Glider dive log

DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 24 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 1 HEADING -1 ROLL_MIN 300 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 14 ESCAPE_HEADING 0 ROLL_MAX 3750 ALTIM_TOP_TURN_MARGIN 0

DIVE 24 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2025 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2025 ALTIM_PING_DELTA 0

D_TGT 990 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 375 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 3 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 2 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0072730002

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 500 MOTHERBOARD 5

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3500 DEVICE1 2

T_DIVE 412 CALL_TRIES 5 C_VBD 2500 DEVICE2 -1

T_MISSION 470 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 540 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 6 LOGGERS 1

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -219265.16 UNCOM_BLEED 250 COMPASS_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 2 VBD_MAXERRORS 5 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 300 GPS_DEVICE 48

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 200 RAFOS_DEVICE 48

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 450 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3300 FG_AHR_10V 59.51186 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2700 FG_AHR_24V 4.6383615 SEABIRD_T_G 0.0043498399

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006493734

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_YINT -0.036699742 SEABIRD_T_I 2.8112627e-05

MASS 52000 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 3.1957888e-06

NAV_MODE 2 PITCH_GAIN 16 AD7714Ch0Gain 1 SEABIRD_C_G -10.106751

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1366181

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I 0.00038917549

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 7.9540005e-05

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 1 D_FLARE 3 PHONE_DEVICE 32 SIM_W 0

AH0_10V 200 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 375

AH0_24V 300 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3300 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 59.51186 PITCH_MIN 450 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 4.6383615 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 9.9999997e-05 T_DIVE 412

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -0.036699742 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 48 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -219265.16

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 48 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 470

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 2

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.023 T_TURN 225

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0072730002 ROLL_AD_RATE 400 UNCOM_BLEED 250

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2025 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -2

C_ROLL_DIVE 2025 KERMIT 0 ROLL_MAX 3750 USE_ICE 0

C_VBD 2500 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 300 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52000 R_PORT_OVSHOOT 3 VBD_MAX 3500

DEVICE2 -1 MAX_BUOY 150 R_STBD_OVSHOOT 2 VBD_MAXERRORS 5

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.106751 VBD_MIN 500

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1366181 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I 0.00038917549 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MOTHERBOARD 5 SEABIRD_C_J 7.9540005e-05 VBD_TIMEOUT 540

DIVE 24 NAV_MODE 2 SEABIRD_T_G 0.0043498399 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 4 SEABIRD_T_H 0.0006493734 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.8112627e-05 XPDR_VALID 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 3.1957888e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 055622,6645.147,-6002.526,18,1.1,18,18.0 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 8000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.05 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060230,6645.124,-6002.461,27,1.1,27,18.0 MHEAD_RNG_PITCHd_Wd 231.8,30255,-14.8,-8.010

SPEED_LIMITS 0.139,0.245 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.0,1.012198 _24V_AH 23.9,189.454

SM_CCo 15277,0.00,0.000,0,0,599,467.54 _10V_AH 10.7,31.917

SM_GC 0.04,14.68,0.00,0.00,0.000,0.007,0.007,430,2290,599,-10.06,7.41,467.54 FG_AHR_24Vo 4.638

SUPER 3,200,254,0,0,0 FG_AHR_10Vo 59.656

RAFOS_CLK 0 MEM 328076

RAFOS 0,1253865847,8.083333,8.068611,80,0,0,0,0,0,511,0,0,0,0,0 DATA_FILE_SIZE 47288,1418

RAFOS_FIX 6641.121094,-6136.010742,250909,080801,5,80,8.01 CAP_FILE_SIZE 181982,8

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 260165632,252194816

HUMID 1078185921 ERRORS 0,1,0,0,0,0,0,0,1,0,0,29,919,5,0

INTERNAL_PRESSURE 16.2864 SOUNDSPEED 1455.9

TCM_TEMP 15.00 CURRENT 0.200,337.1,1

XPDR_PINGS -1 GPS 250909,102005,6646.958,-5958.697,29,1.1,29,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 119 85.25 SBE_CT 859 24 492.78

Roll_motor 184 60 263.89 nil 0 0 0.00

VBD_pump_during_apogee 527 1300 16390.20 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 110 223 586.52

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 50 14.86

TT8 2602 19 554.69

LPSleep 9937 2 245.62

TT8_Active 1042 19 222.30

TT8_Sampling 1552 39 663.12

TT8_CF8 531 45 261.39

TT8_Kalman 0 0 0.00

Analog_circuits 1250 12 160.54

GPS_charging 0 0 0.00

Compass 1467 26 408.25

RAFOS 1800 1 28.89

Transponder 2 5 0.15

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.10 -146.6 0.0 0.0 0 103 0.00 0.00 -73.60 0.000 2 0.007 0.000 472 2342 2820 0 0 0 0 0 0

107 -1.10 -146.6 3.3 -2.8 15 134 10.15 2.08 -9.25 0.000 4 0.000 0.000 2485 3552 3110 10 0 10 0 0 0

162 -0.35 -146.6 17.0 -24.8 25 169 0.70 2.92 0.00 0.007 6 0.000 0.000 2678 1747 3108 2 0 13 0 0 0

234 -0.14 -146.6 30.3 -15.3 33 240 0.00 2.62 0.00 0.000 4 0.007 0.000 2678 341 3107 0 0 14 0 0 0

491 -0.14 -146.6 55.3 -9.4 55 499 0.00 3.28 0.00 0.000 6 0.007 0.000 2679 2211 3104 0 0 15 0 0 0

819 -0.14 -146.6 88.8 -10.4 86 833 0.00 2.80 0.00 0.007 4 0.007 0.000 2678 3732 3105 0 0 16 0 0 0

932 end dive: TARGET_DEPTH_EXCEEDED

state 932 begin apogee

943 -0.31 0.0 100.4 9.6 96 1075 0.30 0.00 119.22 0.000 6 0.000 0.000 2594 1888 2520 1 0 0 0 0 0

1076 end apogee: CONTROL_FINISHED_OK

state 1076 begin climb

1079 1.10 146.6 112.9 0.0 109 1214 2.22 2.88 123.68 0.000 4 0.000 0.000 2993 3586 1904 2 0 13 0 0 0

1467 2.87 589.8 146.3 -8.1 144 1780 1.92 3.17 267.25 0.000 6 0.000 0.000 3405 1918 607 1 0 16 0 5 0

2094 3.45 1060.1 206.1 -9.1 205 2113 0.00 3.35 0.32 0.000 4 0.007 0.000 3407 3465 608 0 0 18 0 0 0

2366 4.03 1529.0 231.5 -9.1 228 2377 0.00 3.08 1.42 0.000 6 0.007 0.000 3406 1851 611 0 0 17 0 0 0

2702 4.60 1997.5 262.5 -9.1 260 2717 0.00 3.47 4.72 0.000 4 0.007 0.000 3403 275 596 0 0 20 0 0 0

2773 5.20 2479.7 269.1 -9.6 266 2785 0.00 3.33 1.08 0.000 6 0.007 0.000 3406 2293 600 0 0 17 0 0 0

3110 7.02 2933.0 297.2 -8.5 298 3116 0.00 2.40 0.12 0.000 4 0.007 0.000 3405 3551 598 0 0 12 0 0 0

3369 7.54 3356.3 318.3 -7.4 320 3380 0.00 3.35 1.17 0.000 6 0.007 0.000 3400 1750 600 0 0 17 0 0 0

3705 8.06 3775.6 343.9 -7.3 352 3721 0.00 2.90 0.12 0.007 4 0.007 0.000 3401 3659 597 0 0 15 0 0 0

3974 8.59 4211.1 366.0 -7.9 375 3985 0.00 3.25 1.40 0.000 6 0.007 0.000 3403 1919 599 0 0 13 0 0 0

4310 9.20 4700.4 394.4 -9.8 407 4327 0.00 3.00 0.12 0.007 4 0.007 0.000 3410 3540 598 0 0 16 0 0 0

4512 9.72 5124.7 413.3 -7.4 424 4522 0.00 2.75 1.98 0.000 6 0.007 0.000 3409 1893 599 0 0 11 0 0 0

4847 10.24 5550.1 437.9 -7.5 456 4863 0.00 3.03 0.12 0.000 4 0.007 0.000 3402 3606 598 0 0 15 0 0 0

5115 10.76 5974.9 457.5 -7.5 479 5126 0.00 3.15 1.45 0.000 6 0.007 0.000 3405 1818 599 0 0 13 0 0 0

5450 11.28 6394.8 481.7 -7.3 511 5466 0.00 3.15 0.12 0.007 4 0.007 0.000 3404 3586 601 0 0 17 0 0 0

5719 11.81 6828.2 501.8 -7.8 534 5730 0.00 3.03 1.33 0.000 6 0.000 0.000 3404 1907 592 0 0 16 0 0 0

6055 12.42 7323.5 532.3 -10.0 566 6061 0.00 2.30 0.12 0.007 4 0.007 0.000 3406 410 603 0 0 8 0 0 0

6067 13.03 7815.4 533.6 -9.9 566 6077 0.00 2.83 1.62 0.000 6 0.007 0.000 3404 2281 601 0 0 13 0 0 0

6402 13.53 8226.2 559.5 -7.0 598 6419 0.00 3.03 0.12 0.007 4 0.007 0.000 3404 337 600 0 0 16 0 0 0

6523 14.07 8660.7 568.4 -7.8 608 6538 0.00 2.97 0.00 0.007 6 0.007 0.000 3403 2242 594 0 0 14 0 0 0

6852 14.59 9089.3 594.4 -7.6 639 6867 0.00 3.10 0.00 0.007 4 0.007 0.000 3403 3691 599 0 0 18 0 0 0

7119 15.19 9574.4 619.7 -9.7 662 7126 0.00 3.15 0.00 0.007 6 0.007 0.000 3408 1922 599 0 0 14 0 0 0

7451 15.73 10009.9 647.5 -7.9 694 7466 0.00 3.22 0.00 0.007 4 0.007 0.000 3404 3686 564 0 0 17 0 0 0

7718 15.36 10009.9 645.9 9.4 717 7727 0.00 3.65 0.00 0.007 6 0.007 0.000 3404 1682 602 0 0 18 0 0 0

8043 15.29 10010.1 616.0 8.0 748 8059 0.00 3.45 0.00 0.000 4 0.007 0.000 3403 3742 599 0 0 18 0 0 0

8312 15.25 10015.8 594.4 7.8 771 8322 0.00 3.55 0.00 0.007 6 0.007 0.000 3398 1780 600 0 0 18 0 0 0

8646 15.40 10056.5 570.9 6.5 803 8662 0.00 3.65 0.00 0.007 4 0.007 0.000 3403 3582 603 0 0 17 0 0 0

8914 15.40 10056.5 550.4 8.8 826 8922 0.00 2.83 0.00 0.007 6 0.007 0.000 3404 1922 598 0 0 14 0 0 0

9238 15.40 10056.5 521.6 8.9 857 9257 0.00 3.17 0.00 0.007 4 0.007 0.000 3402 3603 599 0 0 16 0 0 0

9509 15.40 10056.5 497.5 9.0 880 9519 0.00 3.80 0.00 0.007 6 0.007 0.000 3410 1780 599 0 0 24 0 0 0

9843 15.41 10063.7 471.5 7.7 912 9858 0.00 3.15 0.00 0.000 4 0.007 0.000 3405 3603 598 0 0 16 0 0 0

10110 15.41 10065.0 450.7 8.0 935 10117 0.00 3.10 0.00 0.007 6 0.000 0.000 3400 1897 600 0 0 19 0 0 0

10436 15.47 10071.2 425.0 7.8 966 10451 0.00 3.65 0.00 0.000 4 0.007 0.000 3401 3594 591 0 0 17 0 0 0

10620 15.52 10071.9 410.2 8.0 982 10635 0.00 3.15 0.00 0.000 6 0.007 0.000 3404 1783 598 0 0 17 0 0 0

10950 15.72 10116.5 383.6 6.4 1013 10967 0.00 3.53 0.00 0.000 4 0.007 0.000 3405 3761 601 0 0 20 0 0 0

11219 15.61 10116.5 363.7 11.2 1036 11229 0.00 4.20 0.00 0.007 6 0.000 0.000 3408 1943 600 0 0 24 0 0 0

11554 15.61 10116.5 328.1 8.7 1068 11560 0.00 2.90 0.00 0.007 4 0.000 0.000 3403 3612 599 0 0 14 0 0 0

11812 15.74 10123.8 309.1 7.7 1090 11818 0.00 2.72 0.00 0.007 6 0.007 0.000 3403 1910 599 0 0 13 0 0 0

12136 15.66 10123.8 273.4 11.5 1121 12153 0.00 3.20 0.00 0.007 4 0.007 0.000 3407 3595 600 0 0 14 0 0 0

12405 15.76 10123.8 248.6 8.7 1144 12412 0.00 3.05 0.00 0.007 6 0.000 0.000 3405 1909 600 0 0 17 0 0 0

12730 15.76 10123.8 217.2 10.2 1175 12746 0.00 3.22 0.00 0.007 4 0.007 0.000 3405 3677 597 0 0 13 0 0 0

12999 15.76 10123.8 189.8 9.8 1198 13008 0.00 3.08 0.00 0.000 6 0.007 0.000 3407 1976 612 0 0 16 0 0 0

13333 15.84 10123.8 158.8 8.4 1230 13348 0.00 3.08 0.00 0.000 4 0.007 0.000 3405 3452 596 0 0 17 0 0 0

13599 15.84 10123.8 134.7 9.6 1253 13611 0.00 2.78 0.00 0.007 6 0.007 0.000 3407 1693 604 0 0 14 0 0 0

13924 15.84 10123.8 103.4 9.1 1284 13939 0.00 3.40 0.00 0.007 4 0.007 0.000 3404 3577 597 0 0 13 0 0 0

14191 15.84 10123.8 78.9 9.2 1307 14199 0.00 3.83 0.00 0.007 6 0.007 0.000 3401 2014 598 0 0 20 0 0 0

14523 15.84 10123.8 49.0 8.8 1339 14529 0.00 2.75 0.00 0.007 4 0.007 0.000 3403 3606 600 0 0 14 0 0 0

14540 15.84 10123.8 47.5 8.9 1340 14546 0.00 2.85 0.00 0.007 6 0.007 0.000 3407 1946 592 0 0 12 0 0 0

14740 15.87 10152.5 33.7 7.0 1358 14756 0.00 4.18 0.00 0.007 4 0.007 0.000 3405 428 599 0 0 22 0 0 0

14865 15.97 10233.7 25.7 5.1 1368 14871 0.00 3.00 0.00 0.007 6 0.007 0.000 3403 2297 595 0 0 14 0 0 0

15068 15.97 10233.7 9.2 8.2 1398 15083 0.00 3.92 0.00 0.007 4 0.007 0.000 3407 468 601 0 0 19 0 0 0

15143 end climb: SURFACE_DEPTH_REACHED

state 15143 begin surface coast

15186 end surface coast: CONTROL_FINISHED_OK

state 15186 begin surface

ID	1	HEADING	-1	ROLL_MIN	300	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	14	ESCAPE_HEADING	0	ROLL_MAX	3750	ALTIM_TOP_TURN_MARGIN	0
DIVE	24	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2025	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2025	ALTIM_PING_DELTA	0
D_TGT	990	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	375	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	3	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	2	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0072730002
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	500	MOTHERBOARD	5
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3500	DEVICE1	2
T_DIVE	412	CALL_TRIES	5	C_VBD	2500	DEVICE2	-1
T_MISSION	470	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	540	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	6	LOGGERS	1
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-219265.16	UNCOM_BLEED	250	COMPASS_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	2	VBD_MAXERRORS	5	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	300	GPS_DEVICE	48
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	200	RAFOS_DEVICE	48
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	450	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3300	FG_AHR_10V	59.51186	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2700	FG_AHR_24V	4.6383615	SEABIRD_T_G	0.0043498399
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006493734
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_YINT	-0.036699742	SEABIRD_T_I	2.8112627e-05
MASS	52000	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	3.1957888e-06
NAV_MODE	2	PITCH_GAIN	16	AD7714Ch0Gain	1	SEABIRD_C_G	-10.106751
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1366181
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	0.00038917549
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	7.9540005e-05
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	055622,6645.147,-6002.526,18,1.1,18,18.0	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	8000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.05	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060230,6645.124,-6002.461,27,1.1,27,18.0	MHEAD_RNG_PITCHd_Wd	231.8,30255,-14.8,-8.010
SPEED_LIMITS	0.139,0.245	D_GRID	100

FINISH	0.0,1.012198	_24V_AH	23.9,189.454
SM_CCo	15277,0.00,0.000,0,0,599,467.54	_10V_AH	10.7,31.917
SM_GC	0.04,14.68,0.00,0.00,0.000,0.007,0.007,430,2290,599,-10.06,7.41,467.54	FG_AHR_24Vo	4.638
SUPER	3,200,254,0,0,0	FG_AHR_10Vo	59.656
RAFOS_CLK	0	MEM	328076
RAFOS	0,1253865847,8.083333,8.068611,80,0,0,0,0,0,511,0,0,0,0,0	DATA_FILE_SIZE	47288,1418
RAFOS_FIX	6641.121094,-6136.010742,250909,080801,5,80,8.01	CAP_FILE_SIZE	181982,8
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	260165632,252194816
HUMID	1078185921	ERRORS	0,1,0,0,0,0,0,0,1,0,0,29,919,5,0
INTERNAL_PRESSURE	16.2864	SOUNDSPEED	1455.9
TCM_TEMP	15.00	CURRENT	0.200,337.1,1
XPDR_PINGS	-1	GPS	250909,102005,6646.958,-5958.697,29,1.1,29,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	119	85.25	SBE_CT	859	24	492.78
Roll_motor	184	60	263.89	nil	0	0	0.00
VBD_pump_during_apogee	527	1300	16390.20	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	110	223	586.52
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	50	14.86
TT8	2602	19	554.69
LPSleep	9937	2	245.62
TT8_Active	1042	19	222.30
TT8_Sampling	1552	39	663.12
TT8_CF8	531	45	261.39
TT8_Kalman	0	0	0.00
Analog_circuits	1250	12	160.54
GPS_charging	0	0	0.00
Compass	1467	26	408.25
RAFOS	1800	1	28.89
Transponder	2	5	0.15

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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.10	-146.6	0.0	0.0	0	103	0.00	0.00	-73.60	0.000	2	0.007	0.000	472	2342	2820	0	0	0	0	0	0
107	-1.10	-146.6	3.3	-2.8	15	134	10.15	2.08	-9.25	0.000	4	0.000	0.000	2485	3552	3110	10	0	10	0	0	0
162	-0.35	-146.6	17.0	-24.8	25	169	0.70	2.92	0.00	0.007	6	0.000	0.000	2678	1747	3108	2	0	13	0	0	0
234	-0.14	-146.6	30.3	-15.3	33	240	0.00	2.62	0.00	0.000	4	0.007	0.000	2678	341	3107	0	0	14	0	0	0
491	-0.14	-146.6	55.3	-9.4	55	499	0.00	3.28	0.00	0.000	6	0.007	0.000	2679	2211	3104	0	0	15	0	0	0
819	-0.14	-146.6	88.8	-10.4	86	833	0.00	2.80	0.00	0.007	4	0.007	0.000	2678	3732	3105	0	0	16	0	0	0
932	end dive: TARGET_DEPTH_EXCEEDED
state	932	begin apogee
943	-0.31	0.0	100.4	9.6	96	1075	0.30	0.00	119.22	0.000	6	0.000	0.000	2594	1888	2520	1	0	0	0	0	0
1076	end apogee: CONTROL_FINISHED_OK
state	1076	begin climb
1079	1.10	146.6	112.9	0.0	109	1214	2.22	2.88	123.68	0.000	4	0.000	0.000	2993	3586	1904	2	0	13	0	0	0
1467	2.87	589.8	146.3	-8.1	144	1780	1.92	3.17	267.25	0.000	6	0.000	0.000	3405	1918	607	1	0	16	0	5	0
2094	3.45	1060.1	206.1	-9.1	205	2113	0.00	3.35	0.32	0.000	4	0.007	0.000	3407	3465	608	0	0	18	0	0	0
2366	4.03	1529.0	231.5	-9.1	228	2377	0.00	3.08	1.42	0.000	6	0.007	0.000	3406	1851	611	0	0	17	0	0	0
2702	4.60	1997.5	262.5	-9.1	260	2717	0.00	3.47	4.72	0.000	4	0.007	0.000	3403	275	596	0	0	20	0	0	0
2773	5.20	2479.7	269.1	-9.6	266	2785	0.00	3.33	1.08	0.000	6	0.007	0.000	3406	2293	600	0	0	17	0	0	0
3110	7.02	2933.0	297.2	-8.5	298	3116	0.00	2.40	0.12	0.000	4	0.007	0.000	3405	3551	598	0	0	12	0	0	0
3369	7.54	3356.3	318.3	-7.4	320	3380	0.00	3.35	1.17	0.000	6	0.007	0.000	3400	1750	600	0	0	17	0	0	0
3705	8.06	3775.6	343.9	-7.3	352	3721	0.00	2.90	0.12	0.007	4	0.007	0.000	3401	3659	597	0	0	15	0	0	0
3974	8.59	4211.1	366.0	-7.9	375	3985	0.00	3.25	1.40	0.000	6	0.007	0.000	3403	1919	599	0	0	13	0	0	0
4310	9.20	4700.4	394.4	-9.8	407	4327	0.00	3.00	0.12	0.007	4	0.007	0.000	3410	3540	598	0	0	16	0	0	0
4512	9.72	5124.7	413.3	-7.4	424	4522	0.00	2.75	1.98	0.000	6	0.007	0.000	3409	1893	599	0	0	11	0	0	0
4847	10.24	5550.1	437.9	-7.5	456	4863	0.00	3.03	0.12	0.000	4	0.007	0.000	3402	3606	598	0	0	15	0	0	0
5115	10.76	5974.9	457.5	-7.5	479	5126	0.00	3.15	1.45	0.000	6	0.007	0.000	3405	1818	599	0	0	13	0	0	0
5450	11.28	6394.8	481.7	-7.3	511	5466	0.00	3.15	0.12	0.007	4	0.007	0.000	3404	3586	601	0	0	17	0	0	0
5719	11.81	6828.2	501.8	-7.8	534	5730	0.00	3.03	1.33	0.000	6	0.000	0.000	3404	1907	592	0	0	16	0	0	0
6055	12.42	7323.5	532.3	-10.0	566	6061	0.00	2.30	0.12	0.007	4	0.007	0.000	3406	410	603	0	0	8	0	0	0
6067	13.03	7815.4	533.6	-9.9	566	6077	0.00	2.83	1.62	0.000	6	0.007	0.000	3404	2281	601	0	0	13	0	0	0
6402	13.53	8226.2	559.5	-7.0	598	6419	0.00	3.03	0.12	0.007	4	0.007	0.000	3404	337	600	0	0	16	0	0	0
6523	14.07	8660.7	568.4	-7.8	608	6538	0.00	2.97	0.00	0.007	6	0.007	0.000	3403	2242	594	0	0	14	0	0	0
6852	14.59	9089.3	594.4	-7.6	639	6867	0.00	3.10	0.00	0.007	4	0.007	0.000	3403	3691	599	0	0	18	0	0	0
7119	15.19	9574.4	619.7	-9.7	662	7126	0.00	3.15	0.00	0.007	6	0.007	0.000	3408	1922	599	0	0	14	0	0	0
7451	15.73	10009.9	647.5	-7.9	694	7466	0.00	3.22	0.00	0.007	4	0.007	0.000	3404	3686	564	0	0	17	0	0	0
7718	15.36	10009.9	645.9	9.4	717	7727	0.00	3.65	0.00	0.007	6	0.007	0.000	3404	1682	602	0	0	18	0	0	0
8043	15.29	10010.1	616.0	8.0	748	8059	0.00	3.45	0.00	0.000	4	0.007	0.000	3403	3742	599	0	0	18	0	0	0
8312	15.25	10015.8	594.4	7.8	771	8322	0.00	3.55	0.00	0.007	6	0.007	0.000	3398	1780	600	0	0	18	0	0	0
8646	15.40	10056.5	570.9	6.5	803	8662	0.00	3.65	0.00	0.007	4	0.007	0.000	3403	3582	603	0	0	17	0	0	0
8914	15.40	10056.5	550.4	8.8	826	8922	0.00	2.83	0.00	0.007	6	0.007	0.000	3404	1922	598	0	0	14	0	0	0
9238	15.40	10056.5	521.6	8.9	857	9257	0.00	3.17	0.00	0.007	4	0.007	0.000	3402	3603	599	0	0	16	0	0	0
9509	15.40	10056.5	497.5	9.0	880	9519	0.00	3.80	0.00	0.007	6	0.007	0.000	3410	1780	599	0	0	24	0	0	0
9843	15.41	10063.7	471.5	7.7	912	9858	0.00	3.15	0.00	0.000	4	0.007	0.000	3405	3603	598	0	0	16	0	0	0
10110	15.41	10065.0	450.7	8.0	935	10117	0.00	3.10	0.00	0.007	6	0.000	0.000	3400	1897	600	0	0	19	0	0	0
10436	15.47	10071.2	425.0	7.8	966	10451	0.00	3.65	0.00	0.000	4	0.007	0.000	3401	3594	591	0	0	17	0	0	0
10620	15.52	10071.9	410.2	8.0	982	10635	0.00	3.15	0.00	0.000	6	0.007	0.000	3404	1783	598	0	0	17	0	0	0
10950	15.72	10116.5	383.6	6.4	1013	10967	0.00	3.53	0.00	0.000	4	0.007	0.000	3405	3761	601	0	0	20	0	0	0
11219	15.61	10116.5	363.7	11.2	1036	11229	0.00	4.20	0.00	0.007	6	0.000	0.000	3408	1943	600	0	0	24	0	0	0
11554	15.61	10116.5	328.1	8.7	1068	11560	0.00	2.90	0.00	0.007	4	0.000	0.000	3403	3612	599	0	0	14	0	0	0
11812	15.74	10123.8	309.1	7.7	1090	11818	0.00	2.72	0.00	0.007	6	0.007	0.000	3403	1910	599	0	0	13	0	0	0
12136	15.66	10123.8	273.4	11.5	1121	12153	0.00	3.20	0.00	0.007	4	0.007	0.000	3407	3595	600	0	0	14	0	0	0
12405	15.76	10123.8	248.6	8.7	1144	12412	0.00	3.05	0.00	0.007	6	0.000	0.000	3405	1909	600	0	0	17	0	0	0
12730	15.76	10123.8	217.2	10.2	1175	12746	0.00	3.22	0.00	0.007	4	0.007	0.000	3405	3677	597	0	0	13	0	0	0
12999	15.76	10123.8	189.8	9.8	1198	13008	0.00	3.08	0.00	0.000	6	0.007	0.000	3407	1976	612	0	0	16	0	0	0
13333	15.84	10123.8	158.8	8.4	1230	13348	0.00	3.08	0.00	0.000	4	0.007	0.000	3405	3452	596	0	0	17	0	0	0
13599	15.84	10123.8	134.7	9.6	1253	13611	0.00	2.78	0.00	0.007	6	0.007	0.000	3407	1693	604	0	0	14	0	0	0
13924	15.84	10123.8	103.4	9.1	1284	13939	0.00	3.40	0.00	0.007	4	0.007	0.000	3404	3577	597	0	0	13	0	0	0
14191	15.84	10123.8	78.9	9.2	1307	14199	0.00	3.83	0.00	0.007	6	0.007	0.000	3401	2014	598	0	0	20	0	0	0
14523	15.84	10123.8	49.0	8.8	1339	14529	0.00	2.75	0.00	0.007	4	0.007	0.000	3403	3606	600	0	0	14	0	0	0
14540	15.84	10123.8	47.5	8.9	1340	14546	0.00	2.85	0.00	0.007	6	0.007	0.000	3407	1946	592	0	0	12	0	0	0
14740	15.87	10152.5	33.7	7.0	1358	14756	0.00	4.18	0.00	0.007	4	0.007	0.000	3405	428	599	0	0	22	0	0	0
14865	15.97	10233.7	25.7	5.1	1368	14871	0.00	3.00	0.00	0.007	6	0.007	0.000	3403	2297	595	0	0	14	0	0	0
15068	15.97	10233.7	9.2	8.2	1398	15083	0.00	3.92	0.00	0.007	4	0.007	0.000	3407	468	601	0	0	19	0	0	0
15143	end climb: SURFACE_DEPTH_REACHED
state	15143	begin surface coast
15186	end surface coast: CONTROL_FINISHED_OK
state	15186	begin surface