Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 368 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 ROLL_MIN 294 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 14 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_TURN_MARGIN 5

DIVE 368 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 5

D_SURF 4 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 605.89099 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 4

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 26 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 42 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 300 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 588 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3951 DEVICE1 2

T_DIVE 330 CALL_TRIES 3 C_VBD 3058 DEVICE2 20

T_MISSION 440 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 540 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 -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 2 T_GPS_CHARGE -183620.92 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 60 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 900 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 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3112 FG_AHR_24V 0 SEABIRD_T_G 0.0043387706

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063929392

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -21.817678 SEABIRD_T_I 2.2459495e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_J 2.0328812e-06

NAV_MODE 0 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -10.121161

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1529624

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.002153415

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002365096

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 0 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 605.89099

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.0046000001 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 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 5 FG_AHR_10V 0 PITCH_MIN 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 20 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 0.0001161151 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -21.817678 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -183620.92

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 64 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 440

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 1.027 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 108 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_PITCH 3112 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -2

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 2

C_VBD 3058 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 294 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 26 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 42 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.121161 VBD_MIN 588

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1529624 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I -0.002153415 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002365096 VBD_TIMEOUT 540

DIVE 368 NAV_MODE 0 SEABIRD_T_G 0.0043387706 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 8 SEABIRD_T_H 0.00063929392 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.2459495e-05 XPDR_VALID 4

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 213941,6647.688,-6026.057,24,1.7,29,-38.2 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 2.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 214614,6647.660,-6025.998,11,1.8,11,-38.2 MHEAD_RNG_PITCHd_Wd 118.0,159969,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 534

Post-dive calculations and measurements:

FREEZE 1.93,3.949,-0.732,0,1,0 ALTIM_TOP_PING 19.9,18.2

FINISH 1.9,1.010723 _24V_AH 22.3,66.717

SM_CCo 12484,81.12,0.825,0,0,587,605.89 _10V_AH 10.0,34.927

SM_GC 2.88,0.00,0.00,81.12,0.000,0.000,0.825,337,2255,587,-12.77,0.14,605.89 FG_AHR_24Vo 0.000

RAFOS_CLK 514 FG_AHR_10Vo 0.000

RAFOS 0,1282608065,0.033333,0.018056,76,75,56,50,50,49,610,611,1414,1147,1414,1150 MEM 135624

RAFOS_FIX 6648.520020,-6022.272461,240810,000025,7,87,0.33 DATA_FILE_SIZE 50493,1328

IRIDIUM_FIX 6620.33,-6025.46,171199,181808 CAP_FILE_SIZE 145193,0

TT8_MAMPS 0.026845 CFSIZE 260165632,216412160

HUMID 42.12 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 10.0883 SOUNDSPEED 1453.3

TCM_TEMP 15.40 GPS 240810,011755,6649.711,-6023.389,38,1.5,38,-38.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 232 104.04 SBE_CT 948 24 507.55

Roll_motor 109 228 558.00 SBE_O2 966 19 409.39

VBD_pump_during_apogee 566 1151 14541.97 nil 0 0 0.00

VBD_pump_during_surface 81 825 1493.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 62.83 nil 0 0 0.00

Iridium_during_connect 35 160 126.75 nil 0 0 0.00

Iridium_during_xfer 175 223 872.61

Transponder_ping 1 420 16.39

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.58

TT8 2121 19 422.65

LPSleep 7425 2 171.53

TT8_Active 727 19 144.89

TT8_Sampling 2100 39 838.64

TT8_CF8 599 45 275.19

TT8_Kalman 0 0 0.00

Analog_circuits 1876 12 225.13

GPS_charging 0 0 0.00

Compass 2074 8 165.98

RAFOS 2520 3 75.60

Transponder 14 30 4.30

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.78 -146.1 0.0 0.0 0 38 0.00 0.00 -20.12 0.000 2 0.000 0.000 340 2284 1047 0 0 0 0 0 0

42 -0.78 -146.1 3.0 -0.7 4 176 10.20 2.20 -112.97 0.000 4 0.232 0.094 2927 3578 3657 0 0 0 0 0 0

239 -0.78 -146.1 21.3 -19.3 41 245 0.00 2.15 0.00 0.000 6 0.000 0.056 2927 2244 3661 0 0 0 0 0 0

583 -0.78 -146.1 66.2 -12.4 102 589 0.00 2.28 0.00 0.000 4 0.000 0.066 2927 831 3664 0 0 0 0 0 0

652 -0.78 -146.1 74.3 -11.3 114 658 0.10 2.33 0.00 0.000 6 0.158 0.069 2946 2229 3665 0 0 0 0 0 0

993 -0.78 -146.1 107.1 -9.2 168 997 0.00 2.25 0.00 0.000 4 0.000 0.081 2937 3607 3665 0 0 0 0 0 0

1027 -0.78 -146.1 110.2 -9.3 170 1032 0.00 2.17 0.00 0.000 6 0.000 0.056 2937 2241 3665 0 0 0 0 0 0

1352 -0.78 -146.1 142.8 -9.8 201 1356 0.00 2.25 0.00 0.000 4 0.000 0.079 2928 3596 3665 0 0 0 0 0 0

1408 -0.78 -146.1 148.7 -10.9 205 1413 0.00 2.15 0.00 0.000 6 0.000 0.058 2928 2250 3665 0 0 0 0 0 0

1734 -0.78 -146.1 182.0 -10.4 236 1738 0.00 2.30 0.00 0.000 4 0.000 0.068 2928 838 3665 0 0 0 0 0 0

1790 -0.78 -146.1 188.2 -10.3 240 1796 0.10 2.38 0.00 0.000 6 0.156 0.072 2947 2263 3665 0 0 0 0 0 0

2115 -0.78 -146.1 216.4 -8.2 271 2119 0.00 2.20 0.00 0.000 4 0.000 0.084 2938 3602 3664 0 0 0 0 0 0

2138 -0.78 -146.1 218.4 -8.5 272 2143 0.00 2.17 0.00 0.000 6 0.000 0.057 2938 2239 3664 0 0 0 0 0 0

2463 -0.78 -146.1 245.3 -8.1 303 2464 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 2237 3664 0 0 0 0 0 0

2784 -0.78 -146.1 270.3 -7.7 333 2789 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 2237 3663 0 0 0 0 0 0

3113 -0.78 -146.1 294.0 -7.1 364 3118 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 2237 3663 0 0 0 0 0 0

3441 -0.78 -146.1 319.0 -8.3 395 3446 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 2237 3662 0 0 0 0 0 0

3769 -0.78 -146.1 344.4 -7.2 426 3770 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 2237 3662 0 0 0 0 0 0

4087 -0.78 -146.1 365.9 -6.7 456 4091 0.00 2.25 0.00 0.000 4 0.000 0.068 2937 842 3662 0 0 0 0 0 0

4121 -0.78 -146.1 368.6 -7.1 458 4126 0.00 2.35 0.00 0.000 6 0.000 0.070 2929 2255 3662 0 0 0 0 0 0

4446 -0.78 -146.1 392.1 -7.5 489 4450 0.00 2.20 0.00 0.000 4 0.000 0.081 2919 3602 3662 0 0 0 0 0 0

4514 -0.78 -146.1 397.6 -8.5 494 4520 0.10 2.15 0.00 0.000 6 0.146 0.055 2949 2244 3663 0 0 0 0 0 0

4839 -0.78 -146.1 417.7 -5.7 525 4840 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2244 3662 0 0 0 0 0 0

5160 -0.78 -146.1 436.6 -6.4 555 5161 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2244 3662 0 0 0 0 0 0

5480 -0.78 -146.1 456.1 -6.5 585 5485 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2244 3663 0 0 0 0 0 0

5808 -0.78 -146.1 477.1 -6.2 616 5813 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2244 3664 0 0 0 0 0 0

6135 -0.78 -146.1 496.8 -5.9 647 6139 0.00 2.25 0.00 0.000 4 0.000 0.066 2948 843 3664 0 0 0 0 0 0

6164 -0.78 -146.1 498.6 -6.4 649 6168 0.00 2.35 0.00 0.000 6 0.000 0.068 2942 2261 3664 0 0 0 0 0 0

6489 -0.78 -146.1 520.1 -7.0 679 6493 0.00 2.17 0.00 0.000 4 0.000 0.078 2932 3598 3664 0 0 0 0 0 0

6541 -0.78 -146.1 523.6 -6.4 683 6545 0.00 2.15 0.00 0.000 6 0.000 0.054 2932 2240 3664 0 0 0 0 0 0

6709 end dive: TARGET_DEPTH_EXCEEDED

state 6709 begin apogee

6717 -0.17 0.0 534.6 7.3 699 6843 0.43 0.00 122.35 1.151 6 0.110 0.000 3077 2202 3058 0 0 0 0 0 0

6844 end apogee: CONTROL_FINISHED_OK

state 6844 begin climb

6847 0.78 146.1 539.6 0.0 712 6982 0.57 2.55 125.72 1.087 4 0.064 0.072 3287 3586 2461 0 0 0 0 0 0

6995 0.85 197.9 533.9 7.6 726 7049 0.00 2.45 46.97 1.042 6 0.000 0.050 3296 2195 2251 0 0 0 0 0 0

7375 0.88 221.9 499.2 8.9 762 7401 0.00 2.38 21.00 1.022 4 0.000 0.061 3307 786 2152 0 0 0 0 0 0

7425 0.90 238.0 494.5 9.3 766 7447 0.00 2.45 15.55 0.984 6 0.000 0.064 3307 2212 2087 0 0 0 0 0 0

7765 0.90 238.0 459.1 10.0 798 7769 0.00 2.28 0.00 0.000 4 0.000 0.074 3307 3600 2084 0 0 0 0 0 0

7811 0.90 238.0 454.0 12.2 801 7816 0.00 2.25 0.00 0.000 6 0.000 0.051 3316 2195 2083 0 0 0 0 0 0

8135 0.90 238.0 418.6 10.7 832 8139 0.00 2.25 0.00 0.000 4 0.000 0.061 3327 786 2083 0 0 0 0 0 0

8174 0.90 238.0 414.3 11.4 835 8180 0.00 2.35 0.00 0.000 6 0.000 0.063 3327 2209 2083 0 0 0 0 0 0

8499 0.90 238.0 378.6 11.1 866 8503 0.00 2.25 0.00 0.000 4 0.000 0.074 3327 3605 2082 0 0 0 0 0 0

8532 0.90 238.0 374.6 12.4 868 8538 0.12 2.22 0.00 0.000 6 0.165 0.051 3303 2195 2081 0 0 0 0 0 0

8857 0.93 265.1 345.3 8.8 899 8888 0.00 2.30 22.90 1.002 4 0.000 0.061 3312 796 1977 0 0 0 0 0 0

8911 0.96 293.8 340.6 8.7 904 8943 0.00 2.33 26.12 0.988 6 0.000 0.063 3312 2200 1860 0 0 0 0 0 0

9262 0.97 299.5 306.4 9.7 937 9273 0.00 2.28 4.97 0.726 4 0.000 0.074 3312 3596 1837 0 0 0 0 0 0

9302 0.97 299.5 302.1 11.3 940 9307 0.00 2.22 0.00 0.000 6 0.000 0.051 3321 2198 1837 0 0 0 0 0 0

9626 0.97 299.5 269.3 10.1 971 9630 0.00 2.22 0.00 0.000 4 0.000 0.061 3332 792 1837 0 0 0 0 0 0

9679 0.98 304.6 264.1 9.8 975 9690 0.00 2.33 5.85 0.769 6 0.000 0.063 3332 2204 1816 0 0 0 0 0 0

10008 0.98 304.6 228.2 10.9 1006 10012 0.00 2.25 0.00 0.000 4 0.000 0.074 3332 3598 1816 0 0 0 0 0 0

10038 0.98 304.6 224.9 11.3 1008 10042 0.00 2.20 0.00 0.000 6 0.000 0.052 3342 2199 1816 0 0 0 0 0 0

10369 0.98 304.6 187.9 10.9 1039 10374 0.00 2.22 0.00 0.000 4 0.000 0.063 3352 792 1816 0 0 0 0 0 0

10437 0.98 304.6 180.5 10.4 1044 10443 0.12 2.33 0.00 0.000 6 0.155 0.064 3317 2205 1816 0 0 0 0 0 0

10762 1.03 347.8 152.8 8.0 1075 10807 0.00 2.33 38.15 0.927 4 0.000 0.077 3317 3588 1640 0 0 0 0 0 0

10831 1.05 366.2 147.0 9.2 1081 10857 0.00 2.25 17.25 0.858 6 0.000 0.053 3324 2197 1565 0 0 0 0 0 0

11176 1.10 405.6 118.1 8.2 1114 11218 0.10 2.33 34.25 0.888 4 0.106 0.065 3385 790 1404 0 0 0 0 0 0

11255 1.10 405.6 109.3 12.3 1121 11260 0.12 2.38 0.00 0.000 6 0.153 0.066 3352 2197 1403 0 0 0 0 0 0

11594 1.12 423.9 77.0 9.2 1173 11615 0.00 2.30 16.02 0.846 4 0.000 0.077 3352 3603 1328 0 0 0 0 0 0

11650 1.12 423.9 71.7 10.9 1183 11655 0.00 2.28 0.00 0.000 6 0.000 0.055 3359 2196 1327 0 0 0 0 0 0

11994 1.18 470.4 42.2 7.9 1244 12040 0.00 2.33 39.50 0.866 4 0.000 0.068 3361 789 1140 0 0 0 0 0 0

12095 1.22 505.5 34.6 8.4 1262 12132 0.00 2.40 29.80 0.828 6 0.000 0.067 3361 2206 997 0 0 0 0 0 0

12418 end climb: SURFACE_DEPTH_REACHED

state 12418 begin surface coast

12464 end surface coast: CONTROL_FINISHED_OK

state 12464 begin surface

ID	108	HEADING	-1	ROLL_MIN	294	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	14	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_TURN_MARGIN	5
DIVE	368	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	5
D_SURF	4	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	605.89099	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	4
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	26	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	42	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	300	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	588	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3951	DEVICE1	2
T_DIVE	330	CALL_TRIES	3	C_VBD	3058	DEVICE2	20
T_MISSION	440	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	540	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	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	2	T_GPS_CHARGE	-183620.92	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	60	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	900	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	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3112	FG_AHR_24V	0	SEABIRD_T_G	0.0043387706
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063929392
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-21.817678	SEABIRD_T_I	2.2459495e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_J	2.0328812e-06
NAV_MODE	0	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-10.121161
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1529624
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.002153415
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002365096
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	20

GPS1	213941,6647.688,-6026.057,24,1.7,29,-38.2	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	2.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	214614,6647.660,-6025.998,11,1.8,11,-38.2	MHEAD_RNG_PITCHd_Wd	118.0,159969,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	534

FREEZE	1.93,3.949,-0.732,0,1,0	ALTIM_TOP_PING	19.9,18.2
FINISH	1.9,1.010723	_24V_AH	22.3,66.717
SM_CCo	12484,81.12,0.825,0,0,587,605.89	_10V_AH	10.0,34.927
SM_GC	2.88,0.00,0.00,81.12,0.000,0.000,0.825,337,2255,587,-12.77,0.14,605.89	FG_AHR_24Vo	0.000
RAFOS_CLK	514	FG_AHR_10Vo	0.000
RAFOS	0,1282608065,0.033333,0.018056,76,75,56,50,50,49,610,611,1414,1147,1414,1150	MEM	135624
RAFOS_FIX	6648.520020,-6022.272461,240810,000025,7,87,0.33	DATA_FILE_SIZE	50493,1328
IRIDIUM_FIX	6620.33,-6025.46,171199,181808	CAP_FILE_SIZE	145193,0
TT8_MAMPS	0.026845	CFSIZE	260165632,216412160
HUMID	42.12	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	10.0883	SOUNDSPEED	1453.3
TCM_TEMP	15.40	GPS	240810,011755,6649.711,-6023.389,38,1.5,38,-38.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	232	104.04	SBE_CT	948	24	507.55
Roll_motor	109	228	558.00	SBE_O2	966	19	409.39
VBD_pump_during_apogee	566	1151	14541.97	nil	0	0	0.00
VBD_pump_during_surface	81	825	1493.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	62.83	nil	0	0	0.00
Iridium_during_connect	35	160	126.75	nil	0	0	0.00
Iridium_during_xfer	175	223	872.61
Transponder_ping	1	420	16.39
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.58
TT8	2121	19	422.65
LPSleep	7425	2	171.53
TT8_Active	727	19	144.89
TT8_Sampling	2100	39	838.64
TT8_CF8	599	45	275.19
TT8_Kalman	0	0	0.00
Analog_circuits	1876	12	225.13
GPS_charging	0	0	0.00
Compass	2074	8	165.98
RAFOS	2520	3	75.60
Transponder	14	30	4.30

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.78	-146.1	0.0	0.0	0	38	0.00	0.00	-20.12	0.000	2	0.000	0.000	340	2284	1047	0	0	0	0	0	0
42	-0.78	-146.1	3.0	-0.7	4	176	10.20	2.20	-112.97	0.000	4	0.232	0.094	2927	3578	3657	0	0	0	0	0	0
239	-0.78	-146.1	21.3	-19.3	41	245	0.00	2.15	0.00	0.000	6	0.000	0.056	2927	2244	3661	0	0	0	0	0	0
583	-0.78	-146.1	66.2	-12.4	102	589	0.00	2.28	0.00	0.000	4	0.000	0.066	2927	831	3664	0	0	0	0	0	0
652	-0.78	-146.1	74.3	-11.3	114	658	0.10	2.33	0.00	0.000	6	0.158	0.069	2946	2229	3665	0	0	0	0	0	0
993	-0.78	-146.1	107.1	-9.2	168	997	0.00	2.25	0.00	0.000	4	0.000	0.081	2937	3607	3665	0	0	0	0	0	0
1027	-0.78	-146.1	110.2	-9.3	170	1032	0.00	2.17	0.00	0.000	6	0.000	0.056	2937	2241	3665	0	0	0	0	0	0
1352	-0.78	-146.1	142.8	-9.8	201	1356	0.00	2.25	0.00	0.000	4	0.000	0.079	2928	3596	3665	0	0	0	0	0	0
1408	-0.78	-146.1	148.7	-10.9	205	1413	0.00	2.15	0.00	0.000	6	0.000	0.058	2928	2250	3665	0	0	0	0	0	0
1734	-0.78	-146.1	182.0	-10.4	236	1738	0.00	2.30	0.00	0.000	4	0.000	0.068	2928	838	3665	0	0	0	0	0	0
1790	-0.78	-146.1	188.2	-10.3	240	1796	0.10	2.38	0.00	0.000	6	0.156	0.072	2947	2263	3665	0	0	0	0	0	0
2115	-0.78	-146.1	216.4	-8.2	271	2119	0.00	2.20	0.00	0.000	4	0.000	0.084	2938	3602	3664	0	0	0	0	0	0
2138	-0.78	-146.1	218.4	-8.5	272	2143	0.00	2.17	0.00	0.000	6	0.000	0.057	2938	2239	3664	0	0	0	0	0	0
2463	-0.78	-146.1	245.3	-8.1	303	2464	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	2237	3664	0	0	0	0	0	0
2784	-0.78	-146.1	270.3	-7.7	333	2789	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	2237	3663	0	0	0	0	0	0
3113	-0.78	-146.1	294.0	-7.1	364	3118	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	2237	3663	0	0	0	0	0	0
3441	-0.78	-146.1	319.0	-8.3	395	3446	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	2237	3662	0	0	0	0	0	0
3769	-0.78	-146.1	344.4	-7.2	426	3770	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	2237	3662	0	0	0	0	0	0
4087	-0.78	-146.1	365.9	-6.7	456	4091	0.00	2.25	0.00	0.000	4	0.000	0.068	2937	842	3662	0	0	0	0	0	0
4121	-0.78	-146.1	368.6	-7.1	458	4126	0.00	2.35	0.00	0.000	6	0.000	0.070	2929	2255	3662	0	0	0	0	0	0
4446	-0.78	-146.1	392.1	-7.5	489	4450	0.00	2.20	0.00	0.000	4	0.000	0.081	2919	3602	3662	0	0	0	0	0	0
4514	-0.78	-146.1	397.6	-8.5	494	4520	0.10	2.15	0.00	0.000	6	0.146	0.055	2949	2244	3663	0	0	0	0	0	0
4839	-0.78	-146.1	417.7	-5.7	525	4840	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2244	3662	0	0	0	0	0	0
5160	-0.78	-146.1	436.6	-6.4	555	5161	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2244	3662	0	0	0	0	0	0
5480	-0.78	-146.1	456.1	-6.5	585	5485	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2244	3663	0	0	0	0	0	0
5808	-0.78	-146.1	477.1	-6.2	616	5813	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2244	3664	0	0	0	0	0	0
6135	-0.78	-146.1	496.8	-5.9	647	6139	0.00	2.25	0.00	0.000	4	0.000	0.066	2948	843	3664	0	0	0	0	0	0
6164	-0.78	-146.1	498.6	-6.4	649	6168	0.00	2.35	0.00	0.000	6	0.000	0.068	2942	2261	3664	0	0	0	0	0	0
6489	-0.78	-146.1	520.1	-7.0	679	6493	0.00	2.17	0.00	0.000	4	0.000	0.078	2932	3598	3664	0	0	0	0	0	0
6541	-0.78	-146.1	523.6	-6.4	683	6545	0.00	2.15	0.00	0.000	6	0.000	0.054	2932	2240	3664	0	0	0	0	0	0
6709	end dive: TARGET_DEPTH_EXCEEDED
state	6709	begin apogee
6717	-0.17	0.0	534.6	7.3	699	6843	0.43	0.00	122.35	1.151	6	0.110	0.000	3077	2202	3058	0	0	0	0	0	0
6844	end apogee: CONTROL_FINISHED_OK
state	6844	begin climb
6847	0.78	146.1	539.6	0.0	712	6982	0.57	2.55	125.72	1.087	4	0.064	0.072	3287	3586	2461	0	0	0	0	0	0
6995	0.85	197.9	533.9	7.6	726	7049	0.00	2.45	46.97	1.042	6	0.000	0.050	3296	2195	2251	0	0	0	0	0	0
7375	0.88	221.9	499.2	8.9	762	7401	0.00	2.38	21.00	1.022	4	0.000	0.061	3307	786	2152	0	0	0	0	0	0
7425	0.90	238.0	494.5	9.3	766	7447	0.00	2.45	15.55	0.984	6	0.000	0.064	3307	2212	2087	0	0	0	0	0	0
7765	0.90	238.0	459.1	10.0	798	7769	0.00	2.28	0.00	0.000	4	0.000	0.074	3307	3600	2084	0	0	0	0	0	0
7811	0.90	238.0	454.0	12.2	801	7816	0.00	2.25	0.00	0.000	6	0.000	0.051	3316	2195	2083	0	0	0	0	0	0
8135	0.90	238.0	418.6	10.7	832	8139	0.00	2.25	0.00	0.000	4	0.000	0.061	3327	786	2083	0	0	0	0	0	0
8174	0.90	238.0	414.3	11.4	835	8180	0.00	2.35	0.00	0.000	6	0.000	0.063	3327	2209	2083	0	0	0	0	0	0
8499	0.90	238.0	378.6	11.1	866	8503	0.00	2.25	0.00	0.000	4	0.000	0.074	3327	3605	2082	0	0	0	0	0	0
8532	0.90	238.0	374.6	12.4	868	8538	0.12	2.22	0.00	0.000	6	0.165	0.051	3303	2195	2081	0	0	0	0	0	0
8857	0.93	265.1	345.3	8.8	899	8888	0.00	2.30	22.90	1.002	4	0.000	0.061	3312	796	1977	0	0	0	0	0	0
8911	0.96	293.8	340.6	8.7	904	8943	0.00	2.33	26.12	0.988	6	0.000	0.063	3312	2200	1860	0	0	0	0	0	0
9262	0.97	299.5	306.4	9.7	937	9273	0.00	2.28	4.97	0.726	4	0.000	0.074	3312	3596	1837	0	0	0	0	0	0
9302	0.97	299.5	302.1	11.3	940	9307	0.00	2.22	0.00	0.000	6	0.000	0.051	3321	2198	1837	0	0	0	0	0	0
9626	0.97	299.5	269.3	10.1	971	9630	0.00	2.22	0.00	0.000	4	0.000	0.061	3332	792	1837	0	0	0	0	0	0
9679	0.98	304.6	264.1	9.8	975	9690	0.00	2.33	5.85	0.769	6	0.000	0.063	3332	2204	1816	0	0	0	0	0	0
10008	0.98	304.6	228.2	10.9	1006	10012	0.00	2.25	0.00	0.000	4	0.000	0.074	3332	3598	1816	0	0	0	0	0	0
10038	0.98	304.6	224.9	11.3	1008	10042	0.00	2.20	0.00	0.000	6	0.000	0.052	3342	2199	1816	0	0	0	0	0	0
10369	0.98	304.6	187.9	10.9	1039	10374	0.00	2.22	0.00	0.000	4	0.000	0.063	3352	792	1816	0	0	0	0	0	0
10437	0.98	304.6	180.5	10.4	1044	10443	0.12	2.33	0.00	0.000	6	0.155	0.064	3317	2205	1816	0	0	0	0	0	0
10762	1.03	347.8	152.8	8.0	1075	10807	0.00	2.33	38.15	0.927	4	0.000	0.077	3317	3588	1640	0	0	0	0	0	0
10831	1.05	366.2	147.0	9.2	1081	10857	0.00	2.25	17.25	0.858	6	0.000	0.053	3324	2197	1565	0	0	0	0	0	0
11176	1.10	405.6	118.1	8.2	1114	11218	0.10	2.33	34.25	0.888	4	0.106	0.065	3385	790	1404	0	0	0	0	0	0
11255	1.10	405.6	109.3	12.3	1121	11260	0.12	2.38	0.00	0.000	6	0.153	0.066	3352	2197	1403	0	0	0	0	0	0
11594	1.12	423.9	77.0	9.2	1173	11615	0.00	2.30	16.02	0.846	4	0.000	0.077	3352	3603	1328	0	0	0	0	0	0
11650	1.12	423.9	71.7	10.9	1183	11655	0.00	2.28	0.00	0.000	6	0.000	0.055	3359	2196	1327	0	0	0	0	0	0
11994	1.18	470.4	42.2	7.9	1244	12040	0.00	2.33	39.50	0.866	4	0.000	0.068	3361	789	1140	0	0	0	0	0	0
12095	1.22	505.5	34.6	8.4	1262	12132	0.00	2.40	29.80	0.828	6	0.000	0.067	3361	2206	997	0	0	0	0	0	0
12418	end climb: SURFACE_DEPTH_REACHED
state	12418	begin surface coast
12464	end surface coast: CONTROL_FINISHED_OK
state	12464	begin surface