Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 356 * 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 356 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 325 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 18 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 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 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 -42571.215 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 325

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 -42571.215

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 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 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 18 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 356 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 025101,6709.638,-5720.689,37,1.4,37,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 025637,6709.670,-5720.704,9,1.5,14,-37.8 MHEAD_RNG_PITCHd_Wd 155.4,26652,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 690

Post-dive calculations and measurements:

FREEZE 0.53,-1.702,-1.789,0,1,0 ALTIM_TOP_PING 19.6,18.7

FINISH 0.5,1.026271 ALTIM_BOTTOM_PING 651.0,71.2

SM_CCo 14716,69.40,0.771,0,0,1474,325.02 _24V_AH 22.1,65.947

SM_GC 1.35,0.00,0.00,69.40,0.000,0.000,0.771,130,2464,1474,-8.00,0.11,325.02 _10V_AH 10.1,35.158

RAFOS_CLK 952 FG_AHR_24Vo 0.000

RAFOS 0,1261454468,4.033333,4.018889,64,61,58,0,0,0,645,159,126,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6507.532715,-5835.958496,221209,040428,2,100,44.86 MEM 152488

IRIDIUM_FIX 6641.98,-5729.18,170399,222213 DATA_FILE_SIZE 53595,1382

TT8_MAMPS 0.027612 CAP_FILE_SIZE 167452,0

HUMID 48.26 CFSIZE 260165632,222261248

INTERNAL_PRESSURE 8.82846 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,200,0,0

TCM_TEMP 16.50 SOUNDSPEED 1459.2

XPDR_PINGS 4 GPS 221209,070507,6710.714,-5721.844,30,1.0,30,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 301 164.54 SBE_CT 1012 24 537.27

Roll_motor 188 104 433.51 SBE_O2 962 19 404.30

VBD_pump_during_apogee 336 1188 8846.32 nil 0 0 0.00

VBD_pump_during_surface 69 770 1182.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 56.83 nil 0 0 0.00

Iridium_during_connect 31 160 111.01 nil 0 0 0.00

Iridium_during_xfer 149 223 738.55

Transponder_ping 3 420 32.49

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.97

TT8 2480 19 499.15

LPSleep 8845 2 206.37

TT8_Active 607 19 122.24

TT8_Sampling 2753 39 1110.18

TT8_CF8 449 45 208.61

TT8_Kalman 0 0 0.00

Analog_circuits 1974 12 239.29

GPS_charging 0 0 0.00

Compass 2693 8 217.66

RAFOS 2520 1 38.18

Transponder 19 30 5.94

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.73 -146.0 0.0 0.0 0 113 0.00 0.00 -94.28 0.000 2 0.000 0.000 127 2460 3052 0 0 0 0 0 0

116 -0.73 -146.0 3.2 -4.7 19 143 11.65 2.25 -10.15 0.000 4 0.301 0.104 2448 853 3398 0 0 0 0 0 0

329 -0.73 -146.0 30.4 -11.1 57 334 0.00 2.10 0.00 0.000 6 0.000 0.073 2448 2459 3401 0 0 0 0 0 0

671 -0.73 -146.0 66.0 -10.5 118 676 0.00 2.15 0.00 0.000 4 0.000 0.091 2448 860 3401 0 0 0 0 0 0

929 -0.73 -146.0 94.9 -11.2 164 935 0.00 2.08 0.00 0.000 6 0.000 0.074 2448 2461 3401 0 0 0 0 0 0

1258 -0.79 -146.0 126.4 -8.9 199 1263 0.00 3.50 0.00 0.000 4 0.000 0.094 2448 3918 3400 0 0 6 0 0 0

1468 -0.87 -146.0 144.4 -8.8 217 1474 0.12 3.35 0.00 0.000 6 0.130 0.069 2409 2461 3398 0 0 4 0 0 0

1792 -0.87 -146.0 176.8 -10.0 247 1797 0.00 3.50 0.00 0.000 4 0.000 0.090 2409 3926 3399 0 0 4 0 0 0

1980 -0.81 -146.0 195.1 -9.7 263 1985 0.00 3.35 0.00 0.000 6 0.000 0.067 2409 2461 3399 0 0 4 0 0 0

2304 -0.76 -146.0 227.3 -10.4 293 2310 0.15 3.50 0.00 0.000 4 0.216 0.087 2429 3922 3400 0 0 4 0 0 0

2562 -0.76 -146.0 253.7 -10.5 315 2569 0.00 3.38 0.00 0.000 6 0.000 0.066 2429 2456 3400 0 0 4 0 0 0

2888 -0.76 -146.0 286.5 -9.5 346 2893 0.00 3.50 0.00 0.000 4 0.000 0.088 2429 3931 3400 0 0 5 0 0 0

3145 -0.76 -146.0 308.5 -8.3 368 3151 0.00 3.35 0.00 0.000 6 0.000 0.067 2429 2461 3400 0 0 4 0 0 0

3470 -0.76 -146.0 333.0 -7.9 399 3474 0.00 2.12 0.00 0.000 4 0.000 0.088 2429 841 3400 0 0 0 0 0 0

3728 -0.76 -146.0 356.2 -9.3 422 3732 0.00 2.08 0.00 0.000 6 0.000 0.071 2428 2462 3400 0 0 0 0 0 0

4057 -0.76 -146.0 383.3 -8.6 453 4063 0.00 3.47 0.00 0.000 4 0.000 0.089 2428 3919 3400 0 0 5 0 0 0

4193 -0.76 -146.0 394.7 -8.6 464 4199 0.00 3.35 0.00 0.000 6 0.000 0.067 2428 2462 3400 0 0 3 0 0 0

4518 -0.81 -146.0 421.5 -8.2 495 4524 0.00 3.47 0.00 0.000 4 0.000 0.088 2429 3917 3401 0 0 5 0 0 0

4776 -0.86 -146.0 443.4 -8.4 517 4782 0.00 3.35 0.00 0.000 6 0.000 0.067 2428 2459 3400 0 0 3 0 0 0

5103 -0.91 -146.0 468.7 -7.4 548 5108 0.00 3.53 0.00 0.000 4 0.000 0.087 2429 3921 3400 0 0 4 0 0 0

5360 -0.97 -146.0 487.7 -6.7 570 5367 0.17 3.35 0.00 0.000 6 0.109 0.066 2369 2458 3400 0 0 3 0 0 0

5685 -0.83 -146.0 515.7 -8.4 601 5691 0.20 3.47 0.00 0.000 4 0.205 0.086 2413 3919 3400 0 0 6 0 0 0

5944 -0.83 -146.0 534.6 -7.3 623 5950 0.00 3.35 0.00 0.000 6 0.000 0.066 2413 2461 3401 0 0 3 0 0 0

6268 -0.83 -146.0 558.4 -7.5 654 6274 0.00 3.47 0.00 0.000 4 0.000 0.087 2413 3920 3401 0 0 5 0 0 0

6526 -0.83 -146.0 579.0 -8.3 676 6532 0.00 3.35 0.00 0.000 6 0.000 0.065 2413 2461 3401 0 0 3 0 0 0

6848 -0.83 -146.0 605.4 -8.1 703 6854 0.00 3.47 0.00 0.000 4 0.000 0.086 2413 3921 3401 0 0 5 0 0 0

7106 -0.83 -146.0 627.3 -8.4 710 7112 0.00 3.35 0.00 0.000 6 0.000 0.065 2413 2460 3401 0 0 3 0 0 0

7419 -0.83 -146.0 653.6 -8.7 721 7424 0.00 3.47 0.00 0.000 4 0.000 0.085 2413 3918 3401 0 0 6 0 0 0

7677 -0.83 -146.0 675.7 -8.8 728 7683 0.00 3.35 0.00 0.000 6 0.000 0.065 2413 2460 3401 0 0 3 0 0 0

7865 end dive: TARGET_DEPTH_EXCEEDED

state 7865 begin apogee

7870 -0.16 0.0 691.8 8.6 735 8000 0.82 0.00 126.00 1.189 6 0.186 0.000 2631 1940 2800 0 0 0 0 0 0

8001 end apogee: CONTROL_FINISHED_OK

state 8001 begin climb

8002 0.73 146.0 694.9 0.0 739 8143 0.98 2.15 130.95 1.132 4 0.131 0.091 2925 349 2203 0 0 0 0 0 0

8251 0.62 146.0 670.6 13.1 746 8257 0.15 1.92 0.00 0.000 6 0.197 0.061 2895 1973 2197 0 0 0 0 0 0

8562 0.62 146.0 637.4 10.6 757 8568 0.00 3.65 0.00 0.000 4 0.000 0.079 2895 3530 2195 0 0 7 0 0 0

8715 0.55 146.0 619.5 12.0 761 8725 0.17 3.67 0.00 0.000 6 0.206 0.073 2870 1951 2193 0 0 4 0 0 0

9036 0.64 146.0 589.1 9.2 778 9042 0.00 3.67 0.00 0.000 4 0.000 0.079 2870 3536 2193 0 0 5 0 0 0

9204 0.64 146.0 571.8 10.5 792 9210 0.00 3.67 0.00 0.000 6 0.000 0.074 2884 1942 2192 0 0 4 0 0 0

9529 0.64 150.4 541.3 9.0 823 9534 0.00 3.70 0.00 0.000 4 0.000 0.080 2884 3537 2192 0 0 4 0 0 0

9687 0.60 150.4 524.6 11.3 836 9693 0.00 3.65 0.00 0.000 6 0.000 0.073 2900 1951 2192 0 0 4 0 0 0

10011 0.60 150.4 490.6 10.3 867 10017 0.00 3.65 0.00 0.000 4 0.000 0.081 2900 3537 2192 0 0 6 0 0 0

10165 0.51 150.4 472.6 12.3 880 10175 0.25 3.65 0.00 0.000 6 0.199 0.074 2857 1950 2192 0 0 4 0 0 0

10494 0.70 186.1 445.7 7.7 911 10536 0.17 3.75 32.95 1.027 4 0.111 0.080 2916 3530 2040 0 0 3 0 0 0

10694 0.61 186.1 420.5 12.9 929 10704 0.20 3.70 0.00 0.000 6 0.199 0.074 2887 1937 2036 0 0 4 0 0 0

11022 0.68 186.1 387.0 10.2 960 11028 0.00 3.70 0.00 0.000 4 0.000 0.080 2887 3531 2034 0 0 4 0 0 0

11190 0.68 186.1 367.9 11.4 974 11197 0.00 3.67 0.00 0.000 6 0.000 0.074 2901 1939 2034 0 0 4 0 0 0

11515 0.68 186.1 333.2 10.7 1005 11521 0.00 3.70 0.00 0.000 4 0.000 0.081 2901 3531 2034 0 0 4 0 0 0

11672 0.68 186.1 313.8 12.9 1018 11678 0.00 3.67 0.00 0.000 6 0.000 0.074 2918 1936 2034 0 0 4 0 0 0

11998 0.68 186.1 274.1 11.9 1049 12003 0.00 3.70 0.00 0.000 4 0.000 0.081 2917 3531 2034 0 0 4 0 0 0

12155 0.61 186.1 253.7 12.8 1062 12161 0.17 3.67 0.00 0.000 6 0.202 0.074 2894 1944 2034 0 0 3 0 0 0

12479 0.72 186.1 222.5 9.6 1093 12485 0.00 3.70 0.00 0.000 4 0.000 0.081 2893 3536 2034 0 0 4 0 0 0

12647 0.72 186.1 204.9 10.0 1107 12653 0.00 3.65 0.00 0.000 6 0.000 0.074 2908 1949 2034 0 0 4 0 0 0

12972 0.79 186.1 172.6 9.9 1138 12982 0.10 3.72 0.00 0.000 4 0.128 0.081 2948 3537 2034 0 0 4 0 0 0

13152 0.67 186.1 149.0 13.2 1154 13162 0.22 3.67 0.00 0.000 6 0.202 0.074 2912 1945 2032 0 0 4 0 0 0

13481 0.76 203.1 118.5 8.5 1185 13502 0.00 3.70 14.65 0.823 4 0.000 0.081 2912 3539 1971 0 0 4 0 0 0

13649 0.77 213.3 103.3 8.7 1200 13669 0.00 3.70 10.15 0.795 6 0.000 0.075 2926 1939 1929 0 0 4 0 0 0

14005 0.85 213.3 71.0 9.6 1260 14012 0.12 3.75 0.00 0.000 4 0.116 0.082 2974 3530 1927 0 0 4 0 0 0

14144 0.71 213.3 54.0 11.8 1284 14150 0.28 3.67 0.00 0.000 6 0.193 0.076 2924 1951 1925 0 0 4 0 0 0

14490 0.86 238.6 24.3 8.1 1345 14522 0.15 3.75 22.00 0.796 4 0.120 0.084 2974 3521 1826 0 0 4 0 0 0

14678 end climb: SURFACE_DEPTH_REACHED

state 14678 begin surface coast

14696 end surface coast: CONTROL_FINISHED_OK

state 14696 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	356	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	325	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	18	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	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	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	-42571.215	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	025101,6709.638,-5720.689,37,1.4,37,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	025637,6709.670,-5720.704,9,1.5,14,-37.8	MHEAD_RNG_PITCHd_Wd	155.4,26652,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	690

FREEZE	0.53,-1.702,-1.789,0,1,0	ALTIM_TOP_PING	19.6,18.7
FINISH	0.5,1.026271	ALTIM_BOTTOM_PING	651.0,71.2
SM_CCo	14716,69.40,0.771,0,0,1474,325.02	_24V_AH	22.1,65.947
SM_GC	1.35,0.00,0.00,69.40,0.000,0.000,0.771,130,2464,1474,-8.00,0.11,325.02	_10V_AH	10.1,35.158
RAFOS_CLK	952	FG_AHR_24Vo	0.000
RAFOS	0,1261454468,4.033333,4.018889,64,61,58,0,0,0,645,159,126,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6507.532715,-5835.958496,221209,040428,2,100,44.86	MEM	152488
IRIDIUM_FIX	6641.98,-5729.18,170399,222213	DATA_FILE_SIZE	53595,1382
TT8_MAMPS	0.027612	CAP_FILE_SIZE	167452,0
HUMID	48.26	CFSIZE	260165632,222261248
INTERNAL_PRESSURE	8.82846	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,200,0,0
TCM_TEMP	16.50	SOUNDSPEED	1459.2
XPDR_PINGS	4	GPS	221209,070507,6710.714,-5721.844,30,1.0,30,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	301	164.54	SBE_CT	1012	24	537.27
Roll_motor	188	104	433.51	SBE_O2	962	19	404.30
VBD_pump_during_apogee	336	1188	8846.32	nil	0	0	0.00
VBD_pump_during_surface	69	770	1182.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	56.83	nil	0	0	0.00
Iridium_during_connect	31	160	111.01	nil	0	0	0.00
Iridium_during_xfer	149	223	738.55
Transponder_ping	3	420	32.49
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.97
TT8	2480	19	499.15
LPSleep	8845	2	206.37
TT8_Active	607	19	122.24
TT8_Sampling	2753	39	1110.18
TT8_CF8	449	45	208.61
TT8_Kalman	0	0	0.00
Analog_circuits	1974	12	239.29
GPS_charging	0	0	0.00
Compass	2693	8	217.66
RAFOS	2520	1	38.18
Transponder	19	30	5.94

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.73	-146.0	0.0	0.0	0	113	0.00	0.00	-94.28	0.000	2	0.000	0.000	127	2460	3052	0	0	0	0	0	0
116	-0.73	-146.0	3.2	-4.7	19	143	11.65	2.25	-10.15	0.000	4	0.301	0.104	2448	853	3398	0	0	0	0	0	0
329	-0.73	-146.0	30.4	-11.1	57	334	0.00	2.10	0.00	0.000	6	0.000	0.073	2448	2459	3401	0	0	0	0	0	0
671	-0.73	-146.0	66.0	-10.5	118	676	0.00	2.15	0.00	0.000	4	0.000	0.091	2448	860	3401	0	0	0	0	0	0
929	-0.73	-146.0	94.9	-11.2	164	935	0.00	2.08	0.00	0.000	6	0.000	0.074	2448	2461	3401	0	0	0	0	0	0
1258	-0.79	-146.0	126.4	-8.9	199	1263	0.00	3.50	0.00	0.000	4	0.000	0.094	2448	3918	3400	0	0	6	0	0	0
1468	-0.87	-146.0	144.4	-8.8	217	1474	0.12	3.35	0.00	0.000	6	0.130	0.069	2409	2461	3398	0	0	4	0	0	0
1792	-0.87	-146.0	176.8	-10.0	247	1797	0.00	3.50	0.00	0.000	4	0.000	0.090	2409	3926	3399	0	0	4	0	0	0
1980	-0.81	-146.0	195.1	-9.7	263	1985	0.00	3.35	0.00	0.000	6	0.000	0.067	2409	2461	3399	0	0	4	0	0	0
2304	-0.76	-146.0	227.3	-10.4	293	2310	0.15	3.50	0.00	0.000	4	0.216	0.087	2429	3922	3400	0	0	4	0	0	0
2562	-0.76	-146.0	253.7	-10.5	315	2569	0.00	3.38	0.00	0.000	6	0.000	0.066	2429	2456	3400	0	0	4	0	0	0
2888	-0.76	-146.0	286.5	-9.5	346	2893	0.00	3.50	0.00	0.000	4	0.000	0.088	2429	3931	3400	0	0	5	0	0	0
3145	-0.76	-146.0	308.5	-8.3	368	3151	0.00	3.35	0.00	0.000	6	0.000	0.067	2429	2461	3400	0	0	4	0	0	0
3470	-0.76	-146.0	333.0	-7.9	399	3474	0.00	2.12	0.00	0.000	4	0.000	0.088	2429	841	3400	0	0	0	0	0	0
3728	-0.76	-146.0	356.2	-9.3	422	3732	0.00	2.08	0.00	0.000	6	0.000	0.071	2428	2462	3400	0	0	0	0	0	0
4057	-0.76	-146.0	383.3	-8.6	453	4063	0.00	3.47	0.00	0.000	4	0.000	0.089	2428	3919	3400	0	0	5	0	0	0
4193	-0.76	-146.0	394.7	-8.6	464	4199	0.00	3.35	0.00	0.000	6	0.000	0.067	2428	2462	3400	0	0	3	0	0	0
4518	-0.81	-146.0	421.5	-8.2	495	4524	0.00	3.47	0.00	0.000	4	0.000	0.088	2429	3917	3401	0	0	5	0	0	0
4776	-0.86	-146.0	443.4	-8.4	517	4782	0.00	3.35	0.00	0.000	6	0.000	0.067	2428	2459	3400	0	0	3	0	0	0
5103	-0.91	-146.0	468.7	-7.4	548	5108	0.00	3.53	0.00	0.000	4	0.000	0.087	2429	3921	3400	0	0	4	0	0	0
5360	-0.97	-146.0	487.7	-6.7	570	5367	0.17	3.35	0.00	0.000	6	0.109	0.066	2369	2458	3400	0	0	3	0	0	0
5685	-0.83	-146.0	515.7	-8.4	601	5691	0.20	3.47	0.00	0.000	4	0.205	0.086	2413	3919	3400	0	0	6	0	0	0
5944	-0.83	-146.0	534.6	-7.3	623	5950	0.00	3.35	0.00	0.000	6	0.000	0.066	2413	2461	3401	0	0	3	0	0	0
6268	-0.83	-146.0	558.4	-7.5	654	6274	0.00	3.47	0.00	0.000	4	0.000	0.087	2413	3920	3401	0	0	5	0	0	0
6526	-0.83	-146.0	579.0	-8.3	676	6532	0.00	3.35	0.00	0.000	6	0.000	0.065	2413	2461	3401	0	0	3	0	0	0
6848	-0.83	-146.0	605.4	-8.1	703	6854	0.00	3.47	0.00	0.000	4	0.000	0.086	2413	3921	3401	0	0	5	0	0	0
7106	-0.83	-146.0	627.3	-8.4	710	7112	0.00	3.35	0.00	0.000	6	0.000	0.065	2413	2460	3401	0	0	3	0	0	0
7419	-0.83	-146.0	653.6	-8.7	721	7424	0.00	3.47	0.00	0.000	4	0.000	0.085	2413	3918	3401	0	0	6	0	0	0
7677	-0.83	-146.0	675.7	-8.8	728	7683	0.00	3.35	0.00	0.000	6	0.000	0.065	2413	2460	3401	0	0	3	0	0	0
7865	end dive: TARGET_DEPTH_EXCEEDED
state	7865	begin apogee
7870	-0.16	0.0	691.8	8.6	735	8000	0.82	0.00	126.00	1.189	6	0.186	0.000	2631	1940	2800	0	0	0	0	0	0
8001	end apogee: CONTROL_FINISHED_OK
state	8001	begin climb
8002	0.73	146.0	694.9	0.0	739	8143	0.98	2.15	130.95	1.132	4	0.131	0.091	2925	349	2203	0	0	0	0	0	0
8251	0.62	146.0	670.6	13.1	746	8257	0.15	1.92	0.00	0.000	6	0.197	0.061	2895	1973	2197	0	0	0	0	0	0
8562	0.62	146.0	637.4	10.6	757	8568	0.00	3.65	0.00	0.000	4	0.000	0.079	2895	3530	2195	0	0	7	0	0	0
8715	0.55	146.0	619.5	12.0	761	8725	0.17	3.67	0.00	0.000	6	0.206	0.073	2870	1951	2193	0	0	4	0	0	0
9036	0.64	146.0	589.1	9.2	778	9042	0.00	3.67	0.00	0.000	4	0.000	0.079	2870	3536	2193	0	0	5	0	0	0
9204	0.64	146.0	571.8	10.5	792	9210	0.00	3.67	0.00	0.000	6	0.000	0.074	2884	1942	2192	0	0	4	0	0	0
9529	0.64	150.4	541.3	9.0	823	9534	0.00	3.70	0.00	0.000	4	0.000	0.080	2884	3537	2192	0	0	4	0	0	0
9687	0.60	150.4	524.6	11.3	836	9693	0.00	3.65	0.00	0.000	6	0.000	0.073	2900	1951	2192	0	0	4	0	0	0
10011	0.60	150.4	490.6	10.3	867	10017	0.00	3.65	0.00	0.000	4	0.000	0.081	2900	3537	2192	0	0	6	0	0	0
10165	0.51	150.4	472.6	12.3	880	10175	0.25	3.65	0.00	0.000	6	0.199	0.074	2857	1950	2192	0	0	4	0	0	0
10494	0.70	186.1	445.7	7.7	911	10536	0.17	3.75	32.95	1.027	4	0.111	0.080	2916	3530	2040	0	0	3	0	0	0
10694	0.61	186.1	420.5	12.9	929	10704	0.20	3.70	0.00	0.000	6	0.199	0.074	2887	1937	2036	0	0	4	0	0	0
11022	0.68	186.1	387.0	10.2	960	11028	0.00	3.70	0.00	0.000	4	0.000	0.080	2887	3531	2034	0	0	4	0	0	0
11190	0.68	186.1	367.9	11.4	974	11197	0.00	3.67	0.00	0.000	6	0.000	0.074	2901	1939	2034	0	0	4	0	0	0
11515	0.68	186.1	333.2	10.7	1005	11521	0.00	3.70	0.00	0.000	4	0.000	0.081	2901	3531	2034	0	0	4	0	0	0
11672	0.68	186.1	313.8	12.9	1018	11678	0.00	3.67	0.00	0.000	6	0.000	0.074	2918	1936	2034	0	0	4	0	0	0
11998	0.68	186.1	274.1	11.9	1049	12003	0.00	3.70	0.00	0.000	4	0.000	0.081	2917	3531	2034	0	0	4	0	0	0
12155	0.61	186.1	253.7	12.8	1062	12161	0.17	3.67	0.00	0.000	6	0.202	0.074	2894	1944	2034	0	0	3	0	0	0
12479	0.72	186.1	222.5	9.6	1093	12485	0.00	3.70	0.00	0.000	4	0.000	0.081	2893	3536	2034	0	0	4	0	0	0
12647	0.72	186.1	204.9	10.0	1107	12653	0.00	3.65	0.00	0.000	6	0.000	0.074	2908	1949	2034	0	0	4	0	0	0
12972	0.79	186.1	172.6	9.9	1138	12982	0.10	3.72	0.00	0.000	4	0.128	0.081	2948	3537	2034	0	0	4	0	0	0
13152	0.67	186.1	149.0	13.2	1154	13162	0.22	3.67	0.00	0.000	6	0.202	0.074	2912	1945	2032	0	0	4	0	0	0
13481	0.76	203.1	118.5	8.5	1185	13502	0.00	3.70	14.65	0.823	4	0.000	0.081	2912	3539	1971	0	0	4	0	0	0
13649	0.77	213.3	103.3	8.7	1200	13669	0.00	3.70	10.15	0.795	6	0.000	0.075	2926	1939	1929	0	0	4	0	0	0
14005	0.85	213.3	71.0	9.6	1260	14012	0.12	3.75	0.00	0.000	4	0.116	0.082	2974	3530	1927	0	0	4	0	0	0
14144	0.71	213.3	54.0	11.8	1284	14150	0.28	3.67	0.00	0.000	6	0.193	0.076	2924	1951	1925	0	0	4	0	0	0
14490	0.86	238.6	24.3	8.1	1345	14522	0.15	3.75	22.00	0.796	4	0.120	0.084	2974	3521	1826	0	0	4	0	0	0
14678	end climb: SURFACE_DEPTH_REACHED
state	14678	begin surface coast
14696	end surface coast: CONTROL_FINISHED_OK
state	14696	begin surface