Glider dive log

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 2.4000001

DIVE 570 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 23 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 -3 T_GPS_CHARGE -9850.9922 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 2.4000001 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 -9850.9922

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 -3

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 34 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 23 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 570 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 231210,202731,6706.770,-5841.040,0,5095.4,0,-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 8.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1 MHEAD_RNG_PITCHd_Wd 279.3,87602,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 1261

Post-dive calculations and measurements:

FREEZE 7.68,-1.747,-1.770,2,9,0 ALTIM_BOTTOM_PING 750.7,14.4

FINISH1 7.7,1.025931,77 _24V_AH 21.4,68.138

FINISH2 5.4 _10V_AH 9.8,48.421

RAFOS_CLK 815 FG_AHR_24Vo 0.000

RAFOS 1,1293149344,0.166667,0.151111,74,47,45,42,41,40,777,1452,1150,620,212,1883 FG_AHR_10Vo 0.000

RAFOS_FIX 6706.331055,-5846.226074,241210,000017,6,90,0.26 MEM 151684

IRIDIUM_FIX 6641.98,-5815.55,221210,151515 DATA_FILE_SIZE 36650,1018

TT8_MAMPS 0.031458 CAP_FILE_SIZE 123437,0

HUMID 49.25 CFSIZE 260165632,210137088

INTERNAL_PRESSURE 8.62185 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.50 SOUNDSPEED 1454.3

XPDR_PINGS 0 GPS 241210,003117,6706.331,-5846.226,0,6090.5,0,-38.1

ALTIM_TOP_PING 19.5,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 204 19.34 SBE_CT 711 24 365.61

Roll_motor 85 84 155.19 SBE_O2 0 0 0.00

VBD_pump_during_apogee 347 1073 7990.75 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 3 420 33.70 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2568 19 501.39

LPSleep 9375 2 212.23

TT8_Active 398 19 77.70

TT8_Sampling 1720 39 673.22

TT8_CF8 202 45 91.28

TT8_Kalman 0 0 0.00

Analog_circuits 1318 12 155.02

GPS_charging 0 0 0.00

Compass 1696 15 249.44

RAFOS 2520 3 74.09

Transponder 31 30 9.26

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

17 -0.57 -146.0 0.0 0.0 0 25 0.00 0.00 -6.57 0.000 2 0.000 0.000 2500 3925 2879 0 0 0 0 0 0

28 -0.57 -146.0 9.7 -0.0 1 54 0.60 4.25 -15.10 0.000 4 0.109 0.057 2293 1362 3522 0 0 0 0 0 0

135 -0.57 -146.0 20.9 -12.0 19 142 0.00 2.35 0.00 0.000 6 0.000 0.062 2291 2781 3524 0 0 0 0 0 0

481 -0.57 -146.0 59.8 -9.4 80 486 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2781 3523 0 0 0 0 0 0

825 -0.61 -146.0 94.1 -9.8 141 832 0.00 2.28 0.00 0.000 4 0.000 0.052 2291 1373 3522 0 0 0 0 0 0

896 -0.69 -146.0 100.5 -8.5 153 901 0.10 2.33 0.00 0.000 6 0.113 0.063 2247 2777 3521 0 0 0 0 0 0

1223 -0.66 -146.0 139.1 -11.6 183 1224 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2778 3521 0 0 0 0 0 0

1540 -0.66 -146.0 176.2 -11.5 213 1543 0.00 1.95 0.00 0.000 4 0.000 0.074 2240 3929 3521 0 0 0 0 0 0

1585 -0.66 -146.0 181.6 -11.8 217 1589 0.00 1.88 0.00 0.000 6 0.000 0.049 2240 2773 3521 0 0 0 0 0 0

1916 -0.64 -146.0 219.5 -11.7 248 1917 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2774 3521 0 0 0 0 0 0

2235 -0.64 -146.0 252.7 -10.7 278 2239 0.00 2.22 0.00 0.000 4 0.000 0.051 2240 1373 3520 0 0 0 0 0 0

2267 -0.64 -146.0 256.3 -10.8 280 2275 0.12 2.33 0.00 0.000 6 0.176 0.063 2268 2772 3520 0 0 0 0 0 0

2595 -0.69 -146.0 281.9 -7.4 311 2596 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2772 3521 0 0 0 0 0 0

2915 -0.75 -146.0 305.3 -7.6 341 2919 0.00 2.25 0.00 0.000 4 0.000 0.050 2268 1364 3521 0 0 0 0 0 0

2946 -0.80 -146.0 307.9 -7.6 343 2950 0.15 2.30 0.00 0.000 6 0.091 0.063 2200 2754 3520 0 0 0 0 0 0

3276 -0.72 -146.0 347.3 -11.7 374 3281 0.15 2.00 0.00 0.000 4 0.177 0.071 2233 3927 3520 0 0 0 0 0 0

3305 -0.69 -146.0 350.4 -10.0 376 3312 0.00 1.90 0.00 0.000 6 0.000 0.047 2233 2755 3521 0 0 0 0 0 0

3631 -0.69 -146.0 381.0 -10.0 407 3635 0.00 2.22 0.00 0.000 4 0.000 0.050 2233 1366 3521 0 0 0 0 0 0

3653 -0.69 -146.0 383.3 -9.8 408 3660 0.00 2.30 0.00 0.000 6 0.000 0.062 2230 2754 3521 0 0 0 0 0 0

3984 -0.69 -146.0 415.6 -9.7 430 3985 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2754 3522 0 0 0 0 0 0

4289 -0.69 -146.0 445.4 -9.5 440 4290 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2754 3522 0 0 0 0 0 0

4596 -0.69 -146.0 473.5 -9.0 450 4597 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2754 3522 0 0 0 0 0 0

4902 -0.69 -146.0 501.3 -9.1 460 4903 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2754 3522 0 0 0 0 0 0

5207 -0.69 -146.0 529.2 -8.9 470 5209 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2754 3522 0 0 0 0 0 0

5514 -0.69 -146.0 557.3 -9.2 480 5516 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2754 3522 0 0 0 0 0 0

5820 -0.69 -146.0 586.0 -9.3 490 5821 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2754 3522 0 0 0 0 0 0

6126 -0.69 -146.0 614.8 -9.6 500 6127 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2754 3522 0 0 0 0 0 0

6433 -0.69 -146.0 644.1 -9.5 510 6434 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2754 3522 0 0 0 0 0 0

6738 -0.69 -146.0 672.8 -9.2 520 6740 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2754 3522 0 0 0 0 0 0

7047 -0.69 -146.0 700.9 -9.0 530 7049 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2754 3522 0 0 0 0 0 0

7352 -0.69 -146.0 728.7 -9.0 540 7353 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2754 3522 0 0 0 0 0 0

7596 end dive: BOTTOM_OBSTACLE_DETECTED

state 7596 begin apogee

7602 -0.14 0.0 750.7 8.9 548 7737 0.60 0.00 126.12 1.073 4 0.133 0.000 2423 2598 2921 0 0 0 0 0 0

7738 end apogee: CONTROL_FINISHED_OK

state 7738 begin climb

7741 0.57 146.0 754.7 0.0 552 7887 0.68 2.45 133.85 1.048 4 0.063 0.050 2661 1186 2326 0 0 0 0 0 0

8015 0.57 146.0 732.0 11.9 560 8022 0.00 2.47 0.00 0.000 6 0.000 0.056 2661 2599 2318 0 0 0 0 0 0

8329 0.52 146.0 694.3 12.2 571 8333 0.00 2.33 0.00 0.000 4 0.000 0.054 2662 1187 2315 0 0 0 0 0 0

8553 0.52 146.0 667.8 12.3 577 8560 0.00 2.35 0.00 0.000 6 0.000 0.058 2662 2602 2314 0 0 0 0 0 0

8866 0.47 146.0 629.7 12.4 588 8871 0.12 2.22 0.00 0.000 4 0.204 0.068 2631 3932 2313 0 0 0 0 0 0

8911 0.42 146.0 624.2 12.1 589 8915 0.00 2.15 0.00 0.000 6 0.000 0.045 2635 2603 2312 0 0 0 0 0 0

9234 0.42 146.0 589.7 10.4 600 9236 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2602 2312 0 0 0 0 0 0

9541 0.42 146.0 557.3 10.7 610 9545 0.00 2.25 0.00 0.000 4 0.000 0.070 2634 3936 2312 0 0 0 0 0 0

9580 0.37 146.0 552.6 12.3 611 9585 0.15 2.12 0.00 0.000 6 0.191 0.045 2598 2607 2311 0 0 0 0 0 0

9904 0.47 193.4 526.3 7.8 622 9946 0.00 0.00 39.85 0.929 6 0.000 0.000 2598 2606 2134 0 0 0 0 0 0

10241 0.60 248.0 500.2 7.5 633 10297 0.20 2.38 48.08 0.908 4 0.082 0.054 2683 1199 1910 0 0 0 0 0 0

10320 0.60 248.0 490.8 12.4 635 10325 0.00 2.38 0.00 0.000 6 0.000 0.056 2683 2625 1906 0 0 0 0 0 0

10640 0.57 248.0 448.5 13.5 646 10641 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2625 1900 0 0 0 0 0 0

10945 0.55 248.0 406.9 13.9 656 10947 0.12 0.00 0.00 0.000 6 0.190 0.000 2651 2625 1899 0 0 0 0 0 0

11263 0.59 248.0 371.1 11.4 682 11267 0.00 2.33 0.00 0.000 4 0.000 0.054 2651 1188 1898 0 0 0 0 0 0

11313 0.67 248.0 365.7 10.3 686 11320 0.12 2.33 0.00 0.000 6 0.103 0.056 2703 2608 1898 0 0 0 0 0 0

11639 0.62 248.0 316.7 14.8 717 11642 0.00 2.20 0.00 0.000 4 0.000 0.067 2702 3926 1898 0 0 0 0 0 0

11674 0.54 248.0 310.7 17.1 720 11679 0.20 2.12 0.00 0.000 6 0.182 0.046 2652 2610 1896 0 0 0 0 0 0

12002 0.59 248.0 274.1 10.8 750 12006 0.00 2.25 0.00 0.000 4 0.000 0.054 2652 1192 1896 0 0 0 0 0 0

12054 0.68 248.0 268.6 10.1 754 12059 0.12 2.30 0.00 0.000 6 0.103 0.057 2705 2607 1896 0 0 0 0 0 0

12380 0.63 248.0 221.8 14.7 784 12382 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2607 1896 0 0 0 0 0 0

12700 0.60 248.0 175.8 13.8 814 12701 0.12 0.00 0.00 0.000 6 0.190 0.000 2672 2608 1896 0 0 0 0 0 0

13017 0.63 248.0 139.5 11.2 844 13021 0.00 2.28 0.00 0.000 4 0.000 0.054 2672 1186 1896 0 0 0 0 0 0

13057 0.70 248.0 135.2 10.4 847 13061 0.00 2.30 0.00 0.000 6 0.000 0.057 2672 2599 1895 0 0 0 0 0 0

13383 0.74 248.0 98.7 11.6 878 13390 0.12 0.00 0.00 0.000 6 0.109 0.000 2724 2600 1895 0 0 0 0 0 0

13728 0.71 248.0 53.1 12.4 939 13735 0.00 2.28 0.00 0.000 4 0.000 0.055 2725 1183 1896 0 0 0 0 0 0

13792 0.71 248.0 45.6 10.6 950 13799 0.00 2.30 0.00 0.000 6 0.000 0.057 2725 2597 1896 0 0 0 0 0 0

14140 0.71 254.0 9.3 9.7 1011 14146 0.00 2.22 0.00 0.000 4 0.000 0.070 2725 3926 1895 0 0 0 0 0 0

14152 end climb: FINISH_DEPTH_REACHED

state 14152 begin subsurface finish

14162 0.05 77.0 7.7 -9.2 1013 14193 0.73 2.40 -24.42 0.000 4 0.151 0.085 2500 3933 2611 0 0 0 0 0 0

14194 end subsurface finish: CONTROL_FINISHED_OK

state 14194 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	2.4000001
DIVE	570	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	23	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	-3	T_GPS_CHARGE	-9850.9922	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	231210,202731,6706.770,-5841.040,0,5095.4,0,-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	8.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1	MHEAD_RNG_PITCHd_Wd	279.3,87602,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	1261

FREEZE	7.68,-1.747,-1.770,2,9,0	ALTIM_BOTTOM_PING	750.7,14.4
FINISH1	7.7,1.025931,77	_24V_AH	21.4,68.138
FINISH2	5.4	_10V_AH	9.8,48.421
RAFOS_CLK	815	FG_AHR_24Vo	0.000
RAFOS	1,1293149344,0.166667,0.151111,74,47,45,42,41,40,777,1452,1150,620,212,1883	FG_AHR_10Vo	0.000
RAFOS_FIX	6706.331055,-5846.226074,241210,000017,6,90,0.26	MEM	151684
IRIDIUM_FIX	6641.98,-5815.55,221210,151515	DATA_FILE_SIZE	36650,1018
TT8_MAMPS	0.031458	CAP_FILE_SIZE	123437,0
HUMID	49.25	CFSIZE	260165632,210137088
INTERNAL_PRESSURE	8.62185	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.50	SOUNDSPEED	1454.3
XPDR_PINGS	0	GPS	241210,003117,6706.331,-5846.226,0,6090.5,0,-38.1
ALTIM_TOP_PING	19.5,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	204	19.34	SBE_CT	711	24	365.61
Roll_motor	85	84	155.19	SBE_O2	0	0	0.00
VBD_pump_during_apogee	347	1073	7990.75	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	3	420	33.70	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2568	19	501.39
LPSleep	9375	2	212.23
TT8_Active	398	19	77.70
TT8_Sampling	1720	39	673.22
TT8_CF8	202	45	91.28
TT8_Kalman	0	0	0.00
Analog_circuits	1318	12	155.02
GPS_charging	0	0	0.00
Compass	1696	15	249.44
RAFOS	2520	3	74.09
Transponder	31	30	9.26

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
17	-0.57	-146.0	0.0	0.0	0	25	0.00	0.00	-6.57	0.000	2	0.000	0.000	2500	3925	2879	0	0	0	0	0	0
28	-0.57	-146.0	9.7	-0.0	1	54	0.60	4.25	-15.10	0.000	4	0.109	0.057	2293	1362	3522	0	0	0	0	0	0
135	-0.57	-146.0	20.9	-12.0	19	142	0.00	2.35	0.00	0.000	6	0.000	0.062	2291	2781	3524	0	0	0	0	0	0
481	-0.57	-146.0	59.8	-9.4	80	486	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2781	3523	0	0	0	0	0	0
825	-0.61	-146.0	94.1	-9.8	141	832	0.00	2.28	0.00	0.000	4	0.000	0.052	2291	1373	3522	0	0	0	0	0	0
896	-0.69	-146.0	100.5	-8.5	153	901	0.10	2.33	0.00	0.000	6	0.113	0.063	2247	2777	3521	0	0	0	0	0	0
1223	-0.66	-146.0	139.1	-11.6	183	1224	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2778	3521	0	0	0	0	0	0
1540	-0.66	-146.0	176.2	-11.5	213	1543	0.00	1.95	0.00	0.000	4	0.000	0.074	2240	3929	3521	0	0	0	0	0	0
1585	-0.66	-146.0	181.6	-11.8	217	1589	0.00	1.88	0.00	0.000	6	0.000	0.049	2240	2773	3521	0	0	0	0	0	0
1916	-0.64	-146.0	219.5	-11.7	248	1917	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2774	3521	0	0	0	0	0	0
2235	-0.64	-146.0	252.7	-10.7	278	2239	0.00	2.22	0.00	0.000	4	0.000	0.051	2240	1373	3520	0	0	0	0	0	0
2267	-0.64	-146.0	256.3	-10.8	280	2275	0.12	2.33	0.00	0.000	6	0.176	0.063	2268	2772	3520	0	0	0	0	0	0
2595	-0.69	-146.0	281.9	-7.4	311	2596	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	2772	3521	0	0	0	0	0	0
2915	-0.75	-146.0	305.3	-7.6	341	2919	0.00	2.25	0.00	0.000	4	0.000	0.050	2268	1364	3521	0	0	0	0	0	0
2946	-0.80	-146.0	307.9	-7.6	343	2950	0.15	2.30	0.00	0.000	6	0.091	0.063	2200	2754	3520	0	0	0	0	0	0
3276	-0.72	-146.0	347.3	-11.7	374	3281	0.15	2.00	0.00	0.000	4	0.177	0.071	2233	3927	3520	0	0	0	0	0	0
3305	-0.69	-146.0	350.4	-10.0	376	3312	0.00	1.90	0.00	0.000	6	0.000	0.047	2233	2755	3521	0	0	0	0	0	0
3631	-0.69	-146.0	381.0	-10.0	407	3635	0.00	2.22	0.00	0.000	4	0.000	0.050	2233	1366	3521	0	0	0	0	0	0
3653	-0.69	-146.0	383.3	-9.8	408	3660	0.00	2.30	0.00	0.000	6	0.000	0.062	2230	2754	3521	0	0	0	0	0	0
3984	-0.69	-146.0	415.6	-9.7	430	3985	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2754	3522	0	0	0	0	0	0
4289	-0.69	-146.0	445.4	-9.5	440	4290	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2754	3522	0	0	0	0	0	0
4596	-0.69	-146.0	473.5	-9.0	450	4597	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2754	3522	0	0	0	0	0	0
4902	-0.69	-146.0	501.3	-9.1	460	4903	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2754	3522	0	0	0	0	0	0
5207	-0.69	-146.0	529.2	-8.9	470	5209	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2754	3522	0	0	0	0	0	0
5514	-0.69	-146.0	557.3	-9.2	480	5516	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2754	3522	0	0	0	0	0	0
5820	-0.69	-146.0	586.0	-9.3	490	5821	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2754	3522	0	0	0	0	0	0
6126	-0.69	-146.0	614.8	-9.6	500	6127	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2754	3522	0	0	0	0	0	0
6433	-0.69	-146.0	644.1	-9.5	510	6434	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2754	3522	0	0	0	0	0	0
6738	-0.69	-146.0	672.8	-9.2	520	6740	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2754	3522	0	0	0	0	0	0
7047	-0.69	-146.0	700.9	-9.0	530	7049	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2754	3522	0	0	0	0	0	0
7352	-0.69	-146.0	728.7	-9.0	540	7353	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2754	3522	0	0	0	0	0	0
7596	end dive: BOTTOM_OBSTACLE_DETECTED
state	7596	begin apogee
7602	-0.14	0.0	750.7	8.9	548	7737	0.60	0.00	126.12	1.073	4	0.133	0.000	2423	2598	2921	0	0	0	0	0	0
7738	end apogee: CONTROL_FINISHED_OK
state	7738	begin climb
7741	0.57	146.0	754.7	0.0	552	7887	0.68	2.45	133.85	1.048	4	0.063	0.050	2661	1186	2326	0	0	0	0	0	0
8015	0.57	146.0	732.0	11.9	560	8022	0.00	2.47	0.00	0.000	6	0.000	0.056	2661	2599	2318	0	0	0	0	0	0
8329	0.52	146.0	694.3	12.2	571	8333	0.00	2.33	0.00	0.000	4	0.000	0.054	2662	1187	2315	0	0	0	0	0	0
8553	0.52	146.0	667.8	12.3	577	8560	0.00	2.35	0.00	0.000	6	0.000	0.058	2662	2602	2314	0	0	0	0	0	0
8866	0.47	146.0	629.7	12.4	588	8871	0.12	2.22	0.00	0.000	4	0.204	0.068	2631	3932	2313	0	0	0	0	0	0
8911	0.42	146.0	624.2	12.1	589	8915	0.00	2.15	0.00	0.000	6	0.000	0.045	2635	2603	2312	0	0	0	0	0	0
9234	0.42	146.0	589.7	10.4	600	9236	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2602	2312	0	0	0	0	0	0
9541	0.42	146.0	557.3	10.7	610	9545	0.00	2.25	0.00	0.000	4	0.000	0.070	2634	3936	2312	0	0	0	0	0	0
9580	0.37	146.0	552.6	12.3	611	9585	0.15	2.12	0.00	0.000	6	0.191	0.045	2598	2607	2311	0	0	0	0	0	0
9904	0.47	193.4	526.3	7.8	622	9946	0.00	0.00	39.85	0.929	6	0.000	0.000	2598	2606	2134	0	0	0	0	0	0
10241	0.60	248.0	500.2	7.5	633	10297	0.20	2.38	48.08	0.908	4	0.082	0.054	2683	1199	1910	0	0	0	0	0	0
10320	0.60	248.0	490.8	12.4	635	10325	0.00	2.38	0.00	0.000	6	0.000	0.056	2683	2625	1906	0	0	0	0	0	0
10640	0.57	248.0	448.5	13.5	646	10641	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2625	1900	0	0	0	0	0	0
10945	0.55	248.0	406.9	13.9	656	10947	0.12	0.00	0.00	0.000	6	0.190	0.000	2651	2625	1899	0	0	0	0	0	0
11263	0.59	248.0	371.1	11.4	682	11267	0.00	2.33	0.00	0.000	4	0.000	0.054	2651	1188	1898	0	0	0	0	0	0
11313	0.67	248.0	365.7	10.3	686	11320	0.12	2.33	0.00	0.000	6	0.103	0.056	2703	2608	1898	0	0	0	0	0	0
11639	0.62	248.0	316.7	14.8	717	11642	0.00	2.20	0.00	0.000	4	0.000	0.067	2702	3926	1898	0	0	0	0	0	0
11674	0.54	248.0	310.7	17.1	720	11679	0.20	2.12	0.00	0.000	6	0.182	0.046	2652	2610	1896	0	0	0	0	0	0
12002	0.59	248.0	274.1	10.8	750	12006	0.00	2.25	0.00	0.000	4	0.000	0.054	2652	1192	1896	0	0	0	0	0	0
12054	0.68	248.0	268.6	10.1	754	12059	0.12	2.30	0.00	0.000	6	0.103	0.057	2705	2607	1896	0	0	0	0	0	0
12380	0.63	248.0	221.8	14.7	784	12382	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2607	1896	0	0	0	0	0	0
12700	0.60	248.0	175.8	13.8	814	12701	0.12	0.00	0.00	0.000	6	0.190	0.000	2672	2608	1896	0	0	0	0	0	0
13017	0.63	248.0	139.5	11.2	844	13021	0.00	2.28	0.00	0.000	4	0.000	0.054	2672	1186	1896	0	0	0	0	0	0
13057	0.70	248.0	135.2	10.4	847	13061	0.00	2.30	0.00	0.000	6	0.000	0.057	2672	2599	1895	0	0	0	0	0	0
13383	0.74	248.0	98.7	11.6	878	13390	0.12	0.00	0.00	0.000	6	0.109	0.000	2724	2600	1895	0	0	0	0	0	0
13728	0.71	248.0	53.1	12.4	939	13735	0.00	2.28	0.00	0.000	4	0.000	0.055	2725	1183	1896	0	0	0	0	0	0
13792	0.71	248.0	45.6	10.6	950	13799	0.00	2.30	0.00	0.000	6	0.000	0.057	2725	2597	1896	0	0	0	0	0	0
14140	0.71	254.0	9.3	9.7	1011	14146	0.00	2.22	0.00	0.000	4	0.000	0.070	2725	3926	1895	0	0	0	0	0	0
14152	end climb: FINISH_DEPTH_REACHED
state	14152	begin subsurface finish
14162	0.05	77.0	7.7	-9.2	1013	14193	0.73	2.40	-24.42	0.000	4	0.151	0.085	2500	3933	2611	0	0	0	0	0	0
14194	end subsurface finish: CONTROL_FINISHED_OK
state	14194	begin surface