Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 270 * 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 270 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 2.8

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 7 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON -5500 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 501.14789 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 39 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 2 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 3 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 6 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 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 2 T_GPS_CHARGE -81043.93 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 250 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 250 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 2 PHONE_SUPPLY -1 SM_CC 501.14789

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 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 10 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 2.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_MIN 127 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 7 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

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 3

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -81043.93

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 -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 2

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 39 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 26 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 270 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 3 N_FILEKB 8 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 9 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 6 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 201111,131136,6647.914,-5947.085,36,0.7,36,-33.9 TGT_NAME TARGET_W

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.09 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -57.0 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 201111,131838,6647.737,-5946.968,19,0.7,20,-33.9 MHEAD_RNG_PITCHd_Wd 290.5,29381,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 816

Post-dive calculations and measurements:

FREEZE 1.28,-0.884,-0.879,2,1,0 ALTIM_BOTTOM_PING 801.2,36.8

FINISH 1.3,1.012957 _24V_AH 22.5,34.248

SM_CCo 15322,113.75,0.086,0,0,441,501.15 _10V_AH 10.1,25.943

SM_GC 2.14,6.97,0.65,113.75,0.048,0.032,0.086,118,2502,441,-7.08,1.13,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 1016 FG_AHR_10Vo 0.000

RAFOS 0,1321804890,16.033333,16.025000,106,59,57,0,0,0,531,215,201,0,0,0 MEM 150252

RAFOS_FIX 6645.587402,-5948.459961,201111,161653,6,116,0.37 DATA_FILE_SIZE 46720,1235

IRIDIUM_FIX 6614.97,-6109.92,201111,131326 CAP_FILE_SIZE 139839,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,229163008

HUMID 55.71 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1454.3

TCM_TEMP 16.10 CURRENT 0.117, 93.0,1

XPDR_PINGS 19 GPS 201111,173806,6647.105,-5951.220,34,0.8,34,-33.9

ALTIM_TOP_PING 20.0,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 258 101.08 SBE_CT 895 23 467.80

Roll_motor 52 93 110.67 SBE_O2 674 5 79.58

VBD_pump_during_apogee 350 1417 11194.26 nil 0 0 0.00

VBD_pump_during_surface 113 86 221.25 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 244 268 1476.78 nil 0 0 0.00

Transponder_ping 8 420 75.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.00

TT8 3406 18 643.67

LPSleep 9273 2 216.36

TT8_Active 644 18 121.81

TT8_Sampling 2314 41 980.27

TT8_CF8 239 47 115.85

TT8_Kalman 0 0 0.00

Analog_circuits 1973 12 239.13

GPS_charging 0 0 0.00

Compass 2045 6 139.21

RAFOS 2520 1 38.18

Transponder 24 30 7.52

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 0 138 0.00 0.00 -119.82 0.000 2 0.000 0.000 108 2528 2068 0 0 0 0 0 0

142 -0.73 -146.0 3.3 -4.3 17 198 8.80 1.17 -40.60 0.000 4 0.259 0.093 2158 3219 3084 0 0 0 0 0 0

382 -0.73 -146.0 46.4 -19.1 53 391 0.00 1.12 0.00 0.000 6 0.000 0.034 2159 2502 3086 0 0 0 0 0 0

722 -0.73 -146.0 100.1 -14.2 104 729 0.00 1.20 0.00 0.000 4 0.000 0.063 2154 3216 3086 0 0 0 0 0 0

822 -0.73 -146.0 114.8 -14.4 119 829 0.00 1.10 0.00 0.000 6 0.000 0.034 2155 2509 3086 0 0 0 0 0 0

1161 -0.73 -146.0 162.6 -13.9 170 1168 0.00 1.17 0.00 0.000 4 0.000 0.063 2150 3211 3085 0 0 0 0 0 0

1254 -0.73 -146.0 175.6 -13.5 184 1261 0.00 1.10 0.00 0.000 6 0.000 0.032 2150 2500 3086 0 0 0 0 0 0

1592 -0.73 -146.0 220.1 -13.4 235 1598 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2500 3086 0 0 0 0 0 0

1925 -0.73 -146.0 264.2 -13.7 278 1928 0.00 1.17 0.00 0.000 4 0.000 0.062 2145 3206 3086 0 0 0 0 0 0

1964 -0.73 -146.0 269.8 -13.8 281 1968 0.00 1.08 0.00 0.000 6 0.000 0.032 2146 2510 3086 0 0 0 0 0 0

2293 -0.73 -146.0 310.9 -12.2 307 2297 0.00 1.17 0.00 0.000 4 0.000 0.062 2141 3214 3086 0 0 0 0 0 0

2350 -0.73 -146.0 317.2 -12.1 311 2358 0.00 1.12 0.00 0.000 6 0.000 0.031 2141 2496 3085 0 0 0 0 0 0

2675 -0.73 -146.0 355.6 -12.1 337 2676 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2497 3086 0 0 0 0 0 0

2991 -0.73 -146.0 394.5 -12.5 362 2995 0.00 1.20 0.00 0.000 4 0.000 0.062 2136 3216 3086 0 0 0 0 0 0

3084 -0.73 -146.0 406.5 -12.6 369 3088 0.00 1.10 0.00 0.000 6 0.000 0.032 2136 2500 3086 0 0 0 0 0 0

3415 -0.73 -146.0 446.0 -11.5 395 3416 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2500 3086 0 0 0 0 0 0

3728 -0.73 -146.0 482.5 -11.8 420 3733 0.12 1.17 0.00 0.000 4 0.168 0.063 2164 3207 3087 0 0 0 0 0 0

3773 -0.73 -146.0 486.5 -10.4 423 3781 0.00 1.10 0.00 0.000 6 0.000 0.029 2164 2497 3087 0 0 0 0 0 0

4103 -0.73 -146.0 518.8 -9.6 441 4107 0.00 1.17 0.00 0.000 4 0.000 0.061 2159 3207 3087 0 0 0 0 0 0

4141 -0.73 -146.0 522.1 -9.5 442 4146 0.00 1.10 0.00 0.000 6 0.000 0.029 2159 2499 3087 0 0 0 0 0 0

4475 -0.73 -146.0 555.7 -10.4 453 4478 0.00 1.17 0.00 0.000 4 0.000 0.060 2156 3210 3087 0 0 0 0 0 0

4525 -0.73 -146.0 559.1 -10.4 454 4530 0.00 1.10 0.00 0.000 6 0.000 0.029 2155 2499 3087 0 0 0 0 0 0

4846 -0.73 -146.0 593.5 -9.9 465 4847 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2499 3088 0 0 0 0 0 0

5152 -0.73 -146.0 623.3 -9.9 475 5156 0.00 1.17 0.00 0.000 4 0.000 0.060 2150 3210 3088 0 0 0 0 0 0

5197 -0.73 -146.0 626.5 -9.9 476 5201 0.00 1.10 0.00 0.000 6 0.000 0.029 2150 2499 3088 0 0 0 0 0 0

5525 -0.73 -146.0 659.8 -9.4 487 5526 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2499 3088 0 0 0 0 0 0

5830 -0.73 -146.0 689.4 -9.5 497 5831 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2499 3089 0 0 0 0 0 0

6137 -0.73 -146.0 717.7 -9.5 507 6138 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2499 3089 0 0 0 0 0 0

6443 -0.73 -146.0 747.2 -9.6 517 6444 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2499 3089 0 0 0 0 0 0

6749 -0.73 -146.0 776.6 -9.5 527 6752 0.00 1.17 0.00 0.000 4 0.000 0.061 2146 3210 3089 0 0 0 0 0 0

6787 -0.73 -146.0 779.9 -9.7 528 6791 0.00 1.08 0.00 0.000 6 0.000 0.028 2146 2499 3089 0 0 0 0 0 0

7120 -0.73 -146.0 813.1 -9.8 539 7124 0.00 1.17 0.00 0.000 4 0.000 0.060 2141 3211 3089 0 0 0 0 0 0

7151 end dive: TARGET_DEPTH_EXCEEDED

state 7151 begin apogee

7158 -0.16 0.0 816.5 -9.9 540 7288 0.62 0.00 124.30 1.418 6 0.131 0.000 2342 2194 2485 0 0 0 0 0 0

7289 end apogee: CONTROL_FINISHED_OK

state 7289 begin climb

7292 0.73 146.0 821.2 0.0 544 7435 0.85 1.23 133.23 1.358 4 0.067 0.047 2634 1504 1888 0 0 0 0 0 0

7633 0.73 146.0 793.5 11.7 555 7637 0.00 1.20 0.00 0.000 6 0.000 0.043 2634 2202 1880 0 0 0 0 0 0

7974 0.73 146.0 754.4 11.6 566 7977 0.00 1.17 0.00 0.000 4 0.000 0.054 2634 2911 1878 0 0 0 0 0 0

8108 0.73 146.0 737.9 12.4 570 8112 0.00 1.15 0.00 0.000 6 0.000 0.034 2639 2206 1876 0 0 0 0 0 0

8447 0.73 146.0 697.4 11.9 581 8449 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2206 1876 0 0 0 0 0 0

8754 0.73 146.0 660.5 12.2 591 8757 0.00 1.10 0.00 0.000 4 0.000 0.048 2645 1492 1875 0 0 0 0 0 0

8878 0.73 146.0 648.5 12.0 594 8886 0.00 1.17 0.00 0.000 6 0.000 0.043 2645 2203 1875 0 0 0 0 0 0

9191 0.73 146.0 608.8 11.4 605 9193 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2203 1875 0 0 0 0 0 0

9498 0.73 146.0 574.5 10.9 615 9499 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2203 1874 0 0 0 0 0 0

9805 0.73 146.0 542.3 10.5 625 9806 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2203 1874 0 0 0 0 0 0

10111 0.73 146.0 507.9 11.4 635 10112 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2203 1874 0 0 0 0 0 0

10430 0.73 146.0 473.8 10.7 656 10431 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2203 1874 0 0 0 0 0 0

10746 0.73 146.0 439.2 10.9 681 10750 0.00 1.12 0.00 0.000 4 0.000 0.055 2645 2906 1874 0 0 0 0 0 0

10935 0.73 146.0 418.4 11.2 695 10938 0.00 1.12 0.00 0.000 6 0.000 0.036 2649 2202 1874 0 0 0 0 0 0

11263 0.73 146.0 382.8 11.0 721 11267 0.00 1.08 0.00 0.000 4 0.000 0.047 2654 1492 1874 0 0 0 0 0 0

11374 0.73 146.0 371.7 9.9 729 11384 0.00 1.17 0.00 0.000 6 0.000 0.044 2654 2210 1874 0 0 0 0 0 0

11697 0.73 146.0 336.4 10.4 755 11698 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2210 1874 0 0 0 0 0 0

12013 0.73 146.0 303.3 10.0 780 12014 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2210 1874 0 0 0 0 0 0

12330 0.73 146.0 272.2 9.5 805 12333 0.00 1.10 0.00 0.000 4 0.000 0.054 2654 2902 1873 0 0 0 0 0 0

12568 0.73 146.0 248.5 10.0 824 12575 0.00 1.12 0.00 0.000 6 0.000 0.035 2659 2195 1873 0 0 0 0 0 0

12906 0.76 174.3 217.8 8.0 875 12934 0.00 1.23 22.45 1.030 4 0.000 0.050 2659 2902 1774 0 0 0 0 0 0

13167 0.76 174.3 193.5 9.6 914 13174 0.00 1.12 0.00 0.000 6 0.000 0.034 2663 2203 1771 0 0 0 0 0 0

13504 0.76 174.3 161.9 9.3 965 13513 0.00 1.08 0.00 0.000 4 0.000 0.047 2669 1490 1771 0 0 0 0 0 0

13699 0.76 174.3 143.9 9.2 994 13706 0.00 1.15 0.00 0.000 6 0.000 0.044 2669 2201 1770 0 0 0 0 0 0

14038 0.80 205.3 116.1 7.9 1045 14074 0.00 1.12 27.10 0.991 4 0.000 0.051 2669 2907 1646 0 0 0 0 0 0

14239 0.80 205.3 97.5 10.0 1075 14246 0.00 1.15 0.00 0.000 6 0.000 0.034 2674 2201 1642 0 0 0 0 0 0

14579 0.80 210.8 66.6 8.9 1126 14592 0.00 1.20 5.00 0.787 4 0.000 0.050 2674 2900 1625 0 0 0 0 0 0

14845 0.86 252.0 43.1 7.4 1166 14885 0.00 1.15 36.08 0.954 6 0.000 0.036 2678 2192 1456 0 0 0 0 0 0

15219 0.86 259.1 9.7 8.9 1222 15226 0.00 1.25 2.83 0.106 4 0.000 0.050 2678 2906 1427 0 0 0 0 0 0

15293 end climb: SURFACE_DEPTH_REACHED

state 15293 begin surface coast

15305 end surface coast: FINISH_DEPTH_REACHED

state 15306 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	270	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	2.8
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	7	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	-5500	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	501.14789	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	39	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	2	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	3	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	6	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	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	2	T_GPS_CHARGE	-81043.93	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	250	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	201111,131136,6647.914,-5947.085,36,0.7,36,-33.9	TGT_NAME	TARGET_W
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.09	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-57.0	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	201111,131838,6647.737,-5946.968,19,0.7,20,-33.9	MHEAD_RNG_PITCHd_Wd	290.5,29381,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	816

FREEZE	1.28,-0.884,-0.879,2,1,0	ALTIM_BOTTOM_PING	801.2,36.8
FINISH	1.3,1.012957	_24V_AH	22.5,34.248
SM_CCo	15322,113.75,0.086,0,0,441,501.15	_10V_AH	10.1,25.943
SM_GC	2.14,6.97,0.65,113.75,0.048,0.032,0.086,118,2502,441,-7.08,1.13,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	1016	FG_AHR_10Vo	0.000
RAFOS	0,1321804890,16.033333,16.025000,106,59,57,0,0,0,531,215,201,0,0,0	MEM	150252
RAFOS_FIX	6645.587402,-5948.459961,201111,161653,6,116,0.37	DATA_FILE_SIZE	46720,1235
IRIDIUM_FIX	6614.97,-6109.92,201111,131326	CAP_FILE_SIZE	139839,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,229163008
HUMID	55.71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1454.3
TCM_TEMP	16.10	CURRENT	0.117, 93.0,1
XPDR_PINGS	19	GPS	201111,173806,6647.105,-5951.220,34,0.8,34,-33.9
ALTIM_TOP_PING	20.0,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	258	101.08	SBE_CT	895	23	467.80
Roll_motor	52	93	110.67	SBE_O2	674	5	79.58
VBD_pump_during_apogee	350	1417	11194.26	nil	0	0	0.00
VBD_pump_during_surface	113	86	221.25	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	244	268	1476.78	nil	0	0	0.00
Transponder_ping	8	420	75.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.00
TT8	3406	18	643.67
LPSleep	9273	2	216.36
TT8_Active	644	18	121.81
TT8_Sampling	2314	41	980.27
TT8_CF8	239	47	115.85
TT8_Kalman	0	0	0.00
Analog_circuits	1973	12	239.13
GPS_charging	0	0	0.00
Compass	2045	6	139.21
RAFOS	2520	1	38.18
Transponder	24	30	7.52

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	138	0.00	0.00	-119.82	0.000	2	0.000	0.000	108	2528	2068	0	0	0	0	0	0
142	-0.73	-146.0	3.3	-4.3	17	198	8.80	1.17	-40.60	0.000	4	0.259	0.093	2158	3219	3084	0	0	0	0	0	0
382	-0.73	-146.0	46.4	-19.1	53	391	0.00	1.12	0.00	0.000	6	0.000	0.034	2159	2502	3086	0	0	0	0	0	0
722	-0.73	-146.0	100.1	-14.2	104	729	0.00	1.20	0.00	0.000	4	0.000	0.063	2154	3216	3086	0	0	0	0	0	0
822	-0.73	-146.0	114.8	-14.4	119	829	0.00	1.10	0.00	0.000	6	0.000	0.034	2155	2509	3086	0	0	0	0	0	0
1161	-0.73	-146.0	162.6	-13.9	170	1168	0.00	1.17	0.00	0.000	4	0.000	0.063	2150	3211	3085	0	0	0	0	0	0
1254	-0.73	-146.0	175.6	-13.5	184	1261	0.00	1.10	0.00	0.000	6	0.000	0.032	2150	2500	3086	0	0	0	0	0	0
1592	-0.73	-146.0	220.1	-13.4	235	1598	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2500	3086	0	0	0	0	0	0
1925	-0.73	-146.0	264.2	-13.7	278	1928	0.00	1.17	0.00	0.000	4	0.000	0.062	2145	3206	3086	0	0	0	0	0	0
1964	-0.73	-146.0	269.8	-13.8	281	1968	0.00	1.08	0.00	0.000	6	0.000	0.032	2146	2510	3086	0	0	0	0	0	0
2293	-0.73	-146.0	310.9	-12.2	307	2297	0.00	1.17	0.00	0.000	4	0.000	0.062	2141	3214	3086	0	0	0	0	0	0
2350	-0.73	-146.0	317.2	-12.1	311	2358	0.00	1.12	0.00	0.000	6	0.000	0.031	2141	2496	3085	0	0	0	0	0	0
2675	-0.73	-146.0	355.6	-12.1	337	2676	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2497	3086	0	0	0	0	0	0
2991	-0.73	-146.0	394.5	-12.5	362	2995	0.00	1.20	0.00	0.000	4	0.000	0.062	2136	3216	3086	0	0	0	0	0	0
3084	-0.73	-146.0	406.5	-12.6	369	3088	0.00	1.10	0.00	0.000	6	0.000	0.032	2136	2500	3086	0	0	0	0	0	0
3415	-0.73	-146.0	446.0	-11.5	395	3416	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2500	3086	0	0	0	0	0	0
3728	-0.73	-146.0	482.5	-11.8	420	3733	0.12	1.17	0.00	0.000	4	0.168	0.063	2164	3207	3087	0	0	0	0	0	0
3773	-0.73	-146.0	486.5	-10.4	423	3781	0.00	1.10	0.00	0.000	6	0.000	0.029	2164	2497	3087	0	0	0	0	0	0
4103	-0.73	-146.0	518.8	-9.6	441	4107	0.00	1.17	0.00	0.000	4	0.000	0.061	2159	3207	3087	0	0	0	0	0	0
4141	-0.73	-146.0	522.1	-9.5	442	4146	0.00	1.10	0.00	0.000	6	0.000	0.029	2159	2499	3087	0	0	0	0	0	0
4475	-0.73	-146.0	555.7	-10.4	453	4478	0.00	1.17	0.00	0.000	4	0.000	0.060	2156	3210	3087	0	0	0	0	0	0
4525	-0.73	-146.0	559.1	-10.4	454	4530	0.00	1.10	0.00	0.000	6	0.000	0.029	2155	2499	3087	0	0	0	0	0	0
4846	-0.73	-146.0	593.5	-9.9	465	4847	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2499	3088	0	0	0	0	0	0
5152	-0.73	-146.0	623.3	-9.9	475	5156	0.00	1.17	0.00	0.000	4	0.000	0.060	2150	3210	3088	0	0	0	0	0	0
5197	-0.73	-146.0	626.5	-9.9	476	5201	0.00	1.10	0.00	0.000	6	0.000	0.029	2150	2499	3088	0	0	0	0	0	0
5525	-0.73	-146.0	659.8	-9.4	487	5526	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2499	3088	0	0	0	0	0	0
5830	-0.73	-146.0	689.4	-9.5	497	5831	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2499	3089	0	0	0	0	0	0
6137	-0.73	-146.0	717.7	-9.5	507	6138	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2499	3089	0	0	0	0	0	0
6443	-0.73	-146.0	747.2	-9.6	517	6444	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2499	3089	0	0	0	0	0	0
6749	-0.73	-146.0	776.6	-9.5	527	6752	0.00	1.17	0.00	0.000	4	0.000	0.061	2146	3210	3089	0	0	0	0	0	0
6787	-0.73	-146.0	779.9	-9.7	528	6791	0.00	1.08	0.00	0.000	6	0.000	0.028	2146	2499	3089	0	0	0	0	0	0
7120	-0.73	-146.0	813.1	-9.8	539	7124	0.00	1.17	0.00	0.000	4	0.000	0.060	2141	3211	3089	0	0	0	0	0	0
7151	end dive: TARGET_DEPTH_EXCEEDED
state	7151	begin apogee
7158	-0.16	0.0	816.5	-9.9	540	7288	0.62	0.00	124.30	1.418	6	0.131	0.000	2342	2194	2485	0	0	0	0	0	0
7289	end apogee: CONTROL_FINISHED_OK
state	7289	begin climb
7292	0.73	146.0	821.2	0.0	544	7435	0.85	1.23	133.23	1.358	4	0.067	0.047	2634	1504	1888	0	0	0	0	0	0
7633	0.73	146.0	793.5	11.7	555	7637	0.00	1.20	0.00	0.000	6	0.000	0.043	2634	2202	1880	0	0	0	0	0	0
7974	0.73	146.0	754.4	11.6	566	7977	0.00	1.17	0.00	0.000	4	0.000	0.054	2634	2911	1878	0	0	0	0	0	0
8108	0.73	146.0	737.9	12.4	570	8112	0.00	1.15	0.00	0.000	6	0.000	0.034	2639	2206	1876	0	0	0	0	0	0
8447	0.73	146.0	697.4	11.9	581	8449	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2206	1876	0	0	0	0	0	0
8754	0.73	146.0	660.5	12.2	591	8757	0.00	1.10	0.00	0.000	4	0.000	0.048	2645	1492	1875	0	0	0	0	0	0
8878	0.73	146.0	648.5	12.0	594	8886	0.00	1.17	0.00	0.000	6	0.000	0.043	2645	2203	1875	0	0	0	0	0	0
9191	0.73	146.0	608.8	11.4	605	9193	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2203	1875	0	0	0	0	0	0
9498	0.73	146.0	574.5	10.9	615	9499	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2203	1874	0	0	0	0	0	0
9805	0.73	146.0	542.3	10.5	625	9806	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2203	1874	0	0	0	0	0	0
10111	0.73	146.0	507.9	11.4	635	10112	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2203	1874	0	0	0	0	0	0
10430	0.73	146.0	473.8	10.7	656	10431	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2203	1874	0	0	0	0	0	0
10746	0.73	146.0	439.2	10.9	681	10750	0.00	1.12	0.00	0.000	4	0.000	0.055	2645	2906	1874	0	0	0	0	0	0
10935	0.73	146.0	418.4	11.2	695	10938	0.00	1.12	0.00	0.000	6	0.000	0.036	2649	2202	1874	0	0	0	0	0	0
11263	0.73	146.0	382.8	11.0	721	11267	0.00	1.08	0.00	0.000	4	0.000	0.047	2654	1492	1874	0	0	0	0	0	0
11374	0.73	146.0	371.7	9.9	729	11384	0.00	1.17	0.00	0.000	6	0.000	0.044	2654	2210	1874	0	0	0	0	0	0
11697	0.73	146.0	336.4	10.4	755	11698	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2210	1874	0	0	0	0	0	0
12013	0.73	146.0	303.3	10.0	780	12014	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2210	1874	0	0	0	0	0	0
12330	0.73	146.0	272.2	9.5	805	12333	0.00	1.10	0.00	0.000	4	0.000	0.054	2654	2902	1873	0	0	0	0	0	0
12568	0.73	146.0	248.5	10.0	824	12575	0.00	1.12	0.00	0.000	6	0.000	0.035	2659	2195	1873	0	0	0	0	0	0
12906	0.76	174.3	217.8	8.0	875	12934	0.00	1.23	22.45	1.030	4	0.000	0.050	2659	2902	1774	0	0	0	0	0	0
13167	0.76	174.3	193.5	9.6	914	13174	0.00	1.12	0.00	0.000	6	0.000	0.034	2663	2203	1771	0	0	0	0	0	0
13504	0.76	174.3	161.9	9.3	965	13513	0.00	1.08	0.00	0.000	4	0.000	0.047	2669	1490	1771	0	0	0	0	0	0
13699	0.76	174.3	143.9	9.2	994	13706	0.00	1.15	0.00	0.000	6	0.000	0.044	2669	2201	1770	0	0	0	0	0	0
14038	0.80	205.3	116.1	7.9	1045	14074	0.00	1.12	27.10	0.991	4	0.000	0.051	2669	2907	1646	0	0	0	0	0	0
14239	0.80	205.3	97.5	10.0	1075	14246	0.00	1.15	0.00	0.000	6	0.000	0.034	2674	2201	1642	0	0	0	0	0	0
14579	0.80	210.8	66.6	8.9	1126	14592	0.00	1.20	5.00	0.787	4	0.000	0.050	2674	2900	1625	0	0	0	0	0	0
14845	0.86	252.0	43.1	7.4	1166	14885	0.00	1.15	36.08	0.954	6	0.000	0.036	2678	2192	1456	0	0	0	0	0	0
15219	0.86	259.1	9.7	8.9	1222	15226	0.00	1.25	2.83	0.106	4	0.000	0.050	2678	2906	1427	0	0	0	0	0	0
15293	end climb: SURFACE_DEPTH_REACHED
state	15293	begin surface coast
15305	end surface coast: FINISH_DEPTH_REACHED
state	15306	begin surface