Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 154 * 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 154 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 300 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 36 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 53 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 -180600.08 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 300

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 -180600.08

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 36 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 53 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 154 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 174022,6703.431,-5652.785,8,2.9,27,-37.6 TGT_NAME TARGET_W

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 175055,6703.399,-5652.800,37,1.3,37,-37.6 MHEAD_RNG_PITCHd_Wd 294.6,160053,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 577

Post-dive calculations and measurements:

FREEZE 1.97,6.272,-0.113,0,1,0 ALTIM_TOP_PING 19.8,17.8

FINISH 2.0,1.001526 ALTIM_BOTTOM_PING 500.6,56.9

SM_CCo 12786,0.00,0.000,0,0,1690,335.57 _24V_AH 23.6,25.580

SM_GC 2.83,7.88,0.00,0.00,0.037,0.000,0.000,336,2275,1690,-12.68,0.71,335.57 _10V_AH 10.2,14.357

RAFOS_CLK 478 FG_AHR_24Vo 0.000

RAFOS 0,1278532862,20.033333,20.017221,47,47,46,40,40,39,751,1176,1172,919,871,1893 FG_AHR_10Vo 0.000

RAFOS_FIX 6705.524902,-5659.354492,070710,202017,6,96,0.64 MEM 135776

IRIDIUM_FIX 6636.54,-5652.31,011099,171726 DATA_FILE_SIZE 53602,1354

TT8_MAMPS 0.026845 CAP_FILE_SIZE 150030,0

HUMID 42.40 CFSIZE 260165632,235962368

INTERNAL_PRESSURE 10.3031 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 SOUNDSPEED 1468.4

XPDR_PINGS 6 GPS 070710,212627,6704.204,-5658.494,35,2.8,54,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 232 107.36 SBE_CT 988 24 559.85

Roll_motor 104 158 389.57 SBE_O2 941 19 422.14

VBD_pump_during_apogee 396 1171 10958.09 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 54 103 131.75 nil 0 0 0.00

Iridium_during_connect 75 160 283.91 nil 0 0 0.00

Iridium_during_xfer 247 223 1304.20

Transponder_ping 3 420 32.21

GUMSTIX_24V 0 0 0.00

GPS 39 50 20.07

TT8 2215 19 450.17

LPSleep 7810 2 184.04

TT8_Active 480 19 97.58

TT8_Sampling 2182 39 888.76

TT8_CF8 740 45 346.69

TT8_Kalman 0 0 0.00

Analog_circuits 1624 12 198.86

GPS_charging 0 0 0.00

Compass 2132 8 173.98

RAFOS 2520 3 77.11

Transponder 14 30 4.37

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.78 -146.1 0.0 0.0 0 52 0.00 0.00 -34.65 0.000 2 0.000 0.000 339 2279 2557 0 0 0 0 0 0

56 -0.78 -146.1 3.1 -1.2 7 128 10.00 2.08 -54.85 0.000 4 0.232 0.081 2931 3574 3655 0 0 0 0 0 0

214 -0.78 -146.1 10.5 -11.6 36 220 0.00 2.08 0.00 0.000 6 0.000 0.044 2931 2244 3659 0 0 0 0 0 0

558 -0.78 -146.1 47.2 -10.5 97 563 0.00 2.17 0.00 0.000 4 0.000 0.054 2931 849 3661 0 0 0 0 0 0

637 -0.78 -146.1 55.8 -10.2 111 643 0.00 2.22 0.00 0.000 6 0.000 0.056 2923 2233 3661 0 0 0 0 0 0

981 -0.78 -146.1 88.6 -9.1 172 987 0.00 2.15 0.00 0.000 4 0.000 0.067 2912 3596 3663 0 0 0 0 0 0

1146 -0.78 -146.1 105.0 -10.1 197 1152 0.12 2.08 0.00 0.000 6 0.155 0.044 2947 2249 3663 0 0 0 0 0 0

1472 -0.78 -146.1 129.1 -7.3 228 1475 0.00 2.17 0.00 0.000 4 0.000 0.054 2947 845 3663 0 0 0 0 0 0

1505 -0.78 -146.1 131.6 -7.4 230 1511 0.00 2.25 0.00 0.000 6 0.000 0.057 2939 2252 3663 0 0 0 0 0 0

1830 -0.78 -146.1 156.4 -7.3 261 1834 0.00 2.12 0.00 0.000 4 0.000 0.068 2929 3604 3664 0 0 0 0 0 0

1985 -0.78 -146.1 169.0 -7.9 274 1989 0.00 2.10 0.00 0.000 6 0.000 0.045 2929 2239 3663 0 0 0 0 0 0

2315 -0.78 -146.1 193.8 -7.4 305 2316 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2238 3662 0 0 0 0 0 0

2636 -0.78 -146.1 218.0 -7.6 335 2637 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2238 3662 0 0 0 0 0 0

2955 -0.78 -146.1 242.6 -7.9 365 2958 0.00 2.17 0.00 0.000 4 0.000 0.066 2920 3604 3661 0 0 0 0 0 0

2995 -0.78 -146.1 246.2 -8.7 368 2999 0.00 2.08 0.00 0.000 6 0.000 0.044 2920 2248 3661 0 0 0 0 0 0

3325 -0.78 -146.1 274.0 -7.9 399 3330 0.10 2.17 0.00 0.000 4 0.156 0.055 2948 848 3661 0 0 0 0 0 0

3404 -0.78 -146.1 279.8 -7.5 405 3410 0.00 2.22 0.00 0.000 6 0.000 0.058 2941 2248 3661 0 0 0 0 0 0

3729 -0.78 -146.1 302.0 -6.7 436 3733 0.00 2.12 0.00 0.000 4 0.000 0.068 2931 3607 3661 0 0 0 0 0 0

3820 -0.78 -146.1 308.7 -7.5 444 3824 0.00 2.05 0.00 0.000 6 0.000 0.044 2931 2250 3661 0 0 0 0 0 0

4151 -0.78 -146.1 331.4 -6.8 475 4155 0.00 2.15 0.00 0.000 4 0.000 0.054 2930 837 3661 0 0 0 0 0 0

4213 -0.78 -146.1 335.9 -7.5 480 4217 0.00 2.25 0.00 0.000 6 0.000 0.058 2921 2251 3661 0 0 0 0 0 0

4538 -0.78 -146.1 358.9 -7.3 510 4542 0.00 2.10 0.00 0.000 4 0.000 0.067 2911 3597 3660 0 0 0 0 0 0

4600 -0.78 -146.1 363.9 -8.1 515 4606 0.12 2.05 0.00 0.000 6 0.150 0.045 2947 2248 3661 0 0 0 0 0 0

4926 -0.78 -146.1 383.6 -5.9 546 4930 0.00 2.15 0.00 0.000 4 0.000 0.054 2947 847 3661 0 0 0 0 0 0

4987 -0.78 -146.1 387.8 -6.4 551 4993 0.00 2.25 0.00 0.000 6 0.000 0.056 2941 2265 3660 0 0 0 0 0 0

5312 -0.78 -146.1 408.8 -6.6 582 5316 0.00 2.05 0.00 0.000 4 0.000 0.066 2930 3597 3660 0 0 0 0 0 0

5397 -0.78 -146.1 414.8 -7.5 589 5402 0.00 2.05 0.00 0.000 6 0.000 0.044 2931 2243 3661 0 0 0 0 0 0

5722 -0.78 -146.1 437.9 -7.2 620 5726 0.00 2.15 0.00 0.000 4 0.000 0.054 2931 841 3661 0 0 0 0 0 0

5805 -0.78 -146.1 444.5 -7.7 627 5812 0.00 2.22 0.00 0.000 6 0.000 0.056 2922 2249 3661 0 0 0 0 0 0

6131 -0.78 -146.1 469.0 -7.6 658 6134 0.00 2.10 0.00 0.000 4 0.000 0.066 2911 3598 3661 0 0 0 0 0 0

6204 -0.78 -146.1 475.2 -8.4 664 6210 0.12 2.05 0.00 0.000 6 0.147 0.044 2948 2250 3660 0 0 0 0 0 0

6529 -0.78 -146.1 495.2 -5.8 695 6533 0.00 2.15 0.00 0.000 4 0.000 0.054 2948 848 3660 0 0 0 0 0 0

6584 -0.78 -146.1 499.0 -6.5 699 6590 0.00 2.22 0.00 0.000 6 0.000 0.056 2941 2252 3660 0 0 0 0 0 0

6910 -0.78 -146.1 519.3 -6.0 730 6913 0.00 2.08 0.00 0.000 4 0.000 0.067 2930 3598 3661 0 0 0 0 0 0

6989 -0.78 -146.1 524.8 -7.0 737 6993 0.00 2.05 0.00 0.000 6 0.000 0.044 2930 2252 3660 0 0 0 0 0 0

7245 end dive: BOTTOM_OBSTACLE_DETECTED

state 7246 begin apogee

7252 -0.17 0.0 542.6 7.0 761 7378 0.43 0.00 118.88 1.171 6 0.119 0.000 3075 2197 3058 0 0 0 0 0 0

7379 end apogee: CONTROL_FINISHED_OK

state 7379 begin climb

7382 0.78 146.1 545.3 0.0 774 7512 0.60 2.42 120.05 1.117 4 0.076 0.061 3288 3593 2461 0 0 0 0 0 0

7518 0.79 152.7 536.4 9.7 786 7534 0.00 2.33 6.97 0.858 6 0.000 0.042 3298 2198 2435 0 0 0 0 0 0

7852 0.79 152.7 500.2 10.8 818 7853 0.00 0.00 0.00 0.000 6 0.000 0.000 3298 2198 2434 0 0 0 0 0 0

8171 0.79 152.7 466.3 10.7 848 8175 0.00 2.20 0.00 0.000 4 0.000 0.055 3308 797 2432 0 0 0 0 0 0

8193 0.79 152.7 463.9 11.0 849 8199 0.10 2.30 0.00 0.000 6 0.170 0.057 3284 2208 2432 0 0 0 0 0 0

8518 0.81 167.7 431.8 9.3 880 8539 0.00 2.28 12.55 1.022 4 0.000 0.065 3284 3591 2374 0 0 0 0 0 0

8552 0.81 167.7 428.4 10.6 883 8556 0.00 2.20 0.00 0.000 6 0.000 0.043 3291 2187 2374 0 0 0 0 0 0

8876 0.81 167.7 392.0 11.3 913 8880 0.00 2.17 0.00 0.000 4 0.000 0.054 3302 786 2373 0 0 0 0 0 0

8921 0.81 167.7 387.1 10.6 916 8926 0.00 2.28 0.00 0.000 6 0.000 0.054 3302 2200 2374 0 0 0 0 0 0

9246 0.81 167.7 348.4 12.1 947 9247 0.00 0.00 0.00 0.000 6 0.000 0.000 3302 2200 2373 0 0 0 0 0 0

9567 0.81 167.7 309.2 12.5 977 9568 0.00 0.00 0.00 0.000 6 0.000 0.000 3302 2199 2373 0 0 0 0 0 0

9883 0.81 167.7 270.7 12.8 1007 9884 0.00 0.00 0.00 0.000 6 0.000 0.000 3302 2200 2373 0 0 0 0 0 0

10201 0.81 167.7 230.4 12.2 1037 10205 0.00 2.22 0.00 0.000 4 0.000 0.052 3311 786 2373 0 0 0 0 0 0

10219 0.81 167.7 228.2 12.2 1038 10223 0.10 2.25 0.00 0.000 6 0.167 0.054 3285 2202 2373 0 0 0 0 0 0

10544 0.81 169.3 194.8 9.9 1068 10548 0.00 2.17 0.00 0.000 4 0.000 0.064 3285 3596 2374 0 0 0 0 0 0

10566 0.81 169.3 192.4 10.3 1069 10572 0.00 2.15 0.00 0.000 6 0.000 0.044 3292 2190 2373 0 0 0 0 0 0

10891 0.82 174.1 158.6 9.8 1100 10903 0.00 2.22 6.55 0.776 4 0.000 0.053 3303 791 2348 0 0 0 0 0 0

10949 0.83 183.7 152.9 9.6 1105 10963 0.00 2.25 9.15 0.830 6 0.000 0.055 3303 2208 2308 0 0 0 0 0 0

11290 0.83 183.7 116.4 11.0 1137 11291 0.00 0.00 0.00 0.000 6 0.000 0.000 3302 2208 2308 0 0 0 0 0 0

11617 0.86 213.4 83.8 8.6 1181 11647 0.00 0.00 24.23 0.880 6 0.000 0.000 3303 2208 2188 0 0 0 0 0 0

11984 0.90 238.7 50.3 8.8 1247 12010 0.00 0.00 21.48 0.846 6 0.000 0.000 3303 2208 2083 0 0 0 0 0 0

12350 0.96 294.0 20.5 7.5 1312 12404 0.00 2.33 44.65 0.841 4 0.000 0.068 3303 3588 1858 0 0 0 0 0 0

12413 1.01 331.8 15.2 8.3 1323 12454 0.00 2.22 31.95 0.798 6 0.000 0.046 3311 2199 1705 0 0 0 0 0 0

12543 end climb: SURFACE_DEPTH_REACHED

state 12543 begin surface coast

12584 end surface coast: CONTROL_FINISHED_OK

state 12586 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	154	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	300	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	36	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	53	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	-180600.08	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	174022,6703.431,-5652.785,8,2.9,27,-37.6	TGT_NAME	TARGET_W
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	175055,6703.399,-5652.800,37,1.3,37,-37.6	MHEAD_RNG_PITCHd_Wd	294.6,160053,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	577

FREEZE	1.97,6.272,-0.113,0,1,0	ALTIM_TOP_PING	19.8,17.8
FINISH	2.0,1.001526	ALTIM_BOTTOM_PING	500.6,56.9
SM_CCo	12786,0.00,0.000,0,0,1690,335.57	_24V_AH	23.6,25.580
SM_GC	2.83,7.88,0.00,0.00,0.037,0.000,0.000,336,2275,1690,-12.68,0.71,335.57	_10V_AH	10.2,14.357
RAFOS_CLK	478	FG_AHR_24Vo	0.000
RAFOS	0,1278532862,20.033333,20.017221,47,47,46,40,40,39,751,1176,1172,919,871,1893	FG_AHR_10Vo	0.000
RAFOS_FIX	6705.524902,-5659.354492,070710,202017,6,96,0.64	MEM	135776
IRIDIUM_FIX	6636.54,-5652.31,011099,171726	DATA_FILE_SIZE	53602,1354
TT8_MAMPS	0.026845	CAP_FILE_SIZE	150030,0
HUMID	42.40	CFSIZE	260165632,235962368
INTERNAL_PRESSURE	10.3031	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	SOUNDSPEED	1468.4
XPDR_PINGS	6	GPS	070710,212627,6704.204,-5658.494,35,2.8,54,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	232	107.36	SBE_CT	988	24	559.85
Roll_motor	104	158	389.57	SBE_O2	941	19	422.14
VBD_pump_during_apogee	396	1171	10958.09	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	54	103	131.75	nil	0	0	0.00
Iridium_during_connect	75	160	283.91	nil	0	0	0.00
Iridium_during_xfer	247	223	1304.20
Transponder_ping	3	420	32.21
GUMSTIX_24V	0	0	0.00
GPS	39	50	20.07
TT8	2215	19	450.17
LPSleep	7810	2	184.04
TT8_Active	480	19	97.58
TT8_Sampling	2182	39	888.76
TT8_CF8	740	45	346.69
TT8_Kalman	0	0	0.00
Analog_circuits	1624	12	198.86
GPS_charging	0	0	0.00
Compass	2132	8	173.98
RAFOS	2520	3	77.11
Transponder	14	30	4.37

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.78	-146.1	0.0	0.0	0	52	0.00	0.00	-34.65	0.000	2	0.000	0.000	339	2279	2557	0	0	0	0	0	0
56	-0.78	-146.1	3.1	-1.2	7	128	10.00	2.08	-54.85	0.000	4	0.232	0.081	2931	3574	3655	0	0	0	0	0	0
214	-0.78	-146.1	10.5	-11.6	36	220	0.00	2.08	0.00	0.000	6	0.000	0.044	2931	2244	3659	0	0	0	0	0	0
558	-0.78	-146.1	47.2	-10.5	97	563	0.00	2.17	0.00	0.000	4	0.000	0.054	2931	849	3661	0	0	0	0	0	0
637	-0.78	-146.1	55.8	-10.2	111	643	0.00	2.22	0.00	0.000	6	0.000	0.056	2923	2233	3661	0	0	0	0	0	0
981	-0.78	-146.1	88.6	-9.1	172	987	0.00	2.15	0.00	0.000	4	0.000	0.067	2912	3596	3663	0	0	0	0	0	0
1146	-0.78	-146.1	105.0	-10.1	197	1152	0.12	2.08	0.00	0.000	6	0.155	0.044	2947	2249	3663	0	0	0	0	0	0
1472	-0.78	-146.1	129.1	-7.3	228	1475	0.00	2.17	0.00	0.000	4	0.000	0.054	2947	845	3663	0	0	0	0	0	0
1505	-0.78	-146.1	131.6	-7.4	230	1511	0.00	2.25	0.00	0.000	6	0.000	0.057	2939	2252	3663	0	0	0	0	0	0
1830	-0.78	-146.1	156.4	-7.3	261	1834	0.00	2.12	0.00	0.000	4	0.000	0.068	2929	3604	3664	0	0	0	0	0	0
1985	-0.78	-146.1	169.0	-7.9	274	1989	0.00	2.10	0.00	0.000	6	0.000	0.045	2929	2239	3663	0	0	0	0	0	0
2315	-0.78	-146.1	193.8	-7.4	305	2316	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	2238	3662	0	0	0	0	0	0
2636	-0.78	-146.1	218.0	-7.6	335	2637	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	2238	3662	0	0	0	0	0	0
2955	-0.78	-146.1	242.6	-7.9	365	2958	0.00	2.17	0.00	0.000	4	0.000	0.066	2920	3604	3661	0	0	0	0	0	0
2995	-0.78	-146.1	246.2	-8.7	368	2999	0.00	2.08	0.00	0.000	6	0.000	0.044	2920	2248	3661	0	0	0	0	0	0
3325	-0.78	-146.1	274.0	-7.9	399	3330	0.10	2.17	0.00	0.000	4	0.156	0.055	2948	848	3661	0	0	0	0	0	0
3404	-0.78	-146.1	279.8	-7.5	405	3410	0.00	2.22	0.00	0.000	6	0.000	0.058	2941	2248	3661	0	0	0	0	0	0
3729	-0.78	-146.1	302.0	-6.7	436	3733	0.00	2.12	0.00	0.000	4	0.000	0.068	2931	3607	3661	0	0	0	0	0	0
3820	-0.78	-146.1	308.7	-7.5	444	3824	0.00	2.05	0.00	0.000	6	0.000	0.044	2931	2250	3661	0	0	0	0	0	0
4151	-0.78	-146.1	331.4	-6.8	475	4155	0.00	2.15	0.00	0.000	4	0.000	0.054	2930	837	3661	0	0	0	0	0	0
4213	-0.78	-146.1	335.9	-7.5	480	4217	0.00	2.25	0.00	0.000	6	0.000	0.058	2921	2251	3661	0	0	0	0	0	0
4538	-0.78	-146.1	358.9	-7.3	510	4542	0.00	2.10	0.00	0.000	4	0.000	0.067	2911	3597	3660	0	0	0	0	0	0
4600	-0.78	-146.1	363.9	-8.1	515	4606	0.12	2.05	0.00	0.000	6	0.150	0.045	2947	2248	3661	0	0	0	0	0	0
4926	-0.78	-146.1	383.6	-5.9	546	4930	0.00	2.15	0.00	0.000	4	0.000	0.054	2947	847	3661	0	0	0	0	0	0
4987	-0.78	-146.1	387.8	-6.4	551	4993	0.00	2.25	0.00	0.000	6	0.000	0.056	2941	2265	3660	0	0	0	0	0	0
5312	-0.78	-146.1	408.8	-6.6	582	5316	0.00	2.05	0.00	0.000	4	0.000	0.066	2930	3597	3660	0	0	0	0	0	0
5397	-0.78	-146.1	414.8	-7.5	589	5402	0.00	2.05	0.00	0.000	6	0.000	0.044	2931	2243	3661	0	0	0	0	0	0
5722	-0.78	-146.1	437.9	-7.2	620	5726	0.00	2.15	0.00	0.000	4	0.000	0.054	2931	841	3661	0	0	0	0	0	0
5805	-0.78	-146.1	444.5	-7.7	627	5812	0.00	2.22	0.00	0.000	6	0.000	0.056	2922	2249	3661	0	0	0	0	0	0
6131	-0.78	-146.1	469.0	-7.6	658	6134	0.00	2.10	0.00	0.000	4	0.000	0.066	2911	3598	3661	0	0	0	0	0	0
6204	-0.78	-146.1	475.2	-8.4	664	6210	0.12	2.05	0.00	0.000	6	0.147	0.044	2948	2250	3660	0	0	0	0	0	0
6529	-0.78	-146.1	495.2	-5.8	695	6533	0.00	2.15	0.00	0.000	4	0.000	0.054	2948	848	3660	0	0	0	0	0	0
6584	-0.78	-146.1	499.0	-6.5	699	6590	0.00	2.22	0.00	0.000	6	0.000	0.056	2941	2252	3660	0	0	0	0	0	0
6910	-0.78	-146.1	519.3	-6.0	730	6913	0.00	2.08	0.00	0.000	4	0.000	0.067	2930	3598	3661	0	0	0	0	0	0
6989	-0.78	-146.1	524.8	-7.0	737	6993	0.00	2.05	0.00	0.000	6	0.000	0.044	2930	2252	3660	0	0	0	0	0	0
7245	end dive: BOTTOM_OBSTACLE_DETECTED
state	7246	begin apogee
7252	-0.17	0.0	542.6	7.0	761	7378	0.43	0.00	118.88	1.171	6	0.119	0.000	3075	2197	3058	0	0	0	0	0	0
7379	end apogee: CONTROL_FINISHED_OK
state	7379	begin climb
7382	0.78	146.1	545.3	0.0	774	7512	0.60	2.42	120.05	1.117	4	0.076	0.061	3288	3593	2461	0	0	0	0	0	0
7518	0.79	152.7	536.4	9.7	786	7534	0.00	2.33	6.97	0.858	6	0.000	0.042	3298	2198	2435	0	0	0	0	0	0
7852	0.79	152.7	500.2	10.8	818	7853	0.00	0.00	0.00	0.000	6	0.000	0.000	3298	2198	2434	0	0	0	0	0	0
8171	0.79	152.7	466.3	10.7	848	8175	0.00	2.20	0.00	0.000	4	0.000	0.055	3308	797	2432	0	0	0	0	0	0
8193	0.79	152.7	463.9	11.0	849	8199	0.10	2.30	0.00	0.000	6	0.170	0.057	3284	2208	2432	0	0	0	0	0	0
8518	0.81	167.7	431.8	9.3	880	8539	0.00	2.28	12.55	1.022	4	0.000	0.065	3284	3591	2374	0	0	0	0	0	0
8552	0.81	167.7	428.4	10.6	883	8556	0.00	2.20	0.00	0.000	6	0.000	0.043	3291	2187	2374	0	0	0	0	0	0
8876	0.81	167.7	392.0	11.3	913	8880	0.00	2.17	0.00	0.000	4	0.000	0.054	3302	786	2373	0	0	0	0	0	0
8921	0.81	167.7	387.1	10.6	916	8926	0.00	2.28	0.00	0.000	6	0.000	0.054	3302	2200	2374	0	0	0	0	0	0
9246	0.81	167.7	348.4	12.1	947	9247	0.00	0.00	0.00	0.000	6	0.000	0.000	3302	2200	2373	0	0	0	0	0	0
9567	0.81	167.7	309.2	12.5	977	9568	0.00	0.00	0.00	0.000	6	0.000	0.000	3302	2199	2373	0	0	0	0	0	0
9883	0.81	167.7	270.7	12.8	1007	9884	0.00	0.00	0.00	0.000	6	0.000	0.000	3302	2200	2373	0	0	0	0	0	0
10201	0.81	167.7	230.4	12.2	1037	10205	0.00	2.22	0.00	0.000	4	0.000	0.052	3311	786	2373	0	0	0	0	0	0
10219	0.81	167.7	228.2	12.2	1038	10223	0.10	2.25	0.00	0.000	6	0.167	0.054	3285	2202	2373	0	0	0	0	0	0
10544	0.81	169.3	194.8	9.9	1068	10548	0.00	2.17	0.00	0.000	4	0.000	0.064	3285	3596	2374	0	0	0	0	0	0
10566	0.81	169.3	192.4	10.3	1069	10572	0.00	2.15	0.00	0.000	6	0.000	0.044	3292	2190	2373	0	0	0	0	0	0
10891	0.82	174.1	158.6	9.8	1100	10903	0.00	2.22	6.55	0.776	4	0.000	0.053	3303	791	2348	0	0	0	0	0	0
10949	0.83	183.7	152.9	9.6	1105	10963	0.00	2.25	9.15	0.830	6	0.000	0.055	3303	2208	2308	0	0	0	0	0	0
11290	0.83	183.7	116.4	11.0	1137	11291	0.00	0.00	0.00	0.000	6	0.000	0.000	3302	2208	2308	0	0	0	0	0	0
11617	0.86	213.4	83.8	8.6	1181	11647	0.00	0.00	24.23	0.880	6	0.000	0.000	3303	2208	2188	0	0	0	0	0	0
11984	0.90	238.7	50.3	8.8	1247	12010	0.00	0.00	21.48	0.846	6	0.000	0.000	3303	2208	2083	0	0	0	0	0	0
12350	0.96	294.0	20.5	7.5	1312	12404	0.00	2.33	44.65	0.841	4	0.000	0.068	3303	3588	1858	0	0	0	0	0	0
12413	1.01	331.8	15.2	8.3	1323	12454	0.00	2.22	31.95	0.798	6	0.000	0.046	3311	2199	1705	0	0	0	0	0	0
12543	end climb: SURFACE_DEPTH_REACHED
state	12543	begin surface coast
12584	end surface coast: CONTROL_FINISHED_OK
state	12586	begin surface