Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 232 * 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 232 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 63 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 51 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 -191376.33 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 -191376.33

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 63 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 51 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 232 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 310712,005652,6703.219,-5653.140,39,0.9,39,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.27 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 310712,010348,6703.229,-5653.043,18,1.0,18,-33.5 MHEAD_RNG_PITCHd_Wd 245.6,159809,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 577

Post-dive calculations and measurements:

FREEZE 1.27,5.749,-1.189,0,1,0 ALTIM_BOTTOM_PING 550.1,36.9

FINISH 1.3,1.017261 _24V_AH 23.3,27.840

SM_CCo 10558,50.62,0.068,0,0,1648,400.08 _10V_AH 10.1,31.259

SM_GC 2.22,8.38,0.38,50.62,0.047,0.050,0.068,336,2101,1648,-8.66,-1.24,400.08,0,0,0,0,0,0,25.89,25.94,25.81 FG_AHR_24Vo 0.000

RAFOS_CLK 506 FG_AHR_10Vo 0.000

RAFOS 6,1343695741,0.833333,0.816944,48,47,47,47,44,43,879,700,1331,1330,1913,811 MEM 151640

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 56699,1223

IRIDIUM_FIX 6636.54,-5643.07,300712,222202 CAP_FILE_SIZE 128829,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 260165632,226992128

HUMID 42.83 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.08238 SOUNDSPEED 1466.6

TCM_TEMP 16.20 CURRENT 0.056,302.7,1

XPDR_PINGS 10 GPS 310712,040236,6702.572,-5656.062,39,0.8,39,-33.5

ALTIM_TOP_PING 19.8,19.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 240 114.96 SBE_CT 873 23 487.84

Roll_motor 96 51 114.92 SBE_O2 834 5 116.49

VBD_pump_during_apogee 312 1199 8743.79 nil 0 0 0.00

VBD_pump_during_surface 50 68 80.31 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 284 274 1821.30 nil 0 0 0.00

Transponder_ping 4 420 44.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.27

TT8 3068 17 556.60

LPSleep 4776 2 111.43

TT8_Active 542 17 98.38

TT8_Sampling 2336 40 954.08

TT8_CF8 302 48 148.71

TT8_Kalman 0 0 0.00

Analog_circuits 1920 12 232.72

GPS_charging 0 0 0.00

Compass 2027 7 153.41

RAFOS 0 0 0.00

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.75 -146.6 0.0 0.0 0 81 0.00 0.00 -59.03 0.000 2 0.000 0.000 345 2090 3050 0 0 0 0 0 0 28.83 28.83 28.83

84 -0.75 -146.6 3.0 -2.3 10 129 9.93 2.17 -23.48 0.000 4 0.241 0.051 2894 699 3882 0 0 0 0 0 0 25.77 26.39 26.76

177 -0.75 -146.6 15.4 -15.1 26 184 0.00 2.17 0.00 0.000 6 0.000 0.039 2886 2103 3884 0 0 0 0 0 0 28.83 26.38 28.83

491 -0.75 -146.6 55.6 -12.7 87 497 0.00 2.12 0.00 0.000 4 0.000 0.047 2876 3511 3886 0 0 0 0 0 0 28.83 26.37 28.83

728 -0.75 -146.6 85.7 -12.4 133 735 0.00 2.08 0.00 0.000 6 0.000 0.028 2877 2094 3887 0 0 0 0 0 0 28.83 26.54 28.83

1038 -0.75 -146.6 124.1 -12.1 175 1047 0.00 2.15 0.00 0.000 4 0.000 0.047 2866 3507 3888 0 0 0 0 0 0 28.83 26.42 28.83

1113 -0.75 -146.6 132.9 -12.2 182 1120 0.00 2.03 0.00 0.000 6 0.000 0.028 2866 2114 3888 0 0 0 0 0 0 28.83 26.58 28.83

1421 -0.75 -146.6 169.3 -11.4 213 1430 0.00 2.10 0.00 0.000 4 0.000 0.048 2855 3505 3888 0 0 0 0 0 0 28.83 26.44 28.83

1493 -0.75 -146.6 177.8 -11.9 220 1503 0.12 2.03 0.00 0.000 6 0.172 0.028 2886 2117 3888 0 0 0 0 0 0 26.23 26.60 28.83

1803 -0.75 -146.6 206.4 -9.2 251 1812 0.00 2.15 0.00 0.000 4 0.000 0.047 2878 3516 3887 0 0 0 0 0 0 28.83 26.45 28.83

1925 -0.75 -146.6 218.8 -10.4 263 1934 0.00 2.03 0.00 0.000 6 0.000 0.028 2877 2124 3887 0 0 0 0 0 0 28.83 26.61 28.83

2235 -0.75 -146.6 249.2 -9.9 294 2244 0.00 2.12 0.00 0.000 4 0.000 0.047 2868 3520 3886 0 0 0 0 0 0 28.83 26.46 28.83

2330 -0.75 -146.6 258.7 -10.2 303 2337 0.00 2.00 0.00 0.000 6 0.000 0.029 2868 2138 3885 0 0 0 0 0 0 28.83 26.62 28.83

2637 -0.75 -146.6 289.3 -9.8 334 2646 0.00 2.10 0.00 0.000 4 0.000 0.047 2857 3507 3885 0 0 0 0 0 0 28.83 26.47 28.83

2729 -0.75 -146.6 299.1 -10.9 343 2739 0.12 1.98 0.00 0.000 6 0.164 0.029 2888 2144 3885 0 0 0 0 0 0 26.28 26.63 28.83

3040 -0.75 -146.6 325.0 -8.0 374 3049 0.00 2.10 0.00 0.000 4 0.000 0.047 2880 3515 3885 0 0 0 0 0 0 28.83 26.48 28.83

3113 -0.75 -146.6 331.4 -8.9 381 3116 0.00 1.98 0.00 0.000 6 0.000 0.028 2881 2162 3885 0 0 0 0 0 0 28.83 26.64 28.83

3425 -0.75 -146.6 357.6 -8.3 412 3434 0.00 2.08 0.00 0.000 4 0.000 0.047 2871 3507 3885 0 0 0 0 0 0 28.83 26.48 28.83

3511 -0.75 -146.6 364.9 -9.0 420 3518 0.00 1.95 0.00 0.000 6 0.000 0.028 2871 2152 3885 0 0 0 0 0 0 28.83 26.65 28.83

3817 -0.75 -146.6 393.4 -9.5 451 3826 0.00 2.08 0.00 0.000 4 0.000 0.046 2861 3510 3885 0 0 0 0 0 0 28.83 26.49 28.83

3899 -0.75 -146.6 401.6 -10.1 459 3903 0.00 1.95 0.00 0.000 6 0.000 0.028 2861 2172 3885 0 0 0 0 0 0 28.83 26.65 28.83

4211 -0.75 -146.6 431.8 -9.7 490 4221 0.00 2.08 0.00 0.000 4 0.000 0.046 2850 3522 3885 0 0 0 0 0 0 28.83 26.49 28.83

4286 -0.75 -146.6 439.4 -10.5 497 4294 0.15 1.95 0.00 0.000 6 0.152 0.028 2890 2170 3885 0 0 0 0 0 0 26.27 26.65 28.83

4594 -0.75 -146.6 466.7 -8.7 528 4604 0.00 2.03 0.00 0.000 4 0.000 0.046 2882 3509 3885 0 0 0 0 0 0 28.83 26.50 28.83

4648 -0.75 -146.6 471.6 -9.6 533 4651 0.00 1.92 0.00 0.000 6 0.000 0.028 2882 2184 3885 0 0 0 0 0 0 28.83 26.66 28.83

4961 -0.75 -146.6 499.5 -8.9 564 4974 0.00 2.05 0.00 0.000 4 0.000 0.047 2872 3515 3885 0 0 0 0 0 0 28.83 26.50 28.83

5017 -0.75 -146.6 504.7 -9.4 569 5021 0.00 1.92 0.00 0.000 6 0.000 0.028 2872 2190 3885 0 0 0 0 0 0 28.83 26.67 28.83

5329 -0.75 -146.6 532.6 -9.0 600 5339 0.00 2.00 0.00 0.000 4 0.000 0.046 2864 3508 3885 0 0 0 0 0 0 28.83 26.50 28.83

5382 -0.75 -146.6 537.7 -9.8 605 5386 0.00 1.90 0.00 0.000 6 0.000 0.028 2864 2198 3885 0 0 0 0 0 0 28.83 26.67 28.83

5694 -0.75 -146.6 567.1 -9.5 636 5698 0.00 2.00 0.00 0.000 4 0.000 0.046 2854 3514 3885 0 0 0 0 0 0 28.83 26.50 28.83

5745 end dive: BOTTOM_OBSTACLE_DETECTED

state 5745 begin apogee

5754 -0.17 0.0 572.2 -10.3 641 5877 0.68 0.00 118.72 1.200 4 0.138 0.000 3068 1898 3279 0 0 0 0 0 0 26.08 28.83 23.96

5881 end apogee: CONTROL_FINISHED_OK

state 5881 begin climb

5883 0.75 146.6 576.3 0.0 654 6019 0.85 2.25 121.97 1.167 4 0.072 0.034 3370 506 2680 0 0 0 0 0 0 24.96 25.00 23.29

6245 0.75 146.6 537.3 13.7 690 6252 0.00 2.25 0.00 0.000 6 0.000 0.033 3370 1912 2671 0 0 0 0 0 0 28.83 25.47 28.83

6553 0.75 146.6 494.3 13.7 721 6562 0.00 2.12 0.00 0.000 4 0.000 0.044 3370 3303 2668 0 0 0 0 0 0 28.83 25.91 28.83

6767 0.75 146.6 461.6 15.4 742 6776 0.00 2.12 0.00 0.000 6 0.000 0.028 3380 1888 2667 0 0 0 0 0 0 28.83 26.14 28.83

7077 0.75 146.6 415.9 15.1 773 7087 0.00 2.10 0.00 0.000 4 0.000 0.037 3390 512 2667 0 0 0 0 0 0 28.83 26.22 28.83

7183 0.75 146.6 400.8 14.4 783 7190 0.00 2.12 0.00 0.000 6 0.000 0.032 3390 1893 2667 0 0 0 0 0 0 28.83 26.28 28.83

7490 0.75 146.6 355.1 14.8 814 7491 0.00 0.00 0.00 0.000 6 0.000 0.000 3390 1893 2666 0 0 0 0 0 0 28.83 28.83 28.83

7792 0.75 146.6 310.4 14.8 844 7799 0.00 0.00 0.00 0.000 6 0.000 0.000 3390 1892 2666 0 0 0 0 0 0 28.83 28.83 28.83

8102 0.75 146.6 265.0 15.0 875 8111 0.00 2.15 0.00 0.000 4 0.000 0.038 3399 498 2666 0 0 0 0 0 0 28.83 26.41 28.83

8126 0.75 146.6 261.5 15.2 877 8134 0.00 2.12 0.00 0.000 6 0.000 0.032 3399 1888 2666 0 0 0 0 0 0 28.83 26.45 28.83

8434 0.75 146.6 215.4 14.8 908 8435 0.00 0.00 0.00 0.000 6 0.000 0.000 3399 1888 2666 0 0 0 0 0 0 28.83 28.83 28.83

8737 0.75 146.6 173.6 13.5 938 8743 0.00 0.00 0.00 0.000 6 0.000 0.000 3399 1887 2666 0 0 0 0 0 0 28.83 28.83 28.83

9046 0.75 146.6 134.5 11.9 969 9055 0.00 2.12 0.00 0.000 4 0.000 0.044 3399 3308 2666 0 0 0 0 0 0 28.83 26.46 28.83

9088 0.75 146.6 128.6 13.2 973 9099 0.15 2.10 0.00 0.000 6 0.177 0.030 3371 1889 2667 0 0 0 0 0 0 26.17 26.55 28.83

9398 0.75 146.6 96.7 9.5 1007 9404 0.00 2.10 0.00 0.000 4 0.000 0.037 3379 497 2666 0 0 0 0 0 0 28.83 26.50 28.83

9523 0.75 146.6 84.4 9.8 1031 9529 0.00 2.12 0.00 0.000 6 0.000 0.032 3379 1885 2666 0 0 0 0 0 0 28.83 26.54 28.83

9835 0.75 152.6 56.2 8.9 1092 9849 0.00 2.15 3.97 0.631 4 0.000 0.037 3388 512 2657 0 0 0 0 0 0 28.83 26.55 25.35

9984 0.75 152.8 42.3 9.2 1120 9991 0.00 2.10 0.00 0.000 6 0.000 0.034 3388 1877 2657 0 0 0 0 0 0 28.83 26.53 28.83

10297 0.91 283.7 22.5 3.7 1181 10373 0.10 2.20 68.18 0.835 4 0.112 0.037 3438 512 2121 0 0 0 0 0 0 26.61 25.55 24.83

10414 0.91 283.7 14.3 10.5 1200 10421 0.00 2.12 0.00 0.000 6 0.000 0.034 3439 1845 2114 0 0 0 0 0 0 28.83 25.73 28.83

10504 end climb: SURFACE_DEPTH_REACHED

state 10504 begin surface coast

10537 end surface coast: CONTROL_FINISHED_OK

state 10537 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	232	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	63	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	51	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	-191376.33	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	310712,005652,6703.219,-5653.140,39,0.9,39,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.27	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	310712,010348,6703.229,-5653.043,18,1.0,18,-33.5	MHEAD_RNG_PITCHd_Wd	245.6,159809,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	577

FREEZE	1.27,5.749,-1.189,0,1,0	ALTIM_BOTTOM_PING	550.1,36.9
FINISH	1.3,1.017261	_24V_AH	23.3,27.840
SM_CCo	10558,50.62,0.068,0,0,1648,400.08	_10V_AH	10.1,31.259
SM_GC	2.22,8.38,0.38,50.62,0.047,0.050,0.068,336,2101,1648,-8.66,-1.24,400.08,0,0,0,0,0,0,25.89,25.94,25.81	FG_AHR_24Vo	0.000
RAFOS_CLK	506	FG_AHR_10Vo	0.000
RAFOS	6,1343695741,0.833333,0.816944,48,47,47,47,44,43,879,700,1331,1330,1913,811	MEM	151640
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	56699,1223
IRIDIUM_FIX	6636.54,-5643.07,300712,222202	CAP_FILE_SIZE	128829,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	260165632,226992128
HUMID	42.83	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.08238	SOUNDSPEED	1466.6
TCM_TEMP	16.20	CURRENT	0.056,302.7,1
XPDR_PINGS	10	GPS	310712,040236,6702.572,-5656.062,39,0.8,39,-33.5
ALTIM_TOP_PING	19.8,19.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	240	114.96	SBE_CT	873	23	487.84
Roll_motor	96	51	114.92	SBE_O2	834	5	116.49
VBD_pump_during_apogee	312	1199	8743.79	nil	0	0	0.00
VBD_pump_during_surface	50	68	80.31	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	284	274	1821.30	nil	0	0	0.00
Transponder_ping	4	420	44.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.27
TT8	3068	17	556.60
LPSleep	4776	2	111.43
TT8_Active	542	17	98.38
TT8_Sampling	2336	40	954.08
TT8_CF8	302	48	148.71
TT8_Kalman	0	0	0.00
Analog_circuits	1920	12	232.72
GPS_charging	0	0	0.00
Compass	2027	7	153.41
RAFOS	0	0	0.00
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.75	-146.6	0.0	0.0	0	81	0.00	0.00	-59.03	0.000	2	0.000	0.000	345	2090	3050	0	0	0	0	0	0	28.83	28.83	28.83
84	-0.75	-146.6	3.0	-2.3	10	129	9.93	2.17	-23.48	0.000	4	0.241	0.051	2894	699	3882	0	0	0	0	0	0	25.77	26.39	26.76
177	-0.75	-146.6	15.4	-15.1	26	184	0.00	2.17	0.00	0.000	6	0.000	0.039	2886	2103	3884	0	0	0	0	0	0	28.83	26.38	28.83
491	-0.75	-146.6	55.6	-12.7	87	497	0.00	2.12	0.00	0.000	4	0.000	0.047	2876	3511	3886	0	0	0	0	0	0	28.83	26.37	28.83
728	-0.75	-146.6	85.7	-12.4	133	735	0.00	2.08	0.00	0.000	6	0.000	0.028	2877	2094	3887	0	0	0	0	0	0	28.83	26.54	28.83
1038	-0.75	-146.6	124.1	-12.1	175	1047	0.00	2.15	0.00	0.000	4	0.000	0.047	2866	3507	3888	0	0	0	0	0	0	28.83	26.42	28.83
1113	-0.75	-146.6	132.9	-12.2	182	1120	0.00	2.03	0.00	0.000	6	0.000	0.028	2866	2114	3888	0	0	0	0	0	0	28.83	26.58	28.83
1421	-0.75	-146.6	169.3	-11.4	213	1430	0.00	2.10	0.00	0.000	4	0.000	0.048	2855	3505	3888	0	0	0	0	0	0	28.83	26.44	28.83
1493	-0.75	-146.6	177.8	-11.9	220	1503	0.12	2.03	0.00	0.000	6	0.172	0.028	2886	2117	3888	0	0	0	0	0	0	26.23	26.60	28.83
1803	-0.75	-146.6	206.4	-9.2	251	1812	0.00	2.15	0.00	0.000	4	0.000	0.047	2878	3516	3887	0	0	0	0	0	0	28.83	26.45	28.83
1925	-0.75	-146.6	218.8	-10.4	263	1934	0.00	2.03	0.00	0.000	6	0.000	0.028	2877	2124	3887	0	0	0	0	0	0	28.83	26.61	28.83
2235	-0.75	-146.6	249.2	-9.9	294	2244	0.00	2.12	0.00	0.000	4	0.000	0.047	2868	3520	3886	0	0	0	0	0	0	28.83	26.46	28.83
2330	-0.75	-146.6	258.7	-10.2	303	2337	0.00	2.00	0.00	0.000	6	0.000	0.029	2868	2138	3885	0	0	0	0	0	0	28.83	26.62	28.83
2637	-0.75	-146.6	289.3	-9.8	334	2646	0.00	2.10	0.00	0.000	4	0.000	0.047	2857	3507	3885	0	0	0	0	0	0	28.83	26.47	28.83
2729	-0.75	-146.6	299.1	-10.9	343	2739	0.12	1.98	0.00	0.000	6	0.164	0.029	2888	2144	3885	0	0	0	0	0	0	26.28	26.63	28.83
3040	-0.75	-146.6	325.0	-8.0	374	3049	0.00	2.10	0.00	0.000	4	0.000	0.047	2880	3515	3885	0	0	0	0	0	0	28.83	26.48	28.83
3113	-0.75	-146.6	331.4	-8.9	381	3116	0.00	1.98	0.00	0.000	6	0.000	0.028	2881	2162	3885	0	0	0	0	0	0	28.83	26.64	28.83
3425	-0.75	-146.6	357.6	-8.3	412	3434	0.00	2.08	0.00	0.000	4	0.000	0.047	2871	3507	3885	0	0	0	0	0	0	28.83	26.48	28.83
3511	-0.75	-146.6	364.9	-9.0	420	3518	0.00	1.95	0.00	0.000	6	0.000	0.028	2871	2152	3885	0	0	0	0	0	0	28.83	26.65	28.83
3817	-0.75	-146.6	393.4	-9.5	451	3826	0.00	2.08	0.00	0.000	4	0.000	0.046	2861	3510	3885	0	0	0	0	0	0	28.83	26.49	28.83
3899	-0.75	-146.6	401.6	-10.1	459	3903	0.00	1.95	0.00	0.000	6	0.000	0.028	2861	2172	3885	0	0	0	0	0	0	28.83	26.65	28.83
4211	-0.75	-146.6	431.8	-9.7	490	4221	0.00	2.08	0.00	0.000	4	0.000	0.046	2850	3522	3885	0	0	0	0	0	0	28.83	26.49	28.83
4286	-0.75	-146.6	439.4	-10.5	497	4294	0.15	1.95	0.00	0.000	6	0.152	0.028	2890	2170	3885	0	0	0	0	0	0	26.27	26.65	28.83
4594	-0.75	-146.6	466.7	-8.7	528	4604	0.00	2.03	0.00	0.000	4	0.000	0.046	2882	3509	3885	0	0	0	0	0	0	28.83	26.50	28.83
4648	-0.75	-146.6	471.6	-9.6	533	4651	0.00	1.92	0.00	0.000	6	0.000	0.028	2882	2184	3885	0	0	0	0	0	0	28.83	26.66	28.83
4961	-0.75	-146.6	499.5	-8.9	564	4974	0.00	2.05	0.00	0.000	4	0.000	0.047	2872	3515	3885	0	0	0	0	0	0	28.83	26.50	28.83
5017	-0.75	-146.6	504.7	-9.4	569	5021	0.00	1.92	0.00	0.000	6	0.000	0.028	2872	2190	3885	0	0	0	0	0	0	28.83	26.67	28.83
5329	-0.75	-146.6	532.6	-9.0	600	5339	0.00	2.00	0.00	0.000	4	0.000	0.046	2864	3508	3885	0	0	0	0	0	0	28.83	26.50	28.83
5382	-0.75	-146.6	537.7	-9.8	605	5386	0.00	1.90	0.00	0.000	6	0.000	0.028	2864	2198	3885	0	0	0	0	0	0	28.83	26.67	28.83
5694	-0.75	-146.6	567.1	-9.5	636	5698	0.00	2.00	0.00	0.000	4	0.000	0.046	2854	3514	3885	0	0	0	0	0	0	28.83	26.50	28.83
5745	end dive: BOTTOM_OBSTACLE_DETECTED
state	5745	begin apogee
5754	-0.17	0.0	572.2	-10.3	641	5877	0.68	0.00	118.72	1.200	4	0.138	0.000	3068	1898	3279	0	0	0	0	0	0	26.08	28.83	23.96
5881	end apogee: CONTROL_FINISHED_OK
state	5881	begin climb
5883	0.75	146.6	576.3	0.0	654	6019	0.85	2.25	121.97	1.167	4	0.072	0.034	3370	506	2680	0	0	0	0	0	0	24.96	25.00	23.29
6245	0.75	146.6	537.3	13.7	690	6252	0.00	2.25	0.00	0.000	6	0.000	0.033	3370	1912	2671	0	0	0	0	0	0	28.83	25.47	28.83
6553	0.75	146.6	494.3	13.7	721	6562	0.00	2.12	0.00	0.000	4	0.000	0.044	3370	3303	2668	0	0	0	0	0	0	28.83	25.91	28.83
6767	0.75	146.6	461.6	15.4	742	6776	0.00	2.12	0.00	0.000	6	0.000	0.028	3380	1888	2667	0	0	0	0	0	0	28.83	26.14	28.83
7077	0.75	146.6	415.9	15.1	773	7087	0.00	2.10	0.00	0.000	4	0.000	0.037	3390	512	2667	0	0	0	0	0	0	28.83	26.22	28.83
7183	0.75	146.6	400.8	14.4	783	7190	0.00	2.12	0.00	0.000	6	0.000	0.032	3390	1893	2667	0	0	0	0	0	0	28.83	26.28	28.83
7490	0.75	146.6	355.1	14.8	814	7491	0.00	0.00	0.00	0.000	6	0.000	0.000	3390	1893	2666	0	0	0	0	0	0	28.83	28.83	28.83
7792	0.75	146.6	310.4	14.8	844	7799	0.00	0.00	0.00	0.000	6	0.000	0.000	3390	1892	2666	0	0	0	0	0	0	28.83	28.83	28.83
8102	0.75	146.6	265.0	15.0	875	8111	0.00	2.15	0.00	0.000	4	0.000	0.038	3399	498	2666	0	0	0	0	0	0	28.83	26.41	28.83
8126	0.75	146.6	261.5	15.2	877	8134	0.00	2.12	0.00	0.000	6	0.000	0.032	3399	1888	2666	0	0	0	0	0	0	28.83	26.45	28.83
8434	0.75	146.6	215.4	14.8	908	8435	0.00	0.00	0.00	0.000	6	0.000	0.000	3399	1888	2666	0	0	0	0	0	0	28.83	28.83	28.83
8737	0.75	146.6	173.6	13.5	938	8743	0.00	0.00	0.00	0.000	6	0.000	0.000	3399	1887	2666	0	0	0	0	0	0	28.83	28.83	28.83
9046	0.75	146.6	134.5	11.9	969	9055	0.00	2.12	0.00	0.000	4	0.000	0.044	3399	3308	2666	0	0	0	0	0	0	28.83	26.46	28.83
9088	0.75	146.6	128.6	13.2	973	9099	0.15	2.10	0.00	0.000	6	0.177	0.030	3371	1889	2667	0	0	0	0	0	0	26.17	26.55	28.83
9398	0.75	146.6	96.7	9.5	1007	9404	0.00	2.10	0.00	0.000	4	0.000	0.037	3379	497	2666	0	0	0	0	0	0	28.83	26.50	28.83
9523	0.75	146.6	84.4	9.8	1031	9529	0.00	2.12	0.00	0.000	6	0.000	0.032	3379	1885	2666	0	0	0	0	0	0	28.83	26.54	28.83
9835	0.75	152.6	56.2	8.9	1092	9849	0.00	2.15	3.97	0.631	4	0.000	0.037	3388	512	2657	0	0	0	0	0	0	28.83	26.55	25.35
9984	0.75	152.8	42.3	9.2	1120	9991	0.00	2.10	0.00	0.000	6	0.000	0.034	3388	1877	2657	0	0	0	0	0	0	28.83	26.53	28.83
10297	0.91	283.7	22.5	3.7	1181	10373	0.10	2.20	68.18	0.835	4	0.112	0.037	3438	512	2121	0	0	0	0	0	0	26.61	25.55	24.83
10414	0.91	283.7	14.3	10.5	1200	10421	0.00	2.12	0.00	0.000	6	0.000	0.034	3439	1845	2114	0	0	0	0	0	0	28.83	25.73	28.83
10504	end climb: SURFACE_DEPTH_REACHED
state	10504	begin surface coast
10537	end surface coast: CONTROL_FINISHED_OK
state	10537	begin surface