Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 11 * 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 11 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 623.11926 ROLL_TIMEOUT 15 XPDR_VALID 5

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 46 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 36 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 -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 2 T_GPS_CHARGE -190194.86 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 623.11926

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 -190194.86

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 -3

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 46 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 36 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 11 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 210612,044005,6702.726,-5648.722,28,1.0,28,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210612,044619,6702.725,-5648.589,20,1.0,21,-33.5 MHEAD_RNG_PITCHd_Wd 291.2,162786,-16.3,-9.167

SPEED_LIMITS 0.159,0.240 D_GRID 534

Post-dive calculations and measurements:

FREEZE 1.39,-1.516,-1.722,0,1,0 ALTIM_BOTTOM_PING 500.1,32.2

FINISH 1.4,1.025300 _24V_AH 23.7,5.137

SM_CCo 9503,192.77,0.122,1,0,487,623.31 _10V_AH 10.4,6.184

SM_GC 2.41,8.18,0.32,192.77,0.061,0.066,0.122,331,2105,487,-8.66,-1.07,623.31,0,0,0,0,1,0,26.55,26.55,25.42 FG_AHR_24Vo 0.000

RAFOS_CLK 466 FG_AHR_10Vo 0.000

RAFOS 4,1340253181,4.566667,4.550278,47,43,42,41,35,34,1285,454,154,478,1,1858 MEM 151564

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 50061,1109

IRIDIUM_FIX 6636.54,-5646.10,210612,020234 CAP_FILE_SIZE 123705,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,244822016

HUMID 38.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,17

INTERNAL_PRESSURE 8.93589 SOUNDSPEED 1464.8

TCM_TEMP 16.30 CURRENT 49.770,272.1,1

XPDR_PINGS 1 GPS 210612,044619,6702.725,-5648.589,181,99.0,181,-33.5

ALTIM_TOP_PING 19.6,19.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 263 128.17 SBE_CT 788 23 447.97

Roll_motor 109 65 171.48 SBE_O2 804 5 114.20

VBD_pump_during_apogee 268 1149 7306.44 nil 0 0 0.00

VBD_pump_during_surface 192 122 559.22 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 256 262 1595.63 nil 0 0 0.00

Transponder_ping 2 420 19.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.92

TT8 2770 17 517.55

LPSleep 4199 2 100.88

TT8_Active 695 17 129.87

TT8_Sampling 2149 40 903.90

TT8_CF8 269 48 136.34

TT8_Kalman 0 0 0.00

Analog_circuits 1965 12 245.24

GPS_charging 0 0 0.00

Compass 1833 7 142.80

RAFOS 360 3 11.23

Transponder 14 30 4.43

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.72 -146.6 0.0 0.0 0 139 0.00 0.00 -120.07 0.000 2 0.000 0.000 347 2009 3347 0 0 0 0 0 0 28.83 28.83 28.83

143 -0.72 -146.6 3.7 -6.5 21 164 10.25 2.15 -5.62 0.000 4 0.263 0.066 2902 690 3631 0 0 0 0 0 0 26.10 26.35 26.65

178 -0.72 -146.6 15.8 -31.4 26 184 0.00 2.25 0.00 0.000 6 0.000 0.049 2895 2104 3635 0 0 0 0 0 0 28.83 26.36 28.83

489 -0.72 -146.6 56.8 -12.5 87 496 0.00 2.20 0.00 0.000 4 0.000 0.060 2884 3520 3638 0 0 0 0 0 0 28.83 26.41 28.83

601 -0.72 -146.6 70.7 -12.6 108 608 0.00 2.15 0.00 0.000 6 0.000 0.044 2884 2101 3637 0 0 0 0 0 0 28.83 26.47 28.83

913 -0.72 -146.6 105.8 -10.7 164 922 0.00 2.17 0.00 0.000 4 0.000 0.061 2874 3509 3638 0 0 0 0 0 0 28.83 26.47 28.83

998 -0.72 -146.6 114.9 -11.0 172 1004 0.00 2.15 0.00 0.000 6 0.000 0.044 2874 2093 3638 0 0 0 0 0 0 28.83 26.52 28.83

1305 -0.72 -146.6 148.1 -11.0 203 1315 0.00 2.22 0.00 0.000 4 0.000 0.061 2863 3515 3638 0 0 0 0 0 0 28.83 26.51 28.83

1450 -0.72 -146.6 164.5 -11.3 217 1454 0.12 2.12 0.00 0.000 6 0.181 0.044 2893 2097 3638 0 0 0 0 0 0 26.41 26.57 28.83

1763 -0.72 -146.6 195.3 -9.8 248 1767 0.00 2.20 0.00 0.000 4 0.000 0.062 2885 3508 3638 0 0 0 0 0 0 28.83 26.54 28.83

1835 -0.72 -146.6 202.6 -10.1 255 1845 0.00 2.12 0.00 0.000 6 0.000 0.044 2885 2097 3638 0 0 0 0 0 0 28.83 26.60 28.83

2145 -0.72 -146.6 232.6 -9.7 286 2154 0.00 2.22 0.00 0.000 4 0.000 0.062 2874 3517 3638 0 0 0 0 0 0 28.83 26.56 28.83

2180 -0.72 -146.6 235.8 -9.9 289 2187 0.00 2.15 0.00 0.000 6 0.000 0.044 2874 2094 3638 0 0 0 0 0 0 28.83 26.62 28.83

2488 -0.72 -146.6 265.0 -8.8 320 2496 0.00 2.20 0.00 0.000 4 0.000 0.060 2864 3506 3638 0 0 0 0 0 0 28.83 26.58 28.83

2560 -0.72 -146.6 272.0 -9.8 327 2570 0.12 2.12 0.00 0.000 6 0.178 0.044 2894 2094 3638 0 0 0 0 0 0 26.48 26.63 28.83

2870 -0.72 -146.6 296.2 -7.7 358 2879 0.00 2.17 0.00 0.000 4 0.000 0.060 2886 3503 3638 0 0 0 0 0 0 28.83 26.60 28.83

2942 -0.72 -146.6 302.5 -8.7 365 2951 0.00 2.10 0.00 0.000 6 0.000 0.043 2886 2090 3639 0 0 0 0 0 0 28.83 26.65 28.83

3253 -0.72 -146.6 329.5 -8.9 396 3262 0.00 2.20 0.00 0.000 4 0.000 0.060 2875 3516 3639 0 0 0 0 0 0 28.83 26.62 28.83

3327 -0.72 -146.6 336.3 -9.5 403 3335 0.00 2.12 0.00 0.000 6 0.000 0.042 2875 2096 3639 0 0 0 0 0 0 28.83 26.67 28.83

3635 -0.72 -146.6 364.8 -9.2 434 3644 0.00 2.17 0.00 0.000 4 0.000 0.060 2865 3501 3640 0 0 0 0 0 0 28.83 26.63 28.83

3700 -0.72 -146.6 371.1 -10.3 440 3708 0.12 2.10 0.00 0.000 6 0.175 0.042 2896 2097 3640 0 0 0 0 0 0 26.52 26.68 28.83

4007 -0.72 -146.6 396.9 -8.2 471 4011 0.00 2.20 0.00 0.000 4 0.000 0.059 2887 3521 3641 0 0 0 0 0 0 28.83 26.64 28.83

4064 -0.72 -146.6 401.6 -9.0 476 4071 0.00 2.12 0.00 0.000 6 0.000 0.042 2887 2096 3641 0 0 0 0 0 0 28.83 26.69 28.83

4371 -0.72 -146.6 428.1 -8.5 507 4381 0.00 2.17 0.00 0.000 4 0.000 0.058 2877 3505 3641 0 0 0 0 0 0 28.83 26.65 28.83

4457 -0.72 -146.6 435.7 -9.4 515 4465 0.00 2.10 0.00 0.000 6 0.000 0.041 2877 2095 3642 0 0 0 0 0 0 28.83 26.70 28.83

4764 -0.72 -146.6 463.4 -9.3 546 4773 0.00 2.17 0.00 0.000 4 0.000 0.058 2866 3513 3642 0 0 0 0 0 0 28.83 26.66 28.83

4846 -0.72 -146.6 471.5 -9.8 554 4855 0.12 2.10 0.00 0.000 6 0.173 0.041 2897 2101 3643 0 0 0 0 0 0 26.55 26.71 28.83

5156 -0.72 -146.6 498.1 -8.2 585 5165 0.00 2.17 0.00 0.000 4 0.000 0.058 2889 3511 3643 0 0 0 0 0 0 28.83 26.67 28.83

5203 -0.72 -146.6 502.3 -9.7 589 5210 0.00 2.08 0.00 0.000 6 0.000 0.041 2889 2097 3643 0 0 0 0 0 0 28.83 26.72 28.83

5388 end dive: BOTTOM_OBSTACLE_DETECTED

state 5388 begin apogee

5395 -0.17 0.0 518.0 -9.4 608 5521 0.55 0.00 119.60 1.150 6 0.136 0.000 3068 1880 3029 0 0 0 0 0 0 26.57 28.83 23.83

5523 end apogee: CONTROL_FINISHED_OK

state 5524 begin climb

5526 0.72 146.6 522.5 0.0 621 5662 0.85 2.35 123.53 1.087 4 0.080 0.048 3369 513 2431 0 0 0 0 0 0 24.79 24.47 23.65

5708 0.72 146.6 505.4 14.5 639 5715 0.00 2.33 0.00 0.000 6 0.000 0.044 3369 1903 2428 0 0 1 0 0 0 28.83 25.03 28.83

6016 0.72 146.6 458.3 15.5 670 6025 0.00 2.28 0.00 0.000 4 0.000 0.048 3378 512 2423 0 0 0 0 0 0 28.83 25.74 28.83

6060 0.72 146.6 451.6 15.8 674 6067 0.00 2.28 0.00 0.000 6 0.000 0.044 3377 1914 2423 0 0 0 0 0 0 28.83 25.80 28.83

6368 0.72 146.6 402.9 16.0 705 6372 0.00 2.25 0.00 0.000 4 0.000 0.048 3384 508 2422 0 0 0 0 0 0 28.83 26.03 28.83

6440 0.72 146.6 391.3 15.9 712 6450 0.00 2.25 0.00 0.000 6 0.000 0.044 3384 1911 2423 0 0 0 0 0 0 28.83 26.08 28.83

6750 0.72 146.6 340.1 16.5 743 6759 0.00 2.22 0.00 0.000 4 0.000 0.049 3392 509 2422 0 0 0 0 0 0 28.83 26.20 28.83

6795 0.72 146.6 333.1 16.4 747 6802 0.00 2.22 0.00 0.000 6 0.000 0.045 3390 1901 2421 0 0 0 0 0 0 28.83 26.23 28.83

7102 0.72 146.6 281.3 16.3 778 7111 0.00 2.22 0.00 0.000 4 0.000 0.048 3397 508 2422 0 0 0 0 0 0 28.83 26.31 28.83

7144 0.72 146.6 274.2 16.6 782 7154 0.08 2.22 0.00 0.000 6 0.171 0.044 3371 1920 2422 0 0 0 0 0 0 26.17 26.33 28.83

7455 0.72 146.6 228.8 14.7 813 7463 0.00 2.22 0.00 0.000 4 0.000 0.048 3378 514 2421 0 0 0 0 0 0 28.83 26.39 28.83

7489 0.72 146.6 224.1 14.7 816 7497 0.00 2.20 0.00 0.000 6 0.000 0.044 3377 1902 2422 0 0 0 0 0 0 28.83 26.41 28.83

7797 0.72 146.6 180.1 13.8 847 7805 0.00 2.22 0.00 0.000 4 0.000 0.049 3384 510 2422 0 0 0 0 0 0 28.83 26.44 28.83

7871 0.72 146.6 169.8 14.6 854 7878 0.00 2.20 0.00 0.000 6 0.000 0.045 3384 1902 2422 0 0 0 0 0 0 28.83 26.46 28.83

8180 0.72 146.6 128.6 12.9 885 8188 0.00 2.17 0.00 0.000 4 0.000 0.050 3393 520 2421 0 0 0 0 0 0 28.83 26.48 28.83

8272 0.72 146.6 116.7 12.7 894 8280 0.00 2.17 0.00 0.000 6 0.000 0.045 3393 1914 2422 0 0 0 0 0 0 28.83 26.52 28.83

8582 0.72 146.6 79.8 11.4 942 8589 0.00 2.22 0.00 0.000 4 0.000 0.050 3402 509 2422 0 0 0 0 0 0 28.83 26.53 28.83

8617 0.72 146.6 75.9 11.6 948 8626 0.15 2.20 0.00 0.000 6 0.173 0.045 3364 1906 2422 0 0 0 0 0 0 26.40 26.55 28.83

8931 0.72 146.6 43.9 9.7 1009 8938 0.00 2.22 0.00 0.000 4 0.000 0.050 3370 511 2422 0 0 0 0 0 0 28.83 26.56 28.83

8991 0.73 149.6 38.2 9.0 1020 8999 0.00 2.20 0.00 0.000 6 0.000 0.046 3371 1909 2421 0 0 0 0 0 0 28.83 26.58 28.83

9324 0.79 201.3 11.3 7.0 1081 9356 0.00 2.12 25.00 0.088 4 0.000 0.057 3371 3302 2207 0 0 0 0 0 0 28.83 26.52 26.48

9385 0.79 201.3 6.5 9.6 1091 9392 0.00 2.12 0.00 0.000 6 0.000 0.044 3379 1905 2205 0 0 0 0 0 0 28.83 26.56 28.83

9418 end climb: SURFACE_DEPTH_REACHED

state 9418 begin surface coast

9484 end surface coast: CONTROL_FINISHED_OK

state 9484 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	11	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	623.11926	ROLL_TIMEOUT	15	XPDR_VALID	5
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	46	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	36	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	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	2	T_GPS_CHARGE	-190194.86	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	210612,044005,6702.726,-5648.722,28,1.0,28,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210612,044619,6702.725,-5648.589,20,1.0,21,-33.5	MHEAD_RNG_PITCHd_Wd	291.2,162786,-16.3,-9.167
SPEED_LIMITS	0.159,0.240	D_GRID	534

FREEZE	1.39,-1.516,-1.722,0,1,0	ALTIM_BOTTOM_PING	500.1,32.2
FINISH	1.4,1.025300	_24V_AH	23.7,5.137
SM_CCo	9503,192.77,0.122,1,0,487,623.31	_10V_AH	10.4,6.184
SM_GC	2.41,8.18,0.32,192.77,0.061,0.066,0.122,331,2105,487,-8.66,-1.07,623.31,0,0,0,0,1,0,26.55,26.55,25.42	FG_AHR_24Vo	0.000
RAFOS_CLK	466	FG_AHR_10Vo	0.000
RAFOS	4,1340253181,4.566667,4.550278,47,43,42,41,35,34,1285,454,154,478,1,1858	MEM	151564
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	50061,1109
IRIDIUM_FIX	6636.54,-5646.10,210612,020234	CAP_FILE_SIZE	123705,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,244822016
HUMID	38.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,17
INTERNAL_PRESSURE	8.93589	SOUNDSPEED	1464.8
TCM_TEMP	16.30	CURRENT	49.770,272.1,1
XPDR_PINGS	1	GPS	210612,044619,6702.725,-5648.589,181,99.0,181,-33.5
ALTIM_TOP_PING	19.6,19.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	263	128.17	SBE_CT	788	23	447.97
Roll_motor	109	65	171.48	SBE_O2	804	5	114.20
VBD_pump_during_apogee	268	1149	7306.44	nil	0	0	0.00
VBD_pump_during_surface	192	122	559.22	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	256	262	1595.63	nil	0	0	0.00
Transponder_ping	2	420	19.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.92
TT8	2770	17	517.55
LPSleep	4199	2	100.88
TT8_Active	695	17	129.87
TT8_Sampling	2149	40	903.90
TT8_CF8	269	48	136.34
TT8_Kalman	0	0	0.00
Analog_circuits	1965	12	245.24
GPS_charging	0	0	0.00
Compass	1833	7	142.80
RAFOS	360	3	11.23
Transponder	14	30	4.43

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.72	-146.6	0.0	0.0	0	139	0.00	0.00	-120.07	0.000	2	0.000	0.000	347	2009	3347	0	0	0	0	0	0	28.83	28.83	28.83
143	-0.72	-146.6	3.7	-6.5	21	164	10.25	2.15	-5.62	0.000	4	0.263	0.066	2902	690	3631	0	0	0	0	0	0	26.10	26.35	26.65
178	-0.72	-146.6	15.8	-31.4	26	184	0.00	2.25	0.00	0.000	6	0.000	0.049	2895	2104	3635	0	0	0	0	0	0	28.83	26.36	28.83
489	-0.72	-146.6	56.8	-12.5	87	496	0.00	2.20	0.00	0.000	4	0.000	0.060	2884	3520	3638	0	0	0	0	0	0	28.83	26.41	28.83
601	-0.72	-146.6	70.7	-12.6	108	608	0.00	2.15	0.00	0.000	6	0.000	0.044	2884	2101	3637	0	0	0	0	0	0	28.83	26.47	28.83
913	-0.72	-146.6	105.8	-10.7	164	922	0.00	2.17	0.00	0.000	4	0.000	0.061	2874	3509	3638	0	0	0	0	0	0	28.83	26.47	28.83
998	-0.72	-146.6	114.9	-11.0	172	1004	0.00	2.15	0.00	0.000	6	0.000	0.044	2874	2093	3638	0	0	0	0	0	0	28.83	26.52	28.83
1305	-0.72	-146.6	148.1	-11.0	203	1315	0.00	2.22	0.00	0.000	4	0.000	0.061	2863	3515	3638	0	0	0	0	0	0	28.83	26.51	28.83
1450	-0.72	-146.6	164.5	-11.3	217	1454	0.12	2.12	0.00	0.000	6	0.181	0.044	2893	2097	3638	0	0	0	0	0	0	26.41	26.57	28.83
1763	-0.72	-146.6	195.3	-9.8	248	1767	0.00	2.20	0.00	0.000	4	0.000	0.062	2885	3508	3638	0	0	0	0	0	0	28.83	26.54	28.83
1835	-0.72	-146.6	202.6	-10.1	255	1845	0.00	2.12	0.00	0.000	6	0.000	0.044	2885	2097	3638	0	0	0	0	0	0	28.83	26.60	28.83
2145	-0.72	-146.6	232.6	-9.7	286	2154	0.00	2.22	0.00	0.000	4	0.000	0.062	2874	3517	3638	0	0	0	0	0	0	28.83	26.56	28.83
2180	-0.72	-146.6	235.8	-9.9	289	2187	0.00	2.15	0.00	0.000	6	0.000	0.044	2874	2094	3638	0	0	0	0	0	0	28.83	26.62	28.83
2488	-0.72	-146.6	265.0	-8.8	320	2496	0.00	2.20	0.00	0.000	4	0.000	0.060	2864	3506	3638	0	0	0	0	0	0	28.83	26.58	28.83
2560	-0.72	-146.6	272.0	-9.8	327	2570	0.12	2.12	0.00	0.000	6	0.178	0.044	2894	2094	3638	0	0	0	0	0	0	26.48	26.63	28.83
2870	-0.72	-146.6	296.2	-7.7	358	2879	0.00	2.17	0.00	0.000	4	0.000	0.060	2886	3503	3638	0	0	0	0	0	0	28.83	26.60	28.83
2942	-0.72	-146.6	302.5	-8.7	365	2951	0.00	2.10	0.00	0.000	6	0.000	0.043	2886	2090	3639	0	0	0	0	0	0	28.83	26.65	28.83
3253	-0.72	-146.6	329.5	-8.9	396	3262	0.00	2.20	0.00	0.000	4	0.000	0.060	2875	3516	3639	0	0	0	0	0	0	28.83	26.62	28.83
3327	-0.72	-146.6	336.3	-9.5	403	3335	0.00	2.12	0.00	0.000	6	0.000	0.042	2875	2096	3639	0	0	0	0	0	0	28.83	26.67	28.83
3635	-0.72	-146.6	364.8	-9.2	434	3644	0.00	2.17	0.00	0.000	4	0.000	0.060	2865	3501	3640	0	0	0	0	0	0	28.83	26.63	28.83
3700	-0.72	-146.6	371.1	-10.3	440	3708	0.12	2.10	0.00	0.000	6	0.175	0.042	2896	2097	3640	0	0	0	0	0	0	26.52	26.68	28.83
4007	-0.72	-146.6	396.9	-8.2	471	4011	0.00	2.20	0.00	0.000	4	0.000	0.059	2887	3521	3641	0	0	0	0	0	0	28.83	26.64	28.83
4064	-0.72	-146.6	401.6	-9.0	476	4071	0.00	2.12	0.00	0.000	6	0.000	0.042	2887	2096	3641	0	0	0	0	0	0	28.83	26.69	28.83
4371	-0.72	-146.6	428.1	-8.5	507	4381	0.00	2.17	0.00	0.000	4	0.000	0.058	2877	3505	3641	0	0	0	0	0	0	28.83	26.65	28.83
4457	-0.72	-146.6	435.7	-9.4	515	4465	0.00	2.10	0.00	0.000	6	0.000	0.041	2877	2095	3642	0	0	0	0	0	0	28.83	26.70	28.83
4764	-0.72	-146.6	463.4	-9.3	546	4773	0.00	2.17	0.00	0.000	4	0.000	0.058	2866	3513	3642	0	0	0	0	0	0	28.83	26.66	28.83
4846	-0.72	-146.6	471.5	-9.8	554	4855	0.12	2.10	0.00	0.000	6	0.173	0.041	2897	2101	3643	0	0	0	0	0	0	26.55	26.71	28.83
5156	-0.72	-146.6	498.1	-8.2	585	5165	0.00	2.17	0.00	0.000	4	0.000	0.058	2889	3511	3643	0	0	0	0	0	0	28.83	26.67	28.83
5203	-0.72	-146.6	502.3	-9.7	589	5210	0.00	2.08	0.00	0.000	6	0.000	0.041	2889	2097	3643	0	0	0	0	0	0	28.83	26.72	28.83
5388	end dive: BOTTOM_OBSTACLE_DETECTED
state	5388	begin apogee
5395	-0.17	0.0	518.0	-9.4	608	5521	0.55	0.00	119.60	1.150	6	0.136	0.000	3068	1880	3029	0	0	0	0	0	0	26.57	28.83	23.83
5523	end apogee: CONTROL_FINISHED_OK
state	5524	begin climb
5526	0.72	146.6	522.5	0.0	621	5662	0.85	2.35	123.53	1.087	4	0.080	0.048	3369	513	2431	0	0	0	0	0	0	24.79	24.47	23.65
5708	0.72	146.6	505.4	14.5	639	5715	0.00	2.33	0.00	0.000	6	0.000	0.044	3369	1903	2428	0	0	1	0	0	0	28.83	25.03	28.83
6016	0.72	146.6	458.3	15.5	670	6025	0.00	2.28	0.00	0.000	4	0.000	0.048	3378	512	2423	0	0	0	0	0	0	28.83	25.74	28.83
6060	0.72	146.6	451.6	15.8	674	6067	0.00	2.28	0.00	0.000	6	0.000	0.044	3377	1914	2423	0	0	0	0	0	0	28.83	25.80	28.83
6368	0.72	146.6	402.9	16.0	705	6372	0.00	2.25	0.00	0.000	4	0.000	0.048	3384	508	2422	0	0	0	0	0	0	28.83	26.03	28.83
6440	0.72	146.6	391.3	15.9	712	6450	0.00	2.25	0.00	0.000	6	0.000	0.044	3384	1911	2423	0	0	0	0	0	0	28.83	26.08	28.83
6750	0.72	146.6	340.1	16.5	743	6759	0.00	2.22	0.00	0.000	4	0.000	0.049	3392	509	2422	0	0	0	0	0	0	28.83	26.20	28.83
6795	0.72	146.6	333.1	16.4	747	6802	0.00	2.22	0.00	0.000	6	0.000	0.045	3390	1901	2421	0	0	0	0	0	0	28.83	26.23	28.83
7102	0.72	146.6	281.3	16.3	778	7111	0.00	2.22	0.00	0.000	4	0.000	0.048	3397	508	2422	0	0	0	0	0	0	28.83	26.31	28.83
7144	0.72	146.6	274.2	16.6	782	7154	0.08	2.22	0.00	0.000	6	0.171	0.044	3371	1920	2422	0	0	0	0	0	0	26.17	26.33	28.83
7455	0.72	146.6	228.8	14.7	813	7463	0.00	2.22	0.00	0.000	4	0.000	0.048	3378	514	2421	0	0	0	0	0	0	28.83	26.39	28.83
7489	0.72	146.6	224.1	14.7	816	7497	0.00	2.20	0.00	0.000	6	0.000	0.044	3377	1902	2422	0	0	0	0	0	0	28.83	26.41	28.83
7797	0.72	146.6	180.1	13.8	847	7805	0.00	2.22	0.00	0.000	4	0.000	0.049	3384	510	2422	0	0	0	0	0	0	28.83	26.44	28.83
7871	0.72	146.6	169.8	14.6	854	7878	0.00	2.20	0.00	0.000	6	0.000	0.045	3384	1902	2422	0	0	0	0	0	0	28.83	26.46	28.83
8180	0.72	146.6	128.6	12.9	885	8188	0.00	2.17	0.00	0.000	4	0.000	0.050	3393	520	2421	0	0	0	0	0	0	28.83	26.48	28.83
8272	0.72	146.6	116.7	12.7	894	8280	0.00	2.17	0.00	0.000	6	0.000	0.045	3393	1914	2422	0	0	0	0	0	0	28.83	26.52	28.83
8582	0.72	146.6	79.8	11.4	942	8589	0.00	2.22	0.00	0.000	4	0.000	0.050	3402	509	2422	0	0	0	0	0	0	28.83	26.53	28.83
8617	0.72	146.6	75.9	11.6	948	8626	0.15	2.20	0.00	0.000	6	0.173	0.045	3364	1906	2422	0	0	0	0	0	0	26.40	26.55	28.83
8931	0.72	146.6	43.9	9.7	1009	8938	0.00	2.22	0.00	0.000	4	0.000	0.050	3370	511	2422	0	0	0	0	0	0	28.83	26.56	28.83
8991	0.73	149.6	38.2	9.0	1020	8999	0.00	2.20	0.00	0.000	6	0.000	0.046	3371	1909	2421	0	0	0	0	0	0	28.83	26.58	28.83
9324	0.79	201.3	11.3	7.0	1081	9356	0.00	2.12	25.00	0.088	4	0.000	0.057	3371	3302	2207	0	0	0	0	0	0	28.83	26.52	26.48
9385	0.79	201.3	6.5	9.6	1091	9392	0.00	2.12	0.00	0.000	6	0.000	0.044	3379	1905	2205	0	0	0	0	0	0	28.83	26.56	28.83
9418	end climb: SURFACE_DEPTH_REACHED
state	9418	begin surface coast
9484	end surface coast: CONTROL_FINISHED_OK
state	9484	begin surface