Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 347 * 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 347 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 43 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 29 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 -3 T_GPS_CHARGE -8222.5479 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 -8222.5479

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 -3

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 43 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 29 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 347 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 161110,122001,6703.267,-5657.619,36,1.5,36,-37.6 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.74 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161110,122452,6703.310,-5657.607,10,99.0,29,-37.6 MHEAD_RNG_PITCHd_Wd 255.9,156590,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 616

Post-dive calculations and measurements:

FINISH 0.8,1.014248 _24V_AH 22.8,42.067

SM_CCo 12351,79.12,0.077,0,0,1496,350.04 _10V_AH 10.1,32.818

SM_GC 1.69,0.00,0.00,79.12,0.000,0.000,0.077,298,2779,1496,-6.80,-0.06,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 481 FG_AHR_10Vo 0.000

RAFOS 2,1289909823,12.300000,12.284166,43,43,43,42,41,40,796,1068,1584,1543,521,292 MEM 189604

RAFOS_FIX 6705.485840,-5700.395508,161110,121238,5,87,9.75 DATA_FILE_SIZE 40019,1113

IRIDIUM_FIX 6636.54,-5646.10,161110,090932 CAP_FILE_SIZE 125478,0

TT8_MAMPS 0.028462 CFSIZE 260165632,224976896

HUMID 47.95 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.68045 SOUNDSPEED 1475.8

TCM_TEMP 16.90 CURRENT 0.030, 8.8,1

XPDR_PINGS 0 GPS 161110,155407,6702.368,-5659.812,28,1.2,28,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 245 87.48 SBE_CT 767 24 420.09

Roll_motor 89 66 135.62 SBE_O2 0 0 0.00

VBD_pump_during_apogee 266 950 5779.14 nil 0 0 0.00

VBD_pump_during_surface 79 77 139.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 67.35 nil 0 0 0.00

Iridium_during_connect 24 160 89.46 nil 0 0 0.00

Iridium_during_xfer 102 223 522.49 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 17.06

TT8 2857 19 574.81

LPSleep 7165 2 167.17

TT8_Active 466 19 93.82

TT8_Sampling 2064 39 832.45

TT8_CF8 197 45 91.67

TT8_Kalman 0 0 0.00

Analog_circuits 1456 12 176.54

GPS_charging 0 0 0.00

Compass 1865 15 282.59

RAFOS 1440 3 43.63

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 0 112 0.00 0.00 -91.93 0.000 6 0.000 0.000 296 2785 3520 0 0 0 0 0 0

114 -0.57 -146.0 6.1 -13.2 16 127 8.18 1.90 0.00 0.000 4 0.246 0.049 2279 3933 3521 0 0 0 0 0 0

274 -0.57 -146.0 39.9 -12.6 44 281 0.00 1.83 0.00 0.000 6 0.000 0.041 2278 2779 3523 0 0 0 0 0 0

616 -0.57 -146.0 80.5 -10.9 105 623 0.00 1.92 0.00 0.000 4 0.000 0.067 2272 3925 3523 0 0 0 0 0 0

641 -0.57 -146.0 83.3 -10.9 109 648 0.00 1.83 0.00 0.000 6 0.000 0.041 2272 2771 3523 0 0 0 0 0 0

980 -0.57 -146.0 119.7 -10.0 154 984 0.00 2.20 0.00 0.000 4 0.000 0.044 2272 1364 3522 0 0 0 0 0 0

1031 -0.57 -146.0 124.6 -9.2 158 1035 0.00 2.30 0.00 0.000 6 0.000 0.055 2272 2774 3522 0 0 0 0 0 0

1356 -0.57 -146.0 154.3 -8.7 188 1360 0.00 2.20 0.00 0.000 4 0.000 0.044 2272 1372 3521 0 0 0 0 0 0

1411 -0.57 -146.0 159.3 -8.2 192 1419 0.00 2.28 0.00 0.000 6 0.000 0.055 2272 2779 3521 0 0 0 0 0 0

1737 -0.57 -146.0 184.8 -8.1 223 1741 0.00 2.20 0.00 0.000 4 0.000 0.043 2272 1372 3521 0 0 0 0 0 0

1814 -0.57 -146.0 191.6 -8.4 229 1821 0.00 2.25 0.00 0.000 6 0.000 0.055 2272 2753 3522 0 0 0 0 0 0

2140 -0.57 -146.0 216.1 -7.6 260 2144 0.00 2.17 0.00 0.000 4 0.000 0.043 2272 1362 3522 0 0 0 0 0 0

2183 -0.57 -146.0 219.5 -7.3 263 2191 0.00 2.22 0.00 0.000 6 0.000 0.054 2272 2749 3521 0 0 0 0 0 0

2509 -0.57 -146.0 243.6 -7.5 294 2510 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2749 3521 0 0 0 0 0 0

2829 -0.57 -146.0 270.9 -8.6 324 2832 0.00 2.15 0.00 0.000 4 0.000 0.043 2272 1372 3522 0 0 0 0 0 0

2867 -0.57 -146.0 274.5 -9.2 327 2874 0.00 2.22 0.00 0.000 6 0.000 0.054 2272 2742 3522 0 0 0 0 0 0

3192 -0.57 -146.0 301.2 -8.1 358 3196 0.00 1.95 0.00 0.000 4 0.000 0.065 2272 3932 3522 0 0 0 0 0 0

3219 -0.57 -146.0 303.6 -8.0 360 3226 0.00 1.88 0.00 0.000 6 0.000 0.040 2272 2735 3522 0 0 0 0 0 0

3545 -0.57 -146.0 329.8 -8.2 391 3549 0.00 2.10 0.00 0.000 4 0.000 0.043 2271 1370 3522 0 0 0 0 0 0

3583 -0.57 -146.0 333.4 -8.7 394 3591 0.00 2.22 0.00 0.000 6 0.000 0.054 2272 2738 3522 0 0 0 0 0 0

3908 -0.57 -146.0 358.8 -7.7 425 3910 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2739 3522 0 0 0 0 0 0

4229 -0.57 -146.0 383.7 -8.0 455 4231 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2739 3522 0 0 0 0 0 0

4546 -0.57 -146.0 407.1 -7.4 485 4550 0.00 2.12 0.00 0.000 4 0.000 0.042 2271 1374 3522 0 0 0 0 0 0

4585 -0.57 -146.0 410.3 -8.0 488 4592 0.00 2.20 0.00 0.000 6 0.000 0.054 2272 2730 3522 0 0 0 0 0 0

4911 -0.57 -146.0 436.3 -8.7 519 4914 0.00 1.98 0.00 0.000 4 0.000 0.064 2272 3936 3522 0 0 0 0 0 0

4958 -0.57 -146.0 440.4 -8.9 523 4961 0.00 1.90 0.00 0.000 6 0.000 0.040 2271 2724 3522 0 0 0 0 0 0

5288 -0.57 -146.0 466.5 -7.6 554 5292 0.00 2.10 0.00 0.000 4 0.000 0.042 2271 1368 3522 0 0 0 0 0 0

5315 -0.57 -146.0 468.6 -7.8 556 5322 0.00 2.22 0.00 0.000 6 0.000 0.054 2271 2738 3522 0 0 0 0 0 0

5641 -0.57 -146.0 492.1 -7.4 587 5642 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2737 3522 0 0 0 0 0 0

5971 -0.57 -146.0 515.5 -6.8 605 5972 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2737 3522 0 0 0 0 0 0

6279 -0.57 -146.0 535.5 -6.7 615 6283 0.00 2.12 0.00 0.000 4 0.000 0.042 2271 1367 3522 0 0 0 0 0 0

6306 -0.57 -146.0 537.7 -7.3 615 6313 0.00 2.20 0.00 0.000 6 0.000 0.054 2271 2724 3522 0 0 0 0 0 0

6619 -0.57 -146.0 559.1 -7.0 626 6620 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2724 3522 0 0 0 0 0 0

6926 -0.57 -146.0 580.1 -6.6 636 6930 0.00 2.00 0.00 0.000 4 0.000 0.065 2271 3927 3522 0 0 0 0 0 0

6981 -0.57 -146.0 584.1 -7.1 637 6985 0.00 1.90 0.00 0.000 6 0.000 0.041 2271 2736 3522 0 0 0 0 0 0

7300 -0.57 -146.0 605.4 -6.8 648 7303 0.00 2.15 0.00 0.000 4 0.000 0.044 2271 1356 3522 0 0 0 0 0 0

7327 -0.57 -146.0 607.5 -7.1 648 7334 0.00 2.25 0.00 0.000 6 0.000 0.054 2271 2733 3522 0 0 0 0 0 0

7454 end dive: TARGET_DEPTH_EXCEEDED

state 7454 begin apogee

7459 -0.14 0.0 616.1 6.7 653 7586 0.45 0.00 118.40 0.950 4 0.125 0.000 2423 2596 2923 0 0 0 0 0 0

7587 end apogee: CONTROL_FINISHED_OK

state 7587 begin climb

7589 0.57 146.0 619.6 0.0 657 7720 0.68 2.33 122.47 0.931 4 0.067 0.044 2667 1188 2327 0 0 0 0 0 0

7921 0.57 146.0 587.4 12.0 667 7926 0.00 2.38 0.00 0.000 6 0.000 0.050 2667 2594 2319 0 0 0 0 0 0

8257 0.57 146.0 544.2 13.0 678 8261 0.00 2.22 0.00 0.000 4 0.000 0.047 2670 1191 2316 0 0 0 0 0 0

8488 0.57 146.0 516.4 11.8 685 8492 0.00 2.28 0.00 0.000 6 0.000 0.051 2671 2602 2315 0 0 0 0 0 0

8817 0.57 146.0 469.9 14.7 708 8818 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2602 2313 0 0 0 0 0 0

9134 0.57 146.0 423.4 14.9 738 9138 0.00 2.17 0.00 0.000 4 0.000 0.063 2671 3928 2312 0 0 0 0 0 0

9179 0.57 146.0 415.9 17.6 742 9183 0.00 2.08 0.00 0.000 6 0.000 0.040 2678 2601 2311 0 0 0 0 0 0

9509 0.57 146.0 366.7 14.7 773 9510 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2599 2311 0 0 0 0 0 0

9830 0.57 146.0 321.5 14.0 803 9831 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2599 2311 0 0 0 0 0 0

10147 0.57 146.0 277.5 13.7 833 10148 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2599 2311 0 0 0 0 0 0

10466 0.57 146.0 232.8 14.5 863 10468 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2599 2311 0 0 0 0 0 0

10784 0.57 146.0 187.6 14.7 893 10788 0.00 2.17 0.00 0.000 4 0.000 0.047 2680 1195 2311 0 0 0 0 0 0

10843 0.57 146.0 179.2 14.3 898 10852 0.00 2.28 0.00 0.000 6 0.000 0.050 2680 2599 2311 0 0 0 0 0 0

11169 0.57 146.0 134.0 14.0 929 11170 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2600 2310 0 0 0 0 0 0

11489 0.57 146.0 92.0 13.9 964 11495 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2600 2311 0 0 0 0 0 0

11832 0.58 163.6 51.1 9.2 1025 11852 0.00 2.17 12.70 0.590 4 0.000 0.060 2680 3936 2257 0 0 0 0 0 0

11903 0.58 163.6 42.9 11.7 1037 11909 0.00 2.08 0.00 0.000 6 0.000 0.039 2680 2611 2254 0 0 0 0 0 0

12247 0.59 178.0 9.3 9.3 1098 12267 0.00 2.20 13.20 0.574 4 0.000 0.062 2680 3933 2197 0 0 0 0 0 0

12304 end climb: SURFACE_DEPTH_REACHED

state 12304 begin surface coast

12335 end surface coast: CONTROL_FINISHED_OK

state 12335 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	347	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	43	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	29	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	-3	T_GPS_CHARGE	-8222.5479	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	161110,122001,6703.267,-5657.619,36,1.5,36,-37.6	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.74	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161110,122452,6703.310,-5657.607,10,99.0,29,-37.6	MHEAD_RNG_PITCHd_Wd	255.9,156590,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	616

FINISH	0.8,1.014248	_24V_AH	22.8,42.067
SM_CCo	12351,79.12,0.077,0,0,1496,350.04	_10V_AH	10.1,32.818
SM_GC	1.69,0.00,0.00,79.12,0.000,0.000,0.077,298,2779,1496,-6.80,-0.06,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	481	FG_AHR_10Vo	0.000
RAFOS	2,1289909823,12.300000,12.284166,43,43,43,42,41,40,796,1068,1584,1543,521,292	MEM	189604
RAFOS_FIX	6705.485840,-5700.395508,161110,121238,5,87,9.75	DATA_FILE_SIZE	40019,1113
IRIDIUM_FIX	6636.54,-5646.10,161110,090932	CAP_FILE_SIZE	125478,0
TT8_MAMPS	0.028462	CFSIZE	260165632,224976896
HUMID	47.95	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.68045	SOUNDSPEED	1475.8
TCM_TEMP	16.90	CURRENT	0.030, 8.8,1
XPDR_PINGS	0	GPS	161110,155407,6702.368,-5659.812,28,1.2,28,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	245	87.48	SBE_CT	767	24	420.09
Roll_motor	89	66	135.62	SBE_O2	0	0	0.00
VBD_pump_during_apogee	266	950	5779.14	nil	0	0	0.00
VBD_pump_during_surface	79	77	139.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	67.35	nil	0	0	0.00
Iridium_during_connect	24	160	89.46	nil	0	0	0.00
Iridium_during_xfer	102	223	522.49	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	17.06
TT8	2857	19	574.81
LPSleep	7165	2	167.17
TT8_Active	466	19	93.82
TT8_Sampling	2064	39	832.45
TT8_CF8	197	45	91.67
TT8_Kalman	0	0	0.00
Analog_circuits	1456	12	176.54
GPS_charging	0	0	0.00
Compass	1865	15	282.59
RAFOS	1440	3	43.63
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	112	0.00	0.00	-91.93	0.000	6	0.000	0.000	296	2785	3520	0	0	0	0	0	0
114	-0.57	-146.0	6.1	-13.2	16	127	8.18	1.90	0.00	0.000	4	0.246	0.049	2279	3933	3521	0	0	0	0	0	0
274	-0.57	-146.0	39.9	-12.6	44	281	0.00	1.83	0.00	0.000	6	0.000	0.041	2278	2779	3523	0	0	0	0	0	0
616	-0.57	-146.0	80.5	-10.9	105	623	0.00	1.92	0.00	0.000	4	0.000	0.067	2272	3925	3523	0	0	0	0	0	0
641	-0.57	-146.0	83.3	-10.9	109	648	0.00	1.83	0.00	0.000	6	0.000	0.041	2272	2771	3523	0	0	0	0	0	0
980	-0.57	-146.0	119.7	-10.0	154	984	0.00	2.20	0.00	0.000	4	0.000	0.044	2272	1364	3522	0	0	0	0	0	0
1031	-0.57	-146.0	124.6	-9.2	158	1035	0.00	2.30	0.00	0.000	6	0.000	0.055	2272	2774	3522	0	0	0	0	0	0
1356	-0.57	-146.0	154.3	-8.7	188	1360	0.00	2.20	0.00	0.000	4	0.000	0.044	2272	1372	3521	0	0	0	0	0	0
1411	-0.57	-146.0	159.3	-8.2	192	1419	0.00	2.28	0.00	0.000	6	0.000	0.055	2272	2779	3521	0	0	0	0	0	0
1737	-0.57	-146.0	184.8	-8.1	223	1741	0.00	2.20	0.00	0.000	4	0.000	0.043	2272	1372	3521	0	0	0	0	0	0
1814	-0.57	-146.0	191.6	-8.4	229	1821	0.00	2.25	0.00	0.000	6	0.000	0.055	2272	2753	3522	0	0	0	0	0	0
2140	-0.57	-146.0	216.1	-7.6	260	2144	0.00	2.17	0.00	0.000	4	0.000	0.043	2272	1362	3522	0	0	0	0	0	0
2183	-0.57	-146.0	219.5	-7.3	263	2191	0.00	2.22	0.00	0.000	6	0.000	0.054	2272	2749	3521	0	0	0	0	0	0
2509	-0.57	-146.0	243.6	-7.5	294	2510	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2749	3521	0	0	0	0	0	0
2829	-0.57	-146.0	270.9	-8.6	324	2832	0.00	2.15	0.00	0.000	4	0.000	0.043	2272	1372	3522	0	0	0	0	0	0
2867	-0.57	-146.0	274.5	-9.2	327	2874	0.00	2.22	0.00	0.000	6	0.000	0.054	2272	2742	3522	0	0	0	0	0	0
3192	-0.57	-146.0	301.2	-8.1	358	3196	0.00	1.95	0.00	0.000	4	0.000	0.065	2272	3932	3522	0	0	0	0	0	0
3219	-0.57	-146.0	303.6	-8.0	360	3226	0.00	1.88	0.00	0.000	6	0.000	0.040	2272	2735	3522	0	0	0	0	0	0
3545	-0.57	-146.0	329.8	-8.2	391	3549	0.00	2.10	0.00	0.000	4	0.000	0.043	2271	1370	3522	0	0	0	0	0	0
3583	-0.57	-146.0	333.4	-8.7	394	3591	0.00	2.22	0.00	0.000	6	0.000	0.054	2272	2738	3522	0	0	0	0	0	0
3908	-0.57	-146.0	358.8	-7.7	425	3910	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2739	3522	0	0	0	0	0	0
4229	-0.57	-146.0	383.7	-8.0	455	4231	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2739	3522	0	0	0	0	0	0
4546	-0.57	-146.0	407.1	-7.4	485	4550	0.00	2.12	0.00	0.000	4	0.000	0.042	2271	1374	3522	0	0	0	0	0	0
4585	-0.57	-146.0	410.3	-8.0	488	4592	0.00	2.20	0.00	0.000	6	0.000	0.054	2272	2730	3522	0	0	0	0	0	0
4911	-0.57	-146.0	436.3	-8.7	519	4914	0.00	1.98	0.00	0.000	4	0.000	0.064	2272	3936	3522	0	0	0	0	0	0
4958	-0.57	-146.0	440.4	-8.9	523	4961	0.00	1.90	0.00	0.000	6	0.000	0.040	2271	2724	3522	0	0	0	0	0	0
5288	-0.57	-146.0	466.5	-7.6	554	5292	0.00	2.10	0.00	0.000	4	0.000	0.042	2271	1368	3522	0	0	0	0	0	0
5315	-0.57	-146.0	468.6	-7.8	556	5322	0.00	2.22	0.00	0.000	6	0.000	0.054	2271	2738	3522	0	0	0	0	0	0
5641	-0.57	-146.0	492.1	-7.4	587	5642	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2737	3522	0	0	0	0	0	0
5971	-0.57	-146.0	515.5	-6.8	605	5972	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2737	3522	0	0	0	0	0	0
6279	-0.57	-146.0	535.5	-6.7	615	6283	0.00	2.12	0.00	0.000	4	0.000	0.042	2271	1367	3522	0	0	0	0	0	0
6306	-0.57	-146.0	537.7	-7.3	615	6313	0.00	2.20	0.00	0.000	6	0.000	0.054	2271	2724	3522	0	0	0	0	0	0
6619	-0.57	-146.0	559.1	-7.0	626	6620	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2724	3522	0	0	0	0	0	0
6926	-0.57	-146.0	580.1	-6.6	636	6930	0.00	2.00	0.00	0.000	4	0.000	0.065	2271	3927	3522	0	0	0	0	0	0
6981	-0.57	-146.0	584.1	-7.1	637	6985	0.00	1.90	0.00	0.000	6	0.000	0.041	2271	2736	3522	0	0	0	0	0	0
7300	-0.57	-146.0	605.4	-6.8	648	7303	0.00	2.15	0.00	0.000	4	0.000	0.044	2271	1356	3522	0	0	0	0	0	0
7327	-0.57	-146.0	607.5	-7.1	648	7334	0.00	2.25	0.00	0.000	6	0.000	0.054	2271	2733	3522	0	0	0	0	0	0
7454	end dive: TARGET_DEPTH_EXCEEDED
state	7454	begin apogee
7459	-0.14	0.0	616.1	6.7	653	7586	0.45	0.00	118.40	0.950	4	0.125	0.000	2423	2596	2923	0	0	0	0	0	0
7587	end apogee: CONTROL_FINISHED_OK
state	7587	begin climb
7589	0.57	146.0	619.6	0.0	657	7720	0.68	2.33	122.47	0.931	4	0.067	0.044	2667	1188	2327	0	0	0	0	0	0
7921	0.57	146.0	587.4	12.0	667	7926	0.00	2.38	0.00	0.000	6	0.000	0.050	2667	2594	2319	0	0	0	0	0	0
8257	0.57	146.0	544.2	13.0	678	8261	0.00	2.22	0.00	0.000	4	0.000	0.047	2670	1191	2316	0	0	0	0	0	0
8488	0.57	146.0	516.4	11.8	685	8492	0.00	2.28	0.00	0.000	6	0.000	0.051	2671	2602	2315	0	0	0	0	0	0
8817	0.57	146.0	469.9	14.7	708	8818	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2602	2313	0	0	0	0	0	0
9134	0.57	146.0	423.4	14.9	738	9138	0.00	2.17	0.00	0.000	4	0.000	0.063	2671	3928	2312	0	0	0	0	0	0
9179	0.57	146.0	415.9	17.6	742	9183	0.00	2.08	0.00	0.000	6	0.000	0.040	2678	2601	2311	0	0	0	0	0	0
9509	0.57	146.0	366.7	14.7	773	9510	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2599	2311	0	0	0	0	0	0
9830	0.57	146.0	321.5	14.0	803	9831	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2599	2311	0	0	0	0	0	0
10147	0.57	146.0	277.5	13.7	833	10148	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2599	2311	0	0	0	0	0	0
10466	0.57	146.0	232.8	14.5	863	10468	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2599	2311	0	0	0	0	0	0
10784	0.57	146.0	187.6	14.7	893	10788	0.00	2.17	0.00	0.000	4	0.000	0.047	2680	1195	2311	0	0	0	0	0	0
10843	0.57	146.0	179.2	14.3	898	10852	0.00	2.28	0.00	0.000	6	0.000	0.050	2680	2599	2311	0	0	0	0	0	0
11169	0.57	146.0	134.0	14.0	929	11170	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2600	2310	0	0	0	0	0	0
11489	0.57	146.0	92.0	13.9	964	11495	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2600	2311	0	0	0	0	0	0
11832	0.58	163.6	51.1	9.2	1025	11852	0.00	2.17	12.70	0.590	4	0.000	0.060	2680	3936	2257	0	0	0	0	0	0
11903	0.58	163.6	42.9	11.7	1037	11909	0.00	2.08	0.00	0.000	6	0.000	0.039	2680	2611	2254	0	0	0	0	0	0
12247	0.59	178.0	9.3	9.3	1098	12267	0.00	2.20	13.20	0.574	4	0.000	0.062	2680	3933	2197	0	0	0	0	0	0
12304	end climb: SURFACE_DEPTH_REACHED
state	12304	begin surface coast
12335	end surface coast: CONTROL_FINISHED_OK
state	12335	begin surface