Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 196 * 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 196 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 2275 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -17032.984 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 -17032.984

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 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 28 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 32 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 196 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 024306,2837.919,-8836.072,28,1.2,28,-0.3 TGT_NAME NEW0618A

_CALLS 3 TGT_LATLONG 2837.900,-8826.000

_XMS_NAKs 6 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.252,0.080

_SM_DEPTHo 1.66 KALMAN_X -35525.9,433.5,240.4,57539.7,-6263.1

_SM_ANGLEo -63.5 KALMAN_Y -128571.1,754.6,554.9,144925.9,-7242.0

GPS2 025619,2837.907,-8836.141,12,1.2,17,-0.3 MHEAD_RNG_PITCHd_Wd 74.0,16484,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1411

Post-dive calculations and measurements:

FINISH 2.2,1.023025 _24V_AH 22.0,34.989

SM_CCo 18224,109.18,0.496,0,0,494,575.22 _10V_AH 10.6,48.736

SM_GC 1.51,0.00,0.00,109.18,0.000,0.000,0.496,204,2394,494,-7.95,0.54,575.22 DATA_FILE_SIZE 91560,1750

IRIDIUM_FIX 2826.10,-8836.59,260999,020240 CAP_FILE_SIZE 167480,0

TT8_MAMPS 0.051389 CFSIZE 260165632,237486080

HUMID 1339 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2191 CURRENT 0.078,213.0,1

TCM_TEMP 23.80 GPS 020710,080330,2838.071,-8833.689,36,1.6,36,-0.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 257 116.65 SBE_CT 1198 24 632.73

Roll_motor 77 64 110.49 SBE_O2 1278 19 534.39

VBD_pump_during_apogee 440 1247 12106.53 WL_BBFL2VMT 3933 105 9085.60

VBD_pump_during_surface 109 496 1191.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 77 103 175.89 nil 0 0 0.00

Iridium_during_connect 116 160 408.76 nil 0 0 0.00

Iridium_during_xfer 349 223 1716.21

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 20 50 10.81

TT8 0 19 0.00

LPSleep 12468 2 289.45

TT8_Active 632 19 132.76

TT8_Sampling 5149 39 2172.31

TT8_CF8 848 45 412.07

TT8_Kalman 33 81 28.90

Analog_circuits 2085 12 265.30

GPS_charging 0 0 0.00

Compass 4612 8 391.16

RAFOS 0 0 0.00

Transponder 1 30 0.37

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 87 0.00 0.00 -73.40 0.000 2 0.000 0.000 201 2396 2502

89 -0.63 -194.6 3.0 -3.3 7 136 10.62 1.48 -31.38 0.000 4 0.258 0.064 2533 3253 3635

164 -0.63 -194.6 14.5 -24.9 14 167 0.00 1.45 0.00 0.000 6 0.000 0.028 2537 2364 3635

361 -0.63 -194.6 57.4 -16.6 33 364 0.00 1.25 0.00 0.000 4 0.000 0.036 2537 1478 3637

425 -0.63 -194.6 66.4 -14.5 39 428 0.00 1.27 0.00 0.000 6 0.000 0.037 2533 2360 3636

622 -0.63 -194.6 93.9 -14.4 58 625 0.00 1.50 0.00 0.000 4 0.000 0.045 2526 3258 3638

647 -0.63 -194.6 97.6 -14.4 60 655 0.00 1.45 0.00 0.000 6 0.000 0.027 2526 2361 3637

839 -0.63 -194.6 124.0 -13.1 79 840 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2361 3638

1150 -0.63 -194.6 164.0 -13.0 109 1153 0.00 1.52 0.00 0.000 4 0.000 0.045 2519 3262 3637

1197 -0.63 -194.6 170.2 -12.9 113 1204 0.00 1.42 0.00 0.000 6 0.000 0.027 2519 2367 3637

1514 -0.63 -194.6 209.1 -12.3 144 1517 0.00 1.52 0.00 0.000 4 0.000 0.048 2512 3269 3636

1550 -0.63 -194.6 213.9 -12.5 147 1558 0.12 1.45 0.00 0.000 6 0.142 0.028 2544 2365 3636

1866 -0.63 -194.6 246.2 -9.9 178 1870 0.00 1.23 0.00 0.000 4 0.000 0.038 2544 1495 3635

1931 -0.63 -194.6 252.7 -9.5 184 1933 0.00 1.27 0.00 0.000 6 0.000 0.039 2541 2373 3634

2252 -0.63 -194.6 286.6 -10.3 215 2253 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2373 3632

2562 -0.63 -194.6 317.2 -9.5 245 2565 0.00 1.27 0.00 0.000 4 0.000 0.038 2541 1492 3630

2619 -0.63 -194.6 322.9 -9.3 250 2627 0.00 1.33 0.00 0.000 6 0.000 0.040 2535 2389 3629

2938 -0.63 -194.6 354.1 -9.9 281 2938 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2389 3627

3246 -0.63 -194.6 384.8 -9.9 311 3249 0.00 1.30 0.00 0.000 4 0.000 0.039 2535 1494 3625

3314 -0.63 -194.6 391.8 -10.1 317 3322 0.00 1.30 0.00 0.000 6 0.000 0.041 2529 2370 3624

3632 -0.63 -194.6 423.6 -10.2 348 3635 0.00 1.52 0.00 0.000 4 0.000 0.053 2522 3262 3621

3657 -0.63 -194.6 426.5 -10.5 350 3665 0.00 1.45 0.00 0.000 6 0.000 0.031 2522 2372 3621

3975 -0.63 -194.6 459.1 -10.7 381 3978 0.00 1.25 0.00 0.000 4 0.000 0.041 2522 1501 3619

4022 -0.63 -194.6 464.4 -11.5 385 4029 0.00 1.33 0.00 0.000 6 0.000 0.043 2516 2387 3619

4339 -0.63 -194.6 500.4 -11.3 416 4340 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2387 3617

4649 -0.63 -194.6 536.6 -11.8 446 4650 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2387 3614

4959 -0.63 -194.6 572.2 -11.2 476 4962 0.00 1.30 0.00 0.000 4 0.000 0.041 2516 1497 3613

4991 -0.63 -194.6 575.9 -11.9 479 4994 0.10 1.27 0.00 0.000 6 0.142 0.045 2541 2362 3612

5312 -0.63 -194.6 606.9 -9.6 510 5315 0.00 1.25 0.00 0.000 4 0.000 0.042 2541 1504 3610

5376 -0.63 -194.6 613.1 -9.9 516 5379 0.00 1.30 0.00 0.000 6 0.000 0.046 2538 2373 3609

5697 -0.63 -194.6 643.7 -9.4 547 5700 0.00 1.52 0.00 0.000 4 0.000 0.057 2531 3254 3607

5733 -0.63 -194.6 647.4 -9.7 550 5741 0.00 1.42 0.00 0.000 6 0.000 0.035 2531 2383 3607

6051 -0.63 -194.6 677.6 -9.5 581 6054 0.00 1.30 0.00 0.000 4 0.000 0.044 2531 1488 3604

6114 -0.63 -194.6 683.7 -9.6 587 6118 0.00 1.33 0.00 0.000 6 0.000 0.046 2525 2370 3604

6437 -0.63 -194.6 714.9 -9.5 618 6438 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2371 3603

6746 -0.63 -194.6 745.2 -9.9 648 6747 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2371 3602

7057 -0.63 -194.6 775.4 -9.7 678 7058 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2371 3599

7366 -0.63 -194.6 805.8 -9.9 708 7370 0.00 1.30 0.00 0.000 4 0.000 0.044 2525 1498 3598

7420 -0.63 -194.6 811.1 -9.7 713 7423 0.00 1.33 0.00 0.000 6 0.000 0.048 2520 2376 3598

7742 -0.63 -194.6 844.7 -10.7 744 7743 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2376 3596

8051 -0.63 -194.6 875.9 -10.1 774 8054 0.00 1.33 0.00 0.000 4 0.000 0.045 2519 1486 3595

8094 -0.63 -194.6 880.2 -9.8 778 8097 0.08 1.35 0.00 0.000 6 0.150 0.049 2537 2380 3594

8414 -0.63 -194.6 908.2 -8.6 809 8418 0.00 1.33 0.00 0.000 4 0.000 0.044 2537 1492 3593

8446 -0.63 -194.6 910.9 -8.5 812 8449 0.00 1.35 0.00 0.000 6 0.000 0.048 2533 2383 3593

8769 -0.63 -194.6 939.5 -9.0 843 8769 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2383 3592

9077 -0.63 -194.6 967.7 -8.7 873 9080 0.00 1.33 0.00 0.000 4 0.000 0.045 2533 1493 3590

9167 -0.63 -194.6 976.0 -9.4 881 9174 0.00 1.33 0.00 0.000 6 0.000 0.048 2528 2369 3590

9326 end dive: TARGET_DEPTH_EXCEEDED

state 9326 begin apogee

9331 -0.25 0.0 991.0 9.6 897 9490 0.45 0.00 151.43 1.248 6 0.138 0.000 2661 2289 2839

9491 end apogee: CONTROL_FINISHED_OK

state 9491 begin climb

9493 0.63 194.6 996.3 0.0 913 9671 0.88 1.38 168.15 1.218 4 0.104 0.044 2942 1378 2045

9693 0.63 194.6 981.4 10.8 930 9696 0.00 1.30 0.00 0.000 6 0.000 0.044 2942 2269 2042

10015 0.63 194.6 945.4 11.6 961 10018 0.00 1.20 0.00 0.000 4 0.000 0.044 2947 1378 2035

10051 0.63 194.6 941.1 11.3 964 10059 0.00 1.25 0.00 0.000 6 0.000 0.044 2947 2274 2034

10369 0.63 194.6 903.5 12.1 995 10370 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2274 2033

10678 0.63 194.6 866.4 12.2 1025 10679 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2274 2033

10988 0.63 194.6 829.4 11.3 1055 10992 0.00 1.20 0.00 0.000 4 0.000 0.044 2952 1375 2031

11035 0.63 194.6 823.9 11.5 1059 11042 0.00 1.25 0.00 0.000 6 0.000 0.045 2952 2280 2031

11352 0.63 194.6 785.6 11.9 1090 11353 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2280 2030

11662 0.63 194.6 747.4 12.5 1120 11663 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2280 2030

11972 0.63 194.6 708.9 12.2 1150 11973 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2280 2029

12283 0.63 194.6 671.5 12.0 1180 12286 0.00 1.23 0.00 0.000 4 0.000 0.044 2958 1367 2029

12325 0.63 194.6 666.5 11.3 1184 12328 0.00 1.23 0.00 0.000 6 0.000 0.045 2957 2274 2029

12647 0.63 194.6 628.6 11.8 1215 12648 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2274 2029

12956 0.63 194.6 592.0 11.9 1245 12957 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2274 2028

13267 0.63 194.6 556.9 11.5 1275 13268 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2274 2028

13577 0.63 194.6 519.4 12.6 1305 13580 0.00 1.20 0.00 0.000 4 0.000 0.044 2963 1371 2028

13602 0.63 194.6 516.4 12.9 1307 13610 0.00 1.25 0.00 0.000 6 0.000 0.044 2963 2283 2028

13920 0.63 194.6 476.6 12.8 1338 13921 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2283 2028

14229 0.63 194.6 436.9 12.8 1368 14230 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2283 2028

14540 0.63 194.6 398.9 12.2 1398 14541 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2283 2028

14850 0.63 194.6 361.3 12.1 1428 14851 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2283 2028

15160 0.63 194.6 323.5 12.0 1458 15163 0.00 1.23 0.00 0.000 4 0.000 0.042 2968 1367 2028

15203 0.63 194.6 318.2 12.8 1462 15206 0.00 1.23 0.00 0.000 6 0.000 0.043 2968 2281 2028

15524 0.63 194.6 277.9 12.3 1493 15525 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2281 2028

15834 0.63 194.6 239.1 12.0 1523 15837 0.00 1.23 0.00 0.000 4 0.000 0.041 2973 1361 2028

15877 0.63 194.6 233.9 11.6 1527 15880 0.00 1.23 0.00 0.000 6 0.000 0.042 2973 2281 2028

16197 0.63 194.6 194.1 12.1 1558 16198 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2281 2028

16508 0.63 194.6 155.4 12.2 1588 16509 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2281 2029

16818 0.63 194.6 119.4 11.5 1618 16821 0.00 1.62 0.00 0.000 4 0.000 0.050 2973 3174 2029

16908 0.63 194.6 108.4 13.6 1626 16916 0.08 1.58 0.00 0.000 6 0.139 0.032 2956 2272 2029

17225 0.63 194.6 79.0 8.9 1657 17225 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2273 2029

17410 0.63 194.6 62.4 8.9 1675 17411 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2273 2030

17597 0.65 210.4 47.7 7.1 1693 17612 0.00 1.15 11.38 0.510 4 0.000 0.036 2959 1364 1982

17655 0.69 244.3 43.8 6.6 1698 17687 0.00 1.23 27.25 0.541 6 0.000 0.037 2959 2280 1843

17871 0.82 354.9 31.8 4.6 1719 17959 0.15 1.65 82.78 0.534 4 0.061 0.045 3032 3163 1392

17977 0.82 354.9 23.1 10.1 1728 17980 0.00 1.58 0.00 0.000 6 0.000 0.029 3039 2276 1389

18174 0.82 354.9 5.8 9.1 1747 18177 0.00 1.17 0.00 0.000 4 0.000 0.036 3045 1365 1384

18204 end climb: SURFACE_DEPTH_REACHED

state 18204 begin surface coast

18208 end surface coast: CONTROL_FINISHED_OK

state 18208 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	196	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	2275	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-17032.984	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	024306,2837.919,-8836.072,28,1.2,28,-0.3	TGT_NAME	NEW0618A
_CALLS	3	TGT_LATLONG	2837.900,-8826.000
_XMS_NAKs	6	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.252,0.080
_SM_DEPTHo	1.66	KALMAN_X	-35525.9,433.5,240.4,57539.7,-6263.1
_SM_ANGLEo	-63.5	KALMAN_Y	-128571.1,754.6,554.9,144925.9,-7242.0
GPS2	025619,2837.907,-8836.141,12,1.2,17,-0.3	MHEAD_RNG_PITCHd_Wd	74.0,16484,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1411

FINISH	2.2,1.023025	_24V_AH	22.0,34.989
SM_CCo	18224,109.18,0.496,0,0,494,575.22	_10V_AH	10.6,48.736
SM_GC	1.51,0.00,0.00,109.18,0.000,0.000,0.496,204,2394,494,-7.95,0.54,575.22	DATA_FILE_SIZE	91560,1750
IRIDIUM_FIX	2826.10,-8836.59,260999,020240	CAP_FILE_SIZE	167480,0
TT8_MAMPS	0.051389	CFSIZE	260165632,237486080
HUMID	1339	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2191	CURRENT	0.078,213.0,1
TCM_TEMP	23.80	GPS	020710,080330,2838.071,-8833.689,36,1.6,36,-0.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	257	116.65	SBE_CT	1198	24	632.73
Roll_motor	77	64	110.49	SBE_O2	1278	19	534.39
VBD_pump_during_apogee	440	1247	12106.53	WL_BBFL2VMT	3933	105	9085.60
VBD_pump_during_surface	109	496	1191.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	77	103	175.89	nil	0	0	0.00
Iridium_during_connect	116	160	408.76	nil	0	0	0.00
Iridium_during_xfer	349	223	1716.21
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	20	50	10.81
TT8	0	19	0.00
LPSleep	12468	2	289.45
TT8_Active	632	19	132.76
TT8_Sampling	5149	39	2172.31
TT8_CF8	848	45	412.07
TT8_Kalman	33	81	28.90
Analog_circuits	2085	12	265.30
GPS_charging	0	0	0.00
Compass	4612	8	391.16
RAFOS	0	0	0.00
Transponder	1	30	0.37

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	87	0.00	0.00	-73.40	0.000	2	0.000	0.000	201	2396	2502
89	-0.63	-194.6	3.0	-3.3	7	136	10.62	1.48	-31.38	0.000	4	0.258	0.064	2533	3253	3635
164	-0.63	-194.6	14.5	-24.9	14	167	0.00	1.45	0.00	0.000	6	0.000	0.028	2537	2364	3635
361	-0.63	-194.6	57.4	-16.6	33	364	0.00	1.25	0.00	0.000	4	0.000	0.036	2537	1478	3637
425	-0.63	-194.6	66.4	-14.5	39	428	0.00	1.27	0.00	0.000	6	0.000	0.037	2533	2360	3636
622	-0.63	-194.6	93.9	-14.4	58	625	0.00	1.50	0.00	0.000	4	0.000	0.045	2526	3258	3638
647	-0.63	-194.6	97.6	-14.4	60	655	0.00	1.45	0.00	0.000	6	0.000	0.027	2526	2361	3637
839	-0.63	-194.6	124.0	-13.1	79	840	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2361	3638
1150	-0.63	-194.6	164.0	-13.0	109	1153	0.00	1.52	0.00	0.000	4	0.000	0.045	2519	3262	3637
1197	-0.63	-194.6	170.2	-12.9	113	1204	0.00	1.42	0.00	0.000	6	0.000	0.027	2519	2367	3637
1514	-0.63	-194.6	209.1	-12.3	144	1517	0.00	1.52	0.00	0.000	4	0.000	0.048	2512	3269	3636
1550	-0.63	-194.6	213.9	-12.5	147	1558	0.12	1.45	0.00	0.000	6	0.142	0.028	2544	2365	3636
1866	-0.63	-194.6	246.2	-9.9	178	1870	0.00	1.23	0.00	0.000	4	0.000	0.038	2544	1495	3635
1931	-0.63	-194.6	252.7	-9.5	184	1933	0.00	1.27	0.00	0.000	6	0.000	0.039	2541	2373	3634
2252	-0.63	-194.6	286.6	-10.3	215	2253	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2373	3632
2562	-0.63	-194.6	317.2	-9.5	245	2565	0.00	1.27	0.00	0.000	4	0.000	0.038	2541	1492	3630
2619	-0.63	-194.6	322.9	-9.3	250	2627	0.00	1.33	0.00	0.000	6	0.000	0.040	2535	2389	3629
2938	-0.63	-194.6	354.1	-9.9	281	2938	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2389	3627
3246	-0.63	-194.6	384.8	-9.9	311	3249	0.00	1.30	0.00	0.000	4	0.000	0.039	2535	1494	3625
3314	-0.63	-194.6	391.8	-10.1	317	3322	0.00	1.30	0.00	0.000	6	0.000	0.041	2529	2370	3624
3632	-0.63	-194.6	423.6	-10.2	348	3635	0.00	1.52	0.00	0.000	4	0.000	0.053	2522	3262	3621
3657	-0.63	-194.6	426.5	-10.5	350	3665	0.00	1.45	0.00	0.000	6	0.000	0.031	2522	2372	3621
3975	-0.63	-194.6	459.1	-10.7	381	3978	0.00	1.25	0.00	0.000	4	0.000	0.041	2522	1501	3619
4022	-0.63	-194.6	464.4	-11.5	385	4029	0.00	1.33	0.00	0.000	6	0.000	0.043	2516	2387	3619
4339	-0.63	-194.6	500.4	-11.3	416	4340	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2387	3617
4649	-0.63	-194.6	536.6	-11.8	446	4650	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2387	3614
4959	-0.63	-194.6	572.2	-11.2	476	4962	0.00	1.30	0.00	0.000	4	0.000	0.041	2516	1497	3613
4991	-0.63	-194.6	575.9	-11.9	479	4994	0.10	1.27	0.00	0.000	6	0.142	0.045	2541	2362	3612
5312	-0.63	-194.6	606.9	-9.6	510	5315	0.00	1.25	0.00	0.000	4	0.000	0.042	2541	1504	3610
5376	-0.63	-194.6	613.1	-9.9	516	5379	0.00	1.30	0.00	0.000	6	0.000	0.046	2538	2373	3609
5697	-0.63	-194.6	643.7	-9.4	547	5700	0.00	1.52	0.00	0.000	4	0.000	0.057	2531	3254	3607
5733	-0.63	-194.6	647.4	-9.7	550	5741	0.00	1.42	0.00	0.000	6	0.000	0.035	2531	2383	3607
6051	-0.63	-194.6	677.6	-9.5	581	6054	0.00	1.30	0.00	0.000	4	0.000	0.044	2531	1488	3604
6114	-0.63	-194.6	683.7	-9.6	587	6118	0.00	1.33	0.00	0.000	6	0.000	0.046	2525	2370	3604
6437	-0.63	-194.6	714.9	-9.5	618	6438	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2371	3603
6746	-0.63	-194.6	745.2	-9.9	648	6747	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2371	3602
7057	-0.63	-194.6	775.4	-9.7	678	7058	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2371	3599
7366	-0.63	-194.6	805.8	-9.9	708	7370	0.00	1.30	0.00	0.000	4	0.000	0.044	2525	1498	3598
7420	-0.63	-194.6	811.1	-9.7	713	7423	0.00	1.33	0.00	0.000	6	0.000	0.048	2520	2376	3598
7742	-0.63	-194.6	844.7	-10.7	744	7743	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2376	3596
8051	-0.63	-194.6	875.9	-10.1	774	8054	0.00	1.33	0.00	0.000	4	0.000	0.045	2519	1486	3595
8094	-0.63	-194.6	880.2	-9.8	778	8097	0.08	1.35	0.00	0.000	6	0.150	0.049	2537	2380	3594
8414	-0.63	-194.6	908.2	-8.6	809	8418	0.00	1.33	0.00	0.000	4	0.000	0.044	2537	1492	3593
8446	-0.63	-194.6	910.9	-8.5	812	8449	0.00	1.35	0.00	0.000	6	0.000	0.048	2533	2383	3593
8769	-0.63	-194.6	939.5	-9.0	843	8769	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2383	3592
9077	-0.63	-194.6	967.7	-8.7	873	9080	0.00	1.33	0.00	0.000	4	0.000	0.045	2533	1493	3590
9167	-0.63	-194.6	976.0	-9.4	881	9174	0.00	1.33	0.00	0.000	6	0.000	0.048	2528	2369	3590
9326	end dive: TARGET_DEPTH_EXCEEDED
state	9326	begin apogee
9331	-0.25	0.0	991.0	9.6	897	9490	0.45	0.00	151.43	1.248	6	0.138	0.000	2661	2289	2839
9491	end apogee: CONTROL_FINISHED_OK
state	9491	begin climb
9493	0.63	194.6	996.3	0.0	913	9671	0.88	1.38	168.15	1.218	4	0.104	0.044	2942	1378	2045
9693	0.63	194.6	981.4	10.8	930	9696	0.00	1.30	0.00	0.000	6	0.000	0.044	2942	2269	2042
10015	0.63	194.6	945.4	11.6	961	10018	0.00	1.20	0.00	0.000	4	0.000	0.044	2947	1378	2035
10051	0.63	194.6	941.1	11.3	964	10059	0.00	1.25	0.00	0.000	6	0.000	0.044	2947	2274	2034
10369	0.63	194.6	903.5	12.1	995	10370	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2274	2033
10678	0.63	194.6	866.4	12.2	1025	10679	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2274	2033
10988	0.63	194.6	829.4	11.3	1055	10992	0.00	1.20	0.00	0.000	4	0.000	0.044	2952	1375	2031
11035	0.63	194.6	823.9	11.5	1059	11042	0.00	1.25	0.00	0.000	6	0.000	0.045	2952	2280	2031
11352	0.63	194.6	785.6	11.9	1090	11353	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2280	2030
11662	0.63	194.6	747.4	12.5	1120	11663	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2280	2030
11972	0.63	194.6	708.9	12.2	1150	11973	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2280	2029
12283	0.63	194.6	671.5	12.0	1180	12286	0.00	1.23	0.00	0.000	4	0.000	0.044	2958	1367	2029
12325	0.63	194.6	666.5	11.3	1184	12328	0.00	1.23	0.00	0.000	6	0.000	0.045	2957	2274	2029
12647	0.63	194.6	628.6	11.8	1215	12648	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2274	2029
12956	0.63	194.6	592.0	11.9	1245	12957	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2274	2028
13267	0.63	194.6	556.9	11.5	1275	13268	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2274	2028
13577	0.63	194.6	519.4	12.6	1305	13580	0.00	1.20	0.00	0.000	4	0.000	0.044	2963	1371	2028
13602	0.63	194.6	516.4	12.9	1307	13610	0.00	1.25	0.00	0.000	6	0.000	0.044	2963	2283	2028
13920	0.63	194.6	476.6	12.8	1338	13921	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2283	2028
14229	0.63	194.6	436.9	12.8	1368	14230	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2283	2028
14540	0.63	194.6	398.9	12.2	1398	14541	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2283	2028
14850	0.63	194.6	361.3	12.1	1428	14851	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2283	2028
15160	0.63	194.6	323.5	12.0	1458	15163	0.00	1.23	0.00	0.000	4	0.000	0.042	2968	1367	2028
15203	0.63	194.6	318.2	12.8	1462	15206	0.00	1.23	0.00	0.000	6	0.000	0.043	2968	2281	2028
15524	0.63	194.6	277.9	12.3	1493	15525	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2281	2028
15834	0.63	194.6	239.1	12.0	1523	15837	0.00	1.23	0.00	0.000	4	0.000	0.041	2973	1361	2028
15877	0.63	194.6	233.9	11.6	1527	15880	0.00	1.23	0.00	0.000	6	0.000	0.042	2973	2281	2028
16197	0.63	194.6	194.1	12.1	1558	16198	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2281	2028
16508	0.63	194.6	155.4	12.2	1588	16509	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2281	2029
16818	0.63	194.6	119.4	11.5	1618	16821	0.00	1.62	0.00	0.000	4	0.000	0.050	2973	3174	2029
16908	0.63	194.6	108.4	13.6	1626	16916	0.08	1.58	0.00	0.000	6	0.139	0.032	2956	2272	2029
17225	0.63	194.6	79.0	8.9	1657	17225	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2273	2029
17410	0.63	194.6	62.4	8.9	1675	17411	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2273	2030
17597	0.65	210.4	47.7	7.1	1693	17612	0.00	1.15	11.38	0.510	4	0.000	0.036	2959	1364	1982
17655	0.69	244.3	43.8	6.6	1698	17687	0.00	1.23	27.25	0.541	6	0.000	0.037	2959	2280	1843
17871	0.82	354.9	31.8	4.6	1719	17959	0.15	1.65	82.78	0.534	4	0.061	0.045	3032	3163	1392
17977	0.82	354.9	23.1	10.1	1728	17980	0.00	1.58	0.00	0.000	6	0.000	0.029	3039	2276	1389
18174	0.82	354.9	5.8	9.1	1747	18177	0.00	1.17	0.00	0.000	4	0.000	0.036	3045	1365	1384
18204	end climb: SURFACE_DEPTH_REACHED
state	18204	begin surface coast
18208	end surface coast: CONTROL_FINISHED_OK
state	18208	begin surface