Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 177 * 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 177 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 -80738.664 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 -80738.664

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 177 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 021111,194654,6647.457,-5954.425,37,0.7,37,-33.9 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.72 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -72.6 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 021111,195155,6647.422,-5954.506,20,0.7,20,-33.9 MHEAD_RNG_PITCHd_Wd 138.9,137740,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 759

Post-dive calculations and measurements:

FINISH 1.8,1.012770 _24V_AH 22.5,22.371

SM_CCo 13901,2.12,0.091,0,0,1262,300.00 _10V_AH 10.3,17.410

SM_GC 3.75,7.15,0.68,2.12,0.050,0.041,0.091,119,2506,1262,-7.08,1.10,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 910 FG_AHR_10Vo 0.000

RAFOS 0,1320264062,20.033333,20.017221,96,71,57,0,0,0,689,210,169,0,0,0 MEM 150280

RAFOS_FIX 6645.913086,-5950.452637,021111,202016,7,111,1.92 DATA_FILE_SIZE 43375,1187

IRIDIUM_FIX 6620.33,-6001.10,021111,161620 CAP_FILE_SIZE 133022,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,235782144

HUMID 57.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.8246 SOUNDSPEED 1452.3

TCM_TEMP 16.20 CURRENT 0.105,182.7,1

XPDR_PINGS 16 GPS 021111,234555,6646.228,-5948.856,39,0.8,39,-33.8

ALTIM_BOTTOM_PING 751.4,46.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 260 103.15 SBE_CT 859 23 448.83

Roll_motor 55 74 92.79 SBE_O2 656 5 77.39

VBD_pump_during_apogee 379 1382 11812.91 nil 0 0 0.00

VBD_pump_during_surface 2 91 4.35 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 186 255 1073.11 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 5.77

TT8 3251 18 626.61

LPSleep 8033 2 191.14

TT8_Active 522 18 100.75

TT8_Sampling 2202 41 951.33

TT8_CF8 217 47 107.23

TT8_Kalman 0 0 0.00

Analog_circuits 1769 12 218.74

GPS_charging 0 0 0.00

Compass 1986 6 137.88

RAFOS 2520 1 38.93

Transponder 24 30 7.56

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.73 -146.0 0.0 0.0 0 45 0.00 0.00 -26.10 0.000 2 0.000 0.000 123 2514 1613 0 0 0 0 0 0

48 -0.73 -146.0 3.1 -2.5 4 155 8.55 1.23 -92.97 0.000 4 0.260 0.074 2159 1804 3081 0 0 0 0 0 0

402 -0.73 -146.0 50.5 -15.7 57 411 0.00 1.23 0.00 0.000 6 0.000 0.057 2157 2511 3084 0 0 0 0 0 0

742 -0.73 -146.0 101.9 -13.2 108 749 0.00 1.15 0.00 0.000 4 0.000 0.045 2157 1816 3084 0 0 0 0 0 0

788 -0.73 -146.0 108.3 -13.1 115 795 0.00 1.20 0.00 0.000 6 0.000 0.058 2152 2511 3084 0 0 0 0 0 0

1126 -0.73 -146.0 152.8 -12.7 166 1133 0.00 1.12 0.00 0.000 4 0.000 0.070 2147 3213 3084 0 0 0 0 0 0

1233 -0.73 -146.0 166.8 -13.0 182 1240 0.00 1.10 0.00 0.000 6 0.000 0.036 2146 2512 3084 0 0 0 0 0 0

1571 -0.73 -146.0 212.3 -14.3 233 1580 0.00 1.10 0.00 0.000 4 0.000 0.047 2146 1811 3084 0 0 0 0 0 0

1634 -0.73 -146.0 221.3 -14.4 242 1641 0.00 1.20 0.00 0.000 6 0.000 0.058 2142 2511 3084 0 0 0 0 0 0

1971 -0.73 -146.0 271.0 -14.8 283 1973 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2511 3084 0 0 0 0 0 0

2289 -0.73 -146.0 316.3 -13.6 308 2292 0.00 1.12 0.00 0.000 4 0.000 0.071 2137 3214 3084 0 0 0 0 0 0

2443 -0.73 -146.0 336.8 -13.6 319 2450 0.00 1.10 0.00 0.000 6 0.000 0.037 2136 2508 3083 0 0 0 0 0 0

2767 -0.73 -146.0 378.3 -11.6 345 2771 0.12 1.08 0.00 0.000 4 0.176 0.047 2166 1819 3083 0 0 0 0 0 0

2890 -0.73 -146.0 390.4 -9.6 354 2898 0.00 1.20 0.00 0.000 6 0.000 0.057 2163 2512 3084 0 0 0 0 0 0

3214 -0.73 -146.0 422.8 -9.8 380 3215 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2512 3084 0 0 0 0 0 0

3531 -0.73 -146.0 452.8 -9.3 405 3534 0.00 1.12 0.00 0.000 4 0.000 0.070 2158 3220 3084 0 0 0 0 0 0

3623 -0.73 -146.0 461.7 -9.5 412 3627 0.00 1.10 0.00 0.000 6 0.000 0.034 2158 2509 3084 0 0 0 0 0 0

3955 -0.73 -146.0 492.3 -9.3 438 3958 0.00 1.08 0.00 0.000 4 0.000 0.045 2158 1815 3084 0 0 0 0 0 0

4021 -0.73 -146.0 498.8 -9.5 443 4025 0.00 1.17 0.00 0.000 6 0.000 0.057 2153 2506 3084 0 0 0 0 0 0

4342 -0.73 -146.0 530.5 -10.1 454 4345 0.00 1.12 0.00 0.000 4 0.000 0.070 2148 3216 3084 0 0 0 0 0 0

4441 -0.73 -146.0 541.0 -10.4 457 4445 0.00 1.10 0.00 0.000 6 0.000 0.034 2148 2499 3084 0 0 0 0 0 0

4780 -0.73 -146.0 577.2 -10.7 468 4781 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2499 3085 0 0 0 0 0 0

5087 -0.73 -146.0 610.4 -10.7 478 5091 0.00 1.17 0.00 0.000 4 0.000 0.065 2143 3212 3085 0 0 0 0 0 0

5138 -0.73 -146.0 614.0 -10.7 479 5143 0.00 1.10 0.00 0.000 6 0.000 0.032 2143 2505 3085 0 0 0 0 0 0

5465 -0.73 -146.0 651.1 -11.2 490 5466 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2505 3085 0 0 0 0 0 0

5765 -0.73 -146.0 684.8 -10.8 500 5769 0.00 1.17 0.00 0.000 4 0.000 0.067 2138 3214 3085 0 0 0 0 0 0

5876 -0.73 -146.0 694.7 -10.0 503 5881 0.00 1.10 0.00 0.000 6 0.000 0.032 2138 2503 3086 0 0 0 0 0 0

6204 -0.73 -146.0 732.3 -11.1 514 6208 0.00 1.05 0.00 0.000 4 0.000 0.044 2138 1825 3085 0 0 0 0 0 0

6249 -0.73 -146.0 736.1 -11.0 515 6254 0.12 1.20 0.00 0.000 6 0.171 0.055 2164 2523 3086 0 0 0 0 0 0

6482 end dive: TARGET_DEPTH_EXCEEDED

state 6482 begin apogee

6488 -0.16 0.0 760.2 -9.5 523 6617 0.52 0.00 121.65 1.382 6 0.126 0.000 2340 2193 2484 0 0 0 0 0 0

6617 end apogee: CONTROL_FINISHED_OK

state 6617 begin climb

6620 0.73 146.0 765.4 0.0 527 6760 0.85 1.23 131.10 1.323 4 0.069 0.051 2635 1510 1888 0 0 0 0 0 0

6918 0.73 146.0 744.2 12.0 536 6923 0.00 1.25 0.00 0.000 6 0.000 0.045 2634 2214 1882 0 0 0 0 0 0

7239 0.73 146.0 703.6 11.6 547 7240 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2214 1879 0 0 0 0 0 0

7545 0.73 146.0 667.7 11.9 557 7548 0.00 1.12 0.00 0.000 4 0.000 0.056 2634 2901 1877 0 0 0 0 0 0

7589 0.73 146.0 663.8 11.8 558 7594 0.00 1.17 0.00 0.000 6 0.000 0.037 2639 2201 1877 0 0 0 0 0 0

7918 0.73 146.0 624.3 11.6 569 7921 0.00 1.20 0.00 0.000 4 0.000 0.054 2639 2901 1877 0 0 0 0 0 0

8036 0.73 146.0 612.2 11.9 572 8040 0.00 1.15 0.00 0.000 6 0.000 0.039 2644 2195 1876 0 0 0 0 0 0

8356 0.73 146.0 571.1 12.1 583 8359 0.00 1.20 0.00 0.000 4 0.000 0.054 2644 2901 1876 0 0 0 0 0 0

8460 0.73 146.0 558.4 12.8 586 8464 0.00 1.15 0.00 0.000 6 0.000 0.038 2649 2194 1876 0 0 0 0 0 0

8793 0.73 146.0 517.7 12.1 597 8795 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2194 1876 0 0 0 0 0 0

9111 0.73 146.0 479.5 12.3 615 9115 0.00 1.20 0.00 0.000 4 0.000 0.054 2649 2905 1876 0 0 0 0 0 0

9152 0.73 146.0 474.5 12.6 618 9155 0.00 1.15 0.00 0.000 6 0.000 0.038 2654 2193 1876 0 0 0 0 0 0

9482 0.73 146.0 433.5 12.3 644 9485 0.00 1.20 0.00 0.000 4 0.000 0.053 2653 2905 1876 0 0 0 0 0 0

9495 0.73 146.0 431.7 12.4 645 9499 0.00 1.15 0.00 0.000 6 0.000 0.038 2658 2191 1876 0 0 0 0 0 0

9825 0.73 146.0 392.8 11.6 671 9826 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2191 1876 0 0 0 0 0 0

10140 0.73 146.0 357.3 10.7 696 10141 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2191 1876 0 0 0 0 0 0

10455 0.73 146.0 323.7 11.0 721 10458 0.00 1.20 0.00 0.000 4 0.000 0.056 2658 2905 1875 0 0 0 0 0 0

10512 0.73 146.0 317.8 11.0 725 10522 0.00 1.17 0.00 0.000 6 0.000 0.037 2663 2184 1875 0 0 0 0 0 0

10837 0.73 146.0 281.8 11.1 751 10841 0.00 1.23 0.00 0.000 4 0.000 0.054 2663 2914 1875 0 0 0 0 0 0

10987 0.73 146.0 265.0 11.3 762 10996 0.15 1.17 0.00 0.000 6 0.169 0.037 2630 2192 1875 0 0 0 0 0 0

11321 0.73 146.0 232.1 10.1 802 11328 0.00 1.20 0.00 0.000 4 0.000 0.054 2630 2908 1875 0 0 0 0 0 0

11361 0.73 146.0 228.2 9.4 808 11368 0.00 1.12 0.00 0.000 6 0.000 0.037 2634 2201 1875 0 0 0 0 0 0

11699 0.73 148.7 197.5 9.1 859 11705 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2201 1875 0 0 0 0 0 0

12037 0.74 155.6 167.6 8.9 910 12050 0.00 1.15 7.03 0.912 4 0.000 0.052 2634 2914 1849 0 0 0 0 0 0

12156 0.74 155.6 156.4 9.2 928 12163 0.00 1.15 0.00 0.000 6 0.000 0.037 2638 2197 1849 0 0 0 0 0 0

12494 0.77 183.7 127.7 8.0 979 12521 0.00 0.00 25.42 1.000 6 0.000 0.000 2639 2197 1736 0 0 0 0 0 0

12852 0.78 194.1 96.5 8.7 1033 12867 0.00 1.12 10.02 0.930 4 0.000 0.051 2644 1494 1693 0 0 0 0 0 0

12882 0.80 206.0 93.9 8.7 1037 12898 0.00 1.17 11.73 0.926 6 0.000 0.047 2644 2205 1645 0 0 0 0 0 0

13230 0.80 206.1 58.8 9.2 1089 13238 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2205 1642 0 0 0 0 0 0

13570 0.90 292.2 34.8 5.5 1140 13651 0.15 1.15 72.85 0.941 4 0.083 0.054 2703 2907 1292 0 0 0 0 0 0

13866 end climb: SURFACE_DEPTH_REACHED

state 13866 begin surface coast

13884 end surface coast: CONTROL_FINISHED_OK

state 13884 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	177	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	-80738.664	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	021111,194654,6647.457,-5954.425,37,0.7,37,-33.9	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.72	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-72.6	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	021111,195155,6647.422,-5954.506,20,0.7,20,-33.9	MHEAD_RNG_PITCHd_Wd	138.9,137740,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	759

FINISH	1.8,1.012770	_24V_AH	22.5,22.371
SM_CCo	13901,2.12,0.091,0,0,1262,300.00	_10V_AH	10.3,17.410
SM_GC	3.75,7.15,0.68,2.12,0.050,0.041,0.091,119,2506,1262,-7.08,1.10,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	910	FG_AHR_10Vo	0.000
RAFOS	0,1320264062,20.033333,20.017221,96,71,57,0,0,0,689,210,169,0,0,0	MEM	150280
RAFOS_FIX	6645.913086,-5950.452637,021111,202016,7,111,1.92	DATA_FILE_SIZE	43375,1187
IRIDIUM_FIX	6620.33,-6001.10,021111,161620	CAP_FILE_SIZE	133022,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,235782144
HUMID	57.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.8246	SOUNDSPEED	1452.3
TCM_TEMP	16.20	CURRENT	0.105,182.7,1
XPDR_PINGS	16	GPS	021111,234555,6646.228,-5948.856,39,0.8,39,-33.8
ALTIM_BOTTOM_PING	751.4,46.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	260	103.15	SBE_CT	859	23	448.83
Roll_motor	55	74	92.79	SBE_O2	656	5	77.39
VBD_pump_during_apogee	379	1382	11812.91	nil	0	0	0.00
VBD_pump_during_surface	2	91	4.35	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	255	1073.11	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	5.77
TT8	3251	18	626.61
LPSleep	8033	2	191.14
TT8_Active	522	18	100.75
TT8_Sampling	2202	41	951.33
TT8_CF8	217	47	107.23
TT8_Kalman	0	0	0.00
Analog_circuits	1769	12	218.74
GPS_charging	0	0	0.00
Compass	1986	6	137.88
RAFOS	2520	1	38.93
Transponder	24	30	7.56

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.73	-146.0	0.0	0.0	0	45	0.00	0.00	-26.10	0.000	2	0.000	0.000	123	2514	1613	0	0	0	0	0	0
48	-0.73	-146.0	3.1	-2.5	4	155	8.55	1.23	-92.97	0.000	4	0.260	0.074	2159	1804	3081	0	0	0	0	0	0
402	-0.73	-146.0	50.5	-15.7	57	411	0.00	1.23	0.00	0.000	6	0.000	0.057	2157	2511	3084	0	0	0	0	0	0
742	-0.73	-146.0	101.9	-13.2	108	749	0.00	1.15	0.00	0.000	4	0.000	0.045	2157	1816	3084	0	0	0	0	0	0
788	-0.73	-146.0	108.3	-13.1	115	795	0.00	1.20	0.00	0.000	6	0.000	0.058	2152	2511	3084	0	0	0	0	0	0
1126	-0.73	-146.0	152.8	-12.7	166	1133	0.00	1.12	0.00	0.000	4	0.000	0.070	2147	3213	3084	0	0	0	0	0	0
1233	-0.73	-146.0	166.8	-13.0	182	1240	0.00	1.10	0.00	0.000	6	0.000	0.036	2146	2512	3084	0	0	0	0	0	0
1571	-0.73	-146.0	212.3	-14.3	233	1580	0.00	1.10	0.00	0.000	4	0.000	0.047	2146	1811	3084	0	0	0	0	0	0
1634	-0.73	-146.0	221.3	-14.4	242	1641	0.00	1.20	0.00	0.000	6	0.000	0.058	2142	2511	3084	0	0	0	0	0	0
1971	-0.73	-146.0	271.0	-14.8	283	1973	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2511	3084	0	0	0	0	0	0
2289	-0.73	-146.0	316.3	-13.6	308	2292	0.00	1.12	0.00	0.000	4	0.000	0.071	2137	3214	3084	0	0	0	0	0	0
2443	-0.73	-146.0	336.8	-13.6	319	2450	0.00	1.10	0.00	0.000	6	0.000	0.037	2136	2508	3083	0	0	0	0	0	0
2767	-0.73	-146.0	378.3	-11.6	345	2771	0.12	1.08	0.00	0.000	4	0.176	0.047	2166	1819	3083	0	0	0	0	0	0
2890	-0.73	-146.0	390.4	-9.6	354	2898	0.00	1.20	0.00	0.000	6	0.000	0.057	2163	2512	3084	0	0	0	0	0	0
3214	-0.73	-146.0	422.8	-9.8	380	3215	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2512	3084	0	0	0	0	0	0
3531	-0.73	-146.0	452.8	-9.3	405	3534	0.00	1.12	0.00	0.000	4	0.000	0.070	2158	3220	3084	0	0	0	0	0	0
3623	-0.73	-146.0	461.7	-9.5	412	3627	0.00	1.10	0.00	0.000	6	0.000	0.034	2158	2509	3084	0	0	0	0	0	0
3955	-0.73	-146.0	492.3	-9.3	438	3958	0.00	1.08	0.00	0.000	4	0.000	0.045	2158	1815	3084	0	0	0	0	0	0
4021	-0.73	-146.0	498.8	-9.5	443	4025	0.00	1.17	0.00	0.000	6	0.000	0.057	2153	2506	3084	0	0	0	0	0	0
4342	-0.73	-146.0	530.5	-10.1	454	4345	0.00	1.12	0.00	0.000	4	0.000	0.070	2148	3216	3084	0	0	0	0	0	0
4441	-0.73	-146.0	541.0	-10.4	457	4445	0.00	1.10	0.00	0.000	6	0.000	0.034	2148	2499	3084	0	0	0	0	0	0
4780	-0.73	-146.0	577.2	-10.7	468	4781	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2499	3085	0	0	0	0	0	0
5087	-0.73	-146.0	610.4	-10.7	478	5091	0.00	1.17	0.00	0.000	4	0.000	0.065	2143	3212	3085	0	0	0	0	0	0
5138	-0.73	-146.0	614.0	-10.7	479	5143	0.00	1.10	0.00	0.000	6	0.000	0.032	2143	2505	3085	0	0	0	0	0	0
5465	-0.73	-146.0	651.1	-11.2	490	5466	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2505	3085	0	0	0	0	0	0
5765	-0.73	-146.0	684.8	-10.8	500	5769	0.00	1.17	0.00	0.000	4	0.000	0.067	2138	3214	3085	0	0	0	0	0	0
5876	-0.73	-146.0	694.7	-10.0	503	5881	0.00	1.10	0.00	0.000	6	0.000	0.032	2138	2503	3086	0	0	0	0	0	0
6204	-0.73	-146.0	732.3	-11.1	514	6208	0.00	1.05	0.00	0.000	4	0.000	0.044	2138	1825	3085	0	0	0	0	0	0
6249	-0.73	-146.0	736.1	-11.0	515	6254	0.12	1.20	0.00	0.000	6	0.171	0.055	2164	2523	3086	0	0	0	0	0	0
6482	end dive: TARGET_DEPTH_EXCEEDED
state	6482	begin apogee
6488	-0.16	0.0	760.2	-9.5	523	6617	0.52	0.00	121.65	1.382	6	0.126	0.000	2340	2193	2484	0	0	0	0	0	0
6617	end apogee: CONTROL_FINISHED_OK
state	6617	begin climb
6620	0.73	146.0	765.4	0.0	527	6760	0.85	1.23	131.10	1.323	4	0.069	0.051	2635	1510	1888	0	0	0	0	0	0
6918	0.73	146.0	744.2	12.0	536	6923	0.00	1.25	0.00	0.000	6	0.000	0.045	2634	2214	1882	0	0	0	0	0	0
7239	0.73	146.0	703.6	11.6	547	7240	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2214	1879	0	0	0	0	0	0
7545	0.73	146.0	667.7	11.9	557	7548	0.00	1.12	0.00	0.000	4	0.000	0.056	2634	2901	1877	0	0	0	0	0	0
7589	0.73	146.0	663.8	11.8	558	7594	0.00	1.17	0.00	0.000	6	0.000	0.037	2639	2201	1877	0	0	0	0	0	0
7918	0.73	146.0	624.3	11.6	569	7921	0.00	1.20	0.00	0.000	4	0.000	0.054	2639	2901	1877	0	0	0	0	0	0
8036	0.73	146.0	612.2	11.9	572	8040	0.00	1.15	0.00	0.000	6	0.000	0.039	2644	2195	1876	0	0	0	0	0	0
8356	0.73	146.0	571.1	12.1	583	8359	0.00	1.20	0.00	0.000	4	0.000	0.054	2644	2901	1876	0	0	0	0	0	0
8460	0.73	146.0	558.4	12.8	586	8464	0.00	1.15	0.00	0.000	6	0.000	0.038	2649	2194	1876	0	0	0	0	0	0
8793	0.73	146.0	517.7	12.1	597	8795	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2194	1876	0	0	0	0	0	0
9111	0.73	146.0	479.5	12.3	615	9115	0.00	1.20	0.00	0.000	4	0.000	0.054	2649	2905	1876	0	0	0	0	0	0
9152	0.73	146.0	474.5	12.6	618	9155	0.00	1.15	0.00	0.000	6	0.000	0.038	2654	2193	1876	0	0	0	0	0	0
9482	0.73	146.0	433.5	12.3	644	9485	0.00	1.20	0.00	0.000	4	0.000	0.053	2653	2905	1876	0	0	0	0	0	0
9495	0.73	146.0	431.7	12.4	645	9499	0.00	1.15	0.00	0.000	6	0.000	0.038	2658	2191	1876	0	0	0	0	0	0
9825	0.73	146.0	392.8	11.6	671	9826	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2191	1876	0	0	0	0	0	0
10140	0.73	146.0	357.3	10.7	696	10141	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2191	1876	0	0	0	0	0	0
10455	0.73	146.0	323.7	11.0	721	10458	0.00	1.20	0.00	0.000	4	0.000	0.056	2658	2905	1875	0	0	0	0	0	0
10512	0.73	146.0	317.8	11.0	725	10522	0.00	1.17	0.00	0.000	6	0.000	0.037	2663	2184	1875	0	0	0	0	0	0
10837	0.73	146.0	281.8	11.1	751	10841	0.00	1.23	0.00	0.000	4	0.000	0.054	2663	2914	1875	0	0	0	0	0	0
10987	0.73	146.0	265.0	11.3	762	10996	0.15	1.17	0.00	0.000	6	0.169	0.037	2630	2192	1875	0	0	0	0	0	0
11321	0.73	146.0	232.1	10.1	802	11328	0.00	1.20	0.00	0.000	4	0.000	0.054	2630	2908	1875	0	0	0	0	0	0
11361	0.73	146.0	228.2	9.4	808	11368	0.00	1.12	0.00	0.000	6	0.000	0.037	2634	2201	1875	0	0	0	0	0	0
11699	0.73	148.7	197.5	9.1	859	11705	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2201	1875	0	0	0	0	0	0
12037	0.74	155.6	167.6	8.9	910	12050	0.00	1.15	7.03	0.912	4	0.000	0.052	2634	2914	1849	0	0	0	0	0	0
12156	0.74	155.6	156.4	9.2	928	12163	0.00	1.15	0.00	0.000	6	0.000	0.037	2638	2197	1849	0	0	0	0	0	0
12494	0.77	183.7	127.7	8.0	979	12521	0.00	0.00	25.42	1.000	6	0.000	0.000	2639	2197	1736	0	0	0	0	0	0
12852	0.78	194.1	96.5	8.7	1033	12867	0.00	1.12	10.02	0.930	4	0.000	0.051	2644	1494	1693	0	0	0	0	0	0
12882	0.80	206.0	93.9	8.7	1037	12898	0.00	1.17	11.73	0.926	6	0.000	0.047	2644	2205	1645	0	0	0	0	0	0
13230	0.80	206.1	58.8	9.2	1089	13238	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2205	1642	0	0	0	0	0	0
13570	0.90	292.2	34.8	5.5	1140	13651	0.15	1.15	72.85	0.941	4	0.083	0.054	2703	2907	1292	0	0	0	0	0	0
13866	end climb: SURFACE_DEPTH_REACHED
state	13866	begin surface coast
13884	end surface coast: CONTROL_FINISHED_OK
state	13884	begin surface