Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 289 * 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 289 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -23960.717 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 -23960.717

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 29 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 29 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 289 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 120400,2843.535,-8828.139,37,1.6,43,-0.4 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.034,0.262

_SM_DEPTHo 1.78 KALMAN_X 25815.6,587.7,227.1,9158.2,2472.7

_SM_ANGLEo -68.6 KALMAN_Y -434118.4,5.4,-292.1,462752.4,-7386.4

GPS2 121026,2843.665,-8828.113,11,1.8,11,-0.4 MHEAD_RNG_PITCHd_Wd 49.5,3434,-26.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1407

Post-dive calculations and measurements:

FINISH 0.8,1.006705 _24V_AH 23.5,50.680

SM_CCo 17769,133.52,0.470,0,0,403,597.54 _10V_AH 10.6,69.799

SM_GC 1.83,0.00,0.00,133.52,0.000,0.000,0.470,197,2312,403,-7.97,-0.37,597.54 DATA_FILE_SIZE 88143,1694

IRIDIUM_FIX 2848.21,-8836.29,161099,060608 CAP_FILE_SIZE 164756,0

TT8_MAMPS 0.051389 CFSIZE 260165632,229310464

HUMID 1333 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.3363 CURRENT 0.124,119.9,1

TCM_TEMP 26.30 GPS 220710,171031,2844.085,-8825.774,40,0.9,40,-0.4

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 125.14 SBE_CT 1158 24 653.43

Roll_motor 82 69 135.32 SBE_O2 1248 19 557.48

VBD_pump_during_apogee 345 1218 9891.86 WL_BBFL2VMT 3807 105 9395.30

VBD_pump_during_surface 133 470 1475.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 68.80 nil 0 0 0.00

Iridium_during_connect 25 160 96.20 nil 0 0 0.00

Iridium_during_xfer 201 223 1055.88

Transponder_ping 4 420 39.48

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.80

TT8 0 19 0.00

LPSleep 11705 2 271.73

TT8_Active 555 19 116.56

TT8_Sampling 5366 39 2263.85

TT8_CF8 630 45 306.00

TT8_Kalman 33 81 28.91

Analog_circuits 2088 12 265.65

GPS_charging 0 0 0.00

Compass 4813 8 408.22

RAFOS 0 0 0.00

Transponder 30 30 9.64

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 -1.04 -41.0 0.0 0.0 0 58 0.00 0.00 -43.55 0.000 2 0.000 0.000 195 2333 1686

60 -1.08 -71.1 3.1 -3.8 4 119 9.95 1.55 -40.42 0.000 4 0.254 0.060 2384 3225 3131

358 -1.08 -71.1 60.6 -12.5 31 366 0.00 1.45 0.00 0.000 6 0.000 0.025 2389 2325 3133

552 -1.08 -71.1 81.0 -9.6 50 555 0.00 1.50 0.00 0.000 4 0.000 0.041 2383 3218 3133

797 -1.08 -71.1 107.1 -10.8 73 800 0.00 1.45 0.00 0.000 6 0.000 0.027 2389 2318 3135

1120 -1.08 -71.1 144.7 -11.3 104 1123 0.00 1.52 0.00 0.000 4 0.000 0.041 2383 3218 3135

1241 -1.08 -71.1 158.9 -12.1 115 1249 0.00 1.45 0.00 0.000 6 0.000 0.026 2389 2321 3135

1560 -1.08 -71.1 196.0 -10.9 146 1561 0.00 0.00 0.00 0.000 6 0.000 0.000 2389 2322 3135

1869 -1.08 -71.1 232.4 -11.7 176 1869 0.00 0.00 0.00 0.000 6 0.000 0.000 2389 2321 3134

2179 -1.08 -71.1 269.6 -11.8 206 2182 0.00 1.23 0.00 0.000 4 0.000 0.037 2394 1410 3133

2425 -1.08 -71.1 298.5 -12.0 229 2428 0.00 1.25 0.00 0.000 6 0.000 0.035 2389 2319 3132

2748 -1.08 -71.1 336.2 -11.5 260 2751 0.00 1.25 0.00 0.000 4 0.000 0.038 2392 1409 3130

2993 -1.08 -71.1 364.7 -11.1 283 2996 0.00 1.27 0.00 0.000 6 0.000 0.037 2388 2328 3128

3316 -1.08 -71.1 401.9 -11.3 314 3317 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2328 3126

3625 -1.08 -71.1 435.9 -11.0 344 3626 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2328 3124

3935 -1.08 -71.1 469.8 -11.1 374 3938 0.00 1.50 0.00 0.000 4 0.000 0.046 2380 3213 3122

4010 -1.08 -71.1 478.8 -11.9 381 4013 0.00 1.45 0.00 0.000 6 0.000 0.031 2387 2327 3122

4333 -1.08 -71.1 516.5 -12.6 412 4336 0.00 1.25 0.00 0.000 4 0.000 0.041 2390 1422 3120

4506 -1.08 -71.1 536.0 -11.5 428 4509 0.00 1.25 0.00 0.000 6 0.000 0.039 2386 2312 3119

4828 -1.08 -71.1 571.6 -10.9 459 4831 0.00 1.55 0.00 0.000 4 0.000 0.048 2378 3215 3116

4881 -1.08 -71.1 578.1 -12.1 464 4884 0.00 1.48 0.00 0.000 6 0.000 0.032 2378 2325 3116

5204 -1.08 -71.1 613.9 -11.8 495 5207 0.00 1.25 0.00 0.000 4 0.000 0.041 2378 1421 3114

5294 -1.08 -71.1 624.3 -10.6 503 5301 0.00 1.30 0.00 0.000 6 0.000 0.040 2372 2327 3113

5612 -1.08 -71.1 660.7 -11.3 534 5616 0.00 1.27 0.00 0.000 4 0.000 0.041 2374 1424 3112

5751 -1.08 -71.1 676.4 -11.0 547 5754 0.00 1.27 0.00 0.000 6 0.000 0.041 2369 2325 3110

6074 -1.08 -71.1 710.5 -10.8 578 6075 0.12 0.00 0.00 0.000 6 0.213 0.000 2395 2325 3108

6384 -1.08 -71.1 739.9 -9.7 608 6387 0.00 1.27 0.00 0.000 4 0.000 0.042 2401 1415 3107

6629 -1.08 -71.1 763.0 -9.1 631 6632 0.00 1.30 0.00 0.000 6 0.000 0.041 2397 2327 3105

6952 -1.08 -71.1 793.5 -9.2 662 6955 0.00 1.30 0.00 0.000 4 0.000 0.044 2401 1414 3104

7112 -1.08 -71.1 809.5 -10.0 677 7115 0.00 1.30 0.00 0.000 6 0.000 0.042 2397 2326 3103

7435 -1.08 -71.1 840.8 -9.9 708 7436 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2326 3101

7743 -1.08 -71.1 871.1 -9.5 738 7746 0.00 1.27 0.00 0.000 4 0.000 0.044 2401 1426 3099

7925 -1.08 -71.1 889.1 -10.1 755 7927 0.00 1.27 0.00 0.000 6 0.000 0.044 2397 2318 3098

8245 -1.08 -71.1 919.6 -9.4 786 8250 0.00 1.27 0.00 0.000 4 0.000 0.044 2400 1419 3098

8342 -1.08 -71.1 928.7 -8.8 795 8345 0.00 1.30 0.00 0.000 6 0.000 0.044 2396 2325 3097

8663 -1.08 -71.1 959.3 -9.4 826 8664 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2325 3095

8973 -1.08 -71.1 989.2 -9.6 856 8974 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2326 3094

8983 end dive: TARGET_DEPTH_EXCEEDED

state 8983 begin apogee

8988 -0.26 0.0 990.2 9.6 857 9046 0.98 0.00 53.78 1.219 6 0.183 0.000 2658 2267 2840

9046 end apogee: CONTROL_FINISHED_OK

state 9047 begin climb

9049 1.08 71.1 992.0 0.0 863 9117 1.33 0.00 62.58 1.213 6 0.101 0.000 3088 2268 2550

9425 1.08 71.1 941.7 15.1 900 9428 0.00 1.62 0.00 0.000 4 0.000 0.052 3086 3158 2542

9478 1.08 71.1 933.2 16.6 905 9481 0.00 1.55 0.00 0.000 6 0.000 0.035 3093 2270 2541

9801 1.08 71.1 886.0 14.6 936 9802 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 2267 2540

10109 1.08 71.1 840.7 14.8 966 10110 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 2267 2538

10421 1.08 71.1 795.7 14.1 996 10423 0.00 1.62 0.00 0.000 4 0.000 0.054 3094 3178 2538

10538 1.08 71.1 777.0 15.7 1007 10541 0.00 1.55 0.00 0.000 6 0.000 0.036 3102 2274 2537

10861 1.08 71.1 730.0 14.1 1038 10864 0.00 1.20 0.00 0.000 4 0.000 0.041 3108 1372 2537

10903 1.08 71.1 723.8 14.5 1042 10906 0.00 1.25 0.00 0.000 6 0.000 0.044 3104 2274 2537

11224 1.08 71.1 678.2 14.4 1073 11227 0.00 1.23 0.00 0.000 4 0.000 0.041 3108 1375 2536

11271 1.08 71.1 671.4 14.6 1077 11279 0.00 1.27 0.00 0.000 6 0.000 0.044 3104 2277 2536

11589 1.08 71.1 628.1 13.7 1108 11590 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2277 2536

11898 1.08 71.1 584.7 13.6 1138 11899 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2278 2535

12208 1.08 71.1 542.5 13.3 1168 12209 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2278 2535

12519 1.08 71.1 501.9 11.8 1198 12522 0.00 1.60 0.00 0.000 4 0.000 0.054 3100 3166 2535

12555 1.08 71.1 496.9 13.3 1201 12564 0.00 1.55 0.00 0.000 6 0.000 0.035 3106 2269 2534

12874 1.08 71.1 455.0 13.3 1232 12877 0.00 1.62 0.00 0.000 4 0.000 0.053 3100 3180 2534

12948 1.08 71.1 444.5 15.0 1239 12951 0.00 1.55 0.00 0.000 6 0.000 0.035 3107 2275 2534

13269 1.08 71.1 401.7 12.8 1270 13272 0.00 1.62 0.00 0.000 4 0.000 0.052 3103 3166 2534

13466 1.08 71.1 374.5 13.4 1288 13473 0.00 1.52 0.00 0.000 6 0.000 0.033 3111 2277 2534

13784 1.08 71.1 332.6 13.6 1319 13785 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2278 2534

14093 1.08 71.1 291.2 13.5 1349 14093 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2277 2534

14404 1.08 71.1 250.5 13.3 1379 14407 0.00 1.20 0.00 0.000 4 0.000 0.039 3117 1369 2535

14472 1.08 71.1 241.4 13.2 1385 14480 0.00 1.27 0.00 0.000 6 0.000 0.041 3114 2281 2535

14790 1.08 71.1 199.7 13.2 1416 14793 0.00 1.58 0.00 0.000 4 0.000 0.050 3114 3169 2535

14868 1.08 71.1 188.8 12.7 1423 14876 0.00 1.52 0.00 0.000 6 0.000 0.031 3120 2272 2535

15186 1.08 71.1 147.1 12.8 1454 15187 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 2273 2535

15496 1.08 71.1 112.1 10.8 1484 15499 0.00 1.60 0.00 0.000 4 0.000 0.048 3119 3184 2537

15570 1.08 71.1 103.4 11.5 1491 15574 0.10 1.55 0.00 0.000 6 0.187 0.031 3097 2272 2537

15891 1.08 71.1 73.7 7.5 1522 15894 0.00 1.62 0.00 0.000 4 0.000 0.048 3090 3176 2538

16138 1.10 84.3 59.1 5.9 1545 16152 0.00 1.52 10.20 0.501 6 0.000 0.029 3097 2268 2496

16334 1.15 125.1 51.2 2.5 1564 16371 0.00 1.67 32.58 0.540 4 0.000 0.045 3090 3183 2329

16403 1.16 139.2 49.1 5.8 1570 16419 0.00 1.55 12.40 0.498 6 0.000 0.029 3097 2272 2271

16608 1.25 206.4 40.0 -0.8 1589 16670 0.15 1.67 51.38 0.530 4 0.071 0.044 3158 3179 1996

16910 1.25 206.4 13.5 9.9 1616 16917 0.00 1.52 0.00 0.000 6 0.000 0.027 3165 2270 1989

17102 1.31 260.7 11.3 0.8 1635 17152 0.00 1.23 40.47 0.491 4 0.000 0.032 3170 1354 1777

17316 1.36 302.1 6.4 2.4 1654 17351 0.00 1.25 31.60 0.476 6 0.000 0.032 3171 2281 1607

17540 1.45 369.6 5.5 -0.8 1675 17594 0.12 1.60 50.40 0.476 4 0.067 0.041 3233 3178 1332

17669 end climb: SURFACE_DEPTH_REACHED

state 17669 begin surface coast

17752 end surface coast: CONTROL_FINISHED_OK

state 17752 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	289	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-23960.717	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	120400,2843.535,-8828.139,37,1.6,43,-0.4	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.034,0.262
_SM_DEPTHo	1.78	KALMAN_X	25815.6,587.7,227.1,9158.2,2472.7
_SM_ANGLEo	-68.6	KALMAN_Y	-434118.4,5.4,-292.1,462752.4,-7386.4
GPS2	121026,2843.665,-8828.113,11,1.8,11,-0.4	MHEAD_RNG_PITCHd_Wd	49.5,3434,-26.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1407

FINISH	0.8,1.006705	_24V_AH	23.5,50.680
SM_CCo	17769,133.52,0.470,0,0,403,597.54	_10V_AH	10.6,69.799
SM_GC	1.83,0.00,0.00,133.52,0.000,0.000,0.470,197,2312,403,-7.97,-0.37,597.54	DATA_FILE_SIZE	88143,1694
IRIDIUM_FIX	2848.21,-8836.29,161099,060608	CAP_FILE_SIZE	164756,0
TT8_MAMPS	0.051389	CFSIZE	260165632,229310464
HUMID	1333	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.3363	CURRENT	0.124,119.9,1
TCM_TEMP	26.30	GPS	220710,171031,2844.085,-8825.774,40,0.9,40,-0.4
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	125.14	SBE_CT	1158	24	653.43
Roll_motor	82	69	135.32	SBE_O2	1248	19	557.48
VBD_pump_during_apogee	345	1218	9891.86	WL_BBFL2VMT	3807	105	9395.30
VBD_pump_during_surface	133	470	1475.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	68.80	nil	0	0	0.00
Iridium_during_connect	25	160	96.20	nil	0	0	0.00
Iridium_during_xfer	201	223	1055.88
Transponder_ping	4	420	39.48
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.80
TT8	0	19	0.00
LPSleep	11705	2	271.73
TT8_Active	555	19	116.56
TT8_Sampling	5366	39	2263.85
TT8_CF8	630	45	306.00
TT8_Kalman	33	81	28.91
Analog_circuits	2088	12	265.65
GPS_charging	0	0	0.00
Compass	4813	8	408.22
RAFOS	0	0	0.00
Transponder	30	30	9.64

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	-1.04	-41.0	0.0	0.0	0	58	0.00	0.00	-43.55	0.000	2	0.000	0.000	195	2333	1686
60	-1.08	-71.1	3.1	-3.8	4	119	9.95	1.55	-40.42	0.000	4	0.254	0.060	2384	3225	3131
358	-1.08	-71.1	60.6	-12.5	31	366	0.00	1.45	0.00	0.000	6	0.000	0.025	2389	2325	3133
552	-1.08	-71.1	81.0	-9.6	50	555	0.00	1.50	0.00	0.000	4	0.000	0.041	2383	3218	3133
797	-1.08	-71.1	107.1	-10.8	73	800	0.00	1.45	0.00	0.000	6	0.000	0.027	2389	2318	3135
1120	-1.08	-71.1	144.7	-11.3	104	1123	0.00	1.52	0.00	0.000	4	0.000	0.041	2383	3218	3135
1241	-1.08	-71.1	158.9	-12.1	115	1249	0.00	1.45	0.00	0.000	6	0.000	0.026	2389	2321	3135
1560	-1.08	-71.1	196.0	-10.9	146	1561	0.00	0.00	0.00	0.000	6	0.000	0.000	2389	2322	3135
1869	-1.08	-71.1	232.4	-11.7	176	1869	0.00	0.00	0.00	0.000	6	0.000	0.000	2389	2321	3134
2179	-1.08	-71.1	269.6	-11.8	206	2182	0.00	1.23	0.00	0.000	4	0.000	0.037	2394	1410	3133
2425	-1.08	-71.1	298.5	-12.0	229	2428	0.00	1.25	0.00	0.000	6	0.000	0.035	2389	2319	3132
2748	-1.08	-71.1	336.2	-11.5	260	2751	0.00	1.25	0.00	0.000	4	0.000	0.038	2392	1409	3130
2993	-1.08	-71.1	364.7	-11.1	283	2996	0.00	1.27	0.00	0.000	6	0.000	0.037	2388	2328	3128
3316	-1.08	-71.1	401.9	-11.3	314	3317	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2328	3126
3625	-1.08	-71.1	435.9	-11.0	344	3626	0.00	0.00	0.00	0.000	6	0.000	0.000	2388	2328	3124
3935	-1.08	-71.1	469.8	-11.1	374	3938	0.00	1.50	0.00	0.000	4	0.000	0.046	2380	3213	3122
4010	-1.08	-71.1	478.8	-11.9	381	4013	0.00	1.45	0.00	0.000	6	0.000	0.031	2387	2327	3122
4333	-1.08	-71.1	516.5	-12.6	412	4336	0.00	1.25	0.00	0.000	4	0.000	0.041	2390	1422	3120
4506	-1.08	-71.1	536.0	-11.5	428	4509	0.00	1.25	0.00	0.000	6	0.000	0.039	2386	2312	3119
4828	-1.08	-71.1	571.6	-10.9	459	4831	0.00	1.55	0.00	0.000	4	0.000	0.048	2378	3215	3116
4881	-1.08	-71.1	578.1	-12.1	464	4884	0.00	1.48	0.00	0.000	6	0.000	0.032	2378	2325	3116
5204	-1.08	-71.1	613.9	-11.8	495	5207	0.00	1.25	0.00	0.000	4	0.000	0.041	2378	1421	3114
5294	-1.08	-71.1	624.3	-10.6	503	5301	0.00	1.30	0.00	0.000	6	0.000	0.040	2372	2327	3113
5612	-1.08	-71.1	660.7	-11.3	534	5616	0.00	1.27	0.00	0.000	4	0.000	0.041	2374	1424	3112
5751	-1.08	-71.1	676.4	-11.0	547	5754	0.00	1.27	0.00	0.000	6	0.000	0.041	2369	2325	3110
6074	-1.08	-71.1	710.5	-10.8	578	6075	0.12	0.00	0.00	0.000	6	0.213	0.000	2395	2325	3108
6384	-1.08	-71.1	739.9	-9.7	608	6387	0.00	1.27	0.00	0.000	4	0.000	0.042	2401	1415	3107
6629	-1.08	-71.1	763.0	-9.1	631	6632	0.00	1.30	0.00	0.000	6	0.000	0.041	2397	2327	3105
6952	-1.08	-71.1	793.5	-9.2	662	6955	0.00	1.30	0.00	0.000	4	0.000	0.044	2401	1414	3104
7112	-1.08	-71.1	809.5	-10.0	677	7115	0.00	1.30	0.00	0.000	6	0.000	0.042	2397	2326	3103
7435	-1.08	-71.1	840.8	-9.9	708	7436	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	2326	3101
7743	-1.08	-71.1	871.1	-9.5	738	7746	0.00	1.27	0.00	0.000	4	0.000	0.044	2401	1426	3099
7925	-1.08	-71.1	889.1	-10.1	755	7927	0.00	1.27	0.00	0.000	6	0.000	0.044	2397	2318	3098
8245	-1.08	-71.1	919.6	-9.4	786	8250	0.00	1.27	0.00	0.000	4	0.000	0.044	2400	1419	3098
8342	-1.08	-71.1	928.7	-8.8	795	8345	0.00	1.30	0.00	0.000	6	0.000	0.044	2396	2325	3097
8663	-1.08	-71.1	959.3	-9.4	826	8664	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2325	3095
8973	-1.08	-71.1	989.2	-9.6	856	8974	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2326	3094
8983	end dive: TARGET_DEPTH_EXCEEDED
state	8983	begin apogee
8988	-0.26	0.0	990.2	9.6	857	9046	0.98	0.00	53.78	1.219	6	0.183	0.000	2658	2267	2840
9046	end apogee: CONTROL_FINISHED_OK
state	9047	begin climb
9049	1.08	71.1	992.0	0.0	863	9117	1.33	0.00	62.58	1.213	6	0.101	0.000	3088	2268	2550
9425	1.08	71.1	941.7	15.1	900	9428	0.00	1.62	0.00	0.000	4	0.000	0.052	3086	3158	2542
9478	1.08	71.1	933.2	16.6	905	9481	0.00	1.55	0.00	0.000	6	0.000	0.035	3093	2270	2541
9801	1.08	71.1	886.0	14.6	936	9802	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	2267	2540
10109	1.08	71.1	840.7	14.8	966	10110	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	2267	2538
10421	1.08	71.1	795.7	14.1	996	10423	0.00	1.62	0.00	0.000	4	0.000	0.054	3094	3178	2538
10538	1.08	71.1	777.0	15.7	1007	10541	0.00	1.55	0.00	0.000	6	0.000	0.036	3102	2274	2537
10861	1.08	71.1	730.0	14.1	1038	10864	0.00	1.20	0.00	0.000	4	0.000	0.041	3108	1372	2537
10903	1.08	71.1	723.8	14.5	1042	10906	0.00	1.25	0.00	0.000	6	0.000	0.044	3104	2274	2537
11224	1.08	71.1	678.2	14.4	1073	11227	0.00	1.23	0.00	0.000	4	0.000	0.041	3108	1375	2536
11271	1.08	71.1	671.4	14.6	1077	11279	0.00	1.27	0.00	0.000	6	0.000	0.044	3104	2277	2536
11589	1.08	71.1	628.1	13.7	1108	11590	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2277	2536
11898	1.08	71.1	584.7	13.6	1138	11899	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2278	2535
12208	1.08	71.1	542.5	13.3	1168	12209	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2278	2535
12519	1.08	71.1	501.9	11.8	1198	12522	0.00	1.60	0.00	0.000	4	0.000	0.054	3100	3166	2535
12555	1.08	71.1	496.9	13.3	1201	12564	0.00	1.55	0.00	0.000	6	0.000	0.035	3106	2269	2534
12874	1.08	71.1	455.0	13.3	1232	12877	0.00	1.62	0.00	0.000	4	0.000	0.053	3100	3180	2534
12948	1.08	71.1	444.5	15.0	1239	12951	0.00	1.55	0.00	0.000	6	0.000	0.035	3107	2275	2534
13269	1.08	71.1	401.7	12.8	1270	13272	0.00	1.62	0.00	0.000	4	0.000	0.052	3103	3166	2534
13466	1.08	71.1	374.5	13.4	1288	13473	0.00	1.52	0.00	0.000	6	0.000	0.033	3111	2277	2534
13784	1.08	71.1	332.6	13.6	1319	13785	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2278	2534
14093	1.08	71.1	291.2	13.5	1349	14093	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2277	2534
14404	1.08	71.1	250.5	13.3	1379	14407	0.00	1.20	0.00	0.000	4	0.000	0.039	3117	1369	2535
14472	1.08	71.1	241.4	13.2	1385	14480	0.00	1.27	0.00	0.000	6	0.000	0.041	3114	2281	2535
14790	1.08	71.1	199.7	13.2	1416	14793	0.00	1.58	0.00	0.000	4	0.000	0.050	3114	3169	2535
14868	1.08	71.1	188.8	12.7	1423	14876	0.00	1.52	0.00	0.000	6	0.000	0.031	3120	2272	2535
15186	1.08	71.1	147.1	12.8	1454	15187	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	2273	2535
15496	1.08	71.1	112.1	10.8	1484	15499	0.00	1.60	0.00	0.000	4	0.000	0.048	3119	3184	2537
15570	1.08	71.1	103.4	11.5	1491	15574	0.10	1.55	0.00	0.000	6	0.187	0.031	3097	2272	2537
15891	1.08	71.1	73.7	7.5	1522	15894	0.00	1.62	0.00	0.000	4	0.000	0.048	3090	3176	2538
16138	1.10	84.3	59.1	5.9	1545	16152	0.00	1.52	10.20	0.501	6	0.000	0.029	3097	2268	2496
16334	1.15	125.1	51.2	2.5	1564	16371	0.00	1.67	32.58	0.540	4	0.000	0.045	3090	3183	2329
16403	1.16	139.2	49.1	5.8	1570	16419	0.00	1.55	12.40	0.498	6	0.000	0.029	3097	2272	2271
16608	1.25	206.4	40.0	-0.8	1589	16670	0.15	1.67	51.38	0.530	4	0.071	0.044	3158	3179	1996
16910	1.25	206.4	13.5	9.9	1616	16917	0.00	1.52	0.00	0.000	6	0.000	0.027	3165	2270	1989
17102	1.31	260.7	11.3	0.8	1635	17152	0.00	1.23	40.47	0.491	4	0.000	0.032	3170	1354	1777
17316	1.36	302.1	6.4	2.4	1654	17351	0.00	1.25	31.60	0.476	6	0.000	0.032	3171	2281	1607
17540	1.45	369.6	5.5	-0.8	1675	17594	0.12	1.60	50.40	0.476	4	0.067	0.041	3233	3178	1332
17669	end climb: SURFACE_DEPTH_REACHED
state	17669	begin surface coast
17752	end surface coast: CONTROL_FINISHED_OK
state	17752	begin surface