Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 42 * 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 42 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 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 18 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 450 R_STBD_OVSHOOT 16 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 350 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 380 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 -1130.4559 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 COMPASS_USE 4

HD_A 0.0033904 PITCH_ADJ_DBAND 0 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 0 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0 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 0.0012300001 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 350

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 -1130.4559

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 380

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 18 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 16 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 42 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 220913,163536,6626.468,-6002.573,40,0.9,40,-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 1.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220913,164202,6626.450,-6002.648,5,0.8,5,-33.5 MHEAD_RNG_PITCHd_Wd 97.8,156014,-15.5,-9.429,-18.74,2659

SPEED_LIMITS 0.163,0.278 D_GRID 516

Post-dive calculations and measurements:

FINISH 0.5,1.024980 _24V_AH 12.4,21.599

SM_CCo 8188,88.88,0.181,0,0,957,450.13 _10V_AH 12.5,0.000

SM_GC 1.46,8.20,0.00,88.88,0.119,0.000,0.181,147,2429,957,-7.42,-0.59,450.13,0,0,0,0,0,0,14.53,28.83,14.40 FG_AHR_24Vo 0.000

RAFOS_CLK 393 FG_AHR_10Vo 0.000

RAFOS 6,1379868543,16.833334,16.817499,76,64,58,52,51,50,922,212,156,223,138,128 MEM 150816

RAFOS_FIX 6626.074707,-6002.633789,220913,161636,5,84,0.00 DATA_FILE_SIZE 40137,940

IRIDIUM_FIX 6553.70,-6006.65,220913,131318 CAP_FILE_SIZE 97518,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,248225792

HUMID 45.11 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0

INTERNAL_PRESSURE 8.64484 SOUNDSPEED 1453.5

TCM_TEMP 12.40 GPS 220913,190236,6626.727,-6000.938,43,1.0,43,-33.5

XPDR_PINGS 53

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 435 112.54 SBE_CT 656 23 189.07

Roll_motor 86 155 166.38 SBE_O2 0 0 0.00

VBD_pump_during_apogee 429 2399 12794.27 nil 0 0 0.00

VBD_pump_during_surface 88 180 198.96 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 228 142 402.68 nil 0 0 0.00

Transponder_ping 13 420 69.01 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.40

TT8 2138 14 399.84

LPSleep 3643 2 105.19

TT8_Active 637 14 113.24

TT8_Sampling 1740 33 732.94

TT8_CF8 516 39 255.94

TT8_Kalman 0 0 0.00

Analog_circuits 1764 12 264.61

GPS_charging 0 0 0.00

Compass 1533 6 129.21

RAFOS 360 1 6.75

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 -0.88 -165.5 129 2431 992 902 0.0 0.0 0 112 0.00 0.00 -88.32 0.000 16386 0.000 0.000 129 2431 2661 2734 2589 0 0 0 0 0 0 28.83 28.83 28.83

119 -0.88 -165.5 129 2431 2734 2590 3.0 -3.9 16 155 10.15 2.53 -17.80 0.000 18948 0.435 0.140 2243 1033 3471 3675 3268 0 0 0 0 0 0 14.21 14.34 14.57

202 -0.88 -165.5 2243 1033 3676 3267 24.9 -24.5 30 209 0.00 2.60 0.00 0.000 1030 0.000 0.134 2235 2448 3471 3676 3267 0 0 0 0 0 0 28.83 14.35 28.83

521 -0.88 -165.5 2235 2447 3677 3267 94.7 -18.9 91 527 0.00 2.60 0.00 0.000 260 0.000 0.149 2228 3861 3472 3677 3267 0 0 0 0 0 0 28.83 14.42 28.83

571 -0.88 -165.5 1384 3859 3672 3264 104.4 -19.9 97 578 0.00 2.45 0.00 0.000 1030 0.000 0.097 2228 2444 3472 3677 3267 0 0 0 0 0 0 28.83 14.46 28.83

880 -0.88 -165.5 2228 2444 3677 3267 164.1 -19.0 128 889 0.00 2.45 0.00 0.000 516 0.000 0.118 2228 1046 3472 3677 3267 0 0 0 0 0 0 28.83 14.47 28.83

935 -0.88 -165.5 2228 1046 3677 3267 174.7 -18.9 133 944 0.10 2.53 0.00 0.000 3078 0.298 0.131 2244 2448 3472 3677 3267 0 0 0 0 0 0 14.41 14.47 28.83

1246 -0.88 -165.5 2244 2448 3677 3267 230.0 -17.9 164 1255 0.00 2.47 0.00 0.000 516 0.000 0.119 2244 1039 3472 3677 3267 0 0 0 0 0 0 28.83 14.51 28.83

1271 -0.88 -165.5 2244 1038 3677 3267 234.7 -18.2 166 1280 0.00 2.55 0.00 0.000 1030 0.000 0.134 2237 2457 3472 3677 3267 0 0 0 0 0 0 28.83 14.51 28.83

1581 -0.88 -165.5 2237 2456 3677 3267 289.8 -17.3 197 1587 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 2457 3472 3677 3267 0 0 0 0 0 0 28.83 28.83 28.83

1897 -0.88 -165.5 2236 2457 3677 3266 343.5 -17.7 228 1906 0.00 2.53 0.00 0.000 260 0.000 0.152 2225 3853 3471 3677 3266 0 0 0 0 0 0 28.83 14.55 28.83

1936 -0.88 -165.5 1376 3852 3672 3263 350.8 -17.7 231 1943 0.00 2.42 0.00 0.000 1030 0.000 0.099 2226 2440 3471 3677 3266 0 0 0 0 0 0 28.83 14.60 28.83

2244 -0.88 -165.5 2226 2439 3677 3266 406.5 -17.2 262 2253 0.00 2.42 0.00 0.000 516 0.000 0.118 2226 1047 3471 3677 3266 0 0 0 0 0 0 28.83 14.58 28.83

2290 -0.88 -165.5 2226 1046 3677 3266 414.4 -17.5 266 2300 0.10 2.50 0.00 0.000 3078 0.285 0.132 2243 2445 3471 3677 3266 0 0 0 0 0 0 14.52 14.57 28.83

2601 -0.88 -165.5 2243 2446 3676 3266 463.2 -14.9 297 2610 0.00 2.55 0.00 0.000 260 0.000 0.149 2235 3860 3471 3676 3266 0 0 0 0 0 0 28.83 14.57 28.83

2698 -0.88 -165.5 2235 3860 3677 3266 478.0 -15.6 306 2706 0.00 2.40 0.00 0.000 1030 0.000 0.097 2235 2445 3470 3674 3266 0 0 0 0 0 0 28.83 14.62 28.83

2947 end dive: TARGET_DEPTH_EXCEEDED

state 2947 begin apogee

2960 -0.22 0.0 2235 2444 3676 3266 516.8 -15.0 331 3149 0.80 0.00 174.85 2.400 10246 0.259 0.000 2457 2445 2793 2925 2661 0 0 0 0 0 0 14.54 28.83 12.79

3150 end apogee: CONTROL_FINISHED_OK

state 3150 begin climb

3156 0.88 165.5 2457 2444 2924 2661 525.9 0.0 351 3368 1.23 2.90 189.62 2.273 10500 0.172 0.148 2811 3840 2118 2205 2032 0 0 0 0 2 0 13.62 13.10 12.38

3470 0.88 165.5 2811 3840 2202 2028 502.3 14.3 382 3479 0.00 2.62 0.00 0.000 1030 0.000 0.101 2821 2439 2115 2203 2028 0 0 0 0 0 0 28.83 13.55 28.83

3780 0.88 165.5 2821 2439 2203 2022 462.6 11.9 413 3786 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 2439 2112 2203 2022 0 0 0 0 0 0 28.83 28.83 28.83

4096 0.88 165.5 2821 2439 2203 2021 426.3 11.5 444 4104 0.00 2.65 0.00 0.000 260 0.000 0.152 2821 3840 2112 2203 2021 0 0 0 0 0 0 28.83 14.13 28.83

4131 0.88 165.5 2821 3840 2203 2021 421.3 12.0 447 4140 0.00 2.50 0.00 0.000 1030 0.000 0.102 2832 2423 2111 2203 2020 0 0 0 0 0 0 28.83 14.16 28.83

4441 0.88 165.5 2832 2423 2203 2019 384.3 11.8 478 4447 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2423 2111 2203 2019 0 0 0 0 0 0 28.83 28.83 28.83

4756 0.88 165.5 2832 2423 2203 2018 347.3 11.8 509 4765 0.00 2.65 0.00 0.000 260 0.000 0.153 2832 3842 2111 2203 2019 0 0 0 0 0 0 28.83 14.35 28.83

4805 0.88 165.5 2832 3842 2203 2019 340.6 13.5 513 4812 0.00 2.47 0.00 0.000 1030 0.000 0.102 2843 2429 2110 2203 2018 0 0 0 0 0 0 28.83 14.40 28.83

5113 0.88 165.5 1856 2427 2156 2013 302.8 12.0 544 5122 0.00 2.62 0.00 0.000 260 0.000 0.150 2843 3848 2110 2203 2018 0 0 0 0 0 0 28.83 14.41 28.83

5228 0.88 165.5 2843 3848 2203 2018 287.6 13.1 555 5238 0.12 2.45 0.00 0.000 5126 0.314 0.102 2823 2431 2110 2203 2017 0 0 0 0 0 0 14.37 14.46 28.83

5539 0.88 165.5 2823 2430 2203 2017 252.7 10.4 586 5548 0.00 2.58 0.00 0.000 260 0.000 0.150 2823 3840 2110 2203 2018 0 0 0 0 0 0 28.83 14.45 28.83

5584 0.88 165.5 2822 3840 2203 2017 247.4 12.0 590 5593 0.00 2.42 0.00 0.000 1030 0.000 0.103 2831 2430 2110 2203 2018 0 0 0 0 0 0 28.83 14.50 28.83

5894 0.88 165.5 2832 2430 2203 2017 213.9 10.2 621 5903 0.00 2.60 0.00 0.000 260 0.000 0.151 2832 3843 2110 2203 2017 0 0 0 0 0 0 28.83 14.50 28.83

5940 0.88 165.5 2832 3843 2203 2017 208.8 11.4 625 5948 0.00 2.42 0.00 0.000 1030 0.000 0.103 2843 2430 2110 2203 2017 0 0 0 0 0 0 28.83 14.54 28.83

6250 0.88 165.5 2843 2430 2203 2017 178.1 9.8 656 6256 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 2430 2110 2203 2017 0 0 0 0 0 0 28.83 28.83 28.83

6567 0.88 165.5 2843 2430 2203 2016 147.5 9.9 687 6575 0.00 2.47 0.00 0.000 516 0.000 0.126 2854 1020 2109 2203 2016 0 0 0 0 0 0 28.83 14.56 28.83

6757 0.88 167.9 2854 1019 2203 2015 128.2 9.3 705 6765 0.15 2.55 0.00 0.000 5126 0.316 0.133 2821 2434 2109 2203 2015 0 0 0 0 0 0 14.52 14.58 28.83

7067 0.92 197.4 2822 2434 2203 2015 101.2 8.3 736 7091 0.00 2.65 17.10 0.519 8452 0.000 0.154 2821 3840 1987 2085 1890 0 0 0 0 0 0 28.83 14.54 14.38

7131 0.92 197.4 1824 3839 2039 1887 95.1 10.2 746 7138 0.00 2.45 0.00 0.000 1030 0.000 0.106 2830 2426 1987 2083 1892 0 0 0 0 0 0 28.83 14.57 28.83

7450 0.97 240.4 2830 2426 2083 1890 67.7 7.8 807 7480 0.00 2.70 23.90 0.397 8452 0.000 0.155 2830 3844 1812 1908 1717 0 0 0 0 0 0 28.83 14.49 14.39

7511 0.97 240.4 1840 3844 1865 1713 62.4 10.4 817 7518 0.00 2.47 0.00 0.000 1030 0.000 0.106 2841 2423 1810 1904 1716 0 0 0 0 0 0 28.83 14.52 28.83

7829 1.03 286.2 1832 2421 1859 1709 32.3 7.7 878 7859 0.00 2.72 24.48 0.279 8452 0.000 0.155 2841 3849 1626 1713 1539 0 0 0 0 0 0 28.83 14.47 14.42

7921 1.03 286.2 2841 3848 1707 1539 23.3 10.6 894 7927 0.00 2.47 0.00 0.000 1030 0.000 0.106 2852 2430 1622 1706 1539 0 0 0 0 0 0 28.83 14.52 28.83

8133 end climb: SURFACE_DEPTH_REACHED

state 8133 begin surface coast

8159 end surface coast: CONTROL_FINISHED_OK

state 8159 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	42	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	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	18	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	450	R_STBD_OVSHOOT	16	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	350	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	380	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	-1130.4559	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	COMPASS_USE	4
HD_A	0.0033904	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0092102997	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	0

GPS1	220913,163536,6626.468,-6002.573,40,0.9,40,-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	1.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220913,164202,6626.450,-6002.648,5,0.8,5,-33.5	MHEAD_RNG_PITCHd_Wd	97.8,156014,-15.5,-9.429,-18.74,2659
SPEED_LIMITS	0.163,0.278	D_GRID	516

FINISH	0.5,1.024980	_24V_AH	12.4,21.599
SM_CCo	8188,88.88,0.181,0,0,957,450.13	_10V_AH	12.5,0.000
SM_GC	1.46,8.20,0.00,88.88,0.119,0.000,0.181,147,2429,957,-7.42,-0.59,450.13,0,0,0,0,0,0,14.53,28.83,14.40	FG_AHR_24Vo	0.000
RAFOS_CLK	393	FG_AHR_10Vo	0.000
RAFOS	6,1379868543,16.833334,16.817499,76,64,58,52,51,50,922,212,156,223,138,128	MEM	150816
RAFOS_FIX	6626.074707,-6002.633789,220913,161636,5,84,0.00	DATA_FILE_SIZE	40137,940
IRIDIUM_FIX	6553.70,-6006.65,220913,131318	CAP_FILE_SIZE	97518,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,248225792
HUMID	45.11	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
INTERNAL_PRESSURE	8.64484	SOUNDSPEED	1453.5
TCM_TEMP	12.40	GPS	220913,190236,6626.727,-6000.938,43,1.0,43,-33.5
XPDR_PINGS	53

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	435	112.54	SBE_CT	656	23	189.07
Roll_motor	86	155	166.38	SBE_O2	0	0	0.00
VBD_pump_during_apogee	429	2399	12794.27	nil	0	0	0.00
VBD_pump_during_surface	88	180	198.96	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	228	142	402.68	nil	0	0	0.00
Transponder_ping	13	420	69.01	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.40
TT8	2138	14	399.84
LPSleep	3643	2	105.19
TT8_Active	637	14	113.24
TT8_Sampling	1740	33	732.94
TT8_CF8	516	39	255.94
TT8_Kalman	0	0	0.00
Analog_circuits	1764	12	264.61
GPS_charging	0	0	0.00
Compass	1533	6	129.21
RAFOS	360	1	6.75
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	-0.88	-165.5	129	2431	992	902	0.0	0.0	0	112	0.00	0.00	-88.32	0.000	16386	0.000	0.000	129	2431	2661	2734	2589	0	0	0	0	0	0	28.83	28.83	28.83
119	-0.88	-165.5	129	2431	2734	2590	3.0	-3.9	16	155	10.15	2.53	-17.80	0.000	18948	0.435	0.140	2243	1033	3471	3675	3268	0	0	0	0	0	0	14.21	14.34	14.57
202	-0.88	-165.5	2243	1033	3676	3267	24.9	-24.5	30	209	0.00	2.60	0.00	0.000	1030	0.000	0.134	2235	2448	3471	3676	3267	0	0	0	0	0	0	28.83	14.35	28.83
521	-0.88	-165.5	2235	2447	3677	3267	94.7	-18.9	91	527	0.00	2.60	0.00	0.000	260	0.000	0.149	2228	3861	3472	3677	3267	0	0	0	0	0	0	28.83	14.42	28.83
571	-0.88	-165.5	1384	3859	3672	3264	104.4	-19.9	97	578	0.00	2.45	0.00	0.000	1030	0.000	0.097	2228	2444	3472	3677	3267	0	0	0	0	0	0	28.83	14.46	28.83
880	-0.88	-165.5	2228	2444	3677	3267	164.1	-19.0	128	889	0.00	2.45	0.00	0.000	516	0.000	0.118	2228	1046	3472	3677	3267	0	0	0	0	0	0	28.83	14.47	28.83
935	-0.88	-165.5	2228	1046	3677	3267	174.7	-18.9	133	944	0.10	2.53	0.00	0.000	3078	0.298	0.131	2244	2448	3472	3677	3267	0	0	0	0	0	0	14.41	14.47	28.83
1246	-0.88	-165.5	2244	2448	3677	3267	230.0	-17.9	164	1255	0.00	2.47	0.00	0.000	516	0.000	0.119	2244	1039	3472	3677	3267	0	0	0	0	0	0	28.83	14.51	28.83
1271	-0.88	-165.5	2244	1038	3677	3267	234.7	-18.2	166	1280	0.00	2.55	0.00	0.000	1030	0.000	0.134	2237	2457	3472	3677	3267	0	0	0	0	0	0	28.83	14.51	28.83
1581	-0.88	-165.5	2237	2456	3677	3267	289.8	-17.3	197	1587	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	2457	3472	3677	3267	0	0	0	0	0	0	28.83	28.83	28.83
1897	-0.88	-165.5	2236	2457	3677	3266	343.5	-17.7	228	1906	0.00	2.53	0.00	0.000	260	0.000	0.152	2225	3853	3471	3677	3266	0	0	0	0	0	0	28.83	14.55	28.83
1936	-0.88	-165.5	1376	3852	3672	3263	350.8	-17.7	231	1943	0.00	2.42	0.00	0.000	1030	0.000	0.099	2226	2440	3471	3677	3266	0	0	0	0	0	0	28.83	14.60	28.83
2244	-0.88	-165.5	2226	2439	3677	3266	406.5	-17.2	262	2253	0.00	2.42	0.00	0.000	516	0.000	0.118	2226	1047	3471	3677	3266	0	0	0	0	0	0	28.83	14.58	28.83
2290	-0.88	-165.5	2226	1046	3677	3266	414.4	-17.5	266	2300	0.10	2.50	0.00	0.000	3078	0.285	0.132	2243	2445	3471	3677	3266	0	0	0	0	0	0	14.52	14.57	28.83
2601	-0.88	-165.5	2243	2446	3676	3266	463.2	-14.9	297	2610	0.00	2.55	0.00	0.000	260	0.000	0.149	2235	3860	3471	3676	3266	0	0	0	0	0	0	28.83	14.57	28.83
2698	-0.88	-165.5	2235	3860	3677	3266	478.0	-15.6	306	2706	0.00	2.40	0.00	0.000	1030	0.000	0.097	2235	2445	3470	3674	3266	0	0	0	0	0	0	28.83	14.62	28.83
2947	end dive: TARGET_DEPTH_EXCEEDED
state	2947	begin apogee
2960	-0.22	0.0	2235	2444	3676	3266	516.8	-15.0	331	3149	0.80	0.00	174.85	2.400	10246	0.259	0.000	2457	2445	2793	2925	2661	0	0	0	0	0	0	14.54	28.83	12.79
3150	end apogee: CONTROL_FINISHED_OK
state	3150	begin climb
3156	0.88	165.5	2457	2444	2924	2661	525.9	0.0	351	3368	1.23	2.90	189.62	2.273	10500	0.172	0.148	2811	3840	2118	2205	2032	0	0	0	0	2	0	13.62	13.10	12.38
3470	0.88	165.5	2811	3840	2202	2028	502.3	14.3	382	3479	0.00	2.62	0.00	0.000	1030	0.000	0.101	2821	2439	2115	2203	2028	0	0	0	0	0	0	28.83	13.55	28.83
3780	0.88	165.5	2821	2439	2203	2022	462.6	11.9	413	3786	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	2439	2112	2203	2022	0	0	0	0	0	0	28.83	28.83	28.83
4096	0.88	165.5	2821	2439	2203	2021	426.3	11.5	444	4104	0.00	2.65	0.00	0.000	260	0.000	0.152	2821	3840	2112	2203	2021	0	0	0	0	0	0	28.83	14.13	28.83
4131	0.88	165.5	2821	3840	2203	2021	421.3	12.0	447	4140	0.00	2.50	0.00	0.000	1030	0.000	0.102	2832	2423	2111	2203	2020	0	0	0	0	0	0	28.83	14.16	28.83
4441	0.88	165.5	2832	2423	2203	2019	384.3	11.8	478	4447	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2423	2111	2203	2019	0	0	0	0	0	0	28.83	28.83	28.83
4756	0.88	165.5	2832	2423	2203	2018	347.3	11.8	509	4765	0.00	2.65	0.00	0.000	260	0.000	0.153	2832	3842	2111	2203	2019	0	0	0	0	0	0	28.83	14.35	28.83
4805	0.88	165.5	2832	3842	2203	2019	340.6	13.5	513	4812	0.00	2.47	0.00	0.000	1030	0.000	0.102	2843	2429	2110	2203	2018	0	0	0	0	0	0	28.83	14.40	28.83
5113	0.88	165.5	1856	2427	2156	2013	302.8	12.0	544	5122	0.00	2.62	0.00	0.000	260	0.000	0.150	2843	3848	2110	2203	2018	0	0	0	0	0	0	28.83	14.41	28.83
5228	0.88	165.5	2843	3848	2203	2018	287.6	13.1	555	5238	0.12	2.45	0.00	0.000	5126	0.314	0.102	2823	2431	2110	2203	2017	0	0	0	0	0	0	14.37	14.46	28.83
5539	0.88	165.5	2823	2430	2203	2017	252.7	10.4	586	5548	0.00	2.58	0.00	0.000	260	0.000	0.150	2823	3840	2110	2203	2018	0	0	0	0	0	0	28.83	14.45	28.83
5584	0.88	165.5	2822	3840	2203	2017	247.4	12.0	590	5593	0.00	2.42	0.00	0.000	1030	0.000	0.103	2831	2430	2110	2203	2018	0	0	0	0	0	0	28.83	14.50	28.83
5894	0.88	165.5	2832	2430	2203	2017	213.9	10.2	621	5903	0.00	2.60	0.00	0.000	260	0.000	0.151	2832	3843	2110	2203	2017	0	0	0	0	0	0	28.83	14.50	28.83
5940	0.88	165.5	2832	3843	2203	2017	208.8	11.4	625	5948	0.00	2.42	0.00	0.000	1030	0.000	0.103	2843	2430	2110	2203	2017	0	0	0	0	0	0	28.83	14.54	28.83
6250	0.88	165.5	2843	2430	2203	2017	178.1	9.8	656	6256	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	2430	2110	2203	2017	0	0	0	0	0	0	28.83	28.83	28.83
6567	0.88	165.5	2843	2430	2203	2016	147.5	9.9	687	6575	0.00	2.47	0.00	0.000	516	0.000	0.126	2854	1020	2109	2203	2016	0	0	0	0	0	0	28.83	14.56	28.83
6757	0.88	167.9	2854	1019	2203	2015	128.2	9.3	705	6765	0.15	2.55	0.00	0.000	5126	0.316	0.133	2821	2434	2109	2203	2015	0	0	0	0	0	0	14.52	14.58	28.83
7067	0.92	197.4	2822	2434	2203	2015	101.2	8.3	736	7091	0.00	2.65	17.10	0.519	8452	0.000	0.154	2821	3840	1987	2085	1890	0	0	0	0	0	0	28.83	14.54	14.38
7131	0.92	197.4	1824	3839	2039	1887	95.1	10.2	746	7138	0.00	2.45	0.00	0.000	1030	0.000	0.106	2830	2426	1987	2083	1892	0	0	0	0	0	0	28.83	14.57	28.83
7450	0.97	240.4	2830	2426	2083	1890	67.7	7.8	807	7480	0.00	2.70	23.90	0.397	8452	0.000	0.155	2830	3844	1812	1908	1717	0	0	0	0	0	0	28.83	14.49	14.39
7511	0.97	240.4	1840	3844	1865	1713	62.4	10.4	817	7518	0.00	2.47	0.00	0.000	1030	0.000	0.106	2841	2423	1810	1904	1716	0	0	0	0	0	0	28.83	14.52	28.83
7829	1.03	286.2	1832	2421	1859	1709	32.3	7.7	878	7859	0.00	2.72	24.48	0.279	8452	0.000	0.155	2841	3849	1626	1713	1539	0	0	0	0	0	0	28.83	14.47	14.42
7921	1.03	286.2	2841	3848	1707	1539	23.3	10.6	894	7927	0.00	2.47	0.00	0.000	1030	0.000	0.106	2852	2430	1622	1706	1539	0	0	0	0	0	0	28.83	14.52	28.83
8133	end climb: SURFACE_DEPTH_REACHED
state	8133	begin surface coast
8159	end surface coast: CONTROL_FINISHED_OK
state	8159	begin surface