Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 44 * 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 44 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 11 XPDR_VALID 6

D_BOOST 110 N_FILEKB 8 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2794 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 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 -1138.3 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 -1138.3

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 11 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 0 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 44 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 220913,213005,6625.776,-5959.099,31,1.1,31,-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 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220913,213608,6625.699,-5959.009,5,1.1,5,-33.5 MHEAD_RNG_PITCHd_Wd 96.9,154268,-15.5,-9.429,-18.74,2659

SPEED_LIMITS 0.163,0.278 D_GRID 536

Post-dive calculations and measurements:

FINISH 1.6,1.025053 _24V_AH 12.4,22.255

SM_CCo 8554,111.90,0.179,0,0,957,450.13 _10V_AH 12.5,0.000

SM_GC 1.57,8.15,2.53,111.90,0.110,0.107,0.179,142,2444,957,-7.43,0.45,450.13,0,0,0,0,0,0,14.53,14.53,14.38 FG_AHR_24Vo 0.000

RAFOS_CLK 419 FG_AHR_10Vo 0.000

RAFOS_FIX 6626.859375,-5959.279297,220913,202031,5,81,0.27 MEM 150820

IRIDIUM_FIX 6558.99,-6003.97,220913,191914 DATA_FILE_SIZE 43355,980

TT8_MAMPS 0.024717,0.024717 CAP_FILE_SIZE 98746,0

HUMID 44.60 CFSIZE 259252224,248102912

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

TCM_TEMP 12.30 SOUNDSPEED 1454.5

XPDR_PINGS 97 GPS 230913,000306,6625.424,-5957.261,43,1.1,43,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 429 110.22 SBE_CT 685 23 197.29

Roll_motor 82 156 159.85 SBE_O2 0 0 0.00

VBD_pump_during_apogee 413 2400 12312.40 nil 0 0 0.00

VBD_pump_during_surface 111 179 248.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 210 139 364.76 nil 0 0 0.00

Transponder_ping 24 420 126.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 18 2.63

TT8 2222 14 415.67

LPSleep 3871 2 111.78

TT8_Active 660 14 117.27

TT8_Sampling 1755 33 739.19

TT8_CF8 530 39 262.91

TT8_Kalman 0 0 0.00

Analog_circuits 1768 12 265.23

GPS_charging 0 0 0.00

Compass 1574 6 132.68

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

21 -0.88 -165.5 127 2449 968 923 0.0 0.0 0 117 0.00 0.00 -93.15 0.000 16386 0.000 0.000 126 2450 2824 2884 2764 0 0 0 0 0 0 28.83 28.83 28.83

124 -0.88 -165.5 125 2449 2889 2765 3.8 -8.1 17 154 10.07 2.55 -12.23 0.000 18948 0.430 0.142 2244 1034 3473 3667 3279 0 0 0 0 0 0 14.21 14.33 14.56

280 -0.88 -165.5 2244 1034 3669 3279 47.4 -20.7 45 287 0.00 2.62 0.00 0.000 1030 0.000 0.138 2235 2457 3474 3669 3279 0 0 0 0 0 0 28.83 14.35 28.83

598 -0.88 -165.5 2235 2456 3671 3278 111.5 -18.7 100 606 0.00 2.53 0.00 0.000 516 0.000 0.120 2235 1036 3474 3671 3278 0 0 0 0 0 0 28.83 14.43 28.83

683 -0.88 -165.5 2235 1035 3671 3278 126.4 -17.0 108 691 0.00 2.58 0.00 0.000 1030 0.000 0.137 2226 2452 3474 3671 3278 0 0 0 0 0 0 28.83 14.43 28.83

993 -0.88 -165.5 2226 2453 3671 3278 184.5 -19.6 139 1002 0.00 2.58 0.00 0.000 260 0.000 0.155 2215 3859 3474 3671 3278 0 0 0 0 0 0 28.83 14.48 28.83

1041 -0.88 -165.5 1380 3858 3666 3275 193.8 -20.7 143 1048 0.15 2.45 0.00 0.000 3078 0.319 0.102 2246 2443 3474 3670 3278 0 0 0 0 0 0 14.44 14.52 28.83

1350 -0.88 -165.5 2246 2443 3671 3277 251.4 -18.1 174 1356 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2443 3474 3671 3277 0 0 0 0 0 0 28.83 28.83 28.83

1666 -0.88 -165.5 2246 2443 3671 3277 306.6 -17.6 205 1675 0.00 2.45 0.00 0.000 516 0.000 0.122 2246 1044 3473 3671 3276 0 0 0 0 0 0 28.83 14.55 28.83

1693 -0.88 -165.5 2246 1044 3671 3276 312.0 -17.1 207 1702 0.00 2.53 0.00 0.000 1030 0.000 0.135 2239 2447 3473 3671 3276 0 0 0 0 0 0 28.83 14.54 28.83

2003 -0.88 -165.5 2239 2447 3671 3276 365.7 -16.4 238 2009 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2447 3473 3671 3276 0 0 0 0 0 0 28.83 28.83 28.83

2320 -0.88 -165.5 2239 2447 3671 3276 414.8 -15.4 269 2326 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2447 3473 3671 3276 0 0 0 0 0 0 28.83 28.83 28.83

2632 -0.88 -165.5 2239 2447 3671 3276 463.1 -16.1 300 2638 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2447 3473 3671 3276 0 0 0 0 0 0 28.83 28.83 28.83

2945 -0.88 -165.5 2239 2447 3671 3276 511.5 -15.9 331 2954 0.00 2.58 0.00 0.000 260 0.000 0.149 2228 3867 3472 3670 3275 0 0 0 0 0 0 28.83 14.60 28.83

2974 -0.88 -165.5 2228 3867 3671 3275 516.6 -16.6 333 2980 0.00 2.45 0.00 0.000 1030 0.000 0.103 2228 2440 3473 3671 3275 0 0 0 0 0 0 28.83 14.64 28.83

3086 end dive: TARGET_DEPTH_EXCEEDED

state 3086 begin apogee

3099 -0.22 0.0 2228 2440 3671 3276 536.4 -17.6 345 3286 0.82 0.00 175.32 2.401 10246 0.261 0.000 2456 2440 2793 2919 2668 0 0 0 0 0 0 14.55 28.83 12.80

3287 end apogee: CONTROL_FINISHED_OK

state 3287 begin climb

3293 0.88 165.5 2456 2440 2919 2668 546.7 0.0 364 3504 1.23 2.97 186.98 2.306 10500 0.175 0.151 2807 3837 2118 2205 2032 0 0 0 0 1 0 13.62 13.10 12.39

3551 0.88 165.5 2808 3837 2203 2031 530.2 15.3 390 3559 0.00 2.65 0.00 0.000 1030 0.000 0.104 2818 2435 2117 2203 2031 0 0 0 0 0 0 28.83 13.43 28.83

3861 0.88 165.5 2818 2434 2203 2023 490.2 12.6 421 3870 0.00 2.72 0.00 0.000 260 0.000 0.152 2818 3847 2112 2202 2023 0 0 0 0 0 0 28.83 13.90 28.83

3946 0.88 165.5 2818 3847 2203 2023 478.3 14.2 429 3955 0.00 2.58 0.00 0.000 1030 0.000 0.105 2829 2421 2112 2202 2022 0 0 0 0 0 0 28.83 13.98 28.83

4256 0.88 165.5 2829 2421 2203 2021 437.8 12.3 460 4262 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 2422 2112 2203 2021 0 0 0 0 0 0 28.83 28.83 28.83

4573 0.88 165.5 2829 2421 2202 2020 400.2 11.8 491 4579 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 2421 2111 2203 2020 0 0 0 0 0 0 28.83 28.83 28.83

4886 0.88 165.5 2829 2421 2203 2018 365.6 10.9 522 4894 0.00 2.65 0.00 0.000 260 0.000 0.155 2829 3842 2111 2203 2019 0 0 0 0 0 0 28.83 14.35 28.83

4970 0.88 165.5 2829 3842 2203 2019 354.4 13.1 530 4979 0.00 2.47 0.00 0.000 1030 0.000 0.106 2840 2426 2111 2203 2019 0 0 0 0 0 0 28.83 14.39 28.83

5280 0.88 165.5 2840 2426 2203 2018 319.7 10.8 561 5290 0.00 2.65 0.00 0.000 260 0.000 0.153 2840 3843 2110 2203 2018 0 0 0 0 0 0 28.83 14.42 28.83

5326 0.88 165.5 2840 3843 2203 2018 314.0 12.5 565 5335 0.10 2.45 0.00 0.000 5126 0.312 0.106 2825 2430 2110 2203 2018 0 0 0 0 0 0 14.36 14.45 28.83

5637 0.88 165.5 2825 2430 2203 2018 281.2 10.2 596 5645 0.00 2.60 0.00 0.000 260 0.000 0.152 2825 3846 2110 2202 2018 0 0 0 0 0 0 28.83 14.47 28.83

5692 0.88 165.5 2825 3846 2202 2018 274.6 12.2 601 5701 0.00 2.45 0.00 0.000 1030 0.000 0.106 2835 2426 2110 2203 2018 0 0 0 0 0 0 28.83 14.50 28.83

6002 0.88 165.5 2835 2426 2203 2017 239.6 11.3 632 6008 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2426 2109 2202 2017 0 0 0 0 0 0 28.83 28.83 28.83

6319 0.88 165.5 2835 2426 2203 2017 206.1 11.0 663 6328 0.00 2.60 0.00 0.000 260 0.000 0.155 2835 3843 2110 2203 2018 0 0 0 0 0 0 28.83 14.53 28.83

6434 0.88 165.5 2835 3843 2203 2017 191.6 12.5 674 6443 0.00 2.45 0.00 0.000 1030 0.000 0.106 2845 2431 2110 2203 2018 0 0 0 0 0 0 28.83 14.57 28.83

6745 0.89 172.2 2846 2431 2202 2017 160.8 9.2 705 6756 0.00 2.65 6.12 1.759 8452 0.000 0.151 2846 3837 2090 2184 1997 0 0 0 0 0 0 28.83 14.51 13.83

6932 0.90 180.5 2846 3837 2184 1998 142.5 9.1 723 6949 0.00 2.42 10.45 1.886 9222 0.000 0.106 2857 2433 2058 2152 1964 0 0 0 0 0 0 28.83 14.54 13.78

7251 0.91 195.1 2857 2432 2151 1964 114.7 8.9 755 7267 0.00 2.65 9.18 1.788 8452 0.000 0.151 2857 3853 1997 2092 1903 0 0 0 0 0 0 28.83 14.40 13.75

7297 0.91 195.1 2857 3853 2092 1903 110.7 9.7 759 7304 0.15 2.50 0.00 0.000 5126 0.330 0.106 2835 2429 1997 2092 1903 0 0 0 0 0 0 14.35 14.43 28.83

7610 0.95 222.9 2836 2428 2092 1902 83.8 8.4 809 7635 0.00 2.55 15.85 0.457 8708 0.000 0.129 2845 1011 1884 1983 1786 0 0 0 0 0 0 28.83 14.44 14.29

7731 0.95 222.9 2845 1011 1982 1782 72.3 10.9 830 7738 0.00 2.60 0.00 0.000 1030 0.000 0.135 2845 2436 1882 1982 1782 0 0 0 0 0 0 28.83 14.45 28.83

8050 0.96 231.2 2845 2436 1982 1781 41.9 9.1 891 8063 0.00 2.65 4.22 0.324 8452 0.000 0.156 2845 3836 1849 1949 1749 0 0 0 0 0 0 28.83 14.47 14.40

8155 0.96 231.2 2845 3836 1946 1749 31.2 10.8 910 8161 0.00 2.45 0.00 0.000 1030 0.000 0.106 2856 2428 1847 1946 1749 0 0 0 0 0 0 28.83 14.51 28.83

8473 0.97 242.3 2856 2428 1946 1749 6.8 9.0 971 8486 0.00 2.65 5.50 0.211 8452 0.000 0.157 2856 3850 1805 1902 1708 0 0 0 0 0 0 28.83 14.50 14.49

8512 end climb: SURFACE_DEPTH_REACHED

state 8512 begin surface coast

8523 end surface coast: CONTROL_FINISHED_OK

state 8523 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	44	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	11	XPDR_VALID	6
D_BOOST	110	N_FILEKB	8	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2794	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	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	-1138.3	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	220913,213005,6625.776,-5959.099,31,1.1,31,-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	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220913,213608,6625.699,-5959.009,5,1.1,5,-33.5	MHEAD_RNG_PITCHd_Wd	96.9,154268,-15.5,-9.429,-18.74,2659
SPEED_LIMITS	0.163,0.278	D_GRID	536

FINISH	1.6,1.025053	_24V_AH	12.4,22.255
SM_CCo	8554,111.90,0.179,0,0,957,450.13	_10V_AH	12.5,0.000
SM_GC	1.57,8.15,2.53,111.90,0.110,0.107,0.179,142,2444,957,-7.43,0.45,450.13,0,0,0,0,0,0,14.53,14.53,14.38	FG_AHR_24Vo	0.000
RAFOS_CLK	419	FG_AHR_10Vo	0.000
RAFOS_FIX	6626.859375,-5959.279297,220913,202031,5,81,0.27	MEM	150820
IRIDIUM_FIX	6558.99,-6003.97,220913,191914	DATA_FILE_SIZE	43355,980
TT8_MAMPS	0.024717,0.024717	CAP_FILE_SIZE	98746,0
HUMID	44.60	CFSIZE	259252224,248102912
INTERNAL_PRESSURE	8.64484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
TCM_TEMP	12.30	SOUNDSPEED	1454.5
XPDR_PINGS	97	GPS	230913,000306,6625.424,-5957.261,43,1.1,43,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	429	110.22	SBE_CT	685	23	197.29
Roll_motor	82	156	159.85	SBE_O2	0	0	0.00
VBD_pump_during_apogee	413	2400	12312.40	nil	0	0	0.00
VBD_pump_during_surface	111	179	248.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	210	139	364.76	nil	0	0	0.00
Transponder_ping	24	420	126.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	18	2.63
TT8	2222	14	415.67
LPSleep	3871	2	111.78
TT8_Active	660	14	117.27
TT8_Sampling	1755	33	739.19
TT8_CF8	530	39	262.91
TT8_Kalman	0	0	0.00
Analog_circuits	1768	12	265.23
GPS_charging	0	0	0.00
Compass	1574	6	132.68
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
21	-0.88	-165.5	127	2449	968	923	0.0	0.0	0	117	0.00	0.00	-93.15	0.000	16386	0.000	0.000	126	2450	2824	2884	2764	0	0	0	0	0	0	28.83	28.83	28.83
124	-0.88	-165.5	125	2449	2889	2765	3.8	-8.1	17	154	10.07	2.55	-12.23	0.000	18948	0.430	0.142	2244	1034	3473	3667	3279	0	0	0	0	0	0	14.21	14.33	14.56
280	-0.88	-165.5	2244	1034	3669	3279	47.4	-20.7	45	287	0.00	2.62	0.00	0.000	1030	0.000	0.138	2235	2457	3474	3669	3279	0	0	0	0	0	0	28.83	14.35	28.83
598	-0.88	-165.5	2235	2456	3671	3278	111.5	-18.7	100	606	0.00	2.53	0.00	0.000	516	0.000	0.120	2235	1036	3474	3671	3278	0	0	0	0	0	0	28.83	14.43	28.83
683	-0.88	-165.5	2235	1035	3671	3278	126.4	-17.0	108	691	0.00	2.58	0.00	0.000	1030	0.000	0.137	2226	2452	3474	3671	3278	0	0	0	0	0	0	28.83	14.43	28.83
993	-0.88	-165.5	2226	2453	3671	3278	184.5	-19.6	139	1002	0.00	2.58	0.00	0.000	260	0.000	0.155	2215	3859	3474	3671	3278	0	0	0	0	0	0	28.83	14.48	28.83
1041	-0.88	-165.5	1380	3858	3666	3275	193.8	-20.7	143	1048	0.15	2.45	0.00	0.000	3078	0.319	0.102	2246	2443	3474	3670	3278	0	0	0	0	0	0	14.44	14.52	28.83
1350	-0.88	-165.5	2246	2443	3671	3277	251.4	-18.1	174	1356	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2443	3474	3671	3277	0	0	0	0	0	0	28.83	28.83	28.83
1666	-0.88	-165.5	2246	2443	3671	3277	306.6	-17.6	205	1675	0.00	2.45	0.00	0.000	516	0.000	0.122	2246	1044	3473	3671	3276	0	0	0	0	0	0	28.83	14.55	28.83
1693	-0.88	-165.5	2246	1044	3671	3276	312.0	-17.1	207	1702	0.00	2.53	0.00	0.000	1030	0.000	0.135	2239	2447	3473	3671	3276	0	0	0	0	0	0	28.83	14.54	28.83
2003	-0.88	-165.5	2239	2447	3671	3276	365.7	-16.4	238	2009	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2447	3473	3671	3276	0	0	0	0	0	0	28.83	28.83	28.83
2320	-0.88	-165.5	2239	2447	3671	3276	414.8	-15.4	269	2326	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2447	3473	3671	3276	0	0	0	0	0	0	28.83	28.83	28.83
2632	-0.88	-165.5	2239	2447	3671	3276	463.1	-16.1	300	2638	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2447	3473	3671	3276	0	0	0	0	0	0	28.83	28.83	28.83
2945	-0.88	-165.5	2239	2447	3671	3276	511.5	-15.9	331	2954	0.00	2.58	0.00	0.000	260	0.000	0.149	2228	3867	3472	3670	3275	0	0	0	0	0	0	28.83	14.60	28.83
2974	-0.88	-165.5	2228	3867	3671	3275	516.6	-16.6	333	2980	0.00	2.45	0.00	0.000	1030	0.000	0.103	2228	2440	3473	3671	3275	0	0	0	0	0	0	28.83	14.64	28.83
3086	end dive: TARGET_DEPTH_EXCEEDED
state	3086	begin apogee
3099	-0.22	0.0	2228	2440	3671	3276	536.4	-17.6	345	3286	0.82	0.00	175.32	2.401	10246	0.261	0.000	2456	2440	2793	2919	2668	0	0	0	0	0	0	14.55	28.83	12.80
3287	end apogee: CONTROL_FINISHED_OK
state	3287	begin climb
3293	0.88	165.5	2456	2440	2919	2668	546.7	0.0	364	3504	1.23	2.97	186.98	2.306	10500	0.175	0.151	2807	3837	2118	2205	2032	0	0	0	0	1	0	13.62	13.10	12.39
3551	0.88	165.5	2808	3837	2203	2031	530.2	15.3	390	3559	0.00	2.65	0.00	0.000	1030	0.000	0.104	2818	2435	2117	2203	2031	0	0	0	0	0	0	28.83	13.43	28.83
3861	0.88	165.5	2818	2434	2203	2023	490.2	12.6	421	3870	0.00	2.72	0.00	0.000	260	0.000	0.152	2818	3847	2112	2202	2023	0	0	0	0	0	0	28.83	13.90	28.83
3946	0.88	165.5	2818	3847	2203	2023	478.3	14.2	429	3955	0.00	2.58	0.00	0.000	1030	0.000	0.105	2829	2421	2112	2202	2022	0	0	0	0	0	0	28.83	13.98	28.83
4256	0.88	165.5	2829	2421	2203	2021	437.8	12.3	460	4262	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	2422	2112	2203	2021	0	0	0	0	0	0	28.83	28.83	28.83
4573	0.88	165.5	2829	2421	2202	2020	400.2	11.8	491	4579	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	2421	2111	2203	2020	0	0	0	0	0	0	28.83	28.83	28.83
4886	0.88	165.5	2829	2421	2203	2018	365.6	10.9	522	4894	0.00	2.65	0.00	0.000	260	0.000	0.155	2829	3842	2111	2203	2019	0	0	0	0	0	0	28.83	14.35	28.83
4970	0.88	165.5	2829	3842	2203	2019	354.4	13.1	530	4979	0.00	2.47	0.00	0.000	1030	0.000	0.106	2840	2426	2111	2203	2019	0	0	0	0	0	0	28.83	14.39	28.83
5280	0.88	165.5	2840	2426	2203	2018	319.7	10.8	561	5290	0.00	2.65	0.00	0.000	260	0.000	0.153	2840	3843	2110	2203	2018	0	0	0	0	0	0	28.83	14.42	28.83
5326	0.88	165.5	2840	3843	2203	2018	314.0	12.5	565	5335	0.10	2.45	0.00	0.000	5126	0.312	0.106	2825	2430	2110	2203	2018	0	0	0	0	0	0	14.36	14.45	28.83
5637	0.88	165.5	2825	2430	2203	2018	281.2	10.2	596	5645	0.00	2.60	0.00	0.000	260	0.000	0.152	2825	3846	2110	2202	2018	0	0	0	0	0	0	28.83	14.47	28.83
5692	0.88	165.5	2825	3846	2202	2018	274.6	12.2	601	5701	0.00	2.45	0.00	0.000	1030	0.000	0.106	2835	2426	2110	2203	2018	0	0	0	0	0	0	28.83	14.50	28.83
6002	0.88	165.5	2835	2426	2203	2017	239.6	11.3	632	6008	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	2426	2109	2202	2017	0	0	0	0	0	0	28.83	28.83	28.83
6319	0.88	165.5	2835	2426	2203	2017	206.1	11.0	663	6328	0.00	2.60	0.00	0.000	260	0.000	0.155	2835	3843	2110	2203	2018	0	0	0	0	0	0	28.83	14.53	28.83
6434	0.88	165.5	2835	3843	2203	2017	191.6	12.5	674	6443	0.00	2.45	0.00	0.000	1030	0.000	0.106	2845	2431	2110	2203	2018	0	0	0	0	0	0	28.83	14.57	28.83
6745	0.89	172.2	2846	2431	2202	2017	160.8	9.2	705	6756	0.00	2.65	6.12	1.759	8452	0.000	0.151	2846	3837	2090	2184	1997	0	0	0	0	0	0	28.83	14.51	13.83
6932	0.90	180.5	2846	3837	2184	1998	142.5	9.1	723	6949	0.00	2.42	10.45	1.886	9222	0.000	0.106	2857	2433	2058	2152	1964	0	0	0	0	0	0	28.83	14.54	13.78
7251	0.91	195.1	2857	2432	2151	1964	114.7	8.9	755	7267	0.00	2.65	9.18	1.788	8452	0.000	0.151	2857	3853	1997	2092	1903	0	0	0	0	0	0	28.83	14.40	13.75
7297	0.91	195.1	2857	3853	2092	1903	110.7	9.7	759	7304	0.15	2.50	0.00	0.000	5126	0.330	0.106	2835	2429	1997	2092	1903	0	0	0	0	0	0	14.35	14.43	28.83
7610	0.95	222.9	2836	2428	2092	1902	83.8	8.4	809	7635	0.00	2.55	15.85	0.457	8708	0.000	0.129	2845	1011	1884	1983	1786	0	0	0	0	0	0	28.83	14.44	14.29
7731	0.95	222.9	2845	1011	1982	1782	72.3	10.9	830	7738	0.00	2.60	0.00	0.000	1030	0.000	0.135	2845	2436	1882	1982	1782	0	0	0	0	0	0	28.83	14.45	28.83
8050	0.96	231.2	2845	2436	1982	1781	41.9	9.1	891	8063	0.00	2.65	4.22	0.324	8452	0.000	0.156	2845	3836	1849	1949	1749	0	0	0	0	0	0	28.83	14.47	14.40
8155	0.96	231.2	2845	3836	1946	1749	31.2	10.8	910	8161	0.00	2.45	0.00	0.000	1030	0.000	0.106	2856	2428	1847	1946	1749	0	0	0	0	0	0	28.83	14.51	28.83
8473	0.97	242.3	2856	2428	1946	1749	6.8	9.0	971	8486	0.00	2.65	5.50	0.211	8452	0.000	0.157	2856	3850	1805	1902	1708	0	0	0	0	0	0	28.83	14.50	14.49
8512	end climb: SURFACE_DEPTH_REACHED
state	8512	begin surface coast
8523	end surface coast: CONTROL_FINISHED_OK
state	8523	begin surface