Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 340 * 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 340 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 73 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 48 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 -191516.11 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 -191516.11

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 73 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 48 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 340 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 200812,014619,6702.663,-5646.789,31,2.0,31,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 1 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -78.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200812,015325,6702.630,-5646.673,28,1.3,29,-33.5 MHEAD_RNG_PITCHd_Wd 262.6,164119,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 516

Post-dive calculations and measurements:

FREEZE 1.43,6.788,-0.852,0,1,0 ALTIM_BOTTOM_PING 500.9,10.0

FINISH 1.4,1.012297 _24V_AH 23.4,39.144

SM_CCo 9969,42.58,0.070,0,0,1647,400.08 _10V_AH 9.9,43.857

SM_GC 2.68,8.27,0.38,42.58,0.045,0.052,0.070,343,2103,1647,-8.65,-1.33,400.08,0,0,0,0,0,0,26.03,26.16,25.91 FG_AHR_24Vo 0.000

RAFOS_CLK 475 FG_AHR_10Vo 0.000

RAFOS 0,1345435263,4.033333,4.017500,45,43,42,40,40,40,1801,579,526,1,520,694 MEM 151580

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 53357,1164

IRIDIUM_FIX 6631.12,-5646.10,190812,222220 CAP_FILE_SIZE 128474,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,217985024

HUMID 42.95 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 9.07261 SOUNDSPEED 1463.8

TCM_TEMP 16.00 CURRENT 0.217,345.7,1

XPDR_PINGS 15 GPS 200812,044225,6703.146,-5650.366,41,0.8,41,-33.5

ALTIM_TOP_PING 19.8,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 250 123.01 SBE_CT 821 23 460.59

Roll_motor 101 52 125.25 SBE_O2 826 5 115.88

VBD_pump_during_apogee 326 1081 8252.98 nil 0 0 0.00

VBD_pump_during_surface 42 70 70.12 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 278 283 1850.06 nil 0 0 0.00

Transponder_ping 5 420 54.05 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 29 26 7.74

TT8 2933 17 521.54

LPSleep 4441 2 101.58

TT8_Active 528 17 93.90

TT8_Sampling 2224 40 890.30

TT8_CF8 312 48 150.68

TT8_Kalman 0 0 0.00

Analog_circuits 1858 12 220.82

GPS_charging 0 0 0.00

Compass 1916 7 142.13

RAFOS 1800 3 53.46

Transponder 16 30 4.80

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

16 -0.75 -146.6 0.0 0.0 0 64 0.00 0.00 -45.35 0.000 2 0.000 0.000 340 2106 2731 0 0 0 0 0 0 28.83 28.83 28.83

68 -0.75 -146.6 3.0 -0.5 8 118 10.43 2.20 -30.85 0.000 4 0.251 0.053 2892 725 3882 0 0 0 0 0 0 25.52 26.20 26.65

162 -0.75 -146.6 16.8 -17.9 24 169 0.00 2.15 0.00 0.000 6 0.000 0.037 2885 2101 3885 0 0 0 0 0 0 28.83 26.20 28.83

476 -0.75 -146.6 54.5 -10.6 85 483 0.00 2.15 0.00 0.000 4 0.000 0.047 2875 3507 3888 0 0 0 0 0 0 28.83 26.17 28.83

623 -0.75 -146.6 72.0 -11.8 113 630 0.00 2.08 0.00 0.000 6 0.000 0.029 2875 2102 3889 0 0 0 0 0 0 28.83 26.39 28.83

941 -0.75 -146.6 111.3 -12.0 166 951 0.00 2.15 0.00 0.000 4 0.000 0.048 2864 3498 3889 0 0 0 0 0 0 28.83 26.21 28.83

1054 -0.75 -146.6 125.4 -12.5 177 1058 0.00 2.03 0.00 0.000 6 0.000 0.030 2865 2120 3889 0 0 0 0 0 0 28.83 26.43 28.83

1366 -0.75 -146.6 163.8 -12.2 208 1376 0.00 2.15 0.00 0.000 4 0.000 0.048 2854 3504 3889 0 0 0 0 0 0 28.83 26.23 28.83

1452 -0.75 -146.6 174.3 -12.6 216 1459 0.12 2.03 0.00 0.000 6 0.164 0.029 2885 2121 3889 0 0 0 0 0 0 26.06 26.46 28.83

1760 -0.75 -146.6 205.3 -9.7 247 1768 0.00 2.15 0.00 0.000 4 0.000 0.047 2877 3518 3888 0 0 0 0 0 0 28.83 26.24 28.83

1842 -0.75 -146.6 213.4 -10.0 255 1851 0.00 2.03 0.00 0.000 6 0.000 0.029 2877 2137 3887 0 0 0 0 0 0 28.83 26.48 28.83

2152 -0.75 -146.6 242.6 -9.1 286 2161 0.00 2.12 0.00 0.000 4 0.000 0.048 2867 3510 3886 0 0 0 0 0 0 28.83 26.25 28.83

2245 -0.75 -146.6 251.5 -9.7 295 2254 0.00 2.00 0.00 0.000 6 0.000 0.029 2867 2143 3886 0 0 0 0 0 0 28.83 26.49 28.83

2555 -0.75 -146.6 281.6 -9.9 326 2564 0.00 2.12 0.00 0.000 4 0.000 0.048 2857 3518 3886 0 0 0 0 0 0 28.83 26.25 28.83

2648 -0.75 -146.6 290.9 -10.1 335 2657 0.12 2.00 0.00 0.000 6 0.156 0.029 2889 2150 3886 0 0 0 0 0 0 26.12 26.50 28.83

2958 -0.75 -146.6 316.1 -8.2 366 2968 0.00 2.10 0.00 0.000 4 0.000 0.047 2881 3507 3886 0 0 0 0 0 0 28.83 26.25 28.83

3041 -0.75 -146.6 323.2 -8.4 374 3045 0.00 1.95 0.00 0.000 6 0.000 0.029 2881 2158 3886 0 0 0 0 0 0 28.83 26.51 28.83

3354 -0.75 -146.6 350.2 -8.6 405 3358 0.00 2.08 0.00 0.000 4 0.000 0.047 2871 3510 3886 0 0 0 0 0 0 28.83 26.26 28.83

3440 -0.75 -146.6 357.9 -9.0 413 3447 0.00 1.95 0.00 0.000 6 0.000 0.028 2871 2161 3886 0 0 0 0 0 0 28.83 26.52 28.83

3747 -0.75 -146.6 386.4 -9.2 444 3755 0.00 2.08 0.00 0.000 4 0.000 0.047 2861 3509 3886 0 0 0 0 0 0 28.83 26.27 28.83

3841 -0.75 -146.6 395.5 -9.9 453 3848 0.00 1.92 0.00 0.000 6 0.000 0.028 2861 2172 3885 0 0 0 0 0 0 28.83 26.52 28.83

4148 -0.75 -146.6 426.4 -9.8 484 4152 0.00 2.05 0.00 0.000 4 0.000 0.047 2850 3511 3886 0 0 0 0 0 0 28.83 26.26 28.83

4213 -0.75 -146.6 433.1 -10.7 490 4221 0.15 1.92 0.00 0.000 6 0.145 0.028 2891 2180 3886 0 0 0 0 0 0 26.08 26.52 28.83

4521 -0.75 -146.6 458.8 -7.8 521 4530 0.00 2.05 0.00 0.000 4 0.000 0.046 2883 3510 3885 0 0 0 0 0 0 28.83 26.27 28.83

4586 -0.75 -146.6 464.2 -8.7 527 4592 0.00 1.92 0.00 0.000 6 0.000 0.028 2883 2177 3886 0 0 0 0 0 0 28.83 26.53 28.83

4893 -0.75 -146.6 489.2 -7.7 558 4897 0.00 2.03 0.00 0.000 4 0.000 0.046 2873 3508 3885 0 0 0 0 0 0 28.83 26.27 28.83

4956 -0.75 -146.6 494.6 -8.8 564 4959 0.00 1.92 0.00 0.000 6 0.000 0.028 2873 2190 3885 0 0 0 0 0 0 28.83 26.53 28.83

5030 end dive: BOTTOM_OBSTACLE_DETECTED

state 5030 begin apogee

5038 -0.17 0.0 500.9 -8.4 571 5160 0.62 0.00 117.47 1.082 4 0.131 0.000 3072 1892 3279 0 0 0 0 0 0 25.70 28.83 24.01

5163 end apogee: CONTROL_FINISHED_OK

state 5163 begin climb

5166 0.75 146.6 506.0 0.0 584 5299 0.85 2.22 118.35 0.964 4 0.064 0.036 3375 527 2680 0 0 0 0 0 0 25.02 25.06 23.35

5314 0.75 146.6 499.2 10.4 599 5321 0.00 2.30 0.00 0.000 6 0.000 0.031 3374 1907 2677 0 0 0 0 0 0 28.83 24.51 28.83

5622 0.75 146.6 460.0 12.5 630 5633 0.00 2.17 0.00 0.000 4 0.000 0.043 3375 3304 2671 0 0 0 0 0 0 28.83 25.63 28.83

5656 0.75 146.6 455.5 12.8 633 5665 0.00 2.12 0.00 0.000 6 0.000 0.028 3384 1912 2670 0 0 0 0 0 0 28.83 25.79 28.83

5966 0.75 146.6 416.2 12.5 664 5975 0.00 2.17 0.00 0.000 4 0.000 0.037 3395 494 2669 0 0 0 0 0 0 28.83 26.01 28.83

6098 0.75 146.6 399.2 13.2 677 6107 0.00 2.20 0.00 0.000 6 0.000 0.033 3395 1900 2668 0 0 0 0 0 0 28.83 26.11 28.83

6408 0.75 146.6 359.8 12.3 708 6409 0.00 0.00 0.00 0.000 6 0.000 0.000 3395 1901 2668 0 0 0 0 0 0 28.83 28.83 28.83

6710 0.75 146.6 322.7 12.5 738 6719 0.00 2.12 0.00 0.000 4 0.000 0.044 3394 3308 2668 0 0 0 0 0 0 28.83 26.18 28.83

6734 0.75 146.6 319.4 12.9 740 6743 0.10 2.12 0.00 0.000 6 0.157 0.029 3372 1872 2667 0 0 0 0 0 0 25.89 26.32 28.83

7044 0.75 146.6 283.4 11.6 771 7048 0.00 2.10 0.00 0.000 4 0.000 0.038 3380 494 2667 0 0 0 0 0 0 28.83 26.25 28.83

7140 0.75 146.6 272.6 11.5 780 7147 0.00 2.15 0.00 0.000 6 0.000 0.033 3380 1889 2667 0 0 0 0 0 0 28.83 26.32 28.83

7447 0.75 146.6 237.3 11.3 811 7448 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 1888 2667 0 0 0 0 0 0 28.83 28.83 28.83

7749 0.75 146.6 205.5 10.2 841 7757 0.00 2.12 0.00 0.000 4 0.000 0.037 3389 512 2667 0 0 0 0 0 0 28.83 26.32 28.83

7811 0.75 146.6 198.9 10.0 847 7820 0.00 2.10 0.00 0.000 6 0.000 0.033 3389 1878 2667 0 0 0 0 0 0 28.83 26.38 28.83

8121 0.75 146.6 166.6 11.0 878 8130 0.00 2.15 0.00 0.000 4 0.000 0.037 3398 494 2667 0 0 0 0 0 0 28.83 26.34 28.83

8166 0.75 146.6 161.8 11.3 882 8174 0.00 2.15 0.00 0.000 6 0.000 0.033 3398 1889 2667 0 0 0 0 0 0 28.83 26.39 28.83

8473 0.75 146.6 127.3 10.9 913 8478 0.00 2.12 0.00 0.000 4 0.000 0.037 3407 513 2667 0 0 0 0 0 0 28.83 26.35 28.83

8526 0.75 146.6 121.4 11.2 918 8536 0.15 2.10 0.00 0.000 6 0.159 0.034 3369 1873 2667 0 0 0 0 0 0 25.99 26.40 28.83

8838 0.75 153.4 92.5 8.9 957 8852 0.00 2.15 4.97 0.700 4 0.000 0.037 3375 494 2653 0 0 0 0 0 0 28.83 26.45 25.01

8905 0.77 164.6 86.5 8.7 969 8925 0.00 2.10 11.35 0.838 6 0.000 0.034 3375 1854 2606 0 0 0 0 0 0 28.83 26.41 25.17

9233 0.79 181.3 59.0 8.5 1032 9253 0.00 2.28 14.77 0.851 4 0.000 0.044 3376 3304 2540 0 0 0 0 0 0 28.83 26.14 25.08

9301 0.79 181.3 52.6 10.5 1044 9308 0.00 2.20 0.00 0.000 6 0.000 0.029 3385 1841 2537 0 0 0 0 0 0 28.83 26.17 28.83

9619 0.82 204.6 22.7 8.2 1105 9639 0.00 2.08 11.95 0.786 4 0.000 0.040 3395 507 2442 0 0 0 0 0 0 28.83 26.13 25.06

9715 0.94 302.1 15.9 5.1 1122 9772 0.12 2.10 47.17 0.096 6 0.109 0.034 3442 1841 2045 0 0 0 0 0 0 26.01 26.14 25.79

9883 end climb: SURFACE_DEPTH_REACHED

state 9884 begin surface coast

9949 end surface coast: CONTROL_FINISHED_OK

state 9949 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	340	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	73	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	48	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	-191516.11	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	200812,014619,6702.663,-5646.789,31,2.0,31,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	1	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-78.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200812,015325,6702.630,-5646.673,28,1.3,29,-33.5	MHEAD_RNG_PITCHd_Wd	262.6,164119,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	516

FREEZE	1.43,6.788,-0.852,0,1,0	ALTIM_BOTTOM_PING	500.9,10.0
FINISH	1.4,1.012297	_24V_AH	23.4,39.144
SM_CCo	9969,42.58,0.070,0,0,1647,400.08	_10V_AH	9.9,43.857
SM_GC	2.68,8.27,0.38,42.58,0.045,0.052,0.070,343,2103,1647,-8.65,-1.33,400.08,0,0,0,0,0,0,26.03,26.16,25.91	FG_AHR_24Vo	0.000
RAFOS_CLK	475	FG_AHR_10Vo	0.000
RAFOS	0,1345435263,4.033333,4.017500,45,43,42,40,40,40,1801,579,526,1,520,694	MEM	151580
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	53357,1164
IRIDIUM_FIX	6631.12,-5646.10,190812,222220	CAP_FILE_SIZE	128474,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,217985024
HUMID	42.95	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	9.07261	SOUNDSPEED	1463.8
TCM_TEMP	16.00	CURRENT	0.217,345.7,1
XPDR_PINGS	15	GPS	200812,044225,6703.146,-5650.366,41,0.8,41,-33.5
ALTIM_TOP_PING	19.8,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	250	123.01	SBE_CT	821	23	460.59
Roll_motor	101	52	125.25	SBE_O2	826	5	115.88
VBD_pump_during_apogee	326	1081	8252.98	nil	0	0	0.00
VBD_pump_during_surface	42	70	70.12	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	278	283	1850.06	nil	0	0	0.00
Transponder_ping	5	420	54.05	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	29	26	7.74
TT8	2933	17	521.54
LPSleep	4441	2	101.58
TT8_Active	528	17	93.90
TT8_Sampling	2224	40	890.30
TT8_CF8	312	48	150.68
TT8_Kalman	0	0	0.00
Analog_circuits	1858	12	220.82
GPS_charging	0	0	0.00
Compass	1916	7	142.13
RAFOS	1800	3	53.46
Transponder	16	30	4.80

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
16	-0.75	-146.6	0.0	0.0	0	64	0.00	0.00	-45.35	0.000	2	0.000	0.000	340	2106	2731	0	0	0	0	0	0	28.83	28.83	28.83
68	-0.75	-146.6	3.0	-0.5	8	118	10.43	2.20	-30.85	0.000	4	0.251	0.053	2892	725	3882	0	0	0	0	0	0	25.52	26.20	26.65
162	-0.75	-146.6	16.8	-17.9	24	169	0.00	2.15	0.00	0.000	6	0.000	0.037	2885	2101	3885	0	0	0	0	0	0	28.83	26.20	28.83
476	-0.75	-146.6	54.5	-10.6	85	483	0.00	2.15	0.00	0.000	4	0.000	0.047	2875	3507	3888	0	0	0	0	0	0	28.83	26.17	28.83
623	-0.75	-146.6	72.0	-11.8	113	630	0.00	2.08	0.00	0.000	6	0.000	0.029	2875	2102	3889	0	0	0	0	0	0	28.83	26.39	28.83
941	-0.75	-146.6	111.3	-12.0	166	951	0.00	2.15	0.00	0.000	4	0.000	0.048	2864	3498	3889	0	0	0	0	0	0	28.83	26.21	28.83
1054	-0.75	-146.6	125.4	-12.5	177	1058	0.00	2.03	0.00	0.000	6	0.000	0.030	2865	2120	3889	0	0	0	0	0	0	28.83	26.43	28.83
1366	-0.75	-146.6	163.8	-12.2	208	1376	0.00	2.15	0.00	0.000	4	0.000	0.048	2854	3504	3889	0	0	0	0	0	0	28.83	26.23	28.83
1452	-0.75	-146.6	174.3	-12.6	216	1459	0.12	2.03	0.00	0.000	6	0.164	0.029	2885	2121	3889	0	0	0	0	0	0	26.06	26.46	28.83
1760	-0.75	-146.6	205.3	-9.7	247	1768	0.00	2.15	0.00	0.000	4	0.000	0.047	2877	3518	3888	0	0	0	0	0	0	28.83	26.24	28.83
1842	-0.75	-146.6	213.4	-10.0	255	1851	0.00	2.03	0.00	0.000	6	0.000	0.029	2877	2137	3887	0	0	0	0	0	0	28.83	26.48	28.83
2152	-0.75	-146.6	242.6	-9.1	286	2161	0.00	2.12	0.00	0.000	4	0.000	0.048	2867	3510	3886	0	0	0	0	0	0	28.83	26.25	28.83
2245	-0.75	-146.6	251.5	-9.7	295	2254	0.00	2.00	0.00	0.000	6	0.000	0.029	2867	2143	3886	0	0	0	0	0	0	28.83	26.49	28.83
2555	-0.75	-146.6	281.6	-9.9	326	2564	0.00	2.12	0.00	0.000	4	0.000	0.048	2857	3518	3886	0	0	0	0	0	0	28.83	26.25	28.83
2648	-0.75	-146.6	290.9	-10.1	335	2657	0.12	2.00	0.00	0.000	6	0.156	0.029	2889	2150	3886	0	0	0	0	0	0	26.12	26.50	28.83
2958	-0.75	-146.6	316.1	-8.2	366	2968	0.00	2.10	0.00	0.000	4	0.000	0.047	2881	3507	3886	0	0	0	0	0	0	28.83	26.25	28.83
3041	-0.75	-146.6	323.2	-8.4	374	3045	0.00	1.95	0.00	0.000	6	0.000	0.029	2881	2158	3886	0	0	0	0	0	0	28.83	26.51	28.83
3354	-0.75	-146.6	350.2	-8.6	405	3358	0.00	2.08	0.00	0.000	4	0.000	0.047	2871	3510	3886	0	0	0	0	0	0	28.83	26.26	28.83
3440	-0.75	-146.6	357.9	-9.0	413	3447	0.00	1.95	0.00	0.000	6	0.000	0.028	2871	2161	3886	0	0	0	0	0	0	28.83	26.52	28.83
3747	-0.75	-146.6	386.4	-9.2	444	3755	0.00	2.08	0.00	0.000	4	0.000	0.047	2861	3509	3886	0	0	0	0	0	0	28.83	26.27	28.83
3841	-0.75	-146.6	395.5	-9.9	453	3848	0.00	1.92	0.00	0.000	6	0.000	0.028	2861	2172	3885	0	0	0	0	0	0	28.83	26.52	28.83
4148	-0.75	-146.6	426.4	-9.8	484	4152	0.00	2.05	0.00	0.000	4	0.000	0.047	2850	3511	3886	0	0	0	0	0	0	28.83	26.26	28.83
4213	-0.75	-146.6	433.1	-10.7	490	4221	0.15	1.92	0.00	0.000	6	0.145	0.028	2891	2180	3886	0	0	0	0	0	0	26.08	26.52	28.83
4521	-0.75	-146.6	458.8	-7.8	521	4530	0.00	2.05	0.00	0.000	4	0.000	0.046	2883	3510	3885	0	0	0	0	0	0	28.83	26.27	28.83
4586	-0.75	-146.6	464.2	-8.7	527	4592	0.00	1.92	0.00	0.000	6	0.000	0.028	2883	2177	3886	0	0	0	0	0	0	28.83	26.53	28.83
4893	-0.75	-146.6	489.2	-7.7	558	4897	0.00	2.03	0.00	0.000	4	0.000	0.046	2873	3508	3885	0	0	0	0	0	0	28.83	26.27	28.83
4956	-0.75	-146.6	494.6	-8.8	564	4959	0.00	1.92	0.00	0.000	6	0.000	0.028	2873	2190	3885	0	0	0	0	0	0	28.83	26.53	28.83
5030	end dive: BOTTOM_OBSTACLE_DETECTED
state	5030	begin apogee
5038	-0.17	0.0	500.9	-8.4	571	5160	0.62	0.00	117.47	1.082	4	0.131	0.000	3072	1892	3279	0	0	0	0	0	0	25.70	28.83	24.01
5163	end apogee: CONTROL_FINISHED_OK
state	5163	begin climb
5166	0.75	146.6	506.0	0.0	584	5299	0.85	2.22	118.35	0.964	4	0.064	0.036	3375	527	2680	0	0	0	0	0	0	25.02	25.06	23.35
5314	0.75	146.6	499.2	10.4	599	5321	0.00	2.30	0.00	0.000	6	0.000	0.031	3374	1907	2677	0	0	0	0	0	0	28.83	24.51	28.83
5622	0.75	146.6	460.0	12.5	630	5633	0.00	2.17	0.00	0.000	4	0.000	0.043	3375	3304	2671	0	0	0	0	0	0	28.83	25.63	28.83
5656	0.75	146.6	455.5	12.8	633	5665	0.00	2.12	0.00	0.000	6	0.000	0.028	3384	1912	2670	0	0	0	0	0	0	28.83	25.79	28.83
5966	0.75	146.6	416.2	12.5	664	5975	0.00	2.17	0.00	0.000	4	0.000	0.037	3395	494	2669	0	0	0	0	0	0	28.83	26.01	28.83
6098	0.75	146.6	399.2	13.2	677	6107	0.00	2.20	0.00	0.000	6	0.000	0.033	3395	1900	2668	0	0	0	0	0	0	28.83	26.11	28.83
6408	0.75	146.6	359.8	12.3	708	6409	0.00	0.00	0.00	0.000	6	0.000	0.000	3395	1901	2668	0	0	0	0	0	0	28.83	28.83	28.83
6710	0.75	146.6	322.7	12.5	738	6719	0.00	2.12	0.00	0.000	4	0.000	0.044	3394	3308	2668	0	0	0	0	0	0	28.83	26.18	28.83
6734	0.75	146.6	319.4	12.9	740	6743	0.10	2.12	0.00	0.000	6	0.157	0.029	3372	1872	2667	0	0	0	0	0	0	25.89	26.32	28.83
7044	0.75	146.6	283.4	11.6	771	7048	0.00	2.10	0.00	0.000	4	0.000	0.038	3380	494	2667	0	0	0	0	0	0	28.83	26.25	28.83
7140	0.75	146.6	272.6	11.5	780	7147	0.00	2.15	0.00	0.000	6	0.000	0.033	3380	1889	2667	0	0	0	0	0	0	28.83	26.32	28.83
7447	0.75	146.6	237.3	11.3	811	7448	0.00	0.00	0.00	0.000	6	0.000	0.000	3380	1888	2667	0	0	0	0	0	0	28.83	28.83	28.83
7749	0.75	146.6	205.5	10.2	841	7757	0.00	2.12	0.00	0.000	4	0.000	0.037	3389	512	2667	0	0	0	0	0	0	28.83	26.32	28.83
7811	0.75	146.6	198.9	10.0	847	7820	0.00	2.10	0.00	0.000	6	0.000	0.033	3389	1878	2667	0	0	0	0	0	0	28.83	26.38	28.83
8121	0.75	146.6	166.6	11.0	878	8130	0.00	2.15	0.00	0.000	4	0.000	0.037	3398	494	2667	0	0	0	0	0	0	28.83	26.34	28.83
8166	0.75	146.6	161.8	11.3	882	8174	0.00	2.15	0.00	0.000	6	0.000	0.033	3398	1889	2667	0	0	0	0	0	0	28.83	26.39	28.83
8473	0.75	146.6	127.3	10.9	913	8478	0.00	2.12	0.00	0.000	4	0.000	0.037	3407	513	2667	0	0	0	0	0	0	28.83	26.35	28.83
8526	0.75	146.6	121.4	11.2	918	8536	0.15	2.10	0.00	0.000	6	0.159	0.034	3369	1873	2667	0	0	0	0	0	0	25.99	26.40	28.83
8838	0.75	153.4	92.5	8.9	957	8852	0.00	2.15	4.97	0.700	4	0.000	0.037	3375	494	2653	0	0	0	0	0	0	28.83	26.45	25.01
8905	0.77	164.6	86.5	8.7	969	8925	0.00	2.10	11.35	0.838	6	0.000	0.034	3375	1854	2606	0	0	0	0	0	0	28.83	26.41	25.17
9233	0.79	181.3	59.0	8.5	1032	9253	0.00	2.28	14.77	0.851	4	0.000	0.044	3376	3304	2540	0	0	0	0	0	0	28.83	26.14	25.08
9301	0.79	181.3	52.6	10.5	1044	9308	0.00	2.20	0.00	0.000	6	0.000	0.029	3385	1841	2537	0	0	0	0	0	0	28.83	26.17	28.83
9619	0.82	204.6	22.7	8.2	1105	9639	0.00	2.08	11.95	0.786	4	0.000	0.040	3395	507	2442	0	0	0	0	0	0	28.83	26.13	25.06
9715	0.94	302.1	15.9	5.1	1122	9772	0.12	2.10	47.17	0.096	6	0.109	0.034	3442	1841	2045	0	0	0	0	0	0	26.01	26.14	25.79
9883	end climb: SURFACE_DEPTH_REACHED
state	9884	begin surface coast
9949	end surface coast: CONTROL_FINISHED_OK
state	9949	begin surface