Glider dive log

Totten Dec14 * SG017 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 17 HD_B 0.0099999998 PITCH_ADJ_DBAND 1 COMPASS_USE 4

MISSION 16 HD_C 2.8e-05 ROLL_MIN 233 ALTIM_BOTTOM_PING_RANGE 0

DIVE 4 HEADING -1 ROLL_MAX 3877 ALTIM_TOP_PING_RANGE 0

N_DIVES 5 ESCAPE_HEADING 0 ROLL_DEG 33 ALTIM_BOTTOM_TURN_MARGIN 20

D_SURF 2 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2500 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.5 C_ROLL_CLIMB 2000 ALTIM_TOP_MIN_OBSTACLE 0

D_TGT 300 TGT_DEFAULT_LAT 66 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

D_ABORT 350 TGT_DEFAULT_LON 6 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

D_NO_BLEED 100 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_BOOST 2 SM_CC 350 R_PORT_OVSHOOT 17 ALTIM_PULSE 3

T_BOOST 0 N_FILEKB 8 R_STBD_OVSHOOT 14 ALTIM_SENSITIVITY 3

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 320 XPDR_VALID 0

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 PROTOCOL 9 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 452 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_MAX 3835 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 C_VBD 2520 DEVICE1 2

T_DIVE 100 UPLOAD_DIVES_MAX 2 VBD_DBAND 2 DEVICE2 37

T_MISSION 130 CALL_TRIES 3 VBD_CNV -0.24529999 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 VBD_TIMEOUT 540 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.001 DEVICE5 -1

T_TURN_SAMPINT -5 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_LOITER 0 T_GPS 3 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_EPIRB 0 N_GPS 20 UNCOM_BLEED 20 LOGGERDEVICE2 -1

USE_BATHY -1 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

USE_ICE 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 DBDW 0 COMPASS_DEVICE 97

D_OFFGRID 300 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MIN 584 AH0_24V 90 RAFOS_DEVICE 16

MAX_BUOY 150 PITCH_MAX 3731 AH0_10V 78 XPDR_DEVICE 24

COURSE_BIAS 0 C_PITCH 2580 MINV_24V 22 SIM_W 0

GLIDE_SLOPE 30 PITCH_DBAND 0.1 MINV_10V 9.5 SIM_PITCH 0

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 FG_AHR_10V 0 SEABIRD_T_G 0.004332595

RHO 1.02775 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_T_H 0.00063243619

MASS 52210 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.4193625e-05

MASS_COMP 0 PITCH_GAIN 20 PRESSURE_YINT -4.7807236 SEABIRD_T_J 2.5746874e-06

NAV_MODE 2 PITCH_TIMEOUT 16 PRESSURE_SLOPE 9.1207337e-05 SEABIRD_C_G -9.8293695

FERRY_MAX 60 PITCH_AD_RATE 130 AD7714Ch0Gain 64 SEABIRD_C_H 1.1005322

KALMAN_USE 2 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015286342

HD_A 0.003 PITCH_ADJ_GAIN 0.029999999 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0002052265

AD7714Ch0Gain 64 D_OFFGRID 300 PHONE_DEVICE 49 SEABIRD_T_J 2.5746874e-06

AH0_10V 78 D_PITCH 0 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_24V 90 D_SAFE 0 PITCH_ADJ_DBAND 1 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_ADJ_GAIN 0.029999999 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 20 D_TGT 300 PITCH_AD_RATE 130 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 60 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAX 3731 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_MIN 584 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0.5 PITCH_TIMEOUT 16 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 66

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON 6

CALL_NDIVES 1 HD_A 0.003 PITCH_W_GAIN 0 T_ABORT 1440

CALL_TRIES 3 HD_B 0.0099999998 PRESSURE_SLOPE 9.1207337e-05 T_BOOST 0

CALL_WAIT 60 HD_C 2.8e-05 PRESSURE_YINT -4.7807236 T_DIVE 100

CAPMAXSIZE 100000 HEADING -1 PROTOCOL 9 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_GPS 3

CF8_MAXERRORS 0 HEAPDBG 0 P_OVSHOOT_WITHG 0 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 17 RAFOS_DEVICE 16 T_MISSION 130

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 RELAUNCH 1 T_TURN 225

C_PITCH 2580 LOGGERDEVICE1 -1 RHO 1.02775 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2000 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_VBD 2520 LOGGERDEVICE4 -1 ROLL_AD_RATE 320 UPLOAD_DIVES_MAX 2

DBDW 0 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY -1

DEEPGLIDER 0 MASS 52210 ROLL_DEG 33 USE_ICE 0

DEVICE1 2 MASS_COMP 0 ROLL_MAX 3877 VBD_BLEED_AD_RATE 8

DEVICE2 37 MAX_BUOY 150 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 9.5 ROLL_MIN 233 VBD_DBAND 2

DEVICE4 -1 MINV_24V 22 ROLL_TIMEOUT 15 VBD_MAX 3835

DEVICE5 -1 MISSION 16 R_PORT_OVSHOOT 17 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 14 VBD_MIN 452

DIVE 4 NAV_MODE 2 SEABIRD_C_G -9.8293695 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 350 NOCOMM_ACTION 163 SEABIRD_C_H 1.1005322 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 2 N_DIVES 5 SEABIRD_C_I -0.0015286342 VBD_TIMEOUT 540

D_CALL 0 N_FILEKB 8 SEABIRD_C_J 0.0002052265 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 20 SEABIRD_T_G 0.004332595 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00063243619 XPDR_INHIBIT 90

D_NO_BLEED 100 N_NOSURFACE 0 SEABIRD_T_I 2.4193625e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 251214,133409,-6625.599,12014.782,87,3.7,108,-106.8 SPEED_LIMITS 0.173,0.252

_CALLS 1 TGT_NAME TARGET_NE

_XMS_NAKs 0 TGT_LATLONG -6625.000,12025.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.23 MHEAD_RNG_PITCHd_Wd 200.0,7681,-17.9,-10.000,-21.61,2170

_SM_ANGLEo -61.1 D_GRID 702

GPS2 251214,133916,-6625.601,12014.742,17,3.6,37,-106.8

Post-dive calculations and measurements:

FINISH 0.4,1.027535 _24V_AH 23.49,2.392

SM_CCo 5979,108.43,0.815,1,0,1093,350.04 _10V_AH 9.98,1.971

SM_GC 1.16,10.40,0.95,108.43,0.058,0.077,0.815,586,2505,1093,-9.13,-0.34,350.04,0,0,0,0,1,0,24.72,24.72,23.59 FG_AHR_24Vo 0.000

RAFOS_CLK 346 FG_AHR_10Vo 0.000

RAFOS 0,1419516065,14.033333,14.018056,176,64,58,0,0,0,668,219,202,0,0,0 MEM 298456

RAFOS_FIX -6622.438965,12002.483398,251214,141448,2,129,7.08 DATA_FILE_SIZE 46846,994

IRIDIUM_FIX -6553.70,12018.10,251214,120210 CAP_FILE_SIZE 99947,0

TT8_MAMPS 0.020972,0.020972 CFSIZE 256368640,251904000

HUMID 69.88 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.67221 SOUNDSPEED 1465.0

TCM_TEMP 12.90 CURRENT 0.014,347.39,1

XPDR_PINGS 0 GPS 251214,152355,-6625.529,12016.805,76,6.4,96,-106.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 221 126.07 SBE_CT 674 23 379.65

Roll_motor 73 105 183.45 WL_BB2FLVMG 0 0 0.00

VBD_pump_during_apogee 274 1044 6725.83 nil 0 0 0.00

VBD_pump_during_surface 108 815 2076.97 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 193 126 574.77 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 38 36 14.00

TT8 2370 13 321.00

LPSleep 1608 2 37.08

TT8_Active 639 12 81.83

TT8_Sampling 1654 41 681.76

TT8_CF8 154 51 78.80

TT8_Kalman 0 0 0.00

Analog_circuits 1593 10 165.38

GPS_charging 0 0 0.00

Compass 1419 5 70.83

RAFOS 720 1 10.78

Transponder 0 5 0.03

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

16 -1.04 -145.9 586 2493 1244 1162 0.0 0.0 0 153 0.00 0.00 -134.18 0.000 16386 0.000 0.000 586 2492 2935 2952 2919 0 0 0 0 0 0 28.83 28.83 28.83

156 -1.04 -145.9 586 2492 2952 2920 3.6 -7.4 23 182 11.32 2.17 -5.20 0.000 18948 0.221 0.106 2343 1343 3116 3156 3077 0 0 0 0 0 0 24.47 24.52 24.93

224 -1.00 -145.9 2343 1342 3156 3077 17.7 -15.1 35 231 0.00 2.03 0.00 0.000 1030 0.000 0.060 2343 2505 3116 3156 3077 0 0 0 0 0 0 28.83 24.63 28.83

414 -0.94 -145.9 2342 2505 3157 3078 39.9 -11.3 72 420 0.12 0.00 0.00 0.000 2054 0.144 0.000 2366 2505 3117 3157 3078 0 0 0 0 0 0 24.67 28.83 28.83

603 -0.94 -145.9 2366 2505 3157 3077 61.5 -11.5 109 610 0.00 2.12 0.00 0.000 516 0.000 0.089 2366 1341 3117 3157 3077 0 0 0 0 0 0 28.83 24.65 28.83

653 -0.94 -145.9 2365 1341 3157 3078 66.9 -10.7 118 659 0.00 2.03 0.00 0.000 1030 0.000 0.058 2366 2509 3117 3157 3077 0 0 0 0 0 0 28.83 24.71 28.83

841 -0.94 -145.9 2365 2509 3157 3077 87.2 -11.2 155 847 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2509 3117 3157 3077 0 0 0 0 0 0 28.83 28.83 28.83

1030 -0.94 -145.9 2366 2509 3157 3077 107.8 -10.7 192 1037 0.00 2.12 0.00 0.000 516 0.000 0.085 2366 1334 3117 3158 3077 0 0 0 0 0 0 28.83 24.67 28.83

1089 -0.94 -145.9 2365 1333 3158 3077 114.3 -11.2 203 1096 0.00 2.03 0.00 0.000 1030 0.000 0.059 2366 2500 3118 3158 3078 0 0 0 0 0 0 28.83 24.73 28.83

1279 -0.94 -145.9 2366 2500 3158 3077 135.0 -11.2 240 1284 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2500 3117 3158 3077 0 0 0 0 0 0 28.83 28.83 28.83

1466 -0.94 -145.9 2366 2500 3158 3077 155.2 -10.8 277 1473 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2500 3117 3158 3077 0 0 0 0 0 0 28.83 28.83 28.83

1656 -0.94 -145.9 2365 2500 3158 3077 175.2 -10.5 314 1662 0.00 2.10 0.00 0.000 516 0.000 0.085 2366 1339 3117 3158 3077 0 0 0 0 0 0 28.83 24.70 28.83

1716 -0.94 -145.9 2365 1338 3158 3077 181.5 -10.4 325 1723 0.00 2.03 0.00 0.000 1030 0.000 0.059 2366 2505 3117 3158 3077 0 0 0 0 0 0 28.83 24.76 28.83

1907 -0.94 -145.9 2365 2505 3158 3077 201.2 -10.3 362 1913 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2505 3117 3158 3077 0 0 0 0 0 0 28.83 28.83 28.83

2096 -0.94 -145.9 2366 2505 3158 3078 220.5 -10.1 399 2102 0.00 2.10 0.00 0.000 516 0.000 0.083 2366 1341 3117 3158 3077 0 0 0 0 0 0 28.83 24.72 28.83

2145 -0.98 -145.9 2365 1340 3158 3077 225.5 -10.2 408 2152 0.00 2.03 0.00 0.000 1030 0.000 0.060 2366 2508 3117 3158 3077 0 0 0 0 0 0 28.83 24.77 28.83

2335 -0.98 -145.9 2366 2508 3158 3077 244.8 -10.4 445 2341 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2508 3117 3158 3077 0 0 0 0 0 0 28.83 28.83 28.83

2529 -0.98 -145.9 2365 2508 3158 3077 265.1 -10.5 462 2532 0.00 2.10 0.00 0.000 516 0.000 0.084 2366 1341 3117 3158 3077 0 0 0 0 0 0 28.83 24.72 28.83

2584 -1.01 -145.9 2365 1341 3158 3077 271.1 -10.7 473 2591 0.00 2.03 0.00 0.000 1030 0.000 0.060 2366 2506 3117 3158 3077 0 0 0 0 0 0 28.83 24.78 28.83

2770 -1.01 -145.9 2365 2506 3158 3077 290.3 -10.3 483 2771 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2506 3117 3158 3077 0 0 0 0 0 0 28.83 28.83 28.83

2868 end dive: TARGET_DEPTH_EXCEEDED

state 2868 begin apogee

2874 -0.25 0.0 2365 1990 3158 3077 300.6 -10.3 488 2997 0.82 0.00 119.15 1.045 10246 0.128 0.000 2521 1990 2520 2584 2456 0 0 0 0 0 0 24.75 28.83 23.49

2998 end apogee: CONTROL_FINISHED_OK

state 2998 begin climb

3001 1.04 145.9 2521 1990 2583 2454 305.4 0.0 494 3130 1.42 0.00 121.65 1.033 10246 0.091 0.000 2803 1990 1923 2007 1840 0 0 0 0 0 0 24.22 28.83 23.49

3312 1.11 173.4 2802 1990 2002 1829 284.4 8.7 510 3342 0.00 2.22 23.35 1.010 8452 0.000 0.080 2803 3165 1812 1901 1723 0 0 0 0 0 0 28.83 24.18 23.53

3425 1.19 183.9 2802 3165 1897 1719 273.8 9.5 533 3443 0.17 2.12 9.85 0.919 11270 0.082 0.088 2839 2005 1770 1860 1680 0 0 0 0 0 0 24.57 24.53 23.65

3630 1.19 183.9 2838 2005 1857 1676 251.0 11.5 547 3634 0.00 2.08 0.00 0.000 260 0.000 0.080 2839 3166 1766 1856 1676 0 0 0 0 0 0 28.83 24.59 28.83

3677 1.19 183.9 2838 3166 1857 1676 245.6 11.8 556 3683 0.00 2.12 0.00 0.000 1030 0.000 0.088 2839 2000 1766 1857 1676 0 0 0 0 0 0 28.83 24.60 28.83

3866 1.19 183.9 2838 2000 1856 1674 223.9 11.4 593 3873 0.00 2.10 0.00 0.000 260 0.000 0.080 2838 3174 1765 1856 1674 0 0 0 0 0 0 28.83 24.63 28.83

3916 1.19 183.9 2838 3174 1856 1674 218.1 11.8 602 3923 0.00 2.15 0.00 0.000 1030 0.000 0.087 2839 1996 1764 1855 1674 0 0 0 0 0 0 28.83 24.63 28.83

4106 1.19 183.9 2838 1997 1855 1673 197.0 10.9 639 4112 0.00 2.10 0.00 0.000 260 0.000 0.079 2839 3172 1764 1855 1673 0 0 0 0 0 0 28.83 24.64 28.83

4149 1.19 183.9 2838 3172 1854 1673 192.2 11.2 647 4156 0.00 2.15 0.00 0.000 1030 0.000 0.087 2839 1994 1764 1855 1673 0 0 0 0 0 0 28.83 24.64 28.83

4339 1.19 183.9 2838 1993 1854 1673 171.6 10.8 684 4346 0.00 2.10 0.00 0.000 260 0.000 0.078 2839 3173 1763 1854 1673 0 0 0 0 0 0 28.83 24.65 28.83

4388 1.19 183.9 2838 3173 1854 1673 166.2 11.1 693 4396 0.00 2.12 0.00 0.000 1030 0.000 0.086 2838 2000 1763 1854 1672 0 0 0 0 0 0 28.83 24.65 28.83

4580 1.19 183.9 2838 2000 1854 1672 145.9 10.8 730 4586 0.00 2.08 0.00 0.000 260 0.000 0.078 2838 3167 1763 1854 1672 0 0 0 0 0 0 28.83 24.67 28.83

4635 1.19 183.9 2838 3167 1854 1672 139.8 11.3 740 4642 0.00 2.12 0.00 0.000 1030 0.000 0.089 2839 2000 1763 1854 1672 0 0 0 0 0 0 28.83 24.66 28.83

4824 1.19 183.9 2838 2000 1853 1672 120.0 10.4 777 4831 0.00 2.10 0.00 0.000 260 0.000 0.078 2839 3172 1762 1853 1672 0 0 0 0 0 0 28.83 24.68 28.83

4864 1.19 183.9 2838 3172 1853 1672 115.7 11.0 784 4870 0.00 2.15 0.00 0.000 1030 0.000 0.088 2839 1993 1762 1853 1672 0 0 0 0 0 0 28.83 24.67 28.83

5053 1.19 183.9 2838 1994 1852 1672 95.5 10.4 821 5060 0.00 2.10 0.00 0.000 260 0.000 0.077 2838 3169 1762 1853 1672 0 0 0 0 0 0 28.83 24.69 28.83

5093 1.19 183.9 2838 3169 1853 1672 91.1 11.1 828 5100 0.00 2.12 0.00 0.000 1030 0.000 0.087 2838 1999 1762 1853 1672 0 0 0 0 0 0 28.83 24.68 28.83

5283 1.19 183.9 2838 1998 1853 1672 71.1 10.7 865 5290 0.00 2.10 0.00 0.000 260 0.000 0.077 2839 3175 1762 1853 1672 0 0 0 0 0 0 28.83 24.70 28.83

5343 1.19 183.9 2838 3175 1853 1672 64.7 10.7 876 5350 0.00 2.15 0.00 0.000 1030 0.000 0.086 2839 1990 1762 1853 1672 0 0 0 0 0 0 28.83 24.70 28.83

5533 1.19 183.9 2838 1990 1852 1672 44.5 10.6 913 5540 0.00 2.10 0.00 0.000 260 0.000 0.076 2839 3168 1762 1852 1672 0 0 0 0 0 0 28.83 24.70 28.83

5573 1.19 184.8 2838 3168 1853 1672 40.5 10.0 920 5579 0.00 2.12 0.00 0.000 1030 0.000 0.086 2839 1999 1762 1853 1672 0 0 0 0 0 0 28.83 24.70 28.83

5763 1.19 184.8 2838 1998 1852 1672 20.6 11.6 957 5770 0.00 2.08 0.00 0.000 260 0.000 0.076 2839 3171 1762 1852 1672 0 0 0 0 0 0 28.83 24.71 28.83

5803 1.19 184.8 2838 3170 1852 1671 16.3 10.7 964 5809 0.00 2.12 0.00 0.000 1030 0.000 0.086 2839 1999 1762 1852 1672 0 0 0 0 0 0 28.83 24.70 28.83

5935 end climb: SURFACE_DEPTH_REACHED

state 5936 begin surface coast

5958 end surface coast: CONTROL_FINISHED_OK

state 5959 begin surface

ID	17	HD_B	0.0099999998	PITCH_ADJ_DBAND	1	COMPASS_USE	4
MISSION	16	HD_C	2.8e-05	ROLL_MIN	233	ALTIM_BOTTOM_PING_RANGE	0
DIVE	4	HEADING	-1	ROLL_MAX	3877	ALTIM_TOP_PING_RANGE	0
N_DIVES	5	ESCAPE_HEADING	0	ROLL_DEG	33	ALTIM_BOTTOM_TURN_MARGIN	20
D_SURF	2	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2500	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.5	C_ROLL_CLIMB	2000	ALTIM_TOP_MIN_OBSTACLE	0
D_TGT	300	TGT_DEFAULT_LAT	66	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
D_ABORT	350	TGT_DEFAULT_LON	6	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
D_NO_BLEED	100	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_BOOST	2	SM_CC	350	R_PORT_OVSHOOT	17	ALTIM_PULSE	3
T_BOOST	0	N_FILEKB	8	R_STBD_OVSHOOT	14	ALTIM_SENSITIVITY	3
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	320	XPDR_VALID	0
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	PROTOCOL	9	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	452	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_MAX	3835	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	C_VBD	2520	DEVICE1	2
T_DIVE	100	UPLOAD_DIVES_MAX	2	VBD_DBAND	2	DEVICE2	37
T_MISSION	130	CALL_TRIES	3	VBD_CNV	-0.24529999	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	VBD_TIMEOUT	540	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.001	DEVICE5	-1
T_TURN_SAMPINT	-5	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_LOITER	0	T_GPS	3	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_EPIRB	0	N_GPS	20	UNCOM_BLEED	20	LOGGERDEVICE2	-1
USE_BATHY	-1	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
USE_ICE	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	DBDW	0	COMPASS_DEVICE	97
D_OFFGRID	300	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MIN	584	AH0_24V	90	RAFOS_DEVICE	16
MAX_BUOY	150	PITCH_MAX	3731	AH0_10V	78	XPDR_DEVICE	24
COURSE_BIAS	0	C_PITCH	2580	MINV_24V	22	SIM_W	0
GLIDE_SLOPE	30	PITCH_DBAND	0.1	MINV_10V	9.5	SIM_PITCH	0
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	FG_AHR_10V	0	SEABIRD_T_G	0.004332595
RHO	1.02775	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_T_H	0.00063243619
MASS	52210	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_T_I	2.4193625e-05
MASS_COMP	0	PITCH_GAIN	20	PRESSURE_YINT	-4.7807236	SEABIRD_T_J	2.5746874e-06
NAV_MODE	2	PITCH_TIMEOUT	16	PRESSURE_SLOPE	9.1207337e-05	SEABIRD_C_G	-9.8293695
FERRY_MAX	60	PITCH_AD_RATE	130	AD7714Ch0Gain	64	SEABIRD_C_H	1.1005322
KALMAN_USE	2	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015286342
HD_A	0.003	PITCH_ADJ_GAIN	0.029999999	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0002052265

GPS1	251214,133409,-6625.599,12014.782,87,3.7,108,-106.8	SPEED_LIMITS	0.173,0.252
_CALLS	1	TGT_NAME	TARGET_NE
_XMS_NAKs	0	TGT_LATLONG	-6625.000,12025.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.23	MHEAD_RNG_PITCHd_Wd	200.0,7681,-17.9,-10.000,-21.61,2170
_SM_ANGLEo	-61.1	D_GRID	702
GPS2	251214,133916,-6625.601,12014.742,17,3.6,37,-106.8

FINISH	0.4,1.027535	_24V_AH	23.49,2.392
SM_CCo	5979,108.43,0.815,1,0,1093,350.04	_10V_AH	9.98,1.971
SM_GC	1.16,10.40,0.95,108.43,0.058,0.077,0.815,586,2505,1093,-9.13,-0.34,350.04,0,0,0,0,1,0,24.72,24.72,23.59	FG_AHR_24Vo	0.000
RAFOS_CLK	346	FG_AHR_10Vo	0.000
RAFOS	0,1419516065,14.033333,14.018056,176,64,58,0,0,0,668,219,202,0,0,0	MEM	298456
RAFOS_FIX	-6622.438965,12002.483398,251214,141448,2,129,7.08	DATA_FILE_SIZE	46846,994
IRIDIUM_FIX	-6553.70,12018.10,251214,120210	CAP_FILE_SIZE	99947,0
TT8_MAMPS	0.020972,0.020972	CFSIZE	256368640,251904000
HUMID	69.88	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.67221	SOUNDSPEED	1465.0
TCM_TEMP	12.90	CURRENT	0.014,347.39,1
XPDR_PINGS	0	GPS	251214,152355,-6625.529,12016.805,76,6.4,96,-106.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	221	126.07	SBE_CT	674	23	379.65
Roll_motor	73	105	183.45	WL_BB2FLVMG	0	0	0.00
VBD_pump_during_apogee	274	1044	6725.83	nil	0	0	0.00
VBD_pump_during_surface	108	815	2076.97	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	193	126	574.77	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	38	36	14.00
TT8	2370	13	321.00
LPSleep	1608	2	37.08
TT8_Active	639	12	81.83
TT8_Sampling	1654	41	681.76
TT8_CF8	154	51	78.80
TT8_Kalman	0	0	0.00
Analog_circuits	1593	10	165.38
GPS_charging	0	0	0.00
Compass	1419	5	70.83
RAFOS	720	1	10.78
Transponder	0	5	0.03

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
16	-1.04	-145.9	586	2493	1244	1162	0.0	0.0	0	153	0.00	0.00	-134.18	0.000	16386	0.000	0.000	586	2492	2935	2952	2919	0	0	0	0	0	0	28.83	28.83	28.83
156	-1.04	-145.9	586	2492	2952	2920	3.6	-7.4	23	182	11.32	2.17	-5.20	0.000	18948	0.221	0.106	2343	1343	3116	3156	3077	0	0	0	0	0	0	24.47	24.52	24.93
224	-1.00	-145.9	2343	1342	3156	3077	17.7	-15.1	35	231	0.00	2.03	0.00	0.000	1030	0.000	0.060	2343	2505	3116	3156	3077	0	0	0	0	0	0	28.83	24.63	28.83
414	-0.94	-145.9	2342	2505	3157	3078	39.9	-11.3	72	420	0.12	0.00	0.00	0.000	2054	0.144	0.000	2366	2505	3117	3157	3078	0	0	0	0	0	0	24.67	28.83	28.83
603	-0.94	-145.9	2366	2505	3157	3077	61.5	-11.5	109	610	0.00	2.12	0.00	0.000	516	0.000	0.089	2366	1341	3117	3157	3077	0	0	0	0	0	0	28.83	24.65	28.83
653	-0.94	-145.9	2365	1341	3157	3078	66.9	-10.7	118	659	0.00	2.03	0.00	0.000	1030	0.000	0.058	2366	2509	3117	3157	3077	0	0	0	0	0	0	28.83	24.71	28.83
841	-0.94	-145.9	2365	2509	3157	3077	87.2	-11.2	155	847	0.00	0.00	0.00	0.000	6	0.000	0.000	2366	2509	3117	3157	3077	0	0	0	0	0	0	28.83	28.83	28.83
1030	-0.94	-145.9	2366	2509	3157	3077	107.8	-10.7	192	1037	0.00	2.12	0.00	0.000	516	0.000	0.085	2366	1334	3117	3158	3077	0	0	0	0	0	0	28.83	24.67	28.83
1089	-0.94	-145.9	2365	1333	3158	3077	114.3	-11.2	203	1096	0.00	2.03	0.00	0.000	1030	0.000	0.059	2366	2500	3118	3158	3078	0	0	0	0	0	0	28.83	24.73	28.83
1279	-0.94	-145.9	2366	2500	3158	3077	135.0	-11.2	240	1284	0.00	0.00	0.00	0.000	6	0.000	0.000	2366	2500	3117	3158	3077	0	0	0	0	0	0	28.83	28.83	28.83
1466	-0.94	-145.9	2366	2500	3158	3077	155.2	-10.8	277	1473	0.00	0.00	0.00	0.000	6	0.000	0.000	2366	2500	3117	3158	3077	0	0	0	0	0	0	28.83	28.83	28.83
1656	-0.94	-145.9	2365	2500	3158	3077	175.2	-10.5	314	1662	0.00	2.10	0.00	0.000	516	0.000	0.085	2366	1339	3117	3158	3077	0	0	0	0	0	0	28.83	24.70	28.83
1716	-0.94	-145.9	2365	1338	3158	3077	181.5	-10.4	325	1723	0.00	2.03	0.00	0.000	1030	0.000	0.059	2366	2505	3117	3158	3077	0	0	0	0	0	0	28.83	24.76	28.83
1907	-0.94	-145.9	2365	2505	3158	3077	201.2	-10.3	362	1913	0.00	0.00	0.00	0.000	6	0.000	0.000	2366	2505	3117	3158	3077	0	0	0	0	0	0	28.83	28.83	28.83
2096	-0.94	-145.9	2366	2505	3158	3078	220.5	-10.1	399	2102	0.00	2.10	0.00	0.000	516	0.000	0.083	2366	1341	3117	3158	3077	0	0	0	0	0	0	28.83	24.72	28.83
2145	-0.98	-145.9	2365	1340	3158	3077	225.5	-10.2	408	2152	0.00	2.03	0.00	0.000	1030	0.000	0.060	2366	2508	3117	3158	3077	0	0	0	0	0	0	28.83	24.77	28.83
2335	-0.98	-145.9	2366	2508	3158	3077	244.8	-10.4	445	2341	0.00	0.00	0.00	0.000	6	0.000	0.000	2366	2508	3117	3158	3077	0	0	0	0	0	0	28.83	28.83	28.83
2529	-0.98	-145.9	2365	2508	3158	3077	265.1	-10.5	462	2532	0.00	2.10	0.00	0.000	516	0.000	0.084	2366	1341	3117	3158	3077	0	0	0	0	0	0	28.83	24.72	28.83
2584	-1.01	-145.9	2365	1341	3158	3077	271.1	-10.7	473	2591	0.00	2.03	0.00	0.000	1030	0.000	0.060	2366	2506	3117	3158	3077	0	0	0	0	0	0	28.83	24.78	28.83
2770	-1.01	-145.9	2365	2506	3158	3077	290.3	-10.3	483	2771	0.00	0.00	0.00	0.000	6	0.000	0.000	2366	2506	3117	3158	3077	0	0	0	0	0	0	28.83	28.83	28.83
2868	end dive: TARGET_DEPTH_EXCEEDED
state	2868	begin apogee
2874	-0.25	0.0	2365	1990	3158	3077	300.6	-10.3	488	2997	0.82	0.00	119.15	1.045	10246	0.128	0.000	2521	1990	2520	2584	2456	0	0	0	0	0	0	24.75	28.83	23.49
2998	end apogee: CONTROL_FINISHED_OK
state	2998	begin climb
3001	1.04	145.9	2521	1990	2583	2454	305.4	0.0	494	3130	1.42	0.00	121.65	1.033	10246	0.091	0.000	2803	1990	1923	2007	1840	0	0	0	0	0	0	24.22	28.83	23.49
3312	1.11	173.4	2802	1990	2002	1829	284.4	8.7	510	3342	0.00	2.22	23.35	1.010	8452	0.000	0.080	2803	3165	1812	1901	1723	0	0	0	0	0	0	28.83	24.18	23.53
3425	1.19	183.9	2802	3165	1897	1719	273.8	9.5	533	3443	0.17	2.12	9.85	0.919	11270	0.082	0.088	2839	2005	1770	1860	1680	0	0	0	0	0	0	24.57	24.53	23.65
3630	1.19	183.9	2838	2005	1857	1676	251.0	11.5	547	3634	0.00	2.08	0.00	0.000	260	0.000	0.080	2839	3166	1766	1856	1676	0	0	0	0	0	0	28.83	24.59	28.83
3677	1.19	183.9	2838	3166	1857	1676	245.6	11.8	556	3683	0.00	2.12	0.00	0.000	1030	0.000	0.088	2839	2000	1766	1857	1676	0	0	0	0	0	0	28.83	24.60	28.83
3866	1.19	183.9	2838	2000	1856	1674	223.9	11.4	593	3873	0.00	2.10	0.00	0.000	260	0.000	0.080	2838	3174	1765	1856	1674	0	0	0	0	0	0	28.83	24.63	28.83
3916	1.19	183.9	2838	3174	1856	1674	218.1	11.8	602	3923	0.00	2.15	0.00	0.000	1030	0.000	0.087	2839	1996	1764	1855	1674	0	0	0	0	0	0	28.83	24.63	28.83
4106	1.19	183.9	2838	1997	1855	1673	197.0	10.9	639	4112	0.00	2.10	0.00	0.000	260	0.000	0.079	2839	3172	1764	1855	1673	0	0	0	0	0	0	28.83	24.64	28.83
4149	1.19	183.9	2838	3172	1854	1673	192.2	11.2	647	4156	0.00	2.15	0.00	0.000	1030	0.000	0.087	2839	1994	1764	1855	1673	0	0	0	0	0	0	28.83	24.64	28.83
4339	1.19	183.9	2838	1993	1854	1673	171.6	10.8	684	4346	0.00	2.10	0.00	0.000	260	0.000	0.078	2839	3173	1763	1854	1673	0	0	0	0	0	0	28.83	24.65	28.83
4388	1.19	183.9	2838	3173	1854	1673	166.2	11.1	693	4396	0.00	2.12	0.00	0.000	1030	0.000	0.086	2838	2000	1763	1854	1672	0	0	0	0	0	0	28.83	24.65	28.83
4580	1.19	183.9	2838	2000	1854	1672	145.9	10.8	730	4586	0.00	2.08	0.00	0.000	260	0.000	0.078	2838	3167	1763	1854	1672	0	0	0	0	0	0	28.83	24.67	28.83
4635	1.19	183.9	2838	3167	1854	1672	139.8	11.3	740	4642	0.00	2.12	0.00	0.000	1030	0.000	0.089	2839	2000	1763	1854	1672	0	0	0	0	0	0	28.83	24.66	28.83
4824	1.19	183.9	2838	2000	1853	1672	120.0	10.4	777	4831	0.00	2.10	0.00	0.000	260	0.000	0.078	2839	3172	1762	1853	1672	0	0	0	0	0	0	28.83	24.68	28.83
4864	1.19	183.9	2838	3172	1853	1672	115.7	11.0	784	4870	0.00	2.15	0.00	0.000	1030	0.000	0.088	2839	1993	1762	1853	1672	0	0	0	0	0	0	28.83	24.67	28.83
5053	1.19	183.9	2838	1994	1852	1672	95.5	10.4	821	5060	0.00	2.10	0.00	0.000	260	0.000	0.077	2838	3169	1762	1853	1672	0	0	0	0	0	0	28.83	24.69	28.83
5093	1.19	183.9	2838	3169	1853	1672	91.1	11.1	828	5100	0.00	2.12	0.00	0.000	1030	0.000	0.087	2838	1999	1762	1853	1672	0	0	0	0	0	0	28.83	24.68	28.83
5283	1.19	183.9	2838	1998	1853	1672	71.1	10.7	865	5290	0.00	2.10	0.00	0.000	260	0.000	0.077	2839	3175	1762	1853	1672	0	0	0	0	0	0	28.83	24.70	28.83
5343	1.19	183.9	2838	3175	1853	1672	64.7	10.7	876	5350	0.00	2.15	0.00	0.000	1030	0.000	0.086	2839	1990	1762	1853	1672	0	0	0	0	0	0	28.83	24.70	28.83
5533	1.19	183.9	2838	1990	1852	1672	44.5	10.6	913	5540	0.00	2.10	0.00	0.000	260	0.000	0.076	2839	3168	1762	1852	1672	0	0	0	0	0	0	28.83	24.70	28.83
5573	1.19	184.8	2838	3168	1853	1672	40.5	10.0	920	5579	0.00	2.12	0.00	0.000	1030	0.000	0.086	2839	1999	1762	1853	1672	0	0	0	0	0	0	28.83	24.70	28.83
5763	1.19	184.8	2838	1998	1852	1672	20.6	11.6	957	5770	0.00	2.08	0.00	0.000	260	0.000	0.076	2839	3171	1762	1852	1672	0	0	0	0	0	0	28.83	24.71	28.83
5803	1.19	184.8	2838	3170	1852	1671	16.3	10.7	964	5809	0.00	2.12	0.00	0.000	1030	0.000	0.086	2839	1999	1762	1852	1672	0	0	0	0	0	0	28.83	24.70	28.83
5935	end climb: SURFACE_DEPTH_REACHED
state	5936	begin surface coast
5958	end surface coast: CONTROL_FINISHED_OK
state	5959	begin surface