Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 222 * 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 222 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 43 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 33 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 -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80795.484 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 -80795.484

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 43 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 33 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 222 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 101111,213800,6700.584,-5707.161,39,0.9,39,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.228,-0.110

_SM_DEPTHo 2.73 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -69.8 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 101111,214325,6700.554,-5707.074,17,1.3,17,-33.5 MHEAD_RNG_PITCHd_Wd 310.8,148721,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 733

Post-dive calculations and measurements:

FINISH 1.8,1.025828 _24V_AH 22.9,27.945

SM_CCo 13445,43.62,0.076,0,0,1261,300.00 _10V_AH 10.3,21.460

SM_GC 3.09,6.82,0.52,43.62,0.041,0.063,0.076,118,2514,1261,-7.07,-0.71,300.00,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 828 FG_AHR_10Vo 0.000

RAFOS 0,1320969665,0.033333,0.018056,65,62,58,0,0,0,215,171,146,0,0,0 MEM 150300

RAFOS_FIX 6700.041992,-5701.583984,091111,202044,3,88,2.03 DATA_FILE_SIZE 46768,1177

IRIDIUM_FIX 6631.12,-5713.57,101111,171755 CAP_FILE_SIZE 126907,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,232636416

HUMID 56.49 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.90272 SOUNDSPEED 1465.3

TCM_TEMP 16.90 CURRENT 0.195, 62.5,1

XPDR_PINGS 19 GPS 111111,013025,6701.812,-5709.741,51,0.9,51,-33.5

ALTIM_BOTTOM_PING 601.9,147.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 240 92.02 SBE_CT 852 23 453.54

Roll_motor 47 87 96.65 SBE_O2 643 5 77.28

VBD_pump_during_apogee 293 1326 8911.12 nil 0 0 0.00

VBD_pump_during_surface 43 76 76.42 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 212 255 1245.00 nil 0 0 0.00

Transponder_ping 6 420 64.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.01

TT8 3219 18 620.42

LPSleep 7753 2 184.47

TT8_Active 504 18 97.24

TT8_Sampling 2127 41 918.86

TT8_CF8 214 47 106.10

TT8_Kalman 0 0 0.00

Analog_circuits 1722 12 212.90

GPS_charging 0 0 0.00

Compass 1896 6 131.65

RAFOS 2520 1 38.93

Transponder 18 30 5.63

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 -0.73 -146.0 0.0 0.0 0 41 0.00 0.00 -22.62 0.000 2 0.000 0.000 113 2467 1602 0 0 0 0 0 0

44 -0.73 -146.0 3.1 -2.4 3 156 8.25 1.27 -97.72 0.000 4 0.241 0.088 2158 3216 3082 0 0 0 0 0 0

285 -0.73 -146.0 28.8 -20.4 39 292 0.00 1.10 0.00 0.000 6 0.000 0.030 2158 2495 3083 0 0 0 0 0 0

623 -0.73 -146.0 79.3 -13.5 90 632 0.00 1.17 0.00 0.000 4 0.000 0.066 2153 3200 3083 0 0 0 0 0 0

731 -0.73 -146.0 93.5 -12.9 106 740 0.00 1.05 0.00 0.000 6 0.000 0.028 2153 2509 3083 0 0 0 0 0 0

1071 -0.73 -146.0 135.6 -12.1 157 1078 0.00 1.15 0.00 0.000 4 0.000 0.060 2149 3207 3083 0 0 0 0 0 0

1230 -0.73 -146.0 155.3 -13.1 181 1237 0.00 1.05 0.00 0.000 6 0.000 0.028 2149 2506 3083 0 0 0 0 0 0

1568 -0.73 -146.0 195.5 -11.4 232 1574 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2506 3083 0 0 0 0 0 0

1905 -0.73 -146.0 231.6 -11.1 283 1912 0.00 1.15 0.00 0.000 4 0.000 0.063 2144 3203 3082 0 0 0 0 0 0

1933 -0.73 -146.0 234.9 -11.5 287 1940 0.00 1.05 0.00 0.000 6 0.000 0.028 2144 2499 3082 0 0 0 0 0 0

2269 -0.73 -146.0 273.7 -11.5 323 2273 0.00 1.17 0.00 0.000 4 0.000 0.061 2140 3212 3082 0 0 0 0 0 0

2300 -0.73 -146.0 276.9 -11.8 325 2308 0.00 1.08 0.00 0.000 6 0.000 0.027 2140 2503 3082 0 0 0 0 0 0

2626 -0.73 -146.0 314.5 -11.4 351 2627 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2504 3082 0 0 0 0 0 0

2940 -0.73 -146.0 350.5 -11.4 376 2941 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2503 3082 0 0 0 0 0 0

3255 -0.73 -146.0 384.2 -10.1 401 3256 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2503 3082 0 0 0 0 0 0

3570 -0.73 -146.0 415.9 -9.6 426 3573 0.00 1.15 0.00 0.000 4 0.000 0.060 2135 3202 3082 0 0 0 0 0 0

3693 -0.73 -146.0 427.8 -10.1 435 3702 0.12 1.05 0.00 0.000 6 0.165 0.027 2165 2515 3083 0 0 0 0 0 0

4017 -0.73 -146.0 455.1 -8.3 461 4020 0.00 1.12 0.00 0.000 4 0.000 0.061 2163 3203 3083 0 0 0 0 0 0

4048 -0.73 -146.0 457.4 -8.5 463 4056 0.00 1.08 0.00 0.000 6 0.000 0.027 2163 2496 3083 0 0 0 0 0 0

4373 -0.73 -146.0 485.6 -9.0 489 4377 0.00 1.15 0.00 0.000 4 0.000 0.060 2158 3203 3084 0 0 0 0 0 0

4439 -0.73 -146.0 492.1 -9.6 494 4443 0.00 1.05 0.00 0.000 6 0.000 0.028 2158 2496 3084 0 0 0 0 0 0

4774 -0.73 -146.0 524.7 -10.1 509 4777 0.00 1.15 0.00 0.000 4 0.000 0.059 2153 3204 3084 0 0 0 0 0 0

4842 -0.73 -146.0 531.5 -10.1 511 4846 0.00 1.02 0.00 0.000 6 0.000 0.028 2154 2519 3084 0 0 0 0 0 0

5181 -0.73 -146.0 566.9 -10.4 522 5185 0.00 1.12 0.00 0.000 4 0.000 0.060 2149 3210 3085 0 0 0 0 0 0

5206 -0.73 -146.0 566.9 -10.4 522 5216 0.00 1.08 0.00 0.000 6 0.000 0.028 2149 2497 3085 0 0 0 0 0 0

5523 -0.73 -146.0 601.9 -10.5 533 5527 0.00 1.15 0.00 0.000 4 0.000 0.059 2145 3204 3086 0 0 0 0 0 0

5600 -0.73 -146.0 609.4 -10.7 535 5605 0.00 1.05 0.00 0.000 6 0.000 0.027 2144 2515 3085 0 0 0 0 0 0

5928 -0.73 -146.0 646.1 -10.9 546 5929 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2515 3086 0 0 0 0 0 0

6233 -0.73 -146.0 676.6 -9.8 556 6237 0.00 1.12 0.00 0.000 4 0.000 0.060 2140 3204 3086 0 0 0 0 0 0

6317 -0.73 -146.0 683.3 -9.9 558 6322 0.00 1.08 0.00 0.000 6 0.000 0.027 2140 2494 3086 0 0 0 0 0 0

6639 -0.73 -146.0 717.4 -10.0 569 6642 0.00 1.15 0.00 0.000 4 0.000 0.060 2136 3201 3086 0 0 0 0 0 0

6671 -0.73 -146.0 720.9 -10.1 570 6676 0.08 1.02 0.00 0.000 6 0.148 0.028 2160 2517 3086 0 0 0 0 0 0

6826 end dive: TARGET_DEPTH_EXCEEDED

state 6826 begin apogee

6832 -0.16 0.0 735.2 -9.2 575 6959 0.55 0.00 119.35 1.327 6 0.127 0.000 2342 2195 2484 0 0 0 0 0 0

6960 end apogee: CONTROL_FINISHED_OK

state 6960 begin climb

6962 0.73 146.0 739.3 0.0 579 7098 0.85 1.15 127.57 1.277 4 0.067 0.044 2638 1513 1889 0 0 0 0 0 0

7196 0.73 146.0 723.0 11.3 586 7201 0.00 1.20 0.00 0.000 6 0.000 0.041 2638 2200 1883 0 0 0 0 0 0

7516 0.73 146.0 680.1 12.7 597 7520 0.00 1.15 0.00 0.000 4 0.000 0.052 2638 2901 1881 0 0 0 0 0 0

7616 0.73 146.0 667.3 12.8 600 7619 0.00 1.12 0.00 0.000 6 0.000 0.034 2643 2209 1879 0 0 0 0 0 0

7956 0.73 146.0 624.6 12.6 611 7957 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2209 1878 0 0 0 0 0 0

8261 0.73 146.0 586.3 12.5 621 8262 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2209 1877 0 0 0 0 0 0

8571 0.73 146.0 547.4 12.9 631 8572 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2209 1877 0 0 0 0 0 0

8873 0.73 146.0 506.9 13.1 641 8875 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2209 1876 0 0 0 0 0 0

9192 0.73 146.0 465.3 12.7 663 9195 0.00 1.15 0.00 0.000 4 0.000 0.050 2643 2899 1876 0 0 0 0 0 0

9383 0.73 146.0 440.7 12.4 677 9390 0.00 1.12 0.00 0.000 6 0.000 0.034 2648 2194 1876 0 0 0 0 0 0

9708 0.73 146.0 399.0 12.9 703 9710 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2194 1876 0 0 0 0 0 0

10022 0.73 146.0 359.2 12.2 728 10023 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2194 1876 0 0 0 0 0 0

10338 0.73 146.0 319.9 12.5 753 10339 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2194 1876 0 0 0 0 0 0

10653 0.73 146.0 280.2 12.9 778 10655 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2194 1876 0 0 0 0 0 0

10972 0.73 146.0 240.2 12.0 808 10978 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2194 1876 0 0 0 0 0 0

11310 0.73 146.0 201.8 11.2 859 11317 0.00 1.17 0.00 0.000 4 0.000 0.049 2648 2908 1875 0 0 0 0 0 0

11383 0.73 146.0 193.3 11.8 870 11392 0.00 1.12 0.00 0.000 6 0.000 0.034 2652 2190 1876 0 0 0 0 0 0

11724 0.73 146.0 155.2 11.0 921 11731 0.00 1.17 0.00 0.000 4 0.000 0.050 2652 2902 1876 0 0 0 0 0 0

11875 0.73 146.0 138.0 10.5 944 11882 0.00 1.10 0.00 0.000 6 0.000 0.034 2657 2200 1876 0 0 0 0 0 0

12213 0.73 146.0 104.7 9.3 995 12220 0.00 1.05 0.00 0.000 4 0.000 0.048 2662 1495 1876 0 0 0 0 0 0

12353 0.74 158.6 92.6 8.6 1016 12367 0.00 1.12 9.77 0.857 6 0.000 0.044 2662 2203 1838 0 0 0 0 0 0

12699 0.76 176.8 63.3 8.4 1068 12721 0.00 1.15 16.50 0.895 4 0.000 0.051 2662 2908 1764 0 0 0 0 0 0

12815 0.76 176.8 52.9 9.9 1085 12822 0.00 1.12 0.00 0.000 6 0.000 0.035 2667 2202 1763 0 0 0 0 0 0

13152 0.80 207.0 27.6 7.9 1136 13180 0.00 1.10 20.15 0.873 4 0.000 0.047 2672 1492 1640 0 0 0 0 0 0

13288 0.80 207.0 14.8 11.2 1156 13294 0.00 1.15 0.00 0.000 6 0.000 0.043 2672 2205 1637 0 0 0 0 0 0

13413 end climb: SURFACE_DEPTH_REACHED

state 13413 begin surface coast

13428 end surface coast: CONTROL_FINISHED_OK

state 13428 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	222	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	43	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	33	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	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80795.484	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	101111,213800,6700.584,-5707.161,39,0.9,39,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.228,-0.110
_SM_DEPTHo	2.73	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-69.8	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	101111,214325,6700.554,-5707.074,17,1.3,17,-33.5	MHEAD_RNG_PITCHd_Wd	310.8,148721,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	733

FINISH	1.8,1.025828	_24V_AH	22.9,27.945
SM_CCo	13445,43.62,0.076,0,0,1261,300.00	_10V_AH	10.3,21.460
SM_GC	3.09,6.82,0.52,43.62,0.041,0.063,0.076,118,2514,1261,-7.07,-0.71,300.00,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	828	FG_AHR_10Vo	0.000
RAFOS	0,1320969665,0.033333,0.018056,65,62,58,0,0,0,215,171,146,0,0,0	MEM	150300
RAFOS_FIX	6700.041992,-5701.583984,091111,202044,3,88,2.03	DATA_FILE_SIZE	46768,1177
IRIDIUM_FIX	6631.12,-5713.57,101111,171755	CAP_FILE_SIZE	126907,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,232636416
HUMID	56.49	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.90272	SOUNDSPEED	1465.3
TCM_TEMP	16.90	CURRENT	0.195, 62.5,1
XPDR_PINGS	19	GPS	111111,013025,6701.812,-5709.741,51,0.9,51,-33.5
ALTIM_BOTTOM_PING	601.9,147.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	240	92.02	SBE_CT	852	23	453.54
Roll_motor	47	87	96.65	SBE_O2	643	5	77.28
VBD_pump_during_apogee	293	1326	8911.12	nil	0	0	0.00
VBD_pump_during_surface	43	76	76.42	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	212	255	1245.00	nil	0	0	0.00
Transponder_ping	6	420	64.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.01
TT8	3219	18	620.42
LPSleep	7753	2	184.47
TT8_Active	504	18	97.24
TT8_Sampling	2127	41	918.86
TT8_CF8	214	47	106.10
TT8_Kalman	0	0	0.00
Analog_circuits	1722	12	212.90
GPS_charging	0	0	0.00
Compass	1896	6	131.65
RAFOS	2520	1	38.93
Transponder	18	30	5.63

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	-0.73	-146.0	0.0	0.0	0	41	0.00	0.00	-22.62	0.000	2	0.000	0.000	113	2467	1602	0	0	0	0	0	0
44	-0.73	-146.0	3.1	-2.4	3	156	8.25	1.27	-97.72	0.000	4	0.241	0.088	2158	3216	3082	0	0	0	0	0	0
285	-0.73	-146.0	28.8	-20.4	39	292	0.00	1.10	0.00	0.000	6	0.000	0.030	2158	2495	3083	0	0	0	0	0	0
623	-0.73	-146.0	79.3	-13.5	90	632	0.00	1.17	0.00	0.000	4	0.000	0.066	2153	3200	3083	0	0	0	0	0	0
731	-0.73	-146.0	93.5	-12.9	106	740	0.00	1.05	0.00	0.000	6	0.000	0.028	2153	2509	3083	0	0	0	0	0	0
1071	-0.73	-146.0	135.6	-12.1	157	1078	0.00	1.15	0.00	0.000	4	0.000	0.060	2149	3207	3083	0	0	0	0	0	0
1230	-0.73	-146.0	155.3	-13.1	181	1237	0.00	1.05	0.00	0.000	6	0.000	0.028	2149	2506	3083	0	0	0	0	0	0
1568	-0.73	-146.0	195.5	-11.4	232	1574	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2506	3083	0	0	0	0	0	0
1905	-0.73	-146.0	231.6	-11.1	283	1912	0.00	1.15	0.00	0.000	4	0.000	0.063	2144	3203	3082	0	0	0	0	0	0
1933	-0.73	-146.0	234.9	-11.5	287	1940	0.00	1.05	0.00	0.000	6	0.000	0.028	2144	2499	3082	0	0	0	0	0	0
2269	-0.73	-146.0	273.7	-11.5	323	2273	0.00	1.17	0.00	0.000	4	0.000	0.061	2140	3212	3082	0	0	0	0	0	0
2300	-0.73	-146.0	276.9	-11.8	325	2308	0.00	1.08	0.00	0.000	6	0.000	0.027	2140	2503	3082	0	0	0	0	0	0
2626	-0.73	-146.0	314.5	-11.4	351	2627	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2504	3082	0	0	0	0	0	0
2940	-0.73	-146.0	350.5	-11.4	376	2941	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2503	3082	0	0	0	0	0	0
3255	-0.73	-146.0	384.2	-10.1	401	3256	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2503	3082	0	0	0	0	0	0
3570	-0.73	-146.0	415.9	-9.6	426	3573	0.00	1.15	0.00	0.000	4	0.000	0.060	2135	3202	3082	0	0	0	0	0	0
3693	-0.73	-146.0	427.8	-10.1	435	3702	0.12	1.05	0.00	0.000	6	0.165	0.027	2165	2515	3083	0	0	0	0	0	0
4017	-0.73	-146.0	455.1	-8.3	461	4020	0.00	1.12	0.00	0.000	4	0.000	0.061	2163	3203	3083	0	0	0	0	0	0
4048	-0.73	-146.0	457.4	-8.5	463	4056	0.00	1.08	0.00	0.000	6	0.000	0.027	2163	2496	3083	0	0	0	0	0	0
4373	-0.73	-146.0	485.6	-9.0	489	4377	0.00	1.15	0.00	0.000	4	0.000	0.060	2158	3203	3084	0	0	0	0	0	0
4439	-0.73	-146.0	492.1	-9.6	494	4443	0.00	1.05	0.00	0.000	6	0.000	0.028	2158	2496	3084	0	0	0	0	0	0
4774	-0.73	-146.0	524.7	-10.1	509	4777	0.00	1.15	0.00	0.000	4	0.000	0.059	2153	3204	3084	0	0	0	0	0	0
4842	-0.73	-146.0	531.5	-10.1	511	4846	0.00	1.02	0.00	0.000	6	0.000	0.028	2154	2519	3084	0	0	0	0	0	0
5181	-0.73	-146.0	566.9	-10.4	522	5185	0.00	1.12	0.00	0.000	4	0.000	0.060	2149	3210	3085	0	0	0	0	0	0
5206	-0.73	-146.0	566.9	-10.4	522	5216	0.00	1.08	0.00	0.000	6	0.000	0.028	2149	2497	3085	0	0	0	0	0	0
5523	-0.73	-146.0	601.9	-10.5	533	5527	0.00	1.15	0.00	0.000	4	0.000	0.059	2145	3204	3086	0	0	0	0	0	0
5600	-0.73	-146.0	609.4	-10.7	535	5605	0.00	1.05	0.00	0.000	6	0.000	0.027	2144	2515	3085	0	0	0	0	0	0
5928	-0.73	-146.0	646.1	-10.9	546	5929	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2515	3086	0	0	0	0	0	0
6233	-0.73	-146.0	676.6	-9.8	556	6237	0.00	1.12	0.00	0.000	4	0.000	0.060	2140	3204	3086	0	0	0	0	0	0
6317	-0.73	-146.0	683.3	-9.9	558	6322	0.00	1.08	0.00	0.000	6	0.000	0.027	2140	2494	3086	0	0	0	0	0	0
6639	-0.73	-146.0	717.4	-10.0	569	6642	0.00	1.15	0.00	0.000	4	0.000	0.060	2136	3201	3086	0	0	0	0	0	0
6671	-0.73	-146.0	720.9	-10.1	570	6676	0.08	1.02	0.00	0.000	6	0.148	0.028	2160	2517	3086	0	0	0	0	0	0
6826	end dive: TARGET_DEPTH_EXCEEDED
state	6826	begin apogee
6832	-0.16	0.0	735.2	-9.2	575	6959	0.55	0.00	119.35	1.327	6	0.127	0.000	2342	2195	2484	0	0	0	0	0	0
6960	end apogee: CONTROL_FINISHED_OK
state	6960	begin climb
6962	0.73	146.0	739.3	0.0	579	7098	0.85	1.15	127.57	1.277	4	0.067	0.044	2638	1513	1889	0	0	0	0	0	0
7196	0.73	146.0	723.0	11.3	586	7201	0.00	1.20	0.00	0.000	6	0.000	0.041	2638	2200	1883	0	0	0	0	0	0
7516	0.73	146.0	680.1	12.7	597	7520	0.00	1.15	0.00	0.000	4	0.000	0.052	2638	2901	1881	0	0	0	0	0	0
7616	0.73	146.0	667.3	12.8	600	7619	0.00	1.12	0.00	0.000	6	0.000	0.034	2643	2209	1879	0	0	0	0	0	0
7956	0.73	146.0	624.6	12.6	611	7957	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2209	1878	0	0	0	0	0	0
8261	0.73	146.0	586.3	12.5	621	8262	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2209	1877	0	0	0	0	0	0
8571	0.73	146.0	547.4	12.9	631	8572	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2209	1877	0	0	0	0	0	0
8873	0.73	146.0	506.9	13.1	641	8875	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2209	1876	0	0	0	0	0	0
9192	0.73	146.0	465.3	12.7	663	9195	0.00	1.15	0.00	0.000	4	0.000	0.050	2643	2899	1876	0	0	0	0	0	0
9383	0.73	146.0	440.7	12.4	677	9390	0.00	1.12	0.00	0.000	6	0.000	0.034	2648	2194	1876	0	0	0	0	0	0
9708	0.73	146.0	399.0	12.9	703	9710	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2194	1876	0	0	0	0	0	0
10022	0.73	146.0	359.2	12.2	728	10023	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2194	1876	0	0	0	0	0	0
10338	0.73	146.0	319.9	12.5	753	10339	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2194	1876	0	0	0	0	0	0
10653	0.73	146.0	280.2	12.9	778	10655	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2194	1876	0	0	0	0	0	0
10972	0.73	146.0	240.2	12.0	808	10978	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2194	1876	0	0	0	0	0	0
11310	0.73	146.0	201.8	11.2	859	11317	0.00	1.17	0.00	0.000	4	0.000	0.049	2648	2908	1875	0	0	0	0	0	0
11383	0.73	146.0	193.3	11.8	870	11392	0.00	1.12	0.00	0.000	6	0.000	0.034	2652	2190	1876	0	0	0	0	0	0
11724	0.73	146.0	155.2	11.0	921	11731	0.00	1.17	0.00	0.000	4	0.000	0.050	2652	2902	1876	0	0	0	0	0	0
11875	0.73	146.0	138.0	10.5	944	11882	0.00	1.10	0.00	0.000	6	0.000	0.034	2657	2200	1876	0	0	0	0	0	0
12213	0.73	146.0	104.7	9.3	995	12220	0.00	1.05	0.00	0.000	4	0.000	0.048	2662	1495	1876	0	0	0	0	0	0
12353	0.74	158.6	92.6	8.6	1016	12367	0.00	1.12	9.77	0.857	6	0.000	0.044	2662	2203	1838	0	0	0	0	0	0
12699	0.76	176.8	63.3	8.4	1068	12721	0.00	1.15	16.50	0.895	4	0.000	0.051	2662	2908	1764	0	0	0	0	0	0
12815	0.76	176.8	52.9	9.9	1085	12822	0.00	1.12	0.00	0.000	6	0.000	0.035	2667	2202	1763	0	0	0	0	0	0
13152	0.80	207.0	27.6	7.9	1136	13180	0.00	1.10	20.15	0.873	4	0.000	0.047	2672	1492	1640	0	0	0	0	0	0
13288	0.80	207.0	14.8	11.2	1156	13294	0.00	1.15	0.00	0.000	6	0.000	0.043	2672	2205	1637	0	0	0	0	0	0
13413	end climb: SURFACE_DEPTH_REACHED
state	13413	begin surface coast
13428	end surface coast: CONTROL_FINISHED_OK
state	13428	begin surface