Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 473 * 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 473 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 25 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 -9044.6377 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 -9044.6377

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 25 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 473 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 151213,022535,6706.284,-5658.628,49,0.8,49,-33.6 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 1.76 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151213,023533,6706.246,-5658.758,4,1.2,4,-33.6 MHEAD_RNG_PITCHd_Wd 180.2,9823,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 492

Post-dive calculations and measurements:

FREEZE 0.89,0.150,-1.799,0,1,0 ALTIM_TOP_PING 19.8,19.3

FINISH 0.9,1.026353 _24V_AH 12.1,209.945

SM_CCo 10222,50.08,0.162,0,0,1108,400.08 _10V_AH 11.3,0.000

SM_GC 1.85,7.95,1.60,50.08,0.087,0.145,0.162,143,2502,1108,-7.35,-0.37,400.08,0,0,0,0,0,0,14.46,14.30,14.24 FG_AHR_24Vo 0.000

RAFOS_CLK 441 FG_AHR_10Vo 0.000

RAFOS 0,1387080065,4.033333,4.018055,66,63,59,59,53,52,207,225,126,191,175,157 MEM 150704

RAFOS_FIX 6700.071289,-5741.050781,111213,040444,3,104,0.15 DATA_FILE_SIZE 50078,1150

IRIDIUM_FIX 6636.54,-5655.33,141213,232305 CAP_FILE_SIZE 120456,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,214224896

HUMID 42.63 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.75227 SOUNDSPEED 1471.8

TCM_TEMP 14.10 CURRENT 0.211,307.9,1

XPDR_PINGS 34 GPS 151213,052905,6705.816,-5659.277,35,1.0,35,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 410 104.88 SBE_CT 798 23 224.43

Roll_motor 45 150 83.15 SBE_O2 0 0 0.00

VBD_pump_during_apogee 445 2330 12548.32 nil 0 0 0.00

VBD_pump_during_surface 50 162 98.27 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 418 139 708.96 nil 0 0 0.00

Transponder_ping 9 420 49.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.17

TT8 2840 14 480.20

LPSleep 4628 2 120.82

TT8_Active 568 14 91.25

TT8_Sampling 2178 33 829.32

TT8_CF8 650 39 291.75

TT8_Kalman 0 0 0.00

Analog_circuits 1989 12 269.74

GPS_charging 0 0 0.00

Compass 1804 6 137.41

RAFOS 2520 1 42.71

Transponder 15 30 5.31

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 -0.89 -146.0 98 2517 1113 1072 0.0 0.0 0 106 0.00 0.00 -83.30 0.000 16386 0.000 0.000 96 2517 2716 2764 2669 0 0 0 0 0 0 28.83 28.83 28.83

114 -0.89 -146.0 95 2517 2765 2669 3.3 -4.5 14 146 10.32 1.50 -14.45 0.000 19204 0.411 0.151 2209 3348 3339 3506 3173 0 0 0 0 0 0 13.93 14.34 14.80

385 -0.81 -146.0 2209 3349 3507 3172 64.7 -22.4 64 392 0.15 1.50 0.00 0.000 3078 0.280 0.080 2242 2467 3339 3507 3171 0 0 0 0 0 0 14.12 14.42 28.83

705 -0.75 -146.0 2242 2467 3507 3170 118.8 -16.5 114 708 0.00 1.60 0.00 0.000 260 0.000 0.125 2237 3349 3338 3507 3170 0 0 0 0 0 0 28.83 14.31 28.83

825 -0.70 -146.0 2237 3349 3507 3169 138.5 -16.9 125 832 0.17 1.48 0.00 0.000 3078 0.260 0.079 2277 2505 3338 3507 3169 0 0 0 0 0 0 14.15 14.42 28.83

1135 -0.67 -146.0 2277 2505 3507 3169 181.8 -12.8 156 1138 0.00 1.50 0.00 0.000 516 0.000 0.093 2278 1628 3338 3507 3169 0 0 0 0 0 0 28.83 14.38 28.83

1233 -0.66 -146.0 1412 1626 3500 3166 194.2 -12.7 165 1240 0.00 1.55 0.00 0.000 1030 0.000 0.112 2273 2499 3338 3507 3169 0 0 0 0 0 0 28.83 14.34 28.83

1542 -0.63 -146.0 2273 2499 3507 3169 234.2 -12.9 196 1549 0.12 0.00 0.00 0.000 2054 0.278 0.000 2306 2499 3338 3507 3169 0 0 0 0 0 0 14.24 28.83 28.83

1851 -0.63 -146.0 2306 2499 3509 3169 267.6 -10.9 227 1855 0.00 1.52 0.00 0.000 260 0.000 0.125 2301 3349 3339 3509 3169 0 0 0 0 0 0 28.83 14.30 28.83

1899 -0.63 -146.0 2301 3349 3509 3170 272.4 -10.8 231 1907 0.00 1.48 0.00 0.000 1030 0.000 0.080 2301 2506 3339 3509 3169 0 0 0 0 0 0 28.83 14.42 28.83

2210 -0.63 -146.0 2301 2506 3510 3170 305.6 -9.8 262 2216 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 2506 3340 3510 3170 0 0 0 0 0 0 28.83 28.83 28.83

2525 -0.63 -146.0 2301 2505 3510 3169 337.0 -9.8 293 2531 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 2506 3340 3510 3170 0 0 0 0 0 0 28.83 28.83 28.83

2841 -0.63 -146.0 2301 2506 3512 3170 367.7 -9.8 324 2847 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 2505 3340 3512 3169 0 0 0 0 0 0 28.83 28.83 28.83

3153 -0.63 -146.0 2301 2506 3514 3169 398.7 -9.4 355 3157 0.00 1.50 0.00 0.000 516 0.000 0.090 2301 1626 3341 3513 3169 0 0 0 0 0 0 28.83 14.37 28.83

3193 -0.63 -146.0 1424 1625 3506 3166 402.7 -9.6 358 3200 0.00 1.58 0.00 0.000 1030 0.000 0.109 2295 2509 3341 3514 3169 0 0 0 0 0 0 28.83 14.34 28.83

3501 -0.63 -146.0 2295 2509 3514 3169 433.4 -9.9 389 3507 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 2509 3342 3514 3170 0 0 0 0 0 0 28.83 28.83 28.83

3818 -0.63 -146.0 2295 2509 3515 3170 463.7 -9.8 420 3824 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 2509 3342 3515 3170 0 0 0 0 0 0 28.83 28.83 28.83

4125 end dive: TARGET_DEPTH_EXCEEDED

state 4125 begin apogee

4138 -0.22 0.0 2295 2508 3516 3170 492.5 -9.7 451 4307 0.50 0.00 153.40 2.330 10246 0.220 0.000 2434 2508 2742 2854 2630 0 0 0 0 0 0 14.11 28.83 12.57

4308 end apogee: CONTROL_FINISHED_OK

state 4308 begin climb

4315 0.89 146.0 2434 2509 2854 2629 499.5 0.0 469 4492 1.20 1.60 162.85 2.196 10756 0.164 0.090 2790 1671 2145 2241 2049 0 0 0 0 0 0 13.69 13.23 12.12

4542 0.86 146.0 2791 1672 2241 2043 486.9 8.9 491 4550 0.00 1.60 0.00 0.000 1030 0.000 0.108 2790 2513 2142 2241 2043 0 0 0 0 0 0 28.83 13.58 28.83

4852 0.82 146.0 2790 2513 2241 2040 458.8 9.0 522 4856 0.00 1.50 0.00 0.000 260 0.000 0.123 2789 3356 2140 2241 2040 0 0 0 0 0 0 28.83 14.33 28.83

4920 0.77 146.0 1808 3355 2195 2035 452.4 10.0 528 4928 0.15 1.48 0.00 0.000 5126 0.244 0.083 2762 2516 2140 2241 2039 0 0 0 0 0 0 14.28 14.43 28.83

5230 0.75 146.0 2762 2516 2241 2038 426.6 8.4 559 5237 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2516 2139 2241 2038 0 0 0 0 0 0 28.83 28.83 28.83

5540 0.73 146.0 1760 2514 2194 2033 400.7 8.4 590 5546 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2516 2139 2241 2037 0 0 0 0 0 0 28.83 28.83 28.83

5857 0.72 148.4 2762 2516 2241 2037 374.9 8.2 621 5862 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2516 2138 2241 2036 0 0 0 0 0 0 28.83 28.83 28.83

6165 0.70 148.4 2761 2516 2241 2036 348.3 8.6 652 6169 0.00 1.52 0.00 0.000 260 0.000 0.122 2761 3360 2138 2241 2036 0 0 0 0 0 0 28.83 14.39 28.83

6211 0.68 148.4 2761 3360 2241 2036 344.0 9.3 656 6215 0.15 1.50 0.00 0.000 5126 0.240 0.083 2731 2482 2138 2240 2036 0 0 0 0 0 0 14.31 14.50 28.83

6529 0.69 159.3 2731 2481 2241 2036 318.9 7.8 687 6546 0.00 0.00 13.45 1.984 8454 0.000 0.000 2731 2482 2092 2197 1987 0 0 0 0 0 0 28.83 28.83 13.26

6849 0.74 183.3 2731 2482 2197 1986 294.4 7.3 719 6885 0.00 1.67 26.12 2.046 8452 0.000 0.125 2731 3364 1994 2100 1888 0 0 0 0 0 0 28.83 14.40 13.26

6932 0.74 183.3 2731 3364 2099 1887 287.9 8.7 727 6936 0.00 1.50 0.00 0.000 1030 0.000 0.082 2735 2515 1993 2099 1887 0 0 0 0 0 0 28.83 14.42 28.83

7248 0.80 215.3 2735 2515 2099 1884 264.4 7.0 758 7286 0.00 1.48 33.33 2.020 8708 0.000 0.093 2741 1661 1865 1973 1757 0 0 0 0 0 0 28.83 14.38 13.29

7322 0.84 222.7 2741 1661 1973 1756 259.2 8.0 765 7338 0.12 1.52 9.52 1.806 11270 0.151 0.110 2789 2514 1833 1939 1728 0 0 0 0 0 0 14.40 14.35 13.20

7640 0.82 222.7 2789 2514 1938 1724 226.0 10.4 797 7644 0.00 1.50 0.00 0.000 260 0.000 0.122 2789 3357 1831 1938 1724 0 0 0 0 0 0 28.83 14.40 28.83

7719 0.80 222.7 2789 3357 1937 1724 217.7 11.3 804 7725 0.00 1.48 0.00 0.000 1030 0.000 0.082 2796 2516 1830 1937 1724 0 0 0 0 0 0 28.83 14.48 28.83

8029 0.78 222.7 2795 2516 1936 1723 184.8 10.7 835 8036 0.12 0.00 0.00 0.000 4102 0.252 0.000 2762 2516 1829 1936 1723 0 0 0 0 0 0 14.35 28.83 28.83

8339 0.78 222.7 2762 2516 1936 1723 158.4 8.3 866 8342 0.00 1.50 0.00 0.000 516 0.000 0.094 2766 1666 1829 1936 1723 0 0 0 0 0 0 28.83 14.42 28.83

8377 0.79 222.7 1792 1666 1897 1719 155.5 8.3 869 8384 0.00 1.50 0.00 0.000 1030 0.000 0.111 2766 2511 1829 1936 1722 0 0 0 0 0 0 28.83 14.42 28.83

8686 0.79 222.7 2766 2511 1936 1723 128.3 8.5 900 8692 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2511 1829 1936 1723 0 0 0 0 0 0 28.83 28.83 28.83

9002 0.79 222.7 2766 2511 1936 1722 100.8 8.4 931 9005 0.00 1.48 0.00 0.000 516 0.000 0.096 2772 1670 1829 1936 1723 0 0 0 0 0 0 28.83 14.41 28.83

9062 0.83 240.6 1768 1668 1896 1718 95.7 7.6 941 9081 0.00 1.50 10.43 0.461 9222 0.000 0.111 2772 2518 1759 1860 1659 0 0 0 0 0 0 28.83 14.41 13.76

9399 0.84 240.6 2772 2518 1859 1659 69.0 8.7 1004 9405 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2518 1759 1859 1659 0 0 0 0 0 0 28.83 28.83 28.83

9717 0.95 292.7 2772 2518 1859 1659 45.5 6.3 1065 9755 0.12 1.50 30.23 0.288 10500 0.150 0.122 2827 3356 1546 1637 1455 0 0 0 0 0 0 14.57 14.35 14.00

9778 0.94 292.7 2827 3356 1636 1454 40.4 10.6 1074 9785 0.00 1.48 0.00 0.000 1030 0.000 0.084 2834 2516 1545 1635 1455 0 0 0 0 0 0 28.83 14.42 28.83

10103 0.95 304.8 2834 2515 1630 1454 11.1 7.8 1135 10117 0.00 1.50 5.72 0.196 8708 0.000 0.098 2840 1673 1496 1583 1409 0 0 0 0 0 0 28.83 14.31 14.21

10180 end climb: SURFACE_DEPTH_REACHED

state 10180 begin surface coast

10192 end surface coast: CONTROL_FINISHED_OK

state 10192 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	473	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	25	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	-9044.6377	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	151213,022535,6706.284,-5658.628,49,0.8,49,-33.6	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	1.76	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151213,023533,6706.246,-5658.758,4,1.2,4,-33.6	MHEAD_RNG_PITCHd_Wd	180.2,9823,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	492

FREEZE	0.89,0.150,-1.799,0,1,0	ALTIM_TOP_PING	19.8,19.3
FINISH	0.9,1.026353	_24V_AH	12.1,209.945
SM_CCo	10222,50.08,0.162,0,0,1108,400.08	_10V_AH	11.3,0.000
SM_GC	1.85,7.95,1.60,50.08,0.087,0.145,0.162,143,2502,1108,-7.35,-0.37,400.08,0,0,0,0,0,0,14.46,14.30,14.24	FG_AHR_24Vo	0.000
RAFOS_CLK	441	FG_AHR_10Vo	0.000
RAFOS	0,1387080065,4.033333,4.018055,66,63,59,59,53,52,207,225,126,191,175,157	MEM	150704
RAFOS_FIX	6700.071289,-5741.050781,111213,040444,3,104,0.15	DATA_FILE_SIZE	50078,1150
IRIDIUM_FIX	6636.54,-5655.33,141213,232305	CAP_FILE_SIZE	120456,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,214224896
HUMID	42.63	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.75227	SOUNDSPEED	1471.8
TCM_TEMP	14.10	CURRENT	0.211,307.9,1
XPDR_PINGS	34	GPS	151213,052905,6705.816,-5659.277,35,1.0,35,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	410	104.88	SBE_CT	798	23	224.43
Roll_motor	45	150	83.15	SBE_O2	0	0	0.00
VBD_pump_during_apogee	445	2330	12548.32	nil	0	0	0.00
VBD_pump_during_surface	50	162	98.27	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	418	139	708.96	nil	0	0	0.00
Transponder_ping	9	420	49.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.17
TT8	2840	14	480.20
LPSleep	4628	2	120.82
TT8_Active	568	14	91.25
TT8_Sampling	2178	33	829.32
TT8_CF8	650	39	291.75
TT8_Kalman	0	0	0.00
Analog_circuits	1989	12	269.74
GPS_charging	0	0	0.00
Compass	1804	6	137.41
RAFOS	2520	1	42.71
Transponder	15	30	5.31

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	-0.89	-146.0	98	2517	1113	1072	0.0	0.0	0	106	0.00	0.00	-83.30	0.000	16386	0.000	0.000	96	2517	2716	2764	2669	0	0	0	0	0	0	28.83	28.83	28.83
114	-0.89	-146.0	95	2517	2765	2669	3.3	-4.5	14	146	10.32	1.50	-14.45	0.000	19204	0.411	0.151	2209	3348	3339	3506	3173	0	0	0	0	0	0	13.93	14.34	14.80
385	-0.81	-146.0	2209	3349	3507	3172	64.7	-22.4	64	392	0.15	1.50	0.00	0.000	3078	0.280	0.080	2242	2467	3339	3507	3171	0	0	0	0	0	0	14.12	14.42	28.83
705	-0.75	-146.0	2242	2467	3507	3170	118.8	-16.5	114	708	0.00	1.60	0.00	0.000	260	0.000	0.125	2237	3349	3338	3507	3170	0	0	0	0	0	0	28.83	14.31	28.83
825	-0.70	-146.0	2237	3349	3507	3169	138.5	-16.9	125	832	0.17	1.48	0.00	0.000	3078	0.260	0.079	2277	2505	3338	3507	3169	0	0	0	0	0	0	14.15	14.42	28.83
1135	-0.67	-146.0	2277	2505	3507	3169	181.8	-12.8	156	1138	0.00	1.50	0.00	0.000	516	0.000	0.093	2278	1628	3338	3507	3169	0	0	0	0	0	0	28.83	14.38	28.83
1233	-0.66	-146.0	1412	1626	3500	3166	194.2	-12.7	165	1240	0.00	1.55	0.00	0.000	1030	0.000	0.112	2273	2499	3338	3507	3169	0	0	0	0	0	0	28.83	14.34	28.83
1542	-0.63	-146.0	2273	2499	3507	3169	234.2	-12.9	196	1549	0.12	0.00	0.00	0.000	2054	0.278	0.000	2306	2499	3338	3507	3169	0	0	0	0	0	0	14.24	28.83	28.83
1851	-0.63	-146.0	2306	2499	3509	3169	267.6	-10.9	227	1855	0.00	1.52	0.00	0.000	260	0.000	0.125	2301	3349	3339	3509	3169	0	0	0	0	0	0	28.83	14.30	28.83
1899	-0.63	-146.0	2301	3349	3509	3170	272.4	-10.8	231	1907	0.00	1.48	0.00	0.000	1030	0.000	0.080	2301	2506	3339	3509	3169	0	0	0	0	0	0	28.83	14.42	28.83
2210	-0.63	-146.0	2301	2506	3510	3170	305.6	-9.8	262	2216	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	2506	3340	3510	3170	0	0	0	0	0	0	28.83	28.83	28.83
2525	-0.63	-146.0	2301	2505	3510	3169	337.0	-9.8	293	2531	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	2506	3340	3510	3170	0	0	0	0	0	0	28.83	28.83	28.83
2841	-0.63	-146.0	2301	2506	3512	3170	367.7	-9.8	324	2847	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	2505	3340	3512	3169	0	0	0	0	0	0	28.83	28.83	28.83
3153	-0.63	-146.0	2301	2506	3514	3169	398.7	-9.4	355	3157	0.00	1.50	0.00	0.000	516	0.000	0.090	2301	1626	3341	3513	3169	0	0	0	0	0	0	28.83	14.37	28.83
3193	-0.63	-146.0	1424	1625	3506	3166	402.7	-9.6	358	3200	0.00	1.58	0.00	0.000	1030	0.000	0.109	2295	2509	3341	3514	3169	0	0	0	0	0	0	28.83	14.34	28.83
3501	-0.63	-146.0	2295	2509	3514	3169	433.4	-9.9	389	3507	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	2509	3342	3514	3170	0	0	0	0	0	0	28.83	28.83	28.83
3818	-0.63	-146.0	2295	2509	3515	3170	463.7	-9.8	420	3824	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	2509	3342	3515	3170	0	0	0	0	0	0	28.83	28.83	28.83
4125	end dive: TARGET_DEPTH_EXCEEDED
state	4125	begin apogee
4138	-0.22	0.0	2295	2508	3516	3170	492.5	-9.7	451	4307	0.50	0.00	153.40	2.330	10246	0.220	0.000	2434	2508	2742	2854	2630	0	0	0	0	0	0	14.11	28.83	12.57
4308	end apogee: CONTROL_FINISHED_OK
state	4308	begin climb
4315	0.89	146.0	2434	2509	2854	2629	499.5	0.0	469	4492	1.20	1.60	162.85	2.196	10756	0.164	0.090	2790	1671	2145	2241	2049	0	0	0	0	0	0	13.69	13.23	12.12
4542	0.86	146.0	2791	1672	2241	2043	486.9	8.9	491	4550	0.00	1.60	0.00	0.000	1030	0.000	0.108	2790	2513	2142	2241	2043	0	0	0	0	0	0	28.83	13.58	28.83
4852	0.82	146.0	2790	2513	2241	2040	458.8	9.0	522	4856	0.00	1.50	0.00	0.000	260	0.000	0.123	2789	3356	2140	2241	2040	0	0	0	0	0	0	28.83	14.33	28.83
4920	0.77	146.0	1808	3355	2195	2035	452.4	10.0	528	4928	0.15	1.48	0.00	0.000	5126	0.244	0.083	2762	2516	2140	2241	2039	0	0	0	0	0	0	14.28	14.43	28.83
5230	0.75	146.0	2762	2516	2241	2038	426.6	8.4	559	5237	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2516	2139	2241	2038	0	0	0	0	0	0	28.83	28.83	28.83
5540	0.73	146.0	1760	2514	2194	2033	400.7	8.4	590	5546	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2516	2139	2241	2037	0	0	0	0	0	0	28.83	28.83	28.83
5857	0.72	148.4	2762	2516	2241	2037	374.9	8.2	621	5862	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2516	2138	2241	2036	0	0	0	0	0	0	28.83	28.83	28.83
6165	0.70	148.4	2761	2516	2241	2036	348.3	8.6	652	6169	0.00	1.52	0.00	0.000	260	0.000	0.122	2761	3360	2138	2241	2036	0	0	0	0	0	0	28.83	14.39	28.83
6211	0.68	148.4	2761	3360	2241	2036	344.0	9.3	656	6215	0.15	1.50	0.00	0.000	5126	0.240	0.083	2731	2482	2138	2240	2036	0	0	0	0	0	0	14.31	14.50	28.83
6529	0.69	159.3	2731	2481	2241	2036	318.9	7.8	687	6546	0.00	0.00	13.45	1.984	8454	0.000	0.000	2731	2482	2092	2197	1987	0	0	0	0	0	0	28.83	28.83	13.26
6849	0.74	183.3	2731	2482	2197	1986	294.4	7.3	719	6885	0.00	1.67	26.12	2.046	8452	0.000	0.125	2731	3364	1994	2100	1888	0	0	0	0	0	0	28.83	14.40	13.26
6932	0.74	183.3	2731	3364	2099	1887	287.9	8.7	727	6936	0.00	1.50	0.00	0.000	1030	0.000	0.082	2735	2515	1993	2099	1887	0	0	0	0	0	0	28.83	14.42	28.83
7248	0.80	215.3	2735	2515	2099	1884	264.4	7.0	758	7286	0.00	1.48	33.33	2.020	8708	0.000	0.093	2741	1661	1865	1973	1757	0	0	0	0	0	0	28.83	14.38	13.29
7322	0.84	222.7	2741	1661	1973	1756	259.2	8.0	765	7338	0.12	1.52	9.52	1.806	11270	0.151	0.110	2789	2514	1833	1939	1728	0	0	0	0	0	0	14.40	14.35	13.20
7640	0.82	222.7	2789	2514	1938	1724	226.0	10.4	797	7644	0.00	1.50	0.00	0.000	260	0.000	0.122	2789	3357	1831	1938	1724	0	0	0	0	0	0	28.83	14.40	28.83
7719	0.80	222.7	2789	3357	1937	1724	217.7	11.3	804	7725	0.00	1.48	0.00	0.000	1030	0.000	0.082	2796	2516	1830	1937	1724	0	0	0	0	0	0	28.83	14.48	28.83
8029	0.78	222.7	2795	2516	1936	1723	184.8	10.7	835	8036	0.12	0.00	0.00	0.000	4102	0.252	0.000	2762	2516	1829	1936	1723	0	0	0	0	0	0	14.35	28.83	28.83
8339	0.78	222.7	2762	2516	1936	1723	158.4	8.3	866	8342	0.00	1.50	0.00	0.000	516	0.000	0.094	2766	1666	1829	1936	1723	0	0	0	0	0	0	28.83	14.42	28.83
8377	0.79	222.7	1792	1666	1897	1719	155.5	8.3	869	8384	0.00	1.50	0.00	0.000	1030	0.000	0.111	2766	2511	1829	1936	1722	0	0	0	0	0	0	28.83	14.42	28.83
8686	0.79	222.7	2766	2511	1936	1723	128.3	8.5	900	8692	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2511	1829	1936	1723	0	0	0	0	0	0	28.83	28.83	28.83
9002	0.79	222.7	2766	2511	1936	1722	100.8	8.4	931	9005	0.00	1.48	0.00	0.000	516	0.000	0.096	2772	1670	1829	1936	1723	0	0	0	0	0	0	28.83	14.41	28.83
9062	0.83	240.6	1768	1668	1896	1718	95.7	7.6	941	9081	0.00	1.50	10.43	0.461	9222	0.000	0.111	2772	2518	1759	1860	1659	0	0	0	0	0	0	28.83	14.41	13.76
9399	0.84	240.6	2772	2518	1859	1659	69.0	8.7	1004	9405	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2518	1759	1859	1659	0	0	0	0	0	0	28.83	28.83	28.83
9717	0.95	292.7	2772	2518	1859	1659	45.5	6.3	1065	9755	0.12	1.50	30.23	0.288	10500	0.150	0.122	2827	3356	1546	1637	1455	0	0	0	0	0	0	14.57	14.35	14.00
9778	0.94	292.7	2827	3356	1636	1454	40.4	10.6	1074	9785	0.00	1.48	0.00	0.000	1030	0.000	0.084	2834	2516	1545	1635	1455	0	0	0	0	0	0	28.83	14.42	28.83
10103	0.95	304.8	2834	2515	1630	1454	11.1	7.8	1135	10117	0.00	1.50	5.72	0.196	8708	0.000	0.098	2840	1673	1496	1583	1409	0	0	0	0	0	0	28.83	14.31	14.21
10180	end climb: SURFACE_DEPTH_REACHED
state	10180	begin surface coast
10192	end surface coast: CONTROL_FINISHED_OK
state	10192	begin surface