Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 164 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 10 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 164 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 578.41736 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 18 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 21 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 5 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -31703.908 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2700 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -24.446302 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 2 PITCH_GAIN 31 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 1 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 578.41736

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 8 D_SAFE 0 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0.5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -31703.908

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 KERMIT 0 ROLL_MAX 3915 USE_ICE 0

C_VBD 2800 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51204 R_PORT_OVSHOOT 18 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 21 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 10 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 164 NAV_MODE 2 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4454023e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 195055,6704.656,-5708.507,39,1.2,39,-37.7 TGT_NAME TARGET_E_IN

_CALLS 5 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 39 TGT_RADIUS 2000.000

_XMS_TOUTs 6 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201459,6704.624,-5708.453,21,1.3,39,-37.7 MHEAD_RNG_PITCHd_Wd 149.9,15073,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 656

Post-dive calculations and measurements:

FINISH 0.4,1.026655 _24V_AH 23.0,39.191

SM_CCo 13846,196.32,0.703,0,0,442,578.42 _10V_AH 10.2,19.940

SM_GC 0.97,0.00,0.00,196.32,0.000,0.000,0.703,125,2462,442,-8.05,0.08,578.42 FG_AHR_24Vo 0.000

RAFOS_CLK 936 FG_AHR_10Vo 0.000

RAFOS 2,1258661825,20.299999,20.284721,71,59,58,0,0,0,201,220,169,0,0,0 MEM 187976

RAFOS_FIX 6650.326172,-5724.867188,191109,161624,3,72,11.94 DATA_FILE_SIZE 53631,1372

IRIDIUM_FIX 6636.54,-5707.59,130299,202051 CAP_FILE_SIZE 157699,0

TT8_MAMPS 0.028379 CFSIZE 260165632,237236224

HUMID 44.76 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.80893 SOUNDSPEED 1466.9

TCM_TEMP 17.80 CURRENT 0.047,207.7,1

XPDR_PINGS 2 GPS 201109,001037,6703.430,-5704.735,31,1.3,31,-37.6

ALTIM_TOP_PING 19.8,19.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 290 143.41 SBE_CT 1002 24 553.17

Roll_motor 101 95 224.26 SBE_O2 948 19 414.38

VBD_pump_during_apogee 341 1178 9250.09 nil 0 0 0.00

VBD_pump_during_surface 196 703 3175.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 146 103 345.98 nil 0 0 0.00

Iridium_during_connect 205 160 755.42 nil 0 0 0.00

Iridium_during_xfer 656 223 3368.00

Transponder_ping 0 420 7.25

GUMSTIX_24V 0 0 0.00

GPS 40 50 20.89

TT8 2365 19 480.71

LPSleep 8948 2 210.85

TT8_Active 693 19 140.91

TT8_Sampling 2209 39 899.81

TT8_CF8 1260 45 590.42

TT8_Kalman 0 0 0.00

Analog_circuits 1823 12 223.14

GPS_charging 0 0 0.00

Compass 2154 8 175.78

RAFOS 2160 1 33.05

Transponder 2 30 0.80

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.73 -146.0 0.0 0.0 0 168 0.00 0.00 -148.65 0.000 2 0.000 0.000 122 2472 2988 0 0 0 0 0 0

171 -0.73 -146.0 3.1 -5.3 28 204 10.95 2.72 -11.93 0.000 4 0.291 0.096 2457 866 3399 0 0 0 0 0 0

457 -0.73 -146.0 43.9 -12.6 79 463 0.00 2.60 0.00 0.000 6 0.000 0.076 2457 2457 3402 0 0 0 0 0 0

799 -0.73 -146.0 87.2 -12.0 140 804 0.00 2.53 0.00 0.000 4 0.000 0.094 2457 3915 3402 0 0 0 0 0 0

971 -0.73 -146.0 108.6 -12.2 165 979 0.00 2.40 0.00 0.000 6 0.000 0.065 2457 2492 3402 0 0 0 0 0 0

1296 -0.73 -146.0 141.4 -9.7 196 1298 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2493 3402 0 0 0 0 0 0

1616 -0.73 -146.0 170.9 -8.8 226 1617 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2493 3402 0 0 0 0 0 0

1935 -0.73 -146.0 198.5 -8.4 256 1939 0.00 2.45 0.00 0.000 4 0.000 0.091 2458 3912 3402 0 0 0 0 0 0

2058 -0.73 -146.0 209.1 -7.9 266 2064 0.00 2.35 0.00 0.000 6 0.000 0.064 2457 2488 3402 0 0 0 0 0 0

2383 -0.73 -146.0 235.0 -8.0 297 2387 0.00 2.45 0.00 0.000 4 0.000 0.090 2457 3914 3403 0 0 0 0 0 0

2444 -0.73 -146.0 239.9 -8.4 302 2449 0.00 2.33 0.00 0.000 6 0.000 0.063 2458 2495 3403 0 0 0 0 0 0

2768 -0.73 -146.0 265.6 -7.6 332 2770 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2495 3403 0 0 0 0 0 0

3089 -0.73 -146.0 289.9 -7.7 362 3093 0.00 2.42 0.00 0.000 4 0.000 0.088 2458 3914 3403 0 0 0 0 0 0

3150 -0.73 -146.0 294.8 -7.9 367 3155 0.00 2.33 0.00 0.000 6 0.000 0.062 2457 2489 3403 0 0 0 0 0 0

3475 -0.73 -146.0 319.2 -7.7 397 3476 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2490 3404 0 0 0 0 0 0

3795 -0.73 -146.0 342.8 -7.2 427 3796 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2490 3405 0 0 0 0 0 0

4113 -0.73 -146.0 365.4 -7.1 457 4114 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2490 3405 0 0 0 0 0 0

4432 -0.73 -146.0 389.5 -7.9 487 4436 0.00 2.42 0.00 0.000 4 0.000 0.086 2458 3915 3406 0 0 0 0 0 0

4482 -0.73 -146.0 393.8 -8.5 491 4486 0.00 2.30 0.00 0.000 6 0.000 0.061 2458 2498 3406 0 0 0 0 0 0

4806 -0.73 -146.0 420.4 -8.1 521 4807 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2498 3406 0 0 0 0 0 0

5126 -0.73 -146.0 445.9 -7.9 551 5130 0.00 2.42 0.00 0.000 4 0.000 0.086 2457 3925 3407 0 0 0 0 0 0

5192 -0.73 -146.0 451.4 -8.5 556 5197 0.00 2.33 0.00 0.000 6 0.000 0.060 2458 2491 3407 0 0 0 0 0 0

5518 -0.73 -146.0 477.6 -7.6 587 5519 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2492 3407 0 0 0 0 0 0

5837 -0.73 -146.0 502.2 -8.4 617 5841 0.00 2.42 0.00 0.000 4 0.000 0.086 2457 3918 3407 0 0 0 0 0 0

5909 -0.73 -146.0 508.5 -9.0 623 5913 0.00 2.30 0.00 0.000 6 0.000 0.060 2458 2499 3407 0 0 0 0 0 0

6233 -0.73 -146.0 533.8 -8.3 653 6238 0.00 2.42 0.00 0.000 4 0.000 0.085 2458 3923 3407 0 0 0 0 0 0

6296 -0.73 -146.0 538.9 -8.5 658 6300 0.00 2.30 0.00 0.000 6 0.000 0.059 2457 2504 3407 0 0 0 0 0 0

6620 -0.73 -146.0 565.2 -7.8 688 6624 0.00 2.40 0.00 0.000 4 0.000 0.085 2458 3919 3407 0 0 0 0 0 0

6670 -0.73 -146.0 569.0 -7.6 692 6674 0.00 2.28 0.00 0.000 6 0.000 0.060 2457 2515 3407 0 0 0 0 0 0

6995 -0.73 -146.0 594.8 -8.2 722 6999 0.00 2.62 0.00 0.000 4 0.000 0.079 2458 866 3407 0 0 0 0 0 0

7026 -0.73 -146.0 597.8 -9.2 724 7033 0.00 2.62 0.00 0.000 6 0.000 0.070 2458 2522 3407 0 0 0 0 0 0

7361 -0.73 -146.0 624.7 -7.9 737 7362 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2522 3407 0 0 0 0 0 0

7666 -0.73 -146.0 647.5 -7.7 747 7671 0.00 2.65 0.00 0.000 4 0.000 0.080 2457 874 3407 0 0 0 0 0 0

7693 -0.73 -146.0 649.9 -9.4 748 7698 0.00 2.62 0.00 0.000 6 0.000 0.071 2458 2519 3407 0 0 0 0 0 0

7780 end dive: TARGET_DEPTH_EXCEEDED

state 7780 begin apogee

7786 -0.16 0.0 657.1 8.1 751 7910 0.65 0.00 120.70 1.178 6 0.166 0.000 2646 1953 2799 0 0 0 0 0 0

7911 end apogee: CONTROL_FINISHED_OK

state 7911 begin climb

7913 0.73 146.0 658.9 0.0 755 8045 0.90 2.85 123.10 1.124 4 0.121 0.087 2934 374 2204 0 0 0 0 0 0

8072 0.73 146.0 646.4 12.7 760 8077 0.00 2.70 0.00 0.000 6 0.000 0.062 2934 1954 2201 0 0 0 0 0 0

8401 0.73 146.0 605.0 12.5 771 8402 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 1954 2196 0 0 0 0 0 0

8717 0.73 146.0 568.6 11.8 797 8722 0.00 2.62 0.00 0.000 4 0.000 0.087 2946 363 2194 0 0 0 0 0 0

8823 0.73 146.0 555.2 12.4 806 8828 0.00 2.53 0.00 0.000 6 0.000 0.063 2946 1961 2194 0 0 0 0 0 0

9149 0.73 146.0 515.2 12.3 836 9150 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 1961 2193 0 0 0 0 0 0

9468 0.73 146.0 476.0 12.1 866 9472 0.00 2.60 0.00 0.000 4 0.000 0.088 2957 366 2193 0 0 0 0 0 0

9495 0.73 146.0 472.3 12.9 868 9499 0.00 2.47 0.00 0.000 6 0.000 0.065 2957 1943 2193 0 0 0 0 0 0

9821 0.73 146.0 429.4 13.2 898 9822 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 1943 2193 0 0 0 0 0 0

10139 0.73 146.0 387.5 13.1 928 10143 0.00 2.58 0.00 0.000 4 0.000 0.088 2969 358 2192 0 0 0 0 0 0

10233 0.73 146.0 374.1 14.4 936 10238 0.15 2.47 0.00 0.000 6 0.207 0.065 2936 1941 2192 0 0 0 0 0 0

10558 0.73 146.0 336.2 11.7 966 10559 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 1941 2192 0 0 0 0 0 0

10877 0.73 146.0 300.3 10.8 996 10881 0.00 2.58 0.00 0.000 4 0.000 0.088 2945 354 2192 0 0 0 0 0 0

10931 0.73 146.0 293.4 12.6 1000 10937 0.00 2.47 0.00 0.000 6 0.000 0.065 2946 1942 2192 0 0 0 0 0 0

11256 0.73 146.0 254.7 11.6 1031 11257 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 1942 2192 0 0 0 0 0 0

11576 0.73 146.0 219.0 11.4 1061 11577 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 1942 2192 0 0 0 0 0 0

11894 0.73 146.0 182.8 11.4 1091 11898 0.00 2.55 0.00 0.000 4 0.000 0.088 2957 366 2192 0 0 0 0 0 0

11955 0.73 146.0 175.3 12.0 1096 11959 0.00 2.45 0.00 0.000 6 0.000 0.065 2957 1941 2191 0 0 0 0 0 0

12280 0.73 146.0 137.2 11.9 1126 12284 0.00 2.65 0.00 0.000 4 0.000 0.081 2957 3539 2192 0 0 0 0 0 0

12300 0.73 146.0 134.5 12.0 1127 12307 0.15 2.62 0.00 0.000 6 0.206 0.069 2935 1940 2191 0 0 0 0 0 0

12625 0.73 146.0 100.3 10.2 1158 12626 0.00 0.00 0.00 0.000 6 0.000 0.000 2935 1941 2191 0 0 0 0 0 0

12961 0.75 164.0 69.7 8.4 1217 12977 0.00 0.00 13.43 0.755 6 0.000 0.000 2935 1941 2131 0 0 0 0 0 0

13315 0.78 188.2 42.2 8.2 1280 13342 0.00 2.58 20.12 0.763 4 0.000 0.087 2945 360 2032 0 0 0 0 0 0

13387 0.78 188.2 35.2 10.4 1293 13394 0.00 2.50 0.00 0.000 6 0.000 0.064 2945 1947 2029 0 0 0 0 0 0

13733 0.93 313.3 8.6 3.9 1354 13800 0.15 0.00 64.03 0.742 2 0.110 0.000 2996 1947 1703 0 0 0 0 0 0

13801 end climb: SURFACE_DEPTH_REACHED

state 13801 begin surface coast

13829 end surface coast: CONTROL_FINISHED_OK

state 13829 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	10	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	164	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	578.41736	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	18	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	21	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	5	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-31703.908	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2700	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-24.446302	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	2	PITCH_GAIN	31	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	1	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	195055,6704.656,-5708.507,39,1.2,39,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	5	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	39	TGT_RADIUS	2000.000
_XMS_TOUTs	6	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201459,6704.624,-5708.453,21,1.3,39,-37.7	MHEAD_RNG_PITCHd_Wd	149.9,15073,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	656

FINISH	0.4,1.026655	_24V_AH	23.0,39.191
SM_CCo	13846,196.32,0.703,0,0,442,578.42	_10V_AH	10.2,19.940
SM_GC	0.97,0.00,0.00,196.32,0.000,0.000,0.703,125,2462,442,-8.05,0.08,578.42	FG_AHR_24Vo	0.000
RAFOS_CLK	936	FG_AHR_10Vo	0.000
RAFOS	2,1258661825,20.299999,20.284721,71,59,58,0,0,0,201,220,169,0,0,0	MEM	187976
RAFOS_FIX	6650.326172,-5724.867188,191109,161624,3,72,11.94	DATA_FILE_SIZE	53631,1372
IRIDIUM_FIX	6636.54,-5707.59,130299,202051	CAP_FILE_SIZE	157699,0
TT8_MAMPS	0.028379	CFSIZE	260165632,237236224
HUMID	44.76	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.80893	SOUNDSPEED	1466.9
TCM_TEMP	17.80	CURRENT	0.047,207.7,1
XPDR_PINGS	2	GPS	201109,001037,6703.430,-5704.735,31,1.3,31,-37.6
ALTIM_TOP_PING	19.8,19.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	290	143.41	SBE_CT	1002	24	553.17
Roll_motor	101	95	224.26	SBE_O2	948	19	414.38
VBD_pump_during_apogee	341	1178	9250.09	nil	0	0	0.00
VBD_pump_during_surface	196	703	3175.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	146	103	345.98	nil	0	0	0.00
Iridium_during_connect	205	160	755.42	nil	0	0	0.00
Iridium_during_xfer	656	223	3368.00
Transponder_ping	0	420	7.25
GUMSTIX_24V	0	0	0.00
GPS	40	50	20.89
TT8	2365	19	480.71
LPSleep	8948	2	210.85
TT8_Active	693	19	140.91
TT8_Sampling	2209	39	899.81
TT8_CF8	1260	45	590.42
TT8_Kalman	0	0	0.00
Analog_circuits	1823	12	223.14
GPS_charging	0	0	0.00
Compass	2154	8	175.78
RAFOS	2160	1	33.05
Transponder	2	30	0.80

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.73	-146.0	0.0	0.0	0	168	0.00	0.00	-148.65	0.000	2	0.000	0.000	122	2472	2988	0	0	0	0	0	0
171	-0.73	-146.0	3.1	-5.3	28	204	10.95	2.72	-11.93	0.000	4	0.291	0.096	2457	866	3399	0	0	0	0	0	0
457	-0.73	-146.0	43.9	-12.6	79	463	0.00	2.60	0.00	0.000	6	0.000	0.076	2457	2457	3402	0	0	0	0	0	0
799	-0.73	-146.0	87.2	-12.0	140	804	0.00	2.53	0.00	0.000	4	0.000	0.094	2457	3915	3402	0	0	0	0	0	0
971	-0.73	-146.0	108.6	-12.2	165	979	0.00	2.40	0.00	0.000	6	0.000	0.065	2457	2492	3402	0	0	0	0	0	0
1296	-0.73	-146.0	141.4	-9.7	196	1298	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2493	3402	0	0	0	0	0	0
1616	-0.73	-146.0	170.9	-8.8	226	1617	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2493	3402	0	0	0	0	0	0
1935	-0.73	-146.0	198.5	-8.4	256	1939	0.00	2.45	0.00	0.000	4	0.000	0.091	2458	3912	3402	0	0	0	0	0	0
2058	-0.73	-146.0	209.1	-7.9	266	2064	0.00	2.35	0.00	0.000	6	0.000	0.064	2457	2488	3402	0	0	0	0	0	0
2383	-0.73	-146.0	235.0	-8.0	297	2387	0.00	2.45	0.00	0.000	4	0.000	0.090	2457	3914	3403	0	0	0	0	0	0
2444	-0.73	-146.0	239.9	-8.4	302	2449	0.00	2.33	0.00	0.000	6	0.000	0.063	2458	2495	3403	0	0	0	0	0	0
2768	-0.73	-146.0	265.6	-7.6	332	2770	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2495	3403	0	0	0	0	0	0
3089	-0.73	-146.0	289.9	-7.7	362	3093	0.00	2.42	0.00	0.000	4	0.000	0.088	2458	3914	3403	0	0	0	0	0	0
3150	-0.73	-146.0	294.8	-7.9	367	3155	0.00	2.33	0.00	0.000	6	0.000	0.062	2457	2489	3403	0	0	0	0	0	0
3475	-0.73	-146.0	319.2	-7.7	397	3476	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2490	3404	0	0	0	0	0	0
3795	-0.73	-146.0	342.8	-7.2	427	3796	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2490	3405	0	0	0	0	0	0
4113	-0.73	-146.0	365.4	-7.1	457	4114	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2490	3405	0	0	0	0	0	0
4432	-0.73	-146.0	389.5	-7.9	487	4436	0.00	2.42	0.00	0.000	4	0.000	0.086	2458	3915	3406	0	0	0	0	0	0
4482	-0.73	-146.0	393.8	-8.5	491	4486	0.00	2.30	0.00	0.000	6	0.000	0.061	2458	2498	3406	0	0	0	0	0	0
4806	-0.73	-146.0	420.4	-8.1	521	4807	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2498	3406	0	0	0	0	0	0
5126	-0.73	-146.0	445.9	-7.9	551	5130	0.00	2.42	0.00	0.000	4	0.000	0.086	2457	3925	3407	0	0	0	0	0	0
5192	-0.73	-146.0	451.4	-8.5	556	5197	0.00	2.33	0.00	0.000	6	0.000	0.060	2458	2491	3407	0	0	0	0	0	0
5518	-0.73	-146.0	477.6	-7.6	587	5519	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2492	3407	0	0	0	0	0	0
5837	-0.73	-146.0	502.2	-8.4	617	5841	0.00	2.42	0.00	0.000	4	0.000	0.086	2457	3918	3407	0	0	0	0	0	0
5909	-0.73	-146.0	508.5	-9.0	623	5913	0.00	2.30	0.00	0.000	6	0.000	0.060	2458	2499	3407	0	0	0	0	0	0
6233	-0.73	-146.0	533.8	-8.3	653	6238	0.00	2.42	0.00	0.000	4	0.000	0.085	2458	3923	3407	0	0	0	0	0	0
6296	-0.73	-146.0	538.9	-8.5	658	6300	0.00	2.30	0.00	0.000	6	0.000	0.059	2457	2504	3407	0	0	0	0	0	0
6620	-0.73	-146.0	565.2	-7.8	688	6624	0.00	2.40	0.00	0.000	4	0.000	0.085	2458	3919	3407	0	0	0	0	0	0
6670	-0.73	-146.0	569.0	-7.6	692	6674	0.00	2.28	0.00	0.000	6	0.000	0.060	2457	2515	3407	0	0	0	0	0	0
6995	-0.73	-146.0	594.8	-8.2	722	6999	0.00	2.62	0.00	0.000	4	0.000	0.079	2458	866	3407	0	0	0	0	0	0
7026	-0.73	-146.0	597.8	-9.2	724	7033	0.00	2.62	0.00	0.000	6	0.000	0.070	2458	2522	3407	0	0	0	0	0	0
7361	-0.73	-146.0	624.7	-7.9	737	7362	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2522	3407	0	0	0	0	0	0
7666	-0.73	-146.0	647.5	-7.7	747	7671	0.00	2.65	0.00	0.000	4	0.000	0.080	2457	874	3407	0	0	0	0	0	0
7693	-0.73	-146.0	649.9	-9.4	748	7698	0.00	2.62	0.00	0.000	6	0.000	0.071	2458	2519	3407	0	0	0	0	0	0
7780	end dive: TARGET_DEPTH_EXCEEDED
state	7780	begin apogee
7786	-0.16	0.0	657.1	8.1	751	7910	0.65	0.00	120.70	1.178	6	0.166	0.000	2646	1953	2799	0	0	0	0	0	0
7911	end apogee: CONTROL_FINISHED_OK
state	7911	begin climb
7913	0.73	146.0	658.9	0.0	755	8045	0.90	2.85	123.10	1.124	4	0.121	0.087	2934	374	2204	0	0	0	0	0	0
8072	0.73	146.0	646.4	12.7	760	8077	0.00	2.70	0.00	0.000	6	0.000	0.062	2934	1954	2201	0	0	0	0	0	0
8401	0.73	146.0	605.0	12.5	771	8402	0.00	0.00	0.00	0.000	6	0.000	0.000	2934	1954	2196	0	0	0	0	0	0
8717	0.73	146.0	568.6	11.8	797	8722	0.00	2.62	0.00	0.000	4	0.000	0.087	2946	363	2194	0	0	0	0	0	0
8823	0.73	146.0	555.2	12.4	806	8828	0.00	2.53	0.00	0.000	6	0.000	0.063	2946	1961	2194	0	0	0	0	0	0
9149	0.73	146.0	515.2	12.3	836	9150	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	1961	2193	0	0	0	0	0	0
9468	0.73	146.0	476.0	12.1	866	9472	0.00	2.60	0.00	0.000	4	0.000	0.088	2957	366	2193	0	0	0	0	0	0
9495	0.73	146.0	472.3	12.9	868	9499	0.00	2.47	0.00	0.000	6	0.000	0.065	2957	1943	2193	0	0	0	0	0	0
9821	0.73	146.0	429.4	13.2	898	9822	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	1943	2193	0	0	0	0	0	0
10139	0.73	146.0	387.5	13.1	928	10143	0.00	2.58	0.00	0.000	4	0.000	0.088	2969	358	2192	0	0	0	0	0	0
10233	0.73	146.0	374.1	14.4	936	10238	0.15	2.47	0.00	0.000	6	0.207	0.065	2936	1941	2192	0	0	0	0	0	0
10558	0.73	146.0	336.2	11.7	966	10559	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	1941	2192	0	0	0	0	0	0
10877	0.73	146.0	300.3	10.8	996	10881	0.00	2.58	0.00	0.000	4	0.000	0.088	2945	354	2192	0	0	0	0	0	0
10931	0.73	146.0	293.4	12.6	1000	10937	0.00	2.47	0.00	0.000	6	0.000	0.065	2946	1942	2192	0	0	0	0	0	0
11256	0.73	146.0	254.7	11.6	1031	11257	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	1942	2192	0	0	0	0	0	0
11576	0.73	146.0	219.0	11.4	1061	11577	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	1942	2192	0	0	0	0	0	0
11894	0.73	146.0	182.8	11.4	1091	11898	0.00	2.55	0.00	0.000	4	0.000	0.088	2957	366	2192	0	0	0	0	0	0
11955	0.73	146.0	175.3	12.0	1096	11959	0.00	2.45	0.00	0.000	6	0.000	0.065	2957	1941	2191	0	0	0	0	0	0
12280	0.73	146.0	137.2	11.9	1126	12284	0.00	2.65	0.00	0.000	4	0.000	0.081	2957	3539	2192	0	0	0	0	0	0
12300	0.73	146.0	134.5	12.0	1127	12307	0.15	2.62	0.00	0.000	6	0.206	0.069	2935	1940	2191	0	0	0	0	0	0
12625	0.73	146.0	100.3	10.2	1158	12626	0.00	0.00	0.00	0.000	6	0.000	0.000	2935	1941	2191	0	0	0	0	0	0
12961	0.75	164.0	69.7	8.4	1217	12977	0.00	0.00	13.43	0.755	6	0.000	0.000	2935	1941	2131	0	0	0	0	0	0
13315	0.78	188.2	42.2	8.2	1280	13342	0.00	2.58	20.12	0.763	4	0.000	0.087	2945	360	2032	0	0	0	0	0	0
13387	0.78	188.2	35.2	10.4	1293	13394	0.00	2.50	0.00	0.000	6	0.000	0.064	2945	1947	2029	0	0	0	0	0	0
13733	0.93	313.3	8.6	3.9	1354	13800	0.15	0.00	64.03	0.742	2	0.110	0.000	2996	1947	1703	0	0	0	0	0	0
13801	end climb: SURFACE_DEPTH_REACHED
state	13801	begin surface coast
13829	end surface coast: CONTROL_FINISHED_OK
state	13829	begin surface