Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 291 * 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 291 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 15 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 11 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 -1440.0404 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 -1440.0404

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 -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 11 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 291 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 301012,081134,6641.936,-6008.166,27,0.8,27,-33.8 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 3.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 301012,081740,6641.916,-6008.047,5,0.7,5,-33.8 MHEAD_RNG_PITCHd_Wd 5.2,13689,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 568

Post-dive calculations and measurements:

FINISH 2.5,1.025424 _24V_AH 12.5,93.963

SM_CCo 10210,21.42,0.194,0,0,1588,290.19 _10V_AH 12.6,0.000

SM_GC 3.14,8.65,0.10,21.42,0.107,0.174,0.194,133,2117,1588,-11.62,0.57,290.19,0,0,0,0,0,0,14.62,14.59,14.45 FG_AHR_24Vo 0.000

RAFOS_CLK 448 FG_AHR_10Vo 0.000

RAFOS 1,1351584542,8.166667,8.150556,73,60,57,56,53,51,185,197,168,480,214,124 MEM 188728

RAFOS_FIX 6656.532227,-5957.996094,301012,040444,3,79,2.28 DATA_FILE_SIZE 43477,962

IRIDIUM_FIX 6614.97,-6001.83,301012,050537 CAP_FILE_SIZE 105554,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,230563840

HUMID 46.88 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.67444 SOUNDSPEED 1449.4

TCM_TEMP 12.40 CURRENT 0.024, 5.4,1

XPDR_PINGS 7 GPS 301012,111011,6643.229,-6009.640,16,0.8,16,-33.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 465 135.54 SBE_CT 707 23 211.90

Roll_motor 101 231 293.58 SBE_O2 672 3 31.43

VBD_pump_during_apogee 374 2371 11100.10 nil 0 0 0.00

VBD_pump_during_surface 21 193 51.83 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 213 149 400.01 nil 0 0 0.00

Transponder_ping 1 420 9.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 21 1.79

TT8 2432 14 458.58

LPSleep 5260 2 153.12

TT8_Active 538 14 101.59

TT8_Sampling 1831 33 777.25

TT8_CF8 539 38 259.30

TT8_Kalman 0 0 0.00

Analog_circuits 1692 12 255.85

GPS_charging 0 0 0.00

Compass 1653 6 140.42

RAFOS 1440 1 27.22

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 27 0.00 0.00 -6.03 0.000 2 0.000 0.000 137 2122 1698 0 0 0 0 0 0 28.83 28.83 28.83

33 -1.50 -136.9 3.6 0.0 1 154 11.62 2.85 -100.32 0.000 4 0.466 0.183 2341 3533 3327 0 0 0 0 0 0 14.19 14.31 14.75

338 -1.50 -136.9 36.3 -16.9 56 345 0.00 2.60 0.00 0.000 6 0.000 0.107 2340 2112 3329 0 0 0 0 0 0 28.83 14.45 28.83

656 -1.50 -136.9 86.3 -15.8 117 663 0.00 2.60 0.00 0.000 4 0.000 0.135 2342 704 3327 0 0 0 0 0 0 28.83 14.40 28.83

849 -1.50 -136.9 114.6 -13.7 143 858 0.00 2.67 0.00 0.000 6 0.000 0.138 2332 2123 3329 0 0 0 0 0 0 28.83 14.34 28.83

1159 -1.50 -136.9 158.2 -14.4 174 1168 0.00 2.70 0.00 0.000 4 0.000 0.151 2322 3530 3329 0 0 0 0 0 0 28.83 14.36 28.83

1217 -1.50 -136.9 166.0 -14.3 179 1224 0.15 2.55 0.00 0.000 6 0.305 0.100 2352 2115 3329 0 0 0 0 0 0 14.23 14.52 28.83

1525 -1.50 -136.9 205.7 -12.1 210 1535 0.00 2.58 0.00 0.000 4 0.000 0.132 2353 712 3329 0 0 0 0 0 0 28.83 14.38 28.83

1564 -1.50 -136.9 210.1 -12.1 213 1572 0.00 2.67 0.00 0.000 6 0.000 0.138 2345 2124 3328 0 0 0 0 0 0 28.83 14.44 28.83

1873 -1.50 -136.9 245.8 -11.8 244 1879 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2124 3327 0 0 0 0 0 0 28.83 28.83 28.83

2188 -1.50 -136.9 282.2 -11.7 275 2197 0.00 2.60 0.00 0.000 4 0.000 0.133 2345 713 3327 0 0 0 0 0 0 28.83 14.40 28.83

2276 -1.50 -136.9 292.7 -12.0 283 2283 0.00 2.67 0.00 0.000 6 0.000 0.134 2338 2121 3328 0 0 0 0 0 0 28.83 14.45 28.83

2583 -1.50 -136.9 328.4 -11.3 314 2592 0.00 2.72 0.00 0.000 4 0.000 0.151 2327 3526 3328 0 0 0 0 0 0 28.83 14.38 28.83

2668 -1.50 -136.9 338.0 -11.5 322 2677 0.08 2.53 0.00 0.000 6 0.281 0.100 2346 2118 3327 0 0 0 0 0 0 14.21 14.46 28.83

2978 -1.50 -136.9 369.2 -9.9 353 2988 0.00 2.78 0.00 0.000 4 0.000 0.155 2337 3530 3327 0 0 0 0 0 0 28.83 14.33 28.83

3027 -1.50 -136.9 374.0 -10.4 357 3034 0.00 2.55 0.00 0.000 6 0.000 0.102 2337 2117 3328 0 0 0 0 0 0 28.83 14.55 28.83

3340 -1.50 -136.9 407.6 -11.1 384 3341 0.00 0.00 0.00 0.000 6 0.000 0.000 2337 2117 3327 0 0 0 0 0 0 28.83 28.83 28.83

3636 -1.50 -136.9 441.8 -11.5 394 3642 0.00 2.55 0.00 0.000 4 0.000 0.129 2337 708 3328 0 0 0 0 0 0 28.83 14.44 28.83

3705 -1.50 -136.9 449.1 -11.5 396 3712 0.08 2.67 0.00 0.000 6 0.301 0.133 2347 2119 3328 0 0 0 0 0 0 14.25 14.44 28.83

4028 -1.50 -136.9 483.6 -10.2 407 4029 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2119 3328 0 0 0 0 0 0 28.83 28.83 28.83

4328 -1.50 -136.9 514.5 -10.0 417 4329 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2119 3328 0 0 0 0 0 0 28.83 28.83 28.83

4628 -1.50 -136.9 544.8 -10.0 427 4633 0.00 2.75 0.00 0.000 4 0.000 0.155 2339 3527 3329 0 0 0 0 0 0 28.83 14.41 28.83

4708 -1.50 -136.9 550.7 -9.4 429 4718 0.00 2.53 0.00 0.000 6 0.000 0.104 2338 2122 3329 0 0 0 0 0 0 28.83 14.45 28.83

4864 end dive: TARGET_DEPTH_EXCEEDED

state 4864 begin apogee

4877 -0.38 0.0 569.9 -10.2 435 5024 0.95 0.00 137.25 2.372 6 0.272 0.000 2590 2147 2772 0 0 0 0 0 0 14.31 28.83 12.97

5025 end apogee: CONTROL_FINISHED_OK

state 5025 begin climb

5030 1.50 136.9 575.9 0.0 440 5198 1.42 3.10 150.43 2.275 4 0.179 0.148 3002 3568 2214 0 0 0 0 0 0 13.74 13.19 12.46

5227 1.56 183.9 567.7 6.9 446 5291 0.00 2.83 53.17 2.241 6 0.000 0.105 3012 2141 2022 0 0 0 0 0 0 28.83 13.50 12.52

5599 1.56 183.9 514.7 13.6 459 5605 0.00 2.92 0.00 0.000 4 0.000 0.147 3012 3567 2014 0 0 0 0 0 0 28.83 13.94 28.83

5635 1.56 183.9 509.4 13.8 460 5641 0.00 2.65 0.00 0.000 6 0.000 0.105 3023 2155 2014 0 0 0 0 0 0 28.83 14.04 28.83

5961 1.56 183.9 461.7 14.0 471 5967 0.00 2.62 0.00 0.000 4 0.000 0.132 3034 733 2011 0 0 0 0 0 0 28.83 14.28 28.83

5986 1.56 183.9 461.7 14.0 471 5993 0.00 2.67 0.00 0.000 6 0.000 0.119 3033 2153 2010 0 0 0 0 0 0 28.83 14.34 28.83

6294 1.56 183.9 414.4 14.3 482 6300 0.00 2.65 0.00 0.000 4 0.000 0.135 3043 732 2010 0 0 0 0 0 0 28.83 14.39 28.83

6328 1.56 183.9 409.6 14.5 483 6334 0.08 2.62 0.00 0.000 6 0.272 0.119 3024 2150 2010 0 0 0 0 0 0 14.28 14.42 28.83

6645 1.56 183.9 365.3 13.3 509 6655 0.00 2.70 0.00 0.000 4 0.000 0.142 3024 3559 2010 0 0 0 0 0 0 28.83 14.41 28.83

6715 1.56 183.9 356.0 14.4 515 6722 0.00 2.58 0.00 0.000 6 0.000 0.103 3032 2138 2010 0 0 0 0 0 0 28.83 14.54 28.83

7023 1.56 183.9 315.4 12.6 546 7029 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 2138 2010 0 0 0 0 0 0 28.83 28.83 28.83

7337 1.56 183.9 278.2 11.3 577 7347 0.00 2.55 0.00 0.000 4 0.000 0.131 3043 737 2009 0 0 0 0 0 0 28.83 14.45 28.83

7396 1.56 183.9 271.1 12.1 582 7404 0.12 2.62 0.00 0.000 6 0.295 0.118 3017 2153 2008 0 0 0 0 0 0 14.37 14.54 28.83

7704 1.56 183.9 234.4 11.7 613 7711 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2153 2008 0 0 0 0 0 0 28.83 28.83 28.83

8021 1.56 183.9 200.1 10.1 644 8030 0.00 2.72 0.00 0.000 4 0.000 0.147 3016 3566 2008 0 0 0 0 0 0 28.83 14.45 28.83

8069 1.56 183.9 194.7 10.5 648 8075 0.00 2.58 0.00 0.000 6 0.000 0.105 3025 2144 2009 0 0 0 0 0 0 28.83 14.59 28.83

8376 1.56 183.9 163.9 10.0 679 8382 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2144 2008 0 0 0 0 0 0 28.83 28.83 28.83

8693 1.56 183.9 133.4 10.1 710 8702 0.00 2.55 0.00 0.000 4 0.000 0.132 3035 740 2008 0 0 0 0 0 0 28.83 14.46 28.83

8788 1.56 183.9 122.7 10.5 719 8796 0.00 2.62 0.00 0.000 6 0.000 0.121 3036 2153 2007 0 0 0 0 0 0 28.83 14.46 28.83

9102 1.56 183.9 91.3 8.9 758 9109 0.00 2.78 0.00 0.000 4 0.000 0.148 3035 3566 2008 0 0 0 0 0 0 28.83 14.48 28.83

9195 1.56 183.9 81.7 10.2 775 9203 0.12 2.58 0.00 0.000 6 0.304 0.105 3019 2142 2008 0 0 0 0 0 0 14.35 14.58 28.83

9514 1.59 208.0 54.4 7.9 836 9533 0.00 2.58 11.85 0.356 4 0.000 0.132 3029 730 1924 0 0 0 0 0 0 28.83 14.55 14.35

9649 1.59 208.0 42.4 9.7 860 9656 0.00 2.65 0.00 0.000 6 0.000 0.118 3029 2157 1920 0 0 0 0 0 0 28.83 14.50 28.83

9965 1.64 247.6 18.3 7.2 921 9990 0.00 0.00 21.75 0.239 6 0.000 0.000 3029 2157 1760 0 0 0 0 0 0 28.83 28.83 14.42

10150 end climb: SURFACE_DEPTH_REACHED

state 10150 begin surface coast

10182 end surface coast: CONTROL_FINISHED_OK

state 10182 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	291	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	15	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	11	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	-1440.0404	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	301012,081134,6641.936,-6008.166,27,0.8,27,-33.8	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	3.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	301012,081740,6641.916,-6008.047,5,0.7,5,-33.8	MHEAD_RNG_PITCHd_Wd	5.2,13689,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	568

FINISH	2.5,1.025424	_24V_AH	12.5,93.963
SM_CCo	10210,21.42,0.194,0,0,1588,290.19	_10V_AH	12.6,0.000
SM_GC	3.14,8.65,0.10,21.42,0.107,0.174,0.194,133,2117,1588,-11.62,0.57,290.19,0,0,0,0,0,0,14.62,14.59,14.45	FG_AHR_24Vo	0.000
RAFOS_CLK	448	FG_AHR_10Vo	0.000
RAFOS	1,1351584542,8.166667,8.150556,73,60,57,56,53,51,185,197,168,480,214,124	MEM	188728
RAFOS_FIX	6656.532227,-5957.996094,301012,040444,3,79,2.28	DATA_FILE_SIZE	43477,962
IRIDIUM_FIX	6614.97,-6001.83,301012,050537	CAP_FILE_SIZE	105554,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,230563840
HUMID	46.88	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.67444	SOUNDSPEED	1449.4
TCM_TEMP	12.40	CURRENT	0.024, 5.4,1
XPDR_PINGS	7	GPS	301012,111011,6643.229,-6009.640,16,0.8,16,-33.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	465	135.54	SBE_CT	707	23	211.90
Roll_motor	101	231	293.58	SBE_O2	672	3	31.43
VBD_pump_during_apogee	374	2371	11100.10	nil	0	0	0.00
VBD_pump_during_surface	21	193	51.83	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	213	149	400.01	nil	0	0	0.00
Transponder_ping	1	420	9.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	21	1.79
TT8	2432	14	458.58
LPSleep	5260	2	153.12
TT8_Active	538	14	101.59
TT8_Sampling	1831	33	777.25
TT8_CF8	539	38	259.30
TT8_Kalman	0	0	0.00
Analog_circuits	1692	12	255.85
GPS_charging	0	0	0.00
Compass	1653	6	140.42
RAFOS	1440	1	27.22
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	27	0.00	0.00	-6.03	0.000	2	0.000	0.000	137	2122	1698	0	0	0	0	0	0	28.83	28.83	28.83
33	-1.50	-136.9	3.6	0.0	1	154	11.62	2.85	-100.32	0.000	4	0.466	0.183	2341	3533	3327	0	0	0	0	0	0	14.19	14.31	14.75
338	-1.50	-136.9	36.3	-16.9	56	345	0.00	2.60	0.00	0.000	6	0.000	0.107	2340	2112	3329	0	0	0	0	0	0	28.83	14.45	28.83
656	-1.50	-136.9	86.3	-15.8	117	663	0.00	2.60	0.00	0.000	4	0.000	0.135	2342	704	3327	0	0	0	0	0	0	28.83	14.40	28.83
849	-1.50	-136.9	114.6	-13.7	143	858	0.00	2.67	0.00	0.000	6	0.000	0.138	2332	2123	3329	0	0	0	0	0	0	28.83	14.34	28.83
1159	-1.50	-136.9	158.2	-14.4	174	1168	0.00	2.70	0.00	0.000	4	0.000	0.151	2322	3530	3329	0	0	0	0	0	0	28.83	14.36	28.83
1217	-1.50	-136.9	166.0	-14.3	179	1224	0.15	2.55	0.00	0.000	6	0.305	0.100	2352	2115	3329	0	0	0	0	0	0	14.23	14.52	28.83
1525	-1.50	-136.9	205.7	-12.1	210	1535	0.00	2.58	0.00	0.000	4	0.000	0.132	2353	712	3329	0	0	0	0	0	0	28.83	14.38	28.83
1564	-1.50	-136.9	210.1	-12.1	213	1572	0.00	2.67	0.00	0.000	6	0.000	0.138	2345	2124	3328	0	0	0	0	0	0	28.83	14.44	28.83
1873	-1.50	-136.9	245.8	-11.8	244	1879	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	2124	3327	0	0	0	0	0	0	28.83	28.83	28.83
2188	-1.50	-136.9	282.2	-11.7	275	2197	0.00	2.60	0.00	0.000	4	0.000	0.133	2345	713	3327	0	0	0	0	0	0	28.83	14.40	28.83
2276	-1.50	-136.9	292.7	-12.0	283	2283	0.00	2.67	0.00	0.000	6	0.000	0.134	2338	2121	3328	0	0	0	0	0	0	28.83	14.45	28.83
2583	-1.50	-136.9	328.4	-11.3	314	2592	0.00	2.72	0.00	0.000	4	0.000	0.151	2327	3526	3328	0	0	0	0	0	0	28.83	14.38	28.83
2668	-1.50	-136.9	338.0	-11.5	322	2677	0.08	2.53	0.00	0.000	6	0.281	0.100	2346	2118	3327	0	0	0	0	0	0	14.21	14.46	28.83
2978	-1.50	-136.9	369.2	-9.9	353	2988	0.00	2.78	0.00	0.000	4	0.000	0.155	2337	3530	3327	0	0	0	0	0	0	28.83	14.33	28.83
3027	-1.50	-136.9	374.0	-10.4	357	3034	0.00	2.55	0.00	0.000	6	0.000	0.102	2337	2117	3328	0	0	0	0	0	0	28.83	14.55	28.83
3340	-1.50	-136.9	407.6	-11.1	384	3341	0.00	0.00	0.00	0.000	6	0.000	0.000	2337	2117	3327	0	0	0	0	0	0	28.83	28.83	28.83
3636	-1.50	-136.9	441.8	-11.5	394	3642	0.00	2.55	0.00	0.000	4	0.000	0.129	2337	708	3328	0	0	0	0	0	0	28.83	14.44	28.83
3705	-1.50	-136.9	449.1	-11.5	396	3712	0.08	2.67	0.00	0.000	6	0.301	0.133	2347	2119	3328	0	0	0	0	0	0	14.25	14.44	28.83
4028	-1.50	-136.9	483.6	-10.2	407	4029	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2119	3328	0	0	0	0	0	0	28.83	28.83	28.83
4328	-1.50	-136.9	514.5	-10.0	417	4329	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2119	3328	0	0	0	0	0	0	28.83	28.83	28.83
4628	-1.50	-136.9	544.8	-10.0	427	4633	0.00	2.75	0.00	0.000	4	0.000	0.155	2339	3527	3329	0	0	0	0	0	0	28.83	14.41	28.83
4708	-1.50	-136.9	550.7	-9.4	429	4718	0.00	2.53	0.00	0.000	6	0.000	0.104	2338	2122	3329	0	0	0	0	0	0	28.83	14.45	28.83
4864	end dive: TARGET_DEPTH_EXCEEDED
state	4864	begin apogee
4877	-0.38	0.0	569.9	-10.2	435	5024	0.95	0.00	137.25	2.372	6	0.272	0.000	2590	2147	2772	0	0	0	0	0	0	14.31	28.83	12.97
5025	end apogee: CONTROL_FINISHED_OK
state	5025	begin climb
5030	1.50	136.9	575.9	0.0	440	5198	1.42	3.10	150.43	2.275	4	0.179	0.148	3002	3568	2214	0	0	0	0	0	0	13.74	13.19	12.46
5227	1.56	183.9	567.7	6.9	446	5291	0.00	2.83	53.17	2.241	6	0.000	0.105	3012	2141	2022	0	0	0	0	0	0	28.83	13.50	12.52
5599	1.56	183.9	514.7	13.6	459	5605	0.00	2.92	0.00	0.000	4	0.000	0.147	3012	3567	2014	0	0	0	0	0	0	28.83	13.94	28.83
5635	1.56	183.9	509.4	13.8	460	5641	0.00	2.65	0.00	0.000	6	0.000	0.105	3023	2155	2014	0	0	0	0	0	0	28.83	14.04	28.83
5961	1.56	183.9	461.7	14.0	471	5967	0.00	2.62	0.00	0.000	4	0.000	0.132	3034	733	2011	0	0	0	0	0	0	28.83	14.28	28.83
5986	1.56	183.9	461.7	14.0	471	5993	0.00	2.67	0.00	0.000	6	0.000	0.119	3033	2153	2010	0	0	0	0	0	0	28.83	14.34	28.83
6294	1.56	183.9	414.4	14.3	482	6300	0.00	2.65	0.00	0.000	4	0.000	0.135	3043	732	2010	0	0	0	0	0	0	28.83	14.39	28.83
6328	1.56	183.9	409.6	14.5	483	6334	0.08	2.62	0.00	0.000	6	0.272	0.119	3024	2150	2010	0	0	0	0	0	0	14.28	14.42	28.83
6645	1.56	183.9	365.3	13.3	509	6655	0.00	2.70	0.00	0.000	4	0.000	0.142	3024	3559	2010	0	0	0	0	0	0	28.83	14.41	28.83
6715	1.56	183.9	356.0	14.4	515	6722	0.00	2.58	0.00	0.000	6	0.000	0.103	3032	2138	2010	0	0	0	0	0	0	28.83	14.54	28.83
7023	1.56	183.9	315.4	12.6	546	7029	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	2138	2010	0	0	0	0	0	0	28.83	28.83	28.83
7337	1.56	183.9	278.2	11.3	577	7347	0.00	2.55	0.00	0.000	4	0.000	0.131	3043	737	2009	0	0	0	0	0	0	28.83	14.45	28.83
7396	1.56	183.9	271.1	12.1	582	7404	0.12	2.62	0.00	0.000	6	0.295	0.118	3017	2153	2008	0	0	0	0	0	0	14.37	14.54	28.83
7704	1.56	183.9	234.4	11.7	613	7711	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	2153	2008	0	0	0	0	0	0	28.83	28.83	28.83
8021	1.56	183.9	200.1	10.1	644	8030	0.00	2.72	0.00	0.000	4	0.000	0.147	3016	3566	2008	0	0	0	0	0	0	28.83	14.45	28.83
8069	1.56	183.9	194.7	10.5	648	8075	0.00	2.58	0.00	0.000	6	0.000	0.105	3025	2144	2009	0	0	0	0	0	0	28.83	14.59	28.83
8376	1.56	183.9	163.9	10.0	679	8382	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2144	2008	0	0	0	0	0	0	28.83	28.83	28.83
8693	1.56	183.9	133.4	10.1	710	8702	0.00	2.55	0.00	0.000	4	0.000	0.132	3035	740	2008	0	0	0	0	0	0	28.83	14.46	28.83
8788	1.56	183.9	122.7	10.5	719	8796	0.00	2.62	0.00	0.000	6	0.000	0.121	3036	2153	2007	0	0	0	0	0	0	28.83	14.46	28.83
9102	1.56	183.9	91.3	8.9	758	9109	0.00	2.78	0.00	0.000	4	0.000	0.148	3035	3566	2008	0	0	0	0	0	0	28.83	14.48	28.83
9195	1.56	183.9	81.7	10.2	775	9203	0.12	2.58	0.00	0.000	6	0.304	0.105	3019	2142	2008	0	0	0	0	0	0	14.35	14.58	28.83
9514	1.59	208.0	54.4	7.9	836	9533	0.00	2.58	11.85	0.356	4	0.000	0.132	3029	730	1924	0	0	0	0	0	0	28.83	14.55	14.35
9649	1.59	208.0	42.4	9.7	860	9656	0.00	2.65	0.00	0.000	6	0.000	0.118	3029	2157	1920	0	0	0	0	0	0	28.83	14.50	28.83
9965	1.64	247.6	18.3	7.2	921	9990	0.00	0.00	21.75	0.239	6	0.000	0.000	3029	2157	1760	0	0	0	0	0	0	28.83	28.83	14.42
10150	end climb: SURFACE_DEPTH_REACHED
state	10150	begin surface coast
10182	end surface coast: CONTROL_FINISHED_OK
state	10182	begin surface