Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 114 * 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 114 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 34 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 25 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 -80659 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 -80659

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 34 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 25 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 114 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 221011,130623,6654.610,-5802.858,40,1.0,41,-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 2.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221011,131108,6654.623,-5802.793,17,1.3,18,-33.6 MHEAD_RNG_PITCHd_Wd 266.6,106595,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 903

Post-dive calculations and measurements:

FINISH 1.8,1.012470 _24V_AH 22.7,14.444

SM_CCo 15134,45.30,0.085,0,0,1057,350.04 _10V_AH 10.3,11.865

SM_GC 2.41,7.05,0.60,45.30,0.050,0.052,0.085,125,2514,1057,-7.06,-0.68,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 993 FG_AHR_10Vo 0.000

RAFOS 0,1319299284,16.033333,16.023333,83,66,62,0,0,0,860,214,156,0,0,0 MEM 150284

RAFOS_FIX 6654.188477,-5808.663574,221011,161625,7,107,0.37 DATA_FILE_SIZE 43330,1171

IRIDIUM_FIX 6625.71,-5806.66,221011,080852 CAP_FILE_SIZE 125092,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,240148480

HUMID 57.67 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.83436 SOUNDSPEED 1457.3

TCM_TEMP 16.40 CURRENT 0.112, 63.2,1

XPDR_PINGS 16 GPS 221011,172629,6653.442,-5806.034,39,0.8,40,-33.6

ALTIM_BOTTOM_PING 853.1,55.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 263 104.39 SBE_CT 838 23 442.10

Roll_motor 31 74 52.60 SBE_O2 637 5 75.88

VBD_pump_during_apogee 350 1437 11436.74 nil 0 0 0.00

VBD_pump_during_surface 45 84 87.32 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 177 256 1033.45 nil 0 0 0.00

Transponder_ping 7 420 73.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.36

TT8 3217 18 620.03

LPSleep 9470 2 225.34

TT8_Active 525 18 101.30

TT8_Sampling 2075 41 896.29

TT8_CF8 206 47 101.93

TT8_Kalman 0 0 0.00

Analog_circuits 1689 12 208.80

GPS_charging 0 0 0.00

Compass 1871 6 129.94

RAFOS 2520 1 38.93

Transponder 31 30 9.58

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 72 0.00 0.00 -53.08 0.000 2 0.000 0.000 122 2520 1805 0 0 0 0 0 0

75 -0.77 -146.0 3.1 -1.3 8 158 8.60 0.00 -70.47 0.000 6 0.264 0.000 2144 2520 3081 0 0 0 0 0 0

492 -0.77 -146.0 67.4 -15.6 70 498 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2520 3084 0 0 0 0 0 0

829 -0.77 -146.0 119.0 -14.3 121 837 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2520 3084 0 0 0 0 0 0

1168 -0.77 -146.0 168.0 -14.3 172 1176 0.00 1.12 0.00 0.000 4 0.000 0.074 2141 3213 3084 0 0 0 0 0 0

1242 -0.77 -146.0 178.3 -13.7 183 1249 0.00 1.12 0.00 0.000 6 0.000 0.038 2141 2499 3084 0 0 0 0 0 0

1580 -0.77 -146.0 226.4 -13.9 234 1586 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2499 3084 0 0 0 0 0 0

1908 -0.77 -146.0 269.0 -12.2 273 1909 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2500 3084 0 0 0 0 0 0

2225 -0.77 -146.0 306.0 -11.8 298 2226 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2499 3084 0 0 0 0 0 0

2540 -0.77 -146.0 343.5 -12.4 323 2543 0.00 1.08 0.00 0.000 4 0.000 0.049 2141 1816 3084 0 0 0 0 0 0

2584 -0.77 -146.0 348.5 -12.3 326 2592 0.00 1.20 0.00 0.000 6 0.000 0.058 2137 2506 3084 0 0 0 0 0 0

2908 -0.77 -146.0 389.5 -12.2 352 2912 0.00 1.12 0.00 0.000 4 0.000 0.070 2132 3213 3084 0 0 0 0 0 0

2979 -0.77 -146.0 398.0 -12.6 357 2990 0.00 1.12 0.00 0.000 6 0.000 0.035 2132 2499 3084 0 0 0 0 0 0

3304 -0.77 -146.0 438.8 -12.3 383 3305 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3084 0 0 0 0 0 0

3619 -0.77 -146.0 477.1 -12.0 408 3620 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3084 0 0 0 0 0 0

3930 -0.77 -146.0 515.5 -12.2 427 3931 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3084 0 0 0 0 0 0

4239 -0.77 -146.0 552.8 -12.3 437 4240 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3084 0 0 0 0 0 0

4542 -0.77 -146.0 589.2 -11.8 447 4544 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3085 0 0 0 0 0 0

4849 -0.77 -146.0 624.6 -11.6 457 4850 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3085 0 0 0 0 0 0

5155 -0.77 -146.0 658.8 -10.9 467 5156 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3085 0 0 0 0 0 0

5462 -0.77 -146.0 693.2 -11.2 477 5463 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3085 0 0 0 0 0 0

5767 -0.77 -146.0 727.8 -11.1 487 5768 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2499 3085 0 0 0 0 0 0

6074 -0.77 -146.0 761.2 -10.9 497 6075 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3085 0 0 0 0 0 0

6380 -0.77 -146.0 793.8 -10.8 507 6381 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3085 0 0 0 0 0 0

6686 -0.77 -146.0 826.6 -10.7 517 6687 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3086 0 0 0 0 0 0

6992 -0.77 -146.0 859.8 -10.8 527 6996 0.00 1.17 0.00 0.000 4 0.000 0.067 2127 3211 3086 0 0 0 0 0 0

7084 -0.77 -146.0 867.1 -11.0 529 7093 0.00 1.08 0.00 0.000 6 0.000 0.034 2127 2510 3085 0 0 0 0 0 0

7303 end dive: BOTTOM_OBSTACLE_DETECTED

state 7303 begin apogee

7309 -0.16 0.0 894.9 -11.3 537 7438 0.68 0.00 123.05 1.437 6 0.142 0.000 2343 2196 2485 0 0 0 0 0 0

7439 end apogee: CONTROL_FINISHED_OK

state 7439 begin climb

7441 0.77 146.0 899.7 0.0 541 7580 0.90 1.15 131.32 1.376 4 0.067 0.051 2654 1510 1889 0 0 0 0 0 0

7819 0.77 146.0 862.0 13.2 553 7822 0.00 1.20 0.00 0.000 6 0.000 0.048 2654 2203 1881 0 0 0 0 0 0

8158 0.77 146.0 816.0 13.6 564 8161 0.00 1.17 0.00 0.000 4 0.000 0.057 2654 2905 1878 0 0 0 0 0 0

8242 0.77 146.0 806.9 13.7 566 8247 0.00 1.20 0.00 0.000 6 0.000 0.040 2659 2203 1877 0 0 0 0 0 0

8563 0.77 146.0 760.8 13.7 577 8564 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2203 1876 0 0 0 0 0 0

8870 0.77 146.0 720.1 13.2 587 8871 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2202 1876 0 0 0 0 0 0

9175 0.77 146.0 680.4 13.0 597 9176 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2203 1876 0 0 0 0 0 0

9483 0.77 146.0 640.3 13.1 607 9484 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2203 1875 0 0 0 0 0 0

9788 0.77 146.0 601.3 12.5 617 9789 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2202 1875 0 0 0 0 0 0

10095 0.77 146.0 564.8 11.9 627 10096 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2203 1875 0 0 0 0 0 0

10400 0.77 146.0 529.2 11.6 637 10404 0.00 1.20 0.00 0.000 4 0.000 0.055 2659 2910 1874 0 0 0 0 0 0

10499 0.77 146.0 517.0 12.2 640 10503 0.00 1.15 0.00 0.000 6 0.000 0.041 2664 2199 1874 0 0 0 0 0 0

10820 0.77 146.0 477.5 12.4 658 10821 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2200 1874 0 0 0 0 0 0

11140 0.77 146.0 438.2 12.9 683 11146 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2200 1874 0 0 0 0 0 0

11463 0.77 146.0 395.6 13.0 709 11467 0.00 1.20 0.00 0.000 4 0.000 0.056 2664 2910 1874 0 0 0 0 0 0

11569 0.77 146.0 380.9 13.6 717 11573 0.00 1.15 0.00 0.000 6 0.000 0.041 2669 2198 1874 0 0 0 0 0 0

11899 0.77 146.0 339.1 12.8 743 11900 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2198 1874 0 0 0 0 0 0

12215 0.77 146.0 300.3 11.8 768 12218 0.00 1.20 0.00 0.000 4 0.000 0.055 2669 2911 1874 0 0 0 0 0 0

12347 0.77 146.0 283.9 12.3 778 12351 0.00 1.15 0.00 0.000 6 0.000 0.041 2673 2198 1874 0 0 0 0 0 0

12670 0.77 146.0 247.5 11.1 805 12677 0.00 1.08 0.00 0.000 4 0.000 0.054 2679 1494 1874 0 0 0 0 0 0

12730 0.77 146.0 241.0 10.9 814 12740 0.10 1.15 0.00 0.000 6 0.157 0.050 2648 2208 1874 0 0 0 0 0 0

13070 0.78 159.3 207.9 9.4 865 13086 0.00 1.15 9.93 0.964 4 0.000 0.057 2648 2905 1835 0 0 0 0 0 0

13141 0.78 159.3 200.5 11.1 875 13147 0.00 1.15 0.00 0.000 6 0.000 0.040 2651 2197 1834 0 0 0 0 0 0

13478 0.80 172.6 167.2 9.4 926 13494 0.00 0.00 12.85 0.959 6 0.000 0.000 2651 2197 1780 0 0 0 0 0 0

13825 0.81 182.2 131.8 9.6 978 13841 0.00 1.20 9.43 0.915 4 0.000 0.053 2651 2913 1741 0 0 0 0 0 0

13970 0.82 185.0 116.7 9.9 999 13978 0.00 1.17 4.10 0.719 6 0.000 0.040 2656 2195 1730 0 0 0 0 0 0

14309 0.86 221.8 85.3 8.3 1050 14345 0.00 0.00 32.10 0.939 6 0.000 0.000 2656 2195 1580 0 0 0 0 0 0

14676 0.90 254.4 51.2 8.5 1105 14711 0.10 1.27 27.73 0.912 4 0.109 0.056 2694 2900 1446 0 0 0 0 0 0

14921 0.90 254.4 23.1 12.2 1142 14930 0.00 1.17 0.00 0.000 6 0.000 0.040 2699 2196 1442 0 0 0 0 0 0

15102 end climb: SURFACE_DEPTH_REACHED

state 15102 begin surface coast

15117 end surface coast: CONTROL_FINISHED_OK

state 15117 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	114	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	34	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	25	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	-80659	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	221011,130623,6654.610,-5802.858,40,1.0,41,-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	2.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221011,131108,6654.623,-5802.793,17,1.3,18,-33.6	MHEAD_RNG_PITCHd_Wd	266.6,106595,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	903

FINISH	1.8,1.012470	_24V_AH	22.7,14.444
SM_CCo	15134,45.30,0.085,0,0,1057,350.04	_10V_AH	10.3,11.865
SM_GC	2.41,7.05,0.60,45.30,0.050,0.052,0.085,125,2514,1057,-7.06,-0.68,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	993	FG_AHR_10Vo	0.000
RAFOS	0,1319299284,16.033333,16.023333,83,66,62,0,0,0,860,214,156,0,0,0	MEM	150284
RAFOS_FIX	6654.188477,-5808.663574,221011,161625,7,107,0.37	DATA_FILE_SIZE	43330,1171
IRIDIUM_FIX	6625.71,-5806.66,221011,080852	CAP_FILE_SIZE	125092,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,240148480
HUMID	57.67	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.83436	SOUNDSPEED	1457.3
TCM_TEMP	16.40	CURRENT	0.112, 63.2,1
XPDR_PINGS	16	GPS	221011,172629,6653.442,-5806.034,39,0.8,40,-33.6
ALTIM_BOTTOM_PING	853.1,55.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	263	104.39	SBE_CT	838	23	442.10
Roll_motor	31	74	52.60	SBE_O2	637	5	75.88
VBD_pump_during_apogee	350	1437	11436.74	nil	0	0	0.00
VBD_pump_during_surface	45	84	87.32	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	177	256	1033.45	nil	0	0	0.00
Transponder_ping	7	420	73.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.36
TT8	3217	18	620.03
LPSleep	9470	2	225.34
TT8_Active	525	18	101.30
TT8_Sampling	2075	41	896.29
TT8_CF8	206	47	101.93
TT8_Kalman	0	0	0.00
Analog_circuits	1689	12	208.80
GPS_charging	0	0	0.00
Compass	1871	6	129.94
RAFOS	2520	1	38.93
Transponder	31	30	9.58

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	72	0.00	0.00	-53.08	0.000	2	0.000	0.000	122	2520	1805	0	0	0	0	0	0
75	-0.77	-146.0	3.1	-1.3	8	158	8.60	0.00	-70.47	0.000	6	0.264	0.000	2144	2520	3081	0	0	0	0	0	0
492	-0.77	-146.0	67.4	-15.6	70	498	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2520	3084	0	0	0	0	0	0
829	-0.77	-146.0	119.0	-14.3	121	837	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2520	3084	0	0	0	0	0	0
1168	-0.77	-146.0	168.0	-14.3	172	1176	0.00	1.12	0.00	0.000	4	0.000	0.074	2141	3213	3084	0	0	0	0	0	0
1242	-0.77	-146.0	178.3	-13.7	183	1249	0.00	1.12	0.00	0.000	6	0.000	0.038	2141	2499	3084	0	0	0	0	0	0
1580	-0.77	-146.0	226.4	-13.9	234	1586	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2499	3084	0	0	0	0	0	0
1908	-0.77	-146.0	269.0	-12.2	273	1909	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2500	3084	0	0	0	0	0	0
2225	-0.77	-146.0	306.0	-11.8	298	2226	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2499	3084	0	0	0	0	0	0
2540	-0.77	-146.0	343.5	-12.4	323	2543	0.00	1.08	0.00	0.000	4	0.000	0.049	2141	1816	3084	0	0	0	0	0	0
2584	-0.77	-146.0	348.5	-12.3	326	2592	0.00	1.20	0.00	0.000	6	0.000	0.058	2137	2506	3084	0	0	0	0	0	0
2908	-0.77	-146.0	389.5	-12.2	352	2912	0.00	1.12	0.00	0.000	4	0.000	0.070	2132	3213	3084	0	0	0	0	0	0
2979	-0.77	-146.0	398.0	-12.6	357	2990	0.00	1.12	0.00	0.000	6	0.000	0.035	2132	2499	3084	0	0	0	0	0	0
3304	-0.77	-146.0	438.8	-12.3	383	3305	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3084	0	0	0	0	0	0
3619	-0.77	-146.0	477.1	-12.0	408	3620	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3084	0	0	0	0	0	0
3930	-0.77	-146.0	515.5	-12.2	427	3931	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3084	0	0	0	0	0	0
4239	-0.77	-146.0	552.8	-12.3	437	4240	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3084	0	0	0	0	0	0
4542	-0.77	-146.0	589.2	-11.8	447	4544	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3085	0	0	0	0	0	0
4849	-0.77	-146.0	624.6	-11.6	457	4850	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3085	0	0	0	0	0	0
5155	-0.77	-146.0	658.8	-10.9	467	5156	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3085	0	0	0	0	0	0
5462	-0.77	-146.0	693.2	-11.2	477	5463	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3085	0	0	0	0	0	0
5767	-0.77	-146.0	727.8	-11.1	487	5768	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2499	3085	0	0	0	0	0	0
6074	-0.77	-146.0	761.2	-10.9	497	6075	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3085	0	0	0	0	0	0
6380	-0.77	-146.0	793.8	-10.8	507	6381	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3085	0	0	0	0	0	0
6686	-0.77	-146.0	826.6	-10.7	517	6687	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3086	0	0	0	0	0	0
6992	-0.77	-146.0	859.8	-10.8	527	6996	0.00	1.17	0.00	0.000	4	0.000	0.067	2127	3211	3086	0	0	0	0	0	0
7084	-0.77	-146.0	867.1	-11.0	529	7093	0.00	1.08	0.00	0.000	6	0.000	0.034	2127	2510	3085	0	0	0	0	0	0
7303	end dive: BOTTOM_OBSTACLE_DETECTED
state	7303	begin apogee
7309	-0.16	0.0	894.9	-11.3	537	7438	0.68	0.00	123.05	1.437	6	0.142	0.000	2343	2196	2485	0	0	0	0	0	0
7439	end apogee: CONTROL_FINISHED_OK
state	7439	begin climb
7441	0.77	146.0	899.7	0.0	541	7580	0.90	1.15	131.32	1.376	4	0.067	0.051	2654	1510	1889	0	0	0	0	0	0
7819	0.77	146.0	862.0	13.2	553	7822	0.00	1.20	0.00	0.000	6	0.000	0.048	2654	2203	1881	0	0	0	0	0	0
8158	0.77	146.0	816.0	13.6	564	8161	0.00	1.17	0.00	0.000	4	0.000	0.057	2654	2905	1878	0	0	0	0	0	0
8242	0.77	146.0	806.9	13.7	566	8247	0.00	1.20	0.00	0.000	6	0.000	0.040	2659	2203	1877	0	0	0	0	0	0
8563	0.77	146.0	760.8	13.7	577	8564	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2203	1876	0	0	0	0	0	0
8870	0.77	146.0	720.1	13.2	587	8871	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2202	1876	0	0	0	0	0	0
9175	0.77	146.0	680.4	13.0	597	9176	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2203	1876	0	0	0	0	0	0
9483	0.77	146.0	640.3	13.1	607	9484	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2203	1875	0	0	0	0	0	0
9788	0.77	146.0	601.3	12.5	617	9789	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2202	1875	0	0	0	0	0	0
10095	0.77	146.0	564.8	11.9	627	10096	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2203	1875	0	0	0	0	0	0
10400	0.77	146.0	529.2	11.6	637	10404	0.00	1.20	0.00	0.000	4	0.000	0.055	2659	2910	1874	0	0	0	0	0	0
10499	0.77	146.0	517.0	12.2	640	10503	0.00	1.15	0.00	0.000	6	0.000	0.041	2664	2199	1874	0	0	0	0	0	0
10820	0.77	146.0	477.5	12.4	658	10821	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2200	1874	0	0	0	0	0	0
11140	0.77	146.0	438.2	12.9	683	11146	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2200	1874	0	0	0	0	0	0
11463	0.77	146.0	395.6	13.0	709	11467	0.00	1.20	0.00	0.000	4	0.000	0.056	2664	2910	1874	0	0	0	0	0	0
11569	0.77	146.0	380.9	13.6	717	11573	0.00	1.15	0.00	0.000	6	0.000	0.041	2669	2198	1874	0	0	0	0	0	0
11899	0.77	146.0	339.1	12.8	743	11900	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2198	1874	0	0	0	0	0	0
12215	0.77	146.0	300.3	11.8	768	12218	0.00	1.20	0.00	0.000	4	0.000	0.055	2669	2911	1874	0	0	0	0	0	0
12347	0.77	146.0	283.9	12.3	778	12351	0.00	1.15	0.00	0.000	6	0.000	0.041	2673	2198	1874	0	0	0	0	0	0
12670	0.77	146.0	247.5	11.1	805	12677	0.00	1.08	0.00	0.000	4	0.000	0.054	2679	1494	1874	0	0	0	0	0	0
12730	0.77	146.0	241.0	10.9	814	12740	0.10	1.15	0.00	0.000	6	0.157	0.050	2648	2208	1874	0	0	0	0	0	0
13070	0.78	159.3	207.9	9.4	865	13086	0.00	1.15	9.93	0.964	4	0.000	0.057	2648	2905	1835	0	0	0	0	0	0
13141	0.78	159.3	200.5	11.1	875	13147	0.00	1.15	0.00	0.000	6	0.000	0.040	2651	2197	1834	0	0	0	0	0	0
13478	0.80	172.6	167.2	9.4	926	13494	0.00	0.00	12.85	0.959	6	0.000	0.000	2651	2197	1780	0	0	0	0	0	0
13825	0.81	182.2	131.8	9.6	978	13841	0.00	1.20	9.43	0.915	4	0.000	0.053	2651	2913	1741	0	0	0	0	0	0
13970	0.82	185.0	116.7	9.9	999	13978	0.00	1.17	4.10	0.719	6	0.000	0.040	2656	2195	1730	0	0	0	0	0	0
14309	0.86	221.8	85.3	8.3	1050	14345	0.00	0.00	32.10	0.939	6	0.000	0.000	2656	2195	1580	0	0	0	0	0	0
14676	0.90	254.4	51.2	8.5	1105	14711	0.10	1.27	27.73	0.912	4	0.109	0.056	2694	2900	1446	0	0	0	0	0	0
14921	0.90	254.4	23.1	12.2	1142	14930	0.00	1.17	0.00	0.000	6	0.000	0.040	2699	2196	1442	0	0	0	0	0	0
15102	end climb: SURFACE_DEPTH_REACHED
state	15102	begin surface coast
15117	end surface coast: CONTROL_FINISHED_OK
state	15117	begin surface