Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 227 * 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 227 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 25 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 -80806.078 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 -80806.078

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 25 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 227 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 111111,180206,6701.289,-5724.745,39,0.8,39,-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 -68.9 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 111111,180725,6701.217,-5724.744,18,0.7,18,-33.6 MHEAD_RNG_PITCHd_Wd 264.2,136380,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 813

Post-dive calculations and measurements:

FINISH 1.9,1.019147 ALTIM_BOTTOM_PING 701.8,133.4

SM_CCo 14706,14.77,0.085,0,0,1261,300.00 _24V_AH 22.6,28.547

SM_GC 3.71,7.03,0.50,14.77,0.044,0.054,0.085,117,2505,1261,-7.08,-0.99,300.00,0,0,0,0,0,0 _10V_AH 10.2,21.895

RAFOS_CLK 953 FG_AHR_24Vo 0.000

RAFOS 0,1321041663,20.033333,20.017500,59,57,55,0,0,0,215,1072,185,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6701.028320,-5733.605469,111111,161622,3,93,0.84 MEM 150320

IRIDIUM_FIX 6631.12,-5725.81,111111,131325 DATA_FILE_SIZE 46635,1206

TT8_MAMPS 0.026964,0.026964 CAP_FILE_SIZE 127361,0

HUMID 57.87 CFSIZE 260165632,232300544

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

TCM_TEMP 16.40 SOUNDSPEED 1455.9

XPDR_PINGS 19 CURRENT 0.183, 96.0,1

ALTIM_TOP_PING 19.9,18.9 GPS 111111,221524,6659.565,-5726.519,77,0.7,77,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 265 105.89 SBE_CT 867 23 455.42

Roll_motor 40 96 87.68 SBE_O2 665 5 78.84

VBD_pump_during_apogee 353 1412 11299.42 nil 0 0 0.00

VBD_pump_during_surface 14 84 28.35 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 208 256 1205.23 nil 0 0 0.00

Transponder_ping 7 420 71.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.60

TT8 3270 18 624.18

LPSleep 8892 2 209.52

TT8_Active 510 18 97.38

TT8_Sampling 2159 41 923.67

TT8_CF8 215 47 105.47

TT8_Kalman 0 0 0.00

Analog_circuits 1739 12 212.91

GPS_charging 0 0 0.00

Compass 1928 6 132.58

RAFOS 2520 1 38.56

Transponder 23 30 7.17

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 50 0.00 0.00 -32.10 0.000 2 0.000 0.000 117 2516 1698 0 0 0 0 0 0

53 -0.73 -146.0 3.1 -1.2 5 161 8.93 1.17 -91.47 0.000 4 0.265 0.096 2160 3216 3081 0 0 0 0 0 0

414 -0.73 -146.0 47.8 -16.5 59 421 0.00 1.10 0.00 0.000 6 0.000 0.032 2160 2506 3084 0 0 0 0 0 0

754 -0.73 -146.0 96.5 -13.9 110 760 0.00 1.17 0.00 0.000 4 0.000 0.065 2155 3207 3084 0 0 0 0 0 0

1012 -0.73 -146.0 132.3 -13.5 149 1021 0.00 1.08 0.00 0.000 6 0.000 0.031 2155 2510 3084 0 0 0 0 0 0

1352 -0.73 -146.0 177.0 -12.9 200 1358 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2510 3084 0 0 0 0 0 0

1688 -0.73 -146.0 218.5 -12.6 251 1695 0.00 1.17 0.00 0.000 4 0.000 0.063 2151 3214 3083 0 0 0 0 0 0

1774 -0.73 -146.0 229.2 -12.1 264 1780 0.00 1.08 0.00 0.000 6 0.000 0.031 2151 2514 3083 0 0 0 0 0 0

2110 -0.73 -146.0 270.1 -11.9 303 2111 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2514 3083 0 0 0 0 0 0

2426 -0.73 -146.0 308.0 -12.2 328 2427 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2513 3083 0 0 0 0 0 0

2741 -0.73 -146.0 343.8 -10.9 353 2744 0.00 1.15 0.00 0.000 4 0.000 0.065 2146 3205 3083 0 0 0 0 0 0

2812 -0.73 -146.0 351.0 -11.0 358 2820 0.00 1.10 0.00 0.000 6 0.000 0.031 2146 2497 3083 0 0 0 0 0 0

3137 -0.73 -146.0 387.9 -10.9 384 3138 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2497 3083 0 0 0 0 0 0

3451 -0.73 -146.0 422.1 -11.1 409 3453 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2497 3083 0 0 0 0 0 0

3768 -0.73 -146.0 457.0 -11.0 434 3771 0.00 1.17 0.00 0.000 4 0.000 0.063 2142 3209 3084 0 0 0 0 0 0

3834 -0.73 -146.0 464.6 -11.4 439 3838 0.00 1.08 0.00 0.000 6 0.000 0.029 2142 2498 3083 0 0 0 0 0 0

4180 -0.73 -146.0 504.3 -11.3 465 4182 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2498 3084 0 0 0 0 0 0

4487 -0.73 -146.0 538.7 -10.9 475 4490 0.00 1.17 0.00 0.000 4 0.000 0.062 2137 3212 3085 0 0 0 0 0 0

4566 -0.73 -146.0 545.9 -10.9 477 4569 0.00 1.08 0.00 0.000 6 0.000 0.028 2137 2499 3085 0 0 0 0 0 0

4892 -0.73 -146.0 582.3 -10.7 488 4893 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2499 3085 0 0 0 0 0 0

5199 -0.73 -146.0 614.8 -10.5 498 5200 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2499 3084 0 0 0 0 0 0

5504 -0.73 -146.0 647.0 -10.6 508 5505 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2499 3085 0 0 0 0 0 0

5814 -0.73 -146.0 679.6 -10.6 518 5815 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2499 3085 0 0 0 0 0 0

6117 -0.73 -146.0 711.4 -10.3 528 6118 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2499 3085 0 0 0 0 0 0

6424 -0.73 -146.0 742.9 -10.2 538 6425 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2499 3085 0 0 0 0 0 0

6730 -0.73 -146.0 774.7 -10.4 548 6733 0.00 1.17 0.00 0.000 4 0.000 0.063 2133 3211 3085 0 0 0 0 0 0

6813 -0.73 -146.0 781.8 -10.5 550 6819 0.12 1.08 0.00 0.000 6 0.161 0.029 2163 2513 3085 0 0 0 0 0 0

7134 -0.73 -146.0 811.9 -8.8 561 7136 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2513 3085 0 0 0 0 0 0

7165 end dive: TARGET_DEPTH_EXCEEDED

state 7165 begin apogee

7171 -0.16 0.0 814.6 -8.7 562 7299 0.52 0.00 121.78 1.413 6 0.123 0.000 2339 2194 2485 0 0 0 0 0 0

7300 end apogee: CONTROL_FINISHED_OK

state 7300 begin climb

7302 0.73 146.0 818.9 0.0 566 7446 0.85 1.20 132.20 1.355 4 0.070 0.048 2633 1508 1888 0 0 0 0 0 0

7524 0.73 146.0 805.3 10.1 573 7529 0.00 1.25 0.00 0.000 6 0.000 0.044 2633 2209 1883 0 0 0 0 0 0

7852 0.73 146.0 764.4 11.9 584 7856 0.00 1.15 0.00 0.000 4 0.000 0.054 2633 2902 1880 0 0 0 0 0 0

8022 0.73 146.0 743.8 12.5 589 8027 0.00 1.17 0.00 0.000 6 0.000 0.035 2638 2202 1878 0 0 0 0 0 0

8356 0.73 146.0 702.4 12.3 600 8358 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2202 1877 0 0 0 0 0 0

8664 0.73 146.0 664.6 12.5 610 8665 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2202 1876 0 0 0 0 0 0

8969 0.73 146.0 626.5 12.4 620 8970 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2202 1875 0 0 0 0 0 0

9276 0.73 146.0 588.7 12.4 630 9280 0.00 1.20 0.00 0.000 4 0.000 0.053 2638 2911 1876 0 0 0 0 0 0

9360 0.73 146.0 580.2 12.4 632 9365 0.00 1.17 0.00 0.000 6 0.000 0.036 2642 2194 1875 0 0 0 0 0 0

9682 0.73 146.0 538.5 12.3 643 9683 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2193 1875 0 0 0 0 0 0

9988 0.73 146.0 500.5 12.4 653 9989 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2194 1876 0 0 0 0 0 0

10308 0.73 146.0 461.1 12.3 677 10312 0.00 1.20 0.00 0.000 4 0.000 0.051 2643 2908 1875 0 0 0 0 0 0

10441 0.73 146.0 444.8 12.3 687 10444 0.00 1.15 0.00 0.000 6 0.000 0.036 2647 2189 1875 0 0 0 0 0 0

10771 0.73 146.0 405.5 11.5 713 10774 0.00 1.20 0.00 0.000 4 0.000 0.052 2647 2905 1875 0 0 0 0 0 0

10839 0.73 146.0 397.5 11.8 718 10843 0.00 1.12 0.00 0.000 6 0.000 0.037 2652 2201 1875 0 0 0 0 0 0

11170 0.73 146.0 359.8 11.1 744 11171 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2200 1875 0 0 0 0 0 0

11485 0.73 146.0 323.4 12.0 769 11487 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2200 1873 0 0 0 0 0 0

11800 0.73 146.0 285.4 12.1 794 11804 0.00 1.17 0.00 0.000 4 0.000 0.053 2652 2904 1873 0 0 0 0 0 0

11884 0.73 146.0 275.5 12.3 800 11892 0.00 1.15 0.00 0.000 6 0.000 0.036 2656 2194 1873 0 0 0 0 0 0

12213 0.73 146.0 237.8 10.9 834 12219 0.00 1.20 0.00 0.000 4 0.000 0.051 2657 2914 1873 0 0 0 0 0 0

12294 0.73 146.0 228.6 11.4 846 12300 0.00 1.12 0.00 0.000 6 0.000 0.035 2661 2202 1873 0 0 0 0 0 0

12632 0.73 146.0 193.9 10.4 897 12640 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2203 1873 0 0 0 0 0 0

12970 0.73 146.0 159.2 9.7 948 12976 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2202 1873 0 0 0 0 0 0

13307 0.73 146.0 127.9 9.2 999 13314 0.00 1.17 0.00 0.000 4 0.000 0.050 2661 2908 1873 0 0 0 0 0 0

13399 0.73 147.5 119.4 9.1 1013 13409 0.08 1.12 0.00 0.000 6 0.151 0.035 2642 2200 1873 0 0 0 0 0 0

13740 0.78 190.8 92.9 7.3 1064 13782 0.00 1.25 36.03 0.967 4 0.000 0.050 2641 2915 1707 0 0 0 0 0 0

13901 0.78 190.8 78.2 10.3 1088 13908 0.00 1.17 0.00 0.000 6 0.000 0.036 2645 2195 1705 0 0 0 0 0 0

14239 0.87 266.2 50.2 6.0 1139 14314 0.12 1.12 63.85 0.933 4 0.088 0.050 2700 1498 1398 0 0 0 0 0 0

14555 0.87 266.2 15.9 11.7 1186 14561 0.00 1.17 0.00 0.000 6 0.000 0.045 2700 2207 1393 0 0 0 0 0 0

14665 end climb: SURFACE_DEPTH_REACHED

state 14665 begin surface coast

14689 end surface coast: CONTROL_FINISHED_OK

state 14689 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	227	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	25	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	-80806.078	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	111111,180206,6701.289,-5724.745,39,0.8,39,-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	-68.9	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	111111,180725,6701.217,-5724.744,18,0.7,18,-33.6	MHEAD_RNG_PITCHd_Wd	264.2,136380,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	813

FINISH	1.9,1.019147	ALTIM_BOTTOM_PING	701.8,133.4
SM_CCo	14706,14.77,0.085,0,0,1261,300.00	_24V_AH	22.6,28.547
SM_GC	3.71,7.03,0.50,14.77,0.044,0.054,0.085,117,2505,1261,-7.08,-0.99,300.00,0,0,0,0,0,0	_10V_AH	10.2,21.895
RAFOS_CLK	953	FG_AHR_24Vo	0.000
RAFOS	0,1321041663,20.033333,20.017500,59,57,55,0,0,0,215,1072,185,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6701.028320,-5733.605469,111111,161622,3,93,0.84	MEM	150320
IRIDIUM_FIX	6631.12,-5725.81,111111,131325	DATA_FILE_SIZE	46635,1206
TT8_MAMPS	0.026964,0.026964	CAP_FILE_SIZE	127361,0
HUMID	57.87	CFSIZE	260165632,232300544
INTERNAL_PRESSURE	9.85389	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
TCM_TEMP	16.40	SOUNDSPEED	1455.9
XPDR_PINGS	19	CURRENT	0.183, 96.0,1
ALTIM_TOP_PING	19.9,18.9	GPS	111111,221524,6659.565,-5726.519,77,0.7,77,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	265	105.89	SBE_CT	867	23	455.42
Roll_motor	40	96	87.68	SBE_O2	665	5	78.84
VBD_pump_during_apogee	353	1412	11299.42	nil	0	0	0.00
VBD_pump_during_surface	14	84	28.35	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	208	256	1205.23	nil	0	0	0.00
Transponder_ping	7	420	71.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.60
TT8	3270	18	624.18
LPSleep	8892	2	209.52
TT8_Active	510	18	97.38
TT8_Sampling	2159	41	923.67
TT8_CF8	215	47	105.47
TT8_Kalman	0	0	0.00
Analog_circuits	1739	12	212.91
GPS_charging	0	0	0.00
Compass	1928	6	132.58
RAFOS	2520	1	38.56
Transponder	23	30	7.17

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	50	0.00	0.00	-32.10	0.000	2	0.000	0.000	117	2516	1698	0	0	0	0	0	0
53	-0.73	-146.0	3.1	-1.2	5	161	8.93	1.17	-91.47	0.000	4	0.265	0.096	2160	3216	3081	0	0	0	0	0	0
414	-0.73	-146.0	47.8	-16.5	59	421	0.00	1.10	0.00	0.000	6	0.000	0.032	2160	2506	3084	0	0	0	0	0	0
754	-0.73	-146.0	96.5	-13.9	110	760	0.00	1.17	0.00	0.000	4	0.000	0.065	2155	3207	3084	0	0	0	0	0	0
1012	-0.73	-146.0	132.3	-13.5	149	1021	0.00	1.08	0.00	0.000	6	0.000	0.031	2155	2510	3084	0	0	0	0	0	0
1352	-0.73	-146.0	177.0	-12.9	200	1358	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2510	3084	0	0	0	0	0	0
1688	-0.73	-146.0	218.5	-12.6	251	1695	0.00	1.17	0.00	0.000	4	0.000	0.063	2151	3214	3083	0	0	0	0	0	0
1774	-0.73	-146.0	229.2	-12.1	264	1780	0.00	1.08	0.00	0.000	6	0.000	0.031	2151	2514	3083	0	0	0	0	0	0
2110	-0.73	-146.0	270.1	-11.9	303	2111	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2514	3083	0	0	0	0	0	0
2426	-0.73	-146.0	308.0	-12.2	328	2427	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2513	3083	0	0	0	0	0	0
2741	-0.73	-146.0	343.8	-10.9	353	2744	0.00	1.15	0.00	0.000	4	0.000	0.065	2146	3205	3083	0	0	0	0	0	0
2812	-0.73	-146.0	351.0	-11.0	358	2820	0.00	1.10	0.00	0.000	6	0.000	0.031	2146	2497	3083	0	0	0	0	0	0
3137	-0.73	-146.0	387.9	-10.9	384	3138	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2497	3083	0	0	0	0	0	0
3451	-0.73	-146.0	422.1	-11.1	409	3453	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2497	3083	0	0	0	0	0	0
3768	-0.73	-146.0	457.0	-11.0	434	3771	0.00	1.17	0.00	0.000	4	0.000	0.063	2142	3209	3084	0	0	0	0	0	0
3834	-0.73	-146.0	464.6	-11.4	439	3838	0.00	1.08	0.00	0.000	6	0.000	0.029	2142	2498	3083	0	0	0	0	0	0
4180	-0.73	-146.0	504.3	-11.3	465	4182	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2498	3084	0	0	0	0	0	0
4487	-0.73	-146.0	538.7	-10.9	475	4490	0.00	1.17	0.00	0.000	4	0.000	0.062	2137	3212	3085	0	0	0	0	0	0
4566	-0.73	-146.0	545.9	-10.9	477	4569	0.00	1.08	0.00	0.000	6	0.000	0.028	2137	2499	3085	0	0	0	0	0	0
4892	-0.73	-146.0	582.3	-10.7	488	4893	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2499	3085	0	0	0	0	0	0
5199	-0.73	-146.0	614.8	-10.5	498	5200	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2499	3084	0	0	0	0	0	0
5504	-0.73	-146.0	647.0	-10.6	508	5505	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2499	3085	0	0	0	0	0	0
5814	-0.73	-146.0	679.6	-10.6	518	5815	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2499	3085	0	0	0	0	0	0
6117	-0.73	-146.0	711.4	-10.3	528	6118	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2499	3085	0	0	0	0	0	0
6424	-0.73	-146.0	742.9	-10.2	538	6425	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2499	3085	0	0	0	0	0	0
6730	-0.73	-146.0	774.7	-10.4	548	6733	0.00	1.17	0.00	0.000	4	0.000	0.063	2133	3211	3085	0	0	0	0	0	0
6813	-0.73	-146.0	781.8	-10.5	550	6819	0.12	1.08	0.00	0.000	6	0.161	0.029	2163	2513	3085	0	0	0	0	0	0
7134	-0.73	-146.0	811.9	-8.8	561	7136	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2513	3085	0	0	0	0	0	0
7165	end dive: TARGET_DEPTH_EXCEEDED
state	7165	begin apogee
7171	-0.16	0.0	814.6	-8.7	562	7299	0.52	0.00	121.78	1.413	6	0.123	0.000	2339	2194	2485	0	0	0	0	0	0
7300	end apogee: CONTROL_FINISHED_OK
state	7300	begin climb
7302	0.73	146.0	818.9	0.0	566	7446	0.85	1.20	132.20	1.355	4	0.070	0.048	2633	1508	1888	0	0	0	0	0	0
7524	0.73	146.0	805.3	10.1	573	7529	0.00	1.25	0.00	0.000	6	0.000	0.044	2633	2209	1883	0	0	0	0	0	0
7852	0.73	146.0	764.4	11.9	584	7856	0.00	1.15	0.00	0.000	4	0.000	0.054	2633	2902	1880	0	0	0	0	0	0
8022	0.73	146.0	743.8	12.5	589	8027	0.00	1.17	0.00	0.000	6	0.000	0.035	2638	2202	1878	0	0	0	0	0	0
8356	0.73	146.0	702.4	12.3	600	8358	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2202	1877	0	0	0	0	0	0
8664	0.73	146.0	664.6	12.5	610	8665	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2202	1876	0	0	0	0	0	0
8969	0.73	146.0	626.5	12.4	620	8970	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2202	1875	0	0	0	0	0	0
9276	0.73	146.0	588.7	12.4	630	9280	0.00	1.20	0.00	0.000	4	0.000	0.053	2638	2911	1876	0	0	0	0	0	0
9360	0.73	146.0	580.2	12.4	632	9365	0.00	1.17	0.00	0.000	6	0.000	0.036	2642	2194	1875	0	0	0	0	0	0
9682	0.73	146.0	538.5	12.3	643	9683	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2193	1875	0	0	0	0	0	0
9988	0.73	146.0	500.5	12.4	653	9989	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2194	1876	0	0	0	0	0	0
10308	0.73	146.0	461.1	12.3	677	10312	0.00	1.20	0.00	0.000	4	0.000	0.051	2643	2908	1875	0	0	0	0	0	0
10441	0.73	146.0	444.8	12.3	687	10444	0.00	1.15	0.00	0.000	6	0.000	0.036	2647	2189	1875	0	0	0	0	0	0
10771	0.73	146.0	405.5	11.5	713	10774	0.00	1.20	0.00	0.000	4	0.000	0.052	2647	2905	1875	0	0	0	0	0	0
10839	0.73	146.0	397.5	11.8	718	10843	0.00	1.12	0.00	0.000	6	0.000	0.037	2652	2201	1875	0	0	0	0	0	0
11170	0.73	146.0	359.8	11.1	744	11171	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2200	1875	0	0	0	0	0	0
11485	0.73	146.0	323.4	12.0	769	11487	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2200	1873	0	0	0	0	0	0
11800	0.73	146.0	285.4	12.1	794	11804	0.00	1.17	0.00	0.000	4	0.000	0.053	2652	2904	1873	0	0	0	0	0	0
11884	0.73	146.0	275.5	12.3	800	11892	0.00	1.15	0.00	0.000	6	0.000	0.036	2656	2194	1873	0	0	0	0	0	0
12213	0.73	146.0	237.8	10.9	834	12219	0.00	1.20	0.00	0.000	4	0.000	0.051	2657	2914	1873	0	0	0	0	0	0
12294	0.73	146.0	228.6	11.4	846	12300	0.00	1.12	0.00	0.000	6	0.000	0.035	2661	2202	1873	0	0	0	0	0	0
12632	0.73	146.0	193.9	10.4	897	12640	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2203	1873	0	0	0	0	0	0
12970	0.73	146.0	159.2	9.7	948	12976	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2202	1873	0	0	0	0	0	0
13307	0.73	146.0	127.9	9.2	999	13314	0.00	1.17	0.00	0.000	4	0.000	0.050	2661	2908	1873	0	0	0	0	0	0
13399	0.73	147.5	119.4	9.1	1013	13409	0.08	1.12	0.00	0.000	6	0.151	0.035	2642	2200	1873	0	0	0	0	0	0
13740	0.78	190.8	92.9	7.3	1064	13782	0.00	1.25	36.03	0.967	4	0.000	0.050	2641	2915	1707	0	0	0	0	0	0
13901	0.78	190.8	78.2	10.3	1088	13908	0.00	1.17	0.00	0.000	6	0.000	0.036	2645	2195	1705	0	0	0	0	0	0
14239	0.87	266.2	50.2	6.0	1139	14314	0.12	1.12	63.85	0.933	4	0.088	0.050	2700	1498	1398	0	0	0	0	0	0
14555	0.87	266.2	15.9	11.7	1186	14561	0.00	1.17	0.00	0.000	6	0.000	0.045	2700	2207	1393	0	0	0	0	0	0
14665	end climb: SURFACE_DEPTH_REACHED
state	14665	begin surface coast
14689	end surface coast: CONTROL_FINISHED_OK
state	14689	begin surface