Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 230 * 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 20

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 230 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 0

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 38 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 24 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 -80812.688 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 20 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 0 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 -80812.688

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 38 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 24 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 230 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 121111,070227,6659.758,-5733.740,53,0.7,53,-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 -0.228,-0.110

_SM_DEPTHo 2.72 KALMAN_X -4529578.0,1180.5,3117.8,-2050220.4,-30435.4

_SM_ANGLEo -63.2 KALMAN_Y 5142783.5,-2598.4,-4936.8,2293075.0,39671.3

GPS2 121111,070755,6659.709,-5733.817,25,1.8,25,-33.6 MHEAD_RNG_PITCHd_Wd 284.6,129279,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 836

Post-dive calculations and measurements:

FINISH 1.8,1.023412 ALTIM_BOTTOM_PING 752.3,106.6

SM_CCo 15346,15.88,0.087,0,0,1261,300.00 _24V_AH 22.6,28.924

SM_GC 4.35,7.12,0.52,15.88,0.055,0.063,0.087,123,2512,1261,-7.07,-0.76,300.00,0,0,0,0,0,0 _10V_AH 10.2,22.165

RAFOS_CLK 996 FG_AHR_24Vo 0.000

RAFOS 0,1321084862,8.033334,8.017222,59,58,54,0,0,0,213,190,151,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6701.687500,-5740.834473,121111,040456,2,73,1.14 MEM 150272

IRIDIUM_FIX 6631.12,-5716.55,121111,020214 DATA_FILE_SIZE 46620,1230

TT8_MAMPS 0.026215,0.026215 CAP_FILE_SIZE 134688,0

HUMID 57.99 CFSIZE 260165632,232087552

INTERNAL_PRESSURE 9.84413 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1

TCM_TEMP 16.40 SOUNDSPEED 1454.8

XPDR_PINGS 20 CURRENT 0.145, 66.4,1

ALTIM_TOP_PING 19.2,17.0 GPS 121111,112605,6659.685,-5737.866,47,0.8,47,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 253 99.57 SBE_CT 886 23 465.17

Roll_motor 48 101 112.50 SBE_O2 676 5 80.14

VBD_pump_during_apogee 353 1429 11429.97 nil 0 0 0.00

VBD_pump_during_surface 15 87 31.29 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 206 257 1201.94 nil 0 0 0.00

Transponder_ping 8 420 75.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 26 7.55

TT8 3404 18 649.72

LPSleep 9321 2 219.64

TT8_Active 502 18 95.91

TT8_Sampling 2245 41 960.41

TT8_CF8 220 47 107.76

TT8_Kalman 0 0 0.00

Analog_circuits 1770 12 216.68

GPS_charging 0 0 0.00

Compass 2004 6 137.83

RAFOS 2520 1 38.56

Transponder 23 30 7.11

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.73 -146.0 0.0 0.0 0 50 0.00 0.00 -32.12 0.000 2 0.000 0.000 119 2519 1710 0 0 0 0 0 0

53 -0.73 -146.0 3.0 -1.9 4 144 8.57 1.20 -74.00 0.000 4 0.253 0.102 2160 3213 3082 0 0 0 0 0 0

395 -0.73 -146.0 49.1 -16.5 55 402 0.00 1.10 0.00 0.000 6 0.000 0.034 2160 2510 3083 0 0 0 0 0 0

733 -0.73 -146.0 96.4 -12.7 106 740 0.00 1.17 0.00 0.000 4 0.000 0.064 2156 3211 3083 0 0 0 0 0 0

920 -0.73 -146.0 120.3 -12.8 134 927 0.00 1.10 0.00 0.000 6 0.000 0.033 2156 2500 3083 0 0 0 0 0 0

1259 -0.73 -146.0 162.9 -11.8 185 1266 0.00 1.20 0.00 0.000 4 0.000 0.064 2151 3217 3083 0 0 0 0 0 0

1372 -0.73 -146.0 177.3 -12.9 202 1379 0.00 1.10 0.00 0.000 6 0.000 0.033 2151 2505 3083 0 0 0 0 0 0

1711 -0.73 -146.0 221.8 -13.2 253 1717 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2505 3083 0 0 0 0 0 0

2049 -0.73 -146.0 267.0 -12.9 295 2053 0.00 1.08 0.00 0.000 4 0.000 0.047 2151 1817 3083 0 0 0 0 0 0

2102 -0.73 -146.0 273.7 -12.7 299 2105 0.00 1.17 0.00 0.000 6 0.000 0.056 2147 2505 3083 0 0 0 0 0 0

2434 -0.73 -146.0 315.1 -12.3 325 2437 0.00 1.12 0.00 0.000 4 0.000 0.070 2141 3211 3083 0 0 0 0 0 0

2500 -0.73 -146.0 323.8 -12.6 330 2503 0.00 1.08 0.00 0.000 6 0.000 0.033 2142 2512 3082 0 0 0 0 0 0

2828 -0.73 -146.0 363.6 -11.8 356 2829 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2512 3082 0 0 0 0 0 0

3145 -0.73 -146.0 399.7 -11.6 381 3146 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2511 3082 0 0 0 0 0 0

3460 -0.73 -146.0 435.8 -11.3 406 3461 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2512 3082 0 0 0 0 0 0

3776 -0.73 -146.0 471.5 -11.2 431 3777 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2512 3083 0 0 0 0 0 0

4102 -0.73 -146.0 508.1 -11.3 454 4105 0.00 1.15 0.00 0.000 4 0.000 0.064 2137 3209 3083 0 0 0 0 0 0

4139 -0.73 -146.0 511.9 -11.3 455 4144 0.00 1.10 0.00 0.000 6 0.000 0.029 2137 2495 3083 0 0 0 0 0 0

4474 -0.73 -146.0 550.9 -11.4 466 4475 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2495 3084 0 0 0 0 0 0

4779 -0.73 -146.0 584.9 -11.2 476 4783 0.00 1.17 0.00 0.000 4 0.000 0.063 2133 3207 3084 0 0 0 0 0 0

4814 -0.73 -146.0 588.6 -11.1 477 4818 0.10 1.05 0.00 0.000 6 0.147 0.030 2164 2509 3084 0 0 0 0 0 0

5155 -0.73 -146.0 621.0 -9.6 488 5156 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2509 3084 0 0 0 0 0 0

5463 -0.73 -146.0 650.4 -9.6 498 5466 0.00 1.15 0.00 0.000 4 0.000 0.063 2161 3208 3084 0 0 0 0 0 0

5514 -0.73 -146.0 653.8 -9.5 499 5518 0.00 1.08 0.00 0.000 6 0.000 0.028 2161 2503 3084 0 0 0 0 0 0

5835 -0.73 -146.0 684.3 -8.9 510 5836 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2504 3085 0 0 0 0 0 0

6141 -0.73 -146.0 711.3 -8.8 520 6142 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2503 3084 0 0 0 0 0 0

6447 -0.73 -146.0 738.2 -8.7 530 6450 0.00 1.17 0.00 0.000 4 0.000 0.062 2156 3217 3085 0 0 0 0 0 0

6492 -0.73 -146.0 741.2 -8.8 531 6496 0.00 1.08 0.00 0.000 6 0.000 0.028 2156 2503 3084 0 0 0 0 0 0

6819 -0.73 -146.0 771.5 -9.0 542 6820 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2503 3085 0 0 0 0 0 0

7125 -0.73 -146.0 799.2 -9.1 552 7127 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2504 3084 0 0 0 0 0 0

7431 -0.73 -146.0 828.0 -9.5 562 7435 0.00 1.17 0.00 0.000 4 0.000 0.062 2152 3216 3084 0 0 0 0 0 0

7530 end dive: TARGET_DEPTH_EXCEEDED

state 7530 begin apogee

7537 -0.16 0.0 837.5 -9.5 565 7665 0.57 0.00 122.28 1.430 6 0.130 0.000 2339 2198 2485 0 0 0 0 0 0

7666 end apogee: CONTROL_FINISHED_OK

state 7666 begin climb

7668 0.73 146.0 842.2 0.0 569 7813 0.85 1.23 132.45 1.371 4 0.071 0.049 2632 1498 1888 0 0 0 0 0 0

7937 0.73 146.0 825.2 10.9 577 7945 0.00 1.25 0.00 0.000 6 0.000 0.044 2632 2206 1882 0 0 0 0 0 0

8251 0.73 146.0 785.4 11.6 588 8255 0.00 1.15 0.00 0.000 4 0.000 0.055 2632 2898 1879 0 0 0 0 0 0

8317 0.73 146.0 777.2 12.1 590 8321 0.00 1.15 0.00 0.000 6 0.000 0.036 2637 2204 1878 0 0 0 0 0 0

8658 0.73 146.0 736.4 12.1 601 8659 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2204 1877 0 0 0 0 0 0

8962 0.73 146.0 699.4 12.0 611 8966 0.00 1.10 0.00 0.000 4 0.000 0.049 2642 1493 1875 0 0 0 0 0 0

9030 0.73 146.0 691.7 11.8 613 9033 0.00 1.15 0.00 0.000 6 0.000 0.045 2642 2199 1876 0 0 0 0 0 0

9370 0.73 146.0 648.4 12.8 624 9371 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2199 1876 0 0 0 0 0 0

9675 0.73 146.0 609.7 12.8 634 9676 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2199 1874 0 0 0 0 0 0

9982 0.73 146.0 571.5 12.4 644 9985 0.00 1.12 0.00 0.000 4 0.000 0.048 2647 1498 1875 0 0 0 0 0 0

10119 0.73 146.0 555.0 12.5 648 10124 0.00 1.17 0.00 0.000 6 0.000 0.047 2647 2209 1874 0 0 0 0 0 0

10453 0.73 146.0 513.0 12.3 659 10454 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2209 1874 0 0 0 0 0 0

10764 0.73 146.0 474.1 12.2 678 10766 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2209 1874 0 0 0 0 0 0

11080 0.73 146.0 434.4 12.7 703 11084 0.00 1.15 0.00 0.000 4 0.000 0.047 2651 1494 1873 0 0 0 0 0 0

11151 0.73 146.0 425.9 12.7 708 11161 0.00 1.17 0.00 0.000 6 0.000 0.047 2652 2208 1873 0 0 0 0 0 0

11477 0.73 146.0 385.1 12.3 734 11481 0.00 1.12 0.00 0.000 4 0.000 0.057 2651 2910 1873 0 0 0 0 0 0

11548 0.73 146.0 376.5 12.7 739 11556 0.00 1.17 0.00 0.000 6 0.000 0.037 2656 2189 1873 0 0 0 0 0 0

11874 0.73 146.0 338.5 11.5 765 11878 0.00 1.05 0.00 0.000 4 0.000 0.051 2661 1497 1873 0 0 0 0 0 0

12012 0.73 146.0 322.5 11.8 775 12019 0.00 1.17 0.00 0.000 6 0.000 0.046 2661 2212 1873 0 0 0 0 0 0

12338 0.73 146.0 283.9 11.8 801 12339 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2212 1873 0 0 0 0 0 0

12651 0.73 146.0 248.0 11.6 827 12658 0.00 1.15 0.00 0.000 4 0.000 0.047 2665 1493 1873 0 0 0 0 0 0

12757 0.73 146.0 236.0 11.1 843 12764 0.10 1.15 0.00 0.000 6 0.150 0.047 2635 2207 1873 0 0 0 0 0 0

13095 0.73 146.0 203.3 9.7 894 13102 0.00 1.10 0.00 0.000 4 0.000 0.055 2635 2901 1873 0 0 0 0 0 0

13200 0.73 146.0 192.3 10.5 910 13207 0.00 1.12 0.00 0.000 6 0.000 0.037 2638 2195 1873 0 0 0 0 0 0

13540 0.73 149.0 159.0 9.0 961 13546 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2196 1873 0 0 0 0 0 0

13877 0.76 171.6 131.3 8.2 1012 13899 0.00 0.00 20.02 0.983 6 0.000 0.000 2638 2195 1785 0 0 0 0 0 0

14232 0.76 171.9 99.7 9.2 1065 14239 0.00 1.20 0.00 0.000 4 0.000 0.053 2638 2907 1782 0 0 0 0 0 0

14339 0.76 171.9 89.5 9.6 1081 14346 0.00 1.15 0.00 0.000 6 0.000 0.037 2643 2193 1782 0 0 0 0 0 0

14677 0.79 199.7 65.2 8.0 1132 14706 0.00 1.12 24.88 0.961 4 0.000 0.050 2648 1491 1669 0 0 0 0 0 0

14958 0.87 264.0 47.1 6.5 1174 15020 0.08 1.17 54.10 0.943 6 0.059 0.047 2691 2206 1407 0 0 0 0 0 0

15315 end climb: SURFACE_DEPTH_REACHED

state 15315 begin surface coast

15330 end surface coast: CONTROL_FINISHED_OK

state 15330 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	230	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	0
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	38	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	24	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	-80812.688	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	121111,070227,6659.758,-5733.740,53,0.7,53,-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	-0.228,-0.110
_SM_DEPTHo	2.72	KALMAN_X	-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
_SM_ANGLEo	-63.2	KALMAN_Y	5142783.5,-2598.4,-4936.8,2293075.0,39671.3
GPS2	121111,070755,6659.709,-5733.817,25,1.8,25,-33.6	MHEAD_RNG_PITCHd_Wd	284.6,129279,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	836

FINISH	1.8,1.023412	ALTIM_BOTTOM_PING	752.3,106.6
SM_CCo	15346,15.88,0.087,0,0,1261,300.00	_24V_AH	22.6,28.924
SM_GC	4.35,7.12,0.52,15.88,0.055,0.063,0.087,123,2512,1261,-7.07,-0.76,300.00,0,0,0,0,0,0	_10V_AH	10.2,22.165
RAFOS_CLK	996	FG_AHR_24Vo	0.000
RAFOS	0,1321084862,8.033334,8.017222,59,58,54,0,0,0,213,190,151,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6701.687500,-5740.834473,121111,040456,2,73,1.14	MEM	150272
IRIDIUM_FIX	6631.12,-5716.55,121111,020214	DATA_FILE_SIZE	46620,1230
TT8_MAMPS	0.026215,0.026215	CAP_FILE_SIZE	134688,0
HUMID	57.99	CFSIZE	260165632,232087552
INTERNAL_PRESSURE	9.84413	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
TCM_TEMP	16.40	SOUNDSPEED	1454.8
XPDR_PINGS	20	CURRENT	0.145, 66.4,1
ALTIM_TOP_PING	19.2,17.0	GPS	121111,112605,6659.685,-5737.866,47,0.8,47,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	253	99.57	SBE_CT	886	23	465.17
Roll_motor	48	101	112.50	SBE_O2	676	5	80.14
VBD_pump_during_apogee	353	1429	11429.97	nil	0	0	0.00
VBD_pump_during_surface	15	87	31.29	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	206	257	1201.94	nil	0	0	0.00
Transponder_ping	8	420	75.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	26	7.55
TT8	3404	18	649.72
LPSleep	9321	2	219.64
TT8_Active	502	18	95.91
TT8_Sampling	2245	41	960.41
TT8_CF8	220	47	107.76
TT8_Kalman	0	0	0.00
Analog_circuits	1770	12	216.68
GPS_charging	0	0	0.00
Compass	2004	6	137.83
RAFOS	2520	1	38.56
Transponder	23	30	7.11

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.73	-146.0	0.0	0.0	0	50	0.00	0.00	-32.12	0.000	2	0.000	0.000	119	2519	1710	0	0	0	0	0	0
53	-0.73	-146.0	3.0	-1.9	4	144	8.57	1.20	-74.00	0.000	4	0.253	0.102	2160	3213	3082	0	0	0	0	0	0
395	-0.73	-146.0	49.1	-16.5	55	402	0.00	1.10	0.00	0.000	6	0.000	0.034	2160	2510	3083	0	0	0	0	0	0
733	-0.73	-146.0	96.4	-12.7	106	740	0.00	1.17	0.00	0.000	4	0.000	0.064	2156	3211	3083	0	0	0	0	0	0
920	-0.73	-146.0	120.3	-12.8	134	927	0.00	1.10	0.00	0.000	6	0.000	0.033	2156	2500	3083	0	0	0	0	0	0
1259	-0.73	-146.0	162.9	-11.8	185	1266	0.00	1.20	0.00	0.000	4	0.000	0.064	2151	3217	3083	0	0	0	0	0	0
1372	-0.73	-146.0	177.3	-12.9	202	1379	0.00	1.10	0.00	0.000	6	0.000	0.033	2151	2505	3083	0	0	0	0	0	0
1711	-0.73	-146.0	221.8	-13.2	253	1717	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2505	3083	0	0	0	0	0	0
2049	-0.73	-146.0	267.0	-12.9	295	2053	0.00	1.08	0.00	0.000	4	0.000	0.047	2151	1817	3083	0	0	0	0	0	0
2102	-0.73	-146.0	273.7	-12.7	299	2105	0.00	1.17	0.00	0.000	6	0.000	0.056	2147	2505	3083	0	0	0	0	0	0
2434	-0.73	-146.0	315.1	-12.3	325	2437	0.00	1.12	0.00	0.000	4	0.000	0.070	2141	3211	3083	0	0	0	0	0	0
2500	-0.73	-146.0	323.8	-12.6	330	2503	0.00	1.08	0.00	0.000	6	0.000	0.033	2142	2512	3082	0	0	0	0	0	0
2828	-0.73	-146.0	363.6	-11.8	356	2829	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2512	3082	0	0	0	0	0	0
3145	-0.73	-146.0	399.7	-11.6	381	3146	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2511	3082	0	0	0	0	0	0
3460	-0.73	-146.0	435.8	-11.3	406	3461	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2512	3082	0	0	0	0	0	0
3776	-0.73	-146.0	471.5	-11.2	431	3777	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2512	3083	0	0	0	0	0	0
4102	-0.73	-146.0	508.1	-11.3	454	4105	0.00	1.15	0.00	0.000	4	0.000	0.064	2137	3209	3083	0	0	0	0	0	0
4139	-0.73	-146.0	511.9	-11.3	455	4144	0.00	1.10	0.00	0.000	6	0.000	0.029	2137	2495	3083	0	0	0	0	0	0
4474	-0.73	-146.0	550.9	-11.4	466	4475	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2495	3084	0	0	0	0	0	0
4779	-0.73	-146.0	584.9	-11.2	476	4783	0.00	1.17	0.00	0.000	4	0.000	0.063	2133	3207	3084	0	0	0	0	0	0
4814	-0.73	-146.0	588.6	-11.1	477	4818	0.10	1.05	0.00	0.000	6	0.147	0.030	2164	2509	3084	0	0	0	0	0	0
5155	-0.73	-146.0	621.0	-9.6	488	5156	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2509	3084	0	0	0	0	0	0
5463	-0.73	-146.0	650.4	-9.6	498	5466	0.00	1.15	0.00	0.000	4	0.000	0.063	2161	3208	3084	0	0	0	0	0	0
5514	-0.73	-146.0	653.8	-9.5	499	5518	0.00	1.08	0.00	0.000	6	0.000	0.028	2161	2503	3084	0	0	0	0	0	0
5835	-0.73	-146.0	684.3	-8.9	510	5836	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2504	3085	0	0	0	0	0	0
6141	-0.73	-146.0	711.3	-8.8	520	6142	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2503	3084	0	0	0	0	0	0
6447	-0.73	-146.0	738.2	-8.7	530	6450	0.00	1.17	0.00	0.000	4	0.000	0.062	2156	3217	3085	0	0	0	0	0	0
6492	-0.73	-146.0	741.2	-8.8	531	6496	0.00	1.08	0.00	0.000	6	0.000	0.028	2156	2503	3084	0	0	0	0	0	0
6819	-0.73	-146.0	771.5	-9.0	542	6820	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2503	3085	0	0	0	0	0	0
7125	-0.73	-146.0	799.2	-9.1	552	7127	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2504	3084	0	0	0	0	0	0
7431	-0.73	-146.0	828.0	-9.5	562	7435	0.00	1.17	0.00	0.000	4	0.000	0.062	2152	3216	3084	0	0	0	0	0	0
7530	end dive: TARGET_DEPTH_EXCEEDED
state	7530	begin apogee
7537	-0.16	0.0	837.5	-9.5	565	7665	0.57	0.00	122.28	1.430	6	0.130	0.000	2339	2198	2485	0	0	0	0	0	0
7666	end apogee: CONTROL_FINISHED_OK
state	7666	begin climb
7668	0.73	146.0	842.2	0.0	569	7813	0.85	1.23	132.45	1.371	4	0.071	0.049	2632	1498	1888	0	0	0	0	0	0
7937	0.73	146.0	825.2	10.9	577	7945	0.00	1.25	0.00	0.000	6	0.000	0.044	2632	2206	1882	0	0	0	0	0	0
8251	0.73	146.0	785.4	11.6	588	8255	0.00	1.15	0.00	0.000	4	0.000	0.055	2632	2898	1879	0	0	0	0	0	0
8317	0.73	146.0	777.2	12.1	590	8321	0.00	1.15	0.00	0.000	6	0.000	0.036	2637	2204	1878	0	0	0	0	0	0
8658	0.73	146.0	736.4	12.1	601	8659	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2204	1877	0	0	0	0	0	0
8962	0.73	146.0	699.4	12.0	611	8966	0.00	1.10	0.00	0.000	4	0.000	0.049	2642	1493	1875	0	0	0	0	0	0
9030	0.73	146.0	691.7	11.8	613	9033	0.00	1.15	0.00	0.000	6	0.000	0.045	2642	2199	1876	0	0	0	0	0	0
9370	0.73	146.0	648.4	12.8	624	9371	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2199	1876	0	0	0	0	0	0
9675	0.73	146.0	609.7	12.8	634	9676	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2199	1874	0	0	0	0	0	0
9982	0.73	146.0	571.5	12.4	644	9985	0.00	1.12	0.00	0.000	4	0.000	0.048	2647	1498	1875	0	0	0	0	0	0
10119	0.73	146.0	555.0	12.5	648	10124	0.00	1.17	0.00	0.000	6	0.000	0.047	2647	2209	1874	0	0	0	0	0	0
10453	0.73	146.0	513.0	12.3	659	10454	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2209	1874	0	0	0	0	0	0
10764	0.73	146.0	474.1	12.2	678	10766	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2209	1874	0	0	0	0	0	0
11080	0.73	146.0	434.4	12.7	703	11084	0.00	1.15	0.00	0.000	4	0.000	0.047	2651	1494	1873	0	0	0	0	0	0
11151	0.73	146.0	425.9	12.7	708	11161	0.00	1.17	0.00	0.000	6	0.000	0.047	2652	2208	1873	0	0	0	0	0	0
11477	0.73	146.0	385.1	12.3	734	11481	0.00	1.12	0.00	0.000	4	0.000	0.057	2651	2910	1873	0	0	0	0	0	0
11548	0.73	146.0	376.5	12.7	739	11556	0.00	1.17	0.00	0.000	6	0.000	0.037	2656	2189	1873	0	0	0	0	0	0
11874	0.73	146.0	338.5	11.5	765	11878	0.00	1.05	0.00	0.000	4	0.000	0.051	2661	1497	1873	0	0	0	0	0	0
12012	0.73	146.0	322.5	11.8	775	12019	0.00	1.17	0.00	0.000	6	0.000	0.046	2661	2212	1873	0	0	0	0	0	0
12338	0.73	146.0	283.9	11.8	801	12339	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2212	1873	0	0	0	0	0	0
12651	0.73	146.0	248.0	11.6	827	12658	0.00	1.15	0.00	0.000	4	0.000	0.047	2665	1493	1873	0	0	0	0	0	0
12757	0.73	146.0	236.0	11.1	843	12764	0.10	1.15	0.00	0.000	6	0.150	0.047	2635	2207	1873	0	0	0	0	0	0
13095	0.73	146.0	203.3	9.7	894	13102	0.00	1.10	0.00	0.000	4	0.000	0.055	2635	2901	1873	0	0	0	0	0	0
13200	0.73	146.0	192.3	10.5	910	13207	0.00	1.12	0.00	0.000	6	0.000	0.037	2638	2195	1873	0	0	0	0	0	0
13540	0.73	149.0	159.0	9.0	961	13546	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2196	1873	0	0	0	0	0	0
13877	0.76	171.6	131.3	8.2	1012	13899	0.00	0.00	20.02	0.983	6	0.000	0.000	2638	2195	1785	0	0	0	0	0	0
14232	0.76	171.9	99.7	9.2	1065	14239	0.00	1.20	0.00	0.000	4	0.000	0.053	2638	2907	1782	0	0	0	0	0	0
14339	0.76	171.9	89.5	9.6	1081	14346	0.00	1.15	0.00	0.000	6	0.000	0.037	2643	2193	1782	0	0	0	0	0	0
14677	0.79	199.7	65.2	8.0	1132	14706	0.00	1.12	24.88	0.961	4	0.000	0.050	2648	1491	1669	0	0	0	0	0	0
14958	0.87	264.0	47.1	6.5	1174	15020	0.08	1.17	54.10	0.943	6	0.059	0.047	2691	2206	1407	0	0	0	0	0	0
15315	end climb: SURFACE_DEPTH_REACHED
state	15315	begin surface coast
15330	end surface coast: CONTROL_FINISHED_OK
state	15330	begin surface