Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 118 * 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 118 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 38 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 26 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 -80664.023 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 -80664.023

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 38 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 26 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 118 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 231011,062405,6651.685,-5814.463,37,1.0,38,-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 -66.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231011,062901,6651.679,-5814.479,20,0.9,21,-33.6 MHEAD_RNG_PITCHd_Wd 312.3,97261,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 822

Post-dive calculations and measurements:

FINISH 1.6,1.024868 _24V_AH 22.7,14.945

SM_CCo 13751,1.20,0.093,0,0,1058,350.04 _10V_AH 10.3,12.204

SM_GC 3.62,7.38,1.80,1.20,0.054,0.055,0.093,121,2515,1058,-7.08,-0.59,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 899 FG_AHR_10Vo 0.000

RAFOS 0,1319356885,8.033334,8.023611,66,64,64,0,0,0,220,203,125,0,0,0 MEM 150288

RAFOS_FIX 6654.869629,-5817.837402,231011,080840,3,98,0.80 DATA_FILE_SIZE 43341,1129

IRIDIUM_FIX 6625.71,-5809.55,231011,020209 CAP_FILE_SIZE 122904,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,239882240

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

INTERNAL_PRESSURE 9.8246 SOUNDSPEED 1456.5

TCM_TEMP 16.10 CURRENT 0.199, 41.2,1

XPDR_PINGS 17 GPS 231011,102052,6653.227,-5817.888,46,2.9,66,-33.6

ALTIM_BOTTOM_PING 750.1,133.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 258 104.18 SBE_CT 810 23 427.36

Roll_motor 40 75 70.10 SBE_O2 628 5 74.78

VBD_pump_during_apogee 391 1393 12392.10 nil 0 0 0.00

VBD_pump_during_surface 1 92 2.52 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 183 256 1068.73 nil 0 0 0.00

Transponder_ping 7 420 66.74 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 6.07

TT8 3101 18 597.65

LPSleep 8210 2 195.34

TT8_Active 518 18 99.86

TT8_Sampling 2037 41 879.77

TT8_CF8 199 47 98.69

TT8_Kalman 0 0 0.00

Analog_circuits 1677 12 207.38

GPS_charging 0 0 0.00

Compass 1832 6 127.24

RAFOS 2520 1 38.93

Transponder 21 30 6.70

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

16 -0.77 -146.0 0.0 0.0 0 79 0.00 0.00 -59.88 0.000 2 0.000 0.000 124 2518 1900 0 0 0 0 0 0

82 -0.77 -146.0 3.0 -0.3 9 152 8.45 1.23 -53.25 0.000 4 0.259 0.076 2150 1808 3083 0 0 0 0 0 0

358 -0.77 -146.0 46.5 -16.3 50 367 0.00 1.20 0.00 0.000 6 0.000 0.058 2147 2500 3084 0 0 0 0 0 0

698 -0.77 -146.0 99.9 -15.7 101 705 0.00 1.15 0.00 0.000 4 0.000 0.070 2141 3213 3085 0 0 0 0 0 0

744 -0.77 -146.0 107.1 -15.5 108 751 0.00 1.12 0.00 0.000 6 0.000 0.037 2142 2500 3085 0 0 0 0 0 0

1082 -0.77 -146.0 157.0 -14.9 159 1088 0.00 1.20 0.00 0.000 4 0.000 0.068 2137 3213 3084 0 0 0 0 0 0

1140 -0.77 -146.0 166.0 -15.2 168 1147 0.00 1.10 0.00 0.000 6 0.000 0.037 2137 2511 3084 0 0 0 0 0 0

1479 -0.77 -146.0 212.8 -13.7 219 1485 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2510 3084 0 0 0 0 0 0

1812 -0.77 -146.0 258.9 -14.0 265 1813 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2510 3084 0 0 0 0 0 0

2129 -0.77 -146.0 300.8 -13.0 290 2130 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2510 3084 0 0 0 0 0 0

2445 -0.77 -146.0 343.1 -13.0 315 2446 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2510 3083 0 0 0 0 0 0

2759 -0.77 -146.0 384.4 -12.9 340 2760 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2510 3083 0 0 0 0 0 0

3075 -0.77 -146.0 422.9 -11.9 365 3076 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2511 3084 0 0 0 0 0 0

3390 -0.77 -146.0 461.3 -12.1 390 3391 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2511 3083 0 0 0 0 0 0

3707 -0.77 -146.0 498.5 -11.4 415 3708 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2510 3084 0 0 0 0 0 0

4038 -0.77 -146.0 537.0 -11.6 427 4042 0.00 1.17 0.00 0.000 4 0.000 0.068 2132 3216 3084 0 0 0 0 0 0

4056 -0.77 -146.0 537.0 -11.6 427 4061 0.00 1.12 0.00 0.000 6 0.000 0.034 2132 2499 3084 0 0 0 0 0 0

4377 -0.77 -146.0 576.7 -11.6 438 4378 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2499 3084 0 0 0 0 0 0

4683 -0.77 -146.0 612.3 -11.7 448 4684 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2500 3084 0 0 0 0 0 0

4989 -0.77 -146.0 648.2 -11.5 458 4992 0.00 1.17 0.00 0.000 4 0.000 0.066 2128 3211 3084 0 0 0 0 0 0

5000 -0.77 -146.0 648.2 -11.5 458 5005 0.00 1.10 0.00 0.000 6 0.000 0.033 2127 2506 3085 0 0 0 0 0 0

5327 -0.77 -146.0 687.7 -11.6 469 5331 0.00 1.17 0.00 0.000 4 0.000 0.066 2123 3216 3085 0 0 0 0 0 0

5352 -0.77 -146.0 687.7 -11.6 469 5359 0.00 1.12 0.00 0.000 6 0.000 0.033 2123 2497 3085 0 0 0 0 0 0

5666 -0.77 -146.0 728.2 -11.9 480 5667 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2497 3085 0 0 0 0 0 0

5973 -0.77 -146.0 764.5 -11.9 490 5974 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2497 3085 0 0 0 0 0 0

6278 -0.77 -146.0 800.4 -11.8 500 6282 0.00 1.20 0.00 0.000 4 0.000 0.067 2118 3221 3085 0 0 0 0 0 0

6295 -0.77 -146.0 800.4 -11.8 500 6301 0.12 1.12 0.00 0.000 6 0.175 0.033 2147 2499 3085 0 0 0 0 0 0

6493 end dive: TARGET_DEPTH_EXCEEDED

state 6493 begin apogee

6499 -0.16 0.0 822.7 -9.9 507 6627 0.60 0.00 122.00 1.393 6 0.137 0.000 2344 2184 2485 0 0 0 0 0 0

6628 end apogee: CONTROL_FINISHED_OK

state 6628 begin climb

6630 0.77 146.0 827.5 0.0 511 6768 0.90 1.20 130.18 1.341 4 0.070 0.053 2654 1513 1889 0 0 0 0 0 0

7018 0.77 146.0 792.2 12.9 522 7023 0.00 1.23 0.00 0.000 6 0.000 0.048 2654 2206 1880 0 0 0 0 0 0

7339 0.77 146.0 747.8 13.3 533 7342 0.00 1.17 0.00 0.000 4 0.000 0.057 2654 2908 1878 0 0 0 0 0 0

7456 0.77 146.0 734.3 13.4 536 7461 0.00 1.20 0.00 0.000 6 0.000 0.038 2659 2204 1877 0 0 0 0 0 0

7779 0.77 146.0 690.5 12.9 547 7783 0.00 1.12 0.00 0.000 4 0.000 0.053 2664 1493 1876 0 0 0 0 0 0

7837 0.77 146.0 686.0 12.9 548 7845 0.00 1.20 0.00 0.000 6 0.000 0.047 2664 2203 1876 0 0 0 0 0 0

8152 0.77 146.0 641.5 13.2 559 8156 0.00 1.15 0.00 0.000 4 0.000 0.057 2664 2908 1876 0 0 0 0 0 0

8269 0.77 146.0 628.0 13.3 562 8275 0.00 1.20 0.00 0.000 6 0.000 0.039 2669 2190 1875 0 0 0 0 0 0

8590 0.77 146.0 582.8 13.4 573 8591 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2190 1875 0 0 0 0 0 0

8898 0.77 146.0 542.1 13.5 583 8899 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2190 1874 0 0 0 0 0 0

9202 0.77 146.0 500.7 13.6 593 9203 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2190 1874 0 0 0 0 0 0

9524 0.77 146.0 457.3 13.1 617 9527 0.00 1.23 0.00 0.000 4 0.000 0.057 2669 2908 1874 0 0 0 0 0 0

9682 0.77 146.0 435.3 14.0 629 9686 0.00 1.15 0.00 0.000 6 0.000 0.041 2674 2202 1874 0 0 0 0 0 0

10014 0.77 146.0 391.1 13.3 655 10015 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2202 1874 0 0 0 0 0 0

10326 0.77 146.0 351.1 12.5 680 10328 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2202 1874 0 0 0 0 0 0

10644 0.77 146.0 311.7 12.2 705 10647 0.00 1.20 0.00 0.000 4 0.000 0.057 2674 2911 1874 0 0 0 0 0 0

10754 0.77 146.0 297.8 12.8 713 10763 0.12 1.17 0.00 0.000 6 0.179 0.040 2650 2194 1874 0 0 0 0 0 0

11079 0.77 146.0 262.5 10.1 739 11083 0.00 1.08 0.00 0.000 4 0.000 0.052 2654 1492 1874 0 0 0 0 0 0

11172 0.77 146.0 252.7 10.6 746 11175 0.00 1.15 0.00 0.000 6 0.000 0.049 2654 2202 1874 0 0 0 0 0 0

11510 0.77 146.0 216.9 10.5 795 11516 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2202 1874 0 0 0 0 0 0

11848 0.78 159.1 182.1 9.4 846 11864 0.00 1.10 9.88 0.946 4 0.000 0.054 2654 2906 1835 0 0 0 0 0 0

11931 0.78 159.1 173.4 10.9 858 11940 0.00 1.15 0.00 0.000 6 0.000 0.040 2658 2198 1835 0 0 0 0 0 0

12272 0.81 178.0 140.4 9.1 909 12293 0.00 0.00 17.33 0.964 6 0.000 0.000 2658 2198 1758 0 0 0 0 0 0

12624 0.81 180.7 106.3 9.9 962 12632 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2198 1756 0 0 0 0 0 0

12963 0.85 214.2 75.6 8.5 1013 13005 0.00 1.25 31.17 0.947 4 0.000 0.056 2658 2904 1610 0 0 0 0 0 0

13197 0.86 224.0 52.6 9.5 1048 13210 0.00 1.17 8.98 0.877 6 0.000 0.041 2663 2197 1571 0 0 0 0 0 0

13541 1.01 343.8 27.1 4.5 1100 13622 0.17 1.17 72.35 0.897 4 0.081 0.053 2734 1493 1080 0 0 0 0 0 0

13725 end climb: SURFACE_DEPTH_REACHED

state 13725 begin surface coast

13733 end surface coast: CONTROL_FINISHED_OK

state 13733 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	118	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	38	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	26	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	-80664.023	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	231011,062405,6651.685,-5814.463,37,1.0,38,-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	-66.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231011,062901,6651.679,-5814.479,20,0.9,21,-33.6	MHEAD_RNG_PITCHd_Wd	312.3,97261,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	822

FINISH	1.6,1.024868	_24V_AH	22.7,14.945
SM_CCo	13751,1.20,0.093,0,0,1058,350.04	_10V_AH	10.3,12.204
SM_GC	3.62,7.38,1.80,1.20,0.054,0.055,0.093,121,2515,1058,-7.08,-0.59,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	899	FG_AHR_10Vo	0.000
RAFOS	0,1319356885,8.033334,8.023611,66,64,64,0,0,0,220,203,125,0,0,0	MEM	150288
RAFOS_FIX	6654.869629,-5817.837402,231011,080840,3,98,0.80	DATA_FILE_SIZE	43341,1129
IRIDIUM_FIX	6625.71,-5809.55,231011,020209	CAP_FILE_SIZE	122904,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,239882240
HUMID	56.97	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.8246	SOUNDSPEED	1456.5
TCM_TEMP	16.10	CURRENT	0.199, 41.2,1
XPDR_PINGS	17	GPS	231011,102052,6653.227,-5817.888,46,2.9,66,-33.6
ALTIM_BOTTOM_PING	750.1,133.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	258	104.18	SBE_CT	810	23	427.36
Roll_motor	40	75	70.10	SBE_O2	628	5	74.78
VBD_pump_during_apogee	391	1393	12392.10	nil	0	0	0.00
VBD_pump_during_surface	1	92	2.52	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	183	256	1068.73	nil	0	0	0.00
Transponder_ping	7	420	66.74	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	6.07
TT8	3101	18	597.65
LPSleep	8210	2	195.34
TT8_Active	518	18	99.86
TT8_Sampling	2037	41	879.77
TT8_CF8	199	47	98.69
TT8_Kalman	0	0	0.00
Analog_circuits	1677	12	207.38
GPS_charging	0	0	0.00
Compass	1832	6	127.24
RAFOS	2520	1	38.93
Transponder	21	30	6.70

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
16	-0.77	-146.0	0.0	0.0	0	79	0.00	0.00	-59.88	0.000	2	0.000	0.000	124	2518	1900	0	0	0	0	0	0
82	-0.77	-146.0	3.0	-0.3	9	152	8.45	1.23	-53.25	0.000	4	0.259	0.076	2150	1808	3083	0	0	0	0	0	0
358	-0.77	-146.0	46.5	-16.3	50	367	0.00	1.20	0.00	0.000	6	0.000	0.058	2147	2500	3084	0	0	0	0	0	0
698	-0.77	-146.0	99.9	-15.7	101	705	0.00	1.15	0.00	0.000	4	0.000	0.070	2141	3213	3085	0	0	0	0	0	0
744	-0.77	-146.0	107.1	-15.5	108	751	0.00	1.12	0.00	0.000	6	0.000	0.037	2142	2500	3085	0	0	0	0	0	0
1082	-0.77	-146.0	157.0	-14.9	159	1088	0.00	1.20	0.00	0.000	4	0.000	0.068	2137	3213	3084	0	0	0	0	0	0
1140	-0.77	-146.0	166.0	-15.2	168	1147	0.00	1.10	0.00	0.000	6	0.000	0.037	2137	2511	3084	0	0	0	0	0	0
1479	-0.77	-146.0	212.8	-13.7	219	1485	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2510	3084	0	0	0	0	0	0
1812	-0.77	-146.0	258.9	-14.0	265	1813	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2510	3084	0	0	0	0	0	0
2129	-0.77	-146.0	300.8	-13.0	290	2130	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2510	3084	0	0	0	0	0	0
2445	-0.77	-146.0	343.1	-13.0	315	2446	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2510	3083	0	0	0	0	0	0
2759	-0.77	-146.0	384.4	-12.9	340	2760	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2510	3083	0	0	0	0	0	0
3075	-0.77	-146.0	422.9	-11.9	365	3076	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2511	3084	0	0	0	0	0	0
3390	-0.77	-146.0	461.3	-12.1	390	3391	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2511	3083	0	0	0	0	0	0
3707	-0.77	-146.0	498.5	-11.4	415	3708	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2510	3084	0	0	0	0	0	0
4038	-0.77	-146.0	537.0	-11.6	427	4042	0.00	1.17	0.00	0.000	4	0.000	0.068	2132	3216	3084	0	0	0	0	0	0
4056	-0.77	-146.0	537.0	-11.6	427	4061	0.00	1.12	0.00	0.000	6	0.000	0.034	2132	2499	3084	0	0	0	0	0	0
4377	-0.77	-146.0	576.7	-11.6	438	4378	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2499	3084	0	0	0	0	0	0
4683	-0.77	-146.0	612.3	-11.7	448	4684	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2500	3084	0	0	0	0	0	0
4989	-0.77	-146.0	648.2	-11.5	458	4992	0.00	1.17	0.00	0.000	4	0.000	0.066	2128	3211	3084	0	0	0	0	0	0
5000	-0.77	-146.0	648.2	-11.5	458	5005	0.00	1.10	0.00	0.000	6	0.000	0.033	2127	2506	3085	0	0	0	0	0	0
5327	-0.77	-146.0	687.7	-11.6	469	5331	0.00	1.17	0.00	0.000	4	0.000	0.066	2123	3216	3085	0	0	0	0	0	0
5352	-0.77	-146.0	687.7	-11.6	469	5359	0.00	1.12	0.00	0.000	6	0.000	0.033	2123	2497	3085	0	0	0	0	0	0
5666	-0.77	-146.0	728.2	-11.9	480	5667	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2497	3085	0	0	0	0	0	0
5973	-0.77	-146.0	764.5	-11.9	490	5974	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2497	3085	0	0	0	0	0	0
6278	-0.77	-146.0	800.4	-11.8	500	6282	0.00	1.20	0.00	0.000	4	0.000	0.067	2118	3221	3085	0	0	0	0	0	0
6295	-0.77	-146.0	800.4	-11.8	500	6301	0.12	1.12	0.00	0.000	6	0.175	0.033	2147	2499	3085	0	0	0	0	0	0
6493	end dive: TARGET_DEPTH_EXCEEDED
state	6493	begin apogee
6499	-0.16	0.0	822.7	-9.9	507	6627	0.60	0.00	122.00	1.393	6	0.137	0.000	2344	2184	2485	0	0	0	0	0	0
6628	end apogee: CONTROL_FINISHED_OK
state	6628	begin climb
6630	0.77	146.0	827.5	0.0	511	6768	0.90	1.20	130.18	1.341	4	0.070	0.053	2654	1513	1889	0	0	0	0	0	0
7018	0.77	146.0	792.2	12.9	522	7023	0.00	1.23	0.00	0.000	6	0.000	0.048	2654	2206	1880	0	0	0	0	0	0
7339	0.77	146.0	747.8	13.3	533	7342	0.00	1.17	0.00	0.000	4	0.000	0.057	2654	2908	1878	0	0	0	0	0	0
7456	0.77	146.0	734.3	13.4	536	7461	0.00	1.20	0.00	0.000	6	0.000	0.038	2659	2204	1877	0	0	0	0	0	0
7779	0.77	146.0	690.5	12.9	547	7783	0.00	1.12	0.00	0.000	4	0.000	0.053	2664	1493	1876	0	0	0	0	0	0
7837	0.77	146.0	686.0	12.9	548	7845	0.00	1.20	0.00	0.000	6	0.000	0.047	2664	2203	1876	0	0	0	0	0	0
8152	0.77	146.0	641.5	13.2	559	8156	0.00	1.15	0.00	0.000	4	0.000	0.057	2664	2908	1876	0	0	0	0	0	0
8269	0.77	146.0	628.0	13.3	562	8275	0.00	1.20	0.00	0.000	6	0.000	0.039	2669	2190	1875	0	0	0	0	0	0
8590	0.77	146.0	582.8	13.4	573	8591	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2190	1875	0	0	0	0	0	0
8898	0.77	146.0	542.1	13.5	583	8899	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2190	1874	0	0	0	0	0	0
9202	0.77	146.0	500.7	13.6	593	9203	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2190	1874	0	0	0	0	0	0
9524	0.77	146.0	457.3	13.1	617	9527	0.00	1.23	0.00	0.000	4	0.000	0.057	2669	2908	1874	0	0	0	0	0	0
9682	0.77	146.0	435.3	14.0	629	9686	0.00	1.15	0.00	0.000	6	0.000	0.041	2674	2202	1874	0	0	0	0	0	0
10014	0.77	146.0	391.1	13.3	655	10015	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2202	1874	0	0	0	0	0	0
10326	0.77	146.0	351.1	12.5	680	10328	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2202	1874	0	0	0	0	0	0
10644	0.77	146.0	311.7	12.2	705	10647	0.00	1.20	0.00	0.000	4	0.000	0.057	2674	2911	1874	0	0	0	0	0	0
10754	0.77	146.0	297.8	12.8	713	10763	0.12	1.17	0.00	0.000	6	0.179	0.040	2650	2194	1874	0	0	0	0	0	0
11079	0.77	146.0	262.5	10.1	739	11083	0.00	1.08	0.00	0.000	4	0.000	0.052	2654	1492	1874	0	0	0	0	0	0
11172	0.77	146.0	252.7	10.6	746	11175	0.00	1.15	0.00	0.000	6	0.000	0.049	2654	2202	1874	0	0	0	0	0	0
11510	0.77	146.0	216.9	10.5	795	11516	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2202	1874	0	0	0	0	0	0
11848	0.78	159.1	182.1	9.4	846	11864	0.00	1.10	9.88	0.946	4	0.000	0.054	2654	2906	1835	0	0	0	0	0	0
11931	0.78	159.1	173.4	10.9	858	11940	0.00	1.15	0.00	0.000	6	0.000	0.040	2658	2198	1835	0	0	0	0	0	0
12272	0.81	178.0	140.4	9.1	909	12293	0.00	0.00	17.33	0.964	6	0.000	0.000	2658	2198	1758	0	0	0	0	0	0
12624	0.81	180.7	106.3	9.9	962	12632	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2198	1756	0	0	0	0	0	0
12963	0.85	214.2	75.6	8.5	1013	13005	0.00	1.25	31.17	0.947	4	0.000	0.056	2658	2904	1610	0	0	0	0	0	0
13197	0.86	224.0	52.6	9.5	1048	13210	0.00	1.17	8.98	0.877	6	0.000	0.041	2663	2197	1571	0	0	0	0	0	0
13541	1.01	343.8	27.1	4.5	1100	13622	0.17	1.17	72.35	0.897	4	0.081	0.053	2734	1493	1080	0	0	0	0	0	0
13725	end climb: SURFACE_DEPTH_REACHED
state	13725	begin surface coast
13733	end surface coast: CONTROL_FINISHED_OK
state	13733	begin surface