Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 111 * 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 111 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 900

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2375 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2280 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 575 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 30 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 300 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 495 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 520 CALL_TRIES 5 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 5 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 -7110.6011 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 2733 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 575

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 25 D_SURF 3 PITCH_MIN 205 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 900 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 495

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 -7110.6011

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 520

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 300 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 2733 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -4

C_ROLL_CLIMB 2280 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 30 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 25 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.141768 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1640214 VBD_MAX 3959

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00094225706 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.0001682234 VBD_MIN 404

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043524536 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062548812 VBD_PUMP_AD_RATE_SURFACE 5

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 111 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 171431,2842.521,-8843.732,42,1.0,42,-0.2 TGT_NAME NEW0607E

_CALLS 1 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.087,0.237

_SM_DEPTHo 1.53 KALMAN_X -244321.7,462.9,-224.8,261299.8,-8553.4

_SM_ANGLEo -70.9 KALMAN_Y 42295.0,838.8,864.2,-56691.1,-17569.4

GPS2 172019,2842.516,-8843.675,13,1.0,13,-0.2 MHEAD_RNG_PITCHd_Wd 294.0,2163,-26.6,-6.667

SPEED_LIMITS 0.115,0.252 D_GRID 1130

Post-dive calculations and measurements:

FINISH 2.3,1.018823 _24V_AH 24.0,21.585

SM_CCo 17698,167.00,0.486,0,0,495,575.22 _10V_AH 10.7,28.637

SM_GC 1.78,0.00,0.00,167.00,0.000,0.000,0.486,201,2355,495,-7.91,-0.57,575.22 DATA_FILE_SIZE 88220,1691

IRIDIUM_FIX 2828.55,-8841.44,060999,121256 CAP_FILE_SIZE 169125,0

TT8_MAMPS 0.049855 CFSIZE 260165632,245391360

HUMID 1234 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,22,0,0

INTERNAL_PRESSURE 9.29723 CURRENT 0.050,209.5,1

TCM_TEMP 25.20 GPS 120610,221937,2842.380,-8845.498,33,1.1,33,-0.2

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 262 133.47 SBE_CT 1157 24 666.80

Roll_motor 94 67 153.16 SBE_O2 1247 19 569.05

VBD_pump_during_apogee 279 1252 8407.10 WL_BBFL2VMT 3801 105 9578.77

VBD_pump_during_surface 167 485 1945.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 73.28 nil 0 0 0.00

Iridium_during_connect 32 160 124.88 nil 0 0 0.00

Iridium_during_xfer 187 223 1001.88

Transponder_ping 1 420 12.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.17

TT8 0 19 0.00

LPSleep 11673 2 273.54

TT8_Active 562 19 119.17

TT8_Sampling 5435 39 2314.97

TT8_CF8 517 45 253.39

TT8_Kalman 33 81 29.21

Analog_circuits 2114 12 271.47

GPS_charging 0 0 0.00

Compass 4890 8 418.59

RAFOS 0 0 0.00

Transponder 8 30 2.73

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 -1.03 -34.4 0.0 0.0 0 77 0.00 0.00 -63.50 0.000 2 0.000 0.000 200 2378 2335

79 -1.05 -54.3 3.3 -4.1 6 115 9.88 1.30 -16.85 0.000 4 0.262 0.052 2393 1431 3063

236 -1.05 -54.3 35.1 -14.3 20 245 0.00 1.35 0.00 0.000 6 0.000 0.035 2388 2374 3065

429 -1.07 -72.6 49.2 -4.3 39 432 0.00 1.27 -0.68 0.000 4 0.000 0.058 2392 1450 3139

674 -1.07 -72.6 72.3 -10.5 62 678 0.00 1.30 0.00 0.000 6 0.000 0.035 2387 2373 3140

871 -1.07 -72.6 94.6 -11.3 81 874 0.00 1.48 0.00 0.000 4 0.000 0.044 2380 3265 3141

1024 -1.07 -72.6 113.7 -12.8 95 1032 0.00 1.48 0.00 0.000 6 0.000 0.029 2386 2361 3141

1341 -1.07 -72.6 153.6 -11.9 126 1345 0.00 1.20 0.00 0.000 4 0.000 0.038 2391 1479 3142

1587 -1.07 -72.6 181.7 -11.5 149 1590 0.00 1.25 0.00 0.000 6 0.000 0.037 2387 2370 3141

1908 -1.07 -72.6 216.4 -11.2 180 1911 0.00 1.48 0.00 0.000 4 0.000 0.046 2379 3265 3140

1971 -1.07 -72.6 223.7 -11.3 186 1975 0.00 1.45 0.00 0.000 6 0.000 0.030 2385 2364 3140

2293 -1.07 -72.6 258.3 -10.7 217 2296 0.00 1.52 0.00 0.000 4 0.000 0.045 2379 3270 3139

2378 -1.07 -72.6 268.3 -11.6 225 2381 0.00 1.45 0.00 0.000 6 0.000 0.030 2385 2367 3138

2699 -1.07 -72.6 302.9 -10.7 256 2703 0.00 1.23 0.00 0.000 4 0.000 0.040 2391 1477 3137

2795 -1.07 -72.6 313.1 -10.7 265 2798 0.00 1.27 0.00 0.000 6 0.000 0.038 2386 2374 3136

3116 -1.07 -72.6 346.8 -10.7 296 3119 0.00 1.48 0.00 0.000 4 0.000 0.049 2379 3263 3135

3179 -1.07 -72.6 353.7 -10.9 302 3183 0.00 1.42 0.00 0.000 6 0.000 0.032 2385 2377 3135

3501 -1.07 -72.6 388.5 -10.3 333 3504 0.00 1.25 0.00 0.000 4 0.000 0.042 2391 1485 3133

3622 -1.07 -72.6 401.9 -11.3 344 3630 0.00 1.30 0.00 0.000 6 0.000 0.041 2386 2379 3132

3939 -1.07 -72.6 436.3 -10.4 375 3940 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2379 3130

4249 -1.07 -72.6 469.5 -10.4 405 4250 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2380 3128

4559 -1.07 -72.6 502.9 -10.4 435 4560 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2380 3126

4870 -1.07 -72.6 536.0 -10.9 465 4873 0.00 1.27 0.00 0.000 4 0.000 0.045 2390 1495 3124

5105 -1.07 -72.6 560.9 -10.6 487 5108 0.00 1.25 0.00 0.000 6 0.000 0.044 2386 2369 3123

5426 -1.07 -72.6 595.2 -10.8 518 5427 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2369 3120

5736 -1.07 -72.6 627.5 -10.4 548 5737 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2369 3119

6046 -1.07 -72.6 660.7 -10.5 578 6047 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2369 3117

6357 -1.07 -72.6 693.7 -10.7 608 6360 0.00 1.25 0.00 0.000 4 0.000 0.048 2389 1485 3115

6446 -1.07 -72.6 702.7 -9.8 616 6455 0.00 1.30 0.00 0.000 6 0.000 0.046 2385 2372 3114

6763 -1.07 -72.6 734.1 -10.1 647 6765 0.00 1.52 0.00 0.000 4 0.000 0.057 2378 3264 3113

6848 -1.07 -72.6 743.0 -10.7 655 6851 0.00 1.45 0.00 0.000 6 0.000 0.039 2377 2380 3112

7169 -1.07 -72.6 774.8 -9.7 686 7170 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2380 3111

7479 -1.07 -72.6 805.6 -10.2 716 7480 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2380 3110

7789 -1.07 -72.6 837.0 -10.1 746 7793 0.00 1.27 0.00 0.000 4 0.000 0.049 2377 1485 3108

7875 -1.07 -72.6 845.5 -10.5 754 7878 0.00 1.30 0.00 0.000 6 0.000 0.049 2372 2373 3107

8196 -1.07 -72.6 877.9 -10.1 785 8199 0.00 1.27 0.00 0.000 4 0.000 0.050 2374 1481 3105

8242 -1.07 -72.6 882.8 -10.3 789 8250 0.00 1.33 0.00 0.000 6 0.000 0.048 2369 2376 3106

8560 -1.07 -72.6 913.3 -9.5 820 8563 0.00 1.27 0.00 0.000 4 0.000 0.049 2372 1490 3105

8730 -1.07 -72.6 929.5 -9.8 836 8733 0.00 1.30 0.00 0.000 6 0.000 0.048 2367 2374 3104

9051 -1.07 -72.6 959.1 -9.1 867 9054 0.00 1.27 0.00 0.000 4 0.000 0.048 2371 1486 3103

9108 -1.07 -72.6 964.5 -8.8 872 9117 0.00 1.33 0.00 0.000 6 0.000 0.048 2367 2376 3103

9381 end dive: TARGET_DEPTH_EXCEEDED

state 9382 begin apogee

9386 -0.26 0.0 990.5 9.0 899 9446 1.02 0.00 52.45 1.253 6 0.196 0.000 2641 2290 2839

9446 end apogee: CONTROL_FINISHED_OK

state 9446 begin climb

9448 1.07 72.6 992.6 0.0 905 9517 1.38 0.00 62.20 1.233 6 0.109 0.000 3075 2290 2542

9825 1.07 72.6 938.3 16.0 942 9829 0.00 1.67 0.00 0.000 4 0.000 0.064 3075 3168 2533

9953 1.07 72.6 916.8 16.7 954 9957 0.00 1.60 0.00 0.000 6 0.000 0.039 3082 2282 2532

10275 1.07 72.6 865.0 15.8 985 10276 0.00 0.00 0.00 0.000 6 0.000 0.000 3082 2282 2531

10584 1.07 72.6 816.2 16.5 1015 10588 0.00 1.65 0.00 0.000 4 0.000 0.058 3077 3173 2530

10739 1.07 72.6 790.8 15.6 1029 10746 0.00 1.60 0.00 0.000 6 0.000 0.038 3084 2279 2530

11055 1.07 72.6 742.1 15.6 1060 11059 0.00 1.65 0.00 0.000 4 0.000 0.058 3082 3170 2530

11300 1.07 72.6 702.4 16.4 1083 11304 0.00 1.60 0.00 0.000 6 0.000 0.039 3089 2276 2528

11621 1.07 72.6 653.4 15.5 1114 11625 0.00 1.65 0.00 0.000 4 0.000 0.058 3089 3171 2528

11771 1.07 72.6 629.4 17.1 1128 11774 0.00 1.60 0.00 0.000 6 0.000 0.039 3096 2274 2527

12092 1.07 72.6 581.0 15.1 1159 12096 0.00 1.67 0.00 0.000 4 0.000 0.058 3097 3180 2527

12267 1.07 72.6 553.2 15.8 1175 12275 0.00 1.62 0.00 0.000 6 0.000 0.038 3104 2273 2526

12584 1.07 72.6 506.3 14.8 1206 12587 0.00 1.67 0.00 0.000 4 0.000 0.057 3100 3180 2526

12733 1.07 72.6 482.9 14.7 1220 12736 0.00 1.60 0.00 0.000 6 0.000 0.038 3107 2277 2526

13055 1.07 72.6 436.2 14.8 1251 13058 0.00 1.65 0.00 0.000 4 0.000 0.056 3106 3173 2526

13246 1.07 72.6 406.1 15.7 1269 13250 0.10 1.58 0.00 0.000 6 0.206 0.038 3085 2283 2526

13567 1.07 72.6 362.1 13.3 1300 13570 0.00 1.62 0.00 0.000 4 0.000 0.055 3085 3173 2525

13609 1.07 72.6 356.1 13.8 1304 13613 0.00 1.58 0.00 0.000 6 0.000 0.038 3092 2280 2526

13931 1.07 72.6 311.7 13.6 1335 13934 0.00 1.62 0.00 0.000 4 0.000 0.054 3092 3178 2526

13973 1.07 72.6 305.5 13.7 1339 13976 0.00 1.60 0.00 0.000 6 0.000 0.037 3099 2274 2526

14295 1.07 72.6 260.3 13.9 1370 14298 0.00 1.65 0.00 0.000 4 0.000 0.054 3099 3173 2526

14411 1.07 72.6 242.5 16.1 1381 14415 0.00 1.58 0.00 0.000 6 0.000 0.036 3106 2278 2526

14732 1.07 72.6 196.6 13.6 1412 14736 0.00 1.62 0.00 0.000 4 0.000 0.053 3106 3172 2526

14828 1.07 72.6 182.6 14.2 1421 14832 0.10 1.55 0.00 0.000 6 0.204 0.035 3085 2284 2527

15149 1.07 72.6 142.9 11.8 1452 15152 0.00 1.62 0.00 0.000 4 0.000 0.051 3085 3185 2527

15384 1.07 72.6 113.1 12.3 1474 15387 0.00 1.58 0.00 0.000 6 0.000 0.034 3092 2279 2528

15705 1.07 72.6 75.1 10.8 1505 15706 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 2280 2528

15891 1.07 72.6 54.8 9.1 1523 15892 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 2280 2529

16077 1.07 72.6 37.9 6.9 1541 16081 0.00 1.62 0.00 0.000 4 0.000 0.049 3092 3187 2529

16323 1.13 114.2 33.0 1.3 1564 16360 0.00 1.55 29.75 0.548 6 0.000 0.031 3099 2281 2373

16545 1.13 118.0 21.8 6.2 1585 16557 0.00 1.62 4.05 0.366 4 0.000 0.047 3099 3182 2359

16796 1.18 161.1 18.4 1.1 1608 16832 0.00 1.58 33.22 0.522 6 0.000 0.029 3107 2279 2182

17026 1.24 203.2 9.4 1.2 1630 17062 0.00 1.67 32.00 0.506 4 0.000 0.045 3107 3184 2010

17301 1.29 247.5 9.3 0.9 1655 17339 0.00 1.58 33.08 0.495 6 0.000 0.028 3114 2279 1830

17533 1.34 291.2 6.3 1.0 1677 17570 0.15 1.65 32.92 0.485 4 0.063 0.043 3180 3184 1651

17662 end climb: SURFACE_DEPTH_REACHED

state 17662 begin surface coast

17683 end surface coast: CONTROL_FINISHED_OK

state 17683 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	111	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	900
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2375	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2280	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	575	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	30	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	300	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	495	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	520	CALL_TRIES	5	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	5	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	-7110.6011	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	2733	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	171431,2842.521,-8843.732,42,1.0,42,-0.2	TGT_NAME	NEW0607E
_CALLS	1	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.087,0.237
_SM_DEPTHo	1.53	KALMAN_X	-244321.7,462.9,-224.8,261299.8,-8553.4
_SM_ANGLEo	-70.9	KALMAN_Y	42295.0,838.8,864.2,-56691.1,-17569.4
GPS2	172019,2842.516,-8843.675,13,1.0,13,-0.2	MHEAD_RNG_PITCHd_Wd	294.0,2163,-26.6,-6.667
SPEED_LIMITS	0.115,0.252	D_GRID	1130

FINISH	2.3,1.018823	_24V_AH	24.0,21.585
SM_CCo	17698,167.00,0.486,0,0,495,575.22	_10V_AH	10.7,28.637
SM_GC	1.78,0.00,0.00,167.00,0.000,0.000,0.486,201,2355,495,-7.91,-0.57,575.22	DATA_FILE_SIZE	88220,1691
IRIDIUM_FIX	2828.55,-8841.44,060999,121256	CAP_FILE_SIZE	169125,0
TT8_MAMPS	0.049855	CFSIZE	260165632,245391360
HUMID	1234	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
INTERNAL_PRESSURE	9.29723	CURRENT	0.050,209.5,1
TCM_TEMP	25.20	GPS	120610,221937,2842.380,-8845.498,33,1.1,33,-0.2
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	262	133.47	SBE_CT	1157	24	666.80
Roll_motor	94	67	153.16	SBE_O2	1247	19	569.05
VBD_pump_during_apogee	279	1252	8407.10	WL_BBFL2VMT	3801	105	9578.77
VBD_pump_during_surface	167	485	1945.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	73.28	nil	0	0	0.00
Iridium_during_connect	32	160	124.88	nil	0	0	0.00
Iridium_during_xfer	187	223	1001.88
Transponder_ping	1	420	12.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.17
TT8	0	19	0.00
LPSleep	11673	2	273.54
TT8_Active	562	19	119.17
TT8_Sampling	5435	39	2314.97
TT8_CF8	517	45	253.39
TT8_Kalman	33	81	29.21
Analog_circuits	2114	12	271.47
GPS_charging	0	0	0.00
Compass	4890	8	418.59
RAFOS	0	0	0.00
Transponder	8	30	2.73

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	-1.03	-34.4	0.0	0.0	0	77	0.00	0.00	-63.50	0.000	2	0.000	0.000	200	2378	2335
79	-1.05	-54.3	3.3	-4.1	6	115	9.88	1.30	-16.85	0.000	4	0.262	0.052	2393	1431	3063
236	-1.05	-54.3	35.1	-14.3	20	245	0.00	1.35	0.00	0.000	6	0.000	0.035	2388	2374	3065
429	-1.07	-72.6	49.2	-4.3	39	432	0.00	1.27	-0.68	0.000	4	0.000	0.058	2392	1450	3139
674	-1.07	-72.6	72.3	-10.5	62	678	0.00	1.30	0.00	0.000	6	0.000	0.035	2387	2373	3140
871	-1.07	-72.6	94.6	-11.3	81	874	0.00	1.48	0.00	0.000	4	0.000	0.044	2380	3265	3141
1024	-1.07	-72.6	113.7	-12.8	95	1032	0.00	1.48	0.00	0.000	6	0.000	0.029	2386	2361	3141
1341	-1.07	-72.6	153.6	-11.9	126	1345	0.00	1.20	0.00	0.000	4	0.000	0.038	2391	1479	3142
1587	-1.07	-72.6	181.7	-11.5	149	1590	0.00	1.25	0.00	0.000	6	0.000	0.037	2387	2370	3141
1908	-1.07	-72.6	216.4	-11.2	180	1911	0.00	1.48	0.00	0.000	4	0.000	0.046	2379	3265	3140
1971	-1.07	-72.6	223.7	-11.3	186	1975	0.00	1.45	0.00	0.000	6	0.000	0.030	2385	2364	3140
2293	-1.07	-72.6	258.3	-10.7	217	2296	0.00	1.52	0.00	0.000	4	0.000	0.045	2379	3270	3139
2378	-1.07	-72.6	268.3	-11.6	225	2381	0.00	1.45	0.00	0.000	6	0.000	0.030	2385	2367	3138
2699	-1.07	-72.6	302.9	-10.7	256	2703	0.00	1.23	0.00	0.000	4	0.000	0.040	2391	1477	3137
2795	-1.07	-72.6	313.1	-10.7	265	2798	0.00	1.27	0.00	0.000	6	0.000	0.038	2386	2374	3136
3116	-1.07	-72.6	346.8	-10.7	296	3119	0.00	1.48	0.00	0.000	4	0.000	0.049	2379	3263	3135
3179	-1.07	-72.6	353.7	-10.9	302	3183	0.00	1.42	0.00	0.000	6	0.000	0.032	2385	2377	3135
3501	-1.07	-72.6	388.5	-10.3	333	3504	0.00	1.25	0.00	0.000	4	0.000	0.042	2391	1485	3133
3622	-1.07	-72.6	401.9	-11.3	344	3630	0.00	1.30	0.00	0.000	6	0.000	0.041	2386	2379	3132
3939	-1.07	-72.6	436.3	-10.4	375	3940	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2379	3130
4249	-1.07	-72.6	469.5	-10.4	405	4250	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2380	3128
4559	-1.07	-72.6	502.9	-10.4	435	4560	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2380	3126
4870	-1.07	-72.6	536.0	-10.9	465	4873	0.00	1.27	0.00	0.000	4	0.000	0.045	2390	1495	3124
5105	-1.07	-72.6	560.9	-10.6	487	5108	0.00	1.25	0.00	0.000	6	0.000	0.044	2386	2369	3123
5426	-1.07	-72.6	595.2	-10.8	518	5427	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2369	3120
5736	-1.07	-72.6	627.5	-10.4	548	5737	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2369	3119
6046	-1.07	-72.6	660.7	-10.5	578	6047	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2369	3117
6357	-1.07	-72.6	693.7	-10.7	608	6360	0.00	1.25	0.00	0.000	4	0.000	0.048	2389	1485	3115
6446	-1.07	-72.6	702.7	-9.8	616	6455	0.00	1.30	0.00	0.000	6	0.000	0.046	2385	2372	3114
6763	-1.07	-72.6	734.1	-10.1	647	6765	0.00	1.52	0.00	0.000	4	0.000	0.057	2378	3264	3113
6848	-1.07	-72.6	743.0	-10.7	655	6851	0.00	1.45	0.00	0.000	6	0.000	0.039	2377	2380	3112
7169	-1.07	-72.6	774.8	-9.7	686	7170	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2380	3111
7479	-1.07	-72.6	805.6	-10.2	716	7480	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2380	3110
7789	-1.07	-72.6	837.0	-10.1	746	7793	0.00	1.27	0.00	0.000	4	0.000	0.049	2377	1485	3108
7875	-1.07	-72.6	845.5	-10.5	754	7878	0.00	1.30	0.00	0.000	6	0.000	0.049	2372	2373	3107
8196	-1.07	-72.6	877.9	-10.1	785	8199	0.00	1.27	0.00	0.000	4	0.000	0.050	2374	1481	3105
8242	-1.07	-72.6	882.8	-10.3	789	8250	0.00	1.33	0.00	0.000	6	0.000	0.048	2369	2376	3106
8560	-1.07	-72.6	913.3	-9.5	820	8563	0.00	1.27	0.00	0.000	4	0.000	0.049	2372	1490	3105
8730	-1.07	-72.6	929.5	-9.8	836	8733	0.00	1.30	0.00	0.000	6	0.000	0.048	2367	2374	3104
9051	-1.07	-72.6	959.1	-9.1	867	9054	0.00	1.27	0.00	0.000	4	0.000	0.048	2371	1486	3103
9108	-1.07	-72.6	964.5	-8.8	872	9117	0.00	1.33	0.00	0.000	6	0.000	0.048	2367	2376	3103
9381	end dive: TARGET_DEPTH_EXCEEDED
state	9382	begin apogee
9386	-0.26	0.0	990.5	9.0	899	9446	1.02	0.00	52.45	1.253	6	0.196	0.000	2641	2290	2839
9446	end apogee: CONTROL_FINISHED_OK
state	9446	begin climb
9448	1.07	72.6	992.6	0.0	905	9517	1.38	0.00	62.20	1.233	6	0.109	0.000	3075	2290	2542
9825	1.07	72.6	938.3	16.0	942	9829	0.00	1.67	0.00	0.000	4	0.000	0.064	3075	3168	2533
9953	1.07	72.6	916.8	16.7	954	9957	0.00	1.60	0.00	0.000	6	0.000	0.039	3082	2282	2532
10275	1.07	72.6	865.0	15.8	985	10276	0.00	0.00	0.00	0.000	6	0.000	0.000	3082	2282	2531
10584	1.07	72.6	816.2	16.5	1015	10588	0.00	1.65	0.00	0.000	4	0.000	0.058	3077	3173	2530
10739	1.07	72.6	790.8	15.6	1029	10746	0.00	1.60	0.00	0.000	6	0.000	0.038	3084	2279	2530
11055	1.07	72.6	742.1	15.6	1060	11059	0.00	1.65	0.00	0.000	4	0.000	0.058	3082	3170	2530
11300	1.07	72.6	702.4	16.4	1083	11304	0.00	1.60	0.00	0.000	6	0.000	0.039	3089	2276	2528
11621	1.07	72.6	653.4	15.5	1114	11625	0.00	1.65	0.00	0.000	4	0.000	0.058	3089	3171	2528
11771	1.07	72.6	629.4	17.1	1128	11774	0.00	1.60	0.00	0.000	6	0.000	0.039	3096	2274	2527
12092	1.07	72.6	581.0	15.1	1159	12096	0.00	1.67	0.00	0.000	4	0.000	0.058	3097	3180	2527
12267	1.07	72.6	553.2	15.8	1175	12275	0.00	1.62	0.00	0.000	6	0.000	0.038	3104	2273	2526
12584	1.07	72.6	506.3	14.8	1206	12587	0.00	1.67	0.00	0.000	4	0.000	0.057	3100	3180	2526
12733	1.07	72.6	482.9	14.7	1220	12736	0.00	1.60	0.00	0.000	6	0.000	0.038	3107	2277	2526
13055	1.07	72.6	436.2	14.8	1251	13058	0.00	1.65	0.00	0.000	4	0.000	0.056	3106	3173	2526
13246	1.07	72.6	406.1	15.7	1269	13250	0.10	1.58	0.00	0.000	6	0.206	0.038	3085	2283	2526
13567	1.07	72.6	362.1	13.3	1300	13570	0.00	1.62	0.00	0.000	4	0.000	0.055	3085	3173	2525
13609	1.07	72.6	356.1	13.8	1304	13613	0.00	1.58	0.00	0.000	6	0.000	0.038	3092	2280	2526
13931	1.07	72.6	311.7	13.6	1335	13934	0.00	1.62	0.00	0.000	4	0.000	0.054	3092	3178	2526
13973	1.07	72.6	305.5	13.7	1339	13976	0.00	1.60	0.00	0.000	6	0.000	0.037	3099	2274	2526
14295	1.07	72.6	260.3	13.9	1370	14298	0.00	1.65	0.00	0.000	4	0.000	0.054	3099	3173	2526
14411	1.07	72.6	242.5	16.1	1381	14415	0.00	1.58	0.00	0.000	6	0.000	0.036	3106	2278	2526
14732	1.07	72.6	196.6	13.6	1412	14736	0.00	1.62	0.00	0.000	4	0.000	0.053	3106	3172	2526
14828	1.07	72.6	182.6	14.2	1421	14832	0.10	1.55	0.00	0.000	6	0.204	0.035	3085	2284	2527
15149	1.07	72.6	142.9	11.8	1452	15152	0.00	1.62	0.00	0.000	4	0.000	0.051	3085	3185	2527
15384	1.07	72.6	113.1	12.3	1474	15387	0.00	1.58	0.00	0.000	6	0.000	0.034	3092	2279	2528
15705	1.07	72.6	75.1	10.8	1505	15706	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	2280	2528
15891	1.07	72.6	54.8	9.1	1523	15892	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	2280	2529
16077	1.07	72.6	37.9	6.9	1541	16081	0.00	1.62	0.00	0.000	4	0.000	0.049	3092	3187	2529
16323	1.13	114.2	33.0	1.3	1564	16360	0.00	1.55	29.75	0.548	6	0.000	0.031	3099	2281	2373
16545	1.13	118.0	21.8	6.2	1585	16557	0.00	1.62	4.05	0.366	4	0.000	0.047	3099	3182	2359
16796	1.18	161.1	18.4	1.1	1608	16832	0.00	1.58	33.22	0.522	6	0.000	0.029	3107	2279	2182
17026	1.24	203.2	9.4	1.2	1630	17062	0.00	1.67	32.00	0.506	4	0.000	0.045	3107	3184	2010
17301	1.29	247.5	9.3	0.9	1655	17339	0.00	1.58	33.08	0.495	6	0.000	0.028	3114	2279	1830
17533	1.34	291.2	6.3	1.0	1677	17570	0.15	1.65	32.92	0.485	4	0.063	0.043	3180	3184	1651
17662	end climb: SURFACE_DEPTH_REACHED
state	17662	begin surface coast
17683	end surface coast: CONTROL_FINISHED_OK
state	17683	begin surface