Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 395 * 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 395 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 57 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 45 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 -191587.47 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 -191587.47

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 57 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 45 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 395 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 300812,220528,6644.363,-6008.011,67,0.9,67,-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 2.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300812,221353,6644.282,-6008.001,21,0.8,21,-33.9 MHEAD_RNG_PITCHd_Wd 85.8,148532,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 598

Post-dive calculations and measurements:

FREEZE 1.53,3.909,-1.716,0,1,0 ALTIM_TOP_PING 19.7,18.0

FINISH 1.5,1.024900 _24V_AH 22.7,45.075

SM_CCo 9259,44.38,0.073,0,0,1646,400.08 _10V_AH 9.8,50.546

SM_GC 2.15,8.30,0.38,44.38,0.048,0.058,0.073,337,2105,1646,-8.66,-1.19,400.08,0,0,0,0,0,0,26.11,26.33,25.94 FG_AHR_24Vo 0.000

RAFOS_CLK 468 FG_AHR_10Vo 0.000

RAFOS 0,1346371265,0.033333,0.018056,52,46,43,42,41,38,248,1196,1661,1389,636,810 MEM 151612

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 46745,1039

IRIDIUM_FIX 6614.97,-6015.98,300812,181845 CAP_FILE_SIZE 117552,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,213286912

HUMID 42.95 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.01402 SOUNDSPEED 1453.8

TCM_TEMP 15.40 CURRENT 0.197,351.9,1

XPDR_PINGS 13 GPS 310812,005123,6645.971,-6004.883,60,0.9,60,-33.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 241 114.14 SBE_CT 749 23 407.84

Roll_motor 96 58 127.82 SBE_O2 717 5 97.52

VBD_pump_during_apogee 374 1120 9528.72 nil 0 0 0.00

VBD_pump_during_surface 44 72 73.21 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 359 278 2273.44 nil 0 0 0.00

Transponder_ping 5 420 47.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 5.72

TT8 2612 17 459.78

LPSleep 4185 2 94.76

TT8_Active 562 17 99.07

TT8_Sampling 2149 40 851.70

TT8_CF8 296 48 141.52

TT8_Kalman 0 0 0.00

Analog_circuits 1912 12 224.91

GPS_charging 0 0 0.00

Compass 1765 7 129.58

RAFOS 2160 3 63.50

Transponder 16 30 4.76

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

17 -0.75 -146.6 0.0 0.0 0 67 0.00 0.00 -47.75 0.000 2 0.000 0.000 343 2089 2708 0 0 0 0 0 0 28.83 28.83 28.83

71 -0.75 -146.6 3.2 -3.0 8 121 10.27 2.20 -32.05 0.000 4 0.242 0.052 2895 701 3881 0 0 0 0 0 0 25.38 26.21 26.74

154 -0.75 -146.6 15.5 -16.3 22 161 0.00 2.20 0.00 0.000 6 0.000 0.040 2888 2103 3883 0 0 0 0 0 0 28.83 26.17 28.83

468 -0.75 -146.6 57.9 -12.5 83 475 0.00 2.17 0.00 0.000 4 0.000 0.050 2877 3512 3887 0 0 0 0 0 0 28.83 26.08 28.83

539 -0.75 -146.6 67.0 -12.0 96 546 0.00 2.10 0.00 0.000 6 0.000 0.031 2877 2096 3887 0 0 0 0 0 0 28.83 26.34 28.83

851 -0.75 -146.6 110.7 -14.0 150 855 0.00 2.20 0.00 0.000 4 0.000 0.050 2866 3512 3888 0 0 0 0 0 0 28.83 26.10 28.83

973 -0.75 -146.6 129.0 -14.7 162 982 0.00 2.08 0.00 0.000 6 0.000 0.031 2866 2114 3888 0 0 0 0 0 0 28.83 26.37 28.83

1283 -0.75 -146.6 174.9 -13.9 193 1292 0.00 2.17 0.00 0.000 4 0.000 0.051 2855 3511 3888 0 0 0 0 0 0 28.83 26.10 28.83

1368 -0.75 -146.6 186.4 -13.9 201 1376 0.12 2.05 0.00 0.000 6 0.172 0.032 2886 2127 3888 0 0 0 0 0 0 25.95 26.38 28.83

1677 -0.75 -146.6 219.7 -10.2 232 1685 0.00 2.15 0.00 0.000 4 0.000 0.051 2878 3506 3888 0 0 0 0 0 0 28.83 26.10 28.83

1781 -0.75 -146.6 230.0 -9.9 242 1788 0.00 2.03 0.00 0.000 6 0.000 0.032 2878 2140 3887 0 0 0 0 0 0 28.83 26.39 28.83

2088 -0.75 -146.6 260.2 -9.5 273 2097 0.00 2.12 0.00 0.000 4 0.000 0.051 2868 3508 3887 0 0 0 0 0 0 28.83 26.10 28.83

2193 -0.75 -146.6 270.6 -10.0 283 2201 0.00 2.00 0.00 0.000 6 0.000 0.031 2868 2154 3887 0 0 0 0 0 0 28.83 26.39 28.83

2501 -0.75 -146.6 303.7 -10.5 314 2509 0.00 2.12 0.00 0.000 4 0.000 0.051 2857 3511 3886 0 0 0 0 0 0 28.83 26.10 28.83

2575 -0.75 -146.6 311.8 -11.2 321 2583 0.12 1.95 0.00 0.000 6 0.158 0.032 2888 2172 3886 0 0 0 0 0 0 26.01 26.39 28.83

2885 -0.75 -146.6 340.0 -9.1 352 2893 0.00 2.05 0.00 0.000 4 0.000 0.051 2880 3506 3886 0 0 0 0 0 0 28.83 26.09 28.83

2960 -0.75 -146.6 346.8 -9.4 359 2967 0.00 1.98 0.00 0.000 6 0.000 0.032 2880 2168 3886 0 0 0 0 0 0 28.83 26.40 28.83

3267 -0.75 -146.6 378.0 -10.4 390 3275 0.00 2.10 0.00 0.000 4 0.000 0.050 2871 3508 3886 0 0 0 0 0 0 28.83 26.09 28.83

3338 -0.75 -146.6 386.0 -11.2 397 3342 0.00 1.95 0.00 0.000 6 0.000 0.031 2871 2191 3886 0 0 0 0 0 0 28.83 26.41 28.83

3651 -0.75 -146.6 418.6 -10.0 428 3659 0.00 2.05 0.00 0.000 4 0.000 0.050 2861 3509 3885 0 0 0 0 0 0 28.83 26.09 28.83

3712 -0.75 -146.6 425.1 -10.4 434 3721 0.00 1.95 0.00 0.000 6 0.000 0.031 2861 2178 3886 0 0 0 0 0 0 28.83 26.41 28.83

4023 -0.75 -146.6 457.7 -10.3 465 4032 0.00 2.05 0.00 0.000 4 0.000 0.050 2851 3503 3885 0 0 0 0 0 0 28.83 26.09 28.83

4108 -0.75 -146.6 466.5 -11.0 473 4115 0.15 1.92 0.00 0.000 6 0.151 0.031 2890 2193 3885 0 0 0 0 0 0 25.94 26.41 28.83

4416 -0.75 -146.6 493.2 -8.6 504 4424 0.00 2.05 0.00 0.000 4 0.000 0.050 2882 3512 3885 0 0 0 0 0 0 28.83 26.09 28.83

4481 -0.75 -146.6 499.0 -9.6 510 4487 0.00 1.92 0.00 0.000 6 0.000 0.031 2882 2198 3885 0 0 0 0 0 0 28.83 26.42 28.83

4788 -0.75 -146.6 527.7 -9.0 541 4796 0.00 2.03 0.00 0.000 4 0.000 0.050 2873 3502 3885 0 0 0 0 0 0 28.83 26.08 28.83

4852 -0.75 -146.6 533.8 -9.8 547 4859 0.00 1.90 0.00 0.000 6 0.000 0.031 2872 2208 3885 0 0 0 0 0 0 28.83 26.41 28.83

5160 -0.75 -146.6 564.2 -9.6 578 5169 0.00 2.03 0.00 0.000 4 0.000 0.050 2863 3505 3885 0 0 0 0 0 0 28.83 26.08 28.83

5212 -0.75 -146.6 569.5 -10.4 583 5221 0.00 1.88 0.00 0.000 6 0.000 0.031 2863 2213 3885 0 0 0 0 0 0 28.83 26.41 28.83

5492 end dive: TARGET_DEPTH_EXCEEDED

state 5492 begin apogee

5499 -0.17 0.0 598.5 -10.6 611 5624 0.68 0.00 118.95 1.121 4 0.136 0.000 3073 1882 3278 0 0 0 0 0 0 25.39 28.83 23.67

5627 end apogee: CONTROL_FINISHED_OK

state 5627 begin climb

5630 0.75 146.6 604.1 0.0 617 5765 0.82 2.25 122.53 1.051 4 0.065 0.038 3372 520 2681 0 0 0 0 0 0 24.82 24.85 22.73

5787 0.93 300.6 603.8 2.7 622 5931 0.17 2.35 133.07 1.029 6 0.084 0.034 3430 1902 2053 0 0 0 0 0 0 24.13 24.18 22.65

6231 0.93 300.6 516.6 20.8 664 6237 0.00 0.00 0.00 0.000 6 0.000 0.000 3430 1902 2046 0 0 0 0 0 0 28.83 28.83 28.83

6543 0.93 300.6 453.5 20.0 695 6552 0.00 2.20 0.00 0.000 4 0.000 0.039 3439 518 2044 0 0 0 0 0 0 28.83 25.86 28.83

6580 0.93 300.6 446.3 20.0 698 6586 0.00 2.17 0.00 0.000 6 0.000 0.036 3439 1903 2044 0 0 0 0 0 0 28.83 25.92 28.83

6889 0.93 300.6 381.5 22.0 729 6897 0.00 2.17 0.00 0.000 4 0.000 0.040 3447 526 2043 0 0 0 0 0 0 28.83 26.04 28.83

6941 0.93 300.6 369.7 20.7 734 6949 0.00 2.10 0.00 0.000 6 0.000 0.037 3446 1877 2043 0 0 0 0 0 0 28.83 26.10 28.83

7250 0.93 300.6 304.3 19.9 765 7254 0.00 2.12 0.00 0.000 4 0.000 0.039 3453 523 2043 0 0 0 0 0 0 28.83 26.13 28.83

7284 0.93 300.6 297.9 20.1 768 7293 0.00 2.15 0.00 0.000 6 0.000 0.036 3446 1894 2043 0 0 0 0 0 0 28.83 26.17 28.83

7593 0.93 300.6 240.2 17.5 799 7602 0.00 2.17 0.00 0.000 4 0.000 0.041 3453 515 2044 0 0 0 0 0 0 28.83 26.17 28.83

7615 0.93 300.6 236.2 17.9 801 7624 0.00 2.15 0.00 0.000 6 0.000 0.036 3452 1882 2043 0 0 0 0 0 0 28.83 26.22 28.83

7926 0.93 300.6 180.1 17.8 832 7934 0.00 2.12 0.00 0.000 4 0.000 0.041 3460 523 2043 0 0 0 0 0 0 28.83 26.20 28.83

7987 0.93 300.6 169.0 17.5 838 7996 0.00 2.08 0.00 0.000 6 0.000 0.037 3460 1867 2043 0 0 0 0 0 0 28.83 26.26 28.83

8298 0.93 300.6 116.4 16.1 869 8302 0.00 2.12 0.00 0.000 4 0.000 0.041 3468 512 2043 0 0 0 0 0 0 28.83 26.22 28.83

8333 0.93 300.6 111.0 16.3 872 8340 0.15 2.10 0.00 0.000 6 0.177 0.036 3431 1862 2043 0 0 0 0 0 0 25.82 26.28 28.83

8642 0.93 300.6 70.3 13.2 926 8649 0.00 2.12 0.00 0.000 4 0.000 0.042 3437 515 2043 0 0 0 0 0 0 28.83 26.22 28.83

8693 0.93 300.6 63.8 12.9 935 8701 0.00 2.08 0.00 0.000 6 0.000 0.037 3433 1853 2043 0 0 0 0 0 0 28.83 26.29 28.83

9005 0.93 300.6 24.6 10.8 996 9012 0.00 2.10 0.00 0.000 4 0.000 0.041 3440 520 2042 0 0 0 0 0 0 28.83 26.22 28.83

9089 0.93 300.6 14.8 13.7 1011 9097 0.00 2.08 0.00 0.000 6 0.000 0.037 3439 1843 2042 0 0 0 0 0 0 28.83 26.29 28.83

9201 end climb: SURFACE_DEPTH_REACHED

state 9202 begin surface coast

9238 end surface coast: CONTROL_FINISHED_OK

state 9239 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	395	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	57	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	45	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	-191587.47	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	300812,220528,6644.363,-6008.011,67,0.9,67,-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	2.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300812,221353,6644.282,-6008.001,21,0.8,21,-33.9	MHEAD_RNG_PITCHd_Wd	85.8,148532,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	598

FREEZE	1.53,3.909,-1.716,0,1,0	ALTIM_TOP_PING	19.7,18.0
FINISH	1.5,1.024900	_24V_AH	22.7,45.075
SM_CCo	9259,44.38,0.073,0,0,1646,400.08	_10V_AH	9.8,50.546
SM_GC	2.15,8.30,0.38,44.38,0.048,0.058,0.073,337,2105,1646,-8.66,-1.19,400.08,0,0,0,0,0,0,26.11,26.33,25.94	FG_AHR_24Vo	0.000
RAFOS_CLK	468	FG_AHR_10Vo	0.000
RAFOS	0,1346371265,0.033333,0.018056,52,46,43,42,41,38,248,1196,1661,1389,636,810	MEM	151612
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	46745,1039
IRIDIUM_FIX	6614.97,-6015.98,300812,181845	CAP_FILE_SIZE	117552,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,213286912
HUMID	42.95	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.01402	SOUNDSPEED	1453.8
TCM_TEMP	15.40	CURRENT	0.197,351.9,1
XPDR_PINGS	13	GPS	310812,005123,6645.971,-6004.883,60,0.9,60,-33.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	241	114.14	SBE_CT	749	23	407.84
Roll_motor	96	58	127.82	SBE_O2	717	5	97.52
VBD_pump_during_apogee	374	1120	9528.72	nil	0	0	0.00
VBD_pump_during_surface	44	72	73.21	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	359	278	2273.44	nil	0	0	0.00
Transponder_ping	5	420	47.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	5.72
TT8	2612	17	459.78
LPSleep	4185	2	94.76
TT8_Active	562	17	99.07
TT8_Sampling	2149	40	851.70
TT8_CF8	296	48	141.52
TT8_Kalman	0	0	0.00
Analog_circuits	1912	12	224.91
GPS_charging	0	0	0.00
Compass	1765	7	129.58
RAFOS	2160	3	63.50
Transponder	16	30	4.76

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
17	-0.75	-146.6	0.0	0.0	0	67	0.00	0.00	-47.75	0.000	2	0.000	0.000	343	2089	2708	0	0	0	0	0	0	28.83	28.83	28.83
71	-0.75	-146.6	3.2	-3.0	8	121	10.27	2.20	-32.05	0.000	4	0.242	0.052	2895	701	3881	0	0	0	0	0	0	25.38	26.21	26.74
154	-0.75	-146.6	15.5	-16.3	22	161	0.00	2.20	0.00	0.000	6	0.000	0.040	2888	2103	3883	0	0	0	0	0	0	28.83	26.17	28.83
468	-0.75	-146.6	57.9	-12.5	83	475	0.00	2.17	0.00	0.000	4	0.000	0.050	2877	3512	3887	0	0	0	0	0	0	28.83	26.08	28.83
539	-0.75	-146.6	67.0	-12.0	96	546	0.00	2.10	0.00	0.000	6	0.000	0.031	2877	2096	3887	0	0	0	0	0	0	28.83	26.34	28.83
851	-0.75	-146.6	110.7	-14.0	150	855	0.00	2.20	0.00	0.000	4	0.000	0.050	2866	3512	3888	0	0	0	0	0	0	28.83	26.10	28.83
973	-0.75	-146.6	129.0	-14.7	162	982	0.00	2.08	0.00	0.000	6	0.000	0.031	2866	2114	3888	0	0	0	0	0	0	28.83	26.37	28.83
1283	-0.75	-146.6	174.9	-13.9	193	1292	0.00	2.17	0.00	0.000	4	0.000	0.051	2855	3511	3888	0	0	0	0	0	0	28.83	26.10	28.83
1368	-0.75	-146.6	186.4	-13.9	201	1376	0.12	2.05	0.00	0.000	6	0.172	0.032	2886	2127	3888	0	0	0	0	0	0	25.95	26.38	28.83
1677	-0.75	-146.6	219.7	-10.2	232	1685	0.00	2.15	0.00	0.000	4	0.000	0.051	2878	3506	3888	0	0	0	0	0	0	28.83	26.10	28.83
1781	-0.75	-146.6	230.0	-9.9	242	1788	0.00	2.03	0.00	0.000	6	0.000	0.032	2878	2140	3887	0	0	0	0	0	0	28.83	26.39	28.83
2088	-0.75	-146.6	260.2	-9.5	273	2097	0.00	2.12	0.00	0.000	4	0.000	0.051	2868	3508	3887	0	0	0	0	0	0	28.83	26.10	28.83
2193	-0.75	-146.6	270.6	-10.0	283	2201	0.00	2.00	0.00	0.000	6	0.000	0.031	2868	2154	3887	0	0	0	0	0	0	28.83	26.39	28.83
2501	-0.75	-146.6	303.7	-10.5	314	2509	0.00	2.12	0.00	0.000	4	0.000	0.051	2857	3511	3886	0	0	0	0	0	0	28.83	26.10	28.83
2575	-0.75	-146.6	311.8	-11.2	321	2583	0.12	1.95	0.00	0.000	6	0.158	0.032	2888	2172	3886	0	0	0	0	0	0	26.01	26.39	28.83
2885	-0.75	-146.6	340.0	-9.1	352	2893	0.00	2.05	0.00	0.000	4	0.000	0.051	2880	3506	3886	0	0	0	0	0	0	28.83	26.09	28.83
2960	-0.75	-146.6	346.8	-9.4	359	2967	0.00	1.98	0.00	0.000	6	0.000	0.032	2880	2168	3886	0	0	0	0	0	0	28.83	26.40	28.83
3267	-0.75	-146.6	378.0	-10.4	390	3275	0.00	2.10	0.00	0.000	4	0.000	0.050	2871	3508	3886	0	0	0	0	0	0	28.83	26.09	28.83
3338	-0.75	-146.6	386.0	-11.2	397	3342	0.00	1.95	0.00	0.000	6	0.000	0.031	2871	2191	3886	0	0	0	0	0	0	28.83	26.41	28.83
3651	-0.75	-146.6	418.6	-10.0	428	3659	0.00	2.05	0.00	0.000	4	0.000	0.050	2861	3509	3885	0	0	0	0	0	0	28.83	26.09	28.83
3712	-0.75	-146.6	425.1	-10.4	434	3721	0.00	1.95	0.00	0.000	6	0.000	0.031	2861	2178	3886	0	0	0	0	0	0	28.83	26.41	28.83
4023	-0.75	-146.6	457.7	-10.3	465	4032	0.00	2.05	0.00	0.000	4	0.000	0.050	2851	3503	3885	0	0	0	0	0	0	28.83	26.09	28.83
4108	-0.75	-146.6	466.5	-11.0	473	4115	0.15	1.92	0.00	0.000	6	0.151	0.031	2890	2193	3885	0	0	0	0	0	0	25.94	26.41	28.83
4416	-0.75	-146.6	493.2	-8.6	504	4424	0.00	2.05	0.00	0.000	4	0.000	0.050	2882	3512	3885	0	0	0	0	0	0	28.83	26.09	28.83
4481	-0.75	-146.6	499.0	-9.6	510	4487	0.00	1.92	0.00	0.000	6	0.000	0.031	2882	2198	3885	0	0	0	0	0	0	28.83	26.42	28.83
4788	-0.75	-146.6	527.7	-9.0	541	4796	0.00	2.03	0.00	0.000	4	0.000	0.050	2873	3502	3885	0	0	0	0	0	0	28.83	26.08	28.83
4852	-0.75	-146.6	533.8	-9.8	547	4859	0.00	1.90	0.00	0.000	6	0.000	0.031	2872	2208	3885	0	0	0	0	0	0	28.83	26.41	28.83
5160	-0.75	-146.6	564.2	-9.6	578	5169	0.00	2.03	0.00	0.000	4	0.000	0.050	2863	3505	3885	0	0	0	0	0	0	28.83	26.08	28.83
5212	-0.75	-146.6	569.5	-10.4	583	5221	0.00	1.88	0.00	0.000	6	0.000	0.031	2863	2213	3885	0	0	0	0	0	0	28.83	26.41	28.83
5492	end dive: TARGET_DEPTH_EXCEEDED
state	5492	begin apogee
5499	-0.17	0.0	598.5	-10.6	611	5624	0.68	0.00	118.95	1.121	4	0.136	0.000	3073	1882	3278	0	0	0	0	0	0	25.39	28.83	23.67
5627	end apogee: CONTROL_FINISHED_OK
state	5627	begin climb
5630	0.75	146.6	604.1	0.0	617	5765	0.82	2.25	122.53	1.051	4	0.065	0.038	3372	520	2681	0	0	0	0	0	0	24.82	24.85	22.73
5787	0.93	300.6	603.8	2.7	622	5931	0.17	2.35	133.07	1.029	6	0.084	0.034	3430	1902	2053	0	0	0	0	0	0	24.13	24.18	22.65
6231	0.93	300.6	516.6	20.8	664	6237	0.00	0.00	0.00	0.000	6	0.000	0.000	3430	1902	2046	0	0	0	0	0	0	28.83	28.83	28.83
6543	0.93	300.6	453.5	20.0	695	6552	0.00	2.20	0.00	0.000	4	0.000	0.039	3439	518	2044	0	0	0	0	0	0	28.83	25.86	28.83
6580	0.93	300.6	446.3	20.0	698	6586	0.00	2.17	0.00	0.000	6	0.000	0.036	3439	1903	2044	0	0	0	0	0	0	28.83	25.92	28.83
6889	0.93	300.6	381.5	22.0	729	6897	0.00	2.17	0.00	0.000	4	0.000	0.040	3447	526	2043	0	0	0	0	0	0	28.83	26.04	28.83
6941	0.93	300.6	369.7	20.7	734	6949	0.00	2.10	0.00	0.000	6	0.000	0.037	3446	1877	2043	0	0	0	0	0	0	28.83	26.10	28.83
7250	0.93	300.6	304.3	19.9	765	7254	0.00	2.12	0.00	0.000	4	0.000	0.039	3453	523	2043	0	0	0	0	0	0	28.83	26.13	28.83
7284	0.93	300.6	297.9	20.1	768	7293	0.00	2.15	0.00	0.000	6	0.000	0.036	3446	1894	2043	0	0	0	0	0	0	28.83	26.17	28.83
7593	0.93	300.6	240.2	17.5	799	7602	0.00	2.17	0.00	0.000	4	0.000	0.041	3453	515	2044	0	0	0	0	0	0	28.83	26.17	28.83
7615	0.93	300.6	236.2	17.9	801	7624	0.00	2.15	0.00	0.000	6	0.000	0.036	3452	1882	2043	0	0	0	0	0	0	28.83	26.22	28.83
7926	0.93	300.6	180.1	17.8	832	7934	0.00	2.12	0.00	0.000	4	0.000	0.041	3460	523	2043	0	0	0	0	0	0	28.83	26.20	28.83
7987	0.93	300.6	169.0	17.5	838	7996	0.00	2.08	0.00	0.000	6	0.000	0.037	3460	1867	2043	0	0	0	0	0	0	28.83	26.26	28.83
8298	0.93	300.6	116.4	16.1	869	8302	0.00	2.12	0.00	0.000	4	0.000	0.041	3468	512	2043	0	0	0	0	0	0	28.83	26.22	28.83
8333	0.93	300.6	111.0	16.3	872	8340	0.15	2.10	0.00	0.000	6	0.177	0.036	3431	1862	2043	0	0	0	0	0	0	25.82	26.28	28.83
8642	0.93	300.6	70.3	13.2	926	8649	0.00	2.12	0.00	0.000	4	0.000	0.042	3437	515	2043	0	0	0	0	0	0	28.83	26.22	28.83
8693	0.93	300.6	63.8	12.9	935	8701	0.00	2.08	0.00	0.000	6	0.000	0.037	3433	1853	2043	0	0	0	0	0	0	28.83	26.29	28.83
9005	0.93	300.6	24.6	10.8	996	9012	0.00	2.10	0.00	0.000	4	0.000	0.041	3440	520	2042	0	0	0	0	0	0	28.83	26.22	28.83
9089	0.93	300.6	14.8	13.7	1011	9097	0.00	2.08	0.00	0.000	6	0.000	0.037	3439	1843	2042	0	0	0	0	0	0	28.83	26.29	28.83
9201	end climb: SURFACE_DEPTH_REACHED
state	9202	begin surface coast
9238	end surface coast: CONTROL_FINISHED_OK
state	9239	begin surface