Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 80 * 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 80 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 56 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 48 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 -191185.59 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 -191185.59

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 56 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 48 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 80 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 030712,134802,6645.747,-5947.542,18,1.1,19,-33.8 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 12 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 11.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030712,134802,6645.747,-5947.542,18,1.1,19,-33.8 MHEAD_RNG_PITCHd_Wd 65.0,133534,-26.4,-9.167

SPEED_LIMITS 0.159,0.240 D_GRID 799

Post-dive calculations and measurements:

FREEZE 1.43,2.468,-0.238,2,2,0 ALTIM_TOP_PING 19.5,18.5

FINISH 1.4,1.003432 _24V_AH 23.2,12.123

SM_CCo 10155,110.50,0.073,0,0,1397,400.08 _10V_AH 10.2,14.027

SM_GC 2.30,8.30,0.28,110.50,0.054,0.068,0.073,346,2108,1397,-8.64,-1.13,400.08,0,0,0,0,0,0,26.53,26.55,26.34 FG_AHR_24Vo 0.000

RAFOS_CLK 574 FG_AHR_10Vo 0.000

RAFOS 0,1341345664,20.033333,20.017778,55,45,44,44,43,41,1288,304,201,1111,1142,1419 MEM 151576

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 43506,935

IRIDIUM_FIX 6620.33,-5953.65,030712,131339 CAP_FILE_SIZE 106033,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,239304704

HUMID 39.52 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0

INTERNAL_PRESSURE 8.97495 SOUNDSPEED 1456.2

TCM_TEMP 15.70 CURRENT 0.548,133.0,1

XPDR_PINGS 0 GPS 030712,205823,6644.680,-5939.513,38,0.8,38,-33.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 167 44.21 SBE_CT 653 23 363.33

Roll_motor 94 151 330.59 SBE_O2 715 5 99.44

VBD_pump_during_apogee 254 1373 8099.81 nil 0 0 0.00

VBD_pump_during_surface 110 72 186.31 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 31.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2447 17 448.44

LPSleep 5527 2 130.23

TT8_Active 463 17 84.92

TT8_Sampling 1673 40 689.94

TT8_CF8 218 48 108.34

TT8_Kalman 0 0 0.00

Analog_circuits 1350 12 165.24

GPS_charging 0 0 0.00

Compass 1652 7 126.24

RAFOS 2520 3 77.11

Transponder 24 30 7.63

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

17 -0.96 -62.9 0.0 0.0 0 25 0.00 0.65 -5.18 0.000 3 0.000 0.102 3132 955 3289 0 0 1 0 0 0 28.83 26.23 26.55

29 -1.06 -146.6 12.9 0.0 1 43 0.93 0.40 -6.85 0.000 4 0.066 0.151 2783 702 3633 0 0 0 0 0 0 26.25 26.28 26.55

208 -1.06 -146.6 43.4 -17.5 35 215 0.00 2.17 0.00 0.000 6 0.000 0.044 2775 2101 3639 0 0 0 0 0 0 28.83 26.33 28.83

519 -1.06 -146.6 93.8 -15.6 96 526 0.00 2.15 0.00 0.000 4 0.000 0.054 2764 3511 3639 0 0 0 0 0 0 28.83 26.38 28.83

594 -1.06 -146.6 106.0 -16.2 107 603 0.00 2.12 0.00 0.000 6 0.000 0.037 2772 2096 3639 0 0 0 0 0 0 28.83 26.44 28.83

904 -1.06 -146.6 152.7 -15.2 138 913 0.00 2.15 0.00 0.000 4 0.000 0.054 2764 3501 3638 0 0 0 0 0 0 28.83 26.44 28.83

998 -1.06 -146.6 167.8 -16.6 147 1005 0.00 2.12 0.00 0.000 6 0.000 0.037 2772 2096 3638 0 0 0 0 0 0 28.83 26.50 28.83

1306 -1.06 -146.6 214.3 -14.7 178 1315 0.00 2.17 0.00 0.000 4 0.000 0.054 2763 3500 3637 0 0 0 0 0 0 28.83 26.49 28.83

1463 -1.06 -146.6 238.0 -15.5 193 1470 0.00 2.12 0.00 0.000 6 0.000 0.037 2772 2086 3637 0 0 0 0 0 0 28.83 26.55 28.83

1769 -1.06 -146.6 282.1 -14.2 224 1773 0.00 2.20 0.00 0.000 4 0.000 0.054 2763 3504 3637 0 0 0 0 0 0 28.83 26.53 28.83

1934 -1.06 -146.6 306.8 -15.3 240 1941 0.00 2.10 0.00 0.000 6 0.000 0.037 2771 2101 3637 0 0 0 0 0 0 28.83 26.59 28.83

2242 -1.06 -146.6 350.7 -13.6 271 2243 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2098 3636 0 0 0 0 0 0 28.83 28.83 28.83

2543 -1.06 -146.6 390.8 -12.9 301 2547 0.00 2.17 0.00 0.000 4 0.000 0.054 2763 3508 3636 0 0 0 0 0 0 28.83 26.58 28.83

2638 -1.06 -146.6 403.7 -14.0 310 2645 0.00 2.10 0.00 0.000 6 0.000 0.036 2771 2096 3636 0 0 0 0 0 0 28.83 26.64 28.83

2945 -1.06 -146.6 441.8 -11.9 341 2955 0.00 2.15 0.00 0.000 4 0.000 0.053 2762 3509 3636 0 0 0 0 0 0 28.83 26.60 28.83

3008 -1.06 -146.6 449.8 -12.9 347 3018 0.00 2.10 0.00 0.000 6 0.000 0.036 2771 2094 3637 0 0 0 0 0 0 28.83 26.65 28.83

3318 -1.06 -146.6 485.5 -11.3 378 3322 0.00 2.17 0.00 0.000 4 0.000 0.053 2763 3515 3637 0 0 0 0 0 0 28.83 26.62 28.83

3370 -1.06 -146.6 491.8 -12.5 383 3379 0.00 2.08 0.00 0.000 6 0.000 0.035 2771 2099 3637 0 0 0 0 0 0 28.83 26.67 28.83

3681 -1.06 -146.6 527.1 -11.4 414 3682 0.00 0.00 0.00 0.000 6 0.000 0.000 2771 2098 3637 0 0 0 0 0 0 28.83 28.83 28.83

3983 -1.06 -146.6 561.6 -11.4 444 3991 0.00 2.15 0.00 0.000 4 0.000 0.053 2763 3501 3638 0 0 0 0 0 0 28.83 26.64 28.83

4067 -1.06 -146.6 572.0 -12.5 452 4074 0.00 2.08 0.00 0.000 6 0.000 0.035 2771 2097 3638 0 0 0 0 0 0 28.83 26.70 28.83

4377 -1.06 -146.6 607.9 -11.6 479 4382 0.00 2.12 0.00 0.000 4 0.000 0.053 2762 3504 3638 0 0 0 0 0 0 28.83 26.65 28.83

4435 -1.06 -146.6 615.4 -11.9 481 4441 0.00 2.08 0.00 0.000 6 0.000 0.035 2770 2102 3638 0 0 0 0 0 0 28.83 26.70 28.83

4766 -1.06 -146.6 653.1 -11.3 492 4772 0.00 2.12 0.00 0.000 4 0.000 0.052 2762 3502 3638 0 0 0 0 0 0 28.83 26.66 28.83

4818 -1.06 -146.6 656.8 -11.4 493 4826 0.00 2.08 0.00 0.000 6 0.000 0.034 2771 2096 3638 0 0 0 0 0 0 28.83 26.71 28.83

5125 -1.06 -146.6 694.0 -11.1 504 5129 0.00 2.17 0.00 0.000 4 0.000 0.053 2762 3509 3638 0 0 0 0 0 0 28.83 26.66 28.83

5150 -1.06 -146.6 694.0 -11.1 504 5157 0.00 2.10 0.00 0.000 6 0.000 0.035 2770 2088 3638 0 0 0 0 0 0 28.83 26.72 28.83

5457 -1.06 -146.6 731.6 -11.2 515 5461 0.00 2.17 0.00 0.000 4 0.000 0.052 2762 3513 3638 0 0 0 0 0 0 28.83 26.67 28.83

5519 -1.06 -146.6 739.2 -11.8 517 5525 0.00 2.10 0.00 0.000 6 0.000 0.035 2769 2092 3638 0 0 0 0 0 0 28.83 26.72 28.83

5849 -1.06 -146.6 776.4 -11.0 528 5853 0.00 2.17 0.00 0.000 4 0.000 0.053 2761 3511 3638 0 0 0 0 0 0 28.83 26.67 28.83

5884 -1.06 -146.6 780.2 -11.1 529 5888 0.00 2.10 0.00 0.000 6 0.000 0.035 2768 2092 3639 0 0 0 0 0 0 28.83 26.73 28.83

6057 end dive: TARGET_DEPTH_EXCEEDED

state 6057 begin apogee

6064 -0.17 0.0 800.2 -11.4 535 6195 0.95 0.00 126.00 1.373 6 0.168 0.000 3065 1882 3029 0 0 0 0 0 0 26.52 28.83 23.63

6198 end apogee: CONTROL_FINISHED_OK

state 6198 begin climb

6201 1.06 146.6 802.8 0.0 539 6333 1.20 0.00 128.25 1.251 6 0.090 0.000 3464 1882 2431 0 0 0 0 0 0 24.68 28.83 23.18

6622 1.06 146.6 713.9 24.3 554 6628 0.00 2.20 0.00 0.000 4 0.000 0.043 3474 523 2418 0 0 0 0 0 0 28.83 25.34 28.83

6694 1.06 146.6 699.4 24.3 556 6698 0.00 2.25 0.00 0.000 6 0.000 0.038 3467 1909 2418 0 0 0 0 0 0 28.83 25.47 28.83

7007 1.06 146.6 621.2 24.1 567 7012 0.00 2.25 0.00 0.000 4 0.000 0.042 3475 511 2416 0 0 0 0 0 0 28.83 25.83 28.83

7070 1.06 146.6 606.8 24.1 569 7074 0.00 2.20 0.00 0.000 6 0.000 0.039 3467 1900 2416 0 0 0 0 0 0 28.83 25.89 28.83

7378 1.06 146.6 531.9 23.7 598 7379 0.00 0.00 0.00 0.000 6 0.000 0.000 3467 1899 2415 0 0 0 0 0 0 28.83 28.83 28.83

7681 1.06 146.6 460.4 23.9 628 7689 0.00 2.15 0.00 0.000 4 0.000 0.044 3474 516 2414 0 0 0 0 0 0 28.83 26.20 28.83

7732 1.06 146.6 447.2 23.9 633 7742 0.00 2.20 0.00 0.000 6 0.000 0.039 3467 1906 2414 0 0 0 0 0 0 28.83 26.22 28.83

8042 1.06 146.6 373.7 23.4 664 8051 0.00 2.20 0.00 0.000 4 0.000 0.043 3474 519 2414 0 0 0 0 0 0 28.83 26.29 28.83

8087 1.06 146.6 364.0 23.7 668 8094 0.00 2.17 0.00 0.000 6 0.000 0.038 3467 1906 2413 0 0 0 0 0 0 28.83 26.32 28.83

8395 1.06 146.6 294.6 22.6 699 8404 0.00 2.17 0.00 0.000 4 0.000 0.043 3475 509 2413 0 0 0 0 0 0 28.83 26.37 28.83

8467 1.06 146.6 278.8 21.7 706 8476 0.00 2.15 0.00 0.000 6 0.000 0.038 3467 1901 2413 0 0 0 0 0 0 28.83 26.39 28.83

8777 1.06 146.6 216.6 19.7 737 8778 0.00 0.00 0.00 0.000 6 0.000 0.000 3468 1901 2413 0 0 0 0 0 0 28.83 28.83 28.83

9079 1.06 146.6 162.5 17.2 767 9088 0.00 2.17 0.00 0.000 4 0.000 0.043 3475 513 2413 0 0 0 0 0 0 28.83 26.47 28.83

9181 1.06 146.6 144.4 17.4 777 9185 0.00 2.15 0.00 0.000 6 0.000 0.039 3468 1903 2413 0 0 0 0 0 0 28.83 26.49 28.83

9488 1.06 146.6 94.0 16.0 811 9494 0.00 2.17 0.00 0.000 4 0.000 0.044 3475 514 2413 0 0 0 0 0 0 28.83 26.51 28.83

9517 1.06 146.6 89.1 16.7 816 9524 0.00 2.15 0.00 0.000 6 0.000 0.038 3468 1901 2413 0 0 0 0 0 0 28.83 26.53 28.83

9830 1.06 146.6 40.0 15.8 877 9838 0.00 2.17 0.00 0.000 4 0.000 0.044 3476 510 2413 0 0 0 0 0 0 28.83 26.53 28.83

9882 1.06 146.6 32.8 14.1 886 9888 0.00 2.17 0.00 0.000 6 0.000 0.039 3468 1911 2414 0 0 0 0 0 0 28.83 26.55 28.83

10101 end climb: SURFACE_DEPTH_REACHED

state 10101 begin surface coast

10135 end surface coast: CONTROL_FINISHED_OK

state 10135 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	80	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	56	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	48	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	-191185.59	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	030712,134802,6645.747,-5947.542,18,1.1,19,-33.8	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	12	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	11.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030712,134802,6645.747,-5947.542,18,1.1,19,-33.8	MHEAD_RNG_PITCHd_Wd	65.0,133534,-26.4,-9.167
SPEED_LIMITS	0.159,0.240	D_GRID	799

FREEZE	1.43,2.468,-0.238,2,2,0	ALTIM_TOP_PING	19.5,18.5
FINISH	1.4,1.003432	_24V_AH	23.2,12.123
SM_CCo	10155,110.50,0.073,0,0,1397,400.08	_10V_AH	10.2,14.027
SM_GC	2.30,8.30,0.28,110.50,0.054,0.068,0.073,346,2108,1397,-8.64,-1.13,400.08,0,0,0,0,0,0,26.53,26.55,26.34	FG_AHR_24Vo	0.000
RAFOS_CLK	574	FG_AHR_10Vo	0.000
RAFOS	0,1341345664,20.033333,20.017778,55,45,44,44,43,41,1288,304,201,1111,1142,1419	MEM	151576
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	43506,935
IRIDIUM_FIX	6620.33,-5953.65,030712,131339	CAP_FILE_SIZE	106033,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,239304704
HUMID	39.52	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
INTERNAL_PRESSURE	8.97495	SOUNDSPEED	1456.2
TCM_TEMP	15.70	CURRENT	0.548,133.0,1
XPDR_PINGS	0	GPS	030712,205823,6644.680,-5939.513,38,0.8,38,-33.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	167	44.21	SBE_CT	653	23	363.33
Roll_motor	94	151	330.59	SBE_O2	715	5	99.44
VBD_pump_during_apogee	254	1373	8099.81	nil	0	0	0.00
VBD_pump_during_surface	110	72	186.31	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	31.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2447	17	448.44
LPSleep	5527	2	130.23
TT8_Active	463	17	84.92
TT8_Sampling	1673	40	689.94
TT8_CF8	218	48	108.34
TT8_Kalman	0	0	0.00
Analog_circuits	1350	12	165.24
GPS_charging	0	0	0.00
Compass	1652	7	126.24
RAFOS	2520	3	77.11
Transponder	24	30	7.63

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
17	-0.96	-62.9	0.0	0.0	0	25	0.00	0.65	-5.18	0.000	3	0.000	0.102	3132	955	3289	0	0	1	0	0	0	28.83	26.23	26.55
29	-1.06	-146.6	12.9	0.0	1	43	0.93	0.40	-6.85	0.000	4	0.066	0.151	2783	702	3633	0	0	0	0	0	0	26.25	26.28	26.55
208	-1.06	-146.6	43.4	-17.5	35	215	0.00	2.17	0.00	0.000	6	0.000	0.044	2775	2101	3639	0	0	0	0	0	0	28.83	26.33	28.83
519	-1.06	-146.6	93.8	-15.6	96	526	0.00	2.15	0.00	0.000	4	0.000	0.054	2764	3511	3639	0	0	0	0	0	0	28.83	26.38	28.83
594	-1.06	-146.6	106.0	-16.2	107	603	0.00	2.12	0.00	0.000	6	0.000	0.037	2772	2096	3639	0	0	0	0	0	0	28.83	26.44	28.83
904	-1.06	-146.6	152.7	-15.2	138	913	0.00	2.15	0.00	0.000	4	0.000	0.054	2764	3501	3638	0	0	0	0	0	0	28.83	26.44	28.83
998	-1.06	-146.6	167.8	-16.6	147	1005	0.00	2.12	0.00	0.000	6	0.000	0.037	2772	2096	3638	0	0	0	0	0	0	28.83	26.50	28.83
1306	-1.06	-146.6	214.3	-14.7	178	1315	0.00	2.17	0.00	0.000	4	0.000	0.054	2763	3500	3637	0	0	0	0	0	0	28.83	26.49	28.83
1463	-1.06	-146.6	238.0	-15.5	193	1470	0.00	2.12	0.00	0.000	6	0.000	0.037	2772	2086	3637	0	0	0	0	0	0	28.83	26.55	28.83
1769	-1.06	-146.6	282.1	-14.2	224	1773	0.00	2.20	0.00	0.000	4	0.000	0.054	2763	3504	3637	0	0	0	0	0	0	28.83	26.53	28.83
1934	-1.06	-146.6	306.8	-15.3	240	1941	0.00	2.10	0.00	0.000	6	0.000	0.037	2771	2101	3637	0	0	0	0	0	0	28.83	26.59	28.83
2242	-1.06	-146.6	350.7	-13.6	271	2243	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2098	3636	0	0	0	0	0	0	28.83	28.83	28.83
2543	-1.06	-146.6	390.8	-12.9	301	2547	0.00	2.17	0.00	0.000	4	0.000	0.054	2763	3508	3636	0	0	0	0	0	0	28.83	26.58	28.83
2638	-1.06	-146.6	403.7	-14.0	310	2645	0.00	2.10	0.00	0.000	6	0.000	0.036	2771	2096	3636	0	0	0	0	0	0	28.83	26.64	28.83
2945	-1.06	-146.6	441.8	-11.9	341	2955	0.00	2.15	0.00	0.000	4	0.000	0.053	2762	3509	3636	0	0	0	0	0	0	28.83	26.60	28.83
3008	-1.06	-146.6	449.8	-12.9	347	3018	0.00	2.10	0.00	0.000	6	0.000	0.036	2771	2094	3637	0	0	0	0	0	0	28.83	26.65	28.83
3318	-1.06	-146.6	485.5	-11.3	378	3322	0.00	2.17	0.00	0.000	4	0.000	0.053	2763	3515	3637	0	0	0	0	0	0	28.83	26.62	28.83
3370	-1.06	-146.6	491.8	-12.5	383	3379	0.00	2.08	0.00	0.000	6	0.000	0.035	2771	2099	3637	0	0	0	0	0	0	28.83	26.67	28.83
3681	-1.06	-146.6	527.1	-11.4	414	3682	0.00	0.00	0.00	0.000	6	0.000	0.000	2771	2098	3637	0	0	0	0	0	0	28.83	28.83	28.83
3983	-1.06	-146.6	561.6	-11.4	444	3991	0.00	2.15	0.00	0.000	4	0.000	0.053	2763	3501	3638	0	0	0	0	0	0	28.83	26.64	28.83
4067	-1.06	-146.6	572.0	-12.5	452	4074	0.00	2.08	0.00	0.000	6	0.000	0.035	2771	2097	3638	0	0	0	0	0	0	28.83	26.70	28.83
4377	-1.06	-146.6	607.9	-11.6	479	4382	0.00	2.12	0.00	0.000	4	0.000	0.053	2762	3504	3638	0	0	0	0	0	0	28.83	26.65	28.83
4435	-1.06	-146.6	615.4	-11.9	481	4441	0.00	2.08	0.00	0.000	6	0.000	0.035	2770	2102	3638	0	0	0	0	0	0	28.83	26.70	28.83
4766	-1.06	-146.6	653.1	-11.3	492	4772	0.00	2.12	0.00	0.000	4	0.000	0.052	2762	3502	3638	0	0	0	0	0	0	28.83	26.66	28.83
4818	-1.06	-146.6	656.8	-11.4	493	4826	0.00	2.08	0.00	0.000	6	0.000	0.034	2771	2096	3638	0	0	0	0	0	0	28.83	26.71	28.83
5125	-1.06	-146.6	694.0	-11.1	504	5129	0.00	2.17	0.00	0.000	4	0.000	0.053	2762	3509	3638	0	0	0	0	0	0	28.83	26.66	28.83
5150	-1.06	-146.6	694.0	-11.1	504	5157	0.00	2.10	0.00	0.000	6	0.000	0.035	2770	2088	3638	0	0	0	0	0	0	28.83	26.72	28.83
5457	-1.06	-146.6	731.6	-11.2	515	5461	0.00	2.17	0.00	0.000	4	0.000	0.052	2762	3513	3638	0	0	0	0	0	0	28.83	26.67	28.83
5519	-1.06	-146.6	739.2	-11.8	517	5525	0.00	2.10	0.00	0.000	6	0.000	0.035	2769	2092	3638	0	0	0	0	0	0	28.83	26.72	28.83
5849	-1.06	-146.6	776.4	-11.0	528	5853	0.00	2.17	0.00	0.000	4	0.000	0.053	2761	3511	3638	0	0	0	0	0	0	28.83	26.67	28.83
5884	-1.06	-146.6	780.2	-11.1	529	5888	0.00	2.10	0.00	0.000	6	0.000	0.035	2768	2092	3639	0	0	0	0	0	0	28.83	26.73	28.83
6057	end dive: TARGET_DEPTH_EXCEEDED
state	6057	begin apogee
6064	-0.17	0.0	800.2	-11.4	535	6195	0.95	0.00	126.00	1.373	6	0.168	0.000	3065	1882	3029	0	0	0	0	0	0	26.52	28.83	23.63
6198	end apogee: CONTROL_FINISHED_OK
state	6198	begin climb
6201	1.06	146.6	802.8	0.0	539	6333	1.20	0.00	128.25	1.251	6	0.090	0.000	3464	1882	2431	0	0	0	0	0	0	24.68	28.83	23.18
6622	1.06	146.6	713.9	24.3	554	6628	0.00	2.20	0.00	0.000	4	0.000	0.043	3474	523	2418	0	0	0	0	0	0	28.83	25.34	28.83
6694	1.06	146.6	699.4	24.3	556	6698	0.00	2.25	0.00	0.000	6	0.000	0.038	3467	1909	2418	0	0	0	0	0	0	28.83	25.47	28.83
7007	1.06	146.6	621.2	24.1	567	7012	0.00	2.25	0.00	0.000	4	0.000	0.042	3475	511	2416	0	0	0	0	0	0	28.83	25.83	28.83
7070	1.06	146.6	606.8	24.1	569	7074	0.00	2.20	0.00	0.000	6	0.000	0.039	3467	1900	2416	0	0	0	0	0	0	28.83	25.89	28.83
7378	1.06	146.6	531.9	23.7	598	7379	0.00	0.00	0.00	0.000	6	0.000	0.000	3467	1899	2415	0	0	0	0	0	0	28.83	28.83	28.83
7681	1.06	146.6	460.4	23.9	628	7689	0.00	2.15	0.00	0.000	4	0.000	0.044	3474	516	2414	0	0	0	0	0	0	28.83	26.20	28.83
7732	1.06	146.6	447.2	23.9	633	7742	0.00	2.20	0.00	0.000	6	0.000	0.039	3467	1906	2414	0	0	0	0	0	0	28.83	26.22	28.83
8042	1.06	146.6	373.7	23.4	664	8051	0.00	2.20	0.00	0.000	4	0.000	0.043	3474	519	2414	0	0	0	0	0	0	28.83	26.29	28.83
8087	1.06	146.6	364.0	23.7	668	8094	0.00	2.17	0.00	0.000	6	0.000	0.038	3467	1906	2413	0	0	0	0	0	0	28.83	26.32	28.83
8395	1.06	146.6	294.6	22.6	699	8404	0.00	2.17	0.00	0.000	4	0.000	0.043	3475	509	2413	0	0	0	0	0	0	28.83	26.37	28.83
8467	1.06	146.6	278.8	21.7	706	8476	0.00	2.15	0.00	0.000	6	0.000	0.038	3467	1901	2413	0	0	0	0	0	0	28.83	26.39	28.83
8777	1.06	146.6	216.6	19.7	737	8778	0.00	0.00	0.00	0.000	6	0.000	0.000	3468	1901	2413	0	0	0	0	0	0	28.83	28.83	28.83
9079	1.06	146.6	162.5	17.2	767	9088	0.00	2.17	0.00	0.000	4	0.000	0.043	3475	513	2413	0	0	0	0	0	0	28.83	26.47	28.83
9181	1.06	146.6	144.4	17.4	777	9185	0.00	2.15	0.00	0.000	6	0.000	0.039	3468	1903	2413	0	0	0	0	0	0	28.83	26.49	28.83
9488	1.06	146.6	94.0	16.0	811	9494	0.00	2.17	0.00	0.000	4	0.000	0.044	3475	514	2413	0	0	0	0	0	0	28.83	26.51	28.83
9517	1.06	146.6	89.1	16.7	816	9524	0.00	2.15	0.00	0.000	6	0.000	0.038	3468	1901	2413	0	0	0	0	0	0	28.83	26.53	28.83
9830	1.06	146.6	40.0	15.8	877	9838	0.00	2.17	0.00	0.000	4	0.000	0.044	3476	510	2413	0	0	0	0	0	0	28.83	26.53	28.83
9882	1.06	146.6	32.8	14.1	886	9888	0.00	2.17	0.00	0.000	6	0.000	0.039	3468	1911	2414	0	0	0	0	0	0	28.83	26.55	28.83
10101	end climb: SURFACE_DEPTH_REACHED
state	10101	begin surface coast
10135	end surface coast: CONTROL_FINISHED_OK
state	10135	begin surface