Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 211 * 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 211 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 19 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 -8002.3389 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 -8002.3389

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 19 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 211 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 201010,014921,6646.154,-6005.884,35,4.1,54,-38.1 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 -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201010,015344,6646.165,-6005.939,11,1.4,11,-38.1 MHEAD_RNG_PITCHd_Wd 137.1,146302,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 621

Post-dive calculations and measurements:

FINISH 0.5,1.012047 _24V_AH 22.7,27.256

SM_CCo 12613,0.00,0.000,0,0,1365,381.93 _10V_AH 10.1,21.184

SM_GC 1.50,6.57,0.00,0.00,0.059,0.000,0.000,303,2783,1365,-6.72,0.08,381.93 FG_AHR_24Vo 0.000

RAFOS_CLK 677 FG_AHR_10Vo 0.000

RAFOS 0,1287547271,4.033333,4.019722,49,46,46,43,42,40,614,1741,646,298,403,877 MEM 189524

RAFOS_FIX 6645.206543,-5959.908691,201010,040413,5,81,0.51 DATA_FILE_SIZE 46640,1264

IRIDIUM_FIX 6620.33,-6013.28,191010,222205 CAP_FILE_SIZE 133804,0

TT8_MAMPS 0.029211 CFSIZE 260165632,235212800

HUMID 49.84 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.50466 SOUNDSPEED 1453.2

TCM_TEMP 14.20 CURRENT 0.192,169.4,1

XPDR_PINGS 0 GPS 201010,052655,6644.545,-6001.602,64,1.6,82,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 266 98.66 SBE_CT 881 24 480.15

Roll_motor 91 91 189.19 SBE_O2 0 0 0.00

VBD_pump_during_apogee 438 1006 10016.47 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 64.64 nil 0 0 0.00

Iridium_during_connect 17 160 64.17 nil 0 0 0.00

Iridium_during_xfer 102 223 516.65 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 7.68

TT8 3206 19 645.07

LPSleep 6772 2 158.02

TT8_Active 530 19 106.70

TT8_Sampling 2221 39 895.77

TT8_CF8 170 45 79.24

TT8_Kalman 0 0 0.00

Analog_circuits 1624 12 196.85

GPS_charging 0 0 0.00

Compass 2047 15 310.25

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.57 -146.0 0.0 0.0 0 114 0.00 0.00 -96.57 0.000 2 0.000 0.000 290 2779 3297 0 0 0 0 0 0

116 -0.57 -146.0 6.3 -16.3 16 137 8.50 2.30 -4.40 0.000 4 0.266 0.064 2282 1368 3523 0 0 0 0 0 0

233 -0.57 -146.0 37.6 -14.0 36 239 0.00 2.35 0.00 0.000 6 0.000 0.067 2279 2780 3525 0 0 0 0 0 0

576 -0.57 -146.0 85.5 -12.6 97 583 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2780 3525 0 0 0 0 0 0

912 -0.57 -146.0 127.8 -11.8 138 913 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2779 3525 0 0 0 0 0 0

1234 -0.57 -146.0 162.6 -10.0 168 1237 0.00 1.95 0.00 0.000 4 0.000 0.077 2272 3930 3525 0 0 0 0 0 0

1327 -0.57 -146.0 173.7 -11.2 176 1335 0.00 1.90 0.00 0.000 6 0.000 0.051 2272 2771 3524 0 0 0 0 0 0

1653 -0.57 -146.0 210.1 -11.1 207 1654 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2771 3524 0 0 0 0 0 0

1972 -0.57 -146.0 242.7 -10.0 237 1976 0.00 1.98 0.00 0.000 4 0.000 0.079 2272 3928 3523 0 0 0 0 0 0

2010 -0.57 -146.0 246.7 -10.2 240 2017 0.00 1.90 0.00 0.000 6 0.000 0.051 2272 2768 3523 0 0 0 0 0 0

2335 -0.57 -146.0 277.7 -9.6 271 2339 0.00 2.22 0.00 0.000 4 0.000 0.054 2272 1368 3523 0 0 0 0 0 0

2398 -0.57 -146.0 283.7 -9.8 276 2402 0.00 2.28 0.00 0.000 6 0.000 0.066 2272 2755 3523 0 0 0 0 0 0

2723 -0.57 -146.0 316.5 -10.4 306 2727 0.00 1.98 0.00 0.000 4 0.000 0.077 2268 3939 3523 0 0 0 0 0 0

2790 -0.57 -146.0 323.8 -10.9 312 2794 0.00 1.88 0.00 0.000 6 0.000 0.052 2268 2762 3522 0 0 0 0 0 0

3120 -0.57 -146.0 356.2 -9.4 343 3122 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2762 3523 0 0 0 0 0 0

3442 -0.57 -146.0 385.1 -9.1 373 3446 0.00 2.20 0.00 0.000 4 0.000 0.053 2268 1360 3523 0 0 0 0 0 0

3492 -0.57 -146.0 389.9 -8.9 377 3496 0.00 2.33 0.00 0.000 6 0.000 0.067 2266 2777 3522 0 0 0 0 0 0

3817 -0.57 -146.0 420.3 -9.9 407 3821 0.00 1.92 0.00 0.000 4 0.000 0.077 2265 3935 3522 0 0 0 0 0 0

3852 -0.57 -146.0 423.8 -9.9 410 3855 0.00 1.85 0.00 0.000 6 0.000 0.050 2265 2769 3523 0 0 0 0 0 0

4182 -0.57 -146.0 456.5 -10.0 441 4183 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2769 3523 0 0 0 0 0 0

4501 -0.57 -146.0 486.4 -9.0 471 4505 0.00 1.95 0.00 0.000 4 0.000 0.076 2259 3933 3523 0 0 0 0 0 0

4558 -0.57 -146.0 491.7 -9.4 476 4563 0.08 1.88 0.00 0.000 6 0.150 0.050 2299 2780 3523 0 0 0 0 0 0

4888 -0.57 -146.0 514.5 -6.8 507 4889 0.00 0.00 0.00 0.000 6 0.000 0.000 2299 2780 3524 0 0 0 0 0 0

5208 -0.57 -146.0 535.6 -6.1 537 5209 0.00 0.00 0.00 0.000 6 0.000 0.000 2299 2780 3524 0 0 0 0 0 0

5526 -0.57 -146.0 555.7 -6.5 567 5530 0.00 2.25 0.00 0.000 4 0.000 0.052 2299 1369 3524 0 0 0 0 0 0

5554 -0.57 -146.0 557.8 -6.9 569 5562 0.00 2.33 0.00 0.000 6 0.000 0.064 2299 2784 3524 0 0 0 0 0 0

5879 -0.57 -146.0 579.0 -6.5 600 5882 0.00 1.90 0.00 0.000 4 0.000 0.075 2299 3933 3524 0 0 0 0 0 0

5924 -0.57 -146.0 582.1 -6.7 604 5928 0.00 1.83 0.00 0.000 6 0.000 0.050 2299 2778 3524 0 0 0 0 0 0

6264 -0.57 -146.0 603.9 -6.3 632 6265 0.00 0.00 0.00 0.000 6 0.000 0.000 2299 2777 3524 0 0 0 0 0 0

6536 end dive: TARGET_DEPTH_EXCEEDED

state 6536 begin apogee

6541 -0.14 0.0 621.6 6.7 641 6668 0.38 0.00 119.75 1.007 4 0.130 0.000 2426 2601 2922 0 0 0 0 0 0

6669 end apogee: CONTROL_FINISHED_OK

state 6669 begin climb

6671 0.57 146.0 625.3 0.0 645 6804 0.68 2.40 124.75 0.982 4 0.079 0.052 2659 1179 2327 0 0 0 0 0 0

6938 0.57 146.0 603.2 11.4 653 6943 0.00 2.47 0.00 0.000 6 0.000 0.058 2659 2598 2318 0 0 0 0 0 0

7268 0.57 146.0 564.3 11.6 681 7272 0.00 2.35 0.00 0.000 4 0.000 0.055 2662 1187 2314 0 0 0 0 0 0

7480 0.57 146.0 540.4 11.1 699 7488 0.00 2.40 0.00 0.000 6 0.000 0.058 2662 2607 2314 0 0 0 0 0 0

7806 0.57 146.0 501.0 12.1 730 7810 0.00 2.25 0.00 0.000 4 0.000 0.070 2662 3937 2314 0 0 0 0 0 0

7849 0.57 146.0 494.9 14.4 733 7858 0.00 2.20 0.00 0.000 6 0.000 0.047 2665 2598 2312 0 0 0 0 0 0

8174 0.57 146.0 455.7 12.1 764 8178 0.00 2.28 0.00 0.000 4 0.000 0.070 2664 3937 2312 0 0 0 0 0 0

8217 0.57 146.0 449.4 15.4 767 8225 0.00 2.15 0.00 0.000 6 0.000 0.047 2667 2622 2311 0 0 0 0 0 0

8543 0.57 146.0 408.5 12.7 798 8544 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2622 2311 0 0 0 0 0 0

8863 0.57 146.0 368.8 12.3 828 8864 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2622 2311 0 0 0 0 0 0

9180 0.57 146.0 329.3 12.3 858 9182 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2622 2311 0 0 0 0 0 0

9499 0.57 146.0 290.9 12.0 888 9502 0.00 2.17 0.00 0.000 4 0.000 0.071 2666 3929 2311 0 0 0 0 0 0

9528 0.57 146.0 287.1 14.0 890 9535 0.00 2.10 0.00 0.000 6 0.000 0.046 2666 2602 2311 0 0 0 0 0 0

9853 0.57 146.0 248.6 11.2 921 9857 0.00 2.22 0.00 0.000 4 0.000 0.055 2666 1187 2311 0 0 0 0 0 0

9874 0.57 146.0 246.0 11.2 922 9882 0.00 2.35 0.00 0.000 6 0.000 0.057 2666 2622 2312 0 0 0 0 0 0

10199 0.57 146.0 212.3 10.2 953 10203 0.00 2.15 0.00 0.000 4 0.000 0.070 2667 3926 2311 0 0 0 0 0 0

10239 0.57 146.0 207.8 12.2 956 10243 0.00 2.08 0.00 0.000 6 0.000 0.047 2666 2613 2311 0 0 0 0 0 0

10566 0.57 156.4 176.6 9.5 986 10575 0.00 0.00 7.30 0.699 6 0.000 0.000 2666 2612 2285 0 0 0 0 0 0

10893 0.59 175.4 145.3 9.1 1017 10917 0.00 2.22 17.23 0.730 4 0.000 0.071 2666 3926 2207 0 0 0 0 0 0

10940 0.59 175.4 140.6 11.5 1021 10944 0.00 2.10 0.00 0.000 6 0.000 0.047 2666 2615 2205 0 0 0 0 0 0

11271 0.61 207.4 110.9 8.5 1052 11306 0.00 2.33 27.27 0.713 4 0.000 0.057 2666 1197 2075 0 0 0 0 0 0

11333 0.64 259.4 106.0 7.6 1057 11386 0.00 2.33 43.65 0.695 6 0.000 0.058 2666 2597 1864 0 0 0 0 0 0

11716 0.65 271.8 71.6 9.4 1120 11731 0.00 2.35 10.10 0.670 4 0.000 0.072 2666 3935 1813 0 0 0 0 0 0

11770 0.65 271.8 65.9 10.6 1129 11778 0.00 2.15 0.00 0.000 6 0.000 0.048 2666 2613 1811 0 0 0 0 0 0

12116 0.68 318.7 37.5 7.8 1190 12166 0.00 2.40 39.22 0.671 4 0.000 0.057 2666 1194 1620 0 0 0 0 0 0

12201 0.72 377.6 30.4 7.3 1204 12258 0.12 2.42 49.03 0.654 6 0.108 0.059 2718 2637 1382 0 0 0 0 0 0

12512 end climb: SURFACE_DEPTH_REACHED

state 12512 begin surface coast

12539 end surface coast: CONTROL_FINISHED_OK

state 12539 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	211	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	19	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	-8002.3389	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	201010,014921,6646.154,-6005.884,35,4.1,54,-38.1	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	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201010,015344,6646.165,-6005.939,11,1.4,11,-38.1	MHEAD_RNG_PITCHd_Wd	137.1,146302,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	621

FINISH	0.5,1.012047	_24V_AH	22.7,27.256
SM_CCo	12613,0.00,0.000,0,0,1365,381.93	_10V_AH	10.1,21.184
SM_GC	1.50,6.57,0.00,0.00,0.059,0.000,0.000,303,2783,1365,-6.72,0.08,381.93	FG_AHR_24Vo	0.000
RAFOS_CLK	677	FG_AHR_10Vo	0.000
RAFOS	0,1287547271,4.033333,4.019722,49,46,46,43,42,40,614,1741,646,298,403,877	MEM	189524
RAFOS_FIX	6645.206543,-5959.908691,201010,040413,5,81,0.51	DATA_FILE_SIZE	46640,1264
IRIDIUM_FIX	6620.33,-6013.28,191010,222205	CAP_FILE_SIZE	133804,0
TT8_MAMPS	0.029211	CFSIZE	260165632,235212800
HUMID	49.84	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.50466	SOUNDSPEED	1453.2
TCM_TEMP	14.20	CURRENT	0.192,169.4,1
XPDR_PINGS	0	GPS	201010,052655,6644.545,-6001.602,64,1.6,82,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	266	98.66	SBE_CT	881	24	480.15
Roll_motor	91	91	189.19	SBE_O2	0	0	0.00
VBD_pump_during_apogee	438	1006	10016.47	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	64.64	nil	0	0	0.00
Iridium_during_connect	17	160	64.17	nil	0	0	0.00
Iridium_during_xfer	102	223	516.65	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	7.68
TT8	3206	19	645.07
LPSleep	6772	2	158.02
TT8_Active	530	19	106.70
TT8_Sampling	2221	39	895.77
TT8_CF8	170	45	79.24
TT8_Kalman	0	0	0.00
Analog_circuits	1624	12	196.85
GPS_charging	0	0	0.00
Compass	2047	15	310.25
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.57	-146.0	0.0	0.0	0	114	0.00	0.00	-96.57	0.000	2	0.000	0.000	290	2779	3297	0	0	0	0	0	0
116	-0.57	-146.0	6.3	-16.3	16	137	8.50	2.30	-4.40	0.000	4	0.266	0.064	2282	1368	3523	0	0	0	0	0	0
233	-0.57	-146.0	37.6	-14.0	36	239	0.00	2.35	0.00	0.000	6	0.000	0.067	2279	2780	3525	0	0	0	0	0	0
576	-0.57	-146.0	85.5	-12.6	97	583	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2780	3525	0	0	0	0	0	0
912	-0.57	-146.0	127.8	-11.8	138	913	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2779	3525	0	0	0	0	0	0
1234	-0.57	-146.0	162.6	-10.0	168	1237	0.00	1.95	0.00	0.000	4	0.000	0.077	2272	3930	3525	0	0	0	0	0	0
1327	-0.57	-146.0	173.7	-11.2	176	1335	0.00	1.90	0.00	0.000	6	0.000	0.051	2272	2771	3524	0	0	0	0	0	0
1653	-0.57	-146.0	210.1	-11.1	207	1654	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2771	3524	0	0	0	0	0	0
1972	-0.57	-146.0	242.7	-10.0	237	1976	0.00	1.98	0.00	0.000	4	0.000	0.079	2272	3928	3523	0	0	0	0	0	0
2010	-0.57	-146.0	246.7	-10.2	240	2017	0.00	1.90	0.00	0.000	6	0.000	0.051	2272	2768	3523	0	0	0	0	0	0
2335	-0.57	-146.0	277.7	-9.6	271	2339	0.00	2.22	0.00	0.000	4	0.000	0.054	2272	1368	3523	0	0	0	0	0	0
2398	-0.57	-146.0	283.7	-9.8	276	2402	0.00	2.28	0.00	0.000	6	0.000	0.066	2272	2755	3523	0	0	0	0	0	0
2723	-0.57	-146.0	316.5	-10.4	306	2727	0.00	1.98	0.00	0.000	4	0.000	0.077	2268	3939	3523	0	0	0	0	0	0
2790	-0.57	-146.0	323.8	-10.9	312	2794	0.00	1.88	0.00	0.000	6	0.000	0.052	2268	2762	3522	0	0	0	0	0	0
3120	-0.57	-146.0	356.2	-9.4	343	3122	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	2762	3523	0	0	0	0	0	0
3442	-0.57	-146.0	385.1	-9.1	373	3446	0.00	2.20	0.00	0.000	4	0.000	0.053	2268	1360	3523	0	0	0	0	0	0
3492	-0.57	-146.0	389.9	-8.9	377	3496	0.00	2.33	0.00	0.000	6	0.000	0.067	2266	2777	3522	0	0	0	0	0	0
3817	-0.57	-146.0	420.3	-9.9	407	3821	0.00	1.92	0.00	0.000	4	0.000	0.077	2265	3935	3522	0	0	0	0	0	0
3852	-0.57	-146.0	423.8	-9.9	410	3855	0.00	1.85	0.00	0.000	6	0.000	0.050	2265	2769	3523	0	0	0	0	0	0
4182	-0.57	-146.0	456.5	-10.0	441	4183	0.00	0.00	0.00	0.000	6	0.000	0.000	2265	2769	3523	0	0	0	0	0	0
4501	-0.57	-146.0	486.4	-9.0	471	4505	0.00	1.95	0.00	0.000	4	0.000	0.076	2259	3933	3523	0	0	0	0	0	0
4558	-0.57	-146.0	491.7	-9.4	476	4563	0.08	1.88	0.00	0.000	6	0.150	0.050	2299	2780	3523	0	0	0	0	0	0
4888	-0.57	-146.0	514.5	-6.8	507	4889	0.00	0.00	0.00	0.000	6	0.000	0.000	2299	2780	3524	0	0	0	0	0	0
5208	-0.57	-146.0	535.6	-6.1	537	5209	0.00	0.00	0.00	0.000	6	0.000	0.000	2299	2780	3524	0	0	0	0	0	0
5526	-0.57	-146.0	555.7	-6.5	567	5530	0.00	2.25	0.00	0.000	4	0.000	0.052	2299	1369	3524	0	0	0	0	0	0
5554	-0.57	-146.0	557.8	-6.9	569	5562	0.00	2.33	0.00	0.000	6	0.000	0.064	2299	2784	3524	0	0	0	0	0	0
5879	-0.57	-146.0	579.0	-6.5	600	5882	0.00	1.90	0.00	0.000	4	0.000	0.075	2299	3933	3524	0	0	0	0	0	0
5924	-0.57	-146.0	582.1	-6.7	604	5928	0.00	1.83	0.00	0.000	6	0.000	0.050	2299	2778	3524	0	0	0	0	0	0
6264	-0.57	-146.0	603.9	-6.3	632	6265	0.00	0.00	0.00	0.000	6	0.000	0.000	2299	2777	3524	0	0	0	0	0	0
6536	end dive: TARGET_DEPTH_EXCEEDED
state	6536	begin apogee
6541	-0.14	0.0	621.6	6.7	641	6668	0.38	0.00	119.75	1.007	4	0.130	0.000	2426	2601	2922	0	0	0	0	0	0
6669	end apogee: CONTROL_FINISHED_OK
state	6669	begin climb
6671	0.57	146.0	625.3	0.0	645	6804	0.68	2.40	124.75	0.982	4	0.079	0.052	2659	1179	2327	0	0	0	0	0	0
6938	0.57	146.0	603.2	11.4	653	6943	0.00	2.47	0.00	0.000	6	0.000	0.058	2659	2598	2318	0	0	0	0	0	0
7268	0.57	146.0	564.3	11.6	681	7272	0.00	2.35	0.00	0.000	4	0.000	0.055	2662	1187	2314	0	0	0	0	0	0
7480	0.57	146.0	540.4	11.1	699	7488	0.00	2.40	0.00	0.000	6	0.000	0.058	2662	2607	2314	0	0	0	0	0	0
7806	0.57	146.0	501.0	12.1	730	7810	0.00	2.25	0.00	0.000	4	0.000	0.070	2662	3937	2314	0	0	0	0	0	0
7849	0.57	146.0	494.9	14.4	733	7858	0.00	2.20	0.00	0.000	6	0.000	0.047	2665	2598	2312	0	0	0	0	0	0
8174	0.57	146.0	455.7	12.1	764	8178	0.00	2.28	0.00	0.000	4	0.000	0.070	2664	3937	2312	0	0	0	0	0	0
8217	0.57	146.0	449.4	15.4	767	8225	0.00	2.15	0.00	0.000	6	0.000	0.047	2667	2622	2311	0	0	0	0	0	0
8543	0.57	146.0	408.5	12.7	798	8544	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2622	2311	0	0	0	0	0	0
8863	0.57	146.0	368.8	12.3	828	8864	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2622	2311	0	0	0	0	0	0
9180	0.57	146.0	329.3	12.3	858	9182	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2622	2311	0	0	0	0	0	0
9499	0.57	146.0	290.9	12.0	888	9502	0.00	2.17	0.00	0.000	4	0.000	0.071	2666	3929	2311	0	0	0	0	0	0
9528	0.57	146.0	287.1	14.0	890	9535	0.00	2.10	0.00	0.000	6	0.000	0.046	2666	2602	2311	0	0	0	0	0	0
9853	0.57	146.0	248.6	11.2	921	9857	0.00	2.22	0.00	0.000	4	0.000	0.055	2666	1187	2311	0	0	0	0	0	0
9874	0.57	146.0	246.0	11.2	922	9882	0.00	2.35	0.00	0.000	6	0.000	0.057	2666	2622	2312	0	0	0	0	0	0
10199	0.57	146.0	212.3	10.2	953	10203	0.00	2.15	0.00	0.000	4	0.000	0.070	2667	3926	2311	0	0	0	0	0	0
10239	0.57	146.0	207.8	12.2	956	10243	0.00	2.08	0.00	0.000	6	0.000	0.047	2666	2613	2311	0	0	0	0	0	0
10566	0.57	156.4	176.6	9.5	986	10575	0.00	0.00	7.30	0.699	6	0.000	0.000	2666	2612	2285	0	0	0	0	0	0
10893	0.59	175.4	145.3	9.1	1017	10917	0.00	2.22	17.23	0.730	4	0.000	0.071	2666	3926	2207	0	0	0	0	0	0
10940	0.59	175.4	140.6	11.5	1021	10944	0.00	2.10	0.00	0.000	6	0.000	0.047	2666	2615	2205	0	0	0	0	0	0
11271	0.61	207.4	110.9	8.5	1052	11306	0.00	2.33	27.27	0.713	4	0.000	0.057	2666	1197	2075	0	0	0	0	0	0
11333	0.64	259.4	106.0	7.6	1057	11386	0.00	2.33	43.65	0.695	6	0.000	0.058	2666	2597	1864	0	0	0	0	0	0
11716	0.65	271.8	71.6	9.4	1120	11731	0.00	2.35	10.10	0.670	4	0.000	0.072	2666	3935	1813	0	0	0	0	0	0
11770	0.65	271.8	65.9	10.6	1129	11778	0.00	2.15	0.00	0.000	6	0.000	0.048	2666	2613	1811	0	0	0	0	0	0
12116	0.68	318.7	37.5	7.8	1190	12166	0.00	2.40	39.22	0.671	4	0.000	0.057	2666	1194	1620	0	0	0	0	0	0
12201	0.72	377.6	30.4	7.3	1204	12258	0.12	2.42	49.03	0.654	6	0.108	0.059	2718	2637	1382	0	0	0	0	0	0
12512	end climb: SURFACE_DEPTH_REACHED
state	12512	begin surface coast
12539	end surface coast: CONTROL_FINISHED_OK
state	12539	begin surface