Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 134 * 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 134 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 18 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 14 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 -1009.9287 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 -1009.9287

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 18 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 14 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 134 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 021012,055929,6702.535,-5650.457,20,0.7,20,-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 2.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021012,060607,6702.524,-5650.569,20,0.7,20,-33.5 MHEAD_RNG_PITCHd_Wd 98.3,2054,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 534

Post-dive calculations and measurements:

FINISH 1.8,1.013326 _24V_AH 12.9,44.966

SM_CCo 9954,29.42,0.174,0,0,1587,290.19 _10V_AH 13.3,0.000

SM_GC 3.15,8.43,0.15,29.42,0.098,0.156,0.174,131,2110,1587,-11.62,0.37,290.19,0,0,0,0,0,0,14.77,14.74,14.67 FG_AHR_24Vo 0.000

RAFOS_CLK 401 FG_AHR_10Vo 0.000

RAFOS 0,1349164864,8.033334,8.017777,64,58,57,57,55,55,202,174,184,157,117,146 MEM 188708

RAFOS_FIX 6655.001465,-5701.076660,021012,080852,5,102,1.88 DATA_FILE_SIZE 46737,972

IRIDIUM_FIX 6636.54,-5650.71,021012,030336 CAP_FILE_SIZE 106302,0

TT8_MAMPS 0.028462,0.028462 CFSIZE 259252224,241315840

HUMID 46.81 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.78186 SOUNDSPEED 1463.7

TCM_TEMP 13.60 CURRENT 0.197,168.4,1

XPDR_PINGS 6 GPS 021012,085504,6702.006,-5647.074,35,0.9,35,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 455 130.06 SBE_CT 717 23 222.00

Roll_motor 98 173 219.87 SBE_O2 663 3 32.03

VBD_pump_during_apogee 322 2220 9221.56 nil 0 0 0.00

VBD_pump_during_surface 29 173 65.92 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 231 148 442.82 nil 0 0 0.00

Transponder_ping 1 420 8.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 21 7.67

TT8 2484 14 494.43

LPSleep 4973 2 152.81

TT8_Active 504 14 100.38

TT8_Sampling 1915 33 858.50

TT8_CF8 523 38 265.80

TT8_Kalman 0 0 0.00

Analog_circuits 1684 12 268.83

GPS_charging 0 0 0.00

Compass 1703 6 152.69

RAFOS 2520 1 50.27

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 13 begin dive

19 -1.50 -136.9 0.0 0.0 0 56 0.00 0.00 -35.20 0.000 2 0.000 0.000 130 2112 2253 0 0 0 0 0 0 28.83 28.83 28.83

62 -1.50 -136.9 3.1 -1.8 6 137 10.98 2.75 -53.80 0.000 4 0.455 0.174 2340 3528 3330 0 0 0 0 0 0 14.43 14.54 14.81

241 -1.50 -136.9 23.8 -19.2 37 248 0.00 2.55 0.00 0.000 6 0.000 0.105 2341 2113 3331 0 0 0 0 0 0 28.83 14.62 28.83

559 -1.50 -136.9 70.3 -13.4 98 565 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2114 3331 0 0 0 0 0 0 28.83 28.83 28.83

880 -1.50 -136.9 113.0 -13.6 150 889 0.00 2.70 0.00 0.000 4 0.000 0.158 2330 3523 3332 0 0 0 0 0 0 28.83 14.67 28.83

949 -1.50 -136.9 122.0 -13.8 156 957 0.10 2.50 0.00 0.000 6 0.310 0.103 2349 2120 3331 0 0 0 0 0 0 14.62 14.73 28.83

1258 -1.50 -136.9 162.2 -12.7 187 1266 0.00 2.53 0.00 0.000 4 0.000 0.132 2349 710 3331 0 0 0 0 0 0 28.83 14.71 28.83

1285 -1.50 -136.9 165.3 -12.7 189 1293 0.00 2.60 0.00 0.000 6 0.000 0.132 2341 2128 3331 0 0 0 0 0 0 28.83 14.73 28.83

1594 -1.50 -136.9 203.8 -12.0 220 1603 0.00 2.62 0.00 0.000 4 0.000 0.148 2330 3531 3331 0 0 0 0 0 0 28.83 14.71 28.83

1691 -1.50 -136.9 215.8 -12.6 229 1700 0.10 2.50 0.00 0.000 6 0.311 0.098 2348 2114 3331 0 0 0 0 0 0 14.67 14.78 28.83

2000 -1.50 -136.9 252.2 -12.2 260 2009 0.00 2.50 0.00 0.000 4 0.000 0.129 2349 706 3330 0 0 0 0 0 0 28.83 14.76 28.83

2075 -1.50 -136.9 261.0 -11.9 267 2083 0.00 2.58 0.00 0.000 6 0.000 0.130 2340 2126 3330 0 0 0 0 0 0 28.83 14.73 28.83

2385 -1.50 -136.9 294.4 -10.5 298 2394 0.00 2.60 0.00 0.000 4 0.000 0.145 2330 3528 3328 0 0 0 0 0 0 28.83 14.76 28.83

2430 -1.50 -136.9 299.3 -10.8 302 2440 0.08 2.45 0.00 0.000 6 0.281 0.096 2349 2121 3330 0 0 0 0 0 0 14.68 14.80 28.83

2740 -1.50 -136.9 331.7 -10.4 333 2750 0.00 2.50 0.00 0.000 4 0.000 0.128 2350 712 3329 0 0 0 0 0 0 28.83 14.77 28.83

2780 -1.50 -136.9 335.7 -11.1 336 2787 0.00 2.58 0.00 0.000 6 0.000 0.130 2342 2125 3329 0 0 0 0 0 0 28.83 14.78 28.83

3087 -1.50 -136.9 368.2 -10.1 367 3093 0.00 0.00 0.00 0.000 6 0.000 0.000 2342 2125 3329 0 0 0 0 0 0 28.83 28.83 28.83

3424 -1.50 -136.9 403.2 -10.7 398 3425 0.00 0.00 0.00 0.000 6 0.000 0.000 2343 2125 3329 0 0 0 0 0 0 28.83 28.83 28.83

3718 -1.50 -136.9 434.5 -10.5 408 3719 0.00 0.00 0.00 0.000 6 0.000 0.000 2342 2125 3329 0 0 0 0 0 0 28.83 28.83 28.83

4018 -1.50 -136.9 465.2 -10.2 418 4024 0.00 2.53 0.00 0.000 4 0.000 0.130 2343 711 3330 0 0 0 0 0 0 28.83 14.83 28.83

4062 -1.50 -136.9 468.7 -10.3 419 4068 0.00 2.55 0.00 0.000 6 0.000 0.132 2335 2117 3329 0 0 0 0 0 0 28.83 14.80 28.83

4380 -1.50 -136.9 504.4 -11.0 430 4381 0.00 0.00 0.00 0.000 6 0.000 0.000 2335 2117 3330 0 0 0 0 0 0 28.83 28.83 28.83

4680 -1.50 -136.9 533.2 -8.0 440 4685 0.00 2.53 0.00 0.000 4 0.000 0.134 2335 709 3331 0 0 0 0 0 0 28.83 14.84 28.83

4888 end dive: NO_VERTICAL_VELOCITY

state 4888 begin apogee

4904 -0.38 0.0 533.4 0.0 447 5043 0.82 0.00 133.32 2.220 6 0.179 0.000 2595 2206 2773 0 0 0 0 0 0 14.83 28.83 13.26

5048 end apogee: CONTROL_FINISHED_OK

state 5048 begin climb

5054 1.50 136.9 533.4 0.0 452 5209 1.35 2.90 140.98 2.174 4 0.166 0.145 3003 3611 2214 0 0 0 0 0 0 14.00 13.58 12.94

5430 1.50 136.9 494.8 13.4 464 5437 0.00 2.62 0.00 0.000 6 0.000 0.100 3013 2201 2208 0 0 0 0 0 0 28.83 14.17 28.83

5737 1.50 136.9 451.7 12.6 475 5742 0.00 2.58 0.00 0.000 4 0.000 0.127 3024 785 2205 0 0 0 0 0 0 28.83 14.41 28.83

5801 1.50 136.9 443.6 12.9 477 5807 0.00 2.60 0.00 0.000 6 0.000 0.118 3024 2199 2204 0 0 0 0 0 0 28.83 14.44 28.83

6128 1.50 136.9 399.0 13.3 488 6137 0.00 2.65 0.00 0.000 4 0.000 0.140 3024 3611 2205 0 0 0 0 0 0 28.83 14.56 28.83

6203 1.50 136.9 388.1 14.8 495 6212 0.10 2.50 0.00 0.000 6 0.268 0.099 3007 2203 2204 0 0 0 0 0 0 14.52 14.61 28.83

6513 1.50 136.9 347.5 12.8 526 6522 0.00 2.53 0.00 0.000 4 0.000 0.125 3016 789 2203 0 0 0 0 0 0 28.83 14.64 28.83

6568 1.50 136.9 340.3 12.8 531 6576 0.00 2.53 0.00 0.000 6 0.000 0.115 3017 2202 2202 0 0 0 0 0 0 28.83 14.66 28.83

6879 1.50 136.9 301.6 13.0 562 6887 0.00 2.60 0.00 0.000 4 0.000 0.139 3016 3610 2203 0 0 0 0 0 0 28.83 14.68 28.83

6903 1.50 136.9 298.4 12.5 564 6911 0.00 2.50 0.00 0.000 6 0.000 0.100 3027 2194 2203 0 0 0 0 0 0 28.83 14.71 28.83

7213 1.50 136.9 260.3 11.9 595 7222 0.00 2.53 0.00 0.000 4 0.000 0.129 3037 785 2202 0 0 0 0 0 0 28.83 14.71 28.83

7268 1.50 136.9 253.5 12.9 600 7277 0.10 2.53 0.00 0.000 6 0.262 0.119 3009 2199 2202 0 0 0 0 0 0 14.66 14.71 28.83

7578 1.50 136.9 217.7 11.5 631 7584 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2199 2201 0 0 0 0 0 0 28.83 28.83 28.83

7888 1.50 136.9 185.3 9.8 662 7897 0.00 2.62 0.00 0.000 4 0.000 0.142 3010 3616 2202 0 0 0 0 0 0 28.83 14.75 28.83

7926 1.50 136.9 182.0 9.3 665 7934 0.00 2.53 0.00 0.000 6 0.000 0.101 3018 2190 2203 0 0 0 0 0 0 28.83 14.80 28.83

8235 1.50 136.9 149.5 10.6 696 8243 0.00 2.47 0.00 0.000 4 0.000 0.127 3029 794 2201 0 0 0 0 0 0 28.83 14.76 28.83

8304 1.50 136.9 142.7 10.7 702 8312 0.10 2.53 0.00 0.000 6 0.298 0.119 3008 2201 2201 0 0 0 0 0 0 14.72 14.78 28.83

8612 1.50 136.9 109.8 10.7 733 8619 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2201 2201 0 0 0 0 0 0 28.83 28.83 28.83

8926 1.50 136.9 80.0 9.0 785 8933 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2201 2201 0 0 0 0 0 0 28.83 28.83 28.83

9245 1.52 157.7 52.4 8.0 846 9259 0.00 2.65 9.65 0.341 4 0.000 0.140 3008 3616 2128 0 0 0 0 0 0 28.83 14.74 14.65

9290 1.52 157.7 48.7 9.0 853 9297 0.00 2.53 0.00 0.000 6 0.000 0.102 3018 2195 2127 0 0 0 0 0 0 28.83 14.79 28.83

9609 1.61 229.3 27.0 5.8 914 9658 0.00 2.75 38.05 0.254 4 0.000 0.148 3018 3608 1836 0 0 0 0 0 0 28.83 14.67 14.64

9758 1.61 229.3 15.1 9.7 940 9765 0.00 2.53 0.00 0.000 6 0.000 0.103 3027 2192 1828 0 0 0 0 0 0 28.83 14.73 28.83

9895 end climb: SURFACE_DEPTH_REACHED

state 9900 begin surface coast

9926 end surface coast: CONTROL_FINISHED_OK

state 9926 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	134	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	18	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	14	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	-1009.9287	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	021012,055929,6702.535,-5650.457,20,0.7,20,-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	2.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021012,060607,6702.524,-5650.569,20,0.7,20,-33.5	MHEAD_RNG_PITCHd_Wd	98.3,2054,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	534

FINISH	1.8,1.013326	_24V_AH	12.9,44.966
SM_CCo	9954,29.42,0.174,0,0,1587,290.19	_10V_AH	13.3,0.000
SM_GC	3.15,8.43,0.15,29.42,0.098,0.156,0.174,131,2110,1587,-11.62,0.37,290.19,0,0,0,0,0,0,14.77,14.74,14.67	FG_AHR_24Vo	0.000
RAFOS_CLK	401	FG_AHR_10Vo	0.000
RAFOS	0,1349164864,8.033334,8.017777,64,58,57,57,55,55,202,174,184,157,117,146	MEM	188708
RAFOS_FIX	6655.001465,-5701.076660,021012,080852,5,102,1.88	DATA_FILE_SIZE	46737,972
IRIDIUM_FIX	6636.54,-5650.71,021012,030336	CAP_FILE_SIZE	106302,0
TT8_MAMPS	0.028462,0.028462	CFSIZE	259252224,241315840
HUMID	46.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.78186	SOUNDSPEED	1463.7
TCM_TEMP	13.60	CURRENT	0.197,168.4,1
XPDR_PINGS	6	GPS	021012,085504,6702.006,-5647.074,35,0.9,35,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	455	130.06	SBE_CT	717	23	222.00
Roll_motor	98	173	219.87	SBE_O2	663	3	32.03
VBD_pump_during_apogee	322	2220	9221.56	nil	0	0	0.00
VBD_pump_during_surface	29	173	65.92	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	231	148	442.82	nil	0	0	0.00
Transponder_ping	1	420	8.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	21	7.67
TT8	2484	14	494.43
LPSleep	4973	2	152.81
TT8_Active	504	14	100.38
TT8_Sampling	1915	33	858.50
TT8_CF8	523	38	265.80
TT8_Kalman	0	0	0.00
Analog_circuits	1684	12	268.83
GPS_charging	0	0	0.00
Compass	1703	6	152.69
RAFOS	2520	1	50.27
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	13	begin dive
19	-1.50	-136.9	0.0	0.0	0	56	0.00	0.00	-35.20	0.000	2	0.000	0.000	130	2112	2253	0	0	0	0	0	0	28.83	28.83	28.83
62	-1.50	-136.9	3.1	-1.8	6	137	10.98	2.75	-53.80	0.000	4	0.455	0.174	2340	3528	3330	0	0	0	0	0	0	14.43	14.54	14.81
241	-1.50	-136.9	23.8	-19.2	37	248	0.00	2.55	0.00	0.000	6	0.000	0.105	2341	2113	3331	0	0	0	0	0	0	28.83	14.62	28.83
559	-1.50	-136.9	70.3	-13.4	98	565	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2114	3331	0	0	0	0	0	0	28.83	28.83	28.83
880	-1.50	-136.9	113.0	-13.6	150	889	0.00	2.70	0.00	0.000	4	0.000	0.158	2330	3523	3332	0	0	0	0	0	0	28.83	14.67	28.83
949	-1.50	-136.9	122.0	-13.8	156	957	0.10	2.50	0.00	0.000	6	0.310	0.103	2349	2120	3331	0	0	0	0	0	0	14.62	14.73	28.83
1258	-1.50	-136.9	162.2	-12.7	187	1266	0.00	2.53	0.00	0.000	4	0.000	0.132	2349	710	3331	0	0	0	0	0	0	28.83	14.71	28.83
1285	-1.50	-136.9	165.3	-12.7	189	1293	0.00	2.60	0.00	0.000	6	0.000	0.132	2341	2128	3331	0	0	0	0	0	0	28.83	14.73	28.83
1594	-1.50	-136.9	203.8	-12.0	220	1603	0.00	2.62	0.00	0.000	4	0.000	0.148	2330	3531	3331	0	0	0	0	0	0	28.83	14.71	28.83
1691	-1.50	-136.9	215.8	-12.6	229	1700	0.10	2.50	0.00	0.000	6	0.311	0.098	2348	2114	3331	0	0	0	0	0	0	14.67	14.78	28.83
2000	-1.50	-136.9	252.2	-12.2	260	2009	0.00	2.50	0.00	0.000	4	0.000	0.129	2349	706	3330	0	0	0	0	0	0	28.83	14.76	28.83
2075	-1.50	-136.9	261.0	-11.9	267	2083	0.00	2.58	0.00	0.000	6	0.000	0.130	2340	2126	3330	0	0	0	0	0	0	28.83	14.73	28.83
2385	-1.50	-136.9	294.4	-10.5	298	2394	0.00	2.60	0.00	0.000	4	0.000	0.145	2330	3528	3328	0	0	0	0	0	0	28.83	14.76	28.83
2430	-1.50	-136.9	299.3	-10.8	302	2440	0.08	2.45	0.00	0.000	6	0.281	0.096	2349	2121	3330	0	0	0	0	0	0	14.68	14.80	28.83
2740	-1.50	-136.9	331.7	-10.4	333	2750	0.00	2.50	0.00	0.000	4	0.000	0.128	2350	712	3329	0	0	0	0	0	0	28.83	14.77	28.83
2780	-1.50	-136.9	335.7	-11.1	336	2787	0.00	2.58	0.00	0.000	6	0.000	0.130	2342	2125	3329	0	0	0	0	0	0	28.83	14.78	28.83
3087	-1.50	-136.9	368.2	-10.1	367	3093	0.00	0.00	0.00	0.000	6	0.000	0.000	2342	2125	3329	0	0	0	0	0	0	28.83	28.83	28.83
3424	-1.50	-136.9	403.2	-10.7	398	3425	0.00	0.00	0.00	0.000	6	0.000	0.000	2343	2125	3329	0	0	0	0	0	0	28.83	28.83	28.83
3718	-1.50	-136.9	434.5	-10.5	408	3719	0.00	0.00	0.00	0.000	6	0.000	0.000	2342	2125	3329	0	0	0	0	0	0	28.83	28.83	28.83
4018	-1.50	-136.9	465.2	-10.2	418	4024	0.00	2.53	0.00	0.000	4	0.000	0.130	2343	711	3330	0	0	0	0	0	0	28.83	14.83	28.83
4062	-1.50	-136.9	468.7	-10.3	419	4068	0.00	2.55	0.00	0.000	6	0.000	0.132	2335	2117	3329	0	0	0	0	0	0	28.83	14.80	28.83
4380	-1.50	-136.9	504.4	-11.0	430	4381	0.00	0.00	0.00	0.000	6	0.000	0.000	2335	2117	3330	0	0	0	0	0	0	28.83	28.83	28.83
4680	-1.50	-136.9	533.2	-8.0	440	4685	0.00	2.53	0.00	0.000	4	0.000	0.134	2335	709	3331	0	0	0	0	0	0	28.83	14.84	28.83
4888	end dive: NO_VERTICAL_VELOCITY
state	4888	begin apogee
4904	-0.38	0.0	533.4	0.0	447	5043	0.82	0.00	133.32	2.220	6	0.179	0.000	2595	2206	2773	0	0	0	0	0	0	14.83	28.83	13.26
5048	end apogee: CONTROL_FINISHED_OK
state	5048	begin climb
5054	1.50	136.9	533.4	0.0	452	5209	1.35	2.90	140.98	2.174	4	0.166	0.145	3003	3611	2214	0	0	0	0	0	0	14.00	13.58	12.94
5430	1.50	136.9	494.8	13.4	464	5437	0.00	2.62	0.00	0.000	6	0.000	0.100	3013	2201	2208	0	0	0	0	0	0	28.83	14.17	28.83
5737	1.50	136.9	451.7	12.6	475	5742	0.00	2.58	0.00	0.000	4	0.000	0.127	3024	785	2205	0	0	0	0	0	0	28.83	14.41	28.83
5801	1.50	136.9	443.6	12.9	477	5807	0.00	2.60	0.00	0.000	6	0.000	0.118	3024	2199	2204	0	0	0	0	0	0	28.83	14.44	28.83
6128	1.50	136.9	399.0	13.3	488	6137	0.00	2.65	0.00	0.000	4	0.000	0.140	3024	3611	2205	0	0	0	0	0	0	28.83	14.56	28.83
6203	1.50	136.9	388.1	14.8	495	6212	0.10	2.50	0.00	0.000	6	0.268	0.099	3007	2203	2204	0	0	0	0	0	0	14.52	14.61	28.83
6513	1.50	136.9	347.5	12.8	526	6522	0.00	2.53	0.00	0.000	4	0.000	0.125	3016	789	2203	0	0	0	0	0	0	28.83	14.64	28.83
6568	1.50	136.9	340.3	12.8	531	6576	0.00	2.53	0.00	0.000	6	0.000	0.115	3017	2202	2202	0	0	0	0	0	0	28.83	14.66	28.83
6879	1.50	136.9	301.6	13.0	562	6887	0.00	2.60	0.00	0.000	4	0.000	0.139	3016	3610	2203	0	0	0	0	0	0	28.83	14.68	28.83
6903	1.50	136.9	298.4	12.5	564	6911	0.00	2.50	0.00	0.000	6	0.000	0.100	3027	2194	2203	0	0	0	0	0	0	28.83	14.71	28.83
7213	1.50	136.9	260.3	11.9	595	7222	0.00	2.53	0.00	0.000	4	0.000	0.129	3037	785	2202	0	0	0	0	0	0	28.83	14.71	28.83
7268	1.50	136.9	253.5	12.9	600	7277	0.10	2.53	0.00	0.000	6	0.262	0.119	3009	2199	2202	0	0	0	0	0	0	14.66	14.71	28.83
7578	1.50	136.9	217.7	11.5	631	7584	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2199	2201	0	0	0	0	0	0	28.83	28.83	28.83
7888	1.50	136.9	185.3	9.8	662	7897	0.00	2.62	0.00	0.000	4	0.000	0.142	3010	3616	2202	0	0	0	0	0	0	28.83	14.75	28.83
7926	1.50	136.9	182.0	9.3	665	7934	0.00	2.53	0.00	0.000	6	0.000	0.101	3018	2190	2203	0	0	0	0	0	0	28.83	14.80	28.83
8235	1.50	136.9	149.5	10.6	696	8243	0.00	2.47	0.00	0.000	4	0.000	0.127	3029	794	2201	0	0	0	0	0	0	28.83	14.76	28.83
8304	1.50	136.9	142.7	10.7	702	8312	0.10	2.53	0.00	0.000	6	0.298	0.119	3008	2201	2201	0	0	0	0	0	0	14.72	14.78	28.83
8612	1.50	136.9	109.8	10.7	733	8619	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2201	2201	0	0	0	0	0	0	28.83	28.83	28.83
8926	1.50	136.9	80.0	9.0	785	8933	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2201	2201	0	0	0	0	0	0	28.83	28.83	28.83
9245	1.52	157.7	52.4	8.0	846	9259	0.00	2.65	9.65	0.341	4	0.000	0.140	3008	3616	2128	0	0	0	0	0	0	28.83	14.74	14.65
9290	1.52	157.7	48.7	9.0	853	9297	0.00	2.53	0.00	0.000	6	0.000	0.102	3018	2195	2127	0	0	0	0	0	0	28.83	14.79	28.83
9609	1.61	229.3	27.0	5.8	914	9658	0.00	2.75	38.05	0.254	4	0.000	0.148	3018	3608	1836	0	0	0	0	0	0	28.83	14.67	14.64
9758	1.61	229.3	15.1	9.7	940	9765	0.00	2.53	0.00	0.000	6	0.000	0.103	3027	2192	1828	0	0	0	0	0	0	28.83	14.73	28.83
9895	end climb: SURFACE_DEPTH_REACHED
state	9900	begin surface coast
9926	end surface coast: CONTROL_FINISHED_OK
state	9926	begin surface