Glider dive log

PISCES Aug14 * SG200 * Dive index * Mission links * Dive 41 * 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 41 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 146 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 52 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 -1140.7747 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 -1140.7747

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 146 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 52 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 41 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 140814,200604,2655.198,-7007.107,29,1.5,29,-12.1 TGT_NAME DELTA

_CALLS 1 TGT_LATLONG 2630.000,-7005.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.126,-0.157

_SM_DEPTHo 0.91 KALMAN_X -3961.0,107.0,45.5,1647.0,1582.4

_SM_ANGLEo -63.5 KALMAN_Y -56571.6,201.0,375.7,-63371.2,-3165.4

GPS2 140814,201336,2655.102,-7007.003,5,1.0,6,-12.1 MHEAD_RNG_PITCHd_Wd 230.8,46606,-22.4,-10.101

SPEED_LIMITS 0.175,0.202 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.8,1.023065 _10V_AH 10.5,8.273

SM_CCo 7198,32.83,0.119,0,0,1204,375.06 FG_AHR_24Vo 0.000

SM_GC 0.26,8.18,0.30,32.83,0.026,0.048,0.119,167,2654,1204,-8.64,-2.04,375.06,0,0,0,0,0,0,27.17,27.19,26.94 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2646.31,-7009.07,140814,171709 MEM 334244

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 30233,539

HUMID 47.20 CAP_FILE_SIZE 96320,0

INTERNAL_PRESSURE 9.15202 CFSIZE 1024393216,1018118144

TCM_TEMP 23.20 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 19 GPS 140814,221553,2653.394,-7007.084,15,1.1,15,-12.1

_24V_AH 25.1,9.670

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 199 98.10 SBE_CT 356 24 214.76

Roll_motor 86 58 126.16 WL_BB2F 1446 105 3813.55

VBD_pump_during_apogee 249 1153 7215.08 nil 0 0 0.00

VBD_pump_during_surface 32 118 97.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 2780 1677.89 nil 0 0 0.00

Iridium_during_connect 43 160 173.25 nil 0 0 0.00

Iridium_during_xfer 146 223 821.59 nil 0 0 0.00

Transponder_ping 4 420 50.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 23 1.68

TT8 1393 13 197.15

LPSleep 3481 2 80.06

TT8_Active 395 12 52.77

TT8_Sampling 2194 38 896.85

TT8_CF8 69 56 41.51

TT8_Kalman 33 62 21.95

Analog_circuits 1153 12 145.33

GPS_charging 0 0 0.00

Compass 1967 15 309.90

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 -63.20 0.000 2 0.000 0.000 150 2650 2937 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.28 -116.8 3.3 -5.9 8 108 8.52 1.77 -5.80 0.000 4 0.200 0.053 2546 3848 3215 0 0 0 0 0 0 26.79 27.02 27.27

183 -1.28 -116.8 37.3 -34.6 24 192 0.00 1.55 0.00 0.000 6 0.000 0.016 2546 2615 3216 0 0 0 0 0 0 28.83 27.15 28.83

258 -1.28 -116.8 57.8 -26.0 33 266 0.00 1.75 0.00 0.000 4 0.000 0.019 2545 1342 3215 0 0 0 0 0 0 28.83 27.14 28.83

274 -1.28 -116.8 61.9 -24.0 35 283 0.00 1.90 0.00 0.000 6 0.000 0.024 2534 2663 3215 0 0 0 0 0 0 28.83 27.11 28.83

347 -1.28 -116.8 79.5 -23.4 44 356 0.00 1.70 0.00 0.000 4 0.000 0.036 2526 3828 3216 0 0 0 0 0 0 28.83 27.12 28.83

427 -1.28 -116.8 96.5 -21.0 57 436 0.08 1.48 0.00 0.000 6 0.148 0.016 2553 2664 3216 0 0 0 0 0 0 27.01 27.24 28.83

501 -1.28 -116.8 111.1 -19.2 66 510 0.00 1.83 0.00 0.000 4 0.000 0.019 2553 1338 3217 0 0 0 0 0 0 28.83 27.21 28.83

546 -1.28 -116.8 118.9 -17.1 73 555 0.00 1.90 0.00 0.000 6 0.000 0.024 2545 2665 3217 0 0 0 0 0 0 28.83 27.20 28.83

619 -1.28 -116.8 131.9 -18.1 82 627 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2665 3217 0 0 0 0 0 0 28.83 28.83 28.83

692 -1.28 -116.8 144.6 -17.2 91 700 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2665 3217 0 0 0 0 0 0 28.83 28.83 28.83

764 -1.28 -116.8 157.2 -17.4 100 772 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2665 3218 0 0 0 0 0 0 28.83 28.83 28.83

837 -1.28 -116.8 170.2 -18.3 109 845 0.00 1.83 0.00 0.000 4 0.000 0.019 2545 1341 3217 0 0 0 0 0 0 28.83 27.28 28.83

900 -1.28 -116.8 180.3 -18.3 115 910 0.00 1.90 0.00 0.000 6 0.000 0.024 2534 2664 3217 0 0 0 0 0 0 28.83 27.27 28.83

1090 -1.28 -116.8 214.7 -17.2 128 1094 0.00 1.80 0.00 0.000 4 0.000 0.019 2534 1357 3218 0 0 0 0 0 0 28.83 27.31 28.83

1205 -1.28 -116.8 234.5 -17.1 135 1211 0.12 1.88 0.00 0.000 6 0.164 0.024 2557 2667 3217 0 0 0 0 0 0 27.13 27.29 28.83

1400 -1.28 -116.8 265.2 -15.9 148 1401 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 2668 3217 0 0 0 0 0 0 28.83 28.83 28.83

1580 -1.28 -116.8 293.9 -16.1 160 1583 0.00 1.83 0.00 0.000 4 0.000 0.019 2558 1360 3216 0 0 0 0 0 0 28.83 27.34 28.83

1662 -1.28 -116.8 304.6 -16.1 164 1666 0.00 1.90 0.00 0.000 6 0.000 0.024 2549 2660 3216 0 0 0 0 0 0 28.83 27.33 28.83

1974 -1.28 -116.8 357.6 -16.1 175 1977 0.00 1.80 0.00 0.000 4 0.000 0.019 2549 1356 3215 0 0 0 0 0 0 28.83 27.36 28.83

2097 -1.28 -116.8 376.8 -16.0 179 2101 0.00 1.92 0.00 0.000 6 0.000 0.024 2539 2669 3214 0 0 0 0 0 0 28.83 27.34 28.83

2424 -1.28 -116.8 431.2 -16.5 190 2427 0.00 1.80 0.00 0.000 4 0.000 0.020 2539 1365 3212 0 0 0 0 0 0 28.83 27.36 28.83

2544 -1.28 -116.8 451.6 -17.1 194 2548 0.12 1.88 0.00 0.000 6 0.161 0.024 2563 2671 3212 0 0 0 0 0 0 27.18 27.35 28.83

2869 end dive: TARGET_DEPTH_EXCEEDED

state 2869 begin apogee

2873 -0.25 0.0 502.0 -15.1 205 2961 0.93 0.00 83.82 0.928 6 0.111 0.000 2884 2437 2736 0 0 0 0 0 0 27.20 28.83 25.51

2962 end apogee: CONTROL_FINISHED_OK

state 2962 begin climb

2964 1.28 116.8 506.0 0.0 208 3059 1.35 2.15 86.30 0.903 4 0.057 0.034 3386 3816 2256 0 0 0 0 0 0 26.10 25.84 25.26

3093 1.31 141.1 498.6 8.7 212 3115 0.00 1.88 16.40 1.154 6 0.000 0.016 3391 2452 2161 0 0 0 0 0 0 28.83 26.29 25.14

3436 1.31 141.1 450.1 13.9 224 3437 0.00 0.00 0.00 0.000 6 0.000 0.000 3391 2452 2167 0 0 0 0 0 0 28.83 28.83 28.83

3736 1.31 141.1 407.8 14.1 234 3740 0.00 1.92 0.00 0.000 4 0.000 0.024 3391 1089 2166 0 0 0 0 0 0 28.83 27.06 28.83

3828 1.31 141.1 395.5 13.7 237 3834 0.00 1.92 0.00 0.000 6 0.000 0.021 3391 2435 2166 0 0 0 0 0 0 28.83 27.12 28.83

4156 1.31 141.1 351.8 13.0 248 4160 0.00 1.90 0.00 0.000 4 0.000 0.024 3391 1080 2165 0 0 0 0 0 0 28.83 27.17 28.83

4224 1.31 141.1 345.0 12.6 250 4229 0.00 1.90 0.00 0.000 6 0.000 0.021 3391 2421 2165 0 0 0 0 0 0 28.83 27.21 28.83

4541 1.31 141.1 303.5 12.8 261 4545 0.00 1.88 0.00 0.000 4 0.000 0.024 3391 1080 2165 0 0 0 0 0 0 28.83 27.24 28.83

4630 1.31 141.1 292.4 12.7 265 4635 0.00 1.88 0.00 0.000 6 0.000 0.021 3391 2437 2164 0 0 0 0 0 0 28.83 27.27 28.83

4826 1.31 141.1 266.8 13.3 278 4827 0.00 0.00 0.00 0.000 6 0.000 0.000 3391 2438 2164 0 0 0 0 0 0 28.83 28.83 28.83

5005 1.31 141.1 243.1 13.3 290 5006 0.00 0.00 0.00 0.000 6 0.000 0.000 3391 2438 2164 0 0 0 0 0 0 28.83 28.83 28.83

5185 1.31 141.1 220.0 12.4 302 5190 0.00 1.88 0.00 0.000 4 0.000 0.024 3391 1091 2163 0 0 0 0 0 0 28.83 27.29 28.83

5232 1.31 141.1 214.1 12.5 305 5238 0.00 1.85 0.00 0.000 6 0.000 0.021 3391 2435 2163 0 0 0 0 0 0 28.83 27.31 28.83

5429 1.31 141.1 191.4 11.4 318 5434 0.00 1.88 0.00 0.000 4 0.000 0.024 3391 1088 2163 0 0 0 0 0 0 28.83 27.31 28.83

5482 1.31 141.1 186.2 11.2 321 5491 0.00 1.90 0.00 0.000 6 0.000 0.021 3391 2426 2163 0 0 0 0 0 0 28.83 27.32 28.83

5678 1.31 141.1 164.6 11.0 340 5687 0.00 1.90 0.00 0.000 4 0.000 0.024 3392 1093 2163 0 0 0 0 0 0 28.83 27.32 28.83

5724 1.31 141.1 159.6 10.2 347 5732 0.00 1.88 0.00 0.000 6 0.000 0.021 3392 2424 2163 0 0 0 0 0 0 28.83 27.34 28.83

5797 1.31 141.1 151.7 10.5 356 5805 0.00 0.00 0.00 0.000 6 0.000 0.000 3392 2425 2163 0 0 0 0 0 0 28.83 28.83 28.83

5869 1.31 141.1 143.6 11.5 365 5877 0.00 0.00 0.00 0.000 6 0.000 0.000 3392 2425 2163 0 0 0 0 0 0 28.83 28.83 28.83

5942 1.31 141.1 135.3 11.0 374 5951 0.00 2.03 0.00 0.000 4 0.000 0.034 3392 3816 2163 0 0 0 0 0 0 28.83 27.29 28.83

6074 1.31 141.1 119.5 11.2 396 6082 0.00 1.85 0.00 0.000 6 0.000 0.017 3394 2412 2164 0 0 0 0 0 0 28.83 27.39 28.83

6147 1.32 149.6 112.3 9.6 405 6156 0.00 0.00 4.25 0.708 6 0.000 0.000 3394 2412 2130 0 0 0 0 0 0 28.83 28.83 26.44

6222 1.33 156.3 105.4 9.7 414 6232 0.00 2.10 4.03 0.633 4 0.000 0.034 3394 3819 2103 0 0 0 0 0 0 28.83 27.19 26.44

6247 1.34 166.2 102.9 9.5 417 6257 0.00 1.85 5.50 0.679 6 0.000 0.017 3394 2421 2058 0 0 0 0 0 0 28.83 27.29 26.39

6323 1.34 166.6 95.3 10.1 426 6331 0.00 1.90 0.00 0.000 4 0.000 0.025 3394 1091 2065 0 0 0 0 0 0 28.83 27.17 28.83

6379 1.34 166.6 89.3 10.2 435 6389 0.00 1.88 0.82 0.240 6 0.000 0.021 3394 2417 2061 0 0 0 0 0 0 28.83 27.20 26.80

6453 1.34 166.6 81.4 11.3 444 6462 0.00 2.03 0.00 0.000 4 0.000 0.034 3394 3802 2063 0 0 0 0 0 0 28.83 27.18 28.83

6499 1.34 166.6 76.4 11.2 451 6508 0.00 1.83 0.00 0.000 6 0.000 0.016 3403 2410 2063 0 0 0 0 0 0 28.83 27.27 28.83

6573 1.38 194.1 69.8 8.5 460 6589 0.00 0.00 12.15 0.268 6 0.000 0.000 3403 2410 1946 0 0 0 0 0 0 28.83 28.83 26.82

6655 1.41 217.3 62.5 8.7 470 6673 0.00 2.03 10.18 0.255 4 0.000 0.032 3403 3809 1852 0 0 0 0 0 0 28.83 27.10 26.80

6733 1.41 217.3 54.1 12.3 482 6741 0.00 1.83 0.00 0.000 6 0.000 0.016 3405 2424 1854 0 0 0 0 0 0 28.83 27.22 28.83

6806 1.41 217.3 46.4 10.3 491 6814 0.00 1.88 0.00 0.000 4 0.000 0.024 3405 1105 1853 0 0 0 0 0 0 28.83 27.18 28.83

6846 1.45 254.5 42.9 7.9 497 6870 0.00 1.88 15.15 0.210 6 0.000 0.021 3405 2431 1698 0 0 0 0 0 0 28.83 27.20 26.84

6937 1.49 281.5 34.9 8.5 508 6954 0.12 0.00 10.57 0.193 6 0.076 0.000 3498 2431 1586 0 0 0 0 0 0 27.18 28.83 26.84

7019 1.49 281.5 24.4 14.3 518 7029 0.15 2.03 0.00 0.000 4 0.145 0.032 3452 3812 1588 0 0 0 0 0 0 26.98 27.11 28.83

7054 1.49 281.5 19.1 14.8 523 7063 0.00 1.83 0.00 0.000 6 0.000 0.016 3458 2421 1588 0 0 0 0 0 0 28.83 27.20 28.83

7127 1.49 281.5 8.8 14.0 532 7135 0.00 0.00 0.00 0.000 6 0.000 0.000 3458 2421 1588 0 0 0 0 0 0 28.83 28.83 28.83

7175 end climb: SURFACE_DEPTH_REACHED

state 7175 begin surface coast

7184 end surface coast: CONTROL_FINISHED_OK

state 7184 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	41	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	146	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	52	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	-1140.7747	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	140814,200604,2655.198,-7007.107,29,1.5,29,-12.1	TGT_NAME	DELTA
_CALLS	1	TGT_LATLONG	2630.000,-7005.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.126,-0.157
_SM_DEPTHo	0.91	KALMAN_X	-3961.0,107.0,45.5,1647.0,1582.4
_SM_ANGLEo	-63.5	KALMAN_Y	-56571.6,201.0,375.7,-63371.2,-3165.4
GPS2	140814,201336,2655.102,-7007.003,5,1.0,6,-12.1	MHEAD_RNG_PITCHd_Wd	230.8,46606,-22.4,-10.101
SPEED_LIMITS	0.175,0.202	D_GRID	500

FINISH	0.8,1.023065	_10V_AH	10.5,8.273
SM_CCo	7198,32.83,0.119,0,0,1204,375.06	FG_AHR_24Vo	0.000
SM_GC	0.26,8.18,0.30,32.83,0.026,0.048,0.119,167,2654,1204,-8.64,-2.04,375.06,0,0,0,0,0,0,27.17,27.19,26.94	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2646.31,-7009.07,140814,171709	MEM	334244
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	30233,539
HUMID	47.20	CAP_FILE_SIZE	96320,0
INTERNAL_PRESSURE	9.15202	CFSIZE	1024393216,1018118144
TCM_TEMP	23.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	19	GPS	140814,221553,2653.394,-7007.084,15,1.1,15,-12.1
_24V_AH	25.1,9.670

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	199	98.10	SBE_CT	356	24	214.76
Roll_motor	86	58	126.16	WL_BB2F	1446	105	3813.55
VBD_pump_during_apogee	249	1153	7215.08	nil	0	0	0.00
VBD_pump_during_surface	32	118	97.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	2780	1677.89	nil	0	0	0.00
Iridium_during_connect	43	160	173.25	nil	0	0	0.00
Iridium_during_xfer	146	223	821.59	nil	0	0	0.00
Transponder_ping	4	420	50.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	23	1.68
TT8	1393	13	197.15
LPSleep	3481	2	80.06
TT8_Active	395	12	52.77
TT8_Sampling	2194	38	896.85
TT8_CF8	69	56	41.51
TT8_Kalman	33	62	21.95
Analog_circuits	1153	12	145.33
GPS_charging	0	0	0.00
Compass	1967	15	309.90
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	-63.20	0.000	2	0.000	0.000	150	2650	2937	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.28	-116.8	3.3	-5.9	8	108	8.52	1.77	-5.80	0.000	4	0.200	0.053	2546	3848	3215	0	0	0	0	0	0	26.79	27.02	27.27
183	-1.28	-116.8	37.3	-34.6	24	192	0.00	1.55	0.00	0.000	6	0.000	0.016	2546	2615	3216	0	0	0	0	0	0	28.83	27.15	28.83
258	-1.28	-116.8	57.8	-26.0	33	266	0.00	1.75	0.00	0.000	4	0.000	0.019	2545	1342	3215	0	0	0	0	0	0	28.83	27.14	28.83
274	-1.28	-116.8	61.9	-24.0	35	283	0.00	1.90	0.00	0.000	6	0.000	0.024	2534	2663	3215	0	0	0	0	0	0	28.83	27.11	28.83
347	-1.28	-116.8	79.5	-23.4	44	356	0.00	1.70	0.00	0.000	4	0.000	0.036	2526	3828	3216	0	0	0	0	0	0	28.83	27.12	28.83
427	-1.28	-116.8	96.5	-21.0	57	436	0.08	1.48	0.00	0.000	6	0.148	0.016	2553	2664	3216	0	0	0	0	0	0	27.01	27.24	28.83
501	-1.28	-116.8	111.1	-19.2	66	510	0.00	1.83	0.00	0.000	4	0.000	0.019	2553	1338	3217	0	0	0	0	0	0	28.83	27.21	28.83
546	-1.28	-116.8	118.9	-17.1	73	555	0.00	1.90	0.00	0.000	6	0.000	0.024	2545	2665	3217	0	0	0	0	0	0	28.83	27.20	28.83
619	-1.28	-116.8	131.9	-18.1	82	627	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2665	3217	0	0	0	0	0	0	28.83	28.83	28.83
692	-1.28	-116.8	144.6	-17.2	91	700	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2665	3217	0	0	0	0	0	0	28.83	28.83	28.83
764	-1.28	-116.8	157.2	-17.4	100	772	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2665	3218	0	0	0	0	0	0	28.83	28.83	28.83
837	-1.28	-116.8	170.2	-18.3	109	845	0.00	1.83	0.00	0.000	4	0.000	0.019	2545	1341	3217	0	0	0	0	0	0	28.83	27.28	28.83
900	-1.28	-116.8	180.3	-18.3	115	910	0.00	1.90	0.00	0.000	6	0.000	0.024	2534	2664	3217	0	0	0	0	0	0	28.83	27.27	28.83
1090	-1.28	-116.8	214.7	-17.2	128	1094	0.00	1.80	0.00	0.000	4	0.000	0.019	2534	1357	3218	0	0	0	0	0	0	28.83	27.31	28.83
1205	-1.28	-116.8	234.5	-17.1	135	1211	0.12	1.88	0.00	0.000	6	0.164	0.024	2557	2667	3217	0	0	0	0	0	0	27.13	27.29	28.83
1400	-1.28	-116.8	265.2	-15.9	148	1401	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	2668	3217	0	0	0	0	0	0	28.83	28.83	28.83
1580	-1.28	-116.8	293.9	-16.1	160	1583	0.00	1.83	0.00	0.000	4	0.000	0.019	2558	1360	3216	0	0	0	0	0	0	28.83	27.34	28.83
1662	-1.28	-116.8	304.6	-16.1	164	1666	0.00	1.90	0.00	0.000	6	0.000	0.024	2549	2660	3216	0	0	0	0	0	0	28.83	27.33	28.83
1974	-1.28	-116.8	357.6	-16.1	175	1977	0.00	1.80	0.00	0.000	4	0.000	0.019	2549	1356	3215	0	0	0	0	0	0	28.83	27.36	28.83
2097	-1.28	-116.8	376.8	-16.0	179	2101	0.00	1.92	0.00	0.000	6	0.000	0.024	2539	2669	3214	0	0	0	0	0	0	28.83	27.34	28.83
2424	-1.28	-116.8	431.2	-16.5	190	2427	0.00	1.80	0.00	0.000	4	0.000	0.020	2539	1365	3212	0	0	0	0	0	0	28.83	27.36	28.83
2544	-1.28	-116.8	451.6	-17.1	194	2548	0.12	1.88	0.00	0.000	6	0.161	0.024	2563	2671	3212	0	0	0	0	0	0	27.18	27.35	28.83
2869	end dive: TARGET_DEPTH_EXCEEDED
state	2869	begin apogee
2873	-0.25	0.0	502.0	-15.1	205	2961	0.93	0.00	83.82	0.928	6	0.111	0.000	2884	2437	2736	0	0	0	0	0	0	27.20	28.83	25.51
2962	end apogee: CONTROL_FINISHED_OK
state	2962	begin climb
2964	1.28	116.8	506.0	0.0	208	3059	1.35	2.15	86.30	0.903	4	0.057	0.034	3386	3816	2256	0	0	0	0	0	0	26.10	25.84	25.26
3093	1.31	141.1	498.6	8.7	212	3115	0.00	1.88	16.40	1.154	6	0.000	0.016	3391	2452	2161	0	0	0	0	0	0	28.83	26.29	25.14
3436	1.31	141.1	450.1	13.9	224	3437	0.00	0.00	0.00	0.000	6	0.000	0.000	3391	2452	2167	0	0	0	0	0	0	28.83	28.83	28.83
3736	1.31	141.1	407.8	14.1	234	3740	0.00	1.92	0.00	0.000	4	0.000	0.024	3391	1089	2166	0	0	0	0	0	0	28.83	27.06	28.83
3828	1.31	141.1	395.5	13.7	237	3834	0.00	1.92	0.00	0.000	6	0.000	0.021	3391	2435	2166	0	0	0	0	0	0	28.83	27.12	28.83
4156	1.31	141.1	351.8	13.0	248	4160	0.00	1.90	0.00	0.000	4	0.000	0.024	3391	1080	2165	0	0	0	0	0	0	28.83	27.17	28.83
4224	1.31	141.1	345.0	12.6	250	4229	0.00	1.90	0.00	0.000	6	0.000	0.021	3391	2421	2165	0	0	0	0	0	0	28.83	27.21	28.83
4541	1.31	141.1	303.5	12.8	261	4545	0.00	1.88	0.00	0.000	4	0.000	0.024	3391	1080	2165	0	0	0	0	0	0	28.83	27.24	28.83
4630	1.31	141.1	292.4	12.7	265	4635	0.00	1.88	0.00	0.000	6	0.000	0.021	3391	2437	2164	0	0	0	0	0	0	28.83	27.27	28.83
4826	1.31	141.1	266.8	13.3	278	4827	0.00	0.00	0.00	0.000	6	0.000	0.000	3391	2438	2164	0	0	0	0	0	0	28.83	28.83	28.83
5005	1.31	141.1	243.1	13.3	290	5006	0.00	0.00	0.00	0.000	6	0.000	0.000	3391	2438	2164	0	0	0	0	0	0	28.83	28.83	28.83
5185	1.31	141.1	220.0	12.4	302	5190	0.00	1.88	0.00	0.000	4	0.000	0.024	3391	1091	2163	0	0	0	0	0	0	28.83	27.29	28.83
5232	1.31	141.1	214.1	12.5	305	5238	0.00	1.85	0.00	0.000	6	0.000	0.021	3391	2435	2163	0	0	0	0	0	0	28.83	27.31	28.83
5429	1.31	141.1	191.4	11.4	318	5434	0.00	1.88	0.00	0.000	4	0.000	0.024	3391	1088	2163	0	0	0	0	0	0	28.83	27.31	28.83
5482	1.31	141.1	186.2	11.2	321	5491	0.00	1.90	0.00	0.000	6	0.000	0.021	3391	2426	2163	0	0	0	0	0	0	28.83	27.32	28.83
5678	1.31	141.1	164.6	11.0	340	5687	0.00	1.90	0.00	0.000	4	0.000	0.024	3392	1093	2163	0	0	0	0	0	0	28.83	27.32	28.83
5724	1.31	141.1	159.6	10.2	347	5732	0.00	1.88	0.00	0.000	6	0.000	0.021	3392	2424	2163	0	0	0	0	0	0	28.83	27.34	28.83
5797	1.31	141.1	151.7	10.5	356	5805	0.00	0.00	0.00	0.000	6	0.000	0.000	3392	2425	2163	0	0	0	0	0	0	28.83	28.83	28.83
5869	1.31	141.1	143.6	11.5	365	5877	0.00	0.00	0.00	0.000	6	0.000	0.000	3392	2425	2163	0	0	0	0	0	0	28.83	28.83	28.83
5942	1.31	141.1	135.3	11.0	374	5951	0.00	2.03	0.00	0.000	4	0.000	0.034	3392	3816	2163	0	0	0	0	0	0	28.83	27.29	28.83
6074	1.31	141.1	119.5	11.2	396	6082	0.00	1.85	0.00	0.000	6	0.000	0.017	3394	2412	2164	0	0	0	0	0	0	28.83	27.39	28.83
6147	1.32	149.6	112.3	9.6	405	6156	0.00	0.00	4.25	0.708	6	0.000	0.000	3394	2412	2130	0	0	0	0	0	0	28.83	28.83	26.44
6222	1.33	156.3	105.4	9.7	414	6232	0.00	2.10	4.03	0.633	4	0.000	0.034	3394	3819	2103	0	0	0	0	0	0	28.83	27.19	26.44
6247	1.34	166.2	102.9	9.5	417	6257	0.00	1.85	5.50	0.679	6	0.000	0.017	3394	2421	2058	0	0	0	0	0	0	28.83	27.29	26.39
6323	1.34	166.6	95.3	10.1	426	6331	0.00	1.90	0.00	0.000	4	0.000	0.025	3394	1091	2065	0	0	0	0	0	0	28.83	27.17	28.83
6379	1.34	166.6	89.3	10.2	435	6389	0.00	1.88	0.82	0.240	6	0.000	0.021	3394	2417	2061	0	0	0	0	0	0	28.83	27.20	26.80
6453	1.34	166.6	81.4	11.3	444	6462	0.00	2.03	0.00	0.000	4	0.000	0.034	3394	3802	2063	0	0	0	0	0	0	28.83	27.18	28.83
6499	1.34	166.6	76.4	11.2	451	6508	0.00	1.83	0.00	0.000	6	0.000	0.016	3403	2410	2063	0	0	0	0	0	0	28.83	27.27	28.83
6573	1.38	194.1	69.8	8.5	460	6589	0.00	0.00	12.15	0.268	6	0.000	0.000	3403	2410	1946	0	0	0	0	0	0	28.83	28.83	26.82
6655	1.41	217.3	62.5	8.7	470	6673	0.00	2.03	10.18	0.255	4	0.000	0.032	3403	3809	1852	0	0	0	0	0	0	28.83	27.10	26.80
6733	1.41	217.3	54.1	12.3	482	6741	0.00	1.83	0.00	0.000	6	0.000	0.016	3405	2424	1854	0	0	0	0	0	0	28.83	27.22	28.83
6806	1.41	217.3	46.4	10.3	491	6814	0.00	1.88	0.00	0.000	4	0.000	0.024	3405	1105	1853	0	0	0	0	0	0	28.83	27.18	28.83
6846	1.45	254.5	42.9	7.9	497	6870	0.00	1.88	15.15	0.210	6	0.000	0.021	3405	2431	1698	0	0	0	0	0	0	28.83	27.20	26.84
6937	1.49	281.5	34.9	8.5	508	6954	0.12	0.00	10.57	0.193	6	0.076	0.000	3498	2431	1586	0	0	0	0	0	0	27.18	28.83	26.84
7019	1.49	281.5	24.4	14.3	518	7029	0.15	2.03	0.00	0.000	4	0.145	0.032	3452	3812	1588	0	0	0	0	0	0	26.98	27.11	28.83
7054	1.49	281.5	19.1	14.8	523	7063	0.00	1.83	0.00	0.000	6	0.000	0.016	3458	2421	1588	0	0	0	0	0	0	28.83	27.20	28.83
7127	1.49	281.5	8.8	14.0	532	7135	0.00	0.00	0.00	0.000	6	0.000	0.000	3458	2421	1588	0	0	0	0	0	0	28.83	28.83	28.83
7175	end climb: SURFACE_DEPTH_REACHED
state	7175	begin surface coast
7184	end surface coast: CONTROL_FINISHED_OK
state	7184	begin surface