Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 43 * 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 43 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 20 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 450 R_STBD_OVSHOOT 20 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 -1131.7074 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 -1131.7074

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 20 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 20 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 43 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 220913,190236,6626.727,-6000.938,43,1.0,43,-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 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220913,190821,6626.691,-6000.960,5,1.3,5,-33.5 MHEAD_RNG_PITCHd_Wd 97.7,154722,-15.5,-9.429,-18.74,2659

SPEED_LIMITS 0.163,0.278 D_GRID 530

Post-dive calculations and measurements:

FINISH 0.4,1.011448 _24V_AH 12.4,21.931

SM_CCo 8304,42.58,0.185,0,0,957,450.13 _10V_AH 12.7,0.000

SM_GC 1.30,8.38,0.08,42.58,0.112,0.233,0.185,142,2448,957,-7.44,-0.51,450.13,0,0,0,0,0,0,14.43,14.42,14.35 FG_AHR_24Vo 0.000

RAFOS_CLK 400 FG_AHR_10Vo 0.000

RAFOS 0,1379880064,20.033333,20.017778,60,56,56,53,53,51,182,197,211,133,655,170 MEM 150724

RAFOS_FIX 6626.859375,-5959.279297,220913,202031,5,81,0.27 DATA_FILE_SIZE 40111,952

IRIDIUM_FIX 6558.99,-5953.92,220913,161621 CAP_FILE_SIZE 100678,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,248160256

HUMID 44.88 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

INTERNAL_PRESSURE 8.64484 SOUNDSPEED 1454.0

TCM_TEMP 12.40 GPS 220913,213005,6625.776,-5959.099,31,1.1,31,-33.5

XPDR_PINGS 62

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 437 114.62 SBE_CT 663 23 191.14

Roll_motor 92 237 270.76 SBE_O2 0 0 0.00

VBD_pump_during_apogee 494 2411 14775.02 nil 0 0 0.00

VBD_pump_during_surface 42 185 97.74 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 192 138 330.86 nil 0 0 0.00

Transponder_ping 15 420 80.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.39

TT8 2162 14 410.86

LPSleep 3678 2 107.93

TT8_Active 648 14 117.06

TT8_Sampling 1697 33 726.26

TT8_CF8 530 39 267.34

TT8_Kalman 0 0 0.00

Analog_circuits 1750 12 266.83

GPS_charging 0 0 0.00

Compass 1528 6 130.81

RAFOS 2520 1 48.01

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

20 -0.88 -165.5 133 2455 958 927 0.0 0.0 0 111 0.00 0.00 -88.30 0.000 16386 0.000 0.000 131 2455 2688 2753 2623 0 0 0 0 0 0 28.83 28.83 28.83

118 -0.88 -165.5 131 2456 2753 2624 3.1 -4.8 16 155 10.15 2.60 -16.67 0.000 18948 0.438 0.144 2244 1042 3471 3676 3267 0 0 0 0 0 0 14.23 14.35 14.59

221 -0.88 -165.5 2244 1042 3677 3267 30.7 -24.7 34 228 0.00 2.58 0.00 0.000 1030 0.000 0.137 2237 2443 3472 3677 3267 0 0 0 0 0 0 28.83 14.38 28.83

539 -0.88 -165.5 2236 2443 3677 3267 98.2 -20.3 95 546 0.00 2.62 0.00 0.000 260 0.000 0.151 2226 3867 3472 3677 3267 0 0 0 0 0 0 28.83 14.43 28.83

621 -0.88 -165.5 2226 3867 3677 3267 114.5 -20.7 103 627 0.00 2.47 0.00 0.000 1030 0.000 0.102 2226 2444 3472 3677 3267 0 0 0 0 0 0 28.83 14.47 28.83

934 -0.88 -165.5 2226 2444 3677 3267 175.4 -19.4 134 940 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2444 3472 3677 3267 0 0 0 0 0 0 28.83 28.83 28.83

1247 -0.88 -165.5 2226 2444 3677 3267 236.7 -19.0 165 1255 0.00 2.45 0.00 0.000 516 0.000 0.122 2226 1047 3471 3677 3266 0 0 0 0 0 0 28.83 14.53 28.83

1302 -0.88 -165.5 2226 1047 3677 3266 248.3 -18.7 170 1311 0.10 2.53 0.00 0.000 3078 0.297 0.135 2242 2445 3472 3677 3267 0 0 0 0 0 0 14.47 14.53 28.83

1612 -0.88 -165.5 2242 2445 3677 3266 301.0 -16.4 201 1621 0.00 2.60 0.00 0.000 260 0.000 0.154 2234 3862 3471 3677 3266 0 0 0 0 0 0 28.83 14.54 28.83

1649 -0.88 -165.5 2234 3861 3677 3266 307.0 -16.7 204 1658 0.00 2.42 0.00 0.000 1030 0.000 0.102 2233 2446 3471 3677 3266 0 0 0 0 0 0 28.83 14.57 28.83

1959 -0.88 -165.5 2234 2446 3677 3266 359.2 -15.9 235 1968 0.00 2.45 0.00 0.000 516 0.000 0.121 2234 1042 3471 3677 3265 0 0 0 0 0 0 28.83 14.57 28.83

1996 -0.88 -165.5 1408 1042 3673 3263 364.6 -15.9 238 2003 0.00 2.55 0.00 0.000 1030 0.000 0.133 2224 2457 3471 3677 3266 0 0 0 0 0 0 28.83 14.57 28.83

2305 -0.88 -165.5 2225 2457 3677 3266 416.6 -17.1 269 2313 0.00 2.47 0.00 0.000 516 0.000 0.120 2225 1044 3471 3677 3266 0 0 0 0 0 0 28.83 14.59 28.83

2350 -0.88 -165.5 2224 1044 3677 3266 424.2 -17.0 273 2359 0.12 2.50 0.00 0.000 3078 0.287 0.132 2248 2444 3471 3677 3266 0 0 0 0 0 0 14.52 14.59 28.83

2661 -0.88 -165.5 2248 2444 3677 3266 470.1 -15.2 304 2670 0.00 2.58 0.00 0.000 260 0.000 0.151 2239 3863 3471 3677 3266 0 0 0 0 0 0 28.83 14.58 28.83

2726 -0.88 -165.5 2239 3863 3677 3266 480.5 -15.8 310 2734 0.00 2.40 0.00 0.000 1030 0.000 0.100 2239 2445 3471 3677 3266 0 0 0 0 0 0 28.83 14.61 28.83

3036 -0.88 -165.5 2239 2445 3677 3266 528.1 -15.3 341 3045 0.00 2.42 0.00 0.000 516 0.000 0.117 2239 1042 3472 3678 3266 0 0 0 0 0 0 28.83 14.60 28.83

3055 end dive: TARGET_DEPTH_EXCEEDED

state 3055 begin apogee

3071 -0.22 0.0 2230 2431 3677 3266 531.6 -14.5 343 3257 0.82 0.00 174.68 2.411 10246 0.262 0.000 2458 2431 2794 2924 2664 0 0 0 0 0 0 14.54 28.83 12.81

3258 end apogee: CONTROL_FINISHED_OK

state 3258 begin climb

3264 0.88 165.5 2458 2431 2922 2664 540.0 0.0 362 3481 1.23 2.95 189.70 2.270 11012 0.181 0.149 2809 3837 2119 2205 2034 0 0 0 0 3 0 13.61 13.10 12.39

3544 0.88 165.5 2809 3837 2203 2032 519.5 14.1 390 3553 0.00 2.62 0.00 0.000 1030 0.000 0.101 2820 2436 2117 2203 2032 0 0 0 0 0 0 28.83 13.47 28.83

3855 0.88 165.5 2819 2436 2203 2024 480.6 12.5 421 3860 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 2436 2114 2203 2025 0 0 0 0 0 0 28.83 28.83 28.83

4166 0.88 165.5 2820 2436 2203 2022 443.8 12.4 452 4174 0.00 2.65 0.00 0.000 260 0.000 0.153 2820 3837 2113 2203 2023 0 0 0 0 0 0 28.83 14.09 28.83

4224 0.88 165.5 2820 3837 2203 2022 435.9 14.5 457 4231 0.00 2.53 0.00 0.000 1030 0.000 0.103 2830 2423 2112 2203 2022 0 0 0 0 0 0 28.83 14.16 28.83

4532 0.88 165.5 2830 2423 2203 2022 396.4 13.1 488 4540 0.00 2.53 0.00 0.000 516 0.000 0.126 2841 1018 2112 2203 2021 0 0 0 0 0 0 28.83 14.25 28.83

4557 0.88 165.5 2841 1018 2203 2020 393.2 12.9 490 4562 0.00 2.60 0.00 0.000 1030 0.000 0.134 2841 2430 2111 2203 2020 0 0 0 0 0 0 28.83 14.27 28.83

4875 0.88 165.5 2841 2430 2203 2020 347.8 14.8 521 4883 0.00 2.62 0.00 0.000 260 0.000 0.155 2842 3845 2111 2203 2020 0 0 0 0 0 0 28.83 14.34 28.83

4899 0.88 165.5 2841 3846 2203 2020 343.8 14.4 523 4909 0.10 2.47 0.00 0.000 5126 0.326 0.103 2827 2425 2111 2203 2020 0 0 0 0 0 0 14.28 14.35 28.83

5210 0.88 165.5 2827 2425 2203 2019 303.7 11.8 554 5219 0.00 2.62 0.00 0.000 260 0.000 0.154 2826 3840 2111 2203 2020 0 0 0 0 0 0 28.83 14.40 28.83

5238 0.88 165.5 2826 3841 2203 2020 300.4 12.9 556 5245 0.00 2.47 0.00 0.000 1030 0.000 0.103 2836 2421 2111 2203 2020 0 0 0 0 0 0 28.83 14.45 28.83

5547 0.88 165.5 2836 2421 2203 2019 262.9 11.4 587 5555 0.00 2.62 0.00 0.000 260 0.000 0.153 2836 3847 2110 2202 2019 0 0 0 0 0 0 28.83 14.45 28.83

5601 0.88 165.5 2836 3847 2202 2019 256.0 13.2 592 5611 0.10 2.45 0.00 0.000 5126 0.319 0.103 2822 2425 2111 2203 2020 0 0 0 0 0 0 14.40 14.47 28.83

5912 0.88 165.5 2822 2425 2203 2019 223.5 9.8 623 5918 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2425 2110 2201 2019 0 0 0 0 0 0 28.83 28.83 28.83

6227 0.88 165.5 2822 2425 2203 2019 193.7 9.5 654 6236 0.00 2.62 0.00 0.000 260 0.000 0.155 2821 3839 2111 2203 2019 0 0 0 0 0 0 28.83 14.51 28.83

6296 0.88 165.5 2822 3839 2203 2019 186.3 11.0 660 6303 0.00 2.45 0.00 0.000 1030 0.000 0.105 2832 2424 2111 2203 2019 0 0 0 0 0 0 28.83 14.56 28.83

6605 0.88 170.0 2832 2425 2203 2018 154.8 9.3 691 6612 0.00 0.00 4.18 1.526 8198 0.000 0.000 2832 2425 2099 2193 2006 0 0 0 0 0 0 28.83 28.83 13.81

6915 0.92 202.3 2832 2425 2194 2006 126.6 8.2 722 6954 0.00 2.70 33.20 1.991 8452 0.000 0.155 2832 3844 1968 2065 1872 0 0 0 0 0 0 28.83 14.21 13.59

7019 0.92 202.3 2832 3844 2061 1873 117.1 11.7 731 7026 0.00 2.53 0.00 0.000 1030 0.000 0.106 2842 2423 1967 2062 1872 0 0 0 0 0 0 28.83 14.28 28.83

7332 0.96 233.5 1856 2420 2017 1866 87.1 8.2 776 7355 0.00 0.00 17.95 0.470 8198 0.000 0.000 2843 2423 1840 1936 1744 0 0 0 0 0 0 28.83 28.83 14.21

7665 0.96 233.5 1856 2421 1892 1736 55.5 10.6 840 7672 0.00 2.53 0.00 0.000 516 0.000 0.130 2853 1018 1836 1932 1740 0 0 0 0 0 0 28.83 14.43 28.83

7739 0.96 233.5 2853 1018 1932 1738 48.0 10.3 853 7746 0.00 2.60 0.00 0.000 1030 0.000 0.136 2853 2438 1835 1932 1738 0 0 0 0 0 0 28.83 14.43 28.83

8057 1.13 369.2 2853 2438 1931 1738 27.0 4.2 914 8143 0.12 2.67 74.45 0.256 10500 0.192 0.158 2897 3838 1286 1362 1210 0 0 0 0 0 0 14.48 14.35 14.33

8239 1.13 369.2 2897 3838 1349 1210 5.7 16.6 946 8246 0.00 2.50 0.00 0.000 1030 0.000 0.109 2907 2422 1278 1348 1209 0 0 0 0 0 0 28.83 14.42 28.83

8258 end climb: SURFACE_DEPTH_REACHED

state 8258 begin surface coast

8274 end surface coast: CONTROL_FINISHED_OK

state 8274 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	43	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	20	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	450	R_STBD_OVSHOOT	20	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	-1131.7074	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	220913,190236,6626.727,-6000.938,43,1.0,43,-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	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220913,190821,6626.691,-6000.960,5,1.3,5,-33.5	MHEAD_RNG_PITCHd_Wd	97.7,154722,-15.5,-9.429,-18.74,2659
SPEED_LIMITS	0.163,0.278	D_GRID	530

FINISH	0.4,1.011448	_24V_AH	12.4,21.931
SM_CCo	8304,42.58,0.185,0,0,957,450.13	_10V_AH	12.7,0.000
SM_GC	1.30,8.38,0.08,42.58,0.112,0.233,0.185,142,2448,957,-7.44,-0.51,450.13,0,0,0,0,0,0,14.43,14.42,14.35	FG_AHR_24Vo	0.000
RAFOS_CLK	400	FG_AHR_10Vo	0.000
RAFOS	0,1379880064,20.033333,20.017778,60,56,56,53,53,51,182,197,211,133,655,170	MEM	150724
RAFOS_FIX	6626.859375,-5959.279297,220913,202031,5,81,0.27	DATA_FILE_SIZE	40111,952
IRIDIUM_FIX	6558.99,-5953.92,220913,161621	CAP_FILE_SIZE	100678,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,248160256
HUMID	44.88	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
INTERNAL_PRESSURE	8.64484	SOUNDSPEED	1454.0
TCM_TEMP	12.40	GPS	220913,213005,6625.776,-5959.099,31,1.1,31,-33.5
XPDR_PINGS	62

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	437	114.62	SBE_CT	663	23	191.14
Roll_motor	92	237	270.76	SBE_O2	0	0	0.00
VBD_pump_during_apogee	494	2411	14775.02	nil	0	0	0.00
VBD_pump_during_surface	42	185	97.74	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	192	138	330.86	nil	0	0	0.00
Transponder_ping	15	420	80.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.39
TT8	2162	14	410.86
LPSleep	3678	2	107.93
TT8_Active	648	14	117.06
TT8_Sampling	1697	33	726.26
TT8_CF8	530	39	267.34
TT8_Kalman	0	0	0.00
Analog_circuits	1750	12	266.83
GPS_charging	0	0	0.00
Compass	1528	6	130.81
RAFOS	2520	1	48.01
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
20	-0.88	-165.5	133	2455	958	927	0.0	0.0	0	111	0.00	0.00	-88.30	0.000	16386	0.000	0.000	131	2455	2688	2753	2623	0	0	0	0	0	0	28.83	28.83	28.83
118	-0.88	-165.5	131	2456	2753	2624	3.1	-4.8	16	155	10.15	2.60	-16.67	0.000	18948	0.438	0.144	2244	1042	3471	3676	3267	0	0	0	0	0	0	14.23	14.35	14.59
221	-0.88	-165.5	2244	1042	3677	3267	30.7	-24.7	34	228	0.00	2.58	0.00	0.000	1030	0.000	0.137	2237	2443	3472	3677	3267	0	0	0	0	0	0	28.83	14.38	28.83
539	-0.88	-165.5	2236	2443	3677	3267	98.2	-20.3	95	546	0.00	2.62	0.00	0.000	260	0.000	0.151	2226	3867	3472	3677	3267	0	0	0	0	0	0	28.83	14.43	28.83
621	-0.88	-165.5	2226	3867	3677	3267	114.5	-20.7	103	627	0.00	2.47	0.00	0.000	1030	0.000	0.102	2226	2444	3472	3677	3267	0	0	0	0	0	0	28.83	14.47	28.83
934	-0.88	-165.5	2226	2444	3677	3267	175.4	-19.4	134	940	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2444	3472	3677	3267	0	0	0	0	0	0	28.83	28.83	28.83
1247	-0.88	-165.5	2226	2444	3677	3267	236.7	-19.0	165	1255	0.00	2.45	0.00	0.000	516	0.000	0.122	2226	1047	3471	3677	3266	0	0	0	0	0	0	28.83	14.53	28.83
1302	-0.88	-165.5	2226	1047	3677	3266	248.3	-18.7	170	1311	0.10	2.53	0.00	0.000	3078	0.297	0.135	2242	2445	3472	3677	3267	0	0	0	0	0	0	14.47	14.53	28.83
1612	-0.88	-165.5	2242	2445	3677	3266	301.0	-16.4	201	1621	0.00	2.60	0.00	0.000	260	0.000	0.154	2234	3862	3471	3677	3266	0	0	0	0	0	0	28.83	14.54	28.83
1649	-0.88	-165.5	2234	3861	3677	3266	307.0	-16.7	204	1658	0.00	2.42	0.00	0.000	1030	0.000	0.102	2233	2446	3471	3677	3266	0	0	0	0	0	0	28.83	14.57	28.83
1959	-0.88	-165.5	2234	2446	3677	3266	359.2	-15.9	235	1968	0.00	2.45	0.00	0.000	516	0.000	0.121	2234	1042	3471	3677	3265	0	0	0	0	0	0	28.83	14.57	28.83
1996	-0.88	-165.5	1408	1042	3673	3263	364.6	-15.9	238	2003	0.00	2.55	0.00	0.000	1030	0.000	0.133	2224	2457	3471	3677	3266	0	0	0	0	0	0	28.83	14.57	28.83
2305	-0.88	-165.5	2225	2457	3677	3266	416.6	-17.1	269	2313	0.00	2.47	0.00	0.000	516	0.000	0.120	2225	1044	3471	3677	3266	0	0	0	0	0	0	28.83	14.59	28.83
2350	-0.88	-165.5	2224	1044	3677	3266	424.2	-17.0	273	2359	0.12	2.50	0.00	0.000	3078	0.287	0.132	2248	2444	3471	3677	3266	0	0	0	0	0	0	14.52	14.59	28.83
2661	-0.88	-165.5	2248	2444	3677	3266	470.1	-15.2	304	2670	0.00	2.58	0.00	0.000	260	0.000	0.151	2239	3863	3471	3677	3266	0	0	0	0	0	0	28.83	14.58	28.83
2726	-0.88	-165.5	2239	3863	3677	3266	480.5	-15.8	310	2734	0.00	2.40	0.00	0.000	1030	0.000	0.100	2239	2445	3471	3677	3266	0	0	0	0	0	0	28.83	14.61	28.83
3036	-0.88	-165.5	2239	2445	3677	3266	528.1	-15.3	341	3045	0.00	2.42	0.00	0.000	516	0.000	0.117	2239	1042	3472	3678	3266	0	0	0	0	0	0	28.83	14.60	28.83
3055	end dive: TARGET_DEPTH_EXCEEDED
state	3055	begin apogee
3071	-0.22	0.0	2230	2431	3677	3266	531.6	-14.5	343	3257	0.82	0.00	174.68	2.411	10246	0.262	0.000	2458	2431	2794	2924	2664	0	0	0	0	0	0	14.54	28.83	12.81
3258	end apogee: CONTROL_FINISHED_OK
state	3258	begin climb
3264	0.88	165.5	2458	2431	2922	2664	540.0	0.0	362	3481	1.23	2.95	189.70	2.270	11012	0.181	0.149	2809	3837	2119	2205	2034	0	0	0	0	3	0	13.61	13.10	12.39
3544	0.88	165.5	2809	3837	2203	2032	519.5	14.1	390	3553	0.00	2.62	0.00	0.000	1030	0.000	0.101	2820	2436	2117	2203	2032	0	0	0	0	0	0	28.83	13.47	28.83
3855	0.88	165.5	2819	2436	2203	2024	480.6	12.5	421	3860	0.00	0.00	0.00	0.000	6	0.000	0.000	2820	2436	2114	2203	2025	0	0	0	0	0	0	28.83	28.83	28.83
4166	0.88	165.5	2820	2436	2203	2022	443.8	12.4	452	4174	0.00	2.65	0.00	0.000	260	0.000	0.153	2820	3837	2113	2203	2023	0	0	0	0	0	0	28.83	14.09	28.83
4224	0.88	165.5	2820	3837	2203	2022	435.9	14.5	457	4231	0.00	2.53	0.00	0.000	1030	0.000	0.103	2830	2423	2112	2203	2022	0	0	0	0	0	0	28.83	14.16	28.83
4532	0.88	165.5	2830	2423	2203	2022	396.4	13.1	488	4540	0.00	2.53	0.00	0.000	516	0.000	0.126	2841	1018	2112	2203	2021	0	0	0	0	0	0	28.83	14.25	28.83
4557	0.88	165.5	2841	1018	2203	2020	393.2	12.9	490	4562	0.00	2.60	0.00	0.000	1030	0.000	0.134	2841	2430	2111	2203	2020	0	0	0	0	0	0	28.83	14.27	28.83
4875	0.88	165.5	2841	2430	2203	2020	347.8	14.8	521	4883	0.00	2.62	0.00	0.000	260	0.000	0.155	2842	3845	2111	2203	2020	0	0	0	0	0	0	28.83	14.34	28.83
4899	0.88	165.5	2841	3846	2203	2020	343.8	14.4	523	4909	0.10	2.47	0.00	0.000	5126	0.326	0.103	2827	2425	2111	2203	2020	0	0	0	0	0	0	14.28	14.35	28.83
5210	0.88	165.5	2827	2425	2203	2019	303.7	11.8	554	5219	0.00	2.62	0.00	0.000	260	0.000	0.154	2826	3840	2111	2203	2020	0	0	0	0	0	0	28.83	14.40	28.83
5238	0.88	165.5	2826	3841	2203	2020	300.4	12.9	556	5245	0.00	2.47	0.00	0.000	1030	0.000	0.103	2836	2421	2111	2203	2020	0	0	0	0	0	0	28.83	14.45	28.83
5547	0.88	165.5	2836	2421	2203	2019	262.9	11.4	587	5555	0.00	2.62	0.00	0.000	260	0.000	0.153	2836	3847	2110	2202	2019	0	0	0	0	0	0	28.83	14.45	28.83
5601	0.88	165.5	2836	3847	2202	2019	256.0	13.2	592	5611	0.10	2.45	0.00	0.000	5126	0.319	0.103	2822	2425	2111	2203	2020	0	0	0	0	0	0	14.40	14.47	28.83
5912	0.88	165.5	2822	2425	2203	2019	223.5	9.8	623	5918	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2425	2110	2201	2019	0	0	0	0	0	0	28.83	28.83	28.83
6227	0.88	165.5	2822	2425	2203	2019	193.7	9.5	654	6236	0.00	2.62	0.00	0.000	260	0.000	0.155	2821	3839	2111	2203	2019	0	0	0	0	0	0	28.83	14.51	28.83
6296	0.88	165.5	2822	3839	2203	2019	186.3	11.0	660	6303	0.00	2.45	0.00	0.000	1030	0.000	0.105	2832	2424	2111	2203	2019	0	0	0	0	0	0	28.83	14.56	28.83
6605	0.88	170.0	2832	2425	2203	2018	154.8	9.3	691	6612	0.00	0.00	4.18	1.526	8198	0.000	0.000	2832	2425	2099	2193	2006	0	0	0	0	0	0	28.83	28.83	13.81
6915	0.92	202.3	2832	2425	2194	2006	126.6	8.2	722	6954	0.00	2.70	33.20	1.991	8452	0.000	0.155	2832	3844	1968	2065	1872	0	0	0	0	0	0	28.83	14.21	13.59
7019	0.92	202.3	2832	3844	2061	1873	117.1	11.7	731	7026	0.00	2.53	0.00	0.000	1030	0.000	0.106	2842	2423	1967	2062	1872	0	0	0	0	0	0	28.83	14.28	28.83
7332	0.96	233.5	1856	2420	2017	1866	87.1	8.2	776	7355	0.00	0.00	17.95	0.470	8198	0.000	0.000	2843	2423	1840	1936	1744	0	0	0	0	0	0	28.83	28.83	14.21
7665	0.96	233.5	1856	2421	1892	1736	55.5	10.6	840	7672	0.00	2.53	0.00	0.000	516	0.000	0.130	2853	1018	1836	1932	1740	0	0	0	0	0	0	28.83	14.43	28.83
7739	0.96	233.5	2853	1018	1932	1738	48.0	10.3	853	7746	0.00	2.60	0.00	0.000	1030	0.000	0.136	2853	2438	1835	1932	1738	0	0	0	0	0	0	28.83	14.43	28.83
8057	1.13	369.2	2853	2438	1931	1738	27.0	4.2	914	8143	0.12	2.67	74.45	0.256	10500	0.192	0.158	2897	3838	1286	1362	1210	0	0	0	0	0	0	14.48	14.35	14.33
8239	1.13	369.2	2897	3838	1349	1210	5.7	16.6	946	8246	0.00	2.50	0.00	0.000	1030	0.000	0.109	2907	2422	1278	1348	1209	0	0	0	0	0	0	28.83	14.42	28.83
8258	end climb: SURFACE_DEPTH_REACHED
state	8258	begin surface coast
8274	end surface coast: CONTROL_FINISHED_OK
state	8274	begin surface