Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 115 * 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 115 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 35 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 24 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 -80660.25 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 -80660.25

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 35 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 24 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 115 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 221011,172629,6653.442,-5806.034,39,0.8,40,-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 2.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221011,173149,6653.449,-5806.026,17,1.0,18,-33.6 MHEAD_RNG_PITCHd_Wd 286.7,103884,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 889

Post-dive calculations and measurements:

FINISH 1.7,1.024154 _24V_AH 22.7,14.563

SM_CCo 14883,54.70,0.085,0,0,1057,350.04 _10V_AH 10.3,11.950

SM_GC 2.83,6.95,0.60,54.70,0.046,0.060,0.085,124,2514,1057,-7.06,-0.68,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 979 FG_AHR_10Vo 0.000

RAFOS 0,1319313672,20.033333,20.020000,70,55,55,0,0,0,205,182,131,0,0,0 MEM 150300

RAFOS_FIX 6655.451660,-5812.791992,221011,202020,4,114,0.55 DATA_FILE_SIZE 43375,1159

IRIDIUM_FIX 6625.71,-5804.90,221011,131306 CAP_FILE_SIZE 124906,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,240082944

HUMID 56.97 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.8246 SOUNDSPEED 1457.2

TCM_TEMP 16.20 CURRENT 0.257, 10.8,1

XPDR_PINGS 21 GPS 221011,214255,6654.800,-5811.351,36,1.8,36,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 261 101.11 SBE_CT 833 23 439.08

Roll_motor 33 71 54.93 SBE_O2 632 5 75.29

VBD_pump_during_apogee 323 1433 10515.44 nil 0 0 0.00

VBD_pump_during_surface 54 84 105.44 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 210 255 1223.25 nil 0 0 0.00

Transponder_ping 8 420 81.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.26

TT8 3165 18 609.99

LPSleep 9312 2 221.58

TT8_Active 526 18 101.52

TT8_Sampling 2064 41 891.56

TT8_CF8 207 47 102.65

TT8_Kalman 0 0 0.00

Analog_circuits 1711 12 211.57

GPS_charging 0 0 0.00

Compass 1834 6 127.34

RAFOS 2520 1 38.93

Transponder 25 30 7.77

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 15 begin dive

17 -0.77 -146.0 0.0 0.0 0 66 0.00 0.00 -46.53 0.000 2 0.000 0.000 125 2518 1707 0 0 0 0 0 0

69 -0.77 -146.0 3.1 -1.2 7 181 8.50 1.20 -95.28 0.000 4 0.262 0.072 2144 1806 3082 0 0 0 0 0 0

407 -0.77 -146.0 50.5 -17.3 58 414 0.00 1.23 0.00 0.000 6 0.000 0.058 2141 2513 3083 0 0 0 0 0 0

747 -0.77 -146.0 107.3 -16.1 109 753 0.00 1.12 0.00 0.000 4 0.000 0.070 2136 3214 3084 0 0 0 0 0 0

866 -0.77 -146.0 127.0 -15.8 127 873 0.00 1.12 0.00 0.000 6 0.000 0.037 2136 2500 3084 0 0 0 0 0 0

1204 -0.77 -146.0 180.0 -15.2 178 1211 0.00 1.20 0.00 0.000 4 0.000 0.067 2131 3214 3084 0 0 0 0 0 0

1238 -0.77 -146.0 185.3 -15.1 183 1245 0.00 1.10 0.00 0.000 6 0.000 0.037 2131 2512 3084 0 0 0 0 0 0

1575 -0.77 -146.0 238.0 -14.2 234 1581 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2512 3084 0 0 0 0 0 0

1902 -0.77 -146.0 284.5 -13.7 266 1904 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2512 3083 0 0 0 0 0 0

2216 -0.77 -146.0 326.5 -13.0 291 2217 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2512 3083 0 0 0 0 0 0

2532 -0.77 -146.0 368.1 -13.4 316 2533 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2512 3083 0 0 0 0 0 0

2849 -0.77 -146.0 407.2 -12.2 341 2850 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2512 3083 0 0 0 0 0 0

3163 -0.77 -146.0 445.4 -11.8 366 3164 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2512 3083 0 0 0 0 0 0

3478 -0.77 -146.0 484.1 -12.6 391 3480 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2512 3083 0 0 0 0 0 0

3801 -0.77 -146.0 524.1 -12.4 408 3803 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2512 3083 0 0 0 0 0 0

4107 -0.77 -146.0 561.8 -12.3 418 4111 0.00 1.17 0.00 0.000 4 0.000 0.069 2126 3217 3084 0 0 0 0 0 0

4145 -0.77 -146.0 565.7 -12.2 419 4150 0.00 1.12 0.00 0.000 6 0.000 0.035 2126 2501 3084 0 0 0 0 0 0

4479 -0.77 -146.0 607.0 -12.2 430 4480 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2501 3084 0 0 0 0 0 0

4785 -0.77 -146.0 643.8 -11.9 440 4786 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2501 3084 0 0 0 0 0 0

5091 -0.77 -146.0 679.3 -11.4 450 5092 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2501 3084 0 0 0 0 0 0

5398 -0.77 -146.0 714.3 -11.5 460 5399 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2501 3085 0 0 0 0 0 0

5703 -0.77 -146.0 749.6 -11.6 470 5705 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2501 3085 0 0 0 0 0 0

6010 -0.77 -146.0 784.8 -11.5 480 6011 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2501 3085 0 0 0 0 0 0

6318 -0.77 -146.0 819.1 -11.3 490 6321 0.00 1.17 0.00 0.000 4 0.000 0.067 2121 3213 3085 0 0 0 0 0 0

6350 -0.77 -146.0 823.1 -11.3 491 6355 0.08 1.08 0.00 0.000 6 0.164 0.034 2145 2506 3085 0 0 0 0 0 0

6689 -0.77 -146.0 856.9 -10.1 502 6691 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2506 3085 0 0 0 0 0 0

6996 -0.77 -146.0 886.3 -9.3 512 6998 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2506 3085 0 0 0 0 0 0

7026 end dive: TARGET_DEPTH_EXCEEDED

state 7026 begin apogee

7031 -0.16 0.0 889.3 -9.3 513 7160 0.60 0.00 123.00 1.434 6 0.138 0.000 2341 2195 2485 0 0 0 0 0 0

7161 end apogee: CONTROL_FINISHED_OK

state 7161 begin climb

7163 0.77 146.0 893.2 0.0 517 7307 0.90 1.23 130.90 1.374 4 0.071 0.053 2648 1510 1888 0 0 0 0 0 0

7479 0.77 146.0 864.7 13.1 527 7483 0.00 1.23 0.00 0.000 6 0.000 0.048 2648 2207 1881 0 0 0 0 0 0

7813 0.77 146.0 821.6 12.7 538 7816 0.00 1.17 0.00 0.000 4 0.000 0.057 2648 2906 1878 0 0 0 0 0 0

7913 0.77 146.0 808.4 12.9 541 7917 0.00 1.17 0.00 0.000 6 0.000 0.040 2653 2209 1877 0 0 0 0 0 0

8253 0.77 146.0 766.0 12.2 552 8254 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2209 1876 0 0 0 0 0 0

8558 0.77 146.0 728.0 12.5 562 8562 0.00 1.20 0.00 0.000 4 0.000 0.055 2653 2906 1876 0 0 0 0 0 0

8636 0.77 146.0 719.5 12.6 564 8641 0.00 1.20 0.00 0.000 6 0.000 0.040 2658 2190 1876 0 0 0 0 0 0

8963 0.77 146.0 677.3 12.7 575 8964 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2190 1875 0 0 0 0 0 0

9271 0.77 146.0 637.3 13.1 585 9272 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2190 1874 0 0 0 0 0 0

9575 0.77 146.0 596.5 13.2 595 9576 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2190 1874 0 0 0 0 0 0

9885 0.77 146.0 555.8 13.2 605 9886 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2190 1874 0 0 0 0 0 0

10188 0.77 146.0 515.7 13.1 615 10189 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2190 1874 0 0 0 0 0 0

10500 0.77 146.0 475.9 12.8 634 10501 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2190 1874 0 0 0 0 0 0

10818 0.77 146.0 436.3 12.8 659 10822 0.00 1.08 0.00 0.000 4 0.000 0.054 2663 1493 1874 0 0 0 0 0 0

10884 0.77 146.0 427.3 13.0 664 10888 0.00 1.15 0.00 0.000 6 0.000 0.050 2663 2201 1874 0 0 0 0 0 0

11216 0.77 146.0 383.1 13.4 690 11219 0.00 1.12 0.00 0.000 4 0.000 0.060 2663 2901 1874 0 0 0 0 0 0

11295 0.77 146.0 371.8 13.8 696 11298 0.00 1.15 0.00 0.000 6 0.000 0.042 2668 2194 1873 0 0 0 0 0 0

11623 0.77 146.0 329.9 11.7 722 11624 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2194 1874 0 0 0 0 0 0

11940 0.77 146.0 294.0 11.2 747 11944 0.00 1.20 0.00 0.000 4 0.000 0.056 2668 2906 1874 0 0 0 0 0 0

12033 0.77 146.0 283.1 11.5 754 12037 0.00 1.15 0.00 0.000 6 0.000 0.041 2673 2195 1874 0 0 0 0 0 0

12357 0.77 146.0 246.1 10.9 782 12363 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2195 1874 0 0 0 0 0 0

12694 0.77 146.0 210.5 10.2 833 12700 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2195 1874 0 0 0 0 0 0

13031 0.77 147.9 175.7 9.9 884 13040 0.00 1.05 0.00 0.000 4 0.000 0.054 2678 1499 1874 0 0 0 0 0 0

13153 0.78 155.6 164.3 9.6 902 13167 0.00 1.15 6.82 0.890 6 0.000 0.052 2678 2205 1850 0 0 0 0 0 0

13498 0.81 179.0 133.0 8.9 954 13525 0.00 0.00 21.15 0.965 6 0.000 0.000 2678 2205 1754 0 0 0 0 0 0

13855 0.81 179.0 95.3 10.9 1008 13863 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2205 1751 0 0 0 0 0 0

14195 0.81 183.7 60.6 9.8 1059 14210 0.00 1.17 4.68 0.765 4 0.000 0.060 2678 2908 1736 0 0 0 0 0 0

14270 0.84 205.4 53.2 9.0 1070 14298 0.00 1.17 20.25 0.920 6 0.000 0.043 2683 2194 1646 0 0 0 0 0 0

14628 0.87 225.1 23.2 9.1 1124 14644 0.00 1.27 11.23 0.850 4 0.000 0.057 2683 2911 1566 0 0 0 0 0 0

14752 0.88 235.8 11.2 9.5 1142 14766 0.00 1.17 5.10 0.103 6 0.000 0.042 2687 2200 1523 0 0 0 0 0 0

14843 end climb: SURFACE_DEPTH_REACHED

state 14843 begin surface coast

14866 end surface coast: CONTROL_FINISHED_OK

state 14866 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	115	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	35	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	24	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	-80660.25	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	221011,172629,6653.442,-5806.034,39,0.8,40,-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	2.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221011,173149,6653.449,-5806.026,17,1.0,18,-33.6	MHEAD_RNG_PITCHd_Wd	286.7,103884,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	889

FINISH	1.7,1.024154	_24V_AH	22.7,14.563
SM_CCo	14883,54.70,0.085,0,0,1057,350.04	_10V_AH	10.3,11.950
SM_GC	2.83,6.95,0.60,54.70,0.046,0.060,0.085,124,2514,1057,-7.06,-0.68,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	979	FG_AHR_10Vo	0.000
RAFOS	0,1319313672,20.033333,20.020000,70,55,55,0,0,0,205,182,131,0,0,0	MEM	150300
RAFOS_FIX	6655.451660,-5812.791992,221011,202020,4,114,0.55	DATA_FILE_SIZE	43375,1159
IRIDIUM_FIX	6625.71,-5804.90,221011,131306	CAP_FILE_SIZE	124906,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,240082944
HUMID	56.97	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.8246	SOUNDSPEED	1457.2
TCM_TEMP	16.20	CURRENT	0.257, 10.8,1
XPDR_PINGS	21	GPS	221011,214255,6654.800,-5811.351,36,1.8,36,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	261	101.11	SBE_CT	833	23	439.08
Roll_motor	33	71	54.93	SBE_O2	632	5	75.29
VBD_pump_during_apogee	323	1433	10515.44	nil	0	0	0.00
VBD_pump_during_surface	54	84	105.44	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	255	1223.25	nil	0	0	0.00
Transponder_ping	8	420	81.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.26
TT8	3165	18	609.99
LPSleep	9312	2	221.58
TT8_Active	526	18	101.52
TT8_Sampling	2064	41	891.56
TT8_CF8	207	47	102.65
TT8_Kalman	0	0	0.00
Analog_circuits	1711	12	211.57
GPS_charging	0	0	0.00
Compass	1834	6	127.34
RAFOS	2520	1	38.93
Transponder	25	30	7.77

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	15	begin dive
17	-0.77	-146.0	0.0	0.0	0	66	0.00	0.00	-46.53	0.000	2	0.000	0.000	125	2518	1707	0	0	0	0	0	0
69	-0.77	-146.0	3.1	-1.2	7	181	8.50	1.20	-95.28	0.000	4	0.262	0.072	2144	1806	3082	0	0	0	0	0	0
407	-0.77	-146.0	50.5	-17.3	58	414	0.00	1.23	0.00	0.000	6	0.000	0.058	2141	2513	3083	0	0	0	0	0	0
747	-0.77	-146.0	107.3	-16.1	109	753	0.00	1.12	0.00	0.000	4	0.000	0.070	2136	3214	3084	0	0	0	0	0	0
866	-0.77	-146.0	127.0	-15.8	127	873	0.00	1.12	0.00	0.000	6	0.000	0.037	2136	2500	3084	0	0	0	0	0	0
1204	-0.77	-146.0	180.0	-15.2	178	1211	0.00	1.20	0.00	0.000	4	0.000	0.067	2131	3214	3084	0	0	0	0	0	0
1238	-0.77	-146.0	185.3	-15.1	183	1245	0.00	1.10	0.00	0.000	6	0.000	0.037	2131	2512	3084	0	0	0	0	0	0
1575	-0.77	-146.0	238.0	-14.2	234	1581	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2512	3084	0	0	0	0	0	0
1902	-0.77	-146.0	284.5	-13.7	266	1904	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2512	3083	0	0	0	0	0	0
2216	-0.77	-146.0	326.5	-13.0	291	2217	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2512	3083	0	0	0	0	0	0
2532	-0.77	-146.0	368.1	-13.4	316	2533	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2512	3083	0	0	0	0	0	0
2849	-0.77	-146.0	407.2	-12.2	341	2850	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2512	3083	0	0	0	0	0	0
3163	-0.77	-146.0	445.4	-11.8	366	3164	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2512	3083	0	0	0	0	0	0
3478	-0.77	-146.0	484.1	-12.6	391	3480	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2512	3083	0	0	0	0	0	0
3801	-0.77	-146.0	524.1	-12.4	408	3803	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2512	3083	0	0	0	0	0	0
4107	-0.77	-146.0	561.8	-12.3	418	4111	0.00	1.17	0.00	0.000	4	0.000	0.069	2126	3217	3084	0	0	0	0	0	0
4145	-0.77	-146.0	565.7	-12.2	419	4150	0.00	1.12	0.00	0.000	6	0.000	0.035	2126	2501	3084	0	0	0	0	0	0
4479	-0.77	-146.0	607.0	-12.2	430	4480	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2501	3084	0	0	0	0	0	0
4785	-0.77	-146.0	643.8	-11.9	440	4786	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2501	3084	0	0	0	0	0	0
5091	-0.77	-146.0	679.3	-11.4	450	5092	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2501	3084	0	0	0	0	0	0
5398	-0.77	-146.0	714.3	-11.5	460	5399	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2501	3085	0	0	0	0	0	0
5703	-0.77	-146.0	749.6	-11.6	470	5705	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2501	3085	0	0	0	0	0	0
6010	-0.77	-146.0	784.8	-11.5	480	6011	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2501	3085	0	0	0	0	0	0
6318	-0.77	-146.0	819.1	-11.3	490	6321	0.00	1.17	0.00	0.000	4	0.000	0.067	2121	3213	3085	0	0	0	0	0	0
6350	-0.77	-146.0	823.1	-11.3	491	6355	0.08	1.08	0.00	0.000	6	0.164	0.034	2145	2506	3085	0	0	0	0	0	0
6689	-0.77	-146.0	856.9	-10.1	502	6691	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2506	3085	0	0	0	0	0	0
6996	-0.77	-146.0	886.3	-9.3	512	6998	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2506	3085	0	0	0	0	0	0
7026	end dive: TARGET_DEPTH_EXCEEDED
state	7026	begin apogee
7031	-0.16	0.0	889.3	-9.3	513	7160	0.60	0.00	123.00	1.434	6	0.138	0.000	2341	2195	2485	0	0	0	0	0	0
7161	end apogee: CONTROL_FINISHED_OK
state	7161	begin climb
7163	0.77	146.0	893.2	0.0	517	7307	0.90	1.23	130.90	1.374	4	0.071	0.053	2648	1510	1888	0	0	0	0	0	0
7479	0.77	146.0	864.7	13.1	527	7483	0.00	1.23	0.00	0.000	6	0.000	0.048	2648	2207	1881	0	0	0	0	0	0
7813	0.77	146.0	821.6	12.7	538	7816	0.00	1.17	0.00	0.000	4	0.000	0.057	2648	2906	1878	0	0	0	0	0	0
7913	0.77	146.0	808.4	12.9	541	7917	0.00	1.17	0.00	0.000	6	0.000	0.040	2653	2209	1877	0	0	0	0	0	0
8253	0.77	146.0	766.0	12.2	552	8254	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2209	1876	0	0	0	0	0	0
8558	0.77	146.0	728.0	12.5	562	8562	0.00	1.20	0.00	0.000	4	0.000	0.055	2653	2906	1876	0	0	0	0	0	0
8636	0.77	146.0	719.5	12.6	564	8641	0.00	1.20	0.00	0.000	6	0.000	0.040	2658	2190	1876	0	0	0	0	0	0
8963	0.77	146.0	677.3	12.7	575	8964	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2190	1875	0	0	0	0	0	0
9271	0.77	146.0	637.3	13.1	585	9272	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2190	1874	0	0	0	0	0	0
9575	0.77	146.0	596.5	13.2	595	9576	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2190	1874	0	0	0	0	0	0
9885	0.77	146.0	555.8	13.2	605	9886	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2190	1874	0	0	0	0	0	0
10188	0.77	146.0	515.7	13.1	615	10189	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2190	1874	0	0	0	0	0	0
10500	0.77	146.0	475.9	12.8	634	10501	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2190	1874	0	0	0	0	0	0
10818	0.77	146.0	436.3	12.8	659	10822	0.00	1.08	0.00	0.000	4	0.000	0.054	2663	1493	1874	0	0	0	0	0	0
10884	0.77	146.0	427.3	13.0	664	10888	0.00	1.15	0.00	0.000	6	0.000	0.050	2663	2201	1874	0	0	0	0	0	0
11216	0.77	146.0	383.1	13.4	690	11219	0.00	1.12	0.00	0.000	4	0.000	0.060	2663	2901	1874	0	0	0	0	0	0
11295	0.77	146.0	371.8	13.8	696	11298	0.00	1.15	0.00	0.000	6	0.000	0.042	2668	2194	1873	0	0	0	0	0	0
11623	0.77	146.0	329.9	11.7	722	11624	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2194	1874	0	0	0	0	0	0
11940	0.77	146.0	294.0	11.2	747	11944	0.00	1.20	0.00	0.000	4	0.000	0.056	2668	2906	1874	0	0	0	0	0	0
12033	0.77	146.0	283.1	11.5	754	12037	0.00	1.15	0.00	0.000	6	0.000	0.041	2673	2195	1874	0	0	0	0	0	0
12357	0.77	146.0	246.1	10.9	782	12363	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2195	1874	0	0	0	0	0	0
12694	0.77	146.0	210.5	10.2	833	12700	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2195	1874	0	0	0	0	0	0
13031	0.77	147.9	175.7	9.9	884	13040	0.00	1.05	0.00	0.000	4	0.000	0.054	2678	1499	1874	0	0	0	0	0	0
13153	0.78	155.6	164.3	9.6	902	13167	0.00	1.15	6.82	0.890	6	0.000	0.052	2678	2205	1850	0	0	0	0	0	0
13498	0.81	179.0	133.0	8.9	954	13525	0.00	0.00	21.15	0.965	6	0.000	0.000	2678	2205	1754	0	0	0	0	0	0
13855	0.81	179.0	95.3	10.9	1008	13863	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2205	1751	0	0	0	0	0	0
14195	0.81	183.7	60.6	9.8	1059	14210	0.00	1.17	4.68	0.765	4	0.000	0.060	2678	2908	1736	0	0	0	0	0	0
14270	0.84	205.4	53.2	9.0	1070	14298	0.00	1.17	20.25	0.920	6	0.000	0.043	2683	2194	1646	0	0	0	0	0	0
14628	0.87	225.1	23.2	9.1	1124	14644	0.00	1.27	11.23	0.850	4	0.000	0.057	2683	2911	1566	0	0	0	0	0	0
14752	0.88	235.8	11.2	9.5	1142	14766	0.00	1.17	5.10	0.103	6	0.000	0.042	2687	2200	1523	0	0	0	0	0	0
14843	end climb: SURFACE_DEPTH_REACHED
state	14843	begin surface coast
14866	end surface coast: CONTROL_FINISHED_OK
state	14866	begin surface