Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 463 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 192 HD_C 3.62024e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 2 HEADING -1 ROLL_DEG 24 ALTIM_TOP_TURN_MARGIN 5

DIVE 463 ESCAPE_HEADING 100 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2510 ALTIM_PING_DEPTH 300

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 50

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 23 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 17 XPDR_VALID 6

D_BOOST 110 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2741 DEVICE1 2

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 400 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 430 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 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 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 3 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 -3 T_GPS_CHARGE -9031.8906 DBDW 0 COMPASS_DEVICE 97

USE_ICE 2 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.1 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 250 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 10 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3924 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2510 FG_AHR_10V 0 SEABIRD_T_G 0.0042877649

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062281737

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 2 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 0.0099999998 COMPASS_USE 4

HD_A 0.0041718199 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099987797 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 250 PHONE_SUPPLY -2 SM_CC 400

AH0_10V 0 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 500 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_FREQUENCY 13 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 23 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 300 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 6000

ALTIM_TOP_MIN_OBSTACLE 2.8 FILEMGR 2 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -5500

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0015 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 5 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 400

CALL_NDIVES 1 HD_A 0.0041718199 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 3 HD_B 0.0099987797 PRESSURE_YINT -62.7798 T_GPS 3

CALL_WAIT 60 HD_C 3.62024e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -9031.8906

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 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 2510 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2510 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX 3

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -3

C_VBD 2741 LOGGERDEVICE4 -1 ROLL_DEG 24 USE_ICE 2

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 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 9.5 R_PORT_OVSHOOT 23 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 17 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 463 NOCOMM_ACTION 161 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 4 SEABIRD_T_H 0.00062281737 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.2009486e-05 XPDR_VALID 6

D_FINISH 9 N_NOCOMM 6 SEABIRD_T_J 2.217299e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 131213,191106,6704.136,-5651.691,34,0.8,34,-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 1.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 131213,192704,6704.154,-5651.713,42,1.5,42,-33.5 MHEAD_RNG_PITCHd_Wd 190.8,3429,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 512

Post-dive calculations and measurements:

FREEZE 0.67,0.446,-1.788,0,1,0 ALTIM_TOP_PING 19.6,19.7

FINISH 0.7,1.026184 _24V_AH 12.0,206.574

SM_CCo 8561,17.25,0.160,0,0,1108,400.08 _10V_AH 11.2,0.000

SM_GC 1.89,7.95,0.05,17.25,0.088,0.285,0.160,145,2496,1108,-7.34,-0.57,400.08,0,0,0,0,0,0,14.47,14.64,14.34 FG_AHR_24Vo 0.000

RAFOS_CLK 361 FG_AHR_10Vo 0.000

RAFOS 0,1386964867,20.033333,20.018612,63,61,53,51,51,49,186,221,136,197,122,168 MEM 150760

RAFOS_FIX 6700.071289,-5741.050781,111213,040444,3,104,0.15 DATA_FILE_SIZE 43356,982

IRIDIUM_FIX 6703.95,-4741.66,131213,151513 CAP_FILE_SIZE 115370,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,214884352

HUMID 43.73 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.75227 SOUNDSPEED 1469.9

TCM_TEMP 13.90 CURRENT 0.266,353.0,1

XPDR_PINGS 41 GPS 131213,215240,6704.449,-5651.070,39,1.6,39,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 409 105.59 SBE_CT 681 23 189.78

Roll_motor 51 284 176.30 SBE_O2 0 0 0.00

VBD_pump_during_apogee 572 2329 15992.67 nil 0 0 0.00

VBD_pump_during_surface 17 159 33.10 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 593 160 1144.44 nil 0 0 0.00

Transponder_ping 11 420 57.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 43 18 9.08

TT8 2435 14 408.01

LPSleep 3563 2 92.19

TT8_Active 587 14 93.44

TT8_Sampling 2118 33 799.54

TT8_CF8 838 39 372.56

TT8_Kalman 0 0 0.00

Analog_circuits 2123 12 285.40

GPS_charging 0 0 0.00

Compass 1617 6 122.07

RAFOS 2520 1 42.34

Transponder 9 30 3.26

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 -0.89 -146.0 94 2527 1108 1074 0.0 0.0 0 116 0.00 0.00 -94.03 0.000 16386 0.000 0.000 94 2527 2849 2895 2804 0 0 0 0 0 0 28.83 28.83 28.83

124 -0.89 -146.0 94 2527 2895 2804 3.7 -6.3 16 151 10.30 1.55 -10.25 0.000 19204 0.409 0.149 2210 3352 3339 3495 3184 0 0 0 0 0 0 13.93 14.37 14.78

389 -0.79 -146.0 2210 3352 3502 3179 67.9 -22.2 65 397 0.17 1.50 0.00 0.000 3078 0.285 0.080 2248 2470 3340 3502 3179 0 0 0 0 0 0 14.11 14.43 28.83

714 -0.73 -146.0 2248 2470 3502 3178 121.9 -14.3 113 717 0.00 1.60 0.00 0.000 260 0.000 0.122 2244 3352 3340 3502 3178 0 0 0 0 0 0 28.83 14.33 28.83

819 -0.67 -146.0 2244 3352 3502 3177 137.8 -15.2 123 823 0.20 1.50 0.00 0.000 3078 0.250 0.082 2292 2470 3339 3502 3177 0 0 0 0 0 0 14.17 14.45 28.83

1136 -0.66 -146.0 2292 2470 3502 3177 175.1 -12.1 154 1139 0.00 1.42 0.00 0.000 516 0.000 0.096 2292 1665 3339 3502 3177 0 0 0 0 0 0 28.83 14.35 28.83

1231 -0.65 -146.0 2292 1665 3502 3177 186.4 -11.8 163 1235 0.00 1.50 0.00 0.000 1030 0.000 0.116 2288 2501 3339 3502 3177 0 0 0 0 0 0 28.83 14.34 28.83

1549 -0.63 -146.0 2288 2501 3503 3177 223.8 -11.1 194 1552 0.00 1.50 0.00 0.000 516 0.000 0.093 2288 1635 3339 3502 3177 0 0 0 0 0 0 28.83 14.38 28.83

1614 -0.61 -146.0 2288 1635 3503 3177 231.3 -11.0 200 1619 0.12 1.55 0.00 0.000 3078 0.266 0.111 2310 2505 3339 3502 3176 0 0 0 0 0 0 14.21 14.36 28.83

1930 -0.61 -146.0 2310 2505 3505 3177 262.6 -9.3 231 1936 0.00 0.00 0.00 0.000 6 0.000 0.000 2310 2505 3341 3505 3177 0 0 0 0 0 0 28.83 28.83 28.83

2249 -0.61 -146.0 2310 2506 3506 3176 292.6 -9.9 262 2252 0.00 1.48 0.00 0.000 516 0.000 0.093 2310 1665 3341 3506 3177 0 0 0 0 0 0 28.83 14.33 28.83

2303 -0.61 -146.0 2310 1666 3506 3177 298.7 -9.6 267 2307 0.00 1.50 0.00 0.000 1030 0.000 0.114 2306 2506 3341 3506 3176 0 0 0 0 0 0 28.83 14.32 28.83

2619 -0.61 -146.0 2307 2506 3508 3177 331.1 -10.8 298 2623 0.00 1.48 0.00 0.000 516 0.000 0.092 2306 1667 3342 3507 3177 0 0 0 0 0 0 28.83 14.33 28.83

2646 -0.61 -146.0 1440 1666 3500 3174 333.7 -10.5 300 2653 0.00 1.50 0.00 0.000 1030 0.000 0.113 2301 2502 3342 3507 3177 0 0 0 0 0 0 28.83 14.32 28.83

2957 -0.61 -146.0 2301 2502 3509 3177 365.3 -9.6 331 2962 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 2502 3343 3509 3177 0 0 0 0 0 0 28.83 28.83 28.83

3270 -0.61 -146.0 2301 2503 3510 3177 394.7 -9.3 362 3276 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 2503 3343 3510 3177 0 0 0 0 0 0 28.83 28.83 28.83

3578 -0.61 -146.0 2300 2503 3510 3177 422.9 -8.9 393 3582 0.00 1.48 0.00 0.000 516 0.000 0.091 2300 1664 3343 3510 3177 0 0 0 0 0 0 28.83 14.33 28.83

3625 -0.61 -146.0 1440 1662 3503 3174 427.0 -9.2 397 3633 0.00 1.50 0.00 0.000 1030 0.000 0.112 2295 2499 3344 3511 3177 0 0 0 0 0 0 28.83 14.31 28.83

3936 -0.61 -146.0 2295 2500 3512 3177 456.0 -9.2 428 3940 0.00 1.55 0.00 0.000 260 0.000 0.124 2288 3339 3344 3512 3177 0 0 0 0 0 0 28.83 14.26 28.83

3964 -0.61 -146.0 1428 3337 3505 3174 458.3 -9.1 430 3970 0.00 1.48 0.00 0.000 1030 0.000 0.077 2289 2493 3344 3512 3177 0 0 0 0 0 0 28.83 14.40 28.83

4272 -0.61 -146.0 2289 2493 3513 3177 487.2 -9.6 461 4276 0.00 1.45 0.00 0.000 516 0.000 0.090 2288 1665 3345 3513 3177 0 0 0 0 0 0 28.83 14.33 28.83

4301 -0.60 -146.0 2289 1665 3513 3177 489.7 -10.1 463 4308 0.12 1.50 0.00 0.000 3078 0.261 0.112 2310 2503 3344 3512 3177 0 0 0 0 0 0 14.19 14.31 28.83

4564 end dive: NO_VERTICAL_VELOCITY

state 4564 begin apogee

4578 -0.22 0.0 2310 2504 3514 3177 499.5 0.0 490 4744 0.40 0.00 154.00 2.329 10246 0.173 0.000 2433 2504 2741 2853 2630 0 0 0 0 0 0 14.26 28.83 12.54

4745 end apogee: CONTROL_FINISHED_OK

state 4745 begin climb

4751 0.89 146.0 2434 2504 2853 2631 499.3 0.0 507 4935 1.20 1.77 167.07 2.321 11012 0.157 0.125 2788 3356 2145 2246 2044 0 0 0 0 0 0 13.66 13.14 12.04

4945 1.23 358.6 2788 3356 2245 2044 499.0 0.2 526 5201 0.35 1.58 246.88 2.223 11270 0.096 0.080 2906 2507 1280 1354 1206 0 0 0 0 0 0 13.39 13.37 12.05

5514 1.14 358.6 2906 2507 1351 1197 390.7 23.5 583 5518 0.12 1.50 0.00 0.000 4612 0.291 0.091 2881 1667 1273 1350 1197 0 0 0 0 0 0 14.17 14.32 28.83

5713 1.09 358.6 2881 1667 1350 1195 352.0 18.8 602 5717 0.00 1.55 0.00 0.000 1030 0.000 0.116 2880 2511 1272 1350 1195 0 0 0 0 0 0 28.83 14.41 28.83

6030 1.01 358.6 2881 2511 1350 1194 286.4 21.8 633 6034 0.15 1.52 0.00 0.000 4356 0.262 0.125 2840 3365 1272 1350 1194 0 0 0 0 0 0 14.35 14.46 28.83

6119 0.97 358.6 2840 3365 1349 1194 269.8 18.9 641 6126 0.00 1.50 0.00 0.000 1030 0.000 0.083 2845 2482 1271 1349 1194 0 0 0 0 0 0 28.83 14.55 28.83

6430 0.92 358.6 2845 2482 1349 1194 215.3 16.7 672 6435 0.12 1.62 0.00 0.000 4356 0.269 0.125 2810 3356 1271 1349 1193 0 0 0 0 0 0 14.41 14.43 28.83

6459 0.89 358.6 1824 3355 1331 1192 210.8 16.9 674 6466 0.00 1.48 0.00 0.000 1030 0.000 0.084 2815 2513 1271 1348 1194 0 0 0 0 0 0 28.83 14.52 28.83

6768 0.87 358.6 2815 2513 1348 1193 165.9 15.0 705 6772 0.00 1.50 0.00 0.000 516 0.000 0.097 2821 1668 1270 1348 1193 0 0 0 0 0 0 28.83 14.47 28.83

6797 0.86 358.6 2821 1668 1348 1193 162.2 14.4 707 6804 0.15 1.50 0.00 0.000 5126 0.230 0.116 2784 2512 1270 1348 1193 0 0 0 0 0 0 14.37 14.47 28.83

7107 0.88 358.6 2784 2512 1348 1193 126.5 10.8 738 7110 0.00 1.52 0.00 0.000 260 0.000 0.126 2784 3360 1270 1348 1193 0 0 0 0 0 0 28.83 14.42 28.83

7163 0.89 358.6 2784 3360 1348 1193 120.4 11.3 743 7167 0.00 1.50 0.00 0.000 1030 0.000 0.084 2788 2509 1270 1348 1193 0 0 0 0 0 0 28.83 14.51 28.83

7480 0.92 358.6 2788 2509 1348 1193 86.7 9.2 786 7485 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2509 1270 1348 1193 0 0 0 0 0 0 28.83 28.83 28.83

7797 0.95 358.6 1792 2507 1330 1192 57.2 9.3 847 7803 0.00 1.50 0.00 0.000 516 0.000 0.096 2794 1669 1270 1348 1193 0 0 0 0 0 0 28.83 14.43 28.83

7906 1.01 367.0 1792 1667 1330 1192 48.6 7.9 867 7920 0.12 1.50 4.18 0.324 11270 0.145 0.114 2847 2511 1243 1322 1164 0 0 0 0 0 0 14.52 14.42 13.97

8237 1.01 367.0 1856 2509 1305 1163 12.7 9.4 929 8244 0.00 1.50 0.00 0.000 260 0.000 0.123 2848 3358 1243 1322 1164 0 0 0 0 0 0 28.83 14.38 28.83

8275 1.01 367.0 1856 3357 1305 1163 9.1 9.2 935 8282 0.00 1.50 0.00 0.000 1030 0.000 0.086 2853 2479 1242 1321 1164 0 0 0 0 0 0 28.83 14.48 28.83

8442 end climb: SURFACE_DEPTH_REACHED

state 8442 begin surface coast

8532 end surface coast: CONTROL_FINISHED_OK

state 8532 begin surface

ID	192	HD_C	3.62024e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	-1	ROLL_DEG	24	ALTIM_TOP_TURN_MARGIN	5
DIVE	463	ESCAPE_HEADING	100	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2510	ALTIM_PING_DEPTH	300
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	50
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	23	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	17	XPDR_VALID	6
D_BOOST	110	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2741	DEVICE1	2
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	400	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	430	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	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	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	3	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	-3	T_GPS_CHARGE	-9031.8906	DBDW	0	COMPASS_DEVICE	97
USE_ICE	2	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.1	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	250	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	10	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3924	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2510	FG_AHR_10V	0	SEABIRD_T_G	0.0042877649
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062281737
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	2	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	0.0099999998	COMPASS_USE	4
HD_A	0.0041718199	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099987797	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	20

GPS1	131213,191106,6704.136,-5651.691,34,0.8,34,-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	1.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	131213,192704,6704.154,-5651.713,42,1.5,42,-33.5	MHEAD_RNG_PITCHd_Wd	190.8,3429,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	512

FREEZE	0.67,0.446,-1.788,0,1,0	ALTIM_TOP_PING	19.6,19.7
FINISH	0.7,1.026184	_24V_AH	12.0,206.574
SM_CCo	8561,17.25,0.160,0,0,1108,400.08	_10V_AH	11.2,0.000
SM_GC	1.89,7.95,0.05,17.25,0.088,0.285,0.160,145,2496,1108,-7.34,-0.57,400.08,0,0,0,0,0,0,14.47,14.64,14.34	FG_AHR_24Vo	0.000
RAFOS_CLK	361	FG_AHR_10Vo	0.000
RAFOS	0,1386964867,20.033333,20.018612,63,61,53,51,51,49,186,221,136,197,122,168	MEM	150760
RAFOS_FIX	6700.071289,-5741.050781,111213,040444,3,104,0.15	DATA_FILE_SIZE	43356,982
IRIDIUM_FIX	6703.95,-4741.66,131213,151513	CAP_FILE_SIZE	115370,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,214884352
HUMID	43.73	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.75227	SOUNDSPEED	1469.9
TCM_TEMP	13.90	CURRENT	0.266,353.0,1
XPDR_PINGS	41	GPS	131213,215240,6704.449,-5651.070,39,1.6,39,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	409	105.59	SBE_CT	681	23	189.78
Roll_motor	51	284	176.30	SBE_O2	0	0	0.00
VBD_pump_during_apogee	572	2329	15992.67	nil	0	0	0.00
VBD_pump_during_surface	17	159	33.10	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	593	160	1144.44	nil	0	0	0.00
Transponder_ping	11	420	57.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	43	18	9.08
TT8	2435	14	408.01
LPSleep	3563	2	92.19
TT8_Active	587	14	93.44
TT8_Sampling	2118	33	799.54
TT8_CF8	838	39	372.56
TT8_Kalman	0	0	0.00
Analog_circuits	2123	12	285.40
GPS_charging	0	0	0.00
Compass	1617	6	122.07
RAFOS	2520	1	42.34
Transponder	9	30	3.26

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	-0.89	-146.0	94	2527	1108	1074	0.0	0.0	0	116	0.00	0.00	-94.03	0.000	16386	0.000	0.000	94	2527	2849	2895	2804	0	0	0	0	0	0	28.83	28.83	28.83
124	-0.89	-146.0	94	2527	2895	2804	3.7	-6.3	16	151	10.30	1.55	-10.25	0.000	19204	0.409	0.149	2210	3352	3339	3495	3184	0	0	0	0	0	0	13.93	14.37	14.78
389	-0.79	-146.0	2210	3352	3502	3179	67.9	-22.2	65	397	0.17	1.50	0.00	0.000	3078	0.285	0.080	2248	2470	3340	3502	3179	0	0	0	0	0	0	14.11	14.43	28.83
714	-0.73	-146.0	2248	2470	3502	3178	121.9	-14.3	113	717	0.00	1.60	0.00	0.000	260	0.000	0.122	2244	3352	3340	3502	3178	0	0	0	0	0	0	28.83	14.33	28.83
819	-0.67	-146.0	2244	3352	3502	3177	137.8	-15.2	123	823	0.20	1.50	0.00	0.000	3078	0.250	0.082	2292	2470	3339	3502	3177	0	0	0	0	0	0	14.17	14.45	28.83
1136	-0.66	-146.0	2292	2470	3502	3177	175.1	-12.1	154	1139	0.00	1.42	0.00	0.000	516	0.000	0.096	2292	1665	3339	3502	3177	0	0	0	0	0	0	28.83	14.35	28.83
1231	-0.65	-146.0	2292	1665	3502	3177	186.4	-11.8	163	1235	0.00	1.50	0.00	0.000	1030	0.000	0.116	2288	2501	3339	3502	3177	0	0	0	0	0	0	28.83	14.34	28.83
1549	-0.63	-146.0	2288	2501	3503	3177	223.8	-11.1	194	1552	0.00	1.50	0.00	0.000	516	0.000	0.093	2288	1635	3339	3502	3177	0	0	0	0	0	0	28.83	14.38	28.83
1614	-0.61	-146.0	2288	1635	3503	3177	231.3	-11.0	200	1619	0.12	1.55	0.00	0.000	3078	0.266	0.111	2310	2505	3339	3502	3176	0	0	0	0	0	0	14.21	14.36	28.83
1930	-0.61	-146.0	2310	2505	3505	3177	262.6	-9.3	231	1936	0.00	0.00	0.00	0.000	6	0.000	0.000	2310	2505	3341	3505	3177	0	0	0	0	0	0	28.83	28.83	28.83
2249	-0.61	-146.0	2310	2506	3506	3176	292.6	-9.9	262	2252	0.00	1.48	0.00	0.000	516	0.000	0.093	2310	1665	3341	3506	3177	0	0	0	0	0	0	28.83	14.33	28.83
2303	-0.61	-146.0	2310	1666	3506	3177	298.7	-9.6	267	2307	0.00	1.50	0.00	0.000	1030	0.000	0.114	2306	2506	3341	3506	3176	0	0	0	0	0	0	28.83	14.32	28.83
2619	-0.61	-146.0	2307	2506	3508	3177	331.1	-10.8	298	2623	0.00	1.48	0.00	0.000	516	0.000	0.092	2306	1667	3342	3507	3177	0	0	0	0	0	0	28.83	14.33	28.83
2646	-0.61	-146.0	1440	1666	3500	3174	333.7	-10.5	300	2653	0.00	1.50	0.00	0.000	1030	0.000	0.113	2301	2502	3342	3507	3177	0	0	0	0	0	0	28.83	14.32	28.83
2957	-0.61	-146.0	2301	2502	3509	3177	365.3	-9.6	331	2962	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	2502	3343	3509	3177	0	0	0	0	0	0	28.83	28.83	28.83
3270	-0.61	-146.0	2301	2503	3510	3177	394.7	-9.3	362	3276	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	2503	3343	3510	3177	0	0	0	0	0	0	28.83	28.83	28.83
3578	-0.61	-146.0	2300	2503	3510	3177	422.9	-8.9	393	3582	0.00	1.48	0.00	0.000	516	0.000	0.091	2300	1664	3343	3510	3177	0	0	0	0	0	0	28.83	14.33	28.83
3625	-0.61	-146.0	1440	1662	3503	3174	427.0	-9.2	397	3633	0.00	1.50	0.00	0.000	1030	0.000	0.112	2295	2499	3344	3511	3177	0	0	0	0	0	0	28.83	14.31	28.83
3936	-0.61	-146.0	2295	2500	3512	3177	456.0	-9.2	428	3940	0.00	1.55	0.00	0.000	260	0.000	0.124	2288	3339	3344	3512	3177	0	0	0	0	0	0	28.83	14.26	28.83
3964	-0.61	-146.0	1428	3337	3505	3174	458.3	-9.1	430	3970	0.00	1.48	0.00	0.000	1030	0.000	0.077	2289	2493	3344	3512	3177	0	0	0	0	0	0	28.83	14.40	28.83
4272	-0.61	-146.0	2289	2493	3513	3177	487.2	-9.6	461	4276	0.00	1.45	0.00	0.000	516	0.000	0.090	2288	1665	3345	3513	3177	0	0	0	0	0	0	28.83	14.33	28.83
4301	-0.60	-146.0	2289	1665	3513	3177	489.7	-10.1	463	4308	0.12	1.50	0.00	0.000	3078	0.261	0.112	2310	2503	3344	3512	3177	0	0	0	0	0	0	14.19	14.31	28.83
4564	end dive: NO_VERTICAL_VELOCITY
state	4564	begin apogee
4578	-0.22	0.0	2310	2504	3514	3177	499.5	0.0	490	4744	0.40	0.00	154.00	2.329	10246	0.173	0.000	2433	2504	2741	2853	2630	0	0	0	0	0	0	14.26	28.83	12.54
4745	end apogee: CONTROL_FINISHED_OK
state	4745	begin climb
4751	0.89	146.0	2434	2504	2853	2631	499.3	0.0	507	4935	1.20	1.77	167.07	2.321	11012	0.157	0.125	2788	3356	2145	2246	2044	0	0	0	0	0	0	13.66	13.14	12.04
4945	1.23	358.6	2788	3356	2245	2044	499.0	0.2	526	5201	0.35	1.58	246.88	2.223	11270	0.096	0.080	2906	2507	1280	1354	1206	0	0	0	0	0	0	13.39	13.37	12.05
5514	1.14	358.6	2906	2507	1351	1197	390.7	23.5	583	5518	0.12	1.50	0.00	0.000	4612	0.291	0.091	2881	1667	1273	1350	1197	0	0	0	0	0	0	14.17	14.32	28.83
5713	1.09	358.6	2881	1667	1350	1195	352.0	18.8	602	5717	0.00	1.55	0.00	0.000	1030	0.000	0.116	2880	2511	1272	1350	1195	0	0	0	0	0	0	28.83	14.41	28.83
6030	1.01	358.6	2881	2511	1350	1194	286.4	21.8	633	6034	0.15	1.52	0.00	0.000	4356	0.262	0.125	2840	3365	1272	1350	1194	0	0	0	0	0	0	14.35	14.46	28.83
6119	0.97	358.6	2840	3365	1349	1194	269.8	18.9	641	6126	0.00	1.50	0.00	0.000	1030	0.000	0.083	2845	2482	1271	1349	1194	0	0	0	0	0	0	28.83	14.55	28.83
6430	0.92	358.6	2845	2482	1349	1194	215.3	16.7	672	6435	0.12	1.62	0.00	0.000	4356	0.269	0.125	2810	3356	1271	1349	1193	0	0	0	0	0	0	14.41	14.43	28.83
6459	0.89	358.6	1824	3355	1331	1192	210.8	16.9	674	6466	0.00	1.48	0.00	0.000	1030	0.000	0.084	2815	2513	1271	1348	1194	0	0	0	0	0	0	28.83	14.52	28.83
6768	0.87	358.6	2815	2513	1348	1193	165.9	15.0	705	6772	0.00	1.50	0.00	0.000	516	0.000	0.097	2821	1668	1270	1348	1193	0	0	0	0	0	0	28.83	14.47	28.83
6797	0.86	358.6	2821	1668	1348	1193	162.2	14.4	707	6804	0.15	1.50	0.00	0.000	5126	0.230	0.116	2784	2512	1270	1348	1193	0	0	0	0	0	0	14.37	14.47	28.83
7107	0.88	358.6	2784	2512	1348	1193	126.5	10.8	738	7110	0.00	1.52	0.00	0.000	260	0.000	0.126	2784	3360	1270	1348	1193	0	0	0	0	0	0	28.83	14.42	28.83
7163	0.89	358.6	2784	3360	1348	1193	120.4	11.3	743	7167	0.00	1.50	0.00	0.000	1030	0.000	0.084	2788	2509	1270	1348	1193	0	0	0	0	0	0	28.83	14.51	28.83
7480	0.92	358.6	2788	2509	1348	1193	86.7	9.2	786	7485	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2509	1270	1348	1193	0	0	0	0	0	0	28.83	28.83	28.83
7797	0.95	358.6	1792	2507	1330	1192	57.2	9.3	847	7803	0.00	1.50	0.00	0.000	516	0.000	0.096	2794	1669	1270	1348	1193	0	0	0	0	0	0	28.83	14.43	28.83
7906	1.01	367.0	1792	1667	1330	1192	48.6	7.9	867	7920	0.12	1.50	4.18	0.324	11270	0.145	0.114	2847	2511	1243	1322	1164	0	0	0	0	0	0	14.52	14.42	13.97
8237	1.01	367.0	1856	2509	1305	1163	12.7	9.4	929	8244	0.00	1.50	0.00	0.000	260	0.000	0.123	2848	3358	1243	1322	1164	0	0	0	0	0	0	28.83	14.38	28.83
8275	1.01	367.0	1856	3357	1305	1163	9.1	9.2	935	8282	0.00	1.50	0.00	0.000	1030	0.000	0.086	2853	2479	1242	1321	1164	0	0	0	0	0	0	28.83	14.48	28.83
8442	end climb: SURFACE_DEPTH_REACHED
state	8442	begin surface coast
8532	end surface coast: CONTROL_FINISHED_OK
state	8532	begin surface