Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 287 * 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 287 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 41 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 -23933.986 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 -23933.986

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 41 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 22 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 287 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 012537,2843.175,-8836.283,36,1.2,36,-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 0.220,0.147

_SM_DEPTHo 1.64 KALMAN_X 23743.9,-1124.6,-135.6,-50.8,4168.5

_SM_ANGLEo -65.9 KALMAN_Y -426707.7,991.2,-16.1,453393.1,-7866.0

GPS2 013144,2843.304,-8836.327,12,1.4,12,-0.3 MHEAD_RNG_PITCHd_Wd 76.8,16781,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 981

Post-dive calculations and measurements:

FINISH 0.9,1.007878 _24V_AH 22.6,50.407

SM_CCo 18771,62.75,0.475,0,0,403,597.54 _10V_AH 10.5,69.349

SM_GC 1.84,0.00,0.00,62.75,0.000,0.000,0.475,196,2339,403,-7.97,0.40,597.54 DATA_FILE_SIZE 94682,1800

IRIDIUM_FIX 2833.46,-8838.92,151099,202040 CAP_FILE_SIZE 168048,0

TT8_MAMPS 0.051389 CFSIZE 260165632,229470208

HUMID 1377 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2484 CURRENT 0.103,118.3,1

TCM_TEMP 23.60 GPS 220710,064707,2843.486,-8832.292,25,1.6,25,-0.4

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 250 114.71 SBE_CT 1230 24 667.55

Roll_motor 90 76 156.18 SBE_O2 1315 19 564.86

VBD_pump_during_apogee 544 1231 15152.23 WL_BBFL2VMT 4045 105 9600.64

VBD_pump_during_surface 62 474 673.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 68.78 nil 0 0 0.00

Iridium_during_connect 33 160 120.94 nil 0 0 0.00

Iridium_during_xfer 177 223 894.84

Transponder_ping 3 420 35.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.43

TT8 0 19 0.00

LPSleep 12511 2 287.71

TT8_Active 635 19 132.15

TT8_Sampling 5393 39 2253.80

TT8_CF8 634 45 305.17

TT8_Kalman 33 81 28.64

Analog_circuits 2186 12 275.45

GPS_charging 0 0 0.00

Compass 4831 8 405.86

RAFOS 0 0 0.00

Transponder 26 30 8.26

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

9 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.64 -194.6 0.0 0.0 0 81 0.00 0.00 -67.35 0.000 2 0.000 0.000 185 2303 2329

84 -0.64 -194.6 3.2 -3.7 7 132 10.52 1.62 -28.92 0.000 4 0.250 0.060 2526 3229 3635

229 -0.64 -194.6 35.4 -25.1 20 232 0.00 1.45 0.00 0.000 6 0.000 0.028 2531 2337 3637

426 -0.64 -194.6 67.3 -13.4 39 426 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2337 3637

612 -0.64 -194.6 92.3 -13.4 57 616 0.00 1.25 0.00 0.000 4 0.000 0.035 2537 1416 3638

709 -0.64 -194.6 104.2 -13.5 66 711 0.00 1.27 0.00 0.000 6 0.000 0.035 2533 2334 3639

1031 -0.64 -194.6 143.8 -11.1 97 1035 0.00 1.27 0.00 0.000 4 0.000 0.035 2532 1407 3639

1089 -0.64 -194.6 150.8 -10.7 102 1096 0.00 1.30 0.00 0.000 6 0.000 0.035 2527 2332 3639

1407 -0.64 -194.6 189.2 -12.2 133 1410 0.00 1.25 0.00 0.000 4 0.000 0.036 2527 1422 3639

1493 -0.64 -194.6 199.4 -12.1 141 1495 0.00 1.25 0.00 0.000 6 0.000 0.037 2521 2326 3638

1815 -0.64 -194.6 238.4 -12.0 172 1818 0.00 1.25 0.00 0.000 4 0.000 0.037 2521 1413 3637

1879 -0.64 -194.6 246.3 -11.3 178 1882 0.00 1.25 0.00 0.000 6 0.000 0.036 2516 2321 3636

2202 -0.64 -194.6 286.5 -12.5 209 2204 0.00 1.25 0.00 0.000 4 0.000 0.037 2515 1407 3634

2265 -0.64 -194.6 294.4 -11.6 215 2269 0.08 1.27 0.00 0.000 6 0.142 0.038 2534 2324 3634

2586 -0.64 -194.6 328.3 -10.4 246 2589 0.00 1.25 0.00 0.000 4 0.000 0.037 2534 1412 3633

2633 -0.64 -194.6 333.4 -10.1 250 2640 0.00 1.27 0.00 0.000 6 0.000 0.038 2531 2327 3632

2952 -0.64 -194.6 367.4 -11.2 281 2955 0.00 1.25 0.00 0.000 4 0.000 0.038 2530 1419 3630

2994 -0.64 -194.6 372.2 -10.8 285 2997 0.00 1.27 0.00 0.000 6 0.000 0.039 2526 2329 3630

3317 -0.64 -194.6 408.6 -11.1 316 3320 0.00 1.25 0.00 0.000 4 0.000 0.038 2525 1422 3627

3406 -0.64 -194.6 418.5 -10.1 324 3414 0.00 1.30 0.00 0.000 6 0.000 0.039 2520 2337 3627

3725 -0.64 -194.6 454.7 -11.6 355 3728 0.00 1.27 0.00 0.000 4 0.000 0.038 2520 1422 3625

3853 -0.64 -194.6 469.4 -11.8 367 3856 0.00 1.27 0.00 0.000 6 0.000 0.041 2514 2326 3624

4176 -0.64 -194.6 505.9 -11.4 398 4177 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2326 3622

4485 -0.64 -194.6 540.5 -11.1 428 4488 0.00 1.25 0.00 0.000 4 0.000 0.040 2514 1430 3619

4553 -0.64 -194.6 548.3 -11.2 434 4561 0.08 1.30 0.00 0.000 6 0.144 0.041 2534 2339 3619

4870 -0.64 -194.6 579.1 -10.0 465 4873 0.00 1.30 0.00 0.000 4 0.000 0.041 2534 1413 3617

4938 -0.64 -194.6 586.2 -10.7 471 4945 0.00 1.33 0.00 0.000 6 0.000 0.041 2530 2338 3617

5256 -0.64 -194.6 618.4 -10.0 502 5260 0.00 1.30 0.00 0.000 4 0.000 0.041 2530 1417 3615

5310 -0.64 -194.6 623.7 -9.2 507 5312 0.00 1.30 0.00 0.000 6 0.000 0.043 2525 2330 3614

5632 -0.64 -194.6 654.5 -9.5 538 5633 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2330 3613

5941 -0.64 -194.6 684.6 -9.5 568 5944 0.00 1.27 0.00 0.000 4 0.000 0.042 2525 1425 3610

5999 -0.64 -194.6 690.4 -9.5 573 6006 0.00 1.27 0.00 0.000 6 0.000 0.043 2520 2323 3609

6317 -0.64 -194.6 722.0 -10.2 604 6321 0.00 1.25 0.00 0.000 4 0.000 0.042 2520 1434 3608

6392 -0.64 -194.6 729.7 -10.2 611 6395 0.00 1.27 0.00 0.000 6 0.000 0.044 2514 2326 3607

6714 -0.64 -194.6 761.9 -9.8 642 6715 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2326 3605

7024 -0.64 -194.6 792.7 -10.1 672 7027 0.00 1.27 0.00 0.000 4 0.000 0.043 2514 1421 3604

7067 -0.64 -194.6 797.1 -10.4 676 7070 0.08 1.27 0.00 0.000 6 0.146 0.044 2534 2316 3603

7387 -0.64 -194.6 825.7 -9.1 707 7388 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2316 3603

7698 -0.64 -194.6 852.9 -9.0 737 7699 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2317 3600

8011 -0.64 -194.6 878.2 -7.4 767 8012 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2316 3599

8319 -0.64 -194.6 903.5 -8.3 797 8322 0.00 1.25 0.00 0.000 4 0.000 0.045 2534 1432 3597

8352 -0.64 -194.6 906.2 -8.1 800 8354 0.00 1.30 0.00 0.000 6 0.000 0.048 2530 2332 3597

8672 -0.64 -194.6 932.5 -8.8 831 8675 0.00 1.30 0.00 0.000 4 0.000 0.044 2530 1419 3595

8737 -0.64 -194.6 937.9 -9.2 837 8739 0.00 1.30 0.00 0.000 6 0.000 0.048 2526 2323 3595

9058 -0.64 -194.6 965.6 -8.7 868 9059 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2323 3594

9242 end dive: TARGET_DEPTH_EXCEEDED

state 9242 begin apogee

9248 -0.26 0.0 981.9 8.2 886 9406 0.45 0.00 154.45 1.231 6 0.133 0.000 2661 2278 2840

9407 end apogee: CONTROL_FINISHED_OK

state 9407 begin climb

9409 0.64 194.6 987.1 0.0 902 9585 0.88 0.00 170.90 1.204 6 0.100 0.000 2939 2278 2046

9894 0.64 194.6 943.2 10.4 948 9895 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2278 2036

10204 0.64 194.6 909.6 11.3 978 10205 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2278 2033

10515 0.64 194.6 875.1 11.2 1008 10518 0.00 1.60 0.00 0.000 4 0.000 0.058 2939 3166 2032

10547 0.64 194.6 871.4 11.6 1011 10550 0.00 1.55 0.00 0.000 6 0.000 0.038 2946 2273 2031

10868 0.64 194.6 834.7 10.8 1042 10869 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2274 2031

11178 0.64 194.6 801.6 11.0 1072 11181 0.00 1.62 0.00 0.000 4 0.000 0.054 2946 3162 2030

11221 0.64 194.6 796.9 11.7 1076 11224 0.00 1.55 0.00 0.000 6 0.000 0.037 2953 2270 2029

11544 0.64 194.6 760.2 11.9 1107 11547 0.00 1.60 0.00 0.000 4 0.000 0.055 2954 3165 2029

11576 0.64 194.6 755.8 13.2 1110 11579 0.00 1.55 0.00 0.000 6 0.000 0.037 2961 2271 2028

11899 0.64 194.6 717.4 11.4 1141 11899 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2273 2028

12207 0.64 194.6 681.9 11.5 1171 12210 0.00 1.62 0.00 0.000 4 0.000 0.055 2961 3159 2028

12239 0.64 194.6 677.9 11.9 1174 12242 0.00 1.52 0.00 0.000 6 0.000 0.037 2968 2277 2027

12560 0.64 194.6 638.3 12.0 1205 12561 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2278 2027

12871 0.64 194.6 601.4 12.4 1235 12874 0.00 1.60 0.00 0.000 4 0.000 0.054 2968 3176 2027

12928 0.64 194.6 593.7 13.1 1240 12936 0.00 1.58 0.00 0.000 6 0.000 0.035 2976 2268 2026

13246 0.64 194.6 553.5 13.2 1271 13249 0.00 1.62 0.00 0.000 4 0.000 0.054 2976 3157 2026

13283 0.64 194.6 548.2 14.5 1274 13289 0.00 1.52 0.00 0.000 6 0.000 0.036 2983 2276 2026

13600 0.64 194.6 505.7 13.2 1305 13601 0.00 0.00 0.00 0.000 6 0.000 0.000 2984 2276 2026

13910 0.64 194.6 466.5 12.3 1335 13912 0.00 1.62 0.00 0.000 4 0.000 0.053 2984 3189 2026

13952 0.64 194.6 460.8 13.1 1339 13955 0.10 1.58 0.00 0.000 6 0.145 0.035 2949 2276 2026

14274 0.64 194.6 427.9 9.7 1370 14274 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2277 2026

14583 0.64 194.6 395.9 10.3 1400 14584 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2278 2026

14894 0.64 194.6 364.0 10.3 1430 14895 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2278 2026

15204 0.64 194.6 331.6 10.7 1460 15205 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2278 2026

15515 0.64 194.6 299.1 10.0 1490 15518 0.00 1.60 0.00 0.000 4 0.000 0.051 2949 3160 2026

15568 0.64 194.6 293.3 10.4 1495 15571 0.00 1.52 0.00 0.000 6 0.000 0.034 2954 2275 2026

15891 0.64 194.6 259.7 10.6 1526 15891 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2275 2026

16200 0.64 194.6 226.3 10.6 1556 16203 0.00 1.60 0.00 0.000 4 0.000 0.049 2954 3162 2026

16279 0.64 194.6 217.2 11.2 1563 16286 0.00 1.52 0.00 0.000 6 0.000 0.032 2962 2272 2027

16597 0.64 194.6 181.2 10.7 1594 16601 0.00 1.60 0.00 0.000 4 0.000 0.048 2962 3160 2028

16650 0.64 194.6 174.7 11.6 1599 16653 0.00 1.52 0.00 0.000 6 0.000 0.031 2969 2270 2028

16974 0.64 194.6 138.0 10.8 1630 16974 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2271 2029

17282 0.64 194.6 105.1 10.3 1660 17285 0.00 1.60 0.00 0.000 4 0.000 0.048 2969 3162 2030

17357 0.64 194.6 96.5 12.8 1667 17360 0.00 1.50 0.00 0.000 6 0.000 0.031 2977 2276 2030

17554 0.64 194.6 74.6 10.0 1686 17555 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2277 2030

17740 0.64 194.6 57.4 8.6 1704 17743 0.00 1.60 0.00 0.000 4 0.000 0.047 2976 3171 2031

17808 0.64 194.6 51.8 7.7 1710 17816 0.08 1.52 0.00 0.000 6 0.125 0.028 2957 2268 2031

18001 0.75 282.6 41.0 5.2 1729 18074 0.00 0.00 66.18 0.535 6 0.000 0.000 2957 2269 1688

18260 0.85 364.7 29.4 5.3 1754 18326 0.17 1.67 62.12 0.515 4 0.071 0.044 3024 3171 1352

18348 0.86 377.0 23.7 7.2 1762 18362 0.00 1.55 10.18 0.452 6 0.000 0.028 3029 2272 1304

18556 1.00 485.5 10.1 4.6 1782 18642 0.12 1.23 80.80 0.492 4 0.077 0.035 3076 1361 858

18722 end climb: SURFACE_DEPTH_REACHED

state 18722 begin surface coast

18754 end surface coast: CONTROL_FINISHED_OK

state 18754 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	287	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	41	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-23933.986	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	012537,2843.175,-8836.283,36,1.2,36,-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	0.220,0.147
_SM_DEPTHo	1.64	KALMAN_X	23743.9,-1124.6,-135.6,-50.8,4168.5
_SM_ANGLEo	-65.9	KALMAN_Y	-426707.7,991.2,-16.1,453393.1,-7866.0
GPS2	013144,2843.304,-8836.327,12,1.4,12,-0.3	MHEAD_RNG_PITCHd_Wd	76.8,16781,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	981

FINISH	0.9,1.007878	_24V_AH	22.6,50.407
SM_CCo	18771,62.75,0.475,0,0,403,597.54	_10V_AH	10.5,69.349
SM_GC	1.84,0.00,0.00,62.75,0.000,0.000,0.475,196,2339,403,-7.97,0.40,597.54	DATA_FILE_SIZE	94682,1800
IRIDIUM_FIX	2833.46,-8838.92,151099,202040	CAP_FILE_SIZE	168048,0
TT8_MAMPS	0.051389	CFSIZE	260165632,229470208
HUMID	1377	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2484	CURRENT	0.103,118.3,1
TCM_TEMP	23.60	GPS	220710,064707,2843.486,-8832.292,25,1.6,25,-0.4
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	250	114.71	SBE_CT	1230	24	667.55
Roll_motor	90	76	156.18	SBE_O2	1315	19	564.86
VBD_pump_during_apogee	544	1231	15152.23	WL_BBFL2VMT	4045	105	9600.64
VBD_pump_during_surface	62	474	673.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	68.78	nil	0	0	0.00
Iridium_during_connect	33	160	120.94	nil	0	0	0.00
Iridium_during_xfer	177	223	894.84
Transponder_ping	3	420	35.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.43
TT8	0	19	0.00
LPSleep	12511	2	287.71
TT8_Active	635	19	132.15
TT8_Sampling	5393	39	2253.80
TT8_CF8	634	45	305.17
TT8_Kalman	33	81	28.64
Analog_circuits	2186	12	275.45
GPS_charging	0	0	0.00
Compass	4831	8	405.86
RAFOS	0	0	0.00
Transponder	26	30	8.26

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
9	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.64	-194.6	0.0	0.0	0	81	0.00	0.00	-67.35	0.000	2	0.000	0.000	185	2303	2329
84	-0.64	-194.6	3.2	-3.7	7	132	10.52	1.62	-28.92	0.000	4	0.250	0.060	2526	3229	3635
229	-0.64	-194.6	35.4	-25.1	20	232	0.00	1.45	0.00	0.000	6	0.000	0.028	2531	2337	3637
426	-0.64	-194.6	67.3	-13.4	39	426	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2337	3637
612	-0.64	-194.6	92.3	-13.4	57	616	0.00	1.25	0.00	0.000	4	0.000	0.035	2537	1416	3638
709	-0.64	-194.6	104.2	-13.5	66	711	0.00	1.27	0.00	0.000	6	0.000	0.035	2533	2334	3639
1031	-0.64	-194.6	143.8	-11.1	97	1035	0.00	1.27	0.00	0.000	4	0.000	0.035	2532	1407	3639
1089	-0.64	-194.6	150.8	-10.7	102	1096	0.00	1.30	0.00	0.000	6	0.000	0.035	2527	2332	3639
1407	-0.64	-194.6	189.2	-12.2	133	1410	0.00	1.25	0.00	0.000	4	0.000	0.036	2527	1422	3639
1493	-0.64	-194.6	199.4	-12.1	141	1495	0.00	1.25	0.00	0.000	6	0.000	0.037	2521	2326	3638
1815	-0.64	-194.6	238.4	-12.0	172	1818	0.00	1.25	0.00	0.000	4	0.000	0.037	2521	1413	3637
1879	-0.64	-194.6	246.3	-11.3	178	1882	0.00	1.25	0.00	0.000	6	0.000	0.036	2516	2321	3636
2202	-0.64	-194.6	286.5	-12.5	209	2204	0.00	1.25	0.00	0.000	4	0.000	0.037	2515	1407	3634
2265	-0.64	-194.6	294.4	-11.6	215	2269	0.08	1.27	0.00	0.000	6	0.142	0.038	2534	2324	3634
2586	-0.64	-194.6	328.3	-10.4	246	2589	0.00	1.25	0.00	0.000	4	0.000	0.037	2534	1412	3633
2633	-0.64	-194.6	333.4	-10.1	250	2640	0.00	1.27	0.00	0.000	6	0.000	0.038	2531	2327	3632
2952	-0.64	-194.6	367.4	-11.2	281	2955	0.00	1.25	0.00	0.000	4	0.000	0.038	2530	1419	3630
2994	-0.64	-194.6	372.2	-10.8	285	2997	0.00	1.27	0.00	0.000	6	0.000	0.039	2526	2329	3630
3317	-0.64	-194.6	408.6	-11.1	316	3320	0.00	1.25	0.00	0.000	4	0.000	0.038	2525	1422	3627
3406	-0.64	-194.6	418.5	-10.1	324	3414	0.00	1.30	0.00	0.000	6	0.000	0.039	2520	2337	3627
3725	-0.64	-194.6	454.7	-11.6	355	3728	0.00	1.27	0.00	0.000	4	0.000	0.038	2520	1422	3625
3853	-0.64	-194.6	469.4	-11.8	367	3856	0.00	1.27	0.00	0.000	6	0.000	0.041	2514	2326	3624
4176	-0.64	-194.6	505.9	-11.4	398	4177	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2326	3622
4485	-0.64	-194.6	540.5	-11.1	428	4488	0.00	1.25	0.00	0.000	4	0.000	0.040	2514	1430	3619
4553	-0.64	-194.6	548.3	-11.2	434	4561	0.08	1.30	0.00	0.000	6	0.144	0.041	2534	2339	3619
4870	-0.64	-194.6	579.1	-10.0	465	4873	0.00	1.30	0.00	0.000	4	0.000	0.041	2534	1413	3617
4938	-0.64	-194.6	586.2	-10.7	471	4945	0.00	1.33	0.00	0.000	6	0.000	0.041	2530	2338	3617
5256	-0.64	-194.6	618.4	-10.0	502	5260	0.00	1.30	0.00	0.000	4	0.000	0.041	2530	1417	3615
5310	-0.64	-194.6	623.7	-9.2	507	5312	0.00	1.30	0.00	0.000	6	0.000	0.043	2525	2330	3614
5632	-0.64	-194.6	654.5	-9.5	538	5633	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2330	3613
5941	-0.64	-194.6	684.6	-9.5	568	5944	0.00	1.27	0.00	0.000	4	0.000	0.042	2525	1425	3610
5999	-0.64	-194.6	690.4	-9.5	573	6006	0.00	1.27	0.00	0.000	6	0.000	0.043	2520	2323	3609
6317	-0.64	-194.6	722.0	-10.2	604	6321	0.00	1.25	0.00	0.000	4	0.000	0.042	2520	1434	3608
6392	-0.64	-194.6	729.7	-10.2	611	6395	0.00	1.27	0.00	0.000	6	0.000	0.044	2514	2326	3607
6714	-0.64	-194.6	761.9	-9.8	642	6715	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2326	3605
7024	-0.64	-194.6	792.7	-10.1	672	7027	0.00	1.27	0.00	0.000	4	0.000	0.043	2514	1421	3604
7067	-0.64	-194.6	797.1	-10.4	676	7070	0.08	1.27	0.00	0.000	6	0.146	0.044	2534	2316	3603
7387	-0.64	-194.6	825.7	-9.1	707	7388	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2316	3603
7698	-0.64	-194.6	852.9	-9.0	737	7699	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2317	3600
8011	-0.64	-194.6	878.2	-7.4	767	8012	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2316	3599
8319	-0.64	-194.6	903.5	-8.3	797	8322	0.00	1.25	0.00	0.000	4	0.000	0.045	2534	1432	3597
8352	-0.64	-194.6	906.2	-8.1	800	8354	0.00	1.30	0.00	0.000	6	0.000	0.048	2530	2332	3597
8672	-0.64	-194.6	932.5	-8.8	831	8675	0.00	1.30	0.00	0.000	4	0.000	0.044	2530	1419	3595
8737	-0.64	-194.6	937.9	-9.2	837	8739	0.00	1.30	0.00	0.000	6	0.000	0.048	2526	2323	3595
9058	-0.64	-194.6	965.6	-8.7	868	9059	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2323	3594
9242	end dive: TARGET_DEPTH_EXCEEDED
state	9242	begin apogee
9248	-0.26	0.0	981.9	8.2	886	9406	0.45	0.00	154.45	1.231	6	0.133	0.000	2661	2278	2840
9407	end apogee: CONTROL_FINISHED_OK
state	9407	begin climb
9409	0.64	194.6	987.1	0.0	902	9585	0.88	0.00	170.90	1.204	6	0.100	0.000	2939	2278	2046
9894	0.64	194.6	943.2	10.4	948	9895	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2278	2036
10204	0.64	194.6	909.6	11.3	978	10205	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2278	2033
10515	0.64	194.6	875.1	11.2	1008	10518	0.00	1.60	0.00	0.000	4	0.000	0.058	2939	3166	2032
10547	0.64	194.6	871.4	11.6	1011	10550	0.00	1.55	0.00	0.000	6	0.000	0.038	2946	2273	2031
10868	0.64	194.6	834.7	10.8	1042	10869	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2274	2031
11178	0.64	194.6	801.6	11.0	1072	11181	0.00	1.62	0.00	0.000	4	0.000	0.054	2946	3162	2030
11221	0.64	194.6	796.9	11.7	1076	11224	0.00	1.55	0.00	0.000	6	0.000	0.037	2953	2270	2029
11544	0.64	194.6	760.2	11.9	1107	11547	0.00	1.60	0.00	0.000	4	0.000	0.055	2954	3165	2029
11576	0.64	194.6	755.8	13.2	1110	11579	0.00	1.55	0.00	0.000	6	0.000	0.037	2961	2271	2028
11899	0.64	194.6	717.4	11.4	1141	11899	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2273	2028
12207	0.64	194.6	681.9	11.5	1171	12210	0.00	1.62	0.00	0.000	4	0.000	0.055	2961	3159	2028
12239	0.64	194.6	677.9	11.9	1174	12242	0.00	1.52	0.00	0.000	6	0.000	0.037	2968	2277	2027
12560	0.64	194.6	638.3	12.0	1205	12561	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2278	2027
12871	0.64	194.6	601.4	12.4	1235	12874	0.00	1.60	0.00	0.000	4	0.000	0.054	2968	3176	2027
12928	0.64	194.6	593.7	13.1	1240	12936	0.00	1.58	0.00	0.000	6	0.000	0.035	2976	2268	2026
13246	0.64	194.6	553.5	13.2	1271	13249	0.00	1.62	0.00	0.000	4	0.000	0.054	2976	3157	2026
13283	0.64	194.6	548.2	14.5	1274	13289	0.00	1.52	0.00	0.000	6	0.000	0.036	2983	2276	2026
13600	0.64	194.6	505.7	13.2	1305	13601	0.00	0.00	0.00	0.000	6	0.000	0.000	2984	2276	2026
13910	0.64	194.6	466.5	12.3	1335	13912	0.00	1.62	0.00	0.000	4	0.000	0.053	2984	3189	2026
13952	0.64	194.6	460.8	13.1	1339	13955	0.10	1.58	0.00	0.000	6	0.145	0.035	2949	2276	2026
14274	0.64	194.6	427.9	9.7	1370	14274	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2277	2026
14583	0.64	194.6	395.9	10.3	1400	14584	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2278	2026
14894	0.64	194.6	364.0	10.3	1430	14895	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2278	2026
15204	0.64	194.6	331.6	10.7	1460	15205	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2278	2026
15515	0.64	194.6	299.1	10.0	1490	15518	0.00	1.60	0.00	0.000	4	0.000	0.051	2949	3160	2026
15568	0.64	194.6	293.3	10.4	1495	15571	0.00	1.52	0.00	0.000	6	0.000	0.034	2954	2275	2026
15891	0.64	194.6	259.7	10.6	1526	15891	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2275	2026
16200	0.64	194.6	226.3	10.6	1556	16203	0.00	1.60	0.00	0.000	4	0.000	0.049	2954	3162	2026
16279	0.64	194.6	217.2	11.2	1563	16286	0.00	1.52	0.00	0.000	6	0.000	0.032	2962	2272	2027
16597	0.64	194.6	181.2	10.7	1594	16601	0.00	1.60	0.00	0.000	4	0.000	0.048	2962	3160	2028
16650	0.64	194.6	174.7	11.6	1599	16653	0.00	1.52	0.00	0.000	6	0.000	0.031	2969	2270	2028
16974	0.64	194.6	138.0	10.8	1630	16974	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2271	2029
17282	0.64	194.6	105.1	10.3	1660	17285	0.00	1.60	0.00	0.000	4	0.000	0.048	2969	3162	2030
17357	0.64	194.6	96.5	12.8	1667	17360	0.00	1.50	0.00	0.000	6	0.000	0.031	2977	2276	2030
17554	0.64	194.6	74.6	10.0	1686	17555	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2277	2030
17740	0.64	194.6	57.4	8.6	1704	17743	0.00	1.60	0.00	0.000	4	0.000	0.047	2976	3171	2031
17808	0.64	194.6	51.8	7.7	1710	17816	0.08	1.52	0.00	0.000	6	0.125	0.028	2957	2268	2031
18001	0.75	282.6	41.0	5.2	1729	18074	0.00	0.00	66.18	0.535	6	0.000	0.000	2957	2269	1688
18260	0.85	364.7	29.4	5.3	1754	18326	0.17	1.67	62.12	0.515	4	0.071	0.044	3024	3171	1352
18348	0.86	377.0	23.7	7.2	1762	18362	0.00	1.55	10.18	0.452	6	0.000	0.028	3029	2272	1304
18556	1.00	485.5	10.1	4.6	1782	18642	0.12	1.23	80.80	0.492	4	0.077	0.035	3076	1361	858
18722	end climb: SURFACE_DEPTH_REACHED
state	18722	begin surface coast
18754	end surface coast: CONTROL_FINISHED_OK
state	18754	begin surface