Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 267 * 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 267 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 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -23569.232 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 -23569.232

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 30 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 23 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 267 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 175706,2842.221,-8840.377,37,1.0,37,-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 0.240,0.112

_SM_DEPTHo 2.18 KALMAN_X -4465.2,-583.4,941.3,19866.3,1647.4

_SM_ANGLEo -71.9 KALMAN_Y -374441.8,968.8,-224.7,399484.0,-7757.4

GPS2 180932,2842.289,-8840.416,11,1.7,11,-0.3 MHEAD_RNG_PITCHd_Wd 71.4,23538,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1017

Post-dive calculations and measurements:

FINISH 1.3,1.016638 ALTIM_BOTTOM_PING 910.3,55.3

SM_CCo 17725,35.10,0.476,0,0,403,597.54 _24V_AH 22.9,47.058

SM_GC 1.69,0.00,0.00,35.10,0.000,0.000,0.476,196,2344,403,-7.97,0.54,597.54 _10V_AH 10.6,64.876

IRIDIUM_FIX 2831.00,-8846.35,111099,121226 DATA_FILE_SIZE 88373,1703

TT8_MAMPS 0.050622 CAP_FILE_SIZE 159291,0

HUMID 1380 CFSIZE 260165632,231256064

INTERNAL_PRESSURE 9.22887 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 23.90 CURRENT 0.097,124.2,1

XPDR_PINGS 2 GPS 170710,230725,2842.702,-8836.804,50,2.0,50,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 258 118.98 SBE_CT 1162 24 639.07

Roll_motor 64 67 99.89 SBE_O2 1246 19 542.29

VBD_pump_during_apogee 579 1207 16011.30 WL_BBFL2VMT 3827 105 9204.42

VBD_pump_during_surface 35 475 382.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 77.98 nil 0 0 0.00

Iridium_during_connect 29 160 106.56 nil 0 0 0.00

Iridium_during_xfer 551 223 2813.83

Transponder_ping 2 420 26.45

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.85

TT8 0 19 0.00

LPSleep 11895 2 276.14

TT8_Active 628 19 131.99

TT8_Sampling 5003 39 2111.06

TT8_CF8 945 45 459.13

TT8_Kalman 33 81 28.91

Analog_circuits 2052 12 261.10

GPS_charging 0 0 0.00

Compass 4487 8 380.57

RAFOS 0 0 0.00

Transponder 19 30 6.14

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -0.64 -194.6 0.0 0.0 0 69 0.00 0.00 -54.72 0.000 2 0.000 0.000 205 2328 2073

71 -0.64 -194.6 3.4 -2.5 5 123 10.62 1.23 -37.78 0.000 4 0.258 0.058 2540 1417 3634

134 -0.64 -194.6 12.4 -21.3 10 141 0.00 1.27 0.00 0.000 6 0.000 0.032 2537 2332 3635

326 -0.64 -194.6 52.7 -15.0 29 329 0.00 1.50 0.00 0.000 4 0.000 0.042 2529 3223 3636

470 -0.64 -194.6 73.0 -12.4 42 477 0.00 1.45 0.00 0.000 6 0.000 0.027 2534 2327 3636

662 -0.64 -194.6 95.6 -11.9 61 665 0.00 1.23 0.00 0.000 4 0.000 0.035 2537 1413 3636

715 -0.64 -194.6 102.2 -12.6 66 718 0.00 1.25 0.00 0.000 6 0.000 0.035 2532 2323 3636

1038 -0.64 -194.6 143.8 -13.3 97 1041 0.00 1.25 0.00 0.000 4 0.000 0.036 2533 1404 3636

1095 -0.64 -194.6 151.6 -12.5 102 1102 0.00 1.30 0.00 0.000 6 0.000 0.035 2527 2330 3636

1413 -0.64 -194.6 191.1 -12.1 133 1416 0.00 1.27 0.00 0.000 4 0.000 0.036 2527 1400 3635

1573 -0.64 -194.6 209.9 -11.6 148 1576 0.00 1.27 0.00 0.000 6 0.000 0.036 2521 2325 3634

1896 -0.64 -194.6 248.5 -12.3 179 1897 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2325 3632

2205 -0.64 -194.6 285.1 -11.7 209 2205 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2325 3631

2516 -0.64 -194.6 321.8 -12.1 239 2519 0.00 1.25 0.00 0.000 4 0.000 0.038 2521 1416 3627

2590 -0.64 -194.6 330.6 -11.6 246 2593 0.00 1.25 0.00 0.000 6 0.000 0.038 2515 2317 3627

2913 -0.64 -194.6 368.2 -11.4 277 2914 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2318 3625

3222 -0.64 -194.6 404.8 -11.6 307 3225 0.00 1.25 0.00 0.000 4 0.000 0.040 2515 1414 3623

3318 -0.64 -194.6 416.0 -11.4 316 3321 0.08 1.27 0.00 0.000 6 0.143 0.040 2534 2324 3622

3639 -0.64 -194.6 447.5 -9.9 347 3639 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2324 3620

3949 -0.64 -194.6 478.0 -9.8 377 3950 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2324 3617

4260 -0.64 -194.6 507.8 -9.5 407 4263 0.00 1.27 0.00 0.000 4 0.000 0.042 2534 1414 3615

4313 -0.64 -194.6 513.2 -10.0 412 4316 0.00 1.27 0.00 0.000 6 0.000 0.043 2531 2318 3614

4636 -0.64 -194.6 544.9 -9.9 443 4637 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2319 3611

4944 -0.64 -194.6 575.8 -10.1 473 4945 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2319 3608

5255 -0.64 -194.6 606.7 -9.6 503 5256 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2319 3606

5565 -0.64 -194.6 636.1 -9.0 533 5566 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2319 3605

5875 -0.64 -194.6 665.3 -9.9 563 5876 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2319 3603

6186 -0.64 -194.6 695.2 -9.4 593 6190 0.00 1.27 0.00 0.000 4 0.000 0.045 2530 1414 3600

6261 -0.64 -194.6 702.6 -9.6 600 6264 0.00 1.33 0.00 0.000 6 0.000 0.046 2525 2332 3600

6584 -0.64 -194.6 734.5 -10.2 631 6584 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2332 3598

6893 -0.64 -194.6 765.1 -9.6 661 6893 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2332 3596

7203 -0.64 -194.6 793.8 -9.2 691 7204 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2332 3594

7513 -0.64 -194.6 822.5 -8.9 721 7516 0.00 1.30 0.00 0.000 4 0.000 0.046 2525 1424 3593

7566 -0.64 -194.6 827.8 -9.9 726 7569 0.00 1.30 0.00 0.000 6 0.000 0.048 2520 2324 3592

7887 -0.64 -194.6 858.9 -10.1 757 7888 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2324 3591

8197 -0.64 -194.6 888.2 -9.2 787 8201 0.00 1.60 0.00 0.000 4 0.000 0.059 2512 3225 3590

8241 -0.64 -194.6 892.2 -9.1 791 8244 0.00 1.50 0.00 0.000 6 0.000 0.038 2512 2331 3590

8562 -0.64 -194.6 923.4 -9.3 822 8565 0.00 1.30 0.00 0.000 4 0.000 0.047 2512 1419 3588

8630 -0.64 -194.6 930.6 -10.1 828 8639 0.10 1.35 0.00 0.000 6 0.140 0.048 2538 2330 3588

8810 end dive: BOTTOM_OBSTACLE_DETECTED

state 8810 begin apogee

8815 -0.26 0.0 945.6 8.2 846 8973 0.40 0.00 150.62 1.207 6 0.134 0.000 2658 2267 2839

8974 end apogee: CONTROL_FINISHED_OK

state 8974 begin climb

8976 0.64 194.6 950.4 0.0 862 9152 0.90 0.00 167.12 1.177 6 0.104 0.000 2944 2267 2045

9462 0.64 194.6 902.7 11.6 908 9463 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2267 2036

9771 0.64 194.6 868.0 11.0 938 9774 0.00 1.67 0.00 0.000 4 0.000 0.059 2944 3187 2033

9818 0.64 194.6 862.4 11.8 942 9825 0.00 1.58 0.00 0.000 6 0.000 0.036 2952 2282 2032

10137 0.64 194.6 825.6 11.8 973 10138 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2283 2031

10445 0.64 194.6 790.6 11.3 1003 10446 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2283 2031

10756 0.64 194.6 755.2 11.7 1033 10757 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2283 2030

11066 0.64 194.6 720.0 11.2 1063 11067 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2283 2029

11377 0.64 194.6 685.4 11.0 1093 11378 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2283 2028

11687 0.64 194.6 651.8 10.9 1123 11688 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2283 2028

11998 0.64 194.6 617.0 11.0 1153 12001 0.00 1.62 0.00 0.000 4 0.000 0.054 2952 3196 2028

12041 0.64 194.6 611.7 12.8 1157 12044 0.00 1.60 0.00 0.000 6 0.000 0.038 2959 2263 2026

12363 0.64 194.6 574.0 11.5 1188 12366 0.00 1.67 0.00 0.000 4 0.000 0.054 2960 3173 2026

12388 0.64 194.6 570.7 12.5 1190 12395 0.00 1.55 0.00 0.000 6 0.000 0.036 2967 2281 2026

12706 0.64 194.6 533.2 11.8 1221 12707 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2281 2026

13016 0.64 194.6 496.4 11.4 1251 13017 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2281 2026

13326 0.64 194.6 460.1 12.0 1281 13326 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2282 2026

13636 0.64 194.6 423.3 11.9 1311 13637 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2282 2026

13947 0.64 194.6 386.0 11.8 1341 13950 0.00 1.60 0.00 0.000 4 0.000 0.052 2967 3177 2026

13979 0.64 194.6 381.9 12.7 1344 13982 0.00 1.58 0.00 0.000 6 0.000 0.036 2974 2273 2026

14300 0.64 194.6 341.9 12.5 1375 14300 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2274 2026

14610 0.64 194.6 303.8 12.4 1405 14611 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2274 2026

14920 0.64 194.6 265.8 12.3 1435 14923 0.00 1.62 0.00 0.000 4 0.000 0.051 2974 3164 2025

14985 0.64 194.6 257.6 12.8 1441 14987 0.00 1.55 0.00 0.000 6 0.000 0.035 2982 2272 2026

15307 0.64 194.6 217.6 12.5 1472 15309 0.00 1.62 0.00 0.000 4 0.000 0.049 2982 3188 2026

15385 0.64 194.6 206.9 12.8 1479 15393 0.10 1.58 0.00 0.000 6 0.142 0.033 2958 2275 2026

15702 0.64 194.6 174.1 10.4 1510 15705 0.00 1.17 0.00 0.000 4 0.000 0.040 2962 1372 2026

15734 0.64 194.6 170.9 9.8 1513 15736 0.00 1.23 0.00 0.000 6 0.000 0.039 2961 2275 2027

16056 0.64 194.6 137.9 9.9 1544 16059 0.00 1.20 0.00 0.000 4 0.000 0.038 2967 1373 2027

16099 0.64 194.6 133.4 10.3 1548 16102 0.00 1.23 0.00 0.000 6 0.000 0.038 2967 2283 2028

16420 0.64 194.6 99.5 10.5 1579 16423 0.00 1.58 0.00 0.000 4 0.000 0.048 2967 3175 2028

16498 0.64 194.6 90.6 10.8 1586 16506 0.00 1.55 0.00 0.000 6 0.000 0.030 2974 2268 2028

16691 0.64 194.6 70.6 11.0 1605 16694 0.00 1.17 0.00 0.000 4 0.000 0.036 2980 1356 2029

16745 0.64 194.6 65.8 8.5 1610 16747 0.00 1.23 0.00 0.000 6 0.000 0.038 2980 2276 2030

16942 0.71 255.1 49.4 5.9 1629 16990 0.00 1.62 45.15 0.544 4 0.000 0.046 2980 3169 1799

17022 0.76 291.4 43.8 6.5 1636 17058 0.00 1.55 28.62 0.526 6 0.000 0.029 2987 2273 1652

17245 0.89 401.0 31.1 4.6 1657 17334 0.15 0.00 82.05 0.521 6 0.061 0.000 3066 2272 1204

17521 1.07 545.3 10.0 3.7 1684 17631 0.00 0.00 105.57 0.496 6 0.000 0.000 3066 2272 615

17669 end climb: SURFACE_DEPTH_REACHED

state 17669 begin surface coast

17710 end surface coast: CONTROL_FINISHED_OK

state 17710 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	267	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	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-23569.232	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	175706,2842.221,-8840.377,37,1.0,37,-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	0.240,0.112
_SM_DEPTHo	2.18	KALMAN_X	-4465.2,-583.4,941.3,19866.3,1647.4
_SM_ANGLEo	-71.9	KALMAN_Y	-374441.8,968.8,-224.7,399484.0,-7757.4
GPS2	180932,2842.289,-8840.416,11,1.7,11,-0.3	MHEAD_RNG_PITCHd_Wd	71.4,23538,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1017

FINISH	1.3,1.016638	ALTIM_BOTTOM_PING	910.3,55.3
SM_CCo	17725,35.10,0.476,0,0,403,597.54	_24V_AH	22.9,47.058
SM_GC	1.69,0.00,0.00,35.10,0.000,0.000,0.476,196,2344,403,-7.97,0.54,597.54	_10V_AH	10.6,64.876
IRIDIUM_FIX	2831.00,-8846.35,111099,121226	DATA_FILE_SIZE	88373,1703
TT8_MAMPS	0.050622	CAP_FILE_SIZE	159291,0
HUMID	1380	CFSIZE	260165632,231256064
INTERNAL_PRESSURE	9.22887	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	23.90	CURRENT	0.097,124.2,1
XPDR_PINGS	2	GPS	170710,230725,2842.702,-8836.804,50,2.0,50,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	258	118.98	SBE_CT	1162	24	639.07
Roll_motor	64	67	99.89	SBE_O2	1246	19	542.29
VBD_pump_during_apogee	579	1207	16011.30	WL_BBFL2VMT	3827	105	9204.42
VBD_pump_during_surface	35	475	382.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	77.98	nil	0	0	0.00
Iridium_during_connect	29	160	106.56	nil	0	0	0.00
Iridium_during_xfer	551	223	2813.83
Transponder_ping	2	420	26.45
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.85
TT8	0	19	0.00
LPSleep	11895	2	276.14
TT8_Active	628	19	131.99
TT8_Sampling	5003	39	2111.06
TT8_CF8	945	45	459.13
TT8_Kalman	33	81	28.91
Analog_circuits	2052	12	261.10
GPS_charging	0	0	0.00
Compass	4487	8	380.57
RAFOS	0	0	0.00
Transponder	19	30	6.14

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-0.64	-194.6	0.0	0.0	0	69	0.00	0.00	-54.72	0.000	2	0.000	0.000	205	2328	2073
71	-0.64	-194.6	3.4	-2.5	5	123	10.62	1.23	-37.78	0.000	4	0.258	0.058	2540	1417	3634
134	-0.64	-194.6	12.4	-21.3	10	141	0.00	1.27	0.00	0.000	6	0.000	0.032	2537	2332	3635
326	-0.64	-194.6	52.7	-15.0	29	329	0.00	1.50	0.00	0.000	4	0.000	0.042	2529	3223	3636
470	-0.64	-194.6	73.0	-12.4	42	477	0.00	1.45	0.00	0.000	6	0.000	0.027	2534	2327	3636
662	-0.64	-194.6	95.6	-11.9	61	665	0.00	1.23	0.00	0.000	4	0.000	0.035	2537	1413	3636
715	-0.64	-194.6	102.2	-12.6	66	718	0.00	1.25	0.00	0.000	6	0.000	0.035	2532	2323	3636
1038	-0.64	-194.6	143.8	-13.3	97	1041	0.00	1.25	0.00	0.000	4	0.000	0.036	2533	1404	3636
1095	-0.64	-194.6	151.6	-12.5	102	1102	0.00	1.30	0.00	0.000	6	0.000	0.035	2527	2330	3636
1413	-0.64	-194.6	191.1	-12.1	133	1416	0.00	1.27	0.00	0.000	4	0.000	0.036	2527	1400	3635
1573	-0.64	-194.6	209.9	-11.6	148	1576	0.00	1.27	0.00	0.000	6	0.000	0.036	2521	2325	3634
1896	-0.64	-194.6	248.5	-12.3	179	1897	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2325	3632
2205	-0.64	-194.6	285.1	-11.7	209	2205	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2325	3631
2516	-0.64	-194.6	321.8	-12.1	239	2519	0.00	1.25	0.00	0.000	4	0.000	0.038	2521	1416	3627
2590	-0.64	-194.6	330.6	-11.6	246	2593	0.00	1.25	0.00	0.000	6	0.000	0.038	2515	2317	3627
2913	-0.64	-194.6	368.2	-11.4	277	2914	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2318	3625
3222	-0.64	-194.6	404.8	-11.6	307	3225	0.00	1.25	0.00	0.000	4	0.000	0.040	2515	1414	3623
3318	-0.64	-194.6	416.0	-11.4	316	3321	0.08	1.27	0.00	0.000	6	0.143	0.040	2534	2324	3622
3639	-0.64	-194.6	447.5	-9.9	347	3639	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2324	3620
3949	-0.64	-194.6	478.0	-9.8	377	3950	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2324	3617
4260	-0.64	-194.6	507.8	-9.5	407	4263	0.00	1.27	0.00	0.000	4	0.000	0.042	2534	1414	3615
4313	-0.64	-194.6	513.2	-10.0	412	4316	0.00	1.27	0.00	0.000	6	0.000	0.043	2531	2318	3614
4636	-0.64	-194.6	544.9	-9.9	443	4637	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2319	3611
4944	-0.64	-194.6	575.8	-10.1	473	4945	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2319	3608
5255	-0.64	-194.6	606.7	-9.6	503	5256	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2319	3606
5565	-0.64	-194.6	636.1	-9.0	533	5566	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2319	3605
5875	-0.64	-194.6	665.3	-9.9	563	5876	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2319	3603
6186	-0.64	-194.6	695.2	-9.4	593	6190	0.00	1.27	0.00	0.000	4	0.000	0.045	2530	1414	3600
6261	-0.64	-194.6	702.6	-9.6	600	6264	0.00	1.33	0.00	0.000	6	0.000	0.046	2525	2332	3600
6584	-0.64	-194.6	734.5	-10.2	631	6584	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2332	3598
6893	-0.64	-194.6	765.1	-9.6	661	6893	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2332	3596
7203	-0.64	-194.6	793.8	-9.2	691	7204	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2332	3594
7513	-0.64	-194.6	822.5	-8.9	721	7516	0.00	1.30	0.00	0.000	4	0.000	0.046	2525	1424	3593
7566	-0.64	-194.6	827.8	-9.9	726	7569	0.00	1.30	0.00	0.000	6	0.000	0.048	2520	2324	3592
7887	-0.64	-194.6	858.9	-10.1	757	7888	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2324	3591
8197	-0.64	-194.6	888.2	-9.2	787	8201	0.00	1.60	0.00	0.000	4	0.000	0.059	2512	3225	3590
8241	-0.64	-194.6	892.2	-9.1	791	8244	0.00	1.50	0.00	0.000	6	0.000	0.038	2512	2331	3590
8562	-0.64	-194.6	923.4	-9.3	822	8565	0.00	1.30	0.00	0.000	4	0.000	0.047	2512	1419	3588
8630	-0.64	-194.6	930.6	-10.1	828	8639	0.10	1.35	0.00	0.000	6	0.140	0.048	2538	2330	3588
8810	end dive: BOTTOM_OBSTACLE_DETECTED
state	8810	begin apogee
8815	-0.26	0.0	945.6	8.2	846	8973	0.40	0.00	150.62	1.207	6	0.134	0.000	2658	2267	2839
8974	end apogee: CONTROL_FINISHED_OK
state	8974	begin climb
8976	0.64	194.6	950.4	0.0	862	9152	0.90	0.00	167.12	1.177	6	0.104	0.000	2944	2267	2045
9462	0.64	194.6	902.7	11.6	908	9463	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2267	2036
9771	0.64	194.6	868.0	11.0	938	9774	0.00	1.67	0.00	0.000	4	0.000	0.059	2944	3187	2033
9818	0.64	194.6	862.4	11.8	942	9825	0.00	1.58	0.00	0.000	6	0.000	0.036	2952	2282	2032
10137	0.64	194.6	825.6	11.8	973	10138	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2283	2031
10445	0.64	194.6	790.6	11.3	1003	10446	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2283	2031
10756	0.64	194.6	755.2	11.7	1033	10757	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2283	2030
11066	0.64	194.6	720.0	11.2	1063	11067	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2283	2029
11377	0.64	194.6	685.4	11.0	1093	11378	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2283	2028
11687	0.64	194.6	651.8	10.9	1123	11688	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2283	2028
11998	0.64	194.6	617.0	11.0	1153	12001	0.00	1.62	0.00	0.000	4	0.000	0.054	2952	3196	2028
12041	0.64	194.6	611.7	12.8	1157	12044	0.00	1.60	0.00	0.000	6	0.000	0.038	2959	2263	2026
12363	0.64	194.6	574.0	11.5	1188	12366	0.00	1.67	0.00	0.000	4	0.000	0.054	2960	3173	2026
12388	0.64	194.6	570.7	12.5	1190	12395	0.00	1.55	0.00	0.000	6	0.000	0.036	2967	2281	2026
12706	0.64	194.6	533.2	11.8	1221	12707	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2281	2026
13016	0.64	194.6	496.4	11.4	1251	13017	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2281	2026
13326	0.64	194.6	460.1	12.0	1281	13326	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2282	2026
13636	0.64	194.6	423.3	11.9	1311	13637	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2282	2026
13947	0.64	194.6	386.0	11.8	1341	13950	0.00	1.60	0.00	0.000	4	0.000	0.052	2967	3177	2026
13979	0.64	194.6	381.9	12.7	1344	13982	0.00	1.58	0.00	0.000	6	0.000	0.036	2974	2273	2026
14300	0.64	194.6	341.9	12.5	1375	14300	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2274	2026
14610	0.64	194.6	303.8	12.4	1405	14611	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2274	2026
14920	0.64	194.6	265.8	12.3	1435	14923	0.00	1.62	0.00	0.000	4	0.000	0.051	2974	3164	2025
14985	0.64	194.6	257.6	12.8	1441	14987	0.00	1.55	0.00	0.000	6	0.000	0.035	2982	2272	2026
15307	0.64	194.6	217.6	12.5	1472	15309	0.00	1.62	0.00	0.000	4	0.000	0.049	2982	3188	2026
15385	0.64	194.6	206.9	12.8	1479	15393	0.10	1.58	0.00	0.000	6	0.142	0.033	2958	2275	2026
15702	0.64	194.6	174.1	10.4	1510	15705	0.00	1.17	0.00	0.000	4	0.000	0.040	2962	1372	2026
15734	0.64	194.6	170.9	9.8	1513	15736	0.00	1.23	0.00	0.000	6	0.000	0.039	2961	2275	2027
16056	0.64	194.6	137.9	9.9	1544	16059	0.00	1.20	0.00	0.000	4	0.000	0.038	2967	1373	2027
16099	0.64	194.6	133.4	10.3	1548	16102	0.00	1.23	0.00	0.000	6	0.000	0.038	2967	2283	2028
16420	0.64	194.6	99.5	10.5	1579	16423	0.00	1.58	0.00	0.000	4	0.000	0.048	2967	3175	2028
16498	0.64	194.6	90.6	10.8	1586	16506	0.00	1.55	0.00	0.000	6	0.000	0.030	2974	2268	2028
16691	0.64	194.6	70.6	11.0	1605	16694	0.00	1.17	0.00	0.000	4	0.000	0.036	2980	1356	2029
16745	0.64	194.6	65.8	8.5	1610	16747	0.00	1.23	0.00	0.000	6	0.000	0.038	2980	2276	2030
16942	0.71	255.1	49.4	5.9	1629	16990	0.00	1.62	45.15	0.544	4	0.000	0.046	2980	3169	1799
17022	0.76	291.4	43.8	6.5	1636	17058	0.00	1.55	28.62	0.526	6	0.000	0.029	2987	2273	1652
17245	0.89	401.0	31.1	4.6	1657	17334	0.15	0.00	82.05	0.521	6	0.061	0.000	3066	2272	1204
17521	1.07	545.3	10.0	3.7	1684	17631	0.00	0.00	105.57	0.496	6	0.000	0.000	3066	2272	615
17669	end climb: SURFACE_DEPTH_REACHED
state	17669	begin surface coast
17710	end surface coast: CONTROL_FINISHED_OK
state	17710	begin surface