Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 817 * 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 817 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 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 21 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 33 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 21 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 817 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 230111,203117,6642.895,-5933.625,0,6107.0,0,-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 9.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230111,203117,6642.895,-5933.625,0,6107.0,0,-38.2 MHEAD_RNG_PITCHd_Wd 110.9,125268,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 862

Post-dive calculations and measurements:

FREEZE 6.80,-1.745,-1.771,3,35,1 ALTIM_BOTTOM_PING 600.1,11.9

FINISH1 6.8,1.025956,76 _24V_AH 21.2,92.339

FINISH2 5.3 _10V_AH 9.6,62.909

RAFOS_CLK 689 FG_AHR_24Vo 0.000

RAFOS 0,1295827271,0.033333,0.019722,48,45,45,45,41,40,162,639,296,419,526,1008 FG_AHR_10Vo 0.000

RAFOS_FIX 6641.038574,-5929.654785,240111,000000,5,113,0.32 MEM 151708

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 33426,965

TT8_MAMPS 0.028462 CAP_FILE_SIZE 122673,0

HUMID 50.23 CFSIZE 260165632,196239360

INTERNAL_PRESSURE 8.61208 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.00 SOUNDSPEED 1449.7

XPDR_PINGS 0 GPS 240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2

ALTIM_TOP_PING 19.4,16.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 188 15.02 SBE_CT 674 24 342.98

Roll_motor 109 117 270.72 SBE_O2 0 0 0.00

VBD_pump_during_apogee 361 983 7531.75 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 2 420 20.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2395 19 458.11

LPSleep 7131 2 158.14

TT8_Active 424 19 81.18

TT8_Sampling 1683 39 645.02

TT8_CF8 249 45 110.02

TT8_Kalman 0 0 0.00

Analog_circuits 1338 12 154.16

GPS_charging 0 0 0.00

Compass 1667 15 240.13

RAFOS 2520 3 72.58

Transponder 17 30 5.09

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 24 0.00 0.00 -5.47 0.000 2 0.000 0.000 2494 2583 2837 0 0 0 0 0 0

28 -0.57 -146.0 9.9 -0.0 1 52 0.55 2.38 -16.70 0.000 4 0.095 0.086 2288 3933 3521 0 0 0 0 0 0

147 -0.57 -146.0 22.9 -16.7 21 154 0.00 1.85 0.00 0.000 6 0.000 0.049 2288 2781 3521 0 0 0 0 0 0

493 -0.54 -146.0 67.9 -11.4 82 500 0.00 2.30 0.00 0.000 4 0.000 0.052 2287 1369 3521 0 0 0 0 0 0

554 -0.57 -146.0 74.6 -10.7 92 561 0.00 2.38 0.00 0.000 6 0.000 0.064 2287 2781 3521 0 0 0 0 0 0

895 -0.57 -146.0 112.1 -10.5 143 896 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 2781 3521 0 0 0 0 0 0

1215 -0.60 -146.0 141.7 -9.7 173 1219 0.00 1.98 0.00 0.000 4 0.000 0.076 2284 3928 3521 0 0 0 0 0 0

1242 -0.64 -146.0 145.0 -10.7 175 1249 0.00 1.90 0.00 0.000 6 0.000 0.050 2284 2777 3521 0 0 0 0 0 0

1569 -0.68 -146.0 173.7 -7.7 206 1573 0.00 2.28 0.00 0.000 4 0.000 0.053 2284 1371 3520 0 0 0 0 0 0

1614 -0.74 -146.0 177.1 -7.3 209 1621 0.12 2.40 0.00 0.000 6 0.099 0.063 2223 2781 3520 0 0 0 0 0 0

1940 -0.68 -146.0 217.4 -13.5 240 1945 0.12 2.33 0.00 0.000 4 0.175 0.053 2256 1373 3520 0 0 0 0 0 0

2004 -0.72 -146.0 224.8 -11.2 245 2009 0.00 2.38 0.00 0.000 6 0.000 0.065 2252 2777 3520 0 0 0 0 0 0

2332 -0.72 -146.0 260.9 -10.4 275 2335 0.00 1.98 0.00 0.000 4 0.000 0.075 2247 3928 3519 0 0 0 0 0 0

2381 -0.72 -146.0 266.6 -10.9 279 2388 0.00 1.90 0.00 0.000 6 0.000 0.050 2247 2766 3519 0 0 0 0 0 0

2707 -0.72 -146.0 299.6 -10.4 310 2712 0.00 2.25 0.00 0.000 4 0.000 0.051 2247 1372 3519 0 0 0 0 0 0

2731 -0.72 -146.0 302.2 -11.1 312 2735 0.00 2.38 0.00 0.000 6 0.000 0.064 2247 2776 3519 0 0 0 0 0 0

3056 -0.72 -146.0 337.0 -10.6 342 3060 0.00 2.03 0.00 0.000 4 0.000 0.074 2247 3925 3519 0 0 0 0 0 0

3084 -0.72 -146.0 340.2 -10.2 344 3091 0.00 1.90 0.00 0.000 6 0.000 0.049 2247 2762 3519 0 0 0 0 0 0

3410 -0.72 -146.0 373.2 -10.5 375 3414 0.00 2.25 0.00 0.000 4 0.000 0.051 2247 1369 3519 0 0 0 0 0 0

3443 -0.74 -146.0 376.7 -10.6 377 3450 0.00 2.38 0.00 0.000 6 0.000 0.063 2247 2776 3519 0 0 0 0 0 0

3791 -0.74 -146.0 409.1 -9.0 404 3795 0.00 2.00 0.00 0.000 4 0.000 0.074 2247 3936 3519 0 0 0 0 0 0

3831 -0.74 -146.0 413.3 -9.3 405 3834 0.00 1.90 0.00 0.000 6 0.000 0.048 2247 2772 3519 0 0 0 0 0 0

4167 -0.74 -146.0 440.5 -8.1 416 4171 0.00 2.28 0.00 0.000 4 0.000 0.050 2247 1365 3520 0 0 0 0 0 0

4218 -0.78 -146.0 444.7 -7.9 417 4222 0.00 2.38 0.00 0.000 6 0.000 0.062 2247 2774 3519 0 0 0 0 0 0

4532 -0.78 -146.0 468.3 -7.5 427 4535 0.00 1.98 0.00 0.000 4 0.000 0.073 2247 3928 3520 0 0 0 0 0 0

4578 -0.80 -146.0 471.9 -7.8 428 4581 0.00 1.88 0.00 0.000 6 0.000 0.048 2247 2777 3520 0 0 0 0 0 0

4908 -0.80 -146.0 497.7 -7.9 439 4912 0.00 2.28 0.00 0.000 4 0.000 0.050 2247 1370 3520 0 0 0 0 0 0

4937 -0.83 -146.0 500.2 -8.5 439 4944 0.12 2.38 0.00 0.000 6 0.094 0.062 2189 2781 3520 0 0 0 0 0 0

5251 -0.74 -146.0 537.5 -12.0 450 5255 0.17 2.00 0.00 0.000 4 0.173 0.072 2230 3929 3521 0 0 0 0 0 0

5278 -0.71 -146.0 541.0 -10.7 450 5285 0.00 1.90 0.00 0.000 6 0.000 0.047 2230 2774 3521 0 0 0 0 0 0

5591 -0.71 -146.0 572.8 -10.1 461 5595 0.00 2.28 0.00 0.000 4 0.000 0.049 2230 1370 3521 0 0 0 0 0 0

5631 -0.71 -146.0 576.9 -10.0 462 5635 0.00 2.38 0.00 0.000 6 0.000 0.062 2230 2780 3521 0 0 0 0 0 0

5863 end dive: BOTTOM_OBSTACLE_DETECTED

state 5863 begin apogee

5870 -0.14 0.0 600.1 9.9 470 6002 0.60 0.00 123.88 0.984 4 0.133 0.000 2421 2598 2923 0 0 0 0 0 0

6002 end apogee: CONTROL_FINISHED_OK

state 6002 begin climb

6005 0.57 146.0 605.0 0.0 474 6146 0.70 2.42 131.93 0.958 4 0.067 0.050 2666 1185 2326 0 0 0 0 0 0

6314 0.57 146.0 580.8 10.5 483 6321 0.00 2.47 0.00 0.000 6 0.000 0.056 2666 2605 2317 0 0 0 0 0 0

6627 0.52 146.0 544.9 11.7 494 6632 0.00 2.30 0.00 0.000 4 0.000 0.053 2668 1184 2315 0 0 0 0 0 0

6841 0.52 146.0 521.5 10.8 500 6846 0.00 2.33 0.00 0.000 6 0.000 0.056 2668 2607 2315 0 0 0 0 0 0

7162 0.47 146.0 484.4 11.9 511 7167 0.15 2.25 0.00 0.000 4 0.187 0.067 2629 3933 2314 0 0 0 0 0 0

7217 0.45 146.0 477.5 11.4 512 7224 0.00 2.17 0.00 0.000 6 0.000 0.045 2629 2601 2312 0 0 0 0 0 0

7531 0.48 157.2 448.0 9.5 523 7542 0.00 0.00 8.55 0.819 6 0.000 0.000 2628 2602 2282 0 0 0 0 0 0

7839 0.52 171.9 419.3 9.3 533 7855 0.00 0.00 14.48 0.847 6 0.000 0.000 2629 2601 2222 0 0 0 0 0 0

8146 0.59 202.0 392.3 8.6 547 8176 0.10 0.00 27.38 0.844 6 0.114 0.000 2678 2602 2100 0 0 0 0 0 0

8494 0.59 202.0 352.0 11.7 580 8495 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2601 2093 0 0 0 0 0 0

8813 0.59 202.0 315.3 11.5 610 8814 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2601 2092 0 0 0 0 0 0

9134 0.59 202.0 280.7 11.1 640 9138 0.00 2.28 0.00 0.000 4 0.000 0.069 2678 3925 2092 0 0 0 0 0 0

9164 0.54 202.0 276.8 12.6 642 9169 0.12 2.12 0.00 0.000 6 0.189 0.045 2649 2618 2090 0 0 0 0 0 0

9490 0.60 223.0 246.9 9.0 672 9510 0.00 0.00 18.17 0.761 6 0.000 0.000 2649 2616 2014 0 0 0 0 0 0

9829 0.66 223.0 213.9 10.3 704 9833 0.12 2.33 0.00 0.000 4 0.099 0.054 2702 1186 2011 0 0 0 0 0 0

9857 0.66 223.0 210.4 13.3 706 9862 0.00 2.38 0.00 0.000 6 0.000 0.056 2702 2622 2011 0 0 0 0 0 0

10183 0.66 223.0 169.5 11.3 736 10187 0.00 2.33 0.00 0.000 4 0.000 0.054 2704 1191 2010 0 0 0 0 0 0

10194 0.66 223.0 168.1 11.1 736 10201 0.00 2.40 0.00 0.000 6 0.000 0.055 2704 2639 2010 0 0 0 0 0 0

10520 0.66 223.0 132.9 11.2 767 10525 0.00 2.35 0.00 0.000 4 0.000 0.054 2704 1196 2009 0 0 0 0 0 0

10554 0.69 223.0 129.0 11.1 769 10561 0.00 2.33 0.00 0.000 6 0.000 0.056 2704 2612 2009 0 0 0 0 0 0

10883 0.69 223.0 93.7 10.8 805 10890 0.00 2.30 0.00 0.000 4 0.000 0.054 2705 1196 2009 0 0 0 0 0 0

10931 0.74 223.0 88.1 10.8 813 10938 0.00 2.30 0.00 0.000 6 0.000 0.057 2705 2582 2009 0 0 0 0 0 0

11280 0.77 265.1 56.2 8.1 874 11322 0.00 2.38 36.75 0.669 4 0.000 0.056 2705 1197 1841 0 0 0 0 0 0

11419 0.86 265.1 44.5 10.8 898 11426 0.12 2.20 0.00 0.000 6 0.100 0.056 2759 2538 1836 0 0 0 0 0 0

11765 end climb: SURFACE_OBSTACLE_DETECTED

state 11765 begin subsurface finish

11773 0.05 75.7 6.8 -11.0 959 11810 0.73 2.28 -27.58 0.000 4 0.083 0.086 2493 3921 2615 0 0 0 0 0 0

11811 end subsurface finish: CONTROL_FINISHED_OK

state 11811 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	817	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	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	21	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	230111,203117,6642.895,-5933.625,0,6107.0,0,-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	9.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230111,203117,6642.895,-5933.625,0,6107.0,0,-38.2	MHEAD_RNG_PITCHd_Wd	110.9,125268,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	862

FREEZE	6.80,-1.745,-1.771,3,35,1	ALTIM_BOTTOM_PING	600.1,11.9
FINISH1	6.8,1.025956,76	_24V_AH	21.2,92.339
FINISH2	5.3	_10V_AH	9.6,62.909
RAFOS_CLK	689	FG_AHR_24Vo	0.000
RAFOS	0,1295827271,0.033333,0.019722,48,45,45,45,41,40,162,639,296,419,526,1008	FG_AHR_10Vo	0.000
RAFOS_FIX	6641.038574,-5929.654785,240111,000000,5,113,0.32	MEM	151708
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	33426,965
TT8_MAMPS	0.028462	CAP_FILE_SIZE	122673,0
HUMID	50.23	CFSIZE	260165632,196239360
INTERNAL_PRESSURE	8.61208	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.00	SOUNDSPEED	1449.7
XPDR_PINGS	0	GPS	240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2
ALTIM_TOP_PING	19.4,16.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	188	15.02	SBE_CT	674	24	342.98
Roll_motor	109	117	270.72	SBE_O2	0	0	0.00
VBD_pump_during_apogee	361	983	7531.75	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	2	420	20.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2395	19	458.11
LPSleep	7131	2	158.14
TT8_Active	424	19	81.18
TT8_Sampling	1683	39	645.02
TT8_CF8	249	45	110.02
TT8_Kalman	0	0	0.00
Analog_circuits	1338	12	154.16
GPS_charging	0	0	0.00
Compass	1667	15	240.13
RAFOS	2520	3	72.58
Transponder	17	30	5.09

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	24	0.00	0.00	-5.47	0.000	2	0.000	0.000	2494	2583	2837	0	0	0	0	0	0
28	-0.57	-146.0	9.9	-0.0	1	52	0.55	2.38	-16.70	0.000	4	0.095	0.086	2288	3933	3521	0	0	0	0	0	0
147	-0.57	-146.0	22.9	-16.7	21	154	0.00	1.85	0.00	0.000	6	0.000	0.049	2288	2781	3521	0	0	0	0	0	0
493	-0.54	-146.0	67.9	-11.4	82	500	0.00	2.30	0.00	0.000	4	0.000	0.052	2287	1369	3521	0	0	0	0	0	0
554	-0.57	-146.0	74.6	-10.7	92	561	0.00	2.38	0.00	0.000	6	0.000	0.064	2287	2781	3521	0	0	0	0	0	0
895	-0.57	-146.0	112.1	-10.5	143	896	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	2781	3521	0	0	0	0	0	0
1215	-0.60	-146.0	141.7	-9.7	173	1219	0.00	1.98	0.00	0.000	4	0.000	0.076	2284	3928	3521	0	0	0	0	0	0
1242	-0.64	-146.0	145.0	-10.7	175	1249	0.00	1.90	0.00	0.000	6	0.000	0.050	2284	2777	3521	0	0	0	0	0	0
1569	-0.68	-146.0	173.7	-7.7	206	1573	0.00	2.28	0.00	0.000	4	0.000	0.053	2284	1371	3520	0	0	0	0	0	0
1614	-0.74	-146.0	177.1	-7.3	209	1621	0.12	2.40	0.00	0.000	6	0.099	0.063	2223	2781	3520	0	0	0	0	0	0
1940	-0.68	-146.0	217.4	-13.5	240	1945	0.12	2.33	0.00	0.000	4	0.175	0.053	2256	1373	3520	0	0	0	0	0	0
2004	-0.72	-146.0	224.8	-11.2	245	2009	0.00	2.38	0.00	0.000	6	0.000	0.065	2252	2777	3520	0	0	0	0	0	0
2332	-0.72	-146.0	260.9	-10.4	275	2335	0.00	1.98	0.00	0.000	4	0.000	0.075	2247	3928	3519	0	0	0	0	0	0
2381	-0.72	-146.0	266.6	-10.9	279	2388	0.00	1.90	0.00	0.000	6	0.000	0.050	2247	2766	3519	0	0	0	0	0	0
2707	-0.72	-146.0	299.6	-10.4	310	2712	0.00	2.25	0.00	0.000	4	0.000	0.051	2247	1372	3519	0	0	0	0	0	0
2731	-0.72	-146.0	302.2	-11.1	312	2735	0.00	2.38	0.00	0.000	6	0.000	0.064	2247	2776	3519	0	0	0	0	0	0
3056	-0.72	-146.0	337.0	-10.6	342	3060	0.00	2.03	0.00	0.000	4	0.000	0.074	2247	3925	3519	0	0	0	0	0	0
3084	-0.72	-146.0	340.2	-10.2	344	3091	0.00	1.90	0.00	0.000	6	0.000	0.049	2247	2762	3519	0	0	0	0	0	0
3410	-0.72	-146.0	373.2	-10.5	375	3414	0.00	2.25	0.00	0.000	4	0.000	0.051	2247	1369	3519	0	0	0	0	0	0
3443	-0.74	-146.0	376.7	-10.6	377	3450	0.00	2.38	0.00	0.000	6	0.000	0.063	2247	2776	3519	0	0	0	0	0	0
3791	-0.74	-146.0	409.1	-9.0	404	3795	0.00	2.00	0.00	0.000	4	0.000	0.074	2247	3936	3519	0	0	0	0	0	0
3831	-0.74	-146.0	413.3	-9.3	405	3834	0.00	1.90	0.00	0.000	6	0.000	0.048	2247	2772	3519	0	0	0	0	0	0
4167	-0.74	-146.0	440.5	-8.1	416	4171	0.00	2.28	0.00	0.000	4	0.000	0.050	2247	1365	3520	0	0	0	0	0	0
4218	-0.78	-146.0	444.7	-7.9	417	4222	0.00	2.38	0.00	0.000	6	0.000	0.062	2247	2774	3519	0	0	0	0	0	0
4532	-0.78	-146.0	468.3	-7.5	427	4535	0.00	1.98	0.00	0.000	4	0.000	0.073	2247	3928	3520	0	0	0	0	0	0
4578	-0.80	-146.0	471.9	-7.8	428	4581	0.00	1.88	0.00	0.000	6	0.000	0.048	2247	2777	3520	0	0	0	0	0	0
4908	-0.80	-146.0	497.7	-7.9	439	4912	0.00	2.28	0.00	0.000	4	0.000	0.050	2247	1370	3520	0	0	0	0	0	0
4937	-0.83	-146.0	500.2	-8.5	439	4944	0.12	2.38	0.00	0.000	6	0.094	0.062	2189	2781	3520	0	0	0	0	0	0
5251	-0.74	-146.0	537.5	-12.0	450	5255	0.17	2.00	0.00	0.000	4	0.173	0.072	2230	3929	3521	0	0	0	0	0	0
5278	-0.71	-146.0	541.0	-10.7	450	5285	0.00	1.90	0.00	0.000	6	0.000	0.047	2230	2774	3521	0	0	0	0	0	0
5591	-0.71	-146.0	572.8	-10.1	461	5595	0.00	2.28	0.00	0.000	4	0.000	0.049	2230	1370	3521	0	0	0	0	0	0
5631	-0.71	-146.0	576.9	-10.0	462	5635	0.00	2.38	0.00	0.000	6	0.000	0.062	2230	2780	3521	0	0	0	0	0	0
5863	end dive: BOTTOM_OBSTACLE_DETECTED
state	5863	begin apogee
5870	-0.14	0.0	600.1	9.9	470	6002	0.60	0.00	123.88	0.984	4	0.133	0.000	2421	2598	2923	0	0	0	0	0	0
6002	end apogee: CONTROL_FINISHED_OK
state	6002	begin climb
6005	0.57	146.0	605.0	0.0	474	6146	0.70	2.42	131.93	0.958	4	0.067	0.050	2666	1185	2326	0	0	0	0	0	0
6314	0.57	146.0	580.8	10.5	483	6321	0.00	2.47	0.00	0.000	6	0.000	0.056	2666	2605	2317	0	0	0	0	0	0
6627	0.52	146.0	544.9	11.7	494	6632	0.00	2.30	0.00	0.000	4	0.000	0.053	2668	1184	2315	0	0	0	0	0	0
6841	0.52	146.0	521.5	10.8	500	6846	0.00	2.33	0.00	0.000	6	0.000	0.056	2668	2607	2315	0	0	0	0	0	0
7162	0.47	146.0	484.4	11.9	511	7167	0.15	2.25	0.00	0.000	4	0.187	0.067	2629	3933	2314	0	0	0	0	0	0
7217	0.45	146.0	477.5	11.4	512	7224	0.00	2.17	0.00	0.000	6	0.000	0.045	2629	2601	2312	0	0	0	0	0	0
7531	0.48	157.2	448.0	9.5	523	7542	0.00	0.00	8.55	0.819	6	0.000	0.000	2628	2602	2282	0	0	0	0	0	0
7839	0.52	171.9	419.3	9.3	533	7855	0.00	0.00	14.48	0.847	6	0.000	0.000	2629	2601	2222	0	0	0	0	0	0
8146	0.59	202.0	392.3	8.6	547	8176	0.10	0.00	27.38	0.844	6	0.114	0.000	2678	2602	2100	0	0	0	0	0	0
8494	0.59	202.0	352.0	11.7	580	8495	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2601	2093	0	0	0	0	0	0
8813	0.59	202.0	315.3	11.5	610	8814	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2601	2092	0	0	0	0	0	0
9134	0.59	202.0	280.7	11.1	640	9138	0.00	2.28	0.00	0.000	4	0.000	0.069	2678	3925	2092	0	0	0	0	0	0
9164	0.54	202.0	276.8	12.6	642	9169	0.12	2.12	0.00	0.000	6	0.189	0.045	2649	2618	2090	0	0	0	0	0	0
9490	0.60	223.0	246.9	9.0	672	9510	0.00	0.00	18.17	0.761	6	0.000	0.000	2649	2616	2014	0	0	0	0	0	0
9829	0.66	223.0	213.9	10.3	704	9833	0.12	2.33	0.00	0.000	4	0.099	0.054	2702	1186	2011	0	0	0	0	0	0
9857	0.66	223.0	210.4	13.3	706	9862	0.00	2.38	0.00	0.000	6	0.000	0.056	2702	2622	2011	0	0	0	0	0	0
10183	0.66	223.0	169.5	11.3	736	10187	0.00	2.33	0.00	0.000	4	0.000	0.054	2704	1191	2010	0	0	0	0	0	0
10194	0.66	223.0	168.1	11.1	736	10201	0.00	2.40	0.00	0.000	6	0.000	0.055	2704	2639	2010	0	0	0	0	0	0
10520	0.66	223.0	132.9	11.2	767	10525	0.00	2.35	0.00	0.000	4	0.000	0.054	2704	1196	2009	0	0	0	0	0	0
10554	0.69	223.0	129.0	11.1	769	10561	0.00	2.33	0.00	0.000	6	0.000	0.056	2704	2612	2009	0	0	0	0	0	0
10883	0.69	223.0	93.7	10.8	805	10890	0.00	2.30	0.00	0.000	4	0.000	0.054	2705	1196	2009	0	0	0	0	0	0
10931	0.74	223.0	88.1	10.8	813	10938	0.00	2.30	0.00	0.000	6	0.000	0.057	2705	2582	2009	0	0	0	0	0	0
11280	0.77	265.1	56.2	8.1	874	11322	0.00	2.38	36.75	0.669	4	0.000	0.056	2705	1197	1841	0	0	0	0	0	0
11419	0.86	265.1	44.5	10.8	898	11426	0.12	2.20	0.00	0.000	6	0.100	0.056	2759	2538	1836	0	0	0	0	0	0
11765	end climb: SURFACE_OBSTACLE_DETECTED
state	11765	begin subsurface finish
11773	0.05	75.7	6.8	-11.0	959	11810	0.73	2.28	-27.58	0.000	4	0.083	0.086	2493	3921	2615	0	0	0	0	0	0
11811	end subsurface finish: CONTROL_FINISHED_OK
state	11811	begin surface