Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 837 * 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 837 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 18 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 -13327.273 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 -13327.273

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 18 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 837 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 260111,215436,6642.484,-5810.909,31,1.5,31,-37.5 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260111,221058,6642.437,-5810.554,14,2.9,33,-37.5 MHEAD_RNG_PITCHd_Wd 94.9,70742,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 653

Post-dive calculations and measurements:

FREEZE 8.06,-1.615,-1.814,3,1,0 ALTIM_BOTTOM_PING 601.5,11.9

FINISH1 8.1,1.026556,46 _24V_AH 21.2,94.423

FINISH2 5.4 _10V_AH 9.6,64.176

RAFOS_CLK 633 FG_AHR_24Vo 0.000

RAFOS 0,1296086490,0.033333,0.025000,48,47,46,45,41,39,968,1416,1078,585,1900,1089 FG_AHR_10Vo 0.000

RAFOS_FIX 6645.491699,-5804.612305,270111,000040,2,64,0.78 MEM 151568

IRIDIUM_FIX 6614.97,-5807.17,260111,181819 DATA_FILE_SIZE 36705,979

TT8_MAMPS 0.029211 CAP_FILE_SIZE 134963,0

HUMID 49.48 CFSIZE 260165632,194899968

INTERNAL_PRESSURE 8.63162 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.40 SOUNDSPEED 1452.5

XPDR_PINGS 0 GPS 270111,004240,6645.492,-5804.612,0,2063.5,0,-37.5

ALTIM_TOP_PING 20.0,20.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 248 60.61 SBE_CT 681 24 346.65

Roll_motor 105 116 259.83 SBE_O2 0 0 0.00

VBD_pump_during_apogee 363 976 7525.43 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 25 103 56.24 nil 0 0 0.00

Iridium_during_connect 16 160 56.93 nil 0 0 0.00

Iridium_during_xfer 533 223 2520.47 nil 0 0 0.00

Transponder_ping 2 420 20.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 37 50 17.97

TT8 2410 19 461.02

LPSleep 7057 2 156.51

TT8_Active 510 19 97.58

TT8_Sampling 2278 39 873.12

TT8_CF8 638 45 281.47

TT8_Kalman 0 0 0.00

Analog_circuits 1477 12 170.19

GPS_charging 0 0 0.00

Compass 1726 15 248.56

RAFOS 2520 3 72.58

Transponder 17 30 5.10

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

16 -0.57 -146.0 0.0 0.0 0 174 0.00 0.00 -151.50 0.000 2 0.000 0.000 276 2781 3427 0 0 0 0 0 0

177 -0.57 -146.0 5.6 -11.6 27 197 8.57 2.35 -1.88 0.000 4 0.249 0.063 2285 1369 3522 0 0 0 0 0 0

385 -0.57 -146.0 44.9 -11.7 63 392 0.00 2.40 0.00 0.000 6 0.000 0.065 2284 2782 3524 0 0 0 0 0 0

733 -0.57 -146.0 79.4 -9.8 124 739 0.00 2.00 0.00 0.000 4 0.000 0.074 2275 3932 3523 0 0 0 0 0 0

827 -0.57 -146.0 88.7 -9.5 140 833 0.00 1.88 0.00 0.000 6 0.000 0.050 2275 2786 3523 0 0 0 0 0 0

1165 -0.57 -146.0 122.6 -9.6 181 1169 0.00 2.03 0.00 0.000 4 0.000 0.076 2271 3935 3523 0 0 0 0 0 0

1212 -0.59 -146.0 127.8 -10.8 185 1216 0.00 1.88 0.00 0.000 6 0.000 0.050 2271 2805 3523 0 0 0 0 0 0

1543 -0.59 -146.0 165.2 -10.5 216 1544 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2805 3523 0 0 0 0 0 0

1865 -0.61 -146.0 194.9 -8.9 246 1869 0.00 2.33 0.00 0.000 4 0.000 0.051 2271 1373 3522 0 0 0 0 0 0

1987 -0.66 -146.0 205.5 -8.3 256 1992 0.00 2.40 0.00 0.000 6 0.000 0.064 2262 2784 3523 0 0 0 0 0 0

2313 -0.66 -146.0 238.3 -10.4 286 2314 0.00 0.00 0.00 0.000 6 0.000 0.000 2263 2784 3522 0 0 0 0 0 0

2637 -0.68 -146.0 271.9 -10.7 316 2641 0.00 2.30 0.00 0.000 4 0.000 0.051 2263 1372 3522 0 0 0 0 0 0

2677 -0.72 -146.0 276.9 -10.9 319 2682 0.00 2.42 0.00 0.000 6 0.000 0.064 2261 2785 3522 0 0 0 0 0 0

3003 -0.72 -146.0 312.5 -10.6 349 3004 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2785 3523 0 0 0 0 0 0

3327 -0.74 -146.0 343.1 -8.5 379 3331 0.00 1.98 0.00 0.000 4 0.000 0.073 2261 3929 3523 0 0 0 0 0 0

3344 -0.76 -146.0 345.1 -8.5 380 3351 0.00 1.90 0.00 0.000 6 0.000 0.048 2261 2776 3523 0 0 0 0 0 0

3671 -0.79 -146.0 372.5 -8.2 411 3675 0.12 2.30 0.00 0.000 4 0.102 0.050 2200 1370 3523 0 0 0 0 0 0

3705 -0.73 -146.0 376.1 -11.7 413 3712 0.17 2.40 0.00 0.000 6 0.163 0.063 2236 2777 3523 0 0 0 0 0 0

4049 -0.73 -146.0 409.1 -9.5 440 4052 0.00 1.98 0.00 0.000 4 0.000 0.073 2230 3927 3523 0 0 0 0 0 0

4087 -0.70 -146.0 412.9 -11.0 441 4090 0.00 1.88 0.00 0.000 6 0.000 0.047 2229 2777 3524 0 0 0 0 0 0

4428 -0.67 -146.0 449.6 -10.9 452 4433 0.00 2.28 0.00 0.000 4 0.000 0.050 2229 1373 3524 0 0 0 0 0 0

4463 -0.67 -146.0 453.6 -11.4 453 4467 0.00 2.40 0.00 0.000 6 0.000 0.063 2229 2784 3524 0 0 0 0 0 0

4806 -0.65 -146.0 490.0 -10.4 464 4810 0.12 2.00 0.00 0.000 4 0.177 0.073 2256 3928 3524 0 0 0 0 0 0

4829 -0.65 -146.0 492.5 -9.9 464 4832 0.00 1.90 0.00 0.000 6 0.000 0.047 2256 2780 3524 0 0 0 0 0 0

5149 -0.68 -146.0 519.8 -8.7 475 5153 0.00 2.30 0.00 0.000 4 0.000 0.050 2255 1365 3524 0 0 0 0 0 0

5189 -0.72 -146.0 523.7 -8.8 476 5193 0.00 2.42 0.00 0.000 6 0.000 0.062 2249 2784 3525 0 0 0 0 0 0

5525 -0.75 -146.0 554.5 -9.2 487 5526 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2784 3525 0 0 0 0 0 0

5832 -0.75 -146.0 582.6 -9.2 497 5836 0.00 2.30 0.00 0.000 4 0.000 0.050 2249 1369 3525 0 0 0 0 0 0

5855 -0.77 -146.0 584.9 -9.0 497 5859 0.00 2.40 0.00 0.000 6 0.000 0.061 2247 2787 3525 0 0 0 0 0 0

6045 end dive: BOTTOM_OBSTACLE_DETECTED

state 6046 begin apogee

6054 -0.14 0.0 601.5 8.9 503 6185 0.55 0.00 124.53 0.976 4 0.132 0.000 2424 2604 2923 0 0 0 0 0 0

6185 end apogee: CONTROL_FINISHED_OK

state 6185 begin climb

6188 0.57 146.0 605.3 0.0 507 6330 0.70 2.45 132.35 0.948 4 0.071 0.050 2666 1177 2326 0 0 0 0 0 0

6533 0.57 146.0 575.5 10.9 517 6540 0.00 2.45 0.00 0.000 6 0.000 0.055 2666 2603 2317 0 0 0 0 0 0

6847 0.52 146.0 538.1 12.0 528 6851 0.00 2.30 0.00 0.000 4 0.000 0.053 2666 1181 2315 0 0 0 0 0 0

7066 0.52 146.0 512.9 11.2 534 7070 0.00 2.38 0.00 0.000 6 0.000 0.055 2666 2615 2315 0 0 0 0 0 0

7380 0.47 146.0 475.8 11.9 544 7385 0.15 2.22 0.00 0.000 4 0.191 0.067 2626 3930 2313 0 0 0 0 0 0

7430 0.47 146.0 469.5 12.1 545 7434 0.00 2.12 0.00 0.000 6 0.000 0.044 2627 2611 2312 0 0 0 0 0 0

7750 0.50 152.7 438.7 9.7 556 7760 0.00 2.30 4.60 0.682 4 0.000 0.052 2626 1193 2300 0 0 0 0 0 0

7778 0.54 156.1 435.6 9.8 556 7788 0.00 2.35 4.40 0.653 6 0.000 0.054 2626 2620 2288 0 0 0 0 0 0

8128 0.58 162.8 402.3 9.7 568 8139 0.10 0.00 8.05 0.787 6 0.114 0.000 2675 2621 2259 0 0 0 0 0 0

8442 0.53 162.8 362.8 12.4 596 8447 0.12 2.22 0.00 0.000 4 0.184 0.067 2644 3929 2257 0 0 0 0 0 0

8477 0.49 162.8 358.5 12.4 598 8483 0.00 2.15 0.00 0.000 6 0.000 0.044 2645 2608 2256 0 0 0 0 0 0

8802 0.49 162.8 324.2 10.5 629 8803 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2608 2256 0 0 0 0 0 0

9122 0.49 162.8 289.8 10.6 659 9126 0.00 2.25 0.00 0.000 4 0.000 0.068 2645 3925 2256 0 0 0 0 0 0

9174 0.45 162.8 283.4 12.8 663 9177 0.00 2.12 0.00 0.000 6 0.000 0.044 2648 2623 2256 0 0 0 0 0 0

9499 0.45 162.8 248.5 10.6 693 9503 0.00 2.30 0.00 0.000 4 0.000 0.052 2648 1194 2255 0 0 0 0 0 0

9533 0.49 162.8 245.0 10.3 695 9540 0.00 2.38 0.00 0.000 6 0.000 0.054 2648 2626 2256 0 0 0 0 0 0

9859 0.49 164.2 212.3 9.9 726 9863 0.00 2.20 0.00 0.000 4 0.000 0.067 2648 3925 2256 0 0 0 0 0 0

9900 0.45 164.2 207.8 12.0 729 9903 0.00 2.10 0.00 0.000 6 0.000 0.044 2648 2626 2256 0 0 0 0 0 0

10231 0.46 168.9 175.2 9.8 760 10244 0.00 2.40 6.65 0.666 4 0.000 0.051 2649 1187 2234 0 0 0 0 0 0

10350 0.54 199.9 164.9 8.6 770 10385 0.00 2.35 27.62 0.712 6 0.000 0.055 2649 2606 2108 0 0 0 0 0 0

10704 0.62 254.7 135.4 7.5 803 10753 0.00 0.00 47.40 0.692 6 0.000 0.000 2648 2606 1884 0 0 0 0 0 0

11072 0.71 264.2 102.7 9.6 838 11086 0.15 2.38 8.05 0.643 4 0.093 0.053 2714 1191 1844 0 0 0 0 0 0

11105 0.74 264.2 98.7 12.2 841 11112 0.00 2.30 0.00 0.000 6 0.000 0.055 2715 2587 1843 0 0 0 0 0 0

11452 0.74 264.2 53.5 11.7 902 11459 0.00 2.28 0.00 0.000 4 0.000 0.053 2715 1194 1841 0 0 0 0 0 0

11519 0.78 264.2 46.4 10.7 913 11525 0.00 2.20 0.00 0.000 6 0.000 0.055 2714 2539 1840 0 0 0 0 0 0

11859 end climb: FINISH_DEPTH_REACHED

state 11860 begin subsurface finish

11868 0.03 46.3 8.1 -10.2 973 11906 0.73 2.40 -30.15 0.000 4 0.138 0.063 2488 1186 2737 0 0 0 0 0 0

11907 end subsurface finish: CONTROL_FINISHED_OK

state 11907 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	837	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	18	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	-13327.273	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	260111,215436,6642.484,-5810.909,31,1.5,31,-37.5	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260111,221058,6642.437,-5810.554,14,2.9,33,-37.5	MHEAD_RNG_PITCHd_Wd	94.9,70742,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	653

FREEZE	8.06,-1.615,-1.814,3,1,0	ALTIM_BOTTOM_PING	601.5,11.9
FINISH1	8.1,1.026556,46	_24V_AH	21.2,94.423
FINISH2	5.4	_10V_AH	9.6,64.176
RAFOS_CLK	633	FG_AHR_24Vo	0.000
RAFOS	0,1296086490,0.033333,0.025000,48,47,46,45,41,39,968,1416,1078,585,1900,1089	FG_AHR_10Vo	0.000
RAFOS_FIX	6645.491699,-5804.612305,270111,000040,2,64,0.78	MEM	151568
IRIDIUM_FIX	6614.97,-5807.17,260111,181819	DATA_FILE_SIZE	36705,979
TT8_MAMPS	0.029211	CAP_FILE_SIZE	134963,0
HUMID	49.48	CFSIZE	260165632,194899968
INTERNAL_PRESSURE	8.63162	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.40	SOUNDSPEED	1452.5
XPDR_PINGS	0	GPS	270111,004240,6645.492,-5804.612,0,2063.5,0,-37.5
ALTIM_TOP_PING	20.0,20.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	248	60.61	SBE_CT	681	24	346.65
Roll_motor	105	116	259.83	SBE_O2	0	0	0.00
VBD_pump_during_apogee	363	976	7525.43	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	25	103	56.24	nil	0	0	0.00
Iridium_during_connect	16	160	56.93	nil	0	0	0.00
Iridium_during_xfer	533	223	2520.47	nil	0	0	0.00
Transponder_ping	2	420	20.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	37	50	17.97
TT8	2410	19	461.02
LPSleep	7057	2	156.51
TT8_Active	510	19	97.58
TT8_Sampling	2278	39	873.12
TT8_CF8	638	45	281.47
TT8_Kalman	0	0	0.00
Analog_circuits	1477	12	170.19
GPS_charging	0	0	0.00
Compass	1726	15	248.56
RAFOS	2520	3	72.58
Transponder	17	30	5.10

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
16	-0.57	-146.0	0.0	0.0	0	174	0.00	0.00	-151.50	0.000	2	0.000	0.000	276	2781	3427	0	0	0	0	0	0
177	-0.57	-146.0	5.6	-11.6	27	197	8.57	2.35	-1.88	0.000	4	0.249	0.063	2285	1369	3522	0	0	0	0	0	0
385	-0.57	-146.0	44.9	-11.7	63	392	0.00	2.40	0.00	0.000	6	0.000	0.065	2284	2782	3524	0	0	0	0	0	0
733	-0.57	-146.0	79.4	-9.8	124	739	0.00	2.00	0.00	0.000	4	0.000	0.074	2275	3932	3523	0	0	0	0	0	0
827	-0.57	-146.0	88.7	-9.5	140	833	0.00	1.88	0.00	0.000	6	0.000	0.050	2275	2786	3523	0	0	0	0	0	0
1165	-0.57	-146.0	122.6	-9.6	181	1169	0.00	2.03	0.00	0.000	4	0.000	0.076	2271	3935	3523	0	0	0	0	0	0
1212	-0.59	-146.0	127.8	-10.8	185	1216	0.00	1.88	0.00	0.000	6	0.000	0.050	2271	2805	3523	0	0	0	0	0	0
1543	-0.59	-146.0	165.2	-10.5	216	1544	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2805	3523	0	0	0	0	0	0
1865	-0.61	-146.0	194.9	-8.9	246	1869	0.00	2.33	0.00	0.000	4	0.000	0.051	2271	1373	3522	0	0	0	0	0	0
1987	-0.66	-146.0	205.5	-8.3	256	1992	0.00	2.40	0.00	0.000	6	0.000	0.064	2262	2784	3523	0	0	0	0	0	0
2313	-0.66	-146.0	238.3	-10.4	286	2314	0.00	0.00	0.00	0.000	6	0.000	0.000	2263	2784	3522	0	0	0	0	0	0
2637	-0.68	-146.0	271.9	-10.7	316	2641	0.00	2.30	0.00	0.000	4	0.000	0.051	2263	1372	3522	0	0	0	0	0	0
2677	-0.72	-146.0	276.9	-10.9	319	2682	0.00	2.42	0.00	0.000	6	0.000	0.064	2261	2785	3522	0	0	0	0	0	0
3003	-0.72	-146.0	312.5	-10.6	349	3004	0.00	0.00	0.00	0.000	6	0.000	0.000	2261	2785	3523	0	0	0	0	0	0
3327	-0.74	-146.0	343.1	-8.5	379	3331	0.00	1.98	0.00	0.000	4	0.000	0.073	2261	3929	3523	0	0	0	0	0	0
3344	-0.76	-146.0	345.1	-8.5	380	3351	0.00	1.90	0.00	0.000	6	0.000	0.048	2261	2776	3523	0	0	0	0	0	0
3671	-0.79	-146.0	372.5	-8.2	411	3675	0.12	2.30	0.00	0.000	4	0.102	0.050	2200	1370	3523	0	0	0	0	0	0
3705	-0.73	-146.0	376.1	-11.7	413	3712	0.17	2.40	0.00	0.000	6	0.163	0.063	2236	2777	3523	0	0	0	0	0	0
4049	-0.73	-146.0	409.1	-9.5	440	4052	0.00	1.98	0.00	0.000	4	0.000	0.073	2230	3927	3523	0	0	0	0	0	0
4087	-0.70	-146.0	412.9	-11.0	441	4090	0.00	1.88	0.00	0.000	6	0.000	0.047	2229	2777	3524	0	0	0	0	0	0
4428	-0.67	-146.0	449.6	-10.9	452	4433	0.00	2.28	0.00	0.000	4	0.000	0.050	2229	1373	3524	0	0	0	0	0	0
4463	-0.67	-146.0	453.6	-11.4	453	4467	0.00	2.40	0.00	0.000	6	0.000	0.063	2229	2784	3524	0	0	0	0	0	0
4806	-0.65	-146.0	490.0	-10.4	464	4810	0.12	2.00	0.00	0.000	4	0.177	0.073	2256	3928	3524	0	0	0	0	0	0
4829	-0.65	-146.0	492.5	-9.9	464	4832	0.00	1.90	0.00	0.000	6	0.000	0.047	2256	2780	3524	0	0	0	0	0	0
5149	-0.68	-146.0	519.8	-8.7	475	5153	0.00	2.30	0.00	0.000	4	0.000	0.050	2255	1365	3524	0	0	0	0	0	0
5189	-0.72	-146.0	523.7	-8.8	476	5193	0.00	2.42	0.00	0.000	6	0.000	0.062	2249	2784	3525	0	0	0	0	0	0
5525	-0.75	-146.0	554.5	-9.2	487	5526	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2784	3525	0	0	0	0	0	0
5832	-0.75	-146.0	582.6	-9.2	497	5836	0.00	2.30	0.00	0.000	4	0.000	0.050	2249	1369	3525	0	0	0	0	0	0
5855	-0.77	-146.0	584.9	-9.0	497	5859	0.00	2.40	0.00	0.000	6	0.000	0.061	2247	2787	3525	0	0	0	0	0	0
6045	end dive: BOTTOM_OBSTACLE_DETECTED
state	6046	begin apogee
6054	-0.14	0.0	601.5	8.9	503	6185	0.55	0.00	124.53	0.976	4	0.132	0.000	2424	2604	2923	0	0	0	0	0	0
6185	end apogee: CONTROL_FINISHED_OK
state	6185	begin climb
6188	0.57	146.0	605.3	0.0	507	6330	0.70	2.45	132.35	0.948	4	0.071	0.050	2666	1177	2326	0	0	0	0	0	0
6533	0.57	146.0	575.5	10.9	517	6540	0.00	2.45	0.00	0.000	6	0.000	0.055	2666	2603	2317	0	0	0	0	0	0
6847	0.52	146.0	538.1	12.0	528	6851	0.00	2.30	0.00	0.000	4	0.000	0.053	2666	1181	2315	0	0	0	0	0	0
7066	0.52	146.0	512.9	11.2	534	7070	0.00	2.38	0.00	0.000	6	0.000	0.055	2666	2615	2315	0	0	0	0	0	0
7380	0.47	146.0	475.8	11.9	544	7385	0.15	2.22	0.00	0.000	4	0.191	0.067	2626	3930	2313	0	0	0	0	0	0
7430	0.47	146.0	469.5	12.1	545	7434	0.00	2.12	0.00	0.000	6	0.000	0.044	2627	2611	2312	0	0	0	0	0	0
7750	0.50	152.7	438.7	9.7	556	7760	0.00	2.30	4.60	0.682	4	0.000	0.052	2626	1193	2300	0	0	0	0	0	0
7778	0.54	156.1	435.6	9.8	556	7788	0.00	2.35	4.40	0.653	6	0.000	0.054	2626	2620	2288	0	0	0	0	0	0
8128	0.58	162.8	402.3	9.7	568	8139	0.10	0.00	8.05	0.787	6	0.114	0.000	2675	2621	2259	0	0	0	0	0	0
8442	0.53	162.8	362.8	12.4	596	8447	0.12	2.22	0.00	0.000	4	0.184	0.067	2644	3929	2257	0	0	0	0	0	0
8477	0.49	162.8	358.5	12.4	598	8483	0.00	2.15	0.00	0.000	6	0.000	0.044	2645	2608	2256	0	0	0	0	0	0
8802	0.49	162.8	324.2	10.5	629	8803	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2608	2256	0	0	0	0	0	0
9122	0.49	162.8	289.8	10.6	659	9126	0.00	2.25	0.00	0.000	4	0.000	0.068	2645	3925	2256	0	0	0	0	0	0
9174	0.45	162.8	283.4	12.8	663	9177	0.00	2.12	0.00	0.000	6	0.000	0.044	2648	2623	2256	0	0	0	0	0	0
9499	0.45	162.8	248.5	10.6	693	9503	0.00	2.30	0.00	0.000	4	0.000	0.052	2648	1194	2255	0	0	0	0	0	0
9533	0.49	162.8	245.0	10.3	695	9540	0.00	2.38	0.00	0.000	6	0.000	0.054	2648	2626	2256	0	0	0	0	0	0
9859	0.49	164.2	212.3	9.9	726	9863	0.00	2.20	0.00	0.000	4	0.000	0.067	2648	3925	2256	0	0	0	0	0	0
9900	0.45	164.2	207.8	12.0	729	9903	0.00	2.10	0.00	0.000	6	0.000	0.044	2648	2626	2256	0	0	0	0	0	0
10231	0.46	168.9	175.2	9.8	760	10244	0.00	2.40	6.65	0.666	4	0.000	0.051	2649	1187	2234	0	0	0	0	0	0
10350	0.54	199.9	164.9	8.6	770	10385	0.00	2.35	27.62	0.712	6	0.000	0.055	2649	2606	2108	0	0	0	0	0	0
10704	0.62	254.7	135.4	7.5	803	10753	0.00	0.00	47.40	0.692	6	0.000	0.000	2648	2606	1884	0	0	0	0	0	0
11072	0.71	264.2	102.7	9.6	838	11086	0.15	2.38	8.05	0.643	4	0.093	0.053	2714	1191	1844	0	0	0	0	0	0
11105	0.74	264.2	98.7	12.2	841	11112	0.00	2.30	0.00	0.000	6	0.000	0.055	2715	2587	1843	0	0	0	0	0	0
11452	0.74	264.2	53.5	11.7	902	11459	0.00	2.28	0.00	0.000	4	0.000	0.053	2715	1194	1841	0	0	0	0	0	0
11519	0.78	264.2	46.4	10.7	913	11525	0.00	2.20	0.00	0.000	6	0.000	0.055	2714	2539	1840	0	0	0	0	0	0
11859	end climb: FINISH_DEPTH_REACHED
state	11860	begin subsurface finish
11868	0.03	46.3	8.1	-10.2	973	11906	0.73	2.40	-30.15	0.000	4	0.138	0.063	2488	1186	2737	0	0	0	0	0	0
11907	end subsurface finish: CONTROL_FINISHED_OK
state	11907	begin surface