Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 85 * 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 85 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 290 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 16 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 -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -887.82031 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 290

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 -887.82031

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 -2

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 16 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 85 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 230912,123104,6642.655,-6014.523,36,0.8,36,-33.8 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 2.77 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230912,123704,6642.638,-6014.488,5,0.8,5,-33.8 MHEAD_RNG_PITCHd_Wd 64.6,153809,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 549

Post-dive calculations and measurements:

FINISH 1.9,1.013427 _24V_AH 12.8,30.226

SM_CCo 10088,0.00,0.000,0,0,1461,321.59 _10V_AH 13.1,0.000

SM_GC 2.97,8.75,0.20,0.00,0.115,0.153,0.000,141,2113,1461,-11.60,0.37,321.59,0,0,0,0,0,0,14.64,14.62,28.83 FG_AHR_24Vo 0.000

RAFOS_CLK 434 FG_AHR_10Vo 0.000

RAFOS 3,1348403105,12.433333,12.418056,82,68,58,56,55,54,748,195,204,171,127,221 MEM 188784

RAFOS_FIX 6647.094727,-5958.333984,230912,121210,3,78,78.65 DATA_FILE_SIZE 43466,954

IRIDIUM_FIX 6620.33,-6015.98,230912,090900 CAP_FILE_SIZE 100737,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,244674560

HUMID 47.08 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.67444 SOUNDSPEED 1451.5

TCM_TEMP 12.60 CURRENT 0.080,169.9,1

XPDR_PINGS 10 GPS 230912,152717,6643.343,-6012.455,15,0.7,15,-33.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 475 141.99 SBE_CT 698 23 214.27

Roll_motor 94 188 227.83 SBE_O2 667 3 31.95

VBD_pump_during_apogee 373 2268 10843.96 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 210 146 392.85 nil 0 0 0.00

Transponder_ping 2 420 13.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 21 1.92

TT8 2386 14 467.66

LPSleep 5322 2 161.06

TT8_Active 519 14 101.85

TT8_Sampling 1726 33 762.01

TT8_CF8 506 38 253.15

TT8_Kalman 0 0 0.00

Analog_circuits 1610 12 253.24

GPS_charging 0 0 0.00

Compass 1556 6 137.44

RAFOS 720 1 14.15

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

20 -1.50 -136.9 0.0 0.0 0 51 0.00 0.00 -29.60 0.000 2 0.000 0.000 134 2110 2101 0 0 0 0 0 0 28.83 28.83 28.83

58 -1.50 -136.9 3.1 -2.1 5 137 11.40 2.78 -59.72 0.000 4 0.475 0.183 2339 3530 3329 0 0 0 0 0 0 14.35 14.46 14.72

286 -1.50 -136.9 36.1 -16.9 46 294 0.00 2.58 0.00 0.000 6 0.000 0.110 2338 2115 3331 0 0 0 0 0 0 28.83 14.55 28.83

605 -1.50 -136.9 81.7 -13.3 107 612 0.00 2.58 0.00 0.000 4 0.000 0.140 2338 709 3331 0 0 0 0 0 0 28.83 14.58 28.83

662 -1.50 -136.9 90.3 -15.1 117 670 0.10 2.65 0.00 0.000 6 0.326 0.144 2348 2129 3331 0 0 0 0 0 0 14.52 14.59 28.83

981 -1.50 -136.9 134.3 -13.4 154 990 0.00 2.60 0.00 0.000 4 0.000 0.139 2348 711 3331 0 0 0 0 0 0 28.83 14.62 28.83

1008 -1.50 -136.9 137.7 -13.5 156 1015 0.00 2.62 0.00 0.000 6 0.000 0.142 2340 2125 3331 0 0 0 0 0 0 28.83 14.63 28.83

1317 -1.50 -136.9 180.7 -13.5 187 1323 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2125 3331 0 0 0 0 0 0 28.83 28.83 28.83

1632 -1.50 -136.9 220.5 -12.4 218 1639 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2125 3331 0 0 0 0 0 0 28.83 28.83 28.83

1945 -1.50 -136.9 260.1 -13.3 249 1953 0.00 2.62 0.00 0.000 4 0.000 0.160 2330 3524 3330 0 0 0 0 0 0 28.83 14.69 28.83

1991 -1.50 -136.9 266.7 -13.4 253 1999 0.10 2.53 0.00 0.000 6 0.314 0.109 2347 2113 3330 0 0 0 0 0 0 14.64 14.73 28.83

2300 -1.50 -136.9 306.1 -12.5 284 2309 0.00 2.53 0.00 0.000 4 0.000 0.139 2348 710 3330 0 0 0 0 0 0 28.83 14.71 28.83

2327 -1.50 -136.9 309.3 -13.1 286 2334 0.00 2.62 0.00 0.000 6 0.000 0.145 2340 2129 3329 0 0 0 0 0 0 28.83 14.72 28.83

2635 -1.50 -136.9 346.9 -11.7 317 2644 0.00 2.60 0.00 0.000 4 0.000 0.139 2340 704 3329 0 0 0 0 0 0 28.83 14.71 28.83

2690 -1.50 -136.9 353.7 -12.5 322 2699 0.00 2.60 0.00 0.000 6 0.000 0.143 2332 2117 3329 0 0 0 0 0 0 28.83 14.70 28.83

3000 -1.50 -136.9 389.7 -11.4 353 3006 0.10 0.00 0.00 0.000 6 0.337 0.000 2349 2117 3329 0 0 0 0 0 0 14.67 28.83 28.83

3310 -1.50 -136.9 423.2 -10.9 370 3316 0.00 2.58 0.00 0.000 4 0.000 0.141 2350 706 3329 0 0 0 0 0 0 28.83 14.74 28.83

3342 -1.50 -136.9 426.5 -10.9 371 3347 0.00 2.60 0.00 0.000 6 0.000 0.145 2343 2126 3329 0 0 0 0 0 0 28.83 14.75 28.83

3673 -1.50 -136.9 462.1 -10.5 382 3674 0.00 0.00 0.00 0.000 6 0.000 0.000 2343 2126 3329 0 0 0 0 0 0 28.83 28.83 28.83

3973 -1.50 -136.9 494.1 -10.7 392 3979 0.00 2.58 0.00 0.000 4 0.000 0.142 2343 706 3329 0 0 0 0 0 0 28.83 14.78 28.83

4017 -1.50 -136.9 497.6 -10.7 393 4023 0.00 2.58 0.00 0.000 6 0.000 0.142 2336 2121 3329 0 0 0 0 0 0 28.83 14.77 28.83

4334 -1.50 -136.9 533.3 -10.8 404 4336 0.00 0.00 0.00 0.000 6 0.000 0.000 2336 2121 3330 0 0 0 0 0 0 28.83 28.83 28.83

4479 end dive: TARGET_DEPTH_EXCEEDED

state 4479 begin apogee

4492 -0.38 0.0 549.6 -10.9 409 4632 0.93 0.00 133.52 2.269 6 0.283 0.000 2587 2209 2773 0 0 0 0 0 0 14.73 28.83 13.13

4637 end apogee: CONTROL_FINISHED_OK

state 4637 begin climb

4643 1.50 136.9 555.1 0.0 414 4792 1.42 0.00 143.88 2.220 6 0.181 0.000 3005 2208 2213 0 0 0 0 0 0 13.88 28.83 12.83

5084 1.50 136.9 511.4 11.6 429 5090 0.00 2.78 0.00 0.000 4 0.000 0.154 3005 3609 2204 0 0 0 0 0 0 28.83 14.07 28.83

5109 1.50 136.9 511.4 11.6 429 5116 0.00 2.65 0.00 0.000 6 0.000 0.108 3015 2200 2205 0 0 0 0 0 0 28.83 14.14 28.83

5416 1.50 136.9 471.2 11.8 440 5417 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2200 2203 0 0 0 0 0 0 28.83 28.83 28.83

5716 1.50 136.9 435.8 12.2 450 5722 0.00 2.62 0.00 0.000 4 0.000 0.142 3026 788 2202 0 0 0 0 0 0 28.83 14.44 28.83

5757 1.50 136.9 431.7 12.5 451 5762 0.00 2.60 0.00 0.000 6 0.000 0.133 3026 2196 2201 0 0 0 0 0 0 28.83 14.45 28.83

6068 1.50 136.9 391.8 12.5 465 6077 0.00 2.70 0.00 0.000 4 0.000 0.151 3026 3615 2202 0 0 0 0 0 0 28.83 14.52 28.83

6113 1.50 136.9 385.6 13.7 469 6122 0.10 2.55 0.00 0.000 6 0.285 0.108 3010 2201 2202 0 0 0 0 0 0 14.48 14.55 28.83

6423 1.50 136.9 347.8 11.9 500 6432 0.00 2.58 0.00 0.000 4 0.000 0.138 3019 791 2201 0 0 0 0 0 0 28.83 14.59 28.83

6521 1.50 136.9 336.2 12.3 509 6528 0.00 2.58 0.00 0.000 6 0.000 0.125 3019 2205 2200 0 0 0 0 0 0 28.83 14.62 28.83

6829 1.50 136.9 299.5 11.5 540 6835 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2205 2201 0 0 0 0 0 0 28.83 28.83 28.83

7145 1.50 136.9 264.1 11.0 571 7151 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2205 2200 0 0 0 0 0 0 28.83 28.83 28.83

7457 1.50 136.9 229.4 10.8 602 7462 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2205 2200 0 0 0 0 0 0 28.83 28.83 28.83

7768 1.50 136.9 194.6 10.5 633 7777 0.00 2.62 0.00 0.000 4 0.000 0.152 3019 3617 2200 0 0 0 0 0 0 28.83 14.69 28.83

7823 1.50 136.9 188.0 11.5 638 7832 0.08 2.53 0.00 0.000 6 0.288 0.108 3009 2199 2200 0 0 0 0 0 0 14.66 14.73 28.83

8133 1.50 138.1 159.1 8.9 669 8142 0.00 2.55 0.00 0.000 4 0.000 0.140 3018 784 2199 0 0 0 0 0 0 28.83 14.71 28.83

8248 1.50 138.1 148.8 8.9 680 8257 0.00 2.55 0.00 0.000 6 0.000 0.132 3019 2199 2199 0 0 0 0 0 0 28.83 14.71 28.83

8558 1.55 179.3 125.0 7.1 711 8587 0.00 2.70 23.67 1.800 4 0.000 0.155 3018 3613 2040 0 0 0 0 0 0 28.83 14.50 13.94

8640 1.55 179.3 118.1 9.1 719 8648 0.00 2.58 0.00 0.000 6 0.000 0.108 3028 2195 2038 0 0 0 0 0 0 28.83 14.56 28.83

8954 1.55 179.3 91.1 9.4 759 8961 0.00 2.58 0.00 0.000 4 0.000 0.139 3038 790 2034 0 0 0 0 0 0 28.83 14.61 28.83

9062 1.55 179.3 80.3 9.9 779 9069 0.00 2.60 0.00 0.000 6 0.000 0.133 3039 2205 2032 0 0 0 0 0 0 28.83 14.62 28.83

9380 1.55 179.3 46.4 10.1 840 9386 0.00 2.65 0.00 0.000 4 0.000 0.152 3039 3611 2032 0 0 0 0 0 0 28.83 14.63 28.83

9458 1.55 179.3 37.8 10.5 854 9465 0.15 2.55 0.00 0.000 6 0.298 0.106 3015 2194 2032 0 0 0 0 0 0 14.59 14.69 28.83

9776 1.72 316.6 18.6 2.9 915 9856 0.12 2.65 72.30 0.234 4 0.159 0.137 3077 790 1478 0 0 0 0 0 0 14.70 14.57 14.09

9877 1.72 316.6 12.4 9.1 931 9885 0.10 2.60 0.00 0.000 6 0.295 0.132 3057 2201 1472 0 0 0 0 0 0 14.52 14.57 28.83

9970 end climb: SURFACE_DEPTH_REACHED

state 9970 begin surface coast

10000 end surface coast: CONTROL_FINISHED_OK

state 10000 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	85	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	290	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	16	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	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-887.82031	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	230912,123104,6642.655,-6014.523,36,0.8,36,-33.8	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	2.77	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230912,123704,6642.638,-6014.488,5,0.8,5,-33.8	MHEAD_RNG_PITCHd_Wd	64.6,153809,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	549

FINISH	1.9,1.013427	_24V_AH	12.8,30.226
SM_CCo	10088,0.00,0.000,0,0,1461,321.59	_10V_AH	13.1,0.000
SM_GC	2.97,8.75,0.20,0.00,0.115,0.153,0.000,141,2113,1461,-11.60,0.37,321.59,0,0,0,0,0,0,14.64,14.62,28.83	FG_AHR_24Vo	0.000
RAFOS_CLK	434	FG_AHR_10Vo	0.000
RAFOS	3,1348403105,12.433333,12.418056,82,68,58,56,55,54,748,195,204,171,127,221	MEM	188784
RAFOS_FIX	6647.094727,-5958.333984,230912,121210,3,78,78.65	DATA_FILE_SIZE	43466,954
IRIDIUM_FIX	6620.33,-6015.98,230912,090900	CAP_FILE_SIZE	100737,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,244674560
HUMID	47.08	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.67444	SOUNDSPEED	1451.5
TCM_TEMP	12.60	CURRENT	0.080,169.9,1
XPDR_PINGS	10	GPS	230912,152717,6643.343,-6012.455,15,0.7,15,-33.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	475	141.99	SBE_CT	698	23	214.27
Roll_motor	94	188	227.83	SBE_O2	667	3	31.95
VBD_pump_during_apogee	373	2268	10843.96	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	210	146	392.85	nil	0	0	0.00
Transponder_ping	2	420	13.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	21	1.92
TT8	2386	14	467.66
LPSleep	5322	2	161.06
TT8_Active	519	14	101.85
TT8_Sampling	1726	33	762.01
TT8_CF8	506	38	253.15
TT8_Kalman	0	0	0.00
Analog_circuits	1610	12	253.24
GPS_charging	0	0	0.00
Compass	1556	6	137.44
RAFOS	720	1	14.15
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
20	-1.50	-136.9	0.0	0.0	0	51	0.00	0.00	-29.60	0.000	2	0.000	0.000	134	2110	2101	0	0	0	0	0	0	28.83	28.83	28.83
58	-1.50	-136.9	3.1	-2.1	5	137	11.40	2.78	-59.72	0.000	4	0.475	0.183	2339	3530	3329	0	0	0	0	0	0	14.35	14.46	14.72
286	-1.50	-136.9	36.1	-16.9	46	294	0.00	2.58	0.00	0.000	6	0.000	0.110	2338	2115	3331	0	0	0	0	0	0	28.83	14.55	28.83
605	-1.50	-136.9	81.7	-13.3	107	612	0.00	2.58	0.00	0.000	4	0.000	0.140	2338	709	3331	0	0	0	0	0	0	28.83	14.58	28.83
662	-1.50	-136.9	90.3	-15.1	117	670	0.10	2.65	0.00	0.000	6	0.326	0.144	2348	2129	3331	0	0	0	0	0	0	14.52	14.59	28.83
981	-1.50	-136.9	134.3	-13.4	154	990	0.00	2.60	0.00	0.000	4	0.000	0.139	2348	711	3331	0	0	0	0	0	0	28.83	14.62	28.83
1008	-1.50	-136.9	137.7	-13.5	156	1015	0.00	2.62	0.00	0.000	6	0.000	0.142	2340	2125	3331	0	0	0	0	0	0	28.83	14.63	28.83
1317	-1.50	-136.9	180.7	-13.5	187	1323	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2125	3331	0	0	0	0	0	0	28.83	28.83	28.83
1632	-1.50	-136.9	220.5	-12.4	218	1639	0.00	0.00	0.00	0.000	6	0.000	0.000	2340	2125	3331	0	0	0	0	0	0	28.83	28.83	28.83
1945	-1.50	-136.9	260.1	-13.3	249	1953	0.00	2.62	0.00	0.000	4	0.000	0.160	2330	3524	3330	0	0	0	0	0	0	28.83	14.69	28.83
1991	-1.50	-136.9	266.7	-13.4	253	1999	0.10	2.53	0.00	0.000	6	0.314	0.109	2347	2113	3330	0	0	0	0	0	0	14.64	14.73	28.83
2300	-1.50	-136.9	306.1	-12.5	284	2309	0.00	2.53	0.00	0.000	4	0.000	0.139	2348	710	3330	0	0	0	0	0	0	28.83	14.71	28.83
2327	-1.50	-136.9	309.3	-13.1	286	2334	0.00	2.62	0.00	0.000	6	0.000	0.145	2340	2129	3329	0	0	0	0	0	0	28.83	14.72	28.83
2635	-1.50	-136.9	346.9	-11.7	317	2644	0.00	2.60	0.00	0.000	4	0.000	0.139	2340	704	3329	0	0	0	0	0	0	28.83	14.71	28.83
2690	-1.50	-136.9	353.7	-12.5	322	2699	0.00	2.60	0.00	0.000	6	0.000	0.143	2332	2117	3329	0	0	0	0	0	0	28.83	14.70	28.83
3000	-1.50	-136.9	389.7	-11.4	353	3006	0.10	0.00	0.00	0.000	6	0.337	0.000	2349	2117	3329	0	0	0	0	0	0	14.67	28.83	28.83
3310	-1.50	-136.9	423.2	-10.9	370	3316	0.00	2.58	0.00	0.000	4	0.000	0.141	2350	706	3329	0	0	0	0	0	0	28.83	14.74	28.83
3342	-1.50	-136.9	426.5	-10.9	371	3347	0.00	2.60	0.00	0.000	6	0.000	0.145	2343	2126	3329	0	0	0	0	0	0	28.83	14.75	28.83
3673	-1.50	-136.9	462.1	-10.5	382	3674	0.00	0.00	0.00	0.000	6	0.000	0.000	2343	2126	3329	0	0	0	0	0	0	28.83	28.83	28.83
3973	-1.50	-136.9	494.1	-10.7	392	3979	0.00	2.58	0.00	0.000	4	0.000	0.142	2343	706	3329	0	0	0	0	0	0	28.83	14.78	28.83
4017	-1.50	-136.9	497.6	-10.7	393	4023	0.00	2.58	0.00	0.000	6	0.000	0.142	2336	2121	3329	0	0	0	0	0	0	28.83	14.77	28.83
4334	-1.50	-136.9	533.3	-10.8	404	4336	0.00	0.00	0.00	0.000	6	0.000	0.000	2336	2121	3330	0	0	0	0	0	0	28.83	28.83	28.83
4479	end dive: TARGET_DEPTH_EXCEEDED
state	4479	begin apogee
4492	-0.38	0.0	549.6	-10.9	409	4632	0.93	0.00	133.52	2.269	6	0.283	0.000	2587	2209	2773	0	0	0	0	0	0	14.73	28.83	13.13
4637	end apogee: CONTROL_FINISHED_OK
state	4637	begin climb
4643	1.50	136.9	555.1	0.0	414	4792	1.42	0.00	143.88	2.220	6	0.181	0.000	3005	2208	2213	0	0	0	0	0	0	13.88	28.83	12.83
5084	1.50	136.9	511.4	11.6	429	5090	0.00	2.78	0.00	0.000	4	0.000	0.154	3005	3609	2204	0	0	0	0	0	0	28.83	14.07	28.83
5109	1.50	136.9	511.4	11.6	429	5116	0.00	2.65	0.00	0.000	6	0.000	0.108	3015	2200	2205	0	0	0	0	0	0	28.83	14.14	28.83
5416	1.50	136.9	471.2	11.8	440	5417	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	2200	2203	0	0	0	0	0	0	28.83	28.83	28.83
5716	1.50	136.9	435.8	12.2	450	5722	0.00	2.62	0.00	0.000	4	0.000	0.142	3026	788	2202	0	0	0	0	0	0	28.83	14.44	28.83
5757	1.50	136.9	431.7	12.5	451	5762	0.00	2.60	0.00	0.000	6	0.000	0.133	3026	2196	2201	0	0	0	0	0	0	28.83	14.45	28.83
6068	1.50	136.9	391.8	12.5	465	6077	0.00	2.70	0.00	0.000	4	0.000	0.151	3026	3615	2202	0	0	0	0	0	0	28.83	14.52	28.83
6113	1.50	136.9	385.6	13.7	469	6122	0.10	2.55	0.00	0.000	6	0.285	0.108	3010	2201	2202	0	0	0	0	0	0	14.48	14.55	28.83
6423	1.50	136.9	347.8	11.9	500	6432	0.00	2.58	0.00	0.000	4	0.000	0.138	3019	791	2201	0	0	0	0	0	0	28.83	14.59	28.83
6521	1.50	136.9	336.2	12.3	509	6528	0.00	2.58	0.00	0.000	6	0.000	0.125	3019	2205	2200	0	0	0	0	0	0	28.83	14.62	28.83
6829	1.50	136.9	299.5	11.5	540	6835	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2205	2201	0	0	0	0	0	0	28.83	28.83	28.83
7145	1.50	136.9	264.1	11.0	571	7151	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2205	2200	0	0	0	0	0	0	28.83	28.83	28.83
7457	1.50	136.9	229.4	10.8	602	7462	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2205	2200	0	0	0	0	0	0	28.83	28.83	28.83
7768	1.50	136.9	194.6	10.5	633	7777	0.00	2.62	0.00	0.000	4	0.000	0.152	3019	3617	2200	0	0	0	0	0	0	28.83	14.69	28.83
7823	1.50	136.9	188.0	11.5	638	7832	0.08	2.53	0.00	0.000	6	0.288	0.108	3009	2199	2200	0	0	0	0	0	0	14.66	14.73	28.83
8133	1.50	138.1	159.1	8.9	669	8142	0.00	2.55	0.00	0.000	4	0.000	0.140	3018	784	2199	0	0	0	0	0	0	28.83	14.71	28.83
8248	1.50	138.1	148.8	8.9	680	8257	0.00	2.55	0.00	0.000	6	0.000	0.132	3019	2199	2199	0	0	0	0	0	0	28.83	14.71	28.83
8558	1.55	179.3	125.0	7.1	711	8587	0.00	2.70	23.67	1.800	4	0.000	0.155	3018	3613	2040	0	0	0	0	0	0	28.83	14.50	13.94
8640	1.55	179.3	118.1	9.1	719	8648	0.00	2.58	0.00	0.000	6	0.000	0.108	3028	2195	2038	0	0	0	0	0	0	28.83	14.56	28.83
8954	1.55	179.3	91.1	9.4	759	8961	0.00	2.58	0.00	0.000	4	0.000	0.139	3038	790	2034	0	0	0	0	0	0	28.83	14.61	28.83
9062	1.55	179.3	80.3	9.9	779	9069	0.00	2.60	0.00	0.000	6	0.000	0.133	3039	2205	2032	0	0	0	0	0	0	28.83	14.62	28.83
9380	1.55	179.3	46.4	10.1	840	9386	0.00	2.65	0.00	0.000	4	0.000	0.152	3039	3611	2032	0	0	0	0	0	0	28.83	14.63	28.83
9458	1.55	179.3	37.8	10.5	854	9465	0.15	2.55	0.00	0.000	6	0.298	0.106	3015	2194	2032	0	0	0	0	0	0	14.59	14.69	28.83
9776	1.72	316.6	18.6	2.9	915	9856	0.12	2.65	72.30	0.234	4	0.159	0.137	3077	790	1478	0	0	0	0	0	0	14.70	14.57	14.09
9877	1.72	316.6	12.4	9.1	931	9885	0.10	2.60	0.00	0.000	6	0.295	0.132	3057	2201	1472	0	0	0	0	0	0	14.52	14.57	28.83
9970	end climb: SURFACE_DEPTH_REACHED
state	9970	begin surface coast
10000	end surface coast: CONTROL_FINISHED_OK
state	10000	begin surface