Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 204 * 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 0

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 204 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 20

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 350 R_PORT_OVSHOOT 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2923 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 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 8 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 -7989.6045 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 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 2 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 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 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 20 ESCAPE_HEADING 0 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 3850 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 311 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 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 5 HD_A 0.003 PROTOCOL 9 T_GPS 8

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 -7989.6045

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 0.30000001 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 -1

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 0

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 35 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 204 NAV_MODE 2 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 8 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 191010,023800,6646.316,-6003.705,33,1.6,39,-38.1 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 191010,024325,6646.290,-6003.657,9,1.5,14,-38.1 MHEAD_RNG_PITCHd_Wd 291.1,16886,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 624

Post-dive calculations and measurements:

FINISH 0.7,1.024508 _24V_AH 22.7,26.448

SM_CCo 12214,19.55,0.386,1,0,1495,350.04 _10V_AH 10.1,20.683

SM_GC 1.72,0.00,0.00,19.55,0.000,0.000,0.386,302,2782,1495,-6.79,0.06,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 656 FG_AHR_10Vo 0.000

RAFOS 0,1287460862,4.033333,4.017222,63,43,43,43,43,40,652,463,1002,1423,26,1342 MEM 189616

RAFOS_FIX 6647.651367,-6005.997070,191010,040441,3,92,0.52 DATA_FILE_SIZE 43345,1230

IRIDIUM_FIX 6620.33,-6005.83,181010,222206 CAP_FILE_SIZE 133707,0

TT8_MAMPS 0.028462 CFSIZE 260165632,235675648

HUMID 49.21 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.50466 SOUNDSPEED 1453.5

TCM_TEMP 14.40 CURRENT 0.185,170.2,1

XPDR_PINGS 1 GPS 191010,060936,6644.700,-6006.480,37,1.1,48,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 265 98.67 SBE_CT 858 24 467.65

Roll_motor 104 87 208.59 SBE_O2 0 0 0.00

VBD_pump_during_apogee 397 1004 9065.07 nil 0 0 0.00

VBD_pump_during_surface 19 386 171.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 73.13 nil 0 0 0.00

Iridium_during_connect 41 160 149.46 nil 0 0 0.00

Iridium_during_xfer 126 223 639.57 nil 0 0 0.00

Transponder_ping 0 420 2.38 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.73

TT8 3137 19 631.20

LPSleep 6516 2 152.04

TT8_Active 505 19 101.69

TT8_Sampling 2255 39 909.41

TT8_CF8 162 45 75.49

TT8_Kalman 0 0 0.00

Analog_circuits 1578 12 191.29

GPS_charging 0 0 0.00

Compass 2011 15 304.81

RAFOS 2520 3 76.36

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

15 -0.57 -146.0 0.0 0.0 0 103 0.00 0.00 -85.72 0.000 2 0.000 0.000 285 2779 3260 0 0 0 0 0 0

105 -0.57 -146.0 5.7 -13.4 14 126 8.50 2.03 -5.30 0.000 4 0.265 0.088 2277 3929 3522 0 0 0 0 0 0

349 -0.57 -146.0 60.1 -14.5 57 356 0.00 1.88 0.00 0.000 6 0.000 0.050 2277 2783 3524 0 0 0 0 0 0

690 -0.57 -146.0 103.0 -12.2 116 694 0.00 1.95 0.00 0.000 4 0.000 0.078 2272 3929 3524 0 0 0 0 0 0

723 -0.57 -146.0 107.6 -14.9 119 726 0.00 1.88 0.00 0.000 6 0.000 0.050 2272 2777 3524 0 0 0 0 0 0

1053 -0.57 -146.0 149.2 -12.5 150 1057 0.00 2.22 0.00 0.000 4 0.000 0.053 2272 1371 3524 0 0 0 0 0 0

1085 -0.57 -146.0 153.4 -12.2 152 1094 0.00 2.38 0.00 0.000 6 0.000 0.066 2272 2780 3524 0 0 0 0 0 0

1410 -0.57 -146.0 192.5 -12.1 183 1411 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2780 3523 0 0 0 0 0 0

1730 -0.57 -146.0 230.6 -11.7 213 1734 0.00 1.95 0.00 0.000 4 0.000 0.078 2272 3929 3523 0 0 0 0 0 0

1763 -0.57 -146.0 234.7 -12.1 216 1767 0.00 1.88 0.00 0.000 6 0.000 0.051 2272 2771 3522 0 0 0 0 0 0

2093 -0.57 -146.0 270.8 -10.5 247 2095 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2770 3522 0 0 0 0 0 0

2414 -0.57 -146.0 304.2 -10.1 277 2417 0.00 2.22 0.00 0.000 4 0.000 0.054 2272 1371 3521 0 0 0 0 0 0

2448 -0.57 -146.0 307.8 -10.4 280 2452 0.00 2.35 0.00 0.000 6 0.000 0.067 2272 2785 3521 0 0 0 0 0 0

2772 -0.57 -146.0 340.3 -9.9 310 2773 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2786 3521 0 0 0 0 0 0

3092 -0.57 -146.0 369.3 -8.5 340 3096 0.00 2.25 0.00 0.000 4 0.000 0.054 2272 1371 3521 0 0 0 0 0 0

3119 -0.57 -146.0 371.8 -8.4 342 3126 0.00 2.35 0.00 0.000 6 0.000 0.066 2272 2779 3522 0 0 0 0 0 0

3445 -0.57 -146.0 398.2 -8.3 373 3449 0.00 1.95 0.00 0.000 4 0.000 0.077 2272 3936 3522 0 0 0 0 0 0

3501 -0.57 -146.0 403.0 -8.8 378 3505 0.00 1.88 0.00 0.000 6 0.000 0.050 2272 2786 3521 0 0 0 0 0 0

3832 -0.57 -146.0 429.5 -8.0 409 3836 0.00 2.22 0.00 0.000 4 0.000 0.052 2272 1366 3521 0 0 0 0 0 0

3871 -0.57 -146.0 432.7 -8.1 412 3875 0.00 2.35 0.00 0.000 6 0.000 0.066 2272 2787 3521 0 0 0 0 0 0

4196 -0.57 -146.0 457.8 -8.0 442 4197 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2787 3522 0 0 0 0 0 0

4517 -0.57 -146.0 482.1 -7.4 472 4521 0.00 2.25 0.00 0.000 4 0.000 0.052 2272 1358 3522 0 0 0 0 0 0

4557 -0.57 -146.0 485.4 -7.5 475 4561 0.00 2.33 0.00 0.000 6 0.000 0.066 2272 2781 3522 0 0 0 0 0 0

4882 -0.57 -146.0 510.0 -8.2 505 4885 0.00 1.92 0.00 0.000 4 0.000 0.075 2270 3931 3523 0 0 0 0 0 0

4920 -0.57 -146.0 513.5 -9.5 508 4928 0.00 1.88 0.00 0.000 6 0.000 0.048 2270 2775 3523 0 0 0 0 0 0

5245 -0.57 -146.0 540.1 -8.2 539 5249 0.00 2.20 0.00 0.000 4 0.000 0.051 2270 1365 3523 0 0 0 0 0 0

5269 -0.57 -146.0 542.2 -8.6 541 5273 0.00 2.30 0.00 0.000 6 0.000 0.064 2266 2778 3523 0 0 0 0 0 0

5597 -0.57 -146.0 570.4 -8.7 571 5601 0.00 1.92 0.00 0.000 4 0.000 0.076 2264 3928 3523 0 0 0 0 0 0

5658 -0.57 -146.0 576.3 -9.6 576 5666 0.00 1.85 0.00 0.000 6 0.000 0.050 2264 2787 3523 0 0 0 0 0 0

6002 -0.57 -146.0 605.6 -8.7 605 6003 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2787 3523 0 0 0 0 0 0

6245 end dive: TARGET_DEPTH_EXCEEDED

state 6245 begin apogee

6250 -0.14 0.0 626.2 8.5 613 6377 0.47 0.00 119.85 1.004 4 0.140 0.000 2420 2595 2922 0 0 0 0 0 0

6378 end apogee: CONTROL_FINISHED_OK

state 6378 begin climb

6379 0.57 146.0 629.6 0.0 617 6512 0.70 2.40 124.85 0.982 4 0.083 0.051 2660 1175 2327 0 0 0 0 0 0

6704 0.57 146.0 599.5 11.3 627 6708 0.00 2.45 0.00 0.000 6 0.000 0.058 2660 2603 2318 0 0 0 0 0 0

7032 0.57 146.0 559.4 12.5 657 7036 0.00 2.33 0.00 0.000 4 0.000 0.055 2663 1187 2315 0 0 0 0 0 0

7250 0.57 146.0 533.8 11.5 676 7254 0.00 2.38 0.00 0.000 6 0.000 0.058 2663 2611 2314 0 0 0 0 0 0

7581 0.57 146.0 494.6 11.8 707 7585 0.00 2.20 0.00 0.000 4 0.000 0.070 2663 3926 2313 0 0 0 0 0 0

7610 0.57 146.0 490.7 14.0 709 7614 0.00 2.17 0.00 0.000 6 0.000 0.047 2666 2588 2312 0 0 0 0 0 0

7940 0.57 146.0 449.8 12.5 740 7944 0.00 2.28 0.00 0.000 4 0.000 0.071 2666 3931 2313 0 0 0 0 0 0

7979 0.57 146.0 444.2 14.9 743 7986 0.00 2.15 0.00 0.000 6 0.000 0.047 2667 2601 2311 0 0 0 0 0 0

8303 0.57 146.0 403.3 12.2 774 8307 0.00 2.25 0.00 0.000 4 0.000 0.055 2667 1194 2311 0 0 0 0 0 0

8352 0.57 146.0 397.6 10.6 778 8359 0.00 2.30 0.00 0.000 6 0.000 0.058 2667 2589 2312 0 0 0 0 0 0

8678 0.57 146.0 359.3 11.7 809 8682 0.00 2.25 0.00 0.000 4 0.000 0.070 2666 3935 2312 0 0 0 0 0 0

8717 0.57 146.0 354.0 14.0 812 8721 0.00 2.15 0.00 0.000 6 0.000 0.047 2671 2598 2311 0 0 0 0 0 0

9047 0.57 146.0 313.6 11.9 843 9049 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2597 2311 0 0 0 0 0 0

9368 0.57 146.0 276.3 11.2 873 9372 0.00 2.25 0.00 0.000 4 0.000 0.055 2674 1184 2311 0 0 0 0 0 0

9396 0.57 146.0 273.2 10.5 875 9400 0.00 2.30 0.00 0.000 6 0.000 0.057 2675 2613 2312 0 0 0 0 0 0

9721 0.57 146.0 239.9 10.6 905 9725 0.00 2.17 0.00 0.000 4 0.000 0.071 2674 3932 2311 0 0 0 0 0 0

9783 0.57 146.0 232.2 12.8 910 9787 0.00 2.12 0.00 0.000 6 0.000 0.047 2680 2604 2311 0 0 0 0 0 0

10114 0.57 146.0 196.5 10.5 941 10118 0.00 2.25 0.00 0.000 4 0.000 0.056 2680 1186 2311 0 0 0 0 0 0

10153 0.57 154.1 192.5 9.6 944 10167 0.00 2.28 5.50 0.656 6 0.000 0.059 2680 2600 2294 0 0 0 0 0 0

10483 0.57 154.1 156.5 11.1 975 10486 0.00 2.22 0.00 0.000 4 0.000 0.072 2680 3932 2293 0 0 0 0 0 0

10551 0.57 154.1 147.9 13.3 981 10555 0.00 2.12 0.00 0.000 6 0.000 0.047 2686 2605 2292 0 0 0 0 0 0

10882 0.60 191.3 115.8 8.3 1012 10916 0.00 0.00 31.92 0.711 6 0.000 0.000 2686 2604 2142 0 0 0 0 0 0

11240 0.62 218.4 83.1 8.7 1061 11272 0.00 2.33 22.88 0.691 4 0.000 0.073 2686 3921 2030 0 0 0 0 0 0

11363 0.62 218.4 70.0 11.4 1082 11370 0.00 2.15 0.00 0.000 6 0.000 0.048 2693 2610 2026 0 0 0 0 0 0

11706 0.65 277.3 38.0 7.3 1143 11761 0.00 0.00 48.47 0.666 6 0.000 0.000 2693 2609 1790 0 0 0 0 0 0

12092 0.69 331.8 8.5 7.5 1212 12143 0.00 2.33 44.10 0.651 4 0.000 0.071 2693 3926 1568 0 0 0 0 0 0

12165 end climb: SURFACE_DEPTH_REACHED

state 12165 begin surface coast

12198 end surface coast: CONTROL_FINISHED_OK

state 12199 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	204	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	20
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	350	R_PORT_OVSHOOT	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2923	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	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	8	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	-7989.6045	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	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	2	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	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	191010,023800,6646.316,-6003.705,33,1.6,39,-38.1	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	191010,024325,6646.290,-6003.657,9,1.5,14,-38.1	MHEAD_RNG_PITCHd_Wd	291.1,16886,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	624

FINISH	0.7,1.024508	_24V_AH	22.7,26.448
SM_CCo	12214,19.55,0.386,1,0,1495,350.04	_10V_AH	10.1,20.683
SM_GC	1.72,0.00,0.00,19.55,0.000,0.000,0.386,302,2782,1495,-6.79,0.06,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	656	FG_AHR_10Vo	0.000
RAFOS	0,1287460862,4.033333,4.017222,63,43,43,43,43,40,652,463,1002,1423,26,1342	MEM	189616
RAFOS_FIX	6647.651367,-6005.997070,191010,040441,3,92,0.52	DATA_FILE_SIZE	43345,1230
IRIDIUM_FIX	6620.33,-6005.83,181010,222206	CAP_FILE_SIZE	133707,0
TT8_MAMPS	0.028462	CFSIZE	260165632,235675648
HUMID	49.21	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.50466	SOUNDSPEED	1453.5
TCM_TEMP	14.40	CURRENT	0.185,170.2,1
XPDR_PINGS	1	GPS	191010,060936,6644.700,-6006.480,37,1.1,48,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	265	98.67	SBE_CT	858	24	467.65
Roll_motor	104	87	208.59	SBE_O2	0	0	0.00
VBD_pump_during_apogee	397	1004	9065.07	nil	0	0	0.00
VBD_pump_during_surface	19	386	171.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	73.13	nil	0	0	0.00
Iridium_during_connect	41	160	149.46	nil	0	0	0.00
Iridium_during_xfer	126	223	639.57	nil	0	0	0.00
Transponder_ping	0	420	2.38	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.73
TT8	3137	19	631.20
LPSleep	6516	2	152.04
TT8_Active	505	19	101.69
TT8_Sampling	2255	39	909.41
TT8_CF8	162	45	75.49
TT8_Kalman	0	0	0.00
Analog_circuits	1578	12	191.29
GPS_charging	0	0	0.00
Compass	2011	15	304.81
RAFOS	2520	3	76.36
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
15	-0.57	-146.0	0.0	0.0	0	103	0.00	0.00	-85.72	0.000	2	0.000	0.000	285	2779	3260	0	0	0	0	0	0
105	-0.57	-146.0	5.7	-13.4	14	126	8.50	2.03	-5.30	0.000	4	0.265	0.088	2277	3929	3522	0	0	0	0	0	0
349	-0.57	-146.0	60.1	-14.5	57	356	0.00	1.88	0.00	0.000	6	0.000	0.050	2277	2783	3524	0	0	0	0	0	0
690	-0.57	-146.0	103.0	-12.2	116	694	0.00	1.95	0.00	0.000	4	0.000	0.078	2272	3929	3524	0	0	0	0	0	0
723	-0.57	-146.0	107.6	-14.9	119	726	0.00	1.88	0.00	0.000	6	0.000	0.050	2272	2777	3524	0	0	0	0	0	0
1053	-0.57	-146.0	149.2	-12.5	150	1057	0.00	2.22	0.00	0.000	4	0.000	0.053	2272	1371	3524	0	0	0	0	0	0
1085	-0.57	-146.0	153.4	-12.2	152	1094	0.00	2.38	0.00	0.000	6	0.000	0.066	2272	2780	3524	0	0	0	0	0	0
1410	-0.57	-146.0	192.5	-12.1	183	1411	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2780	3523	0	0	0	0	0	0
1730	-0.57	-146.0	230.6	-11.7	213	1734	0.00	1.95	0.00	0.000	4	0.000	0.078	2272	3929	3523	0	0	0	0	0	0
1763	-0.57	-146.0	234.7	-12.1	216	1767	0.00	1.88	0.00	0.000	6	0.000	0.051	2272	2771	3522	0	0	0	0	0	0
2093	-0.57	-146.0	270.8	-10.5	247	2095	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2770	3522	0	0	0	0	0	0
2414	-0.57	-146.0	304.2	-10.1	277	2417	0.00	2.22	0.00	0.000	4	0.000	0.054	2272	1371	3521	0	0	0	0	0	0
2448	-0.57	-146.0	307.8	-10.4	280	2452	0.00	2.35	0.00	0.000	6	0.000	0.067	2272	2785	3521	0	0	0	0	0	0
2772	-0.57	-146.0	340.3	-9.9	310	2773	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2786	3521	0	0	0	0	0	0
3092	-0.57	-146.0	369.3	-8.5	340	3096	0.00	2.25	0.00	0.000	4	0.000	0.054	2272	1371	3521	0	0	0	0	0	0
3119	-0.57	-146.0	371.8	-8.4	342	3126	0.00	2.35	0.00	0.000	6	0.000	0.066	2272	2779	3522	0	0	0	0	0	0
3445	-0.57	-146.0	398.2	-8.3	373	3449	0.00	1.95	0.00	0.000	4	0.000	0.077	2272	3936	3522	0	0	0	0	0	0
3501	-0.57	-146.0	403.0	-8.8	378	3505	0.00	1.88	0.00	0.000	6	0.000	0.050	2272	2786	3521	0	0	0	0	0	0
3832	-0.57	-146.0	429.5	-8.0	409	3836	0.00	2.22	0.00	0.000	4	0.000	0.052	2272	1366	3521	0	0	0	0	0	0
3871	-0.57	-146.0	432.7	-8.1	412	3875	0.00	2.35	0.00	0.000	6	0.000	0.066	2272	2787	3521	0	0	0	0	0	0
4196	-0.57	-146.0	457.8	-8.0	442	4197	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2787	3522	0	0	0	0	0	0
4517	-0.57	-146.0	482.1	-7.4	472	4521	0.00	2.25	0.00	0.000	4	0.000	0.052	2272	1358	3522	0	0	0	0	0	0
4557	-0.57	-146.0	485.4	-7.5	475	4561	0.00	2.33	0.00	0.000	6	0.000	0.066	2272	2781	3522	0	0	0	0	0	0
4882	-0.57	-146.0	510.0	-8.2	505	4885	0.00	1.92	0.00	0.000	4	0.000	0.075	2270	3931	3523	0	0	0	0	0	0
4920	-0.57	-146.0	513.5	-9.5	508	4928	0.00	1.88	0.00	0.000	6	0.000	0.048	2270	2775	3523	0	0	0	0	0	0
5245	-0.57	-146.0	540.1	-8.2	539	5249	0.00	2.20	0.00	0.000	4	0.000	0.051	2270	1365	3523	0	0	0	0	0	0
5269	-0.57	-146.0	542.2	-8.6	541	5273	0.00	2.30	0.00	0.000	6	0.000	0.064	2266	2778	3523	0	0	0	0	0	0
5597	-0.57	-146.0	570.4	-8.7	571	5601	0.00	1.92	0.00	0.000	4	0.000	0.076	2264	3928	3523	0	0	0	0	0	0
5658	-0.57	-146.0	576.3	-9.6	576	5666	0.00	1.85	0.00	0.000	6	0.000	0.050	2264	2787	3523	0	0	0	0	0	0
6002	-0.57	-146.0	605.6	-8.7	605	6003	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2787	3523	0	0	0	0	0	0
6245	end dive: TARGET_DEPTH_EXCEEDED
state	6245	begin apogee
6250	-0.14	0.0	626.2	8.5	613	6377	0.47	0.00	119.85	1.004	4	0.140	0.000	2420	2595	2922	0	0	0	0	0	0
6378	end apogee: CONTROL_FINISHED_OK
state	6378	begin climb
6379	0.57	146.0	629.6	0.0	617	6512	0.70	2.40	124.85	0.982	4	0.083	0.051	2660	1175	2327	0	0	0	0	0	0
6704	0.57	146.0	599.5	11.3	627	6708	0.00	2.45	0.00	0.000	6	0.000	0.058	2660	2603	2318	0	0	0	0	0	0
7032	0.57	146.0	559.4	12.5	657	7036	0.00	2.33	0.00	0.000	4	0.000	0.055	2663	1187	2315	0	0	0	0	0	0
7250	0.57	146.0	533.8	11.5	676	7254	0.00	2.38	0.00	0.000	6	0.000	0.058	2663	2611	2314	0	0	0	0	0	0
7581	0.57	146.0	494.6	11.8	707	7585	0.00	2.20	0.00	0.000	4	0.000	0.070	2663	3926	2313	0	0	0	0	0	0
7610	0.57	146.0	490.7	14.0	709	7614	0.00	2.17	0.00	0.000	6	0.000	0.047	2666	2588	2312	0	0	0	0	0	0
7940	0.57	146.0	449.8	12.5	740	7944	0.00	2.28	0.00	0.000	4	0.000	0.071	2666	3931	2313	0	0	0	0	0	0
7979	0.57	146.0	444.2	14.9	743	7986	0.00	2.15	0.00	0.000	6	0.000	0.047	2667	2601	2311	0	0	0	0	0	0
8303	0.57	146.0	403.3	12.2	774	8307	0.00	2.25	0.00	0.000	4	0.000	0.055	2667	1194	2311	0	0	0	0	0	0
8352	0.57	146.0	397.6	10.6	778	8359	0.00	2.30	0.00	0.000	6	0.000	0.058	2667	2589	2312	0	0	0	0	0	0
8678	0.57	146.0	359.3	11.7	809	8682	0.00	2.25	0.00	0.000	4	0.000	0.070	2666	3935	2312	0	0	0	0	0	0
8717	0.57	146.0	354.0	14.0	812	8721	0.00	2.15	0.00	0.000	6	0.000	0.047	2671	2598	2311	0	0	0	0	0	0
9047	0.57	146.0	313.6	11.9	843	9049	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2597	2311	0	0	0	0	0	0
9368	0.57	146.0	276.3	11.2	873	9372	0.00	2.25	0.00	0.000	4	0.000	0.055	2674	1184	2311	0	0	0	0	0	0
9396	0.57	146.0	273.2	10.5	875	9400	0.00	2.30	0.00	0.000	6	0.000	0.057	2675	2613	2312	0	0	0	0	0	0
9721	0.57	146.0	239.9	10.6	905	9725	0.00	2.17	0.00	0.000	4	0.000	0.071	2674	3932	2311	0	0	0	0	0	0
9783	0.57	146.0	232.2	12.8	910	9787	0.00	2.12	0.00	0.000	6	0.000	0.047	2680	2604	2311	0	0	0	0	0	0
10114	0.57	146.0	196.5	10.5	941	10118	0.00	2.25	0.00	0.000	4	0.000	0.056	2680	1186	2311	0	0	0	0	0	0
10153	0.57	154.1	192.5	9.6	944	10167	0.00	2.28	5.50	0.656	6	0.000	0.059	2680	2600	2294	0	0	0	0	0	0
10483	0.57	154.1	156.5	11.1	975	10486	0.00	2.22	0.00	0.000	4	0.000	0.072	2680	3932	2293	0	0	0	0	0	0
10551	0.57	154.1	147.9	13.3	981	10555	0.00	2.12	0.00	0.000	6	0.000	0.047	2686	2605	2292	0	0	0	0	0	0
10882	0.60	191.3	115.8	8.3	1012	10916	0.00	0.00	31.92	0.711	6	0.000	0.000	2686	2604	2142	0	0	0	0	0	0
11240	0.62	218.4	83.1	8.7	1061	11272	0.00	2.33	22.88	0.691	4	0.000	0.073	2686	3921	2030	0	0	0	0	0	0
11363	0.62	218.4	70.0	11.4	1082	11370	0.00	2.15	0.00	0.000	6	0.000	0.048	2693	2610	2026	0	0	0	0	0	0
11706	0.65	277.3	38.0	7.3	1143	11761	0.00	0.00	48.47	0.666	6	0.000	0.000	2693	2609	1790	0	0	0	0	0	0
12092	0.69	331.8	8.5	7.5	1212	12143	0.00	2.33	44.10	0.651	4	0.000	0.071	2693	3926	1568	0	0	0	0	0	0
12165	end climb: SURFACE_DEPTH_REACHED
state	12165	begin surface coast
12198	end surface coast: CONTROL_FINISHED_OK
state	12199	begin surface