Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 221 * 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 221 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 49 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 -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80794.227 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 -80794.227

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 49 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 221 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 101111,175405,6701.288,-5705.271,35,0.8,35,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.71 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -66.5 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 101111,175907,6701.252,-5705.267,20,1.1,20,-33.5 MHEAD_RNG_PITCHd_Wd 287.5,150285,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 728

Post-dive calculations and measurements:

FINISH 1.9,1.013194 _24V_AH 22.9,27.842

SM_CCo 13005,8.90,0.078,0,0,1261,300.00 _10V_AH 10.3,21.375

SM_GC 3.50,7.03,0.65,8.90,0.047,0.031,0.078,114,2504,1261,-7.08,1.19,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 804 FG_AHR_10Vo 0.000

RAFOS 0,1320955280,20.033333,20.022223,57,55,54,0,0,0,201,170,224,0,0,0 MEM 150260

RAFOS_FIX 6700.041992,-5701.583984,091111,202044,3,88,2.03 DATA_FILE_SIZE 43318,1123

IRIDIUM_FIX 6636.54,-5715.22,101111,141411 CAP_FILE_SIZE 123889,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,232706048

HUMID 56.26 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.91249 SOUNDSPEED 1465.2

TCM_TEMP 17.00 CURRENT 0.234, 98.9,1

XPDR_PINGS 15 GPS 101111,213800,6700.584,-5707.161,39,0.9,39,-33.5

ALTIM_BOTTOM_PING 551.4,197.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 237 92.59 SBE_CT 809 23 430.57

Roll_motor 48 65 73.79 SBE_O2 612 5 73.51

VBD_pump_during_apogee 356 1327 10823.52 nil 0 0 0.00

VBD_pump_during_surface 8 78 15.90 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 189 264 1146.97 nil 0 0 0.00

Transponder_ping 5 420 52.90 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.80

TT8 3055 18 588.81

LPSleep 7465 2 177.62

TT8_Active 513 18 99.03

TT8_Sampling 2080 41 898.37

TT8_CF8 207 47 102.43

TT8_Kalman 0 0 0.00

Analog_circuits 1699 12 210.00

GPS_charging 0 0 0.00

Compass 1866 6 129.56

RAFOS 2520 1 38.93

Transponder 14 30 4.57

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 56 0.00 0.00 -37.70 0.000 2 0.000 0.000 111 2511 1822 0 0 0 0 0 0

59 -0.73 -146.0 3.2 -2.1 5 142 8.15 0.00 -71.75 0.000 6 0.237 0.000 2162 2511 3081 0 0 0 0 0 0

473 -0.73 -146.0 53.2 -15.8 67 480 0.00 1.10 0.00 0.000 4 0.000 0.065 2159 3208 3085 0 0 0 0 0 0

647 -0.73 -146.0 79.0 -13.2 93 654 0.00 1.05 0.00 0.000 6 0.000 0.028 2159 2515 3084 0 0 0 0 0 0

985 -0.73 -146.0 121.9 -12.8 144 994 0.00 1.15 0.00 0.000 4 0.000 0.061 2154 3212 3084 0 0 0 0 0 0

1014 -0.73 -146.0 125.7 -13.3 148 1023 0.00 1.08 0.00 0.000 6 0.000 0.028 2155 2498 3084 0 0 0 0 0 0

1354 -0.73 -146.0 168.2 -11.9 199 1361 0.00 1.17 0.00 0.000 4 0.000 0.061 2150 3213 3084 0 0 0 0 0 0

1449 -0.73 -146.0 179.3 -12.2 213 1456 0.00 1.05 0.00 0.000 6 0.000 0.028 2150 2509 3084 0 0 0 0 0 0

1787 -0.73 -146.0 218.2 -11.4 264 1796 0.00 1.05 0.00 0.000 4 0.000 0.041 2150 1821 3084 0 0 0 0 0 0

1851 -0.73 -146.0 225.2 -11.2 273 1858 0.00 1.15 0.00 0.000 6 0.000 0.051 2145 2507 3084 0 0 0 0 0 0

2184 -0.73 -146.0 264.0 -11.8 315 2187 0.00 1.10 0.00 0.000 4 0.000 0.066 2140 3209 3083 0 0 0 0 0 0

2223 -0.73 -146.0 268.8 -12.1 318 2227 0.00 1.05 0.00 0.000 6 0.000 0.028 2140 2509 3083 0 0 0 0 0 0

2552 -0.73 -146.0 306.8 -11.4 344 2553 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2509 3083 0 0 0 0 0 0

2868 -0.73 -146.0 343.8 -12.0 369 2872 0.00 1.15 0.00 0.000 4 0.000 0.060 2136 3213 3083 0 0 0 0 0 0

2965 -0.73 -146.0 355.4 -12.5 376 2976 0.12 1.08 0.00 0.000 6 0.167 0.026 2165 2502 3083 0 0 0 0 0 0

3288 -0.73 -146.0 389.3 -9.6 402 3289 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2502 3084 0 0 0 0 0 0

3604 -0.73 -146.0 419.9 -9.8 427 3608 0.00 1.17 0.00 0.000 4 0.000 0.061 2163 3220 3084 0 0 0 0 0 0

3644 -0.73 -146.0 423.7 -9.5 430 3648 0.00 1.05 0.00 0.000 6 0.000 0.028 2163 2522 3084 0 0 0 0 0 0

3972 -0.73 -146.0 455.3 -9.7 456 3976 0.00 1.12 0.00 0.000 4 0.000 0.060 2158 3213 3084 0 0 0 0 0 0

4017 -0.73 -146.0 459.3 -10.2 459 4025 0.00 1.10 0.00 0.000 6 0.000 0.027 2158 2490 3084 0 0 0 0 0 0

4343 -0.73 -146.0 492.4 -10.1 485 4346 0.00 1.17 0.00 0.000 4 0.000 0.061 2153 3210 3084 0 0 0 0 0 0

4397 -0.73 -146.0 498.2 -10.5 489 4400 0.00 1.05 0.00 0.000 6 0.000 0.028 2154 2507 3085 0 0 0 0 0 0

4731 -0.73 -146.0 532.4 -10.5 501 4734 0.00 1.15 0.00 0.000 4 0.000 0.061 2149 3212 3085 0 0 0 0 0 0

4788 -0.73 -146.0 536.0 -10.4 502 4796 0.00 1.08 0.00 0.000 6 0.000 0.028 2149 2498 3085 0 0 0 0 0 0

5103 -0.73 -146.0 569.1 -9.6 513 5107 0.00 1.17 0.00 0.000 4 0.000 0.060 2144 3218 3086 0 0 0 0 0 0

5150 -0.73 -146.0 572.6 -9.8 514 5153 0.00 1.05 0.00 0.000 6 0.000 0.028 2144 2521 3086 0 0 0 0 0 0

5477 -0.73 -146.0 607.3 -10.4 525 5480 0.00 1.12 0.00 0.000 4 0.000 0.060 2140 3212 3086 0 0 0 0 0 0

5569 -0.73 -146.0 614.3 -10.3 527 5576 0.00 1.05 0.00 0.000 6 0.000 0.028 2141 2505 3086 0 0 0 0 0 0

5882 -0.73 -146.0 648.4 -10.1 538 5885 0.00 1.15 0.00 0.000 4 0.000 0.061 2135 3211 3086 0 0 0 0 0 0

5982 -0.73 -146.0 659.2 -10.7 541 5986 0.00 1.05 0.00 0.000 6 0.000 0.028 2136 2509 3086 0 0 0 0 0 0

6322 -0.73 -146.0 696.1 -10.8 552 6326 0.12 1.15 0.00 0.000 4 0.169 0.062 2163 3213 3086 0 0 0 0 0 0

6406 -0.73 -146.0 702.4 -10.2 554 6411 0.00 1.08 0.00 0.000 6 0.000 0.028 2162 2501 3086 0 0 0 0 0 0

6693 end dive: TARGET_DEPTH_EXCEEDED

state 6693 begin apogee

6699 -0.16 0.0 729.3 -8.6 564 6825 0.55 0.00 119.75 1.327 6 0.123 0.000 2345 2191 2485 0 0 0 0 0 0

6826 end apogee: CONTROL_FINISHED_OK

state 6826 begin climb

6828 0.73 146.0 733.2 0.0 568 6964 0.82 1.17 127.75 1.275 4 0.064 0.046 2637 1514 1889 0 0 0 0 0 0

7214 0.73 146.0 697.2 12.4 580 7219 0.00 1.20 0.00 0.000 6 0.000 0.041 2637 2216 1882 0 0 0 0 0 0

7548 0.73 146.0 654.7 12.6 591 7550 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2216 1879 0 0 0 0 0 0

7856 0.73 146.0 616.7 12.4 601 7859 0.00 1.10 0.00 0.000 4 0.000 0.052 2637 2903 1879 0 0 0 0 0 0

7966 0.73 146.0 604.2 12.4 604 7971 0.00 1.15 0.00 0.000 6 0.000 0.036 2642 2201 1877 0 0 0 0 0 0

8293 0.73 146.0 562.4 12.3 615 8295 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2201 1877 0 0 0 0 0 0

8599 0.73 146.0 524.0 12.8 625 8600 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2201 1876 0 0 0 0 0 0

8915 0.73 146.0 484.4 12.4 640 8918 0.00 1.17 0.00 0.000 4 0.000 0.051 2642 2902 1876 0 0 0 0 0 0

8986 0.73 146.0 475.8 13.4 645 8996 0.00 1.15 0.00 0.000 6 0.000 0.037 2647 2194 1876 0 0 0 0 0 0

9310 0.73 146.0 432.9 12.7 671 9314 0.00 1.05 0.00 0.000 4 0.000 0.049 2652 1497 1876 0 0 0 0 0 0

9377 0.73 146.0 424.1 13.2 676 9380 0.00 1.12 0.00 0.000 6 0.000 0.045 2652 2200 1875 0 0 0 0 0 0

9706 0.73 146.0 381.3 12.9 702 9710 0.00 1.12 0.00 0.000 4 0.000 0.054 2652 2908 1876 0 0 0 0 0 0

9791 0.73 146.0 370.6 13.4 708 9798 0.00 1.15 0.00 0.000 6 0.000 0.036 2656 2196 1876 0 0 0 0 0 0

10117 0.73 146.0 328.8 12.5 734 10118 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2196 1876 0 0 0 0 0 0

10430 0.73 146.0 289.1 12.7 759 10431 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2196 1876 0 0 0 0 0 0

10747 0.73 146.0 247.6 13.4 785 10755 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2195 1875 0 0 0 0 0 0

11085 0.73 146.0 202.5 12.9 836 11092 0.00 1.05 0.00 0.000 4 0.000 0.049 2662 1494 1875 0 0 0 0 0 0

11252 0.73 146.0 182.2 11.7 861 11261 0.00 1.12 0.00 0.000 6 0.000 0.044 2662 2202 1876 0 0 0 0 0 0

11591 0.73 146.0 145.1 10.0 912 11598 0.00 1.10 0.00 0.000 4 0.000 0.054 2662 2899 1876 0 0 0 0 0 0

11848 0.73 146.0 118.4 10.2 951 11856 0.10 1.10 0.00 0.000 6 0.151 0.034 2635 2200 1876 0 0 0 0 0 0

12187 0.78 189.5 92.2 7.3 1002 12226 0.00 0.00 35.03 0.923 6 0.000 0.000 2635 2200 1712 0 0 0 0 0 0

12558 0.89 278.0 59.5 5.4 1058 12639 0.15 0.00 73.57 0.890 6 0.077 0.000 2694 2200 1351 0 0 0 0 0 0

12969 0.89 278.0 3.6 15.8 1120 12976 0.00 1.20 0.00 0.000 4 0.000 0.047 2694 2911 1342 0 0 0 0 0 0

12982 end climb: SURFACE_DEPTH_REACHED

state 12982 begin surface coast

12988 end surface coast: CONTROL_FINISHED_OK

state 12988 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	221	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	49	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	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80794.227	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	101111,175405,6701.288,-5705.271,35,0.8,35,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.71	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-66.5	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	101111,175907,6701.252,-5705.267,20,1.1,20,-33.5	MHEAD_RNG_PITCHd_Wd	287.5,150285,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	728

FINISH	1.9,1.013194	_24V_AH	22.9,27.842
SM_CCo	13005,8.90,0.078,0,0,1261,300.00	_10V_AH	10.3,21.375
SM_GC	3.50,7.03,0.65,8.90,0.047,0.031,0.078,114,2504,1261,-7.08,1.19,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	804	FG_AHR_10Vo	0.000
RAFOS	0,1320955280,20.033333,20.022223,57,55,54,0,0,0,201,170,224,0,0,0	MEM	150260
RAFOS_FIX	6700.041992,-5701.583984,091111,202044,3,88,2.03	DATA_FILE_SIZE	43318,1123
IRIDIUM_FIX	6636.54,-5715.22,101111,141411	CAP_FILE_SIZE	123889,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,232706048
HUMID	56.26	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.91249	SOUNDSPEED	1465.2
TCM_TEMP	17.00	CURRENT	0.234, 98.9,1
XPDR_PINGS	15	GPS	101111,213800,6700.584,-5707.161,39,0.9,39,-33.5
ALTIM_BOTTOM_PING	551.4,197.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	237	92.59	SBE_CT	809	23	430.57
Roll_motor	48	65	73.79	SBE_O2	612	5	73.51
VBD_pump_during_apogee	356	1327	10823.52	nil	0	0	0.00
VBD_pump_during_surface	8	78	15.90	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	189	264	1146.97	nil	0	0	0.00
Transponder_ping	5	420	52.90	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.80
TT8	3055	18	588.81
LPSleep	7465	2	177.62
TT8_Active	513	18	99.03
TT8_Sampling	2080	41	898.37
TT8_CF8	207	47	102.43
TT8_Kalman	0	0	0.00
Analog_circuits	1699	12	210.00
GPS_charging	0	0	0.00
Compass	1866	6	129.56
RAFOS	2520	1	38.93
Transponder	14	30	4.57

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	56	0.00	0.00	-37.70	0.000	2	0.000	0.000	111	2511	1822	0	0	0	0	0	0
59	-0.73	-146.0	3.2	-2.1	5	142	8.15	0.00	-71.75	0.000	6	0.237	0.000	2162	2511	3081	0	0	0	0	0	0
473	-0.73	-146.0	53.2	-15.8	67	480	0.00	1.10	0.00	0.000	4	0.000	0.065	2159	3208	3085	0	0	0	0	0	0
647	-0.73	-146.0	79.0	-13.2	93	654	0.00	1.05	0.00	0.000	6	0.000	0.028	2159	2515	3084	0	0	0	0	0	0
985	-0.73	-146.0	121.9	-12.8	144	994	0.00	1.15	0.00	0.000	4	0.000	0.061	2154	3212	3084	0	0	0	0	0	0
1014	-0.73	-146.0	125.7	-13.3	148	1023	0.00	1.08	0.00	0.000	6	0.000	0.028	2155	2498	3084	0	0	0	0	0	0
1354	-0.73	-146.0	168.2	-11.9	199	1361	0.00	1.17	0.00	0.000	4	0.000	0.061	2150	3213	3084	0	0	0	0	0	0
1449	-0.73	-146.0	179.3	-12.2	213	1456	0.00	1.05	0.00	0.000	6	0.000	0.028	2150	2509	3084	0	0	0	0	0	0
1787	-0.73	-146.0	218.2	-11.4	264	1796	0.00	1.05	0.00	0.000	4	0.000	0.041	2150	1821	3084	0	0	0	0	0	0
1851	-0.73	-146.0	225.2	-11.2	273	1858	0.00	1.15	0.00	0.000	6	0.000	0.051	2145	2507	3084	0	0	0	0	0	0
2184	-0.73	-146.0	264.0	-11.8	315	2187	0.00	1.10	0.00	0.000	4	0.000	0.066	2140	3209	3083	0	0	0	0	0	0
2223	-0.73	-146.0	268.8	-12.1	318	2227	0.00	1.05	0.00	0.000	6	0.000	0.028	2140	2509	3083	0	0	0	0	0	0
2552	-0.73	-146.0	306.8	-11.4	344	2553	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2509	3083	0	0	0	0	0	0
2868	-0.73	-146.0	343.8	-12.0	369	2872	0.00	1.15	0.00	0.000	4	0.000	0.060	2136	3213	3083	0	0	0	0	0	0
2965	-0.73	-146.0	355.4	-12.5	376	2976	0.12	1.08	0.00	0.000	6	0.167	0.026	2165	2502	3083	0	0	0	0	0	0
3288	-0.73	-146.0	389.3	-9.6	402	3289	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2502	3084	0	0	0	0	0	0
3604	-0.73	-146.0	419.9	-9.8	427	3608	0.00	1.17	0.00	0.000	4	0.000	0.061	2163	3220	3084	0	0	0	0	0	0
3644	-0.73	-146.0	423.7	-9.5	430	3648	0.00	1.05	0.00	0.000	6	0.000	0.028	2163	2522	3084	0	0	0	0	0	0
3972	-0.73	-146.0	455.3	-9.7	456	3976	0.00	1.12	0.00	0.000	4	0.000	0.060	2158	3213	3084	0	0	0	0	0	0
4017	-0.73	-146.0	459.3	-10.2	459	4025	0.00	1.10	0.00	0.000	6	0.000	0.027	2158	2490	3084	0	0	0	0	0	0
4343	-0.73	-146.0	492.4	-10.1	485	4346	0.00	1.17	0.00	0.000	4	0.000	0.061	2153	3210	3084	0	0	0	0	0	0
4397	-0.73	-146.0	498.2	-10.5	489	4400	0.00	1.05	0.00	0.000	6	0.000	0.028	2154	2507	3085	0	0	0	0	0	0
4731	-0.73	-146.0	532.4	-10.5	501	4734	0.00	1.15	0.00	0.000	4	0.000	0.061	2149	3212	3085	0	0	0	0	0	0
4788	-0.73	-146.0	536.0	-10.4	502	4796	0.00	1.08	0.00	0.000	6	0.000	0.028	2149	2498	3085	0	0	0	0	0	0
5103	-0.73	-146.0	569.1	-9.6	513	5107	0.00	1.17	0.00	0.000	4	0.000	0.060	2144	3218	3086	0	0	0	0	0	0
5150	-0.73	-146.0	572.6	-9.8	514	5153	0.00	1.05	0.00	0.000	6	0.000	0.028	2144	2521	3086	0	0	0	0	0	0
5477	-0.73	-146.0	607.3	-10.4	525	5480	0.00	1.12	0.00	0.000	4	0.000	0.060	2140	3212	3086	0	0	0	0	0	0
5569	-0.73	-146.0	614.3	-10.3	527	5576	0.00	1.05	0.00	0.000	6	0.000	0.028	2141	2505	3086	0	0	0	0	0	0
5882	-0.73	-146.0	648.4	-10.1	538	5885	0.00	1.15	0.00	0.000	4	0.000	0.061	2135	3211	3086	0	0	0	0	0	0
5982	-0.73	-146.0	659.2	-10.7	541	5986	0.00	1.05	0.00	0.000	6	0.000	0.028	2136	2509	3086	0	0	0	0	0	0
6322	-0.73	-146.0	696.1	-10.8	552	6326	0.12	1.15	0.00	0.000	4	0.169	0.062	2163	3213	3086	0	0	0	0	0	0
6406	-0.73	-146.0	702.4	-10.2	554	6411	0.00	1.08	0.00	0.000	6	0.000	0.028	2162	2501	3086	0	0	0	0	0	0
6693	end dive: TARGET_DEPTH_EXCEEDED
state	6693	begin apogee
6699	-0.16	0.0	729.3	-8.6	564	6825	0.55	0.00	119.75	1.327	6	0.123	0.000	2345	2191	2485	0	0	0	0	0	0
6826	end apogee: CONTROL_FINISHED_OK
state	6826	begin climb
6828	0.73	146.0	733.2	0.0	568	6964	0.82	1.17	127.75	1.275	4	0.064	0.046	2637	1514	1889	0	0	0	0	0	0
7214	0.73	146.0	697.2	12.4	580	7219	0.00	1.20	0.00	0.000	6	0.000	0.041	2637	2216	1882	0	0	0	0	0	0
7548	0.73	146.0	654.7	12.6	591	7550	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2216	1879	0	0	0	0	0	0
7856	0.73	146.0	616.7	12.4	601	7859	0.00	1.10	0.00	0.000	4	0.000	0.052	2637	2903	1879	0	0	0	0	0	0
7966	0.73	146.0	604.2	12.4	604	7971	0.00	1.15	0.00	0.000	6	0.000	0.036	2642	2201	1877	0	0	0	0	0	0
8293	0.73	146.0	562.4	12.3	615	8295	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2201	1877	0	0	0	0	0	0
8599	0.73	146.0	524.0	12.8	625	8600	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2201	1876	0	0	0	0	0	0
8915	0.73	146.0	484.4	12.4	640	8918	0.00	1.17	0.00	0.000	4	0.000	0.051	2642	2902	1876	0	0	0	0	0	0
8986	0.73	146.0	475.8	13.4	645	8996	0.00	1.15	0.00	0.000	6	0.000	0.037	2647	2194	1876	0	0	0	0	0	0
9310	0.73	146.0	432.9	12.7	671	9314	0.00	1.05	0.00	0.000	4	0.000	0.049	2652	1497	1876	0	0	0	0	0	0
9377	0.73	146.0	424.1	13.2	676	9380	0.00	1.12	0.00	0.000	6	0.000	0.045	2652	2200	1875	0	0	0	0	0	0
9706	0.73	146.0	381.3	12.9	702	9710	0.00	1.12	0.00	0.000	4	0.000	0.054	2652	2908	1876	0	0	0	0	0	0
9791	0.73	146.0	370.6	13.4	708	9798	0.00	1.15	0.00	0.000	6	0.000	0.036	2656	2196	1876	0	0	0	0	0	0
10117	0.73	146.0	328.8	12.5	734	10118	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2196	1876	0	0	0	0	0	0
10430	0.73	146.0	289.1	12.7	759	10431	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2196	1876	0	0	0	0	0	0
10747	0.73	146.0	247.6	13.4	785	10755	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2195	1875	0	0	0	0	0	0
11085	0.73	146.0	202.5	12.9	836	11092	0.00	1.05	0.00	0.000	4	0.000	0.049	2662	1494	1875	0	0	0	0	0	0
11252	0.73	146.0	182.2	11.7	861	11261	0.00	1.12	0.00	0.000	6	0.000	0.044	2662	2202	1876	0	0	0	0	0	0
11591	0.73	146.0	145.1	10.0	912	11598	0.00	1.10	0.00	0.000	4	0.000	0.054	2662	2899	1876	0	0	0	0	0	0
11848	0.73	146.0	118.4	10.2	951	11856	0.10	1.10	0.00	0.000	6	0.151	0.034	2635	2200	1876	0	0	0	0	0	0
12187	0.78	189.5	92.2	7.3	1002	12226	0.00	0.00	35.03	0.923	6	0.000	0.000	2635	2200	1712	0	0	0	0	0	0
12558	0.89	278.0	59.5	5.4	1058	12639	0.15	0.00	73.57	0.890	6	0.077	0.000	2694	2200	1351	0	0	0	0	0	0
12969	0.89	278.0	3.6	15.8	1120	12976	0.00	1.20	0.00	0.000	4	0.000	0.047	2694	2911	1342	0	0	0	0	0	0
12982	end climb: SURFACE_DEPTH_REACHED
state	12982	begin surface coast
12988	end surface coast: CONTROL_FINISHED_OK
state	12988	begin surface