Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 172 * 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 172 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2375 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2250 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 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 250 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 500 CALL_TRIES 8 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -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 -15470.655 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 28 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 28 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 0 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011628702 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -42.932224 TGT_DEFAULT_LAT 2841

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8830

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -7 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 8 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -15470.655

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 2250 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 27 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 172 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 232437,2838.391,-8832.952,36,1.1,36,-0.3 TGT_NAME NEW0607F

_CALLS 2 TGT_LATLONG 2837.000,-8845.000

_XMS_NAKs 4 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.250,0.086

_SM_DEPTHo 1.46 KALMAN_X -8944.6,255.4,-148.9,36670.6,809.2

_SM_ANGLEo -68.0 KALMAN_Y -41066.0,1684.6,478.2,57425.7,-9490.9

GPS2 233407,2838.387,-8832.995,10,1.1,15,-0.3 MHEAD_RNG_PITCHd_Wd 274.9,19685,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1555

Post-dive calculations and measurements:

FINISH 0.6,1.008521 _24V_AH 23.0,31.346

SM_CCo 18676,87.78,0.492,0,0,494,575.22 _10V_AH 10.6,43.441

SM_GC 1.53,0.00,0.00,87.78,0.000,0.000,0.492,197,2378,494,-7.97,0.08,575.22 DATA_FILE_SIZE 94747,1785

IRIDIUM_FIX 2826.10,-8834.07,200999,232326 CAP_FILE_SIZE 184980,0

TT8_MAMPS 0.050622 CFSIZE 260165632,239583232

HUMID 1323 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.23864 CURRENT 0.087,212.9,1

TCM_TEMP 23.40 GPS 270610,044831,2837.193,-8836.114,39,1.2,39,-0.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 258 120.83 SBE_CT 1221 24 674.30

Roll_motor 120 62 171.83 SBE_O2 1321 19 577.55

VBD_pump_during_apogee 466 1251 13425.55 WL_BBFL2VMT 4011 105 9688.39

VBD_pump_during_surface 87 491 992.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 60 103 143.22 nil 0 0 0.00

Iridium_during_connect 61 160 225.27 nil 0 0 0.00

Iridium_during_xfer 264 223 1357.06

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.32

TT8 0 19 0.00

LPSleep 12255 2 284.50

TT8_Active 664 19 139.50

TT8_Sampling 5645 39 2381.63

TT8_CF8 738 45 358.56

TT8_Kalman 33 81 28.90

Analog_circuits 2332 12 296.69

GPS_charging 0 0 0.00

Compass 5082 8 430.98

RAFOS 0 0 0.00

Transponder 1 30 0.37

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.63 -194.6 0.0 0.0 0 87 0.00 0.00 -73.07 0.000 2 0.000 0.000 201 2372 2495

89 -0.63 -194.6 3.1 -3.5 7 137 10.55 1.50 -32.03 0.000 4 0.258 0.062 2532 3273 3632

376 -0.63 -194.6 55.6 -16.1 33 384 0.00 1.50 0.00 0.000 6 0.000 0.028 2537 2357 3633

568 -0.63 -194.6 82.3 -12.6 52 572 0.00 1.55 0.00 0.000 4 0.000 0.044 2532 3263 3634

690 -0.63 -194.6 98.4 -12.4 63 698 0.00 1.48 0.00 0.000 6 0.000 0.028 2536 2363 3635

883 -0.63 -194.6 122.8 -12.5 82 884 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2363 3635

1193 -0.63 -194.6 158.2 -11.4 112 1196 0.00 1.52 0.00 0.000 4 0.000 0.045 2531 3258 3635

1272 -0.63 -194.6 167.6 -11.5 119 1279 0.00 1.42 0.00 0.000 6 0.000 0.028 2531 2367 3635

1589 -0.63 -194.6 203.6 -11.1 150 1592 0.00 1.50 0.00 0.000 4 0.000 0.046 2525 3256 3634

1642 -0.63 -194.6 209.7 -11.3 155 1645 0.00 1.42 0.00 0.000 6 0.000 0.028 2525 2367 3633

1964 -0.63 -194.6 246.8 -11.5 186 1965 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2367 3632

2273 -0.63 -194.6 281.2 -11.3 216 2274 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2366 3630

2584 -0.63 -194.6 316.5 -11.4 246 2587 0.00 1.23 0.00 0.000 4 0.000 0.040 2525 1493 3628

2619 -0.63 -194.6 320.8 -11.2 249 2627 0.00 1.27 0.00 0.000 6 0.000 0.038 2519 2369 3627

2937 -0.63 -194.6 357.1 -11.8 280 2938 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2369 3625

3246 -0.63 -194.6 392.9 -11.5 310 3247 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2370 3623

3557 -0.63 -194.6 427.4 -10.0 340 3558 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2369 3620

3867 -0.63 -194.6 456.8 -9.4 370 3870 0.00 1.52 0.00 0.000 4 0.000 0.054 2512 3258 3618

4113 -0.63 -194.6 481.0 -10.1 393 4116 0.08 1.42 0.00 0.000 6 0.140 0.033 2536 2373 3615

4433 -0.63 -194.6 510.4 -9.4 424 4437 0.00 1.27 0.00 0.000 4 0.000 0.042 2536 1489 3613

4679 -0.63 -194.6 534.5 -9.5 447 4682 0.00 1.30 0.00 0.000 6 0.000 0.044 2532 2373 3612

5002 -0.63 -194.6 566.1 -9.5 478 5005 0.00 1.27 0.00 0.000 4 0.000 0.042 2532 1498 3609

5247 -0.63 -194.6 590.5 -8.5 501 5250 0.00 1.30 0.00 0.000 6 0.000 0.044 2527 2374 3608

5569 -0.63 -194.6 621.3 -9.7 532 5572 0.00 1.30 0.00 0.000 4 0.000 0.043 2527 1490 3605

5741 -0.63 -194.6 637.6 -9.3 548 5744 0.00 1.30 0.00 0.000 6 0.000 0.046 2521 2372 3604

6062 -0.63 -194.6 668.6 -9.8 579 6066 0.00 1.27 0.00 0.000 4 0.000 0.044 2521 1502 3603

6137 -0.63 -194.6 676.1 -9.8 586 6140 0.00 1.30 0.00 0.000 6 0.000 0.046 2516 2375 3602

6459 -0.63 -194.6 709.0 -10.8 617 6462 0.00 1.30 0.00 0.000 4 0.000 0.044 2515 1492 3600

6511 -0.63 -194.6 714.8 -11.3 622 6515 0.08 1.30 0.00 0.000 6 0.145 0.046 2535 2369 3600

6833 -0.63 -194.6 744.3 -8.3 653 6836 0.00 1.27 0.00 0.000 4 0.000 0.045 2535 1495 3599

6943 -0.63 -194.6 754.4 -9.3 663 6951 0.00 1.33 0.00 0.000 6 0.000 0.046 2531 2375 3597

7261 -0.63 -194.6 783.0 -9.1 694 7264 0.00 1.30 0.00 0.000 4 0.000 0.045 2531 1486 3596

7382 -0.63 -194.6 794.4 -9.4 705 7389 0.00 1.33 0.00 0.000 6 0.000 0.047 2525 2374 3595

7699 -0.63 -194.6 824.6 -9.6 736 7702 0.00 1.30 0.00 0.000 4 0.000 0.045 2526 1493 3594

7800 -0.63 -194.6 834.4 -8.9 745 7807 0.00 1.30 0.00 0.000 6 0.000 0.047 2520 2369 3593

8116 -0.63 -194.6 864.2 -9.3 776 8120 0.00 1.27 0.00 0.000 4 0.000 0.045 2520 1500 3592

8227 -0.63 -194.6 874.8 -9.9 786 8235 0.08 1.35 0.00 0.000 6 0.146 0.047 2538 2389 3592

8544 -0.63 -194.6 900.8 -8.4 817 8547 0.00 1.33 0.00 0.000 4 0.000 0.045 2538 1493 3591

8716 -0.63 -194.6 915.6 -8.1 833 8719 0.00 1.30 0.00 0.000 6 0.000 0.048 2534 2368 3590

9037 -0.63 -194.6 943.9 -8.7 864 9040 0.00 1.27 0.00 0.000 4 0.000 0.046 2534 1501 3588

9213 -0.63 -194.6 959.3 -9.3 880 9220 0.00 1.30 0.00 0.000 6 0.000 0.049 2529 2369 3588

9529 -0.63 -194.6 985.9 -8.2 911 9532 0.00 1.27 0.00 0.000 4 0.000 0.045 2529 1504 3587

9580 end dive: TARGET_DEPTH_EXCEEDED

state 9580 begin apogee

9585 -0.25 0.0 990.3 8.7 916 9738 0.47 0.00 149.98 1.252 6 0.138 0.000 2666 2272 2840

9738 end apogee: CONTROL_FINISHED_OK

state 9738 begin climb

9740 0.63 194.6 994.7 0.0 931 9916 0.88 0.00 167.40 1.220 6 0.104 0.000 2941 2273 2045

10225 0.63 194.6 946.2 11.5 977 10228 0.00 1.67 0.00 0.000 4 0.000 0.060 2941 3150 2035

10368 0.63 194.6 928.5 13.2 990 10375 0.00 1.60 0.00 0.000 6 0.000 0.038 2948 2279 2033

10685 0.63 194.6 892.7 11.2 1021 10688 0.00 1.65 0.00 0.000 4 0.000 0.055 2948 3144 2032

10759 0.63 194.6 883.7 12.5 1028 10762 0.00 1.65 0.00 0.000 6 0.000 0.038 2956 2245 2031

11080 0.63 194.6 845.3 12.2 1059 11083 0.00 1.73 0.00 0.000 4 0.000 0.054 2956 3145 2031

11191 0.63 194.6 830.8 13.5 1069 11199 0.00 1.65 0.00 0.000 6 0.000 0.037 2963 2251 2029

11509 0.63 194.6 791.0 12.7 1100 11512 0.00 1.70 0.00 0.000 4 0.000 0.054 2963 3137 2029

11583 0.63 194.6 780.7 14.3 1107 11586 0.00 1.62 0.00 0.000 6 0.000 0.038 2971 2250 2029

11905 0.63 194.6 738.4 13.4 1138 11908 0.00 1.70 0.00 0.000 4 0.000 0.055 2971 3142 2029

11979 0.63 194.6 728.2 14.3 1145 11982 0.00 1.62 0.00 0.000 6 0.000 0.038 2979 2254 2028

12300 0.63 194.6 686.4 12.8 1176 12303 0.00 1.67 0.00 0.000 4 0.000 0.054 2979 3131 2028

12389 0.63 194.6 673.5 14.2 1184 12399 0.12 1.65 0.00 0.000 6 0.162 0.038 2951 2241 2027

12706 0.63 194.6 638.9 11.1 1215 12709 0.00 1.70 0.00 0.000 4 0.000 0.054 2951 3131 2028

12806 0.63 194.6 627.2 10.5 1224 12815 0.00 1.62 0.00 0.000 6 0.000 0.038 2956 2251 2027

13124 0.63 194.6 590.5 11.4 1255 13127 0.00 1.67 0.00 0.000 4 0.000 0.054 2956 3151 2027

13188 0.63 194.6 582.4 12.7 1261 13191 0.00 1.62 0.00 0.000 6 0.000 0.038 2963 2254 2026

13510 0.63 194.6 544.3 11.9 1292 13513 0.00 1.67 0.00 0.000 4 0.000 0.054 2964 3152 2027

13578 0.63 194.6 535.3 13.9 1298 13585 0.00 1.67 0.00 0.000 6 0.000 0.038 2971 2241 2026

13895 0.63 194.6 496.7 11.8 1329 13899 0.00 1.70 0.00 0.000 4 0.000 0.053 2971 3133 2026

13981 0.63 194.6 485.9 12.6 1337 13983 0.00 1.60 0.00 0.000 6 0.000 0.038 2979 2238 2026

14302 0.63 194.6 445.7 12.9 1368 14305 0.00 1.67 0.00 0.000 4 0.000 0.053 2979 3138 2026

14398 0.63 194.6 432.4 14.6 1377 14402 0.15 1.62 0.00 0.000 6 0.152 0.036 2949 2224 2026

14718 0.63 194.6 397.9 10.3 1408 14722 0.00 1.73 0.00 0.000 4 0.000 0.051 2948 3141 2026

14808 0.63 194.6 387.6 11.1 1416 14817 0.00 1.60 0.00 0.000 6 0.000 0.036 2954 2256 2026

15126 0.63 194.6 354.2 10.7 1447 15129 0.00 1.65 0.00 0.000 4 0.000 0.052 2954 3146 2026

15194 0.63 194.6 346.2 11.8 1453 15201 0.00 1.62 0.00 0.000 6 0.000 0.035 2962 2248 2026

15511 0.63 194.6 310.8 11.1 1484 15514 0.00 1.67 0.00 0.000 4 0.000 0.051 2962 3134 2027

15574 0.63 194.6 303.0 12.2 1490 15578 0.00 1.60 0.00 0.000 6 0.000 0.036 2969 2252 2026

15895 0.63 194.6 264.2 12.1 1521 15898 0.00 1.67 0.00 0.000 4 0.000 0.051 2970 3138 2026

15948 0.63 194.6 257.3 12.0 1526 15952 0.00 1.60 0.00 0.000 6 0.000 0.035 2977 2252 2026

16271 0.63 194.6 217.2 12.3 1557 16273 0.00 1.65 0.00 0.000 4 0.000 0.051 2977 3146 2026

16323 0.63 194.6 210.2 12.9 1562 16327 0.10 1.62 0.00 0.000 6 0.144 0.034 2954 2244 2027

16644 0.63 194.6 176.9 9.8 1593 16647 0.00 1.67 0.00 0.000 4 0.000 0.049 2953 3134 2027

16680 0.63 194.6 173.0 10.1 1596 16690 0.00 1.60 0.00 0.000 6 0.000 0.033 2959 2250 2027

16998 0.63 194.6 139.0 10.8 1627 17001 0.00 1.65 0.00 0.000 4 0.000 0.049 2959 3148 2028

17055 0.63 194.6 132.7 10.8 1632 17064 0.00 1.62 0.00 0.000 6 0.000 0.032 2966 2247 2028

17372 0.63 194.6 100.6 10.1 1663 17376 0.00 1.67 0.00 0.000 4 0.000 0.048 2966 3143 2029

17447 0.63 194.6 92.5 11.1 1670 17450 0.00 1.60 0.00 0.000 6 0.000 0.032 2974 2223 2028

17643 0.63 194.6 72.0 10.3 1689 17644 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2224 2029

17830 0.63 194.6 54.3 8.6 1707 17833 0.00 1.67 0.00 0.000 4 0.000 0.046 2974 3152 2030

17904 0.63 194.6 47.5 7.9 1714 17908 0.10 1.58 0.00 0.000 6 0.127 0.031 2949 2262 2030

18101 0.75 295.1 37.0 4.9 1733 18184 0.12 1.17 73.90 0.545 4 0.067 0.036 3012 1345 1636

18227 0.75 295.1 27.3 8.5 1744 18230 0.00 1.20 0.00 0.000 6 0.000 0.035 3012 2266 1632

18423 0.86 388.8 14.3 5.0 1763 18498 0.00 1.67 69.78 0.515 4 0.000 0.043 3011 3141 1253

18519 0.87 394.7 8.6 7.3 1771 18530 0.00 1.62 5.28 0.381 6 0.000 0.029 3018 2243 1231

18621 end climb: SURFACE_DEPTH_REACHED

state 18621 begin surface coast

18662 end surface coast: CONTROL_FINISHED_OK

state 18662 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	172	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2375	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2250	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	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	250	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	500	CALL_TRIES	8	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-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	-15470.655	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	28	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	232437,2838.391,-8832.952,36,1.1,36,-0.3	TGT_NAME	NEW0607F
_CALLS	2	TGT_LATLONG	2837.000,-8845.000
_XMS_NAKs	4	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.250,0.086
_SM_DEPTHo	1.46	KALMAN_X	-8944.6,255.4,-148.9,36670.6,809.2
_SM_ANGLEo	-68.0	KALMAN_Y	-41066.0,1684.6,478.2,57425.7,-9490.9
GPS2	233407,2838.387,-8832.995,10,1.1,15,-0.3	MHEAD_RNG_PITCHd_Wd	274.9,19685,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1555

FINISH	0.6,1.008521	_24V_AH	23.0,31.346
SM_CCo	18676,87.78,0.492,0,0,494,575.22	_10V_AH	10.6,43.441
SM_GC	1.53,0.00,0.00,87.78,0.000,0.000,0.492,197,2378,494,-7.97,0.08,575.22	DATA_FILE_SIZE	94747,1785
IRIDIUM_FIX	2826.10,-8834.07,200999,232326	CAP_FILE_SIZE	184980,0
TT8_MAMPS	0.050622	CFSIZE	260165632,239583232
HUMID	1323	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.23864	CURRENT	0.087,212.9,1
TCM_TEMP	23.40	GPS	270610,044831,2837.193,-8836.114,39,1.2,39,-0.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	258	120.83	SBE_CT	1221	24	674.30
Roll_motor	120	62	171.83	SBE_O2	1321	19	577.55
VBD_pump_during_apogee	466	1251	13425.55	WL_BBFL2VMT	4011	105	9688.39
VBD_pump_during_surface	87	491	992.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	60	103	143.22	nil	0	0	0.00
Iridium_during_connect	61	160	225.27	nil	0	0	0.00
Iridium_during_xfer	264	223	1357.06
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.32
TT8	0	19	0.00
LPSleep	12255	2	284.50
TT8_Active	664	19	139.50
TT8_Sampling	5645	39	2381.63
TT8_CF8	738	45	358.56
TT8_Kalman	33	81	28.90
Analog_circuits	2332	12	296.69
GPS_charging	0	0	0.00
Compass	5082	8	430.98
RAFOS	0	0	0.00
Transponder	1	30	0.37

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.63	-194.6	0.0	0.0	0	87	0.00	0.00	-73.07	0.000	2	0.000	0.000	201	2372	2495
89	-0.63	-194.6	3.1	-3.5	7	137	10.55	1.50	-32.03	0.000	4	0.258	0.062	2532	3273	3632
376	-0.63	-194.6	55.6	-16.1	33	384	0.00	1.50	0.00	0.000	6	0.000	0.028	2537	2357	3633
568	-0.63	-194.6	82.3	-12.6	52	572	0.00	1.55	0.00	0.000	4	0.000	0.044	2532	3263	3634
690	-0.63	-194.6	98.4	-12.4	63	698	0.00	1.48	0.00	0.000	6	0.000	0.028	2536	2363	3635
883	-0.63	-194.6	122.8	-12.5	82	884	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2363	3635
1193	-0.63	-194.6	158.2	-11.4	112	1196	0.00	1.52	0.00	0.000	4	0.000	0.045	2531	3258	3635
1272	-0.63	-194.6	167.6	-11.5	119	1279	0.00	1.42	0.00	0.000	6	0.000	0.028	2531	2367	3635
1589	-0.63	-194.6	203.6	-11.1	150	1592	0.00	1.50	0.00	0.000	4	0.000	0.046	2525	3256	3634
1642	-0.63	-194.6	209.7	-11.3	155	1645	0.00	1.42	0.00	0.000	6	0.000	0.028	2525	2367	3633
1964	-0.63	-194.6	246.8	-11.5	186	1965	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2367	3632
2273	-0.63	-194.6	281.2	-11.3	216	2274	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2366	3630
2584	-0.63	-194.6	316.5	-11.4	246	2587	0.00	1.23	0.00	0.000	4	0.000	0.040	2525	1493	3628
2619	-0.63	-194.6	320.8	-11.2	249	2627	0.00	1.27	0.00	0.000	6	0.000	0.038	2519	2369	3627
2937	-0.63	-194.6	357.1	-11.8	280	2938	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2369	3625
3246	-0.63	-194.6	392.9	-11.5	310	3247	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2370	3623
3557	-0.63	-194.6	427.4	-10.0	340	3558	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2369	3620
3867	-0.63	-194.6	456.8	-9.4	370	3870	0.00	1.52	0.00	0.000	4	0.000	0.054	2512	3258	3618
4113	-0.63	-194.6	481.0	-10.1	393	4116	0.08	1.42	0.00	0.000	6	0.140	0.033	2536	2373	3615
4433	-0.63	-194.6	510.4	-9.4	424	4437	0.00	1.27	0.00	0.000	4	0.000	0.042	2536	1489	3613
4679	-0.63	-194.6	534.5	-9.5	447	4682	0.00	1.30	0.00	0.000	6	0.000	0.044	2532	2373	3612
5002	-0.63	-194.6	566.1	-9.5	478	5005	0.00	1.27	0.00	0.000	4	0.000	0.042	2532	1498	3609
5247	-0.63	-194.6	590.5	-8.5	501	5250	0.00	1.30	0.00	0.000	6	0.000	0.044	2527	2374	3608
5569	-0.63	-194.6	621.3	-9.7	532	5572	0.00	1.30	0.00	0.000	4	0.000	0.043	2527	1490	3605
5741	-0.63	-194.6	637.6	-9.3	548	5744	0.00	1.30	0.00	0.000	6	0.000	0.046	2521	2372	3604
6062	-0.63	-194.6	668.6	-9.8	579	6066	0.00	1.27	0.00	0.000	4	0.000	0.044	2521	1502	3603
6137	-0.63	-194.6	676.1	-9.8	586	6140	0.00	1.30	0.00	0.000	6	0.000	0.046	2516	2375	3602
6459	-0.63	-194.6	709.0	-10.8	617	6462	0.00	1.30	0.00	0.000	4	0.000	0.044	2515	1492	3600
6511	-0.63	-194.6	714.8	-11.3	622	6515	0.08	1.30	0.00	0.000	6	0.145	0.046	2535	2369	3600
6833	-0.63	-194.6	744.3	-8.3	653	6836	0.00	1.27	0.00	0.000	4	0.000	0.045	2535	1495	3599
6943	-0.63	-194.6	754.4	-9.3	663	6951	0.00	1.33	0.00	0.000	6	0.000	0.046	2531	2375	3597
7261	-0.63	-194.6	783.0	-9.1	694	7264	0.00	1.30	0.00	0.000	4	0.000	0.045	2531	1486	3596
7382	-0.63	-194.6	794.4	-9.4	705	7389	0.00	1.33	0.00	0.000	6	0.000	0.047	2525	2374	3595
7699	-0.63	-194.6	824.6	-9.6	736	7702	0.00	1.30	0.00	0.000	4	0.000	0.045	2526	1493	3594
7800	-0.63	-194.6	834.4	-8.9	745	7807	0.00	1.30	0.00	0.000	6	0.000	0.047	2520	2369	3593
8116	-0.63	-194.6	864.2	-9.3	776	8120	0.00	1.27	0.00	0.000	4	0.000	0.045	2520	1500	3592
8227	-0.63	-194.6	874.8	-9.9	786	8235	0.08	1.35	0.00	0.000	6	0.146	0.047	2538	2389	3592
8544	-0.63	-194.6	900.8	-8.4	817	8547	0.00	1.33	0.00	0.000	4	0.000	0.045	2538	1493	3591
8716	-0.63	-194.6	915.6	-8.1	833	8719	0.00	1.30	0.00	0.000	6	0.000	0.048	2534	2368	3590
9037	-0.63	-194.6	943.9	-8.7	864	9040	0.00	1.27	0.00	0.000	4	0.000	0.046	2534	1501	3588
9213	-0.63	-194.6	959.3	-9.3	880	9220	0.00	1.30	0.00	0.000	6	0.000	0.049	2529	2369	3588
9529	-0.63	-194.6	985.9	-8.2	911	9532	0.00	1.27	0.00	0.000	4	0.000	0.045	2529	1504	3587
9580	end dive: TARGET_DEPTH_EXCEEDED
state	9580	begin apogee
9585	-0.25	0.0	990.3	8.7	916	9738	0.47	0.00	149.98	1.252	6	0.138	0.000	2666	2272	2840
9738	end apogee: CONTROL_FINISHED_OK
state	9738	begin climb
9740	0.63	194.6	994.7	0.0	931	9916	0.88	0.00	167.40	1.220	6	0.104	0.000	2941	2273	2045
10225	0.63	194.6	946.2	11.5	977	10228	0.00	1.67	0.00	0.000	4	0.000	0.060	2941	3150	2035
10368	0.63	194.6	928.5	13.2	990	10375	0.00	1.60	0.00	0.000	6	0.000	0.038	2948	2279	2033
10685	0.63	194.6	892.7	11.2	1021	10688	0.00	1.65	0.00	0.000	4	0.000	0.055	2948	3144	2032
10759	0.63	194.6	883.7	12.5	1028	10762	0.00	1.65	0.00	0.000	6	0.000	0.038	2956	2245	2031
11080	0.63	194.6	845.3	12.2	1059	11083	0.00	1.73	0.00	0.000	4	0.000	0.054	2956	3145	2031
11191	0.63	194.6	830.8	13.5	1069	11199	0.00	1.65	0.00	0.000	6	0.000	0.037	2963	2251	2029
11509	0.63	194.6	791.0	12.7	1100	11512	0.00	1.70	0.00	0.000	4	0.000	0.054	2963	3137	2029
11583	0.63	194.6	780.7	14.3	1107	11586	0.00	1.62	0.00	0.000	6	0.000	0.038	2971	2250	2029
11905	0.63	194.6	738.4	13.4	1138	11908	0.00	1.70	0.00	0.000	4	0.000	0.055	2971	3142	2029
11979	0.63	194.6	728.2	14.3	1145	11982	0.00	1.62	0.00	0.000	6	0.000	0.038	2979	2254	2028
12300	0.63	194.6	686.4	12.8	1176	12303	0.00	1.67	0.00	0.000	4	0.000	0.054	2979	3131	2028
12389	0.63	194.6	673.5	14.2	1184	12399	0.12	1.65	0.00	0.000	6	0.162	0.038	2951	2241	2027
12706	0.63	194.6	638.9	11.1	1215	12709	0.00	1.70	0.00	0.000	4	0.000	0.054	2951	3131	2028
12806	0.63	194.6	627.2	10.5	1224	12815	0.00	1.62	0.00	0.000	6	0.000	0.038	2956	2251	2027
13124	0.63	194.6	590.5	11.4	1255	13127	0.00	1.67	0.00	0.000	4	0.000	0.054	2956	3151	2027
13188	0.63	194.6	582.4	12.7	1261	13191	0.00	1.62	0.00	0.000	6	0.000	0.038	2963	2254	2026
13510	0.63	194.6	544.3	11.9	1292	13513	0.00	1.67	0.00	0.000	4	0.000	0.054	2964	3152	2027
13578	0.63	194.6	535.3	13.9	1298	13585	0.00	1.67	0.00	0.000	6	0.000	0.038	2971	2241	2026
13895	0.63	194.6	496.7	11.8	1329	13899	0.00	1.70	0.00	0.000	4	0.000	0.053	2971	3133	2026
13981	0.63	194.6	485.9	12.6	1337	13983	0.00	1.60	0.00	0.000	6	0.000	0.038	2979	2238	2026
14302	0.63	194.6	445.7	12.9	1368	14305	0.00	1.67	0.00	0.000	4	0.000	0.053	2979	3138	2026
14398	0.63	194.6	432.4	14.6	1377	14402	0.15	1.62	0.00	0.000	6	0.152	0.036	2949	2224	2026
14718	0.63	194.6	397.9	10.3	1408	14722	0.00	1.73	0.00	0.000	4	0.000	0.051	2948	3141	2026
14808	0.63	194.6	387.6	11.1	1416	14817	0.00	1.60	0.00	0.000	6	0.000	0.036	2954	2256	2026
15126	0.63	194.6	354.2	10.7	1447	15129	0.00	1.65	0.00	0.000	4	0.000	0.052	2954	3146	2026
15194	0.63	194.6	346.2	11.8	1453	15201	0.00	1.62	0.00	0.000	6	0.000	0.035	2962	2248	2026
15511	0.63	194.6	310.8	11.1	1484	15514	0.00	1.67	0.00	0.000	4	0.000	0.051	2962	3134	2027
15574	0.63	194.6	303.0	12.2	1490	15578	0.00	1.60	0.00	0.000	6	0.000	0.036	2969	2252	2026
15895	0.63	194.6	264.2	12.1	1521	15898	0.00	1.67	0.00	0.000	4	0.000	0.051	2970	3138	2026
15948	0.63	194.6	257.3	12.0	1526	15952	0.00	1.60	0.00	0.000	6	0.000	0.035	2977	2252	2026
16271	0.63	194.6	217.2	12.3	1557	16273	0.00	1.65	0.00	0.000	4	0.000	0.051	2977	3146	2026
16323	0.63	194.6	210.2	12.9	1562	16327	0.10	1.62	0.00	0.000	6	0.144	0.034	2954	2244	2027
16644	0.63	194.6	176.9	9.8	1593	16647	0.00	1.67	0.00	0.000	4	0.000	0.049	2953	3134	2027
16680	0.63	194.6	173.0	10.1	1596	16690	0.00	1.60	0.00	0.000	6	0.000	0.033	2959	2250	2027
16998	0.63	194.6	139.0	10.8	1627	17001	0.00	1.65	0.00	0.000	4	0.000	0.049	2959	3148	2028
17055	0.63	194.6	132.7	10.8	1632	17064	0.00	1.62	0.00	0.000	6	0.000	0.032	2966	2247	2028
17372	0.63	194.6	100.6	10.1	1663	17376	0.00	1.67	0.00	0.000	4	0.000	0.048	2966	3143	2029
17447	0.63	194.6	92.5	11.1	1670	17450	0.00	1.60	0.00	0.000	6	0.000	0.032	2974	2223	2028
17643	0.63	194.6	72.0	10.3	1689	17644	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2224	2029
17830	0.63	194.6	54.3	8.6	1707	17833	0.00	1.67	0.00	0.000	4	0.000	0.046	2974	3152	2030
17904	0.63	194.6	47.5	7.9	1714	17908	0.10	1.58	0.00	0.000	6	0.127	0.031	2949	2262	2030
18101	0.75	295.1	37.0	4.9	1733	18184	0.12	1.17	73.90	0.545	4	0.067	0.036	3012	1345	1636
18227	0.75	295.1	27.3	8.5	1744	18230	0.00	1.20	0.00	0.000	6	0.000	0.035	3012	2266	1632
18423	0.86	388.8	14.3	5.0	1763	18498	0.00	1.67	69.78	0.515	4	0.000	0.043	3011	3141	1253
18519	0.87	394.7	8.6	7.3	1771	18530	0.00	1.62	5.28	0.381	6	0.000	0.029	3018	2243	1231
18621	end climb: SURFACE_DEPTH_REACHED
state	18621	begin surface coast
18662	end surface coast: CONTROL_FINISHED_OK
state	18662	begin surface