Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 373 * 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 373 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 30 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 18 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 -183693.66 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 -183693.66

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 30 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 373 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 164017,6650.890,-6010.960,31,1.4,42,-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 2.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 164702,6650.877,-6010.991,10,1.1,10,-38.2 MHEAD_RNG_PITCHd_Wd 119.5,148298,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 611

Post-dive calculations and measurements:

FREEZE 1.93,2.616,-1.653,0,1,0 ALTIM_TOP_PING 19.9,18.1

FINISH 1.9,1.024112 _24V_AH 22.1,67.734

SM_CCo 14165,73.03,0.819,0,0,587,605.89 _10V_AH 10.0,35.336

SM_GC 2.82,0.00,0.00,73.03,0.000,0.000,0.819,340,2253,587,-12.75,0.08,605.89 FG_AHR_24Vo 0.000

RAFOS_CLK 586 FG_AHR_10Vo 0.000

RAFOS 4,1282667588,16.566668,16.552221,136,113,42,42,40,39,685,686,1290,810,1759,1742 MEM 135660

RAFOS_FIX 6649.933594,-6009.460938,240810,161632,6,124,0.00 DATA_FILE_SIZE 56612,1452

IRIDIUM_FIX 6620.33,-6015.31,181199,131335 CAP_FILE_SIZE 149609,0

TT8_MAMPS 0.029913 CFSIZE 260165632,216010752

HUMID 41.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 10.098 SOUNDSPEED 1453.6

TCM_TEMP 15.50 GPS 240810,204637,6650.279,-6007.502,33,0.9,33,-38.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 233 104.82 SBE_CT 1056 24 560.50

Roll_motor 81 131 238.71 SBE_O2 1041 19 437.19

VBD_pump_during_apogee 577 1203 15361.65 nil 0 0 0.00

VBD_pump_during_surface 73 819 1322.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 64.77 nil 0 0 0.00

Iridium_during_connect 33 160 118.20 nil 0 0 0.00

Iridium_during_xfer 190 223 937.05

Transponder_ping 2 420 18.56

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.24

TT8 2323 19 462.77

LPSleep 8711 2 201.23

TT8_Active 748 19 149.08

TT8_Sampling 2234 39 891.90

TT8_CF8 645 45 296.59

TT8_Kalman 0 0 0.00

Analog_circuits 1933 12 232.00

GPS_charging 0 0 0.00

Compass 2218 8 177.51

RAFOS 2520 3 75.60

Transponder 17 30 5.14

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 -0.78 -146.1 0.0 0.0 0 62 0.00 0.00 -44.28 0.000 2 0.000 0.000 335 2252 1609 0 0 0 0 0 0

66 -0.78 -146.1 3.1 -1.0 9 191 10.27 2.35 -105.15 0.000 4 0.234 0.077 2935 837 3655 0 0 0 0 0 0

383 -0.78 -146.1 35.1 -11.1 67 389 0.00 2.38 0.00 0.000 6 0.000 0.069 2928 2258 3660 0 0 0 0 0 0

727 -0.78 -146.1 76.0 -11.3 128 733 0.00 2.17 0.00 0.000 4 0.000 0.079 2918 3606 3662 0 0 0 0 0 0

823 -0.78 -146.1 88.1 -12.6 145 830 0.10 2.17 0.00 0.000 6 0.160 0.055 2945 2244 3663 0 0 0 0 0 0

1157 -0.78 -146.1 120.5 -9.5 186 1158 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2243 3663 0 0 0 0 0 0

1477 -0.78 -146.1 149.5 -9.1 216 1481 0.00 2.28 0.00 0.000 4 0.000 0.068 2945 832 3663 0 0 0 0 0 0

1522 -0.78 -146.1 153.9 -8.8 219 1528 0.00 2.38 0.00 0.000 6 0.000 0.071 2938 2263 3662 0 0 0 0 0 0

1847 -0.78 -146.1 182.3 -8.6 250 1851 0.00 2.17 0.00 0.000 4 0.000 0.083 2928 3595 3662 0 0 0 0 0 0

1893 -0.78 -146.1 186.8 -9.5 253 1899 0.00 2.15 0.00 0.000 6 0.000 0.059 2928 2247 3662 0 0 0 0 0 0

2218 -0.78 -146.1 217.4 -9.6 284 2219 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2247 3662 0 0 0 0 0 0

2541 -0.78 -146.1 247.1 -9.4 314 2545 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2247 3661 0 0 0 0 0 0

2868 -0.78 -146.1 275.8 -8.5 345 2869 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2247 3661 0 0 0 0 0 0

3187 -0.78 -146.1 302.5 -8.2 375 3191 0.00 2.25 0.00 0.000 4 0.000 0.069 2928 839 3660 0 0 0 0 0 0

3215 -0.78 -146.1 305.2 -8.4 377 3220 0.10 2.38 0.00 0.000 6 0.153 0.072 2947 2263 3660 0 0 0 0 0 0

3541 -0.78 -146.1 328.3 -7.2 407 3545 0.00 2.17 0.00 0.000 4 0.000 0.082 2939 3606 3660 0 0 0 0 0 0

3570 -0.78 -146.1 330.5 -8.0 409 3574 0.00 2.17 0.00 0.000 6 0.000 0.057 2939 2243 3660 0 0 0 0 0 0

3895 -0.78 -146.1 356.5 -8.4 439 3896 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2243 3660 0 0 0 0 0 0

4216 -0.78 -146.1 382.0 -7.7 469 4217 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2243 3660 0 0 0 0 0 0

4535 -0.78 -146.1 406.4 -7.9 499 4539 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 2243 3660 0 0 0 0 0 0

4862 -0.78 -146.1 432.4 -8.0 530 4863 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2243 3660 0 0 0 0 0 0

5181 -0.78 -146.1 456.6 -7.3 560 5186 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2243 3660 0 0 0 0 0 0

5509 -0.78 -146.1 478.4 -6.1 591 5513 0.00 2.28 0.00 0.000 4 0.000 0.067 2939 829 3660 0 0 0 0 0 0

5532 -0.78 -146.1 480.2 -6.7 592 5537 0.00 2.35 0.00 0.000 6 0.000 0.069 2930 2252 3661 0 0 0 0 0 0

5857 -0.78 -146.1 502.6 -7.3 623 5861 0.00 2.20 0.00 0.000 4 0.000 0.079 2919 3604 3661 0 0 0 0 0 0

5891 -0.78 -146.1 505.3 -8.7 625 5898 0.10 2.15 0.00 0.000 6 0.146 0.054 2949 2245 3661 0 0 0 0 0 0

6216 -0.78 -146.1 526.3 -6.7 656 6220 0.00 2.25 0.00 0.000 4 0.000 0.065 2948 841 3661 0 0 0 0 0 0

6245 -0.78 -146.1 528.3 -7.0 658 6249 0.00 2.35 0.00 0.000 6 0.000 0.067 2942 2261 3661 0 0 0 0 0 0

6571 -0.78 -146.1 550.4 -6.9 688 6575 0.00 2.17 0.00 0.000 4 0.000 0.077 2932 3604 3662 0 0 0 0 0 0

6624 -0.78 -146.1 554.0 -7.3 692 6627 0.00 2.15 0.00 0.000 6 0.000 0.052 2932 2240 3661 0 0 0 0 0 0

6949 -0.78 -146.1 576.2 -6.8 722 6950 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 2239 3662 0 0 0 0 0 0

7270 -0.78 -146.1 597.5 -6.9 752 7275 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 2239 3662 0 0 0 0 0 0

7489 end dive: TARGET_DEPTH_EXCEEDED

state 7489 begin apogee

7496 -0.17 0.0 612.8 6.7 762 7622 0.45 0.00 123.45 1.203 6 0.112 0.000 3080 2238 3058 0 0 0 0 0 0

7623 end apogee: CONTROL_FINISHED_OK

state 7623 begin climb

7627 0.78 146.1 617.2 0.0 766 7764 0.60 0.00 128.25 1.135 6 0.062 0.000 3292 2238 2461 0 0 0 0 0 0

8074 0.82 175.6 587.7 8.6 789 8106 0.00 2.45 25.92 1.094 4 0.000 0.063 3303 797 2341 0 0 0 0 0 0

8142 0.84 189.8 581.9 9.4 795 8163 0.00 2.42 13.80 1.022 6 0.000 0.065 3303 2211 2283 0 0 0 0 0 0

8483 0.84 192.7 548.7 9.9 827 8494 0.00 2.33 3.42 0.614 4 0.000 0.075 3303 3602 2273 0 0 0 0 0 0

8540 0.84 192.7 542.1 12.4 832 8544 0.00 2.25 0.00 0.000 6 0.000 0.051 3313 2190 2274 0 0 0 0 0 0

8871 0.84 192.7 507.7 10.3 863 8872 0.00 0.00 0.00 0.000 6 0.000 0.000 3313 2189 2274 0 0 0 0 0 0

9191 0.84 192.7 475.2 10.1 893 9192 0.00 0.00 0.00 0.000 6 0.000 0.000 3313 2189 2274 0 0 0 0 0 0

9512 0.84 196.2 444.0 9.8 923 9519 0.00 0.00 4.72 0.771 6 0.000 0.000 3313 2189 2258 0 0 0 0 0 0

9837 0.84 196.2 410.6 10.1 954 9841 0.00 2.30 0.00 0.000 4 0.000 0.071 3313 3597 2260 0 0 0 0 0 0

9881 0.84 196.2 405.5 12.3 957 9888 0.12 2.20 0.00 0.000 6 0.165 0.051 3289 2196 2259 0 0 0 0 0 0

10207 0.88 228.6 377.8 8.5 988 10237 0.00 0.00 28.08 1.046 6 0.000 0.000 3289 2196 2126 0 0 0 0 0 0

10555 0.94 271.0 348.3 8.1 1021 10595 0.10 0.00 36.67 1.025 6 0.110 0.000 3337 2196 1953 0 0 0 0 0 0

10915 0.94 271.0 304.1 12.8 1055 10919 0.00 2.25 0.00 0.000 4 0.000 0.062 3347 797 1949 0 0 0 0 0 0

10954 0.94 271.0 299.0 12.8 1058 10960 0.12 2.33 0.00 0.000 6 0.160 0.064 3314 2204 1949 0 0 0 0 0 0

11280 0.94 271.0 264.0 10.3 1088 11284 0.00 2.25 0.00 0.000 4 0.000 0.074 3314 3599 1947 0 0 0 0 0 0

11335 0.94 271.0 257.3 12.2 1092 11341 0.00 2.22 0.00 0.000 6 0.000 0.051 3321 2191 1946 0 0 0 0 0 0

11661 0.94 277.4 223.5 9.7 1123 11669 0.00 0.00 5.45 0.747 6 0.000 0.000 3321 2191 1927 0 0 0 0 0 0

11990 0.99 311.9 194.4 8.4 1154 12026 0.00 2.30 30.88 0.948 4 0.000 0.062 3331 783 1785 0 0 0 0 0 0

12062 1.03 348.4 188.4 8.3 1160 12105 0.00 2.38 32.47 0.920 6 0.000 0.064 3331 2204 1637 0 0 0 0 0 0

12423 1.05 364.5 153.6 9.3 1194 12444 0.00 2.33 13.77 0.866 4 0.000 0.077 3331 3594 1572 0 0 0 0 0 0

12468 1.05 364.5 149.1 10.6 1198 12472 0.00 2.22 0.00 0.000 6 0.000 0.054 3341 2198 1571 0 0 0 0 0 0

12799 1.06 375.0 117.1 9.5 1229 12813 0.00 2.30 9.95 0.821 4 0.000 0.065 3350 789 1529 0 0 0 0 0 0

12853 1.10 403.8 112.0 8.7 1233 12884 0.00 2.35 26.33 0.881 6 0.000 0.065 3351 2201 1412 0 0 0 0 0 0

13214 1.12 417.7 78.2 9.4 1286 13230 0.00 0.00 12.40 0.824 6 0.000 0.000 3351 2201 1355 0 0 0 0 0 0

13569 1.16 452.5 49.5 8.4 1349 13605 0.00 0.00 30.50 0.867 6 0.000 0.000 3351 2201 1212 0 0 0 0 0 0

13945 1.24 515.2 17.6 7.1 1416 14001 0.10 0.00 51.53 0.849 6 0.123 0.000 3388 2202 957 0 0 0 0 0 0

14097 end climb: SURFACE_DEPTH_REACHED

state 14097 begin surface coast

14144 end surface coast: CONTROL_FINISHED_OK

state 14145 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	373	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	30	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	18	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	-183693.66	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	164017,6650.890,-6010.960,31,1.4,42,-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	2.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	164702,6650.877,-6010.991,10,1.1,10,-38.2	MHEAD_RNG_PITCHd_Wd	119.5,148298,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	611

FREEZE	1.93,2.616,-1.653,0,1,0	ALTIM_TOP_PING	19.9,18.1
FINISH	1.9,1.024112	_24V_AH	22.1,67.734
SM_CCo	14165,73.03,0.819,0,0,587,605.89	_10V_AH	10.0,35.336
SM_GC	2.82,0.00,0.00,73.03,0.000,0.000,0.819,340,2253,587,-12.75,0.08,605.89	FG_AHR_24Vo	0.000
RAFOS_CLK	586	FG_AHR_10Vo	0.000
RAFOS	4,1282667588,16.566668,16.552221,136,113,42,42,40,39,685,686,1290,810,1759,1742	MEM	135660
RAFOS_FIX	6649.933594,-6009.460938,240810,161632,6,124,0.00	DATA_FILE_SIZE	56612,1452
IRIDIUM_FIX	6620.33,-6015.31,181199,131335	CAP_FILE_SIZE	149609,0
TT8_MAMPS	0.029913	CFSIZE	260165632,216010752
HUMID	41.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	10.098	SOUNDSPEED	1453.6
TCM_TEMP	15.50	GPS	240810,204637,6650.279,-6007.502,33,0.9,33,-38.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	233	104.82	SBE_CT	1056	24	560.50
Roll_motor	81	131	238.71	SBE_O2	1041	19	437.19
VBD_pump_during_apogee	577	1203	15361.65	nil	0	0	0.00
VBD_pump_during_surface	73	819	1322.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	64.77	nil	0	0	0.00
Iridium_during_connect	33	160	118.20	nil	0	0	0.00
Iridium_during_xfer	190	223	937.05
Transponder_ping	2	420	18.56
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.24
TT8	2323	19	462.77
LPSleep	8711	2	201.23
TT8_Active	748	19	149.08
TT8_Sampling	2234	39	891.90
TT8_CF8	645	45	296.59
TT8_Kalman	0	0	0.00
Analog_circuits	1933	12	232.00
GPS_charging	0	0	0.00
Compass	2218	8	177.51
RAFOS	2520	3	75.60
Transponder	17	30	5.14

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	-0.78	-146.1	0.0	0.0	0	62	0.00	0.00	-44.28	0.000	2	0.000	0.000	335	2252	1609	0	0	0	0	0	0
66	-0.78	-146.1	3.1	-1.0	9	191	10.27	2.35	-105.15	0.000	4	0.234	0.077	2935	837	3655	0	0	0	0	0	0
383	-0.78	-146.1	35.1	-11.1	67	389	0.00	2.38	0.00	0.000	6	0.000	0.069	2928	2258	3660	0	0	0	0	0	0
727	-0.78	-146.1	76.0	-11.3	128	733	0.00	2.17	0.00	0.000	4	0.000	0.079	2918	3606	3662	0	0	0	0	0	0
823	-0.78	-146.1	88.1	-12.6	145	830	0.10	2.17	0.00	0.000	6	0.160	0.055	2945	2244	3663	0	0	0	0	0	0
1157	-0.78	-146.1	120.5	-9.5	186	1158	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2243	3663	0	0	0	0	0	0
1477	-0.78	-146.1	149.5	-9.1	216	1481	0.00	2.28	0.00	0.000	4	0.000	0.068	2945	832	3663	0	0	0	0	0	0
1522	-0.78	-146.1	153.9	-8.8	219	1528	0.00	2.38	0.00	0.000	6	0.000	0.071	2938	2263	3662	0	0	0	0	0	0
1847	-0.78	-146.1	182.3	-8.6	250	1851	0.00	2.17	0.00	0.000	4	0.000	0.083	2928	3595	3662	0	0	0	0	0	0
1893	-0.78	-146.1	186.8	-9.5	253	1899	0.00	2.15	0.00	0.000	6	0.000	0.059	2928	2247	3662	0	0	0	0	0	0
2218	-0.78	-146.1	217.4	-9.6	284	2219	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2247	3662	0	0	0	0	0	0
2541	-0.78	-146.1	247.1	-9.4	314	2545	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2247	3661	0	0	0	0	0	0
2868	-0.78	-146.1	275.8	-8.5	345	2869	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2247	3661	0	0	0	0	0	0
3187	-0.78	-146.1	302.5	-8.2	375	3191	0.00	2.25	0.00	0.000	4	0.000	0.069	2928	839	3660	0	0	0	0	0	0
3215	-0.78	-146.1	305.2	-8.4	377	3220	0.10	2.38	0.00	0.000	6	0.153	0.072	2947	2263	3660	0	0	0	0	0	0
3541	-0.78	-146.1	328.3	-7.2	407	3545	0.00	2.17	0.00	0.000	4	0.000	0.082	2939	3606	3660	0	0	0	0	0	0
3570	-0.78	-146.1	330.5	-8.0	409	3574	0.00	2.17	0.00	0.000	6	0.000	0.057	2939	2243	3660	0	0	0	0	0	0
3895	-0.78	-146.1	356.5	-8.4	439	3896	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2243	3660	0	0	0	0	0	0
4216	-0.78	-146.1	382.0	-7.7	469	4217	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2243	3660	0	0	0	0	0	0
4535	-0.78	-146.1	406.4	-7.9	499	4539	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	2243	3660	0	0	0	0	0	0
4862	-0.78	-146.1	432.4	-8.0	530	4863	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2243	3660	0	0	0	0	0	0
5181	-0.78	-146.1	456.6	-7.3	560	5186	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2243	3660	0	0	0	0	0	0
5509	-0.78	-146.1	478.4	-6.1	591	5513	0.00	2.28	0.00	0.000	4	0.000	0.067	2939	829	3660	0	0	0	0	0	0
5532	-0.78	-146.1	480.2	-6.7	592	5537	0.00	2.35	0.00	0.000	6	0.000	0.069	2930	2252	3661	0	0	0	0	0	0
5857	-0.78	-146.1	502.6	-7.3	623	5861	0.00	2.20	0.00	0.000	4	0.000	0.079	2919	3604	3661	0	0	0	0	0	0
5891	-0.78	-146.1	505.3	-8.7	625	5898	0.10	2.15	0.00	0.000	6	0.146	0.054	2949	2245	3661	0	0	0	0	0	0
6216	-0.78	-146.1	526.3	-6.7	656	6220	0.00	2.25	0.00	0.000	4	0.000	0.065	2948	841	3661	0	0	0	0	0	0
6245	-0.78	-146.1	528.3	-7.0	658	6249	0.00	2.35	0.00	0.000	6	0.000	0.067	2942	2261	3661	0	0	0	0	0	0
6571	-0.78	-146.1	550.4	-6.9	688	6575	0.00	2.17	0.00	0.000	4	0.000	0.077	2932	3604	3662	0	0	0	0	0	0
6624	-0.78	-146.1	554.0	-7.3	692	6627	0.00	2.15	0.00	0.000	6	0.000	0.052	2932	2240	3661	0	0	0	0	0	0
6949	-0.78	-146.1	576.2	-6.8	722	6950	0.00	0.00	0.00	0.000	6	0.000	0.000	2932	2239	3662	0	0	0	0	0	0
7270	-0.78	-146.1	597.5	-6.9	752	7275	0.00	0.00	0.00	0.000	6	0.000	0.000	2932	2239	3662	0	0	0	0	0	0
7489	end dive: TARGET_DEPTH_EXCEEDED
state	7489	begin apogee
7496	-0.17	0.0	612.8	6.7	762	7622	0.45	0.00	123.45	1.203	6	0.112	0.000	3080	2238	3058	0	0	0	0	0	0
7623	end apogee: CONTROL_FINISHED_OK
state	7623	begin climb
7627	0.78	146.1	617.2	0.0	766	7764	0.60	0.00	128.25	1.135	6	0.062	0.000	3292	2238	2461	0	0	0	0	0	0
8074	0.82	175.6	587.7	8.6	789	8106	0.00	2.45	25.92	1.094	4	0.000	0.063	3303	797	2341	0	0	0	0	0	0
8142	0.84	189.8	581.9	9.4	795	8163	0.00	2.42	13.80	1.022	6	0.000	0.065	3303	2211	2283	0	0	0	0	0	0
8483	0.84	192.7	548.7	9.9	827	8494	0.00	2.33	3.42	0.614	4	0.000	0.075	3303	3602	2273	0	0	0	0	0	0
8540	0.84	192.7	542.1	12.4	832	8544	0.00	2.25	0.00	0.000	6	0.000	0.051	3313	2190	2274	0	0	0	0	0	0
8871	0.84	192.7	507.7	10.3	863	8872	0.00	0.00	0.00	0.000	6	0.000	0.000	3313	2189	2274	0	0	0	0	0	0
9191	0.84	192.7	475.2	10.1	893	9192	0.00	0.00	0.00	0.000	6	0.000	0.000	3313	2189	2274	0	0	0	0	0	0
9512	0.84	196.2	444.0	9.8	923	9519	0.00	0.00	4.72	0.771	6	0.000	0.000	3313	2189	2258	0	0	0	0	0	0
9837	0.84	196.2	410.6	10.1	954	9841	0.00	2.30	0.00	0.000	4	0.000	0.071	3313	3597	2260	0	0	0	0	0	0
9881	0.84	196.2	405.5	12.3	957	9888	0.12	2.20	0.00	0.000	6	0.165	0.051	3289	2196	2259	0	0	0	0	0	0
10207	0.88	228.6	377.8	8.5	988	10237	0.00	0.00	28.08	1.046	6	0.000	0.000	3289	2196	2126	0	0	0	0	0	0
10555	0.94	271.0	348.3	8.1	1021	10595	0.10	0.00	36.67	1.025	6	0.110	0.000	3337	2196	1953	0	0	0	0	0	0
10915	0.94	271.0	304.1	12.8	1055	10919	0.00	2.25	0.00	0.000	4	0.000	0.062	3347	797	1949	0	0	0	0	0	0
10954	0.94	271.0	299.0	12.8	1058	10960	0.12	2.33	0.00	0.000	6	0.160	0.064	3314	2204	1949	0	0	0	0	0	0
11280	0.94	271.0	264.0	10.3	1088	11284	0.00	2.25	0.00	0.000	4	0.000	0.074	3314	3599	1947	0	0	0	0	0	0
11335	0.94	271.0	257.3	12.2	1092	11341	0.00	2.22	0.00	0.000	6	0.000	0.051	3321	2191	1946	0	0	0	0	0	0
11661	0.94	277.4	223.5	9.7	1123	11669	0.00	0.00	5.45	0.747	6	0.000	0.000	3321	2191	1927	0	0	0	0	0	0
11990	0.99	311.9	194.4	8.4	1154	12026	0.00	2.30	30.88	0.948	4	0.000	0.062	3331	783	1785	0	0	0	0	0	0
12062	1.03	348.4	188.4	8.3	1160	12105	0.00	2.38	32.47	0.920	6	0.000	0.064	3331	2204	1637	0	0	0	0	0	0
12423	1.05	364.5	153.6	9.3	1194	12444	0.00	2.33	13.77	0.866	4	0.000	0.077	3331	3594	1572	0	0	0	0	0	0
12468	1.05	364.5	149.1	10.6	1198	12472	0.00	2.22	0.00	0.000	6	0.000	0.054	3341	2198	1571	0	0	0	0	0	0
12799	1.06	375.0	117.1	9.5	1229	12813	0.00	2.30	9.95	0.821	4	0.000	0.065	3350	789	1529	0	0	0	0	0	0
12853	1.10	403.8	112.0	8.7	1233	12884	0.00	2.35	26.33	0.881	6	0.000	0.065	3351	2201	1412	0	0	0	0	0	0
13214	1.12	417.7	78.2	9.4	1286	13230	0.00	0.00	12.40	0.824	6	0.000	0.000	3351	2201	1355	0	0	0	0	0	0
13569	1.16	452.5	49.5	8.4	1349	13605	0.00	0.00	30.50	0.867	6	0.000	0.000	3351	2201	1212	0	0	0	0	0	0
13945	1.24	515.2	17.6	7.1	1416	14001	0.10	0.00	51.53	0.849	6	0.123	0.000	3388	2202	957	0	0	0	0	0	0
14097	end climb: SURFACE_DEPTH_REACHED
state	14097	begin surface coast
14144	end surface coast: CONTROL_FINISHED_OK
state	14145	begin surface