Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 846 * 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 846 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 22 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 -13517.851 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 -13517.851

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 33 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 846 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 280111,032337,6643.600,-5746.183,108,1.9,108,-37.4 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 8.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 4.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280111,032337,6643.600,-5746.183,108,1.9,108,-37.4 MHEAD_RNG_PITCHd_Wd 86.9,55283,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 616

Post-dive calculations and measurements:

FREEZE 0.70,-0.976,-0.973,3,5,0 ALTIM_TOP_PING 19.3,19.0

FINISH 0.7,1.014373 ALTIM_BOTTOM_PING 603.2,12.0

SM_CCo 11538,210.38,0.086,0,0,440,609.08 _24V_AH 21.4,95.476

SM_GC 1.48,0.00,0.00,210.38,0.000,0.000,0.086,293,2780,440,-6.82,0.00,609.08 _10V_AH 9.7,64.812

RAFOS_CLK 676 FG_AHR_24Vo 0.000

RAFOS 0,1296201677,8.033334,8.021389,51,49,44,43,41,38,1563,1309,555,187,310,329 FG_AHR_10Vo 0.000

RAFOS_FIX 6648.478027,-5744.931641,280111,080822,3,73,0.47 MEM 151736

IRIDIUM_FIX 6609.62,-5757.95,280111,030347 DATA_FILE_SIZE 33382,920

TT8_MAMPS 0.028462 CAP_FILE_SIZE 125124,0

HUMID 47.04 CFSIZE 260165632,194363392

INTERNAL_PRESSURE 8.44606 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.80 SOUNDSPEED 1455.5

XPDR_PINGS 0 GPS 280111,095507,6646.329,-5741.987,28,1.2,28,-37.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 192 42.94 SBE_CT 642 24 330.20

Roll_motor 106 76 173.57 SBE_O2 0 0 0.00

VBD_pump_during_apogee 352 972 7336.74 nil 0 0 0.00

VBD_pump_during_surface 210 85 385.73 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 20.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2373 19 458.65

LPSleep 6950 2 155.73

TT8_Active 579 19 112.07

TT8_Sampling 1645 39 637.03

TT8_CF8 270 45 120.62

TT8_Kalman 0 0 0.00

Analog_circuits 1481 12 172.45

GPS_charging 0 0 0.00

Compass 1635 15 237.91

RAFOS 2520 3 73.33

Transponder 17 30 5.15

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 -5.57 0.000 2 0.000 0.000 2486 3932 3023 0 0 0 0 0 0

28 -0.57 -146.0 11.3 -0.0 1 48 0.55 4.22 -10.70 0.000 4 0.119 0.054 2300 1369 3524 0 0 0 0 0 0

95 -0.67 -146.0 19.8 -13.6 12 103 0.12 2.38 0.00 0.000 6 0.096 0.060 2245 2785 3525 0 0 0 0 0 0

444 -0.60 -146.0 72.8 -15.4 73 451 0.12 1.98 0.00 0.000 4 0.181 0.071 2272 3930 3525 0 0 0 0 0 0

529 -0.64 -146.0 81.9 -9.3 87 535 0.00 1.85 0.00 0.000 6 0.000 0.047 2272 2803 3525 0 0 0 0 0 0

874 -0.66 -146.0 112.3 -9.1 136 878 0.00 2.30 0.00 0.000 4 0.000 0.050 2272 1374 3524 0 0 0 0 0 0

926 -0.71 -146.0 117.3 -8.9 140 931 0.00 2.42 0.00 0.000 6 0.000 0.062 2272 2802 3524 0 0 0 0 0 0

1253 -0.74 -146.0 145.4 -8.5 170 1255 0.10 0.00 0.00 0.000 6 0.116 0.000 2226 2802 3523 0 0 0 0 0 0

1571 -0.69 -146.0 182.2 -12.4 200 1575 0.00 2.33 0.00 0.000 4 0.000 0.050 2225 1373 3523 0 0 0 0 0 0

1641 -0.66 -146.0 190.4 -11.8 206 1646 0.15 2.42 0.00 0.000 6 0.170 0.061 2261 2800 3523 0 0 0 0 0 0

1968 -0.69 -146.0 220.7 -8.5 236 1972 0.00 2.33 0.00 0.000 4 0.000 0.050 2260 1367 3522 0 0 0 0 0 0

2048 -0.74 -146.0 227.6 -8.6 242 2054 0.00 2.40 0.00 0.000 6 0.000 0.061 2261 2783 3523 0 0 0 0 0 0

2374 -0.77 -146.0 256.6 -8.9 273 2378 0.00 1.98 0.00 0.000 4 0.000 0.072 2259 3935 3522 0 0 0 0 0 0

2400 -0.79 -146.0 258.8 -8.8 275 2404 0.12 1.88 0.00 0.000 6 0.102 0.047 2200 2781 3523 0 0 0 0 0 0

2732 -0.70 -146.0 300.8 -12.4 306 2737 0.17 2.30 0.00 0.000 4 0.169 0.049 2249 1374 3523 0 0 0 0 0 0

2763 -0.70 -146.0 304.1 -9.9 308 2767 0.00 2.40 0.00 0.000 6 0.000 0.061 2247 2785 3523 0 0 0 0 0 0

3089 -0.70 -146.0 332.3 -8.6 338 3090 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2785 3523 0 0 0 0 0 0

3412 -0.70 -146.0 359.8 -8.7 368 3416 0.00 2.33 0.00 0.000 4 0.000 0.049 2247 1366 3523 0 0 0 0 0 0

3442 -0.70 -146.0 363.1 -9.2 370 3446 0.00 2.40 0.00 0.000 6 0.000 0.061 2247 2783 3523 0 0 0 0 0 0

3774 -0.70 -146.0 392.9 -8.6 401 3778 0.00 2.30 0.00 0.000 4 0.000 0.048 2247 1373 3523 0 0 0 0 0 0

3802 -0.70 -146.0 395.6 -9.0 403 3808 0.00 2.38 0.00 0.000 6 0.000 0.061 2247 2773 3523 0 0 0 0 0 0

4139 -0.70 -146.0 425.5 -9.0 418 4143 0.00 2.00 0.00 0.000 4 0.000 0.071 2247 3928 3523 0 0 0 0 0 0

4167 -0.70 -146.0 428.6 -9.9 418 4174 0.00 1.88 0.00 0.000 6 0.000 0.047 2247 2775 3523 0 0 0 0 0 0

4481 -0.70 -146.0 456.6 -8.9 429 4485 0.00 2.28 0.00 0.000 4 0.000 0.049 2247 1370 3524 0 0 0 0 0 0

4521 -0.73 -146.0 460.2 -9.1 430 4525 0.00 2.38 0.00 0.000 6 0.000 0.060 2247 2779 3523 0 0 0 0 0 0

4857 -0.73 -146.0 487.1 -7.7 441 4858 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2779 3523 0 0 0 0 0 0

5163 -0.73 -146.0 511.3 -8.4 451 5167 0.00 2.30 0.00 0.000 4 0.000 0.049 2247 1373 3523 0 0 0 0 0 0

5194 -0.76 -146.0 514.1 -8.6 452 5198 0.00 2.38 0.00 0.000 6 0.000 0.060 2247 2775 3523 0 0 0 0 0 0

5535 -0.76 -146.0 542.6 -8.4 463 5539 0.00 2.00 0.00 0.000 4 0.000 0.071 2247 3928 3523 0 0 0 0 0 0

5564 -0.78 -146.0 545.1 -8.8 463 5571 0.00 1.92 0.00 0.000 6 0.000 0.047 2247 2760 3523 0 0 0 0 0 0

5880 -0.81 -146.0 573.2 -9.2 474 5884 0.00 2.25 0.00 0.000 4 0.000 0.049 2248 1365 3523 0 0 0 0 0 0

5919 -0.85 -146.0 577.3 -9.9 475 5924 0.12 2.38 0.00 0.000 6 0.093 0.061 2188 2765 3523 0 0 0 0 0 0

6122 end dive: BOTTOM_OBSTACLE_DETECTED

state 6122 begin apogee

6131 -0.14 0.0 603.2 13.5 482 6261 0.77 0.00 123.78 0.972 4 0.143 0.000 2424 2597 2923 0 0 0 0 0 0

6262 end apogee: CONTROL_FINISHED_OK

state 6262 begin climb

6266 0.57 146.0 608.9 0.0 486 6405 0.68 2.42 131.07 0.946 4 0.066 0.049 2664 1181 2327 0 0 0 0 0 0

6612 0.57 146.0 581.6 10.6 496 6617 0.00 2.42 0.00 0.000 6 0.000 0.055 2665 2602 2319 0 0 0 0 0 0

6946 0.52 146.0 544.7 11.2 507 6950 0.00 2.30 0.00 0.000 4 0.000 0.053 2666 1182 2316 0 0 0 0 0 0

7165 0.52 146.0 520.5 11.1 513 7169 0.00 2.33 0.00 0.000 6 0.000 0.056 2666 2604 2315 0 0 0 0 0 0

7480 0.46 146.0 484.6 11.8 523 7485 0.15 2.25 0.00 0.000 4 0.192 0.067 2627 3929 2314 0 0 0 0 0 0

7524 0.46 146.0 479.0 11.7 524 7528 0.00 2.15 0.00 0.000 6 0.000 0.044 2626 2597 2313 0 0 0 0 0 0

7843 0.49 159.3 448.4 9.4 535 7858 0.00 2.28 10.32 0.825 4 0.000 0.050 2627 1188 2273 0 0 0 0 0 0

7888 0.58 194.5 444.5 8.4 536 7928 0.10 2.33 32.10 0.858 6 0.112 0.055 2673 2609 2129 0 0 0 0 0 0

8242 0.55 194.5 400.8 12.9 548 8246 0.00 2.20 0.00 0.000 4 0.000 0.067 2674 3928 2122 0 0 0 0 0 0

8264 0.50 194.5 397.5 13.3 548 8269 0.15 2.17 0.00 0.000 6 0.190 0.044 2639 2591 2121 0 0 0 0 0 0

8596 0.54 200.5 363.9 9.7 579 8608 0.00 2.25 5.28 0.685 4 0.000 0.050 2639 1194 2105 0 0 0 0 0 0

8638 0.63 223.3 359.9 9.0 582 8668 0.12 2.33 21.70 0.808 6 0.097 0.054 2693 2604 2012 0 0 0 0 0 0

8987 0.58 223.3 311.9 13.5 615 8988 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2603 2007 0 0 0 0 0 0

9306 0.54 223.3 267.4 13.5 645 9313 0.15 0.00 0.00 0.000 6 0.182 0.000 2653 2603 2005 0 0 0 0 0 0

9633 0.58 223.3 229.9 11.1 676 9637 0.00 2.30 0.00 0.000 4 0.000 0.053 2654 1184 2004 0 0 0 0 0 0

9662 0.64 223.3 227.0 10.2 678 9667 0.00 2.33 0.00 0.000 6 0.000 0.055 2654 2590 2004 0 0 0 0 0 0

9994 0.69 225.7 193.4 9.9 709 9996 0.12 0.00 0.00 0.000 6 0.100 0.000 2707 2590 2004 0 0 0 0 0 0

10312 0.64 225.7 148.7 14.7 739 10313 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2590 2004 0 0 0 0 0 0

10634 0.59 225.7 104.3 13.7 769 10639 0.15 2.30 0.00 0.000 4 0.176 0.067 2667 3925 2004 0 0 0 0 0 0

10661 0.59 225.7 100.0 13.1 771 10668 0.00 2.17 0.00 0.000 6 0.000 0.044 2667 2593 2002 0 0 0 0 0 0

11009 0.63 225.7 60.5 11.8 832 11016 0.00 2.28 0.00 0.000 4 0.000 0.052 2667 1191 2002 0 0 0 0 0 0

11120 0.72 238.7 49.8 9.4 851 11140 0.12 2.30 13.40 0.647 6 0.100 0.054 2719 2580 1949 0 0 0 0 0 0

11480 0.69 268.5 4.9 8.6 914 11497 0.00 0.00 14.95 0.623 2 0.000 0.000 2719 2580 1878 0 0 0 0 0 0

11498 end climb: SURFACE_DEPTH_REACHED

state 11498 begin surface coast

11520 end surface coast: FINISH_DEPTH_REACHED

state 11520 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	846	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	22	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	-13517.851	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	280111,032337,6643.600,-5746.183,108,1.9,108,-37.4	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	8.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	4.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280111,032337,6643.600,-5746.183,108,1.9,108,-37.4	MHEAD_RNG_PITCHd_Wd	86.9,55283,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	616

FREEZE	0.70,-0.976,-0.973,3,5,0	ALTIM_TOP_PING	19.3,19.0
FINISH	0.7,1.014373	ALTIM_BOTTOM_PING	603.2,12.0
SM_CCo	11538,210.38,0.086,0,0,440,609.08	_24V_AH	21.4,95.476
SM_GC	1.48,0.00,0.00,210.38,0.000,0.000,0.086,293,2780,440,-6.82,0.00,609.08	_10V_AH	9.7,64.812
RAFOS_CLK	676	FG_AHR_24Vo	0.000
RAFOS	0,1296201677,8.033334,8.021389,51,49,44,43,41,38,1563,1309,555,187,310,329	FG_AHR_10Vo	0.000
RAFOS_FIX	6648.478027,-5744.931641,280111,080822,3,73,0.47	MEM	151736
IRIDIUM_FIX	6609.62,-5757.95,280111,030347	DATA_FILE_SIZE	33382,920
TT8_MAMPS	0.028462	CAP_FILE_SIZE	125124,0
HUMID	47.04	CFSIZE	260165632,194363392
INTERNAL_PRESSURE	8.44606	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.80	SOUNDSPEED	1455.5
XPDR_PINGS	0	GPS	280111,095507,6646.329,-5741.987,28,1.2,28,-37.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	192	42.94	SBE_CT	642	24	330.20
Roll_motor	106	76	173.57	SBE_O2	0	0	0.00
VBD_pump_during_apogee	352	972	7336.74	nil	0	0	0.00
VBD_pump_during_surface	210	85	385.73	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	20.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2373	19	458.65
LPSleep	6950	2	155.73
TT8_Active	579	19	112.07
TT8_Sampling	1645	39	637.03
TT8_CF8	270	45	120.62
TT8_Kalman	0	0	0.00
Analog_circuits	1481	12	172.45
GPS_charging	0	0	0.00
Compass	1635	15	237.91
RAFOS	2520	3	73.33
Transponder	17	30	5.15

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	-5.57	0.000	2	0.000	0.000	2486	3932	3023	0	0	0	0	0	0
28	-0.57	-146.0	11.3	-0.0	1	48	0.55	4.22	-10.70	0.000	4	0.119	0.054	2300	1369	3524	0	0	0	0	0	0
95	-0.67	-146.0	19.8	-13.6	12	103	0.12	2.38	0.00	0.000	6	0.096	0.060	2245	2785	3525	0	0	0	0	0	0
444	-0.60	-146.0	72.8	-15.4	73	451	0.12	1.98	0.00	0.000	4	0.181	0.071	2272	3930	3525	0	0	0	0	0	0
529	-0.64	-146.0	81.9	-9.3	87	535	0.00	1.85	0.00	0.000	6	0.000	0.047	2272	2803	3525	0	0	0	0	0	0
874	-0.66	-146.0	112.3	-9.1	136	878	0.00	2.30	0.00	0.000	4	0.000	0.050	2272	1374	3524	0	0	0	0	0	0
926	-0.71	-146.0	117.3	-8.9	140	931	0.00	2.42	0.00	0.000	6	0.000	0.062	2272	2802	3524	0	0	0	0	0	0
1253	-0.74	-146.0	145.4	-8.5	170	1255	0.10	0.00	0.00	0.000	6	0.116	0.000	2226	2802	3523	0	0	0	0	0	0
1571	-0.69	-146.0	182.2	-12.4	200	1575	0.00	2.33	0.00	0.000	4	0.000	0.050	2225	1373	3523	0	0	0	0	0	0
1641	-0.66	-146.0	190.4	-11.8	206	1646	0.15	2.42	0.00	0.000	6	0.170	0.061	2261	2800	3523	0	0	0	0	0	0
1968	-0.69	-146.0	220.7	-8.5	236	1972	0.00	2.33	0.00	0.000	4	0.000	0.050	2260	1367	3522	0	0	0	0	0	0
2048	-0.74	-146.0	227.6	-8.6	242	2054	0.00	2.40	0.00	0.000	6	0.000	0.061	2261	2783	3523	0	0	0	0	0	0
2374	-0.77	-146.0	256.6	-8.9	273	2378	0.00	1.98	0.00	0.000	4	0.000	0.072	2259	3935	3522	0	0	0	0	0	0
2400	-0.79	-146.0	258.8	-8.8	275	2404	0.12	1.88	0.00	0.000	6	0.102	0.047	2200	2781	3523	0	0	0	0	0	0
2732	-0.70	-146.0	300.8	-12.4	306	2737	0.17	2.30	0.00	0.000	4	0.169	0.049	2249	1374	3523	0	0	0	0	0	0
2763	-0.70	-146.0	304.1	-9.9	308	2767	0.00	2.40	0.00	0.000	6	0.000	0.061	2247	2785	3523	0	0	0	0	0	0
3089	-0.70	-146.0	332.3	-8.6	338	3090	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2785	3523	0	0	0	0	0	0
3412	-0.70	-146.0	359.8	-8.7	368	3416	0.00	2.33	0.00	0.000	4	0.000	0.049	2247	1366	3523	0	0	0	0	0	0
3442	-0.70	-146.0	363.1	-9.2	370	3446	0.00	2.40	0.00	0.000	6	0.000	0.061	2247	2783	3523	0	0	0	0	0	0
3774	-0.70	-146.0	392.9	-8.6	401	3778	0.00	2.30	0.00	0.000	4	0.000	0.048	2247	1373	3523	0	0	0	0	0	0
3802	-0.70	-146.0	395.6	-9.0	403	3808	0.00	2.38	0.00	0.000	6	0.000	0.061	2247	2773	3523	0	0	0	0	0	0
4139	-0.70	-146.0	425.5	-9.0	418	4143	0.00	2.00	0.00	0.000	4	0.000	0.071	2247	3928	3523	0	0	0	0	0	0
4167	-0.70	-146.0	428.6	-9.9	418	4174	0.00	1.88	0.00	0.000	6	0.000	0.047	2247	2775	3523	0	0	0	0	0	0
4481	-0.70	-146.0	456.6	-8.9	429	4485	0.00	2.28	0.00	0.000	4	0.000	0.049	2247	1370	3524	0	0	0	0	0	0
4521	-0.73	-146.0	460.2	-9.1	430	4525	0.00	2.38	0.00	0.000	6	0.000	0.060	2247	2779	3523	0	0	0	0	0	0
4857	-0.73	-146.0	487.1	-7.7	441	4858	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2779	3523	0	0	0	0	0	0
5163	-0.73	-146.0	511.3	-8.4	451	5167	0.00	2.30	0.00	0.000	4	0.000	0.049	2247	1373	3523	0	0	0	0	0	0
5194	-0.76	-146.0	514.1	-8.6	452	5198	0.00	2.38	0.00	0.000	6	0.000	0.060	2247	2775	3523	0	0	0	0	0	0
5535	-0.76	-146.0	542.6	-8.4	463	5539	0.00	2.00	0.00	0.000	4	0.000	0.071	2247	3928	3523	0	0	0	0	0	0
5564	-0.78	-146.0	545.1	-8.8	463	5571	0.00	1.92	0.00	0.000	6	0.000	0.047	2247	2760	3523	0	0	0	0	0	0
5880	-0.81	-146.0	573.2	-9.2	474	5884	0.00	2.25	0.00	0.000	4	0.000	0.049	2248	1365	3523	0	0	0	0	0	0
5919	-0.85	-146.0	577.3	-9.9	475	5924	0.12	2.38	0.00	0.000	6	0.093	0.061	2188	2765	3523	0	0	0	0	0	0
6122	end dive: BOTTOM_OBSTACLE_DETECTED
state	6122	begin apogee
6131	-0.14	0.0	603.2	13.5	482	6261	0.77	0.00	123.78	0.972	4	0.143	0.000	2424	2597	2923	0	0	0	0	0	0
6262	end apogee: CONTROL_FINISHED_OK
state	6262	begin climb
6266	0.57	146.0	608.9	0.0	486	6405	0.68	2.42	131.07	0.946	4	0.066	0.049	2664	1181	2327	0	0	0	0	0	0
6612	0.57	146.0	581.6	10.6	496	6617	0.00	2.42	0.00	0.000	6	0.000	0.055	2665	2602	2319	0	0	0	0	0	0
6946	0.52	146.0	544.7	11.2	507	6950	0.00	2.30	0.00	0.000	4	0.000	0.053	2666	1182	2316	0	0	0	0	0	0
7165	0.52	146.0	520.5	11.1	513	7169	0.00	2.33	0.00	0.000	6	0.000	0.056	2666	2604	2315	0	0	0	0	0	0
7480	0.46	146.0	484.6	11.8	523	7485	0.15	2.25	0.00	0.000	4	0.192	0.067	2627	3929	2314	0	0	0	0	0	0
7524	0.46	146.0	479.0	11.7	524	7528	0.00	2.15	0.00	0.000	6	0.000	0.044	2626	2597	2313	0	0	0	0	0	0
7843	0.49	159.3	448.4	9.4	535	7858	0.00	2.28	10.32	0.825	4	0.000	0.050	2627	1188	2273	0	0	0	0	0	0
7888	0.58	194.5	444.5	8.4	536	7928	0.10	2.33	32.10	0.858	6	0.112	0.055	2673	2609	2129	0	0	0	0	0	0
8242	0.55	194.5	400.8	12.9	548	8246	0.00	2.20	0.00	0.000	4	0.000	0.067	2674	3928	2122	0	0	0	0	0	0
8264	0.50	194.5	397.5	13.3	548	8269	0.15	2.17	0.00	0.000	6	0.190	0.044	2639	2591	2121	0	0	0	0	0	0
8596	0.54	200.5	363.9	9.7	579	8608	0.00	2.25	5.28	0.685	4	0.000	0.050	2639	1194	2105	0	0	0	0	0	0
8638	0.63	223.3	359.9	9.0	582	8668	0.12	2.33	21.70	0.808	6	0.097	0.054	2693	2604	2012	0	0	0	0	0	0
8987	0.58	223.3	311.9	13.5	615	8988	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2603	2007	0	0	0	0	0	0
9306	0.54	223.3	267.4	13.5	645	9313	0.15	0.00	0.00	0.000	6	0.182	0.000	2653	2603	2005	0	0	0	0	0	0
9633	0.58	223.3	229.9	11.1	676	9637	0.00	2.30	0.00	0.000	4	0.000	0.053	2654	1184	2004	0	0	0	0	0	0
9662	0.64	223.3	227.0	10.2	678	9667	0.00	2.33	0.00	0.000	6	0.000	0.055	2654	2590	2004	0	0	0	0	0	0
9994	0.69	225.7	193.4	9.9	709	9996	0.12	0.00	0.00	0.000	6	0.100	0.000	2707	2590	2004	0	0	0	0	0	0
10312	0.64	225.7	148.7	14.7	739	10313	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2590	2004	0	0	0	0	0	0
10634	0.59	225.7	104.3	13.7	769	10639	0.15	2.30	0.00	0.000	4	0.176	0.067	2667	3925	2004	0	0	0	0	0	0
10661	0.59	225.7	100.0	13.1	771	10668	0.00	2.17	0.00	0.000	6	0.000	0.044	2667	2593	2002	0	0	0	0	0	0
11009	0.63	225.7	60.5	11.8	832	11016	0.00	2.28	0.00	0.000	4	0.000	0.052	2667	1191	2002	0	0	0	0	0	0
11120	0.72	238.7	49.8	9.4	851	11140	0.12	2.30	13.40	0.647	6	0.100	0.054	2719	2580	1949	0	0	0	0	0	0
11480	0.69	268.5	4.9	8.6	914	11497	0.00	0.00	14.95	0.623	2	0.000	0.000	2719	2580	1878	0	0	0	0	0	0
11498	end climb: SURFACE_DEPTH_REACHED
state	11498	begin surface coast
11520	end surface coast: FINISH_DEPTH_REACHED
state	11520	begin surface