Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 171 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HD_B 0.0103 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

MISSION 21 HD_C 3.68e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 171 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 63 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 51 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 1.5 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 3279 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 -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 2 T_GPS_CHARGE -191303.83 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 0.0038399999 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 0.0038399999 PRESSURE_YINT -22.860044 T_DIVE 360

CALL_WAIT 60 HD_B 0.0103 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 3.68e-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 -191303.83

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 1.5 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 3279 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3598 USE_BATHY -2

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 63 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 51 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 171 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 210712,030704,6651.500,-6008.320,33,0.9,33,-34.0 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 2.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210712,031417,6651.406,-6008.537,16,1.6,16,-34.0 MHEAD_RNG_PITCHd_Wd 212.0,18744,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 624

Post-dive calculations and measurements:

FREEZE 1.38,3.194,-1.687,2,1,0 ALTIM_TOP_PING 19.9,18.4

FINISH 1.4,1.024558 _24V_AH 23.0,21.683

SM_CCo 10554,74.60,0.075,0,0,1647,400.08 _10V_AH 10.1,24.845

SM_GC 2.54,8.35,2.53,74.60,0.059,0.040,0.075,338,2096,1647,-8.66,-1.39,400.08,0,0,1,0,0,0,26.28,26.32,26.14 FG_AHR_24Vo 0.000

RAFOS_CLK 538 FG_AHR_10Vo 0.000

RAFOS 0,1342843263,4.033333,4.017500,45,44,41,40,40,38,1469,1234,1847,1485,768,1844 MEM 151564

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 53355,1159

IRIDIUM_FIX 6625.71,-6000.37,200712,232346 CAP_FILE_SIZE 130031,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,231632896

HUMID 41.92 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0

INTERNAL_PRESSURE 9.00425 SOUNDSPEED 1454.6

TCM_TEMP 15.40 CURRENT 0.050,185.2,1

XPDR_PINGS 0 GPS 210712,061313,6649.906,-6009.590,20,1.6,20,-34.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 248 116.94 SBE_CT 808 23 445.65

Roll_motor 101 69 161.72 SBE_O2 858 5 118.31

VBD_pump_during_apogee 307 1279 9046.55 nil 0 0 0.00

VBD_pump_during_surface 74 74 128.63 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 298 277 1900.36 nil 0 0 0.00

Transponder_ping 2 420 19.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.61

TT8 2992 17 542.90

LPSleep 4900 2 114.34

TT8_Active 559 17 101.57

TT8_Sampling 2304 40 940.99

TT8_CF8 304 48 149.78

TT8_Kalman 0 0 0.00

Analog_circuits 1936 12 234.74

GPS_charging 0 0 0.00

Compass 1986 7 150.25

RAFOS 2520 3 76.36

Transponder 14 30 4.54

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

17 -0.75 -146.6 0.0 0.0 0 70 0.00 0.00 -50.78 0.000 2 0.000 0.000 340 2115 2794 0 0 0 0 0 0 28.83 28.83 28.83

73 -0.75 -146.6 3.0 -1.4 9 124 10.05 2.17 -30.20 0.000 4 0.249 0.070 2878 3493 3882 0 0 0 0 0 0 25.88 26.23 26.59

353 -0.75 -146.6 44.6 -13.9 62 360 0.00 2.08 0.00 0.000 6 0.000 0.031 2878 2101 3889 0 0 0 0 0 0 28.83 26.39 28.83

665 -0.75 -146.6 83.9 -12.0 123 672 0.00 2.17 0.00 0.000 4 0.000 0.051 2869 3499 3890 0 0 0 0 0 0 28.83 26.34 28.83

900 -0.75 -146.6 114.5 -12.9 158 909 0.00 2.08 0.00 0.000 6 0.000 0.032 2868 2109 3890 0 0 0 0 0 0 28.83 26.48 28.83

1211 -0.75 -146.6 156.2 -13.9 189 1219 0.00 2.15 0.00 0.000 4 0.000 0.053 2857 3500 3890 0 0 0 0 0 0 28.83 26.41 28.83

1447 -0.75 -146.6 190.5 -14.2 212 1456 0.12 2.05 0.00 0.000 6 0.176 0.033 2888 2122 3890 0 0 0 0 0 0 26.27 26.54 28.83

1755 -0.75 -146.6 225.4 -11.1 243 1765 0.00 2.15 0.00 0.000 4 0.000 0.053 2880 3501 3889 0 0 0 0 0 0 28.83 26.46 28.83

1821 -0.75 -146.6 232.9 -12.3 249 1828 0.00 2.03 0.00 0.000 6 0.000 0.032 2880 2126 3888 0 0 0 0 0 0 28.83 26.57 28.83

2129 -0.75 -146.6 270.3 -11.4 280 2133 0.00 2.12 0.00 0.000 4 0.000 0.053 2870 3500 3888 0 0 0 0 0 0 28.83 26.48 28.83

2241 -0.75 -146.6 283.6 -11.4 291 2251 0.00 2.03 0.00 0.000 6 0.000 0.033 2871 2136 3888 0 0 0 0 0 0 28.83 26.59 28.83

2552 -0.75 -146.6 316.1 -9.9 322 2560 0.00 2.10 0.00 0.000 4 0.000 0.052 2859 3500 3887 0 0 0 0 0 0 28.83 26.51 28.83

2634 -0.75 -146.6 324.6 -10.2 330 2642 0.00 2.00 0.00 0.000 6 0.000 0.032 2859 2145 3887 0 0 0 0 0 0 28.83 26.61 28.83

2944 -0.75 -146.6 355.7 -10.2 361 2953 0.12 2.05 0.00 0.000 4 0.178 0.050 2888 3494 3887 0 0 0 0 0 0 26.37 26.52 28.83

3061 -0.75 -146.6 365.5 -8.5 372 3068 0.00 1.95 0.00 0.000 6 0.000 0.031 2888 2159 3887 0 0 0 0 0 0 28.83 26.63 28.83

3367 -0.75 -146.6 391.8 -8.6 403 3376 0.00 2.03 0.00 0.000 4 0.000 0.052 2878 3494 3887 0 0 0 0 0 0 28.83 26.53 28.83

3449 -0.75 -146.6 399.6 -9.4 411 3460 0.00 1.95 0.00 0.000 6 0.000 0.031 2878 2163 3887 0 0 0 0 0 0 28.83 26.65 28.83

3759 -0.75 -146.6 429.5 -9.8 442 3768 0.00 2.08 0.00 0.000 4 0.000 0.051 2868 3506 3887 0 0 0 0 0 0 28.83 26.54 28.83

3814 -0.75 -146.6 435.0 -10.7 447 3822 0.00 1.95 0.00 0.000 6 0.000 0.031 2868 2167 3886 0 0 0 0 0 0 28.83 26.65 28.83

4121 -0.75 -146.6 466.5 -10.1 478 4130 0.00 2.05 0.00 0.000 4 0.000 0.051 2858 3498 3887 0 0 0 0 0 0 28.83 26.55 28.83

4184 -0.75 -146.6 473.1 -10.9 484 4193 0.12 1.95 0.00 0.000 6 0.167 0.031 2889 2165 3887 0 0 0 0 0 0 26.38 26.66 28.83

4493 -0.75 -146.6 501.0 -9.0 515 4503 0.00 2.03 0.00 0.000 4 0.000 0.050 2882 3492 3887 0 0 0 0 0 0 28.83 26.55 28.83

4567 -0.75 -146.6 508.1 -9.7 522 4576 0.00 1.92 0.00 0.000 6 0.000 0.031 2882 2176 3886 0 0 0 0 0 0 28.83 26.67 28.83

4876 -0.75 -146.6 537.8 -9.2 553 4885 0.00 2.05 0.00 0.000 4 0.000 0.051 2872 3503 3887 0 0 0 0 0 0 28.83 26.56 28.83

4948 -0.75 -146.6 544.9 -10.0 560 4957 0.00 1.92 0.00 0.000 6 0.000 0.031 2872 2188 3886 0 0 0 0 0 0 28.83 26.67 28.83

5258 -0.75 -146.6 574.8 -9.3 591 5267 0.00 2.03 0.00 0.000 4 0.000 0.051 2862 3499 3887 0 0 0 0 0 0 28.83 26.56 28.83

5311 -0.75 -146.6 579.8 -10.1 596 5319 0.00 1.92 0.00 0.000 6 0.000 0.031 2862 2183 3887 0 0 0 0 0 0 28.83 26.68 28.83

5641 -0.75 -146.6 611.8 -9.5 621 5644 0.00 2.03 0.00 0.000 4 0.000 0.051 2852 3497 3887 0 0 0 0 0 0 28.83 26.57 28.83

5720 -0.75 -146.6 618.5 -10.1 623 5725 0.15 1.88 0.00 0.000 6 0.159 0.031 2891 2203 3886 0 0 0 0 0 0 26.38 26.69 28.83

5785 end dive: TARGET_DEPTH_EXCEEDED

state 5785 begin apogee

5792 -0.17 0.0 625.9 -9.6 625 5919 0.55 0.00 121.03 1.280 4 0.134 0.000 3072 1882 3278 0 0 0 0 0 0 26.35 28.83 23.83

5922 end apogee: CONTROL_FINISHED_OK

state 5922 begin climb

5925 0.75 146.6 629.7 0.0 629 6061 0.85 2.22 124.25 1.247 4 0.074 0.037 3369 521 2681 0 0 0 0 0 0 24.82 24.85 22.97

6087 0.81 196.3 623.6 7.1 634 6136 0.00 2.33 43.67 1.191 6 0.000 0.035 3370 1893 2478 0 0 0 0 0 0 28.83 24.27 23.01

6440 0.81 196.3 566.9 15.5 660 6449 0.00 2.20 0.00 0.000 4 0.000 0.047 3370 3300 2467 0 0 0 0 0 0 28.83 25.37 28.83

6465 0.81 196.3 563.3 15.6 662 6472 0.00 2.15 0.00 0.000 6 0.000 0.031 3379 1913 2467 0 0 0 0 0 0 28.83 25.46 28.83

6772 0.81 196.3 514.7 16.0 693 6781 0.00 2.20 0.00 0.000 4 0.000 0.040 3389 501 2466 0 0 0 0 0 0 28.83 25.85 28.83

6888 0.81 196.3 497.1 15.0 704 6895 0.00 2.20 0.00 0.000 6 0.000 0.035 3389 1898 2465 0 0 0 0 0 0 28.83 25.96 28.83

7196 0.81 196.3 446.6 16.5 735 7197 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 1897 2465 0 0 0 0 0 0 28.83 28.83 28.83

7497 0.81 196.3 396.5 17.3 765 7506 0.00 2.17 0.00 0.000 4 0.000 0.040 3399 500 2464 0 0 0 0 0 0 28.83 26.22 28.83

7522 0.81 196.3 392.5 17.6 767 7530 0.00 2.17 0.00 0.000 6 0.000 0.036 3399 1896 2464 0 0 0 0 0 0 28.83 26.25 28.83

7829 0.81 196.3 339.0 16.8 798 7830 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 1896 2463 0 0 0 0 0 0 28.83 28.83 28.83

8132 0.81 196.3 290.3 15.9 828 8140 0.00 2.15 0.00 0.000 4 0.000 0.040 3407 508 2463 0 0 0 0 0 0 28.83 26.36 28.83

8206 0.81 196.3 278.4 16.1 835 8214 0.00 2.12 0.00 0.000 6 0.000 0.037 3408 1880 2463 0 0 0 0 0 0 28.83 26.38 28.83

8514 0.81 196.3 230.7 14.9 866 8522 0.00 2.15 0.00 0.000 4 0.000 0.039 3417 494 2463 0 0 0 0 0 0 28.83 26.41 28.83

8548 0.81 196.3 225.9 15.1 869 8555 0.00 2.15 0.00 0.000 6 0.000 0.036 3417 1884 2463 0 0 0 0 0 0 28.83 26.44 28.83

8856 0.81 196.3 180.9 13.4 900 8865 0.00 2.12 0.00 0.000 4 0.000 0.040 3426 503 2462 0 0 0 0 0 0 28.83 26.45 28.83

8922 0.81 196.3 172.1 13.8 906 8929 0.12 2.12 0.00 0.000 6 0.187 0.037 3394 1879 2463 0 0 0 0 0 0 26.22 26.47 28.83

9228 0.81 196.3 135.9 11.6 937 9230 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 1878 2463 0 0 0 0 0 0 28.83 28.83 28.83

9531 0.81 196.3 99.5 12.0 967 9538 0.00 2.15 0.00 0.000 4 0.000 0.041 3400 499 2463 0 0 0 0 0 0 28.83 26.50 28.83

9576 0.81 196.3 93.7 12.5 975 9584 0.00 2.10 0.00 0.000 6 0.000 0.037 3400 1867 2463 0 0 0 0 0 0 28.83 26.53 28.83

9889 0.81 196.3 57.4 10.6 1036 9896 0.00 2.20 0.00 0.000 4 0.000 0.048 3400 3313 2463 0 0 0 0 0 0 28.83 26.50 28.83

9918 0.81 196.3 53.9 12.1 1041 9925 0.00 2.17 0.00 0.000 6 0.000 0.032 3410 1859 2463 0 0 0 0 0 0 28.83 26.56 28.83

10232 0.85 233.6 22.4 7.6 1102 10257 0.00 2.08 18.38 0.861 4 0.000 0.041 3420 501 2325 0 0 0 0 0 0 28.83 26.24 25.41

10478 end climb: SURFACE_DEPTH_REACHED

state 10479 begin surface coast

10531 end surface coast: CONTROL_FINISHED_OK

state 10531 begin surface

ID	108	HD_B	0.0103	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
MISSION	21	HD_C	3.68e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	171	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	63	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	51	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	1.5	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	3279	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	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	2	T_GPS_CHARGE	-191303.83	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	0.0038399999	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017831143

GPS1	210712,030704,6651.500,-6008.320,33,0.9,33,-34.0	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	2.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210712,031417,6651.406,-6008.537,16,1.6,16,-34.0	MHEAD_RNG_PITCHd_Wd	212.0,18744,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	624

FREEZE	1.38,3.194,-1.687,2,1,0	ALTIM_TOP_PING	19.9,18.4
FINISH	1.4,1.024558	_24V_AH	23.0,21.683
SM_CCo	10554,74.60,0.075,0,0,1647,400.08	_10V_AH	10.1,24.845
SM_GC	2.54,8.35,2.53,74.60,0.059,0.040,0.075,338,2096,1647,-8.66,-1.39,400.08,0,0,1,0,0,0,26.28,26.32,26.14	FG_AHR_24Vo	0.000
RAFOS_CLK	538	FG_AHR_10Vo	0.000
RAFOS	0,1342843263,4.033333,4.017500,45,44,41,40,40,38,1469,1234,1847,1485,768,1844	MEM	151564
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	53355,1159
IRIDIUM_FIX	6625.71,-6000.37,200712,232346	CAP_FILE_SIZE	130031,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,231632896
HUMID	41.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
INTERNAL_PRESSURE	9.00425	SOUNDSPEED	1454.6
TCM_TEMP	15.40	CURRENT	0.050,185.2,1
XPDR_PINGS	0	GPS	210712,061313,6649.906,-6009.590,20,1.6,20,-34.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	248	116.94	SBE_CT	808	23	445.65
Roll_motor	101	69	161.72	SBE_O2	858	5	118.31
VBD_pump_during_apogee	307	1279	9046.55	nil	0	0	0.00
VBD_pump_during_surface	74	74	128.63	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	298	277	1900.36	nil	0	0	0.00
Transponder_ping	2	420	19.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.61
TT8	2992	17	542.90
LPSleep	4900	2	114.34
TT8_Active	559	17	101.57
TT8_Sampling	2304	40	940.99
TT8_CF8	304	48	149.78
TT8_Kalman	0	0	0.00
Analog_circuits	1936	12	234.74
GPS_charging	0	0	0.00
Compass	1986	7	150.25
RAFOS	2520	3	76.36
Transponder	14	30	4.54

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
17	-0.75	-146.6	0.0	0.0	0	70	0.00	0.00	-50.78	0.000	2	0.000	0.000	340	2115	2794	0	0	0	0	0	0	28.83	28.83	28.83
73	-0.75	-146.6	3.0	-1.4	9	124	10.05	2.17	-30.20	0.000	4	0.249	0.070	2878	3493	3882	0	0	0	0	0	0	25.88	26.23	26.59
353	-0.75	-146.6	44.6	-13.9	62	360	0.00	2.08	0.00	0.000	6	0.000	0.031	2878	2101	3889	0	0	0	0	0	0	28.83	26.39	28.83
665	-0.75	-146.6	83.9	-12.0	123	672	0.00	2.17	0.00	0.000	4	0.000	0.051	2869	3499	3890	0	0	0	0	0	0	28.83	26.34	28.83
900	-0.75	-146.6	114.5	-12.9	158	909	0.00	2.08	0.00	0.000	6	0.000	0.032	2868	2109	3890	0	0	0	0	0	0	28.83	26.48	28.83
1211	-0.75	-146.6	156.2	-13.9	189	1219	0.00	2.15	0.00	0.000	4	0.000	0.053	2857	3500	3890	0	0	0	0	0	0	28.83	26.41	28.83
1447	-0.75	-146.6	190.5	-14.2	212	1456	0.12	2.05	0.00	0.000	6	0.176	0.033	2888	2122	3890	0	0	0	0	0	0	26.27	26.54	28.83
1755	-0.75	-146.6	225.4	-11.1	243	1765	0.00	2.15	0.00	0.000	4	0.000	0.053	2880	3501	3889	0	0	0	0	0	0	28.83	26.46	28.83
1821	-0.75	-146.6	232.9	-12.3	249	1828	0.00	2.03	0.00	0.000	6	0.000	0.032	2880	2126	3888	0	0	0	0	0	0	28.83	26.57	28.83
2129	-0.75	-146.6	270.3	-11.4	280	2133	0.00	2.12	0.00	0.000	4	0.000	0.053	2870	3500	3888	0	0	0	0	0	0	28.83	26.48	28.83
2241	-0.75	-146.6	283.6	-11.4	291	2251	0.00	2.03	0.00	0.000	6	0.000	0.033	2871	2136	3888	0	0	0	0	0	0	28.83	26.59	28.83
2552	-0.75	-146.6	316.1	-9.9	322	2560	0.00	2.10	0.00	0.000	4	0.000	0.052	2859	3500	3887	0	0	0	0	0	0	28.83	26.51	28.83
2634	-0.75	-146.6	324.6	-10.2	330	2642	0.00	2.00	0.00	0.000	6	0.000	0.032	2859	2145	3887	0	0	0	0	0	0	28.83	26.61	28.83
2944	-0.75	-146.6	355.7	-10.2	361	2953	0.12	2.05	0.00	0.000	4	0.178	0.050	2888	3494	3887	0	0	0	0	0	0	26.37	26.52	28.83
3061	-0.75	-146.6	365.5	-8.5	372	3068	0.00	1.95	0.00	0.000	6	0.000	0.031	2888	2159	3887	0	0	0	0	0	0	28.83	26.63	28.83
3367	-0.75	-146.6	391.8	-8.6	403	3376	0.00	2.03	0.00	0.000	4	0.000	0.052	2878	3494	3887	0	0	0	0	0	0	28.83	26.53	28.83
3449	-0.75	-146.6	399.6	-9.4	411	3460	0.00	1.95	0.00	0.000	6	0.000	0.031	2878	2163	3887	0	0	0	0	0	0	28.83	26.65	28.83
3759	-0.75	-146.6	429.5	-9.8	442	3768	0.00	2.08	0.00	0.000	4	0.000	0.051	2868	3506	3887	0	0	0	0	0	0	28.83	26.54	28.83
3814	-0.75	-146.6	435.0	-10.7	447	3822	0.00	1.95	0.00	0.000	6	0.000	0.031	2868	2167	3886	0	0	0	0	0	0	28.83	26.65	28.83
4121	-0.75	-146.6	466.5	-10.1	478	4130	0.00	2.05	0.00	0.000	4	0.000	0.051	2858	3498	3887	0	0	0	0	0	0	28.83	26.55	28.83
4184	-0.75	-146.6	473.1	-10.9	484	4193	0.12	1.95	0.00	0.000	6	0.167	0.031	2889	2165	3887	0	0	0	0	0	0	26.38	26.66	28.83
4493	-0.75	-146.6	501.0	-9.0	515	4503	0.00	2.03	0.00	0.000	4	0.000	0.050	2882	3492	3887	0	0	0	0	0	0	28.83	26.55	28.83
4567	-0.75	-146.6	508.1	-9.7	522	4576	0.00	1.92	0.00	0.000	6	0.000	0.031	2882	2176	3886	0	0	0	0	0	0	28.83	26.67	28.83
4876	-0.75	-146.6	537.8	-9.2	553	4885	0.00	2.05	0.00	0.000	4	0.000	0.051	2872	3503	3887	0	0	0	0	0	0	28.83	26.56	28.83
4948	-0.75	-146.6	544.9	-10.0	560	4957	0.00	1.92	0.00	0.000	6	0.000	0.031	2872	2188	3886	0	0	0	0	0	0	28.83	26.67	28.83
5258	-0.75	-146.6	574.8	-9.3	591	5267	0.00	2.03	0.00	0.000	4	0.000	0.051	2862	3499	3887	0	0	0	0	0	0	28.83	26.56	28.83
5311	-0.75	-146.6	579.8	-10.1	596	5319	0.00	1.92	0.00	0.000	6	0.000	0.031	2862	2183	3887	0	0	0	0	0	0	28.83	26.68	28.83
5641	-0.75	-146.6	611.8	-9.5	621	5644	0.00	2.03	0.00	0.000	4	0.000	0.051	2852	3497	3887	0	0	0	0	0	0	28.83	26.57	28.83
5720	-0.75	-146.6	618.5	-10.1	623	5725	0.15	1.88	0.00	0.000	6	0.159	0.031	2891	2203	3886	0	0	0	0	0	0	26.38	26.69	28.83
5785	end dive: TARGET_DEPTH_EXCEEDED
state	5785	begin apogee
5792	-0.17	0.0	625.9	-9.6	625	5919	0.55	0.00	121.03	1.280	4	0.134	0.000	3072	1882	3278	0	0	0	0	0	0	26.35	28.83	23.83
5922	end apogee: CONTROL_FINISHED_OK
state	5922	begin climb
5925	0.75	146.6	629.7	0.0	629	6061	0.85	2.22	124.25	1.247	4	0.074	0.037	3369	521	2681	0	0	0	0	0	0	24.82	24.85	22.97
6087	0.81	196.3	623.6	7.1	634	6136	0.00	2.33	43.67	1.191	6	0.000	0.035	3370	1893	2478	0	0	0	0	0	0	28.83	24.27	23.01
6440	0.81	196.3	566.9	15.5	660	6449	0.00	2.20	0.00	0.000	4	0.000	0.047	3370	3300	2467	0	0	0	0	0	0	28.83	25.37	28.83
6465	0.81	196.3	563.3	15.6	662	6472	0.00	2.15	0.00	0.000	6	0.000	0.031	3379	1913	2467	0	0	0	0	0	0	28.83	25.46	28.83
6772	0.81	196.3	514.7	16.0	693	6781	0.00	2.20	0.00	0.000	4	0.000	0.040	3389	501	2466	0	0	0	0	0	0	28.83	25.85	28.83
6888	0.81	196.3	497.1	15.0	704	6895	0.00	2.20	0.00	0.000	6	0.000	0.035	3389	1898	2465	0	0	0	0	0	0	28.83	25.96	28.83
7196	0.81	196.3	446.6	16.5	735	7197	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	1897	2465	0	0	0	0	0	0	28.83	28.83	28.83
7497	0.81	196.3	396.5	17.3	765	7506	0.00	2.17	0.00	0.000	4	0.000	0.040	3399	500	2464	0	0	0	0	0	0	28.83	26.22	28.83
7522	0.81	196.3	392.5	17.6	767	7530	0.00	2.17	0.00	0.000	6	0.000	0.036	3399	1896	2464	0	0	0	0	0	0	28.83	26.25	28.83
7829	0.81	196.3	339.0	16.8	798	7830	0.00	0.00	0.00	0.000	6	0.000	0.000	3398	1896	2463	0	0	0	0	0	0	28.83	28.83	28.83
8132	0.81	196.3	290.3	15.9	828	8140	0.00	2.15	0.00	0.000	4	0.000	0.040	3407	508	2463	0	0	0	0	0	0	28.83	26.36	28.83
8206	0.81	196.3	278.4	16.1	835	8214	0.00	2.12	0.00	0.000	6	0.000	0.037	3408	1880	2463	0	0	0	0	0	0	28.83	26.38	28.83
8514	0.81	196.3	230.7	14.9	866	8522	0.00	2.15	0.00	0.000	4	0.000	0.039	3417	494	2463	0	0	0	0	0	0	28.83	26.41	28.83
8548	0.81	196.3	225.9	15.1	869	8555	0.00	2.15	0.00	0.000	6	0.000	0.036	3417	1884	2463	0	0	0	0	0	0	28.83	26.44	28.83
8856	0.81	196.3	180.9	13.4	900	8865	0.00	2.12	0.00	0.000	4	0.000	0.040	3426	503	2462	0	0	0	0	0	0	28.83	26.45	28.83
8922	0.81	196.3	172.1	13.8	906	8929	0.12	2.12	0.00	0.000	6	0.187	0.037	3394	1879	2463	0	0	0	0	0	0	26.22	26.47	28.83
9228	0.81	196.3	135.9	11.6	937	9230	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	1878	2463	0	0	0	0	0	0	28.83	28.83	28.83
9531	0.81	196.3	99.5	12.0	967	9538	0.00	2.15	0.00	0.000	4	0.000	0.041	3400	499	2463	0	0	0	0	0	0	28.83	26.50	28.83
9576	0.81	196.3	93.7	12.5	975	9584	0.00	2.10	0.00	0.000	6	0.000	0.037	3400	1867	2463	0	0	0	0	0	0	28.83	26.53	28.83
9889	0.81	196.3	57.4	10.6	1036	9896	0.00	2.20	0.00	0.000	4	0.000	0.048	3400	3313	2463	0	0	0	0	0	0	28.83	26.50	28.83
9918	0.81	196.3	53.9	12.1	1041	9925	0.00	2.17	0.00	0.000	6	0.000	0.032	3410	1859	2463	0	0	0	0	0	0	28.83	26.56	28.83
10232	0.85	233.6	22.4	7.6	1102	10257	0.00	2.08	18.38	0.861	4	0.000	0.041	3420	501	2325	0	0	0	0	0	0	28.83	26.24	25.41
10478	end climb: SURFACE_DEPTH_REACHED
state	10479	begin surface coast
10531	end surface coast: CONTROL_FINISHED_OK
state	10531	begin surface