Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 236 * 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 236 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 850

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2375 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2275 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 575 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -17772.494 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 -17772.494

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 515 ROLL_DEG 25 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3575 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2747 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -4

C_ROLL_CLIMB 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 37 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 236 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 121915,2842.762,-8844.838,39,3.4,58,-0.2 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.234,0.124

_SM_DEPTHo 1.77 KALMAN_X -51387.5,-912.4,-287.4,61001.4,2783.2

_SM_ANGLEo -73.7 KALMAN_Y -263213.5,680.5,532.3,288565.5,-13161.3

GPS2 122543,2842.707,-8844.929,11,1.4,16,-0.2 MHEAD_RNG_PITCHd_Wd 82.9,30786,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1123

Post-dive calculations and measurements:

FINISH 2.1,1.018300 _24V_AH 22.8,41.327

SM_CCo 18693,121.95,0.494,0,0,493,575.22 _10V_AH 10.6,57.352

SM_GC 1.90,0.00,0.00,121.95,0.000,0.000,0.494,204,2384,493,-7.95,0.25,575.22 DATA_FILE_SIZE 94731,1796

IRIDIUM_FIX 2831.00,-8843.89,041099,070758 CAP_FILE_SIZE 163163,0

TT8_MAMPS 0.050622 CFSIZE 260165632,234086400

HUMID 1347 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2191 CURRENT 0.052,154.8,1

TCM_TEMP 23.10 GPS 100710,174101,2842.637,-8841.581,40,1.1,40,-0.2

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 246 112.20 SBE_CT 1229 24 672.84

Roll_motor 69 65 102.97 SBE_O2 1311 19 567.98

VBD_pump_during_apogee 455 1247 12944.25 WL_BBFL2VMT 4036 105 9663.87

VBD_pump_during_surface 121 493 1373.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 64.36 nil 0 0 0.00

Iridium_during_connect 33 160 121.89 nil 0 0 0.00

Iridium_during_xfer 205 223 1043.62

Transponder_ping 4 420 38.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.79

TT8 0 19 0.00

LPSleep 12689 2 294.56

TT8_Active 643 19 135.12

TT8_Sampling 5252 39 2215.88

TT8_CF8 592 45 287.53

TT8_Kalman 33 81 28.91

Analog_circuits 2100 12 267.22

GPS_charging 0 0 0.00

Compass 4698 8 398.39

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -0.63 -194.6 0.0 0.0 0 80 0.00 0.00 -65.35 0.000 2 0.000 0.000 201 2392 2376

82 -0.63 -194.6 3.0 -1.8 6 135 10.30 1.30 -38.53 0.000 4 0.247 0.055 2537 1469 3634

199 -0.63 -194.6 15.7 -21.2 16 202 0.00 1.27 0.00 0.000 6 0.000 0.035 2533 2357 3635

396 -0.63 -194.6 54.8 -16.1 35 397 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2357 3636

582 -0.63 -194.6 81.6 -13.4 53 585 0.00 1.25 0.00 0.000 4 0.000 0.033 2535 1471 3638

656 -0.63 -194.6 91.4 -12.9 60 659 0.00 1.33 0.00 0.000 6 0.000 0.035 2531 2390 3638

853 -0.63 -194.6 117.1 -12.7 79 854 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2391 3638

1163 -0.63 -194.6 158.1 -13.5 109 1166 0.00 1.30 0.00 0.000 4 0.000 0.033 2531 1469 3638

1211 -0.63 -194.6 164.3 -12.5 113 1219 0.00 1.27 0.00 0.000 6 0.000 0.035 2526 2363 3638

1528 -0.63 -194.6 205.1 -13.2 144 1531 0.00 1.50 0.00 0.000 4 0.000 0.046 2518 3267 3638

1564 -0.63 -194.6 210.0 -13.0 147 1571 0.00 1.45 0.00 0.000 6 0.000 0.028 2518 2353 3638

1882 -0.63 -194.6 249.3 -11.2 178 1883 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2353 3636

2191 -0.63 -194.6 283.7 -11.6 208 2192 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2353 3635

2501 -0.63 -194.6 320.5 -11.8 238 2504 0.00 1.20 0.00 0.000 4 0.000 0.036 2518 1493 3632

2526 -0.63 -194.6 323.6 -11.9 240 2535 0.12 1.33 0.00 0.000 6 0.141 0.038 2544 2391 3632

2843 -0.63 -194.6 354.7 -9.8 271 2844 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2391 3631

3153 -0.63 -194.6 384.0 -9.5 301 3156 0.00 1.30 0.00 0.000 4 0.000 0.037 2544 1487 3628

3228 -0.63 -194.6 391.1 -9.8 308 3232 0.00 1.27 0.00 0.000 6 0.000 0.041 2541 2361 3628

3550 -0.63 -194.6 421.6 -9.6 339 3551 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2362 3625

3859 -0.63 -194.6 451.2 -9.6 369 3860 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2362 3623

4170 -0.63 -194.6 480.6 -9.4 399 4171 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2362 3621

4480 -0.63 -194.6 510.7 -9.6 429 4481 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2362 3619

4791 -0.63 -194.6 540.4 -9.7 459 4794 0.00 1.25 0.00 0.000 4 0.000 0.041 2541 1502 3616

4855 -0.63 -194.6 546.4 -9.8 465 4858 0.00 1.30 0.00 0.000 6 0.000 0.045 2536 2374 3615

5177 -0.63 -194.6 577.5 -9.8 496 5178 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2374 3614

5486 -0.63 -194.6 608.4 -10.1 526 5489 0.00 1.30 0.00 0.000 4 0.000 0.043 2536 1492 3612

5532 -0.63 -194.6 613.2 -9.9 530 5540 0.00 1.35 0.00 0.000 6 0.000 0.045 2530 2385 3611

5851 -0.63 -194.6 644.1 -9.3 561 5852 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2385 3609

6160 -0.63 -194.6 673.1 -9.2 591 6163 0.00 1.30 0.00 0.000 4 0.000 0.043 2530 1508 3607

6192 -0.63 -194.6 676.2 -9.9 594 6195 0.00 1.27 0.00 0.000 6 0.000 0.047 2525 2360 3607

6514 -0.63 -194.6 707.3 -9.9 625 6515 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2360 3606

6823 -0.63 -194.6 738.1 -10.2 655 6824 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2360 3604

7133 -0.63 -194.6 769.2 -10.3 685 7134 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2360 3603

7444 -0.63 -194.6 800.7 -10.1 715 7445 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2360 3601

7754 -0.63 -194.6 832.0 -9.8 745 7757 0.00 1.27 0.00 0.000 4 0.000 0.044 2525 1498 3599

7807 -0.63 -194.6 837.3 -10.0 750 7811 0.00 1.33 0.00 0.000 6 0.000 0.048 2519 2374 3599

8129 -0.63 -194.6 870.8 -10.4 781 8132 0.00 1.30 0.00 0.000 4 0.000 0.044 2519 1506 3598

8186 -0.63 -194.6 877.0 -10.9 786 8194 0.12 1.35 0.00 0.000 6 0.146 0.048 2545 2386 3597

8503 -0.63 -194.6 903.4 -8.3 817 8503 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2387 3596

8815 -0.63 -194.6 928.1 -8.1 847 8815 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2387 3595

9123 -0.63 -194.6 951.9 -7.7 877 9124 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2387 3594

9435 -0.63 -194.6 975.1 -7.4 907 9438 0.00 1.33 0.00 0.000 4 0.000 0.045 2545 1500 3593

9478 -0.63 -194.6 978.3 -7.7 911 9481 0.00 1.30 0.00 0.000 6 0.000 0.050 2542 2362 3593

9633 end dive: TARGET_DEPTH_EXCEEDED

state 9633 begin apogee

9637 -0.25 0.0 990.6 7.9 926 9796 0.40 0.00 152.25 1.247 6 0.130 0.000 2662 2299 2839

9797 end apogee: CONTROL_FINISHED_OK

state 9797 begin climb

9799 0.63 194.6 995.0 0.0 942 9976 0.88 1.45 169.40 1.215 4 0.100 0.049 2946 1372 2046

10002 0.63 194.6 978.5 12.2 960 10010 0.00 1.35 0.00 0.000 6 0.000 0.044 2946 2274 2041

10320 0.63 194.6 940.6 12.1 991 10321 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2274 2035

10629 0.63 194.6 903.9 11.8 1021 10632 0.00 1.62 0.00 0.000 4 0.000 0.055 2946 3174 2033

10661 0.63 194.6 899.8 12.5 1024 10664 0.00 1.58 0.00 0.000 6 0.000 0.038 2953 2280 2032

10982 0.63 194.6 861.4 11.7 1055 10985 0.00 1.20 0.00 0.000 4 0.000 0.044 2959 1377 2032

11025 0.63 194.6 856.4 12.1 1059 11027 0.00 1.23 0.00 0.000 6 0.000 0.045 2959 2276 2031

11345 0.63 194.6 817.6 12.0 1090 11348 0.00 1.23 0.00 0.000 4 0.000 0.044 2964 1375 2030

11377 0.63 194.6 813.7 12.0 1093 11380 0.00 1.23 0.00 0.000 6 0.000 0.045 2964 2274 2030

11698 0.63 194.6 773.8 12.6 1124 11698 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2274 2030

12008 0.63 194.6 735.5 12.7 1154 12011 0.00 1.23 0.00 0.000 4 0.000 0.044 2970 1365 2029

12045 0.63 194.6 730.9 12.1 1157 12053 0.00 1.25 0.00 0.000 6 0.000 0.044 2969 2281 2029

12362 0.63 194.6 690.6 12.9 1188 12363 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2281 2029

12672 0.63 194.6 650.9 13.0 1218 12675 0.00 1.23 0.00 0.000 4 0.000 0.044 2974 1376 2029

12697 0.63 194.6 647.5 11.9 1220 12704 0.00 1.25 0.00 0.000 6 0.000 0.044 2974 2279 2028

13015 0.63 194.6 605.6 13.3 1251 13015 0.00 0.00 0.00 0.000 6 0.000 0.000 2975 2279 2029

13325 0.63 194.6 564.7 12.9 1281 13325 0.00 0.00 0.00 0.000 6 0.000 0.000 2975 2279 2028

13634 0.63 194.6 525.0 12.7 1311 13637 0.00 1.23 0.00 0.000 4 0.000 0.042 2980 1373 2028

13667 0.63 194.6 521.0 11.2 1314 13670 0.08 1.23 0.00 0.000 6 0.143 0.044 2956 2277 2028

13987 0.63 194.6 484.2 11.5 1345 13990 0.00 1.62 0.00 0.000 4 0.000 0.054 2955 3164 2028

14013 0.63 194.6 481.4 12.4 1347 14020 0.00 1.58 0.00 0.000 6 0.000 0.036 2961 2271 2027

14331 0.63 194.6 444.4 11.6 1378 14332 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2272 2027

14640 0.63 194.6 408.1 11.5 1408 14643 0.00 1.62 0.00 0.000 4 0.000 0.053 2962 3169 2027

14665 0.63 194.6 405.0 11.1 1410 14672 0.00 1.58 0.00 0.000 6 0.000 0.036 2969 2273 2027

14983 0.63 194.6 367.1 11.6 1441 14986 0.00 1.17 0.00 0.000 4 0.000 0.042 2974 1372 2027

15025 0.63 194.6 362.1 11.7 1445 15028 0.00 1.23 0.00 0.000 6 0.000 0.042 2975 2277 2027

15346 0.63 194.6 321.8 12.9 1476 15346 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2278 2027

15656 0.63 194.6 281.3 12.9 1506 15659 0.00 1.60 0.00 0.000 4 0.000 0.052 2975 3183 2028

15688 0.63 194.6 276.9 13.5 1509 15692 0.12 1.58 0.00 0.000 6 0.150 0.035 2951 2273 2028

16009 0.63 194.6 242.8 9.8 1540 16012 0.00 1.17 0.00 0.000 4 0.000 0.041 2955 1374 2027

16067 0.63 194.6 236.8 10.2 1545 16075 0.00 1.20 0.00 0.000 6 0.000 0.041 2955 2272 2028

16384 0.63 194.6 203.6 10.8 1576 16385 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2272 2028

16694 0.63 194.6 171.2 10.0 1606 16695 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2272 2029

17004 0.63 194.6 139.3 9.7 1636 17005 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2272 2030

17315 0.63 194.6 109.7 8.9 1666 17316 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2272 2031

17625 0.63 194.6 80.6 9.1 1696 17625 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2272 2032

17811 0.63 194.6 65.3 7.7 1714 17812 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2272 2032

17997 0.69 245.2 52.4 6.2 1732 18040 0.00 0.00 37.65 0.545 6 0.000 0.000 2955 2272 1841

18225 0.74 286.0 37.7 6.4 1754 18260 0.00 1.17 32.15 0.526 4 0.000 0.035 2960 1367 1671

18287 0.84 370.5 34.1 5.3 1759 18355 0.12 1.23 63.78 0.525 6 0.047 0.035 3033 2276 1329

18538 0.84 370.5 11.5 8.0 1783 18541 0.00 1.20 0.00 0.000 4 0.000 0.035 3039 1371 1321

18643 end climb: SURFACE_DEPTH_REACHED

state 18643 begin surface coast

18677 end surface coast: CONTROL_FINISHED_OK

state 18677 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	236	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	850
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2375	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2275	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	575	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-17772.494	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	121915,2842.762,-8844.838,39,3.4,58,-0.2	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.234,0.124
_SM_DEPTHo	1.77	KALMAN_X	-51387.5,-912.4,-287.4,61001.4,2783.2
_SM_ANGLEo	-73.7	KALMAN_Y	-263213.5,680.5,532.3,288565.5,-13161.3
GPS2	122543,2842.707,-8844.929,11,1.4,16,-0.2	MHEAD_RNG_PITCHd_Wd	82.9,30786,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1123

FINISH	2.1,1.018300	_24V_AH	22.8,41.327
SM_CCo	18693,121.95,0.494,0,0,493,575.22	_10V_AH	10.6,57.352
SM_GC	1.90,0.00,0.00,121.95,0.000,0.000,0.494,204,2384,493,-7.95,0.25,575.22	DATA_FILE_SIZE	94731,1796
IRIDIUM_FIX	2831.00,-8843.89,041099,070758	CAP_FILE_SIZE	163163,0
TT8_MAMPS	0.050622	CFSIZE	260165632,234086400
HUMID	1347	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2191	CURRENT	0.052,154.8,1
TCM_TEMP	23.10	GPS	100710,174101,2842.637,-8841.581,40,1.1,40,-0.2
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	246	112.20	SBE_CT	1229	24	672.84
Roll_motor	69	65	102.97	SBE_O2	1311	19	567.98
VBD_pump_during_apogee	455	1247	12944.25	WL_BBFL2VMT	4036	105	9663.87
VBD_pump_during_surface	121	493	1373.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	64.36	nil	0	0	0.00
Iridium_during_connect	33	160	121.89	nil	0	0	0.00
Iridium_during_xfer	205	223	1043.62
Transponder_ping	4	420	38.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.79
TT8	0	19	0.00
LPSleep	12689	2	294.56
TT8_Active	643	19	135.12
TT8_Sampling	5252	39	2215.88
TT8_CF8	592	45	287.53
TT8_Kalman	33	81	28.91
Analog_circuits	2100	12	267.22
GPS_charging	0	0	0.00
Compass	4698	8	398.39
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-0.63	-194.6	0.0	0.0	0	80	0.00	0.00	-65.35	0.000	2	0.000	0.000	201	2392	2376
82	-0.63	-194.6	3.0	-1.8	6	135	10.30	1.30	-38.53	0.000	4	0.247	0.055	2537	1469	3634
199	-0.63	-194.6	15.7	-21.2	16	202	0.00	1.27	0.00	0.000	6	0.000	0.035	2533	2357	3635
396	-0.63	-194.6	54.8	-16.1	35	397	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2357	3636
582	-0.63	-194.6	81.6	-13.4	53	585	0.00	1.25	0.00	0.000	4	0.000	0.033	2535	1471	3638
656	-0.63	-194.6	91.4	-12.9	60	659	0.00	1.33	0.00	0.000	6	0.000	0.035	2531	2390	3638
853	-0.63	-194.6	117.1	-12.7	79	854	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2391	3638
1163	-0.63	-194.6	158.1	-13.5	109	1166	0.00	1.30	0.00	0.000	4	0.000	0.033	2531	1469	3638
1211	-0.63	-194.6	164.3	-12.5	113	1219	0.00	1.27	0.00	0.000	6	0.000	0.035	2526	2363	3638
1528	-0.63	-194.6	205.1	-13.2	144	1531	0.00	1.50	0.00	0.000	4	0.000	0.046	2518	3267	3638
1564	-0.63	-194.6	210.0	-13.0	147	1571	0.00	1.45	0.00	0.000	6	0.000	0.028	2518	2353	3638
1882	-0.63	-194.6	249.3	-11.2	178	1883	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2353	3636
2191	-0.63	-194.6	283.7	-11.6	208	2192	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2353	3635
2501	-0.63	-194.6	320.5	-11.8	238	2504	0.00	1.20	0.00	0.000	4	0.000	0.036	2518	1493	3632
2526	-0.63	-194.6	323.6	-11.9	240	2535	0.12	1.33	0.00	0.000	6	0.141	0.038	2544	2391	3632
2843	-0.63	-194.6	354.7	-9.8	271	2844	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2391	3631
3153	-0.63	-194.6	384.0	-9.5	301	3156	0.00	1.30	0.00	0.000	4	0.000	0.037	2544	1487	3628
3228	-0.63	-194.6	391.1	-9.8	308	3232	0.00	1.27	0.00	0.000	6	0.000	0.041	2541	2361	3628
3550	-0.63	-194.6	421.6	-9.6	339	3551	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2362	3625
3859	-0.63	-194.6	451.2	-9.6	369	3860	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2362	3623
4170	-0.63	-194.6	480.6	-9.4	399	4171	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2362	3621
4480	-0.63	-194.6	510.7	-9.6	429	4481	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2362	3619
4791	-0.63	-194.6	540.4	-9.7	459	4794	0.00	1.25	0.00	0.000	4	0.000	0.041	2541	1502	3616
4855	-0.63	-194.6	546.4	-9.8	465	4858	0.00	1.30	0.00	0.000	6	0.000	0.045	2536	2374	3615
5177	-0.63	-194.6	577.5	-9.8	496	5178	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2374	3614
5486	-0.63	-194.6	608.4	-10.1	526	5489	0.00	1.30	0.00	0.000	4	0.000	0.043	2536	1492	3612
5532	-0.63	-194.6	613.2	-9.9	530	5540	0.00	1.35	0.00	0.000	6	0.000	0.045	2530	2385	3611
5851	-0.63	-194.6	644.1	-9.3	561	5852	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2385	3609
6160	-0.63	-194.6	673.1	-9.2	591	6163	0.00	1.30	0.00	0.000	4	0.000	0.043	2530	1508	3607
6192	-0.63	-194.6	676.2	-9.9	594	6195	0.00	1.27	0.00	0.000	6	0.000	0.047	2525	2360	3607
6514	-0.63	-194.6	707.3	-9.9	625	6515	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2360	3606
6823	-0.63	-194.6	738.1	-10.2	655	6824	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2360	3604
7133	-0.63	-194.6	769.2	-10.3	685	7134	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2360	3603
7444	-0.63	-194.6	800.7	-10.1	715	7445	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2360	3601
7754	-0.63	-194.6	832.0	-9.8	745	7757	0.00	1.27	0.00	0.000	4	0.000	0.044	2525	1498	3599
7807	-0.63	-194.6	837.3	-10.0	750	7811	0.00	1.33	0.00	0.000	6	0.000	0.048	2519	2374	3599
8129	-0.63	-194.6	870.8	-10.4	781	8132	0.00	1.30	0.00	0.000	4	0.000	0.044	2519	1506	3598
8186	-0.63	-194.6	877.0	-10.9	786	8194	0.12	1.35	0.00	0.000	6	0.146	0.048	2545	2386	3597
8503	-0.63	-194.6	903.4	-8.3	817	8503	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2387	3596
8815	-0.63	-194.6	928.1	-8.1	847	8815	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2387	3595
9123	-0.63	-194.6	951.9	-7.7	877	9124	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2387	3594
9435	-0.63	-194.6	975.1	-7.4	907	9438	0.00	1.33	0.00	0.000	4	0.000	0.045	2545	1500	3593
9478	-0.63	-194.6	978.3	-7.7	911	9481	0.00	1.30	0.00	0.000	6	0.000	0.050	2542	2362	3593
9633	end dive: TARGET_DEPTH_EXCEEDED
state	9633	begin apogee
9637	-0.25	0.0	990.6	7.9	926	9796	0.40	0.00	152.25	1.247	6	0.130	0.000	2662	2299	2839
9797	end apogee: CONTROL_FINISHED_OK
state	9797	begin climb
9799	0.63	194.6	995.0	0.0	942	9976	0.88	1.45	169.40	1.215	4	0.100	0.049	2946	1372	2046
10002	0.63	194.6	978.5	12.2	960	10010	0.00	1.35	0.00	0.000	6	0.000	0.044	2946	2274	2041
10320	0.63	194.6	940.6	12.1	991	10321	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2274	2035
10629	0.63	194.6	903.9	11.8	1021	10632	0.00	1.62	0.00	0.000	4	0.000	0.055	2946	3174	2033
10661	0.63	194.6	899.8	12.5	1024	10664	0.00	1.58	0.00	0.000	6	0.000	0.038	2953	2280	2032
10982	0.63	194.6	861.4	11.7	1055	10985	0.00	1.20	0.00	0.000	4	0.000	0.044	2959	1377	2032
11025	0.63	194.6	856.4	12.1	1059	11027	0.00	1.23	0.00	0.000	6	0.000	0.045	2959	2276	2031
11345	0.63	194.6	817.6	12.0	1090	11348	0.00	1.23	0.00	0.000	4	0.000	0.044	2964	1375	2030
11377	0.63	194.6	813.7	12.0	1093	11380	0.00	1.23	0.00	0.000	6	0.000	0.045	2964	2274	2030
11698	0.63	194.6	773.8	12.6	1124	11698	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2274	2030
12008	0.63	194.6	735.5	12.7	1154	12011	0.00	1.23	0.00	0.000	4	0.000	0.044	2970	1365	2029
12045	0.63	194.6	730.9	12.1	1157	12053	0.00	1.25	0.00	0.000	6	0.000	0.044	2969	2281	2029
12362	0.63	194.6	690.6	12.9	1188	12363	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2281	2029
12672	0.63	194.6	650.9	13.0	1218	12675	0.00	1.23	0.00	0.000	4	0.000	0.044	2974	1376	2029
12697	0.63	194.6	647.5	11.9	1220	12704	0.00	1.25	0.00	0.000	6	0.000	0.044	2974	2279	2028
13015	0.63	194.6	605.6	13.3	1251	13015	0.00	0.00	0.00	0.000	6	0.000	0.000	2975	2279	2029
13325	0.63	194.6	564.7	12.9	1281	13325	0.00	0.00	0.00	0.000	6	0.000	0.000	2975	2279	2028
13634	0.63	194.6	525.0	12.7	1311	13637	0.00	1.23	0.00	0.000	4	0.000	0.042	2980	1373	2028
13667	0.63	194.6	521.0	11.2	1314	13670	0.08	1.23	0.00	0.000	6	0.143	0.044	2956	2277	2028
13987	0.63	194.6	484.2	11.5	1345	13990	0.00	1.62	0.00	0.000	4	0.000	0.054	2955	3164	2028
14013	0.63	194.6	481.4	12.4	1347	14020	0.00	1.58	0.00	0.000	6	0.000	0.036	2961	2271	2027
14331	0.63	194.6	444.4	11.6	1378	14332	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2272	2027
14640	0.63	194.6	408.1	11.5	1408	14643	0.00	1.62	0.00	0.000	4	0.000	0.053	2962	3169	2027
14665	0.63	194.6	405.0	11.1	1410	14672	0.00	1.58	0.00	0.000	6	0.000	0.036	2969	2273	2027
14983	0.63	194.6	367.1	11.6	1441	14986	0.00	1.17	0.00	0.000	4	0.000	0.042	2974	1372	2027
15025	0.63	194.6	362.1	11.7	1445	15028	0.00	1.23	0.00	0.000	6	0.000	0.042	2975	2277	2027
15346	0.63	194.6	321.8	12.9	1476	15346	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2278	2027
15656	0.63	194.6	281.3	12.9	1506	15659	0.00	1.60	0.00	0.000	4	0.000	0.052	2975	3183	2028
15688	0.63	194.6	276.9	13.5	1509	15692	0.12	1.58	0.00	0.000	6	0.150	0.035	2951	2273	2028
16009	0.63	194.6	242.8	9.8	1540	16012	0.00	1.17	0.00	0.000	4	0.000	0.041	2955	1374	2027
16067	0.63	194.6	236.8	10.2	1545	16075	0.00	1.20	0.00	0.000	6	0.000	0.041	2955	2272	2028
16384	0.63	194.6	203.6	10.8	1576	16385	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2272	2028
16694	0.63	194.6	171.2	10.0	1606	16695	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2272	2029
17004	0.63	194.6	139.3	9.7	1636	17005	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2272	2030
17315	0.63	194.6	109.7	8.9	1666	17316	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2272	2031
17625	0.63	194.6	80.6	9.1	1696	17625	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2272	2032
17811	0.63	194.6	65.3	7.7	1714	17812	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2272	2032
17997	0.69	245.2	52.4	6.2	1732	18040	0.00	0.00	37.65	0.545	6	0.000	0.000	2955	2272	1841
18225	0.74	286.0	37.7	6.4	1754	18260	0.00	1.17	32.15	0.526	4	0.000	0.035	2960	1367	1671
18287	0.84	370.5	34.1	5.3	1759	18355	0.12	1.23	63.78	0.525	6	0.047	0.035	3033	2276	1329
18538	0.84	370.5	11.5	8.0	1783	18541	0.00	1.20	0.00	0.000	4	0.000	0.035	3039	1371	1321
18643	end climb: SURFACE_DEPTH_REACHED
state	18643	begin surface coast
18677	end surface coast: CONTROL_FINISHED_OK
state	18677	begin surface