Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 302 * 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 302 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 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 33 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 -8148.1162 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 -8148.1162

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 32 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 33 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 302 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 071110,222707,6645.528,-6003.914,68,0.9,68,-38.1 TGT_NAME TARGET_W

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071110,223356,6645.489,-6003.777,12,1.1,12,-38.1 MHEAD_RNG_PITCHd_Wd 343.5,16490,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 620

Post-dive calculations and measurements:

FINISH 1.3,1.024912 _24V_AH 22.5,37.132

SM_CCo 12554,0.00,0.000,0,0,1278,403.27 _10V_AH 10.1,29.135

SM_GC 1.54,6.57,0.00,0.00,0.062,0.000,0.000,298,2784,1278,-6.74,0.11,403.27 FG_AHR_24Vo 0.000

RAFOS_CLK 674 FG_AHR_10Vo 0.000

RAFOS 0,1289174486,0.033333,0.023889,55,46,45,45,44,41,530,631,1397,1570,1454,1831 MEM 189608

RAFOS_FIX 6647.308594,-6001.904297,081110,000017,6,89,0.52 DATA_FILE_SIZE 40036,1136

IRIDIUM_FIX 6620.33,-6010.56,071110,222244 CAP_FILE_SIZE 134582,0

TT8_MAMPS 0.028462 CFSIZE 260165632,228220928

HUMID 49.56 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.49489 SOUNDSPEED 1451.5

TCM_TEMP 14.30 CURRENT 0.127, 14.0,1

XPDR_PINGS 0 GPS 081110,020525,6647.047,-6006.366,42,1.6,42,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 256 92.98 SBE_CT 790 24 426.97

Roll_motor 111 91 231.08 SBE_O2 0 0 0.00

VBD_pump_during_apogee 453 1001 10211.69 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 52 103 122.40 nil 0 0 0.00

Iridium_during_connect 65 160 235.64 nil 0 0 0.00

Iridium_during_xfer 106 223 533.94 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 7.80

TT8 2893 19 582.15

LPSleep 7137 2 166.53

TT8_Active 546 19 109.96

TT8_Sampling 2206 39 889.75

TT8_CF8 199 45 92.75

TT8_Kalman 0 0 0.00

Analog_circuits 1614 12 195.63

GPS_charging 0 0 0.00

Compass 1957 15 296.49

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 13 begin dive

15 -0.57 -146.0 0.0 0.0 0 111 0.00 0.00 -93.22 0.000 2 0.000 0.000 284 2795 3150 0 0 0 0 0 0

113 -0.57 -146.0 5.8 -15.1 16 135 8.43 2.38 -7.45 0.000 4 0.256 0.064 2284 1370 3523 0 0 0 0 0 0

246 -0.57 -146.0 40.5 -15.0 39 253 0.00 2.38 0.00 0.000 6 0.000 0.063 2278 2777 3525 0 0 0 0 0 0

588 -0.57 -146.0 89.9 -14.0 100 595 0.00 2.28 0.00 0.000 4 0.000 0.052 2277 1372 3525 0 0 0 0 0 0

618 -0.57 -146.0 94.1 -13.7 105 625 0.00 2.35 0.00 0.000 6 0.000 0.063 2273 2783 3525 0 0 0 0 0 0

951 -0.57 -146.0 137.2 -11.9 140 955 0.00 1.92 0.00 0.000 4 0.000 0.075 2273 3928 3525 0 0 0 0 0 0

978 -0.57 -146.0 140.6 -11.9 142 986 0.00 1.90 0.00 0.000 6 0.000 0.049 2273 2778 3525 0 0 0 0 0 0

1303 -0.57 -146.0 177.4 -11.3 173 1305 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2777 3525 0 0 0 0 0 0

1623 -0.57 -146.0 212.8 -10.9 203 1627 0.00 2.00 0.00 0.000 4 0.000 0.077 2272 3924 3525 0 0 0 0 0 0

1646 -0.57 -146.0 215.7 -11.8 205 1650 0.00 1.85 0.00 0.000 6 0.000 0.050 2272 2786 3524 0 0 0 0 0 0

1976 -0.57 -146.0 250.3 -10.2 236 1980 0.00 2.28 0.00 0.000 4 0.000 0.053 2272 1369 3524 0 0 0 0 0 0

2004 -0.57 -146.0 253.3 -10.3 238 2008 0.00 2.35 0.00 0.000 6 0.000 0.065 2272 2789 3524 0 0 0 0 0 0

2329 -0.57 -146.0 287.3 -10.7 268 2333 0.00 2.30 0.00 0.000 4 0.000 0.052 2272 1363 3524 0 0 0 0 0 0

2360 -0.57 -146.0 290.9 -11.2 270 2369 0.00 2.40 0.00 0.000 6 0.000 0.064 2273 2782 3524 0 0 0 0 0 0

2686 -0.57 -146.0 321.6 -8.7 301 2688 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2782 3523 0 0 0 0 0 0

3007 -0.57 -146.0 348.4 -8.3 331 3011 0.00 2.28 0.00 0.000 4 0.000 0.053 2272 1370 3523 0 0 0 0 0 0

3051 -0.57 -146.0 352.4 -8.5 334 3059 0.00 2.35 0.00 0.000 6 0.000 0.063 2272 2788 3524 0 0 0 0 0 0

3376 -0.57 -146.0 379.4 -8.4 365 3380 0.00 2.28 0.00 0.000 4 0.000 0.052 2272 1371 3523 0 0 0 0 0 0

3416 -0.57 -146.0 382.7 -8.3 368 3420 0.00 2.33 0.00 0.000 6 0.000 0.063 2272 2778 3523 0 0 0 0 0 0

3741 -0.57 -146.0 409.4 -8.1 398 3742 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2778 3523 0 0 0 0 0 0

4063 -0.57 -146.0 434.7 -7.9 428 4067 0.00 2.28 0.00 0.000 4 0.000 0.052 2272 1364 3524 0 0 0 0 0 0

4106 -0.57 -146.0 438.6 -8.0 431 4114 0.00 2.33 0.00 0.000 6 0.000 0.063 2272 2774 3524 0 0 0 0 0 0

4432 -0.57 -146.0 463.8 -8.2 462 4433 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2774 3524 0 0 0 0 0 0

4752 -0.57 -146.0 488.6 -7.7 492 4756 0.00 2.25 0.00 0.000 4 0.000 0.051 2272 1371 3524 0 0 0 0 0 0

4773 -0.57 -146.0 490.6 -7.9 493 4780 0.00 2.30 0.00 0.000 6 0.000 0.063 2272 2767 3525 0 0 0 0 0 0

5091 -0.57 -146.0 514.2 -7.4 512 5094 0.00 1.98 0.00 0.000 4 0.000 0.073 2272 3932 3525 0 0 0 0 0 0

5129 -0.57 -146.0 517.3 -8.0 513 5133 0.00 1.90 0.00 0.000 6 0.000 0.047 2272 2764 3525 0 0 0 0 0 0

5465 -0.57 -146.0 543.8 -8.0 524 5469 0.00 2.22 0.00 0.000 4 0.000 0.051 2272 1366 3525 0 0 0 0 0 0

5497 -0.57 -146.0 546.6 -8.6 525 5501 0.00 2.33 0.00 0.000 6 0.000 0.062 2272 2777 3525 0 0 0 0 0 0

5833 -0.57 -146.0 573.3 -8.2 536 5834 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2777 3525 0 0 0 0 0 0

6139 -0.57 -146.0 597.9 -8.6 546 6143 0.00 2.25 0.00 0.000 4 0.000 0.051 2272 1370 3526 0 0 0 0 0 0

6193 -0.57 -146.0 602.9 -8.7 547 6198 0.00 2.30 0.00 0.000 6 0.000 0.062 2272 2752 3526 0 0 0 0 0 0

6388 end dive: TARGET_DEPTH_EXCEEDED

state 6388 begin apogee

6393 -0.14 0.0 620.1 8.9 554 6520 0.47 0.00 120.15 1.001 4 0.136 0.000 2426 2595 2923 0 0 0 0 0 0

6521 end apogee: CONTROL_FINISHED_OK

state 6521 begin climb

6523 0.57 146.0 625.3 0.0 558 6656 0.65 2.40 125.57 0.981 4 0.076 0.050 2664 1181 2327 0 0 0 0 0 0

6902 0.57 148.5 592.5 9.9 569 6906 0.00 2.42 0.00 0.000 6 0.000 0.056 2664 2600 2317 0 0 0 0 0 0

7215 0.57 148.5 556.5 11.7 579 7219 0.00 2.33 0.00 0.000 4 0.000 0.053 2666 1189 2314 0 0 0 0 0 0

7411 0.57 148.5 535.4 10.1 585 7415 0.00 2.38 0.00 0.000 6 0.000 0.057 2666 2616 2314 0 0 0 0 0 0

7745 0.57 148.5 497.4 11.6 596 7749 0.00 2.22 0.00 0.000 4 0.000 0.068 2666 3929 2313 0 0 0 0 0 0

7811 0.57 148.5 488.3 15.2 601 7818 0.00 2.15 0.00 0.000 6 0.000 0.044 2666 2616 2312 0 0 0 0 0 0

8136 0.57 148.5 447.9 12.7 632 8140 0.00 2.20 0.00 0.000 4 0.000 0.069 2666 3925 2313 0 0 0 0 0 0

8225 0.57 148.5 435.1 14.7 639 8232 0.00 2.10 0.00 0.000 6 0.000 0.045 2668 2638 2311 0 0 0 0 0 0

8550 0.57 148.5 393.3 12.3 670 8554 0.00 2.30 0.00 0.000 4 0.000 0.053 2670 1187 2312 0 0 0 0 0 0

8604 0.57 148.5 386.6 11.4 674 8613 0.00 2.35 0.00 0.000 6 0.000 0.056 2670 2624 2312 0 0 0 0 0 0

8930 0.57 148.5 347.4 11.8 705 8931 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2624 2312 0 0 0 0 0 0

9252 0.57 148.5 310.0 11.6 735 9255 0.00 2.20 0.00 0.000 4 0.000 0.068 2670 3933 2312 0 0 0 0 0 0

9320 0.57 148.5 300.5 13.8 741 9323 0.00 2.12 0.00 0.000 6 0.000 0.045 2677 2607 2311 0 0 0 0 0 0

9650 0.57 148.5 261.9 11.0 772 9651 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2606 2311 0 0 0 0 0 0

9971 0.57 148.5 227.3 10.5 802 9975 0.00 2.25 0.00 0.000 4 0.000 0.069 2677 3934 2311 0 0 0 0 0 0

10059 0.57 148.5 216.3 11.8 809 10066 0.00 2.12 0.00 0.000 6 0.000 0.045 2680 2605 2311 0 0 0 0 0 0

10385 0.58 170.8 185.3 9.0 840 10411 0.00 2.30 19.10 0.747 4 0.000 0.070 2680 3927 2225 0 0 0 0 0 0

10503 0.58 170.8 172.2 11.3 850 10511 0.00 2.10 0.00 0.000 6 0.000 0.045 2680 2626 2222 0 0 0 0 0 0

10828 0.58 170.8 139.8 10.1 881 10832 0.00 2.20 0.00 0.000 4 0.000 0.070 2680 3931 2222 0 0 0 0 0 0

10946 0.58 170.8 126.1 11.7 891 10951 0.00 2.05 0.00 0.000 6 0.000 0.046 2681 2653 2221 0 0 0 0 0 0

11273 0.61 216.3 96.3 7.9 925 11318 0.00 2.17 37.08 0.705 4 0.000 0.069 2681 3926 2042 0 0 0 0 0 0

11347 0.61 216.3 89.9 10.7 937 11353 0.00 2.08 0.00 0.000 6 0.000 0.046 2681 2658 2039 0 0 0 0 0 0

11687 0.63 246.8 60.6 8.6 998 11720 0.00 2.45 26.08 0.685 4 0.000 0.054 2680 1194 1915 0 0 0 0 0 0

11777 0.66 291.5 53.3 7.9 1013 11822 0.00 2.42 37.50 0.669 6 0.000 0.057 2681 2647 1732 0 0 0 0 0 0

12156 0.71 362.0 22.8 6.7 1080 12218 0.00 2.30 56.55 0.654 4 0.000 0.072 2681 3927 1446 0 0 0 0 0 0

12292 0.73 400.5 12.9 8.2 1103 12329 0.00 2.08 31.20 0.639 6 0.000 0.047 2681 2673 1290 0 0 0 0 0 0

12446 end climb: SURFACE_DEPTH_REACHED

state 12446 begin surface coast

12479 end surface coast: CONTROL_FINISHED_OK

state 12479 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	302	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	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	33	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	-8148.1162	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	071110,222707,6645.528,-6003.914,68,0.9,68,-38.1	TGT_NAME	TARGET_W
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071110,223356,6645.489,-6003.777,12,1.1,12,-38.1	MHEAD_RNG_PITCHd_Wd	343.5,16490,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	620

FINISH	1.3,1.024912	_24V_AH	22.5,37.132
SM_CCo	12554,0.00,0.000,0,0,1278,403.27	_10V_AH	10.1,29.135
SM_GC	1.54,6.57,0.00,0.00,0.062,0.000,0.000,298,2784,1278,-6.74,0.11,403.27	FG_AHR_24Vo	0.000
RAFOS_CLK	674	FG_AHR_10Vo	0.000
RAFOS	0,1289174486,0.033333,0.023889,55,46,45,45,44,41,530,631,1397,1570,1454,1831	MEM	189608
RAFOS_FIX	6647.308594,-6001.904297,081110,000017,6,89,0.52	DATA_FILE_SIZE	40036,1136
IRIDIUM_FIX	6620.33,-6010.56,071110,222244	CAP_FILE_SIZE	134582,0
TT8_MAMPS	0.028462	CFSIZE	260165632,228220928
HUMID	49.56	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.49489	SOUNDSPEED	1451.5
TCM_TEMP	14.30	CURRENT	0.127, 14.0,1
XPDR_PINGS	0	GPS	081110,020525,6647.047,-6006.366,42,1.6,42,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	256	92.98	SBE_CT	790	24	426.97
Roll_motor	111	91	231.08	SBE_O2	0	0	0.00
VBD_pump_during_apogee	453	1001	10211.69	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	52	103	122.40	nil	0	0	0.00
Iridium_during_connect	65	160	235.64	nil	0	0	0.00
Iridium_during_xfer	106	223	533.94	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	7.80
TT8	2893	19	582.15
LPSleep	7137	2	166.53
TT8_Active	546	19	109.96
TT8_Sampling	2206	39	889.75
TT8_CF8	199	45	92.75
TT8_Kalman	0	0	0.00
Analog_circuits	1614	12	195.63
GPS_charging	0	0	0.00
Compass	1957	15	296.49
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	13	begin dive
15	-0.57	-146.0	0.0	0.0	0	111	0.00	0.00	-93.22	0.000	2	0.000	0.000	284	2795	3150	0	0	0	0	0	0
113	-0.57	-146.0	5.8	-15.1	16	135	8.43	2.38	-7.45	0.000	4	0.256	0.064	2284	1370	3523	0	0	0	0	0	0
246	-0.57	-146.0	40.5	-15.0	39	253	0.00	2.38	0.00	0.000	6	0.000	0.063	2278	2777	3525	0	0	0	0	0	0
588	-0.57	-146.0	89.9	-14.0	100	595	0.00	2.28	0.00	0.000	4	0.000	0.052	2277	1372	3525	0	0	0	0	0	0
618	-0.57	-146.0	94.1	-13.7	105	625	0.00	2.35	0.00	0.000	6	0.000	0.063	2273	2783	3525	0	0	0	0	0	0
951	-0.57	-146.0	137.2	-11.9	140	955	0.00	1.92	0.00	0.000	4	0.000	0.075	2273	3928	3525	0	0	0	0	0	0
978	-0.57	-146.0	140.6	-11.9	142	986	0.00	1.90	0.00	0.000	6	0.000	0.049	2273	2778	3525	0	0	0	0	0	0
1303	-0.57	-146.0	177.4	-11.3	173	1305	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2777	3525	0	0	0	0	0	0
1623	-0.57	-146.0	212.8	-10.9	203	1627	0.00	2.00	0.00	0.000	4	0.000	0.077	2272	3924	3525	0	0	0	0	0	0
1646	-0.57	-146.0	215.7	-11.8	205	1650	0.00	1.85	0.00	0.000	6	0.000	0.050	2272	2786	3524	0	0	0	0	0	0
1976	-0.57	-146.0	250.3	-10.2	236	1980	0.00	2.28	0.00	0.000	4	0.000	0.053	2272	1369	3524	0	0	0	0	0	0
2004	-0.57	-146.0	253.3	-10.3	238	2008	0.00	2.35	0.00	0.000	6	0.000	0.065	2272	2789	3524	0	0	0	0	0	0
2329	-0.57	-146.0	287.3	-10.7	268	2333	0.00	2.30	0.00	0.000	4	0.000	0.052	2272	1363	3524	0	0	0	0	0	0
2360	-0.57	-146.0	290.9	-11.2	270	2369	0.00	2.40	0.00	0.000	6	0.000	0.064	2273	2782	3524	0	0	0	0	0	0
2686	-0.57	-146.0	321.6	-8.7	301	2688	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2782	3523	0	0	0	0	0	0
3007	-0.57	-146.0	348.4	-8.3	331	3011	0.00	2.28	0.00	0.000	4	0.000	0.053	2272	1370	3523	0	0	0	0	0	0
3051	-0.57	-146.0	352.4	-8.5	334	3059	0.00	2.35	0.00	0.000	6	0.000	0.063	2272	2788	3524	0	0	0	0	0	0
3376	-0.57	-146.0	379.4	-8.4	365	3380	0.00	2.28	0.00	0.000	4	0.000	0.052	2272	1371	3523	0	0	0	0	0	0
3416	-0.57	-146.0	382.7	-8.3	368	3420	0.00	2.33	0.00	0.000	6	0.000	0.063	2272	2778	3523	0	0	0	0	0	0
3741	-0.57	-146.0	409.4	-8.1	398	3742	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2778	3523	0	0	0	0	0	0
4063	-0.57	-146.0	434.7	-7.9	428	4067	0.00	2.28	0.00	0.000	4	0.000	0.052	2272	1364	3524	0	0	0	0	0	0
4106	-0.57	-146.0	438.6	-8.0	431	4114	0.00	2.33	0.00	0.000	6	0.000	0.063	2272	2774	3524	0	0	0	0	0	0
4432	-0.57	-146.0	463.8	-8.2	462	4433	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2774	3524	0	0	0	0	0	0
4752	-0.57	-146.0	488.6	-7.7	492	4756	0.00	2.25	0.00	0.000	4	0.000	0.051	2272	1371	3524	0	0	0	0	0	0
4773	-0.57	-146.0	490.6	-7.9	493	4780	0.00	2.30	0.00	0.000	6	0.000	0.063	2272	2767	3525	0	0	0	0	0	0
5091	-0.57	-146.0	514.2	-7.4	512	5094	0.00	1.98	0.00	0.000	4	0.000	0.073	2272	3932	3525	0	0	0	0	0	0
5129	-0.57	-146.0	517.3	-8.0	513	5133	0.00	1.90	0.00	0.000	6	0.000	0.047	2272	2764	3525	0	0	0	0	0	0
5465	-0.57	-146.0	543.8	-8.0	524	5469	0.00	2.22	0.00	0.000	4	0.000	0.051	2272	1366	3525	0	0	0	0	0	0
5497	-0.57	-146.0	546.6	-8.6	525	5501	0.00	2.33	0.00	0.000	6	0.000	0.062	2272	2777	3525	0	0	0	0	0	0
5833	-0.57	-146.0	573.3	-8.2	536	5834	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2777	3525	0	0	0	0	0	0
6139	-0.57	-146.0	597.9	-8.6	546	6143	0.00	2.25	0.00	0.000	4	0.000	0.051	2272	1370	3526	0	0	0	0	0	0
6193	-0.57	-146.0	602.9	-8.7	547	6198	0.00	2.30	0.00	0.000	6	0.000	0.062	2272	2752	3526	0	0	0	0	0	0
6388	end dive: TARGET_DEPTH_EXCEEDED
state	6388	begin apogee
6393	-0.14	0.0	620.1	8.9	554	6520	0.47	0.00	120.15	1.001	4	0.136	0.000	2426	2595	2923	0	0	0	0	0	0
6521	end apogee: CONTROL_FINISHED_OK
state	6521	begin climb
6523	0.57	146.0	625.3	0.0	558	6656	0.65	2.40	125.57	0.981	4	0.076	0.050	2664	1181	2327	0	0	0	0	0	0
6902	0.57	148.5	592.5	9.9	569	6906	0.00	2.42	0.00	0.000	6	0.000	0.056	2664	2600	2317	0	0	0	0	0	0
7215	0.57	148.5	556.5	11.7	579	7219	0.00	2.33	0.00	0.000	4	0.000	0.053	2666	1189	2314	0	0	0	0	0	0
7411	0.57	148.5	535.4	10.1	585	7415	0.00	2.38	0.00	0.000	6	0.000	0.057	2666	2616	2314	0	0	0	0	0	0
7745	0.57	148.5	497.4	11.6	596	7749	0.00	2.22	0.00	0.000	4	0.000	0.068	2666	3929	2313	0	0	0	0	0	0
7811	0.57	148.5	488.3	15.2	601	7818	0.00	2.15	0.00	0.000	6	0.000	0.044	2666	2616	2312	0	0	0	0	0	0
8136	0.57	148.5	447.9	12.7	632	8140	0.00	2.20	0.00	0.000	4	0.000	0.069	2666	3925	2313	0	0	0	0	0	0
8225	0.57	148.5	435.1	14.7	639	8232	0.00	2.10	0.00	0.000	6	0.000	0.045	2668	2638	2311	0	0	0	0	0	0
8550	0.57	148.5	393.3	12.3	670	8554	0.00	2.30	0.00	0.000	4	0.000	0.053	2670	1187	2312	0	0	0	0	0	0
8604	0.57	148.5	386.6	11.4	674	8613	0.00	2.35	0.00	0.000	6	0.000	0.056	2670	2624	2312	0	0	0	0	0	0
8930	0.57	148.5	347.4	11.8	705	8931	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2624	2312	0	0	0	0	0	0
9252	0.57	148.5	310.0	11.6	735	9255	0.00	2.20	0.00	0.000	4	0.000	0.068	2670	3933	2312	0	0	0	0	0	0
9320	0.57	148.5	300.5	13.8	741	9323	0.00	2.12	0.00	0.000	6	0.000	0.045	2677	2607	2311	0	0	0	0	0	0
9650	0.57	148.5	261.9	11.0	772	9651	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2606	2311	0	0	0	0	0	0
9971	0.57	148.5	227.3	10.5	802	9975	0.00	2.25	0.00	0.000	4	0.000	0.069	2677	3934	2311	0	0	0	0	0	0
10059	0.57	148.5	216.3	11.8	809	10066	0.00	2.12	0.00	0.000	6	0.000	0.045	2680	2605	2311	0	0	0	0	0	0
10385	0.58	170.8	185.3	9.0	840	10411	0.00	2.30	19.10	0.747	4	0.000	0.070	2680	3927	2225	0	0	0	0	0	0
10503	0.58	170.8	172.2	11.3	850	10511	0.00	2.10	0.00	0.000	6	0.000	0.045	2680	2626	2222	0	0	0	0	0	0
10828	0.58	170.8	139.8	10.1	881	10832	0.00	2.20	0.00	0.000	4	0.000	0.070	2680	3931	2222	0	0	0	0	0	0
10946	0.58	170.8	126.1	11.7	891	10951	0.00	2.05	0.00	0.000	6	0.000	0.046	2681	2653	2221	0	0	0	0	0	0
11273	0.61	216.3	96.3	7.9	925	11318	0.00	2.17	37.08	0.705	4	0.000	0.069	2681	3926	2042	0	0	0	0	0	0
11347	0.61	216.3	89.9	10.7	937	11353	0.00	2.08	0.00	0.000	6	0.000	0.046	2681	2658	2039	0	0	0	0	0	0
11687	0.63	246.8	60.6	8.6	998	11720	0.00	2.45	26.08	0.685	4	0.000	0.054	2680	1194	1915	0	0	0	0	0	0
11777	0.66	291.5	53.3	7.9	1013	11822	0.00	2.42	37.50	0.669	6	0.000	0.057	2681	2647	1732	0	0	0	0	0	0
12156	0.71	362.0	22.8	6.7	1080	12218	0.00	2.30	56.55	0.654	4	0.000	0.072	2681	3927	1446	0	0	0	0	0	0
12292	0.73	400.5	12.9	8.2	1103	12329	0.00	2.08	31.20	0.639	6	0.000	0.047	2681	2673	1290	0	0	0	0	0	0
12446	end climb: SURFACE_DEPTH_REACHED
state	12446	begin surface coast
12479	end surface coast: CONTROL_FINISHED_OK
state	12479	begin surface