Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 24 * 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 24 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 32 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 750 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 420 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 27 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 19 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 250 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 300 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 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 -80448.047 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 2415 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 1 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 420

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 750 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 5 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163694 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 250

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 -80448.047

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 300

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 1 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 2415 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

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 27 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 19 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 24 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 32 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 091011,104302,6633.626,-6018.688,33,0.8,34,-33.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091011,104744,6633.613,-6018.591,15,1.8,15,-33.7 MHEAD_RNG_PITCHd_Wd 143.5,161523,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 509

Post-dive calculations and measurements:

FINISH 1.2,1.023647 _24V_AH 23.2,4.275

SM_CCo 9206,70.90,0.086,0,0,772,420.20 _10V_AH 10.3,3.981

SM_GC 2.21,7.28,0.57,70.90,0.063,0.075,0.086,129,2517,772,-7.10,-0.45,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 595 FG_AHR_10Vo 0.000

RAFOS 0,1318161663,12.033333,12.017500,65,62,54,0,0,0,210,194,175,0,0,0 MEM 150408

RAFOS_FIX 6634.957520,-6012.986816,091011,121255,5,78,0.76 DATA_FILE_SIZE 36759,990

IRIDIUM_FIX 6604.29,-6012.63,091011,080838 CAP_FILE_SIZE 119030,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,246472704

HUMID 57.99 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.78553 SOUNDSPEED 1452.2

TCM_TEMP 16.30 CURRENT 0.307,324.9,1

XPDR_PINGS 16 GPS 091011,132435,6634.158,-6017.563,37,0.9,37,-33.7

ALTIM_BOTTOM_PING 401.2,123.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 274 114.37 SBE_CT 714 23 385.13

Roll_motor 60 91 127.83 SBE_O2 699 5 85.06

VBD_pump_during_apogee 333 1197 9268.39 nil 0 0 0.00

VBD_pump_during_surface 70 85 140.93 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 178 248 1031.43 nil 0 0 0.00

Transponder_ping 5 420 51.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 26 4.73

TT8 2732 18 526.58

LPSleep 4214 2 100.28

TT8_Active 540 18 104.20

TT8_Sampling 1913 41 826.50

TT8_CF8 186 47 92.21

TT8_Kalman 0 0 0.00

Analog_circuits 1662 12 205.49

GPS_charging 0 0 0.00

Compass 1717 6 119.23

RAFOS 2520 1 38.93

Transponder 12 30 3.81

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

17 -0.77 -146.0 0.0 0.0 0 117 0.00 0.00 -97.43 0.000 2 0.000 0.000 122 2514 2170 0 0 0 0 0 0

120 -0.77 -146.0 3.2 -2.8 16 169 8.85 1.25 -30.90 0.000 4 0.275 0.091 2159 1808 3083 0 0 0 0 0 0

417 -0.77 -146.0 47.6 -13.8 68 424 0.00 1.25 0.00 0.000 6 0.000 0.073 2156 2513 3085 0 0 0 0 0 0

624 -0.77 -146.0 77.4 -14.2 105 633 0.00 1.15 0.00 0.000 4 0.000 0.085 2151 3210 3085 0 0 0 0 0 0

723 -0.77 -146.0 91.9 -14.8 122 730 0.00 1.15 0.00 0.000 6 0.000 0.054 2151 2509 3085 0 0 0 0 0 0

931 -0.77 -146.0 121.2 -14.1 146 935 0.00 1.15 0.00 0.000 4 0.000 0.063 2151 1804 3085 0 0 0 0 0 0

978 -0.77 -146.0 127.8 -13.7 150 982 0.00 1.25 0.00 0.000 6 0.000 0.073 2146 2513 3085 0 0 0 0 0 0

1204 -0.77 -146.0 159.1 -14.1 171 1208 0.00 1.15 0.00 0.000 4 0.000 0.085 2141 3213 3085 0 0 0 0 0 0

1366 -0.77 -146.0 182.2 -14.3 185 1375 0.00 1.15 0.00 0.000 6 0.000 0.055 2141 2510 3085 0 0 0 0 0 0

1586 -0.77 -146.0 213.7 -14.1 206 1590 0.00 1.20 0.00 0.000 4 0.000 0.083 2137 3210 3085 0 0 0 0 0 0

1658 -0.77 -146.0 223.0 -13.3 212 1665 0.00 1.15 0.00 0.000 6 0.000 0.054 2137 2506 3085 0 0 0 0 0 0

1877 -0.77 -146.0 251.6 -12.2 233 1881 0.12 1.12 0.00 0.000 4 0.177 0.063 2167 1812 3085 0 0 0 0 0 0

1922 -0.77 -146.0 256.5 -10.8 237 1926 0.00 1.23 0.00 0.000 6 0.000 0.073 2165 2510 3085 0 0 0 0 0 0

2150 -0.77 -146.0 278.8 -9.9 258 2153 0.00 1.15 0.00 0.000 4 0.000 0.083 2159 3214 3084 0 0 0 0 0 0

2319 -0.77 -146.0 296.2 -10.5 273 2323 0.00 1.15 0.00 0.000 6 0.000 0.052 2159 2505 3084 0 0 0 0 0 0

2545 -0.77 -146.0 320.0 -10.9 294 2549 0.00 1.12 0.00 0.000 4 0.000 0.063 2159 1808 3084 0 0 0 0 0 0

2613 -0.77 -146.0 327.3 -10.7 300 2616 0.00 1.23 0.00 0.000 6 0.000 0.071 2154 2509 3084 0 0 0 0 0 0

2837 -0.77 -146.0 351.8 -10.7 321 2841 0.00 1.15 0.00 0.000 4 0.000 0.081 2151 3217 3084 0 0 0 0 0 0

2920 -0.77 -146.0 360.4 -10.8 328 2927 0.00 1.15 0.00 0.000 6 0.000 0.050 2151 2501 3084 0 0 0 0 0 0

3139 -0.77 -146.0 385.1 -11.0 349 3143 0.00 1.23 0.00 0.000 4 0.000 0.080 2146 3223 3084 0 0 0 0 0 0

3206 -0.77 -146.0 392.7 -11.5 355 3210 0.00 1.15 0.00 0.000 6 0.000 0.050 2146 2510 3084 0 0 0 0 0 0

3432 -0.77 -146.0 417.5 -11.2 376 3433 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2509 3084 0 0 0 0 0 0

3643 -0.77 -146.0 440.3 -10.9 396 3647 0.00 1.20 0.00 0.000 4 0.000 0.081 2141 3216 3084 0 0 0 0 0 0

3759 -0.77 -146.0 452.7 -11.2 406 3766 0.00 1.12 0.00 0.000 6 0.000 0.051 2141 2511 3084 0 0 0 0 0 0

3978 -0.77 -146.0 477.3 -10.9 427 3982 0.00 1.12 0.00 0.000 4 0.000 0.062 2141 1810 3084 0 0 0 0 0 0

4027 -0.77 -146.0 482.4 -11.3 431 4034 0.00 1.23 0.00 0.000 6 0.000 0.069 2138 2517 3084 0 0 0 0 0 0

4247 -0.77 -146.0 506.6 -11.0 452 4251 0.12 1.12 0.00 0.000 4 0.181 0.083 2164 3213 3084 0 0 0 0 0 0

4269 end dive: TARGET_DEPTH_EXCEEDED

state 4269 begin apogee

4276 -0.16 0.0 509.3 -11.5 454 4401 0.60 0.00 118.03 1.198 6 0.140 0.000 2357 2190 2484 0 0 0 0 0 0

4402 end apogee: CONTROL_FINISHED_OK

state 4402 begin climb

4404 0.77 146.0 515.1 0.0 465 4539 0.88 1.25 125.07 1.159 4 0.057 0.069 2669 1497 1887 0 0 0 0 0 0

4669 0.77 146.0 497.6 12.9 489 4672 0.00 1.25 0.00 0.000 6 0.000 0.061 2669 2201 1880 0 0 0 0 0 0

4895 0.77 146.0 468.5 13.0 510 4896 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2201 1877 0 0 0 0 0 0

5105 0.77 146.0 441.0 12.7 530 5108 0.00 1.23 0.00 0.000 4 0.000 0.065 2674 1495 1876 0 0 0 0 0 0

5207 0.77 146.0 427.7 13.4 539 5211 0.00 1.23 0.00 0.000 6 0.000 0.062 2674 2205 1876 0 0 0 0 0 0

5433 0.77 146.0 399.6 12.0 560 5437 0.00 1.17 0.00 0.000 4 0.000 0.071 2674 2902 1875 0 0 0 0 0 0

5445 0.77 146.0 398.0 12.0 561 5448 0.00 1.20 0.00 0.000 6 0.000 0.056 2679 2205 1875 0 0 0 0 0 0

5671 0.77 146.0 370.6 12.2 582 5675 0.00 1.25 0.00 0.000 4 0.000 0.069 2679 2914 1875 0 0 0 0 0 0

5715 0.77 146.0 364.7 12.8 586 5719 0.00 1.23 0.00 0.000 6 0.000 0.058 2683 2200 1875 0 0 0 0 0 0

5941 0.77 146.0 336.6 12.0 607 5945 0.00 1.15 0.00 0.000 4 0.000 0.068 2689 1492 1874 0 0 0 0 0 0

6092 0.77 146.0 318.8 11.9 620 6098 0.00 1.20 0.00 0.000 6 0.000 0.063 2689 2199 1874 0 0 0 0 0 0

6311 0.77 146.0 292.6 10.9 641 6314 0.00 1.20 0.00 0.000 4 0.000 0.066 2693 1493 1875 0 0 0 0 0 0

6400 0.77 146.0 282.9 10.8 649 6404 0.10 1.20 0.00 0.000 6 0.181 0.063 2665 2203 1874 0 0 0 0 0 0

6626 0.78 154.2 261.1 9.6 670 6641 0.00 1.17 5.80 0.886 4 0.000 0.062 2669 1493 1855 0 0 0 0 0 0

6835 0.78 154.2 240.9 10.1 688 6842 0.00 1.20 0.00 0.000 6 0.000 0.063 2669 2203 1855 0 0 0 0 0 0

7055 0.78 154.2 216.7 11.3 709 7058 0.00 1.20 0.00 0.000 4 0.000 0.067 2674 1490 1855 0 0 0 0 0 0

7144 0.78 154.2 206.9 10.7 717 7148 0.00 1.20 0.00 0.000 6 0.000 0.064 2674 2201 1855 0 0 0 0 0 0

7368 0.78 154.2 183.2 10.5 738 7370 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2201 1854 0 0 0 0 0 0

7581 0.78 154.2 160.8 10.1 758 7585 0.00 1.17 0.00 0.000 4 0.000 0.067 2679 1497 1854 0 0 0 0 0 0

7630 0.78 154.2 156.3 10.0 762 7639 0.00 1.20 0.00 0.000 6 0.000 0.063 2678 2205 1855 0 0 0 0 0 0

7851 0.80 169.2 134.3 9.3 783 7874 0.00 1.25 13.93 0.964 4 0.000 0.067 2683 1492 1795 0 0 0 0 0 0

7958 0.80 171.0 124.3 9.9 792 7965 0.00 1.20 0.00 0.000 6 0.000 0.063 2683 2199 1793 0 0 0 0 0 0

8178 0.83 196.0 102.9 8.9 813 8206 0.00 1.23 23.10 0.955 4 0.000 0.067 2688 1497 1686 0 0 0 0 0 0

8298 0.83 196.0 91.3 10.2 831 8305 0.00 1.20 0.00 0.000 6 0.000 0.063 2688 2197 1682 0 0 0 0 0 0

8503 0.83 196.0 68.9 11.6 868 8509 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2197 1681 0 0 0 0 0 0

8707 0.86 223.6 45.6 8.7 905 8735 0.00 1.17 23.48 0.923 4 0.000 0.065 2692 1497 1572 0 0 0 0 0 0

8969 0.92 267.2 21.6 8.0 951 8996 0.00 1.20 24.08 0.855 6 0.000 0.064 2692 2196 1395 0 0 0 0 0 0

9173 end climb: SURFACE_DEPTH_REACHED

state 9173 begin surface coast

9190 end surface coast: CONTROL_FINISHED_OK

state 9190 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	24	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	32	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	750	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	420	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	27	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	19	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	250	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	300	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	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	-80448.047	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	2415	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	1	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	091011,104302,6633.626,-6018.688,33,0.8,34,-33.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091011,104744,6633.613,-6018.591,15,1.8,15,-33.7	MHEAD_RNG_PITCHd_Wd	143.5,161523,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	509

FINISH	1.2,1.023647	_24V_AH	23.2,4.275
SM_CCo	9206,70.90,0.086,0,0,772,420.20	_10V_AH	10.3,3.981
SM_GC	2.21,7.28,0.57,70.90,0.063,0.075,0.086,129,2517,772,-7.10,-0.45,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	595	FG_AHR_10Vo	0.000
RAFOS	0,1318161663,12.033333,12.017500,65,62,54,0,0,0,210,194,175,0,0,0	MEM	150408
RAFOS_FIX	6634.957520,-6012.986816,091011,121255,5,78,0.76	DATA_FILE_SIZE	36759,990
IRIDIUM_FIX	6604.29,-6012.63,091011,080838	CAP_FILE_SIZE	119030,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,246472704
HUMID	57.99	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.78553	SOUNDSPEED	1452.2
TCM_TEMP	16.30	CURRENT	0.307,324.9,1
XPDR_PINGS	16	GPS	091011,132435,6634.158,-6017.563,37,0.9,37,-33.7
ALTIM_BOTTOM_PING	401.2,123.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	274	114.37	SBE_CT	714	23	385.13
Roll_motor	60	91	127.83	SBE_O2	699	5	85.06
VBD_pump_during_apogee	333	1197	9268.39	nil	0	0	0.00
VBD_pump_during_surface	70	85	140.93	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	178	248	1031.43	nil	0	0	0.00
Transponder_ping	5	420	51.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	26	4.73
TT8	2732	18	526.58
LPSleep	4214	2	100.28
TT8_Active	540	18	104.20
TT8_Sampling	1913	41	826.50
TT8_CF8	186	47	92.21
TT8_Kalman	0	0	0.00
Analog_circuits	1662	12	205.49
GPS_charging	0	0	0.00
Compass	1717	6	119.23
RAFOS	2520	1	38.93
Transponder	12	30	3.81

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
17	-0.77	-146.0	0.0	0.0	0	117	0.00	0.00	-97.43	0.000	2	0.000	0.000	122	2514	2170	0	0	0	0	0	0
120	-0.77	-146.0	3.2	-2.8	16	169	8.85	1.25	-30.90	0.000	4	0.275	0.091	2159	1808	3083	0	0	0	0	0	0
417	-0.77	-146.0	47.6	-13.8	68	424	0.00	1.25	0.00	0.000	6	0.000	0.073	2156	2513	3085	0	0	0	0	0	0
624	-0.77	-146.0	77.4	-14.2	105	633	0.00	1.15	0.00	0.000	4	0.000	0.085	2151	3210	3085	0	0	0	0	0	0
723	-0.77	-146.0	91.9	-14.8	122	730	0.00	1.15	0.00	0.000	6	0.000	0.054	2151	2509	3085	0	0	0	0	0	0
931	-0.77	-146.0	121.2	-14.1	146	935	0.00	1.15	0.00	0.000	4	0.000	0.063	2151	1804	3085	0	0	0	0	0	0
978	-0.77	-146.0	127.8	-13.7	150	982	0.00	1.25	0.00	0.000	6	0.000	0.073	2146	2513	3085	0	0	0	0	0	0
1204	-0.77	-146.0	159.1	-14.1	171	1208	0.00	1.15	0.00	0.000	4	0.000	0.085	2141	3213	3085	0	0	0	0	0	0
1366	-0.77	-146.0	182.2	-14.3	185	1375	0.00	1.15	0.00	0.000	6	0.000	0.055	2141	2510	3085	0	0	0	0	0	0
1586	-0.77	-146.0	213.7	-14.1	206	1590	0.00	1.20	0.00	0.000	4	0.000	0.083	2137	3210	3085	0	0	0	0	0	0
1658	-0.77	-146.0	223.0	-13.3	212	1665	0.00	1.15	0.00	0.000	6	0.000	0.054	2137	2506	3085	0	0	0	0	0	0
1877	-0.77	-146.0	251.6	-12.2	233	1881	0.12	1.12	0.00	0.000	4	0.177	0.063	2167	1812	3085	0	0	0	0	0	0
1922	-0.77	-146.0	256.5	-10.8	237	1926	0.00	1.23	0.00	0.000	6	0.000	0.073	2165	2510	3085	0	0	0	0	0	0
2150	-0.77	-146.0	278.8	-9.9	258	2153	0.00	1.15	0.00	0.000	4	0.000	0.083	2159	3214	3084	0	0	0	0	0	0
2319	-0.77	-146.0	296.2	-10.5	273	2323	0.00	1.15	0.00	0.000	6	0.000	0.052	2159	2505	3084	0	0	0	0	0	0
2545	-0.77	-146.0	320.0	-10.9	294	2549	0.00	1.12	0.00	0.000	4	0.000	0.063	2159	1808	3084	0	0	0	0	0	0
2613	-0.77	-146.0	327.3	-10.7	300	2616	0.00	1.23	0.00	0.000	6	0.000	0.071	2154	2509	3084	0	0	0	0	0	0
2837	-0.77	-146.0	351.8	-10.7	321	2841	0.00	1.15	0.00	0.000	4	0.000	0.081	2151	3217	3084	0	0	0	0	0	0
2920	-0.77	-146.0	360.4	-10.8	328	2927	0.00	1.15	0.00	0.000	6	0.000	0.050	2151	2501	3084	0	0	0	0	0	0
3139	-0.77	-146.0	385.1	-11.0	349	3143	0.00	1.23	0.00	0.000	4	0.000	0.080	2146	3223	3084	0	0	0	0	0	0
3206	-0.77	-146.0	392.7	-11.5	355	3210	0.00	1.15	0.00	0.000	6	0.000	0.050	2146	2510	3084	0	0	0	0	0	0
3432	-0.77	-146.0	417.5	-11.2	376	3433	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2509	3084	0	0	0	0	0	0
3643	-0.77	-146.0	440.3	-10.9	396	3647	0.00	1.20	0.00	0.000	4	0.000	0.081	2141	3216	3084	0	0	0	0	0	0
3759	-0.77	-146.0	452.7	-11.2	406	3766	0.00	1.12	0.00	0.000	6	0.000	0.051	2141	2511	3084	0	0	0	0	0	0
3978	-0.77	-146.0	477.3	-10.9	427	3982	0.00	1.12	0.00	0.000	4	0.000	0.062	2141	1810	3084	0	0	0	0	0	0
4027	-0.77	-146.0	482.4	-11.3	431	4034	0.00	1.23	0.00	0.000	6	0.000	0.069	2138	2517	3084	0	0	0	0	0	0
4247	-0.77	-146.0	506.6	-11.0	452	4251	0.12	1.12	0.00	0.000	4	0.181	0.083	2164	3213	3084	0	0	0	0	0	0
4269	end dive: TARGET_DEPTH_EXCEEDED
state	4269	begin apogee
4276	-0.16	0.0	509.3	-11.5	454	4401	0.60	0.00	118.03	1.198	6	0.140	0.000	2357	2190	2484	0	0	0	0	0	0
4402	end apogee: CONTROL_FINISHED_OK
state	4402	begin climb
4404	0.77	146.0	515.1	0.0	465	4539	0.88	1.25	125.07	1.159	4	0.057	0.069	2669	1497	1887	0	0	0	0	0	0
4669	0.77	146.0	497.6	12.9	489	4672	0.00	1.25	0.00	0.000	6	0.000	0.061	2669	2201	1880	0	0	0	0	0	0
4895	0.77	146.0	468.5	13.0	510	4896	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2201	1877	0	0	0	0	0	0
5105	0.77	146.0	441.0	12.7	530	5108	0.00	1.23	0.00	0.000	4	0.000	0.065	2674	1495	1876	0	0	0	0	0	0
5207	0.77	146.0	427.7	13.4	539	5211	0.00	1.23	0.00	0.000	6	0.000	0.062	2674	2205	1876	0	0	0	0	0	0
5433	0.77	146.0	399.6	12.0	560	5437	0.00	1.17	0.00	0.000	4	0.000	0.071	2674	2902	1875	0	0	0	0	0	0
5445	0.77	146.0	398.0	12.0	561	5448	0.00	1.20	0.00	0.000	6	0.000	0.056	2679	2205	1875	0	0	0	0	0	0
5671	0.77	146.0	370.6	12.2	582	5675	0.00	1.25	0.00	0.000	4	0.000	0.069	2679	2914	1875	0	0	0	0	0	0
5715	0.77	146.0	364.7	12.8	586	5719	0.00	1.23	0.00	0.000	6	0.000	0.058	2683	2200	1875	0	0	0	0	0	0
5941	0.77	146.0	336.6	12.0	607	5945	0.00	1.15	0.00	0.000	4	0.000	0.068	2689	1492	1874	0	0	0	0	0	0
6092	0.77	146.0	318.8	11.9	620	6098	0.00	1.20	0.00	0.000	6	0.000	0.063	2689	2199	1874	0	0	0	0	0	0
6311	0.77	146.0	292.6	10.9	641	6314	0.00	1.20	0.00	0.000	4	0.000	0.066	2693	1493	1875	0	0	0	0	0	0
6400	0.77	146.0	282.9	10.8	649	6404	0.10	1.20	0.00	0.000	6	0.181	0.063	2665	2203	1874	0	0	0	0	0	0
6626	0.78	154.2	261.1	9.6	670	6641	0.00	1.17	5.80	0.886	4	0.000	0.062	2669	1493	1855	0	0	0	0	0	0
6835	0.78	154.2	240.9	10.1	688	6842	0.00	1.20	0.00	0.000	6	0.000	0.063	2669	2203	1855	0	0	0	0	0	0
7055	0.78	154.2	216.7	11.3	709	7058	0.00	1.20	0.00	0.000	4	0.000	0.067	2674	1490	1855	0	0	0	0	0	0
7144	0.78	154.2	206.9	10.7	717	7148	0.00	1.20	0.00	0.000	6	0.000	0.064	2674	2201	1855	0	0	0	0	0	0
7368	0.78	154.2	183.2	10.5	738	7370	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2201	1854	0	0	0	0	0	0
7581	0.78	154.2	160.8	10.1	758	7585	0.00	1.17	0.00	0.000	4	0.000	0.067	2679	1497	1854	0	0	0	0	0	0
7630	0.78	154.2	156.3	10.0	762	7639	0.00	1.20	0.00	0.000	6	0.000	0.063	2678	2205	1855	0	0	0	0	0	0
7851	0.80	169.2	134.3	9.3	783	7874	0.00	1.25	13.93	0.964	4	0.000	0.067	2683	1492	1795	0	0	0	0	0	0
7958	0.80	171.0	124.3	9.9	792	7965	0.00	1.20	0.00	0.000	6	0.000	0.063	2683	2199	1793	0	0	0	0	0	0
8178	0.83	196.0	102.9	8.9	813	8206	0.00	1.23	23.10	0.955	4	0.000	0.067	2688	1497	1686	0	0	0	0	0	0
8298	0.83	196.0	91.3	10.2	831	8305	0.00	1.20	0.00	0.000	6	0.000	0.063	2688	2197	1682	0	0	0	0	0	0
8503	0.83	196.0	68.9	11.6	868	8509	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2197	1681	0	0	0	0	0	0
8707	0.86	223.6	45.6	8.7	905	8735	0.00	1.17	23.48	0.923	4	0.000	0.065	2692	1497	1572	0	0	0	0	0	0
8969	0.92	267.2	21.6	8.0	951	8996	0.00	1.20	24.08	0.855	6	0.000	0.064	2692	2196	1395	0	0	0	0	0	0
9173	end climb: SURFACE_DEPTH_REACHED
state	9173	begin surface coast
9190	end surface coast: CONTROL_FINISHED_OK
state	9190	begin surface