Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 86 * 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 86 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 16 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 -889.07727 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 -889.07727

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 16 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 86 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 230912,152717,6643.343,-6012.455,15,0.7,15,-33.8 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 2.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230912,153333,6643.344,-6012.393,5,0.8,7,-33.8 MHEAD_RNG_PITCHd_Wd 91.0,152024,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 563

Post-dive calculations and measurements:

FINISH 1.9,1.020734 _24V_AH 12.8,30.495

SM_CCo 10358,1.35,0.281,0,0,1588,290.19 _10V_AH 13.1,0.000

SM_GC 4.05,8.70,0.20,1.35,0.122,0.154,0.281,139,2119,1588,-11.60,0.54,290.19,0,0,0,0,0,0,14.69,14.66,14.62 FG_AHR_24Vo 0.000

RAFOS_CLK 450 FG_AHR_10Vo 0.000

RAFOS 0,1348416062,16.033333,16.017221,66,66,62,55,55,55,201,219,185,129,157,171 MEM 188708

RAFOS_FIX 6637.030762,-5956.817383,230912,161628,4,97,4.71 DATA_FILE_SIZE 46700,987

IRIDIUM_FIX 6620.33,-5842.51,230912,121235 CAP_FILE_SIZE 105650,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,244609024

HUMID 46.57 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.6842 SOUNDSPEED 1451.6

TCM_TEMP 12.60 CURRENT 0.150,353.5,1

XPDR_PINGS 12 GPS 230912,182834,6644.982,-6009.685,23,0.8,23,-33.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 472 139.11 SBE_CT 720 23 221.00

Roll_motor 94 198 239.41 SBE_O2 695 3 33.30

VBD_pump_during_apogee 371 2295 10908.78 nil 0 0 0.00

VBD_pump_during_surface 1 280 4.85 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 225 143 414.57 nil 0 0 0.00

Transponder_ping 3 420 16.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 21 2.20

TT8 2487 14 487.55

LPSleep 5395 2 163.29

TT8_Active 545 14 106.97

TT8_Sampling 1805 33 796.75

TT8_CF8 521 38 261.05

TT8_Kalman 0 0 0.00

Analog_circuits 1668 12 262.22

GPS_charging 0 0 0.00

Compass 1620 6 143.05

RAFOS 2520 1 49.52

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

18 -1.50 -136.9 0.0 0.0 0 49 0.00 0.00 -28.20 0.000 2 0.000 0.000 140 2112 1988 0 0 0 0 0 0 28.83 28.83 28.83

55 -1.50 -136.9 3.0 -1.2 5 147 11.30 2.80 -72.15 0.000 4 0.472 0.184 2340 3537 3330 0 0 0 0 0 0 14.36 14.46 14.72

287 -1.50 -136.9 35.4 -18.9 46 294 0.00 2.60 0.00 0.000 6 0.000 0.111 2340 2111 3331 0 0 0 0 0 0 28.83 14.55 28.83

603 -1.50 -136.9 83.5 -14.1 107 609 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2111 3332 0 0 0 0 0 0 28.83 28.83 28.83

920 -1.50 -136.9 125.3 -13.0 150 928 0.00 2.55 0.00 0.000 4 0.000 0.142 2340 710 3331 0 0 0 0 0 0 28.83 14.62 28.83

1005 -1.50 -136.9 137.6 -14.3 158 1014 0.08 2.62 0.00 0.000 6 0.298 0.147 2349 2118 3332 0 0 0 0 0 0 14.57 14.61 28.83

1315 -1.50 -136.9 177.7 -12.9 189 1324 0.00 2.58 0.00 0.000 4 0.000 0.142 2350 711 3332 0 0 0 0 0 0 28.83 14.66 28.83

1373 -1.50 -136.9 185.4 -13.9 194 1380 0.00 2.62 0.00 0.000 6 0.000 0.143 2341 2128 3332 0 0 0 0 0 0 28.83 14.67 28.83

1682 -1.50 -136.9 226.2 -12.7 225 1691 0.00 2.62 0.00 0.000 4 0.000 0.158 2331 3530 3331 0 0 0 0 0 0 28.83 14.66 28.83

1760 -1.50 -136.9 236.4 -13.5 232 1768 0.10 2.53 0.00 0.000 6 0.311 0.106 2349 2117 3331 0 0 0 0 0 0 14.62 14.72 28.83

2068 -1.50 -136.9 276.4 -12.5 263 2077 0.00 2.55 0.00 0.000 4 0.000 0.138 2349 706 3331 0 0 0 0 0 0 28.83 14.69 28.83

2176 -1.50 -136.9 290.1 -12.8 273 2183 0.00 2.62 0.00 0.000 6 0.000 0.142 2342 2129 3330 0 0 0 0 0 0 28.83 14.71 28.83

2485 -1.50 -136.9 327.5 -11.3 304 2494 0.00 2.62 0.00 0.000 4 0.000 0.155 2331 3535 3330 0 0 0 0 0 0 28.83 14.69 28.83

2512 -1.50 -136.9 330.6 -11.8 306 2520 0.10 2.53 0.00 0.000 6 0.312 0.105 2349 2117 3330 0 0 0 0 0 0 14.65 14.75 28.83

2820 -1.50 -136.9 366.0 -11.0 337 2830 0.00 2.55 0.00 0.000 4 0.000 0.138 2349 705 3330 0 0 0 0 0 0 28.83 14.70 28.83

2876 -1.50 -136.9 372.6 -12.3 342 2884 0.00 2.58 0.00 0.000 6 0.000 0.140 2342 2119 3330 0 0 0 0 0 0 28.83 14.69 28.83

3207 -1.50 -136.9 410.5 -11.2 369 3212 0.00 2.62 0.00 0.000 4 0.000 0.157 2331 3528 3330 0 0 0 0 0 0 28.83 14.71 28.83

3231 -1.50 -136.9 410.5 -11.2 369 3240 0.10 2.50 0.00 0.000 6 0.312 0.103 2349 2117 3330 0 0 0 0 0 0 14.66 14.76 28.83

3540 -1.50 -136.9 447.3 -10.9 380 3541 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2117 3330 0 0 0 0 0 0 28.83 28.83 28.83

3838 -1.50 -136.9 479.9 -10.8 390 3844 0.00 2.67 0.00 0.000 4 0.000 0.162 2341 3533 3330 0 0 0 0 0 0 28.83 14.74 28.83

3862 -1.50 -136.9 479.9 -10.8 390 3869 0.00 2.50 0.00 0.000 6 0.000 0.103 2340 2120 3330 0 0 0 0 0 0 28.83 14.80 28.83

4170 -1.50 -136.9 517.5 -11.4 401 4171 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2120 3330 0 0 0 0 0 0 28.83 28.83 28.83

4469 -1.50 -136.9 550.8 -11.4 411 4475 0.00 2.53 0.00 0.000 4 0.000 0.139 2341 713 3331 0 0 0 0 0 0 28.83 14.78 28.83

4538 -1.50 -136.9 557.9 -11.5 413 4544 0.00 2.58 0.00 0.000 6 0.000 0.143 2333 2126 3330 0 0 0 0 0 0 28.83 14.78 28.83

4585 end dive: TARGET_DEPTH_EXCEEDED

state 4585 begin apogee

4598 -0.38 0.0 564.8 -11.6 415 4738 0.95 0.00 134.27 2.295 6 0.279 0.000 2591 2203 2772 0 0 0 0 0 0 14.71 28.83 13.11

4743 end apogee: CONTROL_FINISHED_OK

state 4743 begin climb

4749 1.50 136.9 570.1 0.0 420 4899 1.42 0.00 145.07 2.245 6 0.177 0.000 3004 2203 2213 0 0 0 0 0 0 13.88 28.83 12.78

5191 1.50 136.9 527.7 11.3 435 5196 0.00 2.75 0.00 0.000 4 0.000 0.143 3015 793 2204 0 0 0 0 0 0 28.83 14.06 28.83

5240 1.50 136.9 524.0 11.3 436 5249 0.00 2.67 0.00 0.000 6 0.000 0.134 3015 2194 2203 0 0 0 0 0 0 28.83 14.11 28.83

5552 1.50 136.9 486.0 11.5 447 5558 0.00 2.75 0.00 0.000 4 0.000 0.153 3015 3614 2203 0 0 0 0 0 0 28.83 14.31 28.83

5602 1.50 136.9 482.1 11.7 448 5610 0.00 2.60 0.00 0.000 6 0.000 0.106 3026 2196 2202 0 0 0 0 0 0 28.83 14.37 28.83

5914 1.50 136.9 441.6 12.2 459 5915 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2196 2202 0 0 0 0 0 0 28.83 28.83 28.83

6214 1.50 136.9 403.4 13.0 469 6219 0.00 2.60 0.00 0.000 4 0.000 0.142 3036 781 2202 0 0 0 0 0 0 28.83 14.54 28.83

6238 1.50 136.9 403.4 13.0 469 6246 0.15 2.62 0.00 0.000 6 0.303 0.131 3005 2206 2200 0 0 0 0 0 0 14.49 14.56 28.83

6547 1.50 136.9 363.4 12.1 500 6553 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2206 2201 0 0 0 0 0 0 28.83 28.83 28.83

6863 1.50 136.9 327.3 11.6 531 6869 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2206 2200 0 0 0 0 0 0 28.83 28.83 28.83

7175 1.50 136.9 294.7 9.9 562 7181 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2206 2200 0 0 0 0 0 0 28.83 28.83 28.83

7487 1.52 155.5 267.0 8.1 593 7508 0.00 0.00 16.80 1.960 6 0.000 0.000 3004 2206 2138 0 0 0 0 0 0 28.83 28.83 13.90

7813 1.54 168.8 239.7 8.3 626 7833 0.00 2.70 14.48 1.906 4 0.000 0.145 3013 777 2083 0 0 0 0 0 0 28.83 14.46 13.83

7863 1.54 168.8 235.1 9.4 631 7872 0.00 2.62 0.00 0.000 6 0.000 0.132 3013 2202 2081 0 0 0 0 0 0 28.83 14.46 28.83

8174 1.54 168.8 201.5 12.1 662 8183 0.00 2.67 0.00 0.000 4 0.000 0.156 3013 3617 2080 0 0 0 0 0 0 28.83 14.54 28.83

8232 1.54 168.8 194.5 12.8 667 8239 0.00 2.60 0.00 0.000 6 0.000 0.112 3024 2190 2080 0 0 0 0 0 0 28.83 14.61 28.83

8540 1.54 168.8 158.2 10.9 698 8549 0.00 2.58 0.00 0.000 4 0.000 0.143 3034 780 2079 0 0 0 0 0 0 28.83 14.62 28.83

8629 1.54 168.8 148.4 11.7 706 8636 0.00 2.62 0.00 0.000 6 0.000 0.135 3034 2210 2078 0 0 0 0 0 0 28.83 14.64 28.83

8936 1.54 168.8 115.2 10.6 737 8946 0.00 2.62 0.00 0.000 4 0.000 0.142 3044 780 2078 0 0 0 0 0 0 28.83 14.66 28.83

9005 1.54 168.8 108.2 10.8 743 9013 0.12 2.60 0.00 0.000 6 0.304 0.131 3018 2206 2078 0 0 0 0 0 0 14.62 14.68 28.83

9319 1.58 204.7 81.0 7.4 796 9343 0.00 0.00 19.73 0.431 6 0.000 0.000 3018 2206 1936 0 0 0 0 0 0 28.83 28.83 14.52

9654 1.61 226.7 55.9 8.0 860 9668 0.00 0.00 11.38 0.367 6 0.000 0.000 3018 2206 1846 0 0 0 0 0 0 28.83 28.83 14.54

9980 1.63 246.4 27.7 8.1 922 9999 0.00 2.65 10.02 0.281 4 0.000 0.143 3027 788 1765 0 0 0 0 0 0 28.83 14.64 14.59

10045 1.68 283.1 23.1 7.3 933 10071 0.00 2.60 19.60 0.258 6 0.000 0.131 3027 2208 1615 0 0 0 0 0 0 28.83 14.65 14.57

10294 end climb: SURFACE_DEPTH_REACHED

state 10294 begin surface coast

10325 end surface coast: CONTROL_FINISHED_OK

state 10330 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	86	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	16	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	-889.07727	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	230912,152717,6643.343,-6012.455,15,0.7,15,-33.8	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	2.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230912,153333,6643.344,-6012.393,5,0.8,7,-33.8	MHEAD_RNG_PITCHd_Wd	91.0,152024,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	563

FINISH	1.9,1.020734	_24V_AH	12.8,30.495
SM_CCo	10358,1.35,0.281,0,0,1588,290.19	_10V_AH	13.1,0.000
SM_GC	4.05,8.70,0.20,1.35,0.122,0.154,0.281,139,2119,1588,-11.60,0.54,290.19,0,0,0,0,0,0,14.69,14.66,14.62	FG_AHR_24Vo	0.000
RAFOS_CLK	450	FG_AHR_10Vo	0.000
RAFOS	0,1348416062,16.033333,16.017221,66,66,62,55,55,55,201,219,185,129,157,171	MEM	188708
RAFOS_FIX	6637.030762,-5956.817383,230912,161628,4,97,4.71	DATA_FILE_SIZE	46700,987
IRIDIUM_FIX	6620.33,-5842.51,230912,121235	CAP_FILE_SIZE	105650,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,244609024
HUMID	46.57	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.6842	SOUNDSPEED	1451.6
TCM_TEMP	12.60	CURRENT	0.150,353.5,1
XPDR_PINGS	12	GPS	230912,182834,6644.982,-6009.685,23,0.8,23,-33.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	472	139.11	SBE_CT	720	23	221.00
Roll_motor	94	198	239.41	SBE_O2	695	3	33.30
VBD_pump_during_apogee	371	2295	10908.78	nil	0	0	0.00
VBD_pump_during_surface	1	280	4.85	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	225	143	414.57	nil	0	0	0.00
Transponder_ping	3	420	16.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	21	2.20
TT8	2487	14	487.55
LPSleep	5395	2	163.29
TT8_Active	545	14	106.97
TT8_Sampling	1805	33	796.75
TT8_CF8	521	38	261.05
TT8_Kalman	0	0	0.00
Analog_circuits	1668	12	262.22
GPS_charging	0	0	0.00
Compass	1620	6	143.05
RAFOS	2520	1	49.52
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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
18	-1.50	-136.9	0.0	0.0	0	49	0.00	0.00	-28.20	0.000	2	0.000	0.000	140	2112	1988	0	0	0	0	0	0	28.83	28.83	28.83
55	-1.50	-136.9	3.0	-1.2	5	147	11.30	2.80	-72.15	0.000	4	0.472	0.184	2340	3537	3330	0	0	0	0	0	0	14.36	14.46	14.72
287	-1.50	-136.9	35.4	-18.9	46	294	0.00	2.60	0.00	0.000	6	0.000	0.111	2340	2111	3331	0	0	0	0	0	0	28.83	14.55	28.83
603	-1.50	-136.9	83.5	-14.1	107	609	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2111	3332	0	0	0	0	0	0	28.83	28.83	28.83
920	-1.50	-136.9	125.3	-13.0	150	928	0.00	2.55	0.00	0.000	4	0.000	0.142	2340	710	3331	0	0	0	0	0	0	28.83	14.62	28.83
1005	-1.50	-136.9	137.6	-14.3	158	1014	0.08	2.62	0.00	0.000	6	0.298	0.147	2349	2118	3332	0	0	0	0	0	0	14.57	14.61	28.83
1315	-1.50	-136.9	177.7	-12.9	189	1324	0.00	2.58	0.00	0.000	4	0.000	0.142	2350	711	3332	0	0	0	0	0	0	28.83	14.66	28.83
1373	-1.50	-136.9	185.4	-13.9	194	1380	0.00	2.62	0.00	0.000	6	0.000	0.143	2341	2128	3332	0	0	0	0	0	0	28.83	14.67	28.83
1682	-1.50	-136.9	226.2	-12.7	225	1691	0.00	2.62	0.00	0.000	4	0.000	0.158	2331	3530	3331	0	0	0	0	0	0	28.83	14.66	28.83
1760	-1.50	-136.9	236.4	-13.5	232	1768	0.10	2.53	0.00	0.000	6	0.311	0.106	2349	2117	3331	0	0	0	0	0	0	14.62	14.72	28.83
2068	-1.50	-136.9	276.4	-12.5	263	2077	0.00	2.55	0.00	0.000	4	0.000	0.138	2349	706	3331	0	0	0	0	0	0	28.83	14.69	28.83
2176	-1.50	-136.9	290.1	-12.8	273	2183	0.00	2.62	0.00	0.000	6	0.000	0.142	2342	2129	3330	0	0	0	0	0	0	28.83	14.71	28.83
2485	-1.50	-136.9	327.5	-11.3	304	2494	0.00	2.62	0.00	0.000	4	0.000	0.155	2331	3535	3330	0	0	0	0	0	0	28.83	14.69	28.83
2512	-1.50	-136.9	330.6	-11.8	306	2520	0.10	2.53	0.00	0.000	6	0.312	0.105	2349	2117	3330	0	0	0	0	0	0	14.65	14.75	28.83
2820	-1.50	-136.9	366.0	-11.0	337	2830	0.00	2.55	0.00	0.000	4	0.000	0.138	2349	705	3330	0	0	0	0	0	0	28.83	14.70	28.83
2876	-1.50	-136.9	372.6	-12.3	342	2884	0.00	2.58	0.00	0.000	6	0.000	0.140	2342	2119	3330	0	0	0	0	0	0	28.83	14.69	28.83
3207	-1.50	-136.9	410.5	-11.2	369	3212	0.00	2.62	0.00	0.000	4	0.000	0.157	2331	3528	3330	0	0	0	0	0	0	28.83	14.71	28.83
3231	-1.50	-136.9	410.5	-11.2	369	3240	0.10	2.50	0.00	0.000	6	0.312	0.103	2349	2117	3330	0	0	0	0	0	0	14.66	14.76	28.83
3540	-1.50	-136.9	447.3	-10.9	380	3541	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2117	3330	0	0	0	0	0	0	28.83	28.83	28.83
3838	-1.50	-136.9	479.9	-10.8	390	3844	0.00	2.67	0.00	0.000	4	0.000	0.162	2341	3533	3330	0	0	0	0	0	0	28.83	14.74	28.83
3862	-1.50	-136.9	479.9	-10.8	390	3869	0.00	2.50	0.00	0.000	6	0.000	0.103	2340	2120	3330	0	0	0	0	0	0	28.83	14.80	28.83
4170	-1.50	-136.9	517.5	-11.4	401	4171	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2120	3330	0	0	0	0	0	0	28.83	28.83	28.83
4469	-1.50	-136.9	550.8	-11.4	411	4475	0.00	2.53	0.00	0.000	4	0.000	0.139	2341	713	3331	0	0	0	0	0	0	28.83	14.78	28.83
4538	-1.50	-136.9	557.9	-11.5	413	4544	0.00	2.58	0.00	0.000	6	0.000	0.143	2333	2126	3330	0	0	0	0	0	0	28.83	14.78	28.83
4585	end dive: TARGET_DEPTH_EXCEEDED
state	4585	begin apogee
4598	-0.38	0.0	564.8	-11.6	415	4738	0.95	0.00	134.27	2.295	6	0.279	0.000	2591	2203	2772	0	0	0	0	0	0	14.71	28.83	13.11
4743	end apogee: CONTROL_FINISHED_OK
state	4743	begin climb
4749	1.50	136.9	570.1	0.0	420	4899	1.42	0.00	145.07	2.245	6	0.177	0.000	3004	2203	2213	0	0	0	0	0	0	13.88	28.83	12.78
5191	1.50	136.9	527.7	11.3	435	5196	0.00	2.75	0.00	0.000	4	0.000	0.143	3015	793	2204	0	0	0	0	0	0	28.83	14.06	28.83
5240	1.50	136.9	524.0	11.3	436	5249	0.00	2.67	0.00	0.000	6	0.000	0.134	3015	2194	2203	0	0	0	0	0	0	28.83	14.11	28.83
5552	1.50	136.9	486.0	11.5	447	5558	0.00	2.75	0.00	0.000	4	0.000	0.153	3015	3614	2203	0	0	0	0	0	0	28.83	14.31	28.83
5602	1.50	136.9	482.1	11.7	448	5610	0.00	2.60	0.00	0.000	6	0.000	0.106	3026	2196	2202	0	0	0	0	0	0	28.83	14.37	28.83
5914	1.50	136.9	441.6	12.2	459	5915	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2196	2202	0	0	0	0	0	0	28.83	28.83	28.83
6214	1.50	136.9	403.4	13.0	469	6219	0.00	2.60	0.00	0.000	4	0.000	0.142	3036	781	2202	0	0	0	0	0	0	28.83	14.54	28.83
6238	1.50	136.9	403.4	13.0	469	6246	0.15	2.62	0.00	0.000	6	0.303	0.131	3005	2206	2200	0	0	0	0	0	0	14.49	14.56	28.83
6547	1.50	136.9	363.4	12.1	500	6553	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2206	2201	0	0	0	0	0	0	28.83	28.83	28.83
6863	1.50	136.9	327.3	11.6	531	6869	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2206	2200	0	0	0	0	0	0	28.83	28.83	28.83
7175	1.50	136.9	294.7	9.9	562	7181	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2206	2200	0	0	0	0	0	0	28.83	28.83	28.83
7487	1.52	155.5	267.0	8.1	593	7508	0.00	0.00	16.80	1.960	6	0.000	0.000	3004	2206	2138	0	0	0	0	0	0	28.83	28.83	13.90
7813	1.54	168.8	239.7	8.3	626	7833	0.00	2.70	14.48	1.906	4	0.000	0.145	3013	777	2083	0	0	0	0	0	0	28.83	14.46	13.83
7863	1.54	168.8	235.1	9.4	631	7872	0.00	2.62	0.00	0.000	6	0.000	0.132	3013	2202	2081	0	0	0	0	0	0	28.83	14.46	28.83
8174	1.54	168.8	201.5	12.1	662	8183	0.00	2.67	0.00	0.000	4	0.000	0.156	3013	3617	2080	0	0	0	0	0	0	28.83	14.54	28.83
8232	1.54	168.8	194.5	12.8	667	8239	0.00	2.60	0.00	0.000	6	0.000	0.112	3024	2190	2080	0	0	0	0	0	0	28.83	14.61	28.83
8540	1.54	168.8	158.2	10.9	698	8549	0.00	2.58	0.00	0.000	4	0.000	0.143	3034	780	2079	0	0	0	0	0	0	28.83	14.62	28.83
8629	1.54	168.8	148.4	11.7	706	8636	0.00	2.62	0.00	0.000	6	0.000	0.135	3034	2210	2078	0	0	0	0	0	0	28.83	14.64	28.83
8936	1.54	168.8	115.2	10.6	737	8946	0.00	2.62	0.00	0.000	4	0.000	0.142	3044	780	2078	0	0	0	0	0	0	28.83	14.66	28.83
9005	1.54	168.8	108.2	10.8	743	9013	0.12	2.60	0.00	0.000	6	0.304	0.131	3018	2206	2078	0	0	0	0	0	0	14.62	14.68	28.83
9319	1.58	204.7	81.0	7.4	796	9343	0.00	0.00	19.73	0.431	6	0.000	0.000	3018	2206	1936	0	0	0	0	0	0	28.83	28.83	14.52
9654	1.61	226.7	55.9	8.0	860	9668	0.00	0.00	11.38	0.367	6	0.000	0.000	3018	2206	1846	0	0	0	0	0	0	28.83	28.83	14.54
9980	1.63	246.4	27.7	8.1	922	9999	0.00	2.65	10.02	0.281	4	0.000	0.143	3027	788	1765	0	0	0	0	0	0	28.83	14.64	14.59
10045	1.68	283.1	23.1	7.3	933	10071	0.00	2.60	19.60	0.258	6	0.000	0.131	3027	2208	1615	0	0	0	0	0	0	28.83	14.65	14.57
10294	end climb: SURFACE_DEPTH_REACHED
state	10294	begin surface coast
10325	end surface coast: CONTROL_FINISHED_OK
state	10330	begin surface