Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 46 * 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 46 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 21 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 450 R_STBD_OVSHOOT 15 XPDR_VALID 6

D_BOOST 110 N_FILEKB 8 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2794 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 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 -1140.8052 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 -1140.8052

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 21 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 15 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 0 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 46 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 230913,023735,6626.465,-5955.430,37,1.2,37,-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 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230913,024538,6626.445,-5955.546,4,1.1,4,-33.5 MHEAD_RNG_PITCHd_Wd 96.9,151414,-15.5,-9.429,-18.74,2659

SPEED_LIMITS 0.163,0.278 D_GRID 583

Post-dive calculations and measurements:

FINISH 1.6,1.024974 _24V_AH 12.4,22.952

SM_CCo 9104,90.30,0.181,0,0,957,450.13 _10V_AH 12.4,0.000

SM_GC 1.50,8.15,2.67,90.30,0.109,0.131,0.181,140,2452,957,-7.44,-0.51,450.13,0,0,0,0,0,0,14.50,14.49,14.38 FG_AHR_24Vo 0.000

RAFOS_CLK 437 FG_AHR_10Vo 0.000

RAFOS 0,1379908865,4.033333,4.018055,60,58,57,57,54,53,186,172,221,682,205,151 MEM 150764

RAFOS_FIX 6628.092285,-5952.236816,230913,040455,5,105,0.60 DATA_FILE_SIZE 43369,1033

IRIDIUM_FIX 6553.70,-5954.66,230913,000046 CAP_FILE_SIZE 109878,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,247975936

HUMID 44.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0

INTERNAL_PRESSURE 8.64484 SOUNDSPEED 1455.2

TCM_TEMP 12.30 GPS 230913,052135,6627.689,-5953.357,38,0.8,38,-33.5

XPDR_PINGS 86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 431 112.08 SBE_CT 721 23 207.67

Roll_motor 107 154 205.32 SBE_O2 0 0 0.00

VBD_pump_during_apogee 451 2438 13657.25 nil 0 0 0.00

VBD_pump_during_surface 90 181 203.01 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 330 133 545.39 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 1.36

TT8 2393 14 444.04

LPSleep 4049 2 116.00

TT8_Active 698 14 123.03

TT8_Sampling 1896 33 792.46

TT8_CF8 662 39 326.16

TT8_Kalman 0 0 0.00

Analog_circuits 2015 12 299.91

GPS_charging 0 0 0.00

Compass 1696 6 141.75

RAFOS 2520 1 46.87

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

20 -0.88 -165.5 125 2451 955 927 0.0 0.0 0 111 0.00 0.00 -89.00 0.000 16386 0.000 0.000 123 2451 2714 2777 2652 0 0 0 0 0 0 28.83 28.83 28.83

119 -0.88 -165.5 123 2451 2777 2652 3.2 -4.7 16 156 10.12 2.60 -15.98 0.000 18948 0.431 0.138 2243 1041 3473 3676 3271 0 0 0 0 0 0 14.19 14.31 14.54

251 -0.88 -165.5 2243 1040 3676 3271 36.3 -19.9 39 258 0.00 2.60 0.00 0.000 1030 0.000 0.134 2235 2456 3474 3677 3271 0 0 0 0 0 0 28.83 14.34 28.83

574 -0.88 -165.5 2235 2455 3676 3271 104.5 -20.9 99 583 0.00 2.58 0.00 0.000 260 0.000 0.151 2225 3859 3474 3677 3271 0 0 0 0 0 0 28.83 14.40 28.83

603 -0.88 -165.5 2225 3859 3677 3271 109.8 -21.4 101 609 0.00 2.45 0.00 0.000 1030 0.000 0.099 2225 2447 3474 3677 3271 0 0 0 0 0 0 28.83 14.45 28.83

916 -0.88 -165.5 2225 2446 3676 3271 174.2 -19.4 132 925 0.00 2.47 0.00 0.000 516 0.000 0.120 2225 1037 3474 3677 3271 0 0 0 0 0 0 28.83 14.48 28.83

964 -0.88 -165.5 2225 1037 3676 3271 184.1 -19.5 136 972 0.15 2.58 0.00 0.000 3078 0.319 0.135 2246 2450 3474 3677 3271 0 0 0 0 0 0 14.42 14.49 28.83

1274 -0.88 -165.5 2247 2450 3677 3271 237.1 -16.3 167 1283 0.00 2.58 0.00 0.000 260 0.000 0.155 2237 3856 3473 3676 3270 0 0 0 0 0 0 28.83 14.51 28.83

1302 -0.88 -165.5 2238 3856 3676 3270 241.6 -16.6 169 1309 0.00 2.42 0.00 0.000 1030 0.000 0.099 2238 2448 3473 3676 3270 0 0 0 0 0 0 28.83 14.56 28.83

1611 -0.88 -165.5 2238 2447 3676 3270 295.7 -17.2 200 1620 0.00 2.58 0.00 0.000 260 0.000 0.151 2227 3859 3472 3676 3269 0 0 0 0 0 0 28.83 14.53 28.83

1636 -0.88 -165.5 2227 3859 3676 3269 300.1 -17.3 202 1645 0.00 2.40 0.00 0.000 1030 0.000 0.099 2228 2451 3472 3676 3269 0 0 0 0 0 0 28.83 14.57 28.83

1947 -0.88 -165.5 2227 2451 3677 3269 355.4 -17.7 233 1956 0.00 2.47 0.00 0.000 516 0.000 0.120 2227 1039 3472 3676 3269 0 0 0 0 0 0 28.83 14.58 28.83

2012 -0.88 -165.5 2228 1039 3676 3268 366.9 -17.0 239 2022 0.10 2.53 0.00 0.000 3078 0.294 0.133 2244 2449 3472 3676 3268 0 0 0 0 0 0 14.50 14.56 28.83

2323 -0.88 -165.5 2244 2449 3676 3268 414.4 -15.0 270 2332 0.00 2.58 0.00 0.000 260 0.000 0.152 2235 3863 3472 3676 3268 0 0 0 0 0 0 28.83 14.57 28.83

2412 -0.88 -165.5 2236 3863 3677 3268 427.7 -15.1 278 2419 0.00 2.42 0.00 0.000 1030 0.000 0.099 2236 2445 3472 3676 3268 0 0 0 0 0 0 28.83 14.62 28.83

2720 -0.88 -165.5 2236 2446 3676 3268 476.3 -16.1 309 2726 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 2445 3472 3677 3268 0 0 0 0 0 0 28.83 28.83 28.83

3036 -0.88 -165.5 2236 2445 3676 3268 525.2 -15.3 340 3045 0.00 2.58 0.00 0.000 260 0.000 0.151 2226 3863 3472 3676 3268 0 0 0 0 0 0 28.83 14.59 28.83

3084 -0.88 -165.5 2226 3863 3676 3268 533.4 -16.1 344 3091 0.00 2.42 0.00 0.000 1030 0.000 0.099 2226 2443 3472 3677 3268 0 0 0 0 0 0 28.83 14.64 28.83

3376 end dive: TARGET_DEPTH_EXCEEDED

state 3376 begin apogee

3389 -0.22 0.0 2226 2442 3677 3268 583.0 -17.0 374 3584 0.82 0.00 176.80 2.438 10246 0.263 0.000 2453 2443 2794 2919 2669 0 0 0 0 1 0 14.56 28.83 12.78

3585 end apogee: CONTROL_FINISHED_OK

state 3585 begin climb

3592 0.88 165.5 2453 2442 2919 2669 592.8 0.0 394 3822 1.23 2.88 194.62 2.298 10756 0.171 0.122 2819 1028 2119 2205 2033 0 0 0 0 5 0 13.62 13.10 12.36

3857 0.88 165.5 2819 1028 2205 2030 579.0 12.0 421 3864 0.00 2.80 0.00 0.000 1030 0.000 0.131 2819 2430 2117 2205 2030 0 0 0 0 0 0 28.83 13.33 28.83

4165 0.88 165.5 2820 2430 2205 2023 537.9 13.3 452 4174 0.00 2.72 0.00 0.000 260 0.000 0.153 2819 3845 2114 2205 2023 0 0 0 0 0 0 28.83 13.87 28.83

4231 0.88 165.5 2820 3844 2204 2022 528.4 14.8 458 4240 0.00 2.53 0.00 0.000 1030 0.000 0.103 2830 2439 2113 2204 2022 0 0 0 0 0 0 28.83 13.95 28.83

4542 0.88 165.5 2830 2438 2204 2020 487.3 13.4 489 4550 0.00 2.65 0.00 0.000 260 0.000 0.152 2830 3844 2112 2204 2021 0 0 0 0 0 0 28.83 14.12 28.83

4599 0.88 165.5 1856 3844 2159 2015 479.5 14.8 494 4606 0.00 2.53 0.00 0.000 1030 0.000 0.103 2840 2427 2112 2204 2020 0 0 0 0 0 0 28.83 14.19 28.83

4909 0.88 165.5 2841 2426 2204 2019 438.2 12.7 525 4917 0.00 2.62 0.00 0.000 260 0.000 0.150 2841 3834 2111 2204 2019 0 0 0 0 0 0 28.83 14.26 28.83

4994 0.88 165.5 2841 3834 2204 2019 425.8 15.0 533 5003 0.10 2.45 0.00 0.000 5126 0.314 0.103 2826 2433 2111 2204 2019 0 0 0 0 0 0 14.23 14.31 28.83

5305 0.88 165.5 2826 2433 2204 2018 386.8 12.3 564 5310 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2433 2111 2204 2018 0 0 0 0 0 0 28.83 28.83 28.83

5614 0.88 165.5 1824 2430 2158 2013 349.4 11.5 595 5622 0.00 2.60 0.00 0.000 260 0.000 0.152 2826 3839 2111 2204 2018 0 0 0 0 0 0 28.83 14.42 28.83

5679 0.88 165.5 2826 3838 2204 2018 340.7 14.0 601 5688 0.00 2.45 0.00 0.000 1030 0.000 0.103 2836 2432 2111 2204 2018 0 0 0 0 0 0 28.83 14.45 28.83

5990 0.88 165.5 2836 2432 2204 2017 303.5 11.5 632 5999 0.00 2.60 0.00 0.000 260 0.000 0.150 2836 3845 2110 2204 2017 0 0 0 0 0 0 28.83 14.47 28.83

6078 0.88 165.5 2836 3844 2204 2017 292.9 12.8 640 6085 0.00 2.47 0.00 0.000 1030 0.000 0.104 2847 2421 2110 2204 2017 0 0 0 0 0 0 28.83 14.52 28.83

6386 0.88 165.5 2847 2421 2204 2017 258.1 11.1 671 6395 0.00 2.60 0.00 0.000 260 0.000 0.154 2847 3836 2110 2204 2017 0 0 0 0 0 0 28.83 14.50 28.83

6492 0.88 165.5 2847 3836 2203 2017 244.8 13.0 681 6501 0.12 2.42 0.00 0.000 5126 0.298 0.104 2825 2425 2110 2204 2017 0 0 0 0 0 0 14.45 14.54 28.83

6803 0.88 165.5 2824 2424 2204 2017 214.1 9.5 712 6812 0.00 2.62 0.00 0.000 260 0.000 0.152 2824 3847 2110 2204 2017 0 0 0 0 0 0 28.83 14.52 28.83

6852 0.88 165.5 2824 3847 2204 2017 209.2 11.0 716 6859 0.00 2.45 0.00 0.000 1030 0.000 0.103 2834 2427 2110 2204 2017 0 0 0 0 0 0 28.83 14.58 28.83

7160 0.88 165.5 2834 2427 2204 2016 178.7 9.9 747 7168 0.00 2.58 0.00 0.000 260 0.000 0.151 2834 3837 2110 2204 2017 0 0 0 0 0 0 28.83 14.55 28.83

7265 0.88 165.5 2834 3837 2204 2016 167.9 10.4 757 7274 0.00 2.42 0.00 0.000 1030 0.000 0.103 2845 2424 2110 2204 2016 0 0 0 0 0 0 28.83 14.58 28.83

7575 0.89 173.3 2845 2424 2204 2016 140.1 9.1 788 7592 0.00 2.50 7.30 1.821 8708 0.000 0.126 2856 1023 2087 2183 1992 0 0 0 0 0 0 28.83 14.51 13.83

7652 0.92 198.4 2856 1023 2183 1991 133.8 8.5 795 7685 0.00 2.55 27.27 2.026 9222 0.000 0.132 2856 2431 1984 2082 1886 0 0 0 0 0 0 28.83 14.52 13.60

7989 0.92 198.4 2856 2431 2082 1883 99.3 10.6 829 7996 0.00 2.62 0.00 0.000 260 0.000 0.155 2856 3849 1982 2081 1884 0 0 0 0 0 0 28.83 14.38 28.83

8226 0.92 198.4 2856 3848 2080 1883 72.7 11.0 874 8234 0.15 2.47 0.00 0.000 5126 0.325 0.103 2834 2428 1982 2080 1884 0 0 0 0 0 0 14.38 14.47 28.83

8546 1.01 269.6 2835 2428 2080 1883 48.7 6.7 935 8593 0.00 2.65 39.30 0.328 8452 0.000 0.152 2835 3850 1694 1784 1604 0 0 0 0 0 0 28.83 14.40 14.32

8644 1.01 269.6 2835 3850 1777 1604 39.4 11.3 952 8651 0.00 2.50 0.00 0.000 1030 0.000 0.105 2844 2422 1690 1776 1604 0 0 0 0 0 0 28.83 14.45 28.83

8963 1.02 283.1 2844 2421 1772 1598 12.0 8.9 1013 8976 0.00 2.53 6.45 0.225 8708 0.000 0.124 2855 1011 1637 1721 1553 0 0 0 0 0 0 28.83 14.47 14.43

9062 end climb: SURFACE_DEPTH_REACHED

state 9062 begin surface coast

9073 end surface coast: CONTROL_FINISHED_OK

state 9073 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	46	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	21	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	450	R_STBD_OVSHOOT	15	XPDR_VALID	6
D_BOOST	110	N_FILEKB	8	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2794	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	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	-1140.8052	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	230913,023735,6626.465,-5955.430,37,1.2,37,-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	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230913,024538,6626.445,-5955.546,4,1.1,4,-33.5	MHEAD_RNG_PITCHd_Wd	96.9,151414,-15.5,-9.429,-18.74,2659
SPEED_LIMITS	0.163,0.278	D_GRID	583

FINISH	1.6,1.024974	_24V_AH	12.4,22.952
SM_CCo	9104,90.30,0.181,0,0,957,450.13	_10V_AH	12.4,0.000
SM_GC	1.50,8.15,2.67,90.30,0.109,0.131,0.181,140,2452,957,-7.44,-0.51,450.13,0,0,0,0,0,0,14.50,14.49,14.38	FG_AHR_24Vo	0.000
RAFOS_CLK	437	FG_AHR_10Vo	0.000
RAFOS	0,1379908865,4.033333,4.018055,60,58,57,57,54,53,186,172,221,682,205,151	MEM	150764
RAFOS_FIX	6628.092285,-5952.236816,230913,040455,5,105,0.60	DATA_FILE_SIZE	43369,1033
IRIDIUM_FIX	6553.70,-5954.66,230913,000046	CAP_FILE_SIZE	109878,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,247975936
HUMID	44.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
INTERNAL_PRESSURE	8.64484	SOUNDSPEED	1455.2
TCM_TEMP	12.30	GPS	230913,052135,6627.689,-5953.357,38,0.8,38,-33.5
XPDR_PINGS	86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	431	112.08	SBE_CT	721	23	207.67
Roll_motor	107	154	205.32	SBE_O2	0	0	0.00
VBD_pump_during_apogee	451	2438	13657.25	nil	0	0	0.00
VBD_pump_during_surface	90	181	203.01	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	330	133	545.39	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	1.36
TT8	2393	14	444.04
LPSleep	4049	2	116.00
TT8_Active	698	14	123.03
TT8_Sampling	1896	33	792.46
TT8_CF8	662	39	326.16
TT8_Kalman	0	0	0.00
Analog_circuits	2015	12	299.91
GPS_charging	0	0	0.00
Compass	1696	6	141.75
RAFOS	2520	1	46.87
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
20	-0.88	-165.5	125	2451	955	927	0.0	0.0	0	111	0.00	0.00	-89.00	0.000	16386	0.000	0.000	123	2451	2714	2777	2652	0	0	0	0	0	0	28.83	28.83	28.83
119	-0.88	-165.5	123	2451	2777	2652	3.2	-4.7	16	156	10.12	2.60	-15.98	0.000	18948	0.431	0.138	2243	1041	3473	3676	3271	0	0	0	0	0	0	14.19	14.31	14.54
251	-0.88	-165.5	2243	1040	3676	3271	36.3	-19.9	39	258	0.00	2.60	0.00	0.000	1030	0.000	0.134	2235	2456	3474	3677	3271	0	0	0	0	0	0	28.83	14.34	28.83
574	-0.88	-165.5	2235	2455	3676	3271	104.5	-20.9	99	583	0.00	2.58	0.00	0.000	260	0.000	0.151	2225	3859	3474	3677	3271	0	0	0	0	0	0	28.83	14.40	28.83
603	-0.88	-165.5	2225	3859	3677	3271	109.8	-21.4	101	609	0.00	2.45	0.00	0.000	1030	0.000	0.099	2225	2447	3474	3677	3271	0	0	0	0	0	0	28.83	14.45	28.83
916	-0.88	-165.5	2225	2446	3676	3271	174.2	-19.4	132	925	0.00	2.47	0.00	0.000	516	0.000	0.120	2225	1037	3474	3677	3271	0	0	0	0	0	0	28.83	14.48	28.83
964	-0.88	-165.5	2225	1037	3676	3271	184.1	-19.5	136	972	0.15	2.58	0.00	0.000	3078	0.319	0.135	2246	2450	3474	3677	3271	0	0	0	0	0	0	14.42	14.49	28.83
1274	-0.88	-165.5	2247	2450	3677	3271	237.1	-16.3	167	1283	0.00	2.58	0.00	0.000	260	0.000	0.155	2237	3856	3473	3676	3270	0	0	0	0	0	0	28.83	14.51	28.83
1302	-0.88	-165.5	2238	3856	3676	3270	241.6	-16.6	169	1309	0.00	2.42	0.00	0.000	1030	0.000	0.099	2238	2448	3473	3676	3270	0	0	0	0	0	0	28.83	14.56	28.83
1611	-0.88	-165.5	2238	2447	3676	3270	295.7	-17.2	200	1620	0.00	2.58	0.00	0.000	260	0.000	0.151	2227	3859	3472	3676	3269	0	0	0	0	0	0	28.83	14.53	28.83
1636	-0.88	-165.5	2227	3859	3676	3269	300.1	-17.3	202	1645	0.00	2.40	0.00	0.000	1030	0.000	0.099	2228	2451	3472	3676	3269	0	0	0	0	0	0	28.83	14.57	28.83
1947	-0.88	-165.5	2227	2451	3677	3269	355.4	-17.7	233	1956	0.00	2.47	0.00	0.000	516	0.000	0.120	2227	1039	3472	3676	3269	0	0	0	0	0	0	28.83	14.58	28.83
2012	-0.88	-165.5	2228	1039	3676	3268	366.9	-17.0	239	2022	0.10	2.53	0.00	0.000	3078	0.294	0.133	2244	2449	3472	3676	3268	0	0	0	0	0	0	14.50	14.56	28.83
2323	-0.88	-165.5	2244	2449	3676	3268	414.4	-15.0	270	2332	0.00	2.58	0.00	0.000	260	0.000	0.152	2235	3863	3472	3676	3268	0	0	0	0	0	0	28.83	14.57	28.83
2412	-0.88	-165.5	2236	3863	3677	3268	427.7	-15.1	278	2419	0.00	2.42	0.00	0.000	1030	0.000	0.099	2236	2445	3472	3676	3268	0	0	0	0	0	0	28.83	14.62	28.83
2720	-0.88	-165.5	2236	2446	3676	3268	476.3	-16.1	309	2726	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	2445	3472	3677	3268	0	0	0	0	0	0	28.83	28.83	28.83
3036	-0.88	-165.5	2236	2445	3676	3268	525.2	-15.3	340	3045	0.00	2.58	0.00	0.000	260	0.000	0.151	2226	3863	3472	3676	3268	0	0	0	0	0	0	28.83	14.59	28.83
3084	-0.88	-165.5	2226	3863	3676	3268	533.4	-16.1	344	3091	0.00	2.42	0.00	0.000	1030	0.000	0.099	2226	2443	3472	3677	3268	0	0	0	0	0	0	28.83	14.64	28.83
3376	end dive: TARGET_DEPTH_EXCEEDED
state	3376	begin apogee
3389	-0.22	0.0	2226	2442	3677	3268	583.0	-17.0	374	3584	0.82	0.00	176.80	2.438	10246	0.263	0.000	2453	2443	2794	2919	2669	0	0	0	0	1	0	14.56	28.83	12.78
3585	end apogee: CONTROL_FINISHED_OK
state	3585	begin climb
3592	0.88	165.5	2453	2442	2919	2669	592.8	0.0	394	3822	1.23	2.88	194.62	2.298	10756	0.171	0.122	2819	1028	2119	2205	2033	0	0	0	0	5	0	13.62	13.10	12.36
3857	0.88	165.5	2819	1028	2205	2030	579.0	12.0	421	3864	0.00	2.80	0.00	0.000	1030	0.000	0.131	2819	2430	2117	2205	2030	0	0	0	0	0	0	28.83	13.33	28.83
4165	0.88	165.5	2820	2430	2205	2023	537.9	13.3	452	4174	0.00	2.72	0.00	0.000	260	0.000	0.153	2819	3845	2114	2205	2023	0	0	0	0	0	0	28.83	13.87	28.83
4231	0.88	165.5	2820	3844	2204	2022	528.4	14.8	458	4240	0.00	2.53	0.00	0.000	1030	0.000	0.103	2830	2439	2113	2204	2022	0	0	0	0	0	0	28.83	13.95	28.83
4542	0.88	165.5	2830	2438	2204	2020	487.3	13.4	489	4550	0.00	2.65	0.00	0.000	260	0.000	0.152	2830	3844	2112	2204	2021	0	0	0	0	0	0	28.83	14.12	28.83
4599	0.88	165.5	1856	3844	2159	2015	479.5	14.8	494	4606	0.00	2.53	0.00	0.000	1030	0.000	0.103	2840	2427	2112	2204	2020	0	0	0	0	0	0	28.83	14.19	28.83
4909	0.88	165.5	2841	2426	2204	2019	438.2	12.7	525	4917	0.00	2.62	0.00	0.000	260	0.000	0.150	2841	3834	2111	2204	2019	0	0	0	0	0	0	28.83	14.26	28.83
4994	0.88	165.5	2841	3834	2204	2019	425.8	15.0	533	5003	0.10	2.45	0.00	0.000	5126	0.314	0.103	2826	2433	2111	2204	2019	0	0	0	0	0	0	14.23	14.31	28.83
5305	0.88	165.5	2826	2433	2204	2018	386.8	12.3	564	5310	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2433	2111	2204	2018	0	0	0	0	0	0	28.83	28.83	28.83
5614	0.88	165.5	1824	2430	2158	2013	349.4	11.5	595	5622	0.00	2.60	0.00	0.000	260	0.000	0.152	2826	3839	2111	2204	2018	0	0	0	0	0	0	28.83	14.42	28.83
5679	0.88	165.5	2826	3838	2204	2018	340.7	14.0	601	5688	0.00	2.45	0.00	0.000	1030	0.000	0.103	2836	2432	2111	2204	2018	0	0	0	0	0	0	28.83	14.45	28.83
5990	0.88	165.5	2836	2432	2204	2017	303.5	11.5	632	5999	0.00	2.60	0.00	0.000	260	0.000	0.150	2836	3845	2110	2204	2017	0	0	0	0	0	0	28.83	14.47	28.83
6078	0.88	165.5	2836	3844	2204	2017	292.9	12.8	640	6085	0.00	2.47	0.00	0.000	1030	0.000	0.104	2847	2421	2110	2204	2017	0	0	0	0	0	0	28.83	14.52	28.83
6386	0.88	165.5	2847	2421	2204	2017	258.1	11.1	671	6395	0.00	2.60	0.00	0.000	260	0.000	0.154	2847	3836	2110	2204	2017	0	0	0	0	0	0	28.83	14.50	28.83
6492	0.88	165.5	2847	3836	2203	2017	244.8	13.0	681	6501	0.12	2.42	0.00	0.000	5126	0.298	0.104	2825	2425	2110	2204	2017	0	0	0	0	0	0	14.45	14.54	28.83
6803	0.88	165.5	2824	2424	2204	2017	214.1	9.5	712	6812	0.00	2.62	0.00	0.000	260	0.000	0.152	2824	3847	2110	2204	2017	0	0	0	0	0	0	28.83	14.52	28.83
6852	0.88	165.5	2824	3847	2204	2017	209.2	11.0	716	6859	0.00	2.45	0.00	0.000	1030	0.000	0.103	2834	2427	2110	2204	2017	0	0	0	0	0	0	28.83	14.58	28.83
7160	0.88	165.5	2834	2427	2204	2016	178.7	9.9	747	7168	0.00	2.58	0.00	0.000	260	0.000	0.151	2834	3837	2110	2204	2017	0	0	0	0	0	0	28.83	14.55	28.83
7265	0.88	165.5	2834	3837	2204	2016	167.9	10.4	757	7274	0.00	2.42	0.00	0.000	1030	0.000	0.103	2845	2424	2110	2204	2016	0	0	0	0	0	0	28.83	14.58	28.83
7575	0.89	173.3	2845	2424	2204	2016	140.1	9.1	788	7592	0.00	2.50	7.30	1.821	8708	0.000	0.126	2856	1023	2087	2183	1992	0	0	0	0	0	0	28.83	14.51	13.83
7652	0.92	198.4	2856	1023	2183	1991	133.8	8.5	795	7685	0.00	2.55	27.27	2.026	9222	0.000	0.132	2856	2431	1984	2082	1886	0	0	0	0	0	0	28.83	14.52	13.60
7989	0.92	198.4	2856	2431	2082	1883	99.3	10.6	829	7996	0.00	2.62	0.00	0.000	260	0.000	0.155	2856	3849	1982	2081	1884	0	0	0	0	0	0	28.83	14.38	28.83
8226	0.92	198.4	2856	3848	2080	1883	72.7	11.0	874	8234	0.15	2.47	0.00	0.000	5126	0.325	0.103	2834	2428	1982	2080	1884	0	0	0	0	0	0	14.38	14.47	28.83
8546	1.01	269.6	2835	2428	2080	1883	48.7	6.7	935	8593	0.00	2.65	39.30	0.328	8452	0.000	0.152	2835	3850	1694	1784	1604	0	0	0	0	0	0	28.83	14.40	14.32
8644	1.01	269.6	2835	3850	1777	1604	39.4	11.3	952	8651	0.00	2.50	0.00	0.000	1030	0.000	0.105	2844	2422	1690	1776	1604	0	0	0	0	0	0	28.83	14.45	28.83
8963	1.02	283.1	2844	2421	1772	1598	12.0	8.9	1013	8976	0.00	2.53	6.45	0.225	8708	0.000	0.124	2855	1011	1637	1721	1553	0	0	0	0	0	0	28.83	14.47	14.43
9062	end climb: SURFACE_DEPTH_REACHED
state	9062	begin surface coast
9073	end surface coast: CONTROL_FINISHED_OK
state	9073	begin surface