Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 32 * 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 32 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 310 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 20 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 13 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 260 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 1 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 370 UPLOAD_DIVES_MAX -1 C_VBD 2772 DEVICE3 -1

T_MISSION 420 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -790.92615 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 310

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 -790.92615

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 20 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 13 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.8788214 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1391871 VBD_MIN 500

DIVE 32 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 130912,222334,6702.926,-5652.266,34,1.0,34,-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 1.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130912,222941,6702.942,-5652.377,5,0.8,5,-33.5 MHEAD_RNG_PITCHd_Wd 120.0,3163,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 555

Post-dive calculations and measurements:

FINISH 1.2,1.025008 _24V_AH 13.1,14.318

SM_CCo 9867,5.62,0.195,0,0,1506,310.06 _10V_AH 13.4,0.000

SM_GC 2.92,8.80,0.20,5.62,0.131,0.146,0.195,137,2112,1506,-11.61,0.37,310.06,0,0,0,0,0,0,14.72,14.71,14.66 FG_AHR_24Vo 0.000

RAFOS_CLK 392 FG_AHR_10Vo 0.000

RAFOS 0,1347580862,0.033333,0.017222,72,67,62,62,54,48,221,194,204,173,124,140 MEM 188700

RAFOS_FIX 6649.043457,-5714.099609,140912,000048,4,80,3.97 DATA_FILE_SIZE 43525,961

IRIDIUM_FIX 6620.33,-5642.79,130912,191906 CAP_FILE_SIZE 105516,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,248324096

HUMID 46.73 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.78186 SOUNDSPEED 1464.8

TCM_TEMP 13.80 CURRENT 0.117,310.3,1

XPDR_PINGS 8 GPS 140912,011629,6703.382,-5650.343,12,0.8,12,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 451 134.51 SBE_CT 704 23 221.26

Roll_motor 98 188 241.91 SBE_O2 658 3 32.24

VBD_pump_during_apogee 358 2193 10305.32 nil 0 0 0.00

VBD_pump_during_surface 5 195 14.37 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 217 146 417.82 nil 0 0 0.00

Transponder_ping 2 420 11.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 21 1.75

TT8 2435 14 488.32

LPSleep 5032 2 155.76

TT8_Active 497 14 99.76

TT8_Sampling 1781 33 804.42

TT8_CF8 519 38 265.66

TT8_Kalman 0 0 0.00

Analog_circuits 1623 12 261.01

GPS_charging 0 0 0.00

Compass 1600 6 144.51

RAFOS 2520 1 50.65

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 85 0.00 0.00 -63.62 0.000 2 0.000 0.000 130 2117 2716 0 0 0 0 0 0 28.83 28.83 28.83

91 -1.50 -136.9 3.2 -3.8 11 129 10.82 2.65 -16.08 0.000 4 0.451 0.162 2349 716 3332 0 0 0 0 0 0 14.43 14.54 14.78

181 -1.50 -136.9 19.9 -20.9 26 188 0.00 2.62 0.00 0.000 6 0.000 0.147 2341 2122 3333 0 0 0 0 0 0 28.83 14.55 28.83

498 -1.50 -136.9 69.0 -11.6 87 504 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2122 3334 0 0 0 0 0 0 28.83 28.83 28.83

818 -1.50 -136.9 109.0 -12.7 142 827 0.00 2.62 0.00 0.000 4 0.000 0.158 2330 3527 3334 0 0 0 0 0 0 28.83 14.66 28.83

843 -1.50 -136.9 112.3 -13.2 144 852 0.08 2.47 0.00 0.000 6 0.278 0.103 2349 2122 3333 0 0 0 0 0 0 14.62 14.69 28.83

1153 -1.50 -136.9 150.3 -11.9 175 1161 0.00 2.53 0.00 0.000 4 0.000 0.141 2350 716 3334 0 0 0 0 0 0 28.83 14.71 28.83

1191 -1.50 -136.9 154.6 -12.6 178 1198 0.00 2.60 0.00 0.000 6 0.000 0.143 2342 2131 3334 0 0 0 0 0 0 28.83 14.71 28.83

1498 -1.50 -136.9 191.8 -12.3 209 1508 0.00 2.60 0.00 0.000 4 0.000 0.155 2331 3525 3333 0 0 0 0 0 0 28.83 14.73 28.83

1554 -1.50 -136.9 198.7 -12.6 214 1563 0.05 2.47 0.00 0.000 6 0.288 0.102 2344 2110 3334 0 0 0 0 0 0 14.68 14.76 28.83

1864 -1.50 -136.9 237.7 -12.7 245 1874 0.00 2.67 0.00 0.000 4 0.000 0.157 2335 3529 3333 0 0 0 0 0 0 28.83 14.74 28.83

1929 -1.50 -136.9 246.1 -12.9 251 1938 0.00 2.45 0.00 0.000 6 0.000 0.103 2335 2122 3332 0 0 0 0 0 0 28.83 14.78 28.83

2240 -1.50 -136.9 283.4 -11.5 282 2249 0.00 2.55 0.00 0.000 4 0.000 0.138 2335 705 3332 0 0 0 0 0 0 28.83 14.76 28.83

2277 -1.50 -136.9 287.7 -12.3 285 2285 0.12 2.60 0.00 0.000 6 0.311 0.142 2351 2128 3332 0 0 0 0 0 0 14.71 14.78 28.83

2586 -1.50 -136.9 321.9 -11.1 316 2592 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2128 3332 0 0 0 0 0 0 28.83 28.83 28.83

2901 -1.50 -136.9 355.0 -10.5 347 2910 0.00 2.60 0.00 0.000 4 0.000 0.155 2342 3526 3331 0 0 0 0 0 0 28.83 14.77 28.83

2938 -1.50 -136.9 359.2 -10.7 350 2945 0.00 2.47 0.00 0.000 6 0.000 0.102 2342 2115 3331 0 0 0 0 0 0 28.83 14.83 28.83

3246 -1.50 -136.9 391.4 -10.3 381 3252 0.00 0.00 0.00 0.000 6 0.000 0.000 2342 2115 3332 0 0 0 0 0 0 28.83 28.83 28.83

3577 -1.50 -136.9 425.9 -10.6 398 3578 0.00 0.00 0.00 0.000 6 0.000 0.000 2342 2115 3332 0 0 0 0 0 0 28.83 28.83 28.83

3876 -1.50 -136.9 457.4 -10.5 408 3877 0.00 0.00 0.00 0.000 6 0.000 0.000 2343 2115 3332 0 0 0 0 0 0 28.83 28.83 28.83

4176 -1.50 -136.9 488.9 -10.4 418 4182 0.00 2.65 0.00 0.000 4 0.000 0.158 2332 3534 3331 0 0 0 0 0 0 28.83 14.83 28.83

4216 -1.50 -136.9 492.4 -10.5 419 4221 0.00 2.47 0.00 0.000 6 0.000 0.106 2332 2116 3331 0 0 0 0 0 0 28.83 14.87 28.83

4538 -1.50 -136.9 527.5 -10.9 430 4544 0.10 2.65 0.00 0.000 4 0.316 0.160 2342 3530 3332 0 0 0 0 0 0 14.81 14.84 28.83

4615 -1.50 -136.9 531.2 -8.8 432 4620 0.00 2.45 0.00 0.000 6 0.000 0.106 2342 2123 3332 0 0 0 0 0 0 28.83 14.88 28.83

4806 end dive: NO_VERTICAL_VELOCITY

state 4806 begin apogee

4818 -0.38 0.0 531.2 0.0 439 4958 0.80 0.00 134.48 2.193 6 0.168 0.000 2598 2205 2772 0 0 0 0 0 0 14.85 28.83 13.21

4964 end apogee: CONTROL_FINISHED_OK

state 4964 begin climb

4969 1.50 136.9 531.2 0.0 444 5126 1.38 2.83 143.20 2.157 4 0.158 0.144 3021 793 2213 0 0 0 0 0 0 13.93 13.69 13.06

5150 1.50 136.9 517.3 9.5 450 5156 0.00 2.70 0.00 0.000 6 0.000 0.130 3021 2197 2210 0 0 0 0 0 0 28.83 13.89 28.83

5472 1.50 136.9 474.4 13.3 461 5478 0.00 2.70 0.00 0.000 4 0.000 0.146 3021 3618 2204 0 0 0 0 0 0 28.83 14.34 28.83

5547 1.50 136.9 465.7 13.7 463 5553 0.08 2.58 0.00 0.000 6 0.279 0.103 3012 2200 2204 0 0 0 0 0 0 14.33 14.42 28.83

5864 1.50 136.9 423.6 12.5 474 5870 0.00 2.55 0.00 0.000 4 0.000 0.137 3021 795 2203 0 0 0 0 0 0 28.83 14.52 28.83

5903 1.50 136.9 419.5 12.6 475 5909 0.00 2.55 0.00 0.000 6 0.000 0.126 3021 2204 2202 0 0 0 0 0 0 28.83 14.57 28.83

6220 1.50 136.9 377.5 13.0 497 6230 0.00 2.60 0.00 0.000 4 0.000 0.145 3021 3612 2202 0 0 0 0 0 0 28.83 14.60 28.83

6285 1.50 136.9 367.7 14.3 503 6295 0.08 2.47 0.00 0.000 6 0.289 0.103 3012 2192 2202 0 0 0 0 0 0 14.56 14.65 28.83

6596 1.50 136.9 327.9 13.0 534 6605 0.00 2.53 0.00 0.000 4 0.000 0.136 3021 787 2201 0 0 0 0 0 0 28.83 14.65 28.83

6650 1.50 136.9 320.8 13.3 539 6659 0.00 2.53 0.00 0.000 6 0.000 0.125 3021 2200 2201 0 0 0 0 0 0 28.83 14.66 28.83

6961 1.50 136.9 281.3 12.5 570 6967 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2201 2201 0 0 0 0 0 0 28.83 28.83 28.83

7277 1.50 136.9 241.6 12.4 601 7287 0.00 2.60 0.00 0.000 4 0.000 0.148 3021 3614 2201 0 0 0 0 0 0 28.83 14.71 28.83

7353 1.50 136.9 230.7 13.6 608 7358 0.08 2.50 0.00 0.000 6 0.291 0.104 3011 2196 2201 0 0 0 0 0 0 14.67 14.76 28.83

7669 1.50 136.9 195.7 10.7 639 7678 0.00 2.53 0.00 0.000 4 0.000 0.138 3020 791 2200 0 0 0 0 0 0 28.83 14.74 28.83

7706 1.50 136.9 191.8 10.7 642 7713 0.00 2.55 0.00 0.000 6 0.000 0.129 3020 2204 2200 0 0 0 0 0 0 28.83 14.76 28.83

8014 1.50 136.9 157.1 11.1 673 8020 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2205 2200 0 0 0 0 0 0 28.83 28.83 28.83

8330 1.50 136.9 125.2 9.6 704 8336 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2205 2200 0 0 0 0 0 0 28.83 28.83 28.83

8641 1.50 139.7 95.3 8.8 739 8648 0.00 2.62 0.00 0.000 4 0.000 0.151 3020 3622 2199 0 0 0 0 0 0 28.83 14.78 28.83

8693 1.50 139.7 90.3 9.8 748 8701 0.12 2.53 0.00 0.000 6 0.310 0.106 3004 2195 2199 0 0 0 0 0 0 14.73 14.81 28.83

9016 1.53 164.2 63.8 7.9 809 9036 0.00 2.53 13.20 0.369 4 0.000 0.138 3013 791 2101 0 0 0 0 0 0 28.83 14.75 14.66

9271 1.54 171.6 40.3 8.6 857 9280 0.00 2.55 3.30 0.346 6 0.000 0.133 3013 2201 2070 0 0 0 0 0 0 28.83 14.76 14.68

9590 1.69 294.1 21.1 3.6 918 9664 0.12 2.60 64.50 0.236 4 0.164 0.141 3075 791 1569 0 0 0 0 0 0 14.78 14.66 14.62

9729 1.69 294.1 10.4 9.9 941 9737 0.12 2.58 0.00 0.000 6 0.280 0.132 3047 2204 1561 0 0 0 0 0 0 14.62 14.66 28.83

9802 end climb: SURFACE_DEPTH_REACHED

state 9802 begin surface coast

9839 end surface coast: CONTROL_FINISHED_OK

state 9839 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	32	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	310	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	20	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	13	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	260	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	1	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	370	UPLOAD_DIVES_MAX	-1	C_VBD	2772	DEVICE3	-1
T_MISSION	420	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-790.92615	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	130912,222334,6702.926,-5652.266,34,1.0,34,-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	1.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130912,222941,6702.942,-5652.377,5,0.8,5,-33.5	MHEAD_RNG_PITCHd_Wd	120.0,3163,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	555

FINISH	1.2,1.025008	_24V_AH	13.1,14.318
SM_CCo	9867,5.62,0.195,0,0,1506,310.06	_10V_AH	13.4,0.000
SM_GC	2.92,8.80,0.20,5.62,0.131,0.146,0.195,137,2112,1506,-11.61,0.37,310.06,0,0,0,0,0,0,14.72,14.71,14.66	FG_AHR_24Vo	0.000
RAFOS_CLK	392	FG_AHR_10Vo	0.000
RAFOS	0,1347580862,0.033333,0.017222,72,67,62,62,54,48,221,194,204,173,124,140	MEM	188700
RAFOS_FIX	6649.043457,-5714.099609,140912,000048,4,80,3.97	DATA_FILE_SIZE	43525,961
IRIDIUM_FIX	6620.33,-5642.79,130912,191906	CAP_FILE_SIZE	105516,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,248324096
HUMID	46.73	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.78186	SOUNDSPEED	1464.8
TCM_TEMP	13.80	CURRENT	0.117,310.3,1
XPDR_PINGS	8	GPS	140912,011629,6703.382,-5650.343,12,0.8,12,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	451	134.51	SBE_CT	704	23	221.26
Roll_motor	98	188	241.91	SBE_O2	658	3	32.24
VBD_pump_during_apogee	358	2193	10305.32	nil	0	0	0.00
VBD_pump_during_surface	5	195	14.37	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	217	146	417.82	nil	0	0	0.00
Transponder_ping	2	420	11.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	21	1.75
TT8	2435	14	488.32
LPSleep	5032	2	155.76
TT8_Active	497	14	99.76
TT8_Sampling	1781	33	804.42
TT8_CF8	519	38	265.66
TT8_Kalman	0	0	0.00
Analog_circuits	1623	12	261.01
GPS_charging	0	0	0.00
Compass	1600	6	144.51
RAFOS	2520	1	50.65
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	85	0.00	0.00	-63.62	0.000	2	0.000	0.000	130	2117	2716	0	0	0	0	0	0	28.83	28.83	28.83
91	-1.50	-136.9	3.2	-3.8	11	129	10.82	2.65	-16.08	0.000	4	0.451	0.162	2349	716	3332	0	0	0	0	0	0	14.43	14.54	14.78
181	-1.50	-136.9	19.9	-20.9	26	188	0.00	2.62	0.00	0.000	6	0.000	0.147	2341	2122	3333	0	0	0	0	0	0	28.83	14.55	28.83
498	-1.50	-136.9	69.0	-11.6	87	504	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	2122	3334	0	0	0	0	0	0	28.83	28.83	28.83
818	-1.50	-136.9	109.0	-12.7	142	827	0.00	2.62	0.00	0.000	4	0.000	0.158	2330	3527	3334	0	0	0	0	0	0	28.83	14.66	28.83
843	-1.50	-136.9	112.3	-13.2	144	852	0.08	2.47	0.00	0.000	6	0.278	0.103	2349	2122	3333	0	0	0	0	0	0	14.62	14.69	28.83
1153	-1.50	-136.9	150.3	-11.9	175	1161	0.00	2.53	0.00	0.000	4	0.000	0.141	2350	716	3334	0	0	0	0	0	0	28.83	14.71	28.83
1191	-1.50	-136.9	154.6	-12.6	178	1198	0.00	2.60	0.00	0.000	6	0.000	0.143	2342	2131	3334	0	0	0	0	0	0	28.83	14.71	28.83
1498	-1.50	-136.9	191.8	-12.3	209	1508	0.00	2.60	0.00	0.000	4	0.000	0.155	2331	3525	3333	0	0	0	0	0	0	28.83	14.73	28.83
1554	-1.50	-136.9	198.7	-12.6	214	1563	0.05	2.47	0.00	0.000	6	0.288	0.102	2344	2110	3334	0	0	0	0	0	0	14.68	14.76	28.83
1864	-1.50	-136.9	237.7	-12.7	245	1874	0.00	2.67	0.00	0.000	4	0.000	0.157	2335	3529	3333	0	0	0	0	0	0	28.83	14.74	28.83
1929	-1.50	-136.9	246.1	-12.9	251	1938	0.00	2.45	0.00	0.000	6	0.000	0.103	2335	2122	3332	0	0	0	0	0	0	28.83	14.78	28.83
2240	-1.50	-136.9	283.4	-11.5	282	2249	0.00	2.55	0.00	0.000	4	0.000	0.138	2335	705	3332	0	0	0	0	0	0	28.83	14.76	28.83
2277	-1.50	-136.9	287.7	-12.3	285	2285	0.12	2.60	0.00	0.000	6	0.311	0.142	2351	2128	3332	0	0	0	0	0	0	14.71	14.78	28.83
2586	-1.50	-136.9	321.9	-11.1	316	2592	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2128	3332	0	0	0	0	0	0	28.83	28.83	28.83
2901	-1.50	-136.9	355.0	-10.5	347	2910	0.00	2.60	0.00	0.000	4	0.000	0.155	2342	3526	3331	0	0	0	0	0	0	28.83	14.77	28.83
2938	-1.50	-136.9	359.2	-10.7	350	2945	0.00	2.47	0.00	0.000	6	0.000	0.102	2342	2115	3331	0	0	0	0	0	0	28.83	14.83	28.83
3246	-1.50	-136.9	391.4	-10.3	381	3252	0.00	0.00	0.00	0.000	6	0.000	0.000	2342	2115	3332	0	0	0	0	0	0	28.83	28.83	28.83
3577	-1.50	-136.9	425.9	-10.6	398	3578	0.00	0.00	0.00	0.000	6	0.000	0.000	2342	2115	3332	0	0	0	0	0	0	28.83	28.83	28.83
3876	-1.50	-136.9	457.4	-10.5	408	3877	0.00	0.00	0.00	0.000	6	0.000	0.000	2343	2115	3332	0	0	0	0	0	0	28.83	28.83	28.83
4176	-1.50	-136.9	488.9	-10.4	418	4182	0.00	2.65	0.00	0.000	4	0.000	0.158	2332	3534	3331	0	0	0	0	0	0	28.83	14.83	28.83
4216	-1.50	-136.9	492.4	-10.5	419	4221	0.00	2.47	0.00	0.000	6	0.000	0.106	2332	2116	3331	0	0	0	0	0	0	28.83	14.87	28.83
4538	-1.50	-136.9	527.5	-10.9	430	4544	0.10	2.65	0.00	0.000	4	0.316	0.160	2342	3530	3332	0	0	0	0	0	0	14.81	14.84	28.83
4615	-1.50	-136.9	531.2	-8.8	432	4620	0.00	2.45	0.00	0.000	6	0.000	0.106	2342	2123	3332	0	0	0	0	0	0	28.83	14.88	28.83
4806	end dive: NO_VERTICAL_VELOCITY
state	4806	begin apogee
4818	-0.38	0.0	531.2	0.0	439	4958	0.80	0.00	134.48	2.193	6	0.168	0.000	2598	2205	2772	0	0	0	0	0	0	14.85	28.83	13.21
4964	end apogee: CONTROL_FINISHED_OK
state	4964	begin climb
4969	1.50	136.9	531.2	0.0	444	5126	1.38	2.83	143.20	2.157	4	0.158	0.144	3021	793	2213	0	0	0	0	0	0	13.93	13.69	13.06
5150	1.50	136.9	517.3	9.5	450	5156	0.00	2.70	0.00	0.000	6	0.000	0.130	3021	2197	2210	0	0	0	0	0	0	28.83	13.89	28.83
5472	1.50	136.9	474.4	13.3	461	5478	0.00	2.70	0.00	0.000	4	0.000	0.146	3021	3618	2204	0	0	0	0	0	0	28.83	14.34	28.83
5547	1.50	136.9	465.7	13.7	463	5553	0.08	2.58	0.00	0.000	6	0.279	0.103	3012	2200	2204	0	0	0	0	0	0	14.33	14.42	28.83
5864	1.50	136.9	423.6	12.5	474	5870	0.00	2.55	0.00	0.000	4	0.000	0.137	3021	795	2203	0	0	0	0	0	0	28.83	14.52	28.83
5903	1.50	136.9	419.5	12.6	475	5909	0.00	2.55	0.00	0.000	6	0.000	0.126	3021	2204	2202	0	0	0	0	0	0	28.83	14.57	28.83
6220	1.50	136.9	377.5	13.0	497	6230	0.00	2.60	0.00	0.000	4	0.000	0.145	3021	3612	2202	0	0	0	0	0	0	28.83	14.60	28.83
6285	1.50	136.9	367.7	14.3	503	6295	0.08	2.47	0.00	0.000	6	0.289	0.103	3012	2192	2202	0	0	0	0	0	0	14.56	14.65	28.83
6596	1.50	136.9	327.9	13.0	534	6605	0.00	2.53	0.00	0.000	4	0.000	0.136	3021	787	2201	0	0	0	0	0	0	28.83	14.65	28.83
6650	1.50	136.9	320.8	13.3	539	6659	0.00	2.53	0.00	0.000	6	0.000	0.125	3021	2200	2201	0	0	0	0	0	0	28.83	14.66	28.83
6961	1.50	136.9	281.3	12.5	570	6967	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2201	2201	0	0	0	0	0	0	28.83	28.83	28.83
7277	1.50	136.9	241.6	12.4	601	7287	0.00	2.60	0.00	0.000	4	0.000	0.148	3021	3614	2201	0	0	0	0	0	0	28.83	14.71	28.83
7353	1.50	136.9	230.7	13.6	608	7358	0.08	2.50	0.00	0.000	6	0.291	0.104	3011	2196	2201	0	0	0	0	0	0	14.67	14.76	28.83
7669	1.50	136.9	195.7	10.7	639	7678	0.00	2.53	0.00	0.000	4	0.000	0.138	3020	791	2200	0	0	0	0	0	0	28.83	14.74	28.83
7706	1.50	136.9	191.8	10.7	642	7713	0.00	2.55	0.00	0.000	6	0.000	0.129	3020	2204	2200	0	0	0	0	0	0	28.83	14.76	28.83
8014	1.50	136.9	157.1	11.1	673	8020	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2205	2200	0	0	0	0	0	0	28.83	28.83	28.83
8330	1.50	136.9	125.2	9.6	704	8336	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2205	2200	0	0	0	0	0	0	28.83	28.83	28.83
8641	1.50	139.7	95.3	8.8	739	8648	0.00	2.62	0.00	0.000	4	0.000	0.151	3020	3622	2199	0	0	0	0	0	0	28.83	14.78	28.83
8693	1.50	139.7	90.3	9.8	748	8701	0.12	2.53	0.00	0.000	6	0.310	0.106	3004	2195	2199	0	0	0	0	0	0	14.73	14.81	28.83
9016	1.53	164.2	63.8	7.9	809	9036	0.00	2.53	13.20	0.369	4	0.000	0.138	3013	791	2101	0	0	0	0	0	0	28.83	14.75	14.66
9271	1.54	171.6	40.3	8.6	857	9280	0.00	2.55	3.30	0.346	6	0.000	0.133	3013	2201	2070	0	0	0	0	0	0	28.83	14.76	14.68
9590	1.69	294.1	21.1	3.6	918	9664	0.12	2.60	64.50	0.236	4	0.164	0.141	3075	791	1569	0	0	0	0	0	0	14.78	14.66	14.62
9729	1.69	294.1	10.4	9.9	941	9737	0.12	2.58	0.00	0.000	6	0.280	0.132	3047	2204	1561	0	0	0	0	0	0	14.62	14.66	28.83
9802	end climb: SURFACE_DEPTH_REACHED
state	9802	begin surface coast
9839	end surface coast: CONTROL_FINISHED_OK
state	9839	begin surface