Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 266 * 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 266 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 2325 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 597.54108 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 25 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 -23555.682 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 27 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 597.54108

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 27 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 -23555.682

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 2325 MASS 51931 R_PORT_OVSHOOT 29 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 25 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 266 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 115607,2841.772,-8843.918,401,1.4,401,-0.2 TGT_NAME NEW0528A

_CALLS 8 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 16 TGT_RADIUS 2000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.247,0.095

_SM_DEPTHo 2.70 KALMAN_X -5617.3,472.9,1032.3,13302.9,1593.7

_SM_ANGLEo -78.1 KALMAN_Y -373075.8,3474.7,-925.5,397155.6,-9379.7

GPS2 124039,2842.729,-8844.441,9,2.1,28,-0.2 MHEAD_RNG_PITCHd_Wd 92.4,29994,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1115

Post-dive calculations and measurements:

FINISH 2.3,1.015198 _24V_AH 23.1,46.872

SM_CCo 18829,59.35,0.480,0,0,403,597.54 _10V_AH 10.6,64.654

SM_GC 2.34,0.00,0.00,59.35,0.000,0.000,0.480,206,2327,403,-7.94,0.06,597.54 DATA_FILE_SIZE 94651,1803

IRIDIUM_FIX 2833.46,-8846.29,111099,121218 CAP_FILE_SIZE 196086,0

TT8_MAMPS 0.052156 CFSIZE 260165632,231260160

HUMID 1373 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.23864 CURRENT 0.091,125.3,1

TCM_TEMP 24.00 GPS 170710,175706,2842.221,-8840.377,37,1.0,37,-0.3

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 243 111.91 SBE_CT 1233 24 683.61

Roll_motor 77 84 150.26 SBE_O2 1317 19 578.44

VBD_pump_during_apogee 552 1243 15880.94 WL_BBFL2VMT 4052 105 9830.12

VBD_pump_during_surface 59 480 658.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 231 103 551.77 nil 0 0 0.00

Iridium_during_connect 286 160 1057.66 nil 0 0 0.00

Iridium_during_xfer 1506 223 7761.99

Transponder_ping 4 420 41.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.51

TT8 0 19 0.00

LPSleep 13083 2 303.73

TT8_Active 619 19 130.08

TT8_Sampling 5354 39 2258.86

TT8_CF8 2463 45 1195.91

TT8_Kalman 33 81 28.91

Analog_circuits 2136 12 271.81

GPS_charging 0 0 0.00

Compass 4780 8 405.36

RAFOS 0 0 0.00

Transponder 29 30 9.44

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 -0.64 -194.6 0.0 0.0 0 37 0.00 0.00 -22.88 0.000 2 0.000 0.000 198 2326 1147

39 -0.64 -194.6 3.3 -4.0 2 112 10.15 0.00 -60.42 0.000 6 0.243 0.000 2532 2326 3635

295 -0.64 -194.6 47.5 -18.5 26 296 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2326 3636

479 -0.64 -194.6 72.2 -12.6 44 482 0.00 1.50 0.00 0.000 4 0.000 0.041 2526 3229 3636

521 -0.64 -194.6 77.7 -12.8 48 524 0.00 1.45 0.00 0.000 6 0.000 0.026 2526 2325 3636

719 -0.64 -194.6 102.0 -12.5 67 722 0.00 1.23 0.00 0.000 4 0.000 0.035 2526 1407 3636

750 -0.64 -194.6 106.2 -12.9 70 753 0.00 1.25 0.00 0.000 6 0.000 0.034 2521 2324 3636

1073 -0.64 -194.6 149.1 -13.2 101 1076 0.00 1.23 0.00 0.000 4 0.000 0.035 2521 1420 3635

1148 -0.64 -194.6 159.4 -13.3 108 1151 0.00 1.23 0.00 0.000 6 0.000 0.035 2515 2321 3635

1470 -0.64 -194.6 200.6 -12.5 139 1473 0.00 1.23 0.00 0.000 4 0.000 0.035 2515 1421 3632

1624 -0.64 -194.6 219.6 -11.8 153 1631 0.08 1.23 0.00 0.000 6 0.137 0.035 2534 2318 3630

1941 -0.64 -194.6 252.9 -11.1 184 1941 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2319 3627

2251 -0.64 -194.6 286.4 -10.9 214 2254 0.00 1.23 0.00 0.000 4 0.000 0.038 2535 1422 3624

2326 -0.64 -194.6 294.4 -10.3 221 2329 0.00 1.25 0.00 0.000 6 0.000 0.037 2531 2323 3624

2648 -0.64 -194.6 327.4 -10.3 252 2651 0.00 1.25 0.00 0.000 4 0.000 0.038 2531 1411 3621

2716 -0.64 -194.6 334.9 -9.9 258 2724 0.00 1.30 0.00 0.000 6 0.000 0.038 2525 2331 3620

3034 -0.64 -194.6 369.4 -11.2 289 3035 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2331 3617

3344 -0.64 -194.6 402.3 -10.6 319 3347 0.00 1.27 0.00 0.000 4 0.000 0.039 2525 1415 3613

3397 -0.64 -194.6 408.0 -10.6 324 3400 0.00 1.27 0.00 0.000 6 0.000 0.041 2519 2324 3613

3719 -0.64 -194.6 443.0 -10.8 355 3722 0.00 1.25 0.00 0.000 4 0.000 0.040 2519 1426 3610

3772 -0.64 -194.6 449.1 -10.7 360 3776 0.08 1.25 0.00 0.000 6 0.142 0.041 2538 2320 3610

4093 -0.64 -194.6 479.3 -9.1 391 4094 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2320 3607

4403 -0.64 -194.6 507.9 -9.4 421 4404 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2320 3605

4714 -0.64 -194.6 536.9 -9.5 451 4715 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2320 3601

5024 -0.64 -194.6 566.3 -9.5 481 5025 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2320 3599

5335 -0.64 -194.6 595.3 -9.1 511 5336 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2320 3596

5645 -0.64 -194.6 624.1 -9.4 541 5648 0.00 1.58 0.00 0.000 4 0.000 0.055 2532 3220 3594

5671 -0.64 -194.6 626.6 -9.5 543 5678 0.00 1.48 0.00 0.000 6 0.000 0.035 2533 2332 3593

5989 -0.64 -194.6 656.9 -9.5 574 5990 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2332 3591

6298 -0.64 -194.6 686.3 -9.7 604 6298 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2331 3590

6608 -0.64 -194.6 715.0 -9.3 634 6611 0.00 1.55 0.00 0.000 4 0.000 0.056 2526 3211 3588

6661 -0.64 -194.6 720.0 -9.3 639 6665 0.00 1.48 0.00 0.000 6 0.000 0.036 2526 2329 3587

6984 -0.64 -194.6 750.8 -9.8 670 6985 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2328 3586

7293 -0.64 -194.6 780.5 -8.7 700 7296 0.00 1.58 0.00 0.000 4 0.000 0.058 2519 3219 3583

7329 -0.64 -194.6 784.3 -10.1 703 7336 0.00 1.52 0.00 0.000 6 0.000 0.037 2519 2314 3583

7647 -0.64 -194.6 814.8 -9.5 734 7648 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2314 3581

7956 -0.64 -194.6 844.1 -9.4 764 7956 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2314 3580

8266 -0.64 -194.6 873.7 -9.5 794 8267 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2313 3579

8577 -0.64 -194.6 903.3 -9.5 824 8578 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2314 3577

8887 -0.64 -194.6 932.3 -9.3 854 8888 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2314 3576

9200 -0.64 -194.6 960.6 -9.5 884 9201 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2314 3575

9509 -0.64 -194.6 989.8 -9.0 914 9513 0.00 1.60 0.00 0.000 4 0.000 0.058 2511 3228 3573

9518 end dive: TARGET_DEPTH_EXCEEDED

state 9518 begin apogee

9524 -0.26 0.0 990.8 8.8 915 9675 0.50 0.00 148.12 1.243 6 0.137 0.000 2660 2281 2840

9675 end apogee: CONTROL_FINISHED_OK

state 9675 begin climb

9678 0.64 194.6 995.7 0.0 930 9851 0.90 1.33 166.95 1.212 4 0.104 0.049 2949 1369 2045

9877 0.64 194.6 980.4 11.2 946 9885 0.00 1.33 0.00 0.000 6 0.000 0.043 2949 2269 2040

10195 0.64 194.6 944.2 12.0 977 10199 0.00 1.65 0.00 0.000 4 0.000 0.054 2949 3167 2034

10231 0.64 194.6 939.3 12.1 980 10238 0.00 1.58 0.00 0.000 6 0.000 0.036 2956 2276 2033

10550 0.64 194.6 900.8 12.0 1011 10553 0.00 1.20 0.00 0.000 4 0.000 0.044 2962 1369 2031

10597 0.64 194.6 894.7 12.6 1015 10604 0.00 1.25 0.00 0.000 6 0.000 0.043 2962 2277 2032

10915 0.64 194.6 855.7 12.3 1046 10916 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2277 2030

11224 0.64 194.6 817.5 12.6 1076 11225 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2277 2029

11534 0.64 194.6 779.5 12.3 1106 11535 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2277 2029

11844 0.64 194.6 743.5 11.4 1136 11845 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2277 2028

12156 0.64 194.6 707.9 11.2 1166 12159 0.00 1.62 0.00 0.000 4 0.000 0.054 2962 3195 2028

12202 0.64 194.6 701.9 12.8 1170 12211 0.00 1.60 0.00 0.000 6 0.000 0.037 2969 2275 2026

12520 0.64 194.6 664.1 12.0 1201 12521 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2276 2026

12830 0.64 194.6 626.3 12.5 1231 12833 0.00 1.62 0.00 0.000 4 0.000 0.054 2970 3178 2027

12873 0.64 194.6 620.7 13.9 1235 12876 0.00 1.58 0.00 0.000 6 0.000 0.037 2977 2276 2026

13195 0.64 194.6 581.0 12.0 1266 13196 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2277 2026

13504 0.64 194.6 542.6 12.6 1296 13507 0.00 1.62 0.00 0.000 4 0.000 0.053 2977 3182 2026

13562 0.64 194.6 534.8 13.1 1301 13569 0.08 1.58 0.00 0.000 6 0.150 0.035 2961 2279 2025

13878 0.64 194.6 498.9 11.4 1332 13879 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2280 2025

14189 0.64 194.6 463.7 11.0 1362 14190 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2280 2025

14499 0.64 194.6 429.5 11.1 1392 14500 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2280 2024

14810 0.64 194.6 395.4 10.6 1422 14813 0.00 1.62 0.00 0.000 4 0.000 0.053 2960 3187 2025

14853 0.64 194.6 390.4 11.4 1426 14856 0.00 1.60 0.00 0.000 6 0.000 0.036 2966 2272 2025

15175 0.64 194.6 354.4 11.3 1457 15176 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2273 2025

15485 0.64 194.6 318.6 11.6 1487 15488 0.00 1.62 0.00 0.000 4 0.000 0.051 2966 3182 2025

15527 0.64 194.6 313.3 11.9 1491 15530 0.00 1.58 0.00 0.000 6 0.000 0.035 2974 2274 2025

15850 0.64 194.6 274.6 12.3 1522 15851 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2275 2025

16159 0.64 194.6 236.9 11.6 1552 16162 0.00 1.62 0.00 0.000 4 0.000 0.049 2974 3187 2025

16206 0.64 194.6 230.8 12.4 1556 16213 0.00 1.58 0.00 0.000 6 0.000 0.033 2982 2276 2025

16524 0.64 194.6 190.9 12.3 1587 16527 0.00 1.62 0.00 0.000 4 0.000 0.049 2981 3172 2025

16571 0.64 194.6 184.7 10.5 1591 16578 0.10 1.55 0.00 0.000 6 0.142 0.032 2957 2276 2025

16887 0.64 194.6 152.3 9.9 1622 16888 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2277 2026

17198 0.64 194.6 122.1 9.7 1652 17201 0.00 1.17 0.00 0.000 4 0.000 0.038 2961 1371 2027

17223 0.64 194.6 119.5 10.6 1654 17232 0.00 1.23 0.00 0.000 6 0.000 0.038 2961 2283 2028

17541 0.64 194.6 87.7 9.6 1685 17544 0.00 1.58 0.00 0.000 4 0.000 0.048 2961 3175 2028

17587 0.64 194.6 82.7 10.2 1689 17595 0.00 1.55 0.00 0.000 6 0.000 0.030 2969 2270 2028

17781 0.64 194.6 64.4 9.0 1708 17784 0.00 1.15 0.00 0.000 4 0.000 0.036 2974 1373 2029

17812 0.64 194.6 61.7 8.7 1711 17815 0.00 1.20 0.00 0.000 6 0.000 0.036 2974 2274 2029

18010 0.67 218.2 46.9 6.9 1730 18034 0.00 1.60 17.52 0.521 4 0.000 0.046 2974 3169 1949

18120 0.71 248.1 39.7 6.7 1740 18147 0.00 1.52 24.15 0.524 6 0.000 0.029 2982 2275 1828

18336 0.86 375.6 29.0 4.2 1760 18435 0.12 1.17 95.47 0.522 4 0.062 0.033 3058 1367 1307

18600 1.03 513.6 10.5 3.9 1783 18705 0.00 1.25 100.72 0.498 6 0.000 0.032 3057 2284 745

18761 end climb: SURFACE_DEPTH_REACHED

state 18762 begin surface coast

18814 end surface coast: CONTROL_FINISHED_OK

state 18814 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	266	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	2325	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	597.54108	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	25	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	-23555.682	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	27	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	115607,2841.772,-8843.918,401,1.4,401,-0.2	TGT_NAME	NEW0528A
_CALLS	8	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	16	TGT_RADIUS	2000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.247,0.095
_SM_DEPTHo	2.70	KALMAN_X	-5617.3,472.9,1032.3,13302.9,1593.7
_SM_ANGLEo	-78.1	KALMAN_Y	-373075.8,3474.7,-925.5,397155.6,-9379.7
GPS2	124039,2842.729,-8844.441,9,2.1,28,-0.2	MHEAD_RNG_PITCHd_Wd	92.4,29994,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1115

FINISH	2.3,1.015198	_24V_AH	23.1,46.872
SM_CCo	18829,59.35,0.480,0,0,403,597.54	_10V_AH	10.6,64.654
SM_GC	2.34,0.00,0.00,59.35,0.000,0.000,0.480,206,2327,403,-7.94,0.06,597.54	DATA_FILE_SIZE	94651,1803
IRIDIUM_FIX	2833.46,-8846.29,111099,121218	CAP_FILE_SIZE	196086,0
TT8_MAMPS	0.052156	CFSIZE	260165632,231260160
HUMID	1373	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.23864	CURRENT	0.091,125.3,1
TCM_TEMP	24.00	GPS	170710,175706,2842.221,-8840.377,37,1.0,37,-0.3
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	243	111.91	SBE_CT	1233	24	683.61
Roll_motor	77	84	150.26	SBE_O2	1317	19	578.44
VBD_pump_during_apogee	552	1243	15880.94	WL_BBFL2VMT	4052	105	9830.12
VBD_pump_during_surface	59	480	658.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	231	103	551.77	nil	0	0	0.00
Iridium_during_connect	286	160	1057.66	nil	0	0	0.00
Iridium_during_xfer	1506	223	7761.99
Transponder_ping	4	420	41.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.51
TT8	0	19	0.00
LPSleep	13083	2	303.73
TT8_Active	619	19	130.08
TT8_Sampling	5354	39	2258.86
TT8_CF8	2463	45	1195.91
TT8_Kalman	33	81	28.91
Analog_circuits	2136	12	271.81
GPS_charging	0	0	0.00
Compass	4780	8	405.36
RAFOS	0	0	0.00
Transponder	29	30	9.44

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	-0.64	-194.6	0.0	0.0	0	37	0.00	0.00	-22.88	0.000	2	0.000	0.000	198	2326	1147
39	-0.64	-194.6	3.3	-4.0	2	112	10.15	0.00	-60.42	0.000	6	0.243	0.000	2532	2326	3635
295	-0.64	-194.6	47.5	-18.5	26	296	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2326	3636
479	-0.64	-194.6	72.2	-12.6	44	482	0.00	1.50	0.00	0.000	4	0.000	0.041	2526	3229	3636
521	-0.64	-194.6	77.7	-12.8	48	524	0.00	1.45	0.00	0.000	6	0.000	0.026	2526	2325	3636
719	-0.64	-194.6	102.0	-12.5	67	722	0.00	1.23	0.00	0.000	4	0.000	0.035	2526	1407	3636
750	-0.64	-194.6	106.2	-12.9	70	753	0.00	1.25	0.00	0.000	6	0.000	0.034	2521	2324	3636
1073	-0.64	-194.6	149.1	-13.2	101	1076	0.00	1.23	0.00	0.000	4	0.000	0.035	2521	1420	3635
1148	-0.64	-194.6	159.4	-13.3	108	1151	0.00	1.23	0.00	0.000	6	0.000	0.035	2515	2321	3635
1470	-0.64	-194.6	200.6	-12.5	139	1473	0.00	1.23	0.00	0.000	4	0.000	0.035	2515	1421	3632
1624	-0.64	-194.6	219.6	-11.8	153	1631	0.08	1.23	0.00	0.000	6	0.137	0.035	2534	2318	3630
1941	-0.64	-194.6	252.9	-11.1	184	1941	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2319	3627
2251	-0.64	-194.6	286.4	-10.9	214	2254	0.00	1.23	0.00	0.000	4	0.000	0.038	2535	1422	3624
2326	-0.64	-194.6	294.4	-10.3	221	2329	0.00	1.25	0.00	0.000	6	0.000	0.037	2531	2323	3624
2648	-0.64	-194.6	327.4	-10.3	252	2651	0.00	1.25	0.00	0.000	4	0.000	0.038	2531	1411	3621
2716	-0.64	-194.6	334.9	-9.9	258	2724	0.00	1.30	0.00	0.000	6	0.000	0.038	2525	2331	3620
3034	-0.64	-194.6	369.4	-11.2	289	3035	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2331	3617
3344	-0.64	-194.6	402.3	-10.6	319	3347	0.00	1.27	0.00	0.000	4	0.000	0.039	2525	1415	3613
3397	-0.64	-194.6	408.0	-10.6	324	3400	0.00	1.27	0.00	0.000	6	0.000	0.041	2519	2324	3613
3719	-0.64	-194.6	443.0	-10.8	355	3722	0.00	1.25	0.00	0.000	4	0.000	0.040	2519	1426	3610
3772	-0.64	-194.6	449.1	-10.7	360	3776	0.08	1.25	0.00	0.000	6	0.142	0.041	2538	2320	3610
4093	-0.64	-194.6	479.3	-9.1	391	4094	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2320	3607
4403	-0.64	-194.6	507.9	-9.4	421	4404	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2320	3605
4714	-0.64	-194.6	536.9	-9.5	451	4715	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2320	3601
5024	-0.64	-194.6	566.3	-9.5	481	5025	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2320	3599
5335	-0.64	-194.6	595.3	-9.1	511	5336	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2320	3596
5645	-0.64	-194.6	624.1	-9.4	541	5648	0.00	1.58	0.00	0.000	4	0.000	0.055	2532	3220	3594
5671	-0.64	-194.6	626.6	-9.5	543	5678	0.00	1.48	0.00	0.000	6	0.000	0.035	2533	2332	3593
5989	-0.64	-194.6	656.9	-9.5	574	5990	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2332	3591
6298	-0.64	-194.6	686.3	-9.7	604	6298	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2331	3590
6608	-0.64	-194.6	715.0	-9.3	634	6611	0.00	1.55	0.00	0.000	4	0.000	0.056	2526	3211	3588
6661	-0.64	-194.6	720.0	-9.3	639	6665	0.00	1.48	0.00	0.000	6	0.000	0.036	2526	2329	3587
6984	-0.64	-194.6	750.8	-9.8	670	6985	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2328	3586
7293	-0.64	-194.6	780.5	-8.7	700	7296	0.00	1.58	0.00	0.000	4	0.000	0.058	2519	3219	3583
7329	-0.64	-194.6	784.3	-10.1	703	7336	0.00	1.52	0.00	0.000	6	0.000	0.037	2519	2314	3583
7647	-0.64	-194.6	814.8	-9.5	734	7648	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2314	3581
7956	-0.64	-194.6	844.1	-9.4	764	7956	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2314	3580
8266	-0.64	-194.6	873.7	-9.5	794	8267	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2313	3579
8577	-0.64	-194.6	903.3	-9.5	824	8578	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2314	3577
8887	-0.64	-194.6	932.3	-9.3	854	8888	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2314	3576
9200	-0.64	-194.6	960.6	-9.5	884	9201	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2314	3575
9509	-0.64	-194.6	989.8	-9.0	914	9513	0.00	1.60	0.00	0.000	4	0.000	0.058	2511	3228	3573
9518	end dive: TARGET_DEPTH_EXCEEDED
state	9518	begin apogee
9524	-0.26	0.0	990.8	8.8	915	9675	0.50	0.00	148.12	1.243	6	0.137	0.000	2660	2281	2840
9675	end apogee: CONTROL_FINISHED_OK
state	9675	begin climb
9678	0.64	194.6	995.7	0.0	930	9851	0.90	1.33	166.95	1.212	4	0.104	0.049	2949	1369	2045
9877	0.64	194.6	980.4	11.2	946	9885	0.00	1.33	0.00	0.000	6	0.000	0.043	2949	2269	2040
10195	0.64	194.6	944.2	12.0	977	10199	0.00	1.65	0.00	0.000	4	0.000	0.054	2949	3167	2034
10231	0.64	194.6	939.3	12.1	980	10238	0.00	1.58	0.00	0.000	6	0.000	0.036	2956	2276	2033
10550	0.64	194.6	900.8	12.0	1011	10553	0.00	1.20	0.00	0.000	4	0.000	0.044	2962	1369	2031
10597	0.64	194.6	894.7	12.6	1015	10604	0.00	1.25	0.00	0.000	6	0.000	0.043	2962	2277	2032
10915	0.64	194.6	855.7	12.3	1046	10916	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2277	2030
11224	0.64	194.6	817.5	12.6	1076	11225	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2277	2029
11534	0.64	194.6	779.5	12.3	1106	11535	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2277	2029
11844	0.64	194.6	743.5	11.4	1136	11845	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2277	2028
12156	0.64	194.6	707.9	11.2	1166	12159	0.00	1.62	0.00	0.000	4	0.000	0.054	2962	3195	2028
12202	0.64	194.6	701.9	12.8	1170	12211	0.00	1.60	0.00	0.000	6	0.000	0.037	2969	2275	2026
12520	0.64	194.6	664.1	12.0	1201	12521	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2276	2026
12830	0.64	194.6	626.3	12.5	1231	12833	0.00	1.62	0.00	0.000	4	0.000	0.054	2970	3178	2027
12873	0.64	194.6	620.7	13.9	1235	12876	0.00	1.58	0.00	0.000	6	0.000	0.037	2977	2276	2026
13195	0.64	194.6	581.0	12.0	1266	13196	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2277	2026
13504	0.64	194.6	542.6	12.6	1296	13507	0.00	1.62	0.00	0.000	4	0.000	0.053	2977	3182	2026
13562	0.64	194.6	534.8	13.1	1301	13569	0.08	1.58	0.00	0.000	6	0.150	0.035	2961	2279	2025
13878	0.64	194.6	498.9	11.4	1332	13879	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2280	2025
14189	0.64	194.6	463.7	11.0	1362	14190	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2280	2025
14499	0.64	194.6	429.5	11.1	1392	14500	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2280	2024
14810	0.64	194.6	395.4	10.6	1422	14813	0.00	1.62	0.00	0.000	4	0.000	0.053	2960	3187	2025
14853	0.64	194.6	390.4	11.4	1426	14856	0.00	1.60	0.00	0.000	6	0.000	0.036	2966	2272	2025
15175	0.64	194.6	354.4	11.3	1457	15176	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2273	2025
15485	0.64	194.6	318.6	11.6	1487	15488	0.00	1.62	0.00	0.000	4	0.000	0.051	2966	3182	2025
15527	0.64	194.6	313.3	11.9	1491	15530	0.00	1.58	0.00	0.000	6	0.000	0.035	2974	2274	2025
15850	0.64	194.6	274.6	12.3	1522	15851	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2275	2025
16159	0.64	194.6	236.9	11.6	1552	16162	0.00	1.62	0.00	0.000	4	0.000	0.049	2974	3187	2025
16206	0.64	194.6	230.8	12.4	1556	16213	0.00	1.58	0.00	0.000	6	0.000	0.033	2982	2276	2025
16524	0.64	194.6	190.9	12.3	1587	16527	0.00	1.62	0.00	0.000	4	0.000	0.049	2981	3172	2025
16571	0.64	194.6	184.7	10.5	1591	16578	0.10	1.55	0.00	0.000	6	0.142	0.032	2957	2276	2025
16887	0.64	194.6	152.3	9.9	1622	16888	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2277	2026
17198	0.64	194.6	122.1	9.7	1652	17201	0.00	1.17	0.00	0.000	4	0.000	0.038	2961	1371	2027
17223	0.64	194.6	119.5	10.6	1654	17232	0.00	1.23	0.00	0.000	6	0.000	0.038	2961	2283	2028
17541	0.64	194.6	87.7	9.6	1685	17544	0.00	1.58	0.00	0.000	4	0.000	0.048	2961	3175	2028
17587	0.64	194.6	82.7	10.2	1689	17595	0.00	1.55	0.00	0.000	6	0.000	0.030	2969	2270	2028
17781	0.64	194.6	64.4	9.0	1708	17784	0.00	1.15	0.00	0.000	4	0.000	0.036	2974	1373	2029
17812	0.64	194.6	61.7	8.7	1711	17815	0.00	1.20	0.00	0.000	6	0.000	0.036	2974	2274	2029
18010	0.67	218.2	46.9	6.9	1730	18034	0.00	1.60	17.52	0.521	4	0.000	0.046	2974	3169	1949
18120	0.71	248.1	39.7	6.7	1740	18147	0.00	1.52	24.15	0.524	6	0.000	0.029	2982	2275	1828
18336	0.86	375.6	29.0	4.2	1760	18435	0.12	1.17	95.47	0.522	4	0.062	0.033	3058	1367	1307
18600	1.03	513.6	10.5	3.9	1783	18705	0.00	1.25	100.72	0.498	6	0.000	0.032	3057	2284	745
18761	end climb: SURFACE_DEPTH_REACHED
state	18762	begin surface coast
18814	end surface coast: CONTROL_FINISHED_OK
state	18814	begin surface