Glider dive log

Cuddy Oct13 * SG195 * Dive index * Mission links * Dive 51 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 195 HD_C 1.6100001e-05 ROLL_MAX 3758 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 8 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 51 ESCAPE_HEADING 0 C_ROLL_DIVE 2025 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_PING_DEPTH 700

D_SURF 2 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 47 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 250 R_STBD_OVSHOOT 35 XPDR_VALID 3

D_BOOST 10 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 -0.77999997

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2820 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 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 390 CALL_WAIT 45 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 -4527.835 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 207 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2545 FG_AHR_10V 0 SEABIRD_T_G 0.0043948898

GLIDE_SLOPE 40 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000640176

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.7039805e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -50.110214 SEABIRD_T_J 3.3535807e-06

MASS 59371 PITCH_GAIN 22.200001 PRESSURE_SLOPE 0.0001168043 SEABIRD_C_G -9.7607336

MASS_COMP 3973.1001 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1271561

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014806761

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019408959

KALMAN_USE 13 PITCH_ADJ_GAIN 0.039999999 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0.5 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 224 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 0.5 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0.039999999 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 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 22.200001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 700 FERRY_MAX 45 PITCH_MAX 3915 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 207 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 40 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 330

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001168043 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -50.110214 T_GPS 5

CALL_WAIT 45 HD_C 1.6100001e-05 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -4527.835

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 390

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 195 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 -0.77999997 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 13 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2545 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2025 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2025 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2820 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3758 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 59371 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3973.1001 ROLL_MIN 224 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 47 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 35 VBD_MIN 500

DEVICE4 -1 MISSION 8 SEABIRD_C_G -9.7607336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1271561 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0014806761 VBD_TIMEOUT 720

DIVE 51 NOCOMM_ACTION 163 SEABIRD_C_J 0.00019408959 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043948898 XPDR_DEVICE 24

D_BOOST 10 N_FILEKB 4 SEABIRD_T_H 0.000640176 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.7039805e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.3535807e-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 011113,171134,4805.706,-12546.295,31,0.8,31,17.0 TGT_NAME SEARCH_B

_CALLS 2 TGT_LATLONG 4815.000,-12600.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.152,0.208

_SM_DEPTHo 1.18 KALMAN_X -361.8,0.0,0.0,-57307.9,858.2

_SM_ANGLEo -58.2 KALMAN_Y -22932.0,0.0,0.0,117057.2,-1984.0

GPS2 011113,171938,4805.752,-12546.268,5,0.8,5,17.0 MHEAD_RNG_PITCHd_Wd 306.9,24086,-17.6,-10.000,-21.21,2209

SPEED_LIMITS 0.119,0.258 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.013712 _10V_AH 10.2,5.732

SM_CCo 8972,0.00,0.000,0,0,1509,321.59 FG_AHR_24Vo 0.000

SM_GC 1.05,7.10,0.00,0.00,0.032,0.000,0.000,178,2029,1509,-7.27,0.11,321.59,0,0,0,0,0,0,26.22,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.51,-12546.49,011113,171741 MEM 314284

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 23707,341

HUMID 44.48 CAP_FILE_SIZE 88588,0

INTERNAL_PRESSURE 8.90787 CFSIZE 2097872896,2089385984

TCM_TEMP 12.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 011113,195029,4806.997,-12547.191,18,1.1,18,17.0

_24V_AH 24.1,6.878

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 205 99.07 SBE_CT 232 22 126.11

Roll_motor 60 53 78.14 AA4330 451 11 122.22

VBD_pump_during_apogee 364 856 7518.77 WL_BB2FLVMT 272 105 690.02

VBD_pump_during_surface 0 0 0.00 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 378 74 683.87 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 30 2.80

TT8 1024 15 158.98

LPSleep 6454 2 144.18

TT8_Active 381 15 59.16

TT8_Sampling 1553 43 691.94

TT8_CF8 57 53 31.43

TT8_Kalman 0 69 0.27

Analog_circuits 1400 14 200.02

GPS_charging 0 0 0.00

Compass 1158 8 97.36

RAFOS 0 0 0.00

Transponder 1 5 0.05

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

15 -0.79 -146.6 180 2026 1325 1047 0.0 0.0 0 90 0.00 0.00 -72.93 0.000 16386 0.000 0.000 180 2026 3051 3065 3037 0 0 0 0 0 0 28.83 28.83 28.83

93 -0.79 -146.6 180 2026 3066 3037 3.4 -5.0 7 120 7.75 2.17 -8.90 0.000 18948 0.205 0.054 2285 633 3420 3430 3411 0 0 0 0 0 0 25.81 26.06 26.39

235 -0.50 -146.6 2285 632 3431 3412 32.4 -21.2 21 244 0.30 2.20 0.00 0.000 3078 0.128 0.034 2374 2032 3421 3431 3412 0 0 0 0 0 0 25.98 26.17 28.83

544 -0.55 -146.6 2373 2032 3433 3412 64.3 -8.7 52 553 0.00 2.17 0.00 0.000 260 0.000 0.045 2366 3428 3422 3433 3412 0 0 0 0 0 0 28.83 26.24 28.83

617 -0.58 -146.6 2365 3428 3433 3412 71.2 -9.9 59 626 0.00 2.10 0.00 0.000 1030 0.000 0.028 2366 2014 3422 3433 3412 0 0 0 0 0 0 28.83 26.32 28.83

927 -0.66 -146.6 2365 2014 3435 3412 103.2 -10.4 79 932 0.00 2.20 0.00 0.000 260 0.000 0.045 2355 3428 3423 3435 3412 0 0 0 0 0 0 28.83 26.33 28.83

1007 -0.75 -146.6 2355 3428 3435 3412 111.1 -9.8 83 1013 0.15 2.10 0.00 0.000 5126 0.069 0.028 2273 2015 3423 3435 3412 0 0 0 0 0 0 26.39 26.40 28.83

1327 -0.65 -146.6 2273 2015 3435 3412 151.8 -13.1 99 1333 0.17 2.17 0.00 0.000 2308 0.133 0.044 2321 3428 3423 3435 3412 0 0 0 0 0 0 26.29 26.39 28.83

1396 -0.61 -146.6 2321 3428 3435 3412 158.9 -12.4 101 1400 0.00 2.08 0.00 0.000 1030 0.000 0.028 2321 2025 3423 3435 3412 0 0 0 0 0 0 28.83 26.46 28.83

1712 -0.68 -146.6 2321 2024 3435 3412 195.5 -10.9 112 1713 0.00 0.00 0.00 0.000 6 0.000 0.000 2321 2024 3423 3435 3412 0 0 0 0 0 0 28.83 28.83 28.83

2012 -0.76 -146.6 2321 2024 3435 3412 225.4 -9.9 122 2018 0.00 2.17 0.00 0.000 260 0.000 0.046 2311 3428 3423 3435 3412 0 0 0 0 0 0 28.83 26.47 28.83

2150 -0.84 -146.6 2311 3428 3435 3412 237.9 -10.4 126 2155 0.12 2.08 0.00 0.000 5126 0.080 0.029 2240 2022 3423 3435 3411 0 0 0 0 0 0 26.51 26.53 28.83

2457 -0.73 -146.6 2240 2021 3434 3412 280.7 -13.7 136 2459 0.22 0.00 0.00 0.000 2054 0.129 0.000 2308 2021 3423 3434 3412 0 0 0 0 0 0 26.39 28.83 28.83

2757 -0.82 -146.6 2307 2021 3433 3412 315.0 -11.2 144 2763 0.00 2.17 0.00 0.000 260 0.000 0.047 2300 3428 3422 3434 3411 0 0 0 0 0 0 28.83 26.52 28.83

2886 -0.91 -146.6 2300 3428 3433 3411 329.2 -11.4 146 2890 0.15 2.08 0.00 0.000 5126 0.070 0.029 2219 2025 3422 3433 3411 0 0 0 0 0 0 26.58 26.58 28.83

3232 -0.80 -146.6 2219 2025 3434 3411 384.4 -15.5 152 3235 0.22 0.00 0.00 0.000 2054 0.129 0.000 2286 2023 3421 3433 3410 0 0 0 0 0 0 26.44 28.83 28.83

3533 -0.85 -146.6 2286 2024 3433 3410 414.4 -9.6 157 3538 0.00 2.17 0.00 0.000 260 0.000 0.047 2279 3427 3421 3433 3409 0 0 0 0 0 0 28.83 26.55 28.83

3576 -0.91 -146.6 2278 3426 3433 3409 414.4 -9.6 157 3580 0.00 2.08 0.00 0.000 1030 0.000 0.030 2279 2027 3421 3434 3409 0 0 0 0 0 0 28.83 26.61 28.83

3887 -0.95 -146.6 2278 2026 3433 3408 459.7 -13.3 163 3889 0.12 0.00 0.00 0.000 4102 0.082 0.000 2210 2026 3420 3432 3409 0 0 0 0 0 0 26.67 28.83 28.83

4188 -1.24 -146.6 2209 2026 3433 3408 482.5 -5.3 168 4194 0.15 2.17 0.00 0.000 4356 0.080 0.046 2131 3428 3420 3433 3407 0 0 0 0 0 0 26.65 26.57 28.83

4426 end dive: NO_VERTICAL_VELOCITY

state 4426 begin apogee

4432 -0.23 0.0 2131 2019 3433 3407 482.6 0.0 172 4549 0.90 0.00 112.07 0.857 10246 0.056 0.000 2480 2019 2820 2914 2726 0 0 0 0 0 0 26.60 28.83 24.37

4550 end apogee: CONTROL_FINISHED_OK

state 4550 begin climb

4551 0.79 146.6 2479 2019 2914 2726 482.5 0.0 174 4675 0.88 2.30 114.35 0.833 10756 0.049 0.042 2817 642 2221 2337 2106 0 0 0 0 0 0 25.10 24.72 24.09

4968 0.61 146.6 2816 642 2333 2104 447.9 10.0 181 4975 0.25 2.17 0.00 0.000 5126 0.123 0.034 2744 2031 2218 2333 2104 0 0 0 0 0 0 25.66 25.77 28.83

5329 0.63 215.6 2744 2031 2333 2102 421.8 6.8 187 5389 0.00 2.28 53.65 0.805 8708 0.000 0.043 2745 638 1939 2074 1804 0 0 0 0 0 0 28.83 25.25 24.63

5514 0.70 256.1 1824 638 2042 1795 405.6 8.1 190 5553 0.00 2.22 32.47 0.779 9222 0.000 0.034 2745 2025 1776 1914 1638 0 0 0 0 0 0 28.83 25.70 24.59

5872 0.81 258.1 2745 2025 1913 1632 369.5 9.9 196 5874 0.17 0.00 0.00 0.000 2054 0.064 0.000 2832 2025 1772 1913 1632 0 0 0 0 0 0 25.94 28.83 28.83

6173 0.67 258.1 2832 2025 1911 1632 324.6 15.3 201 6179 0.20 2.17 0.00 0.000 4612 0.129 0.042 2777 635 1771 1911 1631 0 0 0 0 0 0 25.98 26.07 28.83

6234 0.57 258.1 1856 635 1882 1628 317.2 14.9 202 6239 0.12 2.20 0.00 0.000 5126 0.109 0.034 2733 2028 1769 1909 1630 0 0 0 0 0 0 26.03 26.13 28.83

6562 0.75 258.1 2732 2028 1909 1630 284.9 10.1 210 6564 0.17 0.00 0.00 0.000 2054 0.065 0.000 2819 2029 1769 1909 1630 0 0 0 0 0 0 26.29 28.83 28.83

6862 0.68 258.1 2819 2029 1909 1630 239.5 15.1 220 6868 0.17 2.17 0.00 0.000 4612 0.129 0.042 2772 634 1769 1909 1630 0 0 0 0 0 0 26.20 26.28 28.83

6900 0.63 258.1 2772 632 1909 1629 235.6 14.6 221 6904 0.00 2.12 0.00 0.000 1030 0.000 0.034 2772 2029 1768 1909 1628 0 0 0 0 0 0 28.83 26.34 28.83

7222 0.72 258.1 2772 2028 1909 1629 195.4 11.8 232 7223 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2029 1769 1909 1629 0 0 0 0 0 0 28.83 28.83 28.83

7522 0.81 261.9 2771 2028 1909 1628 163.8 9.8 242 7530 0.10 0.00 4.90 0.499 10246 0.096 0.000 2831 2029 1751 1890 1613 0 0 0 0 0 0 26.49 28.83 25.56

7823 0.76 261.9 2830 2029 1889 1613 124.7 13.7 255 7825 0.15 0.00 0.00 0.000 4102 0.135 0.000 2789 2029 1751 1889 1613 0 0 0 0 0 0 26.32 28.83 28.83

8122 0.88 261.9 2789 2029 1889 1613 91.1 11.4 270 8127 0.12 2.15 0.00 0.000 2564 0.081 0.042 2866 640 1751 1889 1613 0 0 0 0 0 0 26.52 26.42 28.83

8208 0.84 261.9 2866 640 1890 1613 81.0 13.3 274 8213 0.17 2.10 0.00 0.000 5126 0.131 0.034 2816 2027 1751 1889 1613 0 0 0 0 0 0 26.34 26.48 28.83

8515 0.93 279.9 2816 2027 1890 1613 49.1 9.2 303 8536 0.00 2.25 15.38 0.566 8708 0.000 0.044 2825 632 1677 1815 1540 0 0 0 0 0 0 28.83 26.27 25.64

8559 1.03 319.1 2823 632 1814 1537 45.5 8.2 307 8600 0.15 2.12 31.30 0.580 11270 0.071 0.034 2900 2029 1518 1655 1381 0 0 0 0 0 0 26.34 26.34 25.33

8887 end climb: SURFACE_DEPTH_REACHED

state 8887 begin surface coast

8899 end surface coast: CONTROL_FINISHED_OK

state 8899 begin surface

ID	195	HD_C	1.6100001e-05	ROLL_MAX	3758	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	8	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	51	ESCAPE_HEADING	0	C_ROLL_DIVE	2025	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_PING_DEPTH	700
D_SURF	2	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	47	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	250	R_STBD_OVSHOOT	35	XPDR_VALID	3
D_BOOST	10	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	-0.77999997
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2820	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	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	390	CALL_WAIT	45	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	-4527.835	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	207	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2545	FG_AHR_10V	0	SEABIRD_T_G	0.0043948898
GLIDE_SLOPE	40	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000640176
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.7039805e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-50.110214	SEABIRD_T_J	3.3535807e-06
MASS	59371	PITCH_GAIN	22.200001	PRESSURE_SLOPE	0.0001168043	SEABIRD_C_G	-9.7607336
MASS_COMP	3973.1001	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1271561
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014806761
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019408959
KALMAN_USE	13	PITCH_ADJ_GAIN	0.039999999	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0.5	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	224	ALTIM_TOP_PING_RANGE	0

GPS1	011113,171134,4805.706,-12546.295,31,0.8,31,17.0	TGT_NAME	SEARCH_B
_CALLS	2	TGT_LATLONG	4815.000,-12600.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.152,0.208
_SM_DEPTHo	1.18	KALMAN_X	-361.8,0.0,0.0,-57307.9,858.2
_SM_ANGLEo	-58.2	KALMAN_Y	-22932.0,0.0,0.0,117057.2,-1984.0
GPS2	011113,171938,4805.752,-12546.268,5,0.8,5,17.0	MHEAD_RNG_PITCHd_Wd	306.9,24086,-17.6,-10.000,-21.21,2209
SPEED_LIMITS	0.119,0.258	D_GRID	990

FINISH	0.2,1.013712	_10V_AH	10.2,5.732
SM_CCo	8972,0.00,0.000,0,0,1509,321.59	FG_AHR_24Vo	0.000
SM_GC	1.05,7.10,0.00,0.00,0.032,0.000,0.000,178,2029,1509,-7.27,0.11,321.59,0,0,0,0,0,0,26.22,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.51,-12546.49,011113,171741	MEM	314284
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	23707,341
HUMID	44.48	CAP_FILE_SIZE	88588,0
INTERNAL_PRESSURE	8.90787	CFSIZE	2097872896,2089385984
TCM_TEMP	12.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	011113,195029,4806.997,-12547.191,18,1.1,18,17.0
_24V_AH	24.1,6.878

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	205	99.07	SBE_CT	232	22	126.11
Roll_motor	60	53	78.14	AA4330	451	11	122.22
VBD_pump_during_apogee	364	856	7518.77	WL_BB2FLVMT	272	105	690.02
VBD_pump_during_surface	0	0	0.00	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	378	74	683.87	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	30	2.80
TT8	1024	15	158.98
LPSleep	6454	2	144.18
TT8_Active	381	15	59.16
TT8_Sampling	1553	43	691.94
TT8_CF8	57	53	31.43
TT8_Kalman	0	69	0.27
Analog_circuits	1400	14	200.02
GPS_charging	0	0	0.00
Compass	1158	8	97.36
RAFOS	0	0	0.00
Transponder	1	5	0.05

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
15	-0.79	-146.6	180	2026	1325	1047	0.0	0.0	0	90	0.00	0.00	-72.93	0.000	16386	0.000	0.000	180	2026	3051	3065	3037	0	0	0	0	0	0	28.83	28.83	28.83
93	-0.79	-146.6	180	2026	3066	3037	3.4	-5.0	7	120	7.75	2.17	-8.90	0.000	18948	0.205	0.054	2285	633	3420	3430	3411	0	0	0	0	0	0	25.81	26.06	26.39
235	-0.50	-146.6	2285	632	3431	3412	32.4	-21.2	21	244	0.30	2.20	0.00	0.000	3078	0.128	0.034	2374	2032	3421	3431	3412	0	0	0	0	0	0	25.98	26.17	28.83
544	-0.55	-146.6	2373	2032	3433	3412	64.3	-8.7	52	553	0.00	2.17	0.00	0.000	260	0.000	0.045	2366	3428	3422	3433	3412	0	0	0	0	0	0	28.83	26.24	28.83
617	-0.58	-146.6	2365	3428	3433	3412	71.2	-9.9	59	626	0.00	2.10	0.00	0.000	1030	0.000	0.028	2366	2014	3422	3433	3412	0	0	0	0	0	0	28.83	26.32	28.83
927	-0.66	-146.6	2365	2014	3435	3412	103.2	-10.4	79	932	0.00	2.20	0.00	0.000	260	0.000	0.045	2355	3428	3423	3435	3412	0	0	0	0	0	0	28.83	26.33	28.83
1007	-0.75	-146.6	2355	3428	3435	3412	111.1	-9.8	83	1013	0.15	2.10	0.00	0.000	5126	0.069	0.028	2273	2015	3423	3435	3412	0	0	0	0	0	0	26.39	26.40	28.83
1327	-0.65	-146.6	2273	2015	3435	3412	151.8	-13.1	99	1333	0.17	2.17	0.00	0.000	2308	0.133	0.044	2321	3428	3423	3435	3412	0	0	0	0	0	0	26.29	26.39	28.83
1396	-0.61	-146.6	2321	3428	3435	3412	158.9	-12.4	101	1400	0.00	2.08	0.00	0.000	1030	0.000	0.028	2321	2025	3423	3435	3412	0	0	0	0	0	0	28.83	26.46	28.83
1712	-0.68	-146.6	2321	2024	3435	3412	195.5	-10.9	112	1713	0.00	0.00	0.00	0.000	6	0.000	0.000	2321	2024	3423	3435	3412	0	0	0	0	0	0	28.83	28.83	28.83
2012	-0.76	-146.6	2321	2024	3435	3412	225.4	-9.9	122	2018	0.00	2.17	0.00	0.000	260	0.000	0.046	2311	3428	3423	3435	3412	0	0	0	0	0	0	28.83	26.47	28.83
2150	-0.84	-146.6	2311	3428	3435	3412	237.9	-10.4	126	2155	0.12	2.08	0.00	0.000	5126	0.080	0.029	2240	2022	3423	3435	3411	0	0	0	0	0	0	26.51	26.53	28.83
2457	-0.73	-146.6	2240	2021	3434	3412	280.7	-13.7	136	2459	0.22	0.00	0.00	0.000	2054	0.129	0.000	2308	2021	3423	3434	3412	0	0	0	0	0	0	26.39	28.83	28.83
2757	-0.82	-146.6	2307	2021	3433	3412	315.0	-11.2	144	2763	0.00	2.17	0.00	0.000	260	0.000	0.047	2300	3428	3422	3434	3411	0	0	0	0	0	0	28.83	26.52	28.83
2886	-0.91	-146.6	2300	3428	3433	3411	329.2	-11.4	146	2890	0.15	2.08	0.00	0.000	5126	0.070	0.029	2219	2025	3422	3433	3411	0	0	0	0	0	0	26.58	26.58	28.83
3232	-0.80	-146.6	2219	2025	3434	3411	384.4	-15.5	152	3235	0.22	0.00	0.00	0.000	2054	0.129	0.000	2286	2023	3421	3433	3410	0	0	0	0	0	0	26.44	28.83	28.83
3533	-0.85	-146.6	2286	2024	3433	3410	414.4	-9.6	157	3538	0.00	2.17	0.00	0.000	260	0.000	0.047	2279	3427	3421	3433	3409	0	0	0	0	0	0	28.83	26.55	28.83
3576	-0.91	-146.6	2278	3426	3433	3409	414.4	-9.6	157	3580	0.00	2.08	0.00	0.000	1030	0.000	0.030	2279	2027	3421	3434	3409	0	0	0	0	0	0	28.83	26.61	28.83
3887	-0.95	-146.6	2278	2026	3433	3408	459.7	-13.3	163	3889	0.12	0.00	0.00	0.000	4102	0.082	0.000	2210	2026	3420	3432	3409	0	0	0	0	0	0	26.67	28.83	28.83
4188	-1.24	-146.6	2209	2026	3433	3408	482.5	-5.3	168	4194	0.15	2.17	0.00	0.000	4356	0.080	0.046	2131	3428	3420	3433	3407	0	0	0	0	0	0	26.65	26.57	28.83
4426	end dive: NO_VERTICAL_VELOCITY
state	4426	begin apogee
4432	-0.23	0.0	2131	2019	3433	3407	482.6	0.0	172	4549	0.90	0.00	112.07	0.857	10246	0.056	0.000	2480	2019	2820	2914	2726	0	0	0	0	0	0	26.60	28.83	24.37
4550	end apogee: CONTROL_FINISHED_OK
state	4550	begin climb
4551	0.79	146.6	2479	2019	2914	2726	482.5	0.0	174	4675	0.88	2.30	114.35	0.833	10756	0.049	0.042	2817	642	2221	2337	2106	0	0	0	0	0	0	25.10	24.72	24.09
4968	0.61	146.6	2816	642	2333	2104	447.9	10.0	181	4975	0.25	2.17	0.00	0.000	5126	0.123	0.034	2744	2031	2218	2333	2104	0	0	0	0	0	0	25.66	25.77	28.83
5329	0.63	215.6	2744	2031	2333	2102	421.8	6.8	187	5389	0.00	2.28	53.65	0.805	8708	0.000	0.043	2745	638	1939	2074	1804	0	0	0	0	0	0	28.83	25.25	24.63
5514	0.70	256.1	1824	638	2042	1795	405.6	8.1	190	5553	0.00	2.22	32.47	0.779	9222	0.000	0.034	2745	2025	1776	1914	1638	0	0	0	0	0	0	28.83	25.70	24.59
5872	0.81	258.1	2745	2025	1913	1632	369.5	9.9	196	5874	0.17	0.00	0.00	0.000	2054	0.064	0.000	2832	2025	1772	1913	1632	0	0	0	0	0	0	25.94	28.83	28.83
6173	0.67	258.1	2832	2025	1911	1632	324.6	15.3	201	6179	0.20	2.17	0.00	0.000	4612	0.129	0.042	2777	635	1771	1911	1631	0	0	0	0	0	0	25.98	26.07	28.83
6234	0.57	258.1	1856	635	1882	1628	317.2	14.9	202	6239	0.12	2.20	0.00	0.000	5126	0.109	0.034	2733	2028	1769	1909	1630	0	0	0	0	0	0	26.03	26.13	28.83
6562	0.75	258.1	2732	2028	1909	1630	284.9	10.1	210	6564	0.17	0.00	0.00	0.000	2054	0.065	0.000	2819	2029	1769	1909	1630	0	0	0	0	0	0	26.29	28.83	28.83
6862	0.68	258.1	2819	2029	1909	1630	239.5	15.1	220	6868	0.17	2.17	0.00	0.000	4612	0.129	0.042	2772	634	1769	1909	1630	0	0	0	0	0	0	26.20	26.28	28.83
6900	0.63	258.1	2772	632	1909	1629	235.6	14.6	221	6904	0.00	2.12	0.00	0.000	1030	0.000	0.034	2772	2029	1768	1909	1628	0	0	0	0	0	0	28.83	26.34	28.83
7222	0.72	258.1	2772	2028	1909	1629	195.4	11.8	232	7223	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2029	1769	1909	1629	0	0	0	0	0	0	28.83	28.83	28.83
7522	0.81	261.9	2771	2028	1909	1628	163.8	9.8	242	7530	0.10	0.00	4.90	0.499	10246	0.096	0.000	2831	2029	1751	1890	1613	0	0	0	0	0	0	26.49	28.83	25.56
7823	0.76	261.9	2830	2029	1889	1613	124.7	13.7	255	7825	0.15	0.00	0.00	0.000	4102	0.135	0.000	2789	2029	1751	1889	1613	0	0	0	0	0	0	26.32	28.83	28.83
8122	0.88	261.9	2789	2029	1889	1613	91.1	11.4	270	8127	0.12	2.15	0.00	0.000	2564	0.081	0.042	2866	640	1751	1889	1613	0	0	0	0	0	0	26.52	26.42	28.83
8208	0.84	261.9	2866	640	1890	1613	81.0	13.3	274	8213	0.17	2.10	0.00	0.000	5126	0.131	0.034	2816	2027	1751	1889	1613	0	0	0	0	0	0	26.34	26.48	28.83
8515	0.93	279.9	2816	2027	1890	1613	49.1	9.2	303	8536	0.00	2.25	15.38	0.566	8708	0.000	0.044	2825	632	1677	1815	1540	0	0	0	0	0	0	28.83	26.27	25.64
8559	1.03	319.1	2823	632	1814	1537	45.5	8.2	307	8600	0.15	2.12	31.30	0.580	11270	0.071	0.034	2900	2029	1518	1655	1381	0	0	0	0	0	0	26.34	26.34	25.33
8887	end climb: SURFACE_DEPTH_REACHED
state	8887	begin surface coast
8899	end surface coast: CONTROL_FINISHED_OK
state	8899	begin surface