Glider dive log

Cuddy Oct13 * SG195 * Dive index * Mission links * Dive 45 * 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 45 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 46 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT 36 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 -4511.8574 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 -4511.8574

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 46 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 36 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 45 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 311013,192853,4754.337,-12537.034,18,0.9,18,16.9 TGT_NAME SEARCH_B

_CALLS 1 TGT_LATLONG 4815.000,-12600.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.031,0.256

_SM_DEPTHo 1.29 KALMAN_X -600.3,0.0,0.0,-45404.2,-957.4

_SM_ANGLEo -63.0 KALMAN_Y -18528.1,0.0,0.0,91466.0,-2992.9

GPS2 311013,193435,4754.312,-12537.043,5,1.1,6,16.9 MHEAD_RNG_PITCHd_Wd 336.3,47638,-17.6,-10.000,-21.21,2209

SPEED_LIMITS 0.119,0.258 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.024305 _10V_AH 10.3,5.382

SM_CCo 9058,0.00,0.000,0,0,1578,304.66 FG_AHR_24Vo 0.000

SM_GC 1.25,6.93,2.17,0.00,0.025,0.029,0.000,181,2024,1578,-7.27,1.50,304.66,0,0,0,0,0,0,26.41,26.39,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12532.63,311013,161639 MEM 314280

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 27096,349

HUMID 44.48 CAP_FILE_SIZE 97688,0

INTERNAL_PRESSURE 8.90787 CFSIZE 2097872896,2090074112

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 311013,220705,4755.670,-12538.373,32,0.9,32,16.9

_24V_AH 24.1,6.260

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 207 96.43 SBE_CT 238 22 129.20

Roll_motor 86 55 116.45 AA4330 462 11 125.15

VBD_pump_during_apogee 351 856 7267.37 WL_BB2FLVMT 281 105 711.74

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 282 74 504.89 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 30 2.37

TT8 1088 15 170.59

LPSleep 6273 2 141.50

TT8_Active 371 15 58.24

TT8_Sampling 1619 43 728.43

TT8_CF8 61 53 33.75

TT8_Kalman 0 69 0.28

Analog_circuits 1376 14 198.56

GPS_charging 0 0 0.00

Compass 1316 8 111.72

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 -146.6 178 2017 1639 1393 0.0 0.0 0 79 0.00 0.00 -61.72 0.000 16386 0.000 0.000 178 2018 3119 3131 3107 0 0 0 0 0 0 28.83 28.83 28.83

81 -0.79 -146.6 178 2018 3133 3107 3.5 -5.1 6 102 7.78 2.22 -7.07 0.000 18948 0.207 0.056 2286 633 3421 3428 3414 0 0 0 0 0 0 25.82 26.08 26.38

142 -0.45 -146.6 2287 632 3431 3416 16.0 -19.4 12 151 0.35 2.17 0.00 0.000 3078 0.125 0.035 2391 2019 3423 3431 3416 0 0 0 0 0 0 25.96 26.13 28.83

450 -0.58 -146.6 2391 2019 3433 3415 54.3 -10.6 43 459 0.00 2.20 0.00 0.000 260 0.000 0.046 2383 3429 3424 3433 3415 0 0 0 0 0 0 28.83 26.22 28.83

686 -0.70 -146.6 1520 3428 3428 3414 75.4 -8.0 66 695 0.15 2.15 0.00 0.000 5126 0.038 0.028 2293 2018 3425 3435 3416 0 0 0 0 0 0 26.35 26.35 28.83

994 -0.64 -146.6 2292 2018 3436 3415 115.6 -13.4 84 1000 0.12 2.12 0.00 0.000 2564 0.147 0.040 2332 637 3426 3436 3416 0 0 0 0 0 0 26.29 26.36 28.83

1041 -0.64 -146.6 2331 637 3436 3415 120.2 -12.7 86 1046 0.00 2.15 0.00 0.000 1030 0.000 0.034 2325 2026 3426 3436 3416 0 0 0 0 0 0 28.83 26.41 28.83

1354 -0.73 -146.6 2325 2026 3437 3416 149.9 -8.9 102 1360 0.00 2.17 0.00 0.000 260 0.000 0.045 2315 3432 3426 3437 3416 0 0 0 0 0 0 28.83 26.41 28.83

1476 -0.80 -146.6 2315 3432 3437 3416 160.9 -9.2 107 1481 0.00 2.10 0.00 0.000 1030 0.000 0.028 2315 2017 3426 3437 3416 0 0 0 0 0 0 28.83 26.48 28.83

1805 -0.90 -146.6 2315 2017 3437 3416 195.9 -10.3 118 1811 0.15 2.12 0.00 0.000 4612 0.071 0.041 2226 631 3426 3437 3415 0 0 0 0 0 0 26.56 26.46 28.83

1853 -0.95 -146.6 2226 631 3436 3416 199.5 -10.5 119 1857 0.00 2.10 0.00 0.000 1030 0.000 0.034 2216 2025 3425 3436 3415 0 0 0 0 0 0 28.83 26.51 28.83

2165 -0.82 -146.6 2216 2025 3436 3415 245.5 -14.7 130 2172 0.17 2.17 0.00 0.000 2308 0.141 0.044 2265 3432 3426 3436 3416 0 0 0 0 0 0 26.39 26.49 28.83

2303 -0.78 -146.6 2265 3432 3436 3415 259.7 -11.8 134 2307 0.00 2.10 0.00 0.000 1030 0.000 0.029 2265 2015 3425 3436 3415 0 0 0 0 0 0 28.83 26.55 28.83

2616 -0.81 -146.6 2265 2015 3436 3415 291.4 -8.1 145 2622 0.00 2.15 0.00 0.000 260 0.000 0.046 2254 3417 3425 3436 3415 0 0 0 0 0 0 28.83 26.53 28.83

2668 -0.81 -146.6 2254 3417 3436 3415 293.8 -7.8 146 2675 0.00 2.05 0.00 0.000 1030 0.000 0.029 2254 2024 3425 3436 3415 0 0 0 0 0 0 28.83 26.58 28.83

2975 -0.81 -146.6 2254 2024 3436 3415 329.1 -11.3 153 2981 0.00 2.17 0.00 0.000 260 0.000 0.047 2244 3426 3425 3435 3415 0 0 0 0 0 0 28.83 26.54 28.83

3113 -0.81 -146.6 2243 3426 3435 3415 345.7 -12.8 155 3118 0.15 2.08 0.00 0.000 3078 0.141 0.029 2286 2018 3425 3435 3415 0 0 0 0 0 0 26.44 26.60 28.83

3456 -0.93 -146.6 2286 2018 3435 3415 391.5 -12.4 161 3462 0.12 2.15 0.00 0.000 4356 0.080 0.045 2200 3419 3424 3435 3413 0 0 0 0 0 0 26.66 26.55 28.83

3613 -0.93 -146.6 2199 3419 3434 3413 409.0 -12.7 163 3618 0.12 2.10 0.00 0.000 3078 0.118 0.030 2243 2026 3423 3434 3413 0 0 0 0 0 0 26.46 26.63 28.83

3936 -0.97 -146.6 2243 2026 3434 3413 451.6 -11.1 169 3938 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2026 3423 3434 3413 0 0 0 0 0 0 28.83 28.83 28.83

4236 -1.24 -146.6 2243 2026 3434 3412 474.3 -6.9 174 4242 0.25 2.17 0.00 0.000 4356 0.059 0.046 2127 3429 3423 3434 3412 0 0 0 0 0 0 26.65 26.58 28.83

4474 end dive: NO_VERTICAL_VELOCITY

state 4474 begin apogee

4480 -0.23 0.0 2126 2021 3434 3410 474.2 0.0 178 4597 0.93 0.00 112.12 0.857 10246 0.058 0.000 2480 2020 2820 2914 2726 0 0 0 0 0 0 26.60 28.83 24.36

4597 end apogee: CONTROL_FINISHED_OK

state 4598 begin climb

4599 0.79 146.6 2479 2021 2914 2726 474.1 0.0 180 4723 0.88 2.38 114.43 0.832 10756 0.052 0.044 2811 642 2220 2336 2105 0 0 0 0 0 0 25.10 24.73 24.08

5016 0.65 146.6 2811 642 2333 2104 434.2 12.2 187 5023 0.20 2.17 0.00 0.000 5126 0.138 0.035 2758 2030 2218 2333 2104 0 0 0 0 0 0 25.66 25.79 28.83

5377 0.65 150.3 2757 2030 2333 2102 399.9 9.8 193 5385 0.00 2.20 3.53 0.467 8708 0.000 0.042 2766 634 2207 2321 2093 0 0 0 0 0 0 28.83 26.01 25.23

5425 0.65 154.0 2766 634 2321 2094 399.9 9.8 193 5436 0.00 2.15 4.68 0.555 9222 0.000 0.034 2766 2032 2190 2304 2076 0 0 0 0 0 0 28.83 26.08 25.23

5793 0.55 172.9 2766 2032 2305 2077 361.8 9.1 200 5812 0.12 0.00 15.95 0.738 12806 0.151 0.000 2726 2032 2114 2233 1995 0 0 0 0 0 0 26.11 28.83 25.19

6149 0.64 172.9 2726 2033 2233 1994 325.4 11.8 206 6153 0.00 2.20 0.00 0.000 516 0.000 0.044 2734 629 2113 2233 1994 0 0 0 0 0 0 28.83 26.14 28.83

6168 0.73 172.9 2734 630 2233 1994 325.4 11.8 206 6173 0.12 2.15 0.00 0.000 3078 0.080 0.034 2800 2030 2113 2233 1994 0 0 0 0 0 0 26.19 26.19 28.83

6501 0.62 172.9 2800 2030 2233 1993 285.2 11.8 214 6507 0.17 2.20 0.00 0.000 4356 0.136 0.044 2745 3436 2113 2233 1994 0 0 0 0 0 0 26.17 26.26 28.83

6609 0.58 172.9 2744 3437 2233 1993 274.7 12.3 217 6613 0.00 2.12 0.00 0.000 1030 0.000 0.031 2752 2020 2113 2233 1993 0 0 0 0 0 0 28.83 26.33 28.83

6921 0.63 196.4 2752 2020 2233 1992 240.7 8.9 228 6945 0.00 2.17 18.75 0.682 8708 0.000 0.043 2762 634 2018 2148 1889 0 0 0 0 0 0 28.83 26.08 25.38

7001 0.67 226.6 2761 634 2147 1888 235.6 8.6 229 7030 0.00 2.12 24.33 0.685 9222 0.000 0.034 2762 2020 1895 2031 1760 0 0 0 0 0 0 28.83 26.16 25.12

7333 0.75 268.3 2761 2020 2030 1757 203.2 8.1 240 7371 0.00 2.28 33.38 0.674 8452 0.000 0.044 2762 3438 1725 1864 1587 0 0 0 0 0 0 28.83 25.63 25.00

7427 0.82 293.8 2761 3438 1861 1587 195.3 8.8 243 7456 0.12 2.17 21.10 0.650 11270 0.079 0.030 2835 2023 1621 1758 1485 0 0 0 0 0 0 25.79 25.79 24.87

7760 0.74 293.8 2835 2023 1756 1477 143.9 15.3 255 7766 0.15 2.17 0.00 0.000 4612 0.139 0.043 2797 634 1616 1755 1477 0 0 0 0 0 0 25.87 25.95 28.83

7859 0.79 293.8 2797 634 1754 1475 131.0 12.2 260 7865 0.00 2.15 0.00 0.000 1030 0.000 0.034 2797 2025 1614 1754 1475 0 0 0 0 0 0 28.83 26.06 28.83

8179 0.85 293.8 2797 2025 1755 1475 93.4 11.2 276 8183 0.00 2.20 0.00 0.000 260 0.000 0.045 2797 3432 1615 1755 1475 0 0 0 0 0 0 28.83 26.17 28.83

8228 0.91 293.8 2797 3432 1754 1475 89.1 11.7 278 8237 0.08 2.17 0.00 0.000 3078 0.050 0.030 2860 2026 1614 1754 1474 0 0 0 0 0 0 26.20 26.24 28.83

8535 0.85 293.8 2860 2026 1754 1475 47.5 12.1 306 8540 0.12 2.17 0.00 0.000 4612 0.150 0.042 2829 625 1614 1754 1475 0 0 0 0 0 0 26.21 26.27 28.83

8582 0.89 293.8 2829 625 1754 1473 42.3 10.9 310 8586 0.00 2.12 0.00 0.000 1030 0.000 0.034 2829 2026 1614 1755 1473 0 0 0 0 0 0 28.83 26.32 28.83

8888 1.00 303.7 2829 2026 1754 1471 12.5 9.5 340 8900 0.10 2.20 3.70 0.321 10500 0.093 0.044 2887 3435 1581 1720 1442 0 0 0 0 0 0 26.44 26.32 25.67

8971 end climb: SURFACE_DEPTH_REACHED

state 8971 begin surface coast

8983 end surface coast: CONTROL_FINISHED_OK

state 8983 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	45	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	46	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	36	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	-4511.8574	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	311013,192853,4754.337,-12537.034,18,0.9,18,16.9	TGT_NAME	SEARCH_B
_CALLS	1	TGT_LATLONG	4815.000,-12600.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.031,0.256
_SM_DEPTHo	1.29	KALMAN_X	-600.3,0.0,0.0,-45404.2,-957.4
_SM_ANGLEo	-63.0	KALMAN_Y	-18528.1,0.0,0.0,91466.0,-2992.9
GPS2	311013,193435,4754.312,-12537.043,5,1.1,6,16.9	MHEAD_RNG_PITCHd_Wd	336.3,47638,-17.6,-10.000,-21.21,2209
SPEED_LIMITS	0.119,0.258	D_GRID	990

FINISH	0.1,1.024305	_10V_AH	10.3,5.382
SM_CCo	9058,0.00,0.000,0,0,1578,304.66	FG_AHR_24Vo	0.000
SM_GC	1.25,6.93,2.17,0.00,0.025,0.029,0.000,181,2024,1578,-7.27,1.50,304.66,0,0,0,0,0,0,26.41,26.39,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12532.63,311013,161639	MEM	314280
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	27096,349
HUMID	44.48	CAP_FILE_SIZE	97688,0
INTERNAL_PRESSURE	8.90787	CFSIZE	2097872896,2090074112
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	311013,220705,4755.670,-12538.373,32,0.9,32,16.9
_24V_AH	24.1,6.260

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	207	96.43	SBE_CT	238	22	129.20
Roll_motor	86	55	116.45	AA4330	462	11	125.15
VBD_pump_during_apogee	351	856	7267.37	WL_BB2FLVMT	281	105	711.74
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	282	74	504.89	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	30	2.37
TT8	1088	15	170.59
LPSleep	6273	2	141.50
TT8_Active	371	15	58.24
TT8_Sampling	1619	43	728.43
TT8_CF8	61	53	33.75
TT8_Kalman	0	69	0.28
Analog_circuits	1376	14	198.56
GPS_charging	0	0	0.00
Compass	1316	8	111.72
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	178	2017	1639	1393	0.0	0.0	0	79	0.00	0.00	-61.72	0.000	16386	0.000	0.000	178	2018	3119	3131	3107	0	0	0	0	0	0	28.83	28.83	28.83
81	-0.79	-146.6	178	2018	3133	3107	3.5	-5.1	6	102	7.78	2.22	-7.07	0.000	18948	0.207	0.056	2286	633	3421	3428	3414	0	0	0	0	0	0	25.82	26.08	26.38
142	-0.45	-146.6	2287	632	3431	3416	16.0	-19.4	12	151	0.35	2.17	0.00	0.000	3078	0.125	0.035	2391	2019	3423	3431	3416	0	0	0	0	0	0	25.96	26.13	28.83
450	-0.58	-146.6	2391	2019	3433	3415	54.3	-10.6	43	459	0.00	2.20	0.00	0.000	260	0.000	0.046	2383	3429	3424	3433	3415	0	0	0	0	0	0	28.83	26.22	28.83
686	-0.70	-146.6	1520	3428	3428	3414	75.4	-8.0	66	695	0.15	2.15	0.00	0.000	5126	0.038	0.028	2293	2018	3425	3435	3416	0	0	0	0	0	0	26.35	26.35	28.83
994	-0.64	-146.6	2292	2018	3436	3415	115.6	-13.4	84	1000	0.12	2.12	0.00	0.000	2564	0.147	0.040	2332	637	3426	3436	3416	0	0	0	0	0	0	26.29	26.36	28.83
1041	-0.64	-146.6	2331	637	3436	3415	120.2	-12.7	86	1046	0.00	2.15	0.00	0.000	1030	0.000	0.034	2325	2026	3426	3436	3416	0	0	0	0	0	0	28.83	26.41	28.83
1354	-0.73	-146.6	2325	2026	3437	3416	149.9	-8.9	102	1360	0.00	2.17	0.00	0.000	260	0.000	0.045	2315	3432	3426	3437	3416	0	0	0	0	0	0	28.83	26.41	28.83
1476	-0.80	-146.6	2315	3432	3437	3416	160.9	-9.2	107	1481	0.00	2.10	0.00	0.000	1030	0.000	0.028	2315	2017	3426	3437	3416	0	0	0	0	0	0	28.83	26.48	28.83
1805	-0.90	-146.6	2315	2017	3437	3416	195.9	-10.3	118	1811	0.15	2.12	0.00	0.000	4612	0.071	0.041	2226	631	3426	3437	3415	0	0	0	0	0	0	26.56	26.46	28.83
1853	-0.95	-146.6	2226	631	3436	3416	199.5	-10.5	119	1857	0.00	2.10	0.00	0.000	1030	0.000	0.034	2216	2025	3425	3436	3415	0	0	0	0	0	0	28.83	26.51	28.83
2165	-0.82	-146.6	2216	2025	3436	3415	245.5	-14.7	130	2172	0.17	2.17	0.00	0.000	2308	0.141	0.044	2265	3432	3426	3436	3416	0	0	0	0	0	0	26.39	26.49	28.83
2303	-0.78	-146.6	2265	3432	3436	3415	259.7	-11.8	134	2307	0.00	2.10	0.00	0.000	1030	0.000	0.029	2265	2015	3425	3436	3415	0	0	0	0	0	0	28.83	26.55	28.83
2616	-0.81	-146.6	2265	2015	3436	3415	291.4	-8.1	145	2622	0.00	2.15	0.00	0.000	260	0.000	0.046	2254	3417	3425	3436	3415	0	0	0	0	0	0	28.83	26.53	28.83
2668	-0.81	-146.6	2254	3417	3436	3415	293.8	-7.8	146	2675	0.00	2.05	0.00	0.000	1030	0.000	0.029	2254	2024	3425	3436	3415	0	0	0	0	0	0	28.83	26.58	28.83
2975	-0.81	-146.6	2254	2024	3436	3415	329.1	-11.3	153	2981	0.00	2.17	0.00	0.000	260	0.000	0.047	2244	3426	3425	3435	3415	0	0	0	0	0	0	28.83	26.54	28.83
3113	-0.81	-146.6	2243	3426	3435	3415	345.7	-12.8	155	3118	0.15	2.08	0.00	0.000	3078	0.141	0.029	2286	2018	3425	3435	3415	0	0	0	0	0	0	26.44	26.60	28.83
3456	-0.93	-146.6	2286	2018	3435	3415	391.5	-12.4	161	3462	0.12	2.15	0.00	0.000	4356	0.080	0.045	2200	3419	3424	3435	3413	0	0	0	0	0	0	26.66	26.55	28.83
3613	-0.93	-146.6	2199	3419	3434	3413	409.0	-12.7	163	3618	0.12	2.10	0.00	0.000	3078	0.118	0.030	2243	2026	3423	3434	3413	0	0	0	0	0	0	26.46	26.63	28.83
3936	-0.97	-146.6	2243	2026	3434	3413	451.6	-11.1	169	3938	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2026	3423	3434	3413	0	0	0	0	0	0	28.83	28.83	28.83
4236	-1.24	-146.6	2243	2026	3434	3412	474.3	-6.9	174	4242	0.25	2.17	0.00	0.000	4356	0.059	0.046	2127	3429	3423	3434	3412	0	0	0	0	0	0	26.65	26.58	28.83
4474	end dive: NO_VERTICAL_VELOCITY
state	4474	begin apogee
4480	-0.23	0.0	2126	2021	3434	3410	474.2	0.0	178	4597	0.93	0.00	112.12	0.857	10246	0.058	0.000	2480	2020	2820	2914	2726	0	0	0	0	0	0	26.60	28.83	24.36
4597	end apogee: CONTROL_FINISHED_OK
state	4598	begin climb
4599	0.79	146.6	2479	2021	2914	2726	474.1	0.0	180	4723	0.88	2.38	114.43	0.832	10756	0.052	0.044	2811	642	2220	2336	2105	0	0	0	0	0	0	25.10	24.73	24.08
5016	0.65	146.6	2811	642	2333	2104	434.2	12.2	187	5023	0.20	2.17	0.00	0.000	5126	0.138	0.035	2758	2030	2218	2333	2104	0	0	0	0	0	0	25.66	25.79	28.83
5377	0.65	150.3	2757	2030	2333	2102	399.9	9.8	193	5385	0.00	2.20	3.53	0.467	8708	0.000	0.042	2766	634	2207	2321	2093	0	0	0	0	0	0	28.83	26.01	25.23
5425	0.65	154.0	2766	634	2321	2094	399.9	9.8	193	5436	0.00	2.15	4.68	0.555	9222	0.000	0.034	2766	2032	2190	2304	2076	0	0	0	0	0	0	28.83	26.08	25.23
5793	0.55	172.9	2766	2032	2305	2077	361.8	9.1	200	5812	0.12	0.00	15.95	0.738	12806	0.151	0.000	2726	2032	2114	2233	1995	0	0	0	0	0	0	26.11	28.83	25.19
6149	0.64	172.9	2726	2033	2233	1994	325.4	11.8	206	6153	0.00	2.20	0.00	0.000	516	0.000	0.044	2734	629	2113	2233	1994	0	0	0	0	0	0	28.83	26.14	28.83
6168	0.73	172.9	2734	630	2233	1994	325.4	11.8	206	6173	0.12	2.15	0.00	0.000	3078	0.080	0.034	2800	2030	2113	2233	1994	0	0	0	0	0	0	26.19	26.19	28.83
6501	0.62	172.9	2800	2030	2233	1993	285.2	11.8	214	6507	0.17	2.20	0.00	0.000	4356	0.136	0.044	2745	3436	2113	2233	1994	0	0	0	0	0	0	26.17	26.26	28.83
6609	0.58	172.9	2744	3437	2233	1993	274.7	12.3	217	6613	0.00	2.12	0.00	0.000	1030	0.000	0.031	2752	2020	2113	2233	1993	0	0	0	0	0	0	28.83	26.33	28.83
6921	0.63	196.4	2752	2020	2233	1992	240.7	8.9	228	6945	0.00	2.17	18.75	0.682	8708	0.000	0.043	2762	634	2018	2148	1889	0	0	0	0	0	0	28.83	26.08	25.38
7001	0.67	226.6	2761	634	2147	1888	235.6	8.6	229	7030	0.00	2.12	24.33	0.685	9222	0.000	0.034	2762	2020	1895	2031	1760	0	0	0	0	0	0	28.83	26.16	25.12
7333	0.75	268.3	2761	2020	2030	1757	203.2	8.1	240	7371	0.00	2.28	33.38	0.674	8452	0.000	0.044	2762	3438	1725	1864	1587	0	0	0	0	0	0	28.83	25.63	25.00
7427	0.82	293.8	2761	3438	1861	1587	195.3	8.8	243	7456	0.12	2.17	21.10	0.650	11270	0.079	0.030	2835	2023	1621	1758	1485	0	0	0	0	0	0	25.79	25.79	24.87
7760	0.74	293.8	2835	2023	1756	1477	143.9	15.3	255	7766	0.15	2.17	0.00	0.000	4612	0.139	0.043	2797	634	1616	1755	1477	0	0	0	0	0	0	25.87	25.95	28.83
7859	0.79	293.8	2797	634	1754	1475	131.0	12.2	260	7865	0.00	2.15	0.00	0.000	1030	0.000	0.034	2797	2025	1614	1754	1475	0	0	0	0	0	0	28.83	26.06	28.83
8179	0.85	293.8	2797	2025	1755	1475	93.4	11.2	276	8183	0.00	2.20	0.00	0.000	260	0.000	0.045	2797	3432	1615	1755	1475	0	0	0	0	0	0	28.83	26.17	28.83
8228	0.91	293.8	2797	3432	1754	1475	89.1	11.7	278	8237	0.08	2.17	0.00	0.000	3078	0.050	0.030	2860	2026	1614	1754	1474	0	0	0	0	0	0	26.20	26.24	28.83
8535	0.85	293.8	2860	2026	1754	1475	47.5	12.1	306	8540	0.12	2.17	0.00	0.000	4612	0.150	0.042	2829	625	1614	1754	1475	0	0	0	0	0	0	26.21	26.27	28.83
8582	0.89	293.8	2829	625	1754	1473	42.3	10.9	310	8586	0.00	2.12	0.00	0.000	1030	0.000	0.034	2829	2026	1614	1755	1473	0	0	0	0	0	0	28.83	26.32	28.83
8888	1.00	303.7	2829	2026	1754	1471	12.5	9.5	340	8900	0.10	2.20	3.70	0.321	10500	0.093	0.044	2887	3435	1581	1720	1442	0	0	0	0	0	0	26.44	26.32	25.67
8971	end climb: SURFACE_DEPTH_REACHED
state	8971	begin surface coast
8983	end surface coast: CONTROL_FINISHED_OK
state	8983	begin surface