Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 359 * 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 359 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 23 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 16 XPDR_VALID 6

D_BOOST 110 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2741 DEVICE1 2

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 400 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 430 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -2550.5171 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 49

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 0.00062881736

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 23 PRESSURE_SLOPE 0.0001164018 SEABIRD_C_G -9.8550158

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1245382

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013153109

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017883891

KALMAN_USE 2 PITCH_ADJ_GAIN 0.0099999998 COMPASS_USE 4

HD_A 0.0041718199 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099987797 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 250 PHONE_SUPPLY -2 SM_CC 400

AH0_10V 0 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 500 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_FREQUENCY 13 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 23 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 300 FERRY_MAX 45 PITCH_MAX 3924 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 5 FG_AHR_24V 0 PITCH_MIN 145 TGT_DEFAULT_LAT 6000

ALTIM_TOP_MIN_OBSTACLE 2.8 FILEMGR 2 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -5500

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0015 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 5 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 400

CALL_NDIVES 1 HD_A 0.0041718199 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 3 HD_B 0.0099987797 PRESSURE_YINT -62.7798 T_GPS 3

CALL_WAIT 60 HD_C 3.62024e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -2550.5171

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 -3

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 16 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 359 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 0.00062881736 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 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 231113,014100,6702.496,-5652.429,57,1.2,57,-33.5 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 2.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231113,015023,6702.503,-5652.390,37,1.1,37,-33.5 MHEAD_RNG_PITCHd_Wd 92.9,3301,-26.7,-8.250,-28.91,946

SPEED_LIMITS 0.143,0.247 D_GRID 567

Post-dive calculations and measurements:

FREEZE 1.29,1.427,-0.908,0,1,0 _24V_AH 12.3,159.145

FINISH 1.3,1.013393 _10V_AH 12.2,0.000

SM_CCo 7653,118.62,0.163,0,0,1107,400.08 FG_AHR_24Vo 0.000

SM_GC 2.52,8.35,0.00,118.62,0.096,0.000,0.163,142,2511,1107,-7.35,0.31,400.08,0,0,0,0,0,0,14.51,28.83,14.29 FG_AHR_10Vo 0.000

RAFOS_CLK 330 MEM 150744

RAFOS_FIX 6703.485840,-5709.395996,221113,161656,2,78,0.58 DATA_FILE_SIZE 36739,875

IRIDIUM_FIX 6631.12,-5701.34,221113,212157 CAP_FILE_SIZE 102773,0

TT8_MAMPS 0.023968,0.023968 CFSIZE 259252224,223199232

HUMID 41.49 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.75227 SOUNDSPEED 1471.4

TCM_TEMP 14.20 CURRENT 0.174,344.6,1

XPDR_PINGS 41 GPS 231113,040235,6703.686,-5650.987,42,0.8,42,-33.5

ALTIM_TOP_PING 19.8,19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 410 111.08 SBE_CT 609 23 174.01

Roll_motor 54 144 96.30 SBE_O2 0 0 0.00

VBD_pump_during_apogee 272 2397 8043.96 nil 0 0 0.00

VBD_pump_during_surface 118 162 237.75 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 341 139 588.86 nil 0 0 0.00

Transponder_ping 11 420 60.70 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 38 18 8.71

TT8 2258 14 412.28

LPSleep 3267 2 92.07

TT8_Active 479 14 83.06

TT8_Sampling 1741 33 715.89

TT8_CF8 595 39 288.05

TT8_Kalman 0 0 0.00

Analog_circuits 1606 12 235.19

GPS_charging 0 0 0.00

Compass 1425 6 117.20

RAFOS 0 0 0.00

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

20 -1.24 -50.7 100 2508 1110 1074 0.0 0.0 0 89 0.00 0.00 -66.47 0.000 16386 0.000 0.000 95 2508 2438 2505 2371 0 0 0 0 0 0 28.83 28.83 28.83

96 -1.31 -96.5 96 2508 2507 2371 3.2 -3.3 11 134 9.50 1.50 -21.52 0.000 18692 0.410 0.145 2076 3349 3134 3264 3004 0 0 0 0 0 0 13.99 14.38 14.78

371 -1.21 -96.5 2076 3349 3269 2999 78.2 -28.6 62 379 0.17 1.50 0.00 0.000 3078 0.329 0.083 2111 2466 3134 3269 3000 0 0 0 0 0 0 14.07 14.46 28.83

691 -1.15 -96.5 2111 2466 3269 2999 151.5 -22.7 101 695 0.00 1.40 0.00 0.000 516 0.000 0.095 2112 1664 3134 3269 2999 0 0 0 0 0 0 28.83 14.42 28.83

777 -1.10 -96.5 2112 1664 3269 2998 170.4 -21.9 109 781 0.20 1.50 0.00 0.000 3078 0.307 0.115 2150 2509 3133 3269 2998 0 0 0 0 0 0 14.12 14.41 28.83

1093 -1.07 -96.5 2150 2509 3269 2998 232.1 -18.9 140 1097 0.00 1.48 0.00 0.000 516 0.000 0.092 2150 1661 3133 3269 2998 0 0 0 0 0 0 28.83 14.43 28.83

1132 -1.04 -96.5 2151 1661 3269 2998 238.5 -18.5 143 1139 0.00 1.50 0.00 0.000 1030 0.000 0.114 2146 2508 3133 3269 2998 0 0 0 0 0 0 28.83 14.42 28.83

1441 -1.02 -96.5 2146 2508 3269 2998 293.9 -17.8 174 1446 0.12 1.52 0.00 0.000 2308 0.327 0.119 2170 3345 3133 3269 2998 0 0 0 0 0 0 14.21 14.38 28.83

1501 -1.00 -96.5 1344 3344 3253 2995 304.0 -17.6 179 1507 0.00 1.48 0.00 0.000 1030 0.000 0.081 2170 2495 3133 3269 2998 0 0 0 0 0 0 28.83 14.49 28.83

1811 -1.00 -96.5 2170 2495 3270 2999 353.2 -15.1 210 1815 0.00 1.45 0.00 0.000 516 0.000 0.092 2170 1661 3134 3270 2998 0 0 0 0 0 0 28.83 14.44 28.83

1840 -1.00 -96.5 2170 1661 3270 2998 357.1 -15.3 212 1847 0.00 1.50 0.00 0.000 1030 0.000 0.113 2164 2507 3134 3270 2998 0 0 0 0 0 0 28.83 14.42 28.83

2151 -0.98 -96.5 2164 2507 3271 2998 406.2 -15.0 243 2155 0.00 1.50 0.00 0.000 260 0.000 0.120 2157 3362 3134 3271 2998 0 0 0 0 0 0 28.83 14.41 28.83

2218 -0.96 -96.5 2157 3362 3271 2998 416.6 -15.8 249 2222 0.17 1.48 0.00 0.000 3078 0.288 0.079 2194 2501 3134 3271 2998 0 0 0 0 0 0 14.19 14.50 28.83

2537 -0.97 -96.5 2194 2501 3273 2999 461.0 -14.3 280 2541 0.00 1.48 0.00 0.000 516 0.000 0.093 2195 1655 3135 3273 2998 0 0 0 0 0 0 28.83 14.43 28.83

2576 -0.99 -96.5 2195 1655 3273 2998 466.1 -14.1 283 2583 0.00 1.50 0.00 0.000 1030 0.000 0.112 2190 2502 3135 3273 2998 0 0 0 0 0 0 28.83 14.42 28.83

2885 -0.99 -96.5 2190 2502 3273 2998 510.0 -13.8 314 2889 0.00 1.48 0.00 0.000 516 0.000 0.092 2190 1663 3136 3273 2999 0 0 0 0 0 0 28.83 14.43 28.83

2941 -1.01 -96.5 2190 1662 3273 2999 517.7 -13.9 319 2945 0.00 1.52 0.00 0.000 1030 0.000 0.112 2184 2500 3136 3273 2999 0 0 0 0 0 0 28.83 14.40 28.83

3259 -1.26 -146.0 2185 2500 3275 2998 542.2 -0.1 350 3263 0.20 1.52 0.00 0.000 4356 0.115 0.125 2097 3351 3137 3275 2999 0 0 0 0 0 0 14.59 14.40 28.83

3279 end dive: NO_VERTICAL_VELOCITY

state 3279 begin apogee

3294 -0.22 0.0 2097 2511 3275 2998 542.1 0.0 352 3401 1.10 0.00 99.70 2.398 10246 0.164 0.000 2435 2510 2742 2853 2632 0 0 0 0 0 0 14.31 28.83 12.93

3408 end apogee: CONTROL_FINISHED_OK

state 3408 begin climb

3414 1.38 146.0 2435 2510 2853 2632 542.3 0.0 364 3591 1.65 1.60 162.38 2.353 10756 0.138 0.097 2952 1669 2145 2235 2056 0 0 0 0 0 0 13.93 13.22 12.26

3749 1.34 146.0 2952 1669 2235 2046 501.8 17.4 397 3756 0.00 1.58 0.00 0.000 1030 0.000 0.113 2951 2514 2140 2235 2046 0 0 0 0 0 0 28.83 13.89 28.83

4058 1.29 146.0 1936 2512 2188 2038 446.6 17.0 428 4064 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2514 2139 2235 2043 0 0 0 0 0 0 28.83 28.83 28.83

4373 1.25 146.0 2952 2515 2235 2042 392.7 17.1 459 4378 0.15 1.50 0.00 0.000 4356 0.321 0.122 2917 3356 2138 2235 2042 0 0 0 0 0 0 14.23 14.45 28.83

4423 1.21 146.0 2916 3356 2235 2042 384.3 16.2 463 4430 0.00 1.48 0.00 0.000 1030 0.000 0.086 2921 2513 2138 2235 2042 0 0 0 0 0 0 28.83 14.50 28.83

4732 1.18 146.0 2921 2513 2235 2042 335.0 15.7 494 4736 0.12 1.52 0.00 0.000 4356 0.312 0.125 2891 3359 2138 2235 2042 0 0 0 0 0 0 14.30 14.47 28.83

4844 1.16 146.0 2891 3358 2235 2041 318.4 15.6 504 4848 0.00 1.48 0.00 0.000 1030 0.000 0.087 2897 2511 2138 2235 2041 0 0 0 0 0 0 28.83 14.53 28.83

5160 1.16 146.0 2897 2511 2235 2041 272.4 14.4 535 5166 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 2510 2138 2235 2041 0 0 0 0 0 0 28.83 28.83 28.83

5476 1.16 146.0 2896 2511 2235 2041 229.3 13.6 566 5479 0.00 1.52 0.00 0.000 260 0.000 0.128 2896 3362 2138 2236 2041 0 0 0 0 0 0 28.83 14.47 28.83

5601 1.14 146.0 1856 3361 2187 2036 212.0 14.5 577 5608 0.00 1.50 0.00 0.000 1030 0.000 0.087 2903 2479 2138 2235 2041 0 0 0 0 0 0 28.83 14.55 28.83

5910 1.14 146.0 2903 2479 2235 2041 168.1 13.3 608 5914 0.00 1.62 0.00 0.000 260 0.000 0.126 2903 3360 2138 2235 2041 0 0 0 0 0 0 28.83 14.44 28.83

5938 1.13 146.0 1920 3359 2190 2036 164.6 13.6 610 5946 0.15 1.48 0.00 0.000 5126 0.295 0.087 2877 2515 2138 2235 2041 0 0 0 0 0 0 14.28 14.54 28.83

6248 1.14 146.0 2877 2515 2235 2041 127.2 12.0 641 6252 0.00 1.55 0.00 0.000 260 0.000 0.128 2877 3354 2138 2235 2041 0 0 0 0 0 0 28.83 14.42 28.83

6297 1.14 146.0 2877 3354 2235 2041 121.5 12.6 645 6305 0.00 1.48 0.00 0.000 1030 0.000 0.087 2883 2511 2138 2235 2041 0 0 0 0 0 0 28.83 14.52 28.83

6611 1.17 146.0 2883 2511 2235 2041 84.5 10.8 689 6619 0.00 1.48 0.00 0.000 516 0.000 0.101 2889 1670 2137 2235 2040 0 0 0 0 0 0 28.83 14.46 28.83

6731 1.19 146.0 2889 1670 2235 2040 71.9 9.2 711 6737 0.00 1.50 0.00 0.000 1030 0.000 0.115 2889 2516 2137 2235 2040 0 0 0 0 0 0 28.83 14.47 28.83

7050 1.25 163.4 2889 2516 2235 2040 48.4 6.4 772 7064 0.00 1.58 8.50 0.306 8452 0.000 0.128 2889 3357 2073 2173 1974 0 0 0 0 0 0 28.83 14.43 14.10

7181 1.27 163.4 1856 3356 2125 1970 38.0 8.8 795 7188 0.00 1.48 0.00 0.000 1030 0.000 0.086 2896 2512 2073 2172 1974 0 0 0 0 0 0 28.83 14.50 28.83

7506 1.30 163.4 2895 2512 2173 1973 11.1 9.4 856 7512 0.00 1.50 0.00 0.000 516 0.000 0.102 2902 1637 2072 2172 1973 0 0 0 0 0 0 28.83 14.45 28.83

7561 1.34 167.7 2901 1637 2173 1973 6.1 7.8 865 7570 0.12 1.55 2.20 0.213 11270 0.161 0.113 2946 2510 2053 2155 1952 0 0 0 0 0 0 14.52 14.45 14.35

7592 end climb: SURFACE_DEPTH_REACHED

state 7592 begin surface coast

7624 end surface coast: CONTROL_FINISHED_OK

state 7624 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	359	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	23	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	16	XPDR_VALID	6
D_BOOST	110	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2741	DEVICE1	2
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	400	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	430	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-2550.5171	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	49
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	0.00062881736
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	23	PRESSURE_SLOPE	0.0001164018	SEABIRD_C_G	-9.8550158
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1245382
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0013153109
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017883891
KALMAN_USE	2	PITCH_ADJ_GAIN	0.0099999998	COMPASS_USE	4
HD_A	0.0041718199	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099987797	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	20

GPS1	231113,014100,6702.496,-5652.429,57,1.2,57,-33.5	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	2.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231113,015023,6702.503,-5652.390,37,1.1,37,-33.5	MHEAD_RNG_PITCHd_Wd	92.9,3301,-26.7,-8.250,-28.91,946
SPEED_LIMITS	0.143,0.247	D_GRID	567

FREEZE	1.29,1.427,-0.908,0,1,0	_24V_AH	12.3,159.145
FINISH	1.3,1.013393	_10V_AH	12.2,0.000
SM_CCo	7653,118.62,0.163,0,0,1107,400.08	FG_AHR_24Vo	0.000
SM_GC	2.52,8.35,0.00,118.62,0.096,0.000,0.163,142,2511,1107,-7.35,0.31,400.08,0,0,0,0,0,0,14.51,28.83,14.29	FG_AHR_10Vo	0.000
RAFOS_CLK	330	MEM	150744
RAFOS_FIX	6703.485840,-5709.395996,221113,161656,2,78,0.58	DATA_FILE_SIZE	36739,875
IRIDIUM_FIX	6631.12,-5701.34,221113,212157	CAP_FILE_SIZE	102773,0
TT8_MAMPS	0.023968,0.023968	CFSIZE	259252224,223199232
HUMID	41.49	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.75227	SOUNDSPEED	1471.4
TCM_TEMP	14.20	CURRENT	0.174,344.6,1
XPDR_PINGS	41	GPS	231113,040235,6703.686,-5650.987,42,0.8,42,-33.5
ALTIM_TOP_PING	19.8,19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	410	111.08	SBE_CT	609	23	174.01
Roll_motor	54	144	96.30	SBE_O2	0	0	0.00
VBD_pump_during_apogee	272	2397	8043.96	nil	0	0	0.00
VBD_pump_during_surface	118	162	237.75	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	341	139	588.86	nil	0	0	0.00
Transponder_ping	11	420	60.70	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	38	18	8.71
TT8	2258	14	412.28
LPSleep	3267	2	92.07
TT8_Active	479	14	83.06
TT8_Sampling	1741	33	715.89
TT8_CF8	595	39	288.05
TT8_Kalman	0	0	0.00
Analog_circuits	1606	12	235.19
GPS_charging	0	0	0.00
Compass	1425	6	117.20
RAFOS	0	0	0.00
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
20	-1.24	-50.7	100	2508	1110	1074	0.0	0.0	0	89	0.00	0.00	-66.47	0.000	16386	0.000	0.000	95	2508	2438	2505	2371	0	0	0	0	0	0	28.83	28.83	28.83
96	-1.31	-96.5	96	2508	2507	2371	3.2	-3.3	11	134	9.50	1.50	-21.52	0.000	18692	0.410	0.145	2076	3349	3134	3264	3004	0	0	0	0	0	0	13.99	14.38	14.78
371	-1.21	-96.5	2076	3349	3269	2999	78.2	-28.6	62	379	0.17	1.50	0.00	0.000	3078	0.329	0.083	2111	2466	3134	3269	3000	0	0	0	0	0	0	14.07	14.46	28.83
691	-1.15	-96.5	2111	2466	3269	2999	151.5	-22.7	101	695	0.00	1.40	0.00	0.000	516	0.000	0.095	2112	1664	3134	3269	2999	0	0	0	0	0	0	28.83	14.42	28.83
777	-1.10	-96.5	2112	1664	3269	2998	170.4	-21.9	109	781	0.20	1.50	0.00	0.000	3078	0.307	0.115	2150	2509	3133	3269	2998	0	0	0	0	0	0	14.12	14.41	28.83
1093	-1.07	-96.5	2150	2509	3269	2998	232.1	-18.9	140	1097	0.00	1.48	0.00	0.000	516	0.000	0.092	2150	1661	3133	3269	2998	0	0	0	0	0	0	28.83	14.43	28.83
1132	-1.04	-96.5	2151	1661	3269	2998	238.5	-18.5	143	1139	0.00	1.50	0.00	0.000	1030	0.000	0.114	2146	2508	3133	3269	2998	0	0	0	0	0	0	28.83	14.42	28.83
1441	-1.02	-96.5	2146	2508	3269	2998	293.9	-17.8	174	1446	0.12	1.52	0.00	0.000	2308	0.327	0.119	2170	3345	3133	3269	2998	0	0	0	0	0	0	14.21	14.38	28.83
1501	-1.00	-96.5	1344	3344	3253	2995	304.0	-17.6	179	1507	0.00	1.48	0.00	0.000	1030	0.000	0.081	2170	2495	3133	3269	2998	0	0	0	0	0	0	28.83	14.49	28.83
1811	-1.00	-96.5	2170	2495	3270	2999	353.2	-15.1	210	1815	0.00	1.45	0.00	0.000	516	0.000	0.092	2170	1661	3134	3270	2998	0	0	0	0	0	0	28.83	14.44	28.83
1840	-1.00	-96.5	2170	1661	3270	2998	357.1	-15.3	212	1847	0.00	1.50	0.00	0.000	1030	0.000	0.113	2164	2507	3134	3270	2998	0	0	0	0	0	0	28.83	14.42	28.83
2151	-0.98	-96.5	2164	2507	3271	2998	406.2	-15.0	243	2155	0.00	1.50	0.00	0.000	260	0.000	0.120	2157	3362	3134	3271	2998	0	0	0	0	0	0	28.83	14.41	28.83
2218	-0.96	-96.5	2157	3362	3271	2998	416.6	-15.8	249	2222	0.17	1.48	0.00	0.000	3078	0.288	0.079	2194	2501	3134	3271	2998	0	0	0	0	0	0	14.19	14.50	28.83
2537	-0.97	-96.5	2194	2501	3273	2999	461.0	-14.3	280	2541	0.00	1.48	0.00	0.000	516	0.000	0.093	2195	1655	3135	3273	2998	0	0	0	0	0	0	28.83	14.43	28.83
2576	-0.99	-96.5	2195	1655	3273	2998	466.1	-14.1	283	2583	0.00	1.50	0.00	0.000	1030	0.000	0.112	2190	2502	3135	3273	2998	0	0	0	0	0	0	28.83	14.42	28.83
2885	-0.99	-96.5	2190	2502	3273	2998	510.0	-13.8	314	2889	0.00	1.48	0.00	0.000	516	0.000	0.092	2190	1663	3136	3273	2999	0	0	0	0	0	0	28.83	14.43	28.83
2941	-1.01	-96.5	2190	1662	3273	2999	517.7	-13.9	319	2945	0.00	1.52	0.00	0.000	1030	0.000	0.112	2184	2500	3136	3273	2999	0	0	0	0	0	0	28.83	14.40	28.83
3259	-1.26	-146.0	2185	2500	3275	2998	542.2	-0.1	350	3263	0.20	1.52	0.00	0.000	4356	0.115	0.125	2097	3351	3137	3275	2999	0	0	0	0	0	0	14.59	14.40	28.83
3279	end dive: NO_VERTICAL_VELOCITY
state	3279	begin apogee
3294	-0.22	0.0	2097	2511	3275	2998	542.1	0.0	352	3401	1.10	0.00	99.70	2.398	10246	0.164	0.000	2435	2510	2742	2853	2632	0	0	0	0	0	0	14.31	28.83	12.93
3408	end apogee: CONTROL_FINISHED_OK
state	3408	begin climb
3414	1.38	146.0	2435	2510	2853	2632	542.3	0.0	364	3591	1.65	1.60	162.38	2.353	10756	0.138	0.097	2952	1669	2145	2235	2056	0	0	0	0	0	0	13.93	13.22	12.26
3749	1.34	146.0	2952	1669	2235	2046	501.8	17.4	397	3756	0.00	1.58	0.00	0.000	1030	0.000	0.113	2951	2514	2140	2235	2046	0	0	0	0	0	0	28.83	13.89	28.83
4058	1.29	146.0	1936	2512	2188	2038	446.6	17.0	428	4064	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2514	2139	2235	2043	0	0	0	0	0	0	28.83	28.83	28.83
4373	1.25	146.0	2952	2515	2235	2042	392.7	17.1	459	4378	0.15	1.50	0.00	0.000	4356	0.321	0.122	2917	3356	2138	2235	2042	0	0	0	0	0	0	14.23	14.45	28.83
4423	1.21	146.0	2916	3356	2235	2042	384.3	16.2	463	4430	0.00	1.48	0.00	0.000	1030	0.000	0.086	2921	2513	2138	2235	2042	0	0	0	0	0	0	28.83	14.50	28.83
4732	1.18	146.0	2921	2513	2235	2042	335.0	15.7	494	4736	0.12	1.52	0.00	0.000	4356	0.312	0.125	2891	3359	2138	2235	2042	0	0	0	0	0	0	14.30	14.47	28.83
4844	1.16	146.0	2891	3358	2235	2041	318.4	15.6	504	4848	0.00	1.48	0.00	0.000	1030	0.000	0.087	2897	2511	2138	2235	2041	0	0	0	0	0	0	28.83	14.53	28.83
5160	1.16	146.0	2897	2511	2235	2041	272.4	14.4	535	5166	0.00	0.00	0.00	0.000	6	0.000	0.000	2896	2510	2138	2235	2041	0	0	0	0	0	0	28.83	28.83	28.83
5476	1.16	146.0	2896	2511	2235	2041	229.3	13.6	566	5479	0.00	1.52	0.00	0.000	260	0.000	0.128	2896	3362	2138	2236	2041	0	0	0	0	0	0	28.83	14.47	28.83
5601	1.14	146.0	1856	3361	2187	2036	212.0	14.5	577	5608	0.00	1.50	0.00	0.000	1030	0.000	0.087	2903	2479	2138	2235	2041	0	0	0	0	0	0	28.83	14.55	28.83
5910	1.14	146.0	2903	2479	2235	2041	168.1	13.3	608	5914	0.00	1.62	0.00	0.000	260	0.000	0.126	2903	3360	2138	2235	2041	0	0	0	0	0	0	28.83	14.44	28.83
5938	1.13	146.0	1920	3359	2190	2036	164.6	13.6	610	5946	0.15	1.48	0.00	0.000	5126	0.295	0.087	2877	2515	2138	2235	2041	0	0	0	0	0	0	14.28	14.54	28.83
6248	1.14	146.0	2877	2515	2235	2041	127.2	12.0	641	6252	0.00	1.55	0.00	0.000	260	0.000	0.128	2877	3354	2138	2235	2041	0	0	0	0	0	0	28.83	14.42	28.83
6297	1.14	146.0	2877	3354	2235	2041	121.5	12.6	645	6305	0.00	1.48	0.00	0.000	1030	0.000	0.087	2883	2511	2138	2235	2041	0	0	0	0	0	0	28.83	14.52	28.83
6611	1.17	146.0	2883	2511	2235	2041	84.5	10.8	689	6619	0.00	1.48	0.00	0.000	516	0.000	0.101	2889	1670	2137	2235	2040	0	0	0	0	0	0	28.83	14.46	28.83
6731	1.19	146.0	2889	1670	2235	2040	71.9	9.2	711	6737	0.00	1.50	0.00	0.000	1030	0.000	0.115	2889	2516	2137	2235	2040	0	0	0	0	0	0	28.83	14.47	28.83
7050	1.25	163.4	2889	2516	2235	2040	48.4	6.4	772	7064	0.00	1.58	8.50	0.306	8452	0.000	0.128	2889	3357	2073	2173	1974	0	0	0	0	0	0	28.83	14.43	14.10
7181	1.27	163.4	1856	3356	2125	1970	38.0	8.8	795	7188	0.00	1.48	0.00	0.000	1030	0.000	0.086	2896	2512	2073	2172	1974	0	0	0	0	0	0	28.83	14.50	28.83
7506	1.30	163.4	2895	2512	2173	1973	11.1	9.4	856	7512	0.00	1.50	0.00	0.000	516	0.000	0.102	2902	1637	2072	2172	1973	0	0	0	0	0	0	28.83	14.45	28.83
7561	1.34	167.7	2901	1637	2173	1973	6.1	7.8	865	7570	0.12	1.55	2.20	0.213	11270	0.161	0.113	2946	2510	2053	2155	1952	0	0	0	0	0	0	14.52	14.45	14.35
7592	end climb: SURFACE_DEPTH_REACHED
state	7592	begin surface coast
7624	end surface coast: CONTROL_FINISHED_OK
state	7624	begin surface