Glider dive log

DavisStrait Sep10 * SG184 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 184 HD_C 9.9999997e-06 ROLL_MIN 223 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 HEADING -1 ROLL_MAX 3813 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 11 ESCAPE_HEADING 180 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2800 ALTIM_PING_DELTA 20

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2750 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4708 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -12223 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 50 SM_CC 350 R_PORT_OVSHOOT 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.5

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 470 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2914 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 540 DEVICE6 -1

T_ABORT 720 CAPMAXSIZE 50000 PITCH_VBD_SHIFT 0.00125 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 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 -33818.43 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 80

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3934 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2670 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043635513

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -54.061352 SEABIRD_T_H 0.0006292222

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001157311 SEABIRD_T_I 2.4569574e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.6955906e-06

MASS 51696 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.09016

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1251791

FERRY_MAX 45 PITCH_AD_RATE 170 COMPASS_USE 1 SEABIRD_C_I -0.0014842621

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019950744

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 49 SIM_W 0

AH0_10V 100 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 170 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 20 ESCAPE_HEADING 180 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3934 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 155 TGT_DEFAULT_LAT 4708

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00125 T_ABORT 720

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001157311 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -54.061352 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 PROTOCOL 9 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 50000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -33818.43

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 80 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 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 184 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 2.5 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

C_PITCH 2670 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2750 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2800 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2914 LOGGERDEVICE3 -1 ROLL_MAX 3813 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 223 VBD_CNV -0.24529999

DEVICE1 2 MASS 51696 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 23 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.09016 VBD_MIN 470

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1251791 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0014842621 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 11 NAV_MODE 0 SEABIRD_C_J 0.00019950744 VBD_TIMEOUT 540

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043635513 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.0006292222 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.4569574e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.6955906e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 160910,182710,6642.561,-6006.171,37,1.6,40,-38.0 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160910,183132,6642.549,-6006.296,16,1.4,16,-38.0 MHEAD_RNG_PITCHd_Wd 113.2,148123,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 600

Post-dive calculations and measurements:

FINISH 0.5,1.011395 _24V_AH 23.1,3.506

SM_CCo 12984,12.80,0.336,1,0,1487,350.04 _10V_AH 10.3,2.598

SM_GC 1.60,0.00,0.00,12.80,0.000,0.000,0.336,153,2796,1487,-7.87,-0.11,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 410 FG_AHR_10Vo 0.000

RAFOS 0,1284667271,20.033333,20.019722,78,74,67,65,60,57,608,609,214,233,206,163 MEM 151676

RAFOS_FIX 6643.568359,-6000.331543,160910,202034,7,99,0.68 DATA_FILE_SIZE 53218,1348

IRIDIUM_FIX 6609.62,-5957.12,160910,141445 CAP_FILE_SIZE 140694,0

TT8_MAMPS 0.028462 CFSIZE 260165632,250347520

HUMID 49.17 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.8479 SOUNDSPEED 1453.6

TCM_TEMP 14.60 GPS 160910,221036,6643.678,-6002.299,36,2.0,48,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 286 137.47 SBE_CT 959 24 531.92

Roll_motor 82 123 235.58 SBE_O2 974 19 427.84

VBD_pump_during_apogee 416 1132 10904.35 nil 0 0 0.00

VBD_pump_during_surface 12 335 99.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 70.85 nil 0 0 0.00

Iridium_during_connect 17 160 65.05 nil 0 0 0.00

Iridium_during_xfer 107 223 551.89 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.11

TT8 3206 19 657.91

LPSleep 7093 2 168.78

TT8_Active 502 19 103.09

TT8_Sampling 2373 39 975.89

TT8_CF8 115 45 54.64

TT8_Kalman 0 0 0.00

Analog_circuits 1650 12 204.00

GPS_charging 0 0 0.00

Compass 2168 15 335.06

RAFOS 2520 3 77.87

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.66 -146.0 0.0 0.0 0 97 0.00 0.00 -80.35 0.000 2 0.000 0.000 151 2801 3183 0 0 0 0 0 0

99 -0.66 -146.0 6.7 -18.9 14 124 10.80 2.38 -5.75 0.000 4 0.286 0.071 2450 1389 3514 0 0 0 0 0 0

220 -0.66 -146.0 33.3 -11.7 35 227 0.00 2.35 0.00 0.000 6 0.000 0.060 2443 2809 3516 0 0 0 0 0 0

564 -0.66 -146.0 72.4 -10.8 96 571 0.00 1.67 0.00 0.000 4 0.000 0.079 2434 3809 3516 0 0 0 0 0 0

706 -0.66 -146.0 86.6 -10.0 121 713 0.00 1.60 0.00 0.000 6 0.000 0.049 2435 2817 3516 0 0 0 0 0 0

1043 -0.66 -146.0 123.4 -10.5 163 1047 0.00 1.65 0.00 0.000 4 0.000 0.080 2428 3806 3516 0 0 0 0 0 0

1100 -0.66 -146.0 129.8 -10.9 168 1103 0.00 1.58 0.00 0.000 6 0.000 0.050 2428 2825 3516 0 0 0 0 0 0

1429 -0.66 -146.0 164.0 -10.3 199 1434 0.12 2.33 0.00 0.000 4 0.190 0.065 2457 1391 3515 0 0 0 0 0 0

1514 -0.66 -146.0 171.9 -9.2 206 1518 0.00 2.35 0.00 0.000 6 0.000 0.063 2450 2821 3515 0 0 0 0 0 0

1838 -0.66 -146.0 202.5 -9.3 236 1842 0.00 2.33 0.00 0.000 4 0.000 0.065 2450 1395 3515 0 0 0 0 0 0

1866 -0.66 -146.0 205.2 -9.2 238 1870 0.00 2.30 0.00 0.000 6 0.000 0.063 2442 2813 3515 0 0 0 0 0 0

2190 -0.66 -146.0 236.3 -8.6 268 2191 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2813 3515 0 0 0 0 0 0

2509 -0.66 -146.0 262.8 -8.0 298 2513 0.00 2.30 0.00 0.000 4 0.000 0.065 2442 1396 3514 0 0 0 0 0 0

2542 -0.66 -146.0 265.4 -8.3 301 2546 0.00 2.30 0.00 0.000 6 0.000 0.063 2433 2804 3514 0 0 0 0 0 0

2872 -0.66 -146.0 291.3 -7.5 332 2876 0.00 1.62 0.00 0.000 4 0.000 0.081 2426 3806 3514 0 0 0 0 0 0

2910 -0.66 -146.0 294.6 -8.6 335 2918 0.08 1.60 0.00 0.000 6 0.169 0.050 2447 2796 3513 0 0 0 0 0 0

3236 -0.66 -146.0 318.1 -7.2 366 3240 0.00 2.22 0.00 0.000 4 0.000 0.063 2448 1393 3513 0 0 0 0 0 0

3298 -0.66 -146.0 322.7 -7.5 371 3302 0.00 2.30 0.00 0.000 6 0.000 0.063 2442 2807 3513 0 0 0 0 0 0

3622 -0.66 -146.0 347.9 -7.7 401 3623 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2807 3513 0 0 0 0 0 0

3941 -0.66 -146.0 373.2 -8.0 431 3942 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2807 3513 0 0 0 0 0 0

4261 -0.66 -146.0 399.0 -7.8 461 4262 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2807 3514 0 0 0 0 0 0

4579 -0.66 -146.0 422.6 -7.3 491 4580 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2807 3514 0 0 0 0 0 0

4897 -0.66 -146.0 446.2 -7.1 521 4901 0.00 2.25 0.00 0.000 4 0.000 0.063 2442 1391 3514 0 0 0 0 0 0

4937 -0.66 -146.0 449.2 -7.1 524 4941 0.00 2.25 0.00 0.000 6 0.000 0.062 2434 2796 3514 0 0 0 0 0 0

5261 -0.66 -146.0 473.4 -7.4 554 5265 0.00 1.62 0.00 0.000 4 0.000 0.078 2426 3811 3514 0 0 0 0 0 0

5295 -0.66 -146.0 476.0 -7.8 557 5299 0.08 1.60 0.00 0.000 6 0.163 0.048 2458 2789 3514 0 0 0 0 0 0

5624 -0.66 -146.0 496.3 -6.0 588 5626 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2789 3515 0 0 0 0 0 0

5943 -0.66 -146.0 515.0 -6.0 618 5944 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2789 3515 0 0 0 0 0 0

6262 -0.66 -146.0 532.9 -5.4 648 6263 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2789 3515 0 0 0 0 0 0

6581 -0.66 -146.0 550.8 -6.0 678 6582 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2789 3516 0 0 0 0 0 0

6899 -0.66 -146.0 569.1 -5.6 708 6900 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2789 3515 0 0 0 0 0 0

7218 -0.66 -146.0 587.9 -6.3 738 7222 0.00 1.70 0.00 0.000 4 0.000 0.081 2452 3806 3516 0 0 0 0 0 0

7257 -0.66 -146.0 590.5 -7.3 741 7265 0.00 1.60 0.00 0.000 6 0.000 0.049 2452 2786 3516 0 0 0 0 0 0

7410 end dive: TARGET_DEPTH_EXCEEDED

state 7410 begin apogee

7413 -0.14 0.0 600.6 6.4 756 7546 0.50 0.00 127.32 1.133 4 0.147 0.000 2615 2786 2914 0 0 0 0 0 0

7547 end apogee: CONTROL_FINISHED_OK

state 7547 begin climb

7548 0.66 146.0 604.6 0.0 760 7686 0.77 0.00 128.30 1.093 6 0.095 0.000 2870 2786 2317 0 0 0 0 0 0

8003 0.66 146.0 558.0 12.7 796 8007 0.00 1.80 0.00 0.000 4 0.000 0.080 2870 3806 2308 0 0 0 0 0 0

8149 0.66 146.0 538.0 14.1 809 8153 0.00 1.70 0.00 0.000 6 0.000 0.052 2878 2771 2306 0 0 0 0 0 0

8479 0.66 146.0 496.4 12.3 840 8482 0.00 1.77 0.00 0.000 4 0.000 0.080 2877 3796 2306 0 0 0 0 0 0

8527 0.66 146.0 489.3 14.3 844 8536 0.00 1.73 0.00 0.000 6 0.000 0.051 2886 2760 2305 0 0 0 0 0 0

8853 0.66 146.0 447.0 12.8 875 8856 0.00 1.75 0.00 0.000 4 0.000 0.079 2886 3807 2305 0 0 0 0 0 0

8912 0.66 146.0 438.4 14.1 880 8921 0.00 1.73 0.00 0.000 6 0.000 0.051 2893 2761 2305 0 0 0 0 0 0

9238 0.66 146.0 395.5 12.8 911 9242 0.00 1.73 0.00 0.000 4 0.000 0.076 2893 3806 2304 0 0 0 0 0 0

9294 0.66 146.0 387.5 15.0 916 9298 0.00 1.65 0.00 0.000 6 0.000 0.052 2901 2763 2305 0 0 0 0 0 0

9624 0.66 146.0 345.8 12.7 947 9627 0.00 1.73 0.00 0.000 4 0.000 0.076 2901 3811 2304 0 0 0 0 0 0

9695 0.66 146.0 335.8 12.9 953 9703 0.00 1.70 0.00 0.000 6 0.000 0.051 2908 2768 2303 0 0 0 0 0 0

10020 0.66 146.0 295.0 12.4 984 10024 0.00 1.75 0.00 0.000 4 0.000 0.076 2908 3804 2304 0 0 0 0 0 0

10110 0.66 146.0 282.8 14.3 992 10114 0.15 1.65 0.00 0.000 6 0.223 0.052 2882 2751 2303 0 0 0 0 0 0

10439 0.66 146.0 246.2 11.2 1023 10443 0.00 1.73 0.00 0.000 4 0.000 0.076 2883 3806 2304 0 0 0 0 0 0

10552 0.66 146.0 232.7 12.4 1033 10555 0.00 1.60 0.00 0.000 6 0.000 0.052 2887 2802 2304 0 0 0 0 0 0

10881 0.66 146.0 195.9 11.1 1064 10882 0.00 0.00 0.00 0.000 6 0.000 0.000 2887 2801 2303 0 0 0 0 0 0

11202 0.67 154.1 163.1 9.6 1094 11215 0.00 1.65 5.93 0.754 4 0.000 0.075 2887 3806 2286 0 0 0 0 0 0

11286 0.67 154.1 154.4 10.5 1101 11294 0.00 1.60 0.00 0.000 6 0.000 0.051 2895 2812 2285 0 0 0 0 0 0

11612 0.74 215.4 130.1 7.2 1132 11670 0.00 1.75 52.95 0.857 4 0.000 0.075 2895 3806 2035 0 0 0 0 0 0

11804 0.74 215.4 108.8 12.5 1149 11811 0.00 1.62 0.00 0.000 6 0.000 0.053 2902 2819 2028 0 0 0 0 0 0

12142 0.74 215.4 73.5 10.9 1203 12149 0.00 2.45 0.00 0.000 4 0.000 0.072 2913 1337 2026 0 0 0 0 0 0

12211 0.75 220.9 66.2 9.7 1215 12224 0.00 2.45 4.65 0.666 6 0.000 0.059 2913 2831 2011 0 0 0 0 0 0

12563 0.81 271.1 33.2 7.7 1277 12610 0.00 1.73 43.12 0.814 4 0.000 0.076 2913 3805 1808 0 0 0 0 0 0

12864 0.89 337.0 8.6 7.0 1330 12924 0.08 1.58 54.38 0.792 6 0.085 0.051 2962 2843 1540 0 0 0 0 0 0

12934 end climb: SURFACE_DEPTH_REACHED

state 12934 begin surface coast

12969 end surface coast: CONTROL_FINISHED_OK

state 12969 begin surface

ID	184	HD_C	9.9999997e-06	ROLL_MIN	223	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_MAX	3813	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	11	ESCAPE_HEADING	180	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2800	ALTIM_PING_DELTA	20
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2750	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4708	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-12223	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	50	SM_CC	350	R_PORT_OVSHOOT	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.5
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	470	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2914	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	540	DEVICE6	-1
T_ABORT	720	CAPMAXSIZE	50000	PITCH_VBD_SHIFT	0.00125	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	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	-33818.43	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	80
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3934	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2670	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043635513
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-54.061352	SEABIRD_T_H	0.0006292222
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001157311	SEABIRD_T_I	2.4569574e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.6955906e-06
MASS	51696	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.09016
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1251791
FERRY_MAX	45	PITCH_AD_RATE	170	COMPASS_USE	1	SEABIRD_C_I	-0.0014842621
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019950744
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	160910,182710,6642.561,-6006.171,37,1.6,40,-38.0	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160910,183132,6642.549,-6006.296,16,1.4,16,-38.0	MHEAD_RNG_PITCHd_Wd	113.2,148123,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	600

FINISH	0.5,1.011395	_24V_AH	23.1,3.506
SM_CCo	12984,12.80,0.336,1,0,1487,350.04	_10V_AH	10.3,2.598
SM_GC	1.60,0.00,0.00,12.80,0.000,0.000,0.336,153,2796,1487,-7.87,-0.11,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	410	FG_AHR_10Vo	0.000
RAFOS	0,1284667271,20.033333,20.019722,78,74,67,65,60,57,608,609,214,233,206,163	MEM	151676
RAFOS_FIX	6643.568359,-6000.331543,160910,202034,7,99,0.68	DATA_FILE_SIZE	53218,1348
IRIDIUM_FIX	6609.62,-5957.12,160910,141445	CAP_FILE_SIZE	140694,0
TT8_MAMPS	0.028462	CFSIZE	260165632,250347520
HUMID	49.17	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.8479	SOUNDSPEED	1453.6
TCM_TEMP	14.60	GPS	160910,221036,6643.678,-6002.299,36,2.0,48,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	286	137.47	SBE_CT	959	24	531.92
Roll_motor	82	123	235.58	SBE_O2	974	19	427.84
VBD_pump_during_apogee	416	1132	10904.35	nil	0	0	0.00
VBD_pump_during_surface	12	335	99.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	70.85	nil	0	0	0.00
Iridium_during_connect	17	160	65.05	nil	0	0	0.00
Iridium_during_xfer	107	223	551.89	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.11
TT8	3206	19	657.91
LPSleep	7093	2	168.78
TT8_Active	502	19	103.09
TT8_Sampling	2373	39	975.89
TT8_CF8	115	45	54.64
TT8_Kalman	0	0	0.00
Analog_circuits	1650	12	204.00
GPS_charging	0	0	0.00
Compass	2168	15	335.06
RAFOS	2520	3	77.87
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.66	-146.0	0.0	0.0	0	97	0.00	0.00	-80.35	0.000	2	0.000	0.000	151	2801	3183	0	0	0	0	0	0
99	-0.66	-146.0	6.7	-18.9	14	124	10.80	2.38	-5.75	0.000	4	0.286	0.071	2450	1389	3514	0	0	0	0	0	0
220	-0.66	-146.0	33.3	-11.7	35	227	0.00	2.35	0.00	0.000	6	0.000	0.060	2443	2809	3516	0	0	0	0	0	0
564	-0.66	-146.0	72.4	-10.8	96	571	0.00	1.67	0.00	0.000	4	0.000	0.079	2434	3809	3516	0	0	0	0	0	0
706	-0.66	-146.0	86.6	-10.0	121	713	0.00	1.60	0.00	0.000	6	0.000	0.049	2435	2817	3516	0	0	0	0	0	0
1043	-0.66	-146.0	123.4	-10.5	163	1047	0.00	1.65	0.00	0.000	4	0.000	0.080	2428	3806	3516	0	0	0	0	0	0
1100	-0.66	-146.0	129.8	-10.9	168	1103	0.00	1.58	0.00	0.000	6	0.000	0.050	2428	2825	3516	0	0	0	0	0	0
1429	-0.66	-146.0	164.0	-10.3	199	1434	0.12	2.33	0.00	0.000	4	0.190	0.065	2457	1391	3515	0	0	0	0	0	0
1514	-0.66	-146.0	171.9	-9.2	206	1518	0.00	2.35	0.00	0.000	6	0.000	0.063	2450	2821	3515	0	0	0	0	0	0
1838	-0.66	-146.0	202.5	-9.3	236	1842	0.00	2.33	0.00	0.000	4	0.000	0.065	2450	1395	3515	0	0	0	0	0	0
1866	-0.66	-146.0	205.2	-9.2	238	1870	0.00	2.30	0.00	0.000	6	0.000	0.063	2442	2813	3515	0	0	0	0	0	0
2190	-0.66	-146.0	236.3	-8.6	268	2191	0.00	0.00	0.00	0.000	6	0.000	0.000	2442	2813	3515	0	0	0	0	0	0
2509	-0.66	-146.0	262.8	-8.0	298	2513	0.00	2.30	0.00	0.000	4	0.000	0.065	2442	1396	3514	0	0	0	0	0	0
2542	-0.66	-146.0	265.4	-8.3	301	2546	0.00	2.30	0.00	0.000	6	0.000	0.063	2433	2804	3514	0	0	0	0	0	0
2872	-0.66	-146.0	291.3	-7.5	332	2876	0.00	1.62	0.00	0.000	4	0.000	0.081	2426	3806	3514	0	0	0	0	0	0
2910	-0.66	-146.0	294.6	-8.6	335	2918	0.08	1.60	0.00	0.000	6	0.169	0.050	2447	2796	3513	0	0	0	0	0	0
3236	-0.66	-146.0	318.1	-7.2	366	3240	0.00	2.22	0.00	0.000	4	0.000	0.063	2448	1393	3513	0	0	0	0	0	0
3298	-0.66	-146.0	322.7	-7.5	371	3302	0.00	2.30	0.00	0.000	6	0.000	0.063	2442	2807	3513	0	0	0	0	0	0
3622	-0.66	-146.0	347.9	-7.7	401	3623	0.00	0.00	0.00	0.000	6	0.000	0.000	2442	2807	3513	0	0	0	0	0	0
3941	-0.66	-146.0	373.2	-8.0	431	3942	0.00	0.00	0.00	0.000	6	0.000	0.000	2442	2807	3513	0	0	0	0	0	0
4261	-0.66	-146.0	399.0	-7.8	461	4262	0.00	0.00	0.00	0.000	6	0.000	0.000	2442	2807	3514	0	0	0	0	0	0
4579	-0.66	-146.0	422.6	-7.3	491	4580	0.00	0.00	0.00	0.000	6	0.000	0.000	2442	2807	3514	0	0	0	0	0	0
4897	-0.66	-146.0	446.2	-7.1	521	4901	0.00	2.25	0.00	0.000	4	0.000	0.063	2442	1391	3514	0	0	0	0	0	0
4937	-0.66	-146.0	449.2	-7.1	524	4941	0.00	2.25	0.00	0.000	6	0.000	0.062	2434	2796	3514	0	0	0	0	0	0
5261	-0.66	-146.0	473.4	-7.4	554	5265	0.00	1.62	0.00	0.000	4	0.000	0.078	2426	3811	3514	0	0	0	0	0	0
5295	-0.66	-146.0	476.0	-7.8	557	5299	0.08	1.60	0.00	0.000	6	0.163	0.048	2458	2789	3514	0	0	0	0	0	0
5624	-0.66	-146.0	496.3	-6.0	588	5626	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2789	3515	0	0	0	0	0	0
5943	-0.66	-146.0	515.0	-6.0	618	5944	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2789	3515	0	0	0	0	0	0
6262	-0.66	-146.0	532.9	-5.4	648	6263	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2789	3515	0	0	0	0	0	0
6581	-0.66	-146.0	550.8	-6.0	678	6582	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2789	3516	0	0	0	0	0	0
6899	-0.66	-146.0	569.1	-5.6	708	6900	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2789	3515	0	0	0	0	0	0
7218	-0.66	-146.0	587.9	-6.3	738	7222	0.00	1.70	0.00	0.000	4	0.000	0.081	2452	3806	3516	0	0	0	0	0	0
7257	-0.66	-146.0	590.5	-7.3	741	7265	0.00	1.60	0.00	0.000	6	0.000	0.049	2452	2786	3516	0	0	0	0	0	0
7410	end dive: TARGET_DEPTH_EXCEEDED
state	7410	begin apogee
7413	-0.14	0.0	600.6	6.4	756	7546	0.50	0.00	127.32	1.133	4	0.147	0.000	2615	2786	2914	0	0	0	0	0	0
7547	end apogee: CONTROL_FINISHED_OK
state	7547	begin climb
7548	0.66	146.0	604.6	0.0	760	7686	0.77	0.00	128.30	1.093	6	0.095	0.000	2870	2786	2317	0	0	0	0	0	0
8003	0.66	146.0	558.0	12.7	796	8007	0.00	1.80	0.00	0.000	4	0.000	0.080	2870	3806	2308	0	0	0	0	0	0
8149	0.66	146.0	538.0	14.1	809	8153	0.00	1.70	0.00	0.000	6	0.000	0.052	2878	2771	2306	0	0	0	0	0	0
8479	0.66	146.0	496.4	12.3	840	8482	0.00	1.77	0.00	0.000	4	0.000	0.080	2877	3796	2306	0	0	0	0	0	0
8527	0.66	146.0	489.3	14.3	844	8536	0.00	1.73	0.00	0.000	6	0.000	0.051	2886	2760	2305	0	0	0	0	0	0
8853	0.66	146.0	447.0	12.8	875	8856	0.00	1.75	0.00	0.000	4	0.000	0.079	2886	3807	2305	0	0	0	0	0	0
8912	0.66	146.0	438.4	14.1	880	8921	0.00	1.73	0.00	0.000	6	0.000	0.051	2893	2761	2305	0	0	0	0	0	0
9238	0.66	146.0	395.5	12.8	911	9242	0.00	1.73	0.00	0.000	4	0.000	0.076	2893	3806	2304	0	0	0	0	0	0
9294	0.66	146.0	387.5	15.0	916	9298	0.00	1.65	0.00	0.000	6	0.000	0.052	2901	2763	2305	0	0	0	0	0	0
9624	0.66	146.0	345.8	12.7	947	9627	0.00	1.73	0.00	0.000	4	0.000	0.076	2901	3811	2304	0	0	0	0	0	0
9695	0.66	146.0	335.8	12.9	953	9703	0.00	1.70	0.00	0.000	6	0.000	0.051	2908	2768	2303	0	0	0	0	0	0
10020	0.66	146.0	295.0	12.4	984	10024	0.00	1.75	0.00	0.000	4	0.000	0.076	2908	3804	2304	0	0	0	0	0	0
10110	0.66	146.0	282.8	14.3	992	10114	0.15	1.65	0.00	0.000	6	0.223	0.052	2882	2751	2303	0	0	0	0	0	0
10439	0.66	146.0	246.2	11.2	1023	10443	0.00	1.73	0.00	0.000	4	0.000	0.076	2883	3806	2304	0	0	0	0	0	0
10552	0.66	146.0	232.7	12.4	1033	10555	0.00	1.60	0.00	0.000	6	0.000	0.052	2887	2802	2304	0	0	0	0	0	0
10881	0.66	146.0	195.9	11.1	1064	10882	0.00	0.00	0.00	0.000	6	0.000	0.000	2887	2801	2303	0	0	0	0	0	0
11202	0.67	154.1	163.1	9.6	1094	11215	0.00	1.65	5.93	0.754	4	0.000	0.075	2887	3806	2286	0	0	0	0	0	0
11286	0.67	154.1	154.4	10.5	1101	11294	0.00	1.60	0.00	0.000	6	0.000	0.051	2895	2812	2285	0	0	0	0	0	0
11612	0.74	215.4	130.1	7.2	1132	11670	0.00	1.75	52.95	0.857	4	0.000	0.075	2895	3806	2035	0	0	0	0	0	0
11804	0.74	215.4	108.8	12.5	1149	11811	0.00	1.62	0.00	0.000	6	0.000	0.053	2902	2819	2028	0	0	0	0	0	0
12142	0.74	215.4	73.5	10.9	1203	12149	0.00	2.45	0.00	0.000	4	0.000	0.072	2913	1337	2026	0	0	0	0	0	0
12211	0.75	220.9	66.2	9.7	1215	12224	0.00	2.45	4.65	0.666	6	0.000	0.059	2913	2831	2011	0	0	0	0	0	0
12563	0.81	271.1	33.2	7.7	1277	12610	0.00	1.73	43.12	0.814	4	0.000	0.076	2913	3805	1808	0	0	0	0	0	0
12864	0.89	337.0	8.6	7.0	1330	12924	0.08	1.58	54.38	0.792	6	0.085	0.051	2962	2843	1540	0	0	0	0	0	0
12934	end climb: SURFACE_DEPTH_REACHED
state	12934	begin surface coast
12969	end surface coast: CONTROL_FINISHED_OK
state	12969	begin surface