Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 210 * 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 210 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 42 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 33 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 -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80780.422 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 -80780.422

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2400 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 6

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 240 T_WATCHDOG 10

C_ROLL_DIVE 2510 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2485 LOGGERDEVICE3 -1 ROLL_DEG 20 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3915 USE_BATHY -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 0

DEVICE1 2 MASS 51400 ROLL_MIN 290 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 42 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 33 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 210 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 091111,053224,6659.499,-5709.582,42,0.8,42,-33.5 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 2.69 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -72.0 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 091111,053748,6659.474,-5709.563,19,0.8,19,-33.5 MHEAD_RNG_PITCHd_Wd 111.3,16886,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 738

Post-dive calculations and measurements:

FINISH 1.8,1.013246 _24V_AH 22.9,26.676

SM_CCo 13289,22.55,0.079,0,0,1262,300.00 _10V_AH 10.3,20.528

SM_GC 2.25,6.68,0.57,22.55,0.036,0.049,0.079,121,2512,1262,-7.06,-0.88,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 822 FG_AHR_10Vo 0.000

RAFOS 0,1320825665,8.033334,8.018056,73,63,56,0,0,0,1135,204,217,0,0,0 MEM 150232

RAFOS_FIX 6658.963867,-5712.811035,091111,080844,7,87,0.25 DATA_FILE_SIZE 43321,1144

IRIDIUM_FIX 6631.12,-5708.95,091111,010151 CAP_FILE_SIZE 123764,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,233381888

HUMID 55.55 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.90272 SOUNDSPEED 1465.4

TCM_TEMP 17.10 CURRENT 0.108,211.3,1

XPDR_PINGS 19 GPS 091111,092159,6659.329,-5704.680,38,0.7,38,-33.5

ALTIM_BOTTOM_PING 651.6,101.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 264 103.35 SBE_CT 827 23 439.79

Roll_motor 46 68 72.84 SBE_O2 625 5 75.09

VBD_pump_during_apogee 335 1335 10267.39 nil 0 0 0.00

VBD_pump_during_surface 22 78 40.69 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 210 253 1224.18 nil 0 0 0.00

Transponder_ping 7 420 67.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.51

TT8 3159 18 608.86

LPSleep 7733 2 184.00

TT8_Active 495 18 95.52

TT8_Sampling 2062 41 890.75

TT8_CF8 210 47 104.00

TT8_Kalman 0 0 0.00

Analog_circuits 1684 12 208.14

GPS_charging 0 0 0.00

Compass 1831 6 127.15

RAFOS 2520 1 38.93

Transponder 18 30 5.58

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 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 65 0.00 0.00 -46.42 0.000 2 0.000 0.000 123 2517 1939 0 0 0 0 0 0

68 -0.73 -146.0 3.1 -1.3 6 136 8.73 1.20 -54.75 0.000 4 0.265 0.069 2159 1808 3081 0 0 0 0 0 0

260 -0.73 -146.0 29.3 -19.1 35 267 0.00 1.17 0.00 0.000 6 0.000 0.051 2157 2498 3084 0 0 0 0 0 0

600 -0.73 -146.0 85.5 -14.5 86 607 0.00 1.15 0.00 0.000 4 0.000 0.066 2151 3219 3084 0 0 0 0 0 0

746 -0.73 -146.0 107.1 -13.8 108 753 0.00 1.10 0.00 0.000 6 0.000 0.028 2151 2499 3084 0 0 0 0 0 0

1084 -0.73 -146.0 150.0 -12.2 159 1090 0.00 1.05 0.00 0.000 4 0.000 0.041 2151 1818 3084 0 0 0 0 0 0

1185 -0.73 -146.0 162.2 -12.1 174 1191 0.00 1.17 0.00 0.000 6 0.000 0.052 2146 2511 3084 0 0 0 0 0 0

1523 -0.73 -146.0 205.1 -13.0 225 1531 0.00 1.10 0.00 0.000 4 0.000 0.065 2141 3211 3084 0 0 0 0 0 0

1665 -0.73 -146.0 223.3 -12.5 246 1672 0.00 1.08 0.00 0.000 6 0.000 0.028 2141 2500 3084 0 0 0 0 0 0

1998 -0.73 -146.0 263.9 -11.7 288 1999 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2500 3083 0 0 0 0 0 0

2314 -0.73 -146.0 301.6 -12.5 313 2315 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2500 3083 0 0 0 0 0 0

2630 -0.73 -146.0 338.0 -11.1 338 2631 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2500 3083 0 0 0 0 0 0

2945 -0.73 -146.0 373.0 -11.3 363 2949 0.00 1.17 0.00 0.000 4 0.000 0.060 2137 3217 3083 0 0 0 0 0 0

2997 -0.73 -146.0 379.0 -11.5 367 3001 0.00 1.08 0.00 0.000 6 0.000 0.028 2136 2499 3083 0 0 0 0 0 0

3327 -0.73 -146.0 417.7 -12.0 393 3329 0.12 0.00 0.00 0.000 6 0.170 0.000 2166 2500 3084 0 0 0 0 0 0

3644 -0.73 -146.0 448.9 -9.8 418 3646 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2500 3084 0 0 0 0 0 0

3957 -0.73 -146.0 479.9 -9.6 443 3960 0.00 1.17 0.00 0.000 4 0.000 0.061 2164 3217 3085 0 0 0 0 0 0

4036 -0.73 -146.0 487.8 -9.8 449 4040 0.00 1.05 0.00 0.000 6 0.000 0.027 2164 2512 3085 0 0 0 0 0 0

4379 -0.73 -146.0 520.8 -9.4 466 4380 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2512 3086 0 0 0 0 0 0

4684 -0.73 -146.0 548.5 -9.0 476 4688 0.00 1.15 0.00 0.000 4 0.000 0.062 2159 3213 3085 0 0 0 0 0 0

4735 -0.73 -146.0 551.6 -9.0 477 4740 0.00 1.08 0.00 0.000 6 0.000 0.028 2159 2502 3085 0 0 0 0 0 0

5056 -0.73 -146.0 583.2 -9.5 488 5059 0.00 1.17 0.00 0.000 4 0.000 0.060 2154 3220 3086 0 0 0 0 0 0

5127 -0.73 -146.0 589.5 -9.5 490 5132 0.00 1.08 0.00 0.000 6 0.000 0.027 2154 2512 3085 0 0 0 0 0 0

5461 -0.73 -146.0 622.2 -9.6 501 5464 0.00 1.05 0.00 0.000 4 0.000 0.040 2154 1821 3087 0 0 0 0 0 0

5511 -0.73 -146.0 625.3 -9.5 502 5516 0.00 1.17 0.00 0.000 6 0.000 0.050 2150 2515 3087 0 0 0 0 0 0

5832 -0.73 -146.0 657.4 -9.5 513 5836 0.00 1.08 0.00 0.000 4 0.000 0.063 2145 3206 3086 0 0 0 0 0 0

5902 -0.73 -146.0 663.8 -9.6 515 5907 0.00 1.08 0.00 0.000 6 0.000 0.027 2145 2494 3086 0 0 0 0 0 0

6238 -0.73 -146.0 696.4 -9.7 526 6239 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2494 3086 0 0 0 0 0 0

6543 -0.73 -146.0 726.7 -9.9 536 6546 0.00 1.17 0.00 0.000 4 0.000 0.060 2140 3214 3086 0 0 0 0 0 0

6600 -0.73 -146.0 730.1 -10.0 537 6610 0.00 1.08 0.00 0.000 6 0.000 0.027 2140 2502 3087 0 0 0 0 0 0

6667 end dive: TARGET_DEPTH_EXCEEDED

state 6667 begin apogee

6673 -0.16 0.0 739.7 -10.2 540 6799 0.62 0.00 119.85 1.336 6 0.134 0.000 2342 2190 2485 0 0 0 0 0 0

6800 end apogee: CONTROL_FINISHED_OK

state 6800 begin climb

6802 0.73 146.0 744.0 0.0 544 6941 0.82 1.20 128.52 1.283 4 0.063 0.047 2636 1502 1888 0 0 0 0 0 0

7045 0.73 146.0 728.1 11.4 551 7053 0.00 1.23 0.00 0.000 6 0.000 0.041 2636 2203 1883 0 0 0 0 0 0

7360 0.73 146.0 684.6 12.9 562 7364 0.00 1.15 0.00 0.000 4 0.000 0.050 2636 2905 1881 0 0 0 0 0 0

7418 0.73 146.0 680.1 13.0 563 7426 0.00 1.15 0.00 0.000 6 0.000 0.034 2641 2212 1879 0 0 0 0 0 0

7734 0.73 146.0 635.8 13.0 574 7735 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2212 1878 0 0 0 0 0 0

8038 0.73 146.0 596.3 12.8 584 8042 0.00 1.10 0.00 0.000 4 0.000 0.046 2646 1493 1878 0 0 0 0 0 0

8071 0.73 146.0 592.2 12.7 585 8075 0.00 1.15 0.00 0.000 6 0.000 0.042 2646 2206 1878 0 0 0 0 0 0

8411 0.73 146.0 548.1 13.0 596 8414 0.00 1.10 0.00 0.000 4 0.000 0.052 2646 2896 1876 0 0 0 0 0 0

8455 0.73 146.0 543.8 12.9 597 8460 0.00 1.15 0.00 0.000 6 0.000 0.034 2650 2190 1876 0 0 0 0 0 0

8782 0.73 146.0 499.2 13.3 608 8783 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2190 1876 0 0 0 0 0 0

9098 0.73 146.0 458.1 13.5 633 9102 0.00 1.17 0.00 0.000 4 0.000 0.047 2651 2896 1876 0 0 0 0 0 0

9124 0.73 146.0 454.5 13.4 635 9128 0.00 1.10 0.00 0.000 6 0.000 0.035 2655 2205 1876 0 0 0 0 0 0

9453 0.73 146.0 411.1 13.3 661 9454 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2204 1876 0 0 0 0 0 0

9770 0.73 146.0 369.8 13.2 686 9771 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2205 1876 0 0 0 0 0 0

10086 0.73 146.0 328.9 12.8 711 10087 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2205 1876 0 0 0 0 0 0

10401 0.73 146.0 290.1 12.2 736 10402 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2204 1876 0 0 0 0 0 0

10716 0.73 146.0 252.4 11.7 761 10719 0.00 1.15 0.00 0.000 4 0.000 0.049 2655 2900 1876 0 0 0 0 0 0

10768 0.73 146.0 246.1 12.2 767 10774 0.00 1.10 0.00 0.000 6 0.000 0.034 2660 2199 1876 0 0 0 0 0 0

11106 0.73 146.0 207.0 11.7 818 11112 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2199 1876 0 0 0 0 0 0

11443 0.73 146.0 169.4 10.5 869 11452 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2199 1876 0 0 0 0 0 0

11784 0.73 146.0 133.0 11.1 920 11791 0.00 1.17 0.00 0.000 4 0.000 0.048 2660 2910 1876 0 0 0 0 0 0

11837 0.73 146.0 126.9 11.2 928 11844 0.08 1.12 0.00 0.000 6 0.149 0.034 2640 2195 1876 0 0 0 0 0 0

12177 0.74 158.6 94.3 8.6 979 12190 0.00 1.08 9.68 0.861 4 0.000 0.046 2643 1494 1838 0 0 0 0 0 0

12231 0.75 163.2 89.4 9.0 987 12244 0.00 1.12 5.60 0.757 6 0.000 0.042 2643 2202 1818 0 0 0 0 0 0

12575 0.85 249.2 61.5 5.5 1039 12656 0.00 1.17 72.03 0.901 4 0.000 0.050 2643 2901 1467 0 0 0 0 0 0

12748 0.85 249.2 48.3 9.4 1065 12757 0.00 1.15 0.00 0.000 6 0.000 0.034 2648 2199 1464 0 0 0 0 0 0

13088 0.85 249.2 16.9 9.3 1116 13094 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2199 1461 0 0 0 0 0 0

13244 end climb: SURFACE_DEPTH_REACHED

state 13244 begin surface coast

13272 end surface coast: CONTROL_FINISHED_OK

state 13272 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	210	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	42	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	33	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	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80780.422	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	091111,053224,6659.499,-5709.582,42,0.8,42,-33.5	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	2.69	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-72.0	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	091111,053748,6659.474,-5709.563,19,0.8,19,-33.5	MHEAD_RNG_PITCHd_Wd	111.3,16886,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	738

FINISH	1.8,1.013246	_24V_AH	22.9,26.676
SM_CCo	13289,22.55,0.079,0,0,1262,300.00	_10V_AH	10.3,20.528
SM_GC	2.25,6.68,0.57,22.55,0.036,0.049,0.079,121,2512,1262,-7.06,-0.88,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	822	FG_AHR_10Vo	0.000
RAFOS	0,1320825665,8.033334,8.018056,73,63,56,0,0,0,1135,204,217,0,0,0	MEM	150232
RAFOS_FIX	6658.963867,-5712.811035,091111,080844,7,87,0.25	DATA_FILE_SIZE	43321,1144
IRIDIUM_FIX	6631.12,-5708.95,091111,010151	CAP_FILE_SIZE	123764,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,233381888
HUMID	55.55	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.90272	SOUNDSPEED	1465.4
TCM_TEMP	17.10	CURRENT	0.108,211.3,1
XPDR_PINGS	19	GPS	091111,092159,6659.329,-5704.680,38,0.7,38,-33.5
ALTIM_BOTTOM_PING	651.6,101.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	264	103.35	SBE_CT	827	23	439.79
Roll_motor	46	68	72.84	SBE_O2	625	5	75.09
VBD_pump_during_apogee	335	1335	10267.39	nil	0	0	0.00
VBD_pump_during_surface	22	78	40.69	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	210	253	1224.18	nil	0	0	0.00
Transponder_ping	7	420	67.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.51
TT8	3159	18	608.86
LPSleep	7733	2	184.00
TT8_Active	495	18	95.52
TT8_Sampling	2062	41	890.75
TT8_CF8	210	47	104.00
TT8_Kalman	0	0	0.00
Analog_circuits	1684	12	208.14
GPS_charging	0	0	0.00
Compass	1831	6	127.15
RAFOS	2520	1	38.93
Transponder	18	30	5.58

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	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	65	0.00	0.00	-46.42	0.000	2	0.000	0.000	123	2517	1939	0	0	0	0	0	0
68	-0.73	-146.0	3.1	-1.3	6	136	8.73	1.20	-54.75	0.000	4	0.265	0.069	2159	1808	3081	0	0	0	0	0	0
260	-0.73	-146.0	29.3	-19.1	35	267	0.00	1.17	0.00	0.000	6	0.000	0.051	2157	2498	3084	0	0	0	0	0	0
600	-0.73	-146.0	85.5	-14.5	86	607	0.00	1.15	0.00	0.000	4	0.000	0.066	2151	3219	3084	0	0	0	0	0	0
746	-0.73	-146.0	107.1	-13.8	108	753	0.00	1.10	0.00	0.000	6	0.000	0.028	2151	2499	3084	0	0	0	0	0	0
1084	-0.73	-146.0	150.0	-12.2	159	1090	0.00	1.05	0.00	0.000	4	0.000	0.041	2151	1818	3084	0	0	0	0	0	0
1185	-0.73	-146.0	162.2	-12.1	174	1191	0.00	1.17	0.00	0.000	6	0.000	0.052	2146	2511	3084	0	0	0	0	0	0
1523	-0.73	-146.0	205.1	-13.0	225	1531	0.00	1.10	0.00	0.000	4	0.000	0.065	2141	3211	3084	0	0	0	0	0	0
1665	-0.73	-146.0	223.3	-12.5	246	1672	0.00	1.08	0.00	0.000	6	0.000	0.028	2141	2500	3084	0	0	0	0	0	0
1998	-0.73	-146.0	263.9	-11.7	288	1999	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2500	3083	0	0	0	0	0	0
2314	-0.73	-146.0	301.6	-12.5	313	2315	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2500	3083	0	0	0	0	0	0
2630	-0.73	-146.0	338.0	-11.1	338	2631	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2500	3083	0	0	0	0	0	0
2945	-0.73	-146.0	373.0	-11.3	363	2949	0.00	1.17	0.00	0.000	4	0.000	0.060	2137	3217	3083	0	0	0	0	0	0
2997	-0.73	-146.0	379.0	-11.5	367	3001	0.00	1.08	0.00	0.000	6	0.000	0.028	2136	2499	3083	0	0	0	0	0	0
3327	-0.73	-146.0	417.7	-12.0	393	3329	0.12	0.00	0.00	0.000	6	0.170	0.000	2166	2500	3084	0	0	0	0	0	0
3644	-0.73	-146.0	448.9	-9.8	418	3646	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2500	3084	0	0	0	0	0	0
3957	-0.73	-146.0	479.9	-9.6	443	3960	0.00	1.17	0.00	0.000	4	0.000	0.061	2164	3217	3085	0	0	0	0	0	0
4036	-0.73	-146.0	487.8	-9.8	449	4040	0.00	1.05	0.00	0.000	6	0.000	0.027	2164	2512	3085	0	0	0	0	0	0
4379	-0.73	-146.0	520.8	-9.4	466	4380	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2512	3086	0	0	0	0	0	0
4684	-0.73	-146.0	548.5	-9.0	476	4688	0.00	1.15	0.00	0.000	4	0.000	0.062	2159	3213	3085	0	0	0	0	0	0
4735	-0.73	-146.0	551.6	-9.0	477	4740	0.00	1.08	0.00	0.000	6	0.000	0.028	2159	2502	3085	0	0	0	0	0	0
5056	-0.73	-146.0	583.2	-9.5	488	5059	0.00	1.17	0.00	0.000	4	0.000	0.060	2154	3220	3086	0	0	0	0	0	0
5127	-0.73	-146.0	589.5	-9.5	490	5132	0.00	1.08	0.00	0.000	6	0.000	0.027	2154	2512	3085	0	0	0	0	0	0
5461	-0.73	-146.0	622.2	-9.6	501	5464	0.00	1.05	0.00	0.000	4	0.000	0.040	2154	1821	3087	0	0	0	0	0	0
5511	-0.73	-146.0	625.3	-9.5	502	5516	0.00	1.17	0.00	0.000	6	0.000	0.050	2150	2515	3087	0	0	0	0	0	0
5832	-0.73	-146.0	657.4	-9.5	513	5836	0.00	1.08	0.00	0.000	4	0.000	0.063	2145	3206	3086	0	0	0	0	0	0
5902	-0.73	-146.0	663.8	-9.6	515	5907	0.00	1.08	0.00	0.000	6	0.000	0.027	2145	2494	3086	0	0	0	0	0	0
6238	-0.73	-146.0	696.4	-9.7	526	6239	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2494	3086	0	0	0	0	0	0
6543	-0.73	-146.0	726.7	-9.9	536	6546	0.00	1.17	0.00	0.000	4	0.000	0.060	2140	3214	3086	0	0	0	0	0	0
6600	-0.73	-146.0	730.1	-10.0	537	6610	0.00	1.08	0.00	0.000	6	0.000	0.027	2140	2502	3087	0	0	0	0	0	0
6667	end dive: TARGET_DEPTH_EXCEEDED
state	6667	begin apogee
6673	-0.16	0.0	739.7	-10.2	540	6799	0.62	0.00	119.85	1.336	6	0.134	0.000	2342	2190	2485	0	0	0	0	0	0
6800	end apogee: CONTROL_FINISHED_OK
state	6800	begin climb
6802	0.73	146.0	744.0	0.0	544	6941	0.82	1.20	128.52	1.283	4	0.063	0.047	2636	1502	1888	0	0	0	0	0	0
7045	0.73	146.0	728.1	11.4	551	7053	0.00	1.23	0.00	0.000	6	0.000	0.041	2636	2203	1883	0	0	0	0	0	0
7360	0.73	146.0	684.6	12.9	562	7364	0.00	1.15	0.00	0.000	4	0.000	0.050	2636	2905	1881	0	0	0	0	0	0
7418	0.73	146.0	680.1	13.0	563	7426	0.00	1.15	0.00	0.000	6	0.000	0.034	2641	2212	1879	0	0	0	0	0	0
7734	0.73	146.0	635.8	13.0	574	7735	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2212	1878	0	0	0	0	0	0
8038	0.73	146.0	596.3	12.8	584	8042	0.00	1.10	0.00	0.000	4	0.000	0.046	2646	1493	1878	0	0	0	0	0	0
8071	0.73	146.0	592.2	12.7	585	8075	0.00	1.15	0.00	0.000	6	0.000	0.042	2646	2206	1878	0	0	0	0	0	0
8411	0.73	146.0	548.1	13.0	596	8414	0.00	1.10	0.00	0.000	4	0.000	0.052	2646	2896	1876	0	0	0	0	0	0
8455	0.73	146.0	543.8	12.9	597	8460	0.00	1.15	0.00	0.000	6	0.000	0.034	2650	2190	1876	0	0	0	0	0	0
8782	0.73	146.0	499.2	13.3	608	8783	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2190	1876	0	0	0	0	0	0
9098	0.73	146.0	458.1	13.5	633	9102	0.00	1.17	0.00	0.000	4	0.000	0.047	2651	2896	1876	0	0	0	0	0	0
9124	0.73	146.0	454.5	13.4	635	9128	0.00	1.10	0.00	0.000	6	0.000	0.035	2655	2205	1876	0	0	0	0	0	0
9453	0.73	146.0	411.1	13.3	661	9454	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2204	1876	0	0	0	0	0	0
9770	0.73	146.0	369.8	13.2	686	9771	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2205	1876	0	0	0	0	0	0
10086	0.73	146.0	328.9	12.8	711	10087	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2205	1876	0	0	0	0	0	0
10401	0.73	146.0	290.1	12.2	736	10402	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2204	1876	0	0	0	0	0	0
10716	0.73	146.0	252.4	11.7	761	10719	0.00	1.15	0.00	0.000	4	0.000	0.049	2655	2900	1876	0	0	0	0	0	0
10768	0.73	146.0	246.1	12.2	767	10774	0.00	1.10	0.00	0.000	6	0.000	0.034	2660	2199	1876	0	0	0	0	0	0
11106	0.73	146.0	207.0	11.7	818	11112	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2199	1876	0	0	0	0	0	0
11443	0.73	146.0	169.4	10.5	869	11452	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2199	1876	0	0	0	0	0	0
11784	0.73	146.0	133.0	11.1	920	11791	0.00	1.17	0.00	0.000	4	0.000	0.048	2660	2910	1876	0	0	0	0	0	0
11837	0.73	146.0	126.9	11.2	928	11844	0.08	1.12	0.00	0.000	6	0.149	0.034	2640	2195	1876	0	0	0	0	0	0
12177	0.74	158.6	94.3	8.6	979	12190	0.00	1.08	9.68	0.861	4	0.000	0.046	2643	1494	1838	0	0	0	0	0	0
12231	0.75	163.2	89.4	9.0	987	12244	0.00	1.12	5.60	0.757	6	0.000	0.042	2643	2202	1818	0	0	0	0	0	0
12575	0.85	249.2	61.5	5.5	1039	12656	0.00	1.17	72.03	0.901	4	0.000	0.050	2643	2901	1467	0	0	0	0	0	0
12748	0.85	249.2	48.3	9.4	1065	12757	0.00	1.15	0.00	0.000	6	0.000	0.034	2648	2199	1464	0	0	0	0	0	0
13088	0.85	249.2	16.9	9.3	1116	13094	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2199	1461	0	0	0	0	0	0
13244	end climb: SURFACE_DEPTH_REACHED
state	13244	begin surface coast
13272	end surface coast: CONTROL_FINISHED_OK
state	13272	begin surface