Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 84 * 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 84 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 19 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 13 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 -886.56262 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 -886.56262

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 19 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 13 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 84 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 230912,093229,6643.583,-6011.949,12,0.8,12,-33.9 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 2.84 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230912,093915,6643.548,-6011.979,4,1.4,4,-33.9 MHEAD_RNG_PITCHd_Wd 320.2,10292,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 550

Post-dive calculations and measurements:

FINISH 1.9,1.015000 _24V_AH 12.8,29.970

SM_CCo 10176,0.00,0.000,0,0,1558,297.55 _10V_AH 13.1,0.000

SM_GC 3.30,8.70,0.20,0.00,0.113,0.144,0.000,135,2111,1558,-11.62,0.37,297.55,0,0,0,0,0,0,14.64,14.63,28.83 FG_AHR_24Vo 0.000

RAFOS_CLK 440 FG_AHR_10Vo 0.000

RAFOS 0,1348401664,12.033333,12.017777,66,56,54,52,52,51,203,156,122,174,133,165 MEM 188756

RAFOS_FIX 6647.303223,-5957.617676,230912,080828,4,90,1.40 DATA_FILE_SIZE 43451,969

IRIDIUM_FIX 6614.97,-6001.83,230912,060610 CAP_FILE_SIZE 104434,0

TT8_MAMPS 0.028462,0.028462 CFSIZE 259252224,244727808

HUMID 47.12 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.6842 SOUNDSPEED 1451.3

TCM_TEMP 12.60 CURRENT 0.197,167.5,1

XPDR_PINGS 10 GPS 230912,123104,6642.655,-6014.523,36,0.8,36,-33.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 469 137.53 SBE_CT 707 23 217.09

Roll_motor 93 198 238.81 SBE_O2 676 3 32.39

VBD_pump_during_apogee 378 2273 11022.32 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 257 150 496.00 nil 0 0 0.00

Transponder_ping 2 420 13.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 21 1.70

TT8 2443 14 478.81

LPSleep 5274 2 159.60

TT8_Active 523 14 102.53

TT8_Sampling 1834 33 809.63

TT8_CF8 506 38 253.43

TT8_Kalman 0 0 0.00

Analog_circuits 1678 12 263.90

GPS_charging 0 0 0.00

Compass 1613 6 142.43

RAFOS 1440 1 28.30

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 -22.77 0.000 2 0.000 0.000 134 2112 1959 0 0 0 0 0 0 28.83 28.83 28.83

50 -1.50 -136.9 3.1 -2.6 4 142 11.30 2.62 -71.95 0.000 4 0.470 0.165 2352 708 3330 0 0 0 0 0 0 14.36 14.47 14.73

378 -1.50 -136.9 50.0 -16.1 64 385 0.00 2.70 0.00 0.000 6 0.000 0.157 2344 2127 3332 0 0 0 0 0 0 28.83 14.54 28.83

695 -1.50 -136.9 97.1 -15.6 125 703 0.00 2.65 0.00 0.000 4 0.000 0.145 2344 704 3332 0 0 0 0 0 0 28.83 14.59 28.83

803 -1.50 -136.9 114.3 -16.1 137 813 0.00 2.62 0.00 0.000 6 0.000 0.146 2333 2120 3332 0 0 0 0 0 0 28.83 14.59 28.83

1113 -1.50 -136.9 161.9 -16.1 168 1119 0.00 0.00 0.00 0.000 6 0.000 0.000 2334 2120 3332 0 0 0 0 0 0 28.83 28.83 28.83

1428 -1.50 -136.9 207.3 -13.7 199 1437 0.00 2.58 0.00 0.000 4 0.000 0.140 2334 715 3332 0 0 0 0 0 0 28.83 14.67 28.83

1496 -1.50 -136.9 217.1 -14.2 205 1504 0.12 2.60 0.00 0.000 6 0.325 0.144 2350 2121 3332 0 0 0 0 0 0 14.62 14.68 28.83

1805 -1.50 -136.9 255.0 -11.2 236 1814 0.00 2.65 0.00 0.000 4 0.000 0.158 2341 3525 3332 0 0 0 0 0 0 28.83 14.67 28.83

1870 -1.50 -136.9 262.6 -11.8 242 1879 0.00 2.50 0.00 0.000 6 0.000 0.108 2341 2114 3332 0 0 0 0 0 0 28.83 14.71 28.83

2180 -1.50 -136.9 297.4 -11.1 273 2189 0.00 2.55 0.00 0.000 4 0.000 0.139 2341 706 3331 0 0 0 0 0 0 28.83 14.71 28.83

2330 -1.50 -136.9 315.0 -12.0 287 2339 0.00 2.58 0.00 0.000 6 0.000 0.142 2333 2117 3330 0 0 0 0 0 0 28.83 14.70 28.83

2641 -1.50 -136.9 352.0 -12.3 318 2650 0.00 2.62 0.00 0.000 4 0.000 0.157 2323 3523 3331 0 0 0 0 0 0 28.83 14.71 28.83

2686 -1.50 -136.9 357.4 -12.1 322 2695 0.10 2.47 0.00 0.000 6 0.287 0.106 2348 2121 3330 0 0 0 0 0 0 14.64 14.74 28.83

2996 -1.50 -136.9 393.1 -11.5 353 3005 0.00 2.55 0.00 0.000 4 0.000 0.140 2349 707 3330 0 0 0 0 0 0 28.83 14.73 28.83

3064 -1.50 -136.9 401.1 -12.5 359 3070 0.00 2.58 0.00 0.000 6 0.000 0.143 2342 2116 3330 0 0 0 0 0 0 28.83 14.71 28.83

3391 -1.50 -136.9 439.6 -11.7 370 3397 0.00 2.67 0.00 0.000 4 0.000 0.158 2332 3537 3330 0 0 0 0 0 0 28.83 14.74 28.83

3453 -1.50 -136.9 447.1 -11.9 372 3459 0.08 2.50 0.00 0.000 6 0.282 0.105 2350 2117 3330 0 0 0 0 0 0 14.69 14.78 28.83

3785 -1.50 -136.9 483.7 -10.9 383 3786 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2117 3330 0 0 0 0 0 0 28.83 28.83 28.83

4085 -1.50 -136.9 515.6 -10.4 393 4091 0.00 2.53 0.00 0.000 4 0.000 0.139 2351 708 3330 0 0 0 0 0 0 28.83 14.78 28.83

4135 -1.50 -136.9 519.0 -10.5 394 4143 0.00 2.60 0.00 0.000 6 0.000 0.144 2344 2126 3331 0 0 0 0 0 0 28.83 14.77 28.83

4411 end dive: TARGET_DEPTH_EXCEEDED

state 4411 begin apogee

4423 -0.38 0.0 550.5 -10.2 404 4564 0.90 0.00 133.77 2.274 6 0.278 0.000 2590 2203 2773 0 0 0 0 0 0 14.73 28.83 13.13

4569 end apogee: CONTROL_FINISHED_OK

state 4569 begin climb

4575 1.50 136.9 555.0 0.0 409 4724 1.42 0.00 143.90 2.215 6 0.180 0.000 3002 2203 2214 0 0 0 0 0 0 13.88 28.83 12.81

5021 1.50 136.9 511.0 11.8 424 5022 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2203 2204 0 0 0 0 0 0 28.83 28.83 28.83

5316 1.50 136.9 474.9 12.1 434 5317 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2203 2203 0 0 0 0 0 0 28.83 28.83 28.83

5617 1.50 136.9 441.0 11.1 444 5622 0.00 2.70 0.00 0.000 4 0.000 0.153 3003 3611 2203 0 0 0 0 0 0 28.83 14.42 28.83

5651 1.50 136.9 437.3 11.1 445 5656 0.00 2.58 0.00 0.000 6 0.000 0.111 3013 2198 2202 0 0 0 0 0 0 28.83 14.47 28.83

5978 1.50 136.9 400.6 11.1 456 5979 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2198 2202 0 0 0 0 0 0 28.83 28.83 28.83

6278 1.50 136.9 365.5 12.1 484 6285 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2198 2201 0 0 0 0 0 0 28.83 28.83 28.83

6593 1.50 136.9 328.0 12.2 515 6599 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2198 2201 0 0 0 0 0 0 28.83 28.83 28.83

6906 1.50 136.9 289.8 12.5 546 6915 0.00 2.55 0.00 0.000 4 0.000 0.141 3024 791 2201 0 0 0 0 0 0 28.83 14.66 28.83

6954 1.50 136.9 283.6 12.1 550 6961 0.00 2.58 0.00 0.000 6 0.000 0.133 3023 2199 2200 0 0 0 0 0 0 28.83 14.67 28.83

7261 1.50 136.9 247.2 11.6 581 7270 0.00 2.58 0.00 0.000 4 0.000 0.142 3034 791 2199 0 0 0 0 0 0 28.83 14.67 28.83

7299 1.50 136.9 243.0 11.9 584 7307 0.12 2.58 0.00 0.000 6 0.308 0.132 3008 2202 2200 0 0 0 0 0 0 14.63 14.69 28.83

7608 1.50 136.9 211.6 9.5 615 7617 0.00 2.62 0.00 0.000 4 0.000 0.152 3008 3612 2201 0 0 0 0 0 0 28.83 14.69 28.83

7735 1.50 136.9 199.4 9.9 627 7742 0.00 2.55 0.00 0.000 6 0.000 0.107 3016 2197 2201 0 0 0 0 0 0 28.83 14.74 28.83

8043 1.51 143.8 171.5 8.6 658 8054 0.00 2.62 5.22 1.610 4 0.000 0.137 3027 789 2185 0 0 0 0 0 0 28.83 14.69 14.02

8110 1.51 148.5 165.7 8.7 664 8122 0.00 2.55 6.60 1.683 6 0.000 0.132 3027 2196 2165 0 0 0 0 0 0 28.83 14.66 13.98

8433 1.54 173.6 140.0 7.8 696 8461 0.00 0.00 25.75 1.857 6 0.000 0.000 3027 2196 2063 0 0 0 0 0 0 28.83 28.83 13.83

8763 1.54 173.6 107.7 10.3 729 8772 0.00 2.60 0.00 0.000 4 0.000 0.142 3037 794 2060 0 0 0 0 0 0 28.83 14.54 28.83

8790 1.54 173.6 105.1 10.6 731 8796 0.00 2.60 0.00 0.000 6 0.000 0.132 3037 2202 2059 0 0 0 0 0 0 28.83 14.55 28.83

9102 1.56 184.3 73.9 8.5 788 9115 0.00 2.65 5.45 0.441 4 0.000 0.141 3047 786 2020 0 0 0 0 0 0 28.83 14.59 14.47

9150 1.56 184.3 69.6 9.0 796 9158 0.12 2.60 0.00 0.000 6 0.301 0.132 3020 2202 2019 0 0 0 0 0 0 14.52 14.59 28.83

9473 1.61 224.6 44.8 7.2 857 9504 0.00 2.70 22.38 0.319 4 0.000 0.154 3021 3617 1855 0 0 0 0 0 0 28.83 14.57 14.51

9615 1.61 230.2 33.3 8.7 882 9624 0.00 2.58 2.53 0.348 6 0.000 0.109 3029 2196 1831 0 0 0 0 0 0 28.83 14.63 14.52

9940 1.67 277.6 12.4 6.9 943 9971 0.00 2.65 25.02 0.219 4 0.000 0.139 3039 790 1637 0 0 0 0 0 0 28.83 14.59 14.57

10032 1.69 294.8 5.0 8.2 959 10046 0.00 2.60 8.12 0.208 6 0.000 0.134 3039 2203 1569 0 0 0 0 0 0 28.83 14.60 14.57

10051 end climb: SURFACE_DEPTH_REACHED

state 10051 begin surface coast

10088 end surface coast: CONTROL_FINISHED_OK

state 10088 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	84	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	19	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	13	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	-886.56262	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	230912,093229,6643.583,-6011.949,12,0.8,12,-33.9	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	2.84	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230912,093915,6643.548,-6011.979,4,1.4,4,-33.9	MHEAD_RNG_PITCHd_Wd	320.2,10292,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	550

FINISH	1.9,1.015000	_24V_AH	12.8,29.970
SM_CCo	10176,0.00,0.000,0,0,1558,297.55	_10V_AH	13.1,0.000
SM_GC	3.30,8.70,0.20,0.00,0.113,0.144,0.000,135,2111,1558,-11.62,0.37,297.55,0,0,0,0,0,0,14.64,14.63,28.83	FG_AHR_24Vo	0.000
RAFOS_CLK	440	FG_AHR_10Vo	0.000
RAFOS	0,1348401664,12.033333,12.017777,66,56,54,52,52,51,203,156,122,174,133,165	MEM	188756
RAFOS_FIX	6647.303223,-5957.617676,230912,080828,4,90,1.40	DATA_FILE_SIZE	43451,969
IRIDIUM_FIX	6614.97,-6001.83,230912,060610	CAP_FILE_SIZE	104434,0
TT8_MAMPS	0.028462,0.028462	CFSIZE	259252224,244727808
HUMID	47.12	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.6842	SOUNDSPEED	1451.3
TCM_TEMP	12.60	CURRENT	0.197,167.5,1
XPDR_PINGS	10	GPS	230912,123104,6642.655,-6014.523,36,0.8,36,-33.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	469	137.53	SBE_CT	707	23	217.09
Roll_motor	93	198	238.81	SBE_O2	676	3	32.39
VBD_pump_during_apogee	378	2273	11022.32	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	257	150	496.00	nil	0	0	0.00
Transponder_ping	2	420	13.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	21	1.70
TT8	2443	14	478.81
LPSleep	5274	2	159.60
TT8_Active	523	14	102.53
TT8_Sampling	1834	33	809.63
TT8_CF8	506	38	253.43
TT8_Kalman	0	0	0.00
Analog_circuits	1678	12	263.90
GPS_charging	0	0	0.00
Compass	1613	6	142.43
RAFOS	1440	1	28.30
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	-22.77	0.000	2	0.000	0.000	134	2112	1959	0	0	0	0	0	0	28.83	28.83	28.83
50	-1.50	-136.9	3.1	-2.6	4	142	11.30	2.62	-71.95	0.000	4	0.470	0.165	2352	708	3330	0	0	0	0	0	0	14.36	14.47	14.73
378	-1.50	-136.9	50.0	-16.1	64	385	0.00	2.70	0.00	0.000	6	0.000	0.157	2344	2127	3332	0	0	0	0	0	0	28.83	14.54	28.83
695	-1.50	-136.9	97.1	-15.6	125	703	0.00	2.65	0.00	0.000	4	0.000	0.145	2344	704	3332	0	0	0	0	0	0	28.83	14.59	28.83
803	-1.50	-136.9	114.3	-16.1	137	813	0.00	2.62	0.00	0.000	6	0.000	0.146	2333	2120	3332	0	0	0	0	0	0	28.83	14.59	28.83
1113	-1.50	-136.9	161.9	-16.1	168	1119	0.00	0.00	0.00	0.000	6	0.000	0.000	2334	2120	3332	0	0	0	0	0	0	28.83	28.83	28.83
1428	-1.50	-136.9	207.3	-13.7	199	1437	0.00	2.58	0.00	0.000	4	0.000	0.140	2334	715	3332	0	0	0	0	0	0	28.83	14.67	28.83
1496	-1.50	-136.9	217.1	-14.2	205	1504	0.12	2.60	0.00	0.000	6	0.325	0.144	2350	2121	3332	0	0	0	0	0	0	14.62	14.68	28.83
1805	-1.50	-136.9	255.0	-11.2	236	1814	0.00	2.65	0.00	0.000	4	0.000	0.158	2341	3525	3332	0	0	0	0	0	0	28.83	14.67	28.83
1870	-1.50	-136.9	262.6	-11.8	242	1879	0.00	2.50	0.00	0.000	6	0.000	0.108	2341	2114	3332	0	0	0	0	0	0	28.83	14.71	28.83
2180	-1.50	-136.9	297.4	-11.1	273	2189	0.00	2.55	0.00	0.000	4	0.000	0.139	2341	706	3331	0	0	0	0	0	0	28.83	14.71	28.83
2330	-1.50	-136.9	315.0	-12.0	287	2339	0.00	2.58	0.00	0.000	6	0.000	0.142	2333	2117	3330	0	0	0	0	0	0	28.83	14.70	28.83
2641	-1.50	-136.9	352.0	-12.3	318	2650	0.00	2.62	0.00	0.000	4	0.000	0.157	2323	3523	3331	0	0	0	0	0	0	28.83	14.71	28.83
2686	-1.50	-136.9	357.4	-12.1	322	2695	0.10	2.47	0.00	0.000	6	0.287	0.106	2348	2121	3330	0	0	0	0	0	0	14.64	14.74	28.83
2996	-1.50	-136.9	393.1	-11.5	353	3005	0.00	2.55	0.00	0.000	4	0.000	0.140	2349	707	3330	0	0	0	0	0	0	28.83	14.73	28.83
3064	-1.50	-136.9	401.1	-12.5	359	3070	0.00	2.58	0.00	0.000	6	0.000	0.143	2342	2116	3330	0	0	0	0	0	0	28.83	14.71	28.83
3391	-1.50	-136.9	439.6	-11.7	370	3397	0.00	2.67	0.00	0.000	4	0.000	0.158	2332	3537	3330	0	0	0	0	0	0	28.83	14.74	28.83
3453	-1.50	-136.9	447.1	-11.9	372	3459	0.08	2.50	0.00	0.000	6	0.282	0.105	2350	2117	3330	0	0	0	0	0	0	14.69	14.78	28.83
3785	-1.50	-136.9	483.7	-10.9	383	3786	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2117	3330	0	0	0	0	0	0	28.83	28.83	28.83
4085	-1.50	-136.9	515.6	-10.4	393	4091	0.00	2.53	0.00	0.000	4	0.000	0.139	2351	708	3330	0	0	0	0	0	0	28.83	14.78	28.83
4135	-1.50	-136.9	519.0	-10.5	394	4143	0.00	2.60	0.00	0.000	6	0.000	0.144	2344	2126	3331	0	0	0	0	0	0	28.83	14.77	28.83
4411	end dive: TARGET_DEPTH_EXCEEDED
state	4411	begin apogee
4423	-0.38	0.0	550.5	-10.2	404	4564	0.90	0.00	133.77	2.274	6	0.278	0.000	2590	2203	2773	0	0	0	0	0	0	14.73	28.83	13.13
4569	end apogee: CONTROL_FINISHED_OK
state	4569	begin climb
4575	1.50	136.9	555.0	0.0	409	4724	1.42	0.00	143.90	2.215	6	0.180	0.000	3002	2203	2214	0	0	0	0	0	0	13.88	28.83	12.81
5021	1.50	136.9	511.0	11.8	424	5022	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2203	2204	0	0	0	0	0	0	28.83	28.83	28.83
5316	1.50	136.9	474.9	12.1	434	5317	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2203	2203	0	0	0	0	0	0	28.83	28.83	28.83
5617	1.50	136.9	441.0	11.1	444	5622	0.00	2.70	0.00	0.000	4	0.000	0.153	3003	3611	2203	0	0	0	0	0	0	28.83	14.42	28.83
5651	1.50	136.9	437.3	11.1	445	5656	0.00	2.58	0.00	0.000	6	0.000	0.111	3013	2198	2202	0	0	0	0	0	0	28.83	14.47	28.83
5978	1.50	136.9	400.6	11.1	456	5979	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2198	2202	0	0	0	0	0	0	28.83	28.83	28.83
6278	1.50	136.9	365.5	12.1	484	6285	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2198	2201	0	0	0	0	0	0	28.83	28.83	28.83
6593	1.50	136.9	328.0	12.2	515	6599	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2198	2201	0	0	0	0	0	0	28.83	28.83	28.83
6906	1.50	136.9	289.8	12.5	546	6915	0.00	2.55	0.00	0.000	4	0.000	0.141	3024	791	2201	0	0	0	0	0	0	28.83	14.66	28.83
6954	1.50	136.9	283.6	12.1	550	6961	0.00	2.58	0.00	0.000	6	0.000	0.133	3023	2199	2200	0	0	0	0	0	0	28.83	14.67	28.83
7261	1.50	136.9	247.2	11.6	581	7270	0.00	2.58	0.00	0.000	4	0.000	0.142	3034	791	2199	0	0	0	0	0	0	28.83	14.67	28.83
7299	1.50	136.9	243.0	11.9	584	7307	0.12	2.58	0.00	0.000	6	0.308	0.132	3008	2202	2200	0	0	0	0	0	0	14.63	14.69	28.83
7608	1.50	136.9	211.6	9.5	615	7617	0.00	2.62	0.00	0.000	4	0.000	0.152	3008	3612	2201	0	0	0	0	0	0	28.83	14.69	28.83
7735	1.50	136.9	199.4	9.9	627	7742	0.00	2.55	0.00	0.000	6	0.000	0.107	3016	2197	2201	0	0	0	0	0	0	28.83	14.74	28.83
8043	1.51	143.8	171.5	8.6	658	8054	0.00	2.62	5.22	1.610	4	0.000	0.137	3027	789	2185	0	0	0	0	0	0	28.83	14.69	14.02
8110	1.51	148.5	165.7	8.7	664	8122	0.00	2.55	6.60	1.683	6	0.000	0.132	3027	2196	2165	0	0	0	0	0	0	28.83	14.66	13.98
8433	1.54	173.6	140.0	7.8	696	8461	0.00	0.00	25.75	1.857	6	0.000	0.000	3027	2196	2063	0	0	0	0	0	0	28.83	28.83	13.83
8763	1.54	173.6	107.7	10.3	729	8772	0.00	2.60	0.00	0.000	4	0.000	0.142	3037	794	2060	0	0	0	0	0	0	28.83	14.54	28.83
8790	1.54	173.6	105.1	10.6	731	8796	0.00	2.60	0.00	0.000	6	0.000	0.132	3037	2202	2059	0	0	0	0	0	0	28.83	14.55	28.83
9102	1.56	184.3	73.9	8.5	788	9115	0.00	2.65	5.45	0.441	4	0.000	0.141	3047	786	2020	0	0	0	0	0	0	28.83	14.59	14.47
9150	1.56	184.3	69.6	9.0	796	9158	0.12	2.60	0.00	0.000	6	0.301	0.132	3020	2202	2019	0	0	0	0	0	0	14.52	14.59	28.83
9473	1.61	224.6	44.8	7.2	857	9504	0.00	2.70	22.38	0.319	4	0.000	0.154	3021	3617	1855	0	0	0	0	0	0	28.83	14.57	14.51
9615	1.61	230.2	33.3	8.7	882	9624	0.00	2.58	2.53	0.348	6	0.000	0.109	3029	2196	1831	0	0	0	0	0	0	28.83	14.63	14.52
9940	1.67	277.6	12.4	6.9	943	9971	0.00	2.65	25.02	0.219	4	0.000	0.139	3039	790	1637	0	0	0	0	0	0	28.83	14.59	14.57
10032	1.69	294.8	5.0	8.2	959	10046	0.00	2.60	8.12	0.208	6	0.000	0.134	3039	2203	1569	0	0	0	0	0	0	28.83	14.60	14.57
10051	end climb: SURFACE_DEPTH_REACHED
state	10051	begin surface coast
10088	end surface coast: CONTROL_FINISHED_OK
state	10088	begin surface