Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 707 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 192 HD_C 3.62024e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 2 HEADING -1 ROLL_DEG 24 ALTIM_TOP_TURN_MARGIN 5

DIVE 707 ESCAPE_HEADING 100 C_ROLL_DIVE 2580 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2480 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 18 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 -5 T_GPS_CHARGE -15556.645 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 0.0070000002 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 0.0070000002 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 -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -15556.645

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 2480 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX 3

C_ROLL_DIVE 2580 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -5

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 18 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 707 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 240114,190235,6409.604,-5350.970,34,1.0,34,-29.8 TGT_NAME TARGET_3

_CALLS 1 TGT_LATLONG 6400.000,-5400.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.83 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240114,190900,6409.592,-5350.985,4,1.0,4,-29.8 MHEAD_RNG_PITCHd_Wd 189.3,19214,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 487

Post-dive calculations and measurements:

FREEZE 0.93,-0.132,-1.814,0,1,0 ALTIM_TOP_PING 19.5,999.0

FINISH 0.9,1.026580 _24V_AH 12.0,286.823

SM_CCo 9882,69.28,0.155,0,0,1108,400.08 _10V_AH 12.3,0.000

SM_GC 2.03,8.05,0.20,69.28,0.090,0.153,0.155,143,2591,1108,-7.35,-0.34,400.08,0,0,0,0,0,0,14.21,14.21,14.21 FG_AHR_24Vo 0.000

RAFOS_CLK 449 FG_AHR_10Vo 0.000

RAFOS 0,1390593662,20.033333,20.017221,61,54,52,51,51,50,213,165,193,151,122,225 MEM 227312

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 DATA_FILE_SIZE 20173,443

IRIDIUM_FIX 6346.88,-5338.40,240114,161617 CAP_FILE_SIZE 83212,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,199479296

HUMID 44.48 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.7425 SOUNDSPEED 1466.2

TCM_TEMP 13.70 CURRENT 0.214,320.0,1

XPDR_PINGS 48 GPS 240114,215728,6409.200,-5351.581,45,1.0,45,-29.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 419 104.70 SBE_CT 308 23 85.95

Roll_motor 37 153 68.21 SBE_O2 0 0 0.00

VBD_pump_during_apogee 424 2314 11779.82 nil 0 0 0.00

VBD_pump_during_surface 69 154 128.46 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 226 125 340.44 nil 0 0 0.00

Transponder_ping 13 420 66.78 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.33

TT8 1281 14 235.86

LPSleep 6958 2 197.72

TT8_Active 540 14 94.44

TT8_Sampling 1092 33 452.84

TT8_CF8 481 39 234.76

TT8_Kalman 0 0 0.00

Analog_circuits 1326 12 195.82

GPS_charging 0 0 0.00

Compass 903 6 74.89

RAFOS 2520 1 46.49

Transponder 9 30 3.65

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 -146.0 121 2596 1111 1075 0.0 0.0 0 110 0.00 0.00 -87.07 0.000 16386 0.000 0.000 118 2597 2811 2858 2765 0 0 0 0 0 0 28.83 28.83 28.83

117 -0.89 -146.0 118 2597 2858 2766 3.2 -2.3 9 146 10.32 1.52 -12.85 0.000 18948 0.420 0.123 2212 1732 3338 3496 3181 0 0 0 0 0 0 13.88 14.28 14.71

382 -0.84 -146.0 2212 1732 3499 3181 52.9 -19.0 35 386 0.12 1.55 0.00 0.000 3078 0.291 0.112 2233 2579 3340 3499 3181 0 0 0 0 0 0 13.85 14.04 28.83

699 -0.80 -146.0 2233 2580 3499 3179 104.7 -15.7 64 702 0.00 1.58 0.00 0.000 260 0.000 0.122 2228 3428 3338 3499 3178 0 0 0 0 0 0 28.83 13.90 28.83

757 -0.76 -146.0 2228 3427 3499 3178 110.1 -15.5 65 764 0.15 1.50 0.00 0.000 3078 0.270 0.077 2260 2565 3339 3499 3179 0 0 0 0 0 0 13.74 14.06 28.83

1065 -0.74 -146.0 2260 2565 3499 3178 156.2 -13.6 76 1069 0.00 1.50 0.00 0.000 516 0.000 0.089 2260 1737 3338 3498 3178 0 0 0 0 0 0 28.83 13.87 28.83

1125 -0.72 -146.0 2260 1737 3497 3177 161.8 -14.1 77 1132 0.00 1.58 0.00 0.000 1030 0.000 0.112 2256 2585 3338 3499 3178 0 0 0 0 0 0 28.83 13.88 28.83

1431 -0.69 -146.0 2256 2585 3499 3177 210.0 -14.3 88 1434 0.00 1.58 0.00 0.000 260 0.000 0.125 2249 3430 3338 3499 3177 0 0 0 0 0 0 28.83 13.77 28.83

1480 -0.67 -146.0 2250 3430 3499 3177 215.2 -14.3 89 1484 0.17 1.50 0.00 0.000 3078 0.249 0.078 2289 2572 3338 3499 3177 0 0 0 0 0 0 13.66 13.99 28.83

1801 -0.66 -146.0 2289 2572 3499 3177 255.4 -11.6 100 1805 0.00 1.50 0.00 0.000 516 0.000 0.087 2289 1745 3338 3499 3177 0 0 0 0 0 0 28.83 13.81 28.83

1851 -0.66 -146.0 2289 1746 3499 3178 259.5 -11.5 101 1855 0.00 1.58 0.00 0.000 1030 0.000 0.112 2284 2577 3338 3499 3177 0 0 0 0 0 0 28.83 13.77 28.83

2171 -0.65 -146.0 2285 2577 3499 3177 293.9 -9.7 112 2173 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 2577 3338 3499 3178 0 0 0 0 0 0 28.83 28.83 28.83

2471 -0.65 -146.0 2285 2577 3500 3178 321.1 -8.9 122 2472 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 2577 3338 3499 3177 0 0 0 0 0 0 28.83 28.83 28.83

2773 -0.65 -146.0 2285 2577 3501 3177 350.8 -10.4 132 2775 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 2577 3339 3501 3177 0 0 0 0 0 0 28.83 28.83 28.83

3071 -0.65 -146.0 2285 2577 3502 3178 379.8 -9.5 142 3074 0.00 1.50 0.00 0.000 516 0.000 0.083 2285 1726 3339 3502 3177 0 0 0 0 0 0 28.83 13.81 28.83

3119 -0.65 -146.0 2285 1725 3502 3178 383.1 -9.5 143 3123 0.00 1.60 0.00 0.000 1030 0.000 0.108 2279 2591 3340 3502 3178 0 0 0 0 0 0 28.83 13.80 28.83

3440 -0.64 -146.0 2279 2591 3504 3178 415.6 -10.4 154 3442 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2591 3340 3503 3177 0 0 0 0 0 0 28.83 28.83 28.83

3739 -0.63 -146.0 2279 2591 3505 3178 446.4 -10.4 164 3741 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 2591 3341 3505 3178 0 0 0 0 0 0 28.83 28.83 28.83

4039 -0.62 -146.0 2280 2591 3506 3178 478.0 -10.5 174 4041 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2590 3342 3506 3178 0 0 0 0 0 0 28.83 28.83 28.83

4153 end dive: TARGET_DEPTH_EXCEEDED

state 4153 begin apogee

4168 -0.22 0.0 2280 2484 3506 3178 488.8 -8.8 178 4334 0.57 0.00 155.45 2.314 10246 0.213 0.000 2432 2483 2741 2853 2630 0 0 0 0 0 0 13.52 28.83 12.65

4335 end apogee: CONTROL_FINISHED_OK

state 4335 begin climb

4342 0.89 146.0 2432 2483 2852 2631 494.9 0.0 183 4514 1.23 0.00 167.90 2.217 10246 0.151 0.000 2789 2483 2145 2243 2048 0 0 0 0 0 0 13.60 28.83 12.00

4820 0.87 146.0 2790 2483 2243 2039 451.0 11.0 199 4821 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2483 2140 2242 2039 0 0 0 0 0 0 28.83 28.83 28.83

5114 0.84 146.0 2790 2483 2242 2038 418.5 10.9 209 5118 0.00 1.50 0.00 0.000 516 0.000 0.091 2796 1629 2140 2242 2038 0 0 0 0 0 0 28.83 14.26 28.83

5154 0.81 146.0 2796 1628 2242 2036 414.8 10.7 210 5157 0.00 1.55 0.00 0.000 1030 0.000 0.108 2796 2486 2139 2242 2036 0 0 0 0 0 0 28.83 14.26 28.83

5484 0.78 146.0 2796 2487 2242 2036 378.1 11.1 221 5486 0.15 0.00 0.00 0.000 4102 0.249 0.000 2762 2486 2139 2242 2036 0 0 0 0 0 0 14.13 28.83 28.83

5786 0.77 146.0 2762 2487 2240 2035 350.4 9.3 231 5787 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2486 2138 2242 2035 0 0 0 0 0 0 28.83 28.83 28.83

6084 0.76 146.0 2762 2487 2242 2035 324.4 8.7 241 6087 0.00 1.52 0.00 0.000 516 0.000 0.092 2766 1635 2138 2242 2035 0 0 0 0 0 0 28.83 14.10 28.83

6143 0.75 146.0 2766 1635 2242 2034 321.4 8.5 242 6151 0.00 1.55 0.00 0.000 1030 0.000 0.105 2765 2486 2138 2242 2034 0 0 0 0 0 0 28.83 14.12 28.83

6451 0.74 146.0 2765 2486 2242 2034 292.2 9.0 253 6452 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2486 2137 2241 2034 0 0 0 0 0 0 28.83 28.83 28.83

6751 0.72 146.0 2766 2486 2242 2034 265.9 8.8 263 6752 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2486 2138 2242 2034 0 0 0 0 0 0 28.83 28.83 28.83

7051 0.74 162.5 2766 2486 2242 2034 241.4 7.6 273 7076 0.00 1.55 16.92 2.027 8708 0.000 0.093 2772 1645 2079 2184 1974 0 0 0 0 0 0 28.83 14.19 13.35

7143 0.75 181.0 2772 1645 2184 1973 236.4 7.6 275 7169 0.00 1.52 20.62 2.002 9222 0.000 0.108 2772 2486 2004 2110 1898 0 0 0 0 0 0 28.83 14.28 13.28

7474 0.74 181.0 2772 2486 2110 1896 203.9 8.9 287 7475 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2486 2002 2110 1895 0 0 0 0 0 0 28.83 28.83 28.83

7773 0.74 181.0 2772 2486 2110 1894 174.3 9.9 297 7774 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2487 2002 2110 1894 0 0 0 0 0 0 28.83 28.83 28.83

8074 0.73 181.0 2772 2486 2110 1893 146.8 9.1 307 8075 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2486 2001 2110 1893 0 0 0 0 0 0 28.83 28.83 28.83

8373 0.77 210.7 2772 2486 2111 1893 123.9 7.1 317 8402 0.00 1.52 24.85 1.907 8452 0.000 0.117 2771 3328 1884 1993 1775 0 0 0 0 0 0 28.83 14.21 13.35

8423 0.82 245.1 2772 3327 1993 1776 122.1 6.9 318 8455 0.00 1.50 24.05 1.860 9222 0.000 0.081 2778 2462 1741 1838 1645 0 0 0 0 0 0 28.83 14.30 13.26

8764 0.82 245.1 2778 2462 1831 1642 91.6 8.7 336 8767 0.00 1.48 0.00 0.000 516 0.000 0.094 2784 1643 1737 1832 1642 0 0 0 0 0 0 28.83 14.25 28.83

8783 0.82 245.1 2784 1643 1831 1641 90.0 8.6 337 8790 0.00 1.50 0.00 0.000 1030 0.000 0.109 2784 2480 1735 1830 1640 0 0 0 0 0 0 28.83 14.26 28.83

9091 0.83 251.7 2784 2480 1830 1638 63.8 8.0 368 9098 0.00 0.00 3.03 0.367 8198 0.000 0.000 2784 2480 1715 1809 1621 0 0 0 0 0 0 28.83 28.83 13.85

9403 0.84 251.7 2784 2480 1809 1620 36.5 8.9 399 9407 0.00 1.52 0.00 0.000 516 0.000 0.096 2789 1641 1714 1809 1620 0 0 0 0 0 0 28.83 14.07 28.83

9574 0.88 271.7 2789 1641 1809 1619 23.3 7.5 415 9591 0.00 1.55 11.38 0.224 9222 0.000 0.109 2790 2486 1631 1724 1538 0 0 0 0 0 0 28.83 14.09 14.04

9819 end climb: SURFACE_DEPTH_REACHED

state 9819 begin surface coast

9851 end surface coast: CONTROL_FINISHED_OK

state 9851 begin surface

ID	192	HD_C	3.62024e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	-1	ROLL_DEG	24	ALTIM_TOP_TURN_MARGIN	5
DIVE	707	ESCAPE_HEADING	100	C_ROLL_DIVE	2580	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2480	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	18	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	-5	T_GPS_CHARGE	-15556.645	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	0.0070000002	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	240114,190235,6409.604,-5350.970,34,1.0,34,-29.8	TGT_NAME	TARGET_3
_CALLS	1	TGT_LATLONG	6400.000,-5400.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.83	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240114,190900,6409.592,-5350.985,4,1.0,4,-29.8	MHEAD_RNG_PITCHd_Wd	189.3,19214,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	487

FREEZE	0.93,-0.132,-1.814,0,1,0	ALTIM_TOP_PING	19.5,999.0
FINISH	0.9,1.026580	_24V_AH	12.0,286.823
SM_CCo	9882,69.28,0.155,0,0,1108,400.08	_10V_AH	12.3,0.000
SM_GC	2.03,8.05,0.20,69.28,0.090,0.153,0.155,143,2591,1108,-7.35,-0.34,400.08,0,0,0,0,0,0,14.21,14.21,14.21	FG_AHR_24Vo	0.000
RAFOS_CLK	449	FG_AHR_10Vo	0.000
RAFOS	0,1390593662,20.033333,20.017221,61,54,52,51,51,50,213,165,193,151,122,225	MEM	227312
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	DATA_FILE_SIZE	20173,443
IRIDIUM_FIX	6346.88,-5338.40,240114,161617	CAP_FILE_SIZE	83212,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,199479296
HUMID	44.48	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.7425	SOUNDSPEED	1466.2
TCM_TEMP	13.70	CURRENT	0.214,320.0,1
XPDR_PINGS	48	GPS	240114,215728,6409.200,-5351.581,45,1.0,45,-29.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	419	104.70	SBE_CT	308	23	85.95
Roll_motor	37	153	68.21	SBE_O2	0	0	0.00
VBD_pump_during_apogee	424	2314	11779.82	nil	0	0	0.00
VBD_pump_during_surface	69	154	128.46	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	125	340.44	nil	0	0	0.00
Transponder_ping	13	420	66.78	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.33
TT8	1281	14	235.86
LPSleep	6958	2	197.72
TT8_Active	540	14	94.44
TT8_Sampling	1092	33	452.84
TT8_CF8	481	39	234.76
TT8_Kalman	0	0	0.00
Analog_circuits	1326	12	195.82
GPS_charging	0	0	0.00
Compass	903	6	74.89
RAFOS	2520	1	46.49
Transponder	9	30	3.65

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	121	2596	1111	1075	0.0	0.0	0	110	0.00	0.00	-87.07	0.000	16386	0.000	0.000	118	2597	2811	2858	2765	0	0	0	0	0	0	28.83	28.83	28.83
117	-0.89	-146.0	118	2597	2858	2766	3.2	-2.3	9	146	10.32	1.52	-12.85	0.000	18948	0.420	0.123	2212	1732	3338	3496	3181	0	0	0	0	0	0	13.88	14.28	14.71
382	-0.84	-146.0	2212	1732	3499	3181	52.9	-19.0	35	386	0.12	1.55	0.00	0.000	3078	0.291	0.112	2233	2579	3340	3499	3181	0	0	0	0	0	0	13.85	14.04	28.83
699	-0.80	-146.0	2233	2580	3499	3179	104.7	-15.7	64	702	0.00	1.58	0.00	0.000	260	0.000	0.122	2228	3428	3338	3499	3178	0	0	0	0	0	0	28.83	13.90	28.83
757	-0.76	-146.0	2228	3427	3499	3178	110.1	-15.5	65	764	0.15	1.50	0.00	0.000	3078	0.270	0.077	2260	2565	3339	3499	3179	0	0	0	0	0	0	13.74	14.06	28.83
1065	-0.74	-146.0	2260	2565	3499	3178	156.2	-13.6	76	1069	0.00	1.50	0.00	0.000	516	0.000	0.089	2260	1737	3338	3498	3178	0	0	0	0	0	0	28.83	13.87	28.83
1125	-0.72	-146.0	2260	1737	3497	3177	161.8	-14.1	77	1132	0.00	1.58	0.00	0.000	1030	0.000	0.112	2256	2585	3338	3499	3178	0	0	0	0	0	0	28.83	13.88	28.83
1431	-0.69	-146.0	2256	2585	3499	3177	210.0	-14.3	88	1434	0.00	1.58	0.00	0.000	260	0.000	0.125	2249	3430	3338	3499	3177	0	0	0	0	0	0	28.83	13.77	28.83
1480	-0.67	-146.0	2250	3430	3499	3177	215.2	-14.3	89	1484	0.17	1.50	0.00	0.000	3078	0.249	0.078	2289	2572	3338	3499	3177	0	0	0	0	0	0	13.66	13.99	28.83
1801	-0.66	-146.0	2289	2572	3499	3177	255.4	-11.6	100	1805	0.00	1.50	0.00	0.000	516	0.000	0.087	2289	1745	3338	3499	3177	0	0	0	0	0	0	28.83	13.81	28.83
1851	-0.66	-146.0	2289	1746	3499	3178	259.5	-11.5	101	1855	0.00	1.58	0.00	0.000	1030	0.000	0.112	2284	2577	3338	3499	3177	0	0	0	0	0	0	28.83	13.77	28.83
2171	-0.65	-146.0	2285	2577	3499	3177	293.9	-9.7	112	2173	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	2577	3338	3499	3178	0	0	0	0	0	0	28.83	28.83	28.83
2471	-0.65	-146.0	2285	2577	3500	3178	321.1	-8.9	122	2472	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	2577	3338	3499	3177	0	0	0	0	0	0	28.83	28.83	28.83
2773	-0.65	-146.0	2285	2577	3501	3177	350.8	-10.4	132	2775	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	2577	3339	3501	3177	0	0	0	0	0	0	28.83	28.83	28.83
3071	-0.65	-146.0	2285	2577	3502	3178	379.8	-9.5	142	3074	0.00	1.50	0.00	0.000	516	0.000	0.083	2285	1726	3339	3502	3177	0	0	0	0	0	0	28.83	13.81	28.83
3119	-0.65	-146.0	2285	1725	3502	3178	383.1	-9.5	143	3123	0.00	1.60	0.00	0.000	1030	0.000	0.108	2279	2591	3340	3502	3178	0	0	0	0	0	0	28.83	13.80	28.83
3440	-0.64	-146.0	2279	2591	3504	3178	415.6	-10.4	154	3442	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2591	3340	3503	3177	0	0	0	0	0	0	28.83	28.83	28.83
3739	-0.63	-146.0	2279	2591	3505	3178	446.4	-10.4	164	3741	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	2591	3341	3505	3178	0	0	0	0	0	0	28.83	28.83	28.83
4039	-0.62	-146.0	2280	2591	3506	3178	478.0	-10.5	174	4041	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2590	3342	3506	3178	0	0	0	0	0	0	28.83	28.83	28.83
4153	end dive: TARGET_DEPTH_EXCEEDED
state	4153	begin apogee
4168	-0.22	0.0	2280	2484	3506	3178	488.8	-8.8	178	4334	0.57	0.00	155.45	2.314	10246	0.213	0.000	2432	2483	2741	2853	2630	0	0	0	0	0	0	13.52	28.83	12.65
4335	end apogee: CONTROL_FINISHED_OK
state	4335	begin climb
4342	0.89	146.0	2432	2483	2852	2631	494.9	0.0	183	4514	1.23	0.00	167.90	2.217	10246	0.151	0.000	2789	2483	2145	2243	2048	0	0	0	0	0	0	13.60	28.83	12.00
4820	0.87	146.0	2790	2483	2243	2039	451.0	11.0	199	4821	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2483	2140	2242	2039	0	0	0	0	0	0	28.83	28.83	28.83
5114	0.84	146.0	2790	2483	2242	2038	418.5	10.9	209	5118	0.00	1.50	0.00	0.000	516	0.000	0.091	2796	1629	2140	2242	2038	0	0	0	0	0	0	28.83	14.26	28.83
5154	0.81	146.0	2796	1628	2242	2036	414.8	10.7	210	5157	0.00	1.55	0.00	0.000	1030	0.000	0.108	2796	2486	2139	2242	2036	0	0	0	0	0	0	28.83	14.26	28.83
5484	0.78	146.0	2796	2487	2242	2036	378.1	11.1	221	5486	0.15	0.00	0.00	0.000	4102	0.249	0.000	2762	2486	2139	2242	2036	0	0	0	0	0	0	14.13	28.83	28.83
5786	0.77	146.0	2762	2487	2240	2035	350.4	9.3	231	5787	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2486	2138	2242	2035	0	0	0	0	0	0	28.83	28.83	28.83
6084	0.76	146.0	2762	2487	2242	2035	324.4	8.7	241	6087	0.00	1.52	0.00	0.000	516	0.000	0.092	2766	1635	2138	2242	2035	0	0	0	0	0	0	28.83	14.10	28.83
6143	0.75	146.0	2766	1635	2242	2034	321.4	8.5	242	6151	0.00	1.55	0.00	0.000	1030	0.000	0.105	2765	2486	2138	2242	2034	0	0	0	0	0	0	28.83	14.12	28.83
6451	0.74	146.0	2765	2486	2242	2034	292.2	9.0	253	6452	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2486	2137	2241	2034	0	0	0	0	0	0	28.83	28.83	28.83
6751	0.72	146.0	2766	2486	2242	2034	265.9	8.8	263	6752	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2486	2138	2242	2034	0	0	0	0	0	0	28.83	28.83	28.83
7051	0.74	162.5	2766	2486	2242	2034	241.4	7.6	273	7076	0.00	1.55	16.92	2.027	8708	0.000	0.093	2772	1645	2079	2184	1974	0	0	0	0	0	0	28.83	14.19	13.35
7143	0.75	181.0	2772	1645	2184	1973	236.4	7.6	275	7169	0.00	1.52	20.62	2.002	9222	0.000	0.108	2772	2486	2004	2110	1898	0	0	0	0	0	0	28.83	14.28	13.28
7474	0.74	181.0	2772	2486	2110	1896	203.9	8.9	287	7475	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2486	2002	2110	1895	0	0	0	0	0	0	28.83	28.83	28.83
7773	0.74	181.0	2772	2486	2110	1894	174.3	9.9	297	7774	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2487	2002	2110	1894	0	0	0	0	0	0	28.83	28.83	28.83
8074	0.73	181.0	2772	2486	2110	1893	146.8	9.1	307	8075	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2486	2001	2110	1893	0	0	0	0	0	0	28.83	28.83	28.83
8373	0.77	210.7	2772	2486	2111	1893	123.9	7.1	317	8402	0.00	1.52	24.85	1.907	8452	0.000	0.117	2771	3328	1884	1993	1775	0	0	0	0	0	0	28.83	14.21	13.35
8423	0.82	245.1	2772	3327	1993	1776	122.1	6.9	318	8455	0.00	1.50	24.05	1.860	9222	0.000	0.081	2778	2462	1741	1838	1645	0	0	0	0	0	0	28.83	14.30	13.26
8764	0.82	245.1	2778	2462	1831	1642	91.6	8.7	336	8767	0.00	1.48	0.00	0.000	516	0.000	0.094	2784	1643	1737	1832	1642	0	0	0	0	0	0	28.83	14.25	28.83
8783	0.82	245.1	2784	1643	1831	1641	90.0	8.6	337	8790	0.00	1.50	0.00	0.000	1030	0.000	0.109	2784	2480	1735	1830	1640	0	0	0	0	0	0	28.83	14.26	28.83
9091	0.83	251.7	2784	2480	1830	1638	63.8	8.0	368	9098	0.00	0.00	3.03	0.367	8198	0.000	0.000	2784	2480	1715	1809	1621	0	0	0	0	0	0	28.83	28.83	13.85
9403	0.84	251.7	2784	2480	1809	1620	36.5	8.9	399	9407	0.00	1.52	0.00	0.000	516	0.000	0.096	2789	1641	1714	1809	1620	0	0	0	0	0	0	28.83	14.07	28.83
9574	0.88	271.7	2789	1641	1809	1619	23.3	7.5	415	9591	0.00	1.55	11.38	0.224	9222	0.000	0.109	2790	2486	1631	1724	1538	0	0	0	0	0	0	28.83	14.09	14.04
9819	end climb: SURFACE_DEPTH_REACHED
state	9819	begin surface coast
9851	end surface coast: CONTROL_FINISHED_OK
state	9851	begin surface