Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 215 * 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 215 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 850

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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -17392.867 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 850 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 -17392.867

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 32 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 36 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 215 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 032825,2842.890,-8838.210,39,1.4,39,-0.3 TGT_NAME NEW0617E

_CALLS 1 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 8 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.145,0.221

_SM_DEPTHo 1.55 KALMAN_X -54374.3,1174.8,130.3,72314.5,-2723.9

_SM_ANGLEo -60.5 KALMAN_Y -189723.3,-116.6,105.5,216668.1,-6342.0

GPS2 033532,2842.892,-8838.253,15,1.6,15,-0.3 MHEAD_RNG_PITCHd_Wd 281.9,10997,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 984

Post-dive calculations and measurements:

FINISH 0.7,1.023471 ALTIM_BOTTOM_PING 910.6,42.8

SM_CCo 17392,75.22,0.489,0,0,494,575.22 _24V_AH 23.0,37.967

SM_GC 1.43,0.00,0.00,75.22,0.000,0.000,0.489,194,2393,494,-7.97,0.51,575.22 _10V_AH 10.6,52.856

IRIDIUM_FIX 2833.46,-8836.47,290999,222227 DATA_FILE_SIZE 88393,1670

TT8_MAMPS 0.050622 CAP_FILE_SIZE 161423,0

HUMID 1368 CFSIZE 260165632,235864064

INTERNAL_PRESSURE 9.22887 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 23.20 CURRENT 0.075,212.9,1

XPDR_PINGS 3 GPS 060710,082824,2842.847,-8841.455,27,1.4,44,-0.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 259 121.19 SBE_CT 1140 24 629.83

Roll_motor 78 64 116.92 SBE_O2 1223 19 534.55

VBD_pump_during_apogee 490 1206 13606.87 WL_BBFL2VMT 3753 105 9064.59

VBD_pump_during_surface 75 488 845.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 74.52 nil 0 0 0.00

Iridium_during_connect 31 160 116.03 nil 0 0 0.00

Iridium_during_xfer 241 223 1240.28

Transponder_ping 3 420 28.98

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.05

TT8 0 19 0.00

LPSleep 11630 2 270.00

TT8_Active 630 19 132.38

TT8_Sampling 4978 39 2100.47

TT8_CF8 623 45 302.65

TT8_Kalman 33 81 28.91

Analog_circuits 2049 12 260.70

GPS_charging 0 0 0.00

Compass 4452 8 377.59

RAFOS 0 0 0.00

Transponder 19 30 6.21

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

14 -0.63 -194.6 0.0 0.0 0 107 0.00 0.00 -91.78 0.000 2 0.000 0.000 194 2391 3003

109 -0.63 -194.6 3.3 -3.7 9 136 10.68 1.45 -13.30 0.000 4 0.259 0.064 2531 3260 3634

376 -0.63 -194.6 61.5 -15.2 33 384 0.00 1.48 0.00 0.000 6 0.000 0.028 2536 2356 3635

569 -0.63 -194.6 88.8 -13.2 52 572 0.00 1.50 0.00 0.000 4 0.000 0.045 2531 3246 3637

687 -0.63 -194.6 105.1 -12.2 63 689 0.00 1.40 0.00 0.000 6 0.000 0.028 2535 2363 3637

1008 -0.63 -194.6 147.3 -13.2 94 1011 0.00 1.23 0.00 0.000 4 0.000 0.036 2537 1493 3638

1077 -0.63 -194.6 156.1 -12.6 100 1084 0.00 1.25 0.00 0.000 6 0.000 0.037 2533 2359 3638

1394 -0.63 -194.6 195.2 -12.3 131 1397 0.00 1.25 0.00 0.000 4 0.000 0.037 2532 1482 3638

1440 -0.63 -194.6 200.8 -10.8 135 1449 0.00 1.33 0.00 0.000 6 0.000 0.036 2527 2390 3637

1758 -0.63 -194.6 236.0 -11.3 166 1761 0.00 1.27 0.00 0.000 4 0.000 0.038 2527 1504 3636

1804 -0.63 -194.6 241.4 -10.6 170 1812 0.00 1.27 0.00 0.000 6 0.000 0.038 2521 2369 3636

2123 -0.63 -194.6 278.8 -12.0 201 2123 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2369 3634

2432 -0.63 -194.6 315.9 -11.6 231 2435 0.00 1.27 0.00 0.000 4 0.000 0.038 2520 1487 3633

2507 -0.63 -194.6 324.7 -11.1 238 2509 0.00 1.30 0.00 0.000 6 0.000 0.040 2515 2380 3632

2828 -0.63 -194.6 363.3 -12.1 269 2829 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2381 3630

3138 -0.63 -194.6 401.2 -12.7 299 3141 0.00 1.27 0.00 0.000 4 0.000 0.039 2515 1501 3628

3201 -0.63 -194.6 409.0 -11.7 305 3205 0.10 1.27 0.00 0.000 6 0.141 0.041 2541 2365 3628

3523 -0.63 -194.6 441.7 -9.8 336 3523 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2365 3626

3833 -0.63 -194.6 473.0 -9.8 366 3834 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2365 3624

4143 -0.63 -194.6 503.7 -10.0 396 4146 0.00 1.27 0.00 0.000 4 0.000 0.041 2541 1490 3621

4179 -0.63 -194.6 507.3 -10.0 399 4188 0.00 1.33 0.00 0.000 6 0.000 0.043 2537 2388 3621

4497 -0.63 -194.6 539.3 -10.2 430 4500 0.00 1.30 0.00 0.000 4 0.000 0.043 2537 1500 3619

4549 -0.63 -194.6 544.8 -10.3 435 4553 0.00 1.27 0.00 0.000 6 0.000 0.044 2532 2361 3618

4872 -0.63 -194.6 578.7 -10.5 466 4873 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2361 3616

5181 -0.63 -194.6 610.4 -10.6 496 5184 0.00 1.55 0.00 0.000 4 0.000 0.057 2524 3254 3614

5213 -0.63 -194.6 613.7 -10.9 499 5216 0.00 1.45 0.00 0.000 6 0.000 0.035 2525 2370 3614

5535 -0.63 -194.6 646.6 -10.3 530 5538 0.00 1.27 0.00 0.000 4 0.000 0.044 2524 1494 3612

5588 -0.63 -194.6 652.1 -9.5 535 5591 0.00 1.33 0.00 0.000 6 0.000 0.046 2518 2385 3612

5910 -0.63 -194.6 685.3 -10.2 566 5913 0.00 1.33 0.00 0.000 4 0.000 0.044 2518 1486 3610

5952 -0.63 -194.6 689.9 -11.1 570 5955 0.08 1.30 0.00 0.000 6 0.150 0.047 2537 2359 3609

6274 -0.63 -194.6 719.4 -9.2 601 6274 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2359 3608

6583 -0.63 -194.6 749.1 -9.5 631 6584 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2359 3606

6894 -0.63 -194.6 778.0 -9.0 661 6895 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2360 3604

7204 -0.63 -194.6 806.2 -9.3 691 7205 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2359 3603

7515 -0.63 -194.6 834.2 -9.6 721 7516 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2359 3602

7826 -0.63 -194.6 862.0 -9.2 751 7829 0.00 1.27 0.00 0.000 4 0.000 0.047 2537 1500 3600

7868 -0.63 -194.6 865.9 -9.3 755 7871 0.00 1.33 0.00 0.000 6 0.000 0.049 2534 2378 3600

8189 -0.63 -194.6 895.2 -9.4 786 8190 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2378 3598

8499 -0.63 -194.6 923.6 -8.8 816 8502 0.00 1.33 0.00 0.000 4 0.000 0.047 2533 1489 3597

8557 -0.63 -194.6 929.0 -9.2 821 8564 0.00 1.35 0.00 0.000 6 0.000 0.048 2529 2380 3597

8613 end dive: BOTTOM_OBSTACLE_DETECTED

state 8613 begin apogee

8618 -0.25 0.0 934.2 9.5 827 8776 0.45 0.00 151.98 1.206 6 0.138 0.000 2661 2292 2839

8777 end apogee: CONTROL_FINISHED_OK

state 8777 begin climb

8779 0.63 194.6 939.2 0.0 843 8950 0.93 0.00 167.45 1.177 6 0.106 0.000 2945 2293 2046

9257 0.63 194.6 890.6 11.9 890 9259 0.00 1.27 0.00 0.000 4 0.000 0.050 2951 1373 2036

9331 0.63 194.6 881.9 11.6 897 9334 0.00 1.23 0.00 0.000 6 0.000 0.044 2950 2267 2035

9654 0.63 194.6 843.1 11.7 928 9654 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2268 2033

9962 0.63 194.6 806.8 11.5 958 9965 0.00 1.20 0.00 0.000 4 0.000 0.044 2956 1369 2032

9987 0.63 194.6 803.8 11.9 960 9995 0.00 1.27 0.00 0.000 6 0.000 0.044 2955 2285 2032

10305 0.63 194.6 765.3 11.8 991 10306 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2285 2031

10614 0.63 194.6 728.2 12.0 1021 10615 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2285 2031

10925 0.63 194.6 691.6 11.9 1051 10928 0.00 1.25 0.00 0.000 4 0.000 0.044 2961 1364 2030

10978 0.63 194.6 685.5 11.7 1056 10981 0.00 1.23 0.00 0.000 6 0.000 0.045 2961 2273 2029

11301 0.63 194.6 647.1 11.9 1087 11302 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2273 2029

11610 0.63 194.6 610.1 11.7 1117 11613 0.00 1.20 0.00 0.000 4 0.000 0.044 2966 1375 2028

11652 0.63 194.6 605.3 12.0 1121 11655 0.00 1.23 0.00 0.000 6 0.000 0.044 2967 2278 2028

11975 0.63 194.6 567.5 11.6 1152 11978 0.00 1.60 0.00 0.000 4 0.000 0.054 2966 3173 2028

12006 0.63 194.6 563.5 12.3 1155 12009 0.00 1.60 0.00 0.000 6 0.000 0.038 2973 2271 2027

12329 0.63 194.6 523.7 12.8 1186 12332 0.00 1.17 0.00 0.000 4 0.000 0.044 2979 1372 2027

12386 0.63 194.6 516.2 12.9 1191 12395 0.12 1.25 0.00 0.000 6 0.151 0.043 2949 2279 2027

12702 0.63 194.6 481.9 10.8 1222 12703 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2279 2027

13013 0.63 194.6 448.6 10.8 1252 13016 0.00 1.23 0.00 0.000 4 0.000 0.042 2952 1368 2027

13045 0.63 194.6 445.2 9.5 1255 13048 0.00 1.23 0.00 0.000 6 0.000 0.044 2952 2278 2027

13365 0.63 194.6 409.9 10.7 1286 13366 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2279 2027

13677 0.63 194.6 374.5 11.5 1316 13680 0.00 1.23 0.00 0.000 4 0.000 0.041 2957 1360 2027

13723 0.63 194.6 369.0 11.3 1320 13731 0.00 1.25 0.00 0.000 6 0.000 0.041 2957 2279 2027

14041 0.63 194.6 332.9 11.3 1351 14044 0.00 1.23 0.00 0.000 4 0.000 0.041 2963 1358 2027

14077 0.63 194.6 329.0 10.7 1354 14084 0.00 1.23 0.00 0.000 6 0.000 0.041 2963 2277 2027

14394 0.63 194.6 293.2 11.7 1385 14395 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2277 2027

14704 0.63 194.6 256.9 11.2 1415 14707 0.00 1.20 0.00 0.000 4 0.000 0.040 2968 1370 2027

14767 0.63 194.6 249.3 11.2 1421 14771 0.00 1.20 0.00 0.000 6 0.000 0.041 2968 2275 2027

15090 0.63 194.6 210.7 12.5 1452 15091 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2275 2027

15399 0.63 194.6 174.7 11.4 1482 15402 0.00 1.20 0.00 0.000 4 0.000 0.040 2973 1363 2028

15431 0.63 194.6 171.3 10.4 1485 15434 0.00 1.20 0.00 0.000 6 0.000 0.041 2973 2273 2028

15751 0.63 194.6 134.3 10.7 1516 15755 0.00 1.20 0.00 0.000 4 0.000 0.038 2979 1357 2028

15783 0.63 194.6 130.9 9.9 1519 15786 0.00 1.20 0.00 0.000 6 0.000 0.038 2979 2270 2029

16104 0.63 194.6 94.6 11.2 1550 16107 0.00 1.62 0.00 0.000 4 0.000 0.048 2979 3172 2029

16136 0.63 194.6 90.7 12.8 1553 16139 0.10 1.55 0.00 0.000 6 0.132 0.031 2954 2274 2029

16332 0.63 194.6 74.3 8.3 1572 16335 0.00 1.17 0.00 0.000 4 0.000 0.037 2958 1357 2030

16391 0.64 204.1 69.9 7.3 1577 16401 0.00 1.23 6.40 0.469 6 0.000 0.038 2958 2282 2008

16594 0.65 212.7 54.0 7.3 1597 16606 0.00 0.00 8.75 0.493 6 0.000 0.000 2957 2282 1972

16791 0.71 266.6 41.2 6.1 1616 16839 0.00 1.62 41.72 0.542 4 0.000 0.045 2958 3170 1751

16864 0.74 287.5 36.6 7.0 1622 16885 0.00 1.58 17.25 0.510 6 0.000 0.029 2964 2270 1666

17068 0.90 418.0 26.1 4.1 1642 17169 0.17 1.15 96.80 0.522 4 0.063 0.034 3057 1360 1136

17223 0.90 418.0 15.5 8.6 1655 17226 0.00 1.23 0.00 0.000 6 0.000 0.035 3057 2274 1132

17345 end climb: SURFACE_DEPTH_REACHED

state 17345 begin surface coast

17377 end surface coast: CONTROL_FINISHED_OK

state 17377 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	215	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	850
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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-17392.867	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	032825,2842.890,-8838.210,39,1.4,39,-0.3	TGT_NAME	NEW0617E
_CALLS	1	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	8	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.145,0.221
_SM_DEPTHo	1.55	KALMAN_X	-54374.3,1174.8,130.3,72314.5,-2723.9
_SM_ANGLEo	-60.5	KALMAN_Y	-189723.3,-116.6,105.5,216668.1,-6342.0
GPS2	033532,2842.892,-8838.253,15,1.6,15,-0.3	MHEAD_RNG_PITCHd_Wd	281.9,10997,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	984

FINISH	0.7,1.023471	ALTIM_BOTTOM_PING	910.6,42.8
SM_CCo	17392,75.22,0.489,0,0,494,575.22	_24V_AH	23.0,37.967
SM_GC	1.43,0.00,0.00,75.22,0.000,0.000,0.489,194,2393,494,-7.97,0.51,575.22	_10V_AH	10.6,52.856
IRIDIUM_FIX	2833.46,-8836.47,290999,222227	DATA_FILE_SIZE	88393,1670
TT8_MAMPS	0.050622	CAP_FILE_SIZE	161423,0
HUMID	1368	CFSIZE	260165632,235864064
INTERNAL_PRESSURE	9.22887	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	23.20	CURRENT	0.075,212.9,1
XPDR_PINGS	3	GPS	060710,082824,2842.847,-8841.455,27,1.4,44,-0.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	259	121.19	SBE_CT	1140	24	629.83
Roll_motor	78	64	116.92	SBE_O2	1223	19	534.55
VBD_pump_during_apogee	490	1206	13606.87	WL_BBFL2VMT	3753	105	9064.59
VBD_pump_during_surface	75	488	845.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	74.52	nil	0	0	0.00
Iridium_during_connect	31	160	116.03	nil	0	0	0.00
Iridium_during_xfer	241	223	1240.28
Transponder_ping	3	420	28.98
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.05
TT8	0	19	0.00
LPSleep	11630	2	270.00
TT8_Active	630	19	132.38
TT8_Sampling	4978	39	2100.47
TT8_CF8	623	45	302.65
TT8_Kalman	33	81	28.91
Analog_circuits	2049	12	260.70
GPS_charging	0	0	0.00
Compass	4452	8	377.59
RAFOS	0	0	0.00
Transponder	19	30	6.21

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
14	-0.63	-194.6	0.0	0.0	0	107	0.00	0.00	-91.78	0.000	2	0.000	0.000	194	2391	3003
109	-0.63	-194.6	3.3	-3.7	9	136	10.68	1.45	-13.30	0.000	4	0.259	0.064	2531	3260	3634
376	-0.63	-194.6	61.5	-15.2	33	384	0.00	1.48	0.00	0.000	6	0.000	0.028	2536	2356	3635
569	-0.63	-194.6	88.8	-13.2	52	572	0.00	1.50	0.00	0.000	4	0.000	0.045	2531	3246	3637
687	-0.63	-194.6	105.1	-12.2	63	689	0.00	1.40	0.00	0.000	6	0.000	0.028	2535	2363	3637
1008	-0.63	-194.6	147.3	-13.2	94	1011	0.00	1.23	0.00	0.000	4	0.000	0.036	2537	1493	3638
1077	-0.63	-194.6	156.1	-12.6	100	1084	0.00	1.25	0.00	0.000	6	0.000	0.037	2533	2359	3638
1394	-0.63	-194.6	195.2	-12.3	131	1397	0.00	1.25	0.00	0.000	4	0.000	0.037	2532	1482	3638
1440	-0.63	-194.6	200.8	-10.8	135	1449	0.00	1.33	0.00	0.000	6	0.000	0.036	2527	2390	3637
1758	-0.63	-194.6	236.0	-11.3	166	1761	0.00	1.27	0.00	0.000	4	0.000	0.038	2527	1504	3636
1804	-0.63	-194.6	241.4	-10.6	170	1812	0.00	1.27	0.00	0.000	6	0.000	0.038	2521	2369	3636
2123	-0.63	-194.6	278.8	-12.0	201	2123	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2369	3634
2432	-0.63	-194.6	315.9	-11.6	231	2435	0.00	1.27	0.00	0.000	4	0.000	0.038	2520	1487	3633
2507	-0.63	-194.6	324.7	-11.1	238	2509	0.00	1.30	0.00	0.000	6	0.000	0.040	2515	2380	3632
2828	-0.63	-194.6	363.3	-12.1	269	2829	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2381	3630
3138	-0.63	-194.6	401.2	-12.7	299	3141	0.00	1.27	0.00	0.000	4	0.000	0.039	2515	1501	3628
3201	-0.63	-194.6	409.0	-11.7	305	3205	0.10	1.27	0.00	0.000	6	0.141	0.041	2541	2365	3628
3523	-0.63	-194.6	441.7	-9.8	336	3523	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2365	3626
3833	-0.63	-194.6	473.0	-9.8	366	3834	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2365	3624
4143	-0.63	-194.6	503.7	-10.0	396	4146	0.00	1.27	0.00	0.000	4	0.000	0.041	2541	1490	3621
4179	-0.63	-194.6	507.3	-10.0	399	4188	0.00	1.33	0.00	0.000	6	0.000	0.043	2537	2388	3621
4497	-0.63	-194.6	539.3	-10.2	430	4500	0.00	1.30	0.00	0.000	4	0.000	0.043	2537	1500	3619
4549	-0.63	-194.6	544.8	-10.3	435	4553	0.00	1.27	0.00	0.000	6	0.000	0.044	2532	2361	3618
4872	-0.63	-194.6	578.7	-10.5	466	4873	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2361	3616
5181	-0.63	-194.6	610.4	-10.6	496	5184	0.00	1.55	0.00	0.000	4	0.000	0.057	2524	3254	3614
5213	-0.63	-194.6	613.7	-10.9	499	5216	0.00	1.45	0.00	0.000	6	0.000	0.035	2525	2370	3614
5535	-0.63	-194.6	646.6	-10.3	530	5538	0.00	1.27	0.00	0.000	4	0.000	0.044	2524	1494	3612
5588	-0.63	-194.6	652.1	-9.5	535	5591	0.00	1.33	0.00	0.000	6	0.000	0.046	2518	2385	3612
5910	-0.63	-194.6	685.3	-10.2	566	5913	0.00	1.33	0.00	0.000	4	0.000	0.044	2518	1486	3610
5952	-0.63	-194.6	689.9	-11.1	570	5955	0.08	1.30	0.00	0.000	6	0.150	0.047	2537	2359	3609
6274	-0.63	-194.6	719.4	-9.2	601	6274	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2359	3608
6583	-0.63	-194.6	749.1	-9.5	631	6584	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2359	3606
6894	-0.63	-194.6	778.0	-9.0	661	6895	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2360	3604
7204	-0.63	-194.6	806.2	-9.3	691	7205	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2359	3603
7515	-0.63	-194.6	834.2	-9.6	721	7516	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2359	3602
7826	-0.63	-194.6	862.0	-9.2	751	7829	0.00	1.27	0.00	0.000	4	0.000	0.047	2537	1500	3600
7868	-0.63	-194.6	865.9	-9.3	755	7871	0.00	1.33	0.00	0.000	6	0.000	0.049	2534	2378	3600
8189	-0.63	-194.6	895.2	-9.4	786	8190	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2378	3598
8499	-0.63	-194.6	923.6	-8.8	816	8502	0.00	1.33	0.00	0.000	4	0.000	0.047	2533	1489	3597
8557	-0.63	-194.6	929.0	-9.2	821	8564	0.00	1.35	0.00	0.000	6	0.000	0.048	2529	2380	3597
8613	end dive: BOTTOM_OBSTACLE_DETECTED
state	8613	begin apogee
8618	-0.25	0.0	934.2	9.5	827	8776	0.45	0.00	151.98	1.206	6	0.138	0.000	2661	2292	2839
8777	end apogee: CONTROL_FINISHED_OK
state	8777	begin climb
8779	0.63	194.6	939.2	0.0	843	8950	0.93	0.00	167.45	1.177	6	0.106	0.000	2945	2293	2046
9257	0.63	194.6	890.6	11.9	890	9259	0.00	1.27	0.00	0.000	4	0.000	0.050	2951	1373	2036
9331	0.63	194.6	881.9	11.6	897	9334	0.00	1.23	0.00	0.000	6	0.000	0.044	2950	2267	2035
9654	0.63	194.6	843.1	11.7	928	9654	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2268	2033
9962	0.63	194.6	806.8	11.5	958	9965	0.00	1.20	0.00	0.000	4	0.000	0.044	2956	1369	2032
9987	0.63	194.6	803.8	11.9	960	9995	0.00	1.27	0.00	0.000	6	0.000	0.044	2955	2285	2032
10305	0.63	194.6	765.3	11.8	991	10306	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2285	2031
10614	0.63	194.6	728.2	12.0	1021	10615	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2285	2031
10925	0.63	194.6	691.6	11.9	1051	10928	0.00	1.25	0.00	0.000	4	0.000	0.044	2961	1364	2030
10978	0.63	194.6	685.5	11.7	1056	10981	0.00	1.23	0.00	0.000	6	0.000	0.045	2961	2273	2029
11301	0.63	194.6	647.1	11.9	1087	11302	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2273	2029
11610	0.63	194.6	610.1	11.7	1117	11613	0.00	1.20	0.00	0.000	4	0.000	0.044	2966	1375	2028
11652	0.63	194.6	605.3	12.0	1121	11655	0.00	1.23	0.00	0.000	6	0.000	0.044	2967	2278	2028
11975	0.63	194.6	567.5	11.6	1152	11978	0.00	1.60	0.00	0.000	4	0.000	0.054	2966	3173	2028
12006	0.63	194.6	563.5	12.3	1155	12009	0.00	1.60	0.00	0.000	6	0.000	0.038	2973	2271	2027
12329	0.63	194.6	523.7	12.8	1186	12332	0.00	1.17	0.00	0.000	4	0.000	0.044	2979	1372	2027
12386	0.63	194.6	516.2	12.9	1191	12395	0.12	1.25	0.00	0.000	6	0.151	0.043	2949	2279	2027
12702	0.63	194.6	481.9	10.8	1222	12703	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2279	2027
13013	0.63	194.6	448.6	10.8	1252	13016	0.00	1.23	0.00	0.000	4	0.000	0.042	2952	1368	2027
13045	0.63	194.6	445.2	9.5	1255	13048	0.00	1.23	0.00	0.000	6	0.000	0.044	2952	2278	2027
13365	0.63	194.6	409.9	10.7	1286	13366	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2279	2027
13677	0.63	194.6	374.5	11.5	1316	13680	0.00	1.23	0.00	0.000	4	0.000	0.041	2957	1360	2027
13723	0.63	194.6	369.0	11.3	1320	13731	0.00	1.25	0.00	0.000	6	0.000	0.041	2957	2279	2027
14041	0.63	194.6	332.9	11.3	1351	14044	0.00	1.23	0.00	0.000	4	0.000	0.041	2963	1358	2027
14077	0.63	194.6	329.0	10.7	1354	14084	0.00	1.23	0.00	0.000	6	0.000	0.041	2963	2277	2027
14394	0.63	194.6	293.2	11.7	1385	14395	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2277	2027
14704	0.63	194.6	256.9	11.2	1415	14707	0.00	1.20	0.00	0.000	4	0.000	0.040	2968	1370	2027
14767	0.63	194.6	249.3	11.2	1421	14771	0.00	1.20	0.00	0.000	6	0.000	0.041	2968	2275	2027
15090	0.63	194.6	210.7	12.5	1452	15091	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2275	2027
15399	0.63	194.6	174.7	11.4	1482	15402	0.00	1.20	0.00	0.000	4	0.000	0.040	2973	1363	2028
15431	0.63	194.6	171.3	10.4	1485	15434	0.00	1.20	0.00	0.000	6	0.000	0.041	2973	2273	2028
15751	0.63	194.6	134.3	10.7	1516	15755	0.00	1.20	0.00	0.000	4	0.000	0.038	2979	1357	2028
15783	0.63	194.6	130.9	9.9	1519	15786	0.00	1.20	0.00	0.000	6	0.000	0.038	2979	2270	2029
16104	0.63	194.6	94.6	11.2	1550	16107	0.00	1.62	0.00	0.000	4	0.000	0.048	2979	3172	2029
16136	0.63	194.6	90.7	12.8	1553	16139	0.10	1.55	0.00	0.000	6	0.132	0.031	2954	2274	2029
16332	0.63	194.6	74.3	8.3	1572	16335	0.00	1.17	0.00	0.000	4	0.000	0.037	2958	1357	2030
16391	0.64	204.1	69.9	7.3	1577	16401	0.00	1.23	6.40	0.469	6	0.000	0.038	2958	2282	2008
16594	0.65	212.7	54.0	7.3	1597	16606	0.00	0.00	8.75	0.493	6	0.000	0.000	2957	2282	1972
16791	0.71	266.6	41.2	6.1	1616	16839	0.00	1.62	41.72	0.542	4	0.000	0.045	2958	3170	1751
16864	0.74	287.5	36.6	7.0	1622	16885	0.00	1.58	17.25	0.510	6	0.000	0.029	2964	2270	1666
17068	0.90	418.0	26.1	4.1	1642	17169	0.17	1.15	96.80	0.522	4	0.063	0.034	3057	1360	1136
17223	0.90	418.0	15.5	8.6	1655	17226	0.00	1.23	0.00	0.000	6	0.000	0.035	3057	2274	1132
17345	end climb: SURFACE_DEPTH_REACHED
state	17345	begin surface coast
17377	end surface coast: CONTROL_FINISHED_OK
state	17377	begin surface