Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 717 * 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 717 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 24 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 17 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 -15575.171 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 -15575.171

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 24 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 17 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 717 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 260114,122107,6403.458,-5345.315,38,0.8,38,-29.7 TGT_NAME TARGET_4

_CALLS 1 TGT_LATLONG 6405.000,-5320.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260114,122741,6403.564,-5345.375,5,0.9,5,-29.7 MHEAD_RNG_PITCHd_Wd 135.2,20711,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 588

Post-dive calculations and measurements:

FREEZE 1.38,-0.409,-1.096,0,1,0 ALTIM_TOP_PING 18.9,17.7

FINISH 1.4,1.016185 _24V_AH 12.1,290.428

SM_CCo 8942,66.70,0.153,0,0,1108,400.08 _10V_AH 12.2,0.000

SM_GC 2.48,8.23,0.20,66.70,0.088,0.147,0.153,143,2592,1108,-7.35,-0.31,400.08,0,0,0,0,0,0,14.09,14.13,14.14 FG_AHR_24Vo 0.000

RAFOS_CLK 401 FG_AHR_10Vo 0.000

RAFOS 2,1390738625,12.300000,12.284722,60,56,56,55,53,52,193,141,209,132,176,231 MEM 227268

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 DATA_FILE_SIZE 16824,400

IRIDIUM_FIX 6337.14,-5343.18,260114,080812 CAP_FILE_SIZE 85687,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,198938624

HUMID 45.03 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.7425 SOUNDSPEED 1464.7

TCM_TEMP 13.70 CURRENT 0.208,350.2,1

XPDR_PINGS 46 GPS 260114,150005,6404.278,-5343.129,30,2.0,30,-29.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 412 103.90 SBE_CT 278 23 78.34

Roll_motor 53 146 94.24 SBE_O2 0 0 0.00

VBD_pump_during_apogee 419 2257 11465.18 nil 0 0 0.00

VBD_pump_during_surface 66 153 123.48 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 212 136 352.38 nil 0 0 0.00

Transponder_ping 12 420 63.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 18 1.52

TT8 1208 14 220.64

LPSleep 6036 2 170.12

TT8_Active 497 14 86.17

TT8_Sampling 1161 33 477.30

TT8_CF8 499 39 241.81

TT8_Kalman 0 0 0.00

Analog_circuits 1328 12 194.55

GPS_charging 0 0 0.00

Compass 982 6 80.78

RAFOS 1080 1 19.76

Transponder 7 30 2.90

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 -146.0 132 2583 1106 1082 0.0 0.0 0 100 0.00 0.00 -77.18 0.000 16386 0.000 0.000 131 2583 2627 2678 2577 0 0 0 0 0 0 28.83 28.83 28.83

107 -0.89 -146.0 131 2583 2678 2578 3.0 -1.4 8 144 10.12 1.52 -20.73 0.000 18948 0.412 0.121 2214 1739 3338 3501 3175 0 0 0 0 0 0 13.93 14.24 14.71

279 -0.84 -146.0 2214 1739 3505 3175 33.1 -19.5 25 284 0.00 1.52 0.00 0.000 1030 0.000 0.106 2210 2579 3340 3505 3175 0 0 0 0 0 0 28.83 14.07 28.83

596 -0.79 -146.0 2210 2579 3505 3174 93.6 -18.7 56 600 0.15 1.58 0.00 0.000 2308 0.291 0.112 2241 3436 3339 3505 3174 0 0 0 0 0 0 13.75 13.91 28.83

700 -0.75 -146.0 1360 3435 3497 3171 109.3 -16.2 62 704 0.00 1.50 0.00 0.000 1030 0.000 0.076 2241 2576 3339 3505 3173 0 0 0 0 0 0 28.83 14.02 28.83

1032 -0.72 -146.0 2242 2576 3505 3172 158.4 -13.9 73 1036 0.12 1.62 0.00 0.000 2308 0.279 0.121 2268 3429 3338 3505 3172 0 0 0 0 0 0 13.83 13.75 28.83

1070 -0.69 -146.0 1408 3428 3497 3168 163.4 -13.8 74 1074 0.00 1.50 0.00 0.000 1030 0.000 0.077 2268 2580 3338 3505 3171 0 0 0 0 0 0 28.83 13.95 28.83

1402 -0.67 -146.0 2267 2579 3505 3171 204.8 -12.3 85 1406 0.00 1.65 0.00 0.000 260 0.000 0.125 2261 3426 3337 3504 3171 0 0 0 0 0 0 28.83 13.64 28.83

1546 -0.66 -146.0 2261 3426 3505 3171 221.0 -12.8 89 1550 0.15 1.50 0.00 0.000 3078 0.248 0.076 2294 2578 3338 3505 3171 0 0 0 0 0 0 13.63 13.90 28.83

1868 -0.66 -146.0 2294 2578 3505 3171 256.5 -10.2 100 1871 0.00 1.52 0.00 0.000 516 0.000 0.086 2295 1749 3338 3505 3171 0 0 0 0 0 0 28.83 13.70 28.83

1935 -0.66 -146.0 1440 1747 3498 3168 263.6 -10.5 102 1939 0.00 1.55 0.00 0.000 1030 0.000 0.109 2291 2582 3338 3505 3172 0 0 0 0 0 0 28.83 13.76 28.83

2266 -0.66 -146.0 2291 2582 3506 3172 298.9 -10.5 113 2267 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 2582 3338 3506 3171 0 0 0 0 0 0 28.83 28.83 28.83

2567 -0.66 -146.0 2291 2582 3506 3171 328.6 -9.6 123 2568 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2582 3338 3506 3171 0 0 0 0 0 0 28.83 28.83 28.83

2866 -0.66 -146.0 2291 2582 3507 3171 357.4 -9.3 133 2867 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 2582 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

3166 -0.66 -146.0 2291 2582 3509 3171 386.1 -9.7 143 3169 0.00 1.60 0.00 0.000 260 0.000 0.117 2284 3427 3340 3508 3172 0 0 0 0 0 0 28.83 13.64 28.83

3245 -0.66 -146.0 2284 3427 3509 3171 392.5 -10.1 145 3249 0.00 1.52 0.00 0.000 1030 0.000 0.074 2284 2575 3339 3508 3171 0 0 0 0 0 0 28.83 13.85 28.83

3566 -0.68 -146.0 2284 2574 3509 3171 426.8 -9.6 156 3567 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 2574 3340 3510 3171 0 0 0 0 0 0 28.83 28.83 28.83

3769 end dive: NO_VERTICAL_VELOCITY

state 3769 begin apogee

3784 -0.22 0.0 2284 2477 3510 3172 426.8 0.0 163 3948 0.47 0.00 152.25 2.258 10246 0.090 0.000 2451 2477 2741 2853 2629 0 0 0 0 0 0 13.91 28.83 12.75

3949 end apogee: CONTROL_FINISHED_OK

state 3949 begin climb

3955 0.89 146.0 2451 2477 2854 2630 426.9 0.0 168 4125 1.10 0.00 164.73 2.206 10758 0.117 0.000 2791 2476 2144 2241 2047 0 0 0 0 0 0 13.65 28.83 12.12

4407 0.87 146.0 2790 2476 2243 2039 396.8 9.2 184 4411 0.00 1.52 0.00 0.000 516 0.000 0.094 2796 1635 2140 2242 2039 0 0 0 0 0 0 28.83 14.22 28.83

4436 0.85 146.0 2796 1634 2242 2038 396.8 9.2 184 4443 0.00 1.52 0.00 0.000 1030 0.000 0.107 2796 2486 2140 2243 2038 0 0 0 0 0 0 28.83 14.26 28.83

4744 0.83 146.0 2796 2486 2242 2037 364.8 9.8 195 4748 0.00 1.52 0.00 0.000 260 0.000 0.119 2796 3334 2139 2242 2037 0 0 0 0 0 0 28.83 14.23 28.83

4788 0.81 146.0 2796 3335 2242 2037 361.3 9.6 196 4792 0.15 1.50 0.00 0.000 5126 0.252 0.080 2769 2465 2139 2242 2037 0 0 0 0 0 0 14.12 14.32 28.83

5114 0.84 171.5 2769 2464 2242 2036 335.1 7.3 207 5146 0.00 1.62 26.80 2.111 8452 0.000 0.122 2769 3326 2041 2147 1936 0 0 0 0 0 0 28.83 14.18 13.28

5178 0.86 190.2 2769 3326 2146 1936 330.3 7.5 209 5204 0.00 1.50 21.17 2.056 9222 0.000 0.080 2773 2462 1964 2069 1860 0 0 0 0 0 0 28.83 14.29 13.19

5536 0.86 190.5 2773 2462 2069 1857 300.2 8.2 221 5537 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 2462 1963 2069 1857 0 0 0 0 0 0 28.83 28.83 28.83

5831 0.86 190.5 2773 2462 2069 1856 274.7 8.4 231 5835 0.00 1.50 0.00 0.000 516 0.000 0.093 2779 1612 1962 2069 1856 0 0 0 0 0 0 28.83 14.16 28.83

5875 0.86 190.5 2779 1611 2069 1855 271.5 8.4 232 5879 0.00 1.58 0.00 0.000 1030 0.000 0.106 2779 2489 1962 2069 1856 0 0 0 0 0 0 28.83 14.18 28.83

6200 0.86 190.5 2779 2489 2069 1856 241.4 9.1 243 6204 0.00 1.55 0.00 0.000 516 0.000 0.094 2785 1642 1962 2069 1856 0 0 0 0 0 0 28.83 14.02 28.83

6284 0.86 190.5 2785 1642 2068 1855 235.3 9.2 245 6288 0.00 1.52 0.00 0.000 1030 0.000 0.109 2785 2486 1962 2069 1855 0 0 0 0 0 0 28.83 14.07 28.83

6600 0.85 190.5 2785 2486 2069 1855 203.0 10.1 256 6603 0.00 1.52 0.00 0.000 260 0.000 0.119 2785 3326 1962 2069 1855 0 0 0 0 0 0 28.83 13.94 28.83

6635 0.84 190.5 2785 3326 2069 1855 199.4 10.0 257 6639 0.00 1.52 0.00 0.000 1030 0.000 0.079 2791 2457 1962 2069 1855 0 0 0 0 0 0 28.83 14.12 28.83

6972 0.83 190.6 2791 2457 2068 1855 170.3 8.2 268 6976 0.00 1.67 0.00 0.000 260 0.000 0.122 2791 3326 1961 2068 1855 0 0 0 0 0 0 28.83 13.85 28.83

7040 0.82 190.6 1808 3325 2027 1851 164.1 8.9 270 7043 0.00 1.50 0.00 0.000 1030 0.000 0.080 2798 2477 1961 2068 1855 0 0 0 0 0 0 28.83 14.07 28.83

7371 0.80 190.6 2798 2476 2068 1855 133.8 9.6 281 7375 0.00 1.60 0.00 0.000 260 0.000 0.121 2797 3328 1961 2068 1855 0 0 0 0 0 0 28.83 13.86 28.83

7421 0.79 190.6 2798 3328 2068 1853 130.3 9.7 282 7425 0.17 1.50 0.00 0.000 5126 0.233 0.080 2763 2481 1962 2069 1855 0 0 0 0 0 0 13.82 14.04 28.83

7742 0.88 246.5 2763 2481 2068 1855 106.4 6.1 293 7782 0.00 1.62 34.75 0.496 8452 0.000 0.120 2763 3326 1735 1834 1637 0 0 0 0 0 0 28.83 14.23 13.85

7885 0.95 278.0 1792 3325 1794 1634 97.0 7.1 299 7910 0.15 1.50 20.02 0.467 11270 0.129 0.079 2823 2472 1606 1695 1517 0 0 0 0 0 0 14.28 14.23 13.86

8213 0.95 278.0 2823 2472 1692 1512 64.8 9.6 332 8216 0.00 1.62 0.00 0.000 260 0.000 0.123 2823 3322 1602 1692 1513 0 0 0 0 0 0 28.83 13.97 28.83

8308 0.95 278.0 2824 3322 1690 1512 55.4 10.0 341 8312 0.00 1.52 0.00 0.000 1030 0.000 0.081 2829 2480 1601 1690 1512 0 0 0 0 0 0 28.83 14.09 28.83

8624 0.95 278.0 2830 2481 1690 1510 26.8 8.4 372 8628 0.00 1.52 0.00 0.000 516 0.000 0.094 2836 1632 1600 1691 1510 0 0 0 0 0 0 28.83 13.97 28.83

8704 0.95 278.0 2836 1632 1690 1509 20.1 9.4 379 8711 0.00 1.58 0.00 0.000 1030 0.000 0.109 2836 2486 1599 1690 1509 0 0 0 0 0 0 28.83 13.98 28.83

8885 end climb: SURFACE_DEPTH_REACHED

state 8886 begin surface coast

8912 end surface coast: CONTROL_FINISHED_OK

state 8913 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	717	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	24	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	17	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	-15575.171	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	260114,122107,6403.458,-5345.315,38,0.8,38,-29.7	TGT_NAME	TARGET_4
_CALLS	1	TGT_LATLONG	6405.000,-5320.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260114,122741,6403.564,-5345.375,5,0.9,5,-29.7	MHEAD_RNG_PITCHd_Wd	135.2,20711,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	588

FREEZE	1.38,-0.409,-1.096,0,1,0	ALTIM_TOP_PING	18.9,17.7
FINISH	1.4,1.016185	_24V_AH	12.1,290.428
SM_CCo	8942,66.70,0.153,0,0,1108,400.08	_10V_AH	12.2,0.000
SM_GC	2.48,8.23,0.20,66.70,0.088,0.147,0.153,143,2592,1108,-7.35,-0.31,400.08,0,0,0,0,0,0,14.09,14.13,14.14	FG_AHR_24Vo	0.000
RAFOS_CLK	401	FG_AHR_10Vo	0.000
RAFOS	2,1390738625,12.300000,12.284722,60,56,56,55,53,52,193,141,209,132,176,231	MEM	227268
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	DATA_FILE_SIZE	16824,400
IRIDIUM_FIX	6337.14,-5343.18,260114,080812	CAP_FILE_SIZE	85687,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,198938624
HUMID	45.03	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.7425	SOUNDSPEED	1464.7
TCM_TEMP	13.70	CURRENT	0.208,350.2,1
XPDR_PINGS	46	GPS	260114,150005,6404.278,-5343.129,30,2.0,30,-29.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	412	103.90	SBE_CT	278	23	78.34
Roll_motor	53	146	94.24	SBE_O2	0	0	0.00
VBD_pump_during_apogee	419	2257	11465.18	nil	0	0	0.00
VBD_pump_during_surface	66	153	123.48	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	212	136	352.38	nil	0	0	0.00
Transponder_ping	12	420	63.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	18	1.52
TT8	1208	14	220.64
LPSleep	6036	2	170.12
TT8_Active	497	14	86.17
TT8_Sampling	1161	33	477.30
TT8_CF8	499	39	241.81
TT8_Kalman	0	0	0.00
Analog_circuits	1328	12	194.55
GPS_charging	0	0	0.00
Compass	982	6	80.78
RAFOS	1080	1	19.76
Transponder	7	30	2.90

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	132	2583	1106	1082	0.0	0.0	0	100	0.00	0.00	-77.18	0.000	16386	0.000	0.000	131	2583	2627	2678	2577	0	0	0	0	0	0	28.83	28.83	28.83
107	-0.89	-146.0	131	2583	2678	2578	3.0	-1.4	8	144	10.12	1.52	-20.73	0.000	18948	0.412	0.121	2214	1739	3338	3501	3175	0	0	0	0	0	0	13.93	14.24	14.71
279	-0.84	-146.0	2214	1739	3505	3175	33.1	-19.5	25	284	0.00	1.52	0.00	0.000	1030	0.000	0.106	2210	2579	3340	3505	3175	0	0	0	0	0	0	28.83	14.07	28.83
596	-0.79	-146.0	2210	2579	3505	3174	93.6	-18.7	56	600	0.15	1.58	0.00	0.000	2308	0.291	0.112	2241	3436	3339	3505	3174	0	0	0	0	0	0	13.75	13.91	28.83
700	-0.75	-146.0	1360	3435	3497	3171	109.3	-16.2	62	704	0.00	1.50	0.00	0.000	1030	0.000	0.076	2241	2576	3339	3505	3173	0	0	0	0	0	0	28.83	14.02	28.83
1032	-0.72	-146.0	2242	2576	3505	3172	158.4	-13.9	73	1036	0.12	1.62	0.00	0.000	2308	0.279	0.121	2268	3429	3338	3505	3172	0	0	0	0	0	0	13.83	13.75	28.83
1070	-0.69	-146.0	1408	3428	3497	3168	163.4	-13.8	74	1074	0.00	1.50	0.00	0.000	1030	0.000	0.077	2268	2580	3338	3505	3171	0	0	0	0	0	0	28.83	13.95	28.83
1402	-0.67	-146.0	2267	2579	3505	3171	204.8	-12.3	85	1406	0.00	1.65	0.00	0.000	260	0.000	0.125	2261	3426	3337	3504	3171	0	0	0	0	0	0	28.83	13.64	28.83
1546	-0.66	-146.0	2261	3426	3505	3171	221.0	-12.8	89	1550	0.15	1.50	0.00	0.000	3078	0.248	0.076	2294	2578	3338	3505	3171	0	0	0	0	0	0	13.63	13.90	28.83
1868	-0.66	-146.0	2294	2578	3505	3171	256.5	-10.2	100	1871	0.00	1.52	0.00	0.000	516	0.000	0.086	2295	1749	3338	3505	3171	0	0	0	0	0	0	28.83	13.70	28.83
1935	-0.66	-146.0	1440	1747	3498	3168	263.6	-10.5	102	1939	0.00	1.55	0.00	0.000	1030	0.000	0.109	2291	2582	3338	3505	3172	0	0	0	0	0	0	28.83	13.76	28.83
2266	-0.66	-146.0	2291	2582	3506	3172	298.9	-10.5	113	2267	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	2582	3338	3506	3171	0	0	0	0	0	0	28.83	28.83	28.83
2567	-0.66	-146.0	2291	2582	3506	3171	328.6	-9.6	123	2568	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2582	3338	3506	3171	0	0	0	0	0	0	28.83	28.83	28.83
2866	-0.66	-146.0	2291	2582	3507	3171	357.4	-9.3	133	2867	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	2582	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
3166	-0.66	-146.0	2291	2582	3509	3171	386.1	-9.7	143	3169	0.00	1.60	0.00	0.000	260	0.000	0.117	2284	3427	3340	3508	3172	0	0	0	0	0	0	28.83	13.64	28.83
3245	-0.66	-146.0	2284	3427	3509	3171	392.5	-10.1	145	3249	0.00	1.52	0.00	0.000	1030	0.000	0.074	2284	2575	3339	3508	3171	0	0	0	0	0	0	28.83	13.85	28.83
3566	-0.68	-146.0	2284	2574	3509	3171	426.8	-9.6	156	3567	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	2574	3340	3510	3171	0	0	0	0	0	0	28.83	28.83	28.83
3769	end dive: NO_VERTICAL_VELOCITY
state	3769	begin apogee
3784	-0.22	0.0	2284	2477	3510	3172	426.8	0.0	163	3948	0.47	0.00	152.25	2.258	10246	0.090	0.000	2451	2477	2741	2853	2629	0	0	0	0	0	0	13.91	28.83	12.75
3949	end apogee: CONTROL_FINISHED_OK
state	3949	begin climb
3955	0.89	146.0	2451	2477	2854	2630	426.9	0.0	168	4125	1.10	0.00	164.73	2.206	10758	0.117	0.000	2791	2476	2144	2241	2047	0	0	0	0	0	0	13.65	28.83	12.12
4407	0.87	146.0	2790	2476	2243	2039	396.8	9.2	184	4411	0.00	1.52	0.00	0.000	516	0.000	0.094	2796	1635	2140	2242	2039	0	0	0	0	0	0	28.83	14.22	28.83
4436	0.85	146.0	2796	1634	2242	2038	396.8	9.2	184	4443	0.00	1.52	0.00	0.000	1030	0.000	0.107	2796	2486	2140	2243	2038	0	0	0	0	0	0	28.83	14.26	28.83
4744	0.83	146.0	2796	2486	2242	2037	364.8	9.8	195	4748	0.00	1.52	0.00	0.000	260	0.000	0.119	2796	3334	2139	2242	2037	0	0	0	0	0	0	28.83	14.23	28.83
4788	0.81	146.0	2796	3335	2242	2037	361.3	9.6	196	4792	0.15	1.50	0.00	0.000	5126	0.252	0.080	2769	2465	2139	2242	2037	0	0	0	0	0	0	14.12	14.32	28.83
5114	0.84	171.5	2769	2464	2242	2036	335.1	7.3	207	5146	0.00	1.62	26.80	2.111	8452	0.000	0.122	2769	3326	2041	2147	1936	0	0	0	0	0	0	28.83	14.18	13.28
5178	0.86	190.2	2769	3326	2146	1936	330.3	7.5	209	5204	0.00	1.50	21.17	2.056	9222	0.000	0.080	2773	2462	1964	2069	1860	0	0	0	0	0	0	28.83	14.29	13.19
5536	0.86	190.5	2773	2462	2069	1857	300.2	8.2	221	5537	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	2462	1963	2069	1857	0	0	0	0	0	0	28.83	28.83	28.83
5831	0.86	190.5	2773	2462	2069	1856	274.7	8.4	231	5835	0.00	1.50	0.00	0.000	516	0.000	0.093	2779	1612	1962	2069	1856	0	0	0	0	0	0	28.83	14.16	28.83
5875	0.86	190.5	2779	1611	2069	1855	271.5	8.4	232	5879	0.00	1.58	0.00	0.000	1030	0.000	0.106	2779	2489	1962	2069	1856	0	0	0	0	0	0	28.83	14.18	28.83
6200	0.86	190.5	2779	2489	2069	1856	241.4	9.1	243	6204	0.00	1.55	0.00	0.000	516	0.000	0.094	2785	1642	1962	2069	1856	0	0	0	0	0	0	28.83	14.02	28.83
6284	0.86	190.5	2785	1642	2068	1855	235.3	9.2	245	6288	0.00	1.52	0.00	0.000	1030	0.000	0.109	2785	2486	1962	2069	1855	0	0	0	0	0	0	28.83	14.07	28.83
6600	0.85	190.5	2785	2486	2069	1855	203.0	10.1	256	6603	0.00	1.52	0.00	0.000	260	0.000	0.119	2785	3326	1962	2069	1855	0	0	0	0	0	0	28.83	13.94	28.83
6635	0.84	190.5	2785	3326	2069	1855	199.4	10.0	257	6639	0.00	1.52	0.00	0.000	1030	0.000	0.079	2791	2457	1962	2069	1855	0	0	0	0	0	0	28.83	14.12	28.83
6972	0.83	190.6	2791	2457	2068	1855	170.3	8.2	268	6976	0.00	1.67	0.00	0.000	260	0.000	0.122	2791	3326	1961	2068	1855	0	0	0	0	0	0	28.83	13.85	28.83
7040	0.82	190.6	1808	3325	2027	1851	164.1	8.9	270	7043	0.00	1.50	0.00	0.000	1030	0.000	0.080	2798	2477	1961	2068	1855	0	0	0	0	0	0	28.83	14.07	28.83
7371	0.80	190.6	2798	2476	2068	1855	133.8	9.6	281	7375	0.00	1.60	0.00	0.000	260	0.000	0.121	2797	3328	1961	2068	1855	0	0	0	0	0	0	28.83	13.86	28.83
7421	0.79	190.6	2798	3328	2068	1853	130.3	9.7	282	7425	0.17	1.50	0.00	0.000	5126	0.233	0.080	2763	2481	1962	2069	1855	0	0	0	0	0	0	13.82	14.04	28.83
7742	0.88	246.5	2763	2481	2068	1855	106.4	6.1	293	7782	0.00	1.62	34.75	0.496	8452	0.000	0.120	2763	3326	1735	1834	1637	0	0	0	0	0	0	28.83	14.23	13.85
7885	0.95	278.0	1792	3325	1794	1634	97.0	7.1	299	7910	0.15	1.50	20.02	0.467	11270	0.129	0.079	2823	2472	1606	1695	1517	0	0	0	0	0	0	14.28	14.23	13.86
8213	0.95	278.0	2823	2472	1692	1512	64.8	9.6	332	8216	0.00	1.62	0.00	0.000	260	0.000	0.123	2823	3322	1602	1692	1513	0	0	0	0	0	0	28.83	13.97	28.83
8308	0.95	278.0	2824	3322	1690	1512	55.4	10.0	341	8312	0.00	1.52	0.00	0.000	1030	0.000	0.081	2829	2480	1601	1690	1512	0	0	0	0	0	0	28.83	14.09	28.83
8624	0.95	278.0	2830	2481	1690	1510	26.8	8.4	372	8628	0.00	1.52	0.00	0.000	516	0.000	0.094	2836	1632	1600	1691	1510	0	0	0	0	0	0	28.83	13.97	28.83
8704	0.95	278.0	2836	1632	1690	1509	20.1	9.4	379	8711	0.00	1.58	0.00	0.000	1030	0.000	0.109	2836	2486	1599	1690	1509	0	0	0	0	0	0	28.83	13.98	28.83
8885	end climb: SURFACE_DEPTH_REACHED
state	8886	begin surface coast
8912	end surface coast: CONTROL_FINISHED_OK
state	8913	begin surface