Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 279 * 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 279 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 36 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 -23803.043 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 -23803.043

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 36 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 279 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 081125,2843.307,-8831.064,38,1.6,38,-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 -0.250,0.088

_SM_DEPTHo 1.69 KALMAN_X 7854.8,-59.4,-479.3,23653.7,1828.5

_SM_ANGLEo -71.5 KALMAN_Y -405440.6,347.2,-104.0,433030.2,-10434.1

GPS2 081749,2843.373,-8831.075,11,1.4,16,-0.4 MHEAD_RNG_PITCHd_Wd 285.1,22691,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1226

Post-dive calculations and measurements:

FINISH 0.8,1.018426 _24V_AH 22.6,49.061

SM_CCo 18562,16.10,0.450,0,0,403,597.54 _10V_AH 10.5,67.569

SM_GC 2.25,0.00,0.00,16.10,0.000,0.000,0.450,199,2347,403,-7.96,0.62,597.54 DATA_FILE_SIZE 94600,1780

IRIDIUM_FIX 2833.46,-8831.56,141099,030307 CAP_FILE_SIZE 165898,0

TT8_MAMPS 0.051389 CFSIZE 260165632,230174720

HUMID 1393 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2484 CURRENT 0.128,140.3,1

TCM_TEMP 23.90 GPS 200710,132906,2842.877,-8833.214,36,0.9,36,-0.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 254 117.69 SBE_CT 1216 24 659.61

Roll_motor 81 69 128.16 SBE_O2 1303 19 559.63

VBD_pump_during_apogee 609 1238 17055.09 WL_BBFL2VMT 4000 105 9493.68

VBD_pump_during_surface 16 450 163.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 55.56 nil 0 0 0.00

Iridium_during_connect 31 160 113.72 nil 0 0 0.00

Iridium_during_xfer 192 223 971.80

Transponder_ping 3 420 35.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.81

TT8 0 19 0.00

LPSleep 12337 2 283.70

TT8_Active 646 19 134.39

TT8_Sampling 5315 39 2221.24

TT8_CF8 630 45 303.42

TT8_Kalman 33 81 28.64

Analog_circuits 2178 12 274.52

GPS_charging 0 0 0.00

Compass 4756 8 399.55

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

13 -0.64 -194.6 0.0 0.0 0 59 0.00 0.00 -44.85 0.000 2 0.000 0.000 197 2350 1719

62 -0.64 -194.6 3.1 -4.0 4 122 10.57 1.38 -45.95 0.000 4 0.255 0.058 2539 1407 3636

362 -0.64 -194.6 59.0 -14.3 31 370 0.00 1.27 0.00 0.000 6 0.000 0.035 2535 2315 3638

555 -0.64 -194.6 84.8 -13.0 50 558 0.00 1.23 0.00 0.000 4 0.000 0.036 2536 1417 3639

768 -0.64 -194.6 111.6 -12.3 70 772 0.00 1.27 0.00 0.000 6 0.000 0.036 2532 2330 3639

1091 -0.64 -194.6 153.5 -13.7 101 1094 0.00 1.25 0.00 0.000 4 0.000 0.036 2533 1417 3639

1202 -0.64 -194.6 167.8 -13.1 111 1210 0.00 1.25 0.00 0.000 6 0.000 0.036 2527 2321 3639

1520 -0.64 -194.6 205.7 -11.6 142 1523 0.00 1.25 0.00 0.000 4 0.000 0.037 2527 1404 3638

1599 -0.64 -194.6 215.2 -11.7 149 1606 0.00 1.33 0.00 0.000 6 0.000 0.037 2522 2338 3638

1917 -0.64 -194.6 252.3 -11.7 180 1920 0.00 1.27 0.00 0.000 4 0.000 0.037 2521 1422 3637

1975 -0.64 -194.6 259.7 -11.9 185 1982 0.00 1.27 0.00 0.000 6 0.000 0.037 2515 2325 3636

2293 -0.64 -194.6 297.9 -12.3 216 2294 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2326 3635

2602 -0.64 -194.6 335.5 -11.8 246 2605 0.00 1.25 0.00 0.000 4 0.000 0.038 2515 1421 3632

2724 -0.64 -194.6 350.2 -11.3 257 2731 0.08 1.30 0.00 0.000 6 0.140 0.038 2534 2333 3632

3040 -0.64 -194.6 383.4 -10.2 288 3043 0.00 1.27 0.00 0.000 4 0.000 0.038 2534 1414 3630

3076 -0.64 -194.6 387.6 -11.3 291 3085 0.00 1.30 0.00 0.000 6 0.000 0.039 2531 2329 3629

3395 -0.64 -194.6 420.9 -10.4 322 3398 0.00 1.27 0.00 0.000 4 0.000 0.039 2530 1409 3627

3426 -0.64 -194.6 424.4 -10.0 325 3429 0.00 1.30 0.00 0.000 6 0.000 0.041 2525 2329 3627

3749 -0.64 -194.6 459.1 -11.1 356 3752 0.00 1.27 0.00 0.000 4 0.000 0.039 2525 1414 3624

3792 -0.64 -194.6 464.0 -11.0 360 3795 0.00 1.27 0.00 0.000 6 0.000 0.041 2519 2324 3624

4114 -0.64 -194.6 499.8 -11.0 391 4115 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2324 3622

4424 -0.64 -194.6 533.6 -10.6 421 4427 0.00 1.25 0.00 0.000 4 0.000 0.041 2519 1430 3620

4492 -0.64 -194.6 541.3 -10.6 427 4500 0.00 1.30 0.00 0.000 6 0.000 0.042 2514 2330 3620

4810 -0.64 -194.6 575.9 -10.7 458 4814 0.00 1.27 0.00 0.000 4 0.000 0.041 2514 1422 3618

4853 -0.64 -194.6 580.8 -11.3 462 4856 0.08 1.27 0.00 0.000 6 0.147 0.043 2534 2319 3617

5174 -0.64 -194.6 611.2 -9.4 493 5174 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2319 3615

5485 -0.64 -194.6 640.3 -9.1 523 5486 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2319 3612

5794 -0.64 -194.6 668.1 -8.7 553 5797 0.00 1.25 0.00 0.000 4 0.000 0.043 2533 1433 3611

5831 -0.64 -194.6 671.5 -9.2 556 5838 0.00 1.27 0.00 0.000 6 0.000 0.045 2530 2324 3611

6149 -0.64 -194.6 699.9 -9.1 587 6149 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2325 3608

6458 -0.64 -194.6 728.9 -9.2 617 6461 0.00 1.27 0.00 0.000 4 0.000 0.044 2530 1422 3606

6505 -0.64 -194.6 733.9 -10.1 621 6512 0.00 1.30 0.00 0.000 6 0.000 0.045 2525 2328 3606

6823 -0.64 -194.6 764.3 -9.3 652 6824 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2328 3605

7133 -0.64 -194.6 794.2 -9.7 682 7136 0.00 1.58 0.00 0.000 4 0.000 0.057 2517 3218 3603

7169 -0.64 -194.6 797.8 -10.0 685 7176 0.00 1.48 0.00 0.000 6 0.000 0.035 2518 2333 3603

7487 -0.64 -194.6 827.5 -9.2 716 7488 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2334 3601

7797 -0.64 -194.6 857.5 -9.4 746 7798 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2334 3600

8106 -0.64 -194.6 886.1 -8.9 776 8107 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2334 3599

8416 -0.64 -194.6 914.8 -9.4 806 8417 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2334 3597

8727 -0.64 -194.6 944.4 -9.5 836 8730 0.00 1.30 0.00 0.000 4 0.000 0.045 2517 1418 3596

8774 -0.64 -194.6 949.1 -9.9 840 8781 0.00 1.33 0.00 0.000 6 0.000 0.049 2512 2327 3596

9091 -0.64 -194.6 979.5 -9.3 871 9092 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2327 3594

9203 end dive: TARGET_DEPTH_EXCEEDED

state 9204 begin apogee

9208 -0.26 0.0 990.6 9.3 882 9367 0.50 0.00 154.40 1.239 6 0.136 0.000 2660 2270 2840

9367 end apogee: CONTROL_FINISHED_OK

state 9367 begin climb

9370 0.64 194.6 995.7 0.0 898 9548 0.90 0.00 171.48 1.209 6 0.100 0.000 2943 2270 2045

9856 0.64 194.6 949.8 10.8 946 9859 0.00 1.65 0.00 0.000 4 0.000 0.059 2943 3170 2035

9878 0.64 194.6 947.4 11.1 948 9881 0.00 1.58 0.00 0.000 6 0.000 0.037 2951 2275 2034

10200 0.64 194.6 909.2 12.1 979 10201 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2276 2033

10510 0.64 194.6 872.1 11.6 1009 10511 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2276 2031

10819 0.64 194.6 836.5 11.3 1039 10820 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2276 2031

11130 0.64 194.6 800.3 12.1 1069 11134 0.00 1.62 0.00 0.000 4 0.000 0.054 2951 3161 2030

11173 0.64 194.6 795.0 12.8 1073 11176 0.00 1.55 0.00 0.000 6 0.000 0.037 2959 2273 2029

11494 0.64 194.6 756.7 12.0 1104 11497 0.00 1.62 0.00 0.000 4 0.000 0.054 2958 3159 2029

11547 0.64 194.6 749.9 13.4 1109 11550 0.00 1.55 0.00 0.000 6 0.000 0.037 2965 2270 2028

11870 0.64 194.6 711.5 11.8 1140 11871 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2271 2028

12179 0.64 194.6 674.5 12.2 1170 12180 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2271 2028

12489 0.64 194.6 636.4 12.1 1200 12492 0.00 1.65 0.00 0.000 4 0.000 0.054 2965 3170 2028

12515 0.64 194.6 633.1 14.1 1202 12521 0.00 1.58 0.00 0.000 6 0.000 0.037 2973 2270 2027

12832 0.64 194.6 593.8 12.6 1233 12833 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2271 2027

13142 0.64 194.6 555.1 12.8 1263 13145 0.00 1.62 0.00 0.000 4 0.000 0.054 2973 3176 2027

13167 0.64 194.6 551.7 13.4 1265 13175 0.00 1.58 0.00 0.000 6 0.000 0.036 2980 2273 2026

13486 0.64 194.6 511.1 12.6 1296 13489 0.00 1.62 0.00 0.000 4 0.000 0.053 2980 3160 2026

13529 0.64 194.6 505.0 13.7 1300 13532 0.10 1.55 0.00 0.000 6 0.143 0.036 2957 2272 2027

13849 0.64 194.6 469.7 10.8 1331 13850 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2273 2027

14161 0.64 194.6 436.2 11.1 1361 14161 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2273 2026

14470 0.64 194.6 402.3 11.1 1391 14471 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2273 2026

14781 0.64 194.6 369.3 10.5 1421 14784 0.00 1.62 0.00 0.000 4 0.000 0.052 2957 3158 2027

14817 0.64 194.6 365.2 10.1 1424 14824 0.00 1.52 0.00 0.000 6 0.000 0.035 2962 2277 2026

15136 0.64 194.6 331.4 10.8 1455 15137 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2277 2027

15444 0.64 194.6 297.4 10.8 1485 15445 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2278 2027

15755 0.64 194.6 263.1 11.1 1515 15758 0.00 1.60 0.00 0.000 4 0.000 0.051 2962 3158 2027

15830 0.64 194.6 254.3 11.1 1522 15833 0.00 1.52 0.00 0.000 6 0.000 0.035 2969 2273 2027

16150 0.64 194.6 218.0 11.1 1553 16154 0.00 1.62 0.00 0.000 4 0.000 0.050 2970 3172 2028

16204 0.64 194.6 211.8 11.7 1558 16207 0.00 1.52 0.00 0.000 6 0.000 0.033 2977 2277 2028

16526 0.64 194.6 172.5 12.1 1589 16527 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2278 2028

16836 0.64 194.6 136.1 11.2 1619 16839 0.00 1.20 0.00 0.000 4 0.000 0.038 2983 1362 2029

16889 0.64 194.6 130.3 9.5 1624 16892 0.08 1.23 0.00 0.000 6 0.135 0.038 2958 2272 2030

17210 0.64 194.6 99.4 9.6 1655 17213 0.00 1.60 0.00 0.000 4 0.000 0.048 2956 3175 2030

17242 0.64 194.6 96.4 8.1 1658 17245 0.00 1.52 0.00 0.000 6 0.000 0.031 2962 2273 2030

17439 0.64 194.6 77.6 9.0 1677 17441 0.00 1.17 0.00 0.000 4 0.000 0.037 2967 1368 2031

17492 0.64 194.6 73.0 8.5 1682 17495 0.00 1.23 0.00 0.000 6 0.000 0.037 2967 2279 2032

17689 0.64 195.1 56.3 7.5 1701 17692 0.00 1.58 0.00 0.000 4 0.000 0.046 2967 3175 2032

17742 0.71 248.6 52.4 6.1 1706 17790 0.00 1.52 40.70 0.544 6 0.000 0.030 2975 2273 1826

17977 0.78 308.1 38.0 5.9 1728 18027 0.00 1.23 45.62 0.528 4 0.000 0.035 2980 1368 1584

18113 0.93 432.4 31.7 4.2 1740 18210 0.15 1.23 92.78 0.520 6 0.042 0.035 3067 2276 1077

18392 1.12 580.7 8.2 3.6 1766 18498 0.12 0.00 104.25 0.493 2 0.078 0.000 3115 2276 497

18499 end climb: SURFACE_DEPTH_REACHED

state 18499 begin surface coast

18545 end surface coast: CONTROL_FINISHED_OK

state 18547 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	279	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	36	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	-23803.043	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	081125,2843.307,-8831.064,38,1.6,38,-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	-0.250,0.088
_SM_DEPTHo	1.69	KALMAN_X	7854.8,-59.4,-479.3,23653.7,1828.5
_SM_ANGLEo	-71.5	KALMAN_Y	-405440.6,347.2,-104.0,433030.2,-10434.1
GPS2	081749,2843.373,-8831.075,11,1.4,16,-0.4	MHEAD_RNG_PITCHd_Wd	285.1,22691,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1226

FINISH	0.8,1.018426	_24V_AH	22.6,49.061
SM_CCo	18562,16.10,0.450,0,0,403,597.54	_10V_AH	10.5,67.569
SM_GC	2.25,0.00,0.00,16.10,0.000,0.000,0.450,199,2347,403,-7.96,0.62,597.54	DATA_FILE_SIZE	94600,1780
IRIDIUM_FIX	2833.46,-8831.56,141099,030307	CAP_FILE_SIZE	165898,0
TT8_MAMPS	0.051389	CFSIZE	260165632,230174720
HUMID	1393	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2484	CURRENT	0.128,140.3,1
TCM_TEMP	23.90	GPS	200710,132906,2842.877,-8833.214,36,0.9,36,-0.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	254	117.69	SBE_CT	1216	24	659.61
Roll_motor	81	69	128.16	SBE_O2	1303	19	559.63
VBD_pump_during_apogee	609	1238	17055.09	WL_BBFL2VMT	4000	105	9493.68
VBD_pump_during_surface	16	450	163.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	55.56	nil	0	0	0.00
Iridium_during_connect	31	160	113.72	nil	0	0	0.00
Iridium_during_xfer	192	223	971.80
Transponder_ping	3	420	35.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.81
TT8	0	19	0.00
LPSleep	12337	2	283.70
TT8_Active	646	19	134.39
TT8_Sampling	5315	39	2221.24
TT8_CF8	630	45	303.42
TT8_Kalman	33	81	28.64
Analog_circuits	2178	12	274.52
GPS_charging	0	0	0.00
Compass	4756	8	399.55
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
13	-0.64	-194.6	0.0	0.0	0	59	0.00	0.00	-44.85	0.000	2	0.000	0.000	197	2350	1719
62	-0.64	-194.6	3.1	-4.0	4	122	10.57	1.38	-45.95	0.000	4	0.255	0.058	2539	1407	3636
362	-0.64	-194.6	59.0	-14.3	31	370	0.00	1.27	0.00	0.000	6	0.000	0.035	2535	2315	3638
555	-0.64	-194.6	84.8	-13.0	50	558	0.00	1.23	0.00	0.000	4	0.000	0.036	2536	1417	3639
768	-0.64	-194.6	111.6	-12.3	70	772	0.00	1.27	0.00	0.000	6	0.000	0.036	2532	2330	3639
1091	-0.64	-194.6	153.5	-13.7	101	1094	0.00	1.25	0.00	0.000	4	0.000	0.036	2533	1417	3639
1202	-0.64	-194.6	167.8	-13.1	111	1210	0.00	1.25	0.00	0.000	6	0.000	0.036	2527	2321	3639
1520	-0.64	-194.6	205.7	-11.6	142	1523	0.00	1.25	0.00	0.000	4	0.000	0.037	2527	1404	3638
1599	-0.64	-194.6	215.2	-11.7	149	1606	0.00	1.33	0.00	0.000	6	0.000	0.037	2522	2338	3638
1917	-0.64	-194.6	252.3	-11.7	180	1920	0.00	1.27	0.00	0.000	4	0.000	0.037	2521	1422	3637
1975	-0.64	-194.6	259.7	-11.9	185	1982	0.00	1.27	0.00	0.000	6	0.000	0.037	2515	2325	3636
2293	-0.64	-194.6	297.9	-12.3	216	2294	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2326	3635
2602	-0.64	-194.6	335.5	-11.8	246	2605	0.00	1.25	0.00	0.000	4	0.000	0.038	2515	1421	3632
2724	-0.64	-194.6	350.2	-11.3	257	2731	0.08	1.30	0.00	0.000	6	0.140	0.038	2534	2333	3632
3040	-0.64	-194.6	383.4	-10.2	288	3043	0.00	1.27	0.00	0.000	4	0.000	0.038	2534	1414	3630
3076	-0.64	-194.6	387.6	-11.3	291	3085	0.00	1.30	0.00	0.000	6	0.000	0.039	2531	2329	3629
3395	-0.64	-194.6	420.9	-10.4	322	3398	0.00	1.27	0.00	0.000	4	0.000	0.039	2530	1409	3627
3426	-0.64	-194.6	424.4	-10.0	325	3429	0.00	1.30	0.00	0.000	6	0.000	0.041	2525	2329	3627
3749	-0.64	-194.6	459.1	-11.1	356	3752	0.00	1.27	0.00	0.000	4	0.000	0.039	2525	1414	3624
3792	-0.64	-194.6	464.0	-11.0	360	3795	0.00	1.27	0.00	0.000	6	0.000	0.041	2519	2324	3624
4114	-0.64	-194.6	499.8	-11.0	391	4115	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2324	3622
4424	-0.64	-194.6	533.6	-10.6	421	4427	0.00	1.25	0.00	0.000	4	0.000	0.041	2519	1430	3620
4492	-0.64	-194.6	541.3	-10.6	427	4500	0.00	1.30	0.00	0.000	6	0.000	0.042	2514	2330	3620
4810	-0.64	-194.6	575.9	-10.7	458	4814	0.00	1.27	0.00	0.000	4	0.000	0.041	2514	1422	3618
4853	-0.64	-194.6	580.8	-11.3	462	4856	0.08	1.27	0.00	0.000	6	0.147	0.043	2534	2319	3617
5174	-0.64	-194.6	611.2	-9.4	493	5174	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2319	3615
5485	-0.64	-194.6	640.3	-9.1	523	5486	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2319	3612
5794	-0.64	-194.6	668.1	-8.7	553	5797	0.00	1.25	0.00	0.000	4	0.000	0.043	2533	1433	3611
5831	-0.64	-194.6	671.5	-9.2	556	5838	0.00	1.27	0.00	0.000	6	0.000	0.045	2530	2324	3611
6149	-0.64	-194.6	699.9	-9.1	587	6149	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2325	3608
6458	-0.64	-194.6	728.9	-9.2	617	6461	0.00	1.27	0.00	0.000	4	0.000	0.044	2530	1422	3606
6505	-0.64	-194.6	733.9	-10.1	621	6512	0.00	1.30	0.00	0.000	6	0.000	0.045	2525	2328	3606
6823	-0.64	-194.6	764.3	-9.3	652	6824	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2328	3605
7133	-0.64	-194.6	794.2	-9.7	682	7136	0.00	1.58	0.00	0.000	4	0.000	0.057	2517	3218	3603
7169	-0.64	-194.6	797.8	-10.0	685	7176	0.00	1.48	0.00	0.000	6	0.000	0.035	2518	2333	3603
7487	-0.64	-194.6	827.5	-9.2	716	7488	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2334	3601
7797	-0.64	-194.6	857.5	-9.4	746	7798	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2334	3600
8106	-0.64	-194.6	886.1	-8.9	776	8107	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2334	3599
8416	-0.64	-194.6	914.8	-9.4	806	8417	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2334	3597
8727	-0.64	-194.6	944.4	-9.5	836	8730	0.00	1.30	0.00	0.000	4	0.000	0.045	2517	1418	3596
8774	-0.64	-194.6	949.1	-9.9	840	8781	0.00	1.33	0.00	0.000	6	0.000	0.049	2512	2327	3596
9091	-0.64	-194.6	979.5	-9.3	871	9092	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2327	3594
9203	end dive: TARGET_DEPTH_EXCEEDED
state	9204	begin apogee
9208	-0.26	0.0	990.6	9.3	882	9367	0.50	0.00	154.40	1.239	6	0.136	0.000	2660	2270	2840
9367	end apogee: CONTROL_FINISHED_OK
state	9367	begin climb
9370	0.64	194.6	995.7	0.0	898	9548	0.90	0.00	171.48	1.209	6	0.100	0.000	2943	2270	2045
9856	0.64	194.6	949.8	10.8	946	9859	0.00	1.65	0.00	0.000	4	0.000	0.059	2943	3170	2035
9878	0.64	194.6	947.4	11.1	948	9881	0.00	1.58	0.00	0.000	6	0.000	0.037	2951	2275	2034
10200	0.64	194.6	909.2	12.1	979	10201	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2276	2033
10510	0.64	194.6	872.1	11.6	1009	10511	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2276	2031
10819	0.64	194.6	836.5	11.3	1039	10820	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2276	2031
11130	0.64	194.6	800.3	12.1	1069	11134	0.00	1.62	0.00	0.000	4	0.000	0.054	2951	3161	2030
11173	0.64	194.6	795.0	12.8	1073	11176	0.00	1.55	0.00	0.000	6	0.000	0.037	2959	2273	2029
11494	0.64	194.6	756.7	12.0	1104	11497	0.00	1.62	0.00	0.000	4	0.000	0.054	2958	3159	2029
11547	0.64	194.6	749.9	13.4	1109	11550	0.00	1.55	0.00	0.000	6	0.000	0.037	2965	2270	2028
11870	0.64	194.6	711.5	11.8	1140	11871	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2271	2028
12179	0.64	194.6	674.5	12.2	1170	12180	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2271	2028
12489	0.64	194.6	636.4	12.1	1200	12492	0.00	1.65	0.00	0.000	4	0.000	0.054	2965	3170	2028
12515	0.64	194.6	633.1	14.1	1202	12521	0.00	1.58	0.00	0.000	6	0.000	0.037	2973	2270	2027
12832	0.64	194.6	593.8	12.6	1233	12833	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2271	2027
13142	0.64	194.6	555.1	12.8	1263	13145	0.00	1.62	0.00	0.000	4	0.000	0.054	2973	3176	2027
13167	0.64	194.6	551.7	13.4	1265	13175	0.00	1.58	0.00	0.000	6	0.000	0.036	2980	2273	2026
13486	0.64	194.6	511.1	12.6	1296	13489	0.00	1.62	0.00	0.000	4	0.000	0.053	2980	3160	2026
13529	0.64	194.6	505.0	13.7	1300	13532	0.10	1.55	0.00	0.000	6	0.143	0.036	2957	2272	2027
13849	0.64	194.6	469.7	10.8	1331	13850	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2273	2027
14161	0.64	194.6	436.2	11.1	1361	14161	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2273	2026
14470	0.64	194.6	402.3	11.1	1391	14471	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2273	2026
14781	0.64	194.6	369.3	10.5	1421	14784	0.00	1.62	0.00	0.000	4	0.000	0.052	2957	3158	2027
14817	0.64	194.6	365.2	10.1	1424	14824	0.00	1.52	0.00	0.000	6	0.000	0.035	2962	2277	2026
15136	0.64	194.6	331.4	10.8	1455	15137	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2277	2027
15444	0.64	194.6	297.4	10.8	1485	15445	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2278	2027
15755	0.64	194.6	263.1	11.1	1515	15758	0.00	1.60	0.00	0.000	4	0.000	0.051	2962	3158	2027
15830	0.64	194.6	254.3	11.1	1522	15833	0.00	1.52	0.00	0.000	6	0.000	0.035	2969	2273	2027
16150	0.64	194.6	218.0	11.1	1553	16154	0.00	1.62	0.00	0.000	4	0.000	0.050	2970	3172	2028
16204	0.64	194.6	211.8	11.7	1558	16207	0.00	1.52	0.00	0.000	6	0.000	0.033	2977	2277	2028
16526	0.64	194.6	172.5	12.1	1589	16527	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2278	2028
16836	0.64	194.6	136.1	11.2	1619	16839	0.00	1.20	0.00	0.000	4	0.000	0.038	2983	1362	2029
16889	0.64	194.6	130.3	9.5	1624	16892	0.08	1.23	0.00	0.000	6	0.135	0.038	2958	2272	2030
17210	0.64	194.6	99.4	9.6	1655	17213	0.00	1.60	0.00	0.000	4	0.000	0.048	2956	3175	2030
17242	0.64	194.6	96.4	8.1	1658	17245	0.00	1.52	0.00	0.000	6	0.000	0.031	2962	2273	2030
17439	0.64	194.6	77.6	9.0	1677	17441	0.00	1.17	0.00	0.000	4	0.000	0.037	2967	1368	2031
17492	0.64	194.6	73.0	8.5	1682	17495	0.00	1.23	0.00	0.000	6	0.000	0.037	2967	2279	2032
17689	0.64	195.1	56.3	7.5	1701	17692	0.00	1.58	0.00	0.000	4	0.000	0.046	2967	3175	2032
17742	0.71	248.6	52.4	6.1	1706	17790	0.00	1.52	40.70	0.544	6	0.000	0.030	2975	2273	1826
17977	0.78	308.1	38.0	5.9	1728	18027	0.00	1.23	45.62	0.528	4	0.000	0.035	2980	1368	1584
18113	0.93	432.4	31.7	4.2	1740	18210	0.15	1.23	92.78	0.520	6	0.042	0.035	3067	2276	1077
18392	1.12	580.7	8.2	3.6	1766	18498	0.12	0.00	104.25	0.493	2	0.078	0.000	3115	2276	497
18499	end climb: SURFACE_DEPTH_REACHED
state	18499	begin surface coast
18545	end surface coast: CONTROL_FINISHED_OK
state	18547	begin surface