Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 263 * 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 263 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 850

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2325 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2275 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 597.54108 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -21981.387 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -7 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 205 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3967 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2747 PRESSURE_YINT -42.932224 SEABIRD_T_G 0.0043524536

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011628702 SEABIRD_T_H 0.00062548812

MASS 51931 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3784551e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5490917e-06

FERRY_MAX 45 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.141768

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1640214

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00094225706

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0001682234

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 20

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 597.54108

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 27 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 20 D_PITCH 0 PITCH_MAX 3967 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 205 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 850 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011628702 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -42.932224 TGT_DEFAULT_LAT 2841

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8830

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -7 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 8 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -21981.387

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 515 ROLL_DEG 25 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3575 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2747 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -4

C_ROLL_CLIMB 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2325 MASS 51931 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 25 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 263 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 175027,3026.666,-8311.083,468,3.4,487,-4.4 TGT_NAME NEW0617E

_CALLS 8 TGT_LATLONG 2842.400,-8845.000

_XMS_NAKs 29 TGT_RADIUS 2000.000

_XMS_TOUTs 2 KALMAN_CONTROL -0.115,0.238

_SM_DEPTHo 2.65 KALMAN_X -9105.8,-809.2,363.4,24297.9,1039.2

_SM_ANGLEo -72.7 KALMAN_Y -365564.8,3276.5,137.1,384615.7,-11996.3

GPS2 181911,2840.514,-8841.046,51,2.7,70,-0.2 MHEAD_RNG_PITCHd_Wd 253.7,7311,-26.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1168

Post-dive calculations and measurements:

SM_CCo 18223,267.55,0.489,0,0,404,597.54 _24V_AH 23.8,46.135

SM_GC 3.73,8.15,0.00,0.00,0.055,0.000,0.000,207,2331,400,-7.90,0.17,598.52 _10V_AH 10.6,63.843

IRIDIUM_FIX 2831.00,-8836.47,101099,181821 DATA_FILE_SIZE 91508,1740

TT8_MAMPS 0.050622 CAP_FILE_SIZE 188475,0

HUMID 1372 CFSIZE 260165632,231579648

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

TCM_TEMP 24.30 CURRENT 47.526,242.4,1

XPDR_PINGS 2 GPS 160710,181911,2840.514,-8841.046,51,2.7,70,-0.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 255 125.83 SBE_CT 1191 24 680.71

Roll_motor 96 66 152.58 SBE_O2 1286 19 581.63

VBD_pump_during_apogee 234 1217 6797.03 WL_BBFL2VMT 3911 105 9774.00

VBD_pump_during_surface 267 489 3116.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 230 103 565.55 nil 0 0 0.00

Iridium_during_connect 440 160 1676.07 nil 0 0 0.00

Iridium_during_xfer 415 223 2204.52

Transponder_ping 4 420 42.48

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 72 50 38.66

TT8 0 19 0.00

LPSleep 12604 2 292.60

TT8_Active 617 19 129.68

TT8_Sampling 5643 39 2380.85

TT8_CF8 1535 45 745.24

TT8_Kalman 33 81 28.91

Analog_circuits 2197 12 279.55

GPS_charging 0 0 0.00

Compass 5025 8 426.20

RAFOS 0 0 0.00

Transponder 28 30 9.21

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 -1.04 -41.0 0.0 0.0 0 37 0.00 0.00 -22.98 0.000 2 0.000 0.000 204 2337 1143

39 -1.08 -69.7 3.2 -4.0 2 102 9.93 1.50 -48.60 0.000 4 0.255 0.057 2387 3232 3126

344 -1.08 -69.7 52.9 -11.0 30 347 0.00 1.48 0.00 0.000 6 0.000 0.026 2393 2313 3127

541 -1.08 -69.7 68.5 -7.6 49 544 0.00 1.52 0.00 0.000 4 0.000 0.038 2387 3228 3127

786 -1.08 -69.7 90.1 -9.3 72 789 0.00 1.45 0.00 0.000 6 0.000 0.026 2392 2321 3126

983 -1.08 -69.7 109.7 -10.6 91 986 0.00 1.52 0.00 0.000 4 0.000 0.039 2386 3234 3126

1229 -1.08 -69.7 138.7 -13.7 114 1232 0.00 1.45 0.00 0.000 6 0.000 0.027 2392 2327 3125

1551 -1.08 -69.7 174.5 -10.0 145 1554 0.00 1.50 0.00 0.000 4 0.000 0.040 2386 3224 3124

1680 -1.08 -69.7 188.3 -10.7 157 1683 0.00 1.45 0.00 0.000 6 0.000 0.028 2391 2321 3123

2002 -1.08 -69.7 219.3 -9.2 188 2005 0.00 1.20 0.00 0.000 4 0.000 0.035 2397 1415 3121

2247 -1.08 -69.7 242.1 -9.1 211 2250 0.00 1.25 0.00 0.000 6 0.000 0.034 2393 2327 3120

2570 -1.08 -69.7 273.7 -9.9 242 2573 0.00 1.25 0.00 0.000 4 0.000 0.035 2397 1408 3116

2816 -1.08 -69.7 297.8 -9.4 265 2819 0.00 1.25 0.00 0.000 6 0.000 0.034 2392 2324 3114

3138 -1.08 -69.7 329.1 -9.0 296 3142 0.00 1.25 0.00 0.000 4 0.000 0.036 2397 1406 3111

3384 -1.08 -69.7 353.9 -9.9 319 3387 0.00 1.27 0.00 0.000 6 0.000 0.035 2392 2329 3110

3707 -1.08 -69.7 386.5 -10.7 350 3710 0.00 1.25 0.00 0.000 4 0.000 0.036 2397 1419 3107

3792 -1.08 -69.7 395.2 -9.9 358 3795 0.00 1.25 0.00 0.000 6 0.000 0.036 2392 2325 3106

4115 -1.08 -69.7 427.0 -10.4 389 4116 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2325 3104

4423 -1.08 -69.7 457.1 -9.5 419 4426 0.00 1.25 0.00 0.000 4 0.000 0.038 2396 1418 3101

4668 -1.08 -69.7 481.8 -10.5 442 4671 0.00 1.25 0.00 0.000 6 0.000 0.038 2392 2319 3100

4992 -1.08 -69.7 514.9 -10.7 473 4995 0.00 1.25 0.00 0.000 4 0.000 0.039 2397 1414 3097

5199 -1.08 -69.7 536.9 -9.7 492 5206 0.00 1.30 0.00 0.000 6 0.000 0.039 2392 2327 3096

5518 -1.08 -69.7 569.2 -9.9 523 5521 0.00 1.27 0.00 0.000 4 0.000 0.041 2396 1416 3093

5625 -1.08 -69.7 580.3 -10.5 533 5627 0.00 1.27 0.00 0.000 6 0.000 0.041 2392 2321 3093

5948 -1.08 -69.7 611.3 -9.7 564 5950 0.00 1.25 0.00 0.000 4 0.000 0.042 2396 1428 3090

6144 -1.08 -69.7 630.6 -10.9 582 6152 0.00 1.27 0.00 0.000 6 0.000 0.040 2392 2327 3089

6462 -1.08 -69.7 661.1 -9.7 613 6463 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2327 3088

6771 -1.08 -69.7 691.4 -9.7 643 6772 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 2327 3087

7082 -1.08 -69.7 721.1 -9.5 673 7085 0.00 1.55 0.00 0.000 4 0.000 0.051 2384 3221 3085

7114 -1.08 -69.7 724.4 -10.2 676 7117 0.00 1.48 0.00 0.000 6 0.000 0.035 2389 2332 3084

7436 -1.08 -69.7 755.5 -9.8 707 7439 0.00 1.30 0.00 0.000 4 0.000 0.044 2390 1404 3083

7504 -1.08 -69.7 762.4 -9.8 713 7511 0.00 1.33 0.00 0.000 6 0.000 0.042 2385 2329 3083

7822 -1.08 -69.7 792.9 -9.6 744 7822 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2329 3082

8132 -1.08 -69.7 821.8 -9.3 774 8132 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2330 3080

8443 -1.08 -69.7 850.5 -9.1 804 8446 0.00 1.30 0.00 0.000 4 0.000 0.044 2386 1419 3079

8550 -1.08 -69.7 860.6 -9.4 814 8553 0.00 1.30 0.00 0.000 6 0.000 0.044 2381 2326 3078

8872 -1.08 -69.7 890.6 -9.3 845 8875 0.00 1.30 0.00 0.000 4 0.000 0.044 2384 1414 3077

9047 -1.08 -69.7 907.6 -10.3 861 9054 0.00 1.35 0.00 0.000 6 0.000 0.053 2379 2324 3076

9364 -1.08 -69.7 937.4 -9.5 892 9366 0.00 1.30 0.00 0.000 4 0.000 0.044 2379 1408 3076

9411 -1.08 -69.7 942.1 -9.8 896 9417 0.00 1.33 0.00 0.000 6 0.000 0.044 2373 2327 3076

9727 -1.08 -69.7 971.1 -9.3 927 9728 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2327 3074

9943 end dive: TARGET_DEPTH_EXCEEDED

state 9943 begin apogee

9949 -0.26 0.0 990.4 8.7 948 10005 1.05 0.00 48.62 1.218 6 0.191 0.000 2649 2263 2840

10006 end apogee: CONTROL_FINISHED_OK

state 10006 begin climb

10008 1.08 69.7 992.0 0.0 954 10071 1.35 0.00 60.83 1.210 6 0.107 0.000 3086 2263 2555

10378 1.08 69.7 941.7 15.5 990 10381 0.00 1.67 0.00 0.000 4 0.000 0.053 3085 3192 2547

10489 1.08 69.7 923.5 16.1 1000 10496 0.00 1.60 0.00 0.000 6 0.000 0.035 3093 2277 2546

10808 1.08 69.7 875.4 15.3 1031 10808 0.00 0.00 0.00 0.000 6 0.000 0.000 3093 2275 2544

11117 1.08 69.7 830.9 14.7 1061 11117 0.00 0.00 0.00 0.000 6 0.000 0.000 3093 2275 2543

11427 1.08 69.7 787.0 14.0 1091 11430 0.00 1.60 0.00 0.000 4 0.000 0.054 3093 3169 2542

11544 1.08 69.7 769.9 14.4 1102 11547 0.00 1.58 0.00 0.000 6 0.000 0.036 3100 2268 2541

11865 1.08 69.7 725.9 13.9 1133 11868 0.00 1.65 0.00 0.000 4 0.000 0.054 3099 3161 2540

12019 1.08 69.7 703.3 16.0 1147 12026 0.00 1.55 0.00 0.000 6 0.000 0.035 3106 2273 2540

12337 1.08 69.7 659.4 13.8 1178 12341 0.00 1.65 0.00 0.000 4 0.000 0.054 3104 3170 2539

12523 1.08 69.7 631.9 15.5 1195 12531 0.00 1.55 0.00 0.000 6 0.000 0.035 3111 2278 2539

12842 1.08 69.7 588.4 13.3 1226 12845 0.00 1.62 0.00 0.000 4 0.000 0.054 3110 3183 2539

12906 1.08 69.7 578.9 14.1 1232 12909 0.00 1.58 0.00 0.000 6 0.000 0.036 3117 2274 2539

13226 1.08 69.7 534.9 13.6 1263 13230 0.00 1.65 0.00 0.000 4 0.000 0.054 3118 3172 2539

13312 1.08 69.7 522.3 14.7 1271 13315 0.10 1.55 0.00 0.000 6 0.202 0.035 3098 2282 2538

13633 1.08 69.7 480.8 12.5 1302 13636 0.00 1.62 0.00 0.000 4 0.000 0.053 3090 3165 2538

13690 1.08 69.7 473.2 13.7 1307 13697 0.00 1.55 0.00 0.000 6 0.000 0.035 3098 2276 2538

14009 1.08 69.7 432.3 12.4 1338 14012 0.00 1.62 0.00 0.000 4 0.000 0.052 3091 3162 2538

14077 1.08 69.7 423.1 13.3 1344 14084 0.00 1.55 0.00 0.000 6 0.000 0.035 3098 2276 2538

14395 1.08 69.7 382.0 12.5 1375 14398 0.00 1.62 0.00 0.000 4 0.000 0.052 3091 3162 2538

14556 1.08 69.7 360.5 13.8 1390 14559 0.00 1.55 0.00 0.000 6 0.000 0.035 3098 2272 2538

14878 1.08 69.7 318.5 13.1 1421 14881 0.00 1.62 0.00 0.000 4 0.000 0.050 3091 3180 2538

15074 1.08 69.7 292.0 13.6 1439 15081 0.00 1.55 0.00 0.000 6 0.000 0.033 3098 2281 2538

15393 1.08 69.7 251.0 12.9 1470 15396 0.00 1.60 0.00 0.000 4 0.000 0.050 3091 3179 2539

15418 1.08 69.7 247.0 15.5 1472 15425 0.00 1.55 0.00 0.000 6 0.000 0.032 3099 2278 2538

15737 1.08 69.7 206.5 12.0 1503 15738 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2278 2539

16045 1.08 69.7 168.0 12.0 1533 16046 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2278 2540

16356 1.08 69.7 134.1 10.4 1563 16359 0.00 1.62 0.00 0.000 4 0.000 0.048 3092 3174 2541

16392 1.08 69.7 130.1 11.5 1566 16401 0.00 1.55 0.00 0.000 6 0.000 0.031 3099 2273 2541

16710 1.08 69.7 97.5 10.9 1597 16713 0.00 1.60 0.00 0.000 4 0.000 0.047 3093 3177 2542

16883 1.08 69.7 78.7 8.0 1613 16886 0.00 1.55 0.00 0.000 6 0.000 0.030 3099 2268 2543

17080 1.08 70.0 64.3 7.5 1632 17081 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2268 2544

17267 1.12 105.7 55.5 3.1 1650 17302 0.00 1.67 27.12 0.546 4 0.000 0.045 3096 3178 2407

17317 1.15 123.8 53.5 5.3 1654 17338 0.00 1.55 15.07 0.520 6 0.000 0.028 3103 2274 2335

17524 1.16 136.0 37.7 6.0 1674 17536 0.00 0.00 10.65 0.489 6 0.000 0.000 3103 2275 2284

17719 1.24 200.9 34.0 -0.5 1693 17774 0.12 1.67 49.65 0.528 4 0.076 0.044 3153 3177 2021

17784 1.27 229.2 32.7 4.0 1699 17811 0.00 1.55 22.52 0.502 6 0.000 0.028 3161 2275 1903

18005 1.27 229.2 12.4 8.4 1720 18008 0.00 1.17 0.00 0.000 4 0.000 0.034 3167 1362 1897

18221 end climb: NO_VERTICAL_VELOCITY

state 18221 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	263	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	850
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2325	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2275	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	597.54108	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-21981.387	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-7	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	205	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3967	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2747	PRESSURE_YINT	-42.932224	SEABIRD_T_G	0.0043524536
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011628702	SEABIRD_T_H	0.00062548812
MASS	51931	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3784551e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5490917e-06
FERRY_MAX	45	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.141768
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1640214
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00094225706
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0001682234
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	20

GPS1	175027,3026.666,-8311.083,468,3.4,487,-4.4	TGT_NAME	NEW0617E
_CALLS	8	TGT_LATLONG	2842.400,-8845.000
_XMS_NAKs	29	TGT_RADIUS	2000.000
_XMS_TOUTs	2	KALMAN_CONTROL	-0.115,0.238
_SM_DEPTHo	2.65	KALMAN_X	-9105.8,-809.2,363.4,24297.9,1039.2
_SM_ANGLEo	-72.7	KALMAN_Y	-365564.8,3276.5,137.1,384615.7,-11996.3
GPS2	181911,2840.514,-8841.046,51,2.7,70,-0.2	MHEAD_RNG_PITCHd_Wd	253.7,7311,-26.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1168

SM_CCo	18223,267.55,0.489,0,0,404,597.54	_24V_AH	23.8,46.135
SM_GC	3.73,8.15,0.00,0.00,0.055,0.000,0.000,207,2331,400,-7.90,0.17,598.52	_10V_AH	10.6,63.843
IRIDIUM_FIX	2831.00,-8836.47,101099,181821	DATA_FILE_SIZE	91508,1740
TT8_MAMPS	0.050622	CAP_FILE_SIZE	188475,0
HUMID	1372	CFSIZE	260165632,231579648
INTERNAL_PRESSURE	9.28747	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	24.30	CURRENT	47.526,242.4,1
XPDR_PINGS	2	GPS	160710,181911,2840.514,-8841.046,51,2.7,70,-0.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	255	125.83	SBE_CT	1191	24	680.71
Roll_motor	96	66	152.58	SBE_O2	1286	19	581.63
VBD_pump_during_apogee	234	1217	6797.03	WL_BBFL2VMT	3911	105	9774.00
VBD_pump_during_surface	267	489	3116.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	230	103	565.55	nil	0	0	0.00
Iridium_during_connect	440	160	1676.07	nil	0	0	0.00
Iridium_during_xfer	415	223	2204.52
Transponder_ping	4	420	42.48
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	72	50	38.66
TT8	0	19	0.00
LPSleep	12604	2	292.60
TT8_Active	617	19	129.68
TT8_Sampling	5643	39	2380.85
TT8_CF8	1535	45	745.24
TT8_Kalman	33	81	28.91
Analog_circuits	2197	12	279.55
GPS_charging	0	0	0.00
Compass	5025	8	426.20
RAFOS	0	0	0.00
Transponder	28	30	9.21

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	-1.04	-41.0	0.0	0.0	0	37	0.00	0.00	-22.98	0.000	2	0.000	0.000	204	2337	1143
39	-1.08	-69.7	3.2	-4.0	2	102	9.93	1.50	-48.60	0.000	4	0.255	0.057	2387	3232	3126
344	-1.08	-69.7	52.9	-11.0	30	347	0.00	1.48	0.00	0.000	6	0.000	0.026	2393	2313	3127
541	-1.08	-69.7	68.5	-7.6	49	544	0.00	1.52	0.00	0.000	4	0.000	0.038	2387	3228	3127
786	-1.08	-69.7	90.1	-9.3	72	789	0.00	1.45	0.00	0.000	6	0.000	0.026	2392	2321	3126
983	-1.08	-69.7	109.7	-10.6	91	986	0.00	1.52	0.00	0.000	4	0.000	0.039	2386	3234	3126
1229	-1.08	-69.7	138.7	-13.7	114	1232	0.00	1.45	0.00	0.000	6	0.000	0.027	2392	2327	3125
1551	-1.08	-69.7	174.5	-10.0	145	1554	0.00	1.50	0.00	0.000	4	0.000	0.040	2386	3224	3124
1680	-1.08	-69.7	188.3	-10.7	157	1683	0.00	1.45	0.00	0.000	6	0.000	0.028	2391	2321	3123
2002	-1.08	-69.7	219.3	-9.2	188	2005	0.00	1.20	0.00	0.000	4	0.000	0.035	2397	1415	3121
2247	-1.08	-69.7	242.1	-9.1	211	2250	0.00	1.25	0.00	0.000	6	0.000	0.034	2393	2327	3120
2570	-1.08	-69.7	273.7	-9.9	242	2573	0.00	1.25	0.00	0.000	4	0.000	0.035	2397	1408	3116
2816	-1.08	-69.7	297.8	-9.4	265	2819	0.00	1.25	0.00	0.000	6	0.000	0.034	2392	2324	3114
3138	-1.08	-69.7	329.1	-9.0	296	3142	0.00	1.25	0.00	0.000	4	0.000	0.036	2397	1406	3111
3384	-1.08	-69.7	353.9	-9.9	319	3387	0.00	1.27	0.00	0.000	6	0.000	0.035	2392	2329	3110
3707	-1.08	-69.7	386.5	-10.7	350	3710	0.00	1.25	0.00	0.000	4	0.000	0.036	2397	1419	3107
3792	-1.08	-69.7	395.2	-9.9	358	3795	0.00	1.25	0.00	0.000	6	0.000	0.036	2392	2325	3106
4115	-1.08	-69.7	427.0	-10.4	389	4116	0.00	0.00	0.00	0.000	6	0.000	0.000	2393	2325	3104
4423	-1.08	-69.7	457.1	-9.5	419	4426	0.00	1.25	0.00	0.000	4	0.000	0.038	2396	1418	3101
4668	-1.08	-69.7	481.8	-10.5	442	4671	0.00	1.25	0.00	0.000	6	0.000	0.038	2392	2319	3100
4992	-1.08	-69.7	514.9	-10.7	473	4995	0.00	1.25	0.00	0.000	4	0.000	0.039	2397	1414	3097
5199	-1.08	-69.7	536.9	-9.7	492	5206	0.00	1.30	0.00	0.000	6	0.000	0.039	2392	2327	3096
5518	-1.08	-69.7	569.2	-9.9	523	5521	0.00	1.27	0.00	0.000	4	0.000	0.041	2396	1416	3093
5625	-1.08	-69.7	580.3	-10.5	533	5627	0.00	1.27	0.00	0.000	6	0.000	0.041	2392	2321	3093
5948	-1.08	-69.7	611.3	-9.7	564	5950	0.00	1.25	0.00	0.000	4	0.000	0.042	2396	1428	3090
6144	-1.08	-69.7	630.6	-10.9	582	6152	0.00	1.27	0.00	0.000	6	0.000	0.040	2392	2327	3089
6462	-1.08	-69.7	661.1	-9.7	613	6463	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2327	3088
6771	-1.08	-69.7	691.4	-9.7	643	6772	0.00	0.00	0.00	0.000	6	0.000	0.000	2391	2327	3087
7082	-1.08	-69.7	721.1	-9.5	673	7085	0.00	1.55	0.00	0.000	4	0.000	0.051	2384	3221	3085
7114	-1.08	-69.7	724.4	-10.2	676	7117	0.00	1.48	0.00	0.000	6	0.000	0.035	2389	2332	3084
7436	-1.08	-69.7	755.5	-9.8	707	7439	0.00	1.30	0.00	0.000	4	0.000	0.044	2390	1404	3083
7504	-1.08	-69.7	762.4	-9.8	713	7511	0.00	1.33	0.00	0.000	6	0.000	0.042	2385	2329	3083
7822	-1.08	-69.7	792.9	-9.6	744	7822	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2329	3082
8132	-1.08	-69.7	821.8	-9.3	774	8132	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2330	3080
8443	-1.08	-69.7	850.5	-9.1	804	8446	0.00	1.30	0.00	0.000	4	0.000	0.044	2386	1419	3079
8550	-1.08	-69.7	860.6	-9.4	814	8553	0.00	1.30	0.00	0.000	6	0.000	0.044	2381	2326	3078
8872	-1.08	-69.7	890.6	-9.3	845	8875	0.00	1.30	0.00	0.000	4	0.000	0.044	2384	1414	3077
9047	-1.08	-69.7	907.6	-10.3	861	9054	0.00	1.35	0.00	0.000	6	0.000	0.053	2379	2324	3076
9364	-1.08	-69.7	937.4	-9.5	892	9366	0.00	1.30	0.00	0.000	4	0.000	0.044	2379	1408	3076
9411	-1.08	-69.7	942.1	-9.8	896	9417	0.00	1.33	0.00	0.000	6	0.000	0.044	2373	2327	3076
9727	-1.08	-69.7	971.1	-9.3	927	9728	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2327	3074
9943	end dive: TARGET_DEPTH_EXCEEDED
state	9943	begin apogee
9949	-0.26	0.0	990.4	8.7	948	10005	1.05	0.00	48.62	1.218	6	0.191	0.000	2649	2263	2840
10006	end apogee: CONTROL_FINISHED_OK
state	10006	begin climb
10008	1.08	69.7	992.0	0.0	954	10071	1.35	0.00	60.83	1.210	6	0.107	0.000	3086	2263	2555
10378	1.08	69.7	941.7	15.5	990	10381	0.00	1.67	0.00	0.000	4	0.000	0.053	3085	3192	2547
10489	1.08	69.7	923.5	16.1	1000	10496	0.00	1.60	0.00	0.000	6	0.000	0.035	3093	2277	2546
10808	1.08	69.7	875.4	15.3	1031	10808	0.00	0.00	0.00	0.000	6	0.000	0.000	3093	2275	2544
11117	1.08	69.7	830.9	14.7	1061	11117	0.00	0.00	0.00	0.000	6	0.000	0.000	3093	2275	2543
11427	1.08	69.7	787.0	14.0	1091	11430	0.00	1.60	0.00	0.000	4	0.000	0.054	3093	3169	2542
11544	1.08	69.7	769.9	14.4	1102	11547	0.00	1.58	0.00	0.000	6	0.000	0.036	3100	2268	2541
11865	1.08	69.7	725.9	13.9	1133	11868	0.00	1.65	0.00	0.000	4	0.000	0.054	3099	3161	2540
12019	1.08	69.7	703.3	16.0	1147	12026	0.00	1.55	0.00	0.000	6	0.000	0.035	3106	2273	2540
12337	1.08	69.7	659.4	13.8	1178	12341	0.00	1.65	0.00	0.000	4	0.000	0.054	3104	3170	2539
12523	1.08	69.7	631.9	15.5	1195	12531	0.00	1.55	0.00	0.000	6	0.000	0.035	3111	2278	2539
12842	1.08	69.7	588.4	13.3	1226	12845	0.00	1.62	0.00	0.000	4	0.000	0.054	3110	3183	2539
12906	1.08	69.7	578.9	14.1	1232	12909	0.00	1.58	0.00	0.000	6	0.000	0.036	3117	2274	2539
13226	1.08	69.7	534.9	13.6	1263	13230	0.00	1.65	0.00	0.000	4	0.000	0.054	3118	3172	2539
13312	1.08	69.7	522.3	14.7	1271	13315	0.10	1.55	0.00	0.000	6	0.202	0.035	3098	2282	2538
13633	1.08	69.7	480.8	12.5	1302	13636	0.00	1.62	0.00	0.000	4	0.000	0.053	3090	3165	2538
13690	1.08	69.7	473.2	13.7	1307	13697	0.00	1.55	0.00	0.000	6	0.000	0.035	3098	2276	2538
14009	1.08	69.7	432.3	12.4	1338	14012	0.00	1.62	0.00	0.000	4	0.000	0.052	3091	3162	2538
14077	1.08	69.7	423.1	13.3	1344	14084	0.00	1.55	0.00	0.000	6	0.000	0.035	3098	2276	2538
14395	1.08	69.7	382.0	12.5	1375	14398	0.00	1.62	0.00	0.000	4	0.000	0.052	3091	3162	2538
14556	1.08	69.7	360.5	13.8	1390	14559	0.00	1.55	0.00	0.000	6	0.000	0.035	3098	2272	2538
14878	1.08	69.7	318.5	13.1	1421	14881	0.00	1.62	0.00	0.000	4	0.000	0.050	3091	3180	2538
15074	1.08	69.7	292.0	13.6	1439	15081	0.00	1.55	0.00	0.000	6	0.000	0.033	3098	2281	2538
15393	1.08	69.7	251.0	12.9	1470	15396	0.00	1.60	0.00	0.000	4	0.000	0.050	3091	3179	2539
15418	1.08	69.7	247.0	15.5	1472	15425	0.00	1.55	0.00	0.000	6	0.000	0.032	3099	2278	2538
15737	1.08	69.7	206.5	12.0	1503	15738	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2278	2539
16045	1.08	69.7	168.0	12.0	1533	16046	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2278	2540
16356	1.08	69.7	134.1	10.4	1563	16359	0.00	1.62	0.00	0.000	4	0.000	0.048	3092	3174	2541
16392	1.08	69.7	130.1	11.5	1566	16401	0.00	1.55	0.00	0.000	6	0.000	0.031	3099	2273	2541
16710	1.08	69.7	97.5	10.9	1597	16713	0.00	1.60	0.00	0.000	4	0.000	0.047	3093	3177	2542
16883	1.08	69.7	78.7	8.0	1613	16886	0.00	1.55	0.00	0.000	6	0.000	0.030	3099	2268	2543
17080	1.08	70.0	64.3	7.5	1632	17081	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2268	2544
17267	1.12	105.7	55.5	3.1	1650	17302	0.00	1.67	27.12	0.546	4	0.000	0.045	3096	3178	2407
17317	1.15	123.8	53.5	5.3	1654	17338	0.00	1.55	15.07	0.520	6	0.000	0.028	3103	2274	2335
17524	1.16	136.0	37.7	6.0	1674	17536	0.00	0.00	10.65	0.489	6	0.000	0.000	3103	2275	2284
17719	1.24	200.9	34.0	-0.5	1693	17774	0.12	1.67	49.65	0.528	4	0.076	0.044	3153	3177	2021
17784	1.27	229.2	32.7	4.0	1699	17811	0.00	1.55	22.52	0.502	6	0.000	0.028	3161	2275	1903
18005	1.27	229.2	12.4	8.4	1720	18008	0.00	1.17	0.00	0.000	4	0.000	0.034	3167	1362	1897
18221	end climb: NO_VERTICAL_VELOCITY
state	18221	begin surface