Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 275 * 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 275 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 22 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 -23736.248 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 -23736.248

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 22 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 275 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 111700,2842.985,-8841.227,34,1.9,34,-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 0.220,0.147

_SM_DEPTHo 1.67 KALMAN_X 7966.8,-676.3,-1209.5,8329.9,7685.7

_SM_ANGLEo -70.4 KALMAN_Y -391151.6,1893.8,585.4,415894.5,-10456.4

GPS2 112402,2843.067,-8841.263,14,2.0,14,-0.2 MHEAD_RNG_PITCHd_Wd 80.5,24807,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1040

Post-dive calculations and measurements:

FINISH 0.7,1.018697 ALTIM_BOTTOM_PING 940.6,30.2

SM_CCo 17845,32.85,0.469,0,0,403,597.54 _24V_AH 22.7,48.379

SM_GC 2.16,0.00,0.00,32.85,0.000,0.000,0.469,199,2349,403,-7.96,0.68,597.54 _10V_AH 10.6,66.661

IRIDIUM_FIX 2833.46,-8843.84,131099,060637 DATA_FILE_SIZE 91501,1709

TT8_MAMPS 0.052156 CAP_FILE_SIZE 157414,0

HUMID 1372 CFSIZE 260165632,230543360

INTERNAL_PRESSURE 9.2484 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.40 CURRENT 0.106,119.8,1

XPDR_PINGS 1 GPS 190710,162337,2843.273,-8837.294,35,1.0,35,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 256 118.92 SBE_CT 1167 24 635.86

Roll_motor 78 71 126.34 SBE_O2 1247 19 538.08

VBD_pump_during_apogee 579 1210 15926.91 WL_BBFL2VMT 3841 105 9155.64

VBD_pump_during_surface 32 468 349.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.71 nil 0 0 0.00

Iridium_during_connect 32 160 116.90 nil 0 0 0.00

Iridium_during_xfer 224 223 1135.60

Transponder_ping 3 420 30.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.72

TT8 0 19 0.00

LPSleep 11948 2 277.37

TT8_Active 611 19 128.37

TT8_Sampling 5070 39 2138.98

TT8_CF8 638 45 310.13

TT8_Kalman 33 81 28.91

Analog_circuits 2073 12 263.75

GPS_charging 0 0 0.00

Compass 4532 8 384.38

RAFOS 0 0 0.00

Transponder 24 30 7.82

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

13 -0.64 -194.6 0.0 0.0 0 67 0.00 0.00 -52.83 0.000 2 0.000 0.000 196 2331 1944

70 -0.64 -194.6 3.3 -4.0 5 123 10.62 1.58 -38.78 0.000 4 0.256 0.069 2525 3225 3636

176 -0.64 -194.6 22.8 -24.9 14 179 0.00 1.48 0.00 0.000 6 0.000 0.028 2530 2326 3638

372 -0.64 -194.6 58.1 -13.2 33 375 0.00 1.23 0.00 0.000 4 0.000 0.032 2536 1408 3639

409 -0.64 -194.6 62.8 -12.2 36 416 0.00 1.27 0.00 0.000 6 0.000 0.034 2532 2330 3639

601 -0.64 -194.6 87.8 -12.8 55 602 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2330 3639

787 -0.64 -194.6 112.1 -13.4 73 790 0.00 1.25 0.00 0.000 4 0.000 0.034 2533 1414 3639

873 -0.64 -194.6 122.6 -11.8 81 876 0.00 1.25 0.00 0.000 6 0.000 0.036 2529 2321 3639

1195 -0.64 -194.6 162.9 -11.7 112 1198 0.00 1.52 0.00 0.000 4 0.000 0.046 2521 3215 3639

1248 -0.64 -194.6 169.5 -11.5 117 1251 0.00 1.45 0.00 0.000 6 0.000 0.028 2521 2324 3639

1570 -0.64 -194.6 208.7 -12.5 148 1573 0.00 1.23 0.00 0.000 4 0.000 0.036 2521 1415 3639

1670 -0.64 -194.6 221.4 -11.8 157 1678 0.00 1.30 0.00 0.000 6 0.000 0.037 2515 2334 3638

1989 -0.64 -194.6 260.5 -12.3 188 1992 0.00 1.27 0.00 0.000 4 0.000 0.036 2515 1411 3636

2063 -0.64 -194.6 269.8 -12.3 195 2066 0.08 1.27 0.00 0.000 6 0.141 0.038 2534 2324 3636

2384 -0.64 -194.6 304.1 -10.6 226 2387 0.00 1.25 0.00 0.000 4 0.000 0.037 2534 1413 3634

2452 -0.64 -194.6 311.4 -10.1 232 2460 0.00 1.30 0.00 0.000 6 0.000 0.038 2531 2330 3633

2771 -0.64 -194.6 344.6 -10.8 263 2772 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2330 3631

3079 -0.64 -194.6 377.8 -11.3 293 3082 0.00 1.27 0.00 0.000 4 0.000 0.038 2531 1409 3629

3175 -0.64 -194.6 388.3 -11.2 302 3178 0.00 1.27 0.00 0.000 6 0.000 0.041 2525 2318 3629

3498 -0.64 -194.6 422.2 -10.3 333 3501 0.00 1.25 0.00 0.000 4 0.000 0.038 2525 1413 3626

3545 -0.64 -194.6 427.6 -10.3 337 3552 0.00 1.27 0.00 0.000 6 0.000 0.041 2519 2321 3626

3863 -0.64 -194.6 461.1 -10.5 368 3864 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2321 3624

4172 -0.64 -194.6 495.3 -10.8 398 4173 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2321 3621

4482 -0.64 -194.6 529.4 -10.8 428 4483 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2321 3618

4792 -0.64 -194.6 562.7 -10.7 458 4793 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2321 3616

5104 -0.64 -194.6 594.9 -10.4 488 5104 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2321 3615

5413 -0.64 -194.6 626.8 -10.7 518 5414 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2321 3612

5724 -0.64 -194.6 659.2 -10.3 548 5725 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2321 3611

6034 -0.64 -194.6 690.5 -10.2 578 6035 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2321 3608

6345 -0.64 -194.6 720.9 -9.2 608 6346 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2321 3607

6655 -0.64 -194.6 750.8 -9.8 638 6658 0.00 1.58 0.00 0.000 4 0.000 0.058 2512 3204 3604

6680 -0.64 -194.6 753.4 -10.1 640 6687 0.00 1.48 0.00 0.000 6 0.000 0.035 2512 2329 3604

6999 -0.64 -194.6 785.0 -10.2 671 6999 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2330 3602

7307 -0.64 -194.6 816.2 -10.1 701 7310 0.00 1.27 0.00 0.000 4 0.000 0.044 2512 1424 3600

7350 -0.64 -194.6 820.6 -10.7 705 7354 0.08 1.30 0.00 0.000 6 0.146 0.048 2531 2323 3600

7671 -0.64 -194.6 847.4 -8.2 736 7672 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2324 3599

7982 -0.64 -194.6 872.0 -8.1 766 7983 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2324 3597

8294 -0.64 -194.6 898.8 -8.7 796 8294 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2324 3596

8602 -0.64 -194.6 927.9 -10.1 826 8605 0.00 1.30 0.00 0.000 4 0.000 0.045 2532 1411 3595

8656 -0.64 -194.6 933.1 -9.6 831 8659 0.00 1.33 0.00 0.000 6 0.000 0.049 2528 2324 3594

8840 end dive: BOTTOM_OBSTACLE_DETECTED

state 8840 begin apogee

8846 -0.26 0.0 951.1 8.9 849 9004 0.45 0.00 153.73 1.210 6 0.128 0.000 2665 2269 2839

9004 end apogee: CONTROL_FINISHED_OK

state 9004 begin climb

9006 0.64 194.6 957.6 0.0 865 9186 0.88 1.83 168.85 1.183 4 0.100 0.058 2943 3154 2044

9230 0.64 194.6 938.1 13.0 884 9233 0.00 1.62 0.00 0.000 6 0.000 0.035 2951 2281 2039

9552 0.64 194.6 899.7 12.3 915 9555 0.00 1.25 0.00 0.000 4 0.000 0.044 2957 1361 2034

9578 0.64 194.6 896.4 12.5 917 9585 0.00 1.30 0.00 0.000 6 0.000 0.044 2957 2277 2034

9896 0.64 194.6 857.6 11.4 948 9897 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2277 2033

10205 0.64 194.6 820.8 11.8 978 10205 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2278 2032

10516 0.64 194.6 784.5 11.7 1008 10519 0.00 1.62 0.00 0.000 4 0.000 0.055 2957 3197 2031

10547 0.64 194.6 780.6 12.8 1011 10550 0.00 1.60 0.00 0.000 6 0.000 0.037 2964 2273 2029

10868 0.64 194.6 742.5 11.4 1042 10871 0.00 1.20 0.00 0.000 4 0.000 0.043 2969 1372 2029

10915 0.64 194.6 737.1 12.0 1046 10923 0.00 1.27 0.00 0.000 6 0.000 0.044 2969 2280 2030

11234 0.64 194.6 698.8 11.9 1077 11237 0.00 1.60 0.00 0.000 4 0.000 0.055 2969 3167 2029

11280 0.64 194.6 692.4 13.2 1081 11288 0.00 1.55 0.00 0.000 6 0.000 0.036 2977 2276 2028

11598 0.64 194.6 652.3 13.0 1112 11601 0.00 1.62 0.00 0.000 4 0.000 0.054 2977 3165 2028

11630 0.64 194.6 647.6 14.3 1115 11634 0.08 1.55 0.00 0.000 6 0.152 0.037 2950 2277 2028

11951 0.64 194.6 612.5 10.9 1146 11954 0.00 1.20 0.00 0.000 4 0.000 0.042 2954 1376 2027

11983 0.64 194.6 609.2 10.5 1149 11986 0.00 1.23 0.00 0.000 6 0.000 0.044 2954 2269 2027

12306 0.64 194.6 573.7 11.3 1180 12308 0.00 1.60 0.00 0.000 4 0.000 0.054 2955 3169 2027

12348 0.64 194.6 568.6 11.9 1184 12351 0.00 1.55 0.00 0.000 6 0.000 0.036 2962 2277 2027

12671 0.64 194.6 532.1 11.7 1215 12672 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2278 2026

12979 0.64 194.6 497.4 11.0 1245 12980 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2278 2026

13290 0.64 194.6 463.1 10.8 1275 13291 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2279 2026

13600 0.64 194.6 427.9 11.4 1305 13603 0.00 1.62 0.00 0.000 4 0.000 0.053 2962 3190 2026

13632 0.64 194.6 424.1 12.4 1308 13635 0.00 1.58 0.00 0.000 6 0.000 0.036 2970 2274 2026

13953 0.64 194.6 385.6 12.2 1339 13954 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2276 2027

14264 0.64 194.6 348.4 12.1 1369 14265 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2276 2026

14574 0.64 194.6 311.8 11.7 1399 14577 0.00 1.62 0.00 0.000 4 0.000 0.051 2970 3165 2026

14610 0.64 194.6 307.1 12.8 1402 14618 0.00 1.55 0.00 0.000 6 0.000 0.034 2977 2273 2026

14929 0.64 194.6 267.4 12.6 1433 14930 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2273 2026

15237 0.64 194.6 228.3 12.1 1463 15238 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2274 2026

15548 0.64 194.6 189.7 12.5 1493 15551 0.00 1.62 0.00 0.000 4 0.000 0.050 2977 3166 2026

15580 0.64 194.6 185.5 13.9 1496 15583 0.08 1.52 0.00 0.000 6 0.144 0.033 2958 2277 2026

15901 0.64 194.6 151.1 9.4 1527 15904 0.00 1.62 0.00 0.000 4 0.000 0.049 2959 3176 2027

15975 0.64 194.6 143.6 9.9 1534 15978 0.00 1.55 0.00 0.000 6 0.000 0.031 2964 2269 2027

16296 0.64 194.6 110.8 10.3 1565 16299 0.00 1.62 0.00 0.000 4 0.000 0.048 2964 3167 2028

16332 0.64 194.6 106.8 10.9 1568 16339 0.00 1.52 0.00 0.000 6 0.000 0.030 2971 2273 2028

16650 0.64 194.6 73.7 9.7 1599 16651 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2274 2029

16835 0.64 194.6 56.3 9.7 1617 16836 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2274 2030

17022 0.72 262.4 43.6 5.7 1635 17081 0.00 1.65 50.78 0.540 4 0.000 0.046 2972 3173 1769

17162 0.85 367.3 35.2 4.7 1647 17245 0.08 1.55 79.00 0.529 6 0.056 0.029 3032 2268 1341

17432 0.85 367.3 16.9 7.5 1672 17434 0.00 1.60 0.00 0.000 4 0.000 0.044 3032 3171 1333

17464 0.85 367.3 14.5 8.1 1675 17467 0.00 1.52 0.00 0.000 6 0.000 0.028 3039 2276 1333

17661 1.13 595.4 8.4 1.5 1694 17791 0.17 0.00 127.35 0.496 2 0.071 0.000 3112 2276 627

17791 end climb: SURFACE_DEPTH_REACHED

state 17791 begin surface coast

17829 end surface coast: CONTROL_FINISHED_OK

state 17829 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	275	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	22	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	-23736.248	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	111700,2842.985,-8841.227,34,1.9,34,-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	0.220,0.147
_SM_DEPTHo	1.67	KALMAN_X	7966.8,-676.3,-1209.5,8329.9,7685.7
_SM_ANGLEo	-70.4	KALMAN_Y	-391151.6,1893.8,585.4,415894.5,-10456.4
GPS2	112402,2843.067,-8841.263,14,2.0,14,-0.2	MHEAD_RNG_PITCHd_Wd	80.5,24807,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1040

FINISH	0.7,1.018697	ALTIM_BOTTOM_PING	940.6,30.2
SM_CCo	17845,32.85,0.469,0,0,403,597.54	_24V_AH	22.7,48.379
SM_GC	2.16,0.00,0.00,32.85,0.000,0.000,0.469,199,2349,403,-7.96,0.68,597.54	_10V_AH	10.6,66.661
IRIDIUM_FIX	2833.46,-8843.84,131099,060637	DATA_FILE_SIZE	91501,1709
TT8_MAMPS	0.052156	CAP_FILE_SIZE	157414,0
HUMID	1372	CFSIZE	260165632,230543360
INTERNAL_PRESSURE	9.2484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.40	CURRENT	0.106,119.8,1
XPDR_PINGS	1	GPS	190710,162337,2843.273,-8837.294,35,1.0,35,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	256	118.92	SBE_CT	1167	24	635.86
Roll_motor	78	71	126.34	SBE_O2	1247	19	538.08
VBD_pump_during_apogee	579	1210	15926.91	WL_BBFL2VMT	3841	105	9155.64
VBD_pump_during_surface	32	468	349.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.71	nil	0	0	0.00
Iridium_during_connect	32	160	116.90	nil	0	0	0.00
Iridium_during_xfer	224	223	1135.60
Transponder_ping	3	420	30.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.72
TT8	0	19	0.00
LPSleep	11948	2	277.37
TT8_Active	611	19	128.37
TT8_Sampling	5070	39	2138.98
TT8_CF8	638	45	310.13
TT8_Kalman	33	81	28.91
Analog_circuits	2073	12	263.75
GPS_charging	0	0	0.00
Compass	4532	8	384.38
RAFOS	0	0	0.00
Transponder	24	30	7.82

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
13	-0.64	-194.6	0.0	0.0	0	67	0.00	0.00	-52.83	0.000	2	0.000	0.000	196	2331	1944
70	-0.64	-194.6	3.3	-4.0	5	123	10.62	1.58	-38.78	0.000	4	0.256	0.069	2525	3225	3636
176	-0.64	-194.6	22.8	-24.9	14	179	0.00	1.48	0.00	0.000	6	0.000	0.028	2530	2326	3638
372	-0.64	-194.6	58.1	-13.2	33	375	0.00	1.23	0.00	0.000	4	0.000	0.032	2536	1408	3639
409	-0.64	-194.6	62.8	-12.2	36	416	0.00	1.27	0.00	0.000	6	0.000	0.034	2532	2330	3639
601	-0.64	-194.6	87.8	-12.8	55	602	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2330	3639
787	-0.64	-194.6	112.1	-13.4	73	790	0.00	1.25	0.00	0.000	4	0.000	0.034	2533	1414	3639
873	-0.64	-194.6	122.6	-11.8	81	876	0.00	1.25	0.00	0.000	6	0.000	0.036	2529	2321	3639
1195	-0.64	-194.6	162.9	-11.7	112	1198	0.00	1.52	0.00	0.000	4	0.000	0.046	2521	3215	3639
1248	-0.64	-194.6	169.5	-11.5	117	1251	0.00	1.45	0.00	0.000	6	0.000	0.028	2521	2324	3639
1570	-0.64	-194.6	208.7	-12.5	148	1573	0.00	1.23	0.00	0.000	4	0.000	0.036	2521	1415	3639
1670	-0.64	-194.6	221.4	-11.8	157	1678	0.00	1.30	0.00	0.000	6	0.000	0.037	2515	2334	3638
1989	-0.64	-194.6	260.5	-12.3	188	1992	0.00	1.27	0.00	0.000	4	0.000	0.036	2515	1411	3636
2063	-0.64	-194.6	269.8	-12.3	195	2066	0.08	1.27	0.00	0.000	6	0.141	0.038	2534	2324	3636
2384	-0.64	-194.6	304.1	-10.6	226	2387	0.00	1.25	0.00	0.000	4	0.000	0.037	2534	1413	3634
2452	-0.64	-194.6	311.4	-10.1	232	2460	0.00	1.30	0.00	0.000	6	0.000	0.038	2531	2330	3633
2771	-0.64	-194.6	344.6	-10.8	263	2772	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2330	3631
3079	-0.64	-194.6	377.8	-11.3	293	3082	0.00	1.27	0.00	0.000	4	0.000	0.038	2531	1409	3629
3175	-0.64	-194.6	388.3	-11.2	302	3178	0.00	1.27	0.00	0.000	6	0.000	0.041	2525	2318	3629
3498	-0.64	-194.6	422.2	-10.3	333	3501	0.00	1.25	0.00	0.000	4	0.000	0.038	2525	1413	3626
3545	-0.64	-194.6	427.6	-10.3	337	3552	0.00	1.27	0.00	0.000	6	0.000	0.041	2519	2321	3626
3863	-0.64	-194.6	461.1	-10.5	368	3864	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2321	3624
4172	-0.64	-194.6	495.3	-10.8	398	4173	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2321	3621
4482	-0.64	-194.6	529.4	-10.8	428	4483	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2321	3618
4792	-0.64	-194.6	562.7	-10.7	458	4793	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2321	3616
5104	-0.64	-194.6	594.9	-10.4	488	5104	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2321	3615
5413	-0.64	-194.6	626.8	-10.7	518	5414	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2321	3612
5724	-0.64	-194.6	659.2	-10.3	548	5725	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2321	3611
6034	-0.64	-194.6	690.5	-10.2	578	6035	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2321	3608
6345	-0.64	-194.6	720.9	-9.2	608	6346	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2321	3607
6655	-0.64	-194.6	750.8	-9.8	638	6658	0.00	1.58	0.00	0.000	4	0.000	0.058	2512	3204	3604
6680	-0.64	-194.6	753.4	-10.1	640	6687	0.00	1.48	0.00	0.000	6	0.000	0.035	2512	2329	3604
6999	-0.64	-194.6	785.0	-10.2	671	6999	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2330	3602
7307	-0.64	-194.6	816.2	-10.1	701	7310	0.00	1.27	0.00	0.000	4	0.000	0.044	2512	1424	3600
7350	-0.64	-194.6	820.6	-10.7	705	7354	0.08	1.30	0.00	0.000	6	0.146	0.048	2531	2323	3600
7671	-0.64	-194.6	847.4	-8.2	736	7672	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2324	3599
7982	-0.64	-194.6	872.0	-8.1	766	7983	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2324	3597
8294	-0.64	-194.6	898.8	-8.7	796	8294	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2324	3596
8602	-0.64	-194.6	927.9	-10.1	826	8605	0.00	1.30	0.00	0.000	4	0.000	0.045	2532	1411	3595
8656	-0.64	-194.6	933.1	-9.6	831	8659	0.00	1.33	0.00	0.000	6	0.000	0.049	2528	2324	3594
8840	end dive: BOTTOM_OBSTACLE_DETECTED
state	8840	begin apogee
8846	-0.26	0.0	951.1	8.9	849	9004	0.45	0.00	153.73	1.210	6	0.128	0.000	2665	2269	2839
9004	end apogee: CONTROL_FINISHED_OK
state	9004	begin climb
9006	0.64	194.6	957.6	0.0	865	9186	0.88	1.83	168.85	1.183	4	0.100	0.058	2943	3154	2044
9230	0.64	194.6	938.1	13.0	884	9233	0.00	1.62	0.00	0.000	6	0.000	0.035	2951	2281	2039
9552	0.64	194.6	899.7	12.3	915	9555	0.00	1.25	0.00	0.000	4	0.000	0.044	2957	1361	2034
9578	0.64	194.6	896.4	12.5	917	9585	0.00	1.30	0.00	0.000	6	0.000	0.044	2957	2277	2034
9896	0.64	194.6	857.6	11.4	948	9897	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2277	2033
10205	0.64	194.6	820.8	11.8	978	10205	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2278	2032
10516	0.64	194.6	784.5	11.7	1008	10519	0.00	1.62	0.00	0.000	4	0.000	0.055	2957	3197	2031
10547	0.64	194.6	780.6	12.8	1011	10550	0.00	1.60	0.00	0.000	6	0.000	0.037	2964	2273	2029
10868	0.64	194.6	742.5	11.4	1042	10871	0.00	1.20	0.00	0.000	4	0.000	0.043	2969	1372	2029
10915	0.64	194.6	737.1	12.0	1046	10923	0.00	1.27	0.00	0.000	6	0.000	0.044	2969	2280	2030
11234	0.64	194.6	698.8	11.9	1077	11237	0.00	1.60	0.00	0.000	4	0.000	0.055	2969	3167	2029
11280	0.64	194.6	692.4	13.2	1081	11288	0.00	1.55	0.00	0.000	6	0.000	0.036	2977	2276	2028
11598	0.64	194.6	652.3	13.0	1112	11601	0.00	1.62	0.00	0.000	4	0.000	0.054	2977	3165	2028
11630	0.64	194.6	647.6	14.3	1115	11634	0.08	1.55	0.00	0.000	6	0.152	0.037	2950	2277	2028
11951	0.64	194.6	612.5	10.9	1146	11954	0.00	1.20	0.00	0.000	4	0.000	0.042	2954	1376	2027
11983	0.64	194.6	609.2	10.5	1149	11986	0.00	1.23	0.00	0.000	6	0.000	0.044	2954	2269	2027
12306	0.64	194.6	573.7	11.3	1180	12308	0.00	1.60	0.00	0.000	4	0.000	0.054	2955	3169	2027
12348	0.64	194.6	568.6	11.9	1184	12351	0.00	1.55	0.00	0.000	6	0.000	0.036	2962	2277	2027
12671	0.64	194.6	532.1	11.7	1215	12672	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2278	2026
12979	0.64	194.6	497.4	11.0	1245	12980	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2278	2026
13290	0.64	194.6	463.1	10.8	1275	13291	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2279	2026
13600	0.64	194.6	427.9	11.4	1305	13603	0.00	1.62	0.00	0.000	4	0.000	0.053	2962	3190	2026
13632	0.64	194.6	424.1	12.4	1308	13635	0.00	1.58	0.00	0.000	6	0.000	0.036	2970	2274	2026
13953	0.64	194.6	385.6	12.2	1339	13954	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2276	2027
14264	0.64	194.6	348.4	12.1	1369	14265	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2276	2026
14574	0.64	194.6	311.8	11.7	1399	14577	0.00	1.62	0.00	0.000	4	0.000	0.051	2970	3165	2026
14610	0.64	194.6	307.1	12.8	1402	14618	0.00	1.55	0.00	0.000	6	0.000	0.034	2977	2273	2026
14929	0.64	194.6	267.4	12.6	1433	14930	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2273	2026
15237	0.64	194.6	228.3	12.1	1463	15238	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2274	2026
15548	0.64	194.6	189.7	12.5	1493	15551	0.00	1.62	0.00	0.000	4	0.000	0.050	2977	3166	2026
15580	0.64	194.6	185.5	13.9	1496	15583	0.08	1.52	0.00	0.000	6	0.144	0.033	2958	2277	2026
15901	0.64	194.6	151.1	9.4	1527	15904	0.00	1.62	0.00	0.000	4	0.000	0.049	2959	3176	2027
15975	0.64	194.6	143.6	9.9	1534	15978	0.00	1.55	0.00	0.000	6	0.000	0.031	2964	2269	2027
16296	0.64	194.6	110.8	10.3	1565	16299	0.00	1.62	0.00	0.000	4	0.000	0.048	2964	3167	2028
16332	0.64	194.6	106.8	10.9	1568	16339	0.00	1.52	0.00	0.000	6	0.000	0.030	2971	2273	2028
16650	0.64	194.6	73.7	9.7	1599	16651	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2274	2029
16835	0.64	194.6	56.3	9.7	1617	16836	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2274	2030
17022	0.72	262.4	43.6	5.7	1635	17081	0.00	1.65	50.78	0.540	4	0.000	0.046	2972	3173	1769
17162	0.85	367.3	35.2	4.7	1647	17245	0.08	1.55	79.00	0.529	6	0.056	0.029	3032	2268	1341
17432	0.85	367.3	16.9	7.5	1672	17434	0.00	1.60	0.00	0.000	4	0.000	0.044	3032	3171	1333
17464	0.85	367.3	14.5	8.1	1675	17467	0.00	1.52	0.00	0.000	6	0.000	0.028	3039	2276	1333
17661	1.13	595.4	8.4	1.5	1694	17791	0.17	0.00	127.35	0.496	2	0.071	0.000	3112	2276	627
17791	end climb: SURFACE_DEPTH_REACHED
state	17791	begin surface coast
17829	end surface coast: CONTROL_FINISHED_OK
state	17829	begin surface