Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 38 * 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 38 ESCAPE_HEADING 0 C_ROLL_DIVE 2450 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2430 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 19 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 450 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 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 180 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 200 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 -1114.6451 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 170 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 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 0.0012300001 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 180

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 -1114.6451

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 200

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 2430 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2450 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 170 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 12 R_PORT_OVSHOOT 19 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 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 38 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 220913,050605,6624.353,-6010.996,33,1.0,33,-33.5 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 1.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220913,051213,6624.307,-6011.051,5,1.0,5,-33.5 MHEAD_RNG_PITCHd_Wd 97.5,163206,-13.8,-8.333,-17.43,2997

SPEED_LIMITS 0.144,0.265 D_GRID 486

Post-dive calculations and measurements:

FINISH 0.3,1.015849 _24V_AH 12.4,20.016

SM_CCo 9942,26.75,0.187,0,0,957,450.13 _10V_AH 12.5,0.000

SM_GC 1.24,8.05,0.00,26.75,0.109,0.000,0.187,144,2429,957,-7.43,-0.59,450.13,0,0,0,0,0,0,14.47,28.83,14.41 FG_AHR_24Vo 0.000

RAFOS_CLK 482 FG_AHR_10Vo 0.000

RAFOS_FIX 6625.061035,-6010.544434,220913,040458,7,87,0.58 MEM 150824

IRIDIUM_FIX 6553.70,-6021.30,220913,020210 DATA_FILE_SIZE 50050,1131

TT8_MAMPS 0.024717,0.024717 CAP_FILE_SIZE 115175,0

HUMID 46.10 CFSIZE 259252224,248438784

INTERNAL_PRESSURE 8.64484 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

TCM_TEMP 12.40 SOUNDSPEED 1452.4

XPDR_PINGS 79 GPS 220913,080053,6623.465,-6008.697,41,0.9,41,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 435 114.83 SBE_CT 791 23 227.90

Roll_motor 87 162 177.40 SBE_O2 0 0 0.00

VBD_pump_during_apogee 568 2370 16704.91 nil 0 0 0.00

VBD_pump_during_surface 26 186 61.92 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 211 143 376.60 nil 0 0 0.00

Transponder_ping 19 420 102.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.36

TT8 2588 14 484.02

LPSleep 4465 2 128.93

TT8_Active 684 14 121.57

TT8_Sampling 2010 33 846.79

TT8_CF8 595 39 295.13

TT8_Kalman 0 0 0.00

Analog_circuits 1948 12 292.21

GPS_charging 0 0 0.00

Compass 1818 6 153.25

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 -0.80 -165.5 131 2453 990 912 0.0 0.0 0 112 0.00 0.00 -89.18 0.000 16386 0.000 0.000 131 2453 2672 2743 2601 0 0 0 0 0 0 28.83 28.83 28.83

119 -0.80 -165.5 130 2453 2743 2602 3.1 -4.7 16 156 10.25 2.60 -17.20 0.000 18948 0.435 0.145 2271 1013 3471 3675 3268 0 0 0 0 0 0 14.23 14.34 14.58

207 -0.65 -165.5 1392 1012 3672 3265 25.3 -21.4 31 214 0.22 2.67 0.00 0.000 3078 0.295 0.142 2315 2456 3472 3677 3268 0 0 0 0 0 0 14.29 14.35 28.83

525 -0.56 -165.5 1416 2454 3673 3264 75.6 -14.0 92 532 0.12 2.60 0.00 0.000 2308 0.322 0.153 2339 3859 3472 3677 3267 0 0 0 0 0 0 14.35 14.42 28.83

594 -0.54 -165.5 1440 3859 3673 3264 84.9 -12.5 104 601 0.00 2.47 0.00 0.000 1030 0.000 0.105 2339 2441 3472 3677 3267 0 0 0 0 0 0 28.83 14.46 28.83

912 -0.50 -165.5 2338 2441 3677 3267 125.8 -12.1 146 922 0.12 2.65 0.00 0.000 2308 0.308 0.159 2360 3858 3472 3677 3267 0 0 0 0 0 0 14.44 14.46 28.83

961 -0.50 -165.5 1488 3857 3673 3265 130.6 -10.3 150 968 0.00 2.45 0.00 0.000 1030 0.000 0.105 2360 2448 3472 3677 3267 0 0 0 0 0 0 28.83 14.51 28.83

1269 -0.50 -165.5 2360 2448 3677 3267 160.2 -10.0 181 1278 0.00 2.62 0.00 0.000 260 0.000 0.160 2352 3864 3472 3678 3267 0 0 0 0 0 0 28.83 14.50 28.83

1325 -0.50 -165.5 2352 3864 3678 3267 166.1 -10.5 186 1334 0.00 2.42 0.00 0.000 1030 0.000 0.106 2351 2456 3472 3678 3267 0 0 0 0 0 0 28.83 14.54 28.83

1635 -0.50 -165.5 2352 2456 3677 3267 199.8 -11.1 217 1641 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2456 3471 3677 3266 0 0 0 0 0 0 28.83 28.83 28.83

1952 -0.50 -165.5 2351 2456 3677 3267 234.6 -11.0 248 1960 0.00 2.60 0.00 0.000 260 0.000 0.163 2350 3859 3471 3677 3266 0 0 0 0 0 0 28.83 14.55 28.83

2000 -0.50 -165.5 1472 3858 3673 3263 240.3 -10.9 252 2007 0.00 2.45 0.00 0.000 1030 0.000 0.106 2350 2441 3471 3677 3266 0 0 0 0 0 0 28.83 14.59 28.83

2308 -0.50 -165.5 2350 2440 3677 3266 273.7 -10.8 283 2314 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2441 3472 3678 3266 0 0 0 0 0 0 28.83 28.83 28.83

2625 -0.50 -165.5 2349 2440 3677 3266 306.3 -10.2 314 2634 0.00 2.45 0.00 0.000 516 0.000 0.128 2350 1045 3471 3677 3266 0 0 0 0 0 0 28.83 14.59 28.83

2683 -0.53 -165.5 1472 1044 3673 3262 312.6 -9.7 319 2690 0.00 2.55 0.00 0.000 1030 0.000 0.138 2345 2453 3471 3677 3266 0 0 0 0 0 0 28.83 14.59 28.83

2991 -0.53 -165.5 2345 2453 3677 3266 343.3 -9.9 350 3000 0.00 2.58 0.00 0.000 260 0.000 0.156 2336 3862 3471 3677 3265 0 0 0 0 0 0 28.83 14.59 28.83

3087 -0.53 -165.5 2336 3861 3677 3265 353.0 -10.0 359 3095 0.00 2.42 0.00 0.000 1030 0.000 0.104 2336 2446 3471 3677 3265 0 0 0 0 0 0 28.83 14.62 28.83

3397 -0.53 -165.5 2336 2446 3677 3264 383.2 -9.7 390 3406 0.00 2.58 0.00 0.000 260 0.000 0.156 2327 3854 3471 3677 3266 0 0 0 0 0 0 28.83 14.59 28.83

3434 -0.53 -165.5 2327 3854 3677 3265 386.6 -9.6 393 3443 0.10 2.40 0.00 0.000 3078 0.257 0.103 2355 2450 3471 3677 3265 0 0 0 0 0 0 14.56 14.62 28.83

3745 -0.57 -165.5 2355 2450 3677 3266 411.8 -8.0 424 3751 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2450 3471 3677 3266 0 0 0 0 0 0 28.83 28.83 28.83

4060 -0.60 -165.5 2355 2450 3677 3265 437.1 -8.5 455 4069 0.00 2.58 0.00 0.000 260 0.000 0.157 2355 3857 3471 3678 3265 0 0 0 0 0 0 28.83 14.60 28.83

4106 -0.65 -165.5 2355 3857 3677 3266 441.5 -8.2 459 4115 0.00 2.40 0.00 0.000 1030 0.000 0.104 2355 2451 3471 3677 3266 0 0 0 0 0 0 28.83 14.64 28.83

4210 end dive: TARGET_DEPTH_EXCEEDED

state 4211 begin apogee

4223 -0.22 0.0 2355 2451 3677 3266 450.8 -8.3 470 4409 0.35 0.00 172.60 2.371 10246 0.233 0.000 2456 2451 2794 2925 2663 0 0 0 0 0 0 14.59 28.83 12.83

4410 end apogee: CONTROL_FINISHED_OK

state 4410 begin climb

4416 0.80 165.5 2456 2451 2924 2663 459.7 0.0 489 4617 1.12 2.85 184.77 2.252 10756 0.176 0.122 2791 1020 2119 2206 2033 0 0 0 0 1 0 13.62 13.18 12.45

4750 0.68 165.5 2791 1020 2205 2024 442.3 10.0 522 4757 0.17 2.75 0.00 0.000 5126 0.288 0.131 2755 2436 2114 2205 2024 0 0 0 0 0 0 13.59 13.64 28.83

5060 0.59 165.5 2754 2436 2205 2020 414.1 9.3 553 5069 0.00 2.70 0.00 0.000 260 0.000 0.151 2754 3843 2112 2205 2020 0 0 0 0 0 0 28.83 13.96 28.83

5145 0.46 165.5 2754 3843 2205 2020 405.1 10.6 561 5155 0.28 2.55 0.00 0.000 5126 0.252 0.103 2690 2432 2112 2205 2020 0 0 0 0 0 0 13.97 14.04 28.83

5457 0.55 242.2 2690 2431 2205 2019 385.7 5.7 592 5546 0.00 2.88 81.53 2.196 8452 0.000 0.151 2690 3843 1806 1903 1709 0 0 0 0 0 0 28.83 13.52 12.87

5573 0.63 273.1 2691 3843 1899 1709 378.7 7.3 603 5615 0.10 2.60 35.05 2.102 11270 0.145 0.101 2734 2432 1679 1767 1591 0 0 0 0 0 0 13.68 13.69 12.81

5917 0.63 273.1 2735 2432 1761 1587 348.2 8.9 638 5923 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2431 1674 1761 1587 0 0 0 0 0 0 28.83 28.83 28.83

6234 0.63 273.1 2734 2432 1760 1585 320.5 9.1 669 6240 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2432 1672 1760 1585 0 0 0 0 0 0 28.83 28.83 28.83

6547 0.63 273.1 2734 2432 1760 1585 293.3 8.5 700 6556 0.00 2.55 0.00 0.000 516 0.000 0.128 2743 1024 1671 1759 1584 0 0 0 0 0 0 28.83 14.27 28.83

6585 0.63 273.1 2743 1024 1759 1583 289.9 8.5 703 6592 0.00 2.60 0.00 0.000 1030 0.000 0.132 2743 2435 1671 1759 1584 0 0 0 0 0 0 28.83 14.29 28.83

6893 0.63 273.1 1760 2433 1724 1580 261.2 9.1 734 6902 0.00 2.62 0.00 0.000 260 0.000 0.152 2743 3844 1671 1759 1584 0 0 0 0 0 0 28.83 14.35 28.83

6962 0.60 273.1 2743 3844 1757 1584 254.5 10.7 740 6969 0.00 2.50 0.00 0.000 1030 0.000 0.103 2750 2422 1670 1757 1583 0 0 0 0 0 0 28.83 14.40 28.83

7270 0.60 273.1 2751 2420 1757 1583 226.1 8.7 771 7276 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2421 1670 1757 1584 0 0 0 0 0 0 28.83 28.83 28.83

7588 0.60 273.8 2750 2420 1757 1583 200.1 8.3 802 7594 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2420 1670 1757 1584 0 0 0 0 0 0 28.83 28.83 28.83

7900 0.60 273.8 2750 2420 1757 1584 172.8 8.4 833 7906 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2420 1670 1757 1583 0 0 0 0 0 0 28.83 28.83 28.83

8213 0.66 323.7 2750 2420 1757 1583 148.8 6.6 864 8274 0.00 2.75 50.95 2.018 8452 0.000 0.155 2750 3840 1474 1559 1390 0 0 0 0 0 0 28.83 14.03 13.42

8325 0.66 323.7 2751 3840 1556 1389 140.7 8.6 875 8335 0.00 2.55 0.00 0.000 1030 0.000 0.106 2751 2424 1472 1556 1389 0 0 0 0 0 0 28.83 14.12 28.83

8637 0.72 331.4 2750 2425 1553 1385 116.4 8.1 906 8647 0.00 2.62 4.40 1.482 8708 0.000 0.129 2750 1020 1442 1527 1358 0 0 0 0 0 0 28.83 14.29 13.62

8677 0.78 336.9 2751 1020 1526 1358 113.4 8.1 909 8688 0.12 2.60 3.60 1.313 11270 0.186 0.132 2790 2432 1419 1504 1335 0 0 0 0 0 0 14.33 14.31 13.61

8999 0.78 336.9 2790 2432 1503 1335 80.9 10.1 959 9005 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2432 1418 1503 1334 0 0 0 0 0 0 28.83 28.83 28.83

9317 0.78 336.9 2790 2431 1501 1334 51.1 8.9 1020 9322 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2432 1418 1502 1334 0 0 0 0 0 0 28.83 28.83 28.83

9634 0.90 400.2 1792 2429 1478 1330 25.8 6.2 1081 9676 0.12 2.70 35.35 0.259 10500 0.204 0.158 2834 3839 1161 1241 1081 0 0 0 0 0 0 14.48 14.41 14.37

9729 0.87 400.2 2835 3839 1236 1081 17.6 11.4 1096 9736 0.12 2.47 0.00 0.000 5126 0.296 0.109 2818 2431 1158 1236 1080 0 0 0 0 0 0 14.39 14.45 28.83

9881 end climb: SURFACE_DEPTH_REACHED

state 9882 begin surface coast

9913 end surface coast: CONTROL_FINISHED_OK

state 9913 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	38	ESCAPE_HEADING	0	C_ROLL_DIVE	2450	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2430	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	19	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	450	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	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	180	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	200	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	-1114.6451	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	170	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	220913,050605,6624.353,-6010.996,33,1.0,33,-33.5	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	1.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220913,051213,6624.307,-6011.051,5,1.0,5,-33.5	MHEAD_RNG_PITCHd_Wd	97.5,163206,-13.8,-8.333,-17.43,2997
SPEED_LIMITS	0.144,0.265	D_GRID	486

FINISH	0.3,1.015849	_24V_AH	12.4,20.016
SM_CCo	9942,26.75,0.187,0,0,957,450.13	_10V_AH	12.5,0.000
SM_GC	1.24,8.05,0.00,26.75,0.109,0.000,0.187,144,2429,957,-7.43,-0.59,450.13,0,0,0,0,0,0,14.47,28.83,14.41	FG_AHR_24Vo	0.000
RAFOS_CLK	482	FG_AHR_10Vo	0.000
RAFOS_FIX	6625.061035,-6010.544434,220913,040458,7,87,0.58	MEM	150824
IRIDIUM_FIX	6553.70,-6021.30,220913,020210	DATA_FILE_SIZE	50050,1131
TT8_MAMPS	0.024717,0.024717	CAP_FILE_SIZE	115175,0
HUMID	46.10	CFSIZE	259252224,248438784
INTERNAL_PRESSURE	8.64484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
TCM_TEMP	12.40	SOUNDSPEED	1452.4
XPDR_PINGS	79	GPS	220913,080053,6623.465,-6008.697,41,0.9,41,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	435	114.83	SBE_CT	791	23	227.90
Roll_motor	87	162	177.40	SBE_O2	0	0	0.00
VBD_pump_during_apogee	568	2370	16704.91	nil	0	0	0.00
VBD_pump_during_surface	26	186	61.92	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	211	143	376.60	nil	0	0	0.00
Transponder_ping	19	420	102.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.36
TT8	2588	14	484.02
LPSleep	4465	2	128.93
TT8_Active	684	14	121.57
TT8_Sampling	2010	33	846.79
TT8_CF8	595	39	295.13
TT8_Kalman	0	0	0.00
Analog_circuits	1948	12	292.21
GPS_charging	0	0	0.00
Compass	1818	6	153.25
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	-0.80	-165.5	131	2453	990	912	0.0	0.0	0	112	0.00	0.00	-89.18	0.000	16386	0.000	0.000	131	2453	2672	2743	2601	0	0	0	0	0	0	28.83	28.83	28.83
119	-0.80	-165.5	130	2453	2743	2602	3.1	-4.7	16	156	10.25	2.60	-17.20	0.000	18948	0.435	0.145	2271	1013	3471	3675	3268	0	0	0	0	0	0	14.23	14.34	14.58
207	-0.65	-165.5	1392	1012	3672	3265	25.3	-21.4	31	214	0.22	2.67	0.00	0.000	3078	0.295	0.142	2315	2456	3472	3677	3268	0	0	0	0	0	0	14.29	14.35	28.83
525	-0.56	-165.5	1416	2454	3673	3264	75.6	-14.0	92	532	0.12	2.60	0.00	0.000	2308	0.322	0.153	2339	3859	3472	3677	3267	0	0	0	0	0	0	14.35	14.42	28.83
594	-0.54	-165.5	1440	3859	3673	3264	84.9	-12.5	104	601	0.00	2.47	0.00	0.000	1030	0.000	0.105	2339	2441	3472	3677	3267	0	0	0	0	0	0	28.83	14.46	28.83
912	-0.50	-165.5	2338	2441	3677	3267	125.8	-12.1	146	922	0.12	2.65	0.00	0.000	2308	0.308	0.159	2360	3858	3472	3677	3267	0	0	0	0	0	0	14.44	14.46	28.83
961	-0.50	-165.5	1488	3857	3673	3265	130.6	-10.3	150	968	0.00	2.45	0.00	0.000	1030	0.000	0.105	2360	2448	3472	3677	3267	0	0	0	0	0	0	28.83	14.51	28.83
1269	-0.50	-165.5	2360	2448	3677	3267	160.2	-10.0	181	1278	0.00	2.62	0.00	0.000	260	0.000	0.160	2352	3864	3472	3678	3267	0	0	0	0	0	0	28.83	14.50	28.83
1325	-0.50	-165.5	2352	3864	3678	3267	166.1	-10.5	186	1334	0.00	2.42	0.00	0.000	1030	0.000	0.106	2351	2456	3472	3678	3267	0	0	0	0	0	0	28.83	14.54	28.83
1635	-0.50	-165.5	2352	2456	3677	3267	199.8	-11.1	217	1641	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2456	3471	3677	3266	0	0	0	0	0	0	28.83	28.83	28.83
1952	-0.50	-165.5	2351	2456	3677	3267	234.6	-11.0	248	1960	0.00	2.60	0.00	0.000	260	0.000	0.163	2350	3859	3471	3677	3266	0	0	0	0	0	0	28.83	14.55	28.83
2000	-0.50	-165.5	1472	3858	3673	3263	240.3	-10.9	252	2007	0.00	2.45	0.00	0.000	1030	0.000	0.106	2350	2441	3471	3677	3266	0	0	0	0	0	0	28.83	14.59	28.83
2308	-0.50	-165.5	2350	2440	3677	3266	273.7	-10.8	283	2314	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2441	3472	3678	3266	0	0	0	0	0	0	28.83	28.83	28.83
2625	-0.50	-165.5	2349	2440	3677	3266	306.3	-10.2	314	2634	0.00	2.45	0.00	0.000	516	0.000	0.128	2350	1045	3471	3677	3266	0	0	0	0	0	0	28.83	14.59	28.83
2683	-0.53	-165.5	1472	1044	3673	3262	312.6	-9.7	319	2690	0.00	2.55	0.00	0.000	1030	0.000	0.138	2345	2453	3471	3677	3266	0	0	0	0	0	0	28.83	14.59	28.83
2991	-0.53	-165.5	2345	2453	3677	3266	343.3	-9.9	350	3000	0.00	2.58	0.00	0.000	260	0.000	0.156	2336	3862	3471	3677	3265	0	0	0	0	0	0	28.83	14.59	28.83
3087	-0.53	-165.5	2336	3861	3677	3265	353.0	-10.0	359	3095	0.00	2.42	0.00	0.000	1030	0.000	0.104	2336	2446	3471	3677	3265	0	0	0	0	0	0	28.83	14.62	28.83
3397	-0.53	-165.5	2336	2446	3677	3264	383.2	-9.7	390	3406	0.00	2.58	0.00	0.000	260	0.000	0.156	2327	3854	3471	3677	3266	0	0	0	0	0	0	28.83	14.59	28.83
3434	-0.53	-165.5	2327	3854	3677	3265	386.6	-9.6	393	3443	0.10	2.40	0.00	0.000	3078	0.257	0.103	2355	2450	3471	3677	3265	0	0	0	0	0	0	14.56	14.62	28.83
3745	-0.57	-165.5	2355	2450	3677	3266	411.8	-8.0	424	3751	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2450	3471	3677	3266	0	0	0	0	0	0	28.83	28.83	28.83
4060	-0.60	-165.5	2355	2450	3677	3265	437.1	-8.5	455	4069	0.00	2.58	0.00	0.000	260	0.000	0.157	2355	3857	3471	3678	3265	0	0	0	0	0	0	28.83	14.60	28.83
4106	-0.65	-165.5	2355	3857	3677	3266	441.5	-8.2	459	4115	0.00	2.40	0.00	0.000	1030	0.000	0.104	2355	2451	3471	3677	3266	0	0	0	0	0	0	28.83	14.64	28.83
4210	end dive: TARGET_DEPTH_EXCEEDED
state	4211	begin apogee
4223	-0.22	0.0	2355	2451	3677	3266	450.8	-8.3	470	4409	0.35	0.00	172.60	2.371	10246	0.233	0.000	2456	2451	2794	2925	2663	0	0	0	0	0	0	14.59	28.83	12.83
4410	end apogee: CONTROL_FINISHED_OK
state	4410	begin climb
4416	0.80	165.5	2456	2451	2924	2663	459.7	0.0	489	4617	1.12	2.85	184.77	2.252	10756	0.176	0.122	2791	1020	2119	2206	2033	0	0	0	0	1	0	13.62	13.18	12.45
4750	0.68	165.5	2791	1020	2205	2024	442.3	10.0	522	4757	0.17	2.75	0.00	0.000	5126	0.288	0.131	2755	2436	2114	2205	2024	0	0	0	0	0	0	13.59	13.64	28.83
5060	0.59	165.5	2754	2436	2205	2020	414.1	9.3	553	5069	0.00	2.70	0.00	0.000	260	0.000	0.151	2754	3843	2112	2205	2020	0	0	0	0	0	0	28.83	13.96	28.83
5145	0.46	165.5	2754	3843	2205	2020	405.1	10.6	561	5155	0.28	2.55	0.00	0.000	5126	0.252	0.103	2690	2432	2112	2205	2020	0	0	0	0	0	0	13.97	14.04	28.83
5457	0.55	242.2	2690	2431	2205	2019	385.7	5.7	592	5546	0.00	2.88	81.53	2.196	8452	0.000	0.151	2690	3843	1806	1903	1709	0	0	0	0	0	0	28.83	13.52	12.87
5573	0.63	273.1	2691	3843	1899	1709	378.7	7.3	603	5615	0.10	2.60	35.05	2.102	11270	0.145	0.101	2734	2432	1679	1767	1591	0	0	0	0	0	0	13.68	13.69	12.81
5917	0.63	273.1	2735	2432	1761	1587	348.2	8.9	638	5923	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2431	1674	1761	1587	0	0	0	0	0	0	28.83	28.83	28.83
6234	0.63	273.1	2734	2432	1760	1585	320.5	9.1	669	6240	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2432	1672	1760	1585	0	0	0	0	0	0	28.83	28.83	28.83
6547	0.63	273.1	2734	2432	1760	1585	293.3	8.5	700	6556	0.00	2.55	0.00	0.000	516	0.000	0.128	2743	1024	1671	1759	1584	0	0	0	0	0	0	28.83	14.27	28.83
6585	0.63	273.1	2743	1024	1759	1583	289.9	8.5	703	6592	0.00	2.60	0.00	0.000	1030	0.000	0.132	2743	2435	1671	1759	1584	0	0	0	0	0	0	28.83	14.29	28.83
6893	0.63	273.1	1760	2433	1724	1580	261.2	9.1	734	6902	0.00	2.62	0.00	0.000	260	0.000	0.152	2743	3844	1671	1759	1584	0	0	0	0	0	0	28.83	14.35	28.83
6962	0.60	273.1	2743	3844	1757	1584	254.5	10.7	740	6969	0.00	2.50	0.00	0.000	1030	0.000	0.103	2750	2422	1670	1757	1583	0	0	0	0	0	0	28.83	14.40	28.83
7270	0.60	273.1	2751	2420	1757	1583	226.1	8.7	771	7276	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2421	1670	1757	1584	0	0	0	0	0	0	28.83	28.83	28.83
7588	0.60	273.8	2750	2420	1757	1583	200.1	8.3	802	7594	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2420	1670	1757	1584	0	0	0	0	0	0	28.83	28.83	28.83
7900	0.60	273.8	2750	2420	1757	1584	172.8	8.4	833	7906	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2420	1670	1757	1583	0	0	0	0	0	0	28.83	28.83	28.83
8213	0.66	323.7	2750	2420	1757	1583	148.8	6.6	864	8274	0.00	2.75	50.95	2.018	8452	0.000	0.155	2750	3840	1474	1559	1390	0	0	0	0	0	0	28.83	14.03	13.42
8325	0.66	323.7	2751	3840	1556	1389	140.7	8.6	875	8335	0.00	2.55	0.00	0.000	1030	0.000	0.106	2751	2424	1472	1556	1389	0	0	0	0	0	0	28.83	14.12	28.83
8637	0.72	331.4	2750	2425	1553	1385	116.4	8.1	906	8647	0.00	2.62	4.40	1.482	8708	0.000	0.129	2750	1020	1442	1527	1358	0	0	0	0	0	0	28.83	14.29	13.62
8677	0.78	336.9	2751	1020	1526	1358	113.4	8.1	909	8688	0.12	2.60	3.60	1.313	11270	0.186	0.132	2790	2432	1419	1504	1335	0	0	0	0	0	0	14.33	14.31	13.61
8999	0.78	336.9	2790	2432	1503	1335	80.9	10.1	959	9005	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2432	1418	1503	1334	0	0	0	0	0	0	28.83	28.83	28.83
9317	0.78	336.9	2790	2431	1501	1334	51.1	8.9	1020	9322	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2432	1418	1502	1334	0	0	0	0	0	0	28.83	28.83	28.83
9634	0.90	400.2	1792	2429	1478	1330	25.8	6.2	1081	9676	0.12	2.70	35.35	0.259	10500	0.204	0.158	2834	3839	1161	1241	1081	0	0	0	0	0	0	14.48	14.41	14.37
9729	0.87	400.2	2835	3839	1236	1081	17.6	11.4	1096	9736	0.12	2.47	0.00	0.000	5126	0.296	0.109	2818	2431	1158	1236	1080	0	0	0	0	0	0	14.39	14.45	28.83
9881	end climb: SURFACE_DEPTH_REACHED
state	9882	begin surface coast
9913	end surface coast: CONTROL_FINISHED_OK
state	9913	begin surface