Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 104 * 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 104 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 41 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 6 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 -80646.375 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 -80646.375

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 6

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 41 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 104 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 201011,202323,6658.370,-5731.456,86,0.8,86,-33.6 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201011,202826,6658.415,-5731.434,21,1.1,22,-33.6 MHEAD_RNG_PITCHd_Wd 246.8,130467,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 818

Post-dive calculations and measurements:

FINISH 1.7,1.014046 _24V_AH 22.9,13.238

SM_CCo 13829,62.60,0.086,0,0,1057,350.04 _10V_AH 10.3,11.019

SM_GC 2.72,6.88,0.60,62.60,0.048,0.056,0.086,123,2517,1057,-7.06,-0.65,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 905 FG_AHR_10Vo 0.000

RAFOS 2,1319141823,20.299999,20.284166,64,61,58,0,0,0,201,174,160,0,0,0 MEM 150280

RAFOS_FIX 6655.076660,-5716.812012,201011,202056,2,94,11.11 DATA_FILE_SIZE 43345,1125

IRIDIUM_FIX 6631.12,-5727.10,201011,161645 CAP_FILE_SIZE 125544,0

TT8_MAMPS 0.029211,0.029211 CFSIZE 260165632,240807936

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

INTERNAL_PRESSURE 9.84413 SOUNDSPEED 1456.9

TCM_TEMP 16.40 CURRENT 0.154, 34.1,1

XPDR_PINGS 15 GPS 211011,002229,6657.398,-5732.714,44,0.7,44,-33.6

ALTIM_BOTTOM_PING 802.1,48.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 267 106.23 SBE_CT 807 23 429.49

Roll_motor 48 99 109.37 SBE_O2 622 5 74.70

VBD_pump_during_apogee 314 1393 10024.87 nil 0 0 0.00

VBD_pump_during_surface 62 85 122.83 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 188 267 1155.37 nil 0 0 0.00

Transponder_ping 7 420 67.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 26 6.38

TT8 3100 18 597.51

LPSleep 8338 2 198.40

TT8_Active 534 18 103.05

TT8_Sampling 2048 41 884.81

TT8_CF8 207 47 102.23

TT8_Kalman 0 0 0.00

Analog_circuits 1701 12 210.30

GPS_charging 0 0 0.00

Compass 1836 6 127.51

RAFOS 2160 1 33.37

Transponder 26 30 8.11

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 15 begin dive

17 -0.77 -146.0 0.0 0.0 0 86 0.00 0.00 -66.35 0.000 2 0.000 0.000 117 2516 1992 0 0 0 0 0 0

89 -0.77 -146.0 3.1 -1.3 10 160 8.68 1.17 -56.05 0.000 4 0.268 0.099 2143 3213 3082 0 0 0 0 0 0

384 -0.77 -146.0 45.2 -16.5 54 391 0.00 1.12 0.00 0.000 6 0.000 0.039 2142 2504 3084 0 0 0 0 0 0

724 -0.77 -146.0 98.4 -14.9 105 732 0.00 1.10 0.00 0.000 4 0.000 0.050 2142 1814 3085 0 0 0 0 0 0

798 -0.77 -146.0 109.5 -14.6 116 807 0.00 1.20 0.00 0.000 6 0.000 0.060 2138 2505 3085 0 0 0 0 0 0

1139 -0.77 -146.0 162.8 -15.1 167 1146 0.00 1.15 0.00 0.000 4 0.000 0.073 2133 3218 3085 0 0 0 0 0 0

1351 -0.77 -146.0 195.5 -15.1 199 1358 0.00 1.12 0.00 0.000 6 0.000 0.041 2133 2507 3084 0 0 0 0 0 0

1689 -0.77 -146.0 244.2 -14.1 250 1695 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2507 3085 0 0 0 0 0 0

2014 -0.77 -146.0 286.3 -12.9 279 2017 0.00 1.20 0.00 0.000 4 0.000 0.071 2128 3219 3085 0 0 0 0 0 0

2085 -0.77 -146.0 295.5 -13.6 284 2095 0.00 1.15 0.00 0.000 6 0.000 0.039 2128 2501 3084 0 0 0 0 0 0

2409 -0.77 -146.0 340.2 -13.1 310 2410 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2501 3084 0 0 0 0 0 0

2724 -0.77 -146.0 380.6 -12.6 335 2725 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2501 3084 0 0 0 0 0 0

3039 -0.77 -146.0 418.5 -11.8 360 3040 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2501 3084 0 0 0 0 0 0

3356 -0.77 -146.0 456.5 -11.7 385 3357 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2501 3084 0 0 0 0 0 0

3670 -0.77 -146.0 494.0 -12.0 410 3674 0.00 1.20 0.00 0.000 4 0.000 0.067 2123 3220 3084 0 0 0 0 0 0

3740 -0.77 -146.0 501.9 -12.0 415 3745 0.00 1.12 0.00 0.000 6 0.000 0.035 2123 2506 3084 0 0 0 0 0 0

4074 -0.77 -146.0 543.5 -12.8 426 4075 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2506 3084 0 0 0 0 0 0

4380 -0.77 -146.0 582.3 -12.9 436 4381 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2506 3084 0 0 0 0 0 0

4686 -0.77 -146.0 620.7 -12.7 446 4690 0.00 1.08 0.00 0.000 4 0.000 0.048 2123 1815 3084 0 0 0 0 0 0

4744 -0.77 -146.0 624.9 -12.7 447 4753 0.12 1.23 0.00 0.000 6 0.177 0.058 2147 2525 3084 0 0 0 0 0 0

5059 -0.77 -146.0 663.0 -10.8 458 5063 0.00 1.10 0.00 0.000 4 0.000 0.071 2145 3219 3085 0 0 0 0 0 0

5136 -0.77 -146.0 670.5 -11.0 460 5141 0.00 1.12 0.00 0.000 6 0.000 0.034 2145 2499 3085 0 0 0 0 0 0

5464 -0.77 -146.0 708.0 -11.0 471 5465 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2499 3085 0 0 0 0 0 0

5771 -0.77 -146.0 740.4 -10.5 481 5772 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2499 3085 0 0 0 0 0 0

6076 -0.77 -146.0 772.4 -10.4 491 6080 0.00 1.17 0.00 0.000 4 0.000 0.067 2140 3210 3085 0 0 0 0 0 0

6144 -0.77 -146.0 779.4 -10.5 493 6147 0.00 1.08 0.00 0.000 6 0.000 0.035 2140 2509 3085 0 0 0 0 0 0

6483 -0.77 -146.0 814.7 -10.2 504 6484 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2509 3085 0 0 0 0 0 0

6543 end dive: TARGET_DEPTH_EXCEEDED

state 6543 begin apogee

6549 -0.16 0.0 820.9 -10.2 506 6677 0.62 0.00 122.18 1.394 6 0.141 0.000 2340 2198 2485 0 0 0 0 0 0

6678 end apogee: CONTROL_FINISHED_OK

state 6678 begin climb

6680 0.77 146.0 825.4 0.0 510 6818 0.90 1.23 129.48 1.336 4 0.074 0.053 2647 1507 1889 0 0 0 0 0 0

6992 0.77 146.0 797.5 12.9 520 6995 0.00 1.23 0.00 0.000 6 0.000 0.049 2647 2206 1881 0 0 0 0 0 0

7331 0.77 146.0 754.5 12.4 531 7335 0.00 1.17 0.00 0.000 4 0.000 0.057 2647 2905 1878 0 0 0 0 0 0

7408 0.77 146.0 746.3 12.4 533 7413 0.00 1.20 0.00 0.000 6 0.000 0.041 2652 2205 1877 0 0 0 0 0 0

7736 0.77 146.0 705.0 12.0 544 7739 0.00 1.23 0.00 0.000 4 0.000 0.055 2652 2909 1877 0 0 0 0 0 0

7794 0.77 146.0 700.9 12.1 545 7801 0.00 1.20 0.00 0.000 6 0.000 0.041 2657 2199 1876 0 0 0 0 0 0

8108 0.77 146.0 659.3 12.4 556 8111 0.00 1.23 0.00 0.000 4 0.000 0.056 2657 2910 1874 0 0 0 0 0 0

8165 0.77 146.0 655.0 12.6 557 8173 0.00 1.20 0.00 0.000 6 0.000 0.041 2662 2194 1875 0 0 0 0 0 0

8479 0.77 146.0 612.4 12.6 568 8480 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2194 1874 0 0 0 0 0 0

8785 0.77 146.0 572.3 13.3 578 8786 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2194 1874 0 0 0 0 0 0

9091 0.77 146.0 531.2 13.8 588 9095 0.00 1.23 0.00 0.000 4 0.000 0.057 2661 2911 1874 0 0 0 0 0 0

9142 0.77 146.0 526.8 13.8 589 9147 0.00 1.20 0.00 0.000 6 0.000 0.041 2666 2188 1874 0 0 0 0 0 0

9467 0.77 146.0 481.1 13.2 606 9470 0.00 1.23 0.00 0.000 4 0.000 0.057 2666 2907 1874 0 0 0 0 0 0

9519 0.77 146.0 474.0 13.1 610 9523 0.00 1.15 0.00 0.000 6 0.000 0.041 2671 2201 1874 0 0 0 0 0 0

9850 0.77 146.0 432.7 12.7 636 9851 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2201 1874 0 0 0 0 0 0

10165 0.77 146.0 391.4 13.0 661 10168 0.00 1.20 0.00 0.000 4 0.000 0.057 2671 2907 1874 0 0 0 0 0 0

10249 0.77 146.0 380.4 13.5 667 10257 0.00 1.17 0.00 0.000 6 0.000 0.041 2676 2194 1874 0 0 0 0 0 0

10575 0.77 146.0 337.6 12.7 693 10578 0.00 1.20 0.00 0.000 4 0.000 0.057 2676 2904 1874 0 0 0 0 0 0

10632 0.77 146.0 330.4 12.9 697 10641 0.12 1.17 0.00 0.000 6 0.184 0.041 2652 2190 1874 0 0 0 0 0 0

10956 0.77 146.0 292.2 11.3 723 10957 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2190 1874 0 0 0 0 0 0

11272 0.77 146.0 257.1 11.4 748 11273 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2190 1874 0 0 0 0 0 0

11598 0.77 146.0 221.7 11.0 792 11607 0.00 1.20 0.00 0.000 4 0.000 0.057 2652 2901 1874 0 0 0 0 0 0

11666 0.77 146.0 213.9 11.9 802 11673 0.00 1.12 0.00 0.000 6 0.000 0.041 2655 2202 1874 0 0 0 0 0 0

12005 0.77 146.0 176.9 10.1 853 12011 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2202 1874 0 0 0 0 0 0

12342 0.80 171.8 145.1 8.8 904 12369 0.00 1.10 20.05 0.968 4 0.000 0.055 2660 1499 1784 0 0 0 0 0 0

12478 0.83 195.4 132.8 8.9 924 12506 0.00 1.17 20.92 0.949 6 0.000 0.050 2660 2210 1688 0 0 0 0 0 0

12837 0.85 214.5 98.5 9.1 978 12859 0.00 1.20 17.08 0.924 4 0.000 0.059 2661 2916 1610 0 0 0 0 0 0

13110 0.86 218.6 71.4 9.8 1019 13119 0.00 1.20 4.38 0.727 6 0.000 0.041 2665 2193 1593 0 0 0 0 0 0

13450 0.86 218.6 37.7 10.1 1070 13456 0.00 1.23 0.00 0.000 4 0.000 0.057 2665 2911 1591 0 0 0 0 0 0

13707 0.86 218.6 10.6 12.5 1109 13714 0.00 1.17 0.00 0.000 6 0.000 0.041 2670 2196 1590 0 0 0 0 0 0

13791 end climb: SURFACE_DEPTH_REACHED

state 13791 begin surface coast

13813 end surface coast: CONTROL_FINISHED_OK

state 13813 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	104	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	41	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	6	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	-80646.375	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	201011,202323,6658.370,-5731.456,86,0.8,86,-33.6	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201011,202826,6658.415,-5731.434,21,1.1,22,-33.6	MHEAD_RNG_PITCHd_Wd	246.8,130467,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	818

FINISH	1.7,1.014046	_24V_AH	22.9,13.238
SM_CCo	13829,62.60,0.086,0,0,1057,350.04	_10V_AH	10.3,11.019
SM_GC	2.72,6.88,0.60,62.60,0.048,0.056,0.086,123,2517,1057,-7.06,-0.65,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	905	FG_AHR_10Vo	0.000
RAFOS	2,1319141823,20.299999,20.284166,64,61,58,0,0,0,201,174,160,0,0,0	MEM	150280
RAFOS_FIX	6655.076660,-5716.812012,201011,202056,2,94,11.11	DATA_FILE_SIZE	43345,1125
IRIDIUM_FIX	6631.12,-5727.10,201011,161645	CAP_FILE_SIZE	125544,0
TT8_MAMPS	0.029211,0.029211	CFSIZE	260165632,240807936
HUMID	57.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.84413	SOUNDSPEED	1456.9
TCM_TEMP	16.40	CURRENT	0.154, 34.1,1
XPDR_PINGS	15	GPS	211011,002229,6657.398,-5732.714,44,0.7,44,-33.6
ALTIM_BOTTOM_PING	802.1,48.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	267	106.23	SBE_CT	807	23	429.49
Roll_motor	48	99	109.37	SBE_O2	622	5	74.70
VBD_pump_during_apogee	314	1393	10024.87	nil	0	0	0.00
VBD_pump_during_surface	62	85	122.83	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	188	267	1155.37	nil	0	0	0.00
Transponder_ping	7	420	67.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	26	6.38
TT8	3100	18	597.51
LPSleep	8338	2	198.40
TT8_Active	534	18	103.05
TT8_Sampling	2048	41	884.81
TT8_CF8	207	47	102.23
TT8_Kalman	0	0	0.00
Analog_circuits	1701	12	210.30
GPS_charging	0	0	0.00
Compass	1836	6	127.51
RAFOS	2160	1	33.37
Transponder	26	30	8.11

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	15	begin dive
17	-0.77	-146.0	0.0	0.0	0	86	0.00	0.00	-66.35	0.000	2	0.000	0.000	117	2516	1992	0	0	0	0	0	0
89	-0.77	-146.0	3.1	-1.3	10	160	8.68	1.17	-56.05	0.000	4	0.268	0.099	2143	3213	3082	0	0	0	0	0	0
384	-0.77	-146.0	45.2	-16.5	54	391	0.00	1.12	0.00	0.000	6	0.000	0.039	2142	2504	3084	0	0	0	0	0	0
724	-0.77	-146.0	98.4	-14.9	105	732	0.00	1.10	0.00	0.000	4	0.000	0.050	2142	1814	3085	0	0	0	0	0	0
798	-0.77	-146.0	109.5	-14.6	116	807	0.00	1.20	0.00	0.000	6	0.000	0.060	2138	2505	3085	0	0	0	0	0	0
1139	-0.77	-146.0	162.8	-15.1	167	1146	0.00	1.15	0.00	0.000	4	0.000	0.073	2133	3218	3085	0	0	0	0	0	0
1351	-0.77	-146.0	195.5	-15.1	199	1358	0.00	1.12	0.00	0.000	6	0.000	0.041	2133	2507	3084	0	0	0	0	0	0
1689	-0.77	-146.0	244.2	-14.1	250	1695	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2507	3085	0	0	0	0	0	0
2014	-0.77	-146.0	286.3	-12.9	279	2017	0.00	1.20	0.00	0.000	4	0.000	0.071	2128	3219	3085	0	0	0	0	0	0
2085	-0.77	-146.0	295.5	-13.6	284	2095	0.00	1.15	0.00	0.000	6	0.000	0.039	2128	2501	3084	0	0	0	0	0	0
2409	-0.77	-146.0	340.2	-13.1	310	2410	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2501	3084	0	0	0	0	0	0
2724	-0.77	-146.0	380.6	-12.6	335	2725	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2501	3084	0	0	0	0	0	0
3039	-0.77	-146.0	418.5	-11.8	360	3040	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2501	3084	0	0	0	0	0	0
3356	-0.77	-146.0	456.5	-11.7	385	3357	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2501	3084	0	0	0	0	0	0
3670	-0.77	-146.0	494.0	-12.0	410	3674	0.00	1.20	0.00	0.000	4	0.000	0.067	2123	3220	3084	0	0	0	0	0	0
3740	-0.77	-146.0	501.9	-12.0	415	3745	0.00	1.12	0.00	0.000	6	0.000	0.035	2123	2506	3084	0	0	0	0	0	0
4074	-0.77	-146.0	543.5	-12.8	426	4075	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2506	3084	0	0	0	0	0	0
4380	-0.77	-146.0	582.3	-12.9	436	4381	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2506	3084	0	0	0	0	0	0
4686	-0.77	-146.0	620.7	-12.7	446	4690	0.00	1.08	0.00	0.000	4	0.000	0.048	2123	1815	3084	0	0	0	0	0	0
4744	-0.77	-146.0	624.9	-12.7	447	4753	0.12	1.23	0.00	0.000	6	0.177	0.058	2147	2525	3084	0	0	0	0	0	0
5059	-0.77	-146.0	663.0	-10.8	458	5063	0.00	1.10	0.00	0.000	4	0.000	0.071	2145	3219	3085	0	0	0	0	0	0
5136	-0.77	-146.0	670.5	-11.0	460	5141	0.00	1.12	0.00	0.000	6	0.000	0.034	2145	2499	3085	0	0	0	0	0	0
5464	-0.77	-146.0	708.0	-11.0	471	5465	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2499	3085	0	0	0	0	0	0
5771	-0.77	-146.0	740.4	-10.5	481	5772	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2499	3085	0	0	0	0	0	0
6076	-0.77	-146.0	772.4	-10.4	491	6080	0.00	1.17	0.00	0.000	4	0.000	0.067	2140	3210	3085	0	0	0	0	0	0
6144	-0.77	-146.0	779.4	-10.5	493	6147	0.00	1.08	0.00	0.000	6	0.000	0.035	2140	2509	3085	0	0	0	0	0	0
6483	-0.77	-146.0	814.7	-10.2	504	6484	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2509	3085	0	0	0	0	0	0
6543	end dive: TARGET_DEPTH_EXCEEDED
state	6543	begin apogee
6549	-0.16	0.0	820.9	-10.2	506	6677	0.62	0.00	122.18	1.394	6	0.141	0.000	2340	2198	2485	0	0	0	0	0	0
6678	end apogee: CONTROL_FINISHED_OK
state	6678	begin climb
6680	0.77	146.0	825.4	0.0	510	6818	0.90	1.23	129.48	1.336	4	0.074	0.053	2647	1507	1889	0	0	0	0	0	0
6992	0.77	146.0	797.5	12.9	520	6995	0.00	1.23	0.00	0.000	6	0.000	0.049	2647	2206	1881	0	0	0	0	0	0
7331	0.77	146.0	754.5	12.4	531	7335	0.00	1.17	0.00	0.000	4	0.000	0.057	2647	2905	1878	0	0	0	0	0	0
7408	0.77	146.0	746.3	12.4	533	7413	0.00	1.20	0.00	0.000	6	0.000	0.041	2652	2205	1877	0	0	0	0	0	0
7736	0.77	146.0	705.0	12.0	544	7739	0.00	1.23	0.00	0.000	4	0.000	0.055	2652	2909	1877	0	0	0	0	0	0
7794	0.77	146.0	700.9	12.1	545	7801	0.00	1.20	0.00	0.000	6	0.000	0.041	2657	2199	1876	0	0	0	0	0	0
8108	0.77	146.0	659.3	12.4	556	8111	0.00	1.23	0.00	0.000	4	0.000	0.056	2657	2910	1874	0	0	0	0	0	0
8165	0.77	146.0	655.0	12.6	557	8173	0.00	1.20	0.00	0.000	6	0.000	0.041	2662	2194	1875	0	0	0	0	0	0
8479	0.77	146.0	612.4	12.6	568	8480	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2194	1874	0	0	0	0	0	0
8785	0.77	146.0	572.3	13.3	578	8786	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2194	1874	0	0	0	0	0	0
9091	0.77	146.0	531.2	13.8	588	9095	0.00	1.23	0.00	0.000	4	0.000	0.057	2661	2911	1874	0	0	0	0	0	0
9142	0.77	146.0	526.8	13.8	589	9147	0.00	1.20	0.00	0.000	6	0.000	0.041	2666	2188	1874	0	0	0	0	0	0
9467	0.77	146.0	481.1	13.2	606	9470	0.00	1.23	0.00	0.000	4	0.000	0.057	2666	2907	1874	0	0	0	0	0	0
9519	0.77	146.0	474.0	13.1	610	9523	0.00	1.15	0.00	0.000	6	0.000	0.041	2671	2201	1874	0	0	0	0	0	0
9850	0.77	146.0	432.7	12.7	636	9851	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2201	1874	0	0	0	0	0	0
10165	0.77	146.0	391.4	13.0	661	10168	0.00	1.20	0.00	0.000	4	0.000	0.057	2671	2907	1874	0	0	0	0	0	0
10249	0.77	146.0	380.4	13.5	667	10257	0.00	1.17	0.00	0.000	6	0.000	0.041	2676	2194	1874	0	0	0	0	0	0
10575	0.77	146.0	337.6	12.7	693	10578	0.00	1.20	0.00	0.000	4	0.000	0.057	2676	2904	1874	0	0	0	0	0	0
10632	0.77	146.0	330.4	12.9	697	10641	0.12	1.17	0.00	0.000	6	0.184	0.041	2652	2190	1874	0	0	0	0	0	0
10956	0.77	146.0	292.2	11.3	723	10957	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2190	1874	0	0	0	0	0	0
11272	0.77	146.0	257.1	11.4	748	11273	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2190	1874	0	0	0	0	0	0
11598	0.77	146.0	221.7	11.0	792	11607	0.00	1.20	0.00	0.000	4	0.000	0.057	2652	2901	1874	0	0	0	0	0	0
11666	0.77	146.0	213.9	11.9	802	11673	0.00	1.12	0.00	0.000	6	0.000	0.041	2655	2202	1874	0	0	0	0	0	0
12005	0.77	146.0	176.9	10.1	853	12011	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2202	1874	0	0	0	0	0	0
12342	0.80	171.8	145.1	8.8	904	12369	0.00	1.10	20.05	0.968	4	0.000	0.055	2660	1499	1784	0	0	0	0	0	0
12478	0.83	195.4	132.8	8.9	924	12506	0.00	1.17	20.92	0.949	6	0.000	0.050	2660	2210	1688	0	0	0	0	0	0
12837	0.85	214.5	98.5	9.1	978	12859	0.00	1.20	17.08	0.924	4	0.000	0.059	2661	2916	1610	0	0	0	0	0	0
13110	0.86	218.6	71.4	9.8	1019	13119	0.00	1.20	4.38	0.727	6	0.000	0.041	2665	2193	1593	0	0	0	0	0	0
13450	0.86	218.6	37.7	10.1	1070	13456	0.00	1.23	0.00	0.000	4	0.000	0.057	2665	2911	1591	0	0	0	0	0	0
13707	0.86	218.6	10.6	12.5	1109	13714	0.00	1.17	0.00	0.000	6	0.000	0.041	2670	2196	1590	0	0	0	0	0	0
13791	end climb: SURFACE_DEPTH_REACHED
state	13791	begin surface coast
13813	end surface coast: CONTROL_FINISHED_OK
state	13813	begin surface