Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 158 * 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 158 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 27 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 -80714.711 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 -80714.711

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 27 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 158 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 311011,045200,6650.755,-5953.753,40,0.9,40,-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 2.81 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -72.3 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 311011,045712,6650.726,-5953.909,17,0.8,17,-34.0 MHEAD_RNG_PITCHd_Wd 268.9,26577,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 770

Post-dive calculations and measurements:

FINISH 1.9,1.025263 _24V_AH 22.6,20.173

SM_CCo 14177,0.00,0.000,0,0,1161,324.53 _10V_AH 10.3,15.896

SM_GC 2.91,7.00,0.60,0.00,0.044,0.065,0.000,116,2512,1161,-7.08,-0.71,324.53,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 932 FG_AHR_10Vo 0.000

RAFOS 6,1320036546,4.833333,4.818333,65,64,59,0,0,0,215,752,115,0,0,0 MEM 150280

RAFOS_FIX 6647.644043,-5953.687500,311011,080818,5,108,0.45 DATA_FILE_SIZE 43392,1190

IRIDIUM_FIX 6620.33,-5950.91,311011,000048 CAP_FILE_SIZE 124330,0

TT8_MAMPS 0.028462,0.028462 CFSIZE 260165632,237023232

HUMID 57.52 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.8246 SOUNDSPEED 1452.4

TCM_TEMP 16.20 CURRENT 0.094, 88.2,1

XPDR_PINGS 19 GPS 311011,085535,6649.443,-5957.692,38,1.0,38,-33.9

ALTIM_BOTTOM_PING 703.2,94.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 258 100.51 SBE_CT 863 23 453.01

Roll_motor 35 97 77.79 SBE_O2 654 5 77.52

VBD_pump_during_apogee 376 1391 11831.00 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 200 258 1173.75 nil 0 0 0.00

Transponder_ping 7 420 68.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.14

TT8 3252 18 626.88

LPSleep 8385 2 199.53

TT8_Active 509 18 98.16

TT8_Sampling 2152 41 929.82

TT8_CF8 202 47 100.12

TT8_Kalman 0 0 0.00

Analog_circuits 1728 12 213.65

GPS_charging 0 0 0.00

Compass 1930 6 134.03

RAFOS 2520 1 38.93

Transponder 19 30 6.12

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.73 -146.0 0.0 0.0 0 38 0.00 0.00 -19.90 0.000 2 0.000 0.000 122 2521 1529 0 0 0 0 0 0

41 -0.73 -146.0 3.0 -0.9 3 163 8.55 1.15 -105.62 0.000 4 0.259 0.098 2155 3211 3082 0 0 0 0 0 0

415 -0.73 -146.0 54.5 -17.3 59 424 0.00 1.10 0.00 0.000 6 0.000 0.034 2155 2504 3085 0 0 0 0 0 0

755 -0.73 -146.0 107.5 -14.7 110 762 0.00 1.17 0.00 0.000 4 0.000 0.067 2151 3204 3085 0 0 0 0 0 0

942 -0.73 -146.0 134.2 -14.3 138 949 0.00 1.08 0.00 0.000 6 0.000 0.034 2151 2513 3085 0 0 0 0 0 0

1279 -0.73 -146.0 177.3 -12.5 189 1285 0.00 1.17 0.00 0.000 4 0.000 0.067 2146 3213 3084 0 0 0 0 0 0

1353 -0.73 -146.0 187.2 -13.5 200 1360 0.00 1.10 0.00 0.000 6 0.000 0.034 2146 2502 3084 0 0 0 0 0 0

1690 -0.73 -146.0 232.0 -12.7 251 1699 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2502 3085 0 0 0 0 0 0

2027 -0.73 -146.0 274.3 -12.6 288 2028 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2502 3084 0 0 0 0 0 0

2342 -0.73 -146.0 314.5 -13.2 313 2343 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2502 3084 0 0 0 0 0 0

2657 -0.73 -146.0 353.1 -11.3 338 2658 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2502 3084 0 0 0 0 0 0

2973 -0.73 -146.0 389.7 -11.8 363 2976 0.00 1.17 0.00 0.000 4 0.000 0.067 2142 3207 3084 0 0 0 0 0 0

3056 -0.73 -146.0 398.3 -10.9 369 3064 0.00 1.10 0.00 0.000 6 0.000 0.033 2142 2504 3083 0 0 0 0 0 0

3382 -0.73 -146.0 432.6 -10.7 395 3386 0.00 1.17 0.00 0.000 4 0.000 0.066 2137 3212 3083 0 0 0 0 0 0

3488 -0.73 -146.0 444.6 -11.0 403 3492 0.00 1.08 0.00 0.000 6 0.000 0.033 2137 2509 3083 0 0 0 0 0 0

3818 -0.73 -146.0 480.1 -10.8 429 3819 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2509 3083 0 0 0 0 0 0

4149 -0.73 -146.0 520.0 -12.3 448 4152 0.00 1.15 0.00 0.000 4 0.000 0.065 2133 3205 3084 0 0 0 0 0 0

4215 -0.73 -146.0 528.7 -12.4 450 4219 0.10 1.08 0.00 0.000 6 0.151 0.032 2164 2496 3084 0 0 0 0 0 0

4554 -0.73 -146.0 564.0 -10.0 461 4555 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2497 3084 0 0 0 0 0 0

4861 -0.73 -146.0 592.2 -8.8 471 4864 0.00 1.17 0.00 0.000 4 0.000 0.066 2161 3209 3085 0 0 0 0 0 0

4931 -0.73 -146.0 598.1 -8.9 473 4936 0.00 1.08 0.00 0.000 6 0.000 0.030 2161 2509 3085 0 0 0 0 0 0

5267 -0.73 -146.0 629.1 -9.2 484 5268 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2509 3085 0 0 0 0 0 0

5571 -0.73 -146.0 657.5 -9.4 494 5572 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2509 3085 0 0 0 0 0 0

5879 -0.73 -146.0 687.5 -9.9 504 5880 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2509 3086 0 0 0 0 0 0

6183 -0.73 -146.0 718.6 -10.1 514 6187 0.00 1.15 0.00 0.000 4 0.000 0.065 2156 3209 3086 0 0 0 0 0 0

6307 -0.73 -146.0 728.3 -10.0 517 6315 0.00 1.08 0.00 0.000 6 0.000 0.030 2156 2507 3086 0 0 0 0 0 0

6623 -0.73 -146.0 762.0 -8.9 528 6627 0.00 1.17 0.00 0.000 4 0.000 0.066 2151 3217 3086 0 0 0 0 0 0

6689 -0.73 -146.0 768.8 -9.4 530 6693 0.00 1.08 0.00 0.000 6 0.000 0.031 2151 2506 3086 0 0 0 0 0 0

6720 end dive: TARGET_DEPTH_EXCEEDED

state 6720 begin apogee

6726 -0.16 0.0 772.1 -9.7 531 6855 0.57 0.00 121.50 1.392 6 0.132 0.000 2340 2188 2485 0 0 0 0 0 0

6855 end apogee: CONTROL_FINISHED_OK

state 6855 begin climb

6858 0.73 146.0 775.8 0.0 535 6997 0.85 1.20 130.43 1.333 4 0.071 0.051 2636 1509 1888 0 0 0 0 0 0

7246 0.73 146.0 738.4 13.1 547 7252 0.00 1.23 0.00 0.000 6 0.000 0.045 2636 2207 1881 0 0 0 0 0 0

7574 0.73 146.0 694.7 12.7 558 7575 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2208 1878 0 0 0 0 0 0

7880 0.73 146.0 655.5 12.3 568 7881 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2208 1877 0 0 0 0 0 0

8186 0.73 146.0 615.6 13.2 578 8190 0.00 1.15 0.00 0.000 4 0.000 0.048 2641 1504 1877 0 0 0 0 0 0

8319 0.73 146.0 599.1 12.3 582 8322 0.00 1.15 0.00 0.000 6 0.000 0.047 2641 2203 1876 0 0 0 0 0 0

8661 0.73 146.0 559.8 11.3 593 8663 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2202 1875 0 0 0 0 0 0

8965 0.73 146.0 525.5 11.3 603 8966 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2203 1875 0 0 0 0 0 0

9272 0.73 146.0 489.7 12.0 616 9273 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2203 1875 0 0 0 0 0 0

9589 0.73 146.0 452.9 11.1 641 9591 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2203 1875 0 0 0 0 0 0

9903 0.73 146.0 417.9 11.2 666 9904 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2203 1875 0 0 0 0 0 0

10219 0.73 146.0 381.5 11.6 691 10220 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2203 1875 0 0 0 0 0 0

10534 0.73 146.0 345.7 10.9 716 10535 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2203 1875 0 0 0 0 0 0

10853 0.73 146.0 310.1 11.8 741 10854 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2203 1875 0 0 0 0 0 0

11165 0.73 146.0 274.5 10.6 766 11169 0.00 1.12 0.00 0.000 4 0.000 0.050 2646 1502 1875 0 0 0 0 0 0

11223 0.73 146.0 269.1 10.3 770 11231 0.00 1.15 0.00 0.000 6 0.000 0.049 2646 2200 1875 0 0 0 0 0 0

11553 0.74 156.2 236.4 8.7 807 11569 0.00 1.10 7.38 0.940 4 0.000 0.054 2646 2907 1848 0 0 0 0 0 0

11662 0.74 161.1 226.3 9.0 823 11678 0.00 1.12 5.68 0.875 6 0.000 0.038 2650 2208 1830 0 0 0 0 0 0

12009 0.74 161.1 193.6 9.2 875 12015 0.00 1.08 0.00 0.000 4 0.000 0.051 2655 1497 1829 0 0 0 0 0 0

12089 0.74 161.1 185.9 9.5 887 12095 0.00 1.15 0.00 0.000 6 0.000 0.048 2655 2206 1829 0 0 0 0 0 0

12426 0.74 161.1 154.1 9.3 938 12432 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2206 1829 0 0 0 0 0 0

12766 0.76 176.2 123.7 8.5 989 12784 0.00 0.00 14.77 0.981 6 0.000 0.000 2655 2206 1766 0 0 0 0 0 0

13118 0.84 239.6 93.6 6.5 1042 13178 0.00 1.20 54.30 0.979 4 0.000 0.057 2655 2900 1507 0 0 0 0 0 0

13264 0.84 239.6 79.9 10.8 1064 13273 0.00 1.17 0.00 0.000 6 0.000 0.040 2660 2201 1502 0 0 0 0 0 0

13603 0.84 239.6 43.7 10.4 1115 13609 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2201 1500 0 0 0 0 0 0

13940 0.94 321.7 18.1 5.7 1166 13988 0.12 0.00 42.15 0.120 6 0.093 0.000 2710 2201 1171 0 0 0 0 0 0

14085 end climb: SURFACE_DEPTH_REACHED

state 14085 begin surface coast

14099 end surface coast: CONTROL_FINISHED_OK

state 14099 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	158	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	27	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	-80714.711	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	311011,045200,6650.755,-5953.753,40,0.9,40,-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	2.81	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-72.3	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	311011,045712,6650.726,-5953.909,17,0.8,17,-34.0	MHEAD_RNG_PITCHd_Wd	268.9,26577,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	770

FINISH	1.9,1.025263	_24V_AH	22.6,20.173
SM_CCo	14177,0.00,0.000,0,0,1161,324.53	_10V_AH	10.3,15.896
SM_GC	2.91,7.00,0.60,0.00,0.044,0.065,0.000,116,2512,1161,-7.08,-0.71,324.53,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	932	FG_AHR_10Vo	0.000
RAFOS	6,1320036546,4.833333,4.818333,65,64,59,0,0,0,215,752,115,0,0,0	MEM	150280
RAFOS_FIX	6647.644043,-5953.687500,311011,080818,5,108,0.45	DATA_FILE_SIZE	43392,1190
IRIDIUM_FIX	6620.33,-5950.91,311011,000048	CAP_FILE_SIZE	124330,0
TT8_MAMPS	0.028462,0.028462	CFSIZE	260165632,237023232
HUMID	57.52	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.8246	SOUNDSPEED	1452.4
TCM_TEMP	16.20	CURRENT	0.094, 88.2,1
XPDR_PINGS	19	GPS	311011,085535,6649.443,-5957.692,38,1.0,38,-33.9
ALTIM_BOTTOM_PING	703.2,94.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	258	100.51	SBE_CT	863	23	453.01
Roll_motor	35	97	77.79	SBE_O2	654	5	77.52
VBD_pump_during_apogee	376	1391	11831.00	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	200	258	1173.75	nil	0	0	0.00
Transponder_ping	7	420	68.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.14
TT8	3252	18	626.88
LPSleep	8385	2	199.53
TT8_Active	509	18	98.16
TT8_Sampling	2152	41	929.82
TT8_CF8	202	47	100.12
TT8_Kalman	0	0	0.00
Analog_circuits	1728	12	213.65
GPS_charging	0	0	0.00
Compass	1930	6	134.03
RAFOS	2520	1	38.93
Transponder	19	30	6.12

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.73	-146.0	0.0	0.0	0	38	0.00	0.00	-19.90	0.000	2	0.000	0.000	122	2521	1529	0	0	0	0	0	0
41	-0.73	-146.0	3.0	-0.9	3	163	8.55	1.15	-105.62	0.000	4	0.259	0.098	2155	3211	3082	0	0	0	0	0	0
415	-0.73	-146.0	54.5	-17.3	59	424	0.00	1.10	0.00	0.000	6	0.000	0.034	2155	2504	3085	0	0	0	0	0	0
755	-0.73	-146.0	107.5	-14.7	110	762	0.00	1.17	0.00	0.000	4	0.000	0.067	2151	3204	3085	0	0	0	0	0	0
942	-0.73	-146.0	134.2	-14.3	138	949	0.00	1.08	0.00	0.000	6	0.000	0.034	2151	2513	3085	0	0	0	0	0	0
1279	-0.73	-146.0	177.3	-12.5	189	1285	0.00	1.17	0.00	0.000	4	0.000	0.067	2146	3213	3084	0	0	0	0	0	0
1353	-0.73	-146.0	187.2	-13.5	200	1360	0.00	1.10	0.00	0.000	6	0.000	0.034	2146	2502	3084	0	0	0	0	0	0
1690	-0.73	-146.0	232.0	-12.7	251	1699	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2502	3085	0	0	0	0	0	0
2027	-0.73	-146.0	274.3	-12.6	288	2028	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2502	3084	0	0	0	0	0	0
2342	-0.73	-146.0	314.5	-13.2	313	2343	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2502	3084	0	0	0	0	0	0
2657	-0.73	-146.0	353.1	-11.3	338	2658	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2502	3084	0	0	0	0	0	0
2973	-0.73	-146.0	389.7	-11.8	363	2976	0.00	1.17	0.00	0.000	4	0.000	0.067	2142	3207	3084	0	0	0	0	0	0
3056	-0.73	-146.0	398.3	-10.9	369	3064	0.00	1.10	0.00	0.000	6	0.000	0.033	2142	2504	3083	0	0	0	0	0	0
3382	-0.73	-146.0	432.6	-10.7	395	3386	0.00	1.17	0.00	0.000	4	0.000	0.066	2137	3212	3083	0	0	0	0	0	0
3488	-0.73	-146.0	444.6	-11.0	403	3492	0.00	1.08	0.00	0.000	6	0.000	0.033	2137	2509	3083	0	0	0	0	0	0
3818	-0.73	-146.0	480.1	-10.8	429	3819	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2509	3083	0	0	0	0	0	0
4149	-0.73	-146.0	520.0	-12.3	448	4152	0.00	1.15	0.00	0.000	4	0.000	0.065	2133	3205	3084	0	0	0	0	0	0
4215	-0.73	-146.0	528.7	-12.4	450	4219	0.10	1.08	0.00	0.000	6	0.151	0.032	2164	2496	3084	0	0	0	0	0	0
4554	-0.73	-146.0	564.0	-10.0	461	4555	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2497	3084	0	0	0	0	0	0
4861	-0.73	-146.0	592.2	-8.8	471	4864	0.00	1.17	0.00	0.000	4	0.000	0.066	2161	3209	3085	0	0	0	0	0	0
4931	-0.73	-146.0	598.1	-8.9	473	4936	0.00	1.08	0.00	0.000	6	0.000	0.030	2161	2509	3085	0	0	0	0	0	0
5267	-0.73	-146.0	629.1	-9.2	484	5268	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2509	3085	0	0	0	0	0	0
5571	-0.73	-146.0	657.5	-9.4	494	5572	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2509	3085	0	0	0	0	0	0
5879	-0.73	-146.0	687.5	-9.9	504	5880	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2509	3086	0	0	0	0	0	0
6183	-0.73	-146.0	718.6	-10.1	514	6187	0.00	1.15	0.00	0.000	4	0.000	0.065	2156	3209	3086	0	0	0	0	0	0
6307	-0.73	-146.0	728.3	-10.0	517	6315	0.00	1.08	0.00	0.000	6	0.000	0.030	2156	2507	3086	0	0	0	0	0	0
6623	-0.73	-146.0	762.0	-8.9	528	6627	0.00	1.17	0.00	0.000	4	0.000	0.066	2151	3217	3086	0	0	0	0	0	0
6689	-0.73	-146.0	768.8	-9.4	530	6693	0.00	1.08	0.00	0.000	6	0.000	0.031	2151	2506	3086	0	0	0	0	0	0
6720	end dive: TARGET_DEPTH_EXCEEDED
state	6720	begin apogee
6726	-0.16	0.0	772.1	-9.7	531	6855	0.57	0.00	121.50	1.392	6	0.132	0.000	2340	2188	2485	0	0	0	0	0	0
6855	end apogee: CONTROL_FINISHED_OK
state	6855	begin climb
6858	0.73	146.0	775.8	0.0	535	6997	0.85	1.20	130.43	1.333	4	0.071	0.051	2636	1509	1888	0	0	0	0	0	0
7246	0.73	146.0	738.4	13.1	547	7252	0.00	1.23	0.00	0.000	6	0.000	0.045	2636	2207	1881	0	0	0	0	0	0
7574	0.73	146.0	694.7	12.7	558	7575	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2208	1878	0	0	0	0	0	0
7880	0.73	146.0	655.5	12.3	568	7881	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2208	1877	0	0	0	0	0	0
8186	0.73	146.0	615.6	13.2	578	8190	0.00	1.15	0.00	0.000	4	0.000	0.048	2641	1504	1877	0	0	0	0	0	0
8319	0.73	146.0	599.1	12.3	582	8322	0.00	1.15	0.00	0.000	6	0.000	0.047	2641	2203	1876	0	0	0	0	0	0
8661	0.73	146.0	559.8	11.3	593	8663	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2202	1875	0	0	0	0	0	0
8965	0.73	146.0	525.5	11.3	603	8966	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2203	1875	0	0	0	0	0	0
9272	0.73	146.0	489.7	12.0	616	9273	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2203	1875	0	0	0	0	0	0
9589	0.73	146.0	452.9	11.1	641	9591	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2203	1875	0	0	0	0	0	0
9903	0.73	146.0	417.9	11.2	666	9904	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2203	1875	0	0	0	0	0	0
10219	0.73	146.0	381.5	11.6	691	10220	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2203	1875	0	0	0	0	0	0
10534	0.73	146.0	345.7	10.9	716	10535	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2203	1875	0	0	0	0	0	0
10853	0.73	146.0	310.1	11.8	741	10854	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2203	1875	0	0	0	0	0	0
11165	0.73	146.0	274.5	10.6	766	11169	0.00	1.12	0.00	0.000	4	0.000	0.050	2646	1502	1875	0	0	0	0	0	0
11223	0.73	146.0	269.1	10.3	770	11231	0.00	1.15	0.00	0.000	6	0.000	0.049	2646	2200	1875	0	0	0	0	0	0
11553	0.74	156.2	236.4	8.7	807	11569	0.00	1.10	7.38	0.940	4	0.000	0.054	2646	2907	1848	0	0	0	0	0	0
11662	0.74	161.1	226.3	9.0	823	11678	0.00	1.12	5.68	0.875	6	0.000	0.038	2650	2208	1830	0	0	0	0	0	0
12009	0.74	161.1	193.6	9.2	875	12015	0.00	1.08	0.00	0.000	4	0.000	0.051	2655	1497	1829	0	0	0	0	0	0
12089	0.74	161.1	185.9	9.5	887	12095	0.00	1.15	0.00	0.000	6	0.000	0.048	2655	2206	1829	0	0	0	0	0	0
12426	0.74	161.1	154.1	9.3	938	12432	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2206	1829	0	0	0	0	0	0
12766	0.76	176.2	123.7	8.5	989	12784	0.00	0.00	14.77	0.981	6	0.000	0.000	2655	2206	1766	0	0	0	0	0	0
13118	0.84	239.6	93.6	6.5	1042	13178	0.00	1.20	54.30	0.979	4	0.000	0.057	2655	2900	1507	0	0	0	0	0	0
13264	0.84	239.6	79.9	10.8	1064	13273	0.00	1.17	0.00	0.000	6	0.000	0.040	2660	2201	1502	0	0	0	0	0	0
13603	0.84	239.6	43.7	10.4	1115	13609	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2201	1500	0	0	0	0	0	0
13940	0.94	321.7	18.1	5.7	1166	13988	0.12	0.00	42.15	0.120	6	0.093	0.000	2710	2201	1171	0	0	0	0	0	0
14085	end climb: SURFACE_DEPTH_REACHED
state	14085	begin surface coast
14099	end surface coast: CONTROL_FINISHED_OK
state	14099	begin surface