Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 36 * 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 36 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 40 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 19 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 20 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 -80498.078 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 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 -80498.078

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 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 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 19 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 20 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 36 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 40 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 101011,190506,6631.582,-6003.137,29,1.0,29,-33.6 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 2.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101011,190948,6631.553,-6003.148,19,0.8,19,-33.6 MHEAD_RNG_PITCHd_Wd 60.1,152486,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 551

Post-dive calculations and measurements:

FINISH 1.3,1.024337 _24V_AH 23.2,5.534

SM_CCo 9688,53.20,0.086,0,0,771,420.20 _10V_AH 10.3,4.885

SM_GC 2.23,7.07,0.62,53.20,0.057,0.063,0.086,124,2520,771,-7.06,-0.48,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 632 FG_AHR_10Vo 0.000

RAFOS 0,1318276869,20.033333,20.019167,83,67,55,0,0,0,624,193,210,0,0,0 MEM 150408

RAFOS_FIX 6633.846680,-6000.985352,101011,202031,5,80,0.97 DATA_FILE_SIZE 40055,1029

IRIDIUM_FIX 6604.29,-6010.62,101011,161648 CAP_FILE_SIZE 123240,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,245694464

HUMID 57.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.78553 SOUNDSPEED 1455.0

TCM_TEMP 16.30 CURRENT 0.170,204.7,1

XPDR_PINGS 17 GPS 101011,215423,6631.907,-6001.914,40,0.9,40,-33.6

ALTIM_BOTTOM_PING 450.5,112.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 275 114.21 SBE_CT 737 23 397.21

Roll_motor 60 105 147.26 SBE_O2 734 5 89.23

VBD_pump_during_apogee 346 1217 9786.06 nil 0 0 0.00

VBD_pump_during_surface 53 86 106.69 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 172 255 1022.65 nil 0 0 0.00

Transponder_ping 5 420 53.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.66

TT8 2819 18 543.26

LPSleep 4532 2 107.85

TT8_Active 519 18 100.06

TT8_Sampling 1978 41 854.60

TT8_CF8 197 47 97.58

TT8_Kalman 0 0 0.00

Analog_circuits 1670 12 206.44

GPS_charging 0 0 0.00

Compass 1787 6 124.07

RAFOS 2520 1 38.93

Transponder 11 30 3.41

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 -0.77 -146.0 0.0 0.0 0 114 0.00 0.00 -95.43 0.000 2 0.000 0.000 121 2502 2156 0 0 0 0 0 0

117 -0.77 -146.0 3.4 -3.1 16 160 8.98 1.27 -30.02 0.000 4 0.275 0.106 2139 3223 3083 0 0 0 0 0 0

408 -0.77 -146.0 56.5 -16.3 67 415 0.00 1.17 0.00 0.000 6 0.000 0.046 2139 2499 3084 0 0 0 0 0 0

617 -0.77 -146.0 91.1 -15.8 104 623 0.00 1.23 0.00 0.000 4 0.000 0.076 2134 3213 3085 0 0 0 0 0 0

752 -0.77 -146.0 113.8 -16.7 121 755 0.00 1.15 0.00 0.000 6 0.000 0.047 2134 2502 3085 0 0 0 0 0 0

978 -0.77 -146.0 148.9 -15.4 142 981 0.00 1.23 0.00 0.000 4 0.000 0.077 2130 3216 3085 0 0 0 0 0 0

1069 -0.77 -146.0 162.7 -14.8 150 1073 0.00 1.15 0.00 0.000 6 0.000 0.048 2130 2503 3085 0 0 0 0 0 0

1294 -0.77 -146.0 195.7 -14.4 171 1298 0.00 1.23 0.00 0.000 4 0.000 0.078 2125 3219 3085 0 0 0 0 0 0

1361 -0.77 -146.0 205.4 -14.4 177 1365 0.00 1.15 0.00 0.000 6 0.000 0.047 2125 2504 3085 0 0 0 0 0 0

1587 -0.77 -146.0 237.0 -14.0 198 1591 0.00 1.10 0.00 0.000 4 0.000 0.057 2125 1815 3085 0 0 0 0 0 0

1599 -0.77 -146.0 238.9 -14.0 199 1604 0.10 1.23 0.00 0.000 6 0.177 0.068 2148 2514 3085 0 0 0 0 0 0

1825 -0.77 -146.0 265.8 -11.9 220 1829 0.00 1.15 0.00 0.000 4 0.000 0.080 2145 3221 3084 0 0 0 0 0 0

1874 -0.77 -146.0 271.1 -11.5 224 1881 0.00 1.15 0.00 0.000 6 0.000 0.047 2145 2502 3084 0 0 0 0 0 0

2093 -0.77 -146.0 296.9 -11.7 245 2097 0.00 1.10 0.00 0.000 4 0.000 0.057 2145 1815 3084 0 0 0 0 0 0

2107 -0.77 -146.0 298.2 -11.4 246 2110 0.00 1.23 0.00 0.000 6 0.000 0.067 2140 2517 3084 0 0 0 0 0 0

2331 -0.77 -146.0 325.2 -12.0 267 2335 0.00 1.15 0.00 0.000 4 0.000 0.081 2135 3223 3084 0 0 0 0 0 0

2354 -0.77 -146.0 328.2 -12.2 269 2358 0.00 1.15 0.00 0.000 6 0.000 0.046 2135 2506 3084 0 0 0 0 0 0

2582 -0.77 -146.0 357.0 -13.1 290 2588 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2506 3084 0 0 0 0 0 0

2801 -0.77 -146.0 384.7 -12.3 311 2804 0.00 1.20 0.00 0.000 4 0.000 0.077 2130 3214 3084 0 0 0 0 0 0

2837 -0.77 -146.0 388.9 -12.2 314 2840 0.00 1.12 0.00 0.000 6 0.000 0.046 2130 2506 3084 0 0 0 0 0 0

3063 -0.77 -146.0 416.6 -12.4 335 3066 0.00 1.20 0.00 0.000 4 0.000 0.076 2125 3216 3084 0 0 0 0 0 0

3089 -0.77 -146.0 419.8 -12.4 337 3099 0.00 1.12 0.00 0.000 6 0.000 0.044 2125 2509 3084 0 0 0 0 0 0

3310 -0.77 -146.0 447.5 -12.6 358 3313 0.00 1.20 0.00 0.000 4 0.000 0.076 2120 3219 3084 0 0 0 0 0 0

3380 -0.77 -146.0 456.4 -12.6 364 3385 0.08 1.12 0.00 0.000 6 0.171 0.045 2143 2508 3084 0 0 0 0 0 0

3604 -0.77 -146.0 481.5 -11.2 385 3605 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2508 3084 0 0 0 0 0 0

3817 -0.77 -146.0 504.2 -10.5 405 3818 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2508 3084 0 0 0 0 0 0

4029 -0.77 -146.0 526.6 -10.4 425 4032 0.00 1.20 0.00 0.000 4 0.000 0.076 2140 3220 3084 0 0 0 0 0 0

4087 -0.77 -146.0 532.8 -11.0 430 4090 0.00 1.12 0.00 0.000 6 0.000 0.045 2140 2506 3084 0 0 0 0 0 0

4236 end dive: BOTTOM_OBSTACLE_DETECTED

state 4236 begin apogee

4242 -0.16 0.0 549.5 -11.1 444 4368 0.62 0.00 118.35 1.218 6 0.142 0.000 2340 2192 2485 0 0 0 0 0 0

4369 end apogee: CONTROL_FINISHED_OK

state 4369 begin climb

4371 0.77 146.0 554.1 0.0 455 4508 0.93 1.15 125.55 1.185 4 0.074 0.061 2653 1502 1887 0 0 0 0 0 0

4756 0.77 146.0 520.1 12.9 489 4764 0.00 1.25 0.00 0.000 6 0.000 0.060 2653 2211 1879 0 0 0 0 0 0

4978 0.77 146.0 492.7 12.0 510 4981 0.00 1.20 0.00 0.000 4 0.000 0.070 2653 2912 1877 0 0 0 0 0 0

5023 0.77 146.0 486.7 12.6 514 5026 0.00 1.23 0.00 0.000 6 0.000 0.053 2658 2203 1876 0 0 0 0 0 0

5247 0.77 146.0 460.3 11.5 535 5251 0.00 1.15 0.00 0.000 4 0.000 0.063 2663 1494 1875 0 0 0 0 0 0

5429 0.77 146.0 439.8 11.5 551 5436 0.00 1.20 0.00 0.000 6 0.000 0.061 2663 2197 1876 0 0 0 0 0 0

5649 0.77 146.0 414.3 11.3 572 5652 0.00 1.20 0.00 0.000 4 0.000 0.069 2663 2915 1875 0 0 0 0 0 0

5738 0.77 146.0 403.9 11.8 580 5742 0.00 1.23 0.00 0.000 6 0.000 0.052 2668 2191 1874 0 0 0 0 0 0

5964 0.77 146.0 377.9 11.3 601 5968 0.00 1.12 0.00 0.000 4 0.000 0.063 2673 1492 1874 0 0 0 0 0 0

6100 0.77 146.0 362.5 11.2 613 6104 0.00 1.20 0.00 0.000 6 0.000 0.062 2673 2200 1874 0 0 0 0 0 0

6325 0.77 146.0 335.9 11.4 634 6326 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2200 1874 0 0 0 0 0 0

6537 0.77 146.0 312.7 11.1 654 6541 0.00 1.17 0.00 0.000 4 0.000 0.062 2678 1497 1874 0 0 0 0 0 0

6773 0.77 146.0 287.0 10.4 675 6777 0.10 1.17 0.00 0.000 6 0.174 0.063 2650 2198 1874 0 0 0 0 0 0

6999 0.77 151.0 265.2 9.8 696 7002 0.00 1.17 0.00 0.000 4 0.000 0.070 2649 2915 1874 0 0 0 0 0 0

7032 0.77 151.0 261.5 10.3 699 7036 0.00 1.20 0.00 0.000 6 0.000 0.052 2653 2197 1874 0 0 0 0 0 0

7257 0.79 161.3 239.5 9.5 720 7273 0.00 1.15 11.65 0.985 4 0.000 0.065 2657 1496 1827 0 0 0 0 0 0

7441 0.79 161.3 219.8 11.3 736 7445 0.00 1.20 0.00 0.000 6 0.000 0.061 2658 2206 1825 0 0 0 0 0 0

7667 0.79 161.3 194.3 11.8 757 7668 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2206 1825 0 0 0 0 0 0

7879 0.79 161.3 169.6 12.0 777 7882 0.00 1.17 0.00 0.000 4 0.000 0.062 2663 1497 1825 0 0 0 0 0 0

8085 0.80 169.2 148.6 9.6 795 8096 0.00 1.17 7.97 0.913 6 0.000 0.061 2663 2197 1794 0 0 0 0 0 0

8311 0.82 188.8 127.2 9.1 816 8336 0.00 1.20 17.62 0.954 4 0.000 0.071 2662 2904 1714 0 0 0 0 0 0

8427 0.82 188.8 115.6 10.3 826 8431 0.00 1.20 0.00 0.000 6 0.000 0.054 2667 2200 1712 0 0 0 0 0 0

8650 0.84 202.4 94.6 9.4 851 8665 0.00 0.00 12.62 0.921 6 0.000 0.000 2667 2200 1659 0 0 0 0 0 0

8867 0.84 202.4 72.8 10.4 889 8874 0.00 1.23 0.00 0.000 4 0.000 0.069 2668 2900 1655 0 0 0 0 0 0

8930 0.84 202.4 65.8 10.8 900 8939 0.00 1.20 0.00 0.000 6 0.000 0.053 2672 2194 1656 0 0 0 0 0 0

9139 0.84 202.4 45.3 10.0 937 9145 0.00 1.10 0.00 0.000 4 0.000 0.065 2678 1499 1655 0 0 0 0 0 0

9309 0.85 210.5 29.5 9.6 967 9324 0.00 1.20 6.22 0.826 6 0.000 0.063 2678 2205 1625 0 0 0 0 0 0

9527 0.96 302.9 13.9 5.8 1005 9579 0.00 1.20 46.35 0.109 4 0.000 0.069 2678 2908 1249 0 0 0 0 0 0

9630 0.96 302.9 4.7 10.7 1022 9637 0.00 1.20 0.00 0.000 6 0.000 0.047 2682 2191 1243 0 0 0 0 0 0

9652 end climb: SURFACE_DEPTH_REACHED

state 9652 begin surface coast

9671 end surface coast: CONTROL_FINISHED_OK

state 9671 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	36	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	40	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	19	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	20	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	-80498.078	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	101011,190506,6631.582,-6003.137,29,1.0,29,-33.6	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	2.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101011,190948,6631.553,-6003.148,19,0.8,19,-33.6	MHEAD_RNG_PITCHd_Wd	60.1,152486,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	551

FINISH	1.3,1.024337	_24V_AH	23.2,5.534
SM_CCo	9688,53.20,0.086,0,0,771,420.20	_10V_AH	10.3,4.885
SM_GC	2.23,7.07,0.62,53.20,0.057,0.063,0.086,124,2520,771,-7.06,-0.48,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	632	FG_AHR_10Vo	0.000
RAFOS	0,1318276869,20.033333,20.019167,83,67,55,0,0,0,624,193,210,0,0,0	MEM	150408
RAFOS_FIX	6633.846680,-6000.985352,101011,202031,5,80,0.97	DATA_FILE_SIZE	40055,1029
IRIDIUM_FIX	6604.29,-6010.62,101011,161648	CAP_FILE_SIZE	123240,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,245694464
HUMID	57.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.78553	SOUNDSPEED	1455.0
TCM_TEMP	16.30	CURRENT	0.170,204.7,1
XPDR_PINGS	17	GPS	101011,215423,6631.907,-6001.914,40,0.9,40,-33.6
ALTIM_BOTTOM_PING	450.5,112.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	275	114.21	SBE_CT	737	23	397.21
Roll_motor	60	105	147.26	SBE_O2	734	5	89.23
VBD_pump_during_apogee	346	1217	9786.06	nil	0	0	0.00
VBD_pump_during_surface	53	86	106.69	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	172	255	1022.65	nil	0	0	0.00
Transponder_ping	5	420	53.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.66
TT8	2819	18	543.26
LPSleep	4532	2	107.85
TT8_Active	519	18	100.06
TT8_Sampling	1978	41	854.60
TT8_CF8	197	47	97.58
TT8_Kalman	0	0	0.00
Analog_circuits	1670	12	206.44
GPS_charging	0	0	0.00
Compass	1787	6	124.07
RAFOS	2520	1	38.93
Transponder	11	30	3.41

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	-0.77	-146.0	0.0	0.0	0	114	0.00	0.00	-95.43	0.000	2	0.000	0.000	121	2502	2156	0	0	0	0	0	0
117	-0.77	-146.0	3.4	-3.1	16	160	8.98	1.27	-30.02	0.000	4	0.275	0.106	2139	3223	3083	0	0	0	0	0	0
408	-0.77	-146.0	56.5	-16.3	67	415	0.00	1.17	0.00	0.000	6	0.000	0.046	2139	2499	3084	0	0	0	0	0	0
617	-0.77	-146.0	91.1	-15.8	104	623	0.00	1.23	0.00	0.000	4	0.000	0.076	2134	3213	3085	0	0	0	0	0	0
752	-0.77	-146.0	113.8	-16.7	121	755	0.00	1.15	0.00	0.000	6	0.000	0.047	2134	2502	3085	0	0	0	0	0	0
978	-0.77	-146.0	148.9	-15.4	142	981	0.00	1.23	0.00	0.000	4	0.000	0.077	2130	3216	3085	0	0	0	0	0	0
1069	-0.77	-146.0	162.7	-14.8	150	1073	0.00	1.15	0.00	0.000	6	0.000	0.048	2130	2503	3085	0	0	0	0	0	0
1294	-0.77	-146.0	195.7	-14.4	171	1298	0.00	1.23	0.00	0.000	4	0.000	0.078	2125	3219	3085	0	0	0	0	0	0
1361	-0.77	-146.0	205.4	-14.4	177	1365	0.00	1.15	0.00	0.000	6	0.000	0.047	2125	2504	3085	0	0	0	0	0	0
1587	-0.77	-146.0	237.0	-14.0	198	1591	0.00	1.10	0.00	0.000	4	0.000	0.057	2125	1815	3085	0	0	0	0	0	0
1599	-0.77	-146.0	238.9	-14.0	199	1604	0.10	1.23	0.00	0.000	6	0.177	0.068	2148	2514	3085	0	0	0	0	0	0
1825	-0.77	-146.0	265.8	-11.9	220	1829	0.00	1.15	0.00	0.000	4	0.000	0.080	2145	3221	3084	0	0	0	0	0	0
1874	-0.77	-146.0	271.1	-11.5	224	1881	0.00	1.15	0.00	0.000	6	0.000	0.047	2145	2502	3084	0	0	0	0	0	0
2093	-0.77	-146.0	296.9	-11.7	245	2097	0.00	1.10	0.00	0.000	4	0.000	0.057	2145	1815	3084	0	0	0	0	0	0
2107	-0.77	-146.0	298.2	-11.4	246	2110	0.00	1.23	0.00	0.000	6	0.000	0.067	2140	2517	3084	0	0	0	0	0	0
2331	-0.77	-146.0	325.2	-12.0	267	2335	0.00	1.15	0.00	0.000	4	0.000	0.081	2135	3223	3084	0	0	0	0	0	0
2354	-0.77	-146.0	328.2	-12.2	269	2358	0.00	1.15	0.00	0.000	6	0.000	0.046	2135	2506	3084	0	0	0	0	0	0
2582	-0.77	-146.0	357.0	-13.1	290	2588	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2506	3084	0	0	0	0	0	0
2801	-0.77	-146.0	384.7	-12.3	311	2804	0.00	1.20	0.00	0.000	4	0.000	0.077	2130	3214	3084	0	0	0	0	0	0
2837	-0.77	-146.0	388.9	-12.2	314	2840	0.00	1.12	0.00	0.000	6	0.000	0.046	2130	2506	3084	0	0	0	0	0	0
3063	-0.77	-146.0	416.6	-12.4	335	3066	0.00	1.20	0.00	0.000	4	0.000	0.076	2125	3216	3084	0	0	0	0	0	0
3089	-0.77	-146.0	419.8	-12.4	337	3099	0.00	1.12	0.00	0.000	6	0.000	0.044	2125	2509	3084	0	0	0	0	0	0
3310	-0.77	-146.0	447.5	-12.6	358	3313	0.00	1.20	0.00	0.000	4	0.000	0.076	2120	3219	3084	0	0	0	0	0	0
3380	-0.77	-146.0	456.4	-12.6	364	3385	0.08	1.12	0.00	0.000	6	0.171	0.045	2143	2508	3084	0	0	0	0	0	0
3604	-0.77	-146.0	481.5	-11.2	385	3605	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2508	3084	0	0	0	0	0	0
3817	-0.77	-146.0	504.2	-10.5	405	3818	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2508	3084	0	0	0	0	0	0
4029	-0.77	-146.0	526.6	-10.4	425	4032	0.00	1.20	0.00	0.000	4	0.000	0.076	2140	3220	3084	0	0	0	0	0	0
4087	-0.77	-146.0	532.8	-11.0	430	4090	0.00	1.12	0.00	0.000	6	0.000	0.045	2140	2506	3084	0	0	0	0	0	0
4236	end dive: BOTTOM_OBSTACLE_DETECTED
state	4236	begin apogee
4242	-0.16	0.0	549.5	-11.1	444	4368	0.62	0.00	118.35	1.218	6	0.142	0.000	2340	2192	2485	0	0	0	0	0	0
4369	end apogee: CONTROL_FINISHED_OK
state	4369	begin climb
4371	0.77	146.0	554.1	0.0	455	4508	0.93	1.15	125.55	1.185	4	0.074	0.061	2653	1502	1887	0	0	0	0	0	0
4756	0.77	146.0	520.1	12.9	489	4764	0.00	1.25	0.00	0.000	6	0.000	0.060	2653	2211	1879	0	0	0	0	0	0
4978	0.77	146.0	492.7	12.0	510	4981	0.00	1.20	0.00	0.000	4	0.000	0.070	2653	2912	1877	0	0	0	0	0	0
5023	0.77	146.0	486.7	12.6	514	5026	0.00	1.23	0.00	0.000	6	0.000	0.053	2658	2203	1876	0	0	0	0	0	0
5247	0.77	146.0	460.3	11.5	535	5251	0.00	1.15	0.00	0.000	4	0.000	0.063	2663	1494	1875	0	0	0	0	0	0
5429	0.77	146.0	439.8	11.5	551	5436	0.00	1.20	0.00	0.000	6	0.000	0.061	2663	2197	1876	0	0	0	0	0	0
5649	0.77	146.0	414.3	11.3	572	5652	0.00	1.20	0.00	0.000	4	0.000	0.069	2663	2915	1875	0	0	0	0	0	0
5738	0.77	146.0	403.9	11.8	580	5742	0.00	1.23	0.00	0.000	6	0.000	0.052	2668	2191	1874	0	0	0	0	0	0
5964	0.77	146.0	377.9	11.3	601	5968	0.00	1.12	0.00	0.000	4	0.000	0.063	2673	1492	1874	0	0	0	0	0	0
6100	0.77	146.0	362.5	11.2	613	6104	0.00	1.20	0.00	0.000	6	0.000	0.062	2673	2200	1874	0	0	0	0	0	0
6325	0.77	146.0	335.9	11.4	634	6326	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2200	1874	0	0	0	0	0	0
6537	0.77	146.0	312.7	11.1	654	6541	0.00	1.17	0.00	0.000	4	0.000	0.062	2678	1497	1874	0	0	0	0	0	0
6773	0.77	146.0	287.0	10.4	675	6777	0.10	1.17	0.00	0.000	6	0.174	0.063	2650	2198	1874	0	0	0	0	0	0
6999	0.77	151.0	265.2	9.8	696	7002	0.00	1.17	0.00	0.000	4	0.000	0.070	2649	2915	1874	0	0	0	0	0	0
7032	0.77	151.0	261.5	10.3	699	7036	0.00	1.20	0.00	0.000	6	0.000	0.052	2653	2197	1874	0	0	0	0	0	0
7257	0.79	161.3	239.5	9.5	720	7273	0.00	1.15	11.65	0.985	4	0.000	0.065	2657	1496	1827	0	0	0	0	0	0
7441	0.79	161.3	219.8	11.3	736	7445	0.00	1.20	0.00	0.000	6	0.000	0.061	2658	2206	1825	0	0	0	0	0	0
7667	0.79	161.3	194.3	11.8	757	7668	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2206	1825	0	0	0	0	0	0
7879	0.79	161.3	169.6	12.0	777	7882	0.00	1.17	0.00	0.000	4	0.000	0.062	2663	1497	1825	0	0	0	0	0	0
8085	0.80	169.2	148.6	9.6	795	8096	0.00	1.17	7.97	0.913	6	0.000	0.061	2663	2197	1794	0	0	0	0	0	0
8311	0.82	188.8	127.2	9.1	816	8336	0.00	1.20	17.62	0.954	4	0.000	0.071	2662	2904	1714	0	0	0	0	0	0
8427	0.82	188.8	115.6	10.3	826	8431	0.00	1.20	0.00	0.000	6	0.000	0.054	2667	2200	1712	0	0	0	0	0	0
8650	0.84	202.4	94.6	9.4	851	8665	0.00	0.00	12.62	0.921	6	0.000	0.000	2667	2200	1659	0	0	0	0	0	0
8867	0.84	202.4	72.8	10.4	889	8874	0.00	1.23	0.00	0.000	4	0.000	0.069	2668	2900	1655	0	0	0	0	0	0
8930	0.84	202.4	65.8	10.8	900	8939	0.00	1.20	0.00	0.000	6	0.000	0.053	2672	2194	1656	0	0	0	0	0	0
9139	0.84	202.4	45.3	10.0	937	9145	0.00	1.10	0.00	0.000	4	0.000	0.065	2678	1499	1655	0	0	0	0	0	0
9309	0.85	210.5	29.5	9.6	967	9324	0.00	1.20	6.22	0.826	6	0.000	0.063	2678	2205	1625	0	0	0	0	0	0
9527	0.96	302.9	13.9	5.8	1005	9579	0.00	1.20	46.35	0.109	4	0.000	0.069	2678	2908	1249	0	0	0	0	0	0
9630	0.96	302.9	4.7	10.7	1022	9637	0.00	1.20	0.00	0.000	6	0.000	0.047	2682	2191	1243	0	0	0	0	0	0
9652	end climb: SURFACE_DEPTH_REACHED
state	9652	begin surface coast
9671	end surface coast: CONTROL_FINISHED_OK
state	9671	begin surface