Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 340 * 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 340 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 16 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 29 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 -42331.047 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 -42331.047

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 16 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 340 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 035136,6708.298,-5711.220,37,1.0,37,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 4 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 035714,6708.317,-5711.397,9,1.3,9,-37.8 MHEAD_RNG_PITCHd_Wd 158.0,19557,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 609

Post-dive calculations and measurements:

FREEZE 0.63,-0.297,-0.940,0,1,0 ALTIM_TOP_PING 19.9,19.4

FINISH 0.6,1.013881 ALTIM_BOTTOM_PING 550.2,115.5

SM_CCo 13278,130.35,0.719,0,0,1067,425.10 _24V_AH 22.5,63.674

SM_GC 1.46,0.00,0.00,130.35,0.000,0.000,0.719,124,2464,1067,-8.02,0.11,425.10 _10V_AH 10.1,33.746

RAFOS_CLK 822 FG_AHR_24Vo 0.000

RAFOS 0,1261195264,4.033333,4.017778,58,57,56,0,0,0,190,152,219,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6706.996582,-5717.127930,191209,040400,2,106,1.58 MEM 152520

IRIDIUM_FIX 6636.54,-5652.31,150399,000020 DATA_FILE_SIZE 53518,1350

TT8_MAMPS 0.027612 CAP_FILE_SIZE 157346,0

HUMID 47.79 CFSIZE 260165632,223649792

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,104,0,0

TCM_TEMP 17.00 SOUNDSPEED 1467.8

XPDR_PINGS 2 GPS 191209,074237,6708.290,-5713.745,40,1.1,40,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 295 150.66 SBE_CT 989 24 534.38

Roll_motor 174 97 381.68 SBE_O2 924 19 395.36

VBD_pump_during_apogee 308 1112 7733.80 nil 0 0 0.00

VBD_pump_during_surface 130 719 2110.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 58.49 nil 0 0 0.00

Iridium_during_connect 33 160 121.08 nil 0 0 0.00

Iridium_during_xfer 158 223 793.93

Transponder_ping 2 420 23.62

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.74

TT8 2336 19 470.17

LPSleep 7903 2 184.39

TT8_Active 631 19 127.06

TT8_Sampling 2433 39 981.34

TT8_CF8 440 45 204.32

TT8_Kalman 0 0 0.00

Analog_circuits 1860 12 225.54

GPS_charging 0 0 0.00

Compass 2389 8 193.07

RAFOS 2520 1 38.18

Transponder 20 30 6.36

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

14 -0.73 -146.0 0.0 0.0 0 133 0.00 0.00 -115.30 0.000 2 0.000 0.000 125 2459 3158 0 0 0 0 0 0

137 -0.73 -146.0 3.4 -5.4 23 164 11.38 2.35 -6.25 0.000 4 0.295 0.097 2447 838 3398 0 0 0 0 0 0

287 -0.73 -146.0 25.4 -11.9 50 292 0.00 2.20 0.00 0.000 6 0.000 0.068 2447 2449 3400 0 0 0 0 0 0

629 -0.73 -146.0 63.7 -11.3 111 635 0.00 3.28 0.00 0.000 4 0.000 0.087 2447 3924 3400 0 0 3 0 0 0

865 -0.73 -146.0 90.3 -11.0 153 870 0.00 3.08 0.00 0.000 6 0.000 0.064 2448 2489 3400 0 0 2 0 0 0

1196 -0.80 -146.0 121.1 -8.1 192 1201 0.00 3.20 0.00 0.000 4 0.000 0.087 2447 3923 3399 0 0 3 0 0 0

1393 -0.87 -146.0 138.0 -8.9 209 1399 0.12 3.03 0.00 0.000 6 0.127 0.064 2408 2515 3398 0 0 2 0 0 0

1717 -0.87 -146.0 172.0 -10.5 239 1722 0.00 3.15 0.00 0.000 4 0.000 0.087 2408 3926 3397 0 0 3 0 0 0

1929 -0.87 -146.0 195.0 -11.0 257 1935 0.00 2.95 0.00 0.000 6 0.000 0.062 2408 2549 3397 0 0 2 0 0 0

2254 -0.87 -146.0 226.3 -9.3 288 2259 0.00 3.08 0.00 0.000 4 0.000 0.084 2408 3918 3397 0 0 2 0 0 0

2483 -0.87 -146.0 248.5 -9.3 308 2488 0.00 2.88 0.00 0.000 6 0.000 0.060 2408 2576 3397 0 0 2 0 0 0

2808 -0.87 -146.0 275.8 -7.7 338 2813 0.00 3.00 0.00 0.000 4 0.000 0.083 2408 3917 3397 0 0 2 0 0 0

3009 -0.87 -146.0 292.3 -8.7 355 3015 0.00 2.80 0.00 0.000 6 0.000 0.058 2408 2615 3397 0 0 1 0 0 0

3336 -0.87 -146.0 318.8 -8.3 386 3340 0.00 2.92 0.00 0.000 4 0.000 0.081 2408 3921 3398 0 0 2 0 0 0

3486 -0.87 -146.0 332.5 -9.1 399 3491 0.00 2.75 0.00 0.000 6 0.000 0.057 2408 2633 3399 0 0 2 0 0 0

3811 -0.87 -146.0 360.7 -9.0 429 3815 0.00 2.90 0.00 0.000 4 0.000 0.081 2408 3929 3399 0 0 2 0 0 0

3933 -0.87 -146.0 372.3 -9.3 439 3939 0.00 2.75 0.00 0.000 6 0.000 0.056 2408 2639 3400 0 0 2 0 0 0

4260 -0.87 -146.0 400.9 -8.7 470 4265 0.00 2.88 0.00 0.000 4 0.000 0.081 2407 3919 3400 0 0 2 0 0 0

4356 -0.87 -146.0 409.3 -9.2 478 4360 0.00 2.72 0.00 0.000 6 0.000 0.056 2409 2652 3400 0 0 1 0 0 0

4681 -0.87 -146.0 437.1 -8.1 508 4686 0.00 2.88 0.00 0.000 4 0.000 0.080 2408 3922 3401 0 0 1 0 0 0

4843 -0.87 -146.0 451.6 -9.5 522 4848 0.00 2.67 0.00 0.000 6 0.000 0.056 2408 2673 3401 0 0 2 0 0 0

5168 -0.87 -146.0 479.1 -8.3 552 5173 0.00 2.83 0.00 0.000 4 0.000 0.080 2408 3922 3402 0 0 2 0 0 0

5357 -0.87 -146.0 496.1 -9.2 568 5363 0.00 2.62 0.00 0.000 6 0.000 0.056 2408 2706 3402 0 0 2 0 0 0

5682 -0.87 -146.0 522.1 -7.8 599 5687 0.00 2.75 0.00 0.000 4 0.000 0.081 2408 3920 3402 0 0 3 0 0 0

5812 -0.87 -146.0 532.3 -8.1 610 5816 0.00 2.60 0.00 0.000 6 0.000 0.056 2408 2719 3402 0 0 2 0 0 0

6136 -0.87 -146.0 556.7 -7.9 640 6141 0.00 2.75 0.00 0.000 4 0.000 0.080 2408 3929 3402 0 0 2 0 0 0

6232 -0.87 -146.0 565.2 -9.7 648 6236 0.00 2.58 0.00 0.000 6 0.000 0.056 2408 2728 3402 0 0 2 0 0 0

6556 -0.87 -146.0 591.8 -7.1 678 6560 0.00 2.72 0.00 0.000 4 0.000 0.081 2408 3927 3402 0 0 2 0 0 0

6697 -0.87 -146.0 602.9 -8.2 688 6701 0.00 2.58 0.00 0.000 6 0.000 0.056 2408 2732 3402 0 0 2 0 0 0

6803 end dive: TARGET_DEPTH_EXCEEDED

state 6803 begin apogee

6809 -0.16 0.0 611.6 8.0 692 6936 0.82 0.00 123.28 1.113 6 0.176 0.000 2634 1937 2800 0 0 0 0 0 0

6937 end apogee: CONTROL_FINISHED_OK

state 6937 begin climb

6938 0.73 146.0 614.8 0.0 696 7071 0.93 0.00 126.28 1.065 6 0.123 0.000 2914 1937 2204 0 0 0 0 0 0

7376 0.73 146.0 573.0 11.3 724 7381 0.00 3.58 0.00 0.000 4 0.000 0.072 2914 3552 2196 0 0 3 0 0 0

7483 0.62 146.0 559.4 12.3 733 7489 0.17 3.50 0.00 0.000 6 0.212 0.067 2892 1964 2195 0 0 2 0 0 0

7808 0.62 146.0 527.1 10.1 763 7813 0.00 3.45 0.00 0.000 4 0.000 0.074 2892 3544 2194 0 0 3 0 0 0

7943 0.57 146.0 511.7 11.0 774 7949 0.12 3.42 0.00 0.000 6 0.199 0.067 2879 1986 2193 0 0 1 0 0 0

8268 0.64 152.1 482.3 8.9 805 8279 0.00 3.42 4.95 0.753 4 0.000 0.075 2879 3552 2179 0 0 3 0 0 0

8392 0.64 152.1 470.4 9.9 816 8398 0.00 3.42 0.00 0.000 6 0.000 0.067 2892 1989 2178 0 0 1 0 0 0

8717 0.64 152.1 440.5 9.2 846 8722 0.00 3.40 0.00 0.000 4 0.000 0.074 2892 3545 2178 0 0 3 0 0 0

8828 0.64 152.1 429.0 9.8 855 8834 0.00 3.35 0.00 0.000 6 0.000 0.067 2907 2013 2178 0 0 2 0 0 0

9153 0.64 152.1 397.5 10.1 886 9158 0.00 3.40 0.00 0.000 4 0.000 0.075 2907 3552 2178 0 0 2 0 0 0

9271 0.58 152.1 384.6 11.5 896 9277 0.17 3.38 0.00 0.000 6 0.202 0.067 2882 2020 2178 0 0 1 0 0 0

9596 0.66 167.5 356.1 8.5 926 9617 0.00 3.40 14.20 0.908 4 0.000 0.075 2882 3548 2117 0 0 2 0 0 0

9730 0.66 167.5 342.6 10.5 938 9736 0.00 3.35 0.00 0.000 6 0.000 0.066 2894 2042 2114 0 0 1 0 0 0

10055 0.66 167.5 311.1 9.3 968 10060 0.00 3.38 0.00 0.000 4 0.000 0.074 2894 3545 2114 0 0 1 0 0 0

10133 0.66 167.5 302.8 10.6 974 10138 0.00 3.33 0.00 0.000 6 0.000 0.067 2909 2055 2113 0 0 1 0 0 0

10457 0.66 167.5 272.1 9.7 1005 10462 0.00 3.33 0.00 0.000 4 0.000 0.074 2909 3545 2113 0 0 2 0 0 0

10546 0.61 167.5 262.4 10.3 1012 10553 0.15 3.28 0.00 0.000 6 0.202 0.066 2890 2075 2114 0 0 2 0 0 0

10871 0.67 167.5 232.5 9.5 1043 10876 0.00 3.30 0.00 0.000 4 0.000 0.074 2890 3547 2114 0 0 2 0 0 0

10966 0.67 167.5 222.3 10.9 1051 10971 0.00 3.25 0.00 0.000 6 0.000 0.065 2902 2089 2114 0 0 2 0 0 0

11291 0.67 167.5 189.5 9.5 1081 11296 0.00 3.28 0.00 0.000 4 0.000 0.074 2902 3546 2114 0 0 2 0 0 0

11408 0.67 167.5 177.6 10.0 1091 11414 0.00 3.22 0.00 0.000 6 0.000 0.065 2916 2095 2113 0 0 2 0 0 0

11732 0.67 167.5 146.5 9.7 1121 11738 0.00 3.28 0.00 0.000 4 0.000 0.074 2916 3552 2114 0 0 2 0 0 0

11828 0.67 167.5 135.9 11.3 1129 11833 0.00 3.22 0.00 0.000 6 0.000 0.064 2931 2112 2114 0 0 1 0 0 0

12152 0.73 173.3 104.9 8.9 1159 12167 0.00 3.28 6.53 0.672 4 0.000 0.074 2931 3547 2092 0 0 3 0 0 0

12297 0.73 173.3 90.5 10.0 1180 12303 0.00 3.20 0.00 0.000 6 0.000 0.065 2945 2123 2092 0 0 1 0 0 0

12640 0.73 177.5 58.4 9.0 1241 12651 0.00 3.22 5.43 0.632 4 0.000 0.074 2945 3549 2074 0 0 2 0 0 0

12738 0.67 177.5 48.0 11.1 1258 12744 0.20 3.20 0.00 0.000 6 0.199 0.066 2913 2133 2074 0 0 1 0 0 0

13086 0.84 211.1 19.9 7.8 1319 13123 0.15 3.28 28.20 0.755 4 0.117 0.077 2964 3553 1938 0 0 2 0 0 0

13226 0.75 211.1 3.9 12.4 1344 13232 0.17 3.22 0.00 0.000 6 0.199 0.067 2939 2151 1935 0 0 1 0 0 0

13243 end climb: SURFACE_DEPTH_REACHED

state 13243 begin surface coast

13261 end surface coast: CONTROL_FINISHED_OK

state 13261 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	340	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	16	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	29	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	-42331.047	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	035136,6708.298,-5711.220,37,1.0,37,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	4	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	035714,6708.317,-5711.397,9,1.3,9,-37.8	MHEAD_RNG_PITCHd_Wd	158.0,19557,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	609

FREEZE	0.63,-0.297,-0.940,0,1,0	ALTIM_TOP_PING	19.9,19.4
FINISH	0.6,1.013881	ALTIM_BOTTOM_PING	550.2,115.5
SM_CCo	13278,130.35,0.719,0,0,1067,425.10	_24V_AH	22.5,63.674
SM_GC	1.46,0.00,0.00,130.35,0.000,0.000,0.719,124,2464,1067,-8.02,0.11,425.10	_10V_AH	10.1,33.746
RAFOS_CLK	822	FG_AHR_24Vo	0.000
RAFOS	0,1261195264,4.033333,4.017778,58,57,56,0,0,0,190,152,219,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6706.996582,-5717.127930,191209,040400,2,106,1.58	MEM	152520
IRIDIUM_FIX	6636.54,-5652.31,150399,000020	DATA_FILE_SIZE	53518,1350
TT8_MAMPS	0.027612	CAP_FILE_SIZE	157346,0
HUMID	47.79	CFSIZE	260165632,223649792
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,104,0,0
TCM_TEMP	17.00	SOUNDSPEED	1467.8
XPDR_PINGS	2	GPS	191209,074237,6708.290,-5713.745,40,1.1,40,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	295	150.66	SBE_CT	989	24	534.38
Roll_motor	174	97	381.68	SBE_O2	924	19	395.36
VBD_pump_during_apogee	308	1112	7733.80	nil	0	0	0.00
VBD_pump_during_surface	130	719	2110.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	58.49	nil	0	0	0.00
Iridium_during_connect	33	160	121.08	nil	0	0	0.00
Iridium_during_xfer	158	223	793.93
Transponder_ping	2	420	23.62
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.74
TT8	2336	19	470.17
LPSleep	7903	2	184.39
TT8_Active	631	19	127.06
TT8_Sampling	2433	39	981.34
TT8_CF8	440	45	204.32
TT8_Kalman	0	0	0.00
Analog_circuits	1860	12	225.54
GPS_charging	0	0	0.00
Compass	2389	8	193.07
RAFOS	2520	1	38.18
Transponder	20	30	6.36

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
14	-0.73	-146.0	0.0	0.0	0	133	0.00	0.00	-115.30	0.000	2	0.000	0.000	125	2459	3158	0	0	0	0	0	0
137	-0.73	-146.0	3.4	-5.4	23	164	11.38	2.35	-6.25	0.000	4	0.295	0.097	2447	838	3398	0	0	0	0	0	0
287	-0.73	-146.0	25.4	-11.9	50	292	0.00	2.20	0.00	0.000	6	0.000	0.068	2447	2449	3400	0	0	0	0	0	0
629	-0.73	-146.0	63.7	-11.3	111	635	0.00	3.28	0.00	0.000	4	0.000	0.087	2447	3924	3400	0	0	3	0	0	0
865	-0.73	-146.0	90.3	-11.0	153	870	0.00	3.08	0.00	0.000	6	0.000	0.064	2448	2489	3400	0	0	2	0	0	0
1196	-0.80	-146.0	121.1	-8.1	192	1201	0.00	3.20	0.00	0.000	4	0.000	0.087	2447	3923	3399	0	0	3	0	0	0
1393	-0.87	-146.0	138.0	-8.9	209	1399	0.12	3.03	0.00	0.000	6	0.127	0.064	2408	2515	3398	0	0	2	0	0	0
1717	-0.87	-146.0	172.0	-10.5	239	1722	0.00	3.15	0.00	0.000	4	0.000	0.087	2408	3926	3397	0	0	3	0	0	0
1929	-0.87	-146.0	195.0	-11.0	257	1935	0.00	2.95	0.00	0.000	6	0.000	0.062	2408	2549	3397	0	0	2	0	0	0
2254	-0.87	-146.0	226.3	-9.3	288	2259	0.00	3.08	0.00	0.000	4	0.000	0.084	2408	3918	3397	0	0	2	0	0	0
2483	-0.87	-146.0	248.5	-9.3	308	2488	0.00	2.88	0.00	0.000	6	0.000	0.060	2408	2576	3397	0	0	2	0	0	0
2808	-0.87	-146.0	275.8	-7.7	338	2813	0.00	3.00	0.00	0.000	4	0.000	0.083	2408	3917	3397	0	0	2	0	0	0
3009	-0.87	-146.0	292.3	-8.7	355	3015	0.00	2.80	0.00	0.000	6	0.000	0.058	2408	2615	3397	0	0	1	0	0	0
3336	-0.87	-146.0	318.8	-8.3	386	3340	0.00	2.92	0.00	0.000	4	0.000	0.081	2408	3921	3398	0	0	2	0	0	0
3486	-0.87	-146.0	332.5	-9.1	399	3491	0.00	2.75	0.00	0.000	6	0.000	0.057	2408	2633	3399	0	0	2	0	0	0
3811	-0.87	-146.0	360.7	-9.0	429	3815	0.00	2.90	0.00	0.000	4	0.000	0.081	2408	3929	3399	0	0	2	0	0	0
3933	-0.87	-146.0	372.3	-9.3	439	3939	0.00	2.75	0.00	0.000	6	0.000	0.056	2408	2639	3400	0	0	2	0	0	0
4260	-0.87	-146.0	400.9	-8.7	470	4265	0.00	2.88	0.00	0.000	4	0.000	0.081	2407	3919	3400	0	0	2	0	0	0
4356	-0.87	-146.0	409.3	-9.2	478	4360	0.00	2.72	0.00	0.000	6	0.000	0.056	2409	2652	3400	0	0	1	0	0	0
4681	-0.87	-146.0	437.1	-8.1	508	4686	0.00	2.88	0.00	0.000	4	0.000	0.080	2408	3922	3401	0	0	1	0	0	0
4843	-0.87	-146.0	451.6	-9.5	522	4848	0.00	2.67	0.00	0.000	6	0.000	0.056	2408	2673	3401	0	0	2	0	0	0
5168	-0.87	-146.0	479.1	-8.3	552	5173	0.00	2.83	0.00	0.000	4	0.000	0.080	2408	3922	3402	0	0	2	0	0	0
5357	-0.87	-146.0	496.1	-9.2	568	5363	0.00	2.62	0.00	0.000	6	0.000	0.056	2408	2706	3402	0	0	2	0	0	0
5682	-0.87	-146.0	522.1	-7.8	599	5687	0.00	2.75	0.00	0.000	4	0.000	0.081	2408	3920	3402	0	0	3	0	0	0
5812	-0.87	-146.0	532.3	-8.1	610	5816	0.00	2.60	0.00	0.000	6	0.000	0.056	2408	2719	3402	0	0	2	0	0	0
6136	-0.87	-146.0	556.7	-7.9	640	6141	0.00	2.75	0.00	0.000	4	0.000	0.080	2408	3929	3402	0	0	2	0	0	0
6232	-0.87	-146.0	565.2	-9.7	648	6236	0.00	2.58	0.00	0.000	6	0.000	0.056	2408	2728	3402	0	0	2	0	0	0
6556	-0.87	-146.0	591.8	-7.1	678	6560	0.00	2.72	0.00	0.000	4	0.000	0.081	2408	3927	3402	0	0	2	0	0	0
6697	-0.87	-146.0	602.9	-8.2	688	6701	0.00	2.58	0.00	0.000	6	0.000	0.056	2408	2732	3402	0	0	2	0	0	0
6803	end dive: TARGET_DEPTH_EXCEEDED
state	6803	begin apogee
6809	-0.16	0.0	611.6	8.0	692	6936	0.82	0.00	123.28	1.113	6	0.176	0.000	2634	1937	2800	0	0	0	0	0	0
6937	end apogee: CONTROL_FINISHED_OK
state	6937	begin climb
6938	0.73	146.0	614.8	0.0	696	7071	0.93	0.00	126.28	1.065	6	0.123	0.000	2914	1937	2204	0	0	0	0	0	0
7376	0.73	146.0	573.0	11.3	724	7381	0.00	3.58	0.00	0.000	4	0.000	0.072	2914	3552	2196	0	0	3	0	0	0
7483	0.62	146.0	559.4	12.3	733	7489	0.17	3.50	0.00	0.000	6	0.212	0.067	2892	1964	2195	0	0	2	0	0	0
7808	0.62	146.0	527.1	10.1	763	7813	0.00	3.45	0.00	0.000	4	0.000	0.074	2892	3544	2194	0	0	3	0	0	0
7943	0.57	146.0	511.7	11.0	774	7949	0.12	3.42	0.00	0.000	6	0.199	0.067	2879	1986	2193	0	0	1	0	0	0
8268	0.64	152.1	482.3	8.9	805	8279	0.00	3.42	4.95	0.753	4	0.000	0.075	2879	3552	2179	0	0	3	0	0	0
8392	0.64	152.1	470.4	9.9	816	8398	0.00	3.42	0.00	0.000	6	0.000	0.067	2892	1989	2178	0	0	1	0	0	0
8717	0.64	152.1	440.5	9.2	846	8722	0.00	3.40	0.00	0.000	4	0.000	0.074	2892	3545	2178	0	0	3	0	0	0
8828	0.64	152.1	429.0	9.8	855	8834	0.00	3.35	0.00	0.000	6	0.000	0.067	2907	2013	2178	0	0	2	0	0	0
9153	0.64	152.1	397.5	10.1	886	9158	0.00	3.40	0.00	0.000	4	0.000	0.075	2907	3552	2178	0	0	2	0	0	0
9271	0.58	152.1	384.6	11.5	896	9277	0.17	3.38	0.00	0.000	6	0.202	0.067	2882	2020	2178	0	0	1	0	0	0
9596	0.66	167.5	356.1	8.5	926	9617	0.00	3.40	14.20	0.908	4	0.000	0.075	2882	3548	2117	0	0	2	0	0	0
9730	0.66	167.5	342.6	10.5	938	9736	0.00	3.35	0.00	0.000	6	0.000	0.066	2894	2042	2114	0	0	1	0	0	0
10055	0.66	167.5	311.1	9.3	968	10060	0.00	3.38	0.00	0.000	4	0.000	0.074	2894	3545	2114	0	0	1	0	0	0
10133	0.66	167.5	302.8	10.6	974	10138	0.00	3.33	0.00	0.000	6	0.000	0.067	2909	2055	2113	0	0	1	0	0	0
10457	0.66	167.5	272.1	9.7	1005	10462	0.00	3.33	0.00	0.000	4	0.000	0.074	2909	3545	2113	0	0	2	0	0	0
10546	0.61	167.5	262.4	10.3	1012	10553	0.15	3.28	0.00	0.000	6	0.202	0.066	2890	2075	2114	0	0	2	0	0	0
10871	0.67	167.5	232.5	9.5	1043	10876	0.00	3.30	0.00	0.000	4	0.000	0.074	2890	3547	2114	0	0	2	0	0	0
10966	0.67	167.5	222.3	10.9	1051	10971	0.00	3.25	0.00	0.000	6	0.000	0.065	2902	2089	2114	0	0	2	0	0	0
11291	0.67	167.5	189.5	9.5	1081	11296	0.00	3.28	0.00	0.000	4	0.000	0.074	2902	3546	2114	0	0	2	0	0	0
11408	0.67	167.5	177.6	10.0	1091	11414	0.00	3.22	0.00	0.000	6	0.000	0.065	2916	2095	2113	0	0	2	0	0	0
11732	0.67	167.5	146.5	9.7	1121	11738	0.00	3.28	0.00	0.000	4	0.000	0.074	2916	3552	2114	0	0	2	0	0	0
11828	0.67	167.5	135.9	11.3	1129	11833	0.00	3.22	0.00	0.000	6	0.000	0.064	2931	2112	2114	0	0	1	0	0	0
12152	0.73	173.3	104.9	8.9	1159	12167	0.00	3.28	6.53	0.672	4	0.000	0.074	2931	3547	2092	0	0	3	0	0	0
12297	0.73	173.3	90.5	10.0	1180	12303	0.00	3.20	0.00	0.000	6	0.000	0.065	2945	2123	2092	0	0	1	0	0	0
12640	0.73	177.5	58.4	9.0	1241	12651	0.00	3.22	5.43	0.632	4	0.000	0.074	2945	3549	2074	0	0	2	0	0	0
12738	0.67	177.5	48.0	11.1	1258	12744	0.20	3.20	0.00	0.000	6	0.199	0.066	2913	2133	2074	0	0	1	0	0	0
13086	0.84	211.1	19.9	7.8	1319	13123	0.15	3.28	28.20	0.755	4	0.117	0.077	2964	3553	1938	0	0	2	0	0	0
13226	0.75	211.1	3.9	12.4	1344	13232	0.17	3.22	0.00	0.000	6	0.199	0.067	2939	2151	1935	0	0	1	0	0	0
13243	end climb: SURFACE_DEPTH_REACHED
state	13243	begin surface coast
13261	end surface coast: CONTROL_FINISHED_OK
state	13261	begin surface