Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 25

DIVE 17 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2450 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2225 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 400 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -22031.725 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2870 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 25 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -22031.725

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2870 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2225 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2450 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 29 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 17 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 210211,115707,6707.354,-5707.805,28,1.3,28,-37.7 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 1.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210211,120313,6707.390,-5707.794,34,1.6,39,-37.7 MHEAD_RNG_PITCHd_Wd 291.1,151332,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 599

Post-dive calculations and measurements:

FREEZE 1.08,-1.024,-1.829,3,1,0 ALTIM_TOP_PING 19.8,18.3

FINISH 1.1,1.026817 ALTIM_BOTTOM_PING 550.1,41.8

SM_CCo 11350,71.25,0.070,0,0,1398,400.08 _24V_AH 23.3,5.517

SM_GC 1.95,0.00,0.00,71.25,0.000,0.000,0.070,116,2451,1398,-8.61,0.03,400.08 _10V_AH 10.4,2.321

RAFOS_CLK 556 FG_AHR_24Vo 0.000

RAFOS 1,1298290146,12.166667,12.151667,60,59,59,57,53,51,185,194,203,215,162,134 FG_AHR_10Vo 0.000

RAFOS_FIX 6710.382324,-5720.347656,210211,121200,2,102,3.94 MEM 150716

IRIDIUM_FIX 6636.54,-5709.24,210211,080836 DATA_FILE_SIZE 46669,1199

TT8_MAMPS 0.026215 CAP_FILE_SIZE 141124,0

HUMID 46.02 CFSIZE 260165632,251138048

INTERNAL_PRESSURE 8.55502 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.70 SOUNDSPEED 1458.8

XPDR_PINGS 0 GPS 210211,151536,6709.099,-5711.875,33,1.4,33,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 334 208.75 SBE_CT 845 24 472.81

Roll_motor 110 82 212.67 SBE_O2 913 19 404.27

VBD_pump_during_apogee 329 1241 9528.54 nil 0 0 0.00

VBD_pump_during_surface 71 69 115.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 56.50 nil 0 0 0.00

Iridium_during_connect 39 160 145.78 nil 0 0 0.00

Iridium_during_xfer 151 223 788.86 nil 0 0 0.00

Transponder_ping 2 420 19.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 41 50 21.59

TT8 2884 19 597.56

LPSleep 5964 2 143.28

TT8_Active 554 19 114.95

TT8_Sampling 2192 39 910.17

TT8_CF8 210 45 100.32

TT8_Kalman 0 0 0.00

Analog_circuits 1590 12 198.46

GPS_charging 0 0 0.00

Compass 1917 15 299.15

RAFOS 2160 1 33.70

Transponder 17 30 5.41

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.62 -146.0 0.0 0.0 0 150 0.00 0.00 -130.82 0.000 2 0.000 0.000 109 2442 3477 0 0 0 0 0 0

153 -0.62 -146.0 5.5 -10.1 23 179 12.70 2.33 -3.08 0.000 4 0.334 0.083 2658 1043 3629 0 0 0 0 0 0

186 0.30 -146.0 19.5 -38.2 28 194 1.12 2.30 0.00 0.000 6 0.221 0.065 2958 2454 3630 0 0 0 0 0 0

532 -0.23 -146.0 42.4 -7.6 89 540 0.50 2.28 0.00 0.000 4 0.153 0.068 2801 1046 3630 0 0 0 0 0 0

788 -0.63 -146.0 62.9 -8.9 134 795 0.40 2.28 0.00 0.000 6 0.106 0.063 2664 2463 3629 0 0 0 0 0 0

1130 -0.58 -146.0 108.5 -12.3 189 1134 0.00 2.25 0.00 0.000 4 0.000 0.080 2663 3853 3629 0 0 0 0 0 0

1286 -0.56 -146.0 126.8 -11.4 203 1290 0.00 2.20 0.00 0.000 6 0.000 0.054 2663 2446 3629 0 0 0 0 0 0

1611 -0.51 -146.0 165.6 -11.5 233 1613 0.15 0.00 0.00 0.000 6 0.232 0.000 2698 2446 3627 0 0 0 0 0 0

1930 -0.55 -146.0 192.4 -8.0 263 1935 0.00 2.30 0.00 0.000 4 0.000 0.079 2698 3860 3627 0 0 0 0 0 0

1964 -0.60 -146.0 195.4 -8.5 265 1970 0.00 2.20 0.00 0.000 6 0.000 0.052 2698 2440 3627 0 0 0 0 0 0

2289 -0.65 -146.0 223.7 -9.0 296 2291 0.12 0.00 0.00 0.000 6 0.139 0.000 2659 2440 3628 0 0 0 0 0 0

2607 -0.60 -146.0 262.1 -12.8 326 2612 0.00 2.28 0.00 0.000 4 0.000 0.078 2659 3857 3628 0 0 0 0 0 0

2653 -0.57 -146.0 267.7 -12.9 330 2657 0.00 2.17 0.00 0.000 6 0.000 0.052 2659 2450 3628 0 0 0 0 0 0

2985 -0.52 -146.0 308.1 -12.4 361 2987 0.15 0.00 0.00 0.000 6 0.220 0.000 2693 2450 3629 0 0 0 0 0 0

3302 -0.57 -146.0 335.9 -8.0 391 3303 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2450 3629 0 0 0 0 0 0

3622 -0.61 -146.0 359.4 -7.2 421 3626 0.00 2.30 0.00 0.000 4 0.000 0.079 2693 3859 3629 0 0 0 0 0 0

3666 -0.69 -146.0 362.6 -6.8 424 3673 0.15 2.20 0.00 0.000 6 0.122 0.051 2643 2443 3629 0 0 0 0 0 0

3993 -0.62 -146.0 396.4 -11.0 455 3997 0.00 2.22 0.00 0.000 4 0.000 0.068 2643 1038 3629 0 0 0 0 0 0

4033 -0.56 -146.0 401.2 -11.6 458 4038 0.17 2.25 0.00 0.000 6 0.227 0.064 2685 2452 3630 0 0 0 0 0 0

4358 -0.60 -146.0 427.1 -8.0 488 4362 0.00 2.25 0.00 0.000 4 0.000 0.080 2685 3857 3629 0 0 0 0 0 0

4433 -0.65 -146.0 433.3 -8.5 494 4437 0.00 2.17 0.00 0.000 6 0.000 0.050 2685 2439 3629 0 0 0 0 0 0

4758 -0.69 -146.0 459.3 -8.0 524 4760 0.12 0.00 0.00 0.000 6 0.138 0.000 2644 2439 3630 0 0 0 0 0 0

5078 -0.62 -146.0 496.6 -11.9 554 5082 0.00 2.28 0.00 0.000 4 0.000 0.078 2644 3856 3630 0 0 0 0 0 0

5133 -0.58 -146.0 503.9 -12.1 558 5141 0.15 2.17 0.00 0.000 6 0.210 0.051 2680 2451 3630 0 0 0 0 0 0

5460 -0.61 -146.0 535.5 -9.7 589 5462 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2451 3631 0 0 0 0 0 0

5777 -0.63 -146.0 565.9 -9.1 619 5781 0.00 2.28 0.00 0.000 4 0.000 0.080 2679 3859 3631 0 0 0 0 0 0

5866 -0.68 -146.0 574.0 -8.7 626 5873 0.00 2.20 0.00 0.000 6 0.000 0.052 2680 2443 3630 0 0 0 0 0 0

5902 end dive: BOTTOM_OBSTACLE_DETECTED

state 5903 begin apogee

5908 -0.12 0.0 577.4 9.3 630 6038 0.47 0.00 120.15 1.242 6 0.187 0.000 2823 2219 3030 0 0 0 0 0 0

6039 end apogee: CONTROL_FINISHED_OK

state 6039 begin climb

6041 0.62 146.0 581.1 0.0 642 6174 0.77 2.53 123.10 1.220 4 0.137 0.076 3070 836 2434 0 0 0 0 0 0

6232 0.51 146.0 565.2 13.6 659 6237 0.12 2.38 0.00 0.000 6 0.193 0.060 3042 2230 2428 0 0 0 0 0 0

6557 0.46 146.0 527.9 11.4 689 6561 0.00 2.35 0.00 0.000 4 0.000 0.075 3042 3633 2425 0 0 0 0 0 0

6699 0.37 146.0 508.9 13.4 701 6704 0.22 2.30 0.00 0.000 6 0.190 0.060 2993 2228 2424 0 0 0 0 0 0

7025 0.44 172.3 479.5 8.8 731 7052 0.00 2.38 21.85 1.114 4 0.000 0.073 2993 3634 2326 0 0 0 0 0 0

7076 0.48 173.4 474.8 9.9 735 7080 0.00 2.30 0.00 0.000 6 0.000 0.057 3001 2224 2326 0 0 0 0 0 0

7402 0.53 179.0 443.8 9.7 765 7415 0.12 2.42 6.78 0.933 4 0.109 0.074 3049 3634 2300 0 0 0 0 0 0

7431 0.48 179.0 440.0 12.4 767 7439 0.12 2.30 0.00 0.000 6 0.202 0.058 3030 2225 2300 0 0 0 0 0 0

7756 0.48 179.0 402.9 11.3 798 7761 0.00 2.35 0.00 0.000 4 0.000 0.073 3030 3641 2299 0 0 0 0 0 0

7789 0.45 179.0 398.7 12.3 800 7796 0.00 2.28 0.00 0.000 6 0.000 0.057 3039 2226 2298 0 0 0 0 0 0

8116 0.43 179.0 360.2 12.0 831 8120 0.00 2.33 0.00 0.000 4 0.000 0.073 3039 3638 2298 0 0 0 0 0 0

8138 0.39 179.0 357.2 12.1 832 8146 0.15 2.30 0.00 0.000 6 0.177 0.057 2996 2219 2297 0 0 0 0 0 0

8464 0.48 204.1 326.5 8.8 863 8496 0.00 2.38 22.80 1.069 4 0.000 0.071 2996 3635 2197 0 0 0 0 0 0

8513 0.57 218.8 321.9 9.3 867 8535 0.15 2.30 14.38 1.025 6 0.107 0.055 3055 2220 2138 0 0 0 0 0 0

8861 0.57 218.8 280.1 11.9 900 8865 0.00 2.33 0.00 0.000 4 0.000 0.073 3056 3634 2132 0 0 0 0 0 0

8894 0.52 218.8 275.4 13.8 902 8900 0.00 2.28 0.00 0.000 6 0.000 0.056 3066 2224 2132 0 0 0 0 0 0

9219 0.50 218.8 234.7 12.7 933 9224 0.12 2.33 0.00 0.000 4 0.179 0.072 3034 3640 2131 0 0 0 0 0 0

9247 0.50 218.8 231.5 12.2 935 9251 0.00 2.28 0.00 0.000 6 0.000 0.054 3042 2221 2131 0 0 0 0 0 0

9572 0.51 229.2 198.7 9.5 965 9587 0.00 2.38 9.43 0.881 4 0.000 0.072 3042 3634 2095 0 0 0 0 0 0

9594 0.51 229.2 196.3 10.5 967 9598 0.00 2.28 0.00 0.000 6 0.000 0.053 3051 2210 2095 0 0 0 0 0 0

9919 0.53 229.2 162.4 10.2 997 9923 0.00 2.33 0.00 0.000 4 0.000 0.071 3051 3645 2093 0 0 0 0 0 0

9971 0.51 229.2 156.0 13.2 1001 9975 0.00 2.28 0.00 0.000 6 0.000 0.056 3059 2216 2093 0 0 0 0 0 0

10301 0.51 229.2 117.8 11.6 1032 10305 0.00 2.25 0.00 0.000 4 0.000 0.070 3070 816 2093 0 0 0 0 0 0

10318 0.51 229.2 115.9 11.8 1033 10323 0.12 2.25 0.00 0.000 6 0.182 0.060 3039 2231 2091 0 0 0 0 0 0

10652 0.59 240.6 83.3 9.5 1079 10671 0.00 2.30 10.90 0.864 4 0.000 0.074 3038 3635 2049 0 0 0 0 0 0

10684 0.65 241.8 80.2 9.9 1084 10691 0.12 2.25 0.00 0.000 6 0.121 0.055 3088 2223 2048 0 0 0 0 0 0

11029 0.65 241.8 38.1 11.4 1145 11036 0.00 2.28 0.00 0.000 4 0.000 0.071 3088 3634 2047 0 0 0 0 0 0

11043 0.65 241.8 36.5 11.6 1147 11050 0.00 2.22 0.00 0.000 6 0.000 0.054 3099 2225 2047 0 0 0 0 0 0

11310 end climb: SURFACE_DEPTH_REACHED

state 11310 begin surface coast

11333 end surface coast: CONTROL_FINISHED_OK

state 11333 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	25
DIVE	17	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2450	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2225	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	400	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-22031.725	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2870	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	210211,115707,6707.354,-5707.805,28,1.3,28,-37.7	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	1.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210211,120313,6707.390,-5707.794,34,1.6,39,-37.7	MHEAD_RNG_PITCHd_Wd	291.1,151332,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	599

FREEZE	1.08,-1.024,-1.829,3,1,0	ALTIM_TOP_PING	19.8,18.3
FINISH	1.1,1.026817	ALTIM_BOTTOM_PING	550.1,41.8
SM_CCo	11350,71.25,0.070,0,0,1398,400.08	_24V_AH	23.3,5.517
SM_GC	1.95,0.00,0.00,71.25,0.000,0.000,0.070,116,2451,1398,-8.61,0.03,400.08	_10V_AH	10.4,2.321
RAFOS_CLK	556	FG_AHR_24Vo	0.000
RAFOS	1,1298290146,12.166667,12.151667,60,59,59,57,53,51,185,194,203,215,162,134	FG_AHR_10Vo	0.000
RAFOS_FIX	6710.382324,-5720.347656,210211,121200,2,102,3.94	MEM	150716
IRIDIUM_FIX	6636.54,-5709.24,210211,080836	DATA_FILE_SIZE	46669,1199
TT8_MAMPS	0.026215	CAP_FILE_SIZE	141124,0
HUMID	46.02	CFSIZE	260165632,251138048
INTERNAL_PRESSURE	8.55502	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.70	SOUNDSPEED	1458.8
XPDR_PINGS	0	GPS	210211,151536,6709.099,-5711.875,33,1.4,33,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	334	208.75	SBE_CT	845	24	472.81
Roll_motor	110	82	212.67	SBE_O2	913	19	404.27
VBD_pump_during_apogee	329	1241	9528.54	nil	0	0	0.00
VBD_pump_during_surface	71	69	115.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	56.50	nil	0	0	0.00
Iridium_during_connect	39	160	145.78	nil	0	0	0.00
Iridium_during_xfer	151	223	788.86	nil	0	0	0.00
Transponder_ping	2	420	19.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	41	50	21.59
TT8	2884	19	597.56
LPSleep	5964	2	143.28
TT8_Active	554	19	114.95
TT8_Sampling	2192	39	910.17
TT8_CF8	210	45	100.32
TT8_Kalman	0	0	0.00
Analog_circuits	1590	12	198.46
GPS_charging	0	0	0.00
Compass	1917	15	299.15
RAFOS	2160	1	33.70
Transponder	17	30	5.41

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.62	-146.0	0.0	0.0	0	150	0.00	0.00	-130.82	0.000	2	0.000	0.000	109	2442	3477	0	0	0	0	0	0
153	-0.62	-146.0	5.5	-10.1	23	179	12.70	2.33	-3.08	0.000	4	0.334	0.083	2658	1043	3629	0	0	0	0	0	0
186	0.30	-146.0	19.5	-38.2	28	194	1.12	2.30	0.00	0.000	6	0.221	0.065	2958	2454	3630	0	0	0	0	0	0
532	-0.23	-146.0	42.4	-7.6	89	540	0.50	2.28	0.00	0.000	4	0.153	0.068	2801	1046	3630	0	0	0	0	0	0
788	-0.63	-146.0	62.9	-8.9	134	795	0.40	2.28	0.00	0.000	6	0.106	0.063	2664	2463	3629	0	0	0	0	0	0
1130	-0.58	-146.0	108.5	-12.3	189	1134	0.00	2.25	0.00	0.000	4	0.000	0.080	2663	3853	3629	0	0	0	0	0	0
1286	-0.56	-146.0	126.8	-11.4	203	1290	0.00	2.20	0.00	0.000	6	0.000	0.054	2663	2446	3629	0	0	0	0	0	0
1611	-0.51	-146.0	165.6	-11.5	233	1613	0.15	0.00	0.00	0.000	6	0.232	0.000	2698	2446	3627	0	0	0	0	0	0
1930	-0.55	-146.0	192.4	-8.0	263	1935	0.00	2.30	0.00	0.000	4	0.000	0.079	2698	3860	3627	0	0	0	0	0	0
1964	-0.60	-146.0	195.4	-8.5	265	1970	0.00	2.20	0.00	0.000	6	0.000	0.052	2698	2440	3627	0	0	0	0	0	0
2289	-0.65	-146.0	223.7	-9.0	296	2291	0.12	0.00	0.00	0.000	6	0.139	0.000	2659	2440	3628	0	0	0	0	0	0
2607	-0.60	-146.0	262.1	-12.8	326	2612	0.00	2.28	0.00	0.000	4	0.000	0.078	2659	3857	3628	0	0	0	0	0	0
2653	-0.57	-146.0	267.7	-12.9	330	2657	0.00	2.17	0.00	0.000	6	0.000	0.052	2659	2450	3628	0	0	0	0	0	0
2985	-0.52	-146.0	308.1	-12.4	361	2987	0.15	0.00	0.00	0.000	6	0.220	0.000	2693	2450	3629	0	0	0	0	0	0
3302	-0.57	-146.0	335.9	-8.0	391	3303	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2450	3629	0	0	0	0	0	0
3622	-0.61	-146.0	359.4	-7.2	421	3626	0.00	2.30	0.00	0.000	4	0.000	0.079	2693	3859	3629	0	0	0	0	0	0
3666	-0.69	-146.0	362.6	-6.8	424	3673	0.15	2.20	0.00	0.000	6	0.122	0.051	2643	2443	3629	0	0	0	0	0	0
3993	-0.62	-146.0	396.4	-11.0	455	3997	0.00	2.22	0.00	0.000	4	0.000	0.068	2643	1038	3629	0	0	0	0	0	0
4033	-0.56	-146.0	401.2	-11.6	458	4038	0.17	2.25	0.00	0.000	6	0.227	0.064	2685	2452	3630	0	0	0	0	0	0
4358	-0.60	-146.0	427.1	-8.0	488	4362	0.00	2.25	0.00	0.000	4	0.000	0.080	2685	3857	3629	0	0	0	0	0	0
4433	-0.65	-146.0	433.3	-8.5	494	4437	0.00	2.17	0.00	0.000	6	0.000	0.050	2685	2439	3629	0	0	0	0	0	0
4758	-0.69	-146.0	459.3	-8.0	524	4760	0.12	0.00	0.00	0.000	6	0.138	0.000	2644	2439	3630	0	0	0	0	0	0
5078	-0.62	-146.0	496.6	-11.9	554	5082	0.00	2.28	0.00	0.000	4	0.000	0.078	2644	3856	3630	0	0	0	0	0	0
5133	-0.58	-146.0	503.9	-12.1	558	5141	0.15	2.17	0.00	0.000	6	0.210	0.051	2680	2451	3630	0	0	0	0	0	0
5460	-0.61	-146.0	535.5	-9.7	589	5462	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2451	3631	0	0	0	0	0	0
5777	-0.63	-146.0	565.9	-9.1	619	5781	0.00	2.28	0.00	0.000	4	0.000	0.080	2679	3859	3631	0	0	0	0	0	0
5866	-0.68	-146.0	574.0	-8.7	626	5873	0.00	2.20	0.00	0.000	6	0.000	0.052	2680	2443	3630	0	0	0	0	0	0
5902	end dive: BOTTOM_OBSTACLE_DETECTED
state	5903	begin apogee
5908	-0.12	0.0	577.4	9.3	630	6038	0.47	0.00	120.15	1.242	6	0.187	0.000	2823	2219	3030	0	0	0	0	0	0
6039	end apogee: CONTROL_FINISHED_OK
state	6039	begin climb
6041	0.62	146.0	581.1	0.0	642	6174	0.77	2.53	123.10	1.220	4	0.137	0.076	3070	836	2434	0	0	0	0	0	0
6232	0.51	146.0	565.2	13.6	659	6237	0.12	2.38	0.00	0.000	6	0.193	0.060	3042	2230	2428	0	0	0	0	0	0
6557	0.46	146.0	527.9	11.4	689	6561	0.00	2.35	0.00	0.000	4	0.000	0.075	3042	3633	2425	0	0	0	0	0	0
6699	0.37	146.0	508.9	13.4	701	6704	0.22	2.30	0.00	0.000	6	0.190	0.060	2993	2228	2424	0	0	0	0	0	0
7025	0.44	172.3	479.5	8.8	731	7052	0.00	2.38	21.85	1.114	4	0.000	0.073	2993	3634	2326	0	0	0	0	0	0
7076	0.48	173.4	474.8	9.9	735	7080	0.00	2.30	0.00	0.000	6	0.000	0.057	3001	2224	2326	0	0	0	0	0	0
7402	0.53	179.0	443.8	9.7	765	7415	0.12	2.42	6.78	0.933	4	0.109	0.074	3049	3634	2300	0	0	0	0	0	0
7431	0.48	179.0	440.0	12.4	767	7439	0.12	2.30	0.00	0.000	6	0.202	0.058	3030	2225	2300	0	0	0	0	0	0
7756	0.48	179.0	402.9	11.3	798	7761	0.00	2.35	0.00	0.000	4	0.000	0.073	3030	3641	2299	0	0	0	0	0	0
7789	0.45	179.0	398.7	12.3	800	7796	0.00	2.28	0.00	0.000	6	0.000	0.057	3039	2226	2298	0	0	0	0	0	0
8116	0.43	179.0	360.2	12.0	831	8120	0.00	2.33	0.00	0.000	4	0.000	0.073	3039	3638	2298	0	0	0	0	0	0
8138	0.39	179.0	357.2	12.1	832	8146	0.15	2.30	0.00	0.000	6	0.177	0.057	2996	2219	2297	0	0	0	0	0	0
8464	0.48	204.1	326.5	8.8	863	8496	0.00	2.38	22.80	1.069	4	0.000	0.071	2996	3635	2197	0	0	0	0	0	0
8513	0.57	218.8	321.9	9.3	867	8535	0.15	2.30	14.38	1.025	6	0.107	0.055	3055	2220	2138	0	0	0	0	0	0
8861	0.57	218.8	280.1	11.9	900	8865	0.00	2.33	0.00	0.000	4	0.000	0.073	3056	3634	2132	0	0	0	0	0	0
8894	0.52	218.8	275.4	13.8	902	8900	0.00	2.28	0.00	0.000	6	0.000	0.056	3066	2224	2132	0	0	0	0	0	0
9219	0.50	218.8	234.7	12.7	933	9224	0.12	2.33	0.00	0.000	4	0.179	0.072	3034	3640	2131	0	0	0	0	0	0
9247	0.50	218.8	231.5	12.2	935	9251	0.00	2.28	0.00	0.000	6	0.000	0.054	3042	2221	2131	0	0	0	0	0	0
9572	0.51	229.2	198.7	9.5	965	9587	0.00	2.38	9.43	0.881	4	0.000	0.072	3042	3634	2095	0	0	0	0	0	0
9594	0.51	229.2	196.3	10.5	967	9598	0.00	2.28	0.00	0.000	6	0.000	0.053	3051	2210	2095	0	0	0	0	0	0
9919	0.53	229.2	162.4	10.2	997	9923	0.00	2.33	0.00	0.000	4	0.000	0.071	3051	3645	2093	0	0	0	0	0	0
9971	0.51	229.2	156.0	13.2	1001	9975	0.00	2.28	0.00	0.000	6	0.000	0.056	3059	2216	2093	0	0	0	0	0	0
10301	0.51	229.2	117.8	11.6	1032	10305	0.00	2.25	0.00	0.000	4	0.000	0.070	3070	816	2093	0	0	0	0	0	0
10318	0.51	229.2	115.9	11.8	1033	10323	0.12	2.25	0.00	0.000	6	0.182	0.060	3039	2231	2091	0	0	0	0	0	0
10652	0.59	240.6	83.3	9.5	1079	10671	0.00	2.30	10.90	0.864	4	0.000	0.074	3038	3635	2049	0	0	0	0	0	0
10684	0.65	241.8	80.2	9.9	1084	10691	0.12	2.25	0.00	0.000	6	0.121	0.055	3088	2223	2048	0	0	0	0	0	0
11029	0.65	241.8	38.1	11.4	1145	11036	0.00	2.28	0.00	0.000	4	0.000	0.071	3088	3634	2047	0	0	0	0	0	0
11043	0.65	241.8	36.5	11.6	1147	11050	0.00	2.22	0.00	0.000	6	0.000	0.054	3099	2225	2047	0	0	0	0	0	0
11310	end climb: SURFACE_DEPTH_REACHED
state	11310	begin surface coast
11333	end surface coast: CONTROL_FINISHED_OK
state	11333	begin surface