Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 221 * 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 221 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -17510.369 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 -17510.369

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 23 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 33 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 221 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 091624,2843.739,-8832.404,26,1.8,43,-0.4 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.222,0.144

_SM_DEPTHo 1.51 KALMAN_X -59561.5,-14.0,314.0,88003.4,-2572.5

_SM_ANGLEo -58.4 KALMAN_Y -211640.8,426.3,557.4,239150.8,-8725.4

GPS2 092249,2843.763,-8832.427,9,1.7,14,-0.3 MHEAD_RNG_PITCHd_Wd 86.0,10441,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1198

Post-dive calculations and measurements:

FINISH 0.8,1.023213 _24V_AH 22.8,38.938

SM_CCo 18162,105.25,0.492,0,0,494,575.22 _10V_AH 10.6,54.135

SM_GC 1.51,0.00,0.00,105.25,0.000,0.000,0.492,191,2388,494,-7.99,0.34,575.22 DATA_FILE_SIZE 91347,1747

IRIDIUM_FIX 2833.46,-8836.47,011099,040418 CAP_FILE_SIZE 151470,0

TT8_MAMPS 0.050622 CFSIZE 260165632,235368448

HUMID 1345 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.22887 CURRENT 0.047,175.8,1

TCM_TEMP 23.30 GPS 070710,142854,2843.508,-8829.324,37,1.6,37,-0.4

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 264 120.66 SBE_CT 1195 24 654.12

Roll_motor 45 63 66.19 SBE_O2 1280 19 554.77

VBD_pump_during_apogee 440 1251 12577.47 WL_BBFL2VMT 3926 105 9399.43

VBD_pump_during_surface 105 492 1181.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 55.79 nil 0 0 0.00

Iridium_during_connect 29 160 108.88 nil 0 0 0.00

Iridium_during_xfer 205 223 1043.45

Transponder_ping 4 420 38.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.74

TT8 0 19 0.00

LPSleep 12428 2 288.51

TT8_Active 579 19 121.65

TT8_Sampling 5039 39 2125.90

TT8_CF8 577 45 280.21

TT8_Kalman 33 81 28.90

Analog_circuits 1950 12 248.12

GPS_charging 0 0 0.00

Compass 4533 8 384.45

RAFOS 0 0 0.00

Transponder 28 30 9.01

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

13 -0.63 -194.6 0.0 0.0 0 107 0.00 0.00 -92.80 0.000 2 0.000 0.000 197 2400 3031

109 -0.63 -194.6 3.2 -3.0 9 141 10.82 1.50 -12.57 0.000 4 0.265 0.063 2529 3265 3635

227 -0.63 -194.6 36.0 -25.9 20 230 0.00 1.48 0.00 0.000 6 0.000 0.028 2534 2354 3637

423 -0.63 -194.6 68.9 -15.9 39 424 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2353 3638

609 -0.63 -194.6 96.1 -13.7 57 610 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2354 3639

796 -0.63 -194.6 120.0 -12.6 75 797 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2354 3640

1106 -0.63 -194.6 160.2 -12.5 105 1107 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2353 3640

1417 -0.63 -194.6 197.5 -11.9 135 1418 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2353 3639

1727 -0.63 -194.6 233.5 -10.9 165 1728 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2354 3639

2038 -0.63 -194.6 267.8 -10.9 195 2038 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2354 3637

2348 -0.63 -194.6 301.6 -10.9 225 2349 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2354 3636

2658 -0.63 -194.6 335.5 -10.7 255 2659 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2354 3634

2969 -0.63 -194.6 367.4 -10.1 285 2970 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2354 3633

3279 -0.63 -194.6 399.3 -10.2 315 3280 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2354 3631

3590 -0.63 -194.6 431.2 -10.2 345 3591 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2353 3628

3900 -0.63 -194.6 462.6 -10.3 375 3901 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2354 3626

4211 -0.63 -194.6 495.4 -10.4 405 4213 0.00 1.23 0.00 0.000 4 0.000 0.043 2534 1496 3624

4253 -0.63 -194.6 500.0 -10.8 409 4256 0.00 1.27 0.00 0.000 6 0.000 0.043 2530 2360 3624

4575 -0.63 -194.6 534.0 -10.6 440 4576 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2360 3621

4884 -0.63 -194.6 567.3 -11.2 470 4887 0.00 1.27 0.00 0.000 4 0.000 0.043 2530 1491 3619

4916 -0.63 -194.6 570.8 -11.6 473 4919 0.00 1.33 0.00 0.000 6 0.000 0.044 2525 2387 3619

5238 -0.63 -194.6 605.8 -10.9 504 5239 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2387 3617

5547 -0.63 -194.6 637.9 -10.0 534 5550 0.00 1.33 0.00 0.000 4 0.000 0.044 2525 1486 3615

5611 -0.63 -194.6 644.1 -10.1 540 5614 0.00 1.30 0.00 0.000 6 0.000 0.044 2519 2361 3615

5933 -0.63 -194.6 677.1 -10.4 571 5934 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2362 3614

6243 -0.63 -194.6 710.2 -10.6 601 6244 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2362 3611

6553 -0.63 -194.6 742.8 -10.1 631 6553 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2362 3609

6863 -0.63 -194.6 773.9 -9.7 661 6867 0.00 1.27 0.00 0.000 4 0.000 0.044 2518 1501 3608

6917 -0.63 -194.6 779.3 -10.0 666 6920 0.08 1.33 0.00 0.000 6 0.149 0.047 2537 2387 3608

7237 -0.63 -194.6 807.8 -9.4 697 7238 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2386 3605

7548 -0.63 -194.6 836.5 -9.3 727 7551 0.00 1.33 0.00 0.000 4 0.000 0.046 2537 1497 3605

7601 -0.63 -194.6 841.6 -10.3 732 7605 0.00 1.30 0.00 0.000 6 0.000 0.048 2534 2361 3604

7922 -0.63 -194.6 871.2 -9.4 763 7923 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2361 3603

8234 -0.63 -194.6 899.0 -8.8 793 8235 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2362 3602

8543 -0.63 -194.6 925.5 -8.6 823 8543 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2362 3600

8853 -0.63 -194.6 951.8 -8.3 853 8854 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2362 3599

9166 -0.63 -194.6 976.9 -8.1 883 9166 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2362 3598

9329 end dive: TARGET_DEPTH_EXCEEDED

state 9329 begin apogee

9333 -0.25 0.0 990.9 8.6 899 9492 0.43 0.00 153.02 1.252 6 0.134 0.000 2660 2289 2840

9492 end apogee: CONTROL_FINISHED_OK

state 9492 begin climb

9494 0.63 194.6 995.5 0.0 915 9669 0.90 1.40 169.12 1.218 4 0.104 0.045 2948 1383 2046

9691 0.63 194.6 980.0 10.9 932 9694 0.00 1.33 0.00 0.000 6 0.000 0.043 2947 2275 2043

10013 0.63 194.6 941.1 12.2 963 10014 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2275 2035

10323 0.63 194.6 903.6 11.7 993 10326 0.00 1.65 0.00 0.000 4 0.000 0.055 2948 3169 2034

10348 0.63 194.6 900.3 13.3 995 10355 0.00 1.58 0.00 0.000 6 0.000 0.038 2955 2279 2033

10665 0.63 194.6 860.1 12.5 1026 10668 0.00 1.23 0.00 0.000 4 0.000 0.045 2961 1360 2032

10712 0.63 194.6 854.2 13.3 1030 10720 0.00 1.25 0.00 0.000 6 0.000 0.044 2960 2276 2032

11029 0.63 194.6 814.3 12.2 1061 11030 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2276 2031

11339 0.63 194.6 776.3 12.3 1091 11340 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2276 2031

11649 0.63 194.6 738.8 11.8 1121 11652 0.00 1.23 0.00 0.000 4 0.000 0.044 2966 1368 2030

11713 0.63 194.6 731.1 12.9 1127 11716 0.00 1.25 0.00 0.000 6 0.000 0.046 2966 2283 2031

12034 0.63 194.6 691.5 12.0 1158 12034 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2283 2030

12344 0.63 194.6 654.0 11.8 1188 12347 0.00 1.25 0.00 0.000 4 0.000 0.044 2972 1363 2029

12381 0.63 194.6 649.6 11.9 1191 12388 0.00 1.23 0.00 0.000 6 0.000 0.044 2972 2273 2030

12698 0.63 194.6 611.0 12.2 1222 12699 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 2274 2029

13008 0.63 194.6 572.6 12.0 1252 13009 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2274 2028

13317 0.63 194.6 534.1 12.9 1282 13318 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 2274 2028

13628 0.63 194.6 494.7 12.1 1312 13629 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 2273 2028

13939 0.63 194.6 455.8 12.6 1342 13942 0.00 1.20 0.00 0.000 4 0.000 0.044 2977 1376 2028

13974 0.63 194.6 451.1 12.7 1345 13982 0.00 1.25 0.00 0.000 6 0.000 0.043 2977 2283 2028

14293 0.63 194.6 411.6 12.4 1376 14293 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2283 2029

14602 0.63 194.6 372.1 12.7 1406 14603 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2283 2028

14912 0.63 194.6 332.9 12.7 1436 14913 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2283 2028

15222 0.63 194.6 293.1 12.9 1466 15223 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2283 2029

15533 0.63 194.6 252.1 13.5 1496 15533 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2283 2029

15844 0.63 194.6 212.7 12.8 1526 15847 0.00 1.23 0.00 0.000 4 0.000 0.041 2981 1374 2029

15886 0.63 194.6 207.3 12.4 1530 15889 0.08 1.20 0.00 0.000 6 0.140 0.041 2956 2277 2028

16207 0.63 194.6 172.3 10.9 1561 16208 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2277 2029

16518 0.63 194.6 139.7 10.5 1591 16521 0.00 1.60 0.00 0.000 4 0.000 0.049 2956 3194 2030

16549 0.63 194.6 136.4 10.0 1594 16553 0.00 1.58 0.00 0.000 6 0.000 0.033 2962 2274 2030

16870 0.63 194.6 103.3 10.0 1625 16873 0.00 1.17 0.00 0.000 4 0.000 0.038 2968 1363 2031

16935 0.63 194.6 97.3 7.9 1631 16937 0.00 1.20 0.00 0.000 6 0.000 0.038 2968 2275 2031

17131 0.63 194.6 77.9 9.5 1650 17132 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2276 2032

17318 0.63 194.6 61.3 9.0 1668 17321 0.00 1.58 0.00 0.000 4 0.000 0.047 2967 3162 2032

17382 0.63 194.6 55.1 11.5 1674 17385 0.00 1.52 0.00 0.000 6 0.000 0.031 2975 2273 2033

17578 0.69 250.2 40.6 6.0 1693 17621 0.00 0.00 41.70 0.538 6 0.000 0.000 2975 2273 1818

17806 0.82 353.3 26.5 4.8 1715 17888 0.10 1.15 76.85 0.522 4 0.072 0.035 3035 1367 1399

17963 0.82 353.3 15.8 8.4 1729 17966 0.00 1.20 0.00 0.000 6 0.000 0.034 3034 2269 1395

18116 end climb: SURFACE_DEPTH_REACHED

state 18116 begin surface coast

18147 end surface coast: CONTROL_FINISHED_OK

state 18147 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	221	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-17510.369	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	091624,2843.739,-8832.404,26,1.8,43,-0.4	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.222,0.144
_SM_DEPTHo	1.51	KALMAN_X	-59561.5,-14.0,314.0,88003.4,-2572.5
_SM_ANGLEo	-58.4	KALMAN_Y	-211640.8,426.3,557.4,239150.8,-8725.4
GPS2	092249,2843.763,-8832.427,9,1.7,14,-0.3	MHEAD_RNG_PITCHd_Wd	86.0,10441,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1198

FINISH	0.8,1.023213	_24V_AH	22.8,38.938
SM_CCo	18162,105.25,0.492,0,0,494,575.22	_10V_AH	10.6,54.135
SM_GC	1.51,0.00,0.00,105.25,0.000,0.000,0.492,191,2388,494,-7.99,0.34,575.22	DATA_FILE_SIZE	91347,1747
IRIDIUM_FIX	2833.46,-8836.47,011099,040418	CAP_FILE_SIZE	151470,0
TT8_MAMPS	0.050622	CFSIZE	260165632,235368448
HUMID	1345	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.22887	CURRENT	0.047,175.8,1
TCM_TEMP	23.30	GPS	070710,142854,2843.508,-8829.324,37,1.6,37,-0.4
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	264	120.66	SBE_CT	1195	24	654.12
Roll_motor	45	63	66.19	SBE_O2	1280	19	554.77
VBD_pump_during_apogee	440	1251	12577.47	WL_BBFL2VMT	3926	105	9399.43
VBD_pump_during_surface	105	492	1181.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	55.79	nil	0	0	0.00
Iridium_during_connect	29	160	108.88	nil	0	0	0.00
Iridium_during_xfer	205	223	1043.45
Transponder_ping	4	420	38.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.74
TT8	0	19	0.00
LPSleep	12428	2	288.51
TT8_Active	579	19	121.65
TT8_Sampling	5039	39	2125.90
TT8_CF8	577	45	280.21
TT8_Kalman	33	81	28.90
Analog_circuits	1950	12	248.12
GPS_charging	0	0	0.00
Compass	4533	8	384.45
RAFOS	0	0	0.00
Transponder	28	30	9.01

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
13	-0.63	-194.6	0.0	0.0	0	107	0.00	0.00	-92.80	0.000	2	0.000	0.000	197	2400	3031
109	-0.63	-194.6	3.2	-3.0	9	141	10.82	1.50	-12.57	0.000	4	0.265	0.063	2529	3265	3635
227	-0.63	-194.6	36.0	-25.9	20	230	0.00	1.48	0.00	0.000	6	0.000	0.028	2534	2354	3637
423	-0.63	-194.6	68.9	-15.9	39	424	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2353	3638
609	-0.63	-194.6	96.1	-13.7	57	610	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2354	3639
796	-0.63	-194.6	120.0	-12.6	75	797	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2354	3640
1106	-0.63	-194.6	160.2	-12.5	105	1107	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2353	3640
1417	-0.63	-194.6	197.5	-11.9	135	1418	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2353	3639
1727	-0.63	-194.6	233.5	-10.9	165	1728	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2354	3639
2038	-0.63	-194.6	267.8	-10.9	195	2038	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2354	3637
2348	-0.63	-194.6	301.6	-10.9	225	2349	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2354	3636
2658	-0.63	-194.6	335.5	-10.7	255	2659	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2354	3634
2969	-0.63	-194.6	367.4	-10.1	285	2970	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2354	3633
3279	-0.63	-194.6	399.3	-10.2	315	3280	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2354	3631
3590	-0.63	-194.6	431.2	-10.2	345	3591	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2353	3628
3900	-0.63	-194.6	462.6	-10.3	375	3901	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2354	3626
4211	-0.63	-194.6	495.4	-10.4	405	4213	0.00	1.23	0.00	0.000	4	0.000	0.043	2534	1496	3624
4253	-0.63	-194.6	500.0	-10.8	409	4256	0.00	1.27	0.00	0.000	6	0.000	0.043	2530	2360	3624
4575	-0.63	-194.6	534.0	-10.6	440	4576	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2360	3621
4884	-0.63	-194.6	567.3	-11.2	470	4887	0.00	1.27	0.00	0.000	4	0.000	0.043	2530	1491	3619
4916	-0.63	-194.6	570.8	-11.6	473	4919	0.00	1.33	0.00	0.000	6	0.000	0.044	2525	2387	3619
5238	-0.63	-194.6	605.8	-10.9	504	5239	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2387	3617
5547	-0.63	-194.6	637.9	-10.0	534	5550	0.00	1.33	0.00	0.000	4	0.000	0.044	2525	1486	3615
5611	-0.63	-194.6	644.1	-10.1	540	5614	0.00	1.30	0.00	0.000	6	0.000	0.044	2519	2361	3615
5933	-0.63	-194.6	677.1	-10.4	571	5934	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2362	3614
6243	-0.63	-194.6	710.2	-10.6	601	6244	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2362	3611
6553	-0.63	-194.6	742.8	-10.1	631	6553	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2362	3609
6863	-0.63	-194.6	773.9	-9.7	661	6867	0.00	1.27	0.00	0.000	4	0.000	0.044	2518	1501	3608
6917	-0.63	-194.6	779.3	-10.0	666	6920	0.08	1.33	0.00	0.000	6	0.149	0.047	2537	2387	3608
7237	-0.63	-194.6	807.8	-9.4	697	7238	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2386	3605
7548	-0.63	-194.6	836.5	-9.3	727	7551	0.00	1.33	0.00	0.000	4	0.000	0.046	2537	1497	3605
7601	-0.63	-194.6	841.6	-10.3	732	7605	0.00	1.30	0.00	0.000	6	0.000	0.048	2534	2361	3604
7922	-0.63	-194.6	871.2	-9.4	763	7923	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2361	3603
8234	-0.63	-194.6	899.0	-8.8	793	8235	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2362	3602
8543	-0.63	-194.6	925.5	-8.6	823	8543	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2362	3600
8853	-0.63	-194.6	951.8	-8.3	853	8854	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2362	3599
9166	-0.63	-194.6	976.9	-8.1	883	9166	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2362	3598
9329	end dive: TARGET_DEPTH_EXCEEDED
state	9329	begin apogee
9333	-0.25	0.0	990.9	8.6	899	9492	0.43	0.00	153.02	1.252	6	0.134	0.000	2660	2289	2840
9492	end apogee: CONTROL_FINISHED_OK
state	9492	begin climb
9494	0.63	194.6	995.5	0.0	915	9669	0.90	1.40	169.12	1.218	4	0.104	0.045	2948	1383	2046
9691	0.63	194.6	980.0	10.9	932	9694	0.00	1.33	0.00	0.000	6	0.000	0.043	2947	2275	2043
10013	0.63	194.6	941.1	12.2	963	10014	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2275	2035
10323	0.63	194.6	903.6	11.7	993	10326	0.00	1.65	0.00	0.000	4	0.000	0.055	2948	3169	2034
10348	0.63	194.6	900.3	13.3	995	10355	0.00	1.58	0.00	0.000	6	0.000	0.038	2955	2279	2033
10665	0.63	194.6	860.1	12.5	1026	10668	0.00	1.23	0.00	0.000	4	0.000	0.045	2961	1360	2032
10712	0.63	194.6	854.2	13.3	1030	10720	0.00	1.25	0.00	0.000	6	0.000	0.044	2960	2276	2032
11029	0.63	194.6	814.3	12.2	1061	11030	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2276	2031
11339	0.63	194.6	776.3	12.3	1091	11340	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2276	2031
11649	0.63	194.6	738.8	11.8	1121	11652	0.00	1.23	0.00	0.000	4	0.000	0.044	2966	1368	2030
11713	0.63	194.6	731.1	12.9	1127	11716	0.00	1.25	0.00	0.000	6	0.000	0.046	2966	2283	2031
12034	0.63	194.6	691.5	12.0	1158	12034	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2283	2030
12344	0.63	194.6	654.0	11.8	1188	12347	0.00	1.25	0.00	0.000	4	0.000	0.044	2972	1363	2029
12381	0.63	194.6	649.6	11.9	1191	12388	0.00	1.23	0.00	0.000	6	0.000	0.044	2972	2273	2030
12698	0.63	194.6	611.0	12.2	1222	12699	0.00	0.00	0.00	0.000	6	0.000	0.000	2971	2274	2029
13008	0.63	194.6	572.6	12.0	1252	13009	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2274	2028
13317	0.63	194.6	534.1	12.9	1282	13318	0.00	0.00	0.00	0.000	6	0.000	0.000	2971	2274	2028
13628	0.63	194.6	494.7	12.1	1312	13629	0.00	0.00	0.00	0.000	6	0.000	0.000	2971	2273	2028
13939	0.63	194.6	455.8	12.6	1342	13942	0.00	1.20	0.00	0.000	4	0.000	0.044	2977	1376	2028
13974	0.63	194.6	451.1	12.7	1345	13982	0.00	1.25	0.00	0.000	6	0.000	0.043	2977	2283	2028
14293	0.63	194.6	411.6	12.4	1376	14293	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2283	2029
14602	0.63	194.6	372.1	12.7	1406	14603	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2283	2028
14912	0.63	194.6	332.9	12.7	1436	14913	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2283	2028
15222	0.63	194.6	293.1	12.9	1466	15223	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2283	2029
15533	0.63	194.6	252.1	13.5	1496	15533	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2283	2029
15844	0.63	194.6	212.7	12.8	1526	15847	0.00	1.23	0.00	0.000	4	0.000	0.041	2981	1374	2029
15886	0.63	194.6	207.3	12.4	1530	15889	0.08	1.20	0.00	0.000	6	0.140	0.041	2956	2277	2028
16207	0.63	194.6	172.3	10.9	1561	16208	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2277	2029
16518	0.63	194.6	139.7	10.5	1591	16521	0.00	1.60	0.00	0.000	4	0.000	0.049	2956	3194	2030
16549	0.63	194.6	136.4	10.0	1594	16553	0.00	1.58	0.00	0.000	6	0.000	0.033	2962	2274	2030
16870	0.63	194.6	103.3	10.0	1625	16873	0.00	1.17	0.00	0.000	4	0.000	0.038	2968	1363	2031
16935	0.63	194.6	97.3	7.9	1631	16937	0.00	1.20	0.00	0.000	6	0.000	0.038	2968	2275	2031
17131	0.63	194.6	77.9	9.5	1650	17132	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2276	2032
17318	0.63	194.6	61.3	9.0	1668	17321	0.00	1.58	0.00	0.000	4	0.000	0.047	2967	3162	2032
17382	0.63	194.6	55.1	11.5	1674	17385	0.00	1.52	0.00	0.000	6	0.000	0.031	2975	2273	2033
17578	0.69	250.2	40.6	6.0	1693	17621	0.00	0.00	41.70	0.538	6	0.000	0.000	2975	2273	1818
17806	0.82	353.3	26.5	4.8	1715	17888	0.10	1.15	76.85	0.522	4	0.072	0.035	3035	1367	1399
17963	0.82	353.3	15.8	8.4	1729	17966	0.00	1.20	0.00	0.000	6	0.000	0.034	3034	2269	1395
18116	end climb: SURFACE_DEPTH_REACHED
state	18116	begin surface coast
18147	end surface coast: CONTROL_FINISHED_OK
state	18147	begin surface