Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 35 * 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 0

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 35 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 40 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 ESCAPE_HEADING_DELTA 5 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 2 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 750 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON 5900 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 420 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 27 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 19 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 2 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 250 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 300 CALL_TRIES 5 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 5 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 5 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 0 T_GPS_CHARGE -80496.828 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 200 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 1 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 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 420

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 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 750 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 5 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 1.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

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 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 250

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 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -80496.828

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 300

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 1 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 5

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 0

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 27 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 19 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 35 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 40 SEABIRD_T_G 0.0043394179 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 101011,162106,6632.628,-6005.082,32,0.8,32,-33.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101011,162549,6632.579,-6005.217,19,1.0,19,-33.6 MHEAD_RNG_PITCHd_Wd 108.2,153159,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 548

Post-dive calculations and measurements:

FINISH 1.4,1.024662 _24V_AH 23.2,5.432

SM_CCo 9377,61.17,0.085,0,0,772,420.20 _10V_AH 10.3,4.810

SM_GC 2.11,7.22,0.70,61.17,0.055,0.043,0.085,122,2512,772,-7.06,0.71,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 610 FG_AHR_10Vo 0.000

RAFOS 2,1318263424,16.299999,16.284445,70,67,56,0,0,0,204,216,189,0,0,0 MEM 150404

RAFOS_FIX 6635.741211,-6005.758789,101011,161656,4,102,0.00 DATA_FILE_SIZE 40080,1003

IRIDIUM_FIX 6604.29,-6005.25,101011,131339 CAP_FILE_SIZE 117293,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,245768192

HUMID 57.28 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.78553 SOUNDSPEED 1454.4

TCM_TEMP 16.20 CURRENT 0.274,208.9,1

XPDR_PINGS 16 GPS 101011,190506,6631.582,-6003.137,29,1.0,29,-33.6

ALTIM_BOTTOM_PING 500.1,56.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 276 113.88 SBE_CT 723 23 389.75

Roll_motor 52 111 135.78 SBE_O2 712 5 86.57

VBD_pump_during_apogee 347 1220 9827.85 nil 0 0 0.00

VBD_pump_during_surface 61 84 120.52 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 176 256 1054.57 nil 0 0 0.00

Transponder_ping 6 420 58.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.77

TT8 2724 18 525.12

LPSleep 4404 2 104.80

TT8_Active 532 18 102.66

TT8_Sampling 1896 41 819.13

TT8_CF8 185 47 91.64

TT8_Kalman 0 0 0.00

Analog_circuits 1635 12 202.10

GPS_charging 0 0 0.00

Compass 1698 6 117.90

RAFOS 1080 1 16.69

Transponder 18 30 5.79

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 -0.77 -146.0 0.0 0.0 0 112 0.00 0.00 -93.35 0.000 2 0.000 0.000 121 2523 2111 0 0 0 0 0 0

115 -0.77 -146.0 3.1 -2.7 15 164 8.85 1.20 -34.58 0.000 4 0.276 0.112 2144 3223 3082 0 0 0 0 0 0

282 -0.77 -146.0 31.4 -17.9 43 288 0.00 1.17 0.00 0.000 6 0.000 0.050 2144 2505 3084 0 0 0 0 0 0

486 -0.77 -146.0 65.8 -16.1 80 493 0.00 1.23 0.00 0.000 4 0.000 0.080 2140 3217 3084 0 0 0 0 0 0

560 -0.77 -146.0 77.3 -15.3 93 566 0.00 1.15 0.00 0.000 6 0.000 0.050 2139 2507 3084 0 0 0 0 0 0

763 -0.77 -146.0 108.7 -15.5 125 764 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2508 3084 0 0 0 0 0 0

975 -0.77 -146.0 141.8 -16.0 145 979 0.00 1.12 0.00 0.000 4 0.000 0.059 2139 1811 3084 0 0 0 0 0 0

1013 -0.77 -146.0 147.1 -15.6 148 1020 0.00 1.23 0.00 0.000 6 0.000 0.070 2134 2508 3084 0 0 0 0 0 0

1233 -0.77 -146.0 180.9 -14.4 169 1236 0.00 1.15 0.00 0.000 4 0.000 0.080 2129 3216 3084 0 0 0 0 0 0

1373 -0.77 -146.0 200.5 -14.4 181 1380 0.00 1.15 0.00 0.000 6 0.000 0.048 2129 2502 3084 0 0 0 0 0 0

1592 -0.77 -146.0 232.4 -13.9 202 1595 0.00 1.23 0.00 0.000 4 0.000 0.079 2124 3220 3084 0 0 0 0 0 0

1659 -0.77 -146.0 242.0 -14.5 208 1663 0.00 1.15 0.00 0.000 6 0.000 0.049 2124 2504 3084 0 0 0 0 0 0

1884 -0.77 -146.0 272.9 -13.4 229 1885 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2503 3084 0 0 0 0 0 0

2097 -0.77 -146.0 300.9 -12.8 249 2100 0.00 1.20 0.00 0.000 4 0.000 0.079 2119 3213 3084 0 0 0 0 0 0

2167 -0.77 -146.0 310.0 -13.4 255 2175 0.10 1.12 0.00 0.000 6 0.168 0.047 2149 2505 3084 0 0 0 0 0 0

2389 -0.77 -146.0 335.2 -11.2 276 2390 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2505 3083 0 0 0 0 0 0

2599 -0.77 -146.0 359.4 -11.1 296 2603 0.00 1.20 0.00 0.000 4 0.000 0.078 2146 3214 3084 0 0 0 0 0 0

2726 -0.77 -146.0 373.7 -11.5 307 2733 0.00 1.12 0.00 0.000 6 0.000 0.047 2146 2508 3084 0 0 0 0 0 0

2945 -0.77 -146.0 399.8 -11.9 328 2946 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2508 3084 0 0 0 0 0 0

3158 -0.77 -146.0 424.5 -11.6 348 3162 0.00 1.20 0.00 0.000 4 0.000 0.077 2141 3219 3084 0 0 0 0 0 0

3214 -0.77 -146.0 431.3 -12.3 353 3218 0.00 1.12 0.00 0.000 6 0.000 0.047 2141 2511 3084 0 0 0 0 0 0

3439 -0.77 -146.0 457.8 -11.6 374 3443 0.00 1.12 0.00 0.000 4 0.000 0.060 2141 1806 3084 0 0 0 0 0 0

3484 -0.77 -146.0 463.0 -11.4 378 3488 0.00 1.23 0.00 0.000 6 0.000 0.070 2136 2511 3084 0 0 0 0 0 0

3710 -0.77 -146.0 489.4 -11.4 399 3714 0.00 1.12 0.00 0.000 4 0.000 0.079 2131 3212 3084 0 0 0 0 0 0

3807 -0.77 -146.0 500.1 -11.7 407 3813 0.00 1.12 0.00 0.000 6 0.000 0.047 2131 2504 3084 0 0 0 0 0 0

4026 -0.77 -146.0 526.5 -11.5 428 4029 0.00 1.10 0.00 0.000 4 0.000 0.059 2131 1812 3083 0 0 0 0 0 0

4094 -0.77 -146.0 534.5 -11.8 434 4097 0.00 1.20 0.00 0.000 6 0.000 0.068 2126 2507 3084 0 0 0 0 0 0

4157 end dive: BOTTOM_OBSTACLE_DETECTED

state 4157 begin apogee

4163 -0.16 0.0 542.5 -12.2 440 4288 0.70 0.00 118.25 1.220 6 0.153 0.000 2344 2196 2485 0 0 0 0 0 0

4289 end apogee: CONTROL_FINISHED_OK

state 4289 begin climb

4291 0.77 146.0 547.9 0.0 451 4428 0.90 1.23 125.57 1.186 4 0.076 0.062 2649 1500 1888 0 0 0 0 0 0

4677 0.77 146.0 517.5 11.7 485 4684 0.00 1.23 0.00 0.000 6 0.000 0.060 2648 2198 1879 0 0 0 0 0 0

4896 0.77 146.0 490.2 12.5 506 4900 0.00 1.20 0.00 0.000 4 0.000 0.061 2653 1502 1878 0 0 0 0 0 0

5087 0.77 146.0 466.7 12.2 523 5091 0.00 1.20 0.00 0.000 6 0.000 0.060 2653 2200 1877 0 0 0 0 0 0

5312 0.77 146.0 439.0 12.5 544 5316 0.00 1.20 0.00 0.000 4 0.000 0.062 2658 1497 1877 0 0 0 0 0 0

5482 0.77 146.0 418.0 12.6 559 5486 0.00 1.20 0.00 0.000 6 0.000 0.060 2657 2202 1876 0 0 0 0 0 0

5707 0.77 146.0 388.6 13.2 580 5708 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2202 1876 0 0 0 0 0 0

5919 0.77 146.0 360.8 13.1 600 5922 0.00 1.17 0.00 0.000 4 0.000 0.070 2658 2907 1876 0 0 0 0 0 0

5956 0.77 146.0 356.3 13.3 603 5964 0.00 1.20 0.00 0.000 6 0.000 0.050 2663 2197 1876 0 0 0 0 0 0

6176 0.77 146.0 328.5 12.0 624 6177 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2197 1875 0 0 0 0 0 0

6388 0.77 146.0 302.7 12.0 644 6389 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2197 1876 0 0 0 0 0 0

6601 0.77 146.0 277.6 11.3 664 6604 0.00 1.12 0.00 0.000 4 0.000 0.064 2668 1493 1876 0 0 0 0 0 0

6679 0.77 146.0 269.0 11.0 671 6683 0.00 1.20 0.00 0.000 6 0.000 0.061 2668 2206 1875 0 0 0 0 0 0

6903 0.77 146.0 244.6 10.3 692 6904 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2206 1875 0 0 0 0 0 0

7116 0.78 152.4 223.4 9.7 712 7128 0.00 0.00 4.47 0.790 6 0.000 0.000 2668 2206 1863 0 0 0 0 0 0

7339 0.78 153.9 201.3 9.9 733 7343 0.00 1.20 0.00 0.000 4 0.000 0.062 2672 1491 1862 0 0 0 0 0 0

7362 0.78 154.2 198.8 10.0 735 7366 0.00 1.20 0.00 0.000 6 0.000 0.061 2672 2206 1862 0 0 0 0 0 0

7587 0.79 163.6 176.8 9.6 756 7602 0.00 1.20 10.80 0.956 4 0.000 0.070 2672 2913 1818 0 0 0 0 0 0

7659 0.79 163.6 169.3 10.7 762 7663 0.00 1.20 0.00 0.000 6 0.000 0.052 2678 2200 1817 0 0 0 0 0 0

7884 0.80 172.2 146.1 9.6 783 7897 0.00 1.27 8.88 0.918 4 0.000 0.067 2678 2914 1782 0 0 0 0 0 0

8010 0.80 172.2 133.8 10.5 794 8014 0.00 1.20 0.00 0.000 6 0.000 0.054 2682 2204 1781 0 0 0 0 0 0

8235 0.80 172.2 111.2 10.1 815 8236 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2204 1780 0 0 0 0 0 0

8452 0.80 175.0 90.1 9.9 844 8462 0.00 1.27 3.70 0.686 4 0.000 0.068 2682 2919 1771 0 0 0 0 0 0

8690 0.80 175.0 65.3 10.2 886 8697 0.00 1.23 0.00 0.000 6 0.000 0.055 2687 2193 1771 0 0 0 0 0 0

8895 0.84 207.4 47.1 8.5 923 8928 0.00 1.30 28.08 0.932 4 0.000 0.068 2687 2908 1638 0 0 0 0 0 0

8952 0.85 212.2 42.1 9.8 932 8962 0.00 1.23 5.00 0.738 6 0.000 0.054 2692 2197 1620 0 0 0 0 0 0

9165 0.94 288.0 21.6 6.5 969 9217 0.00 1.25 42.42 0.848 4 0.000 0.067 2692 2908 1307 0 0 0 0 0 0

9352 end climb: SURFACE_DEPTH_REACHED

state 9353 begin surface coast

9359 end surface coast: CONTROL_FINISHED_OK

state 9359 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	35	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	40	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	ESCAPE_HEADING_DELTA	5	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	2	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	750	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	5900	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	420	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	27	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	19	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	2	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	250	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	300	CALL_TRIES	5	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	5	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	5	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	0	T_GPS_CHARGE	-80496.828	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	200	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	1	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	101011,162106,6632.628,-6005.082,32,0.8,32,-33.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101011,162549,6632.579,-6005.217,19,1.0,19,-33.6	MHEAD_RNG_PITCHd_Wd	108.2,153159,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	548

FINISH	1.4,1.024662	_24V_AH	23.2,5.432
SM_CCo	9377,61.17,0.085,0,0,772,420.20	_10V_AH	10.3,4.810
SM_GC	2.11,7.22,0.70,61.17,0.055,0.043,0.085,122,2512,772,-7.06,0.71,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	610	FG_AHR_10Vo	0.000
RAFOS	2,1318263424,16.299999,16.284445,70,67,56,0,0,0,204,216,189,0,0,0	MEM	150404
RAFOS_FIX	6635.741211,-6005.758789,101011,161656,4,102,0.00	DATA_FILE_SIZE	40080,1003
IRIDIUM_FIX	6604.29,-6005.25,101011,131339	CAP_FILE_SIZE	117293,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,245768192
HUMID	57.28	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.78553	SOUNDSPEED	1454.4
TCM_TEMP	16.20	CURRENT	0.274,208.9,1
XPDR_PINGS	16	GPS	101011,190506,6631.582,-6003.137,29,1.0,29,-33.6
ALTIM_BOTTOM_PING	500.1,56.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	276	113.88	SBE_CT	723	23	389.75
Roll_motor	52	111	135.78	SBE_O2	712	5	86.57
VBD_pump_during_apogee	347	1220	9827.85	nil	0	0	0.00
VBD_pump_during_surface	61	84	120.52	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	176	256	1054.57	nil	0	0	0.00
Transponder_ping	6	420	58.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.77
TT8	2724	18	525.12
LPSleep	4404	2	104.80
TT8_Active	532	18	102.66
TT8_Sampling	1896	41	819.13
TT8_CF8	185	47	91.64
TT8_Kalman	0	0	0.00
Analog_circuits	1635	12	202.10
GPS_charging	0	0	0.00
Compass	1698	6	117.90
RAFOS	1080	1	16.69
Transponder	18	30	5.79

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	-0.77	-146.0	0.0	0.0	0	112	0.00	0.00	-93.35	0.000	2	0.000	0.000	121	2523	2111	0	0	0	0	0	0
115	-0.77	-146.0	3.1	-2.7	15	164	8.85	1.20	-34.58	0.000	4	0.276	0.112	2144	3223	3082	0	0	0	0	0	0
282	-0.77	-146.0	31.4	-17.9	43	288	0.00	1.17	0.00	0.000	6	0.000	0.050	2144	2505	3084	0	0	0	0	0	0
486	-0.77	-146.0	65.8	-16.1	80	493	0.00	1.23	0.00	0.000	4	0.000	0.080	2140	3217	3084	0	0	0	0	0	0
560	-0.77	-146.0	77.3	-15.3	93	566	0.00	1.15	0.00	0.000	6	0.000	0.050	2139	2507	3084	0	0	0	0	0	0
763	-0.77	-146.0	108.7	-15.5	125	764	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2508	3084	0	0	0	0	0	0
975	-0.77	-146.0	141.8	-16.0	145	979	0.00	1.12	0.00	0.000	4	0.000	0.059	2139	1811	3084	0	0	0	0	0	0
1013	-0.77	-146.0	147.1	-15.6	148	1020	0.00	1.23	0.00	0.000	6	0.000	0.070	2134	2508	3084	0	0	0	0	0	0
1233	-0.77	-146.0	180.9	-14.4	169	1236	0.00	1.15	0.00	0.000	4	0.000	0.080	2129	3216	3084	0	0	0	0	0	0
1373	-0.77	-146.0	200.5	-14.4	181	1380	0.00	1.15	0.00	0.000	6	0.000	0.048	2129	2502	3084	0	0	0	0	0	0
1592	-0.77	-146.0	232.4	-13.9	202	1595	0.00	1.23	0.00	0.000	4	0.000	0.079	2124	3220	3084	0	0	0	0	0	0
1659	-0.77	-146.0	242.0	-14.5	208	1663	0.00	1.15	0.00	0.000	6	0.000	0.049	2124	2504	3084	0	0	0	0	0	0
1884	-0.77	-146.0	272.9	-13.4	229	1885	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2503	3084	0	0	0	0	0	0
2097	-0.77	-146.0	300.9	-12.8	249	2100	0.00	1.20	0.00	0.000	4	0.000	0.079	2119	3213	3084	0	0	0	0	0	0
2167	-0.77	-146.0	310.0	-13.4	255	2175	0.10	1.12	0.00	0.000	6	0.168	0.047	2149	2505	3084	0	0	0	0	0	0
2389	-0.77	-146.0	335.2	-11.2	276	2390	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2505	3083	0	0	0	0	0	0
2599	-0.77	-146.0	359.4	-11.1	296	2603	0.00	1.20	0.00	0.000	4	0.000	0.078	2146	3214	3084	0	0	0	0	0	0
2726	-0.77	-146.0	373.7	-11.5	307	2733	0.00	1.12	0.00	0.000	6	0.000	0.047	2146	2508	3084	0	0	0	0	0	0
2945	-0.77	-146.0	399.8	-11.9	328	2946	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2508	3084	0	0	0	0	0	0
3158	-0.77	-146.0	424.5	-11.6	348	3162	0.00	1.20	0.00	0.000	4	0.000	0.077	2141	3219	3084	0	0	0	0	0	0
3214	-0.77	-146.0	431.3	-12.3	353	3218	0.00	1.12	0.00	0.000	6	0.000	0.047	2141	2511	3084	0	0	0	0	0	0
3439	-0.77	-146.0	457.8	-11.6	374	3443	0.00	1.12	0.00	0.000	4	0.000	0.060	2141	1806	3084	0	0	0	0	0	0
3484	-0.77	-146.0	463.0	-11.4	378	3488	0.00	1.23	0.00	0.000	6	0.000	0.070	2136	2511	3084	0	0	0	0	0	0
3710	-0.77	-146.0	489.4	-11.4	399	3714	0.00	1.12	0.00	0.000	4	0.000	0.079	2131	3212	3084	0	0	0	0	0	0
3807	-0.77	-146.0	500.1	-11.7	407	3813	0.00	1.12	0.00	0.000	6	0.000	0.047	2131	2504	3084	0	0	0	0	0	0
4026	-0.77	-146.0	526.5	-11.5	428	4029	0.00	1.10	0.00	0.000	4	0.000	0.059	2131	1812	3083	0	0	0	0	0	0
4094	-0.77	-146.0	534.5	-11.8	434	4097	0.00	1.20	0.00	0.000	6	0.000	0.068	2126	2507	3084	0	0	0	0	0	0
4157	end dive: BOTTOM_OBSTACLE_DETECTED
state	4157	begin apogee
4163	-0.16	0.0	542.5	-12.2	440	4288	0.70	0.00	118.25	1.220	6	0.153	0.000	2344	2196	2485	0	0	0	0	0	0
4289	end apogee: CONTROL_FINISHED_OK
state	4289	begin climb
4291	0.77	146.0	547.9	0.0	451	4428	0.90	1.23	125.57	1.186	4	0.076	0.062	2649	1500	1888	0	0	0	0	0	0
4677	0.77	146.0	517.5	11.7	485	4684	0.00	1.23	0.00	0.000	6	0.000	0.060	2648	2198	1879	0	0	0	0	0	0
4896	0.77	146.0	490.2	12.5	506	4900	0.00	1.20	0.00	0.000	4	0.000	0.061	2653	1502	1878	0	0	0	0	0	0
5087	0.77	146.0	466.7	12.2	523	5091	0.00	1.20	0.00	0.000	6	0.000	0.060	2653	2200	1877	0	0	0	0	0	0
5312	0.77	146.0	439.0	12.5	544	5316	0.00	1.20	0.00	0.000	4	0.000	0.062	2658	1497	1877	0	0	0	0	0	0
5482	0.77	146.0	418.0	12.6	559	5486	0.00	1.20	0.00	0.000	6	0.000	0.060	2657	2202	1876	0	0	0	0	0	0
5707	0.77	146.0	388.6	13.2	580	5708	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2202	1876	0	0	0	0	0	0
5919	0.77	146.0	360.8	13.1	600	5922	0.00	1.17	0.00	0.000	4	0.000	0.070	2658	2907	1876	0	0	0	0	0	0
5956	0.77	146.0	356.3	13.3	603	5964	0.00	1.20	0.00	0.000	6	0.000	0.050	2663	2197	1876	0	0	0	0	0	0
6176	0.77	146.0	328.5	12.0	624	6177	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2197	1875	0	0	0	0	0	0
6388	0.77	146.0	302.7	12.0	644	6389	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2197	1876	0	0	0	0	0	0
6601	0.77	146.0	277.6	11.3	664	6604	0.00	1.12	0.00	0.000	4	0.000	0.064	2668	1493	1876	0	0	0	0	0	0
6679	0.77	146.0	269.0	11.0	671	6683	0.00	1.20	0.00	0.000	6	0.000	0.061	2668	2206	1875	0	0	0	0	0	0
6903	0.77	146.0	244.6	10.3	692	6904	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2206	1875	0	0	0	0	0	0
7116	0.78	152.4	223.4	9.7	712	7128	0.00	0.00	4.47	0.790	6	0.000	0.000	2668	2206	1863	0	0	0	0	0	0
7339	0.78	153.9	201.3	9.9	733	7343	0.00	1.20	0.00	0.000	4	0.000	0.062	2672	1491	1862	0	0	0	0	0	0
7362	0.78	154.2	198.8	10.0	735	7366	0.00	1.20	0.00	0.000	6	0.000	0.061	2672	2206	1862	0	0	0	0	0	0
7587	0.79	163.6	176.8	9.6	756	7602	0.00	1.20	10.80	0.956	4	0.000	0.070	2672	2913	1818	0	0	0	0	0	0
7659	0.79	163.6	169.3	10.7	762	7663	0.00	1.20	0.00	0.000	6	0.000	0.052	2678	2200	1817	0	0	0	0	0	0
7884	0.80	172.2	146.1	9.6	783	7897	0.00	1.27	8.88	0.918	4	0.000	0.067	2678	2914	1782	0	0	0	0	0	0
8010	0.80	172.2	133.8	10.5	794	8014	0.00	1.20	0.00	0.000	6	0.000	0.054	2682	2204	1781	0	0	0	0	0	0
8235	0.80	172.2	111.2	10.1	815	8236	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2204	1780	0	0	0	0	0	0
8452	0.80	175.0	90.1	9.9	844	8462	0.00	1.27	3.70	0.686	4	0.000	0.068	2682	2919	1771	0	0	0	0	0	0
8690	0.80	175.0	65.3	10.2	886	8697	0.00	1.23	0.00	0.000	6	0.000	0.055	2687	2193	1771	0	0	0	0	0	0
8895	0.84	207.4	47.1	8.5	923	8928	0.00	1.30	28.08	0.932	4	0.000	0.068	2687	2908	1638	0	0	0	0	0	0
8952	0.85	212.2	42.1	9.8	932	8962	0.00	1.23	5.00	0.738	6	0.000	0.054	2692	2197	1620	0	0	0	0	0	0
9165	0.94	288.0	21.6	6.5	969	9217	0.00	1.25	42.42	0.848	4	0.000	0.067	2692	2908	1307	0	0	0	0	0	0
9352	end climb: SURFACE_DEPTH_REACHED
state	9353	begin surface coast
9359	end surface coast: CONTROL_FINISHED_OK
state	9359	begin surface