Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 174 * 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 174 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 66 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 43 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 -191307.58 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 -191307.58

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 66 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 43 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 174 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 210712,123204,6647.125,-6013.546,39,0.9,39,-33.9 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 4 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -78.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210712,123918,6647.044,-6013.422,21,1.2,21,-33.9 MHEAD_RNG_PITCHd_Wd 302.6,10791,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 557

Post-dive calculations and measurements:

FREEZE 1.38,3.851,-1.214,2,1,0 ALTIM_BOTTOM_PING 550.1,41.5

FINISH 1.4,1.017764 _24V_AH 23.0,21.974

SM_CCo 10589,41.78,0.079,0,0,1647,400.08 _10V_AH 10.1,25.140

SM_GC 2.06,8.45,1.85,41.78,0.059,0.032,0.079,339,2095,1647,-8.67,1.75,400.08,0,0,0,0,0,0,26.25,26.35,26.16 FG_AHR_24Vo 0.000

RAFOS_CLK 543 FG_AHR_10Vo 0.000

RAFOS 3,1342873505,12.433333,12.418056,55,49,43,41,40,40,814,1842,1900,1858,475,1087 MEM 151592

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 56657,1245

IRIDIUM_FIX 6614.97,-6008.55,210712,090951 CAP_FILE_SIZE 130045,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,231424000

HUMID 43.34 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0

INTERNAL_PRESSURE 9.02378 SOUNDSPEED 1453.7

TCM_TEMP 15.60 CURRENT 0.143,345.5,1

XPDR_PINGS 2 GPS 210712,153834,6648.162,-6017.283,36,0.7,36,-34.0

ALTIM_TOP_PING 20.0,18.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 256 122.16 SBE_CT 875 23 482.93

Roll_motor 88 66 135.86 SBE_O2 914 5 125.94

VBD_pump_during_apogee 329 1240 9412.19 nil 0 0 0.00

VBD_pump_during_surface 41 78 75.71 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 297 280 1919.29 nil 0 0 0.00

Transponder_ping 2 420 24.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 5.83

TT8 3118 17 565.62

LPSleep 4769 2 111.28

TT8_Active 533 17 96.74

TT8_Sampling 2330 40 951.54

TT8_CF8 316 48 155.61

TT8_Kalman 0 0 0.00

Analog_circuits 1914 12 232.04

GPS_charging 0 0 0.00

Compass 2016 7 152.54

RAFOS 720 3 21.82

Transponder 15 30 4.84

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

16 -0.75 -146.6 0.0 0.0 0 69 0.00 0.00 -50.58 0.000 2 0.000 0.000 340 2091 2792 0 0 0 0 0 0 28.83 28.83 28.83

73 -0.75 -146.6 3.1 -1.0 9 118 10.12 2.20 -27.05 0.000 4 0.256 0.067 2872 3506 3880 0 0 0 0 0 0 25.92 26.29 26.67

297 -0.75 -146.6 39.5 -14.0 51 305 0.00 2.10 0.00 0.000 6 0.000 0.031 2873 2097 3885 0 0 0 0 0 0 28.83 26.44 28.83

614 -0.75 -146.6 83.5 -13.7 112 621 0.00 2.22 0.00 0.000 4 0.000 0.051 2863 3515 3888 0 0 0 0 0 0 28.83 26.39 28.83

733 -0.75 -146.6 100.5 -13.8 135 741 0.00 2.10 0.00 0.000 6 0.000 0.031 2863 2106 3888 0 0 0 0 0 0 28.83 26.50 28.83

1039 -0.75 -146.6 140.6 -12.6 166 1048 0.00 2.17 0.00 0.000 4 0.000 0.052 2852 3503 3888 0 0 0 0 0 0 28.83 26.43 28.83

1171 -0.75 -146.6 158.5 -13.7 179 1181 0.15 2.08 0.00 0.000 6 0.174 0.032 2891 2106 3888 0 0 0 0 0 0 26.24 26.54 28.83

1481 -0.75 -146.6 191.2 -10.5 210 1490 0.00 2.17 0.00 0.000 4 0.000 0.053 2883 3515 3887 0 0 0 0 0 0 28.83 26.46 28.83

1594 -0.75 -146.6 204.1 -11.7 221 1602 0.00 2.05 0.00 0.000 6 0.000 0.032 2883 2131 3887 0 0 0 0 0 0 28.83 26.57 28.83

1904 -0.75 -146.6 240.2 -11.5 252 1913 0.00 2.10 0.00 0.000 4 0.000 0.053 2873 3502 3886 0 0 0 0 0 0 28.83 26.48 28.83

2030 -0.75 -146.6 255.5 -12.4 264 2036 0.00 2.00 0.00 0.000 6 0.000 0.032 2873 2144 3886 0 0 0 0 0 0 28.83 26.59 28.83

2336 -0.75 -146.6 290.4 -10.8 295 2340 0.00 2.12 0.00 0.000 4 0.000 0.053 2862 3510 3885 0 0 0 0 0 0 28.83 26.51 28.83

2399 -0.75 -146.6 297.4 -11.6 301 2407 0.00 2.03 0.00 0.000 6 0.000 0.032 2862 2141 3885 0 0 0 0 0 0 28.83 26.61 28.83

2709 -0.75 -146.6 331.8 -10.9 332 2718 0.00 2.08 0.00 0.000 4 0.000 0.052 2852 3502 3885 0 0 0 0 0 0 28.83 26.52 28.83

2832 -0.75 -146.6 346.0 -11.9 344 2841 0.15 1.98 0.00 0.000 6 0.164 0.032 2895 2161 3884 0 0 0 0 0 0 26.32 26.63 28.83

3141 -0.75 -146.6 373.7 -8.5 375 3142 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2158 3885 0 0 0 0 0 0 28.83 28.83 28.83

3444 -0.75 -146.6 399.5 -8.7 405 3453 0.00 2.05 0.00 0.000 4 0.000 0.052 2887 3506 3884 0 0 0 0 0 0 28.83 26.54 28.83

3566 -0.75 -146.6 411.7 -9.9 417 3575 0.00 1.98 0.00 0.000 6 0.000 0.031 2887 2160 3885 0 0 0 0 0 0 28.83 26.65 28.83

3877 -0.75 -146.6 440.5 -9.3 448 3886 0.00 2.08 0.00 0.000 4 0.000 0.052 2877 3513 3885 0 0 0 0 0 0 28.83 26.55 28.83

3972 -0.75 -146.6 449.8 -10.3 457 3982 0.00 1.98 0.00 0.000 6 0.000 0.031 2877 2156 3885 0 0 0 0 0 0 28.83 26.66 28.83

4281 -0.75 -146.6 480.8 -9.7 488 4290 0.00 2.08 0.00 0.000 4 0.000 0.051 2867 3514 3885 0 0 0 0 0 0 28.83 26.56 28.83

4355 -0.75 -146.6 488.2 -10.4 495 4363 0.00 1.95 0.00 0.000 6 0.000 0.031 2867 2174 3885 0 0 0 0 0 0 28.83 26.67 28.83

4663 -0.75 -146.6 517.8 -9.3 526 4671 0.00 2.05 0.00 0.000 4 0.000 0.052 2857 3514 3885 0 0 0 0 0 0 28.83 26.56 28.83

4765 -0.75 -146.6 528.0 -10.6 536 4770 0.12 1.95 0.00 0.000 6 0.164 0.031 2888 2175 3885 0 0 0 0 0 0 26.40 26.67 28.83

5080 -0.75 -146.6 556.5 -8.4 567 5090 0.00 2.08 0.00 0.000 4 0.000 0.051 2880 3524 3885 0 0 0 0 0 0 28.83 26.58 28.83

5093 end dive: TARGET_DEPTH_EXCEEDED

state 5093 begin apogee

5102 -0.17 0.0 557.2 -8.3 568 5226 0.57 0.00 119.47 1.241 4 0.140 0.000 3068 1889 3280 0 0 0 0 0 0 26.34 28.83 23.86

5229 end apogee: CONTROL_FINISHED_OK

state 5230 begin climb

5232 0.75 146.6 561.4 0.0 581 5370 0.88 2.28 123.12 1.201 4 0.076 0.037 3370 506 2680 0 0 0 0 0 0 24.82 24.86 23.04

5383 0.75 146.6 551.4 10.6 596 5394 0.00 2.38 0.00 0.000 6 0.000 0.035 3370 1897 2676 0 0 0 0 0 0 28.83 24.20 28.83

5694 0.75 146.6 511.1 13.4 627 5695 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 1897 2669 0 0 0 0 0 0 28.83 28.83 28.83

5997 0.75 146.6 472.0 13.5 657 6003 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 1897 2668 0 0 0 0 0 0 28.83 28.83 28.83

6306 0.75 146.6 430.6 12.9 688 6315 0.00 2.17 0.00 0.000 4 0.000 0.039 3379 519 2666 0 0 0 0 0 0 28.83 26.07 28.83

6352 0.75 146.6 424.8 12.8 692 6359 0.00 2.17 0.00 0.000 6 0.000 0.037 3379 1904 2666 0 0 0 0 0 0 28.83 26.10 28.83

6658 0.75 146.6 385.0 13.0 723 6667 0.00 2.15 0.00 0.000 4 0.000 0.048 3379 3300 2666 0 0 0 0 0 0 28.83 26.18 28.83

6704 0.75 146.6 378.9 14.6 727 6710 0.00 2.10 0.00 0.000 6 0.000 0.031 3388 1898 2665 0 0 0 0 0 0 28.83 26.26 28.83

7010 0.75 146.6 335.7 13.9 758 7019 0.00 2.15 0.00 0.000 4 0.000 0.040 3398 504 2665 0 0 0 0 0 0 28.83 26.29 28.83

7167 0.75 146.6 314.6 13.2 773 7176 0.00 2.12 0.00 0.000 6 0.000 0.037 3398 1892 2665 0 0 0 0 0 0 28.83 26.34 28.83

7474 0.75 146.6 270.9 14.5 804 7478 0.00 2.17 0.00 0.000 4 0.000 0.039 3407 501 2664 0 0 0 0 0 0 28.83 26.38 28.83

7500 0.75 146.6 267.8 14.3 806 7507 0.15 2.15 0.00 0.000 6 0.167 0.036 3369 1892 2664 0 0 0 0 0 0 26.17 26.40 28.83

7807 0.75 146.6 230.2 11.3 837 7808 0.00 0.00 0.00 0.000 6 0.000 0.000 3369 1892 2665 0 0 0 0 0 0 28.83 28.83 28.83

8109 0.75 146.6 195.8 11.3 867 8115 0.00 0.00 0.00 0.000 6 0.000 0.000 3369 1892 2665 0 0 0 0 0 0 28.83 28.83 28.83

8418 0.75 146.6 162.7 10.1 898 8427 0.00 2.12 0.00 0.000 4 0.000 0.048 3369 3291 2664 0 0 0 0 0 0 28.83 26.46 28.83

8461 0.75 146.6 158.0 10.8 902 8469 0.00 2.08 0.00 0.000 6 0.000 0.031 3376 1884 2665 0 0 0 0 0 0 28.83 26.53 28.83

8771 0.75 154.3 127.7 8.8 933 8779 0.00 0.00 5.22 0.776 6 0.000 0.000 3376 1885 2649 0 0 0 0 0 0 28.83 28.83 25.38

9080 0.75 154.3 100.3 9.2 964 9090 0.00 2.10 0.00 0.000 4 0.000 0.041 3386 511 2648 0 0 0 0 0 0 28.83 26.46 28.83

9103 0.75 154.3 98.2 9.4 967 9109 0.00 2.12 0.00 0.000 6 0.000 0.037 3386 1880 2648 0 0 0 0 0 0 28.83 26.48 28.83

9415 0.76 159.1 69.0 9.0 1028 9423 0.00 0.00 5.90 0.793 6 0.000 0.000 3386 1879 2630 0 0 0 0 0 0 28.83 28.83 25.39

9729 0.79 179.9 42.7 8.3 1089 9755 0.00 2.28 18.40 0.909 4 0.000 0.050 3386 3307 2543 0 0 0 0 0 0 28.83 26.10 25.26

9876 0.79 179.9 28.6 10.1 1116 9883 0.00 2.12 0.00 0.000 6 0.000 0.033 3395 1905 2539 0 0 0 0 0 0 28.83 26.22 28.83

10193 0.94 303.4 11.0 4.0 1177 10261 0.12 2.22 57.67 0.087 4 0.106 0.049 3450 3298 2038 0 0 1 0 0 0 26.29 26.18 26.10

10341 end climb: SURFACE_DEPTH_REACHED

state 10341 begin surface coast

10568 end surface coast: NO_VERTICAL_VELOCITY

state 10568 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	174	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	66	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	43	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	-191307.58	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	210712,123204,6647.125,-6013.546,39,0.9,39,-33.9	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	4	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-78.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210712,123918,6647.044,-6013.422,21,1.2,21,-33.9	MHEAD_RNG_PITCHd_Wd	302.6,10791,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	557

FREEZE	1.38,3.851,-1.214,2,1,0	ALTIM_BOTTOM_PING	550.1,41.5
FINISH	1.4,1.017764	_24V_AH	23.0,21.974
SM_CCo	10589,41.78,0.079,0,0,1647,400.08	_10V_AH	10.1,25.140
SM_GC	2.06,8.45,1.85,41.78,0.059,0.032,0.079,339,2095,1647,-8.67,1.75,400.08,0,0,0,0,0,0,26.25,26.35,26.16	FG_AHR_24Vo	0.000
RAFOS_CLK	543	FG_AHR_10Vo	0.000
RAFOS	3,1342873505,12.433333,12.418056,55,49,43,41,40,40,814,1842,1900,1858,475,1087	MEM	151592
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	56657,1245
IRIDIUM_FIX	6614.97,-6008.55,210712,090951	CAP_FILE_SIZE	130045,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,231424000
HUMID	43.34	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
INTERNAL_PRESSURE	9.02378	SOUNDSPEED	1453.7
TCM_TEMP	15.60	CURRENT	0.143,345.5,1
XPDR_PINGS	2	GPS	210712,153834,6648.162,-6017.283,36,0.7,36,-34.0
ALTIM_TOP_PING	20.0,18.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	256	122.16	SBE_CT	875	23	482.93
Roll_motor	88	66	135.86	SBE_O2	914	5	125.94
VBD_pump_during_apogee	329	1240	9412.19	nil	0	0	0.00
VBD_pump_during_surface	41	78	75.71	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	297	280	1919.29	nil	0	0	0.00
Transponder_ping	2	420	24.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	5.83
TT8	3118	17	565.62
LPSleep	4769	2	111.28
TT8_Active	533	17	96.74
TT8_Sampling	2330	40	951.54
TT8_CF8	316	48	155.61
TT8_Kalman	0	0	0.00
Analog_circuits	1914	12	232.04
GPS_charging	0	0	0.00
Compass	2016	7	152.54
RAFOS	720	3	21.82
Transponder	15	30	4.84

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
16	-0.75	-146.6	0.0	0.0	0	69	0.00	0.00	-50.58	0.000	2	0.000	0.000	340	2091	2792	0	0	0	0	0	0	28.83	28.83	28.83
73	-0.75	-146.6	3.1	-1.0	9	118	10.12	2.20	-27.05	0.000	4	0.256	0.067	2872	3506	3880	0	0	0	0	0	0	25.92	26.29	26.67
297	-0.75	-146.6	39.5	-14.0	51	305	0.00	2.10	0.00	0.000	6	0.000	0.031	2873	2097	3885	0	0	0	0	0	0	28.83	26.44	28.83
614	-0.75	-146.6	83.5	-13.7	112	621	0.00	2.22	0.00	0.000	4	0.000	0.051	2863	3515	3888	0	0	0	0	0	0	28.83	26.39	28.83
733	-0.75	-146.6	100.5	-13.8	135	741	0.00	2.10	0.00	0.000	6	0.000	0.031	2863	2106	3888	0	0	0	0	0	0	28.83	26.50	28.83
1039	-0.75	-146.6	140.6	-12.6	166	1048	0.00	2.17	0.00	0.000	4	0.000	0.052	2852	3503	3888	0	0	0	0	0	0	28.83	26.43	28.83
1171	-0.75	-146.6	158.5	-13.7	179	1181	0.15	2.08	0.00	0.000	6	0.174	0.032	2891	2106	3888	0	0	0	0	0	0	26.24	26.54	28.83
1481	-0.75	-146.6	191.2	-10.5	210	1490	0.00	2.17	0.00	0.000	4	0.000	0.053	2883	3515	3887	0	0	0	0	0	0	28.83	26.46	28.83
1594	-0.75	-146.6	204.1	-11.7	221	1602	0.00	2.05	0.00	0.000	6	0.000	0.032	2883	2131	3887	0	0	0	0	0	0	28.83	26.57	28.83
1904	-0.75	-146.6	240.2	-11.5	252	1913	0.00	2.10	0.00	0.000	4	0.000	0.053	2873	3502	3886	0	0	0	0	0	0	28.83	26.48	28.83
2030	-0.75	-146.6	255.5	-12.4	264	2036	0.00	2.00	0.00	0.000	6	0.000	0.032	2873	2144	3886	0	0	0	0	0	0	28.83	26.59	28.83
2336	-0.75	-146.6	290.4	-10.8	295	2340	0.00	2.12	0.00	0.000	4	0.000	0.053	2862	3510	3885	0	0	0	0	0	0	28.83	26.51	28.83
2399	-0.75	-146.6	297.4	-11.6	301	2407	0.00	2.03	0.00	0.000	6	0.000	0.032	2862	2141	3885	0	0	0	0	0	0	28.83	26.61	28.83
2709	-0.75	-146.6	331.8	-10.9	332	2718	0.00	2.08	0.00	0.000	4	0.000	0.052	2852	3502	3885	0	0	0	0	0	0	28.83	26.52	28.83
2832	-0.75	-146.6	346.0	-11.9	344	2841	0.15	1.98	0.00	0.000	6	0.164	0.032	2895	2161	3884	0	0	0	0	0	0	26.32	26.63	28.83
3141	-0.75	-146.6	373.7	-8.5	375	3142	0.00	0.00	0.00	0.000	6	0.000	0.000	2895	2158	3885	0	0	0	0	0	0	28.83	28.83	28.83
3444	-0.75	-146.6	399.5	-8.7	405	3453	0.00	2.05	0.00	0.000	4	0.000	0.052	2887	3506	3884	0	0	0	0	0	0	28.83	26.54	28.83
3566	-0.75	-146.6	411.7	-9.9	417	3575	0.00	1.98	0.00	0.000	6	0.000	0.031	2887	2160	3885	0	0	0	0	0	0	28.83	26.65	28.83
3877	-0.75	-146.6	440.5	-9.3	448	3886	0.00	2.08	0.00	0.000	4	0.000	0.052	2877	3513	3885	0	0	0	0	0	0	28.83	26.55	28.83
3972	-0.75	-146.6	449.8	-10.3	457	3982	0.00	1.98	0.00	0.000	6	0.000	0.031	2877	2156	3885	0	0	0	0	0	0	28.83	26.66	28.83
4281	-0.75	-146.6	480.8	-9.7	488	4290	0.00	2.08	0.00	0.000	4	0.000	0.051	2867	3514	3885	0	0	0	0	0	0	28.83	26.56	28.83
4355	-0.75	-146.6	488.2	-10.4	495	4363	0.00	1.95	0.00	0.000	6	0.000	0.031	2867	2174	3885	0	0	0	0	0	0	28.83	26.67	28.83
4663	-0.75	-146.6	517.8	-9.3	526	4671	0.00	2.05	0.00	0.000	4	0.000	0.052	2857	3514	3885	0	0	0	0	0	0	28.83	26.56	28.83
4765	-0.75	-146.6	528.0	-10.6	536	4770	0.12	1.95	0.00	0.000	6	0.164	0.031	2888	2175	3885	0	0	0	0	0	0	26.40	26.67	28.83
5080	-0.75	-146.6	556.5	-8.4	567	5090	0.00	2.08	0.00	0.000	4	0.000	0.051	2880	3524	3885	0	0	0	0	0	0	28.83	26.58	28.83
5093	end dive: TARGET_DEPTH_EXCEEDED
state	5093	begin apogee
5102	-0.17	0.0	557.2	-8.3	568	5226	0.57	0.00	119.47	1.241	4	0.140	0.000	3068	1889	3280	0	0	0	0	0	0	26.34	28.83	23.86
5229	end apogee: CONTROL_FINISHED_OK
state	5230	begin climb
5232	0.75	146.6	561.4	0.0	581	5370	0.88	2.28	123.12	1.201	4	0.076	0.037	3370	506	2680	0	0	0	0	0	0	24.82	24.86	23.04
5383	0.75	146.6	551.4	10.6	596	5394	0.00	2.38	0.00	0.000	6	0.000	0.035	3370	1897	2676	0	0	0	0	0	0	28.83	24.20	28.83
5694	0.75	146.6	511.1	13.4	627	5695	0.00	0.00	0.00	0.000	6	0.000	0.000	3370	1897	2669	0	0	0	0	0	0	28.83	28.83	28.83
5997	0.75	146.6	472.0	13.5	657	6003	0.00	0.00	0.00	0.000	6	0.000	0.000	3370	1897	2668	0	0	0	0	0	0	28.83	28.83	28.83
6306	0.75	146.6	430.6	12.9	688	6315	0.00	2.17	0.00	0.000	4	0.000	0.039	3379	519	2666	0	0	0	0	0	0	28.83	26.07	28.83
6352	0.75	146.6	424.8	12.8	692	6359	0.00	2.17	0.00	0.000	6	0.000	0.037	3379	1904	2666	0	0	0	0	0	0	28.83	26.10	28.83
6658	0.75	146.6	385.0	13.0	723	6667	0.00	2.15	0.00	0.000	4	0.000	0.048	3379	3300	2666	0	0	0	0	0	0	28.83	26.18	28.83
6704	0.75	146.6	378.9	14.6	727	6710	0.00	2.10	0.00	0.000	6	0.000	0.031	3388	1898	2665	0	0	0	0	0	0	28.83	26.26	28.83
7010	0.75	146.6	335.7	13.9	758	7019	0.00	2.15	0.00	0.000	4	0.000	0.040	3398	504	2665	0	0	0	0	0	0	28.83	26.29	28.83
7167	0.75	146.6	314.6	13.2	773	7176	0.00	2.12	0.00	0.000	6	0.000	0.037	3398	1892	2665	0	0	0	0	0	0	28.83	26.34	28.83
7474	0.75	146.6	270.9	14.5	804	7478	0.00	2.17	0.00	0.000	4	0.000	0.039	3407	501	2664	0	0	0	0	0	0	28.83	26.38	28.83
7500	0.75	146.6	267.8	14.3	806	7507	0.15	2.15	0.00	0.000	6	0.167	0.036	3369	1892	2664	0	0	0	0	0	0	26.17	26.40	28.83
7807	0.75	146.6	230.2	11.3	837	7808	0.00	0.00	0.00	0.000	6	0.000	0.000	3369	1892	2665	0	0	0	0	0	0	28.83	28.83	28.83
8109	0.75	146.6	195.8	11.3	867	8115	0.00	0.00	0.00	0.000	6	0.000	0.000	3369	1892	2665	0	0	0	0	0	0	28.83	28.83	28.83
8418	0.75	146.6	162.7	10.1	898	8427	0.00	2.12	0.00	0.000	4	0.000	0.048	3369	3291	2664	0	0	0	0	0	0	28.83	26.46	28.83
8461	0.75	146.6	158.0	10.8	902	8469	0.00	2.08	0.00	0.000	6	0.000	0.031	3376	1884	2665	0	0	0	0	0	0	28.83	26.53	28.83
8771	0.75	154.3	127.7	8.8	933	8779	0.00	0.00	5.22	0.776	6	0.000	0.000	3376	1885	2649	0	0	0	0	0	0	28.83	28.83	25.38
9080	0.75	154.3	100.3	9.2	964	9090	0.00	2.10	0.00	0.000	4	0.000	0.041	3386	511	2648	0	0	0	0	0	0	28.83	26.46	28.83
9103	0.75	154.3	98.2	9.4	967	9109	0.00	2.12	0.00	0.000	6	0.000	0.037	3386	1880	2648	0	0	0	0	0	0	28.83	26.48	28.83
9415	0.76	159.1	69.0	9.0	1028	9423	0.00	0.00	5.90	0.793	6	0.000	0.000	3386	1879	2630	0	0	0	0	0	0	28.83	28.83	25.39
9729	0.79	179.9	42.7	8.3	1089	9755	0.00	2.28	18.40	0.909	4	0.000	0.050	3386	3307	2543	0	0	0	0	0	0	28.83	26.10	25.26
9876	0.79	179.9	28.6	10.1	1116	9883	0.00	2.12	0.00	0.000	6	0.000	0.033	3395	1905	2539	0	0	0	0	0	0	28.83	26.22	28.83
10193	0.94	303.4	11.0	4.0	1177	10261	0.12	2.22	57.67	0.087	4	0.106	0.049	3450	3298	2038	0	0	1	0	0	0	26.29	26.18	26.10
10341	end climb: SURFACE_DEPTH_REACHED
state	10341	begin surface coast
10568	end surface coast: NO_VERTICAL_VELOCITY
state	10568	begin surface