Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 392 * 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 392 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 68 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 47 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 -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 2 T_GPS_CHARGE -191583.72 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 -191583.72

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 -2

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 68 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 47 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 392 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 300812,120151,6646.660,-6011.430,24,1.1,39,-33.9 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 20 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300812,121017,6646.542,-6011.555,19,0.9,20,-33.9 MHEAD_RNG_PITCHd_Wd 280.6,11569,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 563

Post-dive calculations and measurements:

FREEZE 1.40,4.994,-0.893,0,1,0 ALTIM_BOTTOM_PING 500.3,103.0

FINISH 1.4,1.013035 _24V_AH 22.8,44.775

SM_CCo 11077,0.00,0.000,0,0,1429,453.80 _10V_AH 9.8,50.222

SM_GC 2.35,8.65,0.43,0.00,0.054,0.058,0.000,343,2099,1429,-8.66,-1.36,453.80,0,0,0,0,0,0,25.87,26.07,28.83 FG_AHR_24Vo 0.000

RAFOS_CLK 564 FG_AHR_10Vo 0.000

RAFOS 2,1346329022,12.300000,12.283889,44,44,44,44,42,42,361,1920,107,1071,771,864 MEM 151604

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 56775,1260

IRIDIUM_FIX 6614.97,-6011.26,300812,080808 CAP_FILE_SIZE 134882,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,213479424

HUMID 43.97 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.01402 SOUNDSPEED 1453.3

TCM_TEMP 15.40 CURRENT 0.036, 69.2,1

XPDR_PINGS 12 GPS 300812,151658,6646.370,-6014.130,43,0.8,43,-33.9

ALTIM_TOP_PING 19.9,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 244 118.19 SBE_CT 906 23 495.32

Roll_motor 93 65 140.81 SBE_O2 873 5 119.35

VBD_pump_during_apogee 409 1099 10270.66 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 363 292 2423.91 nil 0 0 0.00

Transponder_ping 4 420 45.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.26

TT8 3116 17 548.46

LPSleep 5067 2 114.71

TT8_Active 572 17 100.79

TT8_Sampling 2493 40 987.82

TT8_CF8 329 48 157.17

TT8_Kalman 0 0 0.00

Analog_circuits 2075 12 244.13

GPS_charging 0 0 0.00

Compass 2106 7 154.63

RAFOS 1800 3 52.92

Transponder 14 30 4.23

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -0.75 -146.6 0.0 0.0 0 67 0.00 0.00 -46.85 0.000 2 0.000 0.000 336 2079 2683 0 0 0 0 0 0 28.83 28.83 28.83

71 -0.75 -146.6 3.0 -1.8 8 126 10.35 2.28 -35.22 0.000 4 0.245 0.066 2877 3508 3882 0 0 0 0 0 0 25.42 26.10 26.72

357 -0.75 -146.6 41.1 -13.7 62 365 0.00 2.10 0.00 0.000 6 0.000 0.031 2878 2094 3888 0 0 0 0 0 0 28.83 26.31 28.83

671 -0.75 -146.6 87.4 -14.6 123 678 0.00 2.20 0.00 0.000 4 0.000 0.049 2870 3508 3891 0 0 0 0 0 0 28.83 26.08 28.83

822 -0.75 -146.6 109.2 -14.6 145 829 0.00 2.05 0.00 0.000 6 0.000 0.031 2870 2117 3891 0 0 0 0 0 0 28.83 26.36 28.83

1129 -0.75 -146.6 151.0 -13.2 176 1138 0.00 2.15 0.00 0.000 4 0.000 0.050 2860 3501 3891 0 0 0 0 0 0 28.83 26.09 28.83

1284 -0.75 -146.6 171.4 -13.2 191 1293 0.00 2.05 0.00 0.000 6 0.000 0.032 2860 2124 3890 0 0 0 0 0 0 28.83 26.37 28.83

1595 -0.75 -146.6 211.0 -12.8 222 1604 0.00 2.12 0.00 0.000 4 0.000 0.050 2849 3505 3890 0 0 0 0 0 0 28.83 26.10 28.83

1739 -0.75 -146.6 230.8 -13.7 236 1749 0.15 2.03 0.00 0.000 6 0.166 0.032 2888 2143 3890 0 0 0 0 0 0 25.88 26.39 28.83

2050 -0.75 -146.6 264.8 -10.7 267 2058 0.00 2.08 0.00 0.000 4 0.000 0.050 2880 3496 3888 0 0 0 0 0 0 28.83 26.10 28.83

2134 -0.75 -146.6 274.2 -11.8 275 2140 0.00 1.98 0.00 0.000 6 0.000 0.032 2880 2157 3888 0 0 0 0 0 0 28.83 26.39 28.83

2441 -0.75 -146.6 306.8 -9.6 306 2451 0.00 2.12 0.00 0.000 4 0.000 0.051 2870 3513 3886 0 0 0 0 0 0 28.83 26.09 28.83

2517 -0.75 -146.6 314.4 -10.4 313 2524 0.00 2.00 0.00 0.000 6 0.000 0.032 2870 2158 3887 0 0 0 0 0 0 28.83 26.40 28.83

2824 -0.75 -146.6 346.5 -10.5 344 2833 0.00 2.10 0.00 0.000 4 0.000 0.050 2860 3515 3887 0 0 0 0 0 0 28.83 26.09 28.83

2931 -0.75 -146.6 358.1 -11.0 354 2938 0.00 1.98 0.00 0.000 6 0.000 0.031 2861 2173 3887 0 0 0 0 0 0 28.83 26.40 28.83

3238 -0.75 -146.6 392.8 -12.1 385 3247 0.00 2.08 0.00 0.000 4 0.000 0.051 2849 3501 3887 0 0 0 0 0 0 28.83 26.08 28.83

3303 -0.75 -146.6 400.2 -12.2 391 3311 0.15 1.95 0.00 0.000 6 0.155 0.032 2889 2178 3887 0 0 0 0 0 0 25.91 26.39 28.83

3611 -0.75 -146.6 431.0 -9.6 422 3620 0.00 2.08 0.00 0.000 4 0.000 0.050 2881 3506 3886 0 0 0 0 0 0 28.83 26.08 28.83

3666 -0.75 -146.6 436.3 -10.6 427 3673 0.00 1.95 0.00 0.000 6 0.000 0.031 2881 2181 3887 0 0 0 0 0 0 28.83 26.40 28.83

3974 -0.75 -146.6 467.9 -9.9 458 3983 0.00 2.05 0.00 0.000 4 0.000 0.050 2871 3506 3886 0 0 0 0 0 0 28.83 26.08 28.83

4059 -0.75 -146.6 476.4 -10.4 466 4067 0.00 1.92 0.00 0.000 6 0.000 0.031 2870 2194 3886 0 0 0 0 0 0 28.83 26.41 28.83

4366 -0.75 -146.6 507.5 -10.0 497 4367 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2194 3886 0 0 0 0 0 0 28.83 28.83 28.83

4669 -0.75 -146.6 535.6 -8.5 527 4678 0.00 2.03 0.00 0.000 4 0.000 0.050 2861 3502 3886 0 0 0 0 0 0 28.83 26.08 28.83

4742 -0.75 -146.6 543.3 -10.6 534 4751 0.00 1.92 0.00 0.000 6 0.000 0.031 2861 2195 3886 0 0 0 0 0 0 28.83 26.41 28.83

4938 end dive: TARGET_DEPTH_EXCEEDED

state 4938 begin apogee

4945 -0.17 0.0 563.6 -10.3 554 5071 0.68 0.00 118.75 1.099 4 0.139 0.000 3070 1878 3278 0 0 0 0 0 0 25.37 28.83 23.71

5075 end apogee: CONTROL_FINISHED_OK

state 5075 begin climb

5077 0.75 146.6 569.1 0.0 567 5214 0.85 2.25 120.68 1.019 4 0.073 0.038 3369 516 2680 0 0 0 0 0 0 24.84 24.90 22.79

5440 0.75 146.6 540.8 10.7 603 5447 0.00 2.22 0.00 0.000 6 0.000 0.036 3369 1897 2671 0 0 0 0 0 0 28.83 25.21 28.83

5747 0.75 146.6 508.1 10.9 634 5756 0.00 2.20 0.00 0.000 4 0.000 0.046 3369 3323 2668 0 0 0 0 0 0 28.83 25.72 28.83

5984 0.75 146.6 479.2 12.3 657 5991 0.00 2.15 0.00 0.000 6 0.000 0.031 3378 1904 2668 0 0 0 0 0 0 28.83 26.03 28.83

6291 0.75 146.6 444.1 10.8 688 6301 0.00 2.17 0.00 0.000 4 0.000 0.040 3389 501 2667 0 0 0 0 0 0 28.83 26.03 28.83

6377 0.75 146.6 434.7 11.3 696 6385 0.00 2.17 0.00 0.000 6 0.000 0.035 3389 1892 2667 0 0 0 0 0 0 28.83 26.12 28.83

6684 0.75 146.6 400.7 10.7 727 6685 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 1892 2667 0 0 0 0 0 0 28.83 28.83 28.83

6987 0.75 146.6 368.1 10.9 757 6993 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 1892 2667 0 0 0 0 0 0 28.83 28.83 28.83

7296 0.75 146.6 336.2 10.1 788 7303 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 1892 2667 0 0 0 0 0 0 28.83 28.83 28.83

7608 0.75 146.6 306.1 9.8 819 7614 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 1892 2667 0 0 0 0 0 0 28.83 28.83 28.83

7916 0.75 146.6 275.8 10.2 850 7925 0.00 2.12 0.00 0.000 4 0.000 0.047 3389 3298 2666 0 0 0 0 0 0 28.83 26.15 28.83

7961 0.75 146.6 271.3 10.4 854 7967 0.00 2.12 0.00 0.000 6 0.000 0.031 3398 1876 2667 0 0 0 0 0 0 28.83 26.32 28.83

8268 0.75 146.6 239.1 10.5 885 8272 0.00 2.12 0.00 0.000 4 0.000 0.041 3409 500 2667 0 0 0 0 0 0 28.83 26.20 28.83

8311 0.75 146.6 234.6 10.9 889 8321 0.15 2.15 0.00 0.000 6 0.165 0.036 3371 1879 2667 0 0 0 0 0 0 25.85 26.28 28.83

8620 0.75 146.6 204.8 9.4 920 8630 0.00 2.17 0.00 0.000 4 0.000 0.047 3371 3300 2667 0 0 0 0 0 0 28.83 26.16 28.83

8665 0.75 146.6 200.5 10.0 924 8674 0.00 2.12 0.00 0.000 6 0.000 0.031 3378 1868 2667 0 0 0 0 0 0 28.83 26.36 28.83

8974 0.81 202.0 175.9 6.9 955 9023 0.00 2.20 43.53 0.887 4 0.000 0.041 3388 510 2454 0 0 0 0 0 0 28.83 25.77 24.72

9091 0.81 203.1 166.6 9.1 966 9098 0.00 2.15 0.00 0.000 6 0.000 0.036 3389 1865 2451 0 0 0 0 0 0 28.83 25.84 28.83

9398 0.83 213.4 138.8 8.7 997 9416 0.00 2.20 9.73 0.822 4 0.000 0.041 3397 512 2408 0 0 0 0 0 0 28.83 25.98 24.79

9450 0.83 216.9 134.0 9.0 1002 9460 0.00 2.15 4.70 0.601 6 0.000 0.036 3397 1865 2395 0 0 0 0 0 0 28.83 25.98 24.61

9760 0.83 216.9 102.5 10.2 1033 9769 0.00 2.20 0.00 0.000 4 0.000 0.047 3397 3302 2391 0 0 0 0 0 0 28.83 25.97 28.83

9782 0.83 216.9 100.1 10.1 1035 9791 0.00 2.20 0.00 0.000 6 0.000 0.031 3407 1854 2391 0 0 0 0 0 0 28.83 26.12 28.83

10098 0.83 216.9 68.0 9.5 1096 10105 0.00 2.10 0.00 0.000 4 0.000 0.043 3417 508 2390 0 0 0 0 0 0 28.83 26.07 28.83

10169 0.83 216.9 61.0 9.9 1109 10176 0.00 2.12 0.00 0.000 6 0.000 0.037 3417 1848 2388 0 0 0 0 0 0 28.83 26.17 28.83

10483 0.84 225.3 32.0 8.8 1170 10496 0.00 2.30 7.93 0.834 4 0.000 0.048 3417 3302 2360 0 0 0 0 0 0 28.83 26.19 24.93

10525 0.84 225.3 27.8 10.3 1177 10532 0.00 2.22 0.00 0.000 6 0.000 0.032 3427 1839 2358 0 0 0 0 0 0 28.83 26.21 28.83

10842 1.17 488.6 8.6 -1.8 1238 10950 0.20 0.00 104.47 0.084 2 0.091 0.000 3510 1838 1447 0 0 0 0 0 0 26.21 28.83 28.83

10954 end climb: SURFACE_DEPTH_REACHED

state 10954 begin surface coast

10996 end surface coast: CONTROL_FINISHED_OK

state 10997 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	392	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	68	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	47	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	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	2	T_GPS_CHARGE	-191583.72	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	300812,120151,6646.660,-6011.430,24,1.1,39,-33.9	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	20	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300812,121017,6646.542,-6011.555,19,0.9,20,-33.9	MHEAD_RNG_PITCHd_Wd	280.6,11569,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	563

FREEZE	1.40,4.994,-0.893,0,1,0	ALTIM_BOTTOM_PING	500.3,103.0
FINISH	1.4,1.013035	_24V_AH	22.8,44.775
SM_CCo	11077,0.00,0.000,0,0,1429,453.80	_10V_AH	9.8,50.222
SM_GC	2.35,8.65,0.43,0.00,0.054,0.058,0.000,343,2099,1429,-8.66,-1.36,453.80,0,0,0,0,0,0,25.87,26.07,28.83	FG_AHR_24Vo	0.000
RAFOS_CLK	564	FG_AHR_10Vo	0.000
RAFOS	2,1346329022,12.300000,12.283889,44,44,44,44,42,42,361,1920,107,1071,771,864	MEM	151604
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	56775,1260
IRIDIUM_FIX	6614.97,-6011.26,300812,080808	CAP_FILE_SIZE	134882,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,213479424
HUMID	43.97	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.01402	SOUNDSPEED	1453.3
TCM_TEMP	15.40	CURRENT	0.036, 69.2,1
XPDR_PINGS	12	GPS	300812,151658,6646.370,-6014.130,43,0.8,43,-33.9
ALTIM_TOP_PING	19.9,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	244	118.19	SBE_CT	906	23	495.32
Roll_motor	93	65	140.81	SBE_O2	873	5	119.35
VBD_pump_during_apogee	409	1099	10270.66	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	363	292	2423.91	nil	0	0	0.00
Transponder_ping	4	420	45.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.26
TT8	3116	17	548.46
LPSleep	5067	2	114.71
TT8_Active	572	17	100.79
TT8_Sampling	2493	40	987.82
TT8_CF8	329	48	157.17
TT8_Kalman	0	0	0.00
Analog_circuits	2075	12	244.13
GPS_charging	0	0	0.00
Compass	2106	7	154.63
RAFOS	1800	3	52.92
Transponder	14	30	4.23

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-0.75	-146.6	0.0	0.0	0	67	0.00	0.00	-46.85	0.000	2	0.000	0.000	336	2079	2683	0	0	0	0	0	0	28.83	28.83	28.83
71	-0.75	-146.6	3.0	-1.8	8	126	10.35	2.28	-35.22	0.000	4	0.245	0.066	2877	3508	3882	0	0	0	0	0	0	25.42	26.10	26.72
357	-0.75	-146.6	41.1	-13.7	62	365	0.00	2.10	0.00	0.000	6	0.000	0.031	2878	2094	3888	0	0	0	0	0	0	28.83	26.31	28.83
671	-0.75	-146.6	87.4	-14.6	123	678	0.00	2.20	0.00	0.000	4	0.000	0.049	2870	3508	3891	0	0	0	0	0	0	28.83	26.08	28.83
822	-0.75	-146.6	109.2	-14.6	145	829	0.00	2.05	0.00	0.000	6	0.000	0.031	2870	2117	3891	0	0	0	0	0	0	28.83	26.36	28.83
1129	-0.75	-146.6	151.0	-13.2	176	1138	0.00	2.15	0.00	0.000	4	0.000	0.050	2860	3501	3891	0	0	0	0	0	0	28.83	26.09	28.83
1284	-0.75	-146.6	171.4	-13.2	191	1293	0.00	2.05	0.00	0.000	6	0.000	0.032	2860	2124	3890	0	0	0	0	0	0	28.83	26.37	28.83
1595	-0.75	-146.6	211.0	-12.8	222	1604	0.00	2.12	0.00	0.000	4	0.000	0.050	2849	3505	3890	0	0	0	0	0	0	28.83	26.10	28.83
1739	-0.75	-146.6	230.8	-13.7	236	1749	0.15	2.03	0.00	0.000	6	0.166	0.032	2888	2143	3890	0	0	0	0	0	0	25.88	26.39	28.83
2050	-0.75	-146.6	264.8	-10.7	267	2058	0.00	2.08	0.00	0.000	4	0.000	0.050	2880	3496	3888	0	0	0	0	0	0	28.83	26.10	28.83
2134	-0.75	-146.6	274.2	-11.8	275	2140	0.00	1.98	0.00	0.000	6	0.000	0.032	2880	2157	3888	0	0	0	0	0	0	28.83	26.39	28.83
2441	-0.75	-146.6	306.8	-9.6	306	2451	0.00	2.12	0.00	0.000	4	0.000	0.051	2870	3513	3886	0	0	0	0	0	0	28.83	26.09	28.83
2517	-0.75	-146.6	314.4	-10.4	313	2524	0.00	2.00	0.00	0.000	6	0.000	0.032	2870	2158	3887	0	0	0	0	0	0	28.83	26.40	28.83
2824	-0.75	-146.6	346.5	-10.5	344	2833	0.00	2.10	0.00	0.000	4	0.000	0.050	2860	3515	3887	0	0	0	0	0	0	28.83	26.09	28.83
2931	-0.75	-146.6	358.1	-11.0	354	2938	0.00	1.98	0.00	0.000	6	0.000	0.031	2861	2173	3887	0	0	0	0	0	0	28.83	26.40	28.83
3238	-0.75	-146.6	392.8	-12.1	385	3247	0.00	2.08	0.00	0.000	4	0.000	0.051	2849	3501	3887	0	0	0	0	0	0	28.83	26.08	28.83
3303	-0.75	-146.6	400.2	-12.2	391	3311	0.15	1.95	0.00	0.000	6	0.155	0.032	2889	2178	3887	0	0	0	0	0	0	25.91	26.39	28.83
3611	-0.75	-146.6	431.0	-9.6	422	3620	0.00	2.08	0.00	0.000	4	0.000	0.050	2881	3506	3886	0	0	0	0	0	0	28.83	26.08	28.83
3666	-0.75	-146.6	436.3	-10.6	427	3673	0.00	1.95	0.00	0.000	6	0.000	0.031	2881	2181	3887	0	0	0	0	0	0	28.83	26.40	28.83
3974	-0.75	-146.6	467.9	-9.9	458	3983	0.00	2.05	0.00	0.000	4	0.000	0.050	2871	3506	3886	0	0	0	0	0	0	28.83	26.08	28.83
4059	-0.75	-146.6	476.4	-10.4	466	4067	0.00	1.92	0.00	0.000	6	0.000	0.031	2870	2194	3886	0	0	0	0	0	0	28.83	26.41	28.83
4366	-0.75	-146.6	507.5	-10.0	497	4367	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2194	3886	0	0	0	0	0	0	28.83	28.83	28.83
4669	-0.75	-146.6	535.6	-8.5	527	4678	0.00	2.03	0.00	0.000	4	0.000	0.050	2861	3502	3886	0	0	0	0	0	0	28.83	26.08	28.83
4742	-0.75	-146.6	543.3	-10.6	534	4751	0.00	1.92	0.00	0.000	6	0.000	0.031	2861	2195	3886	0	0	0	0	0	0	28.83	26.41	28.83
4938	end dive: TARGET_DEPTH_EXCEEDED
state	4938	begin apogee
4945	-0.17	0.0	563.6	-10.3	554	5071	0.68	0.00	118.75	1.099	4	0.139	0.000	3070	1878	3278	0	0	0	0	0	0	25.37	28.83	23.71
5075	end apogee: CONTROL_FINISHED_OK
state	5075	begin climb
5077	0.75	146.6	569.1	0.0	567	5214	0.85	2.25	120.68	1.019	4	0.073	0.038	3369	516	2680	0	0	0	0	0	0	24.84	24.90	22.79
5440	0.75	146.6	540.8	10.7	603	5447	0.00	2.22	0.00	0.000	6	0.000	0.036	3369	1897	2671	0	0	0	0	0	0	28.83	25.21	28.83
5747	0.75	146.6	508.1	10.9	634	5756	0.00	2.20	0.00	0.000	4	0.000	0.046	3369	3323	2668	0	0	0	0	0	0	28.83	25.72	28.83
5984	0.75	146.6	479.2	12.3	657	5991	0.00	2.15	0.00	0.000	6	0.000	0.031	3378	1904	2668	0	0	0	0	0	0	28.83	26.03	28.83
6291	0.75	146.6	444.1	10.8	688	6301	0.00	2.17	0.00	0.000	4	0.000	0.040	3389	501	2667	0	0	0	0	0	0	28.83	26.03	28.83
6377	0.75	146.6	434.7	11.3	696	6385	0.00	2.17	0.00	0.000	6	0.000	0.035	3389	1892	2667	0	0	0	0	0	0	28.83	26.12	28.83
6684	0.75	146.6	400.7	10.7	727	6685	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	1892	2667	0	0	0	0	0	0	28.83	28.83	28.83
6987	0.75	146.6	368.1	10.9	757	6993	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	1892	2667	0	0	0	0	0	0	28.83	28.83	28.83
7296	0.75	146.6	336.2	10.1	788	7303	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	1892	2667	0	0	0	0	0	0	28.83	28.83	28.83
7608	0.75	146.6	306.1	9.8	819	7614	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	1892	2667	0	0	0	0	0	0	28.83	28.83	28.83
7916	0.75	146.6	275.8	10.2	850	7925	0.00	2.12	0.00	0.000	4	0.000	0.047	3389	3298	2666	0	0	0	0	0	0	28.83	26.15	28.83
7961	0.75	146.6	271.3	10.4	854	7967	0.00	2.12	0.00	0.000	6	0.000	0.031	3398	1876	2667	0	0	0	0	0	0	28.83	26.32	28.83
8268	0.75	146.6	239.1	10.5	885	8272	0.00	2.12	0.00	0.000	4	0.000	0.041	3409	500	2667	0	0	0	0	0	0	28.83	26.20	28.83
8311	0.75	146.6	234.6	10.9	889	8321	0.15	2.15	0.00	0.000	6	0.165	0.036	3371	1879	2667	0	0	0	0	0	0	25.85	26.28	28.83
8620	0.75	146.6	204.8	9.4	920	8630	0.00	2.17	0.00	0.000	4	0.000	0.047	3371	3300	2667	0	0	0	0	0	0	28.83	26.16	28.83
8665	0.75	146.6	200.5	10.0	924	8674	0.00	2.12	0.00	0.000	6	0.000	0.031	3378	1868	2667	0	0	0	0	0	0	28.83	26.36	28.83
8974	0.81	202.0	175.9	6.9	955	9023	0.00	2.20	43.53	0.887	4	0.000	0.041	3388	510	2454	0	0	0	0	0	0	28.83	25.77	24.72
9091	0.81	203.1	166.6	9.1	966	9098	0.00	2.15	0.00	0.000	6	0.000	0.036	3389	1865	2451	0	0	0	0	0	0	28.83	25.84	28.83
9398	0.83	213.4	138.8	8.7	997	9416	0.00	2.20	9.73	0.822	4	0.000	0.041	3397	512	2408	0	0	0	0	0	0	28.83	25.98	24.79
9450	0.83	216.9	134.0	9.0	1002	9460	0.00	2.15	4.70	0.601	6	0.000	0.036	3397	1865	2395	0	0	0	0	0	0	28.83	25.98	24.61
9760	0.83	216.9	102.5	10.2	1033	9769	0.00	2.20	0.00	0.000	4	0.000	0.047	3397	3302	2391	0	0	0	0	0	0	28.83	25.97	28.83
9782	0.83	216.9	100.1	10.1	1035	9791	0.00	2.20	0.00	0.000	6	0.000	0.031	3407	1854	2391	0	0	0	0	0	0	28.83	26.12	28.83
10098	0.83	216.9	68.0	9.5	1096	10105	0.00	2.10	0.00	0.000	4	0.000	0.043	3417	508	2390	0	0	0	0	0	0	28.83	26.07	28.83
10169	0.83	216.9	61.0	9.9	1109	10176	0.00	2.12	0.00	0.000	6	0.000	0.037	3417	1848	2388	0	0	0	0	0	0	28.83	26.17	28.83
10483	0.84	225.3	32.0	8.8	1170	10496	0.00	2.30	7.93	0.834	4	0.000	0.048	3417	3302	2360	0	0	0	0	0	0	28.83	26.19	24.93
10525	0.84	225.3	27.8	10.3	1177	10532	0.00	2.22	0.00	0.000	6	0.000	0.032	3427	1839	2358	0	0	0	0	0	0	28.83	26.21	28.83
10842	1.17	488.6	8.6	-1.8	1238	10950	0.20	0.00	104.47	0.084	2	0.091	0.000	3510	1838	1447	0	0	0	0	0	0	26.21	28.83	28.83
10954	end climb: SURFACE_DEPTH_REACHED
state	10954	begin surface coast
10996	end surface coast: CONTROL_FINISHED_OK
state	10997	begin surface