Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 358 * 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 358 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 15 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 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 0 ROLL_ADJ_DBAND 0 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 -42606.535 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 -42606.535

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 T_TURN_SAMPINT 5

COMPASS_USE 1 ID 143 ROLL_ADJ_GAIN 0 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 15 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 358 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 111654,6710.824,-5722.740,34,1.4,52,-37.9 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -68.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 112255,6710.831,-5722.778,11,1.5,17,-37.9 MHEAD_RNG_PITCHd_Wd 157.9,29001,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 678

Post-dive calculations and measurements:

FREEZE 0.68,-1.631,-1.813,0,1,0 ALTIM_TOP_PING 19.9,19.3

FINISH 0.7,1.026612 ALTIM_BOTTOM_PING 550.3,165.0

SM_CCo 14590,79.90,0.775,0,0,1474,325.02 _24V_AH 22.1,66.228

SM_GC 1.43,0.00,0.00,79.90,0.000,0.000,0.775,124,2453,1474,-8.02,-0.20,325.02 _10V_AH 10.0,35.332

RAFOS_CLK 957 FG_AHR_24Vo 0.000

RAFOS 0,1261483267,12.033333,12.018611,58,57,54,0,0,0,214,200,158,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6709.775879,-5729.403809,221209,121244,3,102,1.06 MEM 152520

IRIDIUM_FIX 6641.98,-5718.55,180399,070711 DATA_FILE_SIZE 53566,1391

TT8_MAMPS 0.027612 CAP_FILE_SIZE 168033,0

HUMID 48.34 CFSIZE 260165632,222081024

INTERNAL_PRESSURE 8.82846 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,198,0,0

TCM_TEMP 16.40 SOUNDSPEED 1457.0

XPDR_PINGS 2 GPS 221209,152924,6711.390,-5723.954,40,2.0,40,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 303 171.00 SBE_CT 1018 24 540.47

Roll_motor 187 106 442.66 SBE_O2 972 19 408.27

VBD_pump_during_apogee 320 1188 8411.49 nil 0 0 0.00

VBD_pump_during_surface 79 775 1369.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 69.25 nil 0 0 0.00

Iridium_during_connect 31 160 110.29 nil 0 0 0.00

Iridium_during_xfer 165 223 813.58

Transponder_ping 2 420 23.20

GUMSTIX_24V 0 0 0.00

GPS 19 50 9.52

TT8 2446 19 487.35

LPSleep 8793 2 203.13

TT8_Active 602 19 120.09

TT8_Sampling 2717 39 1084.78

TT8_CF8 471 45 216.33

TT8_Kalman 0 0 0.00

Analog_circuits 1952 12 234.28

GPS_charging 0 0 0.00

Compass 2658 8 212.69

RAFOS 2520 1 37.80

Transponder 16 30 4.90

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 13 begin dive

16 -0.73 -146.0 0.0 0.0 0 118 0.00 0.00 -99.07 0.000 2 0.000 0.000 130 2454 3083 0 0 0 0 0 0

120 -0.73 -146.0 3.5 -5.9 20 147 11.62 2.20 -8.85 0.000 4 0.304 0.107 2446 849 3397 0 0 0 0 0 0

400 -0.73 -146.0 42.8 -12.5 70 406 0.00 2.12 0.00 0.000 6 0.000 0.077 2446 2459 3400 0 0 0 0 0 0

742 -0.73 -146.0 80.8 -10.6 131 748 0.00 2.17 0.00 0.000 4 0.000 0.095 2446 852 3400 0 0 0 0 0 0

1001 -0.73 -146.0 108.9 -9.7 170 1005 0.00 2.12 0.00 0.000 6 0.000 0.077 2446 2465 3400 0 0 0 0 0 0

1330 -0.73 -146.0 139.6 -10.1 201 1335 0.00 3.50 0.00 0.000 4 0.000 0.097 2446 3926 3399 0 0 6 0 0 0

1583 -0.79 -146.0 160.4 -7.7 223 1589 0.00 3.38 0.00 0.000 6 0.000 0.073 2446 2465 3399 0 0 4 0 0 0

1908 -0.85 -146.0 187.3 -8.8 253 1912 0.00 2.17 0.00 0.000 4 0.000 0.094 2446 842 3399 0 0 0 0 0 0

2164 -0.85 -146.0 214.5 -10.7 275 2170 0.00 2.15 0.00 0.000 6 0.000 0.076 2446 2457 3399 0 0 0 0 0 0

2490 -0.92 -146.0 245.2 -8.8 306 2496 0.17 3.47 0.00 0.000 4 0.113 0.091 2373 3919 3398 0 0 7 0 0 0

2678 -0.73 -146.0 268.2 -13.3 322 2684 0.32 3.38 0.00 0.000 6 0.216 0.071 2448 2454 3398 0 0 4 0 0 0

3002 -0.83 -146.0 295.6 -7.9 352 3008 0.00 3.50 0.00 0.000 4 0.000 0.093 2448 3919 3398 0 0 6 0 0 0

3237 -0.93 -146.0 314.3 -7.8 372 3243 0.17 3.35 0.00 0.000 6 0.117 0.070 2392 2460 3398 0 0 4 0 0 0

3561 -0.86 -146.0 346.5 -9.8 402 3567 0.00 3.50 0.00 0.000 4 0.000 0.092 2392 3923 3398 0 0 6 0 0 0

3802 -0.76 -146.0 370.7 -10.2 423 3808 0.20 3.38 0.00 0.000 6 0.206 0.070 2437 2456 3398 0 0 4 0 0 0

4127 -0.83 -146.0 394.7 -7.1 453 4132 0.00 3.53 0.00 0.000 4 0.000 0.090 2437 3927 3399 0 0 4 0 0 0

4385 -0.91 -146.0 412.9 -7.3 475 4391 0.12 3.38 0.00 0.000 6 0.127 0.069 2397 2456 3398 0 0 4 0 0 0

4711 -0.86 -146.0 441.6 -8.8 506 4716 0.00 3.53 0.00 0.000 4 0.000 0.090 2397 3927 3399 0 0 4 0 0 0

4957 -0.80 -146.0 463.9 -9.3 527 4964 0.12 3.38 0.00 0.000 6 0.208 0.069 2423 2459 3399 0 0 3 0 0 0

5282 -0.80 -146.0 489.2 -8.0 558 5287 0.00 3.50 0.00 0.000 4 0.000 0.090 2423 3919 3399 0 0 6 0 0 0

5540 -0.80 -146.0 509.8 -8.0 580 5546 0.00 3.35 0.00 0.000 6 0.000 0.068 2423 2460 3399 0 0 4 0 0 0

5865 -0.86 -146.0 534.1 -7.6 611 5871 0.00 3.50 0.00 0.000 4 0.000 0.089 2423 3921 3400 0 0 5 0 0 0

6124 -0.91 -146.0 554.4 -7.8 633 6130 0.00 3.35 0.00 0.000 6 0.000 0.067 2423 2459 3401 0 0 4 0 0 0

6449 -0.96 -146.0 579.5 -7.7 664 6453 0.12 2.15 0.00 0.000 4 0.123 0.089 2383 859 3401 0 0 0 0 0 0

6705 -0.86 -146.0 605.4 -10.3 683 6712 0.12 2.10 0.00 0.000 6 0.229 0.071 2410 2475 3402 0 0 0 0 0 0

7017 -0.86 -146.0 631.3 -8.2 694 7023 0.00 3.47 0.00 0.000 4 0.000 0.091 2409 3917 3401 0 0 4 0 0 0

7153 -0.86 -146.0 642.3 -7.9 698 7159 0.00 3.35 0.00 0.000 6 0.000 0.067 2410 2458 3401 0 0 4 0 0 0

7482 -0.86 -146.0 668.1 -7.7 709 7487 0.00 3.47 0.00 0.000 4 0.000 0.089 2410 3916 3401 0 0 6 0 0 0

7603 end dive: TARGET_DEPTH_EXCEEDED

state 7603 begin apogee

7613 -0.16 0.0 678.3 7.7 712 7742 0.80 0.00 125.80 1.189 6 0.191 0.000 2626 1942 2800 0 0 0 0 0 0

7743 end apogee: CONTROL_FINISHED_OK

state 7743 begin climb

7745 0.73 146.0 680.6 0.0 717 7885 1.00 2.15 131.38 1.130 4 0.135 0.092 2924 347 2203 0 0 0 0 0 0

7987 0.63 146.0 657.4 12.6 724 7992 0.15 1.92 0.00 0.000 6 0.196 0.062 2894 1962 2197 0 0 0 0 0 0

8306 0.63 146.0 623.9 10.4 735 8311 0.00 3.75 0.00 0.000 4 0.000 0.080 2893 3536 2195 0 0 4 0 0 0

8459 0.57 146.0 605.6 12.3 739 8469 0.15 3.72 0.00 0.000 6 0.212 0.074 2876 1950 2193 0 0 3 0 0 0

8785 0.65 146.0 573.0 9.9 766 8791 0.00 3.67 0.00 0.000 4 0.000 0.081 2876 3531 2194 0 0 5 0 0 0

8931 0.65 146.0 556.9 11.7 778 8937 0.00 3.67 0.00 0.000 6 0.000 0.075 2890 1945 2194 0 0 4 0 0 0

9255 0.65 146.0 523.8 10.0 809 9261 0.00 3.70 0.00 0.000 4 0.000 0.082 2891 3532 2193 0 0 4 0 0 0

9389 0.65 146.0 508.7 11.2 820 9395 0.00 3.65 0.00 0.000 6 0.000 0.075 2907 1950 2193 0 0 4 0 0 0

9714 0.65 146.0 474.0 11.1 851 9719 0.00 3.67 0.00 0.000 4 0.000 0.082 2907 3530 2193 0 0 5 0 0 0

9839 0.56 146.0 459.4 12.9 861 9845 0.22 3.67 0.00 0.000 6 0.202 0.075 2870 1938 2192 0 0 4 0 0 0

10165 0.67 149.9 429.5 9.0 892 10175 0.12 3.72 0.00 0.000 4 0.127 0.081 2911 3532 2192 0 0 4 0 0 0

10315 0.56 149.9 411.1 11.9 905 10321 0.22 3.67 0.00 0.000 6 0.200 0.075 2875 1948 2192 0 0 3 0 0 0

10640 0.66 149.9 379.5 9.5 936 10646 0.00 3.67 0.00 0.000 4 0.000 0.081 2875 3534 2192 0 0 5 0 0 0

10796 0.66 149.9 363.1 10.7 949 10803 0.00 3.65 0.00 0.000 6 0.000 0.074 2888 1951 2192 0 0 4 0 0 0

11122 0.74 149.9 333.0 9.3 980 11132 0.12 3.70 0.00 0.000 4 0.113 0.081 2938 3533 2192 0 0 4 0 0 0

11267 0.57 149.9 314.8 13.2 993 11277 0.30 3.67 0.00 0.000 6 0.202 0.075 2881 1940 2191 0 0 4 0 0 0

11596 0.70 173.8 286.5 8.2 1024 11628 0.12 3.72 22.65 0.926 4 0.129 0.081 2921 3535 2090 0 0 4 0 0 0

11797 0.61 173.8 263.2 11.7 1042 11807 0.20 3.70 0.00 0.000 6 0.202 0.075 2892 1943 2088 0 0 4 0 0 0

12126 0.72 173.8 233.4 9.4 1073 12132 0.00 3.72 0.00 0.000 4 0.000 0.081 2892 3536 2087 0 0 4 0 0 0

12268 0.72 173.8 219.4 9.4 1085 12273 0.00 3.70 0.00 0.000 6 0.000 0.075 2906 1939 2087 0 0 4 0 0 0

12592 0.77 173.8 190.0 9.4 1115 12597 0.00 3.72 0.00 0.000 4 0.000 0.081 2906 3534 2087 0 0 4 0 0 0

12738 0.77 173.8 174.0 10.4 1127 12744 0.00 3.70 0.00 0.000 6 0.000 0.075 2922 1938 2087 0 0 4 0 0 0

13062 0.77 173.8 141.8 10.0 1158 13067 0.00 3.72 0.00 0.000 4 0.000 0.082 2922 3531 2087 0 0 4 0 0 0

13181 0.73 173.8 128.8 11.2 1168 13187 0.00 3.67 0.00 0.000 6 0.000 0.076 2939 1947 2087 0 0 4 0 0 0

13508 0.73 173.8 95.6 9.7 1202 13514 0.00 3.72 0.00 0.000 4 0.000 0.084 2939 3534 2087 0 0 4 0 0 0

13671 0.65 173.8 78.3 9.8 1231 13677 0.22 3.70 0.00 0.000 6 0.200 0.077 2902 1943 2087 0 0 4 0 0 0

14019 0.85 222.1 54.1 7.1 1292 14070 0.20 3.78 40.33 0.815 4 0.112 0.083 2969 3535 1894 0 0 4 0 0 0

14206 0.76 222.1 33.4 11.2 1326 14213 0.20 3.75 0.00 0.000 6 0.201 0.078 2940 1942 1889 0 0 4 0 0 0

14550 end climb: SURFACE_DEPTH_REACHED

state 14550 begin surface coast

14573 end surface coast: CONTROL_FINISHED_OK

state 14573 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	358	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	15	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	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	0	ROLL_ADJ_DBAND	0	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	-42606.535	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	111654,6710.824,-5722.740,34,1.4,52,-37.9	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	112255,6710.831,-5722.778,11,1.5,17,-37.9	MHEAD_RNG_PITCHd_Wd	157.9,29001,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	678

FREEZE	0.68,-1.631,-1.813,0,1,0	ALTIM_TOP_PING	19.9,19.3
FINISH	0.7,1.026612	ALTIM_BOTTOM_PING	550.3,165.0
SM_CCo	14590,79.90,0.775,0,0,1474,325.02	_24V_AH	22.1,66.228
SM_GC	1.43,0.00,0.00,79.90,0.000,0.000,0.775,124,2453,1474,-8.02,-0.20,325.02	_10V_AH	10.0,35.332
RAFOS_CLK	957	FG_AHR_24Vo	0.000
RAFOS	0,1261483267,12.033333,12.018611,58,57,54,0,0,0,214,200,158,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6709.775879,-5729.403809,221209,121244,3,102,1.06	MEM	152520
IRIDIUM_FIX	6641.98,-5718.55,180399,070711	DATA_FILE_SIZE	53566,1391
TT8_MAMPS	0.027612	CAP_FILE_SIZE	168033,0
HUMID	48.34	CFSIZE	260165632,222081024
INTERNAL_PRESSURE	8.82846	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,198,0,0
TCM_TEMP	16.40	SOUNDSPEED	1457.0
XPDR_PINGS	2	GPS	221209,152924,6711.390,-5723.954,40,2.0,40,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	303	171.00	SBE_CT	1018	24	540.47
Roll_motor	187	106	442.66	SBE_O2	972	19	408.27
VBD_pump_during_apogee	320	1188	8411.49	nil	0	0	0.00
VBD_pump_during_surface	79	775	1369.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	69.25	nil	0	0	0.00
Iridium_during_connect	31	160	110.29	nil	0	0	0.00
Iridium_during_xfer	165	223	813.58
Transponder_ping	2	420	23.20
GUMSTIX_24V	0	0	0.00
GPS	19	50	9.52
TT8	2446	19	487.35
LPSleep	8793	2	203.13
TT8_Active	602	19	120.09
TT8_Sampling	2717	39	1084.78
TT8_CF8	471	45	216.33
TT8_Kalman	0	0	0.00
Analog_circuits	1952	12	234.28
GPS_charging	0	0	0.00
Compass	2658	8	212.69
RAFOS	2520	1	37.80
Transponder	16	30	4.90

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	13	begin dive
16	-0.73	-146.0	0.0	0.0	0	118	0.00	0.00	-99.07	0.000	2	0.000	0.000	130	2454	3083	0	0	0	0	0	0
120	-0.73	-146.0	3.5	-5.9	20	147	11.62	2.20	-8.85	0.000	4	0.304	0.107	2446	849	3397	0	0	0	0	0	0
400	-0.73	-146.0	42.8	-12.5	70	406	0.00	2.12	0.00	0.000	6	0.000	0.077	2446	2459	3400	0	0	0	0	0	0
742	-0.73	-146.0	80.8	-10.6	131	748	0.00	2.17	0.00	0.000	4	0.000	0.095	2446	852	3400	0	0	0	0	0	0
1001	-0.73	-146.0	108.9	-9.7	170	1005	0.00	2.12	0.00	0.000	6	0.000	0.077	2446	2465	3400	0	0	0	0	0	0
1330	-0.73	-146.0	139.6	-10.1	201	1335	0.00	3.50	0.00	0.000	4	0.000	0.097	2446	3926	3399	0	0	6	0	0	0
1583	-0.79	-146.0	160.4	-7.7	223	1589	0.00	3.38	0.00	0.000	6	0.000	0.073	2446	2465	3399	0	0	4	0	0	0
1908	-0.85	-146.0	187.3	-8.8	253	1912	0.00	2.17	0.00	0.000	4	0.000	0.094	2446	842	3399	0	0	0	0	0	0
2164	-0.85	-146.0	214.5	-10.7	275	2170	0.00	2.15	0.00	0.000	6	0.000	0.076	2446	2457	3399	0	0	0	0	0	0
2490	-0.92	-146.0	245.2	-8.8	306	2496	0.17	3.47	0.00	0.000	4	0.113	0.091	2373	3919	3398	0	0	7	0	0	0
2678	-0.73	-146.0	268.2	-13.3	322	2684	0.32	3.38	0.00	0.000	6	0.216	0.071	2448	2454	3398	0	0	4	0	0	0
3002	-0.83	-146.0	295.6	-7.9	352	3008	0.00	3.50	0.00	0.000	4	0.000	0.093	2448	3919	3398	0	0	6	0	0	0
3237	-0.93	-146.0	314.3	-7.8	372	3243	0.17	3.35	0.00	0.000	6	0.117	0.070	2392	2460	3398	0	0	4	0	0	0
3561	-0.86	-146.0	346.5	-9.8	402	3567	0.00	3.50	0.00	0.000	4	0.000	0.092	2392	3923	3398	0	0	6	0	0	0
3802	-0.76	-146.0	370.7	-10.2	423	3808	0.20	3.38	0.00	0.000	6	0.206	0.070	2437	2456	3398	0	0	4	0	0	0
4127	-0.83	-146.0	394.7	-7.1	453	4132	0.00	3.53	0.00	0.000	4	0.000	0.090	2437	3927	3399	0	0	4	0	0	0
4385	-0.91	-146.0	412.9	-7.3	475	4391	0.12	3.38	0.00	0.000	6	0.127	0.069	2397	2456	3398	0	0	4	0	0	0
4711	-0.86	-146.0	441.6	-8.8	506	4716	0.00	3.53	0.00	0.000	4	0.000	0.090	2397	3927	3399	0	0	4	0	0	0
4957	-0.80	-146.0	463.9	-9.3	527	4964	0.12	3.38	0.00	0.000	6	0.208	0.069	2423	2459	3399	0	0	3	0	0	0
5282	-0.80	-146.0	489.2	-8.0	558	5287	0.00	3.50	0.00	0.000	4	0.000	0.090	2423	3919	3399	0	0	6	0	0	0
5540	-0.80	-146.0	509.8	-8.0	580	5546	0.00	3.35	0.00	0.000	6	0.000	0.068	2423	2460	3399	0	0	4	0	0	0
5865	-0.86	-146.0	534.1	-7.6	611	5871	0.00	3.50	0.00	0.000	4	0.000	0.089	2423	3921	3400	0	0	5	0	0	0
6124	-0.91	-146.0	554.4	-7.8	633	6130	0.00	3.35	0.00	0.000	6	0.000	0.067	2423	2459	3401	0	0	4	0	0	0
6449	-0.96	-146.0	579.5	-7.7	664	6453	0.12	2.15	0.00	0.000	4	0.123	0.089	2383	859	3401	0	0	0	0	0	0
6705	-0.86	-146.0	605.4	-10.3	683	6712	0.12	2.10	0.00	0.000	6	0.229	0.071	2410	2475	3402	0	0	0	0	0	0
7017	-0.86	-146.0	631.3	-8.2	694	7023	0.00	3.47	0.00	0.000	4	0.000	0.091	2409	3917	3401	0	0	4	0	0	0
7153	-0.86	-146.0	642.3	-7.9	698	7159	0.00	3.35	0.00	0.000	6	0.000	0.067	2410	2458	3401	0	0	4	0	0	0
7482	-0.86	-146.0	668.1	-7.7	709	7487	0.00	3.47	0.00	0.000	4	0.000	0.089	2410	3916	3401	0	0	6	0	0	0
7603	end dive: TARGET_DEPTH_EXCEEDED
state	7603	begin apogee
7613	-0.16	0.0	678.3	7.7	712	7742	0.80	0.00	125.80	1.189	6	0.191	0.000	2626	1942	2800	0	0	0	0	0	0
7743	end apogee: CONTROL_FINISHED_OK
state	7743	begin climb
7745	0.73	146.0	680.6	0.0	717	7885	1.00	2.15	131.38	1.130	4	0.135	0.092	2924	347	2203	0	0	0	0	0	0
7987	0.63	146.0	657.4	12.6	724	7992	0.15	1.92	0.00	0.000	6	0.196	0.062	2894	1962	2197	0	0	0	0	0	0
8306	0.63	146.0	623.9	10.4	735	8311	0.00	3.75	0.00	0.000	4	0.000	0.080	2893	3536	2195	0	0	4	0	0	0
8459	0.57	146.0	605.6	12.3	739	8469	0.15	3.72	0.00	0.000	6	0.212	0.074	2876	1950	2193	0	0	3	0	0	0
8785	0.65	146.0	573.0	9.9	766	8791	0.00	3.67	0.00	0.000	4	0.000	0.081	2876	3531	2194	0	0	5	0	0	0
8931	0.65	146.0	556.9	11.7	778	8937	0.00	3.67	0.00	0.000	6	0.000	0.075	2890	1945	2194	0	0	4	0	0	0
9255	0.65	146.0	523.8	10.0	809	9261	0.00	3.70	0.00	0.000	4	0.000	0.082	2891	3532	2193	0	0	4	0	0	0
9389	0.65	146.0	508.7	11.2	820	9395	0.00	3.65	0.00	0.000	6	0.000	0.075	2907	1950	2193	0	0	4	0	0	0
9714	0.65	146.0	474.0	11.1	851	9719	0.00	3.67	0.00	0.000	4	0.000	0.082	2907	3530	2193	0	0	5	0	0	0
9839	0.56	146.0	459.4	12.9	861	9845	0.22	3.67	0.00	0.000	6	0.202	0.075	2870	1938	2192	0	0	4	0	0	0
10165	0.67	149.9	429.5	9.0	892	10175	0.12	3.72	0.00	0.000	4	0.127	0.081	2911	3532	2192	0	0	4	0	0	0
10315	0.56	149.9	411.1	11.9	905	10321	0.22	3.67	0.00	0.000	6	0.200	0.075	2875	1948	2192	0	0	3	0	0	0
10640	0.66	149.9	379.5	9.5	936	10646	0.00	3.67	0.00	0.000	4	0.000	0.081	2875	3534	2192	0	0	5	0	0	0
10796	0.66	149.9	363.1	10.7	949	10803	0.00	3.65	0.00	0.000	6	0.000	0.074	2888	1951	2192	0	0	4	0	0	0
11122	0.74	149.9	333.0	9.3	980	11132	0.12	3.70	0.00	0.000	4	0.113	0.081	2938	3533	2192	0	0	4	0	0	0
11267	0.57	149.9	314.8	13.2	993	11277	0.30	3.67	0.00	0.000	6	0.202	0.075	2881	1940	2191	0	0	4	0	0	0
11596	0.70	173.8	286.5	8.2	1024	11628	0.12	3.72	22.65	0.926	4	0.129	0.081	2921	3535	2090	0	0	4	0	0	0
11797	0.61	173.8	263.2	11.7	1042	11807	0.20	3.70	0.00	0.000	6	0.202	0.075	2892	1943	2088	0	0	4	0	0	0
12126	0.72	173.8	233.4	9.4	1073	12132	0.00	3.72	0.00	0.000	4	0.000	0.081	2892	3536	2087	0	0	4	0	0	0
12268	0.72	173.8	219.4	9.4	1085	12273	0.00	3.70	0.00	0.000	6	0.000	0.075	2906	1939	2087	0	0	4	0	0	0
12592	0.77	173.8	190.0	9.4	1115	12597	0.00	3.72	0.00	0.000	4	0.000	0.081	2906	3534	2087	0	0	4	0	0	0
12738	0.77	173.8	174.0	10.4	1127	12744	0.00	3.70	0.00	0.000	6	0.000	0.075	2922	1938	2087	0	0	4	0	0	0
13062	0.77	173.8	141.8	10.0	1158	13067	0.00	3.72	0.00	0.000	4	0.000	0.082	2922	3531	2087	0	0	4	0	0	0
13181	0.73	173.8	128.8	11.2	1168	13187	0.00	3.67	0.00	0.000	6	0.000	0.076	2939	1947	2087	0	0	4	0	0	0
13508	0.73	173.8	95.6	9.7	1202	13514	0.00	3.72	0.00	0.000	4	0.000	0.084	2939	3534	2087	0	0	4	0	0	0
13671	0.65	173.8	78.3	9.8	1231	13677	0.22	3.70	0.00	0.000	6	0.200	0.077	2902	1943	2087	0	0	4	0	0	0
14019	0.85	222.1	54.1	7.1	1292	14070	0.20	3.78	40.33	0.815	4	0.112	0.083	2969	3535	1894	0	0	4	0	0	0
14206	0.76	222.1	33.4	11.2	1326	14213	0.20	3.75	0.00	0.000	6	0.201	0.078	2940	1942	1889	0	0	4	0	0	0
14550	end climb: SURFACE_DEPTH_REACHED
state	14550	begin surface coast
14573	end surface coast: CONTROL_FINISHED_OK
state	14573	begin surface