Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 254 * 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 254 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 36 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 -14 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 -18145.354 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 -18145.354

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 -14

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 36 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 254 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 123607,2843.717,-8828.489,50,1.5,50,-0.4 TGT_NAME NEW0528A

_CALLS 2 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.022,0.264

_SM_DEPTHo 1.96 KALMAN_X -30955.2,134.9,54.3,66025.7,3358.7

_SM_ANGLEo -74.0 KALMAN_Y -322379.5,-33.2,128.9,350826.5,-7366.0

GPS2 124602,2843.779,-8828.436,8,1.9,8,-0.4 MHEAD_RNG_PITCHd_Wd 74.4,3969,-26.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1399

Post-dive calculations and measurements:

SM_CCo 19256,165.40,0.476,0,0,403,597.54 _24V_AH 23.6,44.280

SM_GC 1.88,8.12,0.00,0.00,0.041,0.000,0.000,201,2390,400,-7.90,0.45,598.52 _10V_AH 10.6,61.509

IRIDIUM_FIX 2833.46,-8826.65,081099,121204 DATA_FILE_SIZE 94671,1837

TT8_MAMPS 0.051389 CAP_FILE_SIZE 190528,0

HUMID 1319 CFSIZE 260165632,232452096

INTERNAL_PRESSURE 9.31676 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.90 CURRENT 0.088,109.0,1

XPDR_PINGS 1 GPS 140710,181345,2844.083,-8825.881,36,2.3,55,-0.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 123.80 SBE_CT 1257 24 712.27

Roll_motor 108 57 146.76 SBE_O2 1355 19 607.86

VBD_pump_during_apogee 307 1227 8910.63 WL_BBFL2VMT 4128 105 10229.70

VBD_pump_during_surface 165 475 1856.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 132.11 nil 0 0 0.00

Iridium_during_connect 60 160 226.73 nil 0 0 0.00

Iridium_during_xfer 289 223 1526.20

Transponder_ping 4 420 39.65

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.33

TT8 0 19 0.00

LPSleep 12796 2 297.06

TT8_Active 570 19 119.74

TT8_Sampling 5919 39 2497.13

TT8_CF8 822 45 399.10

TT8_Kalman 33 81 28.91

Analog_circuits 2271 12 288.95

GPS_charging 0 0 0.00

Compass 5308 8 450.19

RAFOS 0 0 0.00

Transponder 28 30 9.11

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

12 -1.01 -41.0 0.0 0.0 0 47 0.00 0.00 -33.12 0.000 2 0.000 0.000 192 2389 1503

49 -1.02 -54.3 3.2 -5.9 3 108 9.95 1.35 -44.62 0.000 4 0.253 0.054 2416 1470 3062

133 -1.02 -54.3 9.8 -12.6 10 141 0.00 1.30 0.00 0.000 6 0.000 0.033 2411 2363 3062

326 -1.02 -54.3 43.2 -12.8 29 327 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2364 3063

512 -1.02 -54.3 60.4 -9.0 47 515 0.00 1.27 0.00 0.000 4 0.000 0.035 2416 1470 3063

758 -1.02 -54.3 80.0 -7.9 70 761 0.00 1.30 0.00 0.000 6 0.000 0.034 2411 2386 3064

954 -1.02 -54.3 95.9 -8.3 89 957 0.00 1.30 0.00 0.000 4 0.000 0.035 2416 1466 3064

1200 -1.02 -54.3 118.6 -10.0 112 1203 0.00 1.27 0.00 0.000 6 0.000 0.034 2411 2364 3064

1523 -1.02 -54.3 147.2 -8.1 143 1525 0.00 1.27 0.00 0.000 4 0.000 0.035 2416 1463 3064

1729 -1.02 -54.3 163.9 -8.3 162 1737 0.00 1.35 0.00 0.000 6 0.000 0.035 2411 2396 3064

2047 -1.02 -54.3 190.8 -8.8 193 2050 0.00 1.40 0.00 0.000 4 0.000 0.044 2404 3248 3063

2090 -1.02 -54.3 194.6 -8.4 197 2093 0.00 1.42 0.00 0.000 6 0.000 0.027 2409 2348 3063

2413 -1.02 -54.3 222.1 -7.8 228 2413 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2348 3062

2721 -1.02 -54.3 248.2 -8.4 258 2724 0.00 1.52 0.00 0.000 4 0.000 0.044 2404 3252 3059

2864 -1.02 -54.3 260.8 -8.8 271 2871 0.00 1.40 0.00 0.000 6 0.000 0.028 2408 2366 3059

3182 -1.03 -57.5 284.7 -7.1 302 3185 0.00 1.23 0.00 0.000 4 0.000 0.039 2415 1498 3057

3347 -1.03 -57.5 297.4 -8.1 317 3354 0.00 1.25 0.00 0.000 6 0.000 0.036 2411 2361 3056

3664 -1.03 -57.5 322.5 -8.0 348 3667 0.00 1.50 0.00 0.000 4 0.000 0.047 2403 3271 3055

3732 -1.03 -57.5 328.4 -8.7 354 3739 0.00 1.42 0.00 0.000 6 0.000 0.028 2405 2373 3055

4050 -1.03 -57.5 354.7 -8.4 385 4051 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2373 3053

4360 -1.03 -57.5 380.7 -8.3 415 4363 0.00 1.50 0.00 0.000 4 0.000 0.047 2399 3260 3051

4471 -1.03 -57.5 391.0 -9.7 425 4478 0.00 1.45 0.00 0.000 6 0.000 0.029 2403 2356 3051

4789 -1.03 -57.5 419.0 -8.8 456 4790 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2357 3049

5098 -1.03 -57.5 446.6 -8.8 486 5098 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2357 3047

5409 -1.03 -57.5 474.6 -8.8 516 5412 0.00 1.52 0.00 0.000 4 0.000 0.048 2397 3257 3044

5505 -1.03 -57.5 483.9 -9.2 525 5508 0.00 1.42 0.00 0.000 6 0.000 0.031 2402 2369 3044

5827 -1.03 -57.5 512.6 -8.3 556 5831 0.00 1.25 0.00 0.000 4 0.000 0.043 2403 1500 3043

6041 -1.03 -57.5 531.3 -9.2 576 6044 0.00 1.30 0.00 0.000 6 0.000 0.041 2398 2383 3042

6363 -1.03 -57.5 559.6 -8.9 607 6364 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2384 3040

6672 -1.03 -57.5 586.7 -8.6 637 6675 0.00 1.30 0.00 0.000 4 0.000 0.042 2401 1501 3038

6758 -1.03 -57.5 594.3 -9.1 645 6761 0.00 1.27 0.00 0.000 6 0.000 0.041 2397 2365 3038

7080 -1.03 -57.5 624.3 -9.6 676 7081 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2365 3036

7390 -1.03 -57.5 651.8 -8.7 706 7393 0.00 1.27 0.00 0.000 4 0.000 0.044 2397 1500 3034

7550 -1.03 -57.5 665.1 -9.3 721 7553 0.00 1.30 0.00 0.000 6 0.000 0.042 2393 2379 3033

7873 -1.03 -57.5 692.0 -8.7 752 7875 0.00 1.30 0.00 0.000 4 0.000 0.043 2395 1496 3033

7972 -1.03 -57.5 700.2 -7.8 761 7980 0.00 1.33 0.00 0.000 6 0.000 0.042 2391 2377 3032

8290 -1.03 -57.5 725.5 -8.1 792 8294 0.00 1.50 0.00 0.000 4 0.000 0.053 2383 3254 3031

8444 -1.03 -57.5 739.3 -9.3 806 8451 0.00 1.42 0.00 0.000 6 0.000 0.035 2388 2381 3030

8762 -1.03 -57.5 764.6 -7.9 837 8765 0.00 1.30 0.00 0.000 4 0.000 0.045 2389 1493 3030

8939 -1.03 -57.5 778.7 -8.5 853 8944 0.08 1.30 0.00 0.000 6 0.212 0.044 2405 2365 3029

9254 -1.03 -57.5 802.5 -7.8 884 9258 0.00 1.30 0.00 0.000 4 0.000 0.044 2410 1487 3029

9307 -1.03 -57.5 806.6 -7.7 889 9310 0.00 1.33 0.00 0.000 6 0.000 0.044 2406 2378 3028

9630 -1.03 -57.5 831.7 -8.2 920 9633 0.00 1.33 0.00 0.000 4 0.000 0.044 2409 1483 3027

9769 -1.03 -60.6 842.3 -7.1 933 9772 0.00 1.33 0.00 0.000 6 0.000 0.045 2405 2369 3026

10090 -1.04 -63.4 864.7 -7.2 964 10093 0.00 1.30 0.00 0.000 4 0.000 0.045 2405 1494 3025

10335 -1.04 -66.7 883.0 -7.1 987 10338 0.00 1.33 0.00 0.000 6 0.000 0.046 2400 2378 3024

10656 -1.04 -69.9 906.0 -7.1 1018 10660 0.00 1.30 0.00 0.000 4 0.000 0.044 2401 1498 3023

10903 -1.05 -79.1 922.8 -6.4 1041 10905 0.00 1.33 0.00 0.000 6 0.000 0.046 2397 2379 3022

11224 -1.06 -83.8 945.9 -6.9 1072 11226 0.00 1.33 0.00 0.000 4 0.000 0.044 2397 1487 3021

11469 -1.07 -93.2 962.8 -6.3 1095 11472 0.00 1.33 0.00 0.000 6 0.000 0.046 2391 2365 3020

11790 -1.08 -96.8 983.1 -7.1 1126 11793 0.00 1.30 0.00 0.000 4 0.000 0.045 2390 1492 3019

11889 end dive: TARGET_DEPTH_EXCEEDED

state 11889 begin apogee

11895 -0.25 0.0 990.4 6.8 1135 11941 1.02 0.00 38.17 1.213 6 0.195 0.000 2653 2277 2839

11941 end apogee: CONTROL_FINISHED_OK

state 11941 begin climb

11943 1.08 96.8 991.8 0.0 1140 12033 1.35 1.77 84.15 1.228 4 0.110 0.058 3087 3171 2445

12086 1.08 96.8 974.9 18.2 1152 12089 0.00 1.58 0.00 0.000 6 0.000 0.037 3095 2299 2439

12407 1.08 96.8 917.3 18.1 1183 12408 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 2300 2434

12717 1.08 96.8 861.7 17.5 1213 12720 0.00 1.27 0.00 0.000 4 0.000 0.044 3101 1364 2433

12749 1.08 96.8 856.1 17.1 1216 12752 0.00 1.25 0.00 0.000 6 0.000 0.046 3100 2276 2433

13072 1.08 96.8 799.2 17.0 1247 13073 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2276 2432

13381 1.08 96.8 746.4 16.4 1277 13384 0.00 1.62 0.00 0.000 4 0.000 0.054 3100 3184 2431

13424 1.08 96.8 738.8 17.3 1281 13427 0.00 1.60 0.00 0.000 6 0.000 0.037 3107 2258 2431

13744 1.08 96.8 684.2 16.5 1312 13748 0.00 1.70 0.00 0.000 4 0.000 0.054 3106 3174 2430

13852 1.08 96.8 664.9 18.9 1322 13854 0.00 1.58 0.00 0.000 6 0.000 0.037 3113 2275 2429

14174 1.08 96.8 611.6 16.0 1353 14175 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2275 2428

14483 1.08 96.8 561.6 15.5 1383 14486 0.00 1.62 0.00 0.000 4 0.000 0.054 3113 3176 2427

14551 1.08 96.8 549.7 17.4 1389 14558 0.00 1.58 0.00 0.000 6 0.000 0.036 3120 2275 2427

14869 1.08 96.8 497.7 16.9 1420 14872 0.00 1.62 0.00 0.000 4 0.000 0.053 3120 3178 2427

14944 1.08 96.8 484.1 17.3 1427 14947 0.10 1.58 0.00 0.000 6 0.203 0.036 3100 2277 2427

15265 1.08 96.8 434.6 15.0 1458 15268 0.00 1.62 0.00 0.000 4 0.000 0.052 3093 3182 2427

15340 1.08 96.8 422.6 17.1 1465 15343 0.00 1.58 0.00 0.000 6 0.000 0.036 3099 2275 2427

15660 1.08 96.8 372.9 15.0 1496 15663 0.00 1.62 0.00 0.000 4 0.000 0.052 3093 3179 2427

15757 1.08 96.8 357.8 15.3 1505 15760 0.00 1.58 0.00 0.000 6 0.000 0.035 3100 2274 2427

16079 1.08 96.8 308.1 15.8 1536 16082 0.00 1.65 0.00 0.000 4 0.000 0.051 3094 3174 2427

16126 1.08 96.8 300.7 15.5 1540 16134 0.00 1.55 0.00 0.000 6 0.000 0.035 3101 2280 2426

16443 1.08 96.8 251.4 15.9 1571 16447 0.00 1.62 0.00 0.000 4 0.000 0.051 3096 3167 2427

16587 1.08 96.8 228.2 15.1 1584 16595 0.00 1.55 0.00 0.000 6 0.000 0.034 3102 2275 2427

16904 1.08 96.8 180.3 15.7 1615 16907 0.00 1.62 0.00 0.000 4 0.000 0.050 3099 3164 2428

16983 1.08 96.8 167.7 17.3 1622 16990 0.00 1.55 0.00 0.000 6 0.000 0.032 3106 2273 2428

17301 1.08 96.8 119.6 15.0 1653 17304 0.00 1.62 0.00 0.000 4 0.000 0.048 3106 3165 2429

17498 1.08 96.8 90.4 14.8 1671 17505 0.00 1.52 0.00 0.000 6 0.000 0.031 3113 2277 2430

17690 1.08 96.8 64.4 12.4 1690 17690 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2277 2430

17876 1.08 96.8 46.6 8.2 1708 17879 0.00 1.17 0.00 0.000 4 0.000 0.036 3119 1359 2431

17887 1.09 103.7 45.9 6.7 1709 17898 0.00 1.23 4.93 0.417 6 0.000 0.038 3119 2282 2416

18083 1.12 133.0 35.7 3.9 1728 18112 0.00 1.23 23.98 0.532 4 0.000 0.035 3124 1362 2296

18198 1.15 154.0 31.3 4.9 1738 18218 0.00 1.23 17.23 0.510 6 0.000 0.036 3124 2275 2212

18402 1.17 175.2 22.5 4.9 1758 18425 0.00 1.58 17.25 0.498 4 0.000 0.044 3124 3174 2125

18665 1.22 210.7 4.3 3.1 1782 18699 0.00 1.52 27.33 0.489 6 0.000 0.028 3131 2273 1979

18882 1.30 276.3 4.3 -0.5 1803 18936 0.00 1.62 47.80 0.488 4 0.000 0.043 3131 3166 1713

19175 1.38 340.0 4.2 -0.3 1830 19225 0.10 1.50 46.65 0.476 6 0.051 0.026 3195 2274 1454

19254 end climb: NO_VERTICAL_VELOCITY

state 19254 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	254	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	36	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	-14	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	-18145.354	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	123607,2843.717,-8828.489,50,1.5,50,-0.4	TGT_NAME	NEW0528A
_CALLS	2	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.022,0.264
_SM_DEPTHo	1.96	KALMAN_X	-30955.2,134.9,54.3,66025.7,3358.7
_SM_ANGLEo	-74.0	KALMAN_Y	-322379.5,-33.2,128.9,350826.5,-7366.0
GPS2	124602,2843.779,-8828.436,8,1.9,8,-0.4	MHEAD_RNG_PITCHd_Wd	74.4,3969,-26.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1399

SM_CCo	19256,165.40,0.476,0,0,403,597.54	_24V_AH	23.6,44.280
SM_GC	1.88,8.12,0.00,0.00,0.041,0.000,0.000,201,2390,400,-7.90,0.45,598.52	_10V_AH	10.6,61.509
IRIDIUM_FIX	2833.46,-8826.65,081099,121204	DATA_FILE_SIZE	94671,1837
TT8_MAMPS	0.051389	CAP_FILE_SIZE	190528,0
HUMID	1319	CFSIZE	260165632,232452096
INTERNAL_PRESSURE	9.31676	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.90	CURRENT	0.088,109.0,1
XPDR_PINGS	1	GPS	140710,181345,2844.083,-8825.881,36,2.3,55,-0.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	123.80	SBE_CT	1257	24	712.27
Roll_motor	108	57	146.76	SBE_O2	1355	19	607.86
VBD_pump_during_apogee	307	1227	8910.63	WL_BBFL2VMT	4128	105	10229.70
VBD_pump_during_surface	165	475	1856.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	132.11	nil	0	0	0.00
Iridium_during_connect	60	160	226.73	nil	0	0	0.00
Iridium_during_xfer	289	223	1526.20
Transponder_ping	4	420	39.65
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.33
TT8	0	19	0.00
LPSleep	12796	2	297.06
TT8_Active	570	19	119.74
TT8_Sampling	5919	39	2497.13
TT8_CF8	822	45	399.10
TT8_Kalman	33	81	28.91
Analog_circuits	2271	12	288.95
GPS_charging	0	0	0.00
Compass	5308	8	450.19
RAFOS	0	0	0.00
Transponder	28	30	9.11

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
12	-1.01	-41.0	0.0	0.0	0	47	0.00	0.00	-33.12	0.000	2	0.000	0.000	192	2389	1503
49	-1.02	-54.3	3.2	-5.9	3	108	9.95	1.35	-44.62	0.000	4	0.253	0.054	2416	1470	3062
133	-1.02	-54.3	9.8	-12.6	10	141	0.00	1.30	0.00	0.000	6	0.000	0.033	2411	2363	3062
326	-1.02	-54.3	43.2	-12.8	29	327	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2364	3063
512	-1.02	-54.3	60.4	-9.0	47	515	0.00	1.27	0.00	0.000	4	0.000	0.035	2416	1470	3063
758	-1.02	-54.3	80.0	-7.9	70	761	0.00	1.30	0.00	0.000	6	0.000	0.034	2411	2386	3064
954	-1.02	-54.3	95.9	-8.3	89	957	0.00	1.30	0.00	0.000	4	0.000	0.035	2416	1466	3064
1200	-1.02	-54.3	118.6	-10.0	112	1203	0.00	1.27	0.00	0.000	6	0.000	0.034	2411	2364	3064
1523	-1.02	-54.3	147.2	-8.1	143	1525	0.00	1.27	0.00	0.000	4	0.000	0.035	2416	1463	3064
1729	-1.02	-54.3	163.9	-8.3	162	1737	0.00	1.35	0.00	0.000	6	0.000	0.035	2411	2396	3064
2047	-1.02	-54.3	190.8	-8.8	193	2050	0.00	1.40	0.00	0.000	4	0.000	0.044	2404	3248	3063
2090	-1.02	-54.3	194.6	-8.4	197	2093	0.00	1.42	0.00	0.000	6	0.000	0.027	2409	2348	3063
2413	-1.02	-54.3	222.1	-7.8	228	2413	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2348	3062
2721	-1.02	-54.3	248.2	-8.4	258	2724	0.00	1.52	0.00	0.000	4	0.000	0.044	2404	3252	3059
2864	-1.02	-54.3	260.8	-8.8	271	2871	0.00	1.40	0.00	0.000	6	0.000	0.028	2408	2366	3059
3182	-1.03	-57.5	284.7	-7.1	302	3185	0.00	1.23	0.00	0.000	4	0.000	0.039	2415	1498	3057
3347	-1.03	-57.5	297.4	-8.1	317	3354	0.00	1.25	0.00	0.000	6	0.000	0.036	2411	2361	3056
3664	-1.03	-57.5	322.5	-8.0	348	3667	0.00	1.50	0.00	0.000	4	0.000	0.047	2403	3271	3055
3732	-1.03	-57.5	328.4	-8.7	354	3739	0.00	1.42	0.00	0.000	6	0.000	0.028	2405	2373	3055
4050	-1.03	-57.5	354.7	-8.4	385	4051	0.00	0.00	0.00	0.000	6	0.000	0.000	2405	2373	3053
4360	-1.03	-57.5	380.7	-8.3	415	4363	0.00	1.50	0.00	0.000	4	0.000	0.047	2399	3260	3051
4471	-1.03	-57.5	391.0	-9.7	425	4478	0.00	1.45	0.00	0.000	6	0.000	0.029	2403	2356	3051
4789	-1.03	-57.5	419.0	-8.8	456	4790	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2357	3049
5098	-1.03	-57.5	446.6	-8.8	486	5098	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2357	3047
5409	-1.03	-57.5	474.6	-8.8	516	5412	0.00	1.52	0.00	0.000	4	0.000	0.048	2397	3257	3044
5505	-1.03	-57.5	483.9	-9.2	525	5508	0.00	1.42	0.00	0.000	6	0.000	0.031	2402	2369	3044
5827	-1.03	-57.5	512.6	-8.3	556	5831	0.00	1.25	0.00	0.000	4	0.000	0.043	2403	1500	3043
6041	-1.03	-57.5	531.3	-9.2	576	6044	0.00	1.30	0.00	0.000	6	0.000	0.041	2398	2383	3042
6363	-1.03	-57.5	559.6	-8.9	607	6364	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2384	3040
6672	-1.03	-57.5	586.7	-8.6	637	6675	0.00	1.30	0.00	0.000	4	0.000	0.042	2401	1501	3038
6758	-1.03	-57.5	594.3	-9.1	645	6761	0.00	1.27	0.00	0.000	6	0.000	0.041	2397	2365	3038
7080	-1.03	-57.5	624.3	-9.6	676	7081	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	2365	3036
7390	-1.03	-57.5	651.8	-8.7	706	7393	0.00	1.27	0.00	0.000	4	0.000	0.044	2397	1500	3034
7550	-1.03	-57.5	665.1	-9.3	721	7553	0.00	1.30	0.00	0.000	6	0.000	0.042	2393	2379	3033
7873	-1.03	-57.5	692.0	-8.7	752	7875	0.00	1.30	0.00	0.000	4	0.000	0.043	2395	1496	3033
7972	-1.03	-57.5	700.2	-7.8	761	7980	0.00	1.33	0.00	0.000	6	0.000	0.042	2391	2377	3032
8290	-1.03	-57.5	725.5	-8.1	792	8294	0.00	1.50	0.00	0.000	4	0.000	0.053	2383	3254	3031
8444	-1.03	-57.5	739.3	-9.3	806	8451	0.00	1.42	0.00	0.000	6	0.000	0.035	2388	2381	3030
8762	-1.03	-57.5	764.6	-7.9	837	8765	0.00	1.30	0.00	0.000	4	0.000	0.045	2389	1493	3030
8939	-1.03	-57.5	778.7	-8.5	853	8944	0.08	1.30	0.00	0.000	6	0.212	0.044	2405	2365	3029
9254	-1.03	-57.5	802.5	-7.8	884	9258	0.00	1.30	0.00	0.000	4	0.000	0.044	2410	1487	3029
9307	-1.03	-57.5	806.6	-7.7	889	9310	0.00	1.33	0.00	0.000	6	0.000	0.044	2406	2378	3028
9630	-1.03	-57.5	831.7	-8.2	920	9633	0.00	1.33	0.00	0.000	4	0.000	0.044	2409	1483	3027
9769	-1.03	-60.6	842.3	-7.1	933	9772	0.00	1.33	0.00	0.000	6	0.000	0.045	2405	2369	3026
10090	-1.04	-63.4	864.7	-7.2	964	10093	0.00	1.30	0.00	0.000	4	0.000	0.045	2405	1494	3025
10335	-1.04	-66.7	883.0	-7.1	987	10338	0.00	1.33	0.00	0.000	6	0.000	0.046	2400	2378	3024
10656	-1.04	-69.9	906.0	-7.1	1018	10660	0.00	1.30	0.00	0.000	4	0.000	0.044	2401	1498	3023
10903	-1.05	-79.1	922.8	-6.4	1041	10905	0.00	1.33	0.00	0.000	6	0.000	0.046	2397	2379	3022
11224	-1.06	-83.8	945.9	-6.9	1072	11226	0.00	1.33	0.00	0.000	4	0.000	0.044	2397	1487	3021
11469	-1.07	-93.2	962.8	-6.3	1095	11472	0.00	1.33	0.00	0.000	6	0.000	0.046	2391	2365	3020
11790	-1.08	-96.8	983.1	-7.1	1126	11793	0.00	1.30	0.00	0.000	4	0.000	0.045	2390	1492	3019
11889	end dive: TARGET_DEPTH_EXCEEDED
state	11889	begin apogee
11895	-0.25	0.0	990.4	6.8	1135	11941	1.02	0.00	38.17	1.213	6	0.195	0.000	2653	2277	2839
11941	end apogee: CONTROL_FINISHED_OK
state	11941	begin climb
11943	1.08	96.8	991.8	0.0	1140	12033	1.35	1.77	84.15	1.228	4	0.110	0.058	3087	3171	2445
12086	1.08	96.8	974.9	18.2	1152	12089	0.00	1.58	0.00	0.000	6	0.000	0.037	3095	2299	2439
12407	1.08	96.8	917.3	18.1	1183	12408	0.00	0.00	0.00	0.000	6	0.000	0.000	3095	2300	2434
12717	1.08	96.8	861.7	17.5	1213	12720	0.00	1.27	0.00	0.000	4	0.000	0.044	3101	1364	2433
12749	1.08	96.8	856.1	17.1	1216	12752	0.00	1.25	0.00	0.000	6	0.000	0.046	3100	2276	2433
13072	1.08	96.8	799.2	17.0	1247	13073	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2276	2432
13381	1.08	96.8	746.4	16.4	1277	13384	0.00	1.62	0.00	0.000	4	0.000	0.054	3100	3184	2431
13424	1.08	96.8	738.8	17.3	1281	13427	0.00	1.60	0.00	0.000	6	0.000	0.037	3107	2258	2431
13744	1.08	96.8	684.2	16.5	1312	13748	0.00	1.70	0.00	0.000	4	0.000	0.054	3106	3174	2430
13852	1.08	96.8	664.9	18.9	1322	13854	0.00	1.58	0.00	0.000	6	0.000	0.037	3113	2275	2429
14174	1.08	96.8	611.6	16.0	1353	14175	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2275	2428
14483	1.08	96.8	561.6	15.5	1383	14486	0.00	1.62	0.00	0.000	4	0.000	0.054	3113	3176	2427
14551	1.08	96.8	549.7	17.4	1389	14558	0.00	1.58	0.00	0.000	6	0.000	0.036	3120	2275	2427
14869	1.08	96.8	497.7	16.9	1420	14872	0.00	1.62	0.00	0.000	4	0.000	0.053	3120	3178	2427
14944	1.08	96.8	484.1	17.3	1427	14947	0.10	1.58	0.00	0.000	6	0.203	0.036	3100	2277	2427
15265	1.08	96.8	434.6	15.0	1458	15268	0.00	1.62	0.00	0.000	4	0.000	0.052	3093	3182	2427
15340	1.08	96.8	422.6	17.1	1465	15343	0.00	1.58	0.00	0.000	6	0.000	0.036	3099	2275	2427
15660	1.08	96.8	372.9	15.0	1496	15663	0.00	1.62	0.00	0.000	4	0.000	0.052	3093	3179	2427
15757	1.08	96.8	357.8	15.3	1505	15760	0.00	1.58	0.00	0.000	6	0.000	0.035	3100	2274	2427
16079	1.08	96.8	308.1	15.8	1536	16082	0.00	1.65	0.00	0.000	4	0.000	0.051	3094	3174	2427
16126	1.08	96.8	300.7	15.5	1540	16134	0.00	1.55	0.00	0.000	6	0.000	0.035	3101	2280	2426
16443	1.08	96.8	251.4	15.9	1571	16447	0.00	1.62	0.00	0.000	4	0.000	0.051	3096	3167	2427
16587	1.08	96.8	228.2	15.1	1584	16595	0.00	1.55	0.00	0.000	6	0.000	0.034	3102	2275	2427
16904	1.08	96.8	180.3	15.7	1615	16907	0.00	1.62	0.00	0.000	4	0.000	0.050	3099	3164	2428
16983	1.08	96.8	167.7	17.3	1622	16990	0.00	1.55	0.00	0.000	6	0.000	0.032	3106	2273	2428
17301	1.08	96.8	119.6	15.0	1653	17304	0.00	1.62	0.00	0.000	4	0.000	0.048	3106	3165	2429
17498	1.08	96.8	90.4	14.8	1671	17505	0.00	1.52	0.00	0.000	6	0.000	0.031	3113	2277	2430
17690	1.08	96.8	64.4	12.4	1690	17690	0.00	0.00	0.00	0.000	6	0.000	0.000	3113	2277	2430
17876	1.08	96.8	46.6	8.2	1708	17879	0.00	1.17	0.00	0.000	4	0.000	0.036	3119	1359	2431
17887	1.09	103.7	45.9	6.7	1709	17898	0.00	1.23	4.93	0.417	6	0.000	0.038	3119	2282	2416
18083	1.12	133.0	35.7	3.9	1728	18112	0.00	1.23	23.98	0.532	4	0.000	0.035	3124	1362	2296
18198	1.15	154.0	31.3	4.9	1738	18218	0.00	1.23	17.23	0.510	6	0.000	0.036	3124	2275	2212
18402	1.17	175.2	22.5	4.9	1758	18425	0.00	1.58	17.25	0.498	4	0.000	0.044	3124	3174	2125
18665	1.22	210.7	4.3	3.1	1782	18699	0.00	1.52	27.33	0.489	6	0.000	0.028	3131	2273	1979
18882	1.30	276.3	4.3	-0.5	1803	18936	0.00	1.62	47.80	0.488	4	0.000	0.043	3131	3166	1713
19175	1.38	340.0	4.2	-0.3	1830	19225	0.10	1.50	46.65	0.476	6	0.051	0.026	3195	2274	1454
19254	end climb: NO_VERTICAL_VELOCITY
state	19254	begin surface