Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 245 * 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 245 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 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 47 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 -17927.746 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 -17927.746

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 30 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 47 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 245 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 121154,2843.524,-8834.542,40,0.9,57,-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 -0.248,0.092

_SM_DEPTHo 1.85 KALMAN_X -44686.4,-267.2,-36.3,70265.6,3633.7

_SM_ANGLEo -73.0 KALMAN_Y -290532.3,1266.9,847.9,316342.4,-9537.4

GPS2 121919,2843.454,-8834.570,9,1.2,14,-0.3 MHEAD_RNG_PITCHd_Wd 285.2,17054,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1048

Post-dive calculations and measurements:

FINISH 0.7,1.007279 ALTIM_BOTTOM_PING 970.1,32.8

SM_CCo 18880,11.62,0.435,0,0,494,575.22 _24V_AH 22.8,42.764

SM_GC 3.83,0.00,0.00,11.62,0.000,0.000,0.435,198,2407,494,-7.97,0.90,575.22 _10V_AH 10.6,59.403

IRIDIUM_FIX 2828.55,-8834.07,061099,060603 DATA_FILE_SIZE 94598,1812

TT8_MAMPS 0.050622 CAP_FILE_SIZE 171797,0

HUMID 1365 CFSIZE 260165632,233283584

INTERNAL_PRESSURE 9.2777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.50 CURRENT 0.078,164.4,1

XPDR_PINGS 0 GPS 120710,173637,2843.443,-8837.282,85,0.9,85,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 246 115.01 SBE_CT 1238 24 677.57

Roll_motor 78 64 115.35 SBE_O2 1322 19 572.94

VBD_pump_during_apogee 589 1238 16649.64 WL_BBFL2VMT 4072 105 9748.65

VBD_pump_during_surface 11 434 115.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.14 nil 0 0 0.00

Iridium_during_connect 28 160 102.26 nil 0 0 0.00

Iridium_during_xfer 259 223 1316.86

Transponder_ping 4 420 38.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.48

TT8 0 19 0.00

LPSleep 12613 2 292.82

TT8_Active 619 19 130.00

TT8_Sampling 5409 39 2282.12

TT8_CF8 661 45 321.16

TT8_Kalman 33 81 28.91

Analog_circuits 2173 12 276.49

GPS_charging 0 0 0.00

Compass 4831 8 409.67

RAFOS 0 0 0.00

Transponder 33 30 10.55

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 47 0.00 0.00 -31.80 0.000 2 0.000 0.000 202 2404 1472

49 -0.63 -194.6 3.3 -6.0 3 130 10.27 1.42 -62.33 0.000 4 0.247 0.064 2531 3246 3635

369 -0.63 -194.6 54.8 -15.4 32 377 0.00 1.42 0.00 0.000 6 0.000 0.026 2536 2351 3635

562 -0.63 -194.6 81.3 -12.9 51 565 0.00 1.48 0.00 0.000 4 0.000 0.041 2531 3244 3636

637 -0.63 -194.6 91.1 -13.3 58 640 0.00 1.38 0.00 0.000 6 0.000 0.028 2536 2361 3636

834 -0.63 -194.6 116.9 -13.0 77 836 0.00 1.20 0.00 0.000 4 0.000 0.034 2536 1497 3637

919 -0.63 -194.6 128.3 -13.9 85 922 0.00 1.23 0.00 0.000 6 0.000 0.035 2533 2353 3637

1241 -0.63 -194.6 169.1 -11.7 116 1244 0.00 1.20 0.00 0.000 4 0.000 0.035 2533 1503 3637

1315 -0.63 -194.6 178.3 -11.5 123 1318 0.00 1.27 0.00 0.000 6 0.000 0.038 2527 2386 3637

1638 -0.63 -194.6 217.7 -11.7 154 1641 0.00 1.27 0.00 0.000 4 0.000 0.036 2527 1495 3635

1702 -0.63 -194.6 225.3 -11.4 160 1705 0.00 1.25 0.00 0.000 6 0.000 0.038 2521 2361 3634

2024 -0.63 -194.6 262.5 -11.3 191 2025 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2361 3634

2333 -0.63 -194.6 297.6 -11.3 221 2336 0.00 1.23 0.00 0.000 4 0.000 0.037 2521 1507 3631

2419 -0.63 -194.6 307.1 -11.4 229 2422 0.00 1.27 0.00 0.000 6 0.000 0.038 2515 2387 3631

2740 -0.63 -194.6 343.5 -11.4 260 2744 0.00 1.27 0.00 0.000 4 0.000 0.038 2515 1505 3628

2783 -0.63 -194.6 348.8 -12.4 264 2786 0.08 1.25 0.00 0.000 6 0.143 0.040 2535 2361 3628

3104 -0.63 -194.6 380.8 -10.3 295 3105 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2361 3625

3414 -0.63 -194.6 413.2 -10.4 325 3417 0.00 1.25 0.00 0.000 4 0.000 0.040 2535 1503 3623

3451 -0.63 -194.6 417.1 -10.4 328 3457 0.00 1.30 0.00 0.000 6 0.000 0.041 2532 2387 3623

3768 -0.63 -194.6 450.2 -9.8 359 3769 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2388 3621

4078 -0.63 -194.6 480.9 -9.6 389 4080 0.00 1.30 0.00 0.000 4 0.000 0.041 2532 1497 3619

4141 -0.63 -194.6 487.1 -9.6 395 4145 0.00 1.27 0.00 0.000 6 0.000 0.043 2526 2362 3618

4463 -0.63 -194.6 519.0 -9.6 426 4466 0.00 1.52 0.00 0.000 4 0.000 0.054 2519 3254 3616

4495 -0.63 -194.6 522.5 -10.7 429 4498 0.00 1.40 0.00 0.000 6 0.000 0.033 2519 2389 3616

4817 -0.63 -194.6 556.6 -10.6 460 4820 0.00 1.30 0.00 0.000 4 0.000 0.043 2519 1496 3612

4871 -0.63 -194.6 562.4 -11.1 465 4874 0.08 1.33 0.00 0.000 6 0.145 0.044 2537 2386 3612

5191 -0.63 -194.6 592.6 -9.3 496 5192 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2386 3610

5502 -0.63 -194.6 622.0 -10.1 526 5505 0.00 1.33 0.00 0.000 4 0.000 0.043 2537 1488 3607

5566 -0.63 -194.6 628.1 -9.6 532 5569 0.00 1.30 0.00 0.000 6 0.000 0.044 2534 2362 3607

5888 -0.63 -194.6 659.4 -9.8 563 5889 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2362 3606

6197 -0.63 -194.6 689.7 -9.6 593 6198 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2362 3604

6507 -0.63 -194.6 718.7 -9.3 623 6508 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2362 3602

6818 -0.63 -194.6 747.4 -9.5 653 6819 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2362 3600

7128 -0.63 -194.6 776.4 -9.3 683 7129 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2362 3597

7439 -0.63 -194.6 805.0 -9.1 713 7440 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2363 3596

7749 -0.63 -194.6 833.4 -9.7 743 7750 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2363 3595

8061 -0.63 -194.6 861.5 -9.1 773 8062 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2363 3593

8371 -0.63 -194.6 889.0 -9.0 803 8374 0.00 1.30 0.00 0.000 4 0.000 0.046 2534 1496 3592

8429 -0.63 -194.6 894.4 -8.9 808 8436 0.00 1.35 0.00 0.000 6 0.000 0.048 2529 2381 3592

8745 -0.63 -194.6 923.3 -9.0 839 8746 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2381 3591

9060 -0.63 -194.6 950.5 -8.6 869 9067 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2382 3590

9375 -0.63 -194.6 978.2 -8.3 900 9379 0.00 1.33 0.00 0.000 4 0.000 0.047 2528 1499 3588

9431 end dive: BOTTOM_OBSTACLE_DETECTED

state 9431 begin apogee

9437 -0.25 0.0 983.5 8.9 905 9594 0.43 0.00 151.50 1.239 6 0.136 0.000 2657 2276 2839

9594 end apogee: CONTROL_FINISHED_OK

state 9594 begin climb

9596 0.63 194.6 987.9 0.0 921 9770 0.90 0.00 169.27 1.208 6 0.104 0.000 2940 2277 2046

10077 0.63 194.6 939.5 11.8 968 10080 0.00 1.23 0.00 0.000 4 0.000 0.051 2945 1401 2035

10145 0.63 194.6 931.3 11.7 974 10153 0.00 1.23 0.00 0.000 6 0.000 0.045 2945 2273 2035

10464 0.63 194.6 893.9 11.7 1005 10467 0.00 1.20 0.00 0.000 4 0.000 0.044 2950 1385 2033

10500 0.63 194.6 889.5 11.2 1008 10507 0.00 1.25 0.00 0.000 6 0.000 0.044 2950 2280 2033

10818 0.63 194.6 850.8 12.7 1039 10821 0.00 1.20 0.00 0.000 4 0.000 0.044 2956 1394 2032

10871 0.63 194.6 844.3 11.9 1044 10874 0.00 1.20 0.00 0.000 6 0.000 0.044 2955 2272 2032

11192 0.63 194.6 804.0 12.1 1075 11192 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2273 2032

11502 0.63 194.6 767.1 11.5 1105 11505 0.00 1.17 0.00 0.000 4 0.000 0.044 2961 1396 2031

11534 0.63 194.6 763.4 11.4 1108 11537 0.00 1.20 0.00 0.000 6 0.000 0.044 2961 2275 2030

11855 0.63 194.6 725.1 11.6 1139 11855 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2275 2030

12165 0.63 194.6 688.6 11.8 1169 12168 0.00 1.20 0.00 0.000 4 0.000 0.045 2965 1382 2029

12229 0.63 194.6 681.2 11.0 1175 12232 0.00 1.23 0.00 0.000 6 0.000 0.044 2966 2277 2029

12552 0.63 194.6 642.9 11.6 1206 12552 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2277 2029

12861 0.63 194.6 606.6 11.5 1236 12864 0.00 1.20 0.00 0.000 4 0.000 0.044 2971 1387 2028

12935 0.63 194.6 597.9 10.5 1243 12938 0.00 1.20 0.00 0.000 6 0.000 0.044 2971 2274 2028

13258 0.63 194.6 559.4 12.0 1274 13261 0.00 1.62 0.00 0.000 4 0.000 0.054 2971 3179 2028

13283 0.63 194.6 555.9 13.6 1276 13291 0.00 1.52 0.00 0.000 6 0.000 0.036 2978 2298 2027

13601 0.63 194.6 515.8 12.8 1307 13604 0.00 1.25 0.00 0.000 4 0.000 0.043 2984 1373 2027

13675 0.63 194.6 505.8 12.6 1314 13679 0.10 1.23 0.00 0.000 6 0.143 0.044 2953 2278 2027

13996 0.63 194.6 470.4 10.7 1345 13997 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2278 2027

14307 0.63 194.6 436.6 10.4 1375 14310 0.00 1.23 0.00 0.000 4 0.000 0.041 2956 1370 2027

14371 0.63 194.6 430.0 10.3 1381 14374 0.00 1.23 0.00 0.000 6 0.000 0.043 2956 2276 2027

14693 0.63 194.6 395.2 11.1 1412 14694 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2277 2027

15002 0.63 194.6 360.4 10.8 1442 15005 0.00 1.23 0.00 0.000 4 0.000 0.041 2961 1363 2027

15045 0.63 194.6 355.5 10.8 1446 15048 0.00 1.23 0.00 0.000 6 0.000 0.043 2961 2275 2027

15367 0.63 194.6 318.7 11.1 1477 15370 0.00 1.60 0.00 0.000 4 0.000 0.052 2961 3173 2027

15392 0.63 194.6 315.5 12.5 1479 15399 0.00 1.58 0.00 0.000 6 0.000 0.035 2968 2273 2027

15710 0.63 194.6 278.6 11.6 1510 15713 0.00 1.17 0.00 0.000 4 0.000 0.041 2974 1372 2027

15763 0.63 194.6 272.2 12.0 1515 15766 0.00 1.20 0.00 0.000 6 0.000 0.041 2974 2271 2027

16086 0.63 194.6 232.8 12.6 1546 16086 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2271 2027

16394 0.63 194.6 195.3 11.8 1576 16395 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2271 2028

16706 0.63 194.6 157.5 12.4 1606 16706 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2271 2028

17015 0.63 194.6 121.4 11.3 1636 17016 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2271 2029

17326 0.63 194.6 86.9 10.4 1666 17329 0.00 1.62 0.00 0.000 4 0.000 0.048 2973 3175 2030

17357 0.63 194.6 83.4 11.2 1669 17361 0.08 1.58 0.00 0.000 6 0.137 0.031 2956 2265 2030

17554 0.63 194.6 67.0 8.2 1688 17557 0.00 1.62 0.00 0.000 4 0.000 0.048 2956 3180 2031

17591 0.63 194.6 64.0 9.0 1691 17598 0.00 1.55 0.00 0.000 6 0.000 0.031 2962 2274 2031

17783 0.64 203.9 49.4 7.3 1710 17794 0.00 1.12 6.57 0.450 4 0.000 0.035 2967 1368 2009

17819 0.64 203.9 46.5 7.7 1713 17828 0.00 1.23 0.00 0.000 6 0.000 0.035 2967 2280 2009

18012 0.71 261.5 33.0 6.0 1732 18064 0.00 0.00 45.30 0.529 6 0.000 0.000 2967 2280 1772

18249 0.87 395.4 22.1 4.0 1755 18356 0.17 1.25 99.88 0.515 4 0.058 0.034 3072 1364 1224

18399 0.87 395.4 7.9 11.3 1768 18402 0.12 1.23 0.00 0.000 6 0.115 0.034 3030 2275 1221

18595 1.28 723.8 3.9 -1.1 1787 18715 0.35 0.00 117.00 0.491 2 0.107 0.000 3147 2275 569

18716 end climb: SURFACE_DEPTH_REACHED

state 18716 begin surface coast

18865 end surface coast: CONTROL_FINISHED_OK

state 18865 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	245	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	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	47	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	-17927.746	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	121154,2843.524,-8834.542,40,0.9,57,-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	-0.248,0.092
_SM_DEPTHo	1.85	KALMAN_X	-44686.4,-267.2,-36.3,70265.6,3633.7
_SM_ANGLEo	-73.0	KALMAN_Y	-290532.3,1266.9,847.9,316342.4,-9537.4
GPS2	121919,2843.454,-8834.570,9,1.2,14,-0.3	MHEAD_RNG_PITCHd_Wd	285.2,17054,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1048

FINISH	0.7,1.007279	ALTIM_BOTTOM_PING	970.1,32.8
SM_CCo	18880,11.62,0.435,0,0,494,575.22	_24V_AH	22.8,42.764
SM_GC	3.83,0.00,0.00,11.62,0.000,0.000,0.435,198,2407,494,-7.97,0.90,575.22	_10V_AH	10.6,59.403
IRIDIUM_FIX	2828.55,-8834.07,061099,060603	DATA_FILE_SIZE	94598,1812
TT8_MAMPS	0.050622	CAP_FILE_SIZE	171797,0
HUMID	1365	CFSIZE	260165632,233283584
INTERNAL_PRESSURE	9.2777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.50	CURRENT	0.078,164.4,1
XPDR_PINGS	0	GPS	120710,173637,2843.443,-8837.282,85,0.9,85,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	246	115.01	SBE_CT	1238	24	677.57
Roll_motor	78	64	115.35	SBE_O2	1322	19	572.94
VBD_pump_during_apogee	589	1238	16649.64	WL_BBFL2VMT	4072	105	9748.65
VBD_pump_during_surface	11	434	115.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.14	nil	0	0	0.00
Iridium_during_connect	28	160	102.26	nil	0	0	0.00
Iridium_during_xfer	259	223	1316.86
Transponder_ping	4	420	38.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.48
TT8	0	19	0.00
LPSleep	12613	2	292.82
TT8_Active	619	19	130.00
TT8_Sampling	5409	39	2282.12
TT8_CF8	661	45	321.16
TT8_Kalman	33	81	28.91
Analog_circuits	2173	12	276.49
GPS_charging	0	0	0.00
Compass	4831	8	409.67
RAFOS	0	0	0.00
Transponder	33	30	10.55

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	47	0.00	0.00	-31.80	0.000	2	0.000	0.000	202	2404	1472
49	-0.63	-194.6	3.3	-6.0	3	130	10.27	1.42	-62.33	0.000	4	0.247	0.064	2531	3246	3635
369	-0.63	-194.6	54.8	-15.4	32	377	0.00	1.42	0.00	0.000	6	0.000	0.026	2536	2351	3635
562	-0.63	-194.6	81.3	-12.9	51	565	0.00	1.48	0.00	0.000	4	0.000	0.041	2531	3244	3636
637	-0.63	-194.6	91.1	-13.3	58	640	0.00	1.38	0.00	0.000	6	0.000	0.028	2536	2361	3636
834	-0.63	-194.6	116.9	-13.0	77	836	0.00	1.20	0.00	0.000	4	0.000	0.034	2536	1497	3637
919	-0.63	-194.6	128.3	-13.9	85	922	0.00	1.23	0.00	0.000	6	0.000	0.035	2533	2353	3637
1241	-0.63	-194.6	169.1	-11.7	116	1244	0.00	1.20	0.00	0.000	4	0.000	0.035	2533	1503	3637
1315	-0.63	-194.6	178.3	-11.5	123	1318	0.00	1.27	0.00	0.000	6	0.000	0.038	2527	2386	3637
1638	-0.63	-194.6	217.7	-11.7	154	1641	0.00	1.27	0.00	0.000	4	0.000	0.036	2527	1495	3635
1702	-0.63	-194.6	225.3	-11.4	160	1705	0.00	1.25	0.00	0.000	6	0.000	0.038	2521	2361	3634
2024	-0.63	-194.6	262.5	-11.3	191	2025	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2361	3634
2333	-0.63	-194.6	297.6	-11.3	221	2336	0.00	1.23	0.00	0.000	4	0.000	0.037	2521	1507	3631
2419	-0.63	-194.6	307.1	-11.4	229	2422	0.00	1.27	0.00	0.000	6	0.000	0.038	2515	2387	3631
2740	-0.63	-194.6	343.5	-11.4	260	2744	0.00	1.27	0.00	0.000	4	0.000	0.038	2515	1505	3628
2783	-0.63	-194.6	348.8	-12.4	264	2786	0.08	1.25	0.00	0.000	6	0.143	0.040	2535	2361	3628
3104	-0.63	-194.6	380.8	-10.3	295	3105	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2361	3625
3414	-0.63	-194.6	413.2	-10.4	325	3417	0.00	1.25	0.00	0.000	4	0.000	0.040	2535	1503	3623
3451	-0.63	-194.6	417.1	-10.4	328	3457	0.00	1.30	0.00	0.000	6	0.000	0.041	2532	2387	3623
3768	-0.63	-194.6	450.2	-9.8	359	3769	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2388	3621
4078	-0.63	-194.6	480.9	-9.6	389	4080	0.00	1.30	0.00	0.000	4	0.000	0.041	2532	1497	3619
4141	-0.63	-194.6	487.1	-9.6	395	4145	0.00	1.27	0.00	0.000	6	0.000	0.043	2526	2362	3618
4463	-0.63	-194.6	519.0	-9.6	426	4466	0.00	1.52	0.00	0.000	4	0.000	0.054	2519	3254	3616
4495	-0.63	-194.6	522.5	-10.7	429	4498	0.00	1.40	0.00	0.000	6	0.000	0.033	2519	2389	3616
4817	-0.63	-194.6	556.6	-10.6	460	4820	0.00	1.30	0.00	0.000	4	0.000	0.043	2519	1496	3612
4871	-0.63	-194.6	562.4	-11.1	465	4874	0.08	1.33	0.00	0.000	6	0.145	0.044	2537	2386	3612
5191	-0.63	-194.6	592.6	-9.3	496	5192	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2386	3610
5502	-0.63	-194.6	622.0	-10.1	526	5505	0.00	1.33	0.00	0.000	4	0.000	0.043	2537	1488	3607
5566	-0.63	-194.6	628.1	-9.6	532	5569	0.00	1.30	0.00	0.000	6	0.000	0.044	2534	2362	3607
5888	-0.63	-194.6	659.4	-9.8	563	5889	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2362	3606
6197	-0.63	-194.6	689.7	-9.6	593	6198	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2362	3604
6507	-0.63	-194.6	718.7	-9.3	623	6508	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2362	3602
6818	-0.63	-194.6	747.4	-9.5	653	6819	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2362	3600
7128	-0.63	-194.6	776.4	-9.3	683	7129	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2362	3597
7439	-0.63	-194.6	805.0	-9.1	713	7440	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2363	3596
7749	-0.63	-194.6	833.4	-9.7	743	7750	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2363	3595
8061	-0.63	-194.6	861.5	-9.1	773	8062	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2363	3593
8371	-0.63	-194.6	889.0	-9.0	803	8374	0.00	1.30	0.00	0.000	4	0.000	0.046	2534	1496	3592
8429	-0.63	-194.6	894.4	-8.9	808	8436	0.00	1.35	0.00	0.000	6	0.000	0.048	2529	2381	3592
8745	-0.63	-194.6	923.3	-9.0	839	8746	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2381	3591
9060	-0.63	-194.6	950.5	-8.6	869	9067	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2382	3590
9375	-0.63	-194.6	978.2	-8.3	900	9379	0.00	1.33	0.00	0.000	4	0.000	0.047	2528	1499	3588
9431	end dive: BOTTOM_OBSTACLE_DETECTED
state	9431	begin apogee
9437	-0.25	0.0	983.5	8.9	905	9594	0.43	0.00	151.50	1.239	6	0.136	0.000	2657	2276	2839
9594	end apogee: CONTROL_FINISHED_OK
state	9594	begin climb
9596	0.63	194.6	987.9	0.0	921	9770	0.90	0.00	169.27	1.208	6	0.104	0.000	2940	2277	2046
10077	0.63	194.6	939.5	11.8	968	10080	0.00	1.23	0.00	0.000	4	0.000	0.051	2945	1401	2035
10145	0.63	194.6	931.3	11.7	974	10153	0.00	1.23	0.00	0.000	6	0.000	0.045	2945	2273	2035
10464	0.63	194.6	893.9	11.7	1005	10467	0.00	1.20	0.00	0.000	4	0.000	0.044	2950	1385	2033
10500	0.63	194.6	889.5	11.2	1008	10507	0.00	1.25	0.00	0.000	6	0.000	0.044	2950	2280	2033
10818	0.63	194.6	850.8	12.7	1039	10821	0.00	1.20	0.00	0.000	4	0.000	0.044	2956	1394	2032
10871	0.63	194.6	844.3	11.9	1044	10874	0.00	1.20	0.00	0.000	6	0.000	0.044	2955	2272	2032
11192	0.63	194.6	804.0	12.1	1075	11192	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2273	2032
11502	0.63	194.6	767.1	11.5	1105	11505	0.00	1.17	0.00	0.000	4	0.000	0.044	2961	1396	2031
11534	0.63	194.6	763.4	11.4	1108	11537	0.00	1.20	0.00	0.000	6	0.000	0.044	2961	2275	2030
11855	0.63	194.6	725.1	11.6	1139	11855	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2275	2030
12165	0.63	194.6	688.6	11.8	1169	12168	0.00	1.20	0.00	0.000	4	0.000	0.045	2965	1382	2029
12229	0.63	194.6	681.2	11.0	1175	12232	0.00	1.23	0.00	0.000	6	0.000	0.044	2966	2277	2029
12552	0.63	194.6	642.9	11.6	1206	12552	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2277	2029
12861	0.63	194.6	606.6	11.5	1236	12864	0.00	1.20	0.00	0.000	4	0.000	0.044	2971	1387	2028
12935	0.63	194.6	597.9	10.5	1243	12938	0.00	1.20	0.00	0.000	6	0.000	0.044	2971	2274	2028
13258	0.63	194.6	559.4	12.0	1274	13261	0.00	1.62	0.00	0.000	4	0.000	0.054	2971	3179	2028
13283	0.63	194.6	555.9	13.6	1276	13291	0.00	1.52	0.00	0.000	6	0.000	0.036	2978	2298	2027
13601	0.63	194.6	515.8	12.8	1307	13604	0.00	1.25	0.00	0.000	4	0.000	0.043	2984	1373	2027
13675	0.63	194.6	505.8	12.6	1314	13679	0.10	1.23	0.00	0.000	6	0.143	0.044	2953	2278	2027
13996	0.63	194.6	470.4	10.7	1345	13997	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2278	2027
14307	0.63	194.6	436.6	10.4	1375	14310	0.00	1.23	0.00	0.000	4	0.000	0.041	2956	1370	2027
14371	0.63	194.6	430.0	10.3	1381	14374	0.00	1.23	0.00	0.000	6	0.000	0.043	2956	2276	2027
14693	0.63	194.6	395.2	11.1	1412	14694	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2277	2027
15002	0.63	194.6	360.4	10.8	1442	15005	0.00	1.23	0.00	0.000	4	0.000	0.041	2961	1363	2027
15045	0.63	194.6	355.5	10.8	1446	15048	0.00	1.23	0.00	0.000	6	0.000	0.043	2961	2275	2027
15367	0.63	194.6	318.7	11.1	1477	15370	0.00	1.60	0.00	0.000	4	0.000	0.052	2961	3173	2027
15392	0.63	194.6	315.5	12.5	1479	15399	0.00	1.58	0.00	0.000	6	0.000	0.035	2968	2273	2027
15710	0.63	194.6	278.6	11.6	1510	15713	0.00	1.17	0.00	0.000	4	0.000	0.041	2974	1372	2027
15763	0.63	194.6	272.2	12.0	1515	15766	0.00	1.20	0.00	0.000	6	0.000	0.041	2974	2271	2027
16086	0.63	194.6	232.8	12.6	1546	16086	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2271	2027
16394	0.63	194.6	195.3	11.8	1576	16395	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2271	2028
16706	0.63	194.6	157.5	12.4	1606	16706	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2271	2028
17015	0.63	194.6	121.4	11.3	1636	17016	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2271	2029
17326	0.63	194.6	86.9	10.4	1666	17329	0.00	1.62	0.00	0.000	4	0.000	0.048	2973	3175	2030
17357	0.63	194.6	83.4	11.2	1669	17361	0.08	1.58	0.00	0.000	6	0.137	0.031	2956	2265	2030
17554	0.63	194.6	67.0	8.2	1688	17557	0.00	1.62	0.00	0.000	4	0.000	0.048	2956	3180	2031
17591	0.63	194.6	64.0	9.0	1691	17598	0.00	1.55	0.00	0.000	6	0.000	0.031	2962	2274	2031
17783	0.64	203.9	49.4	7.3	1710	17794	0.00	1.12	6.57	0.450	4	0.000	0.035	2967	1368	2009
17819	0.64	203.9	46.5	7.7	1713	17828	0.00	1.23	0.00	0.000	6	0.000	0.035	2967	2280	2009
18012	0.71	261.5	33.0	6.0	1732	18064	0.00	0.00	45.30	0.529	6	0.000	0.000	2967	2280	1772
18249	0.87	395.4	22.1	4.0	1755	18356	0.17	1.25	99.88	0.515	4	0.058	0.034	3072	1364	1224
18399	0.87	395.4	7.9	11.3	1768	18402	0.12	1.23	0.00	0.000	6	0.115	0.034	3030	2275	1221
18595	1.28	723.8	3.9	-1.1	1787	18715	0.35	0.00	117.00	0.491	2	0.107	0.000	3147	2275	569
18716	end climb: SURFACE_DEPTH_REACHED
state	18716	begin surface coast
18865	end surface coast: CONTROL_FINISHED_OK
state	18865	begin surface