Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 189 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 10 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 5

DIVE 189 ESCAPE_HEADING_DELTA 5 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2460 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 1950 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 325 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 17 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 20 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3793 DEVICE1 2

T_DIVE 360 CALL_TRIES 3 C_VBD 2800 DEVICE2 20

T_MISSION 420 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -33505.93 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2690 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -24.446302 SEABIRD_T_I 2.3348166e-05

MASS 51204 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 0 PITCH_GAIN 31 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 1 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 325

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001163694 T_DIVE 360

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -24.446302 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -33505.93

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 420

CF8_MAXERRORS 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 60

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 1 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 2690 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 1950 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -3

C_ROLL_DIVE 2460 KERMIT 0 ROLL_MAX 3915 USE_ICE 2

C_VBD 2800 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51204 R_PORT_OVSHOOT 17 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 10 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 189 NAV_MODE 0 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 3 N_NOCOMM 0 SEABIRD_T_J 2.4454023e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 040907,6703.000,-5651.620,24,1.3,25,-37.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041502,6702.992,-5651.611,14,1.3,14,-37.5 MHEAD_RNG_PITCHd_Wd 294.9,160734,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 567

Post-dive calculations and measurements:

FREEZE 0.40,0.441,-0.965,0,1,0 ALTIM_TOP_PING 19.8,19.1

FINISH 0.4,1.014260 ALTIM_BOTTOM_PING 450.8,107.2

SM_CCo 11509,64.65,0.726,0,0,1473,325.02 _24V_AH 23.1,43.061

SM_GC 1.36,0.00,0.00,64.65,0.000,0.000,0.726,125,2467,1473,-8.01,0.20,325.02 _10V_AH 10.2,21.999

RAFOS_CLK 708 FG_AHR_24Vo 0.000

RAFOS 0,1259035266,4.033333,4.018333,63,58,56,0,0,0,207,171,152,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6705.680664,-5655.533691,241109,040444,3,97,3.33 MEM 152540

IRIDIUM_FIX 6631.12,-5646.10,180299,010117 DATA_FILE_SIZE 47306,1223

TT8_MAMPS 0.027612 CAP_FILE_SIZE 145748,0

HUMID 47.28 CFSIZE 260165632,235356160

INTERNAL_PRESSURE 8.93589 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.00 SOUNDSPEED 1470.2

XPDR_PINGS 4 GPS 241109,072953,6703.483,-5657.111,23,1.8,40,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 296 168.85 SBE_CT 899 24 498.87

Roll_motor 136 98 309.62 SBE_O2 833 19 365.88

VBD_pump_during_apogee 300 1074 7455.44 nil 0 0 0.00

VBD_pump_during_surface 64 726 1084.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 74.08 nil 0 0 0.00

Iridium_during_connect 35 160 132.95 nil 0 0 0.00

Iridium_during_xfer 171 223 886.01

Transponder_ping 2 420 24.25

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.93

TT8 2068 19 420.37

LPSleep 6985 2 164.60

TT8_Active 509 19 103.55

TT8_Sampling 1938 39 789.39

TT8_CF8 431 45 202.09

TT8_Kalman 0 0 0.00

Analog_circuits 1530 12 187.32

GPS_charging 0 0 0.00

Compass 1907 8 155.63

RAFOS 1800 1 27.54

Transponder 14 30 4.32

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

15 -0.73 -146.0 0.0 0.0 0 109 0.00 0.00 -91.45 0.000 2 0.000 0.000 126 2462 3111 0 0 0 0 0 0

113 -0.73 -146.0 3.1 -5.4 18 139 11.23 2.60 -7.38 0.000 4 0.297 0.098 2448 3902 3398 0 0 0 0 0 0

393 -0.65 -146.0 44.9 -13.1 68 399 0.12 2.45 0.00 0.000 6 0.215 0.059 2476 2444 3401 0 0 0 0 0 0

736 -0.65 -146.0 82.4 -9.8 129 742 0.00 2.58 0.00 0.000 4 0.000 0.086 2476 3914 3400 0 0 0 0 0 0

850 -0.71 -146.0 93.1 -9.2 149 856 0.00 2.42 0.00 0.000 6 0.000 0.061 2476 2464 3400 0 0 0 0 0 0

1185 -0.77 -146.0 120.9 -7.7 187 1190 0.12 2.55 0.00 0.000 4 0.116 0.084 2428 3915 3400 0 0 0 0 0 0

1310 -0.68 -146.0 134.0 -11.6 197 1316 0.17 2.40 0.00 0.000 6 0.209 0.060 2469 2475 3400 0 0 0 0 0 0

1635 -0.73 -146.0 163.4 -8.7 228 1639 0.00 2.50 0.00 0.000 4 0.000 0.086 2469 3909 3400 0 0 0 0 0 0

1668 -0.79 -146.0 166.4 -9.2 230 1673 0.00 2.35 0.00 0.000 6 0.000 0.060 2468 2498 3400 0 0 0 0 0 0

1993 -0.85 -146.0 193.0 -8.0 261 1998 0.17 2.50 0.00 0.000 4 0.099 0.084 2400 3916 3400 0 0 0 0 0 0

2032 -0.67 -146.0 197.1 -11.0 264 2037 0.28 2.35 0.00 0.000 6 0.206 0.059 2467 2499 3399 0 0 0 0 0 0

2357 -0.74 -146.0 223.8 -8.0 294 2362 0.00 2.45 0.00 0.000 4 0.000 0.084 2467 3910 3400 0 0 0 0 0 0

2420 -0.82 -146.0 228.8 -8.2 299 2424 0.12 2.30 0.00 0.000 6 0.114 0.058 2425 2520 3400 0 0 0 0 0 0

2745 -0.75 -146.0 259.9 -9.7 329 2749 0.00 2.42 0.00 0.000 4 0.000 0.084 2424 3916 3400 0 0 0 0 0 0

2806 -0.69 -146.0 266.0 -9.6 334 2811 0.17 2.28 0.00 0.000 6 0.206 0.058 2465 2539 3400 0 0 0 0 0 0

3131 -0.77 -146.0 292.3 -8.0 364 3135 0.00 2.38 0.00 0.000 4 0.000 0.084 2465 3910 3400 0 0 0 0 0 0

3175 -0.85 -146.0 296.3 -8.4 367 3182 0.15 2.25 0.00 0.000 6 0.106 0.058 2413 2549 3400 0 0 0 0 0 0

3500 -0.76 -146.0 329.6 -9.7 398 3505 0.12 2.38 0.00 0.000 4 0.214 0.081 2431 3913 3400 0 0 0 0 0 0

3539 -0.76 -146.0 333.5 -10.0 401 3543 0.00 2.25 0.00 0.000 6 0.000 0.056 2431 2549 3401 0 0 0 0 0 0

3863 -0.76 -146.0 363.6 -9.3 431 3864 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2550 3401 0 0 0 0 0 0

4183 -0.76 -146.0 392.7 -8.7 461 4187 0.00 2.38 0.00 0.000 4 0.000 0.083 2431 3910 3402 0 0 0 0 0 0

4221 -0.76 -146.0 396.4 -9.5 464 4227 0.00 2.20 0.00 0.000 6 0.000 0.057 2431 2568 3402 0 0 0 0 0 0

4546 -0.76 -146.0 424.6 -8.8 495 4547 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2569 3402 0 0 0 0 0 0

4864 -0.76 -146.0 451.7 -8.3 525 4868 0.00 2.33 0.00 0.000 4 0.000 0.082 2431 3912 3402 0 0 0 0 0 0

4886 -0.76 -146.0 453.7 -8.5 526 4892 0.00 2.20 0.00 0.000 6 0.000 0.057 2431 2570 3402 0 0 0 0 0 0

5213 -0.76 -146.0 479.4 -7.8 557 5217 0.00 2.33 0.00 0.000 4 0.000 0.083 2431 3909 3402 0 0 0 0 0 0

5240 -0.76 -146.0 481.7 -7.9 559 5244 0.00 2.20 0.00 0.000 6 0.000 0.058 2431 2581 3402 0 0 0 0 0 0

5569 -0.76 -146.0 507.6 -7.7 590 5574 0.00 2.70 0.00 0.000 4 0.000 0.075 2431 874 3402 0 0 0 0 0 0

5601 -0.76 -146.0 510.4 -8.4 592 5607 0.00 2.70 0.00 0.000 6 0.000 0.067 2431 2586 3402 0 0 0 0 0 0

5927 -0.76 -146.0 537.1 -8.2 623 5931 0.00 2.28 0.00 0.000 4 0.000 0.084 2431 3910 3402 0 0 0 0 0 0

5982 -0.76 -146.0 542.0 -8.4 627 5988 0.00 2.20 0.00 0.000 6 0.000 0.057 2431 2574 3402 0 0 0 0 0 0

5997 end dive: BOTTOM_OBSTACLE_DETECTED

state 5997 begin apogee

6002 -0.16 0.0 543.3 8.3 629 6124 0.73 0.00 118.00 1.075 6 0.178 0.000 2632 1948 2799 0 0 0 0 0 0

6125 end apogee: CONTROL_FINISHED_OK

state 6125 begin climb

6127 0.73 146.0 546.6 0.0 641 6254 0.93 0.00 121.32 1.031 6 0.125 0.000 2915 1948 2204 0 0 0 0 0 0

6568 0.73 146.0 504.5 10.8 683 6573 0.00 2.78 0.00 0.000 4 0.000 0.075 2915 3540 2197 0 0 0 0 0 0

6612 0.66 146.0 499.0 12.4 686 6618 0.00 2.70 0.00 0.000 6 0.000 0.064 2927 1964 2196 0 0 0 0 0 0

6937 0.60 146.0 460.9 11.4 717 6942 0.17 2.58 0.00 0.000 4 0.188 0.083 2895 358 2195 0 0 0 0 0 0

6998 0.64 146.0 454.4 10.1 722 7003 0.00 2.47 0.00 0.000 6 0.000 0.061 2895 1956 2195 0 0 0 0 0 0

7328 0.64 146.0 422.7 9.6 753 7332 0.00 2.67 0.00 0.000 4 0.000 0.077 2895 3539 2194 0 0 0 0 0 0

7371 0.64 146.0 418.3 10.5 756 7377 0.00 2.67 0.00 0.000 6 0.000 0.066 2907 1943 2193 0 0 0 0 0 0

7696 0.64 146.0 384.8 10.6 787 7700 0.00 2.53 0.00 0.000 4 0.000 0.084 2918 355 2192 0 0 0 0 0 0

7723 0.64 146.0 381.7 11.4 789 7727 0.00 2.47 0.00 0.000 6 0.000 0.061 2918 1961 2193 0 0 0 0 0 0

8047 0.64 146.0 347.3 11.2 819 8051 0.00 2.65 0.00 0.000 4 0.000 0.077 2918 3542 2192 0 0 0 0 0 0

8074 0.58 146.0 344.2 11.7 821 8079 0.20 2.65 0.00 0.000 6 0.189 0.066 2882 1953 2193 0 0 0 0 0 0

8399 0.70 162.3 315.1 8.5 851 8415 0.12 0.00 12.80 0.878 6 0.114 0.000 2925 1954 2137 0 0 0 0 0 0

8728 0.70 162.3 279.2 10.7 882 8733 0.00 2.70 0.00 0.000 4 0.000 0.077 2925 3541 2136 0 0 0 0 0 0

8761 0.63 162.3 275.6 11.6 884 8767 0.17 2.65 0.00 0.000 6 0.190 0.067 2896 1958 2136 0 0 0 0 0 0

9087 0.71 162.3 245.9 9.3 915 9091 0.00 2.53 0.00 0.000 4 0.000 0.084 2906 362 2136 0 0 0 0 0 0

9104 0.78 164.6 244.3 9.1 916 9109 0.10 2.47 0.00 0.000 6 0.131 0.061 2940 1975 2136 0 0 0 0 0 0

9428 0.72 164.6 205.8 12.5 946 9433 0.00 2.62 0.00 0.000 4 0.000 0.076 2940 3540 2136 0 0 0 0 0 0

9451 0.64 164.6 202.9 12.8 947 9457 0.22 2.62 0.00 0.000 6 0.189 0.066 2897 1969 2135 0 0 0 0 0 0

9775 0.72 164.6 170.8 9.5 978 9779 0.00 2.55 0.00 0.000 4 0.000 0.083 2907 351 2135 0 0 0 0 0 0

9803 0.81 164.8 168.4 9.2 980 9808 0.12 2.47 0.00 0.000 6 0.119 0.061 2950 1969 2135 0 0 0 0 0 0

10128 0.74 164.8 131.3 11.9 1010 10132 0.00 2.62 0.00 0.000 4 0.000 0.077 2950 3536 2135 0 0 0 0 0 0

10189 0.64 164.8 123.3 13.2 1015 10194 0.25 2.60 0.00 0.000 6 0.189 0.066 2900 1974 2135 0 0 0 0 0 0

10519 0.82 206.5 94.6 7.4 1051 10561 0.17 2.70 35.72 0.779 4 0.104 0.075 2961 3545 1957 0 0 0 0 0 0

10591 0.73 206.5 87.7 10.6 1064 10598 0.20 2.65 0.00 0.000 6 0.188 0.066 2925 1976 1955 0 0 0 0 0 0

10937 0.85 221.1 61.3 8.6 1125 10959 0.12 2.62 12.50 0.728 4 0.113 0.084 2981 364 1897 0 0 0 0 0 0

10970 0.85 221.1 58.0 9.8 1131 10976 0.00 2.50 0.00 0.000 6 0.000 0.061 2981 1978 1896 0 0 0 0 0 0

11315 0.85 221.1 17.9 11.1 1192 11321 0.00 2.65 0.00 0.000 4 0.000 0.077 2981 3544 1895 0 0 0 0 0 0

11350 0.78 221.1 13.7 11.8 1198 11356 0.20 2.65 0.00 0.000 6 0.185 0.067 2944 1968 1895 0 0 0 0 0 0

11473 end climb: SURFACE_DEPTH_REACHED

state 11473 begin surface coast

11491 end surface coast: CONTROL_FINISHED_OK

state 11491 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	10	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	5
DIVE	189	ESCAPE_HEADING_DELTA	5	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2460	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	1950	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	325	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	17	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	20	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3793	DEVICE1	2
T_DIVE	360	CALL_TRIES	3	C_VBD	2800	DEVICE2	20
T_MISSION	420	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-33505.93	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2690	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-24.446302	SEABIRD_T_I	2.3348166e-05
MASS	51204	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	0	PITCH_GAIN	31	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	1	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	20

GPS1	040907,6703.000,-5651.620,24,1.3,25,-37.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041502,6702.992,-5651.611,14,1.3,14,-37.5	MHEAD_RNG_PITCHd_Wd	294.9,160734,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	567

FREEZE	0.40,0.441,-0.965,0,1,0	ALTIM_TOP_PING	19.8,19.1
FINISH	0.4,1.014260	ALTIM_BOTTOM_PING	450.8,107.2
SM_CCo	11509,64.65,0.726,0,0,1473,325.02	_24V_AH	23.1,43.061
SM_GC	1.36,0.00,0.00,64.65,0.000,0.000,0.726,125,2467,1473,-8.01,0.20,325.02	_10V_AH	10.2,21.999
RAFOS_CLK	708	FG_AHR_24Vo	0.000
RAFOS	0,1259035266,4.033333,4.018333,63,58,56,0,0,0,207,171,152,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6705.680664,-5655.533691,241109,040444,3,97,3.33	MEM	152540
IRIDIUM_FIX	6631.12,-5646.10,180299,010117	DATA_FILE_SIZE	47306,1223
TT8_MAMPS	0.027612	CAP_FILE_SIZE	145748,0
HUMID	47.28	CFSIZE	260165632,235356160
INTERNAL_PRESSURE	8.93589	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.00	SOUNDSPEED	1470.2
XPDR_PINGS	4	GPS	241109,072953,6703.483,-5657.111,23,1.8,40,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	296	168.85	SBE_CT	899	24	498.87
Roll_motor	136	98	309.62	SBE_O2	833	19	365.88
VBD_pump_during_apogee	300	1074	7455.44	nil	0	0	0.00
VBD_pump_during_surface	64	726	1084.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	74.08	nil	0	0	0.00
Iridium_during_connect	35	160	132.95	nil	0	0	0.00
Iridium_during_xfer	171	223	886.01
Transponder_ping	2	420	24.25
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.93
TT8	2068	19	420.37
LPSleep	6985	2	164.60
TT8_Active	509	19	103.55
TT8_Sampling	1938	39	789.39
TT8_CF8	431	45	202.09
TT8_Kalman	0	0	0.00
Analog_circuits	1530	12	187.32
GPS_charging	0	0	0.00
Compass	1907	8	155.63
RAFOS	1800	1	27.54
Transponder	14	30	4.32

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
15	-0.73	-146.0	0.0	0.0	0	109	0.00	0.00	-91.45	0.000	2	0.000	0.000	126	2462	3111	0	0	0	0	0	0
113	-0.73	-146.0	3.1	-5.4	18	139	11.23	2.60	-7.38	0.000	4	0.297	0.098	2448	3902	3398	0	0	0	0	0	0
393	-0.65	-146.0	44.9	-13.1	68	399	0.12	2.45	0.00	0.000	6	0.215	0.059	2476	2444	3401	0	0	0	0	0	0
736	-0.65	-146.0	82.4	-9.8	129	742	0.00	2.58	0.00	0.000	4	0.000	0.086	2476	3914	3400	0	0	0	0	0	0
850	-0.71	-146.0	93.1	-9.2	149	856	0.00	2.42	0.00	0.000	6	0.000	0.061	2476	2464	3400	0	0	0	0	0	0
1185	-0.77	-146.0	120.9	-7.7	187	1190	0.12	2.55	0.00	0.000	4	0.116	0.084	2428	3915	3400	0	0	0	0	0	0
1310	-0.68	-146.0	134.0	-11.6	197	1316	0.17	2.40	0.00	0.000	6	0.209	0.060	2469	2475	3400	0	0	0	0	0	0
1635	-0.73	-146.0	163.4	-8.7	228	1639	0.00	2.50	0.00	0.000	4	0.000	0.086	2469	3909	3400	0	0	0	0	0	0
1668	-0.79	-146.0	166.4	-9.2	230	1673	0.00	2.35	0.00	0.000	6	0.000	0.060	2468	2498	3400	0	0	0	0	0	0
1993	-0.85	-146.0	193.0	-8.0	261	1998	0.17	2.50	0.00	0.000	4	0.099	0.084	2400	3916	3400	0	0	0	0	0	0
2032	-0.67	-146.0	197.1	-11.0	264	2037	0.28	2.35	0.00	0.000	6	0.206	0.059	2467	2499	3399	0	0	0	0	0	0
2357	-0.74	-146.0	223.8	-8.0	294	2362	0.00	2.45	0.00	0.000	4	0.000	0.084	2467	3910	3400	0	0	0	0	0	0
2420	-0.82	-146.0	228.8	-8.2	299	2424	0.12	2.30	0.00	0.000	6	0.114	0.058	2425	2520	3400	0	0	0	0	0	0
2745	-0.75	-146.0	259.9	-9.7	329	2749	0.00	2.42	0.00	0.000	4	0.000	0.084	2424	3916	3400	0	0	0	0	0	0
2806	-0.69	-146.0	266.0	-9.6	334	2811	0.17	2.28	0.00	0.000	6	0.206	0.058	2465	2539	3400	0	0	0	0	0	0
3131	-0.77	-146.0	292.3	-8.0	364	3135	0.00	2.38	0.00	0.000	4	0.000	0.084	2465	3910	3400	0	0	0	0	0	0
3175	-0.85	-146.0	296.3	-8.4	367	3182	0.15	2.25	0.00	0.000	6	0.106	0.058	2413	2549	3400	0	0	0	0	0	0
3500	-0.76	-146.0	329.6	-9.7	398	3505	0.12	2.38	0.00	0.000	4	0.214	0.081	2431	3913	3400	0	0	0	0	0	0
3539	-0.76	-146.0	333.5	-10.0	401	3543	0.00	2.25	0.00	0.000	6	0.000	0.056	2431	2549	3401	0	0	0	0	0	0
3863	-0.76	-146.0	363.6	-9.3	431	3864	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2550	3401	0	0	0	0	0	0
4183	-0.76	-146.0	392.7	-8.7	461	4187	0.00	2.38	0.00	0.000	4	0.000	0.083	2431	3910	3402	0	0	0	0	0	0
4221	-0.76	-146.0	396.4	-9.5	464	4227	0.00	2.20	0.00	0.000	6	0.000	0.057	2431	2568	3402	0	0	0	0	0	0
4546	-0.76	-146.0	424.6	-8.8	495	4547	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2569	3402	0	0	0	0	0	0
4864	-0.76	-146.0	451.7	-8.3	525	4868	0.00	2.33	0.00	0.000	4	0.000	0.082	2431	3912	3402	0	0	0	0	0	0
4886	-0.76	-146.0	453.7	-8.5	526	4892	0.00	2.20	0.00	0.000	6	0.000	0.057	2431	2570	3402	0	0	0	0	0	0
5213	-0.76	-146.0	479.4	-7.8	557	5217	0.00	2.33	0.00	0.000	4	0.000	0.083	2431	3909	3402	0	0	0	0	0	0
5240	-0.76	-146.0	481.7	-7.9	559	5244	0.00	2.20	0.00	0.000	6	0.000	0.058	2431	2581	3402	0	0	0	0	0	0
5569	-0.76	-146.0	507.6	-7.7	590	5574	0.00	2.70	0.00	0.000	4	0.000	0.075	2431	874	3402	0	0	0	0	0	0
5601	-0.76	-146.0	510.4	-8.4	592	5607	0.00	2.70	0.00	0.000	6	0.000	0.067	2431	2586	3402	0	0	0	0	0	0
5927	-0.76	-146.0	537.1	-8.2	623	5931	0.00	2.28	0.00	0.000	4	0.000	0.084	2431	3910	3402	0	0	0	0	0	0
5982	-0.76	-146.0	542.0	-8.4	627	5988	0.00	2.20	0.00	0.000	6	0.000	0.057	2431	2574	3402	0	0	0	0	0	0
5997	end dive: BOTTOM_OBSTACLE_DETECTED
state	5997	begin apogee
6002	-0.16	0.0	543.3	8.3	629	6124	0.73	0.00	118.00	1.075	6	0.178	0.000	2632	1948	2799	0	0	0	0	0	0
6125	end apogee: CONTROL_FINISHED_OK
state	6125	begin climb
6127	0.73	146.0	546.6	0.0	641	6254	0.93	0.00	121.32	1.031	6	0.125	0.000	2915	1948	2204	0	0	0	0	0	0
6568	0.73	146.0	504.5	10.8	683	6573	0.00	2.78	0.00	0.000	4	0.000	0.075	2915	3540	2197	0	0	0	0	0	0
6612	0.66	146.0	499.0	12.4	686	6618	0.00	2.70	0.00	0.000	6	0.000	0.064	2927	1964	2196	0	0	0	0	0	0
6937	0.60	146.0	460.9	11.4	717	6942	0.17	2.58	0.00	0.000	4	0.188	0.083	2895	358	2195	0	0	0	0	0	0
6998	0.64	146.0	454.4	10.1	722	7003	0.00	2.47	0.00	0.000	6	0.000	0.061	2895	1956	2195	0	0	0	0	0	0
7328	0.64	146.0	422.7	9.6	753	7332	0.00	2.67	0.00	0.000	4	0.000	0.077	2895	3539	2194	0	0	0	0	0	0
7371	0.64	146.0	418.3	10.5	756	7377	0.00	2.67	0.00	0.000	6	0.000	0.066	2907	1943	2193	0	0	0	0	0	0
7696	0.64	146.0	384.8	10.6	787	7700	0.00	2.53	0.00	0.000	4	0.000	0.084	2918	355	2192	0	0	0	0	0	0
7723	0.64	146.0	381.7	11.4	789	7727	0.00	2.47	0.00	0.000	6	0.000	0.061	2918	1961	2193	0	0	0	0	0	0
8047	0.64	146.0	347.3	11.2	819	8051	0.00	2.65	0.00	0.000	4	0.000	0.077	2918	3542	2192	0	0	0	0	0	0
8074	0.58	146.0	344.2	11.7	821	8079	0.20	2.65	0.00	0.000	6	0.189	0.066	2882	1953	2193	0	0	0	0	0	0
8399	0.70	162.3	315.1	8.5	851	8415	0.12	0.00	12.80	0.878	6	0.114	0.000	2925	1954	2137	0	0	0	0	0	0
8728	0.70	162.3	279.2	10.7	882	8733	0.00	2.70	0.00	0.000	4	0.000	0.077	2925	3541	2136	0	0	0	0	0	0
8761	0.63	162.3	275.6	11.6	884	8767	0.17	2.65	0.00	0.000	6	0.190	0.067	2896	1958	2136	0	0	0	0	0	0
9087	0.71	162.3	245.9	9.3	915	9091	0.00	2.53	0.00	0.000	4	0.000	0.084	2906	362	2136	0	0	0	0	0	0
9104	0.78	164.6	244.3	9.1	916	9109	0.10	2.47	0.00	0.000	6	0.131	0.061	2940	1975	2136	0	0	0	0	0	0
9428	0.72	164.6	205.8	12.5	946	9433	0.00	2.62	0.00	0.000	4	0.000	0.076	2940	3540	2136	0	0	0	0	0	0
9451	0.64	164.6	202.9	12.8	947	9457	0.22	2.62	0.00	0.000	6	0.189	0.066	2897	1969	2135	0	0	0	0	0	0
9775	0.72	164.6	170.8	9.5	978	9779	0.00	2.55	0.00	0.000	4	0.000	0.083	2907	351	2135	0	0	0	0	0	0
9803	0.81	164.8	168.4	9.2	980	9808	0.12	2.47	0.00	0.000	6	0.119	0.061	2950	1969	2135	0	0	0	0	0	0
10128	0.74	164.8	131.3	11.9	1010	10132	0.00	2.62	0.00	0.000	4	0.000	0.077	2950	3536	2135	0	0	0	0	0	0
10189	0.64	164.8	123.3	13.2	1015	10194	0.25	2.60	0.00	0.000	6	0.189	0.066	2900	1974	2135	0	0	0	0	0	0
10519	0.82	206.5	94.6	7.4	1051	10561	0.17	2.70	35.72	0.779	4	0.104	0.075	2961	3545	1957	0	0	0	0	0	0
10591	0.73	206.5	87.7	10.6	1064	10598	0.20	2.65	0.00	0.000	6	0.188	0.066	2925	1976	1955	0	0	0	0	0	0
10937	0.85	221.1	61.3	8.6	1125	10959	0.12	2.62	12.50	0.728	4	0.113	0.084	2981	364	1897	0	0	0	0	0	0
10970	0.85	221.1	58.0	9.8	1131	10976	0.00	2.50	0.00	0.000	6	0.000	0.061	2981	1978	1896	0	0	0	0	0	0
11315	0.85	221.1	17.9	11.1	1192	11321	0.00	2.65	0.00	0.000	4	0.000	0.077	2981	3544	1895	0	0	0	0	0	0
11350	0.78	221.1	13.7	11.8	1198	11356	0.20	2.65	0.00	0.000	6	0.185	0.067	2944	1968	1895	0	0	0	0	0	0
11473	end climb: SURFACE_DEPTH_REACHED
state	11473	begin surface coast
11491	end surface coast: CONTROL_FINISHED_OK
state	11491	begin surface