Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 152 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 ROLL_MIN 294 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 14 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_TURN_MARGIN 5

DIVE 152 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 2.5

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 605.89099 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 35 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 28 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 300 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 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 588 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3951 DEVICE1 2

T_DIVE 330 CALL_TRIES 3 C_VBD 3058 DEVICE2 20

T_MISSION 440 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 540 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 -180547.48 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 900 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 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3112 FG_AHR_24V 0 SEABIRD_T_G 0.0043387706

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063929392

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -21.817678 SEABIRD_T_I 2.2459495e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_J 2.0328812e-06

NAV_MODE 0 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -10.121161

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1529624

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.002153415

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002365096

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 0 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 605.89099

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.0046000001 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 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2.5 FG_AHR_10V 0 PITCH_MIN 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 20 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 0.0001161151 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -21.817678 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -180547.48

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 64 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 440

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 1.027 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 108 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_PITCH 3112 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 2

C_VBD 3058 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 294 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 35 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.121161 VBD_MIN 588

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1529624 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I -0.002153415 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002365096 VBD_TIMEOUT 540

DIVE 152 NAV_MODE 0 SEABIRD_T_G 0.0043387706 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 8 SEABIRD_T_H 0.00063929392 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.2459495e-05 XPDR_VALID 4

D_CALL 3 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 102636,6702.932,-5651.630,35,1.0,35,-37.5 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 13 TGT_RADIUS 2000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 103826,6702.978,-5651.764,14,1.1,14,-37.5 MHEAD_RNG_PITCHd_Wd 126.6,2718,-18.8,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 535

Post-dive calculations and measurements:

FREEZE 2.01,5.748,-1.712,0,2,0 ALTIM_TOP_PING 19.7,17.2

FINISH 2.0,1.024649 ALTIM_BOTTOM_PING 450.5,63.7

SM_CCo 12494,241.85,0.778,0,0,588,605.89 _24V_AH 23.6,25.314

SM_GC 2.74,0.00,0.00,241.85,0.000,0.000,0.778,333,2275,588,-12.78,0.71,605.89 _10V_AH 10.2,14.202

RAFOS_CLK 477 FG_AHR_24Vo 0.000

RAFOS 0,1278504064,12.033333,12.017777,66,61,44,43,42,41,1192,1193,1353,169,91,61 FG_AHR_10Vo 0.000

RAFOS_FIX 6704.108398,-5652.114258,070710,121208,4,82,0.33 MEM 135744

IRIDIUM_FIX 6636.54,-5650.71,011099,101030 DATA_FILE_SIZE 53627,1346

TT8_MAMPS 0.026845 CAP_FILE_SIZE 147518,0

HUMID 39.68 CFSIZE 260165632,236097536

INTERNAL_PRESSURE 10.2152 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 SOUNDSPEED 1469.4

XPDR_PINGS 21 GPS 070710,141236,6703.396,-5648.825,30,0.9,30,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 237 112.15 SBE_CT 994 24 563.12

Roll_motor 105 92 232.00 SBE_O2 924 19 414.45

VBD_pump_during_apogee 359 1125 9553.50 nil 0 0 0.00

VBD_pump_during_surface 241 777 4439.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 80 103 195.04 nil 0 0 0.00

Iridium_during_connect 146 160 552.88 nil 0 0 0.00

Iridium_during_xfer 193 223 1018.74

Transponder_ping 6 420 66.91

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.26

TT8 2208 19 448.66

LPSleep 7658 2 180.44

TT8_Active 719 19 146.23

TT8_Sampling 2075 39 844.98

TT8_CF8 781 45 365.89

TT8_Kalman 0 0 0.00

Analog_circuits 1808 12 221.37

GPS_charging 0 0 0.00

Compass 2054 8 167.64

RAFOS 2520 3 77.11

Transponder 12 30 3.83

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

19 -0.79 -135.7 0.0 0.0 0 55 0.00 0.00 -33.95 0.000 2 0.000 0.000 337 2245 2522 0 0 0 0 0 0

58 -0.81 -146.1 3.0 -0.6 7 135 10.12 2.28 -57.67 0.000 4 0.237 0.070 2935 843 3656 0 0 0 0 0 0

150 -0.81 -146.1 2.1 -0.6 24 156 0.00 2.30 0.00 0.000 6 0.000 0.060 2935 2259 3658 0 0 0 0 0 0

494 -0.81 -146.1 18.3 -10.4 85 499 0.00 2.28 0.00 0.000 4 0.000 0.054 2935 829 3660 0 0 0 0 0 0

624 -0.81 -146.1 32.4 -10.2 108 629 0.00 2.30 0.00 0.000 6 0.000 0.058 2928 2252 3660 0 0 0 0 0 0

968 -0.81 -146.1 64.4 -9.4 169 973 0.00 2.12 0.00 0.000 4 0.000 0.068 2918 3595 3661 0 0 0 0 0 0

980 -0.81 -146.1 65.6 -8.9 171 986 0.00 2.10 0.00 0.000 6 0.000 0.045 2918 2238 3661 0 0 0 0 0 0

1324 -0.81 -146.1 97.5 -8.7 232 1330 0.00 2.17 0.00 0.000 4 0.000 0.055 2918 839 3663 0 0 0 0 0 0

1364 -0.81 -146.1 101.1 -8.7 238 1370 0.12 2.28 0.00 0.000 6 0.155 0.058 2943 2255 3662 0 0 0 0 0 0

1689 -0.81 -146.1 124.5 -7.4 269 1690 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2254 3663 0 0 0 0 0 0

2010 -0.81 -146.1 148.0 -7.5 299 2015 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2254 3662 0 0 0 0 0 0

2337 -0.81 -146.1 171.9 -6.9 330 2339 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2254 3662 0 0 0 0 0 0

2656 -0.81 -146.1 194.3 -7.0 360 2660 0.00 2.12 0.00 0.000 4 0.000 0.071 2935 3607 3661 0 0 0 0 0 0

2683 -0.81 -146.1 196.5 -7.4 362 2689 0.00 2.10 0.00 0.000 6 0.000 0.047 2935 2237 3661 0 0 0 0 0 0

3009 -0.81 -146.1 220.8 -7.4 393 3010 0.00 0.00 0.00 0.000 6 0.000 0.000 2935 2237 3660 0 0 0 0 0 0

3329 -0.81 -146.1 244.3 -7.1 423 3333 0.00 2.17 0.00 0.000 4 0.000 0.058 2935 837 3660 0 0 0 0 0 0

3369 -0.81 -146.1 247.5 -7.4 426 3374 0.00 2.25 0.00 0.000 6 0.000 0.060 2926 2253 3660 0 0 0 0 0 0

3694 -0.81 -146.1 271.2 -7.3 457 3695 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2253 3660 0 0 0 0 0 0

4015 -0.81 -146.1 294.4 -7.2 487 4019 0.00 2.12 0.00 0.000 4 0.000 0.071 2915 3604 3659 0 0 0 0 0 0

4043 -0.81 -146.1 296.7 -7.9 489 4049 0.10 2.08 0.00 0.000 6 0.159 0.046 2943 2242 3659 0 0 0 0 0 0

4368 -0.81 -146.1 316.9 -6.1 520 4369 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2242 3659 0 0 0 0 0 0

4688 -0.81 -146.1 336.2 -5.9 550 4690 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2242 3659 0 0 0 0 0 0

5004 -0.81 -146.1 354.7 -5.5 580 5008 0.00 2.15 0.00 0.000 4 0.000 0.057 2943 840 3659 0 0 0 0 0 0

5021 -0.81 -146.1 355.7 -5.9 581 5026 0.00 2.25 0.00 0.000 6 0.000 0.058 2936 2251 3659 0 0 0 0 0 0

5346 -0.81 -146.1 375.1 -6.0 612 5347 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2251 3659 0 0 0 0 0 0

5667 -0.81 -146.1 393.3 -5.9 642 5670 0.00 2.12 0.00 0.000 4 0.000 0.069 2926 3595 3659 0 0 0 0 0 0

5679 -0.81 -146.1 394.1 -5.7 643 5684 0.00 2.08 0.00 0.000 6 0.000 0.045 2926 2254 3659 0 0 0 0 0 0

6010 -0.81 -146.1 414.5 -6.4 674 6014 0.00 2.17 0.00 0.000 4 0.000 0.056 2926 842 3659 0 0 0 0 0 0

6034 -0.81 -146.1 416.0 -6.2 675 6039 0.00 2.25 0.00 0.000 6 0.000 0.058 2917 2258 3659 0 0 0 0 0 0

6359 -0.81 -146.1 437.8 -6.5 706 6363 0.00 2.20 0.00 0.000 4 0.000 0.054 2917 844 3659 0 0 0 0 0 0

6386 -0.81 -146.1 439.8 -6.6 708 6392 0.12 2.25 0.00 0.000 6 0.150 0.058 2944 2260 3659 0 0 0 0 0 0

6712 -0.81 -146.1 458.2 -5.5 739 6713 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2260 3659 0 0 0 0 0 0

7030 -0.81 -146.1 476.5 -6.5 769 7034 0.00 2.08 0.00 0.000 4 0.000 0.067 2936 3594 3659 0 0 0 0 0 0

7047 -0.81 -146.1 477.7 -6.6 770 7052 0.00 2.05 0.00 0.000 6 0.000 0.044 2936 2240 3659 0 0 0 0 0 0

7372 -0.81 -146.1 498.3 -6.1 801 7373 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2240 3659 0 0 0 0 0 0

7390 end dive: BOTTOM_OBSTACLE_DETECTED

state 7390 begin apogee

7397 -0.17 0.0 499.6 6.1 803 7523 0.40 0.00 118.85 1.126 6 0.118 0.000 3073 2239 3058 0 0 0 0 0 0

7523 end apogee: CONTROL_FINISHED_OK

state 7524 begin climb

7527 0.81 146.1 500.7 0.0 816 7654 0.62 2.42 119.97 1.074 4 0.079 0.054 3303 804 2461 0 0 0 0 0 0

7684 0.81 146.1 487.5 11.2 831 7690 0.00 2.40 0.00 0.000 6 0.000 0.055 3303 2198 2461 0 0 0 0 0 0

8009 0.81 146.1 448.7 11.7 862 8013 0.00 2.25 0.00 0.000 4 0.000 0.064 3303 3606 2458 0 0 0 0 0 0

8048 0.81 146.1 443.5 13.1 865 8053 0.10 2.22 0.00 0.000 6 0.178 0.043 3288 2196 2457 0 0 0 0 0 0

8373 0.81 146.1 406.3 10.8 895 8377 0.00 2.17 0.00 0.000 4 0.000 0.052 3296 797 2457 0 0 0 0 0 0

8469 0.81 146.1 396.4 10.5 903 8474 0.00 2.28 0.00 0.000 6 0.000 0.054 3297 2206 2457 0 0 0 0 0 0

8794 0.81 146.1 359.7 11.3 933 8798 0.00 2.17 0.00 0.000 4 0.000 0.063 3297 3603 2457 0 0 0 0 0 0

8849 0.81 146.1 352.5 13.3 937 8855 0.00 2.17 0.00 0.000 6 0.000 0.043 3307 2190 2456 0 0 0 0 0 0

9174 0.81 146.1 313.2 11.8 968 9178 0.00 2.17 0.00 0.000 4 0.000 0.051 3317 786 2457 0 0 0 0 0 0

9263 0.81 146.1 302.8 12.3 975 9269 0.12 2.25 0.00 0.000 6 0.163 0.054 3283 2201 2457 0 0 0 0 0 0

9588 0.82 155.1 271.5 9.6 1006 9602 0.00 2.22 8.00 0.857 4 0.000 0.063 3284 3595 2425 0 0 0 0 0 0

9659 0.82 155.1 263.5 11.7 1012 9665 0.00 2.15 0.00 0.000 6 0.000 0.042 3291 2193 2425 0 0 0 0 0 0

9984 0.82 155.1 229.9 10.1 1043 9988 0.00 2.17 0.00 0.000 4 0.000 0.052 3300 786 2424 0 0 0 0 0 0

10073 0.82 155.1 220.8 10.4 1050 10078 0.00 2.25 0.00 0.000 6 0.000 0.054 3300 2200 2425 0 0 0 0 0 0

10398 0.83 165.8 189.1 9.5 1081 10413 0.00 2.20 9.90 0.852 4 0.000 0.064 3300 3592 2382 0 0 0 0 0 0

10452 0.83 165.8 183.3 11.3 1085 10458 0.00 2.15 0.00 0.000 6 0.000 0.043 3309 2195 2381 0 0 0 0 0 0

10777 0.83 165.8 150.2 10.3 1116 10781 0.00 2.15 0.00 0.000 4 0.000 0.052 3320 792 2381 0 0 0 0 0 0

10839 0.83 165.8 143.8 10.6 1121 10843 0.12 2.25 0.00 0.000 6 0.156 0.054 3285 2200 2381 0 0 0 0 0 0

11169 0.88 209.9 116.2 7.8 1152 11210 0.00 2.22 35.60 0.898 4 0.000 0.064 3285 3594 2201 0 0 0 0 0 0

11245 0.88 209.9 109.5 10.4 1159 11249 0.00 2.20 0.00 0.000 6 0.000 0.044 3292 2190 2197 0 0 0 0 0 0

11584 0.91 230.0 76.7 9.0 1210 11605 0.00 2.28 16.52 0.838 4 0.000 0.054 3301 793 2120 0 0 0 0 0 0

11699 0.94 259.2 66.0 8.6 1230 11730 0.00 2.30 25.15 0.842 6 0.000 0.055 3300 2208 2001 0 0 0 0 0 0

12070 0.98 289.6 32.8 8.5 1296 12101 0.10 2.25 25.52 0.828 4 0.104 0.066 3352 3598 1877 0 0 0 0 0 0

12168 0.98 289.6 19.7 15.7 1313 12174 0.15 2.22 0.00 0.000 6 0.157 0.046 3320 2197 1872 0 0 0 0 0 0

12319 end climb: SURFACE_DEPTH_REACHED

state 12319 begin surface coast

12354 end surface coast: CONTROL_FINISHED_OK

state 12354 begin surface

ID	108	HEADING	-1	ROLL_MIN	294	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	14	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_TURN_MARGIN	5
DIVE	152	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	2.5
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	605.89099	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	35	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	28	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	300	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	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	588	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3951	DEVICE1	2
T_DIVE	330	CALL_TRIES	3	C_VBD	3058	DEVICE2	20
T_MISSION	440	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	540	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	-180547.48	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	900	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	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3112	FG_AHR_24V	0	SEABIRD_T_G	0.0043387706
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063929392
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-21.817678	SEABIRD_T_I	2.2459495e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_J	2.0328812e-06
NAV_MODE	0	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-10.121161
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1529624
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.002153415
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002365096
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	20

GPS1	102636,6702.932,-5651.630,35,1.0,35,-37.5	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	13	TGT_RADIUS	2000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	103826,6702.978,-5651.764,14,1.1,14,-37.5	MHEAD_RNG_PITCHd_Wd	126.6,2718,-18.8,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	535

FREEZE	2.01,5.748,-1.712,0,2,0	ALTIM_TOP_PING	19.7,17.2
FINISH	2.0,1.024649	ALTIM_BOTTOM_PING	450.5,63.7
SM_CCo	12494,241.85,0.778,0,0,588,605.89	_24V_AH	23.6,25.314
SM_GC	2.74,0.00,0.00,241.85,0.000,0.000,0.778,333,2275,588,-12.78,0.71,605.89	_10V_AH	10.2,14.202
RAFOS_CLK	477	FG_AHR_24Vo	0.000
RAFOS	0,1278504064,12.033333,12.017777,66,61,44,43,42,41,1192,1193,1353,169,91,61	FG_AHR_10Vo	0.000
RAFOS_FIX	6704.108398,-5652.114258,070710,121208,4,82,0.33	MEM	135744
IRIDIUM_FIX	6636.54,-5650.71,011099,101030	DATA_FILE_SIZE	53627,1346
TT8_MAMPS	0.026845	CAP_FILE_SIZE	147518,0
HUMID	39.68	CFSIZE	260165632,236097536
INTERNAL_PRESSURE	10.2152	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	SOUNDSPEED	1469.4
XPDR_PINGS	21	GPS	070710,141236,6703.396,-5648.825,30,0.9,30,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	237	112.15	SBE_CT	994	24	563.12
Roll_motor	105	92	232.00	SBE_O2	924	19	414.45
VBD_pump_during_apogee	359	1125	9553.50	nil	0	0	0.00
VBD_pump_during_surface	241	777	4439.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	80	103	195.04	nil	0	0	0.00
Iridium_during_connect	146	160	552.88	nil	0	0	0.00
Iridium_during_xfer	193	223	1018.74
Transponder_ping	6	420	66.91
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.26
TT8	2208	19	448.66
LPSleep	7658	2	180.44
TT8_Active	719	19	146.23
TT8_Sampling	2075	39	844.98
TT8_CF8	781	45	365.89
TT8_Kalman	0	0	0.00
Analog_circuits	1808	12	221.37
GPS_charging	0	0	0.00
Compass	2054	8	167.64
RAFOS	2520	3	77.11
Transponder	12	30	3.83

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
19	-0.79	-135.7	0.0	0.0	0	55	0.00	0.00	-33.95	0.000	2	0.000	0.000	337	2245	2522	0	0	0	0	0	0
58	-0.81	-146.1	3.0	-0.6	7	135	10.12	2.28	-57.67	0.000	4	0.237	0.070	2935	843	3656	0	0	0	0	0	0
150	-0.81	-146.1	2.1	-0.6	24	156	0.00	2.30	0.00	0.000	6	0.000	0.060	2935	2259	3658	0	0	0	0	0	0
494	-0.81	-146.1	18.3	-10.4	85	499	0.00	2.28	0.00	0.000	4	0.000	0.054	2935	829	3660	0	0	0	0	0	0
624	-0.81	-146.1	32.4	-10.2	108	629	0.00	2.30	0.00	0.000	6	0.000	0.058	2928	2252	3660	0	0	0	0	0	0
968	-0.81	-146.1	64.4	-9.4	169	973	0.00	2.12	0.00	0.000	4	0.000	0.068	2918	3595	3661	0	0	0	0	0	0
980	-0.81	-146.1	65.6	-8.9	171	986	0.00	2.10	0.00	0.000	6	0.000	0.045	2918	2238	3661	0	0	0	0	0	0
1324	-0.81	-146.1	97.5	-8.7	232	1330	0.00	2.17	0.00	0.000	4	0.000	0.055	2918	839	3663	0	0	0	0	0	0
1364	-0.81	-146.1	101.1	-8.7	238	1370	0.12	2.28	0.00	0.000	6	0.155	0.058	2943	2255	3662	0	0	0	0	0	0
1689	-0.81	-146.1	124.5	-7.4	269	1690	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	2254	3663	0	0	0	0	0	0
2010	-0.81	-146.1	148.0	-7.5	299	2015	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	2254	3662	0	0	0	0	0	0
2337	-0.81	-146.1	171.9	-6.9	330	2339	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	2254	3662	0	0	0	0	0	0
2656	-0.81	-146.1	194.3	-7.0	360	2660	0.00	2.12	0.00	0.000	4	0.000	0.071	2935	3607	3661	0	0	0	0	0	0
2683	-0.81	-146.1	196.5	-7.4	362	2689	0.00	2.10	0.00	0.000	6	0.000	0.047	2935	2237	3661	0	0	0	0	0	0
3009	-0.81	-146.1	220.8	-7.4	393	3010	0.00	0.00	0.00	0.000	6	0.000	0.000	2935	2237	3660	0	0	0	0	0	0
3329	-0.81	-146.1	244.3	-7.1	423	3333	0.00	2.17	0.00	0.000	4	0.000	0.058	2935	837	3660	0	0	0	0	0	0
3369	-0.81	-146.1	247.5	-7.4	426	3374	0.00	2.25	0.00	0.000	6	0.000	0.060	2926	2253	3660	0	0	0	0	0	0
3694	-0.81	-146.1	271.2	-7.3	457	3695	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2253	3660	0	0	0	0	0	0
4015	-0.81	-146.1	294.4	-7.2	487	4019	0.00	2.12	0.00	0.000	4	0.000	0.071	2915	3604	3659	0	0	0	0	0	0
4043	-0.81	-146.1	296.7	-7.9	489	4049	0.10	2.08	0.00	0.000	6	0.159	0.046	2943	2242	3659	0	0	0	0	0	0
4368	-0.81	-146.1	316.9	-6.1	520	4369	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	2242	3659	0	0	0	0	0	0
4688	-0.81	-146.1	336.2	-5.9	550	4690	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	2242	3659	0	0	0	0	0	0
5004	-0.81	-146.1	354.7	-5.5	580	5008	0.00	2.15	0.00	0.000	4	0.000	0.057	2943	840	3659	0	0	0	0	0	0
5021	-0.81	-146.1	355.7	-5.9	581	5026	0.00	2.25	0.00	0.000	6	0.000	0.058	2936	2251	3659	0	0	0	0	0	0
5346	-0.81	-146.1	375.1	-6.0	612	5347	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2251	3659	0	0	0	0	0	0
5667	-0.81	-146.1	393.3	-5.9	642	5670	0.00	2.12	0.00	0.000	4	0.000	0.069	2926	3595	3659	0	0	0	0	0	0
5679	-0.81	-146.1	394.1	-5.7	643	5684	0.00	2.08	0.00	0.000	6	0.000	0.045	2926	2254	3659	0	0	0	0	0	0
6010	-0.81	-146.1	414.5	-6.4	674	6014	0.00	2.17	0.00	0.000	4	0.000	0.056	2926	842	3659	0	0	0	0	0	0
6034	-0.81	-146.1	416.0	-6.2	675	6039	0.00	2.25	0.00	0.000	6	0.000	0.058	2917	2258	3659	0	0	0	0	0	0
6359	-0.81	-146.1	437.8	-6.5	706	6363	0.00	2.20	0.00	0.000	4	0.000	0.054	2917	844	3659	0	0	0	0	0	0
6386	-0.81	-146.1	439.8	-6.6	708	6392	0.12	2.25	0.00	0.000	6	0.150	0.058	2944	2260	3659	0	0	0	0	0	0
6712	-0.81	-146.1	458.2	-5.5	739	6713	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2260	3659	0	0	0	0	0	0
7030	-0.81	-146.1	476.5	-6.5	769	7034	0.00	2.08	0.00	0.000	4	0.000	0.067	2936	3594	3659	0	0	0	0	0	0
7047	-0.81	-146.1	477.7	-6.6	770	7052	0.00	2.05	0.00	0.000	6	0.000	0.044	2936	2240	3659	0	0	0	0	0	0
7372	-0.81	-146.1	498.3	-6.1	801	7373	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2240	3659	0	0	0	0	0	0
7390	end dive: BOTTOM_OBSTACLE_DETECTED
state	7390	begin apogee
7397	-0.17	0.0	499.6	6.1	803	7523	0.40	0.00	118.85	1.126	6	0.118	0.000	3073	2239	3058	0	0	0	0	0	0
7523	end apogee: CONTROL_FINISHED_OK
state	7524	begin climb
7527	0.81	146.1	500.7	0.0	816	7654	0.62	2.42	119.97	1.074	4	0.079	0.054	3303	804	2461	0	0	0	0	0	0
7684	0.81	146.1	487.5	11.2	831	7690	0.00	2.40	0.00	0.000	6	0.000	0.055	3303	2198	2461	0	0	0	0	0	0
8009	0.81	146.1	448.7	11.7	862	8013	0.00	2.25	0.00	0.000	4	0.000	0.064	3303	3606	2458	0	0	0	0	0	0
8048	0.81	146.1	443.5	13.1	865	8053	0.10	2.22	0.00	0.000	6	0.178	0.043	3288	2196	2457	0	0	0	0	0	0
8373	0.81	146.1	406.3	10.8	895	8377	0.00	2.17	0.00	0.000	4	0.000	0.052	3296	797	2457	0	0	0	0	0	0
8469	0.81	146.1	396.4	10.5	903	8474	0.00	2.28	0.00	0.000	6	0.000	0.054	3297	2206	2457	0	0	0	0	0	0
8794	0.81	146.1	359.7	11.3	933	8798	0.00	2.17	0.00	0.000	4	0.000	0.063	3297	3603	2457	0	0	0	0	0	0
8849	0.81	146.1	352.5	13.3	937	8855	0.00	2.17	0.00	0.000	6	0.000	0.043	3307	2190	2456	0	0	0	0	0	0
9174	0.81	146.1	313.2	11.8	968	9178	0.00	2.17	0.00	0.000	4	0.000	0.051	3317	786	2457	0	0	0	0	0	0
9263	0.81	146.1	302.8	12.3	975	9269	0.12	2.25	0.00	0.000	6	0.163	0.054	3283	2201	2457	0	0	0	0	0	0
9588	0.82	155.1	271.5	9.6	1006	9602	0.00	2.22	8.00	0.857	4	0.000	0.063	3284	3595	2425	0	0	0	0	0	0
9659	0.82	155.1	263.5	11.7	1012	9665	0.00	2.15	0.00	0.000	6	0.000	0.042	3291	2193	2425	0	0	0	0	0	0
9984	0.82	155.1	229.9	10.1	1043	9988	0.00	2.17	0.00	0.000	4	0.000	0.052	3300	786	2424	0	0	0	0	0	0
10073	0.82	155.1	220.8	10.4	1050	10078	0.00	2.25	0.00	0.000	6	0.000	0.054	3300	2200	2425	0	0	0	0	0	0
10398	0.83	165.8	189.1	9.5	1081	10413	0.00	2.20	9.90	0.852	4	0.000	0.064	3300	3592	2382	0	0	0	0	0	0
10452	0.83	165.8	183.3	11.3	1085	10458	0.00	2.15	0.00	0.000	6	0.000	0.043	3309	2195	2381	0	0	0	0	0	0
10777	0.83	165.8	150.2	10.3	1116	10781	0.00	2.15	0.00	0.000	4	0.000	0.052	3320	792	2381	0	0	0	0	0	0
10839	0.83	165.8	143.8	10.6	1121	10843	0.12	2.25	0.00	0.000	6	0.156	0.054	3285	2200	2381	0	0	0	0	0	0
11169	0.88	209.9	116.2	7.8	1152	11210	0.00	2.22	35.60	0.898	4	0.000	0.064	3285	3594	2201	0	0	0	0	0	0
11245	0.88	209.9	109.5	10.4	1159	11249	0.00	2.20	0.00	0.000	6	0.000	0.044	3292	2190	2197	0	0	0	0	0	0
11584	0.91	230.0	76.7	9.0	1210	11605	0.00	2.28	16.52	0.838	4	0.000	0.054	3301	793	2120	0	0	0	0	0	0
11699	0.94	259.2	66.0	8.6	1230	11730	0.00	2.30	25.15	0.842	6	0.000	0.055	3300	2208	2001	0	0	0	0	0	0
12070	0.98	289.6	32.8	8.5	1296	12101	0.10	2.25	25.52	0.828	4	0.104	0.066	3352	3598	1877	0	0	0	0	0	0
12168	0.98	289.6	19.7	15.7	1313	12174	0.15	2.22	0.00	0.000	6	0.157	0.046	3320	2197	1872	0	0	0	0	0	0
12319	end climb: SURFACE_DEPTH_REACHED
state	12319	begin surface coast
12354	end surface coast: CONTROL_FINISHED_OK
state	12354	begin surface