Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 37 * 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 37 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 32 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 23 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 -80499.336 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 -80499.336

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 32 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 23 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 37 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 101011,215423,6631.907,-6001.914,40,0.9,40,-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 2.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101011,215918,6631.954,-6001.879,17,1.0,17,-33.6 MHEAD_RNG_PITCHd_Wd 74.9,151355,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 561

Post-dive calculations and measurements:

FINISH 1.3,1.024447 _24V_AH 23.2,5.649

SM_CCo 9759,48.80,0.086,0,0,771,420.20 _10V_AH 10.2,4.962

SM_GC 2.27,7.30,0.57,48.80,0.060,0.074,0.086,120,2516,771,-7.08,-0.42,420.20,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 634 FG_AHR_10Vo 0.000

RAFOS 0,1318291269,0.033333,0.019167,107,69,65,0,0,0,625,224,170,0,0,0 MEM 150380

RAFOS_FIX 6633.785156,-5957.840332,111011,000012,5,86,0.54 DATA_FILE_SIZE 39980,1041

IRIDIUM_FIX 6604.29,-6000.56,101011,191944 CAP_FILE_SIZE 122651,0

TT8_MAMPS 0.028462,0.028462 CFSIZE 260165632,245633024

HUMID 56.97 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.7953 SOUNDSPEED 1455.0

TCM_TEMP 16.20 CURRENT 0.134,304.6,1

XPDR_PINGS 18 GPS 111011,004453,6633.500,-6000.136,37,0.8,37,-33.6

ALTIM_BOTTOM_PING 450.7,132.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 273 113.57 SBE_CT 746 23 402.05

Roll_motor 57 108 145.35 SBE_O2 740 5 90.06

VBD_pump_during_apogee 363 1232 10387.48 nil 0 0 0.00

VBD_pump_during_surface 48 85 97.00 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 185 255 1101.46 nil 0 0 0.00

Transponder_ping 6 420 58.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.12

TT8 2814 18 537.16

LPSleep 4606 2 108.54

TT8_Active 553 18 105.55

TT8_Sampling 1957 41 837.24

TT8_CF8 190 47 93.26

TT8_Kalman 0 0 0.00

Analog_circuits 1706 12 208.93

GPS_charging 0 0 0.00

Compass 1752 6 120.47

RAFOS 2160 1 33.05

Transponder 14 30 4.32

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.77 -146.0 0.0 0.0 0 110 0.00 0.00 -91.82 0.000 2 0.000 0.000 124 2523 2092 0 0 0 0 0 0

113 -0.77 -146.0 3.0 -1.4 15 162 8.80 1.17 -35.58 0.000 4 0.274 0.109 2144 3213 3083 0 0 0 0 0 0

400 -0.77 -146.0 53.2 -15.3 65 407 0.00 1.15 0.00 0.000 6 0.000 0.046 2144 2499 3085 0 0 0 0 0 0

605 -0.77 -146.0 84.7 -15.8 102 611 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2499 3085 0 0 0 0 0 0

806 -0.77 -146.0 114.2 -14.5 130 810 0.00 1.23 0.00 0.000 4 0.000 0.077 2139 3216 3085 0 0 0 0 0 0

878 -0.77 -146.0 123.9 -14.6 136 887 0.00 1.12 0.00 0.000 6 0.000 0.046 2139 2509 3085 0 0 0 0 0 0

1099 -0.77 -146.0 156.4 -14.9 157 1103 0.00 1.20 0.00 0.000 4 0.000 0.078 2135 3211 3085 0 0 0 0 0 0

1133 -0.77 -146.0 161.7 -14.8 160 1137 0.00 1.12 0.00 0.000 6 0.000 0.047 2135 2509 3085 0 0 0 0 0 0

1359 -0.77 -146.0 193.7 -14.0 181 1360 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2507 3085 0 0 0 0 0 0

1571 -0.77 -146.0 224.2 -14.0 201 1572 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2508 3085 0 0 0 0 0 0

1783 -0.77 -146.0 254.5 -14.0 221 1785 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2508 3085 0 0 0 0 0 0

1996 -0.77 -146.0 284.7 -14.0 241 1997 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2508 3085 0 0 0 0 0 0

2208 -0.77 -146.0 314.0 -13.4 261 2212 0.00 1.20 0.00 0.000 4 0.000 0.079 2130 3213 3084 0 0 0 0 0 0

2265 -0.77 -146.0 321.7 -13.6 266 2268 0.00 1.12 0.00 0.000 6 0.000 0.047 2130 2506 3084 0 0 0 0 0 0

2492 -0.77 -146.0 351.2 -12.7 287 2495 0.00 1.10 0.00 0.000 4 0.000 0.056 2130 1813 3084 0 0 0 0 0 0

2518 -0.77 -146.0 354.6 -13.1 289 2525 0.00 1.20 0.00 0.000 6 0.000 0.069 2125 2505 3084 0 0 0 0 0 0

2737 -0.77 -146.0 382.9 -12.5 310 2741 0.00 1.15 0.00 0.000 4 0.000 0.080 2120 3215 3084 0 0 0 0 0 0

2794 -0.77 -146.0 390.1 -12.7 315 2798 0.10 1.12 0.00 0.000 6 0.165 0.047 2149 2505 3084 0 0 0 0 0 0

3019 -0.77 -146.0 413.6 -9.8 336 3023 0.00 1.20 0.00 0.000 4 0.000 0.076 2147 3217 3084 0 0 0 0 0 0

3057 -0.77 -146.0 417.3 -10.2 339 3064 0.00 1.12 0.00 0.000 6 0.000 0.044 2146 2504 3084 0 0 0 0 0 0

3277 -0.77 -146.0 441.5 -10.4 360 3278 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2504 3085 0 0 0 0 0 0

3489 -0.77 -146.0 464.2 -10.8 380 3492 0.00 1.20 0.00 0.000 4 0.000 0.076 2142 3217 3084 0 0 0 0 0 0

3547 -0.77 -146.0 470.3 -11.0 385 3551 0.00 1.12 0.00 0.000 6 0.000 0.044 2142 2504 3084 0 0 0 0 0 0

3771 -0.77 -146.0 494.8 -10.9 406 3772 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2504 3084 0 0 0 0 0 0

3983 -0.77 -146.0 517.3 -10.7 426 3987 0.00 1.20 0.00 0.000 4 0.000 0.076 2137 3214 3084 0 0 0 0 0 0

4088 -0.77 -146.0 528.2 -11.4 435 4095 0.00 1.12 0.00 0.000 6 0.000 0.044 2137 2502 3084 0 0 0 0 0 0

4307 -0.77 -146.0 553.0 -11.0 456 4311 0.00 1.20 0.00 0.000 4 0.000 0.076 2132 3217 3085 0 0 0 0 0 0

4356 -0.77 -146.0 558.2 -11.5 460 4366 0.00 1.12 0.00 0.000 6 0.000 0.044 2132 2505 3084 0 0 0 0 0 0

4382 end dive: TARGET_DEPTH_EXCEEDED

state 4382 begin apogee

4388 -0.16 0.0 561.9 -11.5 463 4514 0.68 0.00 118.50 1.232 6 0.151 0.000 2343 2189 2485 0 0 0 0 0 0

4515 end apogee: CONTROL_FINISHED_OK

state 4515 begin climb

4517 0.77 146.0 566.4 0.0 474 4655 0.90 1.20 125.78 1.198 4 0.069 0.063 2653 1509 1888 0 0 0 0 0 0

4693 0.77 146.0 559.1 11.9 489 4700 0.00 1.25 0.00 0.000 6 0.000 0.060 2653 2202 1883 0 0 0 0 0 0

4913 0.77 146.0 530.2 13.3 510 4917 0.00 1.23 0.00 0.000 4 0.000 0.067 2653 2913 1879 0 0 0 0 0 0

5006 0.77 146.0 518.7 12.2 518 5013 0.00 1.23 0.00 0.000 6 0.000 0.047 2658 2204 1878 0 0 0 0 0 0

5226 0.77 146.0 489.6 12.9 539 5227 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2204 1877 0 0 0 0 0 0

5438 0.77 146.0 462.7 12.8 559 5441 0.00 1.15 0.00 0.000 4 0.000 0.062 2663 1495 1876 0 0 0 0 0 0

5494 0.77 146.0 455.7 12.6 564 5498 0.00 1.20 0.00 0.000 6 0.000 0.061 2663 2197 1876 0 0 0 0 0 0

5720 0.77 146.0 426.9 12.9 585 5724 0.00 1.17 0.00 0.000 4 0.000 0.060 2667 1499 1876 0 0 0 0 0 0

5792 0.77 146.0 417.7 13.5 591 5799 0.00 1.20 0.00 0.000 6 0.000 0.060 2668 2203 1875 0 0 0 0 0 0

6011 0.77 146.0 388.0 13.4 612 6015 0.00 1.17 0.00 0.000 4 0.000 0.068 2668 2909 1875 0 0 0 0 0 0

6056 0.77 146.0 381.8 13.5 616 6060 0.00 1.20 0.00 0.000 6 0.000 0.050 2673 2196 1875 0 0 0 0 0 0

6282 0.77 146.0 352.6 13.1 637 6286 0.00 1.12 0.00 0.000 4 0.000 0.063 2678 1492 1874 0 0 0 0 0 0

6429 0.77 146.0 334.2 12.5 650 6433 0.10 1.20 0.00 0.000 6 0.170 0.061 2650 2204 1874 0 0 0 0 0 0

6653 0.77 146.0 309.3 10.5 671 6654 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2204 1874 0 0 0 0 0 0

6866 0.78 155.5 288.1 9.6 691 6876 0.00 0.00 6.60 0.920 6 0.000 0.000 2649 2204 1851 0 0 0 0 0 0

7088 0.78 155.5 266.4 10.0 712 7092 0.00 1.17 0.00 0.000 4 0.000 0.059 2653 1493 1851 0 0 0 0 0 0

7170 0.79 165.9 259.2 9.5 719 7190 0.00 1.17 11.00 0.982 6 0.000 0.060 2653 2198 1807 0 0 0 0 0 0

7402 0.80 175.2 236.1 9.6 741 7415 0.00 1.23 9.05 0.949 4 0.000 0.059 2658 1491 1770 0 0 0 0 0 0

7533 0.80 175.2 223.2 10.1 752 7541 0.00 1.20 0.00 0.000 6 0.000 0.060 2657 2198 1768 0 0 0 0 0 0

7753 0.80 175.2 199.5 10.9 773 7758 0.00 1.17 0.00 0.000 4 0.000 0.070 2657 2909 1768 0 0 0 0 0 0

7912 0.80 175.2 180.9 11.4 787 7916 0.00 1.20 0.00 0.000 6 0.000 0.051 2663 2196 1768 0 0 0 0 0 0

8138 0.80 175.2 156.5 10.2 808 8141 0.00 1.10 0.00 0.000 4 0.000 0.063 2667 1496 1767 0 0 0 0 0 0

8340 0.82 184.0 136.2 9.6 826 8352 0.00 1.17 8.85 0.919 6 0.000 0.062 2668 2196 1734 0 0 0 0 0 0

8565 0.82 185.0 113.6 10.0 847 8569 0.00 1.17 0.00 0.000 4 0.000 0.061 2672 1493 1731 0 0 0 0 0 0

8658 0.82 185.0 104.4 10.2 855 8665 0.00 1.20 0.00 0.000 6 0.000 0.061 2672 2203 1731 0 0 0 0 0 0

8884 0.82 190.7 81.4 9.7 892 8895 0.00 1.23 6.93 0.872 4 0.000 0.061 2677 1493 1706 0 0 0 0 0 0

9000 0.82 190.7 69.8 10.3 912 9009 0.00 1.20 0.00 0.000 6 0.000 0.062 2677 2202 1705 0 0 0 0 0 0

9209 0.82 190.7 49.1 10.0 949 9215 0.00 1.17 0.00 0.000 4 0.000 0.061 2681 1495 1705 0 0 0 0 0 0

9279 0.85 214.8 42.2 8.9 961 9306 0.00 1.20 21.05 0.925 6 0.000 0.063 2682 2203 1608 0 0 0 0 0 0

9506 0.98 314.1 23.0 5.4 1001 9570 0.00 1.25 55.55 0.855 4 0.000 0.063 2686 1500 1202 0 0 0 0 0 0

9672 0.98 314.1 7.7 10.9 1029 9680 0.00 1.23 0.00 0.000 6 0.000 0.061 2686 2199 1195 0 0 0 0 0 0

9723 end climb: SURFACE_DEPTH_REACHED

state 9723 begin surface coast

9742 end surface coast: CONTROL_FINISHED_OK

state 9742 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	37	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	32	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	23	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	-80499.336	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	101011,215423,6631.907,-6001.914,40,0.9,40,-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	2.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101011,215918,6631.954,-6001.879,17,1.0,17,-33.6	MHEAD_RNG_PITCHd_Wd	74.9,151355,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	561

FINISH	1.3,1.024447	_24V_AH	23.2,5.649
SM_CCo	9759,48.80,0.086,0,0,771,420.20	_10V_AH	10.2,4.962
SM_GC	2.27,7.30,0.57,48.80,0.060,0.074,0.086,120,2516,771,-7.08,-0.42,420.20,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	634	FG_AHR_10Vo	0.000
RAFOS	0,1318291269,0.033333,0.019167,107,69,65,0,0,0,625,224,170,0,0,0	MEM	150380
RAFOS_FIX	6633.785156,-5957.840332,111011,000012,5,86,0.54	DATA_FILE_SIZE	39980,1041
IRIDIUM_FIX	6604.29,-6000.56,101011,191944	CAP_FILE_SIZE	122651,0
TT8_MAMPS	0.028462,0.028462	CFSIZE	260165632,245633024
HUMID	56.97	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.7953	SOUNDSPEED	1455.0
TCM_TEMP	16.20	CURRENT	0.134,304.6,1
XPDR_PINGS	18	GPS	111011,004453,6633.500,-6000.136,37,0.8,37,-33.6
ALTIM_BOTTOM_PING	450.7,132.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	273	113.57	SBE_CT	746	23	402.05
Roll_motor	57	108	145.35	SBE_O2	740	5	90.06
VBD_pump_during_apogee	363	1232	10387.48	nil	0	0	0.00
VBD_pump_during_surface	48	85	97.00	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	185	255	1101.46	nil	0	0	0.00
Transponder_ping	6	420	58.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.12
TT8	2814	18	537.16
LPSleep	4606	2	108.54
TT8_Active	553	18	105.55
TT8_Sampling	1957	41	837.24
TT8_CF8	190	47	93.26
TT8_Kalman	0	0	0.00
Analog_circuits	1706	12	208.93
GPS_charging	0	0	0.00
Compass	1752	6	120.47
RAFOS	2160	1	33.05
Transponder	14	30	4.32

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.77	-146.0	0.0	0.0	0	110	0.00	0.00	-91.82	0.000	2	0.000	0.000	124	2523	2092	0	0	0	0	0	0
113	-0.77	-146.0	3.0	-1.4	15	162	8.80	1.17	-35.58	0.000	4	0.274	0.109	2144	3213	3083	0	0	0	0	0	0
400	-0.77	-146.0	53.2	-15.3	65	407	0.00	1.15	0.00	0.000	6	0.000	0.046	2144	2499	3085	0	0	0	0	0	0
605	-0.77	-146.0	84.7	-15.8	102	611	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2499	3085	0	0	0	0	0	0
806	-0.77	-146.0	114.2	-14.5	130	810	0.00	1.23	0.00	0.000	4	0.000	0.077	2139	3216	3085	0	0	0	0	0	0
878	-0.77	-146.0	123.9	-14.6	136	887	0.00	1.12	0.00	0.000	6	0.000	0.046	2139	2509	3085	0	0	0	0	0	0
1099	-0.77	-146.0	156.4	-14.9	157	1103	0.00	1.20	0.00	0.000	4	0.000	0.078	2135	3211	3085	0	0	0	0	0	0
1133	-0.77	-146.0	161.7	-14.8	160	1137	0.00	1.12	0.00	0.000	6	0.000	0.047	2135	2509	3085	0	0	0	0	0	0
1359	-0.77	-146.0	193.7	-14.0	181	1360	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2507	3085	0	0	0	0	0	0
1571	-0.77	-146.0	224.2	-14.0	201	1572	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2508	3085	0	0	0	0	0	0
1783	-0.77	-146.0	254.5	-14.0	221	1785	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2508	3085	0	0	0	0	0	0
1996	-0.77	-146.0	284.7	-14.0	241	1997	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2508	3085	0	0	0	0	0	0
2208	-0.77	-146.0	314.0	-13.4	261	2212	0.00	1.20	0.00	0.000	4	0.000	0.079	2130	3213	3084	0	0	0	0	0	0
2265	-0.77	-146.0	321.7	-13.6	266	2268	0.00	1.12	0.00	0.000	6	0.000	0.047	2130	2506	3084	0	0	0	0	0	0
2492	-0.77	-146.0	351.2	-12.7	287	2495	0.00	1.10	0.00	0.000	4	0.000	0.056	2130	1813	3084	0	0	0	0	0	0
2518	-0.77	-146.0	354.6	-13.1	289	2525	0.00	1.20	0.00	0.000	6	0.000	0.069	2125	2505	3084	0	0	0	0	0	0
2737	-0.77	-146.0	382.9	-12.5	310	2741	0.00	1.15	0.00	0.000	4	0.000	0.080	2120	3215	3084	0	0	0	0	0	0
2794	-0.77	-146.0	390.1	-12.7	315	2798	0.10	1.12	0.00	0.000	6	0.165	0.047	2149	2505	3084	0	0	0	0	0	0
3019	-0.77	-146.0	413.6	-9.8	336	3023	0.00	1.20	0.00	0.000	4	0.000	0.076	2147	3217	3084	0	0	0	0	0	0
3057	-0.77	-146.0	417.3	-10.2	339	3064	0.00	1.12	0.00	0.000	6	0.000	0.044	2146	2504	3084	0	0	0	0	0	0
3277	-0.77	-146.0	441.5	-10.4	360	3278	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2504	3085	0	0	0	0	0	0
3489	-0.77	-146.0	464.2	-10.8	380	3492	0.00	1.20	0.00	0.000	4	0.000	0.076	2142	3217	3084	0	0	0	0	0	0
3547	-0.77	-146.0	470.3	-11.0	385	3551	0.00	1.12	0.00	0.000	6	0.000	0.044	2142	2504	3084	0	0	0	0	0	0
3771	-0.77	-146.0	494.8	-10.9	406	3772	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2504	3084	0	0	0	0	0	0
3983	-0.77	-146.0	517.3	-10.7	426	3987	0.00	1.20	0.00	0.000	4	0.000	0.076	2137	3214	3084	0	0	0	0	0	0
4088	-0.77	-146.0	528.2	-11.4	435	4095	0.00	1.12	0.00	0.000	6	0.000	0.044	2137	2502	3084	0	0	0	0	0	0
4307	-0.77	-146.0	553.0	-11.0	456	4311	0.00	1.20	0.00	0.000	4	0.000	0.076	2132	3217	3085	0	0	0	0	0	0
4356	-0.77	-146.0	558.2	-11.5	460	4366	0.00	1.12	0.00	0.000	6	0.000	0.044	2132	2505	3084	0	0	0	0	0	0
4382	end dive: TARGET_DEPTH_EXCEEDED
state	4382	begin apogee
4388	-0.16	0.0	561.9	-11.5	463	4514	0.68	0.00	118.50	1.232	6	0.151	0.000	2343	2189	2485	0	0	0	0	0	0
4515	end apogee: CONTROL_FINISHED_OK
state	4515	begin climb
4517	0.77	146.0	566.4	0.0	474	4655	0.90	1.20	125.78	1.198	4	0.069	0.063	2653	1509	1888	0	0	0	0	0	0
4693	0.77	146.0	559.1	11.9	489	4700	0.00	1.25	0.00	0.000	6	0.000	0.060	2653	2202	1883	0	0	0	0	0	0
4913	0.77	146.0	530.2	13.3	510	4917	0.00	1.23	0.00	0.000	4	0.000	0.067	2653	2913	1879	0	0	0	0	0	0
5006	0.77	146.0	518.7	12.2	518	5013	0.00	1.23	0.00	0.000	6	0.000	0.047	2658	2204	1878	0	0	0	0	0	0
5226	0.77	146.0	489.6	12.9	539	5227	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2204	1877	0	0	0	0	0	0
5438	0.77	146.0	462.7	12.8	559	5441	0.00	1.15	0.00	0.000	4	0.000	0.062	2663	1495	1876	0	0	0	0	0	0
5494	0.77	146.0	455.7	12.6	564	5498	0.00	1.20	0.00	0.000	6	0.000	0.061	2663	2197	1876	0	0	0	0	0	0
5720	0.77	146.0	426.9	12.9	585	5724	0.00	1.17	0.00	0.000	4	0.000	0.060	2667	1499	1876	0	0	0	0	0	0
5792	0.77	146.0	417.7	13.5	591	5799	0.00	1.20	0.00	0.000	6	0.000	0.060	2668	2203	1875	0	0	0	0	0	0
6011	0.77	146.0	388.0	13.4	612	6015	0.00	1.17	0.00	0.000	4	0.000	0.068	2668	2909	1875	0	0	0	0	0	0
6056	0.77	146.0	381.8	13.5	616	6060	0.00	1.20	0.00	0.000	6	0.000	0.050	2673	2196	1875	0	0	0	0	0	0
6282	0.77	146.0	352.6	13.1	637	6286	0.00	1.12	0.00	0.000	4	0.000	0.063	2678	1492	1874	0	0	0	0	0	0
6429	0.77	146.0	334.2	12.5	650	6433	0.10	1.20	0.00	0.000	6	0.170	0.061	2650	2204	1874	0	0	0	0	0	0
6653	0.77	146.0	309.3	10.5	671	6654	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2204	1874	0	0	0	0	0	0
6866	0.78	155.5	288.1	9.6	691	6876	0.00	0.00	6.60	0.920	6	0.000	0.000	2649	2204	1851	0	0	0	0	0	0
7088	0.78	155.5	266.4	10.0	712	7092	0.00	1.17	0.00	0.000	4	0.000	0.059	2653	1493	1851	0	0	0	0	0	0
7170	0.79	165.9	259.2	9.5	719	7190	0.00	1.17	11.00	0.982	6	0.000	0.060	2653	2198	1807	0	0	0	0	0	0
7402	0.80	175.2	236.1	9.6	741	7415	0.00	1.23	9.05	0.949	4	0.000	0.059	2658	1491	1770	0	0	0	0	0	0
7533	0.80	175.2	223.2	10.1	752	7541	0.00	1.20	0.00	0.000	6	0.000	0.060	2657	2198	1768	0	0	0	0	0	0
7753	0.80	175.2	199.5	10.9	773	7758	0.00	1.17	0.00	0.000	4	0.000	0.070	2657	2909	1768	0	0	0	0	0	0
7912	0.80	175.2	180.9	11.4	787	7916	0.00	1.20	0.00	0.000	6	0.000	0.051	2663	2196	1768	0	0	0	0	0	0
8138	0.80	175.2	156.5	10.2	808	8141	0.00	1.10	0.00	0.000	4	0.000	0.063	2667	1496	1767	0	0	0	0	0	0
8340	0.82	184.0	136.2	9.6	826	8352	0.00	1.17	8.85	0.919	6	0.000	0.062	2668	2196	1734	0	0	0	0	0	0
8565	0.82	185.0	113.6	10.0	847	8569	0.00	1.17	0.00	0.000	4	0.000	0.061	2672	1493	1731	0	0	0	0	0	0
8658	0.82	185.0	104.4	10.2	855	8665	0.00	1.20	0.00	0.000	6	0.000	0.061	2672	2203	1731	0	0	0	0	0	0
8884	0.82	190.7	81.4	9.7	892	8895	0.00	1.23	6.93	0.872	4	0.000	0.061	2677	1493	1706	0	0	0	0	0	0
9000	0.82	190.7	69.8	10.3	912	9009	0.00	1.20	0.00	0.000	6	0.000	0.062	2677	2202	1705	0	0	0	0	0	0
9209	0.82	190.7	49.1	10.0	949	9215	0.00	1.17	0.00	0.000	4	0.000	0.061	2681	1495	1705	0	0	0	0	0	0
9279	0.85	214.8	42.2	8.9	961	9306	0.00	1.20	21.05	0.925	6	0.000	0.063	2682	2203	1608	0	0	0	0	0	0
9506	0.98	314.1	23.0	5.4	1001	9570	0.00	1.25	55.55	0.855	4	0.000	0.063	2686	1500	1202	0	0	0	0	0	0
9672	0.98	314.1	7.7	10.9	1029	9680	0.00	1.23	0.00	0.000	6	0.000	0.061	2686	2199	1195	0	0	0	0	0	0
9723	end climb: SURFACE_DEPTH_REACHED
state	9723	begin surface coast
9742	end surface coast: CONTROL_FINISHED_OK
state	9742	begin surface