Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 52 * 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 0

MISSION 2 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 52 ESCAPE_HEADING 0 C_ROLL_DIVE 2450 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2430 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 18 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 10 XPDR_VALID 6

D_BOOST 110 N_FILEKB 8 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2741 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 380 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 410 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0024999999 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 5 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -1148.5181 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 145 MINV_24V 12 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3924 MINV_10V 12 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2525 FG_AHR_10V 0 SEABIRD_T_G 0.0042877649

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062881736

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.2009486e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -62.7798 SEABIRD_T_J 2.217299e-06

MASS 52018 PITCH_GAIN 24 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 COMPASS_USE 4

HD_A 0.0041718199 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099987797 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 400

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 24 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3924 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 5 FG_AHR_24V 0 PITCH_MIN 145 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_VBD_SHIFT 0.0024999999 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 380

CALL_NDIVES 1 HD_A 0.0041718199 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099987797 PRESSURE_YINT -62.7798 T_GPS 5

CALL_WAIT 60 HD_C 3.62024e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -1148.5181

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 410

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 192 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT 0.5 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2525 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2430 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2450 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -2

C_VBD 2741 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52018 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 318 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 12 R_PORT_OVSHOOT 18 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 10 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 52 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017883891 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0042877649 XPDR_DEVICE 24

D_BOOST 110 N_FILEKB 8 SEABIRD_T_H 0.00062881736 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2009486e-05 XPDR_VALID 6

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.217299e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 200 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 230913,202835,6630.768,-5940.207,34,1.0,34,-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 1.56 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230913,203459,6630.729,-5940.183,1,1.0,2,-33.5 MHEAD_RNG_PITCHd_Wd 97.8,137960,-16.2,-8.684,-19.07,2590

SPEED_LIMITS 0.150,0.251 D_GRID 743

Post-dive calculations and measurements:

FINISH 1.0,1.025072 _24V_AH 12.3,25.032

SM_CCo 9814,89.68,0.184,0,0,1108,400.08 _10V_AH 12.7,0.000

SM_GC 1.58,8.20,0.00,89.68,0.103,0.000,0.184,143,2435,1108,-7.39,-0.42,400.08,0,0,0,0,0,0,14.59,28.83,14.44 FG_AHR_24Vo 0.000

RAFOS_CLK 474 FG_AHR_10Vo 0.000

RAFOS 5,1379968863,20.700001,20.684166,79,69,60,56,54,53,908,205,156,171,187,214 MEM 150692

RAFOS_FIX 6631.873535,-5942.719727,230913,202020,4,103,0.00 DATA_FILE_SIZE 40113,957

IRIDIUM_FIX 6558.99,-5941.90,230913,171707 CAP_FILE_SIZE 101464,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,247619584

HUMID 45.39 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.66438 SOUNDSPEED 1455.6

TCM_TEMP 12.40 CURRENT 0.228,185.4,1

XPDR_PINGS 92 GPS 230913,232235,6630.218,-5937.493,41,1.1,41,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 429 110.39 SBE_CT 672 23 192.10

Roll_motor 81 152 152.51 SBE_O2 0 0 0.00

VBD_pump_during_apogee 376 2617 12117.40 nil 0 0 0.00

VBD_pump_during_surface 89 183 202.51 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 226 140 392.71 nil 0 0 0.00

Transponder_ping 23 420 118.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 18 1.87

TT8 2382 14 452.68

LPSleep 4973 2 145.90

TT8_Active 624 14 112.62

TT8_Sampling 1779 33 761.54

TT8_CF8 538 39 271.21

TT8_Kalman 0 0 0.00

Analog_circuits 1727 12 263.23

GPS_charging 0 0 0.00

Compass 1581 6 135.36

RAFOS 720 1 13.72

Transponder 0 5 0.03

Guidance and control:

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

20 -1.04 -146.0 116 2451 1155 1131 0.0 0.0 0 98 0.00 0.00 -75.03 0.000 16386 0.000 0.000 116 2451 2621 2683 2560 0 0 0 0 0 0 28.83 28.83 28.83

105 -1.04 -146.0 116 2451 2684 2561 3.0 -4.3 13 138 9.77 2.60 -16.42 0.000 18948 0.430 0.136 2179 1034 3339 3522 3156 0 0 0 0 0 0 14.23 14.36 14.59

369 -1.04 -146.0 2179 1033 3525 3156 74.4 -23.1 62 376 0.00 2.60 0.00 0.000 1030 0.000 0.135 2171 2456 3340 3524 3156 0 0 0 0 0 0 28.83 14.42 28.83

687 -1.04 -146.0 2171 2456 3524 3156 148.9 -23.2 103 697 0.00 2.58 0.00 0.000 260 0.000 0.145 2160 3865 3340 3525 3156 0 0 0 0 0 0 28.83 14.45 28.83

764 -1.04 -146.0 2160 3864 3525 3156 167.4 -24.2 110 772 0.00 2.42 0.00 0.000 1030 0.000 0.097 2160 2446 3340 3524 3156 0 0 0 0 0 0 28.83 14.50 28.83

1074 -1.04 -146.0 2160 2446 3525 3156 241.7 -23.3 141 1080 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2446 3340 3524 3156 0 0 0 0 0 0 28.83 28.83 28.83

1389 -1.04 -146.0 2160 2446 3524 3155 310.8 -22.0 172 1398 0.00 2.42 0.00 0.000 516 0.000 0.117 2160 1048 3339 3524 3155 0 0 0 0 0 0 28.83 14.55 28.83

1448 -1.04 -146.0 2160 1048 3525 3155 324.4 -21.9 177 1455 0.15 2.53 0.00 0.000 3078 0.335 0.132 2181 2450 3340 3525 3155 0 0 0 0 0 0 14.48 14.56 28.83

1757 -1.04 -146.0 2181 2450 3525 3155 388.0 -20.1 208 1763 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2450 3339 3524 3155 0 0 0 0 0 0 28.83 28.83 28.83

2072 -1.04 -146.0 2181 2450 3524 3155 448.6 -19.6 239 2079 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2449 3340 3525 3155 0 0 0 0 0 0 28.83 28.83 28.83

2387 -1.04 -146.0 2181 2450 3524 3155 508.2 -18.5 270 2393 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2450 3339 3524 3155 0 0 0 0 0 0 28.83 28.83 28.83

2700 -1.04 -146.0 2181 2450 3525 3154 565.8 -18.0 301 2708 0.00 2.42 0.00 0.000 516 0.000 0.116 2181 1050 3339 3524 3155 0 0 0 0 0 0 28.83 14.62 28.83

2727 -1.04 -146.0 1360 1048 3517 3152 571.5 -18.2 303 2735 0.00 2.53 0.00 0.000 1030 0.000 0.134 2173 2456 3339 3524 3155 0 0 0 0 0 0 28.83 14.63 28.83

3037 -1.04 -146.0 2172 2456 3525 3155 629.0 -18.3 324 3038 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2455 3340 3525 3156 0 0 0 0 0 0 28.83 28.83 28.83

3336 -1.04 -146.0 2173 2455 3525 3155 684.1 -18.5 334 3342 0.00 2.45 0.00 0.000 516 0.000 0.116 2173 1043 3340 3525 3155 0 0 0 0 0 0 28.83 14.67 28.83

3368 -1.04 -146.0 2172 1043 3525 3155 690.1 -18.5 335 3374 0.00 2.47 0.00 0.000 1030 0.000 0.127 2162 2445 3339 3524 3155 0 0 0 0 0 0 28.83 14.66 28.83

3664 end dive: TARGET_DEPTH_EXCEEDED

state 3664 begin apogee

3677 -0.21 0.0 2162 2445 3525 3156 747.8 -19.1 345 3851 1.08 0.00 159.65 2.618 10246 0.288 0.000 2450 2445 2740 2857 2624 0 0 0 0 0 0 14.59 28.83 12.78

3852 end apogee: CONTROL_FINISHED_OK

state 3852 begin climb

3858 1.04 146.0 2451 2445 2856 2624 757.2 0.0 351 4039 1.40 2.90 170.80 2.536 10756 0.169 0.122 2864 1032 2144 2228 2061 0 0 0 0 0 0 13.66 13.07 12.32

4079 1.04 146.0 2864 1032 2228 2058 743.4 10.0 358 4085 0.00 2.75 0.00 0.000 1030 0.000 0.129 2864 2423 2143 2228 2058 0 0 0 0 0 0 28.83 13.35 28.83

4396 1.04 146.0 2865 2423 2228 2050 694.6 14.4 369 4402 0.00 2.72 0.00 0.000 260 0.000 0.150 2864 3849 2139 2228 2050 0 0 0 0 0 0 28.83 13.92 28.83

4502 1.04 146.0 2864 3849 2227 2050 679.5 16.0 372 4507 0.00 2.53 0.00 0.000 1030 0.000 0.102 2874 2437 2138 2227 2050 0 0 0 0 0 0 28.83 14.02 28.83

4818 1.04 146.0 2875 2436 2228 2049 628.5 15.3 383 4820 0.00 0.00 0.00 0.000 6 0.000 0.000 2874 2436 2138 2227 2049 0 0 0 0 0 0 28.83 28.83 28.83

5119 1.04 146.0 2875 2436 2227 2048 581.7 15.4 399 5127 0.00 2.62 0.00 0.000 260 0.000 0.149 2875 3844 2137 2227 2048 0 0 0 0 0 0 28.83 14.31 28.83

5197 1.04 146.0 2874 3844 2226 2048 568.7 17.8 406 5204 0.00 2.50 0.00 0.000 1030 0.000 0.102 2886 2423 2136 2227 2045 0 0 0 0 0 0 28.83 14.36 28.83

5505 1.04 146.0 2886 2422 2227 2046 519.8 15.8 437 5511 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 2422 2136 2227 2046 0 0 0 0 0 0 28.83 28.83 28.83

5822 1.04 146.0 2886 2422 2227 2045 472.0 15.1 468 5829 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 2422 2135 2226 2045 0 0 0 0 0 0 28.83 28.83 28.83

6135 1.04 146.0 2886 2422 2227 2045 424.1 15.5 499 6144 0.00 2.60 0.00 0.000 260 0.000 0.152 2886 3839 2136 2227 2045 0 0 0 0 0 0 28.83 14.50 28.83

6224 1.04 146.0 2886 3839 2227 2045 408.7 17.3 507 6231 0.15 2.45 0.00 0.000 5126 0.338 0.103 2866 2426 2136 2227 2045 0 0 0 0 0 0 14.45 14.54 28.83

6533 1.04 146.0 2866 2426 2226 2044 363.2 15.0 538 6542 0.00 2.62 0.00 0.000 260 0.000 0.151 2866 3846 2135 2226 2045 0 0 0 0 0 0 28.83 14.52 28.83

6588 1.04 146.0 2866 3846 2227 2045 354.1 17.0 543 6597 0.00 2.42 0.00 0.000 1030 0.000 0.103 2876 2436 2135 2226 2044 0 0 0 0 0 0 28.83 14.56 28.83

6898 1.04 146.0 2876 2436 2226 2044 309.0 14.2 574 6904 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2435 2135 2226 2044 0 0 0 0 0 0 28.83 28.83 28.83

7215 1.04 146.0 2876 2436 2227 2044 268.2 12.5 605 7224 0.00 2.58 0.00 0.000 260 0.000 0.149 2875 3849 2135 2227 2044 0 0 0 0 0 0 28.83 14.57 28.83

7303 1.04 146.0 1896 3848 2182 2039 255.7 13.8 613 7310 0.00 2.45 0.00 0.000 1030 0.000 0.103 2886 2424 2135 2226 2044 0 0 0 0 0 0 28.83 14.62 28.83

7611 1.04 146.0 2887 2423 2227 2043 217.7 11.6 644 7621 0.00 2.60 0.00 0.000 260 0.000 0.151 2887 3847 2135 2227 2043 0 0 0 0 0 0 28.83 14.59 28.83

7698 1.04 146.0 2887 3847 2227 2044 205.8 13.8 652 7708 0.12 2.42 0.00 0.000 5126 0.308 0.103 2866 2426 2134 2226 2043 0 0 0 0 0 0 14.52 14.61 28.83

8010 1.04 146.0 2866 2425 2226 2043 167.9 11.6 683 8018 0.00 2.58 0.00 0.000 260 0.000 0.151 2866 3838 2134 2226 2043 0 0 0 0 0 0 28.83 14.60 28.83

8105 1.04 146.0 2866 3838 2226 2043 155.4 13.3 692 8115 0.00 2.40 0.00 0.000 1030 0.000 0.103 2875 2432 2134 2226 2043 0 0 0 0 0 0 28.83 14.63 28.83

8416 1.04 146.0 2875 2433 2226 2043 122.4 9.6 723 8425 0.00 2.60 0.00 0.000 260 0.000 0.151 2875 3851 2134 2226 2043 0 0 0 0 0 0 28.83 14.61 28.83

8502 1.04 146.0 2875 3852 2226 2043 113.3 10.6 731 8511 0.00 2.45 0.00 0.000 1030 0.000 0.103 2886 2427 2134 2226 2043 0 0 0 0 0 0 28.83 14.64 28.83

8817 1.09 165.3 2886 2427 2227 2043 87.6 7.9 777 8830 0.00 0.00 9.57 0.467 8710 0.000 0.000 2886 2427 2066 2160 1972 0 0 0 0 0 0 28.83 28.83 14.46

9141 1.09 165.3 2886 2427 2160 1971 57.7 9.1 839 9148 0.00 2.47 0.00 0.000 516 0.000 0.126 2897 1021 2065 2160 1971 0 0 0 0 0 0 28.83 14.61 28.83

9175 1.09 165.3 2897 1021 2160 1970 54.7 9.3 844 9182 0.00 2.55 0.00 0.000 1030 0.000 0.133 2897 2440 2065 2160 1970 0 0 0 0 0 0 28.83 14.61 28.83

9495 1.26 232.4 2897 2440 2160 1969 26.9 6.0 905 9538 0.00 2.62 36.30 0.256 8708 0.000 0.128 2908 1014 1791 1886 1697 0 0 0 0 0 0 28.83 14.55 14.50

9649 1.26 232.4 2908 1014 1876 1693 14.1 9.2 932 9657 0.00 2.58 0.00 0.000 1030 0.000 0.132 2907 2434 1784 1876 1693 0 0 0 0 0 0 28.83 14.56 28.83

9752 end climb: SURFACE_DEPTH_REACHED

state 9752 begin surface coast

9785 end surface coast: CONTROL_FINISHED_OK

state 9785 begin surface

ID	192	HD_C	3.62024e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	52	ESCAPE_HEADING	0	C_ROLL_DIVE	2450	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2430	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	18	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	10	XPDR_VALID	6
D_BOOST	110	N_FILEKB	8	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2741	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	380	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	410	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0024999999	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	5	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-1148.5181	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	145	MINV_24V	12	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3924	MINV_10V	12	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2525	FG_AHR_10V	0	SEABIRD_T_G	0.0042877649
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062881736
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2009486e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-62.7798	SEABIRD_T_J	2.217299e-06
MASS	52018	PITCH_GAIN	24	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	COMPASS_USE	4
HD_A	0.0041718199	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099987797	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	0

GPS1	230913,202835,6630.768,-5940.207,34,1.0,34,-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	1.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230913,203459,6630.729,-5940.183,1,1.0,2,-33.5	MHEAD_RNG_PITCHd_Wd	97.8,137960,-16.2,-8.684,-19.07,2590
SPEED_LIMITS	0.150,0.251	D_GRID	743

FINISH	1.0,1.025072	_24V_AH	12.3,25.032
SM_CCo	9814,89.68,0.184,0,0,1108,400.08	_10V_AH	12.7,0.000
SM_GC	1.58,8.20,0.00,89.68,0.103,0.000,0.184,143,2435,1108,-7.39,-0.42,400.08,0,0,0,0,0,0,14.59,28.83,14.44	FG_AHR_24Vo	0.000
RAFOS_CLK	474	FG_AHR_10Vo	0.000
RAFOS	5,1379968863,20.700001,20.684166,79,69,60,56,54,53,908,205,156,171,187,214	MEM	150692
RAFOS_FIX	6631.873535,-5942.719727,230913,202020,4,103,0.00	DATA_FILE_SIZE	40113,957
IRIDIUM_FIX	6558.99,-5941.90,230913,171707	CAP_FILE_SIZE	101464,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,247619584
HUMID	45.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.66438	SOUNDSPEED	1455.6
TCM_TEMP	12.40	CURRENT	0.228,185.4,1
XPDR_PINGS	92	GPS	230913,232235,6630.218,-5937.493,41,1.1,41,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	429	110.39	SBE_CT	672	23	192.10
Roll_motor	81	152	152.51	SBE_O2	0	0	0.00
VBD_pump_during_apogee	376	2617	12117.40	nil	0	0	0.00
VBD_pump_during_surface	89	183	202.51	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	226	140	392.71	nil	0	0	0.00
Transponder_ping	23	420	118.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	18	1.87
TT8	2382	14	452.68
LPSleep	4973	2	145.90
TT8_Active	624	14	112.62
TT8_Sampling	1779	33	761.54
TT8_CF8	538	39	271.21
TT8_Kalman	0	0	0.00
Analog_circuits	1727	12	263.23
GPS_charging	0	0	0.00
Compass	1581	6	135.36
RAFOS	720	1	13.72
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
20	-1.04	-146.0	116	2451	1155	1131	0.0	0.0	0	98	0.00	0.00	-75.03	0.000	16386	0.000	0.000	116	2451	2621	2683	2560	0	0	0	0	0	0	28.83	28.83	28.83
105	-1.04	-146.0	116	2451	2684	2561	3.0	-4.3	13	138	9.77	2.60	-16.42	0.000	18948	0.430	0.136	2179	1034	3339	3522	3156	0	0	0	0	0	0	14.23	14.36	14.59
369	-1.04	-146.0	2179	1033	3525	3156	74.4	-23.1	62	376	0.00	2.60	0.00	0.000	1030	0.000	0.135	2171	2456	3340	3524	3156	0	0	0	0	0	0	28.83	14.42	28.83
687	-1.04	-146.0	2171	2456	3524	3156	148.9	-23.2	103	697	0.00	2.58	0.00	0.000	260	0.000	0.145	2160	3865	3340	3525	3156	0	0	0	0	0	0	28.83	14.45	28.83
764	-1.04	-146.0	2160	3864	3525	3156	167.4	-24.2	110	772	0.00	2.42	0.00	0.000	1030	0.000	0.097	2160	2446	3340	3524	3156	0	0	0	0	0	0	28.83	14.50	28.83
1074	-1.04	-146.0	2160	2446	3525	3156	241.7	-23.3	141	1080	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2446	3340	3524	3156	0	0	0	0	0	0	28.83	28.83	28.83
1389	-1.04	-146.0	2160	2446	3524	3155	310.8	-22.0	172	1398	0.00	2.42	0.00	0.000	516	0.000	0.117	2160	1048	3339	3524	3155	0	0	0	0	0	0	28.83	14.55	28.83
1448	-1.04	-146.0	2160	1048	3525	3155	324.4	-21.9	177	1455	0.15	2.53	0.00	0.000	3078	0.335	0.132	2181	2450	3340	3525	3155	0	0	0	0	0	0	14.48	14.56	28.83
1757	-1.04	-146.0	2181	2450	3525	3155	388.0	-20.1	208	1763	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2450	3339	3524	3155	0	0	0	0	0	0	28.83	28.83	28.83
2072	-1.04	-146.0	2181	2450	3524	3155	448.6	-19.6	239	2079	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2449	3340	3525	3155	0	0	0	0	0	0	28.83	28.83	28.83
2387	-1.04	-146.0	2181	2450	3524	3155	508.2	-18.5	270	2393	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2450	3339	3524	3155	0	0	0	0	0	0	28.83	28.83	28.83
2700	-1.04	-146.0	2181	2450	3525	3154	565.8	-18.0	301	2708	0.00	2.42	0.00	0.000	516	0.000	0.116	2181	1050	3339	3524	3155	0	0	0	0	0	0	28.83	14.62	28.83
2727	-1.04	-146.0	1360	1048	3517	3152	571.5	-18.2	303	2735	0.00	2.53	0.00	0.000	1030	0.000	0.134	2173	2456	3339	3524	3155	0	0	0	0	0	0	28.83	14.63	28.83
3037	-1.04	-146.0	2172	2456	3525	3155	629.0	-18.3	324	3038	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2455	3340	3525	3156	0	0	0	0	0	0	28.83	28.83	28.83
3336	-1.04	-146.0	2173	2455	3525	3155	684.1	-18.5	334	3342	0.00	2.45	0.00	0.000	516	0.000	0.116	2173	1043	3340	3525	3155	0	0	0	0	0	0	28.83	14.67	28.83
3368	-1.04	-146.0	2172	1043	3525	3155	690.1	-18.5	335	3374	0.00	2.47	0.00	0.000	1030	0.000	0.127	2162	2445	3339	3524	3155	0	0	0	0	0	0	28.83	14.66	28.83
3664	end dive: TARGET_DEPTH_EXCEEDED
state	3664	begin apogee
3677	-0.21	0.0	2162	2445	3525	3156	747.8	-19.1	345	3851	1.08	0.00	159.65	2.618	10246	0.288	0.000	2450	2445	2740	2857	2624	0	0	0	0	0	0	14.59	28.83	12.78
3852	end apogee: CONTROL_FINISHED_OK
state	3852	begin climb
3858	1.04	146.0	2451	2445	2856	2624	757.2	0.0	351	4039	1.40	2.90	170.80	2.536	10756	0.169	0.122	2864	1032	2144	2228	2061	0	0	0	0	0	0	13.66	13.07	12.32
4079	1.04	146.0	2864	1032	2228	2058	743.4	10.0	358	4085	0.00	2.75	0.00	0.000	1030	0.000	0.129	2864	2423	2143	2228	2058	0	0	0	0	0	0	28.83	13.35	28.83
4396	1.04	146.0	2865	2423	2228	2050	694.6	14.4	369	4402	0.00	2.72	0.00	0.000	260	0.000	0.150	2864	3849	2139	2228	2050	0	0	0	0	0	0	28.83	13.92	28.83
4502	1.04	146.0	2864	3849	2227	2050	679.5	16.0	372	4507	0.00	2.53	0.00	0.000	1030	0.000	0.102	2874	2437	2138	2227	2050	0	0	0	0	0	0	28.83	14.02	28.83
4818	1.04	146.0	2875	2436	2228	2049	628.5	15.3	383	4820	0.00	0.00	0.00	0.000	6	0.000	0.000	2874	2436	2138	2227	2049	0	0	0	0	0	0	28.83	28.83	28.83
5119	1.04	146.0	2875	2436	2227	2048	581.7	15.4	399	5127	0.00	2.62	0.00	0.000	260	0.000	0.149	2875	3844	2137	2227	2048	0	0	0	0	0	0	28.83	14.31	28.83
5197	1.04	146.0	2874	3844	2226	2048	568.7	17.8	406	5204	0.00	2.50	0.00	0.000	1030	0.000	0.102	2886	2423	2136	2227	2045	0	0	0	0	0	0	28.83	14.36	28.83
5505	1.04	146.0	2886	2422	2227	2046	519.8	15.8	437	5511	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	2422	2136	2227	2046	0	0	0	0	0	0	28.83	28.83	28.83
5822	1.04	146.0	2886	2422	2227	2045	472.0	15.1	468	5829	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	2422	2135	2226	2045	0	0	0	0	0	0	28.83	28.83	28.83
6135	1.04	146.0	2886	2422	2227	2045	424.1	15.5	499	6144	0.00	2.60	0.00	0.000	260	0.000	0.152	2886	3839	2136	2227	2045	0	0	0	0	0	0	28.83	14.50	28.83
6224	1.04	146.0	2886	3839	2227	2045	408.7	17.3	507	6231	0.15	2.45	0.00	0.000	5126	0.338	0.103	2866	2426	2136	2227	2045	0	0	0	0	0	0	14.45	14.54	28.83
6533	1.04	146.0	2866	2426	2226	2044	363.2	15.0	538	6542	0.00	2.62	0.00	0.000	260	0.000	0.151	2866	3846	2135	2226	2045	0	0	0	0	0	0	28.83	14.52	28.83
6588	1.04	146.0	2866	3846	2227	2045	354.1	17.0	543	6597	0.00	2.42	0.00	0.000	1030	0.000	0.103	2876	2436	2135	2226	2044	0	0	0	0	0	0	28.83	14.56	28.83
6898	1.04	146.0	2876	2436	2226	2044	309.0	14.2	574	6904	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2435	2135	2226	2044	0	0	0	0	0	0	28.83	28.83	28.83
7215	1.04	146.0	2876	2436	2227	2044	268.2	12.5	605	7224	0.00	2.58	0.00	0.000	260	0.000	0.149	2875	3849	2135	2227	2044	0	0	0	0	0	0	28.83	14.57	28.83
7303	1.04	146.0	1896	3848	2182	2039	255.7	13.8	613	7310	0.00	2.45	0.00	0.000	1030	0.000	0.103	2886	2424	2135	2226	2044	0	0	0	0	0	0	28.83	14.62	28.83
7611	1.04	146.0	2887	2423	2227	2043	217.7	11.6	644	7621	0.00	2.60	0.00	0.000	260	0.000	0.151	2887	3847	2135	2227	2043	0	0	0	0	0	0	28.83	14.59	28.83
7698	1.04	146.0	2887	3847	2227	2044	205.8	13.8	652	7708	0.12	2.42	0.00	0.000	5126	0.308	0.103	2866	2426	2134	2226	2043	0	0	0	0	0	0	14.52	14.61	28.83
8010	1.04	146.0	2866	2425	2226	2043	167.9	11.6	683	8018	0.00	2.58	0.00	0.000	260	0.000	0.151	2866	3838	2134	2226	2043	0	0	0	0	0	0	28.83	14.60	28.83
8105	1.04	146.0	2866	3838	2226	2043	155.4	13.3	692	8115	0.00	2.40	0.00	0.000	1030	0.000	0.103	2875	2432	2134	2226	2043	0	0	0	0	0	0	28.83	14.63	28.83
8416	1.04	146.0	2875	2433	2226	2043	122.4	9.6	723	8425	0.00	2.60	0.00	0.000	260	0.000	0.151	2875	3851	2134	2226	2043	0	0	0	0	0	0	28.83	14.61	28.83
8502	1.04	146.0	2875	3852	2226	2043	113.3	10.6	731	8511	0.00	2.45	0.00	0.000	1030	0.000	0.103	2886	2427	2134	2226	2043	0	0	0	0	0	0	28.83	14.64	28.83
8817	1.09	165.3	2886	2427	2227	2043	87.6	7.9	777	8830	0.00	0.00	9.57	0.467	8710	0.000	0.000	2886	2427	2066	2160	1972	0	0	0	0	0	0	28.83	28.83	14.46
9141	1.09	165.3	2886	2427	2160	1971	57.7	9.1	839	9148	0.00	2.47	0.00	0.000	516	0.000	0.126	2897	1021	2065	2160	1971	0	0	0	0	0	0	28.83	14.61	28.83
9175	1.09	165.3	2897	1021	2160	1970	54.7	9.3	844	9182	0.00	2.55	0.00	0.000	1030	0.000	0.133	2897	2440	2065	2160	1970	0	0	0	0	0	0	28.83	14.61	28.83
9495	1.26	232.4	2897	2440	2160	1969	26.9	6.0	905	9538	0.00	2.62	36.30	0.256	8708	0.000	0.128	2908	1014	1791	1886	1697	0	0	0	0	0	0	28.83	14.55	14.50
9649	1.26	232.4	2908	1014	1876	1693	14.1	9.2	932	9657	0.00	2.58	0.00	0.000	1030	0.000	0.132	2907	2434	1784	1876	1693	0	0	0	0	0	0	28.83	14.56	28.83
9752	end climb: SURFACE_DEPTH_REACHED
state	9752	begin surface coast
9785	end surface coast: CONTROL_FINISHED_OK
state	9785	begin surface