Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 229 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HD_B 0.0103 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

MISSION 21 HD_C 3.68e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 229 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 400 ROLL_TIMEOUT 15 XPDR_VALID 5

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 75 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 55 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 1.5 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 3279 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 -191372.58 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 0.0038399999 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 400

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 0.0038399999 PRESSURE_YINT -22.860044 T_DIVE 360

CALL_WAIT 60 HD_B 0.0103 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 3.68e-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 -191372.58

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 1.5 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 3279 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 75 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 55 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 229 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 300712,160929,6701.034,-5650.383,35,2.0,35,-33.5 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 2.32 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300712,161834,6700.925,-5650.414,55,0.8,55,-33.5 MHEAD_RNG_PITCHd_Wd 60.3,4220,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 575

Post-dive calculations and measurements:

FREEZE 1.33,6.376,-1.596,0,1,0 ALTIM_BOTTOM_PING 550.8,34.1

FINISH 1.3,1.022955 _24V_AH 23.5,27.578

SM_CCo 10387,50.92,0.068,0,0,1647,400.08 _10V_AH 10.1,30.985

SM_GC 2.14,8.15,0.40,50.92,0.053,0.055,0.068,341,2093,1647,-8.65,-1.53,400.08,0,0,0,0,0,0,26.33,26.39,26.20 FG_AHR_24Vo 0.000

RAFOS_CLK 499 FG_AHR_10Vo 0.000

RAFOS 0,1343664065,16.033333,16.018055,51,45,45,43,42,40,1324,568,705,1744,1522,188 MEM 151652

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 56810,1211

IRIDIUM_FIX 6631.12,-5658.34,300712,121217 CAP_FILE_SIZE 130032,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,227192832

HUMID 41.92 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.09215 SOUNDSPEED 1467.4

TCM_TEMP 16.80 CURRENT 0.100,183.6,1

XPDR_PINGS 17 GPS 300712,191433,6701.288,-5648.502,32,1.0,34,-33.5

ALTIM_TOP_PING 19.9,18.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 244 117.13 SBE_CT 864 23 487.16

Roll_motor 100 61 145.69 SBE_O2 827 5 116.43

VBD_pump_during_apogee 304 1188 8513.11 nil 0 0 0.00

VBD_pump_during_surface 50 68 81.48 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 372 273 2391.36 nil 0 0 0.00

Transponder_ping 6 420 61.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 56 26 15.07

TT8 3000 17 544.20

LPSleep 4685 2 109.32

TT8_Active 525 17 95.37

TT8_Sampling 2471 40 1009.10

TT8_CF8 304 48 149.79

TT8_Kalman 0 0 0.00

Analog_circuits 1997 12 242.14

GPS_charging 0 0 0.00

Compass 2033 7 153.81

RAFOS 1440 3 43.63

Transponder 15 30 4.84

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 -0.75 -146.6 0.0 0.0 0 77 0.00 0.00 -58.33 0.000 2 0.000 0.000 333 2071 3037 0 0 0 0 0 0 28.83 28.83 28.83

81 -0.75 -146.6 3.3 -3.3 10 119 10.10 2.28 -22.33 0.000 4 0.244 0.062 2876 3504 3880 0 0 0 0 0 0 25.74 26.20 26.59

270 -0.75 -146.6 31.4 -10.5 45 277 0.00 2.08 0.00 0.000 6 0.000 0.028 2876 2097 3885 0 0 0 0 0 0 28.83 26.36 28.83

585 -0.75 -146.6 69.4 -12.5 106 590 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2096 3888 0 0 0 0 0 0 28.83 28.83 28.83

896 -0.75 -146.6 107.4 -11.7 161 905 0.00 2.15 0.00 0.000 4 0.000 0.047 2866 3497 3889 0 0 0 0 0 0 28.83 26.36 28.83

1021 -0.75 -146.6 123.3 -13.1 173 1028 0.00 2.03 0.00 0.000 6 0.000 0.029 2866 2114 3889 0 0 0 0 0 0 28.83 26.51 28.83

1329 -0.75 -146.6 161.1 -11.4 204 1338 0.00 2.10 0.00 0.000 4 0.000 0.047 2856 3490 3888 0 0 0 0 0 0 28.83 26.41 28.83

1431 -0.75 -146.6 173.2 -11.6 214 1441 0.12 2.03 0.00 0.000 6 0.174 0.028 2887 2111 3888 0 0 0 0 0 0 26.20 26.54 28.83

1742 -0.75 -146.6 200.4 -8.8 245 1751 0.00 2.10 0.00 0.000 4 0.000 0.048 2879 3495 3887 0 0 0 0 0 0 28.83 26.43 28.83

1806 -0.75 -146.6 206.5 -10.1 251 1813 0.00 2.00 0.00 0.000 6 0.000 0.028 2879 2126 3887 0 0 0 0 0 0 28.83 26.57 28.83

2114 -0.75 -146.6 239.5 -10.9 282 2118 0.00 2.10 0.00 0.000 4 0.000 0.048 2869 3498 3886 0 0 0 0 0 0 28.83 26.44 28.83

2189 -0.75 -146.6 247.7 -11.2 289 2195 0.00 1.98 0.00 0.000 6 0.000 0.029 2868 2137 3886 0 0 0 0 0 0 28.83 26.59 28.83

2496 -0.75 -146.6 281.0 -10.3 320 2506 0.00 2.08 0.00 0.000 4 0.000 0.047 2858 3502 3885 0 0 0 0 0 0 28.83 26.46 28.83

2599 -0.75 -146.6 292.4 -10.7 330 2603 0.12 1.95 0.00 0.000 6 0.167 0.029 2889 2148 3885 0 0 0 0 0 0 26.27 26.60 28.83

2912 -0.75 -146.6 321.2 -9.2 361 2916 0.00 2.08 0.00 0.000 4 0.000 0.047 2882 3509 3885 0 0 0 0 0 0 28.83 26.48 28.83

2977 -0.75 -146.6 327.4 -10.0 367 2984 0.00 1.98 0.00 0.000 6 0.000 0.028 2881 2141 3885 0 0 0 0 0 0 28.83 26.63 28.83

3284 -0.75 -146.6 356.7 -9.1 398 3293 0.00 2.05 0.00 0.000 4 0.000 0.047 2872 3505 3885 0 0 0 0 0 0 28.83 26.49 28.83

3366 -0.75 -146.6 364.7 -10.1 406 3375 0.00 1.95 0.00 0.000 6 0.000 0.028 2872 2160 3885 0 0 0 0 0 0 28.83 26.64 28.83

3677 -0.75 -146.6 393.9 -9.3 437 3685 0.00 2.03 0.00 0.000 4 0.000 0.047 2861 3508 3885 0 0 0 0 0 0 28.83 26.49 28.83

3760 -0.75 -146.6 402.6 -10.5 445 3769 0.00 1.95 0.00 0.000 6 0.000 0.028 2861 2163 3885 0 0 0 0 0 0 28.83 26.65 28.83

4070 -0.75 -146.6 434.3 -10.0 476 4080 0.00 2.05 0.00 0.000 4 0.000 0.047 2851 3504 3885 0 0 0 0 0 0 28.83 26.50 28.83

4145 -0.75 -146.6 442.1 -10.9 483 4152 0.15 1.92 0.00 0.000 6 0.155 0.028 2891 2169 3885 0 0 0 0 0 0 26.28 26.65 28.83

4453 -0.75 -146.6 468.1 -8.5 514 4462 0.00 2.05 0.00 0.000 4 0.000 0.046 2883 3515 3885 0 0 0 0 0 0 28.83 26.51 28.83

4488 -0.75 -146.6 471.0 -8.7 517 4494 0.00 1.92 0.00 0.000 6 0.000 0.028 2883 2172 3885 0 0 0 0 0 0 28.83 26.66 28.83

4795 -0.75 -146.6 497.2 -7.9 548 4805 0.00 2.03 0.00 0.000 4 0.000 0.047 2873 3497 3885 0 0 0 0 0 0 28.83 26.51 28.83

4858 -0.75 -146.6 502.7 -8.6 554 4862 0.00 1.90 0.00 0.000 6 0.000 0.028 2873 2173 3885 0 0 0 0 0 0 28.83 26.66 28.83

5171 -0.75 -146.6 529.5 -8.8 585 5180 0.00 2.03 0.00 0.000 4 0.000 0.046 2863 3518 3885 0 0 0 0 0 0 28.83 26.52 28.83

5235 -0.75 -146.6 535.4 -9.6 591 5242 0.00 1.92 0.00 0.000 6 0.000 0.028 2863 2177 3885 0 0 0 0 0 0 28.83 26.67 28.83

5543 -0.75 -146.6 565.2 -9.6 622 5551 0.00 2.00 0.00 0.000 4 0.000 0.047 2853 3499 3885 0 0 0 0 0 0 28.83 26.51 28.83

5592 end dive: BOTTOM_OBSTACLE_DETECTED

state 5592 begin apogee

5602 -0.17 0.0 570.5 -10.8 627 5725 0.68 0.00 118.47 1.189 4 0.142 0.000 3067 1882 3278 0 0 0 0 0 0 26.12 28.83 24.06

5729 end apogee: CONTROL_FINISHED_OK

state 5729 begin climb

5732 0.75 146.6 574.6 0.0 640 5860 0.88 2.22 118.85 1.038 4 0.073 0.034 3373 508 2681 0 0 0 0 0 0 24.98 25.02 23.52

6086 0.75 146.6 535.7 14.0 675 6094 0.00 2.22 0.00 0.000 6 0.000 0.033 3373 1898 2672 0 0 0 0 0 0 28.83 25.50 28.83

6393 0.75 146.6 490.5 14.4 706 6402 0.00 2.15 0.00 0.000 4 0.000 0.044 3373 3307 2669 0 0 0 0 0 0 28.83 25.92 28.83

6587 0.75 146.6 460.3 16.0 725 6596 0.00 2.12 0.00 0.000 6 0.000 0.029 3382 1897 2667 0 0 0 0 0 0 28.83 26.13 28.83

6898 0.75 146.6 412.9 15.4 756 6906 0.00 2.10 0.00 0.000 4 0.000 0.037 3393 508 2667 0 0 0 0 0 0 28.83 26.23 28.83

7030 0.75 146.6 392.9 14.9 769 7039 0.00 2.15 0.00 0.000 6 0.000 0.033 3393 1895 2667 0 0 0 0 0 0 28.83 26.29 28.83

7341 0.75 146.6 345.8 15.5 800 7349 0.00 2.12 0.00 0.000 4 0.000 0.036 3402 500 2667 0 0 0 0 0 0 28.83 26.34 28.83

7365 0.75 146.6 342.4 15.8 802 7373 0.12 2.12 0.00 0.000 6 0.172 0.032 3372 1888 2667 0 0 0 0 0 0 26.08 26.36 28.83

7672 0.75 146.6 298.4 13.8 833 7673 0.00 0.00 0.00 0.000 6 0.000 0.000 3372 1887 2667 0 0 0 0 0 0 28.83 28.83 28.83

7974 0.75 146.6 257.3 13.4 863 7984 0.00 2.08 0.00 0.000 4 0.000 0.037 3379 511 2667 0 0 0 0 0 0 28.83 26.44 28.83

7999 0.75 146.6 254.2 13.4 865 8006 0.00 2.10 0.00 0.000 6 0.000 0.034 3379 1881 2667 0 0 0 0 0 0 28.83 26.45 28.83

8307 0.75 146.6 213.0 12.6 896 8316 0.00 2.08 0.00 0.000 4 0.000 0.036 3387 509 2667 0 0 0 0 0 0 28.83 26.46 28.83

8329 0.75 146.6 210.2 13.0 898 8333 0.00 2.12 0.00 0.000 6 0.000 0.033 3387 1892 2667 0 0 0 0 0 0 28.83 26.49 28.83

8641 0.75 146.6 168.7 13.3 929 8650 0.00 2.12 0.00 0.000 4 0.000 0.037 3396 508 2667 0 0 0 0 0 0 28.83 26.48 28.83

8733 0.75 146.6 156.1 14.1 938 8741 0.00 2.10 0.00 0.000 6 0.000 0.033 3396 1876 2667 0 0 0 0 0 0 28.83 26.52 28.83

9043 0.75 146.6 114.5 12.9 969 9052 0.00 2.15 0.00 0.000 4 0.000 0.044 3396 3304 2667 0 0 0 0 0 0 28.83 26.47 28.83

9066 0.75 146.6 111.7 12.8 971 9076 0.10 2.12 0.00 0.000 6 0.158 0.029 3375 1859 2667 0 0 0 0 0 0 26.22 26.56 28.83

9376 0.75 146.6 80.2 9.2 1022 9383 0.00 2.05 0.00 0.000 4 0.000 0.037 3383 497 2667 0 0 0 0 0 0 28.83 26.51 28.83

9492 0.76 161.7 69.9 8.5 1044 9511 0.00 2.08 11.60 0.842 6 0.000 0.033 3383 1850 2619 0 0 0 0 0 0 28.83 26.55 25.46

9816 0.76 161.7 39.6 9.4 1107 9824 0.00 2.20 0.00 0.000 4 0.000 0.044 3383 3303 2616 0 0 0 0 0 0 28.83 26.39 28.83

9871 0.76 161.7 34.0 10.0 1117 9878 0.00 2.15 0.00 0.000 6 0.000 0.029 3392 1843 2616 0 0 0 0 0 0 28.83 26.47 28.83

10185 0.91 281.3 14.1 4.2 1178 10245 0.00 0.00 55.80 0.092 6 0.000 0.000 3392 1843 2131 0 0 0 0 0 0 28.83 28.83 26.17

10319 end climb: SURFACE_DEPTH_REACHED

state 10319 begin surface coast

10367 end surface coast: CONTROL_FINISHED_OK

state 10367 begin surface

ID	108	HD_B	0.0103	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
MISSION	21	HD_C	3.68e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	229	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	400	ROLL_TIMEOUT	15	XPDR_VALID	5
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	75	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	55	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	1.5	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	3279	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	-191372.58	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	0.0038399999	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017831143

GPS1	300712,160929,6701.034,-5650.383,35,2.0,35,-33.5	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	2.32	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300712,161834,6700.925,-5650.414,55,0.8,55,-33.5	MHEAD_RNG_PITCHd_Wd	60.3,4220,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	575

FREEZE	1.33,6.376,-1.596,0,1,0	ALTIM_BOTTOM_PING	550.8,34.1
FINISH	1.3,1.022955	_24V_AH	23.5,27.578
SM_CCo	10387,50.92,0.068,0,0,1647,400.08	_10V_AH	10.1,30.985
SM_GC	2.14,8.15,0.40,50.92,0.053,0.055,0.068,341,2093,1647,-8.65,-1.53,400.08,0,0,0,0,0,0,26.33,26.39,26.20	FG_AHR_24Vo	0.000
RAFOS_CLK	499	FG_AHR_10Vo	0.000
RAFOS	0,1343664065,16.033333,16.018055,51,45,45,43,42,40,1324,568,705,1744,1522,188	MEM	151652
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	56810,1211
IRIDIUM_FIX	6631.12,-5658.34,300712,121217	CAP_FILE_SIZE	130032,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,227192832
HUMID	41.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.09215	SOUNDSPEED	1467.4
TCM_TEMP	16.80	CURRENT	0.100,183.6,1
XPDR_PINGS	17	GPS	300712,191433,6701.288,-5648.502,32,1.0,34,-33.5
ALTIM_TOP_PING	19.9,18.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	244	117.13	SBE_CT	864	23	487.16
Roll_motor	100	61	145.69	SBE_O2	827	5	116.43
VBD_pump_during_apogee	304	1188	8513.11	nil	0	0	0.00
VBD_pump_during_surface	50	68	81.48	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	372	273	2391.36	nil	0	0	0.00
Transponder_ping	6	420	61.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	56	26	15.07
TT8	3000	17	544.20
LPSleep	4685	2	109.32
TT8_Active	525	17	95.37
TT8_Sampling	2471	40	1009.10
TT8_CF8	304	48	149.79
TT8_Kalman	0	0	0.00
Analog_circuits	1997	12	242.14
GPS_charging	0	0	0.00
Compass	2033	7	153.81
RAFOS	1440	3	43.63
Transponder	15	30	4.84

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	-0.75	-146.6	0.0	0.0	0	77	0.00	0.00	-58.33	0.000	2	0.000	0.000	333	2071	3037	0	0	0	0	0	0	28.83	28.83	28.83
81	-0.75	-146.6	3.3	-3.3	10	119	10.10	2.28	-22.33	0.000	4	0.244	0.062	2876	3504	3880	0	0	0	0	0	0	25.74	26.20	26.59
270	-0.75	-146.6	31.4	-10.5	45	277	0.00	2.08	0.00	0.000	6	0.000	0.028	2876	2097	3885	0	0	0	0	0	0	28.83	26.36	28.83
585	-0.75	-146.6	69.4	-12.5	106	590	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2096	3888	0	0	0	0	0	0	28.83	28.83	28.83
896	-0.75	-146.6	107.4	-11.7	161	905	0.00	2.15	0.00	0.000	4	0.000	0.047	2866	3497	3889	0	0	0	0	0	0	28.83	26.36	28.83
1021	-0.75	-146.6	123.3	-13.1	173	1028	0.00	2.03	0.00	0.000	6	0.000	0.029	2866	2114	3889	0	0	0	0	0	0	28.83	26.51	28.83
1329	-0.75	-146.6	161.1	-11.4	204	1338	0.00	2.10	0.00	0.000	4	0.000	0.047	2856	3490	3888	0	0	0	0	0	0	28.83	26.41	28.83
1431	-0.75	-146.6	173.2	-11.6	214	1441	0.12	2.03	0.00	0.000	6	0.174	0.028	2887	2111	3888	0	0	0	0	0	0	26.20	26.54	28.83
1742	-0.75	-146.6	200.4	-8.8	245	1751	0.00	2.10	0.00	0.000	4	0.000	0.048	2879	3495	3887	0	0	0	0	0	0	28.83	26.43	28.83
1806	-0.75	-146.6	206.5	-10.1	251	1813	0.00	2.00	0.00	0.000	6	0.000	0.028	2879	2126	3887	0	0	0	0	0	0	28.83	26.57	28.83
2114	-0.75	-146.6	239.5	-10.9	282	2118	0.00	2.10	0.00	0.000	4	0.000	0.048	2869	3498	3886	0	0	0	0	0	0	28.83	26.44	28.83
2189	-0.75	-146.6	247.7	-11.2	289	2195	0.00	1.98	0.00	0.000	6	0.000	0.029	2868	2137	3886	0	0	0	0	0	0	28.83	26.59	28.83
2496	-0.75	-146.6	281.0	-10.3	320	2506	0.00	2.08	0.00	0.000	4	0.000	0.047	2858	3502	3885	0	0	0	0	0	0	28.83	26.46	28.83
2599	-0.75	-146.6	292.4	-10.7	330	2603	0.12	1.95	0.00	0.000	6	0.167	0.029	2889	2148	3885	0	0	0	0	0	0	26.27	26.60	28.83
2912	-0.75	-146.6	321.2	-9.2	361	2916	0.00	2.08	0.00	0.000	4	0.000	0.047	2882	3509	3885	0	0	0	0	0	0	28.83	26.48	28.83
2977	-0.75	-146.6	327.4	-10.0	367	2984	0.00	1.98	0.00	0.000	6	0.000	0.028	2881	2141	3885	0	0	0	0	0	0	28.83	26.63	28.83
3284	-0.75	-146.6	356.7	-9.1	398	3293	0.00	2.05	0.00	0.000	4	0.000	0.047	2872	3505	3885	0	0	0	0	0	0	28.83	26.49	28.83
3366	-0.75	-146.6	364.7	-10.1	406	3375	0.00	1.95	0.00	0.000	6	0.000	0.028	2872	2160	3885	0	0	0	0	0	0	28.83	26.64	28.83
3677	-0.75	-146.6	393.9	-9.3	437	3685	0.00	2.03	0.00	0.000	4	0.000	0.047	2861	3508	3885	0	0	0	0	0	0	28.83	26.49	28.83
3760	-0.75	-146.6	402.6	-10.5	445	3769	0.00	1.95	0.00	0.000	6	0.000	0.028	2861	2163	3885	0	0	0	0	0	0	28.83	26.65	28.83
4070	-0.75	-146.6	434.3	-10.0	476	4080	0.00	2.05	0.00	0.000	4	0.000	0.047	2851	3504	3885	0	0	0	0	0	0	28.83	26.50	28.83
4145	-0.75	-146.6	442.1	-10.9	483	4152	0.15	1.92	0.00	0.000	6	0.155	0.028	2891	2169	3885	0	0	0	0	0	0	26.28	26.65	28.83
4453	-0.75	-146.6	468.1	-8.5	514	4462	0.00	2.05	0.00	0.000	4	0.000	0.046	2883	3515	3885	0	0	0	0	0	0	28.83	26.51	28.83
4488	-0.75	-146.6	471.0	-8.7	517	4494	0.00	1.92	0.00	0.000	6	0.000	0.028	2883	2172	3885	0	0	0	0	0	0	28.83	26.66	28.83
4795	-0.75	-146.6	497.2	-7.9	548	4805	0.00	2.03	0.00	0.000	4	0.000	0.047	2873	3497	3885	0	0	0	0	0	0	28.83	26.51	28.83
4858	-0.75	-146.6	502.7	-8.6	554	4862	0.00	1.90	0.00	0.000	6	0.000	0.028	2873	2173	3885	0	0	0	0	0	0	28.83	26.66	28.83
5171	-0.75	-146.6	529.5	-8.8	585	5180	0.00	2.03	0.00	0.000	4	0.000	0.046	2863	3518	3885	0	0	0	0	0	0	28.83	26.52	28.83
5235	-0.75	-146.6	535.4	-9.6	591	5242	0.00	1.92	0.00	0.000	6	0.000	0.028	2863	2177	3885	0	0	0	0	0	0	28.83	26.67	28.83
5543	-0.75	-146.6	565.2	-9.6	622	5551	0.00	2.00	0.00	0.000	4	0.000	0.047	2853	3499	3885	0	0	0	0	0	0	28.83	26.51	28.83
5592	end dive: BOTTOM_OBSTACLE_DETECTED
state	5592	begin apogee
5602	-0.17	0.0	570.5	-10.8	627	5725	0.68	0.00	118.47	1.189	4	0.142	0.000	3067	1882	3278	0	0	0	0	0	0	26.12	28.83	24.06
5729	end apogee: CONTROL_FINISHED_OK
state	5729	begin climb
5732	0.75	146.6	574.6	0.0	640	5860	0.88	2.22	118.85	1.038	4	0.073	0.034	3373	508	2681	0	0	0	0	0	0	24.98	25.02	23.52
6086	0.75	146.6	535.7	14.0	675	6094	0.00	2.22	0.00	0.000	6	0.000	0.033	3373	1898	2672	0	0	0	0	0	0	28.83	25.50	28.83
6393	0.75	146.6	490.5	14.4	706	6402	0.00	2.15	0.00	0.000	4	0.000	0.044	3373	3307	2669	0	0	0	0	0	0	28.83	25.92	28.83
6587	0.75	146.6	460.3	16.0	725	6596	0.00	2.12	0.00	0.000	6	0.000	0.029	3382	1897	2667	0	0	0	0	0	0	28.83	26.13	28.83
6898	0.75	146.6	412.9	15.4	756	6906	0.00	2.10	0.00	0.000	4	0.000	0.037	3393	508	2667	0	0	0	0	0	0	28.83	26.23	28.83
7030	0.75	146.6	392.9	14.9	769	7039	0.00	2.15	0.00	0.000	6	0.000	0.033	3393	1895	2667	0	0	0	0	0	0	28.83	26.29	28.83
7341	0.75	146.6	345.8	15.5	800	7349	0.00	2.12	0.00	0.000	4	0.000	0.036	3402	500	2667	0	0	0	0	0	0	28.83	26.34	28.83
7365	0.75	146.6	342.4	15.8	802	7373	0.12	2.12	0.00	0.000	6	0.172	0.032	3372	1888	2667	0	0	0	0	0	0	26.08	26.36	28.83
7672	0.75	146.6	298.4	13.8	833	7673	0.00	0.00	0.00	0.000	6	0.000	0.000	3372	1887	2667	0	0	0	0	0	0	28.83	28.83	28.83
7974	0.75	146.6	257.3	13.4	863	7984	0.00	2.08	0.00	0.000	4	0.000	0.037	3379	511	2667	0	0	0	0	0	0	28.83	26.44	28.83
7999	0.75	146.6	254.2	13.4	865	8006	0.00	2.10	0.00	0.000	6	0.000	0.034	3379	1881	2667	0	0	0	0	0	0	28.83	26.45	28.83
8307	0.75	146.6	213.0	12.6	896	8316	0.00	2.08	0.00	0.000	4	0.000	0.036	3387	509	2667	0	0	0	0	0	0	28.83	26.46	28.83
8329	0.75	146.6	210.2	13.0	898	8333	0.00	2.12	0.00	0.000	6	0.000	0.033	3387	1892	2667	0	0	0	0	0	0	28.83	26.49	28.83
8641	0.75	146.6	168.7	13.3	929	8650	0.00	2.12	0.00	0.000	4	0.000	0.037	3396	508	2667	0	0	0	0	0	0	28.83	26.48	28.83
8733	0.75	146.6	156.1	14.1	938	8741	0.00	2.10	0.00	0.000	6	0.000	0.033	3396	1876	2667	0	0	0	0	0	0	28.83	26.52	28.83
9043	0.75	146.6	114.5	12.9	969	9052	0.00	2.15	0.00	0.000	4	0.000	0.044	3396	3304	2667	0	0	0	0	0	0	28.83	26.47	28.83
9066	0.75	146.6	111.7	12.8	971	9076	0.10	2.12	0.00	0.000	6	0.158	0.029	3375	1859	2667	0	0	0	0	0	0	26.22	26.56	28.83
9376	0.75	146.6	80.2	9.2	1022	9383	0.00	2.05	0.00	0.000	4	0.000	0.037	3383	497	2667	0	0	0	0	0	0	28.83	26.51	28.83
9492	0.76	161.7	69.9	8.5	1044	9511	0.00	2.08	11.60	0.842	6	0.000	0.033	3383	1850	2619	0	0	0	0	0	0	28.83	26.55	25.46
9816	0.76	161.7	39.6	9.4	1107	9824	0.00	2.20	0.00	0.000	4	0.000	0.044	3383	3303	2616	0	0	0	0	0	0	28.83	26.39	28.83
9871	0.76	161.7	34.0	10.0	1117	9878	0.00	2.15	0.00	0.000	6	0.000	0.029	3392	1843	2616	0	0	0	0	0	0	28.83	26.47	28.83
10185	0.91	281.3	14.1	4.2	1178	10245	0.00	0.00	55.80	0.092	6	0.000	0.000	3392	1843	2131	0	0	0	0	0	0	28.83	28.83	26.17
10319	end climb: SURFACE_DEPTH_REACHED
state	10319	begin surface coast
10367	end surface coast: CONTROL_FINISHED_OK
state	10367	begin surface