Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 242 * 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 242 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 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 -14 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 -17876.598 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 -17876.598

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 -14

C_ROLL_CLIMB 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 41 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 242 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 195736,2844.064,-8826.253,34,1.6,34,-0.4 TGT_NAME NEW0617E

_CALLS 1 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.257,0.064

_SM_DEPTHo 1.77 KALMAN_X -51406.4,80.2,2.3,90085.6,1001.7

_SM_ANGLEo -72.1 KALMAN_Y -283615.2,480.0,212.6,311946.7,-10819.6

GPS2 200420,2844.028,-8826.282,15,2.0,15,-0.4 MHEAD_RNG_PITCHd_Wd 279.3,30554,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1464

Post-dive calculations and measurements:

FINISH 3.0,1.018343 _24V_AH 22.8,42.263

SM_CCo 18620,138.65,0.486,0,0,403,597.54 _10V_AH 10.6,58.706

SM_GC 1.86,7.75,0.00,0.00,0.045,0.000,0.000,201,2390,399,-7.90,0.40,598.52 DATA_FILE_SIZE 94589,1790

IRIDIUM_FIX 2831.00,-8829.10,051099,151515 CAP_FILE_SIZE 167379,0

TT8_MAMPS 0.051389 CFSIZE 260165632,233553920

HUMID 1344 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.25817 CURRENT 0.148,173.1,1

TCM_TEMP 23.70 GPS 120710,012130,2843.008,-8829.071,39,0.9,45,-0.4

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 116.00 SBE_CT 1225 24 670.38

Roll_motor 69 69 110.09 SBE_O2 1305 19 565.49

VBD_pump_during_apogee 453 1241 12848.89 WL_BBFL2VMT 4023 105 9631.64

VBD_pump_during_surface 138 486 1537.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 70.56 nil 0 0 0.00

Iridium_during_connect 29 160 107.81 nil 0 0 0.00

Iridium_during_xfer 222 223 1130.56

Transponder_ping 5 420 52.67

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.91

TT8 0 19 0.00

LPSleep 12660 2 293.91

TT8_Active 637 19 133.77

TT8_Sampling 5322 39 2245.30

TT8_CF8 679 45 329.70

TT8_Kalman 33 81 28.91

Analog_circuits 2120 12 269.74

GPS_charging 0 0 0.00

Compass 4754 8 403.22

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.63 -194.6 0.0 0.0 0 59 0.00 0.00 -43.25 0.000 2 0.000 0.000 193 2394 1705

61 -0.63 -194.6 3.3 -4.7 4 132 10.50 1.45 -56.58 0.000 4 0.253 0.064 2531 3254 3635

374 -0.63 -194.6 53.1 -16.2 33 378 0.00 1.42 0.00 0.000 6 0.000 0.026 2536 2354 3637

571 -0.63 -194.6 81.4 -14.1 52 574 0.00 1.50 0.00 0.000 4 0.000 0.041 2531 3254 3637

742 -0.63 -194.6 105.8 -13.4 68 745 0.00 1.40 0.00 0.000 6 0.000 0.026 2535 2357 3638

1064 -0.63 -194.6 146.4 -11.3 99 1065 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2356 3638

1373 -0.63 -194.6 182.8 -11.0 129 1376 0.00 1.20 0.00 0.000 4 0.000 0.035 2536 1494 3637

1416 -0.63 -194.6 187.8 -12.2 133 1419 0.00 1.23 0.00 0.000 6 0.000 0.035 2532 2354 3637

1738 -0.63 -194.6 224.9 -11.7 164 1741 0.00 1.23 0.00 0.000 4 0.000 0.035 2532 1489 3636

1781 -0.63 -194.6 230.0 -11.4 168 1784 0.00 1.30 0.00 0.000 6 0.000 0.038 2527 2390 3636

2103 -0.63 -194.6 267.6 -11.3 199 2106 0.00 1.27 0.00 0.000 4 0.000 0.036 2527 1503 3634

2149 -0.63 -194.6 273.2 -11.3 203 2157 0.00 1.25 0.00 0.000 6 0.000 0.037 2521 2362 3634

2467 -0.63 -194.6 310.5 -11.7 234 2468 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2362 3632

2777 -0.63 -194.6 345.6 -11.6 264 2780 0.00 1.25 0.00 0.000 4 0.000 0.038 2521 1497 3630

2834 -0.63 -194.6 352.3 -10.7 269 2843 0.00 1.33 0.00 0.000 6 0.000 0.038 2515 2391 3629

3152 -0.63 -194.6 388.4 -11.7 300 3153 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2391 3627

3461 -0.63 -194.6 424.7 -11.9 330 3464 0.00 1.30 0.00 0.000 4 0.000 0.039 2515 1501 3625

3514 -0.63 -194.6 430.8 -11.3 335 3518 0.10 1.25 0.00 0.000 6 0.135 0.041 2541 2357 3625

3835 -0.63 -194.6 461.6 -9.4 366 3836 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2357 3622

4145 -0.63 -194.6 491.0 -9.2 396 4146 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2357 3620

4456 -0.63 -194.6 519.6 -9.1 426 4457 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2357 3618

4766 -0.63 -194.6 548.6 -9.3 456 4767 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2357 3615

5077 -0.63 -194.6 577.7 -9.3 486 5078 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2357 3613

5387 -0.63 -194.6 607.1 -9.6 516 5390 0.00 1.25 0.00 0.000 4 0.000 0.043 2541 1500 3610

5430 -0.63 -194.6 611.2 -9.3 520 5433 0.00 1.30 0.00 0.000 6 0.000 0.046 2538 2372 3610

5752 -0.63 -194.6 640.8 -8.9 551 5752 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2372 3608

6062 -0.63 -194.6 669.2 -9.1 581 6064 0.00 1.30 0.00 0.000 4 0.000 0.044 2538 1499 3606

6104 -0.63 -194.6 673.3 -9.7 585 6107 0.00 1.33 0.00 0.000 6 0.000 0.047 2532 2382 3606

6426 -0.63 -194.6 703.0 -9.5 616 6429 0.00 1.30 0.00 0.000 4 0.000 0.044 2532 1509 3604

6458 -0.63 -194.6 706.1 -9.9 619 6461 0.00 1.27 0.00 0.000 6 0.000 0.046 2527 2362 3604

6780 -0.63 -194.6 736.8 -9.6 650 6781 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2363 3602

7089 -0.63 -194.6 765.7 -9.1 680 7090 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2363 3600

7399 -0.63 -194.6 793.6 -9.1 710 7400 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2363 3599

7710 -0.63 -194.6 821.8 -9.2 740 7711 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2363 3597

8022 -0.63 -194.6 850.6 -9.3 770 8023 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2363 3595

8332 -0.63 -194.6 879.0 -9.0 800 8333 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2364 3594

8641 -0.63 -194.6 907.4 -8.7 830 8644 0.00 1.27 0.00 0.000 4 0.000 0.047 2527 1513 3592

8694 -0.63 -194.6 912.3 -9.3 835 8697 0.00 1.33 0.00 0.000 6 0.000 0.049 2521 2383 3592

9015 -0.63 -194.6 943.2 -9.5 866 9018 0.00 1.30 0.00 0.000 4 0.000 0.046 2521 1515 3591

9072 -0.63 -194.6 949.0 -10.6 871 9080 0.00 1.30 0.00 0.000 6 0.000 0.048 2516 2367 3591

9389 -0.63 -194.6 977.5 -9.8 902 9390 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2368 3589

9523 end dive: TARGET_DEPTH_EXCEEDED

state 9523 begin apogee

9528 -0.25 0.0 990.1 8.5 915 9686 0.50 0.00 152.25 1.242 6 0.140 0.000 2663 2304 2839

9686 end apogee: CONTROL_FINISHED_OK

state 9686 begin climb

9688 0.63 194.6 994.5 0.0 931 9864 0.93 0.00 169.50 1.210 6 0.102 0.000 2950 2304 2045

10173 0.63 194.6 942.3 11.6 978 10176 0.00 1.30 0.00 0.000 4 0.000 0.051 2955 1383 2035

10258 0.63 194.6 932.2 11.9 986 10261 0.00 1.23 0.00 0.000 6 0.000 0.044 2955 2275 2035

10579 0.63 194.6 892.9 12.6 1017 10582 0.00 1.23 0.00 0.000 4 0.000 0.044 2961 1365 2032

10632 0.63 194.6 886.4 12.0 1022 10636 0.00 1.25 0.00 0.000 6 0.000 0.044 2961 2278 2032

10954 0.63 194.6 846.7 12.1 1053 10957 0.00 1.23 0.00 0.000 4 0.000 0.044 2966 1370 2031

10991 0.63 194.6 841.9 13.1 1056 10998 0.00 1.23 0.00 0.000 6 0.000 0.044 2966 2272 2031

11308 0.63 194.6 801.7 12.9 1087 11311 0.00 1.65 0.00 0.000 4 0.000 0.054 2966 3173 2030

11329 0.63 194.6 798.9 13.0 1089 11332 0.00 1.58 0.00 0.000 6 0.000 0.038 2973 2278 2029

11649 0.63 194.6 756.7 12.7 1120 11653 0.00 1.20 0.00 0.000 4 0.000 0.044 2979 1373 2029

11681 0.63 194.6 752.5 13.0 1123 11684 0.00 1.25 0.00 0.000 6 0.000 0.044 2979 2282 2029

12002 0.63 194.6 710.0 13.4 1154 12003 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2282 2028

12313 0.63 194.6 669.0 12.8 1184 12316 0.00 1.25 0.00 0.000 4 0.000 0.044 2985 1363 2028

12377 0.63 194.6 661.0 13.2 1190 12380 0.10 1.23 0.00 0.000 6 0.145 0.044 2953 2271 2028

12698 0.63 194.6 625.3 10.9 1221 12699 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2271 2028

13008 0.63 194.6 590.2 11.7 1251 13009 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2271 2027

13318 0.63 194.6 554.9 11.1 1281 13321 0.00 1.20 0.00 0.000 4 0.000 0.044 2957 1376 2027

13351 0.63 194.6 551.4 11.3 1284 13354 0.00 1.23 0.00 0.000 6 0.000 0.043 2957 2278 2027

13673 0.63 194.6 514.6 11.6 1315 13676 0.00 1.23 0.00 0.000 4 0.000 0.043 2963 1367 2027

13719 0.63 194.6 509.2 11.7 1319 13727 0.00 1.25 0.00 0.000 6 0.000 0.043 2962 2279 2027

14037 0.63 194.6 471.9 12.0 1350 14038 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2278 2027

14347 0.63 194.6 435.0 11.9 1380 14348 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2279 2027

14657 0.63 194.6 398.7 11.8 1410 14660 0.00 1.23 0.00 0.000 4 0.000 0.042 2967 1365 2027

14710 0.63 194.6 392.4 11.8 1415 14713 0.00 1.23 0.00 0.000 6 0.000 0.043 2967 2275 2027

15033 0.63 194.6 352.8 12.3 1446 15033 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2275 2027

15341 0.63 194.6 316.1 11.7 1476 15345 0.00 1.23 0.00 0.000 4 0.000 0.041 2972 1356 2027

15384 0.63 194.6 311.0 12.0 1480 15387 0.00 1.23 0.00 0.000 6 0.000 0.041 2973 2274 2027

15705 0.63 194.6 271.8 12.8 1511 15705 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2274 2027

16016 0.63 194.6 233.0 12.0 1541 16019 0.00 1.20 0.00 0.000 4 0.000 0.040 2978 1369 2027

16073 0.63 194.6 225.9 11.1 1546 16080 0.00 1.25 0.00 0.000 6 0.000 0.039 2978 2285 2027

16391 0.63 194.6 186.3 11.8 1577 16394 0.00 1.23 0.00 0.000 4 0.000 0.039 2983 1367 2027

16445 0.63 194.6 179.9 11.3 1582 16448 0.10 1.20 0.00 0.000 6 0.137 0.039 2950 2273 2028

16765 0.63 194.6 147.8 10.0 1613 16766 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2274 2028

17076 0.63 194.6 117.0 9.9 1643 17077 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2274 2029

17386 0.63 194.6 88.0 8.8 1673 17389 0.00 1.60 0.00 0.000 4 0.000 0.048 2950 3164 2030

17418 0.63 194.6 85.3 8.5 1676 17421 0.00 1.55 0.00 0.000 6 0.000 0.031 2955 2266 2030

17615 0.64 208.7 69.5 7.1 1695 17627 0.00 0.00 10.20 0.505 6 0.000 0.000 2956 2266 1989

17811 0.64 208.7 54.8 7.7 1714 17814 0.00 1.12 0.00 0.000 4 0.000 0.036 2961 1375 1989

17901 0.70 253.4 48.3 6.3 1722 17944 0.00 1.20 35.28 0.535 6 0.000 0.035 2961 2275 1806

18129 0.81 341.6 34.6 5.2 1744 18201 0.12 1.25 66.78 0.523 4 0.066 0.035 3029 1363 1446

18287 0.84 367.0 23.9 6.8 1758 18310 0.00 1.23 19.83 0.490 6 0.000 0.035 3029 2277 1342

18495 0.84 367.0 8.4 7.9 1778 18496 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2278 1338

18576 end climb: SURFACE_DEPTH_REACHED

state 18576 begin surface coast

18617 end surface coast: CONTROL_FINISHED_OK

state 18617 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	242	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	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	-14	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	-17876.598	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	195736,2844.064,-8826.253,34,1.6,34,-0.4	TGT_NAME	NEW0617E
_CALLS	1	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.257,0.064
_SM_DEPTHo	1.77	KALMAN_X	-51406.4,80.2,2.3,90085.6,1001.7
_SM_ANGLEo	-72.1	KALMAN_Y	-283615.2,480.0,212.6,311946.7,-10819.6
GPS2	200420,2844.028,-8826.282,15,2.0,15,-0.4	MHEAD_RNG_PITCHd_Wd	279.3,30554,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1464

FINISH	3.0,1.018343	_24V_AH	22.8,42.263
SM_CCo	18620,138.65,0.486,0,0,403,597.54	_10V_AH	10.6,58.706
SM_GC	1.86,7.75,0.00,0.00,0.045,0.000,0.000,201,2390,399,-7.90,0.40,598.52	DATA_FILE_SIZE	94589,1790
IRIDIUM_FIX	2831.00,-8829.10,051099,151515	CAP_FILE_SIZE	167379,0
TT8_MAMPS	0.051389	CFSIZE	260165632,233553920
HUMID	1344	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.25817	CURRENT	0.148,173.1,1
TCM_TEMP	23.70	GPS	120710,012130,2843.008,-8829.071,39,0.9,45,-0.4
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	116.00	SBE_CT	1225	24	670.38
Roll_motor	69	69	110.09	SBE_O2	1305	19	565.49
VBD_pump_during_apogee	453	1241	12848.89	WL_BBFL2VMT	4023	105	9631.64
VBD_pump_during_surface	138	486	1537.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	70.56	nil	0	0	0.00
Iridium_during_connect	29	160	107.81	nil	0	0	0.00
Iridium_during_xfer	222	223	1130.56
Transponder_ping	5	420	52.67
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.91
TT8	0	19	0.00
LPSleep	12660	2	293.91
TT8_Active	637	19	133.77
TT8_Sampling	5322	39	2245.30
TT8_CF8	679	45	329.70
TT8_Kalman	33	81	28.91
Analog_circuits	2120	12	269.74
GPS_charging	0	0	0.00
Compass	4754	8	403.22
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.63	-194.6	0.0	0.0	0	59	0.00	0.00	-43.25	0.000	2	0.000	0.000	193	2394	1705
61	-0.63	-194.6	3.3	-4.7	4	132	10.50	1.45	-56.58	0.000	4	0.253	0.064	2531	3254	3635
374	-0.63	-194.6	53.1	-16.2	33	378	0.00	1.42	0.00	0.000	6	0.000	0.026	2536	2354	3637
571	-0.63	-194.6	81.4	-14.1	52	574	0.00	1.50	0.00	0.000	4	0.000	0.041	2531	3254	3637
742	-0.63	-194.6	105.8	-13.4	68	745	0.00	1.40	0.00	0.000	6	0.000	0.026	2535	2357	3638
1064	-0.63	-194.6	146.4	-11.3	99	1065	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2356	3638
1373	-0.63	-194.6	182.8	-11.0	129	1376	0.00	1.20	0.00	0.000	4	0.000	0.035	2536	1494	3637
1416	-0.63	-194.6	187.8	-12.2	133	1419	0.00	1.23	0.00	0.000	6	0.000	0.035	2532	2354	3637
1738	-0.63	-194.6	224.9	-11.7	164	1741	0.00	1.23	0.00	0.000	4	0.000	0.035	2532	1489	3636
1781	-0.63	-194.6	230.0	-11.4	168	1784	0.00	1.30	0.00	0.000	6	0.000	0.038	2527	2390	3636
2103	-0.63	-194.6	267.6	-11.3	199	2106	0.00	1.27	0.00	0.000	4	0.000	0.036	2527	1503	3634
2149	-0.63	-194.6	273.2	-11.3	203	2157	0.00	1.25	0.00	0.000	6	0.000	0.037	2521	2362	3634
2467	-0.63	-194.6	310.5	-11.7	234	2468	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2362	3632
2777	-0.63	-194.6	345.6	-11.6	264	2780	0.00	1.25	0.00	0.000	4	0.000	0.038	2521	1497	3630
2834	-0.63	-194.6	352.3	-10.7	269	2843	0.00	1.33	0.00	0.000	6	0.000	0.038	2515	2391	3629
3152	-0.63	-194.6	388.4	-11.7	300	3153	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2391	3627
3461	-0.63	-194.6	424.7	-11.9	330	3464	0.00	1.30	0.00	0.000	4	0.000	0.039	2515	1501	3625
3514	-0.63	-194.6	430.8	-11.3	335	3518	0.10	1.25	0.00	0.000	6	0.135	0.041	2541	2357	3625
3835	-0.63	-194.6	461.6	-9.4	366	3836	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2357	3622
4145	-0.63	-194.6	491.0	-9.2	396	4146	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2357	3620
4456	-0.63	-194.6	519.6	-9.1	426	4457	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2357	3618
4766	-0.63	-194.6	548.6	-9.3	456	4767	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2357	3615
5077	-0.63	-194.6	577.7	-9.3	486	5078	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2357	3613
5387	-0.63	-194.6	607.1	-9.6	516	5390	0.00	1.25	0.00	0.000	4	0.000	0.043	2541	1500	3610
5430	-0.63	-194.6	611.2	-9.3	520	5433	0.00	1.30	0.00	0.000	6	0.000	0.046	2538	2372	3610
5752	-0.63	-194.6	640.8	-8.9	551	5752	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2372	3608
6062	-0.63	-194.6	669.2	-9.1	581	6064	0.00	1.30	0.00	0.000	4	0.000	0.044	2538	1499	3606
6104	-0.63	-194.6	673.3	-9.7	585	6107	0.00	1.33	0.00	0.000	6	0.000	0.047	2532	2382	3606
6426	-0.63	-194.6	703.0	-9.5	616	6429	0.00	1.30	0.00	0.000	4	0.000	0.044	2532	1509	3604
6458	-0.63	-194.6	706.1	-9.9	619	6461	0.00	1.27	0.00	0.000	6	0.000	0.046	2527	2362	3604
6780	-0.63	-194.6	736.8	-9.6	650	6781	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2363	3602
7089	-0.63	-194.6	765.7	-9.1	680	7090	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2363	3600
7399	-0.63	-194.6	793.6	-9.1	710	7400	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2363	3599
7710	-0.63	-194.6	821.8	-9.2	740	7711	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2363	3597
8022	-0.63	-194.6	850.6	-9.3	770	8023	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2363	3595
8332	-0.63	-194.6	879.0	-9.0	800	8333	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2364	3594
8641	-0.63	-194.6	907.4	-8.7	830	8644	0.00	1.27	0.00	0.000	4	0.000	0.047	2527	1513	3592
8694	-0.63	-194.6	912.3	-9.3	835	8697	0.00	1.33	0.00	0.000	6	0.000	0.049	2521	2383	3592
9015	-0.63	-194.6	943.2	-9.5	866	9018	0.00	1.30	0.00	0.000	4	0.000	0.046	2521	1515	3591
9072	-0.63	-194.6	949.0	-10.6	871	9080	0.00	1.30	0.00	0.000	6	0.000	0.048	2516	2367	3591
9389	-0.63	-194.6	977.5	-9.8	902	9390	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2368	3589
9523	end dive: TARGET_DEPTH_EXCEEDED
state	9523	begin apogee
9528	-0.25	0.0	990.1	8.5	915	9686	0.50	0.00	152.25	1.242	6	0.140	0.000	2663	2304	2839
9686	end apogee: CONTROL_FINISHED_OK
state	9686	begin climb
9688	0.63	194.6	994.5	0.0	931	9864	0.93	0.00	169.50	1.210	6	0.102	0.000	2950	2304	2045
10173	0.63	194.6	942.3	11.6	978	10176	0.00	1.30	0.00	0.000	4	0.000	0.051	2955	1383	2035
10258	0.63	194.6	932.2	11.9	986	10261	0.00	1.23	0.00	0.000	6	0.000	0.044	2955	2275	2035
10579	0.63	194.6	892.9	12.6	1017	10582	0.00	1.23	0.00	0.000	4	0.000	0.044	2961	1365	2032
10632	0.63	194.6	886.4	12.0	1022	10636	0.00	1.25	0.00	0.000	6	0.000	0.044	2961	2278	2032
10954	0.63	194.6	846.7	12.1	1053	10957	0.00	1.23	0.00	0.000	4	0.000	0.044	2966	1370	2031
10991	0.63	194.6	841.9	13.1	1056	10998	0.00	1.23	0.00	0.000	6	0.000	0.044	2966	2272	2031
11308	0.63	194.6	801.7	12.9	1087	11311	0.00	1.65	0.00	0.000	4	0.000	0.054	2966	3173	2030
11329	0.63	194.6	798.9	13.0	1089	11332	0.00	1.58	0.00	0.000	6	0.000	0.038	2973	2278	2029
11649	0.63	194.6	756.7	12.7	1120	11653	0.00	1.20	0.00	0.000	4	0.000	0.044	2979	1373	2029
11681	0.63	194.6	752.5	13.0	1123	11684	0.00	1.25	0.00	0.000	6	0.000	0.044	2979	2282	2029
12002	0.63	194.6	710.0	13.4	1154	12003	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2282	2028
12313	0.63	194.6	669.0	12.8	1184	12316	0.00	1.25	0.00	0.000	4	0.000	0.044	2985	1363	2028
12377	0.63	194.6	661.0	13.2	1190	12380	0.10	1.23	0.00	0.000	6	0.145	0.044	2953	2271	2028
12698	0.63	194.6	625.3	10.9	1221	12699	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2271	2028
13008	0.63	194.6	590.2	11.7	1251	13009	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2271	2027
13318	0.63	194.6	554.9	11.1	1281	13321	0.00	1.20	0.00	0.000	4	0.000	0.044	2957	1376	2027
13351	0.63	194.6	551.4	11.3	1284	13354	0.00	1.23	0.00	0.000	6	0.000	0.043	2957	2278	2027
13673	0.63	194.6	514.6	11.6	1315	13676	0.00	1.23	0.00	0.000	4	0.000	0.043	2963	1367	2027
13719	0.63	194.6	509.2	11.7	1319	13727	0.00	1.25	0.00	0.000	6	0.000	0.043	2962	2279	2027
14037	0.63	194.6	471.9	12.0	1350	14038	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2278	2027
14347	0.63	194.6	435.0	11.9	1380	14348	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2279	2027
14657	0.63	194.6	398.7	11.8	1410	14660	0.00	1.23	0.00	0.000	4	0.000	0.042	2967	1365	2027
14710	0.63	194.6	392.4	11.8	1415	14713	0.00	1.23	0.00	0.000	6	0.000	0.043	2967	2275	2027
15033	0.63	194.6	352.8	12.3	1446	15033	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2275	2027
15341	0.63	194.6	316.1	11.7	1476	15345	0.00	1.23	0.00	0.000	4	0.000	0.041	2972	1356	2027
15384	0.63	194.6	311.0	12.0	1480	15387	0.00	1.23	0.00	0.000	6	0.000	0.041	2973	2274	2027
15705	0.63	194.6	271.8	12.8	1511	15705	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2274	2027
16016	0.63	194.6	233.0	12.0	1541	16019	0.00	1.20	0.00	0.000	4	0.000	0.040	2978	1369	2027
16073	0.63	194.6	225.9	11.1	1546	16080	0.00	1.25	0.00	0.000	6	0.000	0.039	2978	2285	2027
16391	0.63	194.6	186.3	11.8	1577	16394	0.00	1.23	0.00	0.000	4	0.000	0.039	2983	1367	2027
16445	0.63	194.6	179.9	11.3	1582	16448	0.10	1.20	0.00	0.000	6	0.137	0.039	2950	2273	2028
16765	0.63	194.6	147.8	10.0	1613	16766	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2274	2028
17076	0.63	194.6	117.0	9.9	1643	17077	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2274	2029
17386	0.63	194.6	88.0	8.8	1673	17389	0.00	1.60	0.00	0.000	4	0.000	0.048	2950	3164	2030
17418	0.63	194.6	85.3	8.5	1676	17421	0.00	1.55	0.00	0.000	6	0.000	0.031	2955	2266	2030
17615	0.64	208.7	69.5	7.1	1695	17627	0.00	0.00	10.20	0.505	6	0.000	0.000	2956	2266	1989
17811	0.64	208.7	54.8	7.7	1714	17814	0.00	1.12	0.00	0.000	4	0.000	0.036	2961	1375	1989
17901	0.70	253.4	48.3	6.3	1722	17944	0.00	1.20	35.28	0.535	6	0.000	0.035	2961	2275	1806
18129	0.81	341.6	34.6	5.2	1744	18201	0.12	1.25	66.78	0.523	4	0.066	0.035	3029	1363	1446
18287	0.84	367.0	23.9	6.8	1758	18310	0.00	1.23	19.83	0.490	6	0.000	0.035	3029	2277	1342
18495	0.84	367.0	8.4	7.9	1778	18496	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2278	1338
18576	end climb: SURFACE_DEPTH_REACHED
state	18576	begin surface coast
18617	end surface coast: CONTROL_FINISHED_OK
state	18617	begin surface