Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 282 * 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 282 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 30 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 250 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 500 CALL_TRIES 8 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -14 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -23852.141 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 -23852.141

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 515 ROLL_DEG 25 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3575 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2747 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -14

C_ROLL_CLIMB 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2325 MASS 51931 R_PORT_OVSHOOT 30 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 30 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 282 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 001901,2842.816,-8837.624,41,0.8,41,-0.3 TGT_NAME NEW0617E

_CALLS 2 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 13 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.217,0.151

_SM_DEPTHo 1.73 KALMAN_X 15663.7,143.7,158.6,4324.3,2882.1

_SM_ANGLEo -69.0 KALMAN_Y -414361.0,1450.6,1117.5,439005.2,-11526.4

GPS2 003102,2843.064,-8837.637,14,1.0,14,-0.3 MHEAD_RNG_PITCHd_Wd 287.3,12024,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 975

Post-dive calculations and measurements:

FINISH 0.7,1.020314 ALTIM_BOTTOM_PING 890.1,38.7

SM_CCo 17289,109.43,0.479,0,0,402,597.54 _24V_AH 22.9,49.574

SM_GC 1.67,0.00,0.00,109.43,0.000,0.000,0.479,193,2341,402,-7.98,0.45,597.54 _10V_AH 10.6,68.253

IRIDIUM_FIX 2831.00,-8838.98,151099,000004 DATA_FILE_SIZE 88349,1656

TT8_MAMPS 0.051389 CAP_FILE_SIZE 166015,0

HUMID 1370 CFSIZE 260165632,229912576

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

TCM_TEMP 24.40 CURRENT 0.091,144.7,1

XPDR_PINGS 1 GPS 210710,052237,2843.066,-8839.891,34,1.3,34,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 250 117.53 SBE_CT 1130 24 621.27

Roll_motor 91 72 151.89 SBE_O2 1206 19 525.09

VBD_pump_during_apogee 460 1176 12414.28 WL_BBFL2VMT 3722 105 8949.98

VBD_pump_during_surface 109 479 1201.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 59 103 141.06 nil 0 0 0.00

Iridium_during_connect 60 160 222.93 nil 0 0 0.00

Iridium_during_xfer 398 223 2034.15

Transponder_ping 2 420 21.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.84

TT8 0 19 0.00

LPSleep 11569 2 268.57

TT8_Active 633 19 132.86

TT8_Sampling 4984 39 2103.00

TT8_CF8 899 45 436.61

TT8_Kalman 33 81 28.91

Analog_circuits 2071 12 263.46

GPS_charging 0 0 0.00

Compass 4453 8 377.69

RAFOS 0 0 0.00

Transponder 18 30 5.89

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.64 -194.6 0.0 0.0 0 69 0.00 0.00 -52.78 0.000 2 0.000 0.000 192 2346 1936

71 -0.64 -194.6 3.3 -3.6 5 132 10.50 1.30 -41.92 0.000 4 0.250 0.054 2539 1425 3634

271 -0.64 -194.6 38.8 -19.7 23 274 0.00 1.25 0.00 0.000 6 0.000 0.035 2535 2322 3635

468 -0.64 -194.6 68.8 -13.2 42 469 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2322 3635

654 -0.64 -194.6 92.0 -12.0 60 657 0.00 1.23 0.00 0.000 4 0.000 0.033 2537 1418 3636

696 -0.64 -194.6 97.3 -12.3 64 699 0.00 1.25 0.00 0.000 6 0.000 0.035 2533 2322 3636

894 -0.64 -194.6 121.6 -12.1 83 896 0.00 1.23 0.00 0.000 4 0.000 0.035 2533 1420 3636

957 -0.64 -194.6 129.4 -11.8 89 961 0.00 1.25 0.00 0.000 6 0.000 0.035 2527 2325 3636

1280 -0.64 -194.6 167.7 -11.5 120 1283 0.00 1.25 0.00 0.000 4 0.000 0.035 2527 1404 3636

1333 -0.64 -194.6 174.1 -11.6 125 1336 0.00 1.27 0.00 0.000 6 0.000 0.036 2522 2327 3636

1655 -0.64 -194.6 213.8 -12.4 156 1658 0.00 1.25 0.00 0.000 4 0.000 0.035 2521 1416 3634

1773 -0.64 -194.6 227.9 -12.0 167 1776 0.00 1.25 0.00 0.000 6 0.000 0.036 2516 2322 3633

2096 -0.64 -194.6 267.2 -12.2 198 2098 0.00 1.25 0.00 0.000 4 0.000 0.036 2516 1405 3631

2164 -0.64 -194.6 275.9 -11.4 204 2171 0.00 1.27 0.00 0.000 6 0.000 0.037 2510 2325 3631

2481 -0.64 -194.6 314.3 -11.9 235 2485 0.12 1.25 0.00 0.000 4 0.143 0.035 2543 1416 3629

2561 -0.64 -194.6 322.7 -9.8 242 2567 0.00 1.25 0.00 0.000 6 0.000 0.037 2539 2318 3628

2878 -0.64 -194.6 353.2 -9.7 273 2881 0.00 1.23 0.00 0.000 4 0.000 0.037 2539 1424 3626

2920 -0.64 -194.6 357.5 -9.2 277 2924 0.00 1.25 0.00 0.000 6 0.000 0.039 2534 2323 3625

3243 -0.64 -194.6 389.8 -10.2 308 3246 0.00 1.25 0.00 0.000 4 0.000 0.038 2534 1413 3622

3279 -0.64 -194.6 393.8 -10.6 311 3286 0.00 1.27 0.00 0.000 6 0.000 0.038 2528 2323 3623

3597 -0.64 -194.6 427.2 -10.3 342 3601 0.00 1.52 0.00 0.000 4 0.000 0.049 2521 3210 3620

3629 -0.64 -194.6 430.6 -10.3 345 3632 0.00 1.45 0.00 0.000 6 0.000 0.031 2521 2328 3619

3952 -0.64 -194.6 464.2 -10.0 376 3954 0.00 1.25 0.00 0.000 4 0.000 0.040 2521 1413 3617

4031 -0.64 -194.6 472.7 -9.4 383 4038 0.00 1.30 0.00 0.000 6 0.000 0.041 2515 2330 3617

4349 -0.64 -194.6 506.2 -11.1 414 4352 0.00 1.27 0.00 0.000 4 0.000 0.040 2515 1417 3614

4446 -0.64 -194.6 517.1 -11.3 423 4449 0.08 1.27 0.00 0.000 6 0.144 0.041 2534 2322 3614

4767 -0.64 -194.6 549.0 -10.1 454 4768 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2323 3611

5078 -0.64 -194.6 578.7 -9.4 484 5078 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2322 3609

5388 -0.64 -194.6 608.6 -9.7 514 5391 0.00 1.25 0.00 0.000 4 0.000 0.041 2534 1428 3607

5431 -0.64 -194.6 612.5 -9.2 518 5434 0.00 1.27 0.00 0.000 6 0.000 0.044 2531 2324 3606

5753 -0.64 -194.6 644.2 -10.0 549 5756 0.00 1.25 0.00 0.000 4 0.000 0.041 2531 1427 3604

5795 -0.64 -194.6 648.5 -9.8 553 5798 0.00 1.27 0.00 0.000 6 0.000 0.045 2526 2321 3603

6118 -0.64 -194.6 679.8 -9.5 584 6121 0.00 1.27 0.00 0.000 4 0.000 0.041 2526 1412 3602

6149 -0.64 -194.6 683.3 -9.9 587 6152 0.00 1.30 0.00 0.000 6 0.000 0.044 2520 2324 3602

6472 -0.64 -194.6 714.8 -10.0 618 6473 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2324 3600

6781 -0.64 -194.6 744.5 -9.3 648 6784 0.00 1.27 0.00 0.000 4 0.000 0.042 2520 1416 3597

6845 -0.64 -194.6 750.7 -9.8 654 6847 0.00 1.30 0.00 0.000 6 0.000 0.044 2515 2324 3597

7168 -0.64 -194.6 782.9 -10.0 685 7168 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2324 3595

7476 -0.64 -194.6 814.2 -9.9 715 7479 0.00 1.27 0.00 0.000 4 0.000 0.043 2515 1421 3594

7523 -0.64 -194.6 819.1 -10.0 719 7530 0.08 1.30 0.00 0.000 6 0.146 0.044 2533 2325 3594

7839 -0.64 -194.6 845.9 -8.2 750 7842 0.00 1.55 0.00 0.000 4 0.000 0.056 2528 3205 3592

7871 -0.64 -194.6 848.7 -9.1 753 7874 0.00 1.48 0.00 0.000 6 0.000 0.036 2528 2327 3592

8192 -0.64 -194.6 876.6 -8.8 784 8195 0.00 1.27 0.00 0.000 4 0.000 0.044 2528 1419 3590

8256 -0.64 -194.6 882.3 -9.2 790 8260 0.00 1.30 0.00 0.000 6 0.000 0.047 2523 2322 3590

8547 end dive: BOTTOM_OBSTACLE_DETECTED

state 8547 begin apogee

8551 -0.26 0.0 909.1 9.1 818 8709 0.43 0.00 150.68 1.177 6 0.133 0.000 2655 2273 2842

8709 end apogee: CONTROL_FINISHED_OK

state 8709 begin climb

8712 0.64 194.6 914.5 0.0 834 8889 0.90 1.77 166.82 1.152 4 0.105 0.057 2941 3156 2045

8905 0.64 194.6 900.9 9.7 851 8912 0.00 1.62 0.00 0.000 6 0.000 0.035 2948 2281 2041

9224 0.64 194.6 864.3 11.4 882 9227 0.00 1.25 0.00 0.000 4 0.000 0.043 2954 1367 2035

9330 0.64 194.6 852.4 11.3 892 9333 0.00 1.25 0.00 0.000 6 0.000 0.044 2954 2265 2035

9653 0.64 194.6 816.6 11.3 923 9656 0.00 1.62 0.00 0.000 4 0.000 0.054 2954 3187 2033

9696 0.64 194.6 811.4 11.5 927 9699 0.00 1.58 0.00 0.000 6 0.000 0.036 2961 2272 2032

10018 0.64 194.6 774.3 11.3 958 10019 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2273 2031

10328 0.64 194.6 738.4 11.8 988 10331 0.00 1.20 0.00 0.000 4 0.000 0.041 2967 1372 2031

10375 0.64 194.6 732.8 12.1 992 10382 0.00 1.25 0.00 0.000 6 0.000 0.043 2967 2276 2030

10692 0.64 194.6 695.4 11.8 1023 10693 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2276 2030

11002 0.64 194.6 658.0 12.0 1053 11003 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2276 2029

11312 0.64 194.6 620.2 12.6 1083 11313 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2276 2028

11622 0.64 194.6 583.0 11.8 1113 11626 0.00 1.25 0.00 0.000 4 0.000 0.042 2973 1362 2028

11654 0.64 194.6 579.2 12.1 1116 11657 0.00 1.27 0.00 0.000 6 0.000 0.044 2973 2282 2028

11975 0.64 194.6 540.2 12.1 1147 11978 0.00 1.58 0.00 0.000 4 0.000 0.053 2973 3164 2027

12007 0.64 194.6 536.1 13.0 1150 12010 0.00 1.55 0.00 0.000 6 0.000 0.035 2980 2270 2027

12329 0.64 194.6 495.6 12.3 1181 12330 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2271 2026

12638 0.64 194.6 456.4 12.8 1211 12641 0.00 1.65 0.00 0.000 4 0.000 0.053 2980 3174 2026

12664 0.64 194.6 453.0 13.6 1213 12672 0.10 1.55 0.00 0.000 6 0.142 0.035 2956 2275 2026

12980 0.64 194.6 419.3 10.4 1244 12981 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2276 2026

13292 0.64 194.6 386.2 11.1 1274 13292 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2276 2026

13601 0.64 194.6 352.9 10.8 1304 13604 0.00 1.62 0.00 0.000 4 0.000 0.051 2956 3196 2026

13637 0.64 194.6 348.5 12.3 1307 13644 0.00 1.58 0.00 0.000 6 0.000 0.033 2962 2274 2026

13955 0.64 194.6 313.0 11.5 1338 13956 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2275 2026

14264 0.64 194.6 277.8 11.6 1368 14265 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2275 2026

14575 0.64 194.6 244.3 10.9 1398 14578 0.00 1.60 0.00 0.000 4 0.000 0.050 2962 3183 2026

14611 0.64 194.6 239.9 12.6 1401 14619 0.00 1.58 0.00 0.000 6 0.000 0.032 2970 2265 2026

14929 0.64 194.6 203.6 11.8 1432 14933 0.00 1.62 0.00 0.000 4 0.000 0.048 2969 3166 2026

14961 0.64 194.6 199.6 12.7 1435 14964 0.00 1.52 0.00 0.000 6 0.000 0.031 2977 2273 2026

15284 0.64 194.6 160.9 12.1 1466 15285 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2274 2027

15592 0.64 194.6 125.4 11.2 1496 15593 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2274 2028

15903 0.64 194.6 91.2 10.7 1526 15906 0.00 1.60 0.00 0.000 4 0.000 0.047 2977 3167 2029

15950 0.64 194.6 85.8 11.1 1530 15957 0.00 1.52 0.00 0.000 6 0.000 0.029 2984 2270 2029

16142 0.64 194.6 65.6 9.8 1549 16146 0.12 1.62 0.00 0.000 4 0.139 0.047 2950 3177 2029

16179 0.64 194.6 62.5 8.0 1552 16186 0.00 1.52 0.00 0.000 6 0.000 0.029 2955 2272 2029

16371 0.70 241.9 49.6 6.3 1571 16411 0.00 1.62 35.62 0.539 4 0.000 0.046 2955 3169 1853

16476 0.70 241.9 42.9 7.6 1580 16483 0.00 1.52 0.00 0.000 6 0.000 0.028 2963 2271 1850

16669 0.85 366.6 34.1 4.2 1599 16768 0.17 1.23 93.70 0.527 4 0.057 0.034 3059 1368 1344

16802 0.85 366.6 23.5 9.9 1610 16808 0.10 1.25 0.00 0.000 6 0.114 0.034 3025 2279 1340

16994 0.85 366.6 10.5 8.1 1629 16995 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2279 1336

17180 1.06 533.2 3.7 3.1 1647 17196 0.17 0.00 13.93 0.456 2 0.080 0.000 3091 2279 1268

17196 end climb: SURFACE_DEPTH_REACHED

state 17196 begin surface coast

17273 end surface coast: CONTROL_FINISHED_OK

state 17273 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	282	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	30	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	250	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	500	CALL_TRIES	8	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-14	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-23852.141	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	001901,2842.816,-8837.624,41,0.8,41,-0.3	TGT_NAME	NEW0617E
_CALLS	2	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	13	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.217,0.151
_SM_DEPTHo	1.73	KALMAN_X	15663.7,143.7,158.6,4324.3,2882.1
_SM_ANGLEo	-69.0	KALMAN_Y	-414361.0,1450.6,1117.5,439005.2,-11526.4
GPS2	003102,2843.064,-8837.637,14,1.0,14,-0.3	MHEAD_RNG_PITCHd_Wd	287.3,12024,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	975

FINISH	0.7,1.020314	ALTIM_BOTTOM_PING	890.1,38.7
SM_CCo	17289,109.43,0.479,0,0,402,597.54	_24V_AH	22.9,49.574
SM_GC	1.67,0.00,0.00,109.43,0.000,0.000,0.479,193,2341,402,-7.98,0.45,597.54	_10V_AH	10.6,68.253
IRIDIUM_FIX	2831.00,-8838.98,151099,000004	DATA_FILE_SIZE	88349,1656
TT8_MAMPS	0.051389	CAP_FILE_SIZE	166015,0
HUMID	1370	CFSIZE	260165632,229912576
INTERNAL_PRESSURE	9.25817	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.40	CURRENT	0.091,144.7,1
XPDR_PINGS	1	GPS	210710,052237,2843.066,-8839.891,34,1.3,34,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	250	117.53	SBE_CT	1130	24	621.27
Roll_motor	91	72	151.89	SBE_O2	1206	19	525.09
VBD_pump_during_apogee	460	1176	12414.28	WL_BBFL2VMT	3722	105	8949.98
VBD_pump_during_surface	109	479	1201.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	59	103	141.06	nil	0	0	0.00
Iridium_during_connect	60	160	222.93	nil	0	0	0.00
Iridium_during_xfer	398	223	2034.15
Transponder_ping	2	420	21.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.84
TT8	0	19	0.00
LPSleep	11569	2	268.57
TT8_Active	633	19	132.86
TT8_Sampling	4984	39	2103.00
TT8_CF8	899	45	436.61
TT8_Kalman	33	81	28.91
Analog_circuits	2071	12	263.46
GPS_charging	0	0	0.00
Compass	4453	8	377.69
RAFOS	0	0	0.00
Transponder	18	30	5.89

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.64	-194.6	0.0	0.0	0	69	0.00	0.00	-52.78	0.000	2	0.000	0.000	192	2346	1936
71	-0.64	-194.6	3.3	-3.6	5	132	10.50	1.30	-41.92	0.000	4	0.250	0.054	2539	1425	3634
271	-0.64	-194.6	38.8	-19.7	23	274	0.00	1.25	0.00	0.000	6	0.000	0.035	2535	2322	3635
468	-0.64	-194.6	68.8	-13.2	42	469	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2322	3635
654	-0.64	-194.6	92.0	-12.0	60	657	0.00	1.23	0.00	0.000	4	0.000	0.033	2537	1418	3636
696	-0.64	-194.6	97.3	-12.3	64	699	0.00	1.25	0.00	0.000	6	0.000	0.035	2533	2322	3636
894	-0.64	-194.6	121.6	-12.1	83	896	0.00	1.23	0.00	0.000	4	0.000	0.035	2533	1420	3636
957	-0.64	-194.6	129.4	-11.8	89	961	0.00	1.25	0.00	0.000	6	0.000	0.035	2527	2325	3636
1280	-0.64	-194.6	167.7	-11.5	120	1283	0.00	1.25	0.00	0.000	4	0.000	0.035	2527	1404	3636
1333	-0.64	-194.6	174.1	-11.6	125	1336	0.00	1.27	0.00	0.000	6	0.000	0.036	2522	2327	3636
1655	-0.64	-194.6	213.8	-12.4	156	1658	0.00	1.25	0.00	0.000	4	0.000	0.035	2521	1416	3634
1773	-0.64	-194.6	227.9	-12.0	167	1776	0.00	1.25	0.00	0.000	6	0.000	0.036	2516	2322	3633
2096	-0.64	-194.6	267.2	-12.2	198	2098	0.00	1.25	0.00	0.000	4	0.000	0.036	2516	1405	3631
2164	-0.64	-194.6	275.9	-11.4	204	2171	0.00	1.27	0.00	0.000	6	0.000	0.037	2510	2325	3631
2481	-0.64	-194.6	314.3	-11.9	235	2485	0.12	1.25	0.00	0.000	4	0.143	0.035	2543	1416	3629
2561	-0.64	-194.6	322.7	-9.8	242	2567	0.00	1.25	0.00	0.000	6	0.000	0.037	2539	2318	3628
2878	-0.64	-194.6	353.2	-9.7	273	2881	0.00	1.23	0.00	0.000	4	0.000	0.037	2539	1424	3626
2920	-0.64	-194.6	357.5	-9.2	277	2924	0.00	1.25	0.00	0.000	6	0.000	0.039	2534	2323	3625
3243	-0.64	-194.6	389.8	-10.2	308	3246	0.00	1.25	0.00	0.000	4	0.000	0.038	2534	1413	3622
3279	-0.64	-194.6	393.8	-10.6	311	3286	0.00	1.27	0.00	0.000	6	0.000	0.038	2528	2323	3623
3597	-0.64	-194.6	427.2	-10.3	342	3601	0.00	1.52	0.00	0.000	4	0.000	0.049	2521	3210	3620
3629	-0.64	-194.6	430.6	-10.3	345	3632	0.00	1.45	0.00	0.000	6	0.000	0.031	2521	2328	3619
3952	-0.64	-194.6	464.2	-10.0	376	3954	0.00	1.25	0.00	0.000	4	0.000	0.040	2521	1413	3617
4031	-0.64	-194.6	472.7	-9.4	383	4038	0.00	1.30	0.00	0.000	6	0.000	0.041	2515	2330	3617
4349	-0.64	-194.6	506.2	-11.1	414	4352	0.00	1.27	0.00	0.000	4	0.000	0.040	2515	1417	3614
4446	-0.64	-194.6	517.1	-11.3	423	4449	0.08	1.27	0.00	0.000	6	0.144	0.041	2534	2322	3614
4767	-0.64	-194.6	549.0	-10.1	454	4768	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2323	3611
5078	-0.64	-194.6	578.7	-9.4	484	5078	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2322	3609
5388	-0.64	-194.6	608.6	-9.7	514	5391	0.00	1.25	0.00	0.000	4	0.000	0.041	2534	1428	3607
5431	-0.64	-194.6	612.5	-9.2	518	5434	0.00	1.27	0.00	0.000	6	0.000	0.044	2531	2324	3606
5753	-0.64	-194.6	644.2	-10.0	549	5756	0.00	1.25	0.00	0.000	4	0.000	0.041	2531	1427	3604
5795	-0.64	-194.6	648.5	-9.8	553	5798	0.00	1.27	0.00	0.000	6	0.000	0.045	2526	2321	3603
6118	-0.64	-194.6	679.8	-9.5	584	6121	0.00	1.27	0.00	0.000	4	0.000	0.041	2526	1412	3602
6149	-0.64	-194.6	683.3	-9.9	587	6152	0.00	1.30	0.00	0.000	6	0.000	0.044	2520	2324	3602
6472	-0.64	-194.6	714.8	-10.0	618	6473	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2324	3600
6781	-0.64	-194.6	744.5	-9.3	648	6784	0.00	1.27	0.00	0.000	4	0.000	0.042	2520	1416	3597
6845	-0.64	-194.6	750.7	-9.8	654	6847	0.00	1.30	0.00	0.000	6	0.000	0.044	2515	2324	3597
7168	-0.64	-194.6	782.9	-10.0	685	7168	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2324	3595
7476	-0.64	-194.6	814.2	-9.9	715	7479	0.00	1.27	0.00	0.000	4	0.000	0.043	2515	1421	3594
7523	-0.64	-194.6	819.1	-10.0	719	7530	0.08	1.30	0.00	0.000	6	0.146	0.044	2533	2325	3594
7839	-0.64	-194.6	845.9	-8.2	750	7842	0.00	1.55	0.00	0.000	4	0.000	0.056	2528	3205	3592
7871	-0.64	-194.6	848.7	-9.1	753	7874	0.00	1.48	0.00	0.000	6	0.000	0.036	2528	2327	3592
8192	-0.64	-194.6	876.6	-8.8	784	8195	0.00	1.27	0.00	0.000	4	0.000	0.044	2528	1419	3590
8256	-0.64	-194.6	882.3	-9.2	790	8260	0.00	1.30	0.00	0.000	6	0.000	0.047	2523	2322	3590
8547	end dive: BOTTOM_OBSTACLE_DETECTED
state	8547	begin apogee
8551	-0.26	0.0	909.1	9.1	818	8709	0.43	0.00	150.68	1.177	6	0.133	0.000	2655	2273	2842
8709	end apogee: CONTROL_FINISHED_OK
state	8709	begin climb
8712	0.64	194.6	914.5	0.0	834	8889	0.90	1.77	166.82	1.152	4	0.105	0.057	2941	3156	2045
8905	0.64	194.6	900.9	9.7	851	8912	0.00	1.62	0.00	0.000	6	0.000	0.035	2948	2281	2041
9224	0.64	194.6	864.3	11.4	882	9227	0.00	1.25	0.00	0.000	4	0.000	0.043	2954	1367	2035
9330	0.64	194.6	852.4	11.3	892	9333	0.00	1.25	0.00	0.000	6	0.000	0.044	2954	2265	2035
9653	0.64	194.6	816.6	11.3	923	9656	0.00	1.62	0.00	0.000	4	0.000	0.054	2954	3187	2033
9696	0.64	194.6	811.4	11.5	927	9699	0.00	1.58	0.00	0.000	6	0.000	0.036	2961	2272	2032
10018	0.64	194.6	774.3	11.3	958	10019	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2273	2031
10328	0.64	194.6	738.4	11.8	988	10331	0.00	1.20	0.00	0.000	4	0.000	0.041	2967	1372	2031
10375	0.64	194.6	732.8	12.1	992	10382	0.00	1.25	0.00	0.000	6	0.000	0.043	2967	2276	2030
10692	0.64	194.6	695.4	11.8	1023	10693	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2276	2030
11002	0.64	194.6	658.0	12.0	1053	11003	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2276	2029
11312	0.64	194.6	620.2	12.6	1083	11313	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2276	2028
11622	0.64	194.6	583.0	11.8	1113	11626	0.00	1.25	0.00	0.000	4	0.000	0.042	2973	1362	2028
11654	0.64	194.6	579.2	12.1	1116	11657	0.00	1.27	0.00	0.000	6	0.000	0.044	2973	2282	2028
11975	0.64	194.6	540.2	12.1	1147	11978	0.00	1.58	0.00	0.000	4	0.000	0.053	2973	3164	2027
12007	0.64	194.6	536.1	13.0	1150	12010	0.00	1.55	0.00	0.000	6	0.000	0.035	2980	2270	2027
12329	0.64	194.6	495.6	12.3	1181	12330	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2271	2026
12638	0.64	194.6	456.4	12.8	1211	12641	0.00	1.65	0.00	0.000	4	0.000	0.053	2980	3174	2026
12664	0.64	194.6	453.0	13.6	1213	12672	0.10	1.55	0.00	0.000	6	0.142	0.035	2956	2275	2026
12980	0.64	194.6	419.3	10.4	1244	12981	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2276	2026
13292	0.64	194.6	386.2	11.1	1274	13292	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2276	2026
13601	0.64	194.6	352.9	10.8	1304	13604	0.00	1.62	0.00	0.000	4	0.000	0.051	2956	3196	2026
13637	0.64	194.6	348.5	12.3	1307	13644	0.00	1.58	0.00	0.000	6	0.000	0.033	2962	2274	2026
13955	0.64	194.6	313.0	11.5	1338	13956	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2275	2026
14264	0.64	194.6	277.8	11.6	1368	14265	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2275	2026
14575	0.64	194.6	244.3	10.9	1398	14578	0.00	1.60	0.00	0.000	4	0.000	0.050	2962	3183	2026
14611	0.64	194.6	239.9	12.6	1401	14619	0.00	1.58	0.00	0.000	6	0.000	0.032	2970	2265	2026
14929	0.64	194.6	203.6	11.8	1432	14933	0.00	1.62	0.00	0.000	4	0.000	0.048	2969	3166	2026
14961	0.64	194.6	199.6	12.7	1435	14964	0.00	1.52	0.00	0.000	6	0.000	0.031	2977	2273	2026
15284	0.64	194.6	160.9	12.1	1466	15285	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2274	2027
15592	0.64	194.6	125.4	11.2	1496	15593	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2274	2028
15903	0.64	194.6	91.2	10.7	1526	15906	0.00	1.60	0.00	0.000	4	0.000	0.047	2977	3167	2029
15950	0.64	194.6	85.8	11.1	1530	15957	0.00	1.52	0.00	0.000	6	0.000	0.029	2984	2270	2029
16142	0.64	194.6	65.6	9.8	1549	16146	0.12	1.62	0.00	0.000	4	0.139	0.047	2950	3177	2029
16179	0.64	194.6	62.5	8.0	1552	16186	0.00	1.52	0.00	0.000	6	0.000	0.029	2955	2272	2029
16371	0.70	241.9	49.6	6.3	1571	16411	0.00	1.62	35.62	0.539	4	0.000	0.046	2955	3169	1853
16476	0.70	241.9	42.9	7.6	1580	16483	0.00	1.52	0.00	0.000	6	0.000	0.028	2963	2271	1850
16669	0.85	366.6	34.1	4.2	1599	16768	0.17	1.23	93.70	0.527	4	0.057	0.034	3059	1368	1344
16802	0.85	366.6	23.5	9.9	1610	16808	0.10	1.25	0.00	0.000	6	0.114	0.034	3025	2279	1340
16994	0.85	366.6	10.5	8.1	1629	16995	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2279	1336
17180	1.06	533.2	3.7	3.1	1647	17196	0.17	0.00	13.93	0.456	2	0.080	0.000	3091	2279	1268
17196	end climb: SURFACE_DEPTH_REACHED
state	17196	begin surface coast
17273	end surface coast: CONTROL_FINISHED_OK
state	17273	begin surface