Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 213 * 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 213 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 44 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 29 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 -80784.195 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 -80784.195

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 44 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 29 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 213 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 091111,163323,6701.659,-5700.229,71,0.8,71,-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 2.64 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -70.5 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 091111,163806,6701.646,-5700.221,15,1.9,15,-33.5 MHEAD_RNG_PITCHd_Wd 148.1,9175,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 676

Post-dive calculations and measurements:

FINISH 1.9,1.025816 _24V_AH 23.1,27.017

SM_CCo 11829,20.65,0.078,0,0,1261,300.00 _10V_AH 10.3,20.764

SM_GC 2.60,6.93,1.70,20.65,0.045,0.044,0.078,125,2509,1261,-7.06,-0.85,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 719 FG_AHR_10Vo 0.000

RAFOS 3,1320855907,16.433332,16.418612,99,66,58,0,0,0,951,229,164,0,0,0 MEM 150264

RAFOS_FIX 6700.176758,-5706.934082,091111,161612,4,104,0.00 DATA_FILE_SIZE 43392,1090

IRIDIUM_FIX 6631.12,-5658.34,091111,131331 CAP_FILE_SIZE 120424,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,233189376

HUMID 55.35 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.92226 SOUNDSPEED 1466.8

TCM_TEMP 17.20 CURRENT 0.020,104.7,1

XPDR_PINGS 17 GPS 091111,195736,6700.821,-5655.068,27,1.0,27,-33.5

ALTIM_BOTTOM_PING 552.8,121.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 260 104.24 SBE_CT 788 23 422.81

Roll_motor 55 68 86.58 SBE_O2 599 5 72.57

VBD_pump_during_apogee 334 1272 9843.41 nil 0 0 0.00

VBD_pump_during_surface 20 78 37.22 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 174 262 1057.82 nil 0 0 0.00

Transponder_ping 6 420 58.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 26 4.60

TT8 2979 18 574.28

LPSleep 6488 2 154.37

TT8_Active 501 18 96.65

TT8_Sampling 1977 41 854.15

TT8_CF8 205 47 101.51

TT8_Kalman 0 0 0.00

Analog_circuits 1634 12 202.08

GPS_charging 0 0 0.00

Compass 1787 6 124.11

RAFOS 720 1 11.12

Transponder 14 30 4.51

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 60 0.00 0.00 -41.75 0.000 2 0.000 0.000 125 2516 1879 0 0 0 0 0 0

63 -0.73 -146.0 3.1 -1.7 6 136 8.62 1.20 -58.45 0.000 4 0.260 0.068 2158 1806 3083 0 0 0 0 0 0

374 -0.73 -146.0 48.4 -15.1 53 383 0.00 1.20 0.00 0.000 6 0.000 0.051 2156 2512 3085 0 0 0 0 0 0

715 -0.73 -146.0 101.9 -13.6 104 721 0.00 1.10 0.00 0.000 4 0.000 0.064 2150 3211 3085 0 0 0 0 0 0

874 -0.73 -146.0 123.9 -14.3 128 881 0.00 1.08 0.00 0.000 6 0.000 0.030 2150 2501 3084 0 0 0 0 0 0

1212 -0.73 -146.0 169.4 -12.8 179 1218 0.00 1.17 0.00 0.000 4 0.000 0.060 2146 3213 3084 0 0 0 0 0 0

1271 -0.73 -146.0 177.0 -12.4 188 1278 0.00 1.08 0.00 0.000 6 0.000 0.028 2146 2503 3083 0 0 0 0 0 0

1609 -0.73 -146.0 218.7 -11.8 239 1616 0.00 1.05 0.00 0.000 4 0.000 0.041 2146 1819 3083 0 0 0 0 0 0

1649 -0.73 -146.0 223.5 -12.1 245 1658 0.00 1.17 0.00 0.000 6 0.000 0.052 2141 2516 3083 0 0 0 0 0 0

1990 -0.73 -146.0 262.7 -10.8 288 1994 0.00 1.10 0.00 0.000 4 0.000 0.065 2136 3217 3083 0 0 0 0 0 0

2169 -0.73 -146.0 282.8 -11.9 301 2178 0.08 1.08 0.00 0.000 6 0.153 0.028 2159 2503 3083 0 0 0 0 0 0

2490 -0.73 -146.0 316.9 -10.4 327 2492 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2503 3083 0 0 0 0 0 0

2807 -0.73 -146.0 349.4 -10.3 352 2810 0.00 1.17 0.00 0.000 4 0.000 0.061 2156 3219 3083 0 0 0 0 0 0

2859 -0.73 -146.0 355.0 -10.1 356 2863 0.00 1.08 0.00 0.000 6 0.000 0.028 2156 2501 3083 0 0 0 0 0 0

3192 -0.73 -146.0 388.9 -10.4 382 3196 0.00 1.17 0.00 0.000 4 0.000 0.059 2152 3220 3084 0 0 0 0 0 0

3246 -0.73 -146.0 394.9 -10.5 386 3250 0.00 1.08 0.00 0.000 6 0.000 0.028 2152 2498 3084 0 0 0 0 0 0

3577 -0.73 -146.0 428.8 -9.8 412 3580 0.00 1.02 0.00 0.000 4 0.000 0.039 2152 1822 3084 0 0 0 0 0 0

3674 -0.73 -146.0 437.9 -9.6 419 3682 0.00 1.17 0.00 0.000 6 0.000 0.049 2147 2517 3085 0 0 0 0 0 0

3999 -0.73 -146.0 469.8 -9.6 445 4003 0.00 1.08 0.00 0.000 4 0.000 0.063 2142 3209 3085 0 0 0 0 0 0

4131 -0.73 -146.0 483.3 -10.1 455 4135 0.00 1.05 0.00 0.000 6 0.000 0.028 2142 2498 3085 0 0 0 0 0 0

4450 -0.73 -146.0 516.6 -10.6 473 4454 0.00 1.02 0.00 0.000 4 0.000 0.040 2142 1821 3085 0 0 0 0 0 0

4503 -0.73 -146.0 520.3 -10.5 474 4507 0.00 1.15 0.00 0.000 6 0.000 0.050 2138 2509 3085 0 0 0 0 0 0

4822 -0.73 -146.0 556.1 -10.5 485 4826 0.00 1.10 0.00 0.000 4 0.000 0.062 2132 3217 3085 0 0 0 0 0 0

4933 -0.73 -146.0 567.2 -11.1 488 4938 0.12 1.08 0.00 0.000 6 0.166 0.027 2162 2504 3085 0 0 0 0 0 0

5262 -0.73 -146.0 599.3 -9.7 499 5265 0.00 1.02 0.00 0.000 4 0.000 0.038 2162 1824 3086 0 0 0 0 0 0

5306 -0.73 -146.0 602.5 -9.6 500 5311 0.00 1.17 0.00 0.000 6 0.000 0.047 2160 2523 3086 0 0 0 0 0 0

5633 -0.73 -146.0 634.5 -9.3 511 5637 0.00 1.08 0.00 0.000 4 0.000 0.062 2155 3214 3086 0 0 0 0 0 0

5750 -0.73 -146.0 644.0 -9.5 514 5755 0.00 1.08 0.00 0.000 6 0.000 0.027 2154 2496 3086 0 0 0 0 0 0

5916 end dive: BOTTOM_OBSTACLE_DETECTED

state 5916 begin apogee

5922 -0.16 0.0 661.5 -9.5 520 6048 0.57 0.00 118.40 1.272 6 0.131 0.000 2341 2194 2485 0 0 0 0 0 0

6049 end apogee: CONTROL_FINISHED_OK

state 6049 begin climb

6051 0.73 146.0 665.8 0.0 524 6185 0.82 1.10 126.20 1.226 4 0.065 0.044 2637 1508 1888 0 0 0 0 0 0

6316 0.73 146.0 645.8 12.2 532 6321 0.00 1.20 0.00 0.000 6 0.000 0.041 2637 2203 1883 0 0 0 0 0 0

6636 0.73 146.0 603.6 12.4 543 6640 0.00 1.15 0.00 0.000 4 0.000 0.050 2637 2910 1881 0 0 0 0 0 0

6688 0.73 146.0 599.3 12.5 544 6692 0.00 1.15 0.00 0.000 6 0.000 0.033 2642 2204 1879 0 0 0 0 0 0

7008 0.73 146.0 554.3 13.9 555 7009 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2204 1878 0 0 0 0 0 0

7314 0.73 146.0 512.5 13.7 565 7315 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2204 1878 0 0 0 0 0 0

7635 0.73 146.0 469.3 13.2 586 7636 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2204 1877 0 0 0 0 0 0

7949 0.73 146.0 427.3 13.2 611 7950 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2204 1877 0 0 0 0 0 0

8265 0.73 146.0 385.8 12.9 636 8268 0.00 1.17 0.00 0.000 4 0.000 0.047 2642 2910 1877 0 0 0 0 0 0

8309 0.73 146.0 380.6 13.1 639 8317 0.00 1.15 0.00 0.000 6 0.000 0.034 2646 2194 1877 0 0 0 0 0 0

8634 0.73 146.0 337.6 12.7 665 8637 0.00 1.17 0.00 0.000 4 0.000 0.047 2646 2904 1877 0 0 0 0 0 0

8648 0.73 146.0 335.7 12.8 666 8652 0.00 1.10 0.00 0.000 6 0.000 0.034 2651 2201 1877 0 0 0 0 0 0

8978 0.73 146.0 294.3 12.0 692 8982 0.00 1.17 0.00 0.000 4 0.000 0.048 2650 2911 1877 0 0 0 0 0 0

9023 0.73 146.0 289.1 12.6 695 9030 0.00 1.15 0.00 0.000 6 0.000 0.034 2656 2191 1877 0 0 0 0 0 0

9348 0.73 146.0 249.6 11.8 721 9357 0.00 1.17 0.00 0.000 4 0.000 0.049 2655 2902 1877 0 0 0 0 0 0

9443 0.73 146.0 238.1 11.8 735 9449 0.00 1.10 0.00 0.000 6 0.000 0.034 2660 2201 1877 0 0 0 0 0 0

9781 0.73 146.0 199.1 11.5 786 9788 0.00 1.15 0.00 0.000 4 0.000 0.048 2660 2897 1877 0 0 0 0 0 0

9821 0.73 146.0 194.1 12.3 792 9828 0.10 1.10 0.00 0.000 6 0.154 0.033 2633 2197 1877 0 0 0 0 0 0

10159 0.73 146.0 157.0 10.8 843 10166 0.00 1.17 0.00 0.000 4 0.000 0.048 2633 2910 1877 0 0 0 0 0 0

10219 0.73 146.0 150.5 11.1 852 10226 0.00 1.12 0.00 0.000 6 0.000 0.034 2636 2190 1877 0 0 0 0 0 0

10557 0.73 146.0 115.5 9.3 903 10563 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2189 1877 0 0 0 0 0 0

10896 0.76 173.6 87.6 8.0 954 10924 0.00 1.23 21.80 0.906 4 0.000 0.050 2636 2902 1777 0 0 0 0 0 0

10972 0.76 178.2 81.3 9.0 965 10982 0.00 1.12 5.43 0.741 6 0.000 0.035 2641 2198 1758 0 0 0 0 0 0

11314 0.86 253.4 56.0 6.0 1016 11384 0.10 1.25 63.12 0.894 4 0.102 0.048 2685 2900 1451 0 0 0 0 0 0

11432 0.86 253.4 44.5 11.4 1033 11441 0.00 1.15 0.00 0.000 6 0.000 0.034 2690 2199 1448 0 0 0 0 0 0

11772 0.86 253.4 2.0 13.6 1084 11779 0.00 1.08 0.00 0.000 4 0.000 0.047 2689 1493 1442 0 0 0 0 0 0

11786 end climb: SURFACE_DEPTH_REACHED

state 11786 begin surface coast

11811 end surface coast: CONTROL_FINISHED_OK

state 11811 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	213	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	44	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	29	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	-80784.195	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	091111,163323,6701.659,-5700.229,71,0.8,71,-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	2.64	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-70.5	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	091111,163806,6701.646,-5700.221,15,1.9,15,-33.5	MHEAD_RNG_PITCHd_Wd	148.1,9175,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	676

FINISH	1.9,1.025816	_24V_AH	23.1,27.017
SM_CCo	11829,20.65,0.078,0,0,1261,300.00	_10V_AH	10.3,20.764
SM_GC	2.60,6.93,1.70,20.65,0.045,0.044,0.078,125,2509,1261,-7.06,-0.85,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	719	FG_AHR_10Vo	0.000
RAFOS	3,1320855907,16.433332,16.418612,99,66,58,0,0,0,951,229,164,0,0,0	MEM	150264
RAFOS_FIX	6700.176758,-5706.934082,091111,161612,4,104,0.00	DATA_FILE_SIZE	43392,1090
IRIDIUM_FIX	6631.12,-5658.34,091111,131331	CAP_FILE_SIZE	120424,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,233189376
HUMID	55.35	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.92226	SOUNDSPEED	1466.8
TCM_TEMP	17.20	CURRENT	0.020,104.7,1
XPDR_PINGS	17	GPS	091111,195736,6700.821,-5655.068,27,1.0,27,-33.5
ALTIM_BOTTOM_PING	552.8,121.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	260	104.24	SBE_CT	788	23	422.81
Roll_motor	55	68	86.58	SBE_O2	599	5	72.57
VBD_pump_during_apogee	334	1272	9843.41	nil	0	0	0.00
VBD_pump_during_surface	20	78	37.22	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	174	262	1057.82	nil	0	0	0.00
Transponder_ping	6	420	58.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	26	4.60
TT8	2979	18	574.28
LPSleep	6488	2	154.37
TT8_Active	501	18	96.65
TT8_Sampling	1977	41	854.15
TT8_CF8	205	47	101.51
TT8_Kalman	0	0	0.00
Analog_circuits	1634	12	202.08
GPS_charging	0	0	0.00
Compass	1787	6	124.11
RAFOS	720	1	11.12
Transponder	14	30	4.51

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	60	0.00	0.00	-41.75	0.000	2	0.000	0.000	125	2516	1879	0	0	0	0	0	0
63	-0.73	-146.0	3.1	-1.7	6	136	8.62	1.20	-58.45	0.000	4	0.260	0.068	2158	1806	3083	0	0	0	0	0	0
374	-0.73	-146.0	48.4	-15.1	53	383	0.00	1.20	0.00	0.000	6	0.000	0.051	2156	2512	3085	0	0	0	0	0	0
715	-0.73	-146.0	101.9	-13.6	104	721	0.00	1.10	0.00	0.000	4	0.000	0.064	2150	3211	3085	0	0	0	0	0	0
874	-0.73	-146.0	123.9	-14.3	128	881	0.00	1.08	0.00	0.000	6	0.000	0.030	2150	2501	3084	0	0	0	0	0	0
1212	-0.73	-146.0	169.4	-12.8	179	1218	0.00	1.17	0.00	0.000	4	0.000	0.060	2146	3213	3084	0	0	0	0	0	0
1271	-0.73	-146.0	177.0	-12.4	188	1278	0.00	1.08	0.00	0.000	6	0.000	0.028	2146	2503	3083	0	0	0	0	0	0
1609	-0.73	-146.0	218.7	-11.8	239	1616	0.00	1.05	0.00	0.000	4	0.000	0.041	2146	1819	3083	0	0	0	0	0	0
1649	-0.73	-146.0	223.5	-12.1	245	1658	0.00	1.17	0.00	0.000	6	0.000	0.052	2141	2516	3083	0	0	0	0	0	0
1990	-0.73	-146.0	262.7	-10.8	288	1994	0.00	1.10	0.00	0.000	4	0.000	0.065	2136	3217	3083	0	0	0	0	0	0
2169	-0.73	-146.0	282.8	-11.9	301	2178	0.08	1.08	0.00	0.000	6	0.153	0.028	2159	2503	3083	0	0	0	0	0	0
2490	-0.73	-146.0	316.9	-10.4	327	2492	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2503	3083	0	0	0	0	0	0
2807	-0.73	-146.0	349.4	-10.3	352	2810	0.00	1.17	0.00	0.000	4	0.000	0.061	2156	3219	3083	0	0	0	0	0	0
2859	-0.73	-146.0	355.0	-10.1	356	2863	0.00	1.08	0.00	0.000	6	0.000	0.028	2156	2501	3083	0	0	0	0	0	0
3192	-0.73	-146.0	388.9	-10.4	382	3196	0.00	1.17	0.00	0.000	4	0.000	0.059	2152	3220	3084	0	0	0	0	0	0
3246	-0.73	-146.0	394.9	-10.5	386	3250	0.00	1.08	0.00	0.000	6	0.000	0.028	2152	2498	3084	0	0	0	0	0	0
3577	-0.73	-146.0	428.8	-9.8	412	3580	0.00	1.02	0.00	0.000	4	0.000	0.039	2152	1822	3084	0	0	0	0	0	0
3674	-0.73	-146.0	437.9	-9.6	419	3682	0.00	1.17	0.00	0.000	6	0.000	0.049	2147	2517	3085	0	0	0	0	0	0
3999	-0.73	-146.0	469.8	-9.6	445	4003	0.00	1.08	0.00	0.000	4	0.000	0.063	2142	3209	3085	0	0	0	0	0	0
4131	-0.73	-146.0	483.3	-10.1	455	4135	0.00	1.05	0.00	0.000	6	0.000	0.028	2142	2498	3085	0	0	0	0	0	0
4450	-0.73	-146.0	516.6	-10.6	473	4454	0.00	1.02	0.00	0.000	4	0.000	0.040	2142	1821	3085	0	0	0	0	0	0
4503	-0.73	-146.0	520.3	-10.5	474	4507	0.00	1.15	0.00	0.000	6	0.000	0.050	2138	2509	3085	0	0	0	0	0	0
4822	-0.73	-146.0	556.1	-10.5	485	4826	0.00	1.10	0.00	0.000	4	0.000	0.062	2132	3217	3085	0	0	0	0	0	0
4933	-0.73	-146.0	567.2	-11.1	488	4938	0.12	1.08	0.00	0.000	6	0.166	0.027	2162	2504	3085	0	0	0	0	0	0
5262	-0.73	-146.0	599.3	-9.7	499	5265	0.00	1.02	0.00	0.000	4	0.000	0.038	2162	1824	3086	0	0	0	0	0	0
5306	-0.73	-146.0	602.5	-9.6	500	5311	0.00	1.17	0.00	0.000	6	0.000	0.047	2160	2523	3086	0	0	0	0	0	0
5633	-0.73	-146.0	634.5	-9.3	511	5637	0.00	1.08	0.00	0.000	4	0.000	0.062	2155	3214	3086	0	0	0	0	0	0
5750	-0.73	-146.0	644.0	-9.5	514	5755	0.00	1.08	0.00	0.000	6	0.000	0.027	2154	2496	3086	0	0	0	0	0	0
5916	end dive: BOTTOM_OBSTACLE_DETECTED
state	5916	begin apogee
5922	-0.16	0.0	661.5	-9.5	520	6048	0.57	0.00	118.40	1.272	6	0.131	0.000	2341	2194	2485	0	0	0	0	0	0
6049	end apogee: CONTROL_FINISHED_OK
state	6049	begin climb
6051	0.73	146.0	665.8	0.0	524	6185	0.82	1.10	126.20	1.226	4	0.065	0.044	2637	1508	1888	0	0	0	0	0	0
6316	0.73	146.0	645.8	12.2	532	6321	0.00	1.20	0.00	0.000	6	0.000	0.041	2637	2203	1883	0	0	0	0	0	0
6636	0.73	146.0	603.6	12.4	543	6640	0.00	1.15	0.00	0.000	4	0.000	0.050	2637	2910	1881	0	0	0	0	0	0
6688	0.73	146.0	599.3	12.5	544	6692	0.00	1.15	0.00	0.000	6	0.000	0.033	2642	2204	1879	0	0	0	0	0	0
7008	0.73	146.0	554.3	13.9	555	7009	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2204	1878	0	0	0	0	0	0
7314	0.73	146.0	512.5	13.7	565	7315	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2204	1878	0	0	0	0	0	0
7635	0.73	146.0	469.3	13.2	586	7636	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2204	1877	0	0	0	0	0	0
7949	0.73	146.0	427.3	13.2	611	7950	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2204	1877	0	0	0	0	0	0
8265	0.73	146.0	385.8	12.9	636	8268	0.00	1.17	0.00	0.000	4	0.000	0.047	2642	2910	1877	0	0	0	0	0	0
8309	0.73	146.0	380.6	13.1	639	8317	0.00	1.15	0.00	0.000	6	0.000	0.034	2646	2194	1877	0	0	0	0	0	0
8634	0.73	146.0	337.6	12.7	665	8637	0.00	1.17	0.00	0.000	4	0.000	0.047	2646	2904	1877	0	0	0	0	0	0
8648	0.73	146.0	335.7	12.8	666	8652	0.00	1.10	0.00	0.000	6	0.000	0.034	2651	2201	1877	0	0	0	0	0	0
8978	0.73	146.0	294.3	12.0	692	8982	0.00	1.17	0.00	0.000	4	0.000	0.048	2650	2911	1877	0	0	0	0	0	0
9023	0.73	146.0	289.1	12.6	695	9030	0.00	1.15	0.00	0.000	6	0.000	0.034	2656	2191	1877	0	0	0	0	0	0
9348	0.73	146.0	249.6	11.8	721	9357	0.00	1.17	0.00	0.000	4	0.000	0.049	2655	2902	1877	0	0	0	0	0	0
9443	0.73	146.0	238.1	11.8	735	9449	0.00	1.10	0.00	0.000	6	0.000	0.034	2660	2201	1877	0	0	0	0	0	0
9781	0.73	146.0	199.1	11.5	786	9788	0.00	1.15	0.00	0.000	4	0.000	0.048	2660	2897	1877	0	0	0	0	0	0
9821	0.73	146.0	194.1	12.3	792	9828	0.10	1.10	0.00	0.000	6	0.154	0.033	2633	2197	1877	0	0	0	0	0	0
10159	0.73	146.0	157.0	10.8	843	10166	0.00	1.17	0.00	0.000	4	0.000	0.048	2633	2910	1877	0	0	0	0	0	0
10219	0.73	146.0	150.5	11.1	852	10226	0.00	1.12	0.00	0.000	6	0.000	0.034	2636	2190	1877	0	0	0	0	0	0
10557	0.73	146.0	115.5	9.3	903	10563	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2189	1877	0	0	0	0	0	0
10896	0.76	173.6	87.6	8.0	954	10924	0.00	1.23	21.80	0.906	4	0.000	0.050	2636	2902	1777	0	0	0	0	0	0
10972	0.76	178.2	81.3	9.0	965	10982	0.00	1.12	5.43	0.741	6	0.000	0.035	2641	2198	1758	0	0	0	0	0	0
11314	0.86	253.4	56.0	6.0	1016	11384	0.10	1.25	63.12	0.894	4	0.102	0.048	2685	2900	1451	0	0	0	0	0	0
11432	0.86	253.4	44.5	11.4	1033	11441	0.00	1.15	0.00	0.000	6	0.000	0.034	2690	2199	1448	0	0	0	0	0	0
11772	0.86	253.4	2.0	13.6	1084	11779	0.00	1.08	0.00	0.000	4	0.000	0.047	2689	1493	1442	0	0	0	0	0	0
11786	end climb: SURFACE_DEPTH_REACHED
state	11786	begin surface coast
11811	end surface coast: CONTROL_FINISHED_OK
state	11811	begin surface