Glider dive log

DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 98 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 172 HEADING -1 ROLL_MIN 160 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MAX 3717 ALTIM_TOP_TURN_MARGIN 0

DIVE 98 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 1 C_ROLL_DIVE 1850 ALTIM_PING_DEPTH 400

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1700 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 1

D_NO_BLEED 500 SM_CC 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 24 XPDR_VALID 2

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 36 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 460 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 330 CALL_TRIES 5 C_VBD 2940 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 4 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 300 T_GPS 15 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 0 T_GPS_CHARGE -6086.7515 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 15 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 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 154 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3948 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3025 FG_AHR_24V 0 SEABIRD_T_G 0.0043614767

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062996609

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_YINT -55.981045 SEABIRD_T_I 2.5014444e-05

MASS 51891 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001168426 SEABIRD_T_J 2.7838146e-06

NAV_MODE 2 PITCH_GAIN 38 AD7714Ch0Gain 128 SEABIRD_C_G -10.228213

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1292607

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.001076734

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00017059842

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.032000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 500 PHONE_SUPPLY 2 SM_CC 275

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.032000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 400 ESCAPE_HEADING 0 PITCH_GAIN 38 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3948 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 154 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 1 PRESSURE_SLOPE 0.0001168426 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -55.981045 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -6086.7515

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 15

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 4

COMPASS_USE 0 ID 172 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 3025 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1700 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 1850 KERMIT 0 ROLL_MAX 3717 USE_ICE 0

C_VBD 2940 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 160 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51891 R_PORT_OVSHOOT 24 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 36 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.228213 VBD_MIN 460

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1292607 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 3 SEABIRD_C_I -0.001076734 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00017059842 VBD_TIMEOUT 720

DIVE 98 NAV_MODE 2 SEABIRD_T_G 0.0043614767 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 4 SEABIRD_T_H 0.00062996609 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.5014444e-05 XPDR_VALID 2

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.7838146e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 073246,6703.551,-5703.431,8,3.8,27,-37.6 TGT_NAME TARGET_E_IN

_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 2.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 073834,6703.602,-5703.453,12,3.9,31,-37.6 MHEAD_RNG_PITCHd_Wd 140.5,11215,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 656

Post-dive calculations and measurements:

FINISH 1.6,1.017164 _24V_AH 23.6,18.879

SM_CCo 12093,0.00,0.000,0,0,1572,335.33 _10V_AH 10.3,8.445

SM_GC 2.42,8.23,0.00,0.00,0.052,0.000,0.000,133,1856,1572,-8.94,0.17,335.33 FG_AHR_24Vo 0.000

RAFOS_CLK 550 FG_AHR_10Vo 0.000

RAFOS 0,1257494498,8.033334,8.027223,39,38,33,0,0,0,39,25,1,0,0,0 MEM 188452

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 47293,1167

IRIDIUM_FIX 6636.54,-5707.59,310199,040449 CAP_FILE_SIZE 139531,0

TT8_MAMPS 0.026845 CFSIZE 260165632,243367936

HUMID 39.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.59021 SOUNDSPEED 1471.5

TCM_TEMP 16.30 CURRENT 0.155,233.5,1

XPDR_PINGS 0 GPS 061109,110136,6702.688,-5701.178,26,1.6,26,-37.6

ALTIM_BOTTOM_PING 551.0,99.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 235 128.65 SBE_CT 810 24 458.84

Roll_motor 107 79 201.03 SBE_O2 852 19 382.39

VBD_pump_during_apogee 403 1020 9718.91 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 74.74 nil 0 0 0.00

Iridium_during_connect 31 160 117.13 nil 0 0 0.00

Iridium_during_xfer 157 223 829.77

Transponder_ping 1 420 14.87

GUMSTIX_24V 0 0 0.00

GPS 32 50 16.78

TT8 2114 19 433.89

LPSleep 7521 2 178.95

TT8_Active 471 19 96.78

TT8_Sampling 1983 39 815.43

TT8_CF8 348 45 165.06

TT8_Kalman 0 0 0.00

Analog_circuits 1512 12 186.97

GPS_charging 0 0 0.00

Compass 1927 8 158.83

RAFOS 840 1 12.98

Transponder 14 30 4.57

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.64 -146.0 0.0 0.0 0 69 0.00 0.00 -51.67 0.000 2 0.000 0.000 132 1856 2697 0 0 0 0 0 0

71 -0.64 -146.0 3.2 -0.9 10 111 10.20 2.28 -23.77 0.000 4 0.235 0.079 2798 3253 3537 0 0 0 0 0 0

165 -0.64 -146.0 17.9 -16.0 30 171 0.00 2.25 0.00 0.000 6 0.000 0.058 2797 1851 3538 0 0 0 0 0 0

508 -0.55 -146.0 80.3 -20.2 91 514 0.17 2.30 0.00 0.000 4 0.158 0.071 2850 437 3538 0 0 0 0 0 0

598 -0.65 -146.0 92.8 -13.6 110 604 0.00 2.17 0.00 0.000 6 0.000 0.051 2841 1842 3538 0 0 0 0 0 0

926 -0.72 -146.0 135.0 -12.1 145 930 0.12 2.28 0.00 0.000 4 0.097 0.069 2779 436 3538 0 0 0 0 0 0

963 -0.60 -146.0 141.1 -17.5 148 970 0.20 2.17 0.00 0.000 6 0.150 0.051 2829 1848 3538 0 0 0 0 0 0

1287 -0.65 -146.0 181.6 -12.1 179 1291 0.00 2.25 0.00 0.000 4 0.000 0.068 2829 441 3537 0 0 0 0 0 0

1301 -0.68 -146.0 183.4 -12.6 180 1305 0.00 2.17 0.00 0.000 6 0.000 0.051 2821 1851 3537 0 0 0 0 0 0

1629 -0.73 -146.0 223.4 -11.7 211 1630 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 1851 3537 0 0 0 0 0 0

1949 -0.77 -146.0 256.8 -10.0 241 1950 0.12 0.00 0.00 0.000 6 0.097 0.000 2760 1850 3537 0 0 0 0 0 0

2267 -0.66 -146.0 303.3 -14.6 271 2268 0.17 0.00 0.00 0.000 6 0.149 0.000 2813 1851 3537 0 0 0 0 0 0

2585 -0.69 -146.0 339.7 -11.5 301 2589 0.00 2.20 0.00 0.000 4 0.000 0.066 2803 3258 3537 0 0 0 0 0 0

2604 -0.75 -146.0 342.0 -11.7 302 2609 0.00 2.20 0.00 0.000 6 0.000 0.056 2804 1848 3537 0 0 0 0 0 0

2929 -0.75 -146.0 380.4 -11.9 333 2933 0.00 2.22 0.00 0.000 4 0.000 0.067 2804 438 3538 0 0 0 0 0 0

3002 -0.75 -146.0 389.9 -13.3 340 3008 0.00 2.17 0.00 0.000 6 0.000 0.051 2797 1855 3537 0 0 0 0 0 0

3327 -0.75 -146.0 430.0 -12.3 371 3331 0.00 2.22 0.00 0.000 4 0.000 0.066 2797 3264 3538 0 0 0 0 0 0

3340 -0.75 -146.0 431.7 -12.6 372 3344 0.00 2.20 0.00 0.000 6 0.000 0.056 2797 1845 3538 0 0 0 0 0 0

3664 -0.75 -146.0 469.6 -11.4 402 3668 0.00 2.22 0.00 0.000 4 0.000 0.067 2797 435 3538 0 0 0 0 0 0

3746 -0.75 -146.0 479.6 -12.1 410 3752 0.00 2.17 0.00 0.000 6 0.000 0.050 2797 1855 3538 0 0 0 0 0 0

4070 -0.75 -146.0 516.3 -10.9 441 4071 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 1855 3538 0 0 0 0 0 0

4388 -0.75 -146.0 552.3 -11.4 471 4389 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 1854 3539 0 0 0 0 0 0

4708 -0.75 -146.0 589.3 -11.5 501 4709 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 1854 3538 0 0 0 0 0 0

5018 -0.75 -146.0 625.0 -11.4 517 5022 0.00 2.25 0.00 0.000 4 0.000 0.068 2797 437 3539 0 0 0 0 0 0

5095 -0.75 -146.0 634.8 -11.6 519 5099 0.00 2.17 0.00 0.000 6 0.000 0.051 2797 1852 3539 0 0 0 0 0 0

5416 -1.18 -146.0 654.8 -0.1 530 5421 0.38 2.22 0.00 0.000 4 0.071 0.061 2635 3265 3539 0 0 0 0 0 0

5449 -1.62 -146.0 654.8 -0.1 531 5454 0.35 2.20 0.00 0.000 6 0.082 0.055 2500 1847 3539 0 0 0 0 0 0

5687 end dive: NO_VERTICAL_VELOCITY

state 5687 begin apogee

5691 -0.13 0.0 654.8 0.0 539 5815 1.33 0.00 119.88 1.020 6 0.087 0.000 2985 1699 2940 0 0 0 0 0 0

5816 end apogee: CONTROL_FINISHED_OK

state 5816 begin climb

5817 0.64 146.0 654.7 0.0 543 5949 0.68 2.47 123.18 0.992 4 0.080 0.060 3228 3104 2343 0 0 0 0 0 0

5998 0.50 146.1 645.6 10.0 549 6003 0.20 2.35 0.00 0.000 6 0.167 0.054 3186 1700 2339 0 0 0 0 0 0

6333 0.59 217.8 622.1 6.7 560 6400 0.00 2.42 60.88 0.969 4 0.000 0.068 3197 285 2052 0 0 0 0 0 0

6437 0.67 233.2 613.2 9.3 563 6458 0.12 2.30 14.85 0.891 6 0.094 0.045 3252 1707 1988 0 0 0 0 0 0

6782 0.58 233.2 569.6 12.5 589 6787 0.15 2.28 0.00 0.000 4 0.154 0.060 3210 3113 1981 0 0 0 0 0 0

6828 0.58 233.2 564.2 10.6 593 6833 0.00 2.30 0.00 0.000 6 0.000 0.058 3219 1697 1980 0 0 0 0 0 0

7151 0.58 233.2 529.6 10.6 624 7153 0.00 0.00 0.00 0.000 6 0.000 0.000 3219 1696 1979 0 0 0 0 0 0

7471 0.58 233.2 495.6 11.1 654 7472 0.00 0.00 0.00 0.000 6 0.000 0.000 3219 1696 1978 0 0 0 0 0 0

7791 0.58 233.2 459.4 11.9 684 7795 0.00 2.28 0.00 0.000 4 0.000 0.070 3230 281 1978 0 0 0 0 0 0

7826 0.58 233.2 455.0 11.7 687 7832 0.00 2.17 0.00 0.000 6 0.000 0.046 3230 1703 1976 0 0 0 0 0 0

8150 0.58 233.2 417.7 11.3 718 8154 0.00 2.22 0.00 0.000 4 0.000 0.061 3230 3111 1977 0 0 0 0 0 0

8204 0.58 233.2 411.0 12.6 723 8210 0.00 2.22 0.00 0.000 6 0.000 0.058 3239 1698 1976 0 0 0 0 0 0

8528 0.55 233.2 373.0 11.2 754 8533 0.12 2.25 0.00 0.000 4 0.165 0.069 3213 287 1976 0 0 0 0 0 0

8556 0.59 233.2 370.0 10.9 756 8562 0.00 2.17 0.00 0.000 6 0.000 0.047 3214 1706 1977 0 0 0 0 0 0

8879 0.63 233.2 336.9 10.8 787 8883 0.00 2.17 0.00 0.000 4 0.000 0.061 3213 3105 1976 0 0 0 0 0 0

8921 0.63 233.2 332.3 11.8 791 8925 0.00 2.22 0.00 0.000 6 0.000 0.058 3221 1697 1976 0 0 0 0 0 0

9246 0.63 233.2 297.0 11.1 821 9250 0.00 2.22 0.00 0.000 4 0.000 0.060 3222 3106 1976 0 0 0 0 0 0

9260 0.63 233.2 295.3 11.0 822 9264 0.00 2.22 0.00 0.000 6 0.000 0.057 3231 1697 1976 0 0 0 0 0 0

9583 0.63 233.2 258.4 11.2 852 9587 0.00 2.22 0.00 0.000 4 0.000 0.070 3239 289 1976 0 0 0 0 0 0

9600 0.63 233.2 256.5 11.0 853 9606 0.00 2.15 0.00 0.000 6 0.000 0.046 3239 1703 1976 0 0 0 0 0 0

9923 0.63 233.2 221.2 10.7 884 9927 0.00 2.20 0.00 0.000 4 0.000 0.061 3240 3104 1976 0 0 0 0 0 0

9941 0.63 233.2 219.3 11.1 885 9946 0.00 2.20 0.00 0.000 6 0.000 0.057 3248 1700 1976 0 0 0 0 0 0

10265 0.59 233.2 182.8 11.4 916 10266 0.00 0.00 0.00 0.000 6 0.000 0.000 3248 1699 1976 0 0 0 0 0 0

10584 0.59 233.2 144.7 11.8 946 10588 0.10 2.22 0.00 0.000 4 0.179 0.061 3220 3107 1976 0 0 0 0 0 0

10639 0.66 233.2 138.8 10.7 951 10644 0.00 2.22 0.00 0.000 6 0.000 0.058 3228 1697 1976 0 0 0 0 0 0

10963 0.74 265.6 109.6 8.5 982 10998 0.10 2.28 26.40 0.679 4 0.115 0.067 3291 285 1855 0 0 0 0 0 0

11029 0.65 265.6 102.0 12.5 989 11034 0.17 2.17 0.00 0.000 6 0.151 0.045 3239 1698 1854 0 0 0 0 0 0

11371 0.79 303.7 71.1 8.2 1048 11411 0.10 2.33 33.67 0.653 4 0.115 0.067 3301 282 1700 0 0 0 0 0 0

11462 0.75 303.7 60.3 13.6 1067 11468 0.12 2.20 0.00 0.000 6 0.156 0.046 3265 1701 1696 0 0 0 0 0 0

11807 0.78 303.7 23.5 10.1 1128 11814 0.00 2.25 0.00 0.000 4 0.000 0.062 3265 3104 1691 0 0 0 0 0 0

11842 0.86 332.5 20.0 8.7 1135 11872 0.00 2.25 24.85 0.624 6 0.000 0.057 3274 1696 1583 0 0 0 0 0 0

11984 end climb: SURFACE_DEPTH_REACHED

state 11984 begin surface coast

12018 end surface coast: CONTROL_FINISHED_OK

state 12018 begin surface

ID	172	HEADING	-1	ROLL_MIN	160	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MAX	3717	ALTIM_TOP_TURN_MARGIN	0
DIVE	98	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	1	C_ROLL_DIVE	1850	ALTIM_PING_DEPTH	400
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1700	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	1
D_NO_BLEED	500	SM_CC	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	24	XPDR_VALID	2
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	36	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	460	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	330	CALL_TRIES	5	C_VBD	2940	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	4	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	300	T_GPS	15	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	0	T_GPS_CHARGE	-6086.7515	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	15	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	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	154	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3948	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3025	FG_AHR_24V	0	SEABIRD_T_G	0.0043614767
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062996609
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_YINT	-55.981045	SEABIRD_T_I	2.5014444e-05
MASS	51891	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001168426	SEABIRD_T_J	2.7838146e-06
NAV_MODE	2	PITCH_GAIN	38	AD7714Ch0Gain	128	SEABIRD_C_G	-10.228213
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1292607
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.001076734
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00017059842
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.032000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	073246,6703.551,-5703.431,8,3.8,27,-37.6	TGT_NAME	TARGET_E_IN
_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	2.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	073834,6703.602,-5703.453,12,3.9,31,-37.6	MHEAD_RNG_PITCHd_Wd	140.5,11215,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	656

FINISH	1.6,1.017164	_24V_AH	23.6,18.879
SM_CCo	12093,0.00,0.000,0,0,1572,335.33	_10V_AH	10.3,8.445
SM_GC	2.42,8.23,0.00,0.00,0.052,0.000,0.000,133,1856,1572,-8.94,0.17,335.33	FG_AHR_24Vo	0.000
RAFOS_CLK	550	FG_AHR_10Vo	0.000
RAFOS	0,1257494498,8.033334,8.027223,39,38,33,0,0,0,39,25,1,0,0,0	MEM	188452
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	47293,1167
IRIDIUM_FIX	6636.54,-5707.59,310199,040449	CAP_FILE_SIZE	139531,0
TT8_MAMPS	0.026845	CFSIZE	260165632,243367936
HUMID	39.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.59021	SOUNDSPEED	1471.5
TCM_TEMP	16.30	CURRENT	0.155,233.5,1
XPDR_PINGS	0	GPS	061109,110136,6702.688,-5701.178,26,1.6,26,-37.6
ALTIM_BOTTOM_PING	551.0,99.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	235	128.65	SBE_CT	810	24	458.84
Roll_motor	107	79	201.03	SBE_O2	852	19	382.39
VBD_pump_during_apogee	403	1020	9718.91	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	74.74	nil	0	0	0.00
Iridium_during_connect	31	160	117.13	nil	0	0	0.00
Iridium_during_xfer	157	223	829.77
Transponder_ping	1	420	14.87
GUMSTIX_24V	0	0	0.00
GPS	32	50	16.78
TT8	2114	19	433.89
LPSleep	7521	2	178.95
TT8_Active	471	19	96.78
TT8_Sampling	1983	39	815.43
TT8_CF8	348	45	165.06
TT8_Kalman	0	0	0.00
Analog_circuits	1512	12	186.97
GPS_charging	0	0	0.00
Compass	1927	8	158.83
RAFOS	840	1	12.98
Transponder	14	30	4.57

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.64	-146.0	0.0	0.0	0	69	0.00	0.00	-51.67	0.000	2	0.000	0.000	132	1856	2697	0	0	0	0	0	0
71	-0.64	-146.0	3.2	-0.9	10	111	10.20	2.28	-23.77	0.000	4	0.235	0.079	2798	3253	3537	0	0	0	0	0	0
165	-0.64	-146.0	17.9	-16.0	30	171	0.00	2.25	0.00	0.000	6	0.000	0.058	2797	1851	3538	0	0	0	0	0	0
508	-0.55	-146.0	80.3	-20.2	91	514	0.17	2.30	0.00	0.000	4	0.158	0.071	2850	437	3538	0	0	0	0	0	0
598	-0.65	-146.0	92.8	-13.6	110	604	0.00	2.17	0.00	0.000	6	0.000	0.051	2841	1842	3538	0	0	0	0	0	0
926	-0.72	-146.0	135.0	-12.1	145	930	0.12	2.28	0.00	0.000	4	0.097	0.069	2779	436	3538	0	0	0	0	0	0
963	-0.60	-146.0	141.1	-17.5	148	970	0.20	2.17	0.00	0.000	6	0.150	0.051	2829	1848	3538	0	0	0	0	0	0
1287	-0.65	-146.0	181.6	-12.1	179	1291	0.00	2.25	0.00	0.000	4	0.000	0.068	2829	441	3537	0	0	0	0	0	0
1301	-0.68	-146.0	183.4	-12.6	180	1305	0.00	2.17	0.00	0.000	6	0.000	0.051	2821	1851	3537	0	0	0	0	0	0
1629	-0.73	-146.0	223.4	-11.7	211	1630	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	1851	3537	0	0	0	0	0	0
1949	-0.77	-146.0	256.8	-10.0	241	1950	0.12	0.00	0.00	0.000	6	0.097	0.000	2760	1850	3537	0	0	0	0	0	0
2267	-0.66	-146.0	303.3	-14.6	271	2268	0.17	0.00	0.00	0.000	6	0.149	0.000	2813	1851	3537	0	0	0	0	0	0
2585	-0.69	-146.0	339.7	-11.5	301	2589	0.00	2.20	0.00	0.000	4	0.000	0.066	2803	3258	3537	0	0	0	0	0	0
2604	-0.75	-146.0	342.0	-11.7	302	2609	0.00	2.20	0.00	0.000	6	0.000	0.056	2804	1848	3537	0	0	0	0	0	0
2929	-0.75	-146.0	380.4	-11.9	333	2933	0.00	2.22	0.00	0.000	4	0.000	0.067	2804	438	3538	0	0	0	0	0	0
3002	-0.75	-146.0	389.9	-13.3	340	3008	0.00	2.17	0.00	0.000	6	0.000	0.051	2797	1855	3537	0	0	0	0	0	0
3327	-0.75	-146.0	430.0	-12.3	371	3331	0.00	2.22	0.00	0.000	4	0.000	0.066	2797	3264	3538	0	0	0	0	0	0
3340	-0.75	-146.0	431.7	-12.6	372	3344	0.00	2.20	0.00	0.000	6	0.000	0.056	2797	1845	3538	0	0	0	0	0	0
3664	-0.75	-146.0	469.6	-11.4	402	3668	0.00	2.22	0.00	0.000	4	0.000	0.067	2797	435	3538	0	0	0	0	0	0
3746	-0.75	-146.0	479.6	-12.1	410	3752	0.00	2.17	0.00	0.000	6	0.000	0.050	2797	1855	3538	0	0	0	0	0	0
4070	-0.75	-146.0	516.3	-10.9	441	4071	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	1855	3538	0	0	0	0	0	0
4388	-0.75	-146.0	552.3	-11.4	471	4389	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	1854	3539	0	0	0	0	0	0
4708	-0.75	-146.0	589.3	-11.5	501	4709	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	1854	3538	0	0	0	0	0	0
5018	-0.75	-146.0	625.0	-11.4	517	5022	0.00	2.25	0.00	0.000	4	0.000	0.068	2797	437	3539	0	0	0	0	0	0
5095	-0.75	-146.0	634.8	-11.6	519	5099	0.00	2.17	0.00	0.000	6	0.000	0.051	2797	1852	3539	0	0	0	0	0	0
5416	-1.18	-146.0	654.8	-0.1	530	5421	0.38	2.22	0.00	0.000	4	0.071	0.061	2635	3265	3539	0	0	0	0	0	0
5449	-1.62	-146.0	654.8	-0.1	531	5454	0.35	2.20	0.00	0.000	6	0.082	0.055	2500	1847	3539	0	0	0	0	0	0
5687	end dive: NO_VERTICAL_VELOCITY
state	5687	begin apogee
5691	-0.13	0.0	654.8	0.0	539	5815	1.33	0.00	119.88	1.020	6	0.087	0.000	2985	1699	2940	0	0	0	0	0	0
5816	end apogee: CONTROL_FINISHED_OK
state	5816	begin climb
5817	0.64	146.0	654.7	0.0	543	5949	0.68	2.47	123.18	0.992	4	0.080	0.060	3228	3104	2343	0	0	0	0	0	0
5998	0.50	146.1	645.6	10.0	549	6003	0.20	2.35	0.00	0.000	6	0.167	0.054	3186	1700	2339	0	0	0	0	0	0
6333	0.59	217.8	622.1	6.7	560	6400	0.00	2.42	60.88	0.969	4	0.000	0.068	3197	285	2052	0	0	0	0	0	0
6437	0.67	233.2	613.2	9.3	563	6458	0.12	2.30	14.85	0.891	6	0.094	0.045	3252	1707	1988	0	0	0	0	0	0
6782	0.58	233.2	569.6	12.5	589	6787	0.15	2.28	0.00	0.000	4	0.154	0.060	3210	3113	1981	0	0	0	0	0	0
6828	0.58	233.2	564.2	10.6	593	6833	0.00	2.30	0.00	0.000	6	0.000	0.058	3219	1697	1980	0	0	0	0	0	0
7151	0.58	233.2	529.6	10.6	624	7153	0.00	0.00	0.00	0.000	6	0.000	0.000	3219	1696	1979	0	0	0	0	0	0
7471	0.58	233.2	495.6	11.1	654	7472	0.00	0.00	0.00	0.000	6	0.000	0.000	3219	1696	1978	0	0	0	0	0	0
7791	0.58	233.2	459.4	11.9	684	7795	0.00	2.28	0.00	0.000	4	0.000	0.070	3230	281	1978	0	0	0	0	0	0
7826	0.58	233.2	455.0	11.7	687	7832	0.00	2.17	0.00	0.000	6	0.000	0.046	3230	1703	1976	0	0	0	0	0	0
8150	0.58	233.2	417.7	11.3	718	8154	0.00	2.22	0.00	0.000	4	0.000	0.061	3230	3111	1977	0	0	0	0	0	0
8204	0.58	233.2	411.0	12.6	723	8210	0.00	2.22	0.00	0.000	6	0.000	0.058	3239	1698	1976	0	0	0	0	0	0
8528	0.55	233.2	373.0	11.2	754	8533	0.12	2.25	0.00	0.000	4	0.165	0.069	3213	287	1976	0	0	0	0	0	0
8556	0.59	233.2	370.0	10.9	756	8562	0.00	2.17	0.00	0.000	6	0.000	0.047	3214	1706	1977	0	0	0	0	0	0
8879	0.63	233.2	336.9	10.8	787	8883	0.00	2.17	0.00	0.000	4	0.000	0.061	3213	3105	1976	0	0	0	0	0	0
8921	0.63	233.2	332.3	11.8	791	8925	0.00	2.22	0.00	0.000	6	0.000	0.058	3221	1697	1976	0	0	0	0	0	0
9246	0.63	233.2	297.0	11.1	821	9250	0.00	2.22	0.00	0.000	4	0.000	0.060	3222	3106	1976	0	0	0	0	0	0
9260	0.63	233.2	295.3	11.0	822	9264	0.00	2.22	0.00	0.000	6	0.000	0.057	3231	1697	1976	0	0	0	0	0	0
9583	0.63	233.2	258.4	11.2	852	9587	0.00	2.22	0.00	0.000	4	0.000	0.070	3239	289	1976	0	0	0	0	0	0
9600	0.63	233.2	256.5	11.0	853	9606	0.00	2.15	0.00	0.000	6	0.000	0.046	3239	1703	1976	0	0	0	0	0	0
9923	0.63	233.2	221.2	10.7	884	9927	0.00	2.20	0.00	0.000	4	0.000	0.061	3240	3104	1976	0	0	0	0	0	0
9941	0.63	233.2	219.3	11.1	885	9946	0.00	2.20	0.00	0.000	6	0.000	0.057	3248	1700	1976	0	0	0	0	0	0
10265	0.59	233.2	182.8	11.4	916	10266	0.00	0.00	0.00	0.000	6	0.000	0.000	3248	1699	1976	0	0	0	0	0	0
10584	0.59	233.2	144.7	11.8	946	10588	0.10	2.22	0.00	0.000	4	0.179	0.061	3220	3107	1976	0	0	0	0	0	0
10639	0.66	233.2	138.8	10.7	951	10644	0.00	2.22	0.00	0.000	6	0.000	0.058	3228	1697	1976	0	0	0	0	0	0
10963	0.74	265.6	109.6	8.5	982	10998	0.10	2.28	26.40	0.679	4	0.115	0.067	3291	285	1855	0	0	0	0	0	0
11029	0.65	265.6	102.0	12.5	989	11034	0.17	2.17	0.00	0.000	6	0.151	0.045	3239	1698	1854	0	0	0	0	0	0
11371	0.79	303.7	71.1	8.2	1048	11411	0.10	2.33	33.67	0.653	4	0.115	0.067	3301	282	1700	0	0	0	0	0	0
11462	0.75	303.7	60.3	13.6	1067	11468	0.12	2.20	0.00	0.000	6	0.156	0.046	3265	1701	1696	0	0	0	0	0	0
11807	0.78	303.7	23.5	10.1	1128	11814	0.00	2.25	0.00	0.000	4	0.000	0.062	3265	3104	1691	0	0	0	0	0	0
11842	0.86	332.5	20.0	8.7	1135	11872	0.00	2.25	24.85	0.624	6	0.000	0.057	3274	1696	1583	0	0	0	0	0	0
11984	end climb: SURFACE_DEPTH_REACHED
state	11984	begin surface coast
12018	end surface coast: CONTROL_FINISHED_OK
state	12018	begin surface