Glider dive log

Cuddy Oct13 * SG194 * Dive index * Mission links * Dive 73 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 194 HD_C 9.9999997e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 7 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 73 ESCAPE_HEADING 0 C_ROLL_DIVE 2263 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2173 ALTIM_PING_DEPTH 400

D_SURF 3 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 51 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT 36 XPDR_VALID 3

D_BOOST 20 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 1.223

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 0 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2400 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 440 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 480 CALL_WAIT 60 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 -4417.6777 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 199 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3894 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2785 FG_AHR_10V 0 SEABIRD_T_G 0.0044109076

GLIDE_SLOPE 50 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00064730842

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.664891e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -53.385216 SEABIRD_T_J 3.309405e-06

MASS 58592 PITCH_GAIN 22.9 PRESSURE_SLOPE 0.0001158091 SEABIRD_C_G -9.5383005

MASS_COMP 3867 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.0995622

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013844616

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017264462

KALMAN_USE 13 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 2.5 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 291 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 2.5 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 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 22.9 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 400 FERRY_MAX 45 PITCH_MAX 3894 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 199 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 50 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 440

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001158091 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -53.385216 T_GPS 5

CALL_WAIT 60 HD_C 9.9999997e-06 PROTOCOL 0 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -4417.6777

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 480

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 194 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 1.223 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 13 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2785 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2173 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2263 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2400 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 58592 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3867 ROLL_MIN 291 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 51 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 36 VBD_MIN 500

DEVICE4 -1 MISSION 7 SEABIRD_C_G -9.5383005 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.0995622 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0013844616 VBD_TIMEOUT 720

DIVE 73 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017264462 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0044109076 XPDR_DEVICE 24

D_BOOST 20 N_FILEKB 4 SEABIRD_T_H 0.00064730842 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.664891e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.309405e-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 111113,022534,4805.268,-12545.892,40,0.8,41,16.9 TGT_NAME SEARCH_A

_CALLS 1 TGT_LATLONG 4805.000,-12545.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.058,0.024

_SM_DEPTHo 1.99 KALMAN_X -34450.9,0.0,0.0,-2804.8,-59.9

_SM_ANGLEo -62.8 KALMAN_Y 29548.5,0.0,0.0,67174.1,-1068.8

GPS2 111113,023131,4805.319,-12545.960,5,0.9,5,16.9 MHEAD_RNG_PITCHd_Wd 51.1,1326,-48.1,-7.500,-50.00,285

SPEED_LIMITS 0.063,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.1,1.024951 _10V_AH 10.4,8.270

SM_CCo 12131,61.28,0.056,0,0,1380,250.21 FG_AHR_24Vo 0.000

SM_GC 2.25,8.82,2.05,61.28,0.033,0.030,0.056,147,2268,1380,-8.06,1.70,250.21,0,0,0,0,0,0,26.39,26.34,26.17 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4713.38,-12543.37,101113,222255 MEM 311196

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 33958,469

HUMID 37.43 CAP_FILE_SIZE 127643,0

INTERNAL_PRESSURE 8.92837 CFSIZE 2097872896,2085781504

TCM_TEMP 13.90 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 INTR 0,9899.87,0x235a20,1,24

ALTIM_BOTTOM_PING 530.6,34.9 GPS 111113,055622,4805.671,-12546.099,35,0.8,36,17.0

_24V_AH 25.0,11.027

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 206 109.86 SBE_CT 322 23 193.37

Roll_motor 87 54 118.14 AA4330 622 0 11.67

VBD_pump_during_apogee 101 907 2310.75 WL_BB2FLVMT 377 105 991.62

VBD_pump_during_surface 61 55 85.55 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 290 77 561.91 nil 0 0 0.00

Transponder_ping 4 420 47.25 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.10

TT8 1529 14 238.04

LPSleep 8160 2 185.87

TT8_Active 232 14 36.25

TT8_Sampling 2560 43 1156.19

TT8_CF8 77 53 42.65

TT8_Kalman 0 69 0.28

Analog_circuits 1550 15 241.89

GPS_charging 0 0 0.00

Compass 2201 8 205.88

RAFOS 0 0 0.00

Transponder 41 30 13.09

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 -2.10 -13.9 119 2260 1394 1335 0.0 0.0 0 50 0.00 0.00 -33.75 0.000 16386 0.000 0.000 117 2261 2299 2298 2300 0 0 0 0 0 0 28.83 28.83 28.83

52 -2.10 -13.9 117 2261 2299 2300 3.3 -5.6 3 70 7.32 0.00 -5.07 0.000 18694 0.201 0.000 2103 2260 2458 2481 2435 0 0 0 0 0 0 25.59 28.83 26.33

369 -2.10 -13.9 2103 2260 2484 2435 59.1 -15.5 35 370 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2260 2459 2483 2435 0 0 0 0 0 0 28.83 28.83 28.83

668 -2.10 -13.9 2103 2260 2485 2435 88.5 -8.2 60 672 0.00 2.22 0.00 0.000 260 0.000 0.042 2094 3687 2459 2484 2435 0 0 0 0 0 0 28.83 26.27 28.83

834 -2.10 -17.6 2094 3687 2484 2436 98.9 -6.2 68 839 0.00 2.15 -0.12 0.000 17414 0.000 0.028 2094 2249 2478 2503 2454 0 0 0 0 0 0 28.83 26.37 25.95

1141 -2.10 -22.2 2094 2248 2505 2454 113.9 -5.8 83 1147 0.00 2.22 -0.08 0.000 16644 0.000 0.054 2083 3677 2495 2521 2469 0 0 0 0 0 0 28.83 26.36 25.80

1441 -2.10 -22.2 2083 3677 2521 2470 139.5 -7.5 98 1445 0.00 2.12 0.00 0.000 1030 0.000 0.028 2083 2252 2495 2521 2470 0 0 0 0 0 0 28.83 26.47 28.83

1746 -2.10 -22.2 2083 2251 2521 2469 162.1 -8.0 111 1750 0.00 2.22 0.00 0.000 260 0.000 0.043 2072 3688 2495 2521 2469 0 0 0 0 0 0 28.83 26.44 28.83

1815 -2.10 -22.2 2072 3688 2521 2469 166.7 -8.3 113 1820 0.10 2.15 0.00 0.000 3078 0.181 0.028 2100 2259 2495 2521 2469 0 0 0 0 0 0 26.10 26.52 28.83

2133 -2.17 -22.2 2101 2259 2521 2470 194.4 -8.4 124 2137 0.00 2.10 0.00 0.000 516 0.000 0.040 2100 880 2495 2521 2469 0 0 0 0 0 0 28.83 26.48 28.83

2429 -2.23 -22.2 2100 880 2521 2469 221.7 -9.2 134 2433 0.00 2.15 0.00 0.000 1030 0.000 0.037 2092 2276 2495 2521 2470 0 0 0 0 0 0 28.83 26.52 28.83

2756 -2.30 -22.2 2091 2276 2521 2469 255.0 -10.7 145 2763 0.12 2.15 0.00 0.000 4612 0.086 0.037 2006 877 2495 2521 2469 0 0 0 0 0 0 26.64 26.52 28.83

3055 -2.30 -22.2 2006 877 2521 2469 287.8 -10.6 155 3060 0.20 2.15 0.00 0.000 3078 0.194 0.037 2044 2277 2495 2521 2469 0 0 0 0 0 0 26.06 26.55 28.83

3382 -2.30 -22.2 2044 2277 2521 2469 320.3 -9.8 163 3386 0.00 2.17 0.00 0.000 516 0.000 0.039 2044 870 2495 2521 2469 0 0 0 0 0 0 28.83 26.55 28.83

3678 -2.30 -22.2 2044 870 2521 2469 352.4 -10.9 168 3682 0.00 2.15 0.00 0.000 1030 0.000 0.037 2036 2262 2495 2521 2469 0 0 0 0 0 0 28.83 26.58 28.83

4034 -2.30 -22.2 2036 2262 2521 2469 390.1 -10.4 174 4038 0.00 2.17 0.00 0.000 260 0.000 0.044 2024 3672 2495 2521 2469 0 0 0 0 0 0 28.83 26.55 28.83

4333 -2.30 -22.2 2024 3673 2521 2469 426.7 -12.5 179 4339 0.00 2.10 0.00 0.000 1030 0.000 0.029 2025 2266 2494 2521 2468 0 0 0 0 0 0 28.83 26.64 28.83

4695 -2.30 -22.2 2024 2266 2521 2468 471.1 -12.5 185 4701 0.00 2.15 0.00 0.000 260 0.000 0.044 2014 3663 2494 2521 2468 0 0 0 0 0 0 28.83 26.55 28.83

5000 -2.30 -22.2 2013 3663 2521 2468 509.6 -12.5 190 5005 0.15 2.10 0.00 0.000 3078 0.203 0.030 2047 2255 2494 2521 2468 0 0 0 0 0 0 26.15 26.64 28.83

5357 -2.37 -22.2 2047 2254 2521 2467 551.5 -11.7 196 5361 0.00 2.17 0.00 0.000 260 0.000 0.044 2038 3667 2493 2521 2466 0 0 0 0 0 0 28.83 26.55 28.83

5411 end dive: BOTTOM_OBSTACLE_DETECTED

state 5412 begin apogee

5418 -0.22 0.0 2038 2179 2521 2466 557.7 -11.5 197 5441 2.15 0.00 18.80 0.902 10246 0.162 0.000 2703 2179 2400 2445 2356 0 0 0 0 0 0 26.04 28.83 25.34

5442 end apogee: CONTROL_FINISHED_OK

state 5443 begin climb

5444 2.10 22.2 2703 2178 2445 2356 557.7 0.0 197 5471 2.00 2.30 18.40 0.907 10756 0.056 0.041 3483 778 2309 2350 2269 0 0 0 0 0 0 26.22 25.82 25.01

5741 2.10 22.2 3483 777 2348 2269 535.1 9.6 202 5746 0.00 2.22 0.00 0.000 1030 0.000 0.037 3484 2165 2308 2348 2269 0 0 0 0 0 0 28.83 26.12 28.83

6069 2.10 22.6 3484 2165 2348 2268 505.9 7.4 208 6070 0.00 0.00 0.00 0.000 6 0.000 0.000 3484 2165 2308 2348 2268 0 0 0 0 0 0 28.83 28.83 28.83

6369 2.10 24.4 3484 2165 2348 2268 485.4 6.9 213 6373 0.00 2.22 0.00 0.000 260 0.000 0.043 3484 3592 2307 2348 2267 0 0 0 0 0 0 28.83 26.29 28.83

6665 2.10 27.7 3484 3592 2348 2268 466.5 6.3 218 6677 0.15 2.15 5.65 0.685 13318 0.202 0.031 3461 2174 2287 2328 2246 0 0 0 0 0 0 25.96 26.41 25.33

7027 2.16 27.7 3460 2174 2327 2246 438.4 8.2 224 7032 0.00 2.15 0.00 0.000 260 0.000 0.044 3461 3575 2286 2327 2246 0 0 0 0 0 0 28.83 26.34 28.83

7325 2.16 27.7 3461 3575 2327 2246 413.7 8.2 229 7328 0.00 2.12 0.00 0.000 1030 0.000 0.031 3469 2169 2286 2327 2246 0 0 0 0 0 0 28.83 26.45 28.83

7686 2.22 29.9 3469 2167 2326 2246 389.6 6.7 235 7691 0.00 2.22 0.00 0.000 260 0.000 0.044 3469 3594 2286 2326 2246 0 0 0 0 0 0 28.83 26.42 28.83

7985 2.22 35.1 3469 3594 2325 2246 372.6 5.6 240 7998 0.00 2.15 7.12 0.703 9222 0.000 0.031 3481 2173 2256 2298 2215 0 0 0 0 0 0 28.83 26.51 25.48

8345 2.27 35.1 3480 2173 2298 2215 342.4 9.0 246 8351 0.00 2.22 0.00 0.000 260 0.000 0.044 3480 3594 2256 2297 2215 0 0 0 0 0 0 28.83 26.40 28.83

8645 2.27 35.1 3480 3594 2297 2215 310.6 10.6 251 8649 0.00 2.17 0.00 0.000 1030 0.000 0.031 3492 2160 2256 2297 2215 0 0 0 0 0 0 28.83 26.50 28.83

8973 2.32 35.1 3491 2160 2297 2215 272.5 12.3 260 8978 0.10 2.20 0.00 0.000 2308 0.098 0.042 3544 3584 2256 2298 2215 0 0 0 0 0 0 26.62 26.46 28.83

9272 2.32 35.1 3544 3584 2297 2215 230.5 13.8 270 9276 0.00 2.15 0.00 0.000 1030 0.000 0.031 3555 2162 2255 2297 2214 0 0 0 0 0 0 28.83 26.54 28.83

9598 2.32 35.1 3555 2162 2297 2215 188.1 13.1 281 9604 0.00 2.15 0.00 0.000 516 0.000 0.042 3565 777 2256 2298 2215 0 0 0 0 0 0 28.83 26.50 28.83

9899 2.32 35.1 3565 777 2297 2214 151.1 11.7 291 9905 0.15 2.15 0.00 0.000 5126 0.207 0.037 3531 2174 2256 2297 2215 0 0 0 0 0 0 26.10 26.55 28.83

10212 2.32 35.1 3531 2174 2297 2215 118.5 10.1 306 10216 0.00 2.17 0.00 0.000 516 0.000 0.041 3539 781 2256 2297 2215 0 0 0 0 0 0 28.83 26.51 28.83

10509 2.32 35.1 3539 780 2297 2215 92.6 7.7 321 10515 0.00 2.15 0.00 0.000 1030 0.000 0.037 3540 2181 2256 2297 2215 0 0 0 0 0 0 28.83 26.55 28.83

10819 2.32 60.1 3539 2182 2297 2215 79.3 -1.5 342 10844 0.00 2.22 19.40 0.629 8708 0.000 0.040 3550 769 2153 2196 2110 0 0 0 0 0 0 28.83 26.33 25.63

10970 2.32 68.6 2848 769 2147 2105 75.9 4.4 356 10987 0.00 2.20 7.62 0.558 9222 0.000 0.037 3550 2165 2120 2163 2077 0 0 0 0 0 0 28.83 26.38 25.53

11288 2.37 73.6 3550 2164 2163 2077 55.5 5.7 388 11300 0.00 2.28 5.40 0.496 8452 0.000 0.042 3550 3592 2099 2143 2055 0 0 0 0 0 0 28.83 26.29 25.46

11485 2.37 98.4 3550 3592 2142 2055 48.2 -1.4 407 11514 0.00 2.17 19.48 0.612 9222 0.000 0.029 3561 2172 1998 2050 1946 0 0 0 0 0 0 28.83 26.37 25.35

11813 2.42 98.4 3561 2172 2048 1941 32.3 7.7 440 11817 0.00 2.20 0.00 0.000 260 0.000 0.042 3561 3585 1995 2049 1941 0 0 0 0 0 0 28.83 26.20 28.83

12092 end climb: SURFACE_DEPTH_REACHED

state 12092 begin surface coast

12114 end surface coast: CONTROL_FINISHED_OK

state 12114 begin surface

ID	194	HD_C	9.9999997e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	7	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	73	ESCAPE_HEADING	0	C_ROLL_DIVE	2263	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2173	ALTIM_PING_DEPTH	400
D_SURF	3	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	51	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	36	XPDR_VALID	3
D_BOOST	20	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	1.223
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	0	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2400	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	440	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	480	CALL_WAIT	60	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	-4417.6777	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	199	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3894	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2785	FG_AHR_10V	0	SEABIRD_T_G	0.0044109076
GLIDE_SLOPE	50	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00064730842
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.664891e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-53.385216	SEABIRD_T_J	3.309405e-06
MASS	58592	PITCH_GAIN	22.9	PRESSURE_SLOPE	0.0001158091	SEABIRD_C_G	-9.5383005
MASS_COMP	3867	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.0995622
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0013844616
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017264462
KALMAN_USE	13	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	2.5	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	291	ALTIM_TOP_PING_RANGE	0

GPS1	111113,022534,4805.268,-12545.892,40,0.8,41,16.9	TGT_NAME	SEARCH_A
_CALLS	1	TGT_LATLONG	4805.000,-12545.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.058,0.024
_SM_DEPTHo	1.99	KALMAN_X	-34450.9,0.0,0.0,-2804.8,-59.9
_SM_ANGLEo	-62.8	KALMAN_Y	29548.5,0.0,0.0,67174.1,-1068.8
GPS2	111113,023131,4805.319,-12545.960,5,0.9,5,16.9	MHEAD_RNG_PITCHd_Wd	51.1,1326,-48.1,-7.500,-50.00,285
SPEED_LIMITS	0.063,0.235	D_GRID	990

FINISH	1.1,1.024951	_10V_AH	10.4,8.270
SM_CCo	12131,61.28,0.056,0,0,1380,250.21	FG_AHR_24Vo	0.000
SM_GC	2.25,8.82,2.05,61.28,0.033,0.030,0.056,147,2268,1380,-8.06,1.70,250.21,0,0,0,0,0,0,26.39,26.34,26.17	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4713.38,-12543.37,101113,222255	MEM	311196
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	33958,469
HUMID	37.43	CAP_FILE_SIZE	127643,0
INTERNAL_PRESSURE	8.92837	CFSIZE	2097872896,2085781504
TCM_TEMP	13.90	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	INTR	0,9899.87,0x235a20,1,24
ALTIM_BOTTOM_PING	530.6,34.9	GPS	111113,055622,4805.671,-12546.099,35,0.8,36,17.0
_24V_AH	25.0,11.027

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	206	109.86	SBE_CT	322	23	193.37
Roll_motor	87	54	118.14	AA4330	622	0	11.67
VBD_pump_during_apogee	101	907	2310.75	WL_BB2FLVMT	377	105	991.62
VBD_pump_during_surface	61	55	85.55	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	290	77	561.91	nil	0	0	0.00
Transponder_ping	4	420	47.25	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.10
TT8	1529	14	238.04
LPSleep	8160	2	185.87
TT8_Active	232	14	36.25
TT8_Sampling	2560	43	1156.19
TT8_CF8	77	53	42.65
TT8_Kalman	0	69	0.28
Analog_circuits	1550	15	241.89
GPS_charging	0	0	0.00
Compass	2201	8	205.88
RAFOS	0	0	0.00
Transponder	41	30	13.09

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	-2.10	-13.9	119	2260	1394	1335	0.0	0.0	0	50	0.00	0.00	-33.75	0.000	16386	0.000	0.000	117	2261	2299	2298	2300	0	0	0	0	0	0	28.83	28.83	28.83
52	-2.10	-13.9	117	2261	2299	2300	3.3	-5.6	3	70	7.32	0.00	-5.07	0.000	18694	0.201	0.000	2103	2260	2458	2481	2435	0	0	0	0	0	0	25.59	28.83	26.33
369	-2.10	-13.9	2103	2260	2484	2435	59.1	-15.5	35	370	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2260	2459	2483	2435	0	0	0	0	0	0	28.83	28.83	28.83
668	-2.10	-13.9	2103	2260	2485	2435	88.5	-8.2	60	672	0.00	2.22	0.00	0.000	260	0.000	0.042	2094	3687	2459	2484	2435	0	0	0	0	0	0	28.83	26.27	28.83
834	-2.10	-17.6	2094	3687	2484	2436	98.9	-6.2	68	839	0.00	2.15	-0.12	0.000	17414	0.000	0.028	2094	2249	2478	2503	2454	0	0	0	0	0	0	28.83	26.37	25.95
1141	-2.10	-22.2	2094	2248	2505	2454	113.9	-5.8	83	1147	0.00	2.22	-0.08	0.000	16644	0.000	0.054	2083	3677	2495	2521	2469	0	0	0	0	0	0	28.83	26.36	25.80
1441	-2.10	-22.2	2083	3677	2521	2470	139.5	-7.5	98	1445	0.00	2.12	0.00	0.000	1030	0.000	0.028	2083	2252	2495	2521	2470	0	0	0	0	0	0	28.83	26.47	28.83
1746	-2.10	-22.2	2083	2251	2521	2469	162.1	-8.0	111	1750	0.00	2.22	0.00	0.000	260	0.000	0.043	2072	3688	2495	2521	2469	0	0	0	0	0	0	28.83	26.44	28.83
1815	-2.10	-22.2	2072	3688	2521	2469	166.7	-8.3	113	1820	0.10	2.15	0.00	0.000	3078	0.181	0.028	2100	2259	2495	2521	2469	0	0	0	0	0	0	26.10	26.52	28.83
2133	-2.17	-22.2	2101	2259	2521	2470	194.4	-8.4	124	2137	0.00	2.10	0.00	0.000	516	0.000	0.040	2100	880	2495	2521	2469	0	0	0	0	0	0	28.83	26.48	28.83
2429	-2.23	-22.2	2100	880	2521	2469	221.7	-9.2	134	2433	0.00	2.15	0.00	0.000	1030	0.000	0.037	2092	2276	2495	2521	2470	0	0	0	0	0	0	28.83	26.52	28.83
2756	-2.30	-22.2	2091	2276	2521	2469	255.0	-10.7	145	2763	0.12	2.15	0.00	0.000	4612	0.086	0.037	2006	877	2495	2521	2469	0	0	0	0	0	0	26.64	26.52	28.83
3055	-2.30	-22.2	2006	877	2521	2469	287.8	-10.6	155	3060	0.20	2.15	0.00	0.000	3078	0.194	0.037	2044	2277	2495	2521	2469	0	0	0	0	0	0	26.06	26.55	28.83
3382	-2.30	-22.2	2044	2277	2521	2469	320.3	-9.8	163	3386	0.00	2.17	0.00	0.000	516	0.000	0.039	2044	870	2495	2521	2469	0	0	0	0	0	0	28.83	26.55	28.83
3678	-2.30	-22.2	2044	870	2521	2469	352.4	-10.9	168	3682	0.00	2.15	0.00	0.000	1030	0.000	0.037	2036	2262	2495	2521	2469	0	0	0	0	0	0	28.83	26.58	28.83
4034	-2.30	-22.2	2036	2262	2521	2469	390.1	-10.4	174	4038	0.00	2.17	0.00	0.000	260	0.000	0.044	2024	3672	2495	2521	2469	0	0	0	0	0	0	28.83	26.55	28.83
4333	-2.30	-22.2	2024	3673	2521	2469	426.7	-12.5	179	4339	0.00	2.10	0.00	0.000	1030	0.000	0.029	2025	2266	2494	2521	2468	0	0	0	0	0	0	28.83	26.64	28.83
4695	-2.30	-22.2	2024	2266	2521	2468	471.1	-12.5	185	4701	0.00	2.15	0.00	0.000	260	0.000	0.044	2014	3663	2494	2521	2468	0	0	0	0	0	0	28.83	26.55	28.83
5000	-2.30	-22.2	2013	3663	2521	2468	509.6	-12.5	190	5005	0.15	2.10	0.00	0.000	3078	0.203	0.030	2047	2255	2494	2521	2468	0	0	0	0	0	0	26.15	26.64	28.83
5357	-2.37	-22.2	2047	2254	2521	2467	551.5	-11.7	196	5361	0.00	2.17	0.00	0.000	260	0.000	0.044	2038	3667	2493	2521	2466	0	0	0	0	0	0	28.83	26.55	28.83
5411	end dive: BOTTOM_OBSTACLE_DETECTED
state	5412	begin apogee
5418	-0.22	0.0	2038	2179	2521	2466	557.7	-11.5	197	5441	2.15	0.00	18.80	0.902	10246	0.162	0.000	2703	2179	2400	2445	2356	0	0	0	0	0	0	26.04	28.83	25.34
5442	end apogee: CONTROL_FINISHED_OK
state	5443	begin climb
5444	2.10	22.2	2703	2178	2445	2356	557.7	0.0	197	5471	2.00	2.30	18.40	0.907	10756	0.056	0.041	3483	778	2309	2350	2269	0	0	0	0	0	0	26.22	25.82	25.01
5741	2.10	22.2	3483	777	2348	2269	535.1	9.6	202	5746	0.00	2.22	0.00	0.000	1030	0.000	0.037	3484	2165	2308	2348	2269	0	0	0	0	0	0	28.83	26.12	28.83
6069	2.10	22.6	3484	2165	2348	2268	505.9	7.4	208	6070	0.00	0.00	0.00	0.000	6	0.000	0.000	3484	2165	2308	2348	2268	0	0	0	0	0	0	28.83	28.83	28.83
6369	2.10	24.4	3484	2165	2348	2268	485.4	6.9	213	6373	0.00	2.22	0.00	0.000	260	0.000	0.043	3484	3592	2307	2348	2267	0	0	0	0	0	0	28.83	26.29	28.83
6665	2.10	27.7	3484	3592	2348	2268	466.5	6.3	218	6677	0.15	2.15	5.65	0.685	13318	0.202	0.031	3461	2174	2287	2328	2246	0	0	0	0	0	0	25.96	26.41	25.33
7027	2.16	27.7	3460	2174	2327	2246	438.4	8.2	224	7032	0.00	2.15	0.00	0.000	260	0.000	0.044	3461	3575	2286	2327	2246	0	0	0	0	0	0	28.83	26.34	28.83
7325	2.16	27.7	3461	3575	2327	2246	413.7	8.2	229	7328	0.00	2.12	0.00	0.000	1030	0.000	0.031	3469	2169	2286	2327	2246	0	0	0	0	0	0	28.83	26.45	28.83
7686	2.22	29.9	3469	2167	2326	2246	389.6	6.7	235	7691	0.00	2.22	0.00	0.000	260	0.000	0.044	3469	3594	2286	2326	2246	0	0	0	0	0	0	28.83	26.42	28.83
7985	2.22	35.1	3469	3594	2325	2246	372.6	5.6	240	7998	0.00	2.15	7.12	0.703	9222	0.000	0.031	3481	2173	2256	2298	2215	0	0	0	0	0	0	28.83	26.51	25.48
8345	2.27	35.1	3480	2173	2298	2215	342.4	9.0	246	8351	0.00	2.22	0.00	0.000	260	0.000	0.044	3480	3594	2256	2297	2215	0	0	0	0	0	0	28.83	26.40	28.83
8645	2.27	35.1	3480	3594	2297	2215	310.6	10.6	251	8649	0.00	2.17	0.00	0.000	1030	0.000	0.031	3492	2160	2256	2297	2215	0	0	0	0	0	0	28.83	26.50	28.83
8973	2.32	35.1	3491	2160	2297	2215	272.5	12.3	260	8978	0.10	2.20	0.00	0.000	2308	0.098	0.042	3544	3584	2256	2298	2215	0	0	0	0	0	0	26.62	26.46	28.83
9272	2.32	35.1	3544	3584	2297	2215	230.5	13.8	270	9276	0.00	2.15	0.00	0.000	1030	0.000	0.031	3555	2162	2255	2297	2214	0	0	0	0	0	0	28.83	26.54	28.83
9598	2.32	35.1	3555	2162	2297	2215	188.1	13.1	281	9604	0.00	2.15	0.00	0.000	516	0.000	0.042	3565	777	2256	2298	2215	0	0	0	0	0	0	28.83	26.50	28.83
9899	2.32	35.1	3565	777	2297	2214	151.1	11.7	291	9905	0.15	2.15	0.00	0.000	5126	0.207	0.037	3531	2174	2256	2297	2215	0	0	0	0	0	0	26.10	26.55	28.83
10212	2.32	35.1	3531	2174	2297	2215	118.5	10.1	306	10216	0.00	2.17	0.00	0.000	516	0.000	0.041	3539	781	2256	2297	2215	0	0	0	0	0	0	28.83	26.51	28.83
10509	2.32	35.1	3539	780	2297	2215	92.6	7.7	321	10515	0.00	2.15	0.00	0.000	1030	0.000	0.037	3540	2181	2256	2297	2215	0	0	0	0	0	0	28.83	26.55	28.83
10819	2.32	60.1	3539	2182	2297	2215	79.3	-1.5	342	10844	0.00	2.22	19.40	0.629	8708	0.000	0.040	3550	769	2153	2196	2110	0	0	0	0	0	0	28.83	26.33	25.63
10970	2.32	68.6	2848	769	2147	2105	75.9	4.4	356	10987	0.00	2.20	7.62	0.558	9222	0.000	0.037	3550	2165	2120	2163	2077	0	0	0	0	0	0	28.83	26.38	25.53
11288	2.37	73.6	3550	2164	2163	2077	55.5	5.7	388	11300	0.00	2.28	5.40	0.496	8452	0.000	0.042	3550	3592	2099	2143	2055	0	0	0	0	0	0	28.83	26.29	25.46
11485	2.37	98.4	3550	3592	2142	2055	48.2	-1.4	407	11514	0.00	2.17	19.48	0.612	9222	0.000	0.029	3561	2172	1998	2050	1946	0	0	0	0	0	0	28.83	26.37	25.35
11813	2.42	98.4	3561	2172	2048	1941	32.3	7.7	440	11817	0.00	2.20	0.00	0.000	260	0.000	0.042	3561	3585	1995	2049	1941	0	0	0	0	0	0	28.83	26.20	28.83
12092	end climb: SURFACE_DEPTH_REACHED
state	12092	begin surface coast
12114	end surface coast: CONTROL_FINISHED_OK
state	12114	begin surface