Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 163 * 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 163 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -15298.159 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 -15298.159

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 27 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 21 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 163 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 010625,2832.056,-8838.752,84,1.9,84,-0.3 TGT_NAME NEW0618A

_CALLS 1 TGT_LATLONG 2837.900,-8826.000

_XMS_NAKs 4 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.239,0.114

_SM_DEPTHo 1.64 KALMAN_X -10878.5,633.3,499.9,28103.7,-6180.4

_SM_ANGLEo -73.3 KALMAN_Y -8847.3,-434.8,-227.8,16231.7,-2940.8

GPS2 011325,2831.981,-8838.799,8,1.2,13,-0.3 MHEAD_RNG_PITCHd_Wd 48.9,23516,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1407

Post-dive calculations and measurements:

FINISH 0.6,1.017189 _24V_AH 23.1,29.947

SM_CCo 17955,82.43,0.496,0,0,494,575.22 _10V_AH 10.6,41.431

SM_GC 1.37,0.00,0.00,82.43,0.000,0.000,0.496,203,2370,494,-7.95,-0.14,575.22 DATA_FILE_SIZE 91462,1721

IRIDIUM_FIX 2821.19,-8853.80,180999,202021 CAP_FILE_SIZE 167659,0

TT8_MAMPS 0.051389 CFSIZE 260165632,240410624

HUMID 1340 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.22887 CURRENT 0.064,199.2,1

TCM_TEMP 23.30 GPS 250610,061536,2832.916,-8836.524,33,2.0,33,-0.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 256 122.35 SBE_CT 1178 24 653.15

Roll_motor 95 59 131.67 SBE_O2 1261 19 553.52

VBD_pump_during_apogee 471 1257 13712.74 WL_BBFL2VMT 3868 105 9382.25

VBD_pump_during_surface 82 496 944.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.99 nil 0 0 0.00

Iridium_during_connect 32 160 119.20 nil 0 0 0.00

Iridium_during_xfer 244 223 1257.16

Transponder_ping 0 420 2.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.14

TT8 0 19 0.00

LPSleep 11937 2 277.11

TT8_Active 625 19 131.27

TT8_Sampling 5240 39 2210.80

TT8_CF8 625 45 303.87

TT8_Kalman 33 81 28.90

Analog_circuits 2145 12 272.89

GPS_charging 0 0 0.00

Compass 4719 8 400.21

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 -33.47 0.000 2 0.000 0.000 199 2365 1525

49 -0.63 -194.6 3.2 -6.7 3 118 10.52 1.25 -51.83 0.000 4 0.256 0.056 2538 1460 3635

335 -0.63 -194.6 50.8 -16.8 29 343 0.00 1.35 0.00 0.000 6 0.000 0.035 2534 2386 3636

527 -0.63 -194.6 77.0 -12.8 48 531 0.00 1.45 0.00 0.000 4 0.000 0.044 2527 3259 3637

606 -0.63 -194.6 88.1 -13.7 55 614 0.00 1.48 0.00 0.000 6 0.000 0.027 2526 2358 3637

799 -0.63 -194.6 113.7 -12.4 74 799 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2357 3638

1109 -0.63 -194.6 153.9 -12.8 104 1110 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2357 3638

1420 -0.63 -194.6 191.1 -11.9 134 1423 0.00 1.55 0.00 0.000 4 0.000 0.046 2519 3266 3637

1494 -0.63 -194.6 200.0 -11.9 141 1497 0.00 1.45 0.00 0.000 6 0.000 0.028 2519 2364 3637

1816 -0.63 -194.6 239.3 -12.1 172 1817 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2363 3634

2125 -0.63 -194.6 277.1 -11.9 202 2129 0.00 1.52 0.00 0.000 4 0.000 0.048 2513 3258 3632

2243 -0.63 -194.6 291.6 -12.3 213 2246 0.08 1.42 0.00 0.000 6 0.150 0.030 2537 2368 3630

2564 -0.63 -194.6 325.9 -10.3 244 2564 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2368 3629

2874 -0.63 -194.6 358.3 -10.5 274 2877 0.00 1.52 0.00 0.000 4 0.000 0.051 2532 3259 3626

2948 -0.63 -194.6 366.4 -10.8 281 2952 0.00 1.42 0.00 0.000 6 0.000 0.031 2531 2375 3625

3270 -0.63 -194.6 401.3 -10.8 312 3271 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2374 3623

3580 -0.63 -194.6 434.7 -11.0 342 3583 0.00 1.52 0.00 0.000 4 0.000 0.052 2525 3262 3620

3680 -0.63 -194.6 445.8 -10.5 351 3688 0.00 1.48 0.00 0.000 6 0.000 0.032 2525 2362 3620

3998 -0.63 -194.6 480.7 -11.1 382 4001 0.00 1.55 0.00 0.000 4 0.000 0.053 2518 3257 3616

4076 -0.63 -194.6 490.1 -11.6 389 4083 0.00 1.48 0.00 0.000 6 0.000 0.034 2518 2366 3616

4394 -0.63 -194.6 526.1 -11.4 420 4397 0.00 1.55 0.00 0.000 4 0.000 0.054 2511 3258 3613

4472 -0.63 -194.6 535.6 -10.9 427 4480 0.12 1.48 0.00 0.000 6 0.151 0.034 2541 2367 3612

4790 -0.63 -194.6 567.2 -9.9 458 4793 0.00 1.55 0.00 0.000 4 0.000 0.054 2537 3259 3609

4832 -0.63 -194.6 571.7 -10.1 462 4836 0.00 1.45 0.00 0.000 6 0.000 0.034 2537 2373 3609

5154 -0.63 -194.6 604.8 -10.4 493 5156 0.00 1.52 0.00 0.000 4 0.000 0.055 2532 3255 3608

5207 -0.63 -194.6 610.4 -10.1 498 5210 0.00 1.45 0.00 0.000 6 0.000 0.036 2531 2373 3608

5528 -0.63 -194.6 643.5 -10.0 529 5531 0.00 1.52 0.00 0.000 4 0.000 0.056 2524 3255 3605

5602 -0.63 -194.6 651.4 -10.5 536 5605 0.00 1.45 0.00 0.000 6 0.000 0.037 2524 2373 3604

5924 -0.63 -194.6 684.0 -9.7 567 5925 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2371 3602

6234 -0.63 -194.6 716.1 -10.4 597 6237 0.00 1.55 0.00 0.000 4 0.000 0.057 2517 3258 3600

6308 -0.63 -194.6 724.1 -10.7 604 6311 0.00 1.48 0.00 0.000 6 0.000 0.037 2517 2370 3600

6630 -0.63 -194.6 758.7 -10.8 635 6631 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2369 3598

6939 -0.63 -194.6 792.0 -10.2 665 6942 0.00 1.55 0.00 0.000 4 0.000 0.058 2510 3256 3596

7025 -0.63 -194.6 801.1 -10.5 673 7028 0.10 1.48 0.00 0.000 6 0.146 0.038 2541 2369 3596

7345 -0.63 -194.6 829.0 -8.7 704 7346 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2370 3594

7656 -0.63 -194.6 855.7 -8.3 734 7659 0.00 1.55 0.00 0.000 4 0.000 0.058 2536 3253 3593

7724 -0.63 -194.6 861.9 -8.7 740 7733 0.00 1.50 0.00 0.000 6 0.000 0.038 2536 2364 3593

8042 -0.63 -194.6 888.3 -8.5 771 8045 0.00 1.58 0.00 0.000 4 0.000 0.059 2529 3256 3592

8094 -0.63 -194.6 893.1 -10.1 776 8098 0.00 1.48 0.00 0.000 6 0.000 0.038 2529 2371 3591

8417 -0.63 -194.6 922.1 -9.1 807 8420 0.00 1.55 0.00 0.000 4 0.000 0.060 2522 3255 3590

8469 -0.63 -194.6 927.4 -9.2 812 8473 0.00 1.48 0.00 0.000 6 0.000 0.039 2522 2370 3590

8792 -0.63 -194.6 958.1 -9.4 843 8793 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2370 3589

9101 -0.63 -194.6 987.4 -9.3 873 9104 0.00 1.55 0.00 0.000 4 0.000 0.059 2515 3250 3588

9124 end dive: TARGET_DEPTH_EXCEEDED

state 9124 begin apogee

9130 -0.25 0.0 990.2 9.3 875 9286 0.47 0.00 149.07 1.258 6 0.143 0.000 2660 2260 2840

9287 end apogee: CONTROL_FINISHED_OK

state 9287 begin climb

9289 0.63 194.6 995.0 0.0 891 9461 0.90 1.30 166.15 1.222 4 0.106 0.053 2947 1347 2045

9515 0.63 194.6 975.1 11.8 910 9517 0.00 1.27 0.00 0.000 6 0.000 0.045 2947 2255 2039

9836 0.63 194.6 935.3 12.3 941 9839 0.00 1.20 0.00 0.000 4 0.000 0.045 2953 1346 2034

9893 0.63 194.6 928.2 12.5 946 9900 0.00 1.25 0.00 0.000 6 0.000 0.044 2953 2264 2034

10211 0.63 194.6 889.6 12.4 977 10212 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2265 2032

10519 0.63 194.6 851.1 12.5 1007 10523 0.00 1.20 0.00 0.000 4 0.000 0.044 2958 1349 2031

10594 0.63 194.6 842.0 11.4 1014 10597 0.00 1.20 0.00 0.000 6 0.000 0.045 2958 2259 2031

10915 0.63 194.6 801.1 12.9 1045 10918 0.00 1.20 0.00 0.000 4 0.000 0.045 2963 1337 2030

10958 0.63 194.6 795.5 13.0 1049 10961 0.00 1.20 0.00 0.000 6 0.000 0.044 2963 2254 2029

11278 0.63 194.6 754.9 12.1 1080 11281 0.00 1.17 0.00 0.000 4 0.000 0.045 2968 1342 2029

11347 0.63 194.6 746.3 12.4 1086 11354 0.00 1.23 0.00 0.000 6 0.000 0.044 2968 2262 2029

11664 0.63 194.6 705.0 13.3 1117 11667 0.00 1.20 0.00 0.000 4 0.000 0.045 2974 1340 2028

11732 0.63 194.6 695.4 13.0 1123 11739 0.00 1.23 0.00 0.000 6 0.000 0.044 2974 2261 2029

12049 0.63 194.6 652.8 13.1 1154 12053 0.00 1.20 0.00 0.000 4 0.000 0.044 2979 1336 2027

12113 0.63 194.6 644.0 13.4 1160 12116 0.08 1.20 0.00 0.000 6 0.151 0.044 2954 2256 2028

12433 0.63 194.6 606.1 11.7 1191 12437 0.00 1.17 0.00 0.000 4 0.000 0.044 2959 1344 2027

12487 0.63 194.6 599.9 11.4 1196 12490 0.00 1.20 0.00 0.000 6 0.000 0.044 2959 2259 2027

12809 0.63 194.6 562.2 11.7 1227 12812 0.00 1.20 0.00 0.000 4 0.000 0.044 2964 1333 2026

12883 0.63 194.6 553.3 11.9 1234 12886 0.00 1.20 0.00 0.000 6 0.000 0.044 2964 2256 2027

13204 0.63 194.6 514.3 12.2 1265 13205 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2256 2027

13515 0.63 194.6 476.3 12.3 1295 13518 0.00 1.17 0.00 0.000 4 0.000 0.044 2969 1341 2027

13572 0.63 194.6 469.0 11.7 1300 13580 0.00 1.20 0.00 0.000 6 0.000 0.042 2969 2256 2026

13890 0.63 194.6 429.0 13.1 1331 13891 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2256 2026

14198 0.63 194.6 389.6 12.1 1361 14202 0.00 1.17 0.00 0.000 4 0.000 0.043 2973 1341 2026

14295 0.63 194.6 377.5 12.6 1370 14298 0.00 1.17 0.00 0.000 6 0.000 0.043 2974 2250 2026

14617 0.63 194.6 336.7 12.4 1401 14617 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2250 2027

14926 0.63 194.6 296.6 12.7 1431 14929 0.00 1.15 0.00 0.000 4 0.000 0.042 2979 1341 2026

15000 0.63 194.6 287.0 13.4 1438 15004 0.08 1.17 0.00 0.000 6 0.146 0.041 2955 2253 2027

15321 0.63 194.6 250.6 11.5 1469 15324 0.00 1.17 0.00 0.000 4 0.000 0.041 2959 1329 2027

15389 0.63 194.6 242.7 11.4 1475 15397 0.00 1.23 0.00 0.000 6 0.000 0.040 2959 2264 2027

15707 0.63 194.6 206.9 10.8 1506 15710 0.00 1.17 0.00 0.000 4 0.000 0.041 2964 1340 2027

15770 0.63 194.6 199.4 11.7 1512 15774 0.00 1.17 0.00 0.000 6 0.000 0.041 2964 2256 2027

16091 0.63 194.6 162.6 11.7 1543 16094 0.00 1.17 0.00 0.000 4 0.000 0.040 2969 1327 2027

16123 0.63 194.6 159.0 11.8 1546 16126 0.00 1.17 0.00 0.000 6 0.000 0.039 2969 2252 2027

16444 0.63 194.6 120.9 11.8 1577 16447 0.00 1.15 0.00 0.000 4 0.000 0.039 2974 1335 2028

16540 0.63 194.6 110.4 10.5 1586 16543 0.00 1.17 0.00 0.000 6 0.000 0.038 2973 2259 2028

16862 0.63 194.6 75.5 9.7 1617 16865 0.00 1.17 0.00 0.000 4 0.000 0.038 2979 1323 2029

16908 0.63 194.6 70.9 9.7 1621 16916 0.12 1.20 0.00 0.000 6 0.137 0.036 2947 2257 2029

17100 0.63 194.6 55.8 7.6 1640 17101 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2257 2029

17287 0.72 271.6 43.4 5.5 1658 17348 0.00 0.00 56.47 0.553 6 0.000 0.000 2947 2257 1731

17533 0.77 315.5 30.6 6.3 1682 17571 0.15 1.67 33.55 0.527 4 0.057 0.045 3021 3136 1552

17596 0.77 315.5 24.7 11.1 1687 17604 0.12 1.65 0.00 0.000 6 0.131 0.030 2995 2228 1549

17788 0.88 405.1 13.7 5.1 1706 17863 0.12 0.00 66.68 0.513 6 0.067 0.000 3063 2225 1187

17910 end climb: SURFACE_DEPTH_REACHED

state 17911 begin surface coast

17941 end surface coast: CONTROL_FINISHED_OK

state 17941 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	163	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-15298.159	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	010625,2832.056,-8838.752,84,1.9,84,-0.3	TGT_NAME	NEW0618A
_CALLS	1	TGT_LATLONG	2837.900,-8826.000
_XMS_NAKs	4	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.239,0.114
_SM_DEPTHo	1.64	KALMAN_X	-10878.5,633.3,499.9,28103.7,-6180.4
_SM_ANGLEo	-73.3	KALMAN_Y	-8847.3,-434.8,-227.8,16231.7,-2940.8
GPS2	011325,2831.981,-8838.799,8,1.2,13,-0.3	MHEAD_RNG_PITCHd_Wd	48.9,23516,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1407

FINISH	0.6,1.017189	_24V_AH	23.1,29.947
SM_CCo	17955,82.43,0.496,0,0,494,575.22	_10V_AH	10.6,41.431
SM_GC	1.37,0.00,0.00,82.43,0.000,0.000,0.496,203,2370,494,-7.95,-0.14,575.22	DATA_FILE_SIZE	91462,1721
IRIDIUM_FIX	2821.19,-8853.80,180999,202021	CAP_FILE_SIZE	167659,0
TT8_MAMPS	0.051389	CFSIZE	260165632,240410624
HUMID	1340	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.22887	CURRENT	0.064,199.2,1
TCM_TEMP	23.30	GPS	250610,061536,2832.916,-8836.524,33,2.0,33,-0.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	256	122.35	SBE_CT	1178	24	653.15
Roll_motor	95	59	131.67	SBE_O2	1261	19	553.52
VBD_pump_during_apogee	471	1257	13712.74	WL_BBFL2VMT	3868	105	9382.25
VBD_pump_during_surface	82	496	944.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.99	nil	0	0	0.00
Iridium_during_connect	32	160	119.20	nil	0	0	0.00
Iridium_during_xfer	244	223	1257.16
Transponder_ping	0	420	2.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.14
TT8	0	19	0.00
LPSleep	11937	2	277.11
TT8_Active	625	19	131.27
TT8_Sampling	5240	39	2210.80
TT8_CF8	625	45	303.87
TT8_Kalman	33	81	28.90
Analog_circuits	2145	12	272.89
GPS_charging	0	0	0.00
Compass	4719	8	400.21
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	-33.47	0.000	2	0.000	0.000	199	2365	1525
49	-0.63	-194.6	3.2	-6.7	3	118	10.52	1.25	-51.83	0.000	4	0.256	0.056	2538	1460	3635
335	-0.63	-194.6	50.8	-16.8	29	343	0.00	1.35	0.00	0.000	6	0.000	0.035	2534	2386	3636
527	-0.63	-194.6	77.0	-12.8	48	531	0.00	1.45	0.00	0.000	4	0.000	0.044	2527	3259	3637
606	-0.63	-194.6	88.1	-13.7	55	614	0.00	1.48	0.00	0.000	6	0.000	0.027	2526	2358	3637
799	-0.63	-194.6	113.7	-12.4	74	799	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2357	3638
1109	-0.63	-194.6	153.9	-12.8	104	1110	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2357	3638
1420	-0.63	-194.6	191.1	-11.9	134	1423	0.00	1.55	0.00	0.000	4	0.000	0.046	2519	3266	3637
1494	-0.63	-194.6	200.0	-11.9	141	1497	0.00	1.45	0.00	0.000	6	0.000	0.028	2519	2364	3637
1816	-0.63	-194.6	239.3	-12.1	172	1817	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2363	3634
2125	-0.63	-194.6	277.1	-11.9	202	2129	0.00	1.52	0.00	0.000	4	0.000	0.048	2513	3258	3632
2243	-0.63	-194.6	291.6	-12.3	213	2246	0.08	1.42	0.00	0.000	6	0.150	0.030	2537	2368	3630
2564	-0.63	-194.6	325.9	-10.3	244	2564	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2368	3629
2874	-0.63	-194.6	358.3	-10.5	274	2877	0.00	1.52	0.00	0.000	4	0.000	0.051	2532	3259	3626
2948	-0.63	-194.6	366.4	-10.8	281	2952	0.00	1.42	0.00	0.000	6	0.000	0.031	2531	2375	3625
3270	-0.63	-194.6	401.3	-10.8	312	3271	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2374	3623
3580	-0.63	-194.6	434.7	-11.0	342	3583	0.00	1.52	0.00	0.000	4	0.000	0.052	2525	3262	3620
3680	-0.63	-194.6	445.8	-10.5	351	3688	0.00	1.48	0.00	0.000	6	0.000	0.032	2525	2362	3620
3998	-0.63	-194.6	480.7	-11.1	382	4001	0.00	1.55	0.00	0.000	4	0.000	0.053	2518	3257	3616
4076	-0.63	-194.6	490.1	-11.6	389	4083	0.00	1.48	0.00	0.000	6	0.000	0.034	2518	2366	3616
4394	-0.63	-194.6	526.1	-11.4	420	4397	0.00	1.55	0.00	0.000	4	0.000	0.054	2511	3258	3613
4472	-0.63	-194.6	535.6	-10.9	427	4480	0.12	1.48	0.00	0.000	6	0.151	0.034	2541	2367	3612
4790	-0.63	-194.6	567.2	-9.9	458	4793	0.00	1.55	0.00	0.000	4	0.000	0.054	2537	3259	3609
4832	-0.63	-194.6	571.7	-10.1	462	4836	0.00	1.45	0.00	0.000	6	0.000	0.034	2537	2373	3609
5154	-0.63	-194.6	604.8	-10.4	493	5156	0.00	1.52	0.00	0.000	4	0.000	0.055	2532	3255	3608
5207	-0.63	-194.6	610.4	-10.1	498	5210	0.00	1.45	0.00	0.000	6	0.000	0.036	2531	2373	3608
5528	-0.63	-194.6	643.5	-10.0	529	5531	0.00	1.52	0.00	0.000	4	0.000	0.056	2524	3255	3605
5602	-0.63	-194.6	651.4	-10.5	536	5605	0.00	1.45	0.00	0.000	6	0.000	0.037	2524	2373	3604
5924	-0.63	-194.6	684.0	-9.7	567	5925	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2371	3602
6234	-0.63	-194.6	716.1	-10.4	597	6237	0.00	1.55	0.00	0.000	4	0.000	0.057	2517	3258	3600
6308	-0.63	-194.6	724.1	-10.7	604	6311	0.00	1.48	0.00	0.000	6	0.000	0.037	2517	2370	3600
6630	-0.63	-194.6	758.7	-10.8	635	6631	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2369	3598
6939	-0.63	-194.6	792.0	-10.2	665	6942	0.00	1.55	0.00	0.000	4	0.000	0.058	2510	3256	3596
7025	-0.63	-194.6	801.1	-10.5	673	7028	0.10	1.48	0.00	0.000	6	0.146	0.038	2541	2369	3596
7345	-0.63	-194.6	829.0	-8.7	704	7346	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2370	3594
7656	-0.63	-194.6	855.7	-8.3	734	7659	0.00	1.55	0.00	0.000	4	0.000	0.058	2536	3253	3593
7724	-0.63	-194.6	861.9	-8.7	740	7733	0.00	1.50	0.00	0.000	6	0.000	0.038	2536	2364	3593
8042	-0.63	-194.6	888.3	-8.5	771	8045	0.00	1.58	0.00	0.000	4	0.000	0.059	2529	3256	3592
8094	-0.63	-194.6	893.1	-10.1	776	8098	0.00	1.48	0.00	0.000	6	0.000	0.038	2529	2371	3591
8417	-0.63	-194.6	922.1	-9.1	807	8420	0.00	1.55	0.00	0.000	4	0.000	0.060	2522	3255	3590
8469	-0.63	-194.6	927.4	-9.2	812	8473	0.00	1.48	0.00	0.000	6	0.000	0.039	2522	2370	3590
8792	-0.63	-194.6	958.1	-9.4	843	8793	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2370	3589
9101	-0.63	-194.6	987.4	-9.3	873	9104	0.00	1.55	0.00	0.000	4	0.000	0.059	2515	3250	3588
9124	end dive: TARGET_DEPTH_EXCEEDED
state	9124	begin apogee
9130	-0.25	0.0	990.2	9.3	875	9286	0.47	0.00	149.07	1.258	6	0.143	0.000	2660	2260	2840
9287	end apogee: CONTROL_FINISHED_OK
state	9287	begin climb
9289	0.63	194.6	995.0	0.0	891	9461	0.90	1.30	166.15	1.222	4	0.106	0.053	2947	1347	2045
9515	0.63	194.6	975.1	11.8	910	9517	0.00	1.27	0.00	0.000	6	0.000	0.045	2947	2255	2039
9836	0.63	194.6	935.3	12.3	941	9839	0.00	1.20	0.00	0.000	4	0.000	0.045	2953	1346	2034
9893	0.63	194.6	928.2	12.5	946	9900	0.00	1.25	0.00	0.000	6	0.000	0.044	2953	2264	2034
10211	0.63	194.6	889.6	12.4	977	10212	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2265	2032
10519	0.63	194.6	851.1	12.5	1007	10523	0.00	1.20	0.00	0.000	4	0.000	0.044	2958	1349	2031
10594	0.63	194.6	842.0	11.4	1014	10597	0.00	1.20	0.00	0.000	6	0.000	0.045	2958	2259	2031
10915	0.63	194.6	801.1	12.9	1045	10918	0.00	1.20	0.00	0.000	4	0.000	0.045	2963	1337	2030
10958	0.63	194.6	795.5	13.0	1049	10961	0.00	1.20	0.00	0.000	6	0.000	0.044	2963	2254	2029
11278	0.63	194.6	754.9	12.1	1080	11281	0.00	1.17	0.00	0.000	4	0.000	0.045	2968	1342	2029
11347	0.63	194.6	746.3	12.4	1086	11354	0.00	1.23	0.00	0.000	6	0.000	0.044	2968	2262	2029
11664	0.63	194.6	705.0	13.3	1117	11667	0.00	1.20	0.00	0.000	4	0.000	0.045	2974	1340	2028
11732	0.63	194.6	695.4	13.0	1123	11739	0.00	1.23	0.00	0.000	6	0.000	0.044	2974	2261	2029
12049	0.63	194.6	652.8	13.1	1154	12053	0.00	1.20	0.00	0.000	4	0.000	0.044	2979	1336	2027
12113	0.63	194.6	644.0	13.4	1160	12116	0.08	1.20	0.00	0.000	6	0.151	0.044	2954	2256	2028
12433	0.63	194.6	606.1	11.7	1191	12437	0.00	1.17	0.00	0.000	4	0.000	0.044	2959	1344	2027
12487	0.63	194.6	599.9	11.4	1196	12490	0.00	1.20	0.00	0.000	6	0.000	0.044	2959	2259	2027
12809	0.63	194.6	562.2	11.7	1227	12812	0.00	1.20	0.00	0.000	4	0.000	0.044	2964	1333	2026
12883	0.63	194.6	553.3	11.9	1234	12886	0.00	1.20	0.00	0.000	6	0.000	0.044	2964	2256	2027
13204	0.63	194.6	514.3	12.2	1265	13205	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2256	2027
13515	0.63	194.6	476.3	12.3	1295	13518	0.00	1.17	0.00	0.000	4	0.000	0.044	2969	1341	2027
13572	0.63	194.6	469.0	11.7	1300	13580	0.00	1.20	0.00	0.000	6	0.000	0.042	2969	2256	2026
13890	0.63	194.6	429.0	13.1	1331	13891	0.00	0.00	0.00	0.000	6	0.000	0.000	2970	2256	2026
14198	0.63	194.6	389.6	12.1	1361	14202	0.00	1.17	0.00	0.000	4	0.000	0.043	2973	1341	2026
14295	0.63	194.6	377.5	12.6	1370	14298	0.00	1.17	0.00	0.000	6	0.000	0.043	2974	2250	2026
14617	0.63	194.6	336.7	12.4	1401	14617	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2250	2027
14926	0.63	194.6	296.6	12.7	1431	14929	0.00	1.15	0.00	0.000	4	0.000	0.042	2979	1341	2026
15000	0.63	194.6	287.0	13.4	1438	15004	0.08	1.17	0.00	0.000	6	0.146	0.041	2955	2253	2027
15321	0.63	194.6	250.6	11.5	1469	15324	0.00	1.17	0.00	0.000	4	0.000	0.041	2959	1329	2027
15389	0.63	194.6	242.7	11.4	1475	15397	0.00	1.23	0.00	0.000	6	0.000	0.040	2959	2264	2027
15707	0.63	194.6	206.9	10.8	1506	15710	0.00	1.17	0.00	0.000	4	0.000	0.041	2964	1340	2027
15770	0.63	194.6	199.4	11.7	1512	15774	0.00	1.17	0.00	0.000	6	0.000	0.041	2964	2256	2027
16091	0.63	194.6	162.6	11.7	1543	16094	0.00	1.17	0.00	0.000	4	0.000	0.040	2969	1327	2027
16123	0.63	194.6	159.0	11.8	1546	16126	0.00	1.17	0.00	0.000	6	0.000	0.039	2969	2252	2027
16444	0.63	194.6	120.9	11.8	1577	16447	0.00	1.15	0.00	0.000	4	0.000	0.039	2974	1335	2028
16540	0.63	194.6	110.4	10.5	1586	16543	0.00	1.17	0.00	0.000	6	0.000	0.038	2973	2259	2028
16862	0.63	194.6	75.5	9.7	1617	16865	0.00	1.17	0.00	0.000	4	0.000	0.038	2979	1323	2029
16908	0.63	194.6	70.9	9.7	1621	16916	0.12	1.20	0.00	0.000	6	0.137	0.036	2947	2257	2029
17100	0.63	194.6	55.8	7.6	1640	17101	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2257	2029
17287	0.72	271.6	43.4	5.5	1658	17348	0.00	0.00	56.47	0.553	6	0.000	0.000	2947	2257	1731
17533	0.77	315.5	30.6	6.3	1682	17571	0.15	1.67	33.55	0.527	4	0.057	0.045	3021	3136	1552
17596	0.77	315.5	24.7	11.1	1687	17604	0.12	1.65	0.00	0.000	6	0.131	0.030	2995	2228	1549
17788	0.88	405.1	13.7	5.1	1706	17863	0.12	0.00	66.68	0.513	6	0.067	0.000	3063	2225	1187
17910	end climb: SURFACE_DEPTH_REACHED
state	17911	begin surface coast
17941	end surface coast: CONTROL_FINISHED_OK
state	17941	begin surface