Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 177 * 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 177 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 2225 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 44 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 49 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 -15546.646 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 -15546.646

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 2225 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 44 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 49 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 177 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 002031,2836.435,-8842.931,59,1.6,59,-0.2 TGT_NAME NEW0618A

_CALLS 1 TGT_LATLONG 2837.900,-8826.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.225,0.139

_SM_DEPTHo 1.74 KALMAN_X -10484.5,-211.7,-200.9,22716.9,-1475.8

_SM_ANGLEo -73.4 KALMAN_Y -62027.5,1107.7,1163.3,74616.6,-15022.2

GPS2 002643,2836.393,-8842.842,9,1.5,14,-0.2 MHEAD_RNG_PITCHd_Wd 64.8,27518,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1290

Post-dive calculations and measurements:

FINISH 1.6,1.017506 _24V_AH 22.4,32.103

SM_CCo 17985,81.80,0.493,0,0,495,575.22 _10V_AH 10.6,44.502

SM_GC 1.83,0.00,0.00,81.80,0.000,0.000,0.493,200,2355,495,-7.96,-0.57,575.22 DATA_FILE_SIZE 91526,1725

IRIDIUM_FIX 2818.74,-8856.30,210999,191947 CAP_FILE_SIZE 155647,0

TT8_MAMPS 0.049855 CFSIZE 260165632,239177728

HUMID 1322 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2191 CURRENT 0.107,206.5,1

TCM_TEMP 23.50 GPS 280610,052930,2836.413,-8840.551,40,1.7,40,-0.2

XPDR_PINGS 32

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 269 127.00 SBE_CT 1180 24 634.85

Roll_motor 66 56 84.17 SBE_O2 1265 19 538.50

VBD_pump_during_apogee 499 1251 14016.03 WL_BBFL2VMT 3877 105 9119.26

VBD_pump_during_surface 81 493 903.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 64.99 nil 0 0 0.00

Iridium_during_connect 29 160 107.19 nil 0 0 0.00

Iridium_during_xfer 197 223 986.11

Transponder_ping 8 420 75.26

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.82

TT8 0 19 0.00

LPSleep 12157 2 282.22

TT8_Active 615 19 129.18

TT8_Sampling 5110 39 2156.06

TT8_CF8 526 45 255.68

TT8_Kalman 33 81 28.90

Analog_circuits 2060 12 262.10

GPS_charging 0 0 0.00

Compass 4590 8 389.23

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -0.63 -194.6 0.0 0.0 0 53 0.00 0.00 -38.53 0.000 2 0.000 0.000 199 2374 1605

55 -0.63 -194.6 3.4 -5.3 4 128 11.05 1.30 -55.72 0.000 4 0.270 0.055 2539 1475 3636

367 -0.63 -194.6 51.7 -15.1 32 374 0.00 1.25 0.00 0.000 6 0.000 0.034 2536 2357 3637

559 -0.63 -194.6 77.2 -13.5 51 560 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2357 3638

745 -0.63 -194.6 102.8 -13.2 69 746 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2357 3638

1055 -0.63 -194.6 142.3 -12.2 99 1059 0.00 1.52 0.00 0.000 4 0.000 0.044 2528 3256 3638

1141 -0.63 -194.6 153.0 -12.3 107 1144 0.00 1.42 0.00 0.000 6 0.000 0.027 2528 2369 3638

1463 -0.63 -194.6 192.1 -12.0 138 1464 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2369 3637

1772 -0.63 -194.6 228.8 -12.1 168 1775 0.00 1.52 0.00 0.000 4 0.000 0.046 2521 3266 3635

1868 -0.63 -194.6 240.6 -11.9 177 1871 0.00 1.42 0.00 0.000 6 0.000 0.029 2521 2374 3634

2190 -0.63 -194.6 279.5 -12.1 208 2193 0.00 1.50 0.00 0.000 4 0.000 0.048 2514 3257 3632

2258 -0.63 -194.6 287.9 -11.4 214 2265 0.00 1.40 0.00 0.000 6 0.000 0.029 2514 2376 3631

2575 -0.63 -194.6 326.8 -12.6 245 2576 0.12 0.00 0.00 0.000 6 0.150 0.000 2545 2374 3629

2886 -0.63 -194.6 358.0 -9.7 275 2889 0.00 1.50 0.00 0.000 4 0.000 0.050 2540 3255 3625

2928 -0.63 -194.6 362.3 -10.6 279 2931 0.00 1.40 0.00 0.000 6 0.000 0.031 2540 2382 3625

3249 -0.63 -194.6 394.8 -10.2 310 3252 0.00 1.50 0.00 0.000 4 0.000 0.051 2534 3256 3623

3285 -0.63 -194.6 398.9 -10.6 313 3293 0.00 1.42 0.00 0.000 6 0.000 0.032 2534 2375 3622

3602 -0.63 -194.6 433.0 -10.7 344 3606 0.00 1.52 0.00 0.000 4 0.000 0.052 2527 3257 3620

3666 -0.63 -194.6 440.1 -11.3 350 3669 0.00 1.45 0.00 0.000 6 0.000 0.033 2527 2373 3619

3988 -0.63 -194.6 474.9 -10.9 381 3991 0.00 1.52 0.00 0.000 4 0.000 0.052 2520 3256 3616

4030 -0.63 -194.6 479.8 -11.6 385 4033 0.00 1.45 0.00 0.000 6 0.000 0.033 2520 2372 3616

4352 -0.63 -194.6 516.1 -11.1 416 4355 0.00 1.52 0.00 0.000 4 0.000 0.053 2513 3256 3613

4388 -0.63 -194.6 520.5 -11.6 419 4396 0.12 1.48 0.00 0.000 6 0.150 0.034 2544 2368 3613

4705 -0.63 -194.6 551.1 -9.7 450 4708 0.00 1.55 0.00 0.000 4 0.000 0.054 2539 3257 3610

4751 -0.63 -194.6 555.7 -9.3 454 4759 0.00 1.50 0.00 0.000 6 0.000 0.034 2538 2363 3609

5069 -0.63 -194.6 587.2 -9.8 485 5072 0.00 1.58 0.00 0.000 4 0.000 0.054 2532 3257 3608

5111 -0.63 -194.6 591.5 -10.2 489 5114 0.00 1.48 0.00 0.000 6 0.000 0.036 2532 2369 3608

5433 -0.63 -194.6 623.6 -10.2 520 5433 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2368 3606

5743 -0.63 -194.6 654.4 -10.1 550 5746 0.00 1.55 0.00 0.000 4 0.000 0.055 2525 3255 3603

5817 -0.63 -194.6 662.0 -10.1 557 5820 0.00 1.48 0.00 0.000 6 0.000 0.035 2525 2367 3603

6139 -0.63 -194.6 694.1 -10.1 588 6140 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2367 3600

6449 -0.63 -194.6 725.3 -10.5 618 6452 0.00 1.55 0.00 0.000 4 0.000 0.057 2518 3252 3599

6512 -0.63 -194.6 731.8 -9.8 624 6516 0.00 1.48 0.00 0.000 6 0.000 0.036 2518 2368 3598

6835 -0.63 -194.6 766.3 -11.0 655 6836 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2368 3596

7143 -0.63 -194.6 799.8 -10.8 685 7147 0.00 1.58 0.00 0.000 4 0.000 0.057 2511 3257 3594

7233 -0.63 -194.6 810.0 -11.7 693 7242 0.08 1.48 0.00 0.000 6 0.146 0.037 2534 2372 3594

7549 -0.63 -194.6 840.5 -10.4 724 7550 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2373 3592

7861 -0.63 -194.6 870.3 -9.5 754 7862 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2373 3592

8170 -0.63 -194.6 899.9 -9.1 784 8171 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2373 3590

8481 -0.63 -194.6 927.3 -8.4 814 8482 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2373 3589

8791 -0.63 -194.6 954.4 -8.7 844 8792 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2373 3589

9102 -0.63 -194.6 981.3 -8.7 874 9102 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2373 3587

9214 end dive: TARGET_DEPTH_EXCEEDED

state 9214 begin apogee

9218 -0.25 0.0 990.9 8.8 885 9370 0.43 0.00 149.40 1.252 6 0.135 0.000 2663 2218 2840

9371 end apogee: CONTROL_FINISHED_OK

state 9371 begin climb

9372 0.63 194.6 995.2 0.0 900 9545 0.90 1.27 166.70 1.217 4 0.104 0.044 2949 1334 2046

9577 0.63 194.6 977.4 11.9 917 9580 0.00 1.25 0.00 0.000 6 0.000 0.042 2949 2230 2042

9899 0.63 194.6 937.4 12.6 948 9900 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2230 2035

10208 0.63 194.6 899.0 12.0 978 10211 0.00 1.17 0.00 0.000 4 0.000 0.044 2954 1327 2033

10244 0.63 194.6 894.5 13.0 981 10253 0.00 1.20 0.00 0.000 6 0.000 0.043 2954 2232 2033

10562 0.63 194.6 853.7 12.6 1012 10563 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2233 2031

10871 0.63 194.6 814.4 12.6 1042 10874 0.00 1.15 0.00 0.000 4 0.000 0.045 2959 1340 2030

10918 0.63 194.6 808.4 12.3 1046 10925 0.00 1.17 0.00 0.000 6 0.000 0.043 2960 2231 2030

11236 0.63 194.6 768.5 12.5 1077 11236 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2231 2030

11545 0.63 194.6 729.5 12.6 1107 11546 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2231 2029

11855 0.63 194.6 689.8 12.9 1137 11858 0.00 1.15 0.00 0.000 4 0.000 0.044 2964 1335 2028

11908 0.63 194.6 683.2 11.7 1142 11912 0.00 1.15 0.00 0.000 6 0.000 0.043 2964 2228 2028

12230 0.63 194.6 642.7 12.6 1173 12231 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2227 2028

12539 0.63 194.6 602.9 13.2 1203 12540 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2228 2028

12851 0.63 194.6 563.1 12.3 1233 12851 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2228 2028

13160 0.63 194.6 524.3 12.5 1263 13161 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2228 2027

13471 0.63 194.6 486.4 12.1 1293 13472 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2228 2027

13781 0.63 194.6 448.2 12.2 1323 13784 0.00 1.15 0.00 0.000 4 0.000 0.044 2970 1326 2027

13817 0.63 194.6 443.5 12.8 1326 13825 0.00 1.20 0.00 0.000 6 0.000 0.041 2969 2244 2027

14135 0.63 194.6 402.9 13.1 1357 14135 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2244 2027

14444 0.63 194.6 363.4 12.6 1387 14445 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2244 2027

14755 0.63 194.6 322.6 13.4 1417 14758 0.00 1.17 0.00 0.000 4 0.000 0.043 2974 1328 2027

14812 0.63 194.6 315.0 12.6 1422 14819 0.00 1.17 0.00 0.000 6 0.000 0.041 2974 2231 2027

15130 0.63 194.6 272.9 13.7 1453 15131 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2231 2027

15439 0.63 194.6 231.0 13.1 1483 15442 0.00 1.15 0.00 0.000 4 0.000 0.041 2980 1326 2027

15513 0.63 194.6 221.1 12.8 1490 15517 0.08 1.15 0.00 0.000 6 0.147 0.040 2955 2228 2027

15834 0.63 194.6 184.9 10.8 1521 15835 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2228 2027

16145 0.63 194.6 149.9 10.9 1551 16146 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2228 2028

16455 0.63 194.6 116.1 10.3 1581 16456 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2228 2028

16765 0.63 194.6 85.3 9.8 1611 16768 0.00 1.12 0.00 0.000 4 0.000 0.039 2959 1333 2028

16829 0.63 194.6 79.5 8.9 1617 16832 0.00 1.12 0.00 0.000 6 0.000 0.037 2959 2227 2029

17026 0.63 194.6 61.4 8.9 1636 17027 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2227 2029

17212 0.65 213.0 46.7 7.0 1654 17228 0.00 1.58 13.35 0.522 4 0.000 0.044 2959 3098 1971

17325 0.65 213.0 38.4 7.7 1664 17328 0.00 1.58 0.00 0.000 6 0.000 0.031 2966 2216 1969

17522 0.74 290.9 26.9 5.5 1683 17583 0.00 0.00 59.45 0.533 6 0.000 0.000 2966 2217 1651

17768 0.93 441.9 16.7 3.5 1707 17886 0.22 1.12 110.97 0.513 4 0.052 0.035 3081 1332 1037

17927 end climb: SURFACE_DEPTH_REACHED

state 17927 begin surface coast

17970 end surface coast: CONTROL_FINISHED_OK

state 17970 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	177	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	2225	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	44	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	49	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	-15546.646	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	002031,2836.435,-8842.931,59,1.6,59,-0.2	TGT_NAME	NEW0618A
_CALLS	1	TGT_LATLONG	2837.900,-8826.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.225,0.139
_SM_DEPTHo	1.74	KALMAN_X	-10484.5,-211.7,-200.9,22716.9,-1475.8
_SM_ANGLEo	-73.4	KALMAN_Y	-62027.5,1107.7,1163.3,74616.6,-15022.2
GPS2	002643,2836.393,-8842.842,9,1.5,14,-0.2	MHEAD_RNG_PITCHd_Wd	64.8,27518,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1290

FINISH	1.6,1.017506	_24V_AH	22.4,32.103
SM_CCo	17985,81.80,0.493,0,0,495,575.22	_10V_AH	10.6,44.502
SM_GC	1.83,0.00,0.00,81.80,0.000,0.000,0.493,200,2355,495,-7.96,-0.57,575.22	DATA_FILE_SIZE	91526,1725
IRIDIUM_FIX	2818.74,-8856.30,210999,191947	CAP_FILE_SIZE	155647,0
TT8_MAMPS	0.049855	CFSIZE	260165632,239177728
HUMID	1322	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2191	CURRENT	0.107,206.5,1
TCM_TEMP	23.50	GPS	280610,052930,2836.413,-8840.551,40,1.7,40,-0.2
XPDR_PINGS	32

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	269	127.00	SBE_CT	1180	24	634.85
Roll_motor	66	56	84.17	SBE_O2	1265	19	538.50
VBD_pump_during_apogee	499	1251	14016.03	WL_BBFL2VMT	3877	105	9119.26
VBD_pump_during_surface	81	493	903.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	64.99	nil	0	0	0.00
Iridium_during_connect	29	160	107.19	nil	0	0	0.00
Iridium_during_xfer	197	223	986.11
Transponder_ping	8	420	75.26
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.82
TT8	0	19	0.00
LPSleep	12157	2	282.22
TT8_Active	615	19	129.18
TT8_Sampling	5110	39	2156.06
TT8_CF8	526	45	255.68
TT8_Kalman	33	81	28.90
Analog_circuits	2060	12	262.10
GPS_charging	0	0	0.00
Compass	4590	8	389.23
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-0.63	-194.6	0.0	0.0	0	53	0.00	0.00	-38.53	0.000	2	0.000	0.000	199	2374	1605
55	-0.63	-194.6	3.4	-5.3	4	128	11.05	1.30	-55.72	0.000	4	0.270	0.055	2539	1475	3636
367	-0.63	-194.6	51.7	-15.1	32	374	0.00	1.25	0.00	0.000	6	0.000	0.034	2536	2357	3637
559	-0.63	-194.6	77.2	-13.5	51	560	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2357	3638
745	-0.63	-194.6	102.8	-13.2	69	746	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2357	3638
1055	-0.63	-194.6	142.3	-12.2	99	1059	0.00	1.52	0.00	0.000	4	0.000	0.044	2528	3256	3638
1141	-0.63	-194.6	153.0	-12.3	107	1144	0.00	1.42	0.00	0.000	6	0.000	0.027	2528	2369	3638
1463	-0.63	-194.6	192.1	-12.0	138	1464	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2369	3637
1772	-0.63	-194.6	228.8	-12.1	168	1775	0.00	1.52	0.00	0.000	4	0.000	0.046	2521	3266	3635
1868	-0.63	-194.6	240.6	-11.9	177	1871	0.00	1.42	0.00	0.000	6	0.000	0.029	2521	2374	3634
2190	-0.63	-194.6	279.5	-12.1	208	2193	0.00	1.50	0.00	0.000	4	0.000	0.048	2514	3257	3632
2258	-0.63	-194.6	287.9	-11.4	214	2265	0.00	1.40	0.00	0.000	6	0.000	0.029	2514	2376	3631
2575	-0.63	-194.6	326.8	-12.6	245	2576	0.12	0.00	0.00	0.000	6	0.150	0.000	2545	2374	3629
2886	-0.63	-194.6	358.0	-9.7	275	2889	0.00	1.50	0.00	0.000	4	0.000	0.050	2540	3255	3625
2928	-0.63	-194.6	362.3	-10.6	279	2931	0.00	1.40	0.00	0.000	6	0.000	0.031	2540	2382	3625
3249	-0.63	-194.6	394.8	-10.2	310	3252	0.00	1.50	0.00	0.000	4	0.000	0.051	2534	3256	3623
3285	-0.63	-194.6	398.9	-10.6	313	3293	0.00	1.42	0.00	0.000	6	0.000	0.032	2534	2375	3622
3602	-0.63	-194.6	433.0	-10.7	344	3606	0.00	1.52	0.00	0.000	4	0.000	0.052	2527	3257	3620
3666	-0.63	-194.6	440.1	-11.3	350	3669	0.00	1.45	0.00	0.000	6	0.000	0.033	2527	2373	3619
3988	-0.63	-194.6	474.9	-10.9	381	3991	0.00	1.52	0.00	0.000	4	0.000	0.052	2520	3256	3616
4030	-0.63	-194.6	479.8	-11.6	385	4033	0.00	1.45	0.00	0.000	6	0.000	0.033	2520	2372	3616
4352	-0.63	-194.6	516.1	-11.1	416	4355	0.00	1.52	0.00	0.000	4	0.000	0.053	2513	3256	3613
4388	-0.63	-194.6	520.5	-11.6	419	4396	0.12	1.48	0.00	0.000	6	0.150	0.034	2544	2368	3613
4705	-0.63	-194.6	551.1	-9.7	450	4708	0.00	1.55	0.00	0.000	4	0.000	0.054	2539	3257	3610
4751	-0.63	-194.6	555.7	-9.3	454	4759	0.00	1.50	0.00	0.000	6	0.000	0.034	2538	2363	3609
5069	-0.63	-194.6	587.2	-9.8	485	5072	0.00	1.58	0.00	0.000	4	0.000	0.054	2532	3257	3608
5111	-0.63	-194.6	591.5	-10.2	489	5114	0.00	1.48	0.00	0.000	6	0.000	0.036	2532	2369	3608
5433	-0.63	-194.6	623.6	-10.2	520	5433	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2368	3606
5743	-0.63	-194.6	654.4	-10.1	550	5746	0.00	1.55	0.00	0.000	4	0.000	0.055	2525	3255	3603
5817	-0.63	-194.6	662.0	-10.1	557	5820	0.00	1.48	0.00	0.000	6	0.000	0.035	2525	2367	3603
6139	-0.63	-194.6	694.1	-10.1	588	6140	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2367	3600
6449	-0.63	-194.6	725.3	-10.5	618	6452	0.00	1.55	0.00	0.000	4	0.000	0.057	2518	3252	3599
6512	-0.63	-194.6	731.8	-9.8	624	6516	0.00	1.48	0.00	0.000	6	0.000	0.036	2518	2368	3598
6835	-0.63	-194.6	766.3	-11.0	655	6836	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2368	3596
7143	-0.63	-194.6	799.8	-10.8	685	7147	0.00	1.58	0.00	0.000	4	0.000	0.057	2511	3257	3594
7233	-0.63	-194.6	810.0	-11.7	693	7242	0.08	1.48	0.00	0.000	6	0.146	0.037	2534	2372	3594
7549	-0.63	-194.6	840.5	-10.4	724	7550	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2373	3592
7861	-0.63	-194.6	870.3	-9.5	754	7862	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2373	3592
8170	-0.63	-194.6	899.9	-9.1	784	8171	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2373	3590
8481	-0.63	-194.6	927.3	-8.4	814	8482	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2373	3589
8791	-0.63	-194.6	954.4	-8.7	844	8792	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2373	3589
9102	-0.63	-194.6	981.3	-8.7	874	9102	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2373	3587
9214	end dive: TARGET_DEPTH_EXCEEDED
state	9214	begin apogee
9218	-0.25	0.0	990.9	8.8	885	9370	0.43	0.00	149.40	1.252	6	0.135	0.000	2663	2218	2840
9371	end apogee: CONTROL_FINISHED_OK
state	9371	begin climb
9372	0.63	194.6	995.2	0.0	900	9545	0.90	1.27	166.70	1.217	4	0.104	0.044	2949	1334	2046
9577	0.63	194.6	977.4	11.9	917	9580	0.00	1.25	0.00	0.000	6	0.000	0.042	2949	2230	2042
9899	0.63	194.6	937.4	12.6	948	9900	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2230	2035
10208	0.63	194.6	899.0	12.0	978	10211	0.00	1.17	0.00	0.000	4	0.000	0.044	2954	1327	2033
10244	0.63	194.6	894.5	13.0	981	10253	0.00	1.20	0.00	0.000	6	0.000	0.043	2954	2232	2033
10562	0.63	194.6	853.7	12.6	1012	10563	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2233	2031
10871	0.63	194.6	814.4	12.6	1042	10874	0.00	1.15	0.00	0.000	4	0.000	0.045	2959	1340	2030
10918	0.63	194.6	808.4	12.3	1046	10925	0.00	1.17	0.00	0.000	6	0.000	0.043	2960	2231	2030
11236	0.63	194.6	768.5	12.5	1077	11236	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2231	2030
11545	0.63	194.6	729.5	12.6	1107	11546	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2231	2029
11855	0.63	194.6	689.8	12.9	1137	11858	0.00	1.15	0.00	0.000	4	0.000	0.044	2964	1335	2028
11908	0.63	194.6	683.2	11.7	1142	11912	0.00	1.15	0.00	0.000	6	0.000	0.043	2964	2228	2028
12230	0.63	194.6	642.7	12.6	1173	12231	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2227	2028
12539	0.63	194.6	602.9	13.2	1203	12540	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2228	2028
12851	0.63	194.6	563.1	12.3	1233	12851	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2228	2028
13160	0.63	194.6	524.3	12.5	1263	13161	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2228	2027
13471	0.63	194.6	486.4	12.1	1293	13472	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2228	2027
13781	0.63	194.6	448.2	12.2	1323	13784	0.00	1.15	0.00	0.000	4	0.000	0.044	2970	1326	2027
13817	0.63	194.6	443.5	12.8	1326	13825	0.00	1.20	0.00	0.000	6	0.000	0.041	2969	2244	2027
14135	0.63	194.6	402.9	13.1	1357	14135	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2244	2027
14444	0.63	194.6	363.4	12.6	1387	14445	0.00	0.00	0.00	0.000	6	0.000	0.000	2969	2244	2027
14755	0.63	194.6	322.6	13.4	1417	14758	0.00	1.17	0.00	0.000	4	0.000	0.043	2974	1328	2027
14812	0.63	194.6	315.0	12.6	1422	14819	0.00	1.17	0.00	0.000	6	0.000	0.041	2974	2231	2027
15130	0.63	194.6	272.9	13.7	1453	15131	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2231	2027
15439	0.63	194.6	231.0	13.1	1483	15442	0.00	1.15	0.00	0.000	4	0.000	0.041	2980	1326	2027
15513	0.63	194.6	221.1	12.8	1490	15517	0.08	1.15	0.00	0.000	6	0.147	0.040	2955	2228	2027
15834	0.63	194.6	184.9	10.8	1521	15835	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2228	2027
16145	0.63	194.6	149.9	10.9	1551	16146	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2228	2028
16455	0.63	194.6	116.1	10.3	1581	16456	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2228	2028
16765	0.63	194.6	85.3	9.8	1611	16768	0.00	1.12	0.00	0.000	4	0.000	0.039	2959	1333	2028
16829	0.63	194.6	79.5	8.9	1617	16832	0.00	1.12	0.00	0.000	6	0.000	0.037	2959	2227	2029
17026	0.63	194.6	61.4	8.9	1636	17027	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2227	2029
17212	0.65	213.0	46.7	7.0	1654	17228	0.00	1.58	13.35	0.522	4	0.000	0.044	2959	3098	1971
17325	0.65	213.0	38.4	7.7	1664	17328	0.00	1.58	0.00	0.000	6	0.000	0.031	2966	2216	1969
17522	0.74	290.9	26.9	5.5	1683	17583	0.00	0.00	59.45	0.533	6	0.000	0.000	2966	2217	1651
17768	0.93	441.9	16.7	3.5	1707	17886	0.22	1.12	110.97	0.513	4	0.052	0.035	3081	1332	1037
17927	end climb: SURFACE_DEPTH_REACHED
state	17927	begin surface coast
17970	end surface coast: CONTROL_FINISHED_OK
state	17970	begin surface