Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 224 * 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 20

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 224 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 0

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 23 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 -80799.453 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 20 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 0 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 -80799.453

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 23 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 224 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 111111,052506,6701.572,-5714.437,41,0.8,41,-33.6 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 2.80 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -70.2 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 111111,053012,6701.510,-5714.417,30,0.9,30,-33.6 MHEAD_RNG_PITCHd_Wd 276.5,143857,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 776

Post-dive calculations and measurements:

FINISH 1.9,1.025855 ALTIM_BOTTOM_PING 650.7,138.1

SM_CCo 14663,24.02,0.082,0,0,1261,300.00 _24V_AH 22.8,28.173

SM_GC 2.56,6.90,0.52,24.02,0.043,0.060,0.082,120,2505,1261,-7.06,-0.93,300.00,0,0,0,0,0,0 _10V_AH 10.3,21.629

RAFOS_CLK 928 FG_AHR_24Vo 0.000

RAFOS 0,1320998468,8.033334,8.018888,61,56,55,0,0,0,162,202,174,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6701.040527,-5729.323730,111111,080828,2,70,0.95 MEM 150276

IRIDIUM_FIX 6631.12,-5705.96,111111,010111 DATA_FILE_SIZE 46655,1213

TT8_MAMPS 0.026215,0.026215 CAP_FILE_SIZE 127116,0

HUMID 57.95 CFSIZE 260165632,232501248

INTERNAL_PRESSURE 9.87343 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

TCM_TEMP 16.40 SOUNDSPEED 1459.8

XPDR_PINGS 17 CURRENT 0.171, 94.8,1

ALTIM_TOP_PING 19.9,18.2 GPS 111111,093706,6700.484,-5717.329,38,0.9,38,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 258 101.99 SBE_CT 879 23 465.39

Roll_motor 39 90 81.30 SBE_O2 659 5 78.77

VBD_pump_during_apogee 334 1379 10524.83 nil 0 0 0.00

VBD_pump_during_surface 24 81 44.84 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 181 263 1090.18 nil 0 0 0.00

Transponder_ping 6 420 64.64 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 26 9.05

TT8 3339 18 643.61

LPSleep 8824 2 209.95

TT8_Active 486 18 93.82

TT8_Sampling 2134 41 921.66

TT8_CF8 223 47 110.21

TT8_Kalman 0 0 0.00

Analog_circuits 1681 12 207.81

GPS_charging 0 0 0.00

Compass 1924 6 133.58

RAFOS 2520 1 38.93

Transponder 19 30 6.12

Guidance and control:

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 53 0.00 0.00 -34.30 0.000 2 0.000 0.000 116 2512 1759 0 0 0 0 0 0

56 -0.73 -146.0 3.1 -1.5 5 156 8.65 1.17 -86.38 0.000 4 0.259 0.090 2154 3222 3082 0 0 0 0 0 0

410 -0.73 -146.0 51.2 -15.6 58 417 0.00 1.10 0.00 0.000 6 0.000 0.029 2154 2499 3084 0 0 0 0 0 0

750 -0.73 -146.0 100.1 -13.4 109 757 0.00 1.17 0.00 0.000 4 0.000 0.064 2150 3209 3084 0 0 0 0 0 0

944 -0.73 -146.0 125.9 -13.1 138 950 0.00 1.08 0.00 0.000 6 0.000 0.029 2150 2499 3085 0 0 0 0 0 0

1282 -0.73 -146.0 167.8 -12.4 189 1289 0.00 1.17 0.00 0.000 4 0.000 0.063 2145 3212 3084 0 0 0 0 0 0

1374 -0.73 -146.0 179.6 -13.1 203 1381 0.00 1.08 0.00 0.000 6 0.000 0.030 2145 2500 3084 0 0 0 0 0 0

1710 -0.73 -146.0 219.9 -11.6 254 1716 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2500 3084 0 0 0 0 0 0

2043 -0.73 -146.0 259.2 -11.7 299 2047 0.00 1.17 0.00 0.000 4 0.000 0.062 2141 3213 3083 0 0 0 0 0 0

2111 -0.73 -146.0 266.9 -11.6 304 2114 0.00 1.05 0.00 0.000 6 0.000 0.028 2140 2521 3083 0 0 0 0 0 0

2439 -0.73 -146.0 304.4 -10.9 330 2443 0.00 1.15 0.00 0.000 4 0.000 0.062 2136 3219 3083 0 0 0 0 0 0

2492 -0.73 -146.0 310.1 -10.9 334 2496 0.00 1.08 0.00 0.000 6 0.000 0.028 2136 2503 3082 0 0 0 0 0 0

2822 -0.73 -146.0 345.6 -10.7 360 2824 0.12 0.00 0.00 0.000 6 0.169 0.000 2166 2504 3082 0 0 0 0 0 0

3139 -0.73 -146.0 374.2 -9.1 385 3143 0.00 1.17 0.00 0.000 4 0.000 0.061 2163 3219 3082 0 0 0 0 0 0

3207 -0.73 -146.0 380.7 -9.4 390 3211 0.00 1.08 0.00 0.000 6 0.000 0.028 2164 2504 3082 0 0 0 0 0 0

3537 -0.73 -146.0 413.2 -10.2 416 3538 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2503 3083 0 0 0 0 0 0

3853 -0.73 -146.0 445.5 -10.0 441 3854 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2503 3084 0 0 0 0 0 0

4167 -0.73 -146.0 476.2 -9.4 466 4168 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2503 3085 0 0 0 0 0 0

4481 -0.73 -146.0 505.5 -9.0 488 4482 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2504 3086 0 0 0 0 0 0

4787 -0.73 -146.0 534.3 -9.1 498 4788 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2504 3086 0 0 0 0 0 0

5093 -0.73 -146.0 561.4 -9.0 508 5094 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2503 3086 0 0 0 0 0 0

5400 -0.73 -146.0 589.8 -9.3 518 5401 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2504 3087 0 0 0 0 0 0

5707 -0.73 -146.0 618.3 -9.3 528 5710 0.00 1.17 0.00 0.000 4 0.000 0.063 2159 3217 3087 0 0 0 0 0 0

5773 -0.73 -146.0 624.8 -9.4 530 5776 0.00 1.08 0.00 0.000 6 0.000 0.028 2159 2502 3087 0 0 0 0 0 0

6114 -0.73 -146.0 656.6 -9.5 541 6115 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2501 3087 0 0 0 0 0 0

6418 -0.73 -146.0 685.9 -9.5 551 6419 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2502 3087 0 0 0 0 0 0

6726 -0.73 -146.0 714.7 -9.4 561 6727 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2501 3087 0 0 0 0 0 0

7031 -0.73 -146.0 743.3 -9.3 571 7032 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2502 3087 0 0 0 0 0 0

7338 -0.73 -146.0 771.6 -9.2 581 7342 0.00 1.17 0.00 0.000 4 0.000 0.063 2154 3216 3086 0 0 0 0 0 0

7369 end dive: BOTTOM_OBSTACLE_DETECTED

state 7369 begin apogee

7376 -0.16 0.0 775.0 -9.3 582 7506 0.57 0.00 121.03 1.379 6 0.130 0.000 2341 2195 2485 0 0 0 0 0 0

7506 end apogee: CONTROL_FINISHED_OK

state 7506 begin climb

7509 0.73 146.0 779.1 0.0 586 7646 0.85 1.23 129.77 1.322 4 0.065 0.047 2638 1497 1889 0 0 0 0 0 0

7896 0.73 146.0 744.8 11.7 598 7901 0.00 1.23 0.00 0.000 6 0.000 0.044 2638 2209 1881 0 0 0 0 0 0

8225 0.73 146.0 704.8 12.0 609 8226 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2208 1879 0 0 0 0 0 0

8530 0.73 146.0 668.0 12.2 619 8531 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2208 1877 0 0 0 0 0 0

8837 0.73 146.0 632.0 11.6 629 8841 0.00 1.15 0.00 0.000 4 0.000 0.047 2643 1497 1876 0 0 0 0 0 0

8915 0.73 146.0 624.3 11.5 631 8920 0.00 1.17 0.00 0.000 6 0.000 0.045 2642 2208 1876 0 0 0 0 0 0

9242 0.73 146.0 585.2 11.5 642 9243 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2208 1875 0 0 0 0 0 0

9548 0.73 146.0 550.5 11.1 652 9549 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2207 1875 0 0 0 0 0 0

9854 0.73 146.0 515.7 11.3 662 9855 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2207 1874 0 0 0 0 0 0

10172 0.73 146.0 479.9 11.4 680 10176 0.00 1.10 0.00 0.000 4 0.000 0.055 2643 2898 1874 0 0 0 0 0 0

10251 0.73 146.0 470.4 12.1 686 10255 0.00 1.12 0.00 0.000 6 0.000 0.036 2647 2195 1874 0 0 0 0 0 0

10580 0.73 146.0 431.8 12.1 712 10581 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2195 1873 0 0 0 0 0 0

10898 0.73 146.0 393.3 12.2 737 10899 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2195 1872 0 0 0 0 0 0

11211 0.73 146.0 353.5 12.7 762 11212 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2195 1872 0 0 0 0 0 0

11528 0.73 146.0 316.0 11.5 787 11531 0.00 1.17 0.00 0.000 4 0.000 0.051 2647 2899 1872 0 0 0 0 0 0

11594 0.73 146.0 308.0 12.3 792 11598 0.00 1.12 0.00 0.000 6 0.000 0.036 2652 2192 1872 0 0 0 0 0 0

11923 0.73 146.0 269.4 11.6 818 11926 0.00 1.05 0.00 0.000 4 0.000 0.050 2657 1495 1872 0 0 0 0 0 0

12017 0.73 146.0 258.8 11.2 825 12021 0.00 1.12 0.00 0.000 6 0.000 0.046 2657 2199 1872 0 0 0 0 0 0

12352 0.73 146.0 222.1 10.7 869 12358 0.00 1.12 0.00 0.000 4 0.000 0.056 2657 2907 1872 0 0 0 0 0 0

12486 0.73 146.0 206.6 12.5 889 12493 0.00 1.12 0.00 0.000 6 0.000 0.037 2662 2199 1872 0 0 0 0 0 0

12825 0.73 146.0 170.2 11.0 940 12833 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2199 1872 0 0 0 0 0 0

13164 0.73 146.0 135.0 10.1 991 13170 0.00 1.08 0.00 0.000 4 0.000 0.050 2667 1490 1872 0 0 0 0 0 0

13205 0.73 146.0 131.1 9.9 997 13213 0.10 1.15 0.00 0.000 6 0.148 0.047 2636 2208 1872 0 0 0 0 0 0

13544 0.77 183.9 102.8 7.6 1048 13581 0.00 1.15 30.17 0.949 4 0.000 0.054 2635 2901 1735 0 0 0 0 0 0

13662 0.77 183.9 92.2 9.7 1065 13669 0.00 1.15 0.00 0.000 6 0.000 0.036 2639 2191 1733 0 0 0 0 0 0

14000 0.85 247.2 66.2 6.5 1116 14062 0.10 0.00 53.70 0.929 6 0.097 0.000 2682 2192 1476 0 0 0 0 0 0

14394 0.85 247.2 25.6 10.7 1175 14401 0.00 1.08 0.00 0.000 4 0.000 0.050 2687 1494 1469 0 0 0 0 0 0

14555 0.85 247.2 9.2 11.5 1199 14561 0.00 1.15 0.00 0.000 6 0.000 0.047 2687 2196 1469 0 0 0 0 0 0

14620 end climb: SURFACE_DEPTH_REACHED

state 14620 begin surface coast

14647 end surface coast: CONTROL_FINISHED_OK

state 14647 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	224	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	0
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	23	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	-80799.453	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	111111,052506,6701.572,-5714.437,41,0.8,41,-33.6	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	2.80	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-70.2	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	111111,053012,6701.510,-5714.417,30,0.9,30,-33.6	MHEAD_RNG_PITCHd_Wd	276.5,143857,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	776

FINISH	1.9,1.025855	ALTIM_BOTTOM_PING	650.7,138.1
SM_CCo	14663,24.02,0.082,0,0,1261,300.00	_24V_AH	22.8,28.173
SM_GC	2.56,6.90,0.52,24.02,0.043,0.060,0.082,120,2505,1261,-7.06,-0.93,300.00,0,0,0,0,0,0	_10V_AH	10.3,21.629
RAFOS_CLK	928	FG_AHR_24Vo	0.000
RAFOS	0,1320998468,8.033334,8.018888,61,56,55,0,0,0,162,202,174,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6701.040527,-5729.323730,111111,080828,2,70,0.95	MEM	150276
IRIDIUM_FIX	6631.12,-5705.96,111111,010111	DATA_FILE_SIZE	46655,1213
TT8_MAMPS	0.026215,0.026215	CAP_FILE_SIZE	127116,0
HUMID	57.95	CFSIZE	260165632,232501248
INTERNAL_PRESSURE	9.87343	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
TCM_TEMP	16.40	SOUNDSPEED	1459.8
XPDR_PINGS	17	CURRENT	0.171, 94.8,1
ALTIM_TOP_PING	19.9,18.2	GPS	111111,093706,6700.484,-5717.329,38,0.9,38,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	258	101.99	SBE_CT	879	23	465.39
Roll_motor	39	90	81.30	SBE_O2	659	5	78.77
VBD_pump_during_apogee	334	1379	10524.83	nil	0	0	0.00
VBD_pump_during_surface	24	81	44.84	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	181	263	1090.18	nil	0	0	0.00
Transponder_ping	6	420	64.64	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	26	9.05
TT8	3339	18	643.61
LPSleep	8824	2	209.95
TT8_Active	486	18	93.82
TT8_Sampling	2134	41	921.66
TT8_CF8	223	47	110.21
TT8_Kalman	0	0	0.00
Analog_circuits	1681	12	207.81
GPS_charging	0	0	0.00
Compass	1924	6	133.58
RAFOS	2520	1	38.93
Transponder	19	30	6.12

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	53	0.00	0.00	-34.30	0.000	2	0.000	0.000	116	2512	1759	0	0	0	0	0	0
56	-0.73	-146.0	3.1	-1.5	5	156	8.65	1.17	-86.38	0.000	4	0.259	0.090	2154	3222	3082	0	0	0	0	0	0
410	-0.73	-146.0	51.2	-15.6	58	417	0.00	1.10	0.00	0.000	6	0.000	0.029	2154	2499	3084	0	0	0	0	0	0
750	-0.73	-146.0	100.1	-13.4	109	757	0.00	1.17	0.00	0.000	4	0.000	0.064	2150	3209	3084	0	0	0	0	0	0
944	-0.73	-146.0	125.9	-13.1	138	950	0.00	1.08	0.00	0.000	6	0.000	0.029	2150	2499	3085	0	0	0	0	0	0
1282	-0.73	-146.0	167.8	-12.4	189	1289	0.00	1.17	0.00	0.000	4	0.000	0.063	2145	3212	3084	0	0	0	0	0	0
1374	-0.73	-146.0	179.6	-13.1	203	1381	0.00	1.08	0.00	0.000	6	0.000	0.030	2145	2500	3084	0	0	0	0	0	0
1710	-0.73	-146.0	219.9	-11.6	254	1716	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2500	3084	0	0	0	0	0	0
2043	-0.73	-146.0	259.2	-11.7	299	2047	0.00	1.17	0.00	0.000	4	0.000	0.062	2141	3213	3083	0	0	0	0	0	0
2111	-0.73	-146.0	266.9	-11.6	304	2114	0.00	1.05	0.00	0.000	6	0.000	0.028	2140	2521	3083	0	0	0	0	0	0
2439	-0.73	-146.0	304.4	-10.9	330	2443	0.00	1.15	0.00	0.000	4	0.000	0.062	2136	3219	3083	0	0	0	0	0	0
2492	-0.73	-146.0	310.1	-10.9	334	2496	0.00	1.08	0.00	0.000	6	0.000	0.028	2136	2503	3082	0	0	0	0	0	0
2822	-0.73	-146.0	345.6	-10.7	360	2824	0.12	0.00	0.00	0.000	6	0.169	0.000	2166	2504	3082	0	0	0	0	0	0
3139	-0.73	-146.0	374.2	-9.1	385	3143	0.00	1.17	0.00	0.000	4	0.000	0.061	2163	3219	3082	0	0	0	0	0	0
3207	-0.73	-146.0	380.7	-9.4	390	3211	0.00	1.08	0.00	0.000	6	0.000	0.028	2164	2504	3082	0	0	0	0	0	0
3537	-0.73	-146.0	413.2	-10.2	416	3538	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2503	3083	0	0	0	0	0	0
3853	-0.73	-146.0	445.5	-10.0	441	3854	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2503	3084	0	0	0	0	0	0
4167	-0.73	-146.0	476.2	-9.4	466	4168	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2503	3085	0	0	0	0	0	0
4481	-0.73	-146.0	505.5	-9.0	488	4482	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2504	3086	0	0	0	0	0	0
4787	-0.73	-146.0	534.3	-9.1	498	4788	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2504	3086	0	0	0	0	0	0
5093	-0.73	-146.0	561.4	-9.0	508	5094	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2503	3086	0	0	0	0	0	0
5400	-0.73	-146.0	589.8	-9.3	518	5401	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2504	3087	0	0	0	0	0	0
5707	-0.73	-146.0	618.3	-9.3	528	5710	0.00	1.17	0.00	0.000	4	0.000	0.063	2159	3217	3087	0	0	0	0	0	0
5773	-0.73	-146.0	624.8	-9.4	530	5776	0.00	1.08	0.00	0.000	6	0.000	0.028	2159	2502	3087	0	0	0	0	0	0
6114	-0.73	-146.0	656.6	-9.5	541	6115	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2501	3087	0	0	0	0	0	0
6418	-0.73	-146.0	685.9	-9.5	551	6419	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2502	3087	0	0	0	0	0	0
6726	-0.73	-146.0	714.7	-9.4	561	6727	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2501	3087	0	0	0	0	0	0
7031	-0.73	-146.0	743.3	-9.3	571	7032	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2502	3087	0	0	0	0	0	0
7338	-0.73	-146.0	771.6	-9.2	581	7342	0.00	1.17	0.00	0.000	4	0.000	0.063	2154	3216	3086	0	0	0	0	0	0
7369	end dive: BOTTOM_OBSTACLE_DETECTED
state	7369	begin apogee
7376	-0.16	0.0	775.0	-9.3	582	7506	0.57	0.00	121.03	1.379	6	0.130	0.000	2341	2195	2485	0	0	0	0	0	0
7506	end apogee: CONTROL_FINISHED_OK
state	7506	begin climb
7509	0.73	146.0	779.1	0.0	586	7646	0.85	1.23	129.77	1.322	4	0.065	0.047	2638	1497	1889	0	0	0	0	0	0
7896	0.73	146.0	744.8	11.7	598	7901	0.00	1.23	0.00	0.000	6	0.000	0.044	2638	2209	1881	0	0	0	0	0	0
8225	0.73	146.0	704.8	12.0	609	8226	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2208	1879	0	0	0	0	0	0
8530	0.73	146.0	668.0	12.2	619	8531	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2208	1877	0	0	0	0	0	0
8837	0.73	146.0	632.0	11.6	629	8841	0.00	1.15	0.00	0.000	4	0.000	0.047	2643	1497	1876	0	0	0	0	0	0
8915	0.73	146.0	624.3	11.5	631	8920	0.00	1.17	0.00	0.000	6	0.000	0.045	2642	2208	1876	0	0	0	0	0	0
9242	0.73	146.0	585.2	11.5	642	9243	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2208	1875	0	0	0	0	0	0
9548	0.73	146.0	550.5	11.1	652	9549	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2207	1875	0	0	0	0	0	0
9854	0.73	146.0	515.7	11.3	662	9855	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2207	1874	0	0	0	0	0	0
10172	0.73	146.0	479.9	11.4	680	10176	0.00	1.10	0.00	0.000	4	0.000	0.055	2643	2898	1874	0	0	0	0	0	0
10251	0.73	146.0	470.4	12.1	686	10255	0.00	1.12	0.00	0.000	6	0.000	0.036	2647	2195	1874	0	0	0	0	0	0
10580	0.73	146.0	431.8	12.1	712	10581	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2195	1873	0	0	0	0	0	0
10898	0.73	146.0	393.3	12.2	737	10899	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2195	1872	0	0	0	0	0	0
11211	0.73	146.0	353.5	12.7	762	11212	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2195	1872	0	0	0	0	0	0
11528	0.73	146.0	316.0	11.5	787	11531	0.00	1.17	0.00	0.000	4	0.000	0.051	2647	2899	1872	0	0	0	0	0	0
11594	0.73	146.0	308.0	12.3	792	11598	0.00	1.12	0.00	0.000	6	0.000	0.036	2652	2192	1872	0	0	0	0	0	0
11923	0.73	146.0	269.4	11.6	818	11926	0.00	1.05	0.00	0.000	4	0.000	0.050	2657	1495	1872	0	0	0	0	0	0
12017	0.73	146.0	258.8	11.2	825	12021	0.00	1.12	0.00	0.000	6	0.000	0.046	2657	2199	1872	0	0	0	0	0	0
12352	0.73	146.0	222.1	10.7	869	12358	0.00	1.12	0.00	0.000	4	0.000	0.056	2657	2907	1872	0	0	0	0	0	0
12486	0.73	146.0	206.6	12.5	889	12493	0.00	1.12	0.00	0.000	6	0.000	0.037	2662	2199	1872	0	0	0	0	0	0
12825	0.73	146.0	170.2	11.0	940	12833	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2199	1872	0	0	0	0	0	0
13164	0.73	146.0	135.0	10.1	991	13170	0.00	1.08	0.00	0.000	4	0.000	0.050	2667	1490	1872	0	0	0	0	0	0
13205	0.73	146.0	131.1	9.9	997	13213	0.10	1.15	0.00	0.000	6	0.148	0.047	2636	2208	1872	0	0	0	0	0	0
13544	0.77	183.9	102.8	7.6	1048	13581	0.00	1.15	30.17	0.949	4	0.000	0.054	2635	2901	1735	0	0	0	0	0	0
13662	0.77	183.9	92.2	9.7	1065	13669	0.00	1.15	0.00	0.000	6	0.000	0.036	2639	2191	1733	0	0	0	0	0	0
14000	0.85	247.2	66.2	6.5	1116	14062	0.10	0.00	53.70	0.929	6	0.097	0.000	2682	2192	1476	0	0	0	0	0	0
14394	0.85	247.2	25.6	10.7	1175	14401	0.00	1.08	0.00	0.000	4	0.000	0.050	2687	1494	1469	0	0	0	0	0	0
14555	0.85	247.2	9.2	11.5	1199	14561	0.00	1.15	0.00	0.000	6	0.000	0.047	2687	2196	1469	0	0	0	0	0	0
14620	end climb: SURFACE_DEPTH_REACHED
state	14620	begin surface coast
14647	end surface coast: CONTROL_FINISHED_OK
state	14647	begin surface