Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 78 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 192 HD_C 3.62024e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 78 ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2530 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 18 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 14 XPDR_VALID 6

D_BOOST 110 N_FILEKB 8 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2741 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 380 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 410 CALL_WAIT 60 PITCH_VBD_SHIFT 0.003 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -1225.9781 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 145 MINV_24V 12 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3924 MINV_10V 12 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2500 FG_AHR_10V 0 SEABIRD_T_G 0.0042877649

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062881736

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.2009486e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -62.7798 SEABIRD_T_J 2.217299e-06

MASS 52018 PITCH_GAIN 35 PRESSURE_SLOPE 0.0001164018 SEABIRD_C_G -9.8550158

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1245382

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013153109

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017883891

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0041718199 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099987797 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 400

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 35 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3924 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 5 FG_AHR_24V 0 PITCH_MIN 145 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 380

CALL_NDIVES 1 HD_A 0.0041718199 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099987797 PRESSURE_YINT -62.7798 T_GPS 5

CALL_WAIT 60 HD_C 3.62024e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -1225.9781

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 410

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 192 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT 0.5 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2500 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2530 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -3

C_VBD 2741 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52018 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 318 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 12 R_PORT_OVSHOOT 18 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 12 R_STBD_OVSHOOT 14 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 78 NOCOMM_ACTION 163 SEABIRD_C_J 0.00017883891 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0042877649 XPDR_DEVICE 24

D_BOOST 110 N_FILEKB 8 SEABIRD_T_H 0.00062881736 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2009486e-05 XPDR_VALID 6

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.217299e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 200 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 270913,061805,6648.153,-5829.405,27,1.3,28,-33.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270913,062405,6648.109,-5829.613,5,1.3,5,-33.6 MHEAD_RNG_PITCHd_Wd 104.4,78391,-16.2,-8.684,-19.07,2590

SPEED_LIMITS 0.150,0.251 D_GRID 768

Post-dive calculations and measurements:

FINISH 0.9,1.011882 _24V_AH 12.2,33.956

SM_CCo 9635,59.10,0.174,0,0,1108,400.08 _10V_AH 12.5,0.000

SM_GC 1.79,8.32,0.05,59.10,0.108,0.249,0.174,138,2501,1108,-7.33,0.68,400.08,0,0,0,0,0,0,14.60,14.60,14.50 FG_AHR_24Vo 0.000

RAFOS_CLK 462 FG_AHR_10Vo 0.000

RAFOS 0,1380268864,8.033334,8.017777,115,60,55,54,54,53,921,220,206,232,181,146 MEM 150744

RAFOS_FIX 6649.374512,-5827.472168,270913,080825,7,109,0.38 DATA_FILE_SIZE 40002,913

IRIDIUM_FIX 6620.33,-5833.19,270913,020206 CAP_FILE_SIZE 98856,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,246050816

HUMID 44.64 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.66438 SOUNDSPEED 1456.9

TCM_TEMP 12.40 CURRENT 0.027,358.3,1

XPDR_PINGS 64 GPS 270913,090824,6648.900,-5826.081,40,1.0,40,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 442 114.16 SBE_CT 640 23 181.40

Roll_motor 73 249 224.62 SBE_O2 0 0 0.00

VBD_pump_during_apogee 435 2604 13829.37 nil 0 0 0.00

VBD_pump_during_surface 59 174 125.76 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 202 145 358.64 nil 0 0 0.00

Transponder_ping 16 420 81.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 18 1.39

TT8 2297 14 429.62

LPSleep 4934 2 142.48

TT8_Active 651 14 115.64

TT8_Sampling 1661 33 699.59

TT8_CF8 531 39 263.66

TT8_Kalman 0 0 0.00

Analog_circuits 1689 12 253.47

GPS_charging 0 0 0.00

Compass 1483 6 124.95

RAFOS 2520 1 47.25

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

19 -0.90 -146.0 138 2501 1101 1086 0.0 0.0 0 99 0.00 0.00 -77.22 0.000 16386 0.000 0.000 138 2501 2624 2685 2564 0 0 0 0 0 0 28.83 28.83 28.83

106 -0.90 -146.0 138 2501 2685 2565 3.1 -3.7 13 139 10.05 2.60 -16.52 0.000 18692 0.443 0.170 2194 3870 3339 3518 3160 0 0 0 0 0 0 14.26 14.38 14.62

175 -0.90 -146.0 1344 3870 3512 3156 21.9 -31.4 24 182 0.00 2.38 0.00 0.000 1030 0.000 0.094 2194 2497 3339 3520 3159 0 0 0 0 0 0 28.83 14.43 28.83

493 -0.90 -146.0 2194 2495 3521 3159 99.1 -22.0 85 500 0.00 2.45 0.00 0.000 516 0.000 0.109 2194 1092 3340 3521 3159 0 0 0 0 0 0 28.83 14.49 28.83

545 -0.90 -146.0 2194 1091 3521 3159 109.1 -20.4 90 552 0.00 2.55 0.00 0.000 1030 0.000 0.129 2183 2505 3340 3521 3159 0 0 0 0 0 0 28.83 14.48 28.83

859 -0.90 -146.0 2183 2504 3521 3159 173.9 -21.0 121 868 0.00 2.47 0.00 0.000 516 0.000 0.109 2183 1087 3340 3521 3159 0 0 0 0 0 0 28.83 14.53 28.83

915 -0.90 -146.0 2184 1086 3521 3159 186.4 -20.3 126 925 0.10 2.50 0.00 0.000 3078 0.307 0.126 2198 2492 3340 3521 3159 0 0 0 0 0 0 14.45 14.53 28.83

1226 -0.90 -146.0 2199 2492 3521 3158 247.1 -19.9 157 1235 0.00 2.47 0.00 0.000 260 0.000 0.149 2190 3868 3339 3521 3158 0 0 0 0 0 0 28.83 14.54 28.83

1292 -0.90 -146.0 2190 3868 3520 3158 261.0 -21.7 163 1301 0.00 2.33 0.00 0.000 1030 0.000 0.094 2190 2495 3339 3521 3157 0 0 0 0 0 0 28.83 14.59 28.83

1602 -0.90 -146.0 2190 2495 3521 3157 323.1 -19.4 194 1612 0.00 2.42 0.00 0.000 516 0.000 0.111 2190 1096 3339 3521 3157 0 0 0 0 0 0 28.83 14.59 28.83

1679 -0.90 -146.0 2190 1096 3521 3157 337.5 -18.5 201 1687 0.00 2.47 0.00 0.000 1030 0.000 0.127 2180 2498 3339 3521 3157 0 0 0 0 0 0 28.83 14.58 28.83

1989 -0.90 -146.0 2180 2498 3521 3157 399.4 -19.9 232 1995 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2498 3339 3521 3157 0 0 0 0 0 0 28.83 28.83 28.83

2305 -0.90 -146.0 2180 2498 3521 3157 460.1 -19.1 263 2314 0.00 2.42 0.00 0.000 516 0.000 0.108 2180 1087 3339 3521 3157 0 0 0 0 0 0 28.83 14.64 28.83

2350 -0.90 -146.0 2180 1087 3521 3157 469.9 -18.6 267 2360 0.12 2.53 0.00 0.000 3078 0.291 0.126 2202 2501 3339 3521 3157 0 0 0 0 0 0 14.55 14.61 28.83

2662 -0.90 -146.0 2201 2501 3521 3157 523.3 -17.2 298 2669 0.00 0.00 0.00 0.000 6 0.000 0.000 2201 2500 3339 3521 3157 0 0 0 0 0 0 28.83 28.83 28.83

2978 -0.90 -146.0 2202 2501 3521 3157 575.2 -16.5 329 2987 0.00 2.42 0.00 0.000 516 0.000 0.108 2202 1085 3339 3521 3158 0 0 0 0 0 0 28.83 14.63 28.83

3026 -0.90 -146.0 1368 1084 3514 3154 583.3 -15.9 333 3033 0.00 2.50 0.00 0.000 1030 0.000 0.126 2194 2499 3339 3521 3157 0 0 0 0 0 0 28.83 14.65 28.83

3345 -0.90 -146.0 2194 2499 3521 3157 636.4 -16.8 351 3346 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2499 3339 3521 3157 0 0 0 0 0 0 28.83 28.83 28.83

3644 -0.90 -146.0 2194 2499 3522 3158 688.0 -16.9 361 3650 0.00 2.40 0.00 0.000 516 0.000 0.107 2194 1095 3339 3521 3158 0 0 0 0 0 0 28.83 14.69 28.83

3695 -0.90 -146.0 2194 1094 3522 3158 693.4 -16.9 362 3704 0.00 2.47 0.00 0.000 1030 0.000 0.129 2184 2499 3340 3522 3158 0 0 0 0 0 0 28.83 14.66 28.83

4006 -0.90 -146.0 2183 2499 3522 3158 752.8 -17.6 373 4007 0.00 0.00 0.00 0.000 6 0.000 0.000 2184 2499 3339 3521 3158 0 0 0 0 0 0 28.83 28.83 28.83

4090 end dive: TARGET_DEPTH_EXCEEDED

state 4090 begin apogee

4104 -0.14 0.0 2184 2534 3521 3158 768.7 -17.7 376 4270 0.98 0.00 154.77 2.605 10246 0.278 0.000 2448 2534 2740 2855 2626 0 0 0 0 0 0 14.62 28.83 12.83

4271 end apogee: CONTROL_FINISHED_OK

state 4271 begin climb

4277 0.90 146.0 2448 2534 2855 2626 778.1 0.0 381 4454 1.15 2.83 168.35 2.519 10500 0.168 0.143 2781 3873 2145 2232 2059 0 0 0 0 0 0 13.66 13.01 12.27

4464 1.07 201.6 2782 3872 2232 2058 770.3 6.5 388 4539 0.12 2.55 67.50 2.451 11270 0.110 0.095 2837 2536 1918 2003 1833 0 0 0 0 0 0 13.16 13.16 12.21

4851 1.07 201.6 2837 2535 2002 1820 710.0 16.3 401 4852 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 2536 1911 2002 1820 0 0 0 0 0 0 28.83 28.83 28.83

5151 1.07 201.6 2837 2536 2002 1817 659.9 16.9 411 5157 0.00 2.53 0.00 0.000 260 0.000 0.151 2837 3868 1909 2001 1817 0 0 0 0 0 0 28.83 14.09 28.83

5187 1.07 201.6 2837 3868 2000 1817 654.4 16.9 412 5192 0.00 2.38 0.00 0.000 1030 0.000 0.099 2848 2524 1909 2001 1817 0 0 0 0 0 0 28.83 14.17 28.83

5514 1.07 201.6 2848 2522 2001 1816 598.2 17.0 423 5520 0.00 0.00 0.00 0.000 6 0.000 0.000 2848 2522 1908 2000 1816 0 0 0 0 0 0 28.83 28.83 28.83

5829 1.07 201.6 2848 2522 2000 1815 546.3 17.3 454 5836 0.00 0.00 0.00 0.000 6 0.000 0.000 2848 2522 1907 2000 1815 0 0 0 0 0 0 28.83 28.83 28.83

6143 1.07 201.6 2848 2522 2000 1814 492.9 16.7 485 6149 0.00 0.00 0.00 0.000 6 0.000 0.000 2848 2522 1907 2000 1814 0 0 0 0 0 0 28.83 28.83 28.83

6450 1.07 201.6 2848 2522 2000 1814 440.9 15.9 516 6459 0.00 2.47 0.00 0.000 260 0.000 0.149 2848 3875 1907 2000 1814 0 0 0 0 0 0 28.83 14.50 28.83

6477 1.07 201.6 1872 3875 1959 1810 436.5 16.6 518 6485 0.00 2.35 0.00 0.000 1030 0.000 0.101 2858 2517 1907 2000 1814 0 0 0 0 0 0 28.83 14.54 28.83

6787 1.07 201.6 2858 2515 2000 1814 384.9 15.7 549 6793 0.00 0.00 0.00 0.000 6 0.000 0.000 2859 2515 1907 2000 1814 0 0 0 0 0 0 28.83 28.83 28.83

7102 1.07 201.6 2858 2515 2000 1813 336.3 15.8 580 7108 0.00 0.00 0.00 0.000 6 0.000 0.000 2858 2515 1906 2000 1813 0 0 0 0 0 0 28.83 28.83 28.83

7410 1.07 201.6 2858 2515 2000 1813 288.1 15.5 611 7416 0.00 0.00 0.00 0.000 6 0.000 0.000 2858 2515 1906 2000 1813 0 0 0 0 0 0 28.83 28.83 28.83

7720 1.07 201.6 2859 2515 2000 1813 239.3 16.0 642 7727 0.00 0.00 0.00 0.000 6 0.000 0.000 2858 2515 1906 1999 1813 0 0 0 0 0 0 28.83 28.83 28.83

8036 1.07 201.6 2858 2515 2000 1813 190.3 15.7 673 8045 0.00 2.45 0.00 0.000 260 0.000 0.151 2858 3866 1906 2000 1813 0 0 0 0 0 0 28.83 14.60 28.83

8186 1.07 201.6 1832 3866 1956 1809 164.1 17.2 687 8194 0.00 2.28 0.00 0.000 1030 0.000 0.103 2869 2530 1906 2000 1813 0 0 0 0 0 0 28.83 14.64 28.83

8496 1.07 201.6 2869 2530 2000 1813 119.0 13.7 718 8505 0.00 2.45 0.00 0.000 516 0.000 0.121 2879 1121 1906 2000 1812 0 0 0 0 0 0 28.83 14.63 28.83

8573 1.07 201.6 2879 1121 2000 1812 108.0 14.3 725 8582 0.10 2.50 0.00 0.000 5126 0.270 0.132 2851 2531 1906 2000 1812 0 0 0 0 0 0 14.56 14.62 28.83

8888 1.07 201.6 1856 2528 1957 1808 70.0 10.5 780 8894 0.00 2.42 0.00 0.000 260 0.000 0.151 2852 3877 1906 2000 1812 0 0 0 0 0 0 28.83 14.62 28.83

8985 1.07 201.6 1856 3876 1957 1808 58.3 11.9 798 8993 0.00 2.33 0.00 0.000 1030 0.000 0.103 2861 2518 1905 1999 1812 0 0 0 0 0 0 28.83 14.65 28.83

9305 1.07 201.6 2861 2518 1999 1812 27.1 9.2 859 9311 0.00 2.47 0.00 0.000 260 0.000 0.152 2861 3876 1905 1999 1812 0 0 0 0 0 0 28.83 14.62 28.83

9472 1.33 287.5 2860 3876 2000 1812 13.8 5.3 890 9529 0.17 2.30 44.55 0.207 11270 0.163 0.102 2928 2531 1566 1646 1486 0 0 0 0 0 0 14.65 14.66 14.51

9585 end climb: SURFACE_DEPTH_REACHED

state 9585 begin surface coast

9606 end surface coast: CONTROL_FINISHED_OK

state 9606 begin surface

ID	192	HD_C	3.62024e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	78	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2530	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	18	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	14	XPDR_VALID	6
D_BOOST	110	N_FILEKB	8	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2741	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	380	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	410	CALL_WAIT	60	PITCH_VBD_SHIFT	0.003	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-1225.9781	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	145	MINV_24V	12	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3924	MINV_10V	12	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2500	FG_AHR_10V	0	SEABIRD_T_G	0.0042877649
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062881736
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2009486e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-62.7798	SEABIRD_T_J	2.217299e-06
MASS	52018	PITCH_GAIN	35	PRESSURE_SLOPE	0.0001164018	SEABIRD_C_G	-9.8550158
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1245382
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0013153109
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017883891
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0041718199	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099987797	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	0

GPS1	270913,061805,6648.153,-5829.405,27,1.3,28,-33.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270913,062405,6648.109,-5829.613,5,1.3,5,-33.6	MHEAD_RNG_PITCHd_Wd	104.4,78391,-16.2,-8.684,-19.07,2590
SPEED_LIMITS	0.150,0.251	D_GRID	768

FINISH	0.9,1.011882	_24V_AH	12.2,33.956
SM_CCo	9635,59.10,0.174,0,0,1108,400.08	_10V_AH	12.5,0.000
SM_GC	1.79,8.32,0.05,59.10,0.108,0.249,0.174,138,2501,1108,-7.33,0.68,400.08,0,0,0,0,0,0,14.60,14.60,14.50	FG_AHR_24Vo	0.000
RAFOS_CLK	462	FG_AHR_10Vo	0.000
RAFOS	0,1380268864,8.033334,8.017777,115,60,55,54,54,53,921,220,206,232,181,146	MEM	150744
RAFOS_FIX	6649.374512,-5827.472168,270913,080825,7,109,0.38	DATA_FILE_SIZE	40002,913
IRIDIUM_FIX	6620.33,-5833.19,270913,020206	CAP_FILE_SIZE	98856,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,246050816
HUMID	44.64	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.66438	SOUNDSPEED	1456.9
TCM_TEMP	12.40	CURRENT	0.027,358.3,1
XPDR_PINGS	64	GPS	270913,090824,6648.900,-5826.081,40,1.0,40,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	442	114.16	SBE_CT	640	23	181.40
Roll_motor	73	249	224.62	SBE_O2	0	0	0.00
VBD_pump_during_apogee	435	2604	13829.37	nil	0	0	0.00
VBD_pump_during_surface	59	174	125.76	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	202	145	358.64	nil	0	0	0.00
Transponder_ping	16	420	81.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	18	1.39
TT8	2297	14	429.62
LPSleep	4934	2	142.48
TT8_Active	651	14	115.64
TT8_Sampling	1661	33	699.59
TT8_CF8	531	39	263.66
TT8_Kalman	0	0	0.00
Analog_circuits	1689	12	253.47
GPS_charging	0	0	0.00
Compass	1483	6	124.95
RAFOS	2520	1	47.25
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
19	-0.90	-146.0	138	2501	1101	1086	0.0	0.0	0	99	0.00	0.00	-77.22	0.000	16386	0.000	0.000	138	2501	2624	2685	2564	0	0	0	0	0	0	28.83	28.83	28.83
106	-0.90	-146.0	138	2501	2685	2565	3.1	-3.7	13	139	10.05	2.60	-16.52	0.000	18692	0.443	0.170	2194	3870	3339	3518	3160	0	0	0	0	0	0	14.26	14.38	14.62
175	-0.90	-146.0	1344	3870	3512	3156	21.9	-31.4	24	182	0.00	2.38	0.00	0.000	1030	0.000	0.094	2194	2497	3339	3520	3159	0	0	0	0	0	0	28.83	14.43	28.83
493	-0.90	-146.0	2194	2495	3521	3159	99.1	-22.0	85	500	0.00	2.45	0.00	0.000	516	0.000	0.109	2194	1092	3340	3521	3159	0	0	0	0	0	0	28.83	14.49	28.83
545	-0.90	-146.0	2194	1091	3521	3159	109.1	-20.4	90	552	0.00	2.55	0.00	0.000	1030	0.000	0.129	2183	2505	3340	3521	3159	0	0	0	0	0	0	28.83	14.48	28.83
859	-0.90	-146.0	2183	2504	3521	3159	173.9	-21.0	121	868	0.00	2.47	0.00	0.000	516	0.000	0.109	2183	1087	3340	3521	3159	0	0	0	0	0	0	28.83	14.53	28.83
915	-0.90	-146.0	2184	1086	3521	3159	186.4	-20.3	126	925	0.10	2.50	0.00	0.000	3078	0.307	0.126	2198	2492	3340	3521	3159	0	0	0	0	0	0	14.45	14.53	28.83
1226	-0.90	-146.0	2199	2492	3521	3158	247.1	-19.9	157	1235	0.00	2.47	0.00	0.000	260	0.000	0.149	2190	3868	3339	3521	3158	0	0	0	0	0	0	28.83	14.54	28.83
1292	-0.90	-146.0	2190	3868	3520	3158	261.0	-21.7	163	1301	0.00	2.33	0.00	0.000	1030	0.000	0.094	2190	2495	3339	3521	3157	0	0	0	0	0	0	28.83	14.59	28.83
1602	-0.90	-146.0	2190	2495	3521	3157	323.1	-19.4	194	1612	0.00	2.42	0.00	0.000	516	0.000	0.111	2190	1096	3339	3521	3157	0	0	0	0	0	0	28.83	14.59	28.83
1679	-0.90	-146.0	2190	1096	3521	3157	337.5	-18.5	201	1687	0.00	2.47	0.00	0.000	1030	0.000	0.127	2180	2498	3339	3521	3157	0	0	0	0	0	0	28.83	14.58	28.83
1989	-0.90	-146.0	2180	2498	3521	3157	399.4	-19.9	232	1995	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2498	3339	3521	3157	0	0	0	0	0	0	28.83	28.83	28.83
2305	-0.90	-146.0	2180	2498	3521	3157	460.1	-19.1	263	2314	0.00	2.42	0.00	0.000	516	0.000	0.108	2180	1087	3339	3521	3157	0	0	0	0	0	0	28.83	14.64	28.83
2350	-0.90	-146.0	2180	1087	3521	3157	469.9	-18.6	267	2360	0.12	2.53	0.00	0.000	3078	0.291	0.126	2202	2501	3339	3521	3157	0	0	0	0	0	0	14.55	14.61	28.83
2662	-0.90	-146.0	2201	2501	3521	3157	523.3	-17.2	298	2669	0.00	0.00	0.00	0.000	6	0.000	0.000	2201	2500	3339	3521	3157	0	0	0	0	0	0	28.83	28.83	28.83
2978	-0.90	-146.0	2202	2501	3521	3157	575.2	-16.5	329	2987	0.00	2.42	0.00	0.000	516	0.000	0.108	2202	1085	3339	3521	3158	0	0	0	0	0	0	28.83	14.63	28.83
3026	-0.90	-146.0	1368	1084	3514	3154	583.3	-15.9	333	3033	0.00	2.50	0.00	0.000	1030	0.000	0.126	2194	2499	3339	3521	3157	0	0	0	0	0	0	28.83	14.65	28.83
3345	-0.90	-146.0	2194	2499	3521	3157	636.4	-16.8	351	3346	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2499	3339	3521	3157	0	0	0	0	0	0	28.83	28.83	28.83
3644	-0.90	-146.0	2194	2499	3522	3158	688.0	-16.9	361	3650	0.00	2.40	0.00	0.000	516	0.000	0.107	2194	1095	3339	3521	3158	0	0	0	0	0	0	28.83	14.69	28.83
3695	-0.90	-146.0	2194	1094	3522	3158	693.4	-16.9	362	3704	0.00	2.47	0.00	0.000	1030	0.000	0.129	2184	2499	3340	3522	3158	0	0	0	0	0	0	28.83	14.66	28.83
4006	-0.90	-146.0	2183	2499	3522	3158	752.8	-17.6	373	4007	0.00	0.00	0.00	0.000	6	0.000	0.000	2184	2499	3339	3521	3158	0	0	0	0	0	0	28.83	28.83	28.83
4090	end dive: TARGET_DEPTH_EXCEEDED
state	4090	begin apogee
4104	-0.14	0.0	2184	2534	3521	3158	768.7	-17.7	376	4270	0.98	0.00	154.77	2.605	10246	0.278	0.000	2448	2534	2740	2855	2626	0	0	0	0	0	0	14.62	28.83	12.83
4271	end apogee: CONTROL_FINISHED_OK
state	4271	begin climb
4277	0.90	146.0	2448	2534	2855	2626	778.1	0.0	381	4454	1.15	2.83	168.35	2.519	10500	0.168	0.143	2781	3873	2145	2232	2059	0	0	0	0	0	0	13.66	13.01	12.27
4464	1.07	201.6	2782	3872	2232	2058	770.3	6.5	388	4539	0.12	2.55	67.50	2.451	11270	0.110	0.095	2837	2536	1918	2003	1833	0	0	0	0	0	0	13.16	13.16	12.21
4851	1.07	201.6	2837	2535	2002	1820	710.0	16.3	401	4852	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	2536	1911	2002	1820	0	0	0	0	0	0	28.83	28.83	28.83
5151	1.07	201.6	2837	2536	2002	1817	659.9	16.9	411	5157	0.00	2.53	0.00	0.000	260	0.000	0.151	2837	3868	1909	2001	1817	0	0	0	0	0	0	28.83	14.09	28.83
5187	1.07	201.6	2837	3868	2000	1817	654.4	16.9	412	5192	0.00	2.38	0.00	0.000	1030	0.000	0.099	2848	2524	1909	2001	1817	0	0	0	0	0	0	28.83	14.17	28.83
5514	1.07	201.6	2848	2522	2001	1816	598.2	17.0	423	5520	0.00	0.00	0.00	0.000	6	0.000	0.000	2848	2522	1908	2000	1816	0	0	0	0	0	0	28.83	28.83	28.83
5829	1.07	201.6	2848	2522	2000	1815	546.3	17.3	454	5836	0.00	0.00	0.00	0.000	6	0.000	0.000	2848	2522	1907	2000	1815	0	0	0	0	0	0	28.83	28.83	28.83
6143	1.07	201.6	2848	2522	2000	1814	492.9	16.7	485	6149	0.00	0.00	0.00	0.000	6	0.000	0.000	2848	2522	1907	2000	1814	0	0	0	0	0	0	28.83	28.83	28.83
6450	1.07	201.6	2848	2522	2000	1814	440.9	15.9	516	6459	0.00	2.47	0.00	0.000	260	0.000	0.149	2848	3875	1907	2000	1814	0	0	0	0	0	0	28.83	14.50	28.83
6477	1.07	201.6	1872	3875	1959	1810	436.5	16.6	518	6485	0.00	2.35	0.00	0.000	1030	0.000	0.101	2858	2517	1907	2000	1814	0	0	0	0	0	0	28.83	14.54	28.83
6787	1.07	201.6	2858	2515	2000	1814	384.9	15.7	549	6793	0.00	0.00	0.00	0.000	6	0.000	0.000	2859	2515	1907	2000	1814	0	0	0	0	0	0	28.83	28.83	28.83
7102	1.07	201.6	2858	2515	2000	1813	336.3	15.8	580	7108	0.00	0.00	0.00	0.000	6	0.000	0.000	2858	2515	1906	2000	1813	0	0	0	0	0	0	28.83	28.83	28.83
7410	1.07	201.6	2858	2515	2000	1813	288.1	15.5	611	7416	0.00	0.00	0.00	0.000	6	0.000	0.000	2858	2515	1906	2000	1813	0	0	0	0	0	0	28.83	28.83	28.83
7720	1.07	201.6	2859	2515	2000	1813	239.3	16.0	642	7727	0.00	0.00	0.00	0.000	6	0.000	0.000	2858	2515	1906	1999	1813	0	0	0	0	0	0	28.83	28.83	28.83
8036	1.07	201.6	2858	2515	2000	1813	190.3	15.7	673	8045	0.00	2.45	0.00	0.000	260	0.000	0.151	2858	3866	1906	2000	1813	0	0	0	0	0	0	28.83	14.60	28.83
8186	1.07	201.6	1832	3866	1956	1809	164.1	17.2	687	8194	0.00	2.28	0.00	0.000	1030	0.000	0.103	2869	2530	1906	2000	1813	0	0	0	0	0	0	28.83	14.64	28.83
8496	1.07	201.6	2869	2530	2000	1813	119.0	13.7	718	8505	0.00	2.45	0.00	0.000	516	0.000	0.121	2879	1121	1906	2000	1812	0	0	0	0	0	0	28.83	14.63	28.83
8573	1.07	201.6	2879	1121	2000	1812	108.0	14.3	725	8582	0.10	2.50	0.00	0.000	5126	0.270	0.132	2851	2531	1906	2000	1812	0	0	0	0	0	0	14.56	14.62	28.83
8888	1.07	201.6	1856	2528	1957	1808	70.0	10.5	780	8894	0.00	2.42	0.00	0.000	260	0.000	0.151	2852	3877	1906	2000	1812	0	0	0	0	0	0	28.83	14.62	28.83
8985	1.07	201.6	1856	3876	1957	1808	58.3	11.9	798	8993	0.00	2.33	0.00	0.000	1030	0.000	0.103	2861	2518	1905	1999	1812	0	0	0	0	0	0	28.83	14.65	28.83
9305	1.07	201.6	2861	2518	1999	1812	27.1	9.2	859	9311	0.00	2.47	0.00	0.000	260	0.000	0.152	2861	3876	1905	1999	1812	0	0	0	0	0	0	28.83	14.62	28.83
9472	1.33	287.5	2860	3876	2000	1812	13.8	5.3	890	9529	0.17	2.30	44.55	0.207	11270	0.163	0.102	2928	2531	1566	1646	1486	0	0	0	0	0	0	14.65	14.66	14.51
9585	end climb: SURFACE_DEPTH_REACHED
state	9585	begin surface coast
9606	end surface coast: CONTROL_FINISHED_OK
state	9606	begin surface