Glider dive log

GulfOfMexico Aug10 * SG515 * Dive index * Mission links * Dive 50 * 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 2 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 50 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 2450 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2375 ALTIM_PULSE 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 625 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 13 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 550 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 600 CALL_TRIES 5 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 3150 DEVICE4 101

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 -6 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 990 T_GPS_CHARGE -28958.756 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 -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 175 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 2275 PRESSURE_YINT -43.012939 SEABIRD_T_G 0.0043524536

RHO 1.027 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011628702 SEABIRD_T_H 0.00062548812

MASS 52026 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 17 COMPASS_USE 0 SEABIRD_C_H 1.1640214

HD_A 0.003 PITCH_AD_RATE 145 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 145 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 625

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 990 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 17 TCM_PITCH_OFFSET 0

ALTIM_PULSE 2 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 -43.012939 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 -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 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 -28958.756

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.027 T_MISSION 600

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 2275 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -6

C_ROLL_CLIMB 2375 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2450 MASS 52026 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 3150 MAX_BUOY 175 R_STBD_OVSHOOT 13 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 2 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 101 N_NOCOMM 1 SEABIRD_T_H 0.00062548812 VBD_PUMP_AD_RATE_SURFACE 6

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 50 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 220530,2836.885,-8819.254,129,2.7,148,-0.5 TGT_NAME TARGET_CENTER

_CALLS 1 TGT_LATLONG 2839.000,-8820.800

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.059,0.221

_SM_DEPTHo 2.29 KALMAN_X 144590.8,-196.9,-2668.0,-126530.8,14399.1

_SM_ANGLEo -77.7 KALMAN_Y -61201.1,1257.1,3841.0,9330.0,-24144.8

GPS2 221516,2836.895,-8819.030,16,2.2,35,-0.5 MHEAD_RNG_PITCHd_Wd 329.7,4845,-12.1,-6.000

SPEED_LIMITS 0.104,0.229 D_GRID 1835

Post-dive calculations and measurements:

FINISH 0.7,1.005010 _24V_AH 23.9,7.721

SM_CCo 16544,0.00,0.000,0,0,401,674.32 _10V_AH 10.7,9.132

SM_GC 2.89,6.57,0.00,0.00,0.031,0.000,0.000,194,2436,401,-6.44,-0.40,674.32 DATA_FILE_SIZE 110889,1574

IRIDIUM_FIX 2828.55,-8819.35,141199,151551 CAP_FILE_SIZE 159921,0

TT8_MAMPS 0.049855 CFSIZE 260165632,250617856

HUMID 2046 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.06285 CURRENT 0.061,173.7,1

TCM_TEMP 26.60 GPS 210810,025317,2838.009,-8820.403,74,0.9,74,-0.5

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 248 98.30 SBE_CT 1078 24 618.51

Roll_motor 83 67 133.89 SBE_O2 1177 19 534.58

VBD_pump_during_apogee 619 1231 18237.06 WL_BBFL2VMT 3538 105 8880.63

VBD_pump_during_surface 0 0 0.00 AA4330 3643 33 2873.76

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.61 nil 0 0 0.00

Iridium_during_connect 25 160 96.51 nil 0 0 0.00

Iridium_during_xfer 342 223 1824.36

Transponder_ping 4 420 40.15

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 37 50 20.26

TT8 0 19 0.00

LPSleep 10845 2 254.14

TT8_Active 579 19 122.67

TT8_Sampling 4872 39 2074.80

TT8_CF8 782 45 383.68

TT8_Kalman 33 81 29.18

Analog_circuits 2018 12 259.23

GPS_charging 0 0 0.00

Compass 4293 8 367.51

RAFOS 0 0 0.00

Transponder 30 30 9.71

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 13 begin dive

15 -0.58 -110.9 0.0 0.0 0 44 0.00 0.00 -27.58 0.000 2 0.000 0.000 193 2438 1484

46 -0.64 -158.2 3.2 -4.3 3 109 7.88 1.50 -51.45 0.000 4 0.249 0.058 2064 1537 3797

349 -0.64 -158.2 66.7 -18.5 30 356 0.00 1.52 0.00 0.000 6 0.000 0.048 2058 2445 3798

459 -0.64 -158.2 83.8 -15.8 41 462 0.00 1.45 0.00 0.000 4 0.000 0.039 2059 1551 3799

619 -0.64 -158.2 107.3 -14.6 56 622 0.00 1.50 0.00 0.000 6 0.000 0.047 2053 2449 3799

941 -0.64 -158.2 159.7 -16.0 87 942 0.00 0.00 0.00 0.000 6 0.000 0.000 2053 2449 3799

1250 -0.64 -158.2 209.5 -15.6 117 1251 0.00 0.00 0.00 0.000 6 0.000 0.000 2053 2449 3797

1561 -0.64 -158.2 257.1 -15.4 147 1564 0.00 1.48 0.00 0.000 4 0.000 0.044 2053 1547 3795

1614 -0.64 -158.2 265.2 -14.7 152 1617 0.00 1.52 0.00 0.000 6 0.000 0.051 2046 2455 3794

1937 -0.64 -158.2 315.2 -16.0 183 1937 0.00 0.00 0.00 0.000 6 0.000 0.000 2046 2455 3791

2245 -0.64 -158.2 361.7 -14.9 213 2249 0.00 1.50 0.00 0.000 4 0.000 0.044 2046 1541 3788

2299 -0.64 -158.2 369.3 -14.2 218 2301 0.00 1.52 0.00 0.000 6 0.000 0.053 2040 2451 3787

2621 -0.64 -158.2 417.1 -14.9 249 2624 0.00 1.48 0.00 0.000 4 0.000 0.046 2039 1552 3785

2689 -0.64 -158.2 427.5 -14.1 255 2697 0.08 1.50 0.00 0.000 6 0.163 0.053 2056 2445 3784

3006 -0.64 -158.2 469.8 -13.9 286 3007 0.00 0.00 0.00 0.000 6 0.000 0.000 2056 2445 3782

3316 -0.64 -158.2 511.8 -13.7 316 3319 0.00 1.48 0.00 0.000 4 0.000 0.049 2056 1552 3778

3370 -0.64 -158.2 518.8 -12.2 321 3373 0.00 1.52 0.00 0.000 6 0.000 0.056 2051 2451 3778

3693 -0.64 -158.2 561.5 -13.4 352 3694 0.00 0.00 0.00 0.000 6 0.000 0.000 2050 2451 3774

4002 -0.64 -158.2 602.0 -12.6 382 4005 0.00 1.50 0.00 0.000 4 0.000 0.051 2050 1547 3772

4059 -0.64 -158.2 609.5 -12.3 387 4067 0.00 1.50 0.00 0.000 6 0.000 0.057 2044 2440 3771

4378 -0.64 -158.2 652.5 -13.8 418 4380 0.00 1.48 0.00 0.000 4 0.000 0.050 2044 1542 3768

4431 -0.64 -158.2 660.1 -13.4 423 4434 0.00 1.52 0.00 0.000 6 0.000 0.058 2037 2446 3767

4753 -0.64 -158.2 706.1 -14.3 454 4755 0.12 0.00 0.00 0.000 6 0.169 0.000 2070 2446 3764

5064 -0.64 -158.2 742.0 -11.4 484 5065 0.00 0.00 0.00 0.000 6 0.000 0.000 2069 2445 3762

5373 -0.64 -158.2 776.0 -10.7 514 5376 0.00 1.48 0.00 0.000 4 0.000 0.053 2070 1560 3759

5426 -0.64 -158.2 781.9 -10.7 519 5429 0.00 1.52 0.00 0.000 6 0.000 0.061 2065 2451 3759

5749 -0.64 -158.2 818.1 -10.9 550 5749 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 2450 3756

6059 -0.64 -158.2 853.1 -11.4 580 6062 0.00 1.50 0.00 0.000 4 0.000 0.054 2064 1554 3753

6138 -0.64 -158.2 862.0 -10.0 587 6145 0.00 1.52 0.00 0.000 6 0.000 0.061 2058 2446 3752

6454 -0.64 -158.2 897.7 -11.2 618 6455 0.00 0.00 0.00 0.000 6 0.000 0.000 2058 2446 3751

6765 -0.64 -158.2 933.0 -11.0 648 6767 0.00 1.50 0.00 0.000 4 0.000 0.055 2058 1548 3749

6818 -0.64 -158.2 938.8 -10.5 653 6821 0.00 1.55 0.00 0.000 6 0.000 0.061 2050 2453 3749

7139 -0.64 -158.2 975.8 -11.4 684 7142 0.00 1.50 0.00 0.000 4 0.000 0.054 2050 1560 3746

7192 -0.64 -158.2 982.0 -11.2 689 7195 0.00 1.55 0.00 0.000 6 0.000 0.061 2044 2456 3746

7264 end dive: TARGET_DEPTH_EXCEEDED

state 7264 begin apogee

7269 -0.19 0.0 990.5 11.6 696 7387 0.55 0.00 115.68 1.231 6 0.136 0.000 2217 2372 3150

7388 end apogee: CONTROL_FINISHED_OK

state 7388 begin climb

7390 0.64 158.2 994.6 0.0 708 7527 0.77 1.48 130.80 1.203 4 0.081 0.044 2488 1473 2505

7559 0.64 158.2 982.5 12.6 722 7568 0.00 1.55 0.00 0.000 6 0.000 0.054 2488 2388 2500

7878 0.64 158.2 938.2 14.1 753 7879 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2388 2495

8187 0.64 158.2 894.4 13.9 783 8188 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2388 2493

8497 0.64 158.2 851.3 14.6 813 8498 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2388 2491

8808 0.64 158.2 808.5 13.6 843 8809 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2387 2490

9118 0.64 158.2 767.6 13.4 873 9121 0.00 1.50 0.00 0.000 4 0.000 0.067 2488 3264 2489

9139 0.64 158.2 764.5 15.2 875 9142 0.00 1.45 0.00 0.000 6 0.000 0.043 2494 2378 2488

9462 0.64 158.2 721.0 14.3 906 9463 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2380 2488

9771 0.64 158.2 680.0 13.4 936 9774 0.00 1.52 0.00 0.000 4 0.000 0.067 2495 3259 2487

9835 0.64 158.2 670.7 15.1 942 9838 0.00 1.45 0.00 0.000 6 0.000 0.044 2502 2373 2486

10158 0.64 158.2 626.3 13.5 973 10158 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2373 2486

10467 0.64 158.2 584.1 13.7 1003 10469 0.00 1.52 0.00 0.000 4 0.000 0.066 2502 3258 2486

10488 0.64 158.2 581.1 14.6 1005 10491 0.08 1.45 0.00 0.000 6 0.179 0.042 2487 2375 2484

10809 0.64 158.2 540.7 12.4 1036 10812 0.00 1.35 0.00 0.000 4 0.000 0.046 2492 1472 2485

10830 0.64 158.2 538.1 12.4 1038 10833 0.00 1.45 0.00 0.000 6 0.000 0.055 2492 2386 2485

11153 0.64 158.2 497.5 12.9 1069 11156 0.00 1.48 0.00 0.000 4 0.000 0.066 2492 3264 2485

11178 0.64 158.2 493.7 14.3 1071 11186 0.00 1.45 0.00 0.000 6 0.000 0.041 2499 2371 2484

11497 0.64 158.2 452.5 13.1 1102 11499 0.00 1.52 0.00 0.000 4 0.000 0.065 2499 3261 2484

11522 0.64 158.2 448.5 15.3 1104 11531 0.00 1.42 0.00 0.000 6 0.000 0.041 2506 2381 2484

11840 0.64 158.2 405.7 12.8 1135 11841 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2382 2484

12150 0.64 158.2 364.5 13.1 1165 12150 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2381 2484

12460 0.64 158.2 323.7 13.2 1195 12460 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2382 2484

12770 0.64 158.2 283.0 13.2 1225 12773 0.00 1.50 0.00 0.000 4 0.000 0.063 2506 3262 2484

12807 0.64 158.2 277.5 13.5 1228 12815 0.10 1.45 0.00 0.000 6 0.169 0.040 2483 2364 2484

13123 0.64 158.2 239.7 11.7 1259 13124 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2364 2485

13434 0.64 158.2 203.0 12.3 1289 13437 0.00 1.52 0.00 0.000 4 0.000 0.061 2482 3262 2486

13477 0.64 158.2 197.4 13.8 1293 13480 0.00 1.40 0.00 0.000 6 0.000 0.040 2488 2384 2486

13797 0.64 158.2 160.1 11.5 1324 13800 0.00 1.50 0.00 0.000 4 0.000 0.061 2488 3269 2487

13883 0.64 158.2 149.5 13.1 1332 13886 0.00 1.42 0.00 0.000 6 0.000 0.038 2495 2374 2487

14206 0.64 158.2 112.6 11.5 1363 14209 0.00 1.50 0.00 0.000 4 0.000 0.060 2495 3264 2489

14274 0.64 158.2 103.8 12.5 1369 14281 0.00 1.42 0.00 0.000 6 0.000 0.038 2502 2370 2489

14592 0.64 158.2 71.9 7.9 1400 14595 0.00 1.33 0.00 0.000 4 0.000 0.040 2508 1470 2490

14806 0.64 158.2 57.4 6.2 1420 14809 0.00 1.42 0.00 0.000 6 0.000 0.048 2508 2391 2490

14921 0.64 158.2 49.5 6.7 1431 14923 0.00 1.38 0.00 0.000 4 0.000 0.038 2514 1477 2491

15006 0.74 241.7 46.0 2.9 1439 15069 0.00 1.40 59.38 0.542 6 0.000 0.048 2514 2386 2163

15179 0.74 241.7 36.8 6.2 1455 15182 0.00 1.48 0.00 0.000 4 0.000 0.058 2514 3261 2157

15270 0.74 241.7 30.4 6.8 1463 15276 0.00 1.42 0.00 0.000 6 0.000 0.035 2521 2377 2156

15379 0.77 266.3 23.9 5.1 1474 15400 0.00 0.00 18.45 0.494 6 0.000 0.000 2521 2378 2063

15503 0.79 282.8 18.0 5.4 1486 15522 0.00 0.00 13.48 0.472 6 0.000 0.000 2521 2378 1995

15625 0.79 282.8 11.2 6.1 1498 15626 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2378 1993

15728 0.91 378.3 8.5 2.5 1508 15802 0.15 1.42 69.68 0.492 4 0.055 0.039 2602 1466 1607

16042 1.11 535.4 6.8 0.2 1536 16159 0.00 1.42 112.57 0.478 6 0.000 0.045 2602 2378 966

16270 1.28 679.2 5.4 0.7 1557 16374 0.25 1.42 99.82 0.466 4 0.130 0.039 2681 1463 404

16396 end climb: SURFACE_DEPTH_REACHED

state 16396 begin surface coast

16468 end surface coast: CONTROL_FINISHED_OK

state 16469 begin surface

ID	515	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	50	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	2450	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2375	ALTIM_PULSE	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	625	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	13	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	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	600	CALL_TRIES	5	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	3150	DEVICE4	101
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	-6	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	990	T_GPS_CHARGE	-28958.756	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	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	175	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	2275	PRESSURE_YINT	-43.012939	SEABIRD_T_G	0.0043524536
RHO	1.027	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011628702	SEABIRD_T_H	0.00062548812
MASS	52026	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	17	COMPASS_USE	0	SEABIRD_C_H	1.1640214
HD_A	0.003	PITCH_AD_RATE	145	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	220530,2836.885,-8819.254,129,2.7,148,-0.5	TGT_NAME	TARGET_CENTER
_CALLS	1	TGT_LATLONG	2839.000,-8820.800
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.059,0.221
_SM_DEPTHo	2.29	KALMAN_X	144590.8,-196.9,-2668.0,-126530.8,14399.1
_SM_ANGLEo	-77.7	KALMAN_Y	-61201.1,1257.1,3841.0,9330.0,-24144.8
GPS2	221516,2836.895,-8819.030,16,2.2,35,-0.5	MHEAD_RNG_PITCHd_Wd	329.7,4845,-12.1,-6.000
SPEED_LIMITS	0.104,0.229	D_GRID	1835

FINISH	0.7,1.005010	_24V_AH	23.9,7.721
SM_CCo	16544,0.00,0.000,0,0,401,674.32	_10V_AH	10.7,9.132
SM_GC	2.89,6.57,0.00,0.00,0.031,0.000,0.000,194,2436,401,-6.44,-0.40,674.32	DATA_FILE_SIZE	110889,1574
IRIDIUM_FIX	2828.55,-8819.35,141199,151551	CAP_FILE_SIZE	159921,0
TT8_MAMPS	0.049855	CFSIZE	260165632,250617856
HUMID	2046	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.06285	CURRENT	0.061,173.7,1
TCM_TEMP	26.60	GPS	210810,025317,2838.009,-8820.403,74,0.9,74,-0.5
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	248	98.30	SBE_CT	1078	24	618.51
Roll_motor	83	67	133.89	SBE_O2	1177	19	534.58
VBD_pump_during_apogee	619	1231	18237.06	WL_BBFL2VMT	3538	105	8880.63
VBD_pump_during_surface	0	0	0.00	AA4330	3643	33	2873.76
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.61	nil	0	0	0.00
Iridium_during_connect	25	160	96.51	nil	0	0	0.00
Iridium_during_xfer	342	223	1824.36
Transponder_ping	4	420	40.15
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	37	50	20.26
TT8	0	19	0.00
LPSleep	10845	2	254.14
TT8_Active	579	19	122.67
TT8_Sampling	4872	39	2074.80
TT8_CF8	782	45	383.68
TT8_Kalman	33	81	29.18
Analog_circuits	2018	12	259.23
GPS_charging	0	0	0.00
Compass	4293	8	367.51
RAFOS	0	0	0.00
Transponder	30	30	9.71

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	13	begin dive
15	-0.58	-110.9	0.0	0.0	0	44	0.00	0.00	-27.58	0.000	2	0.000	0.000	193	2438	1484
46	-0.64	-158.2	3.2	-4.3	3	109	7.88	1.50	-51.45	0.000	4	0.249	0.058	2064	1537	3797
349	-0.64	-158.2	66.7	-18.5	30	356	0.00	1.52	0.00	0.000	6	0.000	0.048	2058	2445	3798
459	-0.64	-158.2	83.8	-15.8	41	462	0.00	1.45	0.00	0.000	4	0.000	0.039	2059	1551	3799
619	-0.64	-158.2	107.3	-14.6	56	622	0.00	1.50	0.00	0.000	6	0.000	0.047	2053	2449	3799
941	-0.64	-158.2	159.7	-16.0	87	942	0.00	0.00	0.00	0.000	6	0.000	0.000	2053	2449	3799
1250	-0.64	-158.2	209.5	-15.6	117	1251	0.00	0.00	0.00	0.000	6	0.000	0.000	2053	2449	3797
1561	-0.64	-158.2	257.1	-15.4	147	1564	0.00	1.48	0.00	0.000	4	0.000	0.044	2053	1547	3795
1614	-0.64	-158.2	265.2	-14.7	152	1617	0.00	1.52	0.00	0.000	6	0.000	0.051	2046	2455	3794
1937	-0.64	-158.2	315.2	-16.0	183	1937	0.00	0.00	0.00	0.000	6	0.000	0.000	2046	2455	3791
2245	-0.64	-158.2	361.7	-14.9	213	2249	0.00	1.50	0.00	0.000	4	0.000	0.044	2046	1541	3788
2299	-0.64	-158.2	369.3	-14.2	218	2301	0.00	1.52	0.00	0.000	6	0.000	0.053	2040	2451	3787
2621	-0.64	-158.2	417.1	-14.9	249	2624	0.00	1.48	0.00	0.000	4	0.000	0.046	2039	1552	3785
2689	-0.64	-158.2	427.5	-14.1	255	2697	0.08	1.50	0.00	0.000	6	0.163	0.053	2056	2445	3784
3006	-0.64	-158.2	469.8	-13.9	286	3007	0.00	0.00	0.00	0.000	6	0.000	0.000	2056	2445	3782
3316	-0.64	-158.2	511.8	-13.7	316	3319	0.00	1.48	0.00	0.000	4	0.000	0.049	2056	1552	3778
3370	-0.64	-158.2	518.8	-12.2	321	3373	0.00	1.52	0.00	0.000	6	0.000	0.056	2051	2451	3778
3693	-0.64	-158.2	561.5	-13.4	352	3694	0.00	0.00	0.00	0.000	6	0.000	0.000	2050	2451	3774
4002	-0.64	-158.2	602.0	-12.6	382	4005	0.00	1.50	0.00	0.000	4	0.000	0.051	2050	1547	3772
4059	-0.64	-158.2	609.5	-12.3	387	4067	0.00	1.50	0.00	0.000	6	0.000	0.057	2044	2440	3771
4378	-0.64	-158.2	652.5	-13.8	418	4380	0.00	1.48	0.00	0.000	4	0.000	0.050	2044	1542	3768
4431	-0.64	-158.2	660.1	-13.4	423	4434	0.00	1.52	0.00	0.000	6	0.000	0.058	2037	2446	3767
4753	-0.64	-158.2	706.1	-14.3	454	4755	0.12	0.00	0.00	0.000	6	0.169	0.000	2070	2446	3764
5064	-0.64	-158.2	742.0	-11.4	484	5065	0.00	0.00	0.00	0.000	6	0.000	0.000	2069	2445	3762
5373	-0.64	-158.2	776.0	-10.7	514	5376	0.00	1.48	0.00	0.000	4	0.000	0.053	2070	1560	3759
5426	-0.64	-158.2	781.9	-10.7	519	5429	0.00	1.52	0.00	0.000	6	0.000	0.061	2065	2451	3759
5749	-0.64	-158.2	818.1	-10.9	550	5749	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	2450	3756
6059	-0.64	-158.2	853.1	-11.4	580	6062	0.00	1.50	0.00	0.000	4	0.000	0.054	2064	1554	3753
6138	-0.64	-158.2	862.0	-10.0	587	6145	0.00	1.52	0.00	0.000	6	0.000	0.061	2058	2446	3752
6454	-0.64	-158.2	897.7	-11.2	618	6455	0.00	0.00	0.00	0.000	6	0.000	0.000	2058	2446	3751
6765	-0.64	-158.2	933.0	-11.0	648	6767	0.00	1.50	0.00	0.000	4	0.000	0.055	2058	1548	3749
6818	-0.64	-158.2	938.8	-10.5	653	6821	0.00	1.55	0.00	0.000	6	0.000	0.061	2050	2453	3749
7139	-0.64	-158.2	975.8	-11.4	684	7142	0.00	1.50	0.00	0.000	4	0.000	0.054	2050	1560	3746
7192	-0.64	-158.2	982.0	-11.2	689	7195	0.00	1.55	0.00	0.000	6	0.000	0.061	2044	2456	3746
7264	end dive: TARGET_DEPTH_EXCEEDED
state	7264	begin apogee
7269	-0.19	0.0	990.5	11.6	696	7387	0.55	0.00	115.68	1.231	6	0.136	0.000	2217	2372	3150
7388	end apogee: CONTROL_FINISHED_OK
state	7388	begin climb
7390	0.64	158.2	994.6	0.0	708	7527	0.77	1.48	130.80	1.203	4	0.081	0.044	2488	1473	2505
7559	0.64	158.2	982.5	12.6	722	7568	0.00	1.55	0.00	0.000	6	0.000	0.054	2488	2388	2500
7878	0.64	158.2	938.2	14.1	753	7879	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2388	2495
8187	0.64	158.2	894.4	13.9	783	8188	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2388	2493
8497	0.64	158.2	851.3	14.6	813	8498	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2388	2491
8808	0.64	158.2	808.5	13.6	843	8809	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2387	2490
9118	0.64	158.2	767.6	13.4	873	9121	0.00	1.50	0.00	0.000	4	0.000	0.067	2488	3264	2489
9139	0.64	158.2	764.5	15.2	875	9142	0.00	1.45	0.00	0.000	6	0.000	0.043	2494	2378	2488
9462	0.64	158.2	721.0	14.3	906	9463	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2380	2488
9771	0.64	158.2	680.0	13.4	936	9774	0.00	1.52	0.00	0.000	4	0.000	0.067	2495	3259	2487
9835	0.64	158.2	670.7	15.1	942	9838	0.00	1.45	0.00	0.000	6	0.000	0.044	2502	2373	2486
10158	0.64	158.2	626.3	13.5	973	10158	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2373	2486
10467	0.64	158.2	584.1	13.7	1003	10469	0.00	1.52	0.00	0.000	4	0.000	0.066	2502	3258	2486
10488	0.64	158.2	581.1	14.6	1005	10491	0.08	1.45	0.00	0.000	6	0.179	0.042	2487	2375	2484
10809	0.64	158.2	540.7	12.4	1036	10812	0.00	1.35	0.00	0.000	4	0.000	0.046	2492	1472	2485
10830	0.64	158.2	538.1	12.4	1038	10833	0.00	1.45	0.00	0.000	6	0.000	0.055	2492	2386	2485
11153	0.64	158.2	497.5	12.9	1069	11156	0.00	1.48	0.00	0.000	4	0.000	0.066	2492	3264	2485
11178	0.64	158.2	493.7	14.3	1071	11186	0.00	1.45	0.00	0.000	6	0.000	0.041	2499	2371	2484
11497	0.64	158.2	452.5	13.1	1102	11499	0.00	1.52	0.00	0.000	4	0.000	0.065	2499	3261	2484
11522	0.64	158.2	448.5	15.3	1104	11531	0.00	1.42	0.00	0.000	6	0.000	0.041	2506	2381	2484
11840	0.64	158.2	405.7	12.8	1135	11841	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2382	2484
12150	0.64	158.2	364.5	13.1	1165	12150	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2381	2484
12460	0.64	158.2	323.7	13.2	1195	12460	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2382	2484
12770	0.64	158.2	283.0	13.2	1225	12773	0.00	1.50	0.00	0.000	4	0.000	0.063	2506	3262	2484
12807	0.64	158.2	277.5	13.5	1228	12815	0.10	1.45	0.00	0.000	6	0.169	0.040	2483	2364	2484
13123	0.64	158.2	239.7	11.7	1259	13124	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2364	2485
13434	0.64	158.2	203.0	12.3	1289	13437	0.00	1.52	0.00	0.000	4	0.000	0.061	2482	3262	2486
13477	0.64	158.2	197.4	13.8	1293	13480	0.00	1.40	0.00	0.000	6	0.000	0.040	2488	2384	2486
13797	0.64	158.2	160.1	11.5	1324	13800	0.00	1.50	0.00	0.000	4	0.000	0.061	2488	3269	2487
13883	0.64	158.2	149.5	13.1	1332	13886	0.00	1.42	0.00	0.000	6	0.000	0.038	2495	2374	2487
14206	0.64	158.2	112.6	11.5	1363	14209	0.00	1.50	0.00	0.000	4	0.000	0.060	2495	3264	2489
14274	0.64	158.2	103.8	12.5	1369	14281	0.00	1.42	0.00	0.000	6	0.000	0.038	2502	2370	2489
14592	0.64	158.2	71.9	7.9	1400	14595	0.00	1.33	0.00	0.000	4	0.000	0.040	2508	1470	2490
14806	0.64	158.2	57.4	6.2	1420	14809	0.00	1.42	0.00	0.000	6	0.000	0.048	2508	2391	2490
14921	0.64	158.2	49.5	6.7	1431	14923	0.00	1.38	0.00	0.000	4	0.000	0.038	2514	1477	2491
15006	0.74	241.7	46.0	2.9	1439	15069	0.00	1.40	59.38	0.542	6	0.000	0.048	2514	2386	2163
15179	0.74	241.7	36.8	6.2	1455	15182	0.00	1.48	0.00	0.000	4	0.000	0.058	2514	3261	2157
15270	0.74	241.7	30.4	6.8	1463	15276	0.00	1.42	0.00	0.000	6	0.000	0.035	2521	2377	2156
15379	0.77	266.3	23.9	5.1	1474	15400	0.00	0.00	18.45	0.494	6	0.000	0.000	2521	2378	2063
15503	0.79	282.8	18.0	5.4	1486	15522	0.00	0.00	13.48	0.472	6	0.000	0.000	2521	2378	1995
15625	0.79	282.8	11.2	6.1	1498	15626	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2378	1993
15728	0.91	378.3	8.5	2.5	1508	15802	0.15	1.42	69.68	0.492	4	0.055	0.039	2602	1466	1607
16042	1.11	535.4	6.8	0.2	1536	16159	0.00	1.42	112.57	0.478	6	0.000	0.045	2602	2378	966
16270	1.28	679.2	5.4	0.7	1557	16374	0.25	1.42	99.82	0.466	4	0.130	0.039	2681	1463	404
16396	end climb: SURFACE_DEPTH_REACHED
state	16396	begin surface coast
16468	end surface coast: CONTROL_FINISHED_OK
state	16469	begin surface