Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 133 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 6.0000002e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 133 HEADING -1 ROLL_MIN 300 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3841 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2120 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1015 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 10 ALTIM_PULSE 5

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_BOOST 100 SM_CC 290 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 17 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 13 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 260 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 1 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 370 UPLOAD_DIVES_MAX -1 C_VBD 2772 DEVICE3 -1

T_MISSION 420 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 360 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 5 VBD_PUMP_AD_RATE_APOGEE 3 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 0 T_GPS_CHARGE -1003.9824 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 AH0_24V 350 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 12 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 12 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 149 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3928 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 50 C_PITCH 2680 PHONE_SUPPLY -2 SEABIRD_T_G 0.0043053469

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -48.048229 SEABIRD_T_H 0.00061871461

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.0001163556 SEABIRD_T_I 2.1533233e-05

MASS 52000 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.1546668e-06

NAV_MODE 2 PITCH_GAIN 13 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8788214

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1391871

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 4 SEABIRD_C_I -0.0018439521

HD_A 0.0043000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022276744

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 0 D_OFFGRID 100 PHONE_DEVICE 49 SIM_W 0

AH0_24V 350 D_PITCH 0 PHONE_SUPPLY -2 SM_CC 290

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FERRY_MAX 45 PITCH_GAIN 13 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FG_AHR_10V 0 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 149 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0.5 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 50 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163556 T_BOOST 0

CALL_TRIES 5 HD_A 0.0043000001 PRESSURE_YINT -48.048229 T_DIVE 370

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 6.0000002e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE 32 T_GPS_CHARGE -1003.9824

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 420

COMPASS_DEVICE 97 ID 193 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.93000001 ROLL_ADJ_DBAND 1 T_TURN 225

C_PITCH 2680 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 260 T_WATCHDOG 10

C_ROLL_DIVE 2120 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2772 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3841 USE_BATHY -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 52000 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 12 R_PORT_OVSHOOT 17 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 13 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.8788214 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1391871 VBD_MIN 500

DIVE 133 NAV_MODE 2 SEABIRD_C_I -0.0018439521 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1015 NOCOMM_ACTION 161 SEABIRD_C_J 0.00022276744 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0043053469 VBD_TIMEOUT 360

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00061871461 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.1533233e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.1546668e-06 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 021012,030304,6703.477,-5651.979,38,0.8,38,-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 2.74 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021012,030901,6703.477,-5652.047,4,0.8,4,-33.5 MHEAD_RNG_PITCHd_Wd 163.0,3053,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 535

Post-dive calculations and measurements:

FINISH 1.9,1.025547 _24V_AH 12.9,44.723

SM_CCo 10036,37.00,0.172,0,0,1588,290.19 _10V_AH 13.2,0.000

SM_GC 3.19,8.43,0.20,37.00,0.098,0.142,0.172,130,2113,1588,-11.62,0.42,290.19,0,0,0,0,0,0,14.79,14.76,14.68 FG_AHR_24Vo 0.000

RAFOS_CLK 399 FG_AHR_10Vo 0.000

RAFOS 0,1349150463,4.033333,4.017500,69,60,60,54,52,51,213,135,230,198,170,152 MEM 188764

RAFOS_FIX 6707.712891,-5720.210449,021012,040430,5,99,4.45 DATA_FILE_SIZE 46787,973

IRIDIUM_FIX 6636.54,-5655.33,021012,000043 CAP_FILE_SIZE 109095,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,241373184

HUMID 46.25 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.78186 SOUNDSPEED 1464.0

TCM_TEMP 13.80 CURRENT 0.078,245.1,1

XPDR_PINGS 5 GPS 021012,055929,6702.535,-5650.457,20,0.7,20,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 453 129.77 SBE_CT 713 23 220.58

Roll_motor 108 179 250.20 SBE_O2 665 3 32.11

VBD_pump_during_apogee 314 2219 9000.81 nil 0 0 0.00

VBD_pump_during_surface 37 172 82.16 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 208 148 399.65 nil 0 0 0.00

Transponder_ping 1 420 6.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 21 1.59

TT8 2520 14 497.71

LPSleep 5074 2 154.73

TT8_Active 513 14 101.47

TT8_Sampling 1832 33 814.93

TT8_CF8 527 38 265.78

TT8_Kalman 0 0 0.00

Analog_circuits 1664 12 263.64

GPS_charging 0 0 0.00

Compass 1653 6 147.08

RAFOS 2520 1 49.90

Transponder 0 5 0.04

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

13 end surface: CONTROL_FINISHED_OK

state 14 begin dive

19 -1.50 -136.9 0.0 0.0 0 50 0.00 0.00 -28.42 0.000 2 0.000 0.000 137 2115 2131 0 0 0 0 0 0 28.83 28.83 28.83

56 -1.50 -136.9 3.0 -1.5 5 138 10.90 2.85 -63.35 0.000 4 0.454 0.178 2340 3535 3331 0 0 0 0 0 0 14.43 14.54 14.82

208 -1.50 -136.9 16.6 -19.8 30 215 0.00 2.55 0.00 0.000 6 0.000 0.105 2340 2120 3331 0 0 0 0 0 0 28.83 14.62 28.83

525 -1.50 -136.9 65.8 -12.8 91 532 0.00 2.55 0.00 0.000 4 0.000 0.132 2339 705 3332 0 0 0 0 0 0 28.83 14.65 28.83

638 -1.50 -136.9 80.8 -13.5 112 645 0.10 2.62 0.00 0.000 6 0.321 0.133 2348 2125 3332 0 0 0 0 0 0 14.58 14.66 28.83

955 -1.50 -136.9 120.3 -12.3 157 964 0.00 2.62 0.00 0.000 4 0.000 0.146 2339 3535 3332 0 0 0 0 0 0 28.83 14.67 28.83

973 -1.50 -136.9 121.9 -12.6 158 980 0.00 2.50 0.00 0.000 6 0.000 0.096 2339 2118 3332 0 0 0 0 0 0 28.83 14.74 28.83

1281 -1.50 -136.9 161.3 -12.2 189 1290 0.00 2.50 0.00 0.000 4 0.000 0.126 2339 713 3331 0 0 0 0 0 0 28.83 14.71 28.83

1327 -1.50 -136.9 167.3 -12.9 193 1338 0.08 2.55 0.00 0.000 6 0.290 0.129 2349 2121 3332 0 0 0 0 0 0 14.62 14.69 28.83

1638 -1.50 -136.9 205.2 -11.8 224 1647 0.00 2.62 0.00 0.000 4 0.000 0.147 2341 3534 3331 0 0 0 0 0 0 28.83 14.72 28.83

1683 -1.50 -136.9 210.6 -11.8 228 1692 0.00 2.47 0.00 0.000 6 0.000 0.099 2341 2124 3331 0 0 0 0 0 0 28.83 14.76 28.83

1993 -1.50 -136.9 247.6 -12.3 259 2002 0.00 2.53 0.00 0.000 4 0.000 0.129 2341 706 3331 0 0 0 0 0 0 28.83 14.74 28.83

2038 -1.50 -136.9 253.1 -12.5 263 2047 0.00 2.58 0.00 0.000 6 0.000 0.130 2333 2127 3330 0 0 0 0 0 0 28.83 14.74 28.83

2348 -1.50 -136.9 290.8 -11.6 294 2358 0.10 2.60 0.00 0.000 4 0.330 0.145 2342 3523 3330 0 0 0 0 0 0 14.70 14.74 28.83

2394 -1.50 -136.9 296.0 -11.5 298 2403 0.00 2.45 0.00 0.000 6 0.000 0.096 2342 2118 3330 0 0 0 0 0 0 28.83 14.79 28.83

2704 -1.50 -136.9 328.9 -10.7 329 2711 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2118 3330 0 0 0 0 0 0 28.83 28.83 28.83

3020 -1.50 -136.9 360.7 -10.1 360 3029 0.00 2.50 0.00 0.000 4 0.000 0.126 2342 706 3330 0 0 0 0 0 0 28.83 14.77 28.83

3075 -1.50 -136.9 367.2 -10.7 365 3080 0.00 2.55 0.00 0.000 6 0.000 0.127 2333 2121 3330 0 0 0 0 0 0 28.83 14.78 28.83

3392 -1.50 -136.9 399.7 -10.3 396 3398 0.00 0.00 0.00 0.000 6 0.000 0.000 2334 2122 3330 0 0 0 0 0 0 28.83 28.83 28.83

3700 -1.50 -136.9 431.3 -10.1 407 3706 0.00 2.53 0.00 0.000 4 0.000 0.129 2333 709 3330 0 0 0 0 0 0 28.83 14.80 28.83

3749 -1.50 -136.9 434.7 -10.3 408 3758 0.08 2.58 0.00 0.000 6 0.293 0.131 2345 2125 3330 0 0 0 0 0 0 14.71 14.78 28.83

4065 -1.50 -136.9 467.3 -9.7 419 4066 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2125 3331 0 0 0 0 0 0 28.83 28.83 28.83

4361 -1.50 -136.9 496.3 -9.6 429 4362 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2125 3331 0 0 0 0 0 0 28.83 28.83 28.83

4661 -1.50 -136.9 526.1 -10.2 439 4667 0.00 2.60 0.00 0.000 4 0.000 0.153 2336 3526 3331 0 0 0 0 0 0 28.83 14.81 28.83

4693 -1.50 -136.9 529.2 -10.2 440 4698 0.00 2.47 0.00 0.000 6 0.000 0.103 2336 2112 3331 0 0 0 0 0 0 28.83 14.85 28.83

4958 end dive: NO_VERTICAL_VELOCITY

state 4959 begin apogee

4971 -0.38 0.0 531.2 0.0 449 5111 0.82 0.00 132.88 2.219 6 0.187 0.000 2593 2205 2773 0 0 0 0 0 0 14.82 28.83 13.26

5117 end apogee: CONTROL_FINISHED_OK

state 5117 begin climb

5122 1.50 136.9 531.2 0.0 454 5278 1.35 3.00 141.02 2.181 4 0.161 0.152 3003 3610 2214 0 0 0 0 0 0 14.00 13.56 12.93

5459 1.50 136.9 495.6 13.9 465 5465 0.00 2.65 0.00 0.000 6 0.000 0.103 3012 2197 2208 0 0 0 0 0 0 28.83 14.10 28.83

5781 1.50 136.9 452.5 12.9 476 5787 0.00 2.60 0.00 0.000 4 0.000 0.132 3024 789 2205 0 0 0 0 0 0 28.83 14.38 28.83

5816 1.50 136.9 448.5 13.0 477 5821 0.00 2.60 0.00 0.000 6 0.000 0.121 3024 2199 2204 0 0 0 0 0 0 28.83 14.39 28.83

6143 1.50 136.9 405.8 12.7 488 6144 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2199 2204 0 0 0 0 0 0 28.83 28.83 28.83

6447 1.50 136.9 367.5 12.4 514 6456 0.00 2.58 0.00 0.000 4 0.000 0.129 3034 791 2203 0 0 0 0 0 0 28.83 14.62 28.83

6492 1.50 136.9 361.5 11.9 518 6501 0.10 2.58 0.00 0.000 6 0.268 0.119 3006 2211 2202 0 0 0 0 0 0 14.57 14.62 28.83

6802 1.50 136.9 327.1 10.8 549 6811 0.00 2.60 0.00 0.000 4 0.000 0.138 3006 3613 2203 0 0 0 0 0 0 28.83 14.66 28.83

6849 1.50 136.9 321.7 12.2 553 6856 0.00 2.53 0.00 0.000 6 0.000 0.099 3016 2192 2202 0 0 0 0 0 0 28.83 14.73 28.83

7157 1.50 136.9 285.4 11.8 584 7166 0.00 2.50 0.00 0.000 4 0.000 0.125 3026 792 2202 0 0 0 0 0 0 28.83 14.70 28.83

7182 1.50 136.9 282.3 11.9 586 7191 0.00 2.53 0.00 0.000 6 0.000 0.116 3026 2204 2202 0 0 0 0 0 0 28.83 14.71 28.83

7492 1.50 136.9 246.2 11.7 617 7501 0.00 2.60 0.00 0.000 4 0.000 0.138 3026 3613 2202 0 0 0 0 0 0 28.83 14.72 28.83

7569 1.50 136.9 236.6 13.3 624 7577 0.15 2.50 0.00 0.000 6 0.285 0.099 3003 2199 2203 0 0 0 0 0 0 14.69 14.78 28.83

7878 1.50 136.9 203.5 10.0 655 7887 0.00 2.50 0.00 0.000 4 0.000 0.125 3012 791 2201 0 0 0 0 0 0 28.83 14.75 28.83

7953 1.50 136.9 195.5 10.9 662 7962 0.00 2.50 0.00 0.000 6 0.000 0.115 3012 2198 2201 0 0 0 0 0 0 28.83 14.76 28.83

8263 1.50 136.9 160.9 10.9 693 8272 0.00 2.60 0.00 0.000 4 0.000 0.139 3012 3611 2202 0 0 0 0 0 0 28.83 14.74 28.83

8348 1.50 136.9 150.2 12.8 701 8357 0.00 2.47 0.00 0.000 6 0.000 0.099 3023 2202 2202 0 0 0 0 0 0 28.83 14.79 28.83

8658 1.50 136.9 115.9 10.1 732 8667 0.00 2.62 0.00 0.000 4 0.000 0.142 3023 3610 2202 0 0 0 0 0 0 28.83 14.76 28.83

8683 1.50 136.9 113.4 10.2 734 8692 0.08 2.47 0.00 0.000 6 0.269 0.101 3011 2201 2202 0 0 0 0 0 0 14.71 14.80 28.83

8998 1.50 140.8 82.5 8.7 783 9005 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2201 2201 0 0 0 0 0 0 28.83 28.83 28.83

9315 1.54 166.8 57.8 7.8 844 9341 0.00 2.58 14.65 0.350 4 0.000 0.126 3021 788 2091 0 0 0 0 0 0 28.83 14.73 14.64

9377 1.56 183.7 52.9 8.2 854 9391 0.00 2.55 9.07 0.337 6 0.000 0.116 3020 2209 2022 0 0 0 0 0 0 28.83 14.76 14.63

9703 1.60 215.7 25.2 7.5 916 9728 0.00 2.60 16.77 0.252 4 0.000 0.129 3030 784 1890 0 0 0 0 0 0 28.83 14.72 14.66

9810 1.60 215.8 16.6 8.9 935 9817 0.00 2.58 0.00 0.000 6 0.000 0.122 3030 2206 1886 0 0 0 0 0 0 28.83 14.73 28.83

9972 end climb: SURFACE_DEPTH_REACHED

state 9972 begin surface coast

10008 end surface coast: CONTROL_FINISHED_OK

state 10008 begin surface

ID	193	HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	6.0000002e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	133	HEADING	-1	ROLL_MIN	300	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3841	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2120	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1015	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	10	ALTIM_PULSE	5
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_BOOST	100	SM_CC	290	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	17	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	13	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	260	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	1	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	370	UPLOAD_DIVES_MAX	-1	C_VBD	2772	DEVICE3	-1
T_MISSION	420	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	360	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	5	VBD_PUMP_AD_RATE_APOGEE	3	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	0	T_GPS_CHARGE	-1003.9824	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	AH0_24V	350	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	12	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	12	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	149	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3928	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	50	C_PITCH	2680	PHONE_SUPPLY	-2	SEABIRD_T_G	0.0043053469
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-48.048229	SEABIRD_T_H	0.00061871461
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.0001163556	SEABIRD_T_I	2.1533233e-05
MASS	52000	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.1546668e-06
NAV_MODE	2	PITCH_GAIN	13	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8788214
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1391871
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	4	SEABIRD_C_I	-0.0018439521
HD_A	0.0043000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022276744

GPS1	021012,030304,6703.477,-5651.979,38,0.8,38,-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	2.74	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021012,030901,6703.477,-5652.047,4,0.8,4,-33.5	MHEAD_RNG_PITCHd_Wd	163.0,3053,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	535

FINISH	1.9,1.025547	_24V_AH	12.9,44.723
SM_CCo	10036,37.00,0.172,0,0,1588,290.19	_10V_AH	13.2,0.000
SM_GC	3.19,8.43,0.20,37.00,0.098,0.142,0.172,130,2113,1588,-11.62,0.42,290.19,0,0,0,0,0,0,14.79,14.76,14.68	FG_AHR_24Vo	0.000
RAFOS_CLK	399	FG_AHR_10Vo	0.000
RAFOS	0,1349150463,4.033333,4.017500,69,60,60,54,52,51,213,135,230,198,170,152	MEM	188764
RAFOS_FIX	6707.712891,-5720.210449,021012,040430,5,99,4.45	DATA_FILE_SIZE	46787,973
IRIDIUM_FIX	6636.54,-5655.33,021012,000043	CAP_FILE_SIZE	109095,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,241373184
HUMID	46.25	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.78186	SOUNDSPEED	1464.0
TCM_TEMP	13.80	CURRENT	0.078,245.1,1
XPDR_PINGS	5	GPS	021012,055929,6702.535,-5650.457,20,0.7,20,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	453	129.77	SBE_CT	713	23	220.58
Roll_motor	108	179	250.20	SBE_O2	665	3	32.11
VBD_pump_during_apogee	314	2219	9000.81	nil	0	0	0.00
VBD_pump_during_surface	37	172	82.16	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	208	148	399.65	nil	0	0	0.00
Transponder_ping	1	420	6.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	21	1.59
TT8	2520	14	497.71
LPSleep	5074	2	154.73
TT8_Active	513	14	101.47
TT8_Sampling	1832	33	814.93
TT8_CF8	527	38	265.78
TT8_Kalman	0	0	0.00
Analog_circuits	1664	12	263.64
GPS_charging	0	0	0.00
Compass	1653	6	147.08
RAFOS	2520	1	49.90
Transponder	0	5	0.04

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
13	end surface: CONTROL_FINISHED_OK
state	14	begin dive
19	-1.50	-136.9	0.0	0.0	0	50	0.00	0.00	-28.42	0.000	2	0.000	0.000	137	2115	2131	0	0	0	0	0	0	28.83	28.83	28.83
56	-1.50	-136.9	3.0	-1.5	5	138	10.90	2.85	-63.35	0.000	4	0.454	0.178	2340	3535	3331	0	0	0	0	0	0	14.43	14.54	14.82
208	-1.50	-136.9	16.6	-19.8	30	215	0.00	2.55	0.00	0.000	6	0.000	0.105	2340	2120	3331	0	0	0	0	0	0	28.83	14.62	28.83
525	-1.50	-136.9	65.8	-12.8	91	532	0.00	2.55	0.00	0.000	4	0.000	0.132	2339	705	3332	0	0	0	0	0	0	28.83	14.65	28.83
638	-1.50	-136.9	80.8	-13.5	112	645	0.10	2.62	0.00	0.000	6	0.321	0.133	2348	2125	3332	0	0	0	0	0	0	14.58	14.66	28.83
955	-1.50	-136.9	120.3	-12.3	157	964	0.00	2.62	0.00	0.000	4	0.000	0.146	2339	3535	3332	0	0	0	0	0	0	28.83	14.67	28.83
973	-1.50	-136.9	121.9	-12.6	158	980	0.00	2.50	0.00	0.000	6	0.000	0.096	2339	2118	3332	0	0	0	0	0	0	28.83	14.74	28.83
1281	-1.50	-136.9	161.3	-12.2	189	1290	0.00	2.50	0.00	0.000	4	0.000	0.126	2339	713	3331	0	0	0	0	0	0	28.83	14.71	28.83
1327	-1.50	-136.9	167.3	-12.9	193	1338	0.08	2.55	0.00	0.000	6	0.290	0.129	2349	2121	3332	0	0	0	0	0	0	14.62	14.69	28.83
1638	-1.50	-136.9	205.2	-11.8	224	1647	0.00	2.62	0.00	0.000	4	0.000	0.147	2341	3534	3331	0	0	0	0	0	0	28.83	14.72	28.83
1683	-1.50	-136.9	210.6	-11.8	228	1692	0.00	2.47	0.00	0.000	6	0.000	0.099	2341	2124	3331	0	0	0	0	0	0	28.83	14.76	28.83
1993	-1.50	-136.9	247.6	-12.3	259	2002	0.00	2.53	0.00	0.000	4	0.000	0.129	2341	706	3331	0	0	0	0	0	0	28.83	14.74	28.83
2038	-1.50	-136.9	253.1	-12.5	263	2047	0.00	2.58	0.00	0.000	6	0.000	0.130	2333	2127	3330	0	0	0	0	0	0	28.83	14.74	28.83
2348	-1.50	-136.9	290.8	-11.6	294	2358	0.10	2.60	0.00	0.000	4	0.330	0.145	2342	3523	3330	0	0	0	0	0	0	14.70	14.74	28.83
2394	-1.50	-136.9	296.0	-11.5	298	2403	0.00	2.45	0.00	0.000	6	0.000	0.096	2342	2118	3330	0	0	0	0	0	0	28.83	14.79	28.83
2704	-1.50	-136.9	328.9	-10.7	329	2711	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	2118	3330	0	0	0	0	0	0	28.83	28.83	28.83
3020	-1.50	-136.9	360.7	-10.1	360	3029	0.00	2.50	0.00	0.000	4	0.000	0.126	2342	706	3330	0	0	0	0	0	0	28.83	14.77	28.83
3075	-1.50	-136.9	367.2	-10.7	365	3080	0.00	2.55	0.00	0.000	6	0.000	0.127	2333	2121	3330	0	0	0	0	0	0	28.83	14.78	28.83
3392	-1.50	-136.9	399.7	-10.3	396	3398	0.00	0.00	0.00	0.000	6	0.000	0.000	2334	2122	3330	0	0	0	0	0	0	28.83	28.83	28.83
3700	-1.50	-136.9	431.3	-10.1	407	3706	0.00	2.53	0.00	0.000	4	0.000	0.129	2333	709	3330	0	0	0	0	0	0	28.83	14.80	28.83
3749	-1.50	-136.9	434.7	-10.3	408	3758	0.08	2.58	0.00	0.000	6	0.293	0.131	2345	2125	3330	0	0	0	0	0	0	14.71	14.78	28.83
4065	-1.50	-136.9	467.3	-9.7	419	4066	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	2125	3331	0	0	0	0	0	0	28.83	28.83	28.83
4361	-1.50	-136.9	496.3	-9.6	429	4362	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	2125	3331	0	0	0	0	0	0	28.83	28.83	28.83
4661	-1.50	-136.9	526.1	-10.2	439	4667	0.00	2.60	0.00	0.000	4	0.000	0.153	2336	3526	3331	0	0	0	0	0	0	28.83	14.81	28.83
4693	-1.50	-136.9	529.2	-10.2	440	4698	0.00	2.47	0.00	0.000	6	0.000	0.103	2336	2112	3331	0	0	0	0	0	0	28.83	14.85	28.83
4958	end dive: NO_VERTICAL_VELOCITY
state	4959	begin apogee
4971	-0.38	0.0	531.2	0.0	449	5111	0.82	0.00	132.88	2.219	6	0.187	0.000	2593	2205	2773	0	0	0	0	0	0	14.82	28.83	13.26
5117	end apogee: CONTROL_FINISHED_OK
state	5117	begin climb
5122	1.50	136.9	531.2	0.0	454	5278	1.35	3.00	141.02	2.181	4	0.161	0.152	3003	3610	2214	0	0	0	0	0	0	14.00	13.56	12.93
5459	1.50	136.9	495.6	13.9	465	5465	0.00	2.65	0.00	0.000	6	0.000	0.103	3012	2197	2208	0	0	0	0	0	0	28.83	14.10	28.83
5781	1.50	136.9	452.5	12.9	476	5787	0.00	2.60	0.00	0.000	4	0.000	0.132	3024	789	2205	0	0	0	0	0	0	28.83	14.38	28.83
5816	1.50	136.9	448.5	13.0	477	5821	0.00	2.60	0.00	0.000	6	0.000	0.121	3024	2199	2204	0	0	0	0	0	0	28.83	14.39	28.83
6143	1.50	136.9	405.8	12.7	488	6144	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	2199	2204	0	0	0	0	0	0	28.83	28.83	28.83
6447	1.50	136.9	367.5	12.4	514	6456	0.00	2.58	0.00	0.000	4	0.000	0.129	3034	791	2203	0	0	0	0	0	0	28.83	14.62	28.83
6492	1.50	136.9	361.5	11.9	518	6501	0.10	2.58	0.00	0.000	6	0.268	0.119	3006	2211	2202	0	0	0	0	0	0	14.57	14.62	28.83
6802	1.50	136.9	327.1	10.8	549	6811	0.00	2.60	0.00	0.000	4	0.000	0.138	3006	3613	2203	0	0	0	0	0	0	28.83	14.66	28.83
6849	1.50	136.9	321.7	12.2	553	6856	0.00	2.53	0.00	0.000	6	0.000	0.099	3016	2192	2202	0	0	0	0	0	0	28.83	14.73	28.83
7157	1.50	136.9	285.4	11.8	584	7166	0.00	2.50	0.00	0.000	4	0.000	0.125	3026	792	2202	0	0	0	0	0	0	28.83	14.70	28.83
7182	1.50	136.9	282.3	11.9	586	7191	0.00	2.53	0.00	0.000	6	0.000	0.116	3026	2204	2202	0	0	0	0	0	0	28.83	14.71	28.83
7492	1.50	136.9	246.2	11.7	617	7501	0.00	2.60	0.00	0.000	4	0.000	0.138	3026	3613	2202	0	0	0	0	0	0	28.83	14.72	28.83
7569	1.50	136.9	236.6	13.3	624	7577	0.15	2.50	0.00	0.000	6	0.285	0.099	3003	2199	2203	0	0	0	0	0	0	14.69	14.78	28.83
7878	1.50	136.9	203.5	10.0	655	7887	0.00	2.50	0.00	0.000	4	0.000	0.125	3012	791	2201	0	0	0	0	0	0	28.83	14.75	28.83
7953	1.50	136.9	195.5	10.9	662	7962	0.00	2.50	0.00	0.000	6	0.000	0.115	3012	2198	2201	0	0	0	0	0	0	28.83	14.76	28.83
8263	1.50	136.9	160.9	10.9	693	8272	0.00	2.60	0.00	0.000	4	0.000	0.139	3012	3611	2202	0	0	0	0	0	0	28.83	14.74	28.83
8348	1.50	136.9	150.2	12.8	701	8357	0.00	2.47	0.00	0.000	6	0.000	0.099	3023	2202	2202	0	0	0	0	0	0	28.83	14.79	28.83
8658	1.50	136.9	115.9	10.1	732	8667	0.00	2.62	0.00	0.000	4	0.000	0.142	3023	3610	2202	0	0	0	0	0	0	28.83	14.76	28.83
8683	1.50	136.9	113.4	10.2	734	8692	0.08	2.47	0.00	0.000	6	0.269	0.101	3011	2201	2202	0	0	0	0	0	0	14.71	14.80	28.83
8998	1.50	140.8	82.5	8.7	783	9005	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2201	2201	0	0	0	0	0	0	28.83	28.83	28.83
9315	1.54	166.8	57.8	7.8	844	9341	0.00	2.58	14.65	0.350	4	0.000	0.126	3021	788	2091	0	0	0	0	0	0	28.83	14.73	14.64
9377	1.56	183.7	52.9	8.2	854	9391	0.00	2.55	9.07	0.337	6	0.000	0.116	3020	2209	2022	0	0	0	0	0	0	28.83	14.76	14.63
9703	1.60	215.7	25.2	7.5	916	9728	0.00	2.60	16.77	0.252	4	0.000	0.129	3030	784	1890	0	0	0	0	0	0	28.83	14.72	14.66
9810	1.60	215.8	16.6	8.9	935	9817	0.00	2.58	0.00	0.000	6	0.000	0.122	3030	2206	1886	0	0	0	0	0	0	28.83	14.73	28.83
9972	end climb: SURFACE_DEPTH_REACHED
state	9972	begin surface coast
10008	end surface coast: CONTROL_FINISHED_OK
state	10008	begin surface