Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 250 * 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 250 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 49 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 -18060.748 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 -18060.748

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 49 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 22 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 250 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 141224,2842.523,-8845.037,167,0.9,167,-0.2 TGT_NAME NEW0528A

_CALLS 2 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 74 TGT_RADIUS 2000.000

_XMS_TOUTs 6 KALMAN_CONTROL 0.233,0.126

_SM_DEPTHo 2.63 KALMAN_X -35536.7,-548.8,-208.2,44883.4,5621.3

_SM_ANGLEo -74.8 KALMAN_Y -309441.3,373.3,181.9,335319.0,-11728.2

GPS2 142922,2842.633,-8844.823,17,2.4,36,-0.2 MHEAD_RNG_PITCHd_Wd 83.5,30623,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1123

Post-dive calculations and measurements:

FINISH 3.1,1.015915 _24V_AH 22.8,43.623

SM_CCo 19263,148.52,0.489,0,0,403,597.54 _10V_AH 10.6,60.537

SM_GC 2.92,8.05,0.00,0.00,0.062,0.000,0.000,198,2397,400,-7.92,0.62,598.28 DATA_FILE_SIZE 97798,1853

IRIDIUM_FIX 2831.00,-8843.89,071099,141412 CAP_FILE_SIZE 180854,0

TT8_MAMPS 0.051389 CFSIZE 260165632,232828928

HUMID 1376 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2484 CURRENT 0.092,104.4,1

TCM_TEMP 23.20 GPS 130710,200907,2842.779,-8840.485,807,1.3,807,-0.3

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 233 104.41 SBE_CT 1268 24 693.92

Roll_motor 71 61 99.89 SBE_O2 1353 19 586.49

VBD_pump_during_apogee 472 1244 13414.93 WL_BBFL2VMT 4164 105 9969.05

VBD_pump_during_surface 148 489 1657.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 59 103 140.06 nil 0 0 0.00

Iridium_during_connect 63 160 233.44 nil 0 0 0.00

Iridium_during_xfer 685 223 3483.84

Transponder_ping 4 420 40.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 39 50 20.67

TT8 0 19 0.00

LPSleep 13189 2 306.17

TT8_Active 692 19 145.25

TT8_Sampling 5464 39 2305.38

TT8_CF8 1164 45 565.47

TT8_Kalman 33 81 28.93

Analog_circuits 2204 12 280.37

GPS_charging 0 0 0.00

Compass 4871 8 413.12

RAFOS 0 0 0.00

Transponder 32 30 10.27

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 47 0.00 0.00 -32.92 0.000 2 0.000 0.000 202 2346 1521

49 -0.63 -194.6 3.1 -2.3 3 134 9.80 1.25 -66.53 0.000 4 0.234 0.056 2544 1470 3635

373 -0.63 -194.6 49.4 -13.5 32 381 0.00 1.33 0.00 0.000 6 0.000 0.034 2539 2391 3635

566 -0.63 -194.6 75.5 -12.1 51 569 0.00 1.30 0.00 0.000 4 0.000 0.033 2540 1472 3636

651 -0.63 -194.6 85.3 -11.5 59 654 0.00 1.27 0.00 0.000 6 0.000 0.035 2535 2366 3636

848 -0.63 -194.6 110.6 -12.1 78 851 0.00 1.25 0.00 0.000 4 0.000 0.033 2535 1474 3636

912 -0.63 -194.6 118.5 -12.2 84 915 0.00 1.30 0.00 0.000 6 0.000 0.035 2530 2385 3636

1235 -0.63 -194.6 158.4 -11.4 115 1237 0.00 1.27 0.00 0.000 4 0.000 0.032 2530 1479 3636

1320 -0.63 -194.6 168.5 -11.5 123 1323 0.00 1.25 0.00 0.000 6 0.000 0.035 2524 2360 3635

1642 -0.63 -194.6 207.0 -11.5 154 1643 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2360 3634

1951 -0.63 -194.6 242.9 -10.7 184 1954 0.00 1.23 0.00 0.000 4 0.000 0.034 2524 1489 3632

2008 -0.63 -194.6 249.3 -10.5 189 2016 0.00 1.30 0.00 0.000 6 0.000 0.035 2518 2392 3632

2327 -0.63 -194.6 286.5 -12.3 220 2330 0.00 1.30 0.00 0.000 4 0.000 0.035 2518 1483 3629

2373 -0.63 -194.6 292.4 -11.9 224 2381 0.12 1.30 0.00 0.000 6 0.142 0.036 2549 2374 3628

2689 -0.63 -194.6 321.2 -9.2 255 2690 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2373 3626

3000 -0.63 -194.6 349.7 -8.9 285 3001 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2374 3624

3311 -0.63 -194.6 377.1 -8.9 315 3314 0.00 1.27 0.00 0.000 4 0.000 0.038 2549 1487 3622

3368 -0.63 -194.6 382.6 -9.4 320 3375 0.00 1.33 0.00 0.000 6 0.000 0.041 2545 2382 3621

3686 -0.63 -194.6 412.7 -9.5 351 3689 0.00 1.27 0.00 0.000 4 0.000 0.039 2545 1495 3619

3728 -0.63 -194.6 416.8 -9.2 355 3732 0.00 1.27 0.00 0.000 6 0.000 0.042 2540 2364 3618

4050 -0.63 -194.6 447.0 -9.7 386 4051 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2365 3616

4360 -0.63 -194.6 477.3 -9.6 416 4361 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2365 3612

4670 -0.63 -194.6 507.1 -9.1 446 4671 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2365 3611

4981 -0.63 -194.6 536.3 -9.2 476 4984 0.00 1.27 0.00 0.000 4 0.000 0.042 2540 1494 3608

5023 -0.63 -194.6 540.4 -9.8 480 5026 0.00 1.33 0.00 0.000 6 0.000 0.044 2535 2387 3607

5345 -0.63 -194.6 570.6 -10.2 511 5348 0.00 1.30 0.00 0.000 4 0.000 0.041 2535 1497 3606

5389 -0.63 -194.6 574.8 -9.2 515 5391 0.00 1.27 0.00 0.000 6 0.000 0.045 2529 2360 3605

5710 -0.63 -194.6 605.5 -9.2 546 5711 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2360 3604

6020 -0.63 -194.6 635.4 -9.5 576 6021 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2360 3601

6330 -0.63 -194.6 665.3 -9.8 606 6331 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2360 3599

6641 -0.63 -194.6 694.7 -9.2 636 6644 0.00 1.27 0.00 0.000 4 0.000 0.043 2529 1490 3597

6683 -0.63 -194.6 698.8 -10.2 640 6686 0.00 1.35 0.00 0.000 6 0.000 0.046 2524 2390 3597

7005 -0.63 -194.6 730.3 -10.2 671 7006 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2391 3596

7315 -0.63 -194.6 759.5 -9.5 701 7316 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2391 3593

7625 -0.63 -194.6 788.1 -9.1 731 7626 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2390 3591

7936 -0.63 -194.6 815.9 -9.1 761 7939 0.00 1.33 0.00 0.000 4 0.000 0.045 2524 1501 3590

7999 -0.63 -194.6 821.8 -8.8 767 8002 0.00 1.27 0.00 0.000 6 0.000 0.048 2519 2355 3590

8320 -0.63 -194.6 851.0 -9.1 798 8323 0.00 1.60 0.00 0.000 4 0.000 0.061 2512 3267 3589

8352 -0.63 -194.6 854.0 -9.1 801 8355 0.08 1.45 0.00 0.000 6 0.140 0.038 2536 2384 3589

8673 -0.63 -194.6 880.9 -8.4 832 8674 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2385 3588

8984 -0.63 -194.6 906.4 -8.4 862 8987 0.00 1.30 0.00 0.000 4 0.000 0.046 2536 1496 3587

9038 -0.63 -194.6 911.1 -8.9 867 9041 0.00 1.35 0.00 0.000 6 0.000 0.050 2533 2385 3586

9358 -0.63 -194.6 938.0 -8.0 898 9359 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2386 3585

9669 -0.63 -194.6 963.9 -8.5 928 9669 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2386 3584

9980 end dive: TARGET_DEPTH_EXCEEDED

state 9980 begin apogee

9985 -0.25 0.0 990.4 9.0 958 10142 0.40 0.00 150.73 1.245 6 0.132 0.000 2658 2283 2839

10142 end apogee: CONTROL_FINISHED_OK

state 10142 begin climb

10145 0.63 194.6 996.0 0.0 974 10325 0.88 1.40 169.12 1.213 4 0.101 0.048 2941 1378 2044

10347 0.63 194.6 981.1 10.7 994 10351 0.00 1.30 0.00 0.000 6 0.000 0.044 2941 2266 2042

10668 0.63 194.6 944.4 11.6 1025 10669 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2266 2034

10979 0.63 194.6 909.5 11.3 1055 10979 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2266 2032

11289 0.63 194.6 874.9 11.1 1085 11292 0.00 1.20 0.00 0.000 4 0.000 0.045 2946 1376 2031

11346 0.63 194.6 868.5 10.3 1090 11354 0.00 1.27 0.00 0.000 6 0.000 0.044 2946 2287 2031

11665 0.63 194.6 833.5 11.5 1121 11666 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2287 2031

11974 0.63 194.6 797.5 11.3 1151 11977 0.00 1.25 0.00 0.000 4 0.000 0.044 2952 1371 2030

12031 0.63 194.6 791.1 10.4 1156 12038 0.00 1.25 0.00 0.000 6 0.000 0.044 2952 2274 2030

12350 0.63 194.6 755.5 11.5 1187 12350 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2274 2029

12658 0.63 194.6 720.1 10.9 1217 12661 0.00 1.23 0.00 0.000 4 0.000 0.044 2957 1366 2029

12695 0.63 194.6 715.9 11.2 1220 12701 0.00 1.23 0.00 0.000 6 0.000 0.045 2957 2266 2029

13012 0.63 194.6 679.3 12.0 1251 13015 0.00 1.20 0.00 0.000 4 0.000 0.044 2962 1364 2029

13044 0.63 194.6 675.6 12.1 1254 13047 0.00 1.25 0.00 0.000 6 0.000 0.045 2962 2279 2029

13365 0.63 194.6 636.7 12.0 1285 13365 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2279 2029

13675 0.63 194.6 598.5 12.4 1315 13676 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2279 2029

13985 0.63 194.6 560.8 12.1 1345 13988 0.00 1.23 0.00 0.000 4 0.000 0.044 2967 1373 2028

14028 0.63 194.6 555.8 12.4 1349 14031 0.00 1.23 0.00 0.000 6 0.000 0.044 2967 2272 2028

14348 0.63 194.6 516.6 12.1 1380 14351 0.00 1.23 0.00 0.000 4 0.000 0.044 2973 1362 2028

14374 0.63 194.6 513.4 12.5 1382 14381 0.00 1.27 0.00 0.000 6 0.000 0.044 2973 2282 2028

14692 0.63 194.6 472.6 12.6 1413 14693 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2283 2027

15001 0.63 194.6 432.8 12.7 1443 15002 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2283 2027

15312 0.63 194.6 393.8 12.9 1473 15313 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2283 2027

15622 0.63 194.6 354.1 12.6 1503 15625 0.00 1.25 0.00 0.000 4 0.000 0.043 2979 1361 2028

15658 0.63 194.6 349.6 12.6 1506 15665 0.00 1.25 0.00 0.000 6 0.000 0.042 2979 2279 2028

15976 0.63 194.6 309.1 13.0 1537 15979 0.00 1.60 0.00 0.000 4 0.000 0.052 2979 3166 2028

16001 0.63 194.6 305.4 13.3 1539 16010 0.10 1.55 0.00 0.000 6 0.147 0.035 2955 2279 2027

16317 0.63 194.6 269.8 11.4 1570 16318 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2279 2027

16628 0.63 194.6 235.7 11.0 1600 16629 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2280 2027

16939 0.63 194.6 201.2 10.8 1630 16940 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2280 2028

17249 0.63 194.6 168.1 10.6 1660 17250 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2280 2029

17560 0.63 194.6 136.1 10.1 1690 17563 0.00 1.20 0.00 0.000 4 0.000 0.039 2959 1356 2029

17592 0.63 194.6 133.1 9.9 1693 17595 0.00 1.23 0.00 0.000 6 0.000 0.039 2959 2274 2030

17912 0.63 194.6 100.7 9.5 1724 17913 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2274 2030

18223 0.63 194.6 71.9 8.7 1754 18226 0.00 1.60 0.00 0.000 4 0.000 0.048 2959 3171 2032

18297 0.63 194.6 64.8 9.3 1761 18300 0.00 1.55 0.00 0.000 6 0.000 0.031 2967 2268 2032

18495 0.63 194.6 48.2 7.7 1780 18495 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2268 2033

18680 0.68 242.6 35.3 6.2 1798 18723 0.00 1.17 36.20 0.525 4 0.000 0.036 2972 1369 1849

18781 0.77 313.5 29.8 5.6 1807 18839 0.00 1.23 53.88 0.519 6 0.000 0.035 2972 2281 1560

19021 0.87 389.5 16.8 5.5 1830 19085 0.15 1.60 56.97 0.503 4 0.076 0.044 3032 3166 1250

19118 0.87 396.1 10.0 7.3 1839 19131 0.00 1.55 5.75 0.387 6 0.000 0.029 3038 2274 1226

19219 end climb: SURFACE_DEPTH_REACHED

state 19219 begin surface coast

19260 end surface coast: CONTROL_FINISHED_OK

state 19260 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	250	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	49	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-18060.748	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	141224,2842.523,-8845.037,167,0.9,167,-0.2	TGT_NAME	NEW0528A
_CALLS	2	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	74	TGT_RADIUS	2000.000
_XMS_TOUTs	6	KALMAN_CONTROL	0.233,0.126
_SM_DEPTHo	2.63	KALMAN_X	-35536.7,-548.8,-208.2,44883.4,5621.3
_SM_ANGLEo	-74.8	KALMAN_Y	-309441.3,373.3,181.9,335319.0,-11728.2
GPS2	142922,2842.633,-8844.823,17,2.4,36,-0.2	MHEAD_RNG_PITCHd_Wd	83.5,30623,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1123

FINISH	3.1,1.015915	_24V_AH	22.8,43.623
SM_CCo	19263,148.52,0.489,0,0,403,597.54	_10V_AH	10.6,60.537
SM_GC	2.92,8.05,0.00,0.00,0.062,0.000,0.000,198,2397,400,-7.92,0.62,598.28	DATA_FILE_SIZE	97798,1853
IRIDIUM_FIX	2831.00,-8843.89,071099,141412	CAP_FILE_SIZE	180854,0
TT8_MAMPS	0.051389	CFSIZE	260165632,232828928
HUMID	1376	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2484	CURRENT	0.092,104.4,1
TCM_TEMP	23.20	GPS	130710,200907,2842.779,-8840.485,807,1.3,807,-0.3
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	233	104.41	SBE_CT	1268	24	693.92
Roll_motor	71	61	99.89	SBE_O2	1353	19	586.49
VBD_pump_during_apogee	472	1244	13414.93	WL_BBFL2VMT	4164	105	9969.05
VBD_pump_during_surface	148	489	1657.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	59	103	140.06	nil	0	0	0.00
Iridium_during_connect	63	160	233.44	nil	0	0	0.00
Iridium_during_xfer	685	223	3483.84
Transponder_ping	4	420	40.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	39	50	20.67
TT8	0	19	0.00
LPSleep	13189	2	306.17
TT8_Active	692	19	145.25
TT8_Sampling	5464	39	2305.38
TT8_CF8	1164	45	565.47
TT8_Kalman	33	81	28.93
Analog_circuits	2204	12	280.37
GPS_charging	0	0	0.00
Compass	4871	8	413.12
RAFOS	0	0	0.00
Transponder	32	30	10.27

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	47	0.00	0.00	-32.92	0.000	2	0.000	0.000	202	2346	1521
49	-0.63	-194.6	3.1	-2.3	3	134	9.80	1.25	-66.53	0.000	4	0.234	0.056	2544	1470	3635
373	-0.63	-194.6	49.4	-13.5	32	381	0.00	1.33	0.00	0.000	6	0.000	0.034	2539	2391	3635
566	-0.63	-194.6	75.5	-12.1	51	569	0.00	1.30	0.00	0.000	4	0.000	0.033	2540	1472	3636
651	-0.63	-194.6	85.3	-11.5	59	654	0.00	1.27	0.00	0.000	6	0.000	0.035	2535	2366	3636
848	-0.63	-194.6	110.6	-12.1	78	851	0.00	1.25	0.00	0.000	4	0.000	0.033	2535	1474	3636
912	-0.63	-194.6	118.5	-12.2	84	915	0.00	1.30	0.00	0.000	6	0.000	0.035	2530	2385	3636
1235	-0.63	-194.6	158.4	-11.4	115	1237	0.00	1.27	0.00	0.000	4	0.000	0.032	2530	1479	3636
1320	-0.63	-194.6	168.5	-11.5	123	1323	0.00	1.25	0.00	0.000	6	0.000	0.035	2524	2360	3635
1642	-0.63	-194.6	207.0	-11.5	154	1643	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2360	3634
1951	-0.63	-194.6	242.9	-10.7	184	1954	0.00	1.23	0.00	0.000	4	0.000	0.034	2524	1489	3632
2008	-0.63	-194.6	249.3	-10.5	189	2016	0.00	1.30	0.00	0.000	6	0.000	0.035	2518	2392	3632
2327	-0.63	-194.6	286.5	-12.3	220	2330	0.00	1.30	0.00	0.000	4	0.000	0.035	2518	1483	3629
2373	-0.63	-194.6	292.4	-11.9	224	2381	0.12	1.30	0.00	0.000	6	0.142	0.036	2549	2374	3628
2689	-0.63	-194.6	321.2	-9.2	255	2690	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2373	3626
3000	-0.63	-194.6	349.7	-8.9	285	3001	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2374	3624
3311	-0.63	-194.6	377.1	-8.9	315	3314	0.00	1.27	0.00	0.000	4	0.000	0.038	2549	1487	3622
3368	-0.63	-194.6	382.6	-9.4	320	3375	0.00	1.33	0.00	0.000	6	0.000	0.041	2545	2382	3621
3686	-0.63	-194.6	412.7	-9.5	351	3689	0.00	1.27	0.00	0.000	4	0.000	0.039	2545	1495	3619
3728	-0.63	-194.6	416.8	-9.2	355	3732	0.00	1.27	0.00	0.000	6	0.000	0.042	2540	2364	3618
4050	-0.63	-194.6	447.0	-9.7	386	4051	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2365	3616
4360	-0.63	-194.6	477.3	-9.6	416	4361	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2365	3612
4670	-0.63	-194.6	507.1	-9.1	446	4671	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2365	3611
4981	-0.63	-194.6	536.3	-9.2	476	4984	0.00	1.27	0.00	0.000	4	0.000	0.042	2540	1494	3608
5023	-0.63	-194.6	540.4	-9.8	480	5026	0.00	1.33	0.00	0.000	6	0.000	0.044	2535	2387	3607
5345	-0.63	-194.6	570.6	-10.2	511	5348	0.00	1.30	0.00	0.000	4	0.000	0.041	2535	1497	3606
5389	-0.63	-194.6	574.8	-9.2	515	5391	0.00	1.27	0.00	0.000	6	0.000	0.045	2529	2360	3605
5710	-0.63	-194.6	605.5	-9.2	546	5711	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2360	3604
6020	-0.63	-194.6	635.4	-9.5	576	6021	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2360	3601
6330	-0.63	-194.6	665.3	-9.8	606	6331	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2360	3599
6641	-0.63	-194.6	694.7	-9.2	636	6644	0.00	1.27	0.00	0.000	4	0.000	0.043	2529	1490	3597
6683	-0.63	-194.6	698.8	-10.2	640	6686	0.00	1.35	0.00	0.000	6	0.000	0.046	2524	2390	3597
7005	-0.63	-194.6	730.3	-10.2	671	7006	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2391	3596
7315	-0.63	-194.6	759.5	-9.5	701	7316	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2391	3593
7625	-0.63	-194.6	788.1	-9.1	731	7626	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2390	3591
7936	-0.63	-194.6	815.9	-9.1	761	7939	0.00	1.33	0.00	0.000	4	0.000	0.045	2524	1501	3590
7999	-0.63	-194.6	821.8	-8.8	767	8002	0.00	1.27	0.00	0.000	6	0.000	0.048	2519	2355	3590
8320	-0.63	-194.6	851.0	-9.1	798	8323	0.00	1.60	0.00	0.000	4	0.000	0.061	2512	3267	3589
8352	-0.63	-194.6	854.0	-9.1	801	8355	0.08	1.45	0.00	0.000	6	0.140	0.038	2536	2384	3589
8673	-0.63	-194.6	880.9	-8.4	832	8674	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2385	3588
8984	-0.63	-194.6	906.4	-8.4	862	8987	0.00	1.30	0.00	0.000	4	0.000	0.046	2536	1496	3587
9038	-0.63	-194.6	911.1	-8.9	867	9041	0.00	1.35	0.00	0.000	6	0.000	0.050	2533	2385	3586
9358	-0.63	-194.6	938.0	-8.0	898	9359	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2386	3585
9669	-0.63	-194.6	963.9	-8.5	928	9669	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2386	3584
9980	end dive: TARGET_DEPTH_EXCEEDED
state	9980	begin apogee
9985	-0.25	0.0	990.4	9.0	958	10142	0.40	0.00	150.73	1.245	6	0.132	0.000	2658	2283	2839
10142	end apogee: CONTROL_FINISHED_OK
state	10142	begin climb
10145	0.63	194.6	996.0	0.0	974	10325	0.88	1.40	169.12	1.213	4	0.101	0.048	2941	1378	2044
10347	0.63	194.6	981.1	10.7	994	10351	0.00	1.30	0.00	0.000	6	0.000	0.044	2941	2266	2042
10668	0.63	194.6	944.4	11.6	1025	10669	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2266	2034
10979	0.63	194.6	909.5	11.3	1055	10979	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2266	2032
11289	0.63	194.6	874.9	11.1	1085	11292	0.00	1.20	0.00	0.000	4	0.000	0.045	2946	1376	2031
11346	0.63	194.6	868.5	10.3	1090	11354	0.00	1.27	0.00	0.000	6	0.000	0.044	2946	2287	2031
11665	0.63	194.6	833.5	11.5	1121	11666	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2287	2031
11974	0.63	194.6	797.5	11.3	1151	11977	0.00	1.25	0.00	0.000	4	0.000	0.044	2952	1371	2030
12031	0.63	194.6	791.1	10.4	1156	12038	0.00	1.25	0.00	0.000	6	0.000	0.044	2952	2274	2030
12350	0.63	194.6	755.5	11.5	1187	12350	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2274	2029
12658	0.63	194.6	720.1	10.9	1217	12661	0.00	1.23	0.00	0.000	4	0.000	0.044	2957	1366	2029
12695	0.63	194.6	715.9	11.2	1220	12701	0.00	1.23	0.00	0.000	6	0.000	0.045	2957	2266	2029
13012	0.63	194.6	679.3	12.0	1251	13015	0.00	1.20	0.00	0.000	4	0.000	0.044	2962	1364	2029
13044	0.63	194.6	675.6	12.1	1254	13047	0.00	1.25	0.00	0.000	6	0.000	0.045	2962	2279	2029
13365	0.63	194.6	636.7	12.0	1285	13365	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2279	2029
13675	0.63	194.6	598.5	12.4	1315	13676	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2279	2029
13985	0.63	194.6	560.8	12.1	1345	13988	0.00	1.23	0.00	0.000	4	0.000	0.044	2967	1373	2028
14028	0.63	194.6	555.8	12.4	1349	14031	0.00	1.23	0.00	0.000	6	0.000	0.044	2967	2272	2028
14348	0.63	194.6	516.6	12.1	1380	14351	0.00	1.23	0.00	0.000	4	0.000	0.044	2973	1362	2028
14374	0.63	194.6	513.4	12.5	1382	14381	0.00	1.27	0.00	0.000	6	0.000	0.044	2973	2282	2028
14692	0.63	194.6	472.6	12.6	1413	14693	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2283	2027
15001	0.63	194.6	432.8	12.7	1443	15002	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2283	2027
15312	0.63	194.6	393.8	12.9	1473	15313	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2283	2027
15622	0.63	194.6	354.1	12.6	1503	15625	0.00	1.25	0.00	0.000	4	0.000	0.043	2979	1361	2028
15658	0.63	194.6	349.6	12.6	1506	15665	0.00	1.25	0.00	0.000	6	0.000	0.042	2979	2279	2028
15976	0.63	194.6	309.1	13.0	1537	15979	0.00	1.60	0.00	0.000	4	0.000	0.052	2979	3166	2028
16001	0.63	194.6	305.4	13.3	1539	16010	0.10	1.55	0.00	0.000	6	0.147	0.035	2955	2279	2027
16317	0.63	194.6	269.8	11.4	1570	16318	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2279	2027
16628	0.63	194.6	235.7	11.0	1600	16629	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2280	2027
16939	0.63	194.6	201.2	10.8	1630	16940	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2280	2028
17249	0.63	194.6	168.1	10.6	1660	17250	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2280	2029
17560	0.63	194.6	136.1	10.1	1690	17563	0.00	1.20	0.00	0.000	4	0.000	0.039	2959	1356	2029
17592	0.63	194.6	133.1	9.9	1693	17595	0.00	1.23	0.00	0.000	6	0.000	0.039	2959	2274	2030
17912	0.63	194.6	100.7	9.5	1724	17913	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2274	2030
18223	0.63	194.6	71.9	8.7	1754	18226	0.00	1.60	0.00	0.000	4	0.000	0.048	2959	3171	2032
18297	0.63	194.6	64.8	9.3	1761	18300	0.00	1.55	0.00	0.000	6	0.000	0.031	2967	2268	2032
18495	0.63	194.6	48.2	7.7	1780	18495	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2268	2033
18680	0.68	242.6	35.3	6.2	1798	18723	0.00	1.17	36.20	0.525	4	0.000	0.036	2972	1369	1849
18781	0.77	313.5	29.8	5.6	1807	18839	0.00	1.23	53.88	0.519	6	0.000	0.035	2972	2281	1560
19021	0.87	389.5	16.8	5.5	1830	19085	0.15	1.60	56.97	0.503	4	0.076	0.044	3032	3166	1250
19118	0.87	396.1	10.0	7.3	1839	19131	0.00	1.55	5.75	0.387	6	0.000	0.029	3038	2274	1226
19219	end climb: SURFACE_DEPTH_REACHED
state	19219	begin surface coast
19260	end surface coast: CONTROL_FINISHED_OK
state	19260	begin surface