Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 234 * 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 234 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 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 -17727.031 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 -17727.031

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 29 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 39 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 234 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 021037,2842.328,-8839.965,25,1.9,25,-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 -0.176,0.197

_SM_DEPTHo 1.71 KALMAN_X -52197.4,625.1,-43.8,68147.9,604.6

_SM_ANGLEo -68.0 KALMAN_Y -252763.9,446.3,460.1,277761.5,-9765.8

GPS2 021708,2842.347,-8839.927,10,2.0,10,-0.3 MHEAD_RNG_PITCHd_Wd 284.9,8242,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1013

Post-dive calculations and measurements:

FINISH 0.8,1.023017 _24V_AH 22.8,41.038

SM_CCo 18378,61.40,0.484,0,0,494,575.22 _10V_AH 10.6,56.915

SM_GC 1.47,0.00,0.00,61.40,0.000,0.000,0.484,196,2388,494,-7.97,0.37,575.22 DATA_FILE_SIZE 91359,1765

IRIDIUM_FIX 2831.00,-8836.47,031099,212129 CAP_FILE_SIZE 160760,0

TT8_MAMPS 0.050622 CFSIZE 260165632,234258432

HUMID 1376 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.22887 CURRENT 0.061,179.9,1

TCM_TEMP 24.10 GPS 100710,072607,2842.318,-8842.959,38,1.0,38,-0.2

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 116.20 SBE_CT 1207 24 660.68

Roll_motor 64 71 105.51 SBE_O2 1291 19 559.27

VBD_pump_during_apogee 516 1243 14629.38 WL_BBFL2VMT 3966 105 9496.87

VBD_pump_during_surface 61 483 677.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 74.41 nil 0 0 0.00

Iridium_during_connect 37 160 135.05 nil 0 0 0.00

Iridium_during_xfer 200 223 1017.86

Transponder_ping 4 420 38.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.50

TT8 0 19 0.00

LPSleep 12416 2 288.23

TT8_Active 612 19 128.59

TT8_Sampling 5156 39 2175.46

TT8_CF8 615 45 298.80

TT8_Kalman 33 81 28.91

Analog_circuits 2053 12 261.20

GPS_charging 0 0 0.00

Compass 4637 8 393.28

RAFOS 0 0 0.00

Transponder 29 30 9.48

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 11 begin dive

13 -0.63 -194.6 0.0 0.0 0 87 0.00 0.00 -72.60 0.000 2 0.000 0.000 197 2390 2478

89 -0.63 -194.6 3.2 -3.5 7 138 10.50 1.50 -33.58 0.000 4 0.254 0.071 2533 3258 3635

170 -0.63 -194.6 13.3 -23.9 14 173 0.00 1.45 0.00 0.000 6 0.000 0.028 2537 2363 3636

367 -0.63 -194.6 55.9 -19.2 33 370 0.00 1.25 0.00 0.000 4 0.000 0.035 2537 1477 3636

420 -0.63 -194.6 64.8 -16.5 38 423 0.00 1.27 0.00 0.000 6 0.000 0.035 2533 2359 3636

617 -0.63 -194.6 92.4 -13.4 57 620 0.00 1.25 0.00 0.000 4 0.000 0.033 2533 1474 3638

664 -0.63 -194.6 98.7 -12.5 61 671 0.00 1.30 0.00 0.000 6 0.000 0.035 2528 2374 3638

856 -0.63 -194.6 124.2 -14.3 80 859 0.00 1.45 0.00 0.000 4 0.000 0.044 2521 3253 3639

903 -0.63 -194.6 130.7 -13.9 84 912 0.00 1.45 0.00 0.000 6 0.000 0.027 2520 2349 3638

1221 -0.63 -194.6 175.1 -13.8 115 1222 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2348 3638

1530 -0.63 -194.6 216.3 -12.8 145 1530 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2348 3638

1841 -0.63 -194.6 253.8 -11.8 175 1844 0.00 1.20 0.00 0.000 4 0.000 0.035 2521 1476 3637

1919 -0.63 -194.6 262.8 -11.0 182 1927 0.00 1.33 0.00 0.000 6 0.000 0.035 2514 2385 3636

2238 -0.63 -194.6 300.2 -11.8 213 2239 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2385 3635

2546 -0.63 -194.6 337.2 -11.7 243 2550 0.12 1.27 0.00 0.000 4 0.145 0.036 2549 1490 3634

2611 -0.63 -194.6 343.3 -8.6 249 2614 0.00 1.25 0.00 0.000 6 0.000 0.038 2545 2359 3633

2933 -0.63 -194.6 372.0 -8.7 280 2934 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2360 3631

3242 -0.63 -194.6 401.8 -9.6 310 3245 0.00 1.25 0.00 0.000 4 0.000 0.037 2545 1485 3629

3295 -0.63 -194.6 406.8 -9.6 315 3299 0.00 1.30 0.00 0.000 6 0.000 0.039 2540 2377 3628

3617 -0.63 -194.6 438.3 -9.7 346 3618 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2377 3627

3927 -0.63 -194.6 468.1 -9.2 376 3928 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2377 3624

4237 -0.63 -194.6 497.1 -9.3 406 4240 0.00 1.30 0.00 0.000 4 0.000 0.039 2540 1483 3622

4284 -0.63 -194.6 501.6 -9.3 410 4291 0.00 1.30 0.00 0.000 6 0.000 0.042 2535 2366 3622

4601 -0.63 -194.6 532.8 -10.3 441 4602 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2366 3620

4911 -0.63 -194.6 564.3 -10.0 471 4914 0.00 1.27 0.00 0.000 4 0.000 0.041 2535 1497 3619

4964 -0.63 -194.6 569.7 -9.4 476 4967 0.00 1.33 0.00 0.000 6 0.000 0.044 2529 2384 3618

5286 -0.63 -194.6 602.2 -10.0 507 5289 0.00 1.30 0.00 0.000 4 0.000 0.041 2529 1499 3616

5329 -0.63 -194.6 606.7 -9.4 511 5332 0.00 1.27 0.00 0.000 6 0.000 0.044 2523 2361 3616

5651 -0.63 -194.6 639.3 -9.9 542 5654 0.00 1.55 0.00 0.000 4 0.000 0.056 2516 3259 3614

5676 -0.63 -194.6 642.2 -10.4 544 5685 0.00 1.45 0.00 0.000 6 0.000 0.034 2516 2365 3614

5994 -0.63 -194.6 675.2 -10.8 575 5995 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2366 3611

6303 -0.63 -194.6 708.2 -10.6 605 6306 0.00 1.27 0.00 0.000 4 0.000 0.044 2516 1493 3609

6335 -0.63 -194.6 711.5 -10.8 608 6338 0.08 1.33 0.00 0.000 6 0.148 0.046 2535 2379 3609

6656 -0.63 -194.6 741.0 -8.8 639 6657 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2380 3607

6967 -0.63 -194.6 769.4 -9.2 669 6970 0.00 1.30 0.00 0.000 4 0.000 0.044 2535 1504 3605

7030 -0.63 -194.6 775.1 -9.2 675 7033 0.00 1.30 0.00 0.000 6 0.000 0.047 2531 2368 3605

7353 -0.63 -194.6 805.4 -9.7 706 7354 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2368 3604

7662 -0.63 -194.6 833.2 -8.9 736 7664 0.00 1.30 0.00 0.000 4 0.000 0.045 2531 1494 3603

7730 -0.63 -194.6 839.3 -8.7 742 7737 0.00 1.35 0.00 0.000 6 0.000 0.047 2526 2380 3603

8046 -0.63 -194.6 867.9 -8.8 773 8049 0.00 1.33 0.00 0.000 4 0.000 0.044 2526 1490 3601

8110 -0.63 -194.6 873.5 -8.9 779 8113 0.00 1.33 0.00 0.000 6 0.000 0.048 2521 2367 3601

8431 -0.63 -194.6 902.5 -9.2 810 8432 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2368 3599

8742 -0.63 -194.6 931.1 -9.2 840 8745 0.00 1.30 0.00 0.000 4 0.000 0.044 2520 1501 3598

8785 -0.63 -194.6 935.0 -10.0 844 8787 0.00 1.33 0.00 0.000 6 0.000 0.049 2515 2376 3598

9105 -0.63 -194.6 965.4 -9.7 875 9106 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2376 3596

9363 end dive: TARGET_DEPTH_EXCEEDED

state 9365 begin apogee

9369 -0.25 0.0 990.4 9.8 900 9527 0.47 0.00 153.27 1.243 6 0.140 0.000 2659 2291 2840

9527 end apogee: CONTROL_FINISHED_OK

state 9527 begin climb

9529 0.63 194.6 995.5 0.0 916 9702 0.90 0.00 169.25 1.212 6 0.105 0.000 2940 2292 2045

10013 0.63 194.6 947.3 11.5 960 10014 0.00 0.00 0.00 0.000 6 0.000 0.000 2940 2291 2035

10324 0.63 194.6 911.9 11.2 990 10326 0.00 1.25 0.00 0.000 4 0.000 0.044 2946 1373 2034

10348 0.63 194.6 908.8 12.8 992 10357 0.00 1.25 0.00 0.000 6 0.000 0.043 2946 2274 2034

10667 0.63 194.6 872.5 12.5 1023 10668 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2274 2032

10976 0.63 194.6 835.5 12.0 1053 10979 0.00 1.23 0.00 0.000 4 0.000 0.044 2951 1366 2031

11029 0.63 194.6 829.2 12.8 1058 11032 0.00 1.25 0.00 0.000 6 0.000 0.044 2951 2278 2031

11352 0.63 194.6 790.0 11.9 1089 11352 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2279 2030

11660 0.63 194.6 753.6 11.3 1119 11661 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2279 2029

11970 0.63 194.6 718.2 11.2 1149 11971 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2278 2029

12282 0.63 194.6 682.1 11.5 1179 12283 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2279 2029

12591 0.63 194.6 647.8 11.1 1209 12592 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2279 2028

12902 0.63 194.6 612.8 11.5 1239 12905 0.00 1.62 0.00 0.000 4 0.000 0.054 2952 3165 2029

12933 0.63 194.6 609.0 12.1 1242 12937 0.00 1.58 0.00 0.000 6 0.000 0.038 2958 2276 2027

13255 0.63 194.6 570.9 11.8 1273 13256 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2277 2027

13565 0.63 194.6 534.3 11.9 1303 13566 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2277 2027

13875 0.63 194.6 497.4 11.9 1333 13876 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2277 2027

14187 0.63 194.6 460.0 11.9 1363 14189 0.00 1.62 0.00 0.000 4 0.000 0.054 2959 3174 2027

14218 0.63 194.6 455.9 12.0 1366 14221 0.00 1.60 0.00 0.000 6 0.000 0.037 2966 2268 2027

14539 0.63 194.6 416.0 12.6 1397 14540 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2269 2026

14849 0.63 194.6 377.8 12.4 1427 14850 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2268 2027

15160 0.63 194.6 338.9 12.6 1457 15161 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2269 2027

15470 0.63 194.6 300.8 12.1 1487 15471 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2269 2027

15781 0.63 194.6 263.8 12.1 1517 15784 0.00 1.65 0.00 0.000 4 0.000 0.051 2965 3184 2028

15817 0.63 194.6 259.2 12.5 1520 15825 0.00 1.58 0.00 0.000 6 0.000 0.035 2973 2279 2027

16135 0.63 194.6 219.9 11.5 1551 16138 0.00 1.20 0.00 0.000 4 0.000 0.040 2979 1366 2028

16210 0.63 194.6 211.2 12.0 1558 16213 0.00 1.23 0.00 0.000 6 0.000 0.041 2979 2281 2027

16530 0.63 194.6 170.0 13.0 1589 16531 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2281 2029

16842 0.63 194.6 131.5 11.8 1619 16843 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2281 2029

17151 0.63 194.6 93.9 11.7 1649 17152 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2281 2030

17338 0.63 194.6 73.4 10.5 1667 17338 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2281 2031

17524 0.63 194.6 55.9 8.5 1685 17525 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2281 2032

17710 0.63 196.2 41.9 7.5 1703 17713 0.00 1.20 0.00 0.000 4 0.000 0.037 2985 1367 2032

17743 0.68 235.6 39.4 6.5 1706 17778 0.00 1.20 30.58 0.532 6 0.000 0.037 2984 2276 1878

17963 0.82 354.2 27.2 4.4 1727 18054 0.00 0.00 88.90 0.525 6 0.000 0.000 2984 2276 1396

18240 0.95 454.2 14.1 4.9 1754 18319 0.20 1.25 74.07 0.502 4 0.054 0.035 3088 1358 987

18339 end climb: SURFACE_DEPTH_REACHED

state 18339 begin surface coast

18362 end surface coast: CONTROL_FINISHED_OK

state 18362 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	234	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	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	-17727.031	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	021037,2842.328,-8839.965,25,1.9,25,-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	-0.176,0.197
_SM_DEPTHo	1.71	KALMAN_X	-52197.4,625.1,-43.8,68147.9,604.6
_SM_ANGLEo	-68.0	KALMAN_Y	-252763.9,446.3,460.1,277761.5,-9765.8
GPS2	021708,2842.347,-8839.927,10,2.0,10,-0.3	MHEAD_RNG_PITCHd_Wd	284.9,8242,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1013

FINISH	0.8,1.023017	_24V_AH	22.8,41.038
SM_CCo	18378,61.40,0.484,0,0,494,575.22	_10V_AH	10.6,56.915
SM_GC	1.47,0.00,0.00,61.40,0.000,0.000,0.484,196,2388,494,-7.97,0.37,575.22	DATA_FILE_SIZE	91359,1765
IRIDIUM_FIX	2831.00,-8836.47,031099,212129	CAP_FILE_SIZE	160760,0
TT8_MAMPS	0.050622	CFSIZE	260165632,234258432
HUMID	1376	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.22887	CURRENT	0.061,179.9,1
TCM_TEMP	24.10	GPS	100710,072607,2842.318,-8842.959,38,1.0,38,-0.2
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	116.20	SBE_CT	1207	24	660.68
Roll_motor	64	71	105.51	SBE_O2	1291	19	559.27
VBD_pump_during_apogee	516	1243	14629.38	WL_BBFL2VMT	3966	105	9496.87
VBD_pump_during_surface	61	483	677.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	74.41	nil	0	0	0.00
Iridium_during_connect	37	160	135.05	nil	0	0	0.00
Iridium_during_xfer	200	223	1017.86
Transponder_ping	4	420	38.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.50
TT8	0	19	0.00
LPSleep	12416	2	288.23
TT8_Active	612	19	128.59
TT8_Sampling	5156	39	2175.46
TT8_CF8	615	45	298.80
TT8_Kalman	33	81	28.91
Analog_circuits	2053	12	261.20
GPS_charging	0	0	0.00
Compass	4637	8	393.28
RAFOS	0	0	0.00
Transponder	29	30	9.48

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	11	begin dive
13	-0.63	-194.6	0.0	0.0	0	87	0.00	0.00	-72.60	0.000	2	0.000	0.000	197	2390	2478
89	-0.63	-194.6	3.2	-3.5	7	138	10.50	1.50	-33.58	0.000	4	0.254	0.071	2533	3258	3635
170	-0.63	-194.6	13.3	-23.9	14	173	0.00	1.45	0.00	0.000	6	0.000	0.028	2537	2363	3636
367	-0.63	-194.6	55.9	-19.2	33	370	0.00	1.25	0.00	0.000	4	0.000	0.035	2537	1477	3636
420	-0.63	-194.6	64.8	-16.5	38	423	0.00	1.27	0.00	0.000	6	0.000	0.035	2533	2359	3636
617	-0.63	-194.6	92.4	-13.4	57	620	0.00	1.25	0.00	0.000	4	0.000	0.033	2533	1474	3638
664	-0.63	-194.6	98.7	-12.5	61	671	0.00	1.30	0.00	0.000	6	0.000	0.035	2528	2374	3638
856	-0.63	-194.6	124.2	-14.3	80	859	0.00	1.45	0.00	0.000	4	0.000	0.044	2521	3253	3639
903	-0.63	-194.6	130.7	-13.9	84	912	0.00	1.45	0.00	0.000	6	0.000	0.027	2520	2349	3638
1221	-0.63	-194.6	175.1	-13.8	115	1222	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2348	3638
1530	-0.63	-194.6	216.3	-12.8	145	1530	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2348	3638
1841	-0.63	-194.6	253.8	-11.8	175	1844	0.00	1.20	0.00	0.000	4	0.000	0.035	2521	1476	3637
1919	-0.63	-194.6	262.8	-11.0	182	1927	0.00	1.33	0.00	0.000	6	0.000	0.035	2514	2385	3636
2238	-0.63	-194.6	300.2	-11.8	213	2239	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2385	3635
2546	-0.63	-194.6	337.2	-11.7	243	2550	0.12	1.27	0.00	0.000	4	0.145	0.036	2549	1490	3634
2611	-0.63	-194.6	343.3	-8.6	249	2614	0.00	1.25	0.00	0.000	6	0.000	0.038	2545	2359	3633
2933	-0.63	-194.6	372.0	-8.7	280	2934	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2360	3631
3242	-0.63	-194.6	401.8	-9.6	310	3245	0.00	1.25	0.00	0.000	4	0.000	0.037	2545	1485	3629
3295	-0.63	-194.6	406.8	-9.6	315	3299	0.00	1.30	0.00	0.000	6	0.000	0.039	2540	2377	3628
3617	-0.63	-194.6	438.3	-9.7	346	3618	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2377	3627
3927	-0.63	-194.6	468.1	-9.2	376	3928	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2377	3624
4237	-0.63	-194.6	497.1	-9.3	406	4240	0.00	1.30	0.00	0.000	4	0.000	0.039	2540	1483	3622
4284	-0.63	-194.6	501.6	-9.3	410	4291	0.00	1.30	0.00	0.000	6	0.000	0.042	2535	2366	3622
4601	-0.63	-194.6	532.8	-10.3	441	4602	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2366	3620
4911	-0.63	-194.6	564.3	-10.0	471	4914	0.00	1.27	0.00	0.000	4	0.000	0.041	2535	1497	3619
4964	-0.63	-194.6	569.7	-9.4	476	4967	0.00	1.33	0.00	0.000	6	0.000	0.044	2529	2384	3618
5286	-0.63	-194.6	602.2	-10.0	507	5289	0.00	1.30	0.00	0.000	4	0.000	0.041	2529	1499	3616
5329	-0.63	-194.6	606.7	-9.4	511	5332	0.00	1.27	0.00	0.000	6	0.000	0.044	2523	2361	3616
5651	-0.63	-194.6	639.3	-9.9	542	5654	0.00	1.55	0.00	0.000	4	0.000	0.056	2516	3259	3614
5676	-0.63	-194.6	642.2	-10.4	544	5685	0.00	1.45	0.00	0.000	6	0.000	0.034	2516	2365	3614
5994	-0.63	-194.6	675.2	-10.8	575	5995	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2366	3611
6303	-0.63	-194.6	708.2	-10.6	605	6306	0.00	1.27	0.00	0.000	4	0.000	0.044	2516	1493	3609
6335	-0.63	-194.6	711.5	-10.8	608	6338	0.08	1.33	0.00	0.000	6	0.148	0.046	2535	2379	3609
6656	-0.63	-194.6	741.0	-8.8	639	6657	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2380	3607
6967	-0.63	-194.6	769.4	-9.2	669	6970	0.00	1.30	0.00	0.000	4	0.000	0.044	2535	1504	3605
7030	-0.63	-194.6	775.1	-9.2	675	7033	0.00	1.30	0.00	0.000	6	0.000	0.047	2531	2368	3605
7353	-0.63	-194.6	805.4	-9.7	706	7354	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2368	3604
7662	-0.63	-194.6	833.2	-8.9	736	7664	0.00	1.30	0.00	0.000	4	0.000	0.045	2531	1494	3603
7730	-0.63	-194.6	839.3	-8.7	742	7737	0.00	1.35	0.00	0.000	6	0.000	0.047	2526	2380	3603
8046	-0.63	-194.6	867.9	-8.8	773	8049	0.00	1.33	0.00	0.000	4	0.000	0.044	2526	1490	3601
8110	-0.63	-194.6	873.5	-8.9	779	8113	0.00	1.33	0.00	0.000	6	0.000	0.048	2521	2367	3601
8431	-0.63	-194.6	902.5	-9.2	810	8432	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2368	3599
8742	-0.63	-194.6	931.1	-9.2	840	8745	0.00	1.30	0.00	0.000	4	0.000	0.044	2520	1501	3598
8785	-0.63	-194.6	935.0	-10.0	844	8787	0.00	1.33	0.00	0.000	6	0.000	0.049	2515	2376	3598
9105	-0.63	-194.6	965.4	-9.7	875	9106	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2376	3596
9363	end dive: TARGET_DEPTH_EXCEEDED
state	9365	begin apogee
9369	-0.25	0.0	990.4	9.8	900	9527	0.47	0.00	153.27	1.243	6	0.140	0.000	2659	2291	2840
9527	end apogee: CONTROL_FINISHED_OK
state	9527	begin climb
9529	0.63	194.6	995.5	0.0	916	9702	0.90	0.00	169.25	1.212	6	0.105	0.000	2940	2292	2045
10013	0.63	194.6	947.3	11.5	960	10014	0.00	0.00	0.00	0.000	6	0.000	0.000	2940	2291	2035
10324	0.63	194.6	911.9	11.2	990	10326	0.00	1.25	0.00	0.000	4	0.000	0.044	2946	1373	2034
10348	0.63	194.6	908.8	12.8	992	10357	0.00	1.25	0.00	0.000	6	0.000	0.043	2946	2274	2034
10667	0.63	194.6	872.5	12.5	1023	10668	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2274	2032
10976	0.63	194.6	835.5	12.0	1053	10979	0.00	1.23	0.00	0.000	4	0.000	0.044	2951	1366	2031
11029	0.63	194.6	829.2	12.8	1058	11032	0.00	1.25	0.00	0.000	6	0.000	0.044	2951	2278	2031
11352	0.63	194.6	790.0	11.9	1089	11352	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2279	2030
11660	0.63	194.6	753.6	11.3	1119	11661	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2279	2029
11970	0.63	194.6	718.2	11.2	1149	11971	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2278	2029
12282	0.63	194.6	682.1	11.5	1179	12283	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2279	2029
12591	0.63	194.6	647.8	11.1	1209	12592	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2279	2028
12902	0.63	194.6	612.8	11.5	1239	12905	0.00	1.62	0.00	0.000	4	0.000	0.054	2952	3165	2029
12933	0.63	194.6	609.0	12.1	1242	12937	0.00	1.58	0.00	0.000	6	0.000	0.038	2958	2276	2027
13255	0.63	194.6	570.9	11.8	1273	13256	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2277	2027
13565	0.63	194.6	534.3	11.9	1303	13566	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2277	2027
13875	0.63	194.6	497.4	11.9	1333	13876	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2277	2027
14187	0.63	194.6	460.0	11.9	1363	14189	0.00	1.62	0.00	0.000	4	0.000	0.054	2959	3174	2027
14218	0.63	194.6	455.9	12.0	1366	14221	0.00	1.60	0.00	0.000	6	0.000	0.037	2966	2268	2027
14539	0.63	194.6	416.0	12.6	1397	14540	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2269	2026
14849	0.63	194.6	377.8	12.4	1427	14850	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2268	2027
15160	0.63	194.6	338.9	12.6	1457	15161	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2269	2027
15470	0.63	194.6	300.8	12.1	1487	15471	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2269	2027
15781	0.63	194.6	263.8	12.1	1517	15784	0.00	1.65	0.00	0.000	4	0.000	0.051	2965	3184	2028
15817	0.63	194.6	259.2	12.5	1520	15825	0.00	1.58	0.00	0.000	6	0.000	0.035	2973	2279	2027
16135	0.63	194.6	219.9	11.5	1551	16138	0.00	1.20	0.00	0.000	4	0.000	0.040	2979	1366	2028
16210	0.63	194.6	211.2	12.0	1558	16213	0.00	1.23	0.00	0.000	6	0.000	0.041	2979	2281	2027
16530	0.63	194.6	170.0	13.0	1589	16531	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2281	2029
16842	0.63	194.6	131.5	11.8	1619	16843	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2281	2029
17151	0.63	194.6	93.9	11.7	1649	17152	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2281	2030
17338	0.63	194.6	73.4	10.5	1667	17338	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2281	2031
17524	0.63	194.6	55.9	8.5	1685	17525	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2281	2032
17710	0.63	196.2	41.9	7.5	1703	17713	0.00	1.20	0.00	0.000	4	0.000	0.037	2985	1367	2032
17743	0.68	235.6	39.4	6.5	1706	17778	0.00	1.20	30.58	0.532	6	0.000	0.037	2984	2276	1878
17963	0.82	354.2	27.2	4.4	1727	18054	0.00	0.00	88.90	0.525	6	0.000	0.000	2984	2276	1396
18240	0.95	454.2	14.1	4.9	1754	18319	0.20	1.25	74.07	0.502	4	0.054	0.035	3088	1358	987
18339	end climb: SURFACE_DEPTH_REACHED
state	18339	begin surface coast
18362	end surface coast: CONTROL_FINISHED_OK
state	18362	begin surface