Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 280 * 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 280 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 38 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 27 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 -81604.484 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 -81604.484

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 38 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 27 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 280 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 221111,003013,6645.306,-5958.550,0,6119.2,0,-33.9 TGT_NAME TARGET_W

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.45 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -47.7 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 221111,003013,6645.306,-5958.550,181,99.0,181,-33.9 MHEAD_RNG_PITCHd_Wd 338.2,33132,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 668

Post-dive calculations and measurements:

FREEZE 4.27,-2.113,-1.766,2,3,0 ALTIM_BOTTOM_PING 500.9,173.4

FINISH1 4.3,1.025914,77 _24V_AH 22.6,35.470

FINISH2 3.0 _10V_AH 10.1,26.768

RAFOS_CLK 890 FG_AHR_24Vo 0.000

RAFOS 0,1321934466,4.033333,4.018333,107,71,59,0,0,0,628,217,118,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6644.537598,-5958.748047,221111,040452,6,111,0.10 MEM 150228

IRIDIUM_FIX 6604.29,-5951.22,211111,232331 DATA_FILE_SIZE 43383,1139

TT8_MAMPS 0.026964,0.026964 CAP_FILE_SIZE 125151,0

HUMID 57.20 CFSIZE 260165632,228524032

INTERNAL_PRESSURE 9.92226 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1452.5

XPDR_PINGS 8 CURRENT 0.667,146.1,1

ALTIM_TOP_PING 19.5,17.4 GPS 221111,042952,6644.538,-5958.748,0,6111.0,0,-33.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 251 63.99 SBE_CT 823 23 432.41

Roll_motor 51 97 114.12 SBE_O2 636 5 75.39

VBD_pump_during_apogee 381 1323 11409.16 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 122 239 665.31 nil 0 0 0.00

Transponder_ping 3 420 35.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 26 49.83

TT8 3089 18 583.78

LPSleep 6743 2 157.33

TT8_Active 600 18 113.42

TT8_Sampling 2179 41 923.00

TT8_CF8 243 47 117.73

TT8_Kalman 0 0 0.00

Analog_circuits 1733 12 210.05

GPS_charging 0 0 0.00

Compass 1861 6 126.73

RAFOS 2520 1 38.18

Transponder 14 30 4.42

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

15 -0.73 -146.0 0.0 0.0 0 149 0.00 0.00 -130.62 0.000 2 0.000 0.000 121 2512 2292 0 0 0 0 0 0

152 -0.73 -146.0 3.3 -2.4 18 193 8.57 1.15 -23.77 0.000 4 0.252 0.097 2156 3208 3084 0 0 0 0 0 0

239 -0.73 -146.0 22.5 -18.8 31 246 0.00 1.10 0.00 0.000 6 0.000 0.035 2156 2509 3086 0 0 0 0 0 0

579 -0.73 -146.0 82.2 -16.5 82 586 0.00 1.17 0.00 0.000 4 0.000 0.063 2151 3207 3086 0 0 0 0 0 0

607 -0.73 -146.0 86.8 -16.5 86 614 0.00 1.10 0.00 0.000 6 0.000 0.033 2151 2500 3087 0 0 0 0 0 0

946 -0.73 -146.0 138.7 -15.0 137 955 0.00 1.20 0.00 0.000 4 0.000 0.065 2146 3211 3087 0 0 0 0 0 0

988 -0.73 -146.0 145.1 -15.5 143 995 0.00 1.10 0.00 0.000 6 0.000 0.033 2146 2505 3087 0 0 0 0 0 0

1327 -0.73 -146.0 194.2 -13.8 194 1333 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2506 3087 0 0 0 0 0 0

1664 -0.73 -146.0 240.7 -13.2 245 1673 0.00 1.08 0.00 0.000 4 0.000 0.046 2146 1821 3087 0 0 0 0 0 0

1679 -0.73 -146.0 242.8 -13.4 247 1686 0.00 1.17 0.00 0.000 6 0.000 0.057 2142 2502 3087 0 0 0 0 0 0

2004 -0.73 -146.0 285.4 -12.6 277 2008 0.00 1.12 0.00 0.000 4 0.000 0.042 2142 1817 3087 0 0 0 0 0 0

2022 -0.73 -146.0 287.1 -12.8 278 2030 0.00 1.23 0.00 0.000 6 0.000 0.056 2138 2518 3087 0 0 0 0 0 0

2346 -0.73 -146.0 329.1 -12.5 304 2350 0.00 1.12 0.00 0.000 4 0.000 0.070 2132 3219 3087 0 0 0 0 0 0

2374 -0.73 -146.0 332.6 -12.6 306 2378 0.10 1.10 0.00 0.000 6 0.147 0.033 2163 2506 3087 0 0 0 0 0 0

2703 -0.73 -146.0 368.2 -10.7 332 2706 0.00 1.08 0.00 0.000 4 0.000 0.045 2164 1818 3086 0 0 0 0 0 0

2730 -0.73 -146.0 371.0 -10.8 334 2734 0.00 1.20 0.00 0.000 6 0.000 0.056 2161 2517 3087 0 0 0 0 0 0

3061 -0.73 -146.0 406.4 -10.8 360 3062 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2517 3087 0 0 0 0 0 0

3374 -0.73 -146.0 439.1 -10.3 385 3378 0.00 1.12 0.00 0.000 4 0.000 0.070 2156 3220 3087 0 0 0 0 0 0

3446 -0.73 -146.0 446.1 -10.5 390 3453 0.00 1.12 0.00 0.000 6 0.000 0.031 2156 2499 3087 0 0 0 0 0 0

3770 -0.73 -146.0 479.9 -10.3 416 3771 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2499 3088 0 0 0 0 0 0

4106 -0.73 -146.0 513.1 -10.0 437 4110 0.00 1.20 0.00 0.000 4 0.000 0.063 2151 3214 3088 0 0 0 0 0 0

4124 -0.73 -146.0 513.1 -10.0 437 4129 0.00 1.10 0.00 0.000 6 0.000 0.031 2151 2509 3087 0 0 0 0 0 0

4444 -0.73 -146.0 547.6 -10.0 448 4448 0.00 1.17 0.00 0.000 4 0.000 0.063 2147 3213 3088 0 0 0 0 0 0

4456 -0.73 -146.0 547.6 -10.0 448 4461 0.00 1.10 0.00 0.000 6 0.000 0.028 2147 2500 3088 0 0 0 0 0 0

4783 -0.73 -146.0 582.1 -10.1 459 4785 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2500 3089 0 0 0 0 0 0

5089 -0.73 -146.0 612.7 -9.9 469 5090 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2500 3089 0 0 0 0 0 0

5395 -0.73 -146.0 643.4 -9.9 479 5399 0.00 1.20 0.00 0.000 4 0.000 0.063 2142 3220 3089 0 0 0 0 0 0

5413 -0.73 -146.0 643.4 -9.9 479 5419 0.00 1.10 0.00 0.000 6 0.000 0.030 2142 2517 3089 0 0 0 0 0 0

5550 end dive: BOTTOM_OBSTACLE_DETECTED

state 5550 begin apogee

5556 -0.16 0.0 659.6 -10.5 484 5684 0.62 0.00 121.88 1.323 6 0.132 0.000 2341 2184 2485 0 0 0 0 0 0

5685 end apogee: CONTROL_FINISHED_OK

state 5685 begin climb

5687 0.73 146.0 664.7 0.0 488 5826 0.85 1.42 130.45 1.262 4 0.066 0.050 2632 2914 1888 0 0 0 0 0 0

6039 0.73 146.0 635.7 11.9 499 6043 0.00 1.20 0.00 0.000 6 0.000 0.034 2637 2211 1880 0 0 0 0 0 0

6378 0.73 146.0 596.3 11.8 510 6380 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2211 1878 0 0 0 0 0 0

6685 0.73 146.0 559.9 11.8 520 6686 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2211 1876 0 0 0 0 0 0

6991 0.73 146.0 523.6 11.9 530 6995 0.00 1.12 0.00 0.000 4 0.000 0.050 2642 1491 1875 0 0 0 0 0 0

7124 0.73 146.0 507.4 12.2 534 7127 0.00 1.17 0.00 0.000 6 0.000 0.045 2642 2207 1875 0 0 0 0 0 0

7454 0.73 146.0 468.2 11.5 557 7458 0.00 1.12 0.00 0.000 4 0.000 0.054 2643 2905 1875 0 0 0 0 0 0

7521 0.73 146.0 460.0 11.9 562 7525 0.00 1.15 0.00 0.000 6 0.000 0.035 2647 2193 1875 0 0 0 0 0 0

7850 0.73 146.0 420.3 11.8 588 7854 0.00 1.08 0.00 0.000 4 0.000 0.047 2652 1491 1874 0 0 0 0 0 0

7934 0.73 146.0 411.0 11.7 594 7944 0.00 1.17 0.00 0.000 6 0.000 0.044 2653 2205 1874 0 0 0 0 0 0

8257 0.73 146.0 371.9 11.8 620 8261 0.00 1.12 0.00 0.000 4 0.000 0.054 2652 2905 1874 0 0 0 0 0 0

8390 0.73 146.0 356.4 11.3 630 8393 0.00 1.12 0.00 0.000 6 0.000 0.035 2657 2203 1873 0 0 0 0 0 0

8719 0.73 146.0 320.4 10.1 656 8723 0.00 1.08 0.00 0.000 4 0.000 0.047 2662 1494 1874 0 0 0 0 0 0

8972 0.73 146.0 295.3 10.2 675 8976 0.00 1.15 0.00 0.000 6 0.000 0.044 2663 2203 1874 0 0 0 0 0 0

9301 0.73 146.0 262.8 9.4 701 9304 0.00 1.12 0.00 0.000 4 0.000 0.055 2662 2906 1874 0 0 0 0 0 0

9441 0.73 146.0 249.1 9.5 712 9448 0.10 1.15 0.00 0.000 6 0.148 0.036 2635 2191 1874 0 0 0 0 0 0

9780 0.75 166.8 220.8 8.3 763 9807 0.00 1.10 16.60 1.022 4 0.000 0.050 2639 1493 1803 0 0 0 0 0 0

9978 0.76 176.5 203.4 8.8 793 9994 0.00 1.15 9.65 0.967 6 0.000 0.044 2639 2200 1764 0 0 0 0 0 0

10325 0.77 184.0 173.6 8.9 845 10341 0.00 1.17 7.57 0.926 4 0.000 0.054 2639 2908 1733 0 0 0 0 0 0

10513 0.79 196.2 156.6 8.7 873 10530 0.00 1.15 12.00 0.972 6 0.000 0.036 2644 2200 1685 0 0 0 0 0 0

10859 0.82 225.9 126.4 7.9 925 10893 0.00 1.12 26.02 0.995 4 0.000 0.050 2649 1495 1563 0 0 0 0 0 0

11045 0.83 229.8 110.4 9.0 953 11060 0.00 1.17 4.60 0.765 6 0.000 0.045 2649 2204 1548 0 0 0 0 0 0

11391 0.86 253.7 80.9 8.2 1005 11419 0.00 1.12 21.55 0.965 4 0.000 0.054 2649 2911 1450 0 0 0 0 0 0

11540 0.86 258.8 67.4 9.0 1027 11553 0.00 1.17 5.57 0.812 6 0.000 0.036 2653 2198 1429 0 0 0 0 0 0

11886 0.90 288.3 38.7 7.9 1079 11914 0.12 0.00 25.55 0.945 6 0.089 0.000 2705 2198 1309 0 0 0 0 0 0

12211 end climb: FINISH_DEPTH_REACHED

state 12211 begin subsurface finish

12218 0.10 77.3 4.3 11.1 1128 12290 0.88 1.05 -62.53 0.000 4 0.130 0.077 2432 1496 2169 0 0 0 0 0 0

12290 end subsurface finish: CONTROL_FINISHED_OK

state 12290 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	280	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	38	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	27	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	-81604.484	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	221111,003013,6645.306,-5958.550,0,6119.2,0,-33.9	TGT_NAME	TARGET_W
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.45	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-47.7	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	221111,003013,6645.306,-5958.550,181,99.0,181,-33.9	MHEAD_RNG_PITCHd_Wd	338.2,33132,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	668

FREEZE	4.27,-2.113,-1.766,2,3,0	ALTIM_BOTTOM_PING	500.9,173.4
FINISH1	4.3,1.025914,77	_24V_AH	22.6,35.470
FINISH2	3.0	_10V_AH	10.1,26.768
RAFOS_CLK	890	FG_AHR_24Vo	0.000
RAFOS	0,1321934466,4.033333,4.018333,107,71,59,0,0,0,628,217,118,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6644.537598,-5958.748047,221111,040452,6,111,0.10	MEM	150228
IRIDIUM_FIX	6604.29,-5951.22,211111,232331	DATA_FILE_SIZE	43383,1139
TT8_MAMPS	0.026964,0.026964	CAP_FILE_SIZE	125151,0
HUMID	57.20	CFSIZE	260165632,228524032
INTERNAL_PRESSURE	9.92226	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1452.5
XPDR_PINGS	8	CURRENT	0.667,146.1,1
ALTIM_TOP_PING	19.5,17.4	GPS	221111,042952,6644.538,-5958.748,0,6111.0,0,-33.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	251	63.99	SBE_CT	823	23	432.41
Roll_motor	51	97	114.12	SBE_O2	636	5	75.39
VBD_pump_during_apogee	381	1323	11409.16	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	122	239	665.31	nil	0	0	0.00
Transponder_ping	3	420	35.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	26	49.83
TT8	3089	18	583.78
LPSleep	6743	2	157.33
TT8_Active	600	18	113.42
TT8_Sampling	2179	41	923.00
TT8_CF8	243	47	117.73
TT8_Kalman	0	0	0.00
Analog_circuits	1733	12	210.05
GPS_charging	0	0	0.00
Compass	1861	6	126.73
RAFOS	2520	1	38.18
Transponder	14	30	4.42

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
15	-0.73	-146.0	0.0	0.0	0	149	0.00	0.00	-130.62	0.000	2	0.000	0.000	121	2512	2292	0	0	0	0	0	0
152	-0.73	-146.0	3.3	-2.4	18	193	8.57	1.15	-23.77	0.000	4	0.252	0.097	2156	3208	3084	0	0	0	0	0	0
239	-0.73	-146.0	22.5	-18.8	31	246	0.00	1.10	0.00	0.000	6	0.000	0.035	2156	2509	3086	0	0	0	0	0	0
579	-0.73	-146.0	82.2	-16.5	82	586	0.00	1.17	0.00	0.000	4	0.000	0.063	2151	3207	3086	0	0	0	0	0	0
607	-0.73	-146.0	86.8	-16.5	86	614	0.00	1.10	0.00	0.000	6	0.000	0.033	2151	2500	3087	0	0	0	0	0	0
946	-0.73	-146.0	138.7	-15.0	137	955	0.00	1.20	0.00	0.000	4	0.000	0.065	2146	3211	3087	0	0	0	0	0	0
988	-0.73	-146.0	145.1	-15.5	143	995	0.00	1.10	0.00	0.000	6	0.000	0.033	2146	2505	3087	0	0	0	0	0	0
1327	-0.73	-146.0	194.2	-13.8	194	1333	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2506	3087	0	0	0	0	0	0
1664	-0.73	-146.0	240.7	-13.2	245	1673	0.00	1.08	0.00	0.000	4	0.000	0.046	2146	1821	3087	0	0	0	0	0	0
1679	-0.73	-146.0	242.8	-13.4	247	1686	0.00	1.17	0.00	0.000	6	0.000	0.057	2142	2502	3087	0	0	0	0	0	0
2004	-0.73	-146.0	285.4	-12.6	277	2008	0.00	1.12	0.00	0.000	4	0.000	0.042	2142	1817	3087	0	0	0	0	0	0
2022	-0.73	-146.0	287.1	-12.8	278	2030	0.00	1.23	0.00	0.000	6	0.000	0.056	2138	2518	3087	0	0	0	0	0	0
2346	-0.73	-146.0	329.1	-12.5	304	2350	0.00	1.12	0.00	0.000	4	0.000	0.070	2132	3219	3087	0	0	0	0	0	0
2374	-0.73	-146.0	332.6	-12.6	306	2378	0.10	1.10	0.00	0.000	6	0.147	0.033	2163	2506	3087	0	0	0	0	0	0
2703	-0.73	-146.0	368.2	-10.7	332	2706	0.00	1.08	0.00	0.000	4	0.000	0.045	2164	1818	3086	0	0	0	0	0	0
2730	-0.73	-146.0	371.0	-10.8	334	2734	0.00	1.20	0.00	0.000	6	0.000	0.056	2161	2517	3087	0	0	0	0	0	0
3061	-0.73	-146.0	406.4	-10.8	360	3062	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2517	3087	0	0	0	0	0	0
3374	-0.73	-146.0	439.1	-10.3	385	3378	0.00	1.12	0.00	0.000	4	0.000	0.070	2156	3220	3087	0	0	0	0	0	0
3446	-0.73	-146.0	446.1	-10.5	390	3453	0.00	1.12	0.00	0.000	6	0.000	0.031	2156	2499	3087	0	0	0	0	0	0
3770	-0.73	-146.0	479.9	-10.3	416	3771	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2499	3088	0	0	0	0	0	0
4106	-0.73	-146.0	513.1	-10.0	437	4110	0.00	1.20	0.00	0.000	4	0.000	0.063	2151	3214	3088	0	0	0	0	0	0
4124	-0.73	-146.0	513.1	-10.0	437	4129	0.00	1.10	0.00	0.000	6	0.000	0.031	2151	2509	3087	0	0	0	0	0	0
4444	-0.73	-146.0	547.6	-10.0	448	4448	0.00	1.17	0.00	0.000	4	0.000	0.063	2147	3213	3088	0	0	0	0	0	0
4456	-0.73	-146.0	547.6	-10.0	448	4461	0.00	1.10	0.00	0.000	6	0.000	0.028	2147	2500	3088	0	0	0	0	0	0
4783	-0.73	-146.0	582.1	-10.1	459	4785	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2500	3089	0	0	0	0	0	0
5089	-0.73	-146.0	612.7	-9.9	469	5090	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2500	3089	0	0	0	0	0	0
5395	-0.73	-146.0	643.4	-9.9	479	5399	0.00	1.20	0.00	0.000	4	0.000	0.063	2142	3220	3089	0	0	0	0	0	0
5413	-0.73	-146.0	643.4	-9.9	479	5419	0.00	1.10	0.00	0.000	6	0.000	0.030	2142	2517	3089	0	0	0	0	0	0
5550	end dive: BOTTOM_OBSTACLE_DETECTED
state	5550	begin apogee
5556	-0.16	0.0	659.6	-10.5	484	5684	0.62	0.00	121.88	1.323	6	0.132	0.000	2341	2184	2485	0	0	0	0	0	0
5685	end apogee: CONTROL_FINISHED_OK
state	5685	begin climb
5687	0.73	146.0	664.7	0.0	488	5826	0.85	1.42	130.45	1.262	4	0.066	0.050	2632	2914	1888	0	0	0	0	0	0
6039	0.73	146.0	635.7	11.9	499	6043	0.00	1.20	0.00	0.000	6	0.000	0.034	2637	2211	1880	0	0	0	0	0	0
6378	0.73	146.0	596.3	11.8	510	6380	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2211	1878	0	0	0	0	0	0
6685	0.73	146.0	559.9	11.8	520	6686	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2211	1876	0	0	0	0	0	0
6991	0.73	146.0	523.6	11.9	530	6995	0.00	1.12	0.00	0.000	4	0.000	0.050	2642	1491	1875	0	0	0	0	0	0
7124	0.73	146.0	507.4	12.2	534	7127	0.00	1.17	0.00	0.000	6	0.000	0.045	2642	2207	1875	0	0	0	0	0	0
7454	0.73	146.0	468.2	11.5	557	7458	0.00	1.12	0.00	0.000	4	0.000	0.054	2643	2905	1875	0	0	0	0	0	0
7521	0.73	146.0	460.0	11.9	562	7525	0.00	1.15	0.00	0.000	6	0.000	0.035	2647	2193	1875	0	0	0	0	0	0
7850	0.73	146.0	420.3	11.8	588	7854	0.00	1.08	0.00	0.000	4	0.000	0.047	2652	1491	1874	0	0	0	0	0	0
7934	0.73	146.0	411.0	11.7	594	7944	0.00	1.17	0.00	0.000	6	0.000	0.044	2653	2205	1874	0	0	0	0	0	0
8257	0.73	146.0	371.9	11.8	620	8261	0.00	1.12	0.00	0.000	4	0.000	0.054	2652	2905	1874	0	0	0	0	0	0
8390	0.73	146.0	356.4	11.3	630	8393	0.00	1.12	0.00	0.000	6	0.000	0.035	2657	2203	1873	0	0	0	0	0	0
8719	0.73	146.0	320.4	10.1	656	8723	0.00	1.08	0.00	0.000	4	0.000	0.047	2662	1494	1874	0	0	0	0	0	0
8972	0.73	146.0	295.3	10.2	675	8976	0.00	1.15	0.00	0.000	6	0.000	0.044	2663	2203	1874	0	0	0	0	0	0
9301	0.73	146.0	262.8	9.4	701	9304	0.00	1.12	0.00	0.000	4	0.000	0.055	2662	2906	1874	0	0	0	0	0	0
9441	0.73	146.0	249.1	9.5	712	9448	0.10	1.15	0.00	0.000	6	0.148	0.036	2635	2191	1874	0	0	0	0	0	0
9780	0.75	166.8	220.8	8.3	763	9807	0.00	1.10	16.60	1.022	4	0.000	0.050	2639	1493	1803	0	0	0	0	0	0
9978	0.76	176.5	203.4	8.8	793	9994	0.00	1.15	9.65	0.967	6	0.000	0.044	2639	2200	1764	0	0	0	0	0	0
10325	0.77	184.0	173.6	8.9	845	10341	0.00	1.17	7.57	0.926	4	0.000	0.054	2639	2908	1733	0	0	0	0	0	0
10513	0.79	196.2	156.6	8.7	873	10530	0.00	1.15	12.00	0.972	6	0.000	0.036	2644	2200	1685	0	0	0	0	0	0
10859	0.82	225.9	126.4	7.9	925	10893	0.00	1.12	26.02	0.995	4	0.000	0.050	2649	1495	1563	0	0	0	0	0	0
11045	0.83	229.8	110.4	9.0	953	11060	0.00	1.17	4.60	0.765	6	0.000	0.045	2649	2204	1548	0	0	0	0	0	0
11391	0.86	253.7	80.9	8.2	1005	11419	0.00	1.12	21.55	0.965	4	0.000	0.054	2649	2911	1450	0	0	0	0	0	0
11540	0.86	258.8	67.4	9.0	1027	11553	0.00	1.17	5.57	0.812	6	0.000	0.036	2653	2198	1429	0	0	0	0	0	0
11886	0.90	288.3	38.7	7.9	1079	11914	0.12	0.00	25.55	0.945	6	0.089	0.000	2705	2198	1309	0	0	0	0	0	0
12211	end climb: FINISH_DEPTH_REACHED
state	12211	begin subsurface finish
12218	0.10	77.3	4.3	11.1	1128	12290	0.88	1.05	-62.53	0.000	4	0.130	0.077	2432	1496	2169	0	0	0	0	0	0
12290	end subsurface finish: CONTROL_FINISHED_OK
state	12290	begin surface