Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 573 * 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 90 ROLL_DEG 24 ALTIM_TOP_TURN_MARGIN 5

DIVE 573 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 21 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 11 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 -4 T_GPS_CHARGE -12249.215 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 90 P_OVSHOOT 0.039999999 T_GPS_CHARGE -12249.215

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 -4

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 21 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 11 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 573 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 010114,163505,6405.844,-5954.192,29,1.3,30,-30.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6405.722,-5929.745

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -42.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010114,164128,6405.722,-5954.464,7,0.9,7,-30.9 MHEAD_RNG_PITCHd_Wd 75.9,20000,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 345

Post-dive calculations and measurements:

FREEZE 1.47,-39.928,-0.001,2,1,0 ALTIM_TOP_PING 17.9,999.0

FINISH 1.5,0.972744 _24V_AH 11.3,236.963

SM_CCo 13554,74.03,0.168,0,0,1108,400.08 _10V_AH 11.6,0.000

SM_GC 1.46,8.27,0.00,74.03,0.086,0.000,0.168,140,2503,1108,-7.35,0.08,400.08,0,0,0,0,0,0,14.12,28.83,14.04 FG_AHR_24Vo 0.000

RAFOS_CLK 716 FG_AHR_10Vo 0.000

RAFOS 3,1388593523,16.433332,16.423056,64,58,57,55,54,54,201,147,225,210,183,165 MEM 238560

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 DATA_FILE_SIZE 16838,443

IRIDIUM_FIX 6342.00,-5947.81,010114,121241 CAP_FILE_SIZE 95620,0

TT8_MAMPS 0.027713,0.027713 CFSIZE 259252224,206635008

HUMID 45.35 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.63508 SOUNDSPEED 1465.0

TCM_TEMP 12.00 CURRENT 0.381,227.4,1

XPDR_PINGS 27 GPS 010114,203105,6403.810,-5959.211,41,0.9,42,-30.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 408 101.90 SBE_CT 0 0 0.00

Roll_motor 58 141 92.84 SBE_O2 0 0 0.00

VBD_pump_during_apogee 442 2246 11237.11 nil 0 0 0.00

VBD_pump_during_surface 74 168 140.78 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 218 124 308.51 nil 0 0 0.00

Transponder_ping 7 420 34.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 18 1.80

TT8 1112 14 193.11

LPSleep 10317 2 276.47

TT8_Active 535 14 88.24

TT8_Sampling 1500 33 586.59

TT8_CF8 554 39 255.27

TT8_Kalman 0 0 0.00

Analog_circuits 1532 12 213.34

GPS_charging 0 0 0.00

Compass 1295 6 101.27

RAFOS 1800 1 31.32

Transponder 4 30 1.60

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 -146.0 142 2504 1148 1043 0.0 0.0 0 156 0.00 0.00 -132.43 0.000 16390 0.000 0.000 142 2505 3336 3486 3187 0 0 0 0 0 0 28.83 28.83 14.52

163 -0.89 -146.0 142 2505 3487 3187 1.3 -0.0 4 176 9.65 1.52 0.00 0.000 2564 0.376 0.090 2212 1651 3337 3488 3187 0 0 0 0 0 0 13.61 14.13 28.83

411 -0.89 -146.0 2211 1649 3490 3186 1.2 0.0 13 416 0.00 1.65 0.00 0.000 1030 0.000 0.141 2204 2500 3338 3490 3186 0 0 0 0 0 0 28.83 13.75 28.83

1054 -0.61 -146.0 2195 2504 3490 3186 1.2 0.0 34 1060 0.52 1.52 0.00 0.000 2564 0.385 0.085 2299 1651 3338 3490 3186 0 0 0 0 0 0 13.31 13.91 28.83

1292 -0.61 -146.0 2292 1648 3490 3186 1.3 -0.0 41 1298 0.00 1.65 0.00 0.000 1030 0.000 0.136 2284 2500 3338 3490 3186 0 0 0 0 0 0 28.83 13.64 28.83

1905 -0.31 -146.0 2275 2505 3490 3186 1.2 0.1 62 1912 0.65 1.58 0.00 0.000 2564 0.400 0.090 2402 1646 3337 3490 3185 0 0 0 0 0 0 13.26 13.92 28.83

2145 -0.31 -146.0 2395 1643 3490 3186 1.3 -0.1 69 2150 0.00 1.67 0.00 0.000 1030 0.000 0.126 2388 2504 3337 3489 3186 0 0 0 0 0 0 28.83 13.62 28.83

2757 -0.02 -146.0 2382 2508 3490 3185 1.3 -0.0 90 2763 0.57 1.55 0.00 0.000 2564 0.404 0.091 2494 1652 3337 3490 3185 0 0 0 0 0 0 13.16 13.82 28.83

2996 -0.02 -146.0 2489 1649 3490 3186 1.3 0.1 97 3002 0.00 1.70 0.00 0.000 1030 0.000 0.139 2481 2502 3337 3490 3185 0 0 0 0 0 0 28.83 13.59 28.83

3609 0.33 -146.0 2479 2508 3490 3185 1.3 0.0 118 3615 0.65 1.50 0.00 0.000 2564 0.409 0.096 2605 1663 3337 3490 3185 0 0 0 0 0 0 13.17 13.74 28.83

3848 0.33 -146.0 2605 1661 3490 3185 1.5 -0.2 125 3854 0.00 1.65 0.00 0.000 1030 0.000 0.126 2598 2510 3337 3490 3185 0 0 0 0 0 0 28.83 13.63 28.83

4462 0.26 -146.0 2586 2518 3497 3181 7.1 -4.8 146 4465 0.00 1.62 0.00 0.000 516 0.000 0.109 2586 1663 3338 3497 3180 0 0 0 0 0 0 28.83 13.50 28.83

4529 0.17 -146.0 2586 1663 3496 3180 10.6 -4.9 148 4532 0.00 1.62 0.00 0.000 1030 0.000 0.132 2586 2499 3339 3497 3181 0 0 0 0 0 0 28.83 13.58 28.83

5170 0.07 -146.0 2586 2499 3498 3180 49.0 -8.2 169 5174 0.15 1.62 0.00 0.000 4612 0.148 0.106 2529 1639 3339 3498 3180 0 0 0 0 0 0 14.14 13.52 28.83

5200 -0.02 -146.0 2529 1638 3498 3179 49.0 -8.2 169 5206 0.00 1.67 0.00 0.000 1030 0.000 0.129 2527 2500 3338 3498 3179 0 0 0 0 0 0 28.83 13.59 28.83

5813 -0.06 -146.0 2527 2500 3498 3179 88.4 -6.1 190 5817 0.12 1.70 0.00 0.000 4356 0.165 0.142 2473 3352 3338 3498 3179 0 0 0 0 0 0 14.22 13.47 28.83

5928 -0.07 -146.0 2474 3352 3498 3179 96.5 -7.7 193 5931 0.00 1.60 0.00 0.000 1030 0.000 0.093 2474 2496 3338 3497 3179 0 0 0 0 0 0 28.83 13.64 28.83

6554 -0.07 -146.0 2474 2497 3498 3179 152.1 -8.0 214 6557 0.00 1.70 0.00 0.000 260 0.000 0.141 2468 3351 3338 3498 3179 0 0 0 0 0 0 28.83 13.46 28.83

6589 -0.07 -146.0 2468 3351 3498 3179 155.0 -7.6 215 6592 0.00 1.55 0.00 0.000 1030 0.000 0.093 2468 2497 3338 3498 3179 0 0 0 0 0 0 28.83 13.71 28.83

7229 -0.07 -146.0 2468 2497 3497 3179 197.4 -7.3 236 7233 0.00 1.70 0.00 0.000 260 0.000 0.141 2462 3354 3338 3498 3179 0 0 0 0 0 0 28.83 13.45 28.83

7269 -0.07 -146.0 2462 3355 3498 3179 200.5 -7.6 237 7272 0.00 1.55 0.00 0.000 1030 0.000 0.093 2462 2500 3338 3498 3179 0 0 0 0 0 0 28.83 13.71 28.83

7904 -0.09 -146.0 2463 2500 3498 3179 249.0 -6.1 258 7908 0.00 1.58 0.00 0.000 516 0.000 0.105 2462 1662 3338 3498 3179 0 0 0 0 0 0 28.83 13.49 28.83

7994 -0.10 -146.0 2462 1662 3498 3179 253.2 -5.9 260 8000 0.00 1.62 0.00 0.000 1030 0.000 0.127 2458 2501 3338 3498 3179 0 0 0 0 0 0 28.83 13.56 28.83

8605 -0.13 -146.0 2458 2500 3499 3179 286.7 -5.2 281 8609 0.00 1.70 0.00 0.000 260 0.000 0.141 2452 3344 3339 3499 3179 0 0 0 0 0 0 28.83 13.37 28.83

8665 -0.16 -146.0 2453 3345 3499 3179 288.8 -5.1 282 8671 0.00 1.52 0.00 0.000 1030 0.000 0.092 2453 2498 3339 3499 3179 0 0 0 0 0 0 28.83 13.71 28.83

9276 -0.19 -146.0 2453 2498 3501 3179 326.1 -5.4 303 9280 0.00 1.70 0.00 0.000 260 0.000 0.139 2447 3343 3340 3501 3179 0 0 0 0 0 0 28.83 13.38 28.83

9316 -0.22 -146.0 2447 3343 3500 3179 328.4 -5.5 304 9320 0.00 1.58 0.00 0.000 1030 0.000 0.090 2447 2495 3340 3501 3179 0 0 0 0 0 0 28.83 13.67 28.83

9610 end dive: TARGET_DEPTH_EXCEEDED

state 9610 begin apogee

9623 -0.22 0.0 2447 2495 3502 3179 346.3 -6.3 314 9790 0.00 0.00 156.70 2.246 8198 0.000 0.000 2447 2495 2742 2854 2630 0 0 0 0 0 0 28.83 28.83 12.08

9792 end apogee: CONTROL_FINISHED_OK

state 9792 begin climb

9798 0.89 146.0 2447 2495 2853 2631 353.9 0.0 319 9986 1.27 1.67 174.65 2.186 10756 0.207 0.103 2787 1669 2145 2238 2053 0 0 0 0 0 0 13.25 12.67 11.43

9996 1.05 216.7 2787 1669 2239 2052 346.9 5.6 326 10093 0.20 1.75 86.50 2.105 11270 0.122 0.125 2849 2508 1858 1947 1769 0 0 0 0 0 0 12.88 12.79 11.33

10697 1.05 216.7 2849 2509 1945 1752 271.5 9.9 350 10701 0.00 1.62 0.00 0.000 260 0.000 0.142 2849 3353 1849 1945 1753 0 0 0 0 0 0 28.83 14.03 28.83

10771 1.05 216.7 2850 3353 1944 1753 264.4 10.6 352 10775 0.00 1.50 0.00 0.000 1030 0.000 0.096 2855 2500 1848 1944 1753 0 0 0 0 0 0 28.83 14.19 28.83

11401 1.05 216.7 2856 2500 1944 1752 200.2 10.8 373 11405 0.00 1.52 0.00 0.000 516 0.000 0.106 2862 1671 1848 1945 1752 0 0 0 0 0 0 28.83 14.09 28.83

11515 1.05 216.7 2862 1671 1944 1751 190.2 10.1 376 11519 0.00 1.60 0.00 0.000 1030 0.000 0.125 2861 2508 1847 1943 1751 0 0 0 0 0 0 28.83 14.03 28.83

12136 1.05 216.7 2862 2508 1944 1751 125.2 10.3 397 12139 0.00 1.58 0.00 0.000 516 0.000 0.109 2868 1667 1847 1944 1751 0 0 0 0 0 0 28.83 14.01 28.83

12179 1.05 216.7 2867 1667 1944 1750 120.9 10.5 398 12183 0.00 1.62 0.00 0.000 1030 0.000 0.125 2867 2514 1847 1944 1750 0 0 0 0 0 0 28.83 13.99 28.83

12810 1.07 230.5 2867 2514 1944 1749 66.0 7.7 419 12821 0.00 1.60 6.60 0.369 8452 0.000 0.138 2867 3365 1800 1896 1705 0 0 0 0 0 0 28.83 14.04 13.66

12919 1.12 261.6 2868 3364 1895 1706 59.5 7.1 422 12942 0.00 1.52 18.30 0.338 9222 0.000 0.096 2873 2505 1673 1765 1582 0 0 0 0 0 0 28.83 14.12 13.78

13487 end climb: SURFACE_DEPTH_REACHED

state 13488 begin surface coast

13518 end surface coast: CONTROL_FINISHED_OK

state 13519 begin surface

ID	192	HD_C	3.62024e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	90	ROLL_DEG	24	ALTIM_TOP_TURN_MARGIN	5
DIVE	573	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	21	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	11	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	-4	T_GPS_CHARGE	-12249.215	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	010114,163505,6405.844,-5954.192,29,1.3,30,-30.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6405.722,-5929.745
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-42.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010114,164128,6405.722,-5954.464,7,0.9,7,-30.9	MHEAD_RNG_PITCHd_Wd	75.9,20000,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	345

FREEZE	1.47,-39.928,-0.001,2,1,0	ALTIM_TOP_PING	17.9,999.0
FINISH	1.5,0.972744	_24V_AH	11.3,236.963
SM_CCo	13554,74.03,0.168,0,0,1108,400.08	_10V_AH	11.6,0.000
SM_GC	1.46,8.27,0.00,74.03,0.086,0.000,0.168,140,2503,1108,-7.35,0.08,400.08,0,0,0,0,0,0,14.12,28.83,14.04	FG_AHR_24Vo	0.000
RAFOS_CLK	716	FG_AHR_10Vo	0.000
RAFOS	3,1388593523,16.433332,16.423056,64,58,57,55,54,54,201,147,225,210,183,165	MEM	238560
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	DATA_FILE_SIZE	16838,443
IRIDIUM_FIX	6342.00,-5947.81,010114,121241	CAP_FILE_SIZE	95620,0
TT8_MAMPS	0.027713,0.027713	CFSIZE	259252224,206635008
HUMID	45.35	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.63508	SOUNDSPEED	1465.0
TCM_TEMP	12.00	CURRENT	0.381,227.4,1
XPDR_PINGS	27	GPS	010114,203105,6403.810,-5959.211,41,0.9,42,-30.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	408	101.90	SBE_CT	0	0	0.00
Roll_motor	58	141	92.84	SBE_O2	0	0	0.00
VBD_pump_during_apogee	442	2246	11237.11	nil	0	0	0.00
VBD_pump_during_surface	74	168	140.78	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	218	124	308.51	nil	0	0	0.00
Transponder_ping	7	420	34.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	18	1.80
TT8	1112	14	193.11
LPSleep	10317	2	276.47
TT8_Active	535	14	88.24
TT8_Sampling	1500	33	586.59
TT8_CF8	554	39	255.27
TT8_Kalman	0	0	0.00
Analog_circuits	1532	12	213.34
GPS_charging	0	0	0.00
Compass	1295	6	101.27
RAFOS	1800	1	31.32
Transponder	4	30	1.60

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	142	2504	1148	1043	0.0	0.0	0	156	0.00	0.00	-132.43	0.000	16390	0.000	0.000	142	2505	3336	3486	3187	0	0	0	0	0	0	28.83	28.83	14.52
163	-0.89	-146.0	142	2505	3487	3187	1.3	-0.0	4	176	9.65	1.52	0.00	0.000	2564	0.376	0.090	2212	1651	3337	3488	3187	0	0	0	0	0	0	13.61	14.13	28.83
411	-0.89	-146.0	2211	1649	3490	3186	1.2	0.0	13	416	0.00	1.65	0.00	0.000	1030	0.000	0.141	2204	2500	3338	3490	3186	0	0	0	0	0	0	28.83	13.75	28.83
1054	-0.61	-146.0	2195	2504	3490	3186	1.2	0.0	34	1060	0.52	1.52	0.00	0.000	2564	0.385	0.085	2299	1651	3338	3490	3186	0	0	0	0	0	0	13.31	13.91	28.83
1292	-0.61	-146.0	2292	1648	3490	3186	1.3	-0.0	41	1298	0.00	1.65	0.00	0.000	1030	0.000	0.136	2284	2500	3338	3490	3186	0	0	0	0	0	0	28.83	13.64	28.83
1905	-0.31	-146.0	2275	2505	3490	3186	1.2	0.1	62	1912	0.65	1.58	0.00	0.000	2564	0.400	0.090	2402	1646	3337	3490	3185	0	0	0	0	0	0	13.26	13.92	28.83
2145	-0.31	-146.0	2395	1643	3490	3186	1.3	-0.1	69	2150	0.00	1.67	0.00	0.000	1030	0.000	0.126	2388	2504	3337	3489	3186	0	0	0	0	0	0	28.83	13.62	28.83
2757	-0.02	-146.0	2382	2508	3490	3185	1.3	-0.0	90	2763	0.57	1.55	0.00	0.000	2564	0.404	0.091	2494	1652	3337	3490	3185	0	0	0	0	0	0	13.16	13.82	28.83
2996	-0.02	-146.0	2489	1649	3490	3186	1.3	0.1	97	3002	0.00	1.70	0.00	0.000	1030	0.000	0.139	2481	2502	3337	3490	3185	0	0	0	0	0	0	28.83	13.59	28.83
3609	0.33	-146.0	2479	2508	3490	3185	1.3	0.0	118	3615	0.65	1.50	0.00	0.000	2564	0.409	0.096	2605	1663	3337	3490	3185	0	0	0	0	0	0	13.17	13.74	28.83
3848	0.33	-146.0	2605	1661	3490	3185	1.5	-0.2	125	3854	0.00	1.65	0.00	0.000	1030	0.000	0.126	2598	2510	3337	3490	3185	0	0	0	0	0	0	28.83	13.63	28.83
4462	0.26	-146.0	2586	2518	3497	3181	7.1	-4.8	146	4465	0.00	1.62	0.00	0.000	516	0.000	0.109	2586	1663	3338	3497	3180	0	0	0	0	0	0	28.83	13.50	28.83
4529	0.17	-146.0	2586	1663	3496	3180	10.6	-4.9	148	4532	0.00	1.62	0.00	0.000	1030	0.000	0.132	2586	2499	3339	3497	3181	0	0	0	0	0	0	28.83	13.58	28.83
5170	0.07	-146.0	2586	2499	3498	3180	49.0	-8.2	169	5174	0.15	1.62	0.00	0.000	4612	0.148	0.106	2529	1639	3339	3498	3180	0	0	0	0	0	0	14.14	13.52	28.83
5200	-0.02	-146.0	2529	1638	3498	3179	49.0	-8.2	169	5206	0.00	1.67	0.00	0.000	1030	0.000	0.129	2527	2500	3338	3498	3179	0	0	0	0	0	0	28.83	13.59	28.83
5813	-0.06	-146.0	2527	2500	3498	3179	88.4	-6.1	190	5817	0.12	1.70	0.00	0.000	4356	0.165	0.142	2473	3352	3338	3498	3179	0	0	0	0	0	0	14.22	13.47	28.83
5928	-0.07	-146.0	2474	3352	3498	3179	96.5	-7.7	193	5931	0.00	1.60	0.00	0.000	1030	0.000	0.093	2474	2496	3338	3497	3179	0	0	0	0	0	0	28.83	13.64	28.83
6554	-0.07	-146.0	2474	2497	3498	3179	152.1	-8.0	214	6557	0.00	1.70	0.00	0.000	260	0.000	0.141	2468	3351	3338	3498	3179	0	0	0	0	0	0	28.83	13.46	28.83
6589	-0.07	-146.0	2468	3351	3498	3179	155.0	-7.6	215	6592	0.00	1.55	0.00	0.000	1030	0.000	0.093	2468	2497	3338	3498	3179	0	0	0	0	0	0	28.83	13.71	28.83
7229	-0.07	-146.0	2468	2497	3497	3179	197.4	-7.3	236	7233	0.00	1.70	0.00	0.000	260	0.000	0.141	2462	3354	3338	3498	3179	0	0	0	0	0	0	28.83	13.45	28.83
7269	-0.07	-146.0	2462	3355	3498	3179	200.5	-7.6	237	7272	0.00	1.55	0.00	0.000	1030	0.000	0.093	2462	2500	3338	3498	3179	0	0	0	0	0	0	28.83	13.71	28.83
7904	-0.09	-146.0	2463	2500	3498	3179	249.0	-6.1	258	7908	0.00	1.58	0.00	0.000	516	0.000	0.105	2462	1662	3338	3498	3179	0	0	0	0	0	0	28.83	13.49	28.83
7994	-0.10	-146.0	2462	1662	3498	3179	253.2	-5.9	260	8000	0.00	1.62	0.00	0.000	1030	0.000	0.127	2458	2501	3338	3498	3179	0	0	0	0	0	0	28.83	13.56	28.83
8605	-0.13	-146.0	2458	2500	3499	3179	286.7	-5.2	281	8609	0.00	1.70	0.00	0.000	260	0.000	0.141	2452	3344	3339	3499	3179	0	0	0	0	0	0	28.83	13.37	28.83
8665	-0.16	-146.0	2453	3345	3499	3179	288.8	-5.1	282	8671	0.00	1.52	0.00	0.000	1030	0.000	0.092	2453	2498	3339	3499	3179	0	0	0	0	0	0	28.83	13.71	28.83
9276	-0.19	-146.0	2453	2498	3501	3179	326.1	-5.4	303	9280	0.00	1.70	0.00	0.000	260	0.000	0.139	2447	3343	3340	3501	3179	0	0	0	0	0	0	28.83	13.38	28.83
9316	-0.22	-146.0	2447	3343	3500	3179	328.4	-5.5	304	9320	0.00	1.58	0.00	0.000	1030	0.000	0.090	2447	2495	3340	3501	3179	0	0	0	0	0	0	28.83	13.67	28.83
9610	end dive: TARGET_DEPTH_EXCEEDED
state	9610	begin apogee
9623	-0.22	0.0	2447	2495	3502	3179	346.3	-6.3	314	9790	0.00	0.00	156.70	2.246	8198	0.000	0.000	2447	2495	2742	2854	2630	0	0	0	0	0	0	28.83	28.83	12.08
9792	end apogee: CONTROL_FINISHED_OK
state	9792	begin climb
9798	0.89	146.0	2447	2495	2853	2631	353.9	0.0	319	9986	1.27	1.67	174.65	2.186	10756	0.207	0.103	2787	1669	2145	2238	2053	0	0	0	0	0	0	13.25	12.67	11.43
9996	1.05	216.7	2787	1669	2239	2052	346.9	5.6	326	10093	0.20	1.75	86.50	2.105	11270	0.122	0.125	2849	2508	1858	1947	1769	0	0	0	0	0	0	12.88	12.79	11.33
10697	1.05	216.7	2849	2509	1945	1752	271.5	9.9	350	10701	0.00	1.62	0.00	0.000	260	0.000	0.142	2849	3353	1849	1945	1753	0	0	0	0	0	0	28.83	14.03	28.83
10771	1.05	216.7	2850	3353	1944	1753	264.4	10.6	352	10775	0.00	1.50	0.00	0.000	1030	0.000	0.096	2855	2500	1848	1944	1753	0	0	0	0	0	0	28.83	14.19	28.83
11401	1.05	216.7	2856	2500	1944	1752	200.2	10.8	373	11405	0.00	1.52	0.00	0.000	516	0.000	0.106	2862	1671	1848	1945	1752	0	0	0	0	0	0	28.83	14.09	28.83
11515	1.05	216.7	2862	1671	1944	1751	190.2	10.1	376	11519	0.00	1.60	0.00	0.000	1030	0.000	0.125	2861	2508	1847	1943	1751	0	0	0	0	0	0	28.83	14.03	28.83
12136	1.05	216.7	2862	2508	1944	1751	125.2	10.3	397	12139	0.00	1.58	0.00	0.000	516	0.000	0.109	2868	1667	1847	1944	1751	0	0	0	0	0	0	28.83	14.01	28.83
12179	1.05	216.7	2867	1667	1944	1750	120.9	10.5	398	12183	0.00	1.62	0.00	0.000	1030	0.000	0.125	2867	2514	1847	1944	1750	0	0	0	0	0	0	28.83	13.99	28.83
12810	1.07	230.5	2867	2514	1944	1749	66.0	7.7	419	12821	0.00	1.60	6.60	0.369	8452	0.000	0.138	2867	3365	1800	1896	1705	0	0	0	0	0	0	28.83	14.04	13.66
12919	1.12	261.6	2868	3364	1895	1706	59.5	7.1	422	12942	0.00	1.52	18.30	0.338	9222	0.000	0.096	2873	2505	1673	1765	1582	0	0	0	0	0	0	28.83	14.12	13.78
13487	end climb: SURFACE_DEPTH_REACHED
state	13488	begin surface coast
13518	end surface coast: CONTROL_FINISHED_OK
state	13519	begin surface