Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 192 * 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 192 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 2400 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 575 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 41 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 250 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 500 CALL_TRIES 8 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -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 -16950.873 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 575

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 8 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -16950.873

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 2400 MASS 51931 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 41 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 192 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 060320,2837.257,-8845.151,42,2.2,61,-0.2 TGT_NAME NEW0618A

_CALLS 1 TGT_LATLONG 2837.900,-8826.000

_XMS_NAKs 9 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.235,0.122

_SM_DEPTHo 1.58 KALMAN_X -23867.1,-219.4,-747.4,32772.8,-521.4

_SM_ANGLEo -59.7 KALMAN_Y -123872.1,1948.7,465.4,137827.2,-15282.9

GPS2 061002,2837.207,-8845.217,13,1.6,13,-0.2 MHEAD_RNG_PITCHd_Wd 79.1,31264,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1133

Post-dive calculations and measurements:

FINISH 0.6,1.022907 _24V_AH 23.0,34.321

SM_CCo 18049,92.38,0.494,0,0,495,575.22 _10V_AH 10.6,47.850

SM_GC 1.42,0.00,0.00,92.38,0.000,0.000,0.494,199,2371,495,-7.96,-0.82,575.22 DATA_FILE_SIZE 91394,1735

IRIDIUM_FIX 2823.64,-8846.40,250999,010158 CAP_FILE_SIZE 157909,0

TT8_MAMPS 0.049855 CFSIZE 260165632,237842432

HUMID 1370 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2191 CURRENT 0.106,212.7,1

TCM_TEMP 23.60 GPS 010710,111407,2837.066,-8842.901,43,1.1,43,-0.2

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 259 121.34 SBE_CT 1187 24 655.77

Roll_motor 74 63 109.74 SBE_O2 1269 19 554.72

VBD_pump_during_apogee 463 1245 13284.53 WL_BBFL2VMT 3899 105 9417.20

VBD_pump_during_surface 92 493 1049.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.70 nil 0 0 0.00

Iridium_during_connect 27 160 101.76 nil 0 0 0.00

Iridium_during_xfer 229 223 1177.93

Transponder_ping 1 420 14.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.12

TT8 0 19 0.00

LPSleep 12235 2 284.03

TT8_Active 623 19 130.78

TT8_Sampling 5075 39 2141.22

TT8_CF8 582 45 282.68

TT8_Kalman 33 81 28.90

Analog_circuits 2041 12 259.73

GPS_charging 0 0 0.00

Compass 4560 8 386.73

RAFOS 0 0 0.00

Transponder 0 30 0.27

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 97 0.00 0.00 -82.47 0.000 2 0.000 0.000 198 2419 2755

99 -0.63 -194.6 3.1 -3.8 8 136 10.70 1.50 -22.15 0.000 4 0.259 0.064 2531 3281 3635

157 -0.63 -194.6 12.8 -21.8 13 161 0.00 1.45 0.00 0.000 6 0.000 0.028 2536 2391 3636

354 -0.63 -194.6 53.1 -13.9 32 357 0.00 1.25 0.00 0.000 4 0.000 0.036 2537 1510 3637

492 -0.63 -194.6 72.5 -13.5 45 496 0.00 1.27 0.00 0.000 6 0.000 0.037 2533 2386 3638

690 -0.63 -194.6 99.8 -13.7 64 690 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2386 3639

875 -0.63 -194.6 124.8 -13.1 82 876 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2386 3639

1186 -0.63 -194.6 163.4 -12.1 112 1187 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2386 3639

1497 -0.63 -194.6 198.3 -11.6 142 1497 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2386 3638

1807 -0.63 -194.6 232.6 -11.5 172 1810 0.00 1.27 0.00 0.000 4 0.000 0.038 2532 1501 3637

1860 -0.63 -194.6 238.7 -11.6 177 1863 0.00 1.33 0.00 0.000 6 0.000 0.040 2527 2409 3636

2182 -0.63 -194.6 276.7 -12.0 208 2184 0.00 1.30 0.00 0.000 4 0.000 0.038 2527 1513 3634

2239 -0.63 -194.6 284.0 -11.6 213 2247 0.00 1.27 0.00 0.000 6 0.000 0.039 2521 2390 3634

2556 -0.63 -194.6 320.8 -11.4 244 2559 0.00 1.27 0.00 0.000 4 0.000 0.038 2521 1507 3632

2602 -0.63 -194.6 326.2 -11.2 248 2610 0.00 1.35 0.00 0.000 6 0.000 0.041 2514 2416 3632

2920 -0.63 -194.6 361.3 -10.9 279 2921 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2416 3630

3229 -0.63 -194.6 396.0 -11.5 309 3233 0.12 1.30 0.00 0.000 4 0.146 0.040 2549 1513 3627

3272 -0.63 -194.6 400.4 -9.4 313 3275 0.00 1.27 0.00 0.000 6 0.000 0.042 2545 2380 3627

3594 -0.63 -194.6 430.7 -9.5 344 3594 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2381 3624

3904 -0.63 -194.6 460.9 -9.4 374 3907 0.00 1.27 0.00 0.000 4 0.000 0.041 2545 1511 3622

3935 -0.63 -194.6 464.0 -9.9 377 3938 0.00 1.35 0.00 0.000 6 0.000 0.044 2540 2419 3622

4257 -0.63 -194.6 496.1 -9.8 408 4260 0.00 1.33 0.00 0.000 4 0.000 0.042 2540 1516 3620

4304 -0.63 -194.6 500.9 -9.9 412 4311 0.00 1.30 0.00 0.000 6 0.000 0.044 2534 2394 3620

4621 -0.63 -194.6 531.8 -9.5 443 4622 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2395 3617

4931 -0.63 -194.6 562.4 -9.6 473 4934 0.00 1.30 0.00 0.000 4 0.000 0.043 2535 1512 3616

4973 -0.63 -194.6 566.6 -9.4 477 4976 0.00 1.33 0.00 0.000 6 0.000 0.046 2529 2400 3615

5295 -0.63 -194.6 599.0 -10.5 508 5296 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2400 3613

5605 -0.63 -194.6 630.3 -10.1 538 5606 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2400 3611

5915 -0.63 -194.6 661.3 -9.8 568 5918 0.00 1.30 0.00 0.000 4 0.000 0.044 2529 1520 3609

5994 -0.63 -194.6 669.2 -9.9 575 6001 0.00 1.33 0.00 0.000 6 0.000 0.047 2523 2401 3608

6311 -0.63 -194.6 701.7 -10.3 606 6312 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2401 3606

6621 -0.63 -194.6 733.7 -10.1 636 6624 0.00 1.30 0.00 0.000 4 0.000 0.045 2523 1522 3604

6668 -0.63 -194.6 738.7 -10.8 640 6675 0.00 1.35 0.00 0.000 6 0.000 0.048 2517 2404 3604

6985 -0.63 -194.6 771.3 -10.2 671 6989 0.00 1.33 0.00 0.000 4 0.000 0.044 2517 1514 3603

7049 -0.63 -194.6 778.0 -10.3 677 7052 0.08 1.33 0.00 0.000 6 0.151 0.048 2536 2394 3603

7370 -0.63 -194.6 806.2 -8.7 708 7370 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2394 3601

7681 -0.63 -194.6 832.9 -8.5 738 7681 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2396 3600

7991 -0.63 -194.6 859.7 -8.8 768 7994 0.00 1.30 0.00 0.000 4 0.000 0.046 2536 1522 3598

8055 -0.63 -194.6 865.3 -9.0 774 8058 0.00 1.33 0.00 0.000 6 0.000 0.049 2532 2400 3598

8376 -0.63 -194.6 894.2 -9.3 805 8379 0.00 1.30 0.00 0.000 4 0.000 0.046 2532 1524 3596

8451 -0.63 -194.6 901.1 -9.1 812 8454 0.00 1.33 0.00 0.000 6 0.000 0.050 2527 2400 3596

8772 -0.63 -194.6 930.6 -8.4 843 8773 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2400 3594

9083 -0.63 -194.6 958.8 -9.2 873 9085 0.00 1.33 0.00 0.000 4 0.000 0.047 2527 1516 3593

9114 -0.63 -194.6 961.8 -9.3 876 9117 0.00 1.33 0.00 0.000 6 0.000 0.050 2522 2392 3593

9424 end dive: TARGET_DEPTH_EXCEEDED

state 9424 begin apogee

9428 -0.25 0.0 990.2 8.9 906 9587 0.47 0.00 151.93 1.246 6 0.139 0.000 2661 2263 2840

9588 end apogee: CONTROL_FINISHED_OK

state 9588 begin climb

9590 0.63 194.6 994.8 0.0 922 9768 0.90 1.85 169.02 1.216 4 0.105 0.054 2942 3137 2044

9790 0.63 194.6 977.9 12.8 941 9793 0.00 1.73 0.00 0.000 6 0.000 0.038 2950 2259 2041

10111 0.63 194.6 938.3 12.2 972 10112 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2260 2034

10421 0.63 194.6 900.0 12.7 1002 10422 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2260 2032

10731 0.63 194.6 861.6 12.2 1032 10732 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2260 2031

11041 0.63 194.6 823.4 12.0 1062 11042 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2260 2030

11352 0.63 194.6 786.0 12.0 1092 11353 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2260 2029

11662 0.63 194.6 749.3 11.4 1122 11665 0.00 1.67 0.00 0.000 4 0.000 0.054 2950 3139 2029

11688 0.63 194.6 746.0 13.8 1124 11695 0.00 1.62 0.00 0.000 6 0.000 0.038 2957 2248 2028

12005 0.63 194.6 707.0 12.0 1155 12006 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2248 2028

12315 0.63 194.6 668.2 12.7 1185 12316 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2248 2028

12625 0.63 194.6 629.6 12.2 1215 12628 0.00 1.67 0.00 0.000 4 0.000 0.054 2957 3145 2028

12657 0.63 194.6 625.5 13.1 1218 12660 0.00 1.62 0.00 0.000 6 0.000 0.038 2965 2249 2026

12978 0.63 194.6 584.7 12.4 1249 12978 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2250 2026

13288 0.63 194.6 545.3 12.8 1279 13289 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2250 2026

13599 0.63 194.6 506.5 12.2 1309 13602 0.00 1.70 0.00 0.000 4 0.000 0.054 2965 3142 2026

13634 0.63 194.6 501.6 14.1 1312 13642 0.00 1.65 0.00 0.000 6 0.000 0.037 2973 2245 2025

13953 0.63 194.6 460.2 13.0 1343 13953 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2244 2026

14261 0.63 194.6 417.8 13.9 1373 14262 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2244 2026

14572 0.63 194.6 375.3 13.4 1403 14575 0.00 1.70 0.00 0.000 4 0.000 0.051 2973 3142 2026

14593 0.63 194.6 372.4 14.1 1405 14596 0.08 1.62 0.00 0.000 6 0.158 0.037 2957 2246 2026

14914 0.63 194.6 335.4 11.4 1436 14915 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2247 2026

15224 0.63 194.6 300.5 11.1 1466 15227 0.00 1.67 0.00 0.000 4 0.000 0.051 2957 3151 2026

15271 0.63 194.6 294.7 11.5 1470 15278 0.00 1.62 0.00 0.000 6 0.000 0.036 2962 2252 2026

15589 0.63 194.6 258.1 11.2 1501 15592 0.00 1.15 0.00 0.000 4 0.000 0.042 2968 1338 2026

15631 0.63 194.6 253.2 11.4 1505 15634 0.00 1.20 0.00 0.000 6 0.000 0.041 2968 2257 2027

15952 0.63 194.6 213.1 12.6 1536 15952 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2257 2027

16262 0.63 194.6 173.1 12.5 1566 16265 0.00 1.62 0.00 0.000 4 0.000 0.049 2968 3133 2027

16304 0.63 194.6 167.2 13.9 1570 16308 0.00 1.60 0.00 0.000 6 0.000 0.035 2976 2244 2027

16626 0.63 194.6 127.7 12.2 1601 16626 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2244 2028

16936 0.63 194.6 91.4 10.7 1631 16939 0.00 1.65 0.00 0.000 4 0.000 0.048 2976 3146 2029

17010 0.63 194.6 83.1 11.5 1638 17014 0.10 1.58 0.00 0.000 6 0.139 0.032 2952 2257 2029

17207 0.63 194.6 64.6 8.4 1657 17208 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2257 2030

17394 0.65 217.4 51.6 6.9 1675 17417 0.00 1.62 16.30 0.535 4 0.000 0.046 2951 3133 1954

17484 0.71 264.9 45.2 6.3 1683 17529 0.00 1.58 37.22 0.548 6 0.000 0.030 2957 2245 1760

17715 0.86 383.7 33.1 4.4 1705 17807 0.17 0.00 89.22 0.534 6 0.060 0.000 3047 2245 1274

17988 0.86 383.7 5.2 9.0 1731 17991 0.00 1.67 0.00 0.000 4 0.000 0.044 3047 3134 1266

18012 end climb: SURFACE_DEPTH_REACHED

state 18012 begin surface coast

18034 end surface coast: CONTROL_FINISHED_OK

state 18034 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	192	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	2400	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	575	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	41	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	250	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	500	CALL_TRIES	8	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-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	-16950.873	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	060320,2837.257,-8845.151,42,2.2,61,-0.2	TGT_NAME	NEW0618A
_CALLS	1	TGT_LATLONG	2837.900,-8826.000
_XMS_NAKs	9	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.235,0.122
_SM_DEPTHo	1.58	KALMAN_X	-23867.1,-219.4,-747.4,32772.8,-521.4
_SM_ANGLEo	-59.7	KALMAN_Y	-123872.1,1948.7,465.4,137827.2,-15282.9
GPS2	061002,2837.207,-8845.217,13,1.6,13,-0.2	MHEAD_RNG_PITCHd_Wd	79.1,31264,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1133

FINISH	0.6,1.022907	_24V_AH	23.0,34.321
SM_CCo	18049,92.38,0.494,0,0,495,575.22	_10V_AH	10.6,47.850
SM_GC	1.42,0.00,0.00,92.38,0.000,0.000,0.494,199,2371,495,-7.96,-0.82,575.22	DATA_FILE_SIZE	91394,1735
IRIDIUM_FIX	2823.64,-8846.40,250999,010158	CAP_FILE_SIZE	157909,0
TT8_MAMPS	0.049855	CFSIZE	260165632,237842432
HUMID	1370	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2191	CURRENT	0.106,212.7,1
TCM_TEMP	23.60	GPS	010710,111407,2837.066,-8842.901,43,1.1,43,-0.2
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	259	121.34	SBE_CT	1187	24	655.77
Roll_motor	74	63	109.74	SBE_O2	1269	19	554.72
VBD_pump_during_apogee	463	1245	13284.53	WL_BBFL2VMT	3899	105	9417.20
VBD_pump_during_surface	92	493	1049.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.70	nil	0	0	0.00
Iridium_during_connect	27	160	101.76	nil	0	0	0.00
Iridium_during_xfer	229	223	1177.93
Transponder_ping	1	420	14.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.12
TT8	0	19	0.00
LPSleep	12235	2	284.03
TT8_Active	623	19	130.78
TT8_Sampling	5075	39	2141.22
TT8_CF8	582	45	282.68
TT8_Kalman	33	81	28.90
Analog_circuits	2041	12	259.73
GPS_charging	0	0	0.00
Compass	4560	8	386.73
RAFOS	0	0	0.00
Transponder	0	30	0.27

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	97	0.00	0.00	-82.47	0.000	2	0.000	0.000	198	2419	2755
99	-0.63	-194.6	3.1	-3.8	8	136	10.70	1.50	-22.15	0.000	4	0.259	0.064	2531	3281	3635
157	-0.63	-194.6	12.8	-21.8	13	161	0.00	1.45	0.00	0.000	6	0.000	0.028	2536	2391	3636
354	-0.63	-194.6	53.1	-13.9	32	357	0.00	1.25	0.00	0.000	4	0.000	0.036	2537	1510	3637
492	-0.63	-194.6	72.5	-13.5	45	496	0.00	1.27	0.00	0.000	6	0.000	0.037	2533	2386	3638
690	-0.63	-194.6	99.8	-13.7	64	690	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2386	3639
875	-0.63	-194.6	124.8	-13.1	82	876	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2386	3639
1186	-0.63	-194.6	163.4	-12.1	112	1187	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2386	3639
1497	-0.63	-194.6	198.3	-11.6	142	1497	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2386	3638
1807	-0.63	-194.6	232.6	-11.5	172	1810	0.00	1.27	0.00	0.000	4	0.000	0.038	2532	1501	3637
1860	-0.63	-194.6	238.7	-11.6	177	1863	0.00	1.33	0.00	0.000	6	0.000	0.040	2527	2409	3636
2182	-0.63	-194.6	276.7	-12.0	208	2184	0.00	1.30	0.00	0.000	4	0.000	0.038	2527	1513	3634
2239	-0.63	-194.6	284.0	-11.6	213	2247	0.00	1.27	0.00	0.000	6	0.000	0.039	2521	2390	3634
2556	-0.63	-194.6	320.8	-11.4	244	2559	0.00	1.27	0.00	0.000	4	0.000	0.038	2521	1507	3632
2602	-0.63	-194.6	326.2	-11.2	248	2610	0.00	1.35	0.00	0.000	6	0.000	0.041	2514	2416	3632
2920	-0.63	-194.6	361.3	-10.9	279	2921	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2416	3630
3229	-0.63	-194.6	396.0	-11.5	309	3233	0.12	1.30	0.00	0.000	4	0.146	0.040	2549	1513	3627
3272	-0.63	-194.6	400.4	-9.4	313	3275	0.00	1.27	0.00	0.000	6	0.000	0.042	2545	2380	3627
3594	-0.63	-194.6	430.7	-9.5	344	3594	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2381	3624
3904	-0.63	-194.6	460.9	-9.4	374	3907	0.00	1.27	0.00	0.000	4	0.000	0.041	2545	1511	3622
3935	-0.63	-194.6	464.0	-9.9	377	3938	0.00	1.35	0.00	0.000	6	0.000	0.044	2540	2419	3622
4257	-0.63	-194.6	496.1	-9.8	408	4260	0.00	1.33	0.00	0.000	4	0.000	0.042	2540	1516	3620
4304	-0.63	-194.6	500.9	-9.9	412	4311	0.00	1.30	0.00	0.000	6	0.000	0.044	2534	2394	3620
4621	-0.63	-194.6	531.8	-9.5	443	4622	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2395	3617
4931	-0.63	-194.6	562.4	-9.6	473	4934	0.00	1.30	0.00	0.000	4	0.000	0.043	2535	1512	3616
4973	-0.63	-194.6	566.6	-9.4	477	4976	0.00	1.33	0.00	0.000	6	0.000	0.046	2529	2400	3615
5295	-0.63	-194.6	599.0	-10.5	508	5296	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2400	3613
5605	-0.63	-194.6	630.3	-10.1	538	5606	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2400	3611
5915	-0.63	-194.6	661.3	-9.8	568	5918	0.00	1.30	0.00	0.000	4	0.000	0.044	2529	1520	3609
5994	-0.63	-194.6	669.2	-9.9	575	6001	0.00	1.33	0.00	0.000	6	0.000	0.047	2523	2401	3608
6311	-0.63	-194.6	701.7	-10.3	606	6312	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2401	3606
6621	-0.63	-194.6	733.7	-10.1	636	6624	0.00	1.30	0.00	0.000	4	0.000	0.045	2523	1522	3604
6668	-0.63	-194.6	738.7	-10.8	640	6675	0.00	1.35	0.00	0.000	6	0.000	0.048	2517	2404	3604
6985	-0.63	-194.6	771.3	-10.2	671	6989	0.00	1.33	0.00	0.000	4	0.000	0.044	2517	1514	3603
7049	-0.63	-194.6	778.0	-10.3	677	7052	0.08	1.33	0.00	0.000	6	0.151	0.048	2536	2394	3603
7370	-0.63	-194.6	806.2	-8.7	708	7370	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2394	3601
7681	-0.63	-194.6	832.9	-8.5	738	7681	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2396	3600
7991	-0.63	-194.6	859.7	-8.8	768	7994	0.00	1.30	0.00	0.000	4	0.000	0.046	2536	1522	3598
8055	-0.63	-194.6	865.3	-9.0	774	8058	0.00	1.33	0.00	0.000	6	0.000	0.049	2532	2400	3598
8376	-0.63	-194.6	894.2	-9.3	805	8379	0.00	1.30	0.00	0.000	4	0.000	0.046	2532	1524	3596
8451	-0.63	-194.6	901.1	-9.1	812	8454	0.00	1.33	0.00	0.000	6	0.000	0.050	2527	2400	3596
8772	-0.63	-194.6	930.6	-8.4	843	8773	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2400	3594
9083	-0.63	-194.6	958.8	-9.2	873	9085	0.00	1.33	0.00	0.000	4	0.000	0.047	2527	1516	3593
9114	-0.63	-194.6	961.8	-9.3	876	9117	0.00	1.33	0.00	0.000	6	0.000	0.050	2522	2392	3593
9424	end dive: TARGET_DEPTH_EXCEEDED
state	9424	begin apogee
9428	-0.25	0.0	990.2	8.9	906	9587	0.47	0.00	151.93	1.246	6	0.139	0.000	2661	2263	2840
9588	end apogee: CONTROL_FINISHED_OK
state	9588	begin climb
9590	0.63	194.6	994.8	0.0	922	9768	0.90	1.85	169.02	1.216	4	0.105	0.054	2942	3137	2044
9790	0.63	194.6	977.9	12.8	941	9793	0.00	1.73	0.00	0.000	6	0.000	0.038	2950	2259	2041
10111	0.63	194.6	938.3	12.2	972	10112	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2260	2034
10421	0.63	194.6	900.0	12.7	1002	10422	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2260	2032
10731	0.63	194.6	861.6	12.2	1032	10732	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2260	2031
11041	0.63	194.6	823.4	12.0	1062	11042	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2260	2030
11352	0.63	194.6	786.0	12.0	1092	11353	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2260	2029
11662	0.63	194.6	749.3	11.4	1122	11665	0.00	1.67	0.00	0.000	4	0.000	0.054	2950	3139	2029
11688	0.63	194.6	746.0	13.8	1124	11695	0.00	1.62	0.00	0.000	6	0.000	0.038	2957	2248	2028
12005	0.63	194.6	707.0	12.0	1155	12006	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2248	2028
12315	0.63	194.6	668.2	12.7	1185	12316	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2248	2028
12625	0.63	194.6	629.6	12.2	1215	12628	0.00	1.67	0.00	0.000	4	0.000	0.054	2957	3145	2028
12657	0.63	194.6	625.5	13.1	1218	12660	0.00	1.62	0.00	0.000	6	0.000	0.038	2965	2249	2026
12978	0.63	194.6	584.7	12.4	1249	12978	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2250	2026
13288	0.63	194.6	545.3	12.8	1279	13289	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2250	2026
13599	0.63	194.6	506.5	12.2	1309	13602	0.00	1.70	0.00	0.000	4	0.000	0.054	2965	3142	2026
13634	0.63	194.6	501.6	14.1	1312	13642	0.00	1.65	0.00	0.000	6	0.000	0.037	2973	2245	2025
13953	0.63	194.6	460.2	13.0	1343	13953	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2244	2026
14261	0.63	194.6	417.8	13.9	1373	14262	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2244	2026
14572	0.63	194.6	375.3	13.4	1403	14575	0.00	1.70	0.00	0.000	4	0.000	0.051	2973	3142	2026
14593	0.63	194.6	372.4	14.1	1405	14596	0.08	1.62	0.00	0.000	6	0.158	0.037	2957	2246	2026
14914	0.63	194.6	335.4	11.4	1436	14915	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2247	2026
15224	0.63	194.6	300.5	11.1	1466	15227	0.00	1.67	0.00	0.000	4	0.000	0.051	2957	3151	2026
15271	0.63	194.6	294.7	11.5	1470	15278	0.00	1.62	0.00	0.000	6	0.000	0.036	2962	2252	2026
15589	0.63	194.6	258.1	11.2	1501	15592	0.00	1.15	0.00	0.000	4	0.000	0.042	2968	1338	2026
15631	0.63	194.6	253.2	11.4	1505	15634	0.00	1.20	0.00	0.000	6	0.000	0.041	2968	2257	2027
15952	0.63	194.6	213.1	12.6	1536	15952	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2257	2027
16262	0.63	194.6	173.1	12.5	1566	16265	0.00	1.62	0.00	0.000	4	0.000	0.049	2968	3133	2027
16304	0.63	194.6	167.2	13.9	1570	16308	0.00	1.60	0.00	0.000	6	0.000	0.035	2976	2244	2027
16626	0.63	194.6	127.7	12.2	1601	16626	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2244	2028
16936	0.63	194.6	91.4	10.7	1631	16939	0.00	1.65	0.00	0.000	4	0.000	0.048	2976	3146	2029
17010	0.63	194.6	83.1	11.5	1638	17014	0.10	1.58	0.00	0.000	6	0.139	0.032	2952	2257	2029
17207	0.63	194.6	64.6	8.4	1657	17208	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2257	2030
17394	0.65	217.4	51.6	6.9	1675	17417	0.00	1.62	16.30	0.535	4	0.000	0.046	2951	3133	1954
17484	0.71	264.9	45.2	6.3	1683	17529	0.00	1.58	37.22	0.548	6	0.000	0.030	2957	2245	1760
17715	0.86	383.7	33.1	4.4	1705	17807	0.17	0.00	89.22	0.534	6	0.060	0.000	3047	2245	1274
17988	0.86	383.7	5.2	9.0	1731	17991	0.00	1.67	0.00	0.000	4	0.000	0.044	3047	3134	1266
18012	end climb: SURFACE_DEPTH_REACHED
state	18012	begin surface coast
18034	end surface coast: CONTROL_FINISHED_OK
state	18034	begin surface