Glider dive log

PISCES Aug14 * SG200 * Dive index * Mission links * Dive 40 * 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 40 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 2425 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 144 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 53 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 65 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 -1139.5237 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 120 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 65 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 -1139.5237

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 2425 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 120 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 144 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 53 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 40 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 140814,174647,2657.040,-7007.248,12,1.1,12,-12.1 TGT_NAME DELTA

_CALLS 2 TGT_LATLONG 2630.000,-7005.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.126,-0.158

_SM_DEPTHo 0.96 KALMAN_X -5169.4,-54.7,72.9,2885.0,1574.0

_SM_ANGLEo -63.6 KALMAN_Y -55127.7,482.3,359.4,-61743.6,-3244.0

GPS2 140814,175748,2656.903,-7007.068,8,1.0,8,-12.1 MHEAD_RNG_PITCHd_Wd 230.8,49941,-22.4,-10.101

SPEED_LIMITS 0.175,0.202 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.1,1.023028 _10V_AH 10.5,8.179

SM_CCo 7536,40.12,0.117,0,0,1204,375.06 FG_AHR_24Vo 0.000

SM_GC 1.13,8.07,0.28,40.12,0.028,0.054,0.117,156,2646,1204,-8.65,-1.98,375.06,0,0,0,0,0,0,27.21,27.20,26.95 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2646.31,-7006.79,140814,171730 MEM 334172

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 33529,577

HUMID 45.86 CAP_FILE_SIZE 96321,0

INTERNAL_PRESSURE 9.16179 CFSIZE 1024393216,1018167296

TCM_TEMP 23.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 18 GPS 140814,200604,2655.198,-7007.107,29,1.5,29,-12.1

_24V_AH 25.3,9.584

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 200 97.61 SBE_CT 382 24 232.03

Roll_motor 77 67 132.76 WL_BB2F 1558 105 4141.43

VBD_pump_during_apogee 238 933 5641.61 nil 0 0 0.00

VBD_pump_during_surface 40 117 118.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 48 2780 3415.29 nil 0 0 0.00

Iridium_during_connect 91 160 368.59 nil 0 0 0.00

Iridium_during_xfer 205 223 1161.06 nil 0 0 0.00

Transponder_ping 4 420 47.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 9 23 2.43

TT8 1457 13 206.14

LPSleep 3769 2 86.68

TT8_Active 410 12 54.76

TT8_Sampling 2378 38 972.10

TT8_CF8 74 56 44.49

TT8_Kalman 33 62 21.96

Analog_circuits 1128 12 142.23

GPS_charging 0 0 0.00

Compass 2010 15 316.73

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 -1.28 -116.8 0.0 0.0 0 80 0.00 0.00 -63.15 0.000 2 0.000 0.000 149 2646 2928 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.28 -116.8 3.4 -6.0 8 108 8.52 1.88 -5.93 0.000 4 0.200 0.036 2550 1300 3216 0 0 0 0 0 0 26.78 27.04 27.27

183 -1.28 -116.8 35.6 -30.1 24 192 0.00 1.95 0.00 0.000 6 0.000 0.024 2541 2656 3216 0 0 0 0 0 0 28.83 27.08 28.83

258 -1.28 -116.8 56.3 -26.8 33 266 0.00 1.88 0.00 0.000 4 0.000 0.018 2541 1307 3216 0 0 0 0 0 0 28.83 27.13 28.83

309 -1.28 -116.8 68.5 -23.1 41 317 0.00 1.95 0.00 0.000 6 0.000 0.024 2531 2662 3216 0 0 0 0 0 0 28.83 27.12 28.83

382 -1.28 -116.8 83.9 -19.8 50 390 0.00 1.73 0.00 0.000 4 0.000 0.037 2522 3842 3216 0 0 0 0 0 0 28.83 27.13 28.83

496 -1.28 -116.8 108.4 -22.9 69 506 0.10 1.55 0.00 0.000 6 0.139 0.017 2555 2612 3217 0 0 0 0 0 0 27.01 27.25 28.83

570 -1.28 -116.8 121.9 -17.0 78 578 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2612 3216 0 0 0 0 0 0 28.83 28.83 28.83

643 -1.28 -116.8 134.2 -16.8 87 651 0.00 1.75 0.00 0.000 4 0.000 0.019 2556 1334 3217 0 0 0 0 0 0 28.83 27.24 28.83

751 -1.28 -116.8 153.4 -17.4 105 760 0.00 1.90 0.00 0.000 6 0.000 0.024 2547 2662 3217 0 0 0 0 0 0 28.83 27.24 28.83

824 -1.28 -116.8 166.1 -17.9 114 833 0.00 1.70 0.00 0.000 4 0.000 0.036 2538 3832 3217 0 0 0 0 0 0 28.83 27.22 28.83

864 -1.28 -116.8 173.2 -18.2 120 873 0.00 1.48 0.00 0.000 6 0.000 0.017 2538 2653 3217 0 0 0 0 0 0 28.83 27.32 28.83

941 -1.28 -116.8 186.7 -17.4 126 945 0.00 1.75 0.00 0.000 4 0.000 0.018 2538 1359 3217 0 0 0 0 0 0 28.83 27.28 28.83

1063 -1.28 -116.8 206.7 -17.1 133 1074 0.08 1.90 0.00 0.000 6 0.143 0.024 2555 2661 3217 0 0 0 0 0 0 27.12 27.28 28.83

1253 -1.28 -116.8 238.5 -16.1 146 1254 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2661 3217 0 0 0 0 0 0 28.83 28.83 28.83

1433 -1.28 -116.8 268.1 -16.6 158 1436 0.00 1.77 0.00 0.000 4 0.000 0.019 2555 1363 3216 0 0 0 0 0 0 28.83 27.33 28.83

1515 -1.28 -116.8 281.6 -16.2 163 1520 0.00 1.88 0.00 0.000 6 0.000 0.024 2547 2672 3216 0 0 0 0 0 0 28.83 27.31 28.83

1723 -1.28 -116.8 316.4 -16.4 174 1726 0.00 1.80 0.00 0.000 4 0.000 0.019 2546 1364 3215 0 0 0 0 0 0 28.83 27.34 28.83

1796 -1.28 -116.8 326.1 -16.2 176 1800 0.00 1.90 0.00 0.000 6 0.000 0.024 2537 2660 3215 0 0 0 0 0 0 28.83 27.34 28.83

2113 -1.28 -116.8 378.7 -15.8 187 2116 0.00 1.77 0.00 0.000 4 0.000 0.019 2537 1362 3213 0 0 0 0 0 0 28.83 27.36 28.83

2227 -1.28 -116.8 393.1 -15.9 190 2234 0.12 1.85 0.00 0.000 6 0.163 0.024 2560 2662 3213 0 0 0 0 0 0 27.18 27.34 28.83

2533 -1.28 -116.8 444.9 -16.2 201 2536 0.00 1.77 0.00 0.000 4 0.000 0.019 2560 1364 3211 0 0 0 0 0 0 28.83 27.37 28.83

2641 -1.28 -116.8 459.6 -16.3 204 2645 0.00 1.88 0.00 0.000 6 0.000 0.024 2552 2652 3211 0 0 0 0 0 0 28.83 27.36 28.83

2892 end dive: TARGET_DEPTH_EXCEEDED

state 2892 begin apogee

2895 -0.25 0.0 503.1 -16.0 213 2984 0.98 0.00 83.68 0.933 6 0.113 0.000 2888 2439 2735 0 0 0 0 0 0 27.20 28.83 25.47

2985 end apogee: CONTROL_FINISHED_OK

state 2985 begin climb

2987 1.28 116.8 507.2 0.0 216 3078 1.38 0.00 87.10 0.907 6 0.056 0.000 3392 2439 2258 0 0 0 0 0 0 26.10 28.83 25.26

3373 1.28 116.8 467.0 12.4 229 3374 0.00 0.00 0.00 0.000 6 0.000 0.000 3392 2439 2252 0 0 0 0 0 0 28.83 28.83 28.83

3673 1.28 116.8 429.9 12.4 239 3674 0.00 0.00 0.00 0.000 6 0.000 0.000 3392 2438 2251 0 0 0 0 0 0 28.83 28.83 28.83

3973 1.28 116.8 393.0 12.3 249 3976 0.00 1.85 0.00 0.000 4 0.000 0.024 3396 1130 2250 0 0 0 0 0 0 28.83 27.15 28.83

4033 1.28 116.8 385.8 12.2 251 4037 0.00 1.85 0.00 0.000 6 0.000 0.021 3396 2440 2250 0 0 0 0 0 0 28.83 27.17 28.83

4358 1.28 116.8 346.7 12.0 262 4362 0.00 1.88 0.00 0.000 4 0.000 0.024 3398 1113 2249 0 0 0 0 0 0 28.83 27.22 28.83

4401 1.28 116.8 343.0 12.1 263 4406 0.00 1.85 0.00 0.000 6 0.000 0.021 3397 2423 2249 0 0 0 0 0 0 28.83 27.24 28.83

4718 1.28 116.8 302.5 12.4 274 4719 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 2423 2248 0 0 0 0 0 0 28.83 28.83 28.83

5020 1.28 116.8 268.0 11.2 293 5021 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 2423 2248 0 0 0 0 0 0 28.83 28.83 28.83

5200 1.28 116.8 248.5 10.8 305 5201 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 2423 2247 0 0 0 0 0 0 28.83 28.83 28.83

5380 1.28 116.8 227.6 12.1 317 5381 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 2423 2248 0 0 0 0 0 0 28.83 28.83 28.83

5560 1.28 116.8 205.4 12.4 329 5561 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 2423 2247 0 0 0 0 0 0 28.83 28.83 28.83

5740 1.28 116.8 184.3 11.5 341 5743 0.00 1.83 0.00 0.000 4 0.000 0.024 3398 1125 2247 0 0 0 0 0 0 28.83 27.33 28.83

5879 1.28 116.8 169.1 10.5 354 5888 0.00 1.85 0.00 0.000 6 0.000 0.021 3398 2427 2247 0 0 0 0 0 0 28.83 27.34 28.83

5952 1.28 117.7 161.6 10.0 363 5961 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 2427 2247 0 0 0 0 0 0 28.83 28.83 28.83

6026 1.29 123.9 154.3 9.7 372 6035 0.00 1.98 2.67 0.696 4 0.000 0.032 3398 3815 2237 0 0 0 0 0 0 28.83 27.27 26.23

6118 1.30 130.7 144.6 9.7 387 6135 0.00 1.80 5.85 0.874 6 0.000 0.017 3406 2430 2210 0 0 0 0 0 0 28.83 27.36 26.33

6201 1.30 130.7 136.2 10.1 397 6209 0.00 1.88 0.00 0.000 4 0.000 0.024 3412 1109 2211 0 0 0 0 0 0 28.83 27.22 28.83

6292 1.31 142.4 127.2 9.4 412 6310 0.00 1.88 7.35 0.862 6 0.000 0.021 3412 2429 2160 0 0 0 0 0 0 28.83 27.25 26.29

6376 1.32 145.8 119.1 9.9 422 6385 0.00 2.00 2.30 0.477 4 0.000 0.032 3412 3821 2148 0 0 0 0 0 0 28.83 27.08 26.25

6449 1.32 145.8 109.9 12.4 434 6459 0.00 1.83 0.52 0.227 6 0.000 0.017 3420 2432 2147 0 0 0 0 0 0 28.83 27.20 26.93

6525 1.32 146.5 102.2 10.1 443 6533 0.00 0.00 1.23 0.304 6 0.000 0.000 3420 2432 2143 0 0 0 0 0 0 28.83 28.83 26.75

6599 1.33 155.8 94.6 9.6 452 6608 0.00 0.00 4.93 0.314 6 0.000 0.000 3419 2432 2104 0 0 0 0 0 0 28.83 28.83 26.75

6674 1.33 155.8 86.9 10.5 461 6683 0.00 2.03 0.00 0.000 4 0.000 0.034 3419 3807 2109 0 0 0 0 0 0 28.83 27.14 28.83

6772 1.35 172.4 76.8 9.1 477 6789 0.00 1.83 7.62 0.274 6 0.000 0.016 3429 2418 2038 0 0 0 0 0 0 28.83 27.25 26.80

6855 1.38 194.3 69.6 8.8 487 6872 0.00 2.03 10.00 0.266 4 0.000 0.032 3429 3813 1945 0 0 0 0 0 0 28.83 27.09 26.78

6981 1.38 194.3 55.9 11.7 508 6990 0.00 1.83 0.00 0.000 6 0.000 0.016 3431 2432 1947 0 0 0 0 0 0 28.83 27.22 28.83

7056 1.38 194.3 48.3 10.2 517 7064 0.00 0.00 0.00 0.000 6 0.000 0.000 3431 2432 1947 0 0 0 0 0 0 28.83 28.83 28.83

7128 1.46 259.1 43.2 6.3 526 7160 0.00 0.00 25.67 0.210 6 0.000 0.000 3431 2432 1679 0 0 0 0 0 0 28.83 28.83 26.82

7226 1.46 259.1 33.7 10.6 538 7234 0.00 1.90 0.00 0.000 4 0.000 0.024 3431 1100 1679 0 0 0 0 0 0 28.83 27.13 28.83

7242 1.46 259.1 31.8 10.7 540 7251 0.00 1.88 0.00 0.000 6 0.000 0.021 3432 2427 1679 0 0 0 0 0 0 28.83 27.15 28.83

7315 1.46 259.1 23.5 11.3 549 7324 0.00 2.03 0.00 0.000 4 0.000 0.034 3431 3810 1679 0 0 0 0 0 0 28.83 27.13 28.83

7355 1.46 259.1 18.6 13.1 555 7364 0.00 1.83 0.00 0.000 6 0.000 0.016 3431 2426 1679 0 0 0 0 0 0 28.83 27.22 28.83

7428 1.46 259.1 9.8 11.0 564 7437 0.00 1.88 0.00 0.000 4 0.000 0.024 3434 1105 1679 0 0 0 0 0 0 28.83 27.18 28.83

7479 1.46 259.1 3.9 12.3 572 7488 0.00 1.88 0.00 0.000 6 0.000 0.021 3434 2435 1678 0 0 0 0 0 0 28.83 27.21 28.83

7503 end climb: SURFACE_DEPTH_REACHED

state 7503 begin surface coast

7521 end surface coast: CONTROL_FINISHED_OK

state 7521 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	40	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	2425	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	144	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	53	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	65	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	-1139.5237	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	120	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	140814,174647,2657.040,-7007.248,12,1.1,12,-12.1	TGT_NAME	DELTA
_CALLS	2	TGT_LATLONG	2630.000,-7005.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.126,-0.158
_SM_DEPTHo	0.96	KALMAN_X	-5169.4,-54.7,72.9,2885.0,1574.0
_SM_ANGLEo	-63.6	KALMAN_Y	-55127.7,482.3,359.4,-61743.6,-3244.0
GPS2	140814,175748,2656.903,-7007.068,8,1.0,8,-12.1	MHEAD_RNG_PITCHd_Wd	230.8,49941,-22.4,-10.101
SPEED_LIMITS	0.175,0.202	D_GRID	500

FINISH	0.1,1.023028	_10V_AH	10.5,8.179
SM_CCo	7536,40.12,0.117,0,0,1204,375.06	FG_AHR_24Vo	0.000
SM_GC	1.13,8.07,0.28,40.12,0.028,0.054,0.117,156,2646,1204,-8.65,-1.98,375.06,0,0,0,0,0,0,27.21,27.20,26.95	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2646.31,-7006.79,140814,171730	MEM	334172
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	33529,577
HUMID	45.86	CAP_FILE_SIZE	96321,0
INTERNAL_PRESSURE	9.16179	CFSIZE	1024393216,1018167296
TCM_TEMP	23.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	18	GPS	140814,200604,2655.198,-7007.107,29,1.5,29,-12.1
_24V_AH	25.3,9.584

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	200	97.61	SBE_CT	382	24	232.03
Roll_motor	77	67	132.76	WL_BB2F	1558	105	4141.43
VBD_pump_during_apogee	238	933	5641.61	nil	0	0	0.00
VBD_pump_during_surface	40	117	118.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	48	2780	3415.29	nil	0	0	0.00
Iridium_during_connect	91	160	368.59	nil	0	0	0.00
Iridium_during_xfer	205	223	1161.06	nil	0	0	0.00
Transponder_ping	4	420	47.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	9	23	2.43
TT8	1457	13	206.14
LPSleep	3769	2	86.68
TT8_Active	410	12	54.76
TT8_Sampling	2378	38	972.10
TT8_CF8	74	56	44.49
TT8_Kalman	33	62	21.96
Analog_circuits	1128	12	142.23
GPS_charging	0	0	0.00
Compass	2010	15	316.73
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	-1.28	-116.8	0.0	0.0	0	80	0.00	0.00	-63.15	0.000	2	0.000	0.000	149	2646	2928	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.28	-116.8	3.4	-6.0	8	108	8.52	1.88	-5.93	0.000	4	0.200	0.036	2550	1300	3216	0	0	0	0	0	0	26.78	27.04	27.27
183	-1.28	-116.8	35.6	-30.1	24	192	0.00	1.95	0.00	0.000	6	0.000	0.024	2541	2656	3216	0	0	0	0	0	0	28.83	27.08	28.83
258	-1.28	-116.8	56.3	-26.8	33	266	0.00	1.88	0.00	0.000	4	0.000	0.018	2541	1307	3216	0	0	0	0	0	0	28.83	27.13	28.83
309	-1.28	-116.8	68.5	-23.1	41	317	0.00	1.95	0.00	0.000	6	0.000	0.024	2531	2662	3216	0	0	0	0	0	0	28.83	27.12	28.83
382	-1.28	-116.8	83.9	-19.8	50	390	0.00	1.73	0.00	0.000	4	0.000	0.037	2522	3842	3216	0	0	0	0	0	0	28.83	27.13	28.83
496	-1.28	-116.8	108.4	-22.9	69	506	0.10	1.55	0.00	0.000	6	0.139	0.017	2555	2612	3217	0	0	0	0	0	0	27.01	27.25	28.83
570	-1.28	-116.8	121.9	-17.0	78	578	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2612	3216	0	0	0	0	0	0	28.83	28.83	28.83
643	-1.28	-116.8	134.2	-16.8	87	651	0.00	1.75	0.00	0.000	4	0.000	0.019	2556	1334	3217	0	0	0	0	0	0	28.83	27.24	28.83
751	-1.28	-116.8	153.4	-17.4	105	760	0.00	1.90	0.00	0.000	6	0.000	0.024	2547	2662	3217	0	0	0	0	0	0	28.83	27.24	28.83
824	-1.28	-116.8	166.1	-17.9	114	833	0.00	1.70	0.00	0.000	4	0.000	0.036	2538	3832	3217	0	0	0	0	0	0	28.83	27.22	28.83
864	-1.28	-116.8	173.2	-18.2	120	873	0.00	1.48	0.00	0.000	6	0.000	0.017	2538	2653	3217	0	0	0	0	0	0	28.83	27.32	28.83
941	-1.28	-116.8	186.7	-17.4	126	945	0.00	1.75	0.00	0.000	4	0.000	0.018	2538	1359	3217	0	0	0	0	0	0	28.83	27.28	28.83
1063	-1.28	-116.8	206.7	-17.1	133	1074	0.08	1.90	0.00	0.000	6	0.143	0.024	2555	2661	3217	0	0	0	0	0	0	27.12	27.28	28.83
1253	-1.28	-116.8	238.5	-16.1	146	1254	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2661	3217	0	0	0	0	0	0	28.83	28.83	28.83
1433	-1.28	-116.8	268.1	-16.6	158	1436	0.00	1.77	0.00	0.000	4	0.000	0.019	2555	1363	3216	0	0	0	0	0	0	28.83	27.33	28.83
1515	-1.28	-116.8	281.6	-16.2	163	1520	0.00	1.88	0.00	0.000	6	0.000	0.024	2547	2672	3216	0	0	0	0	0	0	28.83	27.31	28.83
1723	-1.28	-116.8	316.4	-16.4	174	1726	0.00	1.80	0.00	0.000	4	0.000	0.019	2546	1364	3215	0	0	0	0	0	0	28.83	27.34	28.83
1796	-1.28	-116.8	326.1	-16.2	176	1800	0.00	1.90	0.00	0.000	6	0.000	0.024	2537	2660	3215	0	0	0	0	0	0	28.83	27.34	28.83
2113	-1.28	-116.8	378.7	-15.8	187	2116	0.00	1.77	0.00	0.000	4	0.000	0.019	2537	1362	3213	0	0	0	0	0	0	28.83	27.36	28.83
2227	-1.28	-116.8	393.1	-15.9	190	2234	0.12	1.85	0.00	0.000	6	0.163	0.024	2560	2662	3213	0	0	0	0	0	0	27.18	27.34	28.83
2533	-1.28	-116.8	444.9	-16.2	201	2536	0.00	1.77	0.00	0.000	4	0.000	0.019	2560	1364	3211	0	0	0	0	0	0	28.83	27.37	28.83
2641	-1.28	-116.8	459.6	-16.3	204	2645	0.00	1.88	0.00	0.000	6	0.000	0.024	2552	2652	3211	0	0	0	0	0	0	28.83	27.36	28.83
2892	end dive: TARGET_DEPTH_EXCEEDED
state	2892	begin apogee
2895	-0.25	0.0	503.1	-16.0	213	2984	0.98	0.00	83.68	0.933	6	0.113	0.000	2888	2439	2735	0	0	0	0	0	0	27.20	28.83	25.47
2985	end apogee: CONTROL_FINISHED_OK
state	2985	begin climb
2987	1.28	116.8	507.2	0.0	216	3078	1.38	0.00	87.10	0.907	6	0.056	0.000	3392	2439	2258	0	0	0	0	0	0	26.10	28.83	25.26
3373	1.28	116.8	467.0	12.4	229	3374	0.00	0.00	0.00	0.000	6	0.000	0.000	3392	2439	2252	0	0	0	0	0	0	28.83	28.83	28.83
3673	1.28	116.8	429.9	12.4	239	3674	0.00	0.00	0.00	0.000	6	0.000	0.000	3392	2438	2251	0	0	0	0	0	0	28.83	28.83	28.83
3973	1.28	116.8	393.0	12.3	249	3976	0.00	1.85	0.00	0.000	4	0.000	0.024	3396	1130	2250	0	0	0	0	0	0	28.83	27.15	28.83
4033	1.28	116.8	385.8	12.2	251	4037	0.00	1.85	0.00	0.000	6	0.000	0.021	3396	2440	2250	0	0	0	0	0	0	28.83	27.17	28.83
4358	1.28	116.8	346.7	12.0	262	4362	0.00	1.88	0.00	0.000	4	0.000	0.024	3398	1113	2249	0	0	0	0	0	0	28.83	27.22	28.83
4401	1.28	116.8	343.0	12.1	263	4406	0.00	1.85	0.00	0.000	6	0.000	0.021	3397	2423	2249	0	0	0	0	0	0	28.83	27.24	28.83
4718	1.28	116.8	302.5	12.4	274	4719	0.00	0.00	0.00	0.000	6	0.000	0.000	3398	2423	2248	0	0	0	0	0	0	28.83	28.83	28.83
5020	1.28	116.8	268.0	11.2	293	5021	0.00	0.00	0.00	0.000	6	0.000	0.000	3398	2423	2248	0	0	0	0	0	0	28.83	28.83	28.83
5200	1.28	116.8	248.5	10.8	305	5201	0.00	0.00	0.00	0.000	6	0.000	0.000	3398	2423	2247	0	0	0	0	0	0	28.83	28.83	28.83
5380	1.28	116.8	227.6	12.1	317	5381	0.00	0.00	0.00	0.000	6	0.000	0.000	3398	2423	2248	0	0	0	0	0	0	28.83	28.83	28.83
5560	1.28	116.8	205.4	12.4	329	5561	0.00	0.00	0.00	0.000	6	0.000	0.000	3398	2423	2247	0	0	0	0	0	0	28.83	28.83	28.83
5740	1.28	116.8	184.3	11.5	341	5743	0.00	1.83	0.00	0.000	4	0.000	0.024	3398	1125	2247	0	0	0	0	0	0	28.83	27.33	28.83
5879	1.28	116.8	169.1	10.5	354	5888	0.00	1.85	0.00	0.000	6	0.000	0.021	3398	2427	2247	0	0	0	0	0	0	28.83	27.34	28.83
5952	1.28	117.7	161.6	10.0	363	5961	0.00	0.00	0.00	0.000	6	0.000	0.000	3398	2427	2247	0	0	0	0	0	0	28.83	28.83	28.83
6026	1.29	123.9	154.3	9.7	372	6035	0.00	1.98	2.67	0.696	4	0.000	0.032	3398	3815	2237	0	0	0	0	0	0	28.83	27.27	26.23
6118	1.30	130.7	144.6	9.7	387	6135	0.00	1.80	5.85	0.874	6	0.000	0.017	3406	2430	2210	0	0	0	0	0	0	28.83	27.36	26.33
6201	1.30	130.7	136.2	10.1	397	6209	0.00	1.88	0.00	0.000	4	0.000	0.024	3412	1109	2211	0	0	0	0	0	0	28.83	27.22	28.83
6292	1.31	142.4	127.2	9.4	412	6310	0.00	1.88	7.35	0.862	6	0.000	0.021	3412	2429	2160	0	0	0	0	0	0	28.83	27.25	26.29
6376	1.32	145.8	119.1	9.9	422	6385	0.00	2.00	2.30	0.477	4	0.000	0.032	3412	3821	2148	0	0	0	0	0	0	28.83	27.08	26.25
6449	1.32	145.8	109.9	12.4	434	6459	0.00	1.83	0.52	0.227	6	0.000	0.017	3420	2432	2147	0	0	0	0	0	0	28.83	27.20	26.93
6525	1.32	146.5	102.2	10.1	443	6533	0.00	0.00	1.23	0.304	6	0.000	0.000	3420	2432	2143	0	0	0	0	0	0	28.83	28.83	26.75
6599	1.33	155.8	94.6	9.6	452	6608	0.00	0.00	4.93	0.314	6	0.000	0.000	3419	2432	2104	0	0	0	0	0	0	28.83	28.83	26.75
6674	1.33	155.8	86.9	10.5	461	6683	0.00	2.03	0.00	0.000	4	0.000	0.034	3419	3807	2109	0	0	0	0	0	0	28.83	27.14	28.83
6772	1.35	172.4	76.8	9.1	477	6789	0.00	1.83	7.62	0.274	6	0.000	0.016	3429	2418	2038	0	0	0	0	0	0	28.83	27.25	26.80
6855	1.38	194.3	69.6	8.8	487	6872	0.00	2.03	10.00	0.266	4	0.000	0.032	3429	3813	1945	0	0	0	0	0	0	28.83	27.09	26.78
6981	1.38	194.3	55.9	11.7	508	6990	0.00	1.83	0.00	0.000	6	0.000	0.016	3431	2432	1947	0	0	0	0	0	0	28.83	27.22	28.83
7056	1.38	194.3	48.3	10.2	517	7064	0.00	0.00	0.00	0.000	6	0.000	0.000	3431	2432	1947	0	0	0	0	0	0	28.83	28.83	28.83
7128	1.46	259.1	43.2	6.3	526	7160	0.00	0.00	25.67	0.210	6	0.000	0.000	3431	2432	1679	0	0	0	0	0	0	28.83	28.83	26.82
7226	1.46	259.1	33.7	10.6	538	7234	0.00	1.90	0.00	0.000	4	0.000	0.024	3431	1100	1679	0	0	0	0	0	0	28.83	27.13	28.83
7242	1.46	259.1	31.8	10.7	540	7251	0.00	1.88	0.00	0.000	6	0.000	0.021	3432	2427	1679	0	0	0	0	0	0	28.83	27.15	28.83
7315	1.46	259.1	23.5	11.3	549	7324	0.00	2.03	0.00	0.000	4	0.000	0.034	3431	3810	1679	0	0	0	0	0	0	28.83	27.13	28.83
7355	1.46	259.1	18.6	13.1	555	7364	0.00	1.83	0.00	0.000	6	0.000	0.016	3431	2426	1679	0	0	0	0	0	0	28.83	27.22	28.83
7428	1.46	259.1	9.8	11.0	564	7437	0.00	1.88	0.00	0.000	4	0.000	0.024	3434	1105	1679	0	0	0	0	0	0	28.83	27.18	28.83
7479	1.46	259.1	3.9	12.3	572	7488	0.00	1.88	0.00	0.000	6	0.000	0.021	3434	2435	1678	0	0	0	0	0	0	28.83	27.21	28.83
7503	end climb: SURFACE_DEPTH_REACHED
state	7503	begin surface coast
7521	end surface coast: CONTROL_FINISHED_OK
state	7521	begin surface