Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 155 * 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 155 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 300 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 360 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 400 CALL_TRIES 3 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 -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80710.914 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 300

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 3 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 360

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 -80710.914

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 -2

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 155 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 301011,163704,6653.112,-5949.341,39,1.2,43,-34.0 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.86 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -72.4 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 301011,164206,6653.129,-5949.441,19,0.9,20,-34.0 MHEAD_RNG_PITCHd_Wd 226.7,31642,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 836

Post-dive calculations and measurements:

FINISH 1.9,1.015065 _24V_AH 22.5,19.808

SM_CCo 13629,10.52,0.089,0,0,1262,300.00 _10V_AH 10.3,15.636

SM_GC 4.57,6.95,0.52,10.52,0.047,0.055,0.089,125,2519,1262,-7.06,-0.62,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 893 FG_AHR_10Vo 0.000

RAFOS 4,1319992383,16.566668,16.550833,70,67,59,0,0,0,650,220,202,0,0,0 MEM 150288

RAFOS_FIX 6650.571289,-5946.604004,301011,161610,5,96,0.00 DATA_FILE_SIZE 39987,1090

IRIDIUM_FIX 6620.33,-5941.47,301011,121219 CAP_FILE_SIZE 126954,0

TT8_MAMPS 0.029211,0.029211 CFSIZE 260165632,237236224

HUMID 57.16 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.84413 SOUNDSPEED 1453.4

TCM_TEMP 16.20 CURRENT 0.151,105.7,1

XPDR_PINGS 15 GPS 301011,203153,6650.279,-5948.091,46,0.9,46,-33.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 256 98.89 SBE_CT 786 23 411.05

Roll_motor 53 69 83.96 SBE_O2 599 5 70.72

VBD_pump_during_apogee 367 1433 11846.91 nil 0 0 0.00

VBD_pump_during_surface 10 88 21.01 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 186 267 1122.41 nil 0 0 0.00

Transponder_ping 7 420 66.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.73

TT8 3011 18 580.39

LPSleep 8149 2 193.91

TT8_Active 543 18 104.66

TT8_Sampling 2049 41 885.27

TT8_CF8 212 47 105.07

TT8_Kalman 0 0 0.00

Analog_circuits 1729 12 213.81

GPS_charging 0 0 0.00

Compass 1833 6 127.29

RAFOS 1800 1 27.81

Transponder 26 30 8.08

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 -0.73 -146.0 0.0 0.0 0 47 0.00 0.00 -28.45 0.000 2 0.000 0.000 119 2511 1652 0 0 0 0 0 0

50 -0.73 -146.0 3.1 -2.1 4 151 8.55 1.20 -83.03 0.000 4 0.256 0.070 2161 1808 3082 0 0 0 0 0 0

397 -0.73 -146.0 52.5 -13.9 56 404 0.00 1.23 0.00 0.000 6 0.000 0.057 2158 2514 3084 0 0 0 0 0 0

734 -0.73 -146.0 101.6 -14.4 107 741 0.00 1.12 0.00 0.000 4 0.000 0.070 2153 3214 3084 0 0 0 0 0 0

835 -0.73 -146.0 115.8 -14.6 122 841 0.00 1.12 0.00 0.000 6 0.000 0.034 2153 2497 3084 0 0 0 0 0 0

1172 -0.73 -146.0 164.7 -13.6 173 1180 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2497 3084 0 0 0 0 0 0

1510 -0.73 -146.0 206.6 -11.5 224 1517 0.00 1.08 0.00 0.000 4 0.000 0.047 2153 1812 3084 0 0 0 0 0 0

1557 -0.73 -146.0 212.0 -11.7 231 1563 0.00 1.20 0.00 0.000 6 0.000 0.057 2149 2513 3084 0 0 0 0 0 0

1893 -0.73 -146.0 255.3 -13.4 279 1894 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2512 3084 0 0 0 0 0 0

2208 -0.73 -146.0 296.3 -13.1 304 2212 0.00 1.12 0.00 0.000 4 0.000 0.070 2143 3217 3083 0 0 0 0 0 0

2280 -0.73 -146.0 305.1 -13.4 309 2290 0.00 1.10 0.00 0.000 6 0.000 0.034 2142 2514 3083 0 0 0 0 0 0

2604 -0.73 -146.0 348.3 -12.6 335 2608 0.00 1.10 0.00 0.000 4 0.000 0.047 2143 1811 3083 0 0 0 0 0 0

2670 -0.73 -146.0 356.6 -12.3 340 2674 0.00 1.20 0.00 0.000 6 0.000 0.057 2139 2513 3083 0 0 0 0 0 0

3002 -0.73 -146.0 394.1 -11.6 366 3006 0.00 1.15 0.00 0.000 4 0.000 0.044 2139 1811 3083 0 0 0 0 0 0

3069 -0.73 -146.0 402.1 -11.5 371 3073 0.10 1.20 0.00 0.000 6 0.158 0.057 2163 2516 3083 0 0 0 0 0 0

3397 -0.73 -146.0 433.9 -9.7 397 3399 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2516 3083 0 0 0 0 0 0

3715 -0.73 -146.0 464.8 -9.5 422 3718 0.00 1.10 0.00 0.000 4 0.000 0.070 2161 3211 3083 0 0 0 0 0 0

3786 -0.73 -146.0 471.4 -10.0 427 3793 0.00 1.12 0.00 0.000 6 0.000 0.032 2161 2493 3083 0 0 0 0 0 0

4115 -0.73 -146.0 503.5 -9.3 452 4119 0.00 1.05 0.00 0.000 4 0.000 0.046 2160 1815 3084 0 0 0 0 0 0

4173 -0.73 -146.0 506.7 -9.3 453 4183 0.00 1.20 0.00 0.000 6 0.000 0.055 2156 2512 3084 0 0 0 0 0 0

4487 -0.73 -146.0 539.8 -9.9 464 4488 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2512 3084 0 0 0 0 0 0

4795 -0.73 -146.0 569.9 -9.9 474 4799 0.00 1.10 0.00 0.000 4 0.000 0.068 2151 3211 3084 0 0 0 0 0 0

4872 -0.73 -146.0 576.8 -10.2 476 4877 0.00 1.10 0.00 0.000 6 0.000 0.031 2151 2501 3084 0 0 0 0 0 0

5199 -0.73 -146.0 611.4 -10.2 487 5203 0.00 1.05 0.00 0.000 4 0.000 0.044 2151 1817 3084 0 0 0 0 0 0

5257 -0.73 -146.0 614.7 -10.1 488 5265 0.00 1.20 0.00 0.000 6 0.000 0.054 2146 2517 3084 0 0 0 0 0 0

5571 -0.73 -146.0 649.0 -10.1 499 5575 0.00 1.10 0.00 0.000 4 0.000 0.068 2141 3214 3085 0 0 0 0 0 0

5624 -0.73 -146.0 652.5 -10.1 500 5627 0.00 1.08 0.00 0.000 6 0.000 0.033 2140 2512 3085 0 0 0 0 0 0

5943 -0.73 -146.0 688.3 -10.7 511 5944 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2510 3085 0 0 0 0 0 0

6250 -0.73 -146.0 721.0 -10.7 521 6253 0.00 1.15 0.00 0.000 4 0.000 0.065 2136 3210 3085 0 0 0 0 0 0

6333 -0.73 -146.0 728.0 -10.5 523 6338 0.12 1.10 0.00 0.000 6 0.171 0.031 2166 2498 3085 0 0 0 0 0 0

6655 -0.73 -146.0 759.2 -9.2 534 6656 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2498 3085 0 0 0 0 0 0

6960 -0.73 -146.0 786.6 -8.5 544 6964 0.00 1.17 0.00 0.000 4 0.000 0.065 2163 3211 3086 0 0 0 0 0 0

7051 -0.73 -146.0 792.7 -8.7 546 7059 0.00 1.10 0.00 0.000 6 0.000 0.030 2163 2487 3085 0 0 0 0 0 0

7365 -0.73 -146.0 823.9 -9.2 557 7369 0.00 1.20 0.00 0.000 4 0.000 0.065 2158 3215 3085 0 0 0 0 0 0

7443 -0.73 -146.0 829.7 -9.0 559 7448 0.00 1.10 0.00 0.000 6 0.000 0.030 2158 2499 3085 0 0 0 0 0 0

7524 end dive: TARGET_DEPTH_EXCEEDED

state 7524 begin apogee

7530 -0.16 0.0 838.1 -8.9 562 7658 0.55 0.00 122.47 1.434 6 0.131 0.000 2340 2195 2485 0 0 0 0 0 0

7659 end apogee: CONTROL_FINISHED_OK

state 7659 begin climb

7662 0.73 146.0 842.4 0.0 566 7806 0.88 1.23 131.68 1.373 4 0.073 0.050 2639 1511 1888 0 0 0 0 0 0

7831 0.81 211.5 836.6 6.4 571 7903 0.00 1.27 61.72 1.325 6 0.000 0.044 2639 2208 1621 0 0 0 0 0 0

8205 0.81 211.5 777.1 15.9 584 8209 0.00 1.17 0.00 0.000 4 0.000 0.054 2639 2901 1614 0 0 0 0 0 0

8305 0.81 211.5 760.7 16.3 587 8309 0.00 1.17 0.00 0.000 6 0.000 0.037 2644 2208 1613 0 0 0 0 0 0

8646 0.81 211.5 707.8 15.6 598 8649 0.00 1.20 0.00 0.000 4 0.000 0.053 2644 2899 1611 0 0 0 0 0 0

8683 0.81 211.5 702.5 15.6 599 8688 0.00 1.20 0.00 0.000 6 0.000 0.037 2649 2190 1611 0 0 0 0 0 0

9019 0.81 211.5 649.3 16.0 610 9022 0.00 1.23 0.00 0.000 4 0.000 0.054 2649 2902 1610 0 0 0 0 0 0

9130 0.81 211.5 632.6 16.4 613 9134 0.00 1.17 0.00 0.000 6 0.000 0.038 2653 2199 1610 0 0 0 0 0 0

9457 0.81 211.5 575.4 17.4 624 9458 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2199 1609 0 0 0 0 0 0

9764 0.81 211.5 522.9 16.6 634 9765 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2199 1609 0 0 0 0 0 0

10080 0.81 211.5 471.0 16.2 652 10084 0.00 1.08 0.00 0.000 4 0.000 0.052 2658 1497 1608 0 0 0 0 0 0

10165 0.81 211.5 458.0 16.4 658 10172 0.00 1.15 0.00 0.000 6 0.000 0.047 2658 2201 1608 0 0 0 0 0 0

10489 0.81 211.5 401.7 17.2 684 10490 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2202 1608 0 0 0 0 0 0

10805 0.81 211.5 345.7 17.3 709 10806 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2202 1608 0 0 0 0 0 0

11120 0.81 211.5 292.0 16.8 734 11124 0.00 1.12 0.00 0.000 4 0.000 0.058 2658 2902 1608 0 0 0 0 0 0

11138 0.81 211.5 289.6 16.6 735 11146 0.00 1.17 0.00 0.000 6 0.000 0.039 2664 2188 1608 0 0 0 0 0 0

11465 0.81 211.5 238.3 14.3 767 11472 0.00 1.05 0.00 0.000 4 0.000 0.052 2668 1498 1608 0 0 0 0 0 0

11513 0.81 211.5 231.7 14.5 774 11520 0.00 1.15 0.00 0.000 6 0.000 0.048 2668 2208 1608 0 0 0 0 0 0

11850 0.81 211.5 183.6 13.4 825 11859 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2208 1608 0 0 0 0 0 0

12189 0.81 211.5 144.5 11.0 876 12195 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2207 1608 0 0 0 0 0 0

12527 0.81 211.5 107.0 10.8 927 12534 0.00 1.12 0.00 0.000 4 0.000 0.058 2668 2911 1608 0 0 0 0 0 0

12754 0.81 211.5 80.2 12.3 961 12763 0.00 1.15 0.00 0.000 6 0.000 0.038 2673 2194 1608 0 0 0 0 0 0

13095 0.81 211.5 45.5 10.3 1012 13102 0.00 1.08 0.00 0.000 4 0.000 0.052 2679 1492 1608 0 0 0 0 0 0

13182 0.88 275.4 38.2 6.5 1025 13245 0.00 1.15 51.40 0.952 6 0.000 0.048 2679 2205 1361 0 0 0 0 0 0

13575 0.88 275.4 2.4 9.7 1084 13581 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2206 1353 0 0 0 0 0 0

13586 end climb: SURFACE_DEPTH_REACHED

state 13587 begin surface coast

13613 end surface coast: CONTROL_FINISHED_OK

state 13613 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	155	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	300	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	360	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	400	CALL_TRIES	3	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	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80710.914	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	301011,163704,6653.112,-5949.341,39,1.2,43,-34.0	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.86	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-72.4	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	301011,164206,6653.129,-5949.441,19,0.9,20,-34.0	MHEAD_RNG_PITCHd_Wd	226.7,31642,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	836

FINISH	1.9,1.015065	_24V_AH	22.5,19.808
SM_CCo	13629,10.52,0.089,0,0,1262,300.00	_10V_AH	10.3,15.636
SM_GC	4.57,6.95,0.52,10.52,0.047,0.055,0.089,125,2519,1262,-7.06,-0.62,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	893	FG_AHR_10Vo	0.000
RAFOS	4,1319992383,16.566668,16.550833,70,67,59,0,0,0,650,220,202,0,0,0	MEM	150288
RAFOS_FIX	6650.571289,-5946.604004,301011,161610,5,96,0.00	DATA_FILE_SIZE	39987,1090
IRIDIUM_FIX	6620.33,-5941.47,301011,121219	CAP_FILE_SIZE	126954,0
TT8_MAMPS	0.029211,0.029211	CFSIZE	260165632,237236224
HUMID	57.16	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.84413	SOUNDSPEED	1453.4
TCM_TEMP	16.20	CURRENT	0.151,105.7,1
XPDR_PINGS	15	GPS	301011,203153,6650.279,-5948.091,46,0.9,46,-33.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	256	98.89	SBE_CT	786	23	411.05
Roll_motor	53	69	83.96	SBE_O2	599	5	70.72
VBD_pump_during_apogee	367	1433	11846.91	nil	0	0	0.00
VBD_pump_during_surface	10	88	21.01	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	186	267	1122.41	nil	0	0	0.00
Transponder_ping	7	420	66.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.73
TT8	3011	18	580.39
LPSleep	8149	2	193.91
TT8_Active	543	18	104.66
TT8_Sampling	2049	41	885.27
TT8_CF8	212	47	105.07
TT8_Kalman	0	0	0.00
Analog_circuits	1729	12	213.81
GPS_charging	0	0	0.00
Compass	1833	6	127.29
RAFOS	1800	1	27.81
Transponder	26	30	8.08

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	-0.73	-146.0	0.0	0.0	0	47	0.00	0.00	-28.45	0.000	2	0.000	0.000	119	2511	1652	0	0	0	0	0	0
50	-0.73	-146.0	3.1	-2.1	4	151	8.55	1.20	-83.03	0.000	4	0.256	0.070	2161	1808	3082	0	0	0	0	0	0
397	-0.73	-146.0	52.5	-13.9	56	404	0.00	1.23	0.00	0.000	6	0.000	0.057	2158	2514	3084	0	0	0	0	0	0
734	-0.73	-146.0	101.6	-14.4	107	741	0.00	1.12	0.00	0.000	4	0.000	0.070	2153	3214	3084	0	0	0	0	0	0
835	-0.73	-146.0	115.8	-14.6	122	841	0.00	1.12	0.00	0.000	6	0.000	0.034	2153	2497	3084	0	0	0	0	0	0
1172	-0.73	-146.0	164.7	-13.6	173	1180	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2497	3084	0	0	0	0	0	0
1510	-0.73	-146.0	206.6	-11.5	224	1517	0.00	1.08	0.00	0.000	4	0.000	0.047	2153	1812	3084	0	0	0	0	0	0
1557	-0.73	-146.0	212.0	-11.7	231	1563	0.00	1.20	0.00	0.000	6	0.000	0.057	2149	2513	3084	0	0	0	0	0	0
1893	-0.73	-146.0	255.3	-13.4	279	1894	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2512	3084	0	0	0	0	0	0
2208	-0.73	-146.0	296.3	-13.1	304	2212	0.00	1.12	0.00	0.000	4	0.000	0.070	2143	3217	3083	0	0	0	0	0	0
2280	-0.73	-146.0	305.1	-13.4	309	2290	0.00	1.10	0.00	0.000	6	0.000	0.034	2142	2514	3083	0	0	0	0	0	0
2604	-0.73	-146.0	348.3	-12.6	335	2608	0.00	1.10	0.00	0.000	4	0.000	0.047	2143	1811	3083	0	0	0	0	0	0
2670	-0.73	-146.0	356.6	-12.3	340	2674	0.00	1.20	0.00	0.000	6	0.000	0.057	2139	2513	3083	0	0	0	0	0	0
3002	-0.73	-146.0	394.1	-11.6	366	3006	0.00	1.15	0.00	0.000	4	0.000	0.044	2139	1811	3083	0	0	0	0	0	0
3069	-0.73	-146.0	402.1	-11.5	371	3073	0.10	1.20	0.00	0.000	6	0.158	0.057	2163	2516	3083	0	0	0	0	0	0
3397	-0.73	-146.0	433.9	-9.7	397	3399	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2516	3083	0	0	0	0	0	0
3715	-0.73	-146.0	464.8	-9.5	422	3718	0.00	1.10	0.00	0.000	4	0.000	0.070	2161	3211	3083	0	0	0	0	0	0
3786	-0.73	-146.0	471.4	-10.0	427	3793	0.00	1.12	0.00	0.000	6	0.000	0.032	2161	2493	3083	0	0	0	0	0	0
4115	-0.73	-146.0	503.5	-9.3	452	4119	0.00	1.05	0.00	0.000	4	0.000	0.046	2160	1815	3084	0	0	0	0	0	0
4173	-0.73	-146.0	506.7	-9.3	453	4183	0.00	1.20	0.00	0.000	6	0.000	0.055	2156	2512	3084	0	0	0	0	0	0
4487	-0.73	-146.0	539.8	-9.9	464	4488	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2512	3084	0	0	0	0	0	0
4795	-0.73	-146.0	569.9	-9.9	474	4799	0.00	1.10	0.00	0.000	4	0.000	0.068	2151	3211	3084	0	0	0	0	0	0
4872	-0.73	-146.0	576.8	-10.2	476	4877	0.00	1.10	0.00	0.000	6	0.000	0.031	2151	2501	3084	0	0	0	0	0	0
5199	-0.73	-146.0	611.4	-10.2	487	5203	0.00	1.05	0.00	0.000	4	0.000	0.044	2151	1817	3084	0	0	0	0	0	0
5257	-0.73	-146.0	614.7	-10.1	488	5265	0.00	1.20	0.00	0.000	6	0.000	0.054	2146	2517	3084	0	0	0	0	0	0
5571	-0.73	-146.0	649.0	-10.1	499	5575	0.00	1.10	0.00	0.000	4	0.000	0.068	2141	3214	3085	0	0	0	0	0	0
5624	-0.73	-146.0	652.5	-10.1	500	5627	0.00	1.08	0.00	0.000	6	0.000	0.033	2140	2512	3085	0	0	0	0	0	0
5943	-0.73	-146.0	688.3	-10.7	511	5944	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2510	3085	0	0	0	0	0	0
6250	-0.73	-146.0	721.0	-10.7	521	6253	0.00	1.15	0.00	0.000	4	0.000	0.065	2136	3210	3085	0	0	0	0	0	0
6333	-0.73	-146.0	728.0	-10.5	523	6338	0.12	1.10	0.00	0.000	6	0.171	0.031	2166	2498	3085	0	0	0	0	0	0
6655	-0.73	-146.0	759.2	-9.2	534	6656	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2498	3085	0	0	0	0	0	0
6960	-0.73	-146.0	786.6	-8.5	544	6964	0.00	1.17	0.00	0.000	4	0.000	0.065	2163	3211	3086	0	0	0	0	0	0
7051	-0.73	-146.0	792.7	-8.7	546	7059	0.00	1.10	0.00	0.000	6	0.000	0.030	2163	2487	3085	0	0	0	0	0	0
7365	-0.73	-146.0	823.9	-9.2	557	7369	0.00	1.20	0.00	0.000	4	0.000	0.065	2158	3215	3085	0	0	0	0	0	0
7443	-0.73	-146.0	829.7	-9.0	559	7448	0.00	1.10	0.00	0.000	6	0.000	0.030	2158	2499	3085	0	0	0	0	0	0
7524	end dive: TARGET_DEPTH_EXCEEDED
state	7524	begin apogee
7530	-0.16	0.0	838.1	-8.9	562	7658	0.55	0.00	122.47	1.434	6	0.131	0.000	2340	2195	2485	0	0	0	0	0	0
7659	end apogee: CONTROL_FINISHED_OK
state	7659	begin climb
7662	0.73	146.0	842.4	0.0	566	7806	0.88	1.23	131.68	1.373	4	0.073	0.050	2639	1511	1888	0	0	0	0	0	0
7831	0.81	211.5	836.6	6.4	571	7903	0.00	1.27	61.72	1.325	6	0.000	0.044	2639	2208	1621	0	0	0	0	0	0
8205	0.81	211.5	777.1	15.9	584	8209	0.00	1.17	0.00	0.000	4	0.000	0.054	2639	2901	1614	0	0	0	0	0	0
8305	0.81	211.5	760.7	16.3	587	8309	0.00	1.17	0.00	0.000	6	0.000	0.037	2644	2208	1613	0	0	0	0	0	0
8646	0.81	211.5	707.8	15.6	598	8649	0.00	1.20	0.00	0.000	4	0.000	0.053	2644	2899	1611	0	0	0	0	0	0
8683	0.81	211.5	702.5	15.6	599	8688	0.00	1.20	0.00	0.000	6	0.000	0.037	2649	2190	1611	0	0	0	0	0	0
9019	0.81	211.5	649.3	16.0	610	9022	0.00	1.23	0.00	0.000	4	0.000	0.054	2649	2902	1610	0	0	0	0	0	0
9130	0.81	211.5	632.6	16.4	613	9134	0.00	1.17	0.00	0.000	6	0.000	0.038	2653	2199	1610	0	0	0	0	0	0
9457	0.81	211.5	575.4	17.4	624	9458	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2199	1609	0	0	0	0	0	0
9764	0.81	211.5	522.9	16.6	634	9765	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2199	1609	0	0	0	0	0	0
10080	0.81	211.5	471.0	16.2	652	10084	0.00	1.08	0.00	0.000	4	0.000	0.052	2658	1497	1608	0	0	0	0	0	0
10165	0.81	211.5	458.0	16.4	658	10172	0.00	1.15	0.00	0.000	6	0.000	0.047	2658	2201	1608	0	0	0	0	0	0
10489	0.81	211.5	401.7	17.2	684	10490	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2202	1608	0	0	0	0	0	0
10805	0.81	211.5	345.7	17.3	709	10806	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2202	1608	0	0	0	0	0	0
11120	0.81	211.5	292.0	16.8	734	11124	0.00	1.12	0.00	0.000	4	0.000	0.058	2658	2902	1608	0	0	0	0	0	0
11138	0.81	211.5	289.6	16.6	735	11146	0.00	1.17	0.00	0.000	6	0.000	0.039	2664	2188	1608	0	0	0	0	0	0
11465	0.81	211.5	238.3	14.3	767	11472	0.00	1.05	0.00	0.000	4	0.000	0.052	2668	1498	1608	0	0	0	0	0	0
11513	0.81	211.5	231.7	14.5	774	11520	0.00	1.15	0.00	0.000	6	0.000	0.048	2668	2208	1608	0	0	0	0	0	0
11850	0.81	211.5	183.6	13.4	825	11859	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2208	1608	0	0	0	0	0	0
12189	0.81	211.5	144.5	11.0	876	12195	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2207	1608	0	0	0	0	0	0
12527	0.81	211.5	107.0	10.8	927	12534	0.00	1.12	0.00	0.000	4	0.000	0.058	2668	2911	1608	0	0	0	0	0	0
12754	0.81	211.5	80.2	12.3	961	12763	0.00	1.15	0.00	0.000	6	0.000	0.038	2673	2194	1608	0	0	0	0	0	0
13095	0.81	211.5	45.5	10.3	1012	13102	0.00	1.08	0.00	0.000	4	0.000	0.052	2679	1492	1608	0	0	0	0	0	0
13182	0.88	275.4	38.2	6.5	1025	13245	0.00	1.15	51.40	0.952	6	0.000	0.048	2679	2205	1361	0	0	0	0	0	0
13575	0.88	275.4	2.4	9.7	1084	13581	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2206	1353	0	0	0	0	0	0
13586	end climb: SURFACE_DEPTH_REACHED
state	13587	begin surface coast
13613	end surface coast: CONTROL_FINISHED_OK
state	13613	begin surface