Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 153 * 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 153 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2375 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2250 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 42 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 5 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 -11553.217 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 28 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 28 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 0 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 5 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 -11553.217

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 2250 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 42 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 153 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 071840,2839.267,-8838.656,16,2.9,35,-0.3 TGT_NAME NEW0618E

_CALLS 5 TGT_LATLONG 2839.700,-8844.900

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.112,0.065

_SM_DEPTHo 2.70 KALMAN_X -232823.6,-542.5,524.9,248080.3,-1801.2

_SM_ANGLEo -74.6 KALMAN_Y -129472.1,-1058.2,-144.1,112837.9,-1040.2

GPS2 071840,2839.267,-8838.656,16,2.9,35,-0.3 MHEAD_RNG_PITCHd_Wd 297.5,10178,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1210

Post-dive calculations and measurements:

SM_CCo 19160,0.00,0.000,0,0,402,598.28 _24V_AH 23.4,28.212

SM_GC 5.64,8.90,0.00,0.00,0.067,0.000,0.000,205,2361,402,-7.91,-0.40,598.28 _10V_AH 10.7,39.106

IRIDIUM_FIX 2826.10,-8841.44,160999,191918 DATA_FILE_SIZE 94514,1817

TT8_MAMPS 0.049088 CAP_FILE_SIZE 179465,0

HUMID 1340 CFSIZE 260165632,241197056

INTERNAL_PRESSURE 9.31676 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.20 CURRENT 0.113,290.0,1

XPDR_PINGS 3 GPS 220610,071840,2839.267,-8838.656,16,2.9,35,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 255 133.58 SBE_CT 1241 24 697.34

Roll_motor 91 61 131.52 SBE_O2 1328 19 590.75

VBD_pump_during_apogee 605 1257 17821.79 WL_BBFL2VMT 4084 105 10036.84

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 158 103 380.83 nil 0 0 0.00

Iridium_during_connect 229 160 860.47 nil 0 0 0.00

Iridium_during_xfer 332 223 1732.81

Transponder_ping 0 420 7.37

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 903 50 483.37

TT8 0 19 0.00

LPSleep 13111 2 307.25

TT8_Active 625 19 132.53

TT8_Sampling 6337 39 2698.99

TT8_CF8 1097 45 537.73

TT8_Kalman 33 81 29.19

Analog_circuits 2205 12 283.22

GPS_charging 0 0 0.00

Compass 4895 8 419.07

RAFOS 0 0 0.00

Transponder 1 30 0.57

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

12 -0.63 -194.6 0.0 0.0 0 37 0.00 0.00 -23.20 0.000 2 0.000 0.000 204 2377 1169

39 -0.63 -194.6 3.3 -3.9 2 119 10.30 1.50 -65.18 0.000 4 0.255 0.061 2531 3264 3635

268 -0.63 -194.6 35.9 -13.6 23 271 0.00 1.42 0.00 0.000 6 0.000 0.026 2536 2368 3636

464 -0.63 -194.6 61.7 -12.9 42 468 0.00 1.20 0.00 0.000 4 0.000 0.035 2536 1481 3636

507 -0.63 -194.6 67.2 -12.9 46 510 0.00 1.23 0.00 0.000 6 0.000 0.034 2532 2368 3636

704 -0.63 -194.6 93.4 -13.3 65 705 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2368 3636

890 -0.63 -194.6 118.4 -13.5 83 893 0.00 1.23 0.00 0.000 4 0.000 0.035 2532 1474 3636

943 -0.63 -194.6 125.4 -13.0 88 947 0.00 1.25 0.00 0.000 6 0.000 0.035 2527 2371 3635

1265 -0.63 -194.6 167.0 -11.9 119 1268 0.00 1.25 0.00 0.000 4 0.000 0.036 2526 1470 3633

1328 -0.63 -194.6 174.8 -11.6 125 1331 0.00 1.27 0.00 0.000 6 0.000 0.035 2521 2378 3633

1650 -0.63 -194.6 213.9 -11.8 156 1653 0.00 1.27 0.00 0.000 4 0.000 0.037 2521 1469 3629

1703 -0.63 -194.6 220.6 -12.7 161 1706 0.00 1.27 0.00 0.000 6 0.000 0.036 2514 2376 3629

2025 -0.63 -194.6 259.8 -12.9 192 2026 0.12 0.00 0.00 0.000 6 0.150 0.000 2546 2377 3625

2335 -0.63 -194.6 291.8 -10.7 222 2338 0.00 1.27 0.00 0.000 4 0.000 0.038 2546 1472 3622

2399 -0.63 -194.6 298.4 -10.1 228 2402 0.00 1.27 0.00 0.000 6 0.000 0.038 2543 2375 3622

2721 -0.63 -194.6 332.4 -10.5 259 2722 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2375 3618

3030 -0.63 -194.6 365.1 -10.6 289 3031 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2375 3615

3341 -0.63 -194.6 396.5 -10.2 319 3344 0.00 1.27 0.00 0.000 4 0.000 0.041 2542 1480 3611

3404 -0.63 -194.6 403.0 -11.0 325 3408 0.00 1.27 0.00 0.000 6 0.000 0.041 2537 2372 3611

3727 -0.63 -194.6 437.3 -10.4 356 3727 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2372 3607

4035 -0.63 -194.6 469.2 -10.1 386 4039 0.00 1.25 0.00 0.000 4 0.000 0.042 2537 1493 3604

4142 -0.63 -194.6 480.1 -10.2 396 4146 0.00 1.25 0.00 0.000 6 0.000 0.042 2531 2368 3604

4464 -0.63 -194.6 513.5 -10.3 427 4465 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2369 3600

4774 -0.63 -194.6 545.4 -10.3 457 4774 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2369 3597

5084 -0.63 -194.6 577.3 -10.4 487 5085 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2369 3595

5394 -0.63 -194.6 608.3 -10.0 517 5397 0.00 1.25 0.00 0.000 4 0.000 0.044 2531 1496 3592

5463 -0.63 -194.6 615.5 -10.0 523 5470 0.00 1.30 0.00 0.000 6 0.000 0.044 2525 2376 3591

5780 -0.63 -194.6 648.0 -10.3 554 5781 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2377 3590

6090 -0.63 -194.6 679.3 -9.9 584 6093 0.00 1.30 0.00 0.000 4 0.000 0.045 2526 1483 3587

6175 -0.63 -194.6 688.0 -10.7 592 6178 0.00 1.30 0.00 0.000 6 0.000 0.046 2519 2374 3587

6497 -0.63 -194.6 721.1 -10.6 623 6497 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2374 3585

6806 -0.63 -194.6 753.4 -10.6 653 6807 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2374 3582

7117 -0.63 -194.6 785.9 -10.4 683 7117 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2374 3581

7427 -0.63 -194.6 817.2 -9.5 713 7430 0.00 1.30 0.00 0.000 4 0.000 0.046 2519 1485 3579

7505 -0.63 -194.6 825.1 -9.8 720 7513 0.12 1.33 0.00 0.000 6 0.155 0.048 2544 2375 3578

7822 -0.63 -194.6 851.3 -8.7 751 7823 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2375 3577

8132 -0.63 -194.6 877.7 -8.5 781 8133 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2375 3575

8443 -0.63 -194.6 903.9 -8.8 811 8446 0.00 1.30 0.00 0.000 4 0.000 0.048 2544 1487 3574

8500 -0.63 -194.6 909.0 -9.2 816 8507 0.00 1.33 0.00 0.000 6 0.000 0.048 2541 2375 3574

8818 -0.63 -194.6 935.7 -8.8 847 8818 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2374 3572

9127 -0.63 -194.6 962.3 -8.9 877 9128 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2374 3572

9438 -0.63 -194.6 988.9 -8.5 907 9440 0.00 1.30 0.00 0.000 4 0.000 0.048 2541 1488 3570

9450 end dive: TARGET_DEPTH_EXCEEDED

state 9450 begin apogee

9455 -0.25 0.0 990.2 8.0 908 9603 0.40 0.00 145.68 1.258 6 0.140 0.000 2660 2270 2840

9604 end apogee: CONTROL_FINISHED_OK

state 9604 begin climb

9605 0.63 194.6 994.9 0.0 923 9777 0.90 1.83 164.43 1.227 4 0.111 0.058 2939 3132 2045

9824 0.63 194.6 975.4 13.4 942 9833 0.00 1.67 0.00 0.000 6 0.000 0.037 2946 2270 2038

10142 0.63 194.6 935.5 12.4 973 10145 0.00 1.67 0.00 0.000 4 0.000 0.056 2946 3135 2033

10167 0.63 194.6 931.9 13.5 975 10175 0.00 1.65 0.00 0.000 6 0.000 0.038 2954 2242 2032

10484 0.63 194.6 891.4 12.8 1006 10487 0.00 1.70 0.00 0.000 4 0.000 0.057 2954 3125 2032

10510 0.63 194.6 887.9 13.5 1008 10517 0.00 1.60 0.00 0.000 6 0.000 0.038 2962 2253 2031

10826 0.63 194.6 845.9 13.3 1039 10830 0.00 1.67 0.00 0.000 4 0.000 0.056 2962 3126 2030

10858 0.63 194.6 841.4 14.2 1042 10861 0.00 1.60 0.00 0.000 6 0.000 0.038 2969 2251 2029

11179 0.63 194.6 796.9 13.7 1073 11182 0.00 1.67 0.00 0.000 4 0.000 0.055 2970 3131 2029

11210 0.63 194.6 792.4 14.3 1076 11214 0.00 1.60 0.00 0.000 6 0.000 0.038 2977 2253 2028

11533 0.63 194.6 747.0 14.1 1107 11536 0.00 1.65 0.00 0.000 4 0.000 0.054 2978 3140 2028

11575 0.63 194.6 740.5 15.1 1111 11578 0.10 1.62 0.00 0.000 6 0.162 0.038 2956 2248 2027

11895 0.63 194.6 700.8 11.7 1142 11896 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2249 2027

12206 0.63 194.6 663.8 11.7 1172 12209 0.00 1.65 0.00 0.000 4 0.000 0.054 2956 3132 2027

12242 0.63 194.6 659.2 13.0 1175 12250 0.00 1.62 0.00 0.000 6 0.000 0.038 2962 2247 2027

12560 0.63 194.6 621.0 12.1 1206 12561 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2247 2027

12869 0.63 194.6 583.6 12.4 1236 12872 0.00 1.67 0.00 0.000 4 0.000 0.054 2962 3126 2027

12933 0.63 194.6 575.3 12.6 1242 12936 0.00 1.60 0.00 0.000 6 0.000 0.038 2970 2248 2026

13254 0.63 194.6 534.8 12.4 1273 13255 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2249 2026

13565 0.63 194.6 496.3 12.2 1303 13567 0.00 1.67 0.00 0.000 4 0.000 0.054 2969 3127 2026

13639 0.63 194.6 486.0 13.9 1310 13642 0.00 1.58 0.00 0.000 6 0.000 0.038 2977 2256 2026

13959 0.63 194.6 443.3 12.9 1341 13963 0.00 1.65 0.00 0.000 4 0.000 0.054 2977 3126 2025

14002 0.63 194.6 437.5 14.6 1345 14006 0.10 1.60 0.00 0.000 6 0.156 0.037 2955 2246 2025

14323 0.63 194.6 401.6 11.0 1376 14326 0.00 1.65 0.00 0.000 4 0.000 0.053 2955 3137 2025

14355 0.63 194.6 397.7 13.1 1379 14358 0.00 1.60 0.00 0.000 6 0.000 0.037 2961 2249 2026

14677 0.63 194.6 359.9 11.7 1410 14680 0.00 1.65 0.00 0.000 4 0.000 0.053 2961 3143 2025

14713 0.63 194.6 355.3 12.2 1413 14720 0.00 1.60 0.00 0.000 6 0.000 0.036 2968 2253 2025

15030 0.63 194.6 316.1 12.4 1444 15030 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2253 2025

15340 0.63 194.6 276.7 13.0 1474 15343 0.00 1.67 0.00 0.000 4 0.000 0.051 2969 3139 2026

15418 0.63 194.6 265.7 14.0 1481 15426 0.00 1.62 0.00 0.000 6 0.000 0.035 2976 2243 2025

15736 0.63 194.6 224.4 13.0 1512 15739 0.00 1.67 0.00 0.000 4 0.000 0.051 2976 3133 2025

15771 0.63 194.6 219.2 13.6 1515 15779 0.12 1.60 0.00 0.000 6 0.156 0.034 2953 2253 2026

16088 0.63 194.6 184.7 10.6 1546 16089 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2253 2026

16399 0.63 194.6 152.1 10.4 1576 16402 0.00 1.65 0.00 0.000 4 0.000 0.049 2953 3129 2026

16441 0.63 194.6 147.4 13.8 1580 16444 0.00 1.58 0.00 0.000 6 0.000 0.033 2959 2250 2026

16762 0.63 194.6 112.8 10.2 1611 16763 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2250 2026

17072 0.63 194.6 81.3 10.5 1641 17075 0.00 1.65 0.00 0.000 4 0.000 0.047 2959 3132 2027

17162 0.63 194.6 71.0 12.8 1649 17169 0.00 1.58 0.00 0.000 6 0.000 0.031 2967 2244 2027

17354 0.63 194.6 50.8 10.6 1668 17355 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2245 2028

17540 0.63 194.6 34.9 7.6 1686 17541 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2245 2029

17727 0.74 284.6 23.9 5.1 1704 17801 0.00 0.00 65.90 0.538 6 0.000 0.000 2967 2244 1677

17983 0.94 449.4 13.6 3.2 1729 18112 0.22 1.73 120.97 0.519 4 0.074 0.042 3049 3141 1005

18218 1.28 724.2 5.8 0.3 1750 18335 0.30 1.62 108.50 0.500 6 0.116 0.041 3150 2251 404

18519 1.64 1017.6 5.7 -0.2 1778 18523 0.38 1.12 0.00 0.000 4 0.133 0.039 3265 1352 401

18765 2.03 1339.8 5.7 -1.0 1801 18768 0.38 1.15 0.00 0.000 6 0.101 0.035 3390 2266 402

18929 end climb: NO_VERTICAL_VELOCITY

state 18929 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	153	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2375	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2250	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	42	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	5	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	-11553.217	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	28	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	071840,2839.267,-8838.656,16,2.9,35,-0.3	TGT_NAME	NEW0618E
_CALLS	5	TGT_LATLONG	2839.700,-8844.900
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.112,0.065
_SM_DEPTHo	2.70	KALMAN_X	-232823.6,-542.5,524.9,248080.3,-1801.2
_SM_ANGLEo	-74.6	KALMAN_Y	-129472.1,-1058.2,-144.1,112837.9,-1040.2
GPS2	071840,2839.267,-8838.656,16,2.9,35,-0.3	MHEAD_RNG_PITCHd_Wd	297.5,10178,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1210

SM_CCo	19160,0.00,0.000,0,0,402,598.28	_24V_AH	23.4,28.212
SM_GC	5.64,8.90,0.00,0.00,0.067,0.000,0.000,205,2361,402,-7.91,-0.40,598.28	_10V_AH	10.7,39.106
IRIDIUM_FIX	2826.10,-8841.44,160999,191918	DATA_FILE_SIZE	94514,1817
TT8_MAMPS	0.049088	CAP_FILE_SIZE	179465,0
HUMID	1340	CFSIZE	260165632,241197056
INTERNAL_PRESSURE	9.31676	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.20	CURRENT	0.113,290.0,1
XPDR_PINGS	3	GPS	220610,071840,2839.267,-8838.656,16,2.9,35,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	255	133.58	SBE_CT	1241	24	697.34
Roll_motor	91	61	131.52	SBE_O2	1328	19	590.75
VBD_pump_during_apogee	605	1257	17821.79	WL_BBFL2VMT	4084	105	10036.84
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	158	103	380.83	nil	0	0	0.00
Iridium_during_connect	229	160	860.47	nil	0	0	0.00
Iridium_during_xfer	332	223	1732.81
Transponder_ping	0	420	7.37
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	903	50	483.37
TT8	0	19	0.00
LPSleep	13111	2	307.25
TT8_Active	625	19	132.53
TT8_Sampling	6337	39	2698.99
TT8_CF8	1097	45	537.73
TT8_Kalman	33	81	29.19
Analog_circuits	2205	12	283.22
GPS_charging	0	0	0.00
Compass	4895	8	419.07
RAFOS	0	0	0.00
Transponder	1	30	0.57

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
12	-0.63	-194.6	0.0	0.0	0	37	0.00	0.00	-23.20	0.000	2	0.000	0.000	204	2377	1169
39	-0.63	-194.6	3.3	-3.9	2	119	10.30	1.50	-65.18	0.000	4	0.255	0.061	2531	3264	3635
268	-0.63	-194.6	35.9	-13.6	23	271	0.00	1.42	0.00	0.000	6	0.000	0.026	2536	2368	3636
464	-0.63	-194.6	61.7	-12.9	42	468	0.00	1.20	0.00	0.000	4	0.000	0.035	2536	1481	3636
507	-0.63	-194.6	67.2	-12.9	46	510	0.00	1.23	0.00	0.000	6	0.000	0.034	2532	2368	3636
704	-0.63	-194.6	93.4	-13.3	65	705	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2368	3636
890	-0.63	-194.6	118.4	-13.5	83	893	0.00	1.23	0.00	0.000	4	0.000	0.035	2532	1474	3636
943	-0.63	-194.6	125.4	-13.0	88	947	0.00	1.25	0.00	0.000	6	0.000	0.035	2527	2371	3635
1265	-0.63	-194.6	167.0	-11.9	119	1268	0.00	1.25	0.00	0.000	4	0.000	0.036	2526	1470	3633
1328	-0.63	-194.6	174.8	-11.6	125	1331	0.00	1.27	0.00	0.000	6	0.000	0.035	2521	2378	3633
1650	-0.63	-194.6	213.9	-11.8	156	1653	0.00	1.27	0.00	0.000	4	0.000	0.037	2521	1469	3629
1703	-0.63	-194.6	220.6	-12.7	161	1706	0.00	1.27	0.00	0.000	6	0.000	0.036	2514	2376	3629
2025	-0.63	-194.6	259.8	-12.9	192	2026	0.12	0.00	0.00	0.000	6	0.150	0.000	2546	2377	3625
2335	-0.63	-194.6	291.8	-10.7	222	2338	0.00	1.27	0.00	0.000	4	0.000	0.038	2546	1472	3622
2399	-0.63	-194.6	298.4	-10.1	228	2402	0.00	1.27	0.00	0.000	6	0.000	0.038	2543	2375	3622
2721	-0.63	-194.6	332.4	-10.5	259	2722	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2375	3618
3030	-0.63	-194.6	365.1	-10.6	289	3031	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2375	3615
3341	-0.63	-194.6	396.5	-10.2	319	3344	0.00	1.27	0.00	0.000	4	0.000	0.041	2542	1480	3611
3404	-0.63	-194.6	403.0	-11.0	325	3408	0.00	1.27	0.00	0.000	6	0.000	0.041	2537	2372	3611
3727	-0.63	-194.6	437.3	-10.4	356	3727	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2372	3607
4035	-0.63	-194.6	469.2	-10.1	386	4039	0.00	1.25	0.00	0.000	4	0.000	0.042	2537	1493	3604
4142	-0.63	-194.6	480.1	-10.2	396	4146	0.00	1.25	0.00	0.000	6	0.000	0.042	2531	2368	3604
4464	-0.63	-194.6	513.5	-10.3	427	4465	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2369	3600
4774	-0.63	-194.6	545.4	-10.3	457	4774	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2369	3597
5084	-0.63	-194.6	577.3	-10.4	487	5085	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2369	3595
5394	-0.63	-194.6	608.3	-10.0	517	5397	0.00	1.25	0.00	0.000	4	0.000	0.044	2531	1496	3592
5463	-0.63	-194.6	615.5	-10.0	523	5470	0.00	1.30	0.00	0.000	6	0.000	0.044	2525	2376	3591
5780	-0.63	-194.6	648.0	-10.3	554	5781	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2377	3590
6090	-0.63	-194.6	679.3	-9.9	584	6093	0.00	1.30	0.00	0.000	4	0.000	0.045	2526	1483	3587
6175	-0.63	-194.6	688.0	-10.7	592	6178	0.00	1.30	0.00	0.000	6	0.000	0.046	2519	2374	3587
6497	-0.63	-194.6	721.1	-10.6	623	6497	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2374	3585
6806	-0.63	-194.6	753.4	-10.6	653	6807	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2374	3582
7117	-0.63	-194.6	785.9	-10.4	683	7117	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2374	3581
7427	-0.63	-194.6	817.2	-9.5	713	7430	0.00	1.30	0.00	0.000	4	0.000	0.046	2519	1485	3579
7505	-0.63	-194.6	825.1	-9.8	720	7513	0.12	1.33	0.00	0.000	6	0.155	0.048	2544	2375	3578
7822	-0.63	-194.6	851.3	-8.7	751	7823	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2375	3577
8132	-0.63	-194.6	877.7	-8.5	781	8133	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2375	3575
8443	-0.63	-194.6	903.9	-8.8	811	8446	0.00	1.30	0.00	0.000	4	0.000	0.048	2544	1487	3574
8500	-0.63	-194.6	909.0	-9.2	816	8507	0.00	1.33	0.00	0.000	6	0.000	0.048	2541	2375	3574
8818	-0.63	-194.6	935.7	-8.8	847	8818	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2374	3572
9127	-0.63	-194.6	962.3	-8.9	877	9128	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2374	3572
9438	-0.63	-194.6	988.9	-8.5	907	9440	0.00	1.30	0.00	0.000	4	0.000	0.048	2541	1488	3570
9450	end dive: TARGET_DEPTH_EXCEEDED
state	9450	begin apogee
9455	-0.25	0.0	990.2	8.0	908	9603	0.40	0.00	145.68	1.258	6	0.140	0.000	2660	2270	2840
9604	end apogee: CONTROL_FINISHED_OK
state	9604	begin climb
9605	0.63	194.6	994.9	0.0	923	9777	0.90	1.83	164.43	1.227	4	0.111	0.058	2939	3132	2045
9824	0.63	194.6	975.4	13.4	942	9833	0.00	1.67	0.00	0.000	6	0.000	0.037	2946	2270	2038
10142	0.63	194.6	935.5	12.4	973	10145	0.00	1.67	0.00	0.000	4	0.000	0.056	2946	3135	2033
10167	0.63	194.6	931.9	13.5	975	10175	0.00	1.65	0.00	0.000	6	0.000	0.038	2954	2242	2032
10484	0.63	194.6	891.4	12.8	1006	10487	0.00	1.70	0.00	0.000	4	0.000	0.057	2954	3125	2032
10510	0.63	194.6	887.9	13.5	1008	10517	0.00	1.60	0.00	0.000	6	0.000	0.038	2962	2253	2031
10826	0.63	194.6	845.9	13.3	1039	10830	0.00	1.67	0.00	0.000	4	0.000	0.056	2962	3126	2030
10858	0.63	194.6	841.4	14.2	1042	10861	0.00	1.60	0.00	0.000	6	0.000	0.038	2969	2251	2029
11179	0.63	194.6	796.9	13.7	1073	11182	0.00	1.67	0.00	0.000	4	0.000	0.055	2970	3131	2029
11210	0.63	194.6	792.4	14.3	1076	11214	0.00	1.60	0.00	0.000	6	0.000	0.038	2977	2253	2028
11533	0.63	194.6	747.0	14.1	1107	11536	0.00	1.65	0.00	0.000	4	0.000	0.054	2978	3140	2028
11575	0.63	194.6	740.5	15.1	1111	11578	0.10	1.62	0.00	0.000	6	0.162	0.038	2956	2248	2027
11895	0.63	194.6	700.8	11.7	1142	11896	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2249	2027
12206	0.63	194.6	663.8	11.7	1172	12209	0.00	1.65	0.00	0.000	4	0.000	0.054	2956	3132	2027
12242	0.63	194.6	659.2	13.0	1175	12250	0.00	1.62	0.00	0.000	6	0.000	0.038	2962	2247	2027
12560	0.63	194.6	621.0	12.1	1206	12561	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2247	2027
12869	0.63	194.6	583.6	12.4	1236	12872	0.00	1.67	0.00	0.000	4	0.000	0.054	2962	3126	2027
12933	0.63	194.6	575.3	12.6	1242	12936	0.00	1.60	0.00	0.000	6	0.000	0.038	2970	2248	2026
13254	0.63	194.6	534.8	12.4	1273	13255	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2249	2026
13565	0.63	194.6	496.3	12.2	1303	13567	0.00	1.67	0.00	0.000	4	0.000	0.054	2969	3127	2026
13639	0.63	194.6	486.0	13.9	1310	13642	0.00	1.58	0.00	0.000	6	0.000	0.038	2977	2256	2026
13959	0.63	194.6	443.3	12.9	1341	13963	0.00	1.65	0.00	0.000	4	0.000	0.054	2977	3126	2025
14002	0.63	194.6	437.5	14.6	1345	14006	0.10	1.60	0.00	0.000	6	0.156	0.037	2955	2246	2025
14323	0.63	194.6	401.6	11.0	1376	14326	0.00	1.65	0.00	0.000	4	0.000	0.053	2955	3137	2025
14355	0.63	194.6	397.7	13.1	1379	14358	0.00	1.60	0.00	0.000	6	0.000	0.037	2961	2249	2026
14677	0.63	194.6	359.9	11.7	1410	14680	0.00	1.65	0.00	0.000	4	0.000	0.053	2961	3143	2025
14713	0.63	194.6	355.3	12.2	1413	14720	0.00	1.60	0.00	0.000	6	0.000	0.036	2968	2253	2025
15030	0.63	194.6	316.1	12.4	1444	15030	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2253	2025
15340	0.63	194.6	276.7	13.0	1474	15343	0.00	1.67	0.00	0.000	4	0.000	0.051	2969	3139	2026
15418	0.63	194.6	265.7	14.0	1481	15426	0.00	1.62	0.00	0.000	6	0.000	0.035	2976	2243	2025
15736	0.63	194.6	224.4	13.0	1512	15739	0.00	1.67	0.00	0.000	4	0.000	0.051	2976	3133	2025
15771	0.63	194.6	219.2	13.6	1515	15779	0.12	1.60	0.00	0.000	6	0.156	0.034	2953	2253	2026
16088	0.63	194.6	184.7	10.6	1546	16089	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2253	2026
16399	0.63	194.6	152.1	10.4	1576	16402	0.00	1.65	0.00	0.000	4	0.000	0.049	2953	3129	2026
16441	0.63	194.6	147.4	13.8	1580	16444	0.00	1.58	0.00	0.000	6	0.000	0.033	2959	2250	2026
16762	0.63	194.6	112.8	10.2	1611	16763	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2250	2026
17072	0.63	194.6	81.3	10.5	1641	17075	0.00	1.65	0.00	0.000	4	0.000	0.047	2959	3132	2027
17162	0.63	194.6	71.0	12.8	1649	17169	0.00	1.58	0.00	0.000	6	0.000	0.031	2967	2244	2027
17354	0.63	194.6	50.8	10.6	1668	17355	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2245	2028
17540	0.63	194.6	34.9	7.6	1686	17541	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2245	2029
17727	0.74	284.6	23.9	5.1	1704	17801	0.00	0.00	65.90	0.538	6	0.000	0.000	2967	2244	1677
17983	0.94	449.4	13.6	3.2	1729	18112	0.22	1.73	120.97	0.519	4	0.074	0.042	3049	3141	1005
18218	1.28	724.2	5.8	0.3	1750	18335	0.30	1.62	108.50	0.500	6	0.116	0.041	3150	2251	404
18519	1.64	1017.6	5.7	-0.2	1778	18523	0.38	1.12	0.00	0.000	4	0.133	0.039	3265	1352	401
18765	2.03	1339.8	5.7	-1.0	1801	18768	0.38	1.15	0.00	0.000	6	0.101	0.035	3390	2266	402
18929	end climb: NO_VERTICAL_VELOCITY
state	18929	begin surface