Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 155 * 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 155 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 32 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 -15171.362 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 -15171.362

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 32 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 155 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 0.081,0.196

_SM_DEPTHo 3.98 KALMAN_X -233724.4,1015.6,520.2,247427.7,-2138.7

_SM_ANGLEo -70.7 KALMAN_Y -133612.2,986.1,598.9,114190.8,-5173.9

GPS2 071840,2839.267,-8838.656,16,2.9,35,-0.3 MHEAD_RNG_PITCHd_Wd 277.3,10178,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1210

Post-dive calculations and measurements:

FINISH 3.2,1.015484 _24V_AH 22.0,28.537

SM_CCo 18123,51.55,0.486,0,0,404,597.54 _10V_AH 10.7,39.641

SM_GC 2.85,7.93,0.00,0.00,0.043,0.000,0.000,199,2370,401,-7.90,-0.14,598.28 DATA_FILE_SIZE 91461,1737

IRIDIUM_FIX 2826.10,-8843.89,160999,191934 CAP_FILE_SIZE 161907,0

TT8_MAMPS 0.050622 CFSIZE 260165632,240959488

HUMID 1365 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2484 CURRENT 1.106,238.7,1

TCM_TEMP 23.70 GPS 230610,123037,2833.662,-8852.511,174,1.3,174,-0.1

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 243 107.38 SBE_CT 1188 24 627.67

Roll_motor 86 55 106.27 SBE_O2 1273 19 532.29

VBD_pump_during_apogee 558 1256 15446.40 WL_BBFL2VMT 3904 105 9019.37

VBD_pump_during_surface 51 486 551.49 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 166 103 377.26 nil 0 0 0.00

Iridium_during_connect 143 160 505.19 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 4.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 903 50 483.37

TT8 0 19 0.00

LPSleep 12472 2 292.26

TT8_Active 625 19 132.55

TT8_Sampling 6092 39 2594.71

TT8_CF8 612 45 300.33

TT8_Kalman 33 81 29.19

Analog_circuits 2128 12 273.27

GPS_charging 0 0 0.00

Compass 4682 8 400.83

RAFOS 0 0 0.00

Transponder 0 30 0.17

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 27 0.00 0.00 -13.12 0.000 2 0.000 0.000 201 2369 882

29 -0.63 -194.6 4.1 -0.0 1 116 9.90 1.27 -73.20 0.000 4 0.243 0.054 2544 1462 3636

308 -0.63 -194.6 40.4 -13.0 26 312 0.00 1.25 0.00 0.000 6 0.000 0.033 2541 2368 3637

505 -0.63 -194.6 65.6 -12.6 45 508 0.00 1.48 0.00 0.000 4 0.000 0.043 2533 3261 3637

548 -0.63 -194.6 71.3 -13.9 49 551 0.00 1.42 0.00 0.000 6 0.000 0.027 2537 2366 3637

744 -0.63 -194.6 95.2 -12.3 68 747 0.00 1.20 0.00 0.000 4 0.000 0.033 2537 1475 3637

819 -0.63 -194.6 104.5 -12.9 75 822 0.00 1.25 0.00 0.000 6 0.000 0.033 2533 2371 3637

1141 -0.63 -194.6 145.3 -12.0 106 1144 0.00 1.25 0.00 0.000 4 0.000 0.033 2533 1471 3635

1187 -0.63 -194.6 151.4 -12.5 110 1196 0.00 1.30 0.00 0.000 6 0.000 0.034 2527 2380 3634

1505 -0.63 -194.6 189.6 -12.0 141 1505 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2379 3631

1814 -0.63 -194.6 226.4 -11.7 171 1817 0.00 1.27 0.00 0.000 4 0.000 0.035 2527 1471 3628

1920 -0.63 -194.6 238.8 -11.0 181 1924 0.00 1.27 0.00 0.000 6 0.000 0.035 2521 2375 3627

2243 -0.63 -194.6 277.2 -11.7 212 2244 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2375 3624

2552 -0.63 -194.6 313.7 -11.9 242 2553 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2376 3621

2862 -0.63 -194.6 350.8 -12.0 272 2865 0.00 1.27 0.00 0.000 4 0.000 0.038 2521 1473 3619

2947 -0.63 -194.6 360.8 -11.7 280 2951 0.00 1.27 0.00 0.000 6 0.000 0.039 2515 2371 3618

3270 -0.63 -194.6 399.8 -11.6 311 3273 0.00 1.25 0.00 0.000 4 0.000 0.038 2514 1487 3613

3312 -0.63 -194.6 405.3 -13.6 315 3315 0.10 1.27 0.00 0.000 6 0.144 0.041 2540 2372 3613

3632 -0.63 -194.6 437.2 -9.8 346 3633 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2372 3610

3943 -0.63 -194.6 467.8 -9.5 376 3944 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2372 3607

4254 -0.63 -194.6 497.3 -9.3 406 4254 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2372 3605

4564 -0.63 -194.6 527.5 -9.7 436 4567 0.00 1.27 0.00 0.000 4 0.000 0.042 2540 1487 3601

4606 -0.63 -194.6 531.7 -9.8 440 4610 0.00 1.30 0.00 0.000 6 0.000 0.045 2537 2376 3601

4928 -0.63 -194.6 563.1 -9.8 471 4929 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2376 3599

5238 -0.63 -194.6 594.5 -10.5 501 5241 0.00 1.27 0.00 0.000 4 0.000 0.044 2537 1491 3596

5281 -0.63 -194.6 598.7 -9.6 505 5283 0.00 1.27 0.00 0.000 6 0.000 0.046 2531 2369 3596

5602 -0.63 -194.6 632.2 -10.6 536 5602 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2369 3593

5912 -0.63 -194.6 664.5 -9.9 566 5913 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2369 3591

6222 -0.63 -194.6 696.6 -10.3 596 6222 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2369 3589

6532 -0.63 -194.6 727.9 -10.2 626 6536 0.00 1.27 0.00 0.000 4 0.000 0.046 2531 1488 3587

6574 -0.63 -194.6 732.3 -10.6 630 6578 0.00 1.30 0.00 0.000 6 0.000 0.049 2525 2371 3586

6896 -0.63 -194.6 765.4 -10.6 661 6899 0.00 1.27 0.00 0.000 4 0.000 0.047 2525 1496 3584

6953 -0.63 -194.6 771.5 -10.3 666 6962 0.00 1.33 0.00 0.000 6 0.000 0.048 2520 2377 3584

7271 -0.63 -194.6 804.2 -10.1 697 7272 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2378 3582

7580 -0.63 -194.6 835.8 -10.1 727 7583 0.00 1.30 0.00 0.000 4 0.000 0.046 2520 1491 3580

7654 -0.63 -194.6 843.4 -10.4 734 7658 0.00 1.30 0.00 0.000 6 0.000 0.048 2514 2372 3580

7977 -0.63 -194.6 877.1 -10.7 765 7978 0.12 0.00 0.00 0.000 6 0.159 0.000 2545 2372 3579

8287 -0.63 -194.6 903.5 -8.6 795 8287 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2372 3577

8597 -0.63 -194.6 930.2 -8.8 825 8600 0.00 1.30 0.00 0.000 4 0.000 0.048 2545 1484 3576

8682 -0.63 -194.6 937.7 -9.0 833 8685 0.00 1.33 0.00 0.000 6 0.000 0.050 2542 2375 3575

9003 -0.63 -194.6 966.3 -8.8 864 9004 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2375 3574

9280 end dive: TARGET_DEPTH_EXCEEDED

state 9280 begin apogee

9285 -0.25 0.0 990.9 9.4 891 9434 0.43 0.00 146.15 1.256 6 0.138 0.000 2668 2265 2840

9435 end apogee: CONTROL_FINISHED_OK

state 9435 begin climb

9436 0.63 194.6 996.4 0.0 906 9607 0.88 1.85 164.65 1.224 4 0.105 0.054 2944 3143 2046

9665 0.63 194.6 976.3 13.2 925 9673 0.00 1.75 0.00 0.000 6 0.000 0.037 2951 2242 2038

9983 0.63 194.6 936.6 12.9 956 9984 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2242 2034

10292 0.63 194.6 897.2 12.3 986 10293 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2243 2032

10603 0.63 194.6 859.6 12.7 1016 10606 0.00 1.73 0.00 0.000 4 0.000 0.055 2951 3169 2031

10660 0.63 194.6 851.9 14.3 1021 10668 0.00 1.67 0.00 0.000 6 0.000 0.038 2959 2252 2030

10978 0.63 194.6 811.3 12.2 1052 10978 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2253 2030

11287 0.63 194.6 770.2 13.6 1082 11288 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2252 2029

11598 0.63 194.6 729.7 13.5 1112 11601 0.00 1.67 0.00 0.000 4 0.000 0.056 2959 3147 2028

11650 0.63 194.6 722.4 14.8 1117 11654 0.00 1.62 0.00 0.000 6 0.000 0.038 2967 2249 2028

11972 0.63 194.6 679.0 13.5 1148 11973 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 2250 2028

12282 0.63 194.6 637.4 13.3 1178 12285 0.00 1.67 0.00 0.000 4 0.000 0.055 2967 3153 2027

12325 0.63 194.6 631.3 13.7 1182 12328 0.00 1.62 0.00 0.000 6 0.000 0.038 2975 2254 2026

12646 0.63 194.6 586.3 13.6 1213 12650 0.00 1.70 0.00 0.000 4 0.000 0.055 2975 3152 2026

12688 0.63 194.6 580.1 15.1 1217 12692 0.10 1.62 0.00 0.000 6 0.158 0.038 2953 2251 2026

13009 0.63 194.6 543.0 11.9 1248 13010 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2252 2026

13320 0.63 194.6 505.5 12.3 1278 13323 0.00 1.70 0.00 0.000 4 0.000 0.054 2953 3151 2026

13366 0.63 194.6 499.3 13.4 1282 13375 0.00 1.62 0.00 0.000 6 0.000 0.037 2959 2248 2026

13684 0.63 194.6 459.6 12.5 1313 13687 0.00 1.70 0.00 0.000 4 0.000 0.054 2959 3150 2026

13715 0.63 194.6 455.3 14.1 1316 13719 0.00 1.62 0.00 0.000 6 0.000 0.037 2967 2249 2025

14038 0.63 194.6 414.7 12.3 1347 14041 0.00 1.67 0.00 0.000 4 0.000 0.053 2967 3158 2025

14080 0.63 194.6 409.0 13.8 1351 14083 0.00 1.62 0.00 0.000 6 0.000 0.038 2974 2254 2025

14401 0.63 194.6 366.9 13.3 1382 14401 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2255 2026

14711 0.63 194.6 324.9 13.3 1412 14714 0.00 1.67 0.00 0.000 4 0.000 0.053 2974 3165 2026

14779 0.63 194.6 315.2 14.6 1418 14788 0.12 1.67 0.00 0.000 6 0.160 0.036 2952 2235 2025

15095 0.63 194.6 279.3 11.1 1449 15096 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2235 2025

15406 0.63 194.6 244.4 11.1 1479 15409 0.00 1.67 0.00 0.000 4 0.000 0.051 2952 3148 2026

15442 0.63 194.6 240.2 12.1 1482 15451 0.00 1.60 0.00 0.000 6 0.000 0.035 2958 2252 2026

15759 0.63 194.6 204.8 11.3 1513 15762 0.00 1.65 0.00 0.000 4 0.000 0.050 2958 3154 2026

15802 0.63 194.6 199.6 11.9 1517 15805 0.00 1.60 0.00 0.000 6 0.000 0.034 2966 2256 2026

16122 0.63 194.6 161.0 11.7 1548 16123 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2256 2026

16433 0.63 194.6 124.1 12.1 1578 16436 0.00 1.67 0.00 0.000 4 0.000 0.050 2966 3152 2027

16486 0.63 194.6 117.6 12.0 1583 16489 0.00 1.62 0.00 0.000 6 0.000 0.033 2974 2236 2026

16806 0.63 194.6 80.5 11.1 1614 16810 0.00 1.70 0.00 0.000 4 0.000 0.048 2974 3150 2028

16839 0.63 194.6 76.5 13.7 1617 16842 0.12 1.58 0.00 0.000 6 0.150 0.032 2950 2256 2028

17035 0.63 194.6 57.7 9.1 1636 17038 0.00 1.65 0.00 0.000 4 0.000 0.047 2950 3144 2029

17093 0.63 194.6 52.1 9.8 1641 17100 0.00 1.58 0.00 0.000 6 0.000 0.031 2956 2251 2029

17285 0.64 205.1 38.0 7.2 1660 17296 0.00 0.00 7.00 0.466 6 0.000 0.000 2956 2251 2003

17482 0.73 277.1 27.1 5.6 1679 17542 0.00 1.67 54.70 0.539 4 0.000 0.044 2956 3160 1710

17584 0.85 376.8 21.2 4.9 1688 17667 0.12 1.62 74.18 0.525 6 0.054 0.031 3032 2251 1304

17851 1.03 519.2 8.5 3.8 1713 17961 0.12 1.15 104.50 0.507 4 0.079 0.036 3077 1356 722

17973 1.16 631.3 3.1 4.6 1723 17984 0.12 1.20 7.68 0.416 2 0.130 0.033 3114 2270 686

17985 end climb: SURFACE_DEPTH_REACHED

state 17985 begin surface coast

18121 end surface coast: CONTROL_FINISHED_OK

state 18121 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	155	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	32	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	-15171.362	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	0.081,0.196
_SM_DEPTHo	3.98	KALMAN_X	-233724.4,1015.6,520.2,247427.7,-2138.7
_SM_ANGLEo	-70.7	KALMAN_Y	-133612.2,986.1,598.9,114190.8,-5173.9
GPS2	071840,2839.267,-8838.656,16,2.9,35,-0.3	MHEAD_RNG_PITCHd_Wd	277.3,10178,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1210

FINISH	3.2,1.015484	_24V_AH	22.0,28.537
SM_CCo	18123,51.55,0.486,0,0,404,597.54	_10V_AH	10.7,39.641
SM_GC	2.85,7.93,0.00,0.00,0.043,0.000,0.000,199,2370,401,-7.90,-0.14,598.28	DATA_FILE_SIZE	91461,1737
IRIDIUM_FIX	2826.10,-8843.89,160999,191934	CAP_FILE_SIZE	161907,0
TT8_MAMPS	0.050622	CFSIZE	260165632,240959488
HUMID	1365	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2484	CURRENT	1.106,238.7,1
TCM_TEMP	23.70	GPS	230610,123037,2833.662,-8852.511,174,1.3,174,-0.1
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	243	107.38	SBE_CT	1188	24	627.67
Roll_motor	86	55	106.27	SBE_O2	1273	19	532.29
VBD_pump_during_apogee	558	1256	15446.40	WL_BBFL2VMT	3904	105	9019.37
VBD_pump_during_surface	51	486	551.49	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	166	103	377.26	nil	0	0	0.00
Iridium_during_connect	143	160	505.19	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	4.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	903	50	483.37
TT8	0	19	0.00
LPSleep	12472	2	292.26
TT8_Active	625	19	132.55
TT8_Sampling	6092	39	2594.71
TT8_CF8	612	45	300.33
TT8_Kalman	33	81	29.19
Analog_circuits	2128	12	273.27
GPS_charging	0	0	0.00
Compass	4682	8	400.83
RAFOS	0	0	0.00
Transponder	0	30	0.17

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	27	0.00	0.00	-13.12	0.000	2	0.000	0.000	201	2369	882
29	-0.63	-194.6	4.1	-0.0	1	116	9.90	1.27	-73.20	0.000	4	0.243	0.054	2544	1462	3636
308	-0.63	-194.6	40.4	-13.0	26	312	0.00	1.25	0.00	0.000	6	0.000	0.033	2541	2368	3637
505	-0.63	-194.6	65.6	-12.6	45	508	0.00	1.48	0.00	0.000	4	0.000	0.043	2533	3261	3637
548	-0.63	-194.6	71.3	-13.9	49	551	0.00	1.42	0.00	0.000	6	0.000	0.027	2537	2366	3637
744	-0.63	-194.6	95.2	-12.3	68	747	0.00	1.20	0.00	0.000	4	0.000	0.033	2537	1475	3637
819	-0.63	-194.6	104.5	-12.9	75	822	0.00	1.25	0.00	0.000	6	0.000	0.033	2533	2371	3637
1141	-0.63	-194.6	145.3	-12.0	106	1144	0.00	1.25	0.00	0.000	4	0.000	0.033	2533	1471	3635
1187	-0.63	-194.6	151.4	-12.5	110	1196	0.00	1.30	0.00	0.000	6	0.000	0.034	2527	2380	3634
1505	-0.63	-194.6	189.6	-12.0	141	1505	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2379	3631
1814	-0.63	-194.6	226.4	-11.7	171	1817	0.00	1.27	0.00	0.000	4	0.000	0.035	2527	1471	3628
1920	-0.63	-194.6	238.8	-11.0	181	1924	0.00	1.27	0.00	0.000	6	0.000	0.035	2521	2375	3627
2243	-0.63	-194.6	277.2	-11.7	212	2244	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2375	3624
2552	-0.63	-194.6	313.7	-11.9	242	2553	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2376	3621
2862	-0.63	-194.6	350.8	-12.0	272	2865	0.00	1.27	0.00	0.000	4	0.000	0.038	2521	1473	3619
2947	-0.63	-194.6	360.8	-11.7	280	2951	0.00	1.27	0.00	0.000	6	0.000	0.039	2515	2371	3618
3270	-0.63	-194.6	399.8	-11.6	311	3273	0.00	1.25	0.00	0.000	4	0.000	0.038	2514	1487	3613
3312	-0.63	-194.6	405.3	-13.6	315	3315	0.10	1.27	0.00	0.000	6	0.144	0.041	2540	2372	3613
3632	-0.63	-194.6	437.2	-9.8	346	3633	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2372	3610
3943	-0.63	-194.6	467.8	-9.5	376	3944	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2372	3607
4254	-0.63	-194.6	497.3	-9.3	406	4254	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2372	3605
4564	-0.63	-194.6	527.5	-9.7	436	4567	0.00	1.27	0.00	0.000	4	0.000	0.042	2540	1487	3601
4606	-0.63	-194.6	531.7	-9.8	440	4610	0.00	1.30	0.00	0.000	6	0.000	0.045	2537	2376	3601
4928	-0.63	-194.6	563.1	-9.8	471	4929	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2376	3599
5238	-0.63	-194.6	594.5	-10.5	501	5241	0.00	1.27	0.00	0.000	4	0.000	0.044	2537	1491	3596
5281	-0.63	-194.6	598.7	-9.6	505	5283	0.00	1.27	0.00	0.000	6	0.000	0.046	2531	2369	3596
5602	-0.63	-194.6	632.2	-10.6	536	5602	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2369	3593
5912	-0.63	-194.6	664.5	-9.9	566	5913	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2369	3591
6222	-0.63	-194.6	696.6	-10.3	596	6222	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2369	3589
6532	-0.63	-194.6	727.9	-10.2	626	6536	0.00	1.27	0.00	0.000	4	0.000	0.046	2531	1488	3587
6574	-0.63	-194.6	732.3	-10.6	630	6578	0.00	1.30	0.00	0.000	6	0.000	0.049	2525	2371	3586
6896	-0.63	-194.6	765.4	-10.6	661	6899	0.00	1.27	0.00	0.000	4	0.000	0.047	2525	1496	3584
6953	-0.63	-194.6	771.5	-10.3	666	6962	0.00	1.33	0.00	0.000	6	0.000	0.048	2520	2377	3584
7271	-0.63	-194.6	804.2	-10.1	697	7272	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2378	3582
7580	-0.63	-194.6	835.8	-10.1	727	7583	0.00	1.30	0.00	0.000	4	0.000	0.046	2520	1491	3580
7654	-0.63	-194.6	843.4	-10.4	734	7658	0.00	1.30	0.00	0.000	6	0.000	0.048	2514	2372	3580
7977	-0.63	-194.6	877.1	-10.7	765	7978	0.12	0.00	0.00	0.000	6	0.159	0.000	2545	2372	3579
8287	-0.63	-194.6	903.5	-8.6	795	8287	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2372	3577
8597	-0.63	-194.6	930.2	-8.8	825	8600	0.00	1.30	0.00	0.000	4	0.000	0.048	2545	1484	3576
8682	-0.63	-194.6	937.7	-9.0	833	8685	0.00	1.33	0.00	0.000	6	0.000	0.050	2542	2375	3575
9003	-0.63	-194.6	966.3	-8.8	864	9004	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2375	3574
9280	end dive: TARGET_DEPTH_EXCEEDED
state	9280	begin apogee
9285	-0.25	0.0	990.9	9.4	891	9434	0.43	0.00	146.15	1.256	6	0.138	0.000	2668	2265	2840
9435	end apogee: CONTROL_FINISHED_OK
state	9435	begin climb
9436	0.63	194.6	996.4	0.0	906	9607	0.88	1.85	164.65	1.224	4	0.105	0.054	2944	3143	2046
9665	0.63	194.6	976.3	13.2	925	9673	0.00	1.75	0.00	0.000	6	0.000	0.037	2951	2242	2038
9983	0.63	194.6	936.6	12.9	956	9984	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2242	2034
10292	0.63	194.6	897.2	12.3	986	10293	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2243	2032
10603	0.63	194.6	859.6	12.7	1016	10606	0.00	1.73	0.00	0.000	4	0.000	0.055	2951	3169	2031
10660	0.63	194.6	851.9	14.3	1021	10668	0.00	1.67	0.00	0.000	6	0.000	0.038	2959	2252	2030
10978	0.63	194.6	811.3	12.2	1052	10978	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2253	2030
11287	0.63	194.6	770.2	13.6	1082	11288	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2252	2029
11598	0.63	194.6	729.7	13.5	1112	11601	0.00	1.67	0.00	0.000	4	0.000	0.056	2959	3147	2028
11650	0.63	194.6	722.4	14.8	1117	11654	0.00	1.62	0.00	0.000	6	0.000	0.038	2967	2249	2028
11972	0.63	194.6	679.0	13.5	1148	11973	0.00	0.00	0.00	0.000	6	0.000	0.000	2967	2250	2028
12282	0.63	194.6	637.4	13.3	1178	12285	0.00	1.67	0.00	0.000	4	0.000	0.055	2967	3153	2027
12325	0.63	194.6	631.3	13.7	1182	12328	0.00	1.62	0.00	0.000	6	0.000	0.038	2975	2254	2026
12646	0.63	194.6	586.3	13.6	1213	12650	0.00	1.70	0.00	0.000	4	0.000	0.055	2975	3152	2026
12688	0.63	194.6	580.1	15.1	1217	12692	0.10	1.62	0.00	0.000	6	0.158	0.038	2953	2251	2026
13009	0.63	194.6	543.0	11.9	1248	13010	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2252	2026
13320	0.63	194.6	505.5	12.3	1278	13323	0.00	1.70	0.00	0.000	4	0.000	0.054	2953	3151	2026
13366	0.63	194.6	499.3	13.4	1282	13375	0.00	1.62	0.00	0.000	6	0.000	0.037	2959	2248	2026
13684	0.63	194.6	459.6	12.5	1313	13687	0.00	1.70	0.00	0.000	4	0.000	0.054	2959	3150	2026
13715	0.63	194.6	455.3	14.1	1316	13719	0.00	1.62	0.00	0.000	6	0.000	0.037	2967	2249	2025
14038	0.63	194.6	414.7	12.3	1347	14041	0.00	1.67	0.00	0.000	4	0.000	0.053	2967	3158	2025
14080	0.63	194.6	409.0	13.8	1351	14083	0.00	1.62	0.00	0.000	6	0.000	0.038	2974	2254	2025
14401	0.63	194.6	366.9	13.3	1382	14401	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2255	2026
14711	0.63	194.6	324.9	13.3	1412	14714	0.00	1.67	0.00	0.000	4	0.000	0.053	2974	3165	2026
14779	0.63	194.6	315.2	14.6	1418	14788	0.12	1.67	0.00	0.000	6	0.160	0.036	2952	2235	2025
15095	0.63	194.6	279.3	11.1	1449	15096	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2235	2025
15406	0.63	194.6	244.4	11.1	1479	15409	0.00	1.67	0.00	0.000	4	0.000	0.051	2952	3148	2026
15442	0.63	194.6	240.2	12.1	1482	15451	0.00	1.60	0.00	0.000	6	0.000	0.035	2958	2252	2026
15759	0.63	194.6	204.8	11.3	1513	15762	0.00	1.65	0.00	0.000	4	0.000	0.050	2958	3154	2026
15802	0.63	194.6	199.6	11.9	1517	15805	0.00	1.60	0.00	0.000	6	0.000	0.034	2966	2256	2026
16122	0.63	194.6	161.0	11.7	1548	16123	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2256	2026
16433	0.63	194.6	124.1	12.1	1578	16436	0.00	1.67	0.00	0.000	4	0.000	0.050	2966	3152	2027
16486	0.63	194.6	117.6	12.0	1583	16489	0.00	1.62	0.00	0.000	6	0.000	0.033	2974	2236	2026
16806	0.63	194.6	80.5	11.1	1614	16810	0.00	1.70	0.00	0.000	4	0.000	0.048	2974	3150	2028
16839	0.63	194.6	76.5	13.7	1617	16842	0.12	1.58	0.00	0.000	6	0.150	0.032	2950	2256	2028
17035	0.63	194.6	57.7	9.1	1636	17038	0.00	1.65	0.00	0.000	4	0.000	0.047	2950	3144	2029
17093	0.63	194.6	52.1	9.8	1641	17100	0.00	1.58	0.00	0.000	6	0.000	0.031	2956	2251	2029
17285	0.64	205.1	38.0	7.2	1660	17296	0.00	0.00	7.00	0.466	6	0.000	0.000	2956	2251	2003
17482	0.73	277.1	27.1	5.6	1679	17542	0.00	1.67	54.70	0.539	4	0.000	0.044	2956	3160	1710
17584	0.85	376.8	21.2	4.9	1688	17667	0.12	1.62	74.18	0.525	6	0.054	0.031	3032	2251	1304
17851	1.03	519.2	8.5	3.8	1713	17961	0.12	1.15	104.50	0.507	4	0.079	0.036	3077	1356	722
17973	1.16	631.3	3.1	4.6	1723	17984	0.12	1.20	7.68	0.416	2	0.130	0.033	3114	2270	686
17985	end climb: SURFACE_DEPTH_REACHED
state	17985	begin surface coast
18121	end surface coast: CONTROL_FINISHED_OK
state	18121	begin surface