Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 290 * 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 290 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 26 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 -83985.805 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 -83985.805

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 26 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 290 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 231111,123013,6644.830,-5956.739,0,6109.8,0,-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 2.27 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -29.7 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 231111,123013,6644.830,-5956.739,181,99.0,181,-33.9 MHEAD_RNG_PITCHd_Wd 340.1,34292,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 679

Post-dive calculations and measurements:

FREEZE 1.52,-0.713,-0.690,2,2,0 ALTIM_BOTTOM_PING 651.0,39.8

FINISH 1.5,1.010132 _24V_AH 22.5,36.691

SM_CCo 12535,104.12,0.086,0,0,441,501.15 _10V_AH 10.1,27.634

SM_GC 2.35,6.72,0.52,104.12,0.036,0.058,0.086,120,2515,441,-7.06,-0.68,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 908 FG_AHR_10Vo 0.000

RAFOS 0,1322064067,16.033333,16.018612,91,56,56,0,0,0,632,178,147,0,0,0 MEM 150228

RAFOS_FIX 6645.237793,-5956.918457,231111,161613,6,105,0.05 DATA_FILE_SIZE 43318,1137

IRIDIUM_FIX 6614.97,-5959.11,231111,101022 CAP_FILE_SIZE 129643,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,227856384

HUMID 55.71 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1453.6

TCM_TEMP 16.20 CURRENT 0.188,287.6,1

XPDR_PINGS 6 GPS 231111,172035,6646.890,-6003.311,40,0.8,40,-33.9

ALTIM_TOP_PING 19.4,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 257 99.92 SBE_CT 823 23 430.11

Roll_motor 58 68 89.23 SBE_O2 631 5 74.41

VBD_pump_during_apogee 361 1331 10823.84 nil 0 0 0.00

VBD_pump_during_surface 104 85 200.73 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 123 238 664.74 nil 0 0 0.00

Transponder_ping 4 420 40.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 182 26 49.56

TT8 3106 18 587.05

LPSleep 6983 2 162.93

TT8_Active 652 18 123.37

TT8_Sampling 2208 41 935.18

TT8_CF8 257 47 124.66

TT8_Kalman 0 0 0.00

Analog_circuits 1795 12 217.56

GPS_charging 0 0 0.00

Compass 1885 6 128.35

RAFOS 2520 1 38.18

Transponder 22 30 6.84

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 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 155 0.00 0.00 -135.77 0.000 2 0.000 0.000 113 2514 2288 0 0 0 0 0 0

159 -0.73 -146.0 3.1 0.0 21 200 8.77 1.15 -24.98 0.000 4 0.258 0.067 2158 1813 3083 0 0 0 0 0 0

281 -0.73 -146.0 27.6 -19.4 38 288 0.00 1.20 0.00 0.000 6 0.000 0.054 2156 2506 3084 0 0 0 0 0 0

621 -0.73 -146.0 85.3 -16.4 89 628 0.00 1.15 0.00 0.000 4 0.000 0.068 2150 3219 3085 0 0 0 0 0 0

681 -0.73 -146.0 95.2 -15.5 98 688 0.00 1.12 0.00 0.000 6 0.000 0.034 2150 2501 3085 0 0 0 0 0 0

1019 -0.73 -146.0 146.7 -14.5 149 1026 0.00 1.20 0.00 0.000 4 0.000 0.063 2146 3216 3085 0 0 0 0 0 0

1165 -0.73 -146.0 168.0 -14.6 171 1172 0.00 1.10 0.00 0.000 6 0.000 0.033 2145 2509 3085 0 0 0 0 0 0

1503 -0.73 -146.0 214.1 -13.4 222 1510 0.00 1.17 0.00 0.000 4 0.000 0.063 2141 3211 3085 0 0 0 0 0 0

1525 -0.73 -146.0 217.0 -14.2 225 1531 0.00 1.10 0.00 0.000 6 0.000 0.032 2142 2501 3085 0 0 0 0 0 0

1860 -0.73 -146.0 262.1 -12.8 269 1864 0.00 1.20 0.00 0.000 4 0.000 0.063 2137 3219 3085 0 0 0 0 0 0

1878 -0.73 -146.0 264.0 -12.8 270 1886 0.00 1.12 0.00 0.000 6 0.000 0.031 2137 2505 3085 0 0 0 0 0 0

2203 -0.73 -146.0 305.3 -12.5 296 2204 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2505 3085 0 0 0 0 0 0

2520 -0.73 -146.0 344.5 -12.2 321 2523 0.00 1.17 0.00 0.000 4 0.000 0.063 2133 3210 3084 0 0 0 0 0 0

2546 -0.73 -146.0 348.0 -11.7 323 2551 0.10 1.10 0.00 0.000 6 0.145 0.032 2163 2497 3084 0 0 0 0 0 0

2876 -0.73 -146.0 380.8 -9.8 349 2880 0.00 1.20 0.00 0.000 4 0.000 0.063 2160 3211 3085 0 0 0 0 0 0

2902 -0.73 -146.0 383.6 -9.8 351 2906 0.00 1.08 0.00 0.000 6 0.000 0.032 2161 2514 3084 0 0 0 0 0 0

3234 -0.73 -146.0 415.8 -9.2 377 3238 0.00 1.17 0.00 0.000 4 0.000 0.062 2156 3219 3085 0 0 0 0 0 0

3252 -0.73 -146.0 417.4 -9.4 378 3260 0.00 1.12 0.00 0.000 6 0.000 0.031 2156 2498 3085 0 0 0 0 0 0

3577 -0.73 -146.0 449.7 -10.5 404 3580 0.00 1.20 0.00 0.000 4 0.000 0.062 2152 3217 3085 0 0 0 0 0 0

3630 -0.73 -146.0 455.5 -10.6 408 3634 0.00 1.10 0.00 0.000 6 0.000 0.031 2152 2501 3085 0 0 0 0 0 0

3961 -0.73 -146.0 489.9 -10.1 434 3965 0.00 1.17 0.00 0.000 4 0.000 0.060 2147 3211 3086 0 0 0 0 0 0

4079 -0.73 -146.0 501.1 -10.5 442 4084 0.00 1.10 0.00 0.000 6 0.000 0.029 2147 2501 3086 0 0 0 0 0 0

4401 -0.73 -146.0 536.6 -10.8 453 4404 0.00 1.17 0.00 0.000 4 0.000 0.061 2143 3211 3086 0 0 0 0 0 0

4485 -0.73 -146.0 544.0 -10.8 455 4490 0.00 1.10 0.00 0.000 6 0.000 0.029 2142 2500 3086 0 0 0 0 0 0

4806 -0.73 -146.0 581.6 -11.4 466 4809 0.00 1.20 0.00 0.000 4 0.000 0.061 2138 3222 3086 0 0 0 0 0 0

4839 -0.73 -146.0 585.3 -11.3 467 4843 0.00 1.10 0.00 0.000 6 0.000 0.031 2137 2502 3086 0 0 0 0 0 0

5178 -0.73 -146.0 623.1 -11.1 478 5182 0.00 1.17 0.00 0.000 4 0.000 0.061 2134 3211 3087 0 0 0 0 0 0

5189 -0.73 -146.0 623.1 -11.1 478 5195 0.12 1.10 0.00 0.000 6 0.161 0.029 2164 2499 3087 0 0 0 0 0 0

5519 -0.73 -146.0 653.4 -7.5 489 5520 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2498 3087 0 0 0 0 0 0

5761 end dive: BOTTOM_OBSTACLE_DETECTED

state 5761 begin apogee

5767 -0.16 0.0 676.0 -9.8 497 5894 0.52 0.00 122.15 1.331 6 0.123 0.000 2340 2197 2484 0 0 0 0 0 0

5895 end apogee: CONTROL_FINISHED_OK

state 5895 begin climb

5898 0.73 146.0 680.8 0.0 501 6041 0.88 1.23 130.90 1.271 4 0.071 0.047 2638 1506 1888 0 0 0 0 0 0

6291 0.73 146.0 647.4 12.1 513 6296 0.00 1.23 0.00 0.000 6 0.000 0.043 2639 2207 1880 0 0 0 0 0 0

6613 0.73 146.0 607.8 11.6 524 6616 0.00 1.15 0.00 0.000 4 0.000 0.044 2643 1508 1878 0 0 0 0 0 0

6780 0.73 146.0 588.4 11.5 529 6784 0.00 1.15 0.00 0.000 6 0.000 0.044 2643 2202 1876 0 0 0 0 0 0

7119 0.73 146.0 548.5 11.5 540 7123 0.00 1.15 0.00 0.000 4 0.000 0.054 2644 2910 1876 0 0 0 0 0 0

7210 0.73 146.0 540.7 11.6 542 7218 0.00 1.15 0.00 0.000 6 0.000 0.034 2648 2207 1875 0 0 0 0 0 0

7526 0.73 146.0 502.1 11.7 553 7527 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2207 1875 0 0 0 0 0 0

7846 0.73 146.0 467.0 10.8 577 7847 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2207 1875 0 0 0 0 0 0

8161 0.73 146.0 432.4 11.2 602 8165 0.00 1.08 0.00 0.000 4 0.000 0.048 2653 1499 1874 0 0 0 0 0 0

8245 0.73 146.0 423.6 10.9 608 8255 0.00 1.17 0.00 0.000 6 0.000 0.044 2653 2212 1874 0 0 0 0 0 0

8571 0.73 146.0 386.3 11.3 634 8572 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2212 1874 0 0 0 0 0 0

8886 0.73 146.0 349.3 12.1 659 8889 0.00 1.10 0.00 0.000 4 0.000 0.054 2653 2900 1874 0 0 0 0 0 0

9046 0.73 146.0 329.7 12.3 671 9049 0.00 1.12 0.00 0.000 6 0.000 0.035 2657 2198 1874 0 0 0 0 0 0

9374 0.73 146.0 292.9 10.2 697 9378 0.00 1.08 0.00 0.000 4 0.000 0.048 2662 1490 1874 0 0 0 0 0 0

9494 0.73 146.0 280.4 10.5 706 9498 0.00 1.15 0.00 0.000 6 0.000 0.044 2663 2203 1874 0 0 0 0 0 0

9817 0.73 146.0 247.6 10.6 733 9826 0.00 1.12 0.00 0.000 4 0.000 0.045 2667 1497 1874 0 0 0 0 0 0

10070 0.73 146.0 221.7 9.4 771 10077 0.10 1.12 0.00 0.000 6 0.148 0.044 2636 2197 1874 0 0 0 0 0 0

10410 0.73 151.1 192.4 9.0 822 10417 0.00 1.12 0.00 0.000 4 0.000 0.056 2636 2906 1874 0 0 0 0 0 0

10669 0.78 190.3 171.7 7.5 861 10711 0.00 1.12 35.72 1.021 6 0.000 0.036 2639 2201 1708 0 0 0 0 0 0

11043 0.83 232.9 141.1 7.4 917 11085 0.00 1.15 36.25 0.997 4 0.000 0.049 2645 1494 1534 0 0 0 0 0 0

11145 0.86 252.8 132.7 8.3 932 11167 0.00 1.17 18.00 0.949 6 0.000 0.044 2644 2197 1454 0 0 0 0 0 0

11498 0.86 252.8 98.6 9.8 985 11507 0.00 1.15 0.00 0.000 4 0.000 0.055 2644 2907 1448 0 0 0 0 0 0

11562 0.86 252.8 92.1 10.6 994 11569 0.00 1.15 0.00 0.000 6 0.000 0.035 2649 2203 1448 0 0 0 0 0 0

11900 0.88 269.6 59.0 8.5 1045 11921 0.00 1.23 14.30 0.936 4 0.000 0.050 2649 2909 1385 0 0 0 0 0 0

11981 0.88 269.6 50.1 11.2 1057 11990 0.00 1.15 0.00 0.000 6 0.000 0.034 2653 2200 1383 0 0 0 0 0 0

12323 0.88 269.6 16.6 10.5 1108 12330 0.00 1.08 0.00 0.000 4 0.000 0.048 2658 1492 1381 0 0 0 0 0 0

12475 0.89 279.1 3.9 8.8 1131 12483 0.00 1.15 4.07 0.090 6 0.000 0.042 2659 2204 1347 0 0 0 0 0 0

12496 end climb: SURFACE_DEPTH_REACHED

state 12496 begin surface coast

12518 end surface coast: FINISH_DEPTH_REACHED

state 12518 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	290	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	26	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	-83985.805	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	231111,123013,6644.830,-5956.739,0,6109.8,0,-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	2.27	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-29.7	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	231111,123013,6644.830,-5956.739,181,99.0,181,-33.9	MHEAD_RNG_PITCHd_Wd	340.1,34292,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	679

FREEZE	1.52,-0.713,-0.690,2,2,0	ALTIM_BOTTOM_PING	651.0,39.8
FINISH	1.5,1.010132	_24V_AH	22.5,36.691
SM_CCo	12535,104.12,0.086,0,0,441,501.15	_10V_AH	10.1,27.634
SM_GC	2.35,6.72,0.52,104.12,0.036,0.058,0.086,120,2515,441,-7.06,-0.68,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	908	FG_AHR_10Vo	0.000
RAFOS	0,1322064067,16.033333,16.018612,91,56,56,0,0,0,632,178,147,0,0,0	MEM	150228
RAFOS_FIX	6645.237793,-5956.918457,231111,161613,6,105,0.05	DATA_FILE_SIZE	43318,1137
IRIDIUM_FIX	6614.97,-5959.11,231111,101022	CAP_FILE_SIZE	129643,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,227856384
HUMID	55.71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1453.6
TCM_TEMP	16.20	CURRENT	0.188,287.6,1
XPDR_PINGS	6	GPS	231111,172035,6646.890,-6003.311,40,0.8,40,-33.9
ALTIM_TOP_PING	19.4,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	257	99.92	SBE_CT	823	23	430.11
Roll_motor	58	68	89.23	SBE_O2	631	5	74.41
VBD_pump_during_apogee	361	1331	10823.84	nil	0	0	0.00
VBD_pump_during_surface	104	85	200.73	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	238	664.74	nil	0	0	0.00
Transponder_ping	4	420	40.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	182	26	49.56
TT8	3106	18	587.05
LPSleep	6983	2	162.93
TT8_Active	652	18	123.37
TT8_Sampling	2208	41	935.18
TT8_CF8	257	47	124.66
TT8_Kalman	0	0	0.00
Analog_circuits	1795	12	217.56
GPS_charging	0	0	0.00
Compass	1885	6	128.35
RAFOS	2520	1	38.18
Transponder	22	30	6.84

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	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	155	0.00	0.00	-135.77	0.000	2	0.000	0.000	113	2514	2288	0	0	0	0	0	0
159	-0.73	-146.0	3.1	0.0	21	200	8.77	1.15	-24.98	0.000	4	0.258	0.067	2158	1813	3083	0	0	0	0	0	0
281	-0.73	-146.0	27.6	-19.4	38	288	0.00	1.20	0.00	0.000	6	0.000	0.054	2156	2506	3084	0	0	0	0	0	0
621	-0.73	-146.0	85.3	-16.4	89	628	0.00	1.15	0.00	0.000	4	0.000	0.068	2150	3219	3085	0	0	0	0	0	0
681	-0.73	-146.0	95.2	-15.5	98	688	0.00	1.12	0.00	0.000	6	0.000	0.034	2150	2501	3085	0	0	0	0	0	0
1019	-0.73	-146.0	146.7	-14.5	149	1026	0.00	1.20	0.00	0.000	4	0.000	0.063	2146	3216	3085	0	0	0	0	0	0
1165	-0.73	-146.0	168.0	-14.6	171	1172	0.00	1.10	0.00	0.000	6	0.000	0.033	2145	2509	3085	0	0	0	0	0	0
1503	-0.73	-146.0	214.1	-13.4	222	1510	0.00	1.17	0.00	0.000	4	0.000	0.063	2141	3211	3085	0	0	0	0	0	0
1525	-0.73	-146.0	217.0	-14.2	225	1531	0.00	1.10	0.00	0.000	6	0.000	0.032	2142	2501	3085	0	0	0	0	0	0
1860	-0.73	-146.0	262.1	-12.8	269	1864	0.00	1.20	0.00	0.000	4	0.000	0.063	2137	3219	3085	0	0	0	0	0	0
1878	-0.73	-146.0	264.0	-12.8	270	1886	0.00	1.12	0.00	0.000	6	0.000	0.031	2137	2505	3085	0	0	0	0	0	0
2203	-0.73	-146.0	305.3	-12.5	296	2204	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2505	3085	0	0	0	0	0	0
2520	-0.73	-146.0	344.5	-12.2	321	2523	0.00	1.17	0.00	0.000	4	0.000	0.063	2133	3210	3084	0	0	0	0	0	0
2546	-0.73	-146.0	348.0	-11.7	323	2551	0.10	1.10	0.00	0.000	6	0.145	0.032	2163	2497	3084	0	0	0	0	0	0
2876	-0.73	-146.0	380.8	-9.8	349	2880	0.00	1.20	0.00	0.000	4	0.000	0.063	2160	3211	3085	0	0	0	0	0	0
2902	-0.73	-146.0	383.6	-9.8	351	2906	0.00	1.08	0.00	0.000	6	0.000	0.032	2161	2514	3084	0	0	0	0	0	0
3234	-0.73	-146.0	415.8	-9.2	377	3238	0.00	1.17	0.00	0.000	4	0.000	0.062	2156	3219	3085	0	0	0	0	0	0
3252	-0.73	-146.0	417.4	-9.4	378	3260	0.00	1.12	0.00	0.000	6	0.000	0.031	2156	2498	3085	0	0	0	0	0	0
3577	-0.73	-146.0	449.7	-10.5	404	3580	0.00	1.20	0.00	0.000	4	0.000	0.062	2152	3217	3085	0	0	0	0	0	0
3630	-0.73	-146.0	455.5	-10.6	408	3634	0.00	1.10	0.00	0.000	6	0.000	0.031	2152	2501	3085	0	0	0	0	0	0
3961	-0.73	-146.0	489.9	-10.1	434	3965	0.00	1.17	0.00	0.000	4	0.000	0.060	2147	3211	3086	0	0	0	0	0	0
4079	-0.73	-146.0	501.1	-10.5	442	4084	0.00	1.10	0.00	0.000	6	0.000	0.029	2147	2501	3086	0	0	0	0	0	0
4401	-0.73	-146.0	536.6	-10.8	453	4404	0.00	1.17	0.00	0.000	4	0.000	0.061	2143	3211	3086	0	0	0	0	0	0
4485	-0.73	-146.0	544.0	-10.8	455	4490	0.00	1.10	0.00	0.000	6	0.000	0.029	2142	2500	3086	0	0	0	0	0	0
4806	-0.73	-146.0	581.6	-11.4	466	4809	0.00	1.20	0.00	0.000	4	0.000	0.061	2138	3222	3086	0	0	0	0	0	0
4839	-0.73	-146.0	585.3	-11.3	467	4843	0.00	1.10	0.00	0.000	6	0.000	0.031	2137	2502	3086	0	0	0	0	0	0
5178	-0.73	-146.0	623.1	-11.1	478	5182	0.00	1.17	0.00	0.000	4	0.000	0.061	2134	3211	3087	0	0	0	0	0	0
5189	-0.73	-146.0	623.1	-11.1	478	5195	0.12	1.10	0.00	0.000	6	0.161	0.029	2164	2499	3087	0	0	0	0	0	0
5519	-0.73	-146.0	653.4	-7.5	489	5520	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2498	3087	0	0	0	0	0	0
5761	end dive: BOTTOM_OBSTACLE_DETECTED
state	5761	begin apogee
5767	-0.16	0.0	676.0	-9.8	497	5894	0.52	0.00	122.15	1.331	6	0.123	0.000	2340	2197	2484	0	0	0	0	0	0
5895	end apogee: CONTROL_FINISHED_OK
state	5895	begin climb
5898	0.73	146.0	680.8	0.0	501	6041	0.88	1.23	130.90	1.271	4	0.071	0.047	2638	1506	1888	0	0	0	0	0	0
6291	0.73	146.0	647.4	12.1	513	6296	0.00	1.23	0.00	0.000	6	0.000	0.043	2639	2207	1880	0	0	0	0	0	0
6613	0.73	146.0	607.8	11.6	524	6616	0.00	1.15	0.00	0.000	4	0.000	0.044	2643	1508	1878	0	0	0	0	0	0
6780	0.73	146.0	588.4	11.5	529	6784	0.00	1.15	0.00	0.000	6	0.000	0.044	2643	2202	1876	0	0	0	0	0	0
7119	0.73	146.0	548.5	11.5	540	7123	0.00	1.15	0.00	0.000	4	0.000	0.054	2644	2910	1876	0	0	0	0	0	0
7210	0.73	146.0	540.7	11.6	542	7218	0.00	1.15	0.00	0.000	6	0.000	0.034	2648	2207	1875	0	0	0	0	0	0
7526	0.73	146.0	502.1	11.7	553	7527	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2207	1875	0	0	0	0	0	0
7846	0.73	146.0	467.0	10.8	577	7847	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2207	1875	0	0	0	0	0	0
8161	0.73	146.0	432.4	11.2	602	8165	0.00	1.08	0.00	0.000	4	0.000	0.048	2653	1499	1874	0	0	0	0	0	0
8245	0.73	146.0	423.6	10.9	608	8255	0.00	1.17	0.00	0.000	6	0.000	0.044	2653	2212	1874	0	0	0	0	0	0
8571	0.73	146.0	386.3	11.3	634	8572	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2212	1874	0	0	0	0	0	0
8886	0.73	146.0	349.3	12.1	659	8889	0.00	1.10	0.00	0.000	4	0.000	0.054	2653	2900	1874	0	0	0	0	0	0
9046	0.73	146.0	329.7	12.3	671	9049	0.00	1.12	0.00	0.000	6	0.000	0.035	2657	2198	1874	0	0	0	0	0	0
9374	0.73	146.0	292.9	10.2	697	9378	0.00	1.08	0.00	0.000	4	0.000	0.048	2662	1490	1874	0	0	0	0	0	0
9494	0.73	146.0	280.4	10.5	706	9498	0.00	1.15	0.00	0.000	6	0.000	0.044	2663	2203	1874	0	0	0	0	0	0
9817	0.73	146.0	247.6	10.6	733	9826	0.00	1.12	0.00	0.000	4	0.000	0.045	2667	1497	1874	0	0	0	0	0	0
10070	0.73	146.0	221.7	9.4	771	10077	0.10	1.12	0.00	0.000	6	0.148	0.044	2636	2197	1874	0	0	0	0	0	0
10410	0.73	151.1	192.4	9.0	822	10417	0.00	1.12	0.00	0.000	4	0.000	0.056	2636	2906	1874	0	0	0	0	0	0
10669	0.78	190.3	171.7	7.5	861	10711	0.00	1.12	35.72	1.021	6	0.000	0.036	2639	2201	1708	0	0	0	0	0	0
11043	0.83	232.9	141.1	7.4	917	11085	0.00	1.15	36.25	0.997	4	0.000	0.049	2645	1494	1534	0	0	0	0	0	0
11145	0.86	252.8	132.7	8.3	932	11167	0.00	1.17	18.00	0.949	6	0.000	0.044	2644	2197	1454	0	0	0	0	0	0
11498	0.86	252.8	98.6	9.8	985	11507	0.00	1.15	0.00	0.000	4	0.000	0.055	2644	2907	1448	0	0	0	0	0	0
11562	0.86	252.8	92.1	10.6	994	11569	0.00	1.15	0.00	0.000	6	0.000	0.035	2649	2203	1448	0	0	0	0	0	0
11900	0.88	269.6	59.0	8.5	1045	11921	0.00	1.23	14.30	0.936	4	0.000	0.050	2649	2909	1385	0	0	0	0	0	0
11981	0.88	269.6	50.1	11.2	1057	11990	0.00	1.15	0.00	0.000	6	0.000	0.034	2653	2200	1383	0	0	0	0	0	0
12323	0.88	269.6	16.6	10.5	1108	12330	0.00	1.08	0.00	0.000	4	0.000	0.048	2658	1492	1381	0	0	0	0	0	0
12475	0.89	279.1	3.9	8.8	1131	12483	0.00	1.15	4.07	0.090	6	0.000	0.042	2659	2204	1347	0	0	0	0	0	0
12496	end climb: SURFACE_DEPTH_REACHED
state	12496	begin surface coast
12518	end surface coast: FINISH_DEPTH_REACHED
state	12518	begin surface