Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 291 * 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 291 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 33 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 -24877.91 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 -24877.91

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 33 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 291 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 223324,2842.927,-8827.727,35,1.7,35,-0.4 TGT_NAME NEW0617E

_CALLS 2 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.235,0.122

_SM_DEPTHo 1.68 KALMAN_X 33554.5,-502.7,269.2,3251.4,4075.8

_SM_ANGLEo -69.2 KALMAN_Y -451599.8,163.1,-618.6,471204.3,-9866.0

GPS2 223324,2842.927,-8827.727,35,1.7,35,-0.4 MHEAD_RNG_PITCHd_Wd 309.1,28075,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1373

Post-dive calculations and measurements:

FINISH 0.7,1.008085 _24V_AH 22.7,51.026

SM_CCo 18826,81.05,0.478,0,0,402,597.54 _10V_AH 10.5,70.288

SM_GC 1.72,0.00,0.00,81.05,0.000,0.000,0.478,199,2355,402,-7.96,0.85,597.54 DATA_FILE_SIZE 94384,1801

IRIDIUM_FIX 2833.46,-8829.10,161099,222227 CAP_FILE_SIZE 174908,0

TT8_MAMPS 0.052156 CFSIZE 260165632,229105664

HUMID 1391 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2777 CURRENT 0.062,136.5,1

TCM_TEMP 24.10 GPS 230710,041536,2843.954,-8829.896,28,0.9,28,-0.4

XPDR_PINGS 138

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 243 109.90 SBE_CT 1231 24 671.09

Roll_motor 86 72 142.22 SBE_O2 1312 19 566.16

VBD_pump_during_apogee 517 1241 14573.32 WL_BBFL2VMT 4047 105 9646.44

VBD_pump_during_surface 81 477 879.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 103 122.62 nil 0 0 0.00

Iridium_during_connect 66 160 242.14 nil 0 0 0.00

Iridium_during_xfer 327 223 1657.29

Transponder_ping 38 420 364.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 903 50 474.33

TT8 0 19 0.00

LPSleep 12649 2 290.88

TT8_Active 639 19 132.93

TT8_Sampling 6289 39 2628.34

TT8_CF8 830 45 399.48

TT8_Kalman 33 81 28.64

Analog_circuits 2190 12 275.98

GPS_charging 0 0 0.00

Compass 4816 8 404.55

RAFOS 0 0 0.00

Transponder 31 30 10.05

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.64 -194.6 0.0 0.0 0 71 0.00 0.00 -54.53 0.000 2 0.000 0.000 192 2339 1998

74 -0.64 -194.6 3.1 -3.3 5 133 10.30 1.45 -43.12 0.000 4 0.244 0.060 2530 3234 3634

165 -0.64 -194.6 16.2 -30.0 13 168 0.00 1.48 0.00 0.000 6 0.000 0.028 2535 2331 3635

362 -0.64 -194.6 56.6 -16.0 32 365 0.00 1.25 0.00 0.000 4 0.000 0.034 2537 1397 3635

608 -0.64 -194.6 87.9 -12.8 55 611 0.00 1.25 0.00 0.000 6 0.000 0.033 2533 2320 3635

805 -0.64 -194.6 111.4 -11.8 74 808 0.00 1.23 0.00 0.000 4 0.000 0.035 2533 1409 3636

955 -0.64 -194.6 129.7 -11.6 88 957 0.00 1.25 0.00 0.000 6 0.000 0.035 2528 2324 3636

1277 -0.64 -194.6 169.2 -11.7 119 1280 0.00 1.25 0.00 0.000 4 0.000 0.035 2527 1405 3634

1320 -0.64 -194.6 174.4 -11.8 123 1323 0.00 1.27 0.00 0.000 6 0.000 0.035 2522 2328 3634

1642 -0.64 -194.6 212.1 -11.9 154 1645 0.00 1.25 0.00 0.000 4 0.000 0.036 2522 1413 3631

1711 -0.64 -194.6 220.6 -11.7 160 1718 0.00 1.25 0.00 0.000 6 0.000 0.035 2517 2321 3631

2028 -0.64 -194.6 259.0 -11.7 191 2031 0.00 1.25 0.00 0.000 4 0.000 0.037 2516 1401 3628

2125 -0.64 -194.6 271.2 -12.6 200 2128 0.00 1.27 0.00 0.000 6 0.000 0.037 2510 2326 3627

2447 -0.64 -194.6 311.9 -12.3 231 2450 0.12 1.25 0.00 0.000 4 0.143 0.035 2543 1414 3624

2483 -0.64 -194.6 316.1 -10.3 234 2490 0.00 1.30 0.00 0.000 6 0.000 0.037 2539 2334 3624

2802 -0.64 -194.6 347.7 -9.7 265 2805 0.00 1.27 0.00 0.000 4 0.000 0.038 2539 1408 3621

2849 -0.64 -194.6 352.7 -10.2 269 2856 0.00 1.27 0.00 0.000 6 0.000 0.038 2533 2326 3620

3167 -0.64 -194.6 385.0 -10.2 300 3170 0.00 1.25 0.00 0.000 4 0.000 0.038 2534 1413 3617

3246 -0.64 -194.6 393.4 -10.3 307 3253 0.00 1.30 0.00 0.000 6 0.000 0.038 2529 2336 3617

3564 -0.64 -194.6 425.8 -10.0 338 3567 0.00 1.30 0.00 0.000 4 0.000 0.038 2529 1399 3615

3681 -0.64 -194.6 437.3 -9.4 349 3685 0.00 1.30 0.00 0.000 6 0.000 0.041 2523 2329 3614

4004 -0.64 -194.6 469.1 -9.7 380 4007 0.00 1.27 0.00 0.000 4 0.000 0.040 2523 1404 3610

4047 -0.64 -194.6 473.4 -9.9 384 4050 0.00 1.27 0.00 0.000 6 0.000 0.041 2518 2315 3610

4369 -0.64 -194.6 506.0 -10.2 415 4370 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2315 3607

4678 -0.64 -194.6 537.8 -10.4 445 4679 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2315 3605

4989 -0.64 -194.6 569.7 -10.1 475 4992 0.00 1.25 0.00 0.000 4 0.000 0.041 2518 1419 3602

5047 -0.64 -194.6 576.0 -9.8 480 5054 0.00 1.27 0.00 0.000 6 0.000 0.042 2512 2322 3601

5365 -0.64 -194.6 609.8 -10.7 511 5365 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2322 3599

5674 -0.64 -194.6 644.0 -11.1 541 5675 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2322 3596

5984 -0.64 -194.6 676.9 -10.7 571 5987 0.00 1.27 0.00 0.000 4 0.000 0.043 2513 1414 3594

6020 -0.64 -194.6 680.9 -10.9 574 6027 0.08 1.33 0.00 0.000 6 0.144 0.042 2532 2337 3594

6336 -0.64 -194.6 709.1 -8.8 605 6339 0.00 1.30 0.00 0.000 4 0.000 0.042 2532 1419 3592

6401 -0.64 -194.6 714.9 -8.9 611 6403 0.00 1.30 0.00 0.000 6 0.000 0.044 2529 2326 3591

6723 -0.64 -194.6 744.3 -8.9 642 6724 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2326 3589

7032 -0.64 -194.6 772.9 -9.1 672 7033 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2326 3587

7343 -0.64 -194.6 800.6 -9.1 702 7344 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2326 3586

7653 -0.64 -194.6 828.7 -8.8 732 7656 0.00 1.27 0.00 0.000 4 0.000 0.044 2529 1424 3584

7717 -0.64 -194.6 834.3 -7.8 738 7719 0.00 1.30 0.00 0.000 6 0.000 0.047 2524 2326 3584

8038 -0.64 -194.6 863.1 -8.9 769 8039 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2326 3582

8348 -0.64 -194.6 891.8 -9.2 799 8349 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2327 3581

8660 -0.64 -194.6 919.4 -8.8 829 8661 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2326 3580

8969 -0.64 -194.6 946.1 -8.1 859 8969 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2327 3578

9279 -0.64 -194.6 971.6 -8.1 889 9280 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2326 3576

9516 end dive: TARGET_DEPTH_EXCEEDED

state 9516 begin apogee

9522 -0.26 0.0 990.8 8.1 912 9678 0.43 0.00 150.85 1.242 6 0.134 0.000 2656 2270 2840

9679 end apogee: CONTROL_FINISHED_OK

state 9679 begin climb

9681 0.64 194.6 994.8 0.0 928 9863 0.90 1.83 170.07 1.213 4 0.101 0.058 2941 3155 2044

9888 0.64 194.6 977.6 12.0 945 9896 0.00 1.65 0.00 0.000 6 0.000 0.035 2948 2273 2040

10206 0.64 194.6 941.4 11.5 976 10207 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2274 2034

10516 0.64 194.6 905.8 11.5 1006 10517 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2274 2033

10826 0.64 194.6 870.2 11.3 1036 10827 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2275 2031

11137 0.64 194.6 835.0 11.4 1066 11140 0.00 1.62 0.00 0.000 4 0.000 0.055 2948 3166 2030

11179 0.64 194.6 830.0 12.1 1070 11182 0.00 1.55 0.00 0.000 6 0.000 0.037 2955 2272 2029

11500 0.64 194.6 793.0 11.5 1101 11503 0.00 1.20 0.00 0.000 4 0.000 0.043 2961 1377 2029

11543 0.64 194.6 788.0 12.0 1105 11546 0.00 1.23 0.00 0.000 6 0.000 0.044 2961 2265 2029

11864 0.64 194.6 750.0 11.4 1136 11867 0.00 1.62 0.00 0.000 4 0.000 0.054 2961 3164 2028

11900 0.64 194.6 745.4 11.9 1139 11907 0.00 1.55 0.00 0.000 6 0.000 0.036 2968 2270 2027

12218 0.64 194.6 707.5 12.0 1170 12219 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2271 2027

12528 0.64 194.6 670.5 11.8 1200 12528 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2271 2027

12837 0.64 194.6 633.6 12.0 1230 12840 0.00 1.62 0.00 0.000 4 0.000 0.054 2968 3181 2027

12880 0.64 194.6 628.3 11.3 1234 12883 0.00 1.58 0.00 0.000 6 0.000 0.037 2976 2272 2026

13203 0.64 194.6 588.3 12.8 1265 13203 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2274 2026

13512 0.64 194.6 548.7 12.8 1295 13515 0.00 1.60 0.00 0.000 4 0.000 0.054 2976 3170 2026

13548 0.64 194.6 543.7 12.8 1298 13555 0.08 1.55 0.00 0.000 6 0.143 0.035 2959 2274 2025

13865 0.64 194.6 507.4 11.5 1329 13865 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2274 2025

14175 0.64 194.6 472.6 11.3 1359 14178 0.00 1.60 0.00 0.000 4 0.000 0.053 2959 3174 2025

14217 0.64 194.6 467.7 11.9 1363 14220 0.00 1.55 0.00 0.000 6 0.000 0.035 2965 2275 2025

14540 0.64 194.6 431.1 11.2 1394 14543 0.00 1.20 0.00 0.000 4 0.000 0.042 2970 1374 2025

14576 0.64 194.6 426.6 11.8 1397 14584 0.00 1.27 0.00 0.000 6 0.000 0.042 2970 2283 2025

14895 0.64 194.6 387.9 12.2 1428 14898 0.00 1.25 0.00 0.000 4 0.000 0.041 2975 1374 2025

14931 0.64 194.6 383.3 11.8 1431 14938 0.00 1.23 0.00 0.000 6 0.000 0.042 2975 2272 2025

15249 0.64 194.6 344.3 12.2 1462 15252 0.00 1.60 0.00 0.000 4 0.000 0.052 2975 3163 2025

15292 0.64 194.6 338.5 13.0 1466 15295 0.00 1.55 0.00 0.000 6 0.000 0.035 2983 2271 2025

15612 0.64 194.6 298.5 12.0 1497 15613 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2273 2025

15923 0.64 194.6 259.1 12.6 1527 15927 0.00 1.62 0.00 0.000 4 0.000 0.051 2983 3162 2025

15959 0.64 194.6 254.2 13.0 1530 15967 0.08 1.52 0.00 0.000 6 0.146 0.032 2965 2278 2025

16276 0.64 194.6 217.2 11.8 1561 16277 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2279 2025

16586 0.64 194.6 182.3 11.0 1591 16587 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2279 2025

16897 0.64 194.6 147.3 10.9 1621 16901 0.00 1.60 0.00 0.000 4 0.000 0.049 2964 3165 2026

16965 0.64 194.6 139.2 10.1 1627 16973 0.00 1.52 0.00 0.000 6 0.000 0.031 2969 2274 2026

17284 0.64 194.6 106.2 10.6 1658 17287 0.00 1.60 0.00 0.000 4 0.000 0.048 2970 3164 2028

17316 0.64 194.6 102.6 11.7 1661 17319 0.00 1.52 0.00 0.000 6 0.000 0.031 2976 2269 2028

17637 0.64 194.6 69.5 10.1 1692 17640 0.00 1.62 0.00 0.000 4 0.000 0.046 2977 3195 2028

17717 0.64 194.6 61.7 9.4 1699 17724 0.08 1.55 0.00 0.000 6 0.130 0.029 2958 2276 2028

17909 0.72 255.8 48.0 5.9 1718 17957 0.00 0.00 45.92 0.540 6 0.000 0.000 2958 2277 1796

18143 0.86 370.4 37.3 4.5 1740 18233 0.17 1.25 86.60 0.528 4 0.054 0.035 3058 1358 1328

18280 0.87 381.4 27.3 7.2 1751 18292 0.08 1.25 9.57 0.453 6 0.115 0.034 3031 2275 1283

18481 0.96 454.2 14.3 5.6 1770 18540 0.00 1.60 53.97 0.497 4 0.000 0.050 3029 3181 989

18577 0.96 454.2 7.5 7.7 1778 18584 0.00 1.55 0.00 0.000 6 0.000 0.027 3029 2273 985

18694 end climb: SURFACE_DEPTH_REACHED

state 18695 begin surface coast

18811 end surface coast: CONTROL_FINISHED_OK

state 18811 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	291	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	33	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	-24877.91	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	223324,2842.927,-8827.727,35,1.7,35,-0.4	TGT_NAME	NEW0617E
_CALLS	2	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.235,0.122
_SM_DEPTHo	1.68	KALMAN_X	33554.5,-502.7,269.2,3251.4,4075.8
_SM_ANGLEo	-69.2	KALMAN_Y	-451599.8,163.1,-618.6,471204.3,-9866.0
GPS2	223324,2842.927,-8827.727,35,1.7,35,-0.4	MHEAD_RNG_PITCHd_Wd	309.1,28075,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1373

FINISH	0.7,1.008085	_24V_AH	22.7,51.026
SM_CCo	18826,81.05,0.478,0,0,402,597.54	_10V_AH	10.5,70.288
SM_GC	1.72,0.00,0.00,81.05,0.000,0.000,0.478,199,2355,402,-7.96,0.85,597.54	DATA_FILE_SIZE	94384,1801
IRIDIUM_FIX	2833.46,-8829.10,161099,222227	CAP_FILE_SIZE	174908,0
TT8_MAMPS	0.052156	CFSIZE	260165632,229105664
HUMID	1391	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2777	CURRENT	0.062,136.5,1
TCM_TEMP	24.10	GPS	230710,041536,2843.954,-8829.896,28,0.9,28,-0.4
XPDR_PINGS	138

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	243	109.90	SBE_CT	1231	24	671.09
Roll_motor	86	72	142.22	SBE_O2	1312	19	566.16
VBD_pump_during_apogee	517	1241	14573.32	WL_BBFL2VMT	4047	105	9646.44
VBD_pump_during_surface	81	477	879.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	103	122.62	nil	0	0	0.00
Iridium_during_connect	66	160	242.14	nil	0	0	0.00
Iridium_during_xfer	327	223	1657.29
Transponder_ping	38	420	364.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	903	50	474.33
TT8	0	19	0.00
LPSleep	12649	2	290.88
TT8_Active	639	19	132.93
TT8_Sampling	6289	39	2628.34
TT8_CF8	830	45	399.48
TT8_Kalman	33	81	28.64
Analog_circuits	2190	12	275.98
GPS_charging	0	0	0.00
Compass	4816	8	404.55
RAFOS	0	0	0.00
Transponder	31	30	10.05

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.64	-194.6	0.0	0.0	0	71	0.00	0.00	-54.53	0.000	2	0.000	0.000	192	2339	1998
74	-0.64	-194.6	3.1	-3.3	5	133	10.30	1.45	-43.12	0.000	4	0.244	0.060	2530	3234	3634
165	-0.64	-194.6	16.2	-30.0	13	168	0.00	1.48	0.00	0.000	6	0.000	0.028	2535	2331	3635
362	-0.64	-194.6	56.6	-16.0	32	365	0.00	1.25	0.00	0.000	4	0.000	0.034	2537	1397	3635
608	-0.64	-194.6	87.9	-12.8	55	611	0.00	1.25	0.00	0.000	6	0.000	0.033	2533	2320	3635
805	-0.64	-194.6	111.4	-11.8	74	808	0.00	1.23	0.00	0.000	4	0.000	0.035	2533	1409	3636
955	-0.64	-194.6	129.7	-11.6	88	957	0.00	1.25	0.00	0.000	6	0.000	0.035	2528	2324	3636
1277	-0.64	-194.6	169.2	-11.7	119	1280	0.00	1.25	0.00	0.000	4	0.000	0.035	2527	1405	3634
1320	-0.64	-194.6	174.4	-11.8	123	1323	0.00	1.27	0.00	0.000	6	0.000	0.035	2522	2328	3634
1642	-0.64	-194.6	212.1	-11.9	154	1645	0.00	1.25	0.00	0.000	4	0.000	0.036	2522	1413	3631
1711	-0.64	-194.6	220.6	-11.7	160	1718	0.00	1.25	0.00	0.000	6	0.000	0.035	2517	2321	3631
2028	-0.64	-194.6	259.0	-11.7	191	2031	0.00	1.25	0.00	0.000	4	0.000	0.037	2516	1401	3628
2125	-0.64	-194.6	271.2	-12.6	200	2128	0.00	1.27	0.00	0.000	6	0.000	0.037	2510	2326	3627
2447	-0.64	-194.6	311.9	-12.3	231	2450	0.12	1.25	0.00	0.000	4	0.143	0.035	2543	1414	3624
2483	-0.64	-194.6	316.1	-10.3	234	2490	0.00	1.30	0.00	0.000	6	0.000	0.037	2539	2334	3624
2802	-0.64	-194.6	347.7	-9.7	265	2805	0.00	1.27	0.00	0.000	4	0.000	0.038	2539	1408	3621
2849	-0.64	-194.6	352.7	-10.2	269	2856	0.00	1.27	0.00	0.000	6	0.000	0.038	2533	2326	3620
3167	-0.64	-194.6	385.0	-10.2	300	3170	0.00	1.25	0.00	0.000	4	0.000	0.038	2534	1413	3617
3246	-0.64	-194.6	393.4	-10.3	307	3253	0.00	1.30	0.00	0.000	6	0.000	0.038	2529	2336	3617
3564	-0.64	-194.6	425.8	-10.0	338	3567	0.00	1.30	0.00	0.000	4	0.000	0.038	2529	1399	3615
3681	-0.64	-194.6	437.3	-9.4	349	3685	0.00	1.30	0.00	0.000	6	0.000	0.041	2523	2329	3614
4004	-0.64	-194.6	469.1	-9.7	380	4007	0.00	1.27	0.00	0.000	4	0.000	0.040	2523	1404	3610
4047	-0.64	-194.6	473.4	-9.9	384	4050	0.00	1.27	0.00	0.000	6	0.000	0.041	2518	2315	3610
4369	-0.64	-194.6	506.0	-10.2	415	4370	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2315	3607
4678	-0.64	-194.6	537.8	-10.4	445	4679	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2315	3605
4989	-0.64	-194.6	569.7	-10.1	475	4992	0.00	1.25	0.00	0.000	4	0.000	0.041	2518	1419	3602
5047	-0.64	-194.6	576.0	-9.8	480	5054	0.00	1.27	0.00	0.000	6	0.000	0.042	2512	2322	3601
5365	-0.64	-194.6	609.8	-10.7	511	5365	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2322	3599
5674	-0.64	-194.6	644.0	-11.1	541	5675	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2322	3596
5984	-0.64	-194.6	676.9	-10.7	571	5987	0.00	1.27	0.00	0.000	4	0.000	0.043	2513	1414	3594
6020	-0.64	-194.6	680.9	-10.9	574	6027	0.08	1.33	0.00	0.000	6	0.144	0.042	2532	2337	3594
6336	-0.64	-194.6	709.1	-8.8	605	6339	0.00	1.30	0.00	0.000	4	0.000	0.042	2532	1419	3592
6401	-0.64	-194.6	714.9	-8.9	611	6403	0.00	1.30	0.00	0.000	6	0.000	0.044	2529	2326	3591
6723	-0.64	-194.6	744.3	-8.9	642	6724	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2326	3589
7032	-0.64	-194.6	772.9	-9.1	672	7033	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2326	3587
7343	-0.64	-194.6	800.6	-9.1	702	7344	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2326	3586
7653	-0.64	-194.6	828.7	-8.8	732	7656	0.00	1.27	0.00	0.000	4	0.000	0.044	2529	1424	3584
7717	-0.64	-194.6	834.3	-7.8	738	7719	0.00	1.30	0.00	0.000	6	0.000	0.047	2524	2326	3584
8038	-0.64	-194.6	863.1	-8.9	769	8039	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2326	3582
8348	-0.64	-194.6	891.8	-9.2	799	8349	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2327	3581
8660	-0.64	-194.6	919.4	-8.8	829	8661	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2326	3580
8969	-0.64	-194.6	946.1	-8.1	859	8969	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2327	3578
9279	-0.64	-194.6	971.6	-8.1	889	9280	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2326	3576
9516	end dive: TARGET_DEPTH_EXCEEDED
state	9516	begin apogee
9522	-0.26	0.0	990.8	8.1	912	9678	0.43	0.00	150.85	1.242	6	0.134	0.000	2656	2270	2840
9679	end apogee: CONTROL_FINISHED_OK
state	9679	begin climb
9681	0.64	194.6	994.8	0.0	928	9863	0.90	1.83	170.07	1.213	4	0.101	0.058	2941	3155	2044
9888	0.64	194.6	977.6	12.0	945	9896	0.00	1.65	0.00	0.000	6	0.000	0.035	2948	2273	2040
10206	0.64	194.6	941.4	11.5	976	10207	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2274	2034
10516	0.64	194.6	905.8	11.5	1006	10517	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2274	2033
10826	0.64	194.6	870.2	11.3	1036	10827	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2275	2031
11137	0.64	194.6	835.0	11.4	1066	11140	0.00	1.62	0.00	0.000	4	0.000	0.055	2948	3166	2030
11179	0.64	194.6	830.0	12.1	1070	11182	0.00	1.55	0.00	0.000	6	0.000	0.037	2955	2272	2029
11500	0.64	194.6	793.0	11.5	1101	11503	0.00	1.20	0.00	0.000	4	0.000	0.043	2961	1377	2029
11543	0.64	194.6	788.0	12.0	1105	11546	0.00	1.23	0.00	0.000	6	0.000	0.044	2961	2265	2029
11864	0.64	194.6	750.0	11.4	1136	11867	0.00	1.62	0.00	0.000	4	0.000	0.054	2961	3164	2028
11900	0.64	194.6	745.4	11.9	1139	11907	0.00	1.55	0.00	0.000	6	0.000	0.036	2968	2270	2027
12218	0.64	194.6	707.5	12.0	1170	12219	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2271	2027
12528	0.64	194.6	670.5	11.8	1200	12528	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2271	2027
12837	0.64	194.6	633.6	12.0	1230	12840	0.00	1.62	0.00	0.000	4	0.000	0.054	2968	3181	2027
12880	0.64	194.6	628.3	11.3	1234	12883	0.00	1.58	0.00	0.000	6	0.000	0.037	2976	2272	2026
13203	0.64	194.6	588.3	12.8	1265	13203	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2274	2026
13512	0.64	194.6	548.7	12.8	1295	13515	0.00	1.60	0.00	0.000	4	0.000	0.054	2976	3170	2026
13548	0.64	194.6	543.7	12.8	1298	13555	0.08	1.55	0.00	0.000	6	0.143	0.035	2959	2274	2025
13865	0.64	194.6	507.4	11.5	1329	13865	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2274	2025
14175	0.64	194.6	472.6	11.3	1359	14178	0.00	1.60	0.00	0.000	4	0.000	0.053	2959	3174	2025
14217	0.64	194.6	467.7	11.9	1363	14220	0.00	1.55	0.00	0.000	6	0.000	0.035	2965	2275	2025
14540	0.64	194.6	431.1	11.2	1394	14543	0.00	1.20	0.00	0.000	4	0.000	0.042	2970	1374	2025
14576	0.64	194.6	426.6	11.8	1397	14584	0.00	1.27	0.00	0.000	6	0.000	0.042	2970	2283	2025
14895	0.64	194.6	387.9	12.2	1428	14898	0.00	1.25	0.00	0.000	4	0.000	0.041	2975	1374	2025
14931	0.64	194.6	383.3	11.8	1431	14938	0.00	1.23	0.00	0.000	6	0.000	0.042	2975	2272	2025
15249	0.64	194.6	344.3	12.2	1462	15252	0.00	1.60	0.00	0.000	4	0.000	0.052	2975	3163	2025
15292	0.64	194.6	338.5	13.0	1466	15295	0.00	1.55	0.00	0.000	6	0.000	0.035	2983	2271	2025
15612	0.64	194.6	298.5	12.0	1497	15613	0.00	0.00	0.00	0.000	6	0.000	0.000	2983	2273	2025
15923	0.64	194.6	259.1	12.6	1527	15927	0.00	1.62	0.00	0.000	4	0.000	0.051	2983	3162	2025
15959	0.64	194.6	254.2	13.0	1530	15967	0.08	1.52	0.00	0.000	6	0.146	0.032	2965	2278	2025
16276	0.64	194.6	217.2	11.8	1561	16277	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2279	2025
16586	0.64	194.6	182.3	11.0	1591	16587	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2279	2025
16897	0.64	194.6	147.3	10.9	1621	16901	0.00	1.60	0.00	0.000	4	0.000	0.049	2964	3165	2026
16965	0.64	194.6	139.2	10.1	1627	16973	0.00	1.52	0.00	0.000	6	0.000	0.031	2969	2274	2026
17284	0.64	194.6	106.2	10.6	1658	17287	0.00	1.60	0.00	0.000	4	0.000	0.048	2970	3164	2028
17316	0.64	194.6	102.6	11.7	1661	17319	0.00	1.52	0.00	0.000	6	0.000	0.031	2976	2269	2028
17637	0.64	194.6	69.5	10.1	1692	17640	0.00	1.62	0.00	0.000	4	0.000	0.046	2977	3195	2028
17717	0.64	194.6	61.7	9.4	1699	17724	0.08	1.55	0.00	0.000	6	0.130	0.029	2958	2276	2028
17909	0.72	255.8	48.0	5.9	1718	17957	0.00	0.00	45.92	0.540	6	0.000	0.000	2958	2277	1796
18143	0.86	370.4	37.3	4.5	1740	18233	0.17	1.25	86.60	0.528	4	0.054	0.035	3058	1358	1328
18280	0.87	381.4	27.3	7.2	1751	18292	0.08	1.25	9.57	0.453	6	0.115	0.034	3031	2275	1283
18481	0.96	454.2	14.3	5.6	1770	18540	0.00	1.60	53.97	0.497	4	0.000	0.050	3029	3181	989
18577	0.96	454.2	7.5	7.7	1778	18584	0.00	1.55	0.00	0.000	6	0.000	0.027	3029	2273	985
18694	end climb: SURFACE_DEPTH_REACHED
state	18695	begin surface coast
18811	end surface coast: CONTROL_FINISHED_OK
state	18811	begin surface