Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 286 * 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 286 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 40 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 -23917.295 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 -23917.295

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 40 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 286 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 203437,2842.965,-8840.107,39,0.8,39,-0.3 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 13 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.214,0.155

_SM_DEPTHo 1.73 KALMAN_X 23675.1,-404.6,-815.5,-6205.8,5736.7

_SM_ANGLEo -67.4 KALMAN_Y -425233.0,1046.5,1266.8,450037.8,-11319.3

GPS2 204201,2843.009,-8840.133,9,0.8,14,-0.3 MHEAD_RNG_PITCHd_Wd 82.1,22978,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1011

Post-dive calculations and measurements:

FINISH 0.8,1.020256 ALTIM_BOTTOM_PING 860.6,66.2

SM_CCo 16831,84.90,0.479,0,0,401,597.54 _24V_AH 22.8,50.242

SM_GC 1.67,0.00,0.00,84.90,0.000,0.000,0.479,187,2302,401,-8.00,-0.65,597.54 _10V_AH 10.5,69.117

IRIDIUM_FIX 2831.00,-8853.71,151099,151526 DATA_FILE_SIZE 85091,1614

TT8_MAMPS 0.049855 CAP_FILE_SIZE 150759,0

HUMID 1385 CFSIZE 260165632,229588992

INTERNAL_PRESSURE 9.2484 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.20 CURRENT 0.113,116.1,1

XPDR_PINGS 5 GPS 220710,012537,2843.175,-8836.283,36,1.2,36,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 116.06 SBE_CT 1101 24 602.70

Roll_motor 79 69 126.08 SBE_O2 1180 19 511.54

VBD_pump_during_apogee 504 1175 13507.35 WL_BBFL2VMT 3627 105 8685.24

VBD_pump_during_surface 84 479 927.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.01 nil 0 0 0.00

Iridium_during_connect 29 160 108.82 nil 0 0 0.00

Iridium_during_xfer 250 223 1273.32

Transponder_ping 2 420 19.15

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.66

TT8 0 19 0.00

LPSleep 11230 2 258.24

TT8_Active 637 19 132.44

TT8_Sampling 4805 39 2008.33

TT8_CF8 657 45 316.19

TT8_Kalman 33 81 28.64

Analog_circuits 2017 12 254.24

GPS_charging 0 0 0.00

Compass 4304 8 361.61

RAFOS 0 0 0.00

Transponder 7 30 2.33

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

12 -0.64 -194.6 0.0 0.0 0 77 0.00 0.00 -63.33 0.000 2 0.000 0.000 191 2343 2208

79 -0.64 -194.6 3.3 -3.8 6 128 10.57 1.50 -33.92 0.000 4 0.254 0.065 2526 3211 3636

150 -0.64 -194.6 15.9 -23.5 12 153 0.00 1.45 0.00 0.000 6 0.000 0.028 2531 2331 3637

347 -0.64 -194.6 56.9 -14.3 31 349 0.00 1.25 0.00 0.000 4 0.000 0.034 2537 1409 3637

378 -0.64 -194.6 61.3 -14.3 34 381 0.00 1.25 0.00 0.000 6 0.000 0.037 2533 2312 3637

575 -0.64 -194.6 87.3 -12.6 53 576 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2313 3638

762 -0.64 -194.6 110.3 -12.5 71 765 0.00 1.23 0.00 0.000 4 0.000 0.035 2535 1409 3639

847 -0.64 -194.6 121.1 -12.4 79 850 0.00 1.27 0.00 0.000 6 0.000 0.036 2531 2329 3639

1169 -0.64 -194.6 161.5 -13.0 110 1172 0.00 1.25 0.00 0.000 4 0.000 0.035 2531 1411 3639

1244 -0.64 -194.6 170.8 -12.4 117 1247 0.00 1.25 0.00 0.000 6 0.000 0.036 2525 2321 3639

1566 -0.64 -194.6 208.9 -11.6 148 1569 0.00 1.25 0.00 0.000 4 0.000 0.036 2525 1403 3638

1684 -0.64 -194.6 223.0 -11.9 159 1687 0.00 1.27 0.00 0.000 6 0.000 0.038 2520 2324 3637

2006 -0.64 -194.6 262.3 -12.1 190 2009 0.00 1.25 0.00 0.000 4 0.000 0.036 2519 1411 3636

2071 -0.64 -194.6 270.0 -12.1 196 2074 0.00 1.27 0.00 0.000 6 0.000 0.038 2514 2326 3635

2393 -0.64 -194.6 308.3 -12.2 227 2396 0.00 1.25 0.00 0.000 4 0.000 0.036 2514 1413 3634

2461 -0.64 -194.6 316.6 -11.8 233 2469 0.08 1.30 0.00 0.000 6 0.142 0.038 2533 2336 3632

2780 -0.64 -194.6 349.9 -10.4 264 2783 0.00 1.27 0.00 0.000 4 0.000 0.038 2534 1414 3631

2833 -0.64 -194.6 355.8 -10.8 269 2836 0.00 1.27 0.00 0.000 6 0.000 0.038 2530 2328 3630

3156 -0.64 -194.6 390.3 -10.2 300 3159 0.00 1.27 0.00 0.000 4 0.000 0.038 2530 1402 3628

3203 -0.64 -194.6 395.7 -10.8 304 3211 0.00 1.30 0.00 0.000 6 0.000 0.040 2524 2327 3627

3521 -0.64 -194.6 431.2 -11.6 335 3524 0.00 1.27 0.00 0.000 4 0.000 0.038 2524 1401 3626

3600 -0.64 -194.6 440.5 -10.7 342 3607 0.00 1.33 0.00 0.000 6 0.000 0.040 2518 2330 3625

3918 -0.64 -194.6 476.7 -11.6 373 3921 0.00 1.27 0.00 0.000 4 0.000 0.039 2518 1414 3623

3982 -0.64 -194.6 484.4 -11.7 379 3985 0.00 1.27 0.00 0.000 6 0.000 0.041 2513 2323 3622

4304 -0.64 -194.6 521.3 -11.1 410 4307 0.00 1.25 0.00 0.000 4 0.000 0.040 2513 1420 3621

4368 -0.64 -194.6 529.1 -11.9 416 4371 0.08 1.27 0.00 0.000 6 0.145 0.041 2531 2325 3620

4689 -0.64 -194.6 561.0 -9.6 447 4689 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2325 3618

5000 -0.64 -194.6 590.4 -9.4 477 5000 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2324 3616

5309 -0.64 -194.6 619.6 -9.7 507 5313 0.00 1.27 0.00 0.000 4 0.000 0.041 2532 1410 3613

5356 -0.64 -194.6 624.0 -9.0 511 5363 0.00 1.33 0.00 0.000 6 0.000 0.043 2528 2336 3613

5675 -0.64 -194.6 655.1 -10.0 542 5678 0.00 1.30 0.00 0.000 4 0.000 0.041 2528 1413 3611

5706 -0.64 -194.6 658.4 -10.1 545 5709 0.00 1.30 0.00 0.000 6 0.000 0.044 2523 2327 3611

6030 -0.64 -194.6 690.7 -10.3 576 6030 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2327 3608

6338 -0.64 -194.6 721.3 -9.8 606 6341 0.00 1.27 0.00 0.000 4 0.000 0.042 2523 1419 3606

6380 -0.64 -194.6 725.5 -9.4 610 6383 0.00 1.27 0.00 0.000 6 0.000 0.045 2517 2314 3606

6703 -0.64 -194.6 756.7 -9.5 641 6704 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2315 3604

7012 -0.64 -194.6 787.4 -9.6 671 7012 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2315 3603

7323 -0.64 -194.6 817.4 -9.5 701 7323 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2315 3601

7633 -0.64 -194.6 847.3 -9.5 731 7635 0.00 1.25 0.00 0.000 4 0.000 0.044 2517 1428 3600

7676 -0.64 -194.6 851.6 -9.9 735 7679 0.00 1.30 0.00 0.000 6 0.000 0.048 2512 2327 3599

7997 -0.64 -194.6 882.1 -9.3 766 7998 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2327 3598

8253 end dive: BOTTOM_OBSTACLE_DETECTED

state 8253 begin apogee

8259 -0.26 0.0 906.8 9.6 791 8417 0.50 0.00 152.93 1.175 6 0.136 0.000 2660 2270 2838

8417 end apogee: CONTROL_FINISHED_OK

state 8417 begin climb

8420 0.64 194.6 911.5 0.0 807 8595 0.93 0.00 167.15 1.149 6 0.101 0.000 2948 2269 2045

8904 0.64 194.6 864.0 11.0 854 8907 0.00 1.67 0.00 0.000 4 0.000 0.059 2948 3165 2035

8994 0.64 194.6 853.3 11.7 862 9001 0.00 1.55 0.00 0.000 6 0.000 0.036 2956 2275 2033

9312 0.64 194.6 816.0 11.4 893 9316 0.00 1.62 0.00 0.000 4 0.000 0.055 2956 3168 2032

9348 0.64 194.6 811.1 12.2 896 9357 0.00 1.55 0.00 0.000 6 0.000 0.035 2963 2273 2032

9666 0.64 194.6 772.8 11.8 927 9667 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2274 2030

9976 0.64 194.6 735.9 12.1 957 9979 0.00 1.62 0.00 0.000 4 0.000 0.054 2963 3187 2030

10019 0.64 194.6 730.5 12.6 961 10022 0.00 1.58 0.00 0.000 6 0.000 0.036 2971 2272 2028

10342 0.64 194.6 690.3 11.9 992 10343 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2274 2028

10650 0.64 194.6 652.6 12.0 1022 10653 0.00 1.62 0.00 0.000 4 0.000 0.054 2970 3161 2028

10687 0.64 194.6 647.7 12.8 1025 10693 0.00 1.52 0.00 0.000 6 0.000 0.036 2977 2278 2027

11005 0.64 194.6 608.1 12.4 1056 11006 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2279 2027

11314 0.64 194.6 569.9 12.7 1086 11315 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2279 2027

11624 0.64 194.6 530.0 12.8 1116 11627 0.00 1.62 0.00 0.000 4 0.000 0.054 2977 3170 2027

11656 0.64 194.6 525.7 12.6 1119 11659 0.08 1.55 0.00 0.000 6 0.125 0.035 2951 2273 2026

11977 0.64 194.6 491.0 10.5 1150 11978 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2274 2025

12287 0.64 194.6 458.8 9.9 1180 12288 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2273 2025

12598 0.64 194.6 427.8 10.2 1210 12601 0.00 1.62 0.00 0.000 4 0.000 0.053 2950 3166 2025

12640 0.64 194.6 423.2 10.7 1214 12644 0.00 1.52 0.00 0.000 6 0.000 0.035 2956 2276 2025

12963 0.64 194.6 387.6 11.6 1245 12964 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2277 2025

13272 0.64 194.6 352.9 10.9 1275 13272 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2277 2025

13583 0.64 194.6 318.7 11.1 1305 13586 0.00 1.60 0.00 0.000 4 0.000 0.051 2957 3182 2025

13651 0.64 194.6 310.7 12.1 1311 13658 0.00 1.55 0.00 0.000 6 0.000 0.033 2963 2277 2025

13970 0.64 194.6 274.7 11.4 1342 13971 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2278 2025

14279 0.64 194.6 239.4 11.7 1372 14281 0.00 1.60 0.00 0.000 4 0.000 0.049 2963 3188 2026

14314 0.64 194.6 234.8 12.5 1375 14322 0.00 1.58 0.00 0.000 6 0.000 0.032 2970 2268 2026

14633 0.64 194.6 196.6 12.0 1406 14634 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2268 2026

14941 0.64 194.6 159.5 12.0 1436 14945 0.00 1.62 0.00 0.000 4 0.000 0.048 2970 3171 2027

15006 0.64 194.6 151.9 11.3 1442 15009 0.00 1.52 0.00 0.000 6 0.000 0.031 2977 2272 2026

15327 0.64 194.6 116.1 10.5 1473 15327 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2273 2028

15638 0.64 194.6 81.6 11.0 1503 15641 0.00 1.60 0.00 0.000 4 0.000 0.047 2977 3167 2029

15706 0.64 194.6 74.1 10.5 1509 15713 0.08 1.50 0.00 0.000 6 0.133 0.029 2958 2277 2029

15898 0.64 194.6 58.5 8.1 1528 15899 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2278 2029

16085 0.68 228.4 45.7 6.6 1546 16118 0.00 0.00 25.42 0.528 6 0.000 0.000 2958 2278 1907

16303 0.89 396.5 34.3 3.1 1567 16433 0.17 1.60 125.68 0.527 4 0.055 0.043 3050 3178 1223

16465 0.89 396.5 22.7 9.3 1581 16473 0.00 1.58 0.00 0.000 6 0.000 0.027 3058 2267 1219

16658 0.94 440.6 8.1 6.3 1600 16695 0.00 1.67 33.00 0.486 4 0.000 0.044 3058 3179 1042

16761 end climb: SURFACE_DEPTH_REACHED

state 16761 begin surface coast

16814 end surface coast: CONTROL_FINISHED_OK

state 16814 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	286	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	40	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	-23917.295	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	203437,2842.965,-8840.107,39,0.8,39,-0.3	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	13	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.214,0.155
_SM_DEPTHo	1.73	KALMAN_X	23675.1,-404.6,-815.5,-6205.8,5736.7
_SM_ANGLEo	-67.4	KALMAN_Y	-425233.0,1046.5,1266.8,450037.8,-11319.3
GPS2	204201,2843.009,-8840.133,9,0.8,14,-0.3	MHEAD_RNG_PITCHd_Wd	82.1,22978,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1011

FINISH	0.8,1.020256	ALTIM_BOTTOM_PING	860.6,66.2
SM_CCo	16831,84.90,0.479,0,0,401,597.54	_24V_AH	22.8,50.242
SM_GC	1.67,0.00,0.00,84.90,0.000,0.000,0.479,187,2302,401,-8.00,-0.65,597.54	_10V_AH	10.5,69.117
IRIDIUM_FIX	2831.00,-8853.71,151099,151526	DATA_FILE_SIZE	85091,1614
TT8_MAMPS	0.049855	CAP_FILE_SIZE	150759,0
HUMID	1385	CFSIZE	260165632,229588992
INTERNAL_PRESSURE	9.2484	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.20	CURRENT	0.113,116.1,1
XPDR_PINGS	5	GPS	220710,012537,2843.175,-8836.283,36,1.2,36,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	116.06	SBE_CT	1101	24	602.70
Roll_motor	79	69	126.08	SBE_O2	1180	19	511.54
VBD_pump_during_apogee	504	1175	13507.35	WL_BBFL2VMT	3627	105	8685.24
VBD_pump_during_surface	84	479	927.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.01	nil	0	0	0.00
Iridium_during_connect	29	160	108.82	nil	0	0	0.00
Iridium_during_xfer	250	223	1273.32
Transponder_ping	2	420	19.15
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.66
TT8	0	19	0.00
LPSleep	11230	2	258.24
TT8_Active	637	19	132.44
TT8_Sampling	4805	39	2008.33
TT8_CF8	657	45	316.19
TT8_Kalman	33	81	28.64
Analog_circuits	2017	12	254.24
GPS_charging	0	0	0.00
Compass	4304	8	361.61
RAFOS	0	0	0.00
Transponder	7	30	2.33

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
12	-0.64	-194.6	0.0	0.0	0	77	0.00	0.00	-63.33	0.000	2	0.000	0.000	191	2343	2208
79	-0.64	-194.6	3.3	-3.8	6	128	10.57	1.50	-33.92	0.000	4	0.254	0.065	2526	3211	3636
150	-0.64	-194.6	15.9	-23.5	12	153	0.00	1.45	0.00	0.000	6	0.000	0.028	2531	2331	3637
347	-0.64	-194.6	56.9	-14.3	31	349	0.00	1.25	0.00	0.000	4	0.000	0.034	2537	1409	3637
378	-0.64	-194.6	61.3	-14.3	34	381	0.00	1.25	0.00	0.000	6	0.000	0.037	2533	2312	3637
575	-0.64	-194.6	87.3	-12.6	53	576	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2313	3638
762	-0.64	-194.6	110.3	-12.5	71	765	0.00	1.23	0.00	0.000	4	0.000	0.035	2535	1409	3639
847	-0.64	-194.6	121.1	-12.4	79	850	0.00	1.27	0.00	0.000	6	0.000	0.036	2531	2329	3639
1169	-0.64	-194.6	161.5	-13.0	110	1172	0.00	1.25	0.00	0.000	4	0.000	0.035	2531	1411	3639
1244	-0.64	-194.6	170.8	-12.4	117	1247	0.00	1.25	0.00	0.000	6	0.000	0.036	2525	2321	3639
1566	-0.64	-194.6	208.9	-11.6	148	1569	0.00	1.25	0.00	0.000	4	0.000	0.036	2525	1403	3638
1684	-0.64	-194.6	223.0	-11.9	159	1687	0.00	1.27	0.00	0.000	6	0.000	0.038	2520	2324	3637
2006	-0.64	-194.6	262.3	-12.1	190	2009	0.00	1.25	0.00	0.000	4	0.000	0.036	2519	1411	3636
2071	-0.64	-194.6	270.0	-12.1	196	2074	0.00	1.27	0.00	0.000	6	0.000	0.038	2514	2326	3635
2393	-0.64	-194.6	308.3	-12.2	227	2396	0.00	1.25	0.00	0.000	4	0.000	0.036	2514	1413	3634
2461	-0.64	-194.6	316.6	-11.8	233	2469	0.08	1.30	0.00	0.000	6	0.142	0.038	2533	2336	3632
2780	-0.64	-194.6	349.9	-10.4	264	2783	0.00	1.27	0.00	0.000	4	0.000	0.038	2534	1414	3631
2833	-0.64	-194.6	355.8	-10.8	269	2836	0.00	1.27	0.00	0.000	6	0.000	0.038	2530	2328	3630
3156	-0.64	-194.6	390.3	-10.2	300	3159	0.00	1.27	0.00	0.000	4	0.000	0.038	2530	1402	3628
3203	-0.64	-194.6	395.7	-10.8	304	3211	0.00	1.30	0.00	0.000	6	0.000	0.040	2524	2327	3627
3521	-0.64	-194.6	431.2	-11.6	335	3524	0.00	1.27	0.00	0.000	4	0.000	0.038	2524	1401	3626
3600	-0.64	-194.6	440.5	-10.7	342	3607	0.00	1.33	0.00	0.000	6	0.000	0.040	2518	2330	3625
3918	-0.64	-194.6	476.7	-11.6	373	3921	0.00	1.27	0.00	0.000	4	0.000	0.039	2518	1414	3623
3982	-0.64	-194.6	484.4	-11.7	379	3985	0.00	1.27	0.00	0.000	6	0.000	0.041	2513	2323	3622
4304	-0.64	-194.6	521.3	-11.1	410	4307	0.00	1.25	0.00	0.000	4	0.000	0.040	2513	1420	3621
4368	-0.64	-194.6	529.1	-11.9	416	4371	0.08	1.27	0.00	0.000	6	0.145	0.041	2531	2325	3620
4689	-0.64	-194.6	561.0	-9.6	447	4689	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2325	3618
5000	-0.64	-194.6	590.4	-9.4	477	5000	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2324	3616
5309	-0.64	-194.6	619.6	-9.7	507	5313	0.00	1.27	0.00	0.000	4	0.000	0.041	2532	1410	3613
5356	-0.64	-194.6	624.0	-9.0	511	5363	0.00	1.33	0.00	0.000	6	0.000	0.043	2528	2336	3613
5675	-0.64	-194.6	655.1	-10.0	542	5678	0.00	1.30	0.00	0.000	4	0.000	0.041	2528	1413	3611
5706	-0.64	-194.6	658.4	-10.1	545	5709	0.00	1.30	0.00	0.000	6	0.000	0.044	2523	2327	3611
6030	-0.64	-194.6	690.7	-10.3	576	6030	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2327	3608
6338	-0.64	-194.6	721.3	-9.8	606	6341	0.00	1.27	0.00	0.000	4	0.000	0.042	2523	1419	3606
6380	-0.64	-194.6	725.5	-9.4	610	6383	0.00	1.27	0.00	0.000	6	0.000	0.045	2517	2314	3606
6703	-0.64	-194.6	756.7	-9.5	641	6704	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2315	3604
7012	-0.64	-194.6	787.4	-9.6	671	7012	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2315	3603
7323	-0.64	-194.6	817.4	-9.5	701	7323	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2315	3601
7633	-0.64	-194.6	847.3	-9.5	731	7635	0.00	1.25	0.00	0.000	4	0.000	0.044	2517	1428	3600
7676	-0.64	-194.6	851.6	-9.9	735	7679	0.00	1.30	0.00	0.000	6	0.000	0.048	2512	2327	3599
7997	-0.64	-194.6	882.1	-9.3	766	7998	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2327	3598
8253	end dive: BOTTOM_OBSTACLE_DETECTED
state	8253	begin apogee
8259	-0.26	0.0	906.8	9.6	791	8417	0.50	0.00	152.93	1.175	6	0.136	0.000	2660	2270	2838
8417	end apogee: CONTROL_FINISHED_OK
state	8417	begin climb
8420	0.64	194.6	911.5	0.0	807	8595	0.93	0.00	167.15	1.149	6	0.101	0.000	2948	2269	2045
8904	0.64	194.6	864.0	11.0	854	8907	0.00	1.67	0.00	0.000	4	0.000	0.059	2948	3165	2035
8994	0.64	194.6	853.3	11.7	862	9001	0.00	1.55	0.00	0.000	6	0.000	0.036	2956	2275	2033
9312	0.64	194.6	816.0	11.4	893	9316	0.00	1.62	0.00	0.000	4	0.000	0.055	2956	3168	2032
9348	0.64	194.6	811.1	12.2	896	9357	0.00	1.55	0.00	0.000	6	0.000	0.035	2963	2273	2032
9666	0.64	194.6	772.8	11.8	927	9667	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2274	2030
9976	0.64	194.6	735.9	12.1	957	9979	0.00	1.62	0.00	0.000	4	0.000	0.054	2963	3187	2030
10019	0.64	194.6	730.5	12.6	961	10022	0.00	1.58	0.00	0.000	6	0.000	0.036	2971	2272	2028
10342	0.64	194.6	690.3	11.9	992	10343	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2274	2028
10650	0.64	194.6	652.6	12.0	1022	10653	0.00	1.62	0.00	0.000	4	0.000	0.054	2970	3161	2028
10687	0.64	194.6	647.7	12.8	1025	10693	0.00	1.52	0.00	0.000	6	0.000	0.036	2977	2278	2027
11005	0.64	194.6	608.1	12.4	1056	11006	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2279	2027
11314	0.64	194.6	569.9	12.7	1086	11315	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2279	2027
11624	0.64	194.6	530.0	12.8	1116	11627	0.00	1.62	0.00	0.000	4	0.000	0.054	2977	3170	2027
11656	0.64	194.6	525.7	12.6	1119	11659	0.08	1.55	0.00	0.000	6	0.125	0.035	2951	2273	2026
11977	0.64	194.6	491.0	10.5	1150	11978	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2274	2025
12287	0.64	194.6	458.8	9.9	1180	12288	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2273	2025
12598	0.64	194.6	427.8	10.2	1210	12601	0.00	1.62	0.00	0.000	4	0.000	0.053	2950	3166	2025
12640	0.64	194.6	423.2	10.7	1214	12644	0.00	1.52	0.00	0.000	6	0.000	0.035	2956	2276	2025
12963	0.64	194.6	387.6	11.6	1245	12964	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2277	2025
13272	0.64	194.6	352.9	10.9	1275	13272	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2277	2025
13583	0.64	194.6	318.7	11.1	1305	13586	0.00	1.60	0.00	0.000	4	0.000	0.051	2957	3182	2025
13651	0.64	194.6	310.7	12.1	1311	13658	0.00	1.55	0.00	0.000	6	0.000	0.033	2963	2277	2025
13970	0.64	194.6	274.7	11.4	1342	13971	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2278	2025
14279	0.64	194.6	239.4	11.7	1372	14281	0.00	1.60	0.00	0.000	4	0.000	0.049	2963	3188	2026
14314	0.64	194.6	234.8	12.5	1375	14322	0.00	1.58	0.00	0.000	6	0.000	0.032	2970	2268	2026
14633	0.64	194.6	196.6	12.0	1406	14634	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2268	2026
14941	0.64	194.6	159.5	12.0	1436	14945	0.00	1.62	0.00	0.000	4	0.000	0.048	2970	3171	2027
15006	0.64	194.6	151.9	11.3	1442	15009	0.00	1.52	0.00	0.000	6	0.000	0.031	2977	2272	2026
15327	0.64	194.6	116.1	10.5	1473	15327	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2273	2028
15638	0.64	194.6	81.6	11.0	1503	15641	0.00	1.60	0.00	0.000	4	0.000	0.047	2977	3167	2029
15706	0.64	194.6	74.1	10.5	1509	15713	0.08	1.50	0.00	0.000	6	0.133	0.029	2958	2277	2029
15898	0.64	194.6	58.5	8.1	1528	15899	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2278	2029
16085	0.68	228.4	45.7	6.6	1546	16118	0.00	0.00	25.42	0.528	6	0.000	0.000	2958	2278	1907
16303	0.89	396.5	34.3	3.1	1567	16433	0.17	1.60	125.68	0.527	4	0.055	0.043	3050	3178	1223
16465	0.89	396.5	22.7	9.3	1581	16473	0.00	1.58	0.00	0.000	6	0.000	0.027	3058	2267	1219
16658	0.94	440.6	8.1	6.3	1600	16695	0.00	1.67	33.00	0.486	4	0.000	0.044	3058	3179	1042
16761	end climb: SURFACE_DEPTH_REACHED
state	16761	begin surface coast
16814	end surface coast: CONTROL_FINISHED_OK
state	16814	begin surface