Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 113 * 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 113 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 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 26 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 -80657.742 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 -80657.742

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 33 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 26 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 113 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 0 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 221011,084606,6655.256,-5758.498,31,0.8,32,-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 2.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221011,085118,6655.284,-5758.500,14,1.8,15,-33.6 MHEAD_RNG_PITCHd_Wd 264.4,109911,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 892

Post-dive calculations and measurements:

FINISH 1.8,1.016678 _24V_AH 22.7,14.317

SM_CCo 15063,33.00,0.085,0,0,1058,350.04 _10V_AH 10.2,11.781

SM_GC 3.12,6.97,0.60,33.00,0.044,0.055,0.085,123,2517,1058,-7.06,-0.68,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 993 FG_AHR_10Vo 0.000

RAFOS 5,1319272867,8.700000,8.685278,126,65,59,0,0,0,546,181,216,0,0,0 MEM 150180

RAFOS_FIX 6656.299805,-5802.064941,221011,080806,6,109,0.00 DATA_FILE_SIZE 43353,1178

IRIDIUM_FIX 6625.71,-5754.44,221011,040431 CAP_FILE_SIZE 121241,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,240218112

HUMID 57.95 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

INTERNAL_PRESSURE 9.8246 SOUNDSPEED 1457.2

TCM_TEMP 16.20 CURRENT 0.128, 15.0,1

XPDR_PINGS 21 GPS 221011,130623,6654.610,-5802.858,40,1.0,41,-33.6

ALTIM_BOTTOM_PING 803.1,131.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 261 101.26 SBE_CT 845 23 445.81

Roll_motor 27 78 48.52 SBE_O2 645 5 76.74

VBD_pump_during_apogee 364 1435 11867.04 nil 0 0 0.00

VBD_pump_during_surface 33 84 63.61 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 203 252 1167.22 nil 0 0 0.00

Transponder_ping 8 420 78.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 26 4.52

TT8 3291 18 628.10

LPSleep 9422 2 222.01

TT8_Active 510 18 97.50

TT8_Sampling 2071 41 886.05

TT8_CF8 205 47 100.45

TT8_Kalman 0 0 0.00

Analog_circuits 1690 12 206.86

GPS_charging 0 0 0.00

Compass 1852 6 127.37

RAFOS 2520 1 38.56

Transponder 23 30 7.17

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

16 -0.77 -146.0 0.0 0.0 0 70 0.00 0.00 -51.65 0.000 2 0.000 0.000 125 2515 1782 0 0 0 0 0 0

73 -0.77 -146.0 3.1 -1.3 8 163 8.52 1.23 -71.53 0.000 4 0.262 0.079 2147 1812 3082 0 0 0 0 0 0

222 -0.77 -146.0 18.6 -17.6 30 231 0.00 1.20 0.00 0.000 6 0.000 0.061 2144 2498 3083 0 0 0 0 0 0

560 -0.77 -146.0 78.5 -16.2 81 566 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2499 3084 0 0 0 0 0 0

897 -0.77 -146.0 131.2 -14.4 132 903 0.00 1.17 0.00 0.000 4 0.000 0.074 2139 3222 3084 0 0 0 0 0 0

957 -0.77 -146.0 139.8 -14.6 141 963 0.00 1.15 0.00 0.000 6 0.000 0.040 2139 2498 3084 0 0 0 0 0 0

1293 -0.77 -146.0 184.5 -12.9 192 1299 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2498 3084 0 0 0 0 0 0

1631 -0.77 -146.0 229.5 -13.0 243 1637 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2498 3084 0 0 0 0 0 0

1965 -0.77 -146.0 274.2 -13.6 281 1968 0.00 1.20 0.00 0.000 4 0.000 0.070 2134 3213 3084 0 0 0 0 0 0

2045 -0.77 -146.0 285.1 -14.0 287 2049 0.00 1.12 0.00 0.000 6 0.000 0.038 2134 2499 3083 0 0 0 0 0 0

2377 -0.77 -146.0 327.2 -12.5 313 2378 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2500 3083 0 0 0 0 0 0

2691 -0.77 -146.0 366.7 -12.1 338 2692 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2499 3083 0 0 0 0 0 0

3008 -0.77 -146.0 405.3 -12.3 363 3009 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2500 3083 0 0 0 0 0 0

3320 -0.77 -146.0 443.8 -12.1 388 3322 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2499 3083 0 0 0 0 0 0

3636 -0.77 -146.0 481.6 -12.0 413 3638 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2499 3083 0 0 0 0 0 0

3955 -0.77 -146.0 519.3 -11.9 431 3958 0.00 1.08 0.00 0.000 4 0.000 0.047 2134 1814 3084 0 0 0 0 0 0

4032 -0.77 -146.0 527.4 -11.9 433 4037 0.00 1.23 0.00 0.000 6 0.000 0.058 2129 2521 3084 0 0 0 0 0 0

4359 -0.77 -146.0 567.9 -11.7 444 4360 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2521 3084 0 0 0 0 0 0

4668 -0.77 -146.0 603.1 -11.3 454 4669 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2521 3084 0 0 0 0 0 0

4972 -0.77 -146.0 637.4 -11.3 464 4973 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2521 3084 0 0 0 0 0 0

5278 -0.77 -146.0 671.2 -11.2 474 5279 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2522 3084 0 0 0 0 0 0

5584 -0.77 -146.0 705.6 -11.2 484 5585 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2522 3084 0 0 0 0 0 0

5891 -0.77 -146.0 740.6 -11.3 494 5892 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2522 3085 0 0 0 0 0 0

6197 -0.77 -146.0 775.9 -11.6 504 6198 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2522 3085 0 0 0 0 0 0

6503 -0.77 -146.0 809.9 -10.9 514 6504 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2522 3085 0 0 0 0 0 0

6809 -0.77 -146.0 844.4 -11.3 524 6810 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2521 3086 0 0 0 0 0 0

7116 -0.77 -146.0 879.0 -11.2 534 7117 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2522 3085 0 0 0 0 0 0

7236 end dive: TARGET_DEPTH_EXCEEDED

state 7236 begin apogee

7242 -0.16 0.0 893.2 -11.7 538 7370 0.65 0.00 122.93 1.436 6 0.140 0.000 2339 2182 2485 0 0 0 0 0 0

7371 end apogee: CONTROL_FINISHED_OK

state 7371 begin climb

7373 0.77 146.0 897.7 0.0 542 7512 0.90 1.17 131.45 1.381 4 0.072 0.054 2648 1502 1888 0 0 0 0 0 0

7755 0.77 146.0 859.8 13.8 554 7760 0.00 1.25 0.00 0.000 6 0.000 0.050 2648 2205 1879 0 0 0 0 0 0

8089 0.77 146.0 812.6 13.9 565 8090 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2205 1877 0 0 0 0 0 0

8396 0.77 146.0 770.9 13.6 575 8397 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2205 1876 0 0 0 0 0 0

8702 0.77 146.0 729.6 13.5 585 8705 0.00 1.15 0.00 0.000 4 0.000 0.059 2648 2905 1875 0 0 0 0 0 0

8779 0.77 146.0 720.5 13.5 587 8784 0.00 1.17 0.00 0.000 6 0.000 0.041 2652 2206 1874 0 0 0 0 0 0

9106 0.77 146.0 674.7 13.5 598 9108 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2206 1873 0 0 0 0 0 0

9414 0.77 146.0 633.8 13.1 608 9415 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2206 1873 0 0 0 0 0 0

9718 0.77 146.0 593.2 13.6 618 9720 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2206 1873 0 0 0 0 0 0

10026 0.77 146.0 553.0 13.2 628 10027 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2207 1873 0 0 0 0 0 0

10331 0.77 146.0 514.8 12.4 638 10332 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2206 1873 0 0 0 0 0 0

10643 0.77 146.0 476.2 12.4 657 10644 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2206 1872 0 0 0 0 0 0

10959 0.77 146.0 437.9 11.9 682 10960 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2206 1872 0 0 0 0 0 0

11274 0.77 146.0 400.7 11.3 707 11277 0.00 1.17 0.00 0.000 4 0.000 0.057 2653 2901 1872 0 0 0 0 0 0

11366 0.77 146.0 389.9 11.8 714 11370 0.00 1.15 0.00 0.000 6 0.000 0.041 2657 2192 1872 0 0 0 0 0 0

11698 0.77 146.0 353.2 11.1 740 11701 0.00 1.20 0.00 0.000 4 0.000 0.057 2658 2903 1872 0 0 0 0 0 0

11829 0.77 146.0 337.9 11.3 750 11834 0.00 1.15 0.00 0.000 6 0.000 0.041 2662 2193 1872 0 0 0 0 0 0

12161 0.77 146.0 300.8 11.6 776 12162 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2193 1872 0 0 0 0 0 0

12475 0.77 146.0 265.1 11.2 801 12476 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2193 1872 0 0 0 0 0 0

12802 0.77 146.0 227.8 12.1 840 12809 0.00 1.20 0.00 0.000 4 0.000 0.057 2662 2907 1871 0 0 0 0 0 0

12988 0.77 146.0 204.7 12.0 868 12995 0.00 1.15 0.00 0.000 6 0.000 0.041 2667 2193 1872 0 0 0 0 0 0

13325 0.78 151.6 168.7 9.7 919 13334 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2193 1872 0 0 0 0 0 0

13665 0.81 180.8 138.1 8.7 970 13699 0.00 1.17 27.40 0.968 4 0.000 0.054 2668 2906 1747 0 0 0 0 0 0

13870 0.81 180.8 116.0 11.4 1001 13877 0.00 1.17 0.00 0.000 6 0.000 0.041 2672 2193 1744 0 0 0 0 0 0

14209 0.81 180.8 80.8 10.3 1052 14215 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2193 1743 0 0 0 0 0 0

14547 0.88 235.7 49.7 7.5 1103 14601 0.00 1.27 45.95 0.921 4 0.000 0.057 2672 2904 1523 0 0 0 0 0 0

14734 0.93 279.6 33.5 8.0 1131 14776 0.00 1.17 36.35 0.887 6 0.000 0.041 2677 2200 1344 0 0 0 0 0 0

15025 end climb: SURFACE_DEPTH_REACHED

state 15025 begin surface coast

15046 end surface coast: CONTROL_FINISHED_OK

state 15046 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	113	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	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	26	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	-80657.742	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	221011,084606,6655.256,-5758.498,31,0.8,32,-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	2.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221011,085118,6655.284,-5758.500,14,1.8,15,-33.6	MHEAD_RNG_PITCHd_Wd	264.4,109911,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	892

FINISH	1.8,1.016678	_24V_AH	22.7,14.317
SM_CCo	15063,33.00,0.085,0,0,1058,350.04	_10V_AH	10.2,11.781
SM_GC	3.12,6.97,0.60,33.00,0.044,0.055,0.085,123,2517,1058,-7.06,-0.68,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	993	FG_AHR_10Vo	0.000
RAFOS	5,1319272867,8.700000,8.685278,126,65,59,0,0,0,546,181,216,0,0,0	MEM	150180
RAFOS_FIX	6656.299805,-5802.064941,221011,080806,6,109,0.00	DATA_FILE_SIZE	43353,1178
IRIDIUM_FIX	6625.71,-5754.44,221011,040431	CAP_FILE_SIZE	121241,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,240218112
HUMID	57.95	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
INTERNAL_PRESSURE	9.8246	SOUNDSPEED	1457.2
TCM_TEMP	16.20	CURRENT	0.128, 15.0,1
XPDR_PINGS	21	GPS	221011,130623,6654.610,-5802.858,40,1.0,41,-33.6
ALTIM_BOTTOM_PING	803.1,131.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	261	101.26	SBE_CT	845	23	445.81
Roll_motor	27	78	48.52	SBE_O2	645	5	76.74
VBD_pump_during_apogee	364	1435	11867.04	nil	0	0	0.00
VBD_pump_during_surface	33	84	63.61	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	203	252	1167.22	nil	0	0	0.00
Transponder_ping	8	420	78.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	26	4.52
TT8	3291	18	628.10
LPSleep	9422	2	222.01
TT8_Active	510	18	97.50
TT8_Sampling	2071	41	886.05
TT8_CF8	205	47	100.45
TT8_Kalman	0	0	0.00
Analog_circuits	1690	12	206.86
GPS_charging	0	0	0.00
Compass	1852	6	127.37
RAFOS	2520	1	38.56
Transponder	23	30	7.17

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
16	-0.77	-146.0	0.0	0.0	0	70	0.00	0.00	-51.65	0.000	2	0.000	0.000	125	2515	1782	0	0	0	0	0	0
73	-0.77	-146.0	3.1	-1.3	8	163	8.52	1.23	-71.53	0.000	4	0.262	0.079	2147	1812	3082	0	0	0	0	0	0
222	-0.77	-146.0	18.6	-17.6	30	231	0.00	1.20	0.00	0.000	6	0.000	0.061	2144	2498	3083	0	0	0	0	0	0
560	-0.77	-146.0	78.5	-16.2	81	566	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2499	3084	0	0	0	0	0	0
897	-0.77	-146.0	131.2	-14.4	132	903	0.00	1.17	0.00	0.000	4	0.000	0.074	2139	3222	3084	0	0	0	0	0	0
957	-0.77	-146.0	139.8	-14.6	141	963	0.00	1.15	0.00	0.000	6	0.000	0.040	2139	2498	3084	0	0	0	0	0	0
1293	-0.77	-146.0	184.5	-12.9	192	1299	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2498	3084	0	0	0	0	0	0
1631	-0.77	-146.0	229.5	-13.0	243	1637	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2498	3084	0	0	0	0	0	0
1965	-0.77	-146.0	274.2	-13.6	281	1968	0.00	1.20	0.00	0.000	4	0.000	0.070	2134	3213	3084	0	0	0	0	0	0
2045	-0.77	-146.0	285.1	-14.0	287	2049	0.00	1.12	0.00	0.000	6	0.000	0.038	2134	2499	3083	0	0	0	0	0	0
2377	-0.77	-146.0	327.2	-12.5	313	2378	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2500	3083	0	0	0	0	0	0
2691	-0.77	-146.0	366.7	-12.1	338	2692	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2499	3083	0	0	0	0	0	0
3008	-0.77	-146.0	405.3	-12.3	363	3009	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2500	3083	0	0	0	0	0	0
3320	-0.77	-146.0	443.8	-12.1	388	3322	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2499	3083	0	0	0	0	0	0
3636	-0.77	-146.0	481.6	-12.0	413	3638	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2499	3083	0	0	0	0	0	0
3955	-0.77	-146.0	519.3	-11.9	431	3958	0.00	1.08	0.00	0.000	4	0.000	0.047	2134	1814	3084	0	0	0	0	0	0
4032	-0.77	-146.0	527.4	-11.9	433	4037	0.00	1.23	0.00	0.000	6	0.000	0.058	2129	2521	3084	0	0	0	0	0	0
4359	-0.77	-146.0	567.9	-11.7	444	4360	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2521	3084	0	0	0	0	0	0
4668	-0.77	-146.0	603.1	-11.3	454	4669	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2521	3084	0	0	0	0	0	0
4972	-0.77	-146.0	637.4	-11.3	464	4973	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2521	3084	0	0	0	0	0	0
5278	-0.77	-146.0	671.2	-11.2	474	5279	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2522	3084	0	0	0	0	0	0
5584	-0.77	-146.0	705.6	-11.2	484	5585	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2522	3084	0	0	0	0	0	0
5891	-0.77	-146.0	740.6	-11.3	494	5892	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2522	3085	0	0	0	0	0	0
6197	-0.77	-146.0	775.9	-11.6	504	6198	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2522	3085	0	0	0	0	0	0
6503	-0.77	-146.0	809.9	-10.9	514	6504	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2522	3085	0	0	0	0	0	0
6809	-0.77	-146.0	844.4	-11.3	524	6810	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2521	3086	0	0	0	0	0	0
7116	-0.77	-146.0	879.0	-11.2	534	7117	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2522	3085	0	0	0	0	0	0
7236	end dive: TARGET_DEPTH_EXCEEDED
state	7236	begin apogee
7242	-0.16	0.0	893.2	-11.7	538	7370	0.65	0.00	122.93	1.436	6	0.140	0.000	2339	2182	2485	0	0	0	0	0	0
7371	end apogee: CONTROL_FINISHED_OK
state	7371	begin climb
7373	0.77	146.0	897.7	0.0	542	7512	0.90	1.17	131.45	1.381	4	0.072	0.054	2648	1502	1888	0	0	0	0	0	0
7755	0.77	146.0	859.8	13.8	554	7760	0.00	1.25	0.00	0.000	6	0.000	0.050	2648	2205	1879	0	0	0	0	0	0
8089	0.77	146.0	812.6	13.9	565	8090	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2205	1877	0	0	0	0	0	0
8396	0.77	146.0	770.9	13.6	575	8397	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2205	1876	0	0	0	0	0	0
8702	0.77	146.0	729.6	13.5	585	8705	0.00	1.15	0.00	0.000	4	0.000	0.059	2648	2905	1875	0	0	0	0	0	0
8779	0.77	146.0	720.5	13.5	587	8784	0.00	1.17	0.00	0.000	6	0.000	0.041	2652	2206	1874	0	0	0	0	0	0
9106	0.77	146.0	674.7	13.5	598	9108	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2206	1873	0	0	0	0	0	0
9414	0.77	146.0	633.8	13.1	608	9415	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2206	1873	0	0	0	0	0	0
9718	0.77	146.0	593.2	13.6	618	9720	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2206	1873	0	0	0	0	0	0
10026	0.77	146.0	553.0	13.2	628	10027	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2207	1873	0	0	0	0	0	0
10331	0.77	146.0	514.8	12.4	638	10332	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2206	1873	0	0	0	0	0	0
10643	0.77	146.0	476.2	12.4	657	10644	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2206	1872	0	0	0	0	0	0
10959	0.77	146.0	437.9	11.9	682	10960	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2206	1872	0	0	0	0	0	0
11274	0.77	146.0	400.7	11.3	707	11277	0.00	1.17	0.00	0.000	4	0.000	0.057	2653	2901	1872	0	0	0	0	0	0
11366	0.77	146.0	389.9	11.8	714	11370	0.00	1.15	0.00	0.000	6	0.000	0.041	2657	2192	1872	0	0	0	0	0	0
11698	0.77	146.0	353.2	11.1	740	11701	0.00	1.20	0.00	0.000	4	0.000	0.057	2658	2903	1872	0	0	0	0	0	0
11829	0.77	146.0	337.9	11.3	750	11834	0.00	1.15	0.00	0.000	6	0.000	0.041	2662	2193	1872	0	0	0	0	0	0
12161	0.77	146.0	300.8	11.6	776	12162	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2193	1872	0	0	0	0	0	0
12475	0.77	146.0	265.1	11.2	801	12476	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2193	1872	0	0	0	0	0	0
12802	0.77	146.0	227.8	12.1	840	12809	0.00	1.20	0.00	0.000	4	0.000	0.057	2662	2907	1871	0	0	0	0	0	0
12988	0.77	146.0	204.7	12.0	868	12995	0.00	1.15	0.00	0.000	6	0.000	0.041	2667	2193	1872	0	0	0	0	0	0
13325	0.78	151.6	168.7	9.7	919	13334	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2193	1872	0	0	0	0	0	0
13665	0.81	180.8	138.1	8.7	970	13699	0.00	1.17	27.40	0.968	4	0.000	0.054	2668	2906	1747	0	0	0	0	0	0
13870	0.81	180.8	116.0	11.4	1001	13877	0.00	1.17	0.00	0.000	6	0.000	0.041	2672	2193	1744	0	0	0	0	0	0
14209	0.81	180.8	80.8	10.3	1052	14215	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2193	1743	0	0	0	0	0	0
14547	0.88	235.7	49.7	7.5	1103	14601	0.00	1.27	45.95	0.921	4	0.000	0.057	2672	2904	1523	0	0	0	0	0	0
14734	0.93	279.6	33.5	8.0	1131	14776	0.00	1.17	36.35	0.887	6	0.000	0.041	2677	2200	1344	0	0	0	0	0	0
15025	end climb: SURFACE_DEPTH_REACHED
state	15025	begin surface coast
15046	end surface coast: CONTROL_FINISHED_OK
state	15046	begin surface