Glider dive log

GulfOfMexico Aug10 * SG515 * Dive index * Mission links * Dive 53 * 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 53 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 19 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 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 -29009.713 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 -29009.713

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 19 VBD_BLEED_AD_RATE 8

C_VBD 3150 MAX_BUOY 175 R_STBD_OVSHOOT 25 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 53 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 152037,2837.160,-8822.651,37,1.3,37,-0.4 TGT_NAME TARGET_SW

_CALLS 1 TGT_LATLONG 2835.400,-8825.200

_XMS_NAKs 3 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.169,0.154

_SM_DEPTHo 1.86 KALMAN_X 149954.7,248.2,-485.7,-140440.9,8899.1

_SM_ANGLEo -75.7 KALMAN_Y -66998.0,1206.3,1109.5,18521.8,-15233.0

GPS2 152932,2837.211,-8822.668,14,1.4,14,-0.4 MHEAD_RNG_PITCHd_Wd 234.2,5311,-11.9,-6.000

SPEED_LIMITS 0.104,0.229 D_GRID 1763

Post-dive calculations and measurements:

FINISH 0.6,1.004054 _24V_AH 23.9,8.149

SM_CCo 16945,0.00,0.000,0,0,401,674.32 _10V_AH 10.7,10.016

SM_GC 2.88,6.57,0.00,0.00,0.032,0.000,0.000,189,2442,401,-6.44,-0.23,674.32 DATA_FILE_SIZE 113888,1612

IRIDIUM_FIX 2828.55,-8821.81,151199,101030 CAP_FILE_SIZE 167881,0

TT8_MAMPS 0.049855 CFSIZE 260165632,250269696

HUMID 2042 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.04332 CURRENT 0.024,132.2,1

TCM_TEMP 26.10 GPS 210810,201451,2835.800,-8824.312,92,2.9,111,-0.4

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 249 99.34 SBE_CT 1104 24 633.32

Roll_motor 96 72 166.46 SBE_O2 1209 19 549.01

VBD_pump_during_apogee 616 1234 18175.59 WL_BBFL2VMT 3624 105 9094.93

VBD_pump_during_surface 0 0 0.00 AA4330 3738 33 2948.44

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 76.63 nil 0 0 0.00

Iridium_during_connect 32 160 123.67 nil 0 0 0.00

Iridium_during_xfer 316 223 1688.35

Transponder_ping 4 420 40.15

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.75

TT8 0 19 0.00

LPSleep 11006 2 257.90

TT8_Active 607 19 128.80

TT8_Sampling 5034 39 2143.84

TT8_CF8 789 45 386.95

TT8_Kalman 33 81 29.19

Analog_circuits 2117 12 271.84

GPS_charging 0 0 0.00

Compass 4462 8 382.02

RAFOS 0 0 0.00

Transponder 30 30 9.66

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 -0.58 -113.0 0.0 0.0 0 42 0.00 0.00 -27.60 0.000 2 0.000 0.000 188 2454 1274

44 -0.63 -149.6 3.0 -4.7 3 118 7.95 1.33 -58.50 0.000 4 0.249 0.072 2061 3338 3761

357 -0.63 -149.6 68.0 -17.9 31 364 0.00 1.30 0.00 0.000 6 0.000 0.031 2061 2445 3762

467 -0.63 -149.6 85.6 -16.2 42 470 0.00 1.40 0.00 0.000 4 0.000 0.056 2055 3339 3763

713 -0.63 -149.6 124.8 -15.9 65 716 0.00 1.27 0.00 0.000 6 0.000 0.033 2055 2450 3763

1036 -0.63 -149.6 173.6 -14.9 96 1039 0.00 1.45 0.00 0.000 4 0.000 0.042 2055 1551 3762

1100 -0.63 -149.6 183.0 -13.3 102 1102 0.00 1.48 0.00 0.000 6 0.000 0.048 2049 2436 3762

1423 -0.63 -149.6 231.5 -14.8 133 1423 0.00 0.00 0.00 0.000 6 0.000 0.000 2049 2436 3760

1731 -0.63 -149.6 278.4 -14.9 163 1734 0.00 1.45 0.00 0.000 4 0.000 0.042 2049 1542 3757

1774 -0.63 -149.6 284.6 -14.1 167 1776 0.00 1.52 0.00 0.000 6 0.000 0.050 2042 2449 3757

2096 -0.63 -149.6 331.8 -14.8 198 2099 0.12 1.38 0.00 0.000 4 0.166 0.061 2070 3344 3754

2143 -0.63 -149.6 338.4 -12.8 202 2151 0.00 1.27 0.00 0.000 6 0.000 0.035 2070 2454 3753

2462 -0.63 -149.6 378.0 -12.4 233 2465 0.00 1.50 0.00 0.000 4 0.000 0.046 2070 1540 3751

2530 -0.63 -149.6 386.7 -11.9 239 2537 0.00 1.52 0.00 0.000 6 0.000 0.051 2063 2446 3750

2848 -0.63 -149.6 426.8 -12.2 270 2851 0.00 1.50 0.00 0.000 4 0.000 0.047 2063 1539 3748

2902 -0.63 -149.6 433.9 -11.7 275 2905 0.00 1.52 0.00 0.000 6 0.000 0.053 2055 2445 3746

3223 -0.63 -149.6 475.1 -12.6 306 3224 0.00 0.00 0.00 0.000 6 0.000 0.000 2055 2445 3744

3533 -0.63 -149.6 515.1 -12.8 336 3536 0.00 1.50 0.00 0.000 4 0.000 0.048 2055 1541 3741

3619 -0.63 -149.6 526.0 -12.7 344 3621 0.00 1.55 0.00 0.000 6 0.000 0.055 2048 2450 3740

3941 -0.63 -149.6 567.9 -12.9 375 3944 0.00 1.50 0.00 0.000 4 0.000 0.050 2048 1550 3737

3988 -0.63 -149.6 574.6 -13.3 379 3995 0.08 1.52 0.00 0.000 6 0.159 0.055 2066 2444 3737

4304 -0.63 -149.6 611.9 -11.8 410 4305 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 2443 3734

4615 -0.63 -149.6 649.4 -12.0 440 4616 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 2443 3731

4925 -0.63 -149.6 685.9 -12.0 470 4929 0.00 1.50 0.00 0.000 4 0.000 0.051 2066 1544 3729

4990 -0.63 -149.6 693.0 -10.3 476 4992 0.00 1.55 0.00 0.000 6 0.000 0.059 2061 2448 3727

5312 -0.63 -149.6 731.1 -12.3 507 5315 0.00 1.50 0.00 0.000 4 0.000 0.052 2061 1554 3725

5344 -0.63 -149.6 735.2 -12.6 510 5347 0.00 1.55 0.00 0.000 6 0.000 0.059 2055 2450 3725

5667 -0.63 -149.6 775.0 -12.0 541 5667 0.00 0.00 0.00 0.000 6 0.000 0.000 2054 2450 3722

5976 -0.63 -149.6 812.8 -12.0 571 5979 0.00 1.50 0.00 0.000 4 0.000 0.052 2054 1554 3720

6012 -0.63 -149.6 817.4 -12.8 574 6019 0.00 1.55 0.00 0.000 6 0.000 0.060 2047 2450 3719

6330 -0.63 -149.6 855.4 -11.9 605 6331 0.00 0.00 0.00 0.000 6 0.000 0.000 2047 2450 3717

6639 -0.63 -149.6 893.2 -12.6 635 6642 0.00 1.52 0.00 0.000 4 0.000 0.054 2047 1542 3715

6735 -0.63 -149.6 905.3 -12.0 644 6738 0.05 1.55 0.00 0.000 6 0.144 0.060 2068 2446 3715

7057 -0.63 -149.6 940.4 -10.5 675 7060 0.00 1.50 0.00 0.000 4 0.000 0.052 2068 1553 3712

7093 -0.63 -149.6 944.5 -10.4 678 7101 0.00 1.55 0.00 0.000 6 0.000 0.061 2062 2448 3712

7410 -0.63 -149.6 978.6 -10.6 709 7410 0.00 0.00 0.00 0.000 6 0.000 0.000 2062 2448 3711

7523 end dive: TARGET_DEPTH_EXCEEDED

state 7523 begin apogee

7528 -0.19 0.0 990.6 10.6 720 7645 0.45 0.00 108.47 1.234 6 0.135 0.000 2208 2372 3149

7645 end apogee: CONTROL_FINISHED_OK

state 7645 begin climb

7647 0.63 149.6 994.7 0.0 732 7777 0.82 1.50 123.90 1.206 4 0.088 0.044 2485 1480 2539

7810 0.63 149.6 982.7 12.5 747 7813 0.00 1.55 0.00 0.000 6 0.000 0.055 2485 2388 2536

8133 0.63 149.6 937.3 14.3 778 8136 0.00 1.52 0.00 0.000 4 0.000 0.067 2486 3266 2529

8180 0.63 149.6 929.7 15.4 782 8187 0.00 1.48 0.00 0.000 6 0.000 0.041 2493 2377 2528

8498 0.63 149.6 884.7 13.9 813 8499 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2378 2527

8807 0.63 149.6 841.4 13.1 843 8810 0.00 1.38 0.00 0.000 4 0.000 0.046 2499 1483 2525

8850 0.63 149.6 835.7 13.1 847 8852 0.00 1.45 0.00 0.000 6 0.000 0.056 2499 2384 2526

9172 0.63 149.6 791.9 13.8 878 9175 0.00 1.50 0.00 0.000 4 0.000 0.067 2499 3269 2524

9204 0.63 149.6 787.1 14.7 881 9207 0.00 1.45 0.00 0.000 6 0.000 0.042 2506 2377 2523

9526 0.63 149.6 741.9 14.2 912 9529 0.00 1.52 0.00 0.000 4 0.000 0.066 2507 3264 2523

9590 0.63 149.6 732.0 15.4 918 9593 0.10 1.45 0.00 0.000 6 0.179 0.042 2484 2373 2522

9911 0.63 149.6 690.8 13.4 949 9912 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2374 2521

10221 0.63 149.6 651.3 12.7 979 10222 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2373 2521

10532 0.63 149.6 614.2 11.4 1009 10533 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2374 2521

10842 0.63 149.6 578.2 11.6 1039 10845 0.00 1.52 0.00 0.000 4 0.000 0.066 2484 3261 2520

10921 0.63 149.6 568.1 13.2 1046 10928 0.00 1.45 0.00 0.000 6 0.000 0.041 2489 2370 2519

11239 0.63 149.6 530.3 11.6 1077 11242 0.00 1.52 0.00 0.000 4 0.000 0.064 2489 3261 2520

11264 0.63 149.6 526.8 13.3 1079 11272 0.00 1.42 0.00 0.000 6 0.000 0.041 2496 2379 2519

11583 0.63 149.6 488.7 12.0 1110 11586 0.00 1.38 0.00 0.000 4 0.000 0.046 2502 1468 2519

11647 0.63 149.6 481.3 10.7 1116 11650 0.00 1.45 0.00 0.000 6 0.000 0.054 2502 2386 2519

11970 0.63 149.6 441.1 12.8 1147 11973 0.00 1.48 0.00 0.000 4 0.000 0.065 2502 3265 2519

12056 0.63 149.6 428.8 14.5 1155 12059 0.10 1.42 0.00 0.000 6 0.167 0.041 2479 2378 2520

12376 0.63 149.6 393.6 10.8 1186 12377 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2378 2519

12687 0.63 149.6 359.0 11.1 1216 12690 0.00 1.38 0.00 0.000 4 0.000 0.044 2484 1463 2519

12719 0.63 149.6 355.6 11.1 1219 12722 0.00 1.45 0.00 0.000 6 0.000 0.054 2484 2381 2519

13040 0.63 149.6 319.3 11.1 1250 13041 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2381 2520

13351 0.63 149.6 283.9 11.6 1280 13354 0.00 1.48 0.00 0.000 4 0.000 0.064 2484 3264 2520

13494 0.63 149.6 266.1 13.3 1293 13501 0.00 1.42 0.00 0.000 6 0.000 0.039 2491 2373 2520

13812 0.63 149.6 229.1 10.9 1324 13815 0.00 1.35 0.00 0.000 4 0.000 0.041 2497 1469 2521

13844 0.63 149.6 225.2 11.9 1327 13847 0.00 1.42 0.00 0.000 6 0.000 0.051 2498 2380 2521

14165 0.63 149.6 187.1 11.4 1358 14168 0.00 1.48 0.00 0.000 4 0.000 0.062 2498 3268 2521

14223 0.63 149.6 179.2 13.6 1363 14229 0.00 1.42 0.00 0.000 6 0.000 0.038 2504 2374 2522

14540 0.63 149.6 140.0 12.1 1394 14541 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2374 2522

14850 0.63 149.6 103.2 11.6 1424 14852 0.00 1.50 0.00 0.000 4 0.000 0.060 2504 3267 2524

14924 0.63 149.6 94.2 12.3 1431 14927 0.10 1.42 0.00 0.000 6 0.160 0.037 2481 2367 2524

15038 0.63 149.6 82.4 10.2 1442 15041 0.00 1.33 0.00 0.000 4 0.000 0.040 2485 1480 2524

15284 0.64 160.3 63.4 5.6 1465 15296 0.00 1.40 7.18 0.481 6 0.000 0.049 2486 2382 2495

15398 0.64 162.3 56.8 5.9 1476 15401 0.00 1.45 0.00 0.000 4 0.000 0.060 2485 3261 2495

15452 0.64 162.3 53.0 7.0 1481 15455 0.00 1.40 0.00 0.000 6 0.000 0.036 2492 2373 2495

15566 0.74 242.7 49.2 3.1 1492 15630 0.00 1.50 60.90 0.544 4 0.000 0.058 2492 3261 2158

15760 0.74 242.7 37.5 7.2 1509 15767 0.00 1.42 0.00 0.000 6 0.000 0.035 2500 2375 2151

15869 0.75 253.9 30.9 5.6 1520 15883 0.00 1.40 8.60 0.456 4 0.000 0.038 2506 1471 2114

15919 0.79 287.3 28.5 4.8 1524 15952 0.00 1.42 26.02 0.502 6 0.000 0.047 2505 2377 1977

16055 0.82 307.8 21.5 5.3 1537 16075 0.00 0.00 15.65 0.477 6 0.000 0.000 2505 2377 1895

16178 0.88 356.2 15.9 4.2 1549 16222 0.15 0.00 37.03 0.491 6 0.056 0.000 2577 2377 1695

16323 1.11 547.3 8.4 -0.9 1563 16467 0.17 1.42 137.00 0.486 4 0.058 0.038 2675 1463 918

16708 1.30 701.8 5.3 0.4 1597 16803 0.00 1.45 91.47 0.466 6 0.000 0.045 2669 2380 404

16817 end climb: SURFACE_DEPTH_REACHED

state 16817 begin surface coast

16871 end surface coast: CONTROL_FINISHED_OK

state 16871 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	53	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	19	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	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	-29009.713	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	152037,2837.160,-8822.651,37,1.3,37,-0.4	TGT_NAME	TARGET_SW
_CALLS	1	TGT_LATLONG	2835.400,-8825.200
_XMS_NAKs	3	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.169,0.154
_SM_DEPTHo	1.86	KALMAN_X	149954.7,248.2,-485.7,-140440.9,8899.1
_SM_ANGLEo	-75.7	KALMAN_Y	-66998.0,1206.3,1109.5,18521.8,-15233.0
GPS2	152932,2837.211,-8822.668,14,1.4,14,-0.4	MHEAD_RNG_PITCHd_Wd	234.2,5311,-11.9,-6.000
SPEED_LIMITS	0.104,0.229	D_GRID	1763

FINISH	0.6,1.004054	_24V_AH	23.9,8.149
SM_CCo	16945,0.00,0.000,0,0,401,674.32	_10V_AH	10.7,10.016
SM_GC	2.88,6.57,0.00,0.00,0.032,0.000,0.000,189,2442,401,-6.44,-0.23,674.32	DATA_FILE_SIZE	113888,1612
IRIDIUM_FIX	2828.55,-8821.81,151199,101030	CAP_FILE_SIZE	167881,0
TT8_MAMPS	0.049855	CFSIZE	260165632,250269696
HUMID	2042	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.04332	CURRENT	0.024,132.2,1
TCM_TEMP	26.10	GPS	210810,201451,2835.800,-8824.312,92,2.9,111,-0.4
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	249	99.34	SBE_CT	1104	24	633.32
Roll_motor	96	72	166.46	SBE_O2	1209	19	549.01
VBD_pump_during_apogee	616	1234	18175.59	WL_BBFL2VMT	3624	105	9094.93
VBD_pump_during_surface	0	0	0.00	AA4330	3738	33	2948.44
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	76.63	nil	0	0	0.00
Iridium_during_connect	32	160	123.67	nil	0	0	0.00
Iridium_during_xfer	316	223	1688.35
Transponder_ping	4	420	40.15
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.75
TT8	0	19	0.00
LPSleep	11006	2	257.90
TT8_Active	607	19	128.80
TT8_Sampling	5034	39	2143.84
TT8_CF8	789	45	386.95
TT8_Kalman	33	81	29.19
Analog_circuits	2117	12	271.84
GPS_charging	0	0	0.00
Compass	4462	8	382.02
RAFOS	0	0	0.00
Transponder	30	30	9.66

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	-0.58	-113.0	0.0	0.0	0	42	0.00	0.00	-27.60	0.000	2	0.000	0.000	188	2454	1274
44	-0.63	-149.6	3.0	-4.7	3	118	7.95	1.33	-58.50	0.000	4	0.249	0.072	2061	3338	3761
357	-0.63	-149.6	68.0	-17.9	31	364	0.00	1.30	0.00	0.000	6	0.000	0.031	2061	2445	3762
467	-0.63	-149.6	85.6	-16.2	42	470	0.00	1.40	0.00	0.000	4	0.000	0.056	2055	3339	3763
713	-0.63	-149.6	124.8	-15.9	65	716	0.00	1.27	0.00	0.000	6	0.000	0.033	2055	2450	3763
1036	-0.63	-149.6	173.6	-14.9	96	1039	0.00	1.45	0.00	0.000	4	0.000	0.042	2055	1551	3762
1100	-0.63	-149.6	183.0	-13.3	102	1102	0.00	1.48	0.00	0.000	6	0.000	0.048	2049	2436	3762
1423	-0.63	-149.6	231.5	-14.8	133	1423	0.00	0.00	0.00	0.000	6	0.000	0.000	2049	2436	3760
1731	-0.63	-149.6	278.4	-14.9	163	1734	0.00	1.45	0.00	0.000	4	0.000	0.042	2049	1542	3757
1774	-0.63	-149.6	284.6	-14.1	167	1776	0.00	1.52	0.00	0.000	6	0.000	0.050	2042	2449	3757
2096	-0.63	-149.6	331.8	-14.8	198	2099	0.12	1.38	0.00	0.000	4	0.166	0.061	2070	3344	3754
2143	-0.63	-149.6	338.4	-12.8	202	2151	0.00	1.27	0.00	0.000	6	0.000	0.035	2070	2454	3753
2462	-0.63	-149.6	378.0	-12.4	233	2465	0.00	1.50	0.00	0.000	4	0.000	0.046	2070	1540	3751
2530	-0.63	-149.6	386.7	-11.9	239	2537	0.00	1.52	0.00	0.000	6	0.000	0.051	2063	2446	3750
2848	-0.63	-149.6	426.8	-12.2	270	2851	0.00	1.50	0.00	0.000	4	0.000	0.047	2063	1539	3748
2902	-0.63	-149.6	433.9	-11.7	275	2905	0.00	1.52	0.00	0.000	6	0.000	0.053	2055	2445	3746
3223	-0.63	-149.6	475.1	-12.6	306	3224	0.00	0.00	0.00	0.000	6	0.000	0.000	2055	2445	3744
3533	-0.63	-149.6	515.1	-12.8	336	3536	0.00	1.50	0.00	0.000	4	0.000	0.048	2055	1541	3741
3619	-0.63	-149.6	526.0	-12.7	344	3621	0.00	1.55	0.00	0.000	6	0.000	0.055	2048	2450	3740
3941	-0.63	-149.6	567.9	-12.9	375	3944	0.00	1.50	0.00	0.000	4	0.000	0.050	2048	1550	3737
3988	-0.63	-149.6	574.6	-13.3	379	3995	0.08	1.52	0.00	0.000	6	0.159	0.055	2066	2444	3737
4304	-0.63	-149.6	611.9	-11.8	410	4305	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	2443	3734
4615	-0.63	-149.6	649.4	-12.0	440	4616	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	2443	3731
4925	-0.63	-149.6	685.9	-12.0	470	4929	0.00	1.50	0.00	0.000	4	0.000	0.051	2066	1544	3729
4990	-0.63	-149.6	693.0	-10.3	476	4992	0.00	1.55	0.00	0.000	6	0.000	0.059	2061	2448	3727
5312	-0.63	-149.6	731.1	-12.3	507	5315	0.00	1.50	0.00	0.000	4	0.000	0.052	2061	1554	3725
5344	-0.63	-149.6	735.2	-12.6	510	5347	0.00	1.55	0.00	0.000	6	0.000	0.059	2055	2450	3725
5667	-0.63	-149.6	775.0	-12.0	541	5667	0.00	0.00	0.00	0.000	6	0.000	0.000	2054	2450	3722
5976	-0.63	-149.6	812.8	-12.0	571	5979	0.00	1.50	0.00	0.000	4	0.000	0.052	2054	1554	3720
6012	-0.63	-149.6	817.4	-12.8	574	6019	0.00	1.55	0.00	0.000	6	0.000	0.060	2047	2450	3719
6330	-0.63	-149.6	855.4	-11.9	605	6331	0.00	0.00	0.00	0.000	6	0.000	0.000	2047	2450	3717
6639	-0.63	-149.6	893.2	-12.6	635	6642	0.00	1.52	0.00	0.000	4	0.000	0.054	2047	1542	3715
6735	-0.63	-149.6	905.3	-12.0	644	6738	0.05	1.55	0.00	0.000	6	0.144	0.060	2068	2446	3715
7057	-0.63	-149.6	940.4	-10.5	675	7060	0.00	1.50	0.00	0.000	4	0.000	0.052	2068	1553	3712
7093	-0.63	-149.6	944.5	-10.4	678	7101	0.00	1.55	0.00	0.000	6	0.000	0.061	2062	2448	3712
7410	-0.63	-149.6	978.6	-10.6	709	7410	0.00	0.00	0.00	0.000	6	0.000	0.000	2062	2448	3711
7523	end dive: TARGET_DEPTH_EXCEEDED
state	7523	begin apogee
7528	-0.19	0.0	990.6	10.6	720	7645	0.45	0.00	108.47	1.234	6	0.135	0.000	2208	2372	3149
7645	end apogee: CONTROL_FINISHED_OK
state	7645	begin climb
7647	0.63	149.6	994.7	0.0	732	7777	0.82	1.50	123.90	1.206	4	0.088	0.044	2485	1480	2539
7810	0.63	149.6	982.7	12.5	747	7813	0.00	1.55	0.00	0.000	6	0.000	0.055	2485	2388	2536
8133	0.63	149.6	937.3	14.3	778	8136	0.00	1.52	0.00	0.000	4	0.000	0.067	2486	3266	2529
8180	0.63	149.6	929.7	15.4	782	8187	0.00	1.48	0.00	0.000	6	0.000	0.041	2493	2377	2528
8498	0.63	149.6	884.7	13.9	813	8499	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2378	2527
8807	0.63	149.6	841.4	13.1	843	8810	0.00	1.38	0.00	0.000	4	0.000	0.046	2499	1483	2525
8850	0.63	149.6	835.7	13.1	847	8852	0.00	1.45	0.00	0.000	6	0.000	0.056	2499	2384	2526
9172	0.63	149.6	791.9	13.8	878	9175	0.00	1.50	0.00	0.000	4	0.000	0.067	2499	3269	2524
9204	0.63	149.6	787.1	14.7	881	9207	0.00	1.45	0.00	0.000	6	0.000	0.042	2506	2377	2523
9526	0.63	149.6	741.9	14.2	912	9529	0.00	1.52	0.00	0.000	4	0.000	0.066	2507	3264	2523
9590	0.63	149.6	732.0	15.4	918	9593	0.10	1.45	0.00	0.000	6	0.179	0.042	2484	2373	2522
9911	0.63	149.6	690.8	13.4	949	9912	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2374	2521
10221	0.63	149.6	651.3	12.7	979	10222	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2373	2521
10532	0.63	149.6	614.2	11.4	1009	10533	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2374	2521
10842	0.63	149.6	578.2	11.6	1039	10845	0.00	1.52	0.00	0.000	4	0.000	0.066	2484	3261	2520
10921	0.63	149.6	568.1	13.2	1046	10928	0.00	1.45	0.00	0.000	6	0.000	0.041	2489	2370	2519
11239	0.63	149.6	530.3	11.6	1077	11242	0.00	1.52	0.00	0.000	4	0.000	0.064	2489	3261	2520
11264	0.63	149.6	526.8	13.3	1079	11272	0.00	1.42	0.00	0.000	6	0.000	0.041	2496	2379	2519
11583	0.63	149.6	488.7	12.0	1110	11586	0.00	1.38	0.00	0.000	4	0.000	0.046	2502	1468	2519
11647	0.63	149.6	481.3	10.7	1116	11650	0.00	1.45	0.00	0.000	6	0.000	0.054	2502	2386	2519
11970	0.63	149.6	441.1	12.8	1147	11973	0.00	1.48	0.00	0.000	4	0.000	0.065	2502	3265	2519
12056	0.63	149.6	428.8	14.5	1155	12059	0.10	1.42	0.00	0.000	6	0.167	0.041	2479	2378	2520
12376	0.63	149.6	393.6	10.8	1186	12377	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2378	2519
12687	0.63	149.6	359.0	11.1	1216	12690	0.00	1.38	0.00	0.000	4	0.000	0.044	2484	1463	2519
12719	0.63	149.6	355.6	11.1	1219	12722	0.00	1.45	0.00	0.000	6	0.000	0.054	2484	2381	2519
13040	0.63	149.6	319.3	11.1	1250	13041	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2381	2520
13351	0.63	149.6	283.9	11.6	1280	13354	0.00	1.48	0.00	0.000	4	0.000	0.064	2484	3264	2520
13494	0.63	149.6	266.1	13.3	1293	13501	0.00	1.42	0.00	0.000	6	0.000	0.039	2491	2373	2520
13812	0.63	149.6	229.1	10.9	1324	13815	0.00	1.35	0.00	0.000	4	0.000	0.041	2497	1469	2521
13844	0.63	149.6	225.2	11.9	1327	13847	0.00	1.42	0.00	0.000	6	0.000	0.051	2498	2380	2521
14165	0.63	149.6	187.1	11.4	1358	14168	0.00	1.48	0.00	0.000	4	0.000	0.062	2498	3268	2521
14223	0.63	149.6	179.2	13.6	1363	14229	0.00	1.42	0.00	0.000	6	0.000	0.038	2504	2374	2522
14540	0.63	149.6	140.0	12.1	1394	14541	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2374	2522
14850	0.63	149.6	103.2	11.6	1424	14852	0.00	1.50	0.00	0.000	4	0.000	0.060	2504	3267	2524
14924	0.63	149.6	94.2	12.3	1431	14927	0.10	1.42	0.00	0.000	6	0.160	0.037	2481	2367	2524
15038	0.63	149.6	82.4	10.2	1442	15041	0.00	1.33	0.00	0.000	4	0.000	0.040	2485	1480	2524
15284	0.64	160.3	63.4	5.6	1465	15296	0.00	1.40	7.18	0.481	6	0.000	0.049	2486	2382	2495
15398	0.64	162.3	56.8	5.9	1476	15401	0.00	1.45	0.00	0.000	4	0.000	0.060	2485	3261	2495
15452	0.64	162.3	53.0	7.0	1481	15455	0.00	1.40	0.00	0.000	6	0.000	0.036	2492	2373	2495
15566	0.74	242.7	49.2	3.1	1492	15630	0.00	1.50	60.90	0.544	4	0.000	0.058	2492	3261	2158
15760	0.74	242.7	37.5	7.2	1509	15767	0.00	1.42	0.00	0.000	6	0.000	0.035	2500	2375	2151
15869	0.75	253.9	30.9	5.6	1520	15883	0.00	1.40	8.60	0.456	4	0.000	0.038	2506	1471	2114
15919	0.79	287.3	28.5	4.8	1524	15952	0.00	1.42	26.02	0.502	6	0.000	0.047	2505	2377	1977
16055	0.82	307.8	21.5	5.3	1537	16075	0.00	0.00	15.65	0.477	6	0.000	0.000	2505	2377	1895
16178	0.88	356.2	15.9	4.2	1549	16222	0.15	0.00	37.03	0.491	6	0.056	0.000	2577	2377	1695
16323	1.11	547.3	8.4	-0.9	1563	16467	0.17	1.42	137.00	0.486	4	0.058	0.038	2675	1463	918
16708	1.30	701.8	5.3	0.4	1597	16803	0.00	1.45	91.47	0.466	6	0.000	0.045	2669	2380	404
16817	end climb: SURFACE_DEPTH_REACHED
state	16817	begin surface coast
16871	end surface coast: CONTROL_FINISHED_OK
state	16871	begin surface