Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 230 * 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 230 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 42 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 -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 2 T_GPS_CHARGE -191373.83 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 -191373.83

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 -3

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 42 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 230 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 300712,191433,6701.288,-5648.502,32,1.0,34,-33.5 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 2.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300712,192205,6701.368,-5648.583,17,0.8,17,-33.5 MHEAD_RNG_PITCHd_Wd 39.7,3052,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 547

Post-dive calculations and measurements:

FREEZE 1.41,6.388,-0.993,0,1,0 ALTIM_BOTTOM_PING 500.6,30.6

FINISH 1.4,1.014368 _24V_AH 23.4,27.659

SM_CCo 9666,43.92,0.068,0,0,1646,400.08 _10V_AH 10.1,31.079

SM_GC 2.52,8.20,0.38,43.92,0.047,0.055,0.068,346,2104,1646,-8.64,-1.33,400.08,0,0,0,0,0,0,26.32,26.42,26.22 FG_AHR_24Vo 0.000

RAFOS_CLK 455 FG_AHR_10Vo 0.000

RAFOS 0,1343678468,20.033333,20.018888,47,45,44,43,43,41,1497,1545,154,247,883,138 MEM 151628

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 53382,1139

IRIDIUM_FIX 6631.12,-5653.72,300712,161639 CAP_FILE_SIZE 123198,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,227127296

HUMID 42.87 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0

INTERNAL_PRESSURE 9.09215 SOUNDSPEED 1466.7

TCM_TEMP 16.60 CURRENT 0.112,326.5,1

XPDR_PINGS 12 GPS 300712,220558,6702.818,-5648.582,36,0.9,36,-33.5

ALTIM_TOP_PING 19.9,19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 242 116.33 SBE_CT 813 23 456.33

Roll_motor 96 63 142.82 SBE_O2 775 5 108.71

VBD_pump_during_apogee 309 1168 8460.88 nil 0 0 0.00

VBD_pump_during_surface 43 68 69.98 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 317 274 2034.39 nil 0 0 0.00

Transponder_ping 4 420 46.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.09

TT8 2806 17 509.11

LPSleep 4292 2 100.15

TT8_Active 530 17 96.14

TT8_Sampling 2247 40 917.83

TT8_CF8 289 48 142.45

TT8_Kalman 0 0 0.00

Analog_circuits 1886 12 228.66

GPS_charging 0 0 0.00

Compass 1903 7 143.97

RAFOS 2520 3 76.36

Transponder 16 30 4.90

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.75 -146.6 0.0 0.0 0 74 0.00 0.00 -56.00 0.000 2 0.000 0.000 338 2106 2978 0 0 0 0 0 0 28.83 28.83 28.83

78 -0.75 -146.6 3.1 -2.8 10 123 9.98 2.17 -25.88 0.000 4 0.243 0.063 2874 3511 3879 0 0 0 0 0 0 25.83 26.34 26.75

353 -0.75 -146.6 41.2 -12.2 62 360 0.00 2.08 0.00 0.000 6 0.000 0.028 2878 2094 3884 0 0 0 0 0 0 28.83 26.50 28.83

666 -0.75 -146.6 76.6 -11.0 123 673 0.00 2.17 0.00 0.000 4 0.000 0.047 2870 3517 3887 0 0 0 0 0 0 28.83 26.41 28.83

867 -0.75 -146.6 100.4 -12.3 161 874 0.00 2.08 0.00 0.000 6 0.000 0.028 2870 2091 3887 0 0 0 0 0 0 28.83 26.55 28.83

1172 -0.75 -146.6 137.1 -12.0 192 1181 0.00 2.17 0.00 0.000 4 0.000 0.047 2859 3523 3887 0 0 0 0 0 0 28.83 26.44 28.83

1277 -0.75 -146.6 149.9 -13.0 202 1285 0.00 2.05 0.00 0.000 6 0.000 0.028 2860 2114 3887 0 0 0 0 0 0 28.83 26.59 28.83

1584 -0.75 -146.6 188.4 -12.5 233 1594 0.12 2.12 0.00 0.000 4 0.174 0.046 2887 3519 3886 0 0 0 0 0 0 26.32 26.46 28.83

1687 -0.75 -146.6 199.8 -10.4 243 1696 0.00 2.03 0.00 0.000 6 0.000 0.029 2887 2122 3886 0 0 0 0 0 0 28.83 26.61 28.83

1998 -0.75 -146.6 231.0 -9.1 274 2008 0.00 2.10 0.00 0.000 4 0.000 0.047 2877 3515 3885 0 0 0 0 0 0 28.83 26.48 28.83

2064 -0.75 -146.6 237.3 -10.1 280 2071 0.00 2.00 0.00 0.000 6 0.000 0.028 2877 2132 3885 0 0 0 0 0 0 28.83 26.62 28.83

2371 -0.75 -146.6 266.3 -9.2 311 2375 0.00 2.10 0.00 0.000 4 0.000 0.047 2867 3512 3885 0 0 0 0 0 0 28.83 26.48 28.83

2465 -0.75 -146.6 275.4 -9.9 320 2473 0.00 2.00 0.00 0.000 6 0.000 0.028 2867 2137 3885 0 0 0 0 0 0 28.83 26.63 28.83

2774 -0.75 -146.6 304.1 -8.9 351 2784 0.00 2.08 0.00 0.000 4 0.000 0.047 2856 3512 3884 0 0 0 0 0 0 28.83 26.49 28.83

2841 -0.75 -146.6 310.2 -9.9 357 2848 0.12 1.98 0.00 0.000 6 0.162 0.028 2888 2143 3884 0 0 0 0 0 0 26.29 26.64 28.83

3148 -0.75 -146.6 334.8 -7.9 388 3152 0.00 2.10 0.00 0.000 4 0.000 0.047 2880 3523 3884 0 0 0 0 0 0 28.83 26.50 28.83

3204 -0.75 -146.6 339.3 -9.0 393 3211 0.00 1.98 0.00 0.000 6 0.000 0.028 2880 2151 3884 0 0 0 0 0 0 28.83 26.65 28.83

3510 -0.75 -146.6 367.9 -9.5 424 3519 0.00 2.08 0.00 0.000 4 0.000 0.047 2870 3509 3884 0 0 0 0 0 0 28.83 26.50 28.83

3574 -0.75 -146.6 374.1 -10.4 430 3583 0.00 1.95 0.00 0.000 6 0.000 0.028 2870 2162 3884 0 0 0 0 0 0 28.83 26.65 28.83

3884 -0.75 -146.6 404.5 -9.8 461 3892 0.00 2.03 0.00 0.000 4 0.000 0.047 2860 3511 3884 0 0 0 0 0 0 28.83 26.51 28.83

3948 -0.75 -146.6 410.8 -10.2 467 3955 0.00 1.95 0.00 0.000 6 0.000 0.028 2860 2158 3884 0 0 0 0 0 0 28.83 26.66 28.83

4255 -0.75 -146.6 442.4 -9.9 498 4265 0.00 2.05 0.00 0.000 4 0.000 0.047 2849 3514 3884 0 0 0 0 0 0 28.83 26.51 28.83

4331 -0.75 -146.6 450.3 -10.7 505 4338 0.15 1.92 0.00 0.000 6 0.154 0.028 2890 2173 3884 0 0 0 0 0 0 26.27 26.67 28.83

4639 -0.75 -146.6 476.0 -8.1 536 4647 0.00 2.03 0.00 0.000 4 0.000 0.047 2882 3509 3884 0 0 0 0 0 0 28.83 26.51 28.83

4681 -0.75 -146.6 479.7 -8.9 540 4690 0.00 1.92 0.00 0.000 6 0.000 0.028 2881 2173 3884 0 0 0 0 0 0 28.83 26.67 28.83

4991 -0.75 -146.6 505.4 -8.3 571 5000 0.00 2.03 0.00 0.000 4 0.000 0.047 2872 3509 3884 0 0 0 0 0 0 28.83 26.51 28.83

5055 -0.75 -146.6 510.9 -8.8 577 5064 0.00 1.92 0.00 0.000 6 0.000 0.028 2872 2173 3884 0 0 0 0 0 0 28.83 26.67 28.83

5111 end dive: BOTTOM_OBSTACLE_DETECTED

state 5111 begin apogee

5118 -0.17 0.0 516.3 -9.0 583 5243 0.62 0.00 117.70 1.169 4 0.135 0.000 3071 1879 3277 0 0 0 0 0 0 26.13 28.83 24.01

5246 end apogee: CONTROL_FINISHED_OK

state 5246 begin climb

5249 0.75 146.6 520.2 0.0 596 5385 0.85 2.17 120.47 1.132 4 0.072 0.034 3372 532 2679 0 0 0 0 0 0 25.01 25.06 23.40

5614 0.75 146.6 481.2 13.6 632 5621 0.00 2.20 0.00 0.000 6 0.000 0.033 3372 1915 2671 0 0 1 0 0 0 28.83 25.51 28.83

5922 0.75 146.6 439.2 13.2 663 5930 0.00 2.15 0.00 0.000 4 0.000 0.044 3372 3304 2668 0 0 0 0 0 0 28.83 25.92 28.83

6138 0.75 146.6 406.1 16.1 684 6145 0.00 2.05 0.00 0.000 6 0.000 0.028 3379 1921 2667 0 0 0 0 0 0 28.83 26.15 28.83

6446 0.75 146.6 359.8 14.9 715 6454 0.00 2.15 0.00 0.000 4 0.000 0.037 3389 512 2667 0 0 0 0 0 0 28.83 26.23 28.83

6527 0.75 146.6 347.5 14.9 723 6536 0.00 2.15 0.00 0.000 6 0.000 0.033 3390 1898 2667 0 0 0 0 0 0 28.83 26.28 28.83

6838 0.75 146.6 302.6 13.9 754 6839 0.00 0.00 0.00 0.000 6 0.000 0.000 3390 1898 2667 0 0 0 0 0 0 28.83 28.83 28.83

7140 0.75 146.6 258.9 14.8 784 7148 0.00 2.12 0.00 0.000 4 0.000 0.037 3399 516 2667 0 0 0 0 0 0 28.83 26.39 28.83

7182 0.75 146.6 252.4 14.8 788 7190 0.00 2.10 0.00 0.000 6 0.000 0.033 3399 1886 2667 0 0 0 0 0 0 28.83 26.41 28.83

7492 0.75 146.6 209.1 13.4 819 7500 0.00 2.10 0.00 0.000 4 0.000 0.037 3407 510 2667 0 0 0 0 0 0 28.83 26.43 28.83

7553 0.75 146.6 200.7 13.4 825 7564 0.15 2.12 0.00 0.000 6 0.164 0.032 3370 1894 2667 0 0 0 0 0 0 26.14 26.46 28.83

7863 0.75 146.6 166.1 11.1 856 7872 0.00 2.10 0.00 0.000 4 0.000 0.044 3369 3301 2667 0 0 0 0 0 0 28.83 26.43 28.83

7888 0.75 146.6 163.5 11.1 858 7894 0.00 2.08 0.00 0.000 6 0.000 0.028 3377 1873 2667 0 0 0 0 0 0 28.83 26.51 28.83

8195 0.75 146.6 128.8 10.5 889 8205 0.00 2.05 0.00 0.000 4 0.000 0.037 3387 504 2667 0 0 0 0 0 0 28.83 26.48 28.83

8278 0.75 146.6 119.9 10.8 897 8288 0.00 2.12 0.00 0.000 6 0.000 0.033 3386 1884 2667 0 0 0 0 0 0 28.83 26.51 28.83

8590 0.75 146.6 88.2 9.8 939 8597 0.00 2.12 0.00 0.000 4 0.000 0.044 3387 3308 2667 0 0 0 0 0 0 28.83 26.47 28.83

8675 0.75 146.6 79.5 10.1 955 8682 0.00 2.10 0.00 0.000 6 0.000 0.029 3396 1877 2667 0 0 0 0 0 0 28.83 26.56 28.83

8987 0.75 146.6 51.2 9.2 1016 8994 0.00 2.08 0.00 0.000 4 0.000 0.038 3406 506 2667 0 0 0 0 0 0 28.83 26.52 28.83

9113 0.75 146.6 39.9 9.2 1040 9120 0.15 2.10 0.00 0.000 6 0.158 0.034 3368 1887 2667 0 0 0 0 0 0 26.25 26.55 28.83

9429 0.93 296.8 19.5 2.9 1101 9509 0.15 2.20 71.15 0.106 4 0.092 0.038 3442 508 2067 0 0 0 0 0 0 26.58 26.39 26.13

9555 0.93 296.8 10.4 12.2 1122 9561 0.00 2.05 0.00 0.000 6 0.000 0.034 3442 1839 2060 0 0 0 0 0 0 28.83 26.43 28.83

9607 end climb: SURFACE_DEPTH_REACHED

state 9607 begin surface coast

9646 end surface coast: CONTROL_FINISHED_OK

state 9646 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	230	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	42	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	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	2	T_GPS_CHARGE	-191373.83	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	300712,191433,6701.288,-5648.502,32,1.0,34,-33.5	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	2.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300712,192205,6701.368,-5648.583,17,0.8,17,-33.5	MHEAD_RNG_PITCHd_Wd	39.7,3052,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	547

FREEZE	1.41,6.388,-0.993,0,1,0	ALTIM_BOTTOM_PING	500.6,30.6
FINISH	1.4,1.014368	_24V_AH	23.4,27.659
SM_CCo	9666,43.92,0.068,0,0,1646,400.08	_10V_AH	10.1,31.079
SM_GC	2.52,8.20,0.38,43.92,0.047,0.055,0.068,346,2104,1646,-8.64,-1.33,400.08,0,0,0,0,0,0,26.32,26.42,26.22	FG_AHR_24Vo	0.000
RAFOS_CLK	455	FG_AHR_10Vo	0.000
RAFOS	0,1343678468,20.033333,20.018888,47,45,44,43,43,41,1497,1545,154,247,883,138	MEM	151628
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	53382,1139
IRIDIUM_FIX	6631.12,-5653.72,300712,161639	CAP_FILE_SIZE	123198,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,227127296
HUMID	42.87	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
INTERNAL_PRESSURE	9.09215	SOUNDSPEED	1466.7
TCM_TEMP	16.60	CURRENT	0.112,326.5,1
XPDR_PINGS	12	GPS	300712,220558,6702.818,-5648.582,36,0.9,36,-33.5
ALTIM_TOP_PING	19.9,19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	242	116.33	SBE_CT	813	23	456.33
Roll_motor	96	63	142.82	SBE_O2	775	5	108.71
VBD_pump_during_apogee	309	1168	8460.88	nil	0	0	0.00
VBD_pump_during_surface	43	68	69.98	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	317	274	2034.39	nil	0	0	0.00
Transponder_ping	4	420	46.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.09
TT8	2806	17	509.11
LPSleep	4292	2	100.15
TT8_Active	530	17	96.14
TT8_Sampling	2247	40	917.83
TT8_CF8	289	48	142.45
TT8_Kalman	0	0	0.00
Analog_circuits	1886	12	228.66
GPS_charging	0	0	0.00
Compass	1903	7	143.97
RAFOS	2520	3	76.36
Transponder	16	30	4.90

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.75	-146.6	0.0	0.0	0	74	0.00	0.00	-56.00	0.000	2	0.000	0.000	338	2106	2978	0	0	0	0	0	0	28.83	28.83	28.83
78	-0.75	-146.6	3.1	-2.8	10	123	9.98	2.17	-25.88	0.000	4	0.243	0.063	2874	3511	3879	0	0	0	0	0	0	25.83	26.34	26.75
353	-0.75	-146.6	41.2	-12.2	62	360	0.00	2.08	0.00	0.000	6	0.000	0.028	2878	2094	3884	0	0	0	0	0	0	28.83	26.50	28.83
666	-0.75	-146.6	76.6	-11.0	123	673	0.00	2.17	0.00	0.000	4	0.000	0.047	2870	3517	3887	0	0	0	0	0	0	28.83	26.41	28.83
867	-0.75	-146.6	100.4	-12.3	161	874	0.00	2.08	0.00	0.000	6	0.000	0.028	2870	2091	3887	0	0	0	0	0	0	28.83	26.55	28.83
1172	-0.75	-146.6	137.1	-12.0	192	1181	0.00	2.17	0.00	0.000	4	0.000	0.047	2859	3523	3887	0	0	0	0	0	0	28.83	26.44	28.83
1277	-0.75	-146.6	149.9	-13.0	202	1285	0.00	2.05	0.00	0.000	6	0.000	0.028	2860	2114	3887	0	0	0	0	0	0	28.83	26.59	28.83
1584	-0.75	-146.6	188.4	-12.5	233	1594	0.12	2.12	0.00	0.000	4	0.174	0.046	2887	3519	3886	0	0	0	0	0	0	26.32	26.46	28.83
1687	-0.75	-146.6	199.8	-10.4	243	1696	0.00	2.03	0.00	0.000	6	0.000	0.029	2887	2122	3886	0	0	0	0	0	0	28.83	26.61	28.83
1998	-0.75	-146.6	231.0	-9.1	274	2008	0.00	2.10	0.00	0.000	4	0.000	0.047	2877	3515	3885	0	0	0	0	0	0	28.83	26.48	28.83
2064	-0.75	-146.6	237.3	-10.1	280	2071	0.00	2.00	0.00	0.000	6	0.000	0.028	2877	2132	3885	0	0	0	0	0	0	28.83	26.62	28.83
2371	-0.75	-146.6	266.3	-9.2	311	2375	0.00	2.10	0.00	0.000	4	0.000	0.047	2867	3512	3885	0	0	0	0	0	0	28.83	26.48	28.83
2465	-0.75	-146.6	275.4	-9.9	320	2473	0.00	2.00	0.00	0.000	6	0.000	0.028	2867	2137	3885	0	0	0	0	0	0	28.83	26.63	28.83
2774	-0.75	-146.6	304.1	-8.9	351	2784	0.00	2.08	0.00	0.000	4	0.000	0.047	2856	3512	3884	0	0	0	0	0	0	28.83	26.49	28.83
2841	-0.75	-146.6	310.2	-9.9	357	2848	0.12	1.98	0.00	0.000	6	0.162	0.028	2888	2143	3884	0	0	0	0	0	0	26.29	26.64	28.83
3148	-0.75	-146.6	334.8	-7.9	388	3152	0.00	2.10	0.00	0.000	4	0.000	0.047	2880	3523	3884	0	0	0	0	0	0	28.83	26.50	28.83
3204	-0.75	-146.6	339.3	-9.0	393	3211	0.00	1.98	0.00	0.000	6	0.000	0.028	2880	2151	3884	0	0	0	0	0	0	28.83	26.65	28.83
3510	-0.75	-146.6	367.9	-9.5	424	3519	0.00	2.08	0.00	0.000	4	0.000	0.047	2870	3509	3884	0	0	0	0	0	0	28.83	26.50	28.83
3574	-0.75	-146.6	374.1	-10.4	430	3583	0.00	1.95	0.00	0.000	6	0.000	0.028	2870	2162	3884	0	0	0	0	0	0	28.83	26.65	28.83
3884	-0.75	-146.6	404.5	-9.8	461	3892	0.00	2.03	0.00	0.000	4	0.000	0.047	2860	3511	3884	0	0	0	0	0	0	28.83	26.51	28.83
3948	-0.75	-146.6	410.8	-10.2	467	3955	0.00	1.95	0.00	0.000	6	0.000	0.028	2860	2158	3884	0	0	0	0	0	0	28.83	26.66	28.83
4255	-0.75	-146.6	442.4	-9.9	498	4265	0.00	2.05	0.00	0.000	4	0.000	0.047	2849	3514	3884	0	0	0	0	0	0	28.83	26.51	28.83
4331	-0.75	-146.6	450.3	-10.7	505	4338	0.15	1.92	0.00	0.000	6	0.154	0.028	2890	2173	3884	0	0	0	0	0	0	26.27	26.67	28.83
4639	-0.75	-146.6	476.0	-8.1	536	4647	0.00	2.03	0.00	0.000	4	0.000	0.047	2882	3509	3884	0	0	0	0	0	0	28.83	26.51	28.83
4681	-0.75	-146.6	479.7	-8.9	540	4690	0.00	1.92	0.00	0.000	6	0.000	0.028	2881	2173	3884	0	0	0	0	0	0	28.83	26.67	28.83
4991	-0.75	-146.6	505.4	-8.3	571	5000	0.00	2.03	0.00	0.000	4	0.000	0.047	2872	3509	3884	0	0	0	0	0	0	28.83	26.51	28.83
5055	-0.75	-146.6	510.9	-8.8	577	5064	0.00	1.92	0.00	0.000	6	0.000	0.028	2872	2173	3884	0	0	0	0	0	0	28.83	26.67	28.83
5111	end dive: BOTTOM_OBSTACLE_DETECTED
state	5111	begin apogee
5118	-0.17	0.0	516.3	-9.0	583	5243	0.62	0.00	117.70	1.169	4	0.135	0.000	3071	1879	3277	0	0	0	0	0	0	26.13	28.83	24.01
5246	end apogee: CONTROL_FINISHED_OK
state	5246	begin climb
5249	0.75	146.6	520.2	0.0	596	5385	0.85	2.17	120.47	1.132	4	0.072	0.034	3372	532	2679	0	0	0	0	0	0	25.01	25.06	23.40
5614	0.75	146.6	481.2	13.6	632	5621	0.00	2.20	0.00	0.000	6	0.000	0.033	3372	1915	2671	0	0	1	0	0	0	28.83	25.51	28.83
5922	0.75	146.6	439.2	13.2	663	5930	0.00	2.15	0.00	0.000	4	0.000	0.044	3372	3304	2668	0	0	0	0	0	0	28.83	25.92	28.83
6138	0.75	146.6	406.1	16.1	684	6145	0.00	2.05	0.00	0.000	6	0.000	0.028	3379	1921	2667	0	0	0	0	0	0	28.83	26.15	28.83
6446	0.75	146.6	359.8	14.9	715	6454	0.00	2.15	0.00	0.000	4	0.000	0.037	3389	512	2667	0	0	0	0	0	0	28.83	26.23	28.83
6527	0.75	146.6	347.5	14.9	723	6536	0.00	2.15	0.00	0.000	6	0.000	0.033	3390	1898	2667	0	0	0	0	0	0	28.83	26.28	28.83
6838	0.75	146.6	302.6	13.9	754	6839	0.00	0.00	0.00	0.000	6	0.000	0.000	3390	1898	2667	0	0	0	0	0	0	28.83	28.83	28.83
7140	0.75	146.6	258.9	14.8	784	7148	0.00	2.12	0.00	0.000	4	0.000	0.037	3399	516	2667	0	0	0	0	0	0	28.83	26.39	28.83
7182	0.75	146.6	252.4	14.8	788	7190	0.00	2.10	0.00	0.000	6	0.000	0.033	3399	1886	2667	0	0	0	0	0	0	28.83	26.41	28.83
7492	0.75	146.6	209.1	13.4	819	7500	0.00	2.10	0.00	0.000	4	0.000	0.037	3407	510	2667	0	0	0	0	0	0	28.83	26.43	28.83
7553	0.75	146.6	200.7	13.4	825	7564	0.15	2.12	0.00	0.000	6	0.164	0.032	3370	1894	2667	0	0	0	0	0	0	26.14	26.46	28.83
7863	0.75	146.6	166.1	11.1	856	7872	0.00	2.10	0.00	0.000	4	0.000	0.044	3369	3301	2667	0	0	0	0	0	0	28.83	26.43	28.83
7888	0.75	146.6	163.5	11.1	858	7894	0.00	2.08	0.00	0.000	6	0.000	0.028	3377	1873	2667	0	0	0	0	0	0	28.83	26.51	28.83
8195	0.75	146.6	128.8	10.5	889	8205	0.00	2.05	0.00	0.000	4	0.000	0.037	3387	504	2667	0	0	0	0	0	0	28.83	26.48	28.83
8278	0.75	146.6	119.9	10.8	897	8288	0.00	2.12	0.00	0.000	6	0.000	0.033	3386	1884	2667	0	0	0	0	0	0	28.83	26.51	28.83
8590	0.75	146.6	88.2	9.8	939	8597	0.00	2.12	0.00	0.000	4	0.000	0.044	3387	3308	2667	0	0	0	0	0	0	28.83	26.47	28.83
8675	0.75	146.6	79.5	10.1	955	8682	0.00	2.10	0.00	0.000	6	0.000	0.029	3396	1877	2667	0	0	0	0	0	0	28.83	26.56	28.83
8987	0.75	146.6	51.2	9.2	1016	8994	0.00	2.08	0.00	0.000	4	0.000	0.038	3406	506	2667	0	0	0	0	0	0	28.83	26.52	28.83
9113	0.75	146.6	39.9	9.2	1040	9120	0.15	2.10	0.00	0.000	6	0.158	0.034	3368	1887	2667	0	0	0	0	0	0	26.25	26.55	28.83
9429	0.93	296.8	19.5	2.9	1101	9509	0.15	2.20	71.15	0.106	4	0.092	0.038	3442	508	2067	0	0	0	0	0	0	26.58	26.39	26.13
9555	0.93	296.8	10.4	12.2	1122	9561	0.00	2.05	0.00	0.000	6	0.000	0.034	3442	1839	2060	0	0	0	0	0	0	28.83	26.43	28.83
9607	end climb: SURFACE_DEPTH_REACHED
state	9607	begin surface coast
9646	end surface coast: CONTROL_FINISHED_OK
state	9646	begin surface