Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 226 * 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 226 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 41 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 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 -80803.406 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 -80803.406

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 41 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 22 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 226 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 111111,134423,6702.524,-5722.170,71,0.7,71,-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 2.81 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -68.7 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 111111,135000,6702.559,-5722.168,20,0.9,20,-33.6 MHEAD_RNG_PITCHd_Wd 244.3,138807,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 802

Post-dive calculations and measurements:

FINISH 1.9,1.016855 ALTIM_BOTTOM_PING 701.5,115.1

SM_CCo 15000,0.00,0.000,0,0,1251,302.70 _24V_AH 22.7,28.421

SM_GC 2.94,7.07,0.60,0.00,0.043,0.054,0.000,118,2514,1251,-7.08,-0.71,302.70,0,0,0,0,0,0 _10V_AH 10.2,21.809

RAFOS_CLK 974 FG_AHR_24Vo 0.000

RAFOS 0,1321027265,16.033333,16.018055,62,59,56,0,0,0,119,199,185,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6701.028320,-5733.605469,111111,161622,3,93,0.84 MEM 150272

IRIDIUM_FIX 6631.12,-5708.95,111111,090950 DATA_FILE_SIZE 46695,1222

TT8_MAMPS 0.026215,0.026215 CAP_FILE_SIZE 127287,0

HUMID 58.26 CFSIZE 260165632,232366080

INTERNAL_PRESSURE 9.85389 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

TCM_TEMP 16.50 SOUNDSPEED 1457.1

XPDR_PINGS 17 CURRENT 0.131, 19.4,1

ALTIM_TOP_PING 19.3,17.0 GPS 111111,180206,6701.289,-5724.745,39,0.8,39,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 265 106.36 SBE_CT 881 23 464.81

Roll_motor 37 71 60.76 SBE_O2 664 5 79.09

VBD_pump_during_apogee 381 1404 12171.36 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 218 268 1336.04 nil 0 0 0.00

Transponder_ping 7 420 66.74 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.88

TT8 3323 18 634.27

LPSleep 9108 2 214.62

TT8_Active 504 18 96.31

TT8_Sampling 2199 41 940.78

TT8_CF8 210 47 103.09

TT8_Kalman 0 0 0.00

Analog_circuits 1755 12 214.93

GPS_charging 0 0 0.00

Compass 1953 6 134.28

RAFOS 2520 1 38.56

Transponder 21 30 6.58

Guidance and control:

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 47 0.00 0.00 -28.65 0.000 2 0.000 0.000 118 2514 1666 0 0 0 0 0 0

50 -0.73 -146.0 3.1 -1.3 4 156 8.85 1.20 -90.47 0.000 4 0.265 0.071 2158 1812 3081 0 0 0 0 0 0

409 -0.73 -146.0 48.2 -16.9 58 416 0.00 1.20 0.00 0.000 6 0.000 0.056 2155 2508 3084 0 0 0 0 0 0

746 -0.73 -146.0 95.7 -13.4 109 753 0.00 1.12 0.00 0.000 4 0.000 0.069 2150 3213 3084 0 0 0 0 0 0

812 -0.73 -146.0 104.6 -13.8 119 821 0.00 1.10 0.00 0.000 6 0.000 0.033 2150 2502 3084 0 0 0 0 0 0

1152 -0.73 -146.0 148.7 -13.3 170 1158 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2502 3084 0 0 0 0 0 0

1488 -0.73 -146.0 192.6 -12.9 221 1494 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2502 3084 0 0 0 0 0 0

1827 -0.73 -146.0 235.6 -12.4 272 1834 0.00 1.20 0.00 0.000 4 0.000 0.066 2145 3220 3083 0 0 0 0 0 0

2001 -0.73 -146.0 258.2 -12.5 294 2005 0.00 1.10 0.00 0.000 6 0.000 0.034 2145 2510 3083 0 0 0 0 0 0

2334 -0.73 -146.0 299.8 -12.4 320 2338 0.00 1.08 0.00 0.000 4 0.000 0.044 2145 1815 3083 0 0 0 0 0 0

2391 -0.73 -146.0 307.0 -12.6 324 2399 0.00 1.20 0.00 0.000 6 0.000 0.054 2141 2513 3083 0 0 0 0 0 0

2716 -0.73 -146.0 346.1 -11.3 350 2720 0.00 1.10 0.00 0.000 4 0.000 0.067 2136 3210 3083 0 0 0 0 0 0

2809 -0.73 -146.0 356.9 -11.6 357 2813 0.08 1.08 0.00 0.000 6 0.149 0.032 2159 2501 3082 0 0 0 0 0 0

3137 -0.73 -146.0 389.8 -9.8 383 3139 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2500 3082 0 0 0 0 0 0

3455 -0.73 -146.0 421.4 -9.9 408 3456 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2501 3083 0 0 0 0 0 0

3769 -0.73 -146.0 453.4 -10.3 433 3770 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2501 3084 0 0 0 0 0 0

4085 -0.73 -146.0 485.2 -9.8 458 4086 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2501 3085 0 0 0 0 0 0

4421 -0.73 -146.0 518.5 -9.8 476 4422 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2501 3085 0 0 0 0 0 0

4726 -0.73 -146.0 548.2 -9.7 486 4727 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2500 3086 0 0 0 0 0 0

5033 -0.73 -146.0 576.9 -9.4 496 5037 0.00 1.17 0.00 0.000 4 0.000 0.063 2157 3215 3086 0 0 0 0 0 0

5138 -0.73 -146.0 586.7 -9.7 499 5142 0.00 1.08 0.00 0.000 6 0.000 0.028 2156 2508 3086 0 0 0 0 0 0

5471 -0.73 -146.0 619.8 -9.8 510 5473 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2508 3086 0 0 0 0 0 0

5779 -0.73 -146.0 649.9 -9.8 520 5782 0.00 1.17 0.00 0.000 4 0.000 0.062 2152 3221 3086 0 0 0 0 0 0

5845 -0.73 -146.0 656.6 -9.9 522 5848 0.00 1.08 0.00 0.000 6 0.000 0.028 2152 2511 3086 0 0 0 0 0 0

6184 -0.73 -146.0 689.7 -9.6 533 6185 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2511 3086 0 0 0 0 0 0

6490 -0.73 -146.0 719.0 -9.6 543 6491 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2510 3086 0 0 0 0 0 0

6796 -0.73 -146.0 747.9 -9.3 553 6797 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2511 3086 0 0 0 0 0 0

7103 -0.73 -146.0 777.3 -9.8 563 7104 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2511 3086 0 0 0 0 0 0

7377 end dive: TARGET_DEPTH_EXCEEDED

state 7377 begin apogee

7383 -0.16 0.0 803.1 -9.3 572 7511 0.60 0.00 121.68 1.405 6 0.129 0.000 2346 2193 2485 0 0 0 0 0 0

7512 end apogee: CONTROL_FINISHED_OK

state 7512 begin climb

7514 0.73 146.0 807.4 0.0 576 7658 0.82 1.23 131.70 1.346 4 0.065 0.047 2635 1500 1887 0 0 0 0 0 0

7857 0.73 146.0 777.6 12.6 587 7861 0.00 1.20 0.00 0.000 6 0.000 0.044 2635 2201 1881 0 0 0 0 0 0

8196 0.73 146.0 736.7 11.8 598 8200 0.00 1.15 0.00 0.000 4 0.000 0.054 2635 2900 1879 0 0 0 0 0 0

8234 0.73 146.0 732.7 11.8 599 8238 0.00 1.17 0.00 0.000 6 0.000 0.035 2640 2201 1878 0 0 0 0 0 0

8568 0.73 146.0 691.6 12.1 610 8569 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2201 1877 0 0 0 0 0 0

8876 0.73 146.0 655.1 11.8 620 8878 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2201 1876 0 0 0 0 0 0

9181 0.73 146.0 618.0 12.1 630 9185 0.00 1.08 0.00 0.000 4 0.000 0.050 2645 1498 1874 0 0 0 0 0 0

9233 0.73 146.0 613.9 12.0 631 9237 0.00 1.15 0.00 0.000 6 0.000 0.045 2645 2204 1875 0 0 0 0 0 0

9553 0.73 146.0 573.4 12.1 642 9554 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2205 1875 0 0 0 0 0 0

9860 0.73 146.0 536.9 11.8 652 9862 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2205 1874 0 0 0 0 0 0

10166 0.73 146.0 500.4 12.0 662 10167 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2205 1874 0 0 0 0 0 0

10486 0.73 146.0 462.8 11.6 686 10490 0.00 1.12 0.00 0.000 4 0.000 0.057 2645 2904 1874 0 0 0 0 0 0

10592 0.73 146.0 449.7 12.3 694 10596 0.00 1.15 0.00 0.000 6 0.000 0.038 2650 2192 1873 0 0 0 0 0 0

10922 0.73 146.0 411.1 11.6 720 10923 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2192 1873 0 0 0 0 0 0

11238 0.73 146.0 374.6 11.8 745 11242 0.00 1.20 0.00 0.000 4 0.000 0.052 2650 2908 1872 0 0 0 0 0 0

11309 0.73 146.0 366.3 12.2 750 11317 0.00 1.17 0.00 0.000 6 0.000 0.037 2654 2188 1872 0 0 0 0 0 0

11635 0.73 146.0 327.8 11.3 776 11637 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2187 1872 0 0 0 0 0 0

11948 0.73 146.0 291.6 11.2 801 11949 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2187 1873 0 0 0 0 0 0

12264 0.73 146.0 254.8 11.6 826 12267 0.00 1.20 0.00 0.000 4 0.000 0.050 2654 2908 1872 0 0 0 0 0 0

12357 0.73 146.0 244.0 11.7 836 12364 0.00 1.12 0.00 0.000 6 0.000 0.036 2659 2198 1873 0 0 0 0 0 0

12696 0.73 146.0 208.1 10.0 887 12704 0.00 1.17 0.00 0.000 4 0.000 0.050 2659 2905 1873 0 0 0 0 0 0

12751 0.73 146.0 202.3 10.6 895 12761 0.08 1.12 0.00 0.000 6 0.153 0.036 2639 2197 1872 0 0 0 0 0 0

13090 0.73 146.0 170.5 9.4 946 13097 0.00 1.05 0.00 0.000 4 0.000 0.050 2643 1495 1873 0 0 0 0 0 0

13252 0.73 149.4 156.2 9.0 970 13258 0.00 1.12 0.00 0.000 6 0.000 0.046 2643 2200 1872 0 0 0 0 0 0

13588 0.77 179.7 127.6 7.9 1021 13622 0.00 1.10 26.88 0.971 4 0.000 0.053 2643 2910 1751 0 0 0 0 0 0

13874 0.77 179.7 100.9 9.7 1064 13881 0.00 1.15 0.00 0.000 6 0.000 0.036 2648 2199 1749 0 0 0 0 0 0

14211 0.79 195.4 70.4 8.5 1115 14232 0.00 0.00 14.27 0.920 6 0.000 0.000 2647 2200 1687 0 0 0 0 0 0

14565 0.91 299.0 44.3 4.8 1168 14658 0.15 0.00 87.22 0.923 6 0.081 0.000 2707 2199 1264 0 0 0 0 0 0

14910 end climb: SURFACE_DEPTH_REACHED

state 14911 begin surface coast

14923 end surface coast: CONTROL_FINISHED_OK

state 14923 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	226	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	41	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	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	-80803.406	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	111111,134423,6702.524,-5722.170,71,0.7,71,-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	2.81	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-68.7	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	111111,135000,6702.559,-5722.168,20,0.9,20,-33.6	MHEAD_RNG_PITCHd_Wd	244.3,138807,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	802

FINISH	1.9,1.016855	ALTIM_BOTTOM_PING	701.5,115.1
SM_CCo	15000,0.00,0.000,0,0,1251,302.70	_24V_AH	22.7,28.421
SM_GC	2.94,7.07,0.60,0.00,0.043,0.054,0.000,118,2514,1251,-7.08,-0.71,302.70,0,0,0,0,0,0	_10V_AH	10.2,21.809
RAFOS_CLK	974	FG_AHR_24Vo	0.000
RAFOS	0,1321027265,16.033333,16.018055,62,59,56,0,0,0,119,199,185,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6701.028320,-5733.605469,111111,161622,3,93,0.84	MEM	150272
IRIDIUM_FIX	6631.12,-5708.95,111111,090950	DATA_FILE_SIZE	46695,1222
TT8_MAMPS	0.026215,0.026215	CAP_FILE_SIZE	127287,0
HUMID	58.26	CFSIZE	260165632,232366080
INTERNAL_PRESSURE	9.85389	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
TCM_TEMP	16.50	SOUNDSPEED	1457.1
XPDR_PINGS	17	CURRENT	0.131, 19.4,1
ALTIM_TOP_PING	19.3,17.0	GPS	111111,180206,6701.289,-5724.745,39,0.8,39,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	265	106.36	SBE_CT	881	23	464.81
Roll_motor	37	71	60.76	SBE_O2	664	5	79.09
VBD_pump_during_apogee	381	1404	12171.36	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	218	268	1336.04	nil	0	0	0.00
Transponder_ping	7	420	66.74	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.88
TT8	3323	18	634.27
LPSleep	9108	2	214.62
TT8_Active	504	18	96.31
TT8_Sampling	2199	41	940.78
TT8_CF8	210	47	103.09
TT8_Kalman	0	0	0.00
Analog_circuits	1755	12	214.93
GPS_charging	0	0	0.00
Compass	1953	6	134.28
RAFOS	2520	1	38.56
Transponder	21	30	6.58

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	47	0.00	0.00	-28.65	0.000	2	0.000	0.000	118	2514	1666	0	0	0	0	0	0
50	-0.73	-146.0	3.1	-1.3	4	156	8.85	1.20	-90.47	0.000	4	0.265	0.071	2158	1812	3081	0	0	0	0	0	0
409	-0.73	-146.0	48.2	-16.9	58	416	0.00	1.20	0.00	0.000	6	0.000	0.056	2155	2508	3084	0	0	0	0	0	0
746	-0.73	-146.0	95.7	-13.4	109	753	0.00	1.12	0.00	0.000	4	0.000	0.069	2150	3213	3084	0	0	0	0	0	0
812	-0.73	-146.0	104.6	-13.8	119	821	0.00	1.10	0.00	0.000	6	0.000	0.033	2150	2502	3084	0	0	0	0	0	0
1152	-0.73	-146.0	148.7	-13.3	170	1158	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2502	3084	0	0	0	0	0	0
1488	-0.73	-146.0	192.6	-12.9	221	1494	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2502	3084	0	0	0	0	0	0
1827	-0.73	-146.0	235.6	-12.4	272	1834	0.00	1.20	0.00	0.000	4	0.000	0.066	2145	3220	3083	0	0	0	0	0	0
2001	-0.73	-146.0	258.2	-12.5	294	2005	0.00	1.10	0.00	0.000	6	0.000	0.034	2145	2510	3083	0	0	0	0	0	0
2334	-0.73	-146.0	299.8	-12.4	320	2338	0.00	1.08	0.00	0.000	4	0.000	0.044	2145	1815	3083	0	0	0	0	0	0
2391	-0.73	-146.0	307.0	-12.6	324	2399	0.00	1.20	0.00	0.000	6	0.000	0.054	2141	2513	3083	0	0	0	0	0	0
2716	-0.73	-146.0	346.1	-11.3	350	2720	0.00	1.10	0.00	0.000	4	0.000	0.067	2136	3210	3083	0	0	0	0	0	0
2809	-0.73	-146.0	356.9	-11.6	357	2813	0.08	1.08	0.00	0.000	6	0.149	0.032	2159	2501	3082	0	0	0	0	0	0
3137	-0.73	-146.0	389.8	-9.8	383	3139	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2500	3082	0	0	0	0	0	0
3455	-0.73	-146.0	421.4	-9.9	408	3456	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2501	3083	0	0	0	0	0	0
3769	-0.73	-146.0	453.4	-10.3	433	3770	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2501	3084	0	0	0	0	0	0
4085	-0.73	-146.0	485.2	-9.8	458	4086	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2501	3085	0	0	0	0	0	0
4421	-0.73	-146.0	518.5	-9.8	476	4422	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2501	3085	0	0	0	0	0	0
4726	-0.73	-146.0	548.2	-9.7	486	4727	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2500	3086	0	0	0	0	0	0
5033	-0.73	-146.0	576.9	-9.4	496	5037	0.00	1.17	0.00	0.000	4	0.000	0.063	2157	3215	3086	0	0	0	0	0	0
5138	-0.73	-146.0	586.7	-9.7	499	5142	0.00	1.08	0.00	0.000	6	0.000	0.028	2156	2508	3086	0	0	0	0	0	0
5471	-0.73	-146.0	619.8	-9.8	510	5473	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2508	3086	0	0	0	0	0	0
5779	-0.73	-146.0	649.9	-9.8	520	5782	0.00	1.17	0.00	0.000	4	0.000	0.062	2152	3221	3086	0	0	0	0	0	0
5845	-0.73	-146.0	656.6	-9.9	522	5848	0.00	1.08	0.00	0.000	6	0.000	0.028	2152	2511	3086	0	0	0	0	0	0
6184	-0.73	-146.0	689.7	-9.6	533	6185	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2511	3086	0	0	0	0	0	0
6490	-0.73	-146.0	719.0	-9.6	543	6491	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2510	3086	0	0	0	0	0	0
6796	-0.73	-146.0	747.9	-9.3	553	6797	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2511	3086	0	0	0	0	0	0
7103	-0.73	-146.0	777.3	-9.8	563	7104	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2511	3086	0	0	0	0	0	0
7377	end dive: TARGET_DEPTH_EXCEEDED
state	7377	begin apogee
7383	-0.16	0.0	803.1	-9.3	572	7511	0.60	0.00	121.68	1.405	6	0.129	0.000	2346	2193	2485	0	0	0	0	0	0
7512	end apogee: CONTROL_FINISHED_OK
state	7512	begin climb
7514	0.73	146.0	807.4	0.0	576	7658	0.82	1.23	131.70	1.346	4	0.065	0.047	2635	1500	1887	0	0	0	0	0	0
7857	0.73	146.0	777.6	12.6	587	7861	0.00	1.20	0.00	0.000	6	0.000	0.044	2635	2201	1881	0	0	0	0	0	0
8196	0.73	146.0	736.7	11.8	598	8200	0.00	1.15	0.00	0.000	4	0.000	0.054	2635	2900	1879	0	0	0	0	0	0
8234	0.73	146.0	732.7	11.8	599	8238	0.00	1.17	0.00	0.000	6	0.000	0.035	2640	2201	1878	0	0	0	0	0	0
8568	0.73	146.0	691.6	12.1	610	8569	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2201	1877	0	0	0	0	0	0
8876	0.73	146.0	655.1	11.8	620	8878	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2201	1876	0	0	0	0	0	0
9181	0.73	146.0	618.0	12.1	630	9185	0.00	1.08	0.00	0.000	4	0.000	0.050	2645	1498	1874	0	0	0	0	0	0
9233	0.73	146.0	613.9	12.0	631	9237	0.00	1.15	0.00	0.000	6	0.000	0.045	2645	2204	1875	0	0	0	0	0	0
9553	0.73	146.0	573.4	12.1	642	9554	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2205	1875	0	0	0	0	0	0
9860	0.73	146.0	536.9	11.8	652	9862	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2205	1874	0	0	0	0	0	0
10166	0.73	146.0	500.4	12.0	662	10167	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2205	1874	0	0	0	0	0	0
10486	0.73	146.0	462.8	11.6	686	10490	0.00	1.12	0.00	0.000	4	0.000	0.057	2645	2904	1874	0	0	0	0	0	0
10592	0.73	146.0	449.7	12.3	694	10596	0.00	1.15	0.00	0.000	6	0.000	0.038	2650	2192	1873	0	0	0	0	0	0
10922	0.73	146.0	411.1	11.6	720	10923	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2192	1873	0	0	0	0	0	0
11238	0.73	146.0	374.6	11.8	745	11242	0.00	1.20	0.00	0.000	4	0.000	0.052	2650	2908	1872	0	0	0	0	0	0
11309	0.73	146.0	366.3	12.2	750	11317	0.00	1.17	0.00	0.000	6	0.000	0.037	2654	2188	1872	0	0	0	0	0	0
11635	0.73	146.0	327.8	11.3	776	11637	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2187	1872	0	0	0	0	0	0
11948	0.73	146.0	291.6	11.2	801	11949	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2187	1873	0	0	0	0	0	0
12264	0.73	146.0	254.8	11.6	826	12267	0.00	1.20	0.00	0.000	4	0.000	0.050	2654	2908	1872	0	0	0	0	0	0
12357	0.73	146.0	244.0	11.7	836	12364	0.00	1.12	0.00	0.000	6	0.000	0.036	2659	2198	1873	0	0	0	0	0	0
12696	0.73	146.0	208.1	10.0	887	12704	0.00	1.17	0.00	0.000	4	0.000	0.050	2659	2905	1873	0	0	0	0	0	0
12751	0.73	146.0	202.3	10.6	895	12761	0.08	1.12	0.00	0.000	6	0.153	0.036	2639	2197	1872	0	0	0	0	0	0
13090	0.73	146.0	170.5	9.4	946	13097	0.00	1.05	0.00	0.000	4	0.000	0.050	2643	1495	1873	0	0	0	0	0	0
13252	0.73	149.4	156.2	9.0	970	13258	0.00	1.12	0.00	0.000	6	0.000	0.046	2643	2200	1872	0	0	0	0	0	0
13588	0.77	179.7	127.6	7.9	1021	13622	0.00	1.10	26.88	0.971	4	0.000	0.053	2643	2910	1751	0	0	0	0	0	0
13874	0.77	179.7	100.9	9.7	1064	13881	0.00	1.15	0.00	0.000	6	0.000	0.036	2648	2199	1749	0	0	0	0	0	0
14211	0.79	195.4	70.4	8.5	1115	14232	0.00	0.00	14.27	0.920	6	0.000	0.000	2647	2200	1687	0	0	0	0	0	0
14565	0.91	299.0	44.3	4.8	1168	14658	0.15	0.00	87.22	0.923	6	0.081	0.000	2707	2199	1264	0	0	0	0	0	0
14910	end climb: SURFACE_DEPTH_REACHED
state	14911	begin surface coast
14923	end surface coast: CONTROL_FINISHED_OK
state	14923	begin surface