Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 82 * 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 82 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 34 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 18 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 -80618.664 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 -80618.664

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 34 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 18 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 82 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 171011,213801,6701.990,-5708.150,49,2.0,50,-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 2.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 171011,214326,6701.978,-5708.070,32,2.0,32,-33.5 MHEAD_RNG_PITCHd_Wd 161.1,14617,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 727

Post-dive calculations and measurements:

FINISH 1.7,1.025052 _24V_AH 23.1,10.937

SM_CCo 12132,56.15,0.083,0,0,1057,350.04 _10V_AH 10.3,9.169

SM_GC 2.64,7.05,0.55,56.15,0.056,0.067,0.083,120,2518,1057,-7.07,-0.57,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 773 FG_AHR_10Vo 0.000

RAFOS 0,1318896062,0.033333,0.017222,66,54,52,0,0,0,187,198,134,0,0,0 MEM 150212

RAFOS_FIX 6700.400391,-5709.752441,181011,000022,3,102,0.29 DATA_FILE_SIZE 50072,1293

IRIDIUM_FIX 6631.12,-5713.57,171011,181806 CAP_FILE_SIZE 138744,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,242200576

HUMID 57.36 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.85389 SOUNDSPEED 1459.2

TCM_TEMP 16.40 CURRENT 0.185,351.4,1

XPDR_PINGS 22 GPS 181011,010835,6702.093,-5704.944,33,0.8,33,-33.5

ALTIM_BOTTOM_PING 601.9,137.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 257 102.57 SBE_CT 927 23 497.75

Roll_motor 58 100 135.83 SBE_O2 771 5 93.34

VBD_pump_during_apogee 324 1328 9949.15 nil 0 0 0.00

VBD_pump_during_surface 56 82 107.16 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 196 262 1194.31 nil 0 0 0.00

Transponder_ping 7 420 72.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 26 9.30

TT8 3525 18 679.42

LPSleep 5802 2 138.06

TT8_Active 538 18 103.73

TT8_Sampling 2430 41 1049.63

TT8_CF8 228 47 112.87

TT8_Kalman 0 0 0.00

Analog_circuits 1886 12 233.21

GPS_charging 0 0 0.00

Compass 2197 6 152.58

RAFOS 2520 1 38.93

Transponder 16 30 5.07

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

15 -0.77 -146.0 0.0 0.0 0 74 0.00 0.00 -56.30 0.000 2 0.000 0.000 125 2510 1855 0 0 0 0 0 0

77 -0.77 -146.0 3.0 -1.7 9 161 8.40 1.20 -69.40 0.000 4 0.257 0.100 2142 3221 3082 0 0 0 0 0 0

293 -0.77 -146.0 31.9 -18.8 46 300 0.00 1.15 0.00 0.000 6 0.000 0.041 2142 2502 3084 0 0 0 0 0 0

630 -0.77 -146.0 88.5 -15.5 107 639 0.00 1.10 0.00 0.000 4 0.000 0.050 2142 1814 3084 0 0 0 0 0 0

806 -0.77 -146.0 114.3 -14.5 138 813 0.00 1.23 0.00 0.000 6 0.000 0.063 2137 2516 3085 0 0 0 0 0 0

1145 -0.77 -146.0 164.0 -15.0 199 1154 0.00 1.12 0.00 0.000 4 0.000 0.075 2132 3213 3085 0 0 0 0 0 0

1305 -0.77 -146.0 187.0 -14.2 227 1314 0.00 1.12 0.00 0.000 6 0.000 0.041 2132 2501 3085 0 0 0 0 0 0

1647 -0.77 -146.0 234.7 -14.3 288 1654 0.00 1.20 0.00 0.000 4 0.000 0.072 2127 3213 3084 0 0 0 0 0 0

1739 -0.77 -146.0 247.8 -14.2 304 1746 0.00 1.10 0.00 0.000 6 0.000 0.041 2127 2515 3084 0 0 0 0 0 0

2077 -0.77 -146.0 294.8 -13.4 365 2084 0.00 1.10 0.00 0.000 4 0.000 0.050 2127 1818 3084 0 0 0 0 0 0

2258 -0.77 -146.0 318.8 -13.1 385 2261 0.00 1.20 0.00 0.000 6 0.000 0.063 2123 2512 3084 0 0 0 0 0 0

2590 -0.77 -146.0 364.3 -13.7 416 2594 0.12 1.12 0.00 0.000 4 0.189 0.073 2148 3213 3083 0 0 0 0 0 0

2647 -0.77 -146.0 371.3 -11.8 421 2651 0.00 1.10 0.00 0.000 6 0.000 0.037 2148 2508 3083 0 0 0 0 0 0

2979 -0.77 -146.0 408.8 -10.8 452 2982 0.00 1.10 0.00 0.000 4 0.000 0.050 2148 1809 3083 0 0 0 0 0 0

3094 -0.77 -146.0 421.1 -10.6 462 3102 0.00 1.20 0.00 0.000 6 0.000 0.060 2143 2509 3083 0 0 0 0 0 0

3420 -0.77 -146.0 457.7 -11.1 493 3424 0.00 1.12 0.00 0.000 4 0.000 0.073 2138 3214 3083 0 0 0 0 0 0

3510 -0.77 -146.0 468.0 -11.5 501 3513 0.00 1.10 0.00 0.000 6 0.000 0.037 2138 2502 3083 0 0 0 0 0 0

3848 -0.77 -146.0 507.2 -11.6 529 3852 0.00 1.08 0.00 0.000 4 0.000 0.048 2138 1811 3083 0 0 0 0 0 0

3903 -0.77 -146.0 511.1 -11.5 530 3907 0.00 1.20 0.00 0.000 6 0.000 0.059 2134 2512 3083 0 0 0 0 0 0

4222 -0.77 -146.0 548.4 -10.7 541 4226 0.00 1.12 0.00 0.000 4 0.000 0.071 2127 3220 3084 0 0 0 0 0 0

4278 -0.77 -146.0 552.2 -10.6 542 4281 0.00 1.10 0.00 0.000 6 0.000 0.035 2128 2509 3085 0 0 0 0 0 0

4598 -0.77 -146.0 590.5 -11.3 553 4601 0.00 1.08 0.00 0.000 4 0.000 0.048 2128 1816 3085 0 0 0 0 0 0

4681 -0.77 -146.0 598.2 -11.1 555 4685 0.00 1.17 0.00 0.000 6 0.000 0.059 2123 2508 3085 0 0 0 0 0 0

5006 -0.77 -146.0 636.9 -11.8 566 5009 0.00 1.12 0.00 0.000 4 0.000 0.070 2118 3218 3085 0 0 0 0 0 0

5107 -0.77 -146.0 649.7 -12.3 569 5111 0.10 1.10 0.00 0.000 6 0.158 0.035 2149 2499 3085 0 0 0 0 0 0

5450 -0.77 -146.0 685.0 -10.1 580 5454 0.00 1.05 0.00 0.000 4 0.000 0.047 2149 1820 3085 0 0 0 0 0 0

5573 -0.77 -146.0 695.7 -10.1 583 5577 0.00 1.17 0.00 0.000 6 0.000 0.058 2146 2516 3086 0 0 0 0 0 0

5859 end dive: BOTTOM_OBSTACLE_DETECTED

state 5859 begin apogee

5865 -0.16 0.0 726.5 -10.5 593 5994 0.60 0.00 120.30 1.329 6 0.140 0.000 2339 2192 2485 0 0 0 0 0 0

5995 end apogee: CONTROL_FINISHED_OK

state 5995 begin climb

5997 0.77 146.0 731.7 0.0 597 6135 0.90 1.20 127.62 1.294 4 0.071 0.053 2650 1503 1888 0 0 0 0 0 0

6386 0.77 146.0 694.9 14.1 608 6393 0.00 1.20 0.00 0.000 6 0.000 0.051 2650 2199 1881 0 0 0 0 0 0

6699 0.77 146.0 651.1 12.6 619 6703 0.00 1.17 0.00 0.000 4 0.000 0.053 2655 1502 1878 0 0 0 0 0 0

6821 0.77 146.0 638.3 12.6 622 6825 0.00 1.20 0.00 0.000 6 0.000 0.051 2655 2209 1878 0 0 0 0 0 0

7141 0.77 146.0 593.7 13.1 633 7145 0.00 1.15 0.00 0.000 4 0.000 0.059 2655 2906 1877 0 0 0 0 0 0

7151 0.77 146.0 593.7 13.1 633 7156 0.00 1.17 0.00 0.000 6 0.000 0.041 2660 2201 1877 0 0 0 0 0 0

7483 0.77 146.0 547.8 13.2 644 7487 0.00 1.23 0.00 0.000 4 0.000 0.057 2660 2913 1877 0 0 0 0 0 0

7498 0.77 146.0 547.8 13.2 644 7502 0.00 1.17 0.00 0.000 6 0.000 0.042 2664 2202 1876 0 0 0 0 0 0

7822 0.77 146.0 501.5 13.6 655 7826 0.00 1.20 0.00 0.000 4 0.000 0.059 2664 2900 1876 0 0 0 0 0 0

7871 0.77 146.0 495.2 13.7 657 7878 0.00 1.15 0.00 0.000 6 0.000 0.043 2669 2200 1876 0 0 0 0 0 0

8198 0.77 146.0 448.9 13.8 688 8202 0.00 1.20 0.00 0.000 4 0.000 0.059 2669 2900 1875 0 0 0 0 0 0

8281 0.77 146.0 437.4 14.5 695 8290 0.00 1.15 0.00 0.000 6 0.000 0.044 2674 2202 1876 0 0 0 0 0 0

8606 0.77 146.0 391.1 14.6 726 8610 0.00 1.20 0.00 0.000 4 0.000 0.058 2674 2904 1875 0 0 0 0 0 0

8664 0.77 146.0 382.4 15.3 731 8669 0.10 1.15 0.00 0.000 6 0.168 0.042 2649 2200 1875 0 0 0 0 0 0

8994 0.77 146.0 337.4 12.9 762 8998 0.00 1.20 0.00 0.000 4 0.000 0.058 2648 2905 1875 0 0 0 0 0 0

9010 0.77 146.0 335.8 13.0 763 9019 0.00 1.15 0.00 0.000 6 0.000 0.041 2652 2199 1875 0 0 0 0 0 0

9337 0.77 146.0 294.5 11.9 798 9343 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2198 1875 0 0 0 0 0 0

9672 0.77 146.0 254.8 11.3 859 9681 0.00 1.08 0.00 0.000 4 0.000 0.054 2657 1496 1875 0 0 0 0 0 0

9794 0.77 146.0 241.0 11.5 880 9800 0.00 1.15 0.00 0.000 6 0.000 0.052 2658 2202 1875 0 0 0 0 0 0

10135 0.78 157.4 204.8 9.5 941 10150 0.00 0.00 8.57 0.905 6 0.000 0.000 2657 2202 1842 0 0 0 0 0 0

10482 0.80 168.3 170.8 9.5 1003 10497 0.00 0.00 10.95 0.922 6 0.000 0.000 2657 2202 1798 0 0 0 0 0 0

10828 0.80 168.3 133.1 10.6 1065 10834 0.00 1.12 0.00 0.000 4 0.000 0.060 2657 2903 1796 0 0 0 0 0 0

10858 0.80 168.3 129.7 11.4 1070 10864 0.00 1.15 0.00 0.000 6 0.000 0.043 2662 2200 1796 0 0 0 0 0 0

11197 0.82 189.7 96.1 9.0 1131 11224 0.00 1.23 18.77 0.925 4 0.000 0.058 2662 2902 1710 0 0 0 0 0 0

11254 0.83 199.4 90.5 9.6 1140 11267 0.00 1.17 9.68 0.864 6 0.000 0.042 2667 2191 1671 0 0 0 0 0 0

11600 0.85 211.0 52.9 9.5 1202 11617 0.00 1.12 10.40 0.876 4 0.000 0.056 2672 1497 1625 0 0 0 0 0 0

11774 0.87 231.5 35.6 9.1 1232 11801 0.00 1.17 17.83 0.890 6 0.000 0.054 2672 2201 1541 0 0 0 0 0 0

12097 end climb: SURFACE_DEPTH_REACHED

state 12097 begin surface coast

12115 end surface coast: CONTROL_FINISHED_OK

state 12115 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	82	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	34	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	18	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	-80618.664	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	171011,213801,6701.990,-5708.150,49,2.0,50,-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	2.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	171011,214326,6701.978,-5708.070,32,2.0,32,-33.5	MHEAD_RNG_PITCHd_Wd	161.1,14617,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	727

FINISH	1.7,1.025052	_24V_AH	23.1,10.937
SM_CCo	12132,56.15,0.083,0,0,1057,350.04	_10V_AH	10.3,9.169
SM_GC	2.64,7.05,0.55,56.15,0.056,0.067,0.083,120,2518,1057,-7.07,-0.57,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	773	FG_AHR_10Vo	0.000
RAFOS	0,1318896062,0.033333,0.017222,66,54,52,0,0,0,187,198,134,0,0,0	MEM	150212
RAFOS_FIX	6700.400391,-5709.752441,181011,000022,3,102,0.29	DATA_FILE_SIZE	50072,1293
IRIDIUM_FIX	6631.12,-5713.57,171011,181806	CAP_FILE_SIZE	138744,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,242200576
HUMID	57.36	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.85389	SOUNDSPEED	1459.2
TCM_TEMP	16.40	CURRENT	0.185,351.4,1
XPDR_PINGS	22	GPS	181011,010835,6702.093,-5704.944,33,0.8,33,-33.5
ALTIM_BOTTOM_PING	601.9,137.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	257	102.57	SBE_CT	927	23	497.75
Roll_motor	58	100	135.83	SBE_O2	771	5	93.34
VBD_pump_during_apogee	324	1328	9949.15	nil	0	0	0.00
VBD_pump_during_surface	56	82	107.16	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	196	262	1194.31	nil	0	0	0.00
Transponder_ping	7	420	72.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	26	9.30
TT8	3525	18	679.42
LPSleep	5802	2	138.06
TT8_Active	538	18	103.73
TT8_Sampling	2430	41	1049.63
TT8_CF8	228	47	112.87
TT8_Kalman	0	0	0.00
Analog_circuits	1886	12	233.21
GPS_charging	0	0	0.00
Compass	2197	6	152.58
RAFOS	2520	1	38.93
Transponder	16	30	5.07

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
15	-0.77	-146.0	0.0	0.0	0	74	0.00	0.00	-56.30	0.000	2	0.000	0.000	125	2510	1855	0	0	0	0	0	0
77	-0.77	-146.0	3.0	-1.7	9	161	8.40	1.20	-69.40	0.000	4	0.257	0.100	2142	3221	3082	0	0	0	0	0	0
293	-0.77	-146.0	31.9	-18.8	46	300	0.00	1.15	0.00	0.000	6	0.000	0.041	2142	2502	3084	0	0	0	0	0	0
630	-0.77	-146.0	88.5	-15.5	107	639	0.00	1.10	0.00	0.000	4	0.000	0.050	2142	1814	3084	0	0	0	0	0	0
806	-0.77	-146.0	114.3	-14.5	138	813	0.00	1.23	0.00	0.000	6	0.000	0.063	2137	2516	3085	0	0	0	0	0	0
1145	-0.77	-146.0	164.0	-15.0	199	1154	0.00	1.12	0.00	0.000	4	0.000	0.075	2132	3213	3085	0	0	0	0	0	0
1305	-0.77	-146.0	187.0	-14.2	227	1314	0.00	1.12	0.00	0.000	6	0.000	0.041	2132	2501	3085	0	0	0	0	0	0
1647	-0.77	-146.0	234.7	-14.3	288	1654	0.00	1.20	0.00	0.000	4	0.000	0.072	2127	3213	3084	0	0	0	0	0	0
1739	-0.77	-146.0	247.8	-14.2	304	1746	0.00	1.10	0.00	0.000	6	0.000	0.041	2127	2515	3084	0	0	0	0	0	0
2077	-0.77	-146.0	294.8	-13.4	365	2084	0.00	1.10	0.00	0.000	4	0.000	0.050	2127	1818	3084	0	0	0	0	0	0
2258	-0.77	-146.0	318.8	-13.1	385	2261	0.00	1.20	0.00	0.000	6	0.000	0.063	2123	2512	3084	0	0	0	0	0	0
2590	-0.77	-146.0	364.3	-13.7	416	2594	0.12	1.12	0.00	0.000	4	0.189	0.073	2148	3213	3083	0	0	0	0	0	0
2647	-0.77	-146.0	371.3	-11.8	421	2651	0.00	1.10	0.00	0.000	6	0.000	0.037	2148	2508	3083	0	0	0	0	0	0
2979	-0.77	-146.0	408.8	-10.8	452	2982	0.00	1.10	0.00	0.000	4	0.000	0.050	2148	1809	3083	0	0	0	0	0	0
3094	-0.77	-146.0	421.1	-10.6	462	3102	0.00	1.20	0.00	0.000	6	0.000	0.060	2143	2509	3083	0	0	0	0	0	0
3420	-0.77	-146.0	457.7	-11.1	493	3424	0.00	1.12	0.00	0.000	4	0.000	0.073	2138	3214	3083	0	0	0	0	0	0
3510	-0.77	-146.0	468.0	-11.5	501	3513	0.00	1.10	0.00	0.000	6	0.000	0.037	2138	2502	3083	0	0	0	0	0	0
3848	-0.77	-146.0	507.2	-11.6	529	3852	0.00	1.08	0.00	0.000	4	0.000	0.048	2138	1811	3083	0	0	0	0	0	0
3903	-0.77	-146.0	511.1	-11.5	530	3907	0.00	1.20	0.00	0.000	6	0.000	0.059	2134	2512	3083	0	0	0	0	0	0
4222	-0.77	-146.0	548.4	-10.7	541	4226	0.00	1.12	0.00	0.000	4	0.000	0.071	2127	3220	3084	0	0	0	0	0	0
4278	-0.77	-146.0	552.2	-10.6	542	4281	0.00	1.10	0.00	0.000	6	0.000	0.035	2128	2509	3085	0	0	0	0	0	0
4598	-0.77	-146.0	590.5	-11.3	553	4601	0.00	1.08	0.00	0.000	4	0.000	0.048	2128	1816	3085	0	0	0	0	0	0
4681	-0.77	-146.0	598.2	-11.1	555	4685	0.00	1.17	0.00	0.000	6	0.000	0.059	2123	2508	3085	0	0	0	0	0	0
5006	-0.77	-146.0	636.9	-11.8	566	5009	0.00	1.12	0.00	0.000	4	0.000	0.070	2118	3218	3085	0	0	0	0	0	0
5107	-0.77	-146.0	649.7	-12.3	569	5111	0.10	1.10	0.00	0.000	6	0.158	0.035	2149	2499	3085	0	0	0	0	0	0
5450	-0.77	-146.0	685.0	-10.1	580	5454	0.00	1.05	0.00	0.000	4	0.000	0.047	2149	1820	3085	0	0	0	0	0	0
5573	-0.77	-146.0	695.7	-10.1	583	5577	0.00	1.17	0.00	0.000	6	0.000	0.058	2146	2516	3086	0	0	0	0	0	0
5859	end dive: BOTTOM_OBSTACLE_DETECTED
state	5859	begin apogee
5865	-0.16	0.0	726.5	-10.5	593	5994	0.60	0.00	120.30	1.329	6	0.140	0.000	2339	2192	2485	0	0	0	0	0	0
5995	end apogee: CONTROL_FINISHED_OK
state	5995	begin climb
5997	0.77	146.0	731.7	0.0	597	6135	0.90	1.20	127.62	1.294	4	0.071	0.053	2650	1503	1888	0	0	0	0	0	0
6386	0.77	146.0	694.9	14.1	608	6393	0.00	1.20	0.00	0.000	6	0.000	0.051	2650	2199	1881	0	0	0	0	0	0
6699	0.77	146.0	651.1	12.6	619	6703	0.00	1.17	0.00	0.000	4	0.000	0.053	2655	1502	1878	0	0	0	0	0	0
6821	0.77	146.0	638.3	12.6	622	6825	0.00	1.20	0.00	0.000	6	0.000	0.051	2655	2209	1878	0	0	0	0	0	0
7141	0.77	146.0	593.7	13.1	633	7145	0.00	1.15	0.00	0.000	4	0.000	0.059	2655	2906	1877	0	0	0	0	0	0
7151	0.77	146.0	593.7	13.1	633	7156	0.00	1.17	0.00	0.000	6	0.000	0.041	2660	2201	1877	0	0	0	0	0	0
7483	0.77	146.0	547.8	13.2	644	7487	0.00	1.23	0.00	0.000	4	0.000	0.057	2660	2913	1877	0	0	0	0	0	0
7498	0.77	146.0	547.8	13.2	644	7502	0.00	1.17	0.00	0.000	6	0.000	0.042	2664	2202	1876	0	0	0	0	0	0
7822	0.77	146.0	501.5	13.6	655	7826	0.00	1.20	0.00	0.000	4	0.000	0.059	2664	2900	1876	0	0	0	0	0	0
7871	0.77	146.0	495.2	13.7	657	7878	0.00	1.15	0.00	0.000	6	0.000	0.043	2669	2200	1876	0	0	0	0	0	0
8198	0.77	146.0	448.9	13.8	688	8202	0.00	1.20	0.00	0.000	4	0.000	0.059	2669	2900	1875	0	0	0	0	0	0
8281	0.77	146.0	437.4	14.5	695	8290	0.00	1.15	0.00	0.000	6	0.000	0.044	2674	2202	1876	0	0	0	0	0	0
8606	0.77	146.0	391.1	14.6	726	8610	0.00	1.20	0.00	0.000	4	0.000	0.058	2674	2904	1875	0	0	0	0	0	0
8664	0.77	146.0	382.4	15.3	731	8669	0.10	1.15	0.00	0.000	6	0.168	0.042	2649	2200	1875	0	0	0	0	0	0
8994	0.77	146.0	337.4	12.9	762	8998	0.00	1.20	0.00	0.000	4	0.000	0.058	2648	2905	1875	0	0	0	0	0	0
9010	0.77	146.0	335.8	13.0	763	9019	0.00	1.15	0.00	0.000	6	0.000	0.041	2652	2199	1875	0	0	0	0	0	0
9337	0.77	146.0	294.5	11.9	798	9343	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2198	1875	0	0	0	0	0	0
9672	0.77	146.0	254.8	11.3	859	9681	0.00	1.08	0.00	0.000	4	0.000	0.054	2657	1496	1875	0	0	0	0	0	0
9794	0.77	146.0	241.0	11.5	880	9800	0.00	1.15	0.00	0.000	6	0.000	0.052	2658	2202	1875	0	0	0	0	0	0
10135	0.78	157.4	204.8	9.5	941	10150	0.00	0.00	8.57	0.905	6	0.000	0.000	2657	2202	1842	0	0	0	0	0	0
10482	0.80	168.3	170.8	9.5	1003	10497	0.00	0.00	10.95	0.922	6	0.000	0.000	2657	2202	1798	0	0	0	0	0	0
10828	0.80	168.3	133.1	10.6	1065	10834	0.00	1.12	0.00	0.000	4	0.000	0.060	2657	2903	1796	0	0	0	0	0	0
10858	0.80	168.3	129.7	11.4	1070	10864	0.00	1.15	0.00	0.000	6	0.000	0.043	2662	2200	1796	0	0	0	0	0	0
11197	0.82	189.7	96.1	9.0	1131	11224	0.00	1.23	18.77	0.925	4	0.000	0.058	2662	2902	1710	0	0	0	0	0	0
11254	0.83	199.4	90.5	9.6	1140	11267	0.00	1.17	9.68	0.864	6	0.000	0.042	2667	2191	1671	0	0	0	0	0	0
11600	0.85	211.0	52.9	9.5	1202	11617	0.00	1.12	10.40	0.876	4	0.000	0.056	2672	1497	1625	0	0	0	0	0	0
11774	0.87	231.5	35.6	9.1	1232	11801	0.00	1.17	17.83	0.890	6	0.000	0.054	2672	2201	1541	0	0	0	0	0	0
12097	end climb: SURFACE_DEPTH_REACHED
state	12097	begin surface coast
12115	end surface coast: CONTROL_FINISHED_OK
state	12115	begin surface