Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 292 * 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 292 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 41 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 31 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 -84352.094 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 -84352.094

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 41 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 31 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 292 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 231111,202523,6642.635,-5957.339,0,5102.8,0,-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 2.49 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -29.9 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 231111,202523,6642.635,-5957.339,181,99.0,181,-33.9 MHEAD_RNG_PITCHd_Wd 346.9,33469,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 654

Post-dive calculations and measurements:

FREEZE 1.87,-0.728,-1.688,2,2,0 ALTIM_BOTTOM_PING 552.4,114.5

FINISH 1.9,1.024795 _24V_AH 22.6,36.937

SM_CCo 12213,103.07,0.086,0,0,441,501.15 _10V_AH 10.1,27.817

SM_GC 2.27,6.93,0.65,103.07,0.043,0.037,0.086,114,2513,441,-7.07,1.27,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 879 FG_AHR_10Vo 0.000

RAFOS 6,1322081343,20.833334,20.817499,65,61,61,0,0,0,206,195,219,0,0,0 MEM 150188

RAFOS_FIX 6640.961426,-6004.403320,241111,000044,2,119,0.44 DATA_FILE_SIZE 43279,1139

IRIDIUM_FIX 6620.33,-5953.65,231111,171757 CAP_FILE_SIZE 123322,0

TT8_MAMPS 0.028462,0.028462 CFSIZE 260165632,227729408

HUMID 55.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.75623 SOUNDSPEED 1452.8

TCM_TEMP 16.10 CURRENT 0.607,207.6,1

XPDR_PINGS 9 GPS 241111,001144,6640.961,-6004.403,0,2119.0,0,-33.9

ALTIM_TOP_PING 19.3,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 235 89.33 SBE_CT 826 23 433.59

Roll_motor 52 67 79.53 SBE_O2 635 5 75.23

VBD_pump_during_apogee 370 1316 11009.12 nil 0 0 0.00

VBD_pump_during_surface 103 86 201.37 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 123 241 672.20 nil 0 0 0.00

Transponder_ping 4 420 42.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 26 49.29

TT8 3062 18 578.75

LPSleep 6766 2 157.87

TT8_Active 639 18 120.86

TT8_Sampling 2161 41 915.50

TT8_CF8 225 47 109.26

TT8_Kalman 0 0 0.00

Analog_circuits 1756 12 212.94

GPS_charging 0 0 0.00

Compass 1843 6 125.51

RAFOS 1440 1 21.82

Transponder 19 30 5.82

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 94 0.00 0.00 -75.15 0.000 2 0.000 0.000 113 2521 1590 0 0 0 0 0 0

97 -0.73 -146.0 3.3 -2.7 11 194 8.25 1.15 -81.60 0.000 4 0.236 0.067 2159 1816 3079 0 0 0 0 0 0

296 -0.73 -146.0 27.8 -20.9 41 303 0.00 1.17 0.00 0.000 6 0.000 0.052 2156 2499 3080 0 0 0 0 0 0

635 -0.73 -146.0 83.8 -14.2 92 641 0.00 1.15 0.00 0.000 4 0.000 0.066 2151 3216 3080 0 0 0 0 0 0

709 -0.73 -146.0 94.7 -14.9 103 716 0.00 1.10 0.00 0.000 6 0.000 0.032 2151 2504 3080 0 0 0 0 0 0

1048 -0.73 -146.0 145.0 -14.1 154 1056 0.00 1.17 0.00 0.000 4 0.000 0.062 2146 3209 3080 0 0 0 0 0 0

1063 -0.73 -146.0 147.4 -14.3 156 1070 0.00 1.08 0.00 0.000 6 0.000 0.031 2147 2513 3080 0 0 0 0 0 0

1401 -0.73 -146.0 194.0 -13.2 207 1407 0.00 1.17 0.00 0.000 4 0.000 0.061 2142 3219 3080 0 0 0 0 0 0

1527 -0.73 -146.0 210.9 -12.7 226 1535 0.00 1.10 0.00 0.000 6 0.000 0.031 2142 2505 3080 0 0 0 0 0 0

1871 -0.73 -146.0 254.7 -12.3 275 1875 0.00 1.20 0.00 0.000 4 0.000 0.060 2138 3219 3081 0 0 0 0 0 0

1889 -0.73 -146.0 256.4 -12.1 276 1897 0.00 1.12 0.00 0.000 6 0.000 0.030 2137 2499 3080 0 0 0 0 0 0

2214 -0.73 -146.0 297.6 -12.5 302 2217 0.00 1.20 0.00 0.000 4 0.000 0.061 2133 3217 3080 0 0 0 0 0 0

2228 -0.73 -146.0 299.4 -12.4 303 2233 0.10 1.10 0.00 0.000 6 0.147 0.031 2163 2499 3081 0 0 0 0 0 0

2556 -0.73 -146.0 335.5 -10.9 329 2560 0.00 1.17 0.00 0.000 4 0.000 0.061 2161 3207 3080 0 0 0 0 0 0

2596 -0.73 -146.0 339.8 -11.0 332 2600 0.00 1.08 0.00 0.000 6 0.000 0.031 2161 2506 3080 0 0 0 0 0 0

2926 -0.73 -146.0 374.4 -10.2 358 2930 0.00 1.17 0.00 0.000 4 0.000 0.060 2156 3213 3080 0 0 0 0 0 0

2941 -0.73 -146.0 375.9 -10.4 359 2945 0.00 1.08 0.00 0.000 6 0.000 0.030 2156 2508 3080 0 0 0 0 0 0

3271 -0.73 -146.0 411.4 -10.7 385 3272 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2508 3080 0 0 0 0 0 0

3586 -0.73 -146.0 445.8 -11.1 410 3587 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2508 3081 0 0 0 0 0 0

3902 -0.73 -146.0 480.5 -10.9 435 3906 0.00 1.17 0.00 0.000 4 0.000 0.060 2152 3215 3081 0 0 0 0 0 0

3917 -0.73 -146.0 482.1 -11.0 436 3920 0.00 1.08 0.00 0.000 6 0.000 0.028 2152 2507 3081 0 0 0 0 0 0

4235 -0.73 -146.0 517.2 -10.9 454 4236 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2508 3082 0 0 0 0 0 0

4541 -0.73 -146.0 549.2 -10.5 464 4544 0.00 1.17 0.00 0.000 4 0.000 0.060 2147 3217 3082 0 0 0 0 0 0

4592 -0.73 -146.0 552.4 -10.3 465 4597 0.00 1.08 0.00 0.000 6 0.000 0.028 2147 2502 3082 0 0 0 0 0 0

4912 -0.73 -146.0 585.3 -9.9 476 4916 0.00 1.17 0.00 0.000 4 0.000 0.060 2142 3210 3083 0 0 0 0 0 0

4946 -0.73 -146.0 589.1 -10.4 477 4950 0.00 1.05 0.00 0.000 6 0.000 0.028 2142 2515 3083 0 0 0 0 0 0

5286 -0.73 -146.0 626.7 -12.7 488 5290 0.00 1.15 0.00 0.000 4 0.000 0.057 2138 3214 3083 0 0 0 0 0 0

5297 -0.73 -146.0 626.7 -12.7 488 5302 0.00 1.10 0.00 0.000 6 0.000 0.028 2138 2498 3083 0 0 0 0 0 0

5502 end dive: BOTTOM_OBSTACLE_DETECTED

state 5502 begin apogee

5507 -0.16 0.0 652.1 -11.8 495 5634 0.62 0.00 120.22 1.317 6 0.130 0.000 2340 2193 2487 0 0 0 0 0 0

5635 end apogee: CONTROL_FINISHED_OK

state 5635 begin climb

5637 0.73 146.0 657.0 0.0 499 5778 0.88 1.23 131.18 1.258 4 0.071 0.047 2638 1499 1888 0 0 0 0 0 0

6028 0.73 146.0 623.7 13.3 511 6033 0.00 1.23 0.00 0.000 6 0.000 0.039 2638 2210 1880 0 0 0 0 0 0

6355 0.73 146.0 583.9 12.0 522 6359 0.00 1.15 0.00 0.000 4 0.000 0.042 2643 1504 1878 0 0 0 0 0 0

6473 0.73 146.0 572.0 12.0 525 6477 0.00 1.17 0.00 0.000 6 0.000 0.041 2642 2208 1878 0 0 0 0 0 0

6793 0.73 146.0 536.0 10.5 536 6794 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2208 1877 0 0 0 0 0 0

7099 0.73 146.0 502.1 11.1 546 7100 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2208 1876 0 0 0 0 0 0

7421 0.73 146.0 466.7 10.9 570 7422 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2209 1876 0 0 0 0 0 0

7737 0.73 146.0 432.8 10.8 595 7741 0.00 1.10 0.00 0.000 4 0.000 0.052 2643 2897 1876 0 0 0 0 0 0

7835 0.73 146.0 422.3 11.4 602 7845 0.00 1.12 0.00 0.000 6 0.000 0.031 2647 2200 1875 0 0 0 0 0 0

8159 0.73 146.0 384.7 11.6 628 8160 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2200 1875 0 0 0 0 0 0

8474 0.73 146.0 348.6 10.7 653 8477 0.00 1.05 0.00 0.000 4 0.000 0.046 2653 1500 1875 0 0 0 0 0 0

8661 0.73 146.0 328.7 10.6 667 8665 0.00 1.12 0.00 0.000 6 0.000 0.041 2653 2202 1875 0 0 0 0 0 0

8992 0.73 146.0 294.6 9.6 693 8995 0.00 1.12 0.00 0.000 4 0.000 0.054 2653 2907 1875 0 0 0 0 0 0

9036 0.73 146.0 290.5 9.9 696 9044 0.00 1.15 0.00 0.000 6 0.000 0.034 2657 2197 1875 0 0 0 0 0 0

9361 0.74 155.0 260.3 8.8 722 9377 0.00 1.17 6.60 0.929 4 0.000 0.047 2657 2912 1852 0 0 0 0 0 0

9535 0.74 155.0 243.1 10.1 740 9542 0.00 1.15 0.00 0.000 6 0.000 0.033 2662 2193 1852 0 0 0 0 0 0

9873 0.74 159.0 211.8 9.0 791 9887 0.00 1.08 5.15 0.840 4 0.000 0.047 2667 1494 1836 0 0 0 0 0 0

10140 0.78 193.2 189.3 7.7 831 10174 0.00 1.15 30.50 1.028 6 0.000 0.044 2667 2206 1697 0 0 0 0 0 0

10506 0.78 193.2 154.6 9.5 886 10515 0.00 1.12 0.00 0.000 4 0.000 0.053 2667 2908 1692 0 0 0 0 0 0

10740 0.78 193.2 130.2 9.8 921 10747 0.00 1.15 0.00 0.000 6 0.000 0.034 2672 2194 1692 0 0 0 0 0 0

11078 0.81 214.1 100.1 8.3 972 11100 0.00 1.10 18.12 0.973 4 0.000 0.047 2677 1497 1611 0 0 0 0 0 0

11215 0.84 238.3 88.8 8.1 992 11243 0.00 1.15 21.50 0.962 6 0.000 0.043 2677 2200 1513 0 0 0 0 0 0

11573 0.84 238.3 55.5 9.5 1046 11582 0.00 1.15 0.00 0.000 4 0.000 0.045 2681 1491 1508 0 0 0 0 0 0

11744 0.89 281.7 40.3 7.3 1071 11785 0.00 1.15 36.72 0.952 6 0.000 0.044 2681 2196 1336 0 0 0 0 0 0

12118 0.89 281.7 7.6 10.6 1127 12125 0.00 1.15 0.00 0.000 4 0.000 0.052 2681 2905 1328 0 0 0 0 0 0

12176 end climb: SURFACE_DEPTH_REACHED

state 12176 begin surface coast

12197 end surface coast: CONTROL_FINISHED_OK

state 12197 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	292	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	41	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	31	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	-84352.094	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	231111,202523,6642.635,-5957.339,0,5102.8,0,-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	2.49	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-29.9	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	231111,202523,6642.635,-5957.339,181,99.0,181,-33.9	MHEAD_RNG_PITCHd_Wd	346.9,33469,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	654

FREEZE	1.87,-0.728,-1.688,2,2,0	ALTIM_BOTTOM_PING	552.4,114.5
FINISH	1.9,1.024795	_24V_AH	22.6,36.937
SM_CCo	12213,103.07,0.086,0,0,441,501.15	_10V_AH	10.1,27.817
SM_GC	2.27,6.93,0.65,103.07,0.043,0.037,0.086,114,2513,441,-7.07,1.27,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	879	FG_AHR_10Vo	0.000
RAFOS	6,1322081343,20.833334,20.817499,65,61,61,0,0,0,206,195,219,0,0,0	MEM	150188
RAFOS_FIX	6640.961426,-6004.403320,241111,000044,2,119,0.44	DATA_FILE_SIZE	43279,1139
IRIDIUM_FIX	6620.33,-5953.65,231111,171757	CAP_FILE_SIZE	123322,0
TT8_MAMPS	0.028462,0.028462	CFSIZE	260165632,227729408
HUMID	55.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.75623	SOUNDSPEED	1452.8
TCM_TEMP	16.10	CURRENT	0.607,207.6,1
XPDR_PINGS	9	GPS	241111,001144,6640.961,-6004.403,0,2119.0,0,-33.9
ALTIM_TOP_PING	19.3,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	235	89.33	SBE_CT	826	23	433.59
Roll_motor	52	67	79.53	SBE_O2	635	5	75.23
VBD_pump_during_apogee	370	1316	11009.12	nil	0	0	0.00
VBD_pump_during_surface	103	86	201.37	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	241	672.20	nil	0	0	0.00
Transponder_ping	4	420	42.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	26	49.29
TT8	3062	18	578.75
LPSleep	6766	2	157.87
TT8_Active	639	18	120.86
TT8_Sampling	2161	41	915.50
TT8_CF8	225	47	109.26
TT8_Kalman	0	0	0.00
Analog_circuits	1756	12	212.94
GPS_charging	0	0	0.00
Compass	1843	6	125.51
RAFOS	1440	1	21.82
Transponder	19	30	5.82

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	94	0.00	0.00	-75.15	0.000	2	0.000	0.000	113	2521	1590	0	0	0	0	0	0
97	-0.73	-146.0	3.3	-2.7	11	194	8.25	1.15	-81.60	0.000	4	0.236	0.067	2159	1816	3079	0	0	0	0	0	0
296	-0.73	-146.0	27.8	-20.9	41	303	0.00	1.17	0.00	0.000	6	0.000	0.052	2156	2499	3080	0	0	0	0	0	0
635	-0.73	-146.0	83.8	-14.2	92	641	0.00	1.15	0.00	0.000	4	0.000	0.066	2151	3216	3080	0	0	0	0	0	0
709	-0.73	-146.0	94.7	-14.9	103	716	0.00	1.10	0.00	0.000	6	0.000	0.032	2151	2504	3080	0	0	0	0	0	0
1048	-0.73	-146.0	145.0	-14.1	154	1056	0.00	1.17	0.00	0.000	4	0.000	0.062	2146	3209	3080	0	0	0	0	0	0
1063	-0.73	-146.0	147.4	-14.3	156	1070	0.00	1.08	0.00	0.000	6	0.000	0.031	2147	2513	3080	0	0	0	0	0	0
1401	-0.73	-146.0	194.0	-13.2	207	1407	0.00	1.17	0.00	0.000	4	0.000	0.061	2142	3219	3080	0	0	0	0	0	0
1527	-0.73	-146.0	210.9	-12.7	226	1535	0.00	1.10	0.00	0.000	6	0.000	0.031	2142	2505	3080	0	0	0	0	0	0
1871	-0.73	-146.0	254.7	-12.3	275	1875	0.00	1.20	0.00	0.000	4	0.000	0.060	2138	3219	3081	0	0	0	0	0	0
1889	-0.73	-146.0	256.4	-12.1	276	1897	0.00	1.12	0.00	0.000	6	0.000	0.030	2137	2499	3080	0	0	0	0	0	0
2214	-0.73	-146.0	297.6	-12.5	302	2217	0.00	1.20	0.00	0.000	4	0.000	0.061	2133	3217	3080	0	0	0	0	0	0
2228	-0.73	-146.0	299.4	-12.4	303	2233	0.10	1.10	0.00	0.000	6	0.147	0.031	2163	2499	3081	0	0	0	0	0	0
2556	-0.73	-146.0	335.5	-10.9	329	2560	0.00	1.17	0.00	0.000	4	0.000	0.061	2161	3207	3080	0	0	0	0	0	0
2596	-0.73	-146.0	339.8	-11.0	332	2600	0.00	1.08	0.00	0.000	6	0.000	0.031	2161	2506	3080	0	0	0	0	0	0
2926	-0.73	-146.0	374.4	-10.2	358	2930	0.00	1.17	0.00	0.000	4	0.000	0.060	2156	3213	3080	0	0	0	0	0	0
2941	-0.73	-146.0	375.9	-10.4	359	2945	0.00	1.08	0.00	0.000	6	0.000	0.030	2156	2508	3080	0	0	0	0	0	0
3271	-0.73	-146.0	411.4	-10.7	385	3272	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2508	3080	0	0	0	0	0	0
3586	-0.73	-146.0	445.8	-11.1	410	3587	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2508	3081	0	0	0	0	0	0
3902	-0.73	-146.0	480.5	-10.9	435	3906	0.00	1.17	0.00	0.000	4	0.000	0.060	2152	3215	3081	0	0	0	0	0	0
3917	-0.73	-146.0	482.1	-11.0	436	3920	0.00	1.08	0.00	0.000	6	0.000	0.028	2152	2507	3081	0	0	0	0	0	0
4235	-0.73	-146.0	517.2	-10.9	454	4236	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2508	3082	0	0	0	0	0	0
4541	-0.73	-146.0	549.2	-10.5	464	4544	0.00	1.17	0.00	0.000	4	0.000	0.060	2147	3217	3082	0	0	0	0	0	0
4592	-0.73	-146.0	552.4	-10.3	465	4597	0.00	1.08	0.00	0.000	6	0.000	0.028	2147	2502	3082	0	0	0	0	0	0
4912	-0.73	-146.0	585.3	-9.9	476	4916	0.00	1.17	0.00	0.000	4	0.000	0.060	2142	3210	3083	0	0	0	0	0	0
4946	-0.73	-146.0	589.1	-10.4	477	4950	0.00	1.05	0.00	0.000	6	0.000	0.028	2142	2515	3083	0	0	0	0	0	0
5286	-0.73	-146.0	626.7	-12.7	488	5290	0.00	1.15	0.00	0.000	4	0.000	0.057	2138	3214	3083	0	0	0	0	0	0
5297	-0.73	-146.0	626.7	-12.7	488	5302	0.00	1.10	0.00	0.000	6	0.000	0.028	2138	2498	3083	0	0	0	0	0	0
5502	end dive: BOTTOM_OBSTACLE_DETECTED
state	5502	begin apogee
5507	-0.16	0.0	652.1	-11.8	495	5634	0.62	0.00	120.22	1.317	6	0.130	0.000	2340	2193	2487	0	0	0	0	0	0
5635	end apogee: CONTROL_FINISHED_OK
state	5635	begin climb
5637	0.73	146.0	657.0	0.0	499	5778	0.88	1.23	131.18	1.258	4	0.071	0.047	2638	1499	1888	0	0	0	0	0	0
6028	0.73	146.0	623.7	13.3	511	6033	0.00	1.23	0.00	0.000	6	0.000	0.039	2638	2210	1880	0	0	0	0	0	0
6355	0.73	146.0	583.9	12.0	522	6359	0.00	1.15	0.00	0.000	4	0.000	0.042	2643	1504	1878	0	0	0	0	0	0
6473	0.73	146.0	572.0	12.0	525	6477	0.00	1.17	0.00	0.000	6	0.000	0.041	2642	2208	1878	0	0	0	0	0	0
6793	0.73	146.0	536.0	10.5	536	6794	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2208	1877	0	0	0	0	0	0
7099	0.73	146.0	502.1	11.1	546	7100	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2208	1876	0	0	0	0	0	0
7421	0.73	146.0	466.7	10.9	570	7422	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2209	1876	0	0	0	0	0	0
7737	0.73	146.0	432.8	10.8	595	7741	0.00	1.10	0.00	0.000	4	0.000	0.052	2643	2897	1876	0	0	0	0	0	0
7835	0.73	146.0	422.3	11.4	602	7845	0.00	1.12	0.00	0.000	6	0.000	0.031	2647	2200	1875	0	0	0	0	0	0
8159	0.73	146.0	384.7	11.6	628	8160	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2200	1875	0	0	0	0	0	0
8474	0.73	146.0	348.6	10.7	653	8477	0.00	1.05	0.00	0.000	4	0.000	0.046	2653	1500	1875	0	0	0	0	0	0
8661	0.73	146.0	328.7	10.6	667	8665	0.00	1.12	0.00	0.000	6	0.000	0.041	2653	2202	1875	0	0	0	0	0	0
8992	0.73	146.0	294.6	9.6	693	8995	0.00	1.12	0.00	0.000	4	0.000	0.054	2653	2907	1875	0	0	0	0	0	0
9036	0.73	146.0	290.5	9.9	696	9044	0.00	1.15	0.00	0.000	6	0.000	0.034	2657	2197	1875	0	0	0	0	0	0
9361	0.74	155.0	260.3	8.8	722	9377	0.00	1.17	6.60	0.929	4	0.000	0.047	2657	2912	1852	0	0	0	0	0	0
9535	0.74	155.0	243.1	10.1	740	9542	0.00	1.15	0.00	0.000	6	0.000	0.033	2662	2193	1852	0	0	0	0	0	0
9873	0.74	159.0	211.8	9.0	791	9887	0.00	1.08	5.15	0.840	4	0.000	0.047	2667	1494	1836	0	0	0	0	0	0
10140	0.78	193.2	189.3	7.7	831	10174	0.00	1.15	30.50	1.028	6	0.000	0.044	2667	2206	1697	0	0	0	0	0	0
10506	0.78	193.2	154.6	9.5	886	10515	0.00	1.12	0.00	0.000	4	0.000	0.053	2667	2908	1692	0	0	0	0	0	0
10740	0.78	193.2	130.2	9.8	921	10747	0.00	1.15	0.00	0.000	6	0.000	0.034	2672	2194	1692	0	0	0	0	0	0
11078	0.81	214.1	100.1	8.3	972	11100	0.00	1.10	18.12	0.973	4	0.000	0.047	2677	1497	1611	0	0	0	0	0	0
11215	0.84	238.3	88.8	8.1	992	11243	0.00	1.15	21.50	0.962	6	0.000	0.043	2677	2200	1513	0	0	0	0	0	0
11573	0.84	238.3	55.5	9.5	1046	11582	0.00	1.15	0.00	0.000	4	0.000	0.045	2681	1491	1508	0	0	0	0	0	0
11744	0.89	281.7	40.3	7.3	1071	11785	0.00	1.15	36.72	0.952	6	0.000	0.044	2681	2196	1336	0	0	0	0	0	0
12118	0.89	281.7	7.6	10.6	1127	12125	0.00	1.15	0.00	0.000	4	0.000	0.052	2681	2905	1328	0	0	0	0	0	0
12176	end climb: SURFACE_DEPTH_REACHED
state	12176	begin surface coast
12197	end surface coast: CONTROL_FINISHED_OK
state	12197	begin surface