Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 281 * 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 281 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 25 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 -23834.834 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 -23834.834

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 25 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 281 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 184536,2842.704,-8835.326,33,1.0,33,-0.3 TGT_NAME NEW0617E

_CALLS 3 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 9 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.246,0.098

_SM_DEPTHo 1.79 KALMAN_X 13639.9,301.5,-437.0,10597.6,5187.9

_SM_ANGLEo -69.7 KALMAN_Y -411679.6,1524.6,261.0,437036.2,-9450.2

GPS2 185814,2843.031,-8835.282,13,1.5,13,-0.3 MHEAD_RNG_PITCHd_Wd 288.8,15829,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1010

Post-dive calculations and measurements:

FINISH 0.8,1.012992 ALTIM_BOTTOM_PING 930.5,61.0

SM_CCo 19042,101.38,0.480,0,0,402,597.54 _24V_AH 22.7,49.404

SM_GC 1.74,0.00,0.00,101.38,0.000,0.000,0.480,194,2345,402,-7.98,0.57,597.54 _10V_AH 10.6,68.035

IRIDIUM_FIX 2816.29,-8829.30,141099,191923 DATA_FILE_SIZE 94713,1828

TT8_MAMPS 0.050622 CAP_FILE_SIZE 173872,0

HUMID 1362 CFSIZE 260165632,229986304

INTERNAL_PRESSURE 9.26793 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.30 CURRENT 0.114,148.1,1

XPDR_PINGS 11 GPS 210710,001901,2842.816,-8837.624,41,0.8,41,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 251 115.21 SBE_CT 1250 24 681.02

Roll_motor 90 69 142.60 SBE_O2 1338 19 577.12

VBD_pump_during_apogee 488 1227 13606.27 WL_BBFL2VMT 4108 105 9792.97

VBD_pump_during_surface 101 480 1104.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 81 103 189.51 nil 0 0 0.00

Iridium_during_connect 177 160 645.86 nil 0 0 0.00

Iridium_during_xfer 243 223 1232.68

Transponder_ping 5 420 50.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.34

TT8 0 19 0.00

LPSleep 12858 2 298.49

TT8_Active 648 19 136.16

TT8_Sampling 5436 39 2293.59

TT8_CF8 926 45 449.79

TT8_Kalman 33 81 28.91

Analog_circuits 2187 12 278.30

GPS_charging 0 0 0.00

Compass 4888 8 414.53

RAFOS 0 0 0.00

Transponder 20 30 6.37

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 57 0.00 0.00 -42.58 0.000 2 0.000 0.000 200 2334 1678

59 -0.64 -194.6 3.2 -4.2 4 122 10.48 1.25 -49.05 0.000 4 0.252 0.056 2537 1402 3631

364 -0.64 -194.6 57.1 -13.5 32 367 0.00 1.27 0.00 0.000 6 0.000 0.034 2533 2328 3632

561 -0.64 -194.6 83.5 -13.7 51 564 0.00 1.25 0.00 0.000 4 0.000 0.034 2537 1413 3633

608 -0.64 -194.6 89.4 -12.2 55 615 0.00 1.25 0.00 0.000 6 0.000 0.034 2532 2323 3633

800 -0.64 -194.6 113.8 -13.0 74 803 0.00 1.23 0.00 0.000 4 0.000 0.034 2532 1417 3634

832 -0.64 -194.6 118.0 -13.2 77 835 0.00 1.25 0.00 0.000 6 0.000 0.035 2527 2323 3633

1155 -0.64 -194.6 158.7 -11.4 108 1158 0.00 1.23 0.00 0.000 4 0.000 0.035 2527 1419 3633

1262 -0.64 -194.6 171.3 -11.7 118 1264 0.00 1.25 0.00 0.000 6 0.000 0.036 2521 2325 3633

1584 -0.64 -194.6 210.6 -12.2 149 1587 0.00 1.23 0.00 0.000 4 0.000 0.035 2521 1423 3631

1620 -0.64 -194.6 215.5 -11.8 152 1628 0.00 1.27 0.00 0.000 6 0.000 0.036 2516 2329 3631

1938 -0.64 -194.6 253.7 -12.3 183 1941 0.00 1.25 0.00 0.000 4 0.000 0.036 2516 1418 3629

2024 -0.64 -194.6 264.2 -11.9 191 2027 0.00 1.25 0.00 0.000 6 0.000 0.037 2510 2324 3629

2346 -0.64 -194.6 305.2 -12.5 222 2350 0.12 1.25 0.00 0.000 4 0.145 0.035 2544 1413 3627

2389 -0.64 -194.6 310.1 -10.2 226 2392 0.00 1.25 0.00 0.000 6 0.000 0.038 2540 2318 3626

2711 -0.64 -194.6 343.5 -10.5 257 2714 0.00 1.23 0.00 0.000 4 0.000 0.037 2540 1423 3623

2786 -0.64 -194.6 351.3 -10.4 264 2789 0.00 1.25 0.00 0.000 6 0.000 0.039 2534 2320 3623

3108 -0.64 -194.6 383.7 -9.6 295 3111 0.00 1.25 0.00 0.000 4 0.000 0.038 2534 1407 3621

3145 -0.64 -194.6 387.6 -10.7 298 3152 0.00 1.30 0.00 0.000 6 0.000 0.038 2529 2331 3620

3463 -0.64 -194.6 420.7 -10.7 329 3464 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2331 3618

3772 -0.64 -194.6 453.0 -10.2 359 3775 0.00 1.27 0.00 0.000 4 0.000 0.038 2529 1413 3616

3814 -0.64 -194.6 457.4 -10.2 363 3817 0.00 1.27 0.00 0.000 6 0.000 0.041 2523 2324 3615

4137 -0.64 -194.6 492.4 -10.9 394 4140 0.00 1.25 0.00 0.000 4 0.000 0.039 2523 1423 3613

4201 -0.64 -194.6 499.6 -10.8 400 4204 0.00 1.27 0.00 0.000 6 0.000 0.041 2517 2326 3612

4523 -0.64 -194.6 535.0 -10.9 431 4526 0.00 1.25 0.00 0.000 4 0.000 0.039 2517 1426 3609

4555 -0.64 -194.6 538.8 -11.7 434 4558 0.00 1.25 0.00 0.000 6 0.000 0.042 2512 2315 3609

4878 -0.64 -194.6 575.1 -11.5 465 4881 0.00 1.25 0.00 0.000 4 0.000 0.041 2512 1412 3606

4920 -0.64 -194.6 580.2 -11.3 469 4924 0.08 1.30 0.00 0.000 6 0.146 0.042 2531 2325 3606

5241 -0.64 -194.6 611.3 -9.3 500 5242 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2326 3604

5553 -0.64 -194.6 641.1 -9.4 530 5554 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2326 3602

5862 -0.64 -194.6 670.3 -9.6 560 5865 0.00 1.27 0.00 0.000 4 0.000 0.042 2531 1412 3600

5916 -0.64 -194.6 675.2 -9.5 565 5919 0.00 1.30 0.00 0.000 6 0.000 0.044 2528 2323 3599

6238 -0.64 -194.6 706.2 -11.3 596 6241 0.00 1.55 0.00 0.000 4 0.000 0.051 2516 3213 3597

6274 -0.64 -194.6 710.0 -10.0 599 6281 0.00 1.48 0.00 0.000 6 0.000 0.035 2516 2328 3597

6592 -0.64 -194.6 740.4 -9.8 630 6595 0.00 1.27 0.00 0.000 4 0.000 0.041 2516 1410 3595

6645 -0.64 -194.6 746.0 -10.1 635 6649 0.08 1.30 0.00 0.000 6 0.143 0.043 2535 2323 3594

6966 -0.64 -194.6 774.0 -9.0 666 6967 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2323 3592

7277 -0.64 -194.6 800.8 -8.8 696 7278 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2323 3591

7587 -0.64 -194.6 827.3 -8.3 726 7588 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2323 3590

7899 -0.64 -194.6 852.7 -8.4 756 7900 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2323 3588

8210 -0.64 -194.6 879.5 -8.5 786 8214 0.00 1.27 0.00 0.000 4 0.000 0.043 2535 1423 3587

8278 -0.64 -194.6 885.9 -9.2 792 8286 0.00 1.33 0.00 0.000 6 0.000 0.045 2531 2334 3587

8594 -0.64 -194.6 913.6 -8.9 823 8595 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2334 3585

8905 -0.64 -194.6 940.4 -8.8 853 8908 0.00 1.30 0.00 0.000 4 0.000 0.044 2531 1427 3584

8984 -0.64 -194.6 947.3 -8.2 860 8991 0.00 1.30 0.00 0.000 6 0.000 0.047 2528 2325 3583

9267 end dive: BOTTOM_OBSTACLE_DETECTED

state 9267 begin apogee

9274 -0.26 0.0 972.1 8.3 888 9431 0.45 0.00 151.82 1.227 6 0.133 0.000 2663 2267 2839

9432 end apogee: CONTROL_FINISHED_OK

state 9432 begin climb

9434 0.64 194.6 976.9 0.0 904 9607 0.90 0.00 169.75 1.199 6 0.102 0.000 2946 2267 2047

9916 0.64 194.6 931.5 10.7 951 9917 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2267 2035

10226 0.64 194.6 897.9 10.9 981 10226 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2267 2034

10537 0.64 194.6 863.9 11.0 1011 10537 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2267 2032

10847 0.64 194.6 830.7 10.6 1041 10848 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2267 2031

11157 0.64 194.6 797.8 10.5 1071 11158 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2267 2030

11467 0.64 194.6 764.4 11.3 1101 11471 0.00 1.65 0.00 0.000 4 0.000 0.058 2946 3162 2030

11525 0.64 194.6 757.4 11.5 1106 11532 0.00 1.55 0.00 0.000 6 0.000 0.037 2954 2273 2029

11844 0.64 194.6 722.0 11.0 1137 11846 0.00 1.20 0.00 0.000 4 0.000 0.042 2960 1370 2029

11897 0.64 194.6 715.7 11.3 1142 11900 0.00 1.25 0.00 0.000 6 0.000 0.044 2959 2271 2029

12218 0.64 194.6 679.6 10.9 1173 12220 0.00 1.62 0.00 0.000 4 0.000 0.055 2960 3170 2028

12260 0.64 194.6 674.7 11.9 1177 12263 0.00 1.55 0.00 0.000 6 0.000 0.036 2967 2274 2027

12583 0.64 194.6 638.3 11.1 1208 12586 0.00 1.20 0.00 0.000 4 0.000 0.043 2972 1378 2027

12630 0.64 194.6 632.6 10.7 1212 12637 0.00 1.25 0.00 0.000 6 0.000 0.043 2972 2276 2027

12948 0.64 194.6 596.8 11.3 1243 12951 0.00 1.60 0.00 0.000 4 0.000 0.054 2972 3168 2027

12980 0.64 194.6 592.9 11.6 1246 12983 0.00 1.55 0.00 0.000 6 0.000 0.036 2980 2273 2027

13302 0.64 194.6 554.4 12.0 1277 13305 0.00 1.62 0.00 0.000 4 0.000 0.054 2980 3184 2027

13328 0.64 194.6 550.9 13.1 1279 13335 0.10 1.58 0.00 0.000 6 0.139 0.035 2956 2275 2027

13645 0.64 194.6 517.5 10.4 1310 13645 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2276 2027

13955 0.64 194.6 485.3 10.3 1340 13958 0.00 1.20 0.00 0.000 4 0.000 0.042 2960 1374 2027

14009 0.64 194.6 479.9 9.8 1345 14012 0.00 1.25 0.00 0.000 6 0.000 0.042 2960 2280 2027

14329 0.64 194.6 445.5 10.4 1376 14330 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2280 2027

14641 0.64 194.6 413.9 10.0 1406 14641 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2280 2027

14950 0.64 194.6 380.9 10.6 1436 14953 0.00 1.60 0.00 0.000 4 0.000 0.052 2960 3174 2027

15008 0.64 194.6 374.5 11.8 1441 15016 0.00 1.55 0.00 0.000 6 0.000 0.035 2967 2274 2027

15326 0.64 194.6 339.5 11.1 1472 15329 0.00 1.20 0.00 0.000 4 0.000 0.040 2972 1366 2027

15357 0.64 194.6 336.0 10.7 1475 15360 0.00 1.25 0.00 0.000 6 0.000 0.041 2973 2280 2027

15678 0.64 194.6 300.1 10.9 1506 15681 0.00 1.58 0.00 0.000 4 0.000 0.050 2973 3163 2027

15710 0.64 194.6 296.4 11.5 1509 15713 0.00 1.52 0.00 0.000 6 0.000 0.034 2980 2274 2027

16033 0.64 194.6 260.2 11.3 1540 16036 0.00 1.60 0.00 0.000 4 0.000 0.050 2980 3178 2027

16075 0.64 194.6 254.7 13.2 1544 16078 0.10 1.55 0.00 0.000 6 0.133 0.033 2955 2273 2027

16396 0.64 194.6 222.6 10.3 1575 16399 0.00 1.20 0.00 0.000 4 0.000 0.039 2959 1365 2027

16432 0.64 194.6 218.9 11.2 1578 16439 0.00 1.23 0.00 0.000 6 0.000 0.038 2958 2272 2028

16751 0.64 194.6 186.7 9.9 1609 16754 0.00 1.60 0.00 0.000 4 0.000 0.049 2960 3172 2028

16797 0.64 194.6 181.6 9.1 1613 16806 0.00 1.52 0.00 0.000 6 0.000 0.031 2966 2275 2028

17115 0.64 194.6 148.2 10.8 1644 17116 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2276 2029

17425 0.64 194.6 115.9 10.0 1674 17426 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2276 2030

17735 0.64 194.6 84.9 9.6 1704 17738 0.00 1.60 0.00 0.000 4 0.000 0.047 2966 3167 2031

17803 0.64 194.6 78.3 8.4 1710 17810 0.00 1.50 0.00 0.000 6 0.000 0.029 2973 2277 2031

17996 0.64 194.6 61.7 8.4 1729 17996 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2278 2031

18182 0.66 209.6 47.2 7.1 1747 18196 0.00 1.62 11.32 0.494 4 0.000 0.047 2973 3179 1984

18236 0.66 209.7 43.0 7.5 1752 18239 0.00 1.52 0.00 0.000 6 0.000 0.029 2981 2274 1984

18434 0.78 304.5 32.6 5.0 1771 18508 0.00 0.00 72.82 0.525 6 0.000 0.000 2981 2274 1598

18692 0.91 415.4 21.2 4.6 1795 18781 0.17 0.00 82.70 0.505 6 0.057 0.000 3069 2273 1144

18966 end climb: SURFACE_DEPTH_REACHED

state 18966 begin surface coast

19026 end surface coast: CONTROL_FINISHED_OK

state 19026 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	281	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	25	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	-23834.834	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	184536,2842.704,-8835.326,33,1.0,33,-0.3	TGT_NAME	NEW0617E
_CALLS	3	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	9	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.246,0.098
_SM_DEPTHo	1.79	KALMAN_X	13639.9,301.5,-437.0,10597.6,5187.9
_SM_ANGLEo	-69.7	KALMAN_Y	-411679.6,1524.6,261.0,437036.2,-9450.2
GPS2	185814,2843.031,-8835.282,13,1.5,13,-0.3	MHEAD_RNG_PITCHd_Wd	288.8,15829,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1010

FINISH	0.8,1.012992	ALTIM_BOTTOM_PING	930.5,61.0
SM_CCo	19042,101.38,0.480,0,0,402,597.54	_24V_AH	22.7,49.404
SM_GC	1.74,0.00,0.00,101.38,0.000,0.000,0.480,194,2345,402,-7.98,0.57,597.54	_10V_AH	10.6,68.035
IRIDIUM_FIX	2816.29,-8829.30,141099,191923	DATA_FILE_SIZE	94713,1828
TT8_MAMPS	0.050622	CAP_FILE_SIZE	173872,0
HUMID	1362	CFSIZE	260165632,229986304
INTERNAL_PRESSURE	9.26793	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.30	CURRENT	0.114,148.1,1
XPDR_PINGS	11	GPS	210710,001901,2842.816,-8837.624,41,0.8,41,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	251	115.21	SBE_CT	1250	24	681.02
Roll_motor	90	69	142.60	SBE_O2	1338	19	577.12
VBD_pump_during_apogee	488	1227	13606.27	WL_BBFL2VMT	4108	105	9792.97
VBD_pump_during_surface	101	480	1104.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	81	103	189.51	nil	0	0	0.00
Iridium_during_connect	177	160	645.86	nil	0	0	0.00
Iridium_during_xfer	243	223	1232.68
Transponder_ping	5	420	50.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.34
TT8	0	19	0.00
LPSleep	12858	2	298.49
TT8_Active	648	19	136.16
TT8_Sampling	5436	39	2293.59
TT8_CF8	926	45	449.79
TT8_Kalman	33	81	28.91
Analog_circuits	2187	12	278.30
GPS_charging	0	0	0.00
Compass	4888	8	414.53
RAFOS	0	0	0.00
Transponder	20	30	6.37

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	57	0.00	0.00	-42.58	0.000	2	0.000	0.000	200	2334	1678
59	-0.64	-194.6	3.2	-4.2	4	122	10.48	1.25	-49.05	0.000	4	0.252	0.056	2537	1402	3631
364	-0.64	-194.6	57.1	-13.5	32	367	0.00	1.27	0.00	0.000	6	0.000	0.034	2533	2328	3632
561	-0.64	-194.6	83.5	-13.7	51	564	0.00	1.25	0.00	0.000	4	0.000	0.034	2537	1413	3633
608	-0.64	-194.6	89.4	-12.2	55	615	0.00	1.25	0.00	0.000	6	0.000	0.034	2532	2323	3633
800	-0.64	-194.6	113.8	-13.0	74	803	0.00	1.23	0.00	0.000	4	0.000	0.034	2532	1417	3634
832	-0.64	-194.6	118.0	-13.2	77	835	0.00	1.25	0.00	0.000	6	0.000	0.035	2527	2323	3633
1155	-0.64	-194.6	158.7	-11.4	108	1158	0.00	1.23	0.00	0.000	4	0.000	0.035	2527	1419	3633
1262	-0.64	-194.6	171.3	-11.7	118	1264	0.00	1.25	0.00	0.000	6	0.000	0.036	2521	2325	3633
1584	-0.64	-194.6	210.6	-12.2	149	1587	0.00	1.23	0.00	0.000	4	0.000	0.035	2521	1423	3631
1620	-0.64	-194.6	215.5	-11.8	152	1628	0.00	1.27	0.00	0.000	6	0.000	0.036	2516	2329	3631
1938	-0.64	-194.6	253.7	-12.3	183	1941	0.00	1.25	0.00	0.000	4	0.000	0.036	2516	1418	3629
2024	-0.64	-194.6	264.2	-11.9	191	2027	0.00	1.25	0.00	0.000	6	0.000	0.037	2510	2324	3629
2346	-0.64	-194.6	305.2	-12.5	222	2350	0.12	1.25	0.00	0.000	4	0.145	0.035	2544	1413	3627
2389	-0.64	-194.6	310.1	-10.2	226	2392	0.00	1.25	0.00	0.000	6	0.000	0.038	2540	2318	3626
2711	-0.64	-194.6	343.5	-10.5	257	2714	0.00	1.23	0.00	0.000	4	0.000	0.037	2540	1423	3623
2786	-0.64	-194.6	351.3	-10.4	264	2789	0.00	1.25	0.00	0.000	6	0.000	0.039	2534	2320	3623
3108	-0.64	-194.6	383.7	-9.6	295	3111	0.00	1.25	0.00	0.000	4	0.000	0.038	2534	1407	3621
3145	-0.64	-194.6	387.6	-10.7	298	3152	0.00	1.30	0.00	0.000	6	0.000	0.038	2529	2331	3620
3463	-0.64	-194.6	420.7	-10.7	329	3464	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2331	3618
3772	-0.64	-194.6	453.0	-10.2	359	3775	0.00	1.27	0.00	0.000	4	0.000	0.038	2529	1413	3616
3814	-0.64	-194.6	457.4	-10.2	363	3817	0.00	1.27	0.00	0.000	6	0.000	0.041	2523	2324	3615
4137	-0.64	-194.6	492.4	-10.9	394	4140	0.00	1.25	0.00	0.000	4	0.000	0.039	2523	1423	3613
4201	-0.64	-194.6	499.6	-10.8	400	4204	0.00	1.27	0.00	0.000	6	0.000	0.041	2517	2326	3612
4523	-0.64	-194.6	535.0	-10.9	431	4526	0.00	1.25	0.00	0.000	4	0.000	0.039	2517	1426	3609
4555	-0.64	-194.6	538.8	-11.7	434	4558	0.00	1.25	0.00	0.000	6	0.000	0.042	2512	2315	3609
4878	-0.64	-194.6	575.1	-11.5	465	4881	0.00	1.25	0.00	0.000	4	0.000	0.041	2512	1412	3606
4920	-0.64	-194.6	580.2	-11.3	469	4924	0.08	1.30	0.00	0.000	6	0.146	0.042	2531	2325	3606
5241	-0.64	-194.6	611.3	-9.3	500	5242	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2326	3604
5553	-0.64	-194.6	641.1	-9.4	530	5554	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2326	3602
5862	-0.64	-194.6	670.3	-9.6	560	5865	0.00	1.27	0.00	0.000	4	0.000	0.042	2531	1412	3600
5916	-0.64	-194.6	675.2	-9.5	565	5919	0.00	1.30	0.00	0.000	6	0.000	0.044	2528	2323	3599
6238	-0.64	-194.6	706.2	-11.3	596	6241	0.00	1.55	0.00	0.000	4	0.000	0.051	2516	3213	3597
6274	-0.64	-194.6	710.0	-10.0	599	6281	0.00	1.48	0.00	0.000	6	0.000	0.035	2516	2328	3597
6592	-0.64	-194.6	740.4	-9.8	630	6595	0.00	1.27	0.00	0.000	4	0.000	0.041	2516	1410	3595
6645	-0.64	-194.6	746.0	-10.1	635	6649	0.08	1.30	0.00	0.000	6	0.143	0.043	2535	2323	3594
6966	-0.64	-194.6	774.0	-9.0	666	6967	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2323	3592
7277	-0.64	-194.6	800.8	-8.8	696	7278	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2323	3591
7587	-0.64	-194.6	827.3	-8.3	726	7588	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2323	3590
7899	-0.64	-194.6	852.7	-8.4	756	7900	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2323	3588
8210	-0.64	-194.6	879.5	-8.5	786	8214	0.00	1.27	0.00	0.000	4	0.000	0.043	2535	1423	3587
8278	-0.64	-194.6	885.9	-9.2	792	8286	0.00	1.33	0.00	0.000	6	0.000	0.045	2531	2334	3587
8594	-0.64	-194.6	913.6	-8.9	823	8595	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2334	3585
8905	-0.64	-194.6	940.4	-8.8	853	8908	0.00	1.30	0.00	0.000	4	0.000	0.044	2531	1427	3584
8984	-0.64	-194.6	947.3	-8.2	860	8991	0.00	1.30	0.00	0.000	6	0.000	0.047	2528	2325	3583
9267	end dive: BOTTOM_OBSTACLE_DETECTED
state	9267	begin apogee
9274	-0.26	0.0	972.1	8.3	888	9431	0.45	0.00	151.82	1.227	6	0.133	0.000	2663	2267	2839
9432	end apogee: CONTROL_FINISHED_OK
state	9432	begin climb
9434	0.64	194.6	976.9	0.0	904	9607	0.90	0.00	169.75	1.199	6	0.102	0.000	2946	2267	2047
9916	0.64	194.6	931.5	10.7	951	9917	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2267	2035
10226	0.64	194.6	897.9	10.9	981	10226	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2267	2034
10537	0.64	194.6	863.9	11.0	1011	10537	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2267	2032
10847	0.64	194.6	830.7	10.6	1041	10848	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2267	2031
11157	0.64	194.6	797.8	10.5	1071	11158	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2267	2030
11467	0.64	194.6	764.4	11.3	1101	11471	0.00	1.65	0.00	0.000	4	0.000	0.058	2946	3162	2030
11525	0.64	194.6	757.4	11.5	1106	11532	0.00	1.55	0.00	0.000	6	0.000	0.037	2954	2273	2029
11844	0.64	194.6	722.0	11.0	1137	11846	0.00	1.20	0.00	0.000	4	0.000	0.042	2960	1370	2029
11897	0.64	194.6	715.7	11.3	1142	11900	0.00	1.25	0.00	0.000	6	0.000	0.044	2959	2271	2029
12218	0.64	194.6	679.6	10.9	1173	12220	0.00	1.62	0.00	0.000	4	0.000	0.055	2960	3170	2028
12260	0.64	194.6	674.7	11.9	1177	12263	0.00	1.55	0.00	0.000	6	0.000	0.036	2967	2274	2027
12583	0.64	194.6	638.3	11.1	1208	12586	0.00	1.20	0.00	0.000	4	0.000	0.043	2972	1378	2027
12630	0.64	194.6	632.6	10.7	1212	12637	0.00	1.25	0.00	0.000	6	0.000	0.043	2972	2276	2027
12948	0.64	194.6	596.8	11.3	1243	12951	0.00	1.60	0.00	0.000	4	0.000	0.054	2972	3168	2027
12980	0.64	194.6	592.9	11.6	1246	12983	0.00	1.55	0.00	0.000	6	0.000	0.036	2980	2273	2027
13302	0.64	194.6	554.4	12.0	1277	13305	0.00	1.62	0.00	0.000	4	0.000	0.054	2980	3184	2027
13328	0.64	194.6	550.9	13.1	1279	13335	0.10	1.58	0.00	0.000	6	0.139	0.035	2956	2275	2027
13645	0.64	194.6	517.5	10.4	1310	13645	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2276	2027
13955	0.64	194.6	485.3	10.3	1340	13958	0.00	1.20	0.00	0.000	4	0.000	0.042	2960	1374	2027
14009	0.64	194.6	479.9	9.8	1345	14012	0.00	1.25	0.00	0.000	6	0.000	0.042	2960	2280	2027
14329	0.64	194.6	445.5	10.4	1376	14330	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2280	2027
14641	0.64	194.6	413.9	10.0	1406	14641	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2280	2027
14950	0.64	194.6	380.9	10.6	1436	14953	0.00	1.60	0.00	0.000	4	0.000	0.052	2960	3174	2027
15008	0.64	194.6	374.5	11.8	1441	15016	0.00	1.55	0.00	0.000	6	0.000	0.035	2967	2274	2027
15326	0.64	194.6	339.5	11.1	1472	15329	0.00	1.20	0.00	0.000	4	0.000	0.040	2972	1366	2027
15357	0.64	194.6	336.0	10.7	1475	15360	0.00	1.25	0.00	0.000	6	0.000	0.041	2973	2280	2027
15678	0.64	194.6	300.1	10.9	1506	15681	0.00	1.58	0.00	0.000	4	0.000	0.050	2973	3163	2027
15710	0.64	194.6	296.4	11.5	1509	15713	0.00	1.52	0.00	0.000	6	0.000	0.034	2980	2274	2027
16033	0.64	194.6	260.2	11.3	1540	16036	0.00	1.60	0.00	0.000	4	0.000	0.050	2980	3178	2027
16075	0.64	194.6	254.7	13.2	1544	16078	0.10	1.55	0.00	0.000	6	0.133	0.033	2955	2273	2027
16396	0.64	194.6	222.6	10.3	1575	16399	0.00	1.20	0.00	0.000	4	0.000	0.039	2959	1365	2027
16432	0.64	194.6	218.9	11.2	1578	16439	0.00	1.23	0.00	0.000	6	0.000	0.038	2958	2272	2028
16751	0.64	194.6	186.7	9.9	1609	16754	0.00	1.60	0.00	0.000	4	0.000	0.049	2960	3172	2028
16797	0.64	194.6	181.6	9.1	1613	16806	0.00	1.52	0.00	0.000	6	0.000	0.031	2966	2275	2028
17115	0.64	194.6	148.2	10.8	1644	17116	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2276	2029
17425	0.64	194.6	115.9	10.0	1674	17426	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2276	2030
17735	0.64	194.6	84.9	9.6	1704	17738	0.00	1.60	0.00	0.000	4	0.000	0.047	2966	3167	2031
17803	0.64	194.6	78.3	8.4	1710	17810	0.00	1.50	0.00	0.000	6	0.000	0.029	2973	2277	2031
17996	0.64	194.6	61.7	8.4	1729	17996	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2278	2031
18182	0.66	209.6	47.2	7.1	1747	18196	0.00	1.62	11.32	0.494	4	0.000	0.047	2973	3179	1984
18236	0.66	209.7	43.0	7.5	1752	18239	0.00	1.52	0.00	0.000	6	0.000	0.029	2981	2274	1984
18434	0.78	304.5	32.6	5.0	1771	18508	0.00	0.00	72.82	0.525	6	0.000	0.000	2981	2274	1598
18692	0.91	415.4	21.2	4.6	1795	18781	0.17	0.00	82.70	0.505	6	0.057	0.000	3069	2273	1144
18966	end climb: SURFACE_DEPTH_REACHED
state	18966	begin surface coast
19026	end surface coast: CONTROL_FINISHED_OK
state	19026	begin surface