Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 709 * 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 709 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 23 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 12 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 -15565.122 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 -15565.122

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 23 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 12 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 709 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 250114,010906,6408.982,-5351.847,34,1.2,34,-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 1.90 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250114,011534,6409.010,-5351.940,5,1.0,5,-29.8 MHEAD_RNG_PITCHd_Wd 190.8,17924,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 542

Post-dive calculations and measurements:

FREEZE 1.09,0.127,-1.487,0,1,0 ALTIM_TOP_PING 19.5,19.2

FINISH 1.1,1.021883 _24V_AH 12.0,287.461

SM_CCo 11170,81.00,0.153,0,0,1107,400.08 _10V_AH 12.2,0.000

SM_GC 2.04,7.90,0.17,81.00,0.076,0.156,0.153,144,2582,1107,-7.34,-0.65,400.08,0,0,0,0,0,0,14.19,14.19,14.19 FG_AHR_24Vo 0.000

RAFOS_CLK 505 FG_AHR_10Vo 0.000

RAFOS 0,1390622465,4.033333,4.018055,62,60,54,54,53,53,158,195,132,226,204,169 MEM 227292

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 DATA_FILE_SIZE 20128,485

IRIDIUM_FIX 6346.88,-5352.19,240114,222216 CAP_FILE_SIZE 86805,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 259252224,199385088

HUMID 44.36 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.75227 SOUNDSPEED 1468.9

TCM_TEMP 13.90 CURRENT 0.223,348.6,1

XPDR_PINGS 66 GPS 250114,042552,6408.889,-5351.392,53,1.3,53,-29.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 416 102.69 SBE_CT 338 23 94.24

Roll_motor 34 156 63.72 SBE_O2 0 0 0.00

VBD_pump_during_apogee 415 2369 11820.23 nil 0 0 0.00

VBD_pump_during_surface 81 153 148.72 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 220 131 348.59 nil 0 0 0.00

Transponder_ping 18 420 90.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 18 1.54

TT8 1407 14 256.90

LPSleep 8053 2 226.97

TT8_Active 502 14 87.10

TT8_Sampling 1188 33 488.70

TT8_CF8 500 39 242.16

TT8_Kalman 0 0 0.00

Analog_circuits 1351 12 197.88

GPS_charging 0 0 0.00

Compass 1000 6 82.27

RAFOS 1080 1 19.76

Transponder 11 30 4.20

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 -146.0 117 2588 1115 1073 0.0 0.0 0 110 0.00 0.00 -87.03 0.000 16386 0.000 0.000 115 2588 2797 2846 2748 0 0 0 0 0 0 28.83 28.83 28.83

117 -0.89 -146.0 115 2588 2846 2748 3.1 -2.0 9 147 10.32 1.55 -13.40 0.000 19204 0.417 0.121 2212 1734 3340 3498 3182 0 0 0 0 0 0 13.88 14.26 14.71

383 -0.85 -146.0 2212 1733 3500 3181 52.7 -18.5 35 386 0.00 1.58 0.00 0.000 1030 0.000 0.111 2208 2588 3340 3500 3181 0 0 0 0 0 0 28.83 14.04 28.83

715 -0.79 -146.0 2208 2588 3500 3179 112.3 -18.0 63 719 0.15 1.50 0.00 0.000 2564 0.292 0.081 2244 1731 3338 3499 3178 0 0 0 0 0 0 13.78 14.00 28.83

794 -0.75 -146.0 2244 1730 3498 3179 123.6 -16.7 65 798 0.00 1.58 0.00 0.000 1030 0.000 0.111 2240 2590 3339 3499 3179 0 0 0 0 0 0 28.83 13.93 28.83

1116 -0.72 -146.0 2240 2590 3500 3178 169.5 -13.6 76 1118 0.15 0.00 0.00 0.000 2054 0.280 0.000 2272 2590 3339 3500 3178 0 0 0 0 0 0 13.83 28.83 28.83

1415 -0.70 -146.0 2272 2590 3500 3178 204.8 -11.6 86 1417 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2590 3338 3500 3177 0 0 0 0 0 0 28.83 28.83 28.83

1715 -0.69 -146.0 2272 2590 3500 3177 239.4 -11.1 96 1716 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2590 3338 3499 3178 0 0 0 0 0 0 28.83 28.83 28.83

2016 -0.67 -146.0 2272 2590 3500 3177 273.3 -11.4 106 2020 0.00 1.58 0.00 0.000 260 0.000 0.121 2268 3424 3339 3501 3178 0 0 0 0 0 0 28.83 13.73 28.83

2055 -0.66 -146.0 2268 3424 3501 3178 277.7 -11.5 107 2059 0.00 1.50 0.00 0.000 1030 0.000 0.075 2268 2573 3339 3500 3178 0 0 0 0 0 0 28.83 13.96 28.83

2387 -0.64 -146.0 2268 2574 3502 3178 316.4 -11.2 118 2389 0.12 0.00 0.00 0.000 2054 0.260 0.000 2295 2573 3340 3502 3178 0 0 0 0 0 0 13.96 28.83 28.83

2685 -0.64 -146.0 2294 2573 3504 3178 345.0 -9.2 128 2686 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 2573 3341 3504 3178 0 0 0 0 0 0 28.83 28.83 28.83

2986 -0.64 -146.0 2295 2573 3506 3178 372.6 -9.2 138 2987 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2573 3342 3506 3178 0 0 0 0 0 0 28.83 28.83 28.83

3286 -0.64 -146.0 2295 2573 3506 3178 399.3 -8.9 148 3287 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 2573 3342 3506 3178 0 0 0 0 0 0 28.83 28.83 28.83

3586 -0.64 -146.0 2294 2573 3507 3178 426.7 -9.2 158 3587 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2573 3342 3506 3178 0 0 0 0 0 0 28.83 28.83 28.83

3885 -0.64 -146.0 2294 2573 3508 3178 452.8 -8.5 168 3886 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 2573 3343 3508 3178 0 0 0 0 0 0 28.83 28.83 28.83

4186 -0.64 -146.0 2294 2573 3509 3178 478.7 -8.7 178 4187 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2573 3343 3509 3178 0 0 0 0 0 0 28.83 28.83 28.83

4486 -0.64 -146.0 2294 2573 3509 3178 505.7 -8.9 188 4487 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2573 3343 3509 3178 0 0 0 0 0 0 28.83 28.83 28.83

4786 -0.64 -146.0 2294 2573 3509 3178 532.3 -8.9 198 4787 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2573 3343 3509 3178 0 0 0 0 0 0 28.83 28.83 28.83

4899 end dive: TARGET_DEPTH_EXCEEDED

state 4899 begin apogee

4913 -0.22 0.0 2295 2480 3510 3178 543.2 -9.2 202 5081 0.50 0.00 156.90 2.370 10246 0.201 0.000 2432 2480 2741 2853 2630 0 0 0 0 0 0 13.54 28.83 12.66

5082 end apogee: CONTROL_FINISHED_OK

state 5082 begin climb

5089 0.89 146.0 2432 2480 2852 2631 550.0 0.0 207 5269 1.20 0.00 168.95 2.294 10758 0.149 0.000 2786 2479 2144 2242 2047 0 0 0 0 0 0 13.57 28.83 11.98

5561 0.87 146.0 2786 2479 2242 2040 511.0 10.9 223 5562 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2479 2141 2242 2040 0 0 0 0 0 0 28.83 28.83 28.83

5861 0.84 146.0 2786 2479 2242 2038 477.8 10.9 233 5862 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2479 2140 2242 2038 0 0 0 0 0 0 28.83 28.83 28.83

6162 0.82 146.0 2786 2479 2242 2037 447.4 9.9 243 6163 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2479 2139 2242 2037 0 0 0 0 0 0 28.83 28.83 28.83

6461 0.79 146.0 2786 2479 2242 2036 418.6 9.6 253 6462 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2479 2139 2242 2036 0 0 0 0 0 0 28.83 28.83 28.83

6761 0.77 146.0 2786 2479 2242 2035 390.1 9.3 263 6764 0.00 1.58 0.00 0.000 260 0.000 0.109 2786 3330 2139 2242 2036 0 0 0 0 0 0 28.83 14.09 28.83

6820 0.74 146.0 2786 3330 2242 2036 386.7 9.3 264 6827 0.17 1.50 0.00 0.000 5126 0.239 0.073 2751 2470 2139 2242 2036 0 0 0 0 0 0 13.97 14.22 28.83

7126 0.79 181.1 2751 2470 2242 2034 362.6 6.9 275 7169 0.00 1.50 36.80 2.197 8708 0.000 0.088 2755 1645 2003 2108 1898 0 0 0 0 0 0 28.83 14.19 13.19

7199 0.83 206.6 2755 1645 2108 1897 358.0 7.3 277 7234 0.00 1.50 29.40 2.163 9222 0.000 0.101 2755 2486 1898 2004 1792 0 0 0 0 0 0 28.83 14.21 13.09

7547 0.83 206.6 2755 2486 2003 1786 327.3 8.6 289 7548 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2487 1894 2003 1786 0 0 0 0 0 0 28.83 28.83 28.83

7846 0.83 206.6 2755 2486 2003 1784 300.0 9.3 299 7849 0.00 1.50 0.00 0.000 516 0.000 0.089 2761 1617 1893 2003 1784 0 0 0 0 0 0 28.83 14.21 28.83

7905 0.83 206.6 2761 1616 2003 1783 296.7 9.3 300 7911 0.00 1.55 0.00 0.000 1030 0.000 0.099 2761 2481 1893 2003 1783 0 0 0 0 0 0 28.83 14.22 28.83

8211 0.83 206.6 2761 2482 2003 1783 263.6 10.2 311 8212 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2482 1893 2003 1783 0 0 0 0 0 0 28.83 28.83 28.83

8511 0.83 206.6 2761 2482 2002 1783 232.2 10.4 321 8512 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2482 1892 2003 1781 0 0 0 0 0 0 28.83 28.83 28.83

8812 0.83 206.6 2761 2482 2003 1782 203.1 9.5 331 8815 0.00 1.50 0.00 0.000 516 0.000 0.089 2767 1634 1892 2003 1782 0 0 0 0 0 0 28.83 14.04 28.83

8849 0.83 206.6 1792 1633 1961 1778 199.8 9.3 332 8853 0.00 1.52 0.00 0.000 1030 0.000 0.100 2767 2482 1892 2003 1782 0 0 0 0 0 0 28.83 14.07 28.83

9180 0.83 206.6 2767 2482 2003 1782 170.3 8.9 343 9181 0.00 0.00 0.00 0.000 6 0.000 0.000 2767 2482 1892 2003 1782 0 0 0 0 0 0 28.83 28.83 28.83

9481 0.83 206.6 2768 2481 2003 1782 142.5 9.5 353 9484 0.00 1.50 0.00 0.000 516 0.000 0.090 2773 1637 1892 2003 1782 0 0 0 0 0 0 28.83 13.97 28.83

9564 0.83 206.6 2772 1637 2003 1782 136.2 9.5 355 9567 0.00 1.52 0.00 0.000 1030 0.000 0.101 2773 2483 1892 2003 1782 0 0 0 0 0 0 28.83 14.01 28.83

9879 0.83 206.6 2773 2483 2003 1782 105.5 8.4 366 9884 0.00 1.55 0.00 0.000 260 0.000 0.116 2773 3325 1892 2003 1782 0 0 0 0 0 0 28.83 13.91 28.83

9947 0.83 206.6 2773 3324 2003 1782 99.3 8.8 368 9950 0.00 1.52 0.00 0.000 1030 0.000 0.077 2779 2484 1892 2003 1782 0 0 0 0 0 0 28.83 14.05 28.83

10263 0.86 227.6 2779 2484 2003 1782 73.9 7.5 399 10278 0.00 0.00 11.75 0.380 8198 0.000 0.000 2779 2484 1812 1918 1707 0 0 0 0 0 0 28.83 28.83 13.86

10583 0.86 227.6 2779 2484 1916 1707 45.6 9.0 431 10587 0.00 1.58 0.00 0.000 260 0.000 0.118 2779 3328 1811 1916 1707 0 0 0 0 0 0 28.83 14.02 28.83

10610 0.86 227.6 1808 3326 1876 1704 43.5 8.5 433 10618 0.00 1.50 0.00 0.000 1030 0.000 0.078 2785 2477 1811 1916 1707 0 0 0 0 0 0 28.83 14.14 28.83

10921 0.90 249.6 2786 2477 1916 1707 18.6 7.4 464 10939 0.00 1.55 11.82 0.206 8708 0.000 0.091 2792 1632 1721 1821 1622 0 0 0 0 0 0 28.83 14.19 14.00

11096 0.91 249.6 2792 1632 1818 1620 3.3 9.4 480 11103 0.00 1.55 0.00 0.000 1030 0.000 0.103 2791 2487 1719 1818 1621 0 0 0 0 0 0 28.83 14.07 28.83

11109 end climb: SURFACE_DEPTH_REACHED

state 11109 begin surface coast

11141 end surface coast: CONTROL_FINISHED_OK

state 11141 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	709	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	23	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	12	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	-15565.122	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	250114,010906,6408.982,-5351.847,34,1.2,34,-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	1.90	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250114,011534,6409.010,-5351.940,5,1.0,5,-29.8	MHEAD_RNG_PITCHd_Wd	190.8,17924,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	542

FREEZE	1.09,0.127,-1.487,0,1,0	ALTIM_TOP_PING	19.5,19.2
FINISH	1.1,1.021883	_24V_AH	12.0,287.461
SM_CCo	11170,81.00,0.153,0,0,1107,400.08	_10V_AH	12.2,0.000
SM_GC	2.04,7.90,0.17,81.00,0.076,0.156,0.153,144,2582,1107,-7.34,-0.65,400.08,0,0,0,0,0,0,14.19,14.19,14.19	FG_AHR_24Vo	0.000
RAFOS_CLK	505	FG_AHR_10Vo	0.000
RAFOS	0,1390622465,4.033333,4.018055,62,60,54,54,53,53,158,195,132,226,204,169	MEM	227292
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	DATA_FILE_SIZE	20128,485
IRIDIUM_FIX	6346.88,-5352.19,240114,222216	CAP_FILE_SIZE	86805,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	259252224,199385088
HUMID	44.36	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.75227	SOUNDSPEED	1468.9
TCM_TEMP	13.90	CURRENT	0.223,348.6,1
XPDR_PINGS	66	GPS	250114,042552,6408.889,-5351.392,53,1.3,53,-29.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	416	102.69	SBE_CT	338	23	94.24
Roll_motor	34	156	63.72	SBE_O2	0	0	0.00
VBD_pump_during_apogee	415	2369	11820.23	nil	0	0	0.00
VBD_pump_during_surface	81	153	148.72	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	220	131	348.59	nil	0	0	0.00
Transponder_ping	18	420	90.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	18	1.54
TT8	1407	14	256.90
LPSleep	8053	2	226.97
TT8_Active	502	14	87.10
TT8_Sampling	1188	33	488.70
TT8_CF8	500	39	242.16
TT8_Kalman	0	0	0.00
Analog_circuits	1351	12	197.88
GPS_charging	0	0	0.00
Compass	1000	6	82.27
RAFOS	1080	1	19.76
Transponder	11	30	4.20

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	117	2588	1115	1073	0.0	0.0	0	110	0.00	0.00	-87.03	0.000	16386	0.000	0.000	115	2588	2797	2846	2748	0	0	0	0	0	0	28.83	28.83	28.83
117	-0.89	-146.0	115	2588	2846	2748	3.1	-2.0	9	147	10.32	1.55	-13.40	0.000	19204	0.417	0.121	2212	1734	3340	3498	3182	0	0	0	0	0	0	13.88	14.26	14.71
383	-0.85	-146.0	2212	1733	3500	3181	52.7	-18.5	35	386	0.00	1.58	0.00	0.000	1030	0.000	0.111	2208	2588	3340	3500	3181	0	0	0	0	0	0	28.83	14.04	28.83
715	-0.79	-146.0	2208	2588	3500	3179	112.3	-18.0	63	719	0.15	1.50	0.00	0.000	2564	0.292	0.081	2244	1731	3338	3499	3178	0	0	0	0	0	0	13.78	14.00	28.83
794	-0.75	-146.0	2244	1730	3498	3179	123.6	-16.7	65	798	0.00	1.58	0.00	0.000	1030	0.000	0.111	2240	2590	3339	3499	3179	0	0	0	0	0	0	28.83	13.93	28.83
1116	-0.72	-146.0	2240	2590	3500	3178	169.5	-13.6	76	1118	0.15	0.00	0.00	0.000	2054	0.280	0.000	2272	2590	3339	3500	3178	0	0	0	0	0	0	13.83	28.83	28.83
1415	-0.70	-146.0	2272	2590	3500	3178	204.8	-11.6	86	1417	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2590	3338	3500	3177	0	0	0	0	0	0	28.83	28.83	28.83
1715	-0.69	-146.0	2272	2590	3500	3177	239.4	-11.1	96	1716	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2590	3338	3499	3178	0	0	0	0	0	0	28.83	28.83	28.83
2016	-0.67	-146.0	2272	2590	3500	3177	273.3	-11.4	106	2020	0.00	1.58	0.00	0.000	260	0.000	0.121	2268	3424	3339	3501	3178	0	0	0	0	0	0	28.83	13.73	28.83
2055	-0.66	-146.0	2268	3424	3501	3178	277.7	-11.5	107	2059	0.00	1.50	0.00	0.000	1030	0.000	0.075	2268	2573	3339	3500	3178	0	0	0	0	0	0	28.83	13.96	28.83
2387	-0.64	-146.0	2268	2574	3502	3178	316.4	-11.2	118	2389	0.12	0.00	0.00	0.000	2054	0.260	0.000	2295	2573	3340	3502	3178	0	0	0	0	0	0	13.96	28.83	28.83
2685	-0.64	-146.0	2294	2573	3504	3178	345.0	-9.2	128	2686	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	2573	3341	3504	3178	0	0	0	0	0	0	28.83	28.83	28.83
2986	-0.64	-146.0	2295	2573	3506	3178	372.6	-9.2	138	2987	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2573	3342	3506	3178	0	0	0	0	0	0	28.83	28.83	28.83
3286	-0.64	-146.0	2295	2573	3506	3178	399.3	-8.9	148	3287	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	2573	3342	3506	3178	0	0	0	0	0	0	28.83	28.83	28.83
3586	-0.64	-146.0	2294	2573	3507	3178	426.7	-9.2	158	3587	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2573	3342	3506	3178	0	0	0	0	0	0	28.83	28.83	28.83
3885	-0.64	-146.0	2294	2573	3508	3178	452.8	-8.5	168	3886	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	2573	3343	3508	3178	0	0	0	0	0	0	28.83	28.83	28.83
4186	-0.64	-146.0	2294	2573	3509	3178	478.7	-8.7	178	4187	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2573	3343	3509	3178	0	0	0	0	0	0	28.83	28.83	28.83
4486	-0.64	-146.0	2294	2573	3509	3178	505.7	-8.9	188	4487	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2573	3343	3509	3178	0	0	0	0	0	0	28.83	28.83	28.83
4786	-0.64	-146.0	2294	2573	3509	3178	532.3	-8.9	198	4787	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2573	3343	3509	3178	0	0	0	0	0	0	28.83	28.83	28.83
4899	end dive: TARGET_DEPTH_EXCEEDED
state	4899	begin apogee
4913	-0.22	0.0	2295	2480	3510	3178	543.2	-9.2	202	5081	0.50	0.00	156.90	2.370	10246	0.201	0.000	2432	2480	2741	2853	2630	0	0	0	0	0	0	13.54	28.83	12.66
5082	end apogee: CONTROL_FINISHED_OK
state	5082	begin climb
5089	0.89	146.0	2432	2480	2852	2631	550.0	0.0	207	5269	1.20	0.00	168.95	2.294	10758	0.149	0.000	2786	2479	2144	2242	2047	0	0	0	0	0	0	13.57	28.83	11.98
5561	0.87	146.0	2786	2479	2242	2040	511.0	10.9	223	5562	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2479	2141	2242	2040	0	0	0	0	0	0	28.83	28.83	28.83
5861	0.84	146.0	2786	2479	2242	2038	477.8	10.9	233	5862	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2479	2140	2242	2038	0	0	0	0	0	0	28.83	28.83	28.83
6162	0.82	146.0	2786	2479	2242	2037	447.4	9.9	243	6163	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2479	2139	2242	2037	0	0	0	0	0	0	28.83	28.83	28.83
6461	0.79	146.0	2786	2479	2242	2036	418.6	9.6	253	6462	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2479	2139	2242	2036	0	0	0	0	0	0	28.83	28.83	28.83
6761	0.77	146.0	2786	2479	2242	2035	390.1	9.3	263	6764	0.00	1.58	0.00	0.000	260	0.000	0.109	2786	3330	2139	2242	2036	0	0	0	0	0	0	28.83	14.09	28.83
6820	0.74	146.0	2786	3330	2242	2036	386.7	9.3	264	6827	0.17	1.50	0.00	0.000	5126	0.239	0.073	2751	2470	2139	2242	2036	0	0	0	0	0	0	13.97	14.22	28.83
7126	0.79	181.1	2751	2470	2242	2034	362.6	6.9	275	7169	0.00	1.50	36.80	2.197	8708	0.000	0.088	2755	1645	2003	2108	1898	0	0	0	0	0	0	28.83	14.19	13.19
7199	0.83	206.6	2755	1645	2108	1897	358.0	7.3	277	7234	0.00	1.50	29.40	2.163	9222	0.000	0.101	2755	2486	1898	2004	1792	0	0	0	0	0	0	28.83	14.21	13.09
7547	0.83	206.6	2755	2486	2003	1786	327.3	8.6	289	7548	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2487	1894	2003	1786	0	0	0	0	0	0	28.83	28.83	28.83
7846	0.83	206.6	2755	2486	2003	1784	300.0	9.3	299	7849	0.00	1.50	0.00	0.000	516	0.000	0.089	2761	1617	1893	2003	1784	0	0	0	0	0	0	28.83	14.21	28.83
7905	0.83	206.6	2761	1616	2003	1783	296.7	9.3	300	7911	0.00	1.55	0.00	0.000	1030	0.000	0.099	2761	2481	1893	2003	1783	0	0	0	0	0	0	28.83	14.22	28.83
8211	0.83	206.6	2761	2482	2003	1783	263.6	10.2	311	8212	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2482	1893	2003	1783	0	0	0	0	0	0	28.83	28.83	28.83
8511	0.83	206.6	2761	2482	2002	1783	232.2	10.4	321	8512	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2482	1892	2003	1781	0	0	0	0	0	0	28.83	28.83	28.83
8812	0.83	206.6	2761	2482	2003	1782	203.1	9.5	331	8815	0.00	1.50	0.00	0.000	516	0.000	0.089	2767	1634	1892	2003	1782	0	0	0	0	0	0	28.83	14.04	28.83
8849	0.83	206.6	1792	1633	1961	1778	199.8	9.3	332	8853	0.00	1.52	0.00	0.000	1030	0.000	0.100	2767	2482	1892	2003	1782	0	0	0	0	0	0	28.83	14.07	28.83
9180	0.83	206.6	2767	2482	2003	1782	170.3	8.9	343	9181	0.00	0.00	0.00	0.000	6	0.000	0.000	2767	2482	1892	2003	1782	0	0	0	0	0	0	28.83	28.83	28.83
9481	0.83	206.6	2768	2481	2003	1782	142.5	9.5	353	9484	0.00	1.50	0.00	0.000	516	0.000	0.090	2773	1637	1892	2003	1782	0	0	0	0	0	0	28.83	13.97	28.83
9564	0.83	206.6	2772	1637	2003	1782	136.2	9.5	355	9567	0.00	1.52	0.00	0.000	1030	0.000	0.101	2773	2483	1892	2003	1782	0	0	0	0	0	0	28.83	14.01	28.83
9879	0.83	206.6	2773	2483	2003	1782	105.5	8.4	366	9884	0.00	1.55	0.00	0.000	260	0.000	0.116	2773	3325	1892	2003	1782	0	0	0	0	0	0	28.83	13.91	28.83
9947	0.83	206.6	2773	3324	2003	1782	99.3	8.8	368	9950	0.00	1.52	0.00	0.000	1030	0.000	0.077	2779	2484	1892	2003	1782	0	0	0	0	0	0	28.83	14.05	28.83
10263	0.86	227.6	2779	2484	2003	1782	73.9	7.5	399	10278	0.00	0.00	11.75	0.380	8198	0.000	0.000	2779	2484	1812	1918	1707	0	0	0	0	0	0	28.83	28.83	13.86
10583	0.86	227.6	2779	2484	1916	1707	45.6	9.0	431	10587	0.00	1.58	0.00	0.000	260	0.000	0.118	2779	3328	1811	1916	1707	0	0	0	0	0	0	28.83	14.02	28.83
10610	0.86	227.6	1808	3326	1876	1704	43.5	8.5	433	10618	0.00	1.50	0.00	0.000	1030	0.000	0.078	2785	2477	1811	1916	1707	0	0	0	0	0	0	28.83	14.14	28.83
10921	0.90	249.6	2786	2477	1916	1707	18.6	7.4	464	10939	0.00	1.55	11.82	0.206	8708	0.000	0.091	2792	1632	1721	1821	1622	0	0	0	0	0	0	28.83	14.19	14.00
11096	0.91	249.6	2792	1632	1818	1620	3.3	9.4	480	11103	0.00	1.55	0.00	0.000	1030	0.000	0.103	2791	2487	1719	1818	1621	0	0	0	0	0	0	28.83	14.07	28.83
11109	end climb: SURFACE_DEPTH_REACHED
state	11109	begin surface coast
11141	end surface coast: CONTROL_FINISHED_OK
state	11141	begin surface