Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 303 * 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 303 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 3 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -25073.785 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 30

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 30 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 3 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 -25073.785

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 515 ROLL_DEG 25 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3575 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2747 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -4

C_ROLL_CLIMB 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2325 MASS 51931 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 32 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 303 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 140737,2832.552,-8841.692,28,1.0,28,-0.2 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 4 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.132,0.229

_SM_DEPTHo 1.74 KALMAN_X 75645.2,-1325.5,-1550.9,-58905.7,12102.1

_SM_ANGLEo -67.0 KALMAN_Y -457176.1,-298.2,314.8,464985.5,-2673.9

GPS2 141414,2832.580,-8841.614,11,1.3,11,-0.2 MHEAD_RNG_PITCHd_Wd 42.9,32552,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1348

Post-dive calculations and measurements:

FINISH 0.9,1.022387 _24V_AH 22.5,53.043

SM_CCo 18324,71.00,0.486,0,0,403,597.54 _10V_AH 10.5,73.021

SM_GC 1.71,0.00,0.00,71.00,0.000,0.000,0.486,193,2340,403,-7.98,0.42,597.54 DATA_FILE_SIZE 91475,1753

IRIDIUM_FIX 2818.74,-8846.45,191099,090902 CAP_FILE_SIZE 172943,0

TT8_MAMPS 0.050622 CFSIZE 260165632,228024320

HUMID 1400 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2191 CURRENT 0.104, 92.1,1

TCM_TEMP 23.10 GPS 250710,192231,2834.790,-8838.706,39,1.8,39,-0.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 251 115.47 SBE_CT 1198 24 647.21

Roll_motor 107 72 174.18 SBE_O2 1286 19 549.89

VBD_pump_during_apogee 524 1239 14634.29 WL_BBFL2VMT 3940 105 9308.55

VBD_pump_during_surface 71 486 776.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 53.62 nil 0 0 0.00

Iridium_during_connect 27 160 99.00 nil 0 0 0.00

Iridium_during_xfer 213 223 1072.74

Transponder_ping 4 420 37.80

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.88

TT8 0 19 0.00

LPSleep 12042 2 276.91

TT8_Active 639 19 132.92

TT8_Sampling 5400 39 2256.97

TT8_CF8 678 45 326.31

TT8_Kalman 33 81 28.64

Analog_circuits 2220 12 279.72

GPS_charging 0 0 0.00

Compass 4836 8 406.27

RAFOS 0 0 0.00

Transponder 28 30 8.83

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

13 -0.64 -194.6 0.0 0.0 0 87 0.00 0.00 -72.28 0.000 2 0.000 0.000 196 2339 2383

89 -0.64 -194.6 3.2 -3.3 7 139 10.52 1.52 -35.38 0.000 4 0.252 0.064 2526 3215 3635

320 -0.64 -194.6 48.0 -16.9 28 323 0.00 1.45 0.00 0.000 6 0.000 0.028 2531 2328 3637

518 -0.64 -194.6 75.4 -14.6 47 520 0.00 1.25 0.00 0.000 4 0.000 0.035 2536 1405 3638

592 -0.64 -194.6 84.9 -12.2 54 595 0.00 1.27 0.00 0.000 6 0.000 0.036 2532 2325 3638

789 -0.64 -194.6 111.5 -13.5 73 790 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2325 3639

1100 -0.64 -194.6 149.3 -12.0 103 1101 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2326 3639

1410 -0.64 -194.6 186.2 -11.9 133 1413 0.00 1.25 0.00 0.000 4 0.000 0.035 2532 1403 3639

1474 -0.64 -194.6 193.8 -11.7 139 1477 0.00 1.27 0.00 0.000 6 0.000 0.037 2527 2328 3639

1796 -0.64 -194.6 230.4 -10.9 170 1799 0.00 1.25 0.00 0.000 4 0.000 0.036 2527 1413 3636

1876 -0.64 -194.6 239.7 -11.0 177 1882 0.00 1.25 0.00 0.000 6 0.000 0.036 2521 2318 3636

2193 -0.64 -194.6 276.0 -11.7 208 2196 0.00 1.23 0.00 0.000 4 0.000 0.037 2521 1428 3635

2257 -0.64 -194.6 283.6 -12.0 214 2260 0.00 1.25 0.00 0.000 6 0.000 0.038 2516 2324 3634

2580 -0.64 -194.6 322.4 -12.4 245 2583 0.00 1.25 0.00 0.000 4 0.000 0.038 2516 1412 3633

2637 -0.64 -194.6 330.0 -12.5 250 2645 0.08 1.30 0.00 0.000 6 0.142 0.037 2534 2336 3633

2954 -0.64 -194.6 363.9 -10.5 281 2957 0.00 1.27 0.00 0.000 4 0.000 0.038 2534 1414 3630

3071 -0.64 -194.6 376.4 -11.0 292 3075 0.00 1.27 0.00 0.000 6 0.000 0.039 2530 2326 3630

3394 -0.64 -194.6 409.8 -10.7 323 3397 0.00 1.25 0.00 0.000 4 0.000 0.038 2531 1419 3627

3490 -0.64 -194.6 420.1 -10.5 332 3493 0.00 1.27 0.00 0.000 6 0.000 0.040 2525 2327 3627

3813 -0.64 -194.6 455.3 -10.8 363 3816 0.00 1.27 0.00 0.000 4 0.000 0.039 2525 1406 3625

3952 -0.64 -194.6 470.6 -10.5 376 3955 0.00 1.27 0.00 0.000 6 0.000 0.040 2519 2318 3624

4275 -0.64 -194.6 506.7 -11.0 407 4278 0.00 1.25 0.00 0.000 4 0.000 0.040 2519 1417 3621

4364 -0.64 -194.6 517.1 -11.1 415 4372 0.00 1.27 0.00 0.000 6 0.000 0.040 2514 2324 3621

4682 -0.64 -194.6 553.2 -11.7 446 4686 0.00 1.25 0.00 0.000 4 0.000 0.041 2514 1426 3619

4779 -0.64 -194.6 564.1 -11.0 455 4782 0.08 1.27 0.00 0.000 6 0.145 0.042 2533 2327 3618

5100 -0.64 -194.6 595.4 -10.0 486 5103 0.00 1.27 0.00 0.000 4 0.000 0.041 2534 1410 3617

5233 -0.64 -194.6 608.1 -9.3 498 5239 0.00 1.30 0.00 0.000 6 0.000 0.042 2530 2327 3616

5551 -0.64 -194.6 637.7 -9.6 529 5554 0.00 1.27 0.00 0.000 4 0.000 0.040 2530 1421 3614

5609 -0.64 -194.6 643.5 -9.8 534 5615 0.00 1.30 0.00 0.000 6 0.000 0.043 2525 2331 3614

5927 -0.64 -194.6 674.1 -9.8 565 5929 0.00 1.27 0.00 0.000 4 0.000 0.042 2525 1428 3612

6017 -0.64 -194.6 683.1 -9.6 573 6023 0.00 1.27 0.00 0.000 6 0.000 0.044 2519 2325 3611

6334 -0.64 -194.6 713.9 -9.9 604 6337 0.00 1.27 0.00 0.000 4 0.000 0.043 2519 1412 3610

6398 -0.64 -194.6 720.4 -10.3 610 6401 0.00 1.30 0.00 0.000 6 0.000 0.044 2514 2324 3609

6721 -0.64 -194.6 752.5 -9.7 641 6724 0.00 1.27 0.00 0.000 4 0.000 0.042 2514 1417 3607

6828 -0.64 -194.6 763.4 -9.8 651 6831 0.08 1.30 0.00 0.000 6 0.144 0.045 2533 2326 3607

7148 -0.64 -194.6 790.5 -8.4 682 7149 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2326 3605

7459 -0.64 -194.6 815.9 -8.2 712 7462 0.00 1.27 0.00 0.000 4 0.000 0.043 2533 1418 3603

7502 -0.64 -194.6 819.5 -8.3 716 7505 0.00 1.30 0.00 0.000 6 0.000 0.045 2530 2325 3602

7825 -0.64 -194.6 847.9 -9.1 747 7826 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2325 3601

8134 -0.64 -194.6 875.0 -8.9 777 8137 0.00 1.27 0.00 0.000 4 0.000 0.044 2529 1416 3600

8181 -0.64 -194.6 879.2 -8.4 781 8188 0.00 1.30 0.00 0.000 6 0.000 0.046 2525 2321 3600

8497 -0.64 -194.6 906.8 -8.8 812 8498 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2321 3599

8808 -0.64 -194.6 933.5 -8.5 842 8811 0.00 1.27 0.00 0.000 4 0.000 0.044 2525 1419 3597

8883 -0.64 -194.6 939.7 -8.0 849 8887 0.00 1.30 0.00 0.000 6 0.000 0.047 2519 2323 3597

9203 -0.64 -194.6 968.8 -8.6 880 9206 0.00 1.27 0.00 0.000 4 0.000 0.044 2520 1427 3595

9246 -0.64 -194.6 972.8 -8.9 884 9249 0.00 1.30 0.00 0.000 6 0.000 0.048 2514 2327 3595

9432 end dive: TARGET_DEPTH_EXCEEDED

state 9432 begin apogee

9437 -0.26 0.0 990.3 9.3 902 9595 0.45 0.00 155.18 1.239 6 0.133 0.000 2655 2276 2840

9596 end apogee: CONTROL_FINISHED_OK

state 9596 begin climb

9598 0.64 194.6 995.3 0.0 918 9775 0.93 0.00 171.88 1.209 6 0.101 0.000 2945 2275 2046

10084 0.64 194.6 946.5 11.4 966 10087 0.00 1.62 0.00 0.000 4 0.000 0.058 2945 3154 2036

10131 0.64 194.6 940.7 12.4 970 10138 0.00 1.52 0.00 0.000 6 0.000 0.036 2952 2275 2033

10450 0.64 194.6 902.4 12.2 1001 10451 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2276 2033

10758 0.64 194.6 866.3 11.9 1031 10761 0.00 1.60 0.00 0.000 4 0.000 0.055 2952 3181 2032

10822 0.64 194.6 858.2 12.8 1037 10825 0.00 1.55 0.00 0.000 6 0.000 0.036 2960 2274 2031

11145 0.64 194.6 819.0 12.5 1068 11146 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2275 2031

11454 0.64 194.6 780.3 12.1 1098 11457 0.00 1.60 0.00 0.000 4 0.000 0.056 2960 3177 2030

11540 0.64 194.6 769.2 13.0 1106 11542 0.00 1.55 0.00 0.000 6 0.000 0.037 2967 2275 2028

11863 0.64 194.6 727.2 12.9 1137 11863 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2276 2029

12171 0.64 194.6 687.7 12.6 1167 12174 0.00 1.60 0.00 0.000 4 0.000 0.055 2967 3177 2028

12256 0.64 194.6 675.8 13.7 1175 12259 0.00 1.55 0.00 0.000 6 0.000 0.037 2975 2274 2027

12579 0.64 194.6 633.3 13.6 1206 12582 0.00 1.60 0.00 0.000 4 0.000 0.054 2975 3174 2028

12675 0.64 194.6 619.6 14.8 1215 12678 0.00 1.55 0.00 0.000 6 0.000 0.036 2982 2274 2027

12999 0.64 194.6 576.2 12.8 1246 13001 0.00 1.60 0.00 0.000 4 0.000 0.054 2982 3175 2027

13035 0.64 194.6 570.8 14.2 1249 13042 0.12 1.55 0.00 0.000 6 0.143 0.035 2952 2275 2027

13351 0.64 194.6 537.1 10.4 1280 13352 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2276 2026

13662 0.64 194.6 503.6 11.1 1310 13664 0.00 1.60 0.00 0.000 4 0.000 0.054 2952 3159 2026

13748 0.64 194.6 493.3 11.5 1318 13751 0.00 1.52 0.00 0.000 6 0.000 0.035 2957 2271 2026

14068 0.64 194.6 457.0 11.4 1349 14072 0.00 1.60 0.00 0.000 4 0.000 0.052 2957 3155 2026

14132 0.64 194.6 449.4 12.6 1355 14135 0.00 1.52 0.00 0.000 6 0.000 0.035 2965 2270 2026

14455 0.64 194.6 412.6 11.4 1386 14458 0.00 1.62 0.00 0.000 4 0.000 0.051 2965 3187 2026

14498 0.64 194.6 407.3 11.4 1390 14500 0.00 1.58 0.00 0.000 6 0.000 0.035 2973 2267 2026

14821 0.64 194.6 368.0 12.3 1421 14824 0.00 1.60 0.00 0.000 4 0.000 0.051 2972 3169 2026

14853 0.64 194.6 363.6 13.1 1424 14855 0.00 1.55 0.00 0.000 6 0.000 0.034 2980 2268 2027

15176 0.64 194.6 321.1 13.5 1455 15178 0.00 1.62 0.00 0.000 4 0.000 0.051 2979 3183 2026

15218 0.64 194.6 314.8 13.3 1459 15221 0.10 1.55 0.00 0.000 6 0.141 0.034 2956 2275 2027

15539 0.64 194.6 279.3 10.8 1490 15542 0.00 1.60 0.00 0.000 4 0.000 0.050 2956 3165 2027

15572 0.64 194.6 275.5 12.2 1493 15575 0.00 1.52 0.00 0.000 6 0.000 0.033 2961 2271 2027

15892 0.64 194.6 239.1 11.1 1524 15896 0.00 1.60 0.00 0.000 4 0.000 0.050 2961 3157 2027

15946 0.64 194.6 233.1 10.9 1529 15949 0.00 1.50 0.00 0.000 6 0.000 0.032 2968 2274 2026

16269 0.64 194.6 195.2 12.3 1560 16272 0.00 1.60 0.00 0.000 4 0.000 0.049 2969 3187 2027

16322 0.64 194.6 188.1 12.4 1565 16325 0.00 1.55 0.00 0.000 6 0.000 0.032 2976 2272 2027

16645 0.64 194.6 148.9 12.2 1596 16646 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2273 2028

16953 0.64 194.6 113.8 10.8 1626 16956 0.00 1.60 0.00 0.000 4 0.000 0.048 2976 3166 2029

17071 0.64 194.6 100.0 11.6 1637 17074 0.00 1.50 0.00 0.000 6 0.000 0.031 2983 2274 2029

17392 0.64 194.6 65.1 9.8 1668 17395 0.12 1.55 0.00 0.000 4 0.141 0.045 2950 3165 2030

17532 0.64 194.6 53.8 7.9 1681 17535 0.00 1.50 0.00 0.000 6 0.000 0.029 2955 2272 2030

17729 0.67 218.7 42.2 6.9 1700 17753 0.00 1.20 18.30 0.513 4 0.000 0.034 2961 1360 1947

17808 0.78 308.1 37.4 5.2 1707 17882 0.08 1.23 69.15 0.532 6 0.054 0.035 3008 2271 1582

18065 0.96 457.3 21.1 3.6 1731 18184 0.15 1.62 110.25 0.511 4 0.056 0.044 3079 3168 973

18212 0.96 457.3 7.2 9.9 1743 18219 0.08 1.52 0.00 0.000 6 0.119 0.028 3059 2276 970

18267 end climb: SURFACE_DEPTH_REACHED

state 18267 begin surface coast

18309 end surface coast: CONTROL_FINISHED_OK

state 18309 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	303	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	3	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-25073.785	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	30

GPS1	140737,2832.552,-8841.692,28,1.0,28,-0.2	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	4	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.132,0.229
_SM_DEPTHo	1.74	KALMAN_X	75645.2,-1325.5,-1550.9,-58905.7,12102.1
_SM_ANGLEo	-67.0	KALMAN_Y	-457176.1,-298.2,314.8,464985.5,-2673.9
GPS2	141414,2832.580,-8841.614,11,1.3,11,-0.2	MHEAD_RNG_PITCHd_Wd	42.9,32552,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1348

FINISH	0.9,1.022387	_24V_AH	22.5,53.043
SM_CCo	18324,71.00,0.486,0,0,403,597.54	_10V_AH	10.5,73.021
SM_GC	1.71,0.00,0.00,71.00,0.000,0.000,0.486,193,2340,403,-7.98,0.42,597.54	DATA_FILE_SIZE	91475,1753
IRIDIUM_FIX	2818.74,-8846.45,191099,090902	CAP_FILE_SIZE	172943,0
TT8_MAMPS	0.050622	CFSIZE	260165632,228024320
HUMID	1400	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2191	CURRENT	0.104, 92.1,1
TCM_TEMP	23.10	GPS	250710,192231,2834.790,-8838.706,39,1.8,39,-0.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	251	115.47	SBE_CT	1198	24	647.21
Roll_motor	107	72	174.18	SBE_O2	1286	19	549.89
VBD_pump_during_apogee	524	1239	14634.29	WL_BBFL2VMT	3940	105	9308.55
VBD_pump_during_surface	71	486	776.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	53.62	nil	0	0	0.00
Iridium_during_connect	27	160	99.00	nil	0	0	0.00
Iridium_during_xfer	213	223	1072.74
Transponder_ping	4	420	37.80
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.88
TT8	0	19	0.00
LPSleep	12042	2	276.91
TT8_Active	639	19	132.92
TT8_Sampling	5400	39	2256.97
TT8_CF8	678	45	326.31
TT8_Kalman	33	81	28.64
Analog_circuits	2220	12	279.72
GPS_charging	0	0	0.00
Compass	4836	8	406.27
RAFOS	0	0	0.00
Transponder	28	30	8.83

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
13	-0.64	-194.6	0.0	0.0	0	87	0.00	0.00	-72.28	0.000	2	0.000	0.000	196	2339	2383
89	-0.64	-194.6	3.2	-3.3	7	139	10.52	1.52	-35.38	0.000	4	0.252	0.064	2526	3215	3635
320	-0.64	-194.6	48.0	-16.9	28	323	0.00	1.45	0.00	0.000	6	0.000	0.028	2531	2328	3637
518	-0.64	-194.6	75.4	-14.6	47	520	0.00	1.25	0.00	0.000	4	0.000	0.035	2536	1405	3638
592	-0.64	-194.6	84.9	-12.2	54	595	0.00	1.27	0.00	0.000	6	0.000	0.036	2532	2325	3638
789	-0.64	-194.6	111.5	-13.5	73	790	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2325	3639
1100	-0.64	-194.6	149.3	-12.0	103	1101	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2326	3639
1410	-0.64	-194.6	186.2	-11.9	133	1413	0.00	1.25	0.00	0.000	4	0.000	0.035	2532	1403	3639
1474	-0.64	-194.6	193.8	-11.7	139	1477	0.00	1.27	0.00	0.000	6	0.000	0.037	2527	2328	3639
1796	-0.64	-194.6	230.4	-10.9	170	1799	0.00	1.25	0.00	0.000	4	0.000	0.036	2527	1413	3636
1876	-0.64	-194.6	239.7	-11.0	177	1882	0.00	1.25	0.00	0.000	6	0.000	0.036	2521	2318	3636
2193	-0.64	-194.6	276.0	-11.7	208	2196	0.00	1.23	0.00	0.000	4	0.000	0.037	2521	1428	3635
2257	-0.64	-194.6	283.6	-12.0	214	2260	0.00	1.25	0.00	0.000	6	0.000	0.038	2516	2324	3634
2580	-0.64	-194.6	322.4	-12.4	245	2583	0.00	1.25	0.00	0.000	4	0.000	0.038	2516	1412	3633
2637	-0.64	-194.6	330.0	-12.5	250	2645	0.08	1.30	0.00	0.000	6	0.142	0.037	2534	2336	3633
2954	-0.64	-194.6	363.9	-10.5	281	2957	0.00	1.27	0.00	0.000	4	0.000	0.038	2534	1414	3630
3071	-0.64	-194.6	376.4	-11.0	292	3075	0.00	1.27	0.00	0.000	6	0.000	0.039	2530	2326	3630
3394	-0.64	-194.6	409.8	-10.7	323	3397	0.00	1.25	0.00	0.000	4	0.000	0.038	2531	1419	3627
3490	-0.64	-194.6	420.1	-10.5	332	3493	0.00	1.27	0.00	0.000	6	0.000	0.040	2525	2327	3627
3813	-0.64	-194.6	455.3	-10.8	363	3816	0.00	1.27	0.00	0.000	4	0.000	0.039	2525	1406	3625
3952	-0.64	-194.6	470.6	-10.5	376	3955	0.00	1.27	0.00	0.000	6	0.000	0.040	2519	2318	3624
4275	-0.64	-194.6	506.7	-11.0	407	4278	0.00	1.25	0.00	0.000	4	0.000	0.040	2519	1417	3621
4364	-0.64	-194.6	517.1	-11.1	415	4372	0.00	1.27	0.00	0.000	6	0.000	0.040	2514	2324	3621
4682	-0.64	-194.6	553.2	-11.7	446	4686	0.00	1.25	0.00	0.000	4	0.000	0.041	2514	1426	3619
4779	-0.64	-194.6	564.1	-11.0	455	4782	0.08	1.27	0.00	0.000	6	0.145	0.042	2533	2327	3618
5100	-0.64	-194.6	595.4	-10.0	486	5103	0.00	1.27	0.00	0.000	4	0.000	0.041	2534	1410	3617
5233	-0.64	-194.6	608.1	-9.3	498	5239	0.00	1.30	0.00	0.000	6	0.000	0.042	2530	2327	3616
5551	-0.64	-194.6	637.7	-9.6	529	5554	0.00	1.27	0.00	0.000	4	0.000	0.040	2530	1421	3614
5609	-0.64	-194.6	643.5	-9.8	534	5615	0.00	1.30	0.00	0.000	6	0.000	0.043	2525	2331	3614
5927	-0.64	-194.6	674.1	-9.8	565	5929	0.00	1.27	0.00	0.000	4	0.000	0.042	2525	1428	3612
6017	-0.64	-194.6	683.1	-9.6	573	6023	0.00	1.27	0.00	0.000	6	0.000	0.044	2519	2325	3611
6334	-0.64	-194.6	713.9	-9.9	604	6337	0.00	1.27	0.00	0.000	4	0.000	0.043	2519	1412	3610
6398	-0.64	-194.6	720.4	-10.3	610	6401	0.00	1.30	0.00	0.000	6	0.000	0.044	2514	2324	3609
6721	-0.64	-194.6	752.5	-9.7	641	6724	0.00	1.27	0.00	0.000	4	0.000	0.042	2514	1417	3607
6828	-0.64	-194.6	763.4	-9.8	651	6831	0.08	1.30	0.00	0.000	6	0.144	0.045	2533	2326	3607
7148	-0.64	-194.6	790.5	-8.4	682	7149	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2326	3605
7459	-0.64	-194.6	815.9	-8.2	712	7462	0.00	1.27	0.00	0.000	4	0.000	0.043	2533	1418	3603
7502	-0.64	-194.6	819.5	-8.3	716	7505	0.00	1.30	0.00	0.000	6	0.000	0.045	2530	2325	3602
7825	-0.64	-194.6	847.9	-9.1	747	7826	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2325	3601
8134	-0.64	-194.6	875.0	-8.9	777	8137	0.00	1.27	0.00	0.000	4	0.000	0.044	2529	1416	3600
8181	-0.64	-194.6	879.2	-8.4	781	8188	0.00	1.30	0.00	0.000	6	0.000	0.046	2525	2321	3600
8497	-0.64	-194.6	906.8	-8.8	812	8498	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2321	3599
8808	-0.64	-194.6	933.5	-8.5	842	8811	0.00	1.27	0.00	0.000	4	0.000	0.044	2525	1419	3597
8883	-0.64	-194.6	939.7	-8.0	849	8887	0.00	1.30	0.00	0.000	6	0.000	0.047	2519	2323	3597
9203	-0.64	-194.6	968.8	-8.6	880	9206	0.00	1.27	0.00	0.000	4	0.000	0.044	2520	1427	3595
9246	-0.64	-194.6	972.8	-8.9	884	9249	0.00	1.30	0.00	0.000	6	0.000	0.048	2514	2327	3595
9432	end dive: TARGET_DEPTH_EXCEEDED
state	9432	begin apogee
9437	-0.26	0.0	990.3	9.3	902	9595	0.45	0.00	155.18	1.239	6	0.133	0.000	2655	2276	2840
9596	end apogee: CONTROL_FINISHED_OK
state	9596	begin climb
9598	0.64	194.6	995.3	0.0	918	9775	0.93	0.00	171.88	1.209	6	0.101	0.000	2945	2275	2046
10084	0.64	194.6	946.5	11.4	966	10087	0.00	1.62	0.00	0.000	4	0.000	0.058	2945	3154	2036
10131	0.64	194.6	940.7	12.4	970	10138	0.00	1.52	0.00	0.000	6	0.000	0.036	2952	2275	2033
10450	0.64	194.6	902.4	12.2	1001	10451	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2276	2033
10758	0.64	194.6	866.3	11.9	1031	10761	0.00	1.60	0.00	0.000	4	0.000	0.055	2952	3181	2032
10822	0.64	194.6	858.2	12.8	1037	10825	0.00	1.55	0.00	0.000	6	0.000	0.036	2960	2274	2031
11145	0.64	194.6	819.0	12.5	1068	11146	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2275	2031
11454	0.64	194.6	780.3	12.1	1098	11457	0.00	1.60	0.00	0.000	4	0.000	0.056	2960	3177	2030
11540	0.64	194.6	769.2	13.0	1106	11542	0.00	1.55	0.00	0.000	6	0.000	0.037	2967	2275	2028
11863	0.64	194.6	727.2	12.9	1137	11863	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2276	2029
12171	0.64	194.6	687.7	12.6	1167	12174	0.00	1.60	0.00	0.000	4	0.000	0.055	2967	3177	2028
12256	0.64	194.6	675.8	13.7	1175	12259	0.00	1.55	0.00	0.000	6	0.000	0.037	2975	2274	2027
12579	0.64	194.6	633.3	13.6	1206	12582	0.00	1.60	0.00	0.000	4	0.000	0.054	2975	3174	2028
12675	0.64	194.6	619.6	14.8	1215	12678	0.00	1.55	0.00	0.000	6	0.000	0.036	2982	2274	2027
12999	0.64	194.6	576.2	12.8	1246	13001	0.00	1.60	0.00	0.000	4	0.000	0.054	2982	3175	2027
13035	0.64	194.6	570.8	14.2	1249	13042	0.12	1.55	0.00	0.000	6	0.143	0.035	2952	2275	2027
13351	0.64	194.6	537.1	10.4	1280	13352	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2276	2026
13662	0.64	194.6	503.6	11.1	1310	13664	0.00	1.60	0.00	0.000	4	0.000	0.054	2952	3159	2026
13748	0.64	194.6	493.3	11.5	1318	13751	0.00	1.52	0.00	0.000	6	0.000	0.035	2957	2271	2026
14068	0.64	194.6	457.0	11.4	1349	14072	0.00	1.60	0.00	0.000	4	0.000	0.052	2957	3155	2026
14132	0.64	194.6	449.4	12.6	1355	14135	0.00	1.52	0.00	0.000	6	0.000	0.035	2965	2270	2026
14455	0.64	194.6	412.6	11.4	1386	14458	0.00	1.62	0.00	0.000	4	0.000	0.051	2965	3187	2026
14498	0.64	194.6	407.3	11.4	1390	14500	0.00	1.58	0.00	0.000	6	0.000	0.035	2973	2267	2026
14821	0.64	194.6	368.0	12.3	1421	14824	0.00	1.60	0.00	0.000	4	0.000	0.051	2972	3169	2026
14853	0.64	194.6	363.6	13.1	1424	14855	0.00	1.55	0.00	0.000	6	0.000	0.034	2980	2268	2027
15176	0.64	194.6	321.1	13.5	1455	15178	0.00	1.62	0.00	0.000	4	0.000	0.051	2979	3183	2026
15218	0.64	194.6	314.8	13.3	1459	15221	0.10	1.55	0.00	0.000	6	0.141	0.034	2956	2275	2027
15539	0.64	194.6	279.3	10.8	1490	15542	0.00	1.60	0.00	0.000	4	0.000	0.050	2956	3165	2027
15572	0.64	194.6	275.5	12.2	1493	15575	0.00	1.52	0.00	0.000	6	0.000	0.033	2961	2271	2027
15892	0.64	194.6	239.1	11.1	1524	15896	0.00	1.60	0.00	0.000	4	0.000	0.050	2961	3157	2027
15946	0.64	194.6	233.1	10.9	1529	15949	0.00	1.50	0.00	0.000	6	0.000	0.032	2968	2274	2026
16269	0.64	194.6	195.2	12.3	1560	16272	0.00	1.60	0.00	0.000	4	0.000	0.049	2969	3187	2027
16322	0.64	194.6	188.1	12.4	1565	16325	0.00	1.55	0.00	0.000	6	0.000	0.032	2976	2272	2027
16645	0.64	194.6	148.9	12.2	1596	16646	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2273	2028
16953	0.64	194.6	113.8	10.8	1626	16956	0.00	1.60	0.00	0.000	4	0.000	0.048	2976	3166	2029
17071	0.64	194.6	100.0	11.6	1637	17074	0.00	1.50	0.00	0.000	6	0.000	0.031	2983	2274	2029
17392	0.64	194.6	65.1	9.8	1668	17395	0.12	1.55	0.00	0.000	4	0.141	0.045	2950	3165	2030
17532	0.64	194.6	53.8	7.9	1681	17535	0.00	1.50	0.00	0.000	6	0.000	0.029	2955	2272	2030
17729	0.67	218.7	42.2	6.9	1700	17753	0.00	1.20	18.30	0.513	4	0.000	0.034	2961	1360	1947
17808	0.78	308.1	37.4	5.2	1707	17882	0.08	1.23	69.15	0.532	6	0.054	0.035	3008	2271	1582
18065	0.96	457.3	21.1	3.6	1731	18184	0.15	1.62	110.25	0.511	4	0.056	0.044	3079	3168	973
18212	0.96	457.3	7.2	9.9	1743	18219	0.08	1.52	0.00	0.000	6	0.119	0.028	3059	2276	970
18267	end climb: SURFACE_DEPTH_REACHED
state	18267	begin surface coast
18309	end surface coast: CONTROL_FINISHED_OK
state	18309	begin surface