Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 28 * 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 0

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 28 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 32 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 750 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 420 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 27 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 16 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 250 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 300 CALL_TRIES 5 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 5 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 -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80453.062 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 1 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 420

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 750 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 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 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 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 250

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 -80453.062

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 300

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 1 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 5

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 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 27 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 16 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 28 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 32 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 091011,213200,6632.888,-6014.592,35,0.7,35,-33.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.10 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091011,213705,6632.929,-6014.524,35,0.7,36,-33.6 MHEAD_RNG_PITCHd_Wd 97.2,159200,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 518

Post-dive calculations and measurements:

FINISH 1.2,1.012569 _24V_AH 23.2,4.690

SM_CCo 9232,76.88,0.086,0,0,770,420.20 _10V_AH 10.3,4.281

SM_GC 2.26,7.18,0.55,76.88,0.060,0.067,0.086,119,2521,770,-7.08,-0.42,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 597 FG_AHR_10Vo 0.000

RAFOS 0,1318204865,0.033333,0.018056,68,65,58,0,0,0,614,170,214,0,0,0 MEM 150492

RAFOS_FIX 6633.971191,-6010.752930,091011,202055,5,83,0.73 DATA_FILE_SIZE 40063,996

IRIDIUM_FIX 6604.29,-6020.00,091011,181846 CAP_FILE_SIZE 117157,0

TT8_MAMPS 0.028462,0.028462 CFSIZE 260165632,246214656

HUMID 57.67 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.78553 SOUNDSPEED 1453.1

TCM_TEMP 16.20 CURRENT 0.210,308.2,1

XPDR_PINGS 14 GPS 101011,001402,6633.900,-6013.296,29,0.8,30,-33.7

ALTIM_BOTTOM_PING 450.6,80.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 275 114.05 SBE_CT 718 23 386.90

Roll_motor 55 111 145.04 SBE_O2 703 5 85.50

VBD_pump_during_apogee 334 1206 9374.78 nil 0 0 0.00

VBD_pump_during_surface 76 85 152.81 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 179 253 1056.09 nil 0 0 0.00

Transponder_ping 5 420 51.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 26 10.13

TT8 2683 18 517.11

LPSleep 4294 2 102.18

TT8_Active 559 18 107.78

TT8_Sampling 1902 41 821.56

TT8_CF8 183 47 90.79

TT8_Kalman 0 0 0.00

Analog_circuits 1664 12 205.78

GPS_charging 0 0 0.00

Compass 1685 6 117.01

RAFOS 720 1 11.12

Transponder 16 30 5.24

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 -0.77 -146.0 0.0 0.0 0 115 0.00 0.00 -96.47 0.000 2 0.000 0.000 124 2522 2161 0 0 0 0 0 0

118 -0.77 -146.0 3.4 -3.1 16 166 8.90 1.20 -30.52 0.000 4 0.275 0.112 2142 3217 3083 0 0 0 0 0 0

414 -0.77 -146.0 53.9 -16.8 68 421 0.00 1.17 0.00 0.000 6 0.000 0.053 2142 2501 3084 0 0 0 0 0 0

620 -0.77 -146.0 85.2 -14.8 105 629 0.00 1.25 0.00 0.000 4 0.000 0.080 2138 3223 3085 0 0 0 0 0 0

879 -0.77 -146.0 124.5 -15.2 137 883 0.00 1.17 0.00 0.000 6 0.000 0.053 2137 2506 3085 0 0 0 0 0 0

1105 -0.77 -146.0 157.6 -14.2 158 1109 0.00 1.23 0.00 0.000 4 0.000 0.080 2132 3219 3085 0 0 0 0 0 0

1188 -0.77 -146.0 169.3 -14.4 165 1197 0.00 1.15 0.00 0.000 6 0.000 0.052 2133 2512 3085 0 0 0 0 0 0

1409 -0.77 -146.0 201.2 -13.9 186 1410 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2512 3085 0 0 0 0 0 0

1621 -0.77 -146.0 230.1 -13.9 206 1622 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2512 3085 0 0 0 0 0 0

1834 -0.77 -146.0 258.0 -12.9 226 1837 0.00 1.20 0.00 0.000 4 0.000 0.082 2128 3213 3085 0 0 0 0 0 0

1905 -0.77 -146.0 266.9 -12.7 232 1912 0.00 1.15 0.00 0.000 6 0.000 0.052 2127 2506 3085 0 0 0 0 0 0

2125 -0.77 -146.0 295.4 -12.5 253 2128 0.00 1.23 0.00 0.000 4 0.000 0.081 2123 3221 3085 0 0 0 0 0 0

2173 -0.77 -146.0 301.3 -12.8 257 2183 0.00 1.17 0.00 0.000 6 0.000 0.051 2123 2501 3085 0 0 0 0 0 0

2394 -0.77 -146.0 328.4 -12.1 278 2395 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2501 3085 0 0 0 0 0 0

2606 -0.77 -146.0 353.2 -11.9 298 2609 0.00 1.23 0.00 0.000 4 0.000 0.078 2118 3222 3085 0 0 0 0 0 0

2675 -0.77 -146.0 361.5 -12.3 304 2679 0.10 1.15 0.00 0.000 6 0.168 0.049 2148 2504 3084 0 0 0 0 0 0

2900 -0.77 -146.0 385.1 -10.3 325 2901 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2504 3085 0 0 0 0 0 0

3111 -0.77 -146.0 407.5 -10.5 345 3115 0.00 1.10 0.00 0.000 4 0.000 0.060 2148 1816 3085 0 0 0 0 0 0

3156 -0.77 -146.0 412.1 -10.4 349 3159 0.00 1.23 0.00 0.000 6 0.000 0.069 2145 2520 3085 0 0 0 0 0 0

3382 -0.77 -146.0 436.3 -10.5 370 3385 0.00 1.12 0.00 0.000 4 0.000 0.082 2140 3214 3085 0 0 0 0 0 0

3464 -0.77 -146.0 444.8 -10.9 377 3474 0.00 1.12 0.00 0.000 6 0.000 0.049 2140 2511 3085 0 0 0 0 0 0

3687 -0.77 -146.0 470.3 -11.5 398 3690 0.00 1.20 0.00 0.000 4 0.000 0.080 2136 3219 3085 0 0 0 0 0 0

3778 -0.77 -146.0 480.7 -11.2 406 3782 0.00 1.12 0.00 0.000 6 0.000 0.050 2136 2514 3084 0 0 0 0 0 0

4002 -0.77 -146.0 505.4 -11.0 427 4003 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2513 3085 0 0 0 0 0 0

4096 end dive: BOTTOM_OBSTACLE_DETECTED

state 4096 begin apogee

4102 -0.16 0.0 516.3 -11.4 436 4227 0.65 0.00 118.15 1.206 6 0.154 0.000 2338 2188 2485 0 0 0 0 0 0

4228 end apogee: CONTROL_FINISHED_OK

state 4228 begin climb

4230 0.77 146.0 521.1 0.0 447 4366 0.93 1.20 125.12 1.164 4 0.076 0.065 2650 1509 1887 0 0 0 0 0 0

4416 0.77 146.0 514.2 10.5 463 4423 0.00 1.27 0.00 0.000 6 0.000 0.061 2650 2208 1882 0 0 0 0 0 0

4635 0.77 146.0 486.9 12.3 484 4639 0.00 1.23 0.00 0.000 4 0.000 0.070 2650 2915 1878 0 0 0 0 0 0

4739 0.77 146.0 473.9 12.6 493 4746 0.00 1.25 0.00 0.000 6 0.000 0.053 2655 2204 1877 0 0 0 0 0 0

4959 0.77 146.0 447.0 11.9 514 4962 0.00 1.27 0.00 0.000 4 0.000 0.070 2655 2915 1876 0 0 0 0 0 0

5142 0.77 146.0 424.7 12.7 530 5150 0.00 1.25 0.00 0.000 6 0.000 0.053 2660 2190 1875 0 0 0 0 0 0

5362 0.77 146.0 397.9 12.0 551 5366 0.00 1.12 0.00 0.000 4 0.000 0.065 2665 1496 1875 0 0 0 0 0 0

5462 0.77 146.0 386.1 11.8 560 5466 0.00 1.20 0.00 0.000 6 0.000 0.062 2665 2201 1874 0 0 0 0 0 0

5688 0.77 146.0 358.8 12.0 581 5692 0.00 1.20 0.00 0.000 4 0.000 0.063 2669 1495 1874 0 0 0 0 0 0

5735 0.77 146.0 353.1 12.2 585 5739 0.00 1.20 0.00 0.000 6 0.000 0.061 2669 2203 1874 0 0 0 0 0 0

5960 0.77 146.0 326.2 11.5 606 5961 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2203 1874 0 0 0 0 0 0

6172 0.77 146.0 302.2 11.4 626 6176 0.00 1.20 0.00 0.000 4 0.000 0.062 2674 1493 1874 0 0 0 0 0 0

6232 0.77 146.0 296.0 10.9 631 6239 0.00 1.20 0.00 0.000 6 0.000 0.062 2674 2202 1874 0 0 0 0 0 0

6452 0.77 146.0 271.8 10.3 652 6456 0.00 1.17 0.00 0.000 4 0.000 0.071 2674 2909 1874 0 0 0 0 0 0

6497 0.77 146.0 266.8 11.0 656 6501 0.10 1.20 0.00 0.000 6 0.177 0.054 2651 2198 1873 0 0 0 0 0 0

6726 0.78 156.5 244.8 9.5 677 6738 0.00 1.17 7.47 0.938 4 0.000 0.066 2655 1487 1846 0 0 0 0 0 0

6788 0.79 163.7 238.7 9.7 682 6799 0.00 1.20 7.88 0.929 6 0.000 0.062 2655 2198 1817 0 0 0 0 0 0

7015 0.80 168.9 215.6 9.8 703 7027 0.00 1.17 6.15 0.879 4 0.000 0.061 2659 1493 1795 0 0 0 0 0 0

7133 0.80 171.1 204.1 9.9 713 7140 0.00 1.20 0.00 0.000 6 0.000 0.063 2659 2198 1794 0 0 0 0 0 0

7353 0.81 176.7 182.1 9.7 734 7365 0.00 1.23 8.05 0.922 4 0.000 0.063 2663 1496 1764 0 0 0 0 0 0

7437 0.82 185.5 174.3 9.6 741 7455 0.00 1.20 9.07 0.920 6 0.000 0.063 2663 2199 1727 0 0 0 0 0 0

7668 0.82 185.5 150.2 10.2 763 7672 0.00 1.17 0.00 0.000 4 0.000 0.071 2663 2904 1725 0 0 0 0 0 0

7693 0.82 185.5 147.5 10.6 765 7696 0.00 1.20 0.00 0.000 6 0.000 0.054 2668 2201 1726 0 0 0 0 0 0

7917 0.82 185.5 123.3 10.5 786 7921 0.00 1.12 0.00 0.000 4 0.000 0.066 2674 1495 1725 0 0 0 0 0 0

7974 0.82 185.5 117.3 10.5 791 7977 0.00 1.20 0.00 0.000 6 0.000 0.064 2674 2200 1725 0 0 0 0 0 0

8196 0.84 201.7 95.6 9.3 815 8217 0.00 1.17 14.93 0.940 4 0.000 0.062 2678 1497 1660 0 0 0 0 0 0

8420 0.84 201.7 72.6 10.7 855 8427 0.00 1.20 0.00 0.000 6 0.000 0.063 2678 2201 1658 0 0 0 0 0 0

8627 0.84 201.7 50.9 10.5 892 8635 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2201 1657 0 0 0 0 0 0

8835 0.88 239.8 31.1 8.2 929 8873 0.00 1.25 30.38 0.916 4 0.000 0.066 2683 1493 1506 0 0 0 0 0 0

9120 0.90 256.0 8.6 9.3 980 9136 0.00 1.23 7.75 0.098 6 0.000 0.063 2683 2205 1439 0 0 0 0 0 0

9190 end climb: SURFACE_DEPTH_REACHED

state 9190 begin surface coast

9215 end surface coast: CONTROL_FINISHED_OK

state 9215 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	28	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	32	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	750	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	420	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	27	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	16	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	250	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	300	CALL_TRIES	5	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	5	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	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80453.062	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	1	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	091011,213200,6632.888,-6014.592,35,0.7,35,-33.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.10	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091011,213705,6632.929,-6014.524,35,0.7,36,-33.6	MHEAD_RNG_PITCHd_Wd	97.2,159200,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	518

FINISH	1.2,1.012569	_24V_AH	23.2,4.690
SM_CCo	9232,76.88,0.086,0,0,770,420.20	_10V_AH	10.3,4.281
SM_GC	2.26,7.18,0.55,76.88,0.060,0.067,0.086,119,2521,770,-7.08,-0.42,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	597	FG_AHR_10Vo	0.000
RAFOS	0,1318204865,0.033333,0.018056,68,65,58,0,0,0,614,170,214,0,0,0	MEM	150492
RAFOS_FIX	6633.971191,-6010.752930,091011,202055,5,83,0.73	DATA_FILE_SIZE	40063,996
IRIDIUM_FIX	6604.29,-6020.00,091011,181846	CAP_FILE_SIZE	117157,0
TT8_MAMPS	0.028462,0.028462	CFSIZE	260165632,246214656
HUMID	57.67	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.78553	SOUNDSPEED	1453.1
TCM_TEMP	16.20	CURRENT	0.210,308.2,1
XPDR_PINGS	14	GPS	101011,001402,6633.900,-6013.296,29,0.8,30,-33.7
ALTIM_BOTTOM_PING	450.6,80.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	275	114.05	SBE_CT	718	23	386.90
Roll_motor	55	111	145.04	SBE_O2	703	5	85.50
VBD_pump_during_apogee	334	1206	9374.78	nil	0	0	0.00
VBD_pump_during_surface	76	85	152.81	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	179	253	1056.09	nil	0	0	0.00
Transponder_ping	5	420	51.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	26	10.13
TT8	2683	18	517.11
LPSleep	4294	2	102.18
TT8_Active	559	18	107.78
TT8_Sampling	1902	41	821.56
TT8_CF8	183	47	90.79
TT8_Kalman	0	0	0.00
Analog_circuits	1664	12	205.78
GPS_charging	0	0	0.00
Compass	1685	6	117.01
RAFOS	720	1	11.12
Transponder	16	30	5.24

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	-0.77	-146.0	0.0	0.0	0	115	0.00	0.00	-96.47	0.000	2	0.000	0.000	124	2522	2161	0	0	0	0	0	0
118	-0.77	-146.0	3.4	-3.1	16	166	8.90	1.20	-30.52	0.000	4	0.275	0.112	2142	3217	3083	0	0	0	0	0	0
414	-0.77	-146.0	53.9	-16.8	68	421	0.00	1.17	0.00	0.000	6	0.000	0.053	2142	2501	3084	0	0	0	0	0	0
620	-0.77	-146.0	85.2	-14.8	105	629	0.00	1.25	0.00	0.000	4	0.000	0.080	2138	3223	3085	0	0	0	0	0	0
879	-0.77	-146.0	124.5	-15.2	137	883	0.00	1.17	0.00	0.000	6	0.000	0.053	2137	2506	3085	0	0	0	0	0	0
1105	-0.77	-146.0	157.6	-14.2	158	1109	0.00	1.23	0.00	0.000	4	0.000	0.080	2132	3219	3085	0	0	0	0	0	0
1188	-0.77	-146.0	169.3	-14.4	165	1197	0.00	1.15	0.00	0.000	6	0.000	0.052	2133	2512	3085	0	0	0	0	0	0
1409	-0.77	-146.0	201.2	-13.9	186	1410	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2512	3085	0	0	0	0	0	0
1621	-0.77	-146.0	230.1	-13.9	206	1622	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2512	3085	0	0	0	0	0	0
1834	-0.77	-146.0	258.0	-12.9	226	1837	0.00	1.20	0.00	0.000	4	0.000	0.082	2128	3213	3085	0	0	0	0	0	0
1905	-0.77	-146.0	266.9	-12.7	232	1912	0.00	1.15	0.00	0.000	6	0.000	0.052	2127	2506	3085	0	0	0	0	0	0
2125	-0.77	-146.0	295.4	-12.5	253	2128	0.00	1.23	0.00	0.000	4	0.000	0.081	2123	3221	3085	0	0	0	0	0	0
2173	-0.77	-146.0	301.3	-12.8	257	2183	0.00	1.17	0.00	0.000	6	0.000	0.051	2123	2501	3085	0	0	0	0	0	0
2394	-0.77	-146.0	328.4	-12.1	278	2395	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2501	3085	0	0	0	0	0	0
2606	-0.77	-146.0	353.2	-11.9	298	2609	0.00	1.23	0.00	0.000	4	0.000	0.078	2118	3222	3085	0	0	0	0	0	0
2675	-0.77	-146.0	361.5	-12.3	304	2679	0.10	1.15	0.00	0.000	6	0.168	0.049	2148	2504	3084	0	0	0	0	0	0
2900	-0.77	-146.0	385.1	-10.3	325	2901	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2504	3085	0	0	0	0	0	0
3111	-0.77	-146.0	407.5	-10.5	345	3115	0.00	1.10	0.00	0.000	4	0.000	0.060	2148	1816	3085	0	0	0	0	0	0
3156	-0.77	-146.0	412.1	-10.4	349	3159	0.00	1.23	0.00	0.000	6	0.000	0.069	2145	2520	3085	0	0	0	0	0	0
3382	-0.77	-146.0	436.3	-10.5	370	3385	0.00	1.12	0.00	0.000	4	0.000	0.082	2140	3214	3085	0	0	0	0	0	0
3464	-0.77	-146.0	444.8	-10.9	377	3474	0.00	1.12	0.00	0.000	6	0.000	0.049	2140	2511	3085	0	0	0	0	0	0
3687	-0.77	-146.0	470.3	-11.5	398	3690	0.00	1.20	0.00	0.000	4	0.000	0.080	2136	3219	3085	0	0	0	0	0	0
3778	-0.77	-146.0	480.7	-11.2	406	3782	0.00	1.12	0.00	0.000	6	0.000	0.050	2136	2514	3084	0	0	0	0	0	0
4002	-0.77	-146.0	505.4	-11.0	427	4003	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2513	3085	0	0	0	0	0	0
4096	end dive: BOTTOM_OBSTACLE_DETECTED
state	4096	begin apogee
4102	-0.16	0.0	516.3	-11.4	436	4227	0.65	0.00	118.15	1.206	6	0.154	0.000	2338	2188	2485	0	0	0	0	0	0
4228	end apogee: CONTROL_FINISHED_OK
state	4228	begin climb
4230	0.77	146.0	521.1	0.0	447	4366	0.93	1.20	125.12	1.164	4	0.076	0.065	2650	1509	1887	0	0	0	0	0	0
4416	0.77	146.0	514.2	10.5	463	4423	0.00	1.27	0.00	0.000	6	0.000	0.061	2650	2208	1882	0	0	0	0	0	0
4635	0.77	146.0	486.9	12.3	484	4639	0.00	1.23	0.00	0.000	4	0.000	0.070	2650	2915	1878	0	0	0	0	0	0
4739	0.77	146.0	473.9	12.6	493	4746	0.00	1.25	0.00	0.000	6	0.000	0.053	2655	2204	1877	0	0	0	0	0	0
4959	0.77	146.0	447.0	11.9	514	4962	0.00	1.27	0.00	0.000	4	0.000	0.070	2655	2915	1876	0	0	0	0	0	0
5142	0.77	146.0	424.7	12.7	530	5150	0.00	1.25	0.00	0.000	6	0.000	0.053	2660	2190	1875	0	0	0	0	0	0
5362	0.77	146.0	397.9	12.0	551	5366	0.00	1.12	0.00	0.000	4	0.000	0.065	2665	1496	1875	0	0	0	0	0	0
5462	0.77	146.0	386.1	11.8	560	5466	0.00	1.20	0.00	0.000	6	0.000	0.062	2665	2201	1874	0	0	0	0	0	0
5688	0.77	146.0	358.8	12.0	581	5692	0.00	1.20	0.00	0.000	4	0.000	0.063	2669	1495	1874	0	0	0	0	0	0
5735	0.77	146.0	353.1	12.2	585	5739	0.00	1.20	0.00	0.000	6	0.000	0.061	2669	2203	1874	0	0	0	0	0	0
5960	0.77	146.0	326.2	11.5	606	5961	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2203	1874	0	0	0	0	0	0
6172	0.77	146.0	302.2	11.4	626	6176	0.00	1.20	0.00	0.000	4	0.000	0.062	2674	1493	1874	0	0	0	0	0	0
6232	0.77	146.0	296.0	10.9	631	6239	0.00	1.20	0.00	0.000	6	0.000	0.062	2674	2202	1874	0	0	0	0	0	0
6452	0.77	146.0	271.8	10.3	652	6456	0.00	1.17	0.00	0.000	4	0.000	0.071	2674	2909	1874	0	0	0	0	0	0
6497	0.77	146.0	266.8	11.0	656	6501	0.10	1.20	0.00	0.000	6	0.177	0.054	2651	2198	1873	0	0	0	0	0	0
6726	0.78	156.5	244.8	9.5	677	6738	0.00	1.17	7.47	0.938	4	0.000	0.066	2655	1487	1846	0	0	0	0	0	0
6788	0.79	163.7	238.7	9.7	682	6799	0.00	1.20	7.88	0.929	6	0.000	0.062	2655	2198	1817	0	0	0	0	0	0
7015	0.80	168.9	215.6	9.8	703	7027	0.00	1.17	6.15	0.879	4	0.000	0.061	2659	1493	1795	0	0	0	0	0	0
7133	0.80	171.1	204.1	9.9	713	7140	0.00	1.20	0.00	0.000	6	0.000	0.063	2659	2198	1794	0	0	0	0	0	0
7353	0.81	176.7	182.1	9.7	734	7365	0.00	1.23	8.05	0.922	4	0.000	0.063	2663	1496	1764	0	0	0	0	0	0
7437	0.82	185.5	174.3	9.6	741	7455	0.00	1.20	9.07	0.920	6	0.000	0.063	2663	2199	1727	0	0	0	0	0	0
7668	0.82	185.5	150.2	10.2	763	7672	0.00	1.17	0.00	0.000	4	0.000	0.071	2663	2904	1725	0	0	0	0	0	0
7693	0.82	185.5	147.5	10.6	765	7696	0.00	1.20	0.00	0.000	6	0.000	0.054	2668	2201	1726	0	0	0	0	0	0
7917	0.82	185.5	123.3	10.5	786	7921	0.00	1.12	0.00	0.000	4	0.000	0.066	2674	1495	1725	0	0	0	0	0	0
7974	0.82	185.5	117.3	10.5	791	7977	0.00	1.20	0.00	0.000	6	0.000	0.064	2674	2200	1725	0	0	0	0	0	0
8196	0.84	201.7	95.6	9.3	815	8217	0.00	1.17	14.93	0.940	4	0.000	0.062	2678	1497	1660	0	0	0	0	0	0
8420	0.84	201.7	72.6	10.7	855	8427	0.00	1.20	0.00	0.000	6	0.000	0.063	2678	2201	1658	0	0	0	0	0	0
8627	0.84	201.7	50.9	10.5	892	8635	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2201	1657	0	0	0	0	0	0
8835	0.88	239.8	31.1	8.2	929	8873	0.00	1.25	30.38	0.916	4	0.000	0.066	2683	1493	1506	0	0	0	0	0	0
9120	0.90	256.0	8.6	9.3	980	9136	0.00	1.23	7.75	0.098	6	0.000	0.063	2683	2205	1439	0	0	0	0	0	0
9190	end climb: SURFACE_DEPTH_REACHED
state	9190	begin surface coast
9215	end surface coast: CONTROL_FINISHED_OK
state	9215	begin surface