Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 341 * 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 341 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 425 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 21 XPDR_VALID 0

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 17 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 -42344.555 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 425

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 -42344.555

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 21 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 341 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 074237,6708.290,-5713.745,40,1.1,40,-37.8 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 20 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 075526,6708.265,-5713.995,11,1.9,11,-37.8 MHEAD_RNG_PITCHd_Wd 155.2,21153,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 654

Post-dive calculations and measurements:

FREEZE 0.61,-0.409,-0.302,0,2,0 ALTIM_TOP_PING 20.0,19.3

FINISH 0.6,1.004312 ALTIM_BOTTOM_PING 550.4,151.0

SM_CCo 13500,123.85,0.729,0,0,1067,425.10 _24V_AH 22.4,63.822

SM_GC 1.38,0.00,0.00,123.85,0.000,0.000,0.729,124,2467,1067,-8.02,0.20,425.10 _10V_AH 10.1,33.829

RAFOS_CLK 864 FG_AHR_24Vo 0.000

RAFOS 0,1261209664,8.033334,8.017777,65,59,53,0,0,0,178,218,235,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6707.568848,-5720.239258,191209,080840,3,88,1.65 MEM 152540

IRIDIUM_FIX 6636.54,-5716.88,150399,070756 DATA_FILE_SIZE 50405,1309

TT8_MAMPS 0.027612 CAP_FILE_SIZE 163789,0

HUMID 47.24 CFSIZE 260165632,223547392

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,122,0,0

TCM_TEMP 17.00 SOUNDSPEED 1467.7

XPDR_PINGS 4 GPS 191209,114430,6707.967,-5715.761,37,1.0,43,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 296 158.08 SBE_CT 962 24 517.66

Roll_motor 174 99 390.30 SBE_O2 897 19 381.89

VBD_pump_during_apogee 313 1142 8029.25 nil 0 0 0.00

VBD_pump_during_surface 123 729 2023.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 81 103 187.95 nil 0 0 0.00

Iridium_during_connect 94 160 339.07 nil 0 0 0.00

Iridium_during_xfer 319 223 1595.64

Transponder_ping 3 420 30.58

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.50

TT8 2284 19 459.56

LPSleep 8311 2 193.90

TT8_Active 632 19 127.32

TT8_Sampling 2406 39 970.23

TT8_CF8 760 45 352.52

TT8_Kalman 0 0 0.00

Analog_circuits 1856 12 224.99

GPS_charging 0 0 0.00

Compass 2360 8 190.72

RAFOS 2520 1 38.18

Transponder 19 30 5.87

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.73 -146.0 0.0 0.0 0 138 0.00 0.00 -120.12 0.000 2 0.000 0.000 124 2465 3187 0 0 0 0 0 0

142 -0.73 -146.0 3.7 -6.7 24 164 11.43 2.35 -5.25 0.000 4 0.297 0.100 2448 857 3399 0 0 1 0 0 0

360 -0.73 -146.0 34.2 -11.3 63 366 0.00 2.20 0.00 0.000 6 0.000 0.070 2448 2456 3402 0 0 0 0 0 0

704 -0.73 -146.0 72.7 -10.9 124 709 0.00 2.25 0.00 0.000 4 0.000 0.087 2448 862 3401 0 0 0 0 0 0

961 -0.73 -146.0 102.4 -11.1 169 966 0.00 2.30 0.00 0.000 6 0.000 0.073 2448 2511 3402 0 0 0 0 0 0

1288 -0.78 -146.0 131.5 -8.4 199 1293 0.00 3.22 0.00 0.000 4 0.000 0.092 2448 3920 3400 0 0 1 0 0 0

1446 -0.86 -146.0 144.9 -8.9 212 1452 0.12 3.03 0.00 0.000 6 0.129 0.065 2409 2533 3400 0 0 2 0 0 0

1770 -0.86 -146.0 176.8 -10.2 243 1775 0.00 3.15 0.00 0.000 4 0.000 0.089 2409 3925 3399 0 0 3 0 0 0

2022 -0.86 -146.0 204.1 -10.6 265 2027 0.00 2.92 0.00 0.000 6 0.000 0.064 2409 2577 3398 0 0 2 0 0 0

2346 -0.86 -146.0 234.8 -8.9 295 2351 0.00 3.05 0.00 0.000 4 0.000 0.087 2409 3931 3398 0 0 3 0 0 0

2566 -0.86 -146.0 254.3 -9.1 314 2571 0.00 2.85 0.00 0.000 6 0.000 0.062 2409 2597 3398 0 0 3 0 0 0

2890 -0.86 -146.0 283.6 -9.0 344 2895 0.00 2.97 0.00 0.000 4 0.000 0.084 2409 3923 3399 0 0 3 0 0 0

3068 -0.86 -146.0 300.8 -9.9 359 3075 0.00 2.80 0.00 0.000 6 0.000 0.059 2409 2617 3399 0 0 2 0 0 0

3394 -0.86 -146.0 331.0 -9.0 390 3399 0.00 2.92 0.00 0.000 4 0.000 0.082 2409 3922 3400 0 0 3 0 0 0

3561 -0.86 -146.0 346.3 -9.1 404 3568 0.00 2.78 0.00 0.000 6 0.000 0.058 2409 2635 3401 0 0 2 0 0 0

3886 -0.86 -146.0 374.1 -8.5 435 3891 0.00 2.90 0.00 0.000 4 0.000 0.082 2409 3921 3401 0 0 2 0 0 0

4087 -0.86 -146.0 392.4 -9.2 452 4093 0.00 2.72 0.00 0.000 6 0.000 0.057 2409 2669 3402 0 0 1 0 0 0

4412 -0.86 -146.0 420.3 -8.7 483 4417 0.00 2.88 0.00 0.000 4 0.000 0.081 2409 3927 3402 0 0 1 0 0 0

4542 -0.86 -146.0 431.6 -8.8 494 4547 0.00 2.67 0.00 0.000 6 0.000 0.056 2409 2691 3403 0 0 2 0 0 0

4866 -0.86 -146.0 460.2 -9.3 524 4871 0.00 2.80 0.00 0.000 4 0.000 0.081 2409 3922 3403 0 0 3 0 0 0

5008 -0.86 -146.0 473.6 -9.4 536 5012 0.00 2.62 0.00 0.000 6 0.000 0.055 2409 2710 3404 0 0 3 0 0 0

5332 -0.86 -146.0 504.4 -9.1 566 5337 0.00 2.80 0.00 0.000 4 0.000 0.081 2409 3929 3404 0 0 2 0 0 0

5484 -0.86 -146.0 519.3 -10.2 579 5489 0.00 2.60 0.00 0.000 6 0.000 0.056 2409 2727 3405 0 0 3 0 0 0

5809 -0.86 -146.0 549.9 -9.3 609 5818 0.00 2.72 0.00 0.000 4 0.000 0.085 2409 3924 3405 0 0 3 0 0 0

5970 -0.86 -146.0 565.3 -9.5 623 5975 0.00 2.55 0.00 0.000 6 0.000 0.056 2409 2740 3405 0 0 3 0 0 0

6296 -0.86 -146.0 593.8 -9.3 653 6300 0.00 2.70 0.00 0.000 4 0.000 0.081 2409 3921 3405 0 0 3 0 0 0

6346 -0.86 -146.0 598.5 -9.1 657 6350 0.00 2.55 0.00 0.000 6 0.000 0.056 2409 2739 3406 0 0 3 0 0 0

6679 -0.86 -146.0 625.7 -7.8 669 6684 0.00 2.75 0.00 0.000 4 0.000 0.081 2409 3924 3406 0 0 2 0 0 0

6801 -0.86 -146.0 635.9 -8.4 672 6807 0.00 2.58 0.00 0.000 6 0.000 0.056 2409 2744 3406 0 0 3 0 0 0

7020 end dive: TARGET_DEPTH_EXCEEDED

state 7020 begin apogee

7026 -0.16 0.0 654.4 8.5 680 7154 0.82 0.00 124.68 1.143 6 0.174 0.000 2634 1949 2800 0 0 0 0 0 0

7155 end apogee: CONTROL_FINISHED_OK

state 7155 begin climb

7157 0.73 146.0 657.1 0.0 684 7293 0.93 2.25 127.35 1.094 4 0.120 0.085 2924 363 2203 0 0 0 0 0 0

7332 0.64 146.0 642.9 12.2 689 7336 0.00 2.08 0.00 0.000 6 0.000 0.055 2924 1972 2200 0 0 0 0 0 0

7652 0.55 146.0 605.3 12.2 700 7658 0.22 3.47 0.00 0.000 4 0.199 0.072 2855 3531 2196 0 0 3 0 0 0

7761 0.61 146.0 593.5 10.9 706 7767 0.00 3.45 0.00 0.000 6 0.000 0.066 2869 1961 2195 0 0 2 0 0 0

8085 0.69 146.0 561.7 9.6 736 8092 0.12 3.45 0.00 0.000 4 0.116 0.074 2909 3537 2195 0 0 3 0 0 0

8195 0.60 146.0 548.3 13.3 745 8201 0.15 3.42 0.00 0.000 6 0.206 0.067 2889 1975 2193 0 0 2 0 0 0

8519 0.60 146.0 512.5 10.9 775 8524 0.00 3.42 0.00 0.000 4 0.000 0.074 2889 3535 2193 0 0 3 0 0 0

8619 0.60 146.0 500.7 12.0 783 8625 0.00 3.38 0.00 0.000 6 0.000 0.068 2902 1986 2192 0 0 3 0 0 0

8944 0.60 146.0 463.3 11.8 814 8949 0.00 3.40 0.00 0.000 4 0.000 0.075 2902 3527 2193 0 0 3 0 0 0

9068 0.53 146.0 447.6 13.1 824 9075 0.22 3.38 0.00 0.000 6 0.199 0.067 2863 2012 2192 0 0 1 0 0 0

9394 0.65 146.0 415.2 9.4 855 9400 0.12 3.38 0.00 0.000 4 0.122 0.076 2906 3532 2192 0 0 3 0 0 0

9527 0.57 146.0 398.5 13.3 866 9533 0.20 3.38 0.00 0.000 6 0.198 0.067 2874 2020 2192 0 0 1 0 0 0

9851 0.64 146.0 365.1 9.7 896 9856 0.00 3.35 0.00 0.000 4 0.000 0.074 2873 3528 2192 0 0 3 0 0 0

9963 0.64 146.0 353.1 10.7 905 9969 0.00 3.30 0.00 0.000 6 0.000 0.067 2886 2038 2192 0 0 2 0 0 0

10288 0.70 146.0 320.5 10.0 936 10293 0.00 3.38 0.00 0.000 4 0.000 0.074 2886 3537 2192 0 0 1 0 0 0

10388 0.70 146.0 309.6 11.4 944 10394 0.00 3.30 0.00 0.000 6 0.000 0.066 2901 2051 2192 0 0 2 0 0 0

10713 0.70 146.0 277.3 9.9 975 10718 0.00 3.30 0.00 0.000 4 0.000 0.074 2901 3528 2192 0 0 3 0 0 0

10801 0.70 146.0 267.3 11.5 982 10808 0.00 3.25 0.00 0.000 6 0.000 0.066 2915 2066 2192 0 0 3 0 0 0

11127 0.70 146.0 232.0 11.1 1013 11132 0.00 3.30 0.00 0.000 4 0.000 0.074 2916 3534 2192 0 0 3 0 0 0

11280 0.61 146.0 214.0 12.0 1026 11286 0.17 3.25 0.00 0.000 6 0.203 0.065 2890 2098 2192 0 0 1 0 0 0

11605 0.70 160.3 183.6 8.6 1056 11626 0.00 3.22 11.40 0.772 4 0.000 0.072 2890 3529 2144 0 0 3 0 0 0

11705 0.70 160.3 174.0 9.4 1065 11710 0.00 3.25 0.00 0.000 6 0.000 0.065 2902 2096 2143 0 0 1 0 0 0

12031 0.80 200.0 148.4 7.5 1095 12073 0.15 3.30 33.47 0.803 4 0.097 0.074 2958 3528 1983 0 0 2 0 0 0

12129 0.66 200.0 137.3 12.1 1104 12135 0.28 3.25 0.00 0.000 6 0.197 0.064 2907 2107 1981 0 0 2 0 0 0

12454 0.82 219.3 108.8 8.4 1134 12479 0.15 3.30 16.75 0.759 4 0.112 0.073 2959 3526 1904 0 0 3 0 0 0

12649 0.75 219.3 84.4 12.9 1162 12656 0.17 3.22 0.00 0.000 6 0.196 0.065 2933 2125 1901 0 0 1 0 0 0

12995 0.85 219.3 47.9 10.1 1223 13001 0.00 3.25 0.00 0.000 4 0.000 0.075 2933 3532 1901 0 0 2 0 0 0

13102 0.85 219.3 36.7 10.8 1242 13108 0.00 3.17 0.00 0.000 6 0.000 0.067 2945 2146 1901 0 0 2 0 0 0

13446 0.90 219.3 2.0 10.2 1303 13452 0.10 3.25 0.00 0.000 4 0.121 0.077 2986 3534 1901 0 0 2 0 0 0

13457 end climb: SURFACE_DEPTH_REACHED

state 13457 begin surface coast

13480 end surface coast: CONTROL_FINISHED_OK

state 13481 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	341	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	425	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	21	XPDR_VALID	0
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	17	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	-42344.555	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	074237,6708.290,-5713.745,40,1.1,40,-37.8	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	20	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	075526,6708.265,-5713.995,11,1.9,11,-37.8	MHEAD_RNG_PITCHd_Wd	155.2,21153,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	654

FREEZE	0.61,-0.409,-0.302,0,2,0	ALTIM_TOP_PING	20.0,19.3
FINISH	0.6,1.004312	ALTIM_BOTTOM_PING	550.4,151.0
SM_CCo	13500,123.85,0.729,0,0,1067,425.10	_24V_AH	22.4,63.822
SM_GC	1.38,0.00,0.00,123.85,0.000,0.000,0.729,124,2467,1067,-8.02,0.20,425.10	_10V_AH	10.1,33.829
RAFOS_CLK	864	FG_AHR_24Vo	0.000
RAFOS	0,1261209664,8.033334,8.017777,65,59,53,0,0,0,178,218,235,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6707.568848,-5720.239258,191209,080840,3,88,1.65	MEM	152540
IRIDIUM_FIX	6636.54,-5716.88,150399,070756	DATA_FILE_SIZE	50405,1309
TT8_MAMPS	0.027612	CAP_FILE_SIZE	163789,0
HUMID	47.24	CFSIZE	260165632,223547392
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,122,0,0
TCM_TEMP	17.00	SOUNDSPEED	1467.7
XPDR_PINGS	4	GPS	191209,114430,6707.967,-5715.761,37,1.0,43,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	296	158.08	SBE_CT	962	24	517.66
Roll_motor	174	99	390.30	SBE_O2	897	19	381.89
VBD_pump_during_apogee	313	1142	8029.25	nil	0	0	0.00
VBD_pump_during_surface	123	729	2023.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	81	103	187.95	nil	0	0	0.00
Iridium_during_connect	94	160	339.07	nil	0	0	0.00
Iridium_during_xfer	319	223	1595.64
Transponder_ping	3	420	30.58
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.50
TT8	2284	19	459.56
LPSleep	8311	2	193.90
TT8_Active	632	19	127.32
TT8_Sampling	2406	39	970.23
TT8_CF8	760	45	352.52
TT8_Kalman	0	0	0.00
Analog_circuits	1856	12	224.99
GPS_charging	0	0	0.00
Compass	2360	8	190.72
RAFOS	2520	1	38.18
Transponder	19	30	5.87

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.73	-146.0	0.0	0.0	0	138	0.00	0.00	-120.12	0.000	2	0.000	0.000	124	2465	3187	0	0	0	0	0	0
142	-0.73	-146.0	3.7	-6.7	24	164	11.43	2.35	-5.25	0.000	4	0.297	0.100	2448	857	3399	0	0	1	0	0	0
360	-0.73	-146.0	34.2	-11.3	63	366	0.00	2.20	0.00	0.000	6	0.000	0.070	2448	2456	3402	0	0	0	0	0	0
704	-0.73	-146.0	72.7	-10.9	124	709	0.00	2.25	0.00	0.000	4	0.000	0.087	2448	862	3401	0	0	0	0	0	0
961	-0.73	-146.0	102.4	-11.1	169	966	0.00	2.30	0.00	0.000	6	0.000	0.073	2448	2511	3402	0	0	0	0	0	0
1288	-0.78	-146.0	131.5	-8.4	199	1293	0.00	3.22	0.00	0.000	4	0.000	0.092	2448	3920	3400	0	0	1	0	0	0
1446	-0.86	-146.0	144.9	-8.9	212	1452	0.12	3.03	0.00	0.000	6	0.129	0.065	2409	2533	3400	0	0	2	0	0	0
1770	-0.86	-146.0	176.8	-10.2	243	1775	0.00	3.15	0.00	0.000	4	0.000	0.089	2409	3925	3399	0	0	3	0	0	0
2022	-0.86	-146.0	204.1	-10.6	265	2027	0.00	2.92	0.00	0.000	6	0.000	0.064	2409	2577	3398	0	0	2	0	0	0
2346	-0.86	-146.0	234.8	-8.9	295	2351	0.00	3.05	0.00	0.000	4	0.000	0.087	2409	3931	3398	0	0	3	0	0	0
2566	-0.86	-146.0	254.3	-9.1	314	2571	0.00	2.85	0.00	0.000	6	0.000	0.062	2409	2597	3398	0	0	3	0	0	0
2890	-0.86	-146.0	283.6	-9.0	344	2895	0.00	2.97	0.00	0.000	4	0.000	0.084	2409	3923	3399	0	0	3	0	0	0
3068	-0.86	-146.0	300.8	-9.9	359	3075	0.00	2.80	0.00	0.000	6	0.000	0.059	2409	2617	3399	0	0	2	0	0	0
3394	-0.86	-146.0	331.0	-9.0	390	3399	0.00	2.92	0.00	0.000	4	0.000	0.082	2409	3922	3400	0	0	3	0	0	0
3561	-0.86	-146.0	346.3	-9.1	404	3568	0.00	2.78	0.00	0.000	6	0.000	0.058	2409	2635	3401	0	0	2	0	0	0
3886	-0.86	-146.0	374.1	-8.5	435	3891	0.00	2.90	0.00	0.000	4	0.000	0.082	2409	3921	3401	0	0	2	0	0	0
4087	-0.86	-146.0	392.4	-9.2	452	4093	0.00	2.72	0.00	0.000	6	0.000	0.057	2409	2669	3402	0	0	1	0	0	0
4412	-0.86	-146.0	420.3	-8.7	483	4417	0.00	2.88	0.00	0.000	4	0.000	0.081	2409	3927	3402	0	0	1	0	0	0
4542	-0.86	-146.0	431.6	-8.8	494	4547	0.00	2.67	0.00	0.000	6	0.000	0.056	2409	2691	3403	0	0	2	0	0	0
4866	-0.86	-146.0	460.2	-9.3	524	4871	0.00	2.80	0.00	0.000	4	0.000	0.081	2409	3922	3403	0	0	3	0	0	0
5008	-0.86	-146.0	473.6	-9.4	536	5012	0.00	2.62	0.00	0.000	6	0.000	0.055	2409	2710	3404	0	0	3	0	0	0
5332	-0.86	-146.0	504.4	-9.1	566	5337	0.00	2.80	0.00	0.000	4	0.000	0.081	2409	3929	3404	0	0	2	0	0	0
5484	-0.86	-146.0	519.3	-10.2	579	5489	0.00	2.60	0.00	0.000	6	0.000	0.056	2409	2727	3405	0	0	3	0	0	0
5809	-0.86	-146.0	549.9	-9.3	609	5818	0.00	2.72	0.00	0.000	4	0.000	0.085	2409	3924	3405	0	0	3	0	0	0
5970	-0.86	-146.0	565.3	-9.5	623	5975	0.00	2.55	0.00	0.000	6	0.000	0.056	2409	2740	3405	0	0	3	0	0	0
6296	-0.86	-146.0	593.8	-9.3	653	6300	0.00	2.70	0.00	0.000	4	0.000	0.081	2409	3921	3405	0	0	3	0	0	0
6346	-0.86	-146.0	598.5	-9.1	657	6350	0.00	2.55	0.00	0.000	6	0.000	0.056	2409	2739	3406	0	0	3	0	0	0
6679	-0.86	-146.0	625.7	-7.8	669	6684	0.00	2.75	0.00	0.000	4	0.000	0.081	2409	3924	3406	0	0	2	0	0	0
6801	-0.86	-146.0	635.9	-8.4	672	6807	0.00	2.58	0.00	0.000	6	0.000	0.056	2409	2744	3406	0	0	3	0	0	0
7020	end dive: TARGET_DEPTH_EXCEEDED
state	7020	begin apogee
7026	-0.16	0.0	654.4	8.5	680	7154	0.82	0.00	124.68	1.143	6	0.174	0.000	2634	1949	2800	0	0	0	0	0	0
7155	end apogee: CONTROL_FINISHED_OK
state	7155	begin climb
7157	0.73	146.0	657.1	0.0	684	7293	0.93	2.25	127.35	1.094	4	0.120	0.085	2924	363	2203	0	0	0	0	0	0
7332	0.64	146.0	642.9	12.2	689	7336	0.00	2.08	0.00	0.000	6	0.000	0.055	2924	1972	2200	0	0	0	0	0	0
7652	0.55	146.0	605.3	12.2	700	7658	0.22	3.47	0.00	0.000	4	0.199	0.072	2855	3531	2196	0	0	3	0	0	0
7761	0.61	146.0	593.5	10.9	706	7767	0.00	3.45	0.00	0.000	6	0.000	0.066	2869	1961	2195	0	0	2	0	0	0
8085	0.69	146.0	561.7	9.6	736	8092	0.12	3.45	0.00	0.000	4	0.116	0.074	2909	3537	2195	0	0	3	0	0	0
8195	0.60	146.0	548.3	13.3	745	8201	0.15	3.42	0.00	0.000	6	0.206	0.067	2889	1975	2193	0	0	2	0	0	0
8519	0.60	146.0	512.5	10.9	775	8524	0.00	3.42	0.00	0.000	4	0.000	0.074	2889	3535	2193	0	0	3	0	0	0
8619	0.60	146.0	500.7	12.0	783	8625	0.00	3.38	0.00	0.000	6	0.000	0.068	2902	1986	2192	0	0	3	0	0	0
8944	0.60	146.0	463.3	11.8	814	8949	0.00	3.40	0.00	0.000	4	0.000	0.075	2902	3527	2193	0	0	3	0	0	0
9068	0.53	146.0	447.6	13.1	824	9075	0.22	3.38	0.00	0.000	6	0.199	0.067	2863	2012	2192	0	0	1	0	0	0
9394	0.65	146.0	415.2	9.4	855	9400	0.12	3.38	0.00	0.000	4	0.122	0.076	2906	3532	2192	0	0	3	0	0	0
9527	0.57	146.0	398.5	13.3	866	9533	0.20	3.38	0.00	0.000	6	0.198	0.067	2874	2020	2192	0	0	1	0	0	0
9851	0.64	146.0	365.1	9.7	896	9856	0.00	3.35	0.00	0.000	4	0.000	0.074	2873	3528	2192	0	0	3	0	0	0
9963	0.64	146.0	353.1	10.7	905	9969	0.00	3.30	0.00	0.000	6	0.000	0.067	2886	2038	2192	0	0	2	0	0	0
10288	0.70	146.0	320.5	10.0	936	10293	0.00	3.38	0.00	0.000	4	0.000	0.074	2886	3537	2192	0	0	1	0	0	0
10388	0.70	146.0	309.6	11.4	944	10394	0.00	3.30	0.00	0.000	6	0.000	0.066	2901	2051	2192	0	0	2	0	0	0
10713	0.70	146.0	277.3	9.9	975	10718	0.00	3.30	0.00	0.000	4	0.000	0.074	2901	3528	2192	0	0	3	0	0	0
10801	0.70	146.0	267.3	11.5	982	10808	0.00	3.25	0.00	0.000	6	0.000	0.066	2915	2066	2192	0	0	3	0	0	0
11127	0.70	146.0	232.0	11.1	1013	11132	0.00	3.30	0.00	0.000	4	0.000	0.074	2916	3534	2192	0	0	3	0	0	0
11280	0.61	146.0	214.0	12.0	1026	11286	0.17	3.25	0.00	0.000	6	0.203	0.065	2890	2098	2192	0	0	1	0	0	0
11605	0.70	160.3	183.6	8.6	1056	11626	0.00	3.22	11.40	0.772	4	0.000	0.072	2890	3529	2144	0	0	3	0	0	0
11705	0.70	160.3	174.0	9.4	1065	11710	0.00	3.25	0.00	0.000	6	0.000	0.065	2902	2096	2143	0	0	1	0	0	0
12031	0.80	200.0	148.4	7.5	1095	12073	0.15	3.30	33.47	0.803	4	0.097	0.074	2958	3528	1983	0	0	2	0	0	0
12129	0.66	200.0	137.3	12.1	1104	12135	0.28	3.25	0.00	0.000	6	0.197	0.064	2907	2107	1981	0	0	2	0	0	0
12454	0.82	219.3	108.8	8.4	1134	12479	0.15	3.30	16.75	0.759	4	0.112	0.073	2959	3526	1904	0	0	3	0	0	0
12649	0.75	219.3	84.4	12.9	1162	12656	0.17	3.22	0.00	0.000	6	0.196	0.065	2933	2125	1901	0	0	1	0	0	0
12995	0.85	219.3	47.9	10.1	1223	13001	0.00	3.25	0.00	0.000	4	0.000	0.075	2933	3532	1901	0	0	2	0	0	0
13102	0.85	219.3	36.7	10.8	1242	13108	0.00	3.17	0.00	0.000	6	0.000	0.067	2945	2146	1901	0	0	2	0	0	0
13446	0.90	219.3	2.0	10.2	1303	13452	0.10	3.25	0.00	0.000	4	0.121	0.077	2986	3534	1901	0	0	2	0	0	0
13457	end climb: SURFACE_DEPTH_REACHED
state	13457	begin surface coast
13480	end surface coast: CONTROL_FINISHED_OK
state	13481	begin surface