Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 275 * 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 275 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 16 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 -40752.047 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 -40752.047

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 16 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 275 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 115536,6701.454,-5652.514,33,1.6,38,-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 1.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 115536,6701.454,-5652.514,181,99.0,181,-37.5 MHEAD_RNG_PITCHd_Wd 86.2,4339,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 590

Post-dive calculations and measurements:

FREEZE 0.41,-0.065,-1.248,0,40,2 ALTIM_TOP_PING 19.5,19.2

FINISH 0.4,1.018434 ALTIM_BOTTOM_PING 500.5,107.5

SM_CCo 12382,156.65,0.727,0,0,1066,425.10 _24V_AH 22.7,54.976

SM_GC 1.15,0.00,0.00,156.65,0.000,0.000,0.727,124,2461,1066,-8.02,0.03,425.10 _10V_AH 10.1,29.137

RAFOS_CLK 816 FG_AHR_24Vo 0.000

RAFOS 2,1260447426,12.300000,12.285000,65,59,57,0,0,0,166,187,198,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6701.185059,-5701.106934,101209,080856,2,79,0.54 MEM 152380

IRIDIUM_FIX 6636.54,-5655.33,060399,121200 DATA_FILE_SIZE 50463,1292

TT8_MAMPS 0.027612 CAP_FILE_SIZE 153088,0

HUMID 46.14 CFSIZE 260165632,226627584

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,0,0

TCM_TEMP 17.20 SOUNDSPEED 1465.8

XPDR_PINGS 3 GPS 101209,154136,6701.392,-5649.666,62,1.3,62,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 292 158.63 SBE_CT 942 24 513.72

Roll_motor 163 102 381.81 SBE_O2 885 19 382.07

VBD_pump_during_apogee 315 1112 7953.06 nil 0 0 0.00

VBD_pump_during_surface 156 727 2585.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 186.79 nil 0 0 0.00

Iridium_during_connect 159 160 578.25 nil 0 0 0.00

Iridium_during_xfer 144 223 733.59

Transponder_ping 3 420 28.60

GUMSTIX_24V 0 0 0.00

GPS 183 50 92.52

TT8 2165 19 435.60

LPSleep 7482 2 174.58

TT8_Active 650 19 130.97

TT8_Sampling 2423 39 977.23

TT8_CF8 709 45 329.13

TT8_Kalman 0 0 0.00

Analog_circuits 1811 12 219.61

GPS_charging 0 0 0.00

Compass 2209 8 178.54

RAFOS 1800 1 27.27

Transponder 20 30 6.14

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.73 -146.0 0.0 0.0 0 130 0.00 0.00 -110.62 0.000 2 0.000 0.000 128 2468 2937 0 0 0 0 0 0

133 -0.73 -146.0 3.3 -7.1 22 165 11.05 2.42 -13.45 0.000 4 0.293 0.103 2445 869 3399 0 0 0 0 0 0

351 -0.67 -146.0 34.0 -15.0 61 357 0.00 2.35 0.00 0.000 6 0.000 0.076 2445 2464 3401 0 0 0 0 0 0

694 -0.67 -146.0 75.5 -11.0 122 700 0.00 3.05 0.00 0.000 4 0.000 0.092 2445 3925 3402 0 0 1 0 0 0

890 -0.67 -146.0 95.8 -12.0 157 896 0.00 2.92 0.00 0.000 6 0.000 0.068 2445 2453 3402 0 0 0 0 0 0

1224 -0.72 -146.0 126.5 -10.0 192 1229 0.00 3.08 0.00 0.000 4 0.000 0.092 2445 3919 3400 0 0 1 0 0 0

1361 -0.79 -146.0 140.5 -10.4 203 1366 0.00 2.90 0.00 0.000 6 0.000 0.068 2445 2480 3400 0 0 0 0 0 0

1688 -0.84 -146.0 171.1 -8.6 234 1693 0.00 3.03 0.00 0.000 4 0.000 0.090 2445 3920 3400 0 0 0 0 0 0

1867 -0.92 -146.0 187.1 -8.8 249 1873 0.17 2.85 0.00 0.000 6 0.116 0.067 2389 2510 3400 0 0 0 0 0 0

2192 -0.80 -146.0 222.8 -11.1 280 2198 0.17 2.97 0.00 0.000 4 0.211 0.088 2428 3924 3399 0 0 1 0 0 0

2337 -0.80 -146.0 237.9 -10.6 292 2344 0.00 2.83 0.00 0.000 6 0.000 0.065 2428 2520 3400 0 0 0 0 0 0

2664 -0.80 -146.0 268.0 -8.4 323 2669 0.00 2.95 0.00 0.000 4 0.000 0.089 2428 3923 3400 0 0 0 0 0 0

2810 -0.80 -146.0 281.2 -9.0 335 2816 0.00 2.80 0.00 0.000 6 0.000 0.065 2427 2528 3400 0 0 1 0 0 0

3134 -0.80 -146.0 306.8 -7.6 366 3139 0.00 2.90 0.00 0.000 4 0.000 0.087 2428 3918 3400 0 0 1 0 0 0

3301 -0.80 -146.0 319.8 -7.8 380 3307 0.00 2.80 0.00 0.000 6 0.000 0.064 2427 2534 3400 0 0 0 0 0 0

3628 -0.80 -146.0 344.8 -7.8 411 3633 0.00 2.90 0.00 0.000 4 0.000 0.086 2428 3919 3400 0 0 1 0 0 0

3784 -0.80 -146.0 358.0 -8.7 424 3790 0.00 2.78 0.00 0.000 6 0.000 0.063 2427 2544 3400 0 0 0 0 0 0

4109 -0.80 -146.0 386.1 -9.4 455 4114 0.00 2.88 0.00 0.000 4 0.000 0.085 2428 3918 3402 0 0 1 0 0 0

4319 -0.84 -146.0 406.0 -9.2 473 4324 0.00 2.72 0.00 0.000 6 0.000 0.062 2428 2561 3402 0 0 1 0 0 0

4643 -0.84 -146.0 435.2 -9.1 503 4648 0.00 2.85 0.00 0.000 4 0.000 0.084 2428 3923 3403 0 0 1 0 0 0

4784 -0.90 -146.0 448.2 -9.3 515 4789 0.00 2.75 0.00 0.000 6 0.000 0.061 2428 2565 3402 0 0 0 0 0 0

5109 -0.95 -146.0 475.9 -7.9 545 5115 0.12 2.85 0.00 0.000 4 0.116 0.081 2369 3918 3403 0 0 1 0 0 0

5245 -0.80 -146.0 490.7 -11.2 556 5251 0.25 2.72 0.00 0.000 6 0.206 0.060 2428 2572 3404 0 0 0 0 0 0

5570 -0.85 -146.0 517.1 -9.0 587 5574 0.00 2.85 0.00 0.000 4 0.000 0.084 2428 3927 3404 0 0 1 0 0 0

5694 -0.92 -146.0 528.0 -8.8 597 5700 0.12 2.70 0.00 0.000 6 0.121 0.061 2388 2591 3405 0 0 1 0 0 0

6018 -0.84 -146.0 560.2 -10.2 628 6023 0.00 2.83 0.00 0.000 4 0.000 0.084 2388 3930 3405 0 0 1 0 0 0

6152 -0.76 -146.0 573.5 -10.3 639 6159 0.22 2.67 0.00 0.000 6 0.203 0.061 2441 2607 3405 0 0 1 0 0 0

6379 end dive: TARGET_DEPTH_EXCEEDED

state 6381 begin apogee

6386 -0.16 0.0 590.6 7.6 661 6513 0.65 0.00 121.38 1.112 6 0.176 0.000 2627 1948 2800 0 0 0 0 0 0

6513 end apogee: CONTROL_FINISHED_OK

state 6513 begin climb

6515 0.73 146.0 593.5 0.0 674 6649 0.98 2.40 124.88 1.063 4 0.135 0.089 2926 364 2203 0 0 0 0 0 0

6711 0.62 146.0 576.7 12.4 692 6717 0.17 2.28 0.00 0.000 6 0.199 0.061 2890 1962 2199 0 0 0 0 0 0

7037 0.62 146.0 544.5 10.0 723 7042 0.00 3.25 0.00 0.000 4 0.000 0.077 2890 3532 2197 0 0 0 0 0 0

7173 0.57 146.0 529.5 11.8 734 7179 0.00 3.20 0.00 0.000 6 0.000 0.070 2901 1975 2194 0 0 0 0 0 0

7498 0.57 146.0 494.7 10.6 765 7503 0.00 3.20 0.00 0.000 4 0.000 0.078 2902 3533 2194 0 0 0 0 0 0

7553 0.49 146.0 488.4 11.9 769 7560 0.28 3.15 0.00 0.000 6 0.204 0.070 2849 1965 2193 0 0 1 0 0 0

7878 0.68 162.7 462.7 8.5 800 7900 0.17 3.22 13.45 0.957 4 0.107 0.078 2910 3541 2136 0 0 0 0 0 0

7981 0.59 162.7 450.5 12.9 809 7987 0.17 3.15 0.00 0.000 6 0.204 0.071 2884 1992 2134 0 0 0 0 0 0

8305 0.65 162.7 416.7 10.0 839 8310 0.00 3.17 0.00 0.000 4 0.000 0.078 2884 3542 2134 0 0 0 0 0 0

8378 0.65 162.7 408.7 11.8 845 8383 0.00 3.12 0.00 0.000 6 0.000 0.071 2895 1996 2132 0 0 0 0 0 0

8702 0.65 162.7 375.2 10.6 875 8707 0.00 3.12 0.00 0.000 4 0.000 0.079 2895 3536 2132 0 0 1 0 0 0

8764 0.65 162.7 368.2 11.4 880 8769 0.00 3.10 0.00 0.000 6 0.000 0.071 2909 2002 2132 0 0 0 0 0 0

9088 0.65 162.7 331.5 11.6 910 9093 0.00 3.12 0.00 0.000 4 0.000 0.077 2909 3535 2132 0 0 0 0 0 0

9161 0.58 162.7 321.9 13.7 916 9167 0.17 3.05 0.00 0.000 6 0.202 0.070 2882 2027 2132 0 0 0 0 0 0

9486 0.66 162.7 287.4 10.6 946 9491 0.00 3.08 0.00 0.000 4 0.000 0.077 2882 3534 2132 0 0 0 0 0 0

9559 0.66 162.7 279.1 11.5 952 9564 0.00 3.03 0.00 0.000 6 0.000 0.069 2893 2046 2132 0 0 0 0 0 0

9883 0.71 162.7 247.8 9.3 982 9888 0.00 3.08 0.00 0.000 4 0.000 0.077 2893 3538 2132 0 0 0 0 0 0

9979 0.71 162.7 238.1 9.9 990 9984 0.00 3.03 0.00 0.000 6 0.000 0.068 2906 2051 2132 0 0 0 0 0 0

10303 0.73 176.3 207.9 8.6 1020 10324 0.00 3.08 12.40 0.815 4 0.000 0.078 2906 3529 2080 0 0 0 0 0 0

10397 0.73 176.3 198.8 10.1 1028 10403 0.00 3.00 0.00 0.000 6 0.000 0.069 2919 2063 2078 0 0 0 0 0 0

10721 0.73 176.3 166.0 10.8 1059 10726 0.00 3.05 0.00 0.000 4 0.000 0.077 2919 3541 2078 0 0 0 0 0 0

10754 0.68 176.3 162.3 12.1 1061 10760 0.00 3.00 0.00 0.000 6 0.000 0.068 2932 2072 2078 0 0 0 0 0 0

11078 0.68 176.3 127.2 10.6 1092 11082 0.00 2.38 0.00 0.000 4 0.000 0.088 2943 356 2078 0 0 0 0 0 0

11117 0.61 176.3 123.2 10.5 1095 11122 0.22 2.28 0.00 0.000 6 0.198 0.062 2889 2065 2078 0 0 0 0 0 0

11445 0.78 201.4 96.2 8.1 1129 11476 0.15 3.10 21.30 0.789 4 0.112 0.077 2941 3542 1978 0 0 0 0 0 0

11561 0.71 201.4 83.8 11.0 1150 11567 0.15 3.03 0.00 0.000 6 0.206 0.069 2922 2071 1976 0 0 0 0 0 0

11906 0.83 226.8 52.5 8.1 1211 11938 0.12 3.12 21.62 0.762 4 0.124 0.079 2963 3539 1874 0 0 0 0 0 0

12001 0.74 226.8 40.6 13.4 1228 12007 0.20 3.00 0.00 0.000 6 0.202 0.070 2930 2082 1872 0 0 0 0 0 0

12346 0.74 226.8 3.3 9.9 1289 12351 0.00 2.42 0.00 0.000 4 0.000 0.091 2939 359 1868 0 0 0 0 0 0

12356 end climb: SURFACE_DEPTH_REACHED

state 12356 begin surface coast

12363 end surface coast: CONTROL_FINISHED_OK

state 12363 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	275	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	16	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	-40752.047	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	115536,6701.454,-5652.514,33,1.6,38,-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	1.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	115536,6701.454,-5652.514,181,99.0,181,-37.5	MHEAD_RNG_PITCHd_Wd	86.2,4339,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	590

FREEZE	0.41,-0.065,-1.248,0,40,2	ALTIM_TOP_PING	19.5,19.2
FINISH	0.4,1.018434	ALTIM_BOTTOM_PING	500.5,107.5
SM_CCo	12382,156.65,0.727,0,0,1066,425.10	_24V_AH	22.7,54.976
SM_GC	1.15,0.00,0.00,156.65,0.000,0.000,0.727,124,2461,1066,-8.02,0.03,425.10	_10V_AH	10.1,29.137
RAFOS_CLK	816	FG_AHR_24Vo	0.000
RAFOS	2,1260447426,12.300000,12.285000,65,59,57,0,0,0,166,187,198,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6701.185059,-5701.106934,101209,080856,2,79,0.54	MEM	152380
IRIDIUM_FIX	6636.54,-5655.33,060399,121200	DATA_FILE_SIZE	50463,1292
TT8_MAMPS	0.027612	CAP_FILE_SIZE	153088,0
HUMID	46.14	CFSIZE	260165632,226627584
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
TCM_TEMP	17.20	SOUNDSPEED	1465.8
XPDR_PINGS	3	GPS	101209,154136,6701.392,-5649.666,62,1.3,62,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	292	158.63	SBE_CT	942	24	513.72
Roll_motor	163	102	381.81	SBE_O2	885	19	382.07
VBD_pump_during_apogee	315	1112	7953.06	nil	0	0	0.00
VBD_pump_during_surface	156	727	2585.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	186.79	nil	0	0	0.00
Iridium_during_connect	159	160	578.25	nil	0	0	0.00
Iridium_during_xfer	144	223	733.59
Transponder_ping	3	420	28.60
GUMSTIX_24V	0	0	0.00
GPS	183	50	92.52
TT8	2165	19	435.60
LPSleep	7482	2	174.58
TT8_Active	650	19	130.97
TT8_Sampling	2423	39	977.23
TT8_CF8	709	45	329.13
TT8_Kalman	0	0	0.00
Analog_circuits	1811	12	219.61
GPS_charging	0	0	0.00
Compass	2209	8	178.54
RAFOS	1800	1	27.27
Transponder	20	30	6.14

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.73	-146.0	0.0	0.0	0	130	0.00	0.00	-110.62	0.000	2	0.000	0.000	128	2468	2937	0	0	0	0	0	0
133	-0.73	-146.0	3.3	-7.1	22	165	11.05	2.42	-13.45	0.000	4	0.293	0.103	2445	869	3399	0	0	0	0	0	0
351	-0.67	-146.0	34.0	-15.0	61	357	0.00	2.35	0.00	0.000	6	0.000	0.076	2445	2464	3401	0	0	0	0	0	0
694	-0.67	-146.0	75.5	-11.0	122	700	0.00	3.05	0.00	0.000	4	0.000	0.092	2445	3925	3402	0	0	1	0	0	0
890	-0.67	-146.0	95.8	-12.0	157	896	0.00	2.92	0.00	0.000	6	0.000	0.068	2445	2453	3402	0	0	0	0	0	0
1224	-0.72	-146.0	126.5	-10.0	192	1229	0.00	3.08	0.00	0.000	4	0.000	0.092	2445	3919	3400	0	0	1	0	0	0
1361	-0.79	-146.0	140.5	-10.4	203	1366	0.00	2.90	0.00	0.000	6	0.000	0.068	2445	2480	3400	0	0	0	0	0	0
1688	-0.84	-146.0	171.1	-8.6	234	1693	0.00	3.03	0.00	0.000	4	0.000	0.090	2445	3920	3400	0	0	0	0	0	0
1867	-0.92	-146.0	187.1	-8.8	249	1873	0.17	2.85	0.00	0.000	6	0.116	0.067	2389	2510	3400	0	0	0	0	0	0
2192	-0.80	-146.0	222.8	-11.1	280	2198	0.17	2.97	0.00	0.000	4	0.211	0.088	2428	3924	3399	0	0	1	0	0	0
2337	-0.80	-146.0	237.9	-10.6	292	2344	0.00	2.83	0.00	0.000	6	0.000	0.065	2428	2520	3400	0	0	0	0	0	0
2664	-0.80	-146.0	268.0	-8.4	323	2669	0.00	2.95	0.00	0.000	4	0.000	0.089	2428	3923	3400	0	0	0	0	0	0
2810	-0.80	-146.0	281.2	-9.0	335	2816	0.00	2.80	0.00	0.000	6	0.000	0.065	2427	2528	3400	0	0	1	0	0	0
3134	-0.80	-146.0	306.8	-7.6	366	3139	0.00	2.90	0.00	0.000	4	0.000	0.087	2428	3918	3400	0	0	1	0	0	0
3301	-0.80	-146.0	319.8	-7.8	380	3307	0.00	2.80	0.00	0.000	6	0.000	0.064	2427	2534	3400	0	0	0	0	0	0
3628	-0.80	-146.0	344.8	-7.8	411	3633	0.00	2.90	0.00	0.000	4	0.000	0.086	2428	3919	3400	0	0	1	0	0	0
3784	-0.80	-146.0	358.0	-8.7	424	3790	0.00	2.78	0.00	0.000	6	0.000	0.063	2427	2544	3400	0	0	0	0	0	0
4109	-0.80	-146.0	386.1	-9.4	455	4114	0.00	2.88	0.00	0.000	4	0.000	0.085	2428	3918	3402	0	0	1	0	0	0
4319	-0.84	-146.0	406.0	-9.2	473	4324	0.00	2.72	0.00	0.000	6	0.000	0.062	2428	2561	3402	0	0	1	0	0	0
4643	-0.84	-146.0	435.2	-9.1	503	4648	0.00	2.85	0.00	0.000	4	0.000	0.084	2428	3923	3403	0	0	1	0	0	0
4784	-0.90	-146.0	448.2	-9.3	515	4789	0.00	2.75	0.00	0.000	6	0.000	0.061	2428	2565	3402	0	0	0	0	0	0
5109	-0.95	-146.0	475.9	-7.9	545	5115	0.12	2.85	0.00	0.000	4	0.116	0.081	2369	3918	3403	0	0	1	0	0	0
5245	-0.80	-146.0	490.7	-11.2	556	5251	0.25	2.72	0.00	0.000	6	0.206	0.060	2428	2572	3404	0	0	0	0	0	0
5570	-0.85	-146.0	517.1	-9.0	587	5574	0.00	2.85	0.00	0.000	4	0.000	0.084	2428	3927	3404	0	0	1	0	0	0
5694	-0.92	-146.0	528.0	-8.8	597	5700	0.12	2.70	0.00	0.000	6	0.121	0.061	2388	2591	3405	0	0	1	0	0	0
6018	-0.84	-146.0	560.2	-10.2	628	6023	0.00	2.83	0.00	0.000	4	0.000	0.084	2388	3930	3405	0	0	1	0	0	0
6152	-0.76	-146.0	573.5	-10.3	639	6159	0.22	2.67	0.00	0.000	6	0.203	0.061	2441	2607	3405	0	0	1	0	0	0
6379	end dive: TARGET_DEPTH_EXCEEDED
state	6381	begin apogee
6386	-0.16	0.0	590.6	7.6	661	6513	0.65	0.00	121.38	1.112	6	0.176	0.000	2627	1948	2800	0	0	0	0	0	0
6513	end apogee: CONTROL_FINISHED_OK
state	6513	begin climb
6515	0.73	146.0	593.5	0.0	674	6649	0.98	2.40	124.88	1.063	4	0.135	0.089	2926	364	2203	0	0	0	0	0	0
6711	0.62	146.0	576.7	12.4	692	6717	0.17	2.28	0.00	0.000	6	0.199	0.061	2890	1962	2199	0	0	0	0	0	0
7037	0.62	146.0	544.5	10.0	723	7042	0.00	3.25	0.00	0.000	4	0.000	0.077	2890	3532	2197	0	0	0	0	0	0
7173	0.57	146.0	529.5	11.8	734	7179	0.00	3.20	0.00	0.000	6	0.000	0.070	2901	1975	2194	0	0	0	0	0	0
7498	0.57	146.0	494.7	10.6	765	7503	0.00	3.20	0.00	0.000	4	0.000	0.078	2902	3533	2194	0	0	0	0	0	0
7553	0.49	146.0	488.4	11.9	769	7560	0.28	3.15	0.00	0.000	6	0.204	0.070	2849	1965	2193	0	0	1	0	0	0
7878	0.68	162.7	462.7	8.5	800	7900	0.17	3.22	13.45	0.957	4	0.107	0.078	2910	3541	2136	0	0	0	0	0	0
7981	0.59	162.7	450.5	12.9	809	7987	0.17	3.15	0.00	0.000	6	0.204	0.071	2884	1992	2134	0	0	0	0	0	0
8305	0.65	162.7	416.7	10.0	839	8310	0.00	3.17	0.00	0.000	4	0.000	0.078	2884	3542	2134	0	0	0	0	0	0
8378	0.65	162.7	408.7	11.8	845	8383	0.00	3.12	0.00	0.000	6	0.000	0.071	2895	1996	2132	0	0	0	0	0	0
8702	0.65	162.7	375.2	10.6	875	8707	0.00	3.12	0.00	0.000	4	0.000	0.079	2895	3536	2132	0	0	1	0	0	0
8764	0.65	162.7	368.2	11.4	880	8769	0.00	3.10	0.00	0.000	6	0.000	0.071	2909	2002	2132	0	0	0	0	0	0
9088	0.65	162.7	331.5	11.6	910	9093	0.00	3.12	0.00	0.000	4	0.000	0.077	2909	3535	2132	0	0	0	0	0	0
9161	0.58	162.7	321.9	13.7	916	9167	0.17	3.05	0.00	0.000	6	0.202	0.070	2882	2027	2132	0	0	0	0	0	0
9486	0.66	162.7	287.4	10.6	946	9491	0.00	3.08	0.00	0.000	4	0.000	0.077	2882	3534	2132	0	0	0	0	0	0
9559	0.66	162.7	279.1	11.5	952	9564	0.00	3.03	0.00	0.000	6	0.000	0.069	2893	2046	2132	0	0	0	0	0	0
9883	0.71	162.7	247.8	9.3	982	9888	0.00	3.08	0.00	0.000	4	0.000	0.077	2893	3538	2132	0	0	0	0	0	0
9979	0.71	162.7	238.1	9.9	990	9984	0.00	3.03	0.00	0.000	6	0.000	0.068	2906	2051	2132	0	0	0	0	0	0
10303	0.73	176.3	207.9	8.6	1020	10324	0.00	3.08	12.40	0.815	4	0.000	0.078	2906	3529	2080	0	0	0	0	0	0
10397	0.73	176.3	198.8	10.1	1028	10403	0.00	3.00	0.00	0.000	6	0.000	0.069	2919	2063	2078	0	0	0	0	0	0
10721	0.73	176.3	166.0	10.8	1059	10726	0.00	3.05	0.00	0.000	4	0.000	0.077	2919	3541	2078	0	0	0	0	0	0
10754	0.68	176.3	162.3	12.1	1061	10760	0.00	3.00	0.00	0.000	6	0.000	0.068	2932	2072	2078	0	0	0	0	0	0
11078	0.68	176.3	127.2	10.6	1092	11082	0.00	2.38	0.00	0.000	4	0.000	0.088	2943	356	2078	0	0	0	0	0	0
11117	0.61	176.3	123.2	10.5	1095	11122	0.22	2.28	0.00	0.000	6	0.198	0.062	2889	2065	2078	0	0	0	0	0	0
11445	0.78	201.4	96.2	8.1	1129	11476	0.15	3.10	21.30	0.789	4	0.112	0.077	2941	3542	1978	0	0	0	0	0	0
11561	0.71	201.4	83.8	11.0	1150	11567	0.15	3.03	0.00	0.000	6	0.206	0.069	2922	2071	1976	0	0	0	0	0	0
11906	0.83	226.8	52.5	8.1	1211	11938	0.12	3.12	21.62	0.762	4	0.124	0.079	2963	3539	1874	0	0	0	0	0	0
12001	0.74	226.8	40.6	13.4	1228	12007	0.20	3.00	0.00	0.000	6	0.202	0.070	2930	2082	1872	0	0	0	0	0	0
12346	0.74	226.8	3.3	9.9	1289	12351	0.00	2.42	0.00	0.000	4	0.000	0.091	2939	359	1868	0	0	0	0	0	0
12356	end climb: SURFACE_DEPTH_REACHED
state	12356	begin surface coast
12363	end surface coast: CONTROL_FINISHED_OK
state	12363	begin surface