Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 137 * 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 137 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 15 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 14 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 -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1013.6973 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 -1013.6973

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 -3

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 15 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 14 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 137 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 021012,144404,6702.870,-5652.271,38,0.8,38,-33.5 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 2.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021012,145048,6702.916,-5652.289,4,0.8,4,-33.5 MHEAD_RNG_PITCHd_Wd 265.2,160220,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 567

Post-dive calculations and measurements:

FINISH 1.8,1.018050 _24V_AH 12.9,45.701

SM_CCo 10326,14.98,0.187,0,0,1587,290.19 _10V_AH 13.2,0.000

SM_GC 2.48,8.23,2.53,14.98,0.072,0.131,0.187,136,2132,1587,-11.62,-0.11,290.19,0,0,0,0,0,0,14.75,14.71,14.66 FG_AHR_24Vo 0.000

RAFOS_CLK 423 FG_AHR_10Vo 0.000

RAFOS 0,1349193686,16.033333,16.023890,57,57,54,50,49,48,125,177,218,138,159,148 MEM 188768

RAFOS_FIX 6708.110840,-5713.884766,021012,161628,4,74,2.81 DATA_FILE_SIZE 46705,968

IRIDIUM_FIX 6636.54,-5635.43,021012,111153 CAP_FILE_SIZE 102603,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,241147904

HUMID 46.69 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.76233 SOUNDSPEED 1462.1

TCM_TEMP 13.30 CURRENT 0.090,304.3,1

XPDR_PINGS 7 GPS 021012,174604,6702.415,-5656.168,51,0.8,51,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 464 133.73 SBE_CT 707 23 218.92

Roll_motor 87 185 209.08 SBE_O2 667 3 32.21

VBD_pump_during_apogee 340 2288 10048.62 nil 0 0 0.00

VBD_pump_during_surface 14 187 36.21 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 254 147 484.06 nil 0 0 0.00

Transponder_ping 1 420 9.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 21 1.60

TT8 2463 14 486.56

LPSleep 5484 2 167.22

TT8_Active 510 14 100.82

TT8_Sampling 1797 33 799.17

TT8_CF8 515 38 259.58

TT8_Kalman 0 0 0.00

Analog_circuits 1632 12 258.63

GPS_charging 0 0 0.00

Compass 1580 6 140.63

RAFOS 2520 1 49.90

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 62 0.00 0.00 -40.80 0.000 2 0.000 0.000 119 2112 2355 0 0 0 0 0 0 28.83 28.83 28.83

68 -1.50 -136.9 3.1 -2.0 7 124 11.25 2.60 -35.65 0.000 4 0.464 0.156 2347 699 3332 0 0 0 0 0 0 14.42 14.54 14.81

209 -1.50 -136.9 23.9 -19.4 31 216 0.00 2.65 0.00 0.000 6 0.000 0.138 2340 2120 3332 0 0 0 0 0 0 28.83 14.57 28.83

526 -1.50 -136.9 70.1 -13.6 92 532 0.00 2.65 0.00 0.000 4 0.000 0.148 2330 3531 3333 0 0 0 0 0 0 28.83 14.63 28.83

653 -1.50 -136.9 87.8 -13.8 116 661 0.10 2.50 0.00 0.000 6 0.311 0.096 2348 2117 3333 0 0 0 0 0 0 14.58 14.70 28.83

967 -1.50 -136.9 129.8 -13.8 155 975 0.00 2.50 0.00 0.000 4 0.000 0.129 2348 716 3333 0 0 0 0 0 0 28.83 14.69 28.83

1119 -1.50 -136.9 149.7 -13.6 169 1126 0.00 2.58 0.00 0.000 6 0.000 0.129 2340 2124 3333 0 0 0 0 0 0 28.83 14.71 28.83

1427 -1.50 -136.9 188.6 -11.6 200 1436 0.00 2.55 0.00 0.000 4 0.000 0.127 2340 708 3332 0 0 0 0 0 0 28.83 14.72 28.83

1464 -1.50 -136.9 192.7 -11.8 203 1472 0.10 2.60 0.00 0.000 6 0.328 0.128 2351 2130 3332 0 0 0 0 0 0 14.65 14.74 28.83

1773 -1.50 -136.9 229.1 -11.4 234 1779 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2129 3332 0 0 0 0 0 0 28.83 28.83 28.83

2087 -1.50 -136.9 265.9 -11.6 265 2097 0.00 2.55 0.00 0.000 4 0.000 0.129 2351 713 3332 0 0 0 0 0 0 28.83 14.75 28.83

2143 -1.50 -136.9 273.2 -12.1 270 2152 0.00 2.58 0.00 0.000 6 0.000 0.132 2344 2123 3332 0 0 0 0 0 0 28.83 14.74 28.83

2452 -1.50 -136.9 309.3 -11.1 301 2459 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2123 3330 0 0 0 0 0 0 28.83 28.83 28.83

2769 -1.50 -136.9 342.7 -10.3 332 2775 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2123 3331 0 0 0 0 0 0 28.83 28.83 28.83

3080 -1.50 -136.9 375.1 -10.4 363 3086 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2123 3331 0 0 0 0 0 0 28.83 28.83 28.83

3387 -1.50 -136.9 406.5 -10.1 390 3393 0.00 2.62 0.00 0.000 4 0.000 0.153 2333 3525 3331 0 0 0 0 0 0 28.83 14.78 28.83

3441 -1.50 -136.9 409.9 -10.2 391 3448 0.00 2.50 0.00 0.000 6 0.000 0.103 2333 2110 3331 0 0 0 0 0 0 28.83 14.83 28.83

3749 -1.50 -136.9 444.5 -10.6 402 3750 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2110 3331 0 0 0 0 0 0 28.83 28.83 28.83

4049 -1.50 -136.9 475.8 -10.3 412 4055 0.00 2.50 0.00 0.000 4 0.000 0.134 2334 705 3331 0 0 0 0 0 0 28.83 14.81 28.83

4088 -1.50 -136.9 479.2 -10.4 413 4094 0.10 2.58 0.00 0.000 6 0.290 0.136 2352 2117 3331 0 0 0 0 0 0 14.73 14.81 28.83

4410 -1.50 -136.9 512.1 -10.0 424 4411 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2117 3332 0 0 0 0 0 0 28.83 28.83 28.83

4711 -1.50 -136.9 542.0 -10.0 434 4717 0.00 2.53 0.00 0.000 4 0.000 0.136 2351 709 3332 0 0 0 0 0 0 28.83 14.83 28.83

4750 -1.50 -136.9 545.2 -10.0 435 4756 0.00 2.58 0.00 0.000 6 0.000 0.136 2345 2122 3332 0 0 0 0 0 0 28.83 14.81 28.83

4977 end dive: TARGET_DEPTH_EXCEEDED

state 4977 begin apogee

4989 -0.38 0.0 569.1 -9.7 443 5135 0.88 0.00 134.23 2.289 6 0.265 0.000 2589 2209 2773 0 0 0 0 0 0 14.76 28.83 13.23

5136 end apogee: CONTROL_FINISHED_OK

state 5136 begin climb

5141 1.50 136.9 573.6 0.0 448 5290 1.40 0.00 144.45 2.251 6 0.164 0.000 3008 2209 2214 0 0 0 0 0 0 14.00 28.83 12.86

5583 1.50 136.9 526.8 12.5 463 5588 0.00 2.67 0.00 0.000 4 0.000 0.132 3019 792 2206 0 0 0 0 0 0 28.83 14.18 28.83

5618 1.50 136.9 522.6 12.9 464 5624 0.00 2.65 0.00 0.000 6 0.000 0.125 3018 2200 2204 0 0 0 0 0 0 28.83 14.21 28.83

5945 1.50 136.9 479.6 13.0 475 5946 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2200 2203 0 0 0 0 0 0 28.83 28.83 28.83

6245 1.50 136.9 440.6 13.1 485 6250 0.00 2.67 0.00 0.000 4 0.000 0.146 3018 3618 2203 0 0 0 0 0 0 28.83 14.56 28.83

6306 1.50 136.9 432.1 13.4 487 6312 0.08 2.55 0.00 0.000 6 0.274 0.105 3009 2202 2202 0 0 0 0 0 0 14.52 14.61 28.83

6623 1.50 136.9 393.7 11.9 500 6631 0.00 2.55 0.00 0.000 4 0.000 0.129 3018 780 2202 0 0 0 0 0 0 28.83 14.64 28.83

6648 1.50 136.9 390.1 12.5 502 6656 0.00 2.55 0.00 0.000 6 0.000 0.119 3018 2200 2201 0 0 0 0 0 0 28.83 14.64 28.83

6957 1.50 136.9 351.8 12.4 533 6967 0.00 2.65 0.00 0.000 4 0.000 0.142 3018 3614 2201 0 0 0 0 0 0 28.83 14.67 28.83

6995 1.50 136.9 347.2 12.7 536 7003 0.10 2.53 0.00 0.000 6 0.314 0.101 3008 2197 2202 0 0 0 0 0 0 14.63 14.73 28.83

7304 1.50 136.9 308.3 12.2 567 7309 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2197 2200 0 0 0 0 0 0 28.83 28.83 28.83

7619 1.50 136.9 270.2 12.4 598 7625 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2197 2201 0 0 0 0 0 0 28.83 28.83 28.83

7930 1.50 136.9 231.0 12.6 629 7940 0.00 2.50 0.00 0.000 4 0.000 0.128 3018 795 2201 0 0 0 0 0 0 28.83 14.74 28.83

7989 1.50 136.9 223.4 12.6 634 7996 0.00 2.53 0.00 0.000 6 0.000 0.119 3018 2202 2199 0 0 0 0 0 0 28.83 14.78 28.83

8296 1.50 136.9 183.9 12.0 665 8306 0.00 2.60 0.00 0.000 4 0.000 0.143 3018 3611 2200 0 0 0 0 0 0 28.83 14.75 28.83

8335 1.50 136.9 179.4 12.7 668 8343 0.10 2.50 0.00 0.000 6 0.308 0.104 3008 2200 2201 0 0 0 0 0 0 14.71 14.81 28.83

8643 1.50 136.9 145.5 9.9 699 8649 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2200 2200 0 0 0 0 0 0 28.83 28.83 28.83

8959 1.50 136.9 115.3 9.4 730 8968 0.00 2.50 0.00 0.000 4 0.000 0.129 3017 793 2199 0 0 0 0 0 0 28.83 14.77 28.83

9110 1.50 136.9 100.5 9.5 744 9119 0.00 2.50 0.00 0.000 6 0.000 0.119 3017 2198 2199 0 0 0 0 0 0 28.83 14.78 28.83

9429 1.52 156.1 72.1 8.1 805 9443 0.00 2.72 8.93 0.406 4 0.000 0.144 3017 3623 2135 0 0 0 0 0 0 28.83 14.76 14.63

9525 1.52 156.1 62.9 10.3 822 9532 0.00 2.53 0.00 0.000 6 0.000 0.101 3028 2197 2133 0 0 0 0 0 0 28.83 14.80 28.83

9842 1.56 186.2 34.3 7.6 883 9862 0.00 0.00 16.05 0.282 6 0.000 0.000 3028 2196 2011 0 0 0 0 0 0 28.83 28.83 14.66

10173 1.65 257.2 10.0 5.8 946 10216 0.00 2.60 36.67 0.199 4 0.000 0.130 3038 791 1720 0 0 0 0 0 0 28.83 14.71 14.68

10257 end climb: SURFACE_DEPTH_REACHED

state 10257 begin surface coast

10296 end surface coast: CONTROL_FINISHED_OK

state 10296 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	137	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	15	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	14	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	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1013.6973	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	021012,144404,6702.870,-5652.271,38,0.8,38,-33.5	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	2.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021012,145048,6702.916,-5652.289,4,0.8,4,-33.5	MHEAD_RNG_PITCHd_Wd	265.2,160220,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	567

FINISH	1.8,1.018050	_24V_AH	12.9,45.701
SM_CCo	10326,14.98,0.187,0,0,1587,290.19	_10V_AH	13.2,0.000
SM_GC	2.48,8.23,2.53,14.98,0.072,0.131,0.187,136,2132,1587,-11.62,-0.11,290.19,0,0,0,0,0,0,14.75,14.71,14.66	FG_AHR_24Vo	0.000
RAFOS_CLK	423	FG_AHR_10Vo	0.000
RAFOS	0,1349193686,16.033333,16.023890,57,57,54,50,49,48,125,177,218,138,159,148	MEM	188768
RAFOS_FIX	6708.110840,-5713.884766,021012,161628,4,74,2.81	DATA_FILE_SIZE	46705,968
IRIDIUM_FIX	6636.54,-5635.43,021012,111153	CAP_FILE_SIZE	102603,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,241147904
HUMID	46.69	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.76233	SOUNDSPEED	1462.1
TCM_TEMP	13.30	CURRENT	0.090,304.3,1
XPDR_PINGS	7	GPS	021012,174604,6702.415,-5656.168,51,0.8,51,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	464	133.73	SBE_CT	707	23	218.92
Roll_motor	87	185	209.08	SBE_O2	667	3	32.21
VBD_pump_during_apogee	340	2288	10048.62	nil	0	0	0.00
VBD_pump_during_surface	14	187	36.21	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	254	147	484.06	nil	0	0	0.00
Transponder_ping	1	420	9.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	21	1.60
TT8	2463	14	486.56
LPSleep	5484	2	167.22
TT8_Active	510	14	100.82
TT8_Sampling	1797	33	799.17
TT8_CF8	515	38	259.58
TT8_Kalman	0	0	0.00
Analog_circuits	1632	12	258.63
GPS_charging	0	0	0.00
Compass	1580	6	140.63
RAFOS	2520	1	49.90
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	62	0.00	0.00	-40.80	0.000	2	0.000	0.000	119	2112	2355	0	0	0	0	0	0	28.83	28.83	28.83
68	-1.50	-136.9	3.1	-2.0	7	124	11.25	2.60	-35.65	0.000	4	0.464	0.156	2347	699	3332	0	0	0	0	0	0	14.42	14.54	14.81
209	-1.50	-136.9	23.9	-19.4	31	216	0.00	2.65	0.00	0.000	6	0.000	0.138	2340	2120	3332	0	0	0	0	0	0	28.83	14.57	28.83
526	-1.50	-136.9	70.1	-13.6	92	532	0.00	2.65	0.00	0.000	4	0.000	0.148	2330	3531	3333	0	0	0	0	0	0	28.83	14.63	28.83
653	-1.50	-136.9	87.8	-13.8	116	661	0.10	2.50	0.00	0.000	6	0.311	0.096	2348	2117	3333	0	0	0	0	0	0	14.58	14.70	28.83
967	-1.50	-136.9	129.8	-13.8	155	975	0.00	2.50	0.00	0.000	4	0.000	0.129	2348	716	3333	0	0	0	0	0	0	28.83	14.69	28.83
1119	-1.50	-136.9	149.7	-13.6	169	1126	0.00	2.58	0.00	0.000	6	0.000	0.129	2340	2124	3333	0	0	0	0	0	0	28.83	14.71	28.83
1427	-1.50	-136.9	188.6	-11.6	200	1436	0.00	2.55	0.00	0.000	4	0.000	0.127	2340	708	3332	0	0	0	0	0	0	28.83	14.72	28.83
1464	-1.50	-136.9	192.7	-11.8	203	1472	0.10	2.60	0.00	0.000	6	0.328	0.128	2351	2130	3332	0	0	0	0	0	0	14.65	14.74	28.83
1773	-1.50	-136.9	229.1	-11.4	234	1779	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2129	3332	0	0	0	0	0	0	28.83	28.83	28.83
2087	-1.50	-136.9	265.9	-11.6	265	2097	0.00	2.55	0.00	0.000	4	0.000	0.129	2351	713	3332	0	0	0	0	0	0	28.83	14.75	28.83
2143	-1.50	-136.9	273.2	-12.1	270	2152	0.00	2.58	0.00	0.000	6	0.000	0.132	2344	2123	3332	0	0	0	0	0	0	28.83	14.74	28.83
2452	-1.50	-136.9	309.3	-11.1	301	2459	0.00	0.00	0.00	0.000	6	0.000	0.000	2344	2123	3330	0	0	0	0	0	0	28.83	28.83	28.83
2769	-1.50	-136.9	342.7	-10.3	332	2775	0.00	0.00	0.00	0.000	6	0.000	0.000	2344	2123	3331	0	0	0	0	0	0	28.83	28.83	28.83
3080	-1.50	-136.9	375.1	-10.4	363	3086	0.00	0.00	0.00	0.000	6	0.000	0.000	2344	2123	3331	0	0	0	0	0	0	28.83	28.83	28.83
3387	-1.50	-136.9	406.5	-10.1	390	3393	0.00	2.62	0.00	0.000	4	0.000	0.153	2333	3525	3331	0	0	0	0	0	0	28.83	14.78	28.83
3441	-1.50	-136.9	409.9	-10.2	391	3448	0.00	2.50	0.00	0.000	6	0.000	0.103	2333	2110	3331	0	0	0	0	0	0	28.83	14.83	28.83
3749	-1.50	-136.9	444.5	-10.6	402	3750	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2110	3331	0	0	0	0	0	0	28.83	28.83	28.83
4049	-1.50	-136.9	475.8	-10.3	412	4055	0.00	2.50	0.00	0.000	4	0.000	0.134	2334	705	3331	0	0	0	0	0	0	28.83	14.81	28.83
4088	-1.50	-136.9	479.2	-10.4	413	4094	0.10	2.58	0.00	0.000	6	0.290	0.136	2352	2117	3331	0	0	0	0	0	0	14.73	14.81	28.83
4410	-1.50	-136.9	512.1	-10.0	424	4411	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2117	3332	0	0	0	0	0	0	28.83	28.83	28.83
4711	-1.50	-136.9	542.0	-10.0	434	4717	0.00	2.53	0.00	0.000	4	0.000	0.136	2351	709	3332	0	0	0	0	0	0	28.83	14.83	28.83
4750	-1.50	-136.9	545.2	-10.0	435	4756	0.00	2.58	0.00	0.000	6	0.000	0.136	2345	2122	3332	0	0	0	0	0	0	28.83	14.81	28.83
4977	end dive: TARGET_DEPTH_EXCEEDED
state	4977	begin apogee
4989	-0.38	0.0	569.1	-9.7	443	5135	0.88	0.00	134.23	2.289	6	0.265	0.000	2589	2209	2773	0	0	0	0	0	0	14.76	28.83	13.23
5136	end apogee: CONTROL_FINISHED_OK
state	5136	begin climb
5141	1.50	136.9	573.6	0.0	448	5290	1.40	0.00	144.45	2.251	6	0.164	0.000	3008	2209	2214	0	0	0	0	0	0	14.00	28.83	12.86
5583	1.50	136.9	526.8	12.5	463	5588	0.00	2.67	0.00	0.000	4	0.000	0.132	3019	792	2206	0	0	0	0	0	0	28.83	14.18	28.83
5618	1.50	136.9	522.6	12.9	464	5624	0.00	2.65	0.00	0.000	6	0.000	0.125	3018	2200	2204	0	0	0	0	0	0	28.83	14.21	28.83
5945	1.50	136.9	479.6	13.0	475	5946	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	2200	2203	0	0	0	0	0	0	28.83	28.83	28.83
6245	1.50	136.9	440.6	13.1	485	6250	0.00	2.67	0.00	0.000	4	0.000	0.146	3018	3618	2203	0	0	0	0	0	0	28.83	14.56	28.83
6306	1.50	136.9	432.1	13.4	487	6312	0.08	2.55	0.00	0.000	6	0.274	0.105	3009	2202	2202	0	0	0	0	0	0	14.52	14.61	28.83
6623	1.50	136.9	393.7	11.9	500	6631	0.00	2.55	0.00	0.000	4	0.000	0.129	3018	780	2202	0	0	0	0	0	0	28.83	14.64	28.83
6648	1.50	136.9	390.1	12.5	502	6656	0.00	2.55	0.00	0.000	6	0.000	0.119	3018	2200	2201	0	0	0	0	0	0	28.83	14.64	28.83
6957	1.50	136.9	351.8	12.4	533	6967	0.00	2.65	0.00	0.000	4	0.000	0.142	3018	3614	2201	0	0	0	0	0	0	28.83	14.67	28.83
6995	1.50	136.9	347.2	12.7	536	7003	0.10	2.53	0.00	0.000	6	0.314	0.101	3008	2197	2202	0	0	0	0	0	0	14.63	14.73	28.83
7304	1.50	136.9	308.3	12.2	567	7309	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2197	2200	0	0	0	0	0	0	28.83	28.83	28.83
7619	1.50	136.9	270.2	12.4	598	7625	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2197	2201	0	0	0	0	0	0	28.83	28.83	28.83
7930	1.50	136.9	231.0	12.6	629	7940	0.00	2.50	0.00	0.000	4	0.000	0.128	3018	795	2201	0	0	0	0	0	0	28.83	14.74	28.83
7989	1.50	136.9	223.4	12.6	634	7996	0.00	2.53	0.00	0.000	6	0.000	0.119	3018	2202	2199	0	0	0	0	0	0	28.83	14.78	28.83
8296	1.50	136.9	183.9	12.0	665	8306	0.00	2.60	0.00	0.000	4	0.000	0.143	3018	3611	2200	0	0	0	0	0	0	28.83	14.75	28.83
8335	1.50	136.9	179.4	12.7	668	8343	0.10	2.50	0.00	0.000	6	0.308	0.104	3008	2200	2201	0	0	0	0	0	0	14.71	14.81	28.83
8643	1.50	136.9	145.5	9.9	699	8649	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2200	2200	0	0	0	0	0	0	28.83	28.83	28.83
8959	1.50	136.9	115.3	9.4	730	8968	0.00	2.50	0.00	0.000	4	0.000	0.129	3017	793	2199	0	0	0	0	0	0	28.83	14.77	28.83
9110	1.50	136.9	100.5	9.5	744	9119	0.00	2.50	0.00	0.000	6	0.000	0.119	3017	2198	2199	0	0	0	0	0	0	28.83	14.78	28.83
9429	1.52	156.1	72.1	8.1	805	9443	0.00	2.72	8.93	0.406	4	0.000	0.144	3017	3623	2135	0	0	0	0	0	0	28.83	14.76	14.63
9525	1.52	156.1	62.9	10.3	822	9532	0.00	2.53	0.00	0.000	6	0.000	0.101	3028	2197	2133	0	0	0	0	0	0	28.83	14.80	28.83
9842	1.56	186.2	34.3	7.6	883	9862	0.00	0.00	16.05	0.282	6	0.000	0.000	3028	2196	2011	0	0	0	0	0	0	28.83	28.83	14.66
10173	1.65	257.2	10.0	5.8	946	10216	0.00	2.60	36.67	0.199	4	0.000	0.130	3038	791	1720	0	0	0	0	0	0	28.83	14.71	14.68
10257	end climb: SURFACE_DEPTH_REACHED
state	10257	begin surface coast
10296	end surface coast: CONTROL_FINISHED_OK
state	10296	begin surface