Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 176 * 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 176 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 67 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 49 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 -191310.08 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 -191310.08

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 67 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 49 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 176 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 210712,184252,6647.150,-6015.376,38,0.8,38,-33.9 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 2.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210712,184930,6647.148,-6015.570,18,0.8,18,-33.9 MHEAD_RNG_PITCHd_Wd 109.3,152744,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 558

Post-dive calculations and measurements:

FREEZE 1.29,4.203,-0.783,2,1,0 ALTIM_BOTTOM_PING 550.9,39.1

FINISH 1.3,1.011467 _24V_AH 23.1,22.167

SM_CCo 10224,63.28,0.076,0,0,1647,400.08 _10V_AH 10.1,25.325

SM_GC 2.22,8.40,0.32,63.28,0.062,0.060,0.076,344,2103,1647,-8.65,-1.36,400.08,0,0,0,0,0,0,25.98,26.02,25.89 FG_AHR_24Vo 0.000

RAFOS_CLK 526 FG_AHR_10Vo 0.000

RAFOS 0,1342900869,20.033333,20.019167,43,43,43,43,42,41,954,465,973,1383,680,223 MEM 151532

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 53345,1198

IRIDIUM_FIX 6620.33,-6013.28,210712,151543 CAP_FILE_SIZE 127626,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,231284736

HUMID 42.63 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0

INTERNAL_PRESSURE 9.00425 SOUNDSPEED 1453.4

TCM_TEMP 15.50 CURRENT 0.218,181.1,1

XPDR_PINGS 0 GPS 210712,214257,6645.915,-6012.147,36,1.2,36,-33.9

ALTIM_TOP_PING 19.9,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 257 123.87 SBE_CT 843 23 466.86

Roll_motor 97 59 134.91 SBE_O2 874 5 121.00

VBD_pump_during_apogee 316 1219 8905.43 nil 0 0 0.00

VBD_pump_during_surface 63 75 110.70 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 263 277 1693.27 nil 0 0 0.00

Transponder_ping 2 420 19.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.32

TT8 2963 17 537.54

LPSleep 4630 2 108.03

TT8_Active 559 17 101.53

TT8_Sampling 2226 40 909.09

TT8_CF8 306 48 150.78

TT8_Kalman 0 0 0.00

Analog_circuits 1886 12 228.66

GPS_charging 0 0 0.00

Compass 1944 7 147.07

RAFOS 2520 3 76.36

Transponder 18 30 5.65

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.75 -146.6 0.0 0.0 0 71 0.00 0.00 -49.85 0.000 2 0.000 0.000 337 2087 2768 0 0 0 0 0 0 28.83 28.83 28.83

75 -0.75 -146.6 3.1 -1.1 9 125 10.27 2.17 -30.55 0.000 4 0.258 0.057 2894 707 3881 0 0 0 0 0 0 25.82 26.25 26.58

147 -0.75 -146.6 13.6 -18.3 21 154 0.00 2.17 0.00 0.000 6 0.000 0.041 2887 2093 3884 0 0 0 0 0 0 28.83 26.27 28.83

460 -0.75 -146.6 56.2 -13.0 82 466 0.00 2.15 0.00 0.000 4 0.000 0.051 2876 3504 3888 0 0 0 0 0 0 28.83 26.30 28.83

631 -0.75 -146.6 79.5 -13.5 115 638 0.00 2.10 0.00 0.000 6 0.000 0.032 2880 2096 3888 0 0 0 0 0 0 28.83 26.44 28.83

947 -0.75 -146.6 121.6 -13.0 161 956 0.00 2.17 0.00 0.000 4 0.000 0.052 2872 3513 3889 0 0 0 0 0 0 28.83 26.39 28.83

1060 -0.75 -146.6 137.2 -14.2 172 1068 0.00 2.10 0.00 0.000 6 0.000 0.032 2872 2099 3889 0 0 0 0 0 0 28.83 26.50 28.83

1370 -0.75 -146.6 178.2 -12.9 203 1379 0.00 2.15 0.00 0.000 4 0.000 0.052 2861 3503 3888 0 0 0 0 0 0 28.83 26.42 28.83

1504 -0.75 -146.6 196.6 -13.9 216 1512 0.00 2.08 0.00 0.000 6 0.000 0.032 2861 2106 3888 0 0 0 0 0 0 28.83 26.54 28.83

1813 -0.75 -146.6 237.2 -12.5 247 1823 0.00 2.17 0.00 0.000 4 0.000 0.052 2850 3527 3888 0 0 0 0 0 0 28.83 26.46 28.83

1951 -0.75 -146.6 254.3 -12.9 260 1959 0.15 2.08 0.00 0.000 6 0.168 0.032 2889 2123 3887 0 0 0 0 0 0 26.27 26.56 28.83

2257 -0.75 -146.6 285.8 -10.1 291 2266 0.00 2.17 0.00 0.000 4 0.000 0.052 2882 3519 3887 0 0 0 0 0 0 28.83 26.48 28.83

2312 -0.75 -146.6 291.4 -10.8 296 2319 0.00 2.03 0.00 0.000 6 0.000 0.031 2882 2142 3886 0 0 0 0 0 0 28.83 26.59 28.83

2620 -0.75 -146.6 323.8 -10.2 327 2629 0.00 2.10 0.00 0.000 4 0.000 0.052 2872 3506 3886 0 0 0 0 0 0 28.83 26.50 28.83

2683 -0.75 -146.6 330.7 -11.0 333 2691 0.00 2.00 0.00 0.000 6 0.000 0.031 2872 2147 3886 0 0 0 0 0 0 28.83 26.61 28.83

2993 -0.75 -146.6 365.0 -11.1 364 3001 0.00 2.08 0.00 0.000 4 0.000 0.052 2861 3512 3886 0 0 0 0 0 0 28.83 26.51 28.83

3095 -0.75 -146.6 377.2 -11.9 374 3103 0.00 1.98 0.00 0.000 6 0.000 0.031 2862 2153 3886 0 0 0 0 0 0 28.83 26.63 28.83

3405 -0.75 -146.6 412.9 -11.8 405 3413 0.00 2.08 0.00 0.000 4 0.000 0.052 2851 3508 3886 0 0 0 0 0 0 28.83 26.53 28.83

3497 -0.75 -146.6 424.1 -12.3 414 3506 0.15 1.98 0.00 0.000 6 0.162 0.031 2890 2163 3886 0 0 0 0 0 0 26.33 26.63 28.83

3807 -0.75 -146.6 454.0 -9.1 445 3811 0.00 2.08 0.00 0.000 4 0.000 0.051 2883 3508 3886 0 0 0 0 0 0 28.83 26.53 28.83

3841 -0.75 -146.6 457.1 -9.7 448 3848 0.00 1.95 0.00 0.000 6 0.000 0.031 2882 2169 3886 0 0 0 0 0 0 28.83 26.65 28.83

4149 -0.75 -146.6 486.2 -9.3 479 4159 0.00 2.08 0.00 0.000 4 0.000 0.050 2872 3513 3886 0 0 0 0 0 0 28.83 26.55 28.83

4215 -0.75 -146.6 492.4 -9.6 485 4222 0.00 1.92 0.00 0.000 6 0.000 0.031 2873 2176 3886 0 0 0 0 0 0 28.83 26.65 28.83

4522 -0.75 -146.6 522.1 -9.7 516 4531 0.00 2.05 0.00 0.000 4 0.000 0.051 2863 3508 3886 0 0 0 0 0 0 28.83 26.55 28.83

4577 -0.75 -146.6 527.4 -10.4 521 4584 0.00 1.92 0.00 0.000 6 0.000 0.031 2862 2187 3886 0 0 0 0 0 0 28.83 26.67 28.83

4873 end dive: TARGET_DEPTH_EXCEEDED

state 4873 begin apogee

4880 -0.17 0.0 558.3 -10.3 551 5006 0.65 0.00 119.45 1.219 4 0.146 0.000 3068 1885 3279 0 0 0 0 0 0 26.31 28.83 23.89

5009 end apogee: CONTROL_FINISHED_OK

state 5009 begin climb

5012 0.75 146.6 562.8 0.0 564 5148 0.88 2.25 122.68 1.179 4 0.080 0.037 3371 514 2679 0 0 0 0 0 0 24.85 24.89 23.09

5164 0.75 146.6 554.2 10.4 579 5172 0.00 2.35 0.00 0.000 6 0.000 0.034 3371 1900 2675 0 0 1 0 0 0 28.83 24.22 28.83

5472 0.75 146.6 513.5 13.2 610 5480 0.00 2.22 0.00 0.000 4 0.000 0.038 3380 514 2668 0 0 0 0 0 0 28.83 25.47 28.83

5513 0.75 146.6 507.9 13.3 614 5522 0.00 2.22 0.00 0.000 6 0.000 0.035 3380 1906 2668 0 0 0 0 0 0 28.83 25.55 28.83

5823 0.75 146.6 465.4 13.4 645 5825 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 1905 2666 0 0 0 0 0 0 28.83 28.83 28.83

6123 0.75 146.6 425.6 13.2 675 6133 0.00 2.20 0.00 0.000 4 0.000 0.039 3389 516 2666 0 0 0 0 0 0 28.83 26.09 28.83

6177 0.75 146.6 418.4 13.5 680 6187 0.00 2.15 0.00 0.000 6 0.000 0.037 3389 1902 2665 0 0 0 0 0 0 28.83 26.13 28.83

6486 0.75 146.6 377.5 13.2 711 6487 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 1903 2665 0 0 0 0 0 0 28.83 28.83 28.83

6786 0.75 146.6 339.3 12.3 741 6787 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 1903 2664 0 0 0 0 0 0 28.83 28.83 28.83

7086 0.75 146.6 301.3 12.8 771 7096 0.00 2.15 0.00 0.000 4 0.000 0.039 3397 522 2664 0 0 0 0 0 0 28.83 26.36 28.83

7153 0.75 146.6 293.3 12.9 777 7161 0.00 2.12 0.00 0.000 6 0.000 0.037 3398 1894 2664 0 0 0 0 0 0 28.83 26.39 28.83

7460 0.75 146.6 253.0 12.1 808 7464 0.00 2.12 0.00 0.000 4 0.000 0.039 3406 526 2664 0 0 0 0 0 0 28.83 26.41 28.83

7503 0.75 146.6 247.5 13.1 812 7513 0.15 2.10 0.00 0.000 6 0.171 0.037 3369 1887 2663 0 0 0 0 0 0 26.19 26.42 28.83

7812 0.75 146.6 213.5 10.7 843 7822 0.00 2.15 0.00 0.000 4 0.000 0.047 3369 3313 2664 0 0 0 0 0 0 28.83 26.42 28.83

7845 0.75 146.6 209.6 11.4 846 7854 0.00 2.10 0.00 0.000 6 0.000 0.031 3376 1901 2664 0 0 0 0 0 0 28.83 26.50 28.83

8155 0.75 146.6 175.2 10.4 877 8164 0.00 2.12 0.00 0.000 4 0.000 0.041 3386 506 2664 0 0 0 0 0 0 28.83 26.48 28.83

8210 0.75 146.6 169.5 10.8 882 8217 0.00 2.12 0.00 0.000 6 0.000 0.036 3387 1884 2664 0 0 0 0 0 0 28.83 26.49 28.83

8517 0.75 146.6 138.3 9.5 913 8526 0.00 2.15 0.00 0.000 4 0.000 0.047 3387 3313 2664 0 0 0 0 0 0 28.83 26.47 28.83

8551 0.75 146.6 135.0 10.1 916 8558 0.00 2.12 0.00 0.000 6 0.000 0.031 3396 1880 2664 0 0 0 0 0 0 28.83 26.54 28.83

8859 0.75 146.6 105.2 9.4 947 8868 0.00 2.08 0.00 0.000 4 0.000 0.041 3406 505 2664 0 0 0 0 0 0 28.83 26.52 28.83

8927 0.75 146.6 98.4 10.0 955 8936 0.15 2.12 0.00 0.000 6 0.167 0.037 3368 1893 2663 0 0 0 0 0 0 26.29 26.53 28.83

9244 0.75 146.7 70.6 9.2 1016 9251 0.00 2.12 0.00 0.000 4 0.000 0.048 3368 3303 2664 0 0 0 0 0 0 28.83 26.51 28.83

9295 0.75 146.7 65.8 9.3 1025 9302 0.00 2.12 0.00 0.000 6 0.000 0.032 3375 1878 2664 0 0 0 0 0 0 28.83 26.58 28.83

9607 0.79 184.1 40.6 7.6 1086 9644 0.00 2.12 29.00 0.908 4 0.000 0.041 3386 501 2526 0 0 0 0 0 0 28.83 26.05 25.23

9765 0.88 257.9 29.3 6.1 1115 9820 0.00 2.17 45.03 0.868 6 0.000 0.037 3386 1876 2225 0 0 0 0 0 0 28.83 26.15 24.70

10130 end climb: SURFACE_DEPTH_REACHED

state 10130 begin surface coast

10205 end surface coast: CONTROL_FINISHED_OK

state 10205 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	176	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	67	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	49	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	-191310.08	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	210712,184252,6647.150,-6015.376,38,0.8,38,-33.9	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	2.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210712,184930,6647.148,-6015.570,18,0.8,18,-33.9	MHEAD_RNG_PITCHd_Wd	109.3,152744,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	558

FREEZE	1.29,4.203,-0.783,2,1,0	ALTIM_BOTTOM_PING	550.9,39.1
FINISH	1.3,1.011467	_24V_AH	23.1,22.167
SM_CCo	10224,63.28,0.076,0,0,1647,400.08	_10V_AH	10.1,25.325
SM_GC	2.22,8.40,0.32,63.28,0.062,0.060,0.076,344,2103,1647,-8.65,-1.36,400.08,0,0,0,0,0,0,25.98,26.02,25.89	FG_AHR_24Vo	0.000
RAFOS_CLK	526	FG_AHR_10Vo	0.000
RAFOS	0,1342900869,20.033333,20.019167,43,43,43,43,42,41,954,465,973,1383,680,223	MEM	151532
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	53345,1198
IRIDIUM_FIX	6620.33,-6013.28,210712,151543	CAP_FILE_SIZE	127626,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,231284736
HUMID	42.63	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
INTERNAL_PRESSURE	9.00425	SOUNDSPEED	1453.4
TCM_TEMP	15.50	CURRENT	0.218,181.1,1
XPDR_PINGS	0	GPS	210712,214257,6645.915,-6012.147,36,1.2,36,-33.9
ALTIM_TOP_PING	19.9,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	257	123.87	SBE_CT	843	23	466.86
Roll_motor	97	59	134.91	SBE_O2	874	5	121.00
VBD_pump_during_apogee	316	1219	8905.43	nil	0	0	0.00
VBD_pump_during_surface	63	75	110.70	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	263	277	1693.27	nil	0	0	0.00
Transponder_ping	2	420	19.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.32
TT8	2963	17	537.54
LPSleep	4630	2	108.03
TT8_Active	559	17	101.53
TT8_Sampling	2226	40	909.09
TT8_CF8	306	48	150.78
TT8_Kalman	0	0	0.00
Analog_circuits	1886	12	228.66
GPS_charging	0	0	0.00
Compass	1944	7	147.07
RAFOS	2520	3	76.36
Transponder	18	30	5.65

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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.75	-146.6	0.0	0.0	0	71	0.00	0.00	-49.85	0.000	2	0.000	0.000	337	2087	2768	0	0	0	0	0	0	28.83	28.83	28.83
75	-0.75	-146.6	3.1	-1.1	9	125	10.27	2.17	-30.55	0.000	4	0.258	0.057	2894	707	3881	0	0	0	0	0	0	25.82	26.25	26.58
147	-0.75	-146.6	13.6	-18.3	21	154	0.00	2.17	0.00	0.000	6	0.000	0.041	2887	2093	3884	0	0	0	0	0	0	28.83	26.27	28.83
460	-0.75	-146.6	56.2	-13.0	82	466	0.00	2.15	0.00	0.000	4	0.000	0.051	2876	3504	3888	0	0	0	0	0	0	28.83	26.30	28.83
631	-0.75	-146.6	79.5	-13.5	115	638	0.00	2.10	0.00	0.000	6	0.000	0.032	2880	2096	3888	0	0	0	0	0	0	28.83	26.44	28.83
947	-0.75	-146.6	121.6	-13.0	161	956	0.00	2.17	0.00	0.000	4	0.000	0.052	2872	3513	3889	0	0	0	0	0	0	28.83	26.39	28.83
1060	-0.75	-146.6	137.2	-14.2	172	1068	0.00	2.10	0.00	0.000	6	0.000	0.032	2872	2099	3889	0	0	0	0	0	0	28.83	26.50	28.83
1370	-0.75	-146.6	178.2	-12.9	203	1379	0.00	2.15	0.00	0.000	4	0.000	0.052	2861	3503	3888	0	0	0	0	0	0	28.83	26.42	28.83
1504	-0.75	-146.6	196.6	-13.9	216	1512	0.00	2.08	0.00	0.000	6	0.000	0.032	2861	2106	3888	0	0	0	0	0	0	28.83	26.54	28.83
1813	-0.75	-146.6	237.2	-12.5	247	1823	0.00	2.17	0.00	0.000	4	0.000	0.052	2850	3527	3888	0	0	0	0	0	0	28.83	26.46	28.83
1951	-0.75	-146.6	254.3	-12.9	260	1959	0.15	2.08	0.00	0.000	6	0.168	0.032	2889	2123	3887	0	0	0	0	0	0	26.27	26.56	28.83
2257	-0.75	-146.6	285.8	-10.1	291	2266	0.00	2.17	0.00	0.000	4	0.000	0.052	2882	3519	3887	0	0	0	0	0	0	28.83	26.48	28.83
2312	-0.75	-146.6	291.4	-10.8	296	2319	0.00	2.03	0.00	0.000	6	0.000	0.031	2882	2142	3886	0	0	0	0	0	0	28.83	26.59	28.83
2620	-0.75	-146.6	323.8	-10.2	327	2629	0.00	2.10	0.00	0.000	4	0.000	0.052	2872	3506	3886	0	0	0	0	0	0	28.83	26.50	28.83
2683	-0.75	-146.6	330.7	-11.0	333	2691	0.00	2.00	0.00	0.000	6	0.000	0.031	2872	2147	3886	0	0	0	0	0	0	28.83	26.61	28.83
2993	-0.75	-146.6	365.0	-11.1	364	3001	0.00	2.08	0.00	0.000	4	0.000	0.052	2861	3512	3886	0	0	0	0	0	0	28.83	26.51	28.83
3095	-0.75	-146.6	377.2	-11.9	374	3103	0.00	1.98	0.00	0.000	6	0.000	0.031	2862	2153	3886	0	0	0	0	0	0	28.83	26.63	28.83
3405	-0.75	-146.6	412.9	-11.8	405	3413	0.00	2.08	0.00	0.000	4	0.000	0.052	2851	3508	3886	0	0	0	0	0	0	28.83	26.53	28.83
3497	-0.75	-146.6	424.1	-12.3	414	3506	0.15	1.98	0.00	0.000	6	0.162	0.031	2890	2163	3886	0	0	0	0	0	0	26.33	26.63	28.83
3807	-0.75	-146.6	454.0	-9.1	445	3811	0.00	2.08	0.00	0.000	4	0.000	0.051	2883	3508	3886	0	0	0	0	0	0	28.83	26.53	28.83
3841	-0.75	-146.6	457.1	-9.7	448	3848	0.00	1.95	0.00	0.000	6	0.000	0.031	2882	2169	3886	0	0	0	0	0	0	28.83	26.65	28.83
4149	-0.75	-146.6	486.2	-9.3	479	4159	0.00	2.08	0.00	0.000	4	0.000	0.050	2872	3513	3886	0	0	0	0	0	0	28.83	26.55	28.83
4215	-0.75	-146.6	492.4	-9.6	485	4222	0.00	1.92	0.00	0.000	6	0.000	0.031	2873	2176	3886	0	0	0	0	0	0	28.83	26.65	28.83
4522	-0.75	-146.6	522.1	-9.7	516	4531	0.00	2.05	0.00	0.000	4	0.000	0.051	2863	3508	3886	0	0	0	0	0	0	28.83	26.55	28.83
4577	-0.75	-146.6	527.4	-10.4	521	4584	0.00	1.92	0.00	0.000	6	0.000	0.031	2862	2187	3886	0	0	0	0	0	0	28.83	26.67	28.83
4873	end dive: TARGET_DEPTH_EXCEEDED
state	4873	begin apogee
4880	-0.17	0.0	558.3	-10.3	551	5006	0.65	0.00	119.45	1.219	4	0.146	0.000	3068	1885	3279	0	0	0	0	0	0	26.31	28.83	23.89
5009	end apogee: CONTROL_FINISHED_OK
state	5009	begin climb
5012	0.75	146.6	562.8	0.0	564	5148	0.88	2.25	122.68	1.179	4	0.080	0.037	3371	514	2679	0	0	0	0	0	0	24.85	24.89	23.09
5164	0.75	146.6	554.2	10.4	579	5172	0.00	2.35	0.00	0.000	6	0.000	0.034	3371	1900	2675	0	0	1	0	0	0	28.83	24.22	28.83
5472	0.75	146.6	513.5	13.2	610	5480	0.00	2.22	0.00	0.000	4	0.000	0.038	3380	514	2668	0	0	0	0	0	0	28.83	25.47	28.83
5513	0.75	146.6	507.9	13.3	614	5522	0.00	2.22	0.00	0.000	6	0.000	0.035	3380	1906	2668	0	0	0	0	0	0	28.83	25.55	28.83
5823	0.75	146.6	465.4	13.4	645	5825	0.00	0.00	0.00	0.000	6	0.000	0.000	3380	1905	2666	0	0	0	0	0	0	28.83	28.83	28.83
6123	0.75	146.6	425.6	13.2	675	6133	0.00	2.20	0.00	0.000	4	0.000	0.039	3389	516	2666	0	0	0	0	0	0	28.83	26.09	28.83
6177	0.75	146.6	418.4	13.5	680	6187	0.00	2.15	0.00	0.000	6	0.000	0.037	3389	1902	2665	0	0	0	0	0	0	28.83	26.13	28.83
6486	0.75	146.6	377.5	13.2	711	6487	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	1903	2665	0	0	0	0	0	0	28.83	28.83	28.83
6786	0.75	146.6	339.3	12.3	741	6787	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	1903	2664	0	0	0	0	0	0	28.83	28.83	28.83
7086	0.75	146.6	301.3	12.8	771	7096	0.00	2.15	0.00	0.000	4	0.000	0.039	3397	522	2664	0	0	0	0	0	0	28.83	26.36	28.83
7153	0.75	146.6	293.3	12.9	777	7161	0.00	2.12	0.00	0.000	6	0.000	0.037	3398	1894	2664	0	0	0	0	0	0	28.83	26.39	28.83
7460	0.75	146.6	253.0	12.1	808	7464	0.00	2.12	0.00	0.000	4	0.000	0.039	3406	526	2664	0	0	0	0	0	0	28.83	26.41	28.83
7503	0.75	146.6	247.5	13.1	812	7513	0.15	2.10	0.00	0.000	6	0.171	0.037	3369	1887	2663	0	0	0	0	0	0	26.19	26.42	28.83
7812	0.75	146.6	213.5	10.7	843	7822	0.00	2.15	0.00	0.000	4	0.000	0.047	3369	3313	2664	0	0	0	0	0	0	28.83	26.42	28.83
7845	0.75	146.6	209.6	11.4	846	7854	0.00	2.10	0.00	0.000	6	0.000	0.031	3376	1901	2664	0	0	0	0	0	0	28.83	26.50	28.83
8155	0.75	146.6	175.2	10.4	877	8164	0.00	2.12	0.00	0.000	4	0.000	0.041	3386	506	2664	0	0	0	0	0	0	28.83	26.48	28.83
8210	0.75	146.6	169.5	10.8	882	8217	0.00	2.12	0.00	0.000	6	0.000	0.036	3387	1884	2664	0	0	0	0	0	0	28.83	26.49	28.83
8517	0.75	146.6	138.3	9.5	913	8526	0.00	2.15	0.00	0.000	4	0.000	0.047	3387	3313	2664	0	0	0	0	0	0	28.83	26.47	28.83
8551	0.75	146.6	135.0	10.1	916	8558	0.00	2.12	0.00	0.000	6	0.000	0.031	3396	1880	2664	0	0	0	0	0	0	28.83	26.54	28.83
8859	0.75	146.6	105.2	9.4	947	8868	0.00	2.08	0.00	0.000	4	0.000	0.041	3406	505	2664	0	0	0	0	0	0	28.83	26.52	28.83
8927	0.75	146.6	98.4	10.0	955	8936	0.15	2.12	0.00	0.000	6	0.167	0.037	3368	1893	2663	0	0	0	0	0	0	26.29	26.53	28.83
9244	0.75	146.7	70.6	9.2	1016	9251	0.00	2.12	0.00	0.000	4	0.000	0.048	3368	3303	2664	0	0	0	0	0	0	28.83	26.51	28.83
9295	0.75	146.7	65.8	9.3	1025	9302	0.00	2.12	0.00	0.000	6	0.000	0.032	3375	1878	2664	0	0	0	0	0	0	28.83	26.58	28.83
9607	0.79	184.1	40.6	7.6	1086	9644	0.00	2.12	29.00	0.908	4	0.000	0.041	3386	501	2526	0	0	0	0	0	0	28.83	26.05	25.23
9765	0.88	257.9	29.3	6.1	1115	9820	0.00	2.17	45.03	0.868	6	0.000	0.037	3386	1876	2225	0	0	0	0	0	0	28.83	26.15	24.70
10130	end climb: SURFACE_DEPTH_REACHED
state	10130	begin surface coast
10205	end surface coast: CONTROL_FINISHED_OK
state	10205	begin surface