Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 173 * 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 173 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 64 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 41 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 -191306.33 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 -191306.33

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 64 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 41 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 173 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 210712,092359,6647.258,-6011.187,40,0.8,40,-33.9 TGT_NAME TARGET_W

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.32 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210712,093254,6647.253,-6010.963,18,0.9,18,-33.9 MHEAD_RNG_PITCHd_Wd 320.2,12542,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 567

Post-dive calculations and measurements:

FREEZE 1.43,3.369,-0.774,2,1,0 ALTIM_TOP_PING 19.8,18.3

FINISH 1.4,1.011377 _24V_AH 23.0,21.880

SM_CCo 10602,22.25,0.076,0,0,1647,400.08 _10V_AH 9.9,25.045

SM_GC 2.11,8.43,1.85,22.25,0.057,0.032,0.076,341,2098,1647,-8.66,1.95,400.08,0,0,0,0,0,0,26.23,26.32,26.16 FG_AHR_24Vo 0.000

RAFOS_CLK 544 FG_AHR_10Vo 0.000

RAFOS 0,1342872061,12.033333,12.016945,44,43,42,41,41,41,1348,868,1729,150,1144,1610 MEM 151556

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 56675,1229

IRIDIUM_FIX 6620.33,-6003.10,210712,060621 CAP_FILE_SIZE 131125,0

TT8_MAMPS 0.029211,0.029211 CFSIZE 260165632,231489536

HUMID 41.84 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.00425 SOUNDSPEED 1453.9

TCM_TEMP 15.50 CURRENT 0.133,165.7,1

XPDR_PINGS 2 GPS 210712,123204,6647.125,-6013.546,39,0.9,39,-33.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 257 123.78 SBE_CT 867 23 478.53

Roll_motor 97 53 119.72 SBE_O2 887 5 122.32

VBD_pump_during_apogee 353 1245 10134.48 nil 0 0 0.00

VBD_pump_during_surface 22 76 39.15 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 340 274 2153.82 nil 0 0 0.00

Transponder_ping 2 420 21.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 4.97

TT8 3060 17 544.25

LPSleep 4879 2 111.59

TT8_Active 547 17 97.29

TT8_Sampling 2375 40 950.96

TT8_CF8 300 48 144.84

TT8_Kalman 0 0 0.00

Analog_circuits 1981 12 235.35

GPS_charging 0 0 0.00

Compass 2012 7 149.20

RAFOS 1440 3 42.77

Transponder 13 30 3.93

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 75 0.00 0.00 -55.88 0.000 2 0.000 0.000 339 2103 2923 0 0 0 0 0 0 28.83 28.83 28.83

79 -0.75 -146.6 3.3 -1.9 10 116 10.23 0.00 -22.30 0.000 6 0.258 0.000 2881 2103 3881 0 0 0 0 0 0 25.87 28.83 26.63

420 -0.75 -146.6 54.4 -13.1 76 428 0.00 2.15 0.00 0.000 4 0.000 0.054 2873 3503 3889 0 0 0 0 0 0 28.83 26.33 28.83

502 -0.75 -146.6 65.9 -13.9 91 508 0.00 2.10 0.00 0.000 6 0.000 0.032 2873 2097 3889 0 0 0 0 0 0 28.83 26.44 28.83

819 -0.75 -146.6 107.9 -12.8 147 828 0.00 2.17 0.00 0.000 4 0.000 0.052 2865 3508 3890 0 0 0 0 0 0 28.83 26.40 28.83

962 -0.75 -146.6 128.4 -14.4 161 971 0.00 2.10 0.00 0.000 6 0.000 0.032 2865 2093 3890 0 0 0 0 0 0 28.83 26.51 28.83

1271 -0.75 -146.6 170.4 -12.7 192 1281 0.00 2.17 0.00 0.000 4 0.000 0.052 2854 3509 3890 0 0 0 0 0 0 28.83 26.44 28.83

1344 -0.75 -146.6 180.6 -14.1 199 1354 0.10 2.10 0.00 0.000 6 0.159 0.032 2886 2096 3889 0 0 0 0 0 0 26.25 26.54 28.83

1654 -0.75 -146.6 213.9 -10.3 230 1663 0.00 2.15 0.00 0.000 4 0.000 0.052 2877 3500 3889 0 0 0 0 0 0 28.83 26.46 28.83

1746 -0.75 -146.6 223.7 -10.5 239 1755 0.00 2.05 0.00 0.000 6 0.000 0.033 2877 2121 3888 0 0 0 0 0 0 28.83 26.57 28.83

2056 -0.75 -146.6 255.9 -10.2 270 2065 0.00 2.15 0.00 0.000 4 0.000 0.053 2867 3515 3888 0 0 0 0 0 0 28.83 26.48 28.83

2172 -0.75 -146.6 268.5 -11.4 281 2179 0.00 2.03 0.00 0.000 6 0.000 0.032 2867 2138 3887 0 0 0 0 0 0 28.83 26.59 28.83

2479 -0.75 -146.6 303.8 -11.3 312 2489 0.00 2.12 0.00 0.000 4 0.000 0.053 2856 3512 3887 0 0 0 0 0 0 28.83 26.50 28.83

2565 -0.75 -146.6 313.7 -11.9 320 2573 0.12 1.98 0.00 0.000 6 0.170 0.032 2887 2165 3887 0 0 0 0 0 0 26.33 26.61 28.83

2874 -0.75 -146.6 343.3 -9.1 351 2882 0.00 2.10 0.00 0.000 4 0.000 0.052 2879 3524 3887 0 0 0 0 0 0 28.83 26.51 28.83

2918 -0.75 -146.6 347.6 -10.1 355 2925 0.00 2.00 0.00 0.000 6 0.000 0.031 2879 2155 3887 0 0 0 0 0 0 28.83 26.63 28.83

3226 -0.75 -146.6 377.1 -9.5 386 3235 0.00 2.08 0.00 0.000 4 0.000 0.052 2870 3518 3886 0 0 0 0 0 0 28.83 26.53 28.83

3328 -0.75 -146.6 387.7 -10.5 396 3332 0.00 1.95 0.00 0.000 6 0.000 0.031 2870 2182 3887 0 0 0 0 0 0 28.83 26.64 28.83

3640 -0.75 -146.6 418.9 -9.8 427 3644 0.00 2.05 0.00 0.000 4 0.000 0.053 2859 3515 3886 0 0 0 0 0 0 28.83 26.54 28.83

3704 -0.75 -146.6 425.8 -11.2 433 3712 0.12 1.95 0.00 0.000 6 0.168 0.031 2891 2179 3886 0 0 0 0 0 0 26.37 26.65 28.83

4013 -0.75 -146.6 453.5 -8.3 464 4022 0.00 2.05 0.00 0.000 4 0.000 0.052 2883 3527 3886 0 0 0 0 0 0 28.83 26.55 28.83

4129 -0.75 -146.6 464.0 -9.1 475 4135 0.00 1.95 0.00 0.000 6 0.000 0.032 2883 2191 3886 0 0 0 0 0 0 28.83 26.65 28.83

4435 -0.75 -146.6 491.5 -9.3 506 4444 0.00 2.05 0.00 0.000 4 0.000 0.052 2873 3516 3887 0 0 0 0 0 0 28.83 26.55 28.83

4517 -0.75 -146.6 499.6 -10.0 514 4521 0.00 1.92 0.00 0.000 6 0.000 0.031 2873 2208 3886 0 0 0 0 0 0 28.83 26.67 28.83

4829 -0.75 -146.6 530.4 -9.8 545 4838 0.00 2.00 0.00 0.000 4 0.000 0.052 2863 3506 3886 0 0 0 0 0 0 28.83 26.56 28.83

4894 -0.75 -146.6 536.9 -10.8 551 4901 0.00 1.90 0.00 0.000 6 0.000 0.031 2863 2204 3887 0 0 0 0 0 0 28.83 26.67 28.83

5199 end dive: TARGET_DEPTH_EXCEEDED

state 5199 begin apogee

5206 -0.17 0.0 567.7 -9.4 582 5332 0.65 0.00 119.78 1.245 4 0.145 0.000 3069 1884 3279 0 0 0 0 0 0 26.32 28.83 23.86

5335 end apogee: CONTROL_FINISHED_OK

state 5335 begin climb

5338 0.75 146.6 570.3 0.0 595 5474 0.85 2.25 123.43 1.207 4 0.080 0.038 3364 516 2680 0 0 0 0 0 0 24.83 24.87 23.03

5510 0.75 146.6 558.5 11.6 612 5517 0.00 2.35 0.00 0.000 6 0.000 0.036 3364 1902 2675 0 0 0 0 0 0 28.83 24.39 28.83

5818 0.75 146.6 517.4 13.1 643 5826 0.00 2.22 0.00 0.000 4 0.000 0.048 3364 3308 2668 0 0 0 0 0 0 28.83 25.48 28.83

5849 0.75 146.6 513.0 13.7 646 5859 0.00 2.15 0.00 0.000 6 0.000 0.031 3374 1914 2668 0 0 0 0 0 0 28.83 25.58 28.83

6160 0.75 146.6 469.7 13.8 677 6169 0.00 2.17 0.00 0.000 4 0.000 0.040 3384 500 2667 0 0 0 0 0 0 28.83 25.90 28.83

6232 0.75 146.6 459.8 13.6 684 6241 0.00 2.20 0.00 0.000 6 0.000 0.036 3384 1896 2666 0 0 0 0 0 0 28.83 25.97 28.83

6542 0.75 146.6 417.4 13.7 715 6546 0.00 2.17 0.00 0.000 4 0.000 0.048 3385 3310 2665 0 0 0 0 0 0 28.83 26.10 28.83

6574 0.75 146.6 412.5 15.0 718 6584 0.00 2.15 0.00 0.000 6 0.000 0.031 3393 1886 2665 0 0 0 0 0 0 28.83 26.17 28.83

6884 0.75 146.6 369.2 13.2 749 6893 0.00 2.12 0.00 0.000 4 0.000 0.040 3404 501 2665 0 0 0 0 0 0 28.83 26.23 28.83

6920 0.75 146.6 365.0 13.1 752 6927 0.12 2.17 0.00 0.000 6 0.178 0.037 3375 1898 2664 0 0 0 0 0 0 26.04 26.26 28.83

7227 0.75 146.6 326.1 12.4 783 7228 0.00 0.00 0.00 0.000 6 0.000 0.000 3375 1898 2664 0 0 0 0 0 0 28.83 28.83 28.83

7529 0.75 146.6 289.8 11.7 813 7535 0.00 0.00 0.00 0.000 6 0.000 0.000 3375 1897 2664 0 0 0 0 0 0 28.83 28.83 28.83

7840 0.75 146.6 254.0 11.3 844 7848 0.00 2.12 0.00 0.000 4 0.000 0.040 3381 504 2664 0 0 0 0 0 0 28.83 26.41 28.83

7895 0.75 146.6 247.7 11.5 849 7902 0.00 2.15 0.00 0.000 6 0.000 0.037 3381 1890 2664 0 0 0 0 0 0 28.83 26.43 28.83

8201 0.75 146.6 210.9 12.3 880 8210 0.00 2.15 0.00 0.000 4 0.000 0.048 3381 3312 2664 0 0 0 0 0 0 28.83 26.42 28.83

8257 0.75 146.6 204.1 13.1 885 8264 0.00 2.10 0.00 0.000 6 0.000 0.031 3391 1900 2664 0 0 0 0 0 0 28.83 26.50 28.83

8563 0.75 146.6 167.3 11.4 916 8572 0.00 2.10 0.00 0.000 4 0.000 0.041 3401 509 2663 0 0 0 0 0 0 28.83 26.48 28.83

8677 0.75 146.6 154.5 10.8 927 8686 0.10 2.12 0.00 0.000 6 0.153 0.037 3370 1892 2664 0 0 0 0 0 0 26.28 26.51 28.83

8986 0.76 162.1 126.1 8.5 958 9004 0.00 0.00 11.43 0.900 6 0.000 0.000 3370 1891 2617 0 0 0 0 0 0 28.83 28.83 25.39

9307 0.81 200.1 99.0 7.6 991 9346 0.00 2.22 32.28 0.935 4 0.000 0.047 3370 3306 2462 0 0 0 0 0 0 28.83 25.78 24.98

9369 0.81 200.1 93.0 10.4 1001 9375 0.00 2.17 0.00 0.000 6 0.000 0.031 3377 1886 2458 0 0 0 0 0 0 28.83 25.88 28.83

9680 0.81 200.1 61.0 9.8 1062 9688 0.00 2.12 0.00 0.000 4 0.000 0.041 3387 504 2455 0 0 0 0 0 0 28.83 26.11 28.83

9762 0.81 200.1 52.9 9.8 1077 9769 0.00 2.17 0.00 0.000 6 0.000 0.037 3387 1880 2455 0 0 0 0 0 0 28.83 26.16 28.83

10075 0.81 200.1 23.9 9.3 1138 10081 0.00 0.00 0.00 0.000 6 0.000 0.000 3388 1879 2453 0 0 0 0 0 0 28.83 28.83 28.83

10396 0.99 346.9 7.9 3.0 1199 10473 0.15 2.25 66.90 0.081 4 0.093 0.050 3455 3305 1859 0 0 0 0 0 0 26.34 26.22 26.15

10487 end climb: SURFACE_DEPTH_REACHED

state 10487 begin surface coast

10581 end surface coast: CONTROL_FINISHED_OK

state 10582 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	173	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	64	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	41	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	-191306.33	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	210712,092359,6647.258,-6011.187,40,0.8,40,-33.9	TGT_NAME	TARGET_W
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.32	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210712,093254,6647.253,-6010.963,18,0.9,18,-33.9	MHEAD_RNG_PITCHd_Wd	320.2,12542,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	567

FREEZE	1.43,3.369,-0.774,2,1,0	ALTIM_TOP_PING	19.8,18.3
FINISH	1.4,1.011377	_24V_AH	23.0,21.880
SM_CCo	10602,22.25,0.076,0,0,1647,400.08	_10V_AH	9.9,25.045
SM_GC	2.11,8.43,1.85,22.25,0.057,0.032,0.076,341,2098,1647,-8.66,1.95,400.08,0,0,0,0,0,0,26.23,26.32,26.16	FG_AHR_24Vo	0.000
RAFOS_CLK	544	FG_AHR_10Vo	0.000
RAFOS	0,1342872061,12.033333,12.016945,44,43,42,41,41,41,1348,868,1729,150,1144,1610	MEM	151556
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	56675,1229
IRIDIUM_FIX	6620.33,-6003.10,210712,060621	CAP_FILE_SIZE	131125,0
TT8_MAMPS	0.029211,0.029211	CFSIZE	260165632,231489536
HUMID	41.84	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.00425	SOUNDSPEED	1453.9
TCM_TEMP	15.50	CURRENT	0.133,165.7,1
XPDR_PINGS	2	GPS	210712,123204,6647.125,-6013.546,39,0.9,39,-33.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	257	123.78	SBE_CT	867	23	478.53
Roll_motor	97	53	119.72	SBE_O2	887	5	122.32
VBD_pump_during_apogee	353	1245	10134.48	nil	0	0	0.00
VBD_pump_during_surface	22	76	39.15	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	340	274	2153.82	nil	0	0	0.00
Transponder_ping	2	420	21.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	4.97
TT8	3060	17	544.25
LPSleep	4879	2	111.59
TT8_Active	547	17	97.29
TT8_Sampling	2375	40	950.96
TT8_CF8	300	48	144.84
TT8_Kalman	0	0	0.00
Analog_circuits	1981	12	235.35
GPS_charging	0	0	0.00
Compass	2012	7	149.20
RAFOS	1440	3	42.77
Transponder	13	30	3.93

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	75	0.00	0.00	-55.88	0.000	2	0.000	0.000	339	2103	2923	0	0	0	0	0	0	28.83	28.83	28.83
79	-0.75	-146.6	3.3	-1.9	10	116	10.23	0.00	-22.30	0.000	6	0.258	0.000	2881	2103	3881	0	0	0	0	0	0	25.87	28.83	26.63
420	-0.75	-146.6	54.4	-13.1	76	428	0.00	2.15	0.00	0.000	4	0.000	0.054	2873	3503	3889	0	0	0	0	0	0	28.83	26.33	28.83
502	-0.75	-146.6	65.9	-13.9	91	508	0.00	2.10	0.00	0.000	6	0.000	0.032	2873	2097	3889	0	0	0	0	0	0	28.83	26.44	28.83
819	-0.75	-146.6	107.9	-12.8	147	828	0.00	2.17	0.00	0.000	4	0.000	0.052	2865	3508	3890	0	0	0	0	0	0	28.83	26.40	28.83
962	-0.75	-146.6	128.4	-14.4	161	971	0.00	2.10	0.00	0.000	6	0.000	0.032	2865	2093	3890	0	0	0	0	0	0	28.83	26.51	28.83
1271	-0.75	-146.6	170.4	-12.7	192	1281	0.00	2.17	0.00	0.000	4	0.000	0.052	2854	3509	3890	0	0	0	0	0	0	28.83	26.44	28.83
1344	-0.75	-146.6	180.6	-14.1	199	1354	0.10	2.10	0.00	0.000	6	0.159	0.032	2886	2096	3889	0	0	0	0	0	0	26.25	26.54	28.83
1654	-0.75	-146.6	213.9	-10.3	230	1663	0.00	2.15	0.00	0.000	4	0.000	0.052	2877	3500	3889	0	0	0	0	0	0	28.83	26.46	28.83
1746	-0.75	-146.6	223.7	-10.5	239	1755	0.00	2.05	0.00	0.000	6	0.000	0.033	2877	2121	3888	0	0	0	0	0	0	28.83	26.57	28.83
2056	-0.75	-146.6	255.9	-10.2	270	2065	0.00	2.15	0.00	0.000	4	0.000	0.053	2867	3515	3888	0	0	0	0	0	0	28.83	26.48	28.83
2172	-0.75	-146.6	268.5	-11.4	281	2179	0.00	2.03	0.00	0.000	6	0.000	0.032	2867	2138	3887	0	0	0	0	0	0	28.83	26.59	28.83
2479	-0.75	-146.6	303.8	-11.3	312	2489	0.00	2.12	0.00	0.000	4	0.000	0.053	2856	3512	3887	0	0	0	0	0	0	28.83	26.50	28.83
2565	-0.75	-146.6	313.7	-11.9	320	2573	0.12	1.98	0.00	0.000	6	0.170	0.032	2887	2165	3887	0	0	0	0	0	0	26.33	26.61	28.83
2874	-0.75	-146.6	343.3	-9.1	351	2882	0.00	2.10	0.00	0.000	4	0.000	0.052	2879	3524	3887	0	0	0	0	0	0	28.83	26.51	28.83
2918	-0.75	-146.6	347.6	-10.1	355	2925	0.00	2.00	0.00	0.000	6	0.000	0.031	2879	2155	3887	0	0	0	0	0	0	28.83	26.63	28.83
3226	-0.75	-146.6	377.1	-9.5	386	3235	0.00	2.08	0.00	0.000	4	0.000	0.052	2870	3518	3886	0	0	0	0	0	0	28.83	26.53	28.83
3328	-0.75	-146.6	387.7	-10.5	396	3332	0.00	1.95	0.00	0.000	6	0.000	0.031	2870	2182	3887	0	0	0	0	0	0	28.83	26.64	28.83
3640	-0.75	-146.6	418.9	-9.8	427	3644	0.00	2.05	0.00	0.000	4	0.000	0.053	2859	3515	3886	0	0	0	0	0	0	28.83	26.54	28.83
3704	-0.75	-146.6	425.8	-11.2	433	3712	0.12	1.95	0.00	0.000	6	0.168	0.031	2891	2179	3886	0	0	0	0	0	0	26.37	26.65	28.83
4013	-0.75	-146.6	453.5	-8.3	464	4022	0.00	2.05	0.00	0.000	4	0.000	0.052	2883	3527	3886	0	0	0	0	0	0	28.83	26.55	28.83
4129	-0.75	-146.6	464.0	-9.1	475	4135	0.00	1.95	0.00	0.000	6	0.000	0.032	2883	2191	3886	0	0	0	0	0	0	28.83	26.65	28.83
4435	-0.75	-146.6	491.5	-9.3	506	4444	0.00	2.05	0.00	0.000	4	0.000	0.052	2873	3516	3887	0	0	0	0	0	0	28.83	26.55	28.83
4517	-0.75	-146.6	499.6	-10.0	514	4521	0.00	1.92	0.00	0.000	6	0.000	0.031	2873	2208	3886	0	0	0	0	0	0	28.83	26.67	28.83
4829	-0.75	-146.6	530.4	-9.8	545	4838	0.00	2.00	0.00	0.000	4	0.000	0.052	2863	3506	3886	0	0	0	0	0	0	28.83	26.56	28.83
4894	-0.75	-146.6	536.9	-10.8	551	4901	0.00	1.90	0.00	0.000	6	0.000	0.031	2863	2204	3887	0	0	0	0	0	0	28.83	26.67	28.83
5199	end dive: TARGET_DEPTH_EXCEEDED
state	5199	begin apogee
5206	-0.17	0.0	567.7	-9.4	582	5332	0.65	0.00	119.78	1.245	4	0.145	0.000	3069	1884	3279	0	0	0	0	0	0	26.32	28.83	23.86
5335	end apogee: CONTROL_FINISHED_OK
state	5335	begin climb
5338	0.75	146.6	570.3	0.0	595	5474	0.85	2.25	123.43	1.207	4	0.080	0.038	3364	516	2680	0	0	0	0	0	0	24.83	24.87	23.03
5510	0.75	146.6	558.5	11.6	612	5517	0.00	2.35	0.00	0.000	6	0.000	0.036	3364	1902	2675	0	0	0	0	0	0	28.83	24.39	28.83
5818	0.75	146.6	517.4	13.1	643	5826	0.00	2.22	0.00	0.000	4	0.000	0.048	3364	3308	2668	0	0	0	0	0	0	28.83	25.48	28.83
5849	0.75	146.6	513.0	13.7	646	5859	0.00	2.15	0.00	0.000	6	0.000	0.031	3374	1914	2668	0	0	0	0	0	0	28.83	25.58	28.83
6160	0.75	146.6	469.7	13.8	677	6169	0.00	2.17	0.00	0.000	4	0.000	0.040	3384	500	2667	0	0	0	0	0	0	28.83	25.90	28.83
6232	0.75	146.6	459.8	13.6	684	6241	0.00	2.20	0.00	0.000	6	0.000	0.036	3384	1896	2666	0	0	0	0	0	0	28.83	25.97	28.83
6542	0.75	146.6	417.4	13.7	715	6546	0.00	2.17	0.00	0.000	4	0.000	0.048	3385	3310	2665	0	0	0	0	0	0	28.83	26.10	28.83
6574	0.75	146.6	412.5	15.0	718	6584	0.00	2.15	0.00	0.000	6	0.000	0.031	3393	1886	2665	0	0	0	0	0	0	28.83	26.17	28.83
6884	0.75	146.6	369.2	13.2	749	6893	0.00	2.12	0.00	0.000	4	0.000	0.040	3404	501	2665	0	0	0	0	0	0	28.83	26.23	28.83
6920	0.75	146.6	365.0	13.1	752	6927	0.12	2.17	0.00	0.000	6	0.178	0.037	3375	1898	2664	0	0	0	0	0	0	26.04	26.26	28.83
7227	0.75	146.6	326.1	12.4	783	7228	0.00	0.00	0.00	0.000	6	0.000	0.000	3375	1898	2664	0	0	0	0	0	0	28.83	28.83	28.83
7529	0.75	146.6	289.8	11.7	813	7535	0.00	0.00	0.00	0.000	6	0.000	0.000	3375	1897	2664	0	0	0	0	0	0	28.83	28.83	28.83
7840	0.75	146.6	254.0	11.3	844	7848	0.00	2.12	0.00	0.000	4	0.000	0.040	3381	504	2664	0	0	0	0	0	0	28.83	26.41	28.83
7895	0.75	146.6	247.7	11.5	849	7902	0.00	2.15	0.00	0.000	6	0.000	0.037	3381	1890	2664	0	0	0	0	0	0	28.83	26.43	28.83
8201	0.75	146.6	210.9	12.3	880	8210	0.00	2.15	0.00	0.000	4	0.000	0.048	3381	3312	2664	0	0	0	0	0	0	28.83	26.42	28.83
8257	0.75	146.6	204.1	13.1	885	8264	0.00	2.10	0.00	0.000	6	0.000	0.031	3391	1900	2664	0	0	0	0	0	0	28.83	26.50	28.83
8563	0.75	146.6	167.3	11.4	916	8572	0.00	2.10	0.00	0.000	4	0.000	0.041	3401	509	2663	0	0	0	0	0	0	28.83	26.48	28.83
8677	0.75	146.6	154.5	10.8	927	8686	0.10	2.12	0.00	0.000	6	0.153	0.037	3370	1892	2664	0	0	0	0	0	0	26.28	26.51	28.83
8986	0.76	162.1	126.1	8.5	958	9004	0.00	0.00	11.43	0.900	6	0.000	0.000	3370	1891	2617	0	0	0	0	0	0	28.83	28.83	25.39
9307	0.81	200.1	99.0	7.6	991	9346	0.00	2.22	32.28	0.935	4	0.000	0.047	3370	3306	2462	0	0	0	0	0	0	28.83	25.78	24.98
9369	0.81	200.1	93.0	10.4	1001	9375	0.00	2.17	0.00	0.000	6	0.000	0.031	3377	1886	2458	0	0	0	0	0	0	28.83	25.88	28.83
9680	0.81	200.1	61.0	9.8	1062	9688	0.00	2.12	0.00	0.000	4	0.000	0.041	3387	504	2455	0	0	0	0	0	0	28.83	26.11	28.83
9762	0.81	200.1	52.9	9.8	1077	9769	0.00	2.17	0.00	0.000	6	0.000	0.037	3387	1880	2455	0	0	0	0	0	0	28.83	26.16	28.83
10075	0.81	200.1	23.9	9.3	1138	10081	0.00	0.00	0.00	0.000	6	0.000	0.000	3388	1879	2453	0	0	0	0	0	0	28.83	28.83	28.83
10396	0.99	346.9	7.9	3.0	1199	10473	0.15	2.25	66.90	0.081	4	0.093	0.050	3455	3305	1859	0	0	0	0	0	0	26.34	26.22	26.15
10487	end climb: SURFACE_DEPTH_REACHED
state	10487	begin surface coast
10581	end surface coast: CONTROL_FINISHED_OK
state	10582	begin surface