Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 72 * 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 72 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 53 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 42 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 -191176.84 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 -191176.84

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 53 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 42 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 72 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 020712,111603,6646.185,-6011.500,30,1.2,38,-33.9 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 1 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020712,112341,6646.133,-6011.434,21,0.8,21,-33.9 MHEAD_RNG_PITCHd_Wd 115.6,150193,-16.3,-9.167

SPEED_LIMITS 0.159,0.240 D_GRID 574

Post-dive calculations and measurements:

FREEZE 1.28,2.313,-0.824,2,1,0 ALTIM_BOTTOM_PING 550.2,71.8

FINISH 1.3,1.012137 _24V_AH 23.3,11.344

SM_CCo 10845,110.65,0.073,0,0,1397,400.08 _10V_AH 10.2,13.186

SM_GC 2.20,8.07,0.28,110.65,0.057,0.071,0.073,340,2095,1397,-8.66,-1.41,400.08,0,0,0,0,0,0,26.55,26.59,26.38 FG_AHR_24Vo 0.000

RAFOS_CLK 561 FG_AHR_10Vo 0.000

RAFOS 0,1341230462,12.033333,12.017222,44,43,43,43,43,42,540,301,541,1627,1893,1294 MEM 151568

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 56685,1247

IRIDIUM_FIX 6620.33,-6013.28,020712,080838 CAP_FILE_SIZE 132545,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,239882240

HUMID 40.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0

INTERNAL_PRESSURE 8.96519 SOUNDSPEED 1454.1

TCM_TEMP 15.40 CURRENT 0.043,348.3,1

XPDR_PINGS 0 GPS 020712,142823,6646.407,-6008.247,40,0.8,40,-33.9

ALTIM_TOP_PING 19.8,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 265 126.18 SBE_CT 869 23 485.78

Roll_motor 91 71 152.46 SBE_O2 942 5 131.59

VBD_pump_during_apogee 247 1218 7013.42 nil 0 0 0.00

VBD_pump_during_surface 110 73 189.34 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 322 268 2015.94 nil 0 0 0.00

Transponder_ping 2 420 19.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 5.94

TT8 3133 17 574.08

LPSleep 5072 2 119.52

TT8_Active 548 17 100.49

TT8_Sampling 2352 40 970.11

TT8_CF8 309 48 153.69

TT8_Kalman 0 0 0.00

Analog_circuits 1947 12 238.33

GPS_charging 0 0 0.00

Compass 2012 7 153.76

RAFOS 2520 3 77.11

Transponder 16 30 4.92

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.72 -146.6 0.0 0.0 0 96 0.00 0.00 -77.97 0.000 2 0.000 0.000 340 2102 3159 0 0 0 0 0 0 28.83 28.83 28.83

100 -0.72 -146.6 3.0 -0.9 14 132 10.23 2.25 -12.65 0.000 4 0.265 0.066 2897 707 3631 0 0 0 0 0 0 26.20 26.43 26.73

361 -0.72 -146.6 40.6 -13.6 64 369 0.00 2.20 0.00 0.000 6 0.000 0.046 2890 2106 3636 0 0 0 0 0 0 28.83 26.48 28.83

675 -0.72 -146.6 77.7 -11.0 125 681 0.00 0.00 0.00 0.000 6 0.000 0.000 2891 2106 3637 0 0 0 0 0 0 28.83 28.83 28.83

991 -0.72 -146.6 111.8 -10.5 176 1001 0.00 2.15 0.00 0.000 4 0.000 0.059 2880 3515 3637 0 0 0 0 0 0 28.83 26.52 28.83

1037 -0.72 -146.6 116.7 -11.5 180 1045 0.00 2.12 0.00 0.000 6 0.000 0.042 2880 2090 3637 0 0 0 0 0 0 28.83 26.57 28.83

1344 -0.72 -146.6 150.2 -10.7 211 1353 0.00 2.20 0.00 0.000 4 0.000 0.058 2870 3512 3637 0 0 0 0 0 0 28.83 26.54 28.83

1439 -0.72 -146.6 160.6 -11.2 220 1448 0.00 2.12 0.00 0.000 6 0.000 0.041 2870 2090 3637 0 0 0 0 0 0 28.83 26.60 28.83

1746 -0.72 -146.6 193.6 -10.6 251 1748 0.00 0.00 0.00 0.000 6 0.000 0.000 2870 2090 3636 0 0 0 0 0 0 28.83 28.83 28.83

2049 -0.72 -146.6 225.8 -10.6 281 2058 0.00 2.17 0.00 0.000 4 0.000 0.058 2860 3504 3635 0 0 0 0 0 0 28.83 26.59 28.83

2094 -0.72 -146.6 230.5 -10.8 285 2102 0.15 2.12 0.00 0.000 6 0.181 0.041 2899 2094 3635 0 0 0 0 0 0 26.46 26.63 28.83

2401 -0.72 -146.6 258.4 -8.4 316 2410 0.00 2.17 0.00 0.000 4 0.000 0.057 2890 3502 3635 0 0 0 0 0 0 28.83 26.60 28.83

2467 -0.72 -146.6 264.2 -9.1 322 2474 0.00 2.12 0.00 0.000 6 0.000 0.040 2890 2087 3634 0 0 0 0 0 0 28.83 26.65 28.83

2774 -0.72 -146.6 290.6 -8.2 353 2783 0.00 2.20 0.00 0.000 4 0.000 0.057 2880 3509 3634 0 0 0 0 0 0 28.83 26.61 28.83

2930 -0.72 -146.6 304.5 -8.7 368 2940 0.00 2.10 0.00 0.000 6 0.000 0.041 2880 2099 3634 0 0 0 0 0 0 28.83 26.66 28.83

3241 -0.72 -146.6 331.7 -8.6 399 3242 0.00 0.00 0.00 0.000 6 0.000 0.000 2880 2099 3634 0 0 0 0 0 0 28.83 28.83 28.83

3544 -0.72 -146.6 357.2 -8.2 429 3553 0.00 2.17 0.00 0.000 4 0.000 0.057 2870 3509 3634 0 0 0 0 0 0 28.83 26.63 28.83

3588 -0.72 -146.6 361.4 -9.2 433 3595 0.00 2.12 0.00 0.000 6 0.000 0.041 2870 2091 3634 0 0 0 0 0 0 28.83 26.68 28.83

3896 -0.72 -146.6 388.7 -8.2 464 3906 0.00 2.17 0.00 0.000 4 0.000 0.056 2859 3506 3634 0 0 0 0 0 0 28.83 26.65 28.83

3979 -0.72 -146.6 396.3 -9.2 472 3989 0.10 2.08 0.00 0.000 6 0.155 0.041 2891 2094 3634 0 0 0 0 0 0 26.53 26.70 28.83

4289 -0.72 -146.6 419.7 -7.5 503 4298 0.00 2.17 0.00 0.000 4 0.000 0.055 2883 3509 3634 0 0 0 0 0 0 28.83 26.65 28.83

4365 -0.72 -146.6 425.6 -8.4 510 4372 0.00 2.10 0.00 0.000 6 0.000 0.038 2883 2095 3634 0 0 0 0 0 0 28.83 26.70 28.83

4675 -0.72 -146.6 450.4 -8.0 541 4683 0.00 2.15 0.00 0.000 4 0.000 0.055 2872 3512 3634 0 0 0 0 0 0 28.83 26.66 28.83

4770 -0.72 -146.6 458.8 -9.1 550 4776 0.00 2.10 0.00 0.000 6 0.000 0.038 2872 2098 3635 0 0 0 0 0 0 28.83 26.71 28.83

5077 -0.72 -146.6 485.8 -8.7 581 5086 0.00 2.12 0.00 0.000 4 0.000 0.054 2862 3501 3636 0 0 0 0 0 0 28.83 26.67 28.83

5179 -0.72 -146.6 495.5 -9.6 591 5184 0.12 2.08 0.00 0.000 6 0.174 0.038 2893 2101 3635 0 0 0 0 0 0 26.55 26.72 28.83

5493 -0.72 -146.6 519.4 -7.1 622 5497 0.00 2.17 0.00 0.000 4 0.000 0.055 2885 3507 3636 0 0 0 0 0 0 28.83 26.67 28.83

5528 -0.72 -146.6 521.9 -7.6 625 5535 0.00 2.10 0.00 0.000 6 0.000 0.039 2885 2095 3636 0 0 0 0 0 0 28.83 26.72 28.83

5836 -0.72 -146.6 546.4 -8.1 656 5845 0.00 2.17 0.00 0.000 4 0.000 0.054 2874 3512 3636 0 0 0 0 0 0 28.83 26.67 28.83

5905 -0.72 -146.6 552.4 -9.1 662 5912 0.00 2.10 0.00 0.000 6 0.000 0.038 2874 2099 3636 0 0 0 0 0 0 28.83 26.72 28.83

6159 end dive: TARGET_DEPTH_EXCEEDED

state 6161 begin apogee

6169 -0.17 0.0 574.4 -7.9 688 6295 0.62 0.00 121.95 1.219 6 0.145 0.000 3074 1882 3029 0 0 0 0 0 0 26.56 28.83 23.78

6298 end apogee: CONTROL_FINISHED_OK

state 6298 begin climb

6301 0.72 146.6 576.7 0.0 701 6440 0.85 2.38 125.05 1.191 4 0.090 0.046 3367 518 2429 0 0 0 0 0 0 24.75 24.20 23.33

6515 0.72 146.6 552.3 14.3 722 6522 0.00 2.30 0.00 0.000 6 0.000 0.039 3367 1898 2423 0 0 1 0 0 0 28.83 24.89 28.83

6823 0.72 146.6 505.9 14.7 753 6832 0.00 2.25 0.00 0.000 4 0.000 0.051 3367 3312 2418 0 0 0 0 0 0 28.83 25.55 28.83

6846 0.72 146.6 502.5 15.1 755 6855 0.00 2.17 0.00 0.000 6 0.000 0.038 3377 1920 2417 0 0 0 0 0 0 28.83 25.62 28.83

7155 0.72 146.6 453.1 15.6 786 7164 0.00 2.28 0.00 0.000 4 0.000 0.047 3387 487 2416 0 0 0 0 0 0 28.83 25.89 28.83

7228 0.72 146.6 441.7 15.5 793 7237 0.00 2.25 0.00 0.000 6 0.000 0.041 3387 1904 2416 0 0 0 0 0 0 28.83 25.95 28.83

7537 0.72 146.6 390.6 16.7 824 7538 0.00 0.00 0.00 0.000 6 0.000 0.000 3387 1904 2415 0 0 0 0 0 0 28.83 28.83 28.83

7839 0.72 146.6 340.2 16.7 854 7843 0.00 2.25 0.00 0.000 4 0.000 0.047 3397 497 2415 0 0 0 0 0 0 28.83 26.21 28.83

7891 0.72 146.6 331.2 16.8 859 7901 0.12 2.22 0.00 0.000 6 0.170 0.040 3363 1908 2414 0 0 0 0 0 0 26.11 26.25 28.83

8201 0.72 146.6 289.4 12.5 890 8210 0.00 2.15 0.00 0.000 4 0.000 0.052 3363 3314 2414 0 0 0 0 0 0 28.83 26.29 28.83

8246 0.72 146.6 283.6 13.8 894 8253 0.00 2.17 0.00 0.000 6 0.000 0.039 3370 1886 2414 0 0 0 0 0 0 28.83 26.33 28.83

8554 0.72 146.6 244.8 11.8 925 8555 0.00 0.00 0.00 0.000 6 0.000 0.000 3371 1885 2413 0 0 0 0 0 0 28.83 28.83 28.83

8855 0.72 146.6 210.3 11.7 955 8864 0.00 2.15 0.00 0.000 4 0.000 0.048 3380 507 2414 0 0 0 0 0 0 28.83 26.42 28.83

8920 0.72 146.6 202.7 12.2 961 8927 0.00 2.20 0.00 0.000 6 0.000 0.040 3380 1911 2413 0 0 0 0 0 0 28.83 26.44 28.83

9227 0.72 146.6 164.4 12.1 992 9228 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 1911 2413 0 0 0 0 0 0 28.83 28.83 28.83

9529 0.72 146.6 130.1 11.2 1022 9535 0.00 0.00 0.00 0.000 6 0.000 0.000 3381 1911 2414 0 0 0 0 0 0 28.83 28.83 28.83

9839 0.72 146.6 94.2 11.7 1057 9846 0.00 2.22 0.00 0.000 4 0.000 0.049 3389 505 2413 0 0 0 0 0 0 28.83 26.52 28.83

9889 0.72 146.6 88.3 11.8 1066 9895 0.00 2.20 0.00 0.000 6 0.000 0.041 3389 1913 2413 0 0 0 0 0 0 28.83 26.55 28.83

10201 0.72 146.6 52.7 10.9 1127 10207 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 1913 2413 0 0 0 0 0 0 28.83 28.83 28.83

10512 0.73 147.0 21.3 9.2 1188 10519 0.00 2.25 0.00 0.000 4 0.000 0.050 3397 494 2413 0 0 0 0 0 0 28.83 26.57 28.83

10552 0.73 147.0 17.5 9.3 1195 10560 0.12 2.20 0.00 0.000 6 0.158 0.042 3365 1904 2413 0 0 0 0 0 0 26.47 26.58 28.83

10750 end climb: SURFACE_DEPTH_REACHED

state 10751 begin surface coast

10825 end surface coast: CONTROL_FINISHED_OK

state 10825 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	72	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	53	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	42	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	-191176.84	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	020712,111603,6646.185,-6011.500,30,1.2,38,-33.9	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	1	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020712,112341,6646.133,-6011.434,21,0.8,21,-33.9	MHEAD_RNG_PITCHd_Wd	115.6,150193,-16.3,-9.167
SPEED_LIMITS	0.159,0.240	D_GRID	574

FREEZE	1.28,2.313,-0.824,2,1,0	ALTIM_BOTTOM_PING	550.2,71.8
FINISH	1.3,1.012137	_24V_AH	23.3,11.344
SM_CCo	10845,110.65,0.073,0,0,1397,400.08	_10V_AH	10.2,13.186
SM_GC	2.20,8.07,0.28,110.65,0.057,0.071,0.073,340,2095,1397,-8.66,-1.41,400.08,0,0,0,0,0,0,26.55,26.59,26.38	FG_AHR_24Vo	0.000
RAFOS_CLK	561	FG_AHR_10Vo	0.000
RAFOS	0,1341230462,12.033333,12.017222,44,43,43,43,43,42,540,301,541,1627,1893,1294	MEM	151568
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	56685,1247
IRIDIUM_FIX	6620.33,-6013.28,020712,080838	CAP_FILE_SIZE	132545,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,239882240
HUMID	40.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
INTERNAL_PRESSURE	8.96519	SOUNDSPEED	1454.1
TCM_TEMP	15.40	CURRENT	0.043,348.3,1
XPDR_PINGS	0	GPS	020712,142823,6646.407,-6008.247,40,0.8,40,-33.9
ALTIM_TOP_PING	19.8,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	265	126.18	SBE_CT	869	23	485.78
Roll_motor	91	71	152.46	SBE_O2	942	5	131.59
VBD_pump_during_apogee	247	1218	7013.42	nil	0	0	0.00
VBD_pump_during_surface	110	73	189.34	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	322	268	2015.94	nil	0	0	0.00
Transponder_ping	2	420	19.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	5.94
TT8	3133	17	574.08
LPSleep	5072	2	119.52
TT8_Active	548	17	100.49
TT8_Sampling	2352	40	970.11
TT8_CF8	309	48	153.69
TT8_Kalman	0	0	0.00
Analog_circuits	1947	12	238.33
GPS_charging	0	0	0.00
Compass	2012	7	153.76
RAFOS	2520	3	77.11
Transponder	16	30	4.92

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.72	-146.6	0.0	0.0	0	96	0.00	0.00	-77.97	0.000	2	0.000	0.000	340	2102	3159	0	0	0	0	0	0	28.83	28.83	28.83
100	-0.72	-146.6	3.0	-0.9	14	132	10.23	2.25	-12.65	0.000	4	0.265	0.066	2897	707	3631	0	0	0	0	0	0	26.20	26.43	26.73
361	-0.72	-146.6	40.6	-13.6	64	369	0.00	2.20	0.00	0.000	6	0.000	0.046	2890	2106	3636	0	0	0	0	0	0	28.83	26.48	28.83
675	-0.72	-146.6	77.7	-11.0	125	681	0.00	0.00	0.00	0.000	6	0.000	0.000	2891	2106	3637	0	0	0	0	0	0	28.83	28.83	28.83
991	-0.72	-146.6	111.8	-10.5	176	1001	0.00	2.15	0.00	0.000	4	0.000	0.059	2880	3515	3637	0	0	0	0	0	0	28.83	26.52	28.83
1037	-0.72	-146.6	116.7	-11.5	180	1045	0.00	2.12	0.00	0.000	6	0.000	0.042	2880	2090	3637	0	0	0	0	0	0	28.83	26.57	28.83
1344	-0.72	-146.6	150.2	-10.7	211	1353	0.00	2.20	0.00	0.000	4	0.000	0.058	2870	3512	3637	0	0	0	0	0	0	28.83	26.54	28.83
1439	-0.72	-146.6	160.6	-11.2	220	1448	0.00	2.12	0.00	0.000	6	0.000	0.041	2870	2090	3637	0	0	0	0	0	0	28.83	26.60	28.83
1746	-0.72	-146.6	193.6	-10.6	251	1748	0.00	0.00	0.00	0.000	6	0.000	0.000	2870	2090	3636	0	0	0	0	0	0	28.83	28.83	28.83
2049	-0.72	-146.6	225.8	-10.6	281	2058	0.00	2.17	0.00	0.000	4	0.000	0.058	2860	3504	3635	0	0	0	0	0	0	28.83	26.59	28.83
2094	-0.72	-146.6	230.5	-10.8	285	2102	0.15	2.12	0.00	0.000	6	0.181	0.041	2899	2094	3635	0	0	0	0	0	0	26.46	26.63	28.83
2401	-0.72	-146.6	258.4	-8.4	316	2410	0.00	2.17	0.00	0.000	4	0.000	0.057	2890	3502	3635	0	0	0	0	0	0	28.83	26.60	28.83
2467	-0.72	-146.6	264.2	-9.1	322	2474	0.00	2.12	0.00	0.000	6	0.000	0.040	2890	2087	3634	0	0	0	0	0	0	28.83	26.65	28.83
2774	-0.72	-146.6	290.6	-8.2	353	2783	0.00	2.20	0.00	0.000	4	0.000	0.057	2880	3509	3634	0	0	0	0	0	0	28.83	26.61	28.83
2930	-0.72	-146.6	304.5	-8.7	368	2940	0.00	2.10	0.00	0.000	6	0.000	0.041	2880	2099	3634	0	0	0	0	0	0	28.83	26.66	28.83
3241	-0.72	-146.6	331.7	-8.6	399	3242	0.00	0.00	0.00	0.000	6	0.000	0.000	2880	2099	3634	0	0	0	0	0	0	28.83	28.83	28.83
3544	-0.72	-146.6	357.2	-8.2	429	3553	0.00	2.17	0.00	0.000	4	0.000	0.057	2870	3509	3634	0	0	0	0	0	0	28.83	26.63	28.83
3588	-0.72	-146.6	361.4	-9.2	433	3595	0.00	2.12	0.00	0.000	6	0.000	0.041	2870	2091	3634	0	0	0	0	0	0	28.83	26.68	28.83
3896	-0.72	-146.6	388.7	-8.2	464	3906	0.00	2.17	0.00	0.000	4	0.000	0.056	2859	3506	3634	0	0	0	0	0	0	28.83	26.65	28.83
3979	-0.72	-146.6	396.3	-9.2	472	3989	0.10	2.08	0.00	0.000	6	0.155	0.041	2891	2094	3634	0	0	0	0	0	0	26.53	26.70	28.83
4289	-0.72	-146.6	419.7	-7.5	503	4298	0.00	2.17	0.00	0.000	4	0.000	0.055	2883	3509	3634	0	0	0	0	0	0	28.83	26.65	28.83
4365	-0.72	-146.6	425.6	-8.4	510	4372	0.00	2.10	0.00	0.000	6	0.000	0.038	2883	2095	3634	0	0	0	0	0	0	28.83	26.70	28.83
4675	-0.72	-146.6	450.4	-8.0	541	4683	0.00	2.15	0.00	0.000	4	0.000	0.055	2872	3512	3634	0	0	0	0	0	0	28.83	26.66	28.83
4770	-0.72	-146.6	458.8	-9.1	550	4776	0.00	2.10	0.00	0.000	6	0.000	0.038	2872	2098	3635	0	0	0	0	0	0	28.83	26.71	28.83
5077	-0.72	-146.6	485.8	-8.7	581	5086	0.00	2.12	0.00	0.000	4	0.000	0.054	2862	3501	3636	0	0	0	0	0	0	28.83	26.67	28.83
5179	-0.72	-146.6	495.5	-9.6	591	5184	0.12	2.08	0.00	0.000	6	0.174	0.038	2893	2101	3635	0	0	0	0	0	0	26.55	26.72	28.83
5493	-0.72	-146.6	519.4	-7.1	622	5497	0.00	2.17	0.00	0.000	4	0.000	0.055	2885	3507	3636	0	0	0	0	0	0	28.83	26.67	28.83
5528	-0.72	-146.6	521.9	-7.6	625	5535	0.00	2.10	0.00	0.000	6	0.000	0.039	2885	2095	3636	0	0	0	0	0	0	28.83	26.72	28.83
5836	-0.72	-146.6	546.4	-8.1	656	5845	0.00	2.17	0.00	0.000	4	0.000	0.054	2874	3512	3636	0	0	0	0	0	0	28.83	26.67	28.83
5905	-0.72	-146.6	552.4	-9.1	662	5912	0.00	2.10	0.00	0.000	6	0.000	0.038	2874	2099	3636	0	0	0	0	0	0	28.83	26.72	28.83
6159	end dive: TARGET_DEPTH_EXCEEDED
state	6161	begin apogee
6169	-0.17	0.0	574.4	-7.9	688	6295	0.62	0.00	121.95	1.219	6	0.145	0.000	3074	1882	3029	0	0	0	0	0	0	26.56	28.83	23.78
6298	end apogee: CONTROL_FINISHED_OK
state	6298	begin climb
6301	0.72	146.6	576.7	0.0	701	6440	0.85	2.38	125.05	1.191	4	0.090	0.046	3367	518	2429	0	0	0	0	0	0	24.75	24.20	23.33
6515	0.72	146.6	552.3	14.3	722	6522	0.00	2.30	0.00	0.000	6	0.000	0.039	3367	1898	2423	0	0	1	0	0	0	28.83	24.89	28.83
6823	0.72	146.6	505.9	14.7	753	6832	0.00	2.25	0.00	0.000	4	0.000	0.051	3367	3312	2418	0	0	0	0	0	0	28.83	25.55	28.83
6846	0.72	146.6	502.5	15.1	755	6855	0.00	2.17	0.00	0.000	6	0.000	0.038	3377	1920	2417	0	0	0	0	0	0	28.83	25.62	28.83
7155	0.72	146.6	453.1	15.6	786	7164	0.00	2.28	0.00	0.000	4	0.000	0.047	3387	487	2416	0	0	0	0	0	0	28.83	25.89	28.83
7228	0.72	146.6	441.7	15.5	793	7237	0.00	2.25	0.00	0.000	6	0.000	0.041	3387	1904	2416	0	0	0	0	0	0	28.83	25.95	28.83
7537	0.72	146.6	390.6	16.7	824	7538	0.00	0.00	0.00	0.000	6	0.000	0.000	3387	1904	2415	0	0	0	0	0	0	28.83	28.83	28.83
7839	0.72	146.6	340.2	16.7	854	7843	0.00	2.25	0.00	0.000	4	0.000	0.047	3397	497	2415	0	0	0	0	0	0	28.83	26.21	28.83
7891	0.72	146.6	331.2	16.8	859	7901	0.12	2.22	0.00	0.000	6	0.170	0.040	3363	1908	2414	0	0	0	0	0	0	26.11	26.25	28.83
8201	0.72	146.6	289.4	12.5	890	8210	0.00	2.15	0.00	0.000	4	0.000	0.052	3363	3314	2414	0	0	0	0	0	0	28.83	26.29	28.83
8246	0.72	146.6	283.6	13.8	894	8253	0.00	2.17	0.00	0.000	6	0.000	0.039	3370	1886	2414	0	0	0	0	0	0	28.83	26.33	28.83
8554	0.72	146.6	244.8	11.8	925	8555	0.00	0.00	0.00	0.000	6	0.000	0.000	3371	1885	2413	0	0	0	0	0	0	28.83	28.83	28.83
8855	0.72	146.6	210.3	11.7	955	8864	0.00	2.15	0.00	0.000	4	0.000	0.048	3380	507	2414	0	0	0	0	0	0	28.83	26.42	28.83
8920	0.72	146.6	202.7	12.2	961	8927	0.00	2.20	0.00	0.000	6	0.000	0.040	3380	1911	2413	0	0	0	0	0	0	28.83	26.44	28.83
9227	0.72	146.6	164.4	12.1	992	9228	0.00	0.00	0.00	0.000	6	0.000	0.000	3380	1911	2413	0	0	0	0	0	0	28.83	28.83	28.83
9529	0.72	146.6	130.1	11.2	1022	9535	0.00	0.00	0.00	0.000	6	0.000	0.000	3381	1911	2414	0	0	0	0	0	0	28.83	28.83	28.83
9839	0.72	146.6	94.2	11.7	1057	9846	0.00	2.22	0.00	0.000	4	0.000	0.049	3389	505	2413	0	0	0	0	0	0	28.83	26.52	28.83
9889	0.72	146.6	88.3	11.8	1066	9895	0.00	2.20	0.00	0.000	6	0.000	0.041	3389	1913	2413	0	0	0	0	0	0	28.83	26.55	28.83
10201	0.72	146.6	52.7	10.9	1127	10207	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	1913	2413	0	0	0	0	0	0	28.83	28.83	28.83
10512	0.73	147.0	21.3	9.2	1188	10519	0.00	2.25	0.00	0.000	4	0.000	0.050	3397	494	2413	0	0	0	0	0	0	28.83	26.57	28.83
10552	0.73	147.0	17.5	9.3	1195	10560	0.12	2.20	0.00	0.000	6	0.158	0.042	3365	1904	2413	0	0	0	0	0	0	26.47	26.58	28.83
10750	end climb: SURFACE_DEPTH_REACHED
state	10751	begin surface coast
10825	end surface coast: CONTROL_FINISHED_OK
state	10825	begin surface