Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 175 * 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 175 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 62 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 46 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 -191308.83 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 -191308.83

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 62 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 46 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 175 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 210712,153834,6648.162,-6017.283,36,0.7,36,-34.0 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 2.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -79.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210712,154542,6648.078,-6017.518,14,0.8,14,-33.9 MHEAD_RNG_PITCHd_Wd 148.2,153806,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 556

Post-dive calculations and measurements:

FREEZE 1.59,3.565,-1.573,2,1,0 ALTIM_BOTTOM_PING 550.9,37.0

FINISH 1.6,1.022908 _24V_AH 23.4,22.064

SM_CCo 10443,62.47,0.076,0,0,1647,400.08 _10V_AH 10.1,25.234

SM_GC 2.21,8.45,1.88,62.47,0.060,0.032,0.076,340,2091,1647,-8.66,1.78,400.08,0,0,0,0,0,0,26.11,26.21,26.01 FG_AHR_24Vo 0.000

RAFOS_CLK 534 FG_AHR_10Vo 0.000

RAFOS 0,1342886467,16.033333,16.018612,50,49,47,46,42,41,882,1270,1165,1395,636,151 MEM 151572

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 56662,1212

IRIDIUM_FIX 6614.97,-6008.55,210712,121213 CAP_FILE_SIZE 127872,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,231354368

HUMID 42.04 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.99449 SOUNDSPEED 1453.6

TCM_TEMP 15.40 CURRENT 0.043,237.8,1

XPDR_PINGS 2 GPS 210712,184252,6647.150,-6015.376,38,0.8,38,-33.9

ALTIM_TOP_PING 19.9,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 250 121.83 SBE_CT 851 23 477.71

Roll_motor 92 55 121.43 SBE_O2 891 5 124.93

VBD_pump_during_apogee 311 1211 8826.97 nil 0 0 0.00

VBD_pump_during_surface 62 76 111.84 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 297 275 1921.50 nil 0 0 0.00

Transponder_ping 2 420 24.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 26 4.20

TT8 3009 17 545.96

LPSleep 4821 2 112.50

TT8_Active 532 17 96.62

TT8_Sampling 2262 40 923.79

TT8_CF8 310 48 152.56

TT8_Kalman 0 0 0.00

Analog_circuits 1888 12 228.89

GPS_charging 0 0 0.00

Compass 1954 7 147.83

RAFOS 2520 3 76.36

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 58 0.00 0.00 -39.40 0.000 2 0.000 0.000 339 2090 2535 0 0 0 0 0 0 28.83 28.83 28.83

62 -0.75 -146.6 3.1 -2.1 7 118 10.07 2.17 -38.70 0.000 4 0.251 0.056 2893 708 3881 0 0 0 0 0 0 25.91 26.33 26.67

199 -0.75 -146.6 19.5 -12.8 31 206 0.00 2.15 0.00 0.000 6 0.000 0.041 2886 2104 3885 0 0 0 0 0 0 28.83 26.36 28.83

512 -0.75 -146.6 62.6 -13.5 92 519 0.00 2.15 0.00 0.000 4 0.000 0.052 2876 3502 3888 0 0 0 0 0 0 28.83 26.37 28.83

718 -0.75 -146.6 90.6 -13.7 132 725 0.00 2.08 0.00 0.000 6 0.000 0.032 2881 2104 3889 0 0 0 0 0 0 28.83 26.49 28.83

1033 -0.75 -146.6 129.8 -12.0 170 1042 0.00 2.15 0.00 0.000 4 0.000 0.052 2872 3506 3889 0 0 0 0 0 0 28.83 26.44 28.83

1098 -0.75 -146.6 137.5 -12.5 176 1105 0.00 2.08 0.00 0.000 6 0.000 0.031 2872 2104 3889 0 0 0 0 0 0 28.83 26.53 28.83

1405 -0.75 -146.6 175.1 -12.2 207 1414 0.00 2.17 0.00 0.000 4 0.000 0.053 2861 3513 3889 0 0 0 0 0 0 28.83 26.46 28.83

1478 -0.75 -146.6 184.4 -12.9 214 1486 0.00 2.05 0.00 0.000 6 0.000 0.032 2862 2119 3888 0 0 0 0 0 0 28.83 26.57 28.83

1787 -0.75 -146.6 224.0 -12.6 245 1797 0.00 2.15 0.00 0.000 4 0.000 0.053 2850 3511 3888 0 0 0 0 0 0 28.83 26.48 28.83

1853 -0.75 -146.6 232.3 -13.3 251 1862 0.10 2.05 0.00 0.000 6 0.153 0.032 2884 2122 3888 0 0 0 0 0 0 26.29 26.59 28.83

2161 -0.75 -146.6 266.0 -10.6 282 2165 0.00 2.15 0.00 0.000 4 0.000 0.053 2875 3509 3887 0 0 0 0 0 0 28.83 26.49 28.83

2273 -0.75 -146.6 278.7 -11.1 293 2283 0.00 2.05 0.00 0.000 6 0.000 0.031 2875 2125 3886 0 0 0 0 0 0 28.83 26.61 28.83

2584 -0.75 -146.6 312.5 -10.6 324 2592 0.00 2.15 0.00 0.000 4 0.000 0.051 2865 3508 3886 0 0 0 0 0 0 28.83 26.51 28.83

2711 -0.75 -146.6 326.3 -11.5 336 2718 0.00 2.00 0.00 0.000 6 0.000 0.032 2865 2145 3887 0 0 0 0 0 0 28.83 26.63 28.83

3016 -0.75 -146.6 358.9 -9.9 367 3025 0.00 2.10 0.00 0.000 4 0.000 0.052 2854 3513 3886 0 0 0 0 0 0 28.83 26.53 28.83

3051 -0.75 -146.6 362.5 -10.8 370 3058 0.12 2.00 0.00 0.000 6 0.168 0.031 2886 2146 3886 0 0 0 0 0 0 26.36 26.63 28.83

3359 -0.75 -146.6 390.8 -8.8 401 3362 0.00 2.10 0.00 0.000 4 0.000 0.051 2877 3509 3886 0 0 0 0 0 0 28.83 26.54 28.83

3420 -0.75 -146.6 396.7 -9.5 407 3429 0.00 1.98 0.00 0.000 6 0.000 0.031 2877 2163 3886 0 0 0 0 0 0 28.83 26.65 28.83

3731 -0.75 -146.6 425.2 -9.0 438 3740 0.00 2.05 0.00 0.000 4 0.000 0.051 2868 3512 3886 0 0 0 0 0 0 28.83 26.55 28.83

3786 -0.75 -146.6 430.4 -10.1 443 3793 0.00 1.98 0.00 0.000 6 0.000 0.031 2868 2160 3886 0 0 0 0 0 0 28.83 26.65 28.83

4094 -0.75 -146.6 460.5 -9.5 474 4102 0.00 2.05 0.00 0.000 4 0.000 0.051 2858 3509 3886 0 0 0 0 0 0 28.83 26.55 28.83

4189 -0.75 -146.6 470.3 -10.8 483 4196 0.12 1.95 0.00 0.000 6 0.164 0.031 2889 2174 3886 0 0 0 0 0 0 26.39 26.67 28.83

4498 -0.75 -146.6 496.9 -8.7 514 4506 0.00 2.03 0.00 0.000 4 0.000 0.051 2881 3503 3886 0 0 0 0 0 0 28.83 26.56 28.83

4541 -0.75 -146.6 500.7 -8.8 518 4549 0.00 1.95 0.00 0.000 6 0.000 0.031 2882 2172 3886 0 0 0 0 0 0 28.83 26.67 28.83

4849 -0.75 -146.6 528.4 -9.2 549 4859 0.00 2.08 0.00 0.000 4 0.000 0.051 2871 3516 3886 0 0 0 0 0 0 28.83 26.56 28.83

4922 -0.75 -146.6 535.5 -9.8 556 4930 0.00 1.95 0.00 0.000 6 0.000 0.031 2872 2182 3886 0 0 0 0 0 0 28.83 26.67 28.83

5143 end dive: TARGET_DEPTH_EXCEEDED

state 5144 begin apogee

5151 -0.17 0.0 556.4 -9.2 578 5274 0.62 0.00 119.22 1.212 4 0.142 0.000 3069 1882 3280 0 0 0 0 0 0 26.33 28.83 23.97

5278 end apogee: CONTROL_FINISHED_OK

state 5278 begin climb

5281 0.75 146.6 560.8 0.0 591 5415 0.90 2.25 120.07 1.050 4 0.076 0.037 3377 513 2679 0 0 0 0 0 0 24.86 24.90 23.36

5451 0.75 146.6 549.2 12.2 608 5459 0.00 2.33 0.00 0.000 6 0.000 0.035 3376 1897 2674 0 0 0 0 0 0 28.83 24.55 28.83

5758 0.75 146.6 507.4 13.4 639 5767 0.00 2.20 0.00 0.000 4 0.000 0.048 3376 3309 2668 0 0 0 0 0 0 28.83 25.52 28.83

5793 0.75 146.6 502.9 14.2 642 5800 0.00 2.15 0.00 0.000 6 0.000 0.031 3386 1916 2667 0 0 0 0 0 0 28.83 25.63 28.83

6101 0.75 146.6 459.4 13.7 673 6109 0.00 2.17 0.00 0.000 4 0.000 0.040 3396 512 2665 0 0 0 0 0 0 28.83 25.94 28.83

6185 0.75 146.6 448.0 13.8 681 6192 0.00 2.20 0.00 0.000 6 0.000 0.037 3396 1906 2665 0 0 0 0 0 0 28.83 26.00 28.83

6493 0.75 146.6 405.0 13.9 712 6494 0.00 0.00 0.00 0.000 6 0.000 0.000 3396 1907 2665 0 0 0 0 0 0 28.83 28.83 28.83

6794 0.75 146.6 364.0 13.2 742 6803 0.00 2.20 0.00 0.000 4 0.000 0.040 3405 501 2664 0 0 0 0 0 0 28.83 26.25 28.83

6827 0.75 146.6 359.5 13.6 745 6836 0.10 2.15 0.00 0.000 6 0.156 0.037 3371 1890 2664 0 0 0 0 0 0 26.03 26.27 28.83

7136 0.75 146.6 323.3 11.3 776 7137 0.00 0.00 0.00 0.000 6 0.000 0.000 3371 1890 2664 0 0 0 0 0 0 28.83 28.83 28.83

7439 0.75 146.6 288.6 11.4 806 7445 0.00 0.00 0.00 0.000 6 0.000 0.000 3371 1890 2664 0 0 0 0 0 0 28.83 28.83 28.83

7749 0.75 146.6 253.7 11.0 837 7757 0.00 2.12 0.00 0.000 4 0.000 0.040 3378 501 2664 0 0 0 0 0 0 28.83 26.42 28.83

7791 0.75 146.6 248.9 10.5 841 7800 0.00 2.12 0.00 0.000 6 0.000 0.037 3379 1883 2664 0 0 0 0 0 0 28.83 26.44 28.83

8100 0.75 146.6 213.9 11.5 872 8102 0.00 0.00 0.00 0.000 6 0.000 0.000 3379 1882 2664 0 0 0 0 0 0 28.83 28.83 28.83

8403 0.75 146.6 180.6 11.0 902 8409 0.00 0.00 0.00 0.000 6 0.000 0.000 3378 1882 2664 0 0 0 0 0 0 28.83 28.83 28.83

8713 0.75 146.6 148.7 9.8 933 8721 0.00 2.10 0.00 0.000 4 0.000 0.040 3386 508 2664 0 0 0 0 0 0 28.83 26.51 28.83

8795 0.75 146.6 140.5 9.5 941 8804 0.00 2.12 0.00 0.000 6 0.000 0.037 3386 1890 2664 0 0 0 0 0 0 28.83 26.53 28.83

9105 0.76 157.9 112.3 8.7 972 9117 0.00 2.17 8.02 0.855 4 0.000 0.049 3387 3304 2635 0 0 0 0 0 0 28.83 26.39 25.43

9166 0.76 157.9 106.4 10.0 978 9170 0.00 2.12 0.00 0.000 6 0.000 0.032 3396 1874 2634 0 0 0 0 0 0 28.83 26.44 28.83

9475 0.76 157.9 78.2 9.5 1032 9482 0.00 2.08 0.00 0.000 4 0.000 0.041 3406 504 2633 0 0 0 0 0 0 28.83 26.44 28.83

9555 0.76 157.9 70.4 9.3 1047 9563 0.12 2.15 0.00 0.000 6 0.171 0.037 3376 1887 2633 0 0 0 0 0 0 26.26 26.47 28.83

9870 0.81 197.9 44.9 7.5 1108 9906 0.00 0.00 33.70 0.909 6 0.000 0.000 3376 1886 2471 0 0 0 0 0 0 28.83 28.83 25.09

10215 0.88 259.4 18.4 6.6 1174 10253 0.12 2.28 30.27 0.109 4 0.101 0.050 3428 3309 2218 0 0 0 0 0 0 26.13 26.06 25.93

10392 end climb: SURFACE_DEPTH_REACHED

state 10392 begin surface coast

10422 end surface coast: CONTROL_FINISHED_OK

state 10422 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	175	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	62	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	46	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	-191308.83	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	210712,153834,6648.162,-6017.283,36,0.7,36,-34.0	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	2.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-79.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210712,154542,6648.078,-6017.518,14,0.8,14,-33.9	MHEAD_RNG_PITCHd_Wd	148.2,153806,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	556

FREEZE	1.59,3.565,-1.573,2,1,0	ALTIM_BOTTOM_PING	550.9,37.0
FINISH	1.6,1.022908	_24V_AH	23.4,22.064
SM_CCo	10443,62.47,0.076,0,0,1647,400.08	_10V_AH	10.1,25.234
SM_GC	2.21,8.45,1.88,62.47,0.060,0.032,0.076,340,2091,1647,-8.66,1.78,400.08,0,0,0,0,0,0,26.11,26.21,26.01	FG_AHR_24Vo	0.000
RAFOS_CLK	534	FG_AHR_10Vo	0.000
RAFOS	0,1342886467,16.033333,16.018612,50,49,47,46,42,41,882,1270,1165,1395,636,151	MEM	151572
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	56662,1212
IRIDIUM_FIX	6614.97,-6008.55,210712,121213	CAP_FILE_SIZE	127872,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,231354368
HUMID	42.04	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.99449	SOUNDSPEED	1453.6
TCM_TEMP	15.40	CURRENT	0.043,237.8,1
XPDR_PINGS	2	GPS	210712,184252,6647.150,-6015.376,38,0.8,38,-33.9
ALTIM_TOP_PING	19.9,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	250	121.83	SBE_CT	851	23	477.71
Roll_motor	92	55	121.43	SBE_O2	891	5	124.93
VBD_pump_during_apogee	311	1211	8826.97	nil	0	0	0.00
VBD_pump_during_surface	62	76	111.84	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	275	1921.50	nil	0	0	0.00
Transponder_ping	2	420	24.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	26	4.20
TT8	3009	17	545.96
LPSleep	4821	2	112.50
TT8_Active	532	17	96.62
TT8_Sampling	2262	40	923.79
TT8_CF8	310	48	152.56
TT8_Kalman	0	0	0.00
Analog_circuits	1888	12	228.89
GPS_charging	0	0	0.00
Compass	1954	7	147.83
RAFOS	2520	3	76.36
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	58	0.00	0.00	-39.40	0.000	2	0.000	0.000	339	2090	2535	0	0	0	0	0	0	28.83	28.83	28.83
62	-0.75	-146.6	3.1	-2.1	7	118	10.07	2.17	-38.70	0.000	4	0.251	0.056	2893	708	3881	0	0	0	0	0	0	25.91	26.33	26.67
199	-0.75	-146.6	19.5	-12.8	31	206	0.00	2.15	0.00	0.000	6	0.000	0.041	2886	2104	3885	0	0	0	0	0	0	28.83	26.36	28.83
512	-0.75	-146.6	62.6	-13.5	92	519	0.00	2.15	0.00	0.000	4	0.000	0.052	2876	3502	3888	0	0	0	0	0	0	28.83	26.37	28.83
718	-0.75	-146.6	90.6	-13.7	132	725	0.00	2.08	0.00	0.000	6	0.000	0.032	2881	2104	3889	0	0	0	0	0	0	28.83	26.49	28.83
1033	-0.75	-146.6	129.8	-12.0	170	1042	0.00	2.15	0.00	0.000	4	0.000	0.052	2872	3506	3889	0	0	0	0	0	0	28.83	26.44	28.83
1098	-0.75	-146.6	137.5	-12.5	176	1105	0.00	2.08	0.00	0.000	6	0.000	0.031	2872	2104	3889	0	0	0	0	0	0	28.83	26.53	28.83
1405	-0.75	-146.6	175.1	-12.2	207	1414	0.00	2.17	0.00	0.000	4	0.000	0.053	2861	3513	3889	0	0	0	0	0	0	28.83	26.46	28.83
1478	-0.75	-146.6	184.4	-12.9	214	1486	0.00	2.05	0.00	0.000	6	0.000	0.032	2862	2119	3888	0	0	0	0	0	0	28.83	26.57	28.83
1787	-0.75	-146.6	224.0	-12.6	245	1797	0.00	2.15	0.00	0.000	4	0.000	0.053	2850	3511	3888	0	0	0	0	0	0	28.83	26.48	28.83
1853	-0.75	-146.6	232.3	-13.3	251	1862	0.10	2.05	0.00	0.000	6	0.153	0.032	2884	2122	3888	0	0	0	0	0	0	26.29	26.59	28.83
2161	-0.75	-146.6	266.0	-10.6	282	2165	0.00	2.15	0.00	0.000	4	0.000	0.053	2875	3509	3887	0	0	0	0	0	0	28.83	26.49	28.83
2273	-0.75	-146.6	278.7	-11.1	293	2283	0.00	2.05	0.00	0.000	6	0.000	0.031	2875	2125	3886	0	0	0	0	0	0	28.83	26.61	28.83
2584	-0.75	-146.6	312.5	-10.6	324	2592	0.00	2.15	0.00	0.000	4	0.000	0.051	2865	3508	3886	0	0	0	0	0	0	28.83	26.51	28.83
2711	-0.75	-146.6	326.3	-11.5	336	2718	0.00	2.00	0.00	0.000	6	0.000	0.032	2865	2145	3887	0	0	0	0	0	0	28.83	26.63	28.83
3016	-0.75	-146.6	358.9	-9.9	367	3025	0.00	2.10	0.00	0.000	4	0.000	0.052	2854	3513	3886	0	0	0	0	0	0	28.83	26.53	28.83
3051	-0.75	-146.6	362.5	-10.8	370	3058	0.12	2.00	0.00	0.000	6	0.168	0.031	2886	2146	3886	0	0	0	0	0	0	26.36	26.63	28.83
3359	-0.75	-146.6	390.8	-8.8	401	3362	0.00	2.10	0.00	0.000	4	0.000	0.051	2877	3509	3886	0	0	0	0	0	0	28.83	26.54	28.83
3420	-0.75	-146.6	396.7	-9.5	407	3429	0.00	1.98	0.00	0.000	6	0.000	0.031	2877	2163	3886	0	0	0	0	0	0	28.83	26.65	28.83
3731	-0.75	-146.6	425.2	-9.0	438	3740	0.00	2.05	0.00	0.000	4	0.000	0.051	2868	3512	3886	0	0	0	0	0	0	28.83	26.55	28.83
3786	-0.75	-146.6	430.4	-10.1	443	3793	0.00	1.98	0.00	0.000	6	0.000	0.031	2868	2160	3886	0	0	0	0	0	0	28.83	26.65	28.83
4094	-0.75	-146.6	460.5	-9.5	474	4102	0.00	2.05	0.00	0.000	4	0.000	0.051	2858	3509	3886	0	0	0	0	0	0	28.83	26.55	28.83
4189	-0.75	-146.6	470.3	-10.8	483	4196	0.12	1.95	0.00	0.000	6	0.164	0.031	2889	2174	3886	0	0	0	0	0	0	26.39	26.67	28.83
4498	-0.75	-146.6	496.9	-8.7	514	4506	0.00	2.03	0.00	0.000	4	0.000	0.051	2881	3503	3886	0	0	0	0	0	0	28.83	26.56	28.83
4541	-0.75	-146.6	500.7	-8.8	518	4549	0.00	1.95	0.00	0.000	6	0.000	0.031	2882	2172	3886	0	0	0	0	0	0	28.83	26.67	28.83
4849	-0.75	-146.6	528.4	-9.2	549	4859	0.00	2.08	0.00	0.000	4	0.000	0.051	2871	3516	3886	0	0	0	0	0	0	28.83	26.56	28.83
4922	-0.75	-146.6	535.5	-9.8	556	4930	0.00	1.95	0.00	0.000	6	0.000	0.031	2872	2182	3886	0	0	0	0	0	0	28.83	26.67	28.83
5143	end dive: TARGET_DEPTH_EXCEEDED
state	5144	begin apogee
5151	-0.17	0.0	556.4	-9.2	578	5274	0.62	0.00	119.22	1.212	4	0.142	0.000	3069	1882	3280	0	0	0	0	0	0	26.33	28.83	23.97
5278	end apogee: CONTROL_FINISHED_OK
state	5278	begin climb
5281	0.75	146.6	560.8	0.0	591	5415	0.90	2.25	120.07	1.050	4	0.076	0.037	3377	513	2679	0	0	0	0	0	0	24.86	24.90	23.36
5451	0.75	146.6	549.2	12.2	608	5459	0.00	2.33	0.00	0.000	6	0.000	0.035	3376	1897	2674	0	0	0	0	0	0	28.83	24.55	28.83
5758	0.75	146.6	507.4	13.4	639	5767	0.00	2.20	0.00	0.000	4	0.000	0.048	3376	3309	2668	0	0	0	0	0	0	28.83	25.52	28.83
5793	0.75	146.6	502.9	14.2	642	5800	0.00	2.15	0.00	0.000	6	0.000	0.031	3386	1916	2667	0	0	0	0	0	0	28.83	25.63	28.83
6101	0.75	146.6	459.4	13.7	673	6109	0.00	2.17	0.00	0.000	4	0.000	0.040	3396	512	2665	0	0	0	0	0	0	28.83	25.94	28.83
6185	0.75	146.6	448.0	13.8	681	6192	0.00	2.20	0.00	0.000	6	0.000	0.037	3396	1906	2665	0	0	0	0	0	0	28.83	26.00	28.83
6493	0.75	146.6	405.0	13.9	712	6494	0.00	0.00	0.00	0.000	6	0.000	0.000	3396	1907	2665	0	0	0	0	0	0	28.83	28.83	28.83
6794	0.75	146.6	364.0	13.2	742	6803	0.00	2.20	0.00	0.000	4	0.000	0.040	3405	501	2664	0	0	0	0	0	0	28.83	26.25	28.83
6827	0.75	146.6	359.5	13.6	745	6836	0.10	2.15	0.00	0.000	6	0.156	0.037	3371	1890	2664	0	0	0	0	0	0	26.03	26.27	28.83
7136	0.75	146.6	323.3	11.3	776	7137	0.00	0.00	0.00	0.000	6	0.000	0.000	3371	1890	2664	0	0	0	0	0	0	28.83	28.83	28.83
7439	0.75	146.6	288.6	11.4	806	7445	0.00	0.00	0.00	0.000	6	0.000	0.000	3371	1890	2664	0	0	0	0	0	0	28.83	28.83	28.83
7749	0.75	146.6	253.7	11.0	837	7757	0.00	2.12	0.00	0.000	4	0.000	0.040	3378	501	2664	0	0	0	0	0	0	28.83	26.42	28.83
7791	0.75	146.6	248.9	10.5	841	7800	0.00	2.12	0.00	0.000	6	0.000	0.037	3379	1883	2664	0	0	0	0	0	0	28.83	26.44	28.83
8100	0.75	146.6	213.9	11.5	872	8102	0.00	0.00	0.00	0.000	6	0.000	0.000	3379	1882	2664	0	0	0	0	0	0	28.83	28.83	28.83
8403	0.75	146.6	180.6	11.0	902	8409	0.00	0.00	0.00	0.000	6	0.000	0.000	3378	1882	2664	0	0	0	0	0	0	28.83	28.83	28.83
8713	0.75	146.6	148.7	9.8	933	8721	0.00	2.10	0.00	0.000	4	0.000	0.040	3386	508	2664	0	0	0	0	0	0	28.83	26.51	28.83
8795	0.75	146.6	140.5	9.5	941	8804	0.00	2.12	0.00	0.000	6	0.000	0.037	3386	1890	2664	0	0	0	0	0	0	28.83	26.53	28.83
9105	0.76	157.9	112.3	8.7	972	9117	0.00	2.17	8.02	0.855	4	0.000	0.049	3387	3304	2635	0	0	0	0	0	0	28.83	26.39	25.43
9166	0.76	157.9	106.4	10.0	978	9170	0.00	2.12	0.00	0.000	6	0.000	0.032	3396	1874	2634	0	0	0	0	0	0	28.83	26.44	28.83
9475	0.76	157.9	78.2	9.5	1032	9482	0.00	2.08	0.00	0.000	4	0.000	0.041	3406	504	2633	0	0	0	0	0	0	28.83	26.44	28.83
9555	0.76	157.9	70.4	9.3	1047	9563	0.12	2.15	0.00	0.000	6	0.171	0.037	3376	1887	2633	0	0	0	0	0	0	26.26	26.47	28.83
9870	0.81	197.9	44.9	7.5	1108	9906	0.00	0.00	33.70	0.909	6	0.000	0.000	3376	1886	2471	0	0	0	0	0	0	28.83	28.83	25.09
10215	0.88	259.4	18.4	6.6	1174	10253	0.12	2.28	30.27	0.109	4	0.101	0.050	3428	3309	2218	0	0	0	0	0	0	26.13	26.06	25.93
10392	end climb: SURFACE_DEPTH_REACHED
state	10392	begin surface coast
10422	end surface coast: CONTROL_FINISHED_OK
state	10422	begin surface