Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 815 * 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 2.4000001

DIVE 815 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 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 30 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 34 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 -13322.154 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 5 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 -13322.154

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 30 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 34 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 815 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 230111,122249,6641.674,-5941.650,0,5103.0,0,-38.2 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -8.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230111,122249,6641.674,-5941.650,0,5103.0,0,-38.2 MHEAD_RNG_PITCHd_Wd 110.7,131473,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 831

Post-dive calculations and measurements:

FREEZE 8.81,-1.734,-1.772,3,33,0 ALTIM_BOTTOM_PING 652.6,12.0

FINISH1 8.8,1.025950,76 _24V_AH 21.0,92.114

FINISH2 6.8 _10V_AH 9.6,62.781

RAFOS_CLK 703 FG_AHR_24Vo 0.000

RAFOS 0,1295798463,16.033333,16.017500,138,49,46,43,43,39,717,1700,414,396,1248,1447 FG_AHR_10Vo 0.000

RAFOS_FIX 6643.122559,-5938.033203,230111,161607,7,115,0.26 MEM 151708

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 33374,948

TT8_MAMPS 0.029211 CAP_FILE_SIZE 124701,0

HUMID 49.84 CFSIZE 260165632,196362240

INTERNAL_PRESSURE 8.60232 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.00 SOUNDSPEED 1449.8

XPDR_PINGS 0 GPS 230111,162707,6643.123,-5938.033,0,7115.1,0,-38.2

ALTIM_TOP_PING 19.7,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 191 16.17 SBE_CT 662 24 333.65

Roll_motor 111 74 175.62 SBE_O2 0 0 0.00

VBD_pump_during_apogee 405 1013 8641.10 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 22.05 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2370 19 453.29

LPSleep 7416 2 164.47

TT8_Active 452 19 86.52

TT8_Sampling 1689 39 647.34

TT8_CF8 255 45 112.57

TT8_Kalman 0 0 0.00

Analog_circuits 1392 12 160.41

GPS_charging 0 0 0.00

Compass 1667 15 240.13

RAFOS 2520 3 72.58

Transponder 19 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

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 -5.55 0.000 2 0.000 0.000 2479 3913 2757 0 0 0 0 0 0

28 -0.57 -146.0 5.1 -0.0 1 65 0.50 4.35 -23.58 0.000 4 0.092 0.057 2295 1369 3521 0 0 0 0 0 0

247 -0.57 -146.0 30.3 -13.8 39 254 0.00 2.38 0.00 0.000 6 0.000 0.065 2293 2771 3523 0 0 0 0 0 0

594 -0.57 -146.0 72.1 -10.3 100 601 0.00 2.28 0.00 0.000 4 0.000 0.052 2293 1372 3522 0 0 0 0 0 0

609 -0.57 -146.0 74.2 -11.3 102 616 0.00 2.35 0.00 0.000 6 0.000 0.064 2289 2764 3523 0 0 0 0 0 0

947 -0.57 -146.0 116.5 -8.4 149 951 0.00 2.28 0.00 0.000 4 0.000 0.051 2290 1366 3521 0 0 0 0 0 0

1060 -0.60 -146.0 125.8 -8.0 158 1067 0.00 2.35 0.00 0.000 6 0.000 0.064 2287 2742 3522 0 0 0 0 0 0

1386 -0.63 -146.0 158.8 -8.9 189 1390 0.00 2.05 0.00 0.000 4 0.000 0.075 2281 3928 3521 0 0 0 0 0 0

1426 -0.65 -146.0 162.7 -9.2 192 1433 0.00 1.95 0.00 0.000 6 0.000 0.050 2281 2738 3521 0 0 0 0 0 0

1752 -0.68 -146.0 193.6 -10.2 223 1753 0.00 0.00 0.00 0.000 6 0.000 0.000 2281 2738 3521 0 0 0 0 0 0

2073 -0.72 -146.0 227.0 -9.7 253 2080 0.10 0.00 0.00 0.000 6 0.112 0.000 2236 2738 3521 0 0 0 0 0 0

2399 -0.67 -146.0 262.9 -10.5 284 2403 0.00 2.22 0.00 0.000 4 0.000 0.052 2235 1367 3520 0 0 0 0 0 0

2435 -0.65 -146.0 266.6 -10.4 287 2439 0.00 2.35 0.00 0.000 6 0.000 0.065 2235 2743 3520 0 0 0 0 0 0

2768 -0.62 -146.0 304.3 -12.1 318 2773 0.15 2.08 0.00 0.000 4 0.174 0.074 2270 3928 3520 0 0 0 0 0 0

2797 -0.62 -146.0 307.6 -10.0 320 2801 0.00 2.00 0.00 0.000 6 0.000 0.050 2270 2717 3520 0 0 0 0 0 0

3129 -0.66 -146.0 337.5 -8.5 351 3133 0.00 2.20 0.00 0.000 4 0.000 0.052 2270 1361 3520 0 0 0 0 0 0

3169 -0.72 -146.0 341.0 -8.4 354 3176 0.00 2.33 0.00 0.000 6 0.000 0.063 2265 2738 3520 0 0 0 0 0 0

3495 -0.75 -146.0 365.5 -7.3 385 3499 0.00 2.05 0.00 0.000 4 0.000 0.073 2256 3928 3520 0 0 0 0 0 0

3520 -0.78 -146.0 367.3 -7.3 387 3523 0.00 1.98 0.00 0.000 6 0.000 0.049 2256 2722 3520 0 0 0 0 0 0

3852 -0.80 -146.0 395.8 -9.2 418 3854 0.12 0.00 0.00 0.000 6 0.102 0.000 2195 2722 3520 0 0 0 0 0 0

4169 -0.71 -146.0 436.9 -12.9 431 4174 0.17 2.12 0.00 0.000 4 0.168 0.073 2236 3928 3521 0 0 0 0 0 0

4197 -0.67 -146.0 440.3 -11.4 431 4204 0.00 1.95 0.00 0.000 6 0.000 0.047 2235 2733 3521 0 0 0 0 0 0

4511 -0.67 -146.0 470.4 -9.4 442 4515 0.00 2.22 0.00 0.000 4 0.000 0.050 2235 1368 3521 0 0 0 0 0 0

4532 -0.67 -146.0 472.7 -10.1 442 4540 0.00 2.35 0.00 0.000 6 0.000 0.063 2235 2745 3521 0 0 0 0 0 0

4849 -0.67 -146.0 502.8 -9.9 453 4853 0.00 2.08 0.00 0.000 4 0.000 0.074 2235 3933 3522 0 0 0 0 0 0

4885 -0.67 -146.0 506.7 -9.9 454 4889 0.00 1.95 0.00 0.000 6 0.000 0.047 2235 2735 3522 0 0 0 0 0 0

5227 -0.67 -146.0 541.8 -10.3 465 5231 0.00 2.20 0.00 0.000 4 0.000 0.050 2235 1370 3522 0 0 0 0 0 0

5263 -0.67 -146.0 545.5 -10.3 466 5267 0.00 2.30 0.00 0.000 6 0.000 0.062 2234 2735 3522 0 0 0 0 0 0

5599 -0.67 -146.0 579.3 -9.8 477 5600 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2735 3522 0 0 0 0 0 0

5905 -0.67 -146.0 608.6 -9.5 487 5909 0.00 2.05 0.00 0.000 4 0.000 0.073 2234 3928 3523 0 0 0 0 0 0

5956 -0.67 -146.0 613.7 -9.8 488 5960 0.00 1.95 0.00 0.000 6 0.000 0.047 2234 2731 3523 0 0 0 0 0 0

6281 -0.67 -146.0 643.9 -9.3 499 6282 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2731 3523 0 0 0 0 0 0

6374 end dive: BOTTOM_OBSTACLE_DETECTED

state 6374 begin apogee

6381 -0.14 0.0 652.6 9.4 502 6514 0.60 0.00 125.40 1.014 4 0.133 0.000 2425 2601 2923 0 0 0 0 0 0

6515 end apogee: CONTROL_FINISHED_OK

state 6515 begin climb

6518 0.57 146.0 657.1 0.0 506 6659 0.68 2.45 134.02 0.987 4 0.067 0.050 2661 1187 2327 0 0 0 0 0 0

6817 0.57 146.0 634.8 10.0 515 6821 0.00 2.50 0.00 0.000 6 0.000 0.056 2661 2607 2318 0 0 0 0 0 0

7142 0.53 146.0 599.7 10.7 526 7146 0.00 2.33 0.00 0.000 4 0.000 0.053 2662 1188 2315 0 0 0 0 0 0

7366 0.53 146.0 576.5 10.2 532 7373 0.00 2.35 0.00 0.000 6 0.000 0.057 2662 2607 2314 0 0 0 0 0 0

7681 0.49 146.0 542.8 10.9 543 7685 0.00 2.22 0.00 0.000 4 0.000 0.069 2662 3928 2314 0 0 0 0 0 0

7710 0.41 146.0 539.3 11.4 544 7715 0.20 2.15 0.00 0.000 6 0.190 0.045 2611 2597 2312 0 0 0 0 0 0

8049 0.50 197.7 512.5 7.6 555 8100 0.00 2.30 43.75 0.916 4 0.000 0.051 2610 1192 2115 0 0 0 0 0 0

8119 0.65 251.9 507.0 7.5 557 8178 0.22 2.38 48.65 0.899 6 0.073 0.056 2700 2610 1895 0 0 0 0 0 0

8486 0.62 251.9 455.1 14.3 569 8487 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2610 1884 0 0 0 0 0 0

8790 0.58 251.9 412.2 13.6 579 8792 0.12 0.00 0.00 0.000 6 0.191 0.000 2668 2610 1882 0 0 0 0 0 0

9107 0.62 251.9 376.1 11.8 601 9111 0.00 2.30 0.00 0.000 4 0.000 0.054 2668 1189 1881 0 0 0 0 0 0

9128 0.67 251.9 373.1 11.3 602 9135 0.00 2.35 0.00 0.000 6 0.000 0.056 2668 2608 1881 0 0 0 0 0 0

9454 0.71 251.9 332.9 12.8 633 9456 0.10 0.00 0.00 0.000 6 0.116 0.000 2711 2608 1881 0 0 0 0 0 0

9772 0.67 251.9 283.3 15.8 663 9776 0.00 2.30 0.00 0.000 4 0.000 0.054 2712 1189 1880 0 0 0 0 0 0

9814 0.67 251.9 277.3 14.6 666 9818 0.00 2.33 0.00 0.000 6 0.000 0.056 2712 2604 1880 0 0 0 0 0 0

10140 0.64 251.9 230.1 14.0 696 10144 0.00 2.30 0.00 0.000 4 0.000 0.054 2714 1193 1880 0 0 0 0 0 0

10170 0.64 251.9 226.1 13.7 698 10175 0.12 2.30 0.00 0.000 6 0.172 0.056 2683 2593 1880 0 0 0 0 0 0

10496 0.68 251.9 187.8 11.0 728 10501 0.00 2.22 0.00 0.000 4 0.000 0.068 2683 3925 1880 0 0 0 0 0 0

10532 0.68 251.9 183.4 12.6 731 10536 0.00 2.20 0.00 0.000 6 0.000 0.046 2683 2581 1878 0 0 0 0 0 0

10858 0.72 251.9 145.9 11.4 761 10862 0.00 2.25 0.00 0.000 4 0.000 0.055 2684 1188 1878 0 0 0 0 0 0

10892 0.79 251.9 142.3 10.5 763 10899 0.12 2.33 0.00 0.000 6 0.101 0.056 2737 2587 1878 0 0 0 0 0 0

11218 0.77 251.9 98.5 11.8 795 11225 0.00 2.28 0.00 0.000 4 0.000 0.054 2738 1191 1878 0 0 0 0 0 0

11268 0.79 251.9 93.2 11.3 803 11274 0.00 2.28 0.00 0.000 6 0.000 0.057 2738 2559 1878 0 0 0 0 0 0

11614 0.80 267.9 56.3 9.3 864 11633 0.00 2.35 12.35 0.673 4 0.000 0.069 2738 3932 1829 0 0 0 0 0 0

11776 0.81 315.3 39.5 7.8 892 11823 0.00 2.20 41.78 0.656 6 0.000 0.046 2743 2588 1636 0 0 0 0 0 0

12054 end climb: FINISH_DEPTH_REACHED

state 12054 begin subsurface finish

12064 0.05 76.0 8.8 -12.2 941 12106 0.80 2.35 -31.15 0.000 4 0.150 0.066 2500 1185 2616 0 0 0 0 0 0

12107 end subsurface finish: CONTROL_FINISHED_OK

state 12107 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	815	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	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	30	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	34	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	-13322.154	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	230111,122249,6641.674,-5941.650,0,5103.0,0,-38.2	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-8.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230111,122249,6641.674,-5941.650,0,5103.0,0,-38.2	MHEAD_RNG_PITCHd_Wd	110.7,131473,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	831

FREEZE	8.81,-1.734,-1.772,3,33,0	ALTIM_BOTTOM_PING	652.6,12.0
FINISH1	8.8,1.025950,76	_24V_AH	21.0,92.114
FINISH2	6.8	_10V_AH	9.6,62.781
RAFOS_CLK	703	FG_AHR_24Vo	0.000
RAFOS	0,1295798463,16.033333,16.017500,138,49,46,43,43,39,717,1700,414,396,1248,1447	FG_AHR_10Vo	0.000
RAFOS_FIX	6643.122559,-5938.033203,230111,161607,7,115,0.26	MEM	151708
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	33374,948
TT8_MAMPS	0.029211	CAP_FILE_SIZE	124701,0
HUMID	49.84	CFSIZE	260165632,196362240
INTERNAL_PRESSURE	8.60232	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.00	SOUNDSPEED	1449.8
XPDR_PINGS	0	GPS	230111,162707,6643.123,-5938.033,0,7115.1,0,-38.2
ALTIM_TOP_PING	19.7,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	191	16.17	SBE_CT	662	24	333.65
Roll_motor	111	74	175.62	SBE_O2	0	0	0.00
VBD_pump_during_apogee	405	1013	8641.10	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	22.05	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2370	19	453.29
LPSleep	7416	2	164.47
TT8_Active	452	19	86.52
TT8_Sampling	1689	39	647.34
TT8_CF8	255	45	112.57
TT8_Kalman	0	0	0.00
Analog_circuits	1392	12	160.41
GPS_charging	0	0	0.00
Compass	1667	15	240.13
RAFOS	2520	3	72.58
Transponder	19	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
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	-5.55	0.000	2	0.000	0.000	2479	3913	2757	0	0	0	0	0	0
28	-0.57	-146.0	5.1	-0.0	1	65	0.50	4.35	-23.58	0.000	4	0.092	0.057	2295	1369	3521	0	0	0	0	0	0
247	-0.57	-146.0	30.3	-13.8	39	254	0.00	2.38	0.00	0.000	6	0.000	0.065	2293	2771	3523	0	0	0	0	0	0
594	-0.57	-146.0	72.1	-10.3	100	601	0.00	2.28	0.00	0.000	4	0.000	0.052	2293	1372	3522	0	0	0	0	0	0
609	-0.57	-146.0	74.2	-11.3	102	616	0.00	2.35	0.00	0.000	6	0.000	0.064	2289	2764	3523	0	0	0	0	0	0
947	-0.57	-146.0	116.5	-8.4	149	951	0.00	2.28	0.00	0.000	4	0.000	0.051	2290	1366	3521	0	0	0	0	0	0
1060	-0.60	-146.0	125.8	-8.0	158	1067	0.00	2.35	0.00	0.000	6	0.000	0.064	2287	2742	3522	0	0	0	0	0	0
1386	-0.63	-146.0	158.8	-8.9	189	1390	0.00	2.05	0.00	0.000	4	0.000	0.075	2281	3928	3521	0	0	0	0	0	0
1426	-0.65	-146.0	162.7	-9.2	192	1433	0.00	1.95	0.00	0.000	6	0.000	0.050	2281	2738	3521	0	0	0	0	0	0
1752	-0.68	-146.0	193.6	-10.2	223	1753	0.00	0.00	0.00	0.000	6	0.000	0.000	2281	2738	3521	0	0	0	0	0	0
2073	-0.72	-146.0	227.0	-9.7	253	2080	0.10	0.00	0.00	0.000	6	0.112	0.000	2236	2738	3521	0	0	0	0	0	0
2399	-0.67	-146.0	262.9	-10.5	284	2403	0.00	2.22	0.00	0.000	4	0.000	0.052	2235	1367	3520	0	0	0	0	0	0
2435	-0.65	-146.0	266.6	-10.4	287	2439	0.00	2.35	0.00	0.000	6	0.000	0.065	2235	2743	3520	0	0	0	0	0	0
2768	-0.62	-146.0	304.3	-12.1	318	2773	0.15	2.08	0.00	0.000	4	0.174	0.074	2270	3928	3520	0	0	0	0	0	0
2797	-0.62	-146.0	307.6	-10.0	320	2801	0.00	2.00	0.00	0.000	6	0.000	0.050	2270	2717	3520	0	0	0	0	0	0
3129	-0.66	-146.0	337.5	-8.5	351	3133	0.00	2.20	0.00	0.000	4	0.000	0.052	2270	1361	3520	0	0	0	0	0	0
3169	-0.72	-146.0	341.0	-8.4	354	3176	0.00	2.33	0.00	0.000	6	0.000	0.063	2265	2738	3520	0	0	0	0	0	0
3495	-0.75	-146.0	365.5	-7.3	385	3499	0.00	2.05	0.00	0.000	4	0.000	0.073	2256	3928	3520	0	0	0	0	0	0
3520	-0.78	-146.0	367.3	-7.3	387	3523	0.00	1.98	0.00	0.000	6	0.000	0.049	2256	2722	3520	0	0	0	0	0	0
3852	-0.80	-146.0	395.8	-9.2	418	3854	0.12	0.00	0.00	0.000	6	0.102	0.000	2195	2722	3520	0	0	0	0	0	0
4169	-0.71	-146.0	436.9	-12.9	431	4174	0.17	2.12	0.00	0.000	4	0.168	0.073	2236	3928	3521	0	0	0	0	0	0
4197	-0.67	-146.0	440.3	-11.4	431	4204	0.00	1.95	0.00	0.000	6	0.000	0.047	2235	2733	3521	0	0	0	0	0	0
4511	-0.67	-146.0	470.4	-9.4	442	4515	0.00	2.22	0.00	0.000	4	0.000	0.050	2235	1368	3521	0	0	0	0	0	0
4532	-0.67	-146.0	472.7	-10.1	442	4540	0.00	2.35	0.00	0.000	6	0.000	0.063	2235	2745	3521	0	0	0	0	0	0
4849	-0.67	-146.0	502.8	-9.9	453	4853	0.00	2.08	0.00	0.000	4	0.000	0.074	2235	3933	3522	0	0	0	0	0	0
4885	-0.67	-146.0	506.7	-9.9	454	4889	0.00	1.95	0.00	0.000	6	0.000	0.047	2235	2735	3522	0	0	0	0	0	0
5227	-0.67	-146.0	541.8	-10.3	465	5231	0.00	2.20	0.00	0.000	4	0.000	0.050	2235	1370	3522	0	0	0	0	0	0
5263	-0.67	-146.0	545.5	-10.3	466	5267	0.00	2.30	0.00	0.000	6	0.000	0.062	2234	2735	3522	0	0	0	0	0	0
5599	-0.67	-146.0	579.3	-9.8	477	5600	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2735	3522	0	0	0	0	0	0
5905	-0.67	-146.0	608.6	-9.5	487	5909	0.00	2.05	0.00	0.000	4	0.000	0.073	2234	3928	3523	0	0	0	0	0	0
5956	-0.67	-146.0	613.7	-9.8	488	5960	0.00	1.95	0.00	0.000	6	0.000	0.047	2234	2731	3523	0	0	0	0	0	0
6281	-0.67	-146.0	643.9	-9.3	499	6282	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2731	3523	0	0	0	0	0	0
6374	end dive: BOTTOM_OBSTACLE_DETECTED
state	6374	begin apogee
6381	-0.14	0.0	652.6	9.4	502	6514	0.60	0.00	125.40	1.014	4	0.133	0.000	2425	2601	2923	0	0	0	0	0	0
6515	end apogee: CONTROL_FINISHED_OK
state	6515	begin climb
6518	0.57	146.0	657.1	0.0	506	6659	0.68	2.45	134.02	0.987	4	0.067	0.050	2661	1187	2327	0	0	0	0	0	0
6817	0.57	146.0	634.8	10.0	515	6821	0.00	2.50	0.00	0.000	6	0.000	0.056	2661	2607	2318	0	0	0	0	0	0
7142	0.53	146.0	599.7	10.7	526	7146	0.00	2.33	0.00	0.000	4	0.000	0.053	2662	1188	2315	0	0	0	0	0	0
7366	0.53	146.0	576.5	10.2	532	7373	0.00	2.35	0.00	0.000	6	0.000	0.057	2662	2607	2314	0	0	0	0	0	0
7681	0.49	146.0	542.8	10.9	543	7685	0.00	2.22	0.00	0.000	4	0.000	0.069	2662	3928	2314	0	0	0	0	0	0
7710	0.41	146.0	539.3	11.4	544	7715	0.20	2.15	0.00	0.000	6	0.190	0.045	2611	2597	2312	0	0	0	0	0	0
8049	0.50	197.7	512.5	7.6	555	8100	0.00	2.30	43.75	0.916	4	0.000	0.051	2610	1192	2115	0	0	0	0	0	0
8119	0.65	251.9	507.0	7.5	557	8178	0.22	2.38	48.65	0.899	6	0.073	0.056	2700	2610	1895	0	0	0	0	0	0
8486	0.62	251.9	455.1	14.3	569	8487	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2610	1884	0	0	0	0	0	0
8790	0.58	251.9	412.2	13.6	579	8792	0.12	0.00	0.00	0.000	6	0.191	0.000	2668	2610	1882	0	0	0	0	0	0
9107	0.62	251.9	376.1	11.8	601	9111	0.00	2.30	0.00	0.000	4	0.000	0.054	2668	1189	1881	0	0	0	0	0	0
9128	0.67	251.9	373.1	11.3	602	9135	0.00	2.35	0.00	0.000	6	0.000	0.056	2668	2608	1881	0	0	0	0	0	0
9454	0.71	251.9	332.9	12.8	633	9456	0.10	0.00	0.00	0.000	6	0.116	0.000	2711	2608	1881	0	0	0	0	0	0
9772	0.67	251.9	283.3	15.8	663	9776	0.00	2.30	0.00	0.000	4	0.000	0.054	2712	1189	1880	0	0	0	0	0	0
9814	0.67	251.9	277.3	14.6	666	9818	0.00	2.33	0.00	0.000	6	0.000	0.056	2712	2604	1880	0	0	0	0	0	0
10140	0.64	251.9	230.1	14.0	696	10144	0.00	2.30	0.00	0.000	4	0.000	0.054	2714	1193	1880	0	0	0	0	0	0
10170	0.64	251.9	226.1	13.7	698	10175	0.12	2.30	0.00	0.000	6	0.172	0.056	2683	2593	1880	0	0	0	0	0	0
10496	0.68	251.9	187.8	11.0	728	10501	0.00	2.22	0.00	0.000	4	0.000	0.068	2683	3925	1880	0	0	0	0	0	0
10532	0.68	251.9	183.4	12.6	731	10536	0.00	2.20	0.00	0.000	6	0.000	0.046	2683	2581	1878	0	0	0	0	0	0
10858	0.72	251.9	145.9	11.4	761	10862	0.00	2.25	0.00	0.000	4	0.000	0.055	2684	1188	1878	0	0	0	0	0	0
10892	0.79	251.9	142.3	10.5	763	10899	0.12	2.33	0.00	0.000	6	0.101	0.056	2737	2587	1878	0	0	0	0	0	0
11218	0.77	251.9	98.5	11.8	795	11225	0.00	2.28	0.00	0.000	4	0.000	0.054	2738	1191	1878	0	0	0	0	0	0
11268	0.79	251.9	93.2	11.3	803	11274	0.00	2.28	0.00	0.000	6	0.000	0.057	2738	2559	1878	0	0	0	0	0	0
11614	0.80	267.9	56.3	9.3	864	11633	0.00	2.35	12.35	0.673	4	0.000	0.069	2738	3932	1829	0	0	0	0	0	0
11776	0.81	315.3	39.5	7.8	892	11823	0.00	2.20	41.78	0.656	6	0.000	0.046	2743	2588	1636	0	0	0	0	0	0
12054	end climb: FINISH_DEPTH_REACHED
state	12054	begin subsurface finish
12064	0.05	76.0	8.8	-12.2	941	12106	0.80	2.35	-31.15	0.000	4	0.150	0.066	2500	1185	2616	0	0	0	0	0	0
12107	end subsurface finish: CONTROL_FINISHED_OK
state	12107	begin surface