Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 361 * 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 361 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 13 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 24 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 -42835.875 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 -42835.875

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 13 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 361 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 234930,6712.685,-5726.351,44,1.4,44,-37.9 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 1.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 000508,6712.660,-5726.315,180,99.0,181,-37.9 MHEAD_RNG_PITCHd_Wd 160.8,32948,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 657

Post-dive calculations and measurements:

FREEZE 0.57,-1.058,-1.822,0,3,0 ALTIM_TOP_PING 20.0,19.0

FINISH 0.6,1.026726 ALTIM_BOTTOM_PING 600.4,82.9

SM_CCo 13895,79.00,0.754,1,0,1475,325.02 _24V_AH 22.1,66.655

SM_GC 1.41,0.00,0.00,79.00,0.000,0.000,0.754,130,2469,1475,-8.00,0.25,325.02 _10V_AH 10.0,35.596

RAFOS_CLK 930 FG_AHR_24Vo 0.000

RAFOS 1,1261526945,0.166667,0.151389,73,64,52,0,0,0,188,209,199,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6711.009277,-5730.888672,231209,000056,2,82,1.79 MEM 152512

IRIDIUM_FIX 6641.98,-5723.22,190399,000017 DATA_FILE_SIZE 53575,1354

TT8_MAMPS 0.027612 CAP_FILE_SIZE 160684,0

HUMID 47.83 CFSIZE 260165632,221798400

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,170,1,0

TCM_TEMP 16.60 SOUNDSPEED 1459.7

XPDR_PINGS 4 GPS 231209,040027,6713.127,-5725.374,48,2.8,67,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 299 158.16 SBE_CT 996 24 528.49

Roll_motor 173 107 412.50 SBE_O2 938 19 394.10

VBD_pump_during_apogee 311 1168 8052.63 nil 0 0 0.00

VBD_pump_during_surface 79 753 1316.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 100 103 228.15 nil 0 0 0.00

Iridium_during_connect 200 160 707.61 nil 0 0 0.00

Iridium_during_xfer 208 223 1029.14

Transponder_ping 3 420 30.17

GUMSTIX_24V 0 0 0.00

GPS 183 50 91.70

TT8 2383 19 474.75

LPSleep 8426 2 194.65

TT8_Active 592 19 118.06

TT8_Sampling 2742 39 1094.66

TT8_CF8 767 45 352.42

TT8_Kalman 0 0 0.00

Analog_circuits 1881 12 225.73

GPS_charging 0 0 0.00

Compass 2522 8 201.77

RAFOS 2160 1 32.40

Transponder 17 30 5.36

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.73 -146.0 0.0 0.0 0 114 0.00 0.00 -95.15 0.000 2 0.000 0.000 130 2464 3020 0 0 0 0 0 0

116 -0.73 -146.0 3.2 -4.0 19 148 11.48 2.20 -11.52 0.000 4 0.299 0.107 2445 856 3398 0 0 0 0 0 0

374 -0.65 -146.0 40.8 -13.8 65 380 0.12 2.05 0.00 0.000 6 0.225 0.074 2473 2456 3401 0 0 0 0 0 0

719 -0.74 -146.0 75.6 -9.6 126 725 0.00 2.12 0.00 0.000 4 0.000 0.094 2472 857 3401 0 0 0 0 0 0

979 -0.83 -146.0 100.1 -8.9 172 984 0.15 2.08 0.00 0.000 6 0.120 0.076 2425 2462 3401 0 0 0 0 0 0

1309 -0.83 -146.0 132.8 -10.1 203 1314 0.00 3.58 0.00 0.000 4 0.000 0.095 2425 3918 3401 0 0 4 0 0 0

1510 -0.83 -146.0 153.3 -10.2 220 1516 0.00 3.42 0.00 0.000 6 0.000 0.073 2425 2461 3401 0 0 4 0 0 0

1835 -0.83 -146.0 185.7 -9.2 251 1839 0.00 2.12 0.00 0.000 4 0.000 0.094 2425 848 3400 0 0 0 0 0 0

2092 -0.83 -146.0 213.2 -10.8 273 2098 0.00 2.10 0.00 0.000 6 0.000 0.076 2425 2456 3400 0 0 0 0 0 0

2417 -0.83 -146.0 243.5 -8.9 304 2422 0.00 3.58 0.00 0.000 4 0.000 0.094 2425 3918 3400 0 0 4 0 0 0

2651 -0.83 -146.0 263.6 -7.9 324 2658 0.00 3.42 0.00 0.000 6 0.000 0.071 2425 2455 3399 0 0 4 0 0 0

2976 -0.83 -146.0 289.5 -7.9 355 2980 0.00 2.10 0.00 0.000 4 0.000 0.092 2425 849 3399 0 0 0 0 0 0

3233 -0.83 -146.0 312.1 -9.3 377 3240 0.00 2.10 0.00 0.000 6 0.000 0.073 2425 2463 3400 0 0 0 0 0 0

3559 -0.83 -146.0 338.9 -8.5 408 3564 0.00 3.50 0.00 0.000 4 0.000 0.091 2424 3915 3400 0 0 6 0 0 0

3767 -0.83 -146.0 357.2 -9.0 426 3773 0.00 3.40 0.00 0.000 6 0.000 0.069 2425 2458 3400 0 0 4 0 0 0

4092 -0.83 -146.0 385.9 -8.8 456 4096 0.00 2.12 0.00 0.000 4 0.000 0.089 2425 842 3401 0 0 0 0 0 0

4349 -0.83 -146.0 410.8 -10.1 479 4353 0.00 2.05 0.00 0.000 6 0.000 0.071 2425 2461 3402 0 0 0 0 0 0

4680 -0.83 -146.0 438.7 -8.4 510 4685 0.00 3.50 0.00 0.000 4 0.000 0.089 2425 3921 3402 0 0 6 0 0 0

4837 -0.83 -146.0 452.5 -8.5 523 4843 0.00 3.40 0.00 0.000 6 0.000 0.067 2425 2457 3402 0 0 4 0 0 0

5162 -0.87 -146.0 479.9 -8.2 554 5167 0.00 3.55 0.00 0.000 4 0.000 0.087 2425 3928 3403 0 0 5 0 0 0

5172 -0.87 -146.0 480.8 -8.1 554 5178 0.00 3.42 0.00 0.000 6 0.000 0.066 2425 2459 3403 0 0 3 0 0 0

5497 -0.87 -146.0 507.4 -8.4 585 5501 0.00 2.10 0.00 0.000 4 0.000 0.088 2425 846 3403 0 0 0 0 0 0

5670 -0.87 -146.0 522.8 -8.7 600 5676 0.00 2.08 0.00 0.000 6 0.000 0.071 2425 2461 3403 0 0 0 0 0 0

5996 -0.92 -146.0 548.7 -8.1 631 6001 0.00 3.53 0.00 0.000 4 0.000 0.088 2425 3922 3404 0 0 5 0 0 0

6006 -0.97 -146.0 549.6 -8.3 631 6014 0.15 3.35 0.00 0.000 6 0.116 0.066 2372 2460 3404 0 0 3 0 0 0

6331 -0.85 -146.0 581.6 -10.1 662 6336 0.17 2.12 0.00 0.000 4 0.206 0.088 2413 850 3404 0 0 0 0 0 0

6516 -0.85 -146.0 598.4 -9.5 678 6520 0.00 2.05 0.00 0.000 6 0.000 0.071 2413 2465 3404 0 0 0 0 0 0

6844 -0.85 -146.0 625.6 -8.3 690 6848 0.00 2.12 0.00 0.000 4 0.000 0.088 2413 849 3404 0 0 0 0 0 0

7104 -0.85 -146.0 648.1 -8.4 697 7108 0.00 2.05 0.00 0.000 6 0.000 0.070 2413 2466 3404 0 0 0 0 0 0

7236 end dive: TARGET_DEPTH_EXCEEDED

state 7236 begin apogee

7241 -0.16 0.0 658.5 7.7 702 7371 0.80 0.00 126.00 1.168 6 0.184 0.000 2628 1937 2800 0 0 0 0 0 0

7371 end apogee: CONTROL_FINISHED_OK

state 7372 begin climb

7373 0.73 146.0 661.6 0.0 706 7511 0.98 0.00 130.70 1.114 6 0.132 0.000 2913 1936 2203 0 0 0 0 0 0

7801 0.67 146.0 617.8 11.7 720 7809 0.00 3.85 0.00 0.000 4 0.000 0.081 2912 3537 2197 0 0 7 0 0 0

7963 0.55 146.0 597.8 12.1 724 7970 0.25 3.75 0.00 0.000 6 0.206 0.074 2873 1949 2194 0 0 5 0 0 0

8288 0.63 146.0 568.5 9.2 755 8298 0.00 3.75 0.00 0.000 4 0.000 0.081 2872 3546 2194 0 0 5 0 0 0

8438 0.63 146.0 553.4 10.1 768 8444 0.00 3.72 0.00 0.000 6 0.000 0.075 2887 1949 2193 0 0 4 0 0 0

8763 0.68 146.0 521.9 9.7 799 8768 0.00 3.70 0.00 0.000 4 0.000 0.081 2887 3537 2193 0 0 5 0 0 0

8920 0.68 146.0 505.1 10.2 812 8926 0.00 3.70 0.00 0.000 6 0.000 0.076 2903 1944 2193 0 0 4 0 0 0

9244 0.68 146.0 472.6 10.4 843 9253 0.00 3.72 0.00 0.000 4 0.000 0.081 2903 3540 2193 0 0 5 0 0 0

9394 0.59 146.0 454.9 11.6 856 9401 0.15 3.70 0.00 0.000 6 0.209 0.075 2888 1951 2192 0 0 4 0 0 0

9718 0.65 146.0 423.6 9.5 887 9724 0.00 3.70 0.00 0.000 4 0.000 0.081 2887 3537 2192 0 0 5 0 0 0

9883 0.65 146.0 405.2 11.9 901 9889 0.00 3.70 0.00 0.000 6 0.000 0.075 2902 1945 2191 0 0 4 0 0 0

10207 0.65 146.0 370.0 10.9 931 10216 0.00 3.72 0.00 0.000 4 0.000 0.081 2902 3538 2191 0 0 5 0 0 0

10358 0.57 146.0 351.9 12.7 944 10364 0.17 3.70 0.00 0.000 6 0.206 0.075 2879 1943 2192 0 0 4 0 0 0

10682 0.67 159.6 322.2 8.6 975 10703 0.00 3.70 10.88 0.890 4 0.000 0.079 2880 3537 2148 0 0 5 0 0 0

10850 0.67 159.6 305.5 10.7 990 10855 0.00 3.70 0.00 0.000 6 0.000 0.074 2894 1946 2146 0 0 4 0 0 0

11174 0.72 159.6 275.1 9.4 1020 11183 0.00 3.72 0.00 0.000 4 0.000 0.080 2893 3544 2146 0 0 5 0 0 0

11352 0.72 159.6 255.6 11.2 1036 11358 0.00 3.72 0.00 0.000 6 0.000 0.074 2910 1950 2146 0 0 3 0 0 0

11676 0.72 159.6 220.9 10.1 1066 11681 0.00 3.70 0.00 0.000 4 0.000 0.079 2910 3538 2146 0 0 5 0 0 0

11840 0.64 159.6 202.9 10.3 1080 11846 0.00 3.70 0.00 0.000 6 0.000 0.074 2926 1949 2146 0 0 4 0 0 0

12164 0.64 159.6 168.5 10.8 1110 12170 0.00 3.70 0.00 0.000 4 0.000 0.079 2926 3538 2146 0 0 5 0 0 0

12327 0.55 159.6 150.2 11.7 1124 12337 0.30 3.70 0.00 0.000 6 0.199 0.074 2870 1939 2145 0 0 4 0 0 0

12656 0.81 211.8 125.5 7.0 1155 12709 0.25 3.80 44.35 0.818 4 0.100 0.080 2963 3540 1935 0 0 4 0 0 0

12849 0.69 211.8 100.3 13.4 1172 12856 0.28 3.75 0.00 0.000 6 0.197 0.073 2915 1939 1930 0 0 4 0 0 0

13195 0.82 214.3 70.1 9.1 1233 13201 0.12 3.78 0.00 0.000 4 0.128 0.080 2955 3544 1928 0 0 5 0 0 0

13364 0.76 214.3 50.1 12.0 1263 13371 0.15 3.72 0.00 0.000 6 0.203 0.075 2938 1949 1928 0 0 4 0 0 0

13708 0.81 214.3 17.1 9.5 1324 13714 0.00 3.72 0.00 0.000 4 0.000 0.081 2938 3537 1927 0 0 5 0 0 0

13844 0.81 214.3 3.6 10.9 1348 13850 0.00 3.72 0.00 0.000 6 0.000 0.076 2952 1942 1926 0 0 4 0 0 0

13860 end climb: SURFACE_DEPTH_REACHED

state 13860 begin surface coast

13878 end surface coast: CONTROL_FINISHED_OK

state 13878 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	361	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	13	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	24	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	-42835.875	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	234930,6712.685,-5726.351,44,1.4,44,-37.9	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	1.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	000508,6712.660,-5726.315,180,99.0,181,-37.9	MHEAD_RNG_PITCHd_Wd	160.8,32948,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	657

FREEZE	0.57,-1.058,-1.822,0,3,0	ALTIM_TOP_PING	20.0,19.0
FINISH	0.6,1.026726	ALTIM_BOTTOM_PING	600.4,82.9
SM_CCo	13895,79.00,0.754,1,0,1475,325.02	_24V_AH	22.1,66.655
SM_GC	1.41,0.00,0.00,79.00,0.000,0.000,0.754,130,2469,1475,-8.00,0.25,325.02	_10V_AH	10.0,35.596
RAFOS_CLK	930	FG_AHR_24Vo	0.000
RAFOS	1,1261526945,0.166667,0.151389,73,64,52,0,0,0,188,209,199,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6711.009277,-5730.888672,231209,000056,2,82,1.79	MEM	152512
IRIDIUM_FIX	6641.98,-5723.22,190399,000017	DATA_FILE_SIZE	53575,1354
TT8_MAMPS	0.027612	CAP_FILE_SIZE	160684,0
HUMID	47.83	CFSIZE	260165632,221798400
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,170,1,0
TCM_TEMP	16.60	SOUNDSPEED	1459.7
XPDR_PINGS	4	GPS	231209,040027,6713.127,-5725.374,48,2.8,67,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	299	158.16	SBE_CT	996	24	528.49
Roll_motor	173	107	412.50	SBE_O2	938	19	394.10
VBD_pump_during_apogee	311	1168	8052.63	nil	0	0	0.00
VBD_pump_during_surface	79	753	1316.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	100	103	228.15	nil	0	0	0.00
Iridium_during_connect	200	160	707.61	nil	0	0	0.00
Iridium_during_xfer	208	223	1029.14
Transponder_ping	3	420	30.17
GUMSTIX_24V	0	0	0.00
GPS	183	50	91.70
TT8	2383	19	474.75
LPSleep	8426	2	194.65
TT8_Active	592	19	118.06
TT8_Sampling	2742	39	1094.66
TT8_CF8	767	45	352.42
TT8_Kalman	0	0	0.00
Analog_circuits	1881	12	225.73
GPS_charging	0	0	0.00
Compass	2522	8	201.77
RAFOS	2160	1	32.40
Transponder	17	30	5.36

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.73	-146.0	0.0	0.0	0	114	0.00	0.00	-95.15	0.000	2	0.000	0.000	130	2464	3020	0	0	0	0	0	0
116	-0.73	-146.0	3.2	-4.0	19	148	11.48	2.20	-11.52	0.000	4	0.299	0.107	2445	856	3398	0	0	0	0	0	0
374	-0.65	-146.0	40.8	-13.8	65	380	0.12	2.05	0.00	0.000	6	0.225	0.074	2473	2456	3401	0	0	0	0	0	0
719	-0.74	-146.0	75.6	-9.6	126	725	0.00	2.12	0.00	0.000	4	0.000	0.094	2472	857	3401	0	0	0	0	0	0
979	-0.83	-146.0	100.1	-8.9	172	984	0.15	2.08	0.00	0.000	6	0.120	0.076	2425	2462	3401	0	0	0	0	0	0
1309	-0.83	-146.0	132.8	-10.1	203	1314	0.00	3.58	0.00	0.000	4	0.000	0.095	2425	3918	3401	0	0	4	0	0	0
1510	-0.83	-146.0	153.3	-10.2	220	1516	0.00	3.42	0.00	0.000	6	0.000	0.073	2425	2461	3401	0	0	4	0	0	0
1835	-0.83	-146.0	185.7	-9.2	251	1839	0.00	2.12	0.00	0.000	4	0.000	0.094	2425	848	3400	0	0	0	0	0	0
2092	-0.83	-146.0	213.2	-10.8	273	2098	0.00	2.10	0.00	0.000	6	0.000	0.076	2425	2456	3400	0	0	0	0	0	0
2417	-0.83	-146.0	243.5	-8.9	304	2422	0.00	3.58	0.00	0.000	4	0.000	0.094	2425	3918	3400	0	0	4	0	0	0
2651	-0.83	-146.0	263.6	-7.9	324	2658	0.00	3.42	0.00	0.000	6	0.000	0.071	2425	2455	3399	0	0	4	0	0	0
2976	-0.83	-146.0	289.5	-7.9	355	2980	0.00	2.10	0.00	0.000	4	0.000	0.092	2425	849	3399	0	0	0	0	0	0
3233	-0.83	-146.0	312.1	-9.3	377	3240	0.00	2.10	0.00	0.000	6	0.000	0.073	2425	2463	3400	0	0	0	0	0	0
3559	-0.83	-146.0	338.9	-8.5	408	3564	0.00	3.50	0.00	0.000	4	0.000	0.091	2424	3915	3400	0	0	6	0	0	0
3767	-0.83	-146.0	357.2	-9.0	426	3773	0.00	3.40	0.00	0.000	6	0.000	0.069	2425	2458	3400	0	0	4	0	0	0
4092	-0.83	-146.0	385.9	-8.8	456	4096	0.00	2.12	0.00	0.000	4	0.000	0.089	2425	842	3401	0	0	0	0	0	0
4349	-0.83	-146.0	410.8	-10.1	479	4353	0.00	2.05	0.00	0.000	6	0.000	0.071	2425	2461	3402	0	0	0	0	0	0
4680	-0.83	-146.0	438.7	-8.4	510	4685	0.00	3.50	0.00	0.000	4	0.000	0.089	2425	3921	3402	0	0	6	0	0	0
4837	-0.83	-146.0	452.5	-8.5	523	4843	0.00	3.40	0.00	0.000	6	0.000	0.067	2425	2457	3402	0	0	4	0	0	0
5162	-0.87	-146.0	479.9	-8.2	554	5167	0.00	3.55	0.00	0.000	4	0.000	0.087	2425	3928	3403	0	0	5	0	0	0
5172	-0.87	-146.0	480.8	-8.1	554	5178	0.00	3.42	0.00	0.000	6	0.000	0.066	2425	2459	3403	0	0	3	0	0	0
5497	-0.87	-146.0	507.4	-8.4	585	5501	0.00	2.10	0.00	0.000	4	0.000	0.088	2425	846	3403	0	0	0	0	0	0
5670	-0.87	-146.0	522.8	-8.7	600	5676	0.00	2.08	0.00	0.000	6	0.000	0.071	2425	2461	3403	0	0	0	0	0	0
5996	-0.92	-146.0	548.7	-8.1	631	6001	0.00	3.53	0.00	0.000	4	0.000	0.088	2425	3922	3404	0	0	5	0	0	0
6006	-0.97	-146.0	549.6	-8.3	631	6014	0.15	3.35	0.00	0.000	6	0.116	0.066	2372	2460	3404	0	0	3	0	0	0
6331	-0.85	-146.0	581.6	-10.1	662	6336	0.17	2.12	0.00	0.000	4	0.206	0.088	2413	850	3404	0	0	0	0	0	0
6516	-0.85	-146.0	598.4	-9.5	678	6520	0.00	2.05	0.00	0.000	6	0.000	0.071	2413	2465	3404	0	0	0	0	0	0
6844	-0.85	-146.0	625.6	-8.3	690	6848	0.00	2.12	0.00	0.000	4	0.000	0.088	2413	849	3404	0	0	0	0	0	0
7104	-0.85	-146.0	648.1	-8.4	697	7108	0.00	2.05	0.00	0.000	6	0.000	0.070	2413	2466	3404	0	0	0	0	0	0
7236	end dive: TARGET_DEPTH_EXCEEDED
state	7236	begin apogee
7241	-0.16	0.0	658.5	7.7	702	7371	0.80	0.00	126.00	1.168	6	0.184	0.000	2628	1937	2800	0	0	0	0	0	0
7371	end apogee: CONTROL_FINISHED_OK
state	7372	begin climb
7373	0.73	146.0	661.6	0.0	706	7511	0.98	0.00	130.70	1.114	6	0.132	0.000	2913	1936	2203	0	0	0	0	0	0
7801	0.67	146.0	617.8	11.7	720	7809	0.00	3.85	0.00	0.000	4	0.000	0.081	2912	3537	2197	0	0	7	0	0	0
7963	0.55	146.0	597.8	12.1	724	7970	0.25	3.75	0.00	0.000	6	0.206	0.074	2873	1949	2194	0	0	5	0	0	0
8288	0.63	146.0	568.5	9.2	755	8298	0.00	3.75	0.00	0.000	4	0.000	0.081	2872	3546	2194	0	0	5	0	0	0
8438	0.63	146.0	553.4	10.1	768	8444	0.00	3.72	0.00	0.000	6	0.000	0.075	2887	1949	2193	0	0	4	0	0	0
8763	0.68	146.0	521.9	9.7	799	8768	0.00	3.70	0.00	0.000	4	0.000	0.081	2887	3537	2193	0	0	5	0	0	0
8920	0.68	146.0	505.1	10.2	812	8926	0.00	3.70	0.00	0.000	6	0.000	0.076	2903	1944	2193	0	0	4	0	0	0
9244	0.68	146.0	472.6	10.4	843	9253	0.00	3.72	0.00	0.000	4	0.000	0.081	2903	3540	2193	0	0	5	0	0	0
9394	0.59	146.0	454.9	11.6	856	9401	0.15	3.70	0.00	0.000	6	0.209	0.075	2888	1951	2192	0	0	4	0	0	0
9718	0.65	146.0	423.6	9.5	887	9724	0.00	3.70	0.00	0.000	4	0.000	0.081	2887	3537	2192	0	0	5	0	0	0
9883	0.65	146.0	405.2	11.9	901	9889	0.00	3.70	0.00	0.000	6	0.000	0.075	2902	1945	2191	0	0	4	0	0	0
10207	0.65	146.0	370.0	10.9	931	10216	0.00	3.72	0.00	0.000	4	0.000	0.081	2902	3538	2191	0	0	5	0	0	0
10358	0.57	146.0	351.9	12.7	944	10364	0.17	3.70	0.00	0.000	6	0.206	0.075	2879	1943	2192	0	0	4	0	0	0
10682	0.67	159.6	322.2	8.6	975	10703	0.00	3.70	10.88	0.890	4	0.000	0.079	2880	3537	2148	0	0	5	0	0	0
10850	0.67	159.6	305.5	10.7	990	10855	0.00	3.70	0.00	0.000	6	0.000	0.074	2894	1946	2146	0	0	4	0	0	0
11174	0.72	159.6	275.1	9.4	1020	11183	0.00	3.72	0.00	0.000	4	0.000	0.080	2893	3544	2146	0	0	5	0	0	0
11352	0.72	159.6	255.6	11.2	1036	11358	0.00	3.72	0.00	0.000	6	0.000	0.074	2910	1950	2146	0	0	3	0	0	0
11676	0.72	159.6	220.9	10.1	1066	11681	0.00	3.70	0.00	0.000	4	0.000	0.079	2910	3538	2146	0	0	5	0	0	0
11840	0.64	159.6	202.9	10.3	1080	11846	0.00	3.70	0.00	0.000	6	0.000	0.074	2926	1949	2146	0	0	4	0	0	0
12164	0.64	159.6	168.5	10.8	1110	12170	0.00	3.70	0.00	0.000	4	0.000	0.079	2926	3538	2146	0	0	5	0	0	0
12327	0.55	159.6	150.2	11.7	1124	12337	0.30	3.70	0.00	0.000	6	0.199	0.074	2870	1939	2145	0	0	4	0	0	0
12656	0.81	211.8	125.5	7.0	1155	12709	0.25	3.80	44.35	0.818	4	0.100	0.080	2963	3540	1935	0	0	4	0	0	0
12849	0.69	211.8	100.3	13.4	1172	12856	0.28	3.75	0.00	0.000	6	0.197	0.073	2915	1939	1930	0	0	4	0	0	0
13195	0.82	214.3	70.1	9.1	1233	13201	0.12	3.78	0.00	0.000	4	0.128	0.080	2955	3544	1928	0	0	5	0	0	0
13364	0.76	214.3	50.1	12.0	1263	13371	0.15	3.72	0.00	0.000	6	0.203	0.075	2938	1949	1928	0	0	4	0	0	0
13708	0.81	214.3	17.1	9.5	1324	13714	0.00	3.72	0.00	0.000	4	0.000	0.081	2938	3537	1927	0	0	5	0	0	0
13844	0.81	214.3	3.6	10.9	1348	13850	0.00	3.72	0.00	0.000	6	0.000	0.076	2952	1942	1926	0	0	4	0	0	0
13860	end climb: SURFACE_DEPTH_REACHED
state	13860	begin surface coast
13878	end surface coast: CONTROL_FINISHED_OK
state	13878	begin surface