Glider dive log

PISCES Aug14 * SG200 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 200 HD_B 0.0134447 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 1.6100001e-05 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 18 HEADING -1 ROLL_MIN 282 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 48.400002 ROLL_MAX 3852 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2660 ALTIM_PING_DELTA 5

D_TGT 500 TGT_DEFAULT_LAT 3219.3999 C_ROLL_CLIMB 2325 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_DEFAULT_LON -6434.1001 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_BOOST 100 SM_CC 375 ROLL_TIMEOUT 15 XPDR_VALID 1

T_BOOST 30 N_FILEKB 8 R_PORT_OVSHOOT 151 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 75 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.77999997

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 73 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 0 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 35

T_DIVE 165 UPLOAD_DIVES_MAX -1 C_VBD 2737 DEVICE3 -1

T_MISSION 180 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 720 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1102.3423 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 4 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 1001 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 97 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 197 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3889 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2973 PHONE_SUPPLY 2 SEABIRD_T_G 0.004400372

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -66.711494 SEABIRD_T_H 0.00063770427

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001160319 SEABIRD_T_I 2.5625237e-05

MASS 52177 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 3.1304903e-06

NAV_MODE 1 PITCH_GAIN 19.700001 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9220228

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1569983

KALMAN_USE 1 PITCH_AD_RATE 160 COMPASS_USE 4 SEABIRD_C_I -0.00090645044

HD_A 0.003 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00015506662

AD7714Ch0Gain 128 D_NO_BLEED 50 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 97 D_OFFGRID 1001 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 375

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 500 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 48.400002 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_GAIN 19.700001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAX 3889 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 197 TGT_DEFAULT_LAT 3219.3999

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -6434.1001

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001160319 T_BOOST 30

CALL_TRIES 5 HD_A 0.003 PRESSURE_YINT -66.711494 T_DIVE 165

CALL_WAIT 60 HD_B 0.0134447 PROTOCOL 73 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 1.6100001e-05 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -1102.3423

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 180

COMPASS_DEVICE 33 ID 200 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 4

COURSE_BIAS 0 INT_PRESSURE_YINT -0.77999997 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2973 KALMAN_USE 1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2325 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2660 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2737 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3852 USE_BATHY 0

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 52177 ROLL_MIN 282 VBD_BLEED_AD_RATE 8

DEVICE2 35 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 151 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 75 VBD_MAX 3960

DEVICE5 -1 MISSION 4 SEABIRD_C_G -9.9220228 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1569983 VBD_MIN 500

DIVE 18 NAV_MODE 1 SEABIRD_C_I -0.00090645044 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NOCOMM_ACTION 0 SEABIRD_C_J 0.00015506662 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.004400372 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00063770427 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.5625237e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 3.1304903e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 110814,220505,2741.458,-7001.011,25,0.9,25,-12.3 TGT_NAME BRAVO

_CALLS 1 TGT_LATLONG 2730.000,-7005.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.032,-0.222

_SM_DEPTHo 0.61 KALMAN_X -13694.7,441.1,206.5,20750.4,-1488.0

_SM_ANGLEo -65.8 KALMAN_Y -17600.3,639.4,368.1,-17045.5,-1557.5

GPS2 110814,221317,2741.389,-7000.962,5,1.1,5,-12.3 MHEAD_RNG_PITCHd_Wd 184.2,22111,-19.8,-10.101

SPEED_LIMITS 0.175,0.224 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.5,1.023438 _10V_AH 10.5,5.095

SM_CCo 7337,19.30,0.122,0,0,1207,375.06 FG_AHR_24Vo 0.000

SM_GC 0.92,8.10,0.43,19.30,0.027,0.038,0.122,171,2658,1207,-8.63,-2.09,375.06,0,0,0,0,0,0,27.13,27.15,26.94 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2734.80,-6959.97,110814,181835 MEM 334088

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 30295,563

HUMID 46.49 CAP_FILE_SIZE 96074,0

INTERNAL_PRESSURE 9.10319 CFSIZE 1024393216,1019887616

TCM_TEMP 22.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 21 GPS 120814,001736,2739.872,-7001.134,13,0.9,13,-12.3

_24V_AH 25.0,7.394

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 199 96.09 SBE_CT 372 24 223.46

Roll_motor 91 52 118.64 WL_BB2F 1519 105 3988.42

VBD_pump_during_apogee 285 914 6538.96 nil 0 0 0.00

VBD_pump_during_surface 19 121 58.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 2780 1684.41 nil 0 0 0.00

Iridium_during_connect 50 160 203.86 nil 0 0 0.00

Iridium_during_xfer 113 223 630.39 nil 0 0 0.00

Transponder_ping 5 420 55.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 23 1.69

TT8 1430 13 202.31

LPSleep 3465 2 79.68

TT8_Active 420 12 56.19

TT8_Sampling 2247 38 918.88

TT8_CF8 68 56 40.76

TT8_Kalman 33 62 21.96

Analog_circuits 1207 12 152.21

GPS_charging 0 0 0.00

Compass 2048 15 322.61

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.18 -146.0 0.0 0.0 0 80 0.00 0.00 -63.20 0.000 2 0.000 0.000 169 2622 2930 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.18 -146.0 3.3 -6.7 8 108 8.55 1.77 -8.20 0.000 4 0.200 0.052 2573 3816 3333 0 0 0 0 0 0 26.75 26.96 27.23

330 -1.18 -146.0 69.2 -20.9 50 338 0.00 1.50 0.00 0.000 6 0.000 0.018 2573 2637 3334 0 0 0 0 0 0 28.83 27.15 28.83

404 -1.18 -146.0 84.2 -20.6 59 413 0.00 1.80 0.00 0.000 4 0.000 0.020 2574 1339 3333 0 0 0 0 0 0 28.83 27.12 28.83

432 -1.18 -146.0 90.5 -21.9 63 441 0.00 1.88 0.00 0.000 6 0.000 0.025 2564 2641 3334 0 0 0 0 0 0 28.83 27.10 28.83

505 -1.18 -146.0 105.3 -20.4 72 513 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2640 3334 0 0 0 0 0 0 28.83 28.83 28.83

578 -1.18 -146.0 119.4 -19.3 81 586 0.00 1.83 0.00 0.000 4 0.000 0.020 2564 1333 3334 0 0 0 0 0 0 28.83 27.16 28.83

675 -1.18 -146.0 137.5 -17.7 97 684 0.10 1.90 0.00 0.000 6 0.135 0.025 2588 2655 3335 0 0 0 0 0 0 27.02 27.17 28.83

748 -1.18 -146.0 150.5 -17.5 106 756 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2655 3334 0 0 0 0 0 0 28.83 28.83 28.83

821 -1.18 -146.0 162.9 -17.0 115 830 0.00 1.85 0.00 0.000 4 0.000 0.020 2588 1328 3335 0 0 0 0 0 0 28.83 27.21 28.83

884 -1.18 -146.0 173.6 -17.5 125 892 0.00 1.90 0.00 0.000 6 0.000 0.025 2580 2654 3335 0 0 0 0 0 0 28.83 27.20 28.83

961 -1.18 -146.0 186.5 -16.7 131 964 0.00 1.80 0.00 0.000 4 0.000 0.020 2580 1355 3335 0 0 0 0 0 0 28.83 27.22 28.83

1067 -1.18 -146.0 203.4 -17.4 137 1076 0.00 1.92 0.00 0.000 6 0.000 0.024 2571 2662 3334 0 0 0 0 0 0 28.83 27.25 28.83

1257 -1.18 -146.0 236.4 -16.5 150 1260 0.00 1.80 0.00 0.000 4 0.000 0.020 2571 1362 3334 0 0 0 0 0 0 28.83 27.27 28.83

1297 -1.18 -146.0 242.3 -16.8 152 1307 0.00 1.90 0.00 0.000 6 0.000 0.024 2561 2657 3335 0 0 0 0 0 0 28.83 27.25 28.83

1486 -1.18 -146.0 275.1 -16.7 165 1488 0.12 0.00 0.00 0.000 6 0.164 0.000 2594 2657 3335 0 0 0 0 0 0 27.14 28.83 28.83

1679 -1.18 -146.0 304.9 -14.9 177 1683 0.00 1.80 0.00 0.000 4 0.000 0.020 2594 1357 3334 0 0 0 0 0 0 28.83 27.30 28.83

1762 -1.18 -146.0 314.3 -15.2 179 1770 0.00 1.92 0.00 0.000 6 0.000 0.024 2586 2664 3334 0 0 0 0 0 0 28.83 27.29 28.83

2069 -1.18 -146.0 366.3 -15.9 190 2072 0.00 1.80 0.00 0.000 4 0.000 0.020 2586 1364 3333 0 0 0 0 0 0 28.83 27.32 28.83

2177 -1.18 -146.0 380.9 -16.2 193 2181 0.00 1.90 0.00 0.000 6 0.000 0.025 2577 2661 3332 0 0 0 0 0 0 28.83 27.32 28.83

2489 -1.18 -146.0 435.4 -16.7 204 2492 0.00 1.80 0.00 0.000 4 0.000 0.021 2577 1360 3331 0 0 0 0 0 0 28.83 27.34 28.83

2572 -1.18 -146.0 445.3 -16.6 206 2580 0.00 1.90 0.00 0.000 6 0.000 0.025 2570 2655 3331 0 0 0 0 0 0 28.83 27.33 28.83

2878 end dive: TARGET_DEPTH_EXCEEDED

state 2878 begin apogee

2882 -0.25 0.0 500.3 -16.3 217 2992 0.93 0.00 105.50 0.915 6 0.113 0.000 2887 2334 2734 0 0 0 0 0 0 27.20 28.83 25.26

2993 end apogee: CONTROL_FINISHED_OK

state 2993 begin climb

2995 1.18 146.0 504.6 0.0 220 3113 1.27 2.17 108.45 0.903 4 0.058 0.033 3354 3718 2138 0 0 0 0 0 0 25.89 25.65 25.05

3183 1.18 146.0 489.4 11.1 227 3187 0.00 1.90 0.00 0.000 6 0.000 0.016 3359 2351 2133 0 0 0 0 0 0 28.83 26.29 28.83

3510 1.18 146.0 446.3 12.9 238 3514 0.00 1.95 0.00 0.000 4 0.000 0.026 3364 985 2132 0 0 0 0 0 0 28.83 26.81 28.83

3583 1.18 146.0 439.2 12.8 240 3587 0.00 1.95 0.00 0.000 6 0.000 0.021 3364 2339 2131 0 0 0 0 0 0 28.83 26.89 28.83

3895 1.18 146.0 396.8 12.9 251 3896 0.00 0.00 0.00 0.000 6 0.000 0.000 3364 2339 2131 0 0 0 0 0 0 28.83 28.83 28.83

4195 1.18 146.0 359.2 12.2 261 4199 0.00 1.95 0.00 0.000 4 0.000 0.027 3364 981 2130 0 0 0 0 0 0 28.83 27.10 28.83

4288 1.18 146.0 348.1 12.3 264 4293 0.00 1.92 0.00 0.000 6 0.000 0.021 3364 2332 2129 0 0 0 0 0 0 28.83 27.15 28.83

4615 1.18 146.0 307.5 12.3 275 4619 0.00 1.98 0.00 0.000 4 0.000 0.034 3364 3706 2129 0 0 0 0 0 0 28.83 27.16 28.83

4663 1.18 146.0 304.1 12.6 276 4671 0.00 1.85 0.00 0.000 6 0.000 0.016 3372 2321 2129 0 0 0 0 0 0 28.83 27.24 28.83

4972 1.18 146.0 261.8 12.6 296 4978 0.00 1.88 0.00 0.000 4 0.000 0.028 3372 988 2128 0 0 0 0 0 0 28.83 27.22 28.83

5004 1.18 146.0 257.9 12.5 298 5009 0.00 1.85 0.00 0.000 6 0.000 0.021 3372 2332 2129 0 0 0 0 0 0 28.83 27.24 28.83

5200 1.18 146.0 233.3 12.6 311 5205 0.00 1.95 0.00 0.000 4 0.000 0.034 3372 3712 2128 0 0 0 0 0 0 28.83 27.22 28.83

5253 1.18 146.0 226.9 13.6 314 5263 0.00 1.85 0.00 0.000 6 0.000 0.016 3372 2331 2128 0 0 0 0 0 0 28.83 27.30 28.83

5443 1.18 146.0 202.3 12.2 327 5449 0.00 1.90 0.00 0.000 4 0.000 0.026 3378 976 2128 0 0 0 0 0 0 28.83 27.25 28.83

5538 1.18 146.0 190.6 12.2 333 5543 0.00 1.85 0.00 0.000 6 0.000 0.021 3378 2326 2128 0 0 0 0 0 0 28.83 27.28 28.83

5729 1.18 146.0 167.8 11.7 349 5738 0.00 1.92 0.00 0.000 4 0.000 0.028 3378 986 2129 0 0 0 0 0 0 28.83 27.28 28.83

5809 1.18 146.0 158.9 11.6 362 5817 0.00 1.88 0.00 0.000 6 0.000 0.021 3378 2321 2128 0 0 0 0 0 0 28.83 27.30 28.83

5882 1.18 146.0 150.8 10.8 371 5890 0.00 0.00 0.00 0.000 6 0.000 0.000 3378 2320 2128 0 0 0 0 0 0 28.83 28.83 28.83

5954 1.18 146.0 143.0 11.0 380 5962 0.00 0.00 0.00 0.000 6 0.000 0.000 3378 2321 2128 0 0 0 0 0 0 28.83 28.83 28.83

6026 1.18 146.0 135.3 10.5 389 6035 0.00 1.92 0.00 0.000 4 0.000 0.027 3378 980 2128 0 0 0 0 0 0 28.83 27.29 28.83

6089 1.18 146.0 128.2 11.5 399 6098 0.00 1.88 0.00 0.000 6 0.000 0.021 3378 2317 2128 0 0 0 0 0 0 28.83 27.32 28.83

6162 1.18 146.0 120.4 10.6 408 6170 0.00 0.00 0.00 0.000 6 0.000 0.000 3379 2317 2128 0 0 0 0 0 0 28.83 28.83 28.83

6235 1.18 146.0 112.5 10.9 417 6243 0.00 0.00 0.00 0.000 6 0.000 0.000 3379 2317 2128 0 0 0 0 0 0 28.83 28.83 28.83

6307 1.18 146.0 104.9 10.7 426 6315 0.00 0.00 0.00 0.000 6 0.000 0.000 3379 2317 2128 0 0 0 0 0 0 28.83 28.83 28.83

6379 1.18 146.0 97.3 10.3 435 6388 0.00 1.92 0.00 0.000 4 0.000 0.027 3381 982 2128 0 0 0 0 0 0 28.83 27.31 28.83

6442 1.19 147.1 91.2 10.0 445 6451 0.00 1.88 0.00 0.000 6 0.000 0.021 3380 2320 2128 0 0 0 0 0 0 28.83 27.33 28.83

6516 1.21 166.4 84.3 9.2 454 6533 0.00 2.05 7.40 0.295 4 0.000 0.034 3381 3716 2064 0 0 0 0 0 0 28.83 27.23 26.93

6570 1.21 166.4 78.9 11.1 462 6580 0.00 1.85 1.05 0.197 6 0.000 0.016 3389 2311 2062 0 0 0 0 0 0 28.83 27.34 26.97

6646 1.22 172.6 71.3 9.8 471 6654 0.00 0.00 3.45 0.261 6 0.000 0.000 3390 2311 2038 0 0 0 0 0 0 28.83 28.83 26.94

6720 1.22 172.6 63.2 11.2 480 6729 0.00 1.88 0.88 0.271 4 0.000 0.024 3392 1001 2038 0 0 0 0 0 0 28.83 27.24 27.05

6793 1.22 172.6 55.2 10.8 492 6803 0.00 1.88 0.85 0.199 6 0.000 0.021 3392 2326 2036 0 0 0 0 0 0 28.83 27.27 27.05

6869 1.23 179.2 48.1 9.8 501 6878 0.00 2.05 3.53 0.235 4 0.000 0.033 3392 3714 2008 0 0 0 0 0 0 28.83 27.22 26.98

6920 1.23 179.8 42.9 10.1 509 6929 0.00 1.83 0.93 0.202 6 0.000 0.016 3392 2337 2006 0 0 0 0 0 0 28.83 27.31 27.01

6996 1.29 235.3 36.9 7.5 518 7028 0.00 1.95 21.75 0.198 4 0.000 0.026 3392 987 1779 0 0 0 0 0 0 28.83 27.15 26.93

7066 1.40 319.2 32.8 6.2 528 7107 0.05 1.90 32.10 0.186 6 0.063 0.021 3456 2334 1434 0 0 0 0 0 0 27.11 27.20 26.83

7173 1.40 319.2 21.5 12.4 541 7182 0.12 2.00 0.00 0.000 4 0.150 0.031 3418 3700 1436 0 0 0 0 0 0 26.96 27.09 28.83

7264 1.40 319.2 8.8 13.6 556 7273 0.00 1.83 0.00 0.000 6 0.000 0.016 3420 2335 1436 0 0 0 0 0 0 28.83 27.18 28.83

7312 end climb: SURFACE_DEPTH_REACHED

state 7313 begin surface coast

7322 end surface coast: CONTROL_FINISHED_OK

state 7322 begin surface

ID	200	HD_B	0.0134447	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	1.6100001e-05	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	18	HEADING	-1	ROLL_MIN	282	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	48.400002	ROLL_MAX	3852	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2660	ALTIM_PING_DELTA	5
D_TGT	500	TGT_DEFAULT_LAT	3219.3999	C_ROLL_CLIMB	2325	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_DEFAULT_LON	-6434.1001	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_BOOST	100	SM_CC	375	ROLL_TIMEOUT	15	XPDR_VALID	1
T_BOOST	30	N_FILEKB	8	R_PORT_OVSHOOT	151	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	75	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.77999997
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	73	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	0	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	35
T_DIVE	165	UPLOAD_DIVES_MAX	-1	C_VBD	2737	DEVICE3	-1
T_MISSION	180	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	720	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1102.3423	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	4	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	1001	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	97	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	197	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3889	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2973	PHONE_SUPPLY	2	SEABIRD_T_G	0.004400372
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-66.711494	SEABIRD_T_H	0.00063770427
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001160319	SEABIRD_T_I	2.5625237e-05
MASS	52177	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	3.1304903e-06
NAV_MODE	1	PITCH_GAIN	19.700001	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9220228
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1569983
KALMAN_USE	1	PITCH_AD_RATE	160	COMPASS_USE	4	SEABIRD_C_I	-0.00090645044
HD_A	0.003	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00015506662

GPS1	110814,220505,2741.458,-7001.011,25,0.9,25,-12.3	TGT_NAME	BRAVO
_CALLS	1	TGT_LATLONG	2730.000,-7005.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.032,-0.222
_SM_DEPTHo	0.61	KALMAN_X	-13694.7,441.1,206.5,20750.4,-1488.0
_SM_ANGLEo	-65.8	KALMAN_Y	-17600.3,639.4,368.1,-17045.5,-1557.5
GPS2	110814,221317,2741.389,-7000.962,5,1.1,5,-12.3	MHEAD_RNG_PITCHd_Wd	184.2,22111,-19.8,-10.101
SPEED_LIMITS	0.175,0.224	D_GRID	500

FINISH	0.5,1.023438	_10V_AH	10.5,5.095
SM_CCo	7337,19.30,0.122,0,0,1207,375.06	FG_AHR_24Vo	0.000
SM_GC	0.92,8.10,0.43,19.30,0.027,0.038,0.122,171,2658,1207,-8.63,-2.09,375.06,0,0,0,0,0,0,27.13,27.15,26.94	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2734.80,-6959.97,110814,181835	MEM	334088
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	30295,563
HUMID	46.49	CAP_FILE_SIZE	96074,0
INTERNAL_PRESSURE	9.10319	CFSIZE	1024393216,1019887616
TCM_TEMP	22.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	21	GPS	120814,001736,2739.872,-7001.134,13,0.9,13,-12.3
_24V_AH	25.0,7.394

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	199	96.09	SBE_CT	372	24	223.46
Roll_motor	91	52	118.64	WL_BB2F	1519	105	3988.42
VBD_pump_during_apogee	285	914	6538.96	nil	0	0	0.00
VBD_pump_during_surface	19	121	58.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	2780	1684.41	nil	0	0	0.00
Iridium_during_connect	50	160	203.86	nil	0	0	0.00
Iridium_during_xfer	113	223	630.39	nil	0	0	0.00
Transponder_ping	5	420	55.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	23	1.69
TT8	1430	13	202.31
LPSleep	3465	2	79.68
TT8_Active	420	12	56.19
TT8_Sampling	2247	38	918.88
TT8_CF8	68	56	40.76
TT8_Kalman	33	62	21.96
Analog_circuits	1207	12	152.21
GPS_charging	0	0	0.00
Compass	2048	15	322.61
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.18	-146.0	0.0	0.0	0	80	0.00	0.00	-63.20	0.000	2	0.000	0.000	169	2622	2930	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.18	-146.0	3.3	-6.7	8	108	8.55	1.77	-8.20	0.000	4	0.200	0.052	2573	3816	3333	0	0	0	0	0	0	26.75	26.96	27.23
330	-1.18	-146.0	69.2	-20.9	50	338	0.00	1.50	0.00	0.000	6	0.000	0.018	2573	2637	3334	0	0	0	0	0	0	28.83	27.15	28.83
404	-1.18	-146.0	84.2	-20.6	59	413	0.00	1.80	0.00	0.000	4	0.000	0.020	2574	1339	3333	0	0	0	0	0	0	28.83	27.12	28.83
432	-1.18	-146.0	90.5	-21.9	63	441	0.00	1.88	0.00	0.000	6	0.000	0.025	2564	2641	3334	0	0	0	0	0	0	28.83	27.10	28.83
505	-1.18	-146.0	105.3	-20.4	72	513	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2640	3334	0	0	0	0	0	0	28.83	28.83	28.83
578	-1.18	-146.0	119.4	-19.3	81	586	0.00	1.83	0.00	0.000	4	0.000	0.020	2564	1333	3334	0	0	0	0	0	0	28.83	27.16	28.83
675	-1.18	-146.0	137.5	-17.7	97	684	0.10	1.90	0.00	0.000	6	0.135	0.025	2588	2655	3335	0	0	0	0	0	0	27.02	27.17	28.83
748	-1.18	-146.0	150.5	-17.5	106	756	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2655	3334	0	0	0	0	0	0	28.83	28.83	28.83
821	-1.18	-146.0	162.9	-17.0	115	830	0.00	1.85	0.00	0.000	4	0.000	0.020	2588	1328	3335	0	0	0	0	0	0	28.83	27.21	28.83
884	-1.18	-146.0	173.6	-17.5	125	892	0.00	1.90	0.00	0.000	6	0.000	0.025	2580	2654	3335	0	0	0	0	0	0	28.83	27.20	28.83
961	-1.18	-146.0	186.5	-16.7	131	964	0.00	1.80	0.00	0.000	4	0.000	0.020	2580	1355	3335	0	0	0	0	0	0	28.83	27.22	28.83
1067	-1.18	-146.0	203.4	-17.4	137	1076	0.00	1.92	0.00	0.000	6	0.000	0.024	2571	2662	3334	0	0	0	0	0	0	28.83	27.25	28.83
1257	-1.18	-146.0	236.4	-16.5	150	1260	0.00	1.80	0.00	0.000	4	0.000	0.020	2571	1362	3334	0	0	0	0	0	0	28.83	27.27	28.83
1297	-1.18	-146.0	242.3	-16.8	152	1307	0.00	1.90	0.00	0.000	6	0.000	0.024	2561	2657	3335	0	0	0	0	0	0	28.83	27.25	28.83
1486	-1.18	-146.0	275.1	-16.7	165	1488	0.12	0.00	0.00	0.000	6	0.164	0.000	2594	2657	3335	0	0	0	0	0	0	27.14	28.83	28.83
1679	-1.18	-146.0	304.9	-14.9	177	1683	0.00	1.80	0.00	0.000	4	0.000	0.020	2594	1357	3334	0	0	0	0	0	0	28.83	27.30	28.83
1762	-1.18	-146.0	314.3	-15.2	179	1770	0.00	1.92	0.00	0.000	6	0.000	0.024	2586	2664	3334	0	0	0	0	0	0	28.83	27.29	28.83
2069	-1.18	-146.0	366.3	-15.9	190	2072	0.00	1.80	0.00	0.000	4	0.000	0.020	2586	1364	3333	0	0	0	0	0	0	28.83	27.32	28.83
2177	-1.18	-146.0	380.9	-16.2	193	2181	0.00	1.90	0.00	0.000	6	0.000	0.025	2577	2661	3332	0	0	0	0	0	0	28.83	27.32	28.83
2489	-1.18	-146.0	435.4	-16.7	204	2492	0.00	1.80	0.00	0.000	4	0.000	0.021	2577	1360	3331	0	0	0	0	0	0	28.83	27.34	28.83
2572	-1.18	-146.0	445.3	-16.6	206	2580	0.00	1.90	0.00	0.000	6	0.000	0.025	2570	2655	3331	0	0	0	0	0	0	28.83	27.33	28.83
2878	end dive: TARGET_DEPTH_EXCEEDED
state	2878	begin apogee
2882	-0.25	0.0	500.3	-16.3	217	2992	0.93	0.00	105.50	0.915	6	0.113	0.000	2887	2334	2734	0	0	0	0	0	0	27.20	28.83	25.26
2993	end apogee: CONTROL_FINISHED_OK
state	2993	begin climb
2995	1.18	146.0	504.6	0.0	220	3113	1.27	2.17	108.45	0.903	4	0.058	0.033	3354	3718	2138	0	0	0	0	0	0	25.89	25.65	25.05
3183	1.18	146.0	489.4	11.1	227	3187	0.00	1.90	0.00	0.000	6	0.000	0.016	3359	2351	2133	0	0	0	0	0	0	28.83	26.29	28.83
3510	1.18	146.0	446.3	12.9	238	3514	0.00	1.95	0.00	0.000	4	0.000	0.026	3364	985	2132	0	0	0	0	0	0	28.83	26.81	28.83
3583	1.18	146.0	439.2	12.8	240	3587	0.00	1.95	0.00	0.000	6	0.000	0.021	3364	2339	2131	0	0	0	0	0	0	28.83	26.89	28.83
3895	1.18	146.0	396.8	12.9	251	3896	0.00	0.00	0.00	0.000	6	0.000	0.000	3364	2339	2131	0	0	0	0	0	0	28.83	28.83	28.83
4195	1.18	146.0	359.2	12.2	261	4199	0.00	1.95	0.00	0.000	4	0.000	0.027	3364	981	2130	0	0	0	0	0	0	28.83	27.10	28.83
4288	1.18	146.0	348.1	12.3	264	4293	0.00	1.92	0.00	0.000	6	0.000	0.021	3364	2332	2129	0	0	0	0	0	0	28.83	27.15	28.83
4615	1.18	146.0	307.5	12.3	275	4619	0.00	1.98	0.00	0.000	4	0.000	0.034	3364	3706	2129	0	0	0	0	0	0	28.83	27.16	28.83
4663	1.18	146.0	304.1	12.6	276	4671	0.00	1.85	0.00	0.000	6	0.000	0.016	3372	2321	2129	0	0	0	0	0	0	28.83	27.24	28.83
4972	1.18	146.0	261.8	12.6	296	4978	0.00	1.88	0.00	0.000	4	0.000	0.028	3372	988	2128	0	0	0	0	0	0	28.83	27.22	28.83
5004	1.18	146.0	257.9	12.5	298	5009	0.00	1.85	0.00	0.000	6	0.000	0.021	3372	2332	2129	0	0	0	0	0	0	28.83	27.24	28.83
5200	1.18	146.0	233.3	12.6	311	5205	0.00	1.95	0.00	0.000	4	0.000	0.034	3372	3712	2128	0	0	0	0	0	0	28.83	27.22	28.83
5253	1.18	146.0	226.9	13.6	314	5263	0.00	1.85	0.00	0.000	6	0.000	0.016	3372	2331	2128	0	0	0	0	0	0	28.83	27.30	28.83
5443	1.18	146.0	202.3	12.2	327	5449	0.00	1.90	0.00	0.000	4	0.000	0.026	3378	976	2128	0	0	0	0	0	0	28.83	27.25	28.83
5538	1.18	146.0	190.6	12.2	333	5543	0.00	1.85	0.00	0.000	6	0.000	0.021	3378	2326	2128	0	0	0	0	0	0	28.83	27.28	28.83
5729	1.18	146.0	167.8	11.7	349	5738	0.00	1.92	0.00	0.000	4	0.000	0.028	3378	986	2129	0	0	0	0	0	0	28.83	27.28	28.83
5809	1.18	146.0	158.9	11.6	362	5817	0.00	1.88	0.00	0.000	6	0.000	0.021	3378	2321	2128	0	0	0	0	0	0	28.83	27.30	28.83
5882	1.18	146.0	150.8	10.8	371	5890	0.00	0.00	0.00	0.000	6	0.000	0.000	3378	2320	2128	0	0	0	0	0	0	28.83	28.83	28.83
5954	1.18	146.0	143.0	11.0	380	5962	0.00	0.00	0.00	0.000	6	0.000	0.000	3378	2321	2128	0	0	0	0	0	0	28.83	28.83	28.83
6026	1.18	146.0	135.3	10.5	389	6035	0.00	1.92	0.00	0.000	4	0.000	0.027	3378	980	2128	0	0	0	0	0	0	28.83	27.29	28.83
6089	1.18	146.0	128.2	11.5	399	6098	0.00	1.88	0.00	0.000	6	0.000	0.021	3378	2317	2128	0	0	0	0	0	0	28.83	27.32	28.83
6162	1.18	146.0	120.4	10.6	408	6170	0.00	0.00	0.00	0.000	6	0.000	0.000	3379	2317	2128	0	0	0	0	0	0	28.83	28.83	28.83
6235	1.18	146.0	112.5	10.9	417	6243	0.00	0.00	0.00	0.000	6	0.000	0.000	3379	2317	2128	0	0	0	0	0	0	28.83	28.83	28.83
6307	1.18	146.0	104.9	10.7	426	6315	0.00	0.00	0.00	0.000	6	0.000	0.000	3379	2317	2128	0	0	0	0	0	0	28.83	28.83	28.83
6379	1.18	146.0	97.3	10.3	435	6388	0.00	1.92	0.00	0.000	4	0.000	0.027	3381	982	2128	0	0	0	0	0	0	28.83	27.31	28.83
6442	1.19	147.1	91.2	10.0	445	6451	0.00	1.88	0.00	0.000	6	0.000	0.021	3380	2320	2128	0	0	0	0	0	0	28.83	27.33	28.83
6516	1.21	166.4	84.3	9.2	454	6533	0.00	2.05	7.40	0.295	4	0.000	0.034	3381	3716	2064	0	0	0	0	0	0	28.83	27.23	26.93
6570	1.21	166.4	78.9	11.1	462	6580	0.00	1.85	1.05	0.197	6	0.000	0.016	3389	2311	2062	0	0	0	0	0	0	28.83	27.34	26.97
6646	1.22	172.6	71.3	9.8	471	6654	0.00	0.00	3.45	0.261	6	0.000	0.000	3390	2311	2038	0	0	0	0	0	0	28.83	28.83	26.94
6720	1.22	172.6	63.2	11.2	480	6729	0.00	1.88	0.88	0.271	4	0.000	0.024	3392	1001	2038	0	0	0	0	0	0	28.83	27.24	27.05
6793	1.22	172.6	55.2	10.8	492	6803	0.00	1.88	0.85	0.199	6	0.000	0.021	3392	2326	2036	0	0	0	0	0	0	28.83	27.27	27.05
6869	1.23	179.2	48.1	9.8	501	6878	0.00	2.05	3.53	0.235	4	0.000	0.033	3392	3714	2008	0	0	0	0	0	0	28.83	27.22	26.98
6920	1.23	179.8	42.9	10.1	509	6929	0.00	1.83	0.93	0.202	6	0.000	0.016	3392	2337	2006	0	0	0	0	0	0	28.83	27.31	27.01
6996	1.29	235.3	36.9	7.5	518	7028	0.00	1.95	21.75	0.198	4	0.000	0.026	3392	987	1779	0	0	0	0	0	0	28.83	27.15	26.93
7066	1.40	319.2	32.8	6.2	528	7107	0.05	1.90	32.10	0.186	6	0.063	0.021	3456	2334	1434	0	0	0	0	0	0	27.11	27.20	26.83
7173	1.40	319.2	21.5	12.4	541	7182	0.12	2.00	0.00	0.000	4	0.150	0.031	3418	3700	1436	0	0	0	0	0	0	26.96	27.09	28.83
7264	1.40	319.2	8.8	13.6	556	7273	0.00	1.83	0.00	0.000	6	0.000	0.016	3420	2335	1436	0	0	0	0	0	0	28.83	27.18	28.83
7312	end climb: SURFACE_DEPTH_REACHED
state	7313	begin surface coast
7322	end surface coast: CONTROL_FINISHED_OK
state	7322	begin surface