Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 25 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 192 HD_C 1.6100001e-05 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 25 ESCAPE_HEADING 0 C_ROLL_DIVE 2350 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 14 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 450 R_STBD_OVSHOOT 12 XPDR_VALID 6

D_BOOST 110 N_FILEKB 8 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2794 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 160 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 190 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 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 20 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 -2 T_GPS_CHARGE -1060.8698 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 145 MINV_24V 12 SIM_W 0

MAX_BUOY 190 PITCH_MAX 3924 MINV_10V 12 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2535 FG_AHR_10V 0 SEABIRD_T_G 0.0042877649

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062881736

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.2009486e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -62.7798 SEABIRD_T_J 2.217299e-06

MASS 52018 PITCH_GAIN 23 PRESSURE_SLOPE 0.0001164018 SEABIRD_C_G -9.8550158

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1245382

NAV_MODE 0 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013153109

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017883891

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4

HD_A 0.0033904 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0092102997 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 450

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 450 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 23 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3924 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 145 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 160

CALL_NDIVES 1 HD_A 0.0033904 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0092102997 PRESSURE_YINT -62.7798 T_GPS 5

CALL_WAIT 60 HD_C 1.6100001e-05 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -1060.8698

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 190

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 192 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT 0.5 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2535 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2400 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2350 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -2

C_VBD 2794 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52018 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 318 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 190 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 12 R_PORT_OVSHOOT 14 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 12 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 0 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 25 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017883891 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0042877649 XPDR_DEVICE 24

D_BOOST 110 N_FILEKB 8 SEABIRD_T_H 0.00062881736 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2009486e-05 XPDR_VALID 6

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.217299e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 200913,191035,6624.483,-6038.085,29,1.3,29,-33.5 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200913,191915,6624.301,-6038.250,5,1.4,5,-33.5 MHEAD_RNG_PITCHd_Wd 100.2,181062,-14.5,-9.375,-17.87,2984

SPEED_LIMITS 0.162,0.291 D_GRID 422

Post-dive calculations and measurements:

FINISH 0.5,1.024889 _24V_AH 12.6,14.213

SM_CCo 8022,13.85,0.190,0,0,956,450.13 _10V_AH 12.8,0.000

SM_GC 1.32,8.07,0.10,13.85,0.112,0.190,0.190,140,2344,956,-7.44,0.40,450.13,0,0,0,0,0,0,14.48,14.47,14.41 FG_AHR_24Vo 0.000

RAFOS_CLK 379 FG_AHR_10Vo 0.000

RAFOS 0,1379707263,20.033333,20.017500,57,56,51,50,50,50,194,215,138,125,164,235 MEM 150788

RAFOS_FIX 6621.393066,-6026.824219,200913,161644,2,90,2.78 DATA_FILE_SIZE 40080,916

IRIDIUM_FIX 6553.70,-6037.95,200913,191909 CAP_FILE_SIZE 103897,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,249270272

HUMID 47.67 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

INTERNAL_PRESSURE 8.64484 SOUNDSPEED 1451.1

TCM_TEMP 12.40 GPS 200913,213535,6623.078,-6037.076,32,1.2,32,-33.5

XPDR_PINGS 32

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 448 123.00 SBE_CT 638 23 186.84

Roll_motor 83 198 209.89 SBE_O2 0 0 0.00

VBD_pump_during_apogee 648 2267 18539.07 nil 0 0 0.00

VBD_pump_during_surface 13 190 33.24 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 311 141 555.65 nil 0 0 0.00

Transponder_ping 8 420 42.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.41

TT8 2063 14 395.12

LPSleep 3465 2 102.46

TT8_Active 707 14 128.75

TT8_Sampling 1794 33 773.91

TT8_CF8 540 39 274.74

TT8_Kalman 0 0 0.00

Analog_circuits 1944 12 298.67

GPS_charging 0 0 0.00

Compass 1533 6 132.33

RAFOS 2520 1 48.38

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

21 -0.86 -184.9 121 2345 993 913 0.0 0.0 0 111 0.00 0.00 -88.32 0.000 16386 0.000 0.000 120 2346 2672 2744 2600 0 0 0 0 0 0 28.83 28.83 28.83

119 -0.86 -184.9 121 2346 2744 2602 3.2 -5.9 16 155 10.55 2.58 -18.08 0.000 18948 0.448 0.149 2250 938 3549 3762 3337 0 0 0 0 0 0 14.12 14.26 14.50

254 -0.75 -184.9 2250 937 3763 3337 36.3 -22.1 39 261 0.20 2.65 0.00 0.000 3078 0.288 0.148 2291 2349 3549 3762 3337 0 0 0 0 0 0 14.23 14.29 28.83

573 -0.65 -184.9 2291 2349 3763 3337 95.3 -17.7 100 580 0.12 2.62 0.00 0.000 2308 0.309 0.155 2315 3762 3550 3764 3336 0 0 0 0 0 0 14.31 14.37 28.83

740 -0.61 -184.9 2315 3762 3763 3337 120.1 -14.3 117 746 0.00 2.50 0.00 0.000 1030 0.000 0.109 2315 2342 3550 3764 3336 0 0 0 0 0 0 28.83 14.44 28.83

1048 -0.57 -184.9 1424 2338 3760 3334 167.8 -15.2 148 1055 0.12 0.00 0.00 0.000 2054 0.315 0.000 2346 2341 3550 3763 3337 0 0 0 0 0 0 14.40 28.83 28.83

1358 -0.57 -184.9 2346 2341 3763 3336 206.8 -11.7 179 1366 0.00 2.65 0.00 0.000 260 0.000 0.164 2346 3766 3549 3764 3335 0 0 0 0 0 0 28.83 14.48 28.83

1416 -0.60 -184.9 1456 3764 3760 3333 213.1 -11.3 184 1423 0.00 2.47 0.00 0.000 1030 0.000 0.109 2346 2348 3549 3763 3336 0 0 0 0 0 0 28.83 14.52 28.83

1724 -0.60 -184.9 2347 2347 3763 3336 246.2 -9.4 215 1733 0.00 2.62 0.00 0.000 260 0.000 0.166 2346 3762 3549 3763 3336 0 0 0 0 0 0 28.83 14.51 28.83

1793 -0.63 -184.9 2346 3762 3763 3336 252.6 -9.8 221 1800 0.00 2.47 0.00 0.000 1030 0.000 0.109 2346 2343 3549 3763 3335 0 0 0 0 0 0 28.83 14.56 28.83

2102 -0.66 -184.9 2347 2342 3763 3335 286.0 -10.5 252 2111 0.00 2.62 0.00 0.000 260 0.000 0.164 2345 3761 3549 3764 3335 0 0 0 0 0 0 28.83 14.53 28.83

2188 -0.71 -184.9 2346 3761 3763 3335 295.2 -10.5 260 2197 0.10 2.42 0.00 0.000 5126 0.128 0.110 2304 2353 3549 3763 3335 0 0 0 0 0 0 14.58 14.57 28.83

2499 -0.68 -184.9 2304 2352 3764 3335 334.6 -12.7 291 2507 0.00 2.60 0.00 0.000 260 0.000 0.164 2295 3761 3549 3764 3334 0 0 0 0 0 0 28.83 14.56 28.83

2564 -0.65 -184.9 2296 3761 3763 3334 343.6 -13.8 297 2573 0.00 2.45 0.00 0.000 1030 0.000 0.109 2295 2347 3548 3763 3334 0 0 0 0 0 0 28.83 14.58 28.83

2876 -0.61 -184.9 2295 2346 3764 3334 386.9 -13.1 328 2885 0.12 2.60 0.00 0.000 2308 0.306 0.161 2319 3759 3548 3763 3334 0 0 0 0 0 0 14.54 14.56 28.83

2935 -0.61 -184.9 2318 3759 3763 3334 393.7 -11.5 333 2941 0.00 2.45 0.00 0.000 1030 0.000 0.108 2319 2345 3548 3763 3334 0 0 0 0 0 0 28.83 14.61 28.83

3193 end dive: TARGET_DEPTH_EXCEEDED

state 3194 begin apogee

3207 -0.22 0.0 2319 2413 3763 3334 422.6 -10.6 359 3408 0.47 0.00 190.30 2.267 10246 0.239 0.000 2454 2413 2793 2920 2666 0 0 0 0 0 0 14.54 28.83 12.83

3409 end apogee: CONTROL_FINISHED_OK

state 3409 begin climb

3415 0.86 184.9 2454 2413 2920 2666 434.0 0.0 381 3632 1.20 2.90 201.62 2.181 10756 0.177 0.129 2811 995 2039 2122 1956 0 0 0 0 1 0 13.59 13.21 12.56

3784 0.74 184.9 2811 994 2121 1945 411.4 11.4 417 3792 0.15 2.72 0.00 0.000 5126 0.278 0.137 2780 2396 2032 2121 1944 0 0 0 0 0 0 13.66 13.70 28.83

4094 0.67 202.4 2780 2396 2121 1940 382.3 8.8 448 4120 0.00 2.78 18.17 2.070 8452 0.000 0.156 2780 3820 1968 2065 1872 0 0 0 0 0 0 28.83 13.81 13.17

4150 0.56 202.4 2780 3820 2065 1872 377.6 9.6 453 4158 0.30 2.60 0.00 0.000 5126 0.266 0.107 2717 2402 1968 2065 1872 0 0 0 0 0 0 13.82 13.89 28.83

4459 0.66 286.0 2718 2402 2064 1869 357.6 6.5 484 4565 0.00 0.00 93.65 2.128 8454 0.000 0.000 2717 2402 1628 1718 1538 0 0 0 0 1 0 28.83 28.83 12.83

4873 0.82 366.1 2717 2402 1714 1533 330.0 6.6 525 4969 0.22 2.92 87.95 2.122 10500 0.136 0.157 2792 3804 1301 1381 1221 0 0 0 0 0 0 14.02 13.36 12.74

5019 0.77 366.1 2791 3804 1378 1220 313.7 13.1 539 5026 0.00 2.65 0.00 0.000 1030 0.000 0.108 2803 2398 1298 1377 1220 0 0 0 0 0 0 28.83 13.62 28.83

5328 0.72 366.1 2803 2396 1373 1216 276.0 11.5 570 5337 0.12 2.72 0.00 0.000 4356 0.290 0.156 2772 3809 1294 1373 1215 0 0 0 0 0 0 13.94 13.96 28.83

5364 0.70 366.1 2772 3808 1372 1215 272.0 11.0 573 5373 0.00 2.55 0.00 0.000 1030 0.000 0.109 2780 2399 1293 1372 1215 0 0 0 0 0 0 28.83 14.04 28.83

5674 0.70 366.1 2779 2399 1372 1213 239.1 10.6 604 5680 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2399 1292 1372 1213 0 0 0 0 0 0 28.83 28.83 28.83

5991 0.70 366.1 2780 2399 1371 1212 207.5 9.7 635 5999 0.00 2.67 0.00 0.000 260 0.000 0.161 2780 3811 1291 1371 1212 0 0 0 0 0 0 28.83 14.26 28.83

6096 0.70 366.1 2780 3811 1371 1212 194.9 11.2 645 6105 0.00 2.50 0.00 0.000 1030 0.000 0.111 2789 2393 1291 1370 1212 0 0 0 0 0 0 28.83 14.31 28.83

6406 0.73 390.9 2789 2393 1370 1212 166.5 8.5 676 6442 0.00 2.60 25.12 2.017 8708 0.000 0.134 2798 990 1200 1279 1121 0 0 0 0 0 0 28.83 14.12 13.50

6482 0.79 415.2 2799 990 1279 1121 160.7 8.5 683 6515 0.00 2.65 27.20 1.991 9222 0.000 0.138 2798 2404 1100 1179 1022 0 0 0 0 0 0 28.83 14.15 13.31

6818 0.79 415.2 2798 2403 1176 1022 128.2 10.7 717 6827 0.00 2.67 0.00 0.000 260 0.000 0.159 2799 3812 1098 1175 1022 0 0 0 0 0 0 28.83 14.19 28.83

6856 0.79 415.2 2798 3811 1174 1022 124.0 11.5 720 6864 0.00 2.50 0.00 0.000 1030 0.000 0.110 2808 2406 1098 1174 1022 0 0 0 0 0 0 28.83 14.23 28.83

7170 0.79 415.2 1808 2402 1162 1019 85.3 11.2 762 7175 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2405 1097 1174 1020 0 0 0 0 0 0 28.83 28.83 28.83

7487 0.79 415.2 2808 2405 1173 1019 50.0 11.5 823 7493 0.00 2.58 0.00 0.000 516 0.000 0.136 2818 988 1095 1173 1018 0 0 0 0 0 0 28.83 14.40 28.83

7520 0.83 415.2 2818 988 1173 1018 46.2 11.7 828 7527 0.00 2.62 0.00 0.000 1030 0.000 0.140 2818 2410 1095 1172 1019 0 0 0 0 0 0 28.83 14.40 28.83

7839 0.87 425.1 2818 2410 1172 1017 14.7 9.0 889 7852 0.00 2.62 4.88 0.245 8452 0.000 0.162 2818 3809 1059 1136 982 0 0 0 0 0 0 28.83 14.42 14.40

7884 0.90 425.1 2818 3809 1135 982 9.6 12.2 896 7891 0.00 2.50 0.00 0.000 1030 0.000 0.112 2826 2395 1058 1135 982 0 0 0 0 0 0 28.83 14.45 28.83

7955 end climb: SURFACE_DEPTH_REACHED

state 7956 begin surface coast

7993 end surface coast: CONTROL_FINISHED_OK

state 7993 begin surface

ID	192	HD_C	1.6100001e-05	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	25	ESCAPE_HEADING	0	C_ROLL_DIVE	2350	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	14	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	450	R_STBD_OVSHOOT	12	XPDR_VALID	6
D_BOOST	110	N_FILEKB	8	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2794	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	160	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	190	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	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	20	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	-2	T_GPS_CHARGE	-1060.8698	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	145	MINV_24V	12	SIM_W	0
MAX_BUOY	190	PITCH_MAX	3924	MINV_10V	12	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2535	FG_AHR_10V	0	SEABIRD_T_G	0.0042877649
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062881736
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2009486e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-62.7798	SEABIRD_T_J	2.217299e-06
MASS	52018	PITCH_GAIN	23	PRESSURE_SLOPE	0.0001164018	SEABIRD_C_G	-9.8550158
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1245382
NAV_MODE	0	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0013153109
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017883891
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4
HD_A	0.0033904	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0092102997	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	0

GPS1	200913,191035,6624.483,-6038.085,29,1.3,29,-33.5	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200913,191915,6624.301,-6038.250,5,1.4,5,-33.5	MHEAD_RNG_PITCHd_Wd	100.2,181062,-14.5,-9.375,-17.87,2984
SPEED_LIMITS	0.162,0.291	D_GRID	422

FINISH	0.5,1.024889	_24V_AH	12.6,14.213
SM_CCo	8022,13.85,0.190,0,0,956,450.13	_10V_AH	12.8,0.000
SM_GC	1.32,8.07,0.10,13.85,0.112,0.190,0.190,140,2344,956,-7.44,0.40,450.13,0,0,0,0,0,0,14.48,14.47,14.41	FG_AHR_24Vo	0.000
RAFOS_CLK	379	FG_AHR_10Vo	0.000
RAFOS	0,1379707263,20.033333,20.017500,57,56,51,50,50,50,194,215,138,125,164,235	MEM	150788
RAFOS_FIX	6621.393066,-6026.824219,200913,161644,2,90,2.78	DATA_FILE_SIZE	40080,916
IRIDIUM_FIX	6553.70,-6037.95,200913,191909	CAP_FILE_SIZE	103897,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,249270272
HUMID	47.67	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
INTERNAL_PRESSURE	8.64484	SOUNDSPEED	1451.1
TCM_TEMP	12.40	GPS	200913,213535,6623.078,-6037.076,32,1.2,32,-33.5
XPDR_PINGS	32

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	448	123.00	SBE_CT	638	23	186.84
Roll_motor	83	198	209.89	SBE_O2	0	0	0.00
VBD_pump_during_apogee	648	2267	18539.07	nil	0	0	0.00
VBD_pump_during_surface	13	190	33.24	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	311	141	555.65	nil	0	0	0.00
Transponder_ping	8	420	42.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.41
TT8	2063	14	395.12
LPSleep	3465	2	102.46
TT8_Active	707	14	128.75
TT8_Sampling	1794	33	773.91
TT8_CF8	540	39	274.74
TT8_Kalman	0	0	0.00
Analog_circuits	1944	12	298.67
GPS_charging	0	0	0.00
Compass	1533	6	132.33
RAFOS	2520	1	48.38
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
21	-0.86	-184.9	121	2345	993	913	0.0	0.0	0	111	0.00	0.00	-88.32	0.000	16386	0.000	0.000	120	2346	2672	2744	2600	0	0	0	0	0	0	28.83	28.83	28.83
119	-0.86	-184.9	121	2346	2744	2602	3.2	-5.9	16	155	10.55	2.58	-18.08	0.000	18948	0.448	0.149	2250	938	3549	3762	3337	0	0	0	0	0	0	14.12	14.26	14.50
254	-0.75	-184.9	2250	937	3763	3337	36.3	-22.1	39	261	0.20	2.65	0.00	0.000	3078	0.288	0.148	2291	2349	3549	3762	3337	0	0	0	0	0	0	14.23	14.29	28.83
573	-0.65	-184.9	2291	2349	3763	3337	95.3	-17.7	100	580	0.12	2.62	0.00	0.000	2308	0.309	0.155	2315	3762	3550	3764	3336	0	0	0	0	0	0	14.31	14.37	28.83
740	-0.61	-184.9	2315	3762	3763	3337	120.1	-14.3	117	746	0.00	2.50	0.00	0.000	1030	0.000	0.109	2315	2342	3550	3764	3336	0	0	0	0	0	0	28.83	14.44	28.83
1048	-0.57	-184.9	1424	2338	3760	3334	167.8	-15.2	148	1055	0.12	0.00	0.00	0.000	2054	0.315	0.000	2346	2341	3550	3763	3337	0	0	0	0	0	0	14.40	28.83	28.83
1358	-0.57	-184.9	2346	2341	3763	3336	206.8	-11.7	179	1366	0.00	2.65	0.00	0.000	260	0.000	0.164	2346	3766	3549	3764	3335	0	0	0	0	0	0	28.83	14.48	28.83
1416	-0.60	-184.9	1456	3764	3760	3333	213.1	-11.3	184	1423	0.00	2.47	0.00	0.000	1030	0.000	0.109	2346	2348	3549	3763	3336	0	0	0	0	0	0	28.83	14.52	28.83
1724	-0.60	-184.9	2347	2347	3763	3336	246.2	-9.4	215	1733	0.00	2.62	0.00	0.000	260	0.000	0.166	2346	3762	3549	3763	3336	0	0	0	0	0	0	28.83	14.51	28.83
1793	-0.63	-184.9	2346	3762	3763	3336	252.6	-9.8	221	1800	0.00	2.47	0.00	0.000	1030	0.000	0.109	2346	2343	3549	3763	3335	0	0	0	0	0	0	28.83	14.56	28.83
2102	-0.66	-184.9	2347	2342	3763	3335	286.0	-10.5	252	2111	0.00	2.62	0.00	0.000	260	0.000	0.164	2345	3761	3549	3764	3335	0	0	0	0	0	0	28.83	14.53	28.83
2188	-0.71	-184.9	2346	3761	3763	3335	295.2	-10.5	260	2197	0.10	2.42	0.00	0.000	5126	0.128	0.110	2304	2353	3549	3763	3335	0	0	0	0	0	0	14.58	14.57	28.83
2499	-0.68	-184.9	2304	2352	3764	3335	334.6	-12.7	291	2507	0.00	2.60	0.00	0.000	260	0.000	0.164	2295	3761	3549	3764	3334	0	0	0	0	0	0	28.83	14.56	28.83
2564	-0.65	-184.9	2296	3761	3763	3334	343.6	-13.8	297	2573	0.00	2.45	0.00	0.000	1030	0.000	0.109	2295	2347	3548	3763	3334	0	0	0	0	0	0	28.83	14.58	28.83
2876	-0.61	-184.9	2295	2346	3764	3334	386.9	-13.1	328	2885	0.12	2.60	0.00	0.000	2308	0.306	0.161	2319	3759	3548	3763	3334	0	0	0	0	0	0	14.54	14.56	28.83
2935	-0.61	-184.9	2318	3759	3763	3334	393.7	-11.5	333	2941	0.00	2.45	0.00	0.000	1030	0.000	0.108	2319	2345	3548	3763	3334	0	0	0	0	0	0	28.83	14.61	28.83
3193	end dive: TARGET_DEPTH_EXCEEDED
state	3194	begin apogee
3207	-0.22	0.0	2319	2413	3763	3334	422.6	-10.6	359	3408	0.47	0.00	190.30	2.267	10246	0.239	0.000	2454	2413	2793	2920	2666	0	0	0	0	0	0	14.54	28.83	12.83
3409	end apogee: CONTROL_FINISHED_OK
state	3409	begin climb
3415	0.86	184.9	2454	2413	2920	2666	434.0	0.0	381	3632	1.20	2.90	201.62	2.181	10756	0.177	0.129	2811	995	2039	2122	1956	0	0	0	0	1	0	13.59	13.21	12.56
3784	0.74	184.9	2811	994	2121	1945	411.4	11.4	417	3792	0.15	2.72	0.00	0.000	5126	0.278	0.137	2780	2396	2032	2121	1944	0	0	0	0	0	0	13.66	13.70	28.83
4094	0.67	202.4	2780	2396	2121	1940	382.3	8.8	448	4120	0.00	2.78	18.17	2.070	8452	0.000	0.156	2780	3820	1968	2065	1872	0	0	0	0	0	0	28.83	13.81	13.17
4150	0.56	202.4	2780	3820	2065	1872	377.6	9.6	453	4158	0.30	2.60	0.00	0.000	5126	0.266	0.107	2717	2402	1968	2065	1872	0	0	0	0	0	0	13.82	13.89	28.83
4459	0.66	286.0	2718	2402	2064	1869	357.6	6.5	484	4565	0.00	0.00	93.65	2.128	8454	0.000	0.000	2717	2402	1628	1718	1538	0	0	0	0	1	0	28.83	28.83	12.83
4873	0.82	366.1	2717	2402	1714	1533	330.0	6.6	525	4969	0.22	2.92	87.95	2.122	10500	0.136	0.157	2792	3804	1301	1381	1221	0	0	0	0	0	0	14.02	13.36	12.74
5019	0.77	366.1	2791	3804	1378	1220	313.7	13.1	539	5026	0.00	2.65	0.00	0.000	1030	0.000	0.108	2803	2398	1298	1377	1220	0	0	0	0	0	0	28.83	13.62	28.83
5328	0.72	366.1	2803	2396	1373	1216	276.0	11.5	570	5337	0.12	2.72	0.00	0.000	4356	0.290	0.156	2772	3809	1294	1373	1215	0	0	0	0	0	0	13.94	13.96	28.83
5364	0.70	366.1	2772	3808	1372	1215	272.0	11.0	573	5373	0.00	2.55	0.00	0.000	1030	0.000	0.109	2780	2399	1293	1372	1215	0	0	0	0	0	0	28.83	14.04	28.83
5674	0.70	366.1	2779	2399	1372	1213	239.1	10.6	604	5680	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2399	1292	1372	1213	0	0	0	0	0	0	28.83	28.83	28.83
5991	0.70	366.1	2780	2399	1371	1212	207.5	9.7	635	5999	0.00	2.67	0.00	0.000	260	0.000	0.161	2780	3811	1291	1371	1212	0	0	0	0	0	0	28.83	14.26	28.83
6096	0.70	366.1	2780	3811	1371	1212	194.9	11.2	645	6105	0.00	2.50	0.00	0.000	1030	0.000	0.111	2789	2393	1291	1370	1212	0	0	0	0	0	0	28.83	14.31	28.83
6406	0.73	390.9	2789	2393	1370	1212	166.5	8.5	676	6442	0.00	2.60	25.12	2.017	8708	0.000	0.134	2798	990	1200	1279	1121	0	0	0	0	0	0	28.83	14.12	13.50
6482	0.79	415.2	2799	990	1279	1121	160.7	8.5	683	6515	0.00	2.65	27.20	1.991	9222	0.000	0.138	2798	2404	1100	1179	1022	0	0	0	0	0	0	28.83	14.15	13.31
6818	0.79	415.2	2798	2403	1176	1022	128.2	10.7	717	6827	0.00	2.67	0.00	0.000	260	0.000	0.159	2799	3812	1098	1175	1022	0	0	0	0	0	0	28.83	14.19	28.83
6856	0.79	415.2	2798	3811	1174	1022	124.0	11.5	720	6864	0.00	2.50	0.00	0.000	1030	0.000	0.110	2808	2406	1098	1174	1022	0	0	0	0	0	0	28.83	14.23	28.83
7170	0.79	415.2	1808	2402	1162	1019	85.3	11.2	762	7175	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2405	1097	1174	1020	0	0	0	0	0	0	28.83	28.83	28.83
7487	0.79	415.2	2808	2405	1173	1019	50.0	11.5	823	7493	0.00	2.58	0.00	0.000	516	0.000	0.136	2818	988	1095	1173	1018	0	0	0	0	0	0	28.83	14.40	28.83
7520	0.83	415.2	2818	988	1173	1018	46.2	11.7	828	7527	0.00	2.62	0.00	0.000	1030	0.000	0.140	2818	2410	1095	1172	1019	0	0	0	0	0	0	28.83	14.40	28.83
7839	0.87	425.1	2818	2410	1172	1017	14.7	9.0	889	7852	0.00	2.62	4.88	0.245	8452	0.000	0.162	2818	3809	1059	1136	982	0	0	0	0	0	0	28.83	14.42	14.40
7884	0.90	425.1	2818	3809	1135	982	9.6	12.2	896	7891	0.00	2.50	0.00	0.000	1030	0.000	0.112	2826	2395	1058	1135	982	0	0	0	0	0	0	28.83	14.45	28.83
7955	end climb: SURFACE_DEPTH_REACHED
state	7956	begin surface coast
7993	end surface coast: CONTROL_FINISHED_OK
state	7993	begin surface