Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 117 * 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 117 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 37 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 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 -80662.766 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 -80662.766

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 37 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 22 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 117 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 231011,021123,6653.189,-5812.029,40,0.8,41,-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 2.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231011,021700,6653.225,-5811.919,28,0.8,29,-33.6 MHEAD_RNG_PITCHd_Wd 279.9,99565,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 860

Post-dive calculations and measurements:

FINISH 1.8,1.024824 _24V_AH 22.7,14.812

SM_CCo 14651,54.08,0.085,0,0,1057,350.04 _10V_AH 10.3,12.123

SM_GC 2.24,6.97,0.60,54.08,0.046,0.052,0.085,124,2514,1057,-7.06,-0.71,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 959 FG_AHR_10Vo 0.000

RAFOS 0,1319342484,4.033333,4.023334,61,59,53,0,0,0,181,190,135,0,0,0 MEM 150244

RAFOS_FIX 6655.002930,-5815.825195,231011,000000,5,102,0.32 DATA_FILE_SIZE 43276,1157

IRIDIUM_FIX 6631.12,-5811.32,221011,212139 CAP_FILE_SIZE 126298,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,239947776

HUMID 57.32 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.8246 SOUNDSPEED 1456.9

TCM_TEMP 16.30 CURRENT 0.167,108.8,1

XPDR_PINGS 20 GPS 231011,062405,6651.685,-5814.463,37,1.0,38,-33.6

ALTIM_BOTTOM_PING 752.1,125.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 259 100.67 SBE_CT 832 23 438.72

Roll_motor 38 73 64.31 SBE_O2 634 5 75.50

VBD_pump_during_apogee 327 1415 10513.29 nil 0 0 0.00

VBD_pump_during_surface 54 84 104.23 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 214 248 1210.73 nil 0 0 0.00

Transponder_ping 7 420 73.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 29 26 8.27

TT8 3214 18 619.42

LPSleep 8950 2 212.97

TT8_Active 518 18 99.95

TT8_Sampling 2157 41 931.76

TT8_CF8 209 47 103.32

TT8_Kalman 0 0 0.00

Analog_circuits 1744 12 215.61

GPS_charging 0 0 0.00

Compass 1913 6 132.82

RAFOS 2520 1 38.93

Transponder 21 30 6.69

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 83 0.00 0.00 -64.00 0.000 2 0.000 0.000 119 2520 1948 0 0 0 0 0 0

86 -0.77 -146.0 3.1 -1.1 9 160 8.50 1.20 -57.22 0.000 4 0.259 0.073 2145 1811 3082 0 0 0 0 0 0

384 -0.77 -146.0 49.3 -15.0 54 391 0.00 1.23 0.00 0.000 6 0.000 0.061 2142 2511 3084 0 0 0 0 0 0

724 -0.77 -146.0 100.8 -15.0 105 730 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2511 3084 0 0 0 0 0 0

1060 -0.77 -146.0 150.4 -14.1 156 1068 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2511 3084 0 0 0 0 0 0

1398 -0.77 -146.0 200.4 -14.3 207 1404 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2511 3084 0 0 0 0 0 0

1734 -0.77 -146.0 245.8 -12.9 258 1742 0.00 1.12 0.00 0.000 4 0.000 0.073 2137 3212 3084 0 0 0 0 0 0

1855 -0.77 -146.0 262.0 -13.3 270 1859 0.00 1.10 0.00 0.000 6 0.000 0.039 2137 2509 3084 0 0 0 0 0 0

2184 -0.77 -146.0 304.7 -13.0 296 2185 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2509 3083 0 0 0 0 0 0

2501 -0.77 -146.0 344.0 -11.8 321 2503 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2509 3083 0 0 0 0 0 0

2815 -0.77 -146.0 380.9 -11.8 346 2819 0.00 1.10 0.00 0.000 4 0.000 0.049 2137 1811 3083 0 0 0 0 0 0

2860 -0.77 -146.0 385.3 -11.0 349 2868 0.00 1.23 0.00 0.000 6 0.000 0.059 2132 2515 3083 0 0 0 0 0 0

3184 -0.77 -146.0 421.3 -10.9 375 3185 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2514 3083 0 0 0 0 0 0

3499 -0.77 -146.0 456.5 -11.5 400 3502 0.00 1.12 0.00 0.000 4 0.000 0.071 2127 3220 3084 0 0 0 0 0 0

3596 -0.77 -146.0 467.8 -12.0 407 3604 0.00 1.12 0.00 0.000 6 0.000 0.036 2127 2508 3084 0 0 0 0 0 0

3931 -0.77 -146.0 508.8 -12.2 431 3932 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2508 3084 0 0 0 0 0 0

4238 -0.77 -146.0 546.5 -12.5 441 4239 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2508 3084 0 0 0 0 0 0

4542 -0.77 -146.0 584.7 -12.5 451 4543 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2508 3084 0 0 0 0 0 0

4850 -0.77 -146.0 622.9 -12.3 461 4851 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2508 3085 0 0 0 0 0 0

5157 -0.77 -146.0 659.9 -12.0 471 5158 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2508 3085 0 0 0 0 0 0

5463 -0.77 -146.0 696.4 -11.8 481 5466 0.00 1.08 0.00 0.000 4 0.000 0.046 2127 1816 3085 0 0 0 0 0 0

5500 -0.77 -146.0 700.5 -11.7 482 5506 0.12 1.20 0.00 0.000 6 0.177 0.057 2151 2512 3085 0 0 0 0 0 0

5836 -0.77 -146.0 734.3 -10.3 493 5837 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2512 3085 0 0 0 0 0 0

6141 -0.77 -146.0 763.8 -9.5 503 6142 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2512 3085 0 0 0 0 0 0

6448 -0.77 -146.0 792.7 -9.4 513 6452 0.00 1.10 0.00 0.000 4 0.000 0.070 2149 3210 3085 0 0 0 0 0 0

6520 -0.77 -146.0 799.2 -9.5 515 6524 0.00 1.10 0.00 0.000 6 0.000 0.033 2149 2502 3085 0 0 0 0 0 0

6854 -0.77 -146.0 831.2 -9.3 526 6857 0.00 1.17 0.00 0.000 4 0.000 0.067 2144 3213 3085 0 0 0 0 0 0

6905 -0.77 -146.0 834.2 -9.2 527 6909 0.00 1.10 0.00 0.000 6 0.000 0.032 2144 2504 3085 0 0 0 0 0 0

7162 end dive: TARGET_DEPTH_EXCEEDED

state 7162 begin apogee

7168 -0.16 0.0 860.9 -9.8 536 7297 0.60 0.00 122.70 1.415 6 0.134 0.000 2340 2191 2485 0 0 0 0 0 0

7297 end apogee: CONTROL_FINISHED_OK

state 7297 begin climb

7300 0.77 146.0 864.7 0.0 540 7438 0.90 1.20 130.43 1.355 4 0.070 0.052 2648 1511 1888 0 0 0 0 0 0

7530 0.77 146.0 848.5 12.0 547 7535 0.00 1.25 0.00 0.000 6 0.000 0.047 2648 2205 1882 0 0 0 0 0 0

7852 0.77 146.0 804.8 13.0 558 7853 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2205 1878 0 0 0 0 0 0

8158 0.77 146.0 765.1 12.8 568 8161 0.00 1.17 0.00 0.000 4 0.000 0.057 2648 2910 1877 0 0 0 0 0 0

8295 0.77 146.0 747.3 13.4 572 8300 0.00 1.20 0.00 0.000 6 0.000 0.039 2653 2202 1876 0 0 0 0 0 0

8630 0.77 146.0 703.3 12.9 583 8631 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2202 1876 0 0 0 0 0 0

8935 0.77 146.0 664.4 12.6 593 8936 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2202 1875 0 0 0 0 0 0

9242 0.77 146.0 625.7 12.6 603 9245 0.00 1.20 0.00 0.000 4 0.000 0.057 2653 2902 1874 0 0 0 0 0 0

9379 0.77 146.0 608.5 13.0 607 9383 0.00 1.17 0.00 0.000 6 0.000 0.042 2658 2199 1874 0 0 0 0 0 0

9714 0.77 146.0 566.2 12.7 618 9715 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2198 1874 0 0 0 0 0 0

10019 0.77 146.0 527.6 12.5 628 10023 0.00 1.20 0.00 0.000 4 0.000 0.055 2657 2905 1874 0 0 0 0 0 0

10118 0.77 146.0 514.6 13.0 631 10121 0.00 1.15 0.00 0.000 6 0.000 0.041 2662 2200 1874 0 0 0 0 0 0

10445 0.77 146.0 471.9 13.4 651 10446 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2200 1874 0 0 0 0 0 0

10760 0.77 146.0 430.3 13.3 676 10764 0.00 1.20 0.00 0.000 4 0.000 0.057 2662 2907 1873 0 0 0 0 0 0

10867 0.77 146.0 415.7 13.9 684 10870 0.00 1.15 0.00 0.000 6 0.000 0.041 2667 2198 1873 0 0 0 0 0 0

11198 0.77 146.0 372.1 12.9 710 11202 0.00 1.20 0.00 0.000 4 0.000 0.055 2667 2908 1873 0 0 0 0 0 0

11252 0.77 146.0 364.7 13.3 714 11256 0.00 1.15 0.00 0.000 6 0.000 0.041 2672 2198 1873 0 0 0 0 0 0

11582 0.77 146.0 322.7 12.5 740 11586 0.00 1.20 0.00 0.000 4 0.000 0.054 2672 2913 1873 0 0 0 0 0 0

11785 0.77 146.0 296.5 13.0 755 11793 0.00 1.17 0.00 0.000 6 0.000 0.040 2676 2196 1873 0 0 0 0 0 0

12110 0.77 146.0 257.1 11.8 781 12111 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2195 1873 0 0 0 0 0 0

12436 0.77 146.0 220.6 10.4 826 12442 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2195 1873 0 0 0 0 0 0

12774 0.77 146.0 186.7 10.2 877 12782 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2196 1873 0 0 0 0 0 0

13113 0.77 146.0 151.0 10.6 928 13120 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2196 1873 0 0 0 0 0 0

13450 0.82 184.5 118.8 8.2 979 13484 0.00 1.27 30.65 0.961 4 0.000 0.055 2677 2917 1731 0 0 0 0 0 0

13649 0.82 184.5 97.9 10.8 1009 13659 0.00 1.17 0.00 0.000 6 0.000 0.041 2681 2202 1729 0 0 0 0 0 0

13989 0.85 208.9 65.6 8.9 1060 14016 0.00 0.00 20.92 0.924 6 0.000 0.000 2681 2202 1632 0 0 0 0 0 0

14348 0.88 236.6 30.5 8.7 1114 14377 0.00 1.27 22.55 0.904 4 0.000 0.057 2681 2912 1520 0 0 0 0 0 0

14595 0.88 236.6 4.7 12.7 1151 14602 0.00 1.17 0.00 0.000 6 0.000 0.037 2686 2196 1515 0 0 0 0 0 0

14619 end climb: SURFACE_DEPTH_REACHED

state 14620 begin surface coast

14634 end surface coast: CONTROL_FINISHED_OK

state 14634 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	117	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	37	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	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	-80662.766	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	231011,021123,6653.189,-5812.029,40,0.8,41,-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	2.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231011,021700,6653.225,-5811.919,28,0.8,29,-33.6	MHEAD_RNG_PITCHd_Wd	279.9,99565,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	860

FINISH	1.8,1.024824	_24V_AH	22.7,14.812
SM_CCo	14651,54.08,0.085,0,0,1057,350.04	_10V_AH	10.3,12.123
SM_GC	2.24,6.97,0.60,54.08,0.046,0.052,0.085,124,2514,1057,-7.06,-0.71,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	959	FG_AHR_10Vo	0.000
RAFOS	0,1319342484,4.033333,4.023334,61,59,53,0,0,0,181,190,135,0,0,0	MEM	150244
RAFOS_FIX	6655.002930,-5815.825195,231011,000000,5,102,0.32	DATA_FILE_SIZE	43276,1157
IRIDIUM_FIX	6631.12,-5811.32,221011,212139	CAP_FILE_SIZE	126298,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,239947776
HUMID	57.32	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.8246	SOUNDSPEED	1456.9
TCM_TEMP	16.30	CURRENT	0.167,108.8,1
XPDR_PINGS	20	GPS	231011,062405,6651.685,-5814.463,37,1.0,38,-33.6
ALTIM_BOTTOM_PING	752.1,125.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	259	100.67	SBE_CT	832	23	438.72
Roll_motor	38	73	64.31	SBE_O2	634	5	75.50
VBD_pump_during_apogee	327	1415	10513.29	nil	0	0	0.00
VBD_pump_during_surface	54	84	104.23	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	214	248	1210.73	nil	0	0	0.00
Transponder_ping	7	420	73.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	29	26	8.27
TT8	3214	18	619.42
LPSleep	8950	2	212.97
TT8_Active	518	18	99.95
TT8_Sampling	2157	41	931.76
TT8_CF8	209	47	103.32
TT8_Kalman	0	0	0.00
Analog_circuits	1744	12	215.61
GPS_charging	0	0	0.00
Compass	1913	6	132.82
RAFOS	2520	1	38.93
Transponder	21	30	6.69

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	83	0.00	0.00	-64.00	0.000	2	0.000	0.000	119	2520	1948	0	0	0	0	0	0
86	-0.77	-146.0	3.1	-1.1	9	160	8.50	1.20	-57.22	0.000	4	0.259	0.073	2145	1811	3082	0	0	0	0	0	0
384	-0.77	-146.0	49.3	-15.0	54	391	0.00	1.23	0.00	0.000	6	0.000	0.061	2142	2511	3084	0	0	0	0	0	0
724	-0.77	-146.0	100.8	-15.0	105	730	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2511	3084	0	0	0	0	0	0
1060	-0.77	-146.0	150.4	-14.1	156	1068	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2511	3084	0	0	0	0	0	0
1398	-0.77	-146.0	200.4	-14.3	207	1404	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2511	3084	0	0	0	0	0	0
1734	-0.77	-146.0	245.8	-12.9	258	1742	0.00	1.12	0.00	0.000	4	0.000	0.073	2137	3212	3084	0	0	0	0	0	0
1855	-0.77	-146.0	262.0	-13.3	270	1859	0.00	1.10	0.00	0.000	6	0.000	0.039	2137	2509	3084	0	0	0	0	0	0
2184	-0.77	-146.0	304.7	-13.0	296	2185	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2509	3083	0	0	0	0	0	0
2501	-0.77	-146.0	344.0	-11.8	321	2503	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2509	3083	0	0	0	0	0	0
2815	-0.77	-146.0	380.9	-11.8	346	2819	0.00	1.10	0.00	0.000	4	0.000	0.049	2137	1811	3083	0	0	0	0	0	0
2860	-0.77	-146.0	385.3	-11.0	349	2868	0.00	1.23	0.00	0.000	6	0.000	0.059	2132	2515	3083	0	0	0	0	0	0
3184	-0.77	-146.0	421.3	-10.9	375	3185	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2514	3083	0	0	0	0	0	0
3499	-0.77	-146.0	456.5	-11.5	400	3502	0.00	1.12	0.00	0.000	4	0.000	0.071	2127	3220	3084	0	0	0	0	0	0
3596	-0.77	-146.0	467.8	-12.0	407	3604	0.00	1.12	0.00	0.000	6	0.000	0.036	2127	2508	3084	0	0	0	0	0	0
3931	-0.77	-146.0	508.8	-12.2	431	3932	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2508	3084	0	0	0	0	0	0
4238	-0.77	-146.0	546.5	-12.5	441	4239	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2508	3084	0	0	0	0	0	0
4542	-0.77	-146.0	584.7	-12.5	451	4543	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2508	3084	0	0	0	0	0	0
4850	-0.77	-146.0	622.9	-12.3	461	4851	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2508	3085	0	0	0	0	0	0
5157	-0.77	-146.0	659.9	-12.0	471	5158	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2508	3085	0	0	0	0	0	0
5463	-0.77	-146.0	696.4	-11.8	481	5466	0.00	1.08	0.00	0.000	4	0.000	0.046	2127	1816	3085	0	0	0	0	0	0
5500	-0.77	-146.0	700.5	-11.7	482	5506	0.12	1.20	0.00	0.000	6	0.177	0.057	2151	2512	3085	0	0	0	0	0	0
5836	-0.77	-146.0	734.3	-10.3	493	5837	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2512	3085	0	0	0	0	0	0
6141	-0.77	-146.0	763.8	-9.5	503	6142	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2512	3085	0	0	0	0	0	0
6448	-0.77	-146.0	792.7	-9.4	513	6452	0.00	1.10	0.00	0.000	4	0.000	0.070	2149	3210	3085	0	0	0	0	0	0
6520	-0.77	-146.0	799.2	-9.5	515	6524	0.00	1.10	0.00	0.000	6	0.000	0.033	2149	2502	3085	0	0	0	0	0	0
6854	-0.77	-146.0	831.2	-9.3	526	6857	0.00	1.17	0.00	0.000	4	0.000	0.067	2144	3213	3085	0	0	0	0	0	0
6905	-0.77	-146.0	834.2	-9.2	527	6909	0.00	1.10	0.00	0.000	6	0.000	0.032	2144	2504	3085	0	0	0	0	0	0
7162	end dive: TARGET_DEPTH_EXCEEDED
state	7162	begin apogee
7168	-0.16	0.0	860.9	-9.8	536	7297	0.60	0.00	122.70	1.415	6	0.134	0.000	2340	2191	2485	0	0	0	0	0	0
7297	end apogee: CONTROL_FINISHED_OK
state	7297	begin climb
7300	0.77	146.0	864.7	0.0	540	7438	0.90	1.20	130.43	1.355	4	0.070	0.052	2648	1511	1888	0	0	0	0	0	0
7530	0.77	146.0	848.5	12.0	547	7535	0.00	1.25	0.00	0.000	6	0.000	0.047	2648	2205	1882	0	0	0	0	0	0
7852	0.77	146.0	804.8	13.0	558	7853	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2205	1878	0	0	0	0	0	0
8158	0.77	146.0	765.1	12.8	568	8161	0.00	1.17	0.00	0.000	4	0.000	0.057	2648	2910	1877	0	0	0	0	0	0
8295	0.77	146.0	747.3	13.4	572	8300	0.00	1.20	0.00	0.000	6	0.000	0.039	2653	2202	1876	0	0	0	0	0	0
8630	0.77	146.0	703.3	12.9	583	8631	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2202	1876	0	0	0	0	0	0
8935	0.77	146.0	664.4	12.6	593	8936	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2202	1875	0	0	0	0	0	0
9242	0.77	146.0	625.7	12.6	603	9245	0.00	1.20	0.00	0.000	4	0.000	0.057	2653	2902	1874	0	0	0	0	0	0
9379	0.77	146.0	608.5	13.0	607	9383	0.00	1.17	0.00	0.000	6	0.000	0.042	2658	2199	1874	0	0	0	0	0	0
9714	0.77	146.0	566.2	12.7	618	9715	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2198	1874	0	0	0	0	0	0
10019	0.77	146.0	527.6	12.5	628	10023	0.00	1.20	0.00	0.000	4	0.000	0.055	2657	2905	1874	0	0	0	0	0	0
10118	0.77	146.0	514.6	13.0	631	10121	0.00	1.15	0.00	0.000	6	0.000	0.041	2662	2200	1874	0	0	0	0	0	0
10445	0.77	146.0	471.9	13.4	651	10446	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2200	1874	0	0	0	0	0	0
10760	0.77	146.0	430.3	13.3	676	10764	0.00	1.20	0.00	0.000	4	0.000	0.057	2662	2907	1873	0	0	0	0	0	0
10867	0.77	146.0	415.7	13.9	684	10870	0.00	1.15	0.00	0.000	6	0.000	0.041	2667	2198	1873	0	0	0	0	0	0
11198	0.77	146.0	372.1	12.9	710	11202	0.00	1.20	0.00	0.000	4	0.000	0.055	2667	2908	1873	0	0	0	0	0	0
11252	0.77	146.0	364.7	13.3	714	11256	0.00	1.15	0.00	0.000	6	0.000	0.041	2672	2198	1873	0	0	0	0	0	0
11582	0.77	146.0	322.7	12.5	740	11586	0.00	1.20	0.00	0.000	4	0.000	0.054	2672	2913	1873	0	0	0	0	0	0
11785	0.77	146.0	296.5	13.0	755	11793	0.00	1.17	0.00	0.000	6	0.000	0.040	2676	2196	1873	0	0	0	0	0	0
12110	0.77	146.0	257.1	11.8	781	12111	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2195	1873	0	0	0	0	0	0
12436	0.77	146.0	220.6	10.4	826	12442	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2195	1873	0	0	0	0	0	0
12774	0.77	146.0	186.7	10.2	877	12782	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2196	1873	0	0	0	0	0	0
13113	0.77	146.0	151.0	10.6	928	13120	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2196	1873	0	0	0	0	0	0
13450	0.82	184.5	118.8	8.2	979	13484	0.00	1.27	30.65	0.961	4	0.000	0.055	2677	2917	1731	0	0	0	0	0	0
13649	0.82	184.5	97.9	10.8	1009	13659	0.00	1.17	0.00	0.000	6	0.000	0.041	2681	2202	1729	0	0	0	0	0	0
13989	0.85	208.9	65.6	8.9	1060	14016	0.00	0.00	20.92	0.924	6	0.000	0.000	2681	2202	1632	0	0	0	0	0	0
14348	0.88	236.6	30.5	8.7	1114	14377	0.00	1.27	22.55	0.904	4	0.000	0.057	2681	2912	1520	0	0	0	0	0	0
14595	0.88	236.6	4.7	12.7	1151	14602	0.00	1.17	0.00	0.000	6	0.000	0.037	2686	2196	1515	0	0	0	0	0	0
14619	end climb: SURFACE_DEPTH_REACHED
state	14620	begin surface coast
14634	end surface coast: CONTROL_FINISHED_OK
state	14634	begin surface