Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 31 * 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 31 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 16 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 450 R_STBD_OVSHOOT 11 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 -1089.7524 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 -1089.7524

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 16 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 11 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 31 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 210913,100407,6621.582,-6028.433,32,1.3,32,-33.4 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210913,101011,6621.506,-6028.441,5,1.2,5,-33.4 MHEAD_RNG_PITCHd_Wd 97.6,176768,-14.5,-9.375,-17.87,2984

SPEED_LIMITS 0.162,0.291 D_GRID 434

Post-dive calculations and measurements:

FINISH 0.8,1.024925 _24V_AH 12.4,16.948

SM_CCo 8329,16.90,0.192,0,0,957,450.13 _10V_AH 12.7,0.000

SM_GC 1.68,8.07,2.53,16.90,0.101,0.127,0.192,141,2354,957,-7.43,-0.42,450.13,0,0,0,0,0,0,14.49,14.48,14.43 FG_AHR_24Vo 0.000

RAFOS_CLK 397 FG_AHR_10Vo 0.000

RAFOS 0,1379764861,12.033333,12.016945,89,63,59,57,56,53,658,205,214,136,151,192 MEM 150744

RAFOS_FIX 6623.017090,-6025.945801,210913,121201,3,87,0.46 DATA_FILE_SIZE 40058,941

IRIDIUM_FIX 6553.70,-6025.96,210913,070738 CAP_FILE_SIZE 104228,0

TT8_MAMPS 0.027713,0.027713 CFSIZE 259252224,248905728

HUMID 46.96 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 8.64484 SOUNDSPEED 1452.1

TCM_TEMP 12.30 GPS 210913,123153,6622.110,-6026.215,38,1.1,38,-33.4

XPDR_PINGS 50

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 445 120.15 SBE_CT 656 23 188.89

Roll_motor 98 162 198.19 SBE_O2 0 0 0.00

VBD_pump_during_apogee 644 2285 18274.19 nil 0 0 0.00

VBD_pump_during_surface 16 192 40.24 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 210 142 371.05 nil 0 0 0.00

Transponder_ping 12 420 65.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 18 2.66

TT8 2141 14 406.93

LPSleep 3533 2 103.66

TT8_Active 724 14 130.75

TT8_Sampling 1797 33 769.29

TT8_CF8 530 39 267.31

TT8_Kalman 0 0 0.00

Analog_circuits 1902 12 289.88

GPS_charging 0 0 0.00

Compass 1604 6 137.35

RAFOS 1440 1 27.43

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 -184.9 140 2342 745 667 0.0 0.0 0 123 0.00 0.00 -99.78 0.000 16386 0.000 0.000 137 2342 2682 2748 2616 0 0 0 0 0 0 28.83 28.83 28.83

130 -0.86 -184.9 137 2342 2749 2616 3.4 -6.0 18 167 10.35 2.55 -17.42 0.000 18948 0.446 0.148 2249 939 3550 3763 3338 0 0 0 0 0 0 14.18 14.32 14.55

348 -0.74 -184.9 2249 938 3764 3338 58.1 -21.2 58 356 0.20 2.60 0.00 0.000 3078 0.295 0.138 2289 2351 3551 3764 3339 0 0 0 0 0 0 14.31 14.37 28.83

672 -0.65 -184.9 2289 2351 3764 3338 113.9 -16.6 112 682 0.12 2.60 0.00 0.000 2308 0.309 0.153 2314 3762 3551 3764 3338 0 0 0 0 0 0 14.38 14.42 28.83

794 -0.62 -184.9 2314 3762 3764 3338 130.2 -13.6 123 803 0.00 2.45 0.00 0.000 1030 0.000 0.107 2313 2352 3551 3764 3338 0 0 0 0 0 0 28.83 14.47 28.83

1105 -0.58 -184.9 2313 2352 3764 3338 174.6 -13.9 154 1114 0.12 2.60 0.00 0.000 2308 0.309 0.158 2336 3758 3551 3764 3338 0 0 0 0 0 0 14.45 14.48 28.83

1150 -0.58 -184.9 2336 3758 3764 3338 180.7 -12.9 158 1159 0.00 2.45 0.00 0.000 1030 0.000 0.107 2336 2345 3551 3764 3338 0 0 0 0 0 0 28.83 14.50 28.83

1460 -0.58 -184.9 2336 2344 3764 3338 218.2 -11.6 189 1469 0.00 2.62 0.00 0.000 260 0.000 0.160 2327 3762 3551 3764 3338 0 0 0 0 0 0 28.83 14.50 28.83

1497 -0.58 -184.9 2328 3762 3765 3338 222.4 -11.5 192 1506 0.00 2.45 0.00 0.000 1030 0.000 0.107 2327 2345 3551 3764 3338 0 0 0 0 0 0 28.83 14.54 28.83

1807 -0.58 -184.9 2327 2344 3764 3338 261.8 -12.6 223 1816 0.00 2.65 0.00 0.000 260 0.000 0.160 2327 3768 3550 3764 3337 0 0 0 0 0 0 28.83 14.53 28.83

1903 -0.58 -184.9 2327 3768 3764 3337 273.4 -11.9 232 1911 0.00 2.45 0.00 0.000 1030 0.000 0.106 2327 2344 3550 3764 3337 0 0 0 0 0 0 28.83 14.56 28.83

2213 -0.58 -184.9 2327 2344 3764 3337 309.4 -10.8 263 2222 0.00 2.62 0.00 0.000 260 0.000 0.160 2327 3758 3550 3764 3337 0 0 0 0 0 0 28.83 14.54 28.83

2338 -0.58 -184.9 2327 3758 3764 3336 322.9 -10.7 275 2347 0.00 2.42 0.00 0.000 1030 0.000 0.107 2327 2347 3549 3764 3335 0 0 0 0 0 0 28.83 14.58 28.83

2648 -0.58 -184.9 2327 2346 3764 3336 356.0 -10.6 306 2657 0.00 2.60 0.00 0.000 260 0.000 0.162 2327 3759 3550 3764 3336 0 0 0 0 0 0 28.83 14.56 28.83

2717 -0.61 -184.9 2327 3759 3764 3336 363.2 -10.8 312 2723 0.00 2.45 0.00 0.000 1030 0.000 0.106 2327 2342 3550 3764 3336 0 0 0 0 0 0 28.83 14.62 28.83

3025 -0.61 -184.9 2327 2342 3764 3336 394.0 -10.0 343 3034 0.00 2.62 0.00 0.000 260 0.000 0.158 2327 3765 3550 3764 3336 0 0 0 0 0 0 28.83 14.58 28.83

3060 -0.61 -184.9 2327 3765 3765 3336 397.5 -9.8 346 3069 0.00 2.42 0.00 0.000 1030 0.000 0.104 2327 2346 3550 3764 3336 0 0 0 0 0 0 28.83 14.61 28.83

3370 -0.61 -184.9 2327 2346 3764 3336 427.5 -9.8 377 3379 0.00 2.62 0.00 0.000 260 0.000 0.160 2327 3765 3550 3764 3336 0 0 0 0 0 0 28.83 14.58 28.83

3429 end dive: TARGET_DEPTH_EXCEEDED

state 3430 begin apogee

3445 -0.22 0.0 2327 2394 3764 3336 434.1 -10.1 383 3646 0.45 0.00 191.90 2.286 10246 0.246 0.000 2453 2394 2793 2920 2667 0 0 0 0 0 0 14.56 28.83 12.81

3646 end apogee: CONTROL_FINISHED_OK

state 3647 begin climb

3653 0.86 184.9 2454 2394 2920 2667 444.6 0.0 404 3873 1.23 2.88 204.23 2.223 10756 0.173 0.126 2816 990 2039 2124 1955 0 0 0 0 1 0 13.57 13.16 12.43

4052 0.72 184.9 2817 990 2123 1945 418.1 11.8 444 4061 0.15 2.72 0.00 0.000 5126 0.250 0.136 2778 2399 2033 2123 1944 0 0 0 0 0 0 13.66 13.71 28.83

4363 0.62 184.9 2777 2399 2124 1940 384.9 10.3 475 4372 0.15 2.67 0.00 0.000 4356 0.280 0.151 2739 3809 2031 2123 1940 0 0 0 0 0 0 13.95 14.00 28.83

4517 0.55 184.9 1768 3808 2078 1936 368.9 10.5 489 4524 0.15 2.55 0.00 0.000 5126 0.275 0.106 2715 2395 2031 2122 1940 0 0 0 0 0 0 14.05 14.12 28.83

4826 0.61 232.0 2715 2394 2122 1938 343.8 7.8 520 4881 0.00 0.00 49.20 2.147 8198 0.000 0.000 2714 2394 1847 1948 1746 0 0 0 0 0 0 28.83 28.83 13.10

5186 0.75 325.5 2715 2394 1946 1744 318.3 6.2 556 5295 0.17 2.90 101.15 2.116 10500 0.146 0.156 2775 3819 1466 1553 1380 0 0 0 0 0 0 14.16 13.45 12.82

5336 0.71 325.5 2775 3819 1550 1380 304.4 11.4 570 5343 0.00 2.65 0.00 0.000 1030 0.000 0.106 2785 2402 1465 1550 1380 0 0 0 0 0 0 28.83 13.69 28.83

5645 0.69 337.2 2785 2402 1545 1375 274.2 9.0 601 5663 0.00 2.83 12.20 1.946 8452 0.000 0.156 2785 3816 1419 1503 1335 0 0 0 0 0 0 28.83 13.93 13.30

5711 0.63 337.2 2785 3816 1501 1335 267.5 11.0 607 5720 0.17 2.58 0.00 0.000 5126 0.240 0.107 2748 2393 1418 1501 1335 0 0 0 0 0 0 13.94 14.00 28.83

6022 0.77 416.9 2748 2392 1500 1332 246.6 6.6 638 6118 0.12 2.88 86.05 2.063 10500 0.177 0.155 2791 3814 1094 1171 1017 0 0 0 0 0 0 14.22 13.53 12.93

6172 0.77 416.9 2791 3814 1167 1017 233.1 11.2 652 6179 0.00 2.62 0.00 0.000 1030 0.000 0.105 2801 2398 1092 1167 1017 0 0 0 0 0 0 28.83 13.78 28.83

6480 0.77 416.9 2801 2397 1163 1013 199.7 11.3 683 6486 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 2396 1088 1164 1013 0 0 0 0 0 0 28.83 28.83 28.83

6795 0.77 416.9 2801 2396 1163 1011 164.6 10.8 714 6804 0.00 2.58 0.00 0.000 516 0.000 0.133 2811 986 1086 1162 1011 0 0 0 0 0 0 28.83 14.23 28.83

6824 0.77 416.9 2811 986 1161 1011 161.5 10.6 716 6830 0.00 2.62 0.00 0.000 1030 0.000 0.135 2811 2401 1086 1161 1011 0 0 0 0 0 0 28.83 14.25 28.83

7133 0.77 416.9 2812 2401 1161 1010 128.8 11.1 747 7141 0.00 2.62 0.00 0.000 260 0.000 0.157 2811 3807 1085 1160 1010 0 0 0 0 0 0 28.83 14.33 28.83

7188 0.77 416.9 2811 3807 1159 1010 122.3 12.4 752 7197 0.12 2.47 0.00 0.000 5126 0.243 0.109 2785 2402 1084 1159 1010 0 0 0 0 0 0 14.30 14.35 28.83

7503 0.81 416.9 1792 2398 1147 1009 88.0 11.9 792 7510 0.00 2.58 0.00 0.000 516 0.000 0.134 2792 978 1084 1159 1010 0 0 0 0 0 0 28.83 14.40 28.83

7561 0.88 416.9 1792 978 1146 1008 80.7 12.1 802 7569 0.00 2.60 0.00 0.000 1030 0.000 0.135 2792 2402 1083 1158 1009 0 0 0 0 0 0 28.83 14.42 28.83

7881 0.93 416.9 2792 2402 1157 1009 46.7 9.9 863 7888 0.12 2.62 0.00 0.000 2308 0.184 0.156 2838 3813 1082 1157 1008 0 0 0 0 0 0 14.45 14.42 28.83

7955 0.90 416.9 1840 3812 1145 1007 36.9 14.2 876 7962 0.00 2.50 0.00 0.000 1030 0.000 0.109 2848 2393 1083 1157 1009 0 0 0 0 0 0 28.83 14.47 28.83

8274 0.90 416.9 2848 2392 1157 1008 3.7 11.6 937 8280 0.00 2.53 0.00 0.000 516 0.000 0.136 2858 990 1082 1156 1008 0 0 0 0 0 0 28.83 14.47 28.83

8285 end climb: SURFACE_DEPTH_REACHED

state 8285 begin surface coast

8297 end surface coast: CONTROL_FINISHED_OK

state 8297 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	31	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	16	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	450	R_STBD_OVSHOOT	11	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	-1089.7524	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	210913,100407,6621.582,-6028.433,32,1.3,32,-33.4	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210913,101011,6621.506,-6028.441,5,1.2,5,-33.4	MHEAD_RNG_PITCHd_Wd	97.6,176768,-14.5,-9.375,-17.87,2984
SPEED_LIMITS	0.162,0.291	D_GRID	434

FINISH	0.8,1.024925	_24V_AH	12.4,16.948
SM_CCo	8329,16.90,0.192,0,0,957,450.13	_10V_AH	12.7,0.000
SM_GC	1.68,8.07,2.53,16.90,0.101,0.127,0.192,141,2354,957,-7.43,-0.42,450.13,0,0,0,0,0,0,14.49,14.48,14.43	FG_AHR_24Vo	0.000
RAFOS_CLK	397	FG_AHR_10Vo	0.000
RAFOS	0,1379764861,12.033333,12.016945,89,63,59,57,56,53,658,205,214,136,151,192	MEM	150744
RAFOS_FIX	6623.017090,-6025.945801,210913,121201,3,87,0.46	DATA_FILE_SIZE	40058,941
IRIDIUM_FIX	6553.70,-6025.96,210913,070738	CAP_FILE_SIZE	104228,0
TT8_MAMPS	0.027713,0.027713	CFSIZE	259252224,248905728
HUMID	46.96	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	8.64484	SOUNDSPEED	1452.1
TCM_TEMP	12.30	GPS	210913,123153,6622.110,-6026.215,38,1.1,38,-33.4
XPDR_PINGS	50

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	445	120.15	SBE_CT	656	23	188.89
Roll_motor	98	162	198.19	SBE_O2	0	0	0.00
VBD_pump_during_apogee	644	2285	18274.19	nil	0	0	0.00
VBD_pump_during_surface	16	192	40.24	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	210	142	371.05	nil	0	0	0.00
Transponder_ping	12	420	65.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	18	2.66
TT8	2141	14	406.93
LPSleep	3533	2	103.66
TT8_Active	724	14	130.75
TT8_Sampling	1797	33	769.29
TT8_CF8	530	39	267.31
TT8_Kalman	0	0	0.00
Analog_circuits	1902	12	289.88
GPS_charging	0	0	0.00
Compass	1604	6	137.35
RAFOS	1440	1	27.43
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	140	2342	745	667	0.0	0.0	0	123	0.00	0.00	-99.78	0.000	16386	0.000	0.000	137	2342	2682	2748	2616	0	0	0	0	0	0	28.83	28.83	28.83
130	-0.86	-184.9	137	2342	2749	2616	3.4	-6.0	18	167	10.35	2.55	-17.42	0.000	18948	0.446	0.148	2249	939	3550	3763	3338	0	0	0	0	0	0	14.18	14.32	14.55
348	-0.74	-184.9	2249	938	3764	3338	58.1	-21.2	58	356	0.20	2.60	0.00	0.000	3078	0.295	0.138	2289	2351	3551	3764	3339	0	0	0	0	0	0	14.31	14.37	28.83
672	-0.65	-184.9	2289	2351	3764	3338	113.9	-16.6	112	682	0.12	2.60	0.00	0.000	2308	0.309	0.153	2314	3762	3551	3764	3338	0	0	0	0	0	0	14.38	14.42	28.83
794	-0.62	-184.9	2314	3762	3764	3338	130.2	-13.6	123	803	0.00	2.45	0.00	0.000	1030	0.000	0.107	2313	2352	3551	3764	3338	0	0	0	0	0	0	28.83	14.47	28.83
1105	-0.58	-184.9	2313	2352	3764	3338	174.6	-13.9	154	1114	0.12	2.60	0.00	0.000	2308	0.309	0.158	2336	3758	3551	3764	3338	0	0	0	0	0	0	14.45	14.48	28.83
1150	-0.58	-184.9	2336	3758	3764	3338	180.7	-12.9	158	1159	0.00	2.45	0.00	0.000	1030	0.000	0.107	2336	2345	3551	3764	3338	0	0	0	0	0	0	28.83	14.50	28.83
1460	-0.58	-184.9	2336	2344	3764	3338	218.2	-11.6	189	1469	0.00	2.62	0.00	0.000	260	0.000	0.160	2327	3762	3551	3764	3338	0	0	0	0	0	0	28.83	14.50	28.83
1497	-0.58	-184.9	2328	3762	3765	3338	222.4	-11.5	192	1506	0.00	2.45	0.00	0.000	1030	0.000	0.107	2327	2345	3551	3764	3338	0	0	0	0	0	0	28.83	14.54	28.83
1807	-0.58	-184.9	2327	2344	3764	3338	261.8	-12.6	223	1816	0.00	2.65	0.00	0.000	260	0.000	0.160	2327	3768	3550	3764	3337	0	0	0	0	0	0	28.83	14.53	28.83
1903	-0.58	-184.9	2327	3768	3764	3337	273.4	-11.9	232	1911	0.00	2.45	0.00	0.000	1030	0.000	0.106	2327	2344	3550	3764	3337	0	0	0	0	0	0	28.83	14.56	28.83
2213	-0.58	-184.9	2327	2344	3764	3337	309.4	-10.8	263	2222	0.00	2.62	0.00	0.000	260	0.000	0.160	2327	3758	3550	3764	3337	0	0	0	0	0	0	28.83	14.54	28.83
2338	-0.58	-184.9	2327	3758	3764	3336	322.9	-10.7	275	2347	0.00	2.42	0.00	0.000	1030	0.000	0.107	2327	2347	3549	3764	3335	0	0	0	0	0	0	28.83	14.58	28.83
2648	-0.58	-184.9	2327	2346	3764	3336	356.0	-10.6	306	2657	0.00	2.60	0.00	0.000	260	0.000	0.162	2327	3759	3550	3764	3336	0	0	0	0	0	0	28.83	14.56	28.83
2717	-0.61	-184.9	2327	3759	3764	3336	363.2	-10.8	312	2723	0.00	2.45	0.00	0.000	1030	0.000	0.106	2327	2342	3550	3764	3336	0	0	0	0	0	0	28.83	14.62	28.83
3025	-0.61	-184.9	2327	2342	3764	3336	394.0	-10.0	343	3034	0.00	2.62	0.00	0.000	260	0.000	0.158	2327	3765	3550	3764	3336	0	0	0	0	0	0	28.83	14.58	28.83
3060	-0.61	-184.9	2327	3765	3765	3336	397.5	-9.8	346	3069	0.00	2.42	0.00	0.000	1030	0.000	0.104	2327	2346	3550	3764	3336	0	0	0	0	0	0	28.83	14.61	28.83
3370	-0.61	-184.9	2327	2346	3764	3336	427.5	-9.8	377	3379	0.00	2.62	0.00	0.000	260	0.000	0.160	2327	3765	3550	3764	3336	0	0	0	0	0	0	28.83	14.58	28.83
3429	end dive: TARGET_DEPTH_EXCEEDED
state	3430	begin apogee
3445	-0.22	0.0	2327	2394	3764	3336	434.1	-10.1	383	3646	0.45	0.00	191.90	2.286	10246	0.246	0.000	2453	2394	2793	2920	2667	0	0	0	0	0	0	14.56	28.83	12.81
3646	end apogee: CONTROL_FINISHED_OK
state	3647	begin climb
3653	0.86	184.9	2454	2394	2920	2667	444.6	0.0	404	3873	1.23	2.88	204.23	2.223	10756	0.173	0.126	2816	990	2039	2124	1955	0	0	0	0	1	0	13.57	13.16	12.43
4052	0.72	184.9	2817	990	2123	1945	418.1	11.8	444	4061	0.15	2.72	0.00	0.000	5126	0.250	0.136	2778	2399	2033	2123	1944	0	0	0	0	0	0	13.66	13.71	28.83
4363	0.62	184.9	2777	2399	2124	1940	384.9	10.3	475	4372	0.15	2.67	0.00	0.000	4356	0.280	0.151	2739	3809	2031	2123	1940	0	0	0	0	0	0	13.95	14.00	28.83
4517	0.55	184.9	1768	3808	2078	1936	368.9	10.5	489	4524	0.15	2.55	0.00	0.000	5126	0.275	0.106	2715	2395	2031	2122	1940	0	0	0	0	0	0	14.05	14.12	28.83
4826	0.61	232.0	2715	2394	2122	1938	343.8	7.8	520	4881	0.00	0.00	49.20	2.147	8198	0.000	0.000	2714	2394	1847	1948	1746	0	0	0	0	0	0	28.83	28.83	13.10
5186	0.75	325.5	2715	2394	1946	1744	318.3	6.2	556	5295	0.17	2.90	101.15	2.116	10500	0.146	0.156	2775	3819	1466	1553	1380	0	0	0	0	0	0	14.16	13.45	12.82
5336	0.71	325.5	2775	3819	1550	1380	304.4	11.4	570	5343	0.00	2.65	0.00	0.000	1030	0.000	0.106	2785	2402	1465	1550	1380	0	0	0	0	0	0	28.83	13.69	28.83
5645	0.69	337.2	2785	2402	1545	1375	274.2	9.0	601	5663	0.00	2.83	12.20	1.946	8452	0.000	0.156	2785	3816	1419	1503	1335	0	0	0	0	0	0	28.83	13.93	13.30
5711	0.63	337.2	2785	3816	1501	1335	267.5	11.0	607	5720	0.17	2.58	0.00	0.000	5126	0.240	0.107	2748	2393	1418	1501	1335	0	0	0	0	0	0	13.94	14.00	28.83
6022	0.77	416.9	2748	2392	1500	1332	246.6	6.6	638	6118	0.12	2.88	86.05	2.063	10500	0.177	0.155	2791	3814	1094	1171	1017	0	0	0	0	0	0	14.22	13.53	12.93
6172	0.77	416.9	2791	3814	1167	1017	233.1	11.2	652	6179	0.00	2.62	0.00	0.000	1030	0.000	0.105	2801	2398	1092	1167	1017	0	0	0	0	0	0	28.83	13.78	28.83
6480	0.77	416.9	2801	2397	1163	1013	199.7	11.3	683	6486	0.00	0.00	0.00	0.000	6	0.000	0.000	2801	2396	1088	1164	1013	0	0	0	0	0	0	28.83	28.83	28.83
6795	0.77	416.9	2801	2396	1163	1011	164.6	10.8	714	6804	0.00	2.58	0.00	0.000	516	0.000	0.133	2811	986	1086	1162	1011	0	0	0	0	0	0	28.83	14.23	28.83
6824	0.77	416.9	2811	986	1161	1011	161.5	10.6	716	6830	0.00	2.62	0.00	0.000	1030	0.000	0.135	2811	2401	1086	1161	1011	0	0	0	0	0	0	28.83	14.25	28.83
7133	0.77	416.9	2812	2401	1161	1010	128.8	11.1	747	7141	0.00	2.62	0.00	0.000	260	0.000	0.157	2811	3807	1085	1160	1010	0	0	0	0	0	0	28.83	14.33	28.83
7188	0.77	416.9	2811	3807	1159	1010	122.3	12.4	752	7197	0.12	2.47	0.00	0.000	5126	0.243	0.109	2785	2402	1084	1159	1010	0	0	0	0	0	0	14.30	14.35	28.83
7503	0.81	416.9	1792	2398	1147	1009	88.0	11.9	792	7510	0.00	2.58	0.00	0.000	516	0.000	0.134	2792	978	1084	1159	1010	0	0	0	0	0	0	28.83	14.40	28.83
7561	0.88	416.9	1792	978	1146	1008	80.7	12.1	802	7569	0.00	2.60	0.00	0.000	1030	0.000	0.135	2792	2402	1083	1158	1009	0	0	0	0	0	0	28.83	14.42	28.83
7881	0.93	416.9	2792	2402	1157	1009	46.7	9.9	863	7888	0.12	2.62	0.00	0.000	2308	0.184	0.156	2838	3813	1082	1157	1008	0	0	0	0	0	0	14.45	14.42	28.83
7955	0.90	416.9	1840	3812	1145	1007	36.9	14.2	876	7962	0.00	2.50	0.00	0.000	1030	0.000	0.109	2848	2393	1083	1157	1009	0	0	0	0	0	0	28.83	14.47	28.83
8274	0.90	416.9	2848	2392	1157	1008	3.7	11.6	937	8280	0.00	2.53	0.00	0.000	516	0.000	0.136	2858	990	1082	1156	1008	0	0	0	0	0	0	28.83	14.47	28.83
8285	end climb: SURFACE_DEPTH_REACHED
state	8285	begin surface coast
8297	end surface coast: CONTROL_FINISHED_OK
state	8297	begin surface