Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 339 * 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 339 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 66 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 49 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 -191514.86 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 10 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 250 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3130 PHONE_SUPPLY -1 SEABIRD_T_G 0.0044220644

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -22.860044 SEABIRD_T_H 0.00065538363

RHO 1.023 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_I 2.8550956e-05

MASS 51396 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 3.214675e-06

NAV_MODE 2 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.084064

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1288997

KALMAN_USE 2 PITCH_AD_RATE 150 COMPASS_USE 4 SEABIRD_C_I -0.0014441535

HD_A 0.0038399999 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 -191514.86

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 440

COMPASS_DEVICE 97 ID 108 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0.029999999 T_TURN 225

C_PITCH 3130 KALMAN_USE 2 ROLL_ADJ_GAIN 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 66 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 49 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 339 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 190812,224005,6700.612,-5646.732,32,0.9,32,-33.4 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 2.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190812,224736,6700.648,-5646.702,17,0.9,18,-33.4 MHEAD_RNG_PITCHd_Wd 2.7,4455,-16.9,-9.167

SPEED_LIMITS 0.159,0.252 D_GRID 528

Post-dive calculations and measurements:

FREEZE 1.61,6.571,-0.788,0,1,0 ALTIM_TOP_PING 19.9,18.5

FINISH 1.6,1.011385 _24V_AH 23.2,39.062

SM_CCo 10573,31.73,0.069,0,0,1648,400.08 _10V_AH 10.0,43.765

SM_GC 3.05,8.43,0.30,31.73,0.050,0.061,0.069,341,2105,1648,-8.66,-1.33,400.08,0,0,0,0,0,0,25.96,26.09,25.86 FG_AHR_24Vo 0.000

RAFOS_CLK 505 FG_AHR_10Vo 0.000

RAFOS 0,1345420863,0.033333,0.017500,44,43,42,40,39,38,1794,669,775,1,1443,117 MEM 151572

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 56588,1233

IRIDIUM_FIX 6631.12,-5656.72,190812,191945 CAP_FILE_SIZE 125053,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,218058752

HUMID 44.21 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 9.09215 SOUNDSPEED 1465.5

TCM_TEMP 16.50 CURRENT 0.149, 23.1,1

XPDR_PINGS 20 GPS 200812,014619,6702.663,-5646.789,31,2.0,31,-33.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 239 114.85 SBE_CT 870 23 484.34

Roll_motor 74 61 105.85 SBE_O2 877 5 121.89

VBD_pump_during_apogee 351 1157 9432.69 nil 0 0 0.00

VBD_pump_during_surface 31 68 50.67 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 311 277 2003.84 nil 0 0 0.00

Transponder_ping 6 420 65.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 4.89

TT8 3039 17 545.86

LPSleep 4866 2 112.42

TT8_Active 530 17 95.24

TT8_Sampling 2306 40 932.56

TT8_CF8 314 48 153.03

TT8_Kalman 0 0 0.00

Analog_circuits 1909 12 229.14

GPS_charging 0 0 0.00

Compass 1981 7 148.38

RAFOS 2520 3 75.60

Transponder 14 30 4.21

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 52 0.00 0.00 -33.92 0.000 2 0.000 0.000 345 2108 2442 0 0 0 0 0 0 28.83 28.83 28.83

56 -0.75 -146.6 3.0 -2.7 6 125 10.12 2.12 -50.20 0.000 4 0.239 0.061 2878 3500 3880 0 0 0 0 0 0 25.53 26.13 26.70

355 -0.75 -146.6 39.8 -12.9 62 361 0.00 2.08 0.00 0.000 6 0.000 0.029 2878 2097 3885 0 0 0 0 0 0 28.83 26.36 28.83

668 -0.75 -146.6 75.7 -12.0 123 675 0.00 2.17 0.00 0.000 4 0.000 0.047 2868 3502 3887 0 0 0 0 0 0 28.83 26.19 28.83

804 -0.75 -146.6 94.2 -14.4 149 811 0.00 2.05 0.00 0.000 6 0.000 0.028 2868 2098 3888 0 0 0 0 0 0 28.83 26.43 28.83

1119 -0.75 -146.6 135.2 -12.0 184 1128 0.00 2.15 0.00 0.000 4 0.000 0.047 2857 3502 3888 0 0 0 0 0 0 28.83 26.22 28.83

1256 -0.75 -146.6 151.0 -11.5 197 1263 0.12 2.05 0.00 0.000 6 0.167 0.028 2888 2102 3888 0 0 0 0 0 0 26.05 26.46 28.83

1562 -0.75 -146.6 178.8 -9.0 228 1571 0.00 2.12 0.00 0.000 4 0.000 0.047 2880 3497 3888 0 0 0 0 0 0 28.83 26.22 28.83

1664 -0.75 -146.6 188.8 -9.9 238 1673 0.00 2.00 0.00 0.000 6 0.000 0.029 2880 2120 3887 0 0 0 0 0 0 28.83 26.48 28.83

1975 -0.75 -146.6 216.8 -8.5 269 1984 0.00 2.10 0.00 0.000 4 0.000 0.047 2870 3505 3886 0 0 0 0 0 0 28.83 26.24 28.83

2091 -0.75 -146.6 227.2 -9.0 280 2099 0.00 1.95 0.00 0.000 6 0.000 0.029 2870 2148 3886 0 0 0 0 0 0 28.83 26.48 28.83

2398 -0.75 -146.6 255.7 -8.9 311 2406 0.00 2.08 0.00 0.000 4 0.000 0.047 2859 3499 3885 0 0 0 0 0 0 28.83 26.25 28.83

2480 -0.75 -146.6 263.7 -10.1 319 2488 0.00 1.95 0.00 0.000 6 0.000 0.029 2860 2154 3885 0 0 0 0 0 0 28.83 26.49 28.83

2789 -0.75 -146.6 294.0 -10.0 350 2799 0.12 2.10 0.00 0.000 4 0.169 0.045 2888 3510 3885 0 0 0 0 0 0 26.25 26.25 28.83

2900 -0.75 -146.6 303.5 -8.7 360 2908 0.00 1.95 0.00 0.000 6 0.000 0.028 2888 2163 3885 0 0 0 0 0 0 28.83 26.51 28.83

3206 -0.75 -146.6 330.3 -8.6 391 3215 0.00 2.03 0.00 0.000 4 0.000 0.047 2878 3501 3885 0 0 0 0 0 0 28.83 26.25 28.83

3278 -0.75 -146.6 337.1 -9.5 398 3287 0.00 1.90 0.00 0.000 6 0.000 0.028 2878 2171 3885 0 0 0 0 0 0 28.83 26.51 28.83

3588 -0.75 -146.6 365.7 -9.4 429 3597 0.00 2.00 0.00 0.000 4 0.000 0.047 2868 3495 3885 0 0 0 0 0 0 28.83 26.25 28.83

3671 -0.75 -146.6 373.7 -10.1 437 3679 0.00 1.88 0.00 0.000 6 0.000 0.028 2869 2183 3885 0 0 0 0 0 0 28.83 26.51 28.83

3980 -0.75 -146.6 403.1 -9.4 468 3989 0.00 2.03 0.00 0.000 4 0.000 0.046 2858 3517 3885 0 0 0 0 0 0 28.83 26.25 28.83

4054 -0.75 -146.6 410.4 -10.4 475 4063 0.12 1.90 0.00 0.000 6 0.149 0.028 2890 2191 3885 0 0 0 0 0 0 26.15 26.51 28.83

4363 -0.75 -146.6 435.6 -7.8 506 4367 0.00 2.03 0.00 0.000 4 0.000 0.046 2883 3517 3885 0 0 0 0 0 0 28.83 26.26 28.83

4437 -0.75 -146.6 441.7 -8.6 513 4445 0.00 1.90 0.00 0.000 6 0.000 0.028 2883 2187 3885 0 0 0 0 0 0 28.83 26.53 28.83

4747 -0.75 -146.6 467.6 -8.1 544 4757 0.00 2.03 0.00 0.000 4 0.000 0.046 2873 3505 3885 0 0 0 0 0 0 28.83 26.26 28.83

4811 -0.75 -146.6 473.4 -9.1 550 4815 0.00 1.90 0.00 0.000 6 0.000 0.028 2873 2187 3885 0 0 0 0 0 0 28.83 26.53 28.83

5128 -0.75 -146.6 500.1 -7.7 581 5136 0.00 1.98 0.00 0.000 4 0.000 0.045 2863 3498 3885 0 0 0 0 0 0 28.83 26.25 28.83

5211 -0.75 -146.6 507.7 -8.7 589 5219 0.00 1.85 0.00 0.000 6 0.000 0.028 2863 2208 3885 0 0 0 0 0 0 28.83 26.52 28.83

5449 end dive: NO_VERTICAL_VELOCITY

state 5449 begin apogee

5457 -0.17 0.0 514.0 0.0 613 5581 0.60 0.00 118.28 1.157 4 0.097 0.000 3073 1890 3279 0 0 0 0 0 0 25.93 28.83 23.82

5584 end apogee: CONTROL_FINISHED_OK

state 5584 begin climb

5587 0.75 146.6 513.7 0.0 626 5712 0.82 0.00 119.55 0.991 6 0.071 0.000 3367 1891 2680 0 0 0 0 0 0 24.89 28.83 23.23

6023 0.75 146.6 479.9 12.3 670 6026 0.00 2.15 0.00 0.000 4 0.000 0.037 3377 524 2672 0 0 0 0 0 0 28.83 25.59 28.83

6116 0.75 146.6 468.5 12.6 679 6124 0.00 2.15 0.00 0.000 6 0.000 0.033 3377 1899 2671 0 0 0 0 0 0 28.83 25.79 28.83

6424 0.75 146.6 430.9 12.0 710 6425 0.00 0.00 0.00 0.000 6 0.000 0.000 3377 1899 2670 0 0 0 0 0 0 28.83 28.83 28.83

6727 0.75 146.6 394.2 12.3 740 6734 0.00 0.00 0.00 0.000 6 0.000 0.000 3377 1899 2668 0 0 0 0 0 0 28.83 28.83 28.83

7037 0.75 146.6 356.7 11.9 771 7043 0.00 0.00 0.00 0.000 6 0.000 0.000 3377 1899 2668 0 0 0 0 0 0 28.83 28.83 28.83

7344 0.75 146.6 319.2 12.2 802 7353 0.00 2.17 0.00 0.000 4 0.000 0.037 3386 508 2668 0 0 0 0 0 0 28.83 26.25 28.83

7389 0.75 146.6 314.2 12.2 806 7396 0.00 2.12 0.00 0.000 6 0.000 0.033 3386 1900 2667 0 0 0 0 0 0 28.83 26.29 28.83

7697 0.75 146.6 275.0 12.8 837 7698 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 1899 2667 0 0 0 0 0 0 28.83 28.83 28.83

7998 0.75 146.6 237.3 12.3 867 8004 0.00 0.00 0.00 0.000 6 0.000 0.000 3385 1899 2667 0 0 0 0 0 0 28.83 28.83 28.83

8309 0.75 146.6 200.3 11.9 898 8315 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 1899 2667 0 0 0 0 0 0 28.83 28.83 28.83

8619 0.75 146.6 166.4 10.5 929 8625 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 1899 2667 0 0 0 0 0 0 28.83 28.83 28.83

8930 0.75 146.6 135.9 9.7 960 8940 0.00 2.15 0.00 0.000 4 0.000 0.037 3395 510 2667 0 0 0 0 0 0 28.83 26.34 28.83

8984 0.75 146.6 130.2 10.0 965 8993 0.00 2.12 0.00 0.000 6 0.000 0.034 3395 1902 2668 0 0 0 0 0 0 28.83 26.40 28.83

9294 0.75 146.6 99.0 9.7 997 9300 0.00 2.17 0.00 0.000 4 0.000 0.037 3404 504 2667 0 0 0 0 0 0 28.83 26.35 28.83

9329 0.75 146.6 95.5 9.6 1003 9336 0.12 2.15 0.00 0.000 6 0.161 0.033 3373 1907 2668 0 0 0 0 0 0 26.07 26.40 28.83

9644 0.81 200.5 69.4 6.9 1064 9694 0.00 2.20 42.20 0.885 4 0.000 0.036 3380 515 2460 0 0 0 0 0 0 28.83 25.86 24.90

9775 0.83 212.7 58.9 8.7 1087 9795 0.00 2.17 10.93 0.806 6 0.000 0.034 3380 1890 2410 0 0 0 0 0 0 28.83 25.94 24.72

10102 0.88 259.9 29.5 7.2 1150 10140 0.10 0.00 30.40 0.802 6 0.111 0.000 3419 1890 2216 0 0 0 0 0 0 26.21 28.83 24.91

10450 1.01 360.7 5.5 5.0 1216 10482 0.10 0.00 29.92 0.072 2 0.117 0.000 3460 1890 1945 0 0 0 0 0 0 26.15 28.83 28.83

10483 end climb: SURFACE_DEPTH_REACHED

state 10483 begin surface coast

10553 end surface coast: CONTROL_FINISHED_OK

state 10553 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	339	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	66	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	49	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	-191514.86	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	10	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	250	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3130	PHONE_SUPPLY	-1	SEABIRD_T_G	0.0044220644
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-22.860044	SEABIRD_T_H	0.00065538363
RHO	1.023	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_I	2.8550956e-05
MASS	51396	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	3.214675e-06
NAV_MODE	2	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.084064
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1288997
KALMAN_USE	2	PITCH_AD_RATE	150	COMPASS_USE	4	SEABIRD_C_I	-0.0014441535
HD_A	0.0038399999	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017831143

GPS1	190812,224005,6700.612,-5646.732,32,0.9,32,-33.4	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	2.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190812,224736,6700.648,-5646.702,17,0.9,18,-33.4	MHEAD_RNG_PITCHd_Wd	2.7,4455,-16.9,-9.167
SPEED_LIMITS	0.159,0.252	D_GRID	528

FREEZE	1.61,6.571,-0.788,0,1,0	ALTIM_TOP_PING	19.9,18.5
FINISH	1.6,1.011385	_24V_AH	23.2,39.062
SM_CCo	10573,31.73,0.069,0,0,1648,400.08	_10V_AH	10.0,43.765
SM_GC	3.05,8.43,0.30,31.73,0.050,0.061,0.069,341,2105,1648,-8.66,-1.33,400.08,0,0,0,0,0,0,25.96,26.09,25.86	FG_AHR_24Vo	0.000
RAFOS_CLK	505	FG_AHR_10Vo	0.000
RAFOS	0,1345420863,0.033333,0.017500,44,43,42,40,39,38,1794,669,775,1,1443,117	MEM	151572
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	56588,1233
IRIDIUM_FIX	6631.12,-5656.72,190812,191945	CAP_FILE_SIZE	125053,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,218058752
HUMID	44.21	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	9.09215	SOUNDSPEED	1465.5
TCM_TEMP	16.50	CURRENT	0.149, 23.1,1
XPDR_PINGS	20	GPS	200812,014619,6702.663,-5646.789,31,2.0,31,-33.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	239	114.85	SBE_CT	870	23	484.34
Roll_motor	74	61	105.85	SBE_O2	877	5	121.89
VBD_pump_during_apogee	351	1157	9432.69	nil	0	0	0.00
VBD_pump_during_surface	31	68	50.67	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	311	277	2003.84	nil	0	0	0.00
Transponder_ping	6	420	65.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	4.89
TT8	3039	17	545.86
LPSleep	4866	2	112.42
TT8_Active	530	17	95.24
TT8_Sampling	2306	40	932.56
TT8_CF8	314	48	153.03
TT8_Kalman	0	0	0.00
Analog_circuits	1909	12	229.14
GPS_charging	0	0	0.00
Compass	1981	7	148.38
RAFOS	2520	3	75.60
Transponder	14	30	4.21

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	52	0.00	0.00	-33.92	0.000	2	0.000	0.000	345	2108	2442	0	0	0	0	0	0	28.83	28.83	28.83
56	-0.75	-146.6	3.0	-2.7	6	125	10.12	2.12	-50.20	0.000	4	0.239	0.061	2878	3500	3880	0	0	0	0	0	0	25.53	26.13	26.70
355	-0.75	-146.6	39.8	-12.9	62	361	0.00	2.08	0.00	0.000	6	0.000	0.029	2878	2097	3885	0	0	0	0	0	0	28.83	26.36	28.83
668	-0.75	-146.6	75.7	-12.0	123	675	0.00	2.17	0.00	0.000	4	0.000	0.047	2868	3502	3887	0	0	0	0	0	0	28.83	26.19	28.83
804	-0.75	-146.6	94.2	-14.4	149	811	0.00	2.05	0.00	0.000	6	0.000	0.028	2868	2098	3888	0	0	0	0	0	0	28.83	26.43	28.83
1119	-0.75	-146.6	135.2	-12.0	184	1128	0.00	2.15	0.00	0.000	4	0.000	0.047	2857	3502	3888	0	0	0	0	0	0	28.83	26.22	28.83
1256	-0.75	-146.6	151.0	-11.5	197	1263	0.12	2.05	0.00	0.000	6	0.167	0.028	2888	2102	3888	0	0	0	0	0	0	26.05	26.46	28.83
1562	-0.75	-146.6	178.8	-9.0	228	1571	0.00	2.12	0.00	0.000	4	0.000	0.047	2880	3497	3888	0	0	0	0	0	0	28.83	26.22	28.83
1664	-0.75	-146.6	188.8	-9.9	238	1673	0.00	2.00	0.00	0.000	6	0.000	0.029	2880	2120	3887	0	0	0	0	0	0	28.83	26.48	28.83
1975	-0.75	-146.6	216.8	-8.5	269	1984	0.00	2.10	0.00	0.000	4	0.000	0.047	2870	3505	3886	0	0	0	0	0	0	28.83	26.24	28.83
2091	-0.75	-146.6	227.2	-9.0	280	2099	0.00	1.95	0.00	0.000	6	0.000	0.029	2870	2148	3886	0	0	0	0	0	0	28.83	26.48	28.83
2398	-0.75	-146.6	255.7	-8.9	311	2406	0.00	2.08	0.00	0.000	4	0.000	0.047	2859	3499	3885	0	0	0	0	0	0	28.83	26.25	28.83
2480	-0.75	-146.6	263.7	-10.1	319	2488	0.00	1.95	0.00	0.000	6	0.000	0.029	2860	2154	3885	0	0	0	0	0	0	28.83	26.49	28.83
2789	-0.75	-146.6	294.0	-10.0	350	2799	0.12	2.10	0.00	0.000	4	0.169	0.045	2888	3510	3885	0	0	0	0	0	0	26.25	26.25	28.83
2900	-0.75	-146.6	303.5	-8.7	360	2908	0.00	1.95	0.00	0.000	6	0.000	0.028	2888	2163	3885	0	0	0	0	0	0	28.83	26.51	28.83
3206	-0.75	-146.6	330.3	-8.6	391	3215	0.00	2.03	0.00	0.000	4	0.000	0.047	2878	3501	3885	0	0	0	0	0	0	28.83	26.25	28.83
3278	-0.75	-146.6	337.1	-9.5	398	3287	0.00	1.90	0.00	0.000	6	0.000	0.028	2878	2171	3885	0	0	0	0	0	0	28.83	26.51	28.83
3588	-0.75	-146.6	365.7	-9.4	429	3597	0.00	2.00	0.00	0.000	4	0.000	0.047	2868	3495	3885	0	0	0	0	0	0	28.83	26.25	28.83
3671	-0.75	-146.6	373.7	-10.1	437	3679	0.00	1.88	0.00	0.000	6	0.000	0.028	2869	2183	3885	0	0	0	0	0	0	28.83	26.51	28.83
3980	-0.75	-146.6	403.1	-9.4	468	3989	0.00	2.03	0.00	0.000	4	0.000	0.046	2858	3517	3885	0	0	0	0	0	0	28.83	26.25	28.83
4054	-0.75	-146.6	410.4	-10.4	475	4063	0.12	1.90	0.00	0.000	6	0.149	0.028	2890	2191	3885	0	0	0	0	0	0	26.15	26.51	28.83
4363	-0.75	-146.6	435.6	-7.8	506	4367	0.00	2.03	0.00	0.000	4	0.000	0.046	2883	3517	3885	0	0	0	0	0	0	28.83	26.26	28.83
4437	-0.75	-146.6	441.7	-8.6	513	4445	0.00	1.90	0.00	0.000	6	0.000	0.028	2883	2187	3885	0	0	0	0	0	0	28.83	26.53	28.83
4747	-0.75	-146.6	467.6	-8.1	544	4757	0.00	2.03	0.00	0.000	4	0.000	0.046	2873	3505	3885	0	0	0	0	0	0	28.83	26.26	28.83
4811	-0.75	-146.6	473.4	-9.1	550	4815	0.00	1.90	0.00	0.000	6	0.000	0.028	2873	2187	3885	0	0	0	0	0	0	28.83	26.53	28.83
5128	-0.75	-146.6	500.1	-7.7	581	5136	0.00	1.98	0.00	0.000	4	0.000	0.045	2863	3498	3885	0	0	0	0	0	0	28.83	26.25	28.83
5211	-0.75	-146.6	507.7	-8.7	589	5219	0.00	1.85	0.00	0.000	6	0.000	0.028	2863	2208	3885	0	0	0	0	0	0	28.83	26.52	28.83
5449	end dive: NO_VERTICAL_VELOCITY
state	5449	begin apogee
5457	-0.17	0.0	514.0	0.0	613	5581	0.60	0.00	118.28	1.157	4	0.097	0.000	3073	1890	3279	0	0	0	0	0	0	25.93	28.83	23.82
5584	end apogee: CONTROL_FINISHED_OK
state	5584	begin climb
5587	0.75	146.6	513.7	0.0	626	5712	0.82	0.00	119.55	0.991	6	0.071	0.000	3367	1891	2680	0	0	0	0	0	0	24.89	28.83	23.23
6023	0.75	146.6	479.9	12.3	670	6026	0.00	2.15	0.00	0.000	4	0.000	0.037	3377	524	2672	0	0	0	0	0	0	28.83	25.59	28.83
6116	0.75	146.6	468.5	12.6	679	6124	0.00	2.15	0.00	0.000	6	0.000	0.033	3377	1899	2671	0	0	0	0	0	0	28.83	25.79	28.83
6424	0.75	146.6	430.9	12.0	710	6425	0.00	0.00	0.00	0.000	6	0.000	0.000	3377	1899	2670	0	0	0	0	0	0	28.83	28.83	28.83
6727	0.75	146.6	394.2	12.3	740	6734	0.00	0.00	0.00	0.000	6	0.000	0.000	3377	1899	2668	0	0	0	0	0	0	28.83	28.83	28.83
7037	0.75	146.6	356.7	11.9	771	7043	0.00	0.00	0.00	0.000	6	0.000	0.000	3377	1899	2668	0	0	0	0	0	0	28.83	28.83	28.83
7344	0.75	146.6	319.2	12.2	802	7353	0.00	2.17	0.00	0.000	4	0.000	0.037	3386	508	2668	0	0	0	0	0	0	28.83	26.25	28.83
7389	0.75	146.6	314.2	12.2	806	7396	0.00	2.12	0.00	0.000	6	0.000	0.033	3386	1900	2667	0	0	0	0	0	0	28.83	26.29	28.83
7697	0.75	146.6	275.0	12.8	837	7698	0.00	0.00	0.00	0.000	6	0.000	0.000	3386	1899	2667	0	0	0	0	0	0	28.83	28.83	28.83
7998	0.75	146.6	237.3	12.3	867	8004	0.00	0.00	0.00	0.000	6	0.000	0.000	3385	1899	2667	0	0	0	0	0	0	28.83	28.83	28.83
8309	0.75	146.6	200.3	11.9	898	8315	0.00	0.00	0.00	0.000	6	0.000	0.000	3386	1899	2667	0	0	0	0	0	0	28.83	28.83	28.83
8619	0.75	146.6	166.4	10.5	929	8625	0.00	0.00	0.00	0.000	6	0.000	0.000	3386	1899	2667	0	0	0	0	0	0	28.83	28.83	28.83
8930	0.75	146.6	135.9	9.7	960	8940	0.00	2.15	0.00	0.000	4	0.000	0.037	3395	510	2667	0	0	0	0	0	0	28.83	26.34	28.83
8984	0.75	146.6	130.2	10.0	965	8993	0.00	2.12	0.00	0.000	6	0.000	0.034	3395	1902	2668	0	0	0	0	0	0	28.83	26.40	28.83
9294	0.75	146.6	99.0	9.7	997	9300	0.00	2.17	0.00	0.000	4	0.000	0.037	3404	504	2667	0	0	0	0	0	0	28.83	26.35	28.83
9329	0.75	146.6	95.5	9.6	1003	9336	0.12	2.15	0.00	0.000	6	0.161	0.033	3373	1907	2668	0	0	0	0	0	0	26.07	26.40	28.83
9644	0.81	200.5	69.4	6.9	1064	9694	0.00	2.20	42.20	0.885	4	0.000	0.036	3380	515	2460	0	0	0	0	0	0	28.83	25.86	24.90
9775	0.83	212.7	58.9	8.7	1087	9795	0.00	2.17	10.93	0.806	6	0.000	0.034	3380	1890	2410	0	0	0	0	0	0	28.83	25.94	24.72
10102	0.88	259.9	29.5	7.2	1150	10140	0.10	0.00	30.40	0.802	6	0.111	0.000	3419	1890	2216	0	0	0	0	0	0	26.21	28.83	24.91
10450	1.01	360.7	5.5	5.0	1216	10482	0.10	0.00	29.92	0.072	2	0.117	0.000	3460	1890	1945	0	0	0	0	0	0	26.15	28.83	28.83
10483	end climb: SURFACE_DEPTH_REACHED
state	10483	begin surface coast
10553	end surface coast: CONTROL_FINISHED_OK
state	10553	begin surface