Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 301 * 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 301 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 40 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 32 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 -85819.109 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 -85819.109

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 40 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 32 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 301 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 251111,041101,6639.421,-5954.780,0,3127.7,0,-33.8 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 7.33 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo 0.1 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 251111,041101,6639.421,-5954.780,0,3127.7,0,-33.8 MHEAD_RNG_PITCHd_Wd 122.2,141775,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 684

Post-dive calculations and measurements:

FREEZE 2.13,-1.373,-1.731,2,4,0 _24V_AH 22.5,38.008

FINISH1 2.1,1.025429,101 _10V_AH 10.1,28.548

FINISH2 2.2 FG_AHR_24Vo 0.000

RAFOS_CLK 901 FG_AHR_10Vo 0.000

RAFOS 3,1322195102,4.433333,4.417222,105,59,57,0,0,0,692,214,191,0,0,0 MEM 150200

RAFOS_FIX 6640.368164,-5945.990234,251111,040458,7,114,6.98 DATA_FILE_SIZE 46720,1184

IRIDIUM_FIX 6614.97,-6004.54,241111,171709 CAP_FILE_SIZE 124384,0

TT8_MAMPS 0.028462,0.028462 CFSIZE 260165632,227127296

HUMID 58.26 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.84413 SOUNDSPEED 1454.4

TCM_TEMP 16.10 CURRENT 3.201, 95.5,1

XPDR_PINGS 4 GPS 251111,041101,6639.421,-5954.780,0,3127.7,0,-33.8

ALTIM_TOP_PING 19.6,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 166 12.57 SBE_CT 856 23 447.58

Roll_motor 52 68 81.11 SBE_O2 666 5 78.55

VBD_pump_during_apogee 355 1333 10660.24 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 33.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 3305 18 624.67

LPSleep 7203 2 168.06

TT8_Active 446 18 84.46

TT8_Sampling 1980 41 838.54

TT8_CF8 183 47 88.92

TT8_Kalman 0 0 0.00

Analog_circuits 1470 12 178.23

GPS_charging 0 0 0.00

Compass 1961 6 133.53

RAFOS 1440 1 21.82

Transponder 19 30 5.98

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 -7.18 0.000 2 0.000 0.000 2434 1496 2456 0 0 0 0 0 0

28 -0.73 -146.0 9.6 0.0 1 57 0.73 2.88 -18.12 0.000 4 0.075 0.068 2157 3206 3084 0 0 0 0 0 0

309 -0.73 -146.0 53.5 -15.9 43 318 0.00 1.10 0.00 0.000 6 0.000 0.031 2157 2497 3086 0 0 0 0 0 0

650 -0.73 -146.0 107.4 -14.7 94 657 0.00 1.20 0.00 0.000 4 0.000 0.062 2152 3212 3086 0 0 0 0 0 0

907 -0.73 -146.0 144.7 -14.7 133 914 0.00 1.10 0.00 0.000 6 0.000 0.031 2152 2499 3086 0 0 0 0 0 0

1245 -0.73 -146.0 189.2 -13.7 184 1252 0.00 1.17 0.00 0.000 4 0.000 0.060 2148 3204 3086 0 0 0 0 0 0

1406 -0.73 -146.0 210.7 -13.6 208 1413 0.00 1.08 0.00 0.000 6 0.000 0.031 2148 2508 3086 0 0 0 0 0 0

1742 -0.73 -146.0 253.2 -12.1 257 1743 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2507 3086 0 0 0 0 0 0

2057 -0.73 -146.0 292.1 -12.5 282 2061 0.00 1.17 0.00 0.000 4 0.000 0.062 2144 3210 3085 0 0 0 0 0 0

2167 -0.73 -146.0 305.8 -13.1 290 2175 0.00 1.10 0.00 0.000 6 0.000 0.030 2143 2504 3084 0 0 0 0 0 0

2494 -0.73 -146.0 344.9 -11.2 316 2497 0.00 1.05 0.00 0.000 4 0.000 0.041 2144 1824 3085 0 0 0 0 0 0

2578 -0.73 -146.0 354.5 -11.3 322 2586 0.00 1.17 0.00 0.000 6 0.000 0.050 2139 2504 3085 0 0 0 0 0 0

2903 -0.73 -146.0 392.7 -11.7 348 2907 0.00 1.12 0.00 0.000 4 0.000 0.066 2134 3213 3084 0 0 0 0 0 0

3160 -0.73 -146.0 422.2 -11.6 367 3169 0.12 1.10 0.00 0.000 6 0.167 0.029 2163 2499 3085 0 0 0 0 0 0

3485 -0.73 -146.0 452.8 -8.6 393 3489 0.00 1.17 0.00 0.000 4 0.000 0.060 2161 3209 3085 0 0 0 0 0 0

3597 -0.73 -146.0 462.5 -9.1 401 3604 0.00 1.05 0.00 0.000 6 0.000 0.028 2161 2519 3085 0 0 0 0 0 0

3921 -0.73 -146.0 493.6 -9.8 427 3922 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2519 3085 0 0 0 0 0 0

4241 -0.73 -146.0 526.6 -10.2 441 4242 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2519 3086 0 0 0 0 0 0

4547 -0.73 -146.0 557.4 -9.9 451 4550 0.00 1.15 0.00 0.000 4 0.000 0.061 2156 3212 3086 0 0 0 0 0 0

4631 -0.73 -146.0 563.9 -9.8 453 4636 0.00 1.10 0.00 0.000 6 0.000 0.026 2156 2492 3085 0 0 0 0 0 0

4951 -0.73 -146.0 597.1 -10.0 464 4955 0.00 1.20 0.00 0.000 4 0.000 0.059 2152 3219 3087 0 0 0 0 0 0

5035 -0.73 -146.0 603.7 -9.9 466 5040 0.00 1.10 0.00 0.000 6 0.000 0.025 2152 2496 3086 0 0 0 0 0 0

5358 -0.73 -146.0 636.5 -9.7 477 5360 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2496 3087 0 0 0 0 0 0

5662 -0.73 -146.0 667.2 -10.2 487 5666 0.00 1.20 0.00 0.000 4 0.000 0.060 2147 3219 3086 0 0 0 0 0 0

5766 -0.73 -146.0 677.1 -10.1 490 5771 0.00 1.10 0.00 0.000 6 0.000 0.026 2147 2500 3086 0 0 0 0 0 0

5854 end dive: TARGET_DEPTH_EXCEEDED

state 5854 begin apogee

5860 -0.16 0.0 686.0 -9.7 493 5988 0.60 0.00 121.57 1.333 6 0.129 0.000 2340 2195 2485 0 0 0 0 0 0

5988 end apogee: CONTROL_FINISHED_OK

state 5989 begin climb

5991 0.73 146.0 690.3 0.0 497 6135 0.85 1.23 131.62 1.276 4 0.066 0.047 2635 1503 1888 0 0 0 0 0 0

6286 0.73 146.0 671.5 11.1 506 6290 0.00 1.25 0.00 0.000 6 0.000 0.041 2635 2214 1883 0 0 0 0 0 0

6607 0.73 146.0 632.5 11.6 517 6611 0.00 1.15 0.00 0.000 4 0.000 0.053 2635 2911 1880 0 0 0 0 0 0

6645 0.73 146.0 628.3 11.8 518 6650 0.00 1.17 0.00 0.000 6 0.000 0.032 2640 2206 1878 0 0 0 0 0 0

6982 0.73 146.0 588.4 11.7 529 6983 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2206 1878 0 0 0 0 0 0

7285 0.73 146.0 552.2 11.9 539 7289 0.00 1.17 0.00 0.000 4 0.000 0.048 2640 2901 1877 0 0 0 0 0 0

7310 0.73 146.0 552.2 11.9 539 7318 0.00 1.15 0.00 0.000 6 0.000 0.033 2645 2199 1877 0 0 0 0 0 0

7624 0.73 146.0 512.4 11.5 550 7625 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2199 1877 0 0 0 0 0 0

7937 0.73 146.0 475.5 12.1 569 7938 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2199 1876 0 0 0 0 0 0

8251 0.73 146.0 438.7 11.5 594 8255 0.00 1.20 0.00 0.000 4 0.000 0.050 2645 2910 1877 0 0 0 0 0 0

8415 0.73 146.0 419.7 11.7 606 8423 0.00 1.15 0.00 0.000 6 0.000 0.033 2649 2198 1876 0 0 0 0 0 0

8740 0.73 146.0 382.8 10.7 632 8741 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2198 1876 0 0 0 0 0 0

9056 0.73 146.0 349.6 10.4 657 9060 0.00 1.17 0.00 0.000 4 0.000 0.047 2649 2901 1876 0 0 0 0 0 0

9087 0.73 146.0 346.7 10.3 659 9095 0.00 1.15 0.00 0.000 6 0.000 0.032 2654 2190 1876 0 0 0 0 0 0

9413 0.73 146.0 312.2 10.7 685 9417 0.00 1.20 0.00 0.000 4 0.000 0.048 2654 2905 1876 0 0 0 0 0 0

9657 0.73 146.0 286.8 10.0 703 9665 0.00 1.15 0.00 0.000 6 0.000 0.034 2658 2194 1876 0 0 0 0 0 0

9983 0.73 146.0 255.5 9.2 729 9986 0.00 1.20 0.00 0.000 4 0.000 0.048 2658 2912 1876 0 0 0 0 0 0

10013 0.73 146.0 252.7 9.4 731 10021 0.00 1.15 0.00 0.000 6 0.000 0.031 2663 2195 1876 0 0 0 0 0 0

10349 0.73 146.0 219.8 9.5 780 10357 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2195 1876 0 0 0 0 0 0

10686 0.73 148.7 190.3 9.1 831 10693 0.00 1.17 0.00 0.000 4 0.000 0.048 2663 2907 1876 0 0 0 0 0 0

10733 0.73 150.6 186.0 9.1 838 10741 0.10 1.12 0.00 0.000 6 0.146 0.034 2636 2199 1876 0 0 0 0 0 0

11073 0.80 210.0 162.1 6.7 889 11133 0.00 1.10 52.62 1.014 4 0.000 0.044 2639 1495 1627 0 0 0 0 0 0

11169 0.81 212.8 154.7 9.0 903 11176 0.00 1.17 0.00 0.000 6 0.000 0.041 2639 2206 1624 0 0 0 0 0 0

11508 0.81 217.6 124.7 9.0 954 11521 0.00 0.00 6.97 0.868 6 0.000 0.000 2639 2206 1596 0 0 0 0 0 0

11852 0.83 232.8 96.6 8.5 1006 11874 0.00 1.17 14.35 0.950 4 0.000 0.052 2639 2911 1534 0 0 0 0 0 0

12012 0.83 232.8 81.6 9.4 1030 12018 0.00 1.15 0.00 0.000 6 0.000 0.033 2644 2199 1532 0 0 0 0 0 0

12351 0.87 265.5 54.8 7.8 1081 12386 0.12 1.25 28.17 0.956 4 0.087 0.048 2697 2906 1401 0 0 0 0 0 0

12434 0.87 265.5 47.2 11.3 1093 12440 0.00 1.17 0.00 0.000 6 0.000 0.034 2701 2194 1400 0 0 0 0 0 0

12771 0.87 265.5 13.0 11.0 1144 12780 0.00 1.20 0.00 0.000 4 0.000 0.047 2701 2906 1396 0 0 0 0 0 0

12794 0.87 265.5 10.4 12.0 1147 12801 0.00 1.15 0.00 0.000 6 0.000 0.031 2706 2192 1395 0 0 0 0 0 0

13028 end climb: NO_VERTICAL_VELOCITY

state 13028 begin subsurface finish

13034 0.12 101.0 2.1 -0.2 1183 13042 0.82 0.00 -4.80 0.000 2 0.119 0.000 2441 2192 1457 0 0 0 0 0 0

13043 end subsurface finish: NO_VERTICAL_VELOCITY

state 13043 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	301	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	40	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	32	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	-85819.109	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	251111,041101,6639.421,-5954.780,0,3127.7,0,-33.8	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	7.33	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	0.1	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	251111,041101,6639.421,-5954.780,0,3127.7,0,-33.8	MHEAD_RNG_PITCHd_Wd	122.2,141775,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	684

FREEZE	2.13,-1.373,-1.731,2,4,0	_24V_AH	22.5,38.008
FINISH1	2.1,1.025429,101	_10V_AH	10.1,28.548
FINISH2	2.2	FG_AHR_24Vo	0.000
RAFOS_CLK	901	FG_AHR_10Vo	0.000
RAFOS	3,1322195102,4.433333,4.417222,105,59,57,0,0,0,692,214,191,0,0,0	MEM	150200
RAFOS_FIX	6640.368164,-5945.990234,251111,040458,7,114,6.98	DATA_FILE_SIZE	46720,1184
IRIDIUM_FIX	6614.97,-6004.54,241111,171709	CAP_FILE_SIZE	124384,0
TT8_MAMPS	0.028462,0.028462	CFSIZE	260165632,227127296
HUMID	58.26	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.84413	SOUNDSPEED	1454.4
TCM_TEMP	16.10	CURRENT	3.201, 95.5,1
XPDR_PINGS	4	GPS	251111,041101,6639.421,-5954.780,0,3127.7,0,-33.8
ALTIM_TOP_PING	19.6,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	166	12.57	SBE_CT	856	23	447.58
Roll_motor	52	68	81.11	SBE_O2	666	5	78.55
VBD_pump_during_apogee	355	1333	10660.24	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	33.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	3305	18	624.67
LPSleep	7203	2	168.06
TT8_Active	446	18	84.46
TT8_Sampling	1980	41	838.54
TT8_CF8	183	47	88.92
TT8_Kalman	0	0	0.00
Analog_circuits	1470	12	178.23
GPS_charging	0	0	0.00
Compass	1961	6	133.53
RAFOS	1440	1	21.82
Transponder	19	30	5.98

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	-7.18	0.000	2	0.000	0.000	2434	1496	2456	0	0	0	0	0	0
28	-0.73	-146.0	9.6	0.0	1	57	0.73	2.88	-18.12	0.000	4	0.075	0.068	2157	3206	3084	0	0	0	0	0	0
309	-0.73	-146.0	53.5	-15.9	43	318	0.00	1.10	0.00	0.000	6	0.000	0.031	2157	2497	3086	0	0	0	0	0	0
650	-0.73	-146.0	107.4	-14.7	94	657	0.00	1.20	0.00	0.000	4	0.000	0.062	2152	3212	3086	0	0	0	0	0	0
907	-0.73	-146.0	144.7	-14.7	133	914	0.00	1.10	0.00	0.000	6	0.000	0.031	2152	2499	3086	0	0	0	0	0	0
1245	-0.73	-146.0	189.2	-13.7	184	1252	0.00	1.17	0.00	0.000	4	0.000	0.060	2148	3204	3086	0	0	0	0	0	0
1406	-0.73	-146.0	210.7	-13.6	208	1413	0.00	1.08	0.00	0.000	6	0.000	0.031	2148	2508	3086	0	0	0	0	0	0
1742	-0.73	-146.0	253.2	-12.1	257	1743	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2507	3086	0	0	0	0	0	0
2057	-0.73	-146.0	292.1	-12.5	282	2061	0.00	1.17	0.00	0.000	4	0.000	0.062	2144	3210	3085	0	0	0	0	0	0
2167	-0.73	-146.0	305.8	-13.1	290	2175	0.00	1.10	0.00	0.000	6	0.000	0.030	2143	2504	3084	0	0	0	0	0	0
2494	-0.73	-146.0	344.9	-11.2	316	2497	0.00	1.05	0.00	0.000	4	0.000	0.041	2144	1824	3085	0	0	0	0	0	0
2578	-0.73	-146.0	354.5	-11.3	322	2586	0.00	1.17	0.00	0.000	6	0.000	0.050	2139	2504	3085	0	0	0	0	0	0
2903	-0.73	-146.0	392.7	-11.7	348	2907	0.00	1.12	0.00	0.000	4	0.000	0.066	2134	3213	3084	0	0	0	0	0	0
3160	-0.73	-146.0	422.2	-11.6	367	3169	0.12	1.10	0.00	0.000	6	0.167	0.029	2163	2499	3085	0	0	0	0	0	0
3485	-0.73	-146.0	452.8	-8.6	393	3489	0.00	1.17	0.00	0.000	4	0.000	0.060	2161	3209	3085	0	0	0	0	0	0
3597	-0.73	-146.0	462.5	-9.1	401	3604	0.00	1.05	0.00	0.000	6	0.000	0.028	2161	2519	3085	0	0	0	0	0	0
3921	-0.73	-146.0	493.6	-9.8	427	3922	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2519	3085	0	0	0	0	0	0
4241	-0.73	-146.0	526.6	-10.2	441	4242	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2519	3086	0	0	0	0	0	0
4547	-0.73	-146.0	557.4	-9.9	451	4550	0.00	1.15	0.00	0.000	4	0.000	0.061	2156	3212	3086	0	0	0	0	0	0
4631	-0.73	-146.0	563.9	-9.8	453	4636	0.00	1.10	0.00	0.000	6	0.000	0.026	2156	2492	3085	0	0	0	0	0	0
4951	-0.73	-146.0	597.1	-10.0	464	4955	0.00	1.20	0.00	0.000	4	0.000	0.059	2152	3219	3087	0	0	0	0	0	0
5035	-0.73	-146.0	603.7	-9.9	466	5040	0.00	1.10	0.00	0.000	6	0.000	0.025	2152	2496	3086	0	0	0	0	0	0
5358	-0.73	-146.0	636.5	-9.7	477	5360	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2496	3087	0	0	0	0	0	0
5662	-0.73	-146.0	667.2	-10.2	487	5666	0.00	1.20	0.00	0.000	4	0.000	0.060	2147	3219	3086	0	0	0	0	0	0
5766	-0.73	-146.0	677.1	-10.1	490	5771	0.00	1.10	0.00	0.000	6	0.000	0.026	2147	2500	3086	0	0	0	0	0	0
5854	end dive: TARGET_DEPTH_EXCEEDED
state	5854	begin apogee
5860	-0.16	0.0	686.0	-9.7	493	5988	0.60	0.00	121.57	1.333	6	0.129	0.000	2340	2195	2485	0	0	0	0	0	0
5988	end apogee: CONTROL_FINISHED_OK
state	5989	begin climb
5991	0.73	146.0	690.3	0.0	497	6135	0.85	1.23	131.62	1.276	4	0.066	0.047	2635	1503	1888	0	0	0	0	0	0
6286	0.73	146.0	671.5	11.1	506	6290	0.00	1.25	0.00	0.000	6	0.000	0.041	2635	2214	1883	0	0	0	0	0	0
6607	0.73	146.0	632.5	11.6	517	6611	0.00	1.15	0.00	0.000	4	0.000	0.053	2635	2911	1880	0	0	0	0	0	0
6645	0.73	146.0	628.3	11.8	518	6650	0.00	1.17	0.00	0.000	6	0.000	0.032	2640	2206	1878	0	0	0	0	0	0
6982	0.73	146.0	588.4	11.7	529	6983	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2206	1878	0	0	0	0	0	0
7285	0.73	146.0	552.2	11.9	539	7289	0.00	1.17	0.00	0.000	4	0.000	0.048	2640	2901	1877	0	0	0	0	0	0
7310	0.73	146.0	552.2	11.9	539	7318	0.00	1.15	0.00	0.000	6	0.000	0.033	2645	2199	1877	0	0	0	0	0	0
7624	0.73	146.0	512.4	11.5	550	7625	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2199	1877	0	0	0	0	0	0
7937	0.73	146.0	475.5	12.1	569	7938	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2199	1876	0	0	0	0	0	0
8251	0.73	146.0	438.7	11.5	594	8255	0.00	1.20	0.00	0.000	4	0.000	0.050	2645	2910	1877	0	0	0	0	0	0
8415	0.73	146.0	419.7	11.7	606	8423	0.00	1.15	0.00	0.000	6	0.000	0.033	2649	2198	1876	0	0	0	0	0	0
8740	0.73	146.0	382.8	10.7	632	8741	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2198	1876	0	0	0	0	0	0
9056	0.73	146.0	349.6	10.4	657	9060	0.00	1.17	0.00	0.000	4	0.000	0.047	2649	2901	1876	0	0	0	0	0	0
9087	0.73	146.0	346.7	10.3	659	9095	0.00	1.15	0.00	0.000	6	0.000	0.032	2654	2190	1876	0	0	0	0	0	0
9413	0.73	146.0	312.2	10.7	685	9417	0.00	1.20	0.00	0.000	4	0.000	0.048	2654	2905	1876	0	0	0	0	0	0
9657	0.73	146.0	286.8	10.0	703	9665	0.00	1.15	0.00	0.000	6	0.000	0.034	2658	2194	1876	0	0	0	0	0	0
9983	0.73	146.0	255.5	9.2	729	9986	0.00	1.20	0.00	0.000	4	0.000	0.048	2658	2912	1876	0	0	0	0	0	0
10013	0.73	146.0	252.7	9.4	731	10021	0.00	1.15	0.00	0.000	6	0.000	0.031	2663	2195	1876	0	0	0	0	0	0
10349	0.73	146.0	219.8	9.5	780	10357	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2195	1876	0	0	0	0	0	0
10686	0.73	148.7	190.3	9.1	831	10693	0.00	1.17	0.00	0.000	4	0.000	0.048	2663	2907	1876	0	0	0	0	0	0
10733	0.73	150.6	186.0	9.1	838	10741	0.10	1.12	0.00	0.000	6	0.146	0.034	2636	2199	1876	0	0	0	0	0	0
11073	0.80	210.0	162.1	6.7	889	11133	0.00	1.10	52.62	1.014	4	0.000	0.044	2639	1495	1627	0	0	0	0	0	0
11169	0.81	212.8	154.7	9.0	903	11176	0.00	1.17	0.00	0.000	6	0.000	0.041	2639	2206	1624	0	0	0	0	0	0
11508	0.81	217.6	124.7	9.0	954	11521	0.00	0.00	6.97	0.868	6	0.000	0.000	2639	2206	1596	0	0	0	0	0	0
11852	0.83	232.8	96.6	8.5	1006	11874	0.00	1.17	14.35	0.950	4	0.000	0.052	2639	2911	1534	0	0	0	0	0	0
12012	0.83	232.8	81.6	9.4	1030	12018	0.00	1.15	0.00	0.000	6	0.000	0.033	2644	2199	1532	0	0	0	0	0	0
12351	0.87	265.5	54.8	7.8	1081	12386	0.12	1.25	28.17	0.956	4	0.087	0.048	2697	2906	1401	0	0	0	0	0	0
12434	0.87	265.5	47.2	11.3	1093	12440	0.00	1.17	0.00	0.000	6	0.000	0.034	2701	2194	1400	0	0	0	0	0	0
12771	0.87	265.5	13.0	11.0	1144	12780	0.00	1.20	0.00	0.000	4	0.000	0.047	2701	2906	1396	0	0	0	0	0	0
12794	0.87	265.5	10.4	12.0	1147	12801	0.00	1.15	0.00	0.000	6	0.000	0.031	2706	2192	1395	0	0	0	0	0	0
13028	end climb: NO_VERTICAL_VELOCITY
state	13028	begin subsurface finish
13034	0.12	101.0	2.1	-0.2	1183	13042	0.82	0.00	-4.80	0.000	2	0.119	0.000	2441	2192	1457	0	0	0	0	0	0
13043	end subsurface finish: NO_VERTICAL_VELOCITY
state	13043	begin surface