Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 298 * 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 298 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 42 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 -85454.078 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 -85454.078

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 42 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 298 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 241111,172106,6641.567,-6000.727,40,0.8,41,-33.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.14 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -52.4 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 241111,172800,6641.454,-6000.582,18,0.8,18,-33.8 MHEAD_RNG_PITCHd_Wd 65.6,144684,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 648

Post-dive calculations and measurements:

FREEZE 1.57,-0.942,-0.234,2,1,0 ALTIM_BOTTOM_PING 500.4,175.4

FINISH1 1.6,1.003236,0 _24V_AH 22.6,37.644

FINISH2 1.6 _10V_AH 10.1,28.333

RAFOS_CLK 803 FG_AHR_24Vo 0.000

RAFOS 0,1322164872,20.033333,20.020000,121,57,56,0,0,0,615,124,206,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6640.626465,-5954.149414,241111,202049,5,109,0.47 MEM 150192

IRIDIUM_FIX 6620.33,-6003.82,241111,131351 DATA_FILE_SIZE 46740,1153

TT8_MAMPS 0.029211,0.029211 CAP_FILE_SIZE 129254,0

HUMID 55.78 CFSIZE 260165632,227332096

INTERNAL_PRESSURE 9.94179 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1453.0

XPDR_PINGS 27 CURRENT 0.426,155.9,1

ALTIM_TOP_PING 19.5,17.6 GPS 241111,202249,6640.626,-5954.149,0,5109.0,0,-33.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 218 52.17 SBE_CT 834 23 438.08

Roll_motor 56 78 100.21 SBE_O2 642 5 76.14

VBD_pump_during_apogee 376 1311 11145.10 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 281 280 1789.84 nil 0 0 0.00

Transponder_ping 8 420 80.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.32

TT8 3057 18 577.87

LPSleep 6553 2 152.90

TT8_Active 672 18 127.16

TT8_Sampling 2200 41 931.77

TT8_CF8 267 47 129.27

TT8_Kalman 0 0 0.00

Analog_circuits 2015 12 244.22

GPS_charging 0 0 0.00

Compass 1923 6 130.97

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 238 0.00 0.00 -213.00 0.000 6 0.000 0.000 115 2520 3080 0 0 0 0 0 0

241 -0.73 -146.0 2.3 0.1 32 254 7.90 1.17 0.00 0.000 4 0.219 0.041 2159 1816 3081 0 0 0 0 0 0

354 -0.73 -146.0 25.0 -25.2 49 361 0.00 1.20 0.00 0.000 6 0.000 0.055 2157 2508 3083 0 0 0 0 0 0

694 -0.73 -146.0 93.5 -17.5 100 700 0.00 1.15 0.00 0.000 4 0.000 0.068 2151 3219 3083 0 0 0 0 0 0

854 -0.73 -146.0 119.3 -14.4 124 861 0.00 1.10 0.00 0.000 6 0.000 0.033 2151 2512 3083 0 0 0 0 0 0

1192 -0.73 -146.0 167.4 -14.4 175 1201 0.00 1.17 0.00 0.000 4 0.000 0.062 2147 3213 3083 0 0 0 0 0 0

1381 -0.73 -146.0 194.6 -14.2 203 1390 0.00 1.10 0.00 0.000 6 0.000 0.032 2146 2502 3083 0 0 0 0 0 0

1722 -0.73 -146.0 241.9 -13.3 254 1729 0.00 1.20 0.00 0.000 4 0.000 0.063 2142 3217 3083 0 0 0 0 0 0

1806 -0.73 -146.0 253.0 -14.1 265 1814 0.00 1.12 0.00 0.000 6 0.000 0.031 2142 2500 3083 0 0 0 0 0 0

2131 -0.73 -146.0 293.0 -11.1 291 2134 0.00 1.20 0.00 0.000 4 0.000 0.061 2137 3218 3083 0 0 0 0 0 0

2170 -0.73 -146.0 297.8 -11.7 294 2174 0.00 1.10 0.00 0.000 6 0.000 0.031 2137 2507 3083 0 0 0 0 0 0

2502 -0.73 -146.0 337.5 -12.6 320 2506 0.00 1.17 0.00 0.000 4 0.000 0.061 2133 3211 3083 0 0 0 0 0 0

2556 -0.73 -146.0 344.6 -12.8 324 2561 0.10 1.08 0.00 0.000 6 0.145 0.031 2164 2505 3083 0 0 0 0 0 0

2885 -0.73 -146.0 377.6 -9.7 350 2888 0.00 1.17 0.00 0.000 4 0.000 0.060 2161 3212 3083 0 0 0 0 0 0

2977 -0.73 -146.0 386.7 -9.7 357 2981 0.00 1.08 0.00 0.000 6 0.000 0.029 2161 2507 3083 0 0 0 0 0 0

3308 -0.73 -146.0 418.8 -10.5 383 3311 0.00 1.17 0.00 0.000 4 0.000 0.061 2157 3213 3084 0 0 0 0 0 0

3400 -0.73 -146.0 428.8 -10.8 390 3404 0.00 1.08 0.00 0.000 6 0.000 0.028 2157 2505 3084 0 0 0 0 0 0

3732 -0.73 -146.0 464.3 -11.1 416 3735 0.00 1.17 0.00 0.000 4 0.000 0.060 2152 3213 3084 0 0 0 0 0 0

3789 -0.73 -146.0 470.2 -10.6 420 3797 0.00 1.10 0.00 0.000 6 0.000 0.028 2152 2499 3085 0 0 0 0 0 0

4126 -0.73 -146.0 507.2 -11.0 444 4130 0.00 1.17 0.00 0.000 4 0.000 0.060 2148 3210 3085 0 0 0 0 0 0

4284 -0.73 -146.0 522.2 -11.2 448 4291 0.00 1.08 0.00 0.000 6 0.000 0.027 2147 2501 3085 0 0 0 0 0 0

4597 -0.73 -146.0 558.8 -10.5 459 4601 0.00 1.17 0.00 0.000 4 0.000 0.060 2143 3212 3085 0 0 0 0 0 0

4674 -0.73 -146.0 565.8 -10.4 461 4679 0.00 1.08 0.00 0.000 6 0.000 0.025 2143 2512 3086 0 0 0 0 0 0

5005 -0.73 -146.0 601.7 -11.0 472 5009 0.00 1.17 0.00 0.000 4 0.000 0.060 2139 3221 3086 0 0 0 0 0 0

5071 -0.73 -146.0 609.7 -11.3 474 5074 0.00 1.08 0.00 0.000 6 0.000 0.027 2139 2510 3086 0 0 0 0 0 0

5408 end dive: TARGET_DEPTH_EXCEEDED

state 5408 begin apogee

5415 -0.16 0.0 649.0 -11.5 485 5544 0.62 0.00 121.03 1.311 6 0.129 0.000 2340 2175 2485 0 0 0 0 0 0

5544 end apogee: CONTROL_FINISHED_OK

state 5545 begin climb

5547 0.73 146.0 655.6 0.0 489 5687 0.85 1.12 130.93 1.258 4 0.066 0.047 2635 1529 1889 0 0 0 0 0 0

5938 0.73 146.0 627.7 12.5 501 5943 0.00 1.20 0.00 0.000 6 0.000 0.041 2634 2218 1880 0 0 0 0 0 0

6266 0.73 146.0 589.5 10.5 512 6270 0.00 1.15 0.00 0.000 4 0.000 0.043 2640 1517 1879 0 0 0 0 0 0

6370 0.73 146.0 579.2 10.3 515 6375 0.00 1.15 0.00 0.000 6 0.000 0.040 2640 2204 1878 0 0 0 0 0 0

6704 0.73 146.0 542.7 10.9 526 6706 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2204 1877 0 0 0 0 0 0

7011 0.73 146.0 508.3 11.5 536 7015 0.00 1.12 0.00 0.000 4 0.000 0.044 2644 1506 1877 0 0 0 0 0 0

7095 0.73 146.0 500.5 11.6 538 7100 0.00 1.15 0.00 0.000 6 0.000 0.041 2644 2203 1876 0 0 0 0 0 0

7429 0.73 146.0 461.3 10.7 564 7430 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2203 1876 0 0 0 0 0 0

7741 0.73 146.0 426.9 11.1 589 7744 0.00 1.10 0.00 0.000 4 0.000 0.044 2648 1515 1876 0 0 0 0 0 0

7799 0.73 146.0 421.0 11.1 593 7807 0.00 1.12 0.00 0.000 6 0.000 0.041 2648 2202 1876 0 0 0 0 0 0

8123 0.73 146.0 386.1 9.9 619 8127 0.00 1.12 0.00 0.000 4 0.000 0.054 2648 2904 1876 0 0 0 0 0 0

8181 0.73 146.0 380.5 10.2 623 8191 0.00 1.12 0.00 0.000 6 0.000 0.034 2653 2208 1876 0 0 0 0 0 0

8506 0.73 146.0 346.2 10.9 649 8510 0.00 1.08 0.00 0.000 4 0.000 0.047 2658 1496 1876 0 0 0 0 0 0

8571 0.73 146.0 338.7 11.1 654 8575 0.00 1.12 0.00 0.000 6 0.000 0.041 2658 2199 1876 0 0 0 0 0 0

8903 0.73 146.0 303.7 10.2 680 8904 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2199 1876 0 0 0 0 0 0

9215 0.73 146.0 273.8 9.9 705 9219 0.00 1.12 0.00 0.000 4 0.000 0.055 2658 2900 1876 0 0 0 0 0 0

9268 0.73 146.0 268.5 10.1 709 9272 0.00 1.12 0.00 0.000 6 0.000 0.035 2662 2197 1876 0 0 0 0 0 0

9597 0.73 146.0 238.0 9.4 744 9604 0.00 1.05 0.00 0.000 4 0.000 0.047 2667 1498 1876 0 0 0 0 0 0

9856 0.73 150.9 213.7 9.0 783 9866 0.10 1.12 0.00 0.000 6 0.144 0.043 2636 2199 1876 0 0 0 0 0 0

10197 0.78 188.7 186.4 7.6 834 10240 0.00 1.17 34.80 1.026 4 0.000 0.044 2639 1497 1715 0 0 0 0 0 0

10347 0.78 188.7 172.7 9.8 856 10354 0.00 1.15 0.00 0.000 6 0.000 0.043 2639 2196 1713 0 0 0 0 0 0

10685 0.81 218.3 142.7 7.9 907 10721 0.00 1.17 25.30 0.990 4 0.000 0.046 2643 1492 1594 0 0 0 0 0 0

10804 0.82 225.7 132.6 8.9 924 10818 0.00 1.17 7.62 0.881 6 0.000 0.043 2644 2204 1564 0 0 0 0 0 0

11151 0.83 228.9 100.5 9.0 976 11159 0.00 1.20 4.15 0.724 4 0.000 0.045 2648 1490 1551 0 0 0 0 0 0

11207 0.84 240.1 95.4 8.7 984 11226 0.00 1.17 10.93 0.923 6 0.000 0.044 2648 2204 1507 0 0 0 0 0 0

11558 0.85 248.0 60.9 8.8 1037 11571 0.00 0.00 8.30 0.886 6 0.000 0.000 2648 2204 1473 0 0 0 0 0 0

11902 0.90 286.9 33.9 7.5 1089 11942 0.12 1.15 33.05 0.943 4 0.090 0.045 2705 1499 1314 0 0 0 0 0 0

12192 0.90 286.9 2.5 12.4 1133 12199 0.00 1.15 0.00 0.000 6 0.000 0.044 2704 2197 1308 0 0 0 0 0 0

12204 end climb: FINISH_DEPTH_REACHED

state 12205 begin subsurface finish

12212 0.00 0.0 1.6 9.7 1135 12327 0.85 1.15 -104.62 0.000 4 0.063 0.079 2397 2900 2485 0 0 0 0 0 0

12328 end subsurface finish: CONTROL_FINISHED_OK

state 12328 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	298	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	42	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	-85454.078	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	241111,172106,6641.567,-6000.727,40,0.8,41,-33.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.14	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-52.4	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	241111,172800,6641.454,-6000.582,18,0.8,18,-33.8	MHEAD_RNG_PITCHd_Wd	65.6,144684,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	648

FREEZE	1.57,-0.942,-0.234,2,1,0	ALTIM_BOTTOM_PING	500.4,175.4
FINISH1	1.6,1.003236,0	_24V_AH	22.6,37.644
FINISH2	1.6	_10V_AH	10.1,28.333
RAFOS_CLK	803	FG_AHR_24Vo	0.000
RAFOS	0,1322164872,20.033333,20.020000,121,57,56,0,0,0,615,124,206,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6640.626465,-5954.149414,241111,202049,5,109,0.47	MEM	150192
IRIDIUM_FIX	6620.33,-6003.82,241111,131351	DATA_FILE_SIZE	46740,1153
TT8_MAMPS	0.029211,0.029211	CAP_FILE_SIZE	129254,0
HUMID	55.78	CFSIZE	260165632,227332096
INTERNAL_PRESSURE	9.94179	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1453.0
XPDR_PINGS	27	CURRENT	0.426,155.9,1
ALTIM_TOP_PING	19.5,17.6	GPS	241111,202249,6640.626,-5954.149,0,5109.0,0,-33.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	218	52.17	SBE_CT	834	23	438.08
Roll_motor	56	78	100.21	SBE_O2	642	5	76.14
VBD_pump_during_apogee	376	1311	11145.10	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	281	280	1789.84	nil	0	0	0.00
Transponder_ping	8	420	80.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.32
TT8	3057	18	577.87
LPSleep	6553	2	152.90
TT8_Active	672	18	127.16
TT8_Sampling	2200	41	931.77
TT8_CF8	267	47	129.27
TT8_Kalman	0	0	0.00
Analog_circuits	2015	12	244.22
GPS_charging	0	0	0.00
Compass	1923	6	130.97
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	238	0.00	0.00	-213.00	0.000	6	0.000	0.000	115	2520	3080	0	0	0	0	0	0
241	-0.73	-146.0	2.3	0.1	32	254	7.90	1.17	0.00	0.000	4	0.219	0.041	2159	1816	3081	0	0	0	0	0	0
354	-0.73	-146.0	25.0	-25.2	49	361	0.00	1.20	0.00	0.000	6	0.000	0.055	2157	2508	3083	0	0	0	0	0	0
694	-0.73	-146.0	93.5	-17.5	100	700	0.00	1.15	0.00	0.000	4	0.000	0.068	2151	3219	3083	0	0	0	0	0	0
854	-0.73	-146.0	119.3	-14.4	124	861	0.00	1.10	0.00	0.000	6	0.000	0.033	2151	2512	3083	0	0	0	0	0	0
1192	-0.73	-146.0	167.4	-14.4	175	1201	0.00	1.17	0.00	0.000	4	0.000	0.062	2147	3213	3083	0	0	0	0	0	0
1381	-0.73	-146.0	194.6	-14.2	203	1390	0.00	1.10	0.00	0.000	6	0.000	0.032	2146	2502	3083	0	0	0	0	0	0
1722	-0.73	-146.0	241.9	-13.3	254	1729	0.00	1.20	0.00	0.000	4	0.000	0.063	2142	3217	3083	0	0	0	0	0	0
1806	-0.73	-146.0	253.0	-14.1	265	1814	0.00	1.12	0.00	0.000	6	0.000	0.031	2142	2500	3083	0	0	0	0	0	0
2131	-0.73	-146.0	293.0	-11.1	291	2134	0.00	1.20	0.00	0.000	4	0.000	0.061	2137	3218	3083	0	0	0	0	0	0
2170	-0.73	-146.0	297.8	-11.7	294	2174	0.00	1.10	0.00	0.000	6	0.000	0.031	2137	2507	3083	0	0	0	0	0	0
2502	-0.73	-146.0	337.5	-12.6	320	2506	0.00	1.17	0.00	0.000	4	0.000	0.061	2133	3211	3083	0	0	0	0	0	0
2556	-0.73	-146.0	344.6	-12.8	324	2561	0.10	1.08	0.00	0.000	6	0.145	0.031	2164	2505	3083	0	0	0	0	0	0
2885	-0.73	-146.0	377.6	-9.7	350	2888	0.00	1.17	0.00	0.000	4	0.000	0.060	2161	3212	3083	0	0	0	0	0	0
2977	-0.73	-146.0	386.7	-9.7	357	2981	0.00	1.08	0.00	0.000	6	0.000	0.029	2161	2507	3083	0	0	0	0	0	0
3308	-0.73	-146.0	418.8	-10.5	383	3311	0.00	1.17	0.00	0.000	4	0.000	0.061	2157	3213	3084	0	0	0	0	0	0
3400	-0.73	-146.0	428.8	-10.8	390	3404	0.00	1.08	0.00	0.000	6	0.000	0.028	2157	2505	3084	0	0	0	0	0	0
3732	-0.73	-146.0	464.3	-11.1	416	3735	0.00	1.17	0.00	0.000	4	0.000	0.060	2152	3213	3084	0	0	0	0	0	0
3789	-0.73	-146.0	470.2	-10.6	420	3797	0.00	1.10	0.00	0.000	6	0.000	0.028	2152	2499	3085	0	0	0	0	0	0
4126	-0.73	-146.0	507.2	-11.0	444	4130	0.00	1.17	0.00	0.000	4	0.000	0.060	2148	3210	3085	0	0	0	0	0	0
4284	-0.73	-146.0	522.2	-11.2	448	4291	0.00	1.08	0.00	0.000	6	0.000	0.027	2147	2501	3085	0	0	0	0	0	0
4597	-0.73	-146.0	558.8	-10.5	459	4601	0.00	1.17	0.00	0.000	4	0.000	0.060	2143	3212	3085	0	0	0	0	0	0
4674	-0.73	-146.0	565.8	-10.4	461	4679	0.00	1.08	0.00	0.000	6	0.000	0.025	2143	2512	3086	0	0	0	0	0	0
5005	-0.73	-146.0	601.7	-11.0	472	5009	0.00	1.17	0.00	0.000	4	0.000	0.060	2139	3221	3086	0	0	0	0	0	0
5071	-0.73	-146.0	609.7	-11.3	474	5074	0.00	1.08	0.00	0.000	6	0.000	0.027	2139	2510	3086	0	0	0	0	0	0
5408	end dive: TARGET_DEPTH_EXCEEDED
state	5408	begin apogee
5415	-0.16	0.0	649.0	-11.5	485	5544	0.62	0.00	121.03	1.311	6	0.129	0.000	2340	2175	2485	0	0	0	0	0	0
5544	end apogee: CONTROL_FINISHED_OK
state	5545	begin climb
5547	0.73	146.0	655.6	0.0	489	5687	0.85	1.12	130.93	1.258	4	0.066	0.047	2635	1529	1889	0	0	0	0	0	0
5938	0.73	146.0	627.7	12.5	501	5943	0.00	1.20	0.00	0.000	6	0.000	0.041	2634	2218	1880	0	0	0	0	0	0
6266	0.73	146.0	589.5	10.5	512	6270	0.00	1.15	0.00	0.000	4	0.000	0.043	2640	1517	1879	0	0	0	0	0	0
6370	0.73	146.0	579.2	10.3	515	6375	0.00	1.15	0.00	0.000	6	0.000	0.040	2640	2204	1878	0	0	0	0	0	0
6704	0.73	146.0	542.7	10.9	526	6706	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2204	1877	0	0	0	0	0	0
7011	0.73	146.0	508.3	11.5	536	7015	0.00	1.12	0.00	0.000	4	0.000	0.044	2644	1506	1877	0	0	0	0	0	0
7095	0.73	146.0	500.5	11.6	538	7100	0.00	1.15	0.00	0.000	6	0.000	0.041	2644	2203	1876	0	0	0	0	0	0
7429	0.73	146.0	461.3	10.7	564	7430	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2203	1876	0	0	0	0	0	0
7741	0.73	146.0	426.9	11.1	589	7744	0.00	1.10	0.00	0.000	4	0.000	0.044	2648	1515	1876	0	0	0	0	0	0
7799	0.73	146.0	421.0	11.1	593	7807	0.00	1.12	0.00	0.000	6	0.000	0.041	2648	2202	1876	0	0	0	0	0	0
8123	0.73	146.0	386.1	9.9	619	8127	0.00	1.12	0.00	0.000	4	0.000	0.054	2648	2904	1876	0	0	0	0	0	0
8181	0.73	146.0	380.5	10.2	623	8191	0.00	1.12	0.00	0.000	6	0.000	0.034	2653	2208	1876	0	0	0	0	0	0
8506	0.73	146.0	346.2	10.9	649	8510	0.00	1.08	0.00	0.000	4	0.000	0.047	2658	1496	1876	0	0	0	0	0	0
8571	0.73	146.0	338.7	11.1	654	8575	0.00	1.12	0.00	0.000	6	0.000	0.041	2658	2199	1876	0	0	0	0	0	0
8903	0.73	146.0	303.7	10.2	680	8904	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2199	1876	0	0	0	0	0	0
9215	0.73	146.0	273.8	9.9	705	9219	0.00	1.12	0.00	0.000	4	0.000	0.055	2658	2900	1876	0	0	0	0	0	0
9268	0.73	146.0	268.5	10.1	709	9272	0.00	1.12	0.00	0.000	6	0.000	0.035	2662	2197	1876	0	0	0	0	0	0
9597	0.73	146.0	238.0	9.4	744	9604	0.00	1.05	0.00	0.000	4	0.000	0.047	2667	1498	1876	0	0	0	0	0	0
9856	0.73	150.9	213.7	9.0	783	9866	0.10	1.12	0.00	0.000	6	0.144	0.043	2636	2199	1876	0	0	0	0	0	0
10197	0.78	188.7	186.4	7.6	834	10240	0.00	1.17	34.80	1.026	4	0.000	0.044	2639	1497	1715	0	0	0	0	0	0
10347	0.78	188.7	172.7	9.8	856	10354	0.00	1.15	0.00	0.000	6	0.000	0.043	2639	2196	1713	0	0	0	0	0	0
10685	0.81	218.3	142.7	7.9	907	10721	0.00	1.17	25.30	0.990	4	0.000	0.046	2643	1492	1594	0	0	0	0	0	0
10804	0.82	225.7	132.6	8.9	924	10818	0.00	1.17	7.62	0.881	6	0.000	0.043	2644	2204	1564	0	0	0	0	0	0
11151	0.83	228.9	100.5	9.0	976	11159	0.00	1.20	4.15	0.724	4	0.000	0.045	2648	1490	1551	0	0	0	0	0	0
11207	0.84	240.1	95.4	8.7	984	11226	0.00	1.17	10.93	0.923	6	0.000	0.044	2648	2204	1507	0	0	0	0	0	0
11558	0.85	248.0	60.9	8.8	1037	11571	0.00	0.00	8.30	0.886	6	0.000	0.000	2648	2204	1473	0	0	0	0	0	0
11902	0.90	286.9	33.9	7.5	1089	11942	0.12	1.15	33.05	0.943	4	0.090	0.045	2705	1499	1314	0	0	0	0	0	0
12192	0.90	286.9	2.5	12.4	1133	12199	0.00	1.15	0.00	0.000	6	0.000	0.044	2704	2197	1308	0	0	0	0	0	0
12204	end climb: FINISH_DEPTH_REACHED
state	12205	begin subsurface finish
12212	0.00	0.0	1.6	9.7	1135	12327	0.85	1.15	-104.62	0.000	4	0.063	0.079	2397	2900	2485	0	0	0	0	0	0
12328	end subsurface finish: CONTROL_FINISHED_OK
state	12328	begin surface