Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 272 * 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 272 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 40 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 23 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 -81046.445 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 -81046.445

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 40 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 23 VBD_MAX 3793

DEVICE5 -1 MISSION 13 SEABIRD_C_G -9.9261332 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1046007 VBD_MIN 442

DIVE 272 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 201111,214405,6648.221,-5954.717,42,0.8,42,-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 2.20 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -67.9 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 201111,214948,6648.141,-5954.766,19,0.8,19,-33.9 MHEAD_RNG_PITCHd_Wd 261.1,24102,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 733

Post-dive calculations and measurements:

FREEZE 1.46,-0.839,-0.388,2,1,0 ALTIM_BOTTOM_PING 700.1,60.2

FINISH 1.5,1.005567 _24V_AH 22.6,34.502

SM_CCo 13670,112.28,0.087,0,0,441,501.15 _10V_AH 10.1,26.120

SM_GC 2.23,7.05,0.57,112.28,0.050,0.044,0.087,120,2514,441,-7.07,-0.79,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 901 FG_AHR_10Vo 0.000

RAFOS 0,1321833669,0.033333,0.019167,115,61,58,0,0,0,629,185,209,0,0,0 MEM 150364

RAFOS_FIX 6644.853027,-5948.702148,211111,000013,6,101,0.78 DATA_FILE_SIZE 43361,1178

IRIDIUM_FIX 6620.33,-5941.47,201111,171757 CAP_FILE_SIZE 127056,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,229044224

HUMID 55.74 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1453.1

TCM_TEMP 16.30 CURRENT 0.165,127.3,1

XPDR_PINGS 23 GPS 211111,014140,6645.790,-5957.449,29,0.8,29,-33.9

ALTIM_TOP_PING 19.5,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 255 101.20 SBE_CT 856 23 449.54

Roll_motor 39 96 86.86 SBE_O2 650 5 77.04

VBD_pump_during_apogee 352 1366 10895.36 nil 0 0 0.00

VBD_pump_during_surface 112 87 221.29 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 227 248 1277.76 nil 0 0 0.00

Transponder_ping 8 420 80.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.66

TT8 3228 18 610.12

LPSleep 7893 2 184.16

TT8_Active 648 18 122.56

TT8_Sampling 2158 41 914.28

TT8_CF8 220 47 106.66

TT8_Kalman 0 0 0.00

Analog_circuits 1889 12 229.01

GPS_charging 0 0 0.00

Compass 1914 6 130.31

RAFOS 2520 1 38.18

Transponder 22 30 6.87

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 0 137 0.00 0.00 -118.43 0.000 2 0.000 0.000 114 2503 2082 0 0 0 0 0 0

140 -0.73 -146.0 3.1 -1.6 18 199 8.73 1.17 -41.28 0.000 4 0.256 0.096 2157 3213 3083 0 0 0 0 0 0

451 -0.73 -146.0 54.4 -17.7 64 460 0.00 1.10 0.00 0.000 6 0.000 0.032 2157 2505 3084 0 0 0 0 0 0

791 -0.73 -146.0 111.2 -16.7 115 798 0.00 1.20 0.00 0.000 4 0.000 0.063 2152 3216 3084 0 0 0 0 0 0

939 -0.73 -146.0 134.0 -15.0 137 946 0.00 1.10 0.00 0.000 6 0.000 0.033 2152 2509 3084 0 0 0 0 0 0

1277 -0.73 -146.0 182.2 -13.0 188 1285 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2509 3085 0 0 0 0 0 0

1616 -0.73 -146.0 226.0 -12.3 239 1623 0.00 1.17 0.00 0.000 4 0.000 0.064 2148 3212 3085 0 0 0 0 0 0

1771 -0.73 -146.0 244.7 -11.9 262 1778 0.00 1.10 0.00 0.000 6 0.000 0.032 2148 2499 3085 0 0 0 0 0 0

2095 -0.73 -146.0 285.8 -12.6 291 2099 0.00 1.20 0.00 0.000 4 0.000 0.063 2143 3217 3085 0 0 0 0 0 0

2153 -0.73 -146.0 292.6 -12.9 295 2161 0.00 1.12 0.00 0.000 6 0.000 0.031 2143 2501 3084 0 0 0 0 0 0

2479 -0.73 -146.0 333.1 -11.6 321 2480 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2501 3084 0 0 0 0 0 0

2792 -0.73 -146.0 369.6 -11.8 346 2796 0.00 1.20 0.00 0.000 4 0.000 0.063 2139 3220 3084 0 0 0 0 0 0

2911 -0.73 -146.0 383.7 -11.7 355 2915 0.00 1.10 0.00 0.000 6 0.000 0.032 2139 2506 3084 0 0 0 0 0 0

3243 -0.73 -146.0 422.2 -11.4 381 3244 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2506 3084 0 0 0 0 0 0

3555 -0.73 -146.0 457.7 -11.4 406 3556 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2506 3085 0 0 0 0 0 0

3873 -0.73 -146.0 494.2 -12.1 431 3877 0.00 1.17 0.00 0.000 4 0.000 0.062 2134 3211 3085 0 0 0 0 0 0

4076 -0.73 -146.0 518.1 -11.7 440 4082 0.12 1.10 0.00 0.000 6 0.160 0.031 2165 2499 3085 0 0 0 0 0 0

4412 -0.73 -146.0 552.1 -10.0 451 4413 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2499 3085 0 0 0 0 0 0

4717 -0.73 -146.0 583.8 -10.7 461 4719 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2499 3086 0 0 0 0 0 0

5022 -0.73 -146.0 615.5 -10.2 471 5023 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2499 3086 0 0 0 0 0 0

5330 -0.73 -146.0 646.7 -10.0 481 5334 0.00 1.17 0.00 0.000 4 0.000 0.061 2162 3210 3086 0 0 0 0 0 0

5401 -0.73 -146.0 653.5 -10.0 483 5405 0.00 1.08 0.00 0.000 6 0.000 0.028 2162 2510 3086 0 0 0 0 0 0

5734 -0.73 -146.0 688.0 -10.4 494 5735 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2510 3086 0 0 0 0 0 0

6041 -0.73 -146.0 717.5 -9.7 504 6042 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2510 3087 0 0 0 0 0 0

6222 end dive: TARGET_DEPTH_EXCEEDED

state 6222 begin apogee

6228 -0.16 0.0 734.1 -9.0 510 6357 0.55 0.00 122.40 1.366 6 0.126 0.000 2341 2190 2486 0 0 0 0 0 0

6358 end apogee: CONTROL_FINISHED_OK

state 6358 begin climb

6360 0.73 146.0 738.5 0.0 514 6501 0.85 1.17 132.15 1.304 4 0.067 0.047 2636 1515 1888 0 0 0 0 0 0

6751 0.73 146.0 706.3 11.6 526 6756 0.00 1.20 0.00 0.000 6 0.000 0.042 2636 2206 1879 0 0 0 0 0 0

7080 0.73 146.0 667.3 11.5 537 7081 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2206 1878 0 0 0 0 0 0

7385 0.73 146.0 631.8 11.7 547 7386 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2206 1877 0 0 0 0 0 0

7692 0.73 146.0 596.8 11.5 557 7696 0.00 1.12 0.00 0.000 4 0.000 0.045 2641 1509 1876 0 0 0 0 0 0

7783 0.73 146.0 589.2 11.3 559 7791 0.00 1.15 0.00 0.000 6 0.000 0.043 2641 2203 1876 0 0 0 0 0 0

8097 0.73 146.0 550.5 11.4 570 8098 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2203 1875 0 0 0 0 0 0

8403 0.73 146.0 515.7 10.9 580 8404 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2203 1874 0 0 0 0 0 0

8721 0.73 146.0 481.3 10.4 598 8722 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2203 1874 0 0 0 0 0 0

9036 0.73 146.0 448.4 10.4 623 9040 0.00 1.12 0.00 0.000 4 0.000 0.055 2641 2905 1875 0 0 0 0 0 0

9133 0.73 146.0 438.4 11.0 630 9141 0.00 1.15 0.00 0.000 6 0.000 0.034 2645 2198 1875 0 0 0 0 0 0

9456 0.73 146.0 405.3 10.0 656 9460 0.00 1.17 0.00 0.000 4 0.000 0.049 2645 2899 1874 0 0 0 0 0 0

9540 0.73 146.0 396.6 11.2 662 9548 0.00 1.15 0.00 0.000 6 0.000 0.034 2650 2190 1874 0 0 0 0 0 0

9867 0.73 146.0 362.6 10.2 688 9870 0.00 1.05 0.00 0.000 4 0.000 0.048 2655 1497 1874 0 0 0 0 0 0

9974 0.73 146.0 351.8 9.9 696 9977 0.00 1.12 0.00 0.000 6 0.000 0.044 2655 2196 1874 0 0 0 0 0 0

10303 0.73 146.0 319.4 10.4 722 10306 0.00 1.12 0.00 0.000 4 0.000 0.054 2655 2901 1874 0 0 0 0 0 0

10360 0.73 146.0 313.6 10.8 726 10368 0.00 1.15 0.00 0.000 6 0.000 0.035 2659 2194 1874 0 0 0 0 0 0

10687 0.73 146.0 279.4 10.6 752 10688 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2194 1873 0 0 0 0 0 0

11001 0.73 146.0 246.2 9.9 779 11008 0.00 1.05 0.00 0.000 4 0.000 0.050 2665 1498 1873 0 0 0 0 0 0

11054 0.73 146.0 240.6 10.4 787 11062 0.10 1.12 0.00 0.000 6 0.143 0.044 2633 2199 1873 0 0 0 0 0 0

11392 0.80 204.6 210.4 6.7 838 11446 0.00 0.00 48.20 1.043 6 0.000 0.000 2633 2199 1649 0 0 0 0 0 0

11777 0.82 221.1 177.3 8.5 896 11798 0.00 1.15 13.95 0.975 4 0.000 0.055 2633 2894 1582 0 0 0 0 0 0

11866 0.82 221.1 169.2 9.2 909 11873 0.00 1.12 0.00 0.000 6 0.000 0.034 2636 2205 1580 0 0 0 0 0 0

12204 0.82 221.1 136.5 9.9 960 12212 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2205 1579 0 0 0 0 0 0

12542 0.83 231.4 103.5 8.7 1011 12557 0.00 0.00 9.52 0.933 6 0.000 0.000 2636 2205 1540 0 0 0 0 0 0

12888 0.83 231.4 71.7 9.3 1063 12895 0.00 1.17 0.00 0.000 4 0.000 0.050 2636 2903 1538 0 0 0 0 0 0

12942 0.83 231.4 66.6 9.3 1071 12949 0.00 1.15 0.00 0.000 6 0.000 0.036 2641 2194 1538 0 0 0 0 0 0

13278 0.87 261.8 38.5 7.9 1122 13312 0.12 1.20 26.62 0.964 4 0.087 0.049 2694 2905 1416 0 0 0 0 0 0

13398 0.87 261.8 26.1 10.7 1140 13407 0.00 1.15 0.00 0.000 6 0.000 0.036 2698 2203 1412 0 0 0 0 0 0

13643 end climb: SURFACE_DEPTH_REACHED

state 13643 begin surface coast

13653 end surface coast: FINISH_DEPTH_REACHED

state 13654 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	272	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	40	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	23	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	-81046.445	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	201111,214405,6648.221,-5954.717,42,0.8,42,-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	2.20	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-67.9	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	201111,214948,6648.141,-5954.766,19,0.8,19,-33.9	MHEAD_RNG_PITCHd_Wd	261.1,24102,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	733

FREEZE	1.46,-0.839,-0.388,2,1,0	ALTIM_BOTTOM_PING	700.1,60.2
FINISH	1.5,1.005567	_24V_AH	22.6,34.502
SM_CCo	13670,112.28,0.087,0,0,441,501.15	_10V_AH	10.1,26.120
SM_GC	2.23,7.05,0.57,112.28,0.050,0.044,0.087,120,2514,441,-7.07,-0.79,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	901	FG_AHR_10Vo	0.000
RAFOS	0,1321833669,0.033333,0.019167,115,61,58,0,0,0,629,185,209,0,0,0	MEM	150364
RAFOS_FIX	6644.853027,-5948.702148,211111,000013,6,101,0.78	DATA_FILE_SIZE	43361,1178
IRIDIUM_FIX	6620.33,-5941.47,201111,171757	CAP_FILE_SIZE	127056,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,229044224
HUMID	55.74	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1453.1
TCM_TEMP	16.30	CURRENT	0.165,127.3,1
XPDR_PINGS	23	GPS	211111,014140,6645.790,-5957.449,29,0.8,29,-33.9
ALTIM_TOP_PING	19.5,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	255	101.20	SBE_CT	856	23	449.54
Roll_motor	39	96	86.86	SBE_O2	650	5	77.04
VBD_pump_during_apogee	352	1366	10895.36	nil	0	0	0.00
VBD_pump_during_surface	112	87	221.29	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	227	248	1277.76	nil	0	0	0.00
Transponder_ping	8	420	80.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.66
TT8	3228	18	610.12
LPSleep	7893	2	184.16
TT8_Active	648	18	122.56
TT8_Sampling	2158	41	914.28
TT8_CF8	220	47	106.66
TT8_Kalman	0	0	0.00
Analog_circuits	1889	12	229.01
GPS_charging	0	0	0.00
Compass	1914	6	130.31
RAFOS	2520	1	38.18
Transponder	22	30	6.87

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	137	0.00	0.00	-118.43	0.000	2	0.000	0.000	114	2503	2082	0	0	0	0	0	0
140	-0.73	-146.0	3.1	-1.6	18	199	8.73	1.17	-41.28	0.000	4	0.256	0.096	2157	3213	3083	0	0	0	0	0	0
451	-0.73	-146.0	54.4	-17.7	64	460	0.00	1.10	0.00	0.000	6	0.000	0.032	2157	2505	3084	0	0	0	0	0	0
791	-0.73	-146.0	111.2	-16.7	115	798	0.00	1.20	0.00	0.000	4	0.000	0.063	2152	3216	3084	0	0	0	0	0	0
939	-0.73	-146.0	134.0	-15.0	137	946	0.00	1.10	0.00	0.000	6	0.000	0.033	2152	2509	3084	0	0	0	0	0	0
1277	-0.73	-146.0	182.2	-13.0	188	1285	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2509	3085	0	0	0	0	0	0
1616	-0.73	-146.0	226.0	-12.3	239	1623	0.00	1.17	0.00	0.000	4	0.000	0.064	2148	3212	3085	0	0	0	0	0	0
1771	-0.73	-146.0	244.7	-11.9	262	1778	0.00	1.10	0.00	0.000	6	0.000	0.032	2148	2499	3085	0	0	0	0	0	0
2095	-0.73	-146.0	285.8	-12.6	291	2099	0.00	1.20	0.00	0.000	4	0.000	0.063	2143	3217	3085	0	0	0	0	0	0
2153	-0.73	-146.0	292.6	-12.9	295	2161	0.00	1.12	0.00	0.000	6	0.000	0.031	2143	2501	3084	0	0	0	0	0	0
2479	-0.73	-146.0	333.1	-11.6	321	2480	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2501	3084	0	0	0	0	0	0
2792	-0.73	-146.0	369.6	-11.8	346	2796	0.00	1.20	0.00	0.000	4	0.000	0.063	2139	3220	3084	0	0	0	0	0	0
2911	-0.73	-146.0	383.7	-11.7	355	2915	0.00	1.10	0.00	0.000	6	0.000	0.032	2139	2506	3084	0	0	0	0	0	0
3243	-0.73	-146.0	422.2	-11.4	381	3244	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2506	3084	0	0	0	0	0	0
3555	-0.73	-146.0	457.7	-11.4	406	3556	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2506	3085	0	0	0	0	0	0
3873	-0.73	-146.0	494.2	-12.1	431	3877	0.00	1.17	0.00	0.000	4	0.000	0.062	2134	3211	3085	0	0	0	0	0	0
4076	-0.73	-146.0	518.1	-11.7	440	4082	0.12	1.10	0.00	0.000	6	0.160	0.031	2165	2499	3085	0	0	0	0	0	0
4412	-0.73	-146.0	552.1	-10.0	451	4413	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2499	3085	0	0	0	0	0	0
4717	-0.73	-146.0	583.8	-10.7	461	4719	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2499	3086	0	0	0	0	0	0
5022	-0.73	-146.0	615.5	-10.2	471	5023	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2499	3086	0	0	0	0	0	0
5330	-0.73	-146.0	646.7	-10.0	481	5334	0.00	1.17	0.00	0.000	4	0.000	0.061	2162	3210	3086	0	0	0	0	0	0
5401	-0.73	-146.0	653.5	-10.0	483	5405	0.00	1.08	0.00	0.000	6	0.000	0.028	2162	2510	3086	0	0	0	0	0	0
5734	-0.73	-146.0	688.0	-10.4	494	5735	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2510	3086	0	0	0	0	0	0
6041	-0.73	-146.0	717.5	-9.7	504	6042	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2510	3087	0	0	0	0	0	0
6222	end dive: TARGET_DEPTH_EXCEEDED
state	6222	begin apogee
6228	-0.16	0.0	734.1	-9.0	510	6357	0.55	0.00	122.40	1.366	6	0.126	0.000	2341	2190	2486	0	0	0	0	0	0
6358	end apogee: CONTROL_FINISHED_OK
state	6358	begin climb
6360	0.73	146.0	738.5	0.0	514	6501	0.85	1.17	132.15	1.304	4	0.067	0.047	2636	1515	1888	0	0	0	0	0	0
6751	0.73	146.0	706.3	11.6	526	6756	0.00	1.20	0.00	0.000	6	0.000	0.042	2636	2206	1879	0	0	0	0	0	0
7080	0.73	146.0	667.3	11.5	537	7081	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2206	1878	0	0	0	0	0	0
7385	0.73	146.0	631.8	11.7	547	7386	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2206	1877	0	0	0	0	0	0
7692	0.73	146.0	596.8	11.5	557	7696	0.00	1.12	0.00	0.000	4	0.000	0.045	2641	1509	1876	0	0	0	0	0	0
7783	0.73	146.0	589.2	11.3	559	7791	0.00	1.15	0.00	0.000	6	0.000	0.043	2641	2203	1876	0	0	0	0	0	0
8097	0.73	146.0	550.5	11.4	570	8098	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2203	1875	0	0	0	0	0	0
8403	0.73	146.0	515.7	10.9	580	8404	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2203	1874	0	0	0	0	0	0
8721	0.73	146.0	481.3	10.4	598	8722	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2203	1874	0	0	0	0	0	0
9036	0.73	146.0	448.4	10.4	623	9040	0.00	1.12	0.00	0.000	4	0.000	0.055	2641	2905	1875	0	0	0	0	0	0
9133	0.73	146.0	438.4	11.0	630	9141	0.00	1.15	0.00	0.000	6	0.000	0.034	2645	2198	1875	0	0	0	0	0	0
9456	0.73	146.0	405.3	10.0	656	9460	0.00	1.17	0.00	0.000	4	0.000	0.049	2645	2899	1874	0	0	0	0	0	0
9540	0.73	146.0	396.6	11.2	662	9548	0.00	1.15	0.00	0.000	6	0.000	0.034	2650	2190	1874	0	0	0	0	0	0
9867	0.73	146.0	362.6	10.2	688	9870	0.00	1.05	0.00	0.000	4	0.000	0.048	2655	1497	1874	0	0	0	0	0	0
9974	0.73	146.0	351.8	9.9	696	9977	0.00	1.12	0.00	0.000	6	0.000	0.044	2655	2196	1874	0	0	0	0	0	0
10303	0.73	146.0	319.4	10.4	722	10306	0.00	1.12	0.00	0.000	4	0.000	0.054	2655	2901	1874	0	0	0	0	0	0
10360	0.73	146.0	313.6	10.8	726	10368	0.00	1.15	0.00	0.000	6	0.000	0.035	2659	2194	1874	0	0	0	0	0	0
10687	0.73	146.0	279.4	10.6	752	10688	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2194	1873	0	0	0	0	0	0
11001	0.73	146.0	246.2	9.9	779	11008	0.00	1.05	0.00	0.000	4	0.000	0.050	2665	1498	1873	0	0	0	0	0	0
11054	0.73	146.0	240.6	10.4	787	11062	0.10	1.12	0.00	0.000	6	0.143	0.044	2633	2199	1873	0	0	0	0	0	0
11392	0.80	204.6	210.4	6.7	838	11446	0.00	0.00	48.20	1.043	6	0.000	0.000	2633	2199	1649	0	0	0	0	0	0
11777	0.82	221.1	177.3	8.5	896	11798	0.00	1.15	13.95	0.975	4	0.000	0.055	2633	2894	1582	0	0	0	0	0	0
11866	0.82	221.1	169.2	9.2	909	11873	0.00	1.12	0.00	0.000	6	0.000	0.034	2636	2205	1580	0	0	0	0	0	0
12204	0.82	221.1	136.5	9.9	960	12212	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2205	1579	0	0	0	0	0	0
12542	0.83	231.4	103.5	8.7	1011	12557	0.00	0.00	9.52	0.933	6	0.000	0.000	2636	2205	1540	0	0	0	0	0	0
12888	0.83	231.4	71.7	9.3	1063	12895	0.00	1.17	0.00	0.000	4	0.000	0.050	2636	2903	1538	0	0	0	0	0	0
12942	0.83	231.4	66.6	9.3	1071	12949	0.00	1.15	0.00	0.000	6	0.000	0.036	2641	2194	1538	0	0	0	0	0	0
13278	0.87	261.8	38.5	7.9	1122	13312	0.12	1.20	26.62	0.964	4	0.087	0.049	2694	2905	1416	0	0	0	0	0	0
13398	0.87	261.8	26.1	10.7	1140	13407	0.00	1.15	0.00	0.000	6	0.000	0.036	2698	2203	1412	0	0	0	0	0	0
13643	end climb: SURFACE_DEPTH_REACHED
state	13643	begin surface coast
13653	end surface coast: FINISH_DEPTH_REACHED
state	13654	begin surface