Glider dive log

DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 360 * 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 360 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 18 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 -42651.848 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 -42651.848

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 18 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 360 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 193436,6712.609,-5726.689,24,1.4,24,-37.9 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 17 TGT_RADIUS 2000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -63.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 194820,6712.604,-5726.981,11,1.7,11,-37.9 MHEAD_RNG_PITCHd_Wd 160.2,33299,-16.9,-9.167

SPEED_LIMITS 0.159,0.253 D_GRID 657

Post-dive calculations and measurements:

FREEZE 0.60,-1.247,-1.807,0,2,0 ALTIM_TOP_PING 19.9,19.5

FINISH 0.6,1.026520 ALTIM_BOTTOM_PING 651.9,31.1

SM_CCo 14279,73.70,0.765,0,0,1475,325.02 _24V_AH 22.1,66.514

SM_GC 1.45,0.00,0.00,73.70,0.000,0.000,0.765,131,2463,1475,-8.00,0.08,325.02 _10V_AH 10.0,35.505

RAFOS_CLK 960 FG_AHR_24Vo 0.000

RAFOS 0,1261512062,20.033333,20.017221,65,64,57,0,0,0,179,135,114,0,0,0 FG_AHR_10Vo 0.000

RAFOS_FIX 6711.341797,-5731.735840,221209,202056,2,95,1.18 MEM 152460

IRIDIUM_FIX 6647.44,-5727.90,180399,191955 DATA_FILE_SIZE 53616,1388

TT8_MAMPS 0.027612 CAP_FILE_SIZE 169992,0

HUMID 48.22 CFSIZE 260165632,221896704

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,171,0,0

TCM_TEMP 16.50 SOUNDSPEED 1458.2

XPDR_PINGS 4 GPS 221209,234930,6712.685,-5726.351,44,1.4,44,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 299 161.47 SBE_CT 1025 24 543.79

Roll_motor 176 107 418.61 SBE_O2 964 19 405.04

VBD_pump_during_apogee 334 1171 8660.54 nil 0 0 0.00

VBD_pump_during_surface 73 765 1246.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 81 103 185.93 nil 0 0 0.00

Iridium_during_connect 111 160 395.23 nil 0 0 0.00

Iridium_during_xfer 344 223 1696.97

Transponder_ping 3 420 32.49

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.24

TT8 2375 19 473.18

LPSleep 8705 2 201.10

TT8_Active 612 19 121.95

TT8_Sampling 2659 39 1061.55

TT8_CF8 820 45 376.65

TT8_Kalman 0 0 0.00

Analog_circuits 1947 12 233.65

GPS_charging 0 0 0.00

Compass 2607 8 208.56

RAFOS 2520 1 37.80

Transponder 19 30 5.85

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 0 118 0.00 0.00 -100.28 0.000 2 0.000 0.000 128 2456 3086 0 0 0 0 0 0

121 -0.73 -146.0 3.6 -6.0 20 148 11.52 2.15 -8.90 0.000 4 0.299 0.107 2452 863 3399 0 0 0 0 0 0

368 -0.73 -146.0 35.7 -11.0 64 373 0.00 2.08 0.00 0.000 6 0.000 0.077 2452 2458 3402 0 0 0 0 0 0

713 -0.73 -146.0 71.6 -9.4 125 718 0.00 2.15 0.00 0.000 4 0.000 0.096 2452 851 3402 0 0 0 0 0 0

965 -0.73 -146.0 96.3 -9.7 170 970 0.00 2.10 0.00 0.000 6 0.000 0.077 2453 2466 3402 0 0 0 0 0 0

1297 -0.79 -146.0 125.9 -9.2 205 1301 0.00 2.15 0.00 0.000 4 0.000 0.095 2453 857 3401 0 0 0 0 0 0

1555 -0.84 -146.0 151.2 -10.2 227 1560 0.00 2.08 0.00 0.000 6 0.000 0.077 2453 2461 3402 0 0 0 0 0 0

1879 -0.91 -146.0 180.0 -8.4 258 1884 0.17 2.17 0.00 0.000 4 0.119 0.097 2396 852 3401 0 0 0 0 0 0

2136 -0.81 -146.0 208.5 -11.0 280 2142 0.12 2.08 0.00 0.000 6 0.230 0.078 2423 2460 3401 0 0 0 0 0 0

2461 -0.81 -146.0 236.1 -8.2 311 2466 0.00 3.60 0.00 0.000 4 0.000 0.097 2423 3927 3400 0 0 4 0 0 0

2658 -0.81 -146.0 252.6 -8.1 328 2664 0.00 3.42 0.00 0.000 6 0.000 0.073 2424 2465 3400 0 0 4 0 0 0

2982 -0.81 -146.0 278.0 -7.7 358 2988 0.00 3.55 0.00 0.000 4 0.000 0.094 2423 3918 3400 0 0 5 0 0 0

3239 -0.81 -146.0 298.8 -7.8 380 3246 0.00 3.45 0.00 0.000 6 0.000 0.072 2423 2456 3400 0 0 4 0 0 0

3564 -0.81 -146.0 324.5 -8.2 411 3568 0.00 2.10 0.00 0.000 4 0.000 0.092 2424 857 3400 0 0 0 0 0 0

3822 -0.81 -146.0 348.5 -9.3 434 3826 0.00 2.05 0.00 0.000 6 0.000 0.074 2424 2461 3400 0 0 0 0 0 0

4147 -0.81 -146.0 376.3 -8.4 464 4152 0.00 3.50 0.00 0.000 4 0.000 0.091 2424 3917 3401 0 0 6 0 0 0

4294 -0.81 -146.0 388.9 -8.7 476 4300 0.00 3.35 0.00 0.000 6 0.000 0.069 2423 2461 3401 0 0 3 0 0 0

4618 -0.81 -146.0 415.6 -7.8 507 4623 0.00 3.55 0.00 0.000 4 0.000 0.089 2424 3922 3402 0 0 4 0 0 0

4875 -0.81 -146.0 436.6 -7.7 529 4882 0.00 3.42 0.00 0.000 6 0.000 0.068 2424 2459 3402 0 0 4 0 0 0

5200 -0.81 -146.0 462.6 -8.2 560 5206 0.00 3.53 0.00 0.000 4 0.000 0.089 2424 3927 3402 0 0 6 0 0 0

5217 -0.81 -146.0 464.0 -8.0 561 5223 0.00 3.40 0.00 0.000 6 0.000 0.067 2424 2460 3402 0 0 4 0 0 0

5542 -0.86 -146.0 489.2 -7.7 591 5546 0.00 2.10 0.00 0.000 4 0.000 0.089 2424 848 3403 0 0 0 0 0 0

5720 -0.86 -146.0 505.2 -9.1 606 5726 0.00 2.08 0.00 0.000 6 0.000 0.071 2423 2456 3403 0 0 0 0 0 0

6047 -0.91 -146.0 531.1 -7.8 637 6051 0.00 2.10 0.00 0.000 4 0.000 0.089 2423 850 3403 0 0 0 0 0 0

6304 -0.91 -146.0 553.3 -8.5 659 6310 0.00 2.05 0.00 0.000 6 0.000 0.071 2423 2467 3403 0 0 0 0 0 0

6629 -0.96 -146.0 578.5 -7.8 690 6635 0.15 3.50 0.00 0.000 4 0.107 0.086 2361 3922 3403 0 0 6 0 0 0

6771 -0.80 -146.0 593.2 -10.7 702 6777 0.28 3.40 0.00 0.000 6 0.209 0.067 2424 2459 3404 0 0 4 0 0 0

7108 -0.87 -146.0 619.5 -7.7 718 7112 0.00 2.12 0.00 0.000 4 0.000 0.089 2425 846 3404 0 0 0 0 0 0

7366 -0.87 -146.0 641.6 -8.1 725 7370 0.00 2.08 0.00 0.000 6 0.000 0.070 2425 2459 3404 0 0 0 0 0 0

7590 end dive: TARGET_DEPTH_EXCEEDED

state 7590 begin apogee

7596 -0.16 0.0 658.8 7.5 733 7725 0.77 0.00 125.90 1.172 6 0.183 0.000 2635 1947 2800 0 0 0 0 0 0

7726 end apogee: CONTROL_FINISHED_OK

state 7726 begin climb

7728 0.73 146.0 661.2 0.0 737 7868 0.95 2.15 130.70 1.116 4 0.133 0.093 2920 342 2203 0 0 0 0 0 0

7918 0.64 146.0 645.8 12.1 743 7923 0.00 1.98 0.00 0.000 6 0.000 0.063 2920 1961 2198 0 0 0 0 0 0

8253 0.55 146.0 605.2 12.0 754 8262 0.20 3.78 0.00 0.000 4 0.202 0.079 2858 3538 2195 0 0 6 0 0 0

8409 0.60 146.0 589.5 9.6 764 8419 0.00 3.75 0.00 0.000 6 0.000 0.074 2872 1949 2194 0 0 4 0 0 0

8738 0.69 150.8 559.5 9.0 795 8750 0.12 3.72 3.78 0.676 4 0.120 0.081 2917 3533 2184 0 0 5 0 0 0

8912 0.56 150.8 537.5 13.3 810 8919 0.25 3.72 0.00 0.000 6 0.209 0.077 2876 1937 2184 0 0 4 0 0 0

9239 0.66 160.5 507.1 8.8 841 9259 0.00 3.72 9.98 0.975 4 0.000 0.082 2876 3532 2144 0 0 5 0 0 0

9393 0.66 160.5 491.1 10.1 855 9402 0.00 3.72 0.00 0.000 6 0.000 0.075 2890 1936 2143 0 0 4 0 0 0

9721 0.66 160.5 459.6 9.7 886 9730 0.00 3.72 0.00 0.000 4 0.000 0.081 2890 3532 2143 0 0 5 0 0 0

9878 0.66 160.5 442.7 11.3 900 9883 0.00 3.70 0.00 0.000 6 0.000 0.076 2906 1946 2143 0 0 4 0 0 0

10202 0.66 160.5 408.5 10.5 930 10207 0.00 3.72 0.00 0.000 4 0.000 0.082 2907 3533 2143 0 0 4 0 0 0

10344 0.58 160.5 392.2 11.5 942 10354 0.17 3.70 0.00 0.000 6 0.209 0.076 2884 1945 2142 0 0 4 0 0 0

10673 0.67 160.5 361.2 9.3 973 10678 0.00 3.70 0.00 0.000 4 0.000 0.081 2884 3532 2142 0 0 5 0 0 0

10838 0.67 160.5 344.4 9.9 987 10844 0.00 3.70 0.00 0.000 6 0.000 0.076 2898 1942 2142 0 0 4 0 0 0

11162 0.67 160.5 314.1 9.6 1017 11168 0.00 3.72 0.00 0.000 4 0.000 0.081 2898 3532 2142 0 0 5 0 0 0

11318 0.67 160.5 297.0 11.1 1030 11325 0.00 3.70 0.00 0.000 6 0.000 0.075 2914 1940 2142 0 0 4 0 0 0

11643 0.67 160.5 262.8 10.3 1061 11649 0.00 3.72 0.00 0.000 4 0.000 0.081 2914 3532 2142 0 0 4 0 0 0

11786 0.59 160.5 246.9 11.4 1073 11796 0.20 3.70 0.00 0.000 6 0.206 0.075 2885 1941 2142 0 0 4 0 0 0

12115 0.73 182.9 216.9 8.2 1104 12146 0.12 3.72 20.25 0.874 4 0.131 0.080 2926 3537 2052 0 0 5 0 0 0

12315 0.66 182.9 193.0 12.1 1122 12325 0.17 3.72 0.00 0.000 6 0.206 0.075 2904 1948 2050 0 0 4 0 0 0

12643 0.75 182.9 161.1 9.8 1153 12653 0.00 3.75 0.00 0.000 4 0.000 0.081 2903 3536 2049 0 0 5 0 0 0

12777 0.75 182.9 147.3 10.1 1165 12783 0.00 3.72 0.00 0.000 6 0.000 0.076 2918 1944 2049 0 0 4 0 0 0

13102 0.82 182.9 116.1 9.8 1195 13112 0.12 3.78 0.00 0.000 4 0.114 0.081 2964 3536 2049 0 0 4 0 0 0

13298 0.68 182.9 91.1 12.5 1218 13304 0.28 3.72 0.00 0.000 6 0.200 0.077 2913 1947 2049 0 0 4 0 0 0

13644 0.84 220.4 63.3 7.6 1279 13686 0.15 3.78 31.70 0.816 4 0.124 0.084 2962 3526 1900 0 0 6 0 0 0

13844 0.76 220.4 40.0 12.4 1315 13851 0.17 3.75 0.00 0.000 6 0.202 0.078 2939 1945 1896 0 0 4 0 0 0

14191 0.83 233.8 6.7 8.6 1376 14215 0.00 3.75 12.07 0.765 4 0.000 0.083 2939 3536 1845 0 0 5 0 0 0

14236 end climb: SURFACE_DEPTH_REACHED

state 14237 begin surface coast

14259 end surface coast: CONTROL_FINISHED_OK

state 14259 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	360	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	18	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	-42651.848	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	193436,6712.609,-5726.689,24,1.4,24,-37.9	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	17	TGT_RADIUS	2000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	194820,6712.604,-5726.981,11,1.7,11,-37.9	MHEAD_RNG_PITCHd_Wd	160.2,33299,-16.9,-9.167
SPEED_LIMITS	0.159,0.253	D_GRID	657

FREEZE	0.60,-1.247,-1.807,0,2,0	ALTIM_TOP_PING	19.9,19.5
FINISH	0.6,1.026520	ALTIM_BOTTOM_PING	651.9,31.1
SM_CCo	14279,73.70,0.765,0,0,1475,325.02	_24V_AH	22.1,66.514
SM_GC	1.45,0.00,0.00,73.70,0.000,0.000,0.765,131,2463,1475,-8.00,0.08,325.02	_10V_AH	10.0,35.505
RAFOS_CLK	960	FG_AHR_24Vo	0.000
RAFOS	0,1261512062,20.033333,20.017221,65,64,57,0,0,0,179,135,114,0,0,0	FG_AHR_10Vo	0.000
RAFOS_FIX	6711.341797,-5731.735840,221209,202056,2,95,1.18	MEM	152460
IRIDIUM_FIX	6647.44,-5727.90,180399,191955	DATA_FILE_SIZE	53616,1388
TT8_MAMPS	0.027612	CAP_FILE_SIZE	169992,0
HUMID	48.22	CFSIZE	260165632,221896704
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,171,0,0
TCM_TEMP	16.50	SOUNDSPEED	1458.2
XPDR_PINGS	4	GPS	221209,234930,6712.685,-5726.351,44,1.4,44,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	299	161.47	SBE_CT	1025	24	543.79
Roll_motor	176	107	418.61	SBE_O2	964	19	405.04
VBD_pump_during_apogee	334	1171	8660.54	nil	0	0	0.00
VBD_pump_during_surface	73	765	1246.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	81	103	185.93	nil	0	0	0.00
Iridium_during_connect	111	160	395.23	nil	0	0	0.00
Iridium_during_xfer	344	223	1696.97
Transponder_ping	3	420	32.49
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.24
TT8	2375	19	473.18
LPSleep	8705	2	201.10
TT8_Active	612	19	121.95
TT8_Sampling	2659	39	1061.55
TT8_CF8	820	45	376.65
TT8_Kalman	0	0	0.00
Analog_circuits	1947	12	233.65
GPS_charging	0	0	0.00
Compass	2607	8	208.56
RAFOS	2520	1	37.80
Transponder	19	30	5.85

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	118	0.00	0.00	-100.28	0.000	2	0.000	0.000	128	2456	3086	0	0	0	0	0	0
121	-0.73	-146.0	3.6	-6.0	20	148	11.52	2.15	-8.90	0.000	4	0.299	0.107	2452	863	3399	0	0	0	0	0	0
368	-0.73	-146.0	35.7	-11.0	64	373	0.00	2.08	0.00	0.000	6	0.000	0.077	2452	2458	3402	0	0	0	0	0	0
713	-0.73	-146.0	71.6	-9.4	125	718	0.00	2.15	0.00	0.000	4	0.000	0.096	2452	851	3402	0	0	0	0	0	0
965	-0.73	-146.0	96.3	-9.7	170	970	0.00	2.10	0.00	0.000	6	0.000	0.077	2453	2466	3402	0	0	0	0	0	0
1297	-0.79	-146.0	125.9	-9.2	205	1301	0.00	2.15	0.00	0.000	4	0.000	0.095	2453	857	3401	0	0	0	0	0	0
1555	-0.84	-146.0	151.2	-10.2	227	1560	0.00	2.08	0.00	0.000	6	0.000	0.077	2453	2461	3402	0	0	0	0	0	0
1879	-0.91	-146.0	180.0	-8.4	258	1884	0.17	2.17	0.00	0.000	4	0.119	0.097	2396	852	3401	0	0	0	0	0	0
2136	-0.81	-146.0	208.5	-11.0	280	2142	0.12	2.08	0.00	0.000	6	0.230	0.078	2423	2460	3401	0	0	0	0	0	0
2461	-0.81	-146.0	236.1	-8.2	311	2466	0.00	3.60	0.00	0.000	4	0.000	0.097	2423	3927	3400	0	0	4	0	0	0
2658	-0.81	-146.0	252.6	-8.1	328	2664	0.00	3.42	0.00	0.000	6	0.000	0.073	2424	2465	3400	0	0	4	0	0	0
2982	-0.81	-146.0	278.0	-7.7	358	2988	0.00	3.55	0.00	0.000	4	0.000	0.094	2423	3918	3400	0	0	5	0	0	0
3239	-0.81	-146.0	298.8	-7.8	380	3246	0.00	3.45	0.00	0.000	6	0.000	0.072	2423	2456	3400	0	0	4	0	0	0
3564	-0.81	-146.0	324.5	-8.2	411	3568	0.00	2.10	0.00	0.000	4	0.000	0.092	2424	857	3400	0	0	0	0	0	0
3822	-0.81	-146.0	348.5	-9.3	434	3826	0.00	2.05	0.00	0.000	6	0.000	0.074	2424	2461	3400	0	0	0	0	0	0
4147	-0.81	-146.0	376.3	-8.4	464	4152	0.00	3.50	0.00	0.000	4	0.000	0.091	2424	3917	3401	0	0	6	0	0	0
4294	-0.81	-146.0	388.9	-8.7	476	4300	0.00	3.35	0.00	0.000	6	0.000	0.069	2423	2461	3401	0	0	3	0	0	0
4618	-0.81	-146.0	415.6	-7.8	507	4623	0.00	3.55	0.00	0.000	4	0.000	0.089	2424	3922	3402	0	0	4	0	0	0
4875	-0.81	-146.0	436.6	-7.7	529	4882	0.00	3.42	0.00	0.000	6	0.000	0.068	2424	2459	3402	0	0	4	0	0	0
5200	-0.81	-146.0	462.6	-8.2	560	5206	0.00	3.53	0.00	0.000	4	0.000	0.089	2424	3927	3402	0	0	6	0	0	0
5217	-0.81	-146.0	464.0	-8.0	561	5223	0.00	3.40	0.00	0.000	6	0.000	0.067	2424	2460	3402	0	0	4	0	0	0
5542	-0.86	-146.0	489.2	-7.7	591	5546	0.00	2.10	0.00	0.000	4	0.000	0.089	2424	848	3403	0	0	0	0	0	0
5720	-0.86	-146.0	505.2	-9.1	606	5726	0.00	2.08	0.00	0.000	6	0.000	0.071	2423	2456	3403	0	0	0	0	0	0
6047	-0.91	-146.0	531.1	-7.8	637	6051	0.00	2.10	0.00	0.000	4	0.000	0.089	2423	850	3403	0	0	0	0	0	0
6304	-0.91	-146.0	553.3	-8.5	659	6310	0.00	2.05	0.00	0.000	6	0.000	0.071	2423	2467	3403	0	0	0	0	0	0
6629	-0.96	-146.0	578.5	-7.8	690	6635	0.15	3.50	0.00	0.000	4	0.107	0.086	2361	3922	3403	0	0	6	0	0	0
6771	-0.80	-146.0	593.2	-10.7	702	6777	0.28	3.40	0.00	0.000	6	0.209	0.067	2424	2459	3404	0	0	4	0	0	0
7108	-0.87	-146.0	619.5	-7.7	718	7112	0.00	2.12	0.00	0.000	4	0.000	0.089	2425	846	3404	0	0	0	0	0	0
7366	-0.87	-146.0	641.6	-8.1	725	7370	0.00	2.08	0.00	0.000	6	0.000	0.070	2425	2459	3404	0	0	0	0	0	0
7590	end dive: TARGET_DEPTH_EXCEEDED
state	7590	begin apogee
7596	-0.16	0.0	658.8	7.5	733	7725	0.77	0.00	125.90	1.172	6	0.183	0.000	2635	1947	2800	0	0	0	0	0	0
7726	end apogee: CONTROL_FINISHED_OK
state	7726	begin climb
7728	0.73	146.0	661.2	0.0	737	7868	0.95	2.15	130.70	1.116	4	0.133	0.093	2920	342	2203	0	0	0	0	0	0
7918	0.64	146.0	645.8	12.1	743	7923	0.00	1.98	0.00	0.000	6	0.000	0.063	2920	1961	2198	0	0	0	0	0	0
8253	0.55	146.0	605.2	12.0	754	8262	0.20	3.78	0.00	0.000	4	0.202	0.079	2858	3538	2195	0	0	6	0	0	0
8409	0.60	146.0	589.5	9.6	764	8419	0.00	3.75	0.00	0.000	6	0.000	0.074	2872	1949	2194	0	0	4	0	0	0
8738	0.69	150.8	559.5	9.0	795	8750	0.12	3.72	3.78	0.676	4	0.120	0.081	2917	3533	2184	0	0	5	0	0	0
8912	0.56	150.8	537.5	13.3	810	8919	0.25	3.72	0.00	0.000	6	0.209	0.077	2876	1937	2184	0	0	4	0	0	0
9239	0.66	160.5	507.1	8.8	841	9259	0.00	3.72	9.98	0.975	4	0.000	0.082	2876	3532	2144	0	0	5	0	0	0
9393	0.66	160.5	491.1	10.1	855	9402	0.00	3.72	0.00	0.000	6	0.000	0.075	2890	1936	2143	0	0	4	0	0	0
9721	0.66	160.5	459.6	9.7	886	9730	0.00	3.72	0.00	0.000	4	0.000	0.081	2890	3532	2143	0	0	5	0	0	0
9878	0.66	160.5	442.7	11.3	900	9883	0.00	3.70	0.00	0.000	6	0.000	0.076	2906	1946	2143	0	0	4	0	0	0
10202	0.66	160.5	408.5	10.5	930	10207	0.00	3.72	0.00	0.000	4	0.000	0.082	2907	3533	2143	0	0	4	0	0	0
10344	0.58	160.5	392.2	11.5	942	10354	0.17	3.70	0.00	0.000	6	0.209	0.076	2884	1945	2142	0	0	4	0	0	0
10673	0.67	160.5	361.2	9.3	973	10678	0.00	3.70	0.00	0.000	4	0.000	0.081	2884	3532	2142	0	0	5	0	0	0
10838	0.67	160.5	344.4	9.9	987	10844	0.00	3.70	0.00	0.000	6	0.000	0.076	2898	1942	2142	0	0	4	0	0	0
11162	0.67	160.5	314.1	9.6	1017	11168	0.00	3.72	0.00	0.000	4	0.000	0.081	2898	3532	2142	0	0	5	0	0	0
11318	0.67	160.5	297.0	11.1	1030	11325	0.00	3.70	0.00	0.000	6	0.000	0.075	2914	1940	2142	0	0	4	0	0	0
11643	0.67	160.5	262.8	10.3	1061	11649	0.00	3.72	0.00	0.000	4	0.000	0.081	2914	3532	2142	0	0	4	0	0	0
11786	0.59	160.5	246.9	11.4	1073	11796	0.20	3.70	0.00	0.000	6	0.206	0.075	2885	1941	2142	0	0	4	0	0	0
12115	0.73	182.9	216.9	8.2	1104	12146	0.12	3.72	20.25	0.874	4	0.131	0.080	2926	3537	2052	0	0	5	0	0	0
12315	0.66	182.9	193.0	12.1	1122	12325	0.17	3.72	0.00	0.000	6	0.206	0.075	2904	1948	2050	0	0	4	0	0	0
12643	0.75	182.9	161.1	9.8	1153	12653	0.00	3.75	0.00	0.000	4	0.000	0.081	2903	3536	2049	0	0	5	0	0	0
12777	0.75	182.9	147.3	10.1	1165	12783	0.00	3.72	0.00	0.000	6	0.000	0.076	2918	1944	2049	0	0	4	0	0	0
13102	0.82	182.9	116.1	9.8	1195	13112	0.12	3.78	0.00	0.000	4	0.114	0.081	2964	3536	2049	0	0	4	0	0	0
13298	0.68	182.9	91.1	12.5	1218	13304	0.28	3.72	0.00	0.000	6	0.200	0.077	2913	1947	2049	0	0	4	0	0	0
13644	0.84	220.4	63.3	7.6	1279	13686	0.15	3.78	31.70	0.816	4	0.124	0.084	2962	3526	1900	0	0	6	0	0	0
13844	0.76	220.4	40.0	12.4	1315	13851	0.17	3.75	0.00	0.000	6	0.202	0.078	2939	1945	1896	0	0	4	0	0	0
14191	0.83	233.8	6.7	8.6	1376	14215	0.00	3.75	12.07	0.765	4	0.000	0.083	2939	3536	1845	0	0	5	0	0	0
14236	end climb: SURFACE_DEPTH_REACHED
state	14237	begin surface coast
14259	end surface coast: CONTROL_FINISHED_OK
state	14259	begin surface