Glider dive log

DavisStrait 18Oct09 * SG143 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 9 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 14 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2300 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2102 ALTIM_PING_DELTA 25

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 275 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 34 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 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 1.75 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 5 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 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 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 -22564.049 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 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 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 2480 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 -23.749716 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 2 PITCH_GAIN 21 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 0 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 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 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 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 8 D_SAFE 0 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 21 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0.5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -23.749716 T_GPS 15

CALL_TRIES 5 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 -22564.049

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 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 0 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 2480 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2102 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2300 KERMIT 0 ROLL_MAX 3915 USE_ICE 0

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 34 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 9 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 14 NAV_MODE 2 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 0 N_NOCOMM 1 SEABIRD_T_J 2.4454023e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 114607,6657.658,-5707.664,38,1.6,38,-37.5 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 7 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.257,0.040

_SM_DEPTHo 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 115149,6657.653,-5707.706,9,1.7,14,-37.5 MHEAD_RNG_PITCHd_Wd 47.7,17337,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 733

Post-dive calculations and measurements:

FINISH 0.7,1.025458 _24V_AH 23.4,14.942

SM_CCo 14705,17.85,0.744,0,0,1677,275.23 _10V_AH 10.3,6.325

SM_GC 1.23,0.00,0.00,17.85,0.000,0.000,0.744,128,2288,1677,-7.35,-0.34,275.23 FG_AHR_24Vo 0.000

RAFOS_CLK 915 FG_AHR_10Vo 0.000

RAFOS 0,1256040064,12.033333,12.017777,43,40,39,0,0,0,921,488,128,0,0,0 MEM 150224

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 50433,1329

IRIDIUM_FIX 6631.12,-5719.52,140199,070719 CAP_FILE_SIZE 149302,0

TT8_MAMPS 0.027612 CFSIZE 260165632,249659392

HUMID 51.65 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.93589 SOUNDSPEED 1468.2

TCM_TEMP 17.50 CURRENT 0.034,167.9,1

XPDR_PINGS 3 GPS 201009,155854,6659.323,-5707.054,37,1.7,37,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 308 170.27 SBE_CT 975 24 547.58

Roll_motor 99 95 222.11 SBE_O2 912 19 405.73

VBD_pump_during_apogee 329 1211 9325.14 nil 0 0 0.00

VBD_pump_during_surface 17 743 310.76 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 57.49 nil 0 0 0.00

Iridium_during_connect 31 160 116.11 nil 0 0 0.00

Iridium_during_xfer 170 223 891.99

Transponder_ping 0 420 7.37

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.43

TT8 2416 19 495.88

LPSleep 9488 2 225.76

TT8_Active 481 19 98.83

TT8_Sampling 2266 39 931.91

TT8_CF8 404 45 191.53

TT8_Kalman 0 81 0.00

Analog_circuits 1608 12 198.76

GPS_charging 0 0 0.00

Compass 2236 8 184.28

RAFOS 2520 1 38.93

Transponder 0 30 0.16

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 -0.98 -146.0 0.0 0.0 0 96 0.00 0.00 -78.90 0.000 2 0.000 0.000 124 2279 3029 0 0 0 0 0 0

98 -0.98 -146.0 3.1 -3.7 15 126 9.77 2.58 -10.88 0.000 4 0.308 0.095 2153 725 3398 0 0 0 0 0 0

363 -0.66 -146.0 51.5 -17.3 62 369 0.43 2.55 0.00 0.000 6 0.211 0.072 2262 2301 3401 0 0 0 0 0 0

707 -0.72 -146.0 82.7 -9.1 123 712 0.00 2.65 0.00 0.000 4 0.000 0.091 2262 3893 3401 0 0 0 0 0 0

814 -0.79 -146.0 92.5 -9.2 142 821 0.12 2.53 0.00 0.000 6 0.114 0.063 2221 2308 3401 0 0 0 0 0 0

1143 -0.70 -146.0 128.0 -10.9 179 1145 0.12 0.00 0.00 0.000 6 0.216 0.000 2247 2308 3401 0 0 0 0 0 0

1463 -0.70 -146.0 157.3 -9.0 209 1465 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2308 3400 0 0 0 0 0 0

1782 -0.76 -146.0 185.0 -8.8 239 1783 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2308 3399 0 0 0 0 0 0

2101 -0.81 -146.0 210.9 -7.7 269 2105 0.00 2.62 0.00 0.000 4 0.000 0.091 2247 3890 3399 0 0 0 0 0 0

2212 -0.88 -146.0 219.7 -7.1 278 2218 0.15 2.53 0.00 0.000 6 0.111 0.064 2197 2297 3398 0 0 0 0 0 0

2536 -0.76 -146.0 252.6 -10.6 309 2538 0.15 0.00 0.00 0.000 6 0.209 0.000 2231 2297 3398 0 0 0 0 0 0

2855 -0.76 -146.0 281.0 -8.4 339 2859 0.00 2.62 0.00 0.000 4 0.000 0.088 2231 3890 3398 0 0 0 0 0 0

2942 -0.76 -146.0 289.1 -9.0 346 2948 0.00 2.50 0.00 0.000 6 0.000 0.061 2231 2298 3398 0 0 0 0 0 0

3267 -0.76 -146.0 316.2 -7.9 377 3269 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 2298 3398 0 0 0 0 0 0

3587 -0.76 -146.0 342.0 -8.2 407 3588 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 2298 3398 0 0 0 0 0 0

3906 -0.76 -146.0 367.9 -8.6 437 3910 0.00 2.60 0.00 0.000 4 0.000 0.086 2231 3888 3399 0 0 0 0 0 0

4023 -0.76 -146.0 377.9 -8.1 447 4027 0.00 2.47 0.00 0.000 6 0.000 0.061 2231 2305 3399 0 0 0 0 0 0

4347 -0.76 -146.0 402.8 -7.0 477 4348 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 2306 3399 0 0 0 0 0 0

4667 -0.81 -146.0 426.2 -7.4 507 4672 0.00 2.58 0.00 0.000 4 0.000 0.086 2231 3884 3399 0 0 0 0 0 0

4763 -0.86 -146.0 433.9 -7.9 515 4767 0.00 2.45 0.00 0.000 6 0.000 0.061 2231 2313 3399 0 0 0 0 0 0

5088 -0.92 -146.0 459.2 -7.8 545 5089 0.15 0.00 0.00 0.000 6 0.105 0.000 2178 2313 3400 0 0 0 0 0 0

5406 -0.78 -146.0 489.6 -9.6 575 5408 0.20 0.00 0.00 0.000 6 0.202 0.000 2227 2314 3399 0 0 0 0 0 0

5724 -0.78 -146.0 513.7 -7.2 605 5729 0.00 2.58 0.00 0.000 4 0.000 0.085 2227 3892 3400 0 0 0 0 0 0

5848 -0.83 -146.0 522.9 -7.6 615 5854 0.00 2.47 0.00 0.000 6 0.000 0.059 2227 2304 3400 0 0 0 0 0 0

6173 -0.83 -146.0 546.7 -7.1 646 6174 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2304 3400 0 0 0 0 0 0

6493 -0.88 -146.0 569.2 -6.7 676 6494 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2304 3401 0 0 0 0 0 0

6812 -0.94 -146.0 590.1 -6.5 706 6817 0.15 2.58 0.00 0.000 4 0.108 0.081 2162 3886 3401 0 0 0 0 0 0

6919 -0.76 -146.0 600.0 -9.7 715 6925 0.28 2.45 0.00 0.000 6 0.202 0.059 2232 2316 3401 0 0 0 0 0 0

7232 -0.83 -146.0 620.4 -6.4 725 7233 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2316 3401 0 0 0 0 0 0

7538 -0.90 -146.0 640.6 -6.4 735 7540 0.15 0.00 0.00 0.000 6 0.110 0.000 2180 2316 3402 0 0 0 0 0 0

7844 -0.78 -146.0 667.9 -9.2 745 7846 0.20 0.00 0.00 0.000 6 0.199 0.000 2229 2316 3402 0 0 0 0 0 0

8150 -0.84 -146.0 690.2 -7.0 755 8151 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2316 3402 0 0 0 0 0 0

8457 -0.90 -146.0 712.5 -7.2 765 8462 0.12 2.58 0.00 0.000 4 0.119 0.084 2183 3891 3402 0 0 0 0 0 0

8540 -0.81 -146.0 720.5 -10.0 767 8545 0.12 2.45 0.00 0.000 6 0.209 0.060 2210 2319 3402 0 0 0 0 0 0

8703 end dive: TARGET_DEPTH_EXCEEDED

state 8703 begin apogee

8708 -0.24 0.0 733.6 7.7 773 8831 0.65 0.00 120.03 1.211 6 0.176 0.000 2402 2106 2800 0 0 0 0 0 0

8832 end apogee: CONTROL_FINISHED_OK

state 8832 begin climb

8834 0.98 146.0 735.0 0.0 777 8962 1.30 0.00 124.25 1.161 6 0.120 0.000 2794 2106 2204 0 0 0 0 0 0

9251 0.59 146.0 668.0 18.5 791 9257 0.45 2.67 0.00 0.000 4 0.204 0.084 2687 519 2194 0 0 0 0 0 0

9262 0.24 146.0 666.0 18.5 791 9268 0.47 2.58 0.00 0.000 6 0.176 0.062 2563 2101 2194 0 0 0 0 0 0

9581 0.67 212.7 644.9 6.4 802 9643 0.38 2.78 55.17 1.114 4 0.077 0.081 2701 3684 1931 0 0 0 0 0 0

9824 0.57 212.7 609.4 15.6 809 9829 0.20 2.58 0.00 0.000 6 0.189 0.067 2666 2138 1925 0 0 0 0 0 0

10146 0.57 212.7 567.3 13.0 835 10151 0.00 2.60 0.00 0.000 4 0.000 0.081 2666 3694 1922 0 0 0 0 0 0

10346 0.57 212.7 539.9 13.5 852 10353 0.00 2.50 0.00 0.000 6 0.000 0.065 2675 2179 1920 0 0 0 0 0 0

10671 0.57 212.7 497.3 13.2 883 10676 0.00 2.50 0.00 0.000 4 0.000 0.083 2675 3689 1920 0 0 0 0 0 0

10878 0.57 212.7 468.0 14.6 901 10882 0.00 2.40 0.00 0.000 6 0.000 0.066 2686 2196 1920 0 0 0 0 0 0

11202 0.57 212.7 422.7 13.8 931 11206 0.00 2.45 0.00 0.000 4 0.000 0.081 2687 3690 1920 0 0 0 0 0 0

11409 0.57 212.7 392.1 14.7 949 11414 0.12 2.35 0.00 0.000 6 0.196 0.066 2669 2219 1919 0 0 0 0 0 0

11734 0.63 212.7 353.4 11.4 979 11738 0.00 2.40 0.00 0.000 4 0.000 0.080 2669 3696 1919 0 0 0 0 0 0

11918 0.63 212.7 330.5 12.2 995 11922 0.00 2.28 0.00 0.000 6 0.000 0.064 2678 2260 1919 0 0 0 0 0 0

12242 0.63 212.7 292.1 11.4 1025 12246 0.00 2.33 0.00 0.000 4 0.000 0.081 2678 3689 1919 0 0 0 0 0 0

12435 0.63 212.7 268.0 12.9 1042 12439 0.00 2.17 0.00 0.000 6 0.000 0.064 2689 2308 1919 0 0 0 0 0 0

12759 0.63 212.7 225.7 12.8 1072 12763 0.00 2.25 0.00 0.000 4 0.000 0.081 2688 3693 1919 0 0 0 0 0 0

12932 0.63 212.7 202.3 13.9 1087 12936 0.00 2.12 0.00 0.000 6 0.000 0.064 2699 2342 1919 0 0 0 0 0 0

13257 0.63 212.7 160.7 12.5 1117 13261 0.00 2.17 0.00 0.000 4 0.000 0.081 2699 3689 1919 0 0 0 0 0 0

13430 0.63 212.7 137.5 12.8 1132 13434 0.00 2.03 0.00 0.000 6 0.000 0.064 2708 2394 1919 0 0 0 0 0 0

13755 0.63 212.7 98.1 11.9 1163 13760 0.00 2.08 0.00 0.000 4 0.000 0.081 2708 3689 1919 0 0 0 0 0 0

13957 0.63 212.7 72.1 12.2 1199 13963 0.15 1.95 0.00 0.000 6 0.195 0.064 2681 2438 1919 0 0 0 0 0 0

14302 0.84 250.5 44.2 7.6 1260 14340 0.20 3.15 29.60 0.765 4 0.100 0.084 2765 518 1776 0 0 0 0 0 0

14413 0.77 250.5 31.2 12.6 1280 14420 0.15 3.10 0.00 0.000 6 0.196 0.066 2731 2449 1773 0 0 0 0 0 0

14672 end climb: SURFACE_DEPTH_REACHED

state 14672 begin surface coast

14689 end surface coast: CONTROL_FINISHED_OK

state 14689 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	9	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	14	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2300	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2102	ALTIM_PING_DELTA	25
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	275	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	34	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	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	1.75	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	5	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	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	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	-22564.049	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	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	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	2480	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	-23.749716	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	2	PITCH_GAIN	21	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	0	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	0

GPS1	114607,6657.658,-5707.664,38,1.6,38,-37.5	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	7	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.257,0.040
_SM_DEPTHo	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	115149,6657.653,-5707.706,9,1.7,14,-37.5	MHEAD_RNG_PITCHd_Wd	47.7,17337,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	733

FINISH	0.7,1.025458	_24V_AH	23.4,14.942
SM_CCo	14705,17.85,0.744,0,0,1677,275.23	_10V_AH	10.3,6.325
SM_GC	1.23,0.00,0.00,17.85,0.000,0.000,0.744,128,2288,1677,-7.35,-0.34,275.23	FG_AHR_24Vo	0.000
RAFOS_CLK	915	FG_AHR_10Vo	0.000
RAFOS	0,1256040064,12.033333,12.017777,43,40,39,0,0,0,921,488,128,0,0,0	MEM	150224
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	50433,1329
IRIDIUM_FIX	6631.12,-5719.52,140199,070719	CAP_FILE_SIZE	149302,0
TT8_MAMPS	0.027612	CFSIZE	260165632,249659392
HUMID	51.65	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.93589	SOUNDSPEED	1468.2
TCM_TEMP	17.50	CURRENT	0.034,167.9,1
XPDR_PINGS	3	GPS	201009,155854,6659.323,-5707.054,37,1.7,37,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	308	170.27	SBE_CT	975	24	547.58
Roll_motor	99	95	222.11	SBE_O2	912	19	405.73
VBD_pump_during_apogee	329	1211	9325.14	nil	0	0	0.00
VBD_pump_during_surface	17	743	310.76	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	57.49	nil	0	0	0.00
Iridium_during_connect	31	160	116.11	nil	0	0	0.00
Iridium_during_xfer	170	223	891.99
Transponder_ping	0	420	7.37
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.43
TT8	2416	19	495.88
LPSleep	9488	2	225.76
TT8_Active	481	19	98.83
TT8_Sampling	2266	39	931.91
TT8_CF8	404	45	191.53
TT8_Kalman	0	81	0.00
Analog_circuits	1608	12	198.76
GPS_charging	0	0	0.00
Compass	2236	8	184.28
RAFOS	2520	1	38.93
Transponder	0	30	0.16

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	-0.98	-146.0	0.0	0.0	0	96	0.00	0.00	-78.90	0.000	2	0.000	0.000	124	2279	3029	0	0	0	0	0	0
98	-0.98	-146.0	3.1	-3.7	15	126	9.77	2.58	-10.88	0.000	4	0.308	0.095	2153	725	3398	0	0	0	0	0	0
363	-0.66	-146.0	51.5	-17.3	62	369	0.43	2.55	0.00	0.000	6	0.211	0.072	2262	2301	3401	0	0	0	0	0	0
707	-0.72	-146.0	82.7	-9.1	123	712	0.00	2.65	0.00	0.000	4	0.000	0.091	2262	3893	3401	0	0	0	0	0	0
814	-0.79	-146.0	92.5	-9.2	142	821	0.12	2.53	0.00	0.000	6	0.114	0.063	2221	2308	3401	0	0	0	0	0	0
1143	-0.70	-146.0	128.0	-10.9	179	1145	0.12	0.00	0.00	0.000	6	0.216	0.000	2247	2308	3401	0	0	0	0	0	0
1463	-0.70	-146.0	157.3	-9.0	209	1465	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2308	3400	0	0	0	0	0	0
1782	-0.76	-146.0	185.0	-8.8	239	1783	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2308	3399	0	0	0	0	0	0
2101	-0.81	-146.0	210.9	-7.7	269	2105	0.00	2.62	0.00	0.000	4	0.000	0.091	2247	3890	3399	0	0	0	0	0	0
2212	-0.88	-146.0	219.7	-7.1	278	2218	0.15	2.53	0.00	0.000	6	0.111	0.064	2197	2297	3398	0	0	0	0	0	0
2536	-0.76	-146.0	252.6	-10.6	309	2538	0.15	0.00	0.00	0.000	6	0.209	0.000	2231	2297	3398	0	0	0	0	0	0
2855	-0.76	-146.0	281.0	-8.4	339	2859	0.00	2.62	0.00	0.000	4	0.000	0.088	2231	3890	3398	0	0	0	0	0	0
2942	-0.76	-146.0	289.1	-9.0	346	2948	0.00	2.50	0.00	0.000	6	0.000	0.061	2231	2298	3398	0	0	0	0	0	0
3267	-0.76	-146.0	316.2	-7.9	377	3269	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	2298	3398	0	0	0	0	0	0
3587	-0.76	-146.0	342.0	-8.2	407	3588	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	2298	3398	0	0	0	0	0	0
3906	-0.76	-146.0	367.9	-8.6	437	3910	0.00	2.60	0.00	0.000	4	0.000	0.086	2231	3888	3399	0	0	0	0	0	0
4023	-0.76	-146.0	377.9	-8.1	447	4027	0.00	2.47	0.00	0.000	6	0.000	0.061	2231	2305	3399	0	0	0	0	0	0
4347	-0.76	-146.0	402.8	-7.0	477	4348	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	2306	3399	0	0	0	0	0	0
4667	-0.81	-146.0	426.2	-7.4	507	4672	0.00	2.58	0.00	0.000	4	0.000	0.086	2231	3884	3399	0	0	0	0	0	0
4763	-0.86	-146.0	433.9	-7.9	515	4767	0.00	2.45	0.00	0.000	6	0.000	0.061	2231	2313	3399	0	0	0	0	0	0
5088	-0.92	-146.0	459.2	-7.8	545	5089	0.15	0.00	0.00	0.000	6	0.105	0.000	2178	2313	3400	0	0	0	0	0	0
5406	-0.78	-146.0	489.6	-9.6	575	5408	0.20	0.00	0.00	0.000	6	0.202	0.000	2227	2314	3399	0	0	0	0	0	0
5724	-0.78	-146.0	513.7	-7.2	605	5729	0.00	2.58	0.00	0.000	4	0.000	0.085	2227	3892	3400	0	0	0	0	0	0
5848	-0.83	-146.0	522.9	-7.6	615	5854	0.00	2.47	0.00	0.000	6	0.000	0.059	2227	2304	3400	0	0	0	0	0	0
6173	-0.83	-146.0	546.7	-7.1	646	6174	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	2304	3400	0	0	0	0	0	0
6493	-0.88	-146.0	569.2	-6.7	676	6494	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	2304	3401	0	0	0	0	0	0
6812	-0.94	-146.0	590.1	-6.5	706	6817	0.15	2.58	0.00	0.000	4	0.108	0.081	2162	3886	3401	0	0	0	0	0	0
6919	-0.76	-146.0	600.0	-9.7	715	6925	0.28	2.45	0.00	0.000	6	0.202	0.059	2232	2316	3401	0	0	0	0	0	0
7232	-0.83	-146.0	620.4	-6.4	725	7233	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2316	3401	0	0	0	0	0	0
7538	-0.90	-146.0	640.6	-6.4	735	7540	0.15	0.00	0.00	0.000	6	0.110	0.000	2180	2316	3402	0	0	0	0	0	0
7844	-0.78	-146.0	667.9	-9.2	745	7846	0.20	0.00	0.00	0.000	6	0.199	0.000	2229	2316	3402	0	0	0	0	0	0
8150	-0.84	-146.0	690.2	-7.0	755	8151	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2316	3402	0	0	0	0	0	0
8457	-0.90	-146.0	712.5	-7.2	765	8462	0.12	2.58	0.00	0.000	4	0.119	0.084	2183	3891	3402	0	0	0	0	0	0
8540	-0.81	-146.0	720.5	-10.0	767	8545	0.12	2.45	0.00	0.000	6	0.209	0.060	2210	2319	3402	0	0	0	0	0	0
8703	end dive: TARGET_DEPTH_EXCEEDED
state	8703	begin apogee
8708	-0.24	0.0	733.6	7.7	773	8831	0.65	0.00	120.03	1.211	6	0.176	0.000	2402	2106	2800	0	0	0	0	0	0
8832	end apogee: CONTROL_FINISHED_OK
state	8832	begin climb
8834	0.98	146.0	735.0	0.0	777	8962	1.30	0.00	124.25	1.161	6	0.120	0.000	2794	2106	2204	0	0	0	0	0	0
9251	0.59	146.0	668.0	18.5	791	9257	0.45	2.67	0.00	0.000	4	0.204	0.084	2687	519	2194	0	0	0	0	0	0
9262	0.24	146.0	666.0	18.5	791	9268	0.47	2.58	0.00	0.000	6	0.176	0.062	2563	2101	2194	0	0	0	0	0	0
9581	0.67	212.7	644.9	6.4	802	9643	0.38	2.78	55.17	1.114	4	0.077	0.081	2701	3684	1931	0	0	0	0	0	0
9824	0.57	212.7	609.4	15.6	809	9829	0.20	2.58	0.00	0.000	6	0.189	0.067	2666	2138	1925	0	0	0	0	0	0
10146	0.57	212.7	567.3	13.0	835	10151	0.00	2.60	0.00	0.000	4	0.000	0.081	2666	3694	1922	0	0	0	0	0	0
10346	0.57	212.7	539.9	13.5	852	10353	0.00	2.50	0.00	0.000	6	0.000	0.065	2675	2179	1920	0	0	0	0	0	0
10671	0.57	212.7	497.3	13.2	883	10676	0.00	2.50	0.00	0.000	4	0.000	0.083	2675	3689	1920	0	0	0	0	0	0
10878	0.57	212.7	468.0	14.6	901	10882	0.00	2.40	0.00	0.000	6	0.000	0.066	2686	2196	1920	0	0	0	0	0	0
11202	0.57	212.7	422.7	13.8	931	11206	0.00	2.45	0.00	0.000	4	0.000	0.081	2687	3690	1920	0	0	0	0	0	0
11409	0.57	212.7	392.1	14.7	949	11414	0.12	2.35	0.00	0.000	6	0.196	0.066	2669	2219	1919	0	0	0	0	0	0
11734	0.63	212.7	353.4	11.4	979	11738	0.00	2.40	0.00	0.000	4	0.000	0.080	2669	3696	1919	0	0	0	0	0	0
11918	0.63	212.7	330.5	12.2	995	11922	0.00	2.28	0.00	0.000	6	0.000	0.064	2678	2260	1919	0	0	0	0	0	0
12242	0.63	212.7	292.1	11.4	1025	12246	0.00	2.33	0.00	0.000	4	0.000	0.081	2678	3689	1919	0	0	0	0	0	0
12435	0.63	212.7	268.0	12.9	1042	12439	0.00	2.17	0.00	0.000	6	0.000	0.064	2689	2308	1919	0	0	0	0	0	0
12759	0.63	212.7	225.7	12.8	1072	12763	0.00	2.25	0.00	0.000	4	0.000	0.081	2688	3693	1919	0	0	0	0	0	0
12932	0.63	212.7	202.3	13.9	1087	12936	0.00	2.12	0.00	0.000	6	0.000	0.064	2699	2342	1919	0	0	0	0	0	0
13257	0.63	212.7	160.7	12.5	1117	13261	0.00	2.17	0.00	0.000	4	0.000	0.081	2699	3689	1919	0	0	0	0	0	0
13430	0.63	212.7	137.5	12.8	1132	13434	0.00	2.03	0.00	0.000	6	0.000	0.064	2708	2394	1919	0	0	0	0	0	0
13755	0.63	212.7	98.1	11.9	1163	13760	0.00	2.08	0.00	0.000	4	0.000	0.081	2708	3689	1919	0	0	0	0	0	0
13957	0.63	212.7	72.1	12.2	1199	13963	0.15	1.95	0.00	0.000	6	0.195	0.064	2681	2438	1919	0	0	0	0	0	0
14302	0.84	250.5	44.2	7.6	1260	14340	0.20	3.15	29.60	0.765	4	0.100	0.084	2765	518	1776	0	0	0	0	0	0
14413	0.77	250.5	31.2	12.6	1280	14420	0.15	3.10	0.00	0.000	6	0.196	0.066	2731	2449	1773	0	0	0	0	0	0
14672	end climb: SURFACE_DEPTH_REACHED
state	14672	begin surface coast
14689	end surface coast: CONTROL_FINISHED_OK
state	14689	begin surface