Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 186 * 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 186 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 2400 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 52 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -14 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 -15710.527 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 -15710.527

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 -14

C_ROLL_CLIMB 2250 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2400 MASS 51931 R_PORT_OVSHOOT 52 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 32 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 186 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 224501,2837.470,-8826.158,38,1.3,38,-0.4 TGT_NAME NEW0607F

_CALLS 2 TGT_LATLONG 2837.000,-8845.000

_XMS_NAKs 48 TGT_RADIUS 1000.000

_XMS_TOUTs 3 KALMAN_CONTROL -0.244,0.103

_SM_DEPTHo 1.47 KALMAN_X -17032.3,-1429.0,-1085.2,58421.7,4285.5

_SM_ANGLEo -58.7 KALMAN_Y -97465.1,999.1,525.2,112830.9,-15538.5

GPS2 225802,2837.482,-8826.216,8,1.9,8,-0.4 MHEAD_RNG_PITCHd_Wd 267.3,30552,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1525

Post-dive calculations and measurements:

FINISH 0.6,1.022893 _24V_AH 23.0,33.476

SM_CCo 18310,89.07,0.490,0,0,494,575.22 _10V_AH 10.6,46.503

SM_GC 1.34,0.00,0.00,89.07,0.000,0.000,0.490,196,2401,494,-7.97,0.03,575.22 DATA_FILE_SIZE 91388,1757

IRIDIUM_FIX 2828.55,-8826.71,230999,222248 CAP_FILE_SIZE 178382,0

TT8_MAMPS 0.051389 CFSIZE 260165632,238358528

HUMID 1346 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.22887 CURRENT 0.096,220.2,1

TCM_TEMP 23.10 GPS 300610,040706,2836.652,-8829.910,26,1.2,26,-0.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 259 121.34 SBE_CT 1201 24 663.44

Roll_motor 91 59 126.52 SBE_O2 1279 19 559.30

VBD_pump_during_apogee 462 1250 13316.62 WL_BBFL2VMT 3948 105 9536.72

VBD_pump_during_surface 89 490 1004.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 53 103 127.37 nil 0 0 0.00

Iridium_during_connect 57 160 211.63 nil 0 0 0.00

Iridium_during_xfer 486 223 2496.41

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.52

TT8 0 19 0.00

LPSleep 12334 2 286.33

TT8_Active 658 19 138.13

TT8_Sampling 5235 39 2208.67

TT8_CF8 979 45 475.42

TT8_Kalman 33 81 28.91

Analog_circuits 2164 12 275.31

GPS_charging 0 0 0.00

Compass 4696 8 398.24

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

13 -0.63 -194.6 0.0 0.0 0 102 0.00 0.00 -87.72 0.000 2 0.000 0.000 196 2376 2906

104 -0.63 -194.6 3.0 -3.3 9 134 10.70 1.27 -16.65 0.000 4 0.259 0.054 2539 1489 3635

363 -0.63 -194.6 56.1 -13.8 32 370 0.00 1.35 0.00 0.000 6 0.000 0.035 2534 2408 3637

555 -0.63 -194.6 82.4 -12.9 51 558 0.00 1.27 0.00 0.000 4 0.000 0.036 2536 1522 3637

581 -0.63 -194.6 85.9 -13.5 53 588 0.00 1.27 0.00 0.000 6 0.000 0.035 2532 2396 3638

773 -0.63 -194.6 112.4 -13.7 72 773 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2396 3638

1083 -0.63 -194.6 152.0 -11.5 102 1086 0.00 1.25 0.00 0.000 4 0.000 0.037 2532 1519 3638

1115 -0.63 -194.6 155.6 -11.4 105 1118 0.00 1.27 0.00 0.000 6 0.000 0.036 2527 2401 3638

1437 -0.63 -194.6 192.6 -11.5 136 1440 0.00 1.27 0.00 0.000 4 0.000 0.038 2527 1514 3637

1505 -0.63 -194.6 200.7 -11.7 142 1513 0.00 1.30 0.00 0.000 6 0.000 0.036 2520 2402 3636

1822 -0.63 -194.6 237.4 -11.1 173 1823 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2402 3634

2132 -0.63 -194.6 273.8 -11.3 203 2135 0.00 1.27 0.00 0.000 4 0.000 0.039 2521 1521 3632

2168 -0.63 -194.6 278.2 -10.8 206 2177 0.00 1.30 0.00 0.000 6 0.000 0.038 2515 2403 3632

2485 -0.63 -194.6 315.5 -11.9 237 2486 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2403 3629

2795 -0.63 -194.6 352.5 -12.3 267 2796 0.10 0.00 0.00 0.000 6 0.151 0.000 2539 2403 3627

3106 -0.63 -194.6 384.8 -10.5 297 3107 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2404 3625

3416 -0.63 -194.6 415.7 -9.7 327 3419 0.00 1.30 0.00 0.000 4 0.000 0.042 2540 1516 3621

3479 -0.63 -194.6 421.8 -9.2 333 3483 0.00 1.27 0.00 0.000 6 0.000 0.042 2536 2385 3621

3802 -0.63 -194.6 453.7 -10.2 364 3805 0.00 1.55 0.00 0.000 4 0.000 0.054 2528 3294 3619

3854 -0.63 -194.6 459.2 -10.6 369 3858 0.00 1.45 0.00 0.000 6 0.000 0.033 2529 2402 3618

4177 -0.63 -194.6 493.4 -10.6 400 4180 0.00 1.27 0.00 0.000 4 0.000 0.043 2529 1522 3616

4213 -0.63 -194.6 497.4 -10.6 403 4220 0.00 1.33 0.00 0.000 6 0.000 0.044 2522 2414 3615

4530 -0.63 -194.6 531.7 -10.9 434 4533 0.00 1.48 0.00 0.000 4 0.000 0.057 2515 3269 3613

4572 -0.63 -194.6 536.5 -11.7 438 4575 0.00 1.42 0.00 0.000 6 0.000 0.035 2516 2403 3613

4894 -0.63 -194.6 573.2 -11.3 469 4897 0.00 1.27 0.00 0.000 4 0.000 0.044 2515 1519 3610

4940 -0.63 -194.6 578.8 -10.5 473 4948 0.08 1.33 0.00 0.000 6 0.144 0.044 2534 2397 3610

5257 -0.63 -194.6 609.3 -9.9 504 5260 0.00 1.52 0.00 0.000 4 0.000 0.058 2529 3282 3607

5303 -0.63 -194.6 614.0 -10.2 508 5311 0.00 1.48 0.00 0.000 6 0.000 0.035 2529 2390 3606

5622 -0.63 -194.6 646.5 -10.1 539 5622 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2389 3605

5931 -0.63 -194.6 678.3 -10.4 569 5931 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2389 3603

6241 -0.63 -194.6 709.0 -9.2 599 6244 0.00 1.55 0.00 0.000 4 0.000 0.059 2523 3279 3601

6266 -0.63 -194.6 711.7 -9.6 601 6275 0.00 1.48 0.00 0.000 6 0.000 0.035 2522 2393 3601

6584 -0.63 -194.6 743.4 -10.2 632 6584 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2394 3599

6893 -0.63 -194.6 774.3 -10.2 662 6894 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2394 3597

7204 -0.63 -194.6 806.1 -10.4 692 7207 0.00 1.55 0.00 0.000 4 0.000 0.060 2516 3274 3595

7251 -0.63 -194.6 811.1 -10.4 696 7258 0.00 1.45 0.00 0.000 6 0.000 0.037 2516 2399 3594

7569 -0.63 -194.6 842.6 -9.9 727 7572 0.00 1.30 0.00 0.000 4 0.000 0.048 2516 1523 3594

7611 -0.63 -194.6 847.0 -10.4 731 7614 0.00 1.30 0.00 0.000 6 0.000 0.048 2510 2383 3593

7933 -0.63 -194.6 878.9 -9.9 762 7934 0.12 0.00 0.00 0.000 6 0.150 0.000 2542 2385 3592

8243 -0.63 -194.6 904.9 -8.5 792 8246 0.00 1.30 0.00 0.000 4 0.000 0.048 2542 1518 3591

8286 -0.63 -194.6 908.6 -8.9 796 8289 0.00 1.35 0.00 0.000 6 0.000 0.050 2539 2405 3590

8607 -0.63 -194.6 935.0 -8.6 827 8608 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2406 3589

8917 -0.63 -194.6 960.9 -8.4 857 8920 0.00 1.35 0.00 0.000 4 0.000 0.049 2539 1510 3588

8970 -0.63 -194.6 965.2 -8.9 862 8973 0.00 1.35 0.00 0.000 6 0.000 0.050 2533 2398 3588

9269 end dive: TARGET_DEPTH_EXCEEDED

state 9269 begin apogee

9274 -0.25 0.0 990.3 8.6 891 9433 0.45 0.00 150.18 1.251 6 0.135 0.000 2667 2266 2838

9433 end apogee: CONTROL_FINISHED_OK

state 9433 begin climb

9435 0.63 194.6 994.0 0.0 907 9606 0.85 0.00 167.20 1.216 6 0.101 0.000 2938 2266 2046

9913 0.63 194.6 945.5 11.5 952 9916 0.00 1.23 0.00 0.000 4 0.000 0.055 2944 1360 2036

9981 0.63 194.6 937.3 11.8 958 9989 0.00 1.23 0.00 0.000 6 0.000 0.044 2943 2260 2035

10298 0.63 194.6 899.5 12.3 989 10299 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2260 2033

10608 0.63 194.6 864.5 11.3 1019 10611 0.00 1.20 0.00 0.000 4 0.000 0.045 2949 1345 2032

10655 0.63 194.6 859.4 11.3 1023 10662 0.00 1.20 0.00 0.000 6 0.000 0.044 2949 2255 2032

10972 0.63 194.6 823.5 11.3 1054 10975 0.00 1.17 0.00 0.000 4 0.000 0.045 2954 1353 2031

11007 0.63 194.6 819.3 11.6 1057 11015 0.00 1.20 0.00 0.000 6 0.000 0.044 2955 2253 2031

11325 0.63 194.6 782.5 11.9 1088 11326 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2253 2030

11634 0.63 194.6 745.6 11.8 1118 11635 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2253 2029

11945 0.63 194.6 708.8 11.5 1148 11948 0.00 1.65 0.00 0.000 4 0.000 0.054 2954 3128 2029

11966 0.63 194.6 706.1 13.3 1150 11969 0.00 1.60 0.00 0.000 6 0.000 0.039 2962 2252 2028

12286 0.63 194.6 666.0 12.5 1181 12290 0.00 1.15 0.00 0.000 4 0.000 0.045 2967 1352 2028

12329 0.63 194.6 660.6 13.3 1185 12332 0.00 1.17 0.00 0.000 6 0.000 0.044 2967 2250 2028

12651 0.63 194.6 619.6 13.0 1216 12654 0.00 1.17 0.00 0.000 4 0.000 0.045 2972 1340 2028

12676 0.63 194.6 616.4 12.2 1218 12684 0.00 1.23 0.00 0.000 6 0.000 0.043 2972 2259 2028

12993 0.63 194.6 576.2 12.2 1249 12996 0.00 1.62 0.00 0.000 4 0.000 0.054 2972 3144 2028

13018 0.63 194.6 572.7 13.4 1251 13026 0.00 1.62 0.00 0.000 6 0.000 0.037 2980 2245 2027

13335 0.63 194.6 532.0 13.3 1282 13338 0.12 1.15 0.00 0.000 4 0.159 0.042 2952 1339 2027

13377 0.63 194.6 527.1 10.5 1286 13381 0.00 1.20 0.00 0.000 6 0.000 0.043 2953 2256 2027

13698 0.63 194.6 491.2 11.2 1317 13701 0.00 1.65 0.00 0.000 4 0.000 0.053 2952 3134 2027

13745 0.63 194.6 485.3 12.2 1321 13752 0.00 1.62 0.00 0.000 6 0.000 0.036 2960 2248 2026

14063 0.63 194.6 448.1 11.8 1352 14066 0.00 1.15 0.00 0.000 4 0.000 0.044 2965 1340 2026

14120 0.63 194.6 441.2 10.7 1357 14128 0.00 1.23 0.00 0.000 6 0.000 0.042 2965 2261 2026

14438 0.63 194.6 404.0 11.5 1388 14439 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2261 2026

14747 0.63 194.6 367.7 11.5 1418 14748 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2261 2026

15058 0.63 194.6 329.8 12.1 1448 15061 0.00 1.17 0.00 0.000 4 0.000 0.042 2970 1350 2026

15104 0.63 194.6 324.3 10.9 1452 15111 0.00 1.20 0.00 0.000 6 0.000 0.041 2970 2258 2026

15421 0.63 194.6 284.9 12.7 1483 15422 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 2258 2026

15732 0.63 194.6 245.3 12.7 1513 15734 0.00 1.60 0.00 0.000 4 0.000 0.051 2971 3134 2026

15767 0.63 194.6 240.5 13.0 1516 15775 0.00 1.62 0.00 0.000 6 0.000 0.034 2978 2239 2027

16085 0.63 194.6 200.2 12.8 1547 16088 0.00 1.10 0.00 0.000 4 0.000 0.041 2984 1353 2027

16131 0.63 194.6 193.9 12.1 1551 16139 0.12 1.20 0.00 0.000 6 0.146 0.039 2953 2262 2028

16448 0.63 194.6 159.9 11.5 1582 16451 0.00 1.17 0.00 0.000 4 0.000 0.040 2956 1346 2028

16495 0.63 194.6 155.0 10.0 1586 16504 0.00 1.20 0.00 0.000 6 0.000 0.038 2956 2261 2028

16812 0.63 194.6 122.8 8.8 1617 16813 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2261 2028

17122 0.63 194.6 92.2 11.0 1647 17123 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2261 2029

17308 0.63 194.6 74.8 9.3 1665 17311 0.00 1.17 0.00 0.000 4 0.000 0.037 2961 1333 2029

17419 0.63 194.6 65.0 8.0 1675 17426 0.00 1.17 0.00 0.000 6 0.000 0.036 2961 2258 2030

17611 0.63 194.6 49.4 7.5 1694 17614 0.00 1.60 0.00 0.000 4 0.000 0.046 2961 3128 2030

17665 0.67 226.6 45.1 6.7 1699 17691 0.00 1.55 23.45 0.538 6 0.000 0.031 2969 2250 1916

17880 0.74 290.8 30.4 5.8 1719 17932 0.00 1.17 49.12 0.532 4 0.000 0.036 2973 1339 1653

17965 0.86 388.1 25.8 4.9 1726 18042 0.10 1.17 72.88 0.522 6 0.053 0.035 3036 2255 1257

18234 0.86 388.1 4.6 9.3 1751 18238 0.00 1.62 0.00 0.000 4 0.000 0.044 3036 3132 1250

18249 0.86 388.1 3.7 8.0 1752 18257 0.00 1.60 0.00 0.000 6 0.000 0.028 3043 2249 1250

18264 end climb: SURFACE_DEPTH_REACHED

state 18264 begin surface coast

18296 end surface coast: CONTROL_FINISHED_OK

state 18296 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	186	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	2400	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	52	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-14	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	-15710.527	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	224501,2837.470,-8826.158,38,1.3,38,-0.4	TGT_NAME	NEW0607F
_CALLS	2	TGT_LATLONG	2837.000,-8845.000
_XMS_NAKs	48	TGT_RADIUS	1000.000
_XMS_TOUTs	3	KALMAN_CONTROL	-0.244,0.103
_SM_DEPTHo	1.47	KALMAN_X	-17032.3,-1429.0,-1085.2,58421.7,4285.5
_SM_ANGLEo	-58.7	KALMAN_Y	-97465.1,999.1,525.2,112830.9,-15538.5
GPS2	225802,2837.482,-8826.216,8,1.9,8,-0.4	MHEAD_RNG_PITCHd_Wd	267.3,30552,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1525

FINISH	0.6,1.022893	_24V_AH	23.0,33.476
SM_CCo	18310,89.07,0.490,0,0,494,575.22	_10V_AH	10.6,46.503
SM_GC	1.34,0.00,0.00,89.07,0.000,0.000,0.490,196,2401,494,-7.97,0.03,575.22	DATA_FILE_SIZE	91388,1757
IRIDIUM_FIX	2828.55,-8826.71,230999,222248	CAP_FILE_SIZE	178382,0
TT8_MAMPS	0.051389	CFSIZE	260165632,238358528
HUMID	1346	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.22887	CURRENT	0.096,220.2,1
TCM_TEMP	23.10	GPS	300610,040706,2836.652,-8829.910,26,1.2,26,-0.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	259	121.34	SBE_CT	1201	24	663.44
Roll_motor	91	59	126.52	SBE_O2	1279	19	559.30
VBD_pump_during_apogee	462	1250	13316.62	WL_BBFL2VMT	3948	105	9536.72
VBD_pump_during_surface	89	490	1004.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	53	103	127.37	nil	0	0	0.00
Iridium_during_connect	57	160	211.63	nil	0	0	0.00
Iridium_during_xfer	486	223	2496.41
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.52
TT8	0	19	0.00
LPSleep	12334	2	286.33
TT8_Active	658	19	138.13
TT8_Sampling	5235	39	2208.67
TT8_CF8	979	45	475.42
TT8_Kalman	33	81	28.91
Analog_circuits	2164	12	275.31
GPS_charging	0	0	0.00
Compass	4696	8	398.24
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
13	-0.63	-194.6	0.0	0.0	0	102	0.00	0.00	-87.72	0.000	2	0.000	0.000	196	2376	2906
104	-0.63	-194.6	3.0	-3.3	9	134	10.70	1.27	-16.65	0.000	4	0.259	0.054	2539	1489	3635
363	-0.63	-194.6	56.1	-13.8	32	370	0.00	1.35	0.00	0.000	6	0.000	0.035	2534	2408	3637
555	-0.63	-194.6	82.4	-12.9	51	558	0.00	1.27	0.00	0.000	4	0.000	0.036	2536	1522	3637
581	-0.63	-194.6	85.9	-13.5	53	588	0.00	1.27	0.00	0.000	6	0.000	0.035	2532	2396	3638
773	-0.63	-194.6	112.4	-13.7	72	773	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2396	3638
1083	-0.63	-194.6	152.0	-11.5	102	1086	0.00	1.25	0.00	0.000	4	0.000	0.037	2532	1519	3638
1115	-0.63	-194.6	155.6	-11.4	105	1118	0.00	1.27	0.00	0.000	6	0.000	0.036	2527	2401	3638
1437	-0.63	-194.6	192.6	-11.5	136	1440	0.00	1.27	0.00	0.000	4	0.000	0.038	2527	1514	3637
1505	-0.63	-194.6	200.7	-11.7	142	1513	0.00	1.30	0.00	0.000	6	0.000	0.036	2520	2402	3636
1822	-0.63	-194.6	237.4	-11.1	173	1823	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2402	3634
2132	-0.63	-194.6	273.8	-11.3	203	2135	0.00	1.27	0.00	0.000	4	0.000	0.039	2521	1521	3632
2168	-0.63	-194.6	278.2	-10.8	206	2177	0.00	1.30	0.00	0.000	6	0.000	0.038	2515	2403	3632
2485	-0.63	-194.6	315.5	-11.9	237	2486	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2403	3629
2795	-0.63	-194.6	352.5	-12.3	267	2796	0.10	0.00	0.00	0.000	6	0.151	0.000	2539	2403	3627
3106	-0.63	-194.6	384.8	-10.5	297	3107	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2404	3625
3416	-0.63	-194.6	415.7	-9.7	327	3419	0.00	1.30	0.00	0.000	4	0.000	0.042	2540	1516	3621
3479	-0.63	-194.6	421.8	-9.2	333	3483	0.00	1.27	0.00	0.000	6	0.000	0.042	2536	2385	3621
3802	-0.63	-194.6	453.7	-10.2	364	3805	0.00	1.55	0.00	0.000	4	0.000	0.054	2528	3294	3619
3854	-0.63	-194.6	459.2	-10.6	369	3858	0.00	1.45	0.00	0.000	6	0.000	0.033	2529	2402	3618
4177	-0.63	-194.6	493.4	-10.6	400	4180	0.00	1.27	0.00	0.000	4	0.000	0.043	2529	1522	3616
4213	-0.63	-194.6	497.4	-10.6	403	4220	0.00	1.33	0.00	0.000	6	0.000	0.044	2522	2414	3615
4530	-0.63	-194.6	531.7	-10.9	434	4533	0.00	1.48	0.00	0.000	4	0.000	0.057	2515	3269	3613
4572	-0.63	-194.6	536.5	-11.7	438	4575	0.00	1.42	0.00	0.000	6	0.000	0.035	2516	2403	3613
4894	-0.63	-194.6	573.2	-11.3	469	4897	0.00	1.27	0.00	0.000	4	0.000	0.044	2515	1519	3610
4940	-0.63	-194.6	578.8	-10.5	473	4948	0.08	1.33	0.00	0.000	6	0.144	0.044	2534	2397	3610
5257	-0.63	-194.6	609.3	-9.9	504	5260	0.00	1.52	0.00	0.000	4	0.000	0.058	2529	3282	3607
5303	-0.63	-194.6	614.0	-10.2	508	5311	0.00	1.48	0.00	0.000	6	0.000	0.035	2529	2390	3606
5622	-0.63	-194.6	646.5	-10.1	539	5622	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2389	3605
5931	-0.63	-194.6	678.3	-10.4	569	5931	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2389	3603
6241	-0.63	-194.6	709.0	-9.2	599	6244	0.00	1.55	0.00	0.000	4	0.000	0.059	2523	3279	3601
6266	-0.63	-194.6	711.7	-9.6	601	6275	0.00	1.48	0.00	0.000	6	0.000	0.035	2522	2393	3601
6584	-0.63	-194.6	743.4	-10.2	632	6584	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2394	3599
6893	-0.63	-194.6	774.3	-10.2	662	6894	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2394	3597
7204	-0.63	-194.6	806.1	-10.4	692	7207	0.00	1.55	0.00	0.000	4	0.000	0.060	2516	3274	3595
7251	-0.63	-194.6	811.1	-10.4	696	7258	0.00	1.45	0.00	0.000	6	0.000	0.037	2516	2399	3594
7569	-0.63	-194.6	842.6	-9.9	727	7572	0.00	1.30	0.00	0.000	4	0.000	0.048	2516	1523	3594
7611	-0.63	-194.6	847.0	-10.4	731	7614	0.00	1.30	0.00	0.000	6	0.000	0.048	2510	2383	3593
7933	-0.63	-194.6	878.9	-9.9	762	7934	0.12	0.00	0.00	0.000	6	0.150	0.000	2542	2385	3592
8243	-0.63	-194.6	904.9	-8.5	792	8246	0.00	1.30	0.00	0.000	4	0.000	0.048	2542	1518	3591
8286	-0.63	-194.6	908.6	-8.9	796	8289	0.00	1.35	0.00	0.000	6	0.000	0.050	2539	2405	3590
8607	-0.63	-194.6	935.0	-8.6	827	8608	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2406	3589
8917	-0.63	-194.6	960.9	-8.4	857	8920	0.00	1.35	0.00	0.000	4	0.000	0.049	2539	1510	3588
8970	-0.63	-194.6	965.2	-8.9	862	8973	0.00	1.35	0.00	0.000	6	0.000	0.050	2533	2398	3588
9269	end dive: TARGET_DEPTH_EXCEEDED
state	9269	begin apogee
9274	-0.25	0.0	990.3	8.6	891	9433	0.45	0.00	150.18	1.251	6	0.135	0.000	2667	2266	2838
9433	end apogee: CONTROL_FINISHED_OK
state	9433	begin climb
9435	0.63	194.6	994.0	0.0	907	9606	0.85	0.00	167.20	1.216	6	0.101	0.000	2938	2266	2046
9913	0.63	194.6	945.5	11.5	952	9916	0.00	1.23	0.00	0.000	4	0.000	0.055	2944	1360	2036
9981	0.63	194.6	937.3	11.8	958	9989	0.00	1.23	0.00	0.000	6	0.000	0.044	2943	2260	2035
10298	0.63	194.6	899.5	12.3	989	10299	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	2260	2033
10608	0.63	194.6	864.5	11.3	1019	10611	0.00	1.20	0.00	0.000	4	0.000	0.045	2949	1345	2032
10655	0.63	194.6	859.4	11.3	1023	10662	0.00	1.20	0.00	0.000	6	0.000	0.044	2949	2255	2032
10972	0.63	194.6	823.5	11.3	1054	10975	0.00	1.17	0.00	0.000	4	0.000	0.045	2954	1353	2031
11007	0.63	194.6	819.3	11.6	1057	11015	0.00	1.20	0.00	0.000	6	0.000	0.044	2955	2253	2031
11325	0.63	194.6	782.5	11.9	1088	11326	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2253	2030
11634	0.63	194.6	745.6	11.8	1118	11635	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2253	2029
11945	0.63	194.6	708.8	11.5	1148	11948	0.00	1.65	0.00	0.000	4	0.000	0.054	2954	3128	2029
11966	0.63	194.6	706.1	13.3	1150	11969	0.00	1.60	0.00	0.000	6	0.000	0.039	2962	2252	2028
12286	0.63	194.6	666.0	12.5	1181	12290	0.00	1.15	0.00	0.000	4	0.000	0.045	2967	1352	2028
12329	0.63	194.6	660.6	13.3	1185	12332	0.00	1.17	0.00	0.000	6	0.000	0.044	2967	2250	2028
12651	0.63	194.6	619.6	13.0	1216	12654	0.00	1.17	0.00	0.000	4	0.000	0.045	2972	1340	2028
12676	0.63	194.6	616.4	12.2	1218	12684	0.00	1.23	0.00	0.000	6	0.000	0.043	2972	2259	2028
12993	0.63	194.6	576.2	12.2	1249	12996	0.00	1.62	0.00	0.000	4	0.000	0.054	2972	3144	2028
13018	0.63	194.6	572.7	13.4	1251	13026	0.00	1.62	0.00	0.000	6	0.000	0.037	2980	2245	2027
13335	0.63	194.6	532.0	13.3	1282	13338	0.12	1.15	0.00	0.000	4	0.159	0.042	2952	1339	2027
13377	0.63	194.6	527.1	10.5	1286	13381	0.00	1.20	0.00	0.000	6	0.000	0.043	2953	2256	2027
13698	0.63	194.6	491.2	11.2	1317	13701	0.00	1.65	0.00	0.000	4	0.000	0.053	2952	3134	2027
13745	0.63	194.6	485.3	12.2	1321	13752	0.00	1.62	0.00	0.000	6	0.000	0.036	2960	2248	2026
14063	0.63	194.6	448.1	11.8	1352	14066	0.00	1.15	0.00	0.000	4	0.000	0.044	2965	1340	2026
14120	0.63	194.6	441.2	10.7	1357	14128	0.00	1.23	0.00	0.000	6	0.000	0.042	2965	2261	2026
14438	0.63	194.6	404.0	11.5	1388	14439	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2261	2026
14747	0.63	194.6	367.7	11.5	1418	14748	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2261	2026
15058	0.63	194.6	329.8	12.1	1448	15061	0.00	1.17	0.00	0.000	4	0.000	0.042	2970	1350	2026
15104	0.63	194.6	324.3	10.9	1452	15111	0.00	1.20	0.00	0.000	6	0.000	0.041	2970	2258	2026
15421	0.63	194.6	284.9	12.7	1483	15422	0.00	0.00	0.00	0.000	6	0.000	0.000	2971	2258	2026
15732	0.63	194.6	245.3	12.7	1513	15734	0.00	1.60	0.00	0.000	4	0.000	0.051	2971	3134	2026
15767	0.63	194.6	240.5	13.0	1516	15775	0.00	1.62	0.00	0.000	6	0.000	0.034	2978	2239	2027
16085	0.63	194.6	200.2	12.8	1547	16088	0.00	1.10	0.00	0.000	4	0.000	0.041	2984	1353	2027
16131	0.63	194.6	193.9	12.1	1551	16139	0.12	1.20	0.00	0.000	6	0.146	0.039	2953	2262	2028
16448	0.63	194.6	159.9	11.5	1582	16451	0.00	1.17	0.00	0.000	4	0.000	0.040	2956	1346	2028
16495	0.63	194.6	155.0	10.0	1586	16504	0.00	1.20	0.00	0.000	6	0.000	0.038	2956	2261	2028
16812	0.63	194.6	122.8	8.8	1617	16813	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2261	2028
17122	0.63	194.6	92.2	11.0	1647	17123	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2261	2029
17308	0.63	194.6	74.8	9.3	1665	17311	0.00	1.17	0.00	0.000	4	0.000	0.037	2961	1333	2029
17419	0.63	194.6	65.0	8.0	1675	17426	0.00	1.17	0.00	0.000	6	0.000	0.036	2961	2258	2030
17611	0.63	194.6	49.4	7.5	1694	17614	0.00	1.60	0.00	0.000	4	0.000	0.046	2961	3128	2030
17665	0.67	226.6	45.1	6.7	1699	17691	0.00	1.55	23.45	0.538	6	0.000	0.031	2969	2250	1916
17880	0.74	290.8	30.4	5.8	1719	17932	0.00	1.17	49.12	0.532	4	0.000	0.036	2973	1339	1653
17965	0.86	388.1	25.8	4.9	1726	18042	0.10	1.17	72.88	0.522	6	0.053	0.035	3036	2255	1257
18234	0.86	388.1	4.6	9.3	1751	18238	0.00	1.62	0.00	0.000	4	0.000	0.044	3036	3132	1250
18249	0.86	388.1	3.7	8.0	1752	18257	0.00	1.60	0.00	0.000	6	0.000	0.028	3043	2249	1250
18264	end climb: SURFACE_DEPTH_REACHED
state	18264	begin surface coast
18296	end surface coast: CONTROL_FINISHED_OK
state	18296	begin surface