Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 278 * 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 278 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -23783.721 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 -23783.721

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 2325 MASS 51931 R_PORT_OVSHOOT 29 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 30 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 278 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 025206,2843.955,-8828.982,24,1.2,24,-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 -0.110,0.240

_SM_DEPTHo 1.73 KALMAN_X 7764.8,259.9,45.4,26373.9,1623.5

_SM_ANGLEo -71.3 KALMAN_Y -398006.9,431.8,-14.1,426591.7,-6494.7

GPS2 025902,2844.010,-8828.945,16,1.2,16,-0.4 MHEAD_RNG_PITCHd_Wd 280.2,26249,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1353

Post-dive calculations and measurements:

FINISH 0.8,1.007365 _24V_AH 22.6,48.891

SM_CCo 18602,21.88,0.459,0,0,403,597.54 _10V_AH 10.5,67.341

SM_GC 1.31,0.00,0.00,21.88,0.000,0.000,0.459,199,2350,403,-7.96,0.71,597.54 DATA_FILE_SIZE 94590,1783

IRIDIUM_FIX 2835.91,-8831.49,131099,212129 CAP_FILE_SIZE 167877,0

TT8_MAMPS 0.051389 CFSIZE 260165632,230264832

HUMID 1374 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2484 CURRENT 0.123,130.4,1

TCM_TEMP 24.30 GPS 200710,081125,2843.307,-8831.064,38,1.6,38,-0.4

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 116.76 SBE_CT 1218 24 660.82

Roll_motor 82 71 133.64 SBE_O2 1301 19 558.88

VBD_pump_during_apogee 602 1241 16907.27 WL_BBFL2VMT 4007 105 9509.75

VBD_pump_during_surface 21 458 226.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.03 nil 0 0 0.00

Iridium_during_connect 26 160 94.90 nil 0 0 0.00

Iridium_during_xfer 227 223 1146.35

Transponder_ping 4 420 37.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.63

TT8 0 19 0.00

LPSleep 12420 2 285.60

TT8_Active 627 19 130.55

TT8_Sampling 5302 39 2215.94

TT8_CF8 676 45 325.36

TT8_Kalman 33 81 28.64

Analog_circuits 2158 12 272.00

GPS_charging 0 0 0.00

Compass 4741 8 398.32

RAFOS 0 0 0.00

Transponder 28 30 8.83

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 -0.64 -194.6 0.0 0.0 0 59 0.00 0.00 -42.90 0.000 2 0.000 0.000 198 2334 1690

61 -0.64 -194.6 3.3 -4.8 4 121 10.50 1.30 -45.67 0.000 4 0.254 0.051 2537 1394 3636

157 -0.64 -194.6 21.4 -22.9 12 165 0.00 1.33 0.00 0.000 6 0.000 0.034 2532 2331 3637

350 -0.64 -194.6 58.3 -14.7 31 353 0.00 1.25 0.00 0.000 4 0.000 0.033 2536 1420 3638

489 -0.64 -194.6 77.3 -14.0 44 492 0.00 1.25 0.00 0.000 6 0.000 0.034 2532 2325 3639

686 -0.64 -194.6 103.4 -13.3 63 686 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2325 3640

997 -0.64 -194.6 144.5 -13.7 93 1000 0.00 1.23 0.00 0.000 4 0.000 0.035 2532 1415 3640

1097 -0.64 -194.6 158.2 -13.1 102 1104 0.00 1.25 0.00 0.000 6 0.000 0.035 2527 2325 3640

1415 -0.64 -194.6 197.0 -11.9 133 1418 0.00 1.23 0.00 0.000 4 0.000 0.035 2527 1417 3639

1462 -0.64 -194.6 202.9 -11.9 137 1470 0.00 1.27 0.00 0.000 6 0.000 0.034 2521 2329 3639

1780 -0.64 -194.6 239.8 -11.7 168 1783 0.00 1.25 0.00 0.000 4 0.000 0.035 2521 1415 3637

1833 -0.64 -194.6 246.1 -11.0 173 1836 0.00 1.25 0.00 0.000 6 0.000 0.036 2516 2322 3637

2156 -0.64 -194.6 284.4 -12.6 204 2156 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2322 3636

2465 -0.64 -194.6 322.6 -12.1 234 2468 0.00 1.25 0.00 0.000 4 0.000 0.038 2516 1413 3634

2518 -0.64 -194.6 329.2 -12.0 239 2522 0.08 1.27 0.00 0.000 6 0.142 0.039 2534 2324 3633

2839 -0.64 -194.6 363.0 -10.6 270 2842 0.00 1.25 0.00 0.000 4 0.000 0.039 2535 1415 3631

2896 -0.64 -194.6 369.1 -9.9 275 2904 0.00 1.30 0.00 0.000 6 0.000 0.038 2530 2331 3631

3215 -0.64 -194.6 402.8 -10.6 306 3216 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2331 3629

3523 -0.64 -194.6 434.6 -9.8 336 3524 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2331 3626

3834 -0.64 -194.6 465.0 -9.8 366 3837 0.00 1.27 0.00 0.000 4 0.000 0.041 2531 1414 3623

3910 -0.64 -194.6 472.3 -9.5 373 3912 0.00 1.27 0.00 0.000 6 0.000 0.041 2525 2323 3623

4232 -0.64 -194.6 505.0 -10.5 404 4232 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2322 3620

4542 -0.64 -194.6 536.7 -10.3 434 4542 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2323 3618

4851 -0.64 -194.6 567.6 -10.1 464 4854 0.00 1.25 0.00 0.000 4 0.000 0.043 2525 1430 3616

4920 -0.64 -194.6 574.8 -9.9 470 4927 0.00 1.27 0.00 0.000 6 0.000 0.043 2520 2325 3616

5237 -0.64 -194.6 607.2 -10.3 501 5238 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2324 3613

5547 -0.64 -194.6 638.9 -10.4 531 5550 0.00 1.27 0.00 0.000 4 0.000 0.044 2520 1412 3611

5621 -0.64 -194.6 646.4 -9.9 538 5624 0.00 1.30 0.00 0.000 6 0.000 0.045 2514 2321 3611

5943 -0.64 -194.6 679.2 -10.1 569 5944 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2322 3608

6253 -0.64 -194.6 711.1 -10.6 599 6254 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2321 3606

6563 -0.64 -194.6 743.5 -10.7 629 6566 0.00 1.27 0.00 0.000 4 0.000 0.045 2514 1416 3605

6600 -0.64 -194.6 747.3 -10.6 632 6607 0.08 1.30 0.00 0.000 6 0.147 0.046 2533 2322 3604

6916 -0.64 -194.6 775.4 -9.1 663 6917 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2322 3604

7227 -0.64 -194.6 802.3 -8.6 693 7230 0.00 1.27 0.00 0.000 4 0.000 0.045 2534 1421 3601

7262 -0.64 -194.6 805.7 -9.1 696 7270 0.00 1.33 0.00 0.000 6 0.000 0.046 2529 2329 3600

7582 -0.64 -194.6 833.7 -8.9 727 7584 0.00 1.58 0.00 0.000 4 0.000 0.058 2523 3213 3599

7625 -0.64 -194.6 837.6 -9.2 731 7628 0.00 1.48 0.00 0.000 6 0.000 0.036 2523 2332 3598

7946 -0.64 -194.6 866.9 -9.3 762 7946 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2333 3598

8256 -0.64 -194.6 895.6 -9.1 792 8259 0.00 1.30 0.00 0.000 4 0.000 0.046 2523 1419 3597

8298 -0.64 -194.6 899.6 -8.9 796 8303 0.00 1.33 0.00 0.000 6 0.000 0.048 2516 2327 3596

8619 -0.64 -194.6 929.3 -9.0 827 8620 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2327 3595

8930 -0.64 -194.6 957.8 -9.4 857 8930 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2326 3593

9240 -0.64 -194.6 986.4 -9.2 887 9241 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2327 3592

9280 end dive: TARGET_DEPTH_EXCEEDED

state 9280 begin apogee

9285 -0.26 0.0 990.1 9.1 891 9444 0.47 0.00 153.98 1.241 6 0.134 0.000 2658 2272 2840

9444 end apogee: CONTROL_FINISHED_OK

state 9444 begin climb

9447 0.64 194.6 994.7 0.0 907 9628 0.90 1.85 170.50 1.210 4 0.102 0.057 2942 3164 2045

9661 0.64 194.6 976.5 12.5 926 9664 0.00 1.65 0.00 0.000 6 0.000 0.036 2949 2280 2039

9984 0.64 194.6 938.3 11.7 957 9985 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2281 2035

10292 0.64 194.6 902.0 11.7 987 10293 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2281 2033

10603 0.64 194.6 866.4 11.8 1017 10604 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2281 2032

10914 0.64 194.6 830.1 11.8 1047 10916 0.00 1.60 0.00 0.000 4 0.000 0.054 2949 3177 2031

10946 0.64 194.6 826.1 13.3 1050 10949 0.00 1.58 0.00 0.000 6 0.000 0.038 2956 2271 2029

11267 0.64 194.6 788.8 11.5 1081 11270 0.00 1.62 0.00 0.000 4 0.000 0.055 2956 3176 2030

11298 0.64 194.6 784.9 12.7 1084 11301 0.00 1.58 0.00 0.000 6 0.000 0.037 2963 2274 2029

11621 0.64 194.6 746.4 12.0 1115 11622 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2275 2029

11930 0.64 194.6 709.9 11.5 1145 11930 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2275 2029

12241 0.64 194.6 672.6 12.2 1175 12244 0.00 1.62 0.00 0.000 4 0.000 0.055 2963 3160 2028

12287 0.64 194.6 666.6 12.9 1179 12294 0.00 1.55 0.00 0.000 6 0.000 0.037 2970 2276 2028

12605 0.64 194.6 626.9 12.3 1210 12606 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2277 2028

12915 0.64 194.6 589.0 12.3 1240 12917 0.00 1.62 0.00 0.000 4 0.000 0.054 2970 3180 2028

12958 0.64 194.6 583.4 12.2 1244 12961 0.00 1.58 0.00 0.000 6 0.000 0.038 2977 2275 2027

13280 0.64 194.6 543.2 12.6 1275 13281 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2276 2027

13590 0.64 194.6 504.0 12.8 1305 13593 0.00 1.60 0.00 0.000 4 0.000 0.054 2977 3167 2027

13615 0.64 194.6 500.5 13.9 1307 13623 0.08 1.55 0.00 0.000 6 0.145 0.035 2960 2277 2027

13932 0.64 194.6 464.9 10.9 1338 13935 0.00 1.62 0.00 0.000 4 0.000 0.053 2960 3164 2027

13964 0.64 194.6 461.1 11.5 1341 13967 0.00 1.55 0.00 0.000 6 0.000 0.036 2966 2272 2027

14286 0.64 194.6 424.0 11.5 1372 14287 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2273 2027

14596 0.64 194.6 387.4 11.8 1402 14599 0.00 1.62 0.00 0.000 4 0.000 0.053 2965 3179 2027

14670 0.64 194.6 378.2 12.8 1409 14673 0.00 1.58 0.00 0.000 6 0.000 0.035 2973 2273 2026

14993 0.64 194.6 339.4 12.1 1440 14996 0.00 1.60 0.00 0.000 4 0.000 0.052 2973 3167 2027

15018 0.64 194.6 335.7 13.8 1442 15026 0.00 1.55 0.00 0.000 6 0.000 0.035 2981 2276 2027

15336 0.64 194.6 294.9 12.8 1473 15339 0.00 1.60 0.00 0.000 4 0.000 0.051 2981 3172 2027

15373 0.64 194.6 289.6 14.3 1476 15380 0.10 1.55 0.00 0.000 6 0.141 0.034 2957 2277 2027

15689 0.64 194.6 253.7 11.2 1507 15692 0.00 1.62 0.00 0.000 4 0.000 0.051 2956 3167 2027

15747 0.64 194.6 247.2 12.1 1512 15753 0.00 1.55 0.00 0.000 6 0.000 0.034 2962 2271 2027

16064 0.64 194.6 211.6 11.2 1543 16065 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2271 2027

16374 0.64 194.6 177.3 11.4 1573 16374 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2272 2028

16684 0.64 194.6 145.6 9.5 1603 16684 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2272 2028

16995 0.64 194.6 114.3 9.6 1633 16998 0.00 1.60 0.00 0.000 4 0.000 0.048 2962 3177 2030

17026 0.64 194.6 110.8 11.0 1636 17029 0.00 1.55 0.00 0.000 6 0.000 0.031 2970 2268 2030

17347 0.64 194.6 78.6 9.3 1667 17350 0.00 1.62 0.00 0.000 4 0.000 0.047 2970 3171 2031

17380 0.64 194.6 75.5 9.7 1670 17383 0.05 1.52 0.00 0.000 6 0.146 0.030 2959 2273 2031

17576 0.68 228.9 60.9 6.6 1689 17605 0.00 1.23 26.10 0.542 4 0.000 0.036 2963 1360 1906

17685 0.74 271.9 53.3 6.4 1698 17728 0.00 1.23 34.03 0.541 6 0.000 0.036 2963 2269 1729

17913 0.81 332.1 38.6 5.9 1720 17966 0.12 1.23 45.92 0.526 4 0.065 0.036 3032 1362 1485

18003 0.83 352.6 31.1 7.0 1728 18024 0.00 1.25 16.92 0.495 6 0.000 0.034 3032 2276 1400

18207 0.87 380.4 17.0 6.8 1748 18230 0.00 0.00 21.60 0.490 6 0.000 0.000 3032 2276 1288

18413 1.11 576.5 8.1 2.3 1768 18550 0.17 0.00 133.77 0.495 2 0.080 0.000 3100 2276 545

18550 end climb: SURFACE_DEPTH_REACHED

state 18551 begin surface coast

18587 end surface coast: CONTROL_FINISHED_OK

state 18587 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	278	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-23783.721	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	025206,2843.955,-8828.982,24,1.2,24,-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	-0.110,0.240
_SM_DEPTHo	1.73	KALMAN_X	7764.8,259.9,45.4,26373.9,1623.5
_SM_ANGLEo	-71.3	KALMAN_Y	-398006.9,431.8,-14.1,426591.7,-6494.7
GPS2	025902,2844.010,-8828.945,16,1.2,16,-0.4	MHEAD_RNG_PITCHd_Wd	280.2,26249,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1353

FINISH	0.8,1.007365	_24V_AH	22.6,48.891
SM_CCo	18602,21.88,0.459,0,0,403,597.54	_10V_AH	10.5,67.341
SM_GC	1.31,0.00,0.00,21.88,0.000,0.000,0.459,199,2350,403,-7.96,0.71,597.54	DATA_FILE_SIZE	94590,1783
IRIDIUM_FIX	2835.91,-8831.49,131099,212129	CAP_FILE_SIZE	167877,0
TT8_MAMPS	0.051389	CFSIZE	260165632,230264832
HUMID	1374	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2484	CURRENT	0.123,130.4,1
TCM_TEMP	24.30	GPS	200710,081125,2843.307,-8831.064,38,1.6,38,-0.4
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	116.76	SBE_CT	1218	24	660.82
Roll_motor	82	71	133.64	SBE_O2	1301	19	558.88
VBD_pump_during_apogee	602	1241	16907.27	WL_BBFL2VMT	4007	105	9509.75
VBD_pump_during_surface	21	458	226.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.03	nil	0	0	0.00
Iridium_during_connect	26	160	94.90	nil	0	0	0.00
Iridium_during_xfer	227	223	1146.35
Transponder_ping	4	420	37.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.63
TT8	0	19	0.00
LPSleep	12420	2	285.60
TT8_Active	627	19	130.55
TT8_Sampling	5302	39	2215.94
TT8_CF8	676	45	325.36
TT8_Kalman	33	81	28.64
Analog_circuits	2158	12	272.00
GPS_charging	0	0	0.00
Compass	4741	8	398.32
RAFOS	0	0	0.00
Transponder	28	30	8.83

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	-0.64	-194.6	0.0	0.0	0	59	0.00	0.00	-42.90	0.000	2	0.000	0.000	198	2334	1690
61	-0.64	-194.6	3.3	-4.8	4	121	10.50	1.30	-45.67	0.000	4	0.254	0.051	2537	1394	3636
157	-0.64	-194.6	21.4	-22.9	12	165	0.00	1.33	0.00	0.000	6	0.000	0.034	2532	2331	3637
350	-0.64	-194.6	58.3	-14.7	31	353	0.00	1.25	0.00	0.000	4	0.000	0.033	2536	1420	3638
489	-0.64	-194.6	77.3	-14.0	44	492	0.00	1.25	0.00	0.000	6	0.000	0.034	2532	2325	3639
686	-0.64	-194.6	103.4	-13.3	63	686	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2325	3640
997	-0.64	-194.6	144.5	-13.7	93	1000	0.00	1.23	0.00	0.000	4	0.000	0.035	2532	1415	3640
1097	-0.64	-194.6	158.2	-13.1	102	1104	0.00	1.25	0.00	0.000	6	0.000	0.035	2527	2325	3640
1415	-0.64	-194.6	197.0	-11.9	133	1418	0.00	1.23	0.00	0.000	4	0.000	0.035	2527	1417	3639
1462	-0.64	-194.6	202.9	-11.9	137	1470	0.00	1.27	0.00	0.000	6	0.000	0.034	2521	2329	3639
1780	-0.64	-194.6	239.8	-11.7	168	1783	0.00	1.25	0.00	0.000	4	0.000	0.035	2521	1415	3637
1833	-0.64	-194.6	246.1	-11.0	173	1836	0.00	1.25	0.00	0.000	6	0.000	0.036	2516	2322	3637
2156	-0.64	-194.6	284.4	-12.6	204	2156	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2322	3636
2465	-0.64	-194.6	322.6	-12.1	234	2468	0.00	1.25	0.00	0.000	4	0.000	0.038	2516	1413	3634
2518	-0.64	-194.6	329.2	-12.0	239	2522	0.08	1.27	0.00	0.000	6	0.142	0.039	2534	2324	3633
2839	-0.64	-194.6	363.0	-10.6	270	2842	0.00	1.25	0.00	0.000	4	0.000	0.039	2535	1415	3631
2896	-0.64	-194.6	369.1	-9.9	275	2904	0.00	1.30	0.00	0.000	6	0.000	0.038	2530	2331	3631
3215	-0.64	-194.6	402.8	-10.6	306	3216	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2331	3629
3523	-0.64	-194.6	434.6	-9.8	336	3524	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2331	3626
3834	-0.64	-194.6	465.0	-9.8	366	3837	0.00	1.27	0.00	0.000	4	0.000	0.041	2531	1414	3623
3910	-0.64	-194.6	472.3	-9.5	373	3912	0.00	1.27	0.00	0.000	6	0.000	0.041	2525	2323	3623
4232	-0.64	-194.6	505.0	-10.5	404	4232	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2322	3620
4542	-0.64	-194.6	536.7	-10.3	434	4542	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2323	3618
4851	-0.64	-194.6	567.6	-10.1	464	4854	0.00	1.25	0.00	0.000	4	0.000	0.043	2525	1430	3616
4920	-0.64	-194.6	574.8	-9.9	470	4927	0.00	1.27	0.00	0.000	6	0.000	0.043	2520	2325	3616
5237	-0.64	-194.6	607.2	-10.3	501	5238	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2324	3613
5547	-0.64	-194.6	638.9	-10.4	531	5550	0.00	1.27	0.00	0.000	4	0.000	0.044	2520	1412	3611
5621	-0.64	-194.6	646.4	-9.9	538	5624	0.00	1.30	0.00	0.000	6	0.000	0.045	2514	2321	3611
5943	-0.64	-194.6	679.2	-10.1	569	5944	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2322	3608
6253	-0.64	-194.6	711.1	-10.6	599	6254	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2321	3606
6563	-0.64	-194.6	743.5	-10.7	629	6566	0.00	1.27	0.00	0.000	4	0.000	0.045	2514	1416	3605
6600	-0.64	-194.6	747.3	-10.6	632	6607	0.08	1.30	0.00	0.000	6	0.147	0.046	2533	2322	3604
6916	-0.64	-194.6	775.4	-9.1	663	6917	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2322	3604
7227	-0.64	-194.6	802.3	-8.6	693	7230	0.00	1.27	0.00	0.000	4	0.000	0.045	2534	1421	3601
7262	-0.64	-194.6	805.7	-9.1	696	7270	0.00	1.33	0.00	0.000	6	0.000	0.046	2529	2329	3600
7582	-0.64	-194.6	833.7	-8.9	727	7584	0.00	1.58	0.00	0.000	4	0.000	0.058	2523	3213	3599
7625	-0.64	-194.6	837.6	-9.2	731	7628	0.00	1.48	0.00	0.000	6	0.000	0.036	2523	2332	3598
7946	-0.64	-194.6	866.9	-9.3	762	7946	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2333	3598
8256	-0.64	-194.6	895.6	-9.1	792	8259	0.00	1.30	0.00	0.000	4	0.000	0.046	2523	1419	3597
8298	-0.64	-194.6	899.6	-8.9	796	8303	0.00	1.33	0.00	0.000	6	0.000	0.048	2516	2327	3596
8619	-0.64	-194.6	929.3	-9.0	827	8620	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2327	3595
8930	-0.64	-194.6	957.8	-9.4	857	8930	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2326	3593
9240	-0.64	-194.6	986.4	-9.2	887	9241	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2327	3592
9280	end dive: TARGET_DEPTH_EXCEEDED
state	9280	begin apogee
9285	-0.26	0.0	990.1	9.1	891	9444	0.47	0.00	153.98	1.241	6	0.134	0.000	2658	2272	2840
9444	end apogee: CONTROL_FINISHED_OK
state	9444	begin climb
9447	0.64	194.6	994.7	0.0	907	9628	0.90	1.85	170.50	1.210	4	0.102	0.057	2942	3164	2045
9661	0.64	194.6	976.5	12.5	926	9664	0.00	1.65	0.00	0.000	6	0.000	0.036	2949	2280	2039
9984	0.64	194.6	938.3	11.7	957	9985	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2281	2035
10292	0.64	194.6	902.0	11.7	987	10293	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2281	2033
10603	0.64	194.6	866.4	11.8	1017	10604	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2281	2032
10914	0.64	194.6	830.1	11.8	1047	10916	0.00	1.60	0.00	0.000	4	0.000	0.054	2949	3177	2031
10946	0.64	194.6	826.1	13.3	1050	10949	0.00	1.58	0.00	0.000	6	0.000	0.038	2956	2271	2029
11267	0.64	194.6	788.8	11.5	1081	11270	0.00	1.62	0.00	0.000	4	0.000	0.055	2956	3176	2030
11298	0.64	194.6	784.9	12.7	1084	11301	0.00	1.58	0.00	0.000	6	0.000	0.037	2963	2274	2029
11621	0.64	194.6	746.4	12.0	1115	11622	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2275	2029
11930	0.64	194.6	709.9	11.5	1145	11930	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2275	2029
12241	0.64	194.6	672.6	12.2	1175	12244	0.00	1.62	0.00	0.000	4	0.000	0.055	2963	3160	2028
12287	0.64	194.6	666.6	12.9	1179	12294	0.00	1.55	0.00	0.000	6	0.000	0.037	2970	2276	2028
12605	0.64	194.6	626.9	12.3	1210	12606	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2277	2028
12915	0.64	194.6	589.0	12.3	1240	12917	0.00	1.62	0.00	0.000	4	0.000	0.054	2970	3180	2028
12958	0.64	194.6	583.4	12.2	1244	12961	0.00	1.58	0.00	0.000	6	0.000	0.038	2977	2275	2027
13280	0.64	194.6	543.2	12.6	1275	13281	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2276	2027
13590	0.64	194.6	504.0	12.8	1305	13593	0.00	1.60	0.00	0.000	4	0.000	0.054	2977	3167	2027
13615	0.64	194.6	500.5	13.9	1307	13623	0.08	1.55	0.00	0.000	6	0.145	0.035	2960	2277	2027
13932	0.64	194.6	464.9	10.9	1338	13935	0.00	1.62	0.00	0.000	4	0.000	0.053	2960	3164	2027
13964	0.64	194.6	461.1	11.5	1341	13967	0.00	1.55	0.00	0.000	6	0.000	0.036	2966	2272	2027
14286	0.64	194.6	424.0	11.5	1372	14287	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2273	2027
14596	0.64	194.6	387.4	11.8	1402	14599	0.00	1.62	0.00	0.000	4	0.000	0.053	2965	3179	2027
14670	0.64	194.6	378.2	12.8	1409	14673	0.00	1.58	0.00	0.000	6	0.000	0.035	2973	2273	2026
14993	0.64	194.6	339.4	12.1	1440	14996	0.00	1.60	0.00	0.000	4	0.000	0.052	2973	3167	2027
15018	0.64	194.6	335.7	13.8	1442	15026	0.00	1.55	0.00	0.000	6	0.000	0.035	2981	2276	2027
15336	0.64	194.6	294.9	12.8	1473	15339	0.00	1.60	0.00	0.000	4	0.000	0.051	2981	3172	2027
15373	0.64	194.6	289.6	14.3	1476	15380	0.10	1.55	0.00	0.000	6	0.141	0.034	2957	2277	2027
15689	0.64	194.6	253.7	11.2	1507	15692	0.00	1.62	0.00	0.000	4	0.000	0.051	2956	3167	2027
15747	0.64	194.6	247.2	12.1	1512	15753	0.00	1.55	0.00	0.000	6	0.000	0.034	2962	2271	2027
16064	0.64	194.6	211.6	11.2	1543	16065	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2271	2027
16374	0.64	194.6	177.3	11.4	1573	16374	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2272	2028
16684	0.64	194.6	145.6	9.5	1603	16684	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2272	2028
16995	0.64	194.6	114.3	9.6	1633	16998	0.00	1.60	0.00	0.000	4	0.000	0.048	2962	3177	2030
17026	0.64	194.6	110.8	11.0	1636	17029	0.00	1.55	0.00	0.000	6	0.000	0.031	2970	2268	2030
17347	0.64	194.6	78.6	9.3	1667	17350	0.00	1.62	0.00	0.000	4	0.000	0.047	2970	3171	2031
17380	0.64	194.6	75.5	9.7	1670	17383	0.05	1.52	0.00	0.000	6	0.146	0.030	2959	2273	2031
17576	0.68	228.9	60.9	6.6	1689	17605	0.00	1.23	26.10	0.542	4	0.000	0.036	2963	1360	1906
17685	0.74	271.9	53.3	6.4	1698	17728	0.00	1.23	34.03	0.541	6	0.000	0.036	2963	2269	1729
17913	0.81	332.1	38.6	5.9	1720	17966	0.12	1.23	45.92	0.526	4	0.065	0.036	3032	1362	1485
18003	0.83	352.6	31.1	7.0	1728	18024	0.00	1.25	16.92	0.495	6	0.000	0.034	3032	2276	1400
18207	0.87	380.4	17.0	6.8	1748	18230	0.00	0.00	21.60	0.490	6	0.000	0.000	3032	2276	1288
18413	1.11	576.5	8.1	2.3	1768	18550	0.17	0.00	133.77	0.495	2	0.080	0.000	3100	2276	545
18550	end climb: SURFACE_DEPTH_REACHED
state	18551	begin surface coast
18587	end surface coast: CONTROL_FINISHED_OK
state	18587	begin surface