Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 243 * 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 243 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 2150 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 18 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 13 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 -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1289.0272 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 -1289.0272

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 2150 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 -3

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 18 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 13 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 243 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 211012,061228,6703.167,-5655.088,41,1.0,41,-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 2.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211012,061909,6703.198,-5655.182,5,1.0,5,-33.5 MHEAD_RNG_PITCHd_Wd 258.2,158272,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 601

Post-dive calculations and measurements:

FINISH 2.1,1.014317 _24V_AH 12.6,78.106

SM_CCo 11029,39.12,0.175,0,0,1587,290.19 _10V_AH 12.9,0.000

SM_GC 3.17,8.52,2.62,39.12,0.102,0.125,0.175,132,2123,1587,-11.62,-0.42,290.19,0,0,0,0,0,0,14.71,14.61,14.55 FG_AHR_24Vo 0.000

RAFOS_CLK 463 FG_AHR_10Vo 0.000

RAFOS 0,1350806466,8.033334,8.018333,63,58,58,53,47,47,196,115,217,170,136,126 MEM 188724

RAFOS_FIX 6650.767090,-5723.909668,211012,080820,4,89,3.76 DATA_FILE_SIZE 46848,994

IRIDIUM_FIX 6631.12,-5653.72,211012,030339 CAP_FILE_SIZE 105777,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,233930752

HUMID 46.45 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.7721 SOUNDSPEED 1464.6

TCM_TEMP 14.00 CURRENT 0.105,278.0,1

XPDR_PINGS 7 GPS 211012,092604,6702.213,-5659.208,33,0.7,33,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 444 126.57 SBE_CT 725 23 219.10

Roll_motor 89 238 269.61 SBE_O2 687 3 32.42

VBD_pump_during_apogee 326 2454 10092.14 nil 0 0 0.00

VBD_pump_during_surface 39 175 86.36 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 249 147 464.99 nil 0 0 0.00

Transponder_ping 1 420 9.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 21 3.82

TT8 2517 14 485.75

LPSleep 6081 2 181.21

TT8_Active 514 14 99.29

TT8_Sampling 1840 33 799.76

TT8_CF8 532 38 262.06

TT8_Kalman 0 0 0.00

Analog_circuits 1679 12 259.96

GPS_charging 0 0 0.00

Compass 1622 6 141.09

RAFOS 2520 1 48.76

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

18 -1.50 -136.9 0.0 0.0 0 37 0.00 0.00 -17.20 0.000 2 0.000 0.000 139 2122 1921 0 0 0 0 0 0 28.83 28.83 28.83

44 -1.50 -136.9 3.0 -1.5 3 141 11.00 2.88 -78.68 0.000 4 0.444 0.177 2342 3531 3331 0 0 0 0 0 0 14.29 14.43 14.80

376 -1.50 -136.9 42.7 -16.0 64 382 0.00 2.55 0.00 0.000 6 0.000 0.103 2343 2120 3332 0 0 0 0 0 0 28.83 14.58 28.83

692 -1.50 -136.9 87.0 -14.7 125 700 0.00 2.78 0.00 0.000 4 0.000 0.158 2332 3530 3332 0 0 0 0 0 0 28.83 14.52 28.83

721 -1.50 -136.9 91.4 -15.6 129 729 0.10 2.55 0.00 0.000 6 0.303 0.102 2350 2110 3332 0 0 0 0 0 0 14.45 14.62 28.83

1040 -1.50 -136.9 136.6 -13.4 165 1049 0.00 2.53 0.00 0.000 4 0.000 0.129 2351 710 3332 0 0 0 0 0 0 28.83 14.55 28.83

1155 -1.50 -136.9 153.2 -14.0 176 1164 0.00 2.65 0.00 0.000 6 0.000 0.131 2343 2125 3332 0 0 0 0 0 0 28.83 14.54 28.83

1465 -1.50 -136.9 194.3 -12.4 207 1474 0.00 2.67 0.00 0.000 4 0.000 0.148 2332 3531 3332 0 0 0 0 0 0 28.83 14.54 28.83

1500 -1.50 -136.9 198.7 -12.4 210 1509 0.00 2.50 0.00 0.000 6 0.000 0.099 2332 2119 3332 0 0 0 0 0 0 28.83 14.63 28.83

1810 -1.50 -136.9 233.6 -11.7 241 1817 0.10 0.00 0.00 0.000 6 0.312 0.000 2350 2118 3331 0 0 0 0 0 0 14.53 28.83 28.83

2120 -1.50 -136.9 267.1 -10.5 272 2126 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2119 3331 0 0 0 0 0 0 28.83 28.83 28.83

2435 -1.50 -136.9 299.5 -10.3 303 2441 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2119 3331 0 0 0 0 0 0 28.83 28.83 28.83

2747 -1.50 -136.9 332.5 -10.5 334 2756 0.00 2.53 0.00 0.000 4 0.000 0.127 2351 714 3331 0 0 0 0 0 0 28.83 14.59 28.83

2786 -1.50 -136.9 337.0 -10.9 337 2793 0.00 2.65 0.00 0.000 6 0.000 0.132 2344 2125 3331 0 0 0 0 0 0 28.83 14.64 28.83

3094 -1.50 -136.9 371.8 -10.8 368 3103 0.00 2.70 0.00 0.000 4 0.000 0.153 2333 3525 3331 0 0 0 0 0 0 28.83 14.55 28.83

3130 -1.50 -136.9 375.8 -11.1 371 3139 0.00 2.47 0.00 0.000 6 0.000 0.097 2333 2118 3331 0 0 0 0 0 0 28.83 14.66 28.83

3445 -1.50 -136.9 410.4 -11.0 396 3446 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2118 3331 0 0 0 0 0 0 28.83 28.83 28.83

3740 -1.50 -136.9 443.2 -10.9 406 3741 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2118 3331 0 0 0 0 0 0 28.83 28.83 28.83

4040 -1.50 -136.9 475.4 -10.4 416 4041 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2118 3332 0 0 0 0 0 0 28.83 28.83 28.83

4340 -1.50 -136.9 506.6 -10.2 426 4341 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2118 3332 0 0 0 0 0 0 28.83 28.83 28.83

4639 -1.50 -136.9 536.4 -9.9 436 4645 0.00 2.53 0.00 0.000 4 0.000 0.127 2332 703 3332 0 0 0 0 0 0 28.83 14.67 28.83

4671 -1.50 -136.9 539.8 -10.0 437 4677 0.08 2.62 0.00 0.000 6 0.282 0.136 2345 2118 3332 0 0 0 0 0 0 14.51 14.64 28.83

5003 -1.50 -136.9 572.6 -9.9 448 5004 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2118 3332 0 0 0 0 0 0 28.83 28.83 28.83

5298 end dive: TARGET_DEPTH_EXCEEDED

state 5298 begin apogee

5310 -0.38 0.0 603.3 -10.5 458 5458 0.88 0.00 137.85 2.454 6 0.257 0.000 2590 2149 2773 0 0 0 0 0 0 14.54 28.83 13.12

5459 end apogee: CONTROL_FINISHED_OK

state 5460 begin climb

5465 1.50 136.9 608.5 0.0 463 5630 1.38 2.90 149.50 2.388 4 0.161 0.136 3014 742 2214 0 0 0 0 0 0 13.93 13.31 12.59

5689 1.50 136.9 594.5 9.6 470 5697 0.00 2.83 0.00 0.000 6 0.000 0.125 3015 2155 2208 0 0 0 0 0 0 28.83 13.71 28.83

5996 1.50 136.9 553.5 12.4 481 6002 0.00 2.78 0.00 0.000 4 0.000 0.150 3015 3559 2205 0 0 0 0 0 0 28.83 14.21 28.83

6030 1.50 136.9 549.2 12.5 482 6036 0.00 2.60 0.00 0.000 6 0.000 0.107 3025 2145 2205 0 0 0 0 0 0 28.83 14.30 28.83

6358 1.50 136.9 506.8 12.5 493 6359 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2145 2203 0 0 0 0 0 0 28.83 28.83 28.83

6658 1.50 136.9 470.3 12.0 503 6663 0.00 2.78 0.00 0.000 4 0.000 0.148 3025 3564 2203 0 0 0 0 0 0 28.83 14.52 28.83

6689 1.50 136.9 466.3 12.1 504 6695 0.10 2.55 0.00 0.000 6 0.265 0.103 3008 2145 2204 0 0 0 0 0 0 14.45 14.59 28.83

7021 1.50 136.9 428.0 11.6 515 7022 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2145 2202 0 0 0 0 0 0 28.83 28.83 28.83

7320 1.50 136.9 392.8 11.9 529 7330 0.00 2.75 0.00 0.000 4 0.000 0.148 3008 3564 2201 0 0 0 0 0 0 28.83 14.61 28.83

7355 1.50 136.9 388.1 12.9 532 7364 0.00 2.53 0.00 0.000 6 0.000 0.104 3017 2145 2201 0 0 0 0 0 0 28.83 14.65 28.83

7665 1.50 136.9 348.9 12.0 563 7674 0.00 2.72 0.00 0.000 4 0.000 0.144 3017 3561 2201 0 0 0 0 0 0 28.83 14.58 28.83

7690 1.50 136.9 345.6 12.7 565 7700 0.08 2.50 0.00 0.000 6 0.275 0.099 3007 2150 2201 0 0 0 0 0 0 14.50 14.66 28.83

8001 1.50 136.9 308.9 11.9 596 8008 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2149 2201 0 0 0 0 0 0 28.83 28.83 28.83

8316 1.50 136.9 271.9 13.0 627 8322 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 2150 2201 0 0 0 0 0 0 28.83 28.83 28.83

8623 1.50 136.9 233.9 12.1 658 8632 0.00 2.72 0.00 0.000 4 0.000 0.145 3006 3566 2201 0 0 0 0 0 0 28.83 14.62 28.83

8697 1.50 136.9 224.4 13.0 665 8706 0.00 2.53 0.00 0.000 6 0.000 0.103 3016 2141 2201 0 0 0 0 0 0 28.83 14.66 28.83

9007 1.50 136.9 188.8 10.3 696 9013 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2141 2200 0 0 0 0 0 0 28.83 28.83 28.83

9322 1.50 136.9 157.8 9.5 727 9328 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2141 2201 0 0 0 0 0 0 28.83 28.83 28.83

9634 1.50 136.9 125.9 10.6 758 9643 0.00 2.53 0.00 0.000 4 0.000 0.129 3027 739 2200 0 0 0 0 0 0 28.83 14.62 28.83

9720 1.50 136.9 115.8 11.3 766 9729 0.00 2.58 0.00 0.000 6 0.000 0.114 3027 2154 2199 0 0 0 0 0 0 28.83 14.64 28.83

10035 1.50 136.9 81.6 9.4 814 10041 0.00 2.67 0.00 0.000 4 0.000 0.142 3027 3562 2200 0 0 0 0 0 0 28.83 14.64 28.83

10113 1.50 136.9 74.1 9.2 828 10120 0.15 2.53 0.00 0.000 6 0.278 0.099 3002 2140 2199 0 0 0 0 0 0 14.55 14.73 28.83

10435 1.59 211.2 54.6 5.7 889 10485 0.10 2.80 39.03 0.326 4 0.172 0.145 3043 3563 1908 0 0 0 0 0 0 14.76 14.56 14.50

10634 1.59 211.2 34.2 11.1 925 10643 0.12 2.55 0.00 0.000 6 0.291 0.102 3026 2146 1901 0 0 0 0 0 0 14.50 14.66 28.83

10955 1.59 211.2 4.4 9.0 986 10962 0.00 2.53 0.00 0.000 4 0.000 0.127 3035 742 1897 0 0 0 0 0 0 28.83 14.61 28.83

10967 end climb: SURFACE_DEPTH_REACHED

state 10967 begin surface coast

10999 end surface coast: CONTROL_FINISHED_OK

state 10999 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	243	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	2150	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	18	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	13	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	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1289.0272	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	211012,061228,6703.167,-5655.088,41,1.0,41,-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	2.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211012,061909,6703.198,-5655.182,5,1.0,5,-33.5	MHEAD_RNG_PITCHd_Wd	258.2,158272,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	601

FINISH	2.1,1.014317	_24V_AH	12.6,78.106
SM_CCo	11029,39.12,0.175,0,0,1587,290.19	_10V_AH	12.9,0.000
SM_GC	3.17,8.52,2.62,39.12,0.102,0.125,0.175,132,2123,1587,-11.62,-0.42,290.19,0,0,0,0,0,0,14.71,14.61,14.55	FG_AHR_24Vo	0.000
RAFOS_CLK	463	FG_AHR_10Vo	0.000
RAFOS	0,1350806466,8.033334,8.018333,63,58,58,53,47,47,196,115,217,170,136,126	MEM	188724
RAFOS_FIX	6650.767090,-5723.909668,211012,080820,4,89,3.76	DATA_FILE_SIZE	46848,994
IRIDIUM_FIX	6631.12,-5653.72,211012,030339	CAP_FILE_SIZE	105777,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,233930752
HUMID	46.45	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.7721	SOUNDSPEED	1464.6
TCM_TEMP	14.00	CURRENT	0.105,278.0,1
XPDR_PINGS	7	GPS	211012,092604,6702.213,-5659.208,33,0.7,33,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	444	126.57	SBE_CT	725	23	219.10
Roll_motor	89	238	269.61	SBE_O2	687	3	32.42
VBD_pump_during_apogee	326	2454	10092.14	nil	0	0	0.00
VBD_pump_during_surface	39	175	86.36	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	249	147	464.99	nil	0	0	0.00
Transponder_ping	1	420	9.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	21	3.82
TT8	2517	14	485.75
LPSleep	6081	2	181.21
TT8_Active	514	14	99.29
TT8_Sampling	1840	33	799.76
TT8_CF8	532	38	262.06
TT8_Kalman	0	0	0.00
Analog_circuits	1679	12	259.96
GPS_charging	0	0	0.00
Compass	1622	6	141.09
RAFOS	2520	1	48.76
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
18	-1.50	-136.9	0.0	0.0	0	37	0.00	0.00	-17.20	0.000	2	0.000	0.000	139	2122	1921	0	0	0	0	0	0	28.83	28.83	28.83
44	-1.50	-136.9	3.0	-1.5	3	141	11.00	2.88	-78.68	0.000	4	0.444	0.177	2342	3531	3331	0	0	0	0	0	0	14.29	14.43	14.80
376	-1.50	-136.9	42.7	-16.0	64	382	0.00	2.55	0.00	0.000	6	0.000	0.103	2343	2120	3332	0	0	0	0	0	0	28.83	14.58	28.83
692	-1.50	-136.9	87.0	-14.7	125	700	0.00	2.78	0.00	0.000	4	0.000	0.158	2332	3530	3332	0	0	0	0	0	0	28.83	14.52	28.83
721	-1.50	-136.9	91.4	-15.6	129	729	0.10	2.55	0.00	0.000	6	0.303	0.102	2350	2110	3332	0	0	0	0	0	0	14.45	14.62	28.83
1040	-1.50	-136.9	136.6	-13.4	165	1049	0.00	2.53	0.00	0.000	4	0.000	0.129	2351	710	3332	0	0	0	0	0	0	28.83	14.55	28.83
1155	-1.50	-136.9	153.2	-14.0	176	1164	0.00	2.65	0.00	0.000	6	0.000	0.131	2343	2125	3332	0	0	0	0	0	0	28.83	14.54	28.83
1465	-1.50	-136.9	194.3	-12.4	207	1474	0.00	2.67	0.00	0.000	4	0.000	0.148	2332	3531	3332	0	0	0	0	0	0	28.83	14.54	28.83
1500	-1.50	-136.9	198.7	-12.4	210	1509	0.00	2.50	0.00	0.000	6	0.000	0.099	2332	2119	3332	0	0	0	0	0	0	28.83	14.63	28.83
1810	-1.50	-136.9	233.6	-11.7	241	1817	0.10	0.00	0.00	0.000	6	0.312	0.000	2350	2118	3331	0	0	0	0	0	0	14.53	28.83	28.83
2120	-1.50	-136.9	267.1	-10.5	272	2126	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2119	3331	0	0	0	0	0	0	28.83	28.83	28.83
2435	-1.50	-136.9	299.5	-10.3	303	2441	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2119	3331	0	0	0	0	0	0	28.83	28.83	28.83
2747	-1.50	-136.9	332.5	-10.5	334	2756	0.00	2.53	0.00	0.000	4	0.000	0.127	2351	714	3331	0	0	0	0	0	0	28.83	14.59	28.83
2786	-1.50	-136.9	337.0	-10.9	337	2793	0.00	2.65	0.00	0.000	6	0.000	0.132	2344	2125	3331	0	0	0	0	0	0	28.83	14.64	28.83
3094	-1.50	-136.9	371.8	-10.8	368	3103	0.00	2.70	0.00	0.000	4	0.000	0.153	2333	3525	3331	0	0	0	0	0	0	28.83	14.55	28.83
3130	-1.50	-136.9	375.8	-11.1	371	3139	0.00	2.47	0.00	0.000	6	0.000	0.097	2333	2118	3331	0	0	0	0	0	0	28.83	14.66	28.83
3445	-1.50	-136.9	410.4	-11.0	396	3446	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2118	3331	0	0	0	0	0	0	28.83	28.83	28.83
3740	-1.50	-136.9	443.2	-10.9	406	3741	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2118	3331	0	0	0	0	0	0	28.83	28.83	28.83
4040	-1.50	-136.9	475.4	-10.4	416	4041	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2118	3332	0	0	0	0	0	0	28.83	28.83	28.83
4340	-1.50	-136.9	506.6	-10.2	426	4341	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2118	3332	0	0	0	0	0	0	28.83	28.83	28.83
4639	-1.50	-136.9	536.4	-9.9	436	4645	0.00	2.53	0.00	0.000	4	0.000	0.127	2332	703	3332	0	0	0	0	0	0	28.83	14.67	28.83
4671	-1.50	-136.9	539.8	-10.0	437	4677	0.08	2.62	0.00	0.000	6	0.282	0.136	2345	2118	3332	0	0	0	0	0	0	14.51	14.64	28.83
5003	-1.50	-136.9	572.6	-9.9	448	5004	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	2118	3332	0	0	0	0	0	0	28.83	28.83	28.83
5298	end dive: TARGET_DEPTH_EXCEEDED
state	5298	begin apogee
5310	-0.38	0.0	603.3	-10.5	458	5458	0.88	0.00	137.85	2.454	6	0.257	0.000	2590	2149	2773	0	0	0	0	0	0	14.54	28.83	13.12
5459	end apogee: CONTROL_FINISHED_OK
state	5460	begin climb
5465	1.50	136.9	608.5	0.0	463	5630	1.38	2.90	149.50	2.388	4	0.161	0.136	3014	742	2214	0	0	0	0	0	0	13.93	13.31	12.59
5689	1.50	136.9	594.5	9.6	470	5697	0.00	2.83	0.00	0.000	6	0.000	0.125	3015	2155	2208	0	0	0	0	0	0	28.83	13.71	28.83
5996	1.50	136.9	553.5	12.4	481	6002	0.00	2.78	0.00	0.000	4	0.000	0.150	3015	3559	2205	0	0	0	0	0	0	28.83	14.21	28.83
6030	1.50	136.9	549.2	12.5	482	6036	0.00	2.60	0.00	0.000	6	0.000	0.107	3025	2145	2205	0	0	0	0	0	0	28.83	14.30	28.83
6358	1.50	136.9	506.8	12.5	493	6359	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2145	2203	0	0	0	0	0	0	28.83	28.83	28.83
6658	1.50	136.9	470.3	12.0	503	6663	0.00	2.78	0.00	0.000	4	0.000	0.148	3025	3564	2203	0	0	0	0	0	0	28.83	14.52	28.83
6689	1.50	136.9	466.3	12.1	504	6695	0.10	2.55	0.00	0.000	6	0.265	0.103	3008	2145	2204	0	0	0	0	0	0	14.45	14.59	28.83
7021	1.50	136.9	428.0	11.6	515	7022	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2145	2202	0	0	0	0	0	0	28.83	28.83	28.83
7320	1.50	136.9	392.8	11.9	529	7330	0.00	2.75	0.00	0.000	4	0.000	0.148	3008	3564	2201	0	0	0	0	0	0	28.83	14.61	28.83
7355	1.50	136.9	388.1	12.9	532	7364	0.00	2.53	0.00	0.000	6	0.000	0.104	3017	2145	2201	0	0	0	0	0	0	28.83	14.65	28.83
7665	1.50	136.9	348.9	12.0	563	7674	0.00	2.72	0.00	0.000	4	0.000	0.144	3017	3561	2201	0	0	0	0	0	0	28.83	14.58	28.83
7690	1.50	136.9	345.6	12.7	565	7700	0.08	2.50	0.00	0.000	6	0.275	0.099	3007	2150	2201	0	0	0	0	0	0	14.50	14.66	28.83
8001	1.50	136.9	308.9	11.9	596	8008	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2149	2201	0	0	0	0	0	0	28.83	28.83	28.83
8316	1.50	136.9	271.9	13.0	627	8322	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	2150	2201	0	0	0	0	0	0	28.83	28.83	28.83
8623	1.50	136.9	233.9	12.1	658	8632	0.00	2.72	0.00	0.000	4	0.000	0.145	3006	3566	2201	0	0	0	0	0	0	28.83	14.62	28.83
8697	1.50	136.9	224.4	13.0	665	8706	0.00	2.53	0.00	0.000	6	0.000	0.103	3016	2141	2201	0	0	0	0	0	0	28.83	14.66	28.83
9007	1.50	136.9	188.8	10.3	696	9013	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2141	2200	0	0	0	0	0	0	28.83	28.83	28.83
9322	1.50	136.9	157.8	9.5	727	9328	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2141	2201	0	0	0	0	0	0	28.83	28.83	28.83
9634	1.50	136.9	125.9	10.6	758	9643	0.00	2.53	0.00	0.000	4	0.000	0.129	3027	739	2200	0	0	0	0	0	0	28.83	14.62	28.83
9720	1.50	136.9	115.8	11.3	766	9729	0.00	2.58	0.00	0.000	6	0.000	0.114	3027	2154	2199	0	0	0	0	0	0	28.83	14.64	28.83
10035	1.50	136.9	81.6	9.4	814	10041	0.00	2.67	0.00	0.000	4	0.000	0.142	3027	3562	2200	0	0	0	0	0	0	28.83	14.64	28.83
10113	1.50	136.9	74.1	9.2	828	10120	0.15	2.53	0.00	0.000	6	0.278	0.099	3002	2140	2199	0	0	0	0	0	0	14.55	14.73	28.83
10435	1.59	211.2	54.6	5.7	889	10485	0.10	2.80	39.03	0.326	4	0.172	0.145	3043	3563	1908	0	0	0	0	0	0	14.76	14.56	14.50
10634	1.59	211.2	34.2	11.1	925	10643	0.12	2.55	0.00	0.000	6	0.291	0.102	3026	2146	1901	0	0	0	0	0	0	14.50	14.66	28.83
10955	1.59	211.2	4.4	9.0	986	10962	0.00	2.53	0.00	0.000	4	0.000	0.127	3035	742	1897	0	0	0	0	0	0	28.83	14.61	28.83
10967	end climb: SURFACE_DEPTH_REACHED
state	10967	begin surface coast
10999	end surface coast: CONTROL_FINISHED_OK
state	10999	begin surface