Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 273 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 273 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 300

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 425 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 18 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 19 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 DEVICE2 20

T_MISSION 420 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 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 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 2 T_GPS_CHARGE -40382.93 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 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 2690 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 0 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 0.045000002 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 425

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 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 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 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 -40382.93

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 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 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 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

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 19 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 273 NAV_MODE 0 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 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 050751,6659.083,-5652.871,161,2.1,180,-37.5 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050751,6659.083,-5652.871,181,99.0,181,-37.5 MHEAD_RNG_PITCHd_Wd 63.4,8062,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 629

Post-dive calculations and measurements:

FREEZE 0.87,-0.137,-1.823,0,38,0 ALTIM_TOP_PING 20.0,19.0

FINISH 0.9,1.026700 ALTIM_BOTTOM_PING 500.9,145.7

SM_CCo 13601,160.45,0.737,0,0,1066,425.10 _24V_AH 22.6,54.699

SM_GC 1.22,0.00,0.00,160.45,0.000,0.000,0.737,126,2466,1066,-8.01,0.17,425.10 _10V_AH 10.1,28.990

RAFOS_CLK 898 FG_AHR_24Vo 0.000

RAFOS 0,1260432068,8.033334,8.018888,60,59,59,0,0,0,189,148,119,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6701.185059,-5701.106934,101209,080856,2,79,0.54 MEM 152288

IRIDIUM_FIX 6631.12,-5639.92,060399,050503 DATA_FILE_SIZE 53634,1349

TT8_MAMPS 0.027612 CAP_FILE_SIZE 163492,0

HUMID 46.85 CFSIZE 260165632,226856960

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,30,0,0

TCM_TEMP 17.00 SOUNDSPEED 1464.4

XPDR_PINGS 6 GPS 101209,091437,6700.808,-5652.553,48,0.9,48,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 295 165.34 SBE_CT 988 24 536.20

Roll_motor 167 92 348.57 SBE_O2 938 19 402.95

VBD_pump_during_apogee 316 1151 8234.25 nil 0 0 0.00

VBD_pump_during_surface 160 737 2672.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 185.24 nil 0 0 0.00

Iridium_during_connect 174 160 629.51 nil 0 0 0.00

Iridium_during_xfer 225 223 1137.87

Transponder_ping 3 420 33.22

GUMSTIX_24V 0 0 0.00

GPS 183 50 92.52

TT8 2354 19 473.77

LPSleep 8324 2 194.21

TT8_Active 673 19 135.47

TT8_Sampling 2580 39 1040.33

TT8_CF8 748 45 347.19

TT8_Kalman 0 0 0.00

Analog_circuits 1891 12 229.26

GPS_charging 0 0 0.00

Compass 2367 8 191.33

RAFOS 2520 1 38.18

Transponder 19 30 5.81

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.73 -146.0 0.0 0.0 0 139 0.00 0.00 -120.40 0.000 2 0.000 0.000 123 2467 3107 0 0 0 0 0 0

143 -0.73 -146.0 3.5 -5.6 24 164 11.20 0.00 -7.50 0.000 6 0.295 0.000 2445 2467 3398 0 0 0 0 0 0

501 -0.73 -146.0 50.1 -14.9 88 507 0.00 3.05 0.00 0.000 4 0.000 0.092 2446 3912 3401 0 0 1 0 0 0

704 -0.73 -146.0 73.1 -8.3 124 710 0.00 2.92 0.00 0.000 6 0.000 0.068 2446 2462 3402 0 0 1 0 0 0

1046 -0.73 -146.0 103.0 -8.6 182 1051 0.00 3.08 0.00 0.000 4 0.000 0.092 2446 3921 3400 0 0 1 0 0 0

1220 -0.73 -146.0 119.1 -9.3 197 1225 0.00 2.95 0.00 0.000 6 0.000 0.068 2446 2464 3400 0 0 0 0 0 0

1546 -0.78 -146.0 148.7 -8.9 227 1551 0.00 3.05 0.00 0.000 4 0.000 0.090 2446 3915 3400 0 0 1 0 0 0

1747 -0.83 -146.0 166.4 -8.6 244 1753 0.00 2.88 0.00 0.000 6 0.000 0.067 2446 2482 3401 0 0 1 0 0 0

2072 -0.89 -146.0 192.5 -8.5 275 2078 0.15 3.03 0.00 0.000 4 0.120 0.087 2384 3922 3400 0 0 1 0 0 0

2181 -0.75 -146.0 204.7 -12.4 284 2187 0.25 2.85 0.00 0.000 6 0.209 0.066 2442 2496 3400 0 0 1 0 0 0

2506 -0.81 -146.0 236.1 -9.4 314 2511 0.00 2.97 0.00 0.000 4 0.000 0.089 2442 3915 3401 0 0 1 0 0 0

2669 -0.89 -146.0 251.7 -8.9 328 2674 0.12 2.83 0.00 0.000 6 0.125 0.065 2404 2506 3401 0 0 1 0 0 0

2994 -0.83 -146.0 283.6 -9.4 358 2999 0.00 2.95 0.00 0.000 4 0.000 0.089 2404 3912 3401 0 0 1 0 0 0

3128 -0.77 -146.0 296.5 -9.2 369 3135 0.15 2.80 0.00 0.000 6 0.206 0.066 2437 2521 3400 0 0 1 0 0 0

3453 -0.83 -146.0 320.5 -7.4 400 3458 0.00 2.92 0.00 0.000 4 0.000 0.087 2437 3912 3401 0 0 1 0 0 0

3595 -0.90 -146.0 331.0 -7.4 412 3600 0.12 2.78 0.00 0.000 6 0.123 0.064 2398 2531 3401 0 0 1 0 0 0

3919 -0.83 -146.0 358.6 -8.2 442 3924 0.00 2.90 0.00 0.000 4 0.000 0.087 2397 3913 3401 0 0 1 0 0 0

4121 -0.77 -146.0 375.6 -8.6 459 4127 0.17 2.75 0.00 0.000 6 0.203 0.063 2438 2546 3402 0 0 1 0 0 0

4446 -0.85 -146.0 398.9 -7.1 490 4451 0.00 2.88 0.00 0.000 4 0.000 0.086 2438 3914 3403 0 0 1 0 0 0

4581 -0.91 -146.0 408.9 -6.9 501 4587 0.15 2.75 0.00 0.000 6 0.117 0.062 2389 2545 3403 0 0 1 0 0 0

4905 -0.82 -146.0 438.3 -9.6 532 4911 0.15 2.92 0.00 0.000 4 0.204 0.085 2423 3917 3403 0 0 0 0 0 0

5029 -0.82 -146.0 448.7 -8.0 542 5035 0.00 2.75 0.00 0.000 6 0.000 0.062 2423 2548 3403 0 0 1 0 0 0

5354 -0.82 -146.0 475.2 -8.1 573 5358 0.00 2.88 0.00 0.000 4 0.000 0.085 2424 3916 3403 0 0 1 0 0 0

5495 -0.82 -146.0 486.9 -8.5 585 5500 0.00 2.72 0.00 0.000 6 0.000 0.062 2424 2563 3404 0 0 1 0 0 0

5820 -0.82 -146.0 512.8 -7.7 615 5824 0.00 2.85 0.00 0.000 4 0.000 0.085 2424 3913 3405 0 0 1 0 0 0

5942 -0.82 -146.0 523.1 -8.2 625 5949 0.00 2.70 0.00 0.000 6 0.000 0.062 2424 2583 3405 0 0 0 0 0 0

6267 -0.82 -146.0 548.8 -7.8 656 6271 0.00 2.83 0.00 0.000 4 0.000 0.085 2423 3916 3404 0 0 1 0 0 0

6424 -0.82 -146.0 561.6 -7.9 669 6430 0.00 2.67 0.00 0.000 6 0.000 0.062 2423 2594 3405 0 0 1 0 0 0

6750 -0.87 -146.0 585.5 -7.3 700 6754 0.00 2.80 0.00 0.000 4 0.000 0.087 2424 3912 3405 0 0 1 0 0 0

6884 -0.87 -146.0 595.6 -7.7 711 6889 0.00 2.67 0.00 0.000 6 0.000 0.061 2424 2602 3405 0 0 0 0 0 0

7200 -0.92 -146.0 618.7 -7.4 726 7204 0.00 2.80 0.00 0.000 4 0.000 0.087 2424 3914 3405 0 0 1 0 0 0

7326 end dive: TARGET_DEPTH_EXCEEDED

state 7327 begin apogee

7336 -0.16 0.0 629.3 8.1 730 7462 0.75 0.00 123.00 1.151 6 0.180 0.000 2629 1954 2800 0 0 0 0 0 0

7463 end apogee: CONTROL_FINISHED_OK

state 7463 begin climb

7465 0.73 146.0 632.0 0.0 734 7598 0.95 0.00 127.03 1.097 6 0.134 0.000 2910 1954 2204 0 0 0 0 0 0

7895 0.67 146.0 589.7 11.1 752 7900 0.00 3.33 0.00 0.000 4 0.000 0.079 2910 3535 2196 0 0 1 0 0 0

7962 0.54 146.0 581.1 13.1 757 7968 0.22 3.30 0.00 0.000 6 0.206 0.071 2874 1937 2195 0 0 0 0 0 0

8286 0.61 146.0 549.5 9.2 788 8291 0.00 3.28 0.00 0.000 4 0.000 0.079 2874 3536 2194 0 0 1 0 0 0

8433 0.61 146.0 534.2 10.6 800 8439 0.00 3.17 0.00 0.000 6 0.000 0.072 2885 1983 2193 0 0 0 0 0 0

8758 0.61 146.0 502.4 10.0 831 8763 0.00 3.20 0.00 0.000 4 0.000 0.081 2885 3538 2192 0 0 0 0 0 0

8854 0.61 146.0 491.8 11.5 839 8859 0.00 3.15 0.00 0.000 6 0.000 0.072 2899 1993 2192 0 0 0 0 0 0

9178 0.61 146.0 456.6 11.3 869 9183 0.00 3.17 0.00 0.000 4 0.000 0.080 2899 3537 2192 0 0 0 0 0 0

9274 0.53 146.0 445.2 12.7 877 9279 0.20 3.10 0.00 0.000 6 0.202 0.072 2866 2018 2192 0 0 0 0 0 0

9599 0.68 170.8 417.2 8.1 907 9626 0.12 3.15 20.02 0.985 4 0.124 0.080 2907 3545 2101 0 0 1 0 0 0

9705 0.61 170.8 405.3 11.9 916 9710 0.15 3.12 0.00 0.000 6 0.206 0.071 2888 2025 2099 0 0 0 0 0 0

10029 0.67 170.8 372.5 9.9 946 10034 0.00 3.15 0.00 0.000 4 0.000 0.080 2887 3541 2099 0 0 0 0 0 0

10124 0.67 170.8 361.5 11.7 954 10129 0.00 3.08 0.00 0.000 6 0.000 0.071 2900 2054 2098 0 0 0 0 0 0

10448 0.67 170.8 323.6 11.4 984 10453 0.00 3.10 0.00 0.000 4 0.000 0.081 2899 3542 2098 0 0 0 0 0 0

10509 0.62 170.8 316.0 12.5 989 10514 0.00 3.05 0.00 0.000 6 0.000 0.071 2913 2072 2097 0 0 0 0 0 0

10833 0.62 170.8 279.9 11.2 1019 10838 0.00 3.05 0.00 0.000 4 0.000 0.079 2913 3537 2097 0 0 0 0 0 0

10861 0.55 170.8 276.6 11.4 1021 10867 0.22 3.03 0.00 0.000 6 0.202 0.071 2873 2070 2097 0 0 0 0 0 0

11186 0.68 178.1 247.2 8.9 1051 11201 0.12 3.05 6.85 0.783 4 0.124 0.080 2913 3530 2072 0 0 1 0 0 0

11276 0.61 178.1 236.7 12.5 1059 11281 0.15 2.97 0.00 0.000 6 0.205 0.071 2893 2091 2071 0 0 0 0 0 0

11600 0.68 178.1 204.4 9.2 1089 11602 0.00 0.00 0.00 0.000 6 0.000 0.000 2893 2092 2071 0 0 0 0 0 0

11919 0.80 197.2 176.5 8.4 1119 11944 0.17 3.05 17.10 0.830 4 0.109 0.078 2952 3529 1995 0 0 0 0 0 0

12028 0.64 197.2 162.9 13.3 1129 12034 0.28 2.97 0.00 0.000 6 0.203 0.069 2900 2093 1993 0 0 0 0 0 0

12353 0.78 223.5 134.4 8.1 1159 12385 0.12 3.08 22.48 0.815 4 0.123 0.079 2941 3529 1888 0 0 0 0 0 0

12448 0.69 223.5 123.7 12.3 1167 12454 0.17 2.95 0.00 0.000 6 0.202 0.069 2915 2113 1885 0 0 0 0 0 0

12778 0.78 223.5 90.3 10.1 1206 12784 0.00 2.97 0.00 0.000 4 0.000 0.079 2915 3536 1884 0 0 1 0 0 0

12834 0.78 223.5 83.8 11.9 1216 12840 0.00 2.92 0.00 0.000 6 0.000 0.070 2925 2131 1884 0 0 0 0 0 0

13177 0.89 223.5 50.0 9.6 1277 13183 0.15 2.97 0.00 0.000 4 0.107 0.079 2983 3538 1883 0 0 0 0 0 0

13258 0.75 223.5 37.9 15.8 1291 13264 0.25 2.90 0.00 0.000 6 0.203 0.070 2937 2145 1883 0 0 0 0 0 0

13566 end climb: SURFACE_DEPTH_REACHED

state 13567 begin surface coast

13584 end surface coast: CONTROL_FINISHED_OK

state 13584 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	273	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	300
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	425	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	18	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	19	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	DEVICE2	20
T_MISSION	420	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	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	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	2	T_GPS_CHARGE	-40382.93	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	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	2690	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	0	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	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	050751,6659.083,-5652.871,161,2.1,180,-37.5	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050751,6659.083,-5652.871,181,99.0,181,-37.5	MHEAD_RNG_PITCHd_Wd	63.4,8062,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	629

FREEZE	0.87,-0.137,-1.823,0,38,0	ALTIM_TOP_PING	20.0,19.0
FINISH	0.9,1.026700	ALTIM_BOTTOM_PING	500.9,145.7
SM_CCo	13601,160.45,0.737,0,0,1066,425.10	_24V_AH	22.6,54.699
SM_GC	1.22,0.00,0.00,160.45,0.000,0.000,0.737,126,2466,1066,-8.01,0.17,425.10	_10V_AH	10.1,28.990
RAFOS_CLK	898	FG_AHR_24Vo	0.000
RAFOS	0,1260432068,8.033334,8.018888,60,59,59,0,0,0,189,148,119,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6701.185059,-5701.106934,101209,080856,2,79,0.54	MEM	152288
IRIDIUM_FIX	6631.12,-5639.92,060399,050503	DATA_FILE_SIZE	53634,1349
TT8_MAMPS	0.027612	CAP_FILE_SIZE	163492,0
HUMID	46.85	CFSIZE	260165632,226856960
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
TCM_TEMP	17.00	SOUNDSPEED	1464.4
XPDR_PINGS	6	GPS	101209,091437,6700.808,-5652.553,48,0.9,48,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	295	165.34	SBE_CT	988	24	536.20
Roll_motor	167	92	348.57	SBE_O2	938	19	402.95
VBD_pump_during_apogee	316	1151	8234.25	nil	0	0	0.00
VBD_pump_during_surface	160	737	2672.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	185.24	nil	0	0	0.00
Iridium_during_connect	174	160	629.51	nil	0	0	0.00
Iridium_during_xfer	225	223	1137.87
Transponder_ping	3	420	33.22
GUMSTIX_24V	0	0	0.00
GPS	183	50	92.52
TT8	2354	19	473.77
LPSleep	8324	2	194.21
TT8_Active	673	19	135.47
TT8_Sampling	2580	39	1040.33
TT8_CF8	748	45	347.19
TT8_Kalman	0	0	0.00
Analog_circuits	1891	12	229.26
GPS_charging	0	0	0.00
Compass	2367	8	191.33
RAFOS	2520	1	38.18
Transponder	19	30	5.81

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.73	-146.0	0.0	0.0	0	139	0.00	0.00	-120.40	0.000	2	0.000	0.000	123	2467	3107	0	0	0	0	0	0
143	-0.73	-146.0	3.5	-5.6	24	164	11.20	0.00	-7.50	0.000	6	0.295	0.000	2445	2467	3398	0	0	0	0	0	0
501	-0.73	-146.0	50.1	-14.9	88	507	0.00	3.05	0.00	0.000	4	0.000	0.092	2446	3912	3401	0	0	1	0	0	0
704	-0.73	-146.0	73.1	-8.3	124	710	0.00	2.92	0.00	0.000	6	0.000	0.068	2446	2462	3402	0	0	1	0	0	0
1046	-0.73	-146.0	103.0	-8.6	182	1051	0.00	3.08	0.00	0.000	4	0.000	0.092	2446	3921	3400	0	0	1	0	0	0
1220	-0.73	-146.0	119.1	-9.3	197	1225	0.00	2.95	0.00	0.000	6	0.000	0.068	2446	2464	3400	0	0	0	0	0	0
1546	-0.78	-146.0	148.7	-8.9	227	1551	0.00	3.05	0.00	0.000	4	0.000	0.090	2446	3915	3400	0	0	1	0	0	0
1747	-0.83	-146.0	166.4	-8.6	244	1753	0.00	2.88	0.00	0.000	6	0.000	0.067	2446	2482	3401	0	0	1	0	0	0
2072	-0.89	-146.0	192.5	-8.5	275	2078	0.15	3.03	0.00	0.000	4	0.120	0.087	2384	3922	3400	0	0	1	0	0	0
2181	-0.75	-146.0	204.7	-12.4	284	2187	0.25	2.85	0.00	0.000	6	0.209	0.066	2442	2496	3400	0	0	1	0	0	0
2506	-0.81	-146.0	236.1	-9.4	314	2511	0.00	2.97	0.00	0.000	4	0.000	0.089	2442	3915	3401	0	0	1	0	0	0
2669	-0.89	-146.0	251.7	-8.9	328	2674	0.12	2.83	0.00	0.000	6	0.125	0.065	2404	2506	3401	0	0	1	0	0	0
2994	-0.83	-146.0	283.6	-9.4	358	2999	0.00	2.95	0.00	0.000	4	0.000	0.089	2404	3912	3401	0	0	1	0	0	0
3128	-0.77	-146.0	296.5	-9.2	369	3135	0.15	2.80	0.00	0.000	6	0.206	0.066	2437	2521	3400	0	0	1	0	0	0
3453	-0.83	-146.0	320.5	-7.4	400	3458	0.00	2.92	0.00	0.000	4	0.000	0.087	2437	3912	3401	0	0	1	0	0	0
3595	-0.90	-146.0	331.0	-7.4	412	3600	0.12	2.78	0.00	0.000	6	0.123	0.064	2398	2531	3401	0	0	1	0	0	0
3919	-0.83	-146.0	358.6	-8.2	442	3924	0.00	2.90	0.00	0.000	4	0.000	0.087	2397	3913	3401	0	0	1	0	0	0
4121	-0.77	-146.0	375.6	-8.6	459	4127	0.17	2.75	0.00	0.000	6	0.203	0.063	2438	2546	3402	0	0	1	0	0	0
4446	-0.85	-146.0	398.9	-7.1	490	4451	0.00	2.88	0.00	0.000	4	0.000	0.086	2438	3914	3403	0	0	1	0	0	0
4581	-0.91	-146.0	408.9	-6.9	501	4587	0.15	2.75	0.00	0.000	6	0.117	0.062	2389	2545	3403	0	0	1	0	0	0
4905	-0.82	-146.0	438.3	-9.6	532	4911	0.15	2.92	0.00	0.000	4	0.204	0.085	2423	3917	3403	0	0	0	0	0	0
5029	-0.82	-146.0	448.7	-8.0	542	5035	0.00	2.75	0.00	0.000	6	0.000	0.062	2423	2548	3403	0	0	1	0	0	0
5354	-0.82	-146.0	475.2	-8.1	573	5358	0.00	2.88	0.00	0.000	4	0.000	0.085	2424	3916	3403	0	0	1	0	0	0
5495	-0.82	-146.0	486.9	-8.5	585	5500	0.00	2.72	0.00	0.000	6	0.000	0.062	2424	2563	3404	0	0	1	0	0	0
5820	-0.82	-146.0	512.8	-7.7	615	5824	0.00	2.85	0.00	0.000	4	0.000	0.085	2424	3913	3405	0	0	1	0	0	0
5942	-0.82	-146.0	523.1	-8.2	625	5949	0.00	2.70	0.00	0.000	6	0.000	0.062	2424	2583	3405	0	0	0	0	0	0
6267	-0.82	-146.0	548.8	-7.8	656	6271	0.00	2.83	0.00	0.000	4	0.000	0.085	2423	3916	3404	0	0	1	0	0	0
6424	-0.82	-146.0	561.6	-7.9	669	6430	0.00	2.67	0.00	0.000	6	0.000	0.062	2423	2594	3405	0	0	1	0	0	0
6750	-0.87	-146.0	585.5	-7.3	700	6754	0.00	2.80	0.00	0.000	4	0.000	0.087	2424	3912	3405	0	0	1	0	0	0
6884	-0.87	-146.0	595.6	-7.7	711	6889	0.00	2.67	0.00	0.000	6	0.000	0.061	2424	2602	3405	0	0	0	0	0	0
7200	-0.92	-146.0	618.7	-7.4	726	7204	0.00	2.80	0.00	0.000	4	0.000	0.087	2424	3914	3405	0	0	1	0	0	0
7326	end dive: TARGET_DEPTH_EXCEEDED
state	7327	begin apogee
7336	-0.16	0.0	629.3	8.1	730	7462	0.75	0.00	123.00	1.151	6	0.180	0.000	2629	1954	2800	0	0	0	0	0	0
7463	end apogee: CONTROL_FINISHED_OK
state	7463	begin climb
7465	0.73	146.0	632.0	0.0	734	7598	0.95	0.00	127.03	1.097	6	0.134	0.000	2910	1954	2204	0	0	0	0	0	0
7895	0.67	146.0	589.7	11.1	752	7900	0.00	3.33	0.00	0.000	4	0.000	0.079	2910	3535	2196	0	0	1	0	0	0
7962	0.54	146.0	581.1	13.1	757	7968	0.22	3.30	0.00	0.000	6	0.206	0.071	2874	1937	2195	0	0	0	0	0	0
8286	0.61	146.0	549.5	9.2	788	8291	0.00	3.28	0.00	0.000	4	0.000	0.079	2874	3536	2194	0	0	1	0	0	0
8433	0.61	146.0	534.2	10.6	800	8439	0.00	3.17	0.00	0.000	6	0.000	0.072	2885	1983	2193	0	0	0	0	0	0
8758	0.61	146.0	502.4	10.0	831	8763	0.00	3.20	0.00	0.000	4	0.000	0.081	2885	3538	2192	0	0	0	0	0	0
8854	0.61	146.0	491.8	11.5	839	8859	0.00	3.15	0.00	0.000	6	0.000	0.072	2899	1993	2192	0	0	0	0	0	0
9178	0.61	146.0	456.6	11.3	869	9183	0.00	3.17	0.00	0.000	4	0.000	0.080	2899	3537	2192	0	0	0	0	0	0
9274	0.53	146.0	445.2	12.7	877	9279	0.20	3.10	0.00	0.000	6	0.202	0.072	2866	2018	2192	0	0	0	0	0	0
9599	0.68	170.8	417.2	8.1	907	9626	0.12	3.15	20.02	0.985	4	0.124	0.080	2907	3545	2101	0	0	1	0	0	0
9705	0.61	170.8	405.3	11.9	916	9710	0.15	3.12	0.00	0.000	6	0.206	0.071	2888	2025	2099	0	0	0	0	0	0
10029	0.67	170.8	372.5	9.9	946	10034	0.00	3.15	0.00	0.000	4	0.000	0.080	2887	3541	2099	0	0	0	0	0	0
10124	0.67	170.8	361.5	11.7	954	10129	0.00	3.08	0.00	0.000	6	0.000	0.071	2900	2054	2098	0	0	0	0	0	0
10448	0.67	170.8	323.6	11.4	984	10453	0.00	3.10	0.00	0.000	4	0.000	0.081	2899	3542	2098	0	0	0	0	0	0
10509	0.62	170.8	316.0	12.5	989	10514	0.00	3.05	0.00	0.000	6	0.000	0.071	2913	2072	2097	0	0	0	0	0	0
10833	0.62	170.8	279.9	11.2	1019	10838	0.00	3.05	0.00	0.000	4	0.000	0.079	2913	3537	2097	0	0	0	0	0	0
10861	0.55	170.8	276.6	11.4	1021	10867	0.22	3.03	0.00	0.000	6	0.202	0.071	2873	2070	2097	0	0	0	0	0	0
11186	0.68	178.1	247.2	8.9	1051	11201	0.12	3.05	6.85	0.783	4	0.124	0.080	2913	3530	2072	0	0	1	0	0	0
11276	0.61	178.1	236.7	12.5	1059	11281	0.15	2.97	0.00	0.000	6	0.205	0.071	2893	2091	2071	0	0	0	0	0	0
11600	0.68	178.1	204.4	9.2	1089	11602	0.00	0.00	0.00	0.000	6	0.000	0.000	2893	2092	2071	0	0	0	0	0	0
11919	0.80	197.2	176.5	8.4	1119	11944	0.17	3.05	17.10	0.830	4	0.109	0.078	2952	3529	1995	0	0	0	0	0	0
12028	0.64	197.2	162.9	13.3	1129	12034	0.28	2.97	0.00	0.000	6	0.203	0.069	2900	2093	1993	0	0	0	0	0	0
12353	0.78	223.5	134.4	8.1	1159	12385	0.12	3.08	22.48	0.815	4	0.123	0.079	2941	3529	1888	0	0	0	0	0	0
12448	0.69	223.5	123.7	12.3	1167	12454	0.17	2.95	0.00	0.000	6	0.202	0.069	2915	2113	1885	0	0	0	0	0	0
12778	0.78	223.5	90.3	10.1	1206	12784	0.00	2.97	0.00	0.000	4	0.000	0.079	2915	3536	1884	0	0	1	0	0	0
12834	0.78	223.5	83.8	11.9	1216	12840	0.00	2.92	0.00	0.000	6	0.000	0.070	2925	2131	1884	0	0	0	0	0	0
13177	0.89	223.5	50.0	9.6	1277	13183	0.15	2.97	0.00	0.000	4	0.107	0.079	2983	3538	1883	0	0	0	0	0	0
13258	0.75	223.5	37.9	15.8	1291	13264	0.25	2.90	0.00	0.000	6	0.203	0.070	2937	2145	1883	0	0	0	0	0	0
13566	end climb: SURFACE_DEPTH_REACHED
state	13567	begin surface coast
13584	end surface coast: CONTROL_FINISHED_OK
state	13584	begin surface