Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 475 * 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 475 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 24 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 549.71729 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 -9047.1523 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 549.71729

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 -9047.1523

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 24 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 475 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 151213,083405,6705.745,-5659.064,29,0.8,29,-33.6 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151213,085004,6705.817,-5659.451,108,1.2,108,-33.6 MHEAD_RNG_PITCHd_Wd 168.2,9777,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 510

Post-dive calculations and measurements:

FREEZE 0.88,-0.073,-1.804,0,2,0 _24V_AH 12.1,210.621

FINISH 0.9,1.026429 _10V_AH 11.2,0.000

SM_CCo 10694,129.77,0.164,0,0,499,549.72 FG_AHR_24Vo 0.000

SM_GC 1.73,7.97,0.00,129.77,0.086,0.000,0.164,138,2510,499,-7.36,0.28,549.72,0,0,0,0,0,0,14.46,28.83,14.24 FG_AHR_10Vo 0.000

RAFOS_CLK 463 MEM 150748

RAFOS_FIX 6700.071289,-5741.050781,111213,040444,3,104,0.15 DATA_FILE_SIZE 50054,1200

IRIDIUM_FIX 6636.54,-5704.59,151213,080803 CAP_FILE_SIZE 131042,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,214077440

HUMID 41.17 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.69367 SOUNDSPEED 1471.5

TCM_TEMP 14.00 CURRENT 0.420,319.9,1

XPDR_PINGS 26 GPS 151213,115253,6706.707,-5700.792,38,1.4,38,-33.6

ALTIM_TOP_PING 19.3,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 408 103.18 SBE_CT 834 23 234.39

Roll_motor 48 126 74.45 SBE_O2 0 0 0.00

VBD_pump_during_apogee 438 2317 12305.71 nil 0 0 0.00

VBD_pump_during_surface 129 163 257.07 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 540 127 835.37 nil 0 0 0.00

Transponder_ping 8 420 40.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 115 18 24.22

TT8 2972 14 498.12

LPSleep 4998 2 129.31

TT8_Active 646 14 102.93

TT8_Sampling 2467 33 931.04

TT8_CF8 697 39 309.89

TT8_Kalman 0 0 0.00

Analog_circuits 2210 12 297.06

GPS_charging 0 0 0.00

Compass 1874 6 141.49

RAFOS 0 0 0.00

Transponder 11 30 3.92

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 95 2516 1114 1069 0.0 0.0 0 99 0.00 0.00 -76.60 0.000 16386 0.000 0.000 94 2516 2545 2608 2483 0 0 0 0 0 0 28.83 28.83 28.83

106 -0.89 -146.0 94 2516 2608 2484 3.1 -4.2 13 145 10.35 1.50 -20.90 0.000 19204 0.409 0.127 2217 1658 3338 3506 3170 0 0 0 0 0 0 13.90 14.39 14.83

383 -0.81 -146.0 2217 1657 3508 3170 56.9 -18.9 64 390 0.15 1.52 0.00 0.000 3078 0.283 0.113 2244 2506 3338 3508 3169 0 0 0 0 0 0 14.12 14.33 28.83

702 -0.76 -146.0 2244 2506 3508 3169 111.8 -15.4 118 708 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2506 3338 3508 3169 0 0 0 0 0 0 28.83 28.83 28.83

1019 -0.71 -146.0 2244 2506 3508 3168 157.2 -14.5 149 1026 0.12 0.00 0.00 0.000 2054 0.294 0.000 2277 2506 3337 3507 3167 0 0 0 0 0 0 14.19 28.83 28.83

1328 -0.69 -146.0 2277 2506 3508 3167 196.5 -12.4 180 1334 0.00 0.00 0.00 0.000 6 0.000 0.000 2277 2506 3338 3508 3168 0 0 0 0 0 0 28.83 28.83 28.83

1644 -0.67 -146.0 2277 2506 3508 3167 235.6 -12.6 211 1648 0.00 1.52 0.00 0.000 260 0.000 0.124 2273 3353 3338 3508 3168 0 0 0 0 0 0 28.83 14.31 28.83

1700 -0.64 -146.0 2273 3353 3508 3168 243.5 -13.2 216 1703 0.00 1.50 0.00 0.000 1030 0.000 0.080 2273 2494 3338 3508 3168 0 0 0 0 0 0 28.83 14.41 28.83

2016 -0.62 -146.0 2273 2494 3509 3168 284.6 -12.8 247 2020 0.12 1.42 0.00 0.000 2564 0.266 0.090 2306 1658 3338 3509 3167 0 0 0 0 0 0 14.29 14.38 28.83

2081 -0.62 -146.0 2306 1658 3509 3167 292.2 -11.2 253 2085 0.00 1.50 0.00 0.000 1030 0.000 0.112 2302 2504 3338 3509 3168 0 0 0 0 0 0 28.83 14.33 28.83

2397 -0.62 -146.0 2302 2503 3510 3168 325.6 -10.0 284 2403 0.00 0.00 0.00 0.000 6 0.000 0.000 2302 2503 3339 3510 3168 0 0 0 0 0 0 28.83 28.83 28.83

2713 -0.62 -146.0 2302 2504 3512 3168 355.4 -9.3 315 2716 0.00 1.50 0.00 0.000 260 0.000 0.123 2296 3347 3340 3512 3168 0 0 0 0 0 0 28.83 14.28 28.83

2750 -0.62 -146.0 1440 3346 3505 3165 359.3 -9.5 318 2757 0.00 1.48 0.00 0.000 1030 0.000 0.078 2296 2498 3340 3512 3168 0 0 0 0 0 0 28.83 14.40 28.83

3058 -0.62 -146.0 2296 2498 3514 3168 389.3 -9.5 349 3062 0.00 1.48 0.00 0.000 516 0.000 0.092 2296 1660 3341 3514 3168 0 0 0 0 0 0 28.83 14.33 28.83

3107 -0.62 -146.0 2296 1661 3514 3168 393.7 -9.9 353 3115 0.00 1.50 0.00 0.000 1030 0.000 0.109 2290 2503 3341 3514 3168 0 0 0 0 0 0 28.83 14.32 28.83

3416 -0.62 -146.0 2290 2503 3515 3168 424.5 -9.9 384 3422 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2503 3341 3514 3168 0 0 0 0 0 0 28.83 28.83 28.83

3734 -0.62 -146.0 2290 2503 3516 3168 454.8 -9.9 415 3738 0.00 1.52 0.00 0.000 260 0.000 0.122 2282 3354 3342 3516 3168 0 0 0 0 0 0 28.83 14.29 28.83

3770 -0.62 -146.0 2283 3353 3517 3168 458.9 -9.5 418 3773 0.00 1.48 0.00 0.000 1030 0.000 0.078 2283 2503 3342 3516 3168 0 0 0 0 0 0 28.83 14.41 28.83

4086 -0.60 -146.0 2283 2503 3517 3168 490.5 -9.0 449 4094 0.12 0.00 0.00 0.000 2054 0.259 0.000 2316 2503 3342 3517 3168 0 0 0 0 0 0 14.24 28.83 28.83

4345 end dive: TARGET_DEPTH_EXCEEDED

state 4345 begin apogee

4358 -0.22 0.0 2316 2503 3518 3168 510.8 -7.8 475 4522 0.40 0.00 152.77 2.318 10246 0.205 0.000 2431 2503 2740 2853 2628 0 0 0 0 0 0 14.16 28.83 12.57

4523 end apogee: CONTROL_FINISHED_OK

state 4523 begin climb

4529 0.89 146.0 2431 2502 2854 2628 517.3 0.0 492 4708 1.23 1.73 164.62 2.262 10500 0.162 0.118 2790 3363 2146 2242 2050 0 0 0 0 0 0 13.67 13.19 12.07

4815 0.84 146.0 2791 3363 2239 2049 495.6 10.6 520 4819 0.00 1.58 0.00 0.000 1030 0.000 0.080 2797 2510 2144 2239 2049 0 0 0 0 0 0 28.83 13.83 28.83

5131 0.80 146.0 2797 2510 2240 2043 462.7 10.6 551 5137 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2510 2141 2239 2043 0 0 0 0 0 0 28.83 28.83 28.83

5447 0.75 146.0 2797 2510 2240 2042 430.8 10.2 582 5451 0.15 1.55 0.00 0.000 4356 0.251 0.122 2756 3366 2140 2239 2042 0 0 0 0 0 0 14.34 14.42 28.83

5524 0.73 146.0 2756 3366 2239 2042 423.1 9.1 589 5527 0.00 1.50 0.00 0.000 1030 0.000 0.082 2761 2484 2140 2239 2042 0 0 0 0 0 0 28.83 14.52 28.83

5839 0.72 146.0 2761 2483 2239 2042 396.6 8.9 620 5845 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2483 2140 2239 2042 0 0 0 0 0 0 28.83 28.83 28.83

6155 0.71 150.7 2761 2484 2240 2041 370.9 8.1 651 6168 0.00 0.00 5.55 1.697 8198 0.000 0.000 2761 2484 2126 2227 2025 0 0 0 0 0 0 28.83 28.83 13.28

6471 0.72 170.4 2761 2484 2227 2025 344.8 7.5 683 6498 0.00 1.65 21.75 2.079 8452 0.000 0.122 2761 3360 2046 2149 1944 0 0 0 0 0 0 28.83 14.45 13.26

6548 0.70 170.4 1792 3359 2106 1940 338.3 9.6 690 6555 0.12 1.50 0.00 0.000 5126 0.249 0.082 2739 2485 2046 2149 1944 0 0 0 0 0 0 14.31 14.45 28.83

6857 0.71 177.0 2739 2485 2149 1942 313.6 8.0 721 6872 0.00 0.00 8.23 1.841 8198 0.000 0.000 2739 2485 2019 2123 1915 0 0 0 0 0 0 28.83 28.83 13.28

7178 0.72 177.6 2739 2485 2123 1915 287.2 8.2 753 7182 0.00 1.60 0.00 0.000 260 0.000 0.122 2739 3352 2019 2123 1915 0 0 0 0 0 0 28.83 14.38 28.83

7234 0.72 177.6 2739 3352 2123 1914 282.3 9.3 758 7238 0.00 1.48 0.00 0.000 1030 0.000 0.083 2743 2513 2019 2123 1915 0 0 0 0 0 0 28.83 14.49 28.83

7550 0.72 179.3 2743 2513 2123 1914 255.7 8.2 789 7553 0.00 1.48 0.00 0.000 516 0.000 0.095 2749 1674 2018 2123 1914 0 0 0 0 0 0 28.83 14.42 28.83

7617 0.74 183.7 2749 1673 2123 1914 250.7 8.1 795 7635 0.00 1.50 8.52 1.817 9222 0.000 0.109 2749 2528 1992 2097 1888 0 0 0 0 0 0 28.83 14.42 13.32

7937 0.75 193.1 2749 2528 2097 1888 225.2 7.9 827 7955 0.00 1.45 11.15 1.868 8452 0.000 0.119 2749 3353 1954 2059 1850 0 0 0 0 0 0 28.83 14.53 13.35

7994 0.75 193.1 1792 3352 2018 1846 220.6 8.7 832 8000 0.00 1.48 0.00 0.000 1030 0.000 0.083 2755 2513 1954 2059 1850 0 0 0 0 0 0 28.83 14.49 28.83

8302 0.75 193.1 2755 2513 2060 1850 195.0 8.3 863 8308 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2513 1955 2060 1850 0 0 0 0 0 0 28.83 28.83 28.83

8619 0.77 203.5 2755 2513 2060 1849 169.9 7.9 894 8637 0.00 0.00 12.23 1.856 8198 0.000 0.000 2755 2513 1912 2018 1806 0 0 0 0 0 0 28.83 28.83 13.38

8942 0.77 203.5 2755 2513 2017 1804 144.3 8.3 927 8946 0.00 1.50 0.00 0.000 516 0.000 0.096 2761 1665 1911 2018 1804 0 0 0 0 0 0 28.83 14.41 28.83

8992 0.78 204.0 2761 1665 2018 1803 140.7 8.2 931 8998 0.00 1.50 0.00 0.000 1030 0.000 0.109 2761 2513 1910 2017 1803 0 0 0 0 0 0 28.83 14.43 28.83

9301 0.79 212.3 2761 2513 2018 1803 114.4 7.9 962 9311 0.00 1.58 5.82 1.509 8452 0.000 0.121 2761 3368 1875 1983 1768 0 0 0 0 0 0 28.83 14.54 13.35

9370 0.79 212.3 2761 3367 1983 1768 108.7 8.9 968 9377 0.00 1.50 0.00 0.000 1030 0.000 0.082 2768 2485 1875 1983 1768 0 0 0 0 0 0 28.83 14.52 28.83

9683 0.79 212.3 1792 2483 1941 1764 81.2 8.7 1019 9690 0.00 1.45 0.00 0.000 516 0.000 0.096 2774 1664 1875 1983 1768 0 0 0 0 0 0 28.83 14.40 28.83

9727 0.81 212.3 2774 1665 1983 1767 77.3 8.9 1026 9734 0.00 1.50 0.00 0.000 1030 0.000 0.109 2774 2514 1875 1983 1767 0 0 0 0 0 0 28.83 14.42 28.83

10046 0.92 272.2 1768 2512 1941 1763 54.0 6.0 1087 10089 0.00 1.55 34.38 0.319 8452 0.000 0.122 2773 3357 1631 1724 1538 0 0 0 0 0 0 28.83 14.40 14.12

10112 0.97 286.7 1760 3356 1689 1535 49.8 7.7 1097 10127 0.12 1.48 8.10 0.318 11270 0.148 0.082 2829 2511 1571 1661 1482 0 0 0 0 0 0 14.50 14.45 14.08

10443 0.98 298.1 2829 2512 1658 1477 18.9 7.8 1159 10456 0.00 0.00 5.62 0.223 8454 0.000 0.000 2829 2512 1524 1612 1436 0 0 0 0 0 0 28.83 28.83 14.17

10613 end climb: SURFACE_DEPTH_REACHED

state 10613 begin surface coast

10665 end surface coast: CONTROL_FINISHED_OK

state 10666 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	475	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	24	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	549.71729	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	-9047.1523	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	151213,083405,6705.745,-5659.064,29,0.8,29,-33.6	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151213,085004,6705.817,-5659.451,108,1.2,108,-33.6	MHEAD_RNG_PITCHd_Wd	168.2,9777,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	510

FREEZE	0.88,-0.073,-1.804,0,2,0	_24V_AH	12.1,210.621
FINISH	0.9,1.026429	_10V_AH	11.2,0.000
SM_CCo	10694,129.77,0.164,0,0,499,549.72	FG_AHR_24Vo	0.000
SM_GC	1.73,7.97,0.00,129.77,0.086,0.000,0.164,138,2510,499,-7.36,0.28,549.72,0,0,0,0,0,0,14.46,28.83,14.24	FG_AHR_10Vo	0.000
RAFOS_CLK	463	MEM	150748
RAFOS_FIX	6700.071289,-5741.050781,111213,040444,3,104,0.15	DATA_FILE_SIZE	50054,1200
IRIDIUM_FIX	6636.54,-5704.59,151213,080803	CAP_FILE_SIZE	131042,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,214077440
HUMID	41.17	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.69367	SOUNDSPEED	1471.5
TCM_TEMP	14.00	CURRENT	0.420,319.9,1
XPDR_PINGS	26	GPS	151213,115253,6706.707,-5700.792,38,1.4,38,-33.6
ALTIM_TOP_PING	19.3,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	408	103.18	SBE_CT	834	23	234.39
Roll_motor	48	126	74.45	SBE_O2	0	0	0.00
VBD_pump_during_apogee	438	2317	12305.71	nil	0	0	0.00
VBD_pump_during_surface	129	163	257.07	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	540	127	835.37	nil	0	0	0.00
Transponder_ping	8	420	40.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	115	18	24.22
TT8	2972	14	498.12
LPSleep	4998	2	129.31
TT8_Active	646	14	102.93
TT8_Sampling	2467	33	931.04
TT8_CF8	697	39	309.89
TT8_Kalman	0	0	0.00
Analog_circuits	2210	12	297.06
GPS_charging	0	0	0.00
Compass	1874	6	141.49
RAFOS	0	0	0.00
Transponder	11	30	3.92

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	95	2516	1114	1069	0.0	0.0	0	99	0.00	0.00	-76.60	0.000	16386	0.000	0.000	94	2516	2545	2608	2483	0	0	0	0	0	0	28.83	28.83	28.83
106	-0.89	-146.0	94	2516	2608	2484	3.1	-4.2	13	145	10.35	1.50	-20.90	0.000	19204	0.409	0.127	2217	1658	3338	3506	3170	0	0	0	0	0	0	13.90	14.39	14.83
383	-0.81	-146.0	2217	1657	3508	3170	56.9	-18.9	64	390	0.15	1.52	0.00	0.000	3078	0.283	0.113	2244	2506	3338	3508	3169	0	0	0	0	0	0	14.12	14.33	28.83
702	-0.76	-146.0	2244	2506	3508	3169	111.8	-15.4	118	708	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2506	3338	3508	3169	0	0	0	0	0	0	28.83	28.83	28.83
1019	-0.71	-146.0	2244	2506	3508	3168	157.2	-14.5	149	1026	0.12	0.00	0.00	0.000	2054	0.294	0.000	2277	2506	3337	3507	3167	0	0	0	0	0	0	14.19	28.83	28.83
1328	-0.69	-146.0	2277	2506	3508	3167	196.5	-12.4	180	1334	0.00	0.00	0.00	0.000	6	0.000	0.000	2277	2506	3338	3508	3168	0	0	0	0	0	0	28.83	28.83	28.83
1644	-0.67	-146.0	2277	2506	3508	3167	235.6	-12.6	211	1648	0.00	1.52	0.00	0.000	260	0.000	0.124	2273	3353	3338	3508	3168	0	0	0	0	0	0	28.83	14.31	28.83
1700	-0.64	-146.0	2273	3353	3508	3168	243.5	-13.2	216	1703	0.00	1.50	0.00	0.000	1030	0.000	0.080	2273	2494	3338	3508	3168	0	0	0	0	0	0	28.83	14.41	28.83
2016	-0.62	-146.0	2273	2494	3509	3168	284.6	-12.8	247	2020	0.12	1.42	0.00	0.000	2564	0.266	0.090	2306	1658	3338	3509	3167	0	0	0	0	0	0	14.29	14.38	28.83
2081	-0.62	-146.0	2306	1658	3509	3167	292.2	-11.2	253	2085	0.00	1.50	0.00	0.000	1030	0.000	0.112	2302	2504	3338	3509	3168	0	0	0	0	0	0	28.83	14.33	28.83
2397	-0.62	-146.0	2302	2503	3510	3168	325.6	-10.0	284	2403	0.00	0.00	0.00	0.000	6	0.000	0.000	2302	2503	3339	3510	3168	0	0	0	0	0	0	28.83	28.83	28.83
2713	-0.62	-146.0	2302	2504	3512	3168	355.4	-9.3	315	2716	0.00	1.50	0.00	0.000	260	0.000	0.123	2296	3347	3340	3512	3168	0	0	0	0	0	0	28.83	14.28	28.83
2750	-0.62	-146.0	1440	3346	3505	3165	359.3	-9.5	318	2757	0.00	1.48	0.00	0.000	1030	0.000	0.078	2296	2498	3340	3512	3168	0	0	0	0	0	0	28.83	14.40	28.83
3058	-0.62	-146.0	2296	2498	3514	3168	389.3	-9.5	349	3062	0.00	1.48	0.00	0.000	516	0.000	0.092	2296	1660	3341	3514	3168	0	0	0	0	0	0	28.83	14.33	28.83
3107	-0.62	-146.0	2296	1661	3514	3168	393.7	-9.9	353	3115	0.00	1.50	0.00	0.000	1030	0.000	0.109	2290	2503	3341	3514	3168	0	0	0	0	0	0	28.83	14.32	28.83
3416	-0.62	-146.0	2290	2503	3515	3168	424.5	-9.9	384	3422	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2503	3341	3514	3168	0	0	0	0	0	0	28.83	28.83	28.83
3734	-0.62	-146.0	2290	2503	3516	3168	454.8	-9.9	415	3738	0.00	1.52	0.00	0.000	260	0.000	0.122	2282	3354	3342	3516	3168	0	0	0	0	0	0	28.83	14.29	28.83
3770	-0.62	-146.0	2283	3353	3517	3168	458.9	-9.5	418	3773	0.00	1.48	0.00	0.000	1030	0.000	0.078	2283	2503	3342	3516	3168	0	0	0	0	0	0	28.83	14.41	28.83
4086	-0.60	-146.0	2283	2503	3517	3168	490.5	-9.0	449	4094	0.12	0.00	0.00	0.000	2054	0.259	0.000	2316	2503	3342	3517	3168	0	0	0	0	0	0	14.24	28.83	28.83
4345	end dive: TARGET_DEPTH_EXCEEDED
state	4345	begin apogee
4358	-0.22	0.0	2316	2503	3518	3168	510.8	-7.8	475	4522	0.40	0.00	152.77	2.318	10246	0.205	0.000	2431	2503	2740	2853	2628	0	0	0	0	0	0	14.16	28.83	12.57
4523	end apogee: CONTROL_FINISHED_OK
state	4523	begin climb
4529	0.89	146.0	2431	2502	2854	2628	517.3	0.0	492	4708	1.23	1.73	164.62	2.262	10500	0.162	0.118	2790	3363	2146	2242	2050	0	0	0	0	0	0	13.67	13.19	12.07
4815	0.84	146.0	2791	3363	2239	2049	495.6	10.6	520	4819	0.00	1.58	0.00	0.000	1030	0.000	0.080	2797	2510	2144	2239	2049	0	0	0	0	0	0	28.83	13.83	28.83
5131	0.80	146.0	2797	2510	2240	2043	462.7	10.6	551	5137	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2510	2141	2239	2043	0	0	0	0	0	0	28.83	28.83	28.83
5447	0.75	146.0	2797	2510	2240	2042	430.8	10.2	582	5451	0.15	1.55	0.00	0.000	4356	0.251	0.122	2756	3366	2140	2239	2042	0	0	0	0	0	0	14.34	14.42	28.83
5524	0.73	146.0	2756	3366	2239	2042	423.1	9.1	589	5527	0.00	1.50	0.00	0.000	1030	0.000	0.082	2761	2484	2140	2239	2042	0	0	0	0	0	0	28.83	14.52	28.83
5839	0.72	146.0	2761	2483	2239	2042	396.6	8.9	620	5845	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2483	2140	2239	2042	0	0	0	0	0	0	28.83	28.83	28.83
6155	0.71	150.7	2761	2484	2240	2041	370.9	8.1	651	6168	0.00	0.00	5.55	1.697	8198	0.000	0.000	2761	2484	2126	2227	2025	0	0	0	0	0	0	28.83	28.83	13.28
6471	0.72	170.4	2761	2484	2227	2025	344.8	7.5	683	6498	0.00	1.65	21.75	2.079	8452	0.000	0.122	2761	3360	2046	2149	1944	0	0	0	0	0	0	28.83	14.45	13.26
6548	0.70	170.4	1792	3359	2106	1940	338.3	9.6	690	6555	0.12	1.50	0.00	0.000	5126	0.249	0.082	2739	2485	2046	2149	1944	0	0	0	0	0	0	14.31	14.45	28.83
6857	0.71	177.0	2739	2485	2149	1942	313.6	8.0	721	6872	0.00	0.00	8.23	1.841	8198	0.000	0.000	2739	2485	2019	2123	1915	0	0	0	0	0	0	28.83	28.83	13.28
7178	0.72	177.6	2739	2485	2123	1915	287.2	8.2	753	7182	0.00	1.60	0.00	0.000	260	0.000	0.122	2739	3352	2019	2123	1915	0	0	0	0	0	0	28.83	14.38	28.83
7234	0.72	177.6	2739	3352	2123	1914	282.3	9.3	758	7238	0.00	1.48	0.00	0.000	1030	0.000	0.083	2743	2513	2019	2123	1915	0	0	0	0	0	0	28.83	14.49	28.83
7550	0.72	179.3	2743	2513	2123	1914	255.7	8.2	789	7553	0.00	1.48	0.00	0.000	516	0.000	0.095	2749	1674	2018	2123	1914	0	0	0	0	0	0	28.83	14.42	28.83
7617	0.74	183.7	2749	1673	2123	1914	250.7	8.1	795	7635	0.00	1.50	8.52	1.817	9222	0.000	0.109	2749	2528	1992	2097	1888	0	0	0	0	0	0	28.83	14.42	13.32
7937	0.75	193.1	2749	2528	2097	1888	225.2	7.9	827	7955	0.00	1.45	11.15	1.868	8452	0.000	0.119	2749	3353	1954	2059	1850	0	0	0	0	0	0	28.83	14.53	13.35
7994	0.75	193.1	1792	3352	2018	1846	220.6	8.7	832	8000	0.00	1.48	0.00	0.000	1030	0.000	0.083	2755	2513	1954	2059	1850	0	0	0	0	0	0	28.83	14.49	28.83
8302	0.75	193.1	2755	2513	2060	1850	195.0	8.3	863	8308	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2513	1955	2060	1850	0	0	0	0	0	0	28.83	28.83	28.83
8619	0.77	203.5	2755	2513	2060	1849	169.9	7.9	894	8637	0.00	0.00	12.23	1.856	8198	0.000	0.000	2755	2513	1912	2018	1806	0	0	0	0	0	0	28.83	28.83	13.38
8942	0.77	203.5	2755	2513	2017	1804	144.3	8.3	927	8946	0.00	1.50	0.00	0.000	516	0.000	0.096	2761	1665	1911	2018	1804	0	0	0	0	0	0	28.83	14.41	28.83
8992	0.78	204.0	2761	1665	2018	1803	140.7	8.2	931	8998	0.00	1.50	0.00	0.000	1030	0.000	0.109	2761	2513	1910	2017	1803	0	0	0	0	0	0	28.83	14.43	28.83
9301	0.79	212.3	2761	2513	2018	1803	114.4	7.9	962	9311	0.00	1.58	5.82	1.509	8452	0.000	0.121	2761	3368	1875	1983	1768	0	0	0	0	0	0	28.83	14.54	13.35
9370	0.79	212.3	2761	3367	1983	1768	108.7	8.9	968	9377	0.00	1.50	0.00	0.000	1030	0.000	0.082	2768	2485	1875	1983	1768	0	0	0	0	0	0	28.83	14.52	28.83
9683	0.79	212.3	1792	2483	1941	1764	81.2	8.7	1019	9690	0.00	1.45	0.00	0.000	516	0.000	0.096	2774	1664	1875	1983	1768	0	0	0	0	0	0	28.83	14.40	28.83
9727	0.81	212.3	2774	1665	1983	1767	77.3	8.9	1026	9734	0.00	1.50	0.00	0.000	1030	0.000	0.109	2774	2514	1875	1983	1767	0	0	0	0	0	0	28.83	14.42	28.83
10046	0.92	272.2	1768	2512	1941	1763	54.0	6.0	1087	10089	0.00	1.55	34.38	0.319	8452	0.000	0.122	2773	3357	1631	1724	1538	0	0	0	0	0	0	28.83	14.40	14.12
10112	0.97	286.7	1760	3356	1689	1535	49.8	7.7	1097	10127	0.12	1.48	8.10	0.318	11270	0.148	0.082	2829	2511	1571	1661	1482	0	0	0	0	0	0	14.50	14.45	14.08
10443	0.98	298.1	2829	2512	1658	1477	18.9	7.8	1159	10456	0.00	0.00	5.62	0.223	8454	0.000	0.000	2829	2512	1524	1612	1436	0	0	0	0	0	0	28.83	28.83	14.17
10613	end climb: SURFACE_DEPTH_REACHED
state	10613	begin surface coast
10665	end surface coast: CONTROL_FINISHED_OK
state	10666	begin surface