Glider dive log

DavisStrait Sep10 * SG184 * Dive index * Mission links * Dive 12 * 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 12 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 25 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 5 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 -33819.781 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 2 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 -33819.781

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 25 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 5

DIVE 12 NAV_MODE 2 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 160910,221036,6643.678,-6002.299,36,2.0,48,-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 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160910,221514,6643.712,-6002.324,14,1.4,14,-38.0 MHEAD_RNG_PITCHd_Wd 113.7,144805,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 641

Post-dive calculations and measurements:

FINISH 0.5,1.024415 _24V_AH 23.0,3.639

SM_CCo 13494,0.00,0.000,0,0,1435,362.80 _10V_AH 10.2,2.682

SM_GC 1.63,8.25,0.00,0.00,0.074,0.000,0.000,157,2810,1435,-7.81,0.28,362.80 FG_AHR_24Vo 0.000

RAFOS_CLK 435 FG_AHR_10Vo 0.000

RAFOS 0,1284681661,0.033333,0.016944,101,99,71,60,60,59,673,674,215,147,166,193 MEM 151696

RAFOS_FIX 6644.260254,-5958.151855,170910,000001,6,120,0.41 DATA_FILE_SIZE 50062,1322

IRIDIUM_FIX 6614.97,-6047.73,160910,181842 CAP_FILE_SIZE 141847,0

TT8_MAMPS 0.027713 CFSIZE 260165632,250269696

HUMID 47.91 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.83813 SOUNDSPEED 1453.6

TCM_TEMP 14.60 CURRENT 0.181,159.3,1

XPDR_PINGS 0 GPS 170910,020207,6642.837,-5957.731,29,1.5,29,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 287 138.76 SBE_CT 942 24 520.36

Roll_motor 81 149 278.60 SBE_O2 960 19 419.63

VBD_pump_during_apogee 435 1156 11598.52 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 27 103 65.61 nil 0 0 0.00

Iridium_during_connect 35 160 129.38 nil 0 0 0.00

Iridium_during_xfer 112 223 577.78 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.88

TT8 3354 19 681.52

LPSleep 7441 2 175.34

TT8_Active 501 19 101.96

TT8_Sampling 2384 39 970.88

TT8_CF8 114 45 53.40

TT8_Kalman 0 0 0.00

Analog_circuits 1650 12 202.06

GPS_charging 0 0 0.00

Compass 2175 15 332.81

RAFOS 2520 3 77.11

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.66 -146.0 0.0 0.0 0 97 0.00 0.00 -80.07 0.000 2 0.000 0.000 153 2796 3171 0 0 0 0 0 0

99 -0.66 -146.0 6.6 -15.7 14 120 10.82 1.77 -5.97 0.000 4 0.288 0.089 2444 3816 3513 0 0 0 0 0 0

367 -0.66 -146.0 54.5 -10.8 61 374 0.00 1.65 0.00 0.000 6 0.000 0.048 2444 2796 3515 0 0 0 0 0 0

710 -0.66 -146.0 91.4 -11.3 122 716 0.00 2.28 0.00 0.000 4 0.000 0.063 2444 1388 3516 0 0 0 0 0 0

845 -0.66 -146.0 106.8 -11.8 141 849 0.00 2.30 0.00 0.000 6 0.000 0.060 2434 2800 3516 0 0 0 0 0 0

1170 -0.66 -146.0 141.7 -9.4 171 1173 0.00 1.67 0.00 0.000 4 0.000 0.080 2427 3809 3516 0 0 0 0 0 0

1259 -0.66 -146.0 150.7 -10.1 179 1264 0.12 1.62 0.00 0.000 6 0.186 0.050 2456 2793 3516 0 0 0 0 0 0

1589 -0.66 -146.0 179.0 -9.0 210 1593 0.00 2.25 0.00 0.000 4 0.000 0.064 2456 1389 3516 0 0 0 0 0 0

1629 -0.66 -146.0 182.8 -9.2 213 1634 0.00 2.28 0.00 0.000 6 0.000 0.060 2450 2795 3515 0 0 0 0 0 0

1954 -0.66 -146.0 212.8 -8.6 243 1957 0.00 1.65 0.00 0.000 4 0.000 0.081 2442 3809 3515 0 0 0 0 0 0

1999 -0.66 -146.0 216.7 -9.0 247 2003 0.00 1.60 0.00 0.000 6 0.000 0.050 2442 2799 3516 0 0 0 0 0 0

2329 -0.66 -146.0 245.3 -8.5 278 2330 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2799 3515 0 0 0 0 0 0

2648 -0.66 -146.0 271.3 -7.5 308 2649 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2799 3514 0 0 0 0 0 0

2967 -0.66 -146.0 293.5 -6.6 338 2971 0.00 2.22 0.00 0.000 4 0.000 0.065 2442 1399 3515 0 0 0 0 0 0

2998 -0.66 -146.0 295.9 -7.6 340 3007 0.00 2.28 0.00 0.000 6 0.000 0.063 2433 2781 3514 0 0 0 0 0 0

3324 -0.66 -146.0 320.4 -8.2 371 3325 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2781 3514 0 0 0 0 0 0

3645 -0.66 -146.0 346.0 -7.8 401 3649 0.00 1.67 0.00 0.000 4 0.000 0.080 2426 3818 3514 0 0 0 0 0 0

3683 -0.66 -146.0 349.5 -8.0 404 3692 0.08 1.62 0.00 0.000 6 0.169 0.048 2449 2782 3515 0 0 0 0 0 0

4009 -0.66 -146.0 372.6 -6.8 435 4010 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2782 3515 0 0 0 0 0 0

4328 -0.66 -146.0 393.8 -6.6 465 4329 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2781 3515 0 0 0 0 0 0

4646 -0.66 -146.0 415.8 -7.2 495 4650 0.00 2.17 0.00 0.000 4 0.000 0.063 2448 1401 3515 0 0 0 0 0 0

4678 -0.66 -146.0 418.4 -7.5 497 4686 0.00 2.25 0.00 0.000 6 0.000 0.061 2443 2782 3514 0 0 0 0 0 0

5004 -0.66 -146.0 444.0 -8.0 528 5005 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2782 3515 0 0 0 0 0 0

5324 -0.66 -146.0 468.3 -7.5 558 5328 0.00 1.65 0.00 0.000 4 0.000 0.079 2435 3810 3515 0 0 0 0 0 0

5362 -0.66 -146.0 471.4 -8.0 561 5370 0.00 1.60 0.00 0.000 6 0.000 0.048 2436 2789 3515 0 0 0 0 0 0

5688 -0.66 -146.0 495.3 -7.0 592 5689 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2789 3515 0 0 0 0 0 0

6007 -0.66 -146.0 517.9 -7.3 622 6010 0.00 1.65 0.00 0.000 4 0.000 0.079 2429 3809 3515 0 0 0 0 0 0

6044 -0.66 -146.0 520.7 -7.5 625 6052 0.00 1.60 0.00 0.000 6 0.000 0.047 2428 2785 3515 0 0 0 0 0 0

6370 -0.66 -146.0 545.5 -7.4 656 6371 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2785 3516 0 0 0 0 0 0

6692 -0.66 -146.0 569.3 -7.6 686 6697 0.12 1.67 0.00 0.000 4 0.187 0.080 2453 3807 3515 0 0 0 0 0 0

6736 -0.66 -146.0 572.4 -6.6 690 6740 0.00 1.60 0.00 0.000 6 0.000 0.049 2453 2786 3516 0 0 0 0 0 0

7067 -0.66 -146.0 593.6 -6.5 721 7068 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2786 3516 0 0 0 0 0 0

7387 -0.66 -146.0 614.3 -6.4 738 7388 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2786 3517 0 0 0 0 0 0

7693 -0.66 -146.0 633.4 -6.2 748 7694 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2786 3517 0 0 0 0 0 0

7814 end dive: TARGET_DEPTH_EXCEEDED

state 7814 begin apogee

7817 -0.14 0.0 641.0 6.3 752 7951 0.52 0.00 128.25 1.157 4 0.150 0.000 2619 2785 2913 0 0 0 0 0 0

7952 end apogee: CONTROL_FINISHED_OK

state 7952 begin climb

7953 0.66 146.0 645.7 0.0 756 8091 0.82 2.53 129.38 1.117 4 0.098 0.068 2880 1355 2318 0 0 0 0 0 0

8291 0.66 146.0 615.1 11.6 766 8299 0.00 2.42 0.00 0.000 6 0.000 0.065 2879 2746 2309 0 0 0 0 0 0

8615 0.66 146.0 574.4 12.7 789 8619 0.00 2.38 0.00 0.000 4 0.000 0.073 2886 1351 2307 0 0 0 0 0 0

8844 0.66 146.0 545.8 12.1 809 8849 0.00 2.33 0.00 0.000 6 0.000 0.063 2887 2753 2307 0 0 0 0 0 0

9169 0.66 146.0 502.8 13.1 839 9173 0.00 1.77 0.00 0.000 4 0.000 0.079 2887 3800 2306 0 0 0 0 0 0

9236 0.66 146.0 492.8 15.3 845 9240 0.00 1.67 0.00 0.000 6 0.000 0.051 2894 2762 2304 0 0 0 0 0 0

9566 0.66 146.0 446.7 13.3 876 9570 0.00 1.75 0.00 0.000 4 0.000 0.077 2894 3818 2304 0 0 0 0 0 0

9622 0.66 146.0 438.3 15.5 881 9626 0.00 1.67 0.00 0.000 6 0.000 0.052 2902 2756 2304 0 0 0 0 0 0

9952 0.66 146.0 391.3 13.9 912 9953 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 2756 2304 0 0 0 0 0 0

10271 0.66 146.0 347.5 13.4 942 10275 0.00 1.73 0.00 0.000 4 0.000 0.077 2902 3807 2303 0 0 0 0 0 0

10338 0.66 146.0 337.4 15.6 948 10342 0.00 1.67 0.00 0.000 6 0.000 0.052 2910 2767 2303 0 0 0 0 0 0

10667 0.66 146.0 291.0 13.3 979 10671 0.00 1.70 0.00 0.000 4 0.000 0.076 2910 3807 2303 0 0 0 0 0 0

10705 0.66 146.0 285.3 14.6 982 10713 0.10 1.67 0.00 0.000 6 0.207 0.051 2890 2768 2303 0 0 0 0 0 0

11031 0.66 146.0 244.2 11.2 1013 11035 0.00 1.70 0.00 0.000 4 0.000 0.076 2890 3809 2303 0 0 0 0 0 0

11131 0.66 146.0 231.6 13.3 1022 11135 0.00 1.62 0.00 0.000 6 0.000 0.051 2896 2787 2303 0 0 0 0 0 0

11461 0.66 146.0 194.7 10.8 1053 11465 0.00 1.70 0.00 0.000 4 0.000 0.076 2896 3817 2303 0 0 0 0 0 0

11550 0.66 146.0 183.9 11.8 1061 11554 0.00 1.62 0.00 0.000 6 0.000 0.052 2903 2794 2303 0 0 0 0 0 0

11880 0.66 146.0 146.0 11.7 1092 11884 0.00 1.65 0.00 0.000 4 0.000 0.076 2903 3813 2303 0 0 0 0 0 0

11985 0.66 146.0 133.1 12.0 1101 11993 0.00 1.62 0.00 0.000 6 0.000 0.052 2911 2790 2303 0 0 0 0 0 0

12312 0.72 195.8 103.6 7.7 1132 12358 0.00 1.77 40.45 0.842 4 0.000 0.076 2910 3806 2114 0 0 0 0 0 0

12486 0.72 195.8 84.3 13.2 1159 12493 0.00 1.62 0.00 0.000 6 0.000 0.054 2918 2810 2110 0 0 0 0 0 0

12830 0.72 201.5 47.6 9.7 1220 12838 0.00 0.00 4.85 0.674 6 0.000 0.000 2918 2810 2092 0 0 0 0 0 0

13172 0.86 312.9 20.4 4.9 1281 13272 0.00 1.83 93.80 0.800 4 0.000 0.074 2918 3810 1637 0 0 0 0 0 0

13301 0.92 360.0 12.6 7.8 1302 13347 0.12 1.62 39.25 0.760 6 0.110 0.051 2966 2844 1446 0 0 0 0 0 0

13396 end climb: SURFACE_DEPTH_REACHED

state 13396 begin surface coast

13419 end surface coast: CONTROL_FINISHED_OK

state 13419 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	12	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	25	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	5	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	-33819.781	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	2	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	160910,221036,6643.678,-6002.299,36,2.0,48,-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	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160910,221514,6643.712,-6002.324,14,1.4,14,-38.0	MHEAD_RNG_PITCHd_Wd	113.7,144805,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	641

FINISH	0.5,1.024415	_24V_AH	23.0,3.639
SM_CCo	13494,0.00,0.000,0,0,1435,362.80	_10V_AH	10.2,2.682
SM_GC	1.63,8.25,0.00,0.00,0.074,0.000,0.000,157,2810,1435,-7.81,0.28,362.80	FG_AHR_24Vo	0.000
RAFOS_CLK	435	FG_AHR_10Vo	0.000
RAFOS	0,1284681661,0.033333,0.016944,101,99,71,60,60,59,673,674,215,147,166,193	MEM	151696
RAFOS_FIX	6644.260254,-5958.151855,170910,000001,6,120,0.41	DATA_FILE_SIZE	50062,1322
IRIDIUM_FIX	6614.97,-6047.73,160910,181842	CAP_FILE_SIZE	141847,0
TT8_MAMPS	0.027713	CFSIZE	260165632,250269696
HUMID	47.91	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.83813	SOUNDSPEED	1453.6
TCM_TEMP	14.60	CURRENT	0.181,159.3,1
XPDR_PINGS	0	GPS	170910,020207,6642.837,-5957.731,29,1.5,29,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	287	138.76	SBE_CT	942	24	520.36
Roll_motor	81	149	278.60	SBE_O2	960	19	419.63
VBD_pump_during_apogee	435	1156	11598.52	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	27	103	65.61	nil	0	0	0.00
Iridium_during_connect	35	160	129.38	nil	0	0	0.00
Iridium_during_xfer	112	223	577.78	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.88
TT8	3354	19	681.52
LPSleep	7441	2	175.34
TT8_Active	501	19	101.96
TT8_Sampling	2384	39	970.88
TT8_CF8	114	45	53.40
TT8_Kalman	0	0	0.00
Analog_circuits	1650	12	202.06
GPS_charging	0	0	0.00
Compass	2175	15	332.81
RAFOS	2520	3	77.11
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.66	-146.0	0.0	0.0	0	97	0.00	0.00	-80.07	0.000	2	0.000	0.000	153	2796	3171	0	0	0	0	0	0
99	-0.66	-146.0	6.6	-15.7	14	120	10.82	1.77	-5.97	0.000	4	0.288	0.089	2444	3816	3513	0	0	0	0	0	0
367	-0.66	-146.0	54.5	-10.8	61	374	0.00	1.65	0.00	0.000	6	0.000	0.048	2444	2796	3515	0	0	0	0	0	0
710	-0.66	-146.0	91.4	-11.3	122	716	0.00	2.28	0.00	0.000	4	0.000	0.063	2444	1388	3516	0	0	0	0	0	0
845	-0.66	-146.0	106.8	-11.8	141	849	0.00	2.30	0.00	0.000	6	0.000	0.060	2434	2800	3516	0	0	0	0	0	0
1170	-0.66	-146.0	141.7	-9.4	171	1173	0.00	1.67	0.00	0.000	4	0.000	0.080	2427	3809	3516	0	0	0	0	0	0
1259	-0.66	-146.0	150.7	-10.1	179	1264	0.12	1.62	0.00	0.000	6	0.186	0.050	2456	2793	3516	0	0	0	0	0	0
1589	-0.66	-146.0	179.0	-9.0	210	1593	0.00	2.25	0.00	0.000	4	0.000	0.064	2456	1389	3516	0	0	0	0	0	0
1629	-0.66	-146.0	182.8	-9.2	213	1634	0.00	2.28	0.00	0.000	6	0.000	0.060	2450	2795	3515	0	0	0	0	0	0
1954	-0.66	-146.0	212.8	-8.6	243	1957	0.00	1.65	0.00	0.000	4	0.000	0.081	2442	3809	3515	0	0	0	0	0	0
1999	-0.66	-146.0	216.7	-9.0	247	2003	0.00	1.60	0.00	0.000	6	0.000	0.050	2442	2799	3516	0	0	0	0	0	0
2329	-0.66	-146.0	245.3	-8.5	278	2330	0.00	0.00	0.00	0.000	6	0.000	0.000	2442	2799	3515	0	0	0	0	0	0
2648	-0.66	-146.0	271.3	-7.5	308	2649	0.00	0.00	0.00	0.000	6	0.000	0.000	2442	2799	3514	0	0	0	0	0	0
2967	-0.66	-146.0	293.5	-6.6	338	2971	0.00	2.22	0.00	0.000	4	0.000	0.065	2442	1399	3515	0	0	0	0	0	0
2998	-0.66	-146.0	295.9	-7.6	340	3007	0.00	2.28	0.00	0.000	6	0.000	0.063	2433	2781	3514	0	0	0	0	0	0
3324	-0.66	-146.0	320.4	-8.2	371	3325	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2781	3514	0	0	0	0	0	0
3645	-0.66	-146.0	346.0	-7.8	401	3649	0.00	1.67	0.00	0.000	4	0.000	0.080	2426	3818	3514	0	0	0	0	0	0
3683	-0.66	-146.0	349.5	-8.0	404	3692	0.08	1.62	0.00	0.000	6	0.169	0.048	2449	2782	3515	0	0	0	0	0	0
4009	-0.66	-146.0	372.6	-6.8	435	4010	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2782	3515	0	0	0	0	0	0
4328	-0.66	-146.0	393.8	-6.6	465	4329	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2781	3515	0	0	0	0	0	0
4646	-0.66	-146.0	415.8	-7.2	495	4650	0.00	2.17	0.00	0.000	4	0.000	0.063	2448	1401	3515	0	0	0	0	0	0
4678	-0.66	-146.0	418.4	-7.5	497	4686	0.00	2.25	0.00	0.000	6	0.000	0.061	2443	2782	3514	0	0	0	0	0	0
5004	-0.66	-146.0	444.0	-8.0	528	5005	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	2782	3515	0	0	0	0	0	0
5324	-0.66	-146.0	468.3	-7.5	558	5328	0.00	1.65	0.00	0.000	4	0.000	0.079	2435	3810	3515	0	0	0	0	0	0
5362	-0.66	-146.0	471.4	-8.0	561	5370	0.00	1.60	0.00	0.000	6	0.000	0.048	2436	2789	3515	0	0	0	0	0	0
5688	-0.66	-146.0	495.3	-7.0	592	5689	0.00	0.00	0.00	0.000	6	0.000	0.000	2436	2789	3515	0	0	0	0	0	0
6007	-0.66	-146.0	517.9	-7.3	622	6010	0.00	1.65	0.00	0.000	4	0.000	0.079	2429	3809	3515	0	0	0	0	0	0
6044	-0.66	-146.0	520.7	-7.5	625	6052	0.00	1.60	0.00	0.000	6	0.000	0.047	2428	2785	3515	0	0	0	0	0	0
6370	-0.66	-146.0	545.5	-7.4	656	6371	0.00	0.00	0.00	0.000	6	0.000	0.000	2429	2785	3516	0	0	0	0	0	0
6692	-0.66	-146.0	569.3	-7.6	686	6697	0.12	1.67	0.00	0.000	4	0.187	0.080	2453	3807	3515	0	0	0	0	0	0
6736	-0.66	-146.0	572.4	-6.6	690	6740	0.00	1.60	0.00	0.000	6	0.000	0.049	2453	2786	3516	0	0	0	0	0	0
7067	-0.66	-146.0	593.6	-6.5	721	7068	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2786	3516	0	0	0	0	0	0
7387	-0.66	-146.0	614.3	-6.4	738	7388	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2786	3517	0	0	0	0	0	0
7693	-0.66	-146.0	633.4	-6.2	748	7694	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2786	3517	0	0	0	0	0	0
7814	end dive: TARGET_DEPTH_EXCEEDED
state	7814	begin apogee
7817	-0.14	0.0	641.0	6.3	752	7951	0.52	0.00	128.25	1.157	4	0.150	0.000	2619	2785	2913	0	0	0	0	0	0
7952	end apogee: CONTROL_FINISHED_OK
state	7952	begin climb
7953	0.66	146.0	645.7	0.0	756	8091	0.82	2.53	129.38	1.117	4	0.098	0.068	2880	1355	2318	0	0	0	0	0	0
8291	0.66	146.0	615.1	11.6	766	8299	0.00	2.42	0.00	0.000	6	0.000	0.065	2879	2746	2309	0	0	0	0	0	0
8615	0.66	146.0	574.4	12.7	789	8619	0.00	2.38	0.00	0.000	4	0.000	0.073	2886	1351	2307	0	0	0	0	0	0
8844	0.66	146.0	545.8	12.1	809	8849	0.00	2.33	0.00	0.000	6	0.000	0.063	2887	2753	2307	0	0	0	0	0	0
9169	0.66	146.0	502.8	13.1	839	9173	0.00	1.77	0.00	0.000	4	0.000	0.079	2887	3800	2306	0	0	0	0	0	0
9236	0.66	146.0	492.8	15.3	845	9240	0.00	1.67	0.00	0.000	6	0.000	0.051	2894	2762	2304	0	0	0	0	0	0
9566	0.66	146.0	446.7	13.3	876	9570	0.00	1.75	0.00	0.000	4	0.000	0.077	2894	3818	2304	0	0	0	0	0	0
9622	0.66	146.0	438.3	15.5	881	9626	0.00	1.67	0.00	0.000	6	0.000	0.052	2902	2756	2304	0	0	0	0	0	0
9952	0.66	146.0	391.3	13.9	912	9953	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	2756	2304	0	0	0	0	0	0
10271	0.66	146.0	347.5	13.4	942	10275	0.00	1.73	0.00	0.000	4	0.000	0.077	2902	3807	2303	0	0	0	0	0	0
10338	0.66	146.0	337.4	15.6	948	10342	0.00	1.67	0.00	0.000	6	0.000	0.052	2910	2767	2303	0	0	0	0	0	0
10667	0.66	146.0	291.0	13.3	979	10671	0.00	1.70	0.00	0.000	4	0.000	0.076	2910	3807	2303	0	0	0	0	0	0
10705	0.66	146.0	285.3	14.6	982	10713	0.10	1.67	0.00	0.000	6	0.207	0.051	2890	2768	2303	0	0	0	0	0	0
11031	0.66	146.0	244.2	11.2	1013	11035	0.00	1.70	0.00	0.000	4	0.000	0.076	2890	3809	2303	0	0	0	0	0	0
11131	0.66	146.0	231.6	13.3	1022	11135	0.00	1.62	0.00	0.000	6	0.000	0.051	2896	2787	2303	0	0	0	0	0	0
11461	0.66	146.0	194.7	10.8	1053	11465	0.00	1.70	0.00	0.000	4	0.000	0.076	2896	3817	2303	0	0	0	0	0	0
11550	0.66	146.0	183.9	11.8	1061	11554	0.00	1.62	0.00	0.000	6	0.000	0.052	2903	2794	2303	0	0	0	0	0	0
11880	0.66	146.0	146.0	11.7	1092	11884	0.00	1.65	0.00	0.000	4	0.000	0.076	2903	3813	2303	0	0	0	0	0	0
11985	0.66	146.0	133.1	12.0	1101	11993	0.00	1.62	0.00	0.000	6	0.000	0.052	2911	2790	2303	0	0	0	0	0	0
12312	0.72	195.8	103.6	7.7	1132	12358	0.00	1.77	40.45	0.842	4	0.000	0.076	2910	3806	2114	0	0	0	0	0	0
12486	0.72	195.8	84.3	13.2	1159	12493	0.00	1.62	0.00	0.000	6	0.000	0.054	2918	2810	2110	0	0	0	0	0	0
12830	0.72	201.5	47.6	9.7	1220	12838	0.00	0.00	4.85	0.674	6	0.000	0.000	2918	2810	2092	0	0	0	0	0	0
13172	0.86	312.9	20.4	4.9	1281	13272	0.00	1.83	93.80	0.800	4	0.000	0.074	2918	3810	1637	0	0	0	0	0	0
13301	0.92	360.0	12.6	7.8	1302	13347	0.12	1.62	39.25	0.760	6	0.110	0.051	2966	2844	1446	0	0	0	0	0	0
13396	end climb: SURFACE_DEPTH_REACHED
state	13396	begin surface coast
13419	end surface coast: CONTROL_FINISHED_OK
state	13419	begin surface