Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 70 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HD_B 0.0115 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

MISSION 21 HD_C 1.7999999e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 70 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 52 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 41 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 0 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 3029 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 -191174.34 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 0.00275 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 0.00275 PRESSURE_YINT -22.860044 T_DIVE 360

CALL_WAIT 60 HD_B 0.0115 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 1.7999999e-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 -191174.34

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 0 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 3029 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 52 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 41 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 70 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 020712,050605,6646.049,-6016.576,37,0.9,37,-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 2.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020712,051259,6645.982,-6016.645,16,1.0,16,-33.9 MHEAD_RNG_PITCHd_Wd 67.1,153933,-16.3,-9.167

SPEED_LIMITS 0.159,0.240 D_GRID 547

Post-dive calculations and measurements:

FREEZE 1.32,1.749,-0.793,2,1,0 ALTIM_TOP_PING 19.8,18.3

FINISH 1.3,1.011696 _24V_AH 23.3,11.170

SM_CCo 10462,79.88,0.073,0,0,1397,400.08 _10V_AH 10.2,12.995

SM_GC 2.22,8.23,0.28,79.88,0.052,0.069,0.073,342,2107,1397,-8.66,-1.22,400.08,0,0,0,0,0,0,25.98,26.01,25.90 FG_AHR_24Vo 0.000

RAFOS_CLK 544 FG_AHR_10Vo 0.000

RAFOS 0,1341216063,8.033334,8.017500,48,44,43,40,40,39,1929,1451,1427,187,517,1898 MEM 151536

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 56715,1207

IRIDIUM_FIX 6620.33,-6010.56,020712,020236 CAP_FILE_SIZE 126660,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,240029696

HUMID 41.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0

INTERNAL_PRESSURE 8.96519 SOUNDSPEED 1453.4

TCM_TEMP 15.40 CURRENT 0.310,169.6,1

XPDR_PINGS 0 GPS 020712,081034,6645.147,-6013.710,29,0.9,29,-33.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 261 125.12 SBE_CT 842 23 470.61

Roll_motor 96 68 154.16 SBE_O2 912 5 127.40

VBD_pump_during_apogee 308 1203 8649.00 nil 0 0 0.00

VBD_pump_during_surface 79 72 135.25 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 285 270 1798.30 nil 0 0 0.00

Transponder_ping 1 420 14.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.65

TT8 3027 17 554.61

LPSleep 4827 2 113.75

TT8_Active 561 17 102.80

TT8_Sampling 2244 40 925.53

TT8_CF8 299 48 148.75

TT8_Kalman 0 0 0.00

Analog_circuits 1886 12 230.94

GPS_charging 0 0 0.00

Compass 1945 7 148.63

RAFOS 360 3 11.02

Transponder 11 30 3.50

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 -0.72 -146.6 0.0 0.0 0 102 0.00 0.00 -83.88 0.000 2 0.000 0.000 343 2099 3292 0 0 0 0 0 0 28.83 28.83 28.83

106 -0.72 -146.6 3.3 -1.9 15 133 10.23 2.22 -8.43 0.000 4 0.262 0.063 2902 705 3632 0 0 0 0 0 0 26.06 26.30 26.59

314 -0.72 -146.6 35.8 -14.2 54 320 0.00 2.20 0.00 0.000 6 0.000 0.045 2895 2099 3636 0 0 0 0 0 0 28.83 26.36 28.83

625 -0.72 -146.6 72.5 -11.3 115 632 0.00 2.17 0.00 0.000 4 0.000 0.057 2884 3515 3638 0 0 0 0 0 0 28.83 26.39 28.83

807 -0.72 -146.6 94.3 -11.8 150 814 0.00 2.15 0.00 0.000 6 0.000 0.041 2889 2094 3638 0 0 0 0 0 0 28.83 26.46 28.83

1122 -0.72 -146.6 128.0 -10.2 186 1126 0.00 2.22 0.00 0.000 4 0.000 0.057 2880 3513 3638 0 0 0 0 0 0 28.83 26.46 28.83

1215 -0.72 -146.6 138.0 -10.8 195 1224 0.00 2.12 0.00 0.000 6 0.000 0.041 2880 2096 3638 0 0 0 0 0 0 28.83 26.52 28.83

1525 -0.72 -146.6 170.8 -10.2 226 1534 0.00 2.20 0.00 0.000 4 0.000 0.057 2870 3505 3637 0 0 0 0 0 0 28.83 26.50 28.83

1663 -0.72 -146.6 185.7 -11.6 239 1669 0.00 2.12 0.00 0.000 6 0.000 0.041 2871 2099 3637 0 0 0 0 0 0 28.83 26.55 28.83

1968 -0.72 -146.6 218.6 -10.5 270 1977 0.00 2.17 0.00 0.000 4 0.000 0.057 2862 3496 3636 0 0 0 0 0 0 28.83 26.53 28.83

2073 -0.72 -146.6 229.8 -11.0 280 2081 0.12 2.12 0.00 0.000 6 0.183 0.041 2893 2094 3636 0 0 0 0 0 0 26.42 26.58 28.83

2380 -0.72 -146.6 256.8 -8.1 311 2384 0.00 2.20 0.00 0.000 4 0.000 0.057 2885 3506 3636 0 0 0 0 0 0 28.83 26.55 28.83

2446 -0.72 -146.6 262.3 -8.9 317 2454 0.00 2.12 0.00 0.000 6 0.000 0.041 2885 2096 3635 0 0 0 0 0 0 28.83 26.60 28.83

2753 -0.72 -146.6 287.7 -7.9 348 2754 0.00 0.00 0.00 0.000 6 0.000 0.000 2885 2095 3635 0 0 0 0 0 0 28.83 28.83 28.83

3056 -0.72 -146.6 312.0 -8.0 378 3060 0.00 2.20 0.00 0.000 4 0.000 0.057 2875 3510 3635 0 0 0 0 0 0 28.83 26.58 28.83

3141 -0.72 -146.6 319.4 -9.1 386 3147 0.00 2.12 0.00 0.000 6 0.000 0.041 2875 2096 3635 0 0 0 0 0 0 28.83 26.63 28.83

3448 -0.72 -146.6 346.6 -8.8 417 3458 0.00 2.17 0.00 0.000 4 0.000 0.056 2867 3502 3635 0 0 0 0 0 0 28.83 26.60 28.83

3605 -0.72 -146.6 361.0 -9.3 432 3612 0.00 2.10 0.00 0.000 6 0.000 0.037 2866 2096 3635 0 0 0 0 0 0 28.83 26.65 28.83

3913 -0.72 -146.6 388.2 -8.8 463 3915 0.12 0.00 0.00 0.000 6 0.180 0.000 2897 2096 3635 0 0 0 0 0 0 26.52 28.83 28.83

4213 -0.72 -146.6 408.6 -6.8 493 4217 0.00 2.17 0.00 0.000 4 0.000 0.056 2888 3506 3635 0 0 0 0 0 0 28.83 26.63 28.83

4289 -0.72 -146.6 413.8 -7.1 500 4296 0.00 2.10 0.00 0.000 6 0.000 0.040 2888 2097 3635 0 0 0 0 0 0 28.83 26.67 28.83

4596 -0.72 -146.6 437.5 -7.9 531 4605 0.00 2.17 0.00 0.000 4 0.000 0.055 2879 3508 3635 0 0 0 0 0 0 28.83 26.64 28.83

4699 -0.72 -146.6 446.4 -8.9 541 4703 0.00 2.10 0.00 0.000 6 0.000 0.040 2879 2099 3636 0 0 0 0 0 0 28.83 26.69 28.83

5012 -0.72 -146.6 471.7 -8.0 572 5016 0.00 2.17 0.00 0.000 4 0.000 0.055 2869 3512 3636 0 0 0 0 0 0 28.83 26.65 28.83

5117 -0.72 -146.6 480.8 -8.9 582 5124 0.00 2.12 0.00 0.000 6 0.000 0.039 2869 2088 3636 0 0 0 0 0 0 28.83 26.70 28.83

5425 -0.72 -146.6 506.1 -8.0 613 5434 0.00 2.17 0.00 0.000 4 0.000 0.055 2858 3502 3636 0 0 0 0 0 0 28.83 26.65 28.83

5458 -0.72 -146.6 509.0 -8.5 616 5467 0.10 2.10 0.00 0.000 6 0.149 0.039 2891 2097 3637 0 0 0 0 0 0 26.54 26.70 28.83

5768 -0.72 -146.6 532.1 -7.3 647 5777 0.00 2.15 0.00 0.000 4 0.000 0.055 2883 3512 3637 0 0 0 0 0 0 28.83 26.66 28.83

5821 -0.72 -146.6 536.4 -8.5 652 5825 0.00 2.10 0.00 0.000 6 0.000 0.039 2883 2094 3638 0 0 0 0 0 0 28.83 26.70 28.83

5961 end dive: TARGET_DEPTH_EXCEEDED

state 5961 begin apogee

5968 -0.17 0.0 547.7 -7.9 666 6095 0.57 0.00 122.30 1.203 6 0.138 0.000 3069 1890 3029 0 0 0 0 0 0 26.55 28.83 23.80

6098 end apogee: CONTROL_FINISHED_OK

state 6098 begin climb

6101 0.72 146.6 549.7 0.0 679 6233 0.88 0.00 125.38 1.176 6 0.096 0.000 3358 1890 2430 0 0 0 0 0 0 24.75 28.83 23.34

6533 0.72 146.6 494.1 13.3 723 6542 0.00 2.28 0.00 0.000 4 0.000 0.052 3358 3301 2418 0 0 0 0 0 0 28.83 25.41 28.83

6565 0.72 146.6 489.5 14.4 726 6574 0.00 2.17 0.00 0.000 6 0.000 0.039 3367 1913 2418 0 0 0 0 0 0 28.83 25.50 28.83

6875 0.72 146.6 443.8 15.0 757 6884 0.00 2.28 0.00 0.000 4 0.000 0.047 3378 491 2417 0 0 0 0 0 0 28.83 25.82 28.83

6940 0.72 146.6 434.6 14.8 763 6947 0.00 2.28 0.00 0.000 6 0.000 0.041 3378 1907 2416 0 0 0 0 0 0 28.83 25.89 28.83

7248 0.72 146.6 386.6 15.7 794 7252 0.00 2.17 0.00 0.000 4 0.000 0.052 3378 3305 2415 0 0 0 0 0 0 28.83 26.05 28.83

7273 0.72 146.6 382.8 16.0 796 7280 0.00 2.17 0.00 0.000 6 0.000 0.039 3387 1894 2415 0 0 0 0 0 0 28.83 26.09 28.83

7580 0.72 146.6 333.7 15.0 827 7589 0.00 2.20 0.00 0.000 4 0.000 0.047 3398 495 2415 0 0 0 0 0 0 28.83 26.18 28.83

7625 0.72 146.6 327.2 15.4 831 7633 0.15 2.22 0.00 0.000 6 0.164 0.040 3360 1904 2414 0 0 0 0 0 0 26.08 26.22 28.83

7933 0.72 146.6 286.0 13.2 862 7942 0.00 2.12 0.00 0.000 4 0.000 0.051 3360 3299 2414 0 0 0 0 0 0 28.83 26.27 28.83

7968 0.72 146.6 281.4 13.7 865 7976 0.00 2.12 0.00 0.000 6 0.000 0.039 3367 1891 2414 0 0 0 0 0 0 28.83 26.32 28.83

8275 0.72 146.6 240.8 12.7 896 8284 0.00 2.17 0.00 0.000 4 0.000 0.047 3378 499 2414 0 0 0 0 0 0 28.83 26.35 28.83

8338 0.72 146.6 232.6 13.4 902 8342 0.00 2.20 0.00 0.000 6 0.000 0.040 3378 1907 2414 0 0 0 0 0 0 28.83 26.38 28.83

8650 0.72 146.6 190.6 13.0 933 8651 0.00 0.00 0.00 0.000 6 0.000 0.000 3378 1907 2414 0 0 0 0 0 0 28.83 28.83 28.83

8952 0.72 146.6 152.1 12.8 963 8958 0.00 0.00 0.00 0.000 6 0.000 0.000 3377 1907 2414 0 0 0 0 0 0 28.83 28.83 28.83

9264 0.72 146.6 114.6 11.5 994 9273 0.00 2.12 0.00 0.000 4 0.000 0.053 3378 3301 2414 0 0 0 0 0 0 28.83 26.48 28.83

9290 0.72 146.6 111.4 12.1 996 9297 0.00 2.12 0.00 0.000 6 0.000 0.040 3386 1901 2414 0 0 0 0 0 0 28.83 26.51 28.83

9598 0.72 146.6 75.0 11.4 1048 9605 0.00 2.17 0.00 0.000 4 0.000 0.049 3397 504 2414 0 0 0 0 0 0 28.83 26.51 28.83

9678 0.72 146.6 65.1 12.8 1063 9685 0.12 2.20 0.00 0.000 6 0.164 0.041 3366 1909 2413 0 0 0 0 0 0 26.41 26.53 28.83

9991 0.77 181.9 36.2 7.7 1124 10029 0.00 2.30 28.10 0.884 4 0.000 0.050 3373 500 2285 0 0 1 0 0 0 28.83 26.02 25.25

10056 0.82 220.6 31.4 7.5 1134 10093 0.00 2.22 32.70 0.861 6 0.000 0.041 3373 1911 2129 0 0 0 0 0 0 28.83 26.07 24.78

10391 end climb: SURFACE_DEPTH_REACHED

state 10391 begin surface coast

10443 end surface coast: CONTROL_FINISHED_OK

state 10443 begin surface

ID	108	HD_B	0.0115	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
MISSION	21	HD_C	1.7999999e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	70	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	52	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	41	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	0	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	3029	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	-191174.34	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	0.00275	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017831143

GPS1	020712,050605,6646.049,-6016.576,37,0.9,37,-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	2.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020712,051259,6645.982,-6016.645,16,1.0,16,-33.9	MHEAD_RNG_PITCHd_Wd	67.1,153933,-16.3,-9.167
SPEED_LIMITS	0.159,0.240	D_GRID	547

FREEZE	1.32,1.749,-0.793,2,1,0	ALTIM_TOP_PING	19.8,18.3
FINISH	1.3,1.011696	_24V_AH	23.3,11.170
SM_CCo	10462,79.88,0.073,0,0,1397,400.08	_10V_AH	10.2,12.995
SM_GC	2.22,8.23,0.28,79.88,0.052,0.069,0.073,342,2107,1397,-8.66,-1.22,400.08,0,0,0,0,0,0,25.98,26.01,25.90	FG_AHR_24Vo	0.000
RAFOS_CLK	544	FG_AHR_10Vo	0.000
RAFOS	0,1341216063,8.033334,8.017500,48,44,43,40,40,39,1929,1451,1427,187,517,1898	MEM	151536
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	56715,1207
IRIDIUM_FIX	6620.33,-6010.56,020712,020236	CAP_FILE_SIZE	126660,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,240029696
HUMID	41.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
INTERNAL_PRESSURE	8.96519	SOUNDSPEED	1453.4
TCM_TEMP	15.40	CURRENT	0.310,169.6,1
XPDR_PINGS	0	GPS	020712,081034,6645.147,-6013.710,29,0.9,29,-33.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	261	125.12	SBE_CT	842	23	470.61
Roll_motor	96	68	154.16	SBE_O2	912	5	127.40
VBD_pump_during_apogee	308	1203	8649.00	nil	0	0	0.00
VBD_pump_during_surface	79	72	135.25	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	285	270	1798.30	nil	0	0	0.00
Transponder_ping	1	420	14.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.65
TT8	3027	17	554.61
LPSleep	4827	2	113.75
TT8_Active	561	17	102.80
TT8_Sampling	2244	40	925.53
TT8_CF8	299	48	148.75
TT8_Kalman	0	0	0.00
Analog_circuits	1886	12	230.94
GPS_charging	0	0	0.00
Compass	1945	7	148.63
RAFOS	360	3	11.02
Transponder	11	30	3.50

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	-0.72	-146.6	0.0	0.0	0	102	0.00	0.00	-83.88	0.000	2	0.000	0.000	343	2099	3292	0	0	0	0	0	0	28.83	28.83	28.83
106	-0.72	-146.6	3.3	-1.9	15	133	10.23	2.22	-8.43	0.000	4	0.262	0.063	2902	705	3632	0	0	0	0	0	0	26.06	26.30	26.59
314	-0.72	-146.6	35.8	-14.2	54	320	0.00	2.20	0.00	0.000	6	0.000	0.045	2895	2099	3636	0	0	0	0	0	0	28.83	26.36	28.83
625	-0.72	-146.6	72.5	-11.3	115	632	0.00	2.17	0.00	0.000	4	0.000	0.057	2884	3515	3638	0	0	0	0	0	0	28.83	26.39	28.83
807	-0.72	-146.6	94.3	-11.8	150	814	0.00	2.15	0.00	0.000	6	0.000	0.041	2889	2094	3638	0	0	0	0	0	0	28.83	26.46	28.83
1122	-0.72	-146.6	128.0	-10.2	186	1126	0.00	2.22	0.00	0.000	4	0.000	0.057	2880	3513	3638	0	0	0	0	0	0	28.83	26.46	28.83
1215	-0.72	-146.6	138.0	-10.8	195	1224	0.00	2.12	0.00	0.000	6	0.000	0.041	2880	2096	3638	0	0	0	0	0	0	28.83	26.52	28.83
1525	-0.72	-146.6	170.8	-10.2	226	1534	0.00	2.20	0.00	0.000	4	0.000	0.057	2870	3505	3637	0	0	0	0	0	0	28.83	26.50	28.83
1663	-0.72	-146.6	185.7	-11.6	239	1669	0.00	2.12	0.00	0.000	6	0.000	0.041	2871	2099	3637	0	0	0	0	0	0	28.83	26.55	28.83
1968	-0.72	-146.6	218.6	-10.5	270	1977	0.00	2.17	0.00	0.000	4	0.000	0.057	2862	3496	3636	0	0	0	0	0	0	28.83	26.53	28.83
2073	-0.72	-146.6	229.8	-11.0	280	2081	0.12	2.12	0.00	0.000	6	0.183	0.041	2893	2094	3636	0	0	0	0	0	0	26.42	26.58	28.83
2380	-0.72	-146.6	256.8	-8.1	311	2384	0.00	2.20	0.00	0.000	4	0.000	0.057	2885	3506	3636	0	0	0	0	0	0	28.83	26.55	28.83
2446	-0.72	-146.6	262.3	-8.9	317	2454	0.00	2.12	0.00	0.000	6	0.000	0.041	2885	2096	3635	0	0	0	0	0	0	28.83	26.60	28.83
2753	-0.72	-146.6	287.7	-7.9	348	2754	0.00	0.00	0.00	0.000	6	0.000	0.000	2885	2095	3635	0	0	0	0	0	0	28.83	28.83	28.83
3056	-0.72	-146.6	312.0	-8.0	378	3060	0.00	2.20	0.00	0.000	4	0.000	0.057	2875	3510	3635	0	0	0	0	0	0	28.83	26.58	28.83
3141	-0.72	-146.6	319.4	-9.1	386	3147	0.00	2.12	0.00	0.000	6	0.000	0.041	2875	2096	3635	0	0	0	0	0	0	28.83	26.63	28.83
3448	-0.72	-146.6	346.6	-8.8	417	3458	0.00	2.17	0.00	0.000	4	0.000	0.056	2867	3502	3635	0	0	0	0	0	0	28.83	26.60	28.83
3605	-0.72	-146.6	361.0	-9.3	432	3612	0.00	2.10	0.00	0.000	6	0.000	0.037	2866	2096	3635	0	0	0	0	0	0	28.83	26.65	28.83
3913	-0.72	-146.6	388.2	-8.8	463	3915	0.12	0.00	0.00	0.000	6	0.180	0.000	2897	2096	3635	0	0	0	0	0	0	26.52	28.83	28.83
4213	-0.72	-146.6	408.6	-6.8	493	4217	0.00	2.17	0.00	0.000	4	0.000	0.056	2888	3506	3635	0	0	0	0	0	0	28.83	26.63	28.83
4289	-0.72	-146.6	413.8	-7.1	500	4296	0.00	2.10	0.00	0.000	6	0.000	0.040	2888	2097	3635	0	0	0	0	0	0	28.83	26.67	28.83
4596	-0.72	-146.6	437.5	-7.9	531	4605	0.00	2.17	0.00	0.000	4	0.000	0.055	2879	3508	3635	0	0	0	0	0	0	28.83	26.64	28.83
4699	-0.72	-146.6	446.4	-8.9	541	4703	0.00	2.10	0.00	0.000	6	0.000	0.040	2879	2099	3636	0	0	0	0	0	0	28.83	26.69	28.83
5012	-0.72	-146.6	471.7	-8.0	572	5016	0.00	2.17	0.00	0.000	4	0.000	0.055	2869	3512	3636	0	0	0	0	0	0	28.83	26.65	28.83
5117	-0.72	-146.6	480.8	-8.9	582	5124	0.00	2.12	0.00	0.000	6	0.000	0.039	2869	2088	3636	0	0	0	0	0	0	28.83	26.70	28.83
5425	-0.72	-146.6	506.1	-8.0	613	5434	0.00	2.17	0.00	0.000	4	0.000	0.055	2858	3502	3636	0	0	0	0	0	0	28.83	26.65	28.83
5458	-0.72	-146.6	509.0	-8.5	616	5467	0.10	2.10	0.00	0.000	6	0.149	0.039	2891	2097	3637	0	0	0	0	0	0	26.54	26.70	28.83
5768	-0.72	-146.6	532.1	-7.3	647	5777	0.00	2.15	0.00	0.000	4	0.000	0.055	2883	3512	3637	0	0	0	0	0	0	28.83	26.66	28.83
5821	-0.72	-146.6	536.4	-8.5	652	5825	0.00	2.10	0.00	0.000	6	0.000	0.039	2883	2094	3638	0	0	0	0	0	0	28.83	26.70	28.83
5961	end dive: TARGET_DEPTH_EXCEEDED
state	5961	begin apogee
5968	-0.17	0.0	547.7	-7.9	666	6095	0.57	0.00	122.30	1.203	6	0.138	0.000	3069	1890	3029	0	0	0	0	0	0	26.55	28.83	23.80
6098	end apogee: CONTROL_FINISHED_OK
state	6098	begin climb
6101	0.72	146.6	549.7	0.0	679	6233	0.88	0.00	125.38	1.176	6	0.096	0.000	3358	1890	2430	0	0	0	0	0	0	24.75	28.83	23.34
6533	0.72	146.6	494.1	13.3	723	6542	0.00	2.28	0.00	0.000	4	0.000	0.052	3358	3301	2418	0	0	0	0	0	0	28.83	25.41	28.83
6565	0.72	146.6	489.5	14.4	726	6574	0.00	2.17	0.00	0.000	6	0.000	0.039	3367	1913	2418	0	0	0	0	0	0	28.83	25.50	28.83
6875	0.72	146.6	443.8	15.0	757	6884	0.00	2.28	0.00	0.000	4	0.000	0.047	3378	491	2417	0	0	0	0	0	0	28.83	25.82	28.83
6940	0.72	146.6	434.6	14.8	763	6947	0.00	2.28	0.00	0.000	6	0.000	0.041	3378	1907	2416	0	0	0	0	0	0	28.83	25.89	28.83
7248	0.72	146.6	386.6	15.7	794	7252	0.00	2.17	0.00	0.000	4	0.000	0.052	3378	3305	2415	0	0	0	0	0	0	28.83	26.05	28.83
7273	0.72	146.6	382.8	16.0	796	7280	0.00	2.17	0.00	0.000	6	0.000	0.039	3387	1894	2415	0	0	0	0	0	0	28.83	26.09	28.83
7580	0.72	146.6	333.7	15.0	827	7589	0.00	2.20	0.00	0.000	4	0.000	0.047	3398	495	2415	0	0	0	0	0	0	28.83	26.18	28.83
7625	0.72	146.6	327.2	15.4	831	7633	0.15	2.22	0.00	0.000	6	0.164	0.040	3360	1904	2414	0	0	0	0	0	0	26.08	26.22	28.83
7933	0.72	146.6	286.0	13.2	862	7942	0.00	2.12	0.00	0.000	4	0.000	0.051	3360	3299	2414	0	0	0	0	0	0	28.83	26.27	28.83
7968	0.72	146.6	281.4	13.7	865	7976	0.00	2.12	0.00	0.000	6	0.000	0.039	3367	1891	2414	0	0	0	0	0	0	28.83	26.32	28.83
8275	0.72	146.6	240.8	12.7	896	8284	0.00	2.17	0.00	0.000	4	0.000	0.047	3378	499	2414	0	0	0	0	0	0	28.83	26.35	28.83
8338	0.72	146.6	232.6	13.4	902	8342	0.00	2.20	0.00	0.000	6	0.000	0.040	3378	1907	2414	0	0	0	0	0	0	28.83	26.38	28.83
8650	0.72	146.6	190.6	13.0	933	8651	0.00	0.00	0.00	0.000	6	0.000	0.000	3378	1907	2414	0	0	0	0	0	0	28.83	28.83	28.83
8952	0.72	146.6	152.1	12.8	963	8958	0.00	0.00	0.00	0.000	6	0.000	0.000	3377	1907	2414	0	0	0	0	0	0	28.83	28.83	28.83
9264	0.72	146.6	114.6	11.5	994	9273	0.00	2.12	0.00	0.000	4	0.000	0.053	3378	3301	2414	0	0	0	0	0	0	28.83	26.48	28.83
9290	0.72	146.6	111.4	12.1	996	9297	0.00	2.12	0.00	0.000	6	0.000	0.040	3386	1901	2414	0	0	0	0	0	0	28.83	26.51	28.83
9598	0.72	146.6	75.0	11.4	1048	9605	0.00	2.17	0.00	0.000	4	0.000	0.049	3397	504	2414	0	0	0	0	0	0	28.83	26.51	28.83
9678	0.72	146.6	65.1	12.8	1063	9685	0.12	2.20	0.00	0.000	6	0.164	0.041	3366	1909	2413	0	0	0	0	0	0	26.41	26.53	28.83
9991	0.77	181.9	36.2	7.7	1124	10029	0.00	2.30	28.10	0.884	4	0.000	0.050	3373	500	2285	0	0	1	0	0	0	28.83	26.02	25.25
10056	0.82	220.6	31.4	7.5	1134	10093	0.00	2.22	32.70	0.861	6	0.000	0.041	3373	1911	2129	0	0	0	0	0	0	28.83	26.07	24.78
10391	end climb: SURFACE_DEPTH_REACHED
state	10391	begin surface coast
10443	end surface coast: CONTROL_FINISHED_OK
state	10443	begin surface