Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 154 * 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 154 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 36 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 -13362.294 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 -13362.294

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 36 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 154 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 -0.137,-0.014

_SM_DEPTHo 5.72 KALMAN_X -233274.0,-732.6,-635.8,251050.2,2453.8

_SM_ANGLEo -71.9 KALMAN_Y -131542.1,97.1,-269.5,114552.9,-312.7

GPS2 071840,2839.267,-8838.656,16,2.9,35,-0.3 MHEAD_RNG_PITCHd_Wd 268.3,10178,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1210

Post-dive calculations and measurements:

SM_CCo 18219,0.00,0.000,0,0,399,598.77 _24V_AH 21.7,28.375

SM_GC 4.16,8.23,0.00,0.00,0.055,0.000,0.000,201,2367,399,-7.91,-0.23,598.77 _10V_AH 10.7,39.374

IRIDIUM_FIX 2826.10,-8843.89,160999,191934 DATA_FILE_SIZE 91383,1724

TT8_MAMPS 0.050622 CAP_FILE_SIZE 168389,0

HUMID 1350 CFSIZE 260165632,241078272

INTERNAL_PRESSURE 9.25817 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 23.30 CURRENT 0.072,265.0,1

XPDR_PINGS 0 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 20 248 112.84 SBE_CT 1177 24 613.40

Roll_motor 109 59 139.95 SBE_O2 1262 19 520.63

VBD_pump_during_apogee 607 1254 16533.80 WL_BBFL2VMT 3875 105 8829.68

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 166 103 371.59 nil 0 0 0.00

Iridium_during_connect 143 160 497.73 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 903 50 483.38

TT8 0 19 0.00

LPSleep 12302 2 288.30

TT8_Active 652 19 138.28

TT8_Sampling 6162 39 2624.50

TT8_CF8 626 45 306.89

TT8_Kalman 33 81 29.18

Analog_circuits 2223 12 285.56

GPS_charging 0 0 0.00

Compass 4742 8 405.94

RAFOS 0 0 0.00

Transponder 0 30 0.18

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -0.63 -194.6 0.0 0.0 0 28 0.00 0.00 -13.20 0.000 2 0.000 0.000 204 2361 945

30 -0.63 -194.6 5.9 -0.0 1 106 10.10 1.55 -62.90 0.000 4 0.249 0.059 2534 3276 3635

345 -0.63 -194.6 49.0 -13.0 29 353 0.00 1.48 0.00 0.000 6 0.000 0.026 2537 2365 3636

538 -0.63 -194.6 72.7 -13.3 48 541 0.00 1.50 0.00 0.000 4 0.000 0.044 2532 3258 3636

655 -0.63 -194.6 88.9 -14.2 59 658 0.00 1.42 0.00 0.000 6 0.000 0.028 2534 2366 3636

851 -0.63 -194.6 115.8 -13.7 78 855 0.00 1.20 0.00 0.000 4 0.000 0.036 2536 1479 3636

948 -0.63 -194.6 128.5 -13.1 87 951 0.00 1.25 0.00 0.000 6 0.000 0.037 2532 2369 3635

1269 -0.63 -194.6 168.1 -12.7 118 1272 0.00 1.25 0.00 0.000 4 0.000 0.037 2532 1470 3632

1326 -0.63 -194.6 175.8 -12.6 123 1334 0.00 1.30 0.00 0.000 6 0.000 0.036 2527 2376 3632

1643 -0.63 -194.6 214.5 -12.3 154 1646 0.00 1.27 0.00 0.000 4 0.000 0.037 2526 1472 3629

1700 -0.63 -194.6 221.8 -11.7 159 1708 0.00 1.30 0.00 0.000 6 0.000 0.036 2521 2377 3628

2018 -0.63 -194.6 261.1 -12.5 190 2019 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2377 3624

2327 -0.63 -194.6 299.9 -12.1 220 2330 0.00 1.27 0.00 0.000 4 0.000 0.038 2521 1476 3622

2427 -0.63 -194.6 312.3 -12.2 229 2435 0.00 1.30 0.00 0.000 6 0.000 0.038 2514 2375 3621

2744 -0.63 -194.6 351.3 -12.0 260 2747 0.12 1.27 0.00 0.000 4 0.151 0.038 2549 1480 3617

2830 -0.63 -194.6 360.4 -9.8 268 2832 0.00 1.27 0.00 0.000 6 0.000 0.041 2545 2370 3617

3151 -0.63 -194.6 391.1 -9.5 299 3151 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2370 3612

3461 -0.63 -194.6 420.7 -9.3 329 3464 0.00 1.25 0.00 0.000 4 0.000 0.041 2545 1489 3610

3535 -0.63 -194.6 428.0 -9.6 336 3538 0.00 1.27 0.00 0.000 6 0.000 0.043 2540 2372 3609

3857 -0.63 -194.6 460.0 -10.1 367 3858 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2372 3606

4167 -0.63 -194.6 491.3 -10.0 397 4170 0.00 1.27 0.00 0.000 4 0.000 0.042 2540 1481 3604

4209 -0.63 -194.6 495.8 -10.5 401 4212 0.00 1.30 0.00 0.000 6 0.000 0.044 2535 2376 3603

4531 -0.63 -194.6 530.2 -10.4 432 4532 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2375 3599

4840 -0.63 -194.6 562.7 -10.2 462 4843 0.00 1.27 0.00 0.000 4 0.000 0.044 2534 1490 3597

4882 -0.63 -194.6 567.2 -11.3 466 4886 0.00 1.27 0.00 0.000 6 0.000 0.045 2529 2370 3597

5205 -0.63 -194.6 601.8 -10.2 497 5206 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2370 3593

5514 -0.63 -194.6 634.9 -10.6 527 5514 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2371 3591

5824 -0.63 -194.6 666.4 -9.6 557 5828 0.00 1.27 0.00 0.000 4 0.000 0.044 2529 1489 3589

5881 -0.63 -194.6 672.3 -10.0 562 5889 0.00 1.33 0.00 0.000 6 0.000 0.047 2524 2377 3589

6199 -0.63 -194.6 703.8 -10.4 593 6202 0.00 1.30 0.00 0.000 4 0.000 0.045 2523 1479 3586

6256 -0.63 -194.6 710.0 -9.9 598 6264 0.00 1.33 0.00 0.000 6 0.000 0.046 2518 2375 3587

6574 -0.63 -194.6 743.4 -10.9 629 6574 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2375 3584

6883 -0.63 -194.6 775.7 -10.7 659 6886 0.00 1.27 0.00 0.000 4 0.000 0.047 2518 1496 3581

6957 -0.63 -194.6 783.5 -10.4 666 6961 0.08 1.30 0.00 0.000 6 0.158 0.048 2536 2376 3581

7278 -0.63 -194.6 812.9 -9.1 697 7279 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2376 3579

7589 -0.63 -194.6 840.7 -9.1 727 7592 0.00 1.30 0.00 0.000 4 0.000 0.047 2536 1486 3578

7647 -0.63 -194.6 846.1 -8.9 732 7654 0.00 1.33 0.00 0.000 6 0.000 0.048 2532 2377 3577

7963 -0.63 -194.6 875.0 -9.3 763 7967 0.00 1.30 0.00 0.000 4 0.000 0.046 2532 1488 3576

8016 -0.63 -194.6 880.1 -9.5 768 8019 0.00 1.30 0.00 0.000 6 0.000 0.048 2528 2371 3575

8338 -0.63 -194.6 911.1 -9.8 799 8339 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2371 3573

8647 -0.63 -194.6 940.6 -9.5 829 8650 0.00 1.27 0.00 0.000 4 0.000 0.048 2527 1499 3572

8694 -0.63 -194.6 945.0 -9.4 833 8702 0.00 1.33 0.00 0.000 6 0.000 0.048 2522 2379 3572

9012 -0.63 -194.6 975.0 -9.5 864 9012 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2379 3572

9174 end dive: TARGET_DEPTH_EXCEEDED

state 9174 begin apogee

9179 -0.25 0.0 990.5 9.0 880 9329 0.47 0.00 145.75 1.254 6 0.143 0.000 2661 2263 2840

9329 end apogee: CONTROL_FINISHED_OK

state 9329 begin climb

9330 0.63 194.6 995.1 0.0 895 9502 0.90 1.80 164.95 1.221 4 0.108 0.058 2941 3143 2045

9538 0.63 194.6 977.1 13.1 914 9546 0.00 1.75 0.00 0.000 6 0.000 0.036 2949 2249 2039

9856 0.63 194.6 937.1 13.7 945 9858 0.00 1.70 0.00 0.000 4 0.000 0.057 2949 3146 2034

9898 0.63 194.6 931.3 14.4 949 9901 0.00 1.65 0.00 0.000 6 0.000 0.038 2957 2249 2033

10219 0.63 194.6 887.8 13.6 980 10223 0.00 1.73 0.00 0.000 4 0.000 0.056 2957 3152 2032

10250 0.63 194.6 883.3 14.6 983 10254 0.00 1.65 0.00 0.000 6 0.000 0.038 2965 2249 2031

10573 0.63 194.6 838.4 14.1 1014 10576 0.00 1.67 0.00 0.000 4 0.000 0.056 2965 3145 2029

10608 0.63 194.6 832.9 14.5 1017 10617 0.00 1.65 0.00 0.000 6 0.000 0.037 2973 2248 2029

10926 0.63 194.6 787.8 14.4 1048 10929 0.00 1.70 0.00 0.000 4 0.000 0.055 2973 3159 2029

10962 0.63 194.6 782.0 14.8 1051 10971 0.08 1.65 0.00 0.000 6 0.163 0.038 2958 2254 2028

11278 0.63 194.6 741.3 12.8 1082 11279 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2253 2028

11589 0.63 194.6 702.0 12.7 1112 11592 0.00 1.67 0.00 0.000 4 0.000 0.055 2958 3155 2027

11625 0.63 194.6 696.8 13.4 1115 11634 0.00 1.67 0.00 0.000 6 0.000 0.038 2965 2236 2027

11943 0.63 194.6 654.1 13.5 1146 11943 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2237 2027

12252 0.63 194.6 613.7 12.5 1176 12255 0.00 1.73 0.00 0.000 4 0.000 0.055 2964 3145 2027

12316 0.63 194.6 605.2 14.1 1182 12319 0.00 1.60 0.00 0.000 6 0.000 0.038 2972 2260 2026

12637 0.63 194.6 563.0 13.3 1213 12640 0.00 1.67 0.00 0.000 4 0.000 0.055 2972 3141 2026

12668 0.63 194.6 558.6 13.0 1216 12672 0.08 1.62 0.00 0.000 6 0.163 0.038 2957 2248 2025

12989 0.63 194.6 519.9 11.9 1247 12992 0.00 1.70 0.00 0.000 4 0.000 0.054 2956 3144 2025

13036 0.63 194.6 513.8 12.6 1251 13045 0.00 1.62 0.00 0.000 6 0.000 0.037 2963 2247 2025

13353 0.63 194.6 475.1 12.3 1282 13357 0.00 1.70 0.00 0.000 4 0.000 0.054 2963 3144 2025

13389 0.63 194.6 470.4 13.2 1285 13397 0.00 1.62 0.00 0.000 6 0.000 0.037 2970 2252 2025

13707 0.63 194.6 431.1 12.5 1316 13710 0.00 1.67 0.00 0.000 4 0.000 0.054 2970 3158 2025

13764 0.63 194.6 423.0 13.4 1321 13772 0.00 1.67 0.00 0.000 6 0.000 0.037 2979 2238 2025

14082 0.63 194.6 380.8 13.3 1352 14085 0.00 1.70 0.00 0.000 4 0.000 0.053 2978 3160 2025

14117 0.63 194.6 375.4 13.8 1355 14127 0.15 1.65 0.00 0.000 6 0.159 0.036 2949 2255 2025

14434 0.63 194.6 340.8 11.2 1386 14437 0.00 1.15 0.00 0.000 4 0.000 0.043 2952 1337 2025

14466 0.63 194.6 337.3 10.5 1389 14469 0.00 1.20 0.00 0.000 6 0.000 0.042 2952 2266 2025

14787 0.63 194.6 300.7 11.5 1420 14790 0.00 1.62 0.00 0.000 4 0.000 0.052 2952 3137 2025

14818 0.63 194.6 296.7 12.3 1423 14822 0.00 1.60 0.00 0.000 6 0.000 0.036 2960 2248 2025

15139 0.63 194.6 257.8 12.5 1454 15143 0.00 1.67 0.00 0.000 4 0.000 0.052 2960 3136 2025

15192 0.63 194.6 251.2 12.2 1459 15196 0.00 1.60 0.00 0.000 6 0.000 0.035 2968 2248 2025

15515 0.63 194.6 210.0 12.2 1490 15518 0.00 1.65 0.00 0.000 4 0.000 0.051 2968 3143 2025

15561 0.63 194.6 203.5 13.6 1494 15569 0.00 1.60 0.00 0.000 6 0.000 0.034 2976 2249 2025

15879 0.63 194.6 162.0 12.7 1525 15879 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2249 2026

16188 0.63 194.6 123.5 11.1 1555 16191 0.00 1.67 0.00 0.000 4 0.000 0.049 2975 3165 2026

16273 0.63 194.6 112.2 13.2 1563 16277 0.10 1.62 0.00 0.000 6 0.147 0.033 2953 2248 2026

16594 0.63 194.6 79.8 9.9 1594 16597 0.00 1.10 0.00 0.000 4 0.000 0.038 2957 1349 2027

16636 0.63 194.6 75.7 11.0 1598 16640 0.00 1.15 0.00 0.000 6 0.000 0.038 2956 2256 2027

16834 0.63 194.6 56.7 9.7 1617 16837 0.00 1.60 0.00 0.000 4 0.000 0.048 2957 3149 2028

16912 0.63 194.6 48.8 9.6 1624 16920 0.00 1.62 0.00 0.000 6 0.000 0.031 2964 2232 2028

17105 0.66 221.5 34.6 6.8 1643 17130 0.00 1.65 19.15 0.528 4 0.000 0.046 2963 3144 1936

17336 0.76 302.7 20.5 5.4 1664 17404 0.00 1.58 61.25 0.532 6 0.000 0.030 2971 2260 1605

17589 1.00 500.5 11.5 2.3 1688 17743 0.28 1.17 144.80 0.512 4 0.068 0.035 3073 1346 798

17865 1.38 810.8 4.2 -0.7 1712 17943 0.35 1.20 71.68 0.490 6 0.130 0.036 3178 2266 404

17990 end climb: NO_VERTICAL_VELOCITY

state 17990 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	154	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	36	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	-13362.294	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	-0.137,-0.014
_SM_DEPTHo	5.72	KALMAN_X	-233274.0,-732.6,-635.8,251050.2,2453.8
_SM_ANGLEo	-71.9	KALMAN_Y	-131542.1,97.1,-269.5,114552.9,-312.7
GPS2	071840,2839.267,-8838.656,16,2.9,35,-0.3	MHEAD_RNG_PITCHd_Wd	268.3,10178,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1210

SM_CCo	18219,0.00,0.000,0,0,399,598.77	_24V_AH	21.7,28.375
SM_GC	4.16,8.23,0.00,0.00,0.055,0.000,0.000,201,2367,399,-7.91,-0.23,598.77	_10V_AH	10.7,39.374
IRIDIUM_FIX	2826.10,-8843.89,160999,191934	DATA_FILE_SIZE	91383,1724
TT8_MAMPS	0.050622	CAP_FILE_SIZE	168389,0
HUMID	1350	CFSIZE	260165632,241078272
INTERNAL_PRESSURE	9.25817	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	23.30	CURRENT	0.072,265.0,1
XPDR_PINGS	0	GPS	220610,071840,2839.267,-8838.656,16,2.9,35,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	248	112.84	SBE_CT	1177	24	613.40
Roll_motor	109	59	139.95	SBE_O2	1262	19	520.63
VBD_pump_during_apogee	607	1254	16533.80	WL_BBFL2VMT	3875	105	8829.68
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	166	103	371.59	nil	0	0	0.00
Iridium_during_connect	143	160	497.73	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	903	50	483.38
TT8	0	19	0.00
LPSleep	12302	2	288.30
TT8_Active	652	19	138.28
TT8_Sampling	6162	39	2624.50
TT8_CF8	626	45	306.89
TT8_Kalman	33	81	29.18
Analog_circuits	2223	12	285.56
GPS_charging	0	0	0.00
Compass	4742	8	405.94
RAFOS	0	0	0.00
Transponder	0	30	0.18

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-0.63	-194.6	0.0	0.0	0	28	0.00	0.00	-13.20	0.000	2	0.000	0.000	204	2361	945
30	-0.63	-194.6	5.9	-0.0	1	106	10.10	1.55	-62.90	0.000	4	0.249	0.059	2534	3276	3635
345	-0.63	-194.6	49.0	-13.0	29	353	0.00	1.48	0.00	0.000	6	0.000	0.026	2537	2365	3636
538	-0.63	-194.6	72.7	-13.3	48	541	0.00	1.50	0.00	0.000	4	0.000	0.044	2532	3258	3636
655	-0.63	-194.6	88.9	-14.2	59	658	0.00	1.42	0.00	0.000	6	0.000	0.028	2534	2366	3636
851	-0.63	-194.6	115.8	-13.7	78	855	0.00	1.20	0.00	0.000	4	0.000	0.036	2536	1479	3636
948	-0.63	-194.6	128.5	-13.1	87	951	0.00	1.25	0.00	0.000	6	0.000	0.037	2532	2369	3635
1269	-0.63	-194.6	168.1	-12.7	118	1272	0.00	1.25	0.00	0.000	4	0.000	0.037	2532	1470	3632
1326	-0.63	-194.6	175.8	-12.6	123	1334	0.00	1.30	0.00	0.000	6	0.000	0.036	2527	2376	3632
1643	-0.63	-194.6	214.5	-12.3	154	1646	0.00	1.27	0.00	0.000	4	0.000	0.037	2526	1472	3629
1700	-0.63	-194.6	221.8	-11.7	159	1708	0.00	1.30	0.00	0.000	6	0.000	0.036	2521	2377	3628
2018	-0.63	-194.6	261.1	-12.5	190	2019	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2377	3624
2327	-0.63	-194.6	299.9	-12.1	220	2330	0.00	1.27	0.00	0.000	4	0.000	0.038	2521	1476	3622
2427	-0.63	-194.6	312.3	-12.2	229	2435	0.00	1.30	0.00	0.000	6	0.000	0.038	2514	2375	3621
2744	-0.63	-194.6	351.3	-12.0	260	2747	0.12	1.27	0.00	0.000	4	0.151	0.038	2549	1480	3617
2830	-0.63	-194.6	360.4	-9.8	268	2832	0.00	1.27	0.00	0.000	6	0.000	0.041	2545	2370	3617
3151	-0.63	-194.6	391.1	-9.5	299	3151	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2370	3612
3461	-0.63	-194.6	420.7	-9.3	329	3464	0.00	1.25	0.00	0.000	4	0.000	0.041	2545	1489	3610
3535	-0.63	-194.6	428.0	-9.6	336	3538	0.00	1.27	0.00	0.000	6	0.000	0.043	2540	2372	3609
3857	-0.63	-194.6	460.0	-10.1	367	3858	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2372	3606
4167	-0.63	-194.6	491.3	-10.0	397	4170	0.00	1.27	0.00	0.000	4	0.000	0.042	2540	1481	3604
4209	-0.63	-194.6	495.8	-10.5	401	4212	0.00	1.30	0.00	0.000	6	0.000	0.044	2535	2376	3603
4531	-0.63	-194.6	530.2	-10.4	432	4532	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2375	3599
4840	-0.63	-194.6	562.7	-10.2	462	4843	0.00	1.27	0.00	0.000	4	0.000	0.044	2534	1490	3597
4882	-0.63	-194.6	567.2	-11.3	466	4886	0.00	1.27	0.00	0.000	6	0.000	0.045	2529	2370	3597
5205	-0.63	-194.6	601.8	-10.2	497	5206	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2370	3593
5514	-0.63	-194.6	634.9	-10.6	527	5514	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2371	3591
5824	-0.63	-194.6	666.4	-9.6	557	5828	0.00	1.27	0.00	0.000	4	0.000	0.044	2529	1489	3589
5881	-0.63	-194.6	672.3	-10.0	562	5889	0.00	1.33	0.00	0.000	6	0.000	0.047	2524	2377	3589
6199	-0.63	-194.6	703.8	-10.4	593	6202	0.00	1.30	0.00	0.000	4	0.000	0.045	2523	1479	3586
6256	-0.63	-194.6	710.0	-9.9	598	6264	0.00	1.33	0.00	0.000	6	0.000	0.046	2518	2375	3587
6574	-0.63	-194.6	743.4	-10.9	629	6574	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2375	3584
6883	-0.63	-194.6	775.7	-10.7	659	6886	0.00	1.27	0.00	0.000	4	0.000	0.047	2518	1496	3581
6957	-0.63	-194.6	783.5	-10.4	666	6961	0.08	1.30	0.00	0.000	6	0.158	0.048	2536	2376	3581
7278	-0.63	-194.6	812.9	-9.1	697	7279	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2376	3579
7589	-0.63	-194.6	840.7	-9.1	727	7592	0.00	1.30	0.00	0.000	4	0.000	0.047	2536	1486	3578
7647	-0.63	-194.6	846.1	-8.9	732	7654	0.00	1.33	0.00	0.000	6	0.000	0.048	2532	2377	3577
7963	-0.63	-194.6	875.0	-9.3	763	7967	0.00	1.30	0.00	0.000	4	0.000	0.046	2532	1488	3576
8016	-0.63	-194.6	880.1	-9.5	768	8019	0.00	1.30	0.00	0.000	6	0.000	0.048	2528	2371	3575
8338	-0.63	-194.6	911.1	-9.8	799	8339	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2371	3573
8647	-0.63	-194.6	940.6	-9.5	829	8650	0.00	1.27	0.00	0.000	4	0.000	0.048	2527	1499	3572
8694	-0.63	-194.6	945.0	-9.4	833	8702	0.00	1.33	0.00	0.000	6	0.000	0.048	2522	2379	3572
9012	-0.63	-194.6	975.0	-9.5	864	9012	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2379	3572
9174	end dive: TARGET_DEPTH_EXCEEDED
state	9174	begin apogee
9179	-0.25	0.0	990.5	9.0	880	9329	0.47	0.00	145.75	1.254	6	0.143	0.000	2661	2263	2840
9329	end apogee: CONTROL_FINISHED_OK
state	9329	begin climb
9330	0.63	194.6	995.1	0.0	895	9502	0.90	1.80	164.95	1.221	4	0.108	0.058	2941	3143	2045
9538	0.63	194.6	977.1	13.1	914	9546	0.00	1.75	0.00	0.000	6	0.000	0.036	2949	2249	2039
9856	0.63	194.6	937.1	13.7	945	9858	0.00	1.70	0.00	0.000	4	0.000	0.057	2949	3146	2034
9898	0.63	194.6	931.3	14.4	949	9901	0.00	1.65	0.00	0.000	6	0.000	0.038	2957	2249	2033
10219	0.63	194.6	887.8	13.6	980	10223	0.00	1.73	0.00	0.000	4	0.000	0.056	2957	3152	2032
10250	0.63	194.6	883.3	14.6	983	10254	0.00	1.65	0.00	0.000	6	0.000	0.038	2965	2249	2031
10573	0.63	194.6	838.4	14.1	1014	10576	0.00	1.67	0.00	0.000	4	0.000	0.056	2965	3145	2029
10608	0.63	194.6	832.9	14.5	1017	10617	0.00	1.65	0.00	0.000	6	0.000	0.037	2973	2248	2029
10926	0.63	194.6	787.8	14.4	1048	10929	0.00	1.70	0.00	0.000	4	0.000	0.055	2973	3159	2029
10962	0.63	194.6	782.0	14.8	1051	10971	0.08	1.65	0.00	0.000	6	0.163	0.038	2958	2254	2028
11278	0.63	194.6	741.3	12.8	1082	11279	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2253	2028
11589	0.63	194.6	702.0	12.7	1112	11592	0.00	1.67	0.00	0.000	4	0.000	0.055	2958	3155	2027
11625	0.63	194.6	696.8	13.4	1115	11634	0.00	1.67	0.00	0.000	6	0.000	0.038	2965	2236	2027
11943	0.63	194.6	654.1	13.5	1146	11943	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2237	2027
12252	0.63	194.6	613.7	12.5	1176	12255	0.00	1.73	0.00	0.000	4	0.000	0.055	2964	3145	2027
12316	0.63	194.6	605.2	14.1	1182	12319	0.00	1.60	0.00	0.000	6	0.000	0.038	2972	2260	2026
12637	0.63	194.6	563.0	13.3	1213	12640	0.00	1.67	0.00	0.000	4	0.000	0.055	2972	3141	2026
12668	0.63	194.6	558.6	13.0	1216	12672	0.08	1.62	0.00	0.000	6	0.163	0.038	2957	2248	2025
12989	0.63	194.6	519.9	11.9	1247	12992	0.00	1.70	0.00	0.000	4	0.000	0.054	2956	3144	2025
13036	0.63	194.6	513.8	12.6	1251	13045	0.00	1.62	0.00	0.000	6	0.000	0.037	2963	2247	2025
13353	0.63	194.6	475.1	12.3	1282	13357	0.00	1.70	0.00	0.000	4	0.000	0.054	2963	3144	2025
13389	0.63	194.6	470.4	13.2	1285	13397	0.00	1.62	0.00	0.000	6	0.000	0.037	2970	2252	2025
13707	0.63	194.6	431.1	12.5	1316	13710	0.00	1.67	0.00	0.000	4	0.000	0.054	2970	3158	2025
13764	0.63	194.6	423.0	13.4	1321	13772	0.00	1.67	0.00	0.000	6	0.000	0.037	2979	2238	2025
14082	0.63	194.6	380.8	13.3	1352	14085	0.00	1.70	0.00	0.000	4	0.000	0.053	2978	3160	2025
14117	0.63	194.6	375.4	13.8	1355	14127	0.15	1.65	0.00	0.000	6	0.159	0.036	2949	2255	2025
14434	0.63	194.6	340.8	11.2	1386	14437	0.00	1.15	0.00	0.000	4	0.000	0.043	2952	1337	2025
14466	0.63	194.6	337.3	10.5	1389	14469	0.00	1.20	0.00	0.000	6	0.000	0.042	2952	2266	2025
14787	0.63	194.6	300.7	11.5	1420	14790	0.00	1.62	0.00	0.000	4	0.000	0.052	2952	3137	2025
14818	0.63	194.6	296.7	12.3	1423	14822	0.00	1.60	0.00	0.000	6	0.000	0.036	2960	2248	2025
15139	0.63	194.6	257.8	12.5	1454	15143	0.00	1.67	0.00	0.000	4	0.000	0.052	2960	3136	2025
15192	0.63	194.6	251.2	12.2	1459	15196	0.00	1.60	0.00	0.000	6	0.000	0.035	2968	2248	2025
15515	0.63	194.6	210.0	12.2	1490	15518	0.00	1.65	0.00	0.000	4	0.000	0.051	2968	3143	2025
15561	0.63	194.6	203.5	13.6	1494	15569	0.00	1.60	0.00	0.000	6	0.000	0.034	2976	2249	2025
15879	0.63	194.6	162.0	12.7	1525	15879	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2249	2026
16188	0.63	194.6	123.5	11.1	1555	16191	0.00	1.67	0.00	0.000	4	0.000	0.049	2975	3165	2026
16273	0.63	194.6	112.2	13.2	1563	16277	0.10	1.62	0.00	0.000	6	0.147	0.033	2953	2248	2026
16594	0.63	194.6	79.8	9.9	1594	16597	0.00	1.10	0.00	0.000	4	0.000	0.038	2957	1349	2027
16636	0.63	194.6	75.7	11.0	1598	16640	0.00	1.15	0.00	0.000	6	0.000	0.038	2956	2256	2027
16834	0.63	194.6	56.7	9.7	1617	16837	0.00	1.60	0.00	0.000	4	0.000	0.048	2957	3149	2028
16912	0.63	194.6	48.8	9.6	1624	16920	0.00	1.62	0.00	0.000	6	0.000	0.031	2964	2232	2028
17105	0.66	221.5	34.6	6.8	1643	17130	0.00	1.65	19.15	0.528	4	0.000	0.046	2963	3144	1936
17336	0.76	302.7	20.5	5.4	1664	17404	0.00	1.58	61.25	0.532	6	0.000	0.030	2971	2260	1605
17589	1.00	500.5	11.5	2.3	1688	17743	0.28	1.17	144.80	0.512	4	0.068	0.035	3073	1346	798
17865	1.38	810.8	4.2	-0.7	1712	17943	0.35	1.20	71.68	0.490	6	0.130	0.036	3178	2266	404
17990	end climb: NO_VERTICAL_VELOCITY
state	17990	begin surface