Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 305 * 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 305 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 2 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 3 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 6 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 161 VBD_MIN 442 DEVICE1 2

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_MAX 3793 DEVICE2 20

T_DIVE 360 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 400 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 6 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 2 T_GPS_CHARGE -86553.789 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 -86553.789

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 26 VBD_MAX 3793

DEVICE5 -1 MISSION 13 SEABIRD_C_G -9.9261332 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1046007 VBD_MIN 442

DIVE 305 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 251111,163117,6643.849,-5934.273,0,6128.7,0,-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 2.29 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -19.8 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 251111,163117,6643.849,-5934.273,181,99.0,181,-33.8 MHEAD_RNG_PITCHd_Wd 152.3,125202,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 862

Post-dive calculations and measurements:

FREEZE 1.80,-0.690,-1.702,2,2,0 ALTIM_BOTTOM_PING 800.3,90.6

FINISH 1.8,1.024997 _24V_AH 22.4,38.533

SM_CCo 13823,119.00,0.086,0,0,441,501.15 _10V_AH 10.1,28.941

SM_GC 2.73,7.00,1.67,119.00,0.054,0.045,0.086,118,2504,441,-7.06,-1.07,501.15,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 992 FG_AHR_10Vo 0.000

RAFOS 3,1322252705,20.433332,20.418056,75,61,58,0,0,0,651,213,195,0,0,0 MEM 150204

RAFOS_FIX 6640.568359,-5936.909668,251111,202049,5,106,0.46 DATA_FILE_SIZE 43347,1112

IRIDIUM_FIX 6614.97,-5939.52,251111,151546 CAP_FILE_SIZE 133054,0

TT8_MAMPS 0.028462,0.028462 CFSIZE 260165632,226840576

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

INTERNAL_PRESSURE 9.74647 SOUNDSPEED 1455.3

TCM_TEMP 16.10 CURRENT 4.381, 62.4,1

XPDR_PINGS 6 GPS 251111,202249,6640.568,-5936.910,0,5105.8,0,-33.8

ALTIM_TOP_PING 19.7,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 259 102.24 SBE_CT 798 23 415.45

Roll_motor 60 72 99.06 SBE_O2 611 5 71.80

VBD_pump_during_apogee 352 1445 11419.29 nil 0 0 0.00

VBD_pump_during_surface 119 85 228.39 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 121 240 653.27 nil 0 0 0.00

Transponder_ping 4 420 44.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 182 26 49.56

TT8 3072 18 580.58

LPSleep 8281 2 193.22

TT8_Active 692 18 130.89

TT8_Sampling 2223 41 941.59

TT8_CF8 260 47 125.91

TT8_Kalman 0 0 0.00

Analog_circuits 1851 12 224.44

GPS_charging 0 0 0.00

Compass 1891 6 128.78

RAFOS 2160 1 32.72

Transponder 26 30 8.14

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

15 -0.73 -146.0 0.0 0.0 0 85 0.00 0.00 -67.55 0.000 2 0.000 0.000 115 2512 1476 0 0 0 0 0 0

88 -0.73 -146.0 3.2 -2.5 10 233 8.82 1.17 -123.90 0.000 4 0.259 0.073 2157 1823 3082 0 0 0 0 0 0

240 -0.73 -146.0 2.6 -0.3 33 249 0.00 1.17 0.00 0.000 6 0.000 0.055 2155 2501 3082 0 0 0 0 0 0

579 -0.73 -146.0 15.8 -18.0 84 586 0.00 1.12 0.00 0.000 4 0.000 0.041 2155 1817 3083 0 0 0 0 0 0

806 -0.73 -146.0 57.6 -18.6 118 813 0.00 1.20 0.00 0.000 6 0.000 0.055 2151 2513 3083 0 0 0 0 0 0

1143 -0.73 -146.0 114.9 -15.4 169 1152 0.00 1.12 0.00 0.000 4 0.000 0.068 2145 3214 3083 0 0 0 0 0 0

1377 -0.73 -146.0 150.7 -15.1 204 1384 0.00 1.10 0.00 0.000 6 0.000 0.033 2145 2502 3083 0 0 0 0 0 0

1717 -0.73 -146.0 199.7 -14.0 255 1723 0.00 1.20 0.00 0.000 4 0.000 0.063 2141 3219 3083 0 0 0 0 0 0

1770 -0.73 -146.0 207.7 -14.7 263 1777 0.00 1.10 0.00 0.000 6 0.000 0.032 2141 2511 3084 0 0 0 0 0 0

2105 -0.73 -146.0 255.6 -14.4 311 2109 0.00 1.17 0.00 0.000 4 0.000 0.063 2136 3213 3083 0 0 0 0 0 0

2189 -0.73 -146.0 266.8 -14.0 317 2200 0.12 1.12 0.00 0.000 6 0.171 0.031 2165 2494 3083 0 0 0 0 0 0

2512 -0.73 -146.0 305.1 -11.5 343 2516 0.00 1.20 0.00 0.000 4 0.000 0.063 2162 3211 3083 0 0 0 0 0 0

2583 -0.73 -146.0 313.1 -12.0 348 2591 0.00 1.10 0.00 0.000 6 0.000 0.031 2162 2504 3083 0 0 0 0 0 0

2912 -0.73 -146.0 350.9 -11.0 374 2918 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2504 3083 0 0 0 0 0 0

3235 -0.73 -146.0 386.0 -10.1 400 3239 0.00 1.17 0.00 0.000 4 0.000 0.063 2158 3210 3083 0 0 0 0 0 0

3346 -0.73 -146.0 396.6 -9.8 408 3354 0.00 1.10 0.00 0.000 6 0.000 0.030 2158 2501 3083 0 0 0 0 0 0

3672 -0.73 -146.0 430.7 -10.4 434 3673 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2501 3083 0 0 0 0 0 0

3985 -0.73 -146.0 462.4 -10.0 459 3989 0.00 1.17 0.00 0.000 4 0.000 0.061 2153 3210 3084 0 0 0 0 0 0

4104 -0.73 -146.0 474.3 -9.8 468 4108 0.00 1.08 0.00 0.000 6 0.000 0.029 2153 2500 3084 0 0 0 0 0 0

4433 -0.73 -146.0 507.6 -10.3 491 4436 0.00 1.17 0.00 0.000 4 0.000 0.060 2149 3210 3084 0 0 0 0 0 0

4510 -0.73 -146.0 514.7 -10.5 493 4515 0.00 1.08 0.00 0.000 6 0.000 0.028 2149 2510 3084 0 0 0 0 0 0

4838 -0.73 -146.0 551.0 -10.8 504 4840 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2509 3085 0 0 0 0 0 0

5145 -0.73 -146.0 583.1 -10.4 514 5149 0.00 1.17 0.00 0.000 4 0.000 0.060 2144 3217 3086 0 0 0 0 0 0

5263 -0.73 -146.0 593.5 -10.3 517 5267 0.00 1.10 0.00 0.000 6 0.000 0.027 2145 2498 3085 0 0 0 0 0 0

5583 -0.73 -146.0 630.0 -10.9 528 5586 0.00 1.20 0.00 0.000 4 0.000 0.060 2140 3220 3086 0 0 0 0 0 0

5641 -0.73 -146.0 633.7 -11.0 529 5651 0.00 1.10 0.00 0.000 6 0.000 0.027 2140 2505 3086 0 0 0 0 0 0

5954 -0.73 -146.0 671.6 -11.2 540 5956 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2504 3086 0 0 0 0 0 0

6264 -0.73 -146.0 705.1 -10.9 550 6267 0.00 1.17 0.00 0.000 4 0.000 0.060 2136 3214 3087 0 0 0 0 0 0

6330 -0.73 -146.0 712.6 -10.9 552 6334 0.08 1.08 0.00 0.000 6 0.150 0.027 2158 2497 3086 0 0 0 0 0 0

6669 -0.73 -146.0 744.8 -9.5 563 6670 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2497 3087 0 0 0 0 0 0

6975 -0.73 -146.0 774.2 -9.5 573 6979 0.00 1.20 0.00 0.000 4 0.000 0.062 2156 3218 3087 0 0 0 0 0 0

7053 -0.73 -146.0 780.1 -9.2 575 7058 0.00 1.10 0.00 0.000 6 0.000 0.025 2156 2503 3087 0 0 0 0 0 0

7381 -0.73 -146.0 811.7 -9.3 586 7383 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2503 3087 0 0 0 0 0 0

7686 -0.73 -146.0 841.4 -9.2 596 7690 0.00 1.17 0.00 0.000 4 0.000 0.060 2151 3213 3087 0 0 0 0 0 0

7754 -0.73 -146.0 847.6 -8.9 598 7758 0.00 1.08 0.00 0.000 6 0.000 0.026 2151 2499 3087 0 0 0 0 0 0

7908 end dive: TARGET_DEPTH_EXCEEDED

state 7908 begin apogee

7914 -0.16 0.0 863.0 -10.0 603 8045 0.57 0.00 125.32 1.445 6 0.122 0.000 2340 2195 2485 0 0 0 0 0 0

8046 end apogee: CONTROL_FINISHED_OK

state 8046 begin climb

8048 0.73 146.0 867.4 0.0 607 8193 0.85 1.40 134.85 1.388 4 0.060 0.048 2631 2912 1889 0 0 0 0 0 0

8199 0.85 244.8 863.9 5.0 612 8298 0.08 1.25 92.60 1.352 6 0.061 0.033 2675 2213 1487 0 0 0 0 0 0

8626 0.85 244.8 789.6 18.5 626 8630 0.00 1.15 0.00 0.000 4 0.000 0.047 2680 1493 1477 0 0 0 0 0 0

8777 0.85 244.8 766.1 17.5 630 8782 0.00 1.23 0.00 0.000 6 0.000 0.041 2680 2217 1476 0 0 0 0 0 0

9097 0.85 244.8 705.8 18.0 641 9101 0.00 1.17 0.00 0.000 4 0.000 0.044 2685 1496 1475 0 0 0 0 0 0

9163 0.85 244.8 694.1 17.8 643 9167 0.00 1.15 0.00 0.000 6 0.000 0.042 2685 2200 1475 0 0 0 0 0 0

9504 0.85 244.8 633.2 17.9 654 9508 0.00 1.15 0.00 0.000 4 0.000 0.044 2689 1491 1475 0 0 0 0 0 0

9537 0.85 244.8 627.0 17.8 655 9541 0.00 1.15 0.00 0.000 6 0.000 0.043 2689 2200 1474 0 0 0 0 0 0

9878 0.85 244.8 566.1 17.7 666 9881 0.00 1.15 0.00 0.000 4 0.000 0.045 2694 1491 1474 0 0 0 0 0 0

9896 0.85 244.8 566.1 17.7 666 9901 0.00 1.17 0.00 0.000 6 0.000 0.042 2694 2204 1474 0 0 0 0 0 0

10216 0.85 244.8 504.3 18.3 677 10220 0.00 1.15 0.00 0.000 4 0.000 0.045 2698 1492 1474 0 0 0 0 0 0

10260 0.85 244.8 496.9 18.2 679 10268 0.00 1.17 0.00 0.000 6 0.000 0.043 2698 2206 1474 0 0 0 0 0 0

10586 0.85 244.8 436.0 18.7 705 10587 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2206 1474 0 0 0 0 0 0

10901 0.85 244.8 378.3 18.0 730 10904 0.00 1.15 0.00 0.000 4 0.000 0.044 2702 1490 1474 0 0 0 0 0 0

10933 0.85 244.8 373.3 18.4 732 10941 0.08 1.15 0.00 0.000 6 0.164 0.043 2680 2203 1474 0 0 0 0 0 0

11257 0.85 244.8 318.2 16.4 758 11258 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2203 1474 0 0 0 0 0 0

11573 0.85 244.8 266.4 16.6 783 11577 0.00 1.15 0.00 0.000 4 0.000 0.044 2684 1487 1474 0 0 0 0 0 0

11626 0.85 244.8 257.7 15.8 787 11629 0.00 1.15 0.00 0.000 6 0.000 0.044 2683 2202 1473 0 0 0 0 0 0

11962 0.85 244.8 208.4 14.2 834 11969 0.00 1.12 0.00 0.000 4 0.000 0.044 2688 1495 1473 0 0 0 0 0 0

11975 0.85 244.8 206.3 14.1 836 11982 0.00 1.12 0.00 0.000 6 0.000 0.043 2688 2198 1473 0 0 0 0 0 0

12313 0.85 244.8 162.2 12.4 887 12319 0.00 1.12 0.00 0.000 4 0.000 0.044 2692 1492 1473 0 0 0 0 0 0

12392 0.85 244.8 152.4 12.0 899 12399 0.00 1.12 0.00 0.000 6 0.000 0.043 2692 2196 1473 0 0 0 0 0 0

12730 0.85 244.8 112.6 11.4 950 12736 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2196 1474 0 0 0 0 0 0

13068 0.85 244.8 74.2 10.5 1001 13077 0.00 1.12 0.00 0.000 4 0.000 0.045 2697 1492 1473 0 0 0 0 0 0

13282 0.85 244.8 52.4 9.7 1033 13291 0.00 1.12 0.00 0.000 6 0.000 0.044 2697 2196 1472 0 0 0 0 0 0

13623 0.85 244.8 17.6 11.0 1084 13629 0.00 1.12 0.00 0.000 4 0.000 0.045 2701 1491 1472 0 0 0 0 0 0

13784 end climb: SURFACE_DEPTH_REACHED

state 13785 begin surface coast

13805 end surface coast: CONTROL_FINISHED_OK

state 13805 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	305	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	2	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	3	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	6	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	161	VBD_MIN	442	DEVICE1	2
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_MAX	3793	DEVICE2	20
T_DIVE	360	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	400	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	6	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	2	T_GPS_CHARGE	-86553.789	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	251111,163117,6643.849,-5934.273,0,6128.7,0,-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	2.29	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-19.8	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	251111,163117,6643.849,-5934.273,181,99.0,181,-33.8	MHEAD_RNG_PITCHd_Wd	152.3,125202,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	862

FREEZE	1.80,-0.690,-1.702,2,2,0	ALTIM_BOTTOM_PING	800.3,90.6
FINISH	1.8,1.024997	_24V_AH	22.4,38.533
SM_CCo	13823,119.00,0.086,0,0,441,501.15	_10V_AH	10.1,28.941
SM_GC	2.73,7.00,1.67,119.00,0.054,0.045,0.086,118,2504,441,-7.06,-1.07,501.15,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	992	FG_AHR_10Vo	0.000
RAFOS	3,1322252705,20.433332,20.418056,75,61,58,0,0,0,651,213,195,0,0,0	MEM	150204
RAFOS_FIX	6640.568359,-5936.909668,251111,202049,5,106,0.46	DATA_FILE_SIZE	43347,1112
IRIDIUM_FIX	6614.97,-5939.52,251111,151546	CAP_FILE_SIZE	133054,0
TT8_MAMPS	0.028462,0.028462	CFSIZE	260165632,226840576
HUMID	55.71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.74647	SOUNDSPEED	1455.3
TCM_TEMP	16.10	CURRENT	4.381, 62.4,1
XPDR_PINGS	6	GPS	251111,202249,6640.568,-5936.910,0,5105.8,0,-33.8
ALTIM_TOP_PING	19.7,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	259	102.24	SBE_CT	798	23	415.45
Roll_motor	60	72	99.06	SBE_O2	611	5	71.80
VBD_pump_during_apogee	352	1445	11419.29	nil	0	0	0.00
VBD_pump_during_surface	119	85	228.39	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	121	240	653.27	nil	0	0	0.00
Transponder_ping	4	420	44.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	182	26	49.56
TT8	3072	18	580.58
LPSleep	8281	2	193.22
TT8_Active	692	18	130.89
TT8_Sampling	2223	41	941.59
TT8_CF8	260	47	125.91
TT8_Kalman	0	0	0.00
Analog_circuits	1851	12	224.44
GPS_charging	0	0	0.00
Compass	1891	6	128.78
RAFOS	2160	1	32.72
Transponder	26	30	8.14

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
15	-0.73	-146.0	0.0	0.0	0	85	0.00	0.00	-67.55	0.000	2	0.000	0.000	115	2512	1476	0	0	0	0	0	0
88	-0.73	-146.0	3.2	-2.5	10	233	8.82	1.17	-123.90	0.000	4	0.259	0.073	2157	1823	3082	0	0	0	0	0	0
240	-0.73	-146.0	2.6	-0.3	33	249	0.00	1.17	0.00	0.000	6	0.000	0.055	2155	2501	3082	0	0	0	0	0	0
579	-0.73	-146.0	15.8	-18.0	84	586	0.00	1.12	0.00	0.000	4	0.000	0.041	2155	1817	3083	0	0	0	0	0	0
806	-0.73	-146.0	57.6	-18.6	118	813	0.00	1.20	0.00	0.000	6	0.000	0.055	2151	2513	3083	0	0	0	0	0	0
1143	-0.73	-146.0	114.9	-15.4	169	1152	0.00	1.12	0.00	0.000	4	0.000	0.068	2145	3214	3083	0	0	0	0	0	0
1377	-0.73	-146.0	150.7	-15.1	204	1384	0.00	1.10	0.00	0.000	6	0.000	0.033	2145	2502	3083	0	0	0	0	0	0
1717	-0.73	-146.0	199.7	-14.0	255	1723	0.00	1.20	0.00	0.000	4	0.000	0.063	2141	3219	3083	0	0	0	0	0	0
1770	-0.73	-146.0	207.7	-14.7	263	1777	0.00	1.10	0.00	0.000	6	0.000	0.032	2141	2511	3084	0	0	0	0	0	0
2105	-0.73	-146.0	255.6	-14.4	311	2109	0.00	1.17	0.00	0.000	4	0.000	0.063	2136	3213	3083	0	0	0	0	0	0
2189	-0.73	-146.0	266.8	-14.0	317	2200	0.12	1.12	0.00	0.000	6	0.171	0.031	2165	2494	3083	0	0	0	0	0	0
2512	-0.73	-146.0	305.1	-11.5	343	2516	0.00	1.20	0.00	0.000	4	0.000	0.063	2162	3211	3083	0	0	0	0	0	0
2583	-0.73	-146.0	313.1	-12.0	348	2591	0.00	1.10	0.00	0.000	6	0.000	0.031	2162	2504	3083	0	0	0	0	0	0
2912	-0.73	-146.0	350.9	-11.0	374	2918	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2504	3083	0	0	0	0	0	0
3235	-0.73	-146.0	386.0	-10.1	400	3239	0.00	1.17	0.00	0.000	4	0.000	0.063	2158	3210	3083	0	0	0	0	0	0
3346	-0.73	-146.0	396.6	-9.8	408	3354	0.00	1.10	0.00	0.000	6	0.000	0.030	2158	2501	3083	0	0	0	0	0	0
3672	-0.73	-146.0	430.7	-10.4	434	3673	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2501	3083	0	0	0	0	0	0
3985	-0.73	-146.0	462.4	-10.0	459	3989	0.00	1.17	0.00	0.000	4	0.000	0.061	2153	3210	3084	0	0	0	0	0	0
4104	-0.73	-146.0	474.3	-9.8	468	4108	0.00	1.08	0.00	0.000	6	0.000	0.029	2153	2500	3084	0	0	0	0	0	0
4433	-0.73	-146.0	507.6	-10.3	491	4436	0.00	1.17	0.00	0.000	4	0.000	0.060	2149	3210	3084	0	0	0	0	0	0
4510	-0.73	-146.0	514.7	-10.5	493	4515	0.00	1.08	0.00	0.000	6	0.000	0.028	2149	2510	3084	0	0	0	0	0	0
4838	-0.73	-146.0	551.0	-10.8	504	4840	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2509	3085	0	0	0	0	0	0
5145	-0.73	-146.0	583.1	-10.4	514	5149	0.00	1.17	0.00	0.000	4	0.000	0.060	2144	3217	3086	0	0	0	0	0	0
5263	-0.73	-146.0	593.5	-10.3	517	5267	0.00	1.10	0.00	0.000	6	0.000	0.027	2145	2498	3085	0	0	0	0	0	0
5583	-0.73	-146.0	630.0	-10.9	528	5586	0.00	1.20	0.00	0.000	4	0.000	0.060	2140	3220	3086	0	0	0	0	0	0
5641	-0.73	-146.0	633.7	-11.0	529	5651	0.00	1.10	0.00	0.000	6	0.000	0.027	2140	2505	3086	0	0	0	0	0	0
5954	-0.73	-146.0	671.6	-11.2	540	5956	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2504	3086	0	0	0	0	0	0
6264	-0.73	-146.0	705.1	-10.9	550	6267	0.00	1.17	0.00	0.000	4	0.000	0.060	2136	3214	3087	0	0	0	0	0	0
6330	-0.73	-146.0	712.6	-10.9	552	6334	0.08	1.08	0.00	0.000	6	0.150	0.027	2158	2497	3086	0	0	0	0	0	0
6669	-0.73	-146.0	744.8	-9.5	563	6670	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2497	3087	0	0	0	0	0	0
6975	-0.73	-146.0	774.2	-9.5	573	6979	0.00	1.20	0.00	0.000	4	0.000	0.062	2156	3218	3087	0	0	0	0	0	0
7053	-0.73	-146.0	780.1	-9.2	575	7058	0.00	1.10	0.00	0.000	6	0.000	0.025	2156	2503	3087	0	0	0	0	0	0
7381	-0.73	-146.0	811.7	-9.3	586	7383	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2503	3087	0	0	0	0	0	0
7686	-0.73	-146.0	841.4	-9.2	596	7690	0.00	1.17	0.00	0.000	4	0.000	0.060	2151	3213	3087	0	0	0	0	0	0
7754	-0.73	-146.0	847.6	-8.9	598	7758	0.00	1.08	0.00	0.000	6	0.000	0.026	2151	2499	3087	0	0	0	0	0	0
7908	end dive: TARGET_DEPTH_EXCEEDED
state	7908	begin apogee
7914	-0.16	0.0	863.0	-10.0	603	8045	0.57	0.00	125.32	1.445	6	0.122	0.000	2340	2195	2485	0	0	0	0	0	0
8046	end apogee: CONTROL_FINISHED_OK
state	8046	begin climb
8048	0.73	146.0	867.4	0.0	607	8193	0.85	1.40	134.85	1.388	4	0.060	0.048	2631	2912	1889	0	0	0	0	0	0
8199	0.85	244.8	863.9	5.0	612	8298	0.08	1.25	92.60	1.352	6	0.061	0.033	2675	2213	1487	0	0	0	0	0	0
8626	0.85	244.8	789.6	18.5	626	8630	0.00	1.15	0.00	0.000	4	0.000	0.047	2680	1493	1477	0	0	0	0	0	0
8777	0.85	244.8	766.1	17.5	630	8782	0.00	1.23	0.00	0.000	6	0.000	0.041	2680	2217	1476	0	0	0	0	0	0
9097	0.85	244.8	705.8	18.0	641	9101	0.00	1.17	0.00	0.000	4	0.000	0.044	2685	1496	1475	0	0	0	0	0	0
9163	0.85	244.8	694.1	17.8	643	9167	0.00	1.15	0.00	0.000	6	0.000	0.042	2685	2200	1475	0	0	0	0	0	0
9504	0.85	244.8	633.2	17.9	654	9508	0.00	1.15	0.00	0.000	4	0.000	0.044	2689	1491	1475	0	0	0	0	0	0
9537	0.85	244.8	627.0	17.8	655	9541	0.00	1.15	0.00	0.000	6	0.000	0.043	2689	2200	1474	0	0	0	0	0	0
9878	0.85	244.8	566.1	17.7	666	9881	0.00	1.15	0.00	0.000	4	0.000	0.045	2694	1491	1474	0	0	0	0	0	0
9896	0.85	244.8	566.1	17.7	666	9901	0.00	1.17	0.00	0.000	6	0.000	0.042	2694	2204	1474	0	0	0	0	0	0
10216	0.85	244.8	504.3	18.3	677	10220	0.00	1.15	0.00	0.000	4	0.000	0.045	2698	1492	1474	0	0	0	0	0	0
10260	0.85	244.8	496.9	18.2	679	10268	0.00	1.17	0.00	0.000	6	0.000	0.043	2698	2206	1474	0	0	0	0	0	0
10586	0.85	244.8	436.0	18.7	705	10587	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2206	1474	0	0	0	0	0	0
10901	0.85	244.8	378.3	18.0	730	10904	0.00	1.15	0.00	0.000	4	0.000	0.044	2702	1490	1474	0	0	0	0	0	0
10933	0.85	244.8	373.3	18.4	732	10941	0.08	1.15	0.00	0.000	6	0.164	0.043	2680	2203	1474	0	0	0	0	0	0
11257	0.85	244.8	318.2	16.4	758	11258	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2203	1474	0	0	0	0	0	0
11573	0.85	244.8	266.4	16.6	783	11577	0.00	1.15	0.00	0.000	4	0.000	0.044	2684	1487	1474	0	0	0	0	0	0
11626	0.85	244.8	257.7	15.8	787	11629	0.00	1.15	0.00	0.000	6	0.000	0.044	2683	2202	1473	0	0	0	0	0	0
11962	0.85	244.8	208.4	14.2	834	11969	0.00	1.12	0.00	0.000	4	0.000	0.044	2688	1495	1473	0	0	0	0	0	0
11975	0.85	244.8	206.3	14.1	836	11982	0.00	1.12	0.00	0.000	6	0.000	0.043	2688	2198	1473	0	0	0	0	0	0
12313	0.85	244.8	162.2	12.4	887	12319	0.00	1.12	0.00	0.000	4	0.000	0.044	2692	1492	1473	0	0	0	0	0	0
12392	0.85	244.8	152.4	12.0	899	12399	0.00	1.12	0.00	0.000	6	0.000	0.043	2692	2196	1473	0	0	0	0	0	0
12730	0.85	244.8	112.6	11.4	950	12736	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2196	1474	0	0	0	0	0	0
13068	0.85	244.8	74.2	10.5	1001	13077	0.00	1.12	0.00	0.000	4	0.000	0.045	2697	1492	1473	0	0	0	0	0	0
13282	0.85	244.8	52.4	9.7	1033	13291	0.00	1.12	0.00	0.000	6	0.000	0.044	2697	2196	1472	0	0	0	0	0	0
13623	0.85	244.8	17.6	11.0	1084	13629	0.00	1.12	0.00	0.000	4	0.000	0.045	2701	1491	1472	0	0	0	0	0	0
13784	end climb: SURFACE_DEPTH_REACHED
state	13785	begin surface coast
13805	end surface coast: CONTROL_FINISHED_OK
state	13805	begin surface