Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 486 * 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 486 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 22 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 15 XPDR_VALID 6

D_BOOST 110 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2741 DEVICE1 2

SURFACE_URGENCY_TRY 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 -9061.1738 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 0.0099999998 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 -9061.1738

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 22 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 15 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 486 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 161213,203800,6704.721,-5654.183,44,1.4,44,-33.5 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.86 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161213,204811,6704.669,-5654.179,6,1.1,7,-33.5 MHEAD_RNG_PITCHd_Wd 175.1,5428,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 490

Post-dive calculations and measurements:

FREEZE 1.06,-0.811,-1.808,0,1,0 ALTIM_TOP_PING 20.0,999.0

FINISH 1.1,1.026513 _24V_AH 12.1,214.399

SM_CCo 9838,67.20,0.161,0,0,1108,400.08 _10V_AH 11.3,0.000

SM_GC 2.05,7.97,0.00,67.20,0.092,0.000,0.161,144,2513,1108,-7.35,0.37,400.08,0,0,0,0,0,0,14.44,28.83,14.25 FG_AHR_24Vo 0.000

RAFOS_CLK 421 FG_AHR_10Vo 0.000

RAFOS 4,1387225988,20.566668,20.552221,68,64,60,54,52,51,205,223,191,149,173,161 MEM 150712

RAFOS_FIX 6707.432617,-5703.445312,161213,080822,3,79,1.87 DATA_FILE_SIZE 46723,1113

IRIDIUM_FIX 6636.54,-5655.33,161213,171739 CAP_FILE_SIZE 117791,0

TT8_MAMPS 0.023968,0.023968 CFSIZE 259252224,213381120

HUMID 42.36 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.76204 SOUNDSPEED 1471.9

TCM_TEMP 14.40 CURRENT 0.181, 55.2,1

XPDR_PINGS 36 GPS 161213,233554,6704.201,-5649.702,43,1.1,43,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 407 102.50 SBE_CT 773 23 217.32

Roll_motor 48 127 75.51 SBE_O2 0 0 0.00

VBD_pump_during_apogee 412 2334 11650.36 nil 0 0 0.00

VBD_pump_during_surface 67 161 131.25 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 367 136 605.51 nil 0 0 0.00

Transponder_ping 10 420 52.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 18 1.77

TT8 2722 14 460.24

LPSleep 4521 2 118.02

TT8_Active 547 14 87.90

TT8_Sampling 2078 33 791.32

TT8_CF8 653 39 292.89

TT8_Kalman 0 0 0.00

Analog_circuits 1882 12 255.26

GPS_charging 0 0 0.00

Compass 1753 6 133.53

RAFOS 360 1 6.10

Transponder 9 30 3.35

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 -0.89 -146.0 114 2520 1113 1073 0.0 0.0 0 107 0.00 0.00 -83.93 0.000 16386 0.000 0.000 113 2520 2725 2775 2675 0 0 0 0 0 0 28.83 28.83 28.83

114 -0.89 -146.0 113 2520 2774 2676 3.0 -2.8 14 146 10.23 1.55 -15.25 0.000 18948 0.408 0.124 2214 1651 3338 3502 3175 0 0 0 0 0 0 13.91 14.40 14.78

384 -0.82 -146.0 2214 1651 3505 3174 60.3 -23.4 64 391 0.15 1.52 0.00 0.000 3078 0.277 0.116 2241 2500 3339 3505 3174 0 0 0 0 0 0 14.11 14.30 28.83

708 -0.76 -146.0 2242 2501 3506 3172 118.1 -16.2 115 715 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2500 3338 3505 3172 0 0 0 0 0 0 28.83 28.83 28.83

1023 -0.71 -146.0 2241 2501 3506 3171 169.1 -15.9 146 1027 0.12 1.48 0.00 0.000 2564 0.295 0.090 2275 1651 3338 3505 3171 0 0 0 0 0 0 14.23 14.38 28.83

1079 -0.69 -146.0 2275 1651 3505 3171 177.8 -13.4 151 1083 0.00 1.58 0.00 0.000 1030 0.000 0.116 2270 2504 3338 3505 3171 0 0 0 0 0 0 28.83 14.28 28.83

1395 -0.66 -146.0 2270 2504 3505 3170 220.4 -13.4 182 1401 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2504 3338 3506 3171 0 0 0 0 0 0 28.83 28.83 28.83

1711 -0.64 -146.0 2271 2504 3506 3171 260.8 -12.6 213 1715 0.12 1.52 0.00 0.000 2308 0.274 0.122 2299 3349 3338 3506 3171 0 0 0 0 0 0 14.28 14.29 28.83

1740 -0.62 -146.0 1424 3348 3498 3168 264.7 -12.7 215 1748 0.00 1.50 0.00 0.000 1030 0.000 0.083 2299 2471 3338 3506 3171 0 0 0 0 0 0 28.83 14.41 28.83

2049 -0.62 -146.0 2299 2471 3507 3171 298.1 -10.1 246 2055 0.00 0.00 0.00 0.000 6 0.000 0.000 2299 2471 3339 3508 3171 0 0 0 0 0 0 28.83 28.83 28.83

2365 -0.62 -146.0 2299 2471 3508 3171 328.5 -9.8 277 2369 0.00 1.60 0.00 0.000 260 0.000 0.126 2294 3349 3340 3508 3172 0 0 0 0 0 0 28.83 14.27 28.83

2401 -0.62 -146.0 2293 3349 3508 3171 332.7 -10.0 280 2404 0.00 1.48 0.00 0.000 1030 0.000 0.081 2293 2506 3339 3508 3171 0 0 0 0 0 0 28.83 14.39 28.83

2718 -0.62 -146.0 2293 2506 3509 3171 364.7 -10.4 311 2724 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 2506 3340 3509 3171 0 0 0 0 0 0 28.83 28.83 28.83

3032 -0.62 -146.0 2293 2506 3510 3171 397.0 -10.7 342 3035 0.00 1.50 0.00 0.000 516 0.000 0.092 2292 1635 3340 3510 3171 0 0 0 0 0 0 28.83 14.34 28.83

3118 -0.62 -146.0 2293 1635 3510 3172 406.7 -10.4 350 3121 0.00 1.55 0.00 0.000 1030 0.000 0.114 2286 2502 3341 3510 3172 0 0 0 0 0 0 28.83 14.31 28.83

3433 -0.62 -146.0 2286 2503 3511 3172 440.5 -10.4 381 3436 0.00 1.50 0.00 0.000 516 0.000 0.091 2286 1638 3341 3511 3171 0 0 0 0 0 0 28.83 14.34 28.83

3521 -0.62 -146.0 1408 1637 3504 3169 449.1 -10.1 389 3529 0.00 1.55 0.00 0.000 1030 0.000 0.110 2280 2504 3341 3511 3172 0 0 0 0 0 0 28.83 14.31 28.83

3831 -0.60 -146.0 2280 2504 3513 3172 480.4 -9.6 420 3838 0.12 0.00 0.00 0.000 2054 0.263 0.000 2313 2504 3342 3513 3172 0 0 0 0 0 0 14.25 28.83 28.83

3945 end dive: TARGET_DEPTH_EXCEEDED

state 3945 begin apogee

3959 -0.22 0.0 2314 2504 3513 3171 490.3 -8.1 432 4124 0.40 0.00 155.25 2.334 10246 0.209 0.000 2428 2504 2741 2853 2630 0 0 0 0 0 0 14.14 28.83 12.52

4125 end apogee: CONTROL_FINISHED_OK

state 4125 begin climb

4132 0.89 146.0 2429 2504 2853 2630 496.2 0.0 449 4314 1.25 1.75 165.25 2.261 11012 0.173 0.123 2788 3356 2145 2240 2050 0 0 0 0 0 0 13.66 13.19 12.09

4422 0.84 146.0 2788 3356 2239 2048 475.2 12.6 478 4426 0.00 1.58 0.00 0.000 1030 0.000 0.081 2794 2507 2143 2239 2048 0 0 0 0 0 0 28.83 13.86 28.83

4738 0.80 146.0 2794 2507 2239 2043 441.1 10.3 509 4741 0.00 1.50 0.00 0.000 516 0.000 0.096 2801 1638 2140 2238 2043 0 0 0 0 0 0 28.83 14.40 28.83

4797 0.76 146.0 2801 1637 2239 2042 435.2 10.4 514 4804 0.17 1.58 0.00 0.000 5126 0.228 0.112 2758 2522 2139 2238 2041 0 0 0 0 0 0 14.28 14.40 28.83

5106 0.75 146.0 2758 2522 2239 2042 406.9 8.8 545 5110 0.00 1.52 0.00 0.000 516 0.000 0.096 2761 1664 2140 2239 2041 0 0 0 0 0 0 28.83 14.42 28.83

5165 0.75 146.0 2762 1663 2239 2040 402.2 8.6 550 5172 0.00 1.50 0.00 0.000 1030 0.000 0.113 2762 2507 2139 2238 2041 0 0 0 0 0 0 28.83 14.42 28.83

5474 0.76 162.7 2762 2508 2239 2041 377.6 7.6 581 5500 0.00 1.52 17.55 2.072 8708 0.000 0.098 2768 1663 2077 2179 1976 0 0 0 0 0 0 28.83 14.47 13.25

5541 0.76 170.7 2768 1663 2179 1975 372.7 7.9 587 5558 0.00 1.52 10.38 1.944 9222 0.000 0.113 2768 2522 2044 2146 1942 0 0 0 0 0 0 28.83 14.42 13.19

5861 0.74 170.7 2768 2522 2147 1940 344.2 9.7 619 5865 0.00 1.52 0.00 0.000 260 0.000 0.128 2767 3355 2043 2147 1940 0 0 0 0 0 0 28.83 14.37 28.83

5890 0.72 170.7 1792 3354 2102 1936 341.8 9.4 621 5897 0.12 1.48 0.00 0.000 5126 0.247 0.084 2745 2511 2043 2146 1940 0 0 0 0 0 0 14.33 14.47 28.83

6199 0.73 172.6 2745 2512 2146 1938 315.5 8.2 652 6205 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2511 2042 2146 1939 0 0 0 0 0 0 28.83 28.83 28.83

6515 0.75 186.4 2745 2511 2146 1939 291.2 7.7 683 6540 0.00 1.42 17.05 2.032 8708 0.000 0.093 2749 1668 1982 2087 1877 0 0 0 0 0 0 28.83 14.47 13.31

6569 0.75 186.4 1792 1666 2045 1873 286.4 8.6 688 6576 0.00 1.50 0.00 0.000 1030 0.000 0.113 2749 2512 1982 2087 1877 0 0 0 0 0 0 28.83 14.43 28.83

6878 0.75 186.4 2749 2513 2087 1876 258.2 9.7 719 6882 0.00 1.55 0.00 0.000 260 0.000 0.125 2749 3358 1981 2086 1876 0 0 0 0 0 0 28.83 14.35 28.83

6924 0.75 186.4 2749 3358 2087 1876 253.7 10.1 723 6927 0.00 1.48 0.00 0.000 1030 0.000 0.083 2755 2512 1981 2086 1876 0 0 0 0 0 0 28.83 14.47 28.83

7240 0.75 186.4 2755 2512 2087 1875 223.0 9.3 754 7246 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2512 1981 2087 1876 0 0 0 0 0 0 28.83 28.83 28.83

7555 0.75 187.2 2755 2512 2087 1875 196.3 8.2 785 7561 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2512 1980 2086 1875 0 0 0 0 0 0 28.83 28.83 28.83

7869 0.75 187.2 2755 2512 2086 1875 168.1 9.2 816 7875 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2512 1980 2086 1875 0 0 0 0 0 0 28.83 28.83 28.83

8183 0.75 187.2 2755 2512 2086 1875 138.6 9.1 847 8186 0.00 1.50 0.00 0.000 516 0.000 0.095 2762 1643 1980 2086 1874 0 0 0 0 0 0 28.83 14.41 28.83

8239 0.75 187.2 2762 1643 2086 1874 132.9 9.4 852 8242 0.00 1.55 0.00 0.000 1030 0.000 0.112 2761 2510 1980 2086 1874 0 0 0 0 0 0 28.83 14.39 28.83

8554 0.75 187.2 2762 2510 2086 1874 103.7 9.2 883 8560 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2510 1980 2086 1874 0 0 0 0 0 0 28.83 28.83 28.83

8871 0.75 191.7 2762 2510 2087 1874 76.3 8.1 940 8879 0.00 1.60 3.12 0.400 8452 0.000 0.126 2762 3363 1959 2065 1853 0 0 0 0 0 0 28.83 14.33 13.80

9007 0.75 191.7 2761 3363 2064 1853 63.5 9.4 964 9013 0.00 1.50 0.00 0.000 1030 0.000 0.083 2768 2485 1958 2064 1853 0 0 0 0 0 0 28.83 14.45 28.83

9331 0.83 232.3 1728 2483 2018 1849 37.4 6.7 1025 9361 0.00 1.45 22.70 0.261 8708 0.000 0.096 2773 1670 1793 1895 1691 0 0 0 0 0 0 28.83 14.35 14.08

9504 0.93 271.1 2774 1670 1893 1688 26.7 6.8 1056 9531 0.10 1.50 21.23 0.233 11270 0.168 0.113 2813 2512 1634 1728 1540 0 0 0 0 0 0 14.42 14.33 14.16

9778 end climb: SURFACE_DEPTH_REACHED

state 9778 begin surface coast

9810 end surface coast: CONTROL_FINISHED_OK

state 9810 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	486	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	22	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	15	XPDR_VALID	6
D_BOOST	110	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2741	DEVICE1	2
SURFACE_URGENCY_TRY	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	-9061.1738	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	0.0099999998	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	161213,203800,6704.721,-5654.183,44,1.4,44,-33.5	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.86	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161213,204811,6704.669,-5654.179,6,1.1,7,-33.5	MHEAD_RNG_PITCHd_Wd	175.1,5428,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	490

FREEZE	1.06,-0.811,-1.808,0,1,0	ALTIM_TOP_PING	20.0,999.0
FINISH	1.1,1.026513	_24V_AH	12.1,214.399
SM_CCo	9838,67.20,0.161,0,0,1108,400.08	_10V_AH	11.3,0.000
SM_GC	2.05,7.97,0.00,67.20,0.092,0.000,0.161,144,2513,1108,-7.35,0.37,400.08,0,0,0,0,0,0,14.44,28.83,14.25	FG_AHR_24Vo	0.000
RAFOS_CLK	421	FG_AHR_10Vo	0.000
RAFOS	4,1387225988,20.566668,20.552221,68,64,60,54,52,51,205,223,191,149,173,161	MEM	150712
RAFOS_FIX	6707.432617,-5703.445312,161213,080822,3,79,1.87	DATA_FILE_SIZE	46723,1113
IRIDIUM_FIX	6636.54,-5655.33,161213,171739	CAP_FILE_SIZE	117791,0
TT8_MAMPS	0.023968,0.023968	CFSIZE	259252224,213381120
HUMID	42.36	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.76204	SOUNDSPEED	1471.9
TCM_TEMP	14.40	CURRENT	0.181, 55.2,1
XPDR_PINGS	36	GPS	161213,233554,6704.201,-5649.702,43,1.1,43,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	407	102.50	SBE_CT	773	23	217.32
Roll_motor	48	127	75.51	SBE_O2	0	0	0.00
VBD_pump_during_apogee	412	2334	11650.36	nil	0	0	0.00
VBD_pump_during_surface	67	161	131.25	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	367	136	605.51	nil	0	0	0.00
Transponder_ping	10	420	52.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	18	1.77
TT8	2722	14	460.24
LPSleep	4521	2	118.02
TT8_Active	547	14	87.90
TT8_Sampling	2078	33	791.32
TT8_CF8	653	39	292.89
TT8_Kalman	0	0	0.00
Analog_circuits	1882	12	255.26
GPS_charging	0	0	0.00
Compass	1753	6	133.53
RAFOS	360	1	6.10
Transponder	9	30	3.35

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	-0.89	-146.0	114	2520	1113	1073	0.0	0.0	0	107	0.00	0.00	-83.93	0.000	16386	0.000	0.000	113	2520	2725	2775	2675	0	0	0	0	0	0	28.83	28.83	28.83
114	-0.89	-146.0	113	2520	2774	2676	3.0	-2.8	14	146	10.23	1.55	-15.25	0.000	18948	0.408	0.124	2214	1651	3338	3502	3175	0	0	0	0	0	0	13.91	14.40	14.78
384	-0.82	-146.0	2214	1651	3505	3174	60.3	-23.4	64	391	0.15	1.52	0.00	0.000	3078	0.277	0.116	2241	2500	3339	3505	3174	0	0	0	0	0	0	14.11	14.30	28.83
708	-0.76	-146.0	2242	2501	3506	3172	118.1	-16.2	115	715	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2500	3338	3505	3172	0	0	0	0	0	0	28.83	28.83	28.83
1023	-0.71	-146.0	2241	2501	3506	3171	169.1	-15.9	146	1027	0.12	1.48	0.00	0.000	2564	0.295	0.090	2275	1651	3338	3505	3171	0	0	0	0	0	0	14.23	14.38	28.83
1079	-0.69	-146.0	2275	1651	3505	3171	177.8	-13.4	151	1083	0.00	1.58	0.00	0.000	1030	0.000	0.116	2270	2504	3338	3505	3171	0	0	0	0	0	0	28.83	14.28	28.83
1395	-0.66	-146.0	2270	2504	3505	3170	220.4	-13.4	182	1401	0.00	0.00	0.00	0.000	6	0.000	0.000	2270	2504	3338	3506	3171	0	0	0	0	0	0	28.83	28.83	28.83
1711	-0.64	-146.0	2271	2504	3506	3171	260.8	-12.6	213	1715	0.12	1.52	0.00	0.000	2308	0.274	0.122	2299	3349	3338	3506	3171	0	0	0	0	0	0	14.28	14.29	28.83
1740	-0.62	-146.0	1424	3348	3498	3168	264.7	-12.7	215	1748	0.00	1.50	0.00	0.000	1030	0.000	0.083	2299	2471	3338	3506	3171	0	0	0	0	0	0	28.83	14.41	28.83
2049	-0.62	-146.0	2299	2471	3507	3171	298.1	-10.1	246	2055	0.00	0.00	0.00	0.000	6	0.000	0.000	2299	2471	3339	3508	3171	0	0	0	0	0	0	28.83	28.83	28.83
2365	-0.62	-146.0	2299	2471	3508	3171	328.5	-9.8	277	2369	0.00	1.60	0.00	0.000	260	0.000	0.126	2294	3349	3340	3508	3172	0	0	0	0	0	0	28.83	14.27	28.83
2401	-0.62	-146.0	2293	3349	3508	3171	332.7	-10.0	280	2404	0.00	1.48	0.00	0.000	1030	0.000	0.081	2293	2506	3339	3508	3171	0	0	0	0	0	0	28.83	14.39	28.83
2718	-0.62	-146.0	2293	2506	3509	3171	364.7	-10.4	311	2724	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	2506	3340	3509	3171	0	0	0	0	0	0	28.83	28.83	28.83
3032	-0.62	-146.0	2293	2506	3510	3171	397.0	-10.7	342	3035	0.00	1.50	0.00	0.000	516	0.000	0.092	2292	1635	3340	3510	3171	0	0	0	0	0	0	28.83	14.34	28.83
3118	-0.62	-146.0	2293	1635	3510	3172	406.7	-10.4	350	3121	0.00	1.55	0.00	0.000	1030	0.000	0.114	2286	2502	3341	3510	3172	0	0	0	0	0	0	28.83	14.31	28.83
3433	-0.62	-146.0	2286	2503	3511	3172	440.5	-10.4	381	3436	0.00	1.50	0.00	0.000	516	0.000	0.091	2286	1638	3341	3511	3171	0	0	0	0	0	0	28.83	14.34	28.83
3521	-0.62	-146.0	1408	1637	3504	3169	449.1	-10.1	389	3529	0.00	1.55	0.00	0.000	1030	0.000	0.110	2280	2504	3341	3511	3172	0	0	0	0	0	0	28.83	14.31	28.83
3831	-0.60	-146.0	2280	2504	3513	3172	480.4	-9.6	420	3838	0.12	0.00	0.00	0.000	2054	0.263	0.000	2313	2504	3342	3513	3172	0	0	0	0	0	0	14.25	28.83	28.83
3945	end dive: TARGET_DEPTH_EXCEEDED
state	3945	begin apogee
3959	-0.22	0.0	2314	2504	3513	3171	490.3	-8.1	432	4124	0.40	0.00	155.25	2.334	10246	0.209	0.000	2428	2504	2741	2853	2630	0	0	0	0	0	0	14.14	28.83	12.52
4125	end apogee: CONTROL_FINISHED_OK
state	4125	begin climb
4132	0.89	146.0	2429	2504	2853	2630	496.2	0.0	449	4314	1.25	1.75	165.25	2.261	11012	0.173	0.123	2788	3356	2145	2240	2050	0	0	0	0	0	0	13.66	13.19	12.09
4422	0.84	146.0	2788	3356	2239	2048	475.2	12.6	478	4426	0.00	1.58	0.00	0.000	1030	0.000	0.081	2794	2507	2143	2239	2048	0	0	0	0	0	0	28.83	13.86	28.83
4738	0.80	146.0	2794	2507	2239	2043	441.1	10.3	509	4741	0.00	1.50	0.00	0.000	516	0.000	0.096	2801	1638	2140	2238	2043	0	0	0	0	0	0	28.83	14.40	28.83
4797	0.76	146.0	2801	1637	2239	2042	435.2	10.4	514	4804	0.17	1.58	0.00	0.000	5126	0.228	0.112	2758	2522	2139	2238	2041	0	0	0	0	0	0	14.28	14.40	28.83
5106	0.75	146.0	2758	2522	2239	2042	406.9	8.8	545	5110	0.00	1.52	0.00	0.000	516	0.000	0.096	2761	1664	2140	2239	2041	0	0	0	0	0	0	28.83	14.42	28.83
5165	0.75	146.0	2762	1663	2239	2040	402.2	8.6	550	5172	0.00	1.50	0.00	0.000	1030	0.000	0.113	2762	2507	2139	2238	2041	0	0	0	0	0	0	28.83	14.42	28.83
5474	0.76	162.7	2762	2508	2239	2041	377.6	7.6	581	5500	0.00	1.52	17.55	2.072	8708	0.000	0.098	2768	1663	2077	2179	1976	0	0	0	0	0	0	28.83	14.47	13.25
5541	0.76	170.7	2768	1663	2179	1975	372.7	7.9	587	5558	0.00	1.52	10.38	1.944	9222	0.000	0.113	2768	2522	2044	2146	1942	0	0	0	0	0	0	28.83	14.42	13.19
5861	0.74	170.7	2768	2522	2147	1940	344.2	9.7	619	5865	0.00	1.52	0.00	0.000	260	0.000	0.128	2767	3355	2043	2147	1940	0	0	0	0	0	0	28.83	14.37	28.83
5890	0.72	170.7	1792	3354	2102	1936	341.8	9.4	621	5897	0.12	1.48	0.00	0.000	5126	0.247	0.084	2745	2511	2043	2146	1940	0	0	0	0	0	0	14.33	14.47	28.83
6199	0.73	172.6	2745	2512	2146	1938	315.5	8.2	652	6205	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2511	2042	2146	1939	0	0	0	0	0	0	28.83	28.83	28.83
6515	0.75	186.4	2745	2511	2146	1939	291.2	7.7	683	6540	0.00	1.42	17.05	2.032	8708	0.000	0.093	2749	1668	1982	2087	1877	0	0	0	0	0	0	28.83	14.47	13.31
6569	0.75	186.4	1792	1666	2045	1873	286.4	8.6	688	6576	0.00	1.50	0.00	0.000	1030	0.000	0.113	2749	2512	1982	2087	1877	0	0	0	0	0	0	28.83	14.43	28.83
6878	0.75	186.4	2749	2513	2087	1876	258.2	9.7	719	6882	0.00	1.55	0.00	0.000	260	0.000	0.125	2749	3358	1981	2086	1876	0	0	0	0	0	0	28.83	14.35	28.83
6924	0.75	186.4	2749	3358	2087	1876	253.7	10.1	723	6927	0.00	1.48	0.00	0.000	1030	0.000	0.083	2755	2512	1981	2086	1876	0	0	0	0	0	0	28.83	14.47	28.83
7240	0.75	186.4	2755	2512	2087	1875	223.0	9.3	754	7246	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2512	1981	2087	1876	0	0	0	0	0	0	28.83	28.83	28.83
7555	0.75	187.2	2755	2512	2087	1875	196.3	8.2	785	7561	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2512	1980	2086	1875	0	0	0	0	0	0	28.83	28.83	28.83
7869	0.75	187.2	2755	2512	2086	1875	168.1	9.2	816	7875	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2512	1980	2086	1875	0	0	0	0	0	0	28.83	28.83	28.83
8183	0.75	187.2	2755	2512	2086	1875	138.6	9.1	847	8186	0.00	1.50	0.00	0.000	516	0.000	0.095	2762	1643	1980	2086	1874	0	0	0	0	0	0	28.83	14.41	28.83
8239	0.75	187.2	2762	1643	2086	1874	132.9	9.4	852	8242	0.00	1.55	0.00	0.000	1030	0.000	0.112	2761	2510	1980	2086	1874	0	0	0	0	0	0	28.83	14.39	28.83
8554	0.75	187.2	2762	2510	2086	1874	103.7	9.2	883	8560	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2510	1980	2086	1874	0	0	0	0	0	0	28.83	28.83	28.83
8871	0.75	191.7	2762	2510	2087	1874	76.3	8.1	940	8879	0.00	1.60	3.12	0.400	8452	0.000	0.126	2762	3363	1959	2065	1853	0	0	0	0	0	0	28.83	14.33	13.80
9007	0.75	191.7	2761	3363	2064	1853	63.5	9.4	964	9013	0.00	1.50	0.00	0.000	1030	0.000	0.083	2768	2485	1958	2064	1853	0	0	0	0	0	0	28.83	14.45	28.83
9331	0.83	232.3	1728	2483	2018	1849	37.4	6.7	1025	9361	0.00	1.45	22.70	0.261	8708	0.000	0.096	2773	1670	1793	1895	1691	0	0	0	0	0	0	28.83	14.35	14.08
9504	0.93	271.1	2774	1670	1893	1688	26.7	6.8	1056	9531	0.10	1.50	21.23	0.233	11270	0.168	0.113	2813	2512	1634	1728	1540	0	0	0	0	0	0	14.42	14.33	14.16
9778	end climb: SURFACE_DEPTH_REACHED
state	9778	begin surface coast
9810	end surface coast: CONTROL_FINISHED_OK
state	9810	begin surface