Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 219 * 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 219 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -17476.947 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 -17476.947

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 28 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 30 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 219 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 225937,2843.042,-8838.101,29,1.4,29,-0.3 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.229,0.133

_SM_DEPTHo 1.47 KALMAN_X -58558.9,716.5,190.4,77151.1,-4240.9

_SM_ANGLEo -56.7 KALMAN_Y -208845.9,2072.2,550.0,233456.6,-12967.6

GPS2 230632,2843.082,-8838.115,13,1.6,13,-0.3 MHEAD_RNG_PITCHd_Wd 75.6,19699,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 977

Post-dive calculations and measurements:

FINISH 0.6,1.023190 ALTIM_BOTTOM_PING 910.3,42.6

SM_CCo 17261,87.88,0.490,0,0,495,575.22 _24V_AH 22.9,38.605

SM_GC 1.45,0.00,0.00,87.88,0.000,0.000,0.490,197,2375,495,-7.96,0.00,575.22 _10V_AH 10.6,53.688

IRIDIUM_FIX 2835.91,-8841.38,300999,181813 DATA_FILE_SIZE 85028,1658

TT8_MAMPS 0.050622 CAP_FILE_SIZE 154590,0

HUMID 1344 CFSIZE 260165632,235540480

INTERNAL_PRESSURE 9.23864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.20 CURRENT 0.050,184.3,1

XPDR_PINGS 4 GPS 070710,035724,2843.266,-8835.349,25,1.1,42,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 261 120.99 SBE_CT 1132 24 622.48

Roll_motor 70 72 116.98 SBE_O2 1211 19 526.91

VBD_pump_during_apogee 462 1207 12794.67 WL_BBFL2VMT 3725 105 8958.68

VBD_pump_during_surface 87 490 986.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 73.29 nil 0 0 0.00

Iridium_during_connect 25 160 94.20 nil 0 0 0.00

Iridium_during_xfer 238 223 1216.80

Transponder_ping 3 420 31.26

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.29

TT8 0 19 0.00

LPSleep 11645 2 270.35

TT8_Active 623 19 130.85

TT8_Sampling 4869 39 2054.42

TT8_CF8 596 45 289.36

TT8_Kalman 33 81 28.90

Analog_circuits 1995 12 253.81

GPS_charging 0 0 0.00

Compass 4354 8 369.30

RAFOS 0 0 0.00

Transponder 19 30 6.22

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 0 109 0.00 0.00 -93.55 0.000 2 0.000 0.000 193 2388 3059

111 -0.63 -194.6 3.5 -3.8 9 137 10.75 1.52 -11.88 0.000 4 0.262 0.066 2531 3272 3635

217 -0.63 -194.6 33.7 -25.9 18 225 0.00 1.48 0.00 0.000 6 0.000 0.028 2535 2363 3636

408 -0.63 -194.6 67.4 -15.6 37 411 0.00 1.25 0.00 0.000 4 0.000 0.036 2537 1474 3637

434 -0.63 -194.6 71.3 -15.3 39 441 0.00 1.33 0.00 0.000 6 0.000 0.036 2533 2378 3637

626 -0.63 -194.6 100.3 -15.2 58 627 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2378 3639

936 -0.63 -194.6 141.0 -13.1 88 939 0.00 1.27 0.00 0.000 4 0.000 0.036 2533 1485 3640

979 -0.63 -194.6 146.6 -13.2 92 982 0.00 1.27 0.00 0.000 6 0.000 0.036 2527 2369 3640

1302 -0.63 -194.6 189.1 -13.2 123 1302 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2369 3640

1610 -0.63 -194.6 228.5 -12.4 153 1613 0.00 1.48 0.00 0.000 4 0.000 0.047 2520 3253 3639

1643 -0.63 -194.6 232.5 -12.4 156 1645 0.00 1.42 0.00 0.000 6 0.000 0.029 2520 2359 3639

1964 -0.63 -194.6 272.4 -12.0 187 1967 0.00 1.52 0.00 0.000 4 0.000 0.047 2513 3259 3638

2028 -0.63 -194.6 280.1 -12.3 193 2031 0.08 1.42 0.00 0.000 6 0.142 0.029 2537 2362 3637

2348 -0.63 -194.6 313.5 -10.5 224 2349 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2362 3636

2659 -0.63 -194.6 344.6 -9.9 254 2660 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2362 3634

2970 -0.63 -194.6 376.5 -10.1 284 2973 0.00 1.23 0.00 0.000 4 0.000 0.041 2538 1506 3631

3038 -0.63 -194.6 383.5 -10.2 290 3046 0.00 1.30 0.00 0.000 6 0.000 0.040 2534 2384 3631

3356 -0.63 -194.6 416.7 -10.6 321 3357 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2384 3629

3665 -0.63 -194.6 449.7 -10.6 351 3668 0.00 1.27 0.00 0.000 4 0.000 0.041 2534 1511 3626

3718 -0.63 -194.6 455.6 -11.0 356 3721 0.00 1.25 0.00 0.000 6 0.000 0.041 2529 2361 3626

4040 -0.63 -194.6 490.5 -11.0 387 4041 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2361 3624

4350 -0.63 -194.6 523.9 -10.2 417 4350 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2361 3621

4660 -0.63 -194.6 556.5 -10.4 447 4660 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2361 3619

4970 -0.63 -194.6 587.9 -10.1 477 4971 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2361 3617

5281 -0.63 -194.6 618.4 -9.1 507 5284 0.00 1.25 0.00 0.000 4 0.000 0.044 2528 1512 3615

5334 -0.63 -194.6 623.7 -10.0 512 5337 0.00 1.27 0.00 0.000 6 0.000 0.045 2523 2366 3615

5656 -0.63 -194.6 655.1 -9.6 543 5659 0.00 1.27 0.00 0.000 4 0.000 0.044 2523 1509 3614

5698 -0.63 -194.6 659.4 -9.6 547 5701 0.00 1.30 0.00 0.000 6 0.000 0.045 2517 2377 3614

6021 -0.63 -194.6 692.4 -10.3 578 6022 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2378 3611

6329 -0.63 -194.6 724.5 -10.1 608 6332 0.00 1.30 0.00 0.000 4 0.000 0.045 2517 1501 3609

6361 -0.63 -194.6 727.8 -10.5 611 6365 0.08 1.30 0.00 0.000 6 0.150 0.048 2536 2369 3609

6682 -0.63 -194.6 756.6 -8.8 642 6683 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2369 3608

6993 -0.63 -194.6 784.3 -8.3 672 6994 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2369 3606

7303 -0.63 -194.6 811.9 -9.2 702 7306 0.00 1.27 0.00 0.000 4 0.000 0.048 2536 1516 3604

7361 -0.63 -194.6 817.4 -9.0 707 7368 0.00 1.30 0.00 0.000 6 0.000 0.047 2532 2376 3604

7679 -0.63 -194.6 846.2 -8.7 738 7682 0.00 1.30 0.00 0.000 4 0.000 0.047 2532 1508 3602

7714 -0.63 -194.6 849.6 -9.3 741 7726 0.00 1.35 0.00 0.000 6 0.000 0.048 2528 2390 3602

8031 -0.63 -194.6 878.7 -9.5 772 8032 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2390 3602

8341 -0.63 -194.6 906.9 -8.8 802 8344 0.00 1.33 0.00 0.000 4 0.000 0.047 2527 1507 3600

8384 -0.63 -194.6 910.7 -9.7 806 8387 0.00 1.27 0.00 0.000 6 0.000 0.049 2522 2357 3600

8631 end dive: BOTTOM_OBSTACLE_DETECTED

state 8631 begin apogee

8636 -0.25 0.0 932.9 9.3 830 8794 0.47 0.00 151.90 1.207 6 0.137 0.000 2662 2309 2839

8795 end apogee: CONTROL_FINISHED_OK

state 8795 begin climb

8797 0.63 194.6 937.3 0.0 846 8969 0.88 1.48 166.98 1.174 4 0.104 0.051 2944 1376 2046

9000 0.63 194.6 920.7 10.6 865 9003 0.00 1.30 0.00 0.000 6 0.000 0.044 2944 2269 2042

9322 0.63 194.6 882.3 11.8 896 9323 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2269 2035

9632 0.63 194.6 845.9 12.4 926 9635 0.00 1.20 0.00 0.000 4 0.000 0.044 2949 1375 2034

9663 0.63 194.6 842.1 11.8 929 9666 0.00 1.23 0.00 0.000 6 0.000 0.044 2949 2276 2034

9986 0.63 194.6 804.0 11.8 960 9989 0.00 1.23 0.00 0.000 4 0.000 0.044 2954 1361 2032

10021 0.63 194.6 799.6 11.7 963 10029 0.00 1.25 0.00 0.000 6 0.000 0.044 2954 2273 2032

10339 0.63 194.6 761.2 11.9 994 10340 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2273 2032

10648 0.63 194.6 723.9 11.9 1024 10649 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2273 2031

10958 0.63 194.6 687.5 11.9 1054 10961 0.00 1.20 0.00 0.000 4 0.000 0.044 2960 1377 2030

10995 0.63 194.6 683.1 12.0 1057 11002 0.00 1.25 0.00 0.000 6 0.000 0.044 2959 2289 2030

11312 0.63 194.6 644.2 12.4 1088 11315 0.00 1.25 0.00 0.000 4 0.000 0.044 2965 1366 2030

11354 0.63 194.6 638.9 12.4 1092 11358 0.00 1.23 0.00 0.000 6 0.000 0.044 2965 2274 2030

11677 0.63 194.6 599.7 11.7 1123 11680 0.00 1.20 0.00 0.000 4 0.000 0.043 2970 1373 2029

11708 0.63 194.6 595.6 12.4 1126 11711 0.00 1.23 0.00 0.000 6 0.000 0.044 2970 2279 2029

12030 0.63 194.6 556.2 12.6 1157 12031 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2279 2028

12340 0.63 194.6 517.0 12.8 1187 12340 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2279 2028

12650 0.63 194.6 477.3 12.7 1217 12653 0.00 1.23 0.00 0.000 4 0.000 0.043 2975 1363 2028

12707 0.63 194.6 469.7 12.9 1222 12716 0.00 1.25 0.00 0.000 6 0.000 0.043 2975 2279 2028

13025 0.63 194.6 429.0 13.0 1253 13028 0.00 1.23 0.00 0.000 4 0.000 0.042 2980 1359 2028

13071 0.63 194.6 422.5 13.3 1257 13079 0.12 1.25 0.00 0.000 6 0.150 0.043 2949 2280 2028

13388 0.63 194.6 387.5 10.5 1288 13392 0.00 1.62 0.00 0.000 4 0.000 0.053 2949 3169 2028

13409 0.63 194.6 385.1 11.6 1290 13412 0.00 1.58 0.00 0.000 6 0.000 0.036 2955 2273 2027

13730 0.63 194.6 348.3 11.9 1321 13733 0.00 1.17 0.00 0.000 4 0.000 0.041 2961 1374 2027

13784 0.63 194.6 342.1 10.8 1326 13786 0.00 1.20 0.00 0.000 6 0.000 0.042 2961 2270 2027

14104 0.63 194.6 303.3 12.3 1357 14105 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2270 2027

14415 0.63 194.6 267.6 11.3 1387 14416 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2270 2027

14725 0.63 194.6 231.4 11.5 1417 14726 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2270 2027

15036 0.63 194.6 196.4 10.9 1447 15037 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2270 2027

15346 0.63 194.6 160.4 11.5 1477 15346 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2270 2028

15657 0.63 194.6 126.0 10.3 1507 15657 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2270 2028

15967 0.63 194.6 94.7 9.6 1537 15967 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2270 2029

16153 0.63 194.6 77.2 8.8 1555 16156 0.00 1.17 0.00 0.000 4 0.000 0.037 2965 1368 2030

16178 0.63 194.6 75.0 9.6 1557 16186 0.00 1.20 0.00 0.000 6 0.000 0.037 2965 2279 2030

16370 0.63 194.6 59.1 8.0 1576 16371 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2279 2030

16557 0.63 201.9 45.4 7.3 1594 16569 0.00 1.20 5.05 0.409 4 0.000 0.036 2971 1368 2016

16655 0.70 258.9 39.8 6.0 1603 16703 0.00 1.17 44.60 0.538 6 0.000 0.036 2971 2273 1783

16887 0.86 385.5 28.1 4.2 1625 16986 0.15 1.65 94.28 0.522 4 0.064 0.044 3050 3165 1267

17020 0.86 385.5 16.7 10.3 1636 17025 0.10 1.58 0.00 0.000 6 0.123 0.029 3024 2272 1263

17211 0.86 385.5 3.3 8.1 1655 17214 0.00 1.17 0.00 0.000 4 0.000 0.035 3028 1356 1259

17219 end climb: SURFACE_DEPTH_REACHED

state 17220 begin surface coast

17245 end surface coast: CONTROL_FINISHED_OK

state 17245 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	219	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-17476.947	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	225937,2843.042,-8838.101,29,1.4,29,-0.3	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.229,0.133
_SM_DEPTHo	1.47	KALMAN_X	-58558.9,716.5,190.4,77151.1,-4240.9
_SM_ANGLEo	-56.7	KALMAN_Y	-208845.9,2072.2,550.0,233456.6,-12967.6
GPS2	230632,2843.082,-8838.115,13,1.6,13,-0.3	MHEAD_RNG_PITCHd_Wd	75.6,19699,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	977

FINISH	0.6,1.023190	ALTIM_BOTTOM_PING	910.3,42.6
SM_CCo	17261,87.88,0.490,0,0,495,575.22	_24V_AH	22.9,38.605
SM_GC	1.45,0.00,0.00,87.88,0.000,0.000,0.490,197,2375,495,-7.96,0.00,575.22	_10V_AH	10.6,53.688
IRIDIUM_FIX	2835.91,-8841.38,300999,181813	DATA_FILE_SIZE	85028,1658
TT8_MAMPS	0.050622	CAP_FILE_SIZE	154590,0
HUMID	1344	CFSIZE	260165632,235540480
INTERNAL_PRESSURE	9.23864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.20	CURRENT	0.050,184.3,1
XPDR_PINGS	4	GPS	070710,035724,2843.266,-8835.349,25,1.1,42,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	261	120.99	SBE_CT	1132	24	622.48
Roll_motor	70	72	116.98	SBE_O2	1211	19	526.91
VBD_pump_during_apogee	462	1207	12794.67	WL_BBFL2VMT	3725	105	8958.68
VBD_pump_during_surface	87	490	986.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	73.29	nil	0	0	0.00
Iridium_during_connect	25	160	94.20	nil	0	0	0.00
Iridium_during_xfer	238	223	1216.80
Transponder_ping	3	420	31.26
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.29
TT8	0	19	0.00
LPSleep	11645	2	270.35
TT8_Active	623	19	130.85
TT8_Sampling	4869	39	2054.42
TT8_CF8	596	45	289.36
TT8_Kalman	33	81	28.90
Analog_circuits	1995	12	253.81
GPS_charging	0	0	0.00
Compass	4354	8	369.30
RAFOS	0	0	0.00
Transponder	19	30	6.22

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	109	0.00	0.00	-93.55	0.000	2	0.000	0.000	193	2388	3059
111	-0.63	-194.6	3.5	-3.8	9	137	10.75	1.52	-11.88	0.000	4	0.262	0.066	2531	3272	3635
217	-0.63	-194.6	33.7	-25.9	18	225	0.00	1.48	0.00	0.000	6	0.000	0.028	2535	2363	3636
408	-0.63	-194.6	67.4	-15.6	37	411	0.00	1.25	0.00	0.000	4	0.000	0.036	2537	1474	3637
434	-0.63	-194.6	71.3	-15.3	39	441	0.00	1.33	0.00	0.000	6	0.000	0.036	2533	2378	3637
626	-0.63	-194.6	100.3	-15.2	58	627	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2378	3639
936	-0.63	-194.6	141.0	-13.1	88	939	0.00	1.27	0.00	0.000	4	0.000	0.036	2533	1485	3640
979	-0.63	-194.6	146.6	-13.2	92	982	0.00	1.27	0.00	0.000	6	0.000	0.036	2527	2369	3640
1302	-0.63	-194.6	189.1	-13.2	123	1302	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2369	3640
1610	-0.63	-194.6	228.5	-12.4	153	1613	0.00	1.48	0.00	0.000	4	0.000	0.047	2520	3253	3639
1643	-0.63	-194.6	232.5	-12.4	156	1645	0.00	1.42	0.00	0.000	6	0.000	0.029	2520	2359	3639
1964	-0.63	-194.6	272.4	-12.0	187	1967	0.00	1.52	0.00	0.000	4	0.000	0.047	2513	3259	3638
2028	-0.63	-194.6	280.1	-12.3	193	2031	0.08	1.42	0.00	0.000	6	0.142	0.029	2537	2362	3637
2348	-0.63	-194.6	313.5	-10.5	224	2349	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2362	3636
2659	-0.63	-194.6	344.6	-9.9	254	2660	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2362	3634
2970	-0.63	-194.6	376.5	-10.1	284	2973	0.00	1.23	0.00	0.000	4	0.000	0.041	2538	1506	3631
3038	-0.63	-194.6	383.5	-10.2	290	3046	0.00	1.30	0.00	0.000	6	0.000	0.040	2534	2384	3631
3356	-0.63	-194.6	416.7	-10.6	321	3357	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2384	3629
3665	-0.63	-194.6	449.7	-10.6	351	3668	0.00	1.27	0.00	0.000	4	0.000	0.041	2534	1511	3626
3718	-0.63	-194.6	455.6	-11.0	356	3721	0.00	1.25	0.00	0.000	6	0.000	0.041	2529	2361	3626
4040	-0.63	-194.6	490.5	-11.0	387	4041	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2361	3624
4350	-0.63	-194.6	523.9	-10.2	417	4350	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2361	3621
4660	-0.63	-194.6	556.5	-10.4	447	4660	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2361	3619
4970	-0.63	-194.6	587.9	-10.1	477	4971	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2361	3617
5281	-0.63	-194.6	618.4	-9.1	507	5284	0.00	1.25	0.00	0.000	4	0.000	0.044	2528	1512	3615
5334	-0.63	-194.6	623.7	-10.0	512	5337	0.00	1.27	0.00	0.000	6	0.000	0.045	2523	2366	3615
5656	-0.63	-194.6	655.1	-9.6	543	5659	0.00	1.27	0.00	0.000	4	0.000	0.044	2523	1509	3614
5698	-0.63	-194.6	659.4	-9.6	547	5701	0.00	1.30	0.00	0.000	6	0.000	0.045	2517	2377	3614
6021	-0.63	-194.6	692.4	-10.3	578	6022	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2378	3611
6329	-0.63	-194.6	724.5	-10.1	608	6332	0.00	1.30	0.00	0.000	4	0.000	0.045	2517	1501	3609
6361	-0.63	-194.6	727.8	-10.5	611	6365	0.08	1.30	0.00	0.000	6	0.150	0.048	2536	2369	3609
6682	-0.63	-194.6	756.6	-8.8	642	6683	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2369	3608
6993	-0.63	-194.6	784.3	-8.3	672	6994	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2369	3606
7303	-0.63	-194.6	811.9	-9.2	702	7306	0.00	1.27	0.00	0.000	4	0.000	0.048	2536	1516	3604
7361	-0.63	-194.6	817.4	-9.0	707	7368	0.00	1.30	0.00	0.000	6	0.000	0.047	2532	2376	3604
7679	-0.63	-194.6	846.2	-8.7	738	7682	0.00	1.30	0.00	0.000	4	0.000	0.047	2532	1508	3602
7714	-0.63	-194.6	849.6	-9.3	741	7726	0.00	1.35	0.00	0.000	6	0.000	0.048	2528	2390	3602
8031	-0.63	-194.6	878.7	-9.5	772	8032	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2390	3602
8341	-0.63	-194.6	906.9	-8.8	802	8344	0.00	1.33	0.00	0.000	4	0.000	0.047	2527	1507	3600
8384	-0.63	-194.6	910.7	-9.7	806	8387	0.00	1.27	0.00	0.000	6	0.000	0.049	2522	2357	3600
8631	end dive: BOTTOM_OBSTACLE_DETECTED
state	8631	begin apogee
8636	-0.25	0.0	932.9	9.3	830	8794	0.47	0.00	151.90	1.207	6	0.137	0.000	2662	2309	2839
8795	end apogee: CONTROL_FINISHED_OK
state	8795	begin climb
8797	0.63	194.6	937.3	0.0	846	8969	0.88	1.48	166.98	1.174	4	0.104	0.051	2944	1376	2046
9000	0.63	194.6	920.7	10.6	865	9003	0.00	1.30	0.00	0.000	6	0.000	0.044	2944	2269	2042
9322	0.63	194.6	882.3	11.8	896	9323	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2269	2035
9632	0.63	194.6	845.9	12.4	926	9635	0.00	1.20	0.00	0.000	4	0.000	0.044	2949	1375	2034
9663	0.63	194.6	842.1	11.8	929	9666	0.00	1.23	0.00	0.000	6	0.000	0.044	2949	2276	2034
9986	0.63	194.6	804.0	11.8	960	9989	0.00	1.23	0.00	0.000	4	0.000	0.044	2954	1361	2032
10021	0.63	194.6	799.6	11.7	963	10029	0.00	1.25	0.00	0.000	6	0.000	0.044	2954	2273	2032
10339	0.63	194.6	761.2	11.9	994	10340	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2273	2032
10648	0.63	194.6	723.9	11.9	1024	10649	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2273	2031
10958	0.63	194.6	687.5	11.9	1054	10961	0.00	1.20	0.00	0.000	4	0.000	0.044	2960	1377	2030
10995	0.63	194.6	683.1	12.0	1057	11002	0.00	1.25	0.00	0.000	6	0.000	0.044	2959	2289	2030
11312	0.63	194.6	644.2	12.4	1088	11315	0.00	1.25	0.00	0.000	4	0.000	0.044	2965	1366	2030
11354	0.63	194.6	638.9	12.4	1092	11358	0.00	1.23	0.00	0.000	6	0.000	0.044	2965	2274	2030
11677	0.63	194.6	599.7	11.7	1123	11680	0.00	1.20	0.00	0.000	4	0.000	0.043	2970	1373	2029
11708	0.63	194.6	595.6	12.4	1126	11711	0.00	1.23	0.00	0.000	6	0.000	0.044	2970	2279	2029
12030	0.63	194.6	556.2	12.6	1157	12031	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2279	2028
12340	0.63	194.6	517.0	12.8	1187	12340	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2279	2028
12650	0.63	194.6	477.3	12.7	1217	12653	0.00	1.23	0.00	0.000	4	0.000	0.043	2975	1363	2028
12707	0.63	194.6	469.7	12.9	1222	12716	0.00	1.25	0.00	0.000	6	0.000	0.043	2975	2279	2028
13025	0.63	194.6	429.0	13.0	1253	13028	0.00	1.23	0.00	0.000	4	0.000	0.042	2980	1359	2028
13071	0.63	194.6	422.5	13.3	1257	13079	0.12	1.25	0.00	0.000	6	0.150	0.043	2949	2280	2028
13388	0.63	194.6	387.5	10.5	1288	13392	0.00	1.62	0.00	0.000	4	0.000	0.053	2949	3169	2028
13409	0.63	194.6	385.1	11.6	1290	13412	0.00	1.58	0.00	0.000	6	0.000	0.036	2955	2273	2027
13730	0.63	194.6	348.3	11.9	1321	13733	0.00	1.17	0.00	0.000	4	0.000	0.041	2961	1374	2027
13784	0.63	194.6	342.1	10.8	1326	13786	0.00	1.20	0.00	0.000	6	0.000	0.042	2961	2270	2027
14104	0.63	194.6	303.3	12.3	1357	14105	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2270	2027
14415	0.63	194.6	267.6	11.3	1387	14416	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2270	2027
14725	0.63	194.6	231.4	11.5	1417	14726	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2270	2027
15036	0.63	194.6	196.4	10.9	1447	15037	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2270	2027
15346	0.63	194.6	160.4	11.5	1477	15346	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2270	2028
15657	0.63	194.6	126.0	10.3	1507	15657	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2270	2028
15967	0.63	194.6	94.7	9.6	1537	15967	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2270	2029
16153	0.63	194.6	77.2	8.8	1555	16156	0.00	1.17	0.00	0.000	4	0.000	0.037	2965	1368	2030
16178	0.63	194.6	75.0	9.6	1557	16186	0.00	1.20	0.00	0.000	6	0.000	0.037	2965	2279	2030
16370	0.63	194.6	59.1	8.0	1576	16371	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2279	2030
16557	0.63	201.9	45.4	7.3	1594	16569	0.00	1.20	5.05	0.409	4	0.000	0.036	2971	1368	2016
16655	0.70	258.9	39.8	6.0	1603	16703	0.00	1.17	44.60	0.538	6	0.000	0.036	2971	2273	1783
16887	0.86	385.5	28.1	4.2	1625	16986	0.15	1.65	94.28	0.522	4	0.064	0.044	3050	3165	1267
17020	0.86	385.5	16.7	10.3	1636	17025	0.10	1.58	0.00	0.000	6	0.123	0.029	3024	2272	1263
17211	0.86	385.5	3.3	8.1	1655	17214	0.00	1.17	0.00	0.000	4	0.000	0.035	3028	1356	1259
17219	end climb: SURFACE_DEPTH_REACHED
state	17220	begin surface coast
17245	end surface coast: CONTROL_FINISHED_OK
state	17245	begin surface