Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 288 * 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 288 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 51 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 29 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 -83618.531 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 -83618.531

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 51 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 29 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 288 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 231111,043013,6643.985,-5959.585,0,6114.3,0,-34.0 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 2.55 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -38.6 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 231111,043013,6643.985,-5959.585,181,99.0,181,-34.0 MHEAD_RNG_PITCHd_Wd 342.4,32015,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 648

Post-dive calculations and measurements:

FREEZE 1.51,0.579,-0.796,2,6,0 ALTIM_BOTTOM_PING 550.7,121.3

FINISH 1.5,1.011741 _24V_AH 22.6,36.441

SM_CCo 12271,97.75,0.086,0,0,442,501.15 _10V_AH 10.1,27.434

SM_GC 2.31,7.07,0.52,97.75,0.048,0.056,0.086,116,2515,442,-7.08,-0.76,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 891 FG_AHR_10Vo 0.000

RAFOS 0,1322035278,8.033334,8.021667,123,59,58,0,0,0,576,214,152,0,0,0 MEM 150164

RAFOS_FIX 6643.152344,-5957.027832,231111,080813,6,112,0.17 DATA_FILE_SIZE 43333,1138

IRIDIUM_FIX 6625.71,-6000.37,221111,131343 CAP_FILE_SIZE 134165,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,227991552

HUMID 56.22 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1456.5

TCM_TEMP 16.20 CURRENT 0.049, 3.8,1

XPDR_PINGS 12 GPS 231111,100122,6645.834,-6002.353,25,1.0,41,-33.9

ALTIM_TOP_PING 19.8,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 260 104.49 SBE_CT 817 23 429.17

Roll_motor 60 93 127.35 SBE_O2 637 5 75.45

VBD_pump_during_apogee 387 1312 11502.25 nil 0 0 0.00

VBD_pump_during_surface 97 85 189.28 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 123 239 669.11 nil 0 0 0.00

Transponder_ping 5 420 47.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 26 49.92

TT8 3128 18 591.20

LPSleep 6600 2 153.99

TT8_Active 680 18 128.69

TT8_Sampling 2279 41 965.28

TT8_CF8 340 47 164.72

TT8_Kalman 0 0 0.00

Analog_circuits 1867 12 226.29

GPS_charging 0 0 0.00

Compass 1957 6 133.28

RAFOS 2520 1 38.18

Transponder 16 30 4.91

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 0 197 0.00 0.00 -176.05 0.000 2 0.000 0.000 105 2480 2926 0 0 0 0 0 0

200 -0.73 -146.0 3.8 -3.6 27 221 8.88 1.27 -3.88 0.000 4 0.260 0.093 2158 3216 3084 0 0 0 0 0 0

341 -0.73 -146.0 42.3 -17.5 47 348 0.00 1.10 0.00 0.000 6 0.000 0.034 2158 2516 3086 0 0 0 0 0 0

679 -0.73 -146.0 96.6 -14.2 98 686 0.00 1.10 0.00 0.000 4 0.000 0.044 2158 1818 3086 0 0 0 0 0 0

713 -0.73 -146.0 101.5 -14.3 103 720 0.00 1.17 0.00 0.000 6 0.000 0.055 2154 2498 3086 0 0 0 0 0 0

1050 -0.73 -146.0 150.9 -14.3 154 1057 0.00 1.15 0.00 0.000 4 0.000 0.068 2149 3213 3086 0 0 0 0 0 0

1210 -0.73 -146.0 174.0 -14.7 178 1216 0.00 1.10 0.00 0.000 6 0.000 0.033 2149 2505 3086 0 0 0 0 0 0

1550 -0.73 -146.0 222.6 -13.3 229 1556 0.00 1.08 0.00 0.000 4 0.000 0.046 2149 1817 3086 0 0 0 0 0 0

1570 -0.73 -146.0 225.7 -13.8 232 1579 0.00 1.20 0.00 0.000 6 0.000 0.055 2144 2515 3086 0 0 0 0 0 0

1903 -0.73 -146.0 271.7 -14.0 271 1907 0.00 1.12 0.00 0.000 4 0.000 0.067 2139 3219 3085 0 0 0 0 0 0

1916 -0.73 -146.0 273.6 -13.9 272 1920 0.00 1.10 0.00 0.000 6 0.000 0.032 2139 2506 3086 0 0 0 0 0 0

2247 -0.73 -146.0 316.5 -12.7 298 2251 0.00 1.17 0.00 0.000 4 0.000 0.063 2134 3210 3085 0 0 0 0 0 0

2332 -0.73 -146.0 326.8 -12.4 304 2343 0.12 1.10 0.00 0.000 6 0.167 0.031 2163 2506 3085 0 0 0 0 0 0

2655 -0.73 -146.0 359.2 -9.7 330 2658 0.00 1.17 0.00 0.000 4 0.000 0.063 2161 3211 3085 0 0 0 0 0 0

2726 -0.73 -146.0 365.8 -9.8 335 2734 0.00 1.08 0.00 0.000 6 0.000 0.031 2161 2513 3085 0 0 0 0 0 0

3052 -0.73 -146.0 398.4 -9.7 361 3055 0.00 1.17 0.00 0.000 4 0.000 0.063 2157 3213 3086 0 0 0 0 0 0

3096 -0.73 -146.0 402.7 -10.0 364 3106 0.00 1.10 0.00 0.000 6 0.000 0.031 2157 2506 3086 0 0 0 0 0 0

3421 -0.73 -146.0 436.3 -10.4 390 3425 0.00 1.17 0.00 0.000 4 0.000 0.063 2152 3212 3086 0 0 0 0 0 0

3439 -0.73 -146.0 437.8 -10.4 391 3446 0.00 1.10 0.00 0.000 6 0.000 0.030 2152 2504 3086 0 0 0 0 0 0

3765 -0.73 -146.0 472.1 -10.2 417 3769 0.00 1.17 0.00 0.000 4 0.000 0.062 2148 3211 3086 0 0 0 0 0 0

3844 -0.73 -146.0 480.7 -10.5 423 3848 0.00 1.08 0.00 0.000 6 0.000 0.030 2148 2503 3086 0 0 0 0 0 0

4188 -0.73 -146.0 516.7 -10.7 443 4192 0.00 1.17 0.00 0.000 4 0.000 0.061 2143 3211 3087 0 0 0 0 0 0

4245 -0.73 -146.0 520.3 -10.7 444 4256 0.00 1.10 0.00 0.000 6 0.000 0.029 2143 2498 3087 0 0 0 0 0 0

4559 -0.73 -146.0 557.5 -11.0 455 4563 0.00 1.20 0.00 0.000 4 0.000 0.062 2139 3220 3088 0 0 0 0 0 0

4643 -0.73 -146.0 564.8 -11.1 457 4648 0.00 1.10 0.00 0.000 6 0.000 0.029 2139 2510 3088 0 0 0 0 0 0

4964 -0.73 -146.0 602.0 -11.1 468 4967 0.00 1.17 0.00 0.000 4 0.000 0.062 2134 3216 3088 0 0 0 0 0 0

5014 -0.73 -146.0 605.6 -11.1 469 5020 0.12 1.10 0.00 0.000 6 0.163 0.028 2164 2498 3088 0 0 0 0 0 0

5335 -0.73 -146.0 638.1 -9.6 480 5339 0.00 1.20 0.00 0.000 4 0.000 0.061 2162 3214 3089 0 0 0 0 0 0

5426 -0.73 -146.0 644.5 -9.8 482 5433 0.00 1.10 0.00 0.000 6 0.000 0.029 2162 2502 3089 0 0 0 0 0 0

5462 end dive: TARGET_DEPTH_EXCEEDED

state 5462 begin apogee

5468 -0.16 0.0 650.7 -9.7 484 5596 0.55 0.00 121.85 1.313 6 0.125 0.000 2342 2194 2485 0 0 0 0 0 0

5597 end apogee: CONTROL_FINISHED_OK

state 5597 begin climb

5599 0.73 146.0 656.0 0.0 488 5740 0.85 1.20 130.45 1.255 4 0.067 0.048 2635 1509 1888 0 0 0 0 0 0

5983 0.73 146.0 626.4 11.3 500 5988 0.00 1.23 0.00 0.000 6 0.000 0.042 2635 2212 1880 0 0 0 0 0 0

6318 0.73 146.0 586.6 11.5 511 6321 0.00 1.15 0.00 0.000 4 0.000 0.054 2635 2911 1879 0 0 0 0 0 0

6496 0.73 146.0 567.2 11.7 516 6500 0.00 1.15 0.00 0.000 6 0.000 0.035 2640 2208 1877 0 0 0 0 0 0

6822 0.73 146.0 529.1 11.1 527 6826 0.00 1.10 0.00 0.000 4 0.000 0.047 2646 1495 1877 0 0 0 0 0 0

6993 0.73 146.0 510.8 10.9 532 6997 0.00 1.17 0.00 0.000 6 0.000 0.042 2646 2206 1875 0 0 0 0 0 0

7316 0.73 146.0 475.4 10.9 552 7317 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2205 1875 0 0 0 0 0 0

7630 0.73 146.0 440.3 11.2 577 7633 0.00 1.15 0.00 0.000 4 0.000 0.044 2650 1491 1875 0 0 0 0 0 0

7775 0.73 146.0 424.8 10.7 588 7778 0.00 1.15 0.00 0.000 6 0.000 0.044 2650 2200 1874 0 0 0 0 0 0

8105 0.73 146.0 389.6 10.9 614 8108 0.00 1.12 0.00 0.000 4 0.000 0.045 2654 1497 1874 0 0 0 0 0 0

8199 0.73 146.0 379.3 10.9 621 8202 0.00 1.15 0.00 0.000 6 0.000 0.043 2654 2208 1874 0 0 0 0 0 0

8529 0.73 146.0 343.4 10.3 647 8533 0.00 1.15 0.00 0.000 4 0.000 0.044 2658 1491 1874 0 0 0 0 0 0

8741 0.73 146.0 321.6 10.1 663 8745 0.00 1.15 0.00 0.000 6 0.000 0.044 2659 2205 1874 0 0 0 0 0 0

9071 0.73 146.0 288.5 10.3 689 9075 0.00 1.12 0.00 0.000 4 0.000 0.054 2659 2907 1874 0 0 0 0 0 0

9204 0.73 146.0 274.4 10.7 699 9208 0.08 1.12 0.00 0.000 6 0.153 0.034 2639 2203 1874 0 0 0 0 0 0

9528 0.74 156.6 244.5 8.7 729 9544 0.00 1.08 7.88 0.949 4 0.000 0.047 2643 1497 1846 0 0 0 0 0 0

9651 0.75 166.3 233.8 8.8 747 9665 0.00 1.15 10.23 0.980 6 0.000 0.043 2643 2207 1806 0 0 0 0 0 0

9995 0.76 176.8 204.0 8.7 799 10009 0.00 1.15 10.32 0.975 4 0.000 0.054 2643 2902 1764 0 0 0 0 0 0

10089 0.77 183.0 195.5 8.9 813 10105 0.00 1.15 7.18 0.913 6 0.000 0.035 2648 2194 1737 0 0 0 0 0 0

10435 0.79 202.8 164.3 8.3 865 10458 0.00 1.12 18.15 1.000 4 0.000 0.048 2653 1491 1658 0 0 0 0 0 0

10598 0.82 226.7 150.9 8.2 889 10626 0.00 1.17 21.40 0.991 6 0.000 0.044 2653 2206 1559 0 0 0 0 0 0

10959 0.83 233.4 119.9 8.9 943 10972 0.00 1.12 6.75 0.869 4 0.000 0.050 2653 2911 1533 0 0 0 0 0 0

11225 0.85 243.7 95.1 8.7 983 11239 0.00 1.15 10.05 0.924 6 0.000 0.035 2657 2204 1491 0 0 0 0 0 0

11572 0.85 249.0 65.0 8.9 1035 11585 0.00 0.00 5.95 0.833 6 0.000 0.000 2657 2203 1468 0 0 0 0 0 0

11917 0.91 292.3 35.5 7.3 1087 11963 0.10 1.12 37.50 0.952 4 0.104 0.048 2703 1497 1291 0 0 0 0 0 0

12057 0.91 292.3 21.3 10.3 1108 12064 0.00 1.17 0.00 0.000 6 0.000 0.044 2703 2203 1288 0 0 0 0 0 0

12239 end climb: SURFACE_DEPTH_REACHED

state 12239 begin surface coast

12253 end surface coast: CONTROL_FINISHED_OK

state 12254 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	288	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	51	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	29	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	-83618.531	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	231111,043013,6643.985,-5959.585,0,6114.3,0,-34.0	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	2.55	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-38.6	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	231111,043013,6643.985,-5959.585,181,99.0,181,-34.0	MHEAD_RNG_PITCHd_Wd	342.4,32015,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	648

FREEZE	1.51,0.579,-0.796,2,6,0	ALTIM_BOTTOM_PING	550.7,121.3
FINISH	1.5,1.011741	_24V_AH	22.6,36.441
SM_CCo	12271,97.75,0.086,0,0,442,501.15	_10V_AH	10.1,27.434
SM_GC	2.31,7.07,0.52,97.75,0.048,0.056,0.086,116,2515,442,-7.08,-0.76,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	891	FG_AHR_10Vo	0.000
RAFOS	0,1322035278,8.033334,8.021667,123,59,58,0,0,0,576,214,152,0,0,0	MEM	150164
RAFOS_FIX	6643.152344,-5957.027832,231111,080813,6,112,0.17	DATA_FILE_SIZE	43333,1138
IRIDIUM_FIX	6625.71,-6000.37,221111,131343	CAP_FILE_SIZE	134165,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,227991552
HUMID	56.22	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1456.5
TCM_TEMP	16.20	CURRENT	0.049, 3.8,1
XPDR_PINGS	12	GPS	231111,100122,6645.834,-6002.353,25,1.0,41,-33.9
ALTIM_TOP_PING	19.8,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	260	104.49	SBE_CT	817	23	429.17
Roll_motor	60	93	127.35	SBE_O2	637	5	75.45
VBD_pump_during_apogee	387	1312	11502.25	nil	0	0	0.00
VBD_pump_during_surface	97	85	189.28	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	123	239	669.11	nil	0	0	0.00
Transponder_ping	5	420	47.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	26	49.92
TT8	3128	18	591.20
LPSleep	6600	2	153.99
TT8_Active	680	18	128.69
TT8_Sampling	2279	41	965.28
TT8_CF8	340	47	164.72
TT8_Kalman	0	0	0.00
Analog_circuits	1867	12	226.29
GPS_charging	0	0	0.00
Compass	1957	6	133.28
RAFOS	2520	1	38.18
Transponder	16	30	4.91

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	197	0.00	0.00	-176.05	0.000	2	0.000	0.000	105	2480	2926	0	0	0	0	0	0
200	-0.73	-146.0	3.8	-3.6	27	221	8.88	1.27	-3.88	0.000	4	0.260	0.093	2158	3216	3084	0	0	0	0	0	0
341	-0.73	-146.0	42.3	-17.5	47	348	0.00	1.10	0.00	0.000	6	0.000	0.034	2158	2516	3086	0	0	0	0	0	0
679	-0.73	-146.0	96.6	-14.2	98	686	0.00	1.10	0.00	0.000	4	0.000	0.044	2158	1818	3086	0	0	0	0	0	0
713	-0.73	-146.0	101.5	-14.3	103	720	0.00	1.17	0.00	0.000	6	0.000	0.055	2154	2498	3086	0	0	0	0	0	0
1050	-0.73	-146.0	150.9	-14.3	154	1057	0.00	1.15	0.00	0.000	4	0.000	0.068	2149	3213	3086	0	0	0	0	0	0
1210	-0.73	-146.0	174.0	-14.7	178	1216	0.00	1.10	0.00	0.000	6	0.000	0.033	2149	2505	3086	0	0	0	0	0	0
1550	-0.73	-146.0	222.6	-13.3	229	1556	0.00	1.08	0.00	0.000	4	0.000	0.046	2149	1817	3086	0	0	0	0	0	0
1570	-0.73	-146.0	225.7	-13.8	232	1579	0.00	1.20	0.00	0.000	6	0.000	0.055	2144	2515	3086	0	0	0	0	0	0
1903	-0.73	-146.0	271.7	-14.0	271	1907	0.00	1.12	0.00	0.000	4	0.000	0.067	2139	3219	3085	0	0	0	0	0	0
1916	-0.73	-146.0	273.6	-13.9	272	1920	0.00	1.10	0.00	0.000	6	0.000	0.032	2139	2506	3086	0	0	0	0	0	0
2247	-0.73	-146.0	316.5	-12.7	298	2251	0.00	1.17	0.00	0.000	4	0.000	0.063	2134	3210	3085	0	0	0	0	0	0
2332	-0.73	-146.0	326.8	-12.4	304	2343	0.12	1.10	0.00	0.000	6	0.167	0.031	2163	2506	3085	0	0	0	0	0	0
2655	-0.73	-146.0	359.2	-9.7	330	2658	0.00	1.17	0.00	0.000	4	0.000	0.063	2161	3211	3085	0	0	0	0	0	0
2726	-0.73	-146.0	365.8	-9.8	335	2734	0.00	1.08	0.00	0.000	6	0.000	0.031	2161	2513	3085	0	0	0	0	0	0
3052	-0.73	-146.0	398.4	-9.7	361	3055	0.00	1.17	0.00	0.000	4	0.000	0.063	2157	3213	3086	0	0	0	0	0	0
3096	-0.73	-146.0	402.7	-10.0	364	3106	0.00	1.10	0.00	0.000	6	0.000	0.031	2157	2506	3086	0	0	0	0	0	0
3421	-0.73	-146.0	436.3	-10.4	390	3425	0.00	1.17	0.00	0.000	4	0.000	0.063	2152	3212	3086	0	0	0	0	0	0
3439	-0.73	-146.0	437.8	-10.4	391	3446	0.00	1.10	0.00	0.000	6	0.000	0.030	2152	2504	3086	0	0	0	0	0	0
3765	-0.73	-146.0	472.1	-10.2	417	3769	0.00	1.17	0.00	0.000	4	0.000	0.062	2148	3211	3086	0	0	0	0	0	0
3844	-0.73	-146.0	480.7	-10.5	423	3848	0.00	1.08	0.00	0.000	6	0.000	0.030	2148	2503	3086	0	0	0	0	0	0
4188	-0.73	-146.0	516.7	-10.7	443	4192	0.00	1.17	0.00	0.000	4	0.000	0.061	2143	3211	3087	0	0	0	0	0	0
4245	-0.73	-146.0	520.3	-10.7	444	4256	0.00	1.10	0.00	0.000	6	0.000	0.029	2143	2498	3087	0	0	0	0	0	0
4559	-0.73	-146.0	557.5	-11.0	455	4563	0.00	1.20	0.00	0.000	4	0.000	0.062	2139	3220	3088	0	0	0	0	0	0
4643	-0.73	-146.0	564.8	-11.1	457	4648	0.00	1.10	0.00	0.000	6	0.000	0.029	2139	2510	3088	0	0	0	0	0	0
4964	-0.73	-146.0	602.0	-11.1	468	4967	0.00	1.17	0.00	0.000	4	0.000	0.062	2134	3216	3088	0	0	0	0	0	0
5014	-0.73	-146.0	605.6	-11.1	469	5020	0.12	1.10	0.00	0.000	6	0.163	0.028	2164	2498	3088	0	0	0	0	0	0
5335	-0.73	-146.0	638.1	-9.6	480	5339	0.00	1.20	0.00	0.000	4	0.000	0.061	2162	3214	3089	0	0	0	0	0	0
5426	-0.73	-146.0	644.5	-9.8	482	5433	0.00	1.10	0.00	0.000	6	0.000	0.029	2162	2502	3089	0	0	0	0	0	0
5462	end dive: TARGET_DEPTH_EXCEEDED
state	5462	begin apogee
5468	-0.16	0.0	650.7	-9.7	484	5596	0.55	0.00	121.85	1.313	6	0.125	0.000	2342	2194	2485	0	0	0	0	0	0
5597	end apogee: CONTROL_FINISHED_OK
state	5597	begin climb
5599	0.73	146.0	656.0	0.0	488	5740	0.85	1.20	130.45	1.255	4	0.067	0.048	2635	1509	1888	0	0	0	0	0	0
5983	0.73	146.0	626.4	11.3	500	5988	0.00	1.23	0.00	0.000	6	0.000	0.042	2635	2212	1880	0	0	0	0	0	0
6318	0.73	146.0	586.6	11.5	511	6321	0.00	1.15	0.00	0.000	4	0.000	0.054	2635	2911	1879	0	0	0	0	0	0
6496	0.73	146.0	567.2	11.7	516	6500	0.00	1.15	0.00	0.000	6	0.000	0.035	2640	2208	1877	0	0	0	0	0	0
6822	0.73	146.0	529.1	11.1	527	6826	0.00	1.10	0.00	0.000	4	0.000	0.047	2646	1495	1877	0	0	0	0	0	0
6993	0.73	146.0	510.8	10.9	532	6997	0.00	1.17	0.00	0.000	6	0.000	0.042	2646	2206	1875	0	0	0	0	0	0
7316	0.73	146.0	475.4	10.9	552	7317	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2205	1875	0	0	0	0	0	0
7630	0.73	146.0	440.3	11.2	577	7633	0.00	1.15	0.00	0.000	4	0.000	0.044	2650	1491	1875	0	0	0	0	0	0
7775	0.73	146.0	424.8	10.7	588	7778	0.00	1.15	0.00	0.000	6	0.000	0.044	2650	2200	1874	0	0	0	0	0	0
8105	0.73	146.0	389.6	10.9	614	8108	0.00	1.12	0.00	0.000	4	0.000	0.045	2654	1497	1874	0	0	0	0	0	0
8199	0.73	146.0	379.3	10.9	621	8202	0.00	1.15	0.00	0.000	6	0.000	0.043	2654	2208	1874	0	0	0	0	0	0
8529	0.73	146.0	343.4	10.3	647	8533	0.00	1.15	0.00	0.000	4	0.000	0.044	2658	1491	1874	0	0	0	0	0	0
8741	0.73	146.0	321.6	10.1	663	8745	0.00	1.15	0.00	0.000	6	0.000	0.044	2659	2205	1874	0	0	0	0	0	0
9071	0.73	146.0	288.5	10.3	689	9075	0.00	1.12	0.00	0.000	4	0.000	0.054	2659	2907	1874	0	0	0	0	0	0
9204	0.73	146.0	274.4	10.7	699	9208	0.08	1.12	0.00	0.000	6	0.153	0.034	2639	2203	1874	0	0	0	0	0	0
9528	0.74	156.6	244.5	8.7	729	9544	0.00	1.08	7.88	0.949	4	0.000	0.047	2643	1497	1846	0	0	0	0	0	0
9651	0.75	166.3	233.8	8.8	747	9665	0.00	1.15	10.23	0.980	6	0.000	0.043	2643	2207	1806	0	0	0	0	0	0
9995	0.76	176.8	204.0	8.7	799	10009	0.00	1.15	10.32	0.975	4	0.000	0.054	2643	2902	1764	0	0	0	0	0	0
10089	0.77	183.0	195.5	8.9	813	10105	0.00	1.15	7.18	0.913	6	0.000	0.035	2648	2194	1737	0	0	0	0	0	0
10435	0.79	202.8	164.3	8.3	865	10458	0.00	1.12	18.15	1.000	4	0.000	0.048	2653	1491	1658	0	0	0	0	0	0
10598	0.82	226.7	150.9	8.2	889	10626	0.00	1.17	21.40	0.991	6	0.000	0.044	2653	2206	1559	0	0	0	0	0	0
10959	0.83	233.4	119.9	8.9	943	10972	0.00	1.12	6.75	0.869	4	0.000	0.050	2653	2911	1533	0	0	0	0	0	0
11225	0.85	243.7	95.1	8.7	983	11239	0.00	1.15	10.05	0.924	6	0.000	0.035	2657	2204	1491	0	0	0	0	0	0
11572	0.85	249.0	65.0	8.9	1035	11585	0.00	0.00	5.95	0.833	6	0.000	0.000	2657	2203	1468	0	0	0	0	0	0
11917	0.91	292.3	35.5	7.3	1087	11963	0.10	1.12	37.50	0.952	4	0.104	0.048	2703	1497	1291	0	0	0	0	0	0
12057	0.91	292.3	21.3	10.3	1108	12064	0.00	1.17	0.00	0.000	6	0.000	0.044	2703	2203	1288	0	0	0	0	0	0
12239	end climb: SURFACE_DEPTH_REACHED
state	12239	begin surface coast
12253	end surface coast: CONTROL_FINISHED_OK
state	12254	begin surface