Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 79 * 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 79 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 35 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 21 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 -80614.883 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 -80614.883

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 35 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 21 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 79 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 171011,104054,6658.467,-5714.807,49,0.7,49,-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 2.56 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 171011,104613,6658.453,-5714.774,17,1.3,18,-33.5 MHEAD_RNG_PITCHd_Wd 118.8,21090,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 779

Post-dive calculations and measurements:

FINISH 1.6,1.025150 _24V_AH 23.1,10.587

SM_CCo 12966,56.25,0.084,0,0,1057,350.04 _10V_AH 10.2,8.896

SM_GC 2.55,7.00,0.60,56.25,0.052,0.069,0.084,117,2504,1057,-7.08,-0.85,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 836 FG_AHR_10Vo 0.000

RAFOS 0,1318852873,12.033333,12.020278,59,56,55,0,0,0,183,162,121,0,0,0 MEM 150332

RAFOS_FIX 6657.924805,-5719.539062,171011,121200,2,83,0.49 DATA_FILE_SIZE 53243,1344

IRIDIUM_FIX 6631.12,-5724.14,171011,070744 CAP_FILE_SIZE 138256,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,242425856

HUMID 57.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.83436 SOUNDSPEED 1456.9

TCM_TEMP 16.40 CURRENT 0.181,326.6,1

XPDR_PINGS 21 GPS 171011,142517,6659.702,-5711.643,37,0.7,37,-33.5

ALTIM_BOTTOM_PING 652.0,131.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 265 106.39 SBE_CT 963 23 516.61

Roll_motor 54 100 127.54 SBE_O2 802 5 97.10

VBD_pump_during_apogee 316 1358 9928.51 nil 0 0 0.00

VBD_pump_during_surface 56 84 109.34 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 205 262 1249.12 nil 0 0 0.00

Transponder_ping 7 420 72.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.21

TT8 3654 18 697.47

LPSleep 6524 2 153.72

TT8_Active 534 18 101.97

TT8_Sampling 2406 41 1029.28

TT8_CF8 231 47 112.96

TT8_Kalman 0 0 0.00

Analog_circuits 1883 12 230.51

GPS_charging 0 0 0.00

Compass 2182 6 150.03

RAFOS 2520 1 38.56

Transponder 18 30 5.55

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.77 -146.0 0.0 0.0 0 75 0.00 0.00 -56.12 0.000 2 0.000 0.000 123 2514 1847 0 0 0 0 0 0

78 -0.77 -146.0 3.0 -1.1 9 163 8.60 1.20 -66.65 0.000 4 0.265 0.101 2142 3226 3083 0 0 0 0 0 0

411 -0.77 -146.0 53.3 -17.7 66 418 0.00 1.15 0.00 0.000 6 0.000 0.040 2142 2502 3085 0 0 0 0 0 0

749 -0.77 -146.0 105.3 -13.8 127 757 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2502 3085 0 0 0 0 0 0

1089 -0.77 -146.0 151.2 -12.5 188 1096 0.00 1.20 0.00 0.000 4 0.000 0.071 2137 3212 3086 0 0 0 0 0 0

1219 -0.77 -146.0 168.0 -12.4 211 1228 0.00 1.12 0.00 0.000 6 0.000 0.041 2137 2501 3085 0 0 0 0 0 0

1559 -0.77 -146.0 213.1 -13.9 272 1566 0.00 1.10 0.00 0.000 4 0.000 0.052 2137 1809 3085 0 0 0 0 0 0

1711 -0.77 -146.0 233.8 -13.8 299 1720 0.00 1.23 0.00 0.000 6 0.000 0.063 2132 2516 3085 0 0 0 0 0 0

2053 -0.77 -146.0 280.0 -12.9 360 2059 0.00 1.17 0.00 0.000 4 0.000 0.050 2132 1809 3085 0 0 0 0 0 0

2123 -0.77 -146.0 289.0 -12.1 372 2129 0.00 1.20 0.00 0.000 6 0.000 0.063 2127 2504 3085 0 0 0 0 0 0

2452 -0.77 -146.0 330.8 -12.3 410 2453 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2504 3085 0 0 0 0 0 0

2774 -0.77 -146.0 370.8 -12.9 440 2780 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2504 3085 0 0 0 0 0 0

3100 -0.77 -146.0 412.0 -12.2 471 3101 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2504 3084 0 0 0 0 0 0

3419 -0.77 -146.0 451.6 -12.3 501 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2504 3085 0 0 0 0 0 0

3738 -0.77 -146.0 491.3 -12.4 531 3741 0.00 1.15 0.00 0.000 4 0.000 0.050 2128 1809 3085 0 0 0 0 0 0

3783 -0.77 -146.0 497.0 -12.1 535 3787 0.00 1.20 0.00 0.000 6 0.000 0.061 2123 2511 3085 0 0 0 0 0 0

4124 -0.77 -146.0 539.1 -12.3 548 4128 0.00 1.12 0.00 0.000 4 0.000 0.073 2117 3214 3085 0 0 0 0 0 0

4219 -0.77 -146.0 547.8 -12.4 550 4228 0.10 1.10 0.00 0.000 6 0.161 0.038 2148 2500 3085 0 0 0 0 0 0

4532 -0.77 -146.0 584.1 -10.4 561 4536 0.00 1.08 0.00 0.000 4 0.000 0.050 2148 1814 3085 0 0 0 0 0 0

4582 -0.77 -146.0 587.8 -10.6 562 4586 0.00 1.20 0.00 0.000 6 0.000 0.061 2145 2514 3085 0 0 0 0 0 0

4907 -0.77 -146.0 624.0 -10.6 573 4910 0.00 1.12 0.00 0.000 4 0.000 0.073 2140 3218 3085 0 0 0 0 0 0

4989 -0.77 -146.0 631.4 -10.8 575 4993 0.00 1.10 0.00 0.000 6 0.000 0.037 2140 2506 3085 0 0 0 0 0 0

5315 -0.77 -146.0 668.6 -10.9 586 5318 0.00 1.08 0.00 0.000 4 0.000 0.050 2140 1818 3085 0 0 0 0 0 0

5364 -0.77 -146.0 672.4 -10.8 587 5368 0.00 1.20 0.00 0.000 6 0.000 0.062 2135 2517 3085 0 0 0 0 0 0

5689 -0.77 -146.0 709.8 -11.1 598 5692 0.00 1.15 0.00 0.000 4 0.000 0.047 2135 1815 3085 0 0 0 0 0 0

5758 -0.77 -146.0 717.3 -10.9 600 5762 0.00 1.17 0.00 0.000 6 0.000 0.060 2131 2506 3085 0 0 0 0 0 0

6099 -0.77 -146.0 755.0 -11.0 611 6103 0.00 1.12 0.00 0.000 4 0.000 0.073 2125 3214 3086 0 0 0 0 0 0

6168 -0.77 -146.0 762.3 -10.7 613 6172 0.00 1.08 0.00 0.000 6 0.000 0.034 2125 2507 3086 0 0 0 0 0 0

6231 end dive: BOTTOM_OBSTACLE_DETECTED

state 6232 begin apogee

6238 -0.16 0.0 769.5 -10.7 615 6367 0.68 0.00 120.70 1.359 6 0.148 0.000 2339 2199 2484 0 0 0 0 0 0

6367 end apogee: CONTROL_FINISHED_OK

state 6368 begin climb

6370 0.77 146.0 773.8 0.0 619 6505 0.90 1.30 128.38 1.323 4 0.075 0.057 2644 2907 1888 0 0 0 0 0 0

6655 0.77 146.0 751.0 13.3 627 6663 0.00 1.20 0.00 0.000 6 0.000 0.041 2648 2213 1881 0 0 0 0 0 0

6969 0.77 146.0 705.9 13.0 638 6973 0.00 1.15 0.00 0.000 4 0.000 0.055 2654 1500 1878 0 0 0 0 0 0

7013 0.77 146.0 701.4 13.1 639 7017 0.00 1.20 0.00 0.000 6 0.000 0.051 2653 2204 1877 0 0 0 0 0 0

7346 0.77 146.0 656.1 13.2 650 7350 0.00 1.17 0.00 0.000 4 0.000 0.051 2658 1498 1876 0 0 0 0 0 0

7407 0.77 146.0 651.2 13.1 651 7414 0.00 1.17 0.00 0.000 6 0.000 0.051 2658 2198 1876 0 0 0 0 0 0

7721 0.77 146.0 606.0 13.2 662 7722 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2198 1876 0 0 0 0 0 0

8027 0.77 146.0 565.8 13.0 672 8030 0.00 1.17 0.00 0.000 4 0.000 0.061 2658 2913 1875 0 0 0 0 0 0

8048 0.77 146.0 565.8 13.0 672 8052 0.00 1.17 0.00 0.000 6 0.000 0.041 2663 2201 1875 0 0 0 0 0 0

8367 0.77 146.0 521.7 13.0 683 8368 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2201 1875 0 0 0 0 0 0

8679 0.77 146.0 481.4 12.6 701 8683 0.00 1.20 0.00 0.000 4 0.000 0.059 2662 2901 1875 0 0 0 0 0 0

8740 0.77 146.0 473.5 13.6 706 8747 0.00 1.15 0.00 0.000 6 0.000 0.044 2667 2202 1875 0 0 0 0 0 0

9066 0.77 146.0 429.3 13.4 737 9068 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2202 1875 0 0 0 0 0 0

9385 0.77 146.0 387.3 13.1 767 9387 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2202 1874 0 0 0 0 0 0

9705 0.77 146.0 345.8 12.9 797 9709 0.00 1.20 0.00 0.000 4 0.000 0.058 2667 2907 1874 0 0 0 0 0 0

9740 0.77 146.0 340.7 13.8 800 9744 0.00 1.17 0.00 0.000 6 0.000 0.042 2672 2186 1874 0 0 0 0 0 0

10066 0.77 146.0 297.8 12.5 832 10075 0.00 1.23 0.00 0.000 4 0.000 0.058 2672 2908 1874 0 0 0 0 0 0

10093 0.77 146.0 294.2 13.4 836 10102 0.08 1.15 0.00 0.000 6 0.169 0.041 2654 2200 1874 0 0 0 0 0 0

10436 0.77 146.0 255.7 10.7 897 10443 0.00 1.20 0.00 0.000 4 0.000 0.059 2654 2905 1874 0 0 0 0 0 0

10676 0.77 146.0 228.6 11.6 940 10685 0.00 1.15 0.00 0.000 6 0.000 0.042 2657 2195 1874 0 0 0 0 0 0

11017 0.77 146.0 193.2 10.7 1001 11024 0.00 1.08 0.00 0.000 4 0.000 0.055 2662 1494 1874 0 0 0 0 0 0

11223 0.77 146.0 172.3 10.3 1038 11230 0.00 1.15 0.00 0.000 6 0.000 0.054 2662 2201 1874 0 0 0 0 0 0

11564 0.80 175.2 138.9 8.7 1099 11592 0.00 1.20 23.12 0.962 4 0.000 0.053 2667 1493 1770 0 0 0 0 0 0

11689 0.83 198.6 127.9 8.9 1120 11716 0.00 1.17 20.65 0.945 6 0.000 0.054 2667 2200 1674 0 0 0 0 0 0

12050 0.83 198.6 91.5 10.2 1184 12059 0.00 1.15 0.00 0.000 4 0.000 0.062 2667 2904 1670 0 0 0 0 0 0

12307 0.83 198.6 63.3 11.6 1230 12313 0.00 1.17 0.00 0.000 6 0.000 0.043 2672 2194 1669 0 0 0 0 0 0

12646 0.86 223.3 30.0 8.9 1291 12674 0.00 1.25 19.42 0.914 4 0.000 0.060 2672 2902 1573 0 0 0 0 0 0

12825 0.87 232.1 11.8 9.6 1322 12833 0.00 1.17 4.07 0.105 6 0.000 0.044 2677 2198 1538 0 0 0 0 0 0

12926 end climb: SURFACE_DEPTH_REACHED

state 12926 begin surface coast

12949 end surface coast: CONTROL_FINISHED_OK

state 12949 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	79	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	35	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	21	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	-80614.883	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	171011,104054,6658.467,-5714.807,49,0.7,49,-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	2.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	171011,104613,6658.453,-5714.774,17,1.3,18,-33.5	MHEAD_RNG_PITCHd_Wd	118.8,21090,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	779

FINISH	1.6,1.025150	_24V_AH	23.1,10.587
SM_CCo	12966,56.25,0.084,0,0,1057,350.04	_10V_AH	10.2,8.896
SM_GC	2.55,7.00,0.60,56.25,0.052,0.069,0.084,117,2504,1057,-7.08,-0.85,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	836	FG_AHR_10Vo	0.000
RAFOS	0,1318852873,12.033333,12.020278,59,56,55,0,0,0,183,162,121,0,0,0	MEM	150332
RAFOS_FIX	6657.924805,-5719.539062,171011,121200,2,83,0.49	DATA_FILE_SIZE	53243,1344
IRIDIUM_FIX	6631.12,-5724.14,171011,070744	CAP_FILE_SIZE	138256,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,242425856
HUMID	57.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.83436	SOUNDSPEED	1456.9
TCM_TEMP	16.40	CURRENT	0.181,326.6,1
XPDR_PINGS	21	GPS	171011,142517,6659.702,-5711.643,37,0.7,37,-33.5
ALTIM_BOTTOM_PING	652.0,131.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	265	106.39	SBE_CT	963	23	516.61
Roll_motor	54	100	127.54	SBE_O2	802	5	97.10
VBD_pump_during_apogee	316	1358	9928.51	nil	0	0	0.00
VBD_pump_during_surface	56	84	109.34	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	205	262	1249.12	nil	0	0	0.00
Transponder_ping	7	420	72.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.21
TT8	3654	18	697.47
LPSleep	6524	2	153.72
TT8_Active	534	18	101.97
TT8_Sampling	2406	41	1029.28
TT8_CF8	231	47	112.96
TT8_Kalman	0	0	0.00
Analog_circuits	1883	12	230.51
GPS_charging	0	0	0.00
Compass	2182	6	150.03
RAFOS	2520	1	38.56
Transponder	18	30	5.55

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.77	-146.0	0.0	0.0	0	75	0.00	0.00	-56.12	0.000	2	0.000	0.000	123	2514	1847	0	0	0	0	0	0
78	-0.77	-146.0	3.0	-1.1	9	163	8.60	1.20	-66.65	0.000	4	0.265	0.101	2142	3226	3083	0	0	0	0	0	0
411	-0.77	-146.0	53.3	-17.7	66	418	0.00	1.15	0.00	0.000	6	0.000	0.040	2142	2502	3085	0	0	0	0	0	0
749	-0.77	-146.0	105.3	-13.8	127	757	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2502	3085	0	0	0	0	0	0
1089	-0.77	-146.0	151.2	-12.5	188	1096	0.00	1.20	0.00	0.000	4	0.000	0.071	2137	3212	3086	0	0	0	0	0	0
1219	-0.77	-146.0	168.0	-12.4	211	1228	0.00	1.12	0.00	0.000	6	0.000	0.041	2137	2501	3085	0	0	0	0	0	0
1559	-0.77	-146.0	213.1	-13.9	272	1566	0.00	1.10	0.00	0.000	4	0.000	0.052	2137	1809	3085	0	0	0	0	0	0
1711	-0.77	-146.0	233.8	-13.8	299	1720	0.00	1.23	0.00	0.000	6	0.000	0.063	2132	2516	3085	0	0	0	0	0	0
2053	-0.77	-146.0	280.0	-12.9	360	2059	0.00	1.17	0.00	0.000	4	0.000	0.050	2132	1809	3085	0	0	0	0	0	0
2123	-0.77	-146.0	289.0	-12.1	372	2129	0.00	1.20	0.00	0.000	6	0.000	0.063	2127	2504	3085	0	0	0	0	0	0
2452	-0.77	-146.0	330.8	-12.3	410	2453	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2504	3085	0	0	0	0	0	0
2774	-0.77	-146.0	370.8	-12.9	440	2780	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2504	3085	0	0	0	0	0	0
3100	-0.77	-146.0	412.0	-12.2	471	3101	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2504	3084	0	0	0	0	0	0
3419	-0.77	-146.0	451.6	-12.3	501	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2504	3085	0	0	0	0	0	0
3738	-0.77	-146.0	491.3	-12.4	531	3741	0.00	1.15	0.00	0.000	4	0.000	0.050	2128	1809	3085	0	0	0	0	0	0
3783	-0.77	-146.0	497.0	-12.1	535	3787	0.00	1.20	0.00	0.000	6	0.000	0.061	2123	2511	3085	0	0	0	0	0	0
4124	-0.77	-146.0	539.1	-12.3	548	4128	0.00	1.12	0.00	0.000	4	0.000	0.073	2117	3214	3085	0	0	0	0	0	0
4219	-0.77	-146.0	547.8	-12.4	550	4228	0.10	1.10	0.00	0.000	6	0.161	0.038	2148	2500	3085	0	0	0	0	0	0
4532	-0.77	-146.0	584.1	-10.4	561	4536	0.00	1.08	0.00	0.000	4	0.000	0.050	2148	1814	3085	0	0	0	0	0	0
4582	-0.77	-146.0	587.8	-10.6	562	4586	0.00	1.20	0.00	0.000	6	0.000	0.061	2145	2514	3085	0	0	0	0	0	0
4907	-0.77	-146.0	624.0	-10.6	573	4910	0.00	1.12	0.00	0.000	4	0.000	0.073	2140	3218	3085	0	0	0	0	0	0
4989	-0.77	-146.0	631.4	-10.8	575	4993	0.00	1.10	0.00	0.000	6	0.000	0.037	2140	2506	3085	0	0	0	0	0	0
5315	-0.77	-146.0	668.6	-10.9	586	5318	0.00	1.08	0.00	0.000	4	0.000	0.050	2140	1818	3085	0	0	0	0	0	0
5364	-0.77	-146.0	672.4	-10.8	587	5368	0.00	1.20	0.00	0.000	6	0.000	0.062	2135	2517	3085	0	0	0	0	0	0
5689	-0.77	-146.0	709.8	-11.1	598	5692	0.00	1.15	0.00	0.000	4	0.000	0.047	2135	1815	3085	0	0	0	0	0	0
5758	-0.77	-146.0	717.3	-10.9	600	5762	0.00	1.17	0.00	0.000	6	0.000	0.060	2131	2506	3085	0	0	0	0	0	0
6099	-0.77	-146.0	755.0	-11.0	611	6103	0.00	1.12	0.00	0.000	4	0.000	0.073	2125	3214	3086	0	0	0	0	0	0
6168	-0.77	-146.0	762.3	-10.7	613	6172	0.00	1.08	0.00	0.000	6	0.000	0.034	2125	2507	3086	0	0	0	0	0	0
6231	end dive: BOTTOM_OBSTACLE_DETECTED
state	6232	begin apogee
6238	-0.16	0.0	769.5	-10.7	615	6367	0.68	0.00	120.70	1.359	6	0.148	0.000	2339	2199	2484	0	0	0	0	0	0
6367	end apogee: CONTROL_FINISHED_OK
state	6368	begin climb
6370	0.77	146.0	773.8	0.0	619	6505	0.90	1.30	128.38	1.323	4	0.075	0.057	2644	2907	1888	0	0	0	0	0	0
6655	0.77	146.0	751.0	13.3	627	6663	0.00	1.20	0.00	0.000	6	0.000	0.041	2648	2213	1881	0	0	0	0	0	0
6969	0.77	146.0	705.9	13.0	638	6973	0.00	1.15	0.00	0.000	4	0.000	0.055	2654	1500	1878	0	0	0	0	0	0
7013	0.77	146.0	701.4	13.1	639	7017	0.00	1.20	0.00	0.000	6	0.000	0.051	2653	2204	1877	0	0	0	0	0	0
7346	0.77	146.0	656.1	13.2	650	7350	0.00	1.17	0.00	0.000	4	0.000	0.051	2658	1498	1876	0	0	0	0	0	0
7407	0.77	146.0	651.2	13.1	651	7414	0.00	1.17	0.00	0.000	6	0.000	0.051	2658	2198	1876	0	0	0	0	0	0
7721	0.77	146.0	606.0	13.2	662	7722	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2198	1876	0	0	0	0	0	0
8027	0.77	146.0	565.8	13.0	672	8030	0.00	1.17	0.00	0.000	4	0.000	0.061	2658	2913	1875	0	0	0	0	0	0
8048	0.77	146.0	565.8	13.0	672	8052	0.00	1.17	0.00	0.000	6	0.000	0.041	2663	2201	1875	0	0	0	0	0	0
8367	0.77	146.0	521.7	13.0	683	8368	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2201	1875	0	0	0	0	0	0
8679	0.77	146.0	481.4	12.6	701	8683	0.00	1.20	0.00	0.000	4	0.000	0.059	2662	2901	1875	0	0	0	0	0	0
8740	0.77	146.0	473.5	13.6	706	8747	0.00	1.15	0.00	0.000	6	0.000	0.044	2667	2202	1875	0	0	0	0	0	0
9066	0.77	146.0	429.3	13.4	737	9068	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2202	1875	0	0	0	0	0	0
9385	0.77	146.0	387.3	13.1	767	9387	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2202	1874	0	0	0	0	0	0
9705	0.77	146.0	345.8	12.9	797	9709	0.00	1.20	0.00	0.000	4	0.000	0.058	2667	2907	1874	0	0	0	0	0	0
9740	0.77	146.0	340.7	13.8	800	9744	0.00	1.17	0.00	0.000	6	0.000	0.042	2672	2186	1874	0	0	0	0	0	0
10066	0.77	146.0	297.8	12.5	832	10075	0.00	1.23	0.00	0.000	4	0.000	0.058	2672	2908	1874	0	0	0	0	0	0
10093	0.77	146.0	294.2	13.4	836	10102	0.08	1.15	0.00	0.000	6	0.169	0.041	2654	2200	1874	0	0	0	0	0	0
10436	0.77	146.0	255.7	10.7	897	10443	0.00	1.20	0.00	0.000	4	0.000	0.059	2654	2905	1874	0	0	0	0	0	0
10676	0.77	146.0	228.6	11.6	940	10685	0.00	1.15	0.00	0.000	6	0.000	0.042	2657	2195	1874	0	0	0	0	0	0
11017	0.77	146.0	193.2	10.7	1001	11024	0.00	1.08	0.00	0.000	4	0.000	0.055	2662	1494	1874	0	0	0	0	0	0
11223	0.77	146.0	172.3	10.3	1038	11230	0.00	1.15	0.00	0.000	6	0.000	0.054	2662	2201	1874	0	0	0	0	0	0
11564	0.80	175.2	138.9	8.7	1099	11592	0.00	1.20	23.12	0.962	4	0.000	0.053	2667	1493	1770	0	0	0	0	0	0
11689	0.83	198.6	127.9	8.9	1120	11716	0.00	1.17	20.65	0.945	6	0.000	0.054	2667	2200	1674	0	0	0	0	0	0
12050	0.83	198.6	91.5	10.2	1184	12059	0.00	1.15	0.00	0.000	4	0.000	0.062	2667	2904	1670	0	0	0	0	0	0
12307	0.83	198.6	63.3	11.6	1230	12313	0.00	1.17	0.00	0.000	6	0.000	0.043	2672	2194	1669	0	0	0	0	0	0
12646	0.86	223.3	30.0	8.9	1291	12674	0.00	1.25	19.42	0.914	4	0.000	0.060	2672	2902	1573	0	0	0	0	0	0
12825	0.87	232.1	11.8	9.6	1322	12833	0.00	1.17	4.07	0.105	6	0.000	0.044	2677	2198	1538	0	0	0	0	0	0
12926	end climb: SURFACE_DEPTH_REACHED
state	12926	begin surface coast
12949	end surface coast: CONTROL_FINISHED_OK
state	12949	begin surface