Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 151 * 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 151 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2375 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2250 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 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 39 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 5 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -7934.1489 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 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -7934.1489

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 515 ROLL_DEG 25 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3575 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2747 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -4

C_ROLL_CLIMB 2250 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 39 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 151 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 070621,2839.170,-8838.701,93,2.8,112,-0.3 TGT_NAME NEW0618E

_CALLS 1 TGT_LATLONG 2839.700,-8844.900

_XMS_NAKs 15 TGT_RADIUS 1000.000

_XMS_TOUTs 3 KALMAN_CONTROL -0.260,0.051

_SM_DEPTHo 2.18 KALMAN_X -231922.8,-258.8,-105.4,257701.7,512.9

_SM_ANGLEo -75.9 KALMAN_Y -125332.0,616.0,-724.9,106799.5,-833.5

GPS2 071840,2839.267,-8838.656,16,2.9,35,-0.3 MHEAD_RNG_PITCHd_Wd 291.3,10178,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1210

Post-dive calculations and measurements:

SM_CCo 18238,0.00,0.000,0,0,398,599.01 _24V_AH 23.2,27.919

SM_GC 3.28,8.27,0.00,0.00,0.058,0.000,0.000,206,2368,398,-7.90,-0.20,599.01 _10V_AH 10.7,38.529

IRIDIUM_FIX 2828.55,-8836.53,150999,232306 DATA_FILE_SIZE 91480,1734

TT8_MAMPS 0.049855 CAP_FILE_SIZE 159109,0

HUMID 1338 CFSIZE 260165632,241483776

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

TCM_TEMP 24.40 CURRENT 101.745,289.4,1

XPDR_PINGS 1 GPS 220610,071840,2839.267,-8838.656,16,2.9,35,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 122.51 SBE_CT 1185 24 660.01

Roll_motor 50 60 70.85 SBE_O2 1266 19 558.36

VBD_pump_during_apogee 609 1256 17765.23 WL_BBFL2VMT 3897 105 9495.47

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 74.72 nil 0 0 0.00

Iridium_during_connect 31 160 116.47 nil 0 0 0.00

Iridium_during_xfer 519 223 2685.53

Transponder_ping 0 420 2.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 38 50 20.44

TT8 0 19 0.00

LPSleep 12444 2 291.60

TT8_Active 597 19 126.67

TT8_Sampling 5045 39 2148.79

TT8_CF8 842 45 412.91

TT8_Kalman 33 81 29.19

Analog_circuits 2013 12 258.58

GPS_charging 0 0 0.00

Compass 4525 8 387.38

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 47 0.00 0.00 -33.67 0.000 2 0.000 0.000 196 2364 1465

49 -0.63 -194.6 3.2 -4.0 3 121 10.43 1.27 -51.78 0.000 4 0.254 0.054 2545 1464 3637

157 -0.63 -194.6 17.6 -16.9 12 166 0.00 1.33 0.00 0.000 6 0.000 0.034 2540 2378 3637

349 -0.63 -194.6 47.9 -15.4 31 352 0.00 1.27 0.00 0.000 4 0.000 0.033 2541 1471 3638

498 -0.63 -194.6 67.4 -13.9 45 502 0.00 1.27 0.00 0.000 6 0.000 0.035 2535 2374 3638

695 -0.63 -194.6 93.3 -12.7 64 698 0.00 1.25 0.00 0.000 4 0.000 0.033 2537 1480 3638

742 -0.63 -194.6 99.5 -12.5 68 751 0.00 1.27 0.00 0.000 6 0.000 0.035 2532 2375 3638

934 -0.63 -194.6 124.0 -12.9 87 935 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2375 3638

1245 -0.63 -194.6 163.5 -12.5 117 1246 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2375 3637

1555 -0.63 -194.6 199.3 -11.0 147 1556 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2375 3635

1866 -0.63 -194.6 234.7 -11.6 177 1866 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2375 3632

2176 -0.63 -194.6 270.1 -11.2 207 2177 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2375 3630

2487 -0.63 -194.6 304.7 -11.2 237 2490 0.00 1.50 0.00 0.000 4 0.000 0.050 2525 3261 3627

2529 -0.63 -194.6 309.7 -11.5 241 2532 0.00 1.45 0.00 0.000 6 0.000 0.031 2525 2365 3626

2851 -0.63 -194.6 347.2 -11.7 272 2852 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2364 3624

3160 -0.63 -194.6 383.1 -11.5 302 3161 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2364 3621

3471 -0.63 -194.6 418.3 -11.7 332 3472 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2364 3618

3781 -0.63 -194.6 452.8 -11.2 362 3782 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2364 3616

4091 -0.63 -194.6 487.5 -10.7 392 4092 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2364 3613

4402 -0.63 -194.6 521.6 -10.9 422 4402 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2365 3610

4712 -0.63 -194.6 556.2 -10.9 452 4713 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2364 3608

5023 -0.63 -194.6 590.3 -11.1 482 5023 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2364 3605

5333 -0.63 -194.6 624.2 -11.2 512 5334 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2364 3603

5644 -0.63 -194.6 656.8 -10.0 542 5645 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2364 3601

5954 -0.63 -194.6 690.1 -10.7 572 5954 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2364 3598

6264 -0.63 -194.6 722.6 -10.3 602 6265 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2364 3596

6575 -0.63 -194.6 753.9 -10.1 632 6578 0.00 1.58 0.00 0.000 4 0.000 0.061 2518 3255 3593

6622 -0.63 -194.6 758.9 -11.0 636 6630 0.00 1.45 0.00 0.000 6 0.000 0.038 2518 2375 3593

6939 -0.63 -194.6 791.5 -10.3 667 6939 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2376 3592

7249 -0.63 -194.6 823.1 -9.7 697 7250 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2376 3591

7559 -0.63 -194.6 853.6 -10.3 727 7559 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2376 3589

7869 -0.63 -194.6 884.0 -9.6 757 7870 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2376 3587

8180 -0.63 -194.6 914.7 -9.7 787 8180 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2377 3586

8490 -0.63 -194.6 945.3 -9.9 817 8491 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2376 3585

8800 -0.63 -194.6 974.8 -9.3 847 8804 0.00 1.30 0.00 0.000 4 0.000 0.048 2518 1487 3583

8854 -0.63 -194.6 979.8 -9.3 852 8857 0.08 1.30 0.00 0.000 6 0.150 0.053 2537 2363 3583

8976 end dive: TARGET_DEPTH_EXCEEDED

state 8976 begin apogee

8980 -0.25 0.0 990.4 8.7 864 9131 0.43 0.00 148.27 1.256 6 0.138 0.000 2666 2263 2840

9131 end apogee: CONTROL_FINISHED_OK

state 9132 begin climb

9133 0.63 194.6 995.1 0.0 879 9302 0.88 0.00 165.98 1.226 6 0.105 0.000 2940 2263 2046

9608 0.63 194.6 944.3 12.2 925 9611 0.00 1.23 0.00 0.000 4 0.000 0.056 2946 1352 2035

9643 0.63 194.6 939.9 11.9 928 9652 0.00 1.25 0.00 0.000 6 0.000 0.046 2945 2267 2035

9961 0.63 194.6 901.8 12.9 959 9964 0.00 1.62 0.00 0.000 4 0.000 0.057 2945 3143 2033

9981 0.63 194.6 899.1 12.5 961 9985 0.00 1.65 0.00 0.000 6 0.000 0.038 2953 2244 2032

10304 0.63 194.6 857.6 12.9 992 10305 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2243 2032

10613 0.63 194.6 818.5 12.9 1022 10616 0.00 1.70 0.00 0.000 4 0.000 0.056 2953 3134 2030

10649 0.63 194.6 813.5 13.9 1025 10656 0.00 1.60 0.00 0.000 6 0.000 0.038 2961 2258 2030

10966 0.63 194.6 771.7 13.5 1056 10967 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2259 2029

11276 0.63 194.6 731.2 13.0 1086 11277 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2259 2029

11586 0.63 194.6 690.6 13.0 1116 11587 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2259 2029

11896 0.63 194.6 650.6 12.5 1146 11900 0.00 1.67 0.00 0.000 4 0.000 0.057 2961 3136 2028

11922 0.63 194.6 647.1 14.4 1148 11931 0.00 1.62 0.00 0.000 6 0.000 0.039 2969 2244 2027

12239 0.63 194.6 605.8 12.7 1179 12240 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2244 2027

12550 0.63 194.6 566.1 13.0 1209 12550 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2244 2027

12859 0.63 194.6 525.1 12.8 1239 12860 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2243 2027

13170 0.63 194.6 484.0 12.9 1269 13171 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2243 2027

13480 0.63 194.6 443.7 12.9 1299 13481 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2242 2027

13791 0.63 194.6 404.1 12.6 1329 13794 0.00 1.67 0.00 0.000 4 0.000 0.054 2969 3144 2027

13827 0.63 194.6 399.3 14.0 1332 13836 0.00 1.62 0.00 0.000 6 0.000 0.037 2977 2246 2026

14144 0.63 194.6 356.6 13.6 1363 14145 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2246 2026

14454 0.63 194.6 315.3 13.1 1393 14455 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2246 2026

14764 0.63 194.6 275.3 12.8 1423 14765 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2245 2026

15075 0.63 194.6 234.6 13.2 1453 15078 0.00 1.70 0.00 0.000 4 0.000 0.052 2977 3149 2026

15117 0.63 194.6 228.6 14.0 1457 15121 0.10 1.62 0.00 0.000 6 0.150 0.035 2954 2246 2026

15438 0.63 194.6 192.1 11.2 1488 15439 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2247 2026

15749 0.63 194.6 157.8 10.8 1518 15752 0.00 1.10 0.00 0.000 4 0.000 0.041 2957 1352 2026

15780 0.63 194.6 154.2 11.1 1521 15783 0.00 1.17 0.00 0.000 6 0.000 0.041 2957 2265 2026

16101 0.63 194.6 118.8 10.8 1552 16104 0.00 1.60 0.00 0.000 4 0.000 0.050 2957 3133 2028

16165 0.63 194.6 111.7 10.9 1558 16168 0.00 1.58 0.00 0.000 6 0.000 0.034 2965 2248 2028

16485 0.63 194.6 76.4 10.6 1589 16486 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2248 2028

16672 0.63 194.6 56.9 9.7 1607 16672 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2248 2029

16859 0.63 194.6 40.5 8.8 1625 16862 0.00 1.62 0.00 0.000 4 0.000 0.048 2965 3146 2030

16890 0.63 194.6 37.9 8.3 1628 16893 0.00 1.58 0.00 0.000 6 0.000 0.031 2973 2251 2029

17087 0.69 244.4 24.4 6.2 1647 17129 0.00 0.00 36.58 0.534 6 0.000 0.000 2973 2251 1842

17314 0.85 379.8 13.4 3.9 1669 17422 0.15 1.70 99.97 0.522 4 0.061 0.044 3053 3130 1290

17661 1.13 603.1 4.8 1.6 1700 17826 0.12 1.58 158.70 0.499 6 0.071 0.028 3106 2242 403

18019 1.46 876.4 3.3 0.3 1733 18022 0.35 1.67 0.00 0.000 4 0.161 0.045 3201 3147 400

18027 end climb: NO_VERTICAL_VELOCITY

state 18027 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	151	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2375	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2250	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	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	39	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	5	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-7934.1489	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	070621,2839.170,-8838.701,93,2.8,112,-0.3	TGT_NAME	NEW0618E
_CALLS	1	TGT_LATLONG	2839.700,-8844.900
_XMS_NAKs	15	TGT_RADIUS	1000.000
_XMS_TOUTs	3	KALMAN_CONTROL	-0.260,0.051
_SM_DEPTHo	2.18	KALMAN_X	-231922.8,-258.8,-105.4,257701.7,512.9
_SM_ANGLEo	-75.9	KALMAN_Y	-125332.0,616.0,-724.9,106799.5,-833.5
GPS2	071840,2839.267,-8838.656,16,2.9,35,-0.3	MHEAD_RNG_PITCHd_Wd	291.3,10178,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1210

SM_CCo	18238,0.00,0.000,0,0,398,599.01	_24V_AH	23.2,27.919
SM_GC	3.28,8.27,0.00,0.00,0.058,0.000,0.000,206,2368,398,-7.90,-0.20,599.01	_10V_AH	10.7,38.529
IRIDIUM_FIX	2828.55,-8836.53,150999,232306	DATA_FILE_SIZE	91480,1734
TT8_MAMPS	0.049855	CAP_FILE_SIZE	159109,0
HUMID	1338	CFSIZE	260165632,241483776
INTERNAL_PRESSURE	9.2777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.40	CURRENT	101.745,289.4,1
XPDR_PINGS	1	GPS	220610,071840,2839.267,-8838.656,16,2.9,35,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	122.51	SBE_CT	1185	24	660.01
Roll_motor	50	60	70.85	SBE_O2	1266	19	558.36
VBD_pump_during_apogee	609	1256	17765.23	WL_BBFL2VMT	3897	105	9495.47
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	74.72	nil	0	0	0.00
Iridium_during_connect	31	160	116.47	nil	0	0	0.00
Iridium_during_xfer	519	223	2685.53
Transponder_ping	0	420	2.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	38	50	20.44
TT8	0	19	0.00
LPSleep	12444	2	291.60
TT8_Active	597	19	126.67
TT8_Sampling	5045	39	2148.79
TT8_CF8	842	45	412.91
TT8_Kalman	33	81	29.19
Analog_circuits	2013	12	258.58
GPS_charging	0	0	0.00
Compass	4525	8	387.38
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	47	0.00	0.00	-33.67	0.000	2	0.000	0.000	196	2364	1465
49	-0.63	-194.6	3.2	-4.0	3	121	10.43	1.27	-51.78	0.000	4	0.254	0.054	2545	1464	3637
157	-0.63	-194.6	17.6	-16.9	12	166	0.00	1.33	0.00	0.000	6	0.000	0.034	2540	2378	3637
349	-0.63	-194.6	47.9	-15.4	31	352	0.00	1.27	0.00	0.000	4	0.000	0.033	2541	1471	3638
498	-0.63	-194.6	67.4	-13.9	45	502	0.00	1.27	0.00	0.000	6	0.000	0.035	2535	2374	3638
695	-0.63	-194.6	93.3	-12.7	64	698	0.00	1.25	0.00	0.000	4	0.000	0.033	2537	1480	3638
742	-0.63	-194.6	99.5	-12.5	68	751	0.00	1.27	0.00	0.000	6	0.000	0.035	2532	2375	3638
934	-0.63	-194.6	124.0	-12.9	87	935	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2375	3638
1245	-0.63	-194.6	163.5	-12.5	117	1246	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2375	3637
1555	-0.63	-194.6	199.3	-11.0	147	1556	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2375	3635
1866	-0.63	-194.6	234.7	-11.6	177	1866	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2375	3632
2176	-0.63	-194.6	270.1	-11.2	207	2177	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2375	3630
2487	-0.63	-194.6	304.7	-11.2	237	2490	0.00	1.50	0.00	0.000	4	0.000	0.050	2525	3261	3627
2529	-0.63	-194.6	309.7	-11.5	241	2532	0.00	1.45	0.00	0.000	6	0.000	0.031	2525	2365	3626
2851	-0.63	-194.6	347.2	-11.7	272	2852	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2364	3624
3160	-0.63	-194.6	383.1	-11.5	302	3161	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2364	3621
3471	-0.63	-194.6	418.3	-11.7	332	3472	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2364	3618
3781	-0.63	-194.6	452.8	-11.2	362	3782	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2364	3616
4091	-0.63	-194.6	487.5	-10.7	392	4092	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2364	3613
4402	-0.63	-194.6	521.6	-10.9	422	4402	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2365	3610
4712	-0.63	-194.6	556.2	-10.9	452	4713	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2364	3608
5023	-0.63	-194.6	590.3	-11.1	482	5023	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2364	3605
5333	-0.63	-194.6	624.2	-11.2	512	5334	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2364	3603
5644	-0.63	-194.6	656.8	-10.0	542	5645	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2364	3601
5954	-0.63	-194.6	690.1	-10.7	572	5954	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2364	3598
6264	-0.63	-194.6	722.6	-10.3	602	6265	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2364	3596
6575	-0.63	-194.6	753.9	-10.1	632	6578	0.00	1.58	0.00	0.000	4	0.000	0.061	2518	3255	3593
6622	-0.63	-194.6	758.9	-11.0	636	6630	0.00	1.45	0.00	0.000	6	0.000	0.038	2518	2375	3593
6939	-0.63	-194.6	791.5	-10.3	667	6939	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2376	3592
7249	-0.63	-194.6	823.1	-9.7	697	7250	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2376	3591
7559	-0.63	-194.6	853.6	-10.3	727	7559	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2376	3589
7869	-0.63	-194.6	884.0	-9.6	757	7870	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2376	3587
8180	-0.63	-194.6	914.7	-9.7	787	8180	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2377	3586
8490	-0.63	-194.6	945.3	-9.9	817	8491	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2376	3585
8800	-0.63	-194.6	974.8	-9.3	847	8804	0.00	1.30	0.00	0.000	4	0.000	0.048	2518	1487	3583
8854	-0.63	-194.6	979.8	-9.3	852	8857	0.08	1.30	0.00	0.000	6	0.150	0.053	2537	2363	3583
8976	end dive: TARGET_DEPTH_EXCEEDED
state	8976	begin apogee
8980	-0.25	0.0	990.4	8.7	864	9131	0.43	0.00	148.27	1.256	6	0.138	0.000	2666	2263	2840
9131	end apogee: CONTROL_FINISHED_OK
state	9132	begin climb
9133	0.63	194.6	995.1	0.0	879	9302	0.88	0.00	165.98	1.226	6	0.105	0.000	2940	2263	2046
9608	0.63	194.6	944.3	12.2	925	9611	0.00	1.23	0.00	0.000	4	0.000	0.056	2946	1352	2035
9643	0.63	194.6	939.9	11.9	928	9652	0.00	1.25	0.00	0.000	6	0.000	0.046	2945	2267	2035
9961	0.63	194.6	901.8	12.9	959	9964	0.00	1.62	0.00	0.000	4	0.000	0.057	2945	3143	2033
9981	0.63	194.6	899.1	12.5	961	9985	0.00	1.65	0.00	0.000	6	0.000	0.038	2953	2244	2032
10304	0.63	194.6	857.6	12.9	992	10305	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2243	2032
10613	0.63	194.6	818.5	12.9	1022	10616	0.00	1.70	0.00	0.000	4	0.000	0.056	2953	3134	2030
10649	0.63	194.6	813.5	13.9	1025	10656	0.00	1.60	0.00	0.000	6	0.000	0.038	2961	2258	2030
10966	0.63	194.6	771.7	13.5	1056	10967	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2259	2029
11276	0.63	194.6	731.2	13.0	1086	11277	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2259	2029
11586	0.63	194.6	690.6	13.0	1116	11587	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2259	2029
11896	0.63	194.6	650.6	12.5	1146	11900	0.00	1.67	0.00	0.000	4	0.000	0.057	2961	3136	2028
11922	0.63	194.6	647.1	14.4	1148	11931	0.00	1.62	0.00	0.000	6	0.000	0.039	2969	2244	2027
12239	0.63	194.6	605.8	12.7	1179	12240	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2244	2027
12550	0.63	194.6	566.1	13.0	1209	12550	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2244	2027
12859	0.63	194.6	525.1	12.8	1239	12860	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2243	2027
13170	0.63	194.6	484.0	12.9	1269	13171	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2243	2027
13480	0.63	194.6	443.7	12.9	1299	13481	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2242	2027
13791	0.63	194.6	404.1	12.6	1329	13794	0.00	1.67	0.00	0.000	4	0.000	0.054	2969	3144	2027
13827	0.63	194.6	399.3	14.0	1332	13836	0.00	1.62	0.00	0.000	6	0.000	0.037	2977	2246	2026
14144	0.63	194.6	356.6	13.6	1363	14145	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2246	2026
14454	0.63	194.6	315.3	13.1	1393	14455	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2246	2026
14764	0.63	194.6	275.3	12.8	1423	14765	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2245	2026
15075	0.63	194.6	234.6	13.2	1453	15078	0.00	1.70	0.00	0.000	4	0.000	0.052	2977	3149	2026
15117	0.63	194.6	228.6	14.0	1457	15121	0.10	1.62	0.00	0.000	6	0.150	0.035	2954	2246	2026
15438	0.63	194.6	192.1	11.2	1488	15439	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2247	2026
15749	0.63	194.6	157.8	10.8	1518	15752	0.00	1.10	0.00	0.000	4	0.000	0.041	2957	1352	2026
15780	0.63	194.6	154.2	11.1	1521	15783	0.00	1.17	0.00	0.000	6	0.000	0.041	2957	2265	2026
16101	0.63	194.6	118.8	10.8	1552	16104	0.00	1.60	0.00	0.000	4	0.000	0.050	2957	3133	2028
16165	0.63	194.6	111.7	10.9	1558	16168	0.00	1.58	0.00	0.000	6	0.000	0.034	2965	2248	2028
16485	0.63	194.6	76.4	10.6	1589	16486	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2248	2028
16672	0.63	194.6	56.9	9.7	1607	16672	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2248	2029
16859	0.63	194.6	40.5	8.8	1625	16862	0.00	1.62	0.00	0.000	4	0.000	0.048	2965	3146	2030
16890	0.63	194.6	37.9	8.3	1628	16893	0.00	1.58	0.00	0.000	6	0.000	0.031	2973	2251	2029
17087	0.69	244.4	24.4	6.2	1647	17129	0.00	0.00	36.58	0.534	6	0.000	0.000	2973	2251	1842
17314	0.85	379.8	13.4	3.9	1669	17422	0.15	1.70	99.97	0.522	4	0.061	0.044	3053	3130	1290
17661	1.13	603.1	4.8	1.6	1700	17826	0.12	1.58	158.70	0.499	6	0.071	0.028	3106	2242	403
18019	1.46	876.4	3.3	0.3	1733	18022	0.35	1.67	0.00	0.000	4	0.161	0.045	3201	3147	400
18027	end climb: NO_VERTICAL_VELOCITY
state	18027	begin surface