Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 299 * 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 299 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 43 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 28 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 43 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 28 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 299 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 241111,202249,6640.626,-5954.149,0,5109.0,0,-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 5.98 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -0.0 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 241111,202249,6640.626,-5954.149,0,5109.0,0,-33.8 MHEAD_RNG_PITCHd_Wd 61.7,140668,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 699

Post-dive calculations and measurements:

FREEZE 2.19,0.272,-1.635,2,2,0 ALTIM_BOTTOM_PING 551.7,158.6

FINISH 2.2,1.023993 _24V_AH 22.5,37.766

SM_CCo 13063,104.32,0.086,0,0,441,501.15 _10V_AH 10.1,28.399

SM_GC 2.51,7.03,1.70,104.32,0.054,0.041,0.086,119,2515,441,-7.06,-0.79,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 914 FG_AHR_10Vo 0.000

RAFOS 6,1322167741,20.833334,20.816944,70,65,58,0,0,0,825,196,205,0,0,0 MEM 150224

RAFOS_FIX 6641.074707,-5953.704590,241111,202022,6,102,3.27 DATA_FILE_SIZE 46727,1177

IRIDIUM_FIX 6620.33,-6003.82,241111,131351 CAP_FILE_SIZE 123689,0

TT8_MAMPS 0.028462,0.028462 CFSIZE 260165632,227262464

HUMID 55.82 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1452.9

TCM_TEMP 16.10 CURRENT 2.103, 40.7,1

XPDR_PINGS 3 GPS 241111,202249,6640.626,-5954.149,181,99.0,181,-33.8

ALTIM_TOP_PING 19.9,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 166 34.74 SBE_CT 853 23 446.02

Roll_motor 53 67 81.42 SBE_O2 656 5 77.41

VBD_pump_during_apogee 358 1341 10805.89 nil 0 0 0.00

VBD_pump_during_surface 104 86 202.91 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 25.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 3239 18 612.14

LPSleep 7347 2 171.42

TT8_Active 541 18 102.24

TT8_Sampling 1935 41 819.75

TT8_CF8 184 47 89.34

TT8_Kalman 0 0 0.00

Analog_circuits 1542 12 186.96

GPS_charging 0 0 0.00

Compass 1915 6 130.37

RAFOS 1800 1 27.27

Transponder 16 30 4.94

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 26 0.00 0.00 -7.97 0.000 2 0.000 0.000 2397 2900 2732 0 0 0 0 0 0

29 -0.73 -146.0 9.0 0.0 1 46 0.62 1.83 -10.55 0.000 4 0.079 0.055 2170 1808 3083 0 0 0 0 0 0

74 -0.73 -146.0 14.0 -10.8 7 81 0.00 1.20 0.00 0.000 6 0.000 0.052 2166 2499 3085 0 0 0 0 0 0

412 -0.73 -146.0 68.6 -15.2 58 421 0.00 1.15 0.00 0.000 4 0.000 0.067 2161 3212 3086 0 0 0 0 0 0

461 -0.73 -146.0 76.3 -15.9 65 468 0.00 1.10 0.00 0.000 6 0.000 0.032 2160 2503 3086 0 0 0 0 0 0

798 -0.73 -146.0 124.5 -14.4 116 804 0.00 1.20 0.00 0.000 4 0.000 0.063 2156 3217 3085 0 0 0 0 0 0

899 -0.73 -146.0 139.2 -14.9 131 906 0.00 1.10 0.00 0.000 6 0.000 0.031 2156 2508 3086 0 0 0 0 0 0

1236 -0.73 -146.0 185.4 -12.7 182 1244 0.00 1.08 0.00 0.000 4 0.000 0.040 2156 1814 3085 0 0 0 0 0 0

1252 -0.73 -146.0 187.4 -13.1 184 1259 0.00 1.20 0.00 0.000 6 0.000 0.052 2151 2515 3086 0 0 0 0 0 0

1591 -0.73 -146.0 229.0 -12.4 235 1598 0.00 1.12 0.00 0.000 4 0.000 0.067 2146 3219 3086 0 0 0 0 0 0

1691 -0.73 -146.0 241.8 -12.3 250 1700 0.00 1.10 0.00 0.000 6 0.000 0.032 2146 2503 3086 0 0 0 0 0 0

2025 -0.73 -146.0 285.0 -12.6 281 2028 0.00 1.20 0.00 0.000 4 0.000 0.062 2141 3220 3085 0 0 0 0 0 0

2065 -0.73 -146.0 290.1 -12.5 284 2068 0.00 1.10 0.00 0.000 6 0.000 0.031 2141 2509 3085 0 0 0 0 0 0

2395 -0.73 -146.0 329.5 -11.8 310 2398 0.00 1.17 0.00 0.000 4 0.000 0.060 2137 3214 3085 0 0 0 0 0 0

2413 -0.73 -146.0 331.1 -11.9 311 2421 0.00 1.10 0.00 0.000 6 0.000 0.029 2137 2505 3085 0 0 0 0 0 0

2737 -0.73 -146.0 370.7 -12.1 337 2741 0.00 1.17 0.00 0.000 4 0.000 0.060 2132 3213 3085 0 0 0 0 0 0

2888 -0.73 -146.0 387.9 -11.4 348 2896 0.12 1.10 0.00 0.000 6 0.164 0.029 2162 2502 3085 0 0 0 0 0 0

3211 -0.73 -146.0 420.9 -10.0 374 3214 0.00 1.17 0.00 0.000 4 0.000 0.060 2159 3211 3085 0 0 0 0 0 0

3278 -0.73 -146.0 427.7 -10.3 379 3282 0.00 1.08 0.00 0.000 6 0.000 0.028 2159 2501 3085 0 0 0 0 0 0

3610 -0.73 -146.0 462.0 -10.6 405 3614 0.00 1.17 0.00 0.000 4 0.000 0.060 2155 3211 3085 0 0 0 0 0 0

3663 -0.73 -146.0 468.1 -11.0 409 3666 0.00 1.08 0.00 0.000 6 0.000 0.027 2155 2498 3085 0 0 0 0 0 0

3986 -0.73 -146.0 504.3 -11.0 433 3989 0.00 1.20 0.00 0.000 4 0.000 0.060 2150 3220 3086 0 0 0 0 0 0

4037 -0.73 -146.0 508.3 -11.0 434 4042 0.00 1.10 0.00 0.000 6 0.000 0.026 2150 2504 3086 0 0 0 0 0 0

4357 -0.73 -146.0 544.8 -10.6 445 4361 0.00 1.17 0.00 0.000 4 0.000 0.060 2146 3213 3086 0 0 0 0 0 0

4438 -0.73 -146.0 551.7 -10.4 447 4443 0.00 1.08 0.00 0.000 6 0.000 0.025 2146 2516 3086 0 0 0 0 0 0

4765 -0.73 -146.0 587.4 -10.6 458 4768 0.00 1.15 0.00 0.000 4 0.000 0.061 2141 3210 3086 0 0 0 0 0 0

4849 -0.73 -146.0 594.3 -10.5 460 4854 0.00 1.10 0.00 0.000 6 0.000 0.027 2142 2496 3086 0 0 0 0 0 0

5171 -0.73 -146.0 632.7 -11.3 471 5175 0.00 1.20 0.00 0.000 4 0.000 0.061 2137 3217 3087 0 0 0 0 0 0

5255 -0.73 -146.0 640.6 -11.6 473 5260 0.00 1.10 0.00 0.000 6 0.000 0.026 2137 2499 3087 0 0 0 0 0 0

5576 -0.73 -146.0 677.7 -11.3 484 5580 0.00 1.17 0.00 0.000 4 0.000 0.060 2132 3210 3087 0 0 0 0 0 0

5686 -0.73 -146.0 688.7 -11.1 487 5692 0.12 1.08 0.00 0.000 6 0.166 0.026 2163 2511 3087 0 0 0 0 0 0

5736 end dive: BOTTOM_OBSTACLE_DETECTED

state 5736 begin apogee

5742 -0.16 0.0 695.5 -10.7 489 5871 0.55 0.00 121.90 1.341 6 0.124 0.000 2345 2192 2484 0 0 0 0 0 0

5872 end apogee: CONTROL_FINISHED_OK

state 5872 begin climb

5874 0.73 146.0 703.2 0.0 493 6010 0.85 0.00 132.15 1.285 6 0.064 0.000 2635 2191 1889 0 0 0 0 0 0

6297 0.73 146.0 668.9 11.7 507 6301 0.00 1.10 0.00 0.000 4 0.000 0.048 2640 1504 1881 0 0 0 0 0 0

6414 0.73 146.0 658.2 10.7 510 6419 0.00 1.20 0.00 0.000 6 0.000 0.041 2640 2209 1879 0 0 0 0 0 0

6735 0.73 146.0 617.9 12.2 521 6739 0.00 1.12 0.00 0.000 4 0.000 0.051 2640 2902 1878 0 0 0 0 0 0

6859 0.73 146.0 604.8 12.9 524 6867 0.00 1.15 0.00 0.000 6 0.000 0.032 2645 2203 1877 0 0 0 0 0 0

7174 0.73 146.0 565.4 11.3 535 7175 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2203 1877 0 0 0 0 0 0

7479 0.73 146.0 531.1 11.0 545 7481 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2203 1876 0 0 0 0 0 0

7792 0.73 146.0 495.0 11.5 557 7793 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2203 1876 0 0 0 0 0 0

8108 0.73 146.0 460.0 10.7 582 8111 0.00 1.08 0.00 0.000 4 0.000 0.048 2649 1496 1875 0 0 0 0 0 0

8214 0.73 146.0 448.7 10.6 590 8218 0.00 1.12 0.00 0.000 6 0.000 0.041 2650 2199 1875 0 0 0 0 0 0

8544 0.73 146.0 413.6 10.6 616 8545 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2199 1875 0 0 0 0 0 0

8859 0.73 146.0 379.9 10.9 641 8860 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2199 1875 0 0 0 0 0 0

9174 0.73 146.0 347.9 10.3 666 9178 0.00 1.12 0.00 0.000 4 0.000 0.044 2654 1494 1875 0 0 0 0 0 0

9253 0.73 146.0 339.7 10.5 672 9257 0.00 1.12 0.00 0.000 6 0.000 0.042 2654 2196 1875 0 0 0 0 0 0

9583 0.73 146.0 306.0 10.2 698 9584 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2196 1875 0 0 0 0 0 0

9899 0.73 146.0 275.3 9.3 723 9900 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2196 1875 0 0 0 0 0 0

10216 0.73 146.0 246.0 9.3 751 10223 0.00 1.12 0.00 0.000 4 0.000 0.054 2654 2901 1875 0 0 0 0 0 0

10297 0.73 146.0 238.0 9.5 763 10304 0.00 1.12 0.00 0.000 6 0.000 0.035 2659 2195 1875 0 0 0 0 0 0

10634 0.73 146.0 205.5 9.3 814 10643 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2195 1875 0 0 0 0 0 0

10974 0.78 189.5 178.9 7.3 865 11016 0.00 0.00 35.40 1.023 6 0.000 0.000 2659 2195 1712 0 0 0 0 0 0

11345 0.78 189.5 145.4 9.7 921 11352 0.00 1.05 0.00 0.000 4 0.000 0.049 2664 1501 1706 0 0 0 0 0 0

11531 0.78 189.5 127.4 9.2 949 11538 0.00 1.12 0.00 0.000 6 0.000 0.042 2664 2195 1706 0 0 0 0 0 0

11869 0.81 216.1 98.1 8.0 1000 11896 0.00 0.00 22.65 0.976 6 0.000 0.000 2663 2194 1602 0 0 0 0 0 0

12227 0.81 216.4 67.9 9.2 1054 12236 0.00 1.12 0.00 0.000 4 0.000 0.052 2664 2895 1600 0 0 0 0 0 0

12450 0.86 257.0 49.7 7.5 1087 12490 0.00 1.12 35.00 0.955 6 0.000 0.034 2668 2198 1436 0 0 0 0 0 0

12823 0.89 278.5 19.4 8.3 1143 12843 0.00 1.10 11.02 0.128 4 0.000 0.048 2673 1496 1348 0 0 0 0 0 0

13011 end climb: SURFACE_DEPTH_REACHED

state 13011 begin surface coast

13046 end surface coast: CONTROL_FINISHED_OK

state 13046 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	299	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	43	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	28	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	241111,202249,6640.626,-5954.149,0,5109.0,0,-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	5.98	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-0.0	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	241111,202249,6640.626,-5954.149,0,5109.0,0,-33.8	MHEAD_RNG_PITCHd_Wd	61.7,140668,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	699

FREEZE	2.19,0.272,-1.635,2,2,0	ALTIM_BOTTOM_PING	551.7,158.6
FINISH	2.2,1.023993	_24V_AH	22.5,37.766
SM_CCo	13063,104.32,0.086,0,0,441,501.15	_10V_AH	10.1,28.399
SM_GC	2.51,7.03,1.70,104.32,0.054,0.041,0.086,119,2515,441,-7.06,-0.79,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	914	FG_AHR_10Vo	0.000
RAFOS	6,1322167741,20.833334,20.816944,70,65,58,0,0,0,825,196,205,0,0,0	MEM	150224
RAFOS_FIX	6641.074707,-5953.704590,241111,202022,6,102,3.27	DATA_FILE_SIZE	46727,1177
IRIDIUM_FIX	6620.33,-6003.82,241111,131351	CAP_FILE_SIZE	123689,0
TT8_MAMPS	0.028462,0.028462	CFSIZE	260165632,227262464
HUMID	55.82	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1452.9
TCM_TEMP	16.10	CURRENT	2.103, 40.7,1
XPDR_PINGS	3	GPS	241111,202249,6640.626,-5954.149,181,99.0,181,-33.8
ALTIM_TOP_PING	19.9,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	166	34.74	SBE_CT	853	23	446.02
Roll_motor	53	67	81.42	SBE_O2	656	5	77.41
VBD_pump_during_apogee	358	1341	10805.89	nil	0	0	0.00
VBD_pump_during_surface	104	86	202.91	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	25.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	3239	18	612.14
LPSleep	7347	2	171.42
TT8_Active	541	18	102.24
TT8_Sampling	1935	41	819.75
TT8_CF8	184	47	89.34
TT8_Kalman	0	0	0.00
Analog_circuits	1542	12	186.96
GPS_charging	0	0	0.00
Compass	1915	6	130.37
RAFOS	1800	1	27.27
Transponder	16	30	4.94

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	26	0.00	0.00	-7.97	0.000	2	0.000	0.000	2397	2900	2732	0	0	0	0	0	0
29	-0.73	-146.0	9.0	0.0	1	46	0.62	1.83	-10.55	0.000	4	0.079	0.055	2170	1808	3083	0	0	0	0	0	0
74	-0.73	-146.0	14.0	-10.8	7	81	0.00	1.20	0.00	0.000	6	0.000	0.052	2166	2499	3085	0	0	0	0	0	0
412	-0.73	-146.0	68.6	-15.2	58	421	0.00	1.15	0.00	0.000	4	0.000	0.067	2161	3212	3086	0	0	0	0	0	0
461	-0.73	-146.0	76.3	-15.9	65	468	0.00	1.10	0.00	0.000	6	0.000	0.032	2160	2503	3086	0	0	0	0	0	0
798	-0.73	-146.0	124.5	-14.4	116	804	0.00	1.20	0.00	0.000	4	0.000	0.063	2156	3217	3085	0	0	0	0	0	0
899	-0.73	-146.0	139.2	-14.9	131	906	0.00	1.10	0.00	0.000	6	0.000	0.031	2156	2508	3086	0	0	0	0	0	0
1236	-0.73	-146.0	185.4	-12.7	182	1244	0.00	1.08	0.00	0.000	4	0.000	0.040	2156	1814	3085	0	0	0	0	0	0
1252	-0.73	-146.0	187.4	-13.1	184	1259	0.00	1.20	0.00	0.000	6	0.000	0.052	2151	2515	3086	0	0	0	0	0	0
1591	-0.73	-146.0	229.0	-12.4	235	1598	0.00	1.12	0.00	0.000	4	0.000	0.067	2146	3219	3086	0	0	0	0	0	0
1691	-0.73	-146.0	241.8	-12.3	250	1700	0.00	1.10	0.00	0.000	6	0.000	0.032	2146	2503	3086	0	0	0	0	0	0
2025	-0.73	-146.0	285.0	-12.6	281	2028	0.00	1.20	0.00	0.000	4	0.000	0.062	2141	3220	3085	0	0	0	0	0	0
2065	-0.73	-146.0	290.1	-12.5	284	2068	0.00	1.10	0.00	0.000	6	0.000	0.031	2141	2509	3085	0	0	0	0	0	0
2395	-0.73	-146.0	329.5	-11.8	310	2398	0.00	1.17	0.00	0.000	4	0.000	0.060	2137	3214	3085	0	0	0	0	0	0
2413	-0.73	-146.0	331.1	-11.9	311	2421	0.00	1.10	0.00	0.000	6	0.000	0.029	2137	2505	3085	0	0	0	0	0	0
2737	-0.73	-146.0	370.7	-12.1	337	2741	0.00	1.17	0.00	0.000	4	0.000	0.060	2132	3213	3085	0	0	0	0	0	0
2888	-0.73	-146.0	387.9	-11.4	348	2896	0.12	1.10	0.00	0.000	6	0.164	0.029	2162	2502	3085	0	0	0	0	0	0
3211	-0.73	-146.0	420.9	-10.0	374	3214	0.00	1.17	0.00	0.000	4	0.000	0.060	2159	3211	3085	0	0	0	0	0	0
3278	-0.73	-146.0	427.7	-10.3	379	3282	0.00	1.08	0.00	0.000	6	0.000	0.028	2159	2501	3085	0	0	0	0	0	0
3610	-0.73	-146.0	462.0	-10.6	405	3614	0.00	1.17	0.00	0.000	4	0.000	0.060	2155	3211	3085	0	0	0	0	0	0
3663	-0.73	-146.0	468.1	-11.0	409	3666	0.00	1.08	0.00	0.000	6	0.000	0.027	2155	2498	3085	0	0	0	0	0	0
3986	-0.73	-146.0	504.3	-11.0	433	3989	0.00	1.20	0.00	0.000	4	0.000	0.060	2150	3220	3086	0	0	0	0	0	0
4037	-0.73	-146.0	508.3	-11.0	434	4042	0.00	1.10	0.00	0.000	6	0.000	0.026	2150	2504	3086	0	0	0	0	0	0
4357	-0.73	-146.0	544.8	-10.6	445	4361	0.00	1.17	0.00	0.000	4	0.000	0.060	2146	3213	3086	0	0	0	0	0	0
4438	-0.73	-146.0	551.7	-10.4	447	4443	0.00	1.08	0.00	0.000	6	0.000	0.025	2146	2516	3086	0	0	0	0	0	0
4765	-0.73	-146.0	587.4	-10.6	458	4768	0.00	1.15	0.00	0.000	4	0.000	0.061	2141	3210	3086	0	0	0	0	0	0
4849	-0.73	-146.0	594.3	-10.5	460	4854	0.00	1.10	0.00	0.000	6	0.000	0.027	2142	2496	3086	0	0	0	0	0	0
5171	-0.73	-146.0	632.7	-11.3	471	5175	0.00	1.20	0.00	0.000	4	0.000	0.061	2137	3217	3087	0	0	0	0	0	0
5255	-0.73	-146.0	640.6	-11.6	473	5260	0.00	1.10	0.00	0.000	6	0.000	0.026	2137	2499	3087	0	0	0	0	0	0
5576	-0.73	-146.0	677.7	-11.3	484	5580	0.00	1.17	0.00	0.000	4	0.000	0.060	2132	3210	3087	0	0	0	0	0	0
5686	-0.73	-146.0	688.7	-11.1	487	5692	0.12	1.08	0.00	0.000	6	0.166	0.026	2163	2511	3087	0	0	0	0	0	0
5736	end dive: BOTTOM_OBSTACLE_DETECTED
state	5736	begin apogee
5742	-0.16	0.0	695.5	-10.7	489	5871	0.55	0.00	121.90	1.341	6	0.124	0.000	2345	2192	2484	0	0	0	0	0	0
5872	end apogee: CONTROL_FINISHED_OK
state	5872	begin climb
5874	0.73	146.0	703.2	0.0	493	6010	0.85	0.00	132.15	1.285	6	0.064	0.000	2635	2191	1889	0	0	0	0	0	0
6297	0.73	146.0	668.9	11.7	507	6301	0.00	1.10	0.00	0.000	4	0.000	0.048	2640	1504	1881	0	0	0	0	0	0
6414	0.73	146.0	658.2	10.7	510	6419	0.00	1.20	0.00	0.000	6	0.000	0.041	2640	2209	1879	0	0	0	0	0	0
6735	0.73	146.0	617.9	12.2	521	6739	0.00	1.12	0.00	0.000	4	0.000	0.051	2640	2902	1878	0	0	0	0	0	0
6859	0.73	146.0	604.8	12.9	524	6867	0.00	1.15	0.00	0.000	6	0.000	0.032	2645	2203	1877	0	0	0	0	0	0
7174	0.73	146.0	565.4	11.3	535	7175	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2203	1877	0	0	0	0	0	0
7479	0.73	146.0	531.1	11.0	545	7481	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2203	1876	0	0	0	0	0	0
7792	0.73	146.0	495.0	11.5	557	7793	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2203	1876	0	0	0	0	0	0
8108	0.73	146.0	460.0	10.7	582	8111	0.00	1.08	0.00	0.000	4	0.000	0.048	2649	1496	1875	0	0	0	0	0	0
8214	0.73	146.0	448.7	10.6	590	8218	0.00	1.12	0.00	0.000	6	0.000	0.041	2650	2199	1875	0	0	0	0	0	0
8544	0.73	146.0	413.6	10.6	616	8545	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2199	1875	0	0	0	0	0	0
8859	0.73	146.0	379.9	10.9	641	8860	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2199	1875	0	0	0	0	0	0
9174	0.73	146.0	347.9	10.3	666	9178	0.00	1.12	0.00	0.000	4	0.000	0.044	2654	1494	1875	0	0	0	0	0	0
9253	0.73	146.0	339.7	10.5	672	9257	0.00	1.12	0.00	0.000	6	0.000	0.042	2654	2196	1875	0	0	0	0	0	0
9583	0.73	146.0	306.0	10.2	698	9584	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2196	1875	0	0	0	0	0	0
9899	0.73	146.0	275.3	9.3	723	9900	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2196	1875	0	0	0	0	0	0
10216	0.73	146.0	246.0	9.3	751	10223	0.00	1.12	0.00	0.000	4	0.000	0.054	2654	2901	1875	0	0	0	0	0	0
10297	0.73	146.0	238.0	9.5	763	10304	0.00	1.12	0.00	0.000	6	0.000	0.035	2659	2195	1875	0	0	0	0	0	0
10634	0.73	146.0	205.5	9.3	814	10643	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2195	1875	0	0	0	0	0	0
10974	0.78	189.5	178.9	7.3	865	11016	0.00	0.00	35.40	1.023	6	0.000	0.000	2659	2195	1712	0	0	0	0	0	0
11345	0.78	189.5	145.4	9.7	921	11352	0.00	1.05	0.00	0.000	4	0.000	0.049	2664	1501	1706	0	0	0	0	0	0
11531	0.78	189.5	127.4	9.2	949	11538	0.00	1.12	0.00	0.000	6	0.000	0.042	2664	2195	1706	0	0	0	0	0	0
11869	0.81	216.1	98.1	8.0	1000	11896	0.00	0.00	22.65	0.976	6	0.000	0.000	2663	2194	1602	0	0	0	0	0	0
12227	0.81	216.4	67.9	9.2	1054	12236	0.00	1.12	0.00	0.000	4	0.000	0.052	2664	2895	1600	0	0	0	0	0	0
12450	0.86	257.0	49.7	7.5	1087	12490	0.00	1.12	35.00	0.955	6	0.000	0.034	2668	2198	1436	0	0	0	0	0	0
12823	0.89	278.5	19.4	8.3	1143	12843	0.00	1.10	11.02	0.128	4	0.000	0.048	2673	1496	1348	0	0	0	0	0	0
13011	end climb: SURFACE_DEPTH_REACHED
state	13011	begin surface coast
13046	end surface coast: CONTROL_FINISHED_OK
state	13046	begin surface