Glider dive log

PISCES Aug14 * SG200 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 200 HD_B 0.0134447 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 1.6100001e-05 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 22 HEADING -1 ROLL_MIN 282 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 48.400002 ROLL_MAX 3852 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2660 ALTIM_PING_DELTA 5

D_TGT 500 TGT_DEFAULT_LAT 3219.3999 C_ROLL_CLIMB 2325 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 160 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 80 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.77999997

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 1 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 165 UPLOAD_DIVES_MAX -1 C_VBD 2737 DEVICE3 -1

T_MISSION 180 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 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 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 -1107.3596 VBD_MAXERRORS 1 COMPASS_DEVICE 33

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 197 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3889 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2973 PHONE_SUPPLY 2 SEABIRD_T_G 0.004400372

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -66.711494 SEABIRD_T_H 0.00063770427

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001160319 SEABIRD_T_I 2.5625237e-05

MASS 52177 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 3.1304903e-06

NAV_MODE 1 PITCH_GAIN 19.700001 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9220228

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1569983

KALMAN_USE 1 PITCH_AD_RATE 160 COMPASS_USE 4 SEABIRD_C_I -0.00090645044

HD_A 0.003 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00015506662

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 2 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 19.700001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAX 3889 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 197 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 0.0001160319 T_BOOST 30

CALL_TRIES 5 HD_A 0.003 PRESSURE_YINT -66.711494 T_DIVE 165

CALL_WAIT 60 HD_B 0.0134447 PROTOCOL 73 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 1.6100001e-05 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -1107.3596

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 180

COMPASS_DEVICE 33 ID 200 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 -0.77999997 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2973 KALMAN_USE 1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2325 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2660 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2737 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3852 USE_BATHY 0

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 52177 ROLL_MIN 282 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 160 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 80 VBD_MAX 3960

DEVICE5 -1 MISSION 4 SEABIRD_C_G -9.9220228 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1569983 VBD_MIN 500

DIVE 22 NAV_MODE 1 SEABIRD_C_I -0.00090645044 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NOCOMM_ACTION 0 SEABIRD_C_J 0.00015506662 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.004400372 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00063770427 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.5625237e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 3.1304903e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 120814,145535,2730.736,-7004.085,33,0.9,33,-12.2 TGT_NAME BRAVO

_CALLS 1 TGT_LATLONG 2730.000,-7005.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.174,-0.022

_SM_DEPTHo 0.80 KALMAN_X -15703.8,-18.8,12.0,18347.1,-446.6

_SM_ANGLEo -65.1 KALMAN_Y -23151.3,187.0,-146.8,-30328.9,-1143.8

GPS2 120814,150615,2730.694,-7004.065,6,0.9,6,-12.2 MHEAD_RNG_PITCHd_Wd 274.9,2003,-26.2,-10.101

SPEED_LIMITS 0.175,0.224 D_GRID 500

Post-dive calculations and measurements:

FINISH -0.1,1.023336 _10V_AH 10.6,5.638

SM_CCo 6172,47.78,0.116,0,0,1204,375.06 FG_AHR_24Vo 0.000

SM_GC 1.53,8.20,1.40,47.78,0.027,0.017,0.116,170,2627,1204,-8.66,3.65,375.06,0,0,0,0,0,0,27.21,27.30,26.97 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2722.64,-7002.47,120814,080806 MEM 334272

TT8_MAMPS 0.028462,0.028462 DATA_FILE_SIZE 30373,563

HUMID 44.84 CAP_FILE_SIZE 83214,0

INTERNAL_PRESSURE 9.14226 CFSIZE 1024393216,1019527168

TCM_TEMP 23.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 15 GPS 120814,165129,2729.887,-7005.062,4,1.3,4,-12.2

_24V_AH 25.1,7.785

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 199 97.98 SBE_CT 374 24 225.39

Roll_motor 60 34 52.10 WL_BB2F 1829 105 4820.96

VBD_pump_during_apogee 245 921 5675.13 nil 0 0 0.00

VBD_pump_during_surface 47 116 139.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 2780 1673.56 nil 0 0 0.00

Iridium_during_connect 62 160 251.41 nil 0 0 0.00

Iridium_during_xfer 153 223 856.43 nil 0 0 0.00

Transponder_ping 3 420 39.53 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 23 1.70

TT8 1400 13 199.94

LPSleep 2303 2 53.48

TT8_Active 417 12 56.25

TT8_Sampling 2358 38 973.34

TT8_CF8 69 56 41.92

TT8_Kalman 33 62 22.16

Analog_circuits 1081 12 137.56

GPS_charging 0 0 0.00

Compass 2117 15 336.61

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 -1.44 -87.7 0.0 0.0 0 80 0.00 0.00 -63.45 0.000 2 0.000 0.000 168 2676 2933 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.51 -141.9 3.2 -5.9 8 108 8.23 1.90 -8.12 0.000 4 0.200 0.034 2482 1322 3316 0 0 0 0 0 0 26.72 26.97 27.22

269 -1.51 -141.9 59.4 -25.5 39 278 0.00 1.90 0.00 0.000 6 0.000 0.024 2474 2641 3317 0 0 0 0 0 0 28.83 27.05 28.83

342 -1.51 -141.9 78.1 -25.7 48 350 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2641 3316 0 0 0 0 0 0 28.83 28.83 28.83

415 -1.51 -141.9 95.8 -24.0 57 424 0.00 1.85 0.00 0.000 4 0.000 0.020 2474 1316 3317 0 0 0 0 0 0 28.83 27.11 28.83

455 -1.51 -141.9 105.6 -25.3 63 463 0.00 1.92 0.00 0.000 6 0.000 0.024 2464 2656 3316 0 0 0 0 0 0 28.83 27.11 28.83

528 -1.51 -141.9 122.3 -22.9 72 536 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2656 3317 0 0 0 0 0 0 28.83 28.83 28.83

600 -1.51 -141.9 138.8 -22.4 81 609 0.00 1.85 0.00 0.000 4 0.000 0.019 2464 1327 3316 0 0 0 0 0 0 28.83 27.16 28.83

668 -1.51 -141.9 154.3 -22.5 92 678 0.10 1.92 0.00 0.000 6 0.151 0.024 2486 2661 3317 0 0 0 0 0 0 26.98 27.17 28.83

742 -1.51 -141.9 170.2 -21.4 101 751 0.00 1.85 0.00 0.000 4 0.000 0.020 2486 1330 3317 0 0 0 0 0 0 28.83 27.19 28.83

797 -1.51 -141.9 182.3 -21.8 106 803 0.00 1.88 0.00 0.000 6 0.000 0.024 2478 2664 3317 0 0 0 0 0 0 28.83 27.18 28.83

992 -1.51 -141.9 225.2 -21.5 119 996 0.00 1.83 0.00 0.000 4 0.000 0.019 2478 1352 3317 0 0 0 0 0 0 28.83 27.23 28.83

1124 -1.51 -141.9 254.3 -22.6 127 1129 0.00 1.88 0.00 0.000 6 0.000 0.024 2468 2663 3317 0 0 0 0 0 0 28.83 27.24 28.83

1320 -1.51 -141.9 297.6 -22.4 140 1323 0.00 1.83 0.00 0.000 4 0.000 0.019 2468 1347 3316 0 0 0 0 0 0 28.83 27.27 28.83

1402 -1.51 -141.9 316.3 -22.4 145 1408 0.12 1.88 0.00 0.000 6 0.177 0.024 2489 2661 3316 0 0 0 0 0 0 27.09 27.27 28.83

1597 -1.51 -141.9 356.2 -20.0 158 1600 0.00 1.83 0.00 0.000 4 0.000 0.020 2489 1344 3315 0 0 0 0 0 0 28.83 27.29 28.83

1664 -1.51 -141.9 369.6 -20.5 162 1669 0.00 1.95 0.00 0.000 6 0.000 0.024 2480 2665 3315 0 0 0 0 0 0 28.83 27.29 28.83

1860 -1.51 -141.9 410.5 -21.0 175 1864 0.00 1.83 0.00 0.000 4 0.000 0.019 2480 1350 3314 0 0 0 0 0 0 28.83 27.32 28.83

1950 -1.51 -141.9 427.8 -20.7 180 1960 0.00 1.92 0.00 0.000 6 0.000 0.024 2470 2657 3314 0 0 0 0 0 0 28.83 27.31 28.83

2139 -1.51 -141.9 468.5 -21.0 193 2140 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2657 3313 0 0 0 0 0 0 28.83 28.83 28.83

2303 end dive: TARGET_DEPTH_EXCEEDED

state 2303 begin apogee

2307 -0.25 0.0 502.7 -20.5 204 2415 1.23 0.00 102.03 0.922 6 0.128 0.000 2880 2312 2734 0 0 0 0 0 0 27.15 28.83 25.31

2416 end apogee: CONTROL_FINISHED_OK

state 2416 begin climb

2417 1.51 141.9 507.9 0.0 207 2528 1.58 0.00 106.18 0.894 6 0.059 0.000 3464 2312 2156 0 0 0 0 0 0 25.92 28.83 25.10

2814 1.51 141.9 455.1 15.8 230 2816 0.00 0.00 0.00 0.000 6 0.000 0.000 3464 2312 2150 0 0 0 0 0 0 28.83 28.83 28.83

2994 1.51 141.9 426.1 16.4 242 2995 0.00 0.00 0.00 0.000 6 0.000 0.000 3464 2312 2149 0 0 0 0 0 0 28.83 28.83 28.83

3174 1.51 141.9 396.9 16.2 254 3175 0.00 0.00 0.00 0.000 6 0.000 0.000 3464 2312 2148 0 0 0 0 0 0 28.83 28.83 28.83

3354 1.51 141.9 366.9 16.5 266 3357 0.00 1.83 0.00 0.000 4 0.000 0.026 3466 1024 2148 0 0 0 0 0 0 28.83 27.05 28.83

3389 1.51 141.9 361.6 16.5 268 3394 0.00 1.90 0.00 0.000 6 0.000 0.020 3466 2345 2148 0 0 0 0 0 0 28.83 27.08 28.83

3583 1.51 141.9 329.2 16.8 281 3585 0.00 0.00 0.00 0.000 6 0.000 0.000 3466 2345 2148 0 0 0 0 0 0 28.83 28.83 28.83

3763 1.51 141.9 300.7 15.2 293 3769 0.00 1.88 0.00 0.000 4 0.000 0.026 3466 1013 2147 0 0 0 0 0 0 28.83 27.15 28.83

3819 1.51 141.9 293.3 15.4 296 3828 0.00 1.85 0.00 0.000 6 0.000 0.021 3467 2320 2146 0 0 0 0 0 0 28.83 27.18 28.83

4007 1.51 141.9 263.6 14.9 309 4009 0.00 0.00 0.00 0.000 6 0.000 0.000 3467 2320 2146 0 0 0 0 0 0 28.83 28.83 28.83

4187 1.51 141.9 236.4 15.2 321 4189 0.00 0.00 0.00 0.000 6 0.000 0.000 3466 2320 2145 0 0 0 0 0 0 28.83 28.83 28.83

4367 1.51 141.9 208.9 15.1 333 4373 0.00 1.85 0.00 0.000 4 0.000 0.025 3475 994 2145 0 0 0 0 0 0 28.83 27.23 28.83

4439 1.51 141.9 199.3 15.2 337 4449 0.00 1.90 0.00 0.000 6 0.000 0.021 3474 2338 2144 0 0 0 0 0 0 28.83 27.26 28.83

4630 1.51 141.9 169.9 14.8 352 4639 0.00 1.92 0.00 0.000 4 0.000 0.025 3485 1002 2144 0 0 0 0 0 0 28.83 27.26 28.83

4727 1.51 141.9 155.1 14.9 368 4736 0.00 1.88 0.00 0.000 6 0.000 0.021 3484 2333 2144 0 0 0 0 0 0 28.83 27.29 28.83

4800 1.51 141.9 144.1 14.8 377 4809 0.00 2.00 0.00 0.000 4 0.000 0.034 3485 3709 2144 0 0 0 0 0 0 28.83 27.24 28.83

4828 1.51 141.9 139.8 15.3 381 4837 0.10 1.80 0.00 0.000 6 0.155 0.017 3461 2348 2144 0 0 0 0 0 0 27.10 27.32 28.83

4902 1.51 141.9 129.7 13.2 390 4910 0.00 0.00 0.00 0.000 6 0.000 0.000 3461 2347 2144 0 0 0 0 0 0 28.83 28.83 28.83

4974 1.51 141.9 120.2 13.3 399 4982 0.00 0.00 0.00 0.000 6 0.000 0.000 3461 2347 2144 0 0 0 0 0 0 28.83 28.83 28.83

5047 1.51 141.9 110.9 12.6 408 5055 0.00 0.00 0.00 0.000 6 0.000 0.000 3461 2347 2144 0 0 0 0 0 0 28.83 28.83 28.83

5119 1.51 141.9 101.5 12.7 417 5128 0.00 2.00 0.00 0.000 4 0.000 0.034 3461 3706 2144 0 0 0 0 0 0 28.83 27.26 28.83

5182 1.51 141.9 93.6 12.6 427 5191 0.00 1.85 0.00 0.000 6 0.000 0.018 3460 2330 2144 0 0 0 0 0 0 28.83 27.34 28.83

5255 1.51 141.9 85.3 11.5 436 5263 0.00 0.00 0.00 0.000 6 0.000 0.000 3461 2331 2144 0 0 0 0 0 0 28.83 28.83 28.83

5327 1.51 141.9 77.0 11.7 445 5336 0.00 0.00 0.00 0.000 6 0.000 0.000 3461 2331 2144 0 0 0 0 0 0 28.83 28.83 28.83

5401 1.51 148.5 69.9 9.6 454 5409 0.00 0.00 1.23 0.238 6 0.000 0.000 3461 2331 2137 0 0 0 0 0 0 28.83 28.83 26.98

5475 1.52 152.3 62.9 9.8 463 5484 0.00 0.00 2.55 0.252 6 0.000 0.000 3461 2331 2120 0 0 0 0 0 0 28.83 28.83 26.98

5550 1.52 154.0 55.4 10.0 472 5558 0.00 0.00 1.55 0.240 6 0.000 0.000 3461 2331 2112 0 0 0 0 0 0 28.83 28.83 26.99

5624 1.55 175.6 48.7 8.4 481 5641 0.00 0.00 9.32 0.225 6 0.000 0.000 3461 2331 2023 0 0 0 0 0 0 28.83 28.83 26.96

5707 1.56 185.5 41.0 9.3 491 5717 0.00 2.05 4.50 0.213 4 0.000 0.032 3461 3710 1980 0 0 0 0 0 0 28.83 27.20 26.98

5973 1.62 234.7 19.7 6.3 537 5998 0.00 1.85 17.92 0.158 6 0.000 0.017 3467 2311 1778 0 0 0 0 0 0 28.83 27.32 27.01

6064 1.62 234.7 12.2 10.5 548 6072 0.00 2.05 0.00 0.000 4 0.000 0.032 3466 3712 1781 0 0 0 0 0 0 28.83 27.22 28.83

6143 end climb: SURFACE_DEPTH_REACHED

state 6143 begin surface coast

6156 end surface coast: CONTROL_FINISHED_OK

state 6156 begin surface

ID	200	HD_B	0.0134447	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	1.6100001e-05	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	22	HEADING	-1	ROLL_MIN	282	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	48.400002	ROLL_MAX	3852	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2660	ALTIM_PING_DELTA	5
D_TGT	500	TGT_DEFAULT_LAT	3219.3999	C_ROLL_CLIMB	2325	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	160	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	80	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.77999997
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	1	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	165	UPLOAD_DIVES_MAX	-1	C_VBD	2737	DEVICE3	-1
T_MISSION	180	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	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	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	-1107.3596	VBD_MAXERRORS	1	COMPASS_DEVICE	33
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	197	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3889	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2973	PHONE_SUPPLY	2	SEABIRD_T_G	0.004400372
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-66.711494	SEABIRD_T_H	0.00063770427
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001160319	SEABIRD_T_I	2.5625237e-05
MASS	52177	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	3.1304903e-06
NAV_MODE	1	PITCH_GAIN	19.700001	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9220228
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1569983
KALMAN_USE	1	PITCH_AD_RATE	160	COMPASS_USE	4	SEABIRD_C_I	-0.00090645044
HD_A	0.003	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00015506662

GPS1	120814,145535,2730.736,-7004.085,33,0.9,33,-12.2	TGT_NAME	BRAVO
_CALLS	1	TGT_LATLONG	2730.000,-7005.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.174,-0.022
_SM_DEPTHo	0.80	KALMAN_X	-15703.8,-18.8,12.0,18347.1,-446.6
_SM_ANGLEo	-65.1	KALMAN_Y	-23151.3,187.0,-146.8,-30328.9,-1143.8
GPS2	120814,150615,2730.694,-7004.065,6,0.9,6,-12.2	MHEAD_RNG_PITCHd_Wd	274.9,2003,-26.2,-10.101
SPEED_LIMITS	0.175,0.224	D_GRID	500

FINISH	-0.1,1.023336	_10V_AH	10.6,5.638
SM_CCo	6172,47.78,0.116,0,0,1204,375.06	FG_AHR_24Vo	0.000
SM_GC	1.53,8.20,1.40,47.78,0.027,0.017,0.116,170,2627,1204,-8.66,3.65,375.06,0,0,0,0,0,0,27.21,27.30,26.97	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2722.64,-7002.47,120814,080806	MEM	334272
TT8_MAMPS	0.028462,0.028462	DATA_FILE_SIZE	30373,563
HUMID	44.84	CAP_FILE_SIZE	83214,0
INTERNAL_PRESSURE	9.14226	CFSIZE	1024393216,1019527168
TCM_TEMP	23.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	15	GPS	120814,165129,2729.887,-7005.062,4,1.3,4,-12.2
_24V_AH	25.1,7.785

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	199	97.98	SBE_CT	374	24	225.39
Roll_motor	60	34	52.10	WL_BB2F	1829	105	4820.96
VBD_pump_during_apogee	245	921	5675.13	nil	0	0	0.00
VBD_pump_during_surface	47	116	139.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	2780	1673.56	nil	0	0	0.00
Iridium_during_connect	62	160	251.41	nil	0	0	0.00
Iridium_during_xfer	153	223	856.43	nil	0	0	0.00
Transponder_ping	3	420	39.53	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	23	1.70
TT8	1400	13	199.94
LPSleep	2303	2	53.48
TT8_Active	417	12	56.25
TT8_Sampling	2358	38	973.34
TT8_CF8	69	56	41.92
TT8_Kalman	33	62	22.16
Analog_circuits	1081	12	137.56
GPS_charging	0	0	0.00
Compass	2117	15	336.61
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	-1.44	-87.7	0.0	0.0	0	80	0.00	0.00	-63.45	0.000	2	0.000	0.000	168	2676	2933	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.51	-141.9	3.2	-5.9	8	108	8.23	1.90	-8.12	0.000	4	0.200	0.034	2482	1322	3316	0	0	0	0	0	0	26.72	26.97	27.22
269	-1.51	-141.9	59.4	-25.5	39	278	0.00	1.90	0.00	0.000	6	0.000	0.024	2474	2641	3317	0	0	0	0	0	0	28.83	27.05	28.83
342	-1.51	-141.9	78.1	-25.7	48	350	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2641	3316	0	0	0	0	0	0	28.83	28.83	28.83
415	-1.51	-141.9	95.8	-24.0	57	424	0.00	1.85	0.00	0.000	4	0.000	0.020	2474	1316	3317	0	0	0	0	0	0	28.83	27.11	28.83
455	-1.51	-141.9	105.6	-25.3	63	463	0.00	1.92	0.00	0.000	6	0.000	0.024	2464	2656	3316	0	0	0	0	0	0	28.83	27.11	28.83
528	-1.51	-141.9	122.3	-22.9	72	536	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2656	3317	0	0	0	0	0	0	28.83	28.83	28.83
600	-1.51	-141.9	138.8	-22.4	81	609	0.00	1.85	0.00	0.000	4	0.000	0.019	2464	1327	3316	0	0	0	0	0	0	28.83	27.16	28.83
668	-1.51	-141.9	154.3	-22.5	92	678	0.10	1.92	0.00	0.000	6	0.151	0.024	2486	2661	3317	0	0	0	0	0	0	26.98	27.17	28.83
742	-1.51	-141.9	170.2	-21.4	101	751	0.00	1.85	0.00	0.000	4	0.000	0.020	2486	1330	3317	0	0	0	0	0	0	28.83	27.19	28.83
797	-1.51	-141.9	182.3	-21.8	106	803	0.00	1.88	0.00	0.000	6	0.000	0.024	2478	2664	3317	0	0	0	0	0	0	28.83	27.18	28.83
992	-1.51	-141.9	225.2	-21.5	119	996	0.00	1.83	0.00	0.000	4	0.000	0.019	2478	1352	3317	0	0	0	0	0	0	28.83	27.23	28.83
1124	-1.51	-141.9	254.3	-22.6	127	1129	0.00	1.88	0.00	0.000	6	0.000	0.024	2468	2663	3317	0	0	0	0	0	0	28.83	27.24	28.83
1320	-1.51	-141.9	297.6	-22.4	140	1323	0.00	1.83	0.00	0.000	4	0.000	0.019	2468	1347	3316	0	0	0	0	0	0	28.83	27.27	28.83
1402	-1.51	-141.9	316.3	-22.4	145	1408	0.12	1.88	0.00	0.000	6	0.177	0.024	2489	2661	3316	0	0	0	0	0	0	27.09	27.27	28.83
1597	-1.51	-141.9	356.2	-20.0	158	1600	0.00	1.83	0.00	0.000	4	0.000	0.020	2489	1344	3315	0	0	0	0	0	0	28.83	27.29	28.83
1664	-1.51	-141.9	369.6	-20.5	162	1669	0.00	1.95	0.00	0.000	6	0.000	0.024	2480	2665	3315	0	0	0	0	0	0	28.83	27.29	28.83
1860	-1.51	-141.9	410.5	-21.0	175	1864	0.00	1.83	0.00	0.000	4	0.000	0.019	2480	1350	3314	0	0	0	0	0	0	28.83	27.32	28.83
1950	-1.51	-141.9	427.8	-20.7	180	1960	0.00	1.92	0.00	0.000	6	0.000	0.024	2470	2657	3314	0	0	0	0	0	0	28.83	27.31	28.83
2139	-1.51	-141.9	468.5	-21.0	193	2140	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2657	3313	0	0	0	0	0	0	28.83	28.83	28.83
2303	end dive: TARGET_DEPTH_EXCEEDED
state	2303	begin apogee
2307	-0.25	0.0	502.7	-20.5	204	2415	1.23	0.00	102.03	0.922	6	0.128	0.000	2880	2312	2734	0	0	0	0	0	0	27.15	28.83	25.31
2416	end apogee: CONTROL_FINISHED_OK
state	2416	begin climb
2417	1.51	141.9	507.9	0.0	207	2528	1.58	0.00	106.18	0.894	6	0.059	0.000	3464	2312	2156	0	0	0	0	0	0	25.92	28.83	25.10
2814	1.51	141.9	455.1	15.8	230	2816	0.00	0.00	0.00	0.000	6	0.000	0.000	3464	2312	2150	0	0	0	0	0	0	28.83	28.83	28.83
2994	1.51	141.9	426.1	16.4	242	2995	0.00	0.00	0.00	0.000	6	0.000	0.000	3464	2312	2149	0	0	0	0	0	0	28.83	28.83	28.83
3174	1.51	141.9	396.9	16.2	254	3175	0.00	0.00	0.00	0.000	6	0.000	0.000	3464	2312	2148	0	0	0	0	0	0	28.83	28.83	28.83
3354	1.51	141.9	366.9	16.5	266	3357	0.00	1.83	0.00	0.000	4	0.000	0.026	3466	1024	2148	0	0	0	0	0	0	28.83	27.05	28.83
3389	1.51	141.9	361.6	16.5	268	3394	0.00	1.90	0.00	0.000	6	0.000	0.020	3466	2345	2148	0	0	0	0	0	0	28.83	27.08	28.83
3583	1.51	141.9	329.2	16.8	281	3585	0.00	0.00	0.00	0.000	6	0.000	0.000	3466	2345	2148	0	0	0	0	0	0	28.83	28.83	28.83
3763	1.51	141.9	300.7	15.2	293	3769	0.00	1.88	0.00	0.000	4	0.000	0.026	3466	1013	2147	0	0	0	0	0	0	28.83	27.15	28.83
3819	1.51	141.9	293.3	15.4	296	3828	0.00	1.85	0.00	0.000	6	0.000	0.021	3467	2320	2146	0	0	0	0	0	0	28.83	27.18	28.83
4007	1.51	141.9	263.6	14.9	309	4009	0.00	0.00	0.00	0.000	6	0.000	0.000	3467	2320	2146	0	0	0	0	0	0	28.83	28.83	28.83
4187	1.51	141.9	236.4	15.2	321	4189	0.00	0.00	0.00	0.000	6	0.000	0.000	3466	2320	2145	0	0	0	0	0	0	28.83	28.83	28.83
4367	1.51	141.9	208.9	15.1	333	4373	0.00	1.85	0.00	0.000	4	0.000	0.025	3475	994	2145	0	0	0	0	0	0	28.83	27.23	28.83
4439	1.51	141.9	199.3	15.2	337	4449	0.00	1.90	0.00	0.000	6	0.000	0.021	3474	2338	2144	0	0	0	0	0	0	28.83	27.26	28.83
4630	1.51	141.9	169.9	14.8	352	4639	0.00	1.92	0.00	0.000	4	0.000	0.025	3485	1002	2144	0	0	0	0	0	0	28.83	27.26	28.83
4727	1.51	141.9	155.1	14.9	368	4736	0.00	1.88	0.00	0.000	6	0.000	0.021	3484	2333	2144	0	0	0	0	0	0	28.83	27.29	28.83
4800	1.51	141.9	144.1	14.8	377	4809	0.00	2.00	0.00	0.000	4	0.000	0.034	3485	3709	2144	0	0	0	0	0	0	28.83	27.24	28.83
4828	1.51	141.9	139.8	15.3	381	4837	0.10	1.80	0.00	0.000	6	0.155	0.017	3461	2348	2144	0	0	0	0	0	0	27.10	27.32	28.83
4902	1.51	141.9	129.7	13.2	390	4910	0.00	0.00	0.00	0.000	6	0.000	0.000	3461	2347	2144	0	0	0	0	0	0	28.83	28.83	28.83
4974	1.51	141.9	120.2	13.3	399	4982	0.00	0.00	0.00	0.000	6	0.000	0.000	3461	2347	2144	0	0	0	0	0	0	28.83	28.83	28.83
5047	1.51	141.9	110.9	12.6	408	5055	0.00	0.00	0.00	0.000	6	0.000	0.000	3461	2347	2144	0	0	0	0	0	0	28.83	28.83	28.83
5119	1.51	141.9	101.5	12.7	417	5128	0.00	2.00	0.00	0.000	4	0.000	0.034	3461	3706	2144	0	0	0	0	0	0	28.83	27.26	28.83
5182	1.51	141.9	93.6	12.6	427	5191	0.00	1.85	0.00	0.000	6	0.000	0.018	3460	2330	2144	0	0	0	0	0	0	28.83	27.34	28.83
5255	1.51	141.9	85.3	11.5	436	5263	0.00	0.00	0.00	0.000	6	0.000	0.000	3461	2331	2144	0	0	0	0	0	0	28.83	28.83	28.83
5327	1.51	141.9	77.0	11.7	445	5336	0.00	0.00	0.00	0.000	6	0.000	0.000	3461	2331	2144	0	0	0	0	0	0	28.83	28.83	28.83
5401	1.51	148.5	69.9	9.6	454	5409	0.00	0.00	1.23	0.238	6	0.000	0.000	3461	2331	2137	0	0	0	0	0	0	28.83	28.83	26.98
5475	1.52	152.3	62.9	9.8	463	5484	0.00	0.00	2.55	0.252	6	0.000	0.000	3461	2331	2120	0	0	0	0	0	0	28.83	28.83	26.98
5550	1.52	154.0	55.4	10.0	472	5558	0.00	0.00	1.55	0.240	6	0.000	0.000	3461	2331	2112	0	0	0	0	0	0	28.83	28.83	26.99
5624	1.55	175.6	48.7	8.4	481	5641	0.00	0.00	9.32	0.225	6	0.000	0.000	3461	2331	2023	0	0	0	0	0	0	28.83	28.83	26.96
5707	1.56	185.5	41.0	9.3	491	5717	0.00	2.05	4.50	0.213	4	0.000	0.032	3461	3710	1980	0	0	0	0	0	0	28.83	27.20	26.98
5973	1.62	234.7	19.7	6.3	537	5998	0.00	1.85	17.92	0.158	6	0.000	0.017	3467	2311	1778	0	0	0	0	0	0	28.83	27.32	27.01
6064	1.62	234.7	12.2	10.5	548	6072	0.00	2.05	0.00	0.000	4	0.000	0.032	3466	3712	1781	0	0	0	0	0	0	28.83	27.22	28.83
6143	end climb: SURFACE_DEPTH_REACHED
state	6143	begin surface coast
6156	end surface coast: CONTROL_FINISHED_OK
state	6156	begin surface