Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 120 * 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 120 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 35 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 31 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 -80666.547 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 -80666.547

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 35 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 31 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 120 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 231011,144805,6652.104,-5821.660,26,0.8,27,-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 2.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231011,145300,6652.132,-5821.570,17,0.8,18,-33.6 MHEAD_RNG_PITCHd_Wd 282.9,92266,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 859

Post-dive calculations and measurements:

FINISH 2.1,1.024688 _24V_AH 22.7,15.185

SM_CCo 15038,11.40,0.086,0,0,1058,350.04 _10V_AH 10.3,12.381

SM_GC 2.46,7.07,0.68,11.40,0.045,0.049,0.086,119,2502,1058,-7.08,1.22,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 992 FG_AHR_10Vo 0.000

RAFOS 0,1319385672,16.033333,16.020000,64,64,60,0,0,0,205,223,141,0,0,0 MEM 150352

RAFOS_FIX 6652.508301,-5826.577148,231011,161628,4,93,0.58 DATA_FILE_SIZE 43319,1171

IRIDIUM_FIX 6625.71,-5812.44,231011,101011 CAP_FILE_SIZE 125806,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,239751168

HUMID 56.93 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.81483 SOUNDSPEED 1457.2

TCM_TEMP 16.20 CURRENT 0.124, 94.5,1

XPDR_PINGS 19 GPS 231011,190635,6651.079,-5825.125,71,0.7,71,-33.6

ALTIM_BOTTOM_PING 800.3,127.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 265 105.00 SBE_CT 842 23 444.09

Roll_motor 34 76 60.26 SBE_O2 640 5 76.15

VBD_pump_during_apogee 367 1419 11830.16 nil 0 0 0.00

VBD_pump_during_surface 11 86 22.37 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 185 255 1074.24 nil 0 0 0.00

Transponder_ping 8 420 76.27 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 26 5.35

TT8 3217 18 619.98

LPSleep 9373 2 223.03

TT8_Active 495 18 95.47

TT8_Sampling 2073 41 895.55

TT8_CF8 206 47 102.06

TT8_Kalman 0 0 0.00

Analog_circuits 1666 12 205.94

GPS_charging 0 0 0.00

Compass 1870 6 129.83

RAFOS 2520 1 38.93

Transponder 26 30 8.18

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 84 0.00 0.00 -65.62 0.000 2 0.000 0.000 114 2523 1974 0 0 0 0 0 0

87 -0.77 -146.0 3.3 -1.6 9 143 8.62 1.23 -41.92 0.000 4 0.265 0.076 2145 1808 3084 0 0 0 0 0 0

393 -0.77 -146.0 54.1 -17.6 55 400 0.00 1.20 0.00 0.000 6 0.000 0.059 2142 2500 3086 0 0 0 0 0 0

733 -0.77 -146.0 109.0 -15.7 106 739 0.00 1.15 0.00 0.000 4 0.000 0.048 2142 1811 3086 0 0 0 0 0 0

805 -0.77 -146.0 120.4 -15.2 117 814 0.00 1.20 0.00 0.000 6 0.000 0.060 2137 2507 3086 0 0 0 0 0 0

1144 -0.77 -146.0 169.3 -13.7 168 1151 0.00 1.12 0.00 0.000 4 0.000 0.070 2132 3211 3086 0 0 0 0 0 0

1191 -0.77 -146.0 176.0 -14.7 175 1197 0.00 1.12 0.00 0.000 6 0.000 0.038 2132 2501 3086 0 0 0 0 0 0

1529 -0.77 -146.0 222.7 -13.6 226 1535 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2501 3086 0 0 0 0 0 0

1866 -0.77 -146.0 269.0 -13.1 267 1868 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2501 3086 0 0 0 0 0 0

2182 -0.77 -146.0 310.0 -13.1 292 2183 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2501 3085 0 0 0 0 0 0

2499 -0.77 -146.0 350.9 -12.5 317 2503 0.00 1.10 0.00 0.000 4 0.000 0.050 2132 1803 3085 0 0 0 0 0 0

2556 -0.77 -146.0 357.7 -12.5 321 2566 0.00 1.25 0.00 0.000 6 0.000 0.058 2127 2523 3085 0 0 0 0 0 0

2881 -0.77 -146.0 399.9 -13.1 347 2883 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2524 3085 0 0 0 0 0 0

3195 -0.77 -146.0 439.7 -12.5 372 3196 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2523 3085 0 0 0 0 0 0

3511 -0.77 -146.0 479.3 -12.7 397 3512 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2524 3085 0 0 0 0 0 0

3842 -0.77 -146.0 519.4 -12.1 416 3846 0.00 1.17 0.00 0.000 4 0.000 0.048 2127 1810 3086 0 0 0 0 0 0

3880 -0.77 -146.0 523.5 -12.1 417 3885 0.12 1.23 0.00 0.000 6 0.181 0.059 2152 2517 3086 0 0 0 0 0 0

4215 -0.77 -146.0 558.6 -10.2 428 4217 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2517 3086 0 0 0 0 0 0

4521 -0.77 -146.0 588.9 -9.7 438 4523 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2518 3086 0 0 0 0 0 0

4827 -0.77 -146.0 618.5 -9.6 448 4828 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2517 3087 0 0 0 0 0 0

5134 -0.77 -146.0 648.9 -10.0 458 5135 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2517 3087 0 0 0 0 0 0

5439 -0.77 -146.0 678.6 -9.5 468 5440 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2517 3087 0 0 0 0 0 0

5746 -0.77 -146.0 709.0 -10.1 478 5748 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2517 3087 0 0 0 0 0 0

6051 -0.77 -146.0 738.1 -9.3 488 6052 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2517 3087 0 0 0 0 0 0

6360 -0.77 -146.0 767.7 -9.9 498 6361 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2517 3087 0 0 0 0 0 0

6664 -0.77 -146.0 797.2 -9.5 508 6668 0.00 1.10 0.00 0.000 4 0.000 0.071 2148 3213 3087 0 0 0 0 0 0

6717 -0.77 -146.0 800.3 -9.5 509 6722 0.00 1.12 0.00 0.000 6 0.000 0.035 2149 2497 3087 0 0 0 0 0 0

7038 -0.77 -146.0 832.3 -9.4 520 7039 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2497 3088 0 0 0 0 0 0

7343 end dive: TARGET_DEPTH_EXCEEDED

state 7343 begin apogee

7349 -0.16 0.0 861.3 -9.6 530 7478 0.60 0.00 123.03 1.420 6 0.135 0.000 2343 2182 2485 0 0 0 0 0 0

7479 end apogee: CONTROL_FINISHED_OK

state 7479 begin climb

7481 0.77 146.0 865.5 0.0 534 7625 0.88 1.20 130.90 1.356 4 0.069 0.054 2647 1512 1888 0 0 0 0 0 0

7776 0.77 146.0 841.8 12.8 543 7781 0.00 1.25 0.00 0.000 6 0.000 0.047 2647 2213 1880 0 0 0 0 0 0

8098 0.77 146.0 797.6 13.0 554 8099 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2213 1878 0 0 0 0 0 0

8402 0.77 146.0 757.6 13.1 564 8406 0.00 1.15 0.00 0.000 4 0.000 0.057 2647 2907 1877 0 0 0 0 0 0

8540 0.77 146.0 739.8 13.5 568 8545 0.00 1.17 0.00 0.000 6 0.000 0.040 2651 2210 1876 0 0 0 0 0 0

8873 0.77 146.0 695.2 13.2 579 8875 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2211 1875 0 0 0 0 0 0

9181 0.77 146.0 653.6 13.6 589 9184 0.00 1.20 0.00 0.000 4 0.000 0.057 2651 2908 1875 0 0 0 0 0 0

9304 0.77 146.0 639.9 13.6 592 9312 0.00 1.15 0.00 0.000 6 0.000 0.041 2656 2205 1875 0 0 0 0 0 0

9618 0.77 146.0 594.7 13.2 603 9619 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2205 1874 0 0 0 0 0 0

9924 0.77 146.0 555.3 12.9 613 9925 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2206 1874 0 0 0 0 0 0

10231 0.77 146.0 516.0 12.7 623 10232 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2206 1874 0 0 0 0 0 0

10548 0.77 146.0 476.5 12.5 641 10549 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2205 1872 0 0 0 0 0 0

10864 0.77 146.0 437.5 12.2 666 10866 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2205 1873 0 0 0 0 0 0

11179 0.77 146.0 399.7 11.9 691 11180 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2206 1873 0 0 0 0 0 0

11494 0.77 146.0 363.0 11.5 716 11495 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2205 1873 0 0 0 0 0 0

11812 0.77 146.0 328.0 11.1 741 11815 0.00 1.10 0.00 0.000 4 0.000 0.054 2661 1492 1873 0 0 0 0 0 0

11944 0.77 146.0 313.2 10.9 751 11947 0.00 1.15 0.00 0.000 6 0.000 0.049 2662 2203 1873 0 0 0 0 0 0

12274 0.77 146.0 276.8 10.7 777 12278 0.00 1.12 0.00 0.000 4 0.000 0.057 2661 2910 1873 0 0 0 0 0 0

12452 0.77 146.0 256.7 11.5 790 12459 0.00 1.15 0.00 0.000 6 0.000 0.040 2666 2195 1873 0 0 0 0 0 0

12787 0.77 146.0 218.8 10.8 836 12794 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2195 1873 0 0 0 0 0 0

13124 0.78 156.7 184.1 9.5 887 13137 0.00 1.10 7.50 0.913 4 0.000 0.053 2671 1494 1846 0 0 0 0 0 0

13280 0.81 182.5 169.5 8.8 910 13309 0.00 1.15 23.42 0.978 6 0.000 0.048 2671 2206 1739 0 0 0 0 0 0

13640 0.81 182.5 130.9 10.2 964 13647 0.00 1.12 0.00 0.000 4 0.000 0.056 2671 2911 1736 0 0 0 0 0 0

13821 0.81 182.5 112.3 10.3 991 13827 0.00 1.15 0.00 0.000 6 0.000 0.041 2677 2204 1736 0 0 0 0 0 0

14159 0.82 187.1 78.3 9.8 1042 14166 0.00 0.00 4.75 0.772 6 0.000 0.000 2676 2204 1721 0 0 0 0 0 0

14497 0.82 187.1 44.6 10.1 1093 14506 0.00 1.10 0.00 0.000 4 0.000 0.054 2682 1495 1721 0 0 0 0 0 0

14573 0.85 214.0 38.1 8.8 1104 14601 0.00 1.15 23.48 0.923 6 0.000 0.050 2681 2200 1612 0 0 0 0 0 0

14934 0.99 322.9 9.5 5.0 1158 14995 0.12 1.12 53.97 0.095 4 0.097 0.057 2729 2914 1166 0 0 0 0 0 0

15007 end climb: SURFACE_DEPTH_REACHED

state 15009 begin surface coast

15021 end surface coast: CONTROL_FINISHED_OK

state 15021 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	120	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	35	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	31	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	-80666.547	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	231011,144805,6652.104,-5821.660,26,0.8,27,-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	2.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231011,145300,6652.132,-5821.570,17,0.8,18,-33.6	MHEAD_RNG_PITCHd_Wd	282.9,92266,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	859

FINISH	2.1,1.024688	_24V_AH	22.7,15.185
SM_CCo	15038,11.40,0.086,0,0,1058,350.04	_10V_AH	10.3,12.381
SM_GC	2.46,7.07,0.68,11.40,0.045,0.049,0.086,119,2502,1058,-7.08,1.22,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	992	FG_AHR_10Vo	0.000
RAFOS	0,1319385672,16.033333,16.020000,64,64,60,0,0,0,205,223,141,0,0,0	MEM	150352
RAFOS_FIX	6652.508301,-5826.577148,231011,161628,4,93,0.58	DATA_FILE_SIZE	43319,1171
IRIDIUM_FIX	6625.71,-5812.44,231011,101011	CAP_FILE_SIZE	125806,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,239751168
HUMID	56.93	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.81483	SOUNDSPEED	1457.2
TCM_TEMP	16.20	CURRENT	0.124, 94.5,1
XPDR_PINGS	19	GPS	231011,190635,6651.079,-5825.125,71,0.7,71,-33.6
ALTIM_BOTTOM_PING	800.3,127.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	265	105.00	SBE_CT	842	23	444.09
Roll_motor	34	76	60.26	SBE_O2	640	5	76.15
VBD_pump_during_apogee	367	1419	11830.16	nil	0	0	0.00
VBD_pump_during_surface	11	86	22.37	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	185	255	1074.24	nil	0	0	0.00
Transponder_ping	8	420	76.27	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	26	5.35
TT8	3217	18	619.98
LPSleep	9373	2	223.03
TT8_Active	495	18	95.47
TT8_Sampling	2073	41	895.55
TT8_CF8	206	47	102.06
TT8_Kalman	0	0	0.00
Analog_circuits	1666	12	205.94
GPS_charging	0	0	0.00
Compass	1870	6	129.83
RAFOS	2520	1	38.93
Transponder	26	30	8.18

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	84	0.00	0.00	-65.62	0.000	2	0.000	0.000	114	2523	1974	0	0	0	0	0	0
87	-0.77	-146.0	3.3	-1.6	9	143	8.62	1.23	-41.92	0.000	4	0.265	0.076	2145	1808	3084	0	0	0	0	0	0
393	-0.77	-146.0	54.1	-17.6	55	400	0.00	1.20	0.00	0.000	6	0.000	0.059	2142	2500	3086	0	0	0	0	0	0
733	-0.77	-146.0	109.0	-15.7	106	739	0.00	1.15	0.00	0.000	4	0.000	0.048	2142	1811	3086	0	0	0	0	0	0
805	-0.77	-146.0	120.4	-15.2	117	814	0.00	1.20	0.00	0.000	6	0.000	0.060	2137	2507	3086	0	0	0	0	0	0
1144	-0.77	-146.0	169.3	-13.7	168	1151	0.00	1.12	0.00	0.000	4	0.000	0.070	2132	3211	3086	0	0	0	0	0	0
1191	-0.77	-146.0	176.0	-14.7	175	1197	0.00	1.12	0.00	0.000	6	0.000	0.038	2132	2501	3086	0	0	0	0	0	0
1529	-0.77	-146.0	222.7	-13.6	226	1535	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2501	3086	0	0	0	0	0	0
1866	-0.77	-146.0	269.0	-13.1	267	1868	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2501	3086	0	0	0	0	0	0
2182	-0.77	-146.0	310.0	-13.1	292	2183	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2501	3085	0	0	0	0	0	0
2499	-0.77	-146.0	350.9	-12.5	317	2503	0.00	1.10	0.00	0.000	4	0.000	0.050	2132	1803	3085	0	0	0	0	0	0
2556	-0.77	-146.0	357.7	-12.5	321	2566	0.00	1.25	0.00	0.000	6	0.000	0.058	2127	2523	3085	0	0	0	0	0	0
2881	-0.77	-146.0	399.9	-13.1	347	2883	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2524	3085	0	0	0	0	0	0
3195	-0.77	-146.0	439.7	-12.5	372	3196	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2523	3085	0	0	0	0	0	0
3511	-0.77	-146.0	479.3	-12.7	397	3512	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2524	3085	0	0	0	0	0	0
3842	-0.77	-146.0	519.4	-12.1	416	3846	0.00	1.17	0.00	0.000	4	0.000	0.048	2127	1810	3086	0	0	0	0	0	0
3880	-0.77	-146.0	523.5	-12.1	417	3885	0.12	1.23	0.00	0.000	6	0.181	0.059	2152	2517	3086	0	0	0	0	0	0
4215	-0.77	-146.0	558.6	-10.2	428	4217	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2517	3086	0	0	0	0	0	0
4521	-0.77	-146.0	588.9	-9.7	438	4523	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2518	3086	0	0	0	0	0	0
4827	-0.77	-146.0	618.5	-9.6	448	4828	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2517	3087	0	0	0	0	0	0
5134	-0.77	-146.0	648.9	-10.0	458	5135	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2517	3087	0	0	0	0	0	0
5439	-0.77	-146.0	678.6	-9.5	468	5440	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2517	3087	0	0	0	0	0	0
5746	-0.77	-146.0	709.0	-10.1	478	5748	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2517	3087	0	0	0	0	0	0
6051	-0.77	-146.0	738.1	-9.3	488	6052	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2517	3087	0	0	0	0	0	0
6360	-0.77	-146.0	767.7	-9.9	498	6361	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2517	3087	0	0	0	0	0	0
6664	-0.77	-146.0	797.2	-9.5	508	6668	0.00	1.10	0.00	0.000	4	0.000	0.071	2148	3213	3087	0	0	0	0	0	0
6717	-0.77	-146.0	800.3	-9.5	509	6722	0.00	1.12	0.00	0.000	6	0.000	0.035	2149	2497	3087	0	0	0	0	0	0
7038	-0.77	-146.0	832.3	-9.4	520	7039	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2497	3088	0	0	0	0	0	0
7343	end dive: TARGET_DEPTH_EXCEEDED
state	7343	begin apogee
7349	-0.16	0.0	861.3	-9.6	530	7478	0.60	0.00	123.03	1.420	6	0.135	0.000	2343	2182	2485	0	0	0	0	0	0
7479	end apogee: CONTROL_FINISHED_OK
state	7479	begin climb
7481	0.77	146.0	865.5	0.0	534	7625	0.88	1.20	130.90	1.356	4	0.069	0.054	2647	1512	1888	0	0	0	0	0	0
7776	0.77	146.0	841.8	12.8	543	7781	0.00	1.25	0.00	0.000	6	0.000	0.047	2647	2213	1880	0	0	0	0	0	0
8098	0.77	146.0	797.6	13.0	554	8099	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2213	1878	0	0	0	0	0	0
8402	0.77	146.0	757.6	13.1	564	8406	0.00	1.15	0.00	0.000	4	0.000	0.057	2647	2907	1877	0	0	0	0	0	0
8540	0.77	146.0	739.8	13.5	568	8545	0.00	1.17	0.00	0.000	6	0.000	0.040	2651	2210	1876	0	0	0	0	0	0
8873	0.77	146.0	695.2	13.2	579	8875	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2211	1875	0	0	0	0	0	0
9181	0.77	146.0	653.6	13.6	589	9184	0.00	1.20	0.00	0.000	4	0.000	0.057	2651	2908	1875	0	0	0	0	0	0
9304	0.77	146.0	639.9	13.6	592	9312	0.00	1.15	0.00	0.000	6	0.000	0.041	2656	2205	1875	0	0	0	0	0	0
9618	0.77	146.0	594.7	13.2	603	9619	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2205	1874	0	0	0	0	0	0
9924	0.77	146.0	555.3	12.9	613	9925	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2206	1874	0	0	0	0	0	0
10231	0.77	146.0	516.0	12.7	623	10232	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2206	1874	0	0	0	0	0	0
10548	0.77	146.0	476.5	12.5	641	10549	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2205	1872	0	0	0	0	0	0
10864	0.77	146.0	437.5	12.2	666	10866	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2205	1873	0	0	0	0	0	0
11179	0.77	146.0	399.7	11.9	691	11180	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2206	1873	0	0	0	0	0	0
11494	0.77	146.0	363.0	11.5	716	11495	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2205	1873	0	0	0	0	0	0
11812	0.77	146.0	328.0	11.1	741	11815	0.00	1.10	0.00	0.000	4	0.000	0.054	2661	1492	1873	0	0	0	0	0	0
11944	0.77	146.0	313.2	10.9	751	11947	0.00	1.15	0.00	0.000	6	0.000	0.049	2662	2203	1873	0	0	0	0	0	0
12274	0.77	146.0	276.8	10.7	777	12278	0.00	1.12	0.00	0.000	4	0.000	0.057	2661	2910	1873	0	0	0	0	0	0
12452	0.77	146.0	256.7	11.5	790	12459	0.00	1.15	0.00	0.000	6	0.000	0.040	2666	2195	1873	0	0	0	0	0	0
12787	0.77	146.0	218.8	10.8	836	12794	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2195	1873	0	0	0	0	0	0
13124	0.78	156.7	184.1	9.5	887	13137	0.00	1.10	7.50	0.913	4	0.000	0.053	2671	1494	1846	0	0	0	0	0	0
13280	0.81	182.5	169.5	8.8	910	13309	0.00	1.15	23.42	0.978	6	0.000	0.048	2671	2206	1739	0	0	0	0	0	0
13640	0.81	182.5	130.9	10.2	964	13647	0.00	1.12	0.00	0.000	4	0.000	0.056	2671	2911	1736	0	0	0	0	0	0
13821	0.81	182.5	112.3	10.3	991	13827	0.00	1.15	0.00	0.000	6	0.000	0.041	2677	2204	1736	0	0	0	0	0	0
14159	0.82	187.1	78.3	9.8	1042	14166	0.00	0.00	4.75	0.772	6	0.000	0.000	2676	2204	1721	0	0	0	0	0	0
14497	0.82	187.1	44.6	10.1	1093	14506	0.00	1.10	0.00	0.000	4	0.000	0.054	2682	1495	1721	0	0	0	0	0	0
14573	0.85	214.0	38.1	8.8	1104	14601	0.00	1.15	23.48	0.923	6	0.000	0.050	2681	2200	1612	0	0	0	0	0	0
14934	0.99	322.9	9.5	5.0	1158	14995	0.12	1.12	53.97	0.095	4	0.097	0.057	2729	2914	1166	0	0	0	0	0	0
15007	end climb: SURFACE_DEPTH_REACHED
state	15009	begin surface coast
15021	end surface coast: CONTROL_FINISHED_OK
state	15021	begin surface