Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 69 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HD_B 0.0115 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

MISSION 21 HD_C 1.7999999e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 69 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 51 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 38 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 0 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 3029 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 -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 2 T_GPS_CHARGE -191173 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 0.00275 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 0.00275 PRESSURE_YINT -22.860044 T_DIVE 360

CALL_WAIT 60 HD_B 0.0115 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 1.7999999e-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 -191173

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 0 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 3029 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3598 USE_BATHY -2

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 51 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 38 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 69 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 020712,015834,6648.849,-6016.011,37,0.8,37,-34.0 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 2.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020712,020518,6648.789,-6016.076,21,0.8,21,-34.0 MHEAD_RNG_PITCHd_Wd 213.8,11461,-16.3,-9.167

SPEED_LIMITS 0.159,0.240 D_GRID 560

Post-dive calculations and measurements:

FREEZE 1.33,1.112,-0.753,2,1,0 ALTIM_BOTTOM_PING 550.2,31.3

FINISH 1.3,1.011110 _24V_AH 23.6,11.069

SM_CCo 10629,95.22,0.073,0,0,1397,400.08 _10V_AH 10.2,12.904

SM_GC 2.24,8.18,0.28,95.22,0.055,0.069,0.073,343,2099,1397,-8.65,-1.30,400.08,0,0,0,0,0,0,26.28,26.31,26.13 FG_AHR_24Vo 0.000

RAFOS_CLK 548 FG_AHR_10Vo 0.000

RAFOS 0,1341201664,4.033333,4.017778,48,45,42,42,41,40,280,734,150,1090,1299,313 MEM 151544

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 56742,1224

IRIDIUM_FIX 6620.33,-6018.02,010712,222206 CAP_FILE_SIZE 133494,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,240091136

HUMID 39.91 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.96519 SOUNDSPEED 1453.3

TCM_TEMP 15.30 CURRENT 0.266,175.6,1

XPDR_PINGS 0 GPS 020712,050605,6646.049,-6016.576,37,0.9,37,-33.9

ALTIM_TOP_PING 19.8,18.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 259 124.55 SBE_CT 853 23 482.81

Roll_motor 100 74 177.68 SBE_O2 924 5 130.74

VBD_pump_during_apogee 272 1172 7535.70 nil 0 0 0.00

VBD_pump_during_surface 95 73 165.04 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 266 274 1731.06 nil 0 0 0.00

Transponder_ping 2 420 19.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.82

TT8 3104 17 568.69

LPSleep 4815 2 113.47

TT8_Active 572 17 104.94

TT8_Sampling 2327 40 959.79

TT8_CF8 310 48 154.00

TT8_Kalman 0 0 0.00

Analog_circuits 1930 12 236.30

GPS_charging 0 0 0.00

Compass 2040 7 155.88

RAFOS 2520 3 77.11

Transponder 17 30 5.51

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 -0.72 -146.6 0.0 0.0 0 98 0.00 0.00 -79.10 0.000 2 0.000 0.000 344 2105 3171 0 0 0 0 0 0 28.83 28.83 28.83

102 -0.72 -146.6 3.1 -1.7 14 134 10.07 2.22 -12.50 0.000 4 0.259 0.075 2882 3511 3632 0 0 0 0 0 0 26.20 26.42 26.72

340 -0.72 -146.6 37.6 -13.8 59 346 0.00 2.15 0.00 0.000 6 0.000 0.041 2890 2094 3636 0 0 0 0 0 0 28.83 26.50 28.83

651 -0.72 -146.6 74.7 -11.5 120 659 0.00 2.22 0.00 0.000 4 0.000 0.057 2882 3512 3636 0 0 0 0 0 0 28.83 26.48 28.83

767 -0.72 -146.6 87.6 -11.2 142 774 0.00 2.15 0.00 0.000 6 0.000 0.041 2888 2089 3637 0 0 0 0 0 0 28.83 26.54 28.83

1078 -0.72 -146.6 121.9 -11.7 184 1087 0.00 2.22 0.00 0.000 4 0.000 0.057 2880 3510 3636 0 0 0 0 0 0 28.83 26.52 28.83

1133 -0.72 -146.6 128.7 -13.1 189 1140 0.00 2.15 0.00 0.000 6 0.000 0.041 2879 2087 3637 0 0 0 0 0 0 28.83 26.57 28.83

1440 -0.72 -146.6 165.4 -11.4 220 1450 0.00 2.22 0.00 0.000 4 0.000 0.057 2869 3510 3637 0 0 0 0 0 0 28.83 26.55 28.83

1554 -0.72 -146.6 179.0 -12.4 231 1562 0.00 2.10 0.00 0.000 6 0.000 0.041 2869 2093 3637 0 0 0 0 0 0 28.83 26.60 28.83

1863 -0.72 -146.6 212.8 -10.0 262 1865 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2093 3636 0 0 0 0 0 0 28.83 28.83 28.83

2166 -0.72 -146.6 242.4 -9.7 292 2175 0.00 2.20 0.00 0.000 4 0.000 0.058 2859 3509 3635 0 0 0 0 0 0 28.83 26.60 28.83

2198 -0.72 -146.6 246.1 -10.3 295 2208 0.15 2.12 0.00 0.000 6 0.177 0.041 2899 2096 3635 0 0 0 0 0 0 26.48 26.63 28.83

2509 -0.72 -146.6 271.1 -8.0 326 2518 0.00 2.17 0.00 0.000 4 0.000 0.057 2891 3505 3635 0 0 0 0 0 0 28.83 26.60 28.83

2694 -0.72 -146.6 287.6 -9.1 344 2698 0.00 2.10 0.00 0.000 6 0.000 0.042 2891 2101 3635 0 0 0 0 0 0 28.83 26.65 28.83

3006 -0.72 -146.6 314.9 -9.0 375 3015 0.00 2.17 0.00 0.000 4 0.000 0.057 2880 3502 3634 0 0 0 0 0 0 28.83 26.61 28.83

3162 -0.72 -146.6 330.4 -10.1 390 3169 0.00 2.12 0.00 0.000 6 0.000 0.041 2880 2093 3634 0 0 0 0 0 0 28.83 26.67 28.83

3471 -0.72 -146.6 357.3 -7.9 421 3480 0.00 2.17 0.00 0.000 4 0.000 0.057 2870 3506 3634 0 0 0 0 0 0 28.83 26.63 28.83

3516 -0.72 -146.6 360.9 -8.7 425 3522 0.00 2.12 0.00 0.000 6 0.000 0.041 2869 2090 3634 0 0 0 0 0 0 28.83 26.67 28.83

3823 -0.72 -146.6 386.6 -8.3 456 3824 0.00 0.00 0.00 0.000 6 0.000 0.000 2870 2090 3634 0 0 0 0 0 0 28.83 28.83 28.83

4126 -0.72 -146.6 412.3 -8.5 486 4134 0.00 2.17 0.00 0.000 4 0.000 0.056 2859 3500 3634 0 0 0 0 0 0 28.83 26.65 28.83

4312 -0.72 -146.6 429.8 -9.5 504 4320 0.15 2.10 0.00 0.000 6 0.169 0.040 2899 2096 3634 0 0 0 0 0 0 26.54 26.70 28.83

4620 -0.72 -146.6 453.0 -7.2 535 4629 0.00 2.17 0.00 0.000 4 0.000 0.056 2890 3515 3635 0 0 0 0 0 0 28.83 26.65 28.83

4695 -0.72 -146.6 458.8 -8.0 542 4702 0.00 2.12 0.00 0.000 6 0.000 0.040 2890 2088 3634 0 0 0 0 0 0 28.83 26.70 28.83

5004 -0.72 -146.6 481.1 -7.3 573 5012 0.00 2.17 0.00 0.000 4 0.000 0.055 2880 3506 3636 0 0 0 0 0 0 28.83 26.67 28.83

5056 -0.72 -146.6 485.1 -7.7 578 5064 0.00 2.10 0.00 0.000 6 0.000 0.040 2879 2096 3635 0 0 0 0 0 0 28.83 26.71 28.83

5366 -0.72 -146.6 508.2 -7.5 609 5375 0.00 2.17 0.00 0.000 4 0.000 0.055 2869 3516 3636 0 0 0 0 0 0 28.83 26.67 28.83

5451 -0.72 -146.6 515.2 -9.0 617 5458 0.00 2.12 0.00 0.000 6 0.000 0.039 2869 2088 3636 0 0 0 0 0 0 28.83 26.72 28.83

5759 -0.72 -146.6 541.0 -8.8 648 5768 0.00 2.17 0.00 0.000 4 0.000 0.055 2858 3507 3636 0 0 0 0 0 0 28.83 26.67 28.83

5909 -0.72 -146.6 554.2 -9.1 662 5916 0.15 2.10 0.00 0.000 6 0.165 0.040 2899 2099 3636 0 0 0 0 0 0 26.56 26.72 28.83

5982 end dive: TARGET_DEPTH_EXCEEDED

state 5982 begin apogee

5989 -0.17 0.0 560.2 -7.3 670 6115 0.52 0.00 121.47 1.173 6 0.140 0.000 3072 1881 3029 0 0 0 0 0 0 26.58 28.83 23.93

6118 end apogee: CONTROL_FINISHED_OK

state 6119 begin climb

6121 0.72 146.6 562.1 0.0 683 6248 0.85 0.00 122.07 1.042 6 0.091 0.000 3357 1881 2431 0 0 0 0 0 0 24.81 28.83 23.57

6546 0.72 146.6 509.5 12.4 726 6555 0.00 2.28 0.00 0.000 4 0.000 0.052 3356 3308 2418 0 0 0 0 0 0 28.83 25.48 28.83

6591 0.72 146.6 503.8 13.5 730 6598 0.00 2.22 0.00 0.000 6 0.000 0.039 3366 1896 2418 0 0 0 0 0 0 28.83 25.57 28.83

6899 0.72 146.6 461.3 13.7 761 6907 0.00 2.22 0.00 0.000 4 0.000 0.047 3377 499 2416 0 0 0 0 0 0 28.83 25.87 28.83

6991 0.72 146.6 447.9 14.7 770 6999 0.00 2.22 0.00 0.000 6 0.000 0.040 3378 1901 2416 0 0 0 0 0 0 28.83 25.95 28.83

7301 0.72 146.6 401.9 14.9 801 7310 0.00 2.15 0.00 0.000 4 0.000 0.053 3377 3303 2415 0 0 0 0 0 0 28.83 26.09 28.83

7334 0.72 146.6 396.5 15.9 804 7344 0.00 2.12 0.00 0.000 6 0.000 0.039 3386 1906 2414 0 0 0 0 0 0 28.83 26.14 28.83

7643 0.72 146.6 346.1 16.1 835 7652 0.00 2.22 0.00 0.000 4 0.000 0.048 3397 493 2415 0 0 0 0 0 0 28.83 26.22 28.83

7790 0.72 146.6 323.1 16.2 849 7798 0.12 2.22 0.00 0.000 6 0.171 0.041 3367 1904 2414 0 0 0 0 0 0 26.15 26.27 28.83

8098 0.72 146.6 280.7 13.1 880 8107 0.00 2.15 0.00 0.000 4 0.000 0.052 3367 3301 2414 0 0 0 0 0 0 28.83 26.32 28.83

8163 0.72 146.6 271.6 15.0 886 8170 0.00 2.15 0.00 0.000 6 0.000 0.039 3373 1887 2413 0 0 0 0 0 0 28.83 26.36 28.83

8471 0.72 146.6 230.4 12.6 917 8480 0.00 2.15 0.00 0.000 4 0.000 0.048 3384 508 2413 0 0 0 0 0 0 28.83 26.39 28.83

8595 0.72 146.6 214.5 12.8 929 8602 0.00 2.20 0.00 0.000 6 0.000 0.041 3384 1910 2414 0 0 0 0 0 0 28.83 26.43 28.83

8903 0.72 146.6 175.9 12.2 960 8913 0.00 2.22 0.00 0.000 4 0.000 0.047 3394 506 2413 0 0 0 0 0 0 28.83 26.45 28.83

8930 0.72 146.6 173.5 11.9 962 8936 0.00 2.20 0.00 0.000 6 0.000 0.040 3393 1913 2413 0 0 0 0 0 0 28.83 26.47 28.83

9236 0.72 146.6 137.2 11.9 993 9240 0.00 2.22 0.00 0.000 4 0.000 0.048 3402 501 2413 0 0 0 0 0 0 28.83 26.48 28.83

9268 0.72 146.6 133.1 12.4 996 9279 0.15 2.20 0.00 0.000 6 0.161 0.040 3362 1912 2414 0 0 0 0 0 0 26.38 26.51 28.83

9578 0.72 146.6 98.3 10.9 1028 9586 0.00 2.12 0.00 0.000 4 0.000 0.052 3362 3312 2413 0 0 0 0 0 0 28.83 26.51 28.83

9619 0.72 146.6 93.4 12.6 1035 9626 0.00 2.15 0.00 0.000 6 0.000 0.041 3370 1894 2413 0 0 0 0 0 0 28.83 26.54 28.83

9933 0.72 146.6 58.7 10.9 1096 9940 0.00 2.17 0.00 0.000 4 0.000 0.050 3380 497 2413 0 0 0 0 0 0 28.83 26.53 28.83

10080 0.76 178.5 45.0 7.8 1124 10113 0.00 2.17 25.25 0.881 6 0.000 0.041 3380 1906 2300 0 0 0 0 0 0 28.83 26.57 25.32

10424 0.77 186.5 15.9 8.8 1189 10431 0.00 0.00 3.47 0.112 6 0.000 0.000 3380 1906 2267 0 0 0 0 0 0 28.83 28.83 26.15

10560 end climb: SURFACE_DEPTH_REACHED

state 10560 begin surface coast

10610 end surface coast: CONTROL_FINISHED_OK

state 10610 begin surface

ID	108	HD_B	0.0115	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
MISSION	21	HD_C	1.7999999e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	69	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	51	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	38	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	0	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	3029	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	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	2	T_GPS_CHARGE	-191173	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	0.00275	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017831143

GPS1	020712,015834,6648.849,-6016.011,37,0.8,37,-34.0	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	2.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020712,020518,6648.789,-6016.076,21,0.8,21,-34.0	MHEAD_RNG_PITCHd_Wd	213.8,11461,-16.3,-9.167
SPEED_LIMITS	0.159,0.240	D_GRID	560

FREEZE	1.33,1.112,-0.753,2,1,0	ALTIM_BOTTOM_PING	550.2,31.3
FINISH	1.3,1.011110	_24V_AH	23.6,11.069
SM_CCo	10629,95.22,0.073,0,0,1397,400.08	_10V_AH	10.2,12.904
SM_GC	2.24,8.18,0.28,95.22,0.055,0.069,0.073,343,2099,1397,-8.65,-1.30,400.08,0,0,0,0,0,0,26.28,26.31,26.13	FG_AHR_24Vo	0.000
RAFOS_CLK	548	FG_AHR_10Vo	0.000
RAFOS	0,1341201664,4.033333,4.017778,48,45,42,42,41,40,280,734,150,1090,1299,313	MEM	151544
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	56742,1224
IRIDIUM_FIX	6620.33,-6018.02,010712,222206	CAP_FILE_SIZE	133494,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,240091136
HUMID	39.91	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.96519	SOUNDSPEED	1453.3
TCM_TEMP	15.30	CURRENT	0.266,175.6,1
XPDR_PINGS	0	GPS	020712,050605,6646.049,-6016.576,37,0.9,37,-33.9
ALTIM_TOP_PING	19.8,18.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	259	124.55	SBE_CT	853	23	482.81
Roll_motor	100	74	177.68	SBE_O2	924	5	130.74
VBD_pump_during_apogee	272	1172	7535.70	nil	0	0	0.00
VBD_pump_during_surface	95	73	165.04	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	266	274	1731.06	nil	0	0	0.00
Transponder_ping	2	420	19.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.82
TT8	3104	17	568.69
LPSleep	4815	2	113.47
TT8_Active	572	17	104.94
TT8_Sampling	2327	40	959.79
TT8_CF8	310	48	154.00
TT8_Kalman	0	0	0.00
Analog_circuits	1930	12	236.30
GPS_charging	0	0	0.00
Compass	2040	7	155.88
RAFOS	2520	3	77.11
Transponder	17	30	5.51

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	-0.72	-146.6	0.0	0.0	0	98	0.00	0.00	-79.10	0.000	2	0.000	0.000	344	2105	3171	0	0	0	0	0	0	28.83	28.83	28.83
102	-0.72	-146.6	3.1	-1.7	14	134	10.07	2.22	-12.50	0.000	4	0.259	0.075	2882	3511	3632	0	0	0	0	0	0	26.20	26.42	26.72
340	-0.72	-146.6	37.6	-13.8	59	346	0.00	2.15	0.00	0.000	6	0.000	0.041	2890	2094	3636	0	0	0	0	0	0	28.83	26.50	28.83
651	-0.72	-146.6	74.7	-11.5	120	659	0.00	2.22	0.00	0.000	4	0.000	0.057	2882	3512	3636	0	0	0	0	0	0	28.83	26.48	28.83
767	-0.72	-146.6	87.6	-11.2	142	774	0.00	2.15	0.00	0.000	6	0.000	0.041	2888	2089	3637	0	0	0	0	0	0	28.83	26.54	28.83
1078	-0.72	-146.6	121.9	-11.7	184	1087	0.00	2.22	0.00	0.000	4	0.000	0.057	2880	3510	3636	0	0	0	0	0	0	28.83	26.52	28.83
1133	-0.72	-146.6	128.7	-13.1	189	1140	0.00	2.15	0.00	0.000	6	0.000	0.041	2879	2087	3637	0	0	0	0	0	0	28.83	26.57	28.83
1440	-0.72	-146.6	165.4	-11.4	220	1450	0.00	2.22	0.00	0.000	4	0.000	0.057	2869	3510	3637	0	0	0	0	0	0	28.83	26.55	28.83
1554	-0.72	-146.6	179.0	-12.4	231	1562	0.00	2.10	0.00	0.000	6	0.000	0.041	2869	2093	3637	0	0	0	0	0	0	28.83	26.60	28.83
1863	-0.72	-146.6	212.8	-10.0	262	1865	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2093	3636	0	0	0	0	0	0	28.83	28.83	28.83
2166	-0.72	-146.6	242.4	-9.7	292	2175	0.00	2.20	0.00	0.000	4	0.000	0.058	2859	3509	3635	0	0	0	0	0	0	28.83	26.60	28.83
2198	-0.72	-146.6	246.1	-10.3	295	2208	0.15	2.12	0.00	0.000	6	0.177	0.041	2899	2096	3635	0	0	0	0	0	0	26.48	26.63	28.83
2509	-0.72	-146.6	271.1	-8.0	326	2518	0.00	2.17	0.00	0.000	4	0.000	0.057	2891	3505	3635	0	0	0	0	0	0	28.83	26.60	28.83
2694	-0.72	-146.6	287.6	-9.1	344	2698	0.00	2.10	0.00	0.000	6	0.000	0.042	2891	2101	3635	0	0	0	0	0	0	28.83	26.65	28.83
3006	-0.72	-146.6	314.9	-9.0	375	3015	0.00	2.17	0.00	0.000	4	0.000	0.057	2880	3502	3634	0	0	0	0	0	0	28.83	26.61	28.83
3162	-0.72	-146.6	330.4	-10.1	390	3169	0.00	2.12	0.00	0.000	6	0.000	0.041	2880	2093	3634	0	0	0	0	0	0	28.83	26.67	28.83
3471	-0.72	-146.6	357.3	-7.9	421	3480	0.00	2.17	0.00	0.000	4	0.000	0.057	2870	3506	3634	0	0	0	0	0	0	28.83	26.63	28.83
3516	-0.72	-146.6	360.9	-8.7	425	3522	0.00	2.12	0.00	0.000	6	0.000	0.041	2869	2090	3634	0	0	0	0	0	0	28.83	26.67	28.83
3823	-0.72	-146.6	386.6	-8.3	456	3824	0.00	0.00	0.00	0.000	6	0.000	0.000	2870	2090	3634	0	0	0	0	0	0	28.83	28.83	28.83
4126	-0.72	-146.6	412.3	-8.5	486	4134	0.00	2.17	0.00	0.000	4	0.000	0.056	2859	3500	3634	0	0	0	0	0	0	28.83	26.65	28.83
4312	-0.72	-146.6	429.8	-9.5	504	4320	0.15	2.10	0.00	0.000	6	0.169	0.040	2899	2096	3634	0	0	0	0	0	0	26.54	26.70	28.83
4620	-0.72	-146.6	453.0	-7.2	535	4629	0.00	2.17	0.00	0.000	4	0.000	0.056	2890	3515	3635	0	0	0	0	0	0	28.83	26.65	28.83
4695	-0.72	-146.6	458.8	-8.0	542	4702	0.00	2.12	0.00	0.000	6	0.000	0.040	2890	2088	3634	0	0	0	0	0	0	28.83	26.70	28.83
5004	-0.72	-146.6	481.1	-7.3	573	5012	0.00	2.17	0.00	0.000	4	0.000	0.055	2880	3506	3636	0	0	0	0	0	0	28.83	26.67	28.83
5056	-0.72	-146.6	485.1	-7.7	578	5064	0.00	2.10	0.00	0.000	6	0.000	0.040	2879	2096	3635	0	0	0	0	0	0	28.83	26.71	28.83
5366	-0.72	-146.6	508.2	-7.5	609	5375	0.00	2.17	0.00	0.000	4	0.000	0.055	2869	3516	3636	0	0	0	0	0	0	28.83	26.67	28.83
5451	-0.72	-146.6	515.2	-9.0	617	5458	0.00	2.12	0.00	0.000	6	0.000	0.039	2869	2088	3636	0	0	0	0	0	0	28.83	26.72	28.83
5759	-0.72	-146.6	541.0	-8.8	648	5768	0.00	2.17	0.00	0.000	4	0.000	0.055	2858	3507	3636	0	0	0	0	0	0	28.83	26.67	28.83
5909	-0.72	-146.6	554.2	-9.1	662	5916	0.15	2.10	0.00	0.000	6	0.165	0.040	2899	2099	3636	0	0	0	0	0	0	26.56	26.72	28.83
5982	end dive: TARGET_DEPTH_EXCEEDED
state	5982	begin apogee
5989	-0.17	0.0	560.2	-7.3	670	6115	0.52	0.00	121.47	1.173	6	0.140	0.000	3072	1881	3029	0	0	0	0	0	0	26.58	28.83	23.93
6118	end apogee: CONTROL_FINISHED_OK
state	6119	begin climb
6121	0.72	146.6	562.1	0.0	683	6248	0.85	0.00	122.07	1.042	6	0.091	0.000	3357	1881	2431	0	0	0	0	0	0	24.81	28.83	23.57
6546	0.72	146.6	509.5	12.4	726	6555	0.00	2.28	0.00	0.000	4	0.000	0.052	3356	3308	2418	0	0	0	0	0	0	28.83	25.48	28.83
6591	0.72	146.6	503.8	13.5	730	6598	0.00	2.22	0.00	0.000	6	0.000	0.039	3366	1896	2418	0	0	0	0	0	0	28.83	25.57	28.83
6899	0.72	146.6	461.3	13.7	761	6907	0.00	2.22	0.00	0.000	4	0.000	0.047	3377	499	2416	0	0	0	0	0	0	28.83	25.87	28.83
6991	0.72	146.6	447.9	14.7	770	6999	0.00	2.22	0.00	0.000	6	0.000	0.040	3378	1901	2416	0	0	0	0	0	0	28.83	25.95	28.83
7301	0.72	146.6	401.9	14.9	801	7310	0.00	2.15	0.00	0.000	4	0.000	0.053	3377	3303	2415	0	0	0	0	0	0	28.83	26.09	28.83
7334	0.72	146.6	396.5	15.9	804	7344	0.00	2.12	0.00	0.000	6	0.000	0.039	3386	1906	2414	0	0	0	0	0	0	28.83	26.14	28.83
7643	0.72	146.6	346.1	16.1	835	7652	0.00	2.22	0.00	0.000	4	0.000	0.048	3397	493	2415	0	0	0	0	0	0	28.83	26.22	28.83
7790	0.72	146.6	323.1	16.2	849	7798	0.12	2.22	0.00	0.000	6	0.171	0.041	3367	1904	2414	0	0	0	0	0	0	26.15	26.27	28.83
8098	0.72	146.6	280.7	13.1	880	8107	0.00	2.15	0.00	0.000	4	0.000	0.052	3367	3301	2414	0	0	0	0	0	0	28.83	26.32	28.83
8163	0.72	146.6	271.6	15.0	886	8170	0.00	2.15	0.00	0.000	6	0.000	0.039	3373	1887	2413	0	0	0	0	0	0	28.83	26.36	28.83
8471	0.72	146.6	230.4	12.6	917	8480	0.00	2.15	0.00	0.000	4	0.000	0.048	3384	508	2413	0	0	0	0	0	0	28.83	26.39	28.83
8595	0.72	146.6	214.5	12.8	929	8602	0.00	2.20	0.00	0.000	6	0.000	0.041	3384	1910	2414	0	0	0	0	0	0	28.83	26.43	28.83
8903	0.72	146.6	175.9	12.2	960	8913	0.00	2.22	0.00	0.000	4	0.000	0.047	3394	506	2413	0	0	0	0	0	0	28.83	26.45	28.83
8930	0.72	146.6	173.5	11.9	962	8936	0.00	2.20	0.00	0.000	6	0.000	0.040	3393	1913	2413	0	0	0	0	0	0	28.83	26.47	28.83
9236	0.72	146.6	137.2	11.9	993	9240	0.00	2.22	0.00	0.000	4	0.000	0.048	3402	501	2413	0	0	0	0	0	0	28.83	26.48	28.83
9268	0.72	146.6	133.1	12.4	996	9279	0.15	2.20	0.00	0.000	6	0.161	0.040	3362	1912	2414	0	0	0	0	0	0	26.38	26.51	28.83
9578	0.72	146.6	98.3	10.9	1028	9586	0.00	2.12	0.00	0.000	4	0.000	0.052	3362	3312	2413	0	0	0	0	0	0	28.83	26.51	28.83
9619	0.72	146.6	93.4	12.6	1035	9626	0.00	2.15	0.00	0.000	6	0.000	0.041	3370	1894	2413	0	0	0	0	0	0	28.83	26.54	28.83
9933	0.72	146.6	58.7	10.9	1096	9940	0.00	2.17	0.00	0.000	4	0.000	0.050	3380	497	2413	0	0	0	0	0	0	28.83	26.53	28.83
10080	0.76	178.5	45.0	7.8	1124	10113	0.00	2.17	25.25	0.881	6	0.000	0.041	3380	1906	2300	0	0	0	0	0	0	28.83	26.57	25.32
10424	0.77	186.5	15.9	8.8	1189	10431	0.00	0.00	3.47	0.112	6	0.000	0.000	3380	1906	2267	0	0	0	0	0	0	28.83	28.83	26.15
10560	end climb: SURFACE_DEPTH_REACHED
state	10560	begin surface coast
10610	end surface coast: CONTROL_FINISHED_OK
state	10610	begin surface