Glider dive log

Cuddy Oct13 * SG144 * Dive index * Mission links * Dive 33 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 HD_C 1.176e-05 ROLL_MAX 3924 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 21 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 33 ESCAPE_HEADING 0 C_ROLL_DIVE 2390 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2307 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 2 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 -20 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT -20 XPDR_VALID 4

D_BOOST 0 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 95

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 2.2

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 480 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 5 VBD_MAX 3950 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2672 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 131

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 53

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 20

T_MISSION 390 CALL_WAIT 60 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 3

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 720 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 30 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -57341.32 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 350 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 50 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 120 MINV_24V 12 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3930 MINV_10V 12 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3110 FG_AHR_10V 0 SEABIRD_T_G 0.0043491465

GLIDE_SLOPE 50 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00063627562

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.5639563e-05

RHO 1.0233001 P_OVSHOOT 0.039999999 PRESSURE_YINT -50.012749 SEABIRD_T_J 2.8485167e-06

MASS 59412 PITCH_GAIN 22.5 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -9.7093372

MASS_COMP 4370 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1118598

NAV_MODE 1 PITCH_AD_RATE 165 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0010979992

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00015928292

KALMAN_USE 13 PITCH_ADJ_GAIN 0.039999999 COMPASS_USE 0

HD_A 0.0030066001 PITCH_ADJ_DBAND 0.5 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 200 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 250

AH0_10V 50 D_PITCH 0 PITCH_ADJ_DBAND 0.5 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.039999999 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 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 22.5 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3930 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MIN 120 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 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 50 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 0.0030066001 PRESSURE_SLOPE 0.0001182519 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -50.012749 T_GPS 15

CALL_WAIT 60 HD_C 1.176e-05 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -57341.32

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 720

COMPASS2_DEVICE -1 ID 144 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 12

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 0 INT_PRESSURE_YINT 2.2 RHO 1.0233001 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 13 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 3110 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 2307 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2390 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2672 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 3 ROLL_MAX 3924 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 59412 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 4370 ROLL_MIN 200 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3950

DEVICE2 131 MINV_10V 12 R_PORT_OVSHOOT -20 VBD_MAXERRORS 1

DEVICE3 53 MINV_24V 12 R_STBD_OVSHOOT -20 VBD_MIN 480

DEVICE4 20 MISSION 21 SEABIRD_C_G -9.7093372 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1118598 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0010979992 VBD_TIMEOUT 720

DIVE 33 NOCOMM_ACTION 163 SEABIRD_C_J 0.00015928292 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043491465 XPDR_DEVICE 24

D_BOOST 0 N_FILEKB 4 SEABIRD_T_H 0.00063627562 XPDR_INHIBIT 95

D_CALL 0 N_GPS 30 SEABIRD_T_I 2.5639563e-05 XPDR_VALID 4

D_FINISH 0 N_NOCOMM 5 SEABIRD_T_J 2.8485167e-06

D_FLARE 2 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 311013,151805,4712.606,-12608.802,28,0.9,28,16.7 TGT_NAME SEARCH_B

_CALLS 2 TGT_LATLONG 4721.000,-12645.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.238,0.104

_SM_DEPTHo 1.26 KALMAN_X -1610.9,0.0,0.0,-70521.9,-421.9

_SM_ANGLEo -71.9 KALMAN_Y 14196.0,0.0,0.0,182.0,-302.9

GPS2 311013,152538,4712.600,-12608.807,4,0.8,4,16.7 MHEAD_RNG_PITCHd_Wd 276.8,48005,-17.5,-10.000,-21.09,2221

SPEED_LIMITS 0.084,0.259 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 11440,426.90,1.548,36,0,481,537.70 FG_AHR_24Vo 0.000

SM_GC 1.38,9.02,0.00,0.00,0.079,0.000,0.000,110,2315,487,-9.31,0.23,535.98,0,0,0,0,0,0,14.97,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4657.54,-12609.10,311013,151519 MEM 313804

TT8_MAMPS 0.023219,0.023219 DATA_FILE_SIZE 17018,281

HUMID 66.42 CAP_FILE_SIZE 109598,25

INTERNAL_PRESSURE 8.46977 CFSIZE 260165632,217468928

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,1,1,1,60,85,81,1,0

XPDR_PINGS 0 EOP_CODE MOTOR_MAX_ERRORS_EXCEEDED

_24V_AH 3.1,13.419 RECOV_CODE MAX_PITCH_ERRORS

_10V_AH 13.3,3.760 GPS 311013,204105,4713.183,-12611.313,35,1.2,35,16.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 43 432 57.75 SBE_CT 196 24 14.61

Roll_motor 70 129 28.26 WL_BB2F 99 105 32.23

VBD_pump_during_apogee 278 2334 2017.24 AA3830 286 33 29.31

VBD_pump_during_surface 920 1548 4419.64 SBE_O2 232 19 13.68

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 18.81 nil 0 0 0.00

Iridium_during_connect 88 160 43.93 nil 0 0 0.00

Iridium_during_xfer 164 223 113.98 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 50 3.65

TT8 1095 19 288.48

LPSleep 15360 2 447.42

TT8_Active 1664 19 438.32

TT8_Sampling 1113 39 589.28

TT8_CF8 58 45 35.81

TT8_Kalman 0 81 0.42

Analog_circuits 2302 12 367.40

GPS_charging 0 0 0.00

Compass 775 15 154.74

RAFOS 0 0 0.00

Transponder 0 5 0.04

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 -0.78 -146.6 90 2329 1484 1403 0.0 0.0 0 60 0.00 0.00 -42.33 0.000 16386 0.000 0.000 88 2330 2700 2653 2747 0 0 0 0 0 0 28.83 28.83 28.83

61 -0.78 -146.6 88 2330 2657 2747 2.4 -3.4 4 91 13.77 0.00 -13.15 0.000 18438 0.433 0.000 2852 2330 3272 3185 3360 0 0 0 0 0 0 14.30 28.83 14.83

389 -0.50 -146.6 2852 2330 3199 3360 59.0 -12.6 37 391 0.38 0.00 0.00 0.000 2054 0.299 0.000 2944 2330 3280 3200 3360 0 0 0 0 0 0 14.41 28.83 28.83

689 -0.50 -146.6 2944 2330 3204 3362 86.4 -9.1 64 695 0.00 2.55 0.00 0.000 260 0.000 0.073 2938 3813 3283 3204 3362 0 0 0 0 0 0 28.83 14.69 28.83

917 -0.50 -146.6 2938 3812 3207 3362 107.7 -9.1 75 921 0.00 2.35 0.00 0.000 1030 0.000 0.038 2938 2351 3284 3206 3362 0 0 0 0 0 0 28.83 14.76 28.83

1224 -0.58 -146.6 2938 2351 3207 3362 131.0 -7.6 90 1225 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 2351 3284 3207 3362 0 0 0 0 0 0 28.83 28.83 28.83

1544 -0.69 -146.6 2938 2351 3207 3362 155.8 -7.1 105 1546 0.17 0.00 0.00 0.000 4102 0.131 0.000 2875 2351 3284 3207 3362 0 0 0 0 0 0 14.76 28.83 28.83

1844 -0.69 -146.6 2875 2351 3207 3362 185.1 -9.5 115 1850 0.00 2.50 0.00 0.000 260 0.000 0.073 2872 3815 3284 3207 3362 0 0 0 0 0 0 28.83 14.81 28.83

1874 -0.67 -146.6 2871 3815 3207 3362 187.9 -9.4 116 1880 0.00 2.35 0.00 0.000 1030 0.000 0.039 2871 2351 3284 3207 3362 0 0 0 0 0 0 28.83 14.85 28.83

2204 -0.67 -146.6 2871 2351 3207 3362 219.9 -9.7 127 2210 0.00 2.30 0.00 0.000 516 0.000 0.063 2871 964 3284 3207 3362 0 0 0 0 0 0 28.83 14.81 28.83

2264 -0.67 -146.6 2871 964 3207 3362 225.9 -9.8 129 2269 0.00 2.38 0.00 0.000 1030 0.000 0.051 2871 2404 3284 3207 3362 0 0 0 0 0 0 28.83 14.84 28.83

2594 -0.67 -146.6 2871 2404 3207 3362 257.2 -9.9 140 2595 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2404 3284 3207 3362 0 0 0 0 0 0 28.83 28.83 28.83

2894 -0.70 -146.6 2871 2403 3207 3362 289.4 -10.7 150 2895 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2403 3284 3207 3362 0 0 0 0 0 0 28.83 28.83 28.83

3194 -0.73 -146.6 2871 2404 3207 3362 318.9 -9.7 157 3200 0.00 2.38 0.00 0.000 260 0.000 0.078 2872 3805 3284 3207 3362 0 0 0 0 0 0 28.83 14.83 28.83

3232 -0.77 -146.6 2871 3805 3207 3362 318.9 -9.7 157 3236 0.00 2.33 0.00 0.000 1030 0.000 0.040 2871 2351 3284 3207 3362 0 0 0 0 0 0 28.83 14.88 28.83

3549 -0.83 -146.6 2871 2351 3207 3362 350.9 -8.7 163 3550 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2351 3284 3207 3362 0 0 0 0 0 0 28.83 28.83 28.83

3849 -0.91 -146.6 2871 2351 3207 3362 377.4 -9.0 168 3851 0.17 0.00 0.00 0.000 4102 0.142 0.000 2811 2351 3284 3207 3362 0 0 0 0 0 0 14.85 28.83 28.83

4149 -0.83 -146.6 2811 2351 3207 3360 411.4 -11.3 173 4156 0.12 2.47 0.00 0.000 2308 0.308 0.074 2840 3805 3283 3207 3360 0 0 0 0 0 0 14.62 14.85 28.83

4217 -0.77 -146.6 2840 3805 3207 3359 417.8 -11.2 174 4221 0.00 2.33 0.00 0.000 1030 0.000 0.041 2840 2352 3283 3207 3359 0 0 0 0 0 0 28.83 14.91 28.83

4564 -0.77 -146.6 2840 2352 3207 3359 451.9 -9.3 180 4568 0.00 2.30 0.00 0.000 516 0.000 0.067 2840 967 3283 3207 3359 0 0 0 0 0 0 28.83 14.84 28.83

4608 -0.77 -146.6 2840 966 3207 3359 451.9 -9.3 180 4612 0.00 2.38 0.00 0.000 1030 0.000 0.054 2840 2410 3283 3207 3359 0 0 0 0 0 0 28.83 14.88 28.83

4915 -0.80 -146.6 2840 2410 3207 3357 482.0 -8.4 185 4917 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2410 3282 3207 3357 0 0 0 0 0 0 28.83 28.83 28.83

5215 -0.83 -146.6 2840 2410 3207 3357 506.0 -8.0 190 5216 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2410 3282 3207 3357 0 0 0 0 0 0 28.83 28.83 28.83

5515 -0.87 -146.6 2840 2410 3207 3356 530.4 -8.2 195 5521 0.00 2.35 0.00 0.000 260 0.000 0.078 2840 3810 3280 3207 3354 0 0 0 0 0 0 28.83 14.90 28.83

5553 -0.91 -146.6 2840 3810 3206 3354 530.4 -8.2 195 5557 0.00 2.33 0.00 0.000 1030 0.000 0.042 2840 2359 3280 3207 3354 0 0 0 0 0 0 28.83 14.93 28.83

5870 -0.97 -146.6 2840 2359 3207 3354 563.4 -9.5 201 5872 0.15 0.00 0.00 0.000 4102 0.146 0.000 2787 2359 3280 3207 3353 0 0 0 0 0 0 14.92 28.83 28.83

6170 -0.90 -146.6 2787 2359 3207 3352 600.5 -12.5 206 6172 0.15 0.00 0.00 0.000 2054 0.308 0.000 2818 2358 3280 3207 3353 0 0 0 0 0 0 14.71 28.83 28.83

6470 -0.92 -146.6 2818 2358 3207 3352 633.8 -11.0 211 6471 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2358 3279 3207 3352 0 0 0 0 0 0 28.83 28.83 28.83

6770 -0.95 -146.6 2818 2358 3207 3351 665.5 -10.5 216 6776 0.00 2.47 0.00 0.000 260 0.000 0.079 2815 3812 3278 3207 3350 0 0 0 0 0 0 28.83 14.88 28.83

6823 -0.98 -146.6 2815 3812 3207 3350 665.5 -10.5 216 6830 0.00 2.38 0.00 0.000 1030 0.000 0.043 2814 2350 3278 3207 3350 0 0 0 0 0 0 28.83 14.94 28.83

7130 -1.02 -146.6 2815 2350 3207 3350 700.0 -9.3 222 7131 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2350 3278 3207 3349 0 0 0 0 0 0 28.83 28.83 28.83

7430 -1.07 -146.6 2815 2350 3207 3348 728.1 -9.3 227 7437 0.12 2.47 0.00 0.000 4356 0.167 0.077 2766 3805 3277 3207 3347 0 0 0 0 0 0 14.88 14.88 28.83

7498 -1.09 -146.6 2766 3805 3207 3347 734.7 -9.5 228 7502 0.00 2.33 0.00 0.000 1030 0.000 0.043 2766 2358 3276 3206 3347 0 0 0 0 0 0 28.83 14.91 28.83

7845 -1.01 -146.6 2766 2358 3207 3346 771.9 -10.3 234 7846 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2358 3277 3207 3347 0 0 0 0 0 0 28.83 28.83 28.83

8145 -0.94 -146.6 2766 2358 3207 3346 803.9 -10.8 239 8151 0.12 2.30 0.00 0.000 2564 0.299 0.067 2797 971 3276 3207 3346 0 0 0 0 0 0 14.73 14.90 28.83

8209 -0.89 -146.6 2797 971 3207 3345 810.1 -10.7 240 8214 0.00 2.35 0.00 0.000 1030 0.000 0.054 2797 2402 3276 3207 3345 0 0 0 0 0 0 28.83 14.90 28.83

8560 -0.92 -146.6 2797 2402 3207 3345 845.6 -10.1 246 8567 0.00 2.38 0.00 0.000 260 0.000 0.081 2797 3808 3275 3207 3344 0 0 0 0 0 0 28.83 14.88 28.83

8614 -0.95 -146.6 2797 3808 3207 3344 845.6 -10.1 246 8621 0.00 2.33 0.00 0.000 1030 0.000 0.042 2797 2361 3275 3207 3344 0 0 0 0 0 0 28.83 14.91 28.83

8920 -0.99 -146.6 2797 2361 3207 3343 881.9 -10.1 252 8922 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2361 3275 3207 3343 0 0 0 0 0 0 28.83 28.83 28.83

9220 -1.05 -146.6 2797 2361 3207 3343 912.9 -10.4 257 9222 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2361 3275 3207 3343 0 0 0 0 0 0 28.83 28.83 28.83

9521 -1.11 -146.6 2797 2361 3207 3342 941.8 -9.6 262 9523 0.15 0.00 0.00 0.000 4102 0.149 0.000 2748 2360 3274 3207 3342 0 0 0 0 0 0 14.84 28.83 28.83

9820 -1.04 -146.6 2749 2360 3207 3341 975.8 -11.5 267 9822 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2360 3274 3207 3341 0 0 0 0 0 0 28.83 28.83 28.83

9999 end dive: TARGET_DEPTH_EXCEEDED

state 9999 begin apogee

10003 -0.22 0.0 2749 2282 3207 3341 996.0 -11.3 270 10148 1.05 0.00 138.65 2.334 10246 0.272 0.000 3030 2281 2671 2628 2714 0 0 0 0 0 0 14.62 28.83 12.48

10149 end apogee: CONTROL_FINISHED_OK

state 10150 begin climb

10151 0.78 146.6 3030 2281 2627 2714 997.7 0.0 272 10302 1.10 2.55 140.15 2.329 10756 0.165 0.076 3356 893 2072 2100 2044 0 0 0 0 0 0 13.86 13.75 12.33

10337 0.78 146.6 3357 893 2094 2042 985.8 9.0 275 10341 0.00 2.58 0.00 0.000 1030 0.000 0.051 3356 2315 2067 2093 2042 0 0 0 0 0 0 28.83 13.81 28.83

10665 0.55 146.6 3356 2314 2081 2042 933.2 14.6 281 10702 16.52 12.88 0.00 0.000 4356 0.011 0.003 3309 2314 2061 2080 2042 60 1 85 1 0 0 3.39 3.37 28.83

10705 end climb: MOTOR_MAX_ERRORS_EXCEEDED

ID	144	HD_C	1.176e-05	ROLL_MAX	3924	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	21	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	33	ESCAPE_HEADING	0	C_ROLL_DIVE	2390	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2307	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	2	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	-20	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	-20	XPDR_VALID	4
D_BOOST	0	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	95
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	2.2
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	480	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	5	VBD_MAX	3950	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2672	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	131
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	53
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	20
T_MISSION	390	CALL_WAIT	60	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	3
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	720	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	30	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-57341.32	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	350	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	50	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	120	MINV_24V	12	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3930	MINV_10V	12	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3110	FG_AHR_10V	0	SEABIRD_T_G	0.0043491465
GLIDE_SLOPE	50	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00063627562
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.5639563e-05
RHO	1.0233001	P_OVSHOOT	0.039999999	PRESSURE_YINT	-50.012749	SEABIRD_T_J	2.8485167e-06
MASS	59412	PITCH_GAIN	22.5	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-9.7093372
MASS_COMP	4370	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1118598
NAV_MODE	1	PITCH_AD_RATE	165	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0010979992
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00015928292
KALMAN_USE	13	PITCH_ADJ_GAIN	0.039999999	COMPASS_USE	0
HD_A	0.0030066001	PITCH_ADJ_DBAND	0.5	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	200	ALTIM_TOP_PING_RANGE	0

GPS1	311013,151805,4712.606,-12608.802,28,0.9,28,16.7	TGT_NAME	SEARCH_B
_CALLS	2	TGT_LATLONG	4721.000,-12645.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.238,0.104
_SM_DEPTHo	1.26	KALMAN_X	-1610.9,0.0,0.0,-70521.9,-421.9
_SM_ANGLEo	-71.9	KALMAN_Y	14196.0,0.0,0.0,182.0,-302.9
GPS2	311013,152538,4712.600,-12608.807,4,0.8,4,16.7	MHEAD_RNG_PITCHd_Wd	276.8,48005,-17.5,-10.000,-21.09,2221
SPEED_LIMITS	0.084,0.259	D_GRID	990

SM_CCo	11440,426.90,1.548,36,0,481,537.70	FG_AHR_24Vo	0.000
SM_GC	1.38,9.02,0.00,0.00,0.079,0.000,0.000,110,2315,487,-9.31,0.23,535.98,0,0,0,0,0,0,14.97,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4657.54,-12609.10,311013,151519	MEM	313804
TT8_MAMPS	0.023219,0.023219	DATA_FILE_SIZE	17018,281
HUMID	66.42	CAP_FILE_SIZE	109598,25
INTERNAL_PRESSURE	8.46977	CFSIZE	260165632,217468928
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,1,1,1,60,85,81,1,0
XPDR_PINGS	0	EOP_CODE	MOTOR_MAX_ERRORS_EXCEEDED
_24V_AH	3.1,13.419	RECOV_CODE	MAX_PITCH_ERRORS
_10V_AH	13.3,3.760	GPS	311013,204105,4713.183,-12611.313,35,1.2,35,16.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	43	432	57.75	SBE_CT	196	24	14.61
Roll_motor	70	129	28.26	WL_BB2F	99	105	32.23
VBD_pump_during_apogee	278	2334	2017.24	AA3830	286	33	29.31
VBD_pump_during_surface	920	1548	4419.64	SBE_O2	232	19	13.68
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	18.81	nil	0	0	0.00
Iridium_during_connect	88	160	43.93	nil	0	0	0.00
Iridium_during_xfer	164	223	113.98	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	50	3.65
TT8	1095	19	288.48
LPSleep	15360	2	447.42
TT8_Active	1664	19	438.32
TT8_Sampling	1113	39	589.28
TT8_CF8	58	45	35.81
TT8_Kalman	0	81	0.42
Analog_circuits	2302	12	367.40
GPS_charging	0	0	0.00
Compass	775	15	154.74
RAFOS	0	0	0.00
Transponder	0	5	0.04

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	-0.78	-146.6	90	2329	1484	1403	0.0	0.0	0	60	0.00	0.00	-42.33	0.000	16386	0.000	0.000	88	2330	2700	2653	2747	0	0	0	0	0	0	28.83	28.83	28.83
61	-0.78	-146.6	88	2330	2657	2747	2.4	-3.4	4	91	13.77	0.00	-13.15	0.000	18438	0.433	0.000	2852	2330	3272	3185	3360	0	0	0	0	0	0	14.30	28.83	14.83
389	-0.50	-146.6	2852	2330	3199	3360	59.0	-12.6	37	391	0.38	0.00	0.00	0.000	2054	0.299	0.000	2944	2330	3280	3200	3360	0	0	0	0	0	0	14.41	28.83	28.83
689	-0.50	-146.6	2944	2330	3204	3362	86.4	-9.1	64	695	0.00	2.55	0.00	0.000	260	0.000	0.073	2938	3813	3283	3204	3362	0	0	0	0	0	0	28.83	14.69	28.83
917	-0.50	-146.6	2938	3812	3207	3362	107.7	-9.1	75	921	0.00	2.35	0.00	0.000	1030	0.000	0.038	2938	2351	3284	3206	3362	0	0	0	0	0	0	28.83	14.76	28.83
1224	-0.58	-146.6	2938	2351	3207	3362	131.0	-7.6	90	1225	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	2351	3284	3207	3362	0	0	0	0	0	0	28.83	28.83	28.83
1544	-0.69	-146.6	2938	2351	3207	3362	155.8	-7.1	105	1546	0.17	0.00	0.00	0.000	4102	0.131	0.000	2875	2351	3284	3207	3362	0	0	0	0	0	0	14.76	28.83	28.83
1844	-0.69	-146.6	2875	2351	3207	3362	185.1	-9.5	115	1850	0.00	2.50	0.00	0.000	260	0.000	0.073	2872	3815	3284	3207	3362	0	0	0	0	0	0	28.83	14.81	28.83
1874	-0.67	-146.6	2871	3815	3207	3362	187.9	-9.4	116	1880	0.00	2.35	0.00	0.000	1030	0.000	0.039	2871	2351	3284	3207	3362	0	0	0	0	0	0	28.83	14.85	28.83
2204	-0.67	-146.6	2871	2351	3207	3362	219.9	-9.7	127	2210	0.00	2.30	0.00	0.000	516	0.000	0.063	2871	964	3284	3207	3362	0	0	0	0	0	0	28.83	14.81	28.83
2264	-0.67	-146.6	2871	964	3207	3362	225.9	-9.8	129	2269	0.00	2.38	0.00	0.000	1030	0.000	0.051	2871	2404	3284	3207	3362	0	0	0	0	0	0	28.83	14.84	28.83
2594	-0.67	-146.6	2871	2404	3207	3362	257.2	-9.9	140	2595	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2404	3284	3207	3362	0	0	0	0	0	0	28.83	28.83	28.83
2894	-0.70	-146.6	2871	2403	3207	3362	289.4	-10.7	150	2895	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2403	3284	3207	3362	0	0	0	0	0	0	28.83	28.83	28.83
3194	-0.73	-146.6	2871	2404	3207	3362	318.9	-9.7	157	3200	0.00	2.38	0.00	0.000	260	0.000	0.078	2872	3805	3284	3207	3362	0	0	0	0	0	0	28.83	14.83	28.83
3232	-0.77	-146.6	2871	3805	3207	3362	318.9	-9.7	157	3236	0.00	2.33	0.00	0.000	1030	0.000	0.040	2871	2351	3284	3207	3362	0	0	0	0	0	0	28.83	14.88	28.83
3549	-0.83	-146.6	2871	2351	3207	3362	350.9	-8.7	163	3550	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2351	3284	3207	3362	0	0	0	0	0	0	28.83	28.83	28.83
3849	-0.91	-146.6	2871	2351	3207	3362	377.4	-9.0	168	3851	0.17	0.00	0.00	0.000	4102	0.142	0.000	2811	2351	3284	3207	3362	0	0	0	0	0	0	14.85	28.83	28.83
4149	-0.83	-146.6	2811	2351	3207	3360	411.4	-11.3	173	4156	0.12	2.47	0.00	0.000	2308	0.308	0.074	2840	3805	3283	3207	3360	0	0	0	0	0	0	14.62	14.85	28.83
4217	-0.77	-146.6	2840	3805	3207	3359	417.8	-11.2	174	4221	0.00	2.33	0.00	0.000	1030	0.000	0.041	2840	2352	3283	3207	3359	0	0	0	0	0	0	28.83	14.91	28.83
4564	-0.77	-146.6	2840	2352	3207	3359	451.9	-9.3	180	4568	0.00	2.30	0.00	0.000	516	0.000	0.067	2840	967	3283	3207	3359	0	0	0	0	0	0	28.83	14.84	28.83
4608	-0.77	-146.6	2840	966	3207	3359	451.9	-9.3	180	4612	0.00	2.38	0.00	0.000	1030	0.000	0.054	2840	2410	3283	3207	3359	0	0	0	0	0	0	28.83	14.88	28.83
4915	-0.80	-146.6	2840	2410	3207	3357	482.0	-8.4	185	4917	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2410	3282	3207	3357	0	0	0	0	0	0	28.83	28.83	28.83
5215	-0.83	-146.6	2840	2410	3207	3357	506.0	-8.0	190	5216	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2410	3282	3207	3357	0	0	0	0	0	0	28.83	28.83	28.83
5515	-0.87	-146.6	2840	2410	3207	3356	530.4	-8.2	195	5521	0.00	2.35	0.00	0.000	260	0.000	0.078	2840	3810	3280	3207	3354	0	0	0	0	0	0	28.83	14.90	28.83
5553	-0.91	-146.6	2840	3810	3206	3354	530.4	-8.2	195	5557	0.00	2.33	0.00	0.000	1030	0.000	0.042	2840	2359	3280	3207	3354	0	0	0	0	0	0	28.83	14.93	28.83
5870	-0.97	-146.6	2840	2359	3207	3354	563.4	-9.5	201	5872	0.15	0.00	0.00	0.000	4102	0.146	0.000	2787	2359	3280	3207	3353	0	0	0	0	0	0	14.92	28.83	28.83
6170	-0.90	-146.6	2787	2359	3207	3352	600.5	-12.5	206	6172	0.15	0.00	0.00	0.000	2054	0.308	0.000	2818	2358	3280	3207	3353	0	0	0	0	0	0	14.71	28.83	28.83
6470	-0.92	-146.6	2818	2358	3207	3352	633.8	-11.0	211	6471	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2358	3279	3207	3352	0	0	0	0	0	0	28.83	28.83	28.83
6770	-0.95	-146.6	2818	2358	3207	3351	665.5	-10.5	216	6776	0.00	2.47	0.00	0.000	260	0.000	0.079	2815	3812	3278	3207	3350	0	0	0	0	0	0	28.83	14.88	28.83
6823	-0.98	-146.6	2815	3812	3207	3350	665.5	-10.5	216	6830	0.00	2.38	0.00	0.000	1030	0.000	0.043	2814	2350	3278	3207	3350	0	0	0	0	0	0	28.83	14.94	28.83
7130	-1.02	-146.6	2815	2350	3207	3350	700.0	-9.3	222	7131	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2350	3278	3207	3349	0	0	0	0	0	0	28.83	28.83	28.83
7430	-1.07	-146.6	2815	2350	3207	3348	728.1	-9.3	227	7437	0.12	2.47	0.00	0.000	4356	0.167	0.077	2766	3805	3277	3207	3347	0	0	0	0	0	0	14.88	14.88	28.83
7498	-1.09	-146.6	2766	3805	3207	3347	734.7	-9.5	228	7502	0.00	2.33	0.00	0.000	1030	0.000	0.043	2766	2358	3276	3206	3347	0	0	0	0	0	0	28.83	14.91	28.83
7845	-1.01	-146.6	2766	2358	3207	3346	771.9	-10.3	234	7846	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2358	3277	3207	3347	0	0	0	0	0	0	28.83	28.83	28.83
8145	-0.94	-146.6	2766	2358	3207	3346	803.9	-10.8	239	8151	0.12	2.30	0.00	0.000	2564	0.299	0.067	2797	971	3276	3207	3346	0	0	0	0	0	0	14.73	14.90	28.83
8209	-0.89	-146.6	2797	971	3207	3345	810.1	-10.7	240	8214	0.00	2.35	0.00	0.000	1030	0.000	0.054	2797	2402	3276	3207	3345	0	0	0	0	0	0	28.83	14.90	28.83
8560	-0.92	-146.6	2797	2402	3207	3345	845.6	-10.1	246	8567	0.00	2.38	0.00	0.000	260	0.000	0.081	2797	3808	3275	3207	3344	0	0	0	0	0	0	28.83	14.88	28.83
8614	-0.95	-146.6	2797	3808	3207	3344	845.6	-10.1	246	8621	0.00	2.33	0.00	0.000	1030	0.000	0.042	2797	2361	3275	3207	3344	0	0	0	0	0	0	28.83	14.91	28.83
8920	-0.99	-146.6	2797	2361	3207	3343	881.9	-10.1	252	8922	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2361	3275	3207	3343	0	0	0	0	0	0	28.83	28.83	28.83
9220	-1.05	-146.6	2797	2361	3207	3343	912.9	-10.4	257	9222	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2361	3275	3207	3343	0	0	0	0	0	0	28.83	28.83	28.83
9521	-1.11	-146.6	2797	2361	3207	3342	941.8	-9.6	262	9523	0.15	0.00	0.00	0.000	4102	0.149	0.000	2748	2360	3274	3207	3342	0	0	0	0	0	0	14.84	28.83	28.83
9820	-1.04	-146.6	2749	2360	3207	3341	975.8	-11.5	267	9822	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2360	3274	3207	3341	0	0	0	0	0	0	28.83	28.83	28.83
9999	end dive: TARGET_DEPTH_EXCEEDED
state	9999	begin apogee
10003	-0.22	0.0	2749	2282	3207	3341	996.0	-11.3	270	10148	1.05	0.00	138.65	2.334	10246	0.272	0.000	3030	2281	2671	2628	2714	0	0	0	0	0	0	14.62	28.83	12.48
10149	end apogee: CONTROL_FINISHED_OK
state	10150	begin climb
10151	0.78	146.6	3030	2281	2627	2714	997.7	0.0	272	10302	1.10	2.55	140.15	2.329	10756	0.165	0.076	3356	893	2072	2100	2044	0	0	0	0	0	0	13.86	13.75	12.33
10337	0.78	146.6	3357	893	2094	2042	985.8	9.0	275	10341	0.00	2.58	0.00	0.000	1030	0.000	0.051	3356	2315	2067	2093	2042	0	0	0	0	0	0	28.83	13.81	28.83
10665	0.55	146.6	3356	2314	2081	2042	933.2	14.6	281	10702	16.52	12.88	0.00	0.000	4356	0.011	0.003	3309	2314	2061	2080	2042	60	1	85	1	0	0	3.39	3.37	28.83
10705	end climb: MOTOR_MAX_ERRORS_EXCEEDED