Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 45 * 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 45 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 17 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 -1139.5527 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 -1139.5527

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 17 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 45 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 230913,000306,6625.424,-5957.261,43,1.1,43,-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 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

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

GPS2 230913,001052,6625.330,-5957.217,4,1.1,5,-33.5 MHEAD_RNG_PITCHd_Wd 96.5,153422,-15.5,-9.429,-18.74,2659

SPEED_LIMITS 0.163,0.278 D_GRID 554

Post-dive calculations and measurements:

FINISH 0.5,1.009046 _24V_AH 12.4,22.603

SM_CCo 8559,87.05,0.180,0,0,958,450.13 _10V_AH 12.6,0.000

SM_GC 1.61,8.18,0.08,87.05,0.116,0.230,0.180,143,2450,958,-7.43,-0.51,450.13,0,0,0,0,0,0,14.50,14.49,14.38 FG_AHR_24Vo 0.000

RAFOS_CLK 410 FG_AHR_10Vo 0.000

RAFOS 2,1379895421,0.300000,0.283611,74,66,65,52,49,48,568,217,195,121,175,230 MEM 150776

RAFOS_FIX 6626.073730,-5954.062988,230913,000024,5,93,1.85 DATA_FILE_SIZE 43487,981

IRIDIUM_FIX 6558.99,-5954.66,220913,212141 CAP_FILE_SIZE 104266,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,248037376

HUMID 44.68 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

INTERNAL_PRESSURE 8.64484 SOUNDSPEED 1454.7

TCM_TEMP 12.30 GPS 230913,023735,6626.465,-5955.430,37,1.2,37,-33.5

XPDR_PINGS 86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 429 111.36 SBE_CT 685 23 197.26

Roll_motor 97 230 277.39 SBE_O2 0 0 0.00

VBD_pump_during_apogee 455 2439 13770.95 nil 0 0 0.00

VBD_pump_during_surface 87 179 194.05 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 312 132 513.37 nil 0 0 0.00

Transponder_ping 21 420 111.97 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.39

TT8 2278 14 429.50

LPSleep 3740 2 108.87

TT8_Active 666 14 119.29

TT8_Sampling 1791 33 760.67

TT8_CF8 655 39 327.71

TT8_Kalman 0 0 0.00

Analog_circuits 1922 12 290.70

GPS_charging 0 0 0.00

Compass 1608 6 136.60

RAFOS 1800 1 34.02

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

19 -0.88 -165.5 122 2440 953 930 0.0 0.0 0 111 0.00 0.00 -89.50 0.000 16386 0.000 0.000 122 2440 2714 2775 2653 0 0 0 0 0 0 28.83 28.83 28.83

118 -0.88 -165.5 121 2440 2775 2655 3.2 -4.8 16 150 10.10 2.60 -15.90 0.000 18948 0.429 0.140 2246 1034 3472 3673 3271 0 0 0 0 0 0 14.19 14.33 14.54

255 -0.88 -165.5 2246 1033 3676 3271 38.6 -22.4 40 262 0.00 2.60 0.00 0.000 1030 0.000 0.134 2239 2448 3472 3675 3270 0 0 0 0 0 0 28.83 14.35 28.83

578 -0.88 -165.5 2239 2448 3676 3271 102.5 -19.4 101 586 0.00 2.50 0.00 0.000 516 0.000 0.119 2239 1035 3473 3676 3271 0 0 0 0 0 0 28.83 14.42 28.83

623 -0.88 -165.5 2240 1035 3676 3271 111.3 -18.9 105 631 0.00 2.58 0.00 0.000 1030 0.000 0.135 2229 2455 3473 3676 3271 0 0 0 0 0 0 28.83 14.42 28.83

933 -0.88 -165.5 2229 2456 3676 3271 171.2 -19.0 136 941 0.00 2.58 0.00 0.000 260 0.000 0.152 2218 3860 3473 3676 3270 0 0 0 0 0 0 28.83 14.47 28.83

988 -0.88 -165.5 2219 3860 3676 3270 182.4 -20.0 141 997 0.10 2.42 0.00 0.000 3078 0.296 0.100 2244 2449 3473 3676 3270 0 0 0 0 0 0 14.41 14.50 28.83

1301 -0.88 -165.5 2244 2449 3676 3270 241.3 -18.2 172 1307 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2449 3473 3676 3270 0 0 0 0 0 0 28.83 28.83 28.83

1616 -0.88 -165.5 2244 2448 3676 3269 296.9 -17.3 203 1622 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2448 3472 3676 3269 0 0 0 0 0 0 28.83 28.83 28.83

1923 -0.88 -165.5 1376 2446 3671 3265 351.2 -17.3 234 1932 0.00 2.47 0.00 0.000 516 0.000 0.121 2244 1037 3472 3676 3268 0 0 0 0 0 0 28.83 14.56 28.83

1970 -0.88 -165.5 1408 1036 3672 3265 358.7 -16.1 238 1977 0.00 2.58 0.00 0.000 1030 0.000 0.135 2236 2458 3472 3676 3268 0 0 0 0 0 0 28.83 14.57 28.83

2279 -0.88 -165.5 2237 2457 3676 3268 409.9 -16.4 269 2287 0.00 2.53 0.00 0.000 260 0.000 0.149 2226 3857 3472 3676 3268 0 0 0 0 0 0 28.83 14.56 28.83

2317 -0.88 -165.5 2226 3857 3675 3268 416.0 -17.1 272 2323 0.00 2.42 0.00 0.000 1030 0.000 0.100 2226 2446 3472 3676 3268 0 0 0 0 0 0 28.83 14.61 28.83

2625 -0.88 -165.5 2226 2446 3676 3268 470.4 -17.3 303 2629 0.00 2.45 0.00 0.000 516 0.000 0.119 2226 1045 3471 3675 3268 0 0 0 0 0 0 28.83 14.59 28.83

2651 -0.88 -165.5 2226 1044 3676 3268 474.9 -17.3 305 2660 0.10 2.50 0.00 0.000 3078 0.285 0.132 2242 2442 3472 3676 3268 0 0 0 0 0 0 14.52 14.58 28.83

2962 -0.88 -165.5 2244 2443 3676 3268 524.2 -15.6 336 2970 0.00 2.58 0.00 0.000 260 0.000 0.151 2234 3872 3472 3676 3268 0 0 0 0 0 0 28.83 14.58 28.83

3019 -0.88 -165.5 1392 3871 3672 3265 533.2 -16.4 341 3026 0.00 2.42 0.00 0.000 1030 0.000 0.099 2234 2451 3472 3676 3268 0 0 0 0 0 0 28.83 14.63 28.83

3141 end dive: TARGET_DEPTH_EXCEEDED

state 3141 begin apogee

3154 -0.22 0.0 2235 2451 3676 3268 555.0 -17.4 354 3343 0.80 0.00 176.85 2.440 10246 0.257 0.000 2457 2451 2794 2920 2669 0 0 0 0 0 0 14.54 28.83 12.80

3343 end apogee: CONTROL_FINISHED_OK

state 3344 begin climb

3350 0.88 165.5 2457 2452 2920 2668 566.5 0.0 373 3570 1.23 2.88 192.55 2.299 10756 0.171 0.124 2823 1017 2119 2205 2033 0 0 0 0 3 0 13.60 13.12 12.38

3668 0.88 165.5 2823 1017 2205 2026 548.9 11.2 405 3677 0.00 2.78 0.00 0.000 1030 0.000 0.131 2823 2437 2115 2205 2025 0 0 0 0 0 0 28.83 13.53 28.83

3979 0.88 165.5 2823 2437 2205 2022 512.2 11.8 436 3988 0.00 2.67 0.00 0.000 260 0.000 0.151 2823 3835 2113 2205 2022 0 0 0 0 0 0 28.83 13.93 28.83

4074 0.88 165.5 2824 3836 2204 2021 499.2 14.0 445 4083 0.00 2.53 0.00 0.000 1030 0.000 0.103 2834 2429 2112 2204 2020 0 0 0 0 0 0 28.83 14.02 28.83

4384 0.88 165.5 2834 2429 2204 2020 458.9 12.5 476 4393 0.00 2.67 0.00 0.000 260 0.000 0.151 2834 3836 2112 2204 2020 0 0 0 0 0 0 28.83 14.16 28.83

4440 0.88 165.5 2834 3836 2204 2019 451.2 14.6 481 4448 0.00 2.47 0.00 0.000 1030 0.000 0.103 2844 2434 2111 2204 2019 0 0 0 0 0 0 28.83 14.21 28.83

4750 0.88 165.5 2844 2435 2204 2018 408.9 13.2 512 4756 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 2434 2111 2204 2018 0 0 0 0 0 0 28.83 28.83 28.83

5067 0.88 165.5 2844 2434 2204 2018 369.9 12.3 543 5075 0.00 2.60 0.00 0.000 260 0.000 0.154 2844 3840 2111 2204 2018 0 0 0 0 0 0 28.83 14.36 28.83

5207 0.88 165.5 2845 3840 2205 2018 349.4 15.0 556 5217 0.12 2.45 0.00 0.000 5126 0.307 0.105 2824 2432 2110 2204 2017 0 0 0 0 0 0 14.33 14.42 28.83

5519 0.88 165.5 2824 2432 2204 2017 312.0 11.1 587 5528 0.00 2.53 0.00 0.000 516 0.000 0.126 2833 1018 2110 2204 2017 0 0 0 0 0 0 28.83 14.45 28.83

5558 0.88 165.5 2833 1018 2204 2016 307.7 11.7 590 5565 0.00 2.58 0.00 0.000 1030 0.000 0.132 2833 2435 2110 2204 2016 0 0 0 0 0 0 28.83 14.47 28.83

5866 0.88 165.5 2833 2436 2204 2016 270.2 11.9 621 5875 0.00 2.58 0.00 0.000 260 0.000 0.151 2833 3842 2110 2204 2016 0 0 0 0 0 0 28.83 14.49 28.83

5945 0.88 165.5 2833 3841 2204 2016 260.1 13.7 628 5952 0.00 2.47 0.00 0.000 1030 0.000 0.103 2844 2422 2110 2204 2016 0 0 0 0 0 0 28.83 14.53 28.83

6253 0.88 165.5 2844 2420 2204 2016 222.8 12.1 659 6262 0.00 2.62 0.00 0.000 260 0.000 0.153 2844 3845 2110 2204 2016 0 0 0 0 0 0 28.83 14.52 28.83

6292 0.88 165.5 2843 3844 2204 2016 218.4 12.6 662 6300 0.15 2.45 0.00 0.000 5126 0.330 0.103 2822 2426 2110 2204 2016 0 0 0 0 0 0 14.47 14.56 28.83

6602 0.88 169.9 2823 2427 2204 2016 185.6 9.3 693 6612 0.00 2.67 3.85 1.465 8452 0.000 0.151 2823 3842 2101 2197 2006 0 0 0 0 0 0 28.83 14.52 13.81

6649 0.88 169.9 2823 3841 2197 2006 180.8 10.4 697 6658 0.00 2.42 0.00 0.000 1030 0.000 0.103 2833 2426 2101 2197 2006 0 0 0 0 0 0 28.83 14.54 28.83

6960 0.93 206.3 2833 2426 2197 2006 153.0 8.0 728 7006 0.00 2.67 38.92 2.084 8452 0.000 0.151 2833 3840 1952 2050 1855 0 0 0 0 0 0 28.83 14.14 13.50

7055 0.93 206.3 2833 3840 2048 1855 143.8 11.6 737 7062 0.00 2.50 0.00 0.000 1030 0.000 0.102 2844 2429 1951 2048 1855 0 0 0 0 0 0 28.83 14.23 28.83

7364 0.93 206.3 2844 2429 2048 1851 108.7 12.2 768 7372 0.00 2.50 0.00 0.000 516 0.000 0.125 2854 1025 1949 2048 1851 0 0 0 0 0 0 28.83 14.36 28.83

7402 0.93 206.3 1872 1025 2004 1846 104.5 12.0 771 7409 0.00 2.58 0.00 0.000 1030 0.000 0.133 2855 2432 1949 2048 1850 0 0 0 0 0 0 28.83 14.38 28.83

7715 0.93 206.3 2854 2431 2048 1850 68.1 9.7 829 7722 0.00 2.60 0.00 0.000 260 0.000 0.154 2855 3840 1949 2048 1850 0 0 0 0 0 0 28.83 14.43 28.83

7893 0.93 206.3 2854 3840 2047 1850 50.0 10.9 862 7900 0.15 2.45 0.00 0.000 5126 0.331 0.102 2834 2427 1948 2046 1850 0 0 0 0 0 0 14.40 14.50 28.83

8212 1.01 275.6 2834 2427 2046 1850 26.3 6.7 923 8259 0.00 2.70 36.90 0.256 8452 0.000 0.151 2833 3846 1669 1759 1579 0 0 0 0 0 0 28.83 14.44 14.40

8360 1.03 287.9 1824 3845 1714 1574 15.2 9.0 949 8373 0.00 2.47 6.15 0.233 9222 0.000 0.103 2843 2423 1618 1702 1534 0 0 0 0 0 0 28.83 14.48 14.42

8499 end climb: SURFACE_DEPTH_REACHED

state 8499 begin surface coast

8529 end surface coast: CONTROL_FINISHED_OK

state 8530 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	45	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	17	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	-1139.5527	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	230913,000306,6625.424,-5957.261,43,1.1,43,-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	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230913,001052,6625.330,-5957.217,4,1.1,5,-33.5	MHEAD_RNG_PITCHd_Wd	96.5,153422,-15.5,-9.429,-18.74,2659
SPEED_LIMITS	0.163,0.278	D_GRID	554

FINISH	0.5,1.009046	_24V_AH	12.4,22.603
SM_CCo	8559,87.05,0.180,0,0,958,450.13	_10V_AH	12.6,0.000
SM_GC	1.61,8.18,0.08,87.05,0.116,0.230,0.180,143,2450,958,-7.43,-0.51,450.13,0,0,0,0,0,0,14.50,14.49,14.38	FG_AHR_24Vo	0.000
RAFOS_CLK	410	FG_AHR_10Vo	0.000
RAFOS	2,1379895421,0.300000,0.283611,74,66,65,52,49,48,568,217,195,121,175,230	MEM	150776
RAFOS_FIX	6626.073730,-5954.062988,230913,000024,5,93,1.85	DATA_FILE_SIZE	43487,981
IRIDIUM_FIX	6558.99,-5954.66,220913,212141	CAP_FILE_SIZE	104266,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,248037376
HUMID	44.68	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
INTERNAL_PRESSURE	8.64484	SOUNDSPEED	1454.7
TCM_TEMP	12.30	GPS	230913,023735,6626.465,-5955.430,37,1.2,37,-33.5
XPDR_PINGS	86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	429	111.36	SBE_CT	685	23	197.26
Roll_motor	97	230	277.39	SBE_O2	0	0	0.00
VBD_pump_during_apogee	455	2439	13770.95	nil	0	0	0.00
VBD_pump_during_surface	87	179	194.05	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	312	132	513.37	nil	0	0	0.00
Transponder_ping	21	420	111.97	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.39
TT8	2278	14	429.50
LPSleep	3740	2	108.87
TT8_Active	666	14	119.29
TT8_Sampling	1791	33	760.67
TT8_CF8	655	39	327.71
TT8_Kalman	0	0	0.00
Analog_circuits	1922	12	290.70
GPS_charging	0	0	0.00
Compass	1608	6	136.60
RAFOS	1800	1	34.02
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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
19	-0.88	-165.5	122	2440	953	930	0.0	0.0	0	111	0.00	0.00	-89.50	0.000	16386	0.000	0.000	122	2440	2714	2775	2653	0	0	0	0	0	0	28.83	28.83	28.83
118	-0.88	-165.5	121	2440	2775	2655	3.2	-4.8	16	150	10.10	2.60	-15.90	0.000	18948	0.429	0.140	2246	1034	3472	3673	3271	0	0	0	0	0	0	14.19	14.33	14.54
255	-0.88	-165.5	2246	1033	3676	3271	38.6	-22.4	40	262	0.00	2.60	0.00	0.000	1030	0.000	0.134	2239	2448	3472	3675	3270	0	0	0	0	0	0	28.83	14.35	28.83
578	-0.88	-165.5	2239	2448	3676	3271	102.5	-19.4	101	586	0.00	2.50	0.00	0.000	516	0.000	0.119	2239	1035	3473	3676	3271	0	0	0	0	0	0	28.83	14.42	28.83
623	-0.88	-165.5	2240	1035	3676	3271	111.3	-18.9	105	631	0.00	2.58	0.00	0.000	1030	0.000	0.135	2229	2455	3473	3676	3271	0	0	0	0	0	0	28.83	14.42	28.83
933	-0.88	-165.5	2229	2456	3676	3271	171.2	-19.0	136	941	0.00	2.58	0.00	0.000	260	0.000	0.152	2218	3860	3473	3676	3270	0	0	0	0	0	0	28.83	14.47	28.83
988	-0.88	-165.5	2219	3860	3676	3270	182.4	-20.0	141	997	0.10	2.42	0.00	0.000	3078	0.296	0.100	2244	2449	3473	3676	3270	0	0	0	0	0	0	14.41	14.50	28.83
1301	-0.88	-165.5	2244	2449	3676	3270	241.3	-18.2	172	1307	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2449	3473	3676	3270	0	0	0	0	0	0	28.83	28.83	28.83
1616	-0.88	-165.5	2244	2448	3676	3269	296.9	-17.3	203	1622	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2448	3472	3676	3269	0	0	0	0	0	0	28.83	28.83	28.83
1923	-0.88	-165.5	1376	2446	3671	3265	351.2	-17.3	234	1932	0.00	2.47	0.00	0.000	516	0.000	0.121	2244	1037	3472	3676	3268	0	0	0	0	0	0	28.83	14.56	28.83
1970	-0.88	-165.5	1408	1036	3672	3265	358.7	-16.1	238	1977	0.00	2.58	0.00	0.000	1030	0.000	0.135	2236	2458	3472	3676	3268	0	0	0	0	0	0	28.83	14.57	28.83
2279	-0.88	-165.5	2237	2457	3676	3268	409.9	-16.4	269	2287	0.00	2.53	0.00	0.000	260	0.000	0.149	2226	3857	3472	3676	3268	0	0	0	0	0	0	28.83	14.56	28.83
2317	-0.88	-165.5	2226	3857	3675	3268	416.0	-17.1	272	2323	0.00	2.42	0.00	0.000	1030	0.000	0.100	2226	2446	3472	3676	3268	0	0	0	0	0	0	28.83	14.61	28.83
2625	-0.88	-165.5	2226	2446	3676	3268	470.4	-17.3	303	2629	0.00	2.45	0.00	0.000	516	0.000	0.119	2226	1045	3471	3675	3268	0	0	0	0	0	0	28.83	14.59	28.83
2651	-0.88	-165.5	2226	1044	3676	3268	474.9	-17.3	305	2660	0.10	2.50	0.00	0.000	3078	0.285	0.132	2242	2442	3472	3676	3268	0	0	0	0	0	0	14.52	14.58	28.83
2962	-0.88	-165.5	2244	2443	3676	3268	524.2	-15.6	336	2970	0.00	2.58	0.00	0.000	260	0.000	0.151	2234	3872	3472	3676	3268	0	0	0	0	0	0	28.83	14.58	28.83
3019	-0.88	-165.5	1392	3871	3672	3265	533.2	-16.4	341	3026	0.00	2.42	0.00	0.000	1030	0.000	0.099	2234	2451	3472	3676	3268	0	0	0	0	0	0	28.83	14.63	28.83
3141	end dive: TARGET_DEPTH_EXCEEDED
state	3141	begin apogee
3154	-0.22	0.0	2235	2451	3676	3268	555.0	-17.4	354	3343	0.80	0.00	176.85	2.440	10246	0.257	0.000	2457	2451	2794	2920	2669	0	0	0	0	0	0	14.54	28.83	12.80
3343	end apogee: CONTROL_FINISHED_OK
state	3344	begin climb
3350	0.88	165.5	2457	2452	2920	2668	566.5	0.0	373	3570	1.23	2.88	192.55	2.299	10756	0.171	0.124	2823	1017	2119	2205	2033	0	0	0	0	3	0	13.60	13.12	12.38
3668	0.88	165.5	2823	1017	2205	2026	548.9	11.2	405	3677	0.00	2.78	0.00	0.000	1030	0.000	0.131	2823	2437	2115	2205	2025	0	0	0	0	0	0	28.83	13.53	28.83
3979	0.88	165.5	2823	2437	2205	2022	512.2	11.8	436	3988	0.00	2.67	0.00	0.000	260	0.000	0.151	2823	3835	2113	2205	2022	0	0	0	0	0	0	28.83	13.93	28.83
4074	0.88	165.5	2824	3836	2204	2021	499.2	14.0	445	4083	0.00	2.53	0.00	0.000	1030	0.000	0.103	2834	2429	2112	2204	2020	0	0	0	0	0	0	28.83	14.02	28.83
4384	0.88	165.5	2834	2429	2204	2020	458.9	12.5	476	4393	0.00	2.67	0.00	0.000	260	0.000	0.151	2834	3836	2112	2204	2020	0	0	0	0	0	0	28.83	14.16	28.83
4440	0.88	165.5	2834	3836	2204	2019	451.2	14.6	481	4448	0.00	2.47	0.00	0.000	1030	0.000	0.103	2844	2434	2111	2204	2019	0	0	0	0	0	0	28.83	14.21	28.83
4750	0.88	165.5	2844	2435	2204	2018	408.9	13.2	512	4756	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	2434	2111	2204	2018	0	0	0	0	0	0	28.83	28.83	28.83
5067	0.88	165.5	2844	2434	2204	2018	369.9	12.3	543	5075	0.00	2.60	0.00	0.000	260	0.000	0.154	2844	3840	2111	2204	2018	0	0	0	0	0	0	28.83	14.36	28.83
5207	0.88	165.5	2845	3840	2205	2018	349.4	15.0	556	5217	0.12	2.45	0.00	0.000	5126	0.307	0.105	2824	2432	2110	2204	2017	0	0	0	0	0	0	14.33	14.42	28.83
5519	0.88	165.5	2824	2432	2204	2017	312.0	11.1	587	5528	0.00	2.53	0.00	0.000	516	0.000	0.126	2833	1018	2110	2204	2017	0	0	0	0	0	0	28.83	14.45	28.83
5558	0.88	165.5	2833	1018	2204	2016	307.7	11.7	590	5565	0.00	2.58	0.00	0.000	1030	0.000	0.132	2833	2435	2110	2204	2016	0	0	0	0	0	0	28.83	14.47	28.83
5866	0.88	165.5	2833	2436	2204	2016	270.2	11.9	621	5875	0.00	2.58	0.00	0.000	260	0.000	0.151	2833	3842	2110	2204	2016	0	0	0	0	0	0	28.83	14.49	28.83
5945	0.88	165.5	2833	3841	2204	2016	260.1	13.7	628	5952	0.00	2.47	0.00	0.000	1030	0.000	0.103	2844	2422	2110	2204	2016	0	0	0	0	0	0	28.83	14.53	28.83
6253	0.88	165.5	2844	2420	2204	2016	222.8	12.1	659	6262	0.00	2.62	0.00	0.000	260	0.000	0.153	2844	3845	2110	2204	2016	0	0	0	0	0	0	28.83	14.52	28.83
6292	0.88	165.5	2843	3844	2204	2016	218.4	12.6	662	6300	0.15	2.45	0.00	0.000	5126	0.330	0.103	2822	2426	2110	2204	2016	0	0	0	0	0	0	14.47	14.56	28.83
6602	0.88	169.9	2823	2427	2204	2016	185.6	9.3	693	6612	0.00	2.67	3.85	1.465	8452	0.000	0.151	2823	3842	2101	2197	2006	0	0	0	0	0	0	28.83	14.52	13.81
6649	0.88	169.9	2823	3841	2197	2006	180.8	10.4	697	6658	0.00	2.42	0.00	0.000	1030	0.000	0.103	2833	2426	2101	2197	2006	0	0	0	0	0	0	28.83	14.54	28.83
6960	0.93	206.3	2833	2426	2197	2006	153.0	8.0	728	7006	0.00	2.67	38.92	2.084	8452	0.000	0.151	2833	3840	1952	2050	1855	0	0	0	0	0	0	28.83	14.14	13.50
7055	0.93	206.3	2833	3840	2048	1855	143.8	11.6	737	7062	0.00	2.50	0.00	0.000	1030	0.000	0.102	2844	2429	1951	2048	1855	0	0	0	0	0	0	28.83	14.23	28.83
7364	0.93	206.3	2844	2429	2048	1851	108.7	12.2	768	7372	0.00	2.50	0.00	0.000	516	0.000	0.125	2854	1025	1949	2048	1851	0	0	0	0	0	0	28.83	14.36	28.83
7402	0.93	206.3	1872	1025	2004	1846	104.5	12.0	771	7409	0.00	2.58	0.00	0.000	1030	0.000	0.133	2855	2432	1949	2048	1850	0	0	0	0	0	0	28.83	14.38	28.83
7715	0.93	206.3	2854	2431	2048	1850	68.1	9.7	829	7722	0.00	2.60	0.00	0.000	260	0.000	0.154	2855	3840	1949	2048	1850	0	0	0	0	0	0	28.83	14.43	28.83
7893	0.93	206.3	2854	3840	2047	1850	50.0	10.9	862	7900	0.15	2.45	0.00	0.000	5126	0.331	0.102	2834	2427	1948	2046	1850	0	0	0	0	0	0	14.40	14.50	28.83
8212	1.01	275.6	2834	2427	2046	1850	26.3	6.7	923	8259	0.00	2.70	36.90	0.256	8452	0.000	0.151	2833	3846	1669	1759	1579	0	0	0	0	0	0	28.83	14.44	14.40
8360	1.03	287.9	1824	3845	1714	1574	15.2	9.0	949	8373	0.00	2.47	6.15	0.233	9222	0.000	0.103	2843	2423	1618	1702	1534	0	0	0	0	0	0	28.83	14.48	14.42
8499	end climb: SURFACE_DEPTH_REACHED
state	8499	begin surface coast
8529	end surface coast: CONTROL_FINISHED_OK
state	8530	begin surface