Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 37 * 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 37 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 18 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 1.75 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 -7734.0278 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 0 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 -7734.0278

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 1.75 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 18 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 37 NAV_MODE 0 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 140910,112931,6641.807,-6005.873,36,1.9,36,-38.0 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 0.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140910,113436,6641.773,-6005.773,13,1.1,29,-38.0 MHEAD_RNG_PITCHd_Wd 112.6,148132,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 592

Post-dive calculations and measurements:

FINISH 0.0,1.021970 _24V_AH 23.2,8.548

SM_CCo 11553,28.38,0.473,1,0,1495,350.04 _10V_AH 10.3,5.618

SM_GC 1.30,0.00,0.00,28.38,0.000,0.000,0.473,305,2787,1495,-6.78,0.20,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 619 FG_AHR_10Vo 0.000

RAFOS 0,1284465665,12.033333,12.018056,50,46,46,43,42,41,1619,401,846,1415,777,1582 MEM 151632

RAFOS_FIX 6641.992188,-6001.808594,140910,121212,4,99,0.81 DATA_FILE_SIZE 46674,1215

IRIDIUM_FIX 6614.97,-6001.83,140910,080820 CAP_FILE_SIZE 132328,0

TT8_MAMPS 0.029211 CFSIZE 260165632,248815616

HUMID 50.07 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.53396 SOUNDSPEED 1454.4

TCM_TEMP 14.40 GPS 140910,144936,6642.134,-6002.091,23,1.0,23,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 281 111.19 SBE_CT 857 24 477.67

Roll_motor 109 81 207.37 SBE_O2 898 19 396.12

VBD_pump_during_apogee 369 985 8440.84 nil 0 0 0.00

VBD_pump_during_surface 28 472 311.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 68.84 nil 0 0 0.00

Iridium_during_connect 41 160 154.14 nil 0 0 0.00

Iridium_during_xfer 109 223 564.20 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 16.48

TT8 2892 19 593.50

LPSleep 6198 2 147.47

TT8_Active 508 19 104.35

TT8_Sampling 2201 39 905.23

TT8_CF8 116 45 54.99

TT8_Kalman 0 0 0.00

Analog_circuits 1561 12 193.00

GPS_charging 0 0 0.00

Compass 1961 15 303.10

RAFOS 2520 3 77.87

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 97 0.00 0.00 -80.93 0.000 2 0.000 0.000 302 2704 3272 0 0 0 0 0 0

99 -0.57 -146.0 6.1 -18.6 14 119 8.82 2.15 -4.55 0.000 4 0.282 0.082 2276 3938 3523 0 0 0 0 0 0

350 -0.57 -146.0 64.8 -13.7 58 356 0.00 1.88 0.00 0.000 6 0.000 0.050 2276 2781 3526 0 0 0 0 0 0

690 -0.57 -146.0 109.0 -13.6 113 694 0.00 2.28 0.00 0.000 4 0.000 0.054 2276 1365 3525 0 0 0 0 0 0

722 -0.57 -146.0 113.6 -13.7 115 729 0.00 2.38 0.00 0.000 6 0.000 0.065 2274 2800 3526 0 0 0 0 0 0

1047 -0.57 -146.0 155.6 -12.1 146 1048 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2799 3526 0 0 0 0 0 0

1366 -0.57 -146.0 194.2 -12.0 176 1370 0.00 2.28 0.00 0.000 4 0.000 0.054 2275 1368 3525 0 0 0 0 0 0

1394 -0.57 -146.0 197.8 -12.4 178 1398 0.00 2.38 0.00 0.000 6 0.000 0.067 2274 2808 3525 0 0 0 0 0 0

1718 -0.57 -146.0 234.5 -9.6 208 1722 0.00 1.90 0.00 0.000 4 0.000 0.077 2271 3939 3525 0 0 0 0 0 0

1779 -0.57 -146.0 240.6 -9.6 213 1786 0.00 1.85 0.00 0.000 6 0.000 0.050 2271 2805 3525 0 0 0 0 0 0

2106 -0.57 -146.0 267.5 -7.8 244 2110 0.00 2.25 0.00 0.000 4 0.000 0.054 2270 1371 3523 0 0 0 0 0 0

2179 -0.57 -146.0 273.9 -8.7 250 2183 0.00 2.35 0.00 0.000 6 0.000 0.067 2265 2797 3524 0 0 0 0 0 0

2509 -0.57 -146.0 305.3 -9.8 281 2512 0.00 1.88 0.00 0.000 4 0.000 0.078 2261 3929 3524 0 0 0 0 0 0

2542 -0.57 -146.0 308.8 -10.2 284 2546 0.10 1.80 0.00 0.000 6 0.197 0.050 2286 2793 3523 0 0 0 0 0 0

2872 -0.57 -146.0 337.0 -8.6 315 2875 0.00 2.22 0.00 0.000 4 0.000 0.054 2285 1372 3523 0 0 0 0 0 0

2943 -0.57 -146.0 343.5 -8.9 321 2951 0.00 2.35 0.00 0.000 6 0.000 0.066 2285 2784 3523 0 0 0 0 0 0

3268 -0.57 -146.0 372.0 -8.4 352 3270 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 2784 3523 0 0 0 0 0 0

3587 -0.57 -146.0 398.7 -8.1 382 3591 0.00 1.90 0.00 0.000 4 0.000 0.076 2278 3939 3523 0 0 0 0 0 0

3638 -0.57 -146.0 403.1 -8.6 386 3644 0.00 1.83 0.00 0.000 6 0.000 0.050 2278 2783 3523 0 0 0 0 0 0

3965 -0.57 -146.0 430.9 -8.4 417 3966 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 2782 3522 0 0 0 0 0 0

4281 -0.57 -146.0 456.0 -8.2 447 4285 0.00 2.22 0.00 0.000 4 0.000 0.054 2278 1365 3524 0 0 0 0 0 0

4309 -0.57 -146.0 458.5 -8.6 449 4313 0.00 2.33 0.00 0.000 6 0.000 0.065 2275 2789 3524 0 0 0 0 0 0

4639 -0.57 -146.0 485.8 -7.9 480 4643 0.00 2.22 0.00 0.000 4 0.000 0.053 2275 1366 3524 0 0 0 0 0 0

4667 -0.57 -146.0 488.1 -8.1 482 4671 0.00 2.30 0.00 0.000 6 0.000 0.065 2275 2784 3524 0 0 0 0 0 0

4996 -0.57 -146.0 512.9 -7.7 513 5000 0.00 1.88 0.00 0.000 4 0.000 0.076 2274 3928 3524 0 0 0 0 0 0

5030 -0.57 -146.0 515.4 -7.8 516 5034 0.00 1.80 0.00 0.000 6 0.000 0.049 2274 2779 3524 0 0 0 0 0 0

5361 -0.57 -146.0 539.9 -7.6 547 5364 0.00 2.20 0.00 0.000 4 0.000 0.053 2275 1371 3524 0 0 0 0 0 0

5406 -0.57 -146.0 543.3 -7.2 551 5410 0.00 2.28 0.00 0.000 6 0.000 0.065 2272 2781 3524 0 0 0 0 0 0

5730 -0.57 -146.0 567.4 -7.3 581 5734 0.00 1.88 0.00 0.000 4 0.000 0.076 2265 3930 3525 0 0 0 0 0 0

5756 -0.57 -146.0 569.4 -7.9 583 5764 0.00 1.85 0.00 0.000 6 0.000 0.048 2265 2778 3525 0 0 0 0 0 0

6049 end dive: TARGET_DEPTH_EXCEEDED

state 6050 begin apogee

6053 -0.14 0.0 592.8 8.2 611 6184 0.50 0.00 120.38 0.985 4 0.155 0.000 2424 2599 2923 0 0 0 0 0 0

6184 end apogee: CONTROL_FINISHED_OK

state 6185 begin climb

6186 0.57 146.0 595.1 0.0 623 6320 0.70 2.40 124.28 0.959 4 0.095 0.052 2654 1184 2327 0 0 0 0 0 0

6461 0.57 146.0 569.3 12.2 648 6465 0.00 2.42 0.00 0.000 6 0.000 0.058 2654 2607 2319 0 0 0 0 0 0

6785 0.57 146.0 528.4 12.5 678 6789 0.00 2.33 0.00 0.000 4 0.000 0.056 2665 1187 2315 0 0 0 0 0 0

7008 0.57 146.0 501.0 12.6 697 7016 0.00 2.40 0.00 0.000 6 0.000 0.059 2665 2612 2315 0 0 0 0 0 0

7334 0.57 146.0 459.7 12.8 728 7338 0.00 2.22 0.00 0.000 4 0.000 0.072 2665 3931 2313 0 0 0 0 0 0

7360 0.57 146.0 456.0 14.3 730 7368 0.00 2.20 0.00 0.000 6 0.000 0.047 2674 2592 2312 0 0 0 0 0 0

7686 0.57 146.0 413.4 13.1 761 7690 0.00 2.28 0.00 0.000 4 0.000 0.073 2674 3932 2312 0 0 0 0 0 0

7724 0.57 146.0 407.5 15.8 764 7731 0.00 2.12 0.00 0.000 6 0.000 0.047 2684 2614 2312 0 0 0 0 0 0

8048 0.57 146.0 363.0 14.0 795 8052 0.00 2.20 0.00 0.000 4 0.000 0.072 2684 3927 2312 0 0 0 0 0 0

8069 0.57 146.0 359.6 16.0 796 8077 0.10 2.12 0.00 0.000 6 0.195 0.047 2665 2617 2311 0 0 0 0 0 0

8395 0.57 146.0 318.9 12.5 827 8399 0.00 2.25 0.00 0.000 4 0.000 0.057 2674 1193 2311 0 0 0 0 0 0

8415 0.57 146.0 315.9 14.5 828 8423 0.00 2.35 0.00 0.000 6 0.000 0.059 2674 2616 2312 0 0 0 0 0 0

8741 0.57 146.0 275.1 12.1 859 8745 0.00 2.17 0.00 0.000 4 0.000 0.071 2674 3936 2312 0 0 0 0 0 0

8817 0.57 146.0 264.3 13.8 865 8825 0.00 2.12 0.00 0.000 6 0.000 0.047 2683 2622 2311 0 0 0 0 0 0

9143 0.57 146.0 225.1 11.5 896 9147 0.00 2.25 0.00 0.000 4 0.000 0.056 2694 1190 2311 0 0 0 0 0 0

9180 0.57 146.0 220.5 11.1 899 9188 0.10 2.35 0.00 0.000 6 0.177 0.060 2664 2621 2312 0 0 0 0 0 0

9505 0.57 146.0 186.4 10.7 930 9509 0.00 2.17 0.00 0.000 4 0.000 0.073 2664 3929 2312 0 0 0 0 0 0

9544 0.57 146.0 181.9 11.6 933 9547 0.00 2.10 0.00 0.000 6 0.000 0.047 2671 2610 2311 0 0 0 0 0 0

9874 0.59 183.5 152.7 8.3 964 9908 0.00 2.33 29.27 0.715 4 0.000 0.073 2671 3934 2174 0 0 0 0 0 0

9942 0.59 183.5 145.9 12.1 970 9946 0.00 2.12 0.00 0.000 6 0.000 0.047 2681 2625 2169 0 0 0 0 0 0

10271 0.59 183.5 112.1 10.2 1001 10275 0.00 2.20 0.00 0.000 4 0.000 0.073 2681 3933 2167 0 0 0 0 0 0

10314 0.59 183.5 106.9 12.4 1004 10322 0.00 2.10 0.00 0.000 6 0.000 0.047 2690 2650 2166 0 0 0 0 0 0

10654 0.59 183.5 71.2 10.2 1059 10660 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2649 2166 0 0 0 0 0 0

10997 0.63 236.6 42.5 7.6 1120 11050 0.00 2.45 43.35 0.672 4 0.000 0.058 2695 1187 1957 0 0 0 0 0 0

11102 0.65 278.3 34.4 8.1 1138 11143 0.00 2.42 35.08 0.666 6 0.000 0.061 2696 2647 1787 0 0 0 0 0 0

11480 0.68 322.8 3.9 7.9 1205 11499 0.00 0.00 16.90 0.649 2 0.000 0.000 2696 2647 1702 0 0 0 0 0 0

11500 end climb: SURFACE_DEPTH_REACHED

state 11500 begin surface coast

11540 end surface coast: CONTROL_FINISHED_OK

state 11540 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	37	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	18	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	1.75	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	-7734.0278	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	0	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	140910,112931,6641.807,-6005.873,36,1.9,36,-38.0	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	0.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140910,113436,6641.773,-6005.773,13,1.1,29,-38.0	MHEAD_RNG_PITCHd_Wd	112.6,148132,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	592

FINISH	0.0,1.021970	_24V_AH	23.2,8.548
SM_CCo	11553,28.38,0.473,1,0,1495,350.04	_10V_AH	10.3,5.618
SM_GC	1.30,0.00,0.00,28.38,0.000,0.000,0.473,305,2787,1495,-6.78,0.20,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	619	FG_AHR_10Vo	0.000
RAFOS	0,1284465665,12.033333,12.018056,50,46,46,43,42,41,1619,401,846,1415,777,1582	MEM	151632
RAFOS_FIX	6641.992188,-6001.808594,140910,121212,4,99,0.81	DATA_FILE_SIZE	46674,1215
IRIDIUM_FIX	6614.97,-6001.83,140910,080820	CAP_FILE_SIZE	132328,0
TT8_MAMPS	0.029211	CFSIZE	260165632,248815616
HUMID	50.07	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.53396	SOUNDSPEED	1454.4
TCM_TEMP	14.40	GPS	140910,144936,6642.134,-6002.091,23,1.0,23,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	281	111.19	SBE_CT	857	24	477.67
Roll_motor	109	81	207.37	SBE_O2	898	19	396.12
VBD_pump_during_apogee	369	985	8440.84	nil	0	0	0.00
VBD_pump_during_surface	28	472	311.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	68.84	nil	0	0	0.00
Iridium_during_connect	41	160	154.14	nil	0	0	0.00
Iridium_during_xfer	109	223	564.20	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	16.48
TT8	2892	19	593.50
LPSleep	6198	2	147.47
TT8_Active	508	19	104.35
TT8_Sampling	2201	39	905.23
TT8_CF8	116	45	54.99
TT8_Kalman	0	0	0.00
Analog_circuits	1561	12	193.00
GPS_charging	0	0	0.00
Compass	1961	15	303.10
RAFOS	2520	3	77.87
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	97	0.00	0.00	-80.93	0.000	2	0.000	0.000	302	2704	3272	0	0	0	0	0	0
99	-0.57	-146.0	6.1	-18.6	14	119	8.82	2.15	-4.55	0.000	4	0.282	0.082	2276	3938	3523	0	0	0	0	0	0
350	-0.57	-146.0	64.8	-13.7	58	356	0.00	1.88	0.00	0.000	6	0.000	0.050	2276	2781	3526	0	0	0	0	0	0
690	-0.57	-146.0	109.0	-13.6	113	694	0.00	2.28	0.00	0.000	4	0.000	0.054	2276	1365	3525	0	0	0	0	0	0
722	-0.57	-146.0	113.6	-13.7	115	729	0.00	2.38	0.00	0.000	6	0.000	0.065	2274	2800	3526	0	0	0	0	0	0
1047	-0.57	-146.0	155.6	-12.1	146	1048	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2799	3526	0	0	0	0	0	0
1366	-0.57	-146.0	194.2	-12.0	176	1370	0.00	2.28	0.00	0.000	4	0.000	0.054	2275	1368	3525	0	0	0	0	0	0
1394	-0.57	-146.0	197.8	-12.4	178	1398	0.00	2.38	0.00	0.000	6	0.000	0.067	2274	2808	3525	0	0	0	0	0	0
1718	-0.57	-146.0	234.5	-9.6	208	1722	0.00	1.90	0.00	0.000	4	0.000	0.077	2271	3939	3525	0	0	0	0	0	0
1779	-0.57	-146.0	240.6	-9.6	213	1786	0.00	1.85	0.00	0.000	6	0.000	0.050	2271	2805	3525	0	0	0	0	0	0
2106	-0.57	-146.0	267.5	-7.8	244	2110	0.00	2.25	0.00	0.000	4	0.000	0.054	2270	1371	3523	0	0	0	0	0	0
2179	-0.57	-146.0	273.9	-8.7	250	2183	0.00	2.35	0.00	0.000	6	0.000	0.067	2265	2797	3524	0	0	0	0	0	0
2509	-0.57	-146.0	305.3	-9.8	281	2512	0.00	1.88	0.00	0.000	4	0.000	0.078	2261	3929	3524	0	0	0	0	0	0
2542	-0.57	-146.0	308.8	-10.2	284	2546	0.10	1.80	0.00	0.000	6	0.197	0.050	2286	2793	3523	0	0	0	0	0	0
2872	-0.57	-146.0	337.0	-8.6	315	2875	0.00	2.22	0.00	0.000	4	0.000	0.054	2285	1372	3523	0	0	0	0	0	0
2943	-0.57	-146.0	343.5	-8.9	321	2951	0.00	2.35	0.00	0.000	6	0.000	0.066	2285	2784	3523	0	0	0	0	0	0
3268	-0.57	-146.0	372.0	-8.4	352	3270	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	2784	3523	0	0	0	0	0	0
3587	-0.57	-146.0	398.7	-8.1	382	3591	0.00	1.90	0.00	0.000	4	0.000	0.076	2278	3939	3523	0	0	0	0	0	0
3638	-0.57	-146.0	403.1	-8.6	386	3644	0.00	1.83	0.00	0.000	6	0.000	0.050	2278	2783	3523	0	0	0	0	0	0
3965	-0.57	-146.0	430.9	-8.4	417	3966	0.00	0.00	0.00	0.000	6	0.000	0.000	2278	2782	3522	0	0	0	0	0	0
4281	-0.57	-146.0	456.0	-8.2	447	4285	0.00	2.22	0.00	0.000	4	0.000	0.054	2278	1365	3524	0	0	0	0	0	0
4309	-0.57	-146.0	458.5	-8.6	449	4313	0.00	2.33	0.00	0.000	6	0.000	0.065	2275	2789	3524	0	0	0	0	0	0
4639	-0.57	-146.0	485.8	-7.9	480	4643	0.00	2.22	0.00	0.000	4	0.000	0.053	2275	1366	3524	0	0	0	0	0	0
4667	-0.57	-146.0	488.1	-8.1	482	4671	0.00	2.30	0.00	0.000	6	0.000	0.065	2275	2784	3524	0	0	0	0	0	0
4996	-0.57	-146.0	512.9	-7.7	513	5000	0.00	1.88	0.00	0.000	4	0.000	0.076	2274	3928	3524	0	0	0	0	0	0
5030	-0.57	-146.0	515.4	-7.8	516	5034	0.00	1.80	0.00	0.000	6	0.000	0.049	2274	2779	3524	0	0	0	0	0	0
5361	-0.57	-146.0	539.9	-7.6	547	5364	0.00	2.20	0.00	0.000	4	0.000	0.053	2275	1371	3524	0	0	0	0	0	0
5406	-0.57	-146.0	543.3	-7.2	551	5410	0.00	2.28	0.00	0.000	6	0.000	0.065	2272	2781	3524	0	0	0	0	0	0
5730	-0.57	-146.0	567.4	-7.3	581	5734	0.00	1.88	0.00	0.000	4	0.000	0.076	2265	3930	3525	0	0	0	0	0	0
5756	-0.57	-146.0	569.4	-7.9	583	5764	0.00	1.85	0.00	0.000	6	0.000	0.048	2265	2778	3525	0	0	0	0	0	0
6049	end dive: TARGET_DEPTH_EXCEEDED
state	6050	begin apogee
6053	-0.14	0.0	592.8	8.2	611	6184	0.50	0.00	120.38	0.985	4	0.155	0.000	2424	2599	2923	0	0	0	0	0	0
6184	end apogee: CONTROL_FINISHED_OK
state	6185	begin climb
6186	0.57	146.0	595.1	0.0	623	6320	0.70	2.40	124.28	0.959	4	0.095	0.052	2654	1184	2327	0	0	0	0	0	0
6461	0.57	146.0	569.3	12.2	648	6465	0.00	2.42	0.00	0.000	6	0.000	0.058	2654	2607	2319	0	0	0	0	0	0
6785	0.57	146.0	528.4	12.5	678	6789	0.00	2.33	0.00	0.000	4	0.000	0.056	2665	1187	2315	0	0	0	0	0	0
7008	0.57	146.0	501.0	12.6	697	7016	0.00	2.40	0.00	0.000	6	0.000	0.059	2665	2612	2315	0	0	0	0	0	0
7334	0.57	146.0	459.7	12.8	728	7338	0.00	2.22	0.00	0.000	4	0.000	0.072	2665	3931	2313	0	0	0	0	0	0
7360	0.57	146.0	456.0	14.3	730	7368	0.00	2.20	0.00	0.000	6	0.000	0.047	2674	2592	2312	0	0	0	0	0	0
7686	0.57	146.0	413.4	13.1	761	7690	0.00	2.28	0.00	0.000	4	0.000	0.073	2674	3932	2312	0	0	0	0	0	0
7724	0.57	146.0	407.5	15.8	764	7731	0.00	2.12	0.00	0.000	6	0.000	0.047	2684	2614	2312	0	0	0	0	0	0
8048	0.57	146.0	363.0	14.0	795	8052	0.00	2.20	0.00	0.000	4	0.000	0.072	2684	3927	2312	0	0	0	0	0	0
8069	0.57	146.0	359.6	16.0	796	8077	0.10	2.12	0.00	0.000	6	0.195	0.047	2665	2617	2311	0	0	0	0	0	0
8395	0.57	146.0	318.9	12.5	827	8399	0.00	2.25	0.00	0.000	4	0.000	0.057	2674	1193	2311	0	0	0	0	0	0
8415	0.57	146.0	315.9	14.5	828	8423	0.00	2.35	0.00	0.000	6	0.000	0.059	2674	2616	2312	0	0	0	0	0	0
8741	0.57	146.0	275.1	12.1	859	8745	0.00	2.17	0.00	0.000	4	0.000	0.071	2674	3936	2312	0	0	0	0	0	0
8817	0.57	146.0	264.3	13.8	865	8825	0.00	2.12	0.00	0.000	6	0.000	0.047	2683	2622	2311	0	0	0	0	0	0
9143	0.57	146.0	225.1	11.5	896	9147	0.00	2.25	0.00	0.000	4	0.000	0.056	2694	1190	2311	0	0	0	0	0	0
9180	0.57	146.0	220.5	11.1	899	9188	0.10	2.35	0.00	0.000	6	0.177	0.060	2664	2621	2312	0	0	0	0	0	0
9505	0.57	146.0	186.4	10.7	930	9509	0.00	2.17	0.00	0.000	4	0.000	0.073	2664	3929	2312	0	0	0	0	0	0
9544	0.57	146.0	181.9	11.6	933	9547	0.00	2.10	0.00	0.000	6	0.000	0.047	2671	2610	2311	0	0	0	0	0	0
9874	0.59	183.5	152.7	8.3	964	9908	0.00	2.33	29.27	0.715	4	0.000	0.073	2671	3934	2174	0	0	0	0	0	0
9942	0.59	183.5	145.9	12.1	970	9946	0.00	2.12	0.00	0.000	6	0.000	0.047	2681	2625	2169	0	0	0	0	0	0
10271	0.59	183.5	112.1	10.2	1001	10275	0.00	2.20	0.00	0.000	4	0.000	0.073	2681	3933	2167	0	0	0	0	0	0
10314	0.59	183.5	106.9	12.4	1004	10322	0.00	2.10	0.00	0.000	6	0.000	0.047	2690	2650	2166	0	0	0	0	0	0
10654	0.59	183.5	71.2	10.2	1059	10660	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2649	2166	0	0	0	0	0	0
10997	0.63	236.6	42.5	7.6	1120	11050	0.00	2.45	43.35	0.672	4	0.000	0.058	2695	1187	1957	0	0	0	0	0	0
11102	0.65	278.3	34.4	8.1	1138	11143	0.00	2.42	35.08	0.666	6	0.000	0.061	2696	2647	1787	0	0	0	0	0	0
11480	0.68	322.8	3.9	7.9	1205	11499	0.00	0.00	16.90	0.649	2	0.000	0.000	2696	2647	1702	0	0	0	0	0	0
11500	end climb: SURFACE_DEPTH_REACHED
state	11500	begin surface coast
11540	end surface coast: CONTROL_FINISHED_OK
state	11540	begin surface