Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 110 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 110 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 ESCAPE_HEADING_DELTA 5 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 2 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 20 SM_CC 350 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 52 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 30 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 2 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 161 VBD_MIN 442 DEVICE1 2

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_MAX 3793 DEVICE2 20

T_DIVE 330 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 400 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 720 DEVICE6 -1

T_TURN_SAMPINT 6 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 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 0 T_GPS_CHARGE -80653.961 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 200 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

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 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2400 PHONE_SUPPLY -1 SEABIRD_T_G 0.0043394179

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -22.40402 SEABIRD_T_H 0.00062698836

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_I 2.474318e-05

MASS 51400 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.7476094e-06

NAV_MODE 2 PITCH_GAIN 31 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9261332

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1046007

KALMAN_USE 2 PITCH_AD_RATE 150 COMPASS_USE 0 SEABIRD_C_I -0.00064730336

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014311814

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 2 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 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 5 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163694 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 330

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -80653.961

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 400

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2400 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 6

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 240 T_WATCHDOG 10

C_ROLL_DIVE 2510 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2485 LOGGERDEVICE3 -1 ROLL_DEG 20 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3915 USE_BATHY -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 0

DEVICE1 2 MASS 51400 ROLL_MIN 290 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 52 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 30 VBD_MAX 3793

DEVICE5 -1 MISSION 13 SEABIRD_C_G -9.9261332 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1046007 VBD_MIN 442

DIVE 110 NAV_MODE 2 SEABIRD_C_I -0.00064730336 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 161 SEABIRD_C_J 0.00014311814 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_DIVES 0 SEABIRD_T_G 0.0043394179 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 211011,201535,6655.402,-5747.718,40,0.9,40,-33.6 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 2.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211011,202048,6655.405,-5747.806,16,1.1,17,-33.6 MHEAD_RNG_PITCHd_Wd 279.2,117641,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 822

Post-dive calculations and measurements:

FINISH 1.7,1.006723 _24V_AH 22.8,13.945

SM_CCo 14196,53.25,0.084,0,0,1057,350.04 _10V_AH 10.2,11.521

SM_GC 2.75,6.90,0.60,53.25,0.047,0.057,0.084,125,2512,1057,-7.06,-0.71,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 933 FG_AHR_10Vo 0.000

RAFOS 1,1319227745,20.166666,20.151388,60,59,59,0,0,0,174,183,883,0,0,0 MEM 150288

RAFOS_FIX 6657.352051,-5750.818848,211011,202028,4,76,3.78 DATA_FILE_SIZE 43373,1145

IRIDIUM_FIX 6625.71,-5742.24,211011,161614 CAP_FILE_SIZE 123392,0

TT8_MAMPS 0.029211,0.029211 CFSIZE 260165632,240414720

HUMID 57.32 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.83436 SOUNDSPEED 1456.9

TCM_TEMP 16.50 CURRENT 0.113, 36.4,1

XPDR_PINGS 21 GPS 221011,002105,6655.196,-5752.155,42,0.8,42,-33.6

ALTIM_BOTTOM_PING 800.7,80.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 260 102.45 SBE_CT 820 23 434.61

Roll_motor 36 95 78.93 SBE_O2 632 5 75.56

VBD_pump_during_apogee 328 1391 10408.83 nil 0 0 0.00

VBD_pump_during_surface 53 84 102.17 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 204 253 1181.61 nil 0 0 0.00

Transponder_ping 8 420 81.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.01

TT8 3158 18 602.86

LPSleep 8638 2 203.54

TT8_Active 522 18 99.65

TT8_Sampling 2095 41 896.33

TT8_CF8 201 47 98.26

TT8_Kalman 0 0 0.00

Analog_circuits 1713 12 209.77

GPS_charging 0 0 0.00

Compass 1870 6 128.59

RAFOS 2520 1 38.56

Transponder 26 30 8.04

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

17 -0.77 -146.0 0.0 0.0 0 79 0.00 0.00 -59.72 0.000 2 0.000 0.000 116 2475 1901 0 0 0 0 0 0

82 -0.77 -146.0 3.1 -1.0 9 158 8.60 1.25 -59.78 0.000 4 0.261 0.096 2142 3210 3082 0 0 0 0 0 0

411 -0.77 -146.0 56.2 -18.4 58 418 0.00 1.10 0.00 0.000 6 0.000 0.037 2142 2512 3083 0 0 0 0 0 0

751 -0.77 -146.0 108.7 -15.9 109 760 0.00 1.17 0.00 0.000 4 0.000 0.069 2138 3208 3084 0 0 0 0 0 0

899 -0.77 -146.0 131.4 -14.8 131 906 0.00 1.10 0.00 0.000 6 0.000 0.037 2138 2506 3084 0 0 0 0 0 0

1237 -0.77 -146.0 181.9 -14.8 182 1243 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2507 3084 0 0 0 0 0 0

1573 -0.77 -146.0 232.0 -14.4 233 1581 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2506 3084 0 0 0 0 0 0

1902 -0.77 -146.0 277.2 -13.2 268 1906 0.00 1.17 0.00 0.000 4 0.000 0.070 2133 3204 3083 0 0 0 0 0 0

1973 -0.77 -146.0 285.9 -13.3 273 1983 0.00 1.10 0.00 0.000 6 0.000 0.037 2133 2511 3083 0 0 0 0 0 0

2296 -0.77 -146.0 327.4 -12.9 299 2297 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2511 3083 0 0 0 0 0 0

2612 -0.77 -146.0 366.9 -12.4 324 2613 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2510 3083 0 0 0 0 0 0

2928 -0.77 -146.0 405.2 -12.1 349 2929 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2511 3083 0 0 0 0 0 0

3244 -0.77 -146.0 443.5 -12.1 374 3248 0.00 1.10 0.00 0.000 4 0.000 0.049 2133 1811 3083 0 0 0 0 0 0

3289 -0.77 -146.0 448.2 -11.6 377 3299 0.00 1.20 0.00 0.000 6 0.000 0.059 2128 2500 3083 0 0 0 0 0 0

3613 -0.77 -146.0 487.1 -12.0 403 3614 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2500 3083 0 0 0 0 0 0

3940 -0.77 -146.0 524.7 -11.5 419 3943 0.00 1.15 0.00 0.000 4 0.000 0.072 2123 3220 3083 0 0 0 0 0 0

4024 -0.77 -146.0 532.6 -11.7 421 4029 0.00 1.12 0.00 0.000 6 0.000 0.035 2123 2504 3083 0 0 0 0 0 0

4344 -0.77 -146.0 571.7 -11.3 432 4345 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2504 3083 0 0 0 0 0 0

4652 -0.77 -146.0 606.4 -11.2 442 4653 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2504 3083 0 0 0 0 0 0

4957 -0.77 -146.0 641.8 -11.7 452 4961 0.00 1.20 0.00 0.000 4 0.000 0.068 2118 3223 3084 0 0 0 0 0 0

5001 -0.77 -146.0 645.9 -11.8 453 5007 0.12 1.12 0.00 0.000 6 0.176 0.035 2148 2502 3084 0 0 0 0 0 0

5329 -0.77 -146.0 680.6 -10.1 464 5330 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2502 3084 0 0 0 0 0 0

5637 -0.77 -146.0 710.7 -9.6 474 5638 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2502 3084 0 0 0 0 0 0

5941 -0.77 -146.0 740.0 -9.7 484 5945 0.00 1.17 0.00 0.000 4 0.000 0.067 2144 3214 3084 0 0 0 0 0 0

5992 -0.77 -146.0 743.3 -9.7 485 5997 0.00 1.10 0.00 0.000 6 0.000 0.033 2144 2506 3084 0 0 0 0 0 0

6314 -0.77 -146.0 776.6 -9.8 496 6315 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2506 3084 0 0 0 0 0 0

6621 -0.77 -146.0 806.8 -10.0 506 6622 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2502 3084 0 0 0 0 0 0

6801 end dive: TARGET_DEPTH_EXCEEDED

state 6801 begin apogee

6807 -0.16 0.0 824.4 -9.7 512 6936 0.60 0.00 121.93 1.392 6 0.141 0.000 2337 2195 2484 0 0 0 0 0 0

6936 end apogee: CONTROL_FINISHED_OK

state 6936 begin climb

6939 0.77 146.0 828.8 0.0 516 7078 0.93 1.20 129.70 1.335 4 0.073 0.053 2653 1511 1888 0 0 0 0 0 0

7263 0.77 146.0 800.5 13.1 526 7267 0.00 1.23 0.00 0.000 6 0.000 0.048 2653 2206 1881 0 0 0 0 0 0

7590 0.77 146.0 756.2 12.8 537 7593 0.00 1.17 0.00 0.000 4 0.000 0.057 2653 2905 1878 0 0 0 0 0 0

7680 0.77 146.0 747.4 12.9 539 7688 0.00 1.20 0.00 0.000 6 0.000 0.040 2658 2205 1877 0 0 0 0 0 0

7995 0.77 146.0 703.2 12.9 550 7996 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2205 1876 0 0 0 0 0 0

8301 0.77 146.0 664.2 12.6 560 8304 0.00 1.20 0.00 0.000 4 0.000 0.055 2658 2902 1875 0 0 0 0 0 0

8384 0.77 146.0 655.8 12.5 562 8389 0.00 1.20 0.00 0.000 6 0.000 0.041 2663 2190 1875 0 0 0 0 0 0

8704 0.77 146.0 614.0 12.5 573 8706 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2190 1875 0 0 0 0 0 0

9011 0.77 146.0 573.9 13.3 583 9015 0.00 1.23 0.00 0.000 4 0.000 0.057 2662 2905 1875 0 0 0 0 0 0

9143 0.77 146.0 555.8 13.7 587 9146 0.00 1.15 0.00 0.000 6 0.000 0.041 2667 2200 1874 0 0 0 0 0 0

9483 0.77 146.0 510.7 13.5 598 9484 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2200 1873 0 0 0 0 0 0

9801 0.77 146.0 469.2 12.7 619 9802 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2200 1873 0 0 0 0 0 0

10116 0.77 146.0 429.3 12.5 644 10117 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2200 1873 0 0 0 0 0 0

10432 0.77 146.0 390.9 12.2 669 10436 0.00 1.20 0.00 0.000 4 0.000 0.057 2667 2905 1873 0 0 0 0 0 0

10582 0.77 146.0 372.7 12.6 680 10590 0.00 1.17 0.00 0.000 6 0.000 0.040 2672 2193 1873 0 0 0 0 0 0

10908 0.77 146.0 334.2 11.6 706 10910 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2193 1873 0 0 0 0 0 0

11221 0.77 146.0 297.7 11.5 731 11224 0.00 1.20 0.00 0.000 4 0.000 0.056 2672 2904 1873 0 0 0 0 0 0

11327 0.77 146.0 285.3 11.7 739 11331 0.08 1.15 0.00 0.000 6 0.163 0.041 2654 2194 1873 0 0 0 0 0 0

11655 0.77 146.0 250.2 10.8 765 11657 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2194 1873 0 0 0 0 0 0

11986 0.77 148.6 215.5 9.9 814 11992 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2194 1873 0 0 0 0 0 0

12323 0.79 166.9 182.2 9.2 865 12345 0.00 1.25 16.12 0.982 4 0.000 0.055 2654 2909 1804 0 0 0 0 0 0

12583 0.79 166.9 154.3 10.2 904 12590 0.00 1.15 0.00 0.000 6 0.000 0.039 2657 2200 1802 0 0 0 0 0 0

12920 0.79 166.9 119.9 10.3 955 12926 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2199 1802 0 0 0 0 0 0

13258 0.84 206.4 88.7 8.2 1006 13297 0.00 0.00 33.85 0.946 6 0.000 0.000 2657 2199 1642 0 0 0 0 0 0

13628 0.84 206.4 53.0 10.6 1062 13635 0.00 1.20 0.00 0.000 4 0.000 0.056 2657 2900 1636 0 0 0 0 0 0

13754 0.88 237.5 40.5 8.6 1081 13790 0.00 1.15 26.48 0.910 6 0.000 0.040 2662 2198 1514 0 0 0 0 0 0

14122 0.88 237.5 6.3 10.3 1136 14128 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2198 1509 0 0 0 0 0 0

14161 end climb: SURFACE_DEPTH_REACHED

state 14161 begin surface coast

14180 end surface coast: CONTROL_FINISHED_OK

state 14180 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	110	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	ESCAPE_HEADING_DELTA	5	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	2	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	20	SM_CC	350	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	52	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	30	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	2	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	161	VBD_MIN	442	DEVICE1	2
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_MAX	3793	DEVICE2	20
T_DIVE	330	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	400	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	720	DEVICE6	-1
T_TURN_SAMPINT	6	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	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	0	T_GPS_CHARGE	-80653.961	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	200	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
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	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2400	PHONE_SUPPLY	-1	SEABIRD_T_G	0.0043394179
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-22.40402	SEABIRD_T_H	0.00062698836
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_I	2.474318e-05
MASS	51400	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.7476094e-06
NAV_MODE	2	PITCH_GAIN	31	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9261332
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1046007
KALMAN_USE	2	PITCH_AD_RATE	150	COMPASS_USE	0	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	211011,201535,6655.402,-5747.718,40,0.9,40,-33.6	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	2.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211011,202048,6655.405,-5747.806,16,1.1,17,-33.6	MHEAD_RNG_PITCHd_Wd	279.2,117641,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	822

FINISH	1.7,1.006723	_24V_AH	22.8,13.945
SM_CCo	14196,53.25,0.084,0,0,1057,350.04	_10V_AH	10.2,11.521
SM_GC	2.75,6.90,0.60,53.25,0.047,0.057,0.084,125,2512,1057,-7.06,-0.71,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	933	FG_AHR_10Vo	0.000
RAFOS	1,1319227745,20.166666,20.151388,60,59,59,0,0,0,174,183,883,0,0,0	MEM	150288
RAFOS_FIX	6657.352051,-5750.818848,211011,202028,4,76,3.78	DATA_FILE_SIZE	43373,1145
IRIDIUM_FIX	6625.71,-5742.24,211011,161614	CAP_FILE_SIZE	123392,0
TT8_MAMPS	0.029211,0.029211	CFSIZE	260165632,240414720
HUMID	57.32	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.83436	SOUNDSPEED	1456.9
TCM_TEMP	16.50	CURRENT	0.113, 36.4,1
XPDR_PINGS	21	GPS	221011,002105,6655.196,-5752.155,42,0.8,42,-33.6
ALTIM_BOTTOM_PING	800.7,80.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	260	102.45	SBE_CT	820	23	434.61
Roll_motor	36	95	78.93	SBE_O2	632	5	75.56
VBD_pump_during_apogee	328	1391	10408.83	nil	0	0	0.00
VBD_pump_during_surface	53	84	102.17	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	204	253	1181.61	nil	0	0	0.00
Transponder_ping	8	420	81.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.01
TT8	3158	18	602.86
LPSleep	8638	2	203.54
TT8_Active	522	18	99.65
TT8_Sampling	2095	41	896.33
TT8_CF8	201	47	98.26
TT8_Kalman	0	0	0.00
Analog_circuits	1713	12	209.77
GPS_charging	0	0	0.00
Compass	1870	6	128.59
RAFOS	2520	1	38.56
Transponder	26	30	8.04

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
17	-0.77	-146.0	0.0	0.0	0	79	0.00	0.00	-59.72	0.000	2	0.000	0.000	116	2475	1901	0	0	0	0	0	0
82	-0.77	-146.0	3.1	-1.0	9	158	8.60	1.25	-59.78	0.000	4	0.261	0.096	2142	3210	3082	0	0	0	0	0	0
411	-0.77	-146.0	56.2	-18.4	58	418	0.00	1.10	0.00	0.000	6	0.000	0.037	2142	2512	3083	0	0	0	0	0	0
751	-0.77	-146.0	108.7	-15.9	109	760	0.00	1.17	0.00	0.000	4	0.000	0.069	2138	3208	3084	0	0	0	0	0	0
899	-0.77	-146.0	131.4	-14.8	131	906	0.00	1.10	0.00	0.000	6	0.000	0.037	2138	2506	3084	0	0	0	0	0	0
1237	-0.77	-146.0	181.9	-14.8	182	1243	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2507	3084	0	0	0	0	0	0
1573	-0.77	-146.0	232.0	-14.4	233	1581	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2506	3084	0	0	0	0	0	0
1902	-0.77	-146.0	277.2	-13.2	268	1906	0.00	1.17	0.00	0.000	4	0.000	0.070	2133	3204	3083	0	0	0	0	0	0
1973	-0.77	-146.0	285.9	-13.3	273	1983	0.00	1.10	0.00	0.000	6	0.000	0.037	2133	2511	3083	0	0	0	0	0	0
2296	-0.77	-146.0	327.4	-12.9	299	2297	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2511	3083	0	0	0	0	0	0
2612	-0.77	-146.0	366.9	-12.4	324	2613	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2510	3083	0	0	0	0	0	0
2928	-0.77	-146.0	405.2	-12.1	349	2929	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2511	3083	0	0	0	0	0	0
3244	-0.77	-146.0	443.5	-12.1	374	3248	0.00	1.10	0.00	0.000	4	0.000	0.049	2133	1811	3083	0	0	0	0	0	0
3289	-0.77	-146.0	448.2	-11.6	377	3299	0.00	1.20	0.00	0.000	6	0.000	0.059	2128	2500	3083	0	0	0	0	0	0
3613	-0.77	-146.0	487.1	-12.0	403	3614	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2500	3083	0	0	0	0	0	0
3940	-0.77	-146.0	524.7	-11.5	419	3943	0.00	1.15	0.00	0.000	4	0.000	0.072	2123	3220	3083	0	0	0	0	0	0
4024	-0.77	-146.0	532.6	-11.7	421	4029	0.00	1.12	0.00	0.000	6	0.000	0.035	2123	2504	3083	0	0	0	0	0	0
4344	-0.77	-146.0	571.7	-11.3	432	4345	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2504	3083	0	0	0	0	0	0
4652	-0.77	-146.0	606.4	-11.2	442	4653	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2504	3083	0	0	0	0	0	0
4957	-0.77	-146.0	641.8	-11.7	452	4961	0.00	1.20	0.00	0.000	4	0.000	0.068	2118	3223	3084	0	0	0	0	0	0
5001	-0.77	-146.0	645.9	-11.8	453	5007	0.12	1.12	0.00	0.000	6	0.176	0.035	2148	2502	3084	0	0	0	0	0	0
5329	-0.77	-146.0	680.6	-10.1	464	5330	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2502	3084	0	0	0	0	0	0
5637	-0.77	-146.0	710.7	-9.6	474	5638	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2502	3084	0	0	0	0	0	0
5941	-0.77	-146.0	740.0	-9.7	484	5945	0.00	1.17	0.00	0.000	4	0.000	0.067	2144	3214	3084	0	0	0	0	0	0
5992	-0.77	-146.0	743.3	-9.7	485	5997	0.00	1.10	0.00	0.000	6	0.000	0.033	2144	2506	3084	0	0	0	0	0	0
6314	-0.77	-146.0	776.6	-9.8	496	6315	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2506	3084	0	0	0	0	0	0
6621	-0.77	-146.0	806.8	-10.0	506	6622	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2502	3084	0	0	0	0	0	0
6801	end dive: TARGET_DEPTH_EXCEEDED
state	6801	begin apogee
6807	-0.16	0.0	824.4	-9.7	512	6936	0.60	0.00	121.93	1.392	6	0.141	0.000	2337	2195	2484	0	0	0	0	0	0
6936	end apogee: CONTROL_FINISHED_OK
state	6936	begin climb
6939	0.77	146.0	828.8	0.0	516	7078	0.93	1.20	129.70	1.335	4	0.073	0.053	2653	1511	1888	0	0	0	0	0	0
7263	0.77	146.0	800.5	13.1	526	7267	0.00	1.23	0.00	0.000	6	0.000	0.048	2653	2206	1881	0	0	0	0	0	0
7590	0.77	146.0	756.2	12.8	537	7593	0.00	1.17	0.00	0.000	4	0.000	0.057	2653	2905	1878	0	0	0	0	0	0
7680	0.77	146.0	747.4	12.9	539	7688	0.00	1.20	0.00	0.000	6	0.000	0.040	2658	2205	1877	0	0	0	0	0	0
7995	0.77	146.0	703.2	12.9	550	7996	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2205	1876	0	0	0	0	0	0
8301	0.77	146.0	664.2	12.6	560	8304	0.00	1.20	0.00	0.000	4	0.000	0.055	2658	2902	1875	0	0	0	0	0	0
8384	0.77	146.0	655.8	12.5	562	8389	0.00	1.20	0.00	0.000	6	0.000	0.041	2663	2190	1875	0	0	0	0	0	0
8704	0.77	146.0	614.0	12.5	573	8706	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2190	1875	0	0	0	0	0	0
9011	0.77	146.0	573.9	13.3	583	9015	0.00	1.23	0.00	0.000	4	0.000	0.057	2662	2905	1875	0	0	0	0	0	0
9143	0.77	146.0	555.8	13.7	587	9146	0.00	1.15	0.00	0.000	6	0.000	0.041	2667	2200	1874	0	0	0	0	0	0
9483	0.77	146.0	510.7	13.5	598	9484	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2200	1873	0	0	0	0	0	0
9801	0.77	146.0	469.2	12.7	619	9802	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2200	1873	0	0	0	0	0	0
10116	0.77	146.0	429.3	12.5	644	10117	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2200	1873	0	0	0	0	0	0
10432	0.77	146.0	390.9	12.2	669	10436	0.00	1.20	0.00	0.000	4	0.000	0.057	2667	2905	1873	0	0	0	0	0	0
10582	0.77	146.0	372.7	12.6	680	10590	0.00	1.17	0.00	0.000	6	0.000	0.040	2672	2193	1873	0	0	0	0	0	0
10908	0.77	146.0	334.2	11.6	706	10910	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2193	1873	0	0	0	0	0	0
11221	0.77	146.0	297.7	11.5	731	11224	0.00	1.20	0.00	0.000	4	0.000	0.056	2672	2904	1873	0	0	0	0	0	0
11327	0.77	146.0	285.3	11.7	739	11331	0.08	1.15	0.00	0.000	6	0.163	0.041	2654	2194	1873	0	0	0	0	0	0
11655	0.77	146.0	250.2	10.8	765	11657	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2194	1873	0	0	0	0	0	0
11986	0.77	148.6	215.5	9.9	814	11992	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2194	1873	0	0	0	0	0	0
12323	0.79	166.9	182.2	9.2	865	12345	0.00	1.25	16.12	0.982	4	0.000	0.055	2654	2909	1804	0	0	0	0	0	0
12583	0.79	166.9	154.3	10.2	904	12590	0.00	1.15	0.00	0.000	6	0.000	0.039	2657	2200	1802	0	0	0	0	0	0
12920	0.79	166.9	119.9	10.3	955	12926	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2199	1802	0	0	0	0	0	0
13258	0.84	206.4	88.7	8.2	1006	13297	0.00	0.00	33.85	0.946	6	0.000	0.000	2657	2199	1642	0	0	0	0	0	0
13628	0.84	206.4	53.0	10.6	1062	13635	0.00	1.20	0.00	0.000	4	0.000	0.056	2657	2900	1636	0	0	0	0	0	0
13754	0.88	237.5	40.5	8.6	1081	13790	0.00	1.15	26.48	0.910	6	0.000	0.040	2662	2198	1514	0	0	0	0	0	0
14122	0.88	237.5	6.3	10.3	1136	14128	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2198	1509	0	0	0	0	0	0
14161	end climb: SURFACE_DEPTH_REACHED
state	14161	begin surface coast
14180	end surface coast: CONTROL_FINISHED_OK
state	14180	begin surface