2950 2276 2026

13758 0.63 194.6 386.2 10.3 1322 13761 0.00 1.20 0.00 0.000 4 0.000 0.042 2954 1362 2027

13790 0.63 194.6 382.9 10.6 1325 13793 0.00 1.25 0.00 0.000 6 0.000 0.042 2954 2280 2027

14111 0.63 194.6 348.5 10.5 1356 14114 0.00 1.60 0.00 0.000 4 0.000 0.052 2954 3163 2027

14132 0.63 194.6 346.1 12.1 1358 14135 0.00 1.55 0.00 0.000 6 0.000 0.036 2962 2275 2026

14453 0.63 194.6 309.7 11.6 1389 14454 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2276 2027

14764 0.63 194.6 274.6 11.1 1419 14765 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2276 2027

15074 0.63 194.6 239.3 11.5 1449 15074 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2276 2027

15385 0.63 194.6 204.0 11.3 1479 15388 0.00 1.17 0.00 0.000 4 0.000 0.041 2967 1371 2027

15416 0.63 194.6 200.4 11.5 1482 15419 0.00 1.20 0.00 0.000 6 0.000 0.040 2968 2276 2028

15737 0.63 194.6 164.7 11.1 1513 15738 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2276 2028

16047 0.63 194.6 130.7 10.9 1543 16050 0.00 1.60 0.00 0.000 4 0.000 0.048 2967 3166 2029

16079 0.63 194.6 127.1 10.6 1546 16082 0.00 1.52 0.00 0.000 6 0.000 0.032 2974 2277 2029

16400 0.63 194.6 90.7 10.1 1577 16403 0.00 1.60 0.00 0.000 4 0.000 0.047 2974 3160 2031

16453 0.63 194.6 84.9 11.0 1582 16456 0.10 1.52 0.00 0.000 6 0.132 0.031 2950 2275 2030

16651 0.64 205.0 69.2 7.2 1601 16662 0.00 1.12 7.22 0.476 4 0.000 0.035 2954 1369 2004

16726 0.64 205.0 64.0 7.7 1608 16729 0.00 1.20 0.00 0.000 6 0.000 0.037 2954 2278 2004

16923 0.68 237.8 49.9 6.6 1627 16956 0.00 0.00 26.90 0.536 6 0.000 0.000 2954 2278 1869

17141 0.81 345.5 38.4 4.7 1648 17231 0.15 0.00 81.05 0.530 6 0.061 0.000 3028 2278 1430

17415 0.81 345.5 17.7 7.8 1674 17418 0.00 1.20 0.00 0.000 4 0.000 0.034 3033 1369 1423

17479 0.81 345.5 12.7 8.1 1680 17482 0.00 1.20 0.00 0.000 6 0.000 0.034 3034 2275 1422

17591 end climb: SURFACE_DEPTH_REACHED

state 17591 begin surface coast

17622 end surface coast: CONTROL_FINISHED_OK

state 17622 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	233	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-17712.258	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	210636,2842.627,-8837.243,35,1.0,41,-0.3	TGT_NAME	NEW0617E
_CALLS	1	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.218,0.150
_SM_DEPTHo	1.63	KALMAN_X	-54249.5,670.6,438.4,74031.8,-1331.6
_SM_ANGLEo	-67.0	KALMAN_Y	-248343.3,312.9,329.7,274197.2,-8242.7
GPS2	211325,2842.677,-8837.255,13,1.1,18,-0.3	MHEAD_RNG_PITCHd_Wd	280.6,12591,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	973

FINISH	0.8,1.022916	ALTIM_BOTTOM_PING	910.5,48.1
SM_CCo	17637,109.25,0.489,0,0,495,575.22	_24V_AH	22.9,40.875
SM_GC	1.71,0.00,0.00,109.25,0.000,0.000,0.489,196,2390,495,-7.97,0.42,575.22	_10V_AH	10.6,56.691
IRIDIUM_FIX	2833.46,-8834.01,031099,161650	DATA_FILE_SIZE	88354,1694
TT8_MAMPS	0.051389	CAP_FILE_SIZE	160748,0
HUMID	1339	CFSIZE	260165632,234348544
INTERNAL_PRESSURE	9.22887	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	23.50	CURRENT	0.066,162.9,1
XPDR_PINGS	1	GPS	100710,021037,2842.328,-8839.965,25,1.9,25,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	256	117.77	SBE_CT	1158	24	636.57
Roll_motor	79	62	114.57	SBE_O2	1234	19	537.05
VBD_pump_during_apogee	434	1209	12025.48	WL_BBFL2VMT	3807	105	9155.01
VBD_pump_during_surface	109	488	1222.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	72.47	nil	0	0	0.00
Iridium_during_connect	28	160	105.37	nil	0	0	0.00
Iridium_during_xfer	222	223	1138.27
Transponder_ping	2	420	24.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	20	50	11.11
TT8	0	19	0.00
LPSleep	11908	2	276.45
TT8_Active	611	19	128.25
TT8_Sampling	5006	39	2112.26
TT8_CF8	598	45	290.80
TT8_Kalman	33	81	28.91
Analog_circuits	2018	12	256.70
GPS_charging	0	0	0.00
Compass	4467	8	378.83
RAFOS	0	0	0.00
Transponder	20	30	6.64

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	107	0.00	0.00	-92.80	0.000	2	0.000	0.000	200	2390	3046
109	-0.63	-194.6	3.4	-2.9	9	135	10.62	1.38	-12.05	0.000	4	0.256	0.059	2540	1466	3636
189	-0.63	-194.6	26.4	-25.7	16	192	0.00	1.30	0.00	0.000	6	0.000	0.035	2536	2363	3637
385	-0.63	-194.6	64.8	-14.9	35	388	0.00	1.27	0.00	0.000	4	0.000	0.033	2537	1470	3638
432	-0.63	-194.6	72.1	-13.8	39	440	0.00	1.35	0.00	0.000	6	0.000	0.035	2533	2391	3639
625	-0.63	-194.6	97.8	-12.5	58	628	0.00	1.33	0.00	0.000	4	0.000	0.035	2533	1461	3639
667	-0.63	-194.6	103.3	-13.6	62	670	0.00	1.30	0.00	0.000	6	0.000	0.035	2527	2365	3639
989	-0.63	-194.6	146.8	-13.5	93	990	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2365	3639
1299	-0.63	-194.6	188.4	-12.9	123	1300	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2366	3639
1609	-0.63	-194.6	226.9	-11.6	153	1612	0.00	1.27	0.00	0.000	4	0.000	0.035	2527	1463	3639
1694	-0.63	-194.6	236.3	-10.9	161	1697	0.00	1.33	0.00	0.000	6	0.000	0.036	2521	2385	3638
2016	-0.63	-194.6	272.2	-11.1	192	2019	0.00	1.30	0.00	0.000	4	0.000	0.035	2521	1472	3636
2063	-0.63	-194.6	277.9	-11.4	196	2070	0.00	1.30	0.00	0.000	6	0.000	0.036	2515	2368	3636
2380	-0.63	-194.6	314.9	-11.7	227	2384	0.00	1.27	0.00	0.000	4	0.000	0.035	2515	1473	3635
2444	-0.63	-194.6	322.6	-11.3	233	2447	0.10	1.30	0.00	0.000	6	0.138	0.038	2541	2371	3634
2765	-0.63	-194.6	354.4	-9.4	264	2766	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2371	3633
3075	-0.63	-194.6	383.8	-9.5	294	3078	0.00	1.30	0.00	0.000	4	0.000	0.037	2544	1469	3630
3129	-0.63	-194.6	388.9	-9.0	299	3132	0.00	1.33	0.00	0.000	6	0.000	0.040	2540	2379	3630
3451	-0.63	-194.6	420.5	-10.1	330	3454	0.00	1.30	0.00	0.000	4	0.000	0.038	2540	1478	3628
3486	-0.63	-194.6	424.2	-9.8	333	3494	0.00	1.33	0.00	0.000	6	0.000	0.040	2534	2371	3628
3805	-0.63	-194.6	457.0	-10.3	364	3806	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2371	3626
4114	-0.63	-194.6	489.1	-10.5	394	4117	0.00	1.30	0.00	0.000	4	0.000	0.039	2534	1476	3623
4156	-0.63	-194.6	493.7	-10.1	398	4159	0.00	1.33	0.00	0.000	6	0.000	0.042	2528	2376	3623
4478	-0.63	-194.6	528.1	-10.6	429	4479	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2377	3621
4788	-0.63	-194.6	560.8	-10.5	459	4791	0.00	1.33	0.00	0.000	4	0.000	0.041	2529	1473	3618
4830	-0.63	-194.6	565.6	-11.8	463	4833	0.00	1.33	0.00	0.000	6	0.000	0.044	2523	2366	3618
5153	-0.63	-194.6	599.7	-10.3	494	5154	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2367	3616
5461	-0.63	-194.6	632.0	-9.8	524	5464	0.00	1.30	0.00	0.000	4	0.000	0.041	2522	1481	3614
5504	-0.63	-194.6	636.3	-10.2	528	5507	0.00	1.35	0.00	0.000	6	0.000	0.045	2517	2384	3614
5826	-0.63	-194.6	669.4	-9.9	559	5827	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2384	3612
6135	-0.63	-194.6	700.7	-10.2	589	6138	0.00	1.33	0.00	0.000	4	0.000	0.044	2517	1486	3610
6178	-0.63	-194.6	705.1	-10.1	593	6181	0.08	1.33	0.00	0.000	6	0.151	0.046	2535	2373	3610
6498	-0.63	-194.6	733.9	-8.7	624	6499	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2372	3608
6809	-0.63	-194.6	761.8	-9.0	654	6810	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2373	3606
7119	-0.63	-194.6	789.0	-8.6	684	7122	0.00	1.33	0.00	0.000	4	0.000	0.044	2535	1484	3604
7151	-0.63	-194.6	791.9	-9.6	687	7154	0.00	1.35	0.00	0.000	6	0.000	0.047	2532	2382	3604
7473	-0.63	-194.6	820.9	-8.9	718	7474	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2382	3603
7782	-0.63	-194.6	847.6	-8.4	748	7785	0.00	1.33	0.00	0.000	4	0.000	0.044	2531	1488	3602
7825	-0.63	-194.6	851.2	-8.5	752	7828	0.00	1.33	0.00	0.000	6	0.000	0.048	2527	2367	3602
8146	-0.63	-194.6	879.4	-9.1	783	8155	0.00	1.33	0.00	0.000	4	0.000	0.044	2527	1474	3600
8235	-0.63	-194.6	887.9	-9.5	791	8238	0.00	1.35	0.00	0.000	6	0.000	0.048	2521	2373	3599
8555	-0.63	-194.6	916.5	-8.4	822	8559	0.00	1.55	0.00	0.000	4	0.000	0.061	2514	3254	3599
8581	-0.63	-194.6	918.9	-9.1	824	8589	0.08	1.48	0.00	0.000	6	0.137	0.037	2538	2364	3598
8845	end dive: BOTTOM_OBSTACLE_DETECTED
state	8845	begin apogee
8850	-0.25	0.0	939.4	7.7	850	9008	0.40	0.00	151.68	1.210	6	0.132	0.000	2661	2285	2840
9008	end apogee: CONTROL_FINISHED_OK
state	9008	begin climb
9010	0.63	194.6	943.3	0.0	866	9181	0.88	0.00	167.30	1.176	6	0.100	0.000	2940	2285	2046
9488	0.63	194.6	895.2	11.2	910	9489	0.00	0.00	0.00	0.000	6	0.000	0.000	2940	2285	2035
9798	0.63	194.6	861.4	11.0	940	9801	0.00	1.23	0.00	0.000	4	0.000	0.044	2945	1381	2033
9840	0.63	194.6	856.8	11.4	944	9844	0.00	1.23	0.00	0.000	6	0.000	0.043	2945	2275	2033
10163	0.63	194.6	820.5	11.3	975	10166	0.00	1.60	0.00	0.000	4	0.000	0.055	2945	3168	2031
10188	0.63	194.6	817.3	11.8	977	10196	0.00	1.58	0.00	0.000	6	0.000	0.036	2953	2277	2031
10507	0.63	194.6	779.8	12.1	1008	10508	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2277	2030
10815	0.63	194.6	741.9	12.1	1038	10816	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2278	2030
11126	0.63	194.6	705.7	11.7	1068	11127	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2278	2029
11437	0.63	194.6	669.6	11.6	1098	11439	0.00	1.62	0.00	0.000	4	0.000	0.054	2952	3179	2029
11461	0.63	194.6	666.3	13.9	1100	11469	0.00	1.58	0.00	0.000	6	0.000	0.036	2961	2279	2028
11780	0.63	194.6	629.1	11.6	1131	11783	0.00	1.20	0.00	0.000	4	0.000	0.044	2966	1371	2028
11805	0.63	194.6	625.9	12.3	1133	11812	0.00	1.25	0.00	0.000	6	0.000	0.044	2966	2283	2028
12123	0.63	194.6	587.6	11.8	1164	12124	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2284	2028
12432	0.63	194.6	549.0	12.5	1194	12435	0.00	1.60	0.00	0.000	4	0.000	0.054	2966	3164	2028
12457	0.63	194.6	545.7	13.1	1196	12465	0.00	1.58	0.00	0.000	6	0.000	0.036	2973	2272	2027
12775	0.63	194.6	506.2	12.9	1227	12776	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2273	2027
13084	0.63	194.6	466.5	12.4	1257	13085	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2273	2027
13395	0.63	194.6	426.6	12.7	1287	13398	0.00	1.62	0.00	0.000	4	0.000	0.053	2973	3173	2027
13437	0.63	194.6	420.9	13.0	1291	13441	0.10	1.58	0.00	0.000	6	0.145	0.037	2950	2276	2026
13758	0.63	194.6	386.2	10.3	1322	13761	0.00	1.20	0.00	0.000	4	0.000	0.042	2954	1362	2027
13790	0.63	194.6	382.9	10.6	1325	13793	0.00	1.25	0.00	0.000	6	0.000	0.042	2954	2280	2027
14111	0.63	194.6	348.5	10.5	1356	14114	0.00	1.60	0.00	0.000	4	0.000	0.052	2954	3163	2027
14132	0.63	194.6	346.1	12.1	1358	14135	0.00	1.55	0.00	0.000	6	0.000	0.036	2962	2275	2026
14453	0.63	194.6	309.7	11.6	1389	14454	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2276	2027
14764	0.63	194.6	274.6	11.1	1419	14765	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2276	2027
15074	0.63	194.6	239.3	11.5	1449	15074	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2276	2027
15385	0.63	194.6	204.0	11.3	1479	15388	0.00	1.17	0.00	0.000	4	0.000	0.041	2967	1371	2027
15416	0.63	194.6	200.4	11.5	1482	15419	0.00	1.20	0.00	0.000	6	0.000	0.040	2968	2276	2028
15737	0.63	194.6	164.7	11.1	1513	15738	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2276	2028
16047	0.63	194.6	130.7	10.9	1543	16050	0.00	1.60	0.00	0.000	4	0.000	0.048	2967	3166	2029
16079	0.63	194.6	127.1	10.6	1546	16082	0.00	1.52	0.00	0.000	6	0.000	0.032	2974	2277	2029
16400	0.63	194.6	90.7	10.1	1577	16403	0.00	1.60	0.00	0.000	4	0.000	0.047	2974	3160	2031
16453	0.63	194.6	84.9	11.0	1582	16456	0.10	1.52	0.00	0.000	6	0.132	0.031	2950	2275	2030
16651	0.64	205.0	69.2	7.2	1601	16662	0.00	1.12	7.22	0.476	4	0.000	0.035	2954	1369	2004
16726	0.64	205.0	64.0	7.7	1608	16729	0.00	1.20	0.00	0.000	6	0.000	0.037	2954	2278	2004
16923	0.68	237.8	49.9	6.6	1627	16956	0.00	0.00	26.90	0.536	6	0.000	0.000	2954	2278	1869
17141	0.81	345.5	38.4	4.7	1648	17231	0.15	0.00	81.05	0.530	6	0.061	0.000	3028	2278	1430
17415	0.81	345.5	17.7	7.8	1674	17418	0.00	1.20	0.00	0.000	4	0.000	0.034	3033	1369	1423
17479	0.81	345.5	12.7	8.1	1680	17482	0.00	1.20	0.00	0.000	6	0.000	0.034	3034	2275	1422
17591	end climb: SURFACE_DEPTH_REACHED
state	17591	begin surface coast
17622	end surface coast: CONTROL_FINISHED_OK
state	17622	begin surface