Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 271 * 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 271 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -23679.461 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 -23679.461

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 27 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 37 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 271 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 145701,2842.742,-8838.683,41,1.0,41,-0.3 TGT_NAME NEW0617E

_CALLS 1 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.239,0.115

_SM_DEPTHo 1.71 KALMAN_X -1741.2,201.5,182.9,19835.5,3024.8

_SM_ANGLEo -73.2 KALMAN_Y -379230.4,1122.5,8.5,405007.7,-7229.0

GPS2 150343,2842.891,-8838.730,13,1.2,13,-0.3 MHEAD_RNG_PITCHd_Wd 279.1,10225,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 991

Post-dive calculations and measurements:

FINISH 0.7,1.010068 ALTIM_BOTTOM_PING 890.0,74.1

SM_CCo 17773,58.70,0.475,0,0,403,597.54 _24V_AH 22.8,47.745

SM_GC 1.82,0.00,0.00,58.70,0.000,0.000,0.475,202,2335,403,-7.96,0.28,597.54 _10V_AH 10.6,65.784

IRIDIUM_FIX 2831.00,-8843.84,121099,101000 DATA_FILE_SIZE 88259,1705

TT8_MAMPS 0.050622 CAP_FILE_SIZE 163057,0

HUMID 1365 CFSIZE 260165632,230895616

INTERNAL_PRESSURE 9.25817 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.70 CURRENT 0.111,128.5,1

XPDR_PINGS 2 GPS 180710,200237,2842.417,-8840.893,40,1.0,40,-0.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 257 121.04 SBE_CT 1162 24 636.37

Roll_motor 89 74 152.54 SBE_O2 1240 19 537.26

VBD_pump_during_apogee 545 1205 14989.89 WL_BBFL2VMT 3832 105 9174.86

VBD_pump_during_surface 58 474 635.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 68.96 nil 0 0 0.00

Iridium_during_connect 32 160 116.76 nil 0 0 0.00

Iridium_during_xfer 208 223 1059.80

Transponder_ping 2 420 19.15

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.01

TT8 0 19 0.00

LPSleep 11785 2 273.59

TT8_Active 653 19 137.24

TT8_Sampling 5141 39 2169.08

TT8_CF8 625 45 303.60

TT8_Kalman 33 81 28.91

Analog_circuits 2145 12 272.94

GPS_charging 0 0 0.00

Compass 4591 8 389.37

RAFOS 0 0 0.00

Transponder 12 30 4.08

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 57 0.00 0.00 -43.00 0.000 2 0.000 0.000 196 2338 1710

60 -0.64 -194.6 3.3 -5.2 4 119 10.62 1.35 -40.20 0.000 4 0.258 0.064 2537 1401 3636

358 -0.64 -194.6 57.1 -14.7 31 365 0.00 1.27 0.00 0.000 6 0.000 0.033 2533 2318 3638

551 -0.64 -194.6 81.4 -12.4 50 554 0.00 1.23 0.00 0.000 4 0.000 0.034 2535 1415 3639

587 -0.64 -194.6 86.1 -13.1 53 596 0.00 1.27 0.00 0.000 6 0.000 0.034 2531 2326 3639

779 -0.64 -194.6 109.8 -12.6 72 782 0.00 1.25 0.00 0.000 4 0.000 0.033 2531 1401 3640

887 -0.64 -194.6 123.2 -12.1 82 890 0.00 1.27 0.00 0.000 6 0.000 0.035 2525 2326 3640

1209 -0.64 -194.6 166.2 -13.3 113 1212 0.00 1.25 0.00 0.000 4 0.000 0.034 2525 1406 3640

1309 -0.64 -194.6 179.3 -13.1 122 1316 0.00 1.27 0.00 0.000 6 0.000 0.035 2520 2325 3640

1627 -0.64 -194.6 218.3 -12.0 153 1630 0.00 1.50 0.00 0.000 4 0.000 0.046 2512 3216 3637

1669 -0.64 -194.6 223.8 -12.7 157 1672 0.00 1.45 0.00 0.000 6 0.000 0.029 2512 2322 3638

1992 -0.64 -194.6 264.0 -12.7 188 1995 0.00 1.23 0.00 0.000 4 0.000 0.037 2512 1413 3636

2156 -0.64 -194.6 284.3 -11.9 203 2163 0.10 1.27 0.00 0.000 6 0.136 0.038 2539 2325 3635

2473 -0.64 -194.6 315.4 -9.6 234 2474 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2325 3633

2784 -0.64 -194.6 345.9 -10.0 264 2786 0.00 1.25 0.00 0.000 4 0.000 0.038 2539 1419 3631

2826 -0.64 -194.6 350.2 -9.8 268 2829 0.00 1.27 0.00 0.000 6 0.000 0.039 2535 2328 3630

3148 -0.64 -194.6 382.9 -10.2 299 3151 0.00 1.27 0.00 0.000 4 0.000 0.038 2535 1409 3629

3191 -0.64 -194.6 387.4 -10.1 303 3194 0.00 1.27 0.00 0.000 6 0.000 0.041 2529 2320 3628

3513 -0.64 -194.6 421.4 -10.8 334 3516 0.00 1.25 0.00 0.000 4 0.000 0.039 2529 1420 3625

3570 -0.64 -194.6 427.8 -10.3 339 3578 0.00 1.30 0.00 0.000 6 0.000 0.041 2524 2328 3625

3889 -0.64 -194.6 462.3 -10.9 370 3889 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2328 3623

4197 -0.64 -194.6 495.5 -10.8 400 4200 0.00 1.27 0.00 0.000 4 0.000 0.040 2524 1417 3621

4287 -0.64 -194.6 505.1 -10.7 408 4294 0.00 1.27 0.00 0.000 6 0.000 0.041 2518 2321 3620

4605 -0.64 -194.6 539.1 -11.6 439 4606 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2321 3618

4915 -0.64 -194.6 571.6 -10.9 469 4917 0.00 1.25 0.00 0.000 4 0.000 0.041 2518 1430 3615

4950 -0.64 -194.6 575.6 -10.9 472 4958 0.00 1.30 0.00 0.000 6 0.000 0.044 2512 2328 3614

5269 -0.64 -194.6 609.4 -10.2 503 5272 0.00 1.27 0.00 0.000 4 0.000 0.041 2512 1422 3613

5305 -0.64 -194.6 613.7 -11.1 506 5312 0.08 1.27 0.00 0.000 6 0.146 0.043 2531 2317 3612

5621 -0.64 -194.6 643.0 -9.2 537 5625 0.00 1.25 0.00 0.000 4 0.000 0.043 2532 1430 3610

5653 -0.64 -194.6 646.1 -9.9 540 5656 0.00 1.27 0.00 0.000 6 0.000 0.046 2529 2323 3611

5976 -0.64 -194.6 676.0 -9.3 571 5979 0.00 1.27 0.00 0.000 4 0.000 0.042 2529 1417 3608

6018 -0.64 -194.6 680.0 -9.2 575 6021 0.00 1.30 0.00 0.000 6 0.000 0.046 2523 2324 3608

6341 -0.64 -194.6 710.6 -10.0 606 6342 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2324 3606

6650 -0.64 -194.6 740.7 -9.5 636 6653 0.00 1.27 0.00 0.000 4 0.000 0.044 2523 1421 3605

6703 -0.64 -194.6 745.9 -10.1 641 6706 0.00 1.30 0.00 0.000 6 0.000 0.045 2518 2327 3605

7025 -0.64 -194.6 777.4 -10.0 672 7026 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2327 3602

7335 -0.64 -194.6 809.1 -10.0 702 7336 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2327 3601

7645 -0.64 -194.6 840.2 -10.4 732 7646 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2327 3599

7958 -0.64 -194.6 870.7 -9.8 762 7959 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2326 3598

8266 -0.64 -194.6 899.6 -9.4 792 8269 0.00 1.30 0.00 0.000 4 0.000 0.044 2517 1415 3596

8323 -0.64 -194.6 905.1 -9.9 797 8331 0.00 1.33 0.00 0.000 6 0.000 0.048 2512 2327 3596

8641 -0.64 -194.6 934.9 -9.5 828 8642 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2327 3595

8741 end dive: BOTTOM_OBSTACLE_DETECTED

state 8741 begin apogee

8747 -0.26 0.0 944.6 9.5 838 8906 0.50 0.00 152.45 1.206 6 0.137 0.000 2661 2282 2839

8906 end apogee: CONTROL_FINISHED_OK

state 8906 begin climb

8908 0.64 194.6 949.4 0.0 854 9081 0.90 0.00 167.85 1.176 6 0.103 0.000 2944 2282 2046

9391 0.64 194.6 901.6 11.8 901 9394 0.00 1.62 0.00 0.000 4 0.000 0.058 2944 3175 2035

9427 0.64 194.6 897.3 11.7 904 9435 0.00 1.58 0.00 0.000 6 0.000 0.036 2952 2277 2034

9745 0.64 194.6 861.5 11.4 935 9746 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2277 2033

10054 0.64 194.6 826.2 12.1 965 10058 0.00 1.62 0.00 0.000 4 0.000 0.055 2952 3168 2032

10086 0.64 194.6 822.3 12.5 968 10089 0.00 1.55 0.00 0.000 6 0.000 0.037 2959 2274 2031

10407 0.64 194.6 783.6 12.1 999 10410 0.00 1.62 0.00 0.000 4 0.000 0.055 2959 3161 2030

10439 0.64 194.6 779.5 14.1 1002 10442 0.00 1.55 0.00 0.000 6 0.000 0.037 2966 2273 2030

10759 0.64 194.6 739.1 12.6 1033 10763 0.00 1.62 0.00 0.000 4 0.000 0.055 2966 3159 2030

10785 0.64 194.6 735.6 14.1 1035 10792 0.00 1.55 0.00 0.000 6 0.000 0.036 2974 2272 2029

11103 0.64 194.6 695.0 12.7 1066 11106 0.00 1.62 0.00 0.000 4 0.000 0.055 2973 3160 2029

11139 0.64 194.6 690.0 13.1 1069 11147 0.00 1.55 0.00 0.000 6 0.000 0.036 2981 2272 2028

11457 0.64 194.6 648.9 13.2 1100 11458 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 2273 2028

11766 0.64 194.6 608.9 12.8 1130 11769 0.00 1.60 0.00 0.000 4 0.000 0.054 2981 3163 2028

11813 0.64 194.6 602.5 13.6 1134 11820 0.10 1.55 0.00 0.000 6 0.147 0.036 2958 2275 2026

12130 0.64 194.6 567.3 11.5 1165 12131 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2276 2027

12440 0.64 194.6 533.1 11.0 1195 12440 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2276 2027

12751 0.64 194.6 499.0 11.1 1225 12754 0.00 1.62 0.00 0.000 4 0.000 0.054 2957 3164 2027

12782 0.64 194.6 495.3 11.9 1228 12785 0.00 1.55 0.00 0.000 6 0.000 0.035 2962 2273 2025

13103 0.64 194.6 458.8 11.2 1259 13106 0.00 1.60 0.00 0.000 4 0.000 0.053 2963 3168 2026

13135 0.64 194.6 454.9 12.0 1262 13138 0.00 1.55 0.00 0.000 6 0.000 0.035 2970 2273 2026

13458 0.64 194.6 416.8 12.2 1293 13461 0.00 1.20 0.00 0.000 4 0.000 0.042 2975 1369 2026

13494 0.64 194.6 412.2 12.0 1296 13501 0.00 1.25 0.00 0.000 6 0.000 0.041 2975 2271 2026

13812 0.64 194.6 372.7 12.6 1327 13815 0.00 1.62 0.00 0.000 4 0.000 0.053 2976 3199 2026

13876 0.64 194.6 364.0 13.5 1333 13879 0.00 1.58 0.00 0.000 6 0.000 0.035 2983 2277 2026

14199 0.64 194.6 323.2 12.8 1364 14199 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2278 2026

14507 0.64 194.6 283.8 12.4 1394 14510 0.00 1.62 0.00 0.000 4 0.000 0.051 2983 3175 2026

14571 0.64 194.6 275.4 13.8 1400 14574 0.08 1.55 0.00 0.000 6 0.122 0.034 2954 2273 2026

14892 0.64 194.6 243.3 9.8 1431 14893 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2274 2026

15203 0.64 194.6 210.9 10.5 1461 15204 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2275 2026

15513 0.64 194.6 180.4 9.8 1491 15516 0.00 1.62 0.00 0.000 4 0.000 0.050 2954 3175 2027

15549 0.64 194.6 176.6 9.7 1494 15556 0.00 1.55 0.00 0.000 6 0.000 0.031 2960 2271 2027

15867 0.64 194.6 143.1 10.1 1525 15868 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2272 2028

16176 0.64 194.6 111.7 9.9 1555 16179 0.00 1.60 0.00 0.000 4 0.000 0.048 2960 3185 2029

16229 0.64 194.6 105.8 10.6 1560 16233 0.00 1.55 0.00 0.000 6 0.000 0.031 2968 2270 2029

16550 0.64 194.6 73.1 10.4 1591 16553 0.00 1.62 0.00 0.000 4 0.000 0.047 2968 3174 2030

16640 0.64 194.6 64.1 7.7 1599 16647 0.00 1.52 0.00 0.000 6 0.000 0.030 2975 2275 2030

16832 0.69 232.7 48.6 6.5 1618 16866 0.00 1.20 28.33 0.535 4 0.000 0.035 2981 1361 1892

16931 0.71 250.9 42.4 7.0 1627 16954 0.00 1.23 15.57 0.509 6 0.000 0.036 2981 2273 1815

17139 0.86 373.3 30.8 4.3 1647 17233 0.12 0.00 91.93 0.525 6 0.068 0.000 3049 2273 1317

17417 0.86 373.3 8.3 8.2 1674 17420 0.00 1.20 0.00 0.000 4 0.000 0.034 3053 1379 1309

17603 1.15 606.7 5.7 1.4 1691 17696 0.15 1.23 89.15 0.489 2 0.080 0.034 3116 2278 819

17696 end climb: SURFACE_DEPTH_REACHED

state 17697 begin surface coast

17758 end surface coast: CONTROL_FINISHED_OK

state 17758 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	271	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-23679.461	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	145701,2842.742,-8838.683,41,1.0,41,-0.3	TGT_NAME	NEW0617E
_CALLS	1	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.239,0.115
_SM_DEPTHo	1.71	KALMAN_X	-1741.2,201.5,182.9,19835.5,3024.8
_SM_ANGLEo	-73.2	KALMAN_Y	-379230.4,1122.5,8.5,405007.7,-7229.0
GPS2	150343,2842.891,-8838.730,13,1.2,13,-0.3	MHEAD_RNG_PITCHd_Wd	279.1,10225,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	991

FINISH	0.7,1.010068	ALTIM_BOTTOM_PING	890.0,74.1
SM_CCo	17773,58.70,0.475,0,0,403,597.54	_24V_AH	22.8,47.745
SM_GC	1.82,0.00,0.00,58.70,0.000,0.000,0.475,202,2335,403,-7.96,0.28,597.54	_10V_AH	10.6,65.784
IRIDIUM_FIX	2831.00,-8843.84,121099,101000	DATA_FILE_SIZE	88259,1705
TT8_MAMPS	0.050622	CAP_FILE_SIZE	163057,0
HUMID	1365	CFSIZE	260165632,230895616
INTERNAL_PRESSURE	9.25817	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.70	CURRENT	0.111,128.5,1
XPDR_PINGS	2	GPS	180710,200237,2842.417,-8840.893,40,1.0,40,-0.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	257	121.04	SBE_CT	1162	24	636.37
Roll_motor	89	74	152.54	SBE_O2	1240	19	537.26
VBD_pump_during_apogee	545	1205	14989.89	WL_BBFL2VMT	3832	105	9174.86
VBD_pump_during_surface	58	474	635.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	68.96	nil	0	0	0.00
Iridium_during_connect	32	160	116.76	nil	0	0	0.00
Iridium_during_xfer	208	223	1059.80
Transponder_ping	2	420	19.15
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.01
TT8	0	19	0.00
LPSleep	11785	2	273.59
TT8_Active	653	19	137.24
TT8_Sampling	5141	39	2169.08
TT8_CF8	625	45	303.60
TT8_Kalman	33	81	28.91
Analog_circuits	2145	12	272.94
GPS_charging	0	0	0.00
Compass	4591	8	389.37
RAFOS	0	0	0.00
Transponder	12	30	4.08

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	57	0.00	0.00	-43.00	0.000	2	0.000	0.000	196	2338	1710
60	-0.64	-194.6	3.3	-5.2	4	119	10.62	1.35	-40.20	0.000	4	0.258	0.064	2537	1401	3636
358	-0.64	-194.6	57.1	-14.7	31	365	0.00	1.27	0.00	0.000	6	0.000	0.033	2533	2318	3638
551	-0.64	-194.6	81.4	-12.4	50	554	0.00	1.23	0.00	0.000	4	0.000	0.034	2535	1415	3639
587	-0.64	-194.6	86.1	-13.1	53	596	0.00	1.27	0.00	0.000	6	0.000	0.034	2531	2326	3639
779	-0.64	-194.6	109.8	-12.6	72	782	0.00	1.25	0.00	0.000	4	0.000	0.033	2531	1401	3640
887	-0.64	-194.6	123.2	-12.1	82	890	0.00	1.27	0.00	0.000	6	0.000	0.035	2525	2326	3640
1209	-0.64	-194.6	166.2	-13.3	113	1212	0.00	1.25	0.00	0.000	4	0.000	0.034	2525	1406	3640
1309	-0.64	-194.6	179.3	-13.1	122	1316	0.00	1.27	0.00	0.000	6	0.000	0.035	2520	2325	3640
1627	-0.64	-194.6	218.3	-12.0	153	1630	0.00	1.50	0.00	0.000	4	0.000	0.046	2512	3216	3637
1669	-0.64	-194.6	223.8	-12.7	157	1672	0.00	1.45	0.00	0.000	6	0.000	0.029	2512	2322	3638
1992	-0.64	-194.6	264.0	-12.7	188	1995	0.00	1.23	0.00	0.000	4	0.000	0.037	2512	1413	3636
2156	-0.64	-194.6	284.3	-11.9	203	2163	0.10	1.27	0.00	0.000	6	0.136	0.038	2539	2325	3635
2473	-0.64	-194.6	315.4	-9.6	234	2474	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2325	3633
2784	-0.64	-194.6	345.9	-10.0	264	2786	0.00	1.25	0.00	0.000	4	0.000	0.038	2539	1419	3631
2826	-0.64	-194.6	350.2	-9.8	268	2829	0.00	1.27	0.00	0.000	6	0.000	0.039	2535	2328	3630
3148	-0.64	-194.6	382.9	-10.2	299	3151	0.00	1.27	0.00	0.000	4	0.000	0.038	2535	1409	3629
3191	-0.64	-194.6	387.4	-10.1	303	3194	0.00	1.27	0.00	0.000	6	0.000	0.041	2529	2320	3628
3513	-0.64	-194.6	421.4	-10.8	334	3516	0.00	1.25	0.00	0.000	4	0.000	0.039	2529	1420	3625
3570	-0.64	-194.6	427.8	-10.3	339	3578	0.00	1.30	0.00	0.000	6	0.000	0.041	2524	2328	3625
3889	-0.64	-194.6	462.3	-10.9	370	3889	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2328	3623
4197	-0.64	-194.6	495.5	-10.8	400	4200	0.00	1.27	0.00	0.000	4	0.000	0.040	2524	1417	3621
4287	-0.64	-194.6	505.1	-10.7	408	4294	0.00	1.27	0.00	0.000	6	0.000	0.041	2518	2321	3620
4605	-0.64	-194.6	539.1	-11.6	439	4606	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2321	3618
4915	-0.64	-194.6	571.6	-10.9	469	4917	0.00	1.25	0.00	0.000	4	0.000	0.041	2518	1430	3615
4950	-0.64	-194.6	575.6	-10.9	472	4958	0.00	1.30	0.00	0.000	6	0.000	0.044	2512	2328	3614
5269	-0.64	-194.6	609.4	-10.2	503	5272	0.00	1.27	0.00	0.000	4	0.000	0.041	2512	1422	3613
5305	-0.64	-194.6	613.7	-11.1	506	5312	0.08	1.27	0.00	0.000	6	0.146	0.043	2531	2317	3612
5621	-0.64	-194.6	643.0	-9.2	537	5625	0.00	1.25	0.00	0.000	4	0.000	0.043	2532	1430	3610
5653	-0.64	-194.6	646.1	-9.9	540	5656	0.00	1.27	0.00	0.000	6	0.000	0.046	2529	2323	3611
5976	-0.64	-194.6	676.0	-9.3	571	5979	0.00	1.27	0.00	0.000	4	0.000	0.042	2529	1417	3608
6018	-0.64	-194.6	680.0	-9.2	575	6021	0.00	1.30	0.00	0.000	6	0.000	0.046	2523	2324	3608
6341	-0.64	-194.6	710.6	-10.0	606	6342	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2324	3606
6650	-0.64	-194.6	740.7	-9.5	636	6653	0.00	1.27	0.00	0.000	4	0.000	0.044	2523	1421	3605
6703	-0.64	-194.6	745.9	-10.1	641	6706	0.00	1.30	0.00	0.000	6	0.000	0.045	2518	2327	3605
7025	-0.64	-194.6	777.4	-10.0	672	7026	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2327	3602
7335	-0.64	-194.6	809.1	-10.0	702	7336	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2327	3601
7645	-0.64	-194.6	840.2	-10.4	732	7646	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2327	3599
7958	-0.64	-194.6	870.7	-9.8	762	7959	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2326	3598
8266	-0.64	-194.6	899.6	-9.4	792	8269	0.00	1.30	0.00	0.000	4	0.000	0.044	2517	1415	3596
8323	-0.64	-194.6	905.1	-9.9	797	8331	0.00	1.33	0.00	0.000	6	0.000	0.048	2512	2327	3596
8641	-0.64	-194.6	934.9	-9.5	828	8642	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2327	3595
8741	end dive: BOTTOM_OBSTACLE_DETECTED
state	8741	begin apogee
8747	-0.26	0.0	944.6	9.5	838	8906	0.50	0.00	152.45	1.206	6	0.137	0.000	2661	2282	2839
8906	end apogee: CONTROL_FINISHED_OK
state	8906	begin climb
8908	0.64	194.6	949.4	0.0	854	9081	0.90	0.00	167.85	1.176	6	0.103	0.000	2944	2282	2046
9391	0.64	194.6	901.6	11.8	901	9394	0.00	1.62	0.00	0.000	4	0.000	0.058	2944	3175	2035
9427	0.64	194.6	897.3	11.7	904	9435	0.00	1.58	0.00	0.000	6	0.000	0.036	2952	2277	2034
9745	0.64	194.6	861.5	11.4	935	9746	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2277	2033
10054	0.64	194.6	826.2	12.1	965	10058	0.00	1.62	0.00	0.000	4	0.000	0.055	2952	3168	2032
10086	0.64	194.6	822.3	12.5	968	10089	0.00	1.55	0.00	0.000	6	0.000	0.037	2959	2274	2031
10407	0.64	194.6	783.6	12.1	999	10410	0.00	1.62	0.00	0.000	4	0.000	0.055	2959	3161	2030
10439	0.64	194.6	779.5	14.1	1002	10442	0.00	1.55	0.00	0.000	6	0.000	0.037	2966	2273	2030
10759	0.64	194.6	739.1	12.6	1033	10763	0.00	1.62	0.00	0.000	4	0.000	0.055	2966	3159	2030
10785	0.64	194.6	735.6	14.1	1035	10792	0.00	1.55	0.00	0.000	6	0.000	0.036	2974	2272	2029
11103	0.64	194.6	695.0	12.7	1066	11106	0.00	1.62	0.00	0.000	4	0.000	0.055	2973	3160	2029
11139	0.64	194.6	690.0	13.1	1069	11147	0.00	1.55	0.00	0.000	6	0.000	0.036	2981	2272	2028
11457	0.64	194.6	648.9	13.2	1100	11458	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	2273	2028
11766	0.64	194.6	608.9	12.8	1130	11769	0.00	1.60	0.00	0.000	4	0.000	0.054	2981	3163	2028
11813	0.64	194.6	602.5	13.6	1134	11820	0.10	1.55	0.00	0.000	6	0.147	0.036	2958	2275	2026
12130	0.64	194.6	567.3	11.5	1165	12131	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2276	2027
12440	0.64	194.6	533.1	11.0	1195	12440	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2276	2027
12751	0.64	194.6	499.0	11.1	1225	12754	0.00	1.62	0.00	0.000	4	0.000	0.054	2957	3164	2027
12782	0.64	194.6	495.3	11.9	1228	12785	0.00	1.55	0.00	0.000	6	0.000	0.035	2962	2273	2025
13103	0.64	194.6	458.8	11.2	1259	13106	0.00	1.60	0.00	0.000	4	0.000	0.053	2963	3168	2026
13135	0.64	194.6	454.9	12.0	1262	13138	0.00	1.55	0.00	0.000	6	0.000	0.035	2970	2273	2026
13458	0.64	194.6	416.8	12.2	1293	13461	0.00	1.20	0.00	0.000	4	0.000	0.042	2975	1369	2026
13494	0.64	194.6	412.2	12.0	1296	13501	0.00	1.25	0.00	0.000	6	0.000	0.041	2975	2271	2026
13812	0.64	194.6	372.7	12.6	1327	13815	0.00	1.62	0.00	0.000	4	0.000	0.053	2976	3199	2026
13876	0.64	194.6	364.0	13.5	1333	13879	0.00	1.58	0.00	0.000	6	0.000	0.035	2983	2277	2026
14199	0.64	194.6	323.2	12.8	1364	14199	0.00	0.00	0.00	0.000	6	0.000	0.000	2983	2278	2026
14507	0.64	194.6	283.8	12.4	1394	14510	0.00	1.62	0.00	0.000	4	0.000	0.051	2983	3175	2026
14571	0.64	194.6	275.4	13.8	1400	14574	0.08	1.55	0.00	0.000	6	0.122	0.034	2954	2273	2026
14892	0.64	194.6	243.3	9.8	1431	14893	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2274	2026
15203	0.64	194.6	210.9	10.5	1461	15204	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2275	2026
15513	0.64	194.6	180.4	9.8	1491	15516	0.00	1.62	0.00	0.000	4	0.000	0.050	2954	3175	2027
15549	0.64	194.6	176.6	9.7	1494	15556	0.00	1.55	0.00	0.000	6	0.000	0.031	2960	2271	2027
15867	0.64	194.6	143.1	10.1	1525	15868	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2272	2028
16176	0.64	194.6	111.7	9.9	1555	16179	0.00	1.60	0.00	0.000	4	0.000	0.048	2960	3185	2029
16229	0.64	194.6	105.8	10.6	1560	16233	0.00	1.55	0.00	0.000	6	0.000	0.031	2968	2270	2029
16550	0.64	194.6	73.1	10.4	1591	16553	0.00	1.62	0.00	0.000	4	0.000	0.047	2968	3174	2030
16640	0.64	194.6	64.1	7.7	1599	16647	0.00	1.52	0.00	0.000	6	0.000	0.030	2975	2275	2030
16832	0.69	232.7	48.6	6.5	1618	16866	0.00	1.20	28.33	0.535	4	0.000	0.035	2981	1361	1892
16931	0.71	250.9	42.4	7.0	1627	16954	0.00	1.23	15.57	0.509	6	0.000	0.036	2981	2273	1815
17139	0.86	373.3	30.8	4.3	1647	17233	0.12	0.00	91.93	0.525	6	0.068	0.000	3049	2273	1317
17417	0.86	373.3	8.3	8.2	1674	17420	0.00	1.20	0.00	0.000	4	0.000	0.034	3053	1379	1309
17603	1.15	606.7	5.7	1.4	1691	17696	0.15	1.23	89.15	0.489	2	0.080	0.034	3116	2278	819
17696	end climb: SURFACE_DEPTH_REACHED
state	17697	begin surface coast
17758	end surface coast: CONTROL_FINISHED_OK
state	17758	begin surface