Glider dive log

Cuddy Oct13 * SG195 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 195 HD_C 1.6100001e-05 ROLL_MAX 3758 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 8 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 15 ESCAPE_HEADING 0 C_ROLL_DIVE 2025 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 48 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 350 R_STBD_OVSHOOT 31 XPDR_VALID 3

D_BOOST 10 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.77999997

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2820 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 115

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 390 CALL_WAIT 45 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -4436.6025 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 12 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 207 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2550 FG_AHR_10V 0 SEABIRD_T_G 0.0043948898

GLIDE_SLOPE 40 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000640176

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.7039805e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -50.110214 SEABIRD_T_J 3.3535807e-06

MASS 59371 PITCH_GAIN 22.200001 PRESSURE_SLOPE 0.0001168043 SEABIRD_C_G -9.7607336

MASS_COMP 3973.1001 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1271561

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014806761

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019408959

KALMAN_USE 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 224 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 350

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22.200001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3915 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 207 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 330

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001168043 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -50.110214 T_GPS 5

CALL_WAIT 45 HD_C 1.6100001e-05 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -4436.6025

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 390

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 195 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 12

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT -0.77999997 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2550 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2025 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2025 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2820 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3758 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 59371 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3973.1001 ROLL_MIN 224 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 48 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 31 VBD_MIN 500

DEVICE4 -1 MISSION 8 SEABIRD_C_G -9.7607336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1271561 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0014806761 VBD_TIMEOUT 720

DIVE 15 NOCOMM_ACTION 163 SEABIRD_C_J 0.00019408959 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043948898 XPDR_DEVICE 24

D_BOOST 10 N_FILEKB 4 SEABIRD_T_H 0.000640176 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.7039805e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.3535807e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 271013,161600,4712.585,-12501.029,16,1.3,16,16.6 TGT_NAME SEARCH_A

_CALLS 1 TGT_LATLONG 4750.000,-12525.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.242,-0.089

_SM_DEPTHo 1.13 KALMAN_X -13096913.0,1728256.4,1299965.2,-3769018.8,-6726169.0

_SM_ANGLEo -39.6 KALMAN_Y 4945842.0,-652517.6,-491251.6,1423323.2,2540307.2

GPS2 271013,161954,4712.540,-12501.038,18,1.3,18,16.6 MHEAD_RNG_PITCHd_Wd 93.7,75502,-17.6,-10.000,-21.21,2209

SPEED_LIMITS 0.119,0.258 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.4,1.023848 _24V_AH 24.2,3.369

SM_CCo 9291,0.20,0.003,0,0,1393,350.04 _10V_AH 10.4,3.389

SM_GC 1.41,6.97,0.00,0.20,0.044,0.000,0.003,183,2031,1393,-7.29,0.17,350.04,0,0,0,0,0,0,26.25,28.83,26.44 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4657.54,-12503.16,271013,161623 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 314532

HUMID 44.13 DATA_FILE_SIZE 27141,375

INTERNAL_PRESSURE 8.90787 CAP_FILE_SIZE 171393,0

TCM_TEMP 16.70 CFSIZE 2097872896,2093416448

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 430.7,66.7 GPS 271013,185658,4712.208,-12459.448,40,0.9,40,16.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 211 84.82 SBE_CT 256 22 139.30

Roll_motor 72 46 82.27 AA4330 496 11 134.93

VBD_pump_during_apogee 335 832 6765.24 WL_BB2FLVMT 805 105 2046.34

VBD_pump_during_surface 0 3 0.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 8 420 88.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 30 5.96

TT8 1098 15 173.69

LPSleep 6299 2 143.47

TT8_Active 402 15 63.63

TT8_Sampling 1509 43 685.72

TT8_CF8 58 53 32.35

TT8_Kalman 32 69 23.16

Analog_circuits 1097 14 159.80

GPS_charging 0 0 0.00

Compass 1465 8 125.63

RAFOS 0 0 0.00

Transponder 57 30 17.92

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.79 -146.6 200 2017 649 340 0.0 0.0 0 141 0.00 0.00 -120.25 0.000 16390 0.000 0.000 200 2018 3418 3417 3420 0 0 0 0 0 0 28.83 28.83 26.85

143 -0.79 -146.6 200 2018 3418 3419 3.4 -4.9 12 156 7.65 2.15 0.00 0.000 2564 0.211 0.037 2288 625 3420 3422 3419 0 0 0 0 0 0 26.19 26.48 28.83

407 -0.79 -146.6 2288 625 3424 3419 42.5 -13.2 38 417 0.00 2.12 0.00 0.000 1030 0.000 0.032 2280 2042 3421 3423 3419 0 0 0 0 0 0 28.83 26.55 28.83

727 -0.79 -146.6 2280 2042 3426 3419 83.3 -13.5 69 733 0.00 2.12 0.00 0.000 260 0.000 0.044 2269 3433 3422 3425 3420 0 0 0 0 0 0 28.83 26.56 28.83

878 -0.79 -146.6 2269 3433 3425 3419 101.6 -12.1 76 882 0.00 2.10 0.00 0.000 1030 0.000 0.026 2269 1994 3422 3425 3419 0 0 0 0 0 0 28.83 26.63 28.83

1191 -0.79 -146.6 2269 1994 3425 3419 139.2 -11.0 92 1196 0.00 2.05 0.00 0.000 516 0.000 0.039 2269 636 3421 3424 3419 0 0 0 0 0 0 28.83 26.59 28.83

1274 -0.79 -146.6 2269 636 3424 3419 148.9 -11.9 96 1280 0.10 2.12 0.00 0.000 3078 0.122 0.033 2293 2021 3421 3424 3419 0 0 0 0 0 0 26.47 26.64 28.83

1595 -0.79 -146.6 2293 2021 3424 3417 181.2 -9.6 107 1601 0.00 2.15 0.00 0.000 260 0.000 0.045 2285 3433 3421 3425 3417 0 0 0 0 0 0 28.83 26.61 28.83

1782 -0.79 -146.6 2285 3434 3424 3415 200.0 -10.2 113 1787 0.00 2.10 0.00 0.000 1030 0.000 0.028 2285 2030 3419 3424 3415 0 0 0 0 0 0 28.83 26.68 28.83

2107 -0.79 -146.6 2285 2030 3424 3412 232.6 -9.8 124 2108 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 2030 3418 3424 3412 0 0 0 0 0 0 28.83 28.83 28.83

2405 -0.79 -146.6 2285 2030 3424 3410 263.7 -10.6 134 2409 0.00 2.17 0.00 0.000 260 0.000 0.046 2275 3436 3417 3424 3410 0 0 0 0 0 0 28.83 26.63 28.83

2527 -0.79 -146.6 2275 3436 3423 3409 276.7 -10.7 138 2533 0.00 2.08 0.00 0.000 1030 0.000 0.028 2275 2024 3415 3423 3408 0 0 0 0 0 0 28.83 26.70 28.83

2890 -0.79 -146.6 2275 2023 3423 3407 315.2 -10.6 148 2895 0.00 2.15 0.00 0.000 260 0.000 0.047 2264 3428 3415 3423 3407 0 0 0 0 0 0 28.83 26.65 28.83

3051 -0.79 -146.6 2264 3428 3423 3406 328.3 -10.7 150 3056 0.08 2.10 0.00 0.000 3078 0.119 0.028 2292 2027 3414 3423 3406 0 0 0 0 0 0 26.55 26.71 28.83

3370 -0.79 -146.6 2291 2026 3422 3405 362.5 -9.1 156 3375 0.00 2.15 0.00 0.000 260 0.000 0.047 2284 3430 3413 3422 3404 0 0 0 0 0 0 28.83 26.65 28.83

3482 -0.79 -146.6 2283 3430 3422 3404 368.0 -9.2 157 3491 0.00 2.10 0.00 0.000 1030 0.000 0.029 2284 2027 3413 3422 3404 0 0 0 0 0 0 28.83 26.72 28.83

3791 -0.79 -146.6 2283 2027 3422 3403 402.5 -9.5 163 3796 0.00 2.12 0.00 0.000 260 0.000 0.047 2273 3423 3412 3422 3403 0 0 0 0 0 0 28.83 26.65 28.83

3867 -0.79 -146.6 2273 3423 3422 3403 408.2 -9.5 164 3871 0.00 2.08 0.00 0.000 1030 0.000 0.029 2273 2017 3412 3422 3402 0 0 0 0 0 0 28.83 26.72 28.83

4211 -0.79 -146.6 2273 2017 3422 3400 441.7 -9.1 170 4216 0.00 2.15 0.00 0.000 260 0.000 0.047 2263 3423 3410 3422 3399 0 0 0 0 0 0 28.83 26.65 28.83

4342 -0.79 -146.6 2262 3423 3422 3398 453.5 -9.5 172 4347 0.12 2.05 0.00 0.000 3078 0.139 0.029 2298 2022 3410 3422 3398 0 0 0 0 0 0 26.55 26.72 28.83

4685 -0.79 -146.6 2297 2022 3422 3397 483.5 -8.3 178 4687 0.00 0.00 -0.08 0.000 16390 0.000 0.000 2298 2022 3433 3445 3421 0 0 0 0 0 0 28.83 28.83 26.06

4744 end dive: BOTTOM_OBSTACLE_DETECTED

state 4744 begin apogee

4747 -0.23 0.0 2298 2022 3445 3421 488.5 -8.3 179 4866 0.50 0.00 112.47 0.832 10246 0.098 0.000 2475 2022 2820 2915 2725 0 0 0 0 0 0 26.56 28.83 24.46

4867 end apogee: CONTROL_FINISHED_OK

state 4867 begin climb

4868 0.79 146.6 2474 2022 2915 2725 492.2 0.0 181 4992 0.93 2.33 116.12 0.830 10756 0.056 0.043 2817 646 2221 2343 2100 0 0 0 0 0 0 25.22 24.87 24.20

5045 0.79 146.6 2816 646 2341 2099 477.8 10.0 184 5051 0.00 2.20 0.00 0.000 1030 0.000 0.034 2817 2028 2220 2341 2099 0 0 0 0 0 0 28.83 25.39 28.83

5405 0.79 146.6 2816 2028 2340 2095 434.0 12.0 190 5411 0.00 2.20 0.00 0.000 260 0.000 0.045 2817 3429 2217 2340 2095 0 0 0 0 0 0 28.83 26.03 28.83

5484 0.79 146.6 2816 3429 2340 2095 425.9 12.4 191 5488 0.00 2.12 0.00 0.000 1030 0.000 0.030 2827 2022 2218 2340 2096 0 0 0 0 0 0 28.83 26.13 28.83

5820 0.79 146.6 2827 2022 2337 2096 379.0 13.0 197 5821 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2022 2216 2337 2096 0 0 0 0 0 0 28.83 28.83 28.83

6121 0.79 146.6 2827 2022 2336 2095 339.2 13.4 202 6127 0.00 2.17 0.00 0.000 260 0.000 0.045 2827 3435 2215 2336 2095 0 0 0 0 0 0 28.83 26.34 28.83

6167 0.79 146.6 2827 3435 2336 2096 339.2 13.4 202 6172 0.10 2.15 0.00 0.000 5126 0.138 0.030 2806 2029 2215 2336 2095 0 0 0 0 0 0 26.23 26.41 28.83

6480 0.79 146.6 2806 2029 2334 2095 293.6 12.3 208 6481 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2029 2215 2335 2095 0 0 0 0 0 0 28.83 28.83 28.83

6780 0.79 146.6 2806 2029 2334 2095 258.6 11.7 218 6786 0.00 2.17 0.00 0.000 260 0.000 0.045 2806 3430 2214 2334 2095 0 0 0 0 0 0 28.83 26.46 28.83

6840 0.79 146.6 2806 3430 2334 2095 250.9 12.3 220 6846 0.00 2.12 0.00 0.000 1030 0.000 0.030 2813 2009 2214 2334 2095 0 0 0 0 0 0 28.83 26.52 28.83

7170 0.79 146.6 2813 2009 2334 2095 211.9 11.6 231 7171 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2009 2214 2334 2094 0 0 0 0 0 0 28.83 28.83 28.83

7470 0.79 146.6 2813 2009 2334 2094 178.4 11.2 241 7476 0.00 2.20 0.00 0.000 260 0.000 0.045 2813 3432 2214 2334 2094 0 0 0 0 0 0 28.83 26.53 28.83

7530 0.79 146.6 2813 3432 2334 2094 170.9 11.9 243 7536 0.00 2.10 0.00 0.000 1030 0.000 0.030 2824 2022 2214 2334 2094 0 0 0 0 0 0 28.83 26.58 28.83

7851 0.79 146.6 2824 2022 2334 2094 131.7 12.4 256 7852 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 2022 2214 2334 2094 0 0 0 0 0 0 28.83 28.83 28.83

8151 0.79 146.6 2824 2022 2334 2094 95.1 12.0 271 8156 0.00 2.12 0.00 0.000 516 0.000 0.043 2834 634 2214 2334 2094 0 0 0 0 0 0 28.83 26.57 28.83

8218 0.79 146.6 2834 634 2332 2094 88.3 11.5 274 8222 0.00 2.15 0.00 0.000 1030 0.000 0.034 2834 2028 2213 2332 2094 0 0 0 0 0 0 28.83 26.62 28.83

8532 0.79 209.4 2834 2028 2333 2094 58.3 7.1 302 8585 0.00 2.28 45.72 0.572 8452 0.000 0.044 2834 3430 1965 2105 1826 0 0 0 0 0 0 28.83 26.06 25.48

8633 0.79 209.4 2834 3430 2105 1825 48.8 10.8 312 8643 0.15 2.12 0.00 0.000 5126 0.142 0.030 2803 2018 1964 2105 1824 0 0 0 0 0 0 26.03 26.17 28.83

8943 0.79 261.1 2803 2018 2105 1820 22.4 7.6 343 8975 0.00 2.20 25.15 0.512 8708 0.000 0.044 2810 637 1754 1898 1611 0 0 0 0 0 0 28.83 26.01 25.48

9231 0.79 352.1 2810 637 1892 1601 4.4 5.8 371 9273 0.00 2.12 36.40 0.058 9218 0.000 0.034 2810 2031 1403 1551 1256 0 0 0 0 0 0 28.83 26.24 28.83

9274 end climb: SURFACE_DEPTH_REACHED

state 9274 begin surface coast

9278 end surface coast: CONTROL_FINISHED_OK

state 9278 begin surface

ID	195	HD_C	1.6100001e-05	ROLL_MAX	3758	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	8	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	15	ESCAPE_HEADING	0	C_ROLL_DIVE	2025	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	48	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	350	R_STBD_OVSHOOT	31	XPDR_VALID	3
D_BOOST	10	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.77999997
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2820	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	115
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	390	CALL_WAIT	45	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-4436.6025	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	12	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	207	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2550	FG_AHR_10V	0	SEABIRD_T_G	0.0043948898
GLIDE_SLOPE	40	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000640176
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.7039805e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-50.110214	SEABIRD_T_J	3.3535807e-06
MASS	59371	PITCH_GAIN	22.200001	PRESSURE_SLOPE	0.0001168043	SEABIRD_C_G	-9.7607336
MASS_COMP	3973.1001	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1271561
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014806761
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019408959
KALMAN_USE	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	224	ALTIM_TOP_PING_RANGE	0

GPS1	271013,161600,4712.585,-12501.029,16,1.3,16,16.6	TGT_NAME	SEARCH_A
_CALLS	1	TGT_LATLONG	4750.000,-12525.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.242,-0.089
_SM_DEPTHo	1.13	KALMAN_X	-13096913.0,1728256.4,1299965.2,-3769018.8,-6726169.0
_SM_ANGLEo	-39.6	KALMAN_Y	4945842.0,-652517.6,-491251.6,1423323.2,2540307.2
GPS2	271013,161954,4712.540,-12501.038,18,1.3,18,16.6	MHEAD_RNG_PITCHd_Wd	93.7,75502,-17.6,-10.000,-21.21,2209
SPEED_LIMITS	0.119,0.258	D_GRID	990

FINISH	1.4,1.023848	_24V_AH	24.2,3.369
SM_CCo	9291,0.20,0.003,0,0,1393,350.04	_10V_AH	10.4,3.389
SM_GC	1.41,6.97,0.00,0.20,0.044,0.000,0.003,183,2031,1393,-7.29,0.17,350.04,0,0,0,0,0,0,26.25,28.83,26.44	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4657.54,-12503.16,271013,161623	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	314532
HUMID	44.13	DATA_FILE_SIZE	27141,375
INTERNAL_PRESSURE	8.90787	CAP_FILE_SIZE	171393,0
TCM_TEMP	16.70	CFSIZE	2097872896,2093416448
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	430.7,66.7	GPS	271013,185658,4712.208,-12459.448,40,0.9,40,16.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	211	84.82	SBE_CT	256	22	139.30
Roll_motor	72	46	82.27	AA4330	496	11	134.93
VBD_pump_during_apogee	335	832	6765.24	WL_BB2FLVMT	805	105	2046.34
VBD_pump_during_surface	0	3	0.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	8	420	88.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	30	5.96
TT8	1098	15	173.69
LPSleep	6299	2	143.47
TT8_Active	402	15	63.63
TT8_Sampling	1509	43	685.72
TT8_CF8	58	53	32.35
TT8_Kalman	32	69	23.16
Analog_circuits	1097	14	159.80
GPS_charging	0	0	0.00
Compass	1465	8	125.63
RAFOS	0	0	0.00
Transponder	57	30	17.92

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.79	-146.6	200	2017	649	340	0.0	0.0	0	141	0.00	0.00	-120.25	0.000	16390	0.000	0.000	200	2018	3418	3417	3420	0	0	0	0	0	0	28.83	28.83	26.85
143	-0.79	-146.6	200	2018	3418	3419	3.4	-4.9	12	156	7.65	2.15	0.00	0.000	2564	0.211	0.037	2288	625	3420	3422	3419	0	0	0	0	0	0	26.19	26.48	28.83
407	-0.79	-146.6	2288	625	3424	3419	42.5	-13.2	38	417	0.00	2.12	0.00	0.000	1030	0.000	0.032	2280	2042	3421	3423	3419	0	0	0	0	0	0	28.83	26.55	28.83
727	-0.79	-146.6	2280	2042	3426	3419	83.3	-13.5	69	733	0.00	2.12	0.00	0.000	260	0.000	0.044	2269	3433	3422	3425	3420	0	0	0	0	0	0	28.83	26.56	28.83
878	-0.79	-146.6	2269	3433	3425	3419	101.6	-12.1	76	882	0.00	2.10	0.00	0.000	1030	0.000	0.026	2269	1994	3422	3425	3419	0	0	0	0	0	0	28.83	26.63	28.83
1191	-0.79	-146.6	2269	1994	3425	3419	139.2	-11.0	92	1196	0.00	2.05	0.00	0.000	516	0.000	0.039	2269	636	3421	3424	3419	0	0	0	0	0	0	28.83	26.59	28.83
1274	-0.79	-146.6	2269	636	3424	3419	148.9	-11.9	96	1280	0.10	2.12	0.00	0.000	3078	0.122	0.033	2293	2021	3421	3424	3419	0	0	0	0	0	0	26.47	26.64	28.83
1595	-0.79	-146.6	2293	2021	3424	3417	181.2	-9.6	107	1601	0.00	2.15	0.00	0.000	260	0.000	0.045	2285	3433	3421	3425	3417	0	0	0	0	0	0	28.83	26.61	28.83
1782	-0.79	-146.6	2285	3434	3424	3415	200.0	-10.2	113	1787	0.00	2.10	0.00	0.000	1030	0.000	0.028	2285	2030	3419	3424	3415	0	0	0	0	0	0	28.83	26.68	28.83
2107	-0.79	-146.6	2285	2030	3424	3412	232.6	-9.8	124	2108	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	2030	3418	3424	3412	0	0	0	0	0	0	28.83	28.83	28.83
2405	-0.79	-146.6	2285	2030	3424	3410	263.7	-10.6	134	2409	0.00	2.17	0.00	0.000	260	0.000	0.046	2275	3436	3417	3424	3410	0	0	0	0	0	0	28.83	26.63	28.83
2527	-0.79	-146.6	2275	3436	3423	3409	276.7	-10.7	138	2533	0.00	2.08	0.00	0.000	1030	0.000	0.028	2275	2024	3415	3423	3408	0	0	0	0	0	0	28.83	26.70	28.83
2890	-0.79	-146.6	2275	2023	3423	3407	315.2	-10.6	148	2895	0.00	2.15	0.00	0.000	260	0.000	0.047	2264	3428	3415	3423	3407	0	0	0	0	0	0	28.83	26.65	28.83
3051	-0.79	-146.6	2264	3428	3423	3406	328.3	-10.7	150	3056	0.08	2.10	0.00	0.000	3078	0.119	0.028	2292	2027	3414	3423	3406	0	0	0	0	0	0	26.55	26.71	28.83
3370	-0.79	-146.6	2291	2026	3422	3405	362.5	-9.1	156	3375	0.00	2.15	0.00	0.000	260	0.000	0.047	2284	3430	3413	3422	3404	0	0	0	0	0	0	28.83	26.65	28.83
3482	-0.79	-146.6	2283	3430	3422	3404	368.0	-9.2	157	3491	0.00	2.10	0.00	0.000	1030	0.000	0.029	2284	2027	3413	3422	3404	0	0	0	0	0	0	28.83	26.72	28.83
3791	-0.79	-146.6	2283	2027	3422	3403	402.5	-9.5	163	3796	0.00	2.12	0.00	0.000	260	0.000	0.047	2273	3423	3412	3422	3403	0	0	0	0	0	0	28.83	26.65	28.83
3867	-0.79	-146.6	2273	3423	3422	3403	408.2	-9.5	164	3871	0.00	2.08	0.00	0.000	1030	0.000	0.029	2273	2017	3412	3422	3402	0	0	0	0	0	0	28.83	26.72	28.83
4211	-0.79	-146.6	2273	2017	3422	3400	441.7	-9.1	170	4216	0.00	2.15	0.00	0.000	260	0.000	0.047	2263	3423	3410	3422	3399	0	0	0	0	0	0	28.83	26.65	28.83
4342	-0.79	-146.6	2262	3423	3422	3398	453.5	-9.5	172	4347	0.12	2.05	0.00	0.000	3078	0.139	0.029	2298	2022	3410	3422	3398	0	0	0	0	0	0	26.55	26.72	28.83
4685	-0.79	-146.6	2297	2022	3422	3397	483.5	-8.3	178	4687	0.00	0.00	-0.08	0.000	16390	0.000	0.000	2298	2022	3433	3445	3421	0	0	0	0	0	0	28.83	28.83	26.06
4744	end dive: BOTTOM_OBSTACLE_DETECTED
state	4744	begin apogee
4747	-0.23	0.0	2298	2022	3445	3421	488.5	-8.3	179	4866	0.50	0.00	112.47	0.832	10246	0.098	0.000	2475	2022	2820	2915	2725	0	0	0	0	0	0	26.56	28.83	24.46
4867	end apogee: CONTROL_FINISHED_OK
state	4867	begin climb
4868	0.79	146.6	2474	2022	2915	2725	492.2	0.0	181	4992	0.93	2.33	116.12	0.830	10756	0.056	0.043	2817	646	2221	2343	2100	0	0	0	0	0	0	25.22	24.87	24.20
5045	0.79	146.6	2816	646	2341	2099	477.8	10.0	184	5051	0.00	2.20	0.00	0.000	1030	0.000	0.034	2817	2028	2220	2341	2099	0	0	0	0	0	0	28.83	25.39	28.83
5405	0.79	146.6	2816	2028	2340	2095	434.0	12.0	190	5411	0.00	2.20	0.00	0.000	260	0.000	0.045	2817	3429	2217	2340	2095	0	0	0	0	0	0	28.83	26.03	28.83
5484	0.79	146.6	2816	3429	2340	2095	425.9	12.4	191	5488	0.00	2.12	0.00	0.000	1030	0.000	0.030	2827	2022	2218	2340	2096	0	0	0	0	0	0	28.83	26.13	28.83
5820	0.79	146.6	2827	2022	2337	2096	379.0	13.0	197	5821	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2022	2216	2337	2096	0	0	0	0	0	0	28.83	28.83	28.83
6121	0.79	146.6	2827	2022	2336	2095	339.2	13.4	202	6127	0.00	2.17	0.00	0.000	260	0.000	0.045	2827	3435	2215	2336	2095	0	0	0	0	0	0	28.83	26.34	28.83
6167	0.79	146.6	2827	3435	2336	2096	339.2	13.4	202	6172	0.10	2.15	0.00	0.000	5126	0.138	0.030	2806	2029	2215	2336	2095	0	0	0	0	0	0	26.23	26.41	28.83
6480	0.79	146.6	2806	2029	2334	2095	293.6	12.3	208	6481	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2029	2215	2335	2095	0	0	0	0	0	0	28.83	28.83	28.83
6780	0.79	146.6	2806	2029	2334	2095	258.6	11.7	218	6786	0.00	2.17	0.00	0.000	260	0.000	0.045	2806	3430	2214	2334	2095	0	0	0	0	0	0	28.83	26.46	28.83
6840	0.79	146.6	2806	3430	2334	2095	250.9	12.3	220	6846	0.00	2.12	0.00	0.000	1030	0.000	0.030	2813	2009	2214	2334	2095	0	0	0	0	0	0	28.83	26.52	28.83
7170	0.79	146.6	2813	2009	2334	2095	211.9	11.6	231	7171	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2009	2214	2334	2094	0	0	0	0	0	0	28.83	28.83	28.83
7470	0.79	146.6	2813	2009	2334	2094	178.4	11.2	241	7476	0.00	2.20	0.00	0.000	260	0.000	0.045	2813	3432	2214	2334	2094	0	0	0	0	0	0	28.83	26.53	28.83
7530	0.79	146.6	2813	3432	2334	2094	170.9	11.9	243	7536	0.00	2.10	0.00	0.000	1030	0.000	0.030	2824	2022	2214	2334	2094	0	0	0	0	0	0	28.83	26.58	28.83
7851	0.79	146.6	2824	2022	2334	2094	131.7	12.4	256	7852	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	2022	2214	2334	2094	0	0	0	0	0	0	28.83	28.83	28.83
8151	0.79	146.6	2824	2022	2334	2094	95.1	12.0	271	8156	0.00	2.12	0.00	0.000	516	0.000	0.043	2834	634	2214	2334	2094	0	0	0	0	0	0	28.83	26.57	28.83
8218	0.79	146.6	2834	634	2332	2094	88.3	11.5	274	8222	0.00	2.15	0.00	0.000	1030	0.000	0.034	2834	2028	2213	2332	2094	0	0	0	0	0	0	28.83	26.62	28.83
8532	0.79	209.4	2834	2028	2333	2094	58.3	7.1	302	8585	0.00	2.28	45.72	0.572	8452	0.000	0.044	2834	3430	1965	2105	1826	0	0	0	0	0	0	28.83	26.06	25.48
8633	0.79	209.4	2834	3430	2105	1825	48.8	10.8	312	8643	0.15	2.12	0.00	0.000	5126	0.142	0.030	2803	2018	1964	2105	1824	0	0	0	0	0	0	26.03	26.17	28.83
8943	0.79	261.1	2803	2018	2105	1820	22.4	7.6	343	8975	0.00	2.20	25.15	0.512	8708	0.000	0.044	2810	637	1754	1898	1611	0	0	0	0	0	0	28.83	26.01	25.48
9231	0.79	352.1	2810	637	1892	1601	4.4	5.8	371	9273	0.00	2.12	36.40	0.058	9218	0.000	0.034	2810	2031	1403	1551	1256	0	0	0	0	0	0	28.83	26.24	28.83
9274	end climb: SURFACE_DEPTH_REACHED
state	9274	begin surface coast
9278	end surface coast: CONTROL_FINISHED_OK
state	9278	begin surface