Glider dive log

Cuddy Oct13 * SG195 * Dive index * Mission links * Dive 44 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 195 HD_C 1.6100001e-05 ROLL_MAX 3758 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 8 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 44 ESCAPE_HEADING 0 C_ROLL_DIVE 2025 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_PING_DEPTH 700

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 41 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT 35 XPDR_VALID 3

D_BOOST 10 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.77999997

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2820 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 115

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 390 CALL_WAIT 45 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -4510.5967 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 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 207 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2545 FG_AHR_10V 0 SEABIRD_T_G 0.0043948898

GLIDE_SLOPE 40 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000640176

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.7039805e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -50.110214 SEABIRD_T_J 3.3535807e-06

MASS 59371 PITCH_GAIN 22.200001 PRESSURE_SLOPE 0.0001168043 SEABIRD_C_G -9.7607336

MASS_COMP 3973.1001 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1271561

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014806761

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019408959

KALMAN_USE 13 PITCH_ADJ_GAIN 0.039999999 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0.5 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 224 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 250

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0.5 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.039999999 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22.200001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 700 FERRY_MAX 45 PITCH_MAX 3915 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 207 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 330

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001168043 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -50.110214 T_GPS 5

CALL_WAIT 45 HD_C 1.6100001e-05 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -4510.5967

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 120

COMPASS2_DEVICE -1 ID 195 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 12

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT -0.77999997 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 13 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2545 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2025 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2025 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2820 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3758 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 59371 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3973.1001 ROLL_MIN 224 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 41 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 35 VBD_MIN 500

DEVICE4 -1 MISSION 8 SEABIRD_C_G -9.7607336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1271561 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0014806761 VBD_TIMEOUT 720

DIVE 44 NOCOMM_ACTION 163 SEABIRD_C_J 0.00019408959 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043948898 XPDR_DEVICE 24

D_BOOST 10 N_FILEKB 4 SEABIRD_T_H 0.000640176 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.7039805e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.3535807e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 311013,162900,4752.822,-12534.482,39,0.9,39,16.9 TGT_NAME SEARCH_B

_CALLS 3 TGT_LATLONG 4815.000,-12600.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.125,0.225

_SM_DEPTHo 1.21 KALMAN_X 264.9,0.0,0.0,-43026.8,74.6

_SM_ANGLEo -59.8 KALMAN_Y -16819.9,0.0,0.0,86972.0,-1381.0

GPS2 311013,164054,4752.829,-12534.496,5,0.9,5,16.9 MHEAD_RNG_PITCHd_Wd 314.0,51723,-17.6,-10.000,-21.21,2209

SPEED_LIMITS 0.119,0.258 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.024167 _10V_AH 10.2,5.331

SM_CCo 10000,0.00,0.000,0,0,1524,317.91 FG_AHR_24Vo 0.000

SM_GC 0.93,6.82,0.00,0.00,0.030,0.000,0.000,179,2019,1524,-7.26,-0.17,317.91,0,0,0,0,0,0,26.36,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4738.89,-12534.50,311013,161612 MEM 314292

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 26916,365

HUMID 44.95 CAP_FILE_SIZE 104824,0

INTERNAL_PRESSURE 8.91764 CFSIZE 2097872896,2090139648

TCM_TEMP 12.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 311013,192853,4754.337,-12537.034,18,0.9,18,16.9

_24V_AH 24.0,6.176

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 205 102.96 SBE_CT 249 22 134.80

Roll_motor 78 56 106.35 AA4330 483 11 130.34

VBD_pump_during_apogee 358 893 7687.31 WL_BB2FLVMT 285 105 719.58

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 559 76 1027.52 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.04

TT8 1140 15 176.95

LPSleep 7238 2 161.70

TT8_Active 378 15 58.78

TT8_Sampling 1902 43 847.61

TT8_CF8 63 53 34.59

TT8_Kalman 0 69 0.27

Analog_circuits 1665 14 237.87

GPS_charging 0 0 0.00

Compass 1324 8 111.35

RAFOS 0 0 0.00

Transponder 1 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

14 -0.79 -146.6 171 2022 1491 1265 0.0 0.0 0 80 0.00 0.00 -62.62 0.000 16386 0.000 0.000 171 2022 2968 2974 2962 0 0 0 0 0 0 28.83 28.83 28.83

82 -0.79 -146.6 170 2022 2974 2962 3.2 -4.9 6 111 7.82 2.25 -11.55 0.000 18948 0.205 0.057 2284 627 3420 3430 3410 0 0 0 0 0 0 25.68 25.94 26.25

147 -0.47 -146.6 2284 627 3431 3412 13.1 -15.5 12 156 0.32 2.20 0.00 0.000 3078 0.125 0.035 2391 2021 3421 3431 3411 0 0 0 0 0 0 25.83 26.01 28.83

454 -0.58 -146.6 2391 2021 3432 3412 44.4 -8.9 43 464 0.12 2.20 0.00 0.000 4356 0.080 0.044 2310 3434 3421 3432 3411 0 0 0 0 0 0 26.24 26.13 28.83

631 -0.49 -146.6 2310 3434 3434 3412 67.6 -13.4 60 640 0.22 2.17 0.00 0.000 3078 0.110 0.028 2386 2010 3422 3433 3412 0 0 0 0 0 0 26.10 26.27 28.83

939 -0.66 -146.6 2385 2009 3436 3412 95.5 -8.8 82 941 0.15 0.00 0.00 0.000 4102 0.070 0.000 2309 2010 3424 3436 3412 0 0 0 0 0 0 26.39 28.83 28.83

1239 -0.66 -146.6 2309 2009 3436 3411 125.4 -9.9 97 1240 0.00 0.00 0.00 0.000 6 0.000 0.000 2309 2009 3424 3436 3412 0 0 0 0 0 0 28.83 28.83 28.83

1558 -0.70 -146.6 2309 2009 3436 3412 156.8 -9.3 112 1564 0.00 2.22 0.00 0.000 260 0.000 0.045 2298 3445 3423 3436 3411 0 0 0 0 0 0 28.83 26.41 28.83

1717 -0.74 -146.6 2298 3445 3435 3412 171.5 -9.8 117 1721 0.00 2.12 0.00 0.000 1030 0.000 0.028 2299 2014 3423 3435 3411 0 0 0 0 0 0 28.83 26.48 28.83

2034 -0.79 -146.6 2298 2014 3435 3411 204.0 -10.4 128 2037 0.00 2.12 0.00 0.000 516 0.000 0.041 2298 630 3423 3435 3411 0 0 0 0 0 0 28.83 26.47 28.83

2097 -0.83 -146.6 1476 630 3428 3409 211.2 -11.2 130 2102 0.00 2.17 0.00 0.000 1030 0.000 0.034 2290 2033 3423 3435 3411 0 0 0 0 0 0 28.83 26.51 28.83

2426 -0.89 -146.6 2289 2032 3434 3411 249.3 -11.5 141 2431 0.00 2.15 0.00 0.000 260 0.000 0.046 2279 3426 3422 3434 3411 0 0 0 0 0 0 28.83 26.50 28.83

2548 -0.94 -146.6 2279 3426 3434 3411 262.9 -11.4 145 2552 0.12 2.12 0.00 0.000 5126 0.083 0.028 2212 2021 3422 3433 3411 0 0 0 0 0 0 26.54 26.56 28.83

2875 -0.82 -146.6 2212 2020 3433 3411 310.3 -14.9 155 2881 0.20 2.17 0.00 0.000 2308 0.134 0.044 2269 3428 3422 3433 3411 0 0 0 0 0 0 26.44 26.53 28.83

2938 -0.74 -146.6 2269 3428 3433 3410 317.6 -13.9 156 2943 0.12 2.08 0.00 0.000 3078 0.137 0.029 2304 2024 3421 3433 3410 0 0 0 0 0 0 26.44 26.58 28.83

3290 -0.88 -146.6 2304 2023 3433 3410 354.0 -10.4 162 3292 0.12 0.00 0.00 0.000 4102 0.080 0.000 2233 2023 3421 3433 3410 0 0 0 0 0 0 26.65 28.83 28.83

3590 -0.85 -146.6 2233 2023 3433 3408 393.6 -13.2 167 3592 0.12 0.00 0.00 0.000 2054 0.145 0.000 2267 2023 3420 3433 3408 0 0 0 0 0 0 26.51 28.83 28.83

3890 -0.93 -146.6 2267 2023 3433 3408 424.8 -10.2 172 3894 0.00 2.17 0.00 0.000 260 0.000 0.047 2259 3428 3420 3433 3407 0 0 0 0 0 0 28.83 26.58 28.83

4044 -1.00 -146.6 2259 3427 3433 3407 436.8 -10.1 174 4048 0.12 2.08 0.00 0.000 5126 0.082 0.030 2190 2019 3420 3433 3407 0 0 0 0 0 0 26.61 26.63 28.83

4366 -0.89 -146.6 2190 2019 3433 3406 484.4 -14.0 180 4372 0.20 2.20 0.00 0.000 2308 0.134 0.046 2247 3438 3419 3433 3405 0 0 0 0 0 0 26.49 26.59 28.83

4486 -0.85 -146.6 2247 3439 3433 3405 497.7 -12.5 182 4492 0.00 2.10 0.00 0.000 1030 0.000 0.030 2247 2024 3419 3433 3405 0 0 0 0 0 0 28.83 26.65 28.83

4846 -0.92 -146.6 2247 2024 3433 3404 536.7 -11.0 188 4850 0.00 2.20 0.00 0.000 260 0.000 0.047 2236 3435 3418 3433 3404 0 0 0 0 0 0 28.83 26.60 28.83

5143 -1.51 -146.6 2236 3435 3433 3404 538.0 -0.0 193 5150 0.43 2.08 0.00 0.000 5126 0.034 0.031 2038 2030 3418 3432 3404 0 0 0 0 0 0 26.67 26.66 28.83

5201 end dive: NO_VERTICAL_VELOCITY

state 5201 begin apogee

5204 -0.23 0.0 2037 2030 3433 3403 538.1 0.0 194 5323 1.17 0.00 111.70 0.894 10246 0.063 0.000 2479 2030 2820 2915 2726 0 0 0 0 0 0 26.60 28.83 24.30

5324 end apogee: CONTROL_FINISHED_OK

state 5324 begin climb

5325 0.79 146.6 2479 2030 2915 2726 538.0 0.0 196 5450 0.88 2.40 115.15 0.877 10756 0.046 0.044 2820 638 2221 2337 2106 0 0 0 0 0 0 25.10 24.70 24.02

5624 0.57 146.6 2820 638 2334 2105 510.2 11.0 201 5630 0.30 2.20 0.00 0.000 5126 0.127 0.035 2729 2028 2219 2333 2105 0 0 0 0 0 0 25.46 25.58 28.83

5983 0.61 185.7 2729 2028 2333 2103 480.1 8.2 207 6016 0.00 0.00 30.73 0.831 8454 0.000 0.000 2729 2028 2061 2185 1938 0 0 0 0 0 0 28.83 28.83 24.77

6339 0.67 218.7 2729 2028 2185 1933 449.9 8.5 213 6371 0.00 2.30 26.50 0.811 8452 0.000 0.046 2729 3418 1927 2063 1792 0 0 0 0 0 0 28.83 25.52 24.84

6416 0.72 248.1 2729 3418 2063 1792 444.4 8.6 214 6447 0.12 2.15 24.80 0.797 11270 0.077 0.031 2801 2026 1807 1943 1671 0 0 0 0 0 0 25.69 25.69 24.63

6755 0.62 248.1 2801 2026 1942 1667 396.9 13.8 220 6757 0.20 0.00 0.00 0.000 4102 0.129 0.000 2743 2026 1804 1942 1667 0 0 0 0 0 0 25.81 28.83 28.83

7056 0.70 266.3 2743 2026 1942 1664 368.8 9.2 225 7077 0.00 2.28 14.68 0.734 8708 0.000 0.045 2752 634 1733 1873 1594 0 0 0 0 0 0 28.83 25.86 25.15

7134 0.77 280.5 2752 634 1872 1593 362.7 9.3 226 7153 0.12 2.15 12.65 0.721 11270 0.081 0.034 2817 2021 1675 1813 1537 0 0 0 0 0 0 25.96 25.96 25.03

7475 0.66 280.5 2817 2021 1812 1535 310.0 14.9 232 7477 0.20 0.00 0.00 0.000 4102 0.127 0.000 2760 2021 1673 1812 1535 0 0 0 0 0 0 25.96 28.83 28.83

7775 0.73 280.5 2760 2021 1812 1534 275.6 11.5 240 7779 0.00 2.17 0.00 0.000 516 0.000 0.044 2769 632 1672 1812 1533 0 0 0 0 0 0 28.83 26.17 28.83

7820 0.80 280.5 2769 632 1812 1532 272.6 11.6 241 7824 0.00 2.12 0.00 0.000 1030 0.000 0.034 2769 2026 1672 1812 1532 0 0 0 0 0 0 28.83 26.22 28.83

8126 0.86 280.5 2769 2026 1812 1532 231.9 13.0 251 8132 0.12 2.20 0.00 0.000 2308 0.082 0.044 2841 3436 1672 1812 1532 0 0 0 0 0 0 26.34 26.27 28.83

8168 0.86 280.5 2841 3436 1812 1532 226.9 14.0 252 8174 0.08 2.17 0.00 0.000 5126 0.132 0.031 2826 2030 1671 1812 1531 0 0 0 0 0 0 26.18 26.33 28.83

8486 0.78 280.5 2826 2030 1812 1532 172.1 15.6 263 8490 0.00 2.17 0.00 0.000 516 0.000 0.044 2834 627 1672 1812 1532 0 0 0 0 0 0 28.83 26.34 28.83

8550 0.71 280.5 2834 626 1810 1531 164.0 14.7 265 8555 0.20 2.12 0.00 0.000 5126 0.125 0.034 2776 2026 1670 1810 1530 0 0 0 0 0 0 26.27 26.39 28.83

8869 0.81 280.5 2776 2026 1811 1531 129.8 10.1 279 8874 0.00 2.17 0.00 0.000 260 0.000 0.045 2776 3432 1670 1810 1531 0 0 0 0 0 0 28.83 26.40 28.83

8930 0.89 280.5 1856 3431 1784 1528 123.4 10.4 282 8935 0.10 2.17 0.00 0.000 3078 0.048 0.031 2850 2017 1670 1810 1531 0 0 0 0 0 0 26.44 26.44 28.83

9238 0.83 280.5 2850 2017 1810 1531 75.8 14.9 298 9248 0.12 2.15 0.00 0.000 4612 0.145 0.043 2818 625 1670 1810 1530 0 0 0 0 0 0 26.38 26.44 28.83

9381 0.90 280.5 2818 625 1810 1531 58.6 10.6 312 9386 0.00 2.12 0.00 0.000 1030 0.000 0.034 2818 2030 1670 1810 1531 0 0 0 0 0 0 28.83 26.49 28.83

9687 1.01 315.8 2818 2030 1811 1531 30.7 8.4 342 9719 0.12 2.25 22.27 0.569 10500 0.082 0.045 2893 3433 1531 1668 1394 0 0 0 0 0 0 26.56 26.22 25.58

9852 0.89 315.8 2893 3433 1664 1391 8.3 14.5 358 9856 0.25 2.12 0.00 0.000 5126 0.123 0.030 2828 2019 1527 1664 1390 0 0 0 0 0 0 26.17 26.31 28.83

9915 end climb: SURFACE_DEPTH_REACHED

state 9915 begin surface coast

9927 end surface coast: CONTROL_FINISHED_OK

state 9927 begin surface

ID	195	HD_C	1.6100001e-05	ROLL_MAX	3758	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	8	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	44	ESCAPE_HEADING	0	C_ROLL_DIVE	2025	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_PING_DEPTH	700
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	41	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	35	XPDR_VALID	3
D_BOOST	10	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.77999997
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2820	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	115
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	390	CALL_WAIT	45	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-4510.5967	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	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	207	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2545	FG_AHR_10V	0	SEABIRD_T_G	0.0043948898
GLIDE_SLOPE	40	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000640176
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.7039805e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-50.110214	SEABIRD_T_J	3.3535807e-06
MASS	59371	PITCH_GAIN	22.200001	PRESSURE_SLOPE	0.0001168043	SEABIRD_C_G	-9.7607336
MASS_COMP	3973.1001	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1271561
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014806761
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019408959
KALMAN_USE	13	PITCH_ADJ_GAIN	0.039999999	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0.5	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	224	ALTIM_TOP_PING_RANGE	0

GPS1	311013,162900,4752.822,-12534.482,39,0.9,39,16.9	TGT_NAME	SEARCH_B
_CALLS	3	TGT_LATLONG	4815.000,-12600.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.125,0.225
_SM_DEPTHo	1.21	KALMAN_X	264.9,0.0,0.0,-43026.8,74.6
_SM_ANGLEo	-59.8	KALMAN_Y	-16819.9,0.0,0.0,86972.0,-1381.0
GPS2	311013,164054,4752.829,-12534.496,5,0.9,5,16.9	MHEAD_RNG_PITCHd_Wd	314.0,51723,-17.6,-10.000,-21.21,2209
SPEED_LIMITS	0.119,0.258	D_GRID	990

FINISH	0.4,1.024167	_10V_AH	10.2,5.331
SM_CCo	10000,0.00,0.000,0,0,1524,317.91	FG_AHR_24Vo	0.000
SM_GC	0.93,6.82,0.00,0.00,0.030,0.000,0.000,179,2019,1524,-7.26,-0.17,317.91,0,0,0,0,0,0,26.36,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4738.89,-12534.50,311013,161612	MEM	314292
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	26916,365
HUMID	44.95	CAP_FILE_SIZE	104824,0
INTERNAL_PRESSURE	8.91764	CFSIZE	2097872896,2090139648
TCM_TEMP	12.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	311013,192853,4754.337,-12537.034,18,0.9,18,16.9
_24V_AH	24.0,6.176

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	205	102.96	SBE_CT	249	22	134.80
Roll_motor	78	56	106.35	AA4330	483	11	130.34
VBD_pump_during_apogee	358	893	7687.31	WL_BB2FLVMT	285	105	719.58
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	559	76	1027.52	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.04
TT8	1140	15	176.95
LPSleep	7238	2	161.70
TT8_Active	378	15	58.78
TT8_Sampling	1902	43	847.61
TT8_CF8	63	53	34.59
TT8_Kalman	0	69	0.27
Analog_circuits	1665	14	237.87
GPS_charging	0	0	0.00
Compass	1324	8	111.35
RAFOS	0	0	0.00
Transponder	1	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
14	-0.79	-146.6	171	2022	1491	1265	0.0	0.0	0	80	0.00	0.00	-62.62	0.000	16386	0.000	0.000	171	2022	2968	2974	2962	0	0	0	0	0	0	28.83	28.83	28.83
82	-0.79	-146.6	170	2022	2974	2962	3.2	-4.9	6	111	7.82	2.25	-11.55	0.000	18948	0.205	0.057	2284	627	3420	3430	3410	0	0	0	0	0	0	25.68	25.94	26.25
147	-0.47	-146.6	2284	627	3431	3412	13.1	-15.5	12	156	0.32	2.20	0.00	0.000	3078	0.125	0.035	2391	2021	3421	3431	3411	0	0	0	0	0	0	25.83	26.01	28.83
454	-0.58	-146.6	2391	2021	3432	3412	44.4	-8.9	43	464	0.12	2.20	0.00	0.000	4356	0.080	0.044	2310	3434	3421	3432	3411	0	0	0	0	0	0	26.24	26.13	28.83
631	-0.49	-146.6	2310	3434	3434	3412	67.6	-13.4	60	640	0.22	2.17	0.00	0.000	3078	0.110	0.028	2386	2010	3422	3433	3412	0	0	0	0	0	0	26.10	26.27	28.83
939	-0.66	-146.6	2385	2009	3436	3412	95.5	-8.8	82	941	0.15	0.00	0.00	0.000	4102	0.070	0.000	2309	2010	3424	3436	3412	0	0	0	0	0	0	26.39	28.83	28.83
1239	-0.66	-146.6	2309	2009	3436	3411	125.4	-9.9	97	1240	0.00	0.00	0.00	0.000	6	0.000	0.000	2309	2009	3424	3436	3412	0	0	0	0	0	0	28.83	28.83	28.83
1558	-0.70	-146.6	2309	2009	3436	3412	156.8	-9.3	112	1564	0.00	2.22	0.00	0.000	260	0.000	0.045	2298	3445	3423	3436	3411	0	0	0	0	0	0	28.83	26.41	28.83
1717	-0.74	-146.6	2298	3445	3435	3412	171.5	-9.8	117	1721	0.00	2.12	0.00	0.000	1030	0.000	0.028	2299	2014	3423	3435	3411	0	0	0	0	0	0	28.83	26.48	28.83
2034	-0.79	-146.6	2298	2014	3435	3411	204.0	-10.4	128	2037	0.00	2.12	0.00	0.000	516	0.000	0.041	2298	630	3423	3435	3411	0	0	0	0	0	0	28.83	26.47	28.83
2097	-0.83	-146.6	1476	630	3428	3409	211.2	-11.2	130	2102	0.00	2.17	0.00	0.000	1030	0.000	0.034	2290	2033	3423	3435	3411	0	0	0	0	0	0	28.83	26.51	28.83
2426	-0.89	-146.6	2289	2032	3434	3411	249.3	-11.5	141	2431	0.00	2.15	0.00	0.000	260	0.000	0.046	2279	3426	3422	3434	3411	0	0	0	0	0	0	28.83	26.50	28.83
2548	-0.94	-146.6	2279	3426	3434	3411	262.9	-11.4	145	2552	0.12	2.12	0.00	0.000	5126	0.083	0.028	2212	2021	3422	3433	3411	0	0	0	0	0	0	26.54	26.56	28.83
2875	-0.82	-146.6	2212	2020	3433	3411	310.3	-14.9	155	2881	0.20	2.17	0.00	0.000	2308	0.134	0.044	2269	3428	3422	3433	3411	0	0	0	0	0	0	26.44	26.53	28.83
2938	-0.74	-146.6	2269	3428	3433	3410	317.6	-13.9	156	2943	0.12	2.08	0.00	0.000	3078	0.137	0.029	2304	2024	3421	3433	3410	0	0	0	0	0	0	26.44	26.58	28.83
3290	-0.88	-146.6	2304	2023	3433	3410	354.0	-10.4	162	3292	0.12	0.00	0.00	0.000	4102	0.080	0.000	2233	2023	3421	3433	3410	0	0	0	0	0	0	26.65	28.83	28.83
3590	-0.85	-146.6	2233	2023	3433	3408	393.6	-13.2	167	3592	0.12	0.00	0.00	0.000	2054	0.145	0.000	2267	2023	3420	3433	3408	0	0	0	0	0	0	26.51	28.83	28.83
3890	-0.93	-146.6	2267	2023	3433	3408	424.8	-10.2	172	3894	0.00	2.17	0.00	0.000	260	0.000	0.047	2259	3428	3420	3433	3407	0	0	0	0	0	0	28.83	26.58	28.83
4044	-1.00	-146.6	2259	3427	3433	3407	436.8	-10.1	174	4048	0.12	2.08	0.00	0.000	5126	0.082	0.030	2190	2019	3420	3433	3407	0	0	0	0	0	0	26.61	26.63	28.83
4366	-0.89	-146.6	2190	2019	3433	3406	484.4	-14.0	180	4372	0.20	2.20	0.00	0.000	2308	0.134	0.046	2247	3438	3419	3433	3405	0	0	0	0	0	0	26.49	26.59	28.83
4486	-0.85	-146.6	2247	3439	3433	3405	497.7	-12.5	182	4492	0.00	2.10	0.00	0.000	1030	0.000	0.030	2247	2024	3419	3433	3405	0	0	0	0	0	0	28.83	26.65	28.83
4846	-0.92	-146.6	2247	2024	3433	3404	536.7	-11.0	188	4850	0.00	2.20	0.00	0.000	260	0.000	0.047	2236	3435	3418	3433	3404	0	0	0	0	0	0	28.83	26.60	28.83
5143	-1.51	-146.6	2236	3435	3433	3404	538.0	-0.0	193	5150	0.43	2.08	0.00	0.000	5126	0.034	0.031	2038	2030	3418	3432	3404	0	0	0	0	0	0	26.67	26.66	28.83
5201	end dive: NO_VERTICAL_VELOCITY
state	5201	begin apogee
5204	-0.23	0.0	2037	2030	3433	3403	538.1	0.0	194	5323	1.17	0.00	111.70	0.894	10246	0.063	0.000	2479	2030	2820	2915	2726	0	0	0	0	0	0	26.60	28.83	24.30
5324	end apogee: CONTROL_FINISHED_OK
state	5324	begin climb
5325	0.79	146.6	2479	2030	2915	2726	538.0	0.0	196	5450	0.88	2.40	115.15	0.877	10756	0.046	0.044	2820	638	2221	2337	2106	0	0	0	0	0	0	25.10	24.70	24.02
5624	0.57	146.6	2820	638	2334	2105	510.2	11.0	201	5630	0.30	2.20	0.00	0.000	5126	0.127	0.035	2729	2028	2219	2333	2105	0	0	0	0	0	0	25.46	25.58	28.83
5983	0.61	185.7	2729	2028	2333	2103	480.1	8.2	207	6016	0.00	0.00	30.73	0.831	8454	0.000	0.000	2729	2028	2061	2185	1938	0	0	0	0	0	0	28.83	28.83	24.77
6339	0.67	218.7	2729	2028	2185	1933	449.9	8.5	213	6371	0.00	2.30	26.50	0.811	8452	0.000	0.046	2729	3418	1927	2063	1792	0	0	0	0	0	0	28.83	25.52	24.84
6416	0.72	248.1	2729	3418	2063	1792	444.4	8.6	214	6447	0.12	2.15	24.80	0.797	11270	0.077	0.031	2801	2026	1807	1943	1671	0	0	0	0	0	0	25.69	25.69	24.63
6755	0.62	248.1	2801	2026	1942	1667	396.9	13.8	220	6757	0.20	0.00	0.00	0.000	4102	0.129	0.000	2743	2026	1804	1942	1667	0	0	0	0	0	0	25.81	28.83	28.83
7056	0.70	266.3	2743	2026	1942	1664	368.8	9.2	225	7077	0.00	2.28	14.68	0.734	8708	0.000	0.045	2752	634	1733	1873	1594	0	0	0	0	0	0	28.83	25.86	25.15
7134	0.77	280.5	2752	634	1872	1593	362.7	9.3	226	7153	0.12	2.15	12.65	0.721	11270	0.081	0.034	2817	2021	1675	1813	1537	0	0	0	0	0	0	25.96	25.96	25.03
7475	0.66	280.5	2817	2021	1812	1535	310.0	14.9	232	7477	0.20	0.00	0.00	0.000	4102	0.127	0.000	2760	2021	1673	1812	1535	0	0	0	0	0	0	25.96	28.83	28.83
7775	0.73	280.5	2760	2021	1812	1534	275.6	11.5	240	7779	0.00	2.17	0.00	0.000	516	0.000	0.044	2769	632	1672	1812	1533	0	0	0	0	0	0	28.83	26.17	28.83
7820	0.80	280.5	2769	632	1812	1532	272.6	11.6	241	7824	0.00	2.12	0.00	0.000	1030	0.000	0.034	2769	2026	1672	1812	1532	0	0	0	0	0	0	28.83	26.22	28.83
8126	0.86	280.5	2769	2026	1812	1532	231.9	13.0	251	8132	0.12	2.20	0.00	0.000	2308	0.082	0.044	2841	3436	1672	1812	1532	0	0	0	0	0	0	26.34	26.27	28.83
8168	0.86	280.5	2841	3436	1812	1532	226.9	14.0	252	8174	0.08	2.17	0.00	0.000	5126	0.132	0.031	2826	2030	1671	1812	1531	0	0	0	0	0	0	26.18	26.33	28.83
8486	0.78	280.5	2826	2030	1812	1532	172.1	15.6	263	8490	0.00	2.17	0.00	0.000	516	0.000	0.044	2834	627	1672	1812	1532	0	0	0	0	0	0	28.83	26.34	28.83
8550	0.71	280.5	2834	626	1810	1531	164.0	14.7	265	8555	0.20	2.12	0.00	0.000	5126	0.125	0.034	2776	2026	1670	1810	1530	0	0	0	0	0	0	26.27	26.39	28.83
8869	0.81	280.5	2776	2026	1811	1531	129.8	10.1	279	8874	0.00	2.17	0.00	0.000	260	0.000	0.045	2776	3432	1670	1810	1531	0	0	0	0	0	0	28.83	26.40	28.83
8930	0.89	280.5	1856	3431	1784	1528	123.4	10.4	282	8935	0.10	2.17	0.00	0.000	3078	0.048	0.031	2850	2017	1670	1810	1531	0	0	0	0	0	0	26.44	26.44	28.83
9238	0.83	280.5	2850	2017	1810	1531	75.8	14.9	298	9248	0.12	2.15	0.00	0.000	4612	0.145	0.043	2818	625	1670	1810	1530	0	0	0	0	0	0	26.38	26.44	28.83
9381	0.90	280.5	2818	625	1810	1531	58.6	10.6	312	9386	0.00	2.12	0.00	0.000	1030	0.000	0.034	2818	2030	1670	1810	1531	0	0	0	0	0	0	28.83	26.49	28.83
9687	1.01	315.8	2818	2030	1811	1531	30.7	8.4	342	9719	0.12	2.25	22.27	0.569	10500	0.082	0.045	2893	3433	1531	1668	1394	0	0	0	0	0	0	26.56	26.22	25.58
9852	0.89	315.8	2893	3433	1664	1391	8.3	14.5	358	9856	0.25	2.12	0.00	0.000	5126	0.123	0.030	2828	2019	1527	1664	1390	0	0	0	0	0	0	26.17	26.31	28.83
9915	end climb: SURFACE_DEPTH_REACHED
state	9915	begin surface coast
9927	end surface coast: CONTROL_FINISHED_OK
state	9927	begin surface