Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 188 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 6.0000002e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 188 HEADING -1 ROLL_MIN 300 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3841 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2120 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1015 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 10 ALTIM_PULSE 5

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_BOOST 100 SM_CC 290 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 15 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 12 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 260 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 1 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 370 UPLOAD_DIVES_MAX -1 C_VBD 2772 DEVICE3 -1

T_MISSION 420 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 360 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 5 VBD_PUMP_AD_RATE_APOGEE 3 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 0 T_GPS_CHARGE -1129.171 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 AH0_24V 350 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 12 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 12 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 149 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3928 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 50 C_PITCH 2680 PHONE_SUPPLY -2 SEABIRD_T_G 0.0043053469

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -48.048229 SEABIRD_T_H 0.00061871461

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.0001163556 SEABIRD_T_I 2.1533233e-05

MASS 52000 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.1546668e-06

NAV_MODE 2 PITCH_GAIN 13 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8788214

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1391871

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 4 SEABIRD_C_I -0.0018439521

HD_A 0.0043000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022276744

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 0 D_OFFGRID 100 PHONE_DEVICE 49 SIM_W 0

AH0_24V 350 D_PITCH 0 PHONE_SUPPLY -2 SM_CC 290

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FERRY_MAX 45 PITCH_GAIN 13 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FG_AHR_10V 0 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 149 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0.5 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 50 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163556 T_BOOST 0

CALL_TRIES 5 HD_A 0.0043000001 PRESSURE_YINT -48.048229 T_DIVE 370

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 6.0000002e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE 32 T_GPS_CHARGE -1129.171

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 420

COMPASS_DEVICE 97 ID 193 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.93000001 ROLL_ADJ_DBAND 1 T_TURN 225

C_PITCH 2680 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 260 T_WATCHDOG 10

C_ROLL_DIVE 2120 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2772 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3841 USE_BATHY -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 52000 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 12 R_PORT_OVSHOOT 15 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 12 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.8788214 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1391871 VBD_MIN 500

DIVE 188 NAV_MODE 2 SEABIRD_C_I -0.0018439521 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1015 NOCOMM_ACTION 161 SEABIRD_C_J 0.00022276744 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0043053469 VBD_TIMEOUT 360

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00061871461 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.1533233e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.1546668e-06 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 111012,204522,6644.976,-6009.921,68,1.0,68,-33.9 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 111012,205426,6644.944,-6009.711,5,0.9,5,-33.9 MHEAD_RNG_PITCHd_Wd 115.7,149454,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 588

Post-dive calculations and measurements:

FINISH 2.4,1.025691 _24V_AH 12.5,61.411

SM_CCo 10524,22.08,0.201,0,0,1588,290.19 _10V_AH 12.8,0.000

SM_GC 2.70,8.52,0.20,22.08,0.105,0.151,0.201,140,2114,1588,-11.59,0.37,290.19,0,0,0,0,0,0,14.73,14.69,14.59 FG_AHR_24Vo 0.000

RAFOS_CLK 453 FG_AHR_10Vo 0.000

RAFOS 5,1349988066,20.700001,20.684999,61,56,54,54,52,50,205,188,151,891,173,232 MEM 188760

RAFOS_FIX 6642.683105,-6001.341309,111012,202056,2,106,0.87 DATA_FILE_SIZE 46869,976

IRIDIUM_FIX 6614.97,-6011.26,111012,202057 CAP_FILE_SIZE 108094,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,237617152

HUMID 47.63 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.6842 SOUNDSPEED 1451.4

TCM_TEMP 12.40 CURRENT 0.069, 10.1,1

XPDR_PINGS 6 GPS 111012,235222,6645.590,-6005.879,31,0.6,31,-33.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 477 137.54 SBE_CT 715 23 214.34

Roll_motor 100 189 237.51 SBE_O2 682 3 31.90

VBD_pump_during_apogee 359 2412 10839.13 nil 0 0 0.00

VBD_pump_during_surface 22 201 55.52 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 328 143 590.11 nil 0 0 0.00

Transponder_ping 1 420 7.88 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 21 1.75

TT8 2436 14 466.54

LPSleep 5638 2 166.72

TT8_Active 531 14 101.80

TT8_Sampling 1958 33 844.36

TT8_CF8 528 38 258.26

TT8_Kalman 0 0 0.00

Analog_circuits 1812 12 278.37

GPS_charging 0 0 0.00

Compass 1665 6 143.67

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

19 -1.50 -136.9 0.0 0.0 0 44 0.00 0.00 -23.08 0.000 2 0.000 0.000 136 2117 1999 0 0 0 0 0 0 28.83 28.83 28.83

50 -1.50 -136.9 3.0 -0.8 4 160 11.62 2.88 -84.82 0.000 4 0.477 0.190 2340 3528 3330 0 0 0 0 0 0 14.28 14.40 14.76

194 -1.50 -136.9 8.9 -17.4 27 201 0.00 2.58 0.00 0.000 6 0.000 0.109 2340 2112 3331 0 0 0 0 0 0 28.83 14.53 28.83

512 -1.50 -136.9 65.1 -15.2 88 519 0.00 2.58 0.00 0.000 4 0.000 0.135 2340 704 3332 0 0 0 0 0 0 28.83 14.56 28.83

585 -1.50 -136.9 76.7 -15.8 101 593 0.10 2.67 0.00 0.000 6 0.336 0.140 2349 2122 3332 0 0 0 0 0 0 14.45 14.57 28.83

908 -1.50 -136.9 120.9 -13.9 148 917 0.00 2.58 0.00 0.000 4 0.000 0.132 2349 709 3332 0 0 0 0 0 0 28.83 14.59 28.83

973 -1.50 -136.9 130.9 -16.3 154 982 0.00 2.65 0.00 0.000 6 0.000 0.137 2342 2124 3332 0 0 0 0 0 0 28.83 14.59 28.83

1282 -1.50 -136.9 175.9 -14.2 185 1292 0.00 2.58 0.00 0.000 4 0.000 0.132 2342 708 3332 0 0 0 0 0 0 28.83 14.63 28.83

1418 -1.50 -136.9 196.5 -15.3 198 1426 0.00 2.62 0.00 0.000 6 0.000 0.135 2334 2126 3331 0 0 0 0 0 0 28.83 14.63 28.83

1727 -1.50 -136.9 238.8 -13.8 229 1734 0.00 0.00 0.00 0.000 6 0.000 0.000 2335 2126 3331 0 0 0 0 0 0 28.83 28.83 28.83

2044 -1.50 -136.9 279.8 -12.4 260 2052 0.00 2.67 0.00 0.000 4 0.000 0.153 2324 3534 3331 0 0 0 0 0 0 28.83 14.64 28.83

2101 -1.50 -136.9 287.5 -12.7 265 2110 0.12 2.53 0.00 0.000 6 0.319 0.104 2348 2119 3330 0 0 0 0 0 0 14.56 14.73 28.83

2410 -1.50 -136.9 322.7 -11.0 296 2419 0.00 2.53 0.00 0.000 4 0.000 0.133 2348 712 3330 0 0 0 0 0 0 28.83 14.66 28.83

2545 -1.50 -136.9 339.2 -12.0 309 2554 0.00 2.60 0.00 0.000 6 0.000 0.140 2342 2115 3330 0 0 0 0 0 0 28.83 14.66 28.83

2855 -1.50 -136.9 373.4 -10.1 340 2861 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2114 3330 0 0 0 0 0 0 28.83 28.83 28.83

3175 -1.50 -136.9 406.9 -10.5 368 3181 0.00 2.55 0.00 0.000 4 0.000 0.133 2342 704 3330 0 0 0 0 0 0 28.83 14.70 28.83

3210 -1.50 -136.9 410.4 -10.6 369 3216 0.00 2.65 0.00 0.000 6 0.000 0.137 2334 2123 3330 0 0 0 0 0 0 28.83 14.69 28.83

3537 -1.50 -136.9 446.4 -11.1 380 3538 0.00 0.00 0.00 0.000 6 0.000 0.000 2334 2123 3330 0 0 0 0 0 0 28.83 28.83 28.83

3837 -1.50 -136.9 481.8 -11.9 390 3839 0.00 0.00 0.00 0.000 6 0.000 0.000 2334 2123 3330 0 0 0 0 0 0 28.83 28.83 28.83

4137 -1.50 -136.9 516.8 -11.4 400 4142 0.00 2.55 0.00 0.000 4 0.000 0.134 2334 706 3331 0 0 0 0 0 0 28.83 14.74 28.83

4181 -1.50 -136.9 520.4 -11.5 401 4187 0.08 2.62 0.00 0.000 6 0.314 0.141 2346 2122 3331 0 0 0 0 0 0 14.61 14.71 28.83

4498 -1.50 -136.9 555.6 -10.4 412 4504 0.00 2.65 0.00 0.000 4 0.000 0.157 2337 3523 3331 0 0 0 0 0 0 28.83 14.72 28.83

4553 -1.50 -136.9 558.9 -10.5 413 4560 0.00 2.50 0.00 0.000 6 0.000 0.105 2337 2114 3331 0 0 0 0 0 0 28.83 14.81 28.83

4795 end dive: TARGET_DEPTH_EXCEEDED

state 4795 begin apogee

4808 -0.38 0.0 588.2 -10.8 422 4955 0.95 0.00 136.98 2.412 6 0.281 0.000 2593 2204 2772 0 0 0 0 0 0 14.64 28.83 13.09

4956 end apogee: CONTROL_FINISHED_OK

state 4956 begin climb

4961 1.50 136.9 592.8 0.0 427 5128 1.40 3.08 148.95 2.332 4 0.178 0.155 3003 3611 2214 0 0 0 0 0 0 13.85 13.19 12.50

5147 1.53 164.0 582.1 7.7 433 5184 0.00 2.80 31.40 2.242 6 0.000 0.106 3013 2201 2102 0 0 0 0 0 0 28.83 13.45 12.60

5489 1.53 164.0 536.9 12.7 444 5494 0.00 2.70 0.00 0.000 4 0.000 0.135 3023 788 2094 0 0 0 0 0 0 28.83 14.07 28.83

5533 1.53 164.0 532.8 12.7 445 5538 0.00 2.70 0.00 0.000 6 0.000 0.129 3023 2198 2094 0 0 0 0 0 0 28.83 14.09 28.83

5850 1.53 164.0 489.5 13.1 456 5851 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2198 2092 0 0 0 0 0 0 28.83 28.83 28.83

6150 1.53 164.0 450.4 12.8 466 6156 0.00 2.72 0.00 0.000 4 0.000 0.151 3023 3615 2092 0 0 0 0 0 0 28.83 14.47 28.83

6195 1.53 164.0 446.0 13.1 467 6200 0.00 2.58 0.00 0.000 6 0.000 0.107 3034 2191 2092 0 0 0 0 0 0 28.83 14.54 28.83

6512 1.53 164.0 401.9 13.1 478 6518 0.00 2.55 0.00 0.000 4 0.000 0.132 3044 781 2091 0 0 0 0 0 0 28.83 14.59 28.83

6563 1.53 164.0 395.1 13.0 481 6573 0.10 2.60 0.00 0.000 6 0.280 0.125 3018 2206 2090 0 0 0 0 0 0 14.50 14.59 28.83

6874 1.53 164.0 359.4 11.1 512 6883 0.00 2.65 0.00 0.000 4 0.000 0.148 3017 3612 2090 0 0 0 0 0 0 28.83 14.61 28.83

6901 1.53 164.0 356.6 11.6 514 6908 0.00 2.55 0.00 0.000 6 0.000 0.106 3026 2194 2090 0 0 0 0 0 0 28.83 14.68 28.83

7208 1.53 164.0 321.0 11.3 545 7218 0.00 2.53 0.00 0.000 4 0.000 0.131 3036 791 2090 0 0 0 0 0 0 28.83 14.64 28.83

7264 1.53 164.0 314.2 12.3 550 7274 0.08 2.58 0.00 0.000 6 0.272 0.122 3016 2201 2089 0 0 0 0 0 0 14.55 14.64 28.83

7575 1.53 164.0 277.1 12.1 581 7582 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2201 2089 0 0 0 0 0 0 28.83 28.83 28.83

7889 1.53 164.0 240.1 11.6 612 7898 0.00 2.67 0.00 0.000 4 0.000 0.148 3016 3616 2090 0 0 0 0 0 0 28.83 14.65 28.83

7934 1.53 164.0 234.2 12.1 616 7943 0.00 2.53 0.00 0.000 6 0.000 0.106 3024 2197 2090 0 0 0 0 0 0 28.83 14.71 28.83

8244 1.53 164.0 199.6 11.1 647 8250 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2197 2090 0 0 0 0 0 0 28.83 28.83 28.83

8561 1.53 164.0 167.1 10.0 678 8570 0.00 2.53 0.00 0.000 4 0.000 0.132 3034 784 2089 0 0 0 0 0 0 28.83 14.70 28.83

8625 1.53 164.0 159.8 10.2 684 8634 0.08 2.58 0.00 0.000 6 0.270 0.125 3014 2205 2088 0 0 0 0 0 0 14.62 14.69 28.83

8935 1.53 164.0 131.6 9.4 715 8941 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2205 2088 0 0 0 0 0 0 28.83 28.83 28.83

9251 1.54 166.7 104.7 8.8 746 9260 0.00 2.58 0.00 0.000 4 0.000 0.135 3023 786 2088 0 0 0 0 0 0 28.83 14.71 28.83

9311 1.54 166.7 98.9 9.4 752 9318 0.00 2.60 0.00 0.000 6 0.000 0.123 3023 2211 2088 0 0 0 0 0 0 28.83 14.74 28.83

9630 1.57 191.6 73.2 7.8 813 9648 0.00 0.00 13.62 0.405 6 0.000 0.000 3023 2210 1989 0 0 0 0 0 0 28.83 28.83 14.51

9958 1.57 193.0 43.7 8.9 876 9964 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2211 1985 0 0 0 0 0 0 28.83 28.83 28.83

10274 1.63 245.0 19.0 6.7 937 10311 0.00 2.65 28.55 0.246 4 0.000 0.136 3033 777 1770 0 0 0 0 0 0 28.83 14.66 14.59

10397 1.63 245.0 9.3 9.1 958 10404 0.00 2.62 0.00 0.000 6 0.000 0.128 3033 2201 1762 0 0 0 0 0 0 28.83 14.65 28.83

10460 end climb: SURFACE_DEPTH_REACHED

state 10460 begin surface coast

10491 end surface coast: CONTROL_FINISHED_OK

state 10496 begin surface

ID	193	HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	6.0000002e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	188	HEADING	-1	ROLL_MIN	300	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3841	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2120	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1015	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	10	ALTIM_PULSE	5
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_BOOST	100	SM_CC	290	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	15	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	12	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	260	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	1	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	370	UPLOAD_DIVES_MAX	-1	C_VBD	2772	DEVICE3	-1
T_MISSION	420	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	360	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	5	VBD_PUMP_AD_RATE_APOGEE	3	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	0	T_GPS_CHARGE	-1129.171	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	AH0_24V	350	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	12	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	12	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	149	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3928	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	50	C_PITCH	2680	PHONE_SUPPLY	-2	SEABIRD_T_G	0.0043053469
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-48.048229	SEABIRD_T_H	0.00061871461
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.0001163556	SEABIRD_T_I	2.1533233e-05
MASS	52000	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.1546668e-06
NAV_MODE	2	PITCH_GAIN	13	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8788214
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1391871
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	4	SEABIRD_C_I	-0.0018439521
HD_A	0.0043000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022276744

GPS1	111012,204522,6644.976,-6009.921,68,1.0,68,-33.9	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	111012,205426,6644.944,-6009.711,5,0.9,5,-33.9	MHEAD_RNG_PITCHd_Wd	115.7,149454,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	588

FINISH	2.4,1.025691	_24V_AH	12.5,61.411
SM_CCo	10524,22.08,0.201,0,0,1588,290.19	_10V_AH	12.8,0.000
SM_GC	2.70,8.52,0.20,22.08,0.105,0.151,0.201,140,2114,1588,-11.59,0.37,290.19,0,0,0,0,0,0,14.73,14.69,14.59	FG_AHR_24Vo	0.000
RAFOS_CLK	453	FG_AHR_10Vo	0.000
RAFOS	5,1349988066,20.700001,20.684999,61,56,54,54,52,50,205,188,151,891,173,232	MEM	188760
RAFOS_FIX	6642.683105,-6001.341309,111012,202056,2,106,0.87	DATA_FILE_SIZE	46869,976
IRIDIUM_FIX	6614.97,-6011.26,111012,202057	CAP_FILE_SIZE	108094,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,237617152
HUMID	47.63	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.6842	SOUNDSPEED	1451.4
TCM_TEMP	12.40	CURRENT	0.069, 10.1,1
XPDR_PINGS	6	GPS	111012,235222,6645.590,-6005.879,31,0.6,31,-33.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	477	137.54	SBE_CT	715	23	214.34
Roll_motor	100	189	237.51	SBE_O2	682	3	31.90
VBD_pump_during_apogee	359	2412	10839.13	nil	0	0	0.00
VBD_pump_during_surface	22	201	55.52	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	328	143	590.11	nil	0	0	0.00
Transponder_ping	1	420	7.88	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	21	1.75
TT8	2436	14	466.54
LPSleep	5638	2	166.72
TT8_Active	531	14	101.80
TT8_Sampling	1958	33	844.36
TT8_CF8	528	38	258.26
TT8_Kalman	0	0	0.00
Analog_circuits	1812	12	278.37
GPS_charging	0	0	0.00
Compass	1665	6	143.67
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
19	-1.50	-136.9	0.0	0.0	0	44	0.00	0.00	-23.08	0.000	2	0.000	0.000	136	2117	1999	0	0	0	0	0	0	28.83	28.83	28.83
50	-1.50	-136.9	3.0	-0.8	4	160	11.62	2.88	-84.82	0.000	4	0.477	0.190	2340	3528	3330	0	0	0	0	0	0	14.28	14.40	14.76
194	-1.50	-136.9	8.9	-17.4	27	201	0.00	2.58	0.00	0.000	6	0.000	0.109	2340	2112	3331	0	0	0	0	0	0	28.83	14.53	28.83
512	-1.50	-136.9	65.1	-15.2	88	519	0.00	2.58	0.00	0.000	4	0.000	0.135	2340	704	3332	0	0	0	0	0	0	28.83	14.56	28.83
585	-1.50	-136.9	76.7	-15.8	101	593	0.10	2.67	0.00	0.000	6	0.336	0.140	2349	2122	3332	0	0	0	0	0	0	14.45	14.57	28.83
908	-1.50	-136.9	120.9	-13.9	148	917	0.00	2.58	0.00	0.000	4	0.000	0.132	2349	709	3332	0	0	0	0	0	0	28.83	14.59	28.83
973	-1.50	-136.9	130.9	-16.3	154	982	0.00	2.65	0.00	0.000	6	0.000	0.137	2342	2124	3332	0	0	0	0	0	0	28.83	14.59	28.83
1282	-1.50	-136.9	175.9	-14.2	185	1292	0.00	2.58	0.00	0.000	4	0.000	0.132	2342	708	3332	0	0	0	0	0	0	28.83	14.63	28.83
1418	-1.50	-136.9	196.5	-15.3	198	1426	0.00	2.62	0.00	0.000	6	0.000	0.135	2334	2126	3331	0	0	0	0	0	0	28.83	14.63	28.83
1727	-1.50	-136.9	238.8	-13.8	229	1734	0.00	0.00	0.00	0.000	6	0.000	0.000	2335	2126	3331	0	0	0	0	0	0	28.83	28.83	28.83
2044	-1.50	-136.9	279.8	-12.4	260	2052	0.00	2.67	0.00	0.000	4	0.000	0.153	2324	3534	3331	0	0	0	0	0	0	28.83	14.64	28.83
2101	-1.50	-136.9	287.5	-12.7	265	2110	0.12	2.53	0.00	0.000	6	0.319	0.104	2348	2119	3330	0	0	0	0	0	0	14.56	14.73	28.83
2410	-1.50	-136.9	322.7	-11.0	296	2419	0.00	2.53	0.00	0.000	4	0.000	0.133	2348	712	3330	0	0	0	0	0	0	28.83	14.66	28.83
2545	-1.50	-136.9	339.2	-12.0	309	2554	0.00	2.60	0.00	0.000	6	0.000	0.140	2342	2115	3330	0	0	0	0	0	0	28.83	14.66	28.83
2855	-1.50	-136.9	373.4	-10.1	340	2861	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	2114	3330	0	0	0	0	0	0	28.83	28.83	28.83
3175	-1.50	-136.9	406.9	-10.5	368	3181	0.00	2.55	0.00	0.000	4	0.000	0.133	2342	704	3330	0	0	0	0	0	0	28.83	14.70	28.83
3210	-1.50	-136.9	410.4	-10.6	369	3216	0.00	2.65	0.00	0.000	6	0.000	0.137	2334	2123	3330	0	0	0	0	0	0	28.83	14.69	28.83
3537	-1.50	-136.9	446.4	-11.1	380	3538	0.00	0.00	0.00	0.000	6	0.000	0.000	2334	2123	3330	0	0	0	0	0	0	28.83	28.83	28.83
3837	-1.50	-136.9	481.8	-11.9	390	3839	0.00	0.00	0.00	0.000	6	0.000	0.000	2334	2123	3330	0	0	0	0	0	0	28.83	28.83	28.83
4137	-1.50	-136.9	516.8	-11.4	400	4142	0.00	2.55	0.00	0.000	4	0.000	0.134	2334	706	3331	0	0	0	0	0	0	28.83	14.74	28.83
4181	-1.50	-136.9	520.4	-11.5	401	4187	0.08	2.62	0.00	0.000	6	0.314	0.141	2346	2122	3331	0	0	0	0	0	0	14.61	14.71	28.83
4498	-1.50	-136.9	555.6	-10.4	412	4504	0.00	2.65	0.00	0.000	4	0.000	0.157	2337	3523	3331	0	0	0	0	0	0	28.83	14.72	28.83
4553	-1.50	-136.9	558.9	-10.5	413	4560	0.00	2.50	0.00	0.000	6	0.000	0.105	2337	2114	3331	0	0	0	0	0	0	28.83	14.81	28.83
4795	end dive: TARGET_DEPTH_EXCEEDED
state	4795	begin apogee
4808	-0.38	0.0	588.2	-10.8	422	4955	0.95	0.00	136.98	2.412	6	0.281	0.000	2593	2204	2772	0	0	0	0	0	0	14.64	28.83	13.09
4956	end apogee: CONTROL_FINISHED_OK
state	4956	begin climb
4961	1.50	136.9	592.8	0.0	427	5128	1.40	3.08	148.95	2.332	4	0.178	0.155	3003	3611	2214	0	0	0	0	0	0	13.85	13.19	12.50
5147	1.53	164.0	582.1	7.7	433	5184	0.00	2.80	31.40	2.242	6	0.000	0.106	3013	2201	2102	0	0	0	0	0	0	28.83	13.45	12.60
5489	1.53	164.0	536.9	12.7	444	5494	0.00	2.70	0.00	0.000	4	0.000	0.135	3023	788	2094	0	0	0	0	0	0	28.83	14.07	28.83
5533	1.53	164.0	532.8	12.7	445	5538	0.00	2.70	0.00	0.000	6	0.000	0.129	3023	2198	2094	0	0	0	0	0	0	28.83	14.09	28.83
5850	1.53	164.0	489.5	13.1	456	5851	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2198	2092	0	0	0	0	0	0	28.83	28.83	28.83
6150	1.53	164.0	450.4	12.8	466	6156	0.00	2.72	0.00	0.000	4	0.000	0.151	3023	3615	2092	0	0	0	0	0	0	28.83	14.47	28.83
6195	1.53	164.0	446.0	13.1	467	6200	0.00	2.58	0.00	0.000	6	0.000	0.107	3034	2191	2092	0	0	0	0	0	0	28.83	14.54	28.83
6512	1.53	164.0	401.9	13.1	478	6518	0.00	2.55	0.00	0.000	4	0.000	0.132	3044	781	2091	0	0	0	0	0	0	28.83	14.59	28.83
6563	1.53	164.0	395.1	13.0	481	6573	0.10	2.60	0.00	0.000	6	0.280	0.125	3018	2206	2090	0	0	0	0	0	0	14.50	14.59	28.83
6874	1.53	164.0	359.4	11.1	512	6883	0.00	2.65	0.00	0.000	4	0.000	0.148	3017	3612	2090	0	0	0	0	0	0	28.83	14.61	28.83
6901	1.53	164.0	356.6	11.6	514	6908	0.00	2.55	0.00	0.000	6	0.000	0.106	3026	2194	2090	0	0	0	0	0	0	28.83	14.68	28.83
7208	1.53	164.0	321.0	11.3	545	7218	0.00	2.53	0.00	0.000	4	0.000	0.131	3036	791	2090	0	0	0	0	0	0	28.83	14.64	28.83
7264	1.53	164.0	314.2	12.3	550	7274	0.08	2.58	0.00	0.000	6	0.272	0.122	3016	2201	2089	0	0	0	0	0	0	14.55	14.64	28.83
7575	1.53	164.0	277.1	12.1	581	7582	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2201	2089	0	0	0	0	0	0	28.83	28.83	28.83
7889	1.53	164.0	240.1	11.6	612	7898	0.00	2.67	0.00	0.000	4	0.000	0.148	3016	3616	2090	0	0	0	0	0	0	28.83	14.65	28.83
7934	1.53	164.0	234.2	12.1	616	7943	0.00	2.53	0.00	0.000	6	0.000	0.106	3024	2197	2090	0	0	0	0	0	0	28.83	14.71	28.83
8244	1.53	164.0	199.6	11.1	647	8250	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2197	2090	0	0	0	0	0	0	28.83	28.83	28.83
8561	1.53	164.0	167.1	10.0	678	8570	0.00	2.53	0.00	0.000	4	0.000	0.132	3034	784	2089	0	0	0	0	0	0	28.83	14.70	28.83
8625	1.53	164.0	159.8	10.2	684	8634	0.08	2.58	0.00	0.000	6	0.270	0.125	3014	2205	2088	0	0	0	0	0	0	14.62	14.69	28.83
8935	1.53	164.0	131.6	9.4	715	8941	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2205	2088	0	0	0	0	0	0	28.83	28.83	28.83
9251	1.54	166.7	104.7	8.8	746	9260	0.00	2.58	0.00	0.000	4	0.000	0.135	3023	786	2088	0	0	0	0	0	0	28.83	14.71	28.83
9311	1.54	166.7	98.9	9.4	752	9318	0.00	2.60	0.00	0.000	6	0.000	0.123	3023	2211	2088	0	0	0	0	0	0	28.83	14.74	28.83
9630	1.57	191.6	73.2	7.8	813	9648	0.00	0.00	13.62	0.405	6	0.000	0.000	3023	2210	1989	0	0	0	0	0	0	28.83	28.83	14.51
9958	1.57	193.0	43.7	8.9	876	9964	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2211	1985	0	0	0	0	0	0	28.83	28.83	28.83
10274	1.63	245.0	19.0	6.7	937	10311	0.00	2.65	28.55	0.246	4	0.000	0.136	3033	777	1770	0	0	0	0	0	0	28.83	14.66	14.59
10397	1.63	245.0	9.3	9.1	958	10404	0.00	2.62	0.00	0.000	6	0.000	0.128	3033	2201	1762	0	0	0	0	0	0	28.83	14.65	28.83
10460	end climb: SURFACE_DEPTH_REACHED
state	10460	begin surface coast
10491	end surface coast: CONTROL_FINISHED_OK
state	10496	begin surface