Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 81 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 6.0000002e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 81 HEADING -1 ROLL_MIN 300 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3841 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2120 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1015 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 10 ALTIM_PULSE 5

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_BOOST 100 SM_CC 290 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 17 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 12 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 260 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 1 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 370 UPLOAD_DIVES_MAX -1 C_VBD 2772 DEVICE3 -1

T_MISSION 420 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 360 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 5 VBD_PUMP_AD_RATE_APOGEE 3 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 0 T_GPS_CHARGE -882.79376 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 AH0_24V 350 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 12 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 12 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 149 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3928 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 50 C_PITCH 2680 PHONE_SUPPLY -2 SEABIRD_T_G 0.0043053469

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -48.048229 SEABIRD_T_H 0.00061871461

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.0001163556 SEABIRD_T_I 2.1533233e-05

MASS 52000 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.1546668e-06

NAV_MODE 2 PITCH_GAIN 13 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8788214

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1391871

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 4 SEABIRD_C_I -0.0018439521

HD_A 0.0043000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022276744

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 0 D_OFFGRID 100 PHONE_DEVICE 49 SIM_W 0

AH0_24V 350 D_PITCH 0 PHONE_SUPPLY -2 SM_CC 290

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FERRY_MAX 45 PITCH_GAIN 13 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FG_AHR_10V 0 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 149 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0.5 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 50 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163556 T_BOOST 0

CALL_TRIES 5 HD_A 0.0043000001 PRESSURE_YINT -48.048229 T_DIVE 370

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 6.0000002e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE 32 T_GPS_CHARGE -882.79376

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 420

COMPASS_DEVICE 97 ID 193 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.93000001 ROLL_ADJ_DBAND 1 T_TURN 225

C_PITCH 2680 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 260 T_WATCHDOG 10

C_ROLL_DIVE 2120 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2772 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3841 USE_BATHY -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 52000 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 12 R_PORT_OVSHOOT 17 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 12 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.8788214 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1391871 VBD_MIN 500

DIVE 81 NAV_MODE 2 SEABIRD_C_I -0.0018439521 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1015 NOCOMM_ACTION 161 SEABIRD_C_J 0.00022276744 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0043053469 VBD_TIMEOUT 360

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00061871461 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.1533233e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.1546668e-06 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 230912,000434,6643.113,-6005.620,30,0.8,30,-33.8 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230912,001056,6643.055,-6005.531,5,0.7,5,-33.8 MHEAD_RNG_PITCHd_Wd 355.5,15076,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 587

Post-dive calculations and measurements:

FINISH 1.9,1.025049 _24V_AH 12.8,29.183

SM_CCo 11026,0.00,0.000,0,0,1546,300.74 _10V_AH 13.1,0.000

SM_GC 3.25,8.65,2.58,0.00,0.102,0.145,0.000,141,2130,1546,-11.59,-0.17,300.74,0,0,0,0,0,0,14.67,14.63,28.83 FG_AHR_24Vo 0.000

RAFOS_CLK 469 FG_AHR_10Vo 0.000

RAFOS 0,1348358463,0.033333,0.017500,66,55,55,53,52,47,197,163,222,120,153,129 MEM 188800

RAFOS_FIX 6647.035156,-5952.190918,230912,000028,4,99,7.17 DATA_FILE_SIZE 46790,1013

IRIDIUM_FIX 6614.97,-6008.55,220912,202043 CAP_FILE_SIZE 109123,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,244899840

HUMID 47.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.6842 SOUNDSPEED 1451.7

TCM_TEMP 12.50 CURRENT 0.284,172.8,1

XPDR_PINGS 9 GPS 230912,031704,6642.523,-6007.097,28,0.8,28,-33.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 466 136.49 SBE_CT 738 23 226.62

Roll_motor 93 195 234.03 SBE_O2 712 3 34.13

VBD_pump_during_apogee 369 2344 11090.36 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 235 146 439.70 nil 0 0 0.00

Transponder_ping 2 420 12.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 21 1.69

TT8 2580 14 505.76

LPSleep 5884 2 178.06

TT8_Active 533 14 104.56

TT8_Sampling 1896 33 836.85

TT8_CF8 532 38 266.55

TT8_Kalman 0 0 0.00

Analog_circuits 1714 12 269.54

GPS_charging 0 0 0.00

Compass 1698 6 150.00

RAFOS 1800 1 35.37

Transponder 0 5 0.04

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

19 -1.50 -136.9 0.0 0.0 0 44 0.00 0.00 -23.27 0.000 2 0.000 0.000 135 2122 2015 0 0 0 0 0 0 28.83 28.83 28.83

50 -1.50 -136.9 3.1 -2.0 4 138 11.20 2.80 -68.80 0.000 4 0.467 0.185 2339 3533 3330 0 0 0 0 0 0 14.37 14.46 14.72

248 -1.50 -136.9 28.0 -21.9 38 255 0.00 2.58 0.00 0.000 6 0.000 0.113 2336 2120 3331 0 0 0 0 0 0 28.83 14.54 28.83

564 -1.50 -136.9 72.3 -12.8 99 570 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2120 3332 0 0 0 0 0 0 28.83 28.83 28.83

880 -1.50 -136.9 117.9 -14.5 148 889 0.00 2.58 0.00 0.000 4 0.000 0.144 2339 716 3331 0 0 0 0 0 0 28.83 14.62 28.83

1015 -1.50 -136.9 139.0 -15.7 161 1025 0.08 2.62 0.00 0.000 6 0.296 0.146 2348 2117 3332 0 0 0 0 0 0 14.56 14.61 28.83

1327 -1.50 -136.9 179.6 -13.1 192 1336 0.00 2.65 0.00 0.000 4 0.000 0.159 2340 3530 3332 0 0 0 0 0 0 28.83 14.64 28.83

1402 -1.50 -136.9 189.6 -13.1 199 1410 0.00 2.53 0.00 0.000 6 0.000 0.109 2340 2114 3332 0 0 0 0 0 0 28.83 14.68 28.83

1713 -1.50 -136.9 228.8 -12.5 230 1719 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2114 3331 0 0 0 0 0 0 28.83 28.83 28.83

2027 -1.50 -136.9 265.8 -12.4 261 2036 0.00 2.53 0.00 0.000 4 0.000 0.142 2340 713 3330 0 0 0 0 0 0 28.83 14.69 28.83

2123 -1.50 -136.9 278.6 -13.0 270 2132 0.05 2.60 0.00 0.000 6 0.303 0.148 2344 2119 3331 0 0 0 0 0 0 14.64 14.69 28.83

2432 -1.50 -136.9 315.1 -11.4 301 2442 0.00 2.65 0.00 0.000 4 0.000 0.159 2335 3533 3330 0 0 0 0 0 0 28.83 14.69 28.83

2518 -1.50 -136.9 325.5 -11.7 309 2527 0.00 2.50 0.00 0.000 6 0.000 0.108 2335 2124 3330 0 0 0 0 0 0 28.83 14.73 28.83

2827 -1.50 -136.9 361.9 -11.6 340 2836 0.00 2.55 0.00 0.000 4 0.000 0.140 2335 714 3330 0 0 0 0 0 0 28.83 14.71 28.83

2862 -1.50 -136.9 366.2 -12.3 343 2872 0.08 2.60 0.00 0.000 6 0.295 0.145 2347 2119 3330 0 0 0 0 0 0 14.64 14.73 28.83

3173 -1.50 -136.9 401.1 -11.3 374 3174 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2119 3330 0 0 0 0 0 0 28.83 28.83 28.83

3473 -1.50 -136.9 434.6 -11.2 384 3474 0.00 0.00 0.00 0.000 6 0.000 0.000 2346 2119 3330 0 0 0 0 0 0 28.83 28.83 28.83

3774 -1.50 -136.9 467.9 -11.2 394 3775 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2118 3330 0 0 0 0 0 0 28.83 28.83 28.83

4073 -1.50 -136.9 501.8 -11.5 404 4079 0.00 2.55 0.00 0.000 4 0.000 0.141 2347 716 3330 0 0 0 0 0 0 28.83 14.79 28.83

4127 -1.50 -136.9 505.6 -11.7 405 4135 0.00 2.58 0.00 0.000 6 0.000 0.143 2339 2119 3330 0 0 0 0 0 0 28.83 14.78 28.83

4435 -1.50 -136.9 543.4 -11.3 416 4440 0.00 2.62 0.00 0.000 4 0.000 0.159 2329 3534 3330 0 0 0 0 0 0 28.83 14.78 28.83

4489 -1.50 -136.9 547.1 -11.3 417 4498 0.10 2.50 0.00 0.000 6 0.312 0.106 2348 2120 3331 0 0 0 0 0 0 14.73 14.83 28.83

4796 -1.50 -136.9 582.8 -10.2 428 4802 0.00 2.65 0.00 0.000 4 0.000 0.161 2339 3527 3331 0 0 0 0 0 0 28.83 14.78 28.83

4851 -1.50 -136.9 586.3 -10.1 429 4859 0.00 2.50 0.00 0.000 6 0.000 0.108 2339 2117 3331 0 0 0 0 0 0 28.83 14.83 28.83

4882 end dive: TARGET_DEPTH_EXCEEDED

state 4882 begin apogee

4894 -0.38 0.0 593.2 -11.0 431 5035 0.93 0.00 134.62 2.345 6 0.273 0.000 2594 2200 2772 0 0 0 0 0 0 14.73 28.83 13.10

5041 end apogee: CONTROL_FINISHED_OK

state 5041 begin climb

5046 1.50 136.9 598.5 0.0 436 5196 1.42 0.00 144.25 2.298 6 0.180 0.000 3007 2199 2213 0 0 0 0 0 0 13.88 28.83 12.78

5487 1.50 136.9 554.2 11.5 451 5493 0.00 2.80 0.00 0.000 4 0.000 0.157 3007 3603 2205 0 0 0 0 0 0 28.83 14.06 28.83

5580 1.50 136.9 542.2 12.6 454 5586 0.00 2.62 0.00 0.000 6 0.000 0.110 3017 2202 2204 0 0 0 0 0 0 28.83 14.18 28.83

5912 1.50 136.9 500.5 12.5 465 5913 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2202 2203 0 0 0 0 0 0 28.83 28.83 28.83

6212 1.50 136.9 463.5 12.3 475 6213 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2202 2202 0 0 0 0 0 0 28.83 28.83 28.83

6512 1.50 136.9 428.2 11.5 485 6513 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2201 2201 0 0 0 0 0 0 28.83 28.83 28.83

6812 1.50 136.9 393.0 11.7 497 6821 0.00 2.60 0.00 0.000 4 0.000 0.141 3027 783 2201 0 0 0 0 0 0 28.83 14.60 28.83

6847 1.50 136.9 388.9 11.7 500 6856 0.08 2.58 0.00 0.000 6 0.287 0.131 3008 2197 2200 0 0 0 0 0 0 14.54 14.60 28.83

7157 1.50 136.9 354.9 10.8 531 7166 0.00 2.67 0.00 0.000 4 0.000 0.152 3008 3615 2201 0 0 0 0 0 0 28.83 14.63 28.83

7202 1.50 136.9 349.8 11.4 535 7210 0.00 2.53 0.00 0.000 6 0.000 0.110 3017 2202 2200 0 0 0 0 0 0 28.83 14.67 28.83

7512 1.50 136.9 314.4 11.7 566 7518 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2201 2200 0 0 0 0 0 0 28.83 28.83 28.83

7828 1.50 136.9 278.6 12.0 597 7837 0.00 2.65 0.00 0.000 4 0.000 0.152 3017 3610 2201 0 0 0 0 0 0 28.83 14.68 28.83

7864 1.50 136.9 273.4 12.5 600 7873 0.08 2.50 0.00 0.000 6 0.289 0.106 3007 2202 2200 0 0 0 0 0 0 14.64 14.72 28.83

8174 1.50 136.9 237.7 10.9 631 8183 0.00 2.55 0.00 0.000 4 0.000 0.137 3016 784 2200 0 0 0 0 0 0 28.83 14.70 28.83

8340 1.50 136.9 219.8 10.4 647 8349 0.00 2.53 0.00 0.000 6 0.000 0.126 3016 2199 2199 0 0 0 0 0 0 28.83 14.71 28.83

8652 1.50 136.9 189.9 9.7 678 8658 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2199 2199 0 0 0 0 0 0 28.83 28.83 28.83

8968 1.52 153.9 163.9 8.2 709 8988 0.00 0.00 15.02 1.883 6 0.000 0.000 3016 2199 2144 0 0 0 0 0 0 28.83 28.83 13.98

9292 1.52 156.4 135.4 8.8 742 9301 0.00 2.60 0.00 0.000 4 0.000 0.140 3026 785 2142 0 0 0 0 0 0 28.83 14.65 28.83

9400 1.52 156.4 125.4 9.9 752 9407 0.00 2.60 0.00 0.000 6 0.000 0.134 3026 2204 2141 0 0 0 0 0 0 28.83 14.66 28.83

9712 1.54 166.7 97.5 8.5 785 9726 0.00 2.67 7.05 0.490 4 0.000 0.154 3026 3622 2091 0 0 0 0 0 0 28.83 14.66 14.52

9819 1.54 166.7 87.7 9.4 804 9826 0.10 2.58 0.00 0.000 6 0.332 0.109 3018 2192 2090 0 0 0 0 0 0 14.61 14.71 28.83

10136 1.54 166.7 60.5 9.6 865 10142 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2192 2089 0 0 0 0 0 0 28.83 28.83 28.83

10454 1.60 222.4 33.9 6.5 926 10491 0.00 2.72 30.40 0.285 4 0.000 0.156 3018 3614 1862 0 0 0 0 0 0 28.83 14.63 14.58

10537 1.63 243.9 27.5 8.0 940 10557 0.00 2.55 11.15 0.275 6 0.000 0.110 3027 2200 1775 0 0 0 0 0 0 28.83 14.68 14.57

10871 1.70 297.4 6.9 6.6 1003 10909 0.10 2.65 27.02 0.198 4 0.182 0.139 3075 781 1555 0 0 0 0 0 0 14.71 14.61 14.61

10914 end climb: SURFACE_DEPTH_REACHED

state 10915 begin surface coast

10931 end surface coast: CONTROL_FINISHED_OK

state 10936 begin surface

ID	193	HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	6.0000002e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	81	HEADING	-1	ROLL_MIN	300	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3841	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2120	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1015	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	10	ALTIM_PULSE	5
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_BOOST	100	SM_CC	290	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	17	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	12	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	260	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	1	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	370	UPLOAD_DIVES_MAX	-1	C_VBD	2772	DEVICE3	-1
T_MISSION	420	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	360	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	5	VBD_PUMP_AD_RATE_APOGEE	3	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	0	T_GPS_CHARGE	-882.79376	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	AH0_24V	350	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	12	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	12	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	149	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3928	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	50	C_PITCH	2680	PHONE_SUPPLY	-2	SEABIRD_T_G	0.0043053469
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-48.048229	SEABIRD_T_H	0.00061871461
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.0001163556	SEABIRD_T_I	2.1533233e-05
MASS	52000	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.1546668e-06
NAV_MODE	2	PITCH_GAIN	13	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8788214
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1391871
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	4	SEABIRD_C_I	-0.0018439521
HD_A	0.0043000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022276744

GPS1	230912,000434,6643.113,-6005.620,30,0.8,30,-33.8	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230912,001056,6643.055,-6005.531,5,0.7,5,-33.8	MHEAD_RNG_PITCHd_Wd	355.5,15076,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	587

FINISH	1.9,1.025049	_24V_AH	12.8,29.183
SM_CCo	11026,0.00,0.000,0,0,1546,300.74	_10V_AH	13.1,0.000
SM_GC	3.25,8.65,2.58,0.00,0.102,0.145,0.000,141,2130,1546,-11.59,-0.17,300.74,0,0,0,0,0,0,14.67,14.63,28.83	FG_AHR_24Vo	0.000
RAFOS_CLK	469	FG_AHR_10Vo	0.000
RAFOS	0,1348358463,0.033333,0.017500,66,55,55,53,52,47,197,163,222,120,153,129	MEM	188800
RAFOS_FIX	6647.035156,-5952.190918,230912,000028,4,99,7.17	DATA_FILE_SIZE	46790,1013
IRIDIUM_FIX	6614.97,-6008.55,220912,202043	CAP_FILE_SIZE	109123,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,244899840
HUMID	47.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.6842	SOUNDSPEED	1451.7
TCM_TEMP	12.50	CURRENT	0.284,172.8,1
XPDR_PINGS	9	GPS	230912,031704,6642.523,-6007.097,28,0.8,28,-33.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	466	136.49	SBE_CT	738	23	226.62
Roll_motor	93	195	234.03	SBE_O2	712	3	34.13
VBD_pump_during_apogee	369	2344	11090.36	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	235	146	439.70	nil	0	0	0.00
Transponder_ping	2	420	12.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	21	1.69
TT8	2580	14	505.76
LPSleep	5884	2	178.06
TT8_Active	533	14	104.56
TT8_Sampling	1896	33	836.85
TT8_CF8	532	38	266.55
TT8_Kalman	0	0	0.00
Analog_circuits	1714	12	269.54
GPS_charging	0	0	0.00
Compass	1698	6	150.00
RAFOS	1800	1	35.37
Transponder	0	5	0.04

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
19	-1.50	-136.9	0.0	0.0	0	44	0.00	0.00	-23.27	0.000	2	0.000	0.000	135	2122	2015	0	0	0	0	0	0	28.83	28.83	28.83
50	-1.50	-136.9	3.1	-2.0	4	138	11.20	2.80	-68.80	0.000	4	0.467	0.185	2339	3533	3330	0	0	0	0	0	0	14.37	14.46	14.72
248	-1.50	-136.9	28.0	-21.9	38	255	0.00	2.58	0.00	0.000	6	0.000	0.113	2336	2120	3331	0	0	0	0	0	0	28.83	14.54	28.83
564	-1.50	-136.9	72.3	-12.8	99	570	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2120	3332	0	0	0	0	0	0	28.83	28.83	28.83
880	-1.50	-136.9	117.9	-14.5	148	889	0.00	2.58	0.00	0.000	4	0.000	0.144	2339	716	3331	0	0	0	0	0	0	28.83	14.62	28.83
1015	-1.50	-136.9	139.0	-15.7	161	1025	0.08	2.62	0.00	0.000	6	0.296	0.146	2348	2117	3332	0	0	0	0	0	0	14.56	14.61	28.83
1327	-1.50	-136.9	179.6	-13.1	192	1336	0.00	2.65	0.00	0.000	4	0.000	0.159	2340	3530	3332	0	0	0	0	0	0	28.83	14.64	28.83
1402	-1.50	-136.9	189.6	-13.1	199	1410	0.00	2.53	0.00	0.000	6	0.000	0.109	2340	2114	3332	0	0	0	0	0	0	28.83	14.68	28.83
1713	-1.50	-136.9	228.8	-12.5	230	1719	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2114	3331	0	0	0	0	0	0	28.83	28.83	28.83
2027	-1.50	-136.9	265.8	-12.4	261	2036	0.00	2.53	0.00	0.000	4	0.000	0.142	2340	713	3330	0	0	0	0	0	0	28.83	14.69	28.83
2123	-1.50	-136.9	278.6	-13.0	270	2132	0.05	2.60	0.00	0.000	6	0.303	0.148	2344	2119	3331	0	0	0	0	0	0	14.64	14.69	28.83
2432	-1.50	-136.9	315.1	-11.4	301	2442	0.00	2.65	0.00	0.000	4	0.000	0.159	2335	3533	3330	0	0	0	0	0	0	28.83	14.69	28.83
2518	-1.50	-136.9	325.5	-11.7	309	2527	0.00	2.50	0.00	0.000	6	0.000	0.108	2335	2124	3330	0	0	0	0	0	0	28.83	14.73	28.83
2827	-1.50	-136.9	361.9	-11.6	340	2836	0.00	2.55	0.00	0.000	4	0.000	0.140	2335	714	3330	0	0	0	0	0	0	28.83	14.71	28.83
2862	-1.50	-136.9	366.2	-12.3	343	2872	0.08	2.60	0.00	0.000	6	0.295	0.145	2347	2119	3330	0	0	0	0	0	0	14.64	14.73	28.83
3173	-1.50	-136.9	401.1	-11.3	374	3174	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2119	3330	0	0	0	0	0	0	28.83	28.83	28.83
3473	-1.50	-136.9	434.6	-11.2	384	3474	0.00	0.00	0.00	0.000	6	0.000	0.000	2346	2119	3330	0	0	0	0	0	0	28.83	28.83	28.83
3774	-1.50	-136.9	467.9	-11.2	394	3775	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2118	3330	0	0	0	0	0	0	28.83	28.83	28.83
4073	-1.50	-136.9	501.8	-11.5	404	4079	0.00	2.55	0.00	0.000	4	0.000	0.141	2347	716	3330	0	0	0	0	0	0	28.83	14.79	28.83
4127	-1.50	-136.9	505.6	-11.7	405	4135	0.00	2.58	0.00	0.000	6	0.000	0.143	2339	2119	3330	0	0	0	0	0	0	28.83	14.78	28.83
4435	-1.50	-136.9	543.4	-11.3	416	4440	0.00	2.62	0.00	0.000	4	0.000	0.159	2329	3534	3330	0	0	0	0	0	0	28.83	14.78	28.83
4489	-1.50	-136.9	547.1	-11.3	417	4498	0.10	2.50	0.00	0.000	6	0.312	0.106	2348	2120	3331	0	0	0	0	0	0	14.73	14.83	28.83
4796	-1.50	-136.9	582.8	-10.2	428	4802	0.00	2.65	0.00	0.000	4	0.000	0.161	2339	3527	3331	0	0	0	0	0	0	28.83	14.78	28.83
4851	-1.50	-136.9	586.3	-10.1	429	4859	0.00	2.50	0.00	0.000	6	0.000	0.108	2339	2117	3331	0	0	0	0	0	0	28.83	14.83	28.83
4882	end dive: TARGET_DEPTH_EXCEEDED
state	4882	begin apogee
4894	-0.38	0.0	593.2	-11.0	431	5035	0.93	0.00	134.62	2.345	6	0.273	0.000	2594	2200	2772	0	0	0	0	0	0	14.73	28.83	13.10
5041	end apogee: CONTROL_FINISHED_OK
state	5041	begin climb
5046	1.50	136.9	598.5	0.0	436	5196	1.42	0.00	144.25	2.298	6	0.180	0.000	3007	2199	2213	0	0	0	0	0	0	13.88	28.83	12.78
5487	1.50	136.9	554.2	11.5	451	5493	0.00	2.80	0.00	0.000	4	0.000	0.157	3007	3603	2205	0	0	0	0	0	0	28.83	14.06	28.83
5580	1.50	136.9	542.2	12.6	454	5586	0.00	2.62	0.00	0.000	6	0.000	0.110	3017	2202	2204	0	0	0	0	0	0	28.83	14.18	28.83
5912	1.50	136.9	500.5	12.5	465	5913	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	2202	2203	0	0	0	0	0	0	28.83	28.83	28.83
6212	1.50	136.9	463.5	12.3	475	6213	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	2202	2202	0	0	0	0	0	0	28.83	28.83	28.83
6512	1.50	136.9	428.2	11.5	485	6513	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	2201	2201	0	0	0	0	0	0	28.83	28.83	28.83
6812	1.50	136.9	393.0	11.7	497	6821	0.00	2.60	0.00	0.000	4	0.000	0.141	3027	783	2201	0	0	0	0	0	0	28.83	14.60	28.83
6847	1.50	136.9	388.9	11.7	500	6856	0.08	2.58	0.00	0.000	6	0.287	0.131	3008	2197	2200	0	0	0	0	0	0	14.54	14.60	28.83
7157	1.50	136.9	354.9	10.8	531	7166	0.00	2.67	0.00	0.000	4	0.000	0.152	3008	3615	2201	0	0	0	0	0	0	28.83	14.63	28.83
7202	1.50	136.9	349.8	11.4	535	7210	0.00	2.53	0.00	0.000	6	0.000	0.110	3017	2202	2200	0	0	0	0	0	0	28.83	14.67	28.83
7512	1.50	136.9	314.4	11.7	566	7518	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	2201	2200	0	0	0	0	0	0	28.83	28.83	28.83
7828	1.50	136.9	278.6	12.0	597	7837	0.00	2.65	0.00	0.000	4	0.000	0.152	3017	3610	2201	0	0	0	0	0	0	28.83	14.68	28.83
7864	1.50	136.9	273.4	12.5	600	7873	0.08	2.50	0.00	0.000	6	0.289	0.106	3007	2202	2200	0	0	0	0	0	0	14.64	14.72	28.83
8174	1.50	136.9	237.7	10.9	631	8183	0.00	2.55	0.00	0.000	4	0.000	0.137	3016	784	2200	0	0	0	0	0	0	28.83	14.70	28.83
8340	1.50	136.9	219.8	10.4	647	8349	0.00	2.53	0.00	0.000	6	0.000	0.126	3016	2199	2199	0	0	0	0	0	0	28.83	14.71	28.83
8652	1.50	136.9	189.9	9.7	678	8658	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2199	2199	0	0	0	0	0	0	28.83	28.83	28.83
8968	1.52	153.9	163.9	8.2	709	8988	0.00	0.00	15.02	1.883	6	0.000	0.000	3016	2199	2144	0	0	0	0	0	0	28.83	28.83	13.98
9292	1.52	156.4	135.4	8.8	742	9301	0.00	2.60	0.00	0.000	4	0.000	0.140	3026	785	2142	0	0	0	0	0	0	28.83	14.65	28.83
9400	1.52	156.4	125.4	9.9	752	9407	0.00	2.60	0.00	0.000	6	0.000	0.134	3026	2204	2141	0	0	0	0	0	0	28.83	14.66	28.83
9712	1.54	166.7	97.5	8.5	785	9726	0.00	2.67	7.05	0.490	4	0.000	0.154	3026	3622	2091	0	0	0	0	0	0	28.83	14.66	14.52
9819	1.54	166.7	87.7	9.4	804	9826	0.10	2.58	0.00	0.000	6	0.332	0.109	3018	2192	2090	0	0	0	0	0	0	14.61	14.71	28.83
10136	1.54	166.7	60.5	9.6	865	10142	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	2192	2089	0	0	0	0	0	0	28.83	28.83	28.83
10454	1.60	222.4	33.9	6.5	926	10491	0.00	2.72	30.40	0.285	4	0.000	0.156	3018	3614	1862	0	0	0	0	0	0	28.83	14.63	14.58
10537	1.63	243.9	27.5	8.0	940	10557	0.00	2.55	11.15	0.275	6	0.000	0.110	3027	2200	1775	0	0	0	0	0	0	28.83	14.68	14.57
10871	1.70	297.4	6.9	6.6	1003	10909	0.10	2.65	27.02	0.198	4	0.182	0.139	3075	781	1555	0	0	0	0	0	0	14.71	14.61	14.61
10914	end climb: SURFACE_DEPTH_REACHED
state	10915	begin surface coast
10931	end surface coast: CONTROL_FINISHED_OK
state	10936	begin surface