Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 240 * 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 240 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 850

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2375 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2275 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 575 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 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 -17839.627 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 -17839.627

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 515 ROLL_DEG 25 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3575 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2747 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -4

C_ROLL_CLIMB 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 28 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 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 240 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 094407,2843.201,-8830.626,37,1.0,37,-0.4 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 10 TGT_RADIUS 2000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.175,0.199

_SM_DEPTHo 1.75 KALMAN_X -53117.3,22.6,223.6,84530.4,-282.9

_SM_ANGLEo -70.8 KALMAN_Y -273548.2,255.4,420.9,300279.6,-8090.8

GPS2 095126,2843.169,-8830.637,16,1.6,16,-0.4 MHEAD_RNG_PITCHd_Wd 63.1,7572,-11.5,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1276

Post-dive calculations and measurements:

FINISH 1.9,1.018730 _24V_AH 22.8,41.989

SM_CCo 18735,120.68,0.479,0,0,495,575.22 _10V_AH 10.6,58.269

SM_GC 1.77,0.00,0.00,120.68,0.000,0.000,0.479,207,2352,495,-7.94,-0.65,575.22 DATA_FILE_SIZE 94520,1800

IRIDIUM_FIX 2831.00,-8836.47,051099,040429 CAP_FILE_SIZE 164126,0

TT8_MAMPS 0.050622 CFSIZE 260165632,233725952

HUMID 1340 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2777 CURRENT 0.130,155.3,1

TCM_TEMP 24.70 GPS 110710,150725,2843.373,-8827.357,39,1.5,39,-0.4

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 116.06 SBE_CT 1230 24 673.38

Roll_motor 66 60 92.15 SBE_O2 1315 19 569.81

VBD_pump_during_apogee 445 1244 12635.85 WL_BBFL2VMT 4045 105 9685.93

VBD_pump_during_surface 120 479 1318.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.56 nil 0 0 0.00

Iridium_during_connect 31 160 113.78 nil 0 0 0.00

Iridium_during_xfer 250 223 1274.98

Transponder_ping 4 420 43.09

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.86

TT8 0 19 0.00

LPSleep 12656 2 293.80

TT8_Active 638 19 133.91

TT8_Sampling 5324 39 2246.33

TT8_CF8 648 45 314.97

TT8_Kalman 33 81 28.91

Analog_circuits 2119 12 269.58

GPS_charging 0 0 0.00

Compass 4775 8 404.96

RAFOS 0 0 0.00

Transponder 30 30 9.67

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 -178.3 0.0 0.0 0 58 0.00 0.00 -43.12 0.000 2 0.000 0.000 206 2395 1764

60 -0.65 -194.6 3.2 -4.3 4 132 10.50 0.00 -57.45 0.000 6 0.254 0.000 2533 2395 3633

318 -0.65 -194.6 46.8 -19.2 28 321 0.00 1.42 0.00 0.000 4 0.000 0.043 2527 3250 3634

354 -0.65 -194.6 52.6 -15.5 31 361 0.00 1.45 0.00 0.000 6 0.000 0.026 2527 2353 3634

546 -0.65 -194.6 80.0 -12.8 50 549 0.00 1.20 0.00 0.000 4 0.000 0.034 2527 1482 3635

636 -0.65 -194.6 92.1 -13.2 58 643 0.00 1.25 0.00 0.000 6 0.000 0.035 2522 2359 3635

828 -0.65 -194.6 117.0 -13.6 77 829 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2359 3637

1139 -0.65 -194.6 156.5 -12.5 107 1140 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2359 3637

1449 -0.65 -194.6 195.8 -12.0 137 1452 0.00 1.50 0.00 0.000 4 0.000 0.047 2515 3256 3636

1495 -0.65 -194.6 201.8 -12.4 141 1503 0.00 1.45 0.00 0.000 6 0.000 0.028 2515 2354 3636

1814 -0.65 -194.6 240.6 -12.7 172 1815 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2354 3635

2122 -0.65 -194.6 278.6 -11.9 202 2125 0.00 1.20 0.00 0.000 4 0.000 0.037 2515 1493 3633

2155 -0.65 -194.6 282.5 -12.1 205 2158 0.00 1.27 0.00 0.000 6 0.000 0.038 2509 2375 3633

2477 -0.65 -194.6 322.1 -12.2 236 2478 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2375 3632

2787 -0.65 -194.6 360.2 -11.6 266 2790 0.00 1.27 0.00 0.000 4 0.000 0.038 2509 1495 3629

2844 -0.65 -194.6 367.1 -11.8 271 2852 0.12 1.30 0.00 0.000 6 0.140 0.039 2536 2372 3629

3161 -0.65 -194.6 398.1 -9.5 302 3164 0.00 1.48 0.00 0.000 4 0.000 0.051 2531 3251 3628

3197 -0.65 -194.6 401.7 -10.0 305 3204 0.00 1.40 0.00 0.000 6 0.000 0.031 2531 2372 3627

3514 -0.65 -194.6 433.3 -10.2 336 3515 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2373 3625

3824 -0.65 -194.6 465.3 -9.8 366 3827 0.00 1.25 0.00 0.000 4 0.000 0.040 2531 1503 3623

3866 -0.65 -194.6 469.6 -9.8 370 3870 0.00 1.27 0.00 0.000 6 0.000 0.041 2525 2370 3623

4188 -0.65 -194.6 504.0 -10.8 401 4189 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2371 3620

4498 -0.65 -194.6 537.3 -10.4 431 4499 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2371 3618

4808 -0.65 -194.6 569.9 -10.0 461 4811 0.00 1.27 0.00 0.000 4 0.000 0.042 2525 1507 3615

4866 -0.65 -194.6 576.3 -10.0 466 4873 0.00 1.27 0.00 0.000 6 0.000 0.043 2519 2366 3615

5183 -0.65 -194.6 609.8 -10.7 497 5184 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2366 3613

5493 -0.65 -194.6 642.3 -10.6 527 5494 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2366 3610

5803 -0.65 -194.6 674.7 -10.6 557 5804 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2366 3609

6114 -0.65 -194.6 707.7 -10.3 587 6115 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2366 3607

6424 -0.65 -194.6 739.0 -9.8 617 6424 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2366 3604

6734 -0.65 -194.6 769.9 -10.2 647 6735 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2366 3603

7045 -0.65 -194.6 800.5 -9.8 677 7046 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2366 3602

7355 -0.65 -194.6 831.4 -9.7 707 7358 0.00 1.27 0.00 0.000 4 0.000 0.046 2520 1512 3600

7408 -0.65 -194.6 836.2 -9.6 712 7412 0.00 1.30 0.00 0.000 6 0.000 0.047 2514 2375 3600

7729 -0.65 -194.6 867.9 -9.9 743 7730 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2375 3598

8039 -0.65 -194.6 898.2 -9.5 773 8043 0.00 1.30 0.00 0.000 4 0.000 0.045 2514 1503 3597

8114 -0.65 -194.6 905.2 -9.4 780 8117 0.00 1.33 0.00 0.000 6 0.000 0.048 2508 2375 3596

8435 -0.65 -194.6 936.9 -10.3 811 8438 0.00 1.30 0.00 0.000 4 0.000 0.046 2508 1509 3595

8509 -0.65 -194.6 944.6 -9.5 818 8513 0.10 1.33 0.00 0.000 6 0.141 0.048 2534 2378 3594

8830 -0.65 -194.6 971.7 -8.2 849 8833 0.00 1.55 0.00 0.000 4 0.000 0.061 2529 3265 3593

8873 -0.65 -194.6 975.4 -8.5 853 8876 0.00 1.45 0.00 0.000 6 0.000 0.038 2529 2390 3593

9048 end dive: TARGET_DEPTH_EXCEEDED

state 9048 begin apogee

9053 -0.25 0.0 990.3 8.5 870 9211 0.45 0.00 152.90 1.244 6 0.132 0.000 2663 2285 2839

9211 end apogee: CONTROL_FINISHED_OK

state 9211 begin climb

9213 0.65 194.6 994.6 0.0 886 9391 0.93 0.00 169.82 1.211 6 0.103 0.000 2949 2284 2045

9700 0.65 194.6 943.7 11.9 934 9701 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2285 2034

10011 0.65 194.6 907.2 11.3 964 10014 0.00 1.25 0.00 0.000 4 0.000 0.044 2954 1358 2032

10086 0.65 194.6 898.5 12.0 971 10089 0.00 1.25 0.00 0.000 6 0.000 0.044 2954 2274 2032

10407 0.65 194.6 859.6 11.8 1002 10411 0.00 1.23 0.00 0.000 4 0.000 0.044 2960 1361 2031

10454 0.65 194.6 853.8 12.4 1006 10461 0.00 1.27 0.00 0.000 6 0.000 0.044 2960 2279 2031

10772 0.65 194.6 814.8 11.8 1037 10776 0.00 1.23 0.00 0.000 4 0.000 0.044 2965 1372 2030

10804 0.65 194.6 810.7 12.1 1040 10807 0.00 1.23 0.00 0.000 6 0.000 0.044 2965 2272 2030

11125 0.65 194.6 771.1 12.5 1071 11125 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2273 2029

11435 0.65 194.6 733.2 12.4 1101 11436 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2273 2029

11746 0.65 194.6 697.0 11.7 1131 11747 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2273 2029

12056 0.65 194.6 658.9 12.1 1161 12057 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2273 2028

12367 0.65 194.6 622.4 11.3 1191 12368 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2273 2028

12677 0.65 194.6 586.0 11.4 1221 12680 0.00 1.20 0.00 0.000 4 0.000 0.044 2970 1374 2028

12720 0.65 194.6 581.0 11.8 1225 12723 0.00 1.23 0.00 0.000 6 0.000 0.044 2970 2278 2028

13040 0.65 194.6 543.1 12.0 1256 13041 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2027

13351 0.65 194.6 506.1 11.8 1286 13352 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2027

13661 0.65 194.6 469.0 12.0 1316 13662 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2278 2027

13972 0.65 194.6 431.3 11.9 1346 13975 0.00 1.23 0.00 0.000 4 0.000 0.043 2975 1365 2027

14008 0.65 194.6 426.8 12.3 1349 14015 0.00 1.23 0.00 0.000 6 0.000 0.041 2975 2274 2027

14325 0.65 194.6 388.2 12.0 1380 14329 0.00 1.62 0.00 0.000 4 0.000 0.052 2975 3165 2027

14357 0.65 194.6 383.9 13.0 1383 14360 0.00 1.58 0.00 0.000 6 0.000 0.036 2982 2274 2027

14679 0.65 194.6 342.0 12.8 1414 14682 0.00 1.17 0.00 0.000 4 0.000 0.042 2988 1371 2027

14715 0.65 194.6 337.1 12.1 1417 14723 0.12 1.25 0.00 0.000 6 0.151 0.041 2956 2282 2028

15032 0.65 194.6 303.8 10.7 1448 15033 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2282 2027

15343 0.65 194.6 270.5 10.4 1478 15343 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2282 2027

15653 0.65 194.6 237.9 10.1 1508 15654 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2282 2028

15963 0.65 194.6 206.0 10.6 1538 15966 0.00 1.23 0.00 0.000 4 0.000 0.040 2961 1359 2029

16021 0.65 194.6 200.0 10.7 1543 16028 0.00 1.25 0.00 0.000 6 0.000 0.038 2960 2280 2028

16339 0.65 194.6 166.7 10.4 1574 16339 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2280 2029

16649 0.65 194.6 134.5 10.3 1604 16650 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2280 2030

16958 0.65 194.6 103.6 9.6 1634 16961 0.00 1.60 0.00 0.000 4 0.000 0.048 2960 3175 2031

16980 0.65 194.6 101.2 10.7 1636 16983 0.00 1.58 0.00 0.000 6 0.000 0.031 2968 2265 2031

17302 0.65 194.6 68.7 9.9 1667 17305 0.00 1.12 0.00 0.000 4 0.000 0.036 2973 1370 2032

17402 0.65 194.6 60.0 8.9 1676 17410 0.00 1.20 0.00 0.000 6 0.000 0.035 2973 2281 2033

17594 0.65 194.6 45.3 7.7 1695 17597 0.00 1.58 0.00 0.000 4 0.000 0.046 2973 3168 2033

17651 0.65 194.6 40.8 7.5 1700 17660 0.00 1.52 0.00 0.000 6 0.000 0.029 2981 2276 2033

17845 0.71 239.5 28.6 6.2 1719 17882 0.00 1.20 33.62 0.517 4 0.000 0.035 2986 1363 1862

17914 0.83 343.1 25.6 4.5 1725 17997 0.00 1.20 77.22 0.518 6 0.000 0.035 2986 2272 1442

18182 0.85 357.4 9.2 7.1 1750 18198 0.10 1.62 11.90 0.457 4 0.085 0.044 3027 3165 1381

18293 end climb: SURFACE_DEPTH_REACHED

state 18294 begin surface coast

18720 end surface coast: CONTROL_FINISHED_OK

state 18720 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	240	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	850
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2375	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2275	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	575	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	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	-17839.627	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	094407,2843.201,-8830.626,37,1.0,37,-0.4	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	10	TGT_RADIUS	2000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.175,0.199
_SM_DEPTHo	1.75	KALMAN_X	-53117.3,22.6,223.6,84530.4,-282.9
_SM_ANGLEo	-70.8	KALMAN_Y	-273548.2,255.4,420.9,300279.6,-8090.8
GPS2	095126,2843.169,-8830.637,16,1.6,16,-0.4	MHEAD_RNG_PITCHd_Wd	63.1,7572,-11.5,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1276

FINISH	1.9,1.018730	_24V_AH	22.8,41.989
SM_CCo	18735,120.68,0.479,0,0,495,575.22	_10V_AH	10.6,58.269
SM_GC	1.77,0.00,0.00,120.68,0.000,0.000,0.479,207,2352,495,-7.94,-0.65,575.22	DATA_FILE_SIZE	94520,1800
IRIDIUM_FIX	2831.00,-8836.47,051099,040429	CAP_FILE_SIZE	164126,0
TT8_MAMPS	0.050622	CFSIZE	260165632,233725952
HUMID	1340	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2777	CURRENT	0.130,155.3,1
TCM_TEMP	24.70	GPS	110710,150725,2843.373,-8827.357,39,1.5,39,-0.4
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	116.06	SBE_CT	1230	24	673.38
Roll_motor	66	60	92.15	SBE_O2	1315	19	569.81
VBD_pump_during_apogee	445	1244	12635.85	WL_BBFL2VMT	4045	105	9685.93
VBD_pump_during_surface	120	479	1318.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.56	nil	0	0	0.00
Iridium_during_connect	31	160	113.78	nil	0	0	0.00
Iridium_during_xfer	250	223	1274.98
Transponder_ping	4	420	43.09
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.86
TT8	0	19	0.00
LPSleep	12656	2	293.80
TT8_Active	638	19	133.91
TT8_Sampling	5324	39	2246.33
TT8_CF8	648	45	314.97
TT8_Kalman	33	81	28.91
Analog_circuits	2119	12	269.58
GPS_charging	0	0	0.00
Compass	4775	8	404.96
RAFOS	0	0	0.00
Transponder	30	30	9.67

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	-178.3	0.0	0.0	0	58	0.00	0.00	-43.12	0.000	2	0.000	0.000	206	2395	1764
60	-0.65	-194.6	3.2	-4.3	4	132	10.50	0.00	-57.45	0.000	6	0.254	0.000	2533	2395	3633
318	-0.65	-194.6	46.8	-19.2	28	321	0.00	1.42	0.00	0.000	4	0.000	0.043	2527	3250	3634
354	-0.65	-194.6	52.6	-15.5	31	361	0.00	1.45	0.00	0.000	6	0.000	0.026	2527	2353	3634
546	-0.65	-194.6	80.0	-12.8	50	549	0.00	1.20	0.00	0.000	4	0.000	0.034	2527	1482	3635
636	-0.65	-194.6	92.1	-13.2	58	643	0.00	1.25	0.00	0.000	6	0.000	0.035	2522	2359	3635
828	-0.65	-194.6	117.0	-13.6	77	829	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2359	3637
1139	-0.65	-194.6	156.5	-12.5	107	1140	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2359	3637
1449	-0.65	-194.6	195.8	-12.0	137	1452	0.00	1.50	0.00	0.000	4	0.000	0.047	2515	3256	3636
1495	-0.65	-194.6	201.8	-12.4	141	1503	0.00	1.45	0.00	0.000	6	0.000	0.028	2515	2354	3636
1814	-0.65	-194.6	240.6	-12.7	172	1815	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2354	3635
2122	-0.65	-194.6	278.6	-11.9	202	2125	0.00	1.20	0.00	0.000	4	0.000	0.037	2515	1493	3633
2155	-0.65	-194.6	282.5	-12.1	205	2158	0.00	1.27	0.00	0.000	6	0.000	0.038	2509	2375	3633
2477	-0.65	-194.6	322.1	-12.2	236	2478	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2375	3632
2787	-0.65	-194.6	360.2	-11.6	266	2790	0.00	1.27	0.00	0.000	4	0.000	0.038	2509	1495	3629
2844	-0.65	-194.6	367.1	-11.8	271	2852	0.12	1.30	0.00	0.000	6	0.140	0.039	2536	2372	3629
3161	-0.65	-194.6	398.1	-9.5	302	3164	0.00	1.48	0.00	0.000	4	0.000	0.051	2531	3251	3628
3197	-0.65	-194.6	401.7	-10.0	305	3204	0.00	1.40	0.00	0.000	6	0.000	0.031	2531	2372	3627
3514	-0.65	-194.6	433.3	-10.2	336	3515	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2373	3625
3824	-0.65	-194.6	465.3	-9.8	366	3827	0.00	1.25	0.00	0.000	4	0.000	0.040	2531	1503	3623
3866	-0.65	-194.6	469.6	-9.8	370	3870	0.00	1.27	0.00	0.000	6	0.000	0.041	2525	2370	3623
4188	-0.65	-194.6	504.0	-10.8	401	4189	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2371	3620
4498	-0.65	-194.6	537.3	-10.4	431	4499	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2371	3618
4808	-0.65	-194.6	569.9	-10.0	461	4811	0.00	1.27	0.00	0.000	4	0.000	0.042	2525	1507	3615
4866	-0.65	-194.6	576.3	-10.0	466	4873	0.00	1.27	0.00	0.000	6	0.000	0.043	2519	2366	3615
5183	-0.65	-194.6	609.8	-10.7	497	5184	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2366	3613
5493	-0.65	-194.6	642.3	-10.6	527	5494	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2366	3610
5803	-0.65	-194.6	674.7	-10.6	557	5804	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2366	3609
6114	-0.65	-194.6	707.7	-10.3	587	6115	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2366	3607
6424	-0.65	-194.6	739.0	-9.8	617	6424	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2366	3604
6734	-0.65	-194.6	769.9	-10.2	647	6735	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2366	3603
7045	-0.65	-194.6	800.5	-9.8	677	7046	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2366	3602
7355	-0.65	-194.6	831.4	-9.7	707	7358	0.00	1.27	0.00	0.000	4	0.000	0.046	2520	1512	3600
7408	-0.65	-194.6	836.2	-9.6	712	7412	0.00	1.30	0.00	0.000	6	0.000	0.047	2514	2375	3600
7729	-0.65	-194.6	867.9	-9.9	743	7730	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2375	3598
8039	-0.65	-194.6	898.2	-9.5	773	8043	0.00	1.30	0.00	0.000	4	0.000	0.045	2514	1503	3597
8114	-0.65	-194.6	905.2	-9.4	780	8117	0.00	1.33	0.00	0.000	6	0.000	0.048	2508	2375	3596
8435	-0.65	-194.6	936.9	-10.3	811	8438	0.00	1.30	0.00	0.000	4	0.000	0.046	2508	1509	3595
8509	-0.65	-194.6	944.6	-9.5	818	8513	0.10	1.33	0.00	0.000	6	0.141	0.048	2534	2378	3594
8830	-0.65	-194.6	971.7	-8.2	849	8833	0.00	1.55	0.00	0.000	4	0.000	0.061	2529	3265	3593
8873	-0.65	-194.6	975.4	-8.5	853	8876	0.00	1.45	0.00	0.000	6	0.000	0.038	2529	2390	3593
9048	end dive: TARGET_DEPTH_EXCEEDED
state	9048	begin apogee
9053	-0.25	0.0	990.3	8.5	870	9211	0.45	0.00	152.90	1.244	6	0.132	0.000	2663	2285	2839
9211	end apogee: CONTROL_FINISHED_OK
state	9211	begin climb
9213	0.65	194.6	994.6	0.0	886	9391	0.93	0.00	169.82	1.211	6	0.103	0.000	2949	2284	2045
9700	0.65	194.6	943.7	11.9	934	9701	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2285	2034
10011	0.65	194.6	907.2	11.3	964	10014	0.00	1.25	0.00	0.000	4	0.000	0.044	2954	1358	2032
10086	0.65	194.6	898.5	12.0	971	10089	0.00	1.25	0.00	0.000	6	0.000	0.044	2954	2274	2032
10407	0.65	194.6	859.6	11.8	1002	10411	0.00	1.23	0.00	0.000	4	0.000	0.044	2960	1361	2031
10454	0.65	194.6	853.8	12.4	1006	10461	0.00	1.27	0.00	0.000	6	0.000	0.044	2960	2279	2031
10772	0.65	194.6	814.8	11.8	1037	10776	0.00	1.23	0.00	0.000	4	0.000	0.044	2965	1372	2030
10804	0.65	194.6	810.7	12.1	1040	10807	0.00	1.23	0.00	0.000	6	0.000	0.044	2965	2272	2030
11125	0.65	194.6	771.1	12.5	1071	11125	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2273	2029
11435	0.65	194.6	733.2	12.4	1101	11436	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2273	2029
11746	0.65	194.6	697.0	11.7	1131	11747	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2273	2029
12056	0.65	194.6	658.9	12.1	1161	12057	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2273	2028
12367	0.65	194.6	622.4	11.3	1191	12368	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2273	2028
12677	0.65	194.6	586.0	11.4	1221	12680	0.00	1.20	0.00	0.000	4	0.000	0.044	2970	1374	2028
12720	0.65	194.6	581.0	11.8	1225	12723	0.00	1.23	0.00	0.000	6	0.000	0.044	2970	2278	2028
13040	0.65	194.6	543.1	12.0	1256	13041	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2027
13351	0.65	194.6	506.1	11.8	1286	13352	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2027
13661	0.65	194.6	469.0	12.0	1316	13662	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2278	2027
13972	0.65	194.6	431.3	11.9	1346	13975	0.00	1.23	0.00	0.000	4	0.000	0.043	2975	1365	2027
14008	0.65	194.6	426.8	12.3	1349	14015	0.00	1.23	0.00	0.000	6	0.000	0.041	2975	2274	2027
14325	0.65	194.6	388.2	12.0	1380	14329	0.00	1.62	0.00	0.000	4	0.000	0.052	2975	3165	2027
14357	0.65	194.6	383.9	13.0	1383	14360	0.00	1.58	0.00	0.000	6	0.000	0.036	2982	2274	2027
14679	0.65	194.6	342.0	12.8	1414	14682	0.00	1.17	0.00	0.000	4	0.000	0.042	2988	1371	2027
14715	0.65	194.6	337.1	12.1	1417	14723	0.12	1.25	0.00	0.000	6	0.151	0.041	2956	2282	2028
15032	0.65	194.6	303.8	10.7	1448	15033	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2282	2027
15343	0.65	194.6	270.5	10.4	1478	15343	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2282	2027
15653	0.65	194.6	237.9	10.1	1508	15654	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2282	2028
15963	0.65	194.6	206.0	10.6	1538	15966	0.00	1.23	0.00	0.000	4	0.000	0.040	2961	1359	2029
16021	0.65	194.6	200.0	10.7	1543	16028	0.00	1.25	0.00	0.000	6	0.000	0.038	2960	2280	2028
16339	0.65	194.6	166.7	10.4	1574	16339	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2280	2029
16649	0.65	194.6	134.5	10.3	1604	16650	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2280	2030
16958	0.65	194.6	103.6	9.6	1634	16961	0.00	1.60	0.00	0.000	4	0.000	0.048	2960	3175	2031
16980	0.65	194.6	101.2	10.7	1636	16983	0.00	1.58	0.00	0.000	6	0.000	0.031	2968	2265	2031
17302	0.65	194.6	68.7	9.9	1667	17305	0.00	1.12	0.00	0.000	4	0.000	0.036	2973	1370	2032
17402	0.65	194.6	60.0	8.9	1676	17410	0.00	1.20	0.00	0.000	6	0.000	0.035	2973	2281	2033
17594	0.65	194.6	45.3	7.7	1695	17597	0.00	1.58	0.00	0.000	4	0.000	0.046	2973	3168	2033
17651	0.65	194.6	40.8	7.5	1700	17660	0.00	1.52	0.00	0.000	6	0.000	0.029	2981	2276	2033
17845	0.71	239.5	28.6	6.2	1719	17882	0.00	1.20	33.62	0.517	4	0.000	0.035	2986	1363	1862
17914	0.83	343.1	25.6	4.5	1725	17997	0.00	1.20	77.22	0.518	6	0.000	0.035	2986	2272	1442
18182	0.85	357.4	9.2	7.1	1750	18198	0.10	1.62	11.90	0.457	4	0.085	0.044	3027	3165	1381
18293	end climb: SURFACE_DEPTH_REACHED
state	18294	begin surface coast
18720	end surface coast: CONTROL_FINISHED_OK
state	18720	begin surface