Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 174 * 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 174 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 300 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 37 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 27 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 360 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 400 CALL_TRIES 3 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 -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80734.867 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 300

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 3 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 360

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 -80734.867

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 -2

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 37 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 27 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 174 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 021111,085258,6646.068,-6003.789,38,1.1,41,-33.9 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.74 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -73.7 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 021111,085736,6646.043,-6003.871,19,0.9,19,-33.9 MHEAD_RNG_PITCHd_Wd 115.2,144892,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 638

Post-dive calculations and measurements:

FINISH 1.7,1.012869 _24V_AH 22.7,22.008

SM_CCo 12002,9.25,0.090,0,0,1261,300.00 _10V_AH 10.3,17.156

SM_GC 4.33,6.90,0.60,9.25,0.044,0.051,0.090,121,2514,1261,-7.07,-0.76,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 784 FG_AHR_10Vo 0.000

RAFOS 6,1320223743,8.833333,8.817500,67,63,59,0,0,0,804,149,210,0,0,0 MEM 150336

RAFOS_FIX 6644.909668,-5959.680176,021111,080818,5,105,0.00 DATA_FILE_SIZE 43394,1139

IRIDIUM_FIX 6614.97,-6011.26,021111,050504 CAP_FILE_SIZE 122469,0

TT8_MAMPS 0.028462,0.028462 CFSIZE 260165632,235995136

HUMID 57.16 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.83436 SOUNDSPEED 1450.9

TCM_TEMP 16.30 CURRENT 0.144,202.0,1

XPDR_PINGS 15 GPS 021111,121958,6645.398,-6000.334,35,1.2,37,-33.9

ALTIM_BOTTOM_PING 550.9,138.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 268 106.21 SBE_CT 828 23 436.76

Roll_motor 53 93 114.14 SBE_O2 640 5 76.18

VBD_pump_during_apogee 353 1309 10516.89 nil 0 0 0.00

VBD_pump_during_surface 9 89 18.79 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 166 262 991.75 nil 0 0 0.00

Transponder_ping 5 420 52.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.59

TT8 3103 18 598.06

LPSleep 6428 2 152.96

TT8_Active 535 18 103.18

TT8_Sampling 2033 41 878.11

TT8_CF8 210 47 104.00

TT8_Kalman 0 0 0.00

Analog_circuits 1693 12 209.26

GPS_charging 0 0 0.00

Compass 1848 6 128.30

RAFOS 1080 1 16.69

Transponder 14 30 4.52

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

17 -0.73 -146.0 0.0 0.0 0 45 0.00 0.00 -26.40 0.000 2 0.000 0.000 122 2513 1618 0 0 0 0 0 0

48 -0.73 -146.0 3.0 -1.5 4 156 8.82 1.10 -91.28 0.000 4 0.269 0.093 2160 3218 3080 0 0 0 0 0 0

410 -0.73 -146.0 51.6 -14.5 58 417 0.00 1.12 0.00 0.000 6 0.000 0.036 2160 2505 3082 0 0 0 0 0 0

747 -0.73 -146.0 100.2 -13.8 109 756 0.00 1.17 0.00 0.000 4 0.000 0.065 2155 3207 3082 0 0 0 0 0 0

849 -0.73 -146.0 114.6 -14.0 124 856 0.00 1.10 0.00 0.000 6 0.000 0.035 2155 2505 3082 0 0 0 0 0 0

1189 -0.73 -146.0 160.3 -12.3 175 1195 0.00 1.08 0.00 0.000 4 0.000 0.045 2155 1818 3082 0 0 0 0 0 0

1242 -0.73 -146.0 167.1 -11.5 183 1249 0.00 1.17 0.00 0.000 6 0.000 0.056 2150 2503 3082 0 0 0 0 0 0

1580 -0.73 -146.0 209.0 -11.8 234 1586 0.00 1.15 0.00 0.000 4 0.000 0.070 2145 3222 3082 0 0 0 0 0 0

1646 -0.73 -146.0 217.8 -12.8 244 1653 0.00 1.12 0.00 0.000 6 0.000 0.036 2145 2504 3082 0 0 0 0 0 0

1980 -0.73 -146.0 261.4 -12.6 288 1983 0.00 1.08 0.00 0.000 4 0.000 0.045 2145 1814 3082 0 0 0 0 0 0

2037 -0.73 -146.0 268.1 -12.6 292 2045 0.00 1.23 0.00 0.000 6 0.000 0.055 2140 2521 3082 0 0 0 0 0 0

2363 -0.73 -146.0 312.6 -13.9 318 2367 0.00 1.10 0.00 0.000 4 0.000 0.070 2135 3215 3081 0 0 0 0 0 0

2514 -0.73 -146.0 333.4 -14.1 329 2525 0.12 1.12 0.00 0.000 6 0.175 0.034 2164 2500 3081 0 0 0 0 0 0

2837 -0.73 -146.0 370.0 -10.5 355 2841 0.00 1.05 0.00 0.000 4 0.000 0.044 2165 1820 3081 0 0 0 0 0 0

2868 -0.73 -146.0 372.8 -10.5 357 2878 0.00 1.20 0.00 0.000 6 0.000 0.054 2162 2516 3081 0 0 0 0 0 0

3193 -0.73 -146.0 406.2 -9.8 383 3197 0.00 1.12 0.00 0.000 4 0.000 0.069 2157 3220 3081 0 0 0 0 0 0

3303 -0.73 -146.0 417.3 -10.5 391 3311 0.00 1.12 0.00 0.000 6 0.000 0.033 2157 2501 3081 0 0 0 0 0 0

3630 -0.73 -146.0 451.0 -10.2 417 3631 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2501 3081 0 0 0 0 0 0

3944 -0.73 -146.0 482.7 -9.6 442 3947 0.00 1.17 0.00 0.000 4 0.000 0.064 2152 3211 3082 0 0 0 0 0 0

3998 -0.73 -146.0 488.2 -10.0 446 4002 0.00 1.08 0.00 0.000 6 0.000 0.032 2152 2511 3082 0 0 0 0 0 0

4339 -0.73 -146.0 521.9 -9.6 463 4340 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2511 3082 0 0 0 0 0 0

4650 -0.73 -146.0 550.9 -9.6 473 4653 0.00 1.15 0.00 0.000 4 0.000 0.064 2147 3209 3083 0 0 0 0 0 0

4708 -0.73 -146.0 554.5 -9.5 474 4716 0.00 1.10 0.00 0.000 6 0.000 0.031 2148 2499 3083 0 0 0 0 0 0

5022 -0.73 -146.0 588.3 -10.1 485 5025 0.00 1.05 0.00 0.000 4 0.000 0.044 2147 1815 3083 0 0 0 0 0 0

5092 -0.73 -146.0 595.0 -10.2 487 5097 0.00 1.20 0.00 0.000 6 0.000 0.054 2143 2516 3083 0 0 0 0 0 0

5428 -0.73 -146.0 630.0 -10.3 498 5429 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2516 3084 0 0 0 0 0 0

5515 end dive: TARGET_DEPTH_EXCEEDED

state 5515 begin apogee

5521 -0.16 0.0 639.5 -10.4 501 5648 0.62 0.00 119.45 1.310 6 0.135 0.000 2345 2186 2485 0 0 0 0 0 0

5649 end apogee: CONTROL_FINISHED_OK

state 5649 begin climb

5651 0.73 146.0 643.9 0.0 505 5789 0.85 1.20 128.62 1.252 4 0.070 0.051 2641 1510 1889 0 0 0 0 0 0

5887 0.73 146.0 630.1 10.2 512 5892 0.00 1.25 0.00 0.000 6 0.000 0.044 2641 2209 1883 0 0 0 0 0 0

6209 0.73 146.0 590.1 11.8 523 6213 0.00 1.17 0.00 0.000 4 0.000 0.046 2646 1506 1879 0 0 0 0 0 0

6293 0.73 146.0 582.2 11.6 525 6298 0.00 1.20 0.00 0.000 6 0.000 0.044 2646 2207 1878 0 0 0 0 0 0

6614 0.73 146.0 542.0 12.0 536 6615 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2207 1877 0 0 0 0 0 0

6920 0.73 146.0 507.2 11.3 546 6923 0.00 1.12 0.00 0.000 4 0.000 0.057 2646 2898 1877 0 0 0 0 0 0

6990 0.73 146.0 499.3 11.6 548 6998 0.00 1.15 0.00 0.000 6 0.000 0.036 2650 2204 1877 0 0 0 0 0 0

7316 0.73 146.0 462.2 11.2 574 7317 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2204 1876 0 0 0 0 0 0

7631 0.73 146.0 426.1 11.7 599 7634 0.00 1.17 0.00 0.000 4 0.000 0.052 2650 2898 1876 0 0 0 0 0 0

7688 0.73 146.0 419.6 12.0 603 7696 0.00 1.15 0.00 0.000 6 0.000 0.035 2655 2197 1876 0 0 0 0 0 0

8013 0.73 146.0 382.8 10.4 629 8017 0.00 1.08 0.00 0.000 4 0.000 0.048 2660 1493 1876 0 0 0 0 0 0

8031 0.73 146.0 381.3 10.4 630 8041 0.00 1.17 0.00 0.000 6 0.000 0.045 2660 2206 1876 0 0 0 0 0 0

8356 0.73 146.0 344.0 11.8 656 8360 0.00 1.12 0.00 0.000 4 0.000 0.057 2660 2907 1876 0 0 0 0 0 0

8581 0.73 146.0 317.2 11.7 673 8585 0.10 1.15 0.00 0.000 6 0.159 0.037 2635 2193 1876 0 0 0 0 0 0

8911 0.73 146.0 282.4 10.1 699 8914 0.00 1.20 0.00 0.000 4 0.000 0.054 2634 2905 1876 0 0 0 0 0 0

8968 0.73 146.0 276.7 10.5 703 8976 0.00 1.15 0.00 0.000 6 0.000 0.036 2638 2197 1876 0 0 0 0 0 0

9296 0.73 146.0 241.7 10.2 735 9303 0.00 1.20 0.00 0.000 4 0.000 0.054 2638 2910 1876 0 0 0 0 0 0

9356 0.73 146.0 235.2 10.9 744 9362 0.00 1.15 0.00 0.000 6 0.000 0.037 2643 2191 1876 0 0 0 0 0 0

9694 0.76 174.1 205.0 8.0 795 9722 0.00 1.10 22.90 1.030 4 0.000 0.050 2647 1497 1775 0 0 0 0 0 0

9756 0.76 175.4 199.5 9.1 804 9763 0.00 1.15 0.00 0.000 6 0.000 0.047 2648 2197 1773 0 0 0 0 0 0

10095 0.76 175.4 168.5 9.2 855 10101 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2198 1772 0 0 0 0 0 0

10432 0.76 175.4 135.5 10.1 906 10441 0.00 1.12 0.00 0.000 4 0.000 0.048 2652 1496 1771 0 0 0 0 0 0

10560 0.76 175.4 122.2 10.1 925 10567 0.00 1.15 0.00 0.000 6 0.000 0.047 2652 2200 1771 0 0 0 0 0 0

10897 0.78 192.9 91.0 8.4 976 10920 0.00 1.17 16.65 0.972 4 0.000 0.057 2652 2905 1698 0 0 0 0 0 0

11040 0.78 192.9 77.8 9.9 997 11047 0.00 1.15 0.00 0.000 6 0.000 0.037 2657 2201 1696 0 0 0 0 0 0

11378 0.82 219.9 48.0 8.0 1048 11406 0.00 1.25 23.83 0.959 4 0.000 0.054 2657 2906 1587 0 0 0 0 0 0

11534 0.86 256.8 35.7 7.6 1071 11573 0.00 1.17 31.58 0.939 6 0.000 0.037 2662 2193 1438 0 0 0 0 0 0

11907 0.89 279.0 6.5 8.2 1127 11921 0.00 0.00 10.73 0.094 6 0.000 0.000 2661 2194 1346 0 0 0 0 0 0

11960 end climb: SURFACE_DEPTH_REACHED

state 11960 begin surface coast

11986 end surface coast: CONTROL_FINISHED_OK

state 11986 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	174	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	300	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	37	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	27	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	360	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	400	CALL_TRIES	3	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	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80734.867	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	021111,085258,6646.068,-6003.789,38,1.1,41,-33.9	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.74	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-73.7	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	021111,085736,6646.043,-6003.871,19,0.9,19,-33.9	MHEAD_RNG_PITCHd_Wd	115.2,144892,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	638

FINISH	1.7,1.012869	_24V_AH	22.7,22.008
SM_CCo	12002,9.25,0.090,0,0,1261,300.00	_10V_AH	10.3,17.156
SM_GC	4.33,6.90,0.60,9.25,0.044,0.051,0.090,121,2514,1261,-7.07,-0.76,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	784	FG_AHR_10Vo	0.000
RAFOS	6,1320223743,8.833333,8.817500,67,63,59,0,0,0,804,149,210,0,0,0	MEM	150336
RAFOS_FIX	6644.909668,-5959.680176,021111,080818,5,105,0.00	DATA_FILE_SIZE	43394,1139
IRIDIUM_FIX	6614.97,-6011.26,021111,050504	CAP_FILE_SIZE	122469,0
TT8_MAMPS	0.028462,0.028462	CFSIZE	260165632,235995136
HUMID	57.16	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.83436	SOUNDSPEED	1450.9
TCM_TEMP	16.30	CURRENT	0.144,202.0,1
XPDR_PINGS	15	GPS	021111,121958,6645.398,-6000.334,35,1.2,37,-33.9
ALTIM_BOTTOM_PING	550.9,138.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	268	106.21	SBE_CT	828	23	436.76
Roll_motor	53	93	114.14	SBE_O2	640	5	76.18
VBD_pump_during_apogee	353	1309	10516.89	nil	0	0	0.00
VBD_pump_during_surface	9	89	18.79	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	166	262	991.75	nil	0	0	0.00
Transponder_ping	5	420	52.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.59
TT8	3103	18	598.06
LPSleep	6428	2	152.96
TT8_Active	535	18	103.18
TT8_Sampling	2033	41	878.11
TT8_CF8	210	47	104.00
TT8_Kalman	0	0	0.00
Analog_circuits	1693	12	209.26
GPS_charging	0	0	0.00
Compass	1848	6	128.30
RAFOS	1080	1	16.69
Transponder	14	30	4.52

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
17	-0.73	-146.0	0.0	0.0	0	45	0.00	0.00	-26.40	0.000	2	0.000	0.000	122	2513	1618	0	0	0	0	0	0
48	-0.73	-146.0	3.0	-1.5	4	156	8.82	1.10	-91.28	0.000	4	0.269	0.093	2160	3218	3080	0	0	0	0	0	0
410	-0.73	-146.0	51.6	-14.5	58	417	0.00	1.12	0.00	0.000	6	0.000	0.036	2160	2505	3082	0	0	0	0	0	0
747	-0.73	-146.0	100.2	-13.8	109	756	0.00	1.17	0.00	0.000	4	0.000	0.065	2155	3207	3082	0	0	0	0	0	0
849	-0.73	-146.0	114.6	-14.0	124	856	0.00	1.10	0.00	0.000	6	0.000	0.035	2155	2505	3082	0	0	0	0	0	0
1189	-0.73	-146.0	160.3	-12.3	175	1195	0.00	1.08	0.00	0.000	4	0.000	0.045	2155	1818	3082	0	0	0	0	0	0
1242	-0.73	-146.0	167.1	-11.5	183	1249	0.00	1.17	0.00	0.000	6	0.000	0.056	2150	2503	3082	0	0	0	0	0	0
1580	-0.73	-146.0	209.0	-11.8	234	1586	0.00	1.15	0.00	0.000	4	0.000	0.070	2145	3222	3082	0	0	0	0	0	0
1646	-0.73	-146.0	217.8	-12.8	244	1653	0.00	1.12	0.00	0.000	6	0.000	0.036	2145	2504	3082	0	0	0	0	0	0
1980	-0.73	-146.0	261.4	-12.6	288	1983	0.00	1.08	0.00	0.000	4	0.000	0.045	2145	1814	3082	0	0	0	0	0	0
2037	-0.73	-146.0	268.1	-12.6	292	2045	0.00	1.23	0.00	0.000	6	0.000	0.055	2140	2521	3082	0	0	0	0	0	0
2363	-0.73	-146.0	312.6	-13.9	318	2367	0.00	1.10	0.00	0.000	4	0.000	0.070	2135	3215	3081	0	0	0	0	0	0
2514	-0.73	-146.0	333.4	-14.1	329	2525	0.12	1.12	0.00	0.000	6	0.175	0.034	2164	2500	3081	0	0	0	0	0	0
2837	-0.73	-146.0	370.0	-10.5	355	2841	0.00	1.05	0.00	0.000	4	0.000	0.044	2165	1820	3081	0	0	0	0	0	0
2868	-0.73	-146.0	372.8	-10.5	357	2878	0.00	1.20	0.00	0.000	6	0.000	0.054	2162	2516	3081	0	0	0	0	0	0
3193	-0.73	-146.0	406.2	-9.8	383	3197	0.00	1.12	0.00	0.000	4	0.000	0.069	2157	3220	3081	0	0	0	0	0	0
3303	-0.73	-146.0	417.3	-10.5	391	3311	0.00	1.12	0.00	0.000	6	0.000	0.033	2157	2501	3081	0	0	0	0	0	0
3630	-0.73	-146.0	451.0	-10.2	417	3631	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2501	3081	0	0	0	0	0	0
3944	-0.73	-146.0	482.7	-9.6	442	3947	0.00	1.17	0.00	0.000	4	0.000	0.064	2152	3211	3082	0	0	0	0	0	0
3998	-0.73	-146.0	488.2	-10.0	446	4002	0.00	1.08	0.00	0.000	6	0.000	0.032	2152	2511	3082	0	0	0	0	0	0
4339	-0.73	-146.0	521.9	-9.6	463	4340	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2511	3082	0	0	0	0	0	0
4650	-0.73	-146.0	550.9	-9.6	473	4653	0.00	1.15	0.00	0.000	4	0.000	0.064	2147	3209	3083	0	0	0	0	0	0
4708	-0.73	-146.0	554.5	-9.5	474	4716	0.00	1.10	0.00	0.000	6	0.000	0.031	2148	2499	3083	0	0	0	0	0	0
5022	-0.73	-146.0	588.3	-10.1	485	5025	0.00	1.05	0.00	0.000	4	0.000	0.044	2147	1815	3083	0	0	0	0	0	0
5092	-0.73	-146.0	595.0	-10.2	487	5097	0.00	1.20	0.00	0.000	6	0.000	0.054	2143	2516	3083	0	0	0	0	0	0
5428	-0.73	-146.0	630.0	-10.3	498	5429	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2516	3084	0	0	0	0	0	0
5515	end dive: TARGET_DEPTH_EXCEEDED
state	5515	begin apogee
5521	-0.16	0.0	639.5	-10.4	501	5648	0.62	0.00	119.45	1.310	6	0.135	0.000	2345	2186	2485	0	0	0	0	0	0
5649	end apogee: CONTROL_FINISHED_OK
state	5649	begin climb
5651	0.73	146.0	643.9	0.0	505	5789	0.85	1.20	128.62	1.252	4	0.070	0.051	2641	1510	1889	0	0	0	0	0	0
5887	0.73	146.0	630.1	10.2	512	5892	0.00	1.25	0.00	0.000	6	0.000	0.044	2641	2209	1883	0	0	0	0	0	0
6209	0.73	146.0	590.1	11.8	523	6213	0.00	1.17	0.00	0.000	4	0.000	0.046	2646	1506	1879	0	0	0	0	0	0
6293	0.73	146.0	582.2	11.6	525	6298	0.00	1.20	0.00	0.000	6	0.000	0.044	2646	2207	1878	0	0	0	0	0	0
6614	0.73	146.0	542.0	12.0	536	6615	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2207	1877	0	0	0	0	0	0
6920	0.73	146.0	507.2	11.3	546	6923	0.00	1.12	0.00	0.000	4	0.000	0.057	2646	2898	1877	0	0	0	0	0	0
6990	0.73	146.0	499.3	11.6	548	6998	0.00	1.15	0.00	0.000	6	0.000	0.036	2650	2204	1877	0	0	0	0	0	0
7316	0.73	146.0	462.2	11.2	574	7317	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2204	1876	0	0	0	0	0	0
7631	0.73	146.0	426.1	11.7	599	7634	0.00	1.17	0.00	0.000	4	0.000	0.052	2650	2898	1876	0	0	0	0	0	0
7688	0.73	146.0	419.6	12.0	603	7696	0.00	1.15	0.00	0.000	6	0.000	0.035	2655	2197	1876	0	0	0	0	0	0
8013	0.73	146.0	382.8	10.4	629	8017	0.00	1.08	0.00	0.000	4	0.000	0.048	2660	1493	1876	0	0	0	0	0	0
8031	0.73	146.0	381.3	10.4	630	8041	0.00	1.17	0.00	0.000	6	0.000	0.045	2660	2206	1876	0	0	0	0	0	0
8356	0.73	146.0	344.0	11.8	656	8360	0.00	1.12	0.00	0.000	4	0.000	0.057	2660	2907	1876	0	0	0	0	0	0
8581	0.73	146.0	317.2	11.7	673	8585	0.10	1.15	0.00	0.000	6	0.159	0.037	2635	2193	1876	0	0	0	0	0	0
8911	0.73	146.0	282.4	10.1	699	8914	0.00	1.20	0.00	0.000	4	0.000	0.054	2634	2905	1876	0	0	0	0	0	0
8968	0.73	146.0	276.7	10.5	703	8976	0.00	1.15	0.00	0.000	6	0.000	0.036	2638	2197	1876	0	0	0	0	0	0
9296	0.73	146.0	241.7	10.2	735	9303	0.00	1.20	0.00	0.000	4	0.000	0.054	2638	2910	1876	0	0	0	0	0	0
9356	0.73	146.0	235.2	10.9	744	9362	0.00	1.15	0.00	0.000	6	0.000	0.037	2643	2191	1876	0	0	0	0	0	0
9694	0.76	174.1	205.0	8.0	795	9722	0.00	1.10	22.90	1.030	4	0.000	0.050	2647	1497	1775	0	0	0	0	0	0
9756	0.76	175.4	199.5	9.1	804	9763	0.00	1.15	0.00	0.000	6	0.000	0.047	2648	2197	1773	0	0	0	0	0	0
10095	0.76	175.4	168.5	9.2	855	10101	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2198	1772	0	0	0	0	0	0
10432	0.76	175.4	135.5	10.1	906	10441	0.00	1.12	0.00	0.000	4	0.000	0.048	2652	1496	1771	0	0	0	0	0	0
10560	0.76	175.4	122.2	10.1	925	10567	0.00	1.15	0.00	0.000	6	0.000	0.047	2652	2200	1771	0	0	0	0	0	0
10897	0.78	192.9	91.0	8.4	976	10920	0.00	1.17	16.65	0.972	4	0.000	0.057	2652	2905	1698	0	0	0	0	0	0
11040	0.78	192.9	77.8	9.9	997	11047	0.00	1.15	0.00	0.000	6	0.000	0.037	2657	2201	1696	0	0	0	0	0	0
11378	0.82	219.9	48.0	8.0	1048	11406	0.00	1.25	23.83	0.959	4	0.000	0.054	2657	2906	1587	0	0	0	0	0	0
11534	0.86	256.8	35.7	7.6	1071	11573	0.00	1.17	31.58	0.939	6	0.000	0.037	2662	2193	1438	0	0	0	0	0	0
11907	0.89	279.0	6.5	8.2	1127	11921	0.00	0.00	10.73	0.094	6	0.000	0.000	2661	2194	1346	0	0	0	0	0	0
11960	end climb: SURFACE_DEPTH_REACHED
state	11960	begin surface coast
11986	end surface coast: CONTROL_FINISHED_OK
state	11986	begin surface