Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 391 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 183 HD_C 9.9999997e-06 ROLL_MIN 330 ALTIM_TOP_TURN_MARGIN 5

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 391 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 29 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 3 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 4 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00065 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -8271.1582 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 311 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3850 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2475 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043469137

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -62.615704 SEABIRD_T_H 0.00062159239

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00012025224 SEABIRD_T_I 2.0014088e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 1.6690842e-06

MASS 51717 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9685602

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1354375

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 1 SEABIRD_C_I -0.0013495153

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019269099

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 609.0799

AH0_24V 150 D_PITCH 3 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3850 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.00065 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00012025224 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -62.615704 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -8271.1582

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 29 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9685602 VBD_MIN 440

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1354375 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0013495153 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 391 NAV_MODE 0 SEABIRD_C_J 0.00019269099 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0043469137 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 4 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 241110,202913,6648.148,-5959.531,0,5100.2,0,-38.1 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 98.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 5.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 241110,202913,6648.148,-5959.531,0,5100.2,0,-38.1 MHEAD_RNG_PITCHd_Wd 286.5,20832,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 684

Post-dive calculations and measurements:

FINISH1 87.0,1.026519,48 ALTIM_BOTTOM_PING 87.7,17.6

FINISH2 86.3 _24V_AH 22.0,47.545

RAFOS_CLK 707 _10V_AH 9.9,36.232

RAFOS 0,1290643265,0.033333,0.018056,62,48,45,43,43,41,645,783,1570,997,1619,1759 FG_AHR_24Vo 0.000

RAFOS_FIX 6645.628418,-6000.761230,251110,000025,7,76,0.33 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6620.33,-5936.77,241110,010130 MEM 151720

TT8_MAMPS 0.029211 DATA_FILE_SIZE 33466,911

HUMID 49.64 CAP_FILE_SIZE 117439,0

INTERNAL_PRESSURE 8.62185 CFSIZE 260165632,221790208

TCM_TEMP 14.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1454.9

ALTIM_TOP_PING 17.8,17.7 GPS 251110,002725,6645.628,-6000.761,0,7076.1,0,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 177 12.98 SBE_CT 638 24 337.05

Roll_motor 97 100 216.55 SBE_O2 0 0 0.00

VBD_pump_during_apogee 252 1033 5749.70 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 20.79 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2362 19 465.99

LPSleep 7731 2 176.81

TT8_Active 271 19 53.63

TT8_Sampling 1632 39 645.15

TT8_CF8 157 45 71.38

TT8_Kalman 0 0 0.00

Analog_circuits 1140 12 135.45

GPS_charging 0 0 0.00

Compass 1617 15 240.16

RAFOS 2520 3 74.84

Transponder 18 30 5.61

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 -0.57 -146.0 0.0 0.0 0 24 0.00 0.73 -5.75 0.000 3 0.000 0.101 2492 3496 3526 0 0 0 0 0 0

27 -0.57 -146.0 99.4 -0.0 1 34 0.60 3.42 0.00 0.000 4 0.130 0.046 2293 1365 3528 0 0 0 0 0 0

75 -0.72 -146.0 103.7 -8.8 6 80 0.15 2.30 0.00 0.000 6 0.098 0.060 2231 2777 3528 0 0 0 0 0 0

401 -0.62 -146.0 149.7 -13.8 36 405 0.15 1.98 0.00 0.000 4 0.176 0.073 2265 3931 3529 0 0 0 0 0 0

525 -0.62 -146.0 164.1 -11.2 47 529 0.00 1.83 0.00 0.000 6 0.000 0.048 2265 2782 3528 0 0 0 0 0 0

855 -0.62 -146.0 199.3 -10.9 78 859 0.00 1.98 0.00 0.000 4 0.000 0.074 2259 3934 3527 0 0 0 0 0 0

901 -0.62 -146.0 204.4 -11.4 82 904 0.00 1.80 0.00 0.000 6 0.000 0.049 2259 2802 3527 0 0 0 0 0 0

1231 -0.62 -146.0 238.8 -10.1 113 1235 0.00 2.28 0.00 0.000 4 0.000 0.051 2259 1374 3527 0 0 0 0 0 0

1310 -0.62 -146.0 246.7 -10.0 119 1317 0.00 2.35 0.00 0.000 6 0.000 0.063 2259 2795 3527 0 0 0 0 0 0

1635 -0.62 -146.0 278.4 -9.5 150 1636 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2795 3526 0 0 0 0 0 0

1955 -0.62 -146.0 306.7 -8.5 180 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2795 3526 0 0 0 0 0 0

2273 -0.62 -146.0 335.0 -9.5 210 2277 0.00 2.30 0.00 0.000 4 0.000 0.050 2259 1363 3526 0 0 0 0 0 0

2307 -0.65 -146.0 338.3 -9.3 212 2313 0.00 2.38 0.00 0.000 6 0.000 0.062 2259 2802 3526 0 0 0 0 0 0

2632 -0.65 -146.0 367.5 -9.0 243 2633 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2802 3526 0 0 0 0 0 0

2953 -0.67 -146.0 395.6 -8.6 273 2957 0.00 2.30 0.00 0.000 4 0.000 0.050 2259 1365 3525 0 0 0 0 0 0

2969 -0.69 -146.0 397.4 -8.7 274 2976 0.00 2.38 0.00 0.000 6 0.000 0.062 2259 2806 3526 0 0 0 0 0 0

3295 -0.71 -146.0 424.4 -7.9 305 3296 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2806 3526 0 0 0 0 0 0

3617 -0.74 -146.0 450.5 -8.2 335 3621 0.00 2.28 0.00 0.000 4 0.000 0.050 2259 1371 3526 0 0 0 0 0 0

3647 -0.78 -146.0 453.2 -7.8 337 3651 0.10 2.35 0.00 0.000 6 0.119 0.062 2214 2792 3526 0 0 0 0 0 0

3977 -0.72 -146.0 487.8 -10.5 368 3978 0.00 0.00 0.00 0.000 6 0.000 0.000 2214 2792 3526 0 0 0 0 0 0

4289 -0.67 -146.0 519.6 -10.1 386 4291 0.15 0.00 0.00 0.000 6 0.177 0.000 2255 2792 3526 0 0 0 0 0 0

4595 -0.70 -146.0 544.8 -8.2 396 4599 0.00 2.28 0.00 0.000 4 0.000 0.050 2255 1370 3527 0 0 0 0 0 0

4624 -0.73 -146.0 547.4 -9.4 397 4628 0.00 2.35 0.00 0.000 6 0.000 0.062 2252 2787 3527 0 0 0 0 0 0

4966 -0.75 -146.0 576.8 -8.8 408 4969 0.00 1.92 0.00 0.000 4 0.000 0.073 2247 3937 3527 0 0 0 0 0 0

5000 -0.75 -146.0 580.2 -9.2 409 5004 0.00 1.85 0.00 0.000 6 0.000 0.047 2247 2784 3527 0 0 0 0 0 0

5342 -0.75 -146.0 608.8 -8.2 420 5346 0.00 2.22 0.00 0.000 4 0.000 0.049 2247 1370 3527 0 0 0 0 0 0

5386 -0.79 -146.0 612.8 -8.5 421 5390 0.00 2.33 0.00 0.000 6 0.000 0.062 2247 2783 3527 0 0 0 0 0 0

5705 -0.81 -146.0 639.9 -9.1 432 5706 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2783 3527 0 0 0 0 0 0

6011 -0.84 -146.0 668.3 -8.0 442 6012 0.12 0.00 0.00 0.000 6 0.108 0.000 2192 2783 3527 0 0 0 0 0 0

6132 end dive: BOTTOM_OBSTACLE_DETECTED

state 6132 begin apogee

6137 -0.14 0.0 682.2 11.5 446 6266 0.75 0.00 123.12 1.034 4 0.151 0.000 2423 2594 2923 0 0 0 0 0 0

6267 end apogee: CONTROL_FINISHED_OK

state 6267 begin climb

6269 0.57 146.0 685.8 0.0 450 6408 0.70 2.42 129.75 1.005 4 0.072 0.050 2665 1185 2326 0 0 0 0 0 0

6582 0.57 146.0 658.2 21657.7 459 6589 0.00 2.45 0.00 0.000 6 0.000 0.055 2665 2601 2317 0 0 0 0 0 0

6896 0.57 146.0 617.6 21657.7 470 6900 0.00 2.30 0.00 0.000 4 0.000 0.053 2666 1188 2314 0 0 0 0 0 0

7053 0.57 146.0 599.3 21657.7 474 7060 0.00 2.35 0.00 0.000 6 0.000 0.056 2666 2620 2314 0 0 0 0 0 0

7366 0.57 146.0 560.3 21657.7 485 7370 0.00 2.17 0.00 0.000 4 0.000 0.067 2666 3926 2313 0 0 0 0 0 0

7401 0.57 146.0 555.4 21657.7 486 7405 0.00 2.12 0.00 0.000 6 0.000 0.044 2666 2606 2312 0 0 0 0 0 0

7742 0.57 146.0 514.2 21657.7 497 7746 0.00 2.22 0.00 0.000 4 0.000 0.067 2666 3925 2312 0 0 0 0 0 0

7774 0.57 146.0 509.5 21657.7 498 7778 0.00 2.10 0.00 0.000 6 0.000 0.044 2666 2614 2312 0 0 0 0 0 0

8100 0.57 146.0 470.3 21657.7 523 8102 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2614 2312 0 0 0 0 0 0

8418 0.57 146.0 432.8 21657.7 553 8419 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2614 2312 0 0 0 0 0 0

8737 0.57 146.0 394.5 21657.7 583 8741 0.00 2.20 0.00 0.000 4 0.000 0.068 2666 3925 2312 0 0 0 0 0 0

8772 0.57 146.0 389.5 21657.7 586 8775 0.00 2.08 0.00 0.000 6 0.000 0.046 2666 2627 2310 0 0 0 0 0 0

9102 0.57 146.0 350.2 21657.7 617 9106 0.00 2.20 0.00 0.000 4 0.000 0.068 2666 3928 2311 0 0 0 0 0 0

9136 0.57 146.0 345.9 21657.7 620 9140 0.00 2.05 0.00 0.000 6 0.000 0.044 2666 2642 2310 0 0 0 0 0 0

9467 0.57 146.0 311.1 21657.7 651 9471 0.00 2.33 0.00 0.000 4 0.000 0.054 2666 1182 2311 0 0 0 0 0 0

9495 0.57 146.0 308.4 21657.7 653 9500 0.00 2.35 0.00 0.000 6 0.000 0.054 2666 2642 2311 0 0 0 0 0 0

9821 0.57 146.0 277.9 21657.7 683 9825 0.00 2.15 0.00 0.000 4 0.000 0.067 2666 3930 2311 0 0 0 0 0 0

9870 0.57 146.0 272.1 21657.7 687 9877 0.00 2.05 0.00 0.000 6 0.000 0.045 2667 2647 2310 0 0 0 0 0 0

10196 0.57 146.0 239.1 21657.7 718 10200 0.00 2.33 0.00 0.000 4 0.000 0.053 2666 1185 2310 0 0 0 0 0 0

10275 0.57 146.0 231.5 21657.7 724 10282 0.00 2.38 0.00 0.000 6 0.000 0.056 2666 2641 2311 0 0 0 0 0 0

10601 0.57 146.0 200.9 21657.7 755 10602 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2641 2311 0 0 0 0 0 0

10920 0.57 146.0 173.0 21657.7 785 10924 0.00 2.15 0.00 0.000 4 0.000 0.069 2666 3933 2311 0 0 0 0 0 0

11045 0.57 146.0 160.6 21657.7 796 11049 0.00 2.05 0.00 0.000 6 0.000 0.045 2667 2650 2311 0 0 0 0 0 0

11376 0.57 146.0 134.1 21657.7 827 11377 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2650 2311 0 0 0 0 0 0

11696 0.57 146.0 109.9 21657.7 857 11701 0.00 2.33 0.00 0.000 4 0.000 0.054 2666 1194 2311 0 0 0 0 0 0

11729 0.57 146.0 107.2 21657.7 859 11736 0.00 2.40 0.00 0.000 6 0.000 0.057 2666 2660 2311 0 0 0 0 0 0

12058 end climb: SURFACE_OBSTACLE_DETECTED

state 12058 begin subsurface finish

12065 0.03 48.1 87.0 -21657.7 909 12078 0.60 2.33 -3.40 0.000 4 0.164 0.068 2486 1185 2735 0 0 0 0 0 0

12079 end subsurface finish: CONTROL_FINISHED_OK

state 12079 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	391	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	29	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	3	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	4	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00065	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-8271.1582	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	311	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3850	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2475	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043469137
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-62.615704	SEABIRD_T_H	0.00062159239
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00012025224	SEABIRD_T_I	2.0014088e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	1.6690842e-06
MASS	51717	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9685602
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1354375
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	1	SEABIRD_C_I	-0.0013495153
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019269099
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	241110,202913,6648.148,-5959.531,0,5100.2,0,-38.1	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	98.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	5.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	241110,202913,6648.148,-5959.531,0,5100.2,0,-38.1	MHEAD_RNG_PITCHd_Wd	286.5,20832,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	684

FINISH1	87.0,1.026519,48	ALTIM_BOTTOM_PING	87.7,17.6
FINISH2	86.3	_24V_AH	22.0,47.545
RAFOS_CLK	707	_10V_AH	9.9,36.232
RAFOS	0,1290643265,0.033333,0.018056,62,48,45,43,43,41,645,783,1570,997,1619,1759	FG_AHR_24Vo	0.000
RAFOS_FIX	6645.628418,-6000.761230,251110,000025,7,76,0.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6620.33,-5936.77,241110,010130	MEM	151720
TT8_MAMPS	0.029211	DATA_FILE_SIZE	33466,911
HUMID	49.64	CAP_FILE_SIZE	117439,0
INTERNAL_PRESSURE	8.62185	CFSIZE	260165632,221790208
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1454.9
ALTIM_TOP_PING	17.8,17.7	GPS	251110,002725,6645.628,-6000.761,0,7076.1,0,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	177	12.98	SBE_CT	638	24	337.05
Roll_motor	97	100	216.55	SBE_O2	0	0	0.00
VBD_pump_during_apogee	252	1033	5749.70	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	20.79	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2362	19	465.99
LPSleep	7731	2	176.81
TT8_Active	271	19	53.63
TT8_Sampling	1632	39	645.15
TT8_CF8	157	45	71.38
TT8_Kalman	0	0	0.00
Analog_circuits	1140	12	135.45
GPS_charging	0	0	0.00
Compass	1617	15	240.16
RAFOS	2520	3	74.84
Transponder	18	30	5.61

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	-0.57	-146.0	0.0	0.0	0	24	0.00	0.73	-5.75	0.000	3	0.000	0.101	2492	3496	3526	0	0	0	0	0	0
27	-0.57	-146.0	99.4	-0.0	1	34	0.60	3.42	0.00	0.000	4	0.130	0.046	2293	1365	3528	0	0	0	0	0	0
75	-0.72	-146.0	103.7	-8.8	6	80	0.15	2.30	0.00	0.000	6	0.098	0.060	2231	2777	3528	0	0	0	0	0	0
401	-0.62	-146.0	149.7	-13.8	36	405	0.15	1.98	0.00	0.000	4	0.176	0.073	2265	3931	3529	0	0	0	0	0	0
525	-0.62	-146.0	164.1	-11.2	47	529	0.00	1.83	0.00	0.000	6	0.000	0.048	2265	2782	3528	0	0	0	0	0	0
855	-0.62	-146.0	199.3	-10.9	78	859	0.00	1.98	0.00	0.000	4	0.000	0.074	2259	3934	3527	0	0	0	0	0	0
901	-0.62	-146.0	204.4	-11.4	82	904	0.00	1.80	0.00	0.000	6	0.000	0.049	2259	2802	3527	0	0	0	0	0	0
1231	-0.62	-146.0	238.8	-10.1	113	1235	0.00	2.28	0.00	0.000	4	0.000	0.051	2259	1374	3527	0	0	0	0	0	0
1310	-0.62	-146.0	246.7	-10.0	119	1317	0.00	2.35	0.00	0.000	6	0.000	0.063	2259	2795	3527	0	0	0	0	0	0
1635	-0.62	-146.0	278.4	-9.5	150	1636	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2795	3526	0	0	0	0	0	0
1955	-0.62	-146.0	306.7	-8.5	180	1956	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2795	3526	0	0	0	0	0	0
2273	-0.62	-146.0	335.0	-9.5	210	2277	0.00	2.30	0.00	0.000	4	0.000	0.050	2259	1363	3526	0	0	0	0	0	0
2307	-0.65	-146.0	338.3	-9.3	212	2313	0.00	2.38	0.00	0.000	6	0.000	0.062	2259	2802	3526	0	0	0	0	0	0
2632	-0.65	-146.0	367.5	-9.0	243	2633	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2802	3526	0	0	0	0	0	0
2953	-0.67	-146.0	395.6	-8.6	273	2957	0.00	2.30	0.00	0.000	4	0.000	0.050	2259	1365	3525	0	0	0	0	0	0
2969	-0.69	-146.0	397.4	-8.7	274	2976	0.00	2.38	0.00	0.000	6	0.000	0.062	2259	2806	3526	0	0	0	0	0	0
3295	-0.71	-146.0	424.4	-7.9	305	3296	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2806	3526	0	0	0	0	0	0
3617	-0.74	-146.0	450.5	-8.2	335	3621	0.00	2.28	0.00	0.000	4	0.000	0.050	2259	1371	3526	0	0	0	0	0	0
3647	-0.78	-146.0	453.2	-7.8	337	3651	0.10	2.35	0.00	0.000	6	0.119	0.062	2214	2792	3526	0	0	0	0	0	0
3977	-0.72	-146.0	487.8	-10.5	368	3978	0.00	0.00	0.00	0.000	6	0.000	0.000	2214	2792	3526	0	0	0	0	0	0
4289	-0.67	-146.0	519.6	-10.1	386	4291	0.15	0.00	0.00	0.000	6	0.177	0.000	2255	2792	3526	0	0	0	0	0	0
4595	-0.70	-146.0	544.8	-8.2	396	4599	0.00	2.28	0.00	0.000	4	0.000	0.050	2255	1370	3527	0	0	0	0	0	0
4624	-0.73	-146.0	547.4	-9.4	397	4628	0.00	2.35	0.00	0.000	6	0.000	0.062	2252	2787	3527	0	0	0	0	0	0
4966	-0.75	-146.0	576.8	-8.8	408	4969	0.00	1.92	0.00	0.000	4	0.000	0.073	2247	3937	3527	0	0	0	0	0	0
5000	-0.75	-146.0	580.2	-9.2	409	5004	0.00	1.85	0.00	0.000	6	0.000	0.047	2247	2784	3527	0	0	0	0	0	0
5342	-0.75	-146.0	608.8	-8.2	420	5346	0.00	2.22	0.00	0.000	4	0.000	0.049	2247	1370	3527	0	0	0	0	0	0
5386	-0.79	-146.0	612.8	-8.5	421	5390	0.00	2.33	0.00	0.000	6	0.000	0.062	2247	2783	3527	0	0	0	0	0	0
5705	-0.81	-146.0	639.9	-9.1	432	5706	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2783	3527	0	0	0	0	0	0
6011	-0.84	-146.0	668.3	-8.0	442	6012	0.12	0.00	0.00	0.000	6	0.108	0.000	2192	2783	3527	0	0	0	0	0	0
6132	end dive: BOTTOM_OBSTACLE_DETECTED
state	6132	begin apogee
6137	-0.14	0.0	682.2	11.5	446	6266	0.75	0.00	123.12	1.034	4	0.151	0.000	2423	2594	2923	0	0	0	0	0	0
6267	end apogee: CONTROL_FINISHED_OK
state	6267	begin climb
6269	0.57	146.0	685.8	0.0	450	6408	0.70	2.42	129.75	1.005	4	0.072	0.050	2665	1185	2326	0	0	0	0	0	0
6582	0.57	146.0	658.2	21657.7	459	6589	0.00	2.45	0.00	0.000	6	0.000	0.055	2665	2601	2317	0	0	0	0	0	0
6896	0.57	146.0	617.6	21657.7	470	6900	0.00	2.30	0.00	0.000	4	0.000	0.053	2666	1188	2314	0	0	0	0	0	0
7053	0.57	146.0	599.3	21657.7	474	7060	0.00	2.35	0.00	0.000	6	0.000	0.056	2666	2620	2314	0	0	0	0	0	0
7366	0.57	146.0	560.3	21657.7	485	7370	0.00	2.17	0.00	0.000	4	0.000	0.067	2666	3926	2313	0	0	0	0	0	0
7401	0.57	146.0	555.4	21657.7	486	7405	0.00	2.12	0.00	0.000	6	0.000	0.044	2666	2606	2312	0	0	0	0	0	0
7742	0.57	146.0	514.2	21657.7	497	7746	0.00	2.22	0.00	0.000	4	0.000	0.067	2666	3925	2312	0	0	0	0	0	0
7774	0.57	146.0	509.5	21657.7	498	7778	0.00	2.10	0.00	0.000	6	0.000	0.044	2666	2614	2312	0	0	0	0	0	0
8100	0.57	146.0	470.3	21657.7	523	8102	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2614	2312	0	0	0	0	0	0
8418	0.57	146.0	432.8	21657.7	553	8419	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2614	2312	0	0	0	0	0	0
8737	0.57	146.0	394.5	21657.7	583	8741	0.00	2.20	0.00	0.000	4	0.000	0.068	2666	3925	2312	0	0	0	0	0	0
8772	0.57	146.0	389.5	21657.7	586	8775	0.00	2.08	0.00	0.000	6	0.000	0.046	2666	2627	2310	0	0	0	0	0	0
9102	0.57	146.0	350.2	21657.7	617	9106	0.00	2.20	0.00	0.000	4	0.000	0.068	2666	3928	2311	0	0	0	0	0	0
9136	0.57	146.0	345.9	21657.7	620	9140	0.00	2.05	0.00	0.000	6	0.000	0.044	2666	2642	2310	0	0	0	0	0	0
9467	0.57	146.0	311.1	21657.7	651	9471	0.00	2.33	0.00	0.000	4	0.000	0.054	2666	1182	2311	0	0	0	0	0	0
9495	0.57	146.0	308.4	21657.7	653	9500	0.00	2.35	0.00	0.000	6	0.000	0.054	2666	2642	2311	0	0	0	0	0	0
9821	0.57	146.0	277.9	21657.7	683	9825	0.00	2.15	0.00	0.000	4	0.000	0.067	2666	3930	2311	0	0	0	0	0	0
9870	0.57	146.0	272.1	21657.7	687	9877	0.00	2.05	0.00	0.000	6	0.000	0.045	2667	2647	2310	0	0	0	0	0	0
10196	0.57	146.0	239.1	21657.7	718	10200	0.00	2.33	0.00	0.000	4	0.000	0.053	2666	1185	2310	0	0	0	0	0	0
10275	0.57	146.0	231.5	21657.7	724	10282	0.00	2.38	0.00	0.000	6	0.000	0.056	2666	2641	2311	0	0	0	0	0	0
10601	0.57	146.0	200.9	21657.7	755	10602	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2641	2311	0	0	0	0	0	0
10920	0.57	146.0	173.0	21657.7	785	10924	0.00	2.15	0.00	0.000	4	0.000	0.069	2666	3933	2311	0	0	0	0	0	0
11045	0.57	146.0	160.6	21657.7	796	11049	0.00	2.05	0.00	0.000	6	0.000	0.045	2667	2650	2311	0	0	0	0	0	0
11376	0.57	146.0	134.1	21657.7	827	11377	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2650	2311	0	0	0	0	0	0
11696	0.57	146.0	109.9	21657.7	857	11701	0.00	2.33	0.00	0.000	4	0.000	0.054	2666	1194	2311	0	0	0	0	0	0
11729	0.57	146.0	107.2	21657.7	859	11736	0.00	2.40	0.00	0.000	6	0.000	0.057	2666	2660	2311	0	0	0	0	0	0
12058	end climb: SURFACE_OBSTACLE_DETECTED
state	12058	begin subsurface finish
12065	0.03	48.1	87.0	-21657.7	909	12078	0.60	2.33	-3.40	0.000	4	0.164	0.068	2486	1185	2735	0	0	0	0	0	0
12079	end subsurface finish: CONTROL_FINISHED_OK
state	12079	begin surface