Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 126 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HD_B 0.0115 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

MISSION 21 HD_C 1.7999999e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 126 HEADING -1 ROLL_MIN 294 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_MIN_OBSTACLE 2.8

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2100 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 1900 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_BOOST 20 SM_CC 400 ROLL_TIMEOUT 15 XPDR_VALID 5

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 67 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 47 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 300 INT_PRESSURE_YINT 0

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 3 PROTOCOL 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 6 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 161 VBD_MIN 448 DEVICE1 2

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_MAX 4001 DEVICE2 20

T_DIVE 360 UPLOAD_DIVES_MAX 5 C_VBD 3029 DEVICE3 -1

T_MISSION 440 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 2 T_GPS_CHARGE -191245.09 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 10 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 250 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3130 PHONE_SUPPLY -1 SEABIRD_T_G 0.0044220644

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -22.860044 SEABIRD_T_H 0.00065538363

RHO 1.023 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_I 2.8550956e-05

MASS 51396 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 3.214675e-06

NAV_MODE 2 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.084064

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1288997

KALMAN_USE 2 PITCH_AD_RATE 150 COMPASS_USE 4 SEABIRD_C_I -0.0014441535

HD_A 0.00275 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017831143

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 250 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 1.75 PHONE_SUPPLY -1 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 4 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_MIN 350 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001161151 T_BOOST 0

CALL_TRIES 3 HD_A 0.00275 PRESSURE_YINT -22.860044 T_DIVE 360

CALL_WAIT 60 HD_B 0.0115 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 1.7999999e-06 P_OVSHOOT 0.039999999 T_GPS 3

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 64 T_GPS_CHARGE -191245.09

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 440

COMPASS_DEVICE 97 ID 108 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0.029999999 T_TURN 225

C_PITCH 3130 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1900 LOGGERDEVICE1 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2100 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 3029 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3598 USE_BATHY -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 2

DEVICE1 2 MASS 51396 ROLL_MIN 294 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 67 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 47 VBD_MAX 4001

DEVICE5 -1 MISSION 21 SEABIRD_C_G -10.084064 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1288997 VBD_MIN 448

DIVE 126 NAV_MODE 2 SEABIRD_C_I -0.0014441535 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 161 SEABIRD_C_J 0.00017831143 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_DIVES 0 SEABIRD_T_G 0.0044220644 VBD_TIMEOUT 720

D_CALL 3 N_FILEKB 4 SEABIRD_T_H 0.00065538363 XPDR_DEVICE 24

D_FINISH 9 N_GPS 20 SEABIRD_T_I 2.8550956e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 6 SEABIRD_T_J 3.214675e-06 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 120712,080722,6703.061,-5650.229,39,0.7,39,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120712,081441,6703.169,-5650.182,19,0.8,19,-33.5 MHEAD_RNG_PITCHd_Wd 245.8,161827,-16.3,-9.167

SPEED_LIMITS 0.159,0.240 D_GRID 555

Post-dive calculations and measurements:

FREEZE 1.34,6.553,-1.057,0,1,0 ALTIM_BOTTOM_PING 500.5,36.8

FINISH 1.3,1.015278 _24V_AH 23.8,16.645

SM_CCo 10044,108.88,0.068,0,0,1398,400.08 _10V_AH 10.2,19.420

SM_GC 2.23,8.05,2.47,108.88,0.049,0.037,0.068,343,2104,1398,-8.65,-1.19,400.08,0,0,1,0,0,0,26.54,26.58,26.38 FG_AHR_24Vo 0.000

RAFOS_CLK 487 FG_AHR_10Vo 0.000

RAFOS 0,1342080065,8.033334,8.018056,47,46,42,40,40,39,1549,1450,579,682,859,448 MEM 151564

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 53357,1161

IRIDIUM_FIX 6636.54,-5647.69,120712,040413 CAP_FILE_SIZE 125527,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,235446272

HUMID 40.94 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0

INTERNAL_PRESSURE 9.05308 SOUNDSPEED 1465.8

TCM_TEMP 16.50 CURRENT 0.176,328.0,1

XPDR_PINGS 1 GPS 120712,110558,6703.281,-5653.493,38,0.7,38,-33.5

ALTIM_TOP_PING 20.0,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 252 119.87 SBE_CT 800 23 456.54

Roll_motor 93 67 149.45 SBE_O2 910 5 129.80

VBD_pump_during_apogee 238 1144 6507.08 nil 0 0 0.00

VBD_pump_during_surface 108 68 176.42 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 303 271 1956.85 nil 0 0 0.00

Transponder_ping 2 420 19.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.39

TT8 2933 17 537.38

LPSleep 4598 2 108.34

TT8_Active 535 17 98.10

TT8_Sampling 2231 40 920.04

TT8_CF8 295 48 146.94

TT8_Kalman 0 0 0.00

Analog_circuits 1853 12 226.88

GPS_charging 0 0 0.00

Compass 1906 7 145.67

RAFOS 1800 3 55.08

Transponder 14 30 4.35

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 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

18 -0.72 -146.6 0.0 0.0 0 99 0.00 0.00 -78.25 0.000 2 0.000 0.000 343 2109 3302 0 0 0 0 0 0 28.83 28.83 28.83

102 -0.72 -146.6 3.1 -1.2 14 130 9.95 2.17 -8.80 0.000 4 0.252 0.067 2882 3505 3630 0 0 0 0 0 0 26.15 26.46 26.79

163 -0.72 -146.6 11.6 -11.9 24 171 0.00 2.08 0.00 0.000 6 0.000 0.030 2890 2092 3632 0 0 0 0 0 0 28.83 26.55 28.83

476 -0.72 -146.6 44.5 -10.3 85 484 0.00 2.17 0.00 0.000 4 0.000 0.048 2881 3504 3635 0 0 0 0 0 0 28.83 26.51 28.83

506 -0.72 -146.6 47.5 -10.4 90 513 0.00 2.08 0.00 0.000 6 0.000 0.029 2883 2087 3635 0 0 0 0 0 0 28.83 26.59 28.83

819 -0.72 -146.6 79.8 -11.4 151 825 0.00 2.17 0.00 0.000 4 0.000 0.048 2875 3503 3637 0 0 0 0 0 0 28.83 26.54 28.83

888 -0.72 -146.6 88.1 -12.0 164 896 0.00 2.08 0.00 0.000 6 0.000 0.030 2876 2086 3637 0 0 0 0 0 0 28.83 26.63 28.83

1201 -0.72 -146.6 121.9 -11.0 205 1209 0.00 2.17 0.00 0.000 4 0.000 0.049 2868 3516 3637 0 0 0 0 0 0 28.83 26.57 28.83

1355 -0.72 -146.6 138.8 -10.6 220 1364 0.00 2.05 0.00 0.000 6 0.000 0.031 2868 2103 3636 0 0 0 0 0 0 28.83 26.66 28.83

1663 -0.72 -146.6 168.1 -9.7 251 1664 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 2103 3635 0 0 0 0 0 0 28.83 28.83 28.83

1963 -0.72 -146.6 196.8 -9.3 281 1972 0.00 2.12 0.00 0.000 4 0.000 0.049 2857 3496 3634 0 0 0 0 0 0 28.83 26.60 28.83

2025 -0.72 -146.6 203.2 -10.5 287 2030 0.10 2.03 0.00 0.000 6 0.158 0.031 2892 2094 3634 0 0 0 0 0 0 26.44 26.70 28.83

2339 -0.72 -146.6 228.2 -7.3 318 2347 0.00 2.12 0.00 0.000 4 0.000 0.048 2885 3506 3634 0 0 0 0 0 0 28.83 26.63 28.83

2447 -0.72 -146.6 236.5 -8.2 328 2454 0.00 2.05 0.00 0.000 6 0.000 0.029 2885 2101 3634 0 0 0 0 0 0 28.83 26.70 28.83

2753 -0.72 -146.6 261.4 -8.5 359 2762 0.00 2.12 0.00 0.000 4 0.000 0.048 2874 3502 3632 0 0 0 0 0 0 28.83 26.63 28.83

2838 -0.72 -146.6 269.2 -9.5 367 2845 0.00 2.05 0.00 0.000 6 0.000 0.030 2874 2098 3633 0 0 0 0 0 0 28.83 26.72 28.83

3146 -0.72 -146.6 296.1 -8.5 398 3154 0.00 2.12 0.00 0.000 4 0.000 0.047 2864 3508 3632 0 0 0 0 0 0 28.83 26.65 28.83

3228 -0.72 -146.6 303.7 -9.3 406 3237 0.12 2.05 0.00 0.000 6 0.172 0.029 2895 2095 3633 0 0 0 0 0 0 26.48 26.72 28.83

3538 -0.72 -146.6 325.7 -7.0 437 3547 0.00 2.12 0.00 0.000 4 0.000 0.047 2887 3501 3632 0 0 0 0 0 0 28.83 26.65 28.83

3634 -0.72 -146.6 332.7 -7.6 446 3640 0.00 2.05 0.00 0.000 6 0.000 0.029 2887 2094 3632 0 0 0 0 0 0 28.83 26.73 28.83

3941 -0.72 -146.6 354.4 -6.5 477 3950 0.00 2.10 0.00 0.000 4 0.000 0.047 2877 3498 3632 0 0 0 0 0 0 28.83 26.66 28.83

4014 -0.72 -146.6 359.3 -6.9 484 4023 0.00 2.05 0.00 0.000 6 0.000 0.029 2876 2086 3632 0 0 0 0 0 0 28.83 26.74 28.83

4323 -0.72 -146.6 379.8 -6.5 515 4332 0.00 2.12 0.00 0.000 4 0.000 0.047 2867 3501 3632 0 0 0 0 0 0 28.83 26.67 28.83

4451 -0.72 -146.6 388.6 -7.2 527 4458 0.00 2.05 0.00 0.000 6 0.000 0.029 2866 2093 3633 0 0 0 0 0 0 28.83 26.74 28.83

4756 -0.72 -146.6 410.1 -6.8 558 4765 0.12 2.12 0.00 0.000 4 0.174 0.045 2894 3506 3633 0 0 0 0 0 0 26.53 26.67 28.83

4839 -0.72 -146.6 415.6 -6.6 566 4848 0.00 2.05 0.00 0.000 6 0.000 0.028 2893 2088 3633 0 0 0 0 0 0 28.83 26.75 28.83

5149 -0.72 -146.6 435.7 -6.5 597 5158 0.00 2.15 0.00 0.000 4 0.000 0.047 2883 3507 3633 0 0 0 0 0 0 28.83 26.67 28.83

5294 -0.72 -146.6 446.3 -7.7 611 5298 0.00 2.03 0.00 0.000 6 0.000 0.028 2883 2096 3633 0 0 0 0 0 0 28.83 26.76 28.83

5607 -0.72 -146.6 468.4 -6.9 642 5608 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2094 3634 0 0 0 0 0 0 28.83 28.83 28.83

5908 -0.72 -146.6 490.3 -6.2 672 5918 0.00 2.12 0.00 0.000 4 0.000 0.047 2873 3500 3634 0 0 0 0 0 0 28.83 26.69 28.83

6036 -0.72 -146.6 500.5 -9.4 684 6040 0.00 2.03 0.00 0.000 6 0.000 0.029 2873 2096 3634 0 0 0 0 0 0 28.83 26.77 28.83

6326 end dive: BOTTOM_OBSTACLE_DETECTED

state 6326 begin apogee

6333 -0.17 0.0 522.5 -6.1 713 6458 0.62 0.00 118.85 1.144 6 0.143 0.000 3074 1883 3029 0 0 0 0 0 0 26.50 28.83 24.13

6462 end apogee: CONTROL_FINISHED_OK

state 6462 begin climb

6464 0.72 146.6 524.0 0.0 726 6589 0.82 0.00 120.05 1.007 6 0.084 0.000 3358 1883 2431 0 0 0 0 0 0 24.98 28.83 23.84

6889 0.72 146.6 466.2 15.9 769 6890 0.00 0.00 0.00 0.000 6 0.000 0.000 3358 1883 2419 0 0 0 0 0 0 28.83 28.83 28.83

7191 0.72 146.6 417.8 16.2 799 7195 0.00 2.22 0.00 0.000 4 0.000 0.046 3358 3306 2417 0 0 0 0 0 0 28.83 26.01 28.83

7216 0.72 146.6 413.6 16.6 801 7223 0.00 2.10 0.00 0.000 6 0.000 0.030 3367 1913 2416 0 0 0 0 0 0 28.83 26.08 28.83

7523 0.72 146.6 361.0 17.0 832 7533 0.00 2.17 0.00 0.000 4 0.000 0.039 3378 506 2415 0 0 0 0 0 0 28.83 26.20 28.83

7640 0.72 146.6 342.2 16.3 843 7647 0.00 2.17 0.00 0.000 6 0.000 0.035 3379 1905 2414 0 0 0 0 0 0 28.83 26.27 28.83

7946 0.72 146.6 287.0 17.9 874 7950 0.00 2.12 0.00 0.000 4 0.000 0.046 3378 3306 2414 0 0 0 0 0 0 28.83 26.32 28.83

7971 0.72 146.6 282.8 18.4 876 7979 0.00 2.10 0.00 0.000 6 0.000 0.030 3387 1893 2414 0 0 0 0 0 0 28.83 26.38 28.83

8278 0.72 146.6 224.7 18.6 907 8287 0.00 2.12 0.00 0.000 4 0.000 0.039 3398 496 2414 0 0 0 0 0 0 28.83 26.41 28.83

8380 0.72 146.6 206.3 17.6 917 8385 0.15 2.17 0.00 0.000 6 0.158 0.034 3360 1913 2414 0 0 0 0 0 0 26.27 26.45 28.83

8693 0.72 146.6 161.3 13.7 948 8697 0.00 2.10 0.00 0.000 4 0.000 0.045 3359 3299 2413 0 0 0 0 0 0 28.83 26.46 28.83

8725 0.72 146.6 156.6 14.5 951 8734 0.00 2.08 0.00 0.000 6 0.000 0.030 3367 1889 2413 0 0 0 0 0 0 28.83 26.51 28.83

9035 0.72 146.6 115.4 12.4 982 9044 0.00 2.10 0.00 0.000 4 0.000 0.039 3377 504 2413 0 0 0 0 0 0 28.83 26.52 28.83

9080 0.72 146.6 110.2 12.5 986 9087 0.00 2.15 0.00 0.000 6 0.000 0.034 3377 1907 2413 0 0 0 0 0 0 28.83 26.54 28.83

9392 0.72 146.6 69.6 12.7 1040 9399 0.00 2.10 0.00 0.000 4 0.000 0.047 3377 3312 2414 0 0 0 0 0 0 28.83 26.53 28.83

9432 0.72 146.6 64.1 13.1 1047 9439 0.00 2.10 0.00 0.000 6 0.000 0.030 3386 1891 2413 0 0 0 0 0 0 28.83 26.59 28.83

9745 0.72 146.6 26.5 10.9 1108 9753 0.00 2.10 0.00 0.000 4 0.000 0.040 3397 513 2413 0 0 0 0 0 0 28.83 26.58 28.83

9959 end climb: SURFACE_DEPTH_REACHED

state 9959 begin surface coast

10023 end surface coast: CONTROL_FINISHED_OK

state 10023 begin surface

ID	108	HD_B	0.0115	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
MISSION	21	HD_C	1.7999999e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	126	HEADING	-1	ROLL_MIN	294	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_MIN_OBSTACLE	2.8
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2100	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	1900	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_BOOST	20	SM_CC	400	ROLL_TIMEOUT	15	XPDR_VALID	5
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	67	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	47	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	300	INT_PRESSURE_YINT	0
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	3	PROTOCOL	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	6	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	161	VBD_MIN	448	DEVICE1	2
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_MAX	4001	DEVICE2	20
T_DIVE	360	UPLOAD_DIVES_MAX	5	C_VBD	3029	DEVICE3	-1
T_MISSION	440	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	2	T_GPS_CHARGE	-191245.09	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	10	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	250	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3130	PHONE_SUPPLY	-1	SEABIRD_T_G	0.0044220644
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-22.860044	SEABIRD_T_H	0.00065538363
RHO	1.023	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_I	2.8550956e-05
MASS	51396	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	3.214675e-06
NAV_MODE	2	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.084064
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1288997
KALMAN_USE	2	PITCH_AD_RATE	150	COMPASS_USE	4	SEABIRD_C_I	-0.0014441535
HD_A	0.00275	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017831143

GPS1	120712,080722,6703.061,-5650.229,39,0.7,39,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120712,081441,6703.169,-5650.182,19,0.8,19,-33.5	MHEAD_RNG_PITCHd_Wd	245.8,161827,-16.3,-9.167
SPEED_LIMITS	0.159,0.240	D_GRID	555

FREEZE	1.34,6.553,-1.057,0,1,0	ALTIM_BOTTOM_PING	500.5,36.8
FINISH	1.3,1.015278	_24V_AH	23.8,16.645
SM_CCo	10044,108.88,0.068,0,0,1398,400.08	_10V_AH	10.2,19.420
SM_GC	2.23,8.05,2.47,108.88,0.049,0.037,0.068,343,2104,1398,-8.65,-1.19,400.08,0,0,1,0,0,0,26.54,26.58,26.38	FG_AHR_24Vo	0.000
RAFOS_CLK	487	FG_AHR_10Vo	0.000
RAFOS	0,1342080065,8.033334,8.018056,47,46,42,40,40,39,1549,1450,579,682,859,448	MEM	151564
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	53357,1161
IRIDIUM_FIX	6636.54,-5647.69,120712,040413	CAP_FILE_SIZE	125527,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,235446272
HUMID	40.94	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
INTERNAL_PRESSURE	9.05308	SOUNDSPEED	1465.8
TCM_TEMP	16.50	CURRENT	0.176,328.0,1
XPDR_PINGS	1	GPS	120712,110558,6703.281,-5653.493,38,0.7,38,-33.5
ALTIM_TOP_PING	20.0,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	252	119.87	SBE_CT	800	23	456.54
Roll_motor	93	67	149.45	SBE_O2	910	5	129.80
VBD_pump_during_apogee	238	1144	6507.08	nil	0	0	0.00
VBD_pump_during_surface	108	68	176.42	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	303	271	1956.85	nil	0	0	0.00
Transponder_ping	2	420	19.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.39
TT8	2933	17	537.38
LPSleep	4598	2	108.34
TT8_Active	535	17	98.10
TT8_Sampling	2231	40	920.04
TT8_CF8	295	48	146.94
TT8_Kalman	0	0	0.00
Analog_circuits	1853	12	226.88
GPS_charging	0	0	0.00
Compass	1906	7	145.67
RAFOS	1800	3	55.08
Transponder	14	30	4.35

st_secs	pitch_ctl	vbd_ctl	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	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
18	-0.72	-146.6	0.0	0.0	0	99	0.00	0.00	-78.25	0.000	2	0.000	0.000	343	2109	3302	0	0	0	0	0	0	28.83	28.83	28.83
102	-0.72	-146.6	3.1	-1.2	14	130	9.95	2.17	-8.80	0.000	4	0.252	0.067	2882	3505	3630	0	0	0	0	0	0	26.15	26.46	26.79
163	-0.72	-146.6	11.6	-11.9	24	171	0.00	2.08	0.00	0.000	6	0.000	0.030	2890	2092	3632	0	0	0	0	0	0	28.83	26.55	28.83
476	-0.72	-146.6	44.5	-10.3	85	484	0.00	2.17	0.00	0.000	4	0.000	0.048	2881	3504	3635	0	0	0	0	0	0	28.83	26.51	28.83
506	-0.72	-146.6	47.5	-10.4	90	513	0.00	2.08	0.00	0.000	6	0.000	0.029	2883	2087	3635	0	0	0	0	0	0	28.83	26.59	28.83
819	-0.72	-146.6	79.8	-11.4	151	825	0.00	2.17	0.00	0.000	4	0.000	0.048	2875	3503	3637	0	0	0	0	0	0	28.83	26.54	28.83
888	-0.72	-146.6	88.1	-12.0	164	896	0.00	2.08	0.00	0.000	6	0.000	0.030	2876	2086	3637	0	0	0	0	0	0	28.83	26.63	28.83
1201	-0.72	-146.6	121.9	-11.0	205	1209	0.00	2.17	0.00	0.000	4	0.000	0.049	2868	3516	3637	0	0	0	0	0	0	28.83	26.57	28.83
1355	-0.72	-146.6	138.8	-10.6	220	1364	0.00	2.05	0.00	0.000	6	0.000	0.031	2868	2103	3636	0	0	0	0	0	0	28.83	26.66	28.83
1663	-0.72	-146.6	168.1	-9.7	251	1664	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	2103	3635	0	0	0	0	0	0	28.83	28.83	28.83
1963	-0.72	-146.6	196.8	-9.3	281	1972	0.00	2.12	0.00	0.000	4	0.000	0.049	2857	3496	3634	0	0	0	0	0	0	28.83	26.60	28.83
2025	-0.72	-146.6	203.2	-10.5	287	2030	0.10	2.03	0.00	0.000	6	0.158	0.031	2892	2094	3634	0	0	0	0	0	0	26.44	26.70	28.83
2339	-0.72	-146.6	228.2	-7.3	318	2347	0.00	2.12	0.00	0.000	4	0.000	0.048	2885	3506	3634	0	0	0	0	0	0	28.83	26.63	28.83
2447	-0.72	-146.6	236.5	-8.2	328	2454	0.00	2.05	0.00	0.000	6	0.000	0.029	2885	2101	3634	0	0	0	0	0	0	28.83	26.70	28.83
2753	-0.72	-146.6	261.4	-8.5	359	2762	0.00	2.12	0.00	0.000	4	0.000	0.048	2874	3502	3632	0	0	0	0	0	0	28.83	26.63	28.83
2838	-0.72	-146.6	269.2	-9.5	367	2845	0.00	2.05	0.00	0.000	6	0.000	0.030	2874	2098	3633	0	0	0	0	0	0	28.83	26.72	28.83
3146	-0.72	-146.6	296.1	-8.5	398	3154	0.00	2.12	0.00	0.000	4	0.000	0.047	2864	3508	3632	0	0	0	0	0	0	28.83	26.65	28.83
3228	-0.72	-146.6	303.7	-9.3	406	3237	0.12	2.05	0.00	0.000	6	0.172	0.029	2895	2095	3633	0	0	0	0	0	0	26.48	26.72	28.83
3538	-0.72	-146.6	325.7	-7.0	437	3547	0.00	2.12	0.00	0.000	4	0.000	0.047	2887	3501	3632	0	0	0	0	0	0	28.83	26.65	28.83
3634	-0.72	-146.6	332.7	-7.6	446	3640	0.00	2.05	0.00	0.000	6	0.000	0.029	2887	2094	3632	0	0	0	0	0	0	28.83	26.73	28.83
3941	-0.72	-146.6	354.4	-6.5	477	3950	0.00	2.10	0.00	0.000	4	0.000	0.047	2877	3498	3632	0	0	0	0	0	0	28.83	26.66	28.83
4014	-0.72	-146.6	359.3	-6.9	484	4023	0.00	2.05	0.00	0.000	6	0.000	0.029	2876	2086	3632	0	0	0	0	0	0	28.83	26.74	28.83
4323	-0.72	-146.6	379.8	-6.5	515	4332	0.00	2.12	0.00	0.000	4	0.000	0.047	2867	3501	3632	0	0	0	0	0	0	28.83	26.67	28.83
4451	-0.72	-146.6	388.6	-7.2	527	4458	0.00	2.05	0.00	0.000	6	0.000	0.029	2866	2093	3633	0	0	0	0	0	0	28.83	26.74	28.83
4756	-0.72	-146.6	410.1	-6.8	558	4765	0.12	2.12	0.00	0.000	4	0.174	0.045	2894	3506	3633	0	0	0	0	0	0	26.53	26.67	28.83
4839	-0.72	-146.6	415.6	-6.6	566	4848	0.00	2.05	0.00	0.000	6	0.000	0.028	2893	2088	3633	0	0	0	0	0	0	28.83	26.75	28.83
5149	-0.72	-146.6	435.7	-6.5	597	5158	0.00	2.15	0.00	0.000	4	0.000	0.047	2883	3507	3633	0	0	0	0	0	0	28.83	26.67	28.83
5294	-0.72	-146.6	446.3	-7.7	611	5298	0.00	2.03	0.00	0.000	6	0.000	0.028	2883	2096	3633	0	0	0	0	0	0	28.83	26.76	28.83
5607	-0.72	-146.6	468.4	-6.9	642	5608	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2094	3634	0	0	0	0	0	0	28.83	28.83	28.83
5908	-0.72	-146.6	490.3	-6.2	672	5918	0.00	2.12	0.00	0.000	4	0.000	0.047	2873	3500	3634	0	0	0	0	0	0	28.83	26.69	28.83
6036	-0.72	-146.6	500.5	-9.4	684	6040	0.00	2.03	0.00	0.000	6	0.000	0.029	2873	2096	3634	0	0	0	0	0	0	28.83	26.77	28.83
6326	end dive: BOTTOM_OBSTACLE_DETECTED
state	6326	begin apogee
6333	-0.17	0.0	522.5	-6.1	713	6458	0.62	0.00	118.85	1.144	6	0.143	0.000	3074	1883	3029	0	0	0	0	0	0	26.50	28.83	24.13
6462	end apogee: CONTROL_FINISHED_OK
state	6462	begin climb
6464	0.72	146.6	524.0	0.0	726	6589	0.82	0.00	120.05	1.007	6	0.084	0.000	3358	1883	2431	0	0	0	0	0	0	24.98	28.83	23.84
6889	0.72	146.6	466.2	15.9	769	6890	0.00	0.00	0.00	0.000	6	0.000	0.000	3358	1883	2419	0	0	0	0	0	0	28.83	28.83	28.83
7191	0.72	146.6	417.8	16.2	799	7195	0.00	2.22	0.00	0.000	4	0.000	0.046	3358	3306	2417	0	0	0	0	0	0	28.83	26.01	28.83
7216	0.72	146.6	413.6	16.6	801	7223	0.00	2.10	0.00	0.000	6	0.000	0.030	3367	1913	2416	0	0	0	0	0	0	28.83	26.08	28.83
7523	0.72	146.6	361.0	17.0	832	7533	0.00	2.17	0.00	0.000	4	0.000	0.039	3378	506	2415	0	0	0	0	0	0	28.83	26.20	28.83
7640	0.72	146.6	342.2	16.3	843	7647	0.00	2.17	0.00	0.000	6	0.000	0.035	3379	1905	2414	0	0	0	0	0	0	28.83	26.27	28.83
7946	0.72	146.6	287.0	17.9	874	7950	0.00	2.12	0.00	0.000	4	0.000	0.046	3378	3306	2414	0	0	0	0	0	0	28.83	26.32	28.83
7971	0.72	146.6	282.8	18.4	876	7979	0.00	2.10	0.00	0.000	6	0.000	0.030	3387	1893	2414	0	0	0	0	0	0	28.83	26.38	28.83
8278	0.72	146.6	224.7	18.6	907	8287	0.00	2.12	0.00	0.000	4	0.000	0.039	3398	496	2414	0	0	0	0	0	0	28.83	26.41	28.83
8380	0.72	146.6	206.3	17.6	917	8385	0.15	2.17	0.00	0.000	6	0.158	0.034	3360	1913	2414	0	0	0	0	0	0	26.27	26.45	28.83
8693	0.72	146.6	161.3	13.7	948	8697	0.00	2.10	0.00	0.000	4	0.000	0.045	3359	3299	2413	0	0	0	0	0	0	28.83	26.46	28.83
8725	0.72	146.6	156.6	14.5	951	8734	0.00	2.08	0.00	0.000	6	0.000	0.030	3367	1889	2413	0	0	0	0	0	0	28.83	26.51	28.83
9035	0.72	146.6	115.4	12.4	982	9044	0.00	2.10	0.00	0.000	4	0.000	0.039	3377	504	2413	0	0	0	0	0	0	28.83	26.52	28.83
9080	0.72	146.6	110.2	12.5	986	9087	0.00	2.15	0.00	0.000	6	0.000	0.034	3377	1907	2413	0	0	0	0	0	0	28.83	26.54	28.83
9392	0.72	146.6	69.6	12.7	1040	9399	0.00	2.10	0.00	0.000	4	0.000	0.047	3377	3312	2414	0	0	0	0	0	0	28.83	26.53	28.83
9432	0.72	146.6	64.1	13.1	1047	9439	0.00	2.10	0.00	0.000	6	0.000	0.030	3386	1891	2413	0	0	0	0	0	0	28.83	26.59	28.83
9745	0.72	146.6	26.5	10.9	1108	9753	0.00	2.10	0.00	0.000	4	0.000	0.040	3397	513	2413	0	0	0	0	0	0	28.83	26.58	28.83
9959	end climb: SURFACE_DEPTH_REACHED
state	9959	begin surface coast
10023	end surface coast: CONTROL_FINISHED_OK
state	10023	begin surface