Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 81 * 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 81 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 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 -80617.414 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 -80617.414

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 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 81 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 171011,180223,6701.454,-5710.454,49,0.8,49,-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 2.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 171011,180743,6701.508,-5710.419,15,1.3,15,-33.5 MHEAD_RNG_PITCHd_Wd 158.8,16424,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 735

Post-dive calculations and measurements:

FINISH 1.7,1.016284 _24V_AH 23.1,10.824

SM_CCo 12433,42.42,0.083,0,0,1058,350.04 _10V_AH 10.3,9.078

SM_GC 2.49,7.07,0.55,42.42,0.054,0.067,0.083,126,2505,1058,-7.06,-0.76,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 793 FG_AHR_10Vo 0.000

RAFOS 0,1318881677,20.033333,20.021389,74,62,55,0,0,0,152,229,174,0,0,0 MEM 150320

RAFOS_FIX 6659.788086,-5712.961914,171011,202028,2,82,0.40 DATA_FILE_SIZE 50025,1330

IRIDIUM_FIX 6631.12,-5713.57,171011,141405 CAP_FILE_SIZE 140684,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,242274304

HUMID 57.28 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.84413 SOUNDSPEED 1457.8

TCM_TEMP 16.40 CURRENT 0.257,332.8,1

XPDR_PINGS 21 GPS 171011,213801,6701.990,-5708.150,49,2.0,50,-33.5

ALTIM_BOTTOM_PING 651.6,94.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 261 105.16 SBE_CT 952 23 511.04

Roll_motor 58 97 131.80 SBE_O2 795 5 96.33

VBD_pump_during_apogee 349 1341 10832.28 nil 0 0 0.00

VBD_pump_during_surface 42 83 81.72 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 208 259 1248.24 nil 0 0 0.00

Transponder_ping 7 420 72.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 26 4.69

TT8 3620 18 697.65

LPSleep 6013 2 143.08

TT8_Active 530 18 102.24

TT8_Sampling 2423 41 1046.79

TT8_CF8 225 47 111.47

TT8_Kalman 0 0 0.00

Analog_circuits 1895 12 234.24

GPS_charging 0 0 0.00

Compass 2199 6 152.66

RAFOS 2520 1 38.93

Transponder 18 30 5.58

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 -0.77 -146.0 0.0 0.0 0 85 0.00 0.00 -67.68 0.000 2 0.000 0.000 117 2511 2023 0 0 0 0 0 0

88 -0.77 -146.0 3.1 -1.1 10 157 8.55 1.12 -53.20 0.000 4 0.262 0.097 2144 3222 3080 0 0 0 0 0 0

328 -0.77 -146.0 38.0 -17.4 51 335 0.00 1.15 0.00 0.000 6 0.000 0.040 2145 2502 3082 0 0 0 0 0 0

667 -0.77 -146.0 90.8 -15.3 112 674 0.00 1.20 0.00 0.000 4 0.000 0.069 2140 3211 3082 0 0 0 0 0 0

801 -0.77 -146.0 110.2 -14.2 136 808 0.00 1.12 0.00 0.000 6 0.000 0.038 2140 2501 3082 0 0 0 0 0 0

1140 -0.77 -146.0 156.2 -13.2 197 1148 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2501 3082 0 0 0 0 0 0

1483 -0.77 -146.0 203.1 -13.3 258 1489 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2501 3082 0 0 0 0 0 0

1819 -0.77 -146.0 248.9 -14.0 319 1825 0.00 1.08 0.00 0.000 4 0.000 0.050 2140 1817 3083 0 0 0 0 0 0

1887 -0.77 -146.0 258.1 -13.1 331 1894 0.00 1.20 0.00 0.000 6 0.000 0.062 2135 2511 3083 0 0 0 0 0 0

2224 -0.77 -146.0 303.5 -14.1 390 2228 0.00 1.12 0.00 0.000 4 0.000 0.073 2130 3213 3082 0 0 0 0 0 0

2375 -0.77 -146.0 324.1 -13.7 403 2382 0.00 1.10 0.00 0.000 6 0.000 0.038 2130 2512 3082 0 0 0 0 0 0

2701 -0.77 -146.0 370.3 -13.6 434 2705 0.00 1.10 0.00 0.000 4 0.000 0.049 2130 1812 3082 0 0 0 0 0 0

2828 -0.77 -146.0 386.8 -12.9 445 2838 0.00 1.20 0.00 0.000 6 0.000 0.061 2125 2509 3082 0 0 0 0 0 0

3154 -0.77 -146.0 430.0 -12.9 476 3157 0.00 1.12 0.00 0.000 4 0.000 0.072 2120 3215 3081 0 0 0 0 0 0

3243 -0.77 -146.0 442.0 -13.6 484 3247 0.10 1.10 0.00 0.000 6 0.159 0.037 2150 2500 3081 0 0 0 0 0 0

3573 -0.77 -146.0 479.0 -10.9 515 3577 0.00 1.08 0.00 0.000 4 0.000 0.048 2150 1812 3082 0 0 0 0 0 0

3656 -0.77 -146.0 487.5 -10.7 522 3663 0.00 1.20 0.00 0.000 6 0.000 0.058 2148 2516 3082 0 0 0 0 0 0

3994 -0.77 -146.0 523.7 -10.6 541 3997 0.00 1.12 0.00 0.000 4 0.000 0.072 2142 3223 3082 0 0 0 0 0 0

4061 -0.77 -146.0 531.0 -10.8 543 4065 0.00 1.10 0.00 0.000 6 0.000 0.035 2142 2510 3082 0 0 0 0 0 0

4404 -0.77 -146.0 567.6 -10.7 554 4407 0.00 1.08 0.00 0.000 4 0.000 0.048 2142 1817 3083 0 0 0 0 0 0

4472 -0.77 -146.0 575.1 -10.6 556 4476 0.00 1.17 0.00 0.000 6 0.000 0.059 2138 2508 3082 0 0 0 0 0 0

4813 -0.77 -146.0 610.6 -10.4 567 4816 0.00 1.12 0.00 0.000 4 0.000 0.071 2132 3217 3083 0 0 0 0 0 0

4891 -0.77 -146.0 618.0 -10.6 569 4895 0.00 1.10 0.00 0.000 6 0.000 0.035 2132 2505 3083 0 0 0 0 0 0

5220 -0.77 -146.0 655.1 -11.2 580 5224 0.00 1.08 0.00 0.000 4 0.000 0.048 2132 1814 3083 0 0 0 0 0 0

5281 -0.77 -146.0 659.1 -11.3 581 5290 0.00 1.20 0.00 0.000 6 0.000 0.060 2127 2517 3083 0 0 0 0 0 0

5594 -0.77 -146.0 698.0 -11.6 592 5598 0.00 1.10 0.00 0.000 4 0.000 0.073 2122 3214 3083 0 0 0 0 0 0

5740 -0.77 -146.0 714.5 -12.3 596 5744 0.00 1.08 0.00 0.000 6 0.000 0.035 2122 2512 3083 0 0 0 0 0 0

5884 end dive: BOTTOM_OBSTACLE_DETECTED

state 5884 begin apogee

5890 -0.16 0.0 733.2 -12.1 601 6019 0.68 0.00 119.80 1.341 6 0.145 0.000 2338 2198 2484 0 0 0 0 0 0

6020 end apogee: CONTROL_FINISHED_OK

state 6020 begin climb

6022 0.77 146.0 737.5 0.0 605 6158 0.90 1.15 127.93 1.300 4 0.076 0.053 2647 1507 1888 0 0 0 0 0 0

6216 0.77 146.0 722.1 11.7 611 6220 0.00 1.25 0.00 0.000 6 0.000 0.053 2647 2206 1883 0 0 0 0 0 0

6557 0.77 146.0 677.2 13.1 622 6561 0.00 1.17 0.00 0.000 4 0.000 0.060 2647 2902 1878 0 0 0 0 0 0

6625 0.77 146.0 669.1 12.0 624 6629 0.00 1.17 0.00 0.000 6 0.000 0.041 2652 2209 1877 0 0 0 0 0 0

6967 0.77 146.0 626.0 12.8 635 6971 0.00 1.23 0.00 0.000 4 0.000 0.057 2652 2910 1877 0 0 0 0 0 0

6989 0.77 146.0 626.0 12.8 635 6993 0.00 1.20 0.00 0.000 6 0.000 0.041 2656 2190 1876 0 0 0 0 0 0

7309 0.77 146.0 582.5 12.9 646 7312 0.00 1.25 0.00 0.000 4 0.000 0.059 2656 2910 1876 0 0 0 0 0 0

7319 0.77 146.0 582.5 12.9 646 7323 0.00 1.17 0.00 0.000 6 0.000 0.042 2661 2202 1876 0 0 0 0 0 0

7649 0.77 146.0 537.5 13.0 657 7651 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2202 1876 0 0 0 0 0 0

7957 0.77 146.0 498.0 12.8 667 7958 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2202 1876 0 0 0 0 0 0

8274 0.77 146.0 458.6 12.1 697 8278 0.00 1.10 0.00 0.000 4 0.000 0.057 2667 1496 1875 0 0 0 0 0 0

8286 0.77 146.0 457.1 12.5 698 8289 0.00 1.17 0.00 0.000 6 0.000 0.054 2666 2205 1875 0 0 0 0 0 0

8616 0.77 146.0 415.8 12.8 729 8620 0.00 1.15 0.00 0.000 4 0.000 0.062 2667 2911 1874 0 0 0 0 0 0

8641 0.77 146.0 412.8 13.0 731 8645 0.00 1.17 0.00 0.000 6 0.000 0.043 2671 2193 1874 0 0 0 0 0 0

8971 0.77 146.0 370.0 13.2 762 8975 0.00 1.23 0.00 0.000 4 0.000 0.058 2671 2912 1874 0 0 0 0 0 0

8986 0.77 146.0 368.3 13.0 763 8993 0.00 1.17 0.00 0.000 6 0.000 0.042 2676 2194 1873 0 0 0 0 0 0

9312 0.77 146.0 325.4 12.4 794 9313 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2194 1874 0 0 0 0 0 0

9635 0.77 146.0 284.4 12.3 835 9642 0.00 1.08 0.00 0.000 4 0.000 0.056 2681 1497 1874 0 0 0 0 0 0

9771 0.77 146.0 267.7 12.5 859 9778 0.10 1.15 0.00 0.000 6 0.164 0.054 2652 2201 1874 0 0 0 0 0 0

10113 0.78 158.1 233.4 9.4 920 10126 0.00 1.17 8.77 0.934 4 0.000 0.061 2652 2907 1839 0 0 0 0 0 0

10157 0.79 162.6 229.2 9.8 927 10170 0.00 1.15 5.90 0.845 6 0.000 0.043 2655 2200 1821 0 0 0 0 0 0

10502 0.79 162.6 193.9 10.3 989 10508 0.00 1.20 0.00 0.000 4 0.000 0.058 2655 2907 1820 0 0 0 0 0 0

10691 0.79 162.6 173.3 11.0 1023 10698 0.00 1.15 0.00 0.000 6 0.000 0.043 2660 2200 1820 0 0 0 0 0 0

11030 0.81 182.2 139.3 9.1 1084 11052 0.00 1.25 17.62 0.952 4 0.000 0.058 2660 2909 1741 0 0 0 0 0 0

11299 0.81 182.2 111.4 10.3 1132 11306 0.00 1.17 0.00 0.000 6 0.000 0.042 2664 2194 1739 0 0 0 0 0 0

11636 0.82 191.8 78.2 9.6 1193 11652 0.00 1.25 9.00 0.887 4 0.000 0.059 2664 2904 1703 0 0 0 0 0 0

11659 0.83 197.8 76.0 9.7 1196 11672 0.00 1.17 6.82 0.818 6 0.000 0.044 2669 2196 1678 0 0 0 0 0 0

12004 0.86 220.9 43.8 8.9 1258 12032 0.00 1.12 20.10 0.916 4 0.000 0.058 2674 1499 1584 0 0 0 0 0 0

12066 0.91 259.6 38.6 8.2 1268 12105 0.00 1.17 33.72 0.904 6 0.000 0.054 2674 2195 1425 0 0 0 0 0 0

12397 end climb: SURFACE_DEPTH_REACHED

state 12398 begin surface coast

12416 end surface coast: CONTROL_FINISHED_OK

state 12416 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	81	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	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	-80617.414	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	171011,180223,6701.454,-5710.454,49,0.8,49,-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	2.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	171011,180743,6701.508,-5710.419,15,1.3,15,-33.5	MHEAD_RNG_PITCHd_Wd	158.8,16424,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	735

FINISH	1.7,1.016284	_24V_AH	23.1,10.824
SM_CCo	12433,42.42,0.083,0,0,1058,350.04	_10V_AH	10.3,9.078
SM_GC	2.49,7.07,0.55,42.42,0.054,0.067,0.083,126,2505,1058,-7.06,-0.76,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	793	FG_AHR_10Vo	0.000
RAFOS	0,1318881677,20.033333,20.021389,74,62,55,0,0,0,152,229,174,0,0,0	MEM	150320
RAFOS_FIX	6659.788086,-5712.961914,171011,202028,2,82,0.40	DATA_FILE_SIZE	50025,1330
IRIDIUM_FIX	6631.12,-5713.57,171011,141405	CAP_FILE_SIZE	140684,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,242274304
HUMID	57.28	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.84413	SOUNDSPEED	1457.8
TCM_TEMP	16.40	CURRENT	0.257,332.8,1
XPDR_PINGS	21	GPS	171011,213801,6701.990,-5708.150,49,2.0,50,-33.5
ALTIM_BOTTOM_PING	651.6,94.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	261	105.16	SBE_CT	952	23	511.04
Roll_motor	58	97	131.80	SBE_O2	795	5	96.33
VBD_pump_during_apogee	349	1341	10832.28	nil	0	0	0.00
VBD_pump_during_surface	42	83	81.72	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	208	259	1248.24	nil	0	0	0.00
Transponder_ping	7	420	72.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	26	4.69
TT8	3620	18	697.65
LPSleep	6013	2	143.08
TT8_Active	530	18	102.24
TT8_Sampling	2423	41	1046.79
TT8_CF8	225	47	111.47
TT8_Kalman	0	0	0.00
Analog_circuits	1895	12	234.24
GPS_charging	0	0	0.00
Compass	2199	6	152.66
RAFOS	2520	1	38.93
Transponder	18	30	5.58

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	-0.77	-146.0	0.0	0.0	0	85	0.00	0.00	-67.68	0.000	2	0.000	0.000	117	2511	2023	0	0	0	0	0	0
88	-0.77	-146.0	3.1	-1.1	10	157	8.55	1.12	-53.20	0.000	4	0.262	0.097	2144	3222	3080	0	0	0	0	0	0
328	-0.77	-146.0	38.0	-17.4	51	335	0.00	1.15	0.00	0.000	6	0.000	0.040	2145	2502	3082	0	0	0	0	0	0
667	-0.77	-146.0	90.8	-15.3	112	674	0.00	1.20	0.00	0.000	4	0.000	0.069	2140	3211	3082	0	0	0	0	0	0
801	-0.77	-146.0	110.2	-14.2	136	808	0.00	1.12	0.00	0.000	6	0.000	0.038	2140	2501	3082	0	0	0	0	0	0
1140	-0.77	-146.0	156.2	-13.2	197	1148	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2501	3082	0	0	0	0	0	0
1483	-0.77	-146.0	203.1	-13.3	258	1489	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2501	3082	0	0	0	0	0	0
1819	-0.77	-146.0	248.9	-14.0	319	1825	0.00	1.08	0.00	0.000	4	0.000	0.050	2140	1817	3083	0	0	0	0	0	0
1887	-0.77	-146.0	258.1	-13.1	331	1894	0.00	1.20	0.00	0.000	6	0.000	0.062	2135	2511	3083	0	0	0	0	0	0
2224	-0.77	-146.0	303.5	-14.1	390	2228	0.00	1.12	0.00	0.000	4	0.000	0.073	2130	3213	3082	0	0	0	0	0	0
2375	-0.77	-146.0	324.1	-13.7	403	2382	0.00	1.10	0.00	0.000	6	0.000	0.038	2130	2512	3082	0	0	0	0	0	0
2701	-0.77	-146.0	370.3	-13.6	434	2705	0.00	1.10	0.00	0.000	4	0.000	0.049	2130	1812	3082	0	0	0	0	0	0
2828	-0.77	-146.0	386.8	-12.9	445	2838	0.00	1.20	0.00	0.000	6	0.000	0.061	2125	2509	3082	0	0	0	0	0	0
3154	-0.77	-146.0	430.0	-12.9	476	3157	0.00	1.12	0.00	0.000	4	0.000	0.072	2120	3215	3081	0	0	0	0	0	0
3243	-0.77	-146.0	442.0	-13.6	484	3247	0.10	1.10	0.00	0.000	6	0.159	0.037	2150	2500	3081	0	0	0	0	0	0
3573	-0.77	-146.0	479.0	-10.9	515	3577	0.00	1.08	0.00	0.000	4	0.000	0.048	2150	1812	3082	0	0	0	0	0	0
3656	-0.77	-146.0	487.5	-10.7	522	3663	0.00	1.20	0.00	0.000	6	0.000	0.058	2148	2516	3082	0	0	0	0	0	0
3994	-0.77	-146.0	523.7	-10.6	541	3997	0.00	1.12	0.00	0.000	4	0.000	0.072	2142	3223	3082	0	0	0	0	0	0
4061	-0.77	-146.0	531.0	-10.8	543	4065	0.00	1.10	0.00	0.000	6	0.000	0.035	2142	2510	3082	0	0	0	0	0	0
4404	-0.77	-146.0	567.6	-10.7	554	4407	0.00	1.08	0.00	0.000	4	0.000	0.048	2142	1817	3083	0	0	0	0	0	0
4472	-0.77	-146.0	575.1	-10.6	556	4476	0.00	1.17	0.00	0.000	6	0.000	0.059	2138	2508	3082	0	0	0	0	0	0
4813	-0.77	-146.0	610.6	-10.4	567	4816	0.00	1.12	0.00	0.000	4	0.000	0.071	2132	3217	3083	0	0	0	0	0	0
4891	-0.77	-146.0	618.0	-10.6	569	4895	0.00	1.10	0.00	0.000	6	0.000	0.035	2132	2505	3083	0	0	0	0	0	0
5220	-0.77	-146.0	655.1	-11.2	580	5224	0.00	1.08	0.00	0.000	4	0.000	0.048	2132	1814	3083	0	0	0	0	0	0
5281	-0.77	-146.0	659.1	-11.3	581	5290	0.00	1.20	0.00	0.000	6	0.000	0.060	2127	2517	3083	0	0	0	0	0	0
5594	-0.77	-146.0	698.0	-11.6	592	5598	0.00	1.10	0.00	0.000	4	0.000	0.073	2122	3214	3083	0	0	0	0	0	0
5740	-0.77	-146.0	714.5	-12.3	596	5744	0.00	1.08	0.00	0.000	6	0.000	0.035	2122	2512	3083	0	0	0	0	0	0
5884	end dive: BOTTOM_OBSTACLE_DETECTED
state	5884	begin apogee
5890	-0.16	0.0	733.2	-12.1	601	6019	0.68	0.00	119.80	1.341	6	0.145	0.000	2338	2198	2484	0	0	0	0	0	0
6020	end apogee: CONTROL_FINISHED_OK
state	6020	begin climb
6022	0.77	146.0	737.5	0.0	605	6158	0.90	1.15	127.93	1.300	4	0.076	0.053	2647	1507	1888	0	0	0	0	0	0
6216	0.77	146.0	722.1	11.7	611	6220	0.00	1.25	0.00	0.000	6	0.000	0.053	2647	2206	1883	0	0	0	0	0	0
6557	0.77	146.0	677.2	13.1	622	6561	0.00	1.17	0.00	0.000	4	0.000	0.060	2647	2902	1878	0	0	0	0	0	0
6625	0.77	146.0	669.1	12.0	624	6629	0.00	1.17	0.00	0.000	6	0.000	0.041	2652	2209	1877	0	0	0	0	0	0
6967	0.77	146.0	626.0	12.8	635	6971	0.00	1.23	0.00	0.000	4	0.000	0.057	2652	2910	1877	0	0	0	0	0	0
6989	0.77	146.0	626.0	12.8	635	6993	0.00	1.20	0.00	0.000	6	0.000	0.041	2656	2190	1876	0	0	0	0	0	0
7309	0.77	146.0	582.5	12.9	646	7312	0.00	1.25	0.00	0.000	4	0.000	0.059	2656	2910	1876	0	0	0	0	0	0
7319	0.77	146.0	582.5	12.9	646	7323	0.00	1.17	0.00	0.000	6	0.000	0.042	2661	2202	1876	0	0	0	0	0	0
7649	0.77	146.0	537.5	13.0	657	7651	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2202	1876	0	0	0	0	0	0
7957	0.77	146.0	498.0	12.8	667	7958	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2202	1876	0	0	0	0	0	0
8274	0.77	146.0	458.6	12.1	697	8278	0.00	1.10	0.00	0.000	4	0.000	0.057	2667	1496	1875	0	0	0	0	0	0
8286	0.77	146.0	457.1	12.5	698	8289	0.00	1.17	0.00	0.000	6	0.000	0.054	2666	2205	1875	0	0	0	0	0	0
8616	0.77	146.0	415.8	12.8	729	8620	0.00	1.15	0.00	0.000	4	0.000	0.062	2667	2911	1874	0	0	0	0	0	0
8641	0.77	146.0	412.8	13.0	731	8645	0.00	1.17	0.00	0.000	6	0.000	0.043	2671	2193	1874	0	0	0	0	0	0
8971	0.77	146.0	370.0	13.2	762	8975	0.00	1.23	0.00	0.000	4	0.000	0.058	2671	2912	1874	0	0	0	0	0	0
8986	0.77	146.0	368.3	13.0	763	8993	0.00	1.17	0.00	0.000	6	0.000	0.042	2676	2194	1873	0	0	0	0	0	0
9312	0.77	146.0	325.4	12.4	794	9313	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2194	1874	0	0	0	0	0	0
9635	0.77	146.0	284.4	12.3	835	9642	0.00	1.08	0.00	0.000	4	0.000	0.056	2681	1497	1874	0	0	0	0	0	0
9771	0.77	146.0	267.7	12.5	859	9778	0.10	1.15	0.00	0.000	6	0.164	0.054	2652	2201	1874	0	0	0	0	0	0
10113	0.78	158.1	233.4	9.4	920	10126	0.00	1.17	8.77	0.934	4	0.000	0.061	2652	2907	1839	0	0	0	0	0	0
10157	0.79	162.6	229.2	9.8	927	10170	0.00	1.15	5.90	0.845	6	0.000	0.043	2655	2200	1821	0	0	0	0	0	0
10502	0.79	162.6	193.9	10.3	989	10508	0.00	1.20	0.00	0.000	4	0.000	0.058	2655	2907	1820	0	0	0	0	0	0
10691	0.79	162.6	173.3	11.0	1023	10698	0.00	1.15	0.00	0.000	6	0.000	0.043	2660	2200	1820	0	0	0	0	0	0
11030	0.81	182.2	139.3	9.1	1084	11052	0.00	1.25	17.62	0.952	4	0.000	0.058	2660	2909	1741	0	0	0	0	0	0
11299	0.81	182.2	111.4	10.3	1132	11306	0.00	1.17	0.00	0.000	6	0.000	0.042	2664	2194	1739	0	0	0	0	0	0
11636	0.82	191.8	78.2	9.6	1193	11652	0.00	1.25	9.00	0.887	4	0.000	0.059	2664	2904	1703	0	0	0	0	0	0
11659	0.83	197.8	76.0	9.7	1196	11672	0.00	1.17	6.82	0.818	6	0.000	0.044	2669	2196	1678	0	0	0	0	0	0
12004	0.86	220.9	43.8	8.9	1258	12032	0.00	1.12	20.10	0.916	4	0.000	0.058	2674	1499	1584	0	0	0	0	0	0
12066	0.91	259.6	38.6	8.2	1268	12105	0.00	1.17	33.72	0.904	6	0.000	0.054	2674	2195	1425	0	0	0	0	0	0
12397	end climb: SURFACE_DEPTH_REACHED
state	12398	begin surface coast
12416	end surface coast: CONTROL_FINISHED_OK
state	12416	begin surface