Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 32 * 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 32 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 17 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 450 R_STBD_OVSHOOT 13 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 -1096.4253 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 -1096.4253

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 17 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 13 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 32 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 210913,123153,6622.110,-6026.215,38,1.1,38,-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 1.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210913,123753,6622.089,-6026.177,4,1.1,4,-33.4 MHEAD_RNG_PITCHd_Wd 97.7,174827,-14.5,-9.375,-17.87,2984

SPEED_LIMITS 0.162,0.291 D_GRID 441

Post-dive calculations and measurements:

FINISH 0.5,1.005773 _24V_AH 12.5,17.389

SM_CCo 8560,0.55,0.412,0,0,957,450.13 _10V_AH 12.8,0.000

SM_GC 2.08,7.95,0.10,0.55,0.100,0.187,0.412,143,2347,957,-7.43,0.54,450.13,0,0,0,0,0,0,14.50,14.49,14.45 FG_AHR_24Vo 0.000

RAFOS_CLK 412 FG_AHR_10Vo 0.000

RAFOS 3,1379766304,12.433333,12.417778,91,59,55,55,54,53,742,182,151,167,206,218 MEM 150816

RAFOS_FIX 6623.137695,-6024.177246,210913,121207,5,84,0.00 DATA_FILE_SIZE 43448,984

IRIDIUM_FIX 6553.70,-6026.59,210913,101049 CAP_FILE_SIZE 108219,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 259252224,248840192

HUMID 47.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

INTERNAL_PRESSURE 8.64484 SOUNDSPEED 1451.7

TCM_TEMP 12.40 GPS 210913,150305,6623.782,-6023.792,29,0.8,29,-33.5

XPDR_PINGS 71

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 445 119.52 SBE_CT 686 23 199.26

Roll_motor 88 206 228.75 SBE_O2 0 0 0.00

VBD_pump_during_apogee 645 2304 18589.38 nil 0 0 0.00

VBD_pump_during_surface 0 411 2.83 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 206 138 356.81 nil 0 0 0.00

Transponder_ping 17 420 93.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 18 2.69

TT8 2235 14 428.16

LPSleep 3576 2 105.74

TT8_Active 711 14 129.45

TT8_Sampling 1858 33 801.46

TT8_CF8 561 39 285.23

TT8_Kalman 0 0 0.00

Analog_circuits 1912 12 293.78

GPS_charging 0 0 0.00

Compass 1669 6 144.04

RAFOS 720 1 13.82

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 -184.9 133 2359 992 913 0.0 0.0 0 118 0.00 0.00 -94.70 0.000 16386 0.000 0.000 132 2360 2825 2891 2759 0 0 0 0 0 0 28.83 28.83 28.83

125 -0.86 -184.9 132 2360 2894 2759 3.8 -8.2 17 158 10.32 2.60 -13.45 0.000 18948 0.445 0.148 2249 932 3550 3754 3346 0 0 0 0 0 0 14.20 14.33 14.57

284 -0.73 -184.9 2250 931 3756 3346 46.0 -18.9 45 291 0.20 2.62 0.00 0.000 3078 0.296 0.138 2291 2349 3551 3756 3346 0 0 0 0 0 0 14.31 14.37 28.83

608 -0.64 -184.9 2290 2349 3757 3346 101.8 -17.8 106 617 0.12 2.60 0.00 0.000 2308 0.308 0.151 2315 3765 3551 3757 3345 0 0 0 0 0 0 14.38 14.42 28.83

698 -0.61 -184.9 2315 3765 3757 3345 115.2 -14.8 114 705 0.00 2.50 0.00 0.000 1030 0.000 0.106 2314 2339 3551 3758 3345 0 0 0 0 0 0 28.83 14.47 28.83

1007 -0.56 -184.9 2315 2338 3757 3345 160.6 -14.5 145 1016 0.12 2.62 0.00 0.000 2308 0.311 0.155 2337 3758 3551 3757 3345 0 0 0 0 0 0 14.44 14.47 28.83

1043 -0.54 -184.9 2338 3758 3757 3345 165.7 -14.4 148 1052 0.00 2.45 0.00 0.000 1030 0.000 0.107 2337 2345 3551 3757 3345 0 0 0 0 0 0 28.83 14.50 28.83

1353 -0.54 -184.9 2337 2345 3757 3345 203.1 -11.1 179 1362 0.00 2.62 0.00 0.000 260 0.000 0.161 2337 3761 3551 3757 3345 0 0 0 0 0 0 28.83 14.50 28.83

1398 -0.54 -184.9 2337 3761 3757 3345 208.1 -10.9 183 1407 0.00 2.45 0.00 0.000 1030 0.000 0.107 2337 2344 3550 3757 3344 0 0 0 0 0 0 28.83 14.53 28.83

1708 -0.54 -184.9 2337 2343 3757 3345 241.2 -11.1 214 1717 0.00 2.62 0.00 0.000 260 0.000 0.160 2337 3761 3550 3757 3344 0 0 0 0 0 0 28.83 14.52 28.83

1832 -0.56 -184.9 1424 3760 3754 3341 254.3 -11.5 225 1839 0.00 2.47 0.00 0.000 1030 0.000 0.107 2337 2348 3550 3757 3343 0 0 0 0 0 0 28.83 14.57 28.83

2141 -0.56 -184.9 2337 2348 3757 3343 291.0 -11.4 256 2149 0.00 2.62 0.00 0.000 260 0.000 0.163 2337 3764 3550 3757 3343 0 0 0 0 0 0 28.83 14.54 28.83

2282 -0.59 -184.9 2337 3764 3757 3343 305.6 -10.4 269 2290 0.00 2.45 0.00 0.000 1030 0.000 0.107 2337 2346 3549 3757 3342 0 0 0 0 0 0 28.83 14.57 28.83

2592 -0.61 -184.9 2337 2345 3757 3342 338.5 -10.4 300 2601 0.00 2.62 0.00 0.000 260 0.000 0.161 2336 3760 3549 3757 3342 0 0 0 0 0 0 28.83 14.56 28.83

2678 -0.66 -184.9 2335 3761 3757 3342 346.9 -9.6 308 2687 0.00 2.45 0.00 0.000 1030 0.000 0.107 2337 2344 3549 3757 3341 0 0 0 0 0 0 28.83 14.59 28.83

2989 -0.68 -184.9 2337 2344 3757 3341 377.9 -10.2 339 2998 0.00 2.60 0.00 0.000 260 0.000 0.159 2337 3759 3549 3757 3341 0 0 0 0 0 0 28.83 14.57 28.83

3038 -0.71 -184.9 2337 3759 3758 3340 382.6 -10.1 343 3045 0.00 2.45 0.00 0.000 1030 0.000 0.105 2337 2340 3549 3757 3341 0 0 0 0 0 0 28.83 14.62 28.83

3347 -0.75 -184.9 2337 2341 3757 3342 414.6 -9.8 374 3356 0.12 2.60 0.00 0.000 4356 0.177 0.155 2281 3758 3549 3757 3341 0 0 0 0 0 0 14.64 14.58 28.83

3469 -0.71 -184.9 2281 3758 3757 3341 429.6 -13.6 385 3477 0.00 2.40 0.00 0.000 1030 0.000 0.103 2281 2351 3549 3758 3341 0 0 0 0 0 0 28.83 14.62 28.83

3542 end dive: TARGET_DEPTH_EXCEEDED

state 3543 begin apogee

3556 -0.22 0.0 2281 2405 3757 3341 441.0 -13.5 393 3761 0.62 0.00 191.95 2.305 10246 0.251 0.000 2456 2404 2794 2919 2669 0 0 0 0 0 0 14.54 28.83 12.82

3762 end apogee: CONTROL_FINISHED_OK

state 3762 begin climb

3768 0.86 184.9 2456 2404 2919 2669 452.6 0.0 414 3996 1.20 2.90 206.85 2.190 10756 0.181 0.128 2812 996 2039 2127 1952 0 0 0 0 2 0 13.59 13.14 12.47

4115 0.73 184.9 2813 996 2127 1944 433.8 10.5 449 4124 0.12 2.72 0.00 0.000 5126 0.259 0.132 2780 2396 2035 2127 1943 0 0 0 0 0 0 13.54 13.59 28.83

4427 0.65 196.2 2780 2396 2127 1938 405.3 9.0 480 4445 0.12 2.83 11.75 2.019 12548 0.295 0.151 2749 3819 1995 2093 1898 0 0 0 0 0 0 13.92 13.83 13.18

4605 0.56 196.2 2749 3819 2092 1897 388.3 9.7 497 4615 0.12 2.55 0.00 0.000 5126 0.252 0.105 2725 2405 1994 2092 1897 0 0 0 0 0 0 13.94 14.00 28.83

4916 0.67 284.2 2724 2405 2092 1895 366.7 6.3 528 5022 0.00 0.00 98.35 2.197 8198 0.000 0.000 2725 2405 1634 1724 1544 0 0 0 0 0 0 28.83 28.83 12.79

5327 0.75 327.1 2725 2405 1718 1538 336.3 7.9 569 5383 0.15 2.72 46.72 2.105 10756 0.165 0.129 2785 991 1460 1548 1373 0 0 0 0 0 0 14.03 13.59 12.93

5415 0.73 327.1 2785 991 1547 1371 327.4 12.0 577 5424 0.00 2.72 0.00 0.000 1030 0.000 0.134 2784 2403 1459 1548 1370 0 0 0 0 0 0 28.83 13.71 28.83

5726 0.69 327.1 2785 2403 1545 1366 286.3 13.4 608 5735 0.00 2.70 0.00 0.000 260 0.000 0.154 2785 3813 1455 1544 1366 0 0 0 0 0 0 28.83 14.02 28.83

5802 0.63 327.1 2785 3813 1541 1366 275.5 14.6 615 5812 0.17 2.53 0.00 0.000 5126 0.242 0.106 2746 2402 1454 1542 1366 0 0 0 0 0 0 14.04 14.11 28.83

6114 0.69 352.5 2747 2401 1542 1365 245.1 8.5 646 6149 0.00 2.80 26.23 2.039 8452 0.000 0.155 2746 3814 1358 1443 1273 0 0 0 0 0 0 28.83 13.95 13.33

6177 0.74 367.0 2746 3814 1442 1273 239.8 8.9 652 6202 0.00 2.55 17.42 1.974 9222 0.000 0.104 2753 2394 1297 1379 1215 0 0 0 0 0 0 28.83 14.02 13.21

6507 0.78 367.0 2753 2394 1376 1213 210.4 9.5 685 6516 0.10 2.58 0.00 0.000 2564 0.193 0.128 2794 990 1295 1376 1214 0 0 0 0 0 0 14.19 14.16 28.83

6533 0.82 367.0 2794 990 1375 1213 207.8 9.5 687 6542 0.00 2.62 0.00 0.000 1030 0.000 0.135 2794 2401 1293 1374 1213 0 0 0 0 0 0 28.83 14.17 28.83

6844 0.82 367.0 2794 2401 1374 1213 169.6 12.5 718 6852 0.00 2.62 0.00 0.000 260 0.000 0.155 2794 3809 1293 1373 1213 0 0 0 0 0 0 28.83 14.28 28.83

6977 0.79 367.0 1792 3808 1352 1211 152.3 13.9 730 6984 0.00 2.50 0.00 0.000 1030 0.000 0.107 2804 2399 1293 1373 1213 0 0 0 0 0 0 28.83 14.35 28.83

7285 0.79 367.0 2804 2399 1372 1212 113.6 11.3 761 7291 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 2399 1292 1372 1212 0 0 0 0 0 0 28.83 28.83 28.83

7600 0.83 399.2 1808 2397 1353 1210 81.0 8.3 810 7625 0.00 2.75 18.52 0.458 8452 0.000 0.160 2804 3821 1165 1244 1086 0 0 0 0 0 0 28.83 14.38 14.26

7682 0.84 406.4 2804 3821 1243 1086 73.6 9.1 824 7695 0.00 2.50 3.95 0.443 9222 0.000 0.109 2814 2400 1136 1214 1059 0 0 0 0 0 0 28.83 14.43 14.26

8012 0.89 447.0 2814 2400 1213 1057 47.5 8.0 886 8041 0.00 0.00 23.45 0.337 8198 0.000 0.000 2814 2400 969 1046 892 0 0 0 0 0 0 28.83 28.83 14.31

8358 0.95 449.1 2814 2400 1042 887 16.0 9.3 951 8364 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2400 964 1042 887 0 0 0 0 0 0 28.83 28.83 28.83

8490 end climb: SURFACE_DEPTH_REACHED

state 8490 begin surface coast

8531 end surface coast: CONTROL_FINISHED_OK

state 8531 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	32	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	17	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	450	R_STBD_OVSHOOT	13	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	-1096.4253	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	210913,123153,6622.110,-6026.215,38,1.1,38,-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	1.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210913,123753,6622.089,-6026.177,4,1.1,4,-33.4	MHEAD_RNG_PITCHd_Wd	97.7,174827,-14.5,-9.375,-17.87,2984
SPEED_LIMITS	0.162,0.291	D_GRID	441

FINISH	0.5,1.005773	_24V_AH	12.5,17.389
SM_CCo	8560,0.55,0.412,0,0,957,450.13	_10V_AH	12.8,0.000
SM_GC	2.08,7.95,0.10,0.55,0.100,0.187,0.412,143,2347,957,-7.43,0.54,450.13,0,0,0,0,0,0,14.50,14.49,14.45	FG_AHR_24Vo	0.000
RAFOS_CLK	412	FG_AHR_10Vo	0.000
RAFOS	3,1379766304,12.433333,12.417778,91,59,55,55,54,53,742,182,151,167,206,218	MEM	150816
RAFOS_FIX	6623.137695,-6024.177246,210913,121207,5,84,0.00	DATA_FILE_SIZE	43448,984
IRIDIUM_FIX	6553.70,-6026.59,210913,101049	CAP_FILE_SIZE	108219,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	259252224,248840192
HUMID	47.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
INTERNAL_PRESSURE	8.64484	SOUNDSPEED	1451.7
TCM_TEMP	12.40	GPS	210913,150305,6623.782,-6023.792,29,0.8,29,-33.5
XPDR_PINGS	71

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	445	119.52	SBE_CT	686	23	199.26
Roll_motor	88	206	228.75	SBE_O2	0	0	0.00
VBD_pump_during_apogee	645	2304	18589.38	nil	0	0	0.00
VBD_pump_during_surface	0	411	2.83	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	206	138	356.81	nil	0	0	0.00
Transponder_ping	17	420	93.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	18	2.69
TT8	2235	14	428.16
LPSleep	3576	2	105.74
TT8_Active	711	14	129.45
TT8_Sampling	1858	33	801.46
TT8_CF8	561	39	285.23
TT8_Kalman	0	0	0.00
Analog_circuits	1912	12	293.78
GPS_charging	0	0	0.00
Compass	1669	6	144.04
RAFOS	720	1	13.82
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	133	2359	992	913	0.0	0.0	0	118	0.00	0.00	-94.70	0.000	16386	0.000	0.000	132	2360	2825	2891	2759	0	0	0	0	0	0	28.83	28.83	28.83
125	-0.86	-184.9	132	2360	2894	2759	3.8	-8.2	17	158	10.32	2.60	-13.45	0.000	18948	0.445	0.148	2249	932	3550	3754	3346	0	0	0	0	0	0	14.20	14.33	14.57
284	-0.73	-184.9	2250	931	3756	3346	46.0	-18.9	45	291	0.20	2.62	0.00	0.000	3078	0.296	0.138	2291	2349	3551	3756	3346	0	0	0	0	0	0	14.31	14.37	28.83
608	-0.64	-184.9	2290	2349	3757	3346	101.8	-17.8	106	617	0.12	2.60	0.00	0.000	2308	0.308	0.151	2315	3765	3551	3757	3345	0	0	0	0	0	0	14.38	14.42	28.83
698	-0.61	-184.9	2315	3765	3757	3345	115.2	-14.8	114	705	0.00	2.50	0.00	0.000	1030	0.000	0.106	2314	2339	3551	3758	3345	0	0	0	0	0	0	28.83	14.47	28.83
1007	-0.56	-184.9	2315	2338	3757	3345	160.6	-14.5	145	1016	0.12	2.62	0.00	0.000	2308	0.311	0.155	2337	3758	3551	3757	3345	0	0	0	0	0	0	14.44	14.47	28.83
1043	-0.54	-184.9	2338	3758	3757	3345	165.7	-14.4	148	1052	0.00	2.45	0.00	0.000	1030	0.000	0.107	2337	2345	3551	3757	3345	0	0	0	0	0	0	28.83	14.50	28.83
1353	-0.54	-184.9	2337	2345	3757	3345	203.1	-11.1	179	1362	0.00	2.62	0.00	0.000	260	0.000	0.161	2337	3761	3551	3757	3345	0	0	0	0	0	0	28.83	14.50	28.83
1398	-0.54	-184.9	2337	3761	3757	3345	208.1	-10.9	183	1407	0.00	2.45	0.00	0.000	1030	0.000	0.107	2337	2344	3550	3757	3344	0	0	0	0	0	0	28.83	14.53	28.83
1708	-0.54	-184.9	2337	2343	3757	3345	241.2	-11.1	214	1717	0.00	2.62	0.00	0.000	260	0.000	0.160	2337	3761	3550	3757	3344	0	0	0	0	0	0	28.83	14.52	28.83
1832	-0.56	-184.9	1424	3760	3754	3341	254.3	-11.5	225	1839	0.00	2.47	0.00	0.000	1030	0.000	0.107	2337	2348	3550	3757	3343	0	0	0	0	0	0	28.83	14.57	28.83
2141	-0.56	-184.9	2337	2348	3757	3343	291.0	-11.4	256	2149	0.00	2.62	0.00	0.000	260	0.000	0.163	2337	3764	3550	3757	3343	0	0	0	0	0	0	28.83	14.54	28.83
2282	-0.59	-184.9	2337	3764	3757	3343	305.6	-10.4	269	2290	0.00	2.45	0.00	0.000	1030	0.000	0.107	2337	2346	3549	3757	3342	0	0	0	0	0	0	28.83	14.57	28.83
2592	-0.61	-184.9	2337	2345	3757	3342	338.5	-10.4	300	2601	0.00	2.62	0.00	0.000	260	0.000	0.161	2336	3760	3549	3757	3342	0	0	0	0	0	0	28.83	14.56	28.83
2678	-0.66	-184.9	2335	3761	3757	3342	346.9	-9.6	308	2687	0.00	2.45	0.00	0.000	1030	0.000	0.107	2337	2344	3549	3757	3341	0	0	0	0	0	0	28.83	14.59	28.83
2989	-0.68	-184.9	2337	2344	3757	3341	377.9	-10.2	339	2998	0.00	2.60	0.00	0.000	260	0.000	0.159	2337	3759	3549	3757	3341	0	0	0	0	0	0	28.83	14.57	28.83
3038	-0.71	-184.9	2337	3759	3758	3340	382.6	-10.1	343	3045	0.00	2.45	0.00	0.000	1030	0.000	0.105	2337	2340	3549	3757	3341	0	0	0	0	0	0	28.83	14.62	28.83
3347	-0.75	-184.9	2337	2341	3757	3342	414.6	-9.8	374	3356	0.12	2.60	0.00	0.000	4356	0.177	0.155	2281	3758	3549	3757	3341	0	0	0	0	0	0	14.64	14.58	28.83
3469	-0.71	-184.9	2281	3758	3757	3341	429.6	-13.6	385	3477	0.00	2.40	0.00	0.000	1030	0.000	0.103	2281	2351	3549	3758	3341	0	0	0	0	0	0	28.83	14.62	28.83
3542	end dive: TARGET_DEPTH_EXCEEDED
state	3543	begin apogee
3556	-0.22	0.0	2281	2405	3757	3341	441.0	-13.5	393	3761	0.62	0.00	191.95	2.305	10246	0.251	0.000	2456	2404	2794	2919	2669	0	0	0	0	0	0	14.54	28.83	12.82
3762	end apogee: CONTROL_FINISHED_OK
state	3762	begin climb
3768	0.86	184.9	2456	2404	2919	2669	452.6	0.0	414	3996	1.20	2.90	206.85	2.190	10756	0.181	0.128	2812	996	2039	2127	1952	0	0	0	0	2	0	13.59	13.14	12.47
4115	0.73	184.9	2813	996	2127	1944	433.8	10.5	449	4124	0.12	2.72	0.00	0.000	5126	0.259	0.132	2780	2396	2035	2127	1943	0	0	0	0	0	0	13.54	13.59	28.83
4427	0.65	196.2	2780	2396	2127	1938	405.3	9.0	480	4445	0.12	2.83	11.75	2.019	12548	0.295	0.151	2749	3819	1995	2093	1898	0	0	0	0	0	0	13.92	13.83	13.18
4605	0.56	196.2	2749	3819	2092	1897	388.3	9.7	497	4615	0.12	2.55	0.00	0.000	5126	0.252	0.105	2725	2405	1994	2092	1897	0	0	0	0	0	0	13.94	14.00	28.83
4916	0.67	284.2	2724	2405	2092	1895	366.7	6.3	528	5022	0.00	0.00	98.35	2.197	8198	0.000	0.000	2725	2405	1634	1724	1544	0	0	0	0	0	0	28.83	28.83	12.79
5327	0.75	327.1	2725	2405	1718	1538	336.3	7.9	569	5383	0.15	2.72	46.72	2.105	10756	0.165	0.129	2785	991	1460	1548	1373	0	0	0	0	0	0	14.03	13.59	12.93
5415	0.73	327.1	2785	991	1547	1371	327.4	12.0	577	5424	0.00	2.72	0.00	0.000	1030	0.000	0.134	2784	2403	1459	1548	1370	0	0	0	0	0	0	28.83	13.71	28.83
5726	0.69	327.1	2785	2403	1545	1366	286.3	13.4	608	5735	0.00	2.70	0.00	0.000	260	0.000	0.154	2785	3813	1455	1544	1366	0	0	0	0	0	0	28.83	14.02	28.83
5802	0.63	327.1	2785	3813	1541	1366	275.5	14.6	615	5812	0.17	2.53	0.00	0.000	5126	0.242	0.106	2746	2402	1454	1542	1366	0	0	0	0	0	0	14.04	14.11	28.83
6114	0.69	352.5	2747	2401	1542	1365	245.1	8.5	646	6149	0.00	2.80	26.23	2.039	8452	0.000	0.155	2746	3814	1358	1443	1273	0	0	0	0	0	0	28.83	13.95	13.33
6177	0.74	367.0	2746	3814	1442	1273	239.8	8.9	652	6202	0.00	2.55	17.42	1.974	9222	0.000	0.104	2753	2394	1297	1379	1215	0	0	0	0	0	0	28.83	14.02	13.21
6507	0.78	367.0	2753	2394	1376	1213	210.4	9.5	685	6516	0.10	2.58	0.00	0.000	2564	0.193	0.128	2794	990	1295	1376	1214	0	0	0	0	0	0	14.19	14.16	28.83
6533	0.82	367.0	2794	990	1375	1213	207.8	9.5	687	6542	0.00	2.62	0.00	0.000	1030	0.000	0.135	2794	2401	1293	1374	1213	0	0	0	0	0	0	28.83	14.17	28.83
6844	0.82	367.0	2794	2401	1374	1213	169.6	12.5	718	6852	0.00	2.62	0.00	0.000	260	0.000	0.155	2794	3809	1293	1373	1213	0	0	0	0	0	0	28.83	14.28	28.83
6977	0.79	367.0	1792	3808	1352	1211	152.3	13.9	730	6984	0.00	2.50	0.00	0.000	1030	0.000	0.107	2804	2399	1293	1373	1213	0	0	0	0	0	0	28.83	14.35	28.83
7285	0.79	367.0	2804	2399	1372	1212	113.6	11.3	761	7291	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	2399	1292	1372	1212	0	0	0	0	0	0	28.83	28.83	28.83
7600	0.83	399.2	1808	2397	1353	1210	81.0	8.3	810	7625	0.00	2.75	18.52	0.458	8452	0.000	0.160	2804	3821	1165	1244	1086	0	0	0	0	0	0	28.83	14.38	14.26
7682	0.84	406.4	2804	3821	1243	1086	73.6	9.1	824	7695	0.00	2.50	3.95	0.443	9222	0.000	0.109	2814	2400	1136	1214	1059	0	0	0	0	0	0	28.83	14.43	14.26
8012	0.89	447.0	2814	2400	1213	1057	47.5	8.0	886	8041	0.00	0.00	23.45	0.337	8198	0.000	0.000	2814	2400	969	1046	892	0	0	0	0	0	0	28.83	28.83	14.31
8358	0.95	449.1	2814	2400	1042	887	16.0	9.3	951	8364	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2400	964	1042	887	0	0	0	0	0	0	28.83	28.83	28.83
8490	end climb: SURFACE_DEPTH_REACHED
state	8490	begin surface coast
8531	end surface coast: CONTROL_FINISHED_OK
state	8531	begin surface