Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 231 * 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 231 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 72 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 46 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 -191375.08 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 -191375.08

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 72 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 46 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 231 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 300712,220558,6702.818,-5648.582,36,0.9,36,-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 2.28 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300712,221242,6702.938,-5648.575,19,0.8,19,-33.5 MHEAD_RNG_PITCHd_Wd 266.5,162881,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 534

Post-dive calculations and measurements:

FREEZE 1.40,6.164,-1.767,0,1,0 ALTIM_BOTTOM_PING 500.1,31.0

FINISH 1.4,1.025366 _24V_AH 23.4,27.741

SM_CCo 9690,36.50,0.068,0,0,1647,400.08 _10V_AH 10.1,31.167

SM_GC 2.33,8.27,1.83,36.50,0.050,0.033,0.068,346,2104,1647,-8.64,2.04,400.08,0,0,0,0,0,0,26.28,26.43,26.20 FG_AHR_24Vo 0.000

RAFOS_CLK 462 FG_AHR_10Vo 0.000

RAFOS 0,1343692867,0.033333,0.018611,44,43,42,42,41,41,210,1550,567,844,1736,1919 MEM 151688

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 53361,1141

IRIDIUM_FIX 6631.12,-5649.11,300712,191945 CAP_FILE_SIZE 121419,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,227061760

HUMID 42.47 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.09215 SOUNDSPEED 1466.9

TCM_TEMP 16.60 CURRENT 0.209,324.2,1

XPDR_PINGS 8 GPS 310712,005652,6703.219,-5653.140,39,0.9,39,-33.5

ALTIM_TOP_PING 20.0,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 245 117.65 SBE_CT 816 23 457.70

Roll_motor 95 48 109.64 SBE_O2 781 5 109.49

VBD_pump_during_apogee 319 1158 8658.06 nil 0 0 0.00

VBD_pump_during_surface 36 68 58.15 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 270 277 1755.22 nil 0 0 0.00

Transponder_ping 3 420 36.85 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.57

TT8 2810 17 509.80

LPSleep 4383 2 102.26

TT8_Active 513 17 93.13

TT8_Sampling 2124 40 867.67

TT8_CF8 303 48 149.01

TT8_Kalman 0 0 0.00

Analog_circuits 1790 12 216.96

GPS_charging 0 0 0.00

Compass 1836 7 138.89

RAFOS 2520 3 76.36

Transponder 14 30 4.30

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.75 -146.6 0.0 0.0 0 83 0.00 0.00 -61.75 0.000 2 0.000 0.000 343 2119 3121 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.75 -146.6 3.2 -2.9 11 124 10.07 2.12 -19.92 0.000 4 0.246 0.049 2895 709 3880 0 0 0 0 0 0 25.75 26.40 26.78

218 -0.75 -146.6 22.3 -13.5 35 225 0.00 2.15 0.00 0.000 6 0.000 0.037 2888 2101 3885 0 0 0 0 0 0 28.83 26.41 28.83

531 -0.75 -146.6 57.2 -10.8 96 537 0.00 2.12 0.00 0.000 4 0.000 0.048 2877 3504 3886 0 0 0 0 0 0 28.83 26.39 28.83

632 -0.75 -146.6 68.5 -11.5 115 639 0.00 2.03 0.00 0.000 6 0.000 0.028 2878 2110 3887 0 0 0 0 0 0 28.83 26.54 28.83

948 -0.75 -146.6 104.9 -11.9 173 958 0.00 2.12 0.00 0.000 4 0.000 0.048 2868 3502 3888 0 0 0 0 0 0 28.83 26.43 28.83

1003 -0.75 -146.6 111.6 -12.8 178 1010 0.00 2.03 0.00 0.000 6 0.000 0.028 2867 2113 3888 0 0 0 0 0 0 28.83 26.57 28.83

1311 -0.75 -146.6 149.6 -11.9 209 1320 0.00 2.15 0.00 0.000 4 0.000 0.047 2857 3509 3888 0 0 0 0 0 0 28.83 26.44 28.83

1396 -0.75 -146.6 160.2 -13.0 217 1404 0.12 2.03 0.00 0.000 6 0.173 0.028 2888 2121 3888 0 0 0 0 0 0 26.23 26.60 28.83

1704 -0.75 -146.6 192.6 -9.8 248 1712 0.00 2.10 0.00 0.000 4 0.000 0.047 2880 3499 3887 0 0 0 0 0 0 28.83 26.45 28.83

1738 -0.75 -146.6 196.0 -10.7 251 1745 0.00 2.00 0.00 0.000 6 0.000 0.029 2880 2123 3887 0 0 0 0 0 0 28.83 26.61 28.83

2046 -0.75 -146.6 227.3 -9.9 282 2055 0.00 2.10 0.00 0.000 4 0.000 0.047 2870 3499 3886 0 0 0 0 0 0 28.83 26.46 28.83

2138 -0.75 -146.6 236.8 -9.9 291 2147 0.00 2.00 0.00 0.000 6 0.000 0.029 2870 2127 3886 0 0 0 0 0 0 28.83 26.62 28.83

2449 -0.75 -146.6 267.4 -9.8 322 2458 0.00 2.08 0.00 0.000 4 0.000 0.048 2859 3505 3885 0 0 0 0 0 0 28.83 26.47 28.83

2553 -0.75 -146.6 278.1 -10.2 332 2560 0.12 1.98 0.00 0.000 6 0.162 0.028 2891 2139 3885 0 0 0 0 0 0 26.29 26.63 28.83

2862 -0.75 -146.6 303.9 -8.1 363 2866 0.00 2.10 0.00 0.000 4 0.000 0.047 2883 3509 3885 0 0 0 0 0 0 28.83 26.48 28.83

2904 -0.75 -146.6 307.7 -8.8 367 2908 0.00 1.95 0.00 0.000 6 0.000 0.028 2883 2149 3885 0 0 0 0 0 0 28.83 26.65 28.83

3217 -0.75 -146.6 335.0 -8.6 398 3226 0.00 2.08 0.00 0.000 4 0.000 0.047 2873 3509 3885 0 0 0 0 0 0 28.83 26.48 28.83

3302 -0.75 -146.6 342.8 -9.6 406 3308 0.00 1.98 0.00 0.000 6 0.000 0.028 2873 2146 3885 0 0 0 0 0 0 28.83 26.65 28.83

3610 -0.75 -146.6 371.1 -9.2 437 3619 0.00 2.08 0.00 0.000 4 0.000 0.047 2863 3512 3885 0 0 0 0 0 0 28.83 26.49 28.83

3675 -0.75 -146.6 377.3 -10.3 443 3682 0.00 1.95 0.00 0.000 6 0.000 0.028 2863 2160 3885 0 0 0 0 0 0 28.83 26.65 28.83

3983 -0.75 -146.6 407.8 -10.3 474 3987 0.00 2.08 0.00 0.000 4 0.000 0.047 2854 3517 3885 0 0 0 0 0 0 28.83 26.50 28.83

4048 -0.75 -146.6 414.5 -11.0 480 4056 0.12 1.95 0.00 0.000 6 0.158 0.028 2885 2159 3885 0 0 0 0 0 0 26.32 26.66 28.83

4356 -0.75 -146.6 443.0 -9.2 511 4364 0.00 2.05 0.00 0.000 4 0.000 0.047 2878 3509 3885 0 0 0 0 0 0 28.83 26.50 28.83

4419 -0.75 -146.6 448.9 -9.8 517 4428 0.00 1.92 0.00 0.000 6 0.000 0.028 2878 2174 3885 0 0 0 0 0 0 28.83 26.67 28.83

4728 -0.75 -146.6 477.7 -9.4 548 4737 0.00 2.00 0.00 0.000 4 0.000 0.047 2868 3509 3885 0 0 0 0 0 0 28.83 26.50 28.83

4780 -0.75 -146.6 483.0 -10.2 553 4789 0.00 1.92 0.00 0.000 6 0.000 0.028 2868 2175 3885 0 0 0 0 0 0 28.83 26.66 28.83

5091 -0.75 -146.6 512.2 -9.2 584 5094 0.00 2.03 0.00 0.000 4 0.000 0.047 2858 3505 3885 0 0 0 0 0 0 28.83 26.50 28.83

5130 end dive: BOTTOM_OBSTACLE_DETECTED

state 5130 begin apogee

5139 -0.17 0.0 516.5 -9.8 588 5262 0.68 0.00 117.85 1.159 4 0.138 0.000 3072 1889 3278 0 0 0 0 0 0 26.10 28.83 24.03

5265 end apogee: CONTROL_FINISHED_OK

state 5266 begin climb

5269 0.75 146.6 520.4 0.0 601 5405 0.82 2.22 120.47 1.127 4 0.071 0.034 3368 510 2679 0 0 0 0 0 0 25.01 25.04 23.41

5411 0.75 146.6 512.4 10.4 615 5417 0.00 2.33 0.00 0.000 6 0.000 0.032 3368 1900 2678 0 0 0 0 0 0 28.83 24.45 28.83

5718 0.75 146.6 469.7 13.9 646 5719 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 1900 2671 0 0 0 0 0 0 28.83 28.83 28.83

6020 0.75 146.6 427.8 13.8 676 6026 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 1900 2670 0 0 0 0 0 0 28.83 28.83 28.83

6333 0.75 146.6 384.0 13.9 707 6341 0.00 2.15 0.00 0.000 4 0.000 0.037 3377 514 2668 0 0 0 0 0 0 28.83 26.19 28.83

6384 0.75 146.6 376.0 14.0 712 6393 0.00 2.17 0.00 0.000 6 0.000 0.034 3377 1910 2668 0 0 0 0 0 0 28.83 26.22 28.83

6695 0.75 146.6 333.3 13.8 743 6704 0.00 2.15 0.00 0.000 4 0.000 0.037 3386 519 2668 0 0 0 0 0 0 28.83 26.29 28.83

6737 0.75 146.6 327.4 14.1 747 6746 0.00 2.10 0.00 0.000 6 0.000 0.033 3386 1888 2667 0 0 0 0 0 0 28.83 26.33 28.83

7047 0.75 146.6 283.6 13.7 778 7048 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 1887 2667 0 0 0 0 0 0 28.83 28.83 28.83

7347 0.75 146.6 241.8 14.0 808 7348 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 1888 2668 0 0 0 0 0 0 28.83 28.83 28.83

7651 0.75 146.6 202.5 13.1 838 7660 0.00 2.10 0.00 0.000 4 0.000 0.037 3395 524 2667 0 0 0 0 0 0 28.83 26.44 28.83

7676 0.75 146.6 199.2 12.9 840 7683 0.00 2.10 0.00 0.000 6 0.000 0.033 3395 1897 2668 0 0 0 0 0 0 28.83 26.47 28.83

7984 0.75 146.6 158.7 12.1 871 7988 0.00 2.12 0.00 0.000 4 0.000 0.037 3404 516 2667 0 0 0 0 0 0 28.83 26.46 28.83

8059 0.75 146.6 149.8 12.4 878 8067 0.12 2.10 0.00 0.000 6 0.168 0.033 3373 1892 2668 0 0 0 0 0 0 26.21 26.51 28.83

8366 0.75 146.6 116.3 10.8 909 8375 0.00 2.12 0.00 0.000 4 0.000 0.037 3380 518 2668 0 0 0 0 0 0 28.83 26.48 28.83

8438 0.75 146.6 108.3 11.3 916 8442 0.00 2.08 0.00 0.000 6 0.000 0.034 3380 1877 2667 0 0 0 0 0 0 28.83 26.52 28.83

8747 0.75 154.5 78.7 8.8 968 8760 0.00 2.10 5.82 0.747 4 0.000 0.035 3389 516 2648 0 0 0 0 0 0 28.83 26.49 25.43

8856 0.75 154.5 68.4 9.9 988 8862 0.00 2.10 0.00 0.000 6 0.000 0.034 3389 1882 2648 0 0 0 0 0 0 28.83 26.48 28.83

9170 0.75 154.5 37.6 9.7 1049 9177 0.00 2.15 0.00 0.000 4 0.000 0.044 3389 3303 2647 0 0 0 0 0 0 28.83 26.44 28.83

9200 0.75 154.5 34.0 11.2 1054 9208 0.00 2.10 0.00 0.000 6 0.000 0.029 3398 1880 2646 0 0 0 0 0 0 28.83 26.53 28.83

9519 0.95 314.4 16.0 2.5 1115 9603 0.12 2.22 75.10 0.095 4 0.106 0.046 3448 3298 1993 0 0 0 0 0 0 26.53 26.32 26.17

9641 end climb: SURFACE_DEPTH_REACHED

state 9641 begin surface coast

9668 end surface coast: CONTROL_FINISHED_OK

state 9668 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	231	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	72	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	46	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	-191375.08	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	300712,220558,6702.818,-5648.582,36,0.9,36,-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	2.28	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300712,221242,6702.938,-5648.575,19,0.8,19,-33.5	MHEAD_RNG_PITCHd_Wd	266.5,162881,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	534

FREEZE	1.40,6.164,-1.767,0,1,0	ALTIM_BOTTOM_PING	500.1,31.0
FINISH	1.4,1.025366	_24V_AH	23.4,27.741
SM_CCo	9690,36.50,0.068,0,0,1647,400.08	_10V_AH	10.1,31.167
SM_GC	2.33,8.27,1.83,36.50,0.050,0.033,0.068,346,2104,1647,-8.64,2.04,400.08,0,0,0,0,0,0,26.28,26.43,26.20	FG_AHR_24Vo	0.000
RAFOS_CLK	462	FG_AHR_10Vo	0.000
RAFOS	0,1343692867,0.033333,0.018611,44,43,42,42,41,41,210,1550,567,844,1736,1919	MEM	151688
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	53361,1141
IRIDIUM_FIX	6631.12,-5649.11,300712,191945	CAP_FILE_SIZE	121419,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,227061760
HUMID	42.47	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.09215	SOUNDSPEED	1466.9
TCM_TEMP	16.60	CURRENT	0.209,324.2,1
XPDR_PINGS	8	GPS	310712,005652,6703.219,-5653.140,39,0.9,39,-33.5
ALTIM_TOP_PING	20.0,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	245	117.65	SBE_CT	816	23	457.70
Roll_motor	95	48	109.64	SBE_O2	781	5	109.49
VBD_pump_during_apogee	319	1158	8658.06	nil	0	0	0.00
VBD_pump_during_surface	36	68	58.15	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	270	277	1755.22	nil	0	0	0.00
Transponder_ping	3	420	36.85	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.57
TT8	2810	17	509.80
LPSleep	4383	2	102.26
TT8_Active	513	17	93.13
TT8_Sampling	2124	40	867.67
TT8_CF8	303	48	149.01
TT8_Kalman	0	0	0.00
Analog_circuits	1790	12	216.96
GPS_charging	0	0	0.00
Compass	1836	7	138.89
RAFOS	2520	3	76.36
Transponder	14	30	4.30

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.75	-146.6	0.0	0.0	0	83	0.00	0.00	-61.75	0.000	2	0.000	0.000	343	2119	3121	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.75	-146.6	3.2	-2.9	11	124	10.07	2.12	-19.92	0.000	4	0.246	0.049	2895	709	3880	0	0	0	0	0	0	25.75	26.40	26.78
218	-0.75	-146.6	22.3	-13.5	35	225	0.00	2.15	0.00	0.000	6	0.000	0.037	2888	2101	3885	0	0	0	0	0	0	28.83	26.41	28.83
531	-0.75	-146.6	57.2	-10.8	96	537	0.00	2.12	0.00	0.000	4	0.000	0.048	2877	3504	3886	0	0	0	0	0	0	28.83	26.39	28.83
632	-0.75	-146.6	68.5	-11.5	115	639	0.00	2.03	0.00	0.000	6	0.000	0.028	2878	2110	3887	0	0	0	0	0	0	28.83	26.54	28.83
948	-0.75	-146.6	104.9	-11.9	173	958	0.00	2.12	0.00	0.000	4	0.000	0.048	2868	3502	3888	0	0	0	0	0	0	28.83	26.43	28.83
1003	-0.75	-146.6	111.6	-12.8	178	1010	0.00	2.03	0.00	0.000	6	0.000	0.028	2867	2113	3888	0	0	0	0	0	0	28.83	26.57	28.83
1311	-0.75	-146.6	149.6	-11.9	209	1320	0.00	2.15	0.00	0.000	4	0.000	0.047	2857	3509	3888	0	0	0	0	0	0	28.83	26.44	28.83
1396	-0.75	-146.6	160.2	-13.0	217	1404	0.12	2.03	0.00	0.000	6	0.173	0.028	2888	2121	3888	0	0	0	0	0	0	26.23	26.60	28.83
1704	-0.75	-146.6	192.6	-9.8	248	1712	0.00	2.10	0.00	0.000	4	0.000	0.047	2880	3499	3887	0	0	0	0	0	0	28.83	26.45	28.83
1738	-0.75	-146.6	196.0	-10.7	251	1745	0.00	2.00	0.00	0.000	6	0.000	0.029	2880	2123	3887	0	0	0	0	0	0	28.83	26.61	28.83
2046	-0.75	-146.6	227.3	-9.9	282	2055	0.00	2.10	0.00	0.000	4	0.000	0.047	2870	3499	3886	0	0	0	0	0	0	28.83	26.46	28.83
2138	-0.75	-146.6	236.8	-9.9	291	2147	0.00	2.00	0.00	0.000	6	0.000	0.029	2870	2127	3886	0	0	0	0	0	0	28.83	26.62	28.83
2449	-0.75	-146.6	267.4	-9.8	322	2458	0.00	2.08	0.00	0.000	4	0.000	0.048	2859	3505	3885	0	0	0	0	0	0	28.83	26.47	28.83
2553	-0.75	-146.6	278.1	-10.2	332	2560	0.12	1.98	0.00	0.000	6	0.162	0.028	2891	2139	3885	0	0	0	0	0	0	26.29	26.63	28.83
2862	-0.75	-146.6	303.9	-8.1	363	2866	0.00	2.10	0.00	0.000	4	0.000	0.047	2883	3509	3885	0	0	0	0	0	0	28.83	26.48	28.83
2904	-0.75	-146.6	307.7	-8.8	367	2908	0.00	1.95	0.00	0.000	6	0.000	0.028	2883	2149	3885	0	0	0	0	0	0	28.83	26.65	28.83
3217	-0.75	-146.6	335.0	-8.6	398	3226	0.00	2.08	0.00	0.000	4	0.000	0.047	2873	3509	3885	0	0	0	0	0	0	28.83	26.48	28.83
3302	-0.75	-146.6	342.8	-9.6	406	3308	0.00	1.98	0.00	0.000	6	0.000	0.028	2873	2146	3885	0	0	0	0	0	0	28.83	26.65	28.83
3610	-0.75	-146.6	371.1	-9.2	437	3619	0.00	2.08	0.00	0.000	4	0.000	0.047	2863	3512	3885	0	0	0	0	0	0	28.83	26.49	28.83
3675	-0.75	-146.6	377.3	-10.3	443	3682	0.00	1.95	0.00	0.000	6	0.000	0.028	2863	2160	3885	0	0	0	0	0	0	28.83	26.65	28.83
3983	-0.75	-146.6	407.8	-10.3	474	3987	0.00	2.08	0.00	0.000	4	0.000	0.047	2854	3517	3885	0	0	0	0	0	0	28.83	26.50	28.83
4048	-0.75	-146.6	414.5	-11.0	480	4056	0.12	1.95	0.00	0.000	6	0.158	0.028	2885	2159	3885	0	0	0	0	0	0	26.32	26.66	28.83
4356	-0.75	-146.6	443.0	-9.2	511	4364	0.00	2.05	0.00	0.000	4	0.000	0.047	2878	3509	3885	0	0	0	0	0	0	28.83	26.50	28.83
4419	-0.75	-146.6	448.9	-9.8	517	4428	0.00	1.92	0.00	0.000	6	0.000	0.028	2878	2174	3885	0	0	0	0	0	0	28.83	26.67	28.83
4728	-0.75	-146.6	477.7	-9.4	548	4737	0.00	2.00	0.00	0.000	4	0.000	0.047	2868	3509	3885	0	0	0	0	0	0	28.83	26.50	28.83
4780	-0.75	-146.6	483.0	-10.2	553	4789	0.00	1.92	0.00	0.000	6	0.000	0.028	2868	2175	3885	0	0	0	0	0	0	28.83	26.66	28.83
5091	-0.75	-146.6	512.2	-9.2	584	5094	0.00	2.03	0.00	0.000	4	0.000	0.047	2858	3505	3885	0	0	0	0	0	0	28.83	26.50	28.83
5130	end dive: BOTTOM_OBSTACLE_DETECTED
state	5130	begin apogee
5139	-0.17	0.0	516.5	-9.8	588	5262	0.68	0.00	117.85	1.159	4	0.138	0.000	3072	1889	3278	0	0	0	0	0	0	26.10	28.83	24.03
5265	end apogee: CONTROL_FINISHED_OK
state	5266	begin climb
5269	0.75	146.6	520.4	0.0	601	5405	0.82	2.22	120.47	1.127	4	0.071	0.034	3368	510	2679	0	0	0	0	0	0	25.01	25.04	23.41
5411	0.75	146.6	512.4	10.4	615	5417	0.00	2.33	0.00	0.000	6	0.000	0.032	3368	1900	2678	0	0	0	0	0	0	28.83	24.45	28.83
5718	0.75	146.6	469.7	13.9	646	5719	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	1900	2671	0	0	0	0	0	0	28.83	28.83	28.83
6020	0.75	146.6	427.8	13.8	676	6026	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	1900	2670	0	0	0	0	0	0	28.83	28.83	28.83
6333	0.75	146.6	384.0	13.9	707	6341	0.00	2.15	0.00	0.000	4	0.000	0.037	3377	514	2668	0	0	0	0	0	0	28.83	26.19	28.83
6384	0.75	146.6	376.0	14.0	712	6393	0.00	2.17	0.00	0.000	6	0.000	0.034	3377	1910	2668	0	0	0	0	0	0	28.83	26.22	28.83
6695	0.75	146.6	333.3	13.8	743	6704	0.00	2.15	0.00	0.000	4	0.000	0.037	3386	519	2668	0	0	0	0	0	0	28.83	26.29	28.83
6737	0.75	146.6	327.4	14.1	747	6746	0.00	2.10	0.00	0.000	6	0.000	0.033	3386	1888	2667	0	0	0	0	0	0	28.83	26.33	28.83
7047	0.75	146.6	283.6	13.7	778	7048	0.00	0.00	0.00	0.000	6	0.000	0.000	3386	1887	2667	0	0	0	0	0	0	28.83	28.83	28.83
7347	0.75	146.6	241.8	14.0	808	7348	0.00	0.00	0.00	0.000	6	0.000	0.000	3386	1888	2668	0	0	0	0	0	0	28.83	28.83	28.83
7651	0.75	146.6	202.5	13.1	838	7660	0.00	2.10	0.00	0.000	4	0.000	0.037	3395	524	2667	0	0	0	0	0	0	28.83	26.44	28.83
7676	0.75	146.6	199.2	12.9	840	7683	0.00	2.10	0.00	0.000	6	0.000	0.033	3395	1897	2668	0	0	0	0	0	0	28.83	26.47	28.83
7984	0.75	146.6	158.7	12.1	871	7988	0.00	2.12	0.00	0.000	4	0.000	0.037	3404	516	2667	0	0	0	0	0	0	28.83	26.46	28.83
8059	0.75	146.6	149.8	12.4	878	8067	0.12	2.10	0.00	0.000	6	0.168	0.033	3373	1892	2668	0	0	0	0	0	0	26.21	26.51	28.83
8366	0.75	146.6	116.3	10.8	909	8375	0.00	2.12	0.00	0.000	4	0.000	0.037	3380	518	2668	0	0	0	0	0	0	28.83	26.48	28.83
8438	0.75	146.6	108.3	11.3	916	8442	0.00	2.08	0.00	0.000	6	0.000	0.034	3380	1877	2667	0	0	0	0	0	0	28.83	26.52	28.83
8747	0.75	154.5	78.7	8.8	968	8760	0.00	2.10	5.82	0.747	4	0.000	0.035	3389	516	2648	0	0	0	0	0	0	28.83	26.49	25.43
8856	0.75	154.5	68.4	9.9	988	8862	0.00	2.10	0.00	0.000	6	0.000	0.034	3389	1882	2648	0	0	0	0	0	0	28.83	26.48	28.83
9170	0.75	154.5	37.6	9.7	1049	9177	0.00	2.15	0.00	0.000	4	0.000	0.044	3389	3303	2647	0	0	0	0	0	0	28.83	26.44	28.83
9200	0.75	154.5	34.0	11.2	1054	9208	0.00	2.10	0.00	0.000	6	0.000	0.029	3398	1880	2646	0	0	0	0	0	0	28.83	26.53	28.83
9519	0.95	314.4	16.0	2.5	1115	9603	0.12	2.22	75.10	0.095	4	0.106	0.046	3448	3298	1993	0	0	0	0	0	0	26.53	26.32	26.17
9641	end climb: SURFACE_DEPTH_REACHED
state	9641	begin surface coast
9668	end surface coast: CONTROL_FINISHED_OK
state	9668	begin surface