Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 277 * 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 277 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 250 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 500 CALL_TRIES 8 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -23764.746 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 -23764.746

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 31 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 39 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.141768 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1640214 VBD_MAX 3959

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00094225706 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.0001682234 VBD_MIN 404

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043524536 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062548812 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3784551e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5490917e-06 XPDR_DEVICE 24

DIVE 277 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 213031,2843.521,-8833.244,37,1.6,37,-0.3 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.192,0.182

_SM_DEPTHo 1.69 KALMAN_X 7929.4,-681.4,-660.7,20969.3,5424.6

_SM_ANGLEo -73.0 KALMAN_Y -393478.8,-357.3,323.2,421849.4,-4893.5

GPS2 213702,2843.664,-8833.174,11,1.2,11,-0.3 MHEAD_RNG_PITCHd_Wd 71.7,11651,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1186

Post-dive calculations and measurements:

FINISH 0.8,1.018640 _24V_AH 22.6,48.720

SM_CCo 18789,29.02,0.466,0,0,403,597.54 _10V_AH 10.6,67.112

SM_GC 1.77,0.00,0.00,29.02,0.000,0.000,0.466,198,2333,403,-7.96,0.23,597.54 DATA_FILE_SIZE 94559,1800

IRIDIUM_FIX 2833.46,-8836.47,131099,161658 CAP_FILE_SIZE 166272,0

TT8_MAMPS 0.052156 CFSIZE 260165632,230354944

HUMID 1379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.25817 CURRENT 0.124,120.3,1

TCM_TEMP 24.40 GPS 200710,025206,2843.955,-8828.982,24,1.2,24,-0.4

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 250 115.21 SBE_CT 1230 24 667.33

Roll_motor 83 79 148.28 SBE_O2 1318 19 566.38

VBD_pump_during_apogee 588 1242 16525.20 WL_BBFL2VMT 4045 105 9600.39

VBD_pump_during_surface 29 466 305.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 68.40 nil 0 0 0.00

Iridium_during_connect 29 160 106.95 nil 0 0 0.00

Iridium_during_xfer 202 223 1022.96

Transponder_ping 4 420 37.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.92

TT8 0 19 0.00

LPSleep 12533 2 290.96

TT8_Active 623 19 130.79

TT8_Sampling 5364 39 2263.12

TT8_CF8 658 45 319.81

TT8_Kalman 33 81 28.91

Analog_circuits 2169 12 275.96

GPS_charging 0 0 0.00

Compass 4818 8 408.60

RAFOS 0 0 0.00

Transponder 28 30 8.91

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 -42.92 0.000 2 0.000 0.000 194 2352 1682

60 -0.64 -194.6 3.1 -4.6 4 123 10.43 1.48 -47.62 0.000 4 0.251 0.064 2526 3215 3635

365 -0.64 -194.6 59.7 -14.8 32 368 0.00 1.45 0.00 0.000 6 0.000 0.028 2528 2324 3637

562 -0.64 -194.6 84.5 -12.5 51 565 0.00 1.23 0.00 0.000 4 0.000 0.033 2531 1404 3638

701 -0.64 -194.6 101.8 -11.5 64 704 0.00 1.25 0.00 0.000 6 0.000 0.035 2527 2315 3640

1024 -0.64 -194.6 143.9 -13.5 95 1024 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2316 3640

1332 -0.64 -194.6 183.2 -12.2 125 1335 0.00 1.23 0.00 0.000 4 0.000 0.034 2527 1404 3639

1471 -0.64 -194.6 199.7 -11.2 138 1474 0.00 1.27 0.00 0.000 6 0.000 0.035 2522 2328 3638

1794 -0.64 -194.6 238.1 -11.4 169 1796 0.00 1.25 0.00 0.000 4 0.000 0.035 2521 1414 3637

1840 -0.64 -194.6 244.0 -11.9 173 1849 0.00 1.25 0.00 0.000 6 0.000 0.035 2516 2322 3637

2159 -0.64 -194.6 282.2 -12.0 204 2162 0.00 1.25 0.00 0.000 4 0.000 0.035 2516 1408 3635

2216 -0.64 -194.6 289.7 -12.1 209 2224 0.08 1.30 0.00 0.000 6 0.140 0.037 2534 2328 3635

2535 -0.64 -194.6 321.4 -10.3 240 2538 0.00 1.25 0.00 0.000 4 0.000 0.036 2534 1425 3632

2609 -0.64 -194.6 328.6 -9.2 247 2612 0.00 1.25 0.00 0.000 6 0.000 0.039 2531 2321 3632

2932 -0.64 -194.6 361.0 -11.0 278 2933 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2321 3630

3240 -0.64 -194.6 394.0 -10.6 308 3243 0.00 1.25 0.00 0.000 4 0.000 0.038 2531 1417 3627

3308 -0.64 -194.6 401.3 -9.9 314 3316 0.00 1.30 0.00 0.000 6 0.000 0.039 2525 2330 3627

3627 -0.64 -194.6 434.5 -10.8 345 3628 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2330 3625

3935 -0.64 -194.6 467.8 -10.1 375 3936 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2330 3623

4246 -0.64 -194.6 500.7 -10.6 405 4250 0.00 1.27 0.00 0.000 4 0.000 0.040 2525 1420 3620

4325 -0.64 -194.6 509.0 -10.2 412 4332 0.00 1.30 0.00 0.000 6 0.000 0.041 2520 2327 3619

4643 -0.64 -194.6 543.1 -10.9 443 4644 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2327 3618

4952 -0.64 -194.6 576.2 -10.5 473 4955 0.00 1.27 0.00 0.000 4 0.000 0.040 2520 1417 3615

4999 -0.64 -194.6 581.3 -10.1 477 5007 0.00 1.27 0.00 0.000 6 0.000 0.042 2514 2319 3615

5318 -0.64 -194.6 615.8 -11.0 508 5318 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2318 3613

5626 -0.64 -194.6 648.9 -10.5 538 5627 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2319 3611

5937 -0.64 -194.6 681.6 -10.7 568 5940 0.00 1.25 0.00 0.000 4 0.000 0.042 2514 1428 3608

5984 -0.64 -194.6 686.8 -11.0 572 5991 0.08 1.30 0.00 0.000 6 0.143 0.044 2534 2329 3608

6300 -0.64 -194.6 714.5 -9.0 603 6301 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2329 3606

6611 -0.64 -194.6 741.4 -8.6 633 6613 0.00 1.27 0.00 0.000 4 0.000 0.043 2534 1430 3605

6675 -0.64 -194.6 747.1 -8.6 639 6678 0.00 1.27 0.00 0.000 6 0.000 0.046 2531 2322 3605

6998 -0.64 -194.6 775.3 -9.1 670 7000 0.00 1.58 0.00 0.000 4 0.000 0.057 2523 3215 3603

7040 -0.64 -194.6 779.4 -9.7 674 7043 0.00 1.48 0.00 0.000 6 0.000 0.037 2523 2333 3603

7363 -0.64 -194.6 809.8 -9.6 705 7364 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2332 3601

7672 -0.64 -194.6 838.9 -9.2 735 7675 0.00 1.58 0.00 0.000 4 0.000 0.058 2517 3217 3599

7704 -0.64 -194.6 842.0 -9.8 738 7707 0.00 1.50 0.00 0.000 6 0.000 0.037 2517 2328 3598

8025 -0.64 -194.6 872.4 -9.2 769 8028 0.00 1.27 0.00 0.000 4 0.000 0.045 2517 1420 3597

8089 -0.64 -194.6 878.3 -10.1 775 8092 0.08 1.30 0.00 0.000 6 0.142 0.048 2536 2319 3597

8410 -0.64 -194.6 903.9 -8.0 806 8410 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2319 3596

8722 -0.64 -194.6 929.0 -8.7 836 8723 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2320 3595

9030 -0.64 -194.6 954.5 -8.6 866 9031 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2320 3593

9343 -0.64 -194.6 979.3 -7.9 896 9344 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2319 3593

9485 end dive: TARGET_DEPTH_EXCEEDED

state 9485 begin apogee

9490 -0.26 0.0 990.8 7.5 910 9648 0.40 0.00 153.73 1.243 6 0.128 0.000 2659 2267 2839

9649 end apogee: CONTROL_FINISHED_OK

state 9649 begin climb

9652 0.64 194.6 995.1 0.0 926 9830 0.90 1.38 170.77 1.211 4 0.100 0.051 2949 1371 2045

9853 0.64 194.6 978.8 11.7 944 9856 0.00 1.33 0.00 0.000 6 0.000 0.044 2949 2265 2042

10175 0.64 194.6 940.9 11.6 975 10179 0.00 1.67 0.00 0.000 4 0.000 0.054 2949 3174 2034

10222 0.64 194.6 934.6 13.3 979 10229 0.00 1.58 0.00 0.000 6 0.000 0.036 2956 2277 2033

10540 0.64 194.6 895.8 11.9 1010 10541 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2278 2032

10849 0.64 194.6 858.2 12.2 1040 10850 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2278 2031

11160 0.64 194.6 820.2 12.6 1070 11161 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2278 2030

11470 0.64 194.6 781.9 12.0 1100 11473 0.00 1.65 0.00 0.000 4 0.000 0.055 2956 3174 2029

11506 0.64 194.6 777.3 12.3 1103 11513 0.00 1.58 0.00 0.000 6 0.000 0.036 2962 2273 2029

11825 0.64 194.6 738.2 11.8 1134 11827 0.00 1.62 0.00 0.000 4 0.000 0.055 2963 3176 2028

11867 0.64 194.6 732.5 12.9 1138 11870 0.00 1.58 0.00 0.000 6 0.000 0.037 2970 2273 2028

12190 0.64 194.6 692.1 12.8 1169 12191 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2273 2028

12499 0.64 194.6 654.5 11.7 1199 12502 0.00 1.62 0.00 0.000 4 0.000 0.055 2970 3174 2028

12535 0.64 194.6 649.8 12.9 1202 12542 0.00 1.58 0.00 0.000 6 0.000 0.036 2977 2274 2027

12853 0.64 194.6 609.8 12.7 1233 12854 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2275 2027

13162 0.64 194.6 570.1 12.8 1263 13165 0.00 1.65 0.00 0.000 4 0.000 0.055 2977 3174 2027

13216 0.64 194.6 562.9 13.2 1268 13219 0.12 1.58 0.00 0.000 6 0.150 0.037 2953 2277 2026

13537 0.64 194.6 528.4 10.6 1299 13539 0.00 1.20 0.00 0.000 4 0.000 0.043 2958 1368 2026

13573 0.64 194.6 524.5 10.4 1302 13580 0.00 1.25 0.00 0.000 6 0.000 0.044 2957 2285 2026

13890 0.64 194.6 490.7 10.9 1333 13891 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2285 2026

14200 0.64 194.6 456.1 11.6 1363 14203 0.00 1.60 0.00 0.000 4 0.000 0.054 2957 3166 2026

14232 0.64 194.6 452.2 11.3 1366 14235 0.00 1.55 0.00 0.000 6 0.000 0.036 2963 2275 2026

14554 0.64 194.6 415.0 11.4 1397 14555 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2276 2026

14863 0.64 194.6 378.5 11.4 1427 14864 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2276 2026

15173 0.64 194.6 342.7 11.2 1457 15177 0.00 1.62 0.00 0.000 4 0.000 0.052 2963 3162 2026

15206 0.64 194.6 338.9 11.5 1460 15208 0.00 1.52 0.00 0.000 6 0.000 0.035 2970 2279 2026

15528 0.64 194.6 300.9 11.9 1491 15529 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2280 2026

15837 0.64 194.6 263.8 11.4 1521 15840 0.00 1.60 0.00 0.000 4 0.000 0.051 2969 3183 2027

15869 0.64 194.6 259.9 11.7 1524 15872 0.00 1.55 0.00 0.000 6 0.000 0.034 2978 2278 2027

16190 0.64 194.6 220.1 12.4 1555 16193 0.00 1.60 0.00 0.000 4 0.000 0.050 2977 3163 2026

16237 0.64 194.6 213.8 13.8 1559 16244 0.08 1.55 0.00 0.000 6 0.143 0.032 2960 2269 2026

16553 0.64 194.6 179.7 10.2 1590 16557 0.00 1.65 0.00 0.000 4 0.000 0.049 2960 3176 2027

16586 0.64 194.6 176.2 10.3 1593 16589 0.00 1.55 0.00 0.000 6 0.000 0.032 2965 2271 2027

16907 0.64 194.6 141.5 10.1 1624 16908 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2272 2028

17217 0.64 194.6 109.3 10.3 1654 17220 0.00 1.60 0.00 0.000 4 0.000 0.048 2966 3179 2029

17270 0.64 194.6 103.9 10.0 1659 17274 0.00 1.55 0.00 0.000 6 0.000 0.031 2973 2271 2029

17593 0.64 194.6 71.2 10.2 1690 17594 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2272 2031

17778 0.64 194.6 54.6 7.6 1708 17779 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2273 2031

17964 0.71 252.9 42.4 6.0 1726 18013 0.00 1.67 43.85 0.539 4 0.000 0.045 2973 3180 1807

18056 0.75 282.4 36.8 6.7 1734 18083 0.00 1.55 23.58 0.518 6 0.000 0.029 2980 2275 1688

18272 0.90 402.6 27.2 4.3 1754 18367 0.15 1.25 89.53 0.519 4 0.060 0.035 3067 1361 1198

18416 0.90 402.6 14.9 8.6 1766 18422 0.08 1.25 0.00 0.000 6 0.112 0.035 3038 2281 1193

18607 1.10 567.7 6.5 3.2 1785 18717 0.17 0.00 107.03 0.493 2 0.097 0.000 3101 2281 600

18717 end climb: SURFACE_DEPTH_REACHED

state 18717 begin surface coast

18774 end surface coast: CONTROL_FINISHED_OK

state 18774 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	277	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	250	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	500	CALL_TRIES	8	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-23764.746	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	213031,2843.521,-8833.244,37,1.6,37,-0.3	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.192,0.182
_SM_DEPTHo	1.69	KALMAN_X	7929.4,-681.4,-660.7,20969.3,5424.6
_SM_ANGLEo	-73.0	KALMAN_Y	-393478.8,-357.3,323.2,421849.4,-4893.5
GPS2	213702,2843.664,-8833.174,11,1.2,11,-0.3	MHEAD_RNG_PITCHd_Wd	71.7,11651,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1186

FINISH	0.8,1.018640	_24V_AH	22.6,48.720
SM_CCo	18789,29.02,0.466,0,0,403,597.54	_10V_AH	10.6,67.112
SM_GC	1.77,0.00,0.00,29.02,0.000,0.000,0.466,198,2333,403,-7.96,0.23,597.54	DATA_FILE_SIZE	94559,1800
IRIDIUM_FIX	2833.46,-8836.47,131099,161658	CAP_FILE_SIZE	166272,0
TT8_MAMPS	0.052156	CFSIZE	260165632,230354944
HUMID	1379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.25817	CURRENT	0.124,120.3,1
TCM_TEMP	24.40	GPS	200710,025206,2843.955,-8828.982,24,1.2,24,-0.4
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	250	115.21	SBE_CT	1230	24	667.33
Roll_motor	83	79	148.28	SBE_O2	1318	19	566.38
VBD_pump_during_apogee	588	1242	16525.20	WL_BBFL2VMT	4045	105	9600.39
VBD_pump_during_surface	29	466	305.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	68.40	nil	0	0	0.00
Iridium_during_connect	29	160	106.95	nil	0	0	0.00
Iridium_during_xfer	202	223	1022.96
Transponder_ping	4	420	37.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.92
TT8	0	19	0.00
LPSleep	12533	2	290.96
TT8_Active	623	19	130.79
TT8_Sampling	5364	39	2263.12
TT8_CF8	658	45	319.81
TT8_Kalman	33	81	28.91
Analog_circuits	2169	12	275.96
GPS_charging	0	0	0.00
Compass	4818	8	408.60
RAFOS	0	0	0.00
Transponder	28	30	8.91

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	-42.92	0.000	2	0.000	0.000	194	2352	1682
60	-0.64	-194.6	3.1	-4.6	4	123	10.43	1.48	-47.62	0.000	4	0.251	0.064	2526	3215	3635
365	-0.64	-194.6	59.7	-14.8	32	368	0.00	1.45	0.00	0.000	6	0.000	0.028	2528	2324	3637
562	-0.64	-194.6	84.5	-12.5	51	565	0.00	1.23	0.00	0.000	4	0.000	0.033	2531	1404	3638
701	-0.64	-194.6	101.8	-11.5	64	704	0.00	1.25	0.00	0.000	6	0.000	0.035	2527	2315	3640
1024	-0.64	-194.6	143.9	-13.5	95	1024	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2316	3640
1332	-0.64	-194.6	183.2	-12.2	125	1335	0.00	1.23	0.00	0.000	4	0.000	0.034	2527	1404	3639
1471	-0.64	-194.6	199.7	-11.2	138	1474	0.00	1.27	0.00	0.000	6	0.000	0.035	2522	2328	3638
1794	-0.64	-194.6	238.1	-11.4	169	1796	0.00	1.25	0.00	0.000	4	0.000	0.035	2521	1414	3637
1840	-0.64	-194.6	244.0	-11.9	173	1849	0.00	1.25	0.00	0.000	6	0.000	0.035	2516	2322	3637
2159	-0.64	-194.6	282.2	-12.0	204	2162	0.00	1.25	0.00	0.000	4	0.000	0.035	2516	1408	3635
2216	-0.64	-194.6	289.7	-12.1	209	2224	0.08	1.30	0.00	0.000	6	0.140	0.037	2534	2328	3635
2535	-0.64	-194.6	321.4	-10.3	240	2538	0.00	1.25	0.00	0.000	4	0.000	0.036	2534	1425	3632
2609	-0.64	-194.6	328.6	-9.2	247	2612	0.00	1.25	0.00	0.000	6	0.000	0.039	2531	2321	3632
2932	-0.64	-194.6	361.0	-11.0	278	2933	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2321	3630
3240	-0.64	-194.6	394.0	-10.6	308	3243	0.00	1.25	0.00	0.000	4	0.000	0.038	2531	1417	3627
3308	-0.64	-194.6	401.3	-9.9	314	3316	0.00	1.30	0.00	0.000	6	0.000	0.039	2525	2330	3627
3627	-0.64	-194.6	434.5	-10.8	345	3628	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2330	3625
3935	-0.64	-194.6	467.8	-10.1	375	3936	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2330	3623
4246	-0.64	-194.6	500.7	-10.6	405	4250	0.00	1.27	0.00	0.000	4	0.000	0.040	2525	1420	3620
4325	-0.64	-194.6	509.0	-10.2	412	4332	0.00	1.30	0.00	0.000	6	0.000	0.041	2520	2327	3619
4643	-0.64	-194.6	543.1	-10.9	443	4644	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2327	3618
4952	-0.64	-194.6	576.2	-10.5	473	4955	0.00	1.27	0.00	0.000	4	0.000	0.040	2520	1417	3615
4999	-0.64	-194.6	581.3	-10.1	477	5007	0.00	1.27	0.00	0.000	6	0.000	0.042	2514	2319	3615
5318	-0.64	-194.6	615.8	-11.0	508	5318	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2318	3613
5626	-0.64	-194.6	648.9	-10.5	538	5627	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2319	3611
5937	-0.64	-194.6	681.6	-10.7	568	5940	0.00	1.25	0.00	0.000	4	0.000	0.042	2514	1428	3608
5984	-0.64	-194.6	686.8	-11.0	572	5991	0.08	1.30	0.00	0.000	6	0.143	0.044	2534	2329	3608
6300	-0.64	-194.6	714.5	-9.0	603	6301	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2329	3606
6611	-0.64	-194.6	741.4	-8.6	633	6613	0.00	1.27	0.00	0.000	4	0.000	0.043	2534	1430	3605
6675	-0.64	-194.6	747.1	-8.6	639	6678	0.00	1.27	0.00	0.000	6	0.000	0.046	2531	2322	3605
6998	-0.64	-194.6	775.3	-9.1	670	7000	0.00	1.58	0.00	0.000	4	0.000	0.057	2523	3215	3603
7040	-0.64	-194.6	779.4	-9.7	674	7043	0.00	1.48	0.00	0.000	6	0.000	0.037	2523	2333	3603
7363	-0.64	-194.6	809.8	-9.6	705	7364	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2332	3601
7672	-0.64	-194.6	838.9	-9.2	735	7675	0.00	1.58	0.00	0.000	4	0.000	0.058	2517	3217	3599
7704	-0.64	-194.6	842.0	-9.8	738	7707	0.00	1.50	0.00	0.000	6	0.000	0.037	2517	2328	3598
8025	-0.64	-194.6	872.4	-9.2	769	8028	0.00	1.27	0.00	0.000	4	0.000	0.045	2517	1420	3597
8089	-0.64	-194.6	878.3	-10.1	775	8092	0.08	1.30	0.00	0.000	6	0.142	0.048	2536	2319	3597
8410	-0.64	-194.6	903.9	-8.0	806	8410	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2319	3596
8722	-0.64	-194.6	929.0	-8.7	836	8723	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2320	3595
9030	-0.64	-194.6	954.5	-8.6	866	9031	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2320	3593
9343	-0.64	-194.6	979.3	-7.9	896	9344	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2319	3593
9485	end dive: TARGET_DEPTH_EXCEEDED
state	9485	begin apogee
9490	-0.26	0.0	990.8	7.5	910	9648	0.40	0.00	153.73	1.243	6	0.128	0.000	2659	2267	2839
9649	end apogee: CONTROL_FINISHED_OK
state	9649	begin climb
9652	0.64	194.6	995.1	0.0	926	9830	0.90	1.38	170.77	1.211	4	0.100	0.051	2949	1371	2045
9853	0.64	194.6	978.8	11.7	944	9856	0.00	1.33	0.00	0.000	6	0.000	0.044	2949	2265	2042
10175	0.64	194.6	940.9	11.6	975	10179	0.00	1.67	0.00	0.000	4	0.000	0.054	2949	3174	2034
10222	0.64	194.6	934.6	13.3	979	10229	0.00	1.58	0.00	0.000	6	0.000	0.036	2956	2277	2033
10540	0.64	194.6	895.8	11.9	1010	10541	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2278	2032
10849	0.64	194.6	858.2	12.2	1040	10850	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2278	2031
11160	0.64	194.6	820.2	12.6	1070	11161	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2278	2030
11470	0.64	194.6	781.9	12.0	1100	11473	0.00	1.65	0.00	0.000	4	0.000	0.055	2956	3174	2029
11506	0.64	194.6	777.3	12.3	1103	11513	0.00	1.58	0.00	0.000	6	0.000	0.036	2962	2273	2029
11825	0.64	194.6	738.2	11.8	1134	11827	0.00	1.62	0.00	0.000	4	0.000	0.055	2963	3176	2028
11867	0.64	194.6	732.5	12.9	1138	11870	0.00	1.58	0.00	0.000	6	0.000	0.037	2970	2273	2028
12190	0.64	194.6	692.1	12.8	1169	12191	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2273	2028
12499	0.64	194.6	654.5	11.7	1199	12502	0.00	1.62	0.00	0.000	4	0.000	0.055	2970	3174	2028
12535	0.64	194.6	649.8	12.9	1202	12542	0.00	1.58	0.00	0.000	6	0.000	0.036	2977	2274	2027
12853	0.64	194.6	609.8	12.7	1233	12854	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2275	2027
13162	0.64	194.6	570.1	12.8	1263	13165	0.00	1.65	0.00	0.000	4	0.000	0.055	2977	3174	2027
13216	0.64	194.6	562.9	13.2	1268	13219	0.12	1.58	0.00	0.000	6	0.150	0.037	2953	2277	2026
13537	0.64	194.6	528.4	10.6	1299	13539	0.00	1.20	0.00	0.000	4	0.000	0.043	2958	1368	2026
13573	0.64	194.6	524.5	10.4	1302	13580	0.00	1.25	0.00	0.000	6	0.000	0.044	2957	2285	2026
13890	0.64	194.6	490.7	10.9	1333	13891	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2285	2026
14200	0.64	194.6	456.1	11.6	1363	14203	0.00	1.60	0.00	0.000	4	0.000	0.054	2957	3166	2026
14232	0.64	194.6	452.2	11.3	1366	14235	0.00	1.55	0.00	0.000	6	0.000	0.036	2963	2275	2026
14554	0.64	194.6	415.0	11.4	1397	14555	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2276	2026
14863	0.64	194.6	378.5	11.4	1427	14864	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2276	2026
15173	0.64	194.6	342.7	11.2	1457	15177	0.00	1.62	0.00	0.000	4	0.000	0.052	2963	3162	2026
15206	0.64	194.6	338.9	11.5	1460	15208	0.00	1.52	0.00	0.000	6	0.000	0.035	2970	2279	2026
15528	0.64	194.6	300.9	11.9	1491	15529	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2280	2026
15837	0.64	194.6	263.8	11.4	1521	15840	0.00	1.60	0.00	0.000	4	0.000	0.051	2969	3183	2027
15869	0.64	194.6	259.9	11.7	1524	15872	0.00	1.55	0.00	0.000	6	0.000	0.034	2978	2278	2027
16190	0.64	194.6	220.1	12.4	1555	16193	0.00	1.60	0.00	0.000	4	0.000	0.050	2977	3163	2026
16237	0.64	194.6	213.8	13.8	1559	16244	0.08	1.55	0.00	0.000	6	0.143	0.032	2960	2269	2026
16553	0.64	194.6	179.7	10.2	1590	16557	0.00	1.65	0.00	0.000	4	0.000	0.049	2960	3176	2027
16586	0.64	194.6	176.2	10.3	1593	16589	0.00	1.55	0.00	0.000	6	0.000	0.032	2965	2271	2027
16907	0.64	194.6	141.5	10.1	1624	16908	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2272	2028
17217	0.64	194.6	109.3	10.3	1654	17220	0.00	1.60	0.00	0.000	4	0.000	0.048	2966	3179	2029
17270	0.64	194.6	103.9	10.0	1659	17274	0.00	1.55	0.00	0.000	6	0.000	0.031	2973	2271	2029
17593	0.64	194.6	71.2	10.2	1690	17594	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2272	2031
17778	0.64	194.6	54.6	7.6	1708	17779	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2273	2031
17964	0.71	252.9	42.4	6.0	1726	18013	0.00	1.67	43.85	0.539	4	0.000	0.045	2973	3180	1807
18056	0.75	282.4	36.8	6.7	1734	18083	0.00	1.55	23.58	0.518	6	0.000	0.029	2980	2275	1688
18272	0.90	402.6	27.2	4.3	1754	18367	0.15	1.25	89.53	0.519	4	0.060	0.035	3067	1361	1198
18416	0.90	402.6	14.9	8.6	1766	18422	0.08	1.25	0.00	0.000	6	0.112	0.035	3038	2281	1193
18607	1.10	567.7	6.5	3.2	1785	18717	0.17	0.00	107.03	0.493	2	0.097	0.000	3101	2281	600
18717	end climb: SURFACE_DEPTH_REACHED
state	18717	begin surface coast
18774	end surface coast: CONTROL_FINISHED_OK
state	18774	begin surface