Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 306 * 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 306 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 25 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 -8155.0371 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 -8155.0371

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 25 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 306 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 081110,122506,6645.419,-6013.152,27,1.0,27,-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 1.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081110,122938,6645.402,-6013.240,10,1.5,10,-38.1 MHEAD_RNG_PITCHd_Wd 138.7,151754,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 561

Post-dive calculations and measurements:

FINISH 0.6,1.012241 _24V_AH 22.5,37.619

SM_CCo 11550,0.00,0.000,0,0,1201,422.16 _10V_AH 10.1,29.416

SM_GC 1.58,6.68,0.00,0.00,0.066,0.000,0.000,305,2780,1201,-6.72,0.03,422.16 FG_AHR_24Vo 0.000

RAFOS_CLK 623 FG_AHR_10Vo 0.000

RAFOS 2,1289218622,12.300000,12.283889,62,51,46,45,45,40,654,652,1551,1593,162,1177 MEM 189600

RAFOS_FIX 6644.282227,-6008.383789,081110,121212,5,74,27.42 DATA_FILE_SIZE 40073,1116

IRIDIUM_FIX 6614.97,-6004.54,081110,090934 CAP_FILE_SIZE 127178,0

TT8_MAMPS 0.028462 CFSIZE 260165632,227966976

HUMID 49.05 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.47536 SOUNDSPEED 1451.0

TCM_TEMP 14.10 CURRENT 0.312,352.4,1

XPDR_PINGS 0 GPS 081110,154425,6647.068,-6010.388,38,1.0,38,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 259 95.84 SBE_CT 777 24 419.78

Roll_motor 106 82 197.23 SBE_O2 0 0 0.00

VBD_pump_during_apogee 468 970 10233.83 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 31 103 72.25 nil 0 0 0.00

Iridium_during_connect 19 160 71.68 nil 0 0 0.00

Iridium_during_xfer 106 223 533.99 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.08

TT8 2813 19 566.15

LPSleep 6263 2 146.13

TT8_Active 555 19 111.82

TT8_Sampling 2032 39 819.63

TT8_CF8 188 45 87.24

TT8_Kalman 0 0 0.00

Analog_circuits 1572 12 190.54

GPS_charging 0 0 0.00

Compass 1850 15 280.31

RAFOS 1080 3 32.72

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 0 115 0.00 0.00 -97.57 0.000 2 0.000 0.000 297 2783 3224 0 0 0 0 0 0

117 -0.57 -146.0 6.7 -18.1 16 139 8.45 2.00 -5.65 0.000 4 0.259 0.083 2280 3929 3522 0 0 0 0 0 0

184 -0.57 -146.0 32.0 -20.9 27 191 0.00 1.88 0.00 0.000 6 0.000 0.050 2279 2778 3523 0 0 0 0 0 0

526 -0.57 -146.0 84.2 -13.0 88 533 0.00 2.28 0.00 0.000 4 0.000 0.054 2279 1369 3525 0 0 0 0 0 0

583 -0.57 -146.0 91.2 -12.3 98 591 0.00 2.38 0.00 0.000 6 0.000 0.063 2276 2785 3524 0 0 0 0 0 0

913 -0.57 -146.0 134.6 -12.8 135 917 0.00 2.28 0.00 0.000 4 0.000 0.054 2276 1366 3524 0 0 0 0 0 0

953 -0.57 -146.0 139.4 -11.8 138 957 0.00 2.35 0.00 0.000 6 0.000 0.063 2274 2773 3524 0 0 0 0 0 0

1280 -0.57 -146.0 179.3 -12.0 168 1284 0.00 2.25 0.00 0.000 4 0.000 0.053 2274 1366 3524 0 0 0 0 0 0

1323 -0.57 -146.0 185.0 -11.5 171 1330 0.00 2.35 0.00 0.000 6 0.000 0.064 2275 2759 3524 0 0 0 0 0 0

1649 -0.57 -146.0 222.4 -11.1 202 1653 0.00 2.00 0.00 0.000 4 0.000 0.074 2272 3938 3524 0 0 0 0 0 0

1698 -0.57 -146.0 228.1 -10.9 206 1707 0.00 1.92 0.00 0.000 6 0.000 0.050 2272 2763 3523 0 0 0 0 0 0

2024 -0.57 -146.0 263.7 -10.9 237 2028 0.00 2.25 0.00 0.000 4 0.000 0.053 2272 1358 3523 0 0 0 0 0 0

2086 -0.57 -146.0 270.3 -10.8 242 2090 0.00 2.30 0.00 0.000 6 0.000 0.065 2266 2747 3523 0 0 0 0 0 0

2416 -0.57 -146.0 305.2 -10.2 273 2419 0.00 2.00 0.00 0.000 4 0.000 0.074 2259 3928 3523 0 0 0 0 0 0

2506 -0.57 -146.0 314.8 -10.7 281 2511 0.05 1.92 0.00 0.000 6 0.159 0.050 2290 2757 3522 0 0 0 0 0 0

2836 -0.57 -146.0 341.8 -7.9 312 2840 0.00 2.22 0.00 0.000 4 0.000 0.054 2290 1360 3522 0 0 0 0 0 0

2864 -0.57 -146.0 343.9 -7.9 314 2872 0.00 2.30 0.00 0.000 6 0.000 0.064 2290 2758 3522 0 0 0 0 0 0

3189 -0.57 -146.0 368.0 -7.4 345 3190 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2758 3522 0 0 0 0 0 0

3511 -0.57 -146.0 391.1 -7.4 375 3515 0.00 2.22 0.00 0.000 4 0.000 0.053 2290 1359 3523 0 0 0 0 0 0

3551 -0.57 -146.0 394.3 -7.5 378 3555 0.00 2.30 0.00 0.000 6 0.000 0.063 2290 2755 3522 0 0 0 0 0 0

3876 -0.57 -146.0 419.3 -8.0 408 3880 0.00 2.00 0.00 0.000 4 0.000 0.073 2285 3936 3522 0 0 0 0 0 0

3914 -0.57 -146.0 422.6 -8.4 411 3922 0.00 1.95 0.00 0.000 6 0.000 0.049 2285 2744 3522 0 0 0 0 0 0

4240 -0.57 -146.0 447.4 -7.4 442 4241 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 2743 3522 0 0 0 0 0 0

4560 -0.57 -146.0 471.9 -7.6 472 4564 0.00 2.17 0.00 0.000 4 0.000 0.052 2284 1363 3523 0 0 0 0 0 0

4583 -0.57 -146.0 474.0 -8.2 473 4590 0.00 2.30 0.00 0.000 6 0.000 0.063 2283 2763 3523 0 0 0 0 0 0

4908 -0.57 -146.0 498.7 -7.8 504 4912 0.00 2.00 0.00 0.000 4 0.000 0.073 2276 3932 3523 0 0 0 0 0 0

4946 -0.57 -146.0 502.0 -8.3 507 4950 0.00 1.92 0.00 0.000 6 0.000 0.049 2276 2756 3523 0 0 0 0 0 0

5281 -0.57 -146.0 529.2 -7.7 518 5285 0.00 2.20 0.00 0.000 4 0.000 0.052 2276 1359 3523 0 0 0 0 0 0

5329 -0.57 -146.0 533.3 -9.0 519 5334 0.00 2.33 0.00 0.000 6 0.000 0.063 2276 2763 3523 0 0 0 0 0 0

5649 -0.57 -146.0 557.1 -7.6 530 5650 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2764 3524 0 0 0 0 0 0

5707 end dive: TARGET_DEPTH_EXCEEDED

state 5707 begin apogee

5712 -0.14 0.0 561.7 7.4 532 5840 0.45 0.00 118.75 0.971 4 0.135 0.000 2423 2592 2923 0 0 0 0 0 0

5841 end apogee: CONTROL_FINISHED_OK

state 5841 begin climb

5842 0.57 146.0 564.9 0.0 536 5976 0.70 2.40 124.70 0.949 4 0.079 0.051 2664 1176 2327 0 0 0 0 0 0

6143 0.57 146.0 537.7 11.4 545 6148 0.00 2.50 0.00 0.000 6 0.000 0.056 2664 2608 2318 0 0 0 0 0 0

6473 0.57 146.0 497.4 12.4 556 6477 0.00 2.35 0.00 0.000 4 0.000 0.052 2666 1187 2315 0 0 0 0 0 0

6670 0.57 146.0 474.4 11.4 573 6674 0.00 2.38 0.00 0.000 6 0.000 0.057 2666 2618 2314 0 0 0 0 0 0

6999 0.57 146.0 436.1 11.1 604 7000 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2618 2313 0 0 0 0 0 0

7320 0.57 146.0 401.1 10.6 634 7324 0.00 2.17 0.00 0.000 4 0.000 0.067 2666 3926 2313 0 0 0 0 0 0

7351 0.57 146.0 397.0 12.5 636 7359 0.00 2.15 0.00 0.000 6 0.000 0.044 2666 2610 2312 0 0 0 0 0 0

7677 0.57 146.0 361.8 11.1 667 7678 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2610 2312 0 0 0 0 0 0

7996 0.57 146.0 325.7 11.1 697 8000 0.00 2.20 0.00 0.000 4 0.000 0.069 2666 3927 2312 0 0 0 0 0 0

8026 0.57 146.0 322.1 13.2 699 8030 0.00 2.08 0.00 0.000 6 0.000 0.044 2666 2620 2311 0 0 0 0 0 0

8356 0.57 146.0 287.2 10.1 730 8357 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2619 2311 0 0 0 0 0 0

8676 0.58 165.8 256.3 9.1 760 8699 0.00 2.30 14.90 0.779 4 0.000 0.054 2666 1193 2246 0 0 0 0 0 0

8723 0.60 191.0 252.1 8.8 764 8750 0.00 2.35 22.45 0.778 6 0.000 0.056 2666 2640 2144 0 0 0 0 0 0

9069 0.60 193.4 217.6 9.9 796 9073 0.00 2.15 0.00 0.000 4 0.000 0.069 2666 3926 2138 0 0 0 0 0 0

9101 0.60 193.4 213.9 11.3 798 9110 0.00 2.12 0.00 0.000 6 0.000 0.045 2666 2628 2137 0 0 0 0 0 0

9426 0.60 193.4 179.7 11.3 829 9430 0.00 2.30 0.00 0.000 4 0.000 0.054 2666 1183 2136 0 0 0 0 0 0

9465 0.60 193.4 175.6 10.2 832 9470 0.00 2.33 0.00 0.000 6 0.000 0.057 2666 2616 2136 0 0 0 0 0 0

9790 0.60 193.4 142.4 10.5 862 9794 0.00 2.17 0.00 0.000 4 0.000 0.070 2666 3924 2136 0 0 0 0 0 0

9829 0.60 193.4 138.2 11.4 865 9833 0.00 2.10 0.00 0.000 6 0.000 0.046 2667 2608 2135 0 0 0 0 0 0

10160 0.63 246.6 110.0 7.5 896 10210 0.00 0.00 45.60 0.718 6 0.000 0.000 2666 2607 1916 0 0 0 0 0 0

10541 0.65 275.2 79.3 8.7 953 10572 0.00 2.33 23.35 0.703 4 0.000 0.056 2666 1185 1800 0 0 0 0 0 0

10595 0.69 329.6 75.0 7.5 962 10646 0.00 2.35 45.83 0.687 6 0.000 0.057 2666 2606 1579 0 0 0 0 0 0

10980 0.71 364.3 43.1 8.4 1030 11014 0.10 2.40 27.85 0.675 4 0.121 0.055 2706 1195 1436 0 0 0 0 0 0

11038 0.71 364.3 37.3 10.3 1039 11045 0.00 2.35 0.00 0.000 6 0.000 0.057 2706 2600 1433 0 0 0 0 0 0

11379 0.75 419.8 7.8 7.4 1100 11430 0.00 2.35 45.10 0.654 4 0.000 0.070 2706 3926 1209 0 0 0 0 0 0

11440 end climb: SURFACE_DEPTH_REACHED

state 11440 begin surface coast

11473 end surface coast: CONTROL_FINISHED_OK

state 11473 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	306	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	25	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	-8155.0371	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	081110,122506,6645.419,-6013.152,27,1.0,27,-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	1.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081110,122938,6645.402,-6013.240,10,1.5,10,-38.1	MHEAD_RNG_PITCHd_Wd	138.7,151754,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	561

FINISH	0.6,1.012241	_24V_AH	22.5,37.619
SM_CCo	11550,0.00,0.000,0,0,1201,422.16	_10V_AH	10.1,29.416
SM_GC	1.58,6.68,0.00,0.00,0.066,0.000,0.000,305,2780,1201,-6.72,0.03,422.16	FG_AHR_24Vo	0.000
RAFOS_CLK	623	FG_AHR_10Vo	0.000
RAFOS	2,1289218622,12.300000,12.283889,62,51,46,45,45,40,654,652,1551,1593,162,1177	MEM	189600
RAFOS_FIX	6644.282227,-6008.383789,081110,121212,5,74,27.42	DATA_FILE_SIZE	40073,1116
IRIDIUM_FIX	6614.97,-6004.54,081110,090934	CAP_FILE_SIZE	127178,0
TT8_MAMPS	0.028462	CFSIZE	260165632,227966976
HUMID	49.05	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.47536	SOUNDSPEED	1451.0
TCM_TEMP	14.10	CURRENT	0.312,352.4,1
XPDR_PINGS	0	GPS	081110,154425,6647.068,-6010.388,38,1.0,38,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	259	95.84	SBE_CT	777	24	419.78
Roll_motor	106	82	197.23	SBE_O2	0	0	0.00
VBD_pump_during_apogee	468	970	10233.83	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	31	103	72.25	nil	0	0	0.00
Iridium_during_connect	19	160	71.68	nil	0	0	0.00
Iridium_during_xfer	106	223	533.99	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.08
TT8	2813	19	566.15
LPSleep	6263	2	146.13
TT8_Active	555	19	111.82
TT8_Sampling	2032	39	819.63
TT8_CF8	188	45	87.24
TT8_Kalman	0	0	0.00
Analog_circuits	1572	12	190.54
GPS_charging	0	0	0.00
Compass	1850	15	280.31
RAFOS	1080	3	32.72
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	115	0.00	0.00	-97.57	0.000	2	0.000	0.000	297	2783	3224	0	0	0	0	0	0
117	-0.57	-146.0	6.7	-18.1	16	139	8.45	2.00	-5.65	0.000	4	0.259	0.083	2280	3929	3522	0	0	0	0	0	0
184	-0.57	-146.0	32.0	-20.9	27	191	0.00	1.88	0.00	0.000	6	0.000	0.050	2279	2778	3523	0	0	0	0	0	0
526	-0.57	-146.0	84.2	-13.0	88	533	0.00	2.28	0.00	0.000	4	0.000	0.054	2279	1369	3525	0	0	0	0	0	0
583	-0.57	-146.0	91.2	-12.3	98	591	0.00	2.38	0.00	0.000	6	0.000	0.063	2276	2785	3524	0	0	0	0	0	0
913	-0.57	-146.0	134.6	-12.8	135	917	0.00	2.28	0.00	0.000	4	0.000	0.054	2276	1366	3524	0	0	0	0	0	0
953	-0.57	-146.0	139.4	-11.8	138	957	0.00	2.35	0.00	0.000	6	0.000	0.063	2274	2773	3524	0	0	0	0	0	0
1280	-0.57	-146.0	179.3	-12.0	168	1284	0.00	2.25	0.00	0.000	4	0.000	0.053	2274	1366	3524	0	0	0	0	0	0
1323	-0.57	-146.0	185.0	-11.5	171	1330	0.00	2.35	0.00	0.000	6	0.000	0.064	2275	2759	3524	0	0	0	0	0	0
1649	-0.57	-146.0	222.4	-11.1	202	1653	0.00	2.00	0.00	0.000	4	0.000	0.074	2272	3938	3524	0	0	0	0	0	0
1698	-0.57	-146.0	228.1	-10.9	206	1707	0.00	1.92	0.00	0.000	6	0.000	0.050	2272	2763	3523	0	0	0	0	0	0
2024	-0.57	-146.0	263.7	-10.9	237	2028	0.00	2.25	0.00	0.000	4	0.000	0.053	2272	1358	3523	0	0	0	0	0	0
2086	-0.57	-146.0	270.3	-10.8	242	2090	0.00	2.30	0.00	0.000	6	0.000	0.065	2266	2747	3523	0	0	0	0	0	0
2416	-0.57	-146.0	305.2	-10.2	273	2419	0.00	2.00	0.00	0.000	4	0.000	0.074	2259	3928	3523	0	0	0	0	0	0
2506	-0.57	-146.0	314.8	-10.7	281	2511	0.05	1.92	0.00	0.000	6	0.159	0.050	2290	2757	3522	0	0	0	0	0	0
2836	-0.57	-146.0	341.8	-7.9	312	2840	0.00	2.22	0.00	0.000	4	0.000	0.054	2290	1360	3522	0	0	0	0	0	0
2864	-0.57	-146.0	343.9	-7.9	314	2872	0.00	2.30	0.00	0.000	6	0.000	0.064	2290	2758	3522	0	0	0	0	0	0
3189	-0.57	-146.0	368.0	-7.4	345	3190	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2758	3522	0	0	0	0	0	0
3511	-0.57	-146.0	391.1	-7.4	375	3515	0.00	2.22	0.00	0.000	4	0.000	0.053	2290	1359	3523	0	0	0	0	0	0
3551	-0.57	-146.0	394.3	-7.5	378	3555	0.00	2.30	0.00	0.000	6	0.000	0.063	2290	2755	3522	0	0	0	0	0	0
3876	-0.57	-146.0	419.3	-8.0	408	3880	0.00	2.00	0.00	0.000	4	0.000	0.073	2285	3936	3522	0	0	0	0	0	0
3914	-0.57	-146.0	422.6	-8.4	411	3922	0.00	1.95	0.00	0.000	6	0.000	0.049	2285	2744	3522	0	0	0	0	0	0
4240	-0.57	-146.0	447.4	-7.4	442	4241	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	2743	3522	0	0	0	0	0	0
4560	-0.57	-146.0	471.9	-7.6	472	4564	0.00	2.17	0.00	0.000	4	0.000	0.052	2284	1363	3523	0	0	0	0	0	0
4583	-0.57	-146.0	474.0	-8.2	473	4590	0.00	2.30	0.00	0.000	6	0.000	0.063	2283	2763	3523	0	0	0	0	0	0
4908	-0.57	-146.0	498.7	-7.8	504	4912	0.00	2.00	0.00	0.000	4	0.000	0.073	2276	3932	3523	0	0	0	0	0	0
4946	-0.57	-146.0	502.0	-8.3	507	4950	0.00	1.92	0.00	0.000	6	0.000	0.049	2276	2756	3523	0	0	0	0	0	0
5281	-0.57	-146.0	529.2	-7.7	518	5285	0.00	2.20	0.00	0.000	4	0.000	0.052	2276	1359	3523	0	0	0	0	0	0
5329	-0.57	-146.0	533.3	-9.0	519	5334	0.00	2.33	0.00	0.000	6	0.000	0.063	2276	2763	3523	0	0	0	0	0	0
5649	-0.57	-146.0	557.1	-7.6	530	5650	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2764	3524	0	0	0	0	0	0
5707	end dive: TARGET_DEPTH_EXCEEDED
state	5707	begin apogee
5712	-0.14	0.0	561.7	7.4	532	5840	0.45	0.00	118.75	0.971	4	0.135	0.000	2423	2592	2923	0	0	0	0	0	0
5841	end apogee: CONTROL_FINISHED_OK
state	5841	begin climb
5842	0.57	146.0	564.9	0.0	536	5976	0.70	2.40	124.70	0.949	4	0.079	0.051	2664	1176	2327	0	0	0	0	0	0
6143	0.57	146.0	537.7	11.4	545	6148	0.00	2.50	0.00	0.000	6	0.000	0.056	2664	2608	2318	0	0	0	0	0	0
6473	0.57	146.0	497.4	12.4	556	6477	0.00	2.35	0.00	0.000	4	0.000	0.052	2666	1187	2315	0	0	0	0	0	0
6670	0.57	146.0	474.4	11.4	573	6674	0.00	2.38	0.00	0.000	6	0.000	0.057	2666	2618	2314	0	0	0	0	0	0
6999	0.57	146.0	436.1	11.1	604	7000	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2618	2313	0	0	0	0	0	0
7320	0.57	146.0	401.1	10.6	634	7324	0.00	2.17	0.00	0.000	4	0.000	0.067	2666	3926	2313	0	0	0	0	0	0
7351	0.57	146.0	397.0	12.5	636	7359	0.00	2.15	0.00	0.000	6	0.000	0.044	2666	2610	2312	0	0	0	0	0	0
7677	0.57	146.0	361.8	11.1	667	7678	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2610	2312	0	0	0	0	0	0
7996	0.57	146.0	325.7	11.1	697	8000	0.00	2.20	0.00	0.000	4	0.000	0.069	2666	3927	2312	0	0	0	0	0	0
8026	0.57	146.0	322.1	13.2	699	8030	0.00	2.08	0.00	0.000	6	0.000	0.044	2666	2620	2311	0	0	0	0	0	0
8356	0.57	146.0	287.2	10.1	730	8357	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2619	2311	0	0	0	0	0	0
8676	0.58	165.8	256.3	9.1	760	8699	0.00	2.30	14.90	0.779	4	0.000	0.054	2666	1193	2246	0	0	0	0	0	0
8723	0.60	191.0	252.1	8.8	764	8750	0.00	2.35	22.45	0.778	6	0.000	0.056	2666	2640	2144	0	0	0	0	0	0
9069	0.60	193.4	217.6	9.9	796	9073	0.00	2.15	0.00	0.000	4	0.000	0.069	2666	3926	2138	0	0	0	0	0	0
9101	0.60	193.4	213.9	11.3	798	9110	0.00	2.12	0.00	0.000	6	0.000	0.045	2666	2628	2137	0	0	0	0	0	0
9426	0.60	193.4	179.7	11.3	829	9430	0.00	2.30	0.00	0.000	4	0.000	0.054	2666	1183	2136	0	0	0	0	0	0
9465	0.60	193.4	175.6	10.2	832	9470	0.00	2.33	0.00	0.000	6	0.000	0.057	2666	2616	2136	0	0	0	0	0	0
9790	0.60	193.4	142.4	10.5	862	9794	0.00	2.17	0.00	0.000	4	0.000	0.070	2666	3924	2136	0	0	0	0	0	0
9829	0.60	193.4	138.2	11.4	865	9833	0.00	2.10	0.00	0.000	6	0.000	0.046	2667	2608	2135	0	0	0	0	0	0
10160	0.63	246.6	110.0	7.5	896	10210	0.00	0.00	45.60	0.718	6	0.000	0.000	2666	2607	1916	0	0	0	0	0	0
10541	0.65	275.2	79.3	8.7	953	10572	0.00	2.33	23.35	0.703	4	0.000	0.056	2666	1185	1800	0	0	0	0	0	0
10595	0.69	329.6	75.0	7.5	962	10646	0.00	2.35	45.83	0.687	6	0.000	0.057	2666	2606	1579	0	0	0	0	0	0
10980	0.71	364.3	43.1	8.4	1030	11014	0.10	2.40	27.85	0.675	4	0.121	0.055	2706	1195	1436	0	0	0	0	0	0
11038	0.71	364.3	37.3	10.3	1039	11045	0.00	2.35	0.00	0.000	6	0.000	0.057	2706	2600	1433	0	0	0	0	0	0
11379	0.75	419.8	7.8	7.4	1100	11430	0.00	2.35	45.10	0.654	4	0.000	0.070	2706	3926	1209	0	0	0	0	0	0
11440	end climb: SURFACE_DEPTH_REACHED
state	11440	begin surface coast
11473	end surface coast: CONTROL_FINISHED_OK
state	11473	begin surface