Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 54 * 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 54 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 20 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 15 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 -1163.7994 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 -1163.7994

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 20 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 15 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 54 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 240913,021905,6631.317,-5937.352,36,0.8,36,-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 1.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240913,022455,6631.271,-5937.339,5,0.8,5,-33.5 MHEAD_RNG_PITCHd_Wd 95.9,135673,-16.2,-8.684,-19.07,2590

SPEED_LIMITS 0.150,0.251 D_GRID 761

Post-dive calculations and measurements:

FINISH 0.8,1.025517 _24V_AH 12.3,25.668

SM_CCo 10119,97.85,0.184,0,0,1108,400.08 _10V_AH 12.6,0.000

SM_GC 1.70,8.23,0.00,97.85,0.104,0.000,0.184,144,2433,1108,-7.39,-0.48,400.08,0,0,0,0,0,0,14.60,28.83,14.45 FG_AHR_24Vo 0.000

RAFOS_CLK 511 FG_AHR_10Vo 0.000

RAFOS 0,1379995262,4.033333,4.017222,63,55,53,51,51,50,228,187,212,175,146,197 MEM 150756

RAFOS_FIX 6633.132324,-5937.310059,240913,040456,4,90,0.49 DATA_FILE_SIZE 43354,974

IRIDIUM_FIX 6604.29,-5939.18,230913,232314 CAP_FILE_SIZE 110658,0

TT8_MAMPS 0.023219,0.023219 CFSIZE 259252224,247484416

HUMID 45.39 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.67414 SOUNDSPEED 1456.0

TCM_TEMP 12.30 CURRENT 0.153,332.6,1

XPDR_PINGS 111 GPS 240913,051735,6632.737,-5935.466,34,1.5,34,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 430 112.84 SBE_CT 684 23 195.39

Roll_motor 100 150 187.08 SBE_O2 0 0 0.00

VBD_pump_during_apogee 368 2632 11938.61 nil 0 0 0.00

VBD_pump_during_surface 97 183 220.97 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 195 139 336.60 nil 0 0 0.00

Transponder_ping 27 420 143.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 18 3.16

TT8 2483 14 468.12

LPSleep 4975 2 144.83

TT8_Active 630 14 112.90

TT8_Sampling 1898 33 805.86

TT8_CF8 586 39 293.45

TT8_Kalman 0 0 0.00

Analog_circuits 1795 12 271.42

GPS_charging 0 0 0.00

Compass 1722 6 146.28

RAFOS 2520 1 47.63

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

20 -1.04 -146.0 116 2454 1100 1081 0.0 0.0 0 104 0.00 0.00 -81.55 0.000 16386 0.000 0.000 114 2456 2713 2774 2653 0 0 0 0 0 0 28.83 28.83 28.83

111 -1.04 -146.0 114 2456 2774 2654 3.1 -3.9 14 143 9.77 2.53 -13.98 0.000 18948 0.431 0.141 2180 1042 3339 3514 3164 0 0 0 0 0 0 14.25 14.38 14.62

244 -1.04 -146.0 2180 1041 3516 3164 41.6 -23.2 37 251 0.00 2.58 0.00 0.000 1030 0.000 0.127 2171 2460 3340 3517 3164 0 0 0 0 0 0 28.83 14.40 28.83

562 -1.04 -146.0 2171 2460 3517 3164 117.7 -23.8 91 572 0.00 2.50 0.00 0.000 516 0.000 0.115 2171 1038 3340 3517 3164 0 0 0 0 0 0 28.83 14.46 28.83

650 -1.04 -146.0 1352 1038 3510 3161 138.7 -23.7 99 658 0.00 2.55 0.00 0.000 1030 0.000 0.125 2160 2452 3341 3518 3164 0 0 0 0 0 0 28.83 14.49 28.83

965 -1.04 -146.0 2161 2453 3517 3163 216.3 -24.6 130 974 0.00 2.50 0.00 0.000 516 0.000 0.115 2161 1039 3340 3517 3163 0 0 0 0 0 0 28.83 14.52 28.83

1033 -1.04 -146.0 1344 1038 3510 3160 233.2 -23.6 136 1041 0.15 2.55 0.00 0.000 3078 0.338 0.128 2181 2455 3340 3518 3163 0 0 0 0 0 0 14.46 14.54 28.83

1342 -1.04 -146.0 2181 2455 3517 3163 300.7 -20.9 167 1349 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2456 3340 3517 3163 0 0 0 0 0 0 28.83 28.83 28.83

1657 -1.04 -146.0 2181 2455 3517 3162 363.6 -19.9 198 1663 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2456 3339 3517 3162 0 0 0 0 0 0 28.83 28.83 28.83

1972 -1.04 -146.0 2181 2456 3517 3162 425.1 -19.5 229 1978 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2456 3339 3517 3162 0 0 0 0 0 0 28.83 28.83 28.83

2285 -1.04 -146.0 2181 2455 3517 3162 483.4 -18.1 260 2291 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2455 3339 3517 3162 0 0 0 0 0 0 28.83 28.83 28.83

2598 -1.04 -146.0 2180 2455 3517 3162 540.3 -18.4 291 2605 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2455 3339 3517 3162 0 0 0 0 0 0 28.83 28.83 28.83

2913 -1.04 -146.0 2180 2455 3517 3162 596.5 -17.3 322 2922 0.00 2.50 0.00 0.000 260 0.000 0.143 2172 3859 3340 3517 3163 0 0 0 0 0 0 28.83 14.63 28.83

2939 -1.04 -146.0 2172 3859 3518 3163 602.3 -17.9 324 2948 0.00 2.38 0.00 0.000 1030 0.000 0.094 2172 2453 3340 3518 3163 0 0 0 0 0 0 28.83 14.66 28.83

3248 -1.04 -146.0 2172 2453 3517 3162 658.7 -18.1 335 3254 0.00 2.42 0.00 0.000 516 0.000 0.113 2172 1037 3339 3517 3162 0 0 0 0 0 0 28.83 14.66 28.83

3288 -1.04 -146.0 2172 1037 3517 3163 664.6 -18.1 336 3294 0.00 2.50 0.00 0.000 1030 0.000 0.126 2162 2453 3340 3518 3162 0 0 0 0 0 0 28.83 14.65 28.83

3611 -1.04 -146.0 2161 2453 3518 3163 727.3 -19.2 347 3617 0.00 2.50 0.00 0.000 260 0.000 0.142 2151 3857 3339 3517 3162 0 0 0 0 0 0 28.83 14.66 28.83

3636 -1.04 -146.0 2151 3857 3517 3163 727.3 -19.2 347 3645 0.15 2.40 0.00 0.000 3078 0.331 0.094 2182 2446 3340 3518 3162 0 0 0 0 0 0 14.59 14.70 28.83

3817 end dive: TARGET_DEPTH_EXCEEDED

state 3817 begin apogee

3830 -0.21 0.0 2182 2445 3518 3163 765.7 -17.9 354 4007 0.98 0.00 159.25 2.632 10246 0.278 0.000 2447 2445 2740 2854 2627 0 0 0 0 0 0 14.60 28.83 12.76

4008 end apogee: CONTROL_FINISHED_OK

state 4008 begin climb

4014 1.04 146.0 2447 2445 2854 2627 775.1 0.0 360 4202 1.38 2.95 172.57 2.576 11012 0.171 0.145 2849 3836 2145 2229 2061 0 0 0 0 0 0 13.67 13.02 12.28

4434 1.04 146.0 1872 3835 2180 2051 724.4 17.0 374 4440 0.00 2.55 0.00 0.000 1030 0.000 0.099 2860 2436 2140 2225 2056 0 0 0 0 0 0 28.83 13.81 28.83

4762 1.04 146.0 2860 2436 2226 2050 674.8 15.0 385 4768 0.00 2.58 0.00 0.000 516 0.000 0.122 2870 1025 2137 2225 2050 0 0 0 0 0 0 28.83 14.08 28.83

4942 1.04 146.0 2870 1025 2225 2049 652.5 14.8 390 4949 0.00 2.60 0.00 0.000 1030 0.000 0.129 2871 2429 2136 2225 2048 0 0 0 0 0 0 28.83 14.18 28.83

5249 1.04 146.0 2871 2429 2225 2048 602.4 14.9 401 5255 0.00 2.62 0.00 0.000 260 0.000 0.149 2870 3846 2136 2225 2048 0 0 0 0 0 0 28.83 14.29 28.83

5352 1.04 146.0 2870 3846 2225 2048 585.0 17.3 409 5360 0.00 2.47 0.00 0.000 1030 0.000 0.101 2881 2425 2136 2225 2048 0 0 0 0 0 0 28.83 14.35 28.83

5662 1.04 146.0 2881 2425 2225 2047 536.8 15.1 440 5671 0.00 2.62 0.00 0.000 260 0.000 0.148 2882 3844 2136 2225 2047 0 0 0 0 0 0 28.83 14.39 28.83

5718 1.04 146.0 2881 3844 2225 2047 527.5 17.4 445 5727 0.10 2.45 0.00 0.000 5126 0.320 0.100 2868 2423 2136 2225 2047 0 0 0 0 0 0 14.33 14.42 28.83

6029 1.04 146.0 2868 2423 2225 2046 481.5 14.4 476 6038 0.00 2.62 0.00 0.000 260 0.000 0.149 2867 3844 2135 2225 2046 0 0 0 0 0 0 28.83 14.44 28.83

6077 1.04 146.0 1896 3844 2181 2041 474.2 15.9 480 6084 0.00 2.47 0.00 0.000 1030 0.000 0.101 2877 2419 2135 2225 2046 0 0 0 0 0 0 28.83 14.49 28.83

6385 1.04 146.0 2877 2418 2225 2046 427.3 15.4 511 6395 0.00 2.60 0.00 0.000 260 0.000 0.150 2877 3836 2135 2225 2046 0 0 0 0 0 0 28.83 14.49 28.83

6431 1.04 146.0 2877 3836 2225 2046 419.9 16.4 515 6441 0.00 2.42 0.00 0.000 1030 0.000 0.101 2888 2423 2135 2225 2046 0 0 0 0 0 0 28.83 14.52 28.83

6743 1.04 146.0 2888 2423 2225 2046 373.1 15.2 546 6751 0.00 2.60 0.00 0.000 260 0.000 0.150 2888 3843 2135 2225 2046 0 0 0 0 0 0 28.83 14.52 28.83

6791 1.04 146.0 1920 3842 2180 2041 365.8 16.4 550 6798 0.17 2.45 0.00 0.000 5126 0.334 0.101 2862 2423 2135 2225 2046 0 0 0 0 0 0 14.47 14.57 28.83

7099 1.04 146.0 2861 2421 2225 2045 323.8 12.8 581 7109 0.00 2.58 0.00 0.000 260 0.000 0.150 2861 3840 2134 2224 2045 0 0 0 0 0 0 28.83 14.54 28.83

7165 1.04 146.0 2862 3840 2225 2045 314.6 14.6 587 7176 0.00 2.42 0.00 0.000 1030 0.000 0.101 2871 2422 2135 2225 2045 0 0 0 0 0 0 28.83 14.58 28.83

7478 1.04 146.0 2871 2422 2225 2045 272.7 13.1 618 7486 0.00 2.58 0.00 0.000 260 0.000 0.149 2871 3837 2135 2225 2045 0 0 0 0 0 0 28.83 14.58 28.83

7504 1.04 146.0 2872 3836 2225 2045 269.3 13.2 620 7512 0.00 2.40 0.00 0.000 1030 0.000 0.099 2882 2433 2135 2225 2045 0 0 0 0 0 0 28.83 14.59 28.83

7814 1.04 146.0 2882 2433 2225 2044 227.3 13.0 651 7824 0.00 2.58 0.00 0.000 260 0.000 0.148 2882 3839 2135 2225 2045 0 0 0 0 0 0 28.83 14.57 28.83

7852 1.04 146.0 2882 3839 2225 2045 222.2 13.9 654 7861 0.10 2.40 0.00 0.000 5126 0.319 0.100 2868 2430 2134 2224 2045 0 0 0 0 0 0 14.51 14.61 28.83

8162 1.04 146.0 2867 2430 2223 2045 184.9 11.3 685 8171 0.00 2.45 0.00 0.000 516 0.000 0.122 2877 1023 2135 2225 2045 0 0 0 0 0 0 28.83 14.60 28.83

8198 1.04 146.0 2877 1023 2225 2044 180.9 11.6 688 8206 0.00 2.50 0.00 0.000 1030 0.000 0.130 2877 2428 2134 2225 2044 0 0 0 0 0 0 28.83 14.59 28.83

8508 1.04 146.0 2877 2428 2225 2044 147.0 10.5 719 8512 0.00 2.58 0.00 0.000 260 0.000 0.151 2877 3843 2135 2225 2045 0 0 0 0 0 0 28.83 14.60 28.83

8749 1.04 146.0 2877 3843 2225 2045 119.8 11.1 742 8757 0.00 2.42 0.00 0.000 1030 0.000 0.102 2888 2423 2134 2225 2044 0 0 0 0 0 0 28.83 14.62 28.83

9065 1.04 146.0 2888 2423 2225 2044 90.7 9.1 782 9072 0.00 2.60 0.00 0.000 260 0.000 0.149 2888 3849 2134 2225 2044 0 0 0 0 0 0 28.83 14.61 28.83

9282 1.04 146.0 1888 3848 2179 2039 68.7 10.7 823 9291 0.15 2.45 0.00 0.000 5126 0.340 0.101 2866 2425 2134 2225 2044 0 0 0 0 0 0 14.54 14.64 28.83

9603 1.05 151.4 2866 2425 2225 2043 42.7 8.5 884 9612 0.00 2.53 1.55 0.363 8708 0.000 0.122 2876 1023 2121 2213 2030 0 0 0 0 0 0 28.83 14.61 14.53

9720 1.22 216.3 2876 1023 2213 2030 34.7 6.1 904 9763 0.12 2.53 35.35 0.278 11270 0.184 0.129 2916 2431 1858 1952 1764 0 0 0 0 0 0 14.63 14.62 14.49

10059 end climb: SURFACE_DEPTH_REACHED

state 10060 begin surface coast

10091 end surface coast: CONTROL_FINISHED_OK

state 10091 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	54	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	20	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	15	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	-1163.7994	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	240913,021905,6631.317,-5937.352,36,0.8,36,-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	1.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240913,022455,6631.271,-5937.339,5,0.8,5,-33.5	MHEAD_RNG_PITCHd_Wd	95.9,135673,-16.2,-8.684,-19.07,2590
SPEED_LIMITS	0.150,0.251	D_GRID	761

FINISH	0.8,1.025517	_24V_AH	12.3,25.668
SM_CCo	10119,97.85,0.184,0,0,1108,400.08	_10V_AH	12.6,0.000
SM_GC	1.70,8.23,0.00,97.85,0.104,0.000,0.184,144,2433,1108,-7.39,-0.48,400.08,0,0,0,0,0,0,14.60,28.83,14.45	FG_AHR_24Vo	0.000
RAFOS_CLK	511	FG_AHR_10Vo	0.000
RAFOS	0,1379995262,4.033333,4.017222,63,55,53,51,51,50,228,187,212,175,146,197	MEM	150756
RAFOS_FIX	6633.132324,-5937.310059,240913,040456,4,90,0.49	DATA_FILE_SIZE	43354,974
IRIDIUM_FIX	6604.29,-5939.18,230913,232314	CAP_FILE_SIZE	110658,0
TT8_MAMPS	0.023219,0.023219	CFSIZE	259252224,247484416
HUMID	45.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.67414	SOUNDSPEED	1456.0
TCM_TEMP	12.30	CURRENT	0.153,332.6,1
XPDR_PINGS	111	GPS	240913,051735,6632.737,-5935.466,34,1.5,34,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	430	112.84	SBE_CT	684	23	195.39
Roll_motor	100	150	187.08	SBE_O2	0	0	0.00
VBD_pump_during_apogee	368	2632	11938.61	nil	0	0	0.00
VBD_pump_during_surface	97	183	220.97	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	195	139	336.60	nil	0	0	0.00
Transponder_ping	27	420	143.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	18	3.16
TT8	2483	14	468.12
LPSleep	4975	2	144.83
TT8_Active	630	14	112.90
TT8_Sampling	1898	33	805.86
TT8_CF8	586	39	293.45
TT8_Kalman	0	0	0.00
Analog_circuits	1795	12	271.42
GPS_charging	0	0	0.00
Compass	1722	6	146.28
RAFOS	2520	1	47.63
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
20	-1.04	-146.0	116	2454	1100	1081	0.0	0.0	0	104	0.00	0.00	-81.55	0.000	16386	0.000	0.000	114	2456	2713	2774	2653	0	0	0	0	0	0	28.83	28.83	28.83
111	-1.04	-146.0	114	2456	2774	2654	3.1	-3.9	14	143	9.77	2.53	-13.98	0.000	18948	0.431	0.141	2180	1042	3339	3514	3164	0	0	0	0	0	0	14.25	14.38	14.62
244	-1.04	-146.0	2180	1041	3516	3164	41.6	-23.2	37	251	0.00	2.58	0.00	0.000	1030	0.000	0.127	2171	2460	3340	3517	3164	0	0	0	0	0	0	28.83	14.40	28.83
562	-1.04	-146.0	2171	2460	3517	3164	117.7	-23.8	91	572	0.00	2.50	0.00	0.000	516	0.000	0.115	2171	1038	3340	3517	3164	0	0	0	0	0	0	28.83	14.46	28.83
650	-1.04	-146.0	1352	1038	3510	3161	138.7	-23.7	99	658	0.00	2.55	0.00	0.000	1030	0.000	0.125	2160	2452	3341	3518	3164	0	0	0	0	0	0	28.83	14.49	28.83
965	-1.04	-146.0	2161	2453	3517	3163	216.3	-24.6	130	974	0.00	2.50	0.00	0.000	516	0.000	0.115	2161	1039	3340	3517	3163	0	0	0	0	0	0	28.83	14.52	28.83
1033	-1.04	-146.0	1344	1038	3510	3160	233.2	-23.6	136	1041	0.15	2.55	0.00	0.000	3078	0.338	0.128	2181	2455	3340	3518	3163	0	0	0	0	0	0	14.46	14.54	28.83
1342	-1.04	-146.0	2181	2455	3517	3163	300.7	-20.9	167	1349	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2456	3340	3517	3163	0	0	0	0	0	0	28.83	28.83	28.83
1657	-1.04	-146.0	2181	2455	3517	3162	363.6	-19.9	198	1663	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2456	3339	3517	3162	0	0	0	0	0	0	28.83	28.83	28.83
1972	-1.04	-146.0	2181	2456	3517	3162	425.1	-19.5	229	1978	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2456	3339	3517	3162	0	0	0	0	0	0	28.83	28.83	28.83
2285	-1.04	-146.0	2181	2455	3517	3162	483.4	-18.1	260	2291	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2455	3339	3517	3162	0	0	0	0	0	0	28.83	28.83	28.83
2598	-1.04	-146.0	2180	2455	3517	3162	540.3	-18.4	291	2605	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2455	3339	3517	3162	0	0	0	0	0	0	28.83	28.83	28.83
2913	-1.04	-146.0	2180	2455	3517	3162	596.5	-17.3	322	2922	0.00	2.50	0.00	0.000	260	0.000	0.143	2172	3859	3340	3517	3163	0	0	0	0	0	0	28.83	14.63	28.83
2939	-1.04	-146.0	2172	3859	3518	3163	602.3	-17.9	324	2948	0.00	2.38	0.00	0.000	1030	0.000	0.094	2172	2453	3340	3518	3163	0	0	0	0	0	0	28.83	14.66	28.83
3248	-1.04	-146.0	2172	2453	3517	3162	658.7	-18.1	335	3254	0.00	2.42	0.00	0.000	516	0.000	0.113	2172	1037	3339	3517	3162	0	0	0	0	0	0	28.83	14.66	28.83
3288	-1.04	-146.0	2172	1037	3517	3163	664.6	-18.1	336	3294	0.00	2.50	0.00	0.000	1030	0.000	0.126	2162	2453	3340	3518	3162	0	0	0	0	0	0	28.83	14.65	28.83
3611	-1.04	-146.0	2161	2453	3518	3163	727.3	-19.2	347	3617	0.00	2.50	0.00	0.000	260	0.000	0.142	2151	3857	3339	3517	3162	0	0	0	0	0	0	28.83	14.66	28.83
3636	-1.04	-146.0	2151	3857	3517	3163	727.3	-19.2	347	3645	0.15	2.40	0.00	0.000	3078	0.331	0.094	2182	2446	3340	3518	3162	0	0	0	0	0	0	14.59	14.70	28.83
3817	end dive: TARGET_DEPTH_EXCEEDED
state	3817	begin apogee
3830	-0.21	0.0	2182	2445	3518	3163	765.7	-17.9	354	4007	0.98	0.00	159.25	2.632	10246	0.278	0.000	2447	2445	2740	2854	2627	0	0	0	0	0	0	14.60	28.83	12.76
4008	end apogee: CONTROL_FINISHED_OK
state	4008	begin climb
4014	1.04	146.0	2447	2445	2854	2627	775.1	0.0	360	4202	1.38	2.95	172.57	2.576	11012	0.171	0.145	2849	3836	2145	2229	2061	0	0	0	0	0	0	13.67	13.02	12.28
4434	1.04	146.0	1872	3835	2180	2051	724.4	17.0	374	4440	0.00	2.55	0.00	0.000	1030	0.000	0.099	2860	2436	2140	2225	2056	0	0	0	0	0	0	28.83	13.81	28.83
4762	1.04	146.0	2860	2436	2226	2050	674.8	15.0	385	4768	0.00	2.58	0.00	0.000	516	0.000	0.122	2870	1025	2137	2225	2050	0	0	0	0	0	0	28.83	14.08	28.83
4942	1.04	146.0	2870	1025	2225	2049	652.5	14.8	390	4949	0.00	2.60	0.00	0.000	1030	0.000	0.129	2871	2429	2136	2225	2048	0	0	0	0	0	0	28.83	14.18	28.83
5249	1.04	146.0	2871	2429	2225	2048	602.4	14.9	401	5255	0.00	2.62	0.00	0.000	260	0.000	0.149	2870	3846	2136	2225	2048	0	0	0	0	0	0	28.83	14.29	28.83
5352	1.04	146.0	2870	3846	2225	2048	585.0	17.3	409	5360	0.00	2.47	0.00	0.000	1030	0.000	0.101	2881	2425	2136	2225	2048	0	0	0	0	0	0	28.83	14.35	28.83
5662	1.04	146.0	2881	2425	2225	2047	536.8	15.1	440	5671	0.00	2.62	0.00	0.000	260	0.000	0.148	2882	3844	2136	2225	2047	0	0	0	0	0	0	28.83	14.39	28.83
5718	1.04	146.0	2881	3844	2225	2047	527.5	17.4	445	5727	0.10	2.45	0.00	0.000	5126	0.320	0.100	2868	2423	2136	2225	2047	0	0	0	0	0	0	14.33	14.42	28.83
6029	1.04	146.0	2868	2423	2225	2046	481.5	14.4	476	6038	0.00	2.62	0.00	0.000	260	0.000	0.149	2867	3844	2135	2225	2046	0	0	0	0	0	0	28.83	14.44	28.83
6077	1.04	146.0	1896	3844	2181	2041	474.2	15.9	480	6084	0.00	2.47	0.00	0.000	1030	0.000	0.101	2877	2419	2135	2225	2046	0	0	0	0	0	0	28.83	14.49	28.83
6385	1.04	146.0	2877	2418	2225	2046	427.3	15.4	511	6395	0.00	2.60	0.00	0.000	260	0.000	0.150	2877	3836	2135	2225	2046	0	0	0	0	0	0	28.83	14.49	28.83
6431	1.04	146.0	2877	3836	2225	2046	419.9	16.4	515	6441	0.00	2.42	0.00	0.000	1030	0.000	0.101	2888	2423	2135	2225	2046	0	0	0	0	0	0	28.83	14.52	28.83
6743	1.04	146.0	2888	2423	2225	2046	373.1	15.2	546	6751	0.00	2.60	0.00	0.000	260	0.000	0.150	2888	3843	2135	2225	2046	0	0	0	0	0	0	28.83	14.52	28.83
6791	1.04	146.0	1920	3842	2180	2041	365.8	16.4	550	6798	0.17	2.45	0.00	0.000	5126	0.334	0.101	2862	2423	2135	2225	2046	0	0	0	0	0	0	14.47	14.57	28.83
7099	1.04	146.0	2861	2421	2225	2045	323.8	12.8	581	7109	0.00	2.58	0.00	0.000	260	0.000	0.150	2861	3840	2134	2224	2045	0	0	0	0	0	0	28.83	14.54	28.83
7165	1.04	146.0	2862	3840	2225	2045	314.6	14.6	587	7176	0.00	2.42	0.00	0.000	1030	0.000	0.101	2871	2422	2135	2225	2045	0	0	0	0	0	0	28.83	14.58	28.83
7478	1.04	146.0	2871	2422	2225	2045	272.7	13.1	618	7486	0.00	2.58	0.00	0.000	260	0.000	0.149	2871	3837	2135	2225	2045	0	0	0	0	0	0	28.83	14.58	28.83
7504	1.04	146.0	2872	3836	2225	2045	269.3	13.2	620	7512	0.00	2.40	0.00	0.000	1030	0.000	0.099	2882	2433	2135	2225	2045	0	0	0	0	0	0	28.83	14.59	28.83
7814	1.04	146.0	2882	2433	2225	2044	227.3	13.0	651	7824	0.00	2.58	0.00	0.000	260	0.000	0.148	2882	3839	2135	2225	2045	0	0	0	0	0	0	28.83	14.57	28.83
7852	1.04	146.0	2882	3839	2225	2045	222.2	13.9	654	7861	0.10	2.40	0.00	0.000	5126	0.319	0.100	2868	2430	2134	2224	2045	0	0	0	0	0	0	14.51	14.61	28.83
8162	1.04	146.0	2867	2430	2223	2045	184.9	11.3	685	8171	0.00	2.45	0.00	0.000	516	0.000	0.122	2877	1023	2135	2225	2045	0	0	0	0	0	0	28.83	14.60	28.83
8198	1.04	146.0	2877	1023	2225	2044	180.9	11.6	688	8206	0.00	2.50	0.00	0.000	1030	0.000	0.130	2877	2428	2134	2225	2044	0	0	0	0	0	0	28.83	14.59	28.83
8508	1.04	146.0	2877	2428	2225	2044	147.0	10.5	719	8512	0.00	2.58	0.00	0.000	260	0.000	0.151	2877	3843	2135	2225	2045	0	0	0	0	0	0	28.83	14.60	28.83
8749	1.04	146.0	2877	3843	2225	2045	119.8	11.1	742	8757	0.00	2.42	0.00	0.000	1030	0.000	0.102	2888	2423	2134	2225	2044	0	0	0	0	0	0	28.83	14.62	28.83
9065	1.04	146.0	2888	2423	2225	2044	90.7	9.1	782	9072	0.00	2.60	0.00	0.000	260	0.000	0.149	2888	3849	2134	2225	2044	0	0	0	0	0	0	28.83	14.61	28.83
9282	1.04	146.0	1888	3848	2179	2039	68.7	10.7	823	9291	0.15	2.45	0.00	0.000	5126	0.340	0.101	2866	2425	2134	2225	2044	0	0	0	0	0	0	14.54	14.64	28.83
9603	1.05	151.4	2866	2425	2225	2043	42.7	8.5	884	9612	0.00	2.53	1.55	0.363	8708	0.000	0.122	2876	1023	2121	2213	2030	0	0	0	0	0	0	28.83	14.61	14.53
9720	1.22	216.3	2876	1023	2213	2030	34.7	6.1	904	9763	0.12	2.53	35.35	0.278	11270	0.184	0.129	2916	2431	1858	1952	1764	0	0	0	0	0	0	14.63	14.62	14.49
10059	end climb: SURFACE_DEPTH_REACHED
state	10060	begin surface coast
10091	end surface coast: CONTROL_FINISHED_OK
state	10091	begin surface