Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 253 * 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 253 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 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 -18134.666 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 -18134.666

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 29 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 39 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 253 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 070725,2843.226,-8832.424,55,1.2,55,-0.3 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.129,0.231

_SM_DEPTHo 2.45 KALMAN_X -32978.0,-648.6,-207.1,62539.5,3931.7

_SM_ANGLEo -72.7 KALMAN_Y -319261.4,585.1,950.0,345276.8,-11051.8

GPS2 071402,2843.250,-8832.463,11,1.7,11,-0.3 MHEAD_RNG_PITCHd_Wd 74.8,10516,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1229

Post-dive calculations and measurements:

FINISH 0.9,1.016713 _24V_AH 22.8,44.166

SM_CCo 19164,49.28,0.477,0,0,494,575.22 _10V_AH 10.6,61.265

SM_GC 3.20,0.00,0.00,49.28,0.000,0.000,0.477,192,2388,494,-7.98,0.37,575.22 DATA_FILE_SIZE 97703,1840

IRIDIUM_FIX 2831.00,-8838.92,081099,010111 CAP_FILE_SIZE 173983,0

TT8_MAMPS 0.050622 CFSIZE 260165632,232558592

HUMID 1369 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.25817 CURRENT 0.085,127.4,1

TCM_TEMP 23.80 GPS 140710,123607,2843.717,-8828.489,50,1.5,50,-0.4

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 255 121.27 SBE_CT 1257 24 687.96

Roll_motor 85 71 139.74 SBE_O2 1345 19 583.06

VBD_pump_during_apogee 551 1244 15659.98 WL_BBFL2VMT 4135 105 9901.00

VBD_pump_during_surface 49 477 535.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 54.86 nil 0 0 0.00

Iridium_during_connect 26 160 95.00 nil 0 0 0.00

Iridium_during_xfer 217 223 1108.33

Transponder_ping 4 420 45.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.26

TT8 0 19 0.00

LPSleep 12795 2 297.03

TT8_Active 665 19 139.69

TT8_Sampling 5480 39 2312.24

TT8_CF8 637 45 309.43

TT8_Kalman 33 81 28.91

Analog_circuits 2235 12 284.40

GPS_charging 0 0 0.00

Compass 4910 8 416.43

RAFOS 0 0 0.00

Transponder 31 30 9.99

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 -32.75 0.000 2 0.000 0.000 201 2397 1436

49 -0.63 -194.6 3.3 -4.4 3 126 10.57 1.48 -63.08 0.000 4 0.255 0.071 2533 3250 3635

174 -0.63 -194.6 12.8 -17.5 13 182 0.00 1.42 0.00 0.000 6 0.000 0.026 2537 2358 3636

366 -0.63 -194.6 49.4 -15.9 32 369 0.00 1.23 0.00 0.000 4 0.000 0.035 2537 1480 3636

430 -0.63 -194.6 59.0 -14.6 38 433 0.00 1.25 0.00 0.000 6 0.000 0.034 2533 2359 3636

627 -0.63 -194.6 86.1 -12.8 57 629 0.00 1.23 0.00 0.000 4 0.000 0.032 2533 1485 3638

705 -0.63 -194.6 96.4 -12.3 64 713 0.00 1.30 0.00 0.000 6 0.000 0.034 2528 2381 3638

897 -0.63 -194.6 122.6 -14.1 83 898 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2381 3638

1209 -0.63 -194.6 163.7 -11.2 113 1211 0.00 1.27 0.00 0.000 4 0.000 0.033 2527 1474 3637

1272 -0.63 -194.6 171.3 -11.6 119 1276 0.00 1.27 0.00 0.000 6 0.000 0.035 2522 2365 3637

1595 -0.63 -194.6 211.6 -12.5 150 1596 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2365 3636

1904 -0.63 -194.6 248.9 -11.9 180 1907 0.00 1.25 0.00 0.000 4 0.000 0.034 2521 1483 3634

1993 -0.63 -194.6 260.1 -12.7 188 2001 0.00 1.33 0.00 0.000 6 0.000 0.035 2516 2390 3634

2311 -0.63 -194.6 298.5 -12.1 219 2314 0.00 1.30 0.00 0.000 4 0.000 0.035 2516 1481 3632

2375 -0.63 -194.6 306.6 -12.1 225 2378 0.10 1.27 0.00 0.000 6 0.140 0.037 2541 2364 3632

2696 -0.63 -194.6 339.2 -10.4 256 2699 0.00 1.25 0.00 0.000 4 0.000 0.035 2541 1488 3629

2742 -0.63 -194.6 344.3 -9.9 260 2750 0.00 1.33 0.00 0.000 6 0.000 0.038 2537 2390 3629

3061 -0.63 -194.6 377.3 -10.3 291 3064 0.00 1.30 0.00 0.000 4 0.000 0.036 2538 1486 3626

3118 -0.63 -194.6 383.5 -10.2 296 3126 0.00 1.30 0.00 0.000 6 0.000 0.038 2531 2369 3626

3436 -0.63 -194.6 416.6 -10.5 327 3439 0.00 1.27 0.00 0.000 4 0.000 0.037 2532 1484 3623

3484 -0.63 -194.6 421.7 -10.3 331 3490 0.00 1.30 0.00 0.000 6 0.000 0.039 2526 2374 3623

3801 -0.63 -194.6 456.2 -10.9 362 3804 0.00 1.27 0.00 0.000 4 0.000 0.038 2526 1488 3622

3865 -0.63 -194.6 463.1 -10.6 368 3868 0.00 1.30 0.00 0.000 6 0.000 0.041 2520 2377 3621

4187 -0.63 -194.6 498.1 -10.4 399 4188 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2378 3619

4496 -0.63 -194.6 530.4 -10.4 429 4499 0.00 1.30 0.00 0.000 4 0.000 0.039 2520 1484 3616

4571 -0.63 -194.6 538.0 -10.3 436 4574 0.00 1.33 0.00 0.000 6 0.000 0.043 2515 2383 3615

4893 -0.63 -194.6 573.1 -11.0 467 4894 0.12 0.00 0.00 0.000 6 0.153 0.000 2545 2383 3612

5204 -0.63 -194.6 601.3 -8.9 497 5205 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2383 3610

5513 -0.63 -194.6 628.5 -8.5 527 5516 0.00 1.30 0.00 0.000 4 0.000 0.042 2546 1496 3608

5599 -0.63 -194.6 636.0 -8.2 535 5601 0.00 1.30 0.00 0.000 6 0.000 0.044 2542 2368 3608

5921 -0.63 -194.6 663.6 -8.9 566 5921 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2369 3606

6230 -0.63 -194.6 690.7 -8.3 596 6233 0.00 1.30 0.00 0.000 4 0.000 0.043 2542 1487 3604

6330 -0.63 -194.6 699.6 -9.4 605 6339 0.00 1.38 0.00 0.000 6 0.000 0.048 2537 2388 3603

6649 -0.63 -194.6 727.4 -8.6 636 6650 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2388 3601

6958 -0.63 -194.6 753.1 -8.4 666 6961 0.00 1.33 0.00 0.000 4 0.000 0.044 2537 1489 3599

7026 -0.63 -194.6 758.9 -8.3 672 7033 0.00 1.33 0.00 0.000 6 0.000 0.045 2531 2365 3599

7344 -0.63 -194.6 787.3 -9.5 703 7345 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2365 3597

7653 -0.63 -194.6 816.2 -9.0 733 7656 0.00 1.27 0.00 0.000 4 0.000 0.044 2531 1504 3596

7721 -0.63 -194.6 822.3 -8.3 739 7728 0.00 1.33 0.00 0.000 6 0.000 0.048 2527 2383 3596

8040 -0.63 -194.6 850.6 -9.3 770 8043 0.00 1.33 0.00 0.000 4 0.000 0.044 2526 1488 3594

8104 -0.63 -194.6 856.9 -9.3 776 8107 0.00 1.33 0.00 0.000 6 0.000 0.048 2521 2369 3593

8425 -0.63 -194.6 887.4 -9.7 807 8428 0.00 1.30 0.00 0.000 4 0.000 0.044 2521 1490 3592

8504 -0.63 -194.6 894.9 -9.9 814 8511 0.00 1.35 0.00 0.000 6 0.000 0.047 2516 2382 3592

8820 -0.63 -194.6 926.4 -10.7 845 8821 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2382 3591

9130 -0.63 -194.6 958.5 -10.1 875 9133 0.00 1.30 0.00 0.000 4 0.000 0.044 2516 1503 3590

9301 -0.63 -194.6 975.3 -9.8 891 9305 0.10 1.30 0.00 0.000 6 0.146 0.048 2541 2364 3590

9476 end dive: TARGET_DEPTH_EXCEEDED

state 9476 begin apogee

9482 -0.25 0.0 990.1 7.9 908 9639 0.40 0.00 151.65 1.245 6 0.135 0.000 2662 2290 2839

9640 end apogee: CONTROL_FINISHED_OK

state 9640 begin climb

9642 0.63 194.6 994.6 0.0 924 9821 0.93 0.00 169.45 1.213 6 0.105 0.000 2946 2290 2045

10128 0.63 194.6 943.9 11.8 972 10131 0.00 1.27 0.00 0.000 4 0.000 0.051 2952 1370 2034

10207 0.63 194.6 935.0 11.4 979 10215 0.00 1.27 0.00 0.000 6 0.000 0.044 2952 2276 2034

10525 0.63 194.6 896.3 12.5 1010 10526 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2277 2033

10834 0.63 194.6 858.6 11.7 1040 10835 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2276 2032

11145 0.63 194.6 822.2 11.9 1070 11146 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2276 2031

11455 0.63 194.6 787.1 11.3 1100 11456 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2277 2030

11766 0.63 194.6 752.1 11.0 1130 11767 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2277 2030

12076 0.63 194.6 716.8 11.2 1160 12079 0.00 1.65 0.00 0.000 4 0.000 0.055 2952 3176 2029

12129 0.63 194.6 710.4 11.8 1165 12132 0.00 1.58 0.00 0.000 6 0.000 0.038 2959 2277 2028

12450 0.63 194.6 673.8 11.0 1196 12453 0.00 1.20 0.00 0.000 4 0.000 0.044 2965 1374 2028

12486 0.63 194.6 669.6 11.2 1199 12493 0.00 1.25 0.00 0.000 6 0.000 0.044 2965 2284 2028

12804 0.63 194.6 631.4 11.8 1230 12805 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2284 2028

13113 0.63 194.6 594.8 11.5 1260 13116 0.00 1.60 0.00 0.000 4 0.000 0.055 2965 3189 2027

13145 0.63 194.6 590.8 13.2 1263 13148 0.00 1.60 0.00 0.000 6 0.000 0.038 2973 2260 2027

13467 0.63 194.6 551.7 12.2 1294 13470 0.00 1.67 0.00 0.000 4 0.000 0.053 2973 3165 2027

13503 0.63 194.6 546.7 13.4 1297 13512 0.08 1.55 0.00 0.000 6 0.154 0.036 2956 2280 2027

13820 0.63 194.6 512.0 10.8 1328 13820 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2281 2027

14130 0.63 194.6 478.7 10.6 1358 14131 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2281 2026

14440 0.63 194.6 445.8 10.6 1388 14444 0.00 1.62 0.00 0.000 4 0.000 0.054 2956 3164 2027

14498 0.63 194.6 439.1 12.0 1393 14506 0.00 1.55 0.00 0.000 6 0.000 0.036 2962 2277 2027

14816 0.63 194.6 403.2 11.7 1424 14817 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2278 2026

15125 0.63 194.6 367.3 11.6 1454 15128 0.00 1.60 0.00 0.000 4 0.000 0.053 2962 3168 2026

15168 0.63 194.6 362.2 10.8 1458 15171 0.00 1.58 0.00 0.000 6 0.000 0.036 2968 2269 2027

15489 0.63 194.6 323.7 11.8 1489 15489 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2270 2027

15799 0.63 194.6 286.3 11.9 1519 15802 0.00 1.62 0.00 0.000 4 0.000 0.051 2969 3174 2027

15852 0.63 194.6 279.6 12.1 1524 15855 0.00 1.55 0.00 0.000 6 0.000 0.035 2977 2279 2028

16175 0.63 194.6 239.5 12.4 1555 16176 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2279 2028

16483 0.63 194.6 200.2 12.3 1585 16486 0.00 1.62 0.00 0.000 4 0.000 0.051 2977 3168 2028

16515 0.63 194.6 196.1 11.4 1588 16518 0.08 1.55 0.00 0.000 6 0.123 0.034 2949 2274 2028

16836 0.63 194.6 165.4 9.0 1619 16837 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2275 2028

17147 0.63 194.6 134.8 10.1 1649 17150 0.00 1.60 0.00 0.000 4 0.000 0.048 2949 3178 2029

17172 0.63 194.6 132.3 10.5 1651 17180 0.00 1.55 0.00 0.000 6 0.000 0.031 2955 2275 2030

17490 0.63 194.6 101.5 9.4 1682 17493 0.00 1.60 0.00 0.000 4 0.000 0.047 2955 3183 2031

17522 0.63 194.6 98.3 9.5 1685 17525 0.00 1.55 0.00 0.000 6 0.000 0.031 2962 2273 2031

17719 0.63 194.6 79.7 9.5 1704 17719 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2274 2031

17905 0.63 194.6 64.0 7.9 1722 17906 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2274 2032

18092 0.64 202.0 49.1 7.3 1740 18103 0.00 1.17 5.28 0.415 4 0.000 0.035 2967 1367 2016

18146 0.64 204.7 45.2 7.4 1745 18158 0.00 1.23 3.85 0.351 6 0.000 0.036 2967 2281 2006

18343 0.75 296.0 33.8 5.1 1764 18419 0.00 0.00 69.78 0.529 6 0.000 0.000 2967 2281 1634

18606 0.86 381.5 20.2 5.3 1789 18673 0.15 1.27 64.45 0.508 4 0.077 0.035 3025 1359 1283

18716 0.88 403.0 12.1 6.9 1799 18739 0.00 1.23 17.00 0.472 6 0.000 0.035 3025 2275 1195

18925 1.25 700.9 3.8 -0.3 1819 18998 0.35 0.00 70.30 0.488 2 0.114 0.000 3143 2274 807

18998 end climb: SURFACE_DEPTH_REACHED

state 18998 begin surface coast

19148 end surface coast: CONTROL_FINISHED_OK

state 19148 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	253	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	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	-18134.666	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	070725,2843.226,-8832.424,55,1.2,55,-0.3	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.129,0.231
_SM_DEPTHo	2.45	KALMAN_X	-32978.0,-648.6,-207.1,62539.5,3931.7
_SM_ANGLEo	-72.7	KALMAN_Y	-319261.4,585.1,950.0,345276.8,-11051.8
GPS2	071402,2843.250,-8832.463,11,1.7,11,-0.3	MHEAD_RNG_PITCHd_Wd	74.8,10516,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1229

FINISH	0.9,1.016713	_24V_AH	22.8,44.166
SM_CCo	19164,49.28,0.477,0,0,494,575.22	_10V_AH	10.6,61.265
SM_GC	3.20,0.00,0.00,49.28,0.000,0.000,0.477,192,2388,494,-7.98,0.37,575.22	DATA_FILE_SIZE	97703,1840
IRIDIUM_FIX	2831.00,-8838.92,081099,010111	CAP_FILE_SIZE	173983,0
TT8_MAMPS	0.050622	CFSIZE	260165632,232558592
HUMID	1369	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.25817	CURRENT	0.085,127.4,1
TCM_TEMP	23.80	GPS	140710,123607,2843.717,-8828.489,50,1.5,50,-0.4
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	255	121.27	SBE_CT	1257	24	687.96
Roll_motor	85	71	139.74	SBE_O2	1345	19	583.06
VBD_pump_during_apogee	551	1244	15659.98	WL_BBFL2VMT	4135	105	9901.00
VBD_pump_during_surface	49	477	535.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	54.86	nil	0	0	0.00
Iridium_during_connect	26	160	95.00	nil	0	0	0.00
Iridium_during_xfer	217	223	1108.33
Transponder_ping	4	420	45.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.26
TT8	0	19	0.00
LPSleep	12795	2	297.03
TT8_Active	665	19	139.69
TT8_Sampling	5480	39	2312.24
TT8_CF8	637	45	309.43
TT8_Kalman	33	81	28.91
Analog_circuits	2235	12	284.40
GPS_charging	0	0	0.00
Compass	4910	8	416.43
RAFOS	0	0	0.00
Transponder	31	30	9.99

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	-32.75	0.000	2	0.000	0.000	201	2397	1436
49	-0.63	-194.6	3.3	-4.4	3	126	10.57	1.48	-63.08	0.000	4	0.255	0.071	2533	3250	3635
174	-0.63	-194.6	12.8	-17.5	13	182	0.00	1.42	0.00	0.000	6	0.000	0.026	2537	2358	3636
366	-0.63	-194.6	49.4	-15.9	32	369	0.00	1.23	0.00	0.000	4	0.000	0.035	2537	1480	3636
430	-0.63	-194.6	59.0	-14.6	38	433	0.00	1.25	0.00	0.000	6	0.000	0.034	2533	2359	3636
627	-0.63	-194.6	86.1	-12.8	57	629	0.00	1.23	0.00	0.000	4	0.000	0.032	2533	1485	3638
705	-0.63	-194.6	96.4	-12.3	64	713	0.00	1.30	0.00	0.000	6	0.000	0.034	2528	2381	3638
897	-0.63	-194.6	122.6	-14.1	83	898	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2381	3638
1209	-0.63	-194.6	163.7	-11.2	113	1211	0.00	1.27	0.00	0.000	4	0.000	0.033	2527	1474	3637
1272	-0.63	-194.6	171.3	-11.6	119	1276	0.00	1.27	0.00	0.000	6	0.000	0.035	2522	2365	3637
1595	-0.63	-194.6	211.6	-12.5	150	1596	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2365	3636
1904	-0.63	-194.6	248.9	-11.9	180	1907	0.00	1.25	0.00	0.000	4	0.000	0.034	2521	1483	3634
1993	-0.63	-194.6	260.1	-12.7	188	2001	0.00	1.33	0.00	0.000	6	0.000	0.035	2516	2390	3634
2311	-0.63	-194.6	298.5	-12.1	219	2314	0.00	1.30	0.00	0.000	4	0.000	0.035	2516	1481	3632
2375	-0.63	-194.6	306.6	-12.1	225	2378	0.10	1.27	0.00	0.000	6	0.140	0.037	2541	2364	3632
2696	-0.63	-194.6	339.2	-10.4	256	2699	0.00	1.25	0.00	0.000	4	0.000	0.035	2541	1488	3629
2742	-0.63	-194.6	344.3	-9.9	260	2750	0.00	1.33	0.00	0.000	6	0.000	0.038	2537	2390	3629
3061	-0.63	-194.6	377.3	-10.3	291	3064	0.00	1.30	0.00	0.000	4	0.000	0.036	2538	1486	3626
3118	-0.63	-194.6	383.5	-10.2	296	3126	0.00	1.30	0.00	0.000	6	0.000	0.038	2531	2369	3626
3436	-0.63	-194.6	416.6	-10.5	327	3439	0.00	1.27	0.00	0.000	4	0.000	0.037	2532	1484	3623
3484	-0.63	-194.6	421.7	-10.3	331	3490	0.00	1.30	0.00	0.000	6	0.000	0.039	2526	2374	3623
3801	-0.63	-194.6	456.2	-10.9	362	3804	0.00	1.27	0.00	0.000	4	0.000	0.038	2526	1488	3622
3865	-0.63	-194.6	463.1	-10.6	368	3868	0.00	1.30	0.00	0.000	6	0.000	0.041	2520	2377	3621
4187	-0.63	-194.6	498.1	-10.4	399	4188	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2378	3619
4496	-0.63	-194.6	530.4	-10.4	429	4499	0.00	1.30	0.00	0.000	4	0.000	0.039	2520	1484	3616
4571	-0.63	-194.6	538.0	-10.3	436	4574	0.00	1.33	0.00	0.000	6	0.000	0.043	2515	2383	3615
4893	-0.63	-194.6	573.1	-11.0	467	4894	0.12	0.00	0.00	0.000	6	0.153	0.000	2545	2383	3612
5204	-0.63	-194.6	601.3	-8.9	497	5205	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2383	3610
5513	-0.63	-194.6	628.5	-8.5	527	5516	0.00	1.30	0.00	0.000	4	0.000	0.042	2546	1496	3608
5599	-0.63	-194.6	636.0	-8.2	535	5601	0.00	1.30	0.00	0.000	6	0.000	0.044	2542	2368	3608
5921	-0.63	-194.6	663.6	-8.9	566	5921	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2369	3606
6230	-0.63	-194.6	690.7	-8.3	596	6233	0.00	1.30	0.00	0.000	4	0.000	0.043	2542	1487	3604
6330	-0.63	-194.6	699.6	-9.4	605	6339	0.00	1.38	0.00	0.000	6	0.000	0.048	2537	2388	3603
6649	-0.63	-194.6	727.4	-8.6	636	6650	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2388	3601
6958	-0.63	-194.6	753.1	-8.4	666	6961	0.00	1.33	0.00	0.000	4	0.000	0.044	2537	1489	3599
7026	-0.63	-194.6	758.9	-8.3	672	7033	0.00	1.33	0.00	0.000	6	0.000	0.045	2531	2365	3599
7344	-0.63	-194.6	787.3	-9.5	703	7345	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2365	3597
7653	-0.63	-194.6	816.2	-9.0	733	7656	0.00	1.27	0.00	0.000	4	0.000	0.044	2531	1504	3596
7721	-0.63	-194.6	822.3	-8.3	739	7728	0.00	1.33	0.00	0.000	6	0.000	0.048	2527	2383	3596
8040	-0.63	-194.6	850.6	-9.3	770	8043	0.00	1.33	0.00	0.000	4	0.000	0.044	2526	1488	3594
8104	-0.63	-194.6	856.9	-9.3	776	8107	0.00	1.33	0.00	0.000	6	0.000	0.048	2521	2369	3593
8425	-0.63	-194.6	887.4	-9.7	807	8428	0.00	1.30	0.00	0.000	4	0.000	0.044	2521	1490	3592
8504	-0.63	-194.6	894.9	-9.9	814	8511	0.00	1.35	0.00	0.000	6	0.000	0.047	2516	2382	3592
8820	-0.63	-194.6	926.4	-10.7	845	8821	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2382	3591
9130	-0.63	-194.6	958.5	-10.1	875	9133	0.00	1.30	0.00	0.000	4	0.000	0.044	2516	1503	3590
9301	-0.63	-194.6	975.3	-9.8	891	9305	0.10	1.30	0.00	0.000	6	0.146	0.048	2541	2364	3590
9476	end dive: TARGET_DEPTH_EXCEEDED
state	9476	begin apogee
9482	-0.25	0.0	990.1	7.9	908	9639	0.40	0.00	151.65	1.245	6	0.135	0.000	2662	2290	2839
9640	end apogee: CONTROL_FINISHED_OK
state	9640	begin climb
9642	0.63	194.6	994.6	0.0	924	9821	0.93	0.00	169.45	1.213	6	0.105	0.000	2946	2290	2045
10128	0.63	194.6	943.9	11.8	972	10131	0.00	1.27	0.00	0.000	4	0.000	0.051	2952	1370	2034
10207	0.63	194.6	935.0	11.4	979	10215	0.00	1.27	0.00	0.000	6	0.000	0.044	2952	2276	2034
10525	0.63	194.6	896.3	12.5	1010	10526	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2277	2033
10834	0.63	194.6	858.6	11.7	1040	10835	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2276	2032
11145	0.63	194.6	822.2	11.9	1070	11146	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2276	2031
11455	0.63	194.6	787.1	11.3	1100	11456	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2277	2030
11766	0.63	194.6	752.1	11.0	1130	11767	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2277	2030
12076	0.63	194.6	716.8	11.2	1160	12079	0.00	1.65	0.00	0.000	4	0.000	0.055	2952	3176	2029
12129	0.63	194.6	710.4	11.8	1165	12132	0.00	1.58	0.00	0.000	6	0.000	0.038	2959	2277	2028
12450	0.63	194.6	673.8	11.0	1196	12453	0.00	1.20	0.00	0.000	4	0.000	0.044	2965	1374	2028
12486	0.63	194.6	669.6	11.2	1199	12493	0.00	1.25	0.00	0.000	6	0.000	0.044	2965	2284	2028
12804	0.63	194.6	631.4	11.8	1230	12805	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2284	2028
13113	0.63	194.6	594.8	11.5	1260	13116	0.00	1.60	0.00	0.000	4	0.000	0.055	2965	3189	2027
13145	0.63	194.6	590.8	13.2	1263	13148	0.00	1.60	0.00	0.000	6	0.000	0.038	2973	2260	2027
13467	0.63	194.6	551.7	12.2	1294	13470	0.00	1.67	0.00	0.000	4	0.000	0.053	2973	3165	2027
13503	0.63	194.6	546.7	13.4	1297	13512	0.08	1.55	0.00	0.000	6	0.154	0.036	2956	2280	2027
13820	0.63	194.6	512.0	10.8	1328	13820	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2281	2027
14130	0.63	194.6	478.7	10.6	1358	14131	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2281	2026
14440	0.63	194.6	445.8	10.6	1388	14444	0.00	1.62	0.00	0.000	4	0.000	0.054	2956	3164	2027
14498	0.63	194.6	439.1	12.0	1393	14506	0.00	1.55	0.00	0.000	6	0.000	0.036	2962	2277	2027
14816	0.63	194.6	403.2	11.7	1424	14817	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2278	2026
15125	0.63	194.6	367.3	11.6	1454	15128	0.00	1.60	0.00	0.000	4	0.000	0.053	2962	3168	2026
15168	0.63	194.6	362.2	10.8	1458	15171	0.00	1.58	0.00	0.000	6	0.000	0.036	2968	2269	2027
15489	0.63	194.6	323.7	11.8	1489	15489	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2270	2027
15799	0.63	194.6	286.3	11.9	1519	15802	0.00	1.62	0.00	0.000	4	0.000	0.051	2969	3174	2027
15852	0.63	194.6	279.6	12.1	1524	15855	0.00	1.55	0.00	0.000	6	0.000	0.035	2977	2279	2028
16175	0.63	194.6	239.5	12.4	1555	16176	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2279	2028
16483	0.63	194.6	200.2	12.3	1585	16486	0.00	1.62	0.00	0.000	4	0.000	0.051	2977	3168	2028
16515	0.63	194.6	196.1	11.4	1588	16518	0.08	1.55	0.00	0.000	6	0.123	0.034	2949	2274	2028
16836	0.63	194.6	165.4	9.0	1619	16837	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2275	2028
17147	0.63	194.6	134.8	10.1	1649	17150	0.00	1.60	0.00	0.000	4	0.000	0.048	2949	3178	2029
17172	0.63	194.6	132.3	10.5	1651	17180	0.00	1.55	0.00	0.000	6	0.000	0.031	2955	2275	2030
17490	0.63	194.6	101.5	9.4	1682	17493	0.00	1.60	0.00	0.000	4	0.000	0.047	2955	3183	2031
17522	0.63	194.6	98.3	9.5	1685	17525	0.00	1.55	0.00	0.000	6	0.000	0.031	2962	2273	2031
17719	0.63	194.6	79.7	9.5	1704	17719	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2274	2031
17905	0.63	194.6	64.0	7.9	1722	17906	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2274	2032
18092	0.64	202.0	49.1	7.3	1740	18103	0.00	1.17	5.28	0.415	4	0.000	0.035	2967	1367	2016
18146	0.64	204.7	45.2	7.4	1745	18158	0.00	1.23	3.85	0.351	6	0.000	0.036	2967	2281	2006
18343	0.75	296.0	33.8	5.1	1764	18419	0.00	0.00	69.78	0.529	6	0.000	0.000	2967	2281	1634
18606	0.86	381.5	20.2	5.3	1789	18673	0.15	1.27	64.45	0.508	4	0.077	0.035	3025	1359	1283
18716	0.88	403.0	12.1	6.9	1799	18739	0.00	1.23	17.00	0.472	6	0.000	0.035	3025	2275	1195
18925	1.25	700.9	3.8	-0.3	1819	18998	0.35	0.00	70.30	0.488	2	0.114	0.000	3143	2274	807
18998	end climb: SURFACE_DEPTH_REACHED
state	18998	begin surface coast
19148	end surface coast: CONTROL_FINISHED_OK
state	19148	begin surface