Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 348 * 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 348 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 40 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 -3 T_GPS_CHARGE -8224.8623 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 -8224.8623

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 40 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 348 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 161110,155407,6702.368,-5659.812,28,1.2,28,-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 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161110,155832,6702.392,-5659.794,12,1.4,12,-37.6 MHEAD_RNG_PITCHd_Wd 288.7,154650,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 665

Post-dive calculations and measurements:

FINISH 0.9,1.004420 _24V_AH 22.7,42.151

SM_CCo 13699,72.62,0.080,0,0,1496,350.04 _10V_AH 10.1,32.892

SM_GC 1.96,0.00,0.00,72.62,0.000,0.000,0.080,296,2782,1496,-6.81,0.08,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 594 FG_AHR_10Vo 0.000

RAFOS 0,1289923267,16.033333,16.018612,44,43,42,40,39,38,1575,702,469,1119,1809,1918 MEM 189580

RAFOS_FIX 6705.140137,-5702.722168,161110,161642,5,75,2.62 DATA_FILE_SIZE 43316,1189

IRIDIUM_FIX 6636.54,-5448.27,161110,121248 CAP_FILE_SIZE 131786,0

TT8_MAMPS 0.028462 CFSIZE 260165632,224903168

HUMID 47.28 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.68045 SOUNDSPEED 1474.9

TCM_TEMP 16.70 CURRENT 0.112, 59.7,1

XPDR_PINGS 0 GPS 161110,195006,6702.207,-5701.659,24,1.3,24,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 244 86.56 SBE_CT 821 24 447.33

Roll_motor 82 75 141.32 SBE_O2 0 0 0.00

VBD_pump_during_apogee 282 991 6356.17 nil 0 0 0.00

VBD_pump_during_surface 72 79 131.16 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 56.89 nil 0 0 0.00

Iridium_during_connect 17 160 64.30 nil 0 0 0.00

Iridium_during_xfer 101 223 512.58 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.34

TT8 3053 19 614.38

LPSleep 8182 2 190.91

TT8_Active 456 19 91.91

TT8_Sampling 2159 39 870.81

TT8_CF8 210 45 97.76

TT8_Kalman 0 0 0.00

Analog_circuits 1501 12 181.97

GPS_charging 0 0 0.00

Compass 1991 15 301.66

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.57 -146.0 0.0 0.0 0 114 0.00 0.00 -92.15 0.000 6 0.000 0.000 296 2779 3520 0 0 0 0 0 0

116 -0.57 -146.0 6.8 -14.9 16 131 8.12 1.88 0.00 0.000 4 0.244 0.049 2276 3933 3521 0 0 0 0 0 0

237 -0.57 -146.0 33.8 -11.6 37 244 0.00 1.83 0.00 0.000 6 0.000 0.041 2276 2779 3523 0 0 0 0 0 0

579 -0.57 -146.0 72.4 -10.6 98 586 0.00 2.20 0.00 0.000 4 0.000 0.044 2276 1374 3523 0 0 0 0 0 0

610 -0.57 -146.0 75.8 -11.2 103 617 0.00 2.28 0.00 0.000 6 0.000 0.055 2274 2779 3522 0 0 0 0 0 0

956 -0.57 -146.0 110.9 -10.5 155 960 0.00 2.20 0.00 0.000 4 0.000 0.044 2275 1367 3522 0 0 0 0 0 0

1010 -0.57 -146.0 117.0 -10.2 159 1017 0.00 2.30 0.00 0.000 6 0.000 0.055 2274 2767 3521 0 0 0 0 0 0

1336 -0.57 -146.0 149.0 -9.7 190 1340 0.00 2.17 0.00 0.000 4 0.000 0.044 2274 1369 3521 0 0 0 0 0 0

1413 -0.57 -146.0 156.4 -9.1 196 1420 0.00 2.22 0.00 0.000 6 0.000 0.055 2274 2754 3521 0 0 0 0 0 0

1739 -0.57 -146.0 186.8 -9.1 227 1743 0.00 2.17 0.00 0.000 4 0.000 0.043 2274 1366 3521 0 0 0 0 0 0

1848 -0.57 -146.0 197.2 -9.6 236 1852 0.00 2.22 0.00 0.000 6 0.000 0.054 2275 2747 3521 0 0 0 0 0 0

2173 -0.57 -146.0 225.0 -8.5 266 2174 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2747 3521 0 0 0 0 0 0

2492 -0.57 -146.0 252.1 -7.9 296 2496 0.00 2.12 0.00 0.000 4 0.000 0.043 2274 1372 3521 0 0 0 0 0 0

2570 -0.57 -146.0 258.8 -8.6 302 2577 0.00 2.17 0.00 0.000 6 0.000 0.054 2274 2729 3521 0 0 0 0 0 0

2897 -0.57 -146.0 284.3 -8.3 333 2898 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2729 3522 0 0 0 0 0 0

3217 -0.57 -146.0 309.9 -7.6 363 3220 0.00 2.10 0.00 0.000 4 0.000 0.043 2274 1369 3522 0 0 0 0 0 0

3295 -0.57 -146.0 316.8 -8.0 369 3301 0.00 2.17 0.00 0.000 6 0.000 0.054 2275 2713 3522 0 0 0 0 0 0

3620 -0.57 -146.0 341.6 -7.2 400 3624 0.00 2.03 0.00 0.000 4 0.000 0.064 2274 3924 3522 0 0 0 0 0 0

3658 -0.57 -146.0 344.5 -7.4 403 3665 0.00 1.90 0.00 0.000 6 0.000 0.040 2275 2709 3522 0 0 0 0 0 0

3983 -0.57 -146.0 367.8 -7.1 434 3987 0.00 2.05 0.00 0.000 4 0.000 0.043 2274 1370 3522 0 0 0 0 0 0

4010 -0.57 -146.0 370.0 -7.7 436 4017 0.00 2.20 0.00 0.000 6 0.000 0.054 2274 2726 3522 0 0 0 0 0 0

4336 -0.57 -146.0 393.0 -6.6 467 4338 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2727 3522 0 0 0 0 0 0

4658 -0.57 -146.0 414.8 -6.7 497 4661 0.00 2.10 0.00 0.000 4 0.000 0.043 2274 1369 3522 0 0 0 0 0 0

4692 -0.57 -146.0 417.6 -7.3 500 4696 0.00 2.17 0.00 0.000 6 0.000 0.054 2274 2714 3522 0 0 0 0 0 0

5023 -0.57 -146.0 440.0 -6.5 531 5024 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2714 3522 0 0 0 0 0 0

5342 -0.57 -146.0 461.2 -6.2 561 5343 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2714 3523 0 0 0 0 0 0

5663 -0.57 -146.0 481.9 -6.8 591 5667 0.00 2.08 0.00 0.000 4 0.000 0.042 2274 1368 3522 0 0 0 0 0 0

5698 -0.57 -146.0 484.5 -7.2 594 5702 0.00 2.17 0.00 0.000 6 0.000 0.054 2274 2716 3522 0 0 0 0 0 0

6036 -0.57 -146.0 506.5 -6.6 620 6038 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2716 3522 0 0 0 0 0 0

6342 -0.57 -146.0 527.2 -6.7 630 6343 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2717 3523 0 0 0 0 0 0

6649 -0.57 -146.0 547.2 -6.4 640 6652 0.00 2.10 0.00 0.000 4 0.000 0.043 2274 1373 3523 0 0 0 0 0 0

6687 -0.57 -146.0 550.1 -6.6 641 6691 0.00 2.17 0.00 0.000 6 0.000 0.054 2274 2723 3523 0 0 0 0 0 0

7023 -0.57 -146.0 573.4 -7.2 652 7024 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2723 3523 0 0 0 0 0 0

7329 -0.57 -146.0 595.1 -7.0 662 7332 0.00 2.00 0.00 0.000 4 0.000 0.067 2272 3935 3523 0 0 0 0 0 0

7350 -0.57 -146.0 596.7 -7.1 662 7354 0.00 1.98 0.00 0.000 6 0.000 0.041 2272 2703 3523 0 0 0 0 0 0

7669 -0.57 -146.0 619.4 -7.2 673 7670 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2703 3522 0 0 0 0 0 0

7975 -0.57 -146.0 642.4 -7.5 683 7977 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2703 3522 0 0 0 0 0 0

8279 end dive: TARGET_DEPTH_EXCEEDED

state 8279 begin apogee

8285 -0.14 0.0 665.1 7.4 693 8412 0.45 0.00 119.18 0.991 4 0.126 0.000 2424 2596 2922 0 0 0 0 0 0

8412 end apogee: CONTROL_FINISHED_OK

state 8412 begin climb

8414 0.57 146.0 668.8 0.0 697 8547 0.68 2.35 124.15 0.973 4 0.065 0.045 2669 1183 2327 0 0 0 0 0 0

8740 0.57 146.0 637.2 12.2 707 8744 0.00 2.38 0.00 0.000 6 0.000 0.053 2668 2600 2318 0 0 0 0 0 0

9074 0.57 146.0 591.7 14.0 718 9078 0.00 2.25 0.00 0.000 4 0.000 0.049 2672 1190 2315 0 0 0 0 0 0

9305 0.57 146.0 561.6 12.4 725 9309 0.00 2.30 0.00 0.000 6 0.000 0.053 2672 2602 2314 0 0 0 0 0 0

9640 0.57 146.0 515.3 14.0 736 9644 0.00 2.17 0.00 0.000 4 0.000 0.064 2672 3926 2313 0 0 0 0 0 0

9688 0.57 146.0 507.2 16.4 737 9693 0.00 2.15 0.00 0.000 6 0.000 0.041 2679 2592 2311 0 0 0 0 0 0

10019 0.57 146.0 458.1 15.2 764 10020 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2591 2311 0 0 0 0 0 0

10337 0.57 146.0 410.6 14.8 794 10338 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2591 2310 0 0 0 0 0 0

10658 0.57 146.0 364.8 14.3 824 10662 0.00 2.25 0.00 0.000 4 0.000 0.065 2679 3933 2310 0 0 0 0 0 0

10708 0.57 146.0 356.3 16.6 828 10712 0.00 2.12 0.00 0.000 6 0.000 0.041 2681 2592 2309 0 0 0 0 0 0

11039 0.57 146.0 309.4 14.1 859 11040 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2591 2309 0 0 0 0 0 0

11358 0.57 146.0 266.8 13.4 889 11360 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2591 2309 0 0 0 0 0 0

11678 0.57 146.0 223.9 13.5 919 11680 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2591 2309 0 0 0 0 0 0

11995 0.57 146.0 184.2 12.7 949 11996 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2591 2309 0 0 0 0 0 0

12315 0.57 146.0 144.6 12.4 979 12319 0.00 2.17 0.00 0.000 4 0.000 0.047 2680 1188 2309 0 0 0 0 0 0

12399 0.57 146.0 134.5 11.3 986 12403 0.00 2.25 0.00 0.000 6 0.000 0.050 2680 2602 2309 0 0 0 0 0 0

12726 0.57 146.0 94.7 11.5 1020 12732 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2603 2309 0 0 0 0 0 0

13067 0.58 166.3 59.3 9.1 1081 13088 0.00 2.22 14.77 0.600 4 0.000 0.062 2681 3926 2245 0 0 0 0 0 0

13106 0.58 166.3 55.4 10.4 1087 13113 0.00 2.10 0.00 0.000 6 0.000 0.039 2687 2589 2243 0 0 0 0 0 0

13452 0.60 195.8 22.7 8.6 1148 13482 0.00 0.00 24.33 0.587 6 0.000 0.000 2687 2589 2126 0 0 0 0 0 0

13655 end climb: SURFACE_DEPTH_REACHED

state 13655 begin surface coast

13684 end surface coast: CONTROL_FINISHED_OK

state 13684 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	348	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	40	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	-3	T_GPS_CHARGE	-8224.8623	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	161110,155407,6702.368,-5659.812,28,1.2,28,-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	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161110,155832,6702.392,-5659.794,12,1.4,12,-37.6	MHEAD_RNG_PITCHd_Wd	288.7,154650,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	665

FINISH	0.9,1.004420	_24V_AH	22.7,42.151
SM_CCo	13699,72.62,0.080,0,0,1496,350.04	_10V_AH	10.1,32.892
SM_GC	1.96,0.00,0.00,72.62,0.000,0.000,0.080,296,2782,1496,-6.81,0.08,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	594	FG_AHR_10Vo	0.000
RAFOS	0,1289923267,16.033333,16.018612,44,43,42,40,39,38,1575,702,469,1119,1809,1918	MEM	189580
RAFOS_FIX	6705.140137,-5702.722168,161110,161642,5,75,2.62	DATA_FILE_SIZE	43316,1189
IRIDIUM_FIX	6636.54,-5448.27,161110,121248	CAP_FILE_SIZE	131786,0
TT8_MAMPS	0.028462	CFSIZE	260165632,224903168
HUMID	47.28	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.68045	SOUNDSPEED	1474.9
TCM_TEMP	16.70	CURRENT	0.112, 59.7,1
XPDR_PINGS	0	GPS	161110,195006,6702.207,-5701.659,24,1.3,24,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	244	86.56	SBE_CT	821	24	447.33
Roll_motor	82	75	141.32	SBE_O2	0	0	0.00
VBD_pump_during_apogee	282	991	6356.17	nil	0	0	0.00
VBD_pump_during_surface	72	79	131.16	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	56.89	nil	0	0	0.00
Iridium_during_connect	17	160	64.30	nil	0	0	0.00
Iridium_during_xfer	101	223	512.58	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.34
TT8	3053	19	614.38
LPSleep	8182	2	190.91
TT8_Active	456	19	91.91
TT8_Sampling	2159	39	870.81
TT8_CF8	210	45	97.76
TT8_Kalman	0	0	0.00
Analog_circuits	1501	12	181.97
GPS_charging	0	0	0.00
Compass	1991	15	301.66
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.57	-146.0	0.0	0.0	0	114	0.00	0.00	-92.15	0.000	6	0.000	0.000	296	2779	3520	0	0	0	0	0	0
116	-0.57	-146.0	6.8	-14.9	16	131	8.12	1.88	0.00	0.000	4	0.244	0.049	2276	3933	3521	0	0	0	0	0	0
237	-0.57	-146.0	33.8	-11.6	37	244	0.00	1.83	0.00	0.000	6	0.000	0.041	2276	2779	3523	0	0	0	0	0	0
579	-0.57	-146.0	72.4	-10.6	98	586	0.00	2.20	0.00	0.000	4	0.000	0.044	2276	1374	3523	0	0	0	0	0	0
610	-0.57	-146.0	75.8	-11.2	103	617	0.00	2.28	0.00	0.000	6	0.000	0.055	2274	2779	3522	0	0	0	0	0	0
956	-0.57	-146.0	110.9	-10.5	155	960	0.00	2.20	0.00	0.000	4	0.000	0.044	2275	1367	3522	0	0	0	0	0	0
1010	-0.57	-146.0	117.0	-10.2	159	1017	0.00	2.30	0.00	0.000	6	0.000	0.055	2274	2767	3521	0	0	0	0	0	0
1336	-0.57	-146.0	149.0	-9.7	190	1340	0.00	2.17	0.00	0.000	4	0.000	0.044	2274	1369	3521	0	0	0	0	0	0
1413	-0.57	-146.0	156.4	-9.1	196	1420	0.00	2.22	0.00	0.000	6	0.000	0.055	2274	2754	3521	0	0	0	0	0	0
1739	-0.57	-146.0	186.8	-9.1	227	1743	0.00	2.17	0.00	0.000	4	0.000	0.043	2274	1366	3521	0	0	0	0	0	0
1848	-0.57	-146.0	197.2	-9.6	236	1852	0.00	2.22	0.00	0.000	6	0.000	0.054	2275	2747	3521	0	0	0	0	0	0
2173	-0.57	-146.0	225.0	-8.5	266	2174	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2747	3521	0	0	0	0	0	0
2492	-0.57	-146.0	252.1	-7.9	296	2496	0.00	2.12	0.00	0.000	4	0.000	0.043	2274	1372	3521	0	0	0	0	0	0
2570	-0.57	-146.0	258.8	-8.6	302	2577	0.00	2.17	0.00	0.000	6	0.000	0.054	2274	2729	3521	0	0	0	0	0	0
2897	-0.57	-146.0	284.3	-8.3	333	2898	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2729	3522	0	0	0	0	0	0
3217	-0.57	-146.0	309.9	-7.6	363	3220	0.00	2.10	0.00	0.000	4	0.000	0.043	2274	1369	3522	0	0	0	0	0	0
3295	-0.57	-146.0	316.8	-8.0	369	3301	0.00	2.17	0.00	0.000	6	0.000	0.054	2275	2713	3522	0	0	0	0	0	0
3620	-0.57	-146.0	341.6	-7.2	400	3624	0.00	2.03	0.00	0.000	4	0.000	0.064	2274	3924	3522	0	0	0	0	0	0
3658	-0.57	-146.0	344.5	-7.4	403	3665	0.00	1.90	0.00	0.000	6	0.000	0.040	2275	2709	3522	0	0	0	0	0	0
3983	-0.57	-146.0	367.8	-7.1	434	3987	0.00	2.05	0.00	0.000	4	0.000	0.043	2274	1370	3522	0	0	0	0	0	0
4010	-0.57	-146.0	370.0	-7.7	436	4017	0.00	2.20	0.00	0.000	6	0.000	0.054	2274	2726	3522	0	0	0	0	0	0
4336	-0.57	-146.0	393.0	-6.6	467	4338	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2727	3522	0	0	0	0	0	0
4658	-0.57	-146.0	414.8	-6.7	497	4661	0.00	2.10	0.00	0.000	4	0.000	0.043	2274	1369	3522	0	0	0	0	0	0
4692	-0.57	-146.0	417.6	-7.3	500	4696	0.00	2.17	0.00	0.000	6	0.000	0.054	2274	2714	3522	0	0	0	0	0	0
5023	-0.57	-146.0	440.0	-6.5	531	5024	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2714	3522	0	0	0	0	0	0
5342	-0.57	-146.0	461.2	-6.2	561	5343	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2714	3523	0	0	0	0	0	0
5663	-0.57	-146.0	481.9	-6.8	591	5667	0.00	2.08	0.00	0.000	4	0.000	0.042	2274	1368	3522	0	0	0	0	0	0
5698	-0.57	-146.0	484.5	-7.2	594	5702	0.00	2.17	0.00	0.000	6	0.000	0.054	2274	2716	3522	0	0	0	0	0	0
6036	-0.57	-146.0	506.5	-6.6	620	6038	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2716	3522	0	0	0	0	0	0
6342	-0.57	-146.0	527.2	-6.7	630	6343	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2717	3523	0	0	0	0	0	0
6649	-0.57	-146.0	547.2	-6.4	640	6652	0.00	2.10	0.00	0.000	4	0.000	0.043	2274	1373	3523	0	0	0	0	0	0
6687	-0.57	-146.0	550.1	-6.6	641	6691	0.00	2.17	0.00	0.000	6	0.000	0.054	2274	2723	3523	0	0	0	0	0	0
7023	-0.57	-146.0	573.4	-7.2	652	7024	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2723	3523	0	0	0	0	0	0
7329	-0.57	-146.0	595.1	-7.0	662	7332	0.00	2.00	0.00	0.000	4	0.000	0.067	2272	3935	3523	0	0	0	0	0	0
7350	-0.57	-146.0	596.7	-7.1	662	7354	0.00	1.98	0.00	0.000	6	0.000	0.041	2272	2703	3523	0	0	0	0	0	0
7669	-0.57	-146.0	619.4	-7.2	673	7670	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2703	3522	0	0	0	0	0	0
7975	-0.57	-146.0	642.4	-7.5	683	7977	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2703	3522	0	0	0	0	0	0
8279	end dive: TARGET_DEPTH_EXCEEDED
state	8279	begin apogee
8285	-0.14	0.0	665.1	7.4	693	8412	0.45	0.00	119.18	0.991	4	0.126	0.000	2424	2596	2922	0	0	0	0	0	0
8412	end apogee: CONTROL_FINISHED_OK
state	8412	begin climb
8414	0.57	146.0	668.8	0.0	697	8547	0.68	2.35	124.15	0.973	4	0.065	0.045	2669	1183	2327	0	0	0	0	0	0
8740	0.57	146.0	637.2	12.2	707	8744	0.00	2.38	0.00	0.000	6	0.000	0.053	2668	2600	2318	0	0	0	0	0	0
9074	0.57	146.0	591.7	14.0	718	9078	0.00	2.25	0.00	0.000	4	0.000	0.049	2672	1190	2315	0	0	0	0	0	0
9305	0.57	146.0	561.6	12.4	725	9309	0.00	2.30	0.00	0.000	6	0.000	0.053	2672	2602	2314	0	0	0	0	0	0
9640	0.57	146.0	515.3	14.0	736	9644	0.00	2.17	0.00	0.000	4	0.000	0.064	2672	3926	2313	0	0	0	0	0	0
9688	0.57	146.0	507.2	16.4	737	9693	0.00	2.15	0.00	0.000	6	0.000	0.041	2679	2592	2311	0	0	0	0	0	0
10019	0.57	146.0	458.1	15.2	764	10020	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2591	2311	0	0	0	0	0	0
10337	0.57	146.0	410.6	14.8	794	10338	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2591	2310	0	0	0	0	0	0
10658	0.57	146.0	364.8	14.3	824	10662	0.00	2.25	0.00	0.000	4	0.000	0.065	2679	3933	2310	0	0	0	0	0	0
10708	0.57	146.0	356.3	16.6	828	10712	0.00	2.12	0.00	0.000	6	0.000	0.041	2681	2592	2309	0	0	0	0	0	0
11039	0.57	146.0	309.4	14.1	859	11040	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2591	2309	0	0	0	0	0	0
11358	0.57	146.0	266.8	13.4	889	11360	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2591	2309	0	0	0	0	0	0
11678	0.57	146.0	223.9	13.5	919	11680	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2591	2309	0	0	0	0	0	0
11995	0.57	146.0	184.2	12.7	949	11996	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2591	2309	0	0	0	0	0	0
12315	0.57	146.0	144.6	12.4	979	12319	0.00	2.17	0.00	0.000	4	0.000	0.047	2680	1188	2309	0	0	0	0	0	0
12399	0.57	146.0	134.5	11.3	986	12403	0.00	2.25	0.00	0.000	6	0.000	0.050	2680	2602	2309	0	0	0	0	0	0
12726	0.57	146.0	94.7	11.5	1020	12732	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2603	2309	0	0	0	0	0	0
13067	0.58	166.3	59.3	9.1	1081	13088	0.00	2.22	14.77	0.600	4	0.000	0.062	2681	3926	2245	0	0	0	0	0	0
13106	0.58	166.3	55.4	10.4	1087	13113	0.00	2.10	0.00	0.000	6	0.000	0.039	2687	2589	2243	0	0	0	0	0	0
13452	0.60	195.8	22.7	8.6	1148	13482	0.00	0.00	24.33	0.587	6	0.000	0.000	2687	2589	2126	0	0	0	0	0	0
13655	end climb: SURFACE_DEPTH_REACHED
state	13655	begin surface coast
13684	end surface coast: CONTROL_FINISHED_OK
state	13684	begin surface