Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 479 * 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 479 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 16 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 -9052.2861 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 -9052.2861

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 16 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 479 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 151213,221235,6706.950,-5701.510,42,0.9,42,-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 1.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151213,222220,6707.000,-5701.541,6,1.0,6,-33.6 MHEAD_RNG_PITCHd_Wd 191.5,12268,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 517

Post-dive calculations and measurements:

FREEZE 0.90,0.236,-1.806,0,1,0 ALTIM_BOTTOM_PING 500.8,17.0

FINISH 0.9,1.026450 _24V_AH 12.1,212.035

SM_CCo 10472,68.65,0.161,0,0,1109,400.08 _10V_AH 11.5,0.000

SM_GC 1.92,7.88,0.00,68.65,0.081,0.000,0.161,141,2514,1109,-7.35,0.40,400.08,0,0,0,0,0,0,14.45,28.83,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 456 FG_AHR_10Vo 0.000

RAFOS 0,1387152071,0.033333,0.019722,56,56,55,53,50,48,163,180,140,194,120,221 MEM 150752

RAFOS_FIX 6708.952637,-5707.198730,161213,000024,2,91,0.67 DATA_FILE_SIZE 50070,1167

IRIDIUM_FIX 6636.54,-5709.24,151213,181823 CAP_FILE_SIZE 122043,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,213831680

HUMID 42.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.76204 SOUNDSPEED 1471.8

TCM_TEMP 14.20 CURRENT 0.271,341.8,1

XPDR_PINGS 41 GPS 161213,012036,6707.186,-5701.592,32,1.8,32,-33.6

ALTIM_TOP_PING 19.1,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 408 103.93 SBE_CT 811 23 228.07

Roll_motor 42 156 80.65 SBE_O2 0 0 0.00

VBD_pump_during_apogee 435 2334 12294.27 nil 0 0 0.00

VBD_pump_during_surface 68 161 134.08 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 385 148 691.46 nil 0 0 0.00

Transponder_ping 12 420 60.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 18 1.62

TT8 2889 14 497.12

LPSleep 4789 2 127.22

TT8_Active 593 14 96.97

TT8_Sampling 2155 33 835.08

TT8_CF8 710 39 324.00

TT8_Kalman 0 0 0.00

Analog_circuits 1972 12 272.18

GPS_charging 0 0 0.00

Compass 1830 6 141.91

RAFOS 2520 1 43.47

Transponder 14 30 4.89

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 14 begin dive

20 -0.89 -146.0 108 2517 1116 1068 0.0 0.0 0 111 0.00 0.00 -88.45 0.000 16386 0.000 0.000 106 2518 2845 2896 2795 0 0 0 0 0 0 28.83 28.83 28.83

118 -0.89 -146.0 106 2517 2897 2795 3.8 -5.4 15 145 10.23 1.58 -10.77 0.000 19204 0.409 0.157 2208 3348 3339 3498 3181 0 0 0 0 0 0 13.92 14.34 14.78

382 -0.80 -146.0 2208 3348 3501 3178 66.3 -22.5 64 390 0.17 1.50 0.00 0.000 3078 0.275 0.081 2247 2469 3339 3501 3178 0 0 0 0 0 0 14.11 14.42 28.83

703 -0.75 -146.0 2247 2469 3501 3176 121.2 -15.6 112 706 0.00 1.60 0.00 0.000 260 0.000 0.128 2242 3348 3338 3501 3176 0 0 0 0 0 0 28.83 14.30 28.83

867 -0.69 -146.0 2242 3348 3501 3175 144.4 -14.5 127 874 0.17 1.50 0.00 0.000 3078 0.252 0.083 2283 2470 3337 3500 3175 0 0 0 0 0 0 14.15 14.42 28.83

1177 -0.67 -146.0 2283 2470 3501 3175 179.8 -10.4 158 1180 0.00 1.42 0.00 0.000 516 0.000 0.097 2284 1661 3338 3501 3175 0 0 0 0 0 0 28.83 14.33 28.83

1226 -0.66 -146.0 1408 1660 3493 3172 184.7 -10.6 162 1232 0.00 1.52 0.00 0.000 1030 0.000 0.117 2279 2509 3338 3501 3175 0 0 0 0 0 0 28.83 14.31 28.83

1534 -0.63 -146.0 2279 2509 3500 3175 217.4 -10.5 193 1541 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2509 3337 3501 3174 0 0 0 0 0 0 28.83 28.83 28.83

1850 -0.61 -146.0 2279 2509 3502 3175 249.8 -10.7 224 1857 0.12 0.00 0.00 0.000 2054 0.271 0.000 2311 2509 3338 3502 3175 0 0 0 0 0 0 14.23 28.83 28.83

2158 -0.61 -146.0 2311 2509 3504 3175 278.8 -9.4 255 2164 0.00 0.00 0.00 0.000 6 0.000 0.000 2312 2508 3339 3504 3175 0 0 0 0 0 0 28.83 28.83 28.83

2476 -0.61 -146.0 2312 2509 3505 3174 307.2 -9.3 286 2480 0.00 1.50 0.00 0.000 516 0.000 0.093 2312 1637 3340 3506 3175 0 0 0 0 0 0 28.83 14.35 28.83

2531 -0.61 -146.0 2312 1637 3507 3175 312.9 -8.6 291 2535 0.00 1.55 0.00 0.000 1030 0.000 0.112 2308 2503 3340 3506 3175 0 0 0 0 0 0 28.83 14.32 28.83

2847 -0.61 -146.0 2308 2503 3507 3175 341.2 -8.7 322 2853 0.00 0.00 0.00 0.000 6 0.000 0.000 2308 2503 3341 3507 3175 0 0 0 0 0 0 28.83 28.83 28.83

3163 -0.61 -146.0 2308 2503 3508 3174 369.9 -9.6 353 3167 0.00 1.52 0.00 0.000 260 0.000 0.125 2301 3350 3341 3508 3175 0 0 0 0 0 0 28.83 14.28 28.83

3211 -0.61 -146.0 1424 3348 3501 3172 375.0 -9.8 357 3219 0.00 1.50 0.00 0.000 1030 0.000 0.080 2301 2470 3341 3508 3175 0 0 0 0 0 0 28.83 14.42 28.83

3520 -0.61 -146.0 2301 2470 3509 3175 405.4 -9.6 388 3526 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 2470 3341 3509 3174 0 0 0 0 0 0 28.83 28.83 28.83

3836 -0.61 -146.0 2301 2470 3510 3175 435.4 -9.8 419 3842 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 2470 3342 3510 3175 0 0 0 0 0 0 28.83 28.83 28.83

4149 -0.61 -146.0 2301 2470 3510 3174 465.1 -9.5 450 4153 0.00 1.42 0.00 0.000 516 0.000 0.093 2301 1664 3342 3510 3175 0 0 0 0 0 0 28.83 14.31 28.83

4198 -0.61 -146.0 1424 1662 3502 3172 470.0 -9.8 454 4204 0.00 1.52 0.00 0.000 1030 0.000 0.116 2295 2509 3342 3510 3175 0 0 0 0 0 0 28.83 14.28 28.83

4506 -0.61 -146.0 2296 2509 3511 3175 499.7 -9.4 485 4517 0.00 0.00 0.00 0.000 6 0.000 0.000 2296 2509 3343 3511 3175 0 0 0 0 0 0 28.83 28.83 28.83

4533 end dive: BOTTOM_OBSTACLE_DETECTED

state 4533 begin apogee

4547 -0.22 0.0 2296 2508 3511 3175 503.1 -10.0 488 4713 0.47 0.00 154.55 2.334 10246 0.212 0.000 2429 2508 2741 2853 2630 0 0 0 0 0 0 14.11 28.83 12.53

4714 end apogee: CONTROL_FINISHED_OK

state 4714 begin climb

4720 0.89 146.0 2429 2508 2852 2631 510.1 0.0 505 4896 1.23 1.67 166.90 2.255 10500 0.158 0.120 2789 3356 2144 2241 2048 0 0 0 0 0 0 13.67 13.19 12.08

4932 0.85 146.0 2789 3356 2240 2048 498.2 10.3 526 4940 0.00 1.55 0.00 0.000 1030 0.000 0.081 2796 2513 2143 2239 2048 0 0 0 0 0 0 28.83 13.52 28.83

5242 0.80 146.0 2795 2514 2240 2041 466.1 10.1 557 5246 0.00 1.50 0.00 0.000 516 0.000 0.097 2802 1670 2140 2240 2041 0 0 0 0 0 0 28.83 14.32 28.83

5277 0.76 146.0 2802 1670 2240 2039 462.5 10.0 560 5282 0.17 1.50 0.00 0.000 5126 0.226 0.115 2759 2510 2139 2239 2039 0 0 0 0 0 0 14.24 14.35 28.83

5595 0.76 152.4 2759 2510 2240 2038 436.1 8.0 591 5608 0.00 0.00 6.90 1.841 8198 0.000 0.000 2759 2510 2119 2222 2017 0 0 0 0 0 0 28.83 28.83 13.24

5915 0.75 152.4 2759 2510 2222 2017 408.1 9.1 623 5921 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2510 2119 2221 2017 0 0 0 0 0 0 28.83 28.83 28.83

6231 0.73 152.4 2759 2510 2221 2016 381.3 8.8 654 6234 0.00 1.52 0.00 0.000 260 0.000 0.127 2758 3366 2119 2221 2017 0 0 0 0 0 0 28.83 14.39 28.83

6316 0.71 152.4 2759 3366 2222 2016 373.0 9.2 662 6320 0.00 1.50 0.00 0.000 1030 0.000 0.083 2763 2484 2118 2221 2016 0 0 0 0 0 0 28.83 14.50 28.83

6632 0.69 152.4 2764 2483 2221 2016 346.0 8.5 693 6635 0.00 1.60 0.00 0.000 260 0.000 0.129 2763 3368 2119 2222 2016 0 0 0 0 0 0 28.83 14.38 28.83

6780 0.67 152.4 2764 3368 2221 2014 331.9 9.1 707 6785 0.17 1.50 0.00 0.000 5126 0.226 0.083 2727 2485 2118 2221 2016 0 0 0 0 0 0 14.31 14.49 28.83

7097 0.74 193.4 2727 2485 2222 2015 310.2 6.7 738 7146 0.00 1.48 43.95 2.113 8708 0.000 0.097 2731 1669 1953 2058 1848 0 0 0 0 0 0 28.83 14.30 13.20

7225 0.83 232.6 2731 1670 2058 1844 302.0 6.8 750 7276 0.15 1.50 42.20 2.069 11270 0.138 0.114 2788 2511 1792 1892 1692 0 0 0 0 0 0 14.42 14.34 13.14

7579 0.82 232.6 2788 2511 1886 1689 265.2 10.1 786 7583 0.00 1.52 0.00 0.000 260 0.000 0.125 2788 3367 1787 1886 1689 0 0 0 0 0 0 28.83 14.39 28.83

7644 0.80 232.6 2788 3367 1885 1689 257.9 11.5 792 7648 0.00 1.50 0.00 0.000 1030 0.000 0.083 2794 2509 1787 1885 1689 0 0 0 0 0 0 28.83 14.47 28.83

7961 0.78 232.6 2794 2509 1884 1688 224.9 10.3 823 7967 0.12 0.00 0.00 0.000 4102 0.246 0.000 2761 2509 1786 1884 1688 0 0 0 0 0 0 14.35 28.83 28.83

8271 0.79 232.6 2761 2509 1884 1687 197.7 8.9 854 8279 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2509 1785 1884 1687 0 0 0 0 0 0 28.83 28.83 28.83

8586 0.80 232.6 2761 2509 1884 1686 171.0 8.7 885 8592 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2509 1785 1884 1686 0 0 0 0 0 0 28.83 28.83 28.83

8895 0.82 232.6 2761 2509 1884 1686 142.8 9.1 916 8899 0.00 1.55 0.00 0.000 260 0.000 0.128 2760 3360 1784 1884 1685 0 0 0 0 0 0 28.83 14.38 28.83

8933 0.82 232.6 2760 3360 1883 1686 139.4 9.4 919 8940 0.00 1.50 0.00 0.000 1030 0.000 0.083 2765 2486 1784 1883 1686 0 0 0 0 0 0 28.83 14.48 28.83

9242 0.83 232.6 2765 2486 1883 1686 109.5 9.7 950 9246 0.00 1.45 0.00 0.000 516 0.000 0.096 2771 1670 1784 1883 1686 0 0 0 0 0 0 28.83 14.40 28.83

9268 0.84 232.6 2771 1670 1883 1685 107.1 9.8 952 9272 0.00 1.50 0.00 0.000 1030 0.000 0.114 2771 2513 1784 1883 1686 0 0 0 0 0 0 28.83 14.40 28.83

9584 0.86 232.6 2769 2513 1883 1685 76.7 9.6 1006 9591 0.00 0.00 0.00 0.000 6 0.000 0.000 2771 2513 1784 1883 1685 0 0 0 0 0 0 28.83 28.83 28.83

9905 0.94 270.0 2771 2513 1883 1685 52.9 6.8 1067 9932 0.12 0.00 20.83 0.313 10246 0.152 0.000 2827 2513 1640 1733 1547 0 0 0 0 0 0 14.56 28.83 13.93

10252 0.94 270.0 2827 2513 1729 1545 20.7 10.7 1131 10259 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2513 1637 1729 1545 0 0 0 0 0 0 28.83 28.83 28.83

10416 end climb: SURFACE_DEPTH_REACHED

state 10416 begin surface coast

10443 end surface coast: CONTROL_FINISHED_OK

state 10443 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	479	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	16	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	-9052.2861	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	151213,221235,6706.950,-5701.510,42,0.9,42,-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	1.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151213,222220,6707.000,-5701.541,6,1.0,6,-33.6	MHEAD_RNG_PITCHd_Wd	191.5,12268,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	517

FREEZE	0.90,0.236,-1.806,0,1,0	ALTIM_BOTTOM_PING	500.8,17.0
FINISH	0.9,1.026450	_24V_AH	12.1,212.035
SM_CCo	10472,68.65,0.161,0,0,1109,400.08	_10V_AH	11.5,0.000
SM_GC	1.92,7.88,0.00,68.65,0.081,0.000,0.161,141,2514,1109,-7.35,0.40,400.08,0,0,0,0,0,0,14.45,28.83,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	456	FG_AHR_10Vo	0.000
RAFOS	0,1387152071,0.033333,0.019722,56,56,55,53,50,48,163,180,140,194,120,221	MEM	150752
RAFOS_FIX	6708.952637,-5707.198730,161213,000024,2,91,0.67	DATA_FILE_SIZE	50070,1167
IRIDIUM_FIX	6636.54,-5709.24,151213,181823	CAP_FILE_SIZE	122043,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,213831680
HUMID	42.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.76204	SOUNDSPEED	1471.8
TCM_TEMP	14.20	CURRENT	0.271,341.8,1
XPDR_PINGS	41	GPS	161213,012036,6707.186,-5701.592,32,1.8,32,-33.6
ALTIM_TOP_PING	19.1,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	408	103.93	SBE_CT	811	23	228.07
Roll_motor	42	156	80.65	SBE_O2	0	0	0.00
VBD_pump_during_apogee	435	2334	12294.27	nil	0	0	0.00
VBD_pump_during_surface	68	161	134.08	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	385	148	691.46	nil	0	0	0.00
Transponder_ping	12	420	60.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	18	1.62
TT8	2889	14	497.12
LPSleep	4789	2	127.22
TT8_Active	593	14	96.97
TT8_Sampling	2155	33	835.08
TT8_CF8	710	39	324.00
TT8_Kalman	0	0	0.00
Analog_circuits	1972	12	272.18
GPS_charging	0	0	0.00
Compass	1830	6	141.91
RAFOS	2520	1	43.47
Transponder	14	30	4.89

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	14	begin dive
20	-0.89	-146.0	108	2517	1116	1068	0.0	0.0	0	111	0.00	0.00	-88.45	0.000	16386	0.000	0.000	106	2518	2845	2896	2795	0	0	0	0	0	0	28.83	28.83	28.83
118	-0.89	-146.0	106	2517	2897	2795	3.8	-5.4	15	145	10.23	1.58	-10.77	0.000	19204	0.409	0.157	2208	3348	3339	3498	3181	0	0	0	0	0	0	13.92	14.34	14.78
382	-0.80	-146.0	2208	3348	3501	3178	66.3	-22.5	64	390	0.17	1.50	0.00	0.000	3078	0.275	0.081	2247	2469	3339	3501	3178	0	0	0	0	0	0	14.11	14.42	28.83
703	-0.75	-146.0	2247	2469	3501	3176	121.2	-15.6	112	706	0.00	1.60	0.00	0.000	260	0.000	0.128	2242	3348	3338	3501	3176	0	0	0	0	0	0	28.83	14.30	28.83
867	-0.69	-146.0	2242	3348	3501	3175	144.4	-14.5	127	874	0.17	1.50	0.00	0.000	3078	0.252	0.083	2283	2470	3337	3500	3175	0	0	0	0	0	0	14.15	14.42	28.83
1177	-0.67	-146.0	2283	2470	3501	3175	179.8	-10.4	158	1180	0.00	1.42	0.00	0.000	516	0.000	0.097	2284	1661	3338	3501	3175	0	0	0	0	0	0	28.83	14.33	28.83
1226	-0.66	-146.0	1408	1660	3493	3172	184.7	-10.6	162	1232	0.00	1.52	0.00	0.000	1030	0.000	0.117	2279	2509	3338	3501	3175	0	0	0	0	0	0	28.83	14.31	28.83
1534	-0.63	-146.0	2279	2509	3500	3175	217.4	-10.5	193	1541	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2509	3337	3501	3174	0	0	0	0	0	0	28.83	28.83	28.83
1850	-0.61	-146.0	2279	2509	3502	3175	249.8	-10.7	224	1857	0.12	0.00	0.00	0.000	2054	0.271	0.000	2311	2509	3338	3502	3175	0	0	0	0	0	0	14.23	28.83	28.83
2158	-0.61	-146.0	2311	2509	3504	3175	278.8	-9.4	255	2164	0.00	0.00	0.00	0.000	6	0.000	0.000	2312	2508	3339	3504	3175	0	0	0	0	0	0	28.83	28.83	28.83
2476	-0.61	-146.0	2312	2509	3505	3174	307.2	-9.3	286	2480	0.00	1.50	0.00	0.000	516	0.000	0.093	2312	1637	3340	3506	3175	0	0	0	0	0	0	28.83	14.35	28.83
2531	-0.61	-146.0	2312	1637	3507	3175	312.9	-8.6	291	2535	0.00	1.55	0.00	0.000	1030	0.000	0.112	2308	2503	3340	3506	3175	0	0	0	0	0	0	28.83	14.32	28.83
2847	-0.61	-146.0	2308	2503	3507	3175	341.2	-8.7	322	2853	0.00	0.00	0.00	0.000	6	0.000	0.000	2308	2503	3341	3507	3175	0	0	0	0	0	0	28.83	28.83	28.83
3163	-0.61	-146.0	2308	2503	3508	3174	369.9	-9.6	353	3167	0.00	1.52	0.00	0.000	260	0.000	0.125	2301	3350	3341	3508	3175	0	0	0	0	0	0	28.83	14.28	28.83
3211	-0.61	-146.0	1424	3348	3501	3172	375.0	-9.8	357	3219	0.00	1.50	0.00	0.000	1030	0.000	0.080	2301	2470	3341	3508	3175	0	0	0	0	0	0	28.83	14.42	28.83
3520	-0.61	-146.0	2301	2470	3509	3175	405.4	-9.6	388	3526	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	2470	3341	3509	3174	0	0	0	0	0	0	28.83	28.83	28.83
3836	-0.61	-146.0	2301	2470	3510	3175	435.4	-9.8	419	3842	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	2470	3342	3510	3175	0	0	0	0	0	0	28.83	28.83	28.83
4149	-0.61	-146.0	2301	2470	3510	3174	465.1	-9.5	450	4153	0.00	1.42	0.00	0.000	516	0.000	0.093	2301	1664	3342	3510	3175	0	0	0	0	0	0	28.83	14.31	28.83
4198	-0.61	-146.0	1424	1662	3502	3172	470.0	-9.8	454	4204	0.00	1.52	0.00	0.000	1030	0.000	0.116	2295	2509	3342	3510	3175	0	0	0	0	0	0	28.83	14.28	28.83
4506	-0.61	-146.0	2296	2509	3511	3175	499.7	-9.4	485	4517	0.00	0.00	0.00	0.000	6	0.000	0.000	2296	2509	3343	3511	3175	0	0	0	0	0	0	28.83	28.83	28.83
4533	end dive: BOTTOM_OBSTACLE_DETECTED
state	4533	begin apogee
4547	-0.22	0.0	2296	2508	3511	3175	503.1	-10.0	488	4713	0.47	0.00	154.55	2.334	10246	0.212	0.000	2429	2508	2741	2853	2630	0	0	0	0	0	0	14.11	28.83	12.53
4714	end apogee: CONTROL_FINISHED_OK
state	4714	begin climb
4720	0.89	146.0	2429	2508	2852	2631	510.1	0.0	505	4896	1.23	1.67	166.90	2.255	10500	0.158	0.120	2789	3356	2144	2241	2048	0	0	0	0	0	0	13.67	13.19	12.08
4932	0.85	146.0	2789	3356	2240	2048	498.2	10.3	526	4940	0.00	1.55	0.00	0.000	1030	0.000	0.081	2796	2513	2143	2239	2048	0	0	0	0	0	0	28.83	13.52	28.83
5242	0.80	146.0	2795	2514	2240	2041	466.1	10.1	557	5246	0.00	1.50	0.00	0.000	516	0.000	0.097	2802	1670	2140	2240	2041	0	0	0	0	0	0	28.83	14.32	28.83
5277	0.76	146.0	2802	1670	2240	2039	462.5	10.0	560	5282	0.17	1.50	0.00	0.000	5126	0.226	0.115	2759	2510	2139	2239	2039	0	0	0	0	0	0	14.24	14.35	28.83
5595	0.76	152.4	2759	2510	2240	2038	436.1	8.0	591	5608	0.00	0.00	6.90	1.841	8198	0.000	0.000	2759	2510	2119	2222	2017	0	0	0	0	0	0	28.83	28.83	13.24
5915	0.75	152.4	2759	2510	2222	2017	408.1	9.1	623	5921	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2510	2119	2221	2017	0	0	0	0	0	0	28.83	28.83	28.83
6231	0.73	152.4	2759	2510	2221	2016	381.3	8.8	654	6234	0.00	1.52	0.00	0.000	260	0.000	0.127	2758	3366	2119	2221	2017	0	0	0	0	0	0	28.83	14.39	28.83
6316	0.71	152.4	2759	3366	2222	2016	373.0	9.2	662	6320	0.00	1.50	0.00	0.000	1030	0.000	0.083	2763	2484	2118	2221	2016	0	0	0	0	0	0	28.83	14.50	28.83
6632	0.69	152.4	2764	2483	2221	2016	346.0	8.5	693	6635	0.00	1.60	0.00	0.000	260	0.000	0.129	2763	3368	2119	2222	2016	0	0	0	0	0	0	28.83	14.38	28.83
6780	0.67	152.4	2764	3368	2221	2014	331.9	9.1	707	6785	0.17	1.50	0.00	0.000	5126	0.226	0.083	2727	2485	2118	2221	2016	0	0	0	0	0	0	14.31	14.49	28.83
7097	0.74	193.4	2727	2485	2222	2015	310.2	6.7	738	7146	0.00	1.48	43.95	2.113	8708	0.000	0.097	2731	1669	1953	2058	1848	0	0	0	0	0	0	28.83	14.30	13.20
7225	0.83	232.6	2731	1670	2058	1844	302.0	6.8	750	7276	0.15	1.50	42.20	2.069	11270	0.138	0.114	2788	2511	1792	1892	1692	0	0	0	0	0	0	14.42	14.34	13.14
7579	0.82	232.6	2788	2511	1886	1689	265.2	10.1	786	7583	0.00	1.52	0.00	0.000	260	0.000	0.125	2788	3367	1787	1886	1689	0	0	0	0	0	0	28.83	14.39	28.83
7644	0.80	232.6	2788	3367	1885	1689	257.9	11.5	792	7648	0.00	1.50	0.00	0.000	1030	0.000	0.083	2794	2509	1787	1885	1689	0	0	0	0	0	0	28.83	14.47	28.83
7961	0.78	232.6	2794	2509	1884	1688	224.9	10.3	823	7967	0.12	0.00	0.00	0.000	4102	0.246	0.000	2761	2509	1786	1884	1688	0	0	0	0	0	0	14.35	28.83	28.83
8271	0.79	232.6	2761	2509	1884	1687	197.7	8.9	854	8279	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2509	1785	1884	1687	0	0	0	0	0	0	28.83	28.83	28.83
8586	0.80	232.6	2761	2509	1884	1686	171.0	8.7	885	8592	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2509	1785	1884	1686	0	0	0	0	0	0	28.83	28.83	28.83
8895	0.82	232.6	2761	2509	1884	1686	142.8	9.1	916	8899	0.00	1.55	0.00	0.000	260	0.000	0.128	2760	3360	1784	1884	1685	0	0	0	0	0	0	28.83	14.38	28.83
8933	0.82	232.6	2760	3360	1883	1686	139.4	9.4	919	8940	0.00	1.50	0.00	0.000	1030	0.000	0.083	2765	2486	1784	1883	1686	0	0	0	0	0	0	28.83	14.48	28.83
9242	0.83	232.6	2765	2486	1883	1686	109.5	9.7	950	9246	0.00	1.45	0.00	0.000	516	0.000	0.096	2771	1670	1784	1883	1686	0	0	0	0	0	0	28.83	14.40	28.83
9268	0.84	232.6	2771	1670	1883	1685	107.1	9.8	952	9272	0.00	1.50	0.00	0.000	1030	0.000	0.114	2771	2513	1784	1883	1686	0	0	0	0	0	0	28.83	14.40	28.83
9584	0.86	232.6	2769	2513	1883	1685	76.7	9.6	1006	9591	0.00	0.00	0.00	0.000	6	0.000	0.000	2771	2513	1784	1883	1685	0	0	0	0	0	0	28.83	28.83	28.83
9905	0.94	270.0	2771	2513	1883	1685	52.9	6.8	1067	9932	0.12	0.00	20.83	0.313	10246	0.152	0.000	2827	2513	1640	1733	1547	0	0	0	0	0	0	14.56	28.83	13.93
10252	0.94	270.0	2827	2513	1729	1545	20.7	10.7	1131	10259	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2513	1637	1729	1545	0	0	0	0	0	0	28.83	28.83	28.83
10416	end climb: SURFACE_DEPTH_REACHED
state	10416	begin surface coast
10443	end surface coast: CONTROL_FINISHED_OK
state	10443	begin surface