Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 259 * 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 259 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 850

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2325 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 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -20061.426 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 27 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 27 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 850 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 -20061.426

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 2325 MASS 51931 R_PORT_OVSHOOT 36 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 33 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 259 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 164200,2841.167,-8833.098,302,1.6,302,-0.3 TGT_NAME NEW0617E

_CALLS 8 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 13 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.103,0.244

_SM_DEPTHo 2.69 KALMAN_X -12920.1,-513.9,-491.7,41479.1,6827.3

_SM_ANGLEo -78.4 KALMAN_Y -345401.1,1969.1,-762.8,365804.7,-7370.3

GPS2 172902,2840.045,-8833.191,11,1.6,11,-0.3 MHEAD_RNG_PITCHd_Wd 299.1,19671,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1426

Post-dive calculations and measurements:

SM_CCo 18789,55.42,0.479,0,0,403,597.54 _24V_AH 23.1,45.311

SM_GC 2.97,8.07,0.00,0.00,0.061,0.000,0.000,200,2329,400,-7.92,0.11,598.52 _10V_AH 10.6,62.762

IRIDIUM_FIX 2831.00,-8836.53,091099,171732 DATA_FILE_SIZE 94700,1806

TT8_MAMPS 0.050622 CAP_FILE_SIZE 201768,0

HUMID 1383 CFSIZE 260165632,231985152

INTERNAL_PRESSURE 9.2777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.60 CURRENT 0.079,154.8,1

XPDR_PINGS 5 GPS 150710,224855,2840.604,-8835.510,115,1.8,115,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 238 110.07 SBE_CT 1235 24 684.74

Roll_motor 54 77 97.08 SBE_O2 1320 19 579.61

VBD_pump_during_apogee 557 1244 16016.47 WL_BBFL2VMT 4059 105 9846.13

VBD_pump_during_surface 55 479 613.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 233 103 555.67 nil 0 0 0.00

Iridium_during_connect 474 160 1752.07 nil 0 0 0.00

Iridium_during_xfer 1537 223 7919.22

Transponder_ping 5 420 48.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.82

TT8 0 19 0.00

LPSleep 13289 2 308.51

TT8_Active 604 19 126.81

TT8_Sampling 5286 39 2230.42

TT8_CF8 2623 45 1273.78

TT8_Kalman 33 81 28.91

Analog_circuits 2080 12 264.65

GPS_charging 0 0 0.00

Compass 4738 8 401.82

RAFOS 0 0 0.00

Transponder 31 30 9.93

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

13 -0.64 -194.6 0.0 0.0 0 37 0.00 0.00 -22.45 0.000 2 0.000 0.000 193 2342 1124

39 -0.64 -194.6 3.0 -2.0 2 122 10.02 1.50 -63.85 0.000 4 0.239 0.059 2531 3220 3635

282 -0.64 -194.6 38.8 -19.0 24 285 0.00 1.42 0.00 0.000 6 0.000 0.026 2536 2333 3635

480 -0.64 -194.6 67.6 -13.0 43 480 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2331 3635

665 -0.64 -194.6 91.3 -13.3 61 666 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2331 3635

851 -0.64 -194.6 115.3 -12.8 79 852 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2331 3635

1163 -0.64 -194.6 152.7 -11.7 109 1163 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2331 3634

1472 -0.64 -194.6 188.1 -11.4 139 1475 0.00 1.23 0.00 0.000 4 0.000 0.036 2536 1421 3632

1547 -0.64 -194.6 196.5 -11.0 146 1550 0.00 1.23 0.00 0.000 6 0.000 0.035 2532 2320 3630

1869 -0.64 -194.6 233.8 -11.4 177 1870 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2321 3628

2179 -0.64 -194.6 268.2 -10.8 207 2182 0.00 1.23 0.00 0.000 4 0.000 0.037 2532 1423 3625

2257 -0.64 -194.6 276.7 -10.0 214 2266 0.00 1.27 0.00 0.000 6 0.000 0.036 2527 2333 3625

2576 -0.64 -194.6 311.6 -10.8 245 2577 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2333 3623

2885 -0.64 -194.6 345.4 -10.7 275 2888 0.00 1.27 0.00 0.000 4 0.000 0.038 2527 1406 3619

2959 -0.64 -194.6 353.2 -9.8 282 2962 0.00 1.25 0.00 0.000 6 0.000 0.038 2521 2319 3619

3282 -0.64 -194.6 389.2 -11.6 313 3283 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2319 3616

3591 -0.64 -194.6 423.3 -11.1 343 3591 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2319 3612

3901 -0.64 -194.6 457.0 -11.0 373 3905 0.00 1.25 0.00 0.000 4 0.000 0.041 2521 1410 3609

3944 -0.64 -194.6 461.7 -10.6 377 3947 0.00 1.27 0.00 0.000 6 0.000 0.041 2515 2321 3609

4266 -0.64 -194.6 498.1 -11.2 408 4267 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2321 3606

4575 -0.64 -194.6 532.7 -11.2 438 4576 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2321 3604

4886 -0.64 -194.6 567.8 -11.2 468 4889 0.00 1.25 0.00 0.000 4 0.000 0.041 2515 1423 3601

4922 -0.64 -194.6 572.1 -10.4 471 4930 0.08 1.30 0.00 0.000 6 0.144 0.042 2534 2331 3600

5239 -0.64 -194.6 603.2 -10.3 502 5239 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2330 3598

5550 -0.64 -194.6 633.9 -10.2 532 5551 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2331 3595

5860 -0.64 -194.6 662.8 -9.0 562 5861 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2331 3593

6171 -0.64 -194.6 690.9 -8.8 592 6173 0.00 1.27 0.00 0.000 4 0.000 0.044 2534 1431 3591

6213 -0.64 -194.6 694.9 -9.0 596 6216 0.00 1.27 0.00 0.000 6 0.000 0.046 2530 2324 3591

6536 -0.64 -194.6 724.8 -9.7 627 6537 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2324 3589

6844 -0.64 -194.6 754.6 -9.8 657 6845 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2324 3587

7155 -0.64 -194.6 783.7 -9.3 687 7156 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2324 3586

7465 -0.64 -194.6 811.3 -8.7 717 7466 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2324 3583

7776 -0.64 -194.6 838.2 -8.5 747 7777 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2324 3582

8087 -0.64 -194.6 865.5 -9.0 777 8088 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2324 3580

8396 -0.64 -194.6 892.9 -9.2 807 8397 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2325 3579

8707 -0.64 -194.6 921.3 -9.0 837 8708 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2324 3578

9019 -0.64 -194.6 949.2 -8.8 867 9020 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2324 3576

9328 -0.64 -194.6 976.8 -8.7 897 9328 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2324 3575

9482 end dive: TARGET_DEPTH_EXCEEDED

state 9482 begin apogee

9487 -0.26 0.0 990.4 8.3 912 9638 0.43 0.00 147.77 1.244 6 0.135 0.000 2657 2273 2840

9638 end apogee: CONTROL_FINISHED_OK

state 9638 begin climb

9640 0.64 194.6 996.0 0.0 927 9811 0.93 0.00 167.35 1.216 6 0.106 0.000 2948 2273 2046

10116 0.64 194.6 949.0 11.8 974 10119 0.00 1.67 0.00 0.000 4 0.000 0.059 2948 3183 2035

10152 0.64 194.6 944.3 12.7 977 10159 0.00 1.60 0.00 0.000 6 0.000 0.037 2955 2277 2033

10470 0.64 194.6 905.0 12.4 1008 10471 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2278 2032

10779 0.64 194.6 865.4 13.0 1038 10780 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2277 2031

11090 0.64 194.6 826.7 12.3 1068 11091 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2278 2030

11400 0.64 194.6 788.9 11.4 1098 11403 0.00 1.62 0.00 0.000 4 0.000 0.055 2955 3163 2029

11436 0.64 194.6 784.1 12.7 1101 11443 0.00 1.55 0.00 0.000 6 0.000 0.038 2963 2277 2028

11754 0.64 194.6 745.3 12.1 1132 11755 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2278 2028

12063 0.64 194.6 707.6 12.5 1162 12064 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2278 2027

12373 0.64 194.6 669.8 12.5 1192 12374 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2278 2027

12684 0.64 194.6 631.9 11.9 1222 12687 0.00 1.23 0.00 0.000 4 0.000 0.044 2968 1360 2027

12706 0.64 194.6 629.2 11.9 1224 12708 0.00 1.25 0.00 0.000 6 0.000 0.045 2968 2273 2027

13026 0.64 194.6 590.0 12.0 1255 13030 0.00 1.62 0.00 0.000 4 0.000 0.054 2968 3168 2026

13058 0.64 194.6 585.7 12.8 1258 13061 0.00 1.58 0.00 0.000 6 0.000 0.038 2976 2269 2026

13379 0.64 194.6 543.8 13.2 1289 13380 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2270 2026

13690 0.64 194.6 503.2 13.4 1319 13691 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2270 2025

14000 0.64 194.6 466.0 11.2 1349 14003 0.00 1.17 0.00 0.000 4 0.000 0.042 2981 1376 2025

14043 0.64 194.6 460.9 10.9 1353 14046 0.00 1.23 0.00 0.000 6 0.000 0.043 2981 2277 2025

14363 0.64 194.6 420.4 12.6 1384 14364 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 2277 2025

14675 0.64 194.6 380.6 12.3 1414 14678 0.00 1.23 0.00 0.000 4 0.000 0.042 2987 1370 2026

14743 0.64 194.6 372.0 11.9 1420 14750 0.10 1.23 0.00 0.000 6 0.140 0.041 2955 2275 2025

15060 0.64 194.6 338.2 10.9 1451 15060 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2275 2025

15370 0.64 194.6 305.9 10.0 1481 15373 0.00 1.23 0.00 0.000 4 0.000 0.041 2959 1358 2025

15434 0.64 194.6 299.4 9.4 1487 15437 0.00 1.23 0.00 0.000 6 0.000 0.041 2959 2267 2026

15754 0.64 194.6 265.0 10.4 1518 15755 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2267 2026

16066 0.64 194.6 232.8 10.5 1548 16068 0.00 1.17 0.00 0.000 4 0.000 0.039 2964 1374 2026

16112 0.64 194.6 227.8 10.5 1552 16119 0.00 1.25 0.00 0.000 6 0.000 0.039 2964 2284 2026

16430 0.64 194.6 193.5 11.0 1583 16431 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2284 2026

16740 0.64 194.6 159.4 11.5 1613 16743 0.00 1.58 0.00 0.000 4 0.000 0.049 2964 3165 2027

16772 0.64 194.6 155.7 9.9 1616 16775 0.00 1.52 0.00 0.000 6 0.000 0.032 2971 2275 2027

17092 0.64 194.6 119.1 11.4 1647 17095 0.00 1.17 0.00 0.000 4 0.000 0.038 2977 1368 2028

17135 0.64 194.6 114.6 10.5 1651 17138 0.00 1.20 0.00 0.000 6 0.000 0.038 2977 2275 2028

17456 0.64 194.6 80.8 10.3 1682 17457 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2275 2029

17642 0.64 194.6 62.6 9.2 1700 17645 0.00 1.58 0.00 0.000 4 0.000 0.047 2977 3164 2029

17689 0.64 194.6 58.2 8.5 1704 17696 0.10 1.52 0.00 0.000 6 0.125 0.030 2952 2273 2029

17882 0.72 261.0 46.4 5.8 1723 17935 0.00 1.60 49.42 0.543 4 0.000 0.044 2951 3168 1774

17979 0.82 337.2 41.0 5.5 1731 18042 0.10 1.55 57.92 0.533 6 0.032 0.030 3034 2269 1464

18235 0.82 337.2 20.1 8.8 1755 18236 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 2270 1457

18421 1.04 523.5 7.8 2.6 1773 18562 0.15 1.15 134.85 0.501 4 0.065 0.034 3101 1364 705

18787 end climb: NO_VERTICAL_VELOCITY

state 18787 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	259	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	850
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2325	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	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-20061.426	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	27	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	164200,2841.167,-8833.098,302,1.6,302,-0.3	TGT_NAME	NEW0617E
_CALLS	8	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	13	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.103,0.244
_SM_DEPTHo	2.69	KALMAN_X	-12920.1,-513.9,-491.7,41479.1,6827.3
_SM_ANGLEo	-78.4	KALMAN_Y	-345401.1,1969.1,-762.8,365804.7,-7370.3
GPS2	172902,2840.045,-8833.191,11,1.6,11,-0.3	MHEAD_RNG_PITCHd_Wd	299.1,19671,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1426

SM_CCo	18789,55.42,0.479,0,0,403,597.54	_24V_AH	23.1,45.311
SM_GC	2.97,8.07,0.00,0.00,0.061,0.000,0.000,200,2329,400,-7.92,0.11,598.52	_10V_AH	10.6,62.762
IRIDIUM_FIX	2831.00,-8836.53,091099,171732	DATA_FILE_SIZE	94700,1806
TT8_MAMPS	0.050622	CAP_FILE_SIZE	201768,0
HUMID	1383	CFSIZE	260165632,231985152
INTERNAL_PRESSURE	9.2777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.60	CURRENT	0.079,154.8,1
XPDR_PINGS	5	GPS	150710,224855,2840.604,-8835.510,115,1.8,115,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	238	110.07	SBE_CT	1235	24	684.74
Roll_motor	54	77	97.08	SBE_O2	1320	19	579.61
VBD_pump_during_apogee	557	1244	16016.47	WL_BBFL2VMT	4059	105	9846.13
VBD_pump_during_surface	55	479	613.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	233	103	555.67	nil	0	0	0.00
Iridium_during_connect	474	160	1752.07	nil	0	0	0.00
Iridium_during_xfer	1537	223	7919.22
Transponder_ping	5	420	48.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.82
TT8	0	19	0.00
LPSleep	13289	2	308.51
TT8_Active	604	19	126.81
TT8_Sampling	5286	39	2230.42
TT8_CF8	2623	45	1273.78
TT8_Kalman	33	81	28.91
Analog_circuits	2080	12	264.65
GPS_charging	0	0	0.00
Compass	4738	8	401.82
RAFOS	0	0	0.00
Transponder	31	30	9.93

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
13	-0.64	-194.6	0.0	0.0	0	37	0.00	0.00	-22.45	0.000	2	0.000	0.000	193	2342	1124
39	-0.64	-194.6	3.0	-2.0	2	122	10.02	1.50	-63.85	0.000	4	0.239	0.059	2531	3220	3635
282	-0.64	-194.6	38.8	-19.0	24	285	0.00	1.42	0.00	0.000	6	0.000	0.026	2536	2333	3635
480	-0.64	-194.6	67.6	-13.0	43	480	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2331	3635
665	-0.64	-194.6	91.3	-13.3	61	666	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2331	3635
851	-0.64	-194.6	115.3	-12.8	79	852	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2331	3635
1163	-0.64	-194.6	152.7	-11.7	109	1163	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2331	3634
1472	-0.64	-194.6	188.1	-11.4	139	1475	0.00	1.23	0.00	0.000	4	0.000	0.036	2536	1421	3632
1547	-0.64	-194.6	196.5	-11.0	146	1550	0.00	1.23	0.00	0.000	6	0.000	0.035	2532	2320	3630
1869	-0.64	-194.6	233.8	-11.4	177	1870	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2321	3628
2179	-0.64	-194.6	268.2	-10.8	207	2182	0.00	1.23	0.00	0.000	4	0.000	0.037	2532	1423	3625
2257	-0.64	-194.6	276.7	-10.0	214	2266	0.00	1.27	0.00	0.000	6	0.000	0.036	2527	2333	3625
2576	-0.64	-194.6	311.6	-10.8	245	2577	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2333	3623
2885	-0.64	-194.6	345.4	-10.7	275	2888	0.00	1.27	0.00	0.000	4	0.000	0.038	2527	1406	3619
2959	-0.64	-194.6	353.2	-9.8	282	2962	0.00	1.25	0.00	0.000	6	0.000	0.038	2521	2319	3619
3282	-0.64	-194.6	389.2	-11.6	313	3283	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2319	3616
3591	-0.64	-194.6	423.3	-11.1	343	3591	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2319	3612
3901	-0.64	-194.6	457.0	-11.0	373	3905	0.00	1.25	0.00	0.000	4	0.000	0.041	2521	1410	3609
3944	-0.64	-194.6	461.7	-10.6	377	3947	0.00	1.27	0.00	0.000	6	0.000	0.041	2515	2321	3609
4266	-0.64	-194.6	498.1	-11.2	408	4267	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2321	3606
4575	-0.64	-194.6	532.7	-11.2	438	4576	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2321	3604
4886	-0.64	-194.6	567.8	-11.2	468	4889	0.00	1.25	0.00	0.000	4	0.000	0.041	2515	1423	3601
4922	-0.64	-194.6	572.1	-10.4	471	4930	0.08	1.30	0.00	0.000	6	0.144	0.042	2534	2331	3600
5239	-0.64	-194.6	603.2	-10.3	502	5239	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2330	3598
5550	-0.64	-194.6	633.9	-10.2	532	5551	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2331	3595
5860	-0.64	-194.6	662.8	-9.0	562	5861	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2331	3593
6171	-0.64	-194.6	690.9	-8.8	592	6173	0.00	1.27	0.00	0.000	4	0.000	0.044	2534	1431	3591
6213	-0.64	-194.6	694.9	-9.0	596	6216	0.00	1.27	0.00	0.000	6	0.000	0.046	2530	2324	3591
6536	-0.64	-194.6	724.8	-9.7	627	6537	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2324	3589
6844	-0.64	-194.6	754.6	-9.8	657	6845	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2324	3587
7155	-0.64	-194.6	783.7	-9.3	687	7156	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2324	3586
7465	-0.64	-194.6	811.3	-8.7	717	7466	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2324	3583
7776	-0.64	-194.6	838.2	-8.5	747	7777	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2324	3582
8087	-0.64	-194.6	865.5	-9.0	777	8088	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2324	3580
8396	-0.64	-194.6	892.9	-9.2	807	8397	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2325	3579
8707	-0.64	-194.6	921.3	-9.0	837	8708	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2324	3578
9019	-0.64	-194.6	949.2	-8.8	867	9020	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2324	3576
9328	-0.64	-194.6	976.8	-8.7	897	9328	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2324	3575
9482	end dive: TARGET_DEPTH_EXCEEDED
state	9482	begin apogee
9487	-0.26	0.0	990.4	8.3	912	9638	0.43	0.00	147.77	1.244	6	0.135	0.000	2657	2273	2840
9638	end apogee: CONTROL_FINISHED_OK
state	9638	begin climb
9640	0.64	194.6	996.0	0.0	927	9811	0.93	0.00	167.35	1.216	6	0.106	0.000	2948	2273	2046
10116	0.64	194.6	949.0	11.8	974	10119	0.00	1.67	0.00	0.000	4	0.000	0.059	2948	3183	2035
10152	0.64	194.6	944.3	12.7	977	10159	0.00	1.60	0.00	0.000	6	0.000	0.037	2955	2277	2033
10470	0.64	194.6	905.0	12.4	1008	10471	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2278	2032
10779	0.64	194.6	865.4	13.0	1038	10780	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2277	2031
11090	0.64	194.6	826.7	12.3	1068	11091	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2278	2030
11400	0.64	194.6	788.9	11.4	1098	11403	0.00	1.62	0.00	0.000	4	0.000	0.055	2955	3163	2029
11436	0.64	194.6	784.1	12.7	1101	11443	0.00	1.55	0.00	0.000	6	0.000	0.038	2963	2277	2028
11754	0.64	194.6	745.3	12.1	1132	11755	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2278	2028
12063	0.64	194.6	707.6	12.5	1162	12064	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2278	2027
12373	0.64	194.6	669.8	12.5	1192	12374	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2278	2027
12684	0.64	194.6	631.9	11.9	1222	12687	0.00	1.23	0.00	0.000	4	0.000	0.044	2968	1360	2027
12706	0.64	194.6	629.2	11.9	1224	12708	0.00	1.25	0.00	0.000	6	0.000	0.045	2968	2273	2027
13026	0.64	194.6	590.0	12.0	1255	13030	0.00	1.62	0.00	0.000	4	0.000	0.054	2968	3168	2026
13058	0.64	194.6	585.7	12.8	1258	13061	0.00	1.58	0.00	0.000	6	0.000	0.038	2976	2269	2026
13379	0.64	194.6	543.8	13.2	1289	13380	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2270	2026
13690	0.64	194.6	503.2	13.4	1319	13691	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2270	2025
14000	0.64	194.6	466.0	11.2	1349	14003	0.00	1.17	0.00	0.000	4	0.000	0.042	2981	1376	2025
14043	0.64	194.6	460.9	10.9	1353	14046	0.00	1.23	0.00	0.000	6	0.000	0.043	2981	2277	2025
14363	0.64	194.6	420.4	12.6	1384	14364	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	2277	2025
14675	0.64	194.6	380.6	12.3	1414	14678	0.00	1.23	0.00	0.000	4	0.000	0.042	2987	1370	2026
14743	0.64	194.6	372.0	11.9	1420	14750	0.10	1.23	0.00	0.000	6	0.140	0.041	2955	2275	2025
15060	0.64	194.6	338.2	10.9	1451	15060	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2275	2025
15370	0.64	194.6	305.9	10.0	1481	15373	0.00	1.23	0.00	0.000	4	0.000	0.041	2959	1358	2025
15434	0.64	194.6	299.4	9.4	1487	15437	0.00	1.23	0.00	0.000	6	0.000	0.041	2959	2267	2026
15754	0.64	194.6	265.0	10.4	1518	15755	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2267	2026
16066	0.64	194.6	232.8	10.5	1548	16068	0.00	1.17	0.00	0.000	4	0.000	0.039	2964	1374	2026
16112	0.64	194.6	227.8	10.5	1552	16119	0.00	1.25	0.00	0.000	6	0.000	0.039	2964	2284	2026
16430	0.64	194.6	193.5	11.0	1583	16431	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2284	2026
16740	0.64	194.6	159.4	11.5	1613	16743	0.00	1.58	0.00	0.000	4	0.000	0.049	2964	3165	2027
16772	0.64	194.6	155.7	9.9	1616	16775	0.00	1.52	0.00	0.000	6	0.000	0.032	2971	2275	2027
17092	0.64	194.6	119.1	11.4	1647	17095	0.00	1.17	0.00	0.000	4	0.000	0.038	2977	1368	2028
17135	0.64	194.6	114.6	10.5	1651	17138	0.00	1.20	0.00	0.000	6	0.000	0.038	2977	2275	2028
17456	0.64	194.6	80.8	10.3	1682	17457	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2275	2029
17642	0.64	194.6	62.6	9.2	1700	17645	0.00	1.58	0.00	0.000	4	0.000	0.047	2977	3164	2029
17689	0.64	194.6	58.2	8.5	1704	17696	0.10	1.52	0.00	0.000	6	0.125	0.030	2952	2273	2029
17882	0.72	261.0	46.4	5.8	1723	17935	0.00	1.60	49.42	0.543	4	0.000	0.044	2951	3168	1774
17979	0.82	337.2	41.0	5.5	1731	18042	0.10	1.55	57.92	0.533	6	0.032	0.030	3034	2269	1464
18235	0.82	337.2	20.1	8.8	1755	18236	0.00	0.00	0.00	0.000	6	0.000	0.000	3034	2270	1457
18421	1.04	523.5	7.8	2.6	1773	18562	0.15	1.15	134.85	0.501	4	0.065	0.034	3101	1364	705
18787	end climb: NO_VERTICAL_VELOCITY
state	18787	begin surface