Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 204 * 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 204 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 2275 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -17173.867 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 -17173.867

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 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 24 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 204 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 193137,2837.358,-8836.395,38,1.1,38,-0.3 TGT_NAME NEW0607F

_CALLS 1 TGT_LATLONG 2837.000,-8845.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.179,0.194

_SM_DEPTHo 1.44 KALMAN_X -36627.4,98.6,253.3,58522.5,-1533.5

_SM_ANGLEo -59.3 KALMAN_Y -163030.4,1471.3,1250.0,177029.5,-14161.7

GPS2 193756,2837.406,-8836.421,15,1.2,15,-0.3 MHEAD_RNG_PITCHd_Wd 280.7,13968,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1379

Post-dive calculations and measurements:

FINISH 0.6,1.008435 _24V_AH 21.4,36.234

SM_CCo 17849,63.78,0.489,0,0,494,575.22 _10V_AH 10.6,50.468

SM_GC 1.40,0.00,0.00,63.78,0.000,0.000,0.489,195,2387,494,-7.97,0.34,575.22 DATA_FILE_SIZE 88380,1715

IRIDIUM_FIX 2828.55,-8831.62,270999,141449 CAP_FILE_SIZE 161951,0

TT8_MAMPS 0.051389 CFSIZE 260165632,236810240

HUMID 1358 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.22887 CURRENT 0.105,218.0,1

TCM_TEMP 23.10 GPS 040710,003807,2837.252,-8840.052,38,1.3,38,-0.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 256 111.90 SBE_CT 1172 24 601.96

Roll_motor 80 62 107.59 SBE_O2 1253 19 509.64

VBD_pump_during_apogee 509 1249 13613.03 WL_BBFL2VMT 3854 105 8661.14

VBD_pump_during_surface 63 489 667.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 49.59 nil 0 0 0.00

Iridium_during_connect 30 160 104.35 nil 0 0 0.00

Iridium_during_xfer 203 223 972.87

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 9.00

TT8 0 19 0.00

LPSleep 11927 2 276.88

TT8_Active 679 19 142.52

TT8_Sampling 5078 39 2142.43

TT8_CF8 576 45 279.77

TT8_Kalman 33 81 28.90

Analog_circuits 2141 12 272.37

GPS_charging 0 0 0.00

Compass 4556 8 386.41

RAFOS 0 0 0.00

Transponder 0 30 0.27

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 89 0.00 0.00 -75.53 0.000 2 0.000 0.000 197 2383 2550

91 -0.63 -194.6 3.1 -3.6 7 139 10.57 1.50 -29.02 0.000 4 0.257 0.062 2534 3265 3634

377 -0.63 -194.6 60.0 -16.3 33 385 0.00 1.50 0.00 0.000 6 0.000 0.028 2537 2355 3636

570 -0.63 -194.6 87.0 -14.3 52 573 0.00 1.23 0.00 0.000 4 0.000 0.037 2537 1480 3637

623 -0.63 -194.6 94.3 -13.0 57 627 0.00 1.30 0.00 0.000 6 0.000 0.037 2533 2376 3637

820 -0.63 -194.6 121.6 -14.5 76 823 0.00 1.48 0.00 0.000 4 0.000 0.046 2525 3260 3638

845 -0.63 -194.6 125.2 -13.5 78 854 0.00 1.48 0.00 0.000 6 0.000 0.028 2526 2354 3638

1163 -0.63 -194.6 168.3 -12.4 109 1164 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2354 3638

1472 -0.63 -194.6 204.8 -12.1 139 1473 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2354 3638

1783 -0.63 -194.6 242.3 -11.8 169 1784 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2354 3638

2093 -0.63 -194.6 278.4 -11.4 199 2096 0.00 1.20 0.00 0.000 4 0.000 0.038 2525 1491 3635

2125 -0.63 -194.6 282.1 -11.9 202 2128 0.00 1.27 0.00 0.000 6 0.000 0.039 2520 2369 3635

2447 -0.63 -194.6 321.1 -12.3 233 2448 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2370 3633

2756 -0.63 -194.6 357.7 -11.9 263 2759 0.00 1.50 0.00 0.000 4 0.000 0.050 2514 3257 3632

2804 -0.63 -194.6 363.7 -12.5 267 2811 0.08 1.45 0.00 0.000 6 0.140 0.031 2537 2359 3631

3119 -0.63 -194.6 397.2 -10.1 298 3123 0.00 1.23 0.00 0.000 4 0.000 0.041 2537 1496 3629

3155 -0.63 -194.6 401.0 -10.1 301 3163 0.00 1.33 0.00 0.000 6 0.000 0.041 2533 2389 3628

3474 -0.63 -194.6 433.4 -10.2 332 3477 0.00 1.45 0.00 0.000 4 0.000 0.053 2526 3247 3626

3509 -0.63 -194.6 437.6 -11.2 335 3517 0.00 1.42 0.00 0.000 6 0.000 0.032 2526 2368 3626

3827 -0.63 -194.6 471.9 -10.7 366 3828 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2367 3624

4136 -0.63 -194.6 505.0 -10.1 396 4140 0.00 1.52 0.00 0.000 4 0.000 0.054 2519 3251 3621

4183 -0.63 -194.6 510.2 -11.3 400 4191 0.00 1.45 0.00 0.000 6 0.000 0.032 2519 2367 3621

4501 -0.63 -194.6 545.8 -11.2 431 4502 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2368 3620

4810 -0.63 -194.6 581.4 -11.3 461 4813 0.00 1.27 0.00 0.000 4 0.000 0.044 2519 1491 3617

4874 -0.63 -194.6 588.2 -10.2 467 4878 0.08 1.27 0.00 0.000 6 0.147 0.044 2537 2360 3617

5195 -0.63 -194.6 617.2 -9.3 498 5196 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2360 3615

5506 -0.63 -194.6 645.9 -9.3 528 5507 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2360 3613

5816 -0.63 -194.6 675.3 -9.3 558 5817 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2360 3611

6127 -0.63 -194.6 704.2 -9.2 588 6127 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2360 3609

6437 -0.63 -194.6 733.5 -9.5 618 6440 0.00 1.58 0.00 0.000 4 0.000 0.058 2532 3266 3607

6473 -0.63 -194.6 737.2 -10.3 621 6481 0.00 1.50 0.00 0.000 6 0.000 0.036 2532 2364 3607

6791 -0.63 -194.6 766.7 -9.2 652 6792 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2365 3606

7100 -0.63 -194.6 795.9 -8.9 682 7103 0.00 1.27 0.00 0.000 4 0.000 0.047 2532 1499 3604

7136 -0.63 -194.6 799.5 -9.8 685 7143 0.00 1.33 0.00 0.000 6 0.000 0.048 2527 2379 3604

7453 -0.63 -194.6 829.0 -9.6 716 7457 0.00 1.33 0.00 0.000 4 0.000 0.046 2527 1492 3603

7489 -0.63 -194.6 832.9 -9.3 719 7497 0.00 1.33 0.00 0.000 6 0.000 0.048 2521 2368 3603

7807 -0.63 -194.6 865.1 -10.2 750 7808 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2369 3601

8116 -0.63 -194.6 896.4 -10.2 780 8119 0.00 1.30 0.00 0.000 4 0.000 0.046 2521 1498 3599

8158 -0.63 -194.6 900.7 -9.7 784 8162 0.00 1.33 0.00 0.000 6 0.000 0.049 2515 2374 3599

8481 -0.63 -194.6 932.9 -9.6 815 8481 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2375 3597

8790 -0.63 -194.6 963.6 -9.8 845 8791 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2374 3597

9067 end dive: TARGET_DEPTH_EXCEEDED

state 9067 begin apogee

9072 -0.25 0.0 990.2 9.3 872 9231 0.50 0.00 152.30 1.249 6 0.138 0.000 2663 2292 2841

9232 end apogee: CONTROL_FINISHED_OK

state 9232 begin climb

9234 0.63 194.6 994.4 0.0 888 9411 0.90 0.00 169.25 1.218 6 0.101 0.000 2942 2292 2045

9721 0.63 194.6 943.8 11.6 936 9724 0.00 1.27 0.00 0.000 4 0.000 0.051 2947 1379 2036

9778 0.63 194.6 937.0 12.2 941 9785 0.00 1.25 0.00 0.000 6 0.000 0.044 2947 2276 2035

10096 0.63 194.6 899.0 11.9 972 10098 0.00 1.23 0.00 0.000 4 0.000 0.044 2953 1364 2033

10138 0.63 194.6 893.7 11.9 976 10141 0.00 1.23 0.00 0.000 6 0.000 0.044 2953 2272 2033

10460 0.63 194.6 854.5 12.5 1007 10463 0.00 1.20 0.00 0.000 4 0.000 0.044 2958 1373 2032

10502 0.63 194.6 849.2 12.6 1011 10505 0.00 1.23 0.00 0.000 6 0.000 0.044 2958 2274 2032

10824 0.63 194.6 808.8 12.6 1042 10827 0.00 1.20 0.00 0.000 4 0.000 0.044 2963 1373 2031

10877 0.63 194.6 802.3 12.3 1047 10880 0.00 1.23 0.00 0.000 6 0.000 0.044 2963 2275 2031

11199 0.63 194.6 761.7 12.9 1078 11202 0.00 1.20 0.00 0.000 4 0.000 0.044 2968 1373 2030

11256 0.63 194.6 754.4 11.6 1083 11264 0.00 1.25 0.00 0.000 6 0.000 0.044 2968 2280 2030

11574 0.63 194.6 714.1 13.3 1114 11577 0.00 1.23 0.00 0.000 4 0.000 0.044 2973 1369 2029

11631 0.63 194.6 706.5 13.1 1119 11639 0.00 1.25 0.00 0.000 6 0.000 0.044 2973 2278 2029

11949 0.63 194.6 663.8 12.8 1150 11952 0.00 1.23 0.00 0.000 4 0.000 0.044 2978 1360 2028

12024 0.63 194.6 653.8 13.5 1157 12027 0.00 1.23 0.00 0.000 6 0.000 0.044 2978 2271 2029

12346 0.63 194.6 611.6 13.4 1188 12347 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2271 2029

12655 0.63 194.6 570.5 13.0 1218 12656 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2271 2028

12965 0.63 194.6 530.0 13.4 1248 12968 0.00 1.20 0.00 0.000 4 0.000 0.043 2984 1364 2028

13051 0.63 194.6 519.1 13.1 1256 13054 0.10 1.23 0.00 0.000 6 0.143 0.044 2953 2276 2028

13372 0.63 194.6 482.8 11.2 1287 13375 0.00 1.20 0.00 0.000 4 0.000 0.044 2956 1373 2028

13408 0.63 194.6 478.9 11.1 1290 13417 0.00 1.23 0.00 0.000 6 0.000 0.043 2956 2281 2028

13725 0.63 194.6 441.0 12.1 1321 13728 0.00 1.60 0.00 0.000 4 0.000 0.054 2956 3175 2028

13750 0.63 194.6 437.6 12.5 1323 13758 0.00 1.62 0.00 0.000 6 0.000 0.036 2963 2268 2027

14068 0.63 194.6 398.3 12.0 1354 14071 0.00 1.15 0.00 0.000 4 0.000 0.042 2968 1374 2027

14104 0.63 194.6 393.8 11.5 1357 14112 0.00 1.23 0.00 0.000 6 0.000 0.042 2968 2278 2027

14422 0.63 194.6 355.1 12.0 1388 14425 0.00 1.20 0.00 0.000 4 0.000 0.041 2974 1373 2027

14464 0.63 194.6 350.0 11.6 1392 14468 0.00 1.20 0.00 0.000 6 0.000 0.042 2974 2273 2028

14785 0.63 194.6 310.8 11.6 1423 14788 0.00 1.20 0.00 0.000 4 0.000 0.041 2979 1362 2027

14810 0.63 194.6 307.7 12.3 1425 14818 0.00 1.25 0.00 0.000 6 0.000 0.041 2979 2284 2028

15128 0.63 194.6 267.5 12.8 1456 15130 0.00 1.23 0.00 0.000 4 0.000 0.040 2985 1360 2027

15153 0.63 194.6 264.2 12.9 1458 15162 0.08 1.25 0.00 0.000 6 0.144 0.041 2960 2289 2028

15469 0.63 194.6 228.8 11.3 1489 15470 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2289 2027

15780 0.63 194.6 194.2 11.3 1519 15783 0.00 1.23 0.00 0.000 4 0.000 0.040 2964 1369 2028

15858 0.63 194.6 185.5 11.1 1526 15867 0.00 1.23 0.00 0.000 6 0.000 0.039 2964 2281 2029

16176 0.63 194.6 149.3 11.0 1557 16180 0.00 1.20 0.00 0.000 4 0.000 0.038 2970 1368 2030

16218 0.63 194.6 144.8 10.7 1561 16222 0.00 1.20 0.00 0.000 6 0.000 0.039 2969 2279 2029

16540 0.63 194.6 110.5 10.7 1592 16543 0.00 1.20 0.00 0.000 4 0.000 0.038 2974 1360 2030

16587 0.63 194.6 105.4 9.9 1596 16594 0.00 1.23 0.00 0.000 6 0.000 0.038 2974 2286 2030

16905 0.63 194.6 72.4 9.3 1627 16905 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2287 2031

17090 0.63 194.6 53.9 10.4 1645 17091 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2286 2031

17276 0.69 250.3 41.1 6.0 1663 17324 0.00 1.20 41.15 0.545 4 0.000 0.035 2980 1358 1819

17381 0.80 336.4 36.0 5.2 1672 17451 0.00 1.23 65.35 0.537 6 0.000 0.035 2979 2275 1467

17644 0.93 445.8 22.8 4.6 1697 17733 0.20 0.00 81.07 0.516 6 0.055 0.000 3080 2275 1020

17812 end climb: SURFACE_DEPTH_REACHED

state 17812 begin surface coast

17834 end surface coast: CONTROL_FINISHED_OK

state 17834 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	204	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	2275	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-17173.867	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	193137,2837.358,-8836.395,38,1.1,38,-0.3	TGT_NAME	NEW0607F
_CALLS	1	TGT_LATLONG	2837.000,-8845.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.179,0.194
_SM_DEPTHo	1.44	KALMAN_X	-36627.4,98.6,253.3,58522.5,-1533.5
_SM_ANGLEo	-59.3	KALMAN_Y	-163030.4,1471.3,1250.0,177029.5,-14161.7
GPS2	193756,2837.406,-8836.421,15,1.2,15,-0.3	MHEAD_RNG_PITCHd_Wd	280.7,13968,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1379

FINISH	0.6,1.008435	_24V_AH	21.4,36.234
SM_CCo	17849,63.78,0.489,0,0,494,575.22	_10V_AH	10.6,50.468
SM_GC	1.40,0.00,0.00,63.78,0.000,0.000,0.489,195,2387,494,-7.97,0.34,575.22	DATA_FILE_SIZE	88380,1715
IRIDIUM_FIX	2828.55,-8831.62,270999,141449	CAP_FILE_SIZE	161951,0
TT8_MAMPS	0.051389	CFSIZE	260165632,236810240
HUMID	1358	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.22887	CURRENT	0.105,218.0,1
TCM_TEMP	23.10	GPS	040710,003807,2837.252,-8840.052,38,1.3,38,-0.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	256	111.90	SBE_CT	1172	24	601.96
Roll_motor	80	62	107.59	SBE_O2	1253	19	509.64
VBD_pump_during_apogee	509	1249	13613.03	WL_BBFL2VMT	3854	105	8661.14
VBD_pump_during_surface	63	489	667.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	49.59	nil	0	0	0.00
Iridium_during_connect	30	160	104.35	nil	0	0	0.00
Iridium_during_xfer	203	223	972.87
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	9.00
TT8	0	19	0.00
LPSleep	11927	2	276.88
TT8_Active	679	19	142.52
TT8_Sampling	5078	39	2142.43
TT8_CF8	576	45	279.77
TT8_Kalman	33	81	28.90
Analog_circuits	2141	12	272.37
GPS_charging	0	0	0.00
Compass	4556	8	386.41
RAFOS	0	0	0.00
Transponder	0	30	0.27

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	89	0.00	0.00	-75.53	0.000	2	0.000	0.000	197	2383	2550
91	-0.63	-194.6	3.1	-3.6	7	139	10.57	1.50	-29.02	0.000	4	0.257	0.062	2534	3265	3634
377	-0.63	-194.6	60.0	-16.3	33	385	0.00	1.50	0.00	0.000	6	0.000	0.028	2537	2355	3636
570	-0.63	-194.6	87.0	-14.3	52	573	0.00	1.23	0.00	0.000	4	0.000	0.037	2537	1480	3637
623	-0.63	-194.6	94.3	-13.0	57	627	0.00	1.30	0.00	0.000	6	0.000	0.037	2533	2376	3637
820	-0.63	-194.6	121.6	-14.5	76	823	0.00	1.48	0.00	0.000	4	0.000	0.046	2525	3260	3638
845	-0.63	-194.6	125.2	-13.5	78	854	0.00	1.48	0.00	0.000	6	0.000	0.028	2526	2354	3638
1163	-0.63	-194.6	168.3	-12.4	109	1164	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2354	3638
1472	-0.63	-194.6	204.8	-12.1	139	1473	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2354	3638
1783	-0.63	-194.6	242.3	-11.8	169	1784	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2354	3638
2093	-0.63	-194.6	278.4	-11.4	199	2096	0.00	1.20	0.00	0.000	4	0.000	0.038	2525	1491	3635
2125	-0.63	-194.6	282.1	-11.9	202	2128	0.00	1.27	0.00	0.000	6	0.000	0.039	2520	2369	3635
2447	-0.63	-194.6	321.1	-12.3	233	2448	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2370	3633
2756	-0.63	-194.6	357.7	-11.9	263	2759	0.00	1.50	0.00	0.000	4	0.000	0.050	2514	3257	3632
2804	-0.63	-194.6	363.7	-12.5	267	2811	0.08	1.45	0.00	0.000	6	0.140	0.031	2537	2359	3631
3119	-0.63	-194.6	397.2	-10.1	298	3123	0.00	1.23	0.00	0.000	4	0.000	0.041	2537	1496	3629
3155	-0.63	-194.6	401.0	-10.1	301	3163	0.00	1.33	0.00	0.000	6	0.000	0.041	2533	2389	3628
3474	-0.63	-194.6	433.4	-10.2	332	3477	0.00	1.45	0.00	0.000	4	0.000	0.053	2526	3247	3626
3509	-0.63	-194.6	437.6	-11.2	335	3517	0.00	1.42	0.00	0.000	6	0.000	0.032	2526	2368	3626
3827	-0.63	-194.6	471.9	-10.7	366	3828	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2367	3624
4136	-0.63	-194.6	505.0	-10.1	396	4140	0.00	1.52	0.00	0.000	4	0.000	0.054	2519	3251	3621
4183	-0.63	-194.6	510.2	-11.3	400	4191	0.00	1.45	0.00	0.000	6	0.000	0.032	2519	2367	3621
4501	-0.63	-194.6	545.8	-11.2	431	4502	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2368	3620
4810	-0.63	-194.6	581.4	-11.3	461	4813	0.00	1.27	0.00	0.000	4	0.000	0.044	2519	1491	3617
4874	-0.63	-194.6	588.2	-10.2	467	4878	0.08	1.27	0.00	0.000	6	0.147	0.044	2537	2360	3617
5195	-0.63	-194.6	617.2	-9.3	498	5196	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2360	3615
5506	-0.63	-194.6	645.9	-9.3	528	5507	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2360	3613
5816	-0.63	-194.6	675.3	-9.3	558	5817	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2360	3611
6127	-0.63	-194.6	704.2	-9.2	588	6127	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2360	3609
6437	-0.63	-194.6	733.5	-9.5	618	6440	0.00	1.58	0.00	0.000	4	0.000	0.058	2532	3266	3607
6473	-0.63	-194.6	737.2	-10.3	621	6481	0.00	1.50	0.00	0.000	6	0.000	0.036	2532	2364	3607
6791	-0.63	-194.6	766.7	-9.2	652	6792	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2365	3606
7100	-0.63	-194.6	795.9	-8.9	682	7103	0.00	1.27	0.00	0.000	4	0.000	0.047	2532	1499	3604
7136	-0.63	-194.6	799.5	-9.8	685	7143	0.00	1.33	0.00	0.000	6	0.000	0.048	2527	2379	3604
7453	-0.63	-194.6	829.0	-9.6	716	7457	0.00	1.33	0.00	0.000	4	0.000	0.046	2527	1492	3603
7489	-0.63	-194.6	832.9	-9.3	719	7497	0.00	1.33	0.00	0.000	6	0.000	0.048	2521	2368	3603
7807	-0.63	-194.6	865.1	-10.2	750	7808	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2369	3601
8116	-0.63	-194.6	896.4	-10.2	780	8119	0.00	1.30	0.00	0.000	4	0.000	0.046	2521	1498	3599
8158	-0.63	-194.6	900.7	-9.7	784	8162	0.00	1.33	0.00	0.000	6	0.000	0.049	2515	2374	3599
8481	-0.63	-194.6	932.9	-9.6	815	8481	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2375	3597
8790	-0.63	-194.6	963.6	-9.8	845	8791	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2374	3597
9067	end dive: TARGET_DEPTH_EXCEEDED
state	9067	begin apogee
9072	-0.25	0.0	990.2	9.3	872	9231	0.50	0.00	152.30	1.249	6	0.138	0.000	2663	2292	2841
9232	end apogee: CONTROL_FINISHED_OK
state	9232	begin climb
9234	0.63	194.6	994.4	0.0	888	9411	0.90	0.00	169.25	1.218	6	0.101	0.000	2942	2292	2045
9721	0.63	194.6	943.8	11.6	936	9724	0.00	1.27	0.00	0.000	4	0.000	0.051	2947	1379	2036
9778	0.63	194.6	937.0	12.2	941	9785	0.00	1.25	0.00	0.000	6	0.000	0.044	2947	2276	2035
10096	0.63	194.6	899.0	11.9	972	10098	0.00	1.23	0.00	0.000	4	0.000	0.044	2953	1364	2033
10138	0.63	194.6	893.7	11.9	976	10141	0.00	1.23	0.00	0.000	6	0.000	0.044	2953	2272	2033
10460	0.63	194.6	854.5	12.5	1007	10463	0.00	1.20	0.00	0.000	4	0.000	0.044	2958	1373	2032
10502	0.63	194.6	849.2	12.6	1011	10505	0.00	1.23	0.00	0.000	6	0.000	0.044	2958	2274	2032
10824	0.63	194.6	808.8	12.6	1042	10827	0.00	1.20	0.00	0.000	4	0.000	0.044	2963	1373	2031
10877	0.63	194.6	802.3	12.3	1047	10880	0.00	1.23	0.00	0.000	6	0.000	0.044	2963	2275	2031
11199	0.63	194.6	761.7	12.9	1078	11202	0.00	1.20	0.00	0.000	4	0.000	0.044	2968	1373	2030
11256	0.63	194.6	754.4	11.6	1083	11264	0.00	1.25	0.00	0.000	6	0.000	0.044	2968	2280	2030
11574	0.63	194.6	714.1	13.3	1114	11577	0.00	1.23	0.00	0.000	4	0.000	0.044	2973	1369	2029
11631	0.63	194.6	706.5	13.1	1119	11639	0.00	1.25	0.00	0.000	6	0.000	0.044	2973	2278	2029
11949	0.63	194.6	663.8	12.8	1150	11952	0.00	1.23	0.00	0.000	4	0.000	0.044	2978	1360	2028
12024	0.63	194.6	653.8	13.5	1157	12027	0.00	1.23	0.00	0.000	6	0.000	0.044	2978	2271	2029
12346	0.63	194.6	611.6	13.4	1188	12347	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2271	2029
12655	0.63	194.6	570.5	13.0	1218	12656	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2271	2028
12965	0.63	194.6	530.0	13.4	1248	12968	0.00	1.20	0.00	0.000	4	0.000	0.043	2984	1364	2028
13051	0.63	194.6	519.1	13.1	1256	13054	0.10	1.23	0.00	0.000	6	0.143	0.044	2953	2276	2028
13372	0.63	194.6	482.8	11.2	1287	13375	0.00	1.20	0.00	0.000	4	0.000	0.044	2956	1373	2028
13408	0.63	194.6	478.9	11.1	1290	13417	0.00	1.23	0.00	0.000	6	0.000	0.043	2956	2281	2028
13725	0.63	194.6	441.0	12.1	1321	13728	0.00	1.60	0.00	0.000	4	0.000	0.054	2956	3175	2028
13750	0.63	194.6	437.6	12.5	1323	13758	0.00	1.62	0.00	0.000	6	0.000	0.036	2963	2268	2027
14068	0.63	194.6	398.3	12.0	1354	14071	0.00	1.15	0.00	0.000	4	0.000	0.042	2968	1374	2027
14104	0.63	194.6	393.8	11.5	1357	14112	0.00	1.23	0.00	0.000	6	0.000	0.042	2968	2278	2027
14422	0.63	194.6	355.1	12.0	1388	14425	0.00	1.20	0.00	0.000	4	0.000	0.041	2974	1373	2027
14464	0.63	194.6	350.0	11.6	1392	14468	0.00	1.20	0.00	0.000	6	0.000	0.042	2974	2273	2028
14785	0.63	194.6	310.8	11.6	1423	14788	0.00	1.20	0.00	0.000	4	0.000	0.041	2979	1362	2027
14810	0.63	194.6	307.7	12.3	1425	14818	0.00	1.25	0.00	0.000	6	0.000	0.041	2979	2284	2028
15128	0.63	194.6	267.5	12.8	1456	15130	0.00	1.23	0.00	0.000	4	0.000	0.040	2985	1360	2027
15153	0.63	194.6	264.2	12.9	1458	15162	0.08	1.25	0.00	0.000	6	0.144	0.041	2960	2289	2028
15469	0.63	194.6	228.8	11.3	1489	15470	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2289	2027
15780	0.63	194.6	194.2	11.3	1519	15783	0.00	1.23	0.00	0.000	4	0.000	0.040	2964	1369	2028
15858	0.63	194.6	185.5	11.1	1526	15867	0.00	1.23	0.00	0.000	6	0.000	0.039	2964	2281	2029
16176	0.63	194.6	149.3	11.0	1557	16180	0.00	1.20	0.00	0.000	4	0.000	0.038	2970	1368	2030
16218	0.63	194.6	144.8	10.7	1561	16222	0.00	1.20	0.00	0.000	6	0.000	0.039	2969	2279	2029
16540	0.63	194.6	110.5	10.7	1592	16543	0.00	1.20	0.00	0.000	4	0.000	0.038	2974	1360	2030
16587	0.63	194.6	105.4	9.9	1596	16594	0.00	1.23	0.00	0.000	6	0.000	0.038	2974	2286	2030
16905	0.63	194.6	72.4	9.3	1627	16905	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2287	2031
17090	0.63	194.6	53.9	10.4	1645	17091	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2286	2031
17276	0.69	250.3	41.1	6.0	1663	17324	0.00	1.20	41.15	0.545	4	0.000	0.035	2980	1358	1819
17381	0.80	336.4	36.0	5.2	1672	17451	0.00	1.23	65.35	0.537	6	0.000	0.035	2979	2275	1467
17644	0.93	445.8	22.8	4.6	1697	17733	0.20	0.00	81.07	0.516	6	0.055	0.000	3080	2275	1020
17812	end climb: SURFACE_DEPTH_REACHED
state	17812	begin surface coast
17834	end surface coast: CONTROL_FINISHED_OK
state	17834	begin surface