Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 298 * 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 298 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 3 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -24991.484 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 30

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 30 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 3 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 -24991.484

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 515 ROLL_DEG 25 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3575 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2747 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -4

C_ROLL_CLIMB 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2325 MASS 51931 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 26 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 298 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 123455,2836.810,-8839.384,36,1.6,36,-0.3 TGT_NAME NEW0723G

_CALLS 1 TGT_LATLONG 2830.000,-8845.000

_XMS_NAKs 9 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.246,-0.097

_SM_DEPTHo 1.61 KALMAN_X 57813.9,-681.0,-272.9,-39368.1,9047.6

_SM_ANGLEo -66.6 KALMAN_Y -453911.2,576.7,812.2,468188.5,-5454.0

GPS2 124208,2836.826,-8839.365,14,1.7,14,-0.3 MHEAD_RNG_PITCHd_Wd 247.0,15618,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1313

Post-dive calculations and measurements:

FINISH 0.7,1.014242 _24V_AH 22.5,52.222

SM_CCo 18190,83.18,0.486,0,0,402,597.54 _10V_AH 10.5,71.907

SM_GC 1.62,0.00,0.00,83.18,0.000,0.000,0.486,191,2335,402,-7.99,0.25,597.54 DATA_FILE_SIZE 91388,1741

IRIDIUM_FIX 2826.10,-8836.53,181099,070709 CAP_FILE_SIZE 174548,0

TT8_MAMPS 0.051389 CFSIZE 260165632,228478976

HUMID 1391 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.23864 CURRENT 0.114,105.9,1

TCM_TEMP 23.20 GPS 240710,174824,2835.163,-8840.675,41,1.2,41,-0.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 250 114.21 SBE_CT 1190 24 642.80

Roll_motor 107 67 163.18 SBE_O2 1276 19 545.61

VBD_pump_during_apogee 510 1238 14214.84 WL_BBFL2VMT 3913 105 9244.73

VBD_pump_during_surface 83 486 910.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 54.43 nil 0 0 0.00

Iridium_during_connect 33 160 119.67 nil 0 0 0.00

Iridium_during_xfer 233 223 1171.32

Transponder_ping 3 420 35.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.42

TT8 0 19 0.00

LPSleep 11978 2 275.45

TT8_Active 664 19 138.17

TT8_Sampling 5338 39 2231.05

TT8_CF8 691 45 332.60

TT8_Kalman 33 81 28.64

Analog_circuits 2225 12 280.36

GPS_charging 0 0 0.00

Compass 4752 8 399.17

RAFOS 0 0 0.00

Transponder 29 30 9.38

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 95 0.00 0.00 -78.60 0.000 2 0.000 0.000 195 2334 2579

97 -0.64 -194.6 3.5 -4.4 8 137 10.48 1.52 -25.15 0.000 4 0.250 0.061 2525 3220 3634

380 -0.64 -194.6 56.9 -14.1 34 382 0.00 1.45 0.00 0.000 6 0.000 0.027 2525 2325 3636

576 -0.64 -194.6 84.3 -13.4 53 577 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2324 3638

762 -0.64 -194.6 109.5 -13.2 71 766 0.00 1.23 0.00 0.000 4 0.000 0.034 2525 1409 3638

809 -0.64 -194.6 116.0 -13.8 75 816 0.00 1.27 0.00 0.000 6 0.000 0.034 2521 2329 3638

1127 -0.64 -194.6 157.7 -12.7 106 1130 0.00 1.25 0.00 0.000 4 0.000 0.034 2521 1418 3638

1216 -0.64 -194.6 169.2 -12.1 114 1225 0.00 1.27 0.00 0.000 6 0.000 0.035 2515 2334 3638

1535 -0.64 -194.6 207.9 -11.9 145 1538 0.00 1.27 0.00 0.000 4 0.000 0.035 2515 1408 3638

1610 -0.64 -194.6 217.0 -11.6 152 1613 0.08 1.27 0.00 0.000 6 0.142 0.037 2533 2327 3638

1930 -0.64 -194.6 251.6 -10.8 183 1934 0.00 1.25 0.00 0.000 4 0.000 0.037 2534 1418 3635

2052 -0.64 -194.6 265.0 -10.9 194 2061 0.00 1.27 0.00 0.000 6 0.000 0.036 2530 2331 3635

2371 -0.64 -194.6 299.3 -10.6 225 2374 0.00 1.27 0.00 0.000 4 0.000 0.038 2530 1408 3633

2434 -0.64 -194.6 306.3 -10.7 231 2437 0.00 1.27 0.00 0.000 6 0.000 0.038 2524 2325 3633

2757 -0.64 -194.6 341.3 -10.5 262 2760 0.00 1.25 0.00 0.000 4 0.000 0.038 2524 1415 3631

2864 -0.64 -194.6 352.9 -10.2 272 2867 0.00 1.27 0.00 0.000 6 0.000 0.039 2518 2327 3630

3187 -0.64 -194.6 388.9 -11.6 303 3190 0.00 1.27 0.00 0.000 4 0.000 0.038 2518 1408 3628

3240 -0.64 -194.6 395.3 -11.6 308 3243 0.00 1.27 0.00 0.000 6 0.000 0.040 2513 2320 3628

3562 -0.64 -194.6 433.0 -11.6 339 3565 0.00 1.27 0.00 0.000 4 0.000 0.046 2512 1420 3625

3642 -0.64 -194.6 442.9 -11.7 346 3650 0.08 1.27 0.00 0.000 6 0.156 0.038 2530 2327 3624

3958 -0.64 -194.6 475.4 -10.3 377 3959 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2328 3622

4269 -0.64 -194.6 507.0 -10.6 407 4272 0.00 1.27 0.00 0.000 4 0.000 0.041 2530 1418 3620

4422 -0.64 -194.6 523.1 -10.9 421 4430 0.00 1.27 0.00 0.000 6 0.000 0.041 2527 2320 3618

4741 -0.64 -194.6 555.6 -10.3 452 4744 0.00 1.25 0.00 0.000 4 0.000 0.041 2526 1430 3617

4816 -0.64 -194.6 563.6 -10.6 459 4819 0.00 1.27 0.00 0.000 6 0.000 0.042 2521 2328 3616

5139 -0.64 -194.6 598.4 -10.7 490 5142 0.00 1.27 0.00 0.000 4 0.000 0.041 2521 1422 3615

5217 -0.64 -194.6 607.1 -10.7 497 5224 0.00 1.27 0.00 0.000 6 0.000 0.042 2516 2319 3614

5536 -0.64 -194.6 641.0 -10.9 528 5539 0.00 1.55 0.00 0.000 4 0.000 0.054 2508 3204 3613

5578 -0.64 -194.6 645.9 -10.3 532 5582 0.08 1.45 0.00 0.000 6 0.140 0.034 2534 2331 3612

5899 -0.64 -194.6 675.0 -8.9 563 5902 0.00 1.27 0.00 0.000 4 0.000 0.043 2534 1425 3610

6017 -0.64 -194.6 685.5 -9.4 574 6020 0.00 1.30 0.00 0.000 6 0.000 0.045 2530 2328 3609

6339 -0.64 -194.6 714.1 -8.8 605 6342 0.00 1.30 0.00 0.000 4 0.000 0.043 2530 1412 3607

6408 -0.64 -194.6 720.4 -9.0 611 6414 0.00 1.33 0.00 0.000 6 0.000 0.044 2526 2330 3607

6725 -0.64 -194.6 749.7 -9.3 642 6729 0.00 1.30 0.00 0.000 4 0.000 0.044 2526 1417 3605

6761 -0.64 -194.6 753.5 -10.2 645 6768 0.00 1.33 0.00 0.000 6 0.000 0.044 2520 2331 3604

7080 -0.64 -194.6 783.5 -9.4 676 7083 0.00 1.30 0.00 0.000 4 0.000 0.043 2520 1417 3603

7187 -0.64 -194.6 793.7 -9.1 686 7190 0.00 1.30 0.00 0.000 6 0.000 0.045 2514 2323 3603

7510 -0.64 -194.6 824.8 -9.9 717 7513 0.00 1.27 0.00 0.000 4 0.000 0.043 2514 1424 3601

7574 -0.64 -194.6 831.2 -10.0 723 7577 0.08 1.30 0.00 0.000 6 0.144 0.045 2534 2326 3601

7895 -0.64 -194.6 858.6 -8.4 754 7898 0.00 1.30 0.00 0.000 4 0.000 0.044 2533 1408 3598

7927 -0.64 -194.6 861.3 -8.3 757 7930 0.00 1.33 0.00 0.000 6 0.000 0.046 2530 2327 3599

8247 -0.64 -194.6 889.5 -9.2 788 8255 0.00 1.30 0.00 0.000 4 0.000 0.044 2530 1411 3598

8303 -0.64 -194.6 894.6 -9.8 793 8305 0.00 1.33 0.00 0.000 6 0.000 0.047 2525 2327 3597

8624 -0.64 -194.6 923.9 -8.8 824 8625 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2327 3595

8934 -0.64 -194.6 950.9 -8.6 854 8937 0.00 1.30 0.00 0.000 4 0.000 0.044 2525 1417 3594

9030 -0.64 -194.6 959.0 -8.6 863 9033 0.00 1.33 0.00 0.000 6 0.000 0.046 2519 2330 3594

9352 -0.64 -194.6 986.1 -8.5 894 9352 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2330 3593

9402 end dive: TARGET_DEPTH_EXCEEDED

state 9402 begin apogee

9408 -0.26 0.0 990.4 8.5 899 9566 0.45 0.00 155.43 1.239 6 0.133 0.000 2657 2270 2840

9567 end apogee: CONTROL_FINISHED_OK

state 9567 begin climb

9569 0.64 194.6 994.0 0.0 915 9748 0.90 1.83 172.20 1.209 4 0.100 0.056 2941 3158 2044

9775 0.64 194.6 976.1 13.3 933 9782 0.00 1.65 0.00 0.000 6 0.000 0.035 2948 2275 2039

10093 0.64 194.6 937.7 12.4 964 10096 0.00 1.62 0.00 0.000 4 0.000 0.056 2948 3163 2034

10129 0.64 194.6 932.8 13.1 967 10137 0.00 1.55 0.00 0.000 6 0.000 0.035 2955 2274 2033

10448 0.64 194.6 893.8 12.7 998 10448 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2275 2032

10756 0.64 194.6 855.3 12.6 1028 10757 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2275 2031

11067 0.64 194.6 816.8 12.4 1058 11070 0.00 1.62 0.00 0.000 4 0.000 0.054 2955 3168 2030

11098 0.64 194.6 812.4 13.2 1061 11101 0.00 1.55 0.00 0.000 6 0.000 0.036 2962 2271 2029

11419 0.64 194.6 771.5 12.7 1092 11420 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2272 2029

11730 0.64 194.6 732.1 12.3 1122 11733 0.00 1.62 0.00 0.000 4 0.000 0.054 2962 3187 2029

11772 0.64 194.6 726.3 14.6 1126 11775 0.00 1.58 0.00 0.000 6 0.000 0.037 2970 2272 2028

12095 0.64 194.6 683.7 13.1 1157 12096 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2273 2028

12404 0.64 194.6 643.6 12.6 1187 12405 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2273 2028

12714 0.64 194.6 606.0 11.7 1217 12717 0.00 1.62 0.00 0.000 4 0.000 0.054 2970 3165 2028

12793 0.64 194.6 596.1 11.2 1224 12800 0.00 1.55 0.00 0.000 6 0.000 0.035 2977 2270 2027

13111 0.64 194.6 557.6 12.7 1255 13115 0.00 1.62 0.00 0.000 4 0.000 0.054 2977 3161 2026

13164 0.64 194.6 550.4 13.0 1260 13168 0.08 1.55 0.00 0.000 6 0.148 0.036 2960 2270 2027

13485 0.64 194.6 513.9 11.3 1291 13486 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2271 2027

13796 0.64 194.6 478.6 11.5 1321 13797 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2271 2026

14107 0.64 194.6 442.9 11.2 1351 14110 0.00 1.60 0.00 0.000 4 0.000 0.052 2960 3169 2027

14132 0.64 194.6 439.7 12.1 1353 14140 0.00 1.55 0.00 0.000 6 0.000 0.035 2966 2270 2027

14451 0.64 194.6 402.7 11.7 1384 14454 0.00 1.62 0.00 0.000 4 0.000 0.052 2966 3165 2027

14526 0.64 194.6 393.2 12.3 1391 14529 0.00 1.52 0.00 0.000 6 0.000 0.035 2973 2274 2027

14847 0.64 194.6 352.9 12.5 1422 14851 0.00 1.60 0.00 0.000 4 0.000 0.052 2973 3160 2026

14890 0.64 194.6 347.0 13.5 1426 14893 0.00 1.52 0.00 0.000 6 0.000 0.035 2981 2273 2027

15212 0.64 194.6 303.8 12.8 1457 15215 0.00 1.60 0.00 0.000 4 0.000 0.051 2981 3160 2026

15281 0.64 194.6 294.1 13.9 1463 15287 0.10 1.52 0.00 0.000 6 0.139 0.033 2957 2274 2026

15597 0.64 194.6 258.8 10.9 1494 15600 0.00 1.62 0.00 0.000 4 0.000 0.050 2957 3173 2026

15640 0.64 194.6 253.9 11.7 1498 15643 0.00 1.52 0.00 0.000 6 0.000 0.032 2962 2274 2027

15962 0.64 194.6 216.5 12.0 1529 15965 0.00 1.60 0.00 0.000 4 0.000 0.050 2962 3162 2027

16015 0.64 194.6 209.7 12.2 1534 16018 0.00 1.52 0.00 0.000 6 0.000 0.032 2970 2272 2027

16336 0.64 194.6 170.8 11.6 1565 16339 0.00 1.60 0.00 0.000 4 0.000 0.049 2970 3160 2028

16422 0.64 194.6 160.5 11.5 1573 16424 0.00 1.52 0.00 0.000 6 0.000 0.032 2977 2270 2027

16744 0.64 194.6 122.1 10.5 1604 16745 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2270 2028

17053 0.64 194.6 86.7 11.4 1634 17056 0.00 1.60 0.00 0.000 4 0.000 0.048 2977 3163 2030

17079 0.64 194.6 83.9 12.5 1636 17086 0.08 1.50 0.00 0.000 6 0.140 0.030 2959 2274 2030

17271 0.64 194.6 66.9 8.4 1655 17274 0.00 1.20 0.00 0.000 4 0.000 0.036 2963 1362 2030

17328 0.68 230.3 62.6 6.6 1660 17361 0.00 1.23 26.92 0.546 6 0.000 0.036 2963 2272 1900

17544 0.71 254.5 47.2 6.9 1681 17569 0.00 1.62 19.90 0.525 4 0.000 0.046 2963 3174 1802

17612 0.75 284.8 42.5 6.7 1687 17640 0.00 1.52 24.62 0.524 6 0.000 0.029 2970 2272 1679

17828 0.93 432.7 32.1 3.6 1707 17948 0.22 0.00 110.95 0.523 6 0.054 0.000 3077 2272 1075

18132 0.93 432.7 3.6 7.6 1737 18135 0.00 1.17 0.00 0.000 4 0.000 0.034 3083 1374 1068

18140 end climb: SURFACE_DEPTH_REACHED

state 18140 begin surface coast

18173 end surface coast: CONTROL_FINISHED_OK

state 18173 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	298	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	3	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-24991.484	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	30

GPS1	123455,2836.810,-8839.384,36,1.6,36,-0.3	TGT_NAME	NEW0723G
_CALLS	1	TGT_LATLONG	2830.000,-8845.000
_XMS_NAKs	9	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.246,-0.097
_SM_DEPTHo	1.61	KALMAN_X	57813.9,-681.0,-272.9,-39368.1,9047.6
_SM_ANGLEo	-66.6	KALMAN_Y	-453911.2,576.7,812.2,468188.5,-5454.0
GPS2	124208,2836.826,-8839.365,14,1.7,14,-0.3	MHEAD_RNG_PITCHd_Wd	247.0,15618,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1313

FINISH	0.7,1.014242	_24V_AH	22.5,52.222
SM_CCo	18190,83.18,0.486,0,0,402,597.54	_10V_AH	10.5,71.907
SM_GC	1.62,0.00,0.00,83.18,0.000,0.000,0.486,191,2335,402,-7.99,0.25,597.54	DATA_FILE_SIZE	91388,1741
IRIDIUM_FIX	2826.10,-8836.53,181099,070709	CAP_FILE_SIZE	174548,0
TT8_MAMPS	0.051389	CFSIZE	260165632,228478976
HUMID	1391	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.23864	CURRENT	0.114,105.9,1
TCM_TEMP	23.20	GPS	240710,174824,2835.163,-8840.675,41,1.2,41,-0.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	250	114.21	SBE_CT	1190	24	642.80
Roll_motor	107	67	163.18	SBE_O2	1276	19	545.61
VBD_pump_during_apogee	510	1238	14214.84	WL_BBFL2VMT	3913	105	9244.73
VBD_pump_during_surface	83	486	910.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	54.43	nil	0	0	0.00
Iridium_during_connect	33	160	119.67	nil	0	0	0.00
Iridium_during_xfer	233	223	1171.32
Transponder_ping	3	420	35.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.42
TT8	0	19	0.00
LPSleep	11978	2	275.45
TT8_Active	664	19	138.17
TT8_Sampling	5338	39	2231.05
TT8_CF8	691	45	332.60
TT8_Kalman	33	81	28.64
Analog_circuits	2225	12	280.36
GPS_charging	0	0	0.00
Compass	4752	8	399.17
RAFOS	0	0	0.00
Transponder	29	30	9.38

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	95	0.00	0.00	-78.60	0.000	2	0.000	0.000	195	2334	2579
97	-0.64	-194.6	3.5	-4.4	8	137	10.48	1.52	-25.15	0.000	4	0.250	0.061	2525	3220	3634
380	-0.64	-194.6	56.9	-14.1	34	382	0.00	1.45	0.00	0.000	6	0.000	0.027	2525	2325	3636
576	-0.64	-194.6	84.3	-13.4	53	577	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2324	3638
762	-0.64	-194.6	109.5	-13.2	71	766	0.00	1.23	0.00	0.000	4	0.000	0.034	2525	1409	3638
809	-0.64	-194.6	116.0	-13.8	75	816	0.00	1.27	0.00	0.000	6	0.000	0.034	2521	2329	3638
1127	-0.64	-194.6	157.7	-12.7	106	1130	0.00	1.25	0.00	0.000	4	0.000	0.034	2521	1418	3638
1216	-0.64	-194.6	169.2	-12.1	114	1225	0.00	1.27	0.00	0.000	6	0.000	0.035	2515	2334	3638
1535	-0.64	-194.6	207.9	-11.9	145	1538	0.00	1.27	0.00	0.000	4	0.000	0.035	2515	1408	3638
1610	-0.64	-194.6	217.0	-11.6	152	1613	0.08	1.27	0.00	0.000	6	0.142	0.037	2533	2327	3638
1930	-0.64	-194.6	251.6	-10.8	183	1934	0.00	1.25	0.00	0.000	4	0.000	0.037	2534	1418	3635
2052	-0.64	-194.6	265.0	-10.9	194	2061	0.00	1.27	0.00	0.000	6	0.000	0.036	2530	2331	3635
2371	-0.64	-194.6	299.3	-10.6	225	2374	0.00	1.27	0.00	0.000	4	0.000	0.038	2530	1408	3633
2434	-0.64	-194.6	306.3	-10.7	231	2437	0.00	1.27	0.00	0.000	6	0.000	0.038	2524	2325	3633
2757	-0.64	-194.6	341.3	-10.5	262	2760	0.00	1.25	0.00	0.000	4	0.000	0.038	2524	1415	3631
2864	-0.64	-194.6	352.9	-10.2	272	2867	0.00	1.27	0.00	0.000	6	0.000	0.039	2518	2327	3630
3187	-0.64	-194.6	388.9	-11.6	303	3190	0.00	1.27	0.00	0.000	4	0.000	0.038	2518	1408	3628
3240	-0.64	-194.6	395.3	-11.6	308	3243	0.00	1.27	0.00	0.000	6	0.000	0.040	2513	2320	3628
3562	-0.64	-194.6	433.0	-11.6	339	3565	0.00	1.27	0.00	0.000	4	0.000	0.046	2512	1420	3625
3642	-0.64	-194.6	442.9	-11.7	346	3650	0.08	1.27	0.00	0.000	6	0.156	0.038	2530	2327	3624
3958	-0.64	-194.6	475.4	-10.3	377	3959	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2328	3622
4269	-0.64	-194.6	507.0	-10.6	407	4272	0.00	1.27	0.00	0.000	4	0.000	0.041	2530	1418	3620
4422	-0.64	-194.6	523.1	-10.9	421	4430	0.00	1.27	0.00	0.000	6	0.000	0.041	2527	2320	3618
4741	-0.64	-194.6	555.6	-10.3	452	4744	0.00	1.25	0.00	0.000	4	0.000	0.041	2526	1430	3617
4816	-0.64	-194.6	563.6	-10.6	459	4819	0.00	1.27	0.00	0.000	6	0.000	0.042	2521	2328	3616
5139	-0.64	-194.6	598.4	-10.7	490	5142	0.00	1.27	0.00	0.000	4	0.000	0.041	2521	1422	3615
5217	-0.64	-194.6	607.1	-10.7	497	5224	0.00	1.27	0.00	0.000	6	0.000	0.042	2516	2319	3614
5536	-0.64	-194.6	641.0	-10.9	528	5539	0.00	1.55	0.00	0.000	4	0.000	0.054	2508	3204	3613
5578	-0.64	-194.6	645.9	-10.3	532	5582	0.08	1.45	0.00	0.000	6	0.140	0.034	2534	2331	3612
5899	-0.64	-194.6	675.0	-8.9	563	5902	0.00	1.27	0.00	0.000	4	0.000	0.043	2534	1425	3610
6017	-0.64	-194.6	685.5	-9.4	574	6020	0.00	1.30	0.00	0.000	6	0.000	0.045	2530	2328	3609
6339	-0.64	-194.6	714.1	-8.8	605	6342	0.00	1.30	0.00	0.000	4	0.000	0.043	2530	1412	3607
6408	-0.64	-194.6	720.4	-9.0	611	6414	0.00	1.33	0.00	0.000	6	0.000	0.044	2526	2330	3607
6725	-0.64	-194.6	749.7	-9.3	642	6729	0.00	1.30	0.00	0.000	4	0.000	0.044	2526	1417	3605
6761	-0.64	-194.6	753.5	-10.2	645	6768	0.00	1.33	0.00	0.000	6	0.000	0.044	2520	2331	3604
7080	-0.64	-194.6	783.5	-9.4	676	7083	0.00	1.30	0.00	0.000	4	0.000	0.043	2520	1417	3603
7187	-0.64	-194.6	793.7	-9.1	686	7190	0.00	1.30	0.00	0.000	6	0.000	0.045	2514	2323	3603
7510	-0.64	-194.6	824.8	-9.9	717	7513	0.00	1.27	0.00	0.000	4	0.000	0.043	2514	1424	3601
7574	-0.64	-194.6	831.2	-10.0	723	7577	0.08	1.30	0.00	0.000	6	0.144	0.045	2534	2326	3601
7895	-0.64	-194.6	858.6	-8.4	754	7898	0.00	1.30	0.00	0.000	4	0.000	0.044	2533	1408	3598
7927	-0.64	-194.6	861.3	-8.3	757	7930	0.00	1.33	0.00	0.000	6	0.000	0.046	2530	2327	3599
8247	-0.64	-194.6	889.5	-9.2	788	8255	0.00	1.30	0.00	0.000	4	0.000	0.044	2530	1411	3598
8303	-0.64	-194.6	894.6	-9.8	793	8305	0.00	1.33	0.00	0.000	6	0.000	0.047	2525	2327	3597
8624	-0.64	-194.6	923.9	-8.8	824	8625	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2327	3595
8934	-0.64	-194.6	950.9	-8.6	854	8937	0.00	1.30	0.00	0.000	4	0.000	0.044	2525	1417	3594
9030	-0.64	-194.6	959.0	-8.6	863	9033	0.00	1.33	0.00	0.000	6	0.000	0.046	2519	2330	3594
9352	-0.64	-194.6	986.1	-8.5	894	9352	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2330	3593
9402	end dive: TARGET_DEPTH_EXCEEDED
state	9402	begin apogee
9408	-0.26	0.0	990.4	8.5	899	9566	0.45	0.00	155.43	1.239	6	0.133	0.000	2657	2270	2840
9567	end apogee: CONTROL_FINISHED_OK
state	9567	begin climb
9569	0.64	194.6	994.0	0.0	915	9748	0.90	1.83	172.20	1.209	4	0.100	0.056	2941	3158	2044
9775	0.64	194.6	976.1	13.3	933	9782	0.00	1.65	0.00	0.000	6	0.000	0.035	2948	2275	2039
10093	0.64	194.6	937.7	12.4	964	10096	0.00	1.62	0.00	0.000	4	0.000	0.056	2948	3163	2034
10129	0.64	194.6	932.8	13.1	967	10137	0.00	1.55	0.00	0.000	6	0.000	0.035	2955	2274	2033
10448	0.64	194.6	893.8	12.7	998	10448	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2275	2032
10756	0.64	194.6	855.3	12.6	1028	10757	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2275	2031
11067	0.64	194.6	816.8	12.4	1058	11070	0.00	1.62	0.00	0.000	4	0.000	0.054	2955	3168	2030
11098	0.64	194.6	812.4	13.2	1061	11101	0.00	1.55	0.00	0.000	6	0.000	0.036	2962	2271	2029
11419	0.64	194.6	771.5	12.7	1092	11420	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2272	2029
11730	0.64	194.6	732.1	12.3	1122	11733	0.00	1.62	0.00	0.000	4	0.000	0.054	2962	3187	2029
11772	0.64	194.6	726.3	14.6	1126	11775	0.00	1.58	0.00	0.000	6	0.000	0.037	2970	2272	2028
12095	0.64	194.6	683.7	13.1	1157	12096	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2273	2028
12404	0.64	194.6	643.6	12.6	1187	12405	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2273	2028
12714	0.64	194.6	606.0	11.7	1217	12717	0.00	1.62	0.00	0.000	4	0.000	0.054	2970	3165	2028
12793	0.64	194.6	596.1	11.2	1224	12800	0.00	1.55	0.00	0.000	6	0.000	0.035	2977	2270	2027
13111	0.64	194.6	557.6	12.7	1255	13115	0.00	1.62	0.00	0.000	4	0.000	0.054	2977	3161	2026
13164	0.64	194.6	550.4	13.0	1260	13168	0.08	1.55	0.00	0.000	6	0.148	0.036	2960	2270	2027
13485	0.64	194.6	513.9	11.3	1291	13486	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2271	2027
13796	0.64	194.6	478.6	11.5	1321	13797	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2271	2026
14107	0.64	194.6	442.9	11.2	1351	14110	0.00	1.60	0.00	0.000	4	0.000	0.052	2960	3169	2027
14132	0.64	194.6	439.7	12.1	1353	14140	0.00	1.55	0.00	0.000	6	0.000	0.035	2966	2270	2027
14451	0.64	194.6	402.7	11.7	1384	14454	0.00	1.62	0.00	0.000	4	0.000	0.052	2966	3165	2027
14526	0.64	194.6	393.2	12.3	1391	14529	0.00	1.52	0.00	0.000	6	0.000	0.035	2973	2274	2027
14847	0.64	194.6	352.9	12.5	1422	14851	0.00	1.60	0.00	0.000	4	0.000	0.052	2973	3160	2026
14890	0.64	194.6	347.0	13.5	1426	14893	0.00	1.52	0.00	0.000	6	0.000	0.035	2981	2273	2027
15212	0.64	194.6	303.8	12.8	1457	15215	0.00	1.60	0.00	0.000	4	0.000	0.051	2981	3160	2026
15281	0.64	194.6	294.1	13.9	1463	15287	0.10	1.52	0.00	0.000	6	0.139	0.033	2957	2274	2026
15597	0.64	194.6	258.8	10.9	1494	15600	0.00	1.62	0.00	0.000	4	0.000	0.050	2957	3173	2026
15640	0.64	194.6	253.9	11.7	1498	15643	0.00	1.52	0.00	0.000	6	0.000	0.032	2962	2274	2027
15962	0.64	194.6	216.5	12.0	1529	15965	0.00	1.60	0.00	0.000	4	0.000	0.050	2962	3162	2027
16015	0.64	194.6	209.7	12.2	1534	16018	0.00	1.52	0.00	0.000	6	0.000	0.032	2970	2272	2027
16336	0.64	194.6	170.8	11.6	1565	16339	0.00	1.60	0.00	0.000	4	0.000	0.049	2970	3160	2028
16422	0.64	194.6	160.5	11.5	1573	16424	0.00	1.52	0.00	0.000	6	0.000	0.032	2977	2270	2027
16744	0.64	194.6	122.1	10.5	1604	16745	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2270	2028
17053	0.64	194.6	86.7	11.4	1634	17056	0.00	1.60	0.00	0.000	4	0.000	0.048	2977	3163	2030
17079	0.64	194.6	83.9	12.5	1636	17086	0.08	1.50	0.00	0.000	6	0.140	0.030	2959	2274	2030
17271	0.64	194.6	66.9	8.4	1655	17274	0.00	1.20	0.00	0.000	4	0.000	0.036	2963	1362	2030
17328	0.68	230.3	62.6	6.6	1660	17361	0.00	1.23	26.92	0.546	6	0.000	0.036	2963	2272	1900
17544	0.71	254.5	47.2	6.9	1681	17569	0.00	1.62	19.90	0.525	4	0.000	0.046	2963	3174	1802
17612	0.75	284.8	42.5	6.7	1687	17640	0.00	1.52	24.62	0.524	6	0.000	0.029	2970	2272	1679
17828	0.93	432.7	32.1	3.6	1707	17948	0.22	0.00	110.95	0.523	6	0.054	0.000	3077	2272	1075
18132	0.93	432.7	3.6	7.6	1737	18135	0.00	1.17	0.00	0.000	4	0.000	0.034	3083	1374	1068
18140	end climb: SURFACE_DEPTH_REACHED
state	18140	begin surface coast
18173	end surface coast: CONTROL_FINISHED_OK
state	18173	begin surface