Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 209 * 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 209 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -17294.557 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 -17294.557

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 35 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 23 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 209 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 200524,2842.127,-8842.609,23,1.1,41,-0.2 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 29 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.102,0.244

_SM_DEPTHo 1.55 KALMAN_X -57116.8,1468.6,1546.7,66291.7,-14515.4

_SM_ANGLEo -68.0 KALMAN_Y -173900.0,323.8,477.3,198633.2,-7634.8

GPS2 201455,2842.160,-8842.585,13,2.0,24,-0.2 MHEAD_RNG_PITCHd_Wd 67.0,27066,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1116

Post-dive calculations and measurements:

FINISH 0.8,1.004649 _24V_AH 22.9,36.988

SM_CCo 18428,67.40,0.488,0,0,493,575.22 _10V_AH 10.6,51.526

SM_GC 1.55,0.00,0.00,67.40,0.000,0.000,0.488,203,2379,493,-7.95,0.11,575.22 DATA_FILE_SIZE 91539,1772

IRIDIUM_FIX 2831.00,-8843.84,280999,151507 CAP_FILE_SIZE 158832,0

TT8_MAMPS 0.051389 CFSIZE 260165632,236396544

HUMID 1333 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.23864 CURRENT 0.079,187.2,1

TCM_TEMP 23.90 GPS 050710,012454,2842.437,-8839.839,42,1.0,42,-0.3

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 254 116.48 SBE_CT 1211 24 665.94

Roll_motor 56 62 81.16 SBE_O2 1296 19 564.20

VBD_pump_during_apogee 506 1247 14452.56 WL_BBFL2VMT 3982 105 9576.38

VBD_pump_during_surface 67 487 752.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.54 nil 0 0 0.00

Iridium_during_connect 35 160 131.83 nil 0 0 0.00

Iridium_during_xfer 375 223 1917.06

Transponder_ping 0 420 7.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 26 50 13.85

TT8 0 19 0.00

LPSleep 12517 2 290.58

TT8_Active 638 19 133.90

TT8_Sampling 5154 39 2174.61

TT8_CF8 727 45 353.23

TT8_Kalman 33 81 28.91

Analog_circuits 2071 12 263.53

GPS_charging 0 0 0.00

Compass 4621 8 391.93

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 87 0.00 0.00 -72.97 0.000 2 0.000 0.000 187 2351 2479

89 -0.63 -194.6 3.0 -3.1 7 138 10.55 1.60 -34.03 0.000 4 0.255 0.062 2533 3261 3635

239 -0.63 -194.6 33.7 -30.5 20 246 0.00 1.45 0.00 0.000 6 0.000 0.029 2537 2369 3636

431 -0.63 -194.6 67.1 -14.5 39 432 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2367 3637

617 -0.63 -194.6 93.1 -13.4 57 620 0.00 1.50 0.00 0.000 4 0.000 0.044 2532 3262 3638

648 -0.63 -194.6 97.7 -14.0 60 652 0.00 1.45 0.00 0.000 6 0.000 0.028 2535 2359 3638

846 -0.63 -194.6 124.2 -12.8 79 847 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2359 3639

1156 -0.63 -194.6 160.4 -10.9 109 1156 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2358 3639

1466 -0.63 -194.6 195.6 -10.8 139 1467 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2358 3639

1777 -0.63 -194.6 228.2 -10.6 169 1778 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2358 3636

2087 -0.63 -194.6 262.2 -10.7 199 2088 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2358 3635

2397 -0.63 -194.6 295.6 -10.6 229 2398 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2358 3633

2708 -0.63 -194.6 328.2 -10.6 259 2709 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2358 3631

3018 -0.63 -194.6 360.5 -10.2 289 3019 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2358 3628

3329 -0.63 -194.6 392.0 -10.2 319 3332 0.00 1.23 0.00 0.000 4 0.000 0.040 2534 1493 3626

3397 -0.63 -194.6 399.2 -10.1 325 3405 0.00 1.33 0.00 0.000 6 0.000 0.041 2531 2384 3626

3714 -0.63 -194.6 432.4 -10.2 356 3715 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2384 3623

4024 -0.63 -194.6 465.6 -10.8 386 4027 0.00 1.30 0.00 0.000 4 0.000 0.041 2531 1494 3621

4081 -0.63 -194.6 471.8 -10.3 391 4089 0.00 1.30 0.00 0.000 6 0.000 0.042 2525 2366 3620

4400 -0.63 -194.6 505.1 -10.4 422 4403 0.00 1.27 0.00 0.000 4 0.000 0.041 2525 1493 3619

4435 -0.63 -194.6 509.3 -10.4 425 4444 0.00 1.33 0.00 0.000 6 0.000 0.042 2519 2382 3618

4753 -0.63 -194.6 544.3 -11.0 456 4754 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2383 3616

5063 -0.63 -194.6 578.3 -11.0 486 5064 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2382 3614

5373 -0.63 -194.6 613.2 -10.7 516 5374 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2383 3613

5684 -0.63 -194.6 646.1 -10.8 546 5686 0.00 1.30 0.00 0.000 4 0.000 0.043 2519 1498 3610

5740 -0.63 -194.6 652.3 -10.5 551 5748 0.12 1.33 0.00 0.000 6 0.148 0.045 2544 2374 3609

6057 -0.63 -194.6 680.2 -8.5 582 6058 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2374 3607

6368 -0.63 -194.6 707.5 -8.6 612 6371 0.00 1.30 0.00 0.000 4 0.000 0.044 2544 1495 3606

6410 -0.63 -194.6 711.4 -9.3 616 6413 0.00 1.33 0.00 0.000 6 0.000 0.047 2541 2378 3605

6732 -0.63 -194.6 740.5 -9.1 647 6733 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2378 3604

7042 -0.63 -194.6 769.2 -9.3 677 7044 0.00 1.30 0.00 0.000 4 0.000 0.045 2541 1500 3603

7099 -0.63 -194.6 774.7 -9.3 682 7106 0.00 1.33 0.00 0.000 6 0.000 0.048 2536 2374 3602

7417 -0.63 -194.6 804.9 -9.6 713 7417 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2373 3601

7726 -0.63 -194.6 833.7 -8.8 743 7729 0.00 1.30 0.00 0.000 4 0.000 0.046 2536 1498 3599

7804 -0.63 -194.6 840.8 -8.8 750 7812 0.00 1.35 0.00 0.000 6 0.000 0.048 2530 2381 3599

8123 -0.63 -194.6 870.4 -9.3 781 8123 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2381 3597

8432 -0.63 -194.6 899.3 -8.7 811 8433 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2381 3596

8742 -0.63 -194.6 928.1 -9.2 841 8745 0.00 1.33 0.00 0.000 4 0.000 0.045 2530 1491 3594

8817 -0.63 -194.6 935.0 -9.2 848 8820 0.00 1.33 0.00 0.000 6 0.000 0.050 2525 2366 3594

9138 -0.63 -194.6 964.4 -8.9 879 9139 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2367 3593

9425 end dive: TARGET_DEPTH_EXCEEDED

state 9426 begin apogee

9430 -0.25 0.0 990.2 9.0 907 9589 0.47 0.00 152.60 1.247 6 0.135 0.000 2666 2297 2839

9590 end apogee: CONTROL_FINISHED_OK

state 9590 begin climb

9591 0.63 194.6 994.1 0.0 923 9771 0.90 0.00 170.73 1.206 6 0.101 0.000 2945 2296 2046

10079 0.63 194.6 940.8 12.7 971 10082 0.00 1.27 0.00 0.000 4 0.000 0.045 2950 1370 2035

10126 0.63 194.6 934.7 12.2 975 10133 0.00 1.27 0.00 0.000 6 0.000 0.044 2950 2284 2035

10443 0.63 194.6 893.2 13.7 1006 10447 0.00 1.23 0.00 0.000 4 0.000 0.044 2955 1378 2033

10485 0.63 194.6 887.6 12.6 1010 10489 0.00 1.23 0.00 0.000 6 0.000 0.046 2955 2277 2033

10806 0.63 194.6 845.4 12.6 1041 10807 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2277 2032

11117 0.63 194.6 805.1 13.2 1071 11117 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2277 2031

11428 0.63 194.6 765.2 13.2 1101 11429 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2278 2030

11737 0.63 194.6 725.3 12.8 1131 11738 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2277 2029

12048 0.63 194.6 684.6 12.9 1161 12051 0.00 1.20 0.00 0.000 4 0.000 0.044 2961 1382 2029

12095 0.63 194.6 678.8 11.9 1165 12103 0.00 1.23 0.00 0.000 6 0.000 0.044 2961 2277 2029

12412 0.63 194.6 639.1 12.7 1196 12413 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2277 2028

12722 0.63 194.6 599.5 12.7 1226 12723 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2277 2028

13032 0.63 194.6 560.2 12.7 1256 13033 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2277 2028

13343 0.63 194.6 522.5 11.8 1286 13343 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2277 2028

13653 0.63 194.6 484.7 12.4 1316 13654 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2277 2028

13963 0.63 194.6 447.6 11.7 1346 13964 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2277 2027

14273 0.63 194.6 409.6 12.4 1376 14277 0.00 1.20 0.00 0.000 4 0.000 0.043 2966 1377 2028

14310 0.63 194.6 405.1 12.1 1379 14317 0.00 1.23 0.00 0.000 6 0.000 0.043 2966 2278 2028

14627 0.63 194.6 363.7 13.1 1410 14630 0.00 1.20 0.00 0.000 4 0.000 0.041 2971 1377 2028

14670 0.63 194.6 358.3 12.3 1414 14673 0.00 1.20 0.00 0.000 6 0.000 0.043 2971 2277 2028

14991 0.63 194.6 316.2 13.1 1445 14994 0.00 1.60 0.00 0.000 4 0.000 0.052 2971 3170 2028

15023 0.63 194.6 311.9 13.7 1448 15026 0.00 1.58 0.00 0.000 6 0.000 0.036 2978 2274 2027

15345 0.63 194.6 268.0 14.1 1479 15348 0.00 1.17 0.00 0.000 4 0.000 0.041 2984 1365 2027

15370 0.63 194.6 264.2 15.4 1481 15379 0.12 1.25 0.00 0.000 6 0.150 0.041 2947 2283 2027

15686 0.63 194.6 229.4 10.7 1512 15687 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2283 2027

15997 0.63 194.6 197.0 10.2 1542 15998 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2283 2028

16307 0.63 194.6 166.0 9.4 1572 16308 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2284 2028

16617 0.63 194.6 136.0 10.7 1602 16618 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2283 2029

16928 0.63 194.6 107.0 8.3 1632 16929 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2283 2030

17238 0.63 194.6 80.2 8.7 1662 17241 0.00 1.20 0.00 0.000 4 0.000 0.037 2952 1370 2031

17328 0.63 194.6 72.5 8.0 1670 17335 0.00 1.23 0.00 0.000 6 0.000 0.037 2952 2281 2031

17520 0.63 196.2 57.2 7.5 1689 17523 0.00 1.60 0.00 0.000 4 0.000 0.046 2952 3176 2032

17578 0.66 218.3 53.0 6.9 1694 17600 0.00 1.55 17.77 0.534 6 0.000 0.030 2959 2272 1948

17795 0.71 265.4 40.1 6.3 1715 17834 0.00 1.62 36.28 0.538 4 0.000 0.044 2959 3176 1758

17890 0.79 324.1 34.3 6.0 1723 17940 0.10 1.58 45.10 0.528 6 0.074 0.030 3015 2270 1518

18133 0.87 391.2 17.6 5.7 1746 18191 0.00 1.20 50.12 0.512 4 0.000 0.035 3019 1369 1244

18298 0.92 435.3 7.6 6.3 1761 18335 0.00 1.20 33.45 0.493 6 0.000 0.034 3018 2277 1065

18372 end climb: SURFACE_DEPTH_REACHED

state 18372 begin surface coast

18414 end surface coast: CONTROL_FINISHED_OK

state 18414 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	209	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-17294.557	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	200524,2842.127,-8842.609,23,1.1,41,-0.2	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	29	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.102,0.244
_SM_DEPTHo	1.55	KALMAN_X	-57116.8,1468.6,1546.7,66291.7,-14515.4
_SM_ANGLEo	-68.0	KALMAN_Y	-173900.0,323.8,477.3,198633.2,-7634.8
GPS2	201455,2842.160,-8842.585,13,2.0,24,-0.2	MHEAD_RNG_PITCHd_Wd	67.0,27066,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1116

FINISH	0.8,1.004649	_24V_AH	22.9,36.988
SM_CCo	18428,67.40,0.488,0,0,493,575.22	_10V_AH	10.6,51.526
SM_GC	1.55,0.00,0.00,67.40,0.000,0.000,0.488,203,2379,493,-7.95,0.11,575.22	DATA_FILE_SIZE	91539,1772
IRIDIUM_FIX	2831.00,-8843.84,280999,151507	CAP_FILE_SIZE	158832,0
TT8_MAMPS	0.051389	CFSIZE	260165632,236396544
HUMID	1333	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.23864	CURRENT	0.079,187.2,1
TCM_TEMP	23.90	GPS	050710,012454,2842.437,-8839.839,42,1.0,42,-0.3
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	254	116.48	SBE_CT	1211	24	665.94
Roll_motor	56	62	81.16	SBE_O2	1296	19	564.20
VBD_pump_during_apogee	506	1247	14452.56	WL_BBFL2VMT	3982	105	9576.38
VBD_pump_during_surface	67	487	752.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.54	nil	0	0	0.00
Iridium_during_connect	35	160	131.83	nil	0	0	0.00
Iridium_during_xfer	375	223	1917.06
Transponder_ping	0	420	7.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	26	50	13.85
TT8	0	19	0.00
LPSleep	12517	2	290.58
TT8_Active	638	19	133.90
TT8_Sampling	5154	39	2174.61
TT8_CF8	727	45	353.23
TT8_Kalman	33	81	28.91
Analog_circuits	2071	12	263.53
GPS_charging	0	0	0.00
Compass	4621	8	391.93
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	87	0.00	0.00	-72.97	0.000	2	0.000	0.000	187	2351	2479
89	-0.63	-194.6	3.0	-3.1	7	138	10.55	1.60	-34.03	0.000	4	0.255	0.062	2533	3261	3635
239	-0.63	-194.6	33.7	-30.5	20	246	0.00	1.45	0.00	0.000	6	0.000	0.029	2537	2369	3636
431	-0.63	-194.6	67.1	-14.5	39	432	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2367	3637
617	-0.63	-194.6	93.1	-13.4	57	620	0.00	1.50	0.00	0.000	4	0.000	0.044	2532	3262	3638
648	-0.63	-194.6	97.7	-14.0	60	652	0.00	1.45	0.00	0.000	6	0.000	0.028	2535	2359	3638
846	-0.63	-194.6	124.2	-12.8	79	847	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2359	3639
1156	-0.63	-194.6	160.4	-10.9	109	1156	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2358	3639
1466	-0.63	-194.6	195.6	-10.8	139	1467	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2358	3639
1777	-0.63	-194.6	228.2	-10.6	169	1778	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2358	3636
2087	-0.63	-194.6	262.2	-10.7	199	2088	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2358	3635
2397	-0.63	-194.6	295.6	-10.6	229	2398	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2358	3633
2708	-0.63	-194.6	328.2	-10.6	259	2709	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2358	3631
3018	-0.63	-194.6	360.5	-10.2	289	3019	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2358	3628
3329	-0.63	-194.6	392.0	-10.2	319	3332	0.00	1.23	0.00	0.000	4	0.000	0.040	2534	1493	3626
3397	-0.63	-194.6	399.2	-10.1	325	3405	0.00	1.33	0.00	0.000	6	0.000	0.041	2531	2384	3626
3714	-0.63	-194.6	432.4	-10.2	356	3715	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2384	3623
4024	-0.63	-194.6	465.6	-10.8	386	4027	0.00	1.30	0.00	0.000	4	0.000	0.041	2531	1494	3621
4081	-0.63	-194.6	471.8	-10.3	391	4089	0.00	1.30	0.00	0.000	6	0.000	0.042	2525	2366	3620
4400	-0.63	-194.6	505.1	-10.4	422	4403	0.00	1.27	0.00	0.000	4	0.000	0.041	2525	1493	3619
4435	-0.63	-194.6	509.3	-10.4	425	4444	0.00	1.33	0.00	0.000	6	0.000	0.042	2519	2382	3618
4753	-0.63	-194.6	544.3	-11.0	456	4754	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2383	3616
5063	-0.63	-194.6	578.3	-11.0	486	5064	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2382	3614
5373	-0.63	-194.6	613.2	-10.7	516	5374	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2383	3613
5684	-0.63	-194.6	646.1	-10.8	546	5686	0.00	1.30	0.00	0.000	4	0.000	0.043	2519	1498	3610
5740	-0.63	-194.6	652.3	-10.5	551	5748	0.12	1.33	0.00	0.000	6	0.148	0.045	2544	2374	3609
6057	-0.63	-194.6	680.2	-8.5	582	6058	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2374	3607
6368	-0.63	-194.6	707.5	-8.6	612	6371	0.00	1.30	0.00	0.000	4	0.000	0.044	2544	1495	3606
6410	-0.63	-194.6	711.4	-9.3	616	6413	0.00	1.33	0.00	0.000	6	0.000	0.047	2541	2378	3605
6732	-0.63	-194.6	740.5	-9.1	647	6733	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2378	3604
7042	-0.63	-194.6	769.2	-9.3	677	7044	0.00	1.30	0.00	0.000	4	0.000	0.045	2541	1500	3603
7099	-0.63	-194.6	774.7	-9.3	682	7106	0.00	1.33	0.00	0.000	6	0.000	0.048	2536	2374	3602
7417	-0.63	-194.6	804.9	-9.6	713	7417	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2373	3601
7726	-0.63	-194.6	833.7	-8.8	743	7729	0.00	1.30	0.00	0.000	4	0.000	0.046	2536	1498	3599
7804	-0.63	-194.6	840.8	-8.8	750	7812	0.00	1.35	0.00	0.000	6	0.000	0.048	2530	2381	3599
8123	-0.63	-194.6	870.4	-9.3	781	8123	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2381	3597
8432	-0.63	-194.6	899.3	-8.7	811	8433	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2381	3596
8742	-0.63	-194.6	928.1	-9.2	841	8745	0.00	1.33	0.00	0.000	4	0.000	0.045	2530	1491	3594
8817	-0.63	-194.6	935.0	-9.2	848	8820	0.00	1.33	0.00	0.000	6	0.000	0.050	2525	2366	3594
9138	-0.63	-194.6	964.4	-8.9	879	9139	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2367	3593
9425	end dive: TARGET_DEPTH_EXCEEDED
state	9426	begin apogee
9430	-0.25	0.0	990.2	9.0	907	9589	0.47	0.00	152.60	1.247	6	0.135	0.000	2666	2297	2839
9590	end apogee: CONTROL_FINISHED_OK
state	9590	begin climb
9591	0.63	194.6	994.1	0.0	923	9771	0.90	0.00	170.73	1.206	6	0.101	0.000	2945	2296	2046
10079	0.63	194.6	940.8	12.7	971	10082	0.00	1.27	0.00	0.000	4	0.000	0.045	2950	1370	2035
10126	0.63	194.6	934.7	12.2	975	10133	0.00	1.27	0.00	0.000	6	0.000	0.044	2950	2284	2035
10443	0.63	194.6	893.2	13.7	1006	10447	0.00	1.23	0.00	0.000	4	0.000	0.044	2955	1378	2033
10485	0.63	194.6	887.6	12.6	1010	10489	0.00	1.23	0.00	0.000	6	0.000	0.046	2955	2277	2033
10806	0.63	194.6	845.4	12.6	1041	10807	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2277	2032
11117	0.63	194.6	805.1	13.2	1071	11117	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2277	2031
11428	0.63	194.6	765.2	13.2	1101	11429	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2278	2030
11737	0.63	194.6	725.3	12.8	1131	11738	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2277	2029
12048	0.63	194.6	684.6	12.9	1161	12051	0.00	1.20	0.00	0.000	4	0.000	0.044	2961	1382	2029
12095	0.63	194.6	678.8	11.9	1165	12103	0.00	1.23	0.00	0.000	6	0.000	0.044	2961	2277	2029
12412	0.63	194.6	639.1	12.7	1196	12413	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2277	2028
12722	0.63	194.6	599.5	12.7	1226	12723	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2277	2028
13032	0.63	194.6	560.2	12.7	1256	13033	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2277	2028
13343	0.63	194.6	522.5	11.8	1286	13343	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2277	2028
13653	0.63	194.6	484.7	12.4	1316	13654	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2277	2028
13963	0.63	194.6	447.6	11.7	1346	13964	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2277	2027
14273	0.63	194.6	409.6	12.4	1376	14277	0.00	1.20	0.00	0.000	4	0.000	0.043	2966	1377	2028
14310	0.63	194.6	405.1	12.1	1379	14317	0.00	1.23	0.00	0.000	6	0.000	0.043	2966	2278	2028
14627	0.63	194.6	363.7	13.1	1410	14630	0.00	1.20	0.00	0.000	4	0.000	0.041	2971	1377	2028
14670	0.63	194.6	358.3	12.3	1414	14673	0.00	1.20	0.00	0.000	6	0.000	0.043	2971	2277	2028
14991	0.63	194.6	316.2	13.1	1445	14994	0.00	1.60	0.00	0.000	4	0.000	0.052	2971	3170	2028
15023	0.63	194.6	311.9	13.7	1448	15026	0.00	1.58	0.00	0.000	6	0.000	0.036	2978	2274	2027
15345	0.63	194.6	268.0	14.1	1479	15348	0.00	1.17	0.00	0.000	4	0.000	0.041	2984	1365	2027
15370	0.63	194.6	264.2	15.4	1481	15379	0.12	1.25	0.00	0.000	6	0.150	0.041	2947	2283	2027
15686	0.63	194.6	229.4	10.7	1512	15687	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2283	2027
15997	0.63	194.6	197.0	10.2	1542	15998	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2283	2028
16307	0.63	194.6	166.0	9.4	1572	16308	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2284	2028
16617	0.63	194.6	136.0	10.7	1602	16618	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2283	2029
16928	0.63	194.6	107.0	8.3	1632	16929	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2283	2030
17238	0.63	194.6	80.2	8.7	1662	17241	0.00	1.20	0.00	0.000	4	0.000	0.037	2952	1370	2031
17328	0.63	194.6	72.5	8.0	1670	17335	0.00	1.23	0.00	0.000	6	0.000	0.037	2952	2281	2031
17520	0.63	196.2	57.2	7.5	1689	17523	0.00	1.60	0.00	0.000	4	0.000	0.046	2952	3176	2032
17578	0.66	218.3	53.0	6.9	1694	17600	0.00	1.55	17.77	0.534	6	0.000	0.030	2959	2272	1948
17795	0.71	265.4	40.1	6.3	1715	17834	0.00	1.62	36.28	0.538	4	0.000	0.044	2959	3176	1758
17890	0.79	324.1	34.3	6.0	1723	17940	0.10	1.58	45.10	0.528	6	0.074	0.030	3015	2270	1518
18133	0.87	391.2	17.6	5.7	1746	18191	0.00	1.20	50.12	0.512	4	0.000	0.035	3019	1369	1244
18298	0.92	435.3	7.6	6.3	1761	18335	0.00	1.20	33.45	0.493	6	0.000	0.034	3018	2277	1065
18372	end climb: SURFACE_DEPTH_REACHED
state	18372	begin surface coast
18414	end surface coast: CONTROL_FINISHED_OK
state	18414	begin surface