Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 279 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 192 HD_C 3.62024e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 HEADING -1 ROLL_DEG 36 ALTIM_TOP_TURN_MARGIN 0

DIVE 279 ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2510 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 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 22 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 15 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 2741 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 400 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 430 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 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 3 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 -3 T_GPS_CHARGE -1528.3038 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 150 PITCH_MAX 3924 MINV_10V 12 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2510 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 2 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 0.0099999998 COMPASS_USE 4

HD_A 0.0041718199 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099987797 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 400

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 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 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 5 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 0.0015 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 400

CALL_NDIVES 1 HD_A 0.0041718199 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099987797 PRESSURE_YINT -62.7798 T_GPS 5

CALL_WAIT 60 HD_C 3.62024e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -1528.3038

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 430

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 2510 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2510 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -3

C_VBD 2741 LOGGERDEVICE4 -1 ROLL_DEG 36 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 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 12 R_PORT_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 15 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 279 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 200 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 061113,012322,6703.570,-5649.532,85,1.0,85,-33.5 TGT_NAME TARGET_W

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 061113,013112,6703.539,-5649.486,5,1.0,5,-33.5 MHEAD_RNG_PITCHd_Wd 245.6,162474,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 512

Post-dive calculations and measurements:

FINISH 1.1,1.025827 _10V_AH 12.8,0.000

SM_CCo 8816,22.48,0.168,0,0,1109,400.08 FG_AHR_24Vo 0.000

SM_GC 2.42,7.75,0.00,22.48,0.079,0.000,0.168,136,2522,1109,-7.36,0.62,400.08,0,0,0,0,0,0,14.59,28.83,14.43 FG_AHR_10Vo 0.000

RAFOS_CLK 374 MEM 150840

RAFOS_FIX 6659.508301,-5718.634277,041113,121244,3,105,0.55 DATA_FILE_SIZE 43414,990

IRIDIUM_FIX 6558.99,-7258.98,051113,222240 CAP_FILE_SIZE 105644,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,229773312

HUMID 43.66 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.78157 SOUNDSPEED 1472.4

TCM_TEMP 14.50 CURRENT 0.236,335.1,1

XPDR_PINGS 31 GPS 061113,040100,6703.609,-5652.526,45,1.4,45,-33.5

_24V_AH 12.4,121.779

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 392 100.12 SBE_CT 684 23 197.08

Roll_motor 72 159 142.80 SBE_O2 0 0 0.00

VBD_pump_during_apogee 544 2357 15913.07 nil 0 0 0.00

VBD_pump_during_surface 22 167 46.69 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 248 139 429.76 nil 0 0 0.00

Transponder_ping 7 420 40.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 18 1.59

TT8 2413 14 462.21

LPSleep 3858 2 114.08

TT8_Active 626 14 114.00

TT8_Sampling 1866 33 804.78

TT8_CF8 545 39 277.21

TT8_Kalman 0 0 0.00

Analog_circuits 1828 12 280.81

GPS_charging 0 0 0.00

Compass 1639 6 141.47

RAFOS 0 0 0.00

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

20 -0.89 -146.0 106 2527 1134 1070 0.0 0.0 0 99 0.00 0.00 -77.15 0.000 16386 0.000 0.000 103 2526 2661 2705 2618 0 0 0 0 0 0 28.83 28.83 28.83

106 -0.89 -146.0 104 2527 2707 2618 3.1 -2.7 13 140 9.68 2.38 -16.95 0.000 18692 0.392 0.159 2210 3775 3340 3506 3174 0 0 0 0 0 0 14.12 14.36 14.76

317 -0.78 -146.0 2210 3776 3507 3173 51.9 -23.1 51 324 0.20 2.20 0.00 0.000 3078 0.280 0.083 2255 2485 3339 3507 3172 0 0 0 0 0 0 14.19 14.48 28.83

641 -0.72 -146.0 2255 2485 3507 3171 108.5 -15.8 108 650 0.00 2.38 0.00 0.000 260 0.000 0.135 2247 3775 3339 3507 3171 0 0 0 0 0 0 28.83 14.38 28.83

720 -0.66 -146.0 2248 3775 3507 3170 121.0 -16.5 115 728 0.20 2.17 0.00 0.000 3078 0.257 0.084 2296 2498 3338 3507 3170 0 0 0 0 0 0 14.26 14.51 28.83

1030 -0.63 -146.0 2296 2498 3507 3170 161.5 -12.3 146 1036 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 2499 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

1346 -0.61 -146.0 2296 2499 3507 3170 198.6 -11.4 177 1355 0.00 2.17 0.00 0.000 516 0.000 0.103 2296 1238 3338 3507 3170 0 0 0 0 0 0 28.83 14.38 28.83

1392 -0.60 -146.0 2296 1238 3507 3170 204.5 -11.3 181 1402 0.00 2.28 0.00 0.000 1030 0.000 0.122 2289 2500 3338 3506 3170 0 0 0 0 0 0 28.83 14.36 28.83

1704 -0.58 -146.0 2289 2500 3507 3170 241.2 -11.2 212 1713 0.12 2.30 0.00 0.000 2308 0.279 0.132 2314 3768 3338 3507 3170 0 0 0 0 0 0 14.33 14.35 28.83

1731 -0.56 -146.0 2314 3768 3507 3170 244.1 -11.0 214 1735 0.00 2.17 0.00 0.000 1030 0.000 0.084 2314 2491 3338 3507 3170 0 0 0 0 0 0 28.83 14.55 28.83

2047 -0.56 -146.0 2314 2492 3508 3170 276.3 -10.1 245 2054 0.00 0.00 0.00 0.000 6 0.000 0.000 2314 2492 3339 3508 3170 0 0 0 0 0 0 28.83 28.83 28.83

2362 -0.56 -146.0 2314 2492 3508 3170 306.7 -9.8 276 2371 0.00 2.15 0.00 0.000 516 0.000 0.102 2314 1240 3339 3508 3170 0 0 0 0 0 0 28.83 14.39 28.83

2398 -0.56 -146.0 2314 1240 3508 3170 310.8 -9.8 279 2407 0.00 2.25 0.00 0.000 1030 0.000 0.120 2308 2497 3339 3508 3170 0 0 0 0 0 0 28.83 14.36 28.83

2709 -0.56 -146.0 2308 2497 3509 3170 342.8 -10.2 310 2712 0.00 2.33 0.00 0.000 260 0.000 0.132 2298 3771 3339 3509 3170 0 0 0 0 0 0 28.83 14.41 28.83

2746 -0.56 -146.0 1440 3770 3501 3167 346.6 -10.5 313 2755 0.12 2.15 0.00 0.000 3078 0.256 0.082 2327 2499 3340 3509 3171 0 0 0 0 0 0 14.33 14.56 28.83

3058 -0.57 -146.0 2327 2499 3509 3171 373.5 -8.0 344 3064 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2498 3340 3509 3171 0 0 0 0 0 0 28.83 28.83 28.83

3373 -0.59 -146.0 2327 2498 3509 3171 398.7 -8.2 375 3379 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2498 3340 3509 3171 0 0 0 0 0 0 28.83 28.83 28.83

3687 -0.60 -146.0 2327 2498 3510 3170 423.0 -7.3 406 3696 0.00 2.35 0.00 0.000 260 0.000 0.133 2319 3778 3340 3510 3170 0 0 0 0 0 0 28.83 14.40 28.83

3737 -0.62 -146.0 1440 3777 3502 3168 426.9 -7.4 410 3743 0.00 2.17 0.00 0.000 1030 0.000 0.083 2319 2494 3340 3510 3171 0 0 0 0 0 0 28.83 14.55 28.83

4045 -0.63 -146.0 2319 2494 3510 3171 452.6 -8.9 441 4055 0.00 2.33 0.00 0.000 260 0.000 0.132 2310 3771 3340 3510 3171 0 0 0 0 0 0 28.83 14.31 28.83

4092 -0.63 -146.0 2310 3771 3510 3171 457.1 -9.5 445 4102 0.00 2.12 0.00 0.000 1030 0.000 0.083 2310 2502 3339 3508 3171 0 0 0 0 0 0 28.83 14.47 28.83

4403 -0.63 -146.0 2309 2502 3509 3171 485.6 -9.1 476 4407 0.00 2.20 0.00 0.000 516 0.000 0.100 2310 1234 3340 3510 3171 0 0 0 0 0 0 28.83 14.47 28.83

4439 -0.63 -146.0 2310 1234 3510 3171 488.9 -9.3 479 4448 0.00 2.30 0.00 0.000 1030 0.000 0.118 2302 2505 3340 3510 3171 0 0 0 0 0 0 28.83 14.45 28.83

4750 -0.72 -146.0 2302 2505 3510 3171 510.9 -0.1 510 4759 0.00 2.28 0.00 0.000 260 0.000 0.135 2302 3766 3340 3510 3171 0 0 0 0 0 0 28.83 14.31 28.83

4840 end dive: NO_VERTICAL_VELOCITY

state 4840 begin apogee

4855 -0.22 0.0 2302 2511 3510 3172 510.7 0.0 519 5018 0.43 0.00 151.18 2.358 10246 0.179 0.000 2431 2511 2741 2852 2631 0 0 0 0 0 0 14.35 28.83 12.87

5019 end apogee: CONTROL_FINISHED_OK

state 5019 begin climb

5025 0.89 146.0 2431 2511 2852 2632 510.8 0.0 536 5204 1.17 2.58 163.55 2.307 10756 0.133 0.125 2799 1243 2145 2234 2057 0 0 0 0 0 0 13.72 13.21 12.41

5440 1.26 353.4 2799 1243 2234 2045 510.3 0.4 577 5678 0.32 2.28 229.57 2.274 11270 0.085 0.098 2917 2510 1300 1361 1240 0 0 0 0 0 0 14.04 13.99 12.50

5991 1.14 353.4 2917 2510 1355 1233 410.2 28.9 632 6000 0.15 2.35 0.00 0.000 4356 0.296 0.128 2882 3783 1294 1355 1233 0 0 0 0 0 0 14.01 14.10 28.83

6133 1.04 353.4 2881 3783 1353 1232 374.2 25.2 645 6142 0.17 2.22 0.00 0.000 5126 0.272 0.090 2850 2503 1292 1353 1232 0 0 0 0 0 0 14.20 14.36 28.83

6444 0.97 353.4 2850 2502 1353 1229 307.6 21.0 676 6452 0.00 2.20 0.00 0.000 516 0.000 0.109 2858 1242 1291 1353 1229 0 0 0 0 0 0 28.83 14.39 28.83

6500 0.92 353.4 2858 1242 1353 1228 296.5 20.0 681 6510 0.15 2.25 0.00 0.000 5126 0.223 0.117 2814 2504 1290 1353 1228 0 0 0 0 0 0 14.31 14.40 28.83

6812 0.88 353.4 2814 2504 1353 1227 245.4 16.4 712 6816 0.00 2.25 0.00 0.000 516 0.000 0.109 2822 1236 1290 1353 1227 0 0 0 0 0 0 28.83 14.51 28.83

6839 0.85 353.4 2822 1235 1353 1227 241.0 16.5 714 6848 0.10 2.28 0.00 0.000 5126 0.210 0.116 2791 2513 1290 1353 1227 0 0 0 0 0 0 14.35 14.45 28.83

7151 0.85 353.4 2791 2513 1353 1227 197.5 13.2 745 7157 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2512 1290 1353 1227 0 0 0 0 0 0 28.83 28.83 28.83

7466 0.85 353.4 2791 2513 1353 1226 154.7 13.9 776 7470 0.00 2.25 0.00 0.000 516 0.000 0.110 2798 1241 1290 1353 1227 0 0 0 0 0 0 28.83 14.53 28.83

7535 0.86 353.4 1824 1240 1335 1224 145.6 12.1 782 7542 0.00 2.28 0.00 0.000 1030 0.000 0.118 2798 2511 1289 1352 1226 0 0 0 0 0 0 28.83 14.52 28.83

7843 0.86 353.4 2798 2511 1353 1226 105.0 13.2 813 7850 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2511 1289 1353 1226 0 0 0 0 0 0 28.83 28.83 28.83

8158 0.86 353.4 1792 2509 1334 1224 66.4 10.2 871 8165 0.00 2.25 0.00 0.000 516 0.000 0.109 2808 1238 1289 1353 1226 0 0 0 0 0 0 28.83 14.52 28.83

8217 0.88 353.4 2808 1238 1353 1225 60.5 10.2 881 8225 0.00 2.30 0.00 0.000 1030 0.000 0.118 2808 2522 1289 1353 1225 0 0 0 0 0 0 28.83 14.51 28.83

8538 0.90 353.4 2808 2522 1353 1225 27.1 9.1 942 8544 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2522 1289 1353 1225 0 0 0 0 0 0 28.83 28.83 28.83

8766 end climb: SURFACE_DEPTH_REACHED

state 8766 begin surface coast

8788 end surface coast: CONTROL_FINISHED_OK

state 8788 begin surface

ID	192	HD_C	3.62024e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	HEADING	-1	ROLL_DEG	36	ALTIM_TOP_TURN_MARGIN	0
DIVE	279	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2510	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	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	22	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	15	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	2741	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	400	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	430	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	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	3	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	-3	T_GPS_CHARGE	-1528.3038	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	150	PITCH_MAX	3924	MINV_10V	12	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2510	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	2	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	0.0099999998	COMPASS_USE	4
HD_A	0.0041718199	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099987797	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	0

GPS1	061113,012322,6703.570,-5649.532,85,1.0,85,-33.5	TGT_NAME	TARGET_W
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	061113,013112,6703.539,-5649.486,5,1.0,5,-33.5	MHEAD_RNG_PITCHd_Wd	245.6,162474,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	512

FINISH	1.1,1.025827	_10V_AH	12.8,0.000
SM_CCo	8816,22.48,0.168,0,0,1109,400.08	FG_AHR_24Vo	0.000
SM_GC	2.42,7.75,0.00,22.48,0.079,0.000,0.168,136,2522,1109,-7.36,0.62,400.08,0,0,0,0,0,0,14.59,28.83,14.43	FG_AHR_10Vo	0.000
RAFOS_CLK	374	MEM	150840
RAFOS_FIX	6659.508301,-5718.634277,041113,121244,3,105,0.55	DATA_FILE_SIZE	43414,990
IRIDIUM_FIX	6558.99,-7258.98,051113,222240	CAP_FILE_SIZE	105644,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,229773312
HUMID	43.66	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.78157	SOUNDSPEED	1472.4
TCM_TEMP	14.50	CURRENT	0.236,335.1,1
XPDR_PINGS	31	GPS	061113,040100,6703.609,-5652.526,45,1.4,45,-33.5
_24V_AH	12.4,121.779

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	392	100.12	SBE_CT	684	23	197.08
Roll_motor	72	159	142.80	SBE_O2	0	0	0.00
VBD_pump_during_apogee	544	2357	15913.07	nil	0	0	0.00
VBD_pump_during_surface	22	167	46.69	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	248	139	429.76	nil	0	0	0.00
Transponder_ping	7	420	40.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	18	1.59
TT8	2413	14	462.21
LPSleep	3858	2	114.08
TT8_Active	626	14	114.00
TT8_Sampling	1866	33	804.78
TT8_CF8	545	39	277.21
TT8_Kalman	0	0	0.00
Analog_circuits	1828	12	280.81
GPS_charging	0	0	0.00
Compass	1639	6	141.47
RAFOS	0	0	0.00
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
20	-0.89	-146.0	106	2527	1134	1070	0.0	0.0	0	99	0.00	0.00	-77.15	0.000	16386	0.000	0.000	103	2526	2661	2705	2618	0	0	0	0	0	0	28.83	28.83	28.83
106	-0.89	-146.0	104	2527	2707	2618	3.1	-2.7	13	140	9.68	2.38	-16.95	0.000	18692	0.392	0.159	2210	3775	3340	3506	3174	0	0	0	0	0	0	14.12	14.36	14.76
317	-0.78	-146.0	2210	3776	3507	3173	51.9	-23.1	51	324	0.20	2.20	0.00	0.000	3078	0.280	0.083	2255	2485	3339	3507	3172	0	0	0	0	0	0	14.19	14.48	28.83
641	-0.72	-146.0	2255	2485	3507	3171	108.5	-15.8	108	650	0.00	2.38	0.00	0.000	260	0.000	0.135	2247	3775	3339	3507	3171	0	0	0	0	0	0	28.83	14.38	28.83
720	-0.66	-146.0	2248	3775	3507	3170	121.0	-16.5	115	728	0.20	2.17	0.00	0.000	3078	0.257	0.084	2296	2498	3338	3507	3170	0	0	0	0	0	0	14.26	14.51	28.83
1030	-0.63	-146.0	2296	2498	3507	3170	161.5	-12.3	146	1036	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	2499	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
1346	-0.61	-146.0	2296	2499	3507	3170	198.6	-11.4	177	1355	0.00	2.17	0.00	0.000	516	0.000	0.103	2296	1238	3338	3507	3170	0	0	0	0	0	0	28.83	14.38	28.83
1392	-0.60	-146.0	2296	1238	3507	3170	204.5	-11.3	181	1402	0.00	2.28	0.00	0.000	1030	0.000	0.122	2289	2500	3338	3506	3170	0	0	0	0	0	0	28.83	14.36	28.83
1704	-0.58	-146.0	2289	2500	3507	3170	241.2	-11.2	212	1713	0.12	2.30	0.00	0.000	2308	0.279	0.132	2314	3768	3338	3507	3170	0	0	0	0	0	0	14.33	14.35	28.83
1731	-0.56	-146.0	2314	3768	3507	3170	244.1	-11.0	214	1735	0.00	2.17	0.00	0.000	1030	0.000	0.084	2314	2491	3338	3507	3170	0	0	0	0	0	0	28.83	14.55	28.83
2047	-0.56	-146.0	2314	2492	3508	3170	276.3	-10.1	245	2054	0.00	0.00	0.00	0.000	6	0.000	0.000	2314	2492	3339	3508	3170	0	0	0	0	0	0	28.83	28.83	28.83
2362	-0.56	-146.0	2314	2492	3508	3170	306.7	-9.8	276	2371	0.00	2.15	0.00	0.000	516	0.000	0.102	2314	1240	3339	3508	3170	0	0	0	0	0	0	28.83	14.39	28.83
2398	-0.56	-146.0	2314	1240	3508	3170	310.8	-9.8	279	2407	0.00	2.25	0.00	0.000	1030	0.000	0.120	2308	2497	3339	3508	3170	0	0	0	0	0	0	28.83	14.36	28.83
2709	-0.56	-146.0	2308	2497	3509	3170	342.8	-10.2	310	2712	0.00	2.33	0.00	0.000	260	0.000	0.132	2298	3771	3339	3509	3170	0	0	0	0	0	0	28.83	14.41	28.83
2746	-0.56	-146.0	1440	3770	3501	3167	346.6	-10.5	313	2755	0.12	2.15	0.00	0.000	3078	0.256	0.082	2327	2499	3340	3509	3171	0	0	0	0	0	0	14.33	14.56	28.83
3058	-0.57	-146.0	2327	2499	3509	3171	373.5	-8.0	344	3064	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	2498	3340	3509	3171	0	0	0	0	0	0	28.83	28.83	28.83
3373	-0.59	-146.0	2327	2498	3509	3171	398.7	-8.2	375	3379	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	2498	3340	3509	3171	0	0	0	0	0	0	28.83	28.83	28.83
3687	-0.60	-146.0	2327	2498	3510	3170	423.0	-7.3	406	3696	0.00	2.35	0.00	0.000	260	0.000	0.133	2319	3778	3340	3510	3170	0	0	0	0	0	0	28.83	14.40	28.83
3737	-0.62	-146.0	1440	3777	3502	3168	426.9	-7.4	410	3743	0.00	2.17	0.00	0.000	1030	0.000	0.083	2319	2494	3340	3510	3171	0	0	0	0	0	0	28.83	14.55	28.83
4045	-0.63	-146.0	2319	2494	3510	3171	452.6	-8.9	441	4055	0.00	2.33	0.00	0.000	260	0.000	0.132	2310	3771	3340	3510	3171	0	0	0	0	0	0	28.83	14.31	28.83
4092	-0.63	-146.0	2310	3771	3510	3171	457.1	-9.5	445	4102	0.00	2.12	0.00	0.000	1030	0.000	0.083	2310	2502	3339	3508	3171	0	0	0	0	0	0	28.83	14.47	28.83
4403	-0.63	-146.0	2309	2502	3509	3171	485.6	-9.1	476	4407	0.00	2.20	0.00	0.000	516	0.000	0.100	2310	1234	3340	3510	3171	0	0	0	0	0	0	28.83	14.47	28.83
4439	-0.63	-146.0	2310	1234	3510	3171	488.9	-9.3	479	4448	0.00	2.30	0.00	0.000	1030	0.000	0.118	2302	2505	3340	3510	3171	0	0	0	0	0	0	28.83	14.45	28.83
4750	-0.72	-146.0	2302	2505	3510	3171	510.9	-0.1	510	4759	0.00	2.28	0.00	0.000	260	0.000	0.135	2302	3766	3340	3510	3171	0	0	0	0	0	0	28.83	14.31	28.83
4840	end dive: NO_VERTICAL_VELOCITY
state	4840	begin apogee
4855	-0.22	0.0	2302	2511	3510	3172	510.7	0.0	519	5018	0.43	0.00	151.18	2.358	10246	0.179	0.000	2431	2511	2741	2852	2631	0	0	0	0	0	0	14.35	28.83	12.87
5019	end apogee: CONTROL_FINISHED_OK
state	5019	begin climb
5025	0.89	146.0	2431	2511	2852	2632	510.8	0.0	536	5204	1.17	2.58	163.55	2.307	10756	0.133	0.125	2799	1243	2145	2234	2057	0	0	0	0	0	0	13.72	13.21	12.41
5440	1.26	353.4	2799	1243	2234	2045	510.3	0.4	577	5678	0.32	2.28	229.57	2.274	11270	0.085	0.098	2917	2510	1300	1361	1240	0	0	0	0	0	0	14.04	13.99	12.50
5991	1.14	353.4	2917	2510	1355	1233	410.2	28.9	632	6000	0.15	2.35	0.00	0.000	4356	0.296	0.128	2882	3783	1294	1355	1233	0	0	0	0	0	0	14.01	14.10	28.83
6133	1.04	353.4	2881	3783	1353	1232	374.2	25.2	645	6142	0.17	2.22	0.00	0.000	5126	0.272	0.090	2850	2503	1292	1353	1232	0	0	0	0	0	0	14.20	14.36	28.83
6444	0.97	353.4	2850	2502	1353	1229	307.6	21.0	676	6452	0.00	2.20	0.00	0.000	516	0.000	0.109	2858	1242	1291	1353	1229	0	0	0	0	0	0	28.83	14.39	28.83
6500	0.92	353.4	2858	1242	1353	1228	296.5	20.0	681	6510	0.15	2.25	0.00	0.000	5126	0.223	0.117	2814	2504	1290	1353	1228	0	0	0	0	0	0	14.31	14.40	28.83
6812	0.88	353.4	2814	2504	1353	1227	245.4	16.4	712	6816	0.00	2.25	0.00	0.000	516	0.000	0.109	2822	1236	1290	1353	1227	0	0	0	0	0	0	28.83	14.51	28.83
6839	0.85	353.4	2822	1235	1353	1227	241.0	16.5	714	6848	0.10	2.28	0.00	0.000	5126	0.210	0.116	2791	2513	1290	1353	1227	0	0	0	0	0	0	14.35	14.45	28.83
7151	0.85	353.4	2791	2513	1353	1227	197.5	13.2	745	7157	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2512	1290	1353	1227	0	0	0	0	0	0	28.83	28.83	28.83
7466	0.85	353.4	2791	2513	1353	1226	154.7	13.9	776	7470	0.00	2.25	0.00	0.000	516	0.000	0.110	2798	1241	1290	1353	1227	0	0	0	0	0	0	28.83	14.53	28.83
7535	0.86	353.4	1824	1240	1335	1224	145.6	12.1	782	7542	0.00	2.28	0.00	0.000	1030	0.000	0.118	2798	2511	1289	1352	1226	0	0	0	0	0	0	28.83	14.52	28.83
7843	0.86	353.4	2798	2511	1353	1226	105.0	13.2	813	7850	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2511	1289	1353	1226	0	0	0	0	0	0	28.83	28.83	28.83
8158	0.86	353.4	1792	2509	1334	1224	66.4	10.2	871	8165	0.00	2.25	0.00	0.000	516	0.000	0.109	2808	1238	1289	1353	1226	0	0	0	0	0	0	28.83	14.52	28.83
8217	0.88	353.4	2808	1238	1353	1225	60.5	10.2	881	8225	0.00	2.30	0.00	0.000	1030	0.000	0.118	2808	2522	1289	1353	1225	0	0	0	0	0	0	28.83	14.51	28.83
8538	0.90	353.4	2808	2522	1353	1225	27.1	9.1	942	8544	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2522	1289	1353	1225	0	0	0	0	0	0	28.83	28.83	28.83
8766	end climb: SURFACE_DEPTH_REACHED
state	8766	begin surface coast
8788	end surface coast: CONTROL_FINISHED_OK
state	8788	begin surface