Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 251 * 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 251 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 2375 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2275 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 575 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 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 -18077.793 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 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 -18077.793

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 515 ROLL_DEG 25 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3575 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2747 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -4

C_ROLL_CLIMB 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2375 MASS 51931 R_PORT_OVSHOOT 28 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 39 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 251 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 200907,2842.779,-8840.485,807,1.3,807,-0.3 TGT_NAME NEW0528A

_CALLS 4 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.209,0.163

_SM_DEPTHo 2.66 KALMAN_X -34778.5,-4.9,-548.5,51425.5,4176.5

_SM_ANGLEo -73.9 KALMAN_Y -314044.8,1535.2,1176.1,337847.9,-13034.4

GPS2 202949,2842.689,-8840.220,9,1.7,14,-0.3 MHEAD_RNG_PITCHd_Wd 79.8,23155,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1016

Post-dive calculations and measurements:

SM_CCo 18161,0.00,0.000,0,0,399,598.77 _24V_AH 23.1,43.819

SM_GC 2.95,8.23,0.00,0.00,0.061,0.000,0.000,203,2395,399,-7.91,0.59,598.77 _10V_AH 10.6,60.788

IRIDIUM_FIX 2831.00,-8836.47,071099,202002 DATA_FILE_SIZE 91522,1722

TT8_MAMPS 0.049855 CAP_FILE_SIZE 183921,0

HUMID 1371 CFSIZE 260165632,232738816

INTERNAL_PRESSURE 9.28747 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 24.80 CURRENT 0.098,106.2,1

XPDR_PINGS 0 GPS 140710,013615,2843.035,-8836.384,145,5.6,164,-0.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 234 110.47 SBE_CT 1175 24 651.53

Roll_motor 99 59 138.03 SBE_O2 1252 19 549.62

VBD_pump_during_apogee 609 1190 16764.76 WL_BBFL2VMT 3871 105 9390.07

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 111 103 264.62 nil 0 0 0.00

Iridium_during_connect 135 160 500.76 nil 0 0 0.00

Iridium_during_xfer 668 223 3441.93

Transponder_ping 2 420 26.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.70

TT8 0 19 0.00

LPSleep 12220 2 283.68

TT8_Active 629 19 132.17

TT8_Sampling 5246 39 2213.49

TT8_CF8 1272 45 617.94

TT8_Kalman 33 81 28.91

Analog_circuits 2194 12 279.11

GPS_charging 0 0 0.00

Compass 4670 8 396.09

RAFOS 0 0 0.00

Transponder 24 30 7.82

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 -0.63 -194.6 0.0 0.0 0 37 0.00 0.00 -22.77 0.000 2 0.000 0.000 198 2400 1132

39 -0.63 -194.6 3.1 -4.3 2 136 9.88 1.35 -79.05 0.000 4 0.235 0.054 2539 1467 3636

374 -0.63 -194.6 46.4 -14.5 32 382 0.00 1.30 0.00 0.000 6 0.000 0.033 2535 2367 3636

568 -0.63 -194.6 72.5 -13.6 51 570 0.00 1.27 0.00 0.000 4 0.000 0.031 2536 1460 3636

657 -0.63 -194.6 85.0 -13.5 59 664 0.00 1.33 0.00 0.000 6 0.000 0.033 2532 2386 3636

849 -0.63 -194.6 109.8 -12.8 78 852 0.00 1.30 0.00 0.000 4 0.000 0.032 2532 1451 3636

928 -0.63 -194.6 119.8 -11.7 85 935 0.00 1.30 0.00 0.000 6 0.000 0.033 2526 2367 3636

1246 -0.63 -194.6 158.9 -12.3 116 1249 0.00 1.27 0.00 0.000 4 0.000 0.032 2526 1456 3634

1282 -0.63 -194.6 163.8 -12.1 119 1289 0.00 1.33 0.00 0.000 6 0.000 0.034 2520 2383 3633

1600 -0.63 -194.6 202.0 -11.9 150 1603 0.00 1.30 0.00 0.000 4 0.000 0.032 2520 1459 3631

1664 -0.63 -194.6 210.0 -12.0 156 1667 0.08 1.27 0.00 0.000 6 0.138 0.035 2538 2359 3630

1985 -0.63 -194.6 244.1 -10.7 187 1986 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2359 3628

2295 -0.63 -194.6 275.2 -9.7 217 2296 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2359 3625

2606 -0.63 -194.6 305.7 -9.8 247 2609 0.00 1.25 0.00 0.000 4 0.000 0.035 2539 1471 3623

2637 -0.63 -194.6 309.0 -9.9 250 2640 0.00 1.33 0.00 0.000 6 0.000 0.038 2535 2389 3623

2960 -0.63 -194.6 342.1 -10.1 281 2963 0.00 1.33 0.00 0.000 4 0.000 0.036 2534 1464 3619

3013 -0.63 -194.6 347.7 -9.9 286 3016 0.00 1.30 0.00 0.000 6 0.000 0.038 2529 2364 3619

3336 -0.63 -194.6 381.1 -10.3 317 3336 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2364 3616

3645 -0.63 -194.6 413.0 -10.3 347 3648 0.00 1.27 0.00 0.000 4 0.000 0.036 2529 1475 3612

3691 -0.63 -194.6 418.1 -10.1 351 3699 0.00 1.35 0.00 0.000 6 0.000 0.038 2523 2391 3612

4010 -0.63 -194.6 452.3 -11.0 382 4011 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2391 3609

4318 -0.63 -194.6 486.5 -10.7 412 4321 0.00 1.33 0.00 0.000 4 0.000 0.038 2523 1478 3606

4382 -0.63 -194.6 493.3 -10.5 418 4385 0.00 1.30 0.00 0.000 6 0.000 0.041 2517 2365 3606

4705 -0.63 -194.6 528.4 -10.7 449 4708 0.00 1.30 0.00 0.000 4 0.000 0.039 2517 1470 3603

4752 -0.63 -194.6 534.0 -11.4 453 4759 0.08 1.35 0.00 0.000 6 0.145 0.042 2535 2387 3603

5068 -0.63 -194.6 564.0 -9.2 484 5071 0.00 1.33 0.00 0.000 4 0.000 0.040 2536 1479 3600

5110 -0.63 -194.6 567.8 -9.2 488 5114 0.00 1.30 0.00 0.000 6 0.000 0.043 2532 2362 3599

5433 -0.63 -194.6 596.4 -9.2 519 5436 0.00 1.30 0.00 0.000 4 0.000 0.041 2531 1473 3597

5479 -0.63 -194.6 601.0 -9.8 523 5487 0.00 1.38 0.00 0.000 6 0.000 0.044 2527 2389 3596

5798 -0.63 -194.6 631.5 -10.2 554 5798 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2390 3594

6107 -0.63 -194.6 661.8 -9.8 584 6110 0.00 1.35 0.00 0.000 4 0.000 0.042 2526 1471 3592

6203 -0.63 -194.6 671.2 -10.0 593 6206 0.00 1.33 0.00 0.000 6 0.000 0.046 2521 2363 3591

6526 -0.63 -194.6 702.3 -9.1 624 6526 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2363 3590

6834 -0.63 -194.6 733.6 -10.9 654 6837 0.00 1.30 0.00 0.000 4 0.000 0.043 2521 1483 3587

6876 -0.63 -194.6 738.2 -10.1 658 6879 0.00 1.35 0.00 0.000 6 0.000 0.046 2515 2387 3587

7199 -0.63 -194.6 771.6 -10.2 689 7202 0.00 1.35 0.00 0.000 4 0.000 0.043 2515 1471 3586

7267 -0.63 -194.6 779.2 -11.2 695 7275 0.12 1.35 0.00 0.000 6 0.147 0.046 2541 2366 3585

7584 -0.63 -194.6 806.1 -8.0 726 7587 0.00 1.30 0.00 0.000 4 0.000 0.043 2541 1483 3583

7620 -0.63 -194.6 809.2 -8.4 729 7627 0.00 1.38 0.00 0.000 6 0.000 0.046 2538 2389 3583

7938 -0.63 -194.6 835.2 -9.5 760 7941 0.00 1.50 0.00 0.000 4 0.000 0.060 2531 3247 3581

7981 -0.63 -194.6 840.0 -11.0 764 7983 0.00 1.48 0.00 0.000 6 0.000 0.037 2531 2354 3581

8302 -0.63 -194.6 868.0 -7.8 795 8305 0.00 1.25 0.00 0.000 4 0.000 0.044 2531 1497 3580

8376 -0.63 -194.6 874.2 -8.3 802 8379 0.00 1.30 0.00 0.000 6 0.000 0.049 2526 2361 3579

8697 -0.63 -194.6 902.7 -9.1 833 8700 0.00 1.27 0.00 0.000 4 0.000 0.044 2526 1499 3578

8793 -0.63 -194.6 911.4 -9.7 842 8796 0.00 1.33 0.00 0.000 6 0.000 0.049 2520 2378 3577

9061 end dive: NO_VERTICAL_VELOCITY

state 9061 begin apogee

9066 -0.25 0.0 920.6 0.0 868 9216 0.47 0.00 147.30 1.190 6 0.117 0.000 2668 2289 2840

9217 end apogee: CONTROL_FINISHED_OK

state 9217 begin climb

9219 0.63 194.6 920.4 0.0 883 9390 0.85 1.35 164.90 1.160 4 0.105 0.049 2944 1377 2046

9422 0.63 194.6 905.8 10.9 900 9425 0.00 1.30 0.00 0.000 6 0.000 0.043 2944 2272 2042

9744 0.63 194.6 869.4 12.2 931 9747 0.00 1.23 0.00 0.000 4 0.000 0.044 2950 1368 2033

9791 0.63 194.6 863.7 12.2 935 9798 0.00 1.25 0.00 0.000 6 0.000 0.044 2949 2274 2033

10109 0.63 194.6 824.8 12.2 966 10112 0.00 1.23 0.00 0.000 4 0.000 0.043 2954 1366 2032

10141 0.63 194.6 820.8 12.6 969 10144 0.00 1.27 0.00 0.000 6 0.000 0.045 2954 2287 2032

10463 0.63 194.6 781.7 11.9 1000 10464 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2287 2031

10772 0.63 194.6 744.8 12.2 1030 10775 0.00 1.25 0.00 0.000 4 0.000 0.043 2959 1370 2030

10830 0.63 194.6 737.9 11.8 1035 10837 0.00 1.23 0.00 0.000 6 0.000 0.044 2959 2272 2030

11147 0.63 194.6 701.0 11.9 1066 11150 0.00 1.65 0.00 0.000 4 0.000 0.054 2960 3179 2030

11189 0.63 194.6 695.5 13.0 1070 11193 0.00 1.58 0.00 0.000 6 0.000 0.037 2967 2275 2028

11510 0.63 194.6 656.4 11.1 1101 11513 0.00 1.20 0.00 0.000 4 0.000 0.044 2973 1367 2028

11553 0.63 194.6 651.5 11.7 1105 11556 0.00 1.25 0.00 0.000 6 0.000 0.044 2973 2279 2027

11873 0.63 194.6 612.3 12.4 1136 11877 0.00 1.60 0.00 0.000 4 0.000 0.054 2973 3165 2027

11909 0.63 194.6 607.4 13.2 1139 11917 0.08 1.58 0.00 0.000 6 0.152 0.036 2956 2270 2027

12227 0.63 194.6 573.2 10.4 1170 12229 0.00 1.17 0.00 0.000 4 0.000 0.044 2960 1373 2027

12280 0.63 194.6 567.5 12.1 1175 12283 0.00 1.23 0.00 0.000 6 0.000 0.043 2960 2276 2027

12602 0.63 194.6 531.8 11.6 1206 12605 0.00 1.62 0.00 0.000 4 0.000 0.054 2960 3196 2027

12634 0.63 194.6 527.7 12.0 1209 12637 0.00 1.60 0.00 0.000 6 0.000 0.037 2968 2259 2026

12955 0.63 194.6 489.7 11.5 1240 12955 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2260 2026

13265 0.63 194.6 452.9 11.8 1270 13266 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2260 2026

13575 0.63 194.6 416.6 11.7 1300 13576 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2260 2026

13886 0.63 194.6 379.8 12.1 1330 13887 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2261 2026

14196 0.63 194.6 342.9 11.8 1360 14199 0.00 1.67 0.00 0.000 4 0.000 0.051 2968 3170 2026

14221 0.63 194.6 339.6 13.3 1362 14230 0.00 1.55 0.00 0.000 6 0.000 0.035 2976 2276 2026

14540 0.63 194.6 299.1 12.5 1393 14541 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2277 2026

14848 0.63 194.6 260.4 12.9 1423 14852 0.00 1.62 0.00 0.000 4 0.000 0.051 2976 3167 2027

14906 0.63 194.6 252.5 14.4 1428 14913 0.10 1.55 0.00 0.000 6 0.146 0.034 2952 2276 2027

15223 0.63 194.6 220.3 9.3 1459 15223 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2277 2027

15533 0.63 194.6 189.4 10.4 1489 15536 0.00 1.62 0.00 0.000 4 0.000 0.049 2952 3195 2027

15575 0.63 194.6 184.8 10.1 1493 15578 0.00 1.58 0.00 0.000 6 0.000 0.033 2958 2275 2027

15898 0.63 194.6 149.4 10.8 1524 15899 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2275 2028

16207 0.63 194.6 117.0 9.6 1554 16210 0.00 1.62 0.00 0.000 4 0.000 0.048 2958 3174 2029

16260 0.63 194.6 111.5 11.5 1559 16263 0.00 1.52 0.00 0.000 6 0.000 0.031 2965 2279 2029

16582 0.63 194.6 78.8 9.4 1590 16583 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2279 2030

16767 0.63 194.6 63.0 8.1 1608 16770 0.00 1.60 0.00 0.000 4 0.000 0.047 2965 3170 2031

16799 0.63 194.6 60.3 8.5 1611 16802 0.00 1.52 0.00 0.000 6 0.000 0.031 2973 2274 2031

16996 0.63 194.6 44.3 7.8 1630 16999 0.00 1.62 0.00 0.000 4 0.000 0.045 2973 3182 2031

17032 0.63 194.6 41.3 8.7 1633 17039 0.08 1.52 0.00 0.000 6 0.130 0.029 2954 2279 2031

17225 0.75 297.2 31.3 4.8 1652 17309 0.10 1.65 75.55 0.526 4 0.073 0.044 3003 3179 1628

17358 0.85 373.5 23.4 5.5 1663 17423 0.00 1.55 57.72 0.511 6 0.000 0.028 3010 2278 1315

17610 0.93 444.2 9.4 5.6 1687 17669 0.10 1.20 52.33 0.494 4 0.075 0.034 3076 1369 1027

17756 1.29 733.6 3.6 -0.1 1700 17873 0.22 1.23 111.88 0.490 6 0.087 0.033 3158 2287 404

17993 end climb: NO_VERTICAL_VELOCITY

state 17993 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	251	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	2375	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2275	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	575	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	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	-18077.793	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	200907,2842.779,-8840.485,807,1.3,807,-0.3	TGT_NAME	NEW0528A
_CALLS	4	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.209,0.163
_SM_DEPTHo	2.66	KALMAN_X	-34778.5,-4.9,-548.5,51425.5,4176.5
_SM_ANGLEo	-73.9	KALMAN_Y	-314044.8,1535.2,1176.1,337847.9,-13034.4
GPS2	202949,2842.689,-8840.220,9,1.7,14,-0.3	MHEAD_RNG_PITCHd_Wd	79.8,23155,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1016

SM_CCo	18161,0.00,0.000,0,0,399,598.77	_24V_AH	23.1,43.819
SM_GC	2.95,8.23,0.00,0.00,0.061,0.000,0.000,203,2395,399,-7.91,0.59,598.77	_10V_AH	10.6,60.788
IRIDIUM_FIX	2831.00,-8836.47,071099,202002	DATA_FILE_SIZE	91522,1722
TT8_MAMPS	0.049855	CAP_FILE_SIZE	183921,0
HUMID	1371	CFSIZE	260165632,232738816
INTERNAL_PRESSURE	9.28747	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.80	CURRENT	0.098,106.2,1
XPDR_PINGS	0	GPS	140710,013615,2843.035,-8836.384,145,5.6,164,-0.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	234	110.47	SBE_CT	1175	24	651.53
Roll_motor	99	59	138.03	SBE_O2	1252	19	549.62
VBD_pump_during_apogee	609	1190	16764.76	WL_BBFL2VMT	3871	105	9390.07
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	111	103	264.62	nil	0	0	0.00
Iridium_during_connect	135	160	500.76	nil	0	0	0.00
Iridium_during_xfer	668	223	3441.93
Transponder_ping	2	420	26.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.70
TT8	0	19	0.00
LPSleep	12220	2	283.68
TT8_Active	629	19	132.17
TT8_Sampling	5246	39	2213.49
TT8_CF8	1272	45	617.94
TT8_Kalman	33	81	28.91
Analog_circuits	2194	12	279.11
GPS_charging	0	0	0.00
Compass	4670	8	396.09
RAFOS	0	0	0.00
Transponder	24	30	7.82

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	-0.63	-194.6	0.0	0.0	0	37	0.00	0.00	-22.77	0.000	2	0.000	0.000	198	2400	1132
39	-0.63	-194.6	3.1	-4.3	2	136	9.88	1.35	-79.05	0.000	4	0.235	0.054	2539	1467	3636
374	-0.63	-194.6	46.4	-14.5	32	382	0.00	1.30	0.00	0.000	6	0.000	0.033	2535	2367	3636
568	-0.63	-194.6	72.5	-13.6	51	570	0.00	1.27	0.00	0.000	4	0.000	0.031	2536	1460	3636
657	-0.63	-194.6	85.0	-13.5	59	664	0.00	1.33	0.00	0.000	6	0.000	0.033	2532	2386	3636
849	-0.63	-194.6	109.8	-12.8	78	852	0.00	1.30	0.00	0.000	4	0.000	0.032	2532	1451	3636
928	-0.63	-194.6	119.8	-11.7	85	935	0.00	1.30	0.00	0.000	6	0.000	0.033	2526	2367	3636
1246	-0.63	-194.6	158.9	-12.3	116	1249	0.00	1.27	0.00	0.000	4	0.000	0.032	2526	1456	3634
1282	-0.63	-194.6	163.8	-12.1	119	1289	0.00	1.33	0.00	0.000	6	0.000	0.034	2520	2383	3633
1600	-0.63	-194.6	202.0	-11.9	150	1603	0.00	1.30	0.00	0.000	4	0.000	0.032	2520	1459	3631
1664	-0.63	-194.6	210.0	-12.0	156	1667	0.08	1.27	0.00	0.000	6	0.138	0.035	2538	2359	3630
1985	-0.63	-194.6	244.1	-10.7	187	1986	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2359	3628
2295	-0.63	-194.6	275.2	-9.7	217	2296	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2359	3625
2606	-0.63	-194.6	305.7	-9.8	247	2609	0.00	1.25	0.00	0.000	4	0.000	0.035	2539	1471	3623
2637	-0.63	-194.6	309.0	-9.9	250	2640	0.00	1.33	0.00	0.000	6	0.000	0.038	2535	2389	3623
2960	-0.63	-194.6	342.1	-10.1	281	2963	0.00	1.33	0.00	0.000	4	0.000	0.036	2534	1464	3619
3013	-0.63	-194.6	347.7	-9.9	286	3016	0.00	1.30	0.00	0.000	6	0.000	0.038	2529	2364	3619
3336	-0.63	-194.6	381.1	-10.3	317	3336	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2364	3616
3645	-0.63	-194.6	413.0	-10.3	347	3648	0.00	1.27	0.00	0.000	4	0.000	0.036	2529	1475	3612
3691	-0.63	-194.6	418.1	-10.1	351	3699	0.00	1.35	0.00	0.000	6	0.000	0.038	2523	2391	3612
4010	-0.63	-194.6	452.3	-11.0	382	4011	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2391	3609
4318	-0.63	-194.6	486.5	-10.7	412	4321	0.00	1.33	0.00	0.000	4	0.000	0.038	2523	1478	3606
4382	-0.63	-194.6	493.3	-10.5	418	4385	0.00	1.30	0.00	0.000	6	0.000	0.041	2517	2365	3606
4705	-0.63	-194.6	528.4	-10.7	449	4708	0.00	1.30	0.00	0.000	4	0.000	0.039	2517	1470	3603
4752	-0.63	-194.6	534.0	-11.4	453	4759	0.08	1.35	0.00	0.000	6	0.145	0.042	2535	2387	3603
5068	-0.63	-194.6	564.0	-9.2	484	5071	0.00	1.33	0.00	0.000	4	0.000	0.040	2536	1479	3600
5110	-0.63	-194.6	567.8	-9.2	488	5114	0.00	1.30	0.00	0.000	6	0.000	0.043	2532	2362	3599
5433	-0.63	-194.6	596.4	-9.2	519	5436	0.00	1.30	0.00	0.000	4	0.000	0.041	2531	1473	3597
5479	-0.63	-194.6	601.0	-9.8	523	5487	0.00	1.38	0.00	0.000	6	0.000	0.044	2527	2389	3596
5798	-0.63	-194.6	631.5	-10.2	554	5798	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2390	3594
6107	-0.63	-194.6	661.8	-9.8	584	6110	0.00	1.35	0.00	0.000	4	0.000	0.042	2526	1471	3592
6203	-0.63	-194.6	671.2	-10.0	593	6206	0.00	1.33	0.00	0.000	6	0.000	0.046	2521	2363	3591
6526	-0.63	-194.6	702.3	-9.1	624	6526	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2363	3590
6834	-0.63	-194.6	733.6	-10.9	654	6837	0.00	1.30	0.00	0.000	4	0.000	0.043	2521	1483	3587
6876	-0.63	-194.6	738.2	-10.1	658	6879	0.00	1.35	0.00	0.000	6	0.000	0.046	2515	2387	3587
7199	-0.63	-194.6	771.6	-10.2	689	7202	0.00	1.35	0.00	0.000	4	0.000	0.043	2515	1471	3586
7267	-0.63	-194.6	779.2	-11.2	695	7275	0.12	1.35	0.00	0.000	6	0.147	0.046	2541	2366	3585
7584	-0.63	-194.6	806.1	-8.0	726	7587	0.00	1.30	0.00	0.000	4	0.000	0.043	2541	1483	3583
7620	-0.63	-194.6	809.2	-8.4	729	7627	0.00	1.38	0.00	0.000	6	0.000	0.046	2538	2389	3583
7938	-0.63	-194.6	835.2	-9.5	760	7941	0.00	1.50	0.00	0.000	4	0.000	0.060	2531	3247	3581
7981	-0.63	-194.6	840.0	-11.0	764	7983	0.00	1.48	0.00	0.000	6	0.000	0.037	2531	2354	3581
8302	-0.63	-194.6	868.0	-7.8	795	8305	0.00	1.25	0.00	0.000	4	0.000	0.044	2531	1497	3580
8376	-0.63	-194.6	874.2	-8.3	802	8379	0.00	1.30	0.00	0.000	6	0.000	0.049	2526	2361	3579
8697	-0.63	-194.6	902.7	-9.1	833	8700	0.00	1.27	0.00	0.000	4	0.000	0.044	2526	1499	3578
8793	-0.63	-194.6	911.4	-9.7	842	8796	0.00	1.33	0.00	0.000	6	0.000	0.049	2520	2378	3577
9061	end dive: NO_VERTICAL_VELOCITY
state	9061	begin apogee
9066	-0.25	0.0	920.6	0.0	868	9216	0.47	0.00	147.30	1.190	6	0.117	0.000	2668	2289	2840
9217	end apogee: CONTROL_FINISHED_OK
state	9217	begin climb
9219	0.63	194.6	920.4	0.0	883	9390	0.85	1.35	164.90	1.160	4	0.105	0.049	2944	1377	2046
9422	0.63	194.6	905.8	10.9	900	9425	0.00	1.30	0.00	0.000	6	0.000	0.043	2944	2272	2042
9744	0.63	194.6	869.4	12.2	931	9747	0.00	1.23	0.00	0.000	4	0.000	0.044	2950	1368	2033
9791	0.63	194.6	863.7	12.2	935	9798	0.00	1.25	0.00	0.000	6	0.000	0.044	2949	2274	2033
10109	0.63	194.6	824.8	12.2	966	10112	0.00	1.23	0.00	0.000	4	0.000	0.043	2954	1366	2032
10141	0.63	194.6	820.8	12.6	969	10144	0.00	1.27	0.00	0.000	6	0.000	0.045	2954	2287	2032
10463	0.63	194.6	781.7	11.9	1000	10464	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2287	2031
10772	0.63	194.6	744.8	12.2	1030	10775	0.00	1.25	0.00	0.000	4	0.000	0.043	2959	1370	2030
10830	0.63	194.6	737.9	11.8	1035	10837	0.00	1.23	0.00	0.000	6	0.000	0.044	2959	2272	2030
11147	0.63	194.6	701.0	11.9	1066	11150	0.00	1.65	0.00	0.000	4	0.000	0.054	2960	3179	2030
11189	0.63	194.6	695.5	13.0	1070	11193	0.00	1.58	0.00	0.000	6	0.000	0.037	2967	2275	2028
11510	0.63	194.6	656.4	11.1	1101	11513	0.00	1.20	0.00	0.000	4	0.000	0.044	2973	1367	2028
11553	0.63	194.6	651.5	11.7	1105	11556	0.00	1.25	0.00	0.000	6	0.000	0.044	2973	2279	2027
11873	0.63	194.6	612.3	12.4	1136	11877	0.00	1.60	0.00	0.000	4	0.000	0.054	2973	3165	2027
11909	0.63	194.6	607.4	13.2	1139	11917	0.08	1.58	0.00	0.000	6	0.152	0.036	2956	2270	2027
12227	0.63	194.6	573.2	10.4	1170	12229	0.00	1.17	0.00	0.000	4	0.000	0.044	2960	1373	2027
12280	0.63	194.6	567.5	12.1	1175	12283	0.00	1.23	0.00	0.000	6	0.000	0.043	2960	2276	2027
12602	0.63	194.6	531.8	11.6	1206	12605	0.00	1.62	0.00	0.000	4	0.000	0.054	2960	3196	2027
12634	0.63	194.6	527.7	12.0	1209	12637	0.00	1.60	0.00	0.000	6	0.000	0.037	2968	2259	2026
12955	0.63	194.6	489.7	11.5	1240	12955	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2260	2026
13265	0.63	194.6	452.9	11.8	1270	13266	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2260	2026
13575	0.63	194.6	416.6	11.7	1300	13576	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2260	2026
13886	0.63	194.6	379.8	12.1	1330	13887	0.00	0.00	0.00	0.000	6	0.000	0.000	2968	2261	2026
14196	0.63	194.6	342.9	11.8	1360	14199	0.00	1.67	0.00	0.000	4	0.000	0.051	2968	3170	2026
14221	0.63	194.6	339.6	13.3	1362	14230	0.00	1.55	0.00	0.000	6	0.000	0.035	2976	2276	2026
14540	0.63	194.6	299.1	12.5	1393	14541	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2277	2026
14848	0.63	194.6	260.4	12.9	1423	14852	0.00	1.62	0.00	0.000	4	0.000	0.051	2976	3167	2027
14906	0.63	194.6	252.5	14.4	1428	14913	0.10	1.55	0.00	0.000	6	0.146	0.034	2952	2276	2027
15223	0.63	194.6	220.3	9.3	1459	15223	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2277	2027
15533	0.63	194.6	189.4	10.4	1489	15536	0.00	1.62	0.00	0.000	4	0.000	0.049	2952	3195	2027
15575	0.63	194.6	184.8	10.1	1493	15578	0.00	1.58	0.00	0.000	6	0.000	0.033	2958	2275	2027
15898	0.63	194.6	149.4	10.8	1524	15899	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2275	2028
16207	0.63	194.6	117.0	9.6	1554	16210	0.00	1.62	0.00	0.000	4	0.000	0.048	2958	3174	2029
16260	0.63	194.6	111.5	11.5	1559	16263	0.00	1.52	0.00	0.000	6	0.000	0.031	2965	2279	2029
16582	0.63	194.6	78.8	9.4	1590	16583	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2279	2030
16767	0.63	194.6	63.0	8.1	1608	16770	0.00	1.60	0.00	0.000	4	0.000	0.047	2965	3170	2031
16799	0.63	194.6	60.3	8.5	1611	16802	0.00	1.52	0.00	0.000	6	0.000	0.031	2973	2274	2031
16996	0.63	194.6	44.3	7.8	1630	16999	0.00	1.62	0.00	0.000	4	0.000	0.045	2973	3182	2031
17032	0.63	194.6	41.3	8.7	1633	17039	0.08	1.52	0.00	0.000	6	0.130	0.029	2954	2279	2031
17225	0.75	297.2	31.3	4.8	1652	17309	0.10	1.65	75.55	0.526	4	0.073	0.044	3003	3179	1628
17358	0.85	373.5	23.4	5.5	1663	17423	0.00	1.55	57.72	0.511	6	0.000	0.028	3010	2278	1315
17610	0.93	444.2	9.4	5.6	1687	17669	0.10	1.20	52.33	0.494	4	0.075	0.034	3076	1369	1027
17756	1.29	733.6	3.6	-0.1	1700	17873	0.22	1.23	111.88	0.490	6	0.087	0.033	3158	2287	404
17993	end climb: NO_VERTICAL_VELOCITY
state	17993	begin surface