Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 78 * 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 78 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 112 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 990 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 350 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 33 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 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 330 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 400 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 -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80613.617 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 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 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 350

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 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 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 330

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 -80613.617

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 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 -3

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 33 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 22 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 78 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 112 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 171011,070159,6658.681,-5719.143,41,0.8,41,-33.5 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 2.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 171011,070725,6658.701,-5719.119,15,0.7,17,-33.5 MHEAD_RNG_PITCHd_Wd 149.0,23841,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 787

Post-dive calculations and measurements:

FINISH 1.7,1.011450 _24V_AH 23.0,10.473

SM_CCo 12608,54.90,0.085,0,0,1057,350.04 _10V_AH 10.2,8.803

SM_GC 2.71,6.97,0.60,54.90,0.050,0.063,0.085,124,2510,1057,-7.07,-0.71,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 813 FG_AHR_10Vo 0.000

RAFOS 0,1318838468,8.033334,8.018888,62,56,55,0,0,0,215,175,187,0,0,0 MEM 150240

RAFOS_FIX 6658.989258,-5722.005371,171011,080842,5,111,0.42 DATA_FILE_SIZE 49976,1277

IRIDIUM_FIX 6631.12,-5719.52,171011,030345 CAP_FILE_SIZE 141334,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,242499584

HUMID 57.24 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.84413 SOUNDSPEED 1456.5

TCM_TEMP 16.40 CURRENT 0.086,323.9,1

XPDR_PINGS 19 GPS 171011,104054,6658.467,-5714.807,49,0.7,49,-33.5

ALTIM_BOTTOM_PING 700.5,103.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 262 104.56 SBE_CT 919 23 491.25

Roll_motor 66 100 153.52 SBE_O2 753 5 90.78

VBD_pump_during_apogee 324 1375 10257.91 nil 0 0 0.00

VBD_pump_during_surface 54 84 107.22 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 212 259 1270.05 nil 0 0 0.00

Transponder_ping 7 420 70.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.83

TT8 3535 18 674.66

LPSleep 6318 2 148.88

TT8_Active 546 18 104.28

TT8_Sampling 2382 41 1019.03

TT8_CF8 227 47 110.99

TT8_Kalman 0 0 0.00

Analog_circuits 1905 12 233.20

GPS_charging 0 0 0.00

Compass 2152 6 147.97

RAFOS 2520 1 38.56

Transponder 19 30 6.07

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 64 0.00 0.00 -46.67 0.000 2 0.000 0.000 123 2510 1708 0 0 0 0 0 0

67 -0.77 -146.0 3.1 -1.3 7 172 8.52 1.15 -87.88 0.000 4 0.262 0.101 2141 3207 3081 0 0 0 0 0 0

356 -0.77 -146.0 39.5 -16.2 56 365 0.00 1.12 0.00 0.000 6 0.000 0.041 2141 2502 3083 0 0 0 0 0 0

698 -0.77 -146.0 99.7 -18.6 117 704 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2501 3084 0 0 0 0 0 0

1034 -0.77 -146.0 154.6 -15.4 178 1041 0.00 1.10 0.00 0.000 4 0.000 0.052 2141 1811 3084 0 0 0 0 0 0

1158 -0.77 -146.0 172.9 -14.6 200 1167 0.00 1.23 0.00 0.000 6 0.000 0.064 2137 2515 3084 0 0 0 0 0 0

1499 -0.77 -146.0 218.7 -12.4 261 1506 0.00 1.12 0.00 0.000 4 0.000 0.076 2131 3212 3084 0 0 0 0 0 0

1606 -0.77 -146.0 233.6 -13.8 280 1615 0.00 1.12 0.00 0.000 6 0.000 0.041 2131 2502 3083 0 0 0 0 0 0

1948 -0.77 -146.0 278.2 -11.9 341 1955 0.00 1.10 0.00 0.000 4 0.000 0.052 2131 1810 3083 0 0 0 0 0 0

2011 -0.77 -146.0 285.6 -11.4 352 2020 0.00 1.23 0.00 0.000 6 0.000 0.064 2126 2517 3083 0 0 0 0 0 0

2344 -0.77 -146.0 324.0 -12.0 394 2346 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2517 3083 0 0 0 0 0 0

2665 -0.77 -146.0 364.2 -12.6 424 2669 0.00 1.17 0.00 0.000 4 0.000 0.051 2126 1813 3083 0 0 0 0 0 0

2770 -0.77 -146.0 377.5 -12.8 433 2777 0.00 1.20 0.00 0.000 6 0.000 0.063 2122 2507 3083 0 0 0 0 0 0

3095 -0.77 -146.0 420.7 -13.0 464 3097 0.12 0.00 0.00 0.000 6 0.189 0.000 2151 2507 3083 0 0 0 0 0 0

3414 -0.77 -146.0 455.8 -11.0 494 3418 0.00 1.15 0.00 0.000 4 0.000 0.049 2151 1811 3083 0 0 0 0 0 0

3495 -0.77 -146.0 464.3 -10.6 501 3499 0.00 1.20 0.00 0.000 6 0.000 0.060 2148 2512 3083 0 0 0 0 0 0

3826 -0.77 -146.0 500.0 -11.1 532 3830 0.00 1.12 0.00 0.000 4 0.000 0.074 2143 3213 3083 0 0 0 0 0 0

3881 -0.77 -146.0 504.1 -11.2 533 3885 0.00 1.10 0.00 0.000 6 0.000 0.038 2143 2505 3083 0 0 0 0 0 0

4200 -0.77 -146.0 542.3 -11.3 544 4203 0.00 1.08 0.00 0.000 4 0.000 0.050 2143 1818 3083 0 0 0 0 0 0

4310 -0.77 -146.0 553.8 -11.4 547 4314 0.00 1.20 0.00 0.000 6 0.000 0.061 2138 2518 3083 0 0 0 0 0 0

4643 -0.77 -146.0 593.1 -11.7 558 4647 0.00 1.10 0.00 0.000 4 0.000 0.074 2133 3210 3083 0 0 0 0 0 0

4712 -0.77 -146.0 601.6 -11.8 560 4716 0.00 1.10 0.00 0.000 6 0.000 0.038 2133 2500 3083 0 0 0 0 0 0

5053 -0.77 -146.0 641.6 -11.7 571 5057 0.00 1.08 0.00 0.000 4 0.000 0.050 2133 1813 3083 0 0 0 0 0 0

5170 -0.77 -146.0 653.5 -11.7 574 5174 0.00 1.20 0.00 0.000 6 0.000 0.060 2128 2511 3083 0 0 0 0 0 0

5497 -0.77 -146.0 692.3 -11.2 585 5500 0.00 1.12 0.00 0.000 4 0.000 0.073 2123 3217 3084 0 0 0 0 0 0

5571 -0.77 -146.0 700.5 -11.4 587 5575 0.00 1.10 0.00 0.000 6 0.000 0.037 2123 2507 3084 0 0 0 0 0 0

5907 -0.77 -146.0 739.2 -11.1 598 5911 0.00 1.08 0.00 0.000 4 0.000 0.050 2123 1817 3084 0 0 0 0 0 0

5996 -0.77 -146.0 746.7 -10.9 600 6001 0.10 1.17 0.00 0.000 6 0.157 0.062 2149 2504 3084 0 0 0 0 0 0

6315 -0.77 -146.0 780.5 -10.1 611 6318 0.00 1.12 0.00 0.000 4 0.000 0.074 2146 3211 3084 0 0 0 0 0 0

6382 end dive: TARGET_DEPTH_EXCEEDED

state 6382 begin apogee

6389 -0.16 0.0 787.5 -10.1 613 6517 0.60 0.00 121.03 1.375 6 0.140 0.000 2340 2192 2485 0 0 0 0 0 0

6518 end apogee: CONTROL_FINISHED_OK

state 6518 begin climb

6520 0.77 146.0 792.1 0.0 617 6658 0.90 1.15 129.23 1.340 4 0.074 0.054 2648 1503 1888 0 0 0 0 0 0

6682 0.80 175.7 783.6 8.6 622 6715 0.00 1.27 28.05 1.258 6 0.000 0.054 2648 2205 1768 0 0 0 0 0 0

7021 0.80 175.7 735.8 14.2 633 7025 0.00 1.20 0.00 0.000 4 0.000 0.061 2648 2912 1761 0 0 0 0 0 0

7055 0.80 175.7 730.6 14.3 634 7059 0.00 1.23 0.00 0.000 6 0.000 0.042 2653 2200 1761 0 0 0 0 0 0

7397 0.80 175.7 681.2 14.5 645 7401 0.00 1.25 0.00 0.000 4 0.000 0.060 2653 2908 1759 0 0 0 0 0 0

7441 0.80 175.7 675.9 14.6 646 7445 0.00 1.20 0.00 0.000 6 0.000 0.043 2658 2197 1759 0 0 0 0 0 0

7772 0.80 175.7 626.7 14.3 657 7776 0.00 1.25 0.00 0.000 4 0.000 0.060 2658 2912 1758 0 0 0 0 0 0

7807 0.80 175.7 621.5 14.2 658 7810 0.00 1.20 0.00 0.000 6 0.000 0.044 2663 2196 1758 0 0 0 0 0 0

8149 0.80 175.7 571.9 14.5 669 8153 0.00 1.23 0.00 0.000 4 0.000 0.060 2663 2903 1757 0 0 0 0 0 0

8187 0.80 175.7 566.6 14.6 670 8191 0.00 1.17 0.00 0.000 6 0.000 0.044 2667 2196 1757 0 0 0 0 0 0

8524 0.80 175.7 516.7 14.8 681 8528 0.00 1.23 0.00 0.000 4 0.000 0.060 2667 2906 1757 0 0 0 0 0 0

8535 0.80 175.7 516.7 14.8 681 8538 0.00 1.17 0.00 0.000 6 0.000 0.043 2672 2196 1757 0 0 0 0 0 0

8865 0.80 175.7 465.8 15.0 705 8869 0.00 1.23 0.00 0.000 4 0.000 0.060 2672 2907 1756 0 0 0 0 0 0

8900 0.80 175.7 460.0 15.6 708 8903 0.00 1.17 0.00 0.000 6 0.000 0.044 2677 2194 1756 0 0 0 0 0 0

9230 0.80 175.7 409.2 15.2 739 9231 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2194 1756 0 0 0 0 0 0

9552 0.80 175.7 360.5 15.1 769 9555 0.00 1.10 0.00 0.000 4 0.000 0.057 2683 1491 1756 0 0 0 0 0 0

9612 0.80 175.7 351.7 15.0 774 9619 0.00 1.17 0.00 0.000 6 0.000 0.054 2682 2204 1755 0 0 0 0 0 0

9939 0.80 175.7 303.2 14.5 805 9942 0.00 1.15 0.00 0.000 4 0.000 0.053 2687 1497 1756 0 0 0 0 0 0

10006 0.80 175.7 293.4 14.5 815 10013 0.00 1.15 0.00 0.000 6 0.000 0.054 2687 2198 1756 0 0 0 0 0 0

10343 0.80 175.7 248.0 13.0 876 10352 0.00 1.15 0.00 0.000 4 0.000 0.054 2692 1493 1756 0 0 0 0 0 0

10377 0.80 175.7 243.7 13.0 881 10385 0.10 1.15 0.00 0.000 6 0.172 0.054 2662 2198 1756 0 0 0 0 0 0

10716 0.80 175.7 202.1 12.8 942 10723 0.00 1.15 0.00 0.000 4 0.000 0.062 2662 2906 1755 0 0 0 0 0 0

10763 0.80 175.7 196.0 12.6 950 10770 0.00 1.15 0.00 0.000 6 0.000 0.043 2665 2198 1755 0 0 0 0 0 0

11102 0.80 175.7 153.4 11.6 1011 11109 0.00 1.20 0.00 0.000 4 0.000 0.060 2665 2904 1756 0 0 0 0 0 0

11165 0.80 175.7 146.2 11.7 1022 11172 0.00 1.15 0.00 0.000 6 0.000 0.043 2670 2196 1755 0 0 0 0 0 0

11502 0.80 175.7 108.0 11.2 1083 11509 0.00 1.20 0.00 0.000 4 0.000 0.060 2670 2902 1755 0 0 0 0 0 0

11740 0.80 175.7 81.0 11.1 1126 11747 0.00 1.15 0.00 0.000 6 0.000 0.044 2675 2194 1755 0 0 0 0 0 0

12077 0.87 232.6 53.3 7.4 1187 12130 0.00 1.08 45.95 0.929 4 0.000 0.056 2680 1496 1534 0 0 0 0 0 0

12190 0.87 232.6 43.0 10.6 1205 12197 0.00 1.20 0.00 0.000 6 0.000 0.055 2680 2203 1531 0 0 0 0 0 0

12527 0.87 232.6 5.2 11.6 1266 12534 0.00 1.15 0.00 0.000 4 0.000 0.063 2680 2901 1527 0 0 0 0 0 0

12551 0.87 232.6 2.1 13.2 1270 12558 0.00 1.15 0.00 0.000 6 0.000 0.037 2681 2200 1525 0 0 0 0 0 0

12563 end climb: SURFACE_DEPTH_REACHED

state 12563 begin surface coast

12592 end surface coast: CONTROL_FINISHED_OK

state 12592 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	78	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	112	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	990	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	350	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	33	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	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	330	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	400	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	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80613.617	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	0	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	171011,070159,6658.681,-5719.143,41,0.8,41,-33.5	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	2.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	171011,070725,6658.701,-5719.119,15,0.7,17,-33.5	MHEAD_RNG_PITCHd_Wd	149.0,23841,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	787

FINISH	1.7,1.011450	_24V_AH	23.0,10.473
SM_CCo	12608,54.90,0.085,0,0,1057,350.04	_10V_AH	10.2,8.803
SM_GC	2.71,6.97,0.60,54.90,0.050,0.063,0.085,124,2510,1057,-7.07,-0.71,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	813	FG_AHR_10Vo	0.000
RAFOS	0,1318838468,8.033334,8.018888,62,56,55,0,0,0,215,175,187,0,0,0	MEM	150240
RAFOS_FIX	6658.989258,-5722.005371,171011,080842,5,111,0.42	DATA_FILE_SIZE	49976,1277
IRIDIUM_FIX	6631.12,-5719.52,171011,030345	CAP_FILE_SIZE	141334,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,242499584
HUMID	57.24	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.84413	SOUNDSPEED	1456.5
TCM_TEMP	16.40	CURRENT	0.086,323.9,1
XPDR_PINGS	19	GPS	171011,104054,6658.467,-5714.807,49,0.7,49,-33.5
ALTIM_BOTTOM_PING	700.5,103.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	262	104.56	SBE_CT	919	23	491.25
Roll_motor	66	100	153.52	SBE_O2	753	5	90.78
VBD_pump_during_apogee	324	1375	10257.91	nil	0	0	0.00
VBD_pump_during_surface	54	84	107.22	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	212	259	1270.05	nil	0	0	0.00
Transponder_ping	7	420	70.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.83
TT8	3535	18	674.66
LPSleep	6318	2	148.88
TT8_Active	546	18	104.28
TT8_Sampling	2382	41	1019.03
TT8_CF8	227	47	110.99
TT8_Kalman	0	0	0.00
Analog_circuits	1905	12	233.20
GPS_charging	0	0	0.00
Compass	2152	6	147.97
RAFOS	2520	1	38.56
Transponder	19	30	6.07

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	64	0.00	0.00	-46.67	0.000	2	0.000	0.000	123	2510	1708	0	0	0	0	0	0
67	-0.77	-146.0	3.1	-1.3	7	172	8.52	1.15	-87.88	0.000	4	0.262	0.101	2141	3207	3081	0	0	0	0	0	0
356	-0.77	-146.0	39.5	-16.2	56	365	0.00	1.12	0.00	0.000	6	0.000	0.041	2141	2502	3083	0	0	0	0	0	0
698	-0.77	-146.0	99.7	-18.6	117	704	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2501	3084	0	0	0	0	0	0
1034	-0.77	-146.0	154.6	-15.4	178	1041	0.00	1.10	0.00	0.000	4	0.000	0.052	2141	1811	3084	0	0	0	0	0	0
1158	-0.77	-146.0	172.9	-14.6	200	1167	0.00	1.23	0.00	0.000	6	0.000	0.064	2137	2515	3084	0	0	0	0	0	0
1499	-0.77	-146.0	218.7	-12.4	261	1506	0.00	1.12	0.00	0.000	4	0.000	0.076	2131	3212	3084	0	0	0	0	0	0
1606	-0.77	-146.0	233.6	-13.8	280	1615	0.00	1.12	0.00	0.000	6	0.000	0.041	2131	2502	3083	0	0	0	0	0	0
1948	-0.77	-146.0	278.2	-11.9	341	1955	0.00	1.10	0.00	0.000	4	0.000	0.052	2131	1810	3083	0	0	0	0	0	0
2011	-0.77	-146.0	285.6	-11.4	352	2020	0.00	1.23	0.00	0.000	6	0.000	0.064	2126	2517	3083	0	0	0	0	0	0
2344	-0.77	-146.0	324.0	-12.0	394	2346	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2517	3083	0	0	0	0	0	0
2665	-0.77	-146.0	364.2	-12.6	424	2669	0.00	1.17	0.00	0.000	4	0.000	0.051	2126	1813	3083	0	0	0	0	0	0
2770	-0.77	-146.0	377.5	-12.8	433	2777	0.00	1.20	0.00	0.000	6	0.000	0.063	2122	2507	3083	0	0	0	0	0	0
3095	-0.77	-146.0	420.7	-13.0	464	3097	0.12	0.00	0.00	0.000	6	0.189	0.000	2151	2507	3083	0	0	0	0	0	0
3414	-0.77	-146.0	455.8	-11.0	494	3418	0.00	1.15	0.00	0.000	4	0.000	0.049	2151	1811	3083	0	0	0	0	0	0
3495	-0.77	-146.0	464.3	-10.6	501	3499	0.00	1.20	0.00	0.000	6	0.000	0.060	2148	2512	3083	0	0	0	0	0	0
3826	-0.77	-146.0	500.0	-11.1	532	3830	0.00	1.12	0.00	0.000	4	0.000	0.074	2143	3213	3083	0	0	0	0	0	0
3881	-0.77	-146.0	504.1	-11.2	533	3885	0.00	1.10	0.00	0.000	6	0.000	0.038	2143	2505	3083	0	0	0	0	0	0
4200	-0.77	-146.0	542.3	-11.3	544	4203	0.00	1.08	0.00	0.000	4	0.000	0.050	2143	1818	3083	0	0	0	0	0	0
4310	-0.77	-146.0	553.8	-11.4	547	4314	0.00	1.20	0.00	0.000	6	0.000	0.061	2138	2518	3083	0	0	0	0	0	0
4643	-0.77	-146.0	593.1	-11.7	558	4647	0.00	1.10	0.00	0.000	4	0.000	0.074	2133	3210	3083	0	0	0	0	0	0
4712	-0.77	-146.0	601.6	-11.8	560	4716	0.00	1.10	0.00	0.000	6	0.000	0.038	2133	2500	3083	0	0	0	0	0	0
5053	-0.77	-146.0	641.6	-11.7	571	5057	0.00	1.08	0.00	0.000	4	0.000	0.050	2133	1813	3083	0	0	0	0	0	0
5170	-0.77	-146.0	653.5	-11.7	574	5174	0.00	1.20	0.00	0.000	6	0.000	0.060	2128	2511	3083	0	0	0	0	0	0
5497	-0.77	-146.0	692.3	-11.2	585	5500	0.00	1.12	0.00	0.000	4	0.000	0.073	2123	3217	3084	0	0	0	0	0	0
5571	-0.77	-146.0	700.5	-11.4	587	5575	0.00	1.10	0.00	0.000	6	0.000	0.037	2123	2507	3084	0	0	0	0	0	0
5907	-0.77	-146.0	739.2	-11.1	598	5911	0.00	1.08	0.00	0.000	4	0.000	0.050	2123	1817	3084	0	0	0	0	0	0
5996	-0.77	-146.0	746.7	-10.9	600	6001	0.10	1.17	0.00	0.000	6	0.157	0.062	2149	2504	3084	0	0	0	0	0	0
6315	-0.77	-146.0	780.5	-10.1	611	6318	0.00	1.12	0.00	0.000	4	0.000	0.074	2146	3211	3084	0	0	0	0	0	0
6382	end dive: TARGET_DEPTH_EXCEEDED
state	6382	begin apogee
6389	-0.16	0.0	787.5	-10.1	613	6517	0.60	0.00	121.03	1.375	6	0.140	0.000	2340	2192	2485	0	0	0	0	0	0
6518	end apogee: CONTROL_FINISHED_OK
state	6518	begin climb
6520	0.77	146.0	792.1	0.0	617	6658	0.90	1.15	129.23	1.340	4	0.074	0.054	2648	1503	1888	0	0	0	0	0	0
6682	0.80	175.7	783.6	8.6	622	6715	0.00	1.27	28.05	1.258	6	0.000	0.054	2648	2205	1768	0	0	0	0	0	0
7021	0.80	175.7	735.8	14.2	633	7025	0.00	1.20	0.00	0.000	4	0.000	0.061	2648	2912	1761	0	0	0	0	0	0
7055	0.80	175.7	730.6	14.3	634	7059	0.00	1.23	0.00	0.000	6	0.000	0.042	2653	2200	1761	0	0	0	0	0	0
7397	0.80	175.7	681.2	14.5	645	7401	0.00	1.25	0.00	0.000	4	0.000	0.060	2653	2908	1759	0	0	0	0	0	0
7441	0.80	175.7	675.9	14.6	646	7445	0.00	1.20	0.00	0.000	6	0.000	0.043	2658	2197	1759	0	0	0	0	0	0
7772	0.80	175.7	626.7	14.3	657	7776	0.00	1.25	0.00	0.000	4	0.000	0.060	2658	2912	1758	0	0	0	0	0	0
7807	0.80	175.7	621.5	14.2	658	7810	0.00	1.20	0.00	0.000	6	0.000	0.044	2663	2196	1758	0	0	0	0	0	0
8149	0.80	175.7	571.9	14.5	669	8153	0.00	1.23	0.00	0.000	4	0.000	0.060	2663	2903	1757	0	0	0	0	0	0
8187	0.80	175.7	566.6	14.6	670	8191	0.00	1.17	0.00	0.000	6	0.000	0.044	2667	2196	1757	0	0	0	0	0	0
8524	0.80	175.7	516.7	14.8	681	8528	0.00	1.23	0.00	0.000	4	0.000	0.060	2667	2906	1757	0	0	0	0	0	0
8535	0.80	175.7	516.7	14.8	681	8538	0.00	1.17	0.00	0.000	6	0.000	0.043	2672	2196	1757	0	0	0	0	0	0
8865	0.80	175.7	465.8	15.0	705	8869	0.00	1.23	0.00	0.000	4	0.000	0.060	2672	2907	1756	0	0	0	0	0	0
8900	0.80	175.7	460.0	15.6	708	8903	0.00	1.17	0.00	0.000	6	0.000	0.044	2677	2194	1756	0	0	0	0	0	0
9230	0.80	175.7	409.2	15.2	739	9231	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2194	1756	0	0	0	0	0	0
9552	0.80	175.7	360.5	15.1	769	9555	0.00	1.10	0.00	0.000	4	0.000	0.057	2683	1491	1756	0	0	0	0	0	0
9612	0.80	175.7	351.7	15.0	774	9619	0.00	1.17	0.00	0.000	6	0.000	0.054	2682	2204	1755	0	0	0	0	0	0
9939	0.80	175.7	303.2	14.5	805	9942	0.00	1.15	0.00	0.000	4	0.000	0.053	2687	1497	1756	0	0	0	0	0	0
10006	0.80	175.7	293.4	14.5	815	10013	0.00	1.15	0.00	0.000	6	0.000	0.054	2687	2198	1756	0	0	0	0	0	0
10343	0.80	175.7	248.0	13.0	876	10352	0.00	1.15	0.00	0.000	4	0.000	0.054	2692	1493	1756	0	0	0	0	0	0
10377	0.80	175.7	243.7	13.0	881	10385	0.10	1.15	0.00	0.000	6	0.172	0.054	2662	2198	1756	0	0	0	0	0	0
10716	0.80	175.7	202.1	12.8	942	10723	0.00	1.15	0.00	0.000	4	0.000	0.062	2662	2906	1755	0	0	0	0	0	0
10763	0.80	175.7	196.0	12.6	950	10770	0.00	1.15	0.00	0.000	6	0.000	0.043	2665	2198	1755	0	0	0	0	0	0
11102	0.80	175.7	153.4	11.6	1011	11109	0.00	1.20	0.00	0.000	4	0.000	0.060	2665	2904	1756	0	0	0	0	0	0
11165	0.80	175.7	146.2	11.7	1022	11172	0.00	1.15	0.00	0.000	6	0.000	0.043	2670	2196	1755	0	0	0	0	0	0
11502	0.80	175.7	108.0	11.2	1083	11509	0.00	1.20	0.00	0.000	4	0.000	0.060	2670	2902	1755	0	0	0	0	0	0
11740	0.80	175.7	81.0	11.1	1126	11747	0.00	1.15	0.00	0.000	6	0.000	0.044	2675	2194	1755	0	0	0	0	0	0
12077	0.87	232.6	53.3	7.4	1187	12130	0.00	1.08	45.95	0.929	4	0.000	0.056	2680	1496	1534	0	0	0	0	0	0
12190	0.87	232.6	43.0	10.6	1205	12197	0.00	1.20	0.00	0.000	6	0.000	0.055	2680	2203	1531	0	0	0	0	0	0
12527	0.87	232.6	5.2	11.6	1266	12534	0.00	1.15	0.00	0.000	4	0.000	0.063	2680	2901	1527	0	0	0	0	0	0
12551	0.87	232.6	2.1	13.2	1270	12558	0.00	1.15	0.00	0.000	6	0.000	0.037	2681	2200	1525	0	0	0	0	0	0
12563	end climb: SURFACE_DEPTH_REACHED
state	12563	begin surface coast
12592	end surface coast: CONTROL_FINISHED_OK
state	12592	begin surface