Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 65 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 65 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

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 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 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 0.0012300001 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 -23144.75 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

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 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 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 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 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 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 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 -23144.75

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 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 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 31 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 26 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 65 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 010311,202734,6651.504,-6003.657,0,7125.0,0,-38.0 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 145.80 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 9.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010311,202734,6651.504,-6003.657,0,7125.0,0,-38.0 MHEAD_RNG_PITCHd_Wd 119.4,142888,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 708

Post-dive calculations and measurements:

FREEZE 8.72,-1.761,-1.784,3,42,0 ALTIM_BOTTOM_PING 701.8,8.5

FINISH1 8.7,1.026122,68 _24V_AH 22.8,12.370

FINISH2 6.3 _10V_AH 10.3,6.041

RAFOS_CLK 670 FG_AHR_24Vo 0.000

RAFOS 0,1299024068,0.033333,0.018889,97,62,60,57,54,54,648,200,185,219,165,209 FG_AHR_10Vo 0.000

RAFOS_FIX 6651.833496,-6006.961914,020311,000022,3,108,0.18 MEM 150732

IRIDIUM_FIX 6641.98,-5738.53,220211,131300 DATA_FILE_SIZE 40031,1069

TT8_MAMPS 0.030709 CAP_FILE_SIZE 126553,0

HUMID 46.49 CFSIZE 260165632,247607296

INTERNAL_PRESSURE 8.66244 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1454.8

XPDR_PINGS 0 GPS 020311,001122,6651.833,-6006.962,0,3108.3,0,-38.0

ALTIM_TOP_PING 19.6,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 238 26.67 SBE_CT 764 24 418.14

Roll_motor 97 75 167.88 SBE_O2 822 19 356.48

VBD_pump_during_apogee 426 1352 13161.43 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 28.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2584 19 530.31

LPSleep 7226 2 171.93

TT8_Active 466 19 95.72

TT8_Sampling 1760 39 723.97

TT8_CF8 167 45 79.22

TT8_Kalman 0 0 0.00

Analog_circuits 1427 12 176.46

GPS_charging 0 0 0.00

Compass 1744 15 269.50

RAFOS 1440 1 22.25

Transponder 24 30 7.44

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 -0.62 -146.0 0.0 0.0 0 24 0.00 1.90 -3.78 0.000 6 0.000 0.064 2884 2477 3639 0 0 0 0 0 0

27 -0.62 -146.0 146.6 -0.0 1 34 0.62 2.15 0.00 0.000 4 0.119 0.055 2666 1080 3639 0 0 0 0 0 0

69 -0.59 -146.0 150.5 -9.6 5 73 0.00 2.22 0.00 0.000 6 0.000 0.059 2666 2489 3639 0 0 0 0 0 0

397 -0.49 -146.0 196.4 -13.8 35 402 0.15 2.20 0.00 0.000 4 0.237 0.061 2701 1089 3639 0 0 0 0 0 0

418 -0.43 -146.0 199.8 -13.1 36 426 0.00 2.22 0.00 0.000 6 0.000 0.058 2700 2495 3639 0 0 0 0 0 0

744 -0.43 -146.0 234.6 -10.5 67 748 0.00 2.20 0.00 0.000 4 0.000 0.061 2700 1084 3638 0 0 0 0 0 0

753 -0.43 -146.0 235.9 -10.6 67 761 0.00 2.25 0.00 0.000 6 0.000 0.057 2700 2494 3638 0 0 0 0 0 0

1080 -0.43 -146.0 271.4 -11.3 98 1084 0.00 2.20 0.00 0.000 4 0.000 0.060 2700 1081 3638 0 0 0 0 0 0

1113 -0.43 -146.0 275.6 -12.1 100 1120 0.00 2.25 0.00 0.000 6 0.000 0.058 2700 2492 3638 0 0 0 0 0 0

1440 -0.43 -146.0 310.0 -10.0 131 1441 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2492 3637 0 0 0 0 0 0

1758 -0.45 -146.0 341.8 -10.1 161 1760 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2492 3637 0 0 0 0 0 0

2077 -0.48 -146.0 373.8 -10.0 191 2081 0.00 2.17 0.00 0.000 4 0.000 0.060 2700 1089 3637 0 0 0 0 0 0

2099 -0.50 -146.0 376.4 -10.5 192 2106 0.00 2.20 0.00 0.000 6 0.000 0.059 2700 2495 3637 0 0 0 0 0 0

2425 -0.54 -146.0 406.9 -9.3 223 2429 0.00 2.20 0.00 0.000 4 0.000 0.059 2700 1087 3638 0 0 0 0 0 0

2437 -0.57 -146.0 408.0 -9.4 224 2441 0.00 2.22 0.00 0.000 6 0.000 0.059 2700 2496 3638 0 0 0 0 0 0

2762 -0.61 -146.0 437.8 -8.9 254 2763 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2496 3637 0 0 0 0 0 0

3082 -0.64 -146.0 464.5 -8.2 284 3086 0.15 2.20 0.00 0.000 4 0.126 0.059 2651 1087 3638 0 0 0 0 0 0

3099 -0.64 -146.0 466.3 -8.9 285 3103 0.00 2.22 0.00 0.000 6 0.000 0.060 2651 2496 3637 0 0 0 0 0 0

3430 -0.56 -146.0 506.8 -12.5 316 3435 0.12 2.20 0.00 0.000 4 0.239 0.060 2679 1088 3637 0 0 0 0 0 0

3447 -0.49 -146.0 508.9 -12.2 317 3452 0.00 2.20 0.00 0.000 6 0.000 0.060 2679 2495 3637 0 0 0 0 0 0

3772 -0.49 -146.0 542.0 -10.2 347 3773 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2495 3637 0 0 0 0 0 0

4093 -0.49 -146.0 573.4 -9.6 377 4094 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2495 3638 0 0 0 0 0 0

4430 -0.49 -146.0 606.4 -9.8 405 4431 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2495 3638 0 0 0 0 0 0

4735 -0.49 -146.0 636.6 -10.0 415 4736 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2496 3638 0 0 0 0 0 0

5041 -0.49 -146.0 666.4 -9.5 425 5045 0.00 2.25 0.00 0.000 4 0.000 0.076 2679 3897 3637 0 0 0 0 0 0

5062 -0.51 -146.0 668.4 -9.1 425 5070 0.00 2.15 0.00 0.000 6 0.000 0.047 2679 2489 3637 0 0 0 0 0 0

5375 -0.51 -146.0 698.6 -9.9 436 5377 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2488 3638 0 0 0 0 0 0

5408 end dive: BOTTOM_OBSTACLE_DETECTED

state 5408 begin apogee

5413 -0.12 0.0 701.8 10.2 437 5543 0.45 0.00 124.60 1.353 6 0.184 0.000 2815 2259 3030 0 0 0 0 0 0

5544 end apogee: CONTROL_FINISHED_OK

state 5544 begin climb

5546 0.62 146.0 705.6 0.0 441 5681 0.77 2.50 125.68 1.315 4 0.137 0.068 3063 885 2432 0 0 0 0 0 0

5720 0.53 146.0 691.5 13.6 446 5727 0.00 2.40 0.00 0.000 6 0.000 0.056 3063 2277 2428 0 0 0 0 0 0

6033 0.43 146.0 652.4 12.5 457 6038 0.22 2.38 0.00 0.000 4 0.181 0.069 3004 3688 2424 0 0 0 0 0 0

6131 0.39 146.0 641.6 11.2 460 6135 0.00 2.30 0.00 0.000 6 0.000 0.052 3012 2290 2423 0 0 0 0 0 0

6466 0.41 156.9 609.5 9.5 471 6478 0.00 0.00 8.93 1.074 6 0.000 0.000 3012 2290 2390 0 0 0 0 0 0

6802 0.41 158.7 575.9 9.9 495 6806 0.00 2.30 0.00 0.000 4 0.000 0.067 3012 3697 2388 0 0 0 0 0 0

6846 0.37 158.7 571.0 11.5 498 6853 0.15 2.28 0.00 0.000 6 0.191 0.051 2987 2274 2388 0 0 0 0 0 0

7173 0.48 201.6 544.7 8.0 529 7217 0.10 0.00 40.33 1.232 6 0.123 0.000 3026 2275 2208 0 0 0 0 0 0

7534 0.48 201.6 504.5 11.4 563 7538 0.00 2.35 0.00 0.000 4 0.000 0.067 3026 3690 2201 0 0 0 0 0 0

7591 0.45 201.6 497.5 12.5 568 7595 0.00 2.30 0.00 0.000 6 0.000 0.051 3037 2265 2200 0 0 0 0 0 0

7915 0.45 201.6 458.9 12.1 598 7919 0.00 2.25 0.00 0.000 4 0.000 0.067 3045 861 2200 0 0 0 0 0 0

7944 0.45 201.6 455.4 12.2 600 7949 0.12 2.28 0.00 0.000 6 0.188 0.054 3015 2292 2198 0 0 0 0 0 0

8269 0.49 201.6 420.6 10.4 630 8273 0.00 2.22 0.00 0.000 4 0.000 0.069 3015 3683 2198 0 0 0 0 0 0

8334 0.49 201.6 413.0 12.5 635 8342 0.00 2.28 0.00 0.000 6 0.000 0.052 3022 2269 2198 0 0 0 0 0 0

8661 0.54 221.5 381.8 9.1 666 8681 0.00 0.00 17.62 1.108 6 0.000 0.000 3022 2269 2126 0 0 0 0 0 0

9001 0.60 236.2 350.8 9.3 698 9020 0.10 0.00 14.20 1.075 6 0.122 0.000 3063 2269 2066 0 0 0 0 0 0

9338 0.56 236.2 308.1 12.8 730 9342 0.00 2.30 0.00 0.000 4 0.000 0.064 3063 3695 2062 0 0 0 0 0 0

9383 0.50 236.2 301.9 14.3 734 9388 0.17 2.28 0.00 0.000 6 0.187 0.052 3029 2277 2062 0 0 0 0 0 0

9709 0.56 241.7 268.7 9.7 764 9721 0.00 2.28 5.65 0.845 4 0.000 0.066 3029 863 2044 0 0 0 0 0 0

9768 0.66 255.0 263.0 9.4 769 9792 0.15 2.25 13.82 1.024 6 0.109 0.052 3087 2283 1989 0 0 0 0 0 0

10109 0.62 255.0 215.3 13.3 801 10113 0.00 2.25 0.00 0.000 4 0.000 0.068 3087 3684 1986 0 0 0 0 0 0

10194 0.55 255.0 202.4 16.0 808 10202 0.20 2.25 0.00 0.000 6 0.184 0.052 3045 2273 1985 0 0 0 0 0 0

10519 0.61 255.0 168.2 10.3 839 10520 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2273 1984 0 0 0 0 0 0

10840 0.72 287.2 137.3 8.5 869 10877 0.15 2.35 30.15 1.001 4 0.103 0.069 3111 875 1858 0 0 0 0 0 0

10911 0.72 287.2 129.3 12.0 875 10918 0.00 2.25 0.00 0.000 6 0.000 0.054 3111 2274 1855 0 0 0 0 0 0

11240 0.72 287.2 91.4 10.9 913 11247 0.00 2.30 0.00 0.000 4 0.000 0.067 3111 3693 1852 0 0 0 0 0 0

11298 0.66 287.2 83.9 13.7 923 11306 0.17 2.28 0.00 0.000 6 0.198 0.052 3078 2269 1851 0 0 0 0 0 0

11645 0.73 303.7 51.8 9.2 984 11668 0.00 0.00 17.83 0.886 6 0.000 0.000 3078 2270 1790 0 0 0 0 0 0

12004 0.88 356.6 18.8 7.6 1048 12041 0.20 2.33 28.00 0.990 4 0.089 0.067 3163 862 1575 0 0 0 0 0 0

12076 end climb: FINISH_DEPTH_REACHED

state 12076 begin subsurface finish

12085 0.08 67.5 8.7 -16.3 1060 12138 0.88 0.00 -48.78 0.000 6 0.167 0.000 2900 2283 2756 0 0 0 0 0 0

12139 end subsurface finish: CONTROL_FINISHED_OK

state 12139 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	65	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
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	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	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	0.0012300001	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	-23144.75	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
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	010311,202734,6651.504,-6003.657,0,7125.0,0,-38.0	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	145.80	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	9.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010311,202734,6651.504,-6003.657,0,7125.0,0,-38.0	MHEAD_RNG_PITCHd_Wd	119.4,142888,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	708

FREEZE	8.72,-1.761,-1.784,3,42,0	ALTIM_BOTTOM_PING	701.8,8.5
FINISH1	8.7,1.026122,68	_24V_AH	22.8,12.370
FINISH2	6.3	_10V_AH	10.3,6.041
RAFOS_CLK	670	FG_AHR_24Vo	0.000
RAFOS	0,1299024068,0.033333,0.018889,97,62,60,57,54,54,648,200,185,219,165,209	FG_AHR_10Vo	0.000
RAFOS_FIX	6651.833496,-6006.961914,020311,000022,3,108,0.18	MEM	150732
IRIDIUM_FIX	6641.98,-5738.53,220211,131300	DATA_FILE_SIZE	40031,1069
TT8_MAMPS	0.030709	CAP_FILE_SIZE	126553,0
HUMID	46.49	CFSIZE	260165632,247607296
INTERNAL_PRESSURE	8.66244	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1454.8
XPDR_PINGS	0	GPS	020311,001122,6651.833,-6006.962,0,3108.3,0,-38.0
ALTIM_TOP_PING	19.6,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	238	26.67	SBE_CT	764	24	418.14
Roll_motor	97	75	167.88	SBE_O2	822	19	356.48
VBD_pump_during_apogee	426	1352	13161.43	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	28.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2584	19	530.31
LPSleep	7226	2	171.93
TT8_Active	466	19	95.72
TT8_Sampling	1760	39	723.97
TT8_CF8	167	45	79.22
TT8_Kalman	0	0	0.00
Analog_circuits	1427	12	176.46
GPS_charging	0	0	0.00
Compass	1744	15	269.50
RAFOS	1440	1	22.25
Transponder	24	30	7.44

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	-0.62	-146.0	0.0	0.0	0	24	0.00	1.90	-3.78	0.000	6	0.000	0.064	2884	2477	3639	0	0	0	0	0	0
27	-0.62	-146.0	146.6	-0.0	1	34	0.62	2.15	0.00	0.000	4	0.119	0.055	2666	1080	3639	0	0	0	0	0	0
69	-0.59	-146.0	150.5	-9.6	5	73	0.00	2.22	0.00	0.000	6	0.000	0.059	2666	2489	3639	0	0	0	0	0	0
397	-0.49	-146.0	196.4	-13.8	35	402	0.15	2.20	0.00	0.000	4	0.237	0.061	2701	1089	3639	0	0	0	0	0	0
418	-0.43	-146.0	199.8	-13.1	36	426	0.00	2.22	0.00	0.000	6	0.000	0.058	2700	2495	3639	0	0	0	0	0	0
744	-0.43	-146.0	234.6	-10.5	67	748	0.00	2.20	0.00	0.000	4	0.000	0.061	2700	1084	3638	0	0	0	0	0	0
753	-0.43	-146.0	235.9	-10.6	67	761	0.00	2.25	0.00	0.000	6	0.000	0.057	2700	2494	3638	0	0	0	0	0	0
1080	-0.43	-146.0	271.4	-11.3	98	1084	0.00	2.20	0.00	0.000	4	0.000	0.060	2700	1081	3638	0	0	0	0	0	0
1113	-0.43	-146.0	275.6	-12.1	100	1120	0.00	2.25	0.00	0.000	6	0.000	0.058	2700	2492	3638	0	0	0	0	0	0
1440	-0.43	-146.0	310.0	-10.0	131	1441	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2492	3637	0	0	0	0	0	0
1758	-0.45	-146.0	341.8	-10.1	161	1760	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2492	3637	0	0	0	0	0	0
2077	-0.48	-146.0	373.8	-10.0	191	2081	0.00	2.17	0.00	0.000	4	0.000	0.060	2700	1089	3637	0	0	0	0	0	0
2099	-0.50	-146.0	376.4	-10.5	192	2106	0.00	2.20	0.00	0.000	6	0.000	0.059	2700	2495	3637	0	0	0	0	0	0
2425	-0.54	-146.0	406.9	-9.3	223	2429	0.00	2.20	0.00	0.000	4	0.000	0.059	2700	1087	3638	0	0	0	0	0	0
2437	-0.57	-146.0	408.0	-9.4	224	2441	0.00	2.22	0.00	0.000	6	0.000	0.059	2700	2496	3638	0	0	0	0	0	0
2762	-0.61	-146.0	437.8	-8.9	254	2763	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2496	3637	0	0	0	0	0	0
3082	-0.64	-146.0	464.5	-8.2	284	3086	0.15	2.20	0.00	0.000	4	0.126	0.059	2651	1087	3638	0	0	0	0	0	0
3099	-0.64	-146.0	466.3	-8.9	285	3103	0.00	2.22	0.00	0.000	6	0.000	0.060	2651	2496	3637	0	0	0	0	0	0
3430	-0.56	-146.0	506.8	-12.5	316	3435	0.12	2.20	0.00	0.000	4	0.239	0.060	2679	1088	3637	0	0	0	0	0	0
3447	-0.49	-146.0	508.9	-12.2	317	3452	0.00	2.20	0.00	0.000	6	0.000	0.060	2679	2495	3637	0	0	0	0	0	0
3772	-0.49	-146.0	542.0	-10.2	347	3773	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2495	3637	0	0	0	0	0	0
4093	-0.49	-146.0	573.4	-9.6	377	4094	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2495	3638	0	0	0	0	0	0
4430	-0.49	-146.0	606.4	-9.8	405	4431	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2495	3638	0	0	0	0	0	0
4735	-0.49	-146.0	636.6	-10.0	415	4736	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2496	3638	0	0	0	0	0	0
5041	-0.49	-146.0	666.4	-9.5	425	5045	0.00	2.25	0.00	0.000	4	0.000	0.076	2679	3897	3637	0	0	0	0	0	0
5062	-0.51	-146.0	668.4	-9.1	425	5070	0.00	2.15	0.00	0.000	6	0.000	0.047	2679	2489	3637	0	0	0	0	0	0
5375	-0.51	-146.0	698.6	-9.9	436	5377	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2488	3638	0	0	0	0	0	0
5408	end dive: BOTTOM_OBSTACLE_DETECTED
state	5408	begin apogee
5413	-0.12	0.0	701.8	10.2	437	5543	0.45	0.00	124.60	1.353	6	0.184	0.000	2815	2259	3030	0	0	0	0	0	0
5544	end apogee: CONTROL_FINISHED_OK
state	5544	begin climb
5546	0.62	146.0	705.6	0.0	441	5681	0.77	2.50	125.68	1.315	4	0.137	0.068	3063	885	2432	0	0	0	0	0	0
5720	0.53	146.0	691.5	13.6	446	5727	0.00	2.40	0.00	0.000	6	0.000	0.056	3063	2277	2428	0	0	0	0	0	0
6033	0.43	146.0	652.4	12.5	457	6038	0.22	2.38	0.00	0.000	4	0.181	0.069	3004	3688	2424	0	0	0	0	0	0
6131	0.39	146.0	641.6	11.2	460	6135	0.00	2.30	0.00	0.000	6	0.000	0.052	3012	2290	2423	0	0	0	0	0	0
6466	0.41	156.9	609.5	9.5	471	6478	0.00	0.00	8.93	1.074	6	0.000	0.000	3012	2290	2390	0	0	0	0	0	0
6802	0.41	158.7	575.9	9.9	495	6806	0.00	2.30	0.00	0.000	4	0.000	0.067	3012	3697	2388	0	0	0	0	0	0
6846	0.37	158.7	571.0	11.5	498	6853	0.15	2.28	0.00	0.000	6	0.191	0.051	2987	2274	2388	0	0	0	0	0	0
7173	0.48	201.6	544.7	8.0	529	7217	0.10	0.00	40.33	1.232	6	0.123	0.000	3026	2275	2208	0	0	0	0	0	0
7534	0.48	201.6	504.5	11.4	563	7538	0.00	2.35	0.00	0.000	4	0.000	0.067	3026	3690	2201	0	0	0	0	0	0
7591	0.45	201.6	497.5	12.5	568	7595	0.00	2.30	0.00	0.000	6	0.000	0.051	3037	2265	2200	0	0	0	0	0	0
7915	0.45	201.6	458.9	12.1	598	7919	0.00	2.25	0.00	0.000	4	0.000	0.067	3045	861	2200	0	0	0	0	0	0
7944	0.45	201.6	455.4	12.2	600	7949	0.12	2.28	0.00	0.000	6	0.188	0.054	3015	2292	2198	0	0	0	0	0	0
8269	0.49	201.6	420.6	10.4	630	8273	0.00	2.22	0.00	0.000	4	0.000	0.069	3015	3683	2198	0	0	0	0	0	0
8334	0.49	201.6	413.0	12.5	635	8342	0.00	2.28	0.00	0.000	6	0.000	0.052	3022	2269	2198	0	0	0	0	0	0
8661	0.54	221.5	381.8	9.1	666	8681	0.00	0.00	17.62	1.108	6	0.000	0.000	3022	2269	2126	0	0	0	0	0	0
9001	0.60	236.2	350.8	9.3	698	9020	0.10	0.00	14.20	1.075	6	0.122	0.000	3063	2269	2066	0	0	0	0	0	0
9338	0.56	236.2	308.1	12.8	730	9342	0.00	2.30	0.00	0.000	4	0.000	0.064	3063	3695	2062	0	0	0	0	0	0
9383	0.50	236.2	301.9	14.3	734	9388	0.17	2.28	0.00	0.000	6	0.187	0.052	3029	2277	2062	0	0	0	0	0	0
9709	0.56	241.7	268.7	9.7	764	9721	0.00	2.28	5.65	0.845	4	0.000	0.066	3029	863	2044	0	0	0	0	0	0
9768	0.66	255.0	263.0	9.4	769	9792	0.15	2.25	13.82	1.024	6	0.109	0.052	3087	2283	1989	0	0	0	0	0	0
10109	0.62	255.0	215.3	13.3	801	10113	0.00	2.25	0.00	0.000	4	0.000	0.068	3087	3684	1986	0	0	0	0	0	0
10194	0.55	255.0	202.4	16.0	808	10202	0.20	2.25	0.00	0.000	6	0.184	0.052	3045	2273	1985	0	0	0	0	0	0
10519	0.61	255.0	168.2	10.3	839	10520	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	2273	1984	0	0	0	0	0	0
10840	0.72	287.2	137.3	8.5	869	10877	0.15	2.35	30.15	1.001	4	0.103	0.069	3111	875	1858	0	0	0	0	0	0
10911	0.72	287.2	129.3	12.0	875	10918	0.00	2.25	0.00	0.000	6	0.000	0.054	3111	2274	1855	0	0	0	0	0	0
11240	0.72	287.2	91.4	10.9	913	11247	0.00	2.30	0.00	0.000	4	0.000	0.067	3111	3693	1852	0	0	0	0	0	0
11298	0.66	287.2	83.9	13.7	923	11306	0.17	2.28	0.00	0.000	6	0.198	0.052	3078	2269	1851	0	0	0	0	0	0
11645	0.73	303.7	51.8	9.2	984	11668	0.00	0.00	17.83	0.886	6	0.000	0.000	3078	2270	1790	0	0	0	0	0	0
12004	0.88	356.6	18.8	7.6	1048	12041	0.20	2.33	28.00	0.990	4	0.089	0.067	3163	862	1575	0	0	0	0	0	0
12076	end climb: FINISH_DEPTH_REACHED
state	12076	begin subsurface finish
12085	0.08	67.5	8.7	-16.3	1060	12138	0.88	0.00	-48.78	0.000	6	0.167	0.000	2900	2283	2756	0	0	0	0	0	0
12139	end subsurface finish: CONTROL_FINISHED_OK
state	12139	begin surface