Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 271 * 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 271 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 43 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 31 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 -81045.18 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 -81045.18

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 43 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 31 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 271 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 201111,173806,6647.105,-5951.220,34,0.8,34,-33.9 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 2.10 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -55.1 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 201111,174336,6646.983,-5951.163,20,0.8,20,-33.9 MHEAD_RNG_PITCHd_Wd 298.6,26078,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 759

Post-dive calculations and measurements:

FREEZE 1.31,-0.845,-0.087,2,1,0 ALTIM_BOTTOM_PING 651.4,150.5

FINISH 1.3,1.001053 _24V_AH 22.6,34.375

SM_CCo 14186,99.43,0.087,0,0,441,501.15 _10V_AH 10.2,26.032

SM_GC 2.11,7.03,0.57,99.43,0.043,0.053,0.087,115,2501,441,-7.08,-1.05,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 939 FG_AHR_10Vo 0.000

RAFOS 0,1321819266,20.033333,20.018333,144,63,61,0,0,0,658,172,215,0,0,0 MEM 150168

RAFOS_FIX 6646.201660,-5949.010742,201111,202016,7,113,0.22 DATA_FILE_SIZE 46690,1195

IRIDIUM_FIX 6620.33,-5948.93,201111,131318 CAP_FILE_SIZE 132458,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,229101568

HUMID 56.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1453.3

TCM_TEMP 16.30 CURRENT 0.205, 41.0,1

XPDR_PINGS 21 GPS 201111,214405,6648.221,-5954.717,42,0.8,42,-33.9

ALTIM_TOP_PING 19.5,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 256 101.07 SBE_CT 865 23 454.02

Roll_motor 42 91 87.50 SBE_O2 657 5 77.89

VBD_pump_during_apogee 369 1381 11540.37 nil 0 0 0.00

VBD_pump_during_surface 99 87 195.96 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 211 257 1231.35 nil 0 0 0.00

Transponder_ping 8 420 75.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.77

TT8 3267 18 623.56

LPSleep 8280 2 195.10

TT8_Active 655 18 125.05

TT8_Sampling 2209 41 945.17

TT8_CF8 226 47 110.82

TT8_Kalman 0 0 0.00

Analog_circuits 1913 12 234.25

GPS_charging 0 0 0.00

Compass 1976 6 135.88

RAFOS 2520 1 38.56

Transponder 24 30 7.43

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 0 162 0.00 0.00 -142.70 0.000 2 0.000 0.000 118 2469 2343 0 0 0 0 0 0

166 -0.73 -146.0 3.2 -1.8 21 210 8.73 1.30 -27.17 0.000 4 0.256 0.092 2154 3217 3083 0 0 0 0 0 0

306 -0.73 -146.0 30.4 -21.1 41 313 0.00 1.10 0.00 0.000 6 0.000 0.032 2154 2512 3084 0 0 0 0 0 0

644 -0.73 -146.0 91.0 -15.7 92 651 0.00 1.17 0.00 0.000 4 0.000 0.063 2150 3210 3085 0 0 0 0 0 0

878 -0.73 -146.0 127.4 -15.3 127 885 0.00 1.10 0.00 0.000 6 0.000 0.034 2150 2502 3085 0 0 0 0 0 0

1215 -0.73 -146.0 174.1 -12.5 178 1224 0.00 1.17 0.00 0.000 4 0.000 0.063 2145 3204 3085 0 0 0 0 0 0

1317 -0.73 -146.0 187.5 -13.2 193 1324 0.00 1.08 0.00 0.000 6 0.000 0.032 2146 2511 3085 0 0 0 0 0 0

1655 -0.73 -146.0 231.4 -12.4 244 1661 0.00 1.17 0.00 0.000 4 0.000 0.063 2141 3212 3085 0 0 0 0 0 0

1747 -0.73 -146.0 243.4 -12.8 258 1756 0.00 1.10 0.00 0.000 6 0.000 0.032 2142 2499 3085 0 0 0 0 0 0

2081 -0.73 -146.0 285.7 -12.8 288 2084 0.00 1.17 0.00 0.000 4 0.000 0.063 2137 3202 3085 0 0 0 0 0 0

2217 -0.73 -146.0 303.1 -13.1 298 2228 0.00 1.10 0.00 0.000 6 0.000 0.032 2137 2503 3085 0 0 0 0 0 0

2544 -0.73 -146.0 345.4 -13.2 324 2545 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2503 3085 0 0 0 0 0 0

2858 -0.73 -146.0 385.9 -11.9 349 2859 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2503 3085 0 0 0 0 0 0

3172 -0.73 -146.0 423.1 -11.7 374 3176 0.00 1.17 0.00 0.000 4 0.000 0.062 2132 3207 3085 0 0 0 0 0 0

3265 -0.73 -146.0 434.5 -12.5 381 3269 0.10 1.08 0.00 0.000 6 0.145 0.031 2163 2502 3085 0 0 0 0 0 0

3595 -0.73 -146.0 469.6 -10.7 407 3598 0.00 1.17 0.00 0.000 4 0.000 0.062 2161 3209 3086 0 0 0 0 0 0

3639 -0.73 -146.0 474.0 -10.7 410 3649 0.00 1.10 0.00 0.000 6 0.000 0.030 2161 2499 3086 0 0 0 0 0 0

3979 -0.73 -146.0 509.7 -10.3 433 3980 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2499 3086 0 0 0 0 0 0

4286 -0.73 -146.0 540.3 -10.0 443 4287 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2499 3086 0 0 0 0 0 0

4590 -0.73 -146.0 570.2 -9.7 453 4592 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2499 3087 0 0 0 0 0 0

4898 -0.73 -146.0 599.8 -9.5 463 4902 0.00 1.17 0.00 0.000 4 0.000 0.060 2156 3209 3087 0 0 0 0 0 0

4971 -0.73 -146.0 606.5 -9.7 465 4975 0.00 1.10 0.00 0.000 6 0.000 0.028 2156 2496 3087 0 0 0 0 0 0

5304 -0.73 -146.0 638.8 -9.5 476 5308 0.00 1.17 0.00 0.000 4 0.000 0.061 2152 3205 3087 0 0 0 0 0 0

5375 -0.73 -146.0 645.3 -9.8 478 5380 0.00 1.08 0.00 0.000 6 0.000 0.028 2152 2504 3087 0 0 0 0 0 0

5709 -0.73 -146.0 679.0 -10.2 489 5713 0.00 1.15 0.00 0.000 4 0.000 0.061 2147 3201 3088 0 0 0 0 0 0

5744 -0.73 -146.0 682.6 -10.4 490 5747 0.00 1.05 0.00 0.000 6 0.000 0.028 2147 2505 3088 0 0 0 0 0 0

6083 -0.73 -146.0 717.6 -10.1 501 6087 0.00 1.15 0.00 0.000 4 0.000 0.060 2143 3201 3088 0 0 0 0 0 0

6141 -0.73 -146.0 721.1 -10.2 502 6151 0.00 1.08 0.00 0.000 6 0.000 0.028 2143 2500 3088 0 0 0 0 0 0

6455 -0.73 -146.0 756.3 -10.3 513 6456 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2500 3088 0 0 0 0 0 0

6483 end dive: TARGET_DEPTH_EXCEEDED

state 6483 begin apogee

6489 -0.16 0.0 759.3 -10.3 514 6618 0.62 0.00 123.10 1.382 6 0.129 0.000 2344 2195 2485 0 0 0 0 0 0

6619 end apogee: CONTROL_FINISHED_OK

state 6619 begin climb

6621 0.73 146.0 763.9 0.0 518 6764 0.85 1.15 132.35 1.321 4 0.067 0.044 2638 1511 1888 0 0 0 0 0 0

7014 0.73 146.0 734.1 11.1 530 7019 0.00 1.20 0.00 0.000 6 0.000 0.042 2638 2203 1879 0 0 0 0 0 0

7336 0.73 146.0 694.9 11.4 541 7338 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2203 1878 0 0 0 0 0 0

7641 0.73 146.0 660.0 11.5 551 7642 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2203 1876 0 0 0 0 0 0

7947 0.73 146.0 625.1 11.5 561 7948 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2203 1876 0 0 0 0 0 0

8253 0.73 146.0 590.4 11.2 571 8257 0.00 1.12 0.00 0.000 4 0.000 0.054 2638 2902 1874 0 0 0 0 0 0

8420 0.73 146.0 570.5 12.1 576 8424 0.00 1.12 0.00 0.000 6 0.000 0.034 2644 2202 1874 0 0 0 0 0 0

8759 0.73 146.0 532.4 10.8 587 8760 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2202 1874 0 0 0 0 0 0

9067 0.73 146.0 499.9 10.6 597 9068 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2202 1873 0 0 0 0 0 0

9381 0.73 146.0 465.3 11.0 622 9385 0.00 1.08 0.00 0.000 4 0.000 0.047 2648 1494 1873 0 0 0 0 0 0

9532 0.73 146.0 449.4 10.7 633 9540 0.00 1.17 0.00 0.000 6 0.000 0.043 2648 2212 1873 0 0 0 0 0 0

9855 0.73 146.0 412.4 11.9 659 9856 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2212 1873 0 0 0 0 0 0

10174 0.73 146.0 375.5 12.0 684 10177 0.00 1.10 0.00 0.000 4 0.000 0.055 2648 2901 1873 0 0 0 0 0 0

10430 0.73 146.0 345.0 11.9 703 10440 0.00 1.15 0.00 0.000 6 0.000 0.034 2653 2193 1873 0 0 0 0 0 0

10753 0.73 146.0 310.1 10.3 729 10754 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2193 1873 0 0 0 0 0 0

11070 0.73 146.0 279.9 9.4 754 11071 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2193 1873 0 0 0 0 0 0

11384 0.73 146.0 250.1 9.3 779 11388 0.00 1.20 0.00 0.000 4 0.000 0.050 2653 2908 1873 0 0 0 0 0 0

11483 0.73 146.0 240.6 9.6 793 11489 0.00 1.12 0.00 0.000 6 0.000 0.034 2658 2201 1873 0 0 0 0 0 0

11820 0.74 158.9 210.1 8.6 844 11834 0.00 1.23 9.35 0.965 4 0.000 0.050 2658 2912 1837 0 0 0 0 0 0

11929 0.74 158.9 199.7 9.4 860 11936 0.00 1.15 0.00 0.000 6 0.000 0.034 2662 2195 1837 0 0 0 0 0 0

12266 0.75 168.8 169.8 8.8 911 12282 0.00 0.00 10.45 0.967 6 0.000 0.000 2662 2195 1796 0 0 0 0 0 0

12612 0.80 203.9 140.7 7.7 963 12648 0.00 0.00 31.00 1.006 6 0.000 0.000 2662 2195 1652 0 0 0 0 0 0

12980 0.82 221.4 107.5 8.4 1018 13001 0.00 0.00 15.25 0.961 6 0.000 0.000 2662 2195 1581 0 0 0 0 0 0

13332 0.82 225.9 75.0 9.0 1071 13341 0.00 0.00 4.75 0.775 6 0.000 0.000 2662 2195 1564 0 0 0 0 0 0

13672 0.85 250.2 43.0 8.1 1122 13700 0.00 1.25 21.98 0.952 4 0.000 0.051 2662 2900 1464 0 0 0 0 0 0

13797 0.86 257.3 32.4 8.9 1140 13810 0.00 1.15 6.57 0.835 6 0.000 0.035 2667 2200 1434 0 0 0 0 0 0

14144 0.96 335.2 3.4 5.9 1192 14161 0.12 0.00 14.80 0.087 2 0.093 0.000 2720 2200 1309 0 0 0 0 0 0

14162 end climb: SURFACE_DEPTH_REACHED

state 14162 begin surface coast

14169 end surface coast: FINISH_DEPTH_REACHED

state 14169 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	271	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	43	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	31	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	-81045.18	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	201111,173806,6647.105,-5951.220,34,0.8,34,-33.9	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	2.10	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-55.1	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	201111,174336,6646.983,-5951.163,20,0.8,20,-33.9	MHEAD_RNG_PITCHd_Wd	298.6,26078,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	759

FREEZE	1.31,-0.845,-0.087,2,1,0	ALTIM_BOTTOM_PING	651.4,150.5
FINISH	1.3,1.001053	_24V_AH	22.6,34.375
SM_CCo	14186,99.43,0.087,0,0,441,501.15	_10V_AH	10.2,26.032
SM_GC	2.11,7.03,0.57,99.43,0.043,0.053,0.087,115,2501,441,-7.08,-1.05,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	939	FG_AHR_10Vo	0.000
RAFOS	0,1321819266,20.033333,20.018333,144,63,61,0,0,0,658,172,215,0,0,0	MEM	150168
RAFOS_FIX	6646.201660,-5949.010742,201111,202016,7,113,0.22	DATA_FILE_SIZE	46690,1195
IRIDIUM_FIX	6620.33,-5948.93,201111,131318	CAP_FILE_SIZE	132458,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,229101568
HUMID	56.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1453.3
TCM_TEMP	16.30	CURRENT	0.205, 41.0,1
XPDR_PINGS	21	GPS	201111,214405,6648.221,-5954.717,42,0.8,42,-33.9
ALTIM_TOP_PING	19.5,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	256	101.07	SBE_CT	865	23	454.02
Roll_motor	42	91	87.50	SBE_O2	657	5	77.89
VBD_pump_during_apogee	369	1381	11540.37	nil	0	0	0.00
VBD_pump_during_surface	99	87	195.96	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	211	257	1231.35	nil	0	0	0.00
Transponder_ping	8	420	75.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.77
TT8	3267	18	623.56
LPSleep	8280	2	195.10
TT8_Active	655	18	125.05
TT8_Sampling	2209	41	945.17
TT8_CF8	226	47	110.82
TT8_Kalman	0	0	0.00
Analog_circuits	1913	12	234.25
GPS_charging	0	0	0.00
Compass	1976	6	135.88
RAFOS	2520	1	38.56
Transponder	24	30	7.43

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	162	0.00	0.00	-142.70	0.000	2	0.000	0.000	118	2469	2343	0	0	0	0	0	0
166	-0.73	-146.0	3.2	-1.8	21	210	8.73	1.30	-27.17	0.000	4	0.256	0.092	2154	3217	3083	0	0	0	0	0	0
306	-0.73	-146.0	30.4	-21.1	41	313	0.00	1.10	0.00	0.000	6	0.000	0.032	2154	2512	3084	0	0	0	0	0	0
644	-0.73	-146.0	91.0	-15.7	92	651	0.00	1.17	0.00	0.000	4	0.000	0.063	2150	3210	3085	0	0	0	0	0	0
878	-0.73	-146.0	127.4	-15.3	127	885	0.00	1.10	0.00	0.000	6	0.000	0.034	2150	2502	3085	0	0	0	0	0	0
1215	-0.73	-146.0	174.1	-12.5	178	1224	0.00	1.17	0.00	0.000	4	0.000	0.063	2145	3204	3085	0	0	0	0	0	0
1317	-0.73	-146.0	187.5	-13.2	193	1324	0.00	1.08	0.00	0.000	6	0.000	0.032	2146	2511	3085	0	0	0	0	0	0
1655	-0.73	-146.0	231.4	-12.4	244	1661	0.00	1.17	0.00	0.000	4	0.000	0.063	2141	3212	3085	0	0	0	0	0	0
1747	-0.73	-146.0	243.4	-12.8	258	1756	0.00	1.10	0.00	0.000	6	0.000	0.032	2142	2499	3085	0	0	0	0	0	0
2081	-0.73	-146.0	285.7	-12.8	288	2084	0.00	1.17	0.00	0.000	4	0.000	0.063	2137	3202	3085	0	0	0	0	0	0
2217	-0.73	-146.0	303.1	-13.1	298	2228	0.00	1.10	0.00	0.000	6	0.000	0.032	2137	2503	3085	0	0	0	0	0	0
2544	-0.73	-146.0	345.4	-13.2	324	2545	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2503	3085	0	0	0	0	0	0
2858	-0.73	-146.0	385.9	-11.9	349	2859	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2503	3085	0	0	0	0	0	0
3172	-0.73	-146.0	423.1	-11.7	374	3176	0.00	1.17	0.00	0.000	4	0.000	0.062	2132	3207	3085	0	0	0	0	0	0
3265	-0.73	-146.0	434.5	-12.5	381	3269	0.10	1.08	0.00	0.000	6	0.145	0.031	2163	2502	3085	0	0	0	0	0	0
3595	-0.73	-146.0	469.6	-10.7	407	3598	0.00	1.17	0.00	0.000	4	0.000	0.062	2161	3209	3086	0	0	0	0	0	0
3639	-0.73	-146.0	474.0	-10.7	410	3649	0.00	1.10	0.00	0.000	6	0.000	0.030	2161	2499	3086	0	0	0	0	0	0
3979	-0.73	-146.0	509.7	-10.3	433	3980	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2499	3086	0	0	0	0	0	0
4286	-0.73	-146.0	540.3	-10.0	443	4287	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2499	3086	0	0	0	0	0	0
4590	-0.73	-146.0	570.2	-9.7	453	4592	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2499	3087	0	0	0	0	0	0
4898	-0.73	-146.0	599.8	-9.5	463	4902	0.00	1.17	0.00	0.000	4	0.000	0.060	2156	3209	3087	0	0	0	0	0	0
4971	-0.73	-146.0	606.5	-9.7	465	4975	0.00	1.10	0.00	0.000	6	0.000	0.028	2156	2496	3087	0	0	0	0	0	0
5304	-0.73	-146.0	638.8	-9.5	476	5308	0.00	1.17	0.00	0.000	4	0.000	0.061	2152	3205	3087	0	0	0	0	0	0
5375	-0.73	-146.0	645.3	-9.8	478	5380	0.00	1.08	0.00	0.000	6	0.000	0.028	2152	2504	3087	0	0	0	0	0	0
5709	-0.73	-146.0	679.0	-10.2	489	5713	0.00	1.15	0.00	0.000	4	0.000	0.061	2147	3201	3088	0	0	0	0	0	0
5744	-0.73	-146.0	682.6	-10.4	490	5747	0.00	1.05	0.00	0.000	6	0.000	0.028	2147	2505	3088	0	0	0	0	0	0
6083	-0.73	-146.0	717.6	-10.1	501	6087	0.00	1.15	0.00	0.000	4	0.000	0.060	2143	3201	3088	0	0	0	0	0	0
6141	-0.73	-146.0	721.1	-10.2	502	6151	0.00	1.08	0.00	0.000	6	0.000	0.028	2143	2500	3088	0	0	0	0	0	0
6455	-0.73	-146.0	756.3	-10.3	513	6456	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2500	3088	0	0	0	0	0	0
6483	end dive: TARGET_DEPTH_EXCEEDED
state	6483	begin apogee
6489	-0.16	0.0	759.3	-10.3	514	6618	0.62	0.00	123.10	1.382	6	0.129	0.000	2344	2195	2485	0	0	0	0	0	0
6619	end apogee: CONTROL_FINISHED_OK
state	6619	begin climb
6621	0.73	146.0	763.9	0.0	518	6764	0.85	1.15	132.35	1.321	4	0.067	0.044	2638	1511	1888	0	0	0	0	0	0
7014	0.73	146.0	734.1	11.1	530	7019	0.00	1.20	0.00	0.000	6	0.000	0.042	2638	2203	1879	0	0	0	0	0	0
7336	0.73	146.0	694.9	11.4	541	7338	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2203	1878	0	0	0	0	0	0
7641	0.73	146.0	660.0	11.5	551	7642	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2203	1876	0	0	0	0	0	0
7947	0.73	146.0	625.1	11.5	561	7948	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2203	1876	0	0	0	0	0	0
8253	0.73	146.0	590.4	11.2	571	8257	0.00	1.12	0.00	0.000	4	0.000	0.054	2638	2902	1874	0	0	0	0	0	0
8420	0.73	146.0	570.5	12.1	576	8424	0.00	1.12	0.00	0.000	6	0.000	0.034	2644	2202	1874	0	0	0	0	0	0
8759	0.73	146.0	532.4	10.8	587	8760	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2202	1874	0	0	0	0	0	0
9067	0.73	146.0	499.9	10.6	597	9068	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2202	1873	0	0	0	0	0	0
9381	0.73	146.0	465.3	11.0	622	9385	0.00	1.08	0.00	0.000	4	0.000	0.047	2648	1494	1873	0	0	0	0	0	0
9532	0.73	146.0	449.4	10.7	633	9540	0.00	1.17	0.00	0.000	6	0.000	0.043	2648	2212	1873	0	0	0	0	0	0
9855	0.73	146.0	412.4	11.9	659	9856	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2212	1873	0	0	0	0	0	0
10174	0.73	146.0	375.5	12.0	684	10177	0.00	1.10	0.00	0.000	4	0.000	0.055	2648	2901	1873	0	0	0	0	0	0
10430	0.73	146.0	345.0	11.9	703	10440	0.00	1.15	0.00	0.000	6	0.000	0.034	2653	2193	1873	0	0	0	0	0	0
10753	0.73	146.0	310.1	10.3	729	10754	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2193	1873	0	0	0	0	0	0
11070	0.73	146.0	279.9	9.4	754	11071	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2193	1873	0	0	0	0	0	0
11384	0.73	146.0	250.1	9.3	779	11388	0.00	1.20	0.00	0.000	4	0.000	0.050	2653	2908	1873	0	0	0	0	0	0
11483	0.73	146.0	240.6	9.6	793	11489	0.00	1.12	0.00	0.000	6	0.000	0.034	2658	2201	1873	0	0	0	0	0	0
11820	0.74	158.9	210.1	8.6	844	11834	0.00	1.23	9.35	0.965	4	0.000	0.050	2658	2912	1837	0	0	0	0	0	0
11929	0.74	158.9	199.7	9.4	860	11936	0.00	1.15	0.00	0.000	6	0.000	0.034	2662	2195	1837	0	0	0	0	0	0
12266	0.75	168.8	169.8	8.8	911	12282	0.00	0.00	10.45	0.967	6	0.000	0.000	2662	2195	1796	0	0	0	0	0	0
12612	0.80	203.9	140.7	7.7	963	12648	0.00	0.00	31.00	1.006	6	0.000	0.000	2662	2195	1652	0	0	0	0	0	0
12980	0.82	221.4	107.5	8.4	1018	13001	0.00	0.00	15.25	0.961	6	0.000	0.000	2662	2195	1581	0	0	0	0	0	0
13332	0.82	225.9	75.0	9.0	1071	13341	0.00	0.00	4.75	0.775	6	0.000	0.000	2662	2195	1564	0	0	0	0	0	0
13672	0.85	250.2	43.0	8.1	1122	13700	0.00	1.25	21.98	0.952	4	0.000	0.051	2662	2900	1464	0	0	0	0	0	0
13797	0.86	257.3	32.4	8.9	1140	13810	0.00	1.15	6.57	0.835	6	0.000	0.035	2667	2200	1434	0	0	0	0	0	0
14144	0.96	335.2	3.4	5.9	1192	14161	0.12	0.00	14.80	0.087	2	0.093	0.000	2720	2200	1309	0	0	0	0	0	0
14162	end climb: SURFACE_DEPTH_REACHED
state	14162	begin surface coast
14169	end surface coast: FINISH_DEPTH_REACHED
state	14169	begin surface