Glider dive log

BayOfBengal Aug15 * SG141 * Dive index * Mission links * Dive 216 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_DEG 40 ALTIM_BOTTOM_PING_RANGE 0

MISSION 23 HEADING -1 C_ROLL_DIVE 2650 ALTIM_TOP_PING_RANGE 0

DIVE 216 ESCAPE_HEADING 0 C_ROLL_CLIMB 2475 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_SURF 3 FIX_MISSING_TIMEOUT 0.5 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 5 TGT_DEFAULT_LAT 6000 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LON -5500 R_PORT_OVSHOOT 42 ALTIM_PING_DELTA 0

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 30 ALTIM_FREQUENCY 13

D_NO_BLEED 200 SM_CC 500 ROLL_AD_RATE 325 ALTIM_PULSE 3

D_BOOST 20 N_FILEKB 8 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

T_BOOST 5 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_PITCH 0 COMM_SEQ 0 VBD_MIN 348 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 PROTOCOL 9 VBD_MAX 3980 INT_PRESSURE_YINT 0

D_CALL 0 N_NOCOMM 1 C_VBD 3127 DEEPGLIDER 0

SURFACE_URGENCY 0 NOCOMM_ACTION 161 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE1 133

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE2 -1

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 540 DEVICE3 -1

T_MISSION 360 CALL_WAIT 60 PITCH_VBD_SHIFT 9.9999997e-05 DEVICE4 -1

T_ABORT 1500 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE5 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 DEVICE6 -1

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERS 1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 50 LOGGERDEVICE1 -1

T_LOITER 0 N_GPS 100440 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

T_EPIRB 0 T_RSLEEP 1 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

USE_BATHY -5 STROBE 0 DBDW 0 LOGGERDEVICE4 -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 COMPASS2_DEVICE -1

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 PHONE_DEVICE 49

T_WATCHDOG 10 PITCH_MIN 50 AH0_24V 350 GPS_DEVICE 32

RELAUNCH 1 PITCH_MAX 3800 AH0_10V 0 RAFOS_DEVICE -1

APOGEE_PITCH -5 C_PITCH 2715 MINV_24V 11 XPDR_DEVICE 24

MAX_BUOY 200 PITCH_DBAND 0.1 MINV_10V 11 SIM_W 0

COURSE_BIAS 0 PITCH_CNV 0.0031256729 MAXI_24V 0.60000002 SIM_PITCH 0

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 MAXI_10V 0.80000001 SEABIRD_T_G 0.0043543633

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SEABIRD_T_H 0.00062237249

RHO 1.0275 PITCH_GAIN 25 FG_AHR_24V 0 SEABIRD_T_I 2.1446129e-05

MASS 52033 PITCH_TIMEOUT 20 PHONE_SUPPLY -2 SEABIRD_T_J 2.055453e-06

MASS_COMP 0 PITCH_AD_RATE 150 PRESSURE_YINT -33.834953 SEABIRD_C_G -10.134171

NAV_MODE 2 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.0001160265 SEABIRD_C_H 1.1439899

FERRY_MAX 45 PITCH_ADJ_GAIN 0 AD7714Ch0Gain 128 SEABIRD_C_I -0.0013638148

KALMAN_USE 2 PITCH_ADJ_DBAND 0 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00018835191

HD_A 0.003 ROLL_MIN 361 TCM_ROLL_OFFSET 0

HD_B 0.0099999998 ROLL_MAX 4050 COMPASS_USE 4

AD7714Ch0Gain 128 D_PITCH 0 PHONE_DEVICE 49 SIM_PITCH 0

AH0_10V 0 D_SAFE 0 PHONE_SUPPLY -2 SIM_W 0

AH0_24V 350 D_SURF 3 PITCH_ADJ_DBAND 0 SM_CC 500

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_AD_RATE 150 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0031256729 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_GAIN 25 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MAX 3800 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0.5 PITCH_MIN 50 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 20 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_VBD_SHIFT 9.9999997e-05 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 HD_A 0.003 PITCH_W_DBAND 0 T_ABORT 1500

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_W_GAIN 0 T_BOOST 5

CALL_TRIES 5 HD_C 9.9999997e-06 PRESSURE_SLOPE 0.0001160265 T_DIVE 330

CALL_WAIT 60 HEADING -1 PRESSURE_YINT -33.834953 T_EPIRB 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PROTOCOL 9 T_GPS 5

CAPUPLOAD 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_LOITER 0

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.1 P_OVSHOOT_WITHG 0 T_MISSION 360

COMM_SEQ 0 ID 141 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_RSLEEP 1

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_TURN 225

COMPASS_USE 4 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

COURSE_BIAS 0 LOGGERDEVICE1 -1 RELAUNCH 1 T_WATCHDOG 10

C_PITCH 2715 LOGGERDEVICE2 -1 RHO 1.0275 UNCOM_BLEED 50

C_ROLL_CLIMB 2475 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2650 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 USE_BATHY -5

C_VBD 3127 LOGGERS 1 ROLL_AD_RATE 325 USE_ICE 0

DBDW 0 MASS 52033 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS_COMP 0 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE1 133 MAXI_10V 0.80000001 ROLL_MAX 4050 VBD_DBAND 2

DEVICE2 -1 MAXI_24V 0.60000002 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE3 -1 MAX_BUOY 200 ROLL_MIN 361 VBD_MAX 3980

DEVICE4 -1 MINV_10V 11 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE5 -1 MINV_24V 11 R_PORT_OVSHOOT 42 VBD_MIN 348

DEVICE6 -1 MISSION 23 R_STBD_OVSHOOT 30 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 216 MOTHERBOARD 4 SEABIRD_C_G -10.134171 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1020 NAV_MODE 2 SEABIRD_C_H 1.1439899 VBD_TIMEOUT 540

D_BOOST 20 NOCOMM_ACTION 161 SEABIRD_C_I -0.0013638148 W_ADJ_DBAND 0

D_CALL 0 N_DIVES 0 SEABIRD_C_J 0.00018835191 XPDR_DEVICE 24

D_FINISH 0 N_FILEKB 8 SEABIRD_T_G 0.0043543633 XPDR_INHIBIT 90

D_FLARE 5 N_GPS 100440 SEABIRD_T_H 0.00062237249 XPDR_VALID 4

D_NO_BLEED 200 N_NOCOMM 1 SEABIRD_T_I 2.1446129e-05

D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_J 2.055453e-06

Pre-dive calculations and measurements:

GPS1 051015,075312,755.9941,8504.7266,301,99.0,301,-2.0,1.3,167.9,5,13.5 SPEED_LIMITS 0.173,0.295

_CALLS 1 TGT_NAME NRL1

_XMS_NAKs 0 TGT_LATLONG 800.000,8530.000

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 3.30 MHEAD_RNG_PITCHd_Wd 128.8,42479,-27.2,-10.000,-30.00,965

_SM_ANGLEo -69.6 D_GRID 1000

GPS2 051015,131611,756.7185,8507.0762,219,1.8,259,-2.0,1.1,216.9,5,12.9

Post-dive calculations and measurements:

SM_CCo 12780,80.25,0.053,0,0,1086,500.17 FG_AHR_24Vo 0.000

SM_GC 3.48,8.43,0.30,80.25,0.050,0.090,0.053,46,2668,1086,-8.28,-0.82,500.17,0,0,0,0,0,0,14.69,14.72,14.71 FG_AHR_10Vo 0.000

IRIDIUM_FIX 749.46,8505.68,051015,074814 MEM 260284

TT8_MAMPS 0.023219,0.023219 DATA_FILE_SIZE 30172,684

HUMID 46.45 CAP_FILE_SIZE 113837,0

INTERNAL_PRESSURE 9.18004 CFSIZE 260034560,234110976

TCM_TEMP 24.10 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 1 INTR 0,6211.68,0x23402a,1,24

_24V_AH 13.31,68.953 CURRENT 0.087,171.01,1

_10V_AH 13.02,0.000 GPS 051015,165415,755.282,8508.430,100,99.0,140,-2.0,1.0,196.8,3,-1.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 409 124.07 SciConCT 773 30 308.82

Roll_motor 83 91 102.21 nil 0 0 0.00

VBD_pump_during_apogee 315 2106 8841.82 nil 0 0 0.00

VBD_pump_during_surface 80 52 56.38 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 202 234 629.46 nil 0 0 0.00

Transponder_ping 0 420 1.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 261 21 74.05

TT8 449 8 52.48

LPSleep 10412 2 296.90

TT8_Active 423 8 49.49

TT8_Sampling 1727 27 622.72

TT8_CF8 423 33 185.64

TT8_Kalman 0 0 0.00

Analog_circuits 1290 16 277.18

GPS_charging 0 0 0.00

Compass 994 6 87.23

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

25 -1.10 -63.0 0 2665 648 769 0.0 0.0 0 127 0.00 0.00 -96.60 0.000 16386 0.000 0.000 1 2665 3381 3447 3316 0 0 0 0 0 0 14.95 28.83 14.98

133 -1.10 -118.4 1 2665 3447 3318 5.3 -4.1 10 155 11.25 2.30 -3.40 0.000 18692 0.409 0.086 2340 4043 3614 3673 3555 0 0 0 0 0 0 14.31 13.46 14.57

388 -1.10 -118.4 2339 4045 3673 3559 112.1 -28.4 61 392 0.00 2.22 0.00 0.000 1030 0.000 0.036 2339 2653 3616 3673 3559 0 0 0 0 0 0 14.73 14.69 14.76

691 -1.10 -118.4 2339 2652 3673 3562 174.0 -16.7 77 692 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2652 3617 3673 3562 0 0 0 0 0 0 15.08 15.12 15.11

991 -1.10 -118.4 2339 2652 3672 3564 229.4 -17.2 92 996 0.00 2.20 0.00 0.000 516 0.000 0.049 2340 1246 3617 3672 3563 0 0 0 0 0 0 15.11 14.75 15.14

1066 -1.10 -118.4 2339 1245 3672 3563 240.1 -12.9 107 1071 0.08 2.30 0.00 0.000 3078 0.292 0.052 2357 2654 3617 3672 3563 0 0 0 0 0 0 14.43 14.72 14.74

1391 -1.10 -118.4 2357 2654 3668 3563 284.2 -14.0 116 1396 0.00 2.22 0.00 0.000 516 0.000 0.050 2358 1241 3615 3668 3563 0 0 0 0 0 0 15.13 14.75 15.16

1420 -1.10 -118.4 2357 1241 3668 3563 289.2 -17.6 122 1425 0.00 2.28 0.00 0.000 1030 0.000 0.052 2350 2655 3615 3667 3563 0 0 0 0 0 0 14.89 14.80 14.92

1754 -1.10 -118.4 2349 2654 3660 3563 347.9 -17.4 133 1755 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2654 3611 3660 3563 0 0 0 0 0 0 15.14 15.19 15.18

2054 -1.10 -118.4 2349 2655 3655 3563 396.0 -16.0 138 2060 0.00 2.22 0.00 0.000 516 0.000 0.052 2349 1249 3608 3654 3563 0 0 0 0 0 0 15.15 14.75 15.19

2084 -1.10 -118.4 2350 1249 3654 3563 400.9 -16.5 143 2089 0.00 2.28 0.00 0.000 1030 0.000 0.053 2340 2661 3608 3654 3563 0 0 0 0 0 0 14.90 14.80 14.93

2420 -1.10 -118.4 2339 2661 3648 3563 457.9 -17.2 155 2421 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2661 3605 3648 3563 0 0 0 0 0 0 15.16 15.19 15.19

2719 -1.10 -118.4 2339 2661 3644 3562 510.7 -17.5 160 2720 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2661 3603 3644 3562 0 0 0 0 0 0 15.16 15.20 15.19

3019 -1.10 -118.4 2339 2661 3639 3560 558.8 -15.9 165 3021 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2661 3599 3639 3560 0 0 0 0 0 0 15.16 15.20 15.19

3319 -1.10 -118.4 2339 2661 3635 3558 605.8 -15.6 170 3324 0.00 2.30 0.00 0.000 260 0.000 0.080 2329 4036 3596 3634 3558 0 0 0 0 0 0 15.16 14.71 15.19

3342 -1.10 -118.4 2329 4036 3634 3557 609.8 -16.6 174 3347 0.12 2.17 0.00 0.000 3078 0.311 0.037 2352 2643 3595 3634 3557 0 0 0 0 0 0 14.41 14.84 14.73

3690 -1.10 -118.4 2351 2644 3632 3556 659.9 -14.6 187 3696 0.00 2.33 0.00 0.000 260 0.000 0.082 2344 4029 3593 3631 3555 0 0 0 0 0 0 15.14 14.64 15.17

3724 -1.10 -118.4 2343 4029 3631 3554 666.1 -16.3 194 3728 0.00 2.15 0.00 0.000 1030 0.000 0.037 2343 2651 3592 3631 3554 0 0 0 0 0 0 14.90 14.83 14.92

4113 -1.10 -118.4 2343 2651 3626 3553 727.3 -15.8 204 4114 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2651 3589 3626 3553 0 0 0 0 0 0 15.16 15.19 15.19

4713 -1.10 -118.4 2343 2651 3621 3550 817.3 -14.9 209 4720 0.00 2.25 0.00 0.000 516 0.000 0.060 2344 1251 3585 3621 3549 0 0 0 0 0 0 15.16 14.66 15.20

4749 -1.10 -118.4 2343 1251 3621 3549 822.5 -13.7 216 4754 0.00 2.30 0.00 0.000 1030 0.000 0.060 2334 2658 3584 3620 3549 0 0 0 0 0 0 14.85 14.73 14.88

5435 -1.10 -118.4 2333 2658 3614 3545 914.7 -13.3 238 5436 0.00 0.00 0.00 0.000 6 0.000 0.000 2334 2658 3580 3615 3545 0 0 0 0 0 0 15.15 15.19 15.19

6031 end dive: TARGET_DEPTH_EXCEEDED

state 6031 begin apogee

6041 -0.20 0.0 2334 2467 3610 3543 999.2 -14.2 243 6136 1.17 0.00 90.70 2.106 10246 0.257 0.000 2644 2467 3126 3081 3171 0 0 0 0 0 0 14.36 14.26 13.44

6137 end apogee: CONTROL_FINISHED_OK

state 6138 begin climb

6142 1.10 118.4 2644 2467 3080 3170 999.2 0.0 243 6247 1.30 2.55 94.88 2.046 10500 0.121 0.092 3064 3875 2640 2571 2710 0 0 0 0 0 0 14.24 14.07 13.31

6280 1.10 118.4 3064 3874 2571 2707 987.2 19.1 292 6286 0.00 2.35 0.00 0.000 1030 0.000 0.056 3074 2488 2639 2572 2706 0 0 0 0 0 0 14.33 14.26 14.35

6992 1.10 118.4 3074 2488 2579 2691 854.8 18.4 319 6993 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2488 2635 2579 2691 0 0 0 0 0 0 14.97 15.01 15.01

7591 1.10 118.4 3074 2488 2579 2686 743.0 18.6 324 7592 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2488 2633 2579 2687 0 0 0 0 0 0 15.06 15.10 15.09

8195 1.10 118.4 3074 2488 2579 2683 628.0 19.2 332 8200 0.00 2.38 0.00 0.000 260 0.000 0.089 3074 3873 2631 2581 2682 0 0 0 0 0 0 15.07 14.54 15.11

8289 1.10 118.4 3074 3873 2582 2681 607.6 20.7 351 8295 0.00 2.30 0.00 0.000 1030 0.000 0.054 3085 2464 2631 2582 2681 0 0 0 0 0 0 14.81 14.71 14.85

8615 1.10 118.4 3084 2463 2582 2680 545.3 19.2 361 8621 0.00 2.42 0.00 0.000 260 0.000 0.088 3084 3877 2631 2582 2680 0 0 0 0 0 0 15.10 14.54 15.14

8638 1.10 118.4 3084 3877 2583 2679 540.3 20.5 366 8643 0.00 2.30 0.00 0.000 1030 0.000 0.054 3095 2466 2631 2582 2680 0 0 0 0 0 0 14.82 14.72 14.86

8977 1.10 118.4 3094 2466 2582 2679 472.3 20.1 378 8982 0.00 2.45 0.00 0.000 260 0.000 0.090 3095 3883 2631 2583 2679 0 0 0 0 0 0 15.11 14.59 15.15

9020 1.10 118.4 3094 3883 2582 2679 463.1 21.7 386 9025 0.17 2.30 0.00 0.000 5126 0.352 0.054 3073 2472 2630 2583 2678 0 0 0 0 0 0 14.24 14.72 14.66

9349 1.10 118.4 3072 2472 2583 2678 400.0 19.3 395 9350 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2472 2630 2583 2678 0 0 0 0 0 0 15.09 15.13 15.12

9644 1.10 118.4 3072 2472 2583 2677 352.2 15.5 400 9645 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2472 2629 2582 2677 0 0 0 0 0 0 15.13 15.16 15.16

9945 1.10 118.4 3073 2472 2583 2677 305.5 15.5 405 9951 0.00 2.40 0.00 0.000 260 0.000 0.086 3073 3875 2629 2582 2676 0 0 0 0 0 0 15.13 14.54 15.16

9989 1.10 118.4 3073 3874 2583 2676 297.8 17.4 414 9993 0.00 2.28 0.00 0.000 1030 0.000 0.052 3081 2468 2629 2583 2676 0 0 0 0 0 0 14.83 14.73 14.87

10308 1.10 118.4 3081 2468 2583 2676 249.8 15.4 422 10312 0.00 2.42 0.00 0.000 260 0.000 0.086 3081 3877 2630 2584 2676 0 0 0 0 0 0 15.13 14.59 15.16

10381 1.10 118.4 3081 3877 2584 2676 237.4 16.8 436 10386 0.00 2.25 0.00 0.000 1030 0.000 0.051 3091 2481 2630 2584 2676 0 0 0 0 0 0 14.73 14.69 14.78

10695 1.10 118.4 3091 2481 2584 2676 188.4 15.9 453 10702 0.00 2.35 0.00 0.000 516 0.000 0.070 3102 1075 2630 2586 2675 0 0 0 0 0 0 15.11 14.59 15.16

10882 1.10 118.4 3101 1075 2590 2671 158.9 12.3 490 10887 0.15 2.33 0.00 0.000 5126 0.317 0.060 3074 2484 2630 2590 2671 0 0 0 0 0 0 14.25 14.67 14.65

11201 1.11 167.8 3074 2484 2589 2671 130.2 4.7 508 11241 0.00 2.35 33.20 1.077 8708 0.000 0.066 3082 1068 2439 2389 2489 0 0 0 0 0 0 15.12 14.59 14.12

11378 1.11 172.4 3081 1068 2396 2482 116.9 9.5 543 11388 0.00 2.38 3.85 0.799 9222 0.000 0.057 3082 2491 2424 2380 2469 0 0 0 0 0 0 14.71 14.59 13.93

11708 1.11 207.2 3082 2491 2386 2468 91.5 6.3 563 11740 0.00 2.38 25.90 1.021 8452 0.000 0.084 3082 3876 2279 2217 2341 0 0 0 0 0 0 15.00 14.66 14.16

11817 1.11 217.8 3082 3876 2218 2340 83.3 8.9 582 11831 0.00 2.28 8.68 0.922 9222 0.000 0.045 3092 2461 2239 2173 2305 0 0 0 0 0 0 14.73 14.65 14.08

12151 1.12 284.9 3092 2461 2176 2299 72.1 2.9 603 12203 0.00 2.28 45.95 0.972 8708 0.000 0.060 3103 1077 1964 1847 2081 0 0 0 0 0 0 14.97 14.48 14.10

12299 1.12 300.4 3102 1077 1852 2074 61.2 8.3 633 12316 0.00 2.28 12.27 0.894 9222 0.000 0.050 3103 2476 1901 1779 2023 0 0 0 0 0 0 14.68 14.59 14.05

12629 1.12 300.4 3102 2477 1788 2015 19.1 11.4 664 12635 0.00 2.30 0.00 0.000 260 0.000 0.077 3103 3871 1902 1789 2015 0 0 0 0 0 0 14.95 14.57 14.98

12694 1.12 300.4 3103 3872 1798 2005 9.2 17.1 677 12698 0.10 2.25 0.00 0.000 5126 0.277 0.037 3081 2477 1901 1798 2004 0 0 0 0 0 0 14.39 14.65 14.67

12735 end climb: SURFACE_DEPTH_REACHED

state 12735 begin surface coast

12755 end surface coast: CONTROL_FINISHED_OK

state 12755 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_DEG	40	ALTIM_BOTTOM_PING_RANGE	0
MISSION	23	HEADING	-1	C_ROLL_DIVE	2650	ALTIM_TOP_PING_RANGE	0
DIVE	216	ESCAPE_HEADING	0	C_ROLL_CLIMB	2475	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_SURF	3	FIX_MISSING_TIMEOUT	0.5	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	5	TGT_DEFAULT_LAT	6000	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LON	-5500	R_PORT_OVSHOOT	42	ALTIM_PING_DELTA	0
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	30	ALTIM_FREQUENCY	13
D_NO_BLEED	200	SM_CC	500	ROLL_AD_RATE	325	ALTIM_PULSE	3
D_BOOST	20	N_FILEKB	8	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
T_BOOST	5	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_PITCH	0	COMM_SEQ	0	VBD_MIN	348	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	PROTOCOL	9	VBD_MAX	3980	INT_PRESSURE_YINT	0
D_CALL	0	N_NOCOMM	1	C_VBD	3127	DEEPGLIDER	0
SURFACE_URGENCY	0	NOCOMM_ACTION	161	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE1	133
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE2	-1
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	540	DEVICE3	-1
T_MISSION	360	CALL_WAIT	60	PITCH_VBD_SHIFT	9.9999997e-05	DEVICE4	-1
T_ABORT	1500	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE5	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	DEVICE6	-1
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERS	1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	50	LOGGERDEVICE1	-1
T_LOITER	0	N_GPS	100440	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
T_EPIRB	0	T_RSLEEP	1	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
USE_BATHY	-5	STROBE	0	DBDW	0	LOGGERDEVICE4	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	COMPASS2_DEVICE	-1
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	PHONE_DEVICE	49
T_WATCHDOG	10	PITCH_MIN	50	AH0_24V	350	GPS_DEVICE	32
RELAUNCH	1	PITCH_MAX	3800	AH0_10V	0	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	C_PITCH	2715	MINV_24V	11	XPDR_DEVICE	24
MAX_BUOY	200	PITCH_DBAND	0.1	MINV_10V	11	SIM_W	0
COURSE_BIAS	0	PITCH_CNV	0.0031256729	MAXI_24V	0.60000002	SIM_PITCH	0
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	MAXI_10V	0.80000001	SEABIRD_T_G	0.0043543633
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SEABIRD_T_H	0.00062237249
RHO	1.0275	PITCH_GAIN	25	FG_AHR_24V	0	SEABIRD_T_I	2.1446129e-05
MASS	52033	PITCH_TIMEOUT	20	PHONE_SUPPLY	-2	SEABIRD_T_J	2.055453e-06
MASS_COMP	0	PITCH_AD_RATE	150	PRESSURE_YINT	-33.834953	SEABIRD_C_G	-10.134171
NAV_MODE	2	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.0001160265	SEABIRD_C_H	1.1439899
FERRY_MAX	45	PITCH_ADJ_GAIN	0	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0013638148
KALMAN_USE	2	PITCH_ADJ_DBAND	0	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00018835191
HD_A	0.003	ROLL_MIN	361	TCM_ROLL_OFFSET	0
HD_B	0.0099999998	ROLL_MAX	4050	COMPASS_USE	4

GPS1	051015,075312,755.9941,8504.7266,301,99.0,301,-2.0,1.3,167.9,5,13.5	SPEED_LIMITS	0.173,0.295
_CALLS	1	TGT_NAME	NRL1
_XMS_NAKs	0	TGT_LATLONG	800.000,8530.000
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	3.30	MHEAD_RNG_PITCHd_Wd	128.8,42479,-27.2,-10.000,-30.00,965
_SM_ANGLEo	-69.6	D_GRID	1000
GPS2	051015,131611,756.7185,8507.0762,219,1.8,259,-2.0,1.1,216.9,5,12.9

SM_CCo	12780,80.25,0.053,0,0,1086,500.17	FG_AHR_24Vo	0.000
SM_GC	3.48,8.43,0.30,80.25,0.050,0.090,0.053,46,2668,1086,-8.28,-0.82,500.17,0,0,0,0,0,0,14.69,14.72,14.71	FG_AHR_10Vo	0.000
IRIDIUM_FIX	749.46,8505.68,051015,074814	MEM	260284
TT8_MAMPS	0.023219,0.023219	DATA_FILE_SIZE	30172,684
HUMID	46.45	CAP_FILE_SIZE	113837,0
INTERNAL_PRESSURE	9.18004	CFSIZE	260034560,234110976
TCM_TEMP	24.10	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	INTR	0,6211.68,0x23402a,1,24
_24V_AH	13.31,68.953	CURRENT	0.087,171.01,1
_10V_AH	13.02,0.000	GPS	051015,165415,755.282,8508.430,100,99.0,140,-2.0,1.0,196.8,3,-1.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	409	124.07	SciConCT	773	30	308.82
Roll_motor	83	91	102.21	nil	0	0	0.00
VBD_pump_during_apogee	315	2106	8841.82	nil	0	0	0.00
VBD_pump_during_surface	80	52	56.38	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	202	234	629.46	nil	0	0	0.00
Transponder_ping	0	420	1.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	261	21	74.05
TT8	449	8	52.48
LPSleep	10412	2	296.90
TT8_Active	423	8	49.49
TT8_Sampling	1727	27	622.72
TT8_CF8	423	33	185.64
TT8_Kalman	0	0	0.00
Analog_circuits	1290	16	277.18
GPS_charging	0	0	0.00
Compass	994	6	87.23
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
25	-1.10	-63.0	0	2665	648	769	0.0	0.0	0	127	0.00	0.00	-96.60	0.000	16386	0.000	0.000	1	2665	3381	3447	3316	0	0	0	0	0	0	14.95	28.83	14.98
133	-1.10	-118.4	1	2665	3447	3318	5.3	-4.1	10	155	11.25	2.30	-3.40	0.000	18692	0.409	0.086	2340	4043	3614	3673	3555	0	0	0	0	0	0	14.31	13.46	14.57
388	-1.10	-118.4	2339	4045	3673	3559	112.1	-28.4	61	392	0.00	2.22	0.00	0.000	1030	0.000	0.036	2339	2653	3616	3673	3559	0	0	0	0	0	0	14.73	14.69	14.76
691	-1.10	-118.4	2339	2652	3673	3562	174.0	-16.7	77	692	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2652	3617	3673	3562	0	0	0	0	0	0	15.08	15.12	15.11
991	-1.10	-118.4	2339	2652	3672	3564	229.4	-17.2	92	996	0.00	2.20	0.00	0.000	516	0.000	0.049	2340	1246	3617	3672	3563	0	0	0	0	0	0	15.11	14.75	15.14
1066	-1.10	-118.4	2339	1245	3672	3563	240.1	-12.9	107	1071	0.08	2.30	0.00	0.000	3078	0.292	0.052	2357	2654	3617	3672	3563	0	0	0	0	0	0	14.43	14.72	14.74
1391	-1.10	-118.4	2357	2654	3668	3563	284.2	-14.0	116	1396	0.00	2.22	0.00	0.000	516	0.000	0.050	2358	1241	3615	3668	3563	0	0	0	0	0	0	15.13	14.75	15.16
1420	-1.10	-118.4	2357	1241	3668	3563	289.2	-17.6	122	1425	0.00	2.28	0.00	0.000	1030	0.000	0.052	2350	2655	3615	3667	3563	0	0	0	0	0	0	14.89	14.80	14.92
1754	-1.10	-118.4	2349	2654	3660	3563	347.9	-17.4	133	1755	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2654	3611	3660	3563	0	0	0	0	0	0	15.14	15.19	15.18
2054	-1.10	-118.4	2349	2655	3655	3563	396.0	-16.0	138	2060	0.00	2.22	0.00	0.000	516	0.000	0.052	2349	1249	3608	3654	3563	0	0	0	0	0	0	15.15	14.75	15.19
2084	-1.10	-118.4	2350	1249	3654	3563	400.9	-16.5	143	2089	0.00	2.28	0.00	0.000	1030	0.000	0.053	2340	2661	3608	3654	3563	0	0	0	0	0	0	14.90	14.80	14.93
2420	-1.10	-118.4	2339	2661	3648	3563	457.9	-17.2	155	2421	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2661	3605	3648	3563	0	0	0	0	0	0	15.16	15.19	15.19
2719	-1.10	-118.4	2339	2661	3644	3562	510.7	-17.5	160	2720	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2661	3603	3644	3562	0	0	0	0	0	0	15.16	15.20	15.19
3019	-1.10	-118.4	2339	2661	3639	3560	558.8	-15.9	165	3021	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2661	3599	3639	3560	0	0	0	0	0	0	15.16	15.20	15.19
3319	-1.10	-118.4	2339	2661	3635	3558	605.8	-15.6	170	3324	0.00	2.30	0.00	0.000	260	0.000	0.080	2329	4036	3596	3634	3558	0	0	0	0	0	0	15.16	14.71	15.19
3342	-1.10	-118.4	2329	4036	3634	3557	609.8	-16.6	174	3347	0.12	2.17	0.00	0.000	3078	0.311	0.037	2352	2643	3595	3634	3557	0	0	0	0	0	0	14.41	14.84	14.73
3690	-1.10	-118.4	2351	2644	3632	3556	659.9	-14.6	187	3696	0.00	2.33	0.00	0.000	260	0.000	0.082	2344	4029	3593	3631	3555	0	0	0	0	0	0	15.14	14.64	15.17
3724	-1.10	-118.4	2343	4029	3631	3554	666.1	-16.3	194	3728	0.00	2.15	0.00	0.000	1030	0.000	0.037	2343	2651	3592	3631	3554	0	0	0	0	0	0	14.90	14.83	14.92
4113	-1.10	-118.4	2343	2651	3626	3553	727.3	-15.8	204	4114	0.00	0.00	0.00	0.000	6	0.000	0.000	2344	2651	3589	3626	3553	0	0	0	0	0	0	15.16	15.19	15.19
4713	-1.10	-118.4	2343	2651	3621	3550	817.3	-14.9	209	4720	0.00	2.25	0.00	0.000	516	0.000	0.060	2344	1251	3585	3621	3549	0	0	0	0	0	0	15.16	14.66	15.20
4749	-1.10	-118.4	2343	1251	3621	3549	822.5	-13.7	216	4754	0.00	2.30	0.00	0.000	1030	0.000	0.060	2334	2658	3584	3620	3549	0	0	0	0	0	0	14.85	14.73	14.88
5435	-1.10	-118.4	2333	2658	3614	3545	914.7	-13.3	238	5436	0.00	0.00	0.00	0.000	6	0.000	0.000	2334	2658	3580	3615	3545	0	0	0	0	0	0	15.15	15.19	15.19
6031	end dive: TARGET_DEPTH_EXCEEDED
state	6031	begin apogee
6041	-0.20	0.0	2334	2467	3610	3543	999.2	-14.2	243	6136	1.17	0.00	90.70	2.106	10246	0.257	0.000	2644	2467	3126	3081	3171	0	0	0	0	0	0	14.36	14.26	13.44
6137	end apogee: CONTROL_FINISHED_OK
state	6138	begin climb
6142	1.10	118.4	2644	2467	3080	3170	999.2	0.0	243	6247	1.30	2.55	94.88	2.046	10500	0.121	0.092	3064	3875	2640	2571	2710	0	0	0	0	0	0	14.24	14.07	13.31
6280	1.10	118.4	3064	3874	2571	2707	987.2	19.1	292	6286	0.00	2.35	0.00	0.000	1030	0.000	0.056	3074	2488	2639	2572	2706	0	0	0	0	0	0	14.33	14.26	14.35
6992	1.10	118.4	3074	2488	2579	2691	854.8	18.4	319	6993	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2488	2635	2579	2691	0	0	0	0	0	0	14.97	15.01	15.01
7591	1.10	118.4	3074	2488	2579	2686	743.0	18.6	324	7592	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2488	2633	2579	2687	0	0	0	0	0	0	15.06	15.10	15.09
8195	1.10	118.4	3074	2488	2579	2683	628.0	19.2	332	8200	0.00	2.38	0.00	0.000	260	0.000	0.089	3074	3873	2631	2581	2682	0	0	0	0	0	0	15.07	14.54	15.11
8289	1.10	118.4	3074	3873	2582	2681	607.6	20.7	351	8295	0.00	2.30	0.00	0.000	1030	0.000	0.054	3085	2464	2631	2582	2681	0	0	0	0	0	0	14.81	14.71	14.85
8615	1.10	118.4	3084	2463	2582	2680	545.3	19.2	361	8621	0.00	2.42	0.00	0.000	260	0.000	0.088	3084	3877	2631	2582	2680	0	0	0	0	0	0	15.10	14.54	15.14
8638	1.10	118.4	3084	3877	2583	2679	540.3	20.5	366	8643	0.00	2.30	0.00	0.000	1030	0.000	0.054	3095	2466	2631	2582	2680	0	0	0	0	0	0	14.82	14.72	14.86
8977	1.10	118.4	3094	2466	2582	2679	472.3	20.1	378	8982	0.00	2.45	0.00	0.000	260	0.000	0.090	3095	3883	2631	2583	2679	0	0	0	0	0	0	15.11	14.59	15.15
9020	1.10	118.4	3094	3883	2582	2679	463.1	21.7	386	9025	0.17	2.30	0.00	0.000	5126	0.352	0.054	3073	2472	2630	2583	2678	0	0	0	0	0	0	14.24	14.72	14.66
9349	1.10	118.4	3072	2472	2583	2678	400.0	19.3	395	9350	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2472	2630	2583	2678	0	0	0	0	0	0	15.09	15.13	15.12
9644	1.10	118.4	3072	2472	2583	2677	352.2	15.5	400	9645	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2472	2629	2582	2677	0	0	0	0	0	0	15.13	15.16	15.16
9945	1.10	118.4	3073	2472	2583	2677	305.5	15.5	405	9951	0.00	2.40	0.00	0.000	260	0.000	0.086	3073	3875	2629	2582	2676	0	0	0	0	0	0	15.13	14.54	15.16
9989	1.10	118.4	3073	3874	2583	2676	297.8	17.4	414	9993	0.00	2.28	0.00	0.000	1030	0.000	0.052	3081	2468	2629	2583	2676	0	0	0	0	0	0	14.83	14.73	14.87
10308	1.10	118.4	3081	2468	2583	2676	249.8	15.4	422	10312	0.00	2.42	0.00	0.000	260	0.000	0.086	3081	3877	2630	2584	2676	0	0	0	0	0	0	15.13	14.59	15.16
10381	1.10	118.4	3081	3877	2584	2676	237.4	16.8	436	10386	0.00	2.25	0.00	0.000	1030	0.000	0.051	3091	2481	2630	2584	2676	0	0	0	0	0	0	14.73	14.69	14.78
10695	1.10	118.4	3091	2481	2584	2676	188.4	15.9	453	10702	0.00	2.35	0.00	0.000	516	0.000	0.070	3102	1075	2630	2586	2675	0	0	0	0	0	0	15.11	14.59	15.16
10882	1.10	118.4	3101	1075	2590	2671	158.9	12.3	490	10887	0.15	2.33	0.00	0.000	5126	0.317	0.060	3074	2484	2630	2590	2671	0	0	0	0	0	0	14.25	14.67	14.65
11201	1.11	167.8	3074	2484	2589	2671	130.2	4.7	508	11241	0.00	2.35	33.20	1.077	8708	0.000	0.066	3082	1068	2439	2389	2489	0	0	0	0	0	0	15.12	14.59	14.12
11378	1.11	172.4	3081	1068	2396	2482	116.9	9.5	543	11388	0.00	2.38	3.85	0.799	9222	0.000	0.057	3082	2491	2424	2380	2469	0	0	0	0	0	0	14.71	14.59	13.93
11708	1.11	207.2	3082	2491	2386	2468	91.5	6.3	563	11740	0.00	2.38	25.90	1.021	8452	0.000	0.084	3082	3876	2279	2217	2341	0	0	0	0	0	0	15.00	14.66	14.16
11817	1.11	217.8	3082	3876	2218	2340	83.3	8.9	582	11831	0.00	2.28	8.68	0.922	9222	0.000	0.045	3092	2461	2239	2173	2305	0	0	0	0	0	0	14.73	14.65	14.08
12151	1.12	284.9	3092	2461	2176	2299	72.1	2.9	603	12203	0.00	2.28	45.95	0.972	8708	0.000	0.060	3103	1077	1964	1847	2081	0	0	0	0	0	0	14.97	14.48	14.10
12299	1.12	300.4	3102	1077	1852	2074	61.2	8.3	633	12316	0.00	2.28	12.27	0.894	9222	0.000	0.050	3103	2476	1901	1779	2023	0	0	0	0	0	0	14.68	14.59	14.05
12629	1.12	300.4	3102	2477	1788	2015	19.1	11.4	664	12635	0.00	2.30	0.00	0.000	260	0.000	0.077	3103	3871	1902	1789	2015	0	0	0	0	0	0	14.95	14.57	14.98
12694	1.12	300.4	3103	3872	1798	2005	9.2	17.1	677	12698	0.10	2.25	0.00	0.000	5126	0.277	0.037	3081	2477	1901	1798	2004	0	0	0	0	0	0	14.39	14.65	14.67
12735	end climb: SURFACE_DEPTH_REACHED
state	12735	begin surface coast
12755	end surface coast: CONTROL_FINISHED_OK
state	12755	begin surface