Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 22 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 400 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -22035.494 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -22035.494

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 29 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 22 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 220211,044344,6711.218,-5739.934,0,3098.0,0,-37.9 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 149.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 5.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220211,044344,6711.218,-5739.934,0,3098.0,0,-37.9 MHEAD_RNG_PITCHd_Wd 285.4,131530,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 777

Post-dive calculations and measurements:

FREEZE 1.28,-1.530,-1.056,3,2,0 ALTIM_TOP_PING 19.4,18.1

FINISH 1.3,1.015578 _24V_AH 23.2,6.125

SM_CCo 12134,44.25,0.070,0,0,1399,400.08 _10V_AH 10.4,2.685

SM_GC 2.15,0.00,0.00,44.25,0.000,0.000,0.070,112,2494,1399,-8.60,0.11,400.08 FG_AHR_24Vo 0.000

RAFOS_CLK 658 FG_AHR_10Vo 0.000

RAFOS 0,1298361666,8.033334,8.018333,66,60,59,57,54,52,202,145,156,166,179,193 MEM 150740

RAFOS_FIX 6711.218262,-5739.934082,220211,040444,3,98,1.03 DATA_FILE_SIZE 40044,1005

IRIDIUM_FIX 6641.98,-5703.22,210211,181821 CAP_FILE_SIZE 128891,0

TT8_MAMPS 0.029211 CFSIZE 260165632,250806272

HUMID 46.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.54525 SOUNDSPEED 1459.7

TCM_TEMP 16.70 GPS 220211,085430,6712.239,-5739.306,39,1.2,44,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 244 72.75 SBE_CT 714 24 397.92

Roll_motor 101 170 402.21 SBE_O2 784 19 345.78

VBD_pump_during_apogee 390 1318 11935.30 nil 0 0 0.00

VBD_pump_during_surface 44 70 72.25 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 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 26.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2553 19 528.94

LPSleep 7325 2 175.99

TT8_Active 454 19 94.20

TT8_Sampling 1743 39 723.95

TT8_CF8 162 45 77.38

TT8_Kalman 0 0 0.00

Analog_circuits 1390 12 173.59

GPS_charging 0 0 0.00

Compass 1732 15 270.27

RAFOS 2520 1 39.31

Transponder 21 30 6.66

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.62 -146.0 0.0 0.0 0 25 0.00 0.38 -3.20 0.000 6 0.000 0.171 2872 2497 3638 0 0 0 0 0 0

27 -0.62 -146.0 150.5 -0.0 1 35 0.60 2.25 0.00 0.000 4 0.132 0.077 2670 3898 3638 0 0 0 0 0 0

59 -0.76 -146.0 153.3 -9.0 4 64 0.15 2.17 0.00 0.000 6 0.131 0.050 2621 2475 3639 0 0 0 0 0 0

384 -0.63 -146.0 205.0 -17.4 34 389 0.15 2.20 0.00 0.000 4 0.244 0.067 2653 1079 3639 0 0 0 0 0 0

469 -0.60 -146.0 218.0 -14.1 41 473 0.00 2.25 0.00 0.000 6 0.000 0.066 2653 2484 3638 0 0 0 0 0 0

796 -0.54 -146.0 262.4 -13.1 71 800 0.12 2.33 0.00 0.000 4 0.233 0.081 2683 3905 3639 0 0 0 0 0 0

817 -0.52 -146.0 265.4 -12.4 72 824 0.00 2.20 0.00 0.000 6 0.000 0.050 2683 2489 3638 0 0 0 0 0 0

1142 -0.52 -146.0 299.4 -10.2 103 1146 0.00 2.22 0.00 0.000 4 0.000 0.067 2683 1076 3638 0 0 0 0 0 0

1215 -0.55 -146.0 306.8 -10.1 109 1219 0.00 2.25 0.00 0.000 6 0.000 0.065 2683 2499 3638 0 0 0 0 0 0

1540 -0.55 -146.0 338.5 -9.7 139 1541 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2499 3638 0 0 0 0 0 0

1860 -0.57 -146.0 369.9 -10.0 169 1861 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2499 3638 0 0 0 0 0 0

2178 -0.59 -146.0 401.1 -9.8 199 2180 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2499 3638 0 0 0 0 0 0

2497 -0.61 -146.0 431.0 -9.1 229 2501 0.00 2.28 0.00 0.000 4 0.000 0.082 2683 3902 3638 0 0 0 0 0 0

2527 -0.64 -146.0 433.8 -9.3 231 2531 0.00 2.20 0.00 0.000 6 0.000 0.052 2683 2486 3638 0 0 0 0 0 0

2852 -0.67 -146.0 461.2 -8.4 261 2857 0.10 2.20 0.00 0.000 4 0.155 0.068 2652 1085 3638 0 0 0 0 0 0

2907 -0.65 -146.0 467.1 -11.0 265 2914 0.00 2.25 0.00 0.000 6 0.000 0.066 2652 2494 3638 0 0 0 0 0 0

3233 -0.60 -146.0 503.3 -11.3 296 3237 0.00 2.28 0.00 0.000 4 0.000 0.083 2651 3899 3637 0 0 0 0 0 0

3265 -0.56 -146.0 507.1 -10.7 298 3273 0.12 2.20 0.00 0.000 6 0.216 0.051 2680 2480 3638 0 0 0 0 0 0

3591 -0.58 -146.0 535.5 -9.1 329 3595 0.00 2.20 0.00 0.000 4 0.000 0.067 2680 1082 3638 0 0 0 0 0 0

3630 -0.61 -146.0 539.2 -9.4 332 3637 0.00 2.22 0.00 0.000 6 0.000 0.066 2680 2490 3638 0 0 0 0 0 0

3956 -0.64 -146.0 568.7 -9.0 363 3960 0.00 2.30 0.00 0.000 4 0.000 0.083 2680 3898 3639 0 0 0 0 0 0

3996 -0.69 -146.0 572.3 -9.5 366 4001 0.12 2.17 0.00 0.000 6 0.133 0.052 2639 2486 3638 0 0 0 0 0 0

4328 -0.61 -146.0 611.9 -12.0 391 4332 0.00 2.17 0.00 0.000 4 0.000 0.067 2639 1085 3638 0 0 0 0 0 0

4363 -0.54 -146.0 616.3 -12.8 392 4368 0.20 2.22 0.00 0.000 6 0.221 0.067 2688 2489 3639 0 0 0 0 0 0

4698 -0.58 -146.0 643.9 -7.9 403 4699 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2489 3638 0 0 0 0 0 0

5004 -0.63 -146.0 668.3 -8.0 413 5005 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2488 3638 0 0 0 0 0 0

5310 -0.68 -146.0 693.3 -8.1 423 5312 0.12 0.00 0.00 0.000 6 0.132 0.000 2646 2489 3638 0 0 0 0 0 0

5616 -0.68 -146.0 725.1 -10.5 433 5617 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2489 3638 0 0 0 0 0 0

5828 end dive: NO_VERTICAL_VELOCITY

state 5829 begin apogee

5834 -0.12 0.0 725.2 0.0 440 5969 0.50 0.00 129.12 1.305 6 0.133 0.000 2817 2267 3030 0 0 0 0 0 0

5970 end apogee: CONTROL_FINISHED_OK

state 5970 begin climb

5972 0.62 146.0 725.2 0.0 444 6107 0.75 2.60 125.78 1.318 4 0.126 0.076 3051 3678 2433 0 0 0 0 0 0

6359 0.50 146.0 681.9 13.0 456 6364 0.12 2.35 0.00 0.000 6 0.193 0.060 3033 2274 2425 0 0 0 0 0 0

6694 0.50 146.0 647.8 10.0 467 6698 0.00 2.38 0.00 0.000 4 0.000 0.075 3033 3685 2422 0 0 0 0 0 0

6761 0.43 146.0 640.1 12.1 469 6766 0.08 2.33 0.00 0.000 6 0.173 0.060 3010 2282 2422 0 0 0 0 0 0

7096 0.50 178.2 611.5 8.5 480 7126 0.00 0.00 27.42 1.211 6 0.000 0.000 3010 2282 2303 0 0 0 0 0 0

7441 0.57 206.3 581.2 8.7 503 7473 0.12 2.47 25.67 1.210 4 0.113 0.074 3067 863 2187 0 0 0 0 0 0

7478 0.52 206.3 576.8 11.3 506 7486 0.12 2.38 0.00 0.000 6 0.181 0.061 3038 2276 2186 0 0 0 0 0 0

7803 0.52 206.3 542.2 10.5 537 7807 0.00 2.35 0.00 0.000 4 0.000 0.076 3038 3691 2181 0 0 0 0 0 0

7866 0.48 206.3 534.8 12.1 542 7870 0.00 2.33 0.00 0.000 6 0.000 0.058 3046 2266 2181 0 0 0 0 0 0

8191 0.48 206.3 498.3 10.6 572 8195 0.00 2.35 0.00 0.000 4 0.000 0.075 3046 3697 2179 0 0 0 0 0 0

8230 0.44 206.3 493.5 12.8 575 8235 0.17 2.30 0.00 0.000 6 0.190 0.058 3012 2273 2179 0 0 0 0 0 0

8556 0.56 254.0 466.2 7.8 605 8605 0.00 0.00 42.45 1.177 6 0.000 0.000 3012 2273 1993 0 0 0 0 0 0

8924 0.71 298.2 436.8 8.0 640 8970 0.22 2.47 39.85 1.154 4 0.090 0.073 3105 865 1813 0 0 0 0 0 0

8998 0.67 298.2 426.3 15.2 646 9005 0.00 2.38 0.00 0.000 6 0.000 0.060 3105 2276 1810 0 0 0 0 0 0

9325 0.59 298.2 371.2 17.8 677 9330 0.17 2.35 0.00 0.000 4 0.189 0.074 3061 3691 1805 0 0 0 0 0 0

9387 0.59 298.2 361.5 13.9 682 9391 0.00 2.33 0.00 0.000 6 0.000 0.057 3069 2267 1804 0 0 0 0 0 0

9712 0.59 298.2 318.0 13.2 712 9716 0.00 2.28 0.00 0.000 4 0.000 0.073 3079 864 1802 0 0 0 0 0 0

9755 0.62 298.2 312.1 12.9 715 9763 0.00 2.28 0.00 0.000 6 0.000 0.059 3079 2284 1801 0 0 0 0 0 0

10082 0.60 298.2 264.0 15.2 746 10086 0.00 2.28 0.00 0.000 4 0.000 0.074 3078 3685 1801 0 0 0 0 0 0

10122 0.58 298.2 257.6 17.0 749 10127 0.15 2.28 0.00 0.000 6 0.197 0.058 3050 2267 1801 0 0 0 0 0 0

10447 0.62 298.2 216.2 12.5 779 10451 0.00 2.25 0.00 0.000 4 0.000 0.072 3055 865 1799 0 0 0 0 0 0

10496 0.69 298.2 210.1 11.9 783 10504 0.00 2.25 0.00 0.000 6 0.000 0.058 3055 2277 1799 0 0 0 0 0 0

10823 0.73 298.2 170.6 12.5 814 10827 0.12 2.28 0.00 0.000 4 0.114 0.073 3105 3682 1799 0 0 0 0 0 0

10885 0.70 298.2 160.0 17.5 819 10889 0.00 2.25 0.00 0.000 6 0.000 0.058 3112 2273 1799 0 0 0 0 0 0

11210 0.65 298.2 106.6 15.7 849 11215 0.15 2.28 0.00 0.000 4 0.206 0.070 3084 857 1799 0 0 0 0 0 0

11227 0.62 298.2 104.0 15.5 850 11231 0.00 2.22 0.00 0.000 6 0.000 0.058 3084 2276 1799 0 0 0 0 0 0

11570 0.64 298.2 62.4 11.7 907 11576 0.00 0.00 0.00 0.000 6 0.000 0.000 3084 2276 1798 0 0 0 0 0 0

11914 0.67 298.2 23.9 11.3 968 11920 0.00 0.00 0.00 0.000 6 0.000 0.000 3084 2276 1798 0 0 0 0 0 0

12099 end climb: SURFACE_DEPTH_REACHED

state 12099 begin surface coast

12117 end surface coast: FINISH_DEPTH_REACHED

state 12117 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	22	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	400	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-22035.494	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	220211,044344,6711.218,-5739.934,0,3098.0,0,-37.9	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	149.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	5.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220211,044344,6711.218,-5739.934,0,3098.0,0,-37.9	MHEAD_RNG_PITCHd_Wd	285.4,131530,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	777

FREEZE	1.28,-1.530,-1.056,3,2,0	ALTIM_TOP_PING	19.4,18.1
FINISH	1.3,1.015578	_24V_AH	23.2,6.125
SM_CCo	12134,44.25,0.070,0,0,1399,400.08	_10V_AH	10.4,2.685
SM_GC	2.15,0.00,0.00,44.25,0.000,0.000,0.070,112,2494,1399,-8.60,0.11,400.08	FG_AHR_24Vo	0.000
RAFOS_CLK	658	FG_AHR_10Vo	0.000
RAFOS	0,1298361666,8.033334,8.018333,66,60,59,57,54,52,202,145,156,166,179,193	MEM	150740
RAFOS_FIX	6711.218262,-5739.934082,220211,040444,3,98,1.03	DATA_FILE_SIZE	40044,1005
IRIDIUM_FIX	6641.98,-5703.22,210211,181821	CAP_FILE_SIZE	128891,0
TT8_MAMPS	0.029211	CFSIZE	260165632,250806272
HUMID	46.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.54525	SOUNDSPEED	1459.7
TCM_TEMP	16.70	GPS	220211,085430,6712.239,-5739.306,39,1.2,44,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	244	72.75	SBE_CT	714	24	397.92
Roll_motor	101	170	402.21	SBE_O2	784	19	345.78
VBD_pump_during_apogee	390	1318	11935.30	nil	0	0	0.00
VBD_pump_during_surface	44	70	72.25	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	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	26.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2553	19	528.94
LPSleep	7325	2	175.99
TT8_Active	454	19	94.20
TT8_Sampling	1743	39	723.95
TT8_CF8	162	45	77.38
TT8_Kalman	0	0	0.00
Analog_circuits	1390	12	173.59
GPS_charging	0	0	0.00
Compass	1732	15	270.27
RAFOS	2520	1	39.31
Transponder	21	30	6.66

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.62	-146.0	0.0	0.0	0	25	0.00	0.38	-3.20	0.000	6	0.000	0.171	2872	2497	3638	0	0	0	0	0	0
27	-0.62	-146.0	150.5	-0.0	1	35	0.60	2.25	0.00	0.000	4	0.132	0.077	2670	3898	3638	0	0	0	0	0	0
59	-0.76	-146.0	153.3	-9.0	4	64	0.15	2.17	0.00	0.000	6	0.131	0.050	2621	2475	3639	0	0	0	0	0	0
384	-0.63	-146.0	205.0	-17.4	34	389	0.15	2.20	0.00	0.000	4	0.244	0.067	2653	1079	3639	0	0	0	0	0	0
469	-0.60	-146.0	218.0	-14.1	41	473	0.00	2.25	0.00	0.000	6	0.000	0.066	2653	2484	3638	0	0	0	0	0	0
796	-0.54	-146.0	262.4	-13.1	71	800	0.12	2.33	0.00	0.000	4	0.233	0.081	2683	3905	3639	0	0	0	0	0	0
817	-0.52	-146.0	265.4	-12.4	72	824	0.00	2.20	0.00	0.000	6	0.000	0.050	2683	2489	3638	0	0	0	0	0	0
1142	-0.52	-146.0	299.4	-10.2	103	1146	0.00	2.22	0.00	0.000	4	0.000	0.067	2683	1076	3638	0	0	0	0	0	0
1215	-0.55	-146.0	306.8	-10.1	109	1219	0.00	2.25	0.00	0.000	6	0.000	0.065	2683	2499	3638	0	0	0	0	0	0
1540	-0.55	-146.0	338.5	-9.7	139	1541	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2499	3638	0	0	0	0	0	0
1860	-0.57	-146.0	369.9	-10.0	169	1861	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2499	3638	0	0	0	0	0	0
2178	-0.59	-146.0	401.1	-9.8	199	2180	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2499	3638	0	0	0	0	0	0
2497	-0.61	-146.0	431.0	-9.1	229	2501	0.00	2.28	0.00	0.000	4	0.000	0.082	2683	3902	3638	0	0	0	0	0	0
2527	-0.64	-146.0	433.8	-9.3	231	2531	0.00	2.20	0.00	0.000	6	0.000	0.052	2683	2486	3638	0	0	0	0	0	0
2852	-0.67	-146.0	461.2	-8.4	261	2857	0.10	2.20	0.00	0.000	4	0.155	0.068	2652	1085	3638	0	0	0	0	0	0
2907	-0.65	-146.0	467.1	-11.0	265	2914	0.00	2.25	0.00	0.000	6	0.000	0.066	2652	2494	3638	0	0	0	0	0	0
3233	-0.60	-146.0	503.3	-11.3	296	3237	0.00	2.28	0.00	0.000	4	0.000	0.083	2651	3899	3637	0	0	0	0	0	0
3265	-0.56	-146.0	507.1	-10.7	298	3273	0.12	2.20	0.00	0.000	6	0.216	0.051	2680	2480	3638	0	0	0	0	0	0
3591	-0.58	-146.0	535.5	-9.1	329	3595	0.00	2.20	0.00	0.000	4	0.000	0.067	2680	1082	3638	0	0	0	0	0	0
3630	-0.61	-146.0	539.2	-9.4	332	3637	0.00	2.22	0.00	0.000	6	0.000	0.066	2680	2490	3638	0	0	0	0	0	0
3956	-0.64	-146.0	568.7	-9.0	363	3960	0.00	2.30	0.00	0.000	4	0.000	0.083	2680	3898	3639	0	0	0	0	0	0
3996	-0.69	-146.0	572.3	-9.5	366	4001	0.12	2.17	0.00	0.000	6	0.133	0.052	2639	2486	3638	0	0	0	0	0	0
4328	-0.61	-146.0	611.9	-12.0	391	4332	0.00	2.17	0.00	0.000	4	0.000	0.067	2639	1085	3638	0	0	0	0	0	0
4363	-0.54	-146.0	616.3	-12.8	392	4368	0.20	2.22	0.00	0.000	6	0.221	0.067	2688	2489	3639	0	0	0	0	0	0
4698	-0.58	-146.0	643.9	-7.9	403	4699	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2489	3638	0	0	0	0	0	0
5004	-0.63	-146.0	668.3	-8.0	413	5005	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2488	3638	0	0	0	0	0	0
5310	-0.68	-146.0	693.3	-8.1	423	5312	0.12	0.00	0.00	0.000	6	0.132	0.000	2646	2489	3638	0	0	0	0	0	0
5616	-0.68	-146.0	725.1	-10.5	433	5617	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2489	3638	0	0	0	0	0	0
5828	end dive: NO_VERTICAL_VELOCITY
state	5829	begin apogee
5834	-0.12	0.0	725.2	0.0	440	5969	0.50	0.00	129.12	1.305	6	0.133	0.000	2817	2267	3030	0	0	0	0	0	0
5970	end apogee: CONTROL_FINISHED_OK
state	5970	begin climb
5972	0.62	146.0	725.2	0.0	444	6107	0.75	2.60	125.78	1.318	4	0.126	0.076	3051	3678	2433	0	0	0	0	0	0
6359	0.50	146.0	681.9	13.0	456	6364	0.12	2.35	0.00	0.000	6	0.193	0.060	3033	2274	2425	0	0	0	0	0	0
6694	0.50	146.0	647.8	10.0	467	6698	0.00	2.38	0.00	0.000	4	0.000	0.075	3033	3685	2422	0	0	0	0	0	0
6761	0.43	146.0	640.1	12.1	469	6766	0.08	2.33	0.00	0.000	6	0.173	0.060	3010	2282	2422	0	0	0	0	0	0
7096	0.50	178.2	611.5	8.5	480	7126	0.00	0.00	27.42	1.211	6	0.000	0.000	3010	2282	2303	0	0	0	0	0	0
7441	0.57	206.3	581.2	8.7	503	7473	0.12	2.47	25.67	1.210	4	0.113	0.074	3067	863	2187	0	0	0	0	0	0
7478	0.52	206.3	576.8	11.3	506	7486	0.12	2.38	0.00	0.000	6	0.181	0.061	3038	2276	2186	0	0	0	0	0	0
7803	0.52	206.3	542.2	10.5	537	7807	0.00	2.35	0.00	0.000	4	0.000	0.076	3038	3691	2181	0	0	0	0	0	0
7866	0.48	206.3	534.8	12.1	542	7870	0.00	2.33	0.00	0.000	6	0.000	0.058	3046	2266	2181	0	0	0	0	0	0
8191	0.48	206.3	498.3	10.6	572	8195	0.00	2.35	0.00	0.000	4	0.000	0.075	3046	3697	2179	0	0	0	0	0	0
8230	0.44	206.3	493.5	12.8	575	8235	0.17	2.30	0.00	0.000	6	0.190	0.058	3012	2273	2179	0	0	0	0	0	0
8556	0.56	254.0	466.2	7.8	605	8605	0.00	0.00	42.45	1.177	6	0.000	0.000	3012	2273	1993	0	0	0	0	0	0
8924	0.71	298.2	436.8	8.0	640	8970	0.22	2.47	39.85	1.154	4	0.090	0.073	3105	865	1813	0	0	0	0	0	0
8998	0.67	298.2	426.3	15.2	646	9005	0.00	2.38	0.00	0.000	6	0.000	0.060	3105	2276	1810	0	0	0	0	0	0
9325	0.59	298.2	371.2	17.8	677	9330	0.17	2.35	0.00	0.000	4	0.189	0.074	3061	3691	1805	0	0	0	0	0	0
9387	0.59	298.2	361.5	13.9	682	9391	0.00	2.33	0.00	0.000	6	0.000	0.057	3069	2267	1804	0	0	0	0	0	0
9712	0.59	298.2	318.0	13.2	712	9716	0.00	2.28	0.00	0.000	4	0.000	0.073	3079	864	1802	0	0	0	0	0	0
9755	0.62	298.2	312.1	12.9	715	9763	0.00	2.28	0.00	0.000	6	0.000	0.059	3079	2284	1801	0	0	0	0	0	0
10082	0.60	298.2	264.0	15.2	746	10086	0.00	2.28	0.00	0.000	4	0.000	0.074	3078	3685	1801	0	0	0	0	0	0
10122	0.58	298.2	257.6	17.0	749	10127	0.15	2.28	0.00	0.000	6	0.197	0.058	3050	2267	1801	0	0	0	0	0	0
10447	0.62	298.2	216.2	12.5	779	10451	0.00	2.25	0.00	0.000	4	0.000	0.072	3055	865	1799	0	0	0	0	0	0
10496	0.69	298.2	210.1	11.9	783	10504	0.00	2.25	0.00	0.000	6	0.000	0.058	3055	2277	1799	0	0	0	0	0	0
10823	0.73	298.2	170.6	12.5	814	10827	0.12	2.28	0.00	0.000	4	0.114	0.073	3105	3682	1799	0	0	0	0	0	0
10885	0.70	298.2	160.0	17.5	819	10889	0.00	2.25	0.00	0.000	6	0.000	0.058	3112	2273	1799	0	0	0	0	0	0
11210	0.65	298.2	106.6	15.7	849	11215	0.15	2.28	0.00	0.000	4	0.206	0.070	3084	857	1799	0	0	0	0	0	0
11227	0.62	298.2	104.0	15.5	850	11231	0.00	2.22	0.00	0.000	6	0.000	0.058	3084	2276	1799	0	0	0	0	0	0
11570	0.64	298.2	62.4	11.7	907	11576	0.00	0.00	0.00	0.000	6	0.000	0.000	3084	2276	1798	0	0	0	0	0	0
11914	0.67	298.2	23.9	11.3	968	11920	0.00	0.00	0.00	0.000	6	0.000	0.000	3084	2276	1798	0	0	0	0	0	0
12099	end climb: SURFACE_DEPTH_REACHED
state	12099	begin surface coast
12117	end surface coast: FINISH_DEPTH_REACHED
state	12117	begin surface