Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 238 * 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 238 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 33 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 -17806.861 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 -17806.861

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 33 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 238 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 225101,2842.858,-8838.053,38,1.5,38,-0.3 TGT_NAME NEW0528A

_CALLS 2 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 10 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.227,0.136

_SM_DEPTHo 1.71 KALMAN_X -54341.5,421.5,51.0,73593.4,-1501.6

_SM_ANGLEo -69.8 KALMAN_Y -268960.6,1550.5,633.8,293607.2,-11123.1

GPS2 230244,2842.864,-8837.979,9,1.5,9,-0.3 MHEAD_RNG_PITCHd_Wd 75.6,19501,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 976

Post-dive calculations and measurements:

FINISH 2.5,1.018901 _24V_AH 22.9,41.662

SM_CCo 18614,112.95,0.491,0,0,495,575.22 _10V_AH 10.6,57.806

SM_GC 2.00,0.00,0.00,112.95,0.000,0.000,0.491,202,2396,495,-7.95,0.59,575.22 DATA_FILE_SIZE 94598,1788

IRIDIUM_FIX 2833.46,-8836.47,041099,232355 CAP_FILE_SIZE 173457,0

TT8_MAMPS 0.051389 CFSIZE 260165632,233897984

HUMID 1338 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.22887 CURRENT 0.099,135.3,1

TCM_TEMP 23.40 GPS 110710,041631,2843.053,-8834.316,39,1.4,39,-0.3

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 118.89 SBE_CT 1222 24 671.69

Roll_motor 88 61 123.72 SBE_O2 1306 19 568.26

VBD_pump_during_apogee 467 1234 13221.18 WL_BBFL2VMT 4018 105 9663.21

VBD_pump_during_surface 112 490 1269.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 57 103 135.97 nil 0 0 0.00

Iridium_during_connect 61 160 224.82 nil 0 0 0.00

Iridium_during_xfer 386 223 1976.15

Transponder_ping 5 420 48.09

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 19 50 10.50

TT8 0 19 0.00

LPSleep 12553 2 291.43

TT8_Active 669 19 140.45

TT8_Sampling 5332 39 2249.52

TT8_CF8 845 45 410.32

TT8_Kalman 33 81 28.91

Analog_circuits 2171 12 276.21

GPS_charging 0 0 0.00

Compass 4753 8 403.14

RAFOS 0 0 0.00

Transponder 37 30 11.91

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 99 0.00 0.00 -84.97 0.000 2 0.000 0.000 205 2388 2898

102 -0.63 -194.6 3.1 -1.5 8 137 10.52 1.27 -19.25 0.000 4 0.254 0.055 2539 1470 3635

354 -0.63 -194.6 50.9 -16.3 31 363 0.00 1.33 0.00 0.000 6 0.000 0.036 2536 2372 3637

547 -0.63 -194.6 78.6 -13.7 50 548 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2373 3638

734 -0.63 -194.6 103.4 -13.4 68 734 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2373 3638

1044 -0.63 -194.6 142.8 -12.4 98 1047 0.00 1.27 0.00 0.000 4 0.000 0.035 2536 1476 3638

1129 -0.63 -194.6 153.0 -12.0 106 1132 0.00 1.30 0.00 0.000 6 0.000 0.037 2532 2379 3638

1451 -0.63 -194.6 190.2 -11.3 137 1452 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2380 3637

1761 -0.63 -194.6 225.4 -11.3 167 1764 0.00 1.30 0.00 0.000 4 0.000 0.036 2532 1472 3635

1814 -0.63 -194.6 231.3 -11.1 172 1817 0.00 1.30 0.00 0.000 6 0.000 0.038 2526 2370 3635

2137 -0.63 -194.6 268.3 -11.5 203 2140 0.00 1.50 0.00 0.000 4 0.000 0.049 2519 3263 3633

2194 -0.63 -194.6 275.6 -12.4 208 2201 0.00 1.48 0.00 0.000 6 0.000 0.028 2519 2351 3633

2512 -0.63 -194.6 312.6 -11.2 239 2513 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2351 3631

2821 -0.63 -194.6 346.1 -10.6 269 2822 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2351 3628

3131 -0.63 -194.6 380.9 -10.6 299 3135 0.00 1.55 0.00 0.000 4 0.000 0.051 2512 3256 3626

3168 -0.63 -194.6 385.1 -11.1 302 3175 0.08 1.42 0.00 0.000 6 0.138 0.030 2537 2361 3626

3484 -0.63 -194.6 413.9 -9.5 333 3487 0.00 1.23 0.00 0.000 4 0.000 0.040 2537 1505 3624

3548 -0.63 -194.6 420.2 -10.0 339 3551 0.00 1.27 0.00 0.000 6 0.000 0.041 2533 2371 3623

3870 -0.63 -194.6 452.6 -10.2 370 3871 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2371 3620

4179 -0.63 -194.6 483.6 -10.0 400 4182 0.00 1.27 0.00 0.000 4 0.000 0.041 2533 1502 3618

4215 -0.63 -194.6 487.5 -9.9 403 4223 0.00 1.30 0.00 0.000 6 0.000 0.042 2527 2380 3618

4533 -0.63 -194.6 518.9 -10.0 434 4534 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2381 3615

4843 -0.63 -194.6 551.1 -10.4 464 4843 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2381 3613

5152 -0.63 -194.6 582.3 -9.8 494 5155 0.00 1.30 0.00 0.000 4 0.000 0.041 2528 1496 3611

5210 -0.63 -194.6 588.1 -9.1 499 5218 0.00 1.30 0.00 0.000 6 0.000 0.044 2522 2369 3610

5528 -0.63 -194.6 620.5 -10.2 530 5531 0.00 1.27 0.00 0.000 4 0.000 0.042 2522 1506 3608

5564 -0.63 -194.6 624.4 -10.4 533 5571 0.00 1.33 0.00 0.000 6 0.000 0.044 2516 2382 3607

5882 -0.63 -194.6 656.9 -10.4 564 5883 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2383 3605

6191 -0.63 -194.6 689.1 -10.2 594 6194 0.00 1.30 0.00 0.000 4 0.000 0.043 2516 1504 3604

6244 -0.63 -194.6 694.9 -10.9 599 6248 0.08 1.27 0.00 0.000 6 0.148 0.047 2535 2360 3603

6565 -0.63 -194.6 722.7 -8.4 630 6566 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2360 3602

6876 -0.63 -194.6 748.0 -8.1 660 6877 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2360 3600

7186 -0.63 -194.6 774.4 -8.7 690 7186 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2360 3598

7496 -0.63 -194.6 801.7 -8.8 720 7497 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2360 3596

7807 -0.63 -194.6 828.4 -8.3 750 7808 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2359 3595

8117 -0.63 -194.6 855.8 -9.3 780 8120 0.00 1.27 0.00 0.000 4 0.000 0.044 2536 1499 3593

8153 -0.63 -194.6 859.2 -10.0 783 8161 0.00 1.33 0.00 0.000 6 0.000 0.048 2533 2376 3593

8469 -0.63 -194.6 888.8 -9.1 814 8472 0.00 1.55 0.00 0.000 4 0.000 0.061 2526 3253 3592

8512 -0.63 -194.6 892.7 -9.4 818 8516 0.00 1.45 0.00 0.000 6 0.000 0.038 2526 2376 3592

8833 -0.63 -194.6 921.9 -8.7 849 8836 0.00 1.30 0.00 0.000 4 0.000 0.045 2526 1493 3590

8891 -0.63 -194.6 927.4 -8.9 854 8898 0.00 1.33 0.00 0.000 6 0.000 0.049 2521 2365 3590

9207 -0.63 -194.6 956.9 -9.3 885 9210 0.00 1.55 0.00 0.000 4 0.000 0.061 2513 3254 3589

9260 -0.63 -194.6 962.2 -9.5 890 9264 0.00 1.45 0.00 0.000 6 0.000 0.038 2514 2379 3589

9403 end dive: TARGET_DEPTH_EXCEEDED

state 9403 begin apogee

9408 -0.25 0.0 976.0 10.1 904 9568 0.50 0.00 151.45 1.234 6 0.137 0.000 2662 2287 2839

9568 end apogee: CONTROL_FINISHED_OK

state 9568 begin climb

9570 0.63 194.6 980.8 0.0 920 9747 0.93 0.00 168.70 1.203 6 0.101 0.000 2953 2287 2045

10056 0.63 194.6 929.6 12.6 968 10057 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2286 2035

10367 0.63 194.6 892.3 11.9 998 10370 0.00 1.23 0.00 0.000 4 0.000 0.044 2959 1376 2033

10430 0.63 194.6 884.6 11.8 1004 10433 0.00 1.25 0.00 0.000 6 0.000 0.044 2959 2281 2034

10751 0.63 194.6 845.7 11.8 1035 10752 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2281 2032

11062 0.63 194.6 807.3 12.2 1065 11063 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2281 2031

11373 0.63 194.6 769.1 12.6 1095 11373 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2281 2030

11683 0.63 194.6 730.6 12.2 1125 11686 0.00 1.23 0.00 0.000 4 0.000 0.043 2964 1377 2030

11746 0.63 194.6 722.8 12.4 1131 11750 0.00 1.25 0.00 0.000 6 0.000 0.045 2964 2285 2030

12067 0.63 194.6 683.7 11.9 1162 12068 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2285 2029

12378 0.63 194.6 646.8 12.0 1192 12379 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2285 2029

12689 0.63 194.6 611.8 10.7 1222 12689 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2285 2029

12999 0.63 194.6 578.9 10.4 1252 13002 0.00 1.60 0.00 0.000 4 0.000 0.054 2964 3187 2028

13078 0.63 194.6 569.4 11.6 1259 13086 0.00 1.60 0.00 0.000 6 0.000 0.036 2972 2275 2027

13395 0.63 194.6 533.2 11.6 1290 13398 0.00 1.62 0.00 0.000 4 0.000 0.054 2972 3171 2027

13438 0.63 194.6 528.0 12.7 1294 13441 0.00 1.58 0.00 0.000 6 0.000 0.037 2979 2275 2026

13760 0.63 194.6 487.7 12.5 1325 13763 0.00 1.65 0.00 0.000 4 0.000 0.054 2980 3165 2027

13817 0.63 194.6 479.5 13.4 1330 13825 0.10 1.58 0.00 0.000 6 0.150 0.036 2956 2274 2027

14134 0.63 194.6 446.3 10.2 1361 14137 0.00 1.65 0.00 0.000 4 0.000 0.053 2955 3165 2027

14176 0.63 194.6 441.6 11.5 1365 14179 0.00 1.58 0.00 0.000 6 0.000 0.036 2961 2273 2027

14497 0.63 194.6 405.5 11.2 1396 14500 0.00 1.67 0.00 0.000 4 0.000 0.054 2961 3176 2027

14561 0.63 194.6 397.9 12.2 1402 14564 0.00 1.58 0.00 0.000 6 0.000 0.036 2969 2275 2027

14883 0.63 194.6 360.7 11.4 1433 14887 0.00 1.65 0.00 0.000 4 0.000 0.053 2969 3170 2027

14990 0.63 194.6 347.4 13.1 1443 14993 0.00 1.58 0.00 0.000 6 0.000 0.035 2976 2272 2027

15312 0.63 194.6 309.8 11.1 1474 15315 0.00 1.62 0.00 0.000 4 0.000 0.051 2976 3171 2027

15387 0.63 194.6 300.6 12.1 1481 15390 0.10 1.58 0.00 0.000 6 0.145 0.035 2953 2273 2027

15708 0.63 194.6 268.0 9.6 1512 15711 0.00 1.62 0.00 0.000 4 0.000 0.051 2953 3173 2027

15755 0.63 194.6 263.1 10.3 1516 15762 0.00 1.58 0.00 0.000 6 0.000 0.034 2958 2274 2027

16072 0.63 194.6 231.2 10.5 1547 16075 0.00 1.65 0.00 0.000 4 0.000 0.051 2958 3174 2028

16147 0.63 194.6 223.0 11.1 1554 16150 0.00 1.55 0.00 0.000 6 0.000 0.033 2965 2276 2028

16467 0.63 194.6 187.4 10.7 1585 16471 0.00 1.65 0.00 0.000 4 0.000 0.049 2965 3179 2029

16521 0.63 194.6 181.1 11.6 1590 16524 0.00 1.55 0.00 0.000 6 0.000 0.032 2973 2280 2029

16843 0.63 194.6 145.6 10.7 1621 16846 0.00 1.60 0.00 0.000 4 0.000 0.048 2973 3182 2030

16890 0.63 194.6 140.1 11.5 1625 16897 0.08 1.55 0.00 0.000 6 0.140 0.031 2956 2280 2030

17207 0.63 194.6 110.8 8.9 1656 17209 0.00 1.60 0.00 0.000 4 0.000 0.048 2955 3182 2031

17253 0.63 194.6 106.1 9.3 1660 17261 0.00 1.58 0.00 0.000 6 0.000 0.031 2961 2267 2031

17571 0.63 194.6 77.7 8.8 1691 17572 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2268 2032

17756 0.63 194.6 62.0 8.4 1709 17759 0.00 1.62 0.00 0.000 4 0.000 0.046 2961 3183 2032

17820 0.63 199.7 56.6 7.4 1715 17823 0.00 1.55 0.00 0.000 6 0.000 0.029 2969 2275 2032

18017 0.73 280.4 43.5 5.4 1734 18087 0.00 0.00 64.03 0.538 6 0.000 0.000 2969 2275 1695

18271 0.87 392.6 29.7 4.6 1758 18359 0.17 1.65 83.65 0.518 4 0.058 0.044 3065 3178 1237

18417 0.87 392.6 15.4 11.7 1770 18425 0.12 1.58 0.00 0.000 6 0.123 0.028 3032 2279 1232

18567 end climb: SURFACE_DEPTH_REACHED

state 18567 begin surface coast

18599 end surface coast: CONTROL_FINISHED_OK

state 18599 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	238	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	33	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	-17806.861	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	225101,2842.858,-8838.053,38,1.5,38,-0.3	TGT_NAME	NEW0528A
_CALLS	2	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	10	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.227,0.136
_SM_DEPTHo	1.71	KALMAN_X	-54341.5,421.5,51.0,73593.4,-1501.6
_SM_ANGLEo	-69.8	KALMAN_Y	-268960.6,1550.5,633.8,293607.2,-11123.1
GPS2	230244,2842.864,-8837.979,9,1.5,9,-0.3	MHEAD_RNG_PITCHd_Wd	75.6,19501,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	976

FINISH	2.5,1.018901	_24V_AH	22.9,41.662
SM_CCo	18614,112.95,0.491,0,0,495,575.22	_10V_AH	10.6,57.806
SM_GC	2.00,0.00,0.00,112.95,0.000,0.000,0.491,202,2396,495,-7.95,0.59,575.22	DATA_FILE_SIZE	94598,1788
IRIDIUM_FIX	2833.46,-8836.47,041099,232355	CAP_FILE_SIZE	173457,0
TT8_MAMPS	0.051389	CFSIZE	260165632,233897984
HUMID	1338	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.22887	CURRENT	0.099,135.3,1
TCM_TEMP	23.40	GPS	110710,041631,2843.053,-8834.316,39,1.4,39,-0.3
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	118.89	SBE_CT	1222	24	671.69
Roll_motor	88	61	123.72	SBE_O2	1306	19	568.26
VBD_pump_during_apogee	467	1234	13221.18	WL_BBFL2VMT	4018	105	9663.21
VBD_pump_during_surface	112	490	1269.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	57	103	135.97	nil	0	0	0.00
Iridium_during_connect	61	160	224.82	nil	0	0	0.00
Iridium_during_xfer	386	223	1976.15
Transponder_ping	5	420	48.09
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	19	50	10.50
TT8	0	19	0.00
LPSleep	12553	2	291.43
TT8_Active	669	19	140.45
TT8_Sampling	5332	39	2249.52
TT8_CF8	845	45	410.32
TT8_Kalman	33	81	28.91
Analog_circuits	2171	12	276.21
GPS_charging	0	0	0.00
Compass	4753	8	403.14
RAFOS	0	0	0.00
Transponder	37	30	11.91

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	99	0.00	0.00	-84.97	0.000	2	0.000	0.000	205	2388	2898
102	-0.63	-194.6	3.1	-1.5	8	137	10.52	1.27	-19.25	0.000	4	0.254	0.055	2539	1470	3635
354	-0.63	-194.6	50.9	-16.3	31	363	0.00	1.33	0.00	0.000	6	0.000	0.036	2536	2372	3637
547	-0.63	-194.6	78.6	-13.7	50	548	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2373	3638
734	-0.63	-194.6	103.4	-13.4	68	734	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2373	3638
1044	-0.63	-194.6	142.8	-12.4	98	1047	0.00	1.27	0.00	0.000	4	0.000	0.035	2536	1476	3638
1129	-0.63	-194.6	153.0	-12.0	106	1132	0.00	1.30	0.00	0.000	6	0.000	0.037	2532	2379	3638
1451	-0.63	-194.6	190.2	-11.3	137	1452	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2380	3637
1761	-0.63	-194.6	225.4	-11.3	167	1764	0.00	1.30	0.00	0.000	4	0.000	0.036	2532	1472	3635
1814	-0.63	-194.6	231.3	-11.1	172	1817	0.00	1.30	0.00	0.000	6	0.000	0.038	2526	2370	3635
2137	-0.63	-194.6	268.3	-11.5	203	2140	0.00	1.50	0.00	0.000	4	0.000	0.049	2519	3263	3633
2194	-0.63	-194.6	275.6	-12.4	208	2201	0.00	1.48	0.00	0.000	6	0.000	0.028	2519	2351	3633
2512	-0.63	-194.6	312.6	-11.2	239	2513	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2351	3631
2821	-0.63	-194.6	346.1	-10.6	269	2822	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2351	3628
3131	-0.63	-194.6	380.9	-10.6	299	3135	0.00	1.55	0.00	0.000	4	0.000	0.051	2512	3256	3626
3168	-0.63	-194.6	385.1	-11.1	302	3175	0.08	1.42	0.00	0.000	6	0.138	0.030	2537	2361	3626
3484	-0.63	-194.6	413.9	-9.5	333	3487	0.00	1.23	0.00	0.000	4	0.000	0.040	2537	1505	3624
3548	-0.63	-194.6	420.2	-10.0	339	3551	0.00	1.27	0.00	0.000	6	0.000	0.041	2533	2371	3623
3870	-0.63	-194.6	452.6	-10.2	370	3871	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2371	3620
4179	-0.63	-194.6	483.6	-10.0	400	4182	0.00	1.27	0.00	0.000	4	0.000	0.041	2533	1502	3618
4215	-0.63	-194.6	487.5	-9.9	403	4223	0.00	1.30	0.00	0.000	6	0.000	0.042	2527	2380	3618
4533	-0.63	-194.6	518.9	-10.0	434	4534	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2381	3615
4843	-0.63	-194.6	551.1	-10.4	464	4843	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2381	3613
5152	-0.63	-194.6	582.3	-9.8	494	5155	0.00	1.30	0.00	0.000	4	0.000	0.041	2528	1496	3611
5210	-0.63	-194.6	588.1	-9.1	499	5218	0.00	1.30	0.00	0.000	6	0.000	0.044	2522	2369	3610
5528	-0.63	-194.6	620.5	-10.2	530	5531	0.00	1.27	0.00	0.000	4	0.000	0.042	2522	1506	3608
5564	-0.63	-194.6	624.4	-10.4	533	5571	0.00	1.33	0.00	0.000	6	0.000	0.044	2516	2382	3607
5882	-0.63	-194.6	656.9	-10.4	564	5883	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2383	3605
6191	-0.63	-194.6	689.1	-10.2	594	6194	0.00	1.30	0.00	0.000	4	0.000	0.043	2516	1504	3604
6244	-0.63	-194.6	694.9	-10.9	599	6248	0.08	1.27	0.00	0.000	6	0.148	0.047	2535	2360	3603
6565	-0.63	-194.6	722.7	-8.4	630	6566	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2360	3602
6876	-0.63	-194.6	748.0	-8.1	660	6877	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2360	3600
7186	-0.63	-194.6	774.4	-8.7	690	7186	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2360	3598
7496	-0.63	-194.6	801.7	-8.8	720	7497	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2360	3596
7807	-0.63	-194.6	828.4	-8.3	750	7808	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2359	3595
8117	-0.63	-194.6	855.8	-9.3	780	8120	0.00	1.27	0.00	0.000	4	0.000	0.044	2536	1499	3593
8153	-0.63	-194.6	859.2	-10.0	783	8161	0.00	1.33	0.00	0.000	6	0.000	0.048	2533	2376	3593
8469	-0.63	-194.6	888.8	-9.1	814	8472	0.00	1.55	0.00	0.000	4	0.000	0.061	2526	3253	3592
8512	-0.63	-194.6	892.7	-9.4	818	8516	0.00	1.45	0.00	0.000	6	0.000	0.038	2526	2376	3592
8833	-0.63	-194.6	921.9	-8.7	849	8836	0.00	1.30	0.00	0.000	4	0.000	0.045	2526	1493	3590
8891	-0.63	-194.6	927.4	-8.9	854	8898	0.00	1.33	0.00	0.000	6	0.000	0.049	2521	2365	3590
9207	-0.63	-194.6	956.9	-9.3	885	9210	0.00	1.55	0.00	0.000	4	0.000	0.061	2513	3254	3589
9260	-0.63	-194.6	962.2	-9.5	890	9264	0.00	1.45	0.00	0.000	6	0.000	0.038	2514	2379	3589
9403	end dive: TARGET_DEPTH_EXCEEDED
state	9403	begin apogee
9408	-0.25	0.0	976.0	10.1	904	9568	0.50	0.00	151.45	1.234	6	0.137	0.000	2662	2287	2839
9568	end apogee: CONTROL_FINISHED_OK
state	9568	begin climb
9570	0.63	194.6	980.8	0.0	920	9747	0.93	0.00	168.70	1.203	6	0.101	0.000	2953	2287	2045
10056	0.63	194.6	929.6	12.6	968	10057	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2286	2035
10367	0.63	194.6	892.3	11.9	998	10370	0.00	1.23	0.00	0.000	4	0.000	0.044	2959	1376	2033
10430	0.63	194.6	884.6	11.8	1004	10433	0.00	1.25	0.00	0.000	6	0.000	0.044	2959	2281	2034
10751	0.63	194.6	845.7	11.8	1035	10752	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2281	2032
11062	0.63	194.6	807.3	12.2	1065	11063	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2281	2031
11373	0.63	194.6	769.1	12.6	1095	11373	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2281	2030
11683	0.63	194.6	730.6	12.2	1125	11686	0.00	1.23	0.00	0.000	4	0.000	0.043	2964	1377	2030
11746	0.63	194.6	722.8	12.4	1131	11750	0.00	1.25	0.00	0.000	6	0.000	0.045	2964	2285	2030
12067	0.63	194.6	683.7	11.9	1162	12068	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2285	2029
12378	0.63	194.6	646.8	12.0	1192	12379	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2285	2029
12689	0.63	194.6	611.8	10.7	1222	12689	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2285	2029
12999	0.63	194.6	578.9	10.4	1252	13002	0.00	1.60	0.00	0.000	4	0.000	0.054	2964	3187	2028
13078	0.63	194.6	569.4	11.6	1259	13086	0.00	1.60	0.00	0.000	6	0.000	0.036	2972	2275	2027
13395	0.63	194.6	533.2	11.6	1290	13398	0.00	1.62	0.00	0.000	4	0.000	0.054	2972	3171	2027
13438	0.63	194.6	528.0	12.7	1294	13441	0.00	1.58	0.00	0.000	6	0.000	0.037	2979	2275	2026
13760	0.63	194.6	487.7	12.5	1325	13763	0.00	1.65	0.00	0.000	4	0.000	0.054	2980	3165	2027
13817	0.63	194.6	479.5	13.4	1330	13825	0.10	1.58	0.00	0.000	6	0.150	0.036	2956	2274	2027
14134	0.63	194.6	446.3	10.2	1361	14137	0.00	1.65	0.00	0.000	4	0.000	0.053	2955	3165	2027
14176	0.63	194.6	441.6	11.5	1365	14179	0.00	1.58	0.00	0.000	6	0.000	0.036	2961	2273	2027
14497	0.63	194.6	405.5	11.2	1396	14500	0.00	1.67	0.00	0.000	4	0.000	0.054	2961	3176	2027
14561	0.63	194.6	397.9	12.2	1402	14564	0.00	1.58	0.00	0.000	6	0.000	0.036	2969	2275	2027
14883	0.63	194.6	360.7	11.4	1433	14887	0.00	1.65	0.00	0.000	4	0.000	0.053	2969	3170	2027
14990	0.63	194.6	347.4	13.1	1443	14993	0.00	1.58	0.00	0.000	6	0.000	0.035	2976	2272	2027
15312	0.63	194.6	309.8	11.1	1474	15315	0.00	1.62	0.00	0.000	4	0.000	0.051	2976	3171	2027
15387	0.63	194.6	300.6	12.1	1481	15390	0.10	1.58	0.00	0.000	6	0.145	0.035	2953	2273	2027
15708	0.63	194.6	268.0	9.6	1512	15711	0.00	1.62	0.00	0.000	4	0.000	0.051	2953	3173	2027
15755	0.63	194.6	263.1	10.3	1516	15762	0.00	1.58	0.00	0.000	6	0.000	0.034	2958	2274	2027
16072	0.63	194.6	231.2	10.5	1547	16075	0.00	1.65	0.00	0.000	4	0.000	0.051	2958	3174	2028
16147	0.63	194.6	223.0	11.1	1554	16150	0.00	1.55	0.00	0.000	6	0.000	0.033	2965	2276	2028
16467	0.63	194.6	187.4	10.7	1585	16471	0.00	1.65	0.00	0.000	4	0.000	0.049	2965	3179	2029
16521	0.63	194.6	181.1	11.6	1590	16524	0.00	1.55	0.00	0.000	6	0.000	0.032	2973	2280	2029
16843	0.63	194.6	145.6	10.7	1621	16846	0.00	1.60	0.00	0.000	4	0.000	0.048	2973	3182	2030
16890	0.63	194.6	140.1	11.5	1625	16897	0.08	1.55	0.00	0.000	6	0.140	0.031	2956	2280	2030
17207	0.63	194.6	110.8	8.9	1656	17209	0.00	1.60	0.00	0.000	4	0.000	0.048	2955	3182	2031
17253	0.63	194.6	106.1	9.3	1660	17261	0.00	1.58	0.00	0.000	6	0.000	0.031	2961	2267	2031
17571	0.63	194.6	77.7	8.8	1691	17572	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2268	2032
17756	0.63	194.6	62.0	8.4	1709	17759	0.00	1.62	0.00	0.000	4	0.000	0.046	2961	3183	2032
17820	0.63	199.7	56.6	7.4	1715	17823	0.00	1.55	0.00	0.000	6	0.000	0.029	2969	2275	2032
18017	0.73	280.4	43.5	5.4	1734	18087	0.00	0.00	64.03	0.538	6	0.000	0.000	2969	2275	1695
18271	0.87	392.6	29.7	4.6	1758	18359	0.17	1.65	83.65	0.518	4	0.058	0.044	3065	3178	1237
18417	0.87	392.6	15.4	11.7	1770	18425	0.12	1.58	0.00	0.000	6	0.123	0.028	3032	2279	1232
18567	end climb: SURFACE_DEPTH_REACHED
state	18567	begin surface coast
18599	end surface coast: CONTROL_FINISHED_OK
state	18599	begin surface