Glider dive log

Cuddy Oct13 * SG195 * Dive index * Mission links * Dive 292 * 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 292 ESCAPE_HEADING 0 C_ROLL_DIVE 2207 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2027 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 66 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT 52 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 2618 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 550 CALL_TRIES 8 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 660 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 -5917.4741 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 1 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 2545 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 14 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 2.5 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 250

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 2.5 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.02 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 1 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 550

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001168043 T_EPIRB 0

CALL_TRIES 8 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 -5917.4741

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 660

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 14 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2545 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2027 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2207 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2618 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 66 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 52 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 292 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 220114,103704,4850.650,-12633.370,32,0.9,32,17.2 TGT_NAME EDDY

_CALLS 1 TGT_LATLONG 4844.640,-12653.400

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.170,0.125

_SM_DEPTHo 2.02 KALMAN_X -82790.7,0.0,0.0,-12145.4,-1846.6

_SM_ANGLEo -63.0 KALMAN_Y 23320.9,0.0,0.0,47769.7,1073.6

GPS2 220114,104232,4850.684,-12633.361,5,0.8,5,17.2 MHEAD_RNG_PITCHd_Wd 228.2,26911,-10.0,-6.000,-15.88,3571

SPEED_LIMITS 0.072,0.211 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.007080 _24V_AH 23.9,43.464

SM_CCo 9869,0.00,0.000,0,0,1171,354.95 _10V_AH 10.1,30.323

SM_GC 1.88,6.88,1.85,0.00,0.029,0.021,0.000,173,2198,1171,-7.27,1.72,354.95,0,0,0,0,0,0,26.29,26.27,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4833.79,-12636.50,220114,080813 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 314860

HUMID 43.62 DATA_FILE_SIZE 30305,531

INTERNAL_PRESSURE 8.85904 CAP_FILE_SIZE 99395,0

TCM_TEMP 16.50 CFSIZE 2097872896,2057469952

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

ALTIM_BOTTOM_PING 221.3,65.4 GPS 220114,132817,4850.541,-12634.198,15,1.1,15,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 196 78.71 SBE_CT 360 22 193.85

Roll_motor 80 48 93.82 AA4330 0 0 0.00

VBD_pump_during_apogee 400 756 7234.31 WL_BB2FLVMT 0 0 0.00

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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 261 73 458.73 nil 0 0 0.00

Transponder_ping 3 420 35.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 30 1.71

TT8 1423 15 218.75

LPSleep 6719 2 148.64

TT8_Active 438 15 67.32

TT8_Sampling 1528 43 674.20

TT8_CF8 100 53 54.16

TT8_Kalman 0 0 0.00

Analog_circuits 1430 14 202.32

GPS_charging 0 0 0.00

Compass 1238 8 103.06

RAFOS 0 0 0.00

Transponder 24 30 7.41

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.45 -146.6 160 2207 1713 1471 0.0 0.0 0 60 0.00 0.00 -42.35 0.000 16386 0.000 0.000 159 2207 2667 2683 2652 0 0 0 0 0 0 28.83 28.83 28.83

62 -0.45 -146.6 160 2207 2683 2653 3.5 -4.9 4 92 8.38 2.17 -15.40 0.000 18948 0.197 0.045 2390 817 3218 3258 3178 0 0 0 0 0 0 25.26 26.02 26.50

350 -0.37 -146.6 2389 817 3261 3179 33.2 -10.8 33 360 0.15 2.08 0.00 0.000 3078 0.125 0.028 2427 2203 3220 3261 3179 0 0 0 0 0 0 25.90 26.17 28.83

660 -0.37 -146.6 2426 2203 3262 3179 53.0 -5.6 64 661 0.00 0.00 0.00 0.000 6 0.000 0.000 2426 2203 3220 3262 3179 0 0 0 0 0 0 28.83 28.83 28.83

962 -0.37 -146.6 2426 2203 3262 3179 67.9 -5.9 94 971 0.00 2.05 0.00 0.000 516 0.000 0.031 2427 825 3220 3262 3179 0 0 0 0 0 0 28.83 26.23 28.83

1066 -0.37 -146.6 2427 825 3262 3179 73.5 -4.8 104 1073 0.00 2.08 0.00 0.000 1030 0.000 0.028 2422 2217 3220 3262 3179 0 0 0 0 0 0 28.83 26.30 28.83

1384 -0.37 -146.6 2422 2217 3262 3179 86.9 -5.8 130 1390 0.00 2.10 0.00 0.000 516 0.000 0.031 2422 818 3220 3262 3178 0 0 0 0 0 0 28.83 26.25 28.83

1596 -0.37 -146.6 2422 817 3262 3179 98.1 -5.9 140 1603 0.00 2.08 0.00 0.000 1030 0.000 0.028 2418 2208 3220 3262 3179 0 0 0 0 0 0 28.83 26.34 28.83

1903 -0.37 -146.6 2418 2208 3262 3179 116.4 -5.9 156 1909 0.00 2.15 0.00 0.000 260 0.000 0.041 2410 3609 3220 3262 3179 0 0 0 0 0 0 28.83 26.19 28.83

2017 -0.37 -146.6 2410 3609 3262 3179 121.0 -4.5 161 2024 0.00 2.05 0.00 0.000 1030 0.000 0.021 2410 2189 3220 3262 3179 0 0 0 0 0 0 28.83 26.45 28.83

2323 -0.37 -146.6 2409 2189 3263 3179 135.0 -5.1 177 2329 0.00 2.20 0.00 0.000 260 0.000 0.041 2404 3609 3220 3262 3179 0 0 0 0 0 0 28.83 26.19 28.83

2406 -0.37 -146.6 2404 3609 3262 3179 139.5 -5.6 181 2410 0.00 2.05 0.00 0.000 1030 0.000 0.022 2404 2196 3220 3262 3179 0 0 0 0 0 0 28.83 26.46 28.83

2718 -0.37 -146.6 2404 2196 3262 3178 152.8 -3.9 196 2724 0.00 2.05 0.00 0.000 516 0.000 0.031 2404 822 3220 3262 3179 0 0 0 0 0 0 28.83 26.27 28.83

2870 -0.37 -146.6 2403 822 3262 3179 160.1 -4.9 201 2875 0.00 2.05 0.00 0.000 1030 0.000 0.028 2404 2208 3220 3262 3179 0 0 0 0 0 0 28.83 26.36 28.83

3198 -0.37 -146.6 2404 2208 3262 3179 177.4 -4.9 212 3204 0.00 2.17 0.00 0.000 260 0.000 0.041 2402 3622 3220 3262 3179 0 0 0 0 0 0 28.83 26.19 28.83

3241 -0.37 -146.6 2401 3622 3262 3179 178.9 -4.8 213 3245 0.00 2.05 0.00 0.000 1030 0.000 0.021 2401 2205 3220 3262 3179 0 0 0 0 0 0 28.83 26.46 28.83

3553 -0.37 -146.6 2401 2205 3262 3178 193.6 -4.3 224 3554 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2204 3220 3262 3179 0 0 0 0 0 0 28.83 28.83 28.83

3853 -0.37 -146.6 2401 2205 3262 3178 207.6 -4.6 234 3854 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2204 3220 3262 3179 0 0 0 0 0 0 28.83 28.83 28.83

4153 -0.37 -146.6 2401 2205 3262 3178 223.0 -5.0 244 4159 0.00 2.05 0.00 0.000 516 0.000 0.032 2401 832 3220 3262 3178 0 0 0 0 0 0 28.83 26.27 28.83

4226 -0.37 -146.6 2401 832 3262 3178 226.2 -5.2 246 4230 0.00 2.05 0.00 0.000 1030 0.000 0.028 2394 2207 3220 3262 3178 0 0 0 0 0 0 28.83 26.36 28.83

4538 -0.37 -146.6 2394 2207 3262 3179 242.7 -4.9 257 4539 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2207 3220 3262 3179 0 0 0 0 0 0 28.83 28.83 28.83

4838 -0.37 -146.6 2394 2207 3262 3179 257.2 -5.4 267 4839 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2207 3220 3262 3178 0 0 0 0 0 0 28.83 28.83 28.83

5138 -0.37 -146.6 2394 2207 3262 3179 274.5 -5.5 277 5139 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2207 3220 3262 3179 0 0 0 0 0 0 28.83 28.83 28.83

5196 end dive: BOTTOM_OBSTACLE_DETECTED

state 5197 begin apogee

5201 -0.23 0.0 2394 2010 3262 3179 277.7 -5.5 279 5321 0.22 0.00 114.12 0.757 10246 0.099 0.000 2475 2009 2617 2706 2528 0 0 0 0 0 0 26.22 28.83 24.18

5323 end apogee: CONTROL_FINISHED_OK

state 5323 begin climb

5325 0.45 146.6 2474 2010 2706 2528 281.3 0.0 283 5447 0.60 2.33 116.15 0.734 10500 0.073 0.036 2687 3426 2018 2168 1869 0 0 0 0 0 0 25.24 24.87 23.88

5508 0.50 154.8 2686 3426 2168 1864 273.2 5.8 289 5526 0.00 2.12 7.78 0.607 9222 0.000 0.022 2687 2035 1985 2139 1832 0 0 0 0 0 0 28.83 25.38 23.98

5825 0.57 154.8 2687 2035 2139 1827 251.1 6.6 300 5832 0.12 2.15 0.00 0.000 2564 0.076 0.032 2780 643 1983 2139 1827 0 0 0 0 0 0 26.10 25.89 28.83

5889 0.57 154.8 2781 643 2138 1827 246.6 6.8 302 5894 0.17 2.10 0.00 0.000 5126 0.112 0.025 2728 2045 1983 2139 1827 0 0 0 0 0 0 25.77 26.03 28.83

6211 0.57 154.8 2727 2045 2139 1826 227.0 6.1 313 6215 0.00 2.12 0.00 0.000 260 0.000 0.038 2727 3421 1982 2139 1826 0 0 0 0 0 0 28.83 26.07 28.83

6300 0.57 154.8 2727 3421 2138 1826 221.3 6.4 316 6304 0.00 2.05 0.00 0.000 1030 0.000 0.023 2731 2029 1982 2139 1826 0 0 0 0 0 0 28.83 26.24 28.83

6627 0.57 154.8 2731 2029 2139 1825 201.3 6.2 327 6631 0.00 2.15 0.00 0.000 260 0.000 0.037 2731 3422 1981 2138 1825 0 0 0 0 0 0 28.83 26.15 28.83

6661 0.57 154.8 2731 3422 2139 1825 199.5 6.5 328 6665 0.00 2.08 0.00 0.000 1030 0.000 0.023 2731 2014 1982 2139 1825 0 0 0 0 0 0 28.83 26.31 28.83

6984 0.57 162.6 2730 2014 2139 1824 178.5 5.8 339 6993 0.00 0.00 7.00 0.590 8198 0.000 0.000 2731 2014 1954 2109 1799 0 0 0 0 0 0 28.83 28.83 24.64

7284 0.57 207.3 2731 2014 2109 1798 163.5 4.7 349 7326 0.00 2.25 36.28 0.702 8452 0.000 0.037 2731 3413 1771 1929 1614 0 0 0 0 0 0 28.83 25.86 24.77

7374 0.57 245.0 2730 3413 1929 1612 158.8 4.9 352 7411 0.00 2.08 31.08 0.673 9222 0.000 0.023 2731 2028 1618 1777 1460 0 0 0 0 0 0 28.83 25.98 24.51

7724 0.57 245.0 2731 2028 1776 1449 137.2 8.3 366 7730 0.00 2.12 0.00 0.000 516 0.000 0.035 2731 647 1612 1776 1449 0 0 0 0 0 0 28.83 25.97 28.83

7766 0.57 245.0 2730 647 1776 1448 134.1 8.2 368 7770 0.00 2.08 0.00 0.000 1030 0.000 0.025 2731 2032 1612 1776 1448 0 0 0 0 0 0 28.83 26.11 28.83

8083 0.57 245.0 2731 2033 1776 1448 110.6 6.8 384 8087 0.00 2.15 0.00 0.000 260 0.000 0.037 2731 3427 1611 1776 1447 0 0 0 0 0 0 28.83 26.11 28.83

8152 0.57 245.0 2731 3427 1776 1447 106.5 7.2 387 8159 0.00 2.08 0.00 0.000 1030 0.000 0.022 2731 2012 1611 1776 1447 0 0 0 0 0 0 28.83 26.28 28.83

8459 0.57 245.0 2730 2013 1776 1446 86.2 6.3 403 8463 0.00 2.17 0.00 0.000 260 0.000 0.037 2731 3425 1611 1776 1446 0 0 0 0 0 0 28.83 26.17 28.83

8503 0.57 245.0 2730 3425 1776 1446 83.7 6.5 405 8507 0.00 2.08 0.00 0.000 1030 0.000 0.023 2731 2014 1611 1776 1446 0 0 0 0 0 0 28.83 26.34 28.83

8817 0.57 334.9 2731 2014 1777 1444 68.4 3.4 434 8896 0.00 2.15 71.43 0.635 8708 0.000 0.034 2731 642 1250 1415 1086 0 0 0 0 0 0 28.83 25.60 24.63

8992 0.70 340.4 1792 642 1401 1076 60.0 5.8 451 9002 0.12 2.10 5.05 0.466 11270 0.084 0.024 2782 2039 1230 1397 1063 0 0 0 0 0 0 25.79 25.89 24.45

9310 0.84 340.4 2782 2039 1396 1058 34.7 6.8 483 9320 0.10 2.15 0.00 0.000 2564 0.106 0.032 2832 643 1227 1396 1058 0 0 0 0 0 0 26.25 26.01 28.83

9383 0.84 354.0 2831 642 1396 1057 30.2 5.6 490 9402 0.00 2.03 11.20 0.561 9222 0.000 0.024 2832 2021 1174 1341 1008 0 0 0 0 0 0 28.83 26.16 24.77

9702 0.84 354.0 2831 2021 1341 1004 7.9 7.6 522 9711 0.00 2.15 0.00 0.000 260 0.000 0.037 2831 3422 1172 1340 1004 0 0 0 0 0 0 28.83 26.09 28.83

9771 end climb: SURFACE_DEPTH_REACHED

state 9771 begin surface coast

9792 end surface coast: CONTROL_FINISHED_OK

state 9792 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	292	ESCAPE_HEADING	0	C_ROLL_DIVE	2207	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2027	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	66	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	52	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	2618	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	550	CALL_TRIES	8	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	660	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	-5917.4741	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	1	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	2545	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	14	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	2.5	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	224	ALTIM_TOP_PING_RANGE	0

GPS1	220114,103704,4850.650,-12633.370,32,0.9,32,17.2	TGT_NAME	EDDY
_CALLS	1	TGT_LATLONG	4844.640,-12653.400
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.170,0.125
_SM_DEPTHo	2.02	KALMAN_X	-82790.7,0.0,0.0,-12145.4,-1846.6
_SM_ANGLEo	-63.0	KALMAN_Y	23320.9,0.0,0.0,47769.7,1073.6
GPS2	220114,104232,4850.684,-12633.361,5,0.8,5,17.2	MHEAD_RNG_PITCHd_Wd	228.2,26911,-10.0,-6.000,-15.88,3571
SPEED_LIMITS	0.072,0.211	D_GRID	990

FINISH	0.8,1.007080	_24V_AH	23.9,43.464
SM_CCo	9869,0.00,0.000,0,0,1171,354.95	_10V_AH	10.1,30.323
SM_GC	1.88,6.88,1.85,0.00,0.029,0.021,0.000,173,2198,1171,-7.27,1.72,354.95,0,0,0,0,0,0,26.29,26.27,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4833.79,-12636.50,220114,080813	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	314860
HUMID	43.62	DATA_FILE_SIZE	30305,531
INTERNAL_PRESSURE	8.85904	CAP_FILE_SIZE	99395,0
TCM_TEMP	16.50	CFSIZE	2097872896,2057469952
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	221.3,65.4	GPS	220114,132817,4850.541,-12634.198,15,1.1,15,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	196	78.71	SBE_CT	360	22	193.85
Roll_motor	80	48	93.82	AA4330	0	0	0.00
VBD_pump_during_apogee	400	756	7234.31	WL_BB2FLVMT	0	0	0.00
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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	261	73	458.73	nil	0	0	0.00
Transponder_ping	3	420	35.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	30	1.71
TT8	1423	15	218.75
LPSleep	6719	2	148.64
TT8_Active	438	15	67.32
TT8_Sampling	1528	43	674.20
TT8_CF8	100	53	54.16
TT8_Kalman	0	0	0.00
Analog_circuits	1430	14	202.32
GPS_charging	0	0	0.00
Compass	1238	8	103.06
RAFOS	0	0	0.00
Transponder	24	30	7.41

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.45	-146.6	160	2207	1713	1471	0.0	0.0	0	60	0.00	0.00	-42.35	0.000	16386	0.000	0.000	159	2207	2667	2683	2652	0	0	0	0	0	0	28.83	28.83	28.83
62	-0.45	-146.6	160	2207	2683	2653	3.5	-4.9	4	92	8.38	2.17	-15.40	0.000	18948	0.197	0.045	2390	817	3218	3258	3178	0	0	0	0	0	0	25.26	26.02	26.50
350	-0.37	-146.6	2389	817	3261	3179	33.2	-10.8	33	360	0.15	2.08	0.00	0.000	3078	0.125	0.028	2427	2203	3220	3261	3179	0	0	0	0	0	0	25.90	26.17	28.83
660	-0.37	-146.6	2426	2203	3262	3179	53.0	-5.6	64	661	0.00	0.00	0.00	0.000	6	0.000	0.000	2426	2203	3220	3262	3179	0	0	0	0	0	0	28.83	28.83	28.83
962	-0.37	-146.6	2426	2203	3262	3179	67.9	-5.9	94	971	0.00	2.05	0.00	0.000	516	0.000	0.031	2427	825	3220	3262	3179	0	0	0	0	0	0	28.83	26.23	28.83
1066	-0.37	-146.6	2427	825	3262	3179	73.5	-4.8	104	1073	0.00	2.08	0.00	0.000	1030	0.000	0.028	2422	2217	3220	3262	3179	0	0	0	0	0	0	28.83	26.30	28.83
1384	-0.37	-146.6	2422	2217	3262	3179	86.9	-5.8	130	1390	0.00	2.10	0.00	0.000	516	0.000	0.031	2422	818	3220	3262	3178	0	0	0	0	0	0	28.83	26.25	28.83
1596	-0.37	-146.6	2422	817	3262	3179	98.1	-5.9	140	1603	0.00	2.08	0.00	0.000	1030	0.000	0.028	2418	2208	3220	3262	3179	0	0	0	0	0	0	28.83	26.34	28.83
1903	-0.37	-146.6	2418	2208	3262	3179	116.4	-5.9	156	1909	0.00	2.15	0.00	0.000	260	0.000	0.041	2410	3609	3220	3262	3179	0	0	0	0	0	0	28.83	26.19	28.83
2017	-0.37	-146.6	2410	3609	3262	3179	121.0	-4.5	161	2024	0.00	2.05	0.00	0.000	1030	0.000	0.021	2410	2189	3220	3262	3179	0	0	0	0	0	0	28.83	26.45	28.83
2323	-0.37	-146.6	2409	2189	3263	3179	135.0	-5.1	177	2329	0.00	2.20	0.00	0.000	260	0.000	0.041	2404	3609	3220	3262	3179	0	0	0	0	0	0	28.83	26.19	28.83
2406	-0.37	-146.6	2404	3609	3262	3179	139.5	-5.6	181	2410	0.00	2.05	0.00	0.000	1030	0.000	0.022	2404	2196	3220	3262	3179	0	0	0	0	0	0	28.83	26.46	28.83
2718	-0.37	-146.6	2404	2196	3262	3178	152.8	-3.9	196	2724	0.00	2.05	0.00	0.000	516	0.000	0.031	2404	822	3220	3262	3179	0	0	0	0	0	0	28.83	26.27	28.83
2870	-0.37	-146.6	2403	822	3262	3179	160.1	-4.9	201	2875	0.00	2.05	0.00	0.000	1030	0.000	0.028	2404	2208	3220	3262	3179	0	0	0	0	0	0	28.83	26.36	28.83
3198	-0.37	-146.6	2404	2208	3262	3179	177.4	-4.9	212	3204	0.00	2.17	0.00	0.000	260	0.000	0.041	2402	3622	3220	3262	3179	0	0	0	0	0	0	28.83	26.19	28.83
3241	-0.37	-146.6	2401	3622	3262	3179	178.9	-4.8	213	3245	0.00	2.05	0.00	0.000	1030	0.000	0.021	2401	2205	3220	3262	3179	0	0	0	0	0	0	28.83	26.46	28.83
3553	-0.37	-146.6	2401	2205	3262	3178	193.6	-4.3	224	3554	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2204	3220	3262	3179	0	0	0	0	0	0	28.83	28.83	28.83
3853	-0.37	-146.6	2401	2205	3262	3178	207.6	-4.6	234	3854	0.00	0.00	0.00	0.000	6	0.000	0.000	2401	2204	3220	3262	3179	0	0	0	0	0	0	28.83	28.83	28.83
4153	-0.37	-146.6	2401	2205	3262	3178	223.0	-5.0	244	4159	0.00	2.05	0.00	0.000	516	0.000	0.032	2401	832	3220	3262	3178	0	0	0	0	0	0	28.83	26.27	28.83
4226	-0.37	-146.6	2401	832	3262	3178	226.2	-5.2	246	4230	0.00	2.05	0.00	0.000	1030	0.000	0.028	2394	2207	3220	3262	3178	0	0	0	0	0	0	28.83	26.36	28.83
4538	-0.37	-146.6	2394	2207	3262	3179	242.7	-4.9	257	4539	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2207	3220	3262	3179	0	0	0	0	0	0	28.83	28.83	28.83
4838	-0.37	-146.6	2394	2207	3262	3179	257.2	-5.4	267	4839	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2207	3220	3262	3178	0	0	0	0	0	0	28.83	28.83	28.83
5138	-0.37	-146.6	2394	2207	3262	3179	274.5	-5.5	277	5139	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2207	3220	3262	3179	0	0	0	0	0	0	28.83	28.83	28.83
5196	end dive: BOTTOM_OBSTACLE_DETECTED
state	5197	begin apogee
5201	-0.23	0.0	2394	2010	3262	3179	277.7	-5.5	279	5321	0.22	0.00	114.12	0.757	10246	0.099	0.000	2475	2009	2617	2706	2528	0	0	0	0	0	0	26.22	28.83	24.18
5323	end apogee: CONTROL_FINISHED_OK
state	5323	begin climb
5325	0.45	146.6	2474	2010	2706	2528	281.3	0.0	283	5447	0.60	2.33	116.15	0.734	10500	0.073	0.036	2687	3426	2018	2168	1869	0	0	0	0	0	0	25.24	24.87	23.88
5508	0.50	154.8	2686	3426	2168	1864	273.2	5.8	289	5526	0.00	2.12	7.78	0.607	9222	0.000	0.022	2687	2035	1985	2139	1832	0	0	0	0	0	0	28.83	25.38	23.98
5825	0.57	154.8	2687	2035	2139	1827	251.1	6.6	300	5832	0.12	2.15	0.00	0.000	2564	0.076	0.032	2780	643	1983	2139	1827	0	0	0	0	0	0	26.10	25.89	28.83
5889	0.57	154.8	2781	643	2138	1827	246.6	6.8	302	5894	0.17	2.10	0.00	0.000	5126	0.112	0.025	2728	2045	1983	2139	1827	0	0	0	0	0	0	25.77	26.03	28.83
6211	0.57	154.8	2727	2045	2139	1826	227.0	6.1	313	6215	0.00	2.12	0.00	0.000	260	0.000	0.038	2727	3421	1982	2139	1826	0	0	0	0	0	0	28.83	26.07	28.83
6300	0.57	154.8	2727	3421	2138	1826	221.3	6.4	316	6304	0.00	2.05	0.00	0.000	1030	0.000	0.023	2731	2029	1982	2139	1826	0	0	0	0	0	0	28.83	26.24	28.83
6627	0.57	154.8	2731	2029	2139	1825	201.3	6.2	327	6631	0.00	2.15	0.00	0.000	260	0.000	0.037	2731	3422	1981	2138	1825	0	0	0	0	0	0	28.83	26.15	28.83
6661	0.57	154.8	2731	3422	2139	1825	199.5	6.5	328	6665	0.00	2.08	0.00	0.000	1030	0.000	0.023	2731	2014	1982	2139	1825	0	0	0	0	0	0	28.83	26.31	28.83
6984	0.57	162.6	2730	2014	2139	1824	178.5	5.8	339	6993	0.00	0.00	7.00	0.590	8198	0.000	0.000	2731	2014	1954	2109	1799	0	0	0	0	0	0	28.83	28.83	24.64
7284	0.57	207.3	2731	2014	2109	1798	163.5	4.7	349	7326	0.00	2.25	36.28	0.702	8452	0.000	0.037	2731	3413	1771	1929	1614	0	0	0	0	0	0	28.83	25.86	24.77
7374	0.57	245.0	2730	3413	1929	1612	158.8	4.9	352	7411	0.00	2.08	31.08	0.673	9222	0.000	0.023	2731	2028	1618	1777	1460	0	0	0	0	0	0	28.83	25.98	24.51
7724	0.57	245.0	2731	2028	1776	1449	137.2	8.3	366	7730	0.00	2.12	0.00	0.000	516	0.000	0.035	2731	647	1612	1776	1449	0	0	0	0	0	0	28.83	25.97	28.83
7766	0.57	245.0	2730	647	1776	1448	134.1	8.2	368	7770	0.00	2.08	0.00	0.000	1030	0.000	0.025	2731	2032	1612	1776	1448	0	0	0	0	0	0	28.83	26.11	28.83
8083	0.57	245.0	2731	2033	1776	1448	110.6	6.8	384	8087	0.00	2.15	0.00	0.000	260	0.000	0.037	2731	3427	1611	1776	1447	0	0	0	0	0	0	28.83	26.11	28.83
8152	0.57	245.0	2731	3427	1776	1447	106.5	7.2	387	8159	0.00	2.08	0.00	0.000	1030	0.000	0.022	2731	2012	1611	1776	1447	0	0	0	0	0	0	28.83	26.28	28.83
8459	0.57	245.0	2730	2013	1776	1446	86.2	6.3	403	8463	0.00	2.17	0.00	0.000	260	0.000	0.037	2731	3425	1611	1776	1446	0	0	0	0	0	0	28.83	26.17	28.83
8503	0.57	245.0	2730	3425	1776	1446	83.7	6.5	405	8507	0.00	2.08	0.00	0.000	1030	0.000	0.023	2731	2014	1611	1776	1446	0	0	0	0	0	0	28.83	26.34	28.83
8817	0.57	334.9	2731	2014	1777	1444	68.4	3.4	434	8896	0.00	2.15	71.43	0.635	8708	0.000	0.034	2731	642	1250	1415	1086	0	0	0	0	0	0	28.83	25.60	24.63
8992	0.70	340.4	1792	642	1401	1076	60.0	5.8	451	9002	0.12	2.10	5.05	0.466	11270	0.084	0.024	2782	2039	1230	1397	1063	0	0	0	0	0	0	25.79	25.89	24.45
9310	0.84	340.4	2782	2039	1396	1058	34.7	6.8	483	9320	0.10	2.15	0.00	0.000	2564	0.106	0.032	2832	643	1227	1396	1058	0	0	0	0	0	0	26.25	26.01	28.83
9383	0.84	354.0	2831	642	1396	1057	30.2	5.6	490	9402	0.00	2.03	11.20	0.561	9222	0.000	0.024	2832	2021	1174	1341	1008	0	0	0	0	0	0	28.83	26.16	24.77
9702	0.84	354.0	2831	2021	1341	1004	7.9	7.6	522	9711	0.00	2.15	0.00	0.000	260	0.000	0.037	2831	3422	1172	1340	1004	0	0	0	0	0	0	28.83	26.09	28.83
9771	end climb: SURFACE_DEPTH_REACHED
state	9771	begin surface coast
9792	end surface coast: CONTROL_FINISHED_OK
state	9792	begin surface