Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 193 * 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 193 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 52 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -16970.441 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 -16970.441

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 52 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 27 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 193 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 111407,2837.066,-8842.901,43,1.1,43,-0.2 TGT_NAME NEW0618A

_CALLS 3 TGT_LATLONG 2837.900,-8826.000

_XMS_NAKs 6 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.237,0.118

_SM_DEPTHo 1.53 KALMAN_X -28691.6,579.4,385.2,39174.5,-6803.1

_SM_ANGLEo -61.2 KALMAN_Y -126674.4,1488.3,1559.7,139898.3,-15723.3

GPS2 112613,2837.169,-8843.066,11,1.2,16,-0.2 MHEAD_RNG_PITCHd_Wd 68.2,27775,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1275

Post-dive calculations and measurements:

FINISH 0.8,1.023143 _24V_AH 23.0,34.493

SM_CCo 18014,53.25,0.488,0,0,494,575.22 _10V_AH 10.6,48.074

SM_GC 1.46,0.00,0.00,53.25,0.000,0.000,0.488,200,2409,494,-7.96,0.23,575.22 DATA_FILE_SIZE 91522,1730

IRIDIUM_FIX 2826.10,-8846.35,250999,111137 CAP_FILE_SIZE 163446,0

TT8_MAMPS 0.051389 CFSIZE 260165632,237752320

HUMID 1361 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.22887 CURRENT 0.082,212.1,1

TCM_TEMP 23.00 GPS 010710,162901,2837.654,-8840.812,40,1.7,40,-0.2

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 257 121.66 SBE_CT 1183 24 653.38

Roll_motor 86 64 127.85 SBE_O2 1260 19 551.00

VBD_pump_during_apogee 523 1245 15002.04 WL_BBFL2VMT 3888 105 9390.14

VBD_pump_during_surface 53 487 597.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 84 103 200.54 nil 0 0 0.00

Iridium_during_connect 177 160 652.30 nil 0 0 0.00

Iridium_during_xfer 220 223 1129.59

Transponder_ping 0 420 7.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 10.04

TT8 0 19 0.00

LPSleep 12223 2 283.75

TT8_Active 632 19 132.73

TT8_Sampling 5126 39 2162.62

TT8_CF8 784 45 380.81

TT8_Kalman 33 81 28.91

Analog_circuits 2100 12 267.24

GPS_charging 0 0 0.00

Compass 4592 8 389.44

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.63 -194.6 0.0 0.0 0 102 0.00 0.00 -88.28 0.000 2 0.000 0.000 196 2372 2921

104 -0.63 -194.6 3.1 -2.9 9 134 10.68 1.60 -15.77 0.000 4 0.258 0.064 2533 3292 3635

170 -0.63 -194.6 19.9 -28.2 14 179 0.00 1.48 0.00 0.000 6 0.000 0.027 2537 2382 3636

362 -0.63 -194.6 58.5 -15.3 33 365 0.00 1.52 0.00 0.000 4 0.000 0.046 2532 3286 3637

420 -0.63 -194.6 67.4 -15.0 38 428 0.00 1.42 0.00 0.000 6 0.000 0.027 2533 2395 3637

612 -0.63 -194.6 93.8 -14.3 57 615 0.00 1.25 0.00 0.000 4 0.000 0.035 2533 1504 3638

637 -0.63 -194.6 97.4 -13.7 59 645 0.00 1.35 0.00 0.000 6 0.000 0.037 2529 2418 3638

830 -0.63 -194.6 122.9 -13.5 78 831 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2418 3639

1140 -0.63 -194.6 160.9 -11.7 108 1143 0.00 1.30 0.00 0.000 4 0.000 0.036 2528 1514 3639

1197 -0.63 -194.6 167.8 -12.2 113 1205 0.00 1.30 0.00 0.000 6 0.000 0.037 2523 2399 3639

1515 -0.63 -194.6 205.7 -12.1 144 1516 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2399 3638

1824 -0.63 -194.6 242.2 -11.0 174 1827 0.00 1.27 0.00 0.000 4 0.000 0.038 2523 1514 3636

1888 -0.63 -194.6 249.6 -11.3 180 1891 0.00 1.27 0.00 0.000 6 0.000 0.039 2517 2389 3635

2210 -0.63 -194.6 286.4 -11.2 211 2213 0.00 1.25 0.00 0.000 4 0.000 0.038 2517 1523 3633

2241 -0.63 -194.6 290.1 -12.1 214 2245 0.08 1.30 0.00 0.000 6 0.145 0.039 2535 2408 3633

2563 -0.63 -194.6 322.7 -10.2 245 2563 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2408 3631

2873 -0.63 -194.6 353.9 -9.9 275 2876 0.00 1.30 0.00 0.000 4 0.000 0.039 2536 1516 3629

2926 -0.63 -194.6 359.1 -9.4 280 2930 0.00 1.27 0.00 0.000 6 0.000 0.041 2532 2386 3628

3248 -0.63 -194.6 391.9 -10.3 311 3249 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2386 3625

3558 -0.63 -194.6 424.1 -10.1 341 3561 0.00 1.25 0.00 0.000 4 0.000 0.041 2533 1528 3624

3610 -0.63 -194.6 430.0 -10.4 346 3614 0.00 1.30 0.00 0.000 6 0.000 0.042 2526 2405 3623

3933 -0.63 -194.6 464.7 -10.6 377 3933 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2405 3620

4242 -0.63 -194.6 498.0 -10.6 407 4245 0.00 1.27 0.00 0.000 4 0.000 0.042 2526 1516 3618

4295 -0.63 -194.6 503.8 -10.9 412 4298 0.00 1.30 0.00 0.000 6 0.000 0.044 2520 2396 3618

4617 -0.63 -194.6 539.8 -11.3 443 4618 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2396 3616

4926 -0.63 -194.6 573.9 -10.8 473 4929 0.00 1.27 0.00 0.000 4 0.000 0.043 2520 1530 3614

4969 -0.63 -194.6 578.5 -10.9 477 4972 0.08 1.30 0.00 0.000 6 0.146 0.045 2538 2400 3614

5289 -0.63 -194.6 609.0 -9.1 508 5290 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2399 3612

5600 -0.63 -194.6 637.5 -9.1 538 5603 0.00 1.30 0.00 0.000 4 0.000 0.043 2538 1518 3609

5643 -0.63 -194.6 641.5 -9.7 542 5646 0.00 1.33 0.00 0.000 6 0.000 0.046 2535 2400 3609

5964 -0.63 -194.6 671.0 -9.6 573 5967 0.00 1.30 0.00 0.000 4 0.000 0.044 2535 1521 3607

6017 -0.63 -194.6 675.7 -9.3 578 6020 0.00 1.33 0.00 0.000 6 0.000 0.047 2529 2401 3607

6339 -0.63 -194.6 705.9 -9.6 609 6340 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2401 3605

6649 -0.63 -194.6 735.4 -9.1 639 6651 0.00 1.30 0.00 0.000 4 0.000 0.045 2529 1525 3603

6712 -0.63 -194.6 741.6 -9.1 645 6715 0.00 1.33 0.00 0.000 6 0.000 0.047 2524 2402 3603

7034 -0.63 -194.6 772.4 -9.2 676 7035 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2402 3602

7344 -0.63 -194.6 801.5 -9.7 706 7347 0.00 1.30 0.00 0.000 4 0.000 0.045 2524 1527 3600

7418 -0.63 -194.6 808.8 -10.2 713 7421 0.00 1.33 0.00 0.000 6 0.000 0.048 2519 2401 3599

7740 -0.63 -194.6 839.9 -10.2 744 7741 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2402 3598

8049 -0.63 -194.6 870.2 -9.7 774 8050 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2402 3596

8360 -0.63 -194.6 901.0 -9.9 804 8363 0.00 1.30 0.00 0.000 4 0.000 0.045 2519 1534 3595

8417 -0.63 -194.6 906.8 -10.1 809 8425 0.00 1.35 0.00 0.000 6 0.000 0.050 2519 2405 3594

8735 -0.63 -194.6 937.2 -9.7 840 8738 0.00 1.33 0.00 0.000 4 0.000 0.046 2519 1519 3593

8782 -0.63 -194.6 942.0 -10.0 844 8789 0.00 1.33 0.00 0.000 6 0.000 0.049 2517 2391 3593

9099 -0.63 -194.6 972.7 -9.9 875 9102 0.00 1.30 0.00 0.000 4 0.000 0.046 2517 1518 3593

9134 -0.63 -194.6 976.6 -9.8 878 9144 0.12 1.38 0.00 0.000 6 0.150 0.049 2542 2409 3593

9305 end dive: TARGET_DEPTH_EXCEEDED

state 9305 begin apogee

9309 -0.25 0.0 990.7 8.0 895 9469 0.40 0.00 151.82 1.246 6 0.133 0.000 2664 2275 2839

9470 end apogee: CONTROL_FINISHED_OK

state 9470 begin climb

9471 0.63 194.6 995.8 0.0 911 9648 0.90 0.00 168.35 1.215 6 0.102 0.000 2942 2275 2045

9956 0.63 194.6 946.5 11.3 958 9957 0.00 0.00 0.00 0.000 6 0.000 0.000 2942 2275 2035

10267 0.63 194.6 910.7 11.9 988 10268 0.00 0.00 0.00 0.000 6 0.000 0.000 2942 2276 2033

10577 0.63 194.6 875.5 10.9 1018 10578 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2275 2032

10888 0.63 194.6 840.3 11.7 1048 10891 0.00 1.62 0.00 0.000 4 0.000 0.060 2942 3142 2031

10941 0.63 194.6 833.9 12.7 1053 10944 0.00 1.62 0.00 0.000 6 0.000 0.038 2949 2251 2030

11263 0.63 194.6 794.9 12.2 1084 11264 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2251 2030

11572 0.63 194.6 756.8 11.8 1114 11573 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2251 2029

11883 0.63 194.6 718.5 12.4 1144 11886 0.00 1.67 0.00 0.000 4 0.000 0.055 2949 3128 2029

11914 0.63 194.6 714.4 12.6 1147 11917 0.00 1.60 0.00 0.000 6 0.000 0.039 2956 2254 2027

12235 0.63 194.6 673.2 12.3 1178 12238 0.00 1.67 0.00 0.000 4 0.000 0.055 2956 3129 2027

12278 0.63 194.6 667.6 13.7 1182 12281 0.00 1.60 0.00 0.000 6 0.000 0.039 2964 2235 2028

12598 0.63 194.6 626.4 12.5 1213 12599 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2235 2027

12909 0.63 194.6 586.9 12.9 1243 12912 0.00 1.67 0.00 0.000 4 0.000 0.054 2963 3131 2027

12952 0.63 194.6 581.3 13.0 1247 12955 0.00 1.60 0.00 0.000 6 0.000 0.038 2971 2256 2026

13272 0.63 194.6 538.8 12.8 1278 13273 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2255 2026

13583 0.63 194.6 496.2 15.1 1308 13586 0.00 1.65 0.00 0.000 4 0.000 0.054 2971 3140 2027

13672 0.63 194.6 482.8 13.9 1316 13680 0.00 1.65 0.00 0.000 6 0.000 0.037 2979 2240 2026

13991 0.63 194.6 440.5 12.8 1347 13991 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2240 2025

14300 0.63 194.6 398.9 13.4 1377 14301 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2240 2026

14610 0.63 194.6 357.3 13.3 1407 14611 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2241 2025

14920 0.63 194.6 316.0 13.3 1437 14924 0.00 1.70 0.00 0.000 4 0.000 0.051 2979 3138 2026

14978 0.63 194.6 307.7 15.0 1442 14987 0.10 1.60 0.00 0.000 6 0.148 0.035 2955 2254 2026

15295 0.63 194.6 270.9 11.4 1473 15297 0.00 1.15 0.00 0.000 4 0.000 0.043 2958 1346 2026

15342 0.63 194.6 265.5 11.7 1477 15349 0.00 1.17 0.00 0.000 6 0.000 0.041 2959 2251 2026

15659 0.63 194.6 229.0 11.4 1508 15662 0.00 1.65 0.00 0.000 4 0.000 0.051 2959 3137 2026

15705 0.63 194.6 223.1 12.2 1512 15712 0.00 1.62 0.00 0.000 6 0.000 0.035 2966 2243 2026

16023 0.63 194.6 184.3 12.1 1543 16026 0.00 1.67 0.00 0.000 4 0.000 0.049 2965 3131 2026

16054 0.63 194.6 180.1 13.6 1546 16057 0.00 1.58 0.00 0.000 6 0.000 0.034 2973 2253 2027

16377 0.63 194.6 139.2 11.9 1577 16380 0.00 1.12 0.00 0.000 4 0.000 0.040 2979 1351 2027

16440 0.63 194.6 131.4 13.3 1583 16444 0.08 1.17 0.00 0.000 6 0.142 0.039 2954 2260 2027

16761 0.63 194.6 99.3 10.0 1614 16764 0.00 1.60 0.00 0.000 4 0.000 0.048 2954 3128 2028

16814 0.63 194.6 94.1 9.1 1619 16817 0.00 1.58 0.00 0.000 6 0.000 0.033 2961 2246 2028

17011 0.63 194.6 74.7 9.0 1638 17012 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2246 2029

17198 0.63 194.6 58.3 8.3 1656 17198 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2247 2029

17383 0.66 223.0 44.6 6.8 1674 17409 0.00 1.62 20.70 0.535 4 0.000 0.044 2961 3142 1930

17472 0.66 223.0 38.3 8.6 1682 17475 0.00 1.58 0.00 0.000 6 0.000 0.031 2968 2253 1928

17670 0.78 321.1 28.2 4.9 1701 17747 0.00 1.73 73.90 0.530 4 0.000 0.045 2968 3145 1530

17806 0.96 468.7 21.7 3.6 1712 17920 0.20 1.60 108.88 0.515 6 0.041 0.029 3076 2253 928

17980 end climb: SURFACE_DEPTH_REACHED

state 17980 begin surface coast

17999 end surface coast: CONTROL_FINISHED_OK

state 17999 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	193	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	52	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-16970.441	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	111407,2837.066,-8842.901,43,1.1,43,-0.2	TGT_NAME	NEW0618A
_CALLS	3	TGT_LATLONG	2837.900,-8826.000
_XMS_NAKs	6	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.237,0.118
_SM_DEPTHo	1.53	KALMAN_X	-28691.6,579.4,385.2,39174.5,-6803.1
_SM_ANGLEo	-61.2	KALMAN_Y	-126674.4,1488.3,1559.7,139898.3,-15723.3
GPS2	112613,2837.169,-8843.066,11,1.2,16,-0.2	MHEAD_RNG_PITCHd_Wd	68.2,27775,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1275

FINISH	0.8,1.023143	_24V_AH	23.0,34.493
SM_CCo	18014,53.25,0.488,0,0,494,575.22	_10V_AH	10.6,48.074
SM_GC	1.46,0.00,0.00,53.25,0.000,0.000,0.488,200,2409,494,-7.96,0.23,575.22	DATA_FILE_SIZE	91522,1730
IRIDIUM_FIX	2826.10,-8846.35,250999,111137	CAP_FILE_SIZE	163446,0
TT8_MAMPS	0.051389	CFSIZE	260165632,237752320
HUMID	1361	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.22887	CURRENT	0.082,212.1,1
TCM_TEMP	23.00	GPS	010710,162901,2837.654,-8840.812,40,1.7,40,-0.2
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	257	121.66	SBE_CT	1183	24	653.38
Roll_motor	86	64	127.85	SBE_O2	1260	19	551.00
VBD_pump_during_apogee	523	1245	15002.04	WL_BBFL2VMT	3888	105	9390.14
VBD_pump_during_surface	53	487	597.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	84	103	200.54	nil	0	0	0.00
Iridium_during_connect	177	160	652.30	nil	0	0	0.00
Iridium_during_xfer	220	223	1129.59
Transponder_ping	0	420	7.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	10.04
TT8	0	19	0.00
LPSleep	12223	2	283.75
TT8_Active	632	19	132.73
TT8_Sampling	5126	39	2162.62
TT8_CF8	784	45	380.81
TT8_Kalman	33	81	28.91
Analog_circuits	2100	12	267.24
GPS_charging	0	0	0.00
Compass	4592	8	389.44
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.63	-194.6	0.0	0.0	0	102	0.00	0.00	-88.28	0.000	2	0.000	0.000	196	2372	2921
104	-0.63	-194.6	3.1	-2.9	9	134	10.68	1.60	-15.77	0.000	4	0.258	0.064	2533	3292	3635
170	-0.63	-194.6	19.9	-28.2	14	179	0.00	1.48	0.00	0.000	6	0.000	0.027	2537	2382	3636
362	-0.63	-194.6	58.5	-15.3	33	365	0.00	1.52	0.00	0.000	4	0.000	0.046	2532	3286	3637
420	-0.63	-194.6	67.4	-15.0	38	428	0.00	1.42	0.00	0.000	6	0.000	0.027	2533	2395	3637
612	-0.63	-194.6	93.8	-14.3	57	615	0.00	1.25	0.00	0.000	4	0.000	0.035	2533	1504	3638
637	-0.63	-194.6	97.4	-13.7	59	645	0.00	1.35	0.00	0.000	6	0.000	0.037	2529	2418	3638
830	-0.63	-194.6	122.9	-13.5	78	831	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2418	3639
1140	-0.63	-194.6	160.9	-11.7	108	1143	0.00	1.30	0.00	0.000	4	0.000	0.036	2528	1514	3639
1197	-0.63	-194.6	167.8	-12.2	113	1205	0.00	1.30	0.00	0.000	6	0.000	0.037	2523	2399	3639
1515	-0.63	-194.6	205.7	-12.1	144	1516	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2399	3638
1824	-0.63	-194.6	242.2	-11.0	174	1827	0.00	1.27	0.00	0.000	4	0.000	0.038	2523	1514	3636
1888	-0.63	-194.6	249.6	-11.3	180	1891	0.00	1.27	0.00	0.000	6	0.000	0.039	2517	2389	3635
2210	-0.63	-194.6	286.4	-11.2	211	2213	0.00	1.25	0.00	0.000	4	0.000	0.038	2517	1523	3633
2241	-0.63	-194.6	290.1	-12.1	214	2245	0.08	1.30	0.00	0.000	6	0.145	0.039	2535	2408	3633
2563	-0.63	-194.6	322.7	-10.2	245	2563	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2408	3631
2873	-0.63	-194.6	353.9	-9.9	275	2876	0.00	1.30	0.00	0.000	4	0.000	0.039	2536	1516	3629
2926	-0.63	-194.6	359.1	-9.4	280	2930	0.00	1.27	0.00	0.000	6	0.000	0.041	2532	2386	3628
3248	-0.63	-194.6	391.9	-10.3	311	3249	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2386	3625
3558	-0.63	-194.6	424.1	-10.1	341	3561	0.00	1.25	0.00	0.000	4	0.000	0.041	2533	1528	3624
3610	-0.63	-194.6	430.0	-10.4	346	3614	0.00	1.30	0.00	0.000	6	0.000	0.042	2526	2405	3623
3933	-0.63	-194.6	464.7	-10.6	377	3933	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2405	3620
4242	-0.63	-194.6	498.0	-10.6	407	4245	0.00	1.27	0.00	0.000	4	0.000	0.042	2526	1516	3618
4295	-0.63	-194.6	503.8	-10.9	412	4298	0.00	1.30	0.00	0.000	6	0.000	0.044	2520	2396	3618
4617	-0.63	-194.6	539.8	-11.3	443	4618	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2396	3616
4926	-0.63	-194.6	573.9	-10.8	473	4929	0.00	1.27	0.00	0.000	4	0.000	0.043	2520	1530	3614
4969	-0.63	-194.6	578.5	-10.9	477	4972	0.08	1.30	0.00	0.000	6	0.146	0.045	2538	2400	3614
5289	-0.63	-194.6	609.0	-9.1	508	5290	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2399	3612
5600	-0.63	-194.6	637.5	-9.1	538	5603	0.00	1.30	0.00	0.000	4	0.000	0.043	2538	1518	3609
5643	-0.63	-194.6	641.5	-9.7	542	5646	0.00	1.33	0.00	0.000	6	0.000	0.046	2535	2400	3609
5964	-0.63	-194.6	671.0	-9.6	573	5967	0.00	1.30	0.00	0.000	4	0.000	0.044	2535	1521	3607
6017	-0.63	-194.6	675.7	-9.3	578	6020	0.00	1.33	0.00	0.000	6	0.000	0.047	2529	2401	3607
6339	-0.63	-194.6	705.9	-9.6	609	6340	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2401	3605
6649	-0.63	-194.6	735.4	-9.1	639	6651	0.00	1.30	0.00	0.000	4	0.000	0.045	2529	1525	3603
6712	-0.63	-194.6	741.6	-9.1	645	6715	0.00	1.33	0.00	0.000	6	0.000	0.047	2524	2402	3603
7034	-0.63	-194.6	772.4	-9.2	676	7035	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2402	3602
7344	-0.63	-194.6	801.5	-9.7	706	7347	0.00	1.30	0.00	0.000	4	0.000	0.045	2524	1527	3600
7418	-0.63	-194.6	808.8	-10.2	713	7421	0.00	1.33	0.00	0.000	6	0.000	0.048	2519	2401	3599
7740	-0.63	-194.6	839.9	-10.2	744	7741	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2402	3598
8049	-0.63	-194.6	870.2	-9.7	774	8050	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2402	3596
8360	-0.63	-194.6	901.0	-9.9	804	8363	0.00	1.30	0.00	0.000	4	0.000	0.045	2519	1534	3595
8417	-0.63	-194.6	906.8	-10.1	809	8425	0.00	1.35	0.00	0.000	6	0.000	0.050	2519	2405	3594
8735	-0.63	-194.6	937.2	-9.7	840	8738	0.00	1.33	0.00	0.000	4	0.000	0.046	2519	1519	3593
8782	-0.63	-194.6	942.0	-10.0	844	8789	0.00	1.33	0.00	0.000	6	0.000	0.049	2517	2391	3593
9099	-0.63	-194.6	972.7	-9.9	875	9102	0.00	1.30	0.00	0.000	4	0.000	0.046	2517	1518	3593
9134	-0.63	-194.6	976.6	-9.8	878	9144	0.12	1.38	0.00	0.000	6	0.150	0.049	2542	2409	3593
9305	end dive: TARGET_DEPTH_EXCEEDED
state	9305	begin apogee
9309	-0.25	0.0	990.7	8.0	895	9469	0.40	0.00	151.82	1.246	6	0.133	0.000	2664	2275	2839
9470	end apogee: CONTROL_FINISHED_OK
state	9470	begin climb
9471	0.63	194.6	995.8	0.0	911	9648	0.90	0.00	168.35	1.215	6	0.102	0.000	2942	2275	2045
9956	0.63	194.6	946.5	11.3	958	9957	0.00	0.00	0.00	0.000	6	0.000	0.000	2942	2275	2035
10267	0.63	194.6	910.7	11.9	988	10268	0.00	0.00	0.00	0.000	6	0.000	0.000	2942	2276	2033
10577	0.63	194.6	875.5	10.9	1018	10578	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	2275	2032
10888	0.63	194.6	840.3	11.7	1048	10891	0.00	1.62	0.00	0.000	4	0.000	0.060	2942	3142	2031
10941	0.63	194.6	833.9	12.7	1053	10944	0.00	1.62	0.00	0.000	6	0.000	0.038	2949	2251	2030
11263	0.63	194.6	794.9	12.2	1084	11264	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2251	2030
11572	0.63	194.6	756.8	11.8	1114	11573	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2251	2029
11883	0.63	194.6	718.5	12.4	1144	11886	0.00	1.67	0.00	0.000	4	0.000	0.055	2949	3128	2029
11914	0.63	194.6	714.4	12.6	1147	11917	0.00	1.60	0.00	0.000	6	0.000	0.039	2956	2254	2027
12235	0.63	194.6	673.2	12.3	1178	12238	0.00	1.67	0.00	0.000	4	0.000	0.055	2956	3129	2027
12278	0.63	194.6	667.6	13.7	1182	12281	0.00	1.60	0.00	0.000	6	0.000	0.039	2964	2235	2028
12598	0.63	194.6	626.4	12.5	1213	12599	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2235	2027
12909	0.63	194.6	586.9	12.9	1243	12912	0.00	1.67	0.00	0.000	4	0.000	0.054	2963	3131	2027
12952	0.63	194.6	581.3	13.0	1247	12955	0.00	1.60	0.00	0.000	6	0.000	0.038	2971	2256	2026
13272	0.63	194.6	538.8	12.8	1278	13273	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2255	2026
13583	0.63	194.6	496.2	15.1	1308	13586	0.00	1.65	0.00	0.000	4	0.000	0.054	2971	3140	2027
13672	0.63	194.6	482.8	13.9	1316	13680	0.00	1.65	0.00	0.000	6	0.000	0.037	2979	2240	2026
13991	0.63	194.6	440.5	12.8	1347	13991	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2240	2025
14300	0.63	194.6	398.9	13.4	1377	14301	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2240	2026
14610	0.63	194.6	357.3	13.3	1407	14611	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2241	2025
14920	0.63	194.6	316.0	13.3	1437	14924	0.00	1.70	0.00	0.000	4	0.000	0.051	2979	3138	2026
14978	0.63	194.6	307.7	15.0	1442	14987	0.10	1.60	0.00	0.000	6	0.148	0.035	2955	2254	2026
15295	0.63	194.6	270.9	11.4	1473	15297	0.00	1.15	0.00	0.000	4	0.000	0.043	2958	1346	2026
15342	0.63	194.6	265.5	11.7	1477	15349	0.00	1.17	0.00	0.000	6	0.000	0.041	2959	2251	2026
15659	0.63	194.6	229.0	11.4	1508	15662	0.00	1.65	0.00	0.000	4	0.000	0.051	2959	3137	2026
15705	0.63	194.6	223.1	12.2	1512	15712	0.00	1.62	0.00	0.000	6	0.000	0.035	2966	2243	2026
16023	0.63	194.6	184.3	12.1	1543	16026	0.00	1.67	0.00	0.000	4	0.000	0.049	2965	3131	2026
16054	0.63	194.6	180.1	13.6	1546	16057	0.00	1.58	0.00	0.000	6	0.000	0.034	2973	2253	2027
16377	0.63	194.6	139.2	11.9	1577	16380	0.00	1.12	0.00	0.000	4	0.000	0.040	2979	1351	2027
16440	0.63	194.6	131.4	13.3	1583	16444	0.08	1.17	0.00	0.000	6	0.142	0.039	2954	2260	2027
16761	0.63	194.6	99.3	10.0	1614	16764	0.00	1.60	0.00	0.000	4	0.000	0.048	2954	3128	2028
16814	0.63	194.6	94.1	9.1	1619	16817	0.00	1.58	0.00	0.000	6	0.000	0.033	2961	2246	2028
17011	0.63	194.6	74.7	9.0	1638	17012	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2246	2029
17198	0.63	194.6	58.3	8.3	1656	17198	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2247	2029
17383	0.66	223.0	44.6	6.8	1674	17409	0.00	1.62	20.70	0.535	4	0.000	0.044	2961	3142	1930
17472	0.66	223.0	38.3	8.6	1682	17475	0.00	1.58	0.00	0.000	6	0.000	0.031	2968	2253	1928
17670	0.78	321.1	28.2	4.9	1701	17747	0.00	1.73	73.90	0.530	4	0.000	0.045	2968	3145	1530
17806	0.96	468.7	21.7	3.6	1712	17920	0.20	1.60	108.88	0.515	6	0.041	0.029	3076	2253	928
17980	end climb: SURFACE_DEPTH_REACHED
state	17980	begin surface coast
17999	end surface coast: CONTROL_FINISHED_OK
state	17999	begin surface