Glider dive log

Totten 28Dec14 * SG017 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 17 HD_C 2.8e-05 ROLL_MAX 3877 ALTIM_TOP_PING_RANGE 20

MISSION 17 HEADING -1 ROLL_DEG 33 ALTIM_BOTTOM_TURN_MARGIN 20

DIVE 4 ESCAPE_HEADING 90 C_ROLL_DIVE 2380 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 5 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 2.8

D_SURF 2 FIX_MISSING_TIMEOUT 1 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -6625 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

D_TGT 500 TGT_DEFAULT_LON 12015 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_ABORT 700 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 14 ALTIM_PULSE 3

D_NO_BLEED 100 SM_CC 350 R_STBD_OVSHOOT 20 ALTIM_SENSITIVITY 3

D_BOOST 2 N_FILEKB 4 ROLL_AD_RATE 320 XPDR_VALID 0

T_BOOST 0 FILEMGR 2 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

D_SAFE 300 PROTOCOL 9 VBD_MIN 550 DEEPGLIDER 0

D_CALL 3 N_NOCOMM 6 VBD_MAX 3735 MOTHERBOARD 4

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2520 DEVICE1 2

SURFACE_URGENCY_TRY 10 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 37

SURFACE_URGENCY_FORCE 20 UPLOAD_DIVES_MAX 2 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 150 CALL_TRIES 3 VBD_LP_IGNORE 1 DEVICE4 -1

T_MISSION 175 CALL_WAIT 60 VBD_TIMEOUT 540 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.001 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 20 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

USE_BATHY -1 T_RSLEEP 3 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_ICE 0 STROBE 0 DBDW 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.090000004 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 PHONE_DEVICE 49

D_OFFGRID 300 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 RAFOS_DEVICE 16

RELAUNCH 1 PITCH_MIN 584 AH0_24V 90 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MAX 3731 AH0_10V 78 SIM_W 0

MAX_BUOY 200 C_PITCH 2580 MINV_24V 22 SIM_PITCH 0

COURSE_BIAS 0 PITCH_DBAND 0.1 MINV_10V 9.5 SEABIRD_T_G 0.004332595

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 FG_AHR_10V 0 SEABIRD_T_H 0.00063243619

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_T_I 2.4193625e-05

RHO 1.02775 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_T_J 2.5746874e-06

MASS 52210 PITCH_GAIN 20 PRESSURE_YINT -4.7807236 SEABIRD_C_G -9.8293695

MASS_COMP 0 PITCH_TIMEOUT 16 PRESSURE_SLOPE 9.1207337e-05 SEABIRD_C_H 1.1005322

NAV_MODE 2 PITCH_AD_RATE 130 AD7714Ch0Gain 64 SEABIRD_C_I -0.0015286342

FERRY_MAX 60 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.0002052265

KALMAN_USE 2 PITCH_ADJ_GAIN 0.029999999 TCM_ROLL_OFFSET 0

HD_A 0.003 PITCH_ADJ_DBAND 1 COMPASS_USE 4

HD_B 0.0099999998 ROLL_MIN 233 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SM_CC 350

AH0_10V 78 D_SAFE 300 PITCH_ADJ_GAIN 0.029999999 SPEED_FACTOR 1

AH0_24V 90 D_SURF 2 PITCH_AD_RATE 130 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 500 PITCH_CNV 0.0046000001 SURFACE_URGENCY 10

ALTIM_BOTTOM_TURN_MARGIN 20 ESCAPE_HEADING 90 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 20

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 20 SURFACE_URGENCY_TRY 10

ALTIM_PING_DELTA 0 FERRY_MAX 60 PITCH_MAX 3731 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MIN 584 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FILEMGR 2 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT -6625

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 1 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LON 12015

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_BOOST 0

APOGEE_PITCH -5 HD_A 0.003 PRESSURE_SLOPE 9.1207337e-05 T_DIVE 150

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -4.7807236 T_EPIRB 0

CALL_TRIES 3 HD_C 2.8e-05 PROTOCOL 9 T_GPS 5

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0 T_LOITER 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_MISSION 175

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.090000004 RAFOS_DEVICE 16 T_NO_W 120

COMM_SEQ 0 ID 17 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0 RELAUNCH 1 T_TURN_SAMPINT -5

COMPASS_USE 4 KALMAN_USE 2 RHO 1.02775 T_WATCHDOG 10

COURSE_BIAS 0 LOGGERDEVICE1 -1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

C_PITCH 2580 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX 2

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 ROLL_AD_RATE 320 USE_BATHY -1

C_ROLL_DIVE 2380 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 USE_ICE 0

C_VBD 2520 LOGGERS 0 ROLL_DEG 33 VBD_BLEED_AD_RATE 8

DBDW 0 MASS 52210 ROLL_MAX 3877 VBD_CNV -0.24529999

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 200 ROLL_MIN 233 VBD_LP_IGNORE 1

DEVICE2 37 MINV_10V 9.5 ROLL_TIMEOUT 15 VBD_MAX 3735

DEVICE3 -1 MINV_24V 22 R_PORT_OVSHOOT 14 VBD_MAXERRORS 1

DEVICE4 -1 MISSION 17 R_STBD_OVSHOOT 20 VBD_MIN 550

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_G -9.8293695 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_H 1.1005322 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 4 NOCOMM_ACTION 161 SEABIRD_C_I -0.0015286342 VBD_TIMEOUT 540

D_ABORT 700 N_DIVES 5 SEABIRD_C_J 0.0002052265 W_ADJ_DBAND 0

D_BOOST 2 N_FILEKB 4 SEABIRD_T_G 0.004332595 XPDR_DEVICE 24

D_CALL 3 N_GPS 20 SEABIRD_T_H 0.00063243619 XPDR_INHIBIT 90

D_FINISH 9 N_NOCOMM 6 SEABIRD_T_I 2.4193625e-05 XPDR_VALID 0

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_J 2.5746874e-06

D_NO_BLEED 100 PHONE_DEVICE 49 SIM_PITCH 0

D_OFFGRID 300 PHONE_SUPPLY -2 SIM_W 0

Pre-dive calculations and measurements:

GPS1 281214,151124,-6624.710,12001.276,12,1.9,29,-106.5 SPEED_LIMITS 0.192,0.298

_CALLS 1 TGT_NAME IN_N1

_XMS_NAKs 0 TGT_LATLONG -6620.000,11930.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.22 MHEAD_RNG_PITCHd_Wd 52.1,24823,-16.8,-11.111,-20.48,2606

_SM_ANGLEo -64.6 D_GRID 698

GPS2 281214,151542,-6624.718,12001.254,15,1.9,32,-106.5

Post-dive calculations and measurements:

SM_CCo 5883,203.48,1.017,6,0,550,483.24 _10V_AH 9.90,3.067

SM_GC 1.28,10.57,0.00,0.00,0.067,0.000,0.000,585,1257,543,-9.14,-23.86,484.71,0,0,0,0,0,0,24.68,28.83,28.83 FG_AHR_24Vo 0.000

RAFOS_CLK 651 FG_AHR_10Vo 0.000

RAFOS 0,1419782480,16.033333,16.022223,139,67,58,0,0,0,581,198,164,0,0,0 MEM 300712

RAFOS_FIX -6623.178711,11958.005859,281214,121216,2,120,0.79 DATA_FILE_SIZE 33648,675

IRIDIUM_FIX -6553.70,12003.38,281214,150651 CAP_FILE_SIZE 120603,22

TT8_MAMPS 0.020972,0.020972 CFSIZE 256368640,251363328

HUMID 72.99 ERRORS 0,2,0,0,0,0,0,0,0,1,2,0,0,17,0,0

INTERNAL_PRESSURE 8.7308 INTR 1,10954.19,0x23777a,6,5

TCM_TEMP 12.70 EOP_CODE UNCOMMANDED_BLEED_DETECTED

XPDR_PINGS 0 RECOV_CODE UNCOMMANDED_BLEED

_24V_AH 23.15,5.377 GPS 281214,182456,-6624.772,11959.517,239,2.2,259,-106.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 237 139.62 SBE_CT 392 23 218.03

Roll_motor 90 114 239.41 WL_BB2FLVMG 235 105 573.27

VBD_pump_during_apogee 387 1165 10445.67 nil 0 0 0.00

VBD_pump_during_surface 698 1017 16446.56 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 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 36 11.99

TT8 1604 13 215.57

LPSleep 7017 2 160.49

TT8_Active 1345 12 170.77

TT8_Sampling 1030 41 421.21

TT8_CF8 125 51 63.15

TT8_Kalman 0 0 0.00

Analog_circuits 2053 10 211.42

GPS_charging 0 0 0.00

Compass 972 5 48.15

RAFOS 480 1 7.13

Transponder 0 5 0.05

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

16 -1.04 -194.6 579 2389 308 1076 0.0 0.0 0 167 0.00 0.00 -147.93 0.000 16386 0.000 0.000 579 2389 2942 989 2942 0 0 0 0 0 0 28.83 28.83 28.83

170 -1.04 -194.6 579 2389 943 2942 3.4 -6.3 24 202 12.00 2.12 -11.50 0.000 19204 0.238 0.094 2347 3533 3316 1196 3316 0 0 0 0 0 0 24.35 24.43 24.83

432 -1.04 -194.6 2347 3533 533 3317 43.2 -13.6 74 438 0.00 2.05 0.00 0.000 1030 0.000 0.070 2347 2381 3317 637 3317 0 0 0 0 0 0 28.83 24.58 28.83

622 -1.00 -194.6 2347 2380 527 3317 68.1 -12.7 111 628 0.00 2.08 0.00 0.000 260 0.000 0.080 2347 3535 3317 631 3317 0 0 0 0 0 0 28.83 24.54 28.83

736 -1.00 -194.6 2347 3535 560 3317 83.1 -12.8 133 743 0.00 2.05 0.00 0.000 1030 0.000 0.070 2347 2381 3317 676 3317 0 0 0 0 0 0 28.83 24.60 28.83

927 -1.00 -194.6 2347 2381 561 3317 107.5 -12.4 170 934 0.00 2.10 0.00 0.000 516 0.000 0.086 2347 1218 3317 662 3317 0 0 0 0 0 0 28.83 24.56 28.83

942 -0.97 -194.6 2347 1218 661 3317 109.3 -12.6 172 950 0.10 1.98 0.00 0.000 3078 0.135 0.050 2364 2374 3317 754 3317 0 0 0 0 0 0 24.59 24.62 28.83

1133 -0.97 -194.6 2363 2374 534 3317 131.8 -11.3 209 1140 0.00 2.10 0.00 0.000 260 0.000 0.083 2363 3540 3317 653 3317 0 0 0 0 0 0 28.83 24.56 28.83

1153 -0.97 -194.6 2363 3540 653 3317 134.1 -11.7 212 1160 0.00 2.08 0.00 0.000 1030 0.000 0.073 2363 2380 3317 747 3317 0 0 0 0 0 0 28.83 24.60 28.83

1343 -0.97 -194.6 2363 2379 536 3317 155.7 -11.3 249 1350 0.00 2.10 0.00 0.000 516 0.000 0.086 2363 1215 3317 654 3317 0 0 0 0 0 0 28.83 24.58 28.83

1357 -0.97 -194.6 2363 1215 653 3317 157.4 -11.5 251 1363 0.00 2.00 0.00 0.000 1030 0.000 0.050 2364 2381 3317 746 3317 0 0 0 0 0 0 28.83 24.63 28.83

1547 -0.97 -194.6 2363 2382 536 3317 179.1 -11.6 288 1553 0.00 2.10 0.00 0.000 260 0.000 0.086 2363 3540 3317 641 3317 0 0 0 0 0 0 28.83 24.56 28.83

1566 -0.97 -194.6 2363 3540 639 3317 181.3 -11.5 291 1572 0.00 2.10 0.00 0.000 1030 0.000 0.076 2363 2372 3317 734 3317 0 0 0 0 0 0 28.83 24.61 28.83

1756 -0.97 -194.6 2363 2372 536 3317 202.8 -11.3 328 1762 0.00 2.10 0.00 0.000 516 0.000 0.086 2363 1209 3317 640 3317 0 0 0 0 0 0 28.83 24.59 28.83

1775 -0.97 -194.6 2363 1210 640 3317 204.9 -11.3 331 1782 0.00 2.00 0.00 0.000 1030 0.000 0.050 2363 2380 3317 734 3317 0 0 0 0 0 0 28.83 24.64 28.83

1965 -0.97 -194.6 2363 2380 577 3317 226.2 -11.1 368 1972 0.00 2.12 0.00 0.000 260 0.000 0.086 2364 3542 3317 681 3317 0 0 0 0 0 0 28.83 24.57 28.83

1990 -1.00 -194.6 2363 3542 679 3317 229.0 -11.6 372 1996 0.00 2.10 0.00 0.000 1030 0.000 0.076 2364 2374 3317 771 3317 0 0 0 0 0 0 28.83 24.62 28.83

2179 -1.00 -194.6 2363 2374 522 3317 250.0 -10.9 409 2184 0.00 2.10 0.00 0.000 516 0.000 0.087 2363 1211 3317 585 3317 0 0 0 0 0 0 28.83 24.60 28.83

2194 -1.00 -194.6 2363 1211 584 3317 252.0 -11.4 412 2201 0.00 2.00 0.00 0.000 1030 0.000 0.050 2363 2380 3317 683 3317 0 0 0 0 0 0 28.83 24.65 28.83

2382 -1.00 -194.6 2363 2380 314 3317 272.5 -11.1 422 2386 0.00 2.10 0.00 0.000 260 0.000 0.088 2363 3540 3316 371 3316 0 0 0 0 0 0 28.83 24.58 28.83

2425 -1.04 -194.6 2363 3540 369 3316 277.5 -11.5 430 2428 0.00 2.10 0.00 0.000 1030 0.000 0.077 2363 2380 3317 424 3317 0 0 0 0 0 0 28.83 24.63 28.83

2626 -1.04 -194.6 2363 2380 315 3316 300.0 -11.1 443 2630 0.00 2.10 0.00 0.000 516 0.000 0.087 2363 1215 3317 376 3317 0 0 0 0 0 0 28.83 24.62 28.83

2635 -1.04 -194.6 2363 1215 375 3317 301.3 -11.2 445 2640 0.00 2.00 0.00 0.000 1030 0.000 0.051 2363 2382 3316 456 3316 0 0 0 0 0 0 28.83 24.66 28.83

2828 -1.04 -194.6 2363 2382 315 3316 322.2 -10.9 456 2832 0.00 2.12 0.00 0.000 260 0.000 0.090 2363 3545 3316 370 3316 0 0 0 0 0 0 28.83 24.58 28.83

2858 -1.09 -194.6 2363 3545 369 3317 325.7 -11.6 462 2862 0.00 2.10 0.00 0.000 1030 0.000 0.079 2363 2380 3288 429 3288 0 0 0 0 0 0 28.83 24.63 28.83

3046 -1.09 -194.6 2363 2380 315 3290 345.5 -10.6 472 3053 0.00 2.10 0.00 0.000 516 0.000 0.089 2363 1215 3266 439 3266 0 0 0 0 0 0 28.83 24.61 28.83

3065 -1.09 -194.6 2363 1216 438 3266 347.7 -10.8 476 3069 0.00 2.00 0.00 0.000 1030 0.000 0.052 2363 2380 3262 488 3262 0 0 0 0 0 0 28.83 24.66 28.83

3267 -1.09 -194.6 2363 2380 315 3268 369.1 -10.7 489 3272 0.00 2.15 0.00 0.000 260 0.000 0.090 2363 3550 3317 399 3317 0 0 0 0 0 0 28.83 24.59 28.83

3294 -1.13 -194.6 2363 3550 398 3317 372.2 -11.5 494 3299 0.15 2.12 0.00 0.000 5126 0.086 0.081 2334 2382 0 459 0 0 0 0 0 0 0 24.70 24.63 28.83

3487 -1.09 -194.6 2333 2382 315 0 396.5 -12.7 505 3492 0.00 2.15 0.00 0.000 516 0.000 0.092 2333 1212 0 392 0 0 0 0 0 0 0 28.83 24.61 28.83

3497 -1.05 -194.6 2333 1211 391 0 398.0 -12.6 507 3501 0.00 2.03 0.00 0.000 1030 0.000 0.052 2333 2386 0 444 0 0 0 0 0 0 0 28.83 24.67 28.83

3690 -1.00 -194.6 2333 2386 315 0 422.2 -12.6 518 3697 0.12 2.12 0.00 0.000 2308 0.141 0.092 2357 3543 3316 421 3316 0 0 0 0 0 0 24.68 24.60 28.83

3723 -1.04 -194.6 2357 3543 419 3317 426.4 -12.0 525 3731 0.00 2.12 0.00 0.000 1030 0.000 0.084 2357 2381 3300 561 3300 0 0 0 0 0 0 28.83 24.63 28.83

3910 -1.04 -194.6 2357 2381 316 3299 446.8 -11.1 535 3916 0.00 2.22 0.00 0.000 516 0.000 0.115 2357 1211 3300 422 3300 0 0 0 0 0 0 28.83 24.61 28.83

3924 -1.04 -194.6 2357 1210 421 3300 448.5 -10.9 538 3930 0.00 2.03 0.00 0.000 1030 0.000 0.054 2357 2386 3297 537 3297 0 0 0 0 0 0 28.83 24.67 28.83

4109 -1.04 -194.6 2357 2385 315 3298 469.2 -11.2 548 4113 0.00 2.12 0.00 0.000 260 0.000 0.096 2357 3539 3316 372 3316 0 0 0 0 0 0 28.83 24.60 28.83

4131 -1.04 -194.6 2357 3539 371 3317 471.6 -10.9 552 4135 0.00 2.12 0.00 0.000 1030 0.000 0.086 2357 2380 3290 425 3290 0 0 0 0 0 0 28.83 24.64 28.83

4333 -1.04 -194.6 2357 2380 315 3296 494.0 -10.9 565 4337 0.00 2.20 0.00 0.000 516 0.000 0.114 2357 1213 3169 389 3169 0 0 0 0 0 0 28.83 24.62 28.83

4342 -1.04 -194.6 2357 1212 388 3257 495.2 -10.9 567 4346 0.00 2.03 0.00 0.000 1030 0.000 0.054 2357 2383 3275 443 3275 0 0 0 0 0 0 28.83 24.68 28.83

4393 end dive: TARGET_DEPTH_EXCEEDED

state 4393 begin apogee

4398 -0.25 0.0 2357 2095 359 3299 500.9 -11.2 571 4557 0.85 0.00 155.07 1.166 10246 0.119 0.000 2518 2095 2520 1624 2520 0 0 0 0 0 0 24.64 28.83 23.22

4558 end apogee: CONTROL_FINISHED_OK

state 4558 begin climb

4561 1.04 194.6 2518 2095 949 2518 507.6 0.0 579 4737 1.40 2.35 160.62 1.134 10756 0.082 0.109 2800 936 1726 1747 1726 0 0 0 0 0 0 24.05 23.84 23.20

4780 1.08 240.5 2800 936 701 1722 495.5 9.3 623 4827 0.00 2.00 40.10 1.121 9222 0.000 0.044 2800 2102 1538 1306 1538 0 0 0 0 0 0 28.83 24.30 23.20

5022 1.18 275.5 2800 2102 315 1528 472.5 9.7 644 5061 0.15 2.15 31.23 1.121 10500 0.084 0.081 2834 3259 1391 1037 1391 0 0 0 0 0 0 24.52 23.95 23.27

5104 1.18 275.5 2834 3259 706 1389 462.7 12.5 660 5111 0.00 2.17 0.00 0.000 1030 0.000 0.090 2834 2097 1134 814 1134 0 0 0 0 0 0 28.83 24.30 28.83

5304 1.18 275.5 2834 2097 314 1079 438.5 11.9 673 5309 0.00 1.55 0.00 0.000 516 0.000 0.094 2834 1259 1209 400 1209 0 0 0 1 0 1 28.83 24.46 28.83

5312 end climb: UNCOMMANDED_BLEED_DETECTED

ID	17	HD_C	2.8e-05	ROLL_MAX	3877	ALTIM_TOP_PING_RANGE	20
MISSION	17	HEADING	-1	ROLL_DEG	33	ALTIM_BOTTOM_TURN_MARGIN	20
DIVE	4	ESCAPE_HEADING	90	C_ROLL_DIVE	2380	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	5	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	2.8
D_SURF	2	FIX_MISSING_TIMEOUT	1	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-6625	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
D_TGT	500	TGT_DEFAULT_LON	12015	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_ABORT	700	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	14	ALTIM_PULSE	3
D_NO_BLEED	100	SM_CC	350	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	3
D_BOOST	2	N_FILEKB	4	ROLL_AD_RATE	320	XPDR_VALID	0
T_BOOST	0	FILEMGR	2	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
D_SAFE	300	PROTOCOL	9	VBD_MIN	550	DEEPGLIDER	0
D_CALL	3	N_NOCOMM	6	VBD_MAX	3735	MOTHERBOARD	4
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2520	DEVICE1	2
SURFACE_URGENCY_TRY	10	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	37
SURFACE_URGENCY_FORCE	20	UPLOAD_DIVES_MAX	2	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	150	CALL_TRIES	3	VBD_LP_IGNORE	1	DEVICE4	-1
T_MISSION	175	CALL_WAIT	60	VBD_TIMEOUT	540	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.001	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	20	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
USE_BATHY	-1	T_RSLEEP	3	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_ICE	0	STROBE	0	DBDW	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.090000004	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	PHONE_DEVICE	49
D_OFFGRID	300	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	RAFOS_DEVICE	16
RELAUNCH	1	PITCH_MIN	584	AH0_24V	90	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MAX	3731	AH0_10V	78	SIM_W	0
MAX_BUOY	200	C_PITCH	2580	MINV_24V	22	SIM_PITCH	0
COURSE_BIAS	0	PITCH_DBAND	0.1	MINV_10V	9.5	SEABIRD_T_G	0.004332595
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	FG_AHR_10V	0	SEABIRD_T_H	0.00063243619
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_T_I	2.4193625e-05
RHO	1.02775	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_T_J	2.5746874e-06
MASS	52210	PITCH_GAIN	20	PRESSURE_YINT	-4.7807236	SEABIRD_C_G	-9.8293695
MASS_COMP	0	PITCH_TIMEOUT	16	PRESSURE_SLOPE	9.1207337e-05	SEABIRD_C_H	1.1005322
NAV_MODE	2	PITCH_AD_RATE	130	AD7714Ch0Gain	64	SEABIRD_C_I	-0.0015286342
FERRY_MAX	60	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.0002052265
KALMAN_USE	2	PITCH_ADJ_GAIN	0.029999999	TCM_ROLL_OFFSET	0
HD_A	0.003	PITCH_ADJ_DBAND	1	COMPASS_USE	4
HD_B	0.0099999998	ROLL_MIN	233	ALTIM_BOTTOM_PING_RANGE	0

GPS1	281214,151124,-6624.710,12001.276,12,1.9,29,-106.5	SPEED_LIMITS	0.192,0.298
_CALLS	1	TGT_NAME	IN_N1
_XMS_NAKs	0	TGT_LATLONG	-6620.000,11930.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.22	MHEAD_RNG_PITCHd_Wd	52.1,24823,-16.8,-11.111,-20.48,2606
_SM_ANGLEo	-64.6	D_GRID	698
GPS2	281214,151542,-6624.718,12001.254,15,1.9,32,-106.5

SM_CCo	5883,203.48,1.017,6,0,550,483.24	_10V_AH	9.90,3.067
SM_GC	1.28,10.57,0.00,0.00,0.067,0.000,0.000,585,1257,543,-9.14,-23.86,484.71,0,0,0,0,0,0,24.68,28.83,28.83	FG_AHR_24Vo	0.000
RAFOS_CLK	651	FG_AHR_10Vo	0.000
RAFOS	0,1419782480,16.033333,16.022223,139,67,58,0,0,0,581,198,164,0,0,0	MEM	300712
RAFOS_FIX	-6623.178711,11958.005859,281214,121216,2,120,0.79	DATA_FILE_SIZE	33648,675
IRIDIUM_FIX	-6553.70,12003.38,281214,150651	CAP_FILE_SIZE	120603,22
TT8_MAMPS	0.020972,0.020972	CFSIZE	256368640,251363328
HUMID	72.99	ERRORS	0,2,0,0,0,0,0,0,0,1,2,0,0,17,0,0
INTERNAL_PRESSURE	8.7308	INTR	1,10954.19,0x23777a,6,5
TCM_TEMP	12.70	EOP_CODE	UNCOMMANDED_BLEED_DETECTED
XPDR_PINGS	0	RECOV_CODE	UNCOMMANDED_BLEED
_24V_AH	23.15,5.377	GPS	281214,182456,-6624.772,11959.517,239,2.2,259,-106.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	237	139.62	SBE_CT	392	23	218.03
Roll_motor	90	114	239.41	WL_BB2FLVMG	235	105	573.27
VBD_pump_during_apogee	387	1165	10445.67	nil	0	0	0.00
VBD_pump_during_surface	698	1017	16446.56	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	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	36	11.99
TT8	1604	13	215.57
LPSleep	7017	2	160.49
TT8_Active	1345	12	170.77
TT8_Sampling	1030	41	421.21
TT8_CF8	125	51	63.15
TT8_Kalman	0	0	0.00
Analog_circuits	2053	10	211.42
GPS_charging	0	0	0.00
Compass	972	5	48.15
RAFOS	480	1	7.13
Transponder	0	5	0.05

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
16	-1.04	-194.6	579	2389	308	1076	0.0	0.0	0	167	0.00	0.00	-147.93	0.000	16386	0.000	0.000	579	2389	2942	989	2942	0	0	0	0	0	0	28.83	28.83	28.83
170	-1.04	-194.6	579	2389	943	2942	3.4	-6.3	24	202	12.00	2.12	-11.50	0.000	19204	0.238	0.094	2347	3533	3316	1196	3316	0	0	0	0	0	0	24.35	24.43	24.83
432	-1.04	-194.6	2347	3533	533	3317	43.2	-13.6	74	438	0.00	2.05	0.00	0.000	1030	0.000	0.070	2347	2381	3317	637	3317	0	0	0	0	0	0	28.83	24.58	28.83
622	-1.00	-194.6	2347	2380	527	3317	68.1	-12.7	111	628	0.00	2.08	0.00	0.000	260	0.000	0.080	2347	3535	3317	631	3317	0	0	0	0	0	0	28.83	24.54	28.83
736	-1.00	-194.6	2347	3535	560	3317	83.1	-12.8	133	743	0.00	2.05	0.00	0.000	1030	0.000	0.070	2347	2381	3317	676	3317	0	0	0	0	0	0	28.83	24.60	28.83
927	-1.00	-194.6	2347	2381	561	3317	107.5	-12.4	170	934	0.00	2.10	0.00	0.000	516	0.000	0.086	2347	1218	3317	662	3317	0	0	0	0	0	0	28.83	24.56	28.83
942	-0.97	-194.6	2347	1218	661	3317	109.3	-12.6	172	950	0.10	1.98	0.00	0.000	3078	0.135	0.050	2364	2374	3317	754	3317	0	0	0	0	0	0	24.59	24.62	28.83
1133	-0.97	-194.6	2363	2374	534	3317	131.8	-11.3	209	1140	0.00	2.10	0.00	0.000	260	0.000	0.083	2363	3540	3317	653	3317	0	0	0	0	0	0	28.83	24.56	28.83
1153	-0.97	-194.6	2363	3540	653	3317	134.1	-11.7	212	1160	0.00	2.08	0.00	0.000	1030	0.000	0.073	2363	2380	3317	747	3317	0	0	0	0	0	0	28.83	24.60	28.83
1343	-0.97	-194.6	2363	2379	536	3317	155.7	-11.3	249	1350	0.00	2.10	0.00	0.000	516	0.000	0.086	2363	1215	3317	654	3317	0	0	0	0	0	0	28.83	24.58	28.83
1357	-0.97	-194.6	2363	1215	653	3317	157.4	-11.5	251	1363	0.00	2.00	0.00	0.000	1030	0.000	0.050	2364	2381	3317	746	3317	0	0	0	0	0	0	28.83	24.63	28.83
1547	-0.97	-194.6	2363	2382	536	3317	179.1	-11.6	288	1553	0.00	2.10	0.00	0.000	260	0.000	0.086	2363	3540	3317	641	3317	0	0	0	0	0	0	28.83	24.56	28.83
1566	-0.97	-194.6	2363	3540	639	3317	181.3	-11.5	291	1572	0.00	2.10	0.00	0.000	1030	0.000	0.076	2363	2372	3317	734	3317	0	0	0	0	0	0	28.83	24.61	28.83
1756	-0.97	-194.6	2363	2372	536	3317	202.8	-11.3	328	1762	0.00	2.10	0.00	0.000	516	0.000	0.086	2363	1209	3317	640	3317	0	0	0	0	0	0	28.83	24.59	28.83
1775	-0.97	-194.6	2363	1210	640	3317	204.9	-11.3	331	1782	0.00	2.00	0.00	0.000	1030	0.000	0.050	2363	2380	3317	734	3317	0	0	0	0	0	0	28.83	24.64	28.83
1965	-0.97	-194.6	2363	2380	577	3317	226.2	-11.1	368	1972	0.00	2.12	0.00	0.000	260	0.000	0.086	2364	3542	3317	681	3317	0	0	0	0	0	0	28.83	24.57	28.83
1990	-1.00	-194.6	2363	3542	679	3317	229.0	-11.6	372	1996	0.00	2.10	0.00	0.000	1030	0.000	0.076	2364	2374	3317	771	3317	0	0	0	0	0	0	28.83	24.62	28.83
2179	-1.00	-194.6	2363	2374	522	3317	250.0	-10.9	409	2184	0.00	2.10	0.00	0.000	516	0.000	0.087	2363	1211	3317	585	3317	0	0	0	0	0	0	28.83	24.60	28.83
2194	-1.00	-194.6	2363	1211	584	3317	252.0	-11.4	412	2201	0.00	2.00	0.00	0.000	1030	0.000	0.050	2363	2380	3317	683	3317	0	0	0	0	0	0	28.83	24.65	28.83
2382	-1.00	-194.6	2363	2380	314	3317	272.5	-11.1	422	2386	0.00	2.10	0.00	0.000	260	0.000	0.088	2363	3540	3316	371	3316	0	0	0	0	0	0	28.83	24.58	28.83
2425	-1.04	-194.6	2363	3540	369	3316	277.5	-11.5	430	2428	0.00	2.10	0.00	0.000	1030	0.000	0.077	2363	2380	3317	424	3317	0	0	0	0	0	0	28.83	24.63	28.83
2626	-1.04	-194.6	2363	2380	315	3316	300.0	-11.1	443	2630	0.00	2.10	0.00	0.000	516	0.000	0.087	2363	1215	3317	376	3317	0	0	0	0	0	0	28.83	24.62	28.83
2635	-1.04	-194.6	2363	1215	375	3317	301.3	-11.2	445	2640	0.00	2.00	0.00	0.000	1030	0.000	0.051	2363	2382	3316	456	3316	0	0	0	0	0	0	28.83	24.66	28.83
2828	-1.04	-194.6	2363	2382	315	3316	322.2	-10.9	456	2832	0.00	2.12	0.00	0.000	260	0.000	0.090	2363	3545	3316	370	3316	0	0	0	0	0	0	28.83	24.58	28.83
2858	-1.09	-194.6	2363	3545	369	3317	325.7	-11.6	462	2862	0.00	2.10	0.00	0.000	1030	0.000	0.079	2363	2380	3288	429	3288	0	0	0	0	0	0	28.83	24.63	28.83
3046	-1.09	-194.6	2363	2380	315	3290	345.5	-10.6	472	3053	0.00	2.10	0.00	0.000	516	0.000	0.089	2363	1215	3266	439	3266	0	0	0	0	0	0	28.83	24.61	28.83
3065	-1.09	-194.6	2363	1216	438	3266	347.7	-10.8	476	3069	0.00	2.00	0.00	0.000	1030	0.000	0.052	2363	2380	3262	488	3262	0	0	0	0	0	0	28.83	24.66	28.83
3267	-1.09	-194.6	2363	2380	315	3268	369.1	-10.7	489	3272	0.00	2.15	0.00	0.000	260	0.000	0.090	2363	3550	3317	399	3317	0	0	0	0	0	0	28.83	24.59	28.83
3294	-1.13	-194.6	2363	3550	398	3317	372.2	-11.5	494	3299	0.15	2.12	0.00	0.000	5126	0.086	0.081	2334	2382	0	459	0	0	0	0	0	0	0	24.70	24.63	28.83
3487	-1.09	-194.6	2333	2382	315	0	396.5	-12.7	505	3492	0.00	2.15	0.00	0.000	516	0.000	0.092	2333	1212	0	392	0	0	0	0	0	0	0	28.83	24.61	28.83
3497	-1.05	-194.6	2333	1211	391	0	398.0	-12.6	507	3501	0.00	2.03	0.00	0.000	1030	0.000	0.052	2333	2386	0	444	0	0	0	0	0	0	0	28.83	24.67	28.83
3690	-1.00	-194.6	2333	2386	315	0	422.2	-12.6	518	3697	0.12	2.12	0.00	0.000	2308	0.141	0.092	2357	3543	3316	421	3316	0	0	0	0	0	0	24.68	24.60	28.83
3723	-1.04	-194.6	2357	3543	419	3317	426.4	-12.0	525	3731	0.00	2.12	0.00	0.000	1030	0.000	0.084	2357	2381	3300	561	3300	0	0	0	0	0	0	28.83	24.63	28.83
3910	-1.04	-194.6	2357	2381	316	3299	446.8	-11.1	535	3916	0.00	2.22	0.00	0.000	516	0.000	0.115	2357	1211	3300	422	3300	0	0	0	0	0	0	28.83	24.61	28.83
3924	-1.04	-194.6	2357	1210	421	3300	448.5	-10.9	538	3930	0.00	2.03	0.00	0.000	1030	0.000	0.054	2357	2386	3297	537	3297	0	0	0	0	0	0	28.83	24.67	28.83
4109	-1.04	-194.6	2357	2385	315	3298	469.2	-11.2	548	4113	0.00	2.12	0.00	0.000	260	0.000	0.096	2357	3539	3316	372	3316	0	0	0	0	0	0	28.83	24.60	28.83
4131	-1.04	-194.6	2357	3539	371	3317	471.6	-10.9	552	4135	0.00	2.12	0.00	0.000	1030	0.000	0.086	2357	2380	3290	425	3290	0	0	0	0	0	0	28.83	24.64	28.83
4333	-1.04	-194.6	2357	2380	315	3296	494.0	-10.9	565	4337	0.00	2.20	0.00	0.000	516	0.000	0.114	2357	1213	3169	389	3169	0	0	0	0	0	0	28.83	24.62	28.83
4342	-1.04	-194.6	2357	1212	388	3257	495.2	-10.9	567	4346	0.00	2.03	0.00	0.000	1030	0.000	0.054	2357	2383	3275	443	3275	0	0	0	0	0	0	28.83	24.68	28.83
4393	end dive: TARGET_DEPTH_EXCEEDED
state	4393	begin apogee
4398	-0.25	0.0	2357	2095	359	3299	500.9	-11.2	571	4557	0.85	0.00	155.07	1.166	10246	0.119	0.000	2518	2095	2520	1624	2520	0	0	0	0	0	0	24.64	28.83	23.22
4558	end apogee: CONTROL_FINISHED_OK
state	4558	begin climb
4561	1.04	194.6	2518	2095	949	2518	507.6	0.0	579	4737	1.40	2.35	160.62	1.134	10756	0.082	0.109	2800	936	1726	1747	1726	0	0	0	0	0	0	24.05	23.84	23.20
4780	1.08	240.5	2800	936	701	1722	495.5	9.3	623	4827	0.00	2.00	40.10	1.121	9222	0.000	0.044	2800	2102	1538	1306	1538	0	0	0	0	0	0	28.83	24.30	23.20
5022	1.18	275.5	2800	2102	315	1528	472.5	9.7	644	5061	0.15	2.15	31.23	1.121	10500	0.084	0.081	2834	3259	1391	1037	1391	0	0	0	0	0	0	24.52	23.95	23.27
5104	1.18	275.5	2834	3259	706	1389	462.7	12.5	660	5111	0.00	2.17	0.00	0.000	1030	0.000	0.090	2834	2097	1134	814	1134	0	0	0	0	0	0	28.83	24.30	28.83
5304	1.18	275.5	2834	2097	314	1079	438.5	11.9	673	5309	0.00	1.55	0.00	0.000	516	0.000	0.094	2834	1259	1209	400	1209	0	0	0	1	0	1	28.83	24.46	28.83
5312	end climb: UNCOMMANDED_BLEED_DETECTED