Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 268 * 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 268 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 2325 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 597.54108 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 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 250 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 500 CALL_TRIES 8 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -23588.084 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 27 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 597.54108

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 27 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 -23588.084

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 2325 MASS 51931 R_PORT_OVSHOOT 30 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 34 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.141768 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1640214 VBD_MAX 3959

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00094225706 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.0001682234 VBD_MIN 404

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043524536 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062548812 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3784551e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5490917e-06 XPDR_DEVICE 24

DIVE 268 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 230725,2842.702,-8836.804,50,2.0,50,-0.3 TGT_NAME NEW0528A

_CALLS 2 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.259,0.055

_SM_DEPTHo 1.73 KALMAN_X -4632.7,-616.5,597.6,26322.4,2275.5

_SM_ANGLEo -74.7 KALMAN_Y -372422.8,-2526.0,-608.2,402094.4,-540.0

GPS2 231838,2842.690,-8836.785,16,2.0,16,-0.3 MHEAD_RNG_PITCHd_Wd 71.3,17596,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 975

Post-dive calculations and measurements:

FINISH 0.8,1.014808 _24V_AH 22.8,47.237

SM_CCo 18506,13.07,0.440,0,0,403,597.54 _10V_AH 10.6,65.108

SM_GC 4.30,0.00,0.00,13.07,0.000,0.000,0.440,202,2348,403,-7.96,0.65,597.54 DATA_FILE_SIZE 94739,1773

IRIDIUM_FIX 2831.00,-8838.92,111099,232324 CAP_FILE_SIZE 171834,0

TT8_MAMPS 0.050622 CFSIZE 260165632,231145472

HUMID 1384 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.26793 CURRENT 0.086,133.8,1

TCM_TEMP 24.80 GPS 180710,043054,2843.183,-8833.353,154,1.2,154,-0.3

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 245 115.98 SBE_CT 1209 24 662.10

Roll_motor 92 78 165.35 SBE_O2 1295 19 561.19

VBD_pump_during_apogee 607 1229 17030.52 WL_BBFL2VMT 3985 105 9541.72

VBD_pump_during_surface 13 440 131.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 59 103 139.97 nil 0 0 0.00

Iridium_during_connect 57 160 208.45 nil 0 0 0.00

Iridium_during_xfer 356 223 1812.01

Transponder_ping 4 420 40.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.66

TT8 0 19 0.00

LPSleep 12305 2 285.67

TT8_Active 656 19 137.87

TT8_Sampling 5335 39 2250.78

TT8_CF8 865 45 420.24

TT8_Kalman 33 81 28.91

Analog_circuits 2213 12 281.54

GPS_charging 0 0 0.00

Compass 4780 8 405.43

RAFOS 0 0 0.00

Transponder 24 30 7.77

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 -0.64 -194.6 0.0 0.0 0 57 0.00 0.00 -42.50 0.000 2 0.000 0.000 196 2346 1701

60 -0.64 -194.6 3.1 -4.1 4 131 10.25 1.35 -52.47 0.000 4 0.245 0.066 2541 1415 3636

218 -0.64 -194.6 35.7 -28.6 18 220 0.00 1.23 0.00 0.000 6 0.000 0.032 2538 2314 3636

415 -0.64 -194.6 67.1 -12.6 37 418 0.00 1.52 0.00 0.000 4 0.000 0.044 2530 3214 3637

607 -0.64 -194.6 91.5 -12.4 55 610 0.00 1.45 0.00 0.000 6 0.000 0.028 2535 2323 3638

804 -0.64 -194.6 115.8 -12.6 74 805 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2323 3638

1115 -0.64 -194.6 153.1 -11.3 104 1118 0.00 1.23 0.00 0.000 4 0.000 0.037 2536 1413 3638

1211 -0.64 -194.6 164.1 -11.1 113 1214 0.00 1.25 0.00 0.000 6 0.000 0.036 2532 2321 3638

1534 -0.64 -194.6 200.2 -11.1 144 1537 0.00 1.25 0.00 0.000 4 0.000 0.037 2532 1406 3637

1580 -0.64 -194.6 205.8 -11.1 148 1587 0.00 1.30 0.00 0.000 6 0.000 0.037 2527 2328 3636

1899 -0.64 -194.6 241.8 -11.8 179 1902 0.00 1.25 0.00 0.000 4 0.000 0.037 2526 1425 3634

1934 -0.64 -194.6 246.3 -11.4 182 1943 0.00 1.27 0.00 0.000 6 0.000 0.037 2521 2327 3634

2253 -0.64 -194.6 283.1 -11.4 213 2255 0.00 1.25 0.00 0.000 4 0.000 0.038 2521 1423 3632

2300 -0.64 -194.6 288.9 -12.1 217 2306 0.00 1.25 0.00 0.000 6 0.000 0.038 2515 2323 3632

2617 -0.64 -194.6 326.7 -12.0 248 2618 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2323 3629

2927 -0.64 -194.6 363.8 -12.3 278 2930 0.00 1.25 0.00 0.000 4 0.000 0.039 2515 1419 3627

3001 -0.64 -194.6 372.6 -11.2 285 3005 0.08 1.25 0.00 0.000 6 0.142 0.040 2534 2318 3627

3323 -0.64 -194.6 404.8 -9.8 316 3324 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2318 3624

3633 -0.64 -194.6 435.9 -9.7 346 3636 0.00 1.25 0.00 0.000 4 0.000 0.040 2534 1416 3622

3740 -0.64 -194.6 446.7 -9.4 356 3743 0.00 1.27 0.00 0.000 6 0.000 0.042 2530 2322 3621

4062 -0.64 -194.6 479.1 -10.3 387 4063 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2322 3619

4371 -0.64 -194.6 510.7 -10.3 417 4372 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2322 3616

4682 -0.64 -194.6 540.8 -9.7 447 4685 0.00 1.27 0.00 0.000 4 0.000 0.042 2531 1413 3614

4735 -0.64 -194.6 546.1 -9.7 452 4738 0.00 1.30 0.00 0.000 6 0.000 0.044 2526 2327 3613

5057 -0.64 -194.6 577.8 -10.2 483 5058 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2327 3611

5366 -0.64 -194.6 608.1 -10.0 513 5367 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2327 3609

5677 -0.64 -194.6 638.9 -9.9 543 5680 0.00 1.27 0.00 0.000 4 0.000 0.044 2525 1422 3606

5734 -0.64 -194.6 644.7 -9.5 548 5742 0.00 1.33 0.00 0.000 6 0.000 0.044 2519 2331 3606

6052 -0.64 -194.6 675.6 -9.5 579 6053 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2332 3604

6362 -0.64 -194.6 705.9 -10.1 609 6365 0.00 1.30 0.00 0.000 4 0.000 0.044 2520 1415 3603

6405 -0.64 -194.6 710.4 -11.0 613 6408 0.00 1.30 0.00 0.000 6 0.000 0.046 2514 2322 3602

6727 -0.64 -194.6 743.1 -10.8 644 6728 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2322 3600

7036 -0.64 -194.6 774.9 -10.5 674 7037 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2323 3598

7347 -0.64 -194.6 805.8 -9.9 704 7348 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2322 3597

7657 -0.64 -194.6 836.8 -10.1 734 7658 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2323 3595

7969 -0.64 -194.6 867.5 -9.4 764 7972 0.00 1.60 0.00 0.000 4 0.000 0.059 2507 3217 3593

8001 -0.64 -194.6 870.8 -9.5 767 8004 0.08 1.50 0.00 0.000 6 0.145 0.038 2532 2326 3593

8322 -0.64 -194.6 897.7 -8.3 798 8323 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2326 3592

8632 -0.64 -194.6 922.4 -8.2 828 8633 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2326 3591

8945 -0.64 -194.6 948.1 -8.0 858 8945 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2327 3590

9253 -0.64 -194.6 973.5 -8.1 888 9253 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2327 3589

9271 end dive: TARGET_DEPTH_EXCEEDED

state 9271 begin apogee

9276 -0.26 0.0 975.2 8.3 890 9435 0.43 0.00 152.12 1.230 6 0.132 0.000 2661 2272 2839

9436 end apogee: CONTROL_FINISHED_OK

state 9436 begin climb

9438 0.64 194.6 979.0 0.0 906 9617 0.93 1.83 169.07 1.198 4 0.102 0.058 2954 3160 2044

9643 0.64 194.6 960.4 13.6 925 9650 0.00 1.65 0.00 0.000 6 0.000 0.036 2961 2282 2040

9961 0.64 194.6 920.1 12.6 956 9962 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2283 2035

10270 0.64 194.6 881.1 12.9 986 10273 0.00 1.62 0.00 0.000 4 0.000 0.055 2961 3188 2033

10306 0.64 194.6 875.9 15.0 989 10313 0.00 1.60 0.00 0.000 6 0.000 0.037 2969 2272 2033

10624 0.64 194.6 835.2 12.6 1020 10627 0.00 1.62 0.00 0.000 4 0.000 0.055 2969 3172 2032

10660 0.64 194.6 830.2 13.0 1023 10668 0.00 1.58 0.00 0.000 6 0.000 0.037 2976 2272 2031

10977 0.64 194.6 787.7 13.6 1054 10981 0.00 1.65 0.00 0.000 4 0.000 0.056 2976 3167 2030

11024 0.64 194.6 780.7 14.2 1058 11032 0.08 1.55 0.00 0.000 6 0.151 0.036 2960 2280 2030

11341 0.64 194.6 741.2 12.0 1089 11344 0.00 1.62 0.00 0.000 4 0.000 0.054 2959 3188 2030

11372 0.64 194.6 737.1 12.4 1092 11375 0.00 1.60 0.00 0.000 6 0.000 0.038 2965 2272 2029

11693 0.64 194.6 698.9 12.0 1123 11696 0.00 1.65 0.00 0.000 4 0.000 0.055 2965 3168 2028

11736 0.64 194.6 693.6 12.3 1127 11739 0.00 1.55 0.00 0.000 6 0.000 0.038 2973 2278 2028

12059 0.64 194.6 653.5 12.9 1158 12059 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2280 2028

12367 0.64 194.6 615.1 12.8 1188 12370 0.00 1.62 0.00 0.000 4 0.000 0.054 2973 3163 2028

12414 0.64 194.6 609.0 13.1 1192 12421 0.00 1.55 0.00 0.000 6 0.000 0.036 2981 2278 2028

12733 0.64 194.6 568.8 12.8 1223 12735 0.00 1.62 0.00 0.000 4 0.000 0.054 2981 3183 2027

12779 0.64 194.6 562.3 13.6 1227 12788 0.10 1.60 0.00 0.000 6 0.145 0.036 2957 2271 2027

13096 0.64 194.6 527.4 11.0 1258 13099 0.00 1.62 0.00 0.000 4 0.000 0.054 2957 3173 2027

13132 0.64 194.6 523.1 10.9 1261 13140 0.00 1.58 0.00 0.000 6 0.000 0.035 2963 2273 2027

13450 0.64 194.6 486.5 11.8 1292 13453 0.00 1.62 0.00 0.000 4 0.000 0.054 2962 3176 2027

13486 0.64 194.6 481.8 12.1 1295 13495 0.00 1.58 0.00 0.000 6 0.000 0.035 2970 2273 2027

13804 0.64 194.6 444.2 11.7 1326 13805 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2274 2027

14114 0.64 194.6 406.1 12.1 1356 14117 0.00 1.62 0.00 0.000 4 0.000 0.053 2970 3178 2027

14171 0.64 194.6 398.4 12.9 1361 14178 0.00 1.58 0.00 0.000 6 0.000 0.035 2976 2271 2027

14490 0.64 194.6 359.3 12.1 1392 14493 0.00 1.62 0.00 0.000 4 0.000 0.051 2976 3179 2027

14532 0.64 194.6 353.6 13.5 1396 14536 0.12 1.58 0.00 0.000 6 0.151 0.035 2952 2270 2027

14854 0.64 194.6 319.2 10.7 1427 14854 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2270 2027

15164 0.64 194.6 287.1 10.4 1457 15167 0.00 1.62 0.00 0.000 4 0.000 0.050 2951 3181 2027

15211 0.64 194.6 281.9 10.9 1461 15218 0.00 1.55 0.00 0.000 6 0.000 0.033 2958 2279 2027

15528 0.64 194.6 247.2 10.9 1492 15529 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2279 2027

15838 0.64 194.6 213.6 10.6 1522 15840 0.00 1.60 0.00 0.000 4 0.000 0.049 2958 3182 2027

15891 0.64 194.6 207.4 11.4 1527 15894 0.00 1.55 0.00 0.000 6 0.000 0.032 2965 2276 2027

16212 0.64 194.6 172.6 10.6 1558 16215 0.00 1.60 0.00 0.000 4 0.000 0.049 2965 3179 2027

16265 0.64 194.6 166.4 11.9 1563 16268 0.00 1.55 0.00 0.000 6 0.000 0.031 2973 2274 2027

16588 0.64 194.6 130.4 11.0 1594 16591 0.00 1.60 0.00 0.000 4 0.000 0.048 2973 3180 2028

16624 0.64 194.6 125.9 9.6 1597 16631 0.00 1.55 0.00 0.000 6 0.000 0.031 2981 2273 2028

16942 0.64 194.6 89.7 11.4 1628 16945 0.00 1.60 0.00 0.000 4 0.000 0.048 2981 3179 2029

17053 0.64 194.6 76.4 10.3 1638 17060 0.10 1.55 0.00 0.000 6 0.133 0.030 2956 2272 2029

17246 0.67 220.4 60.8 6.8 1657 17267 0.00 0.00 19.40 0.537 6 0.000 0.000 2955 2273 1940

17452 0.71 253.6 46.6 6.6 1677 17484 0.00 0.00 26.20 0.532 6 0.000 0.000 2956 2273 1806

17669 0.87 384.2 35.6 4.1 1698 17776 0.17 1.67 98.28 0.528 4 0.052 0.051 3051 3173 1271

17818 0.87 384.2 23.4 9.2 1711 17822 0.08 1.55 0.00 0.000 6 0.123 0.028 3032 2278 1267

18016 1.05 527.9 11.7 3.7 1730 18125 0.15 1.65 104.72 0.499 4 0.061 0.043 3098 3173 687

18368 1.33 757.8 4.3 1.5 1762 18410 0.20 1.55 37.72 0.474 2 0.132 0.031 3173 2272 482

18410 end climb: SURFACE_DEPTH_REACHED

state 18410 begin surface coast

18490 end surface coast: CONTROL_FINISHED_OK

state 18491 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	268	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	2325	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	597.54108	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	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	250	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	500	CALL_TRIES	8	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-23588.084	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	27	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	230725,2842.702,-8836.804,50,2.0,50,-0.3	TGT_NAME	NEW0528A
_CALLS	2	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.259,0.055
_SM_DEPTHo	1.73	KALMAN_X	-4632.7,-616.5,597.6,26322.4,2275.5
_SM_ANGLEo	-74.7	KALMAN_Y	-372422.8,-2526.0,-608.2,402094.4,-540.0
GPS2	231838,2842.690,-8836.785,16,2.0,16,-0.3	MHEAD_RNG_PITCHd_Wd	71.3,17596,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	975

FINISH	0.8,1.014808	_24V_AH	22.8,47.237
SM_CCo	18506,13.07,0.440,0,0,403,597.54	_10V_AH	10.6,65.108
SM_GC	4.30,0.00,0.00,13.07,0.000,0.000,0.440,202,2348,403,-7.96,0.65,597.54	DATA_FILE_SIZE	94739,1773
IRIDIUM_FIX	2831.00,-8838.92,111099,232324	CAP_FILE_SIZE	171834,0
TT8_MAMPS	0.050622	CFSIZE	260165632,231145472
HUMID	1384	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.26793	CURRENT	0.086,133.8,1
TCM_TEMP	24.80	GPS	180710,043054,2843.183,-8833.353,154,1.2,154,-0.3
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	245	115.98	SBE_CT	1209	24	662.10
Roll_motor	92	78	165.35	SBE_O2	1295	19	561.19
VBD_pump_during_apogee	607	1229	17030.52	WL_BBFL2VMT	3985	105	9541.72
VBD_pump_during_surface	13	440	131.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	59	103	139.97	nil	0	0	0.00
Iridium_during_connect	57	160	208.45	nil	0	0	0.00
Iridium_during_xfer	356	223	1812.01
Transponder_ping	4	420	40.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.66
TT8	0	19	0.00
LPSleep	12305	2	285.67
TT8_Active	656	19	137.87
TT8_Sampling	5335	39	2250.78
TT8_CF8	865	45	420.24
TT8_Kalman	33	81	28.91
Analog_circuits	2213	12	281.54
GPS_charging	0	0	0.00
Compass	4780	8	405.43
RAFOS	0	0	0.00
Transponder	24	30	7.77

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	-0.64	-194.6	0.0	0.0	0	57	0.00	0.00	-42.50	0.000	2	0.000	0.000	196	2346	1701
60	-0.64	-194.6	3.1	-4.1	4	131	10.25	1.35	-52.47	0.000	4	0.245	0.066	2541	1415	3636
218	-0.64	-194.6	35.7	-28.6	18	220	0.00	1.23	0.00	0.000	6	0.000	0.032	2538	2314	3636
415	-0.64	-194.6	67.1	-12.6	37	418	0.00	1.52	0.00	0.000	4	0.000	0.044	2530	3214	3637
607	-0.64	-194.6	91.5	-12.4	55	610	0.00	1.45	0.00	0.000	6	0.000	0.028	2535	2323	3638
804	-0.64	-194.6	115.8	-12.6	74	805	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2323	3638
1115	-0.64	-194.6	153.1	-11.3	104	1118	0.00	1.23	0.00	0.000	4	0.000	0.037	2536	1413	3638
1211	-0.64	-194.6	164.1	-11.1	113	1214	0.00	1.25	0.00	0.000	6	0.000	0.036	2532	2321	3638
1534	-0.64	-194.6	200.2	-11.1	144	1537	0.00	1.25	0.00	0.000	4	0.000	0.037	2532	1406	3637
1580	-0.64	-194.6	205.8	-11.1	148	1587	0.00	1.30	0.00	0.000	6	0.000	0.037	2527	2328	3636
1899	-0.64	-194.6	241.8	-11.8	179	1902	0.00	1.25	0.00	0.000	4	0.000	0.037	2526	1425	3634
1934	-0.64	-194.6	246.3	-11.4	182	1943	0.00	1.27	0.00	0.000	6	0.000	0.037	2521	2327	3634
2253	-0.64	-194.6	283.1	-11.4	213	2255	0.00	1.25	0.00	0.000	4	0.000	0.038	2521	1423	3632
2300	-0.64	-194.6	288.9	-12.1	217	2306	0.00	1.25	0.00	0.000	6	0.000	0.038	2515	2323	3632
2617	-0.64	-194.6	326.7	-12.0	248	2618	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2323	3629
2927	-0.64	-194.6	363.8	-12.3	278	2930	0.00	1.25	0.00	0.000	4	0.000	0.039	2515	1419	3627
3001	-0.64	-194.6	372.6	-11.2	285	3005	0.08	1.25	0.00	0.000	6	0.142	0.040	2534	2318	3627
3323	-0.64	-194.6	404.8	-9.8	316	3324	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2318	3624
3633	-0.64	-194.6	435.9	-9.7	346	3636	0.00	1.25	0.00	0.000	4	0.000	0.040	2534	1416	3622
3740	-0.64	-194.6	446.7	-9.4	356	3743	0.00	1.27	0.00	0.000	6	0.000	0.042	2530	2322	3621
4062	-0.64	-194.6	479.1	-10.3	387	4063	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2322	3619
4371	-0.64	-194.6	510.7	-10.3	417	4372	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2322	3616
4682	-0.64	-194.6	540.8	-9.7	447	4685	0.00	1.27	0.00	0.000	4	0.000	0.042	2531	1413	3614
4735	-0.64	-194.6	546.1	-9.7	452	4738	0.00	1.30	0.00	0.000	6	0.000	0.044	2526	2327	3613
5057	-0.64	-194.6	577.8	-10.2	483	5058	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2327	3611
5366	-0.64	-194.6	608.1	-10.0	513	5367	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2327	3609
5677	-0.64	-194.6	638.9	-9.9	543	5680	0.00	1.27	0.00	0.000	4	0.000	0.044	2525	1422	3606
5734	-0.64	-194.6	644.7	-9.5	548	5742	0.00	1.33	0.00	0.000	6	0.000	0.044	2519	2331	3606
6052	-0.64	-194.6	675.6	-9.5	579	6053	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2332	3604
6362	-0.64	-194.6	705.9	-10.1	609	6365	0.00	1.30	0.00	0.000	4	0.000	0.044	2520	1415	3603
6405	-0.64	-194.6	710.4	-11.0	613	6408	0.00	1.30	0.00	0.000	6	0.000	0.046	2514	2322	3602
6727	-0.64	-194.6	743.1	-10.8	644	6728	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2322	3600
7036	-0.64	-194.6	774.9	-10.5	674	7037	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2323	3598
7347	-0.64	-194.6	805.8	-9.9	704	7348	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2322	3597
7657	-0.64	-194.6	836.8	-10.1	734	7658	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2323	3595
7969	-0.64	-194.6	867.5	-9.4	764	7972	0.00	1.60	0.00	0.000	4	0.000	0.059	2507	3217	3593
8001	-0.64	-194.6	870.8	-9.5	767	8004	0.08	1.50	0.00	0.000	6	0.145	0.038	2532	2326	3593
8322	-0.64	-194.6	897.7	-8.3	798	8323	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2326	3592
8632	-0.64	-194.6	922.4	-8.2	828	8633	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2326	3591
8945	-0.64	-194.6	948.1	-8.0	858	8945	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2327	3590
9253	-0.64	-194.6	973.5	-8.1	888	9253	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2327	3589
9271	end dive: TARGET_DEPTH_EXCEEDED
state	9271	begin apogee
9276	-0.26	0.0	975.2	8.3	890	9435	0.43	0.00	152.12	1.230	6	0.132	0.000	2661	2272	2839
9436	end apogee: CONTROL_FINISHED_OK
state	9436	begin climb
9438	0.64	194.6	979.0	0.0	906	9617	0.93	1.83	169.07	1.198	4	0.102	0.058	2954	3160	2044
9643	0.64	194.6	960.4	13.6	925	9650	0.00	1.65	0.00	0.000	6	0.000	0.036	2961	2282	2040
9961	0.64	194.6	920.1	12.6	956	9962	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2283	2035
10270	0.64	194.6	881.1	12.9	986	10273	0.00	1.62	0.00	0.000	4	0.000	0.055	2961	3188	2033
10306	0.64	194.6	875.9	15.0	989	10313	0.00	1.60	0.00	0.000	6	0.000	0.037	2969	2272	2033
10624	0.64	194.6	835.2	12.6	1020	10627	0.00	1.62	0.00	0.000	4	0.000	0.055	2969	3172	2032
10660	0.64	194.6	830.2	13.0	1023	10668	0.00	1.58	0.00	0.000	6	0.000	0.037	2976	2272	2031
10977	0.64	194.6	787.7	13.6	1054	10981	0.00	1.65	0.00	0.000	4	0.000	0.056	2976	3167	2030
11024	0.64	194.6	780.7	14.2	1058	11032	0.08	1.55	0.00	0.000	6	0.151	0.036	2960	2280	2030
11341	0.64	194.6	741.2	12.0	1089	11344	0.00	1.62	0.00	0.000	4	0.000	0.054	2959	3188	2030
11372	0.64	194.6	737.1	12.4	1092	11375	0.00	1.60	0.00	0.000	6	0.000	0.038	2965	2272	2029
11693	0.64	194.6	698.9	12.0	1123	11696	0.00	1.65	0.00	0.000	4	0.000	0.055	2965	3168	2028
11736	0.64	194.6	693.6	12.3	1127	11739	0.00	1.55	0.00	0.000	6	0.000	0.038	2973	2278	2028
12059	0.64	194.6	653.5	12.9	1158	12059	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2280	2028
12367	0.64	194.6	615.1	12.8	1188	12370	0.00	1.62	0.00	0.000	4	0.000	0.054	2973	3163	2028
12414	0.64	194.6	609.0	13.1	1192	12421	0.00	1.55	0.00	0.000	6	0.000	0.036	2981	2278	2028
12733	0.64	194.6	568.8	12.8	1223	12735	0.00	1.62	0.00	0.000	4	0.000	0.054	2981	3183	2027
12779	0.64	194.6	562.3	13.6	1227	12788	0.10	1.60	0.00	0.000	6	0.145	0.036	2957	2271	2027
13096	0.64	194.6	527.4	11.0	1258	13099	0.00	1.62	0.00	0.000	4	0.000	0.054	2957	3173	2027
13132	0.64	194.6	523.1	10.9	1261	13140	0.00	1.58	0.00	0.000	6	0.000	0.035	2963	2273	2027
13450	0.64	194.6	486.5	11.8	1292	13453	0.00	1.62	0.00	0.000	4	0.000	0.054	2962	3176	2027
13486	0.64	194.6	481.8	12.1	1295	13495	0.00	1.58	0.00	0.000	6	0.000	0.035	2970	2273	2027
13804	0.64	194.6	444.2	11.7	1326	13805	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2274	2027
14114	0.64	194.6	406.1	12.1	1356	14117	0.00	1.62	0.00	0.000	4	0.000	0.053	2970	3178	2027
14171	0.64	194.6	398.4	12.9	1361	14178	0.00	1.58	0.00	0.000	6	0.000	0.035	2976	2271	2027
14490	0.64	194.6	359.3	12.1	1392	14493	0.00	1.62	0.00	0.000	4	0.000	0.051	2976	3179	2027
14532	0.64	194.6	353.6	13.5	1396	14536	0.12	1.58	0.00	0.000	6	0.151	0.035	2952	2270	2027
14854	0.64	194.6	319.2	10.7	1427	14854	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2270	2027
15164	0.64	194.6	287.1	10.4	1457	15167	0.00	1.62	0.00	0.000	4	0.000	0.050	2951	3181	2027
15211	0.64	194.6	281.9	10.9	1461	15218	0.00	1.55	0.00	0.000	6	0.000	0.033	2958	2279	2027
15528	0.64	194.6	247.2	10.9	1492	15529	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2279	2027
15838	0.64	194.6	213.6	10.6	1522	15840	0.00	1.60	0.00	0.000	4	0.000	0.049	2958	3182	2027
15891	0.64	194.6	207.4	11.4	1527	15894	0.00	1.55	0.00	0.000	6	0.000	0.032	2965	2276	2027
16212	0.64	194.6	172.6	10.6	1558	16215	0.00	1.60	0.00	0.000	4	0.000	0.049	2965	3179	2027
16265	0.64	194.6	166.4	11.9	1563	16268	0.00	1.55	0.00	0.000	6	0.000	0.031	2973	2274	2027
16588	0.64	194.6	130.4	11.0	1594	16591	0.00	1.60	0.00	0.000	4	0.000	0.048	2973	3180	2028
16624	0.64	194.6	125.9	9.6	1597	16631	0.00	1.55	0.00	0.000	6	0.000	0.031	2981	2273	2028
16942	0.64	194.6	89.7	11.4	1628	16945	0.00	1.60	0.00	0.000	4	0.000	0.048	2981	3179	2029
17053	0.64	194.6	76.4	10.3	1638	17060	0.10	1.55	0.00	0.000	6	0.133	0.030	2956	2272	2029
17246	0.67	220.4	60.8	6.8	1657	17267	0.00	0.00	19.40	0.537	6	0.000	0.000	2955	2273	1940
17452	0.71	253.6	46.6	6.6	1677	17484	0.00	0.00	26.20	0.532	6	0.000	0.000	2956	2273	1806
17669	0.87	384.2	35.6	4.1	1698	17776	0.17	1.67	98.28	0.528	4	0.052	0.051	3051	3173	1271
17818	0.87	384.2	23.4	9.2	1711	17822	0.08	1.55	0.00	0.000	6	0.123	0.028	3032	2278	1267
18016	1.05	527.9	11.7	3.7	1730	18125	0.15	1.65	104.72	0.499	4	0.061	0.043	3098	3173	687
18368	1.33	757.8	4.3	1.5	1762	18410	0.20	1.55	37.72	0.474	2	0.132	0.031	3173	2272	482
18410	end climb: SURFACE_DEPTH_REACHED
state	18410	begin surface coast
18490	end surface coast: CONTROL_FINISHED_OK
state	18491	begin surface