Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 293 * 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 293 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 17 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 -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1452.0453 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 -1452.0453

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 17 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 293 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 301012,141534,6644.777,-6013.197,37,0.8,37,-33.9 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 3.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 301012,142158,6644.765,-6013.324,4,1.0,5,-33.9 MHEAD_RNG_PITCHd_Wd 156.1,152071,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 560

Post-dive calculations and measurements:

FINISH 2.5,1.014065 _24V_AH 12.5,94.557

SM_CCo 10232,26.83,0.201,0,0,1588,290.19 _10V_AH 12.5,0.000

SM_GC 3.73,8.68,0.00,26.83,0.106,0.000,0.201,131,2142,1588,-11.62,0.65,290.19,0,0,0,0,0,0,14.62,28.83,14.48 FG_AHR_24Vo 0.000

RAFOS_CLK 444 FG_AHR_10Vo 0.000

RAFOS 0,1351612864,16.033333,16.017778,67,63,61,57,53,52,196,210,120,223,172,147 MEM 188760

RAFOS_FIX 6658.008789,-6001.853027,301012,161622,3,72,3.06 DATA_FILE_SIZE 43389,961

IRIDIUM_FIX 6614.97,-6009.24,301012,111147 CAP_FILE_SIZE 114844,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,230432768

HUMID 46.85 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.67444 SOUNDSPEED 1449.1

TCM_TEMP 12.40 CURRENT 0.006, 15.1,1

XPDR_PINGS 8 GPS 301012,171517,6644.268,-6010.289,22,0.7,22,-33.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 464 135.68 SBE_CT 705 23 211.42

Roll_motor 127 227 362.97 SBE_O2 671 3 31.39

VBD_pump_during_apogee 368 2395 11026.00 nil 0 0 0.00

VBD_pump_during_surface 26 201 67.46 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 230 146 423.98 nil 0 0 0.00

Transponder_ping 2 420 10.50 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 21 3.00

TT8 2463 14 460.63

LPSleep 5145 2 148.57

TT8_Active 560 14 104.85

TT8_Sampling 1927 33 811.80

TT8_CF8 564 38 269.36

TT8_Kalman 0 0 0.00

Analog_circuits 1784 12 267.63

GPS_charging 0 0 0.00

Compass 1730 6 145.78

RAFOS 2520 1 47.25

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 26 0.00 0.00 -5.53 0.000 2 0.000 0.000 135 2133 1684 0 0 0 0 0 0 28.83 28.83 28.83

33 -1.50 -136.9 3.5 0.0 1 153 11.57 2.72 -102.15 0.000 4 0.464 0.154 2351 712 3330 0 0 0 0 0 0 14.19 14.39 14.75

297 -1.50 -136.9 30.5 -19.6 48 304 0.00 2.72 0.00 0.000 6 0.000 0.138 2343 2129 3331 0 0 0 0 0 0 28.83 14.38 28.83

615 -1.50 -136.9 82.7 -14.6 109 622 0.00 2.65 0.00 0.000 4 0.000 0.134 2343 706 3331 0 0 0 0 0 0 28.83 14.42 28.83

728 -1.50 -136.9 100.2 -15.4 130 735 0.00 2.72 0.00 0.000 6 0.000 0.137 2334 2124 3331 0 0 0 0 0 0 28.83 14.42 28.83

1041 -1.50 -136.9 145.9 -14.6 161 1047 0.00 0.00 0.00 0.000 6 0.000 0.000 2334 2124 3331 0 0 0 0 0 0 28.83 28.83 28.83

1354 -1.50 -136.9 190.3 -14.3 192 1362 0.00 2.60 0.00 0.000 4 0.000 0.132 2334 710 3331 0 0 0 0 0 0 28.83 14.40 28.83

1389 -1.50 -136.9 196.5 -14.8 195 1399 0.10 2.67 0.00 0.000 6 0.299 0.134 2350 2120 3331 0 0 0 0 0 0 14.23 14.42 28.83

1699 -1.50 -136.9 239.1 -12.7 226 1709 0.00 2.58 0.00 0.000 4 0.000 0.133 2351 713 3331 0 0 0 0 0 0 28.83 14.41 28.83

1735 -1.50 -136.9 243.7 -12.7 229 1744 0.00 2.67 0.00 0.000 6 0.000 0.135 2343 2127 3331 0 0 0 0 0 0 28.83 14.41 28.83

2045 -1.50 -136.9 280.6 -11.8 260 2053 0.00 2.60 0.00 0.000 4 0.000 0.130 2343 708 3330 0 0 0 0 0 0 28.83 14.40 28.83

2080 -1.50 -136.9 284.7 -11.8 263 2088 0.00 2.65 0.00 0.000 6 0.000 0.133 2336 2124 3330 0 0 0 0 0 0 28.83 14.42 28.83

2389 -1.50 -136.9 325.1 -13.5 294 2399 0.00 2.60 0.00 0.000 4 0.000 0.130 2336 710 3330 0 0 0 0 0 0 28.83 14.42 28.83

2532 -1.50 -136.9 344.5 -14.4 307 2540 0.12 2.65 0.00 0.000 6 0.329 0.132 2352 2125 3330 0 0 0 0 0 0 14.27 14.47 28.83

2841 -1.50 -136.9 383.6 -11.7 338 2850 0.00 2.72 0.00 0.000 4 0.000 0.155 2343 3527 3330 0 0 0 0 0 0 28.83 14.39 28.83

2907 -1.50 -136.9 391.5 -12.1 344 2916 0.00 2.53 0.00 0.000 6 0.000 0.099 2343 2123 3330 0 0 0 0 0 0 28.83 14.47 28.83

3227 -1.50 -136.9 428.4 -11.2 360 3233 0.00 2.55 0.00 0.000 4 0.000 0.129 2343 712 3330 0 0 0 0 0 0 28.83 14.47 28.83

3291 -1.50 -136.9 435.4 -11.1 362 3297 0.00 2.62 0.00 0.000 6 0.000 0.134 2336 2115 3330 0 0 0 0 0 0 28.83 14.45 28.83

3619 -1.50 -136.9 471.8 -11.1 373 3625 0.00 2.58 0.00 0.000 4 0.000 0.129 2336 704 3330 0 0 0 0 0 0 28.83 14.47 28.83

3668 -1.50 -136.9 475.5 -11.2 374 3678 0.08 2.65 0.00 0.000 6 0.309 0.133 2347 2122 3330 0 0 0 0 0 0 14.26 14.43 28.83

3980 -1.50 -136.9 511.6 -10.7 385 3981 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2122 3330 0 0 0 0 0 0 28.83 28.83 28.83

4281 -1.50 -136.9 543.4 -10.4 395 4287 0.00 2.72 0.00 0.000 4 0.000 0.156 2338 3523 3331 0 0 0 0 0 0 28.83 14.42 28.83

4405 -1.50 -136.9 557.3 -11.4 399 4411 0.00 2.53 0.00 0.000 6 0.000 0.103 2338 2122 3331 0 0 0 0 0 0 28.83 14.54 28.83

4427 end dive: TARGET_DEPTH_EXCEEDED

state 4427 begin apogee

4440 -0.38 0.0 560.4 -11.4 400 4589 0.95 0.00 138.05 2.396 6 0.268 0.000 2591 2144 2772 0 0 0 0 0 0 14.32 28.83 12.92

4589 end apogee: CONTROL_FINISHED_OK

state 4590 begin climb

4595 1.50 136.9 566.2 0.0 405 4762 1.42 3.12 150.70 2.336 4 0.182 0.148 3001 3569 2214 0 0 0 0 0 0 13.71 13.19 12.45

4822 1.52 151.1 553.6 8.3 412 4844 0.00 2.80 16.38 2.146 6 0.000 0.104 3011 2142 2156 0 0 0 0 0 0 28.83 13.60 12.75

5154 1.52 151.1 511.4 11.8 424 5160 0.00 2.90 0.00 0.000 4 0.000 0.146 3011 3564 2150 0 0 0 0 0 0 28.83 13.99 28.83

5219 1.52 151.1 504.0 11.7 426 5225 0.00 2.62 0.00 0.000 6 0.000 0.103 3021 2152 2150 0 0 0 0 0 0 28.83 14.12 28.83

5546 1.52 151.1 464.7 12.0 437 5552 0.00 2.78 0.00 0.000 4 0.000 0.144 3021 3560 2149 0 0 0 0 0 0 28.83 14.29 28.83

5596 1.52 151.1 460.8 12.2 438 5605 0.00 2.58 0.00 0.000 6 0.000 0.103 3031 2148 2149 0 0 0 0 0 0 28.83 14.34 28.83

5911 1.52 151.1 419.6 12.5 449 5917 0.10 2.58 0.00 0.000 4 0.319 0.128 3022 736 2147 0 0 0 0 0 0 14.35 14.42 28.83

5997 1.52 151.1 412.0 11.9 451 6004 0.00 2.65 0.00 0.000 6 0.000 0.115 3022 2160 2146 0 0 0 0 0 0 28.83 14.48 28.83

6309 1.52 151.1 374.6 11.0 476 6319 0.00 2.67 0.00 0.000 4 0.000 0.142 3022 3560 2146 0 0 0 0 0 0 28.83 14.43 28.83

6416 1.52 151.1 360.9 12.5 486 6425 0.08 2.55 0.00 0.000 6 0.281 0.103 3012 2142 2147 0 0 0 0 0 0 14.33 14.50 28.83

6726 1.52 151.1 327.1 10.8 517 6735 0.00 2.55 0.00 0.000 4 0.000 0.130 3022 736 2146 0 0 0 0 0 0 28.83 14.45 28.83

6761 1.52 151.1 323.2 11.0 520 6770 0.00 2.60 0.00 0.000 6 0.000 0.115 3022 2149 2146 0 0 0 0 0 0 28.83 14.47 28.83

7071 1.52 151.1 288.2 11.1 551 7080 0.00 2.60 0.00 0.000 4 0.000 0.131 3031 741 2146 0 0 0 0 0 0 28.83 14.47 28.83

7149 1.52 151.1 279.8 11.2 558 7157 0.00 2.65 0.00 0.000 6 0.000 0.119 3032 2151 2146 0 0 0 0 0 0 28.83 14.54 28.83

7457 1.52 151.1 246.1 9.7 589 7466 0.00 2.72 0.00 0.000 4 0.000 0.145 3031 3565 2146 0 0 0 0 0 0 28.83 14.45 28.83

7534 1.52 151.1 238.2 10.4 596 7541 0.15 2.58 0.00 0.000 6 0.295 0.103 3009 2141 2147 0 0 0 0 0 0 14.36 14.57 28.83

7843 1.53 162.1 210.8 8.4 627 7860 0.00 2.55 10.20 1.884 4 0.000 0.129 3018 730 2112 0 0 0 0 0 0 28.83 14.62 13.81

7909 1.53 162.1 205.2 9.3 633 7915 0.00 2.65 0.00 0.000 6 0.000 0.117 3018 2161 2111 0 0 0 0 0 0 28.83 14.53 28.83

8217 1.56 183.3 178.9 8.0 664 8246 0.00 2.80 23.05 1.944 4 0.000 0.145 3018 3563 2024 0 0 0 0 0 0 28.83 14.44 13.74

8348 1.56 183.3 167.2 9.7 676 8355 0.00 2.58 0.00 0.000 6 0.000 0.102 3028 2150 2023 0 0 0 0 0 0 28.83 14.45 28.83

8656 1.56 186.4 138.7 8.8 707 8665 0.00 2.58 0.00 0.000 4 0.000 0.130 3038 737 2020 0 0 0 0 0 0 28.83 14.42 28.83

8730 1.56 186.4 131.5 10.0 714 8740 0.00 2.60 0.00 0.000 6 0.000 0.120 3038 2143 2019 0 0 0 0 0 0 28.83 14.42 28.83

9041 1.56 186.4 101.0 10.2 745 9049 0.00 2.72 0.00 0.000 4 0.000 0.148 3038 3556 2019 0 0 0 0 0 0 28.83 14.43 28.83

9124 1.56 186.4 91.8 10.6 760 9131 0.12 2.55 0.00 0.000 6 0.302 0.103 3022 2150 2019 0 0 0 0 0 0 14.35 14.55 28.83

9447 1.59 214.1 64.7 7.7 821 9472 0.00 2.58 16.85 0.383 4 0.000 0.129 3031 741 1898 0 0 0 0 0 0 28.83 14.54 14.32

9575 1.60 220.4 53.8 8.6 843 9588 0.00 2.62 3.00 0.392 6 0.000 0.117 3031 2158 1873 0 0 0 0 0 0 28.83 14.51 14.31

9898 1.62 238.4 26.3 8.1 905 9918 0.00 2.80 9.93 0.269 4 0.000 0.157 3031 3557 1799 0 0 0 0 0 0 28.83 14.42 14.37

10058 1.62 238.4 13.0 9.7 934 10066 0.00 2.58 0.00 0.000 6 0.000 0.107 3040 2143 1794 0 0 0 0 0 0 28.83 14.54 28.83

10163 end climb: SURFACE_DEPTH_REACHED

state 10163 begin surface coast

10204 end surface coast: CONTROL_FINISHED_OK

state 10204 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	293	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	17	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	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1452.0453	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	301012,141534,6644.777,-6013.197,37,0.8,37,-33.9	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	3.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	301012,142158,6644.765,-6013.324,4,1.0,5,-33.9	MHEAD_RNG_PITCHd_Wd	156.1,152071,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	560

FINISH	2.5,1.014065	_24V_AH	12.5,94.557
SM_CCo	10232,26.83,0.201,0,0,1588,290.19	_10V_AH	12.5,0.000
SM_GC	3.73,8.68,0.00,26.83,0.106,0.000,0.201,131,2142,1588,-11.62,0.65,290.19,0,0,0,0,0,0,14.62,28.83,14.48	FG_AHR_24Vo	0.000
RAFOS_CLK	444	FG_AHR_10Vo	0.000
RAFOS	0,1351612864,16.033333,16.017778,67,63,61,57,53,52,196,210,120,223,172,147	MEM	188760
RAFOS_FIX	6658.008789,-6001.853027,301012,161622,3,72,3.06	DATA_FILE_SIZE	43389,961
IRIDIUM_FIX	6614.97,-6009.24,301012,111147	CAP_FILE_SIZE	114844,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,230432768
HUMID	46.85	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.67444	SOUNDSPEED	1449.1
TCM_TEMP	12.40	CURRENT	0.006, 15.1,1
XPDR_PINGS	8	GPS	301012,171517,6644.268,-6010.289,22,0.7,22,-33.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	464	135.68	SBE_CT	705	23	211.42
Roll_motor	127	227	362.97	SBE_O2	671	3	31.39
VBD_pump_during_apogee	368	2395	11026.00	nil	0	0	0.00
VBD_pump_during_surface	26	201	67.46	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	230	146	423.98	nil	0	0	0.00
Transponder_ping	2	420	10.50	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	21	3.00
TT8	2463	14	460.63
LPSleep	5145	2	148.57
TT8_Active	560	14	104.85
TT8_Sampling	1927	33	811.80
TT8_CF8	564	38	269.36
TT8_Kalman	0	0	0.00
Analog_circuits	1784	12	267.63
GPS_charging	0	0	0.00
Compass	1730	6	145.78
RAFOS	2520	1	47.25
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	26	0.00	0.00	-5.53	0.000	2	0.000	0.000	135	2133	1684	0	0	0	0	0	0	28.83	28.83	28.83
33	-1.50	-136.9	3.5	0.0	1	153	11.57	2.72	-102.15	0.000	4	0.464	0.154	2351	712	3330	0	0	0	0	0	0	14.19	14.39	14.75
297	-1.50	-136.9	30.5	-19.6	48	304	0.00	2.72	0.00	0.000	6	0.000	0.138	2343	2129	3331	0	0	0	0	0	0	28.83	14.38	28.83
615	-1.50	-136.9	82.7	-14.6	109	622	0.00	2.65	0.00	0.000	4	0.000	0.134	2343	706	3331	0	0	0	0	0	0	28.83	14.42	28.83
728	-1.50	-136.9	100.2	-15.4	130	735	0.00	2.72	0.00	0.000	6	0.000	0.137	2334	2124	3331	0	0	0	0	0	0	28.83	14.42	28.83
1041	-1.50	-136.9	145.9	-14.6	161	1047	0.00	0.00	0.00	0.000	6	0.000	0.000	2334	2124	3331	0	0	0	0	0	0	28.83	28.83	28.83
1354	-1.50	-136.9	190.3	-14.3	192	1362	0.00	2.60	0.00	0.000	4	0.000	0.132	2334	710	3331	0	0	0	0	0	0	28.83	14.40	28.83
1389	-1.50	-136.9	196.5	-14.8	195	1399	0.10	2.67	0.00	0.000	6	0.299	0.134	2350	2120	3331	0	0	0	0	0	0	14.23	14.42	28.83
1699	-1.50	-136.9	239.1	-12.7	226	1709	0.00	2.58	0.00	0.000	4	0.000	0.133	2351	713	3331	0	0	0	0	0	0	28.83	14.41	28.83
1735	-1.50	-136.9	243.7	-12.7	229	1744	0.00	2.67	0.00	0.000	6	0.000	0.135	2343	2127	3331	0	0	0	0	0	0	28.83	14.41	28.83
2045	-1.50	-136.9	280.6	-11.8	260	2053	0.00	2.60	0.00	0.000	4	0.000	0.130	2343	708	3330	0	0	0	0	0	0	28.83	14.40	28.83
2080	-1.50	-136.9	284.7	-11.8	263	2088	0.00	2.65	0.00	0.000	6	0.000	0.133	2336	2124	3330	0	0	0	0	0	0	28.83	14.42	28.83
2389	-1.50	-136.9	325.1	-13.5	294	2399	0.00	2.60	0.00	0.000	4	0.000	0.130	2336	710	3330	0	0	0	0	0	0	28.83	14.42	28.83
2532	-1.50	-136.9	344.5	-14.4	307	2540	0.12	2.65	0.00	0.000	6	0.329	0.132	2352	2125	3330	0	0	0	0	0	0	14.27	14.47	28.83
2841	-1.50	-136.9	383.6	-11.7	338	2850	0.00	2.72	0.00	0.000	4	0.000	0.155	2343	3527	3330	0	0	0	0	0	0	28.83	14.39	28.83
2907	-1.50	-136.9	391.5	-12.1	344	2916	0.00	2.53	0.00	0.000	6	0.000	0.099	2343	2123	3330	0	0	0	0	0	0	28.83	14.47	28.83
3227	-1.50	-136.9	428.4	-11.2	360	3233	0.00	2.55	0.00	0.000	4	0.000	0.129	2343	712	3330	0	0	0	0	0	0	28.83	14.47	28.83
3291	-1.50	-136.9	435.4	-11.1	362	3297	0.00	2.62	0.00	0.000	6	0.000	0.134	2336	2115	3330	0	0	0	0	0	0	28.83	14.45	28.83
3619	-1.50	-136.9	471.8	-11.1	373	3625	0.00	2.58	0.00	0.000	4	0.000	0.129	2336	704	3330	0	0	0	0	0	0	28.83	14.47	28.83
3668	-1.50	-136.9	475.5	-11.2	374	3678	0.08	2.65	0.00	0.000	6	0.309	0.133	2347	2122	3330	0	0	0	0	0	0	14.26	14.43	28.83
3980	-1.50	-136.9	511.6	-10.7	385	3981	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2122	3330	0	0	0	0	0	0	28.83	28.83	28.83
4281	-1.50	-136.9	543.4	-10.4	395	4287	0.00	2.72	0.00	0.000	4	0.000	0.156	2338	3523	3331	0	0	0	0	0	0	28.83	14.42	28.83
4405	-1.50	-136.9	557.3	-11.4	399	4411	0.00	2.53	0.00	0.000	6	0.000	0.103	2338	2122	3331	0	0	0	0	0	0	28.83	14.54	28.83
4427	end dive: TARGET_DEPTH_EXCEEDED
state	4427	begin apogee
4440	-0.38	0.0	560.4	-11.4	400	4589	0.95	0.00	138.05	2.396	6	0.268	0.000	2591	2144	2772	0	0	0	0	0	0	14.32	28.83	12.92
4589	end apogee: CONTROL_FINISHED_OK
state	4590	begin climb
4595	1.50	136.9	566.2	0.0	405	4762	1.42	3.12	150.70	2.336	4	0.182	0.148	3001	3569	2214	0	0	0	0	0	0	13.71	13.19	12.45
4822	1.52	151.1	553.6	8.3	412	4844	0.00	2.80	16.38	2.146	6	0.000	0.104	3011	2142	2156	0	0	0	0	0	0	28.83	13.60	12.75
5154	1.52	151.1	511.4	11.8	424	5160	0.00	2.90	0.00	0.000	4	0.000	0.146	3011	3564	2150	0	0	0	0	0	0	28.83	13.99	28.83
5219	1.52	151.1	504.0	11.7	426	5225	0.00	2.62	0.00	0.000	6	0.000	0.103	3021	2152	2150	0	0	0	0	0	0	28.83	14.12	28.83
5546	1.52	151.1	464.7	12.0	437	5552	0.00	2.78	0.00	0.000	4	0.000	0.144	3021	3560	2149	0	0	0	0	0	0	28.83	14.29	28.83
5596	1.52	151.1	460.8	12.2	438	5605	0.00	2.58	0.00	0.000	6	0.000	0.103	3031	2148	2149	0	0	0	0	0	0	28.83	14.34	28.83
5911	1.52	151.1	419.6	12.5	449	5917	0.10	2.58	0.00	0.000	4	0.319	0.128	3022	736	2147	0	0	0	0	0	0	14.35	14.42	28.83
5997	1.52	151.1	412.0	11.9	451	6004	0.00	2.65	0.00	0.000	6	0.000	0.115	3022	2160	2146	0	0	0	0	0	0	28.83	14.48	28.83
6309	1.52	151.1	374.6	11.0	476	6319	0.00	2.67	0.00	0.000	4	0.000	0.142	3022	3560	2146	0	0	0	0	0	0	28.83	14.43	28.83
6416	1.52	151.1	360.9	12.5	486	6425	0.08	2.55	0.00	0.000	6	0.281	0.103	3012	2142	2147	0	0	0	0	0	0	14.33	14.50	28.83
6726	1.52	151.1	327.1	10.8	517	6735	0.00	2.55	0.00	0.000	4	0.000	0.130	3022	736	2146	0	0	0	0	0	0	28.83	14.45	28.83
6761	1.52	151.1	323.2	11.0	520	6770	0.00	2.60	0.00	0.000	6	0.000	0.115	3022	2149	2146	0	0	0	0	0	0	28.83	14.47	28.83
7071	1.52	151.1	288.2	11.1	551	7080	0.00	2.60	0.00	0.000	4	0.000	0.131	3031	741	2146	0	0	0	0	0	0	28.83	14.47	28.83
7149	1.52	151.1	279.8	11.2	558	7157	0.00	2.65	0.00	0.000	6	0.000	0.119	3032	2151	2146	0	0	0	0	0	0	28.83	14.54	28.83
7457	1.52	151.1	246.1	9.7	589	7466	0.00	2.72	0.00	0.000	4	0.000	0.145	3031	3565	2146	0	0	0	0	0	0	28.83	14.45	28.83
7534	1.52	151.1	238.2	10.4	596	7541	0.15	2.58	0.00	0.000	6	0.295	0.103	3009	2141	2147	0	0	0	0	0	0	14.36	14.57	28.83
7843	1.53	162.1	210.8	8.4	627	7860	0.00	2.55	10.20	1.884	4	0.000	0.129	3018	730	2112	0	0	0	0	0	0	28.83	14.62	13.81
7909	1.53	162.1	205.2	9.3	633	7915	0.00	2.65	0.00	0.000	6	0.000	0.117	3018	2161	2111	0	0	0	0	0	0	28.83	14.53	28.83
8217	1.56	183.3	178.9	8.0	664	8246	0.00	2.80	23.05	1.944	4	0.000	0.145	3018	3563	2024	0	0	0	0	0	0	28.83	14.44	13.74
8348	1.56	183.3	167.2	9.7	676	8355	0.00	2.58	0.00	0.000	6	0.000	0.102	3028	2150	2023	0	0	0	0	0	0	28.83	14.45	28.83
8656	1.56	186.4	138.7	8.8	707	8665	0.00	2.58	0.00	0.000	4	0.000	0.130	3038	737	2020	0	0	0	0	0	0	28.83	14.42	28.83
8730	1.56	186.4	131.5	10.0	714	8740	0.00	2.60	0.00	0.000	6	0.000	0.120	3038	2143	2019	0	0	0	0	0	0	28.83	14.42	28.83
9041	1.56	186.4	101.0	10.2	745	9049	0.00	2.72	0.00	0.000	4	0.000	0.148	3038	3556	2019	0	0	0	0	0	0	28.83	14.43	28.83
9124	1.56	186.4	91.8	10.6	760	9131	0.12	2.55	0.00	0.000	6	0.302	0.103	3022	2150	2019	0	0	0	0	0	0	14.35	14.55	28.83
9447	1.59	214.1	64.7	7.7	821	9472	0.00	2.58	16.85	0.383	4	0.000	0.129	3031	741	1898	0	0	0	0	0	0	28.83	14.54	14.32
9575	1.60	220.4	53.8	8.6	843	9588	0.00	2.62	3.00	0.392	6	0.000	0.117	3031	2158	1873	0	0	0	0	0	0	28.83	14.51	14.31
9898	1.62	238.4	26.3	8.1	905	9918	0.00	2.80	9.93	0.269	4	0.000	0.157	3031	3557	1799	0	0	0	0	0	0	28.83	14.42	14.37
10058	1.62	238.4	13.0	9.7	934	10066	0.00	2.58	0.00	0.000	6	0.000	0.107	3040	2143	1794	0	0	0	0	0	0	28.83	14.54	28.83
10163	end climb: SURFACE_DEPTH_REACHED
state	10163	begin surface coast
10204	end surface coast: CONTROL_FINISHED_OK
state	10204	begin surface