Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 307 * 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 307 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 34 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 -8156.3867 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 -8156.3867

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 34 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 307 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 081110,154425,6647.068,-6010.388,38,1.0,38,-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 1.56 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081110,154920,6647.090,-6010.536,14,1.0,14,-38.1 MHEAD_RNG_PITCHd_Wd 161.7,149199,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 581

Post-dive calculations and measurements:

FINISH 0.5,1.012289 _24V_AH 22.5,37.742

SM_CCo 11940,0.00,0.000,0,0,1178,428.05 _10V_AH 10.0,29.487

SM_GC 1.76,6.53,0.00,0.00,0.054,0.000,0.000,303,2780,1178,-6.72,0.00,428.05 FG_AHR_24Vo 0.000

RAFOS_CLK 647 FG_AHR_10Vo 0.000

RAFOS 0,1289232067,16.033333,16.018612,62,50,46,45,43,39,639,1407,1418,1341,1502,1169 MEM 189564

RAFOS_FIX 6646.526367,-6002.747070,081110,161636,5,79,2.66 DATA_FILE_SIZE 40011,1103

IRIDIUM_FIX 6620.33,-6005.83,081110,121249 CAP_FILE_SIZE 132054,0

TT8_MAMPS 0.028462 CFSIZE 260165632,227901440

HUMID 49.40 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 0.177,166.8,1

XPDR_PINGS 0 GPS 081110,191106,6645.294,-6006.869,26,1.1,26,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 260 95.39 SBE_CT 768 24 414.97

Roll_motor 113 83 213.65 SBE_O2 0 0 0.00

VBD_pump_during_apogee 474 987 10533.47 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 63.24 nil 0 0 0.00

Iridium_during_connect 37 160 136.53 nil 0 0 0.00

Iridium_during_xfer 104 223 526.24 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.59

TT8 2843 19 566.51

LPSleep 6618 2 152.88

TT8_Active 554 19 110.39

TT8_Sampling 2087 39 833.39

TT8_CF8 201 45 92.64

TT8_Kalman 0 0 0.00

Analog_circuits 1599 12 191.99

GPS_charging 0 0 0.00

Compass 1886 15 282.97

RAFOS 2520 3 75.60

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 0 111 0.00 0.00 -93.68 0.000 2 0.000 0.000 303 2781 3096 0 0 0 0 0 0

113 -0.57 -146.0 5.5 -10.9 16 140 8.43 2.03 -8.62 0.000 4 0.260 0.083 2278 3932 3522 0 0 0 0 0 0

196 -0.57 -146.0 30.1 -17.8 30 204 0.00 1.88 0.00 0.000 6 0.000 0.050 2278 2776 3524 0 0 0 0 0 0

541 -0.57 -146.0 81.3 -14.1 91 547 0.00 2.25 0.00 0.000 4 0.000 0.053 2278 1367 3524 0 0 0 0 0 0

627 -0.57 -146.0 93.1 -13.3 106 635 0.00 2.33 0.00 0.000 6 0.000 0.064 2274 2771 3524 0 0 0 0 0 0

956 -0.57 -146.0 139.7 -13.0 141 960 0.00 2.25 0.00 0.000 4 0.000 0.052 2274 1370 3524 0 0 0 0 0 0

1001 -0.57 -146.0 145.5 -12.0 145 1005 0.00 2.30 0.00 0.000 6 0.000 0.064 2274 2758 3524 0 0 0 0 0 0

1326 -0.57 -146.0 183.9 -11.4 175 1330 0.00 2.22 0.00 0.000 4 0.000 0.053 2274 1365 3523 0 0 0 0 0 0

1370 -0.57 -146.0 189.2 -11.2 178 1379 0.00 2.33 0.00 0.000 6 0.000 0.063 2274 2745 3524 0 0 0 0 0 0

1696 -0.57 -146.0 223.1 -10.2 209 1700 0.00 2.03 0.00 0.000 4 0.000 0.076 2271 3921 3524 0 0 0 0 0 0

1745 -0.57 -146.0 228.7 -10.0 213 1752 0.00 1.92 0.00 0.000 6 0.000 0.050 2271 2754 3523 0 0 0 0 0 0

2071 -0.57 -146.0 260.9 -9.4 244 2075 0.00 2.20 0.00 0.000 4 0.000 0.054 2271 1367 3523 0 0 0 0 0 0

2114 -0.57 -146.0 264.8 -9.5 247 2118 0.00 2.30 0.00 0.000 6 0.000 0.065 2265 2758 3523 0 0 0 0 0 0

2441 -0.57 -146.0 296.4 -10.0 277 2442 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2758 3522 0 0 0 0 0 0

2757 -0.57 -146.0 329.8 -10.8 307 2761 0.00 2.22 0.00 0.000 4 0.000 0.053 2266 1362 3522 0 0 0 0 0 0

2778 -0.57 -146.0 332.3 -10.6 308 2786 0.00 2.35 0.00 0.000 6 0.000 0.064 2264 2755 3521 0 0 0 0 0 0

3104 -0.57 -146.0 365.4 -10.1 339 3108 0.00 2.00 0.00 0.000 4 0.000 0.075 2258 3933 3522 0 0 0 0 0 0

3150 -0.57 -146.0 370.2 -10.8 343 3155 0.12 1.90 0.00 0.000 6 0.168 0.050 2291 2747 3521 0 0 0 0 0 0

3480 -0.57 -146.0 396.9 -7.4 374 3484 0.00 2.17 0.00 0.000 4 0.000 0.053 2292 1370 3521 0 0 0 0 0 0

3509 -0.57 -146.0 399.2 -8.0 376 3513 0.00 2.28 0.00 0.000 6 0.000 0.064 2291 2755 3521 0 0 0 0 0 0

3834 -0.57 -146.0 421.6 -6.5 406 3837 0.00 2.00 0.00 0.000 4 0.000 0.075 2286 3934 3522 0 0 0 0 0 0

3879 -0.57 -146.0 424.7 -7.0 410 3883 0.00 1.90 0.00 0.000 6 0.000 0.049 2286 2743 3522 0 0 0 0 0 0

4210 -0.57 -146.0 450.1 -8.0 441 4214 0.00 2.17 0.00 0.000 4 0.000 0.051 2286 1372 3522 0 0 0 0 0 0

4286 -0.57 -146.0 456.4 -8.8 447 4293 0.00 2.28 0.00 0.000 6 0.000 0.063 2286 2742 3522 0 0 0 0 0 0

4612 -0.57 -146.0 482.2 -8.0 478 4615 0.00 2.17 0.00 0.000 4 0.000 0.051 2286 1369 3522 0 0 0 0 0 0

4663 -0.57 -146.0 486.3 -8.2 482 4667 0.00 2.25 0.00 0.000 6 0.000 0.063 2285 2737 3522 0 0 0 0 0 0

4984 -0.57 -146.0 509.1 -7.0 504 4988 0.00 2.00 0.00 0.000 4 0.000 0.075 2286 3930 3523 0 0 0 0 0 0

5022 -0.57 -146.0 512.2 -7.7 505 5027 0.00 1.98 0.00 0.000 6 0.000 0.048 2285 2721 3522 0 0 0 0 0 0

5359 -0.57 -146.0 534.6 -6.7 516 5362 0.00 2.08 0.00 0.000 4 0.000 0.075 2285 3933 3523 0 0 0 0 0 0

5402 -0.57 -146.0 538.0 -7.2 517 5407 0.00 1.95 0.00 0.000 6 0.000 0.048 2285 2738 3523 0 0 0 0 0 0

5733 -0.57 -146.0 559.1 -6.5 528 5737 0.00 2.15 0.00 0.000 4 0.000 0.051 2285 1369 3523 0 0 0 0 0 0

5766 -0.57 -146.0 561.4 -6.6 529 5770 0.00 2.25 0.00 0.000 6 0.000 0.062 2285 2739 3523 0 0 0 0 0 0

6063 end dive: TARGET_DEPTH_EXCEEDED

state 6063 begin apogee

6068 -0.14 0.0 581.4 7.0 539 6195 0.43 0.00 119.22 0.988 4 0.131 0.000 2426 2596 2923 0 0 0 0 0 0

6196 end apogee: CONTROL_FINISHED_OK

state 6196 begin climb

6198 0.57 146.0 584.8 0.0 543 6333 0.68 2.38 124.97 0.964 4 0.076 0.050 2660 1189 2326 0 0 0 0 0 0

6497 0.57 146.0 558.2 11.5 552 6501 0.00 2.47 0.00 0.000 6 0.000 0.055 2660 2605 2318 0 0 0 0 0 0

6825 0.57 146.0 518.2 12.3 563 6829 0.00 2.35 0.00 0.000 4 0.000 0.053 2662 1187 2315 0 0 0 0 0 0

7067 0.57 146.0 490.7 10.9 575 7071 0.00 2.38 0.00 0.000 6 0.000 0.057 2662 2612 2314 0 0 0 0 0 0

7391 0.57 146.0 451.8 12.1 605 7395 0.00 2.20 0.00 0.000 4 0.000 0.067 2662 3932 2313 0 0 0 0 0 0

7432 0.57 146.0 446.4 15.0 608 7436 0.00 2.15 0.00 0.000 6 0.000 0.044 2664 2602 2312 0 0 0 0 0 0

7757 0.57 146.0 409.0 11.6 638 7761 0.00 2.25 0.00 0.000 4 0.000 0.052 2666 1192 2313 0 0 0 0 0 0

7779 0.57 146.0 406.5 11.2 639 7786 0.00 2.33 0.00 0.000 6 0.000 0.056 2666 2621 2313 0 0 0 0 0 0

8103 0.57 146.0 371.0 10.7 670 8107 0.00 2.17 0.00 0.000 4 0.000 0.069 2666 3926 2313 0 0 0 0 0 0

8137 0.57 146.0 366.8 12.6 673 8141 0.00 2.10 0.00 0.000 6 0.000 0.044 2666 2613 2312 0 0 0 0 0 0

8467 0.57 146.0 332.2 10.2 704 8468 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2612 2312 0 0 0 0 0 0

8787 0.57 146.0 298.8 10.4 734 8788 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2612 2312 0 0 0 0 0 0

9105 0.57 146.0 264.6 10.9 764 9106 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2612 2312 0 0 0 0 0 0

9424 0.57 146.0 230.0 10.6 794 9428 0.00 2.20 0.00 0.000 4 0.000 0.069 2666 3926 2312 0 0 0 0 0 0

9474 0.57 146.0 223.8 12.9 798 9478 0.00 2.12 0.00 0.000 6 0.000 0.045 2666 2600 2311 0 0 0 0 0 0

9799 0.57 152.4 191.2 9.7 828 9811 0.00 2.28 4.25 0.604 4 0.000 0.070 2667 3951 2301 0 0 0 0 0 0

9835 0.57 152.4 187.5 11.2 831 9839 0.00 2.12 0.00 0.000 6 0.000 0.045 2666 2614 2300 0 0 0 0 0 0

10160 0.60 201.6 160.2 7.7 861 10208 0.00 2.35 41.70 0.742 4 0.000 0.054 2666 1196 2100 0 0 0 0 0 0

10219 0.64 249.5 155.7 7.8 866 10264 0.00 2.38 40.33 0.723 6 0.000 0.056 2667 2633 1904 0 0 0 0 0 0

10584 0.65 265.1 122.6 9.3 900 10601 0.00 2.20 11.98 0.707 4 0.000 0.069 2667 3925 1844 0 0 0 0 0 0

10636 0.65 265.1 117.2 11.9 904 10640 0.00 2.12 0.00 0.000 6 0.000 0.045 2667 2626 1841 0 0 0 0 0 0

10968 0.68 320.7 88.2 7.4 947 11024 0.00 2.40 46.55 0.704 4 0.000 0.054 2667 1199 1613 0 0 0 0 0 0

11061 0.73 389.1 81.8 6.8 962 11124 0.12 2.38 56.58 0.689 6 0.112 0.057 2717 2625 1334 0 0 0 0 0 0

11461 0.73 389.1 37.4 11.3 1032 11467 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2625 1321 0 0 0 0 0 0

11803 0.75 426.2 5.6 8.3 1093 11840 0.00 2.28 28.45 0.662 4 0.000 0.071 2716 3922 1182 0 0 0 0 0 0

11846 end climb: SURFACE_DEPTH_REACHED

state 11846 begin surface coast

11862 end surface coast: CONTROL_FINISHED_OK

state 11863 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	307	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	34	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	-8156.3867	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	081110,154425,6647.068,-6010.388,38,1.0,38,-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	1.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081110,154920,6647.090,-6010.536,14,1.0,14,-38.1	MHEAD_RNG_PITCHd_Wd	161.7,149199,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	581

FINISH	0.5,1.012289	_24V_AH	22.5,37.742
SM_CCo	11940,0.00,0.000,0,0,1178,428.05	_10V_AH	10.0,29.487
SM_GC	1.76,6.53,0.00,0.00,0.054,0.000,0.000,303,2780,1178,-6.72,0.00,428.05	FG_AHR_24Vo	0.000
RAFOS_CLK	647	FG_AHR_10Vo	0.000
RAFOS	0,1289232067,16.033333,16.018612,62,50,46,45,43,39,639,1407,1418,1341,1502,1169	MEM	189564
RAFOS_FIX	6646.526367,-6002.747070,081110,161636,5,79,2.66	DATA_FILE_SIZE	40011,1103
IRIDIUM_FIX	6620.33,-6005.83,081110,121249	CAP_FILE_SIZE	132054,0
TT8_MAMPS	0.028462	CFSIZE	260165632,227901440
HUMID	49.40	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	0.177,166.8,1
XPDR_PINGS	0	GPS	081110,191106,6645.294,-6006.869,26,1.1,26,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	260	95.39	SBE_CT	768	24	414.97
Roll_motor	113	83	213.65	SBE_O2	0	0	0.00
VBD_pump_during_apogee	474	987	10533.47	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	63.24	nil	0	0	0.00
Iridium_during_connect	37	160	136.53	nil	0	0	0.00
Iridium_during_xfer	104	223	526.24	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.59
TT8	2843	19	566.51
LPSleep	6618	2	152.88
TT8_Active	554	19	110.39
TT8_Sampling	2087	39	833.39
TT8_CF8	201	45	92.64
TT8_Kalman	0	0	0.00
Analog_circuits	1599	12	191.99
GPS_charging	0	0	0.00
Compass	1886	15	282.97
RAFOS	2520	3	75.60
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	111	0.00	0.00	-93.68	0.000	2	0.000	0.000	303	2781	3096	0	0	0	0	0	0
113	-0.57	-146.0	5.5	-10.9	16	140	8.43	2.03	-8.62	0.000	4	0.260	0.083	2278	3932	3522	0	0	0	0	0	0
196	-0.57	-146.0	30.1	-17.8	30	204	0.00	1.88	0.00	0.000	6	0.000	0.050	2278	2776	3524	0	0	0	0	0	0
541	-0.57	-146.0	81.3	-14.1	91	547	0.00	2.25	0.00	0.000	4	0.000	0.053	2278	1367	3524	0	0	0	0	0	0
627	-0.57	-146.0	93.1	-13.3	106	635	0.00	2.33	0.00	0.000	6	0.000	0.064	2274	2771	3524	0	0	0	0	0	0
956	-0.57	-146.0	139.7	-13.0	141	960	0.00	2.25	0.00	0.000	4	0.000	0.052	2274	1370	3524	0	0	0	0	0	0
1001	-0.57	-146.0	145.5	-12.0	145	1005	0.00	2.30	0.00	0.000	6	0.000	0.064	2274	2758	3524	0	0	0	0	0	0
1326	-0.57	-146.0	183.9	-11.4	175	1330	0.00	2.22	0.00	0.000	4	0.000	0.053	2274	1365	3523	0	0	0	0	0	0
1370	-0.57	-146.0	189.2	-11.2	178	1379	0.00	2.33	0.00	0.000	6	0.000	0.063	2274	2745	3524	0	0	0	0	0	0
1696	-0.57	-146.0	223.1	-10.2	209	1700	0.00	2.03	0.00	0.000	4	0.000	0.076	2271	3921	3524	0	0	0	0	0	0
1745	-0.57	-146.0	228.7	-10.0	213	1752	0.00	1.92	0.00	0.000	6	0.000	0.050	2271	2754	3523	0	0	0	0	0	0
2071	-0.57	-146.0	260.9	-9.4	244	2075	0.00	2.20	0.00	0.000	4	0.000	0.054	2271	1367	3523	0	0	0	0	0	0
2114	-0.57	-146.0	264.8	-9.5	247	2118	0.00	2.30	0.00	0.000	6	0.000	0.065	2265	2758	3523	0	0	0	0	0	0
2441	-0.57	-146.0	296.4	-10.0	277	2442	0.00	0.00	0.00	0.000	6	0.000	0.000	2265	2758	3522	0	0	0	0	0	0
2757	-0.57	-146.0	329.8	-10.8	307	2761	0.00	2.22	0.00	0.000	4	0.000	0.053	2266	1362	3522	0	0	0	0	0	0
2778	-0.57	-146.0	332.3	-10.6	308	2786	0.00	2.35	0.00	0.000	6	0.000	0.064	2264	2755	3521	0	0	0	0	0	0
3104	-0.57	-146.0	365.4	-10.1	339	3108	0.00	2.00	0.00	0.000	4	0.000	0.075	2258	3933	3522	0	0	0	0	0	0
3150	-0.57	-146.0	370.2	-10.8	343	3155	0.12	1.90	0.00	0.000	6	0.168	0.050	2291	2747	3521	0	0	0	0	0	0
3480	-0.57	-146.0	396.9	-7.4	374	3484	0.00	2.17	0.00	0.000	4	0.000	0.053	2292	1370	3521	0	0	0	0	0	0
3509	-0.57	-146.0	399.2	-8.0	376	3513	0.00	2.28	0.00	0.000	6	0.000	0.064	2291	2755	3521	0	0	0	0	0	0
3834	-0.57	-146.0	421.6	-6.5	406	3837	0.00	2.00	0.00	0.000	4	0.000	0.075	2286	3934	3522	0	0	0	0	0	0
3879	-0.57	-146.0	424.7	-7.0	410	3883	0.00	1.90	0.00	0.000	6	0.000	0.049	2286	2743	3522	0	0	0	0	0	0
4210	-0.57	-146.0	450.1	-8.0	441	4214	0.00	2.17	0.00	0.000	4	0.000	0.051	2286	1372	3522	0	0	0	0	0	0
4286	-0.57	-146.0	456.4	-8.8	447	4293	0.00	2.28	0.00	0.000	6	0.000	0.063	2286	2742	3522	0	0	0	0	0	0
4612	-0.57	-146.0	482.2	-8.0	478	4615	0.00	2.17	0.00	0.000	4	0.000	0.051	2286	1369	3522	0	0	0	0	0	0
4663	-0.57	-146.0	486.3	-8.2	482	4667	0.00	2.25	0.00	0.000	6	0.000	0.063	2285	2737	3522	0	0	0	0	0	0
4984	-0.57	-146.0	509.1	-7.0	504	4988	0.00	2.00	0.00	0.000	4	0.000	0.075	2286	3930	3523	0	0	0	0	0	0
5022	-0.57	-146.0	512.2	-7.7	505	5027	0.00	1.98	0.00	0.000	6	0.000	0.048	2285	2721	3522	0	0	0	0	0	0
5359	-0.57	-146.0	534.6	-6.7	516	5362	0.00	2.08	0.00	0.000	4	0.000	0.075	2285	3933	3523	0	0	0	0	0	0
5402	-0.57	-146.0	538.0	-7.2	517	5407	0.00	1.95	0.00	0.000	6	0.000	0.048	2285	2738	3523	0	0	0	0	0	0
5733	-0.57	-146.0	559.1	-6.5	528	5737	0.00	2.15	0.00	0.000	4	0.000	0.051	2285	1369	3523	0	0	0	0	0	0
5766	-0.57	-146.0	561.4	-6.6	529	5770	0.00	2.25	0.00	0.000	6	0.000	0.062	2285	2739	3523	0	0	0	0	0	0
6063	end dive: TARGET_DEPTH_EXCEEDED
state	6063	begin apogee
6068	-0.14	0.0	581.4	7.0	539	6195	0.43	0.00	119.22	0.988	4	0.131	0.000	2426	2596	2923	0	0	0	0	0	0
6196	end apogee: CONTROL_FINISHED_OK
state	6196	begin climb
6198	0.57	146.0	584.8	0.0	543	6333	0.68	2.38	124.97	0.964	4	0.076	0.050	2660	1189	2326	0	0	0	0	0	0
6497	0.57	146.0	558.2	11.5	552	6501	0.00	2.47	0.00	0.000	6	0.000	0.055	2660	2605	2318	0	0	0	0	0	0
6825	0.57	146.0	518.2	12.3	563	6829	0.00	2.35	0.00	0.000	4	0.000	0.053	2662	1187	2315	0	0	0	0	0	0
7067	0.57	146.0	490.7	10.9	575	7071	0.00	2.38	0.00	0.000	6	0.000	0.057	2662	2612	2314	0	0	0	0	0	0
7391	0.57	146.0	451.8	12.1	605	7395	0.00	2.20	0.00	0.000	4	0.000	0.067	2662	3932	2313	0	0	0	0	0	0
7432	0.57	146.0	446.4	15.0	608	7436	0.00	2.15	0.00	0.000	6	0.000	0.044	2664	2602	2312	0	0	0	0	0	0
7757	0.57	146.0	409.0	11.6	638	7761	0.00	2.25	0.00	0.000	4	0.000	0.052	2666	1192	2313	0	0	0	0	0	0
7779	0.57	146.0	406.5	11.2	639	7786	0.00	2.33	0.00	0.000	6	0.000	0.056	2666	2621	2313	0	0	0	0	0	0
8103	0.57	146.0	371.0	10.7	670	8107	0.00	2.17	0.00	0.000	4	0.000	0.069	2666	3926	2313	0	0	0	0	0	0
8137	0.57	146.0	366.8	12.6	673	8141	0.00	2.10	0.00	0.000	6	0.000	0.044	2666	2613	2312	0	0	0	0	0	0
8467	0.57	146.0	332.2	10.2	704	8468	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2612	2312	0	0	0	0	0	0
8787	0.57	146.0	298.8	10.4	734	8788	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2612	2312	0	0	0	0	0	0
9105	0.57	146.0	264.6	10.9	764	9106	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2612	2312	0	0	0	0	0	0
9424	0.57	146.0	230.0	10.6	794	9428	0.00	2.20	0.00	0.000	4	0.000	0.069	2666	3926	2312	0	0	0	0	0	0
9474	0.57	146.0	223.8	12.9	798	9478	0.00	2.12	0.00	0.000	6	0.000	0.045	2666	2600	2311	0	0	0	0	0	0
9799	0.57	152.4	191.2	9.7	828	9811	0.00	2.28	4.25	0.604	4	0.000	0.070	2667	3951	2301	0	0	0	0	0	0
9835	0.57	152.4	187.5	11.2	831	9839	0.00	2.12	0.00	0.000	6	0.000	0.045	2666	2614	2300	0	0	0	0	0	0
10160	0.60	201.6	160.2	7.7	861	10208	0.00	2.35	41.70	0.742	4	0.000	0.054	2666	1196	2100	0	0	0	0	0	0
10219	0.64	249.5	155.7	7.8	866	10264	0.00	2.38	40.33	0.723	6	0.000	0.056	2667	2633	1904	0	0	0	0	0	0
10584	0.65	265.1	122.6	9.3	900	10601	0.00	2.20	11.98	0.707	4	0.000	0.069	2667	3925	1844	0	0	0	0	0	0
10636	0.65	265.1	117.2	11.9	904	10640	0.00	2.12	0.00	0.000	6	0.000	0.045	2667	2626	1841	0	0	0	0	0	0
10968	0.68	320.7	88.2	7.4	947	11024	0.00	2.40	46.55	0.704	4	0.000	0.054	2667	1199	1613	0	0	0	0	0	0
11061	0.73	389.1	81.8	6.8	962	11124	0.12	2.38	56.58	0.689	6	0.112	0.057	2717	2625	1334	0	0	0	0	0	0
11461	0.73	389.1	37.4	11.3	1032	11467	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2625	1321	0	0	0	0	0	0
11803	0.75	426.2	5.6	8.3	1093	11840	0.00	2.28	28.45	0.662	4	0.000	0.071	2716	3922	1182	0	0	0	0	0	0
11846	end climb: SURFACE_DEPTH_REACHED
state	11846	begin surface coast
11862	end surface coast: CONTROL_FINISHED_OK
state	11863	begin surface