Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 211 * 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 211 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 43 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 28 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 -80781.688 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 -80781.688

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 43 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 28 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 211 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 091111,092159,6659.329,-5704.680,38,0.7,38,-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 2.65 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -71.6 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 091111,092712,6659.320,-5704.669,19,0.8,19,-33.5 MHEAD_RNG_PITCHd_Wd 82.0,13834,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 717

Post-dive calculations and measurements:

FINISH 1.7,1.016552 _24V_AH 22.9,26.791

SM_CCo 12733,16.83,0.079,0,0,1261,300.00 _10V_AH 10.3,20.609

SM_GC 2.99,6.80,1.70,16.83,0.037,0.044,0.079,117,2509,1261,-7.08,-0.85,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 780 FG_AHR_10Vo 0.000

RAFOS 0,1320840072,12.033333,12.020000,65,59,57,0,0,0,195,207,149,0,0,0 MEM 150300

RAFOS_FIX 6701.478027,-5713.192871,091111,121256,4,72,0.67 DATA_FILE_SIZE 43343,1117

IRIDIUM_FIX 6631.12,-5659.72,091111,050519 CAP_FILE_SIZE 125098,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,233316352

HUMID 55.59 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.91249 SOUNDSPEED 1466.4

TCM_TEMP 17.10 CURRENT 0.176,296.2,1

XPDR_PINGS 19 GPS 091111,130153,6701.222,-5702.904,37,0.7,37,-33.5

ALTIM_BOTTOM_PING 651.1,79.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 260 102.15 SBE_CT 804 23 428.03

Roll_motor 57 68 89.07 SBE_O2 612 5 73.48

VBD_pump_during_apogee 341 1319 10323.71 nil 0 0 0.00

VBD_pump_during_surface 16 78 30.36 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 199 256 1172.73 nil 0 0 0.00

Transponder_ping 7 420 67.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.75

TT8 3069 18 591.47

LPSleep 7253 2 172.59

TT8_Active 508 18 98.01

TT8_Sampling 2034 41 878.48

TT8_CF8 217 47 107.28

TT8_Kalman 0 0 0.00

Analog_circuits 1690 12 208.90

GPS_charging 0 0 0.00

Compass 1810 6 125.67

RAFOS 2520 1 38.93

Transponder 18 30 5.56

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.73 -146.0 0.0 0.0 0 68 0.00 0.00 -49.70 0.000 2 0.000 0.000 120 2515 1987 0 0 0 0 0 0

71 -0.73 -146.0 3.1 -1.2 7 139 8.62 1.20 -52.92 0.000 4 0.261 0.068 2157 1805 3082 0 0 0 0 0 0

174 -0.73 -146.0 12.4 -14.9 22 183 0.00 1.20 0.00 0.000 6 0.000 0.051 2155 2509 3084 0 0 0 0 0 0

513 -0.73 -146.0 73.6 -16.1 73 520 0.00 1.12 0.00 0.000 4 0.000 0.063 2149 3220 3084 0 0 0 0 0 0

634 -0.73 -146.0 90.8 -14.3 91 641 0.00 1.10 0.00 0.000 6 0.000 0.028 2149 2499 3084 0 0 0 0 0 0

972 -0.73 -146.0 137.4 -13.8 142 980 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2499 3084 0 0 0 0 0 0

1311 -0.73 -146.0 181.3 -12.4 193 1318 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2499 3084 0 0 0 0 0 0

1649 -0.73 -146.0 220.5 -11.1 244 1656 0.00 1.17 0.00 0.000 4 0.000 0.059 2145 3216 3083 0 0 0 0 0 0

1697 -0.73 -146.0 225.7 -11.3 251 1704 0.00 1.08 0.00 0.000 6 0.000 0.027 2146 2501 3083 0 0 0 0 0 0

2029 -0.73 -146.0 263.4 -11.3 293 2033 0.00 1.05 0.00 0.000 4 0.000 0.041 2145 1814 3083 0 0 0 0 0 0

2095 -0.73 -146.0 271.1 -11.5 298 2098 0.00 1.17 0.00 0.000 6 0.000 0.050 2140 2516 3083 0 0 0 0 0 0

2425 -0.73 -146.0 309.7 -11.4 324 2429 0.00 1.10 0.00 0.000 4 0.000 0.063 2135 3219 3083 0 0 0 0 0 0

2478 -0.73 -146.0 316.0 -11.7 328 2482 0.08 1.08 0.00 0.000 6 0.154 0.028 2158 2499 3083 0 0 0 0 0 0

2806 -0.73 -146.0 349.1 -10.0 354 2810 0.00 1.17 0.00 0.000 4 0.000 0.060 2155 3215 3083 0 0 0 0 0 0

2876 -0.73 -146.0 356.0 -10.3 359 2884 0.00 1.08 0.00 0.000 6 0.000 0.027 2155 2507 3083 0 0 0 0 0 0

3201 -0.73 -146.0 390.5 -10.7 385 3203 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2507 3083 0 0 0 0 0 0

3515 -0.73 -146.0 423.6 -10.4 410 3519 0.00 1.15 0.00 0.000 4 0.000 0.060 2151 3213 3084 0 0 0 0 0 0

3568 -0.73 -146.0 429.4 -10.9 414 3572 0.00 1.05 0.00 0.000 6 0.000 0.028 2151 2506 3084 0 0 0 0 0 0

3898 -0.73 -146.0 465.0 -10.8 440 3899 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2506 3084 0 0 0 0 0 0

4213 -0.73 -146.0 498.1 -10.5 465 4217 0.00 1.15 0.00 0.000 4 0.000 0.060 2146 3211 3085 0 0 0 0 0 0

4247 -0.73 -146.0 501.9 -10.7 468 4251 0.00 1.05 0.00 0.000 6 0.000 0.028 2146 2506 3084 0 0 0 0 0 0

4587 -0.73 -146.0 537.2 -10.3 479 4589 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2506 3085 0 0 0 0 0 0

4894 -0.73 -146.0 566.8 -9.5 489 4898 0.00 1.15 0.00 0.000 4 0.000 0.060 2142 3213 3085 0 0 0 0 0 0

4932 -0.73 -146.0 570.3 -9.6 490 4937 0.00 1.08 0.00 0.000 6 0.000 0.027 2142 2497 3085 0 0 0 0 0 0

5266 -0.73 -146.0 605.1 -10.4 501 5269 0.00 1.17 0.00 0.000 4 0.000 0.059 2137 3219 3086 0 0 0 0 0 0

5303 -0.73 -146.0 608.5 -10.4 502 5308 0.00 1.08 0.00 0.000 6 0.000 0.026 2137 2506 3085 0 0 0 0 0 0

5637 -0.73 -146.0 644.5 -10.9 513 5639 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2506 3086 0 0 0 0 0 0

5944 -0.73 -146.0 677.4 -10.8 523 5948 0.00 1.15 0.00 0.000 4 0.000 0.060 2132 3212 3086 0 0 0 0 0 0

5995 -0.73 -146.0 681.1 -10.7 524 6001 0.12 1.08 0.00 0.000 6 0.163 0.027 2163 2496 3086 0 0 0 0 0 0

6318 -0.73 -146.0 710.6 -8.6 535 6322 0.00 1.17 0.00 0.000 4 0.000 0.060 2160 3217 3086 0 0 0 0 0 0

6376 -0.73 -146.0 713.8 -8.7 536 6384 0.00 1.08 0.00 0.000 6 0.000 0.027 2160 2499 3086 0 0 0 0 0 0

6412 end dive: TARGET_DEPTH_EXCEEDED

state 6412 begin apogee

6418 -0.16 0.0 719.7 -9.1 538 6544 0.55 0.00 119.25 1.320 6 0.127 0.000 2340 2198 2485 0 0 0 0 0 0

6545 end apogee: CONTROL_FINISHED_OK

state 6545 begin climb

6547 0.73 146.0 724.4 0.0 542 6683 0.85 1.17 127.65 1.271 4 0.070 0.044 2639 1516 1888 0 0 0 0 0 0

6767 0.73 146.0 709.2 11.1 549 6772 0.00 1.23 0.00 0.000 6 0.000 0.040 2639 2217 1884 0 0 0 0 0 0

7103 0.73 146.0 665.7 12.9 560 7107 0.00 1.12 0.00 0.000 4 0.000 0.050 2639 2908 1879 0 0 0 0 0 0

7170 0.73 146.0 656.6 13.2 562 7174 0.00 1.12 0.00 0.000 6 0.000 0.034 2644 2214 1879 0 0 0 0 0 0

7510 0.73 146.0 610.7 13.7 573 7511 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2214 1877 0 0 0 0 0 0

7816 0.73 146.0 569.8 13.2 583 7820 0.00 1.08 0.00 0.000 4 0.000 0.045 2649 1499 1877 0 0 0 0 0 0

7854 0.73 146.0 565.4 13.2 584 7859 0.00 1.15 0.00 0.000 6 0.000 0.041 2649 2206 1875 0 0 0 0 0 0

8190 0.73 146.0 519.4 13.7 595 8193 0.00 1.10 0.00 0.000 4 0.000 0.052 2649 2898 1875 0 0 0 0 0 0

8241 0.73 146.0 514.4 13.9 596 8246 0.00 1.15 0.00 0.000 6 0.000 0.034 2654 2190 1875 0 0 0 0 0 0

8562 0.73 146.0 467.2 13.7 617 8566 0.00 1.05 0.00 0.000 4 0.000 0.047 2659 1493 1874 0 0 0 0 0 0

8606 0.73 146.0 461.8 13.6 620 8614 0.00 1.15 0.00 0.000 6 0.000 0.042 2659 2202 1874 0 0 0 0 0 0

8931 0.73 146.0 415.5 14.2 646 8935 0.00 1.10 0.00 0.000 4 0.000 0.053 2659 2900 1874 0 0 0 0 0 0

8984 0.73 146.0 407.5 14.8 650 8988 0.08 1.12 0.00 0.000 6 0.152 0.034 2640 2191 1874 0 0 0 0 0 0

9314 0.73 146.0 364.9 12.5 676 9315 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2191 1874 0 0 0 0 0 0

9628 0.73 146.0 327.0 11.8 701 9632 0.00 1.17 0.00 0.000 4 0.000 0.049 2639 2900 1874 0 0 0 0 0 0

9681 0.73 146.0 320.5 12.5 705 9686 0.00 1.10 0.00 0.000 6 0.000 0.034 2642 2199 1874 0 0 0 0 0 0

10011 0.73 146.0 280.6 11.7 731 10012 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2200 1874 0 0 0 0 0 0

10328 0.73 146.0 245.5 11.1 759 10337 0.00 1.17 0.00 0.000 4 0.000 0.049 2643 2909 1874 0 0 0 0 0 0

10384 0.73 146.0 238.9 11.8 767 10393 0.00 1.12 0.00 0.000 6 0.000 0.034 2648 2193 1874 0 0 0 0 0 0

10724 0.73 146.0 201.4 11.2 818 10731 0.00 1.17 0.00 0.000 4 0.000 0.049 2647 2905 1874 0 0 0 0 0 0

10777 0.73 146.0 195.2 11.4 826 10784 0.00 1.10 0.00 0.000 6 0.000 0.034 2652 2200 1874 0 0 0 0 0 0

11114 0.73 146.0 158.3 10.3 877 11122 0.00 1.05 0.00 0.000 4 0.000 0.047 2657 1494 1874 0 0 0 0 0 0

11269 0.73 146.0 141.8 10.5 900 11276 0.00 1.12 0.00 0.000 6 0.000 0.043 2657 2206 1874 0 0 0 0 0 0

11609 0.73 146.0 106.1 10.2 951 11618 0.00 1.10 0.00 0.000 4 0.000 0.052 2657 2907 1874 0 0 0 0 0 0

11817 0.75 165.4 86.2 8.3 982 11838 0.00 1.10 15.20 0.893 6 0.000 0.035 2662 2204 1809 0 0 0 0 0 0

12169 0.87 261.2 59.2 5.1 1035 12258 0.00 1.08 79.53 0.897 4 0.000 0.044 2667 1494 1418 0 0 0 0 0 0

12344 0.87 261.2 41.8 12.2 1061 12351 0.00 1.15 0.00 0.000 6 0.000 0.042 2667 2195 1414 0 0 0 0 0 0

12683 0.87 261.2 4.3 10.2 1112 12690 0.00 1.12 0.00 0.000 4 0.000 0.044 2672 1494 1411 0 0 0 0 0 0

12701 end climb: SURFACE_DEPTH_REACHED

state 12701 begin surface coast

12715 end surface coast: CONTROL_FINISHED_OK

state 12715 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	211	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	43	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	28	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	-80781.688	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	091111,092159,6659.329,-5704.680,38,0.7,38,-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	2.65	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-71.6	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	091111,092712,6659.320,-5704.669,19,0.8,19,-33.5	MHEAD_RNG_PITCHd_Wd	82.0,13834,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	717

FINISH	1.7,1.016552	_24V_AH	22.9,26.791
SM_CCo	12733,16.83,0.079,0,0,1261,300.00	_10V_AH	10.3,20.609
SM_GC	2.99,6.80,1.70,16.83,0.037,0.044,0.079,117,2509,1261,-7.08,-0.85,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	780	FG_AHR_10Vo	0.000
RAFOS	0,1320840072,12.033333,12.020000,65,59,57,0,0,0,195,207,149,0,0,0	MEM	150300
RAFOS_FIX	6701.478027,-5713.192871,091111,121256,4,72,0.67	DATA_FILE_SIZE	43343,1117
IRIDIUM_FIX	6631.12,-5659.72,091111,050519	CAP_FILE_SIZE	125098,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,233316352
HUMID	55.59	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.91249	SOUNDSPEED	1466.4
TCM_TEMP	17.10	CURRENT	0.176,296.2,1
XPDR_PINGS	19	GPS	091111,130153,6701.222,-5702.904,37,0.7,37,-33.5
ALTIM_BOTTOM_PING	651.1,79.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	260	102.15	SBE_CT	804	23	428.03
Roll_motor	57	68	89.07	SBE_O2	612	5	73.48
VBD_pump_during_apogee	341	1319	10323.71	nil	0	0	0.00
VBD_pump_during_surface	16	78	30.36	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	199	256	1172.73	nil	0	0	0.00
Transponder_ping	7	420	67.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.75
TT8	3069	18	591.47
LPSleep	7253	2	172.59
TT8_Active	508	18	98.01
TT8_Sampling	2034	41	878.48
TT8_CF8	217	47	107.28
TT8_Kalman	0	0	0.00
Analog_circuits	1690	12	208.90
GPS_charging	0	0	0.00
Compass	1810	6	125.67
RAFOS	2520	1	38.93
Transponder	18	30	5.56

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.73	-146.0	0.0	0.0	0	68	0.00	0.00	-49.70	0.000	2	0.000	0.000	120	2515	1987	0	0	0	0	0	0
71	-0.73	-146.0	3.1	-1.2	7	139	8.62	1.20	-52.92	0.000	4	0.261	0.068	2157	1805	3082	0	0	0	0	0	0
174	-0.73	-146.0	12.4	-14.9	22	183	0.00	1.20	0.00	0.000	6	0.000	0.051	2155	2509	3084	0	0	0	0	0	0
513	-0.73	-146.0	73.6	-16.1	73	520	0.00	1.12	0.00	0.000	4	0.000	0.063	2149	3220	3084	0	0	0	0	0	0
634	-0.73	-146.0	90.8	-14.3	91	641	0.00	1.10	0.00	0.000	6	0.000	0.028	2149	2499	3084	0	0	0	0	0	0
972	-0.73	-146.0	137.4	-13.8	142	980	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2499	3084	0	0	0	0	0	0
1311	-0.73	-146.0	181.3	-12.4	193	1318	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2499	3084	0	0	0	0	0	0
1649	-0.73	-146.0	220.5	-11.1	244	1656	0.00	1.17	0.00	0.000	4	0.000	0.059	2145	3216	3083	0	0	0	0	0	0
1697	-0.73	-146.0	225.7	-11.3	251	1704	0.00	1.08	0.00	0.000	6	0.000	0.027	2146	2501	3083	0	0	0	0	0	0
2029	-0.73	-146.0	263.4	-11.3	293	2033	0.00	1.05	0.00	0.000	4	0.000	0.041	2145	1814	3083	0	0	0	0	0	0
2095	-0.73	-146.0	271.1	-11.5	298	2098	0.00	1.17	0.00	0.000	6	0.000	0.050	2140	2516	3083	0	0	0	0	0	0
2425	-0.73	-146.0	309.7	-11.4	324	2429	0.00	1.10	0.00	0.000	4	0.000	0.063	2135	3219	3083	0	0	0	0	0	0
2478	-0.73	-146.0	316.0	-11.7	328	2482	0.08	1.08	0.00	0.000	6	0.154	0.028	2158	2499	3083	0	0	0	0	0	0
2806	-0.73	-146.0	349.1	-10.0	354	2810	0.00	1.17	0.00	0.000	4	0.000	0.060	2155	3215	3083	0	0	0	0	0	0
2876	-0.73	-146.0	356.0	-10.3	359	2884	0.00	1.08	0.00	0.000	6	0.000	0.027	2155	2507	3083	0	0	0	0	0	0
3201	-0.73	-146.0	390.5	-10.7	385	3203	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2507	3083	0	0	0	0	0	0
3515	-0.73	-146.0	423.6	-10.4	410	3519	0.00	1.15	0.00	0.000	4	0.000	0.060	2151	3213	3084	0	0	0	0	0	0
3568	-0.73	-146.0	429.4	-10.9	414	3572	0.00	1.05	0.00	0.000	6	0.000	0.028	2151	2506	3084	0	0	0	0	0	0
3898	-0.73	-146.0	465.0	-10.8	440	3899	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2506	3084	0	0	0	0	0	0
4213	-0.73	-146.0	498.1	-10.5	465	4217	0.00	1.15	0.00	0.000	4	0.000	0.060	2146	3211	3085	0	0	0	0	0	0
4247	-0.73	-146.0	501.9	-10.7	468	4251	0.00	1.05	0.00	0.000	6	0.000	0.028	2146	2506	3084	0	0	0	0	0	0
4587	-0.73	-146.0	537.2	-10.3	479	4589	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2506	3085	0	0	0	0	0	0
4894	-0.73	-146.0	566.8	-9.5	489	4898	0.00	1.15	0.00	0.000	4	0.000	0.060	2142	3213	3085	0	0	0	0	0	0
4932	-0.73	-146.0	570.3	-9.6	490	4937	0.00	1.08	0.00	0.000	6	0.000	0.027	2142	2497	3085	0	0	0	0	0	0
5266	-0.73	-146.0	605.1	-10.4	501	5269	0.00	1.17	0.00	0.000	4	0.000	0.059	2137	3219	3086	0	0	0	0	0	0
5303	-0.73	-146.0	608.5	-10.4	502	5308	0.00	1.08	0.00	0.000	6	0.000	0.026	2137	2506	3085	0	0	0	0	0	0
5637	-0.73	-146.0	644.5	-10.9	513	5639	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2506	3086	0	0	0	0	0	0
5944	-0.73	-146.0	677.4	-10.8	523	5948	0.00	1.15	0.00	0.000	4	0.000	0.060	2132	3212	3086	0	0	0	0	0	0
5995	-0.73	-146.0	681.1	-10.7	524	6001	0.12	1.08	0.00	0.000	6	0.163	0.027	2163	2496	3086	0	0	0	0	0	0
6318	-0.73	-146.0	710.6	-8.6	535	6322	0.00	1.17	0.00	0.000	4	0.000	0.060	2160	3217	3086	0	0	0	0	0	0
6376	-0.73	-146.0	713.8	-8.7	536	6384	0.00	1.08	0.00	0.000	6	0.000	0.027	2160	2499	3086	0	0	0	0	0	0
6412	end dive: TARGET_DEPTH_EXCEEDED
state	6412	begin apogee
6418	-0.16	0.0	719.7	-9.1	538	6544	0.55	0.00	119.25	1.320	6	0.127	0.000	2340	2198	2485	0	0	0	0	0	0
6545	end apogee: CONTROL_FINISHED_OK
state	6545	begin climb
6547	0.73	146.0	724.4	0.0	542	6683	0.85	1.17	127.65	1.271	4	0.070	0.044	2639	1516	1888	0	0	0	0	0	0
6767	0.73	146.0	709.2	11.1	549	6772	0.00	1.23	0.00	0.000	6	0.000	0.040	2639	2217	1884	0	0	0	0	0	0
7103	0.73	146.0	665.7	12.9	560	7107	0.00	1.12	0.00	0.000	4	0.000	0.050	2639	2908	1879	0	0	0	0	0	0
7170	0.73	146.0	656.6	13.2	562	7174	0.00	1.12	0.00	0.000	6	0.000	0.034	2644	2214	1879	0	0	0	0	0	0
7510	0.73	146.0	610.7	13.7	573	7511	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2214	1877	0	0	0	0	0	0
7816	0.73	146.0	569.8	13.2	583	7820	0.00	1.08	0.00	0.000	4	0.000	0.045	2649	1499	1877	0	0	0	0	0	0
7854	0.73	146.0	565.4	13.2	584	7859	0.00	1.15	0.00	0.000	6	0.000	0.041	2649	2206	1875	0	0	0	0	0	0
8190	0.73	146.0	519.4	13.7	595	8193	0.00	1.10	0.00	0.000	4	0.000	0.052	2649	2898	1875	0	0	0	0	0	0
8241	0.73	146.0	514.4	13.9	596	8246	0.00	1.15	0.00	0.000	6	0.000	0.034	2654	2190	1875	0	0	0	0	0	0
8562	0.73	146.0	467.2	13.7	617	8566	0.00	1.05	0.00	0.000	4	0.000	0.047	2659	1493	1874	0	0	0	0	0	0
8606	0.73	146.0	461.8	13.6	620	8614	0.00	1.15	0.00	0.000	6	0.000	0.042	2659	2202	1874	0	0	0	0	0	0
8931	0.73	146.0	415.5	14.2	646	8935	0.00	1.10	0.00	0.000	4	0.000	0.053	2659	2900	1874	0	0	0	0	0	0
8984	0.73	146.0	407.5	14.8	650	8988	0.08	1.12	0.00	0.000	6	0.152	0.034	2640	2191	1874	0	0	0	0	0	0
9314	0.73	146.0	364.9	12.5	676	9315	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2191	1874	0	0	0	0	0	0
9628	0.73	146.0	327.0	11.8	701	9632	0.00	1.17	0.00	0.000	4	0.000	0.049	2639	2900	1874	0	0	0	0	0	0
9681	0.73	146.0	320.5	12.5	705	9686	0.00	1.10	0.00	0.000	6	0.000	0.034	2642	2199	1874	0	0	0	0	0	0
10011	0.73	146.0	280.6	11.7	731	10012	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2200	1874	0	0	0	0	0	0
10328	0.73	146.0	245.5	11.1	759	10337	0.00	1.17	0.00	0.000	4	0.000	0.049	2643	2909	1874	0	0	0	0	0	0
10384	0.73	146.0	238.9	11.8	767	10393	0.00	1.12	0.00	0.000	6	0.000	0.034	2648	2193	1874	0	0	0	0	0	0
10724	0.73	146.0	201.4	11.2	818	10731	0.00	1.17	0.00	0.000	4	0.000	0.049	2647	2905	1874	0	0	0	0	0	0
10777	0.73	146.0	195.2	11.4	826	10784	0.00	1.10	0.00	0.000	6	0.000	0.034	2652	2200	1874	0	0	0	0	0	0
11114	0.73	146.0	158.3	10.3	877	11122	0.00	1.05	0.00	0.000	4	0.000	0.047	2657	1494	1874	0	0	0	0	0	0
11269	0.73	146.0	141.8	10.5	900	11276	0.00	1.12	0.00	0.000	6	0.000	0.043	2657	2206	1874	0	0	0	0	0	0
11609	0.73	146.0	106.1	10.2	951	11618	0.00	1.10	0.00	0.000	4	0.000	0.052	2657	2907	1874	0	0	0	0	0	0
11817	0.75	165.4	86.2	8.3	982	11838	0.00	1.10	15.20	0.893	6	0.000	0.035	2662	2204	1809	0	0	0	0	0	0
12169	0.87	261.2	59.2	5.1	1035	12258	0.00	1.08	79.53	0.897	4	0.000	0.044	2667	1494	1418	0	0	0	0	0	0
12344	0.87	261.2	41.8	12.2	1061	12351	0.00	1.15	0.00	0.000	6	0.000	0.042	2667	2195	1414	0	0	0	0	0	0
12683	0.87	261.2	4.3	10.2	1112	12690	0.00	1.12	0.00	0.000	4	0.000	0.044	2672	1494	1411	0	0	0	0	0	0
12701	end climb: SURFACE_DEPTH_REACHED
state	12701	begin surface coast
12715	end surface coast: CONTROL_FINISHED_OK
state	12715	begin surface