Glider dive log

PISCES Aug14 * SG201 * Dive index * Mission links * Dive 51 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 201 HD_B 0.0099998498 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_C 9.6916501e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 51 HEADING -1 ROLL_MIN 224 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 48.400002 ROLL_MAX 3758 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 2 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2853 ALTIM_PING_DELTA 5

D_TGT 500 TGT_DEFAULT_LAT 3219.3999 C_ROLL_CLIMB 2510 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 98 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 54 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT -1.28

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 73 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 5 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 125 UPLOAD_DIVES_MAX -1 C_VBD 2872 DEVICE3 -1

T_MISSION 135 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 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 30 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 -1773.587 VBD_MAXERRORS 1 COMPASS_DEVICE 97

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 150 PITCH_MIN 207 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3879 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2810 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043923352

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -68.568054 SEABIRD_T_H 0.00063288247

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115772 SEABIRD_T_I 2.48167e-05

MASS 52153 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.9461089e-06

NAV_MODE 1 PITCH_GAIN 19.5 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7773972

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1424111

KALMAN_USE 1 PITCH_AD_RATE 160 COMPASS_USE 4 SEABIRD_C_I -0.0015250822

HD_A 0.0026760499 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019393132

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 3 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 19.5 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAX 3879 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 207 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 0.000115772 T_BOOST 30

CALL_TRIES 5 HD_A 0.0026760499 PRESSURE_YINT -68.568054 T_DIVE 125

CALL_WAIT 60 HD_B 0.0099998498 PROTOCOL 73 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.6916501e-06 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -1773.587

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 135

COMPASS_DEVICE 97 ID 201 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 -1.28 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2810 KALMAN_USE 1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2510 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2853 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2872 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3758 USE_BATHY 0

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 52153 ROLL_MIN 224 VBD_BLEED_AD_RATE 8

DEVICE2 35 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 98 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 54 VBD_MAX 3960

DEVICE5 -1 MISSION 5 SEABIRD_C_G -9.7773972 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1424111 VBD_MIN 500

DIVE 51 NAV_MODE 1 SEABIRD_C_I -0.0015250822 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NOCOMM_ACTION 0 SEABIRD_C_J 0.00019393132 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0043923352 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00063288247 XPDR_DEVICE 24

D_FINISH 0 N_GPS 30 SEABIRD_T_I 2.48167e-05 XPDR_INHIBIT 90

D_FLARE 2 N_NOCOMM 5 SEABIRD_T_J 2.9461089e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 150814,023301,2659.610,-7053.324,4,1.4,5,-11.7 TGT_NAME ALFA

_CALLS 2 TGT_LATLONG 2800.000,-7055.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.007,0.283

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150814,023905,2659.570,-7053.304,4,1.4,4,-11.7 MHEAD_RNG_PITCHd_Wd 10.3,111950,-22.2,-13.333

SPEED_LIMITS 0.231,0.283 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.7,1.002911 _10V_AH 10.6,6.654

SM_CCo 6911,25.02,0.119,0,0,1340,375.06 FG_AHR_24Vo 0.000

SM_GC 1.42,7.60,0.47,25.02,0.031,0.044,0.119,175,2854,1340,-8.11,-1.53,375.06,0,0,0,0,0,0,27.14,27.14,26.89 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2646.31,-7052.63,150814,020240 MEM 354608

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 30319,531

HUMID 52.08 CAP_FILE_SIZE 105437,0

INTERNAL_PRESSURE 9.53096 CFSIZE 260034560,253022208

TCM_TEMP 24.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 150814,043635,2659.345,-7053.172,26,1.1,26,-11.7

_24V_AH 25.4,5.583

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 203 92.78 SBE_CT 350 23 206.77

Roll_motor 92 45 106.50 WL_BB2F 1429 105 3813.02

VBD_pump_during_apogee 291 927 6854.34 nil 0 0 0.00

VBD_pump_during_surface 25 118 75.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 28 1.65

TT8 1374 15 228.85

LPSleep 3100 2 71.97

TT8_Active 406 15 67.61

TT8_Sampling 2032 44 967.96

TT8_CF8 86 50 46.14

TT8_Kalman 29 67 20.81

Analog_circuits 1201 15 190.99

GPS_charging 0 0 0.00

Compass 2040 8 178.25

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

14 -1.32 -146.0 0.0 0.0 0 80 0.00 0.00 -63.50 0.000 2 0.000 0.000 201 2872 2420 0 0 0 0 0 0 28.83 28.83 28.83

83 -1.32 -146.0 2.2 -2.1 8 131 7.68 1.92 -34.05 0.000 4 0.203 0.033 2381 1463 3468 0 0 0 0 0 0 26.82 27.17 27.43

264 -1.32 -146.0 36.8 -25.0 37 272 0.00 2.03 0.00 0.000 6 0.000 0.031 2373 2850 3468 0 0 0 0 0 0 28.83 27.17 28.83

338 -1.32 -146.0 55.9 -26.5 46 347 0.00 1.33 0.00 0.000 4 0.000 0.043 2366 3749 3468 0 0 0 0 0 0 28.83 27.16 28.83

361 -1.32 -146.0 62.3 -26.4 49 370 0.00 1.20 0.00 0.000 6 0.000 0.022 2366 2843 3468 0 0 0 0 0 0 28.83 27.27 28.83

434 -1.32 -146.0 79.3 -22.4 58 443 0.00 1.90 0.00 0.000 4 0.000 0.021 2366 1480 3468 0 0 0 0 0 0 28.83 27.25 28.83

497 -1.32 -146.0 92.3 -20.3 68 506 0.08 2.00 0.00 0.000 6 0.145 0.030 2382 2854 3468 0 0 0 0 0 0 27.03 27.22 28.83

571 -1.32 -146.0 106.1 -18.5 77 580 0.00 1.30 0.00 0.000 4 0.000 0.042 2378 3742 3468 0 0 0 0 0 0 28.83 27.20 28.83

587 -1.32 -146.0 109.2 -18.2 79 596 0.00 1.17 0.00 0.000 6 0.000 0.022 2378 2844 3468 0 0 0 0 0 0 28.83 27.31 28.83

661 -1.32 -146.0 122.3 -17.8 88 669 0.00 1.90 0.00 0.000 4 0.000 0.021 2378 1471 3467 0 0 0 0 0 0 28.83 27.28 28.83

724 -1.32 -146.0 132.8 -16.0 98 732 0.00 2.00 0.00 0.000 6 0.000 0.030 2368 2848 3468 0 0 0 0 0 0 28.83 27.24 28.83

797 -1.32 -146.0 144.6 -16.4 107 806 0.00 1.33 0.00 0.000 4 0.000 0.044 2361 3749 3468 0 0 0 0 0 0 28.83 27.22 28.83

877 -1.32 -146.0 158.6 -16.9 120 886 0.00 1.17 0.00 0.000 6 0.000 0.022 2361 2850 3468 0 0 0 0 0 0 28.83 27.34 28.83

950 -1.32 -146.0 171.0 -16.9 129 959 0.00 1.90 0.00 0.000 4 0.000 0.021 2361 1481 3468 0 0 0 0 0 0 28.83 27.30 28.83

1056 -1.32 -146.0 189.2 -17.0 138 1062 0.10 1.95 0.00 0.000 6 0.140 0.031 2386 2861 3468 0 0 0 0 0 0 27.07 27.26 28.83

1251 -1.32 -146.0 219.4 -15.4 151 1254 0.00 1.30 0.00 0.000 4 0.000 0.044 2381 3748 3467 0 0 0 0 0 0 28.83 27.24 28.83

1316 -1.32 -146.0 229.3 -15.2 155 1320 0.00 1.17 0.00 0.000 6 0.000 0.022 2381 2849 3467 0 0 0 0 0 0 28.83 27.36 28.83

1514 -1.32 -146.0 258.5 -14.6 168 1519 0.00 1.85 0.00 0.000 4 0.000 0.021 2381 1482 3466 0 0 0 0 0 0 28.83 27.32 28.83

1628 -1.32 -146.0 274.8 -14.0 175 1633 0.00 2.00 0.00 0.000 6 0.000 0.030 2371 2855 3465 0 0 0 0 0 0 28.83 27.28 28.83

1821 -1.32 -146.0 304.8 -15.4 187 1825 0.00 1.88 0.00 0.000 4 0.000 0.021 2371 1484 3464 0 0 0 0 0 0 28.83 27.33 28.83

1960 -1.32 -146.0 322.1 -14.9 191 1967 0.00 2.00 0.00 0.000 6 0.000 0.031 2361 2880 3463 0 0 0 0 0 0 28.83 27.29 28.83

2267 -1.32 -146.0 373.0 -15.6 202 2270 0.00 1.92 0.00 0.000 4 0.000 0.022 2361 1480 3461 0 0 0 0 0 0 28.83 27.32 28.83

2420 -1.32 -146.0 395.4 -15.2 207 2425 0.10 2.00 0.00 0.000 6 0.136 0.031 2387 2842 3460 0 0 0 0 0 0 27.09 27.28 28.83

2744 -1.32 -146.0 444.3 -14.8 218 2747 0.00 1.35 0.00 0.000 4 0.000 0.045 2381 3757 3458 0 0 0 0 0 0 28.83 27.25 28.83

2872 -1.32 -146.0 462.8 -15.2 222 2876 0.00 1.20 0.00 0.000 6 0.000 0.021 2382 2846 3457 0 0 0 0 0 0 28.83 27.37 28.83

3132 end dive: TARGET_DEPTH_EXCEEDED

state 3133 begin apogee

3137 -0.26 0.0 504.4 -15.5 231 3244 0.98 0.00 102.18 0.859 6 0.112 0.000 2724 2485 2870 0 0 0 0 0 0 27.10 28.83 25.57

3245 end apogee: CONTROL_FINISHED_OK

state 3245 begin climb

3246 1.32 146.0 508.9 0.0 234 3358 1.35 1.98 104.10 0.871 4 0.065 0.039 3231 3759 2272 0 0 0 0 0 0 26.14 25.94 25.40

3504 1.32 146.0 481.6 15.4 243 3508 0.00 1.73 0.00 0.000 6 0.000 0.021 3233 2549 2267 0 0 0 0 0 0 28.83 26.74 28.83

3816 1.32 146.0 432.4 14.9 254 3819 0.00 1.80 0.00 0.000 4 0.000 0.042 3233 3756 2266 0 0 0 0 0 0 28.83 26.98 28.83

3906 1.32 146.0 418.1 15.6 257 3909 0.00 1.73 0.00 0.000 6 0.000 0.021 3233 2495 2266 0 0 0 0 0 0 28.83 27.10 28.83

4237 1.32 146.0 368.8 15.0 268 4243 0.00 1.92 0.00 0.000 4 0.000 0.030 3239 1122 2264 0 0 0 0 0 0 28.83 27.16 28.83

4329 1.32 146.0 355.9 14.5 271 4333 0.00 2.03 0.00 0.000 6 0.000 0.029 3239 2547 2265 0 0 0 0 0 0 28.83 27.17 28.83

4656 1.32 146.0 304.8 15.9 282 4659 0.00 1.75 0.00 0.000 4 0.000 0.044 3239 3740 2264 0 0 0 0 0 0 28.83 27.18 28.83

4752 1.32 146.0 289.2 16.7 287 4755 0.00 1.67 0.00 0.000 6 0.000 0.021 3247 2505 2264 0 0 0 0 0 0 28.83 27.27 28.83

4949 1.32 146.0 258.3 15.2 300 4954 0.00 1.90 0.00 0.000 4 0.000 0.028 3257 1132 2263 0 0 0 0 0 0 28.83 27.25 28.83

5069 1.32 146.0 241.9 14.4 307 5079 0.00 2.00 0.00 0.000 6 0.000 0.029 3257 2505 2263 0 0 0 0 0 0 28.83 27.25 28.83

5259 1.32 146.0 213.2 14.8 320 5262 0.00 1.83 0.00 0.000 4 0.000 0.044 3257 3743 2263 0 0 0 0 0 0 28.83 27.22 28.83

5333 1.32 146.0 202.8 15.6 324 5343 0.08 1.73 0.00 0.000 6 0.155 0.021 3238 2501 2262 0 0 0 0 0 0 27.05 27.31 28.83

5521 1.32 149.3 176.1 13.1 337 5525 0.00 1.83 0.00 0.000 4 0.000 0.043 3238 3741 2262 0 0 0 0 0 0 28.83 27.22 28.83

5573 1.32 149.3 168.5 14.8 344 5582 0.00 1.70 0.00 0.000 6 0.000 0.021 3245 2511 2262 0 0 0 0 0 0 28.83 27.32 28.83

5647 1.33 160.2 159.2 12.7 353 5665 0.00 1.98 6.88 0.927 4 0.000 0.030 3254 1136 2228 0 0 0 0 0 0 28.83 27.15 26.34

5770 1.34 166.2 143.3 13.0 373 5780 0.00 2.00 3.75 0.693 6 0.000 0.029 3255 2510 2198 0 0 0 0 0 0 28.83 27.19 26.29

5846 1.35 177.0 133.7 12.7 382 5863 0.00 1.90 5.75 0.799 4 0.000 0.044 3255 3752 2160 0 0 0 0 0 0 28.83 27.03 26.28

5939 1.35 177.0 120.3 15.1 397 5948 0.00 1.73 1.20 0.200 6 0.000 0.021 3263 2513 2158 0 0 0 0 0 0 28.83 27.14 26.74

6014 1.35 177.0 110.5 13.4 406 6024 0.00 1.98 1.12 0.225 4 0.000 0.027 3268 1133 2158 0 0 0 0 0 0 28.83 27.12 26.77

6110 1.36 184.0 98.1 12.9 422 6120 0.00 2.00 3.88 0.289 6 0.000 0.029 3269 2507 2125 0 0 0 0 0 0 28.83 27.16 26.67

6186 1.38 200.9 88.8 12.3 431 6203 0.00 1.85 8.15 0.296 4 0.000 0.042 3268 3738 2060 0 0 0 0 0 0 28.83 27.06 26.68

6263 1.38 200.9 77.9 14.1 443 6273 0.00 1.70 0.82 0.190 6 0.000 0.021 3271 2512 2059 0 0 0 0 0 0 28.83 27.18 26.91

6339 1.41 218.8 68.4 12.2 452 6356 0.00 1.98 8.88 0.257 4 0.000 0.027 3271 1133 1987 0 0 0 0 0 0 28.83 27.10 26.72

6451 1.46 264.9 55.6 10.5 470 6483 0.00 2.00 22.35 0.234 6 0.000 0.028 3271 2512 1795 0 0 0 0 0 0 28.83 27.15 26.70

6549 1.48 280.4 45.0 12.4 482 6566 0.00 1.85 7.97 0.216 4 0.000 0.041 3271 3739 1733 0 0 0 0 0 0 28.83 27.00 26.72

6627 1.48 280.4 34.9 14.2 494 6635 0.00 1.70 0.00 0.000 6 0.000 0.021 3271 2521 1735 0 0 0 0 0 0 28.83 27.13 28.83

6700 1.49 290.2 25.7 12.7 503 6710 0.00 2.03 5.22 0.180 4 0.000 0.028 3271 1125 1690 0 0 0 0 0 0 28.83 27.10 26.82

6797 1.52 310.7 14.0 12.1 519 6814 0.00 2.03 8.80 0.146 6 0.000 0.029 3271 2514 1604 0 0 0 0 0 0 28.83 27.12 26.88

6879 end climb: SURFACE_DEPTH_REACHED

state 6879 begin surface coast

6896 end surface coast: CONTROL_FINISHED_OK

state 6897 begin surface

ID	201	HD_B	0.0099998498	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_C	9.6916501e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	51	HEADING	-1	ROLL_MIN	224	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	48.400002	ROLL_MAX	3758	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	2	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2853	ALTIM_PING_DELTA	5
D_TGT	500	TGT_DEFAULT_LAT	3219.3999	C_ROLL_CLIMB	2510	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	98	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	54	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-1.28
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	73	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	5	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	125	UPLOAD_DIVES_MAX	-1	C_VBD	2872	DEVICE3	-1
T_MISSION	135	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	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	30	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	-1773.587	VBD_MAXERRORS	1	COMPASS_DEVICE	97
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	150	PITCH_MIN	207	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3879	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2810	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043923352
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-68.568054	SEABIRD_T_H	0.00063288247
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115772	SEABIRD_T_I	2.48167e-05
MASS	52153	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.9461089e-06
NAV_MODE	1	PITCH_GAIN	19.5	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7773972
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1424111
KALMAN_USE	1	PITCH_AD_RATE	160	COMPASS_USE	4	SEABIRD_C_I	-0.0015250822
HD_A	0.0026760499	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019393132

GPS1	150814,023301,2659.610,-7053.324,4,1.4,5,-11.7	TGT_NAME	ALFA
_CALLS	2	TGT_LATLONG	2800.000,-7055.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.007,0.283
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150814,023905,2659.570,-7053.304,4,1.4,4,-11.7	MHEAD_RNG_PITCHd_Wd	10.3,111950,-22.2,-13.333
SPEED_LIMITS	0.231,0.283	D_GRID	500

FINISH	0.7,1.002911	_10V_AH	10.6,6.654
SM_CCo	6911,25.02,0.119,0,0,1340,375.06	FG_AHR_24Vo	0.000
SM_GC	1.42,7.60,0.47,25.02,0.031,0.044,0.119,175,2854,1340,-8.11,-1.53,375.06,0,0,0,0,0,0,27.14,27.14,26.89	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2646.31,-7052.63,150814,020240	MEM	354608
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	30319,531
HUMID	52.08	CAP_FILE_SIZE	105437,0
INTERNAL_PRESSURE	9.53096	CFSIZE	260034560,253022208
TCM_TEMP	24.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	150814,043635,2659.345,-7053.172,26,1.1,26,-11.7
_24V_AH	25.4,5.583

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	203	92.78	SBE_CT	350	23	206.77
Roll_motor	92	45	106.50	WL_BB2F	1429	105	3813.02
VBD_pump_during_apogee	291	927	6854.34	nil	0	0	0.00
VBD_pump_during_surface	25	118	75.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	28	1.65
TT8	1374	15	228.85
LPSleep	3100	2	71.97
TT8_Active	406	15	67.61
TT8_Sampling	2032	44	967.96
TT8_CF8	86	50	46.14
TT8_Kalman	29	67	20.81
Analog_circuits	1201	15	190.99
GPS_charging	0	0	0.00
Compass	2040	8	178.25
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
14	-1.32	-146.0	0.0	0.0	0	80	0.00	0.00	-63.50	0.000	2	0.000	0.000	201	2872	2420	0	0	0	0	0	0	28.83	28.83	28.83
83	-1.32	-146.0	2.2	-2.1	8	131	7.68	1.92	-34.05	0.000	4	0.203	0.033	2381	1463	3468	0	0	0	0	0	0	26.82	27.17	27.43
264	-1.32	-146.0	36.8	-25.0	37	272	0.00	2.03	0.00	0.000	6	0.000	0.031	2373	2850	3468	0	0	0	0	0	0	28.83	27.17	28.83
338	-1.32	-146.0	55.9	-26.5	46	347	0.00	1.33	0.00	0.000	4	0.000	0.043	2366	3749	3468	0	0	0	0	0	0	28.83	27.16	28.83
361	-1.32	-146.0	62.3	-26.4	49	370	0.00	1.20	0.00	0.000	6	0.000	0.022	2366	2843	3468	0	0	0	0	0	0	28.83	27.27	28.83
434	-1.32	-146.0	79.3	-22.4	58	443	0.00	1.90	0.00	0.000	4	0.000	0.021	2366	1480	3468	0	0	0	0	0	0	28.83	27.25	28.83
497	-1.32	-146.0	92.3	-20.3	68	506	0.08	2.00	0.00	0.000	6	0.145	0.030	2382	2854	3468	0	0	0	0	0	0	27.03	27.22	28.83
571	-1.32	-146.0	106.1	-18.5	77	580	0.00	1.30	0.00	0.000	4	0.000	0.042	2378	3742	3468	0	0	0	0	0	0	28.83	27.20	28.83
587	-1.32	-146.0	109.2	-18.2	79	596	0.00	1.17	0.00	0.000	6	0.000	0.022	2378	2844	3468	0	0	0	0	0	0	28.83	27.31	28.83
661	-1.32	-146.0	122.3	-17.8	88	669	0.00	1.90	0.00	0.000	4	0.000	0.021	2378	1471	3467	0	0	0	0	0	0	28.83	27.28	28.83
724	-1.32	-146.0	132.8	-16.0	98	732	0.00	2.00	0.00	0.000	6	0.000	0.030	2368	2848	3468	0	0	0	0	0	0	28.83	27.24	28.83
797	-1.32	-146.0	144.6	-16.4	107	806	0.00	1.33	0.00	0.000	4	0.000	0.044	2361	3749	3468	0	0	0	0	0	0	28.83	27.22	28.83
877	-1.32	-146.0	158.6	-16.9	120	886	0.00	1.17	0.00	0.000	6	0.000	0.022	2361	2850	3468	0	0	0	0	0	0	28.83	27.34	28.83
950	-1.32	-146.0	171.0	-16.9	129	959	0.00	1.90	0.00	0.000	4	0.000	0.021	2361	1481	3468	0	0	0	0	0	0	28.83	27.30	28.83
1056	-1.32	-146.0	189.2	-17.0	138	1062	0.10	1.95	0.00	0.000	6	0.140	0.031	2386	2861	3468	0	0	0	0	0	0	27.07	27.26	28.83
1251	-1.32	-146.0	219.4	-15.4	151	1254	0.00	1.30	0.00	0.000	4	0.000	0.044	2381	3748	3467	0	0	0	0	0	0	28.83	27.24	28.83
1316	-1.32	-146.0	229.3	-15.2	155	1320	0.00	1.17	0.00	0.000	6	0.000	0.022	2381	2849	3467	0	0	0	0	0	0	28.83	27.36	28.83
1514	-1.32	-146.0	258.5	-14.6	168	1519	0.00	1.85	0.00	0.000	4	0.000	0.021	2381	1482	3466	0	0	0	0	0	0	28.83	27.32	28.83
1628	-1.32	-146.0	274.8	-14.0	175	1633	0.00	2.00	0.00	0.000	6	0.000	0.030	2371	2855	3465	0	0	0	0	0	0	28.83	27.28	28.83
1821	-1.32	-146.0	304.8	-15.4	187	1825	0.00	1.88	0.00	0.000	4	0.000	0.021	2371	1484	3464	0	0	0	0	0	0	28.83	27.33	28.83
1960	-1.32	-146.0	322.1	-14.9	191	1967	0.00	2.00	0.00	0.000	6	0.000	0.031	2361	2880	3463	0	0	0	0	0	0	28.83	27.29	28.83
2267	-1.32	-146.0	373.0	-15.6	202	2270	0.00	1.92	0.00	0.000	4	0.000	0.022	2361	1480	3461	0	0	0	0	0	0	28.83	27.32	28.83
2420	-1.32	-146.0	395.4	-15.2	207	2425	0.10	2.00	0.00	0.000	6	0.136	0.031	2387	2842	3460	0	0	0	0	0	0	27.09	27.28	28.83
2744	-1.32	-146.0	444.3	-14.8	218	2747	0.00	1.35	0.00	0.000	4	0.000	0.045	2381	3757	3458	0	0	0	0	0	0	28.83	27.25	28.83
2872	-1.32	-146.0	462.8	-15.2	222	2876	0.00	1.20	0.00	0.000	6	0.000	0.021	2382	2846	3457	0	0	0	0	0	0	28.83	27.37	28.83
3132	end dive: TARGET_DEPTH_EXCEEDED
state	3133	begin apogee
3137	-0.26	0.0	504.4	-15.5	231	3244	0.98	0.00	102.18	0.859	6	0.112	0.000	2724	2485	2870	0	0	0	0	0	0	27.10	28.83	25.57
3245	end apogee: CONTROL_FINISHED_OK
state	3245	begin climb
3246	1.32	146.0	508.9	0.0	234	3358	1.35	1.98	104.10	0.871	4	0.065	0.039	3231	3759	2272	0	0	0	0	0	0	26.14	25.94	25.40
3504	1.32	146.0	481.6	15.4	243	3508	0.00	1.73	0.00	0.000	6	0.000	0.021	3233	2549	2267	0	0	0	0	0	0	28.83	26.74	28.83
3816	1.32	146.0	432.4	14.9	254	3819	0.00	1.80	0.00	0.000	4	0.000	0.042	3233	3756	2266	0	0	0	0	0	0	28.83	26.98	28.83
3906	1.32	146.0	418.1	15.6	257	3909	0.00	1.73	0.00	0.000	6	0.000	0.021	3233	2495	2266	0	0	0	0	0	0	28.83	27.10	28.83
4237	1.32	146.0	368.8	15.0	268	4243	0.00	1.92	0.00	0.000	4	0.000	0.030	3239	1122	2264	0	0	0	0	0	0	28.83	27.16	28.83
4329	1.32	146.0	355.9	14.5	271	4333	0.00	2.03	0.00	0.000	6	0.000	0.029	3239	2547	2265	0	0	0	0	0	0	28.83	27.17	28.83
4656	1.32	146.0	304.8	15.9	282	4659	0.00	1.75	0.00	0.000	4	0.000	0.044	3239	3740	2264	0	0	0	0	0	0	28.83	27.18	28.83
4752	1.32	146.0	289.2	16.7	287	4755	0.00	1.67	0.00	0.000	6	0.000	0.021	3247	2505	2264	0	0	0	0	0	0	28.83	27.27	28.83
4949	1.32	146.0	258.3	15.2	300	4954	0.00	1.90	0.00	0.000	4	0.000	0.028	3257	1132	2263	0	0	0	0	0	0	28.83	27.25	28.83
5069	1.32	146.0	241.9	14.4	307	5079	0.00	2.00	0.00	0.000	6	0.000	0.029	3257	2505	2263	0	0	0	0	0	0	28.83	27.25	28.83
5259	1.32	146.0	213.2	14.8	320	5262	0.00	1.83	0.00	0.000	4	0.000	0.044	3257	3743	2263	0	0	0	0	0	0	28.83	27.22	28.83
5333	1.32	146.0	202.8	15.6	324	5343	0.08	1.73	0.00	0.000	6	0.155	0.021	3238	2501	2262	0	0	0	0	0	0	27.05	27.31	28.83
5521	1.32	149.3	176.1	13.1	337	5525	0.00	1.83	0.00	0.000	4	0.000	0.043	3238	3741	2262	0	0	0	0	0	0	28.83	27.22	28.83
5573	1.32	149.3	168.5	14.8	344	5582	0.00	1.70	0.00	0.000	6	0.000	0.021	3245	2511	2262	0	0	0	0	0	0	28.83	27.32	28.83
5647	1.33	160.2	159.2	12.7	353	5665	0.00	1.98	6.88	0.927	4	0.000	0.030	3254	1136	2228	0	0	0	0	0	0	28.83	27.15	26.34
5770	1.34	166.2	143.3	13.0	373	5780	0.00	2.00	3.75	0.693	6	0.000	0.029	3255	2510	2198	0	0	0	0	0	0	28.83	27.19	26.29
5846	1.35	177.0	133.7	12.7	382	5863	0.00	1.90	5.75	0.799	4	0.000	0.044	3255	3752	2160	0	0	0	0	0	0	28.83	27.03	26.28
5939	1.35	177.0	120.3	15.1	397	5948	0.00	1.73	1.20	0.200	6	0.000	0.021	3263	2513	2158	0	0	0	0	0	0	28.83	27.14	26.74
6014	1.35	177.0	110.5	13.4	406	6024	0.00	1.98	1.12	0.225	4	0.000	0.027	3268	1133	2158	0	0	0	0	0	0	28.83	27.12	26.77
6110	1.36	184.0	98.1	12.9	422	6120	0.00	2.00	3.88	0.289	6	0.000	0.029	3269	2507	2125	0	0	0	0	0	0	28.83	27.16	26.67
6186	1.38	200.9	88.8	12.3	431	6203	0.00	1.85	8.15	0.296	4	0.000	0.042	3268	3738	2060	0	0	0	0	0	0	28.83	27.06	26.68
6263	1.38	200.9	77.9	14.1	443	6273	0.00	1.70	0.82	0.190	6	0.000	0.021	3271	2512	2059	0	0	0	0	0	0	28.83	27.18	26.91
6339	1.41	218.8	68.4	12.2	452	6356	0.00	1.98	8.88	0.257	4	0.000	0.027	3271	1133	1987	0	0	0	0	0	0	28.83	27.10	26.72
6451	1.46	264.9	55.6	10.5	470	6483	0.00	2.00	22.35	0.234	6	0.000	0.028	3271	2512	1795	0	0	0	0	0	0	28.83	27.15	26.70
6549	1.48	280.4	45.0	12.4	482	6566	0.00	1.85	7.97	0.216	4	0.000	0.041	3271	3739	1733	0	0	0	0	0	0	28.83	27.00	26.72
6627	1.48	280.4	34.9	14.2	494	6635	0.00	1.70	0.00	0.000	6	0.000	0.021	3271	2521	1735	0	0	0	0	0	0	28.83	27.13	28.83
6700	1.49	290.2	25.7	12.7	503	6710	0.00	2.03	5.22	0.180	4	0.000	0.028	3271	1125	1690	0	0	0	0	0	0	28.83	27.10	26.82
6797	1.52	310.7	14.0	12.1	519	6814	0.00	2.03	8.80	0.146	6	0.000	0.029	3271	2514	1604	0	0	0	0	0	0	28.83	27.12	26.88
6879	end climb: SURFACE_DEPTH_REACHED
state	6879	begin surface coast
6896	end surface coast: CONTROL_FINISHED_OK
state	6897	begin surface