Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 190 * 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 190 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 18 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 21 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 -33522.793 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 -33522.793

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 18 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 190 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 072953,6703.483,-5657.111,23,1.8,40,-37.6 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 1.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 073543,6703.470,-5657.200,9,1.3,14,-37.6 MHEAD_RNG_PITCHd_Wd 294.3,156949,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 592

Post-dive calculations and measurements:

FREEZE 0.57,0.389,-1.811,0,1,0 ALTIM_TOP_PING 19.8,19.4

FINISH 0.6,1.026513 ALTIM_BOTTOM_PING 450.5,160.4

SM_CCo 12834,81.50,0.725,0,0,1474,325.02 _24V_AH 23.1,43.175

SM_GC 1.18,0.00,0.00,81.50,0.000,0.000,0.725,124,2461,1474,-8.02,0.03,325.02 _10V_AH 10.2,22.073

RAFOS_CLK 787 FG_AHR_24Vo 0.000

RAFOS 0,1259049664,8.033334,8.017777,59,57,57,0,0,0,174,160,216,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6703.358887,-5701.216797,241109,080840,3,83,0.72 MEM 152504

IRIDIUM_FIX 6636.54,-5702.96,180299,040447 DATA_FILE_SIZE 53556,1353

TT8_MAMPS 0.027612 CAP_FILE_SIZE 151901,0

HUMID 47.59 CFSIZE 260165632,235266048

INTERNAL_PRESSURE 8.92612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.90 SOUNDSPEED 1470.0

XPDR_PINGS 5 GPS 241109,111311,6703.470,-5703.583,39,1.4,55,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 296 167.56 SBE_CT 999 24 553.90

Roll_motor 120 98 274.36 SBE_O2 925 19 406.25

VBD_pump_during_apogee 277 1109 7101.17 nil 0 0 0.00

VBD_pump_during_surface 81 724 1364.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 68.79 nil 0 0 0.00

Iridium_during_connect 33 160 125.18 nil 0 0 0.00

Iridium_during_xfer 169 223 874.74

Transponder_ping 3 420 29.11

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.28

TT8 2270 19 461.35

LPSleep 7947 2 187.26

TT8_Active 499 19 101.59

TT8_Sampling 2118 39 862.69

TT8_CF8 433 45 202.90

TT8_Kalman 0 0 0.00

Analog_circuits 1586 12 194.17

GPS_charging 0 0 0.00

Compass 2085 8 170.17

RAFOS 2520 1 38.56

Transponder 15 30 4.86

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 0 113 0.00 0.00 -95.28 0.000 2 0.000 0.000 125 2468 3191 0 0 0 0 0 0

115 -0.73 -146.0 3.6 -6.7 19 137 11.20 2.55 -5.12 0.000 4 0.296 0.098 2445 3906 3398 0 0 0 0 0 0

391 -0.64 -146.0 44.1 -12.6 68 397 0.15 2.45 0.00 0.000 6 0.207 0.060 2481 2445 3400 0 0 0 0 0 0

736 -0.70 -146.0 79.6 -10.2 129 741 0.00 2.58 0.00 0.000 4 0.000 0.086 2481 3913 3401 0 0 0 0 0 0

921 -0.78 -146.0 97.9 -9.3 162 927 0.15 2.42 0.00 0.000 6 0.107 0.061 2429 2464 3399 0 0 0 0 0 0

1253 -0.68 -146.0 135.9 -11.5 195 1258 0.17 2.55 0.00 0.000 4 0.207 0.084 2460 3919 3399 0 0 0 0 0 0

1393 -0.68 -146.0 150.6 -10.3 207 1397 0.00 2.38 0.00 0.000 6 0.000 0.060 2460 2490 3399 0 0 0 0 0 0

1718 -0.68 -146.0 180.9 -8.6 237 1722 0.00 2.47 0.00 0.000 4 0.000 0.085 2460 3911 3398 0 0 0 0 0 0

1739 -0.68 -146.0 182.8 -8.6 238 1744 0.00 2.35 0.00 0.000 6 0.000 0.059 2460 2491 3399 0 0 0 0 0 0

2065 -0.68 -146.0 209.9 -8.2 269 2069 0.00 2.47 0.00 0.000 4 0.000 0.085 2460 3913 3399 0 0 0 0 0 0

2142 -0.73 -146.0 216.7 -9.0 275 2148 0.00 2.33 0.00 0.000 6 0.000 0.059 2460 2510 3399 0 0 0 0 0 0

2470 -0.77 -146.0 244.4 -8.7 306 2474 0.00 2.60 0.00 0.000 4 0.000 0.077 2460 869 3399 0 0 0 0 0 0

2497 -0.77 -146.0 247.4 -9.8 308 2502 0.00 2.60 0.00 0.000 6 0.000 0.069 2460 2514 3399 0 0 0 0 0 0

2822 -0.83 -146.0 276.8 -8.9 338 2827 0.12 2.42 0.00 0.000 4 0.112 0.084 2413 3912 3399 0 0 0 0 0 0

2907 -0.74 -146.0 286.1 -11.8 345 2912 0.15 2.30 0.00 0.000 6 0.211 0.060 2446 2520 3399 0 0 0 0 0 0

3232 -0.74 -146.0 316.5 -9.1 375 3233 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 2521 3400 0 0 0 0 0 0

3550 -0.74 -146.0 344.6 -8.3 405 3554 0.00 2.42 0.00 0.000 4 0.000 0.084 2446 3920 3400 0 0 0 0 0 0

3634 -0.78 -146.0 351.7 -8.3 412 3638 0.00 2.30 0.00 0.000 6 0.000 0.058 2446 2528 3400 0 0 0 0 0 0

3959 -0.78 -146.0 379.1 -8.3 442 3963 0.00 2.40 0.00 0.000 4 0.000 0.084 2446 3913 3400 0 0 0 0 0 0

3976 -0.78 -146.0 380.5 -7.9 443 3980 0.00 2.28 0.00 0.000 6 0.000 0.058 2446 2535 3400 0 0 0 0 0 0

4300 -0.78 -146.0 406.5 -7.7 473 4301 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 2536 3401 0 0 0 0 0 0

4620 -0.78 -146.0 429.1 -6.7 503 4624 0.00 2.38 0.00 0.000 4 0.000 0.084 2446 3908 3401 0 0 0 0 0 0

4650 -0.78 -146.0 431.2 -7.7 505 4654 0.00 2.25 0.00 0.000 6 0.000 0.058 2446 2542 3401 0 0 0 0 0 0

4974 -0.83 -146.0 454.3 -7.1 535 4979 0.00 2.38 0.00 0.000 4 0.000 0.084 2446 3913 3401 0 0 0 0 0 0

5019 -0.87 -146.0 457.7 -7.2 538 5025 0.12 2.25 0.00 0.000 6 0.117 0.058 2404 2548 3401 0 0 0 0 0 0

5344 -0.78 -146.0 486.4 -8.8 569 5349 0.12 2.38 0.00 0.000 4 0.210 0.081 2426 3909 3401 0 0 0 0 0 0

5360 -0.71 -146.0 488.0 -9.4 570 5365 0.15 2.25 0.00 0.000 6 0.204 0.058 2460 2548 3401 0 0 0 0 0 0

5690 -0.81 -146.0 510.8 -6.8 601 5695 0.00 2.65 0.00 0.000 4 0.000 0.075 2460 870 3401 0 0 0 0 0 0

5718 -0.87 -146.0 512.9 -7.2 603 5723 0.15 2.65 0.00 0.000 6 0.105 0.067 2406 2550 3401 0 0 0 0 0 0

6042 -0.79 -146.0 542.0 -9.2 633 6047 0.00 2.35 0.00 0.000 4 0.000 0.084 2405 3916 3401 0 0 0 0 0 0

6098 -0.70 -146.0 547.1 -9.0 637 6104 0.22 2.25 0.00 0.000 6 0.201 0.058 2460 2549 3401 0 0 0 0 0 0

6423 -0.81 -146.0 570.1 -7.3 668 6427 0.00 2.35 0.00 0.000 4 0.000 0.083 2460 3908 3401 0 0 0 0 0 0

6446 -0.90 -146.0 571.8 -7.3 669 6452 0.20 2.22 0.00 0.000 6 0.097 0.058 2390 2560 3401 0 0 0 0 0 0

6651 end dive: TARGET_DEPTH_EXCEEDED

state 6651 begin apogee

6657 -0.16 0.0 592.2 10.2 689 6783 0.88 0.00 118.72 1.109 6 0.193 0.000 2630 1949 2799 0 0 0 0 0 0

6784 end apogee: CONTROL_FINISHED_OK

state 6784 begin climb

6786 0.73 146.0 595.6 0.0 702 6914 0.93 0.00 122.28 1.066 6 0.130 0.000 2911 1949 2204 0 0 0 0 0 0

7228 0.73 146.0 555.0 10.5 744 7233 0.00 2.78 0.00 0.000 4 0.000 0.076 2911 3538 2196 0 0 0 0 0 0

7301 0.66 146.0 546.9 11.1 750 7306 0.00 2.67 0.00 0.000 6 0.000 0.064 2924 1973 2195 0 0 0 0 0 0

7626 0.62 146.0 511.2 10.9 780 7631 0.15 2.60 0.00 0.000 4 0.198 0.084 2898 353 2193 0 0 0 0 0 0

7653 0.62 146.0 508.3 9.8 782 7658 0.00 2.53 0.00 0.000 6 0.000 0.060 2898 1977 2194 0 0 0 0 0 0

7978 0.62 146.0 476.3 9.2 812 7982 0.00 2.65 0.00 0.000 4 0.000 0.077 2899 3547 2193 0 0 0 0 0 0

8010 0.62 146.0 472.7 10.8 814 8016 0.00 2.65 0.00 0.000 6 0.000 0.065 2911 1965 2193 0 0 0 0 0 0

8334 0.62 146.0 439.1 10.5 845 8335 0.00 0.00 0.00 0.000 6 0.000 0.000 2911 1966 2192 0 0 0 0 0 0

8654 0.62 146.0 405.6 10.6 875 8659 0.00 2.67 0.00 0.000 4 0.000 0.077 2911 3541 2192 0 0 0 0 0 0

8698 0.56 146.0 400.3 12.7 878 8704 0.20 2.62 0.00 0.000 6 0.189 0.066 2874 1969 2191 0 0 0 0 0 0

9023 0.68 147.7 370.8 9.1 909 9025 0.12 0.00 0.00 0.000 6 0.114 0.000 2919 1970 2191 0 0 0 0 0 0

9341 0.68 147.7 335.8 10.9 939 9342 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 1970 2191 0 0 0 0 0 0

9661 0.68 147.7 302.3 10.3 969 9662 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 1970 2191 0 0 0 0 0 0

9980 0.68 147.7 271.0 9.8 999 9981 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 1970 2191 0 0 0 0 0 0

10299 0.68 147.7 238.8 10.2 1029 10304 0.00 2.55 0.00 0.000 4 0.000 0.085 2930 362 2191 0 0 0 0 0 0

10320 0.68 147.7 236.1 11.1 1030 10326 0.00 2.50 0.00 0.000 6 0.000 0.061 2930 1990 2192 0 0 0 0 0 0

10645 0.63 147.7 202.4 10.3 1061 10647 0.15 0.00 0.00 0.000 6 0.198 0.000 2895 1990 2191 0 0 0 0 0 0

10964 0.73 158.4 175.8 8.7 1091 10978 0.00 2.60 9.30 0.767 4 0.000 0.077 2895 3540 2154 0 0 0 0 0 0

11031 0.73 158.4 169.4 10.0 1097 11035 0.00 2.60 0.00 0.000 6 0.000 0.066 2905 1975 2153 0 0 0 0 0 0

11355 0.81 158.4 137.7 9.2 1127 11360 0.15 2.67 0.00 0.000 4 0.100 0.077 2961 3547 2153 0 0 0 0 0 0

11383 0.70 158.4 134.2 12.4 1129 11389 0.22 2.60 0.00 0.000 6 0.196 0.066 2918 1988 2152 0 0 0 0 0 0

11708 0.76 160.8 102.3 9.1 1159 11709 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 1989 2152 0 0 0 0 0 0

12044 0.85 175.2 73.6 8.6 1216 12066 0.15 2.58 15.07 0.759 4 0.107 0.083 2983 364 2084 0 0 0 0 0 0

12100 0.74 175.2 67.3 12.0 1226 12106 0.20 2.53 0.00 0.000 6 0.190 0.062 2934 2004 2083 0 0 0 0 0 0

12446 0.84 188.8 38.0 8.6 1287 12467 0.00 2.70 11.80 0.729 4 0.000 0.084 2943 362 2030 0 0 0 0 0 0

12507 0.91 188.8 32.4 9.8 1298 12513 0.12 2.55 0.00 0.000 6 0.119 0.061 2985 2010 2029 0 0 0 0 0 0

12793 end climb: SURFACE_DEPTH_REACHED

state 12793 begin surface coast

12817 end surface coast: CONTROL_FINISHED_OK

state 12817 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	190	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	18	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	21	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	-33522.793	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	072953,6703.483,-5657.111,23,1.8,40,-37.6	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	1.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	073543,6703.470,-5657.200,9,1.3,14,-37.6	MHEAD_RNG_PITCHd_Wd	294.3,156949,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	592

FREEZE	0.57,0.389,-1.811,0,1,0	ALTIM_TOP_PING	19.8,19.4
FINISH	0.6,1.026513	ALTIM_BOTTOM_PING	450.5,160.4
SM_CCo	12834,81.50,0.725,0,0,1474,325.02	_24V_AH	23.1,43.175
SM_GC	1.18,0.00,0.00,81.50,0.000,0.000,0.725,124,2461,1474,-8.02,0.03,325.02	_10V_AH	10.2,22.073
RAFOS_CLK	787	FG_AHR_24Vo	0.000
RAFOS	0,1259049664,8.033334,8.017777,59,57,57,0,0,0,174,160,216,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6703.358887,-5701.216797,241109,080840,3,83,0.72	MEM	152504
IRIDIUM_FIX	6636.54,-5702.96,180299,040447	DATA_FILE_SIZE	53556,1353
TT8_MAMPS	0.027612	CAP_FILE_SIZE	151901,0
HUMID	47.59	CFSIZE	260165632,235266048
INTERNAL_PRESSURE	8.92612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.90	SOUNDSPEED	1470.0
XPDR_PINGS	5	GPS	241109,111311,6703.470,-5703.583,39,1.4,55,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	296	167.56	SBE_CT	999	24	553.90
Roll_motor	120	98	274.36	SBE_O2	925	19	406.25
VBD_pump_during_apogee	277	1109	7101.17	nil	0	0	0.00
VBD_pump_during_surface	81	724	1364.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	68.79	nil	0	0	0.00
Iridium_during_connect	33	160	125.18	nil	0	0	0.00
Iridium_during_xfer	169	223	874.74
Transponder_ping	3	420	29.11
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.28
TT8	2270	19	461.35
LPSleep	7947	2	187.26
TT8_Active	499	19	101.59
TT8_Sampling	2118	39	862.69
TT8_CF8	433	45	202.90
TT8_Kalman	0	0	0.00
Analog_circuits	1586	12	194.17
GPS_charging	0	0	0.00
Compass	2085	8	170.17
RAFOS	2520	1	38.56
Transponder	15	30	4.86

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	113	0.00	0.00	-95.28	0.000	2	0.000	0.000	125	2468	3191	0	0	0	0	0	0
115	-0.73	-146.0	3.6	-6.7	19	137	11.20	2.55	-5.12	0.000	4	0.296	0.098	2445	3906	3398	0	0	0	0	0	0
391	-0.64	-146.0	44.1	-12.6	68	397	0.15	2.45	0.00	0.000	6	0.207	0.060	2481	2445	3400	0	0	0	0	0	0
736	-0.70	-146.0	79.6	-10.2	129	741	0.00	2.58	0.00	0.000	4	0.000	0.086	2481	3913	3401	0	0	0	0	0	0
921	-0.78	-146.0	97.9	-9.3	162	927	0.15	2.42	0.00	0.000	6	0.107	0.061	2429	2464	3399	0	0	0	0	0	0
1253	-0.68	-146.0	135.9	-11.5	195	1258	0.17	2.55	0.00	0.000	4	0.207	0.084	2460	3919	3399	0	0	0	0	0	0
1393	-0.68	-146.0	150.6	-10.3	207	1397	0.00	2.38	0.00	0.000	6	0.000	0.060	2460	2490	3399	0	0	0	0	0	0
1718	-0.68	-146.0	180.9	-8.6	237	1722	0.00	2.47	0.00	0.000	4	0.000	0.085	2460	3911	3398	0	0	0	0	0	0
1739	-0.68	-146.0	182.8	-8.6	238	1744	0.00	2.35	0.00	0.000	6	0.000	0.059	2460	2491	3399	0	0	0	0	0	0
2065	-0.68	-146.0	209.9	-8.2	269	2069	0.00	2.47	0.00	0.000	4	0.000	0.085	2460	3913	3399	0	0	0	0	0	0
2142	-0.73	-146.0	216.7	-9.0	275	2148	0.00	2.33	0.00	0.000	6	0.000	0.059	2460	2510	3399	0	0	0	0	0	0
2470	-0.77	-146.0	244.4	-8.7	306	2474	0.00	2.60	0.00	0.000	4	0.000	0.077	2460	869	3399	0	0	0	0	0	0
2497	-0.77	-146.0	247.4	-9.8	308	2502	0.00	2.60	0.00	0.000	6	0.000	0.069	2460	2514	3399	0	0	0	0	0	0
2822	-0.83	-146.0	276.8	-8.9	338	2827	0.12	2.42	0.00	0.000	4	0.112	0.084	2413	3912	3399	0	0	0	0	0	0
2907	-0.74	-146.0	286.1	-11.8	345	2912	0.15	2.30	0.00	0.000	6	0.211	0.060	2446	2520	3399	0	0	0	0	0	0
3232	-0.74	-146.0	316.5	-9.1	375	3233	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	2521	3400	0	0	0	0	0	0
3550	-0.74	-146.0	344.6	-8.3	405	3554	0.00	2.42	0.00	0.000	4	0.000	0.084	2446	3920	3400	0	0	0	0	0	0
3634	-0.78	-146.0	351.7	-8.3	412	3638	0.00	2.30	0.00	0.000	6	0.000	0.058	2446	2528	3400	0	0	0	0	0	0
3959	-0.78	-146.0	379.1	-8.3	442	3963	0.00	2.40	0.00	0.000	4	0.000	0.084	2446	3913	3400	0	0	0	0	0	0
3976	-0.78	-146.0	380.5	-7.9	443	3980	0.00	2.28	0.00	0.000	6	0.000	0.058	2446	2535	3400	0	0	0	0	0	0
4300	-0.78	-146.0	406.5	-7.7	473	4301	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	2536	3401	0	0	0	0	0	0
4620	-0.78	-146.0	429.1	-6.7	503	4624	0.00	2.38	0.00	0.000	4	0.000	0.084	2446	3908	3401	0	0	0	0	0	0
4650	-0.78	-146.0	431.2	-7.7	505	4654	0.00	2.25	0.00	0.000	6	0.000	0.058	2446	2542	3401	0	0	0	0	0	0
4974	-0.83	-146.0	454.3	-7.1	535	4979	0.00	2.38	0.00	0.000	4	0.000	0.084	2446	3913	3401	0	0	0	0	0	0
5019	-0.87	-146.0	457.7	-7.2	538	5025	0.12	2.25	0.00	0.000	6	0.117	0.058	2404	2548	3401	0	0	0	0	0	0
5344	-0.78	-146.0	486.4	-8.8	569	5349	0.12	2.38	0.00	0.000	4	0.210	0.081	2426	3909	3401	0	0	0	0	0	0
5360	-0.71	-146.0	488.0	-9.4	570	5365	0.15	2.25	0.00	0.000	6	0.204	0.058	2460	2548	3401	0	0	0	0	0	0
5690	-0.81	-146.0	510.8	-6.8	601	5695	0.00	2.65	0.00	0.000	4	0.000	0.075	2460	870	3401	0	0	0	0	0	0
5718	-0.87	-146.0	512.9	-7.2	603	5723	0.15	2.65	0.00	0.000	6	0.105	0.067	2406	2550	3401	0	0	0	0	0	0
6042	-0.79	-146.0	542.0	-9.2	633	6047	0.00	2.35	0.00	0.000	4	0.000	0.084	2405	3916	3401	0	0	0	0	0	0
6098	-0.70	-146.0	547.1	-9.0	637	6104	0.22	2.25	0.00	0.000	6	0.201	0.058	2460	2549	3401	0	0	0	0	0	0
6423	-0.81	-146.0	570.1	-7.3	668	6427	0.00	2.35	0.00	0.000	4	0.000	0.083	2460	3908	3401	0	0	0	0	0	0
6446	-0.90	-146.0	571.8	-7.3	669	6452	0.20	2.22	0.00	0.000	6	0.097	0.058	2390	2560	3401	0	0	0	0	0	0
6651	end dive: TARGET_DEPTH_EXCEEDED
state	6651	begin apogee
6657	-0.16	0.0	592.2	10.2	689	6783	0.88	0.00	118.72	1.109	6	0.193	0.000	2630	1949	2799	0	0	0	0	0	0
6784	end apogee: CONTROL_FINISHED_OK
state	6784	begin climb
6786	0.73	146.0	595.6	0.0	702	6914	0.93	0.00	122.28	1.066	6	0.130	0.000	2911	1949	2204	0	0	0	0	0	0
7228	0.73	146.0	555.0	10.5	744	7233	0.00	2.78	0.00	0.000	4	0.000	0.076	2911	3538	2196	0	0	0	0	0	0
7301	0.66	146.0	546.9	11.1	750	7306	0.00	2.67	0.00	0.000	6	0.000	0.064	2924	1973	2195	0	0	0	0	0	0
7626	0.62	146.0	511.2	10.9	780	7631	0.15	2.60	0.00	0.000	4	0.198	0.084	2898	353	2193	0	0	0	0	0	0
7653	0.62	146.0	508.3	9.8	782	7658	0.00	2.53	0.00	0.000	6	0.000	0.060	2898	1977	2194	0	0	0	0	0	0
7978	0.62	146.0	476.3	9.2	812	7982	0.00	2.65	0.00	0.000	4	0.000	0.077	2899	3547	2193	0	0	0	0	0	0
8010	0.62	146.0	472.7	10.8	814	8016	0.00	2.65	0.00	0.000	6	0.000	0.065	2911	1965	2193	0	0	0	0	0	0
8334	0.62	146.0	439.1	10.5	845	8335	0.00	0.00	0.00	0.000	6	0.000	0.000	2911	1966	2192	0	0	0	0	0	0
8654	0.62	146.0	405.6	10.6	875	8659	0.00	2.67	0.00	0.000	4	0.000	0.077	2911	3541	2192	0	0	0	0	0	0
8698	0.56	146.0	400.3	12.7	878	8704	0.20	2.62	0.00	0.000	6	0.189	0.066	2874	1969	2191	0	0	0	0	0	0
9023	0.68	147.7	370.8	9.1	909	9025	0.12	0.00	0.00	0.000	6	0.114	0.000	2919	1970	2191	0	0	0	0	0	0
9341	0.68	147.7	335.8	10.9	939	9342	0.00	0.00	0.00	0.000	6	0.000	0.000	2919	1970	2191	0	0	0	0	0	0
9661	0.68	147.7	302.3	10.3	969	9662	0.00	0.00	0.00	0.000	6	0.000	0.000	2919	1970	2191	0	0	0	0	0	0
9980	0.68	147.7	271.0	9.8	999	9981	0.00	0.00	0.00	0.000	6	0.000	0.000	2918	1970	2191	0	0	0	0	0	0
10299	0.68	147.7	238.8	10.2	1029	10304	0.00	2.55	0.00	0.000	4	0.000	0.085	2930	362	2191	0	0	0	0	0	0
10320	0.68	147.7	236.1	11.1	1030	10326	0.00	2.50	0.00	0.000	6	0.000	0.061	2930	1990	2192	0	0	0	0	0	0
10645	0.63	147.7	202.4	10.3	1061	10647	0.15	0.00	0.00	0.000	6	0.198	0.000	2895	1990	2191	0	0	0	0	0	0
10964	0.73	158.4	175.8	8.7	1091	10978	0.00	2.60	9.30	0.767	4	0.000	0.077	2895	3540	2154	0	0	0	0	0	0
11031	0.73	158.4	169.4	10.0	1097	11035	0.00	2.60	0.00	0.000	6	0.000	0.066	2905	1975	2153	0	0	0	0	0	0
11355	0.81	158.4	137.7	9.2	1127	11360	0.15	2.67	0.00	0.000	4	0.100	0.077	2961	3547	2153	0	0	0	0	0	0
11383	0.70	158.4	134.2	12.4	1129	11389	0.22	2.60	0.00	0.000	6	0.196	0.066	2918	1988	2152	0	0	0	0	0	0
11708	0.76	160.8	102.3	9.1	1159	11709	0.00	0.00	0.00	0.000	6	0.000	0.000	2918	1989	2152	0	0	0	0	0	0
12044	0.85	175.2	73.6	8.6	1216	12066	0.15	2.58	15.07	0.759	4	0.107	0.083	2983	364	2084	0	0	0	0	0	0
12100	0.74	175.2	67.3	12.0	1226	12106	0.20	2.53	0.00	0.000	6	0.190	0.062	2934	2004	2083	0	0	0	0	0	0
12446	0.84	188.8	38.0	8.6	1287	12467	0.00	2.70	11.80	0.729	4	0.000	0.084	2943	362	2030	0	0	0	0	0	0
12507	0.91	188.8	32.4	9.8	1298	12513	0.12	2.55	0.00	0.000	6	0.119	0.061	2985	2010	2029	0	0	0	0	0	0
12793	end climb: SURFACE_DEPTH_REACHED
state	12793	begin surface coast
12817	end surface coast: CONTROL_FINISHED_OK
state	12817	begin surface