Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 588 * 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 588 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 549.71729 R_STBD_OVSHOOT 15 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 10 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 20 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 -12628.73 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 0 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013153109

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017883891

KALMAN_USE 2 PITCH_ADJ_GAIN 0.0099999998 COMPASS_USE 4

HD_A 0.0041718199 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099987797 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 250 PHONE_SUPPLY -2 SM_CC 549.71729

AH0_10V 0 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 500 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 20

ALTIM_FREQUENCY 13 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 10

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 -12628.73

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 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 0 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 588 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 020114,055812,6359.083,-6007.537,181,99.0,181,-30.8 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6349.784,-5946.570

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -34.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030114,023736,6349.784,-6011.056,45,1.9,45,-30.7 MHEAD_RNG_PITCHd_Wd 120.7,20000,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 553

Post-dive calculations and measurements:

FREEZE 1.05,-1.724,-1.820,2,12,0 ALTIM_TOP_PING 20.0,999.0

FINISH 1.0,1.026717 _24V_AH 11.4,241.928

SM_CCo 11227,111.38,0.172,0,0,498,549.72 _10V_AH 11.3,0.000

SM_GC 2.37,8.27,0.00,111.38,0.104,0.000,0.172,141,2483,498,-7.36,-0.48,549.72,0,0,0,0,0,0,14.32,28.83,14.14 FG_AHR_24Vo 0.000

RAFOS_CLK 563 FG_AHR_10Vo 0.000

RAFOS 0,1388721679,4.033333,4.021945,72,66,66,64,54,53,223,209,166,200,187,135 MEM 238540

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 DATA_FILE_SIZE 20164,466

IRIDIUM_FIX 6322.64,-6007.44,030114,020254 CAP_FILE_SIZE 99585,0

TT8_MAMPS 0.023968,0.023968 CFSIZE 259252224,206036992

HUMID 44.44 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.59601 SOUNDSPEED 1453.2

TCM_TEMP 12.10 GPS 030114,023736,6349.784,-6011.056,181,99.0,181,-30.7

XPDR_PINGS 21

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 432 106.06 SBE_CT 326 23 86.52

Roll_motor 43 213 104.93 SBE_O2 0 0 0.00

VBD_pump_during_apogee 538 2482 15246.43 nil 0 0 0.00

VBD_pump_during_surface 111 172 218.54 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 468 130 698.60 nil 0 0 0.00

Transponder_ping 7 420 33.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 46 18 9.75

TT8 1303 14 220.40

LPSleep 8154 2 212.85

TT8_Active 685 14 110.13

TT8_Sampling 1444 33 549.96

TT8_CF8 680 39 304.96

TT8_Kalman 0 0 0.00

Analog_circuits 1802 12 244.45

GPS_charging 0 0 0.00

Compass 1018 6 77.57

RAFOS 2520 1 42.71

Transponder 13 30 4.55

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

19 -0.89 -146.0 126 2510 507 448 0.0 0.0 0 149 0.00 0.00 -126.12 0.000 16386 0.000 0.000 121 2510 2936 3006 2866 0 0 0 0 0 0 28.83 28.83 28.83

157 -0.89 -146.0 121 2510 3007 2866 4.9 -7.1 13 183 10.75 1.50 -7.80 0.000 18948 0.432 0.128 2212 1654 3338 3485 3192 0 0 0 0 0 0 13.71 14.28 14.70

282 -0.79 -146.0 2212 1654 3494 3184 37.5 -19.9 25 286 0.15 1.60 0.00 0.000 3078 0.275 0.112 2245 2504 3339 3494 3184 0 0 0 0 0 0 13.83 14.13 28.83

599 -0.71 -146.0 2245 2504 3497 3182 98.4 -19.9 56 605 0.12 0.00 0.00 0.000 2054 0.318 0.000 2276 2505 3339 3497 3182 0 0 0 0 0 0 13.98 28.83 28.83

909 -0.66 -146.0 2276 2504 3497 3182 149.9 -15.1 67 912 0.00 1.50 0.00 0.000 516 0.000 0.097 2277 1654 3339 3497 3181 0 0 0 0 0 0 28.83 14.18 28.83

948 -0.61 -146.0 1408 1653 3489 3179 155.9 -15.8 68 952 0.15 1.55 0.00 0.000 3078 0.263 0.115 2304 2500 3339 3497 3181 0 0 0 0 0 0 13.97 14.14 28.83

1279 -0.59 -146.0 2305 2500 3497 3180 198.9 -12.8 79 1280 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2500 3339 3497 3181 0 0 0 0 0 0 28.83 28.83 28.83

1579 -0.58 -146.0 2304 2500 3497 3181 235.7 -11.8 89 1580 0.00 0.00 0.00 0.000 6 0.000 0.000 2304 2500 3338 3496 3181 0 0 0 0 0 0 28.83 28.83 28.83

1879 -0.58 -146.0 2304 2500 3497 3181 269.3 -11.0 99 1883 0.00 1.52 0.00 0.000 516 0.000 0.099 2305 1647 3338 3497 3180 0 0 0 0 0 0 28.83 14.15 28.83

1927 -0.58 -146.0 2305 1647 3497 3181 273.1 -10.9 100 1931 0.00 1.58 0.00 0.000 1030 0.000 0.119 2301 2499 3339 3497 3181 0 0 0 0 0 0 28.83 14.11 28.83

2247 -0.58 -146.0 2301 2499 3498 3180 306.8 -10.5 111 2248 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 2499 3339 3498 3181 0 0 0 0 0 0 28.83 28.83 28.83

2548 -0.58 -146.0 2302 2499 3499 3180 339.1 -10.7 121 2549 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 2499 3340 3499 3181 0 0 0 0 0 0 28.83 28.83 28.83

2847 -0.58 -146.0 2301 2499 3499 3180 369.8 -10.4 131 2848 0.00 0.00 0.00 0.000 6 0.000 0.000 2301 2499 3340 3499 3181 0 0 0 0 0 0 28.83 28.83 28.83

3148 -0.58 -146.0 2301 2500 3500 3180 400.5 -10.0 141 3152 0.00 1.58 0.00 0.000 260 0.000 0.129 2295 3349 3340 3500 3181 0 0 0 0 0 0 28.83 14.04 28.83

3192 -0.58 -146.0 2295 3349 3500 3181 404.4 -10.2 142 3196 0.00 1.50 0.00 0.000 1030 0.000 0.085 2295 2485 3340 3500 3181 0 0 0 0 0 0 28.83 14.21 28.83

3517 -0.58 -146.0 2295 2485 3501 3181 440.1 -10.6 153 3519 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2485 3341 3501 3181 0 0 0 0 0 0 28.83 28.83 28.83

3817 -0.58 -146.0 2295 2485 3502 3181 470.8 -10.1 163 3818 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 2485 3341 3502 3181 0 0 0 0 0 0 28.83 28.83 28.83

4119 -0.58 -146.0 2295 2485 3503 3181 501.4 -10.1 173 4120 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 2485 3342 3503 3181 0 0 0 0 0 0 28.83 28.83 28.83

4417 -0.58 -146.0 2295 2485 3503 3181 532.4 -10.3 183 4418 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 2485 3342 3504 3181 0 0 0 0 0 0 28.83 28.83 28.83

4621 end dive: TARGET_DEPTH_EXCEEDED

state 4621 begin apogee

4635 -0.22 0.0 2295 2516 3505 3181 554.5 -10.3 190 4810 0.50 0.00 161.57 2.482 10246 0.223 0.000 2430 2516 2741 2857 2626 0 0 0 0 0 0 13.83 28.83 12.10

4811 end apogee: CONTROL_FINISHED_OK

state 4811 begin climb

4817 0.89 146.0 2430 2516 2856 2626 563.1 0.0 196 5003 1.25 0.00 180.82 2.368 10758 0.160 0.000 2787 2516 2144 2242 2047 0 0 0 0 0 0 13.35 28.83 11.44

5294 0.86 146.0 2788 2516 2242 2038 531.3 8.5 212 5298 0.00 1.58 0.00 0.000 516 0.000 0.097 2793 1673 2139 2242 2037 0 0 0 0 0 0 28.83 13.95 28.83

5338 0.82 146.0 2793 1673 2242 2035 527.9 8.7 213 5341 0.00 1.58 0.00 0.000 1030 0.000 0.114 2793 2503 2138 2242 2035 0 0 0 0 0 0 28.83 14.01 28.83

5664 0.79 146.0 2793 2503 2242 2034 496.7 9.4 224 5668 0.00 1.58 0.00 0.000 260 0.000 0.129 2793 3363 2138 2242 2034 0 0 0 0 0 0 28.83 14.22 28.83

5732 0.74 146.0 1824 3362 2197 2029 490.3 9.4 226 5736 0.20 1.50 0.00 0.000 5126 0.244 0.088 2752 2498 2137 2241 2034 0 0 0 0 0 0 14.09 14.33 28.83

6063 0.78 173.0 2752 2498 2242 2033 466.4 7.2 237 6094 0.00 0.00 28.90 2.312 8198 0.000 0.000 2752 2498 2035 2141 1929 0 0 0 0 0 0 28.83 28.83 13.00

6393 0.78 173.0 2753 2498 2140 1926 439.5 8.4 248 6395 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2498 2033 2141 1926 0 0 0 0 0 0 28.83 28.83 28.83

6693 0.78 173.0 2752 2498 2141 1925 412.9 9.1 258 6696 0.00 1.58 0.00 0.000 260 0.000 0.127 2752 3357 2033 2141 1925 0 0 0 0 0 0 28.83 14.25 28.83

6731 0.78 173.0 2752 3357 2140 1925 409.6 9.2 259 6734 0.00 1.50 0.00 0.000 1030 0.000 0.087 2756 2496 2032 2140 1925 0 0 0 0 0 0 28.83 14.35 28.83

7061 0.78 173.0 2756 2496 2140 1925 377.9 9.2 270 7065 0.00 1.50 0.00 0.000 516 0.000 0.099 2762 1667 2032 2140 1925 0 0 0 0 0 0 28.83 14.25 28.83

7109 0.78 173.0 2762 1667 2140 1924 374.6 9.2 271 7113 0.00 1.58 0.00 0.000 1030 0.000 0.114 2762 2511 2032 2140 1924 0 0 0 0 0 0 28.83 14.22 28.83

7431 0.78 173.4 2762 2511 2140 1924 345.8 8.2 282 7432 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2511 2031 2140 1923 0 0 0 0 0 0 28.83 28.83 28.83

7730 0.80 183.4 2762 2511 2140 1924 322.3 7.9 292 7748 0.00 1.60 11.57 2.093 8452 0.000 0.129 2762 3357 1994 2102 1886 0 0 0 0 0 0 28.83 14.37 13.25

7790 0.80 183.4 2762 3357 2101 1886 317.2 8.3 294 7793 0.00 1.50 0.00 0.000 1030 0.000 0.089 2768 2485 1994 2102 1886 0 0 0 0 0 0 28.83 14.39 28.83

8125 0.80 183.4 2768 2485 2102 1885 286.8 9.0 305 8129 0.00 1.48 0.00 0.000 516 0.000 0.100 2774 1667 1993 2102 1885 0 0 0 0 0 0 28.83 14.23 28.83

8178 0.80 183.4 2774 1667 2102 1884 283.7 8.9 306 8182 0.00 1.52 0.00 0.000 1030 0.000 0.114 2774 2511 1992 2101 1884 0 0 0 0 0 0 28.83 14.25 28.83

8493 0.80 183.4 2774 2511 2102 1884 255.2 8.5 317 8494 0.00 0.00 0.00 0.000 6 0.000 0.000 2774 2511 1992 2101 1884 0 0 0 0 0 0 28.83 28.83 28.83

8794 0.82 200.1 2774 2511 2101 1884 231.1 7.6 327 8819 0.00 1.55 18.60 2.097 8452 0.000 0.126 2774 3360 1927 2036 1818 0 0 0 0 0 0 28.83 14.33 13.17

8900 0.81 200.1 2775 3360 2035 1817 223.1 8.4 330 8904 0.00 1.50 0.00 0.000 1030 0.000 0.088 2781 2495 1926 2036 1817 0 0 0 0 0 0 28.83 14.38 28.83

9226 0.88 247.6 2781 2495 2035 1816 197.3 6.5 341 9284 0.00 1.52 52.10 2.123 8708 0.000 0.102 2786 1668 1731 1830 1632 0 0 0 0 0 0 28.83 14.14 12.98

9367 0.93 275.7 2787 1669 1827 1631 188.7 7.2 345 9405 0.00 1.52 31.35 1.996 9222 0.000 0.115 2786 2511 1616 1711 1522 0 0 0 0 0 0 28.83 14.26 13.05

9715 0.98 305.2 2787 2511 1706 1519 160.5 7.1 357 9750 0.12 0.00 32.55 2.052 10246 0.156 0.000 2832 2511 1496 1589 1404 0 0 0 0 0 0 14.49 28.83 13.09

10039 0.97 305.2 2832 2511 1585 1399 126.9 10.4 368 10042 0.00 1.50 0.00 0.000 516 0.000 0.103 2838 1667 1492 1585 1399 0 0 0 0 0 0 28.83 14.32 28.83

10165 0.97 305.2 2839 1667 1585 1397 112.9 11.2 372 10168 0.00 1.58 0.00 0.000 1030 0.000 0.116 2839 2512 1491 1585 1397 0 0 0 0 0 0 28.83 14.27 28.83

10485 1.03 342.0 2839 2512 1583 1396 82.8 6.9 395 10513 0.00 1.58 21.27 0.425 8452 0.000 0.130 2838 3350 1346 1437 1256 0 0 0 0 0 0 28.83 14.29 13.90

10555 1.00 342.0 2839 3351 1435 1256 73.6 14.4 402 10559 0.00 1.50 0.00 0.000 1030 0.000 0.090 2845 2484 1345 1435 1256 0 0 0 0 0 0 28.83 14.36 28.83

10872 0.99 342.0 2845 2483 1430 1254 38.7 12.7 433 10878 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 2483 1341 1430 1253 0 0 0 0 0 0 28.83 28.83 28.83

11167 end climb: SURFACE_DEPTH_REACHED

state 11167 begin surface coast

11198 end surface coast: FINISH_DEPTH_REACHED

state 11198 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	588	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	549.71729	R_STBD_OVSHOOT	15	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	10	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	20	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	-12628.73	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	0	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	020114,055812,6359.083,-6007.537,181,99.0,181,-30.8	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6349.784,-5946.570
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-34.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030114,023736,6349.784,-6011.056,45,1.9,45,-30.7	MHEAD_RNG_PITCHd_Wd	120.7,20000,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	553

FREEZE	1.05,-1.724,-1.820,2,12,0	ALTIM_TOP_PING	20.0,999.0
FINISH	1.0,1.026717	_24V_AH	11.4,241.928
SM_CCo	11227,111.38,0.172,0,0,498,549.72	_10V_AH	11.3,0.000
SM_GC	2.37,8.27,0.00,111.38,0.104,0.000,0.172,141,2483,498,-7.36,-0.48,549.72,0,0,0,0,0,0,14.32,28.83,14.14	FG_AHR_24Vo	0.000
RAFOS_CLK	563	FG_AHR_10Vo	0.000
RAFOS	0,1388721679,4.033333,4.021945,72,66,66,64,54,53,223,209,166,200,187,135	MEM	238540
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	DATA_FILE_SIZE	20164,466
IRIDIUM_FIX	6322.64,-6007.44,030114,020254	CAP_FILE_SIZE	99585,0
TT8_MAMPS	0.023968,0.023968	CFSIZE	259252224,206036992
HUMID	44.44	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.59601	SOUNDSPEED	1453.2
TCM_TEMP	12.10	GPS	030114,023736,6349.784,-6011.056,181,99.0,181,-30.7
XPDR_PINGS	21

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	432	106.06	SBE_CT	326	23	86.52
Roll_motor	43	213	104.93	SBE_O2	0	0	0.00
VBD_pump_during_apogee	538	2482	15246.43	nil	0	0	0.00
VBD_pump_during_surface	111	172	218.54	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	468	130	698.60	nil	0	0	0.00
Transponder_ping	7	420	33.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	46	18	9.75
TT8	1303	14	220.40
LPSleep	8154	2	212.85
TT8_Active	685	14	110.13
TT8_Sampling	1444	33	549.96
TT8_CF8	680	39	304.96
TT8_Kalman	0	0	0.00
Analog_circuits	1802	12	244.45
GPS_charging	0	0	0.00
Compass	1018	6	77.57
RAFOS	2520	1	42.71
Transponder	13	30	4.55

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
19	-0.89	-146.0	126	2510	507	448	0.0	0.0	0	149	0.00	0.00	-126.12	0.000	16386	0.000	0.000	121	2510	2936	3006	2866	0	0	0	0	0	0	28.83	28.83	28.83
157	-0.89	-146.0	121	2510	3007	2866	4.9	-7.1	13	183	10.75	1.50	-7.80	0.000	18948	0.432	0.128	2212	1654	3338	3485	3192	0	0	0	0	0	0	13.71	14.28	14.70
282	-0.79	-146.0	2212	1654	3494	3184	37.5	-19.9	25	286	0.15	1.60	0.00	0.000	3078	0.275	0.112	2245	2504	3339	3494	3184	0	0	0	0	0	0	13.83	14.13	28.83
599	-0.71	-146.0	2245	2504	3497	3182	98.4	-19.9	56	605	0.12	0.00	0.00	0.000	2054	0.318	0.000	2276	2505	3339	3497	3182	0	0	0	0	0	0	13.98	28.83	28.83
909	-0.66	-146.0	2276	2504	3497	3182	149.9	-15.1	67	912	0.00	1.50	0.00	0.000	516	0.000	0.097	2277	1654	3339	3497	3181	0	0	0	0	0	0	28.83	14.18	28.83
948	-0.61	-146.0	1408	1653	3489	3179	155.9	-15.8	68	952	0.15	1.55	0.00	0.000	3078	0.263	0.115	2304	2500	3339	3497	3181	0	0	0	0	0	0	13.97	14.14	28.83
1279	-0.59	-146.0	2305	2500	3497	3180	198.9	-12.8	79	1280	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2500	3339	3497	3181	0	0	0	0	0	0	28.83	28.83	28.83
1579	-0.58	-146.0	2304	2500	3497	3181	235.7	-11.8	89	1580	0.00	0.00	0.00	0.000	6	0.000	0.000	2304	2500	3338	3496	3181	0	0	0	0	0	0	28.83	28.83	28.83
1879	-0.58	-146.0	2304	2500	3497	3181	269.3	-11.0	99	1883	0.00	1.52	0.00	0.000	516	0.000	0.099	2305	1647	3338	3497	3180	0	0	0	0	0	0	28.83	14.15	28.83
1927	-0.58	-146.0	2305	1647	3497	3181	273.1	-10.9	100	1931	0.00	1.58	0.00	0.000	1030	0.000	0.119	2301	2499	3339	3497	3181	0	0	0	0	0	0	28.83	14.11	28.83
2247	-0.58	-146.0	2301	2499	3498	3180	306.8	-10.5	111	2248	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	2499	3339	3498	3181	0	0	0	0	0	0	28.83	28.83	28.83
2548	-0.58	-146.0	2302	2499	3499	3180	339.1	-10.7	121	2549	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	2499	3340	3499	3181	0	0	0	0	0	0	28.83	28.83	28.83
2847	-0.58	-146.0	2301	2499	3499	3180	369.8	-10.4	131	2848	0.00	0.00	0.00	0.000	6	0.000	0.000	2301	2499	3340	3499	3181	0	0	0	0	0	0	28.83	28.83	28.83
3148	-0.58	-146.0	2301	2500	3500	3180	400.5	-10.0	141	3152	0.00	1.58	0.00	0.000	260	0.000	0.129	2295	3349	3340	3500	3181	0	0	0	0	0	0	28.83	14.04	28.83
3192	-0.58	-146.0	2295	3349	3500	3181	404.4	-10.2	142	3196	0.00	1.50	0.00	0.000	1030	0.000	0.085	2295	2485	3340	3500	3181	0	0	0	0	0	0	28.83	14.21	28.83
3517	-0.58	-146.0	2295	2485	3501	3181	440.1	-10.6	153	3519	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2485	3341	3501	3181	0	0	0	0	0	0	28.83	28.83	28.83
3817	-0.58	-146.0	2295	2485	3502	3181	470.8	-10.1	163	3818	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	2485	3341	3502	3181	0	0	0	0	0	0	28.83	28.83	28.83
4119	-0.58	-146.0	2295	2485	3503	3181	501.4	-10.1	173	4120	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	2485	3342	3503	3181	0	0	0	0	0	0	28.83	28.83	28.83
4417	-0.58	-146.0	2295	2485	3503	3181	532.4	-10.3	183	4418	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	2485	3342	3504	3181	0	0	0	0	0	0	28.83	28.83	28.83
4621	end dive: TARGET_DEPTH_EXCEEDED
state	4621	begin apogee
4635	-0.22	0.0	2295	2516	3505	3181	554.5	-10.3	190	4810	0.50	0.00	161.57	2.482	10246	0.223	0.000	2430	2516	2741	2857	2626	0	0	0	0	0	0	13.83	28.83	12.10
4811	end apogee: CONTROL_FINISHED_OK
state	4811	begin climb
4817	0.89	146.0	2430	2516	2856	2626	563.1	0.0	196	5003	1.25	0.00	180.82	2.368	10758	0.160	0.000	2787	2516	2144	2242	2047	0	0	0	0	0	0	13.35	28.83	11.44
5294	0.86	146.0	2788	2516	2242	2038	531.3	8.5	212	5298	0.00	1.58	0.00	0.000	516	0.000	0.097	2793	1673	2139	2242	2037	0	0	0	0	0	0	28.83	13.95	28.83
5338	0.82	146.0	2793	1673	2242	2035	527.9	8.7	213	5341	0.00	1.58	0.00	0.000	1030	0.000	0.114	2793	2503	2138	2242	2035	0	0	0	0	0	0	28.83	14.01	28.83
5664	0.79	146.0	2793	2503	2242	2034	496.7	9.4	224	5668	0.00	1.58	0.00	0.000	260	0.000	0.129	2793	3363	2138	2242	2034	0	0	0	0	0	0	28.83	14.22	28.83
5732	0.74	146.0	1824	3362	2197	2029	490.3	9.4	226	5736	0.20	1.50	0.00	0.000	5126	0.244	0.088	2752	2498	2137	2241	2034	0	0	0	0	0	0	14.09	14.33	28.83
6063	0.78	173.0	2752	2498	2242	2033	466.4	7.2	237	6094	0.00	0.00	28.90	2.312	8198	0.000	0.000	2752	2498	2035	2141	1929	0	0	0	0	0	0	28.83	28.83	13.00
6393	0.78	173.0	2753	2498	2140	1926	439.5	8.4	248	6395	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2498	2033	2141	1926	0	0	0	0	0	0	28.83	28.83	28.83
6693	0.78	173.0	2752	2498	2141	1925	412.9	9.1	258	6696	0.00	1.58	0.00	0.000	260	0.000	0.127	2752	3357	2033	2141	1925	0	0	0	0	0	0	28.83	14.25	28.83
6731	0.78	173.0	2752	3357	2140	1925	409.6	9.2	259	6734	0.00	1.50	0.00	0.000	1030	0.000	0.087	2756	2496	2032	2140	1925	0	0	0	0	0	0	28.83	14.35	28.83
7061	0.78	173.0	2756	2496	2140	1925	377.9	9.2	270	7065	0.00	1.50	0.00	0.000	516	0.000	0.099	2762	1667	2032	2140	1925	0	0	0	0	0	0	28.83	14.25	28.83
7109	0.78	173.0	2762	1667	2140	1924	374.6	9.2	271	7113	0.00	1.58	0.00	0.000	1030	0.000	0.114	2762	2511	2032	2140	1924	0	0	0	0	0	0	28.83	14.22	28.83
7431	0.78	173.4	2762	2511	2140	1924	345.8	8.2	282	7432	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2511	2031	2140	1923	0	0	0	0	0	0	28.83	28.83	28.83
7730	0.80	183.4	2762	2511	2140	1924	322.3	7.9	292	7748	0.00	1.60	11.57	2.093	8452	0.000	0.129	2762	3357	1994	2102	1886	0	0	0	0	0	0	28.83	14.37	13.25
7790	0.80	183.4	2762	3357	2101	1886	317.2	8.3	294	7793	0.00	1.50	0.00	0.000	1030	0.000	0.089	2768	2485	1994	2102	1886	0	0	0	0	0	0	28.83	14.39	28.83
8125	0.80	183.4	2768	2485	2102	1885	286.8	9.0	305	8129	0.00	1.48	0.00	0.000	516	0.000	0.100	2774	1667	1993	2102	1885	0	0	0	0	0	0	28.83	14.23	28.83
8178	0.80	183.4	2774	1667	2102	1884	283.7	8.9	306	8182	0.00	1.52	0.00	0.000	1030	0.000	0.114	2774	2511	1992	2101	1884	0	0	0	0	0	0	28.83	14.25	28.83
8493	0.80	183.4	2774	2511	2102	1884	255.2	8.5	317	8494	0.00	0.00	0.00	0.000	6	0.000	0.000	2774	2511	1992	2101	1884	0	0	0	0	0	0	28.83	28.83	28.83
8794	0.82	200.1	2774	2511	2101	1884	231.1	7.6	327	8819	0.00	1.55	18.60	2.097	8452	0.000	0.126	2774	3360	1927	2036	1818	0	0	0	0	0	0	28.83	14.33	13.17
8900	0.81	200.1	2775	3360	2035	1817	223.1	8.4	330	8904	0.00	1.50	0.00	0.000	1030	0.000	0.088	2781	2495	1926	2036	1817	0	0	0	0	0	0	28.83	14.38	28.83
9226	0.88	247.6	2781	2495	2035	1816	197.3	6.5	341	9284	0.00	1.52	52.10	2.123	8708	0.000	0.102	2786	1668	1731	1830	1632	0	0	0	0	0	0	28.83	14.14	12.98
9367	0.93	275.7	2787	1669	1827	1631	188.7	7.2	345	9405	0.00	1.52	31.35	1.996	9222	0.000	0.115	2786	2511	1616	1711	1522	0	0	0	0	0	0	28.83	14.26	13.05
9715	0.98	305.2	2787	2511	1706	1519	160.5	7.1	357	9750	0.12	0.00	32.55	2.052	10246	0.156	0.000	2832	2511	1496	1589	1404	0	0	0	0	0	0	14.49	28.83	13.09
10039	0.97	305.2	2832	2511	1585	1399	126.9	10.4	368	10042	0.00	1.50	0.00	0.000	516	0.000	0.103	2838	1667	1492	1585	1399	0	0	0	0	0	0	28.83	14.32	28.83
10165	0.97	305.2	2839	1667	1585	1397	112.9	11.2	372	10168	0.00	1.58	0.00	0.000	1030	0.000	0.116	2839	2512	1491	1585	1397	0	0	0	0	0	0	28.83	14.27	28.83
10485	1.03	342.0	2839	2512	1583	1396	82.8	6.9	395	10513	0.00	1.58	21.27	0.425	8452	0.000	0.130	2838	3350	1346	1437	1256	0	0	0	0	0	0	28.83	14.29	13.90
10555	1.00	342.0	2839	3351	1435	1256	73.6	14.4	402	10559	0.00	1.50	0.00	0.000	1030	0.000	0.090	2845	2484	1345	1435	1256	0	0	0	0	0	0	28.83	14.36	28.83
10872	0.99	342.0	2845	2483	1430	1254	38.7	12.7	433	10878	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	2483	1341	1430	1253	0	0	0	0	0	0	28.83	28.83	28.83
11167	end climb: SURFACE_DEPTH_REACHED
state	11167	begin surface coast
11198	end surface coast: FINISH_DEPTH_REACHED
state	11198	begin surface