Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 38 * 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 38 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 24 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 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 -7735.3784 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 -7735.3784

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 24 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 38 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 140910,144936,6642.134,-6002.091,23,1.0,23,-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 0.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140910,145414,6642.123,-6002.075,14,1.6,14,-38.0 MHEAD_RNG_PITCHd_Wd 112.6,145386,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 635

Post-dive calculations and measurements:

FINISH -0.1,1.024581 _24V_AH 23.1,8.649

SM_CCo 12648,37.78,0.090,0,0,1495,350.04 _10V_AH 10.3,5.697

SM_GC 1.33,0.00,0.00,37.78,0.000,0.000,0.090,306,2786,1495,-6.78,0.17,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 678 FG_AHR_10Vo 0.000

RAFOS 0,1284480070,16.033333,16.019444,43,42,42,42,41,40,1796,1766,26,1391,1134,1589 MEM 151580

RAFOS_FIX 6643.150391,-5957.478516,140910,161612,4,94,0.64 DATA_FILE_SIZE 49914,1253

IRIDIUM_FIX 6614.97,-6013.96,140910,111102 CAP_FILE_SIZE 136665,0

TT8_MAMPS 0.028462 CFSIZE 260165632,248737792

HUMID 50.27 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.53396 SOUNDSPEED 1454.5

TCM_TEMP 14.40 GPS 140910,182754,6644.204,-5958.477,26,0.8,43,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 281 110.23 SBE_CT 889 24 492.94

Roll_motor 100 87 202.51 SBE_O2 929 19 407.82

VBD_pump_during_apogee 354 1012 8290.92 nil 0 0 0.00

VBD_pump_during_surface 37 90 78.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 55.88 nil 0 0 0.00

Iridium_during_connect 38 160 142.46 nil 0 0 0.00

Iridium_during_xfer 107 223 555.40 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 9.06

TT8 3018 19 619.28

LPSleep 7055 2 167.87

TT8_Active 507 19 104.13

TT8_Sampling 2287 39 940.46

TT8_CF8 122 45 57.84

TT8_Kalman 0 0 0.00

Analog_circuits 1607 12 198.71

GPS_charging 0 0 0.00

Compass 2069 15 319.78

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.57 -146.0 0.0 0.0 0 97 0.00 0.00 -80.55 0.000 2 0.000 0.000 303 2787 3242 0 0 0 0 0 0

99 -0.57 -146.0 6.0 -14.5 14 119 8.82 2.00 -5.15 0.000 4 0.282 0.083 2277 3935 3522 0 0 0 0 0 0

232 -0.57 -146.0 41.1 -15.6 37 238 0.00 1.92 0.00 0.000 6 0.000 0.050 2277 2767 3524 0 0 0 0 0 0

576 -0.57 -146.0 90.8 -13.9 98 583 0.00 2.25 0.00 0.000 4 0.000 0.054 2277 1368 3526 0 0 0 0 0 0

622 -0.57 -146.0 97.0 -12.6 106 629 0.00 2.35 0.00 0.000 6 0.000 0.066 2276 2782 3525 0 0 0 0 0 0

955 -0.57 -146.0 140.4 -12.8 139 958 0.00 1.92 0.00 0.000 4 0.000 0.076 2268 3932 3526 0 0 0 0 0 0

1033 -0.57 -146.0 150.7 -12.7 146 1037 0.00 1.85 0.00 0.000 6 0.000 0.050 2268 2788 3525 0 0 0 0 0 0

1363 -0.57 -146.0 186.5 -10.2 177 1367 0.00 2.25 0.00 0.000 4 0.000 0.055 2268 1365 3525 0 0 0 0 0 0

1394 -0.57 -146.0 189.8 -10.3 179 1402 0.00 2.38 0.00 0.000 6 0.000 0.067 2263 2784 3525 0 0 0 0 0 0

1720 -0.57 -146.0 228.6 -12.9 210 1723 0.00 1.92 0.00 0.000 4 0.000 0.077 2261 3929 3524 0 0 0 0 0 0

1802 -0.57 -146.0 239.8 -12.8 217 1810 0.00 1.85 0.00 0.000 6 0.000 0.050 2261 2796 3524 0 0 0 0 0 0

2128 -0.57 -146.0 279.5 -12.2 248 2132 0.10 2.28 0.00 0.000 4 0.203 0.055 2285 1371 3523 0 0 0 0 0 0

2198 -0.57 -146.0 287.5 -10.5 254 2206 0.00 2.35 0.00 0.000 6 0.000 0.067 2285 2780 3523 0 0 0 0 0 0

2524 -0.57 -146.0 318.9 -9.2 285 2528 0.00 1.95 0.00 0.000 4 0.000 0.077 2278 3929 3523 0 0 0 0 0 0

2591 -0.57 -146.0 325.6 -10.1 291 2595 0.00 1.80 0.00 0.000 6 0.000 0.051 2278 2793 3522 0 0 0 0 0 0

2921 -0.57 -146.0 355.3 -8.7 322 2925 0.00 2.22 0.00 0.000 4 0.000 0.054 2278 1371 3522 0 0 0 0 0 0

2986 -0.57 -146.0 361.2 -9.7 327 2994 0.00 2.35 0.00 0.000 6 0.000 0.066 2276 2785 3522 0 0 0 0 0 0

3312 -0.57 -146.0 390.0 -9.2 358 3316 0.00 1.92 0.00 0.000 4 0.000 0.076 2268 3926 3522 0 0 0 0 0 0

3379 -0.57 -146.0 396.3 -9.6 364 3383 0.00 1.83 0.00 0.000 6 0.000 0.050 2268 2783 3522 0 0 0 0 0 0

3709 -0.57 -146.0 425.5 -8.7 395 3710 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2783 3522 0 0 0 0 0 0

4029 -0.57 -146.0 451.8 -8.2 425 4033 0.00 2.22 0.00 0.000 4 0.000 0.054 2268 1370 3523 0 0 0 0 0 0

4083 -0.57 -146.0 456.4 -8.0 429 4091 0.00 2.35 0.00 0.000 6 0.000 0.066 2264 2791 3523 0 0 0 0 0 0

4409 -0.57 -146.0 482.7 -8.4 460 4412 0.00 1.88 0.00 0.000 4 0.000 0.076 2261 3932 3523 0 0 0 0 0 0

4454 -0.57 -146.0 486.4 -8.2 464 4460 0.10 1.80 0.00 0.000 6 0.194 0.050 2286 2785 3523 0 0 0 0 0 0

4785 -0.57 -146.0 508.3 -7.1 495 4789 0.00 2.20 0.00 0.000 4 0.000 0.053 2286 1369 3523 0 0 0 0 0 0

4829 -0.57 -146.0 511.8 -7.6 498 4836 0.00 2.33 0.00 0.000 6 0.000 0.065 2286 2794 3523 0 0 0 0 0 0

5154 -0.57 -146.0 533.9 -6.7 529 5155 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2794 3524 0 0 0 0 0 0

5473 -0.57 -146.0 555.0 -6.8 559 5474 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2793 3524 0 0 0 0 0 0

5795 -0.57 -146.0 576.6 -7.2 589 5801 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2794 3524 0 0 0 0 0 0

6120 -0.57 -146.0 599.2 -6.4 620 6121 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2793 3524 0 0 0 0 0 0

6447 -0.57 -146.0 622.5 -7.3 632 6451 0.00 2.25 0.00 0.000 4 0.000 0.052 2286 1363 3524 0 0 0 0 0 0

6479 -0.57 -146.0 625.0 -7.6 633 6483 0.00 2.35 0.00 0.000 6 0.000 0.064 2286 2791 3524 0 0 0 0 0 0

6629 end dive: TARGET_DEPTH_EXCEEDED

state 6629 begin apogee

6633 -0.14 0.0 635.5 7.0 638 6760 0.43 0.00 120.43 1.012 4 0.150 0.000 2424 2600 2922 0 0 0 0 0 0

6760 end apogee: CONTROL_FINISHED_OK

state 6761 begin climb

6762 0.57 146.0 639.0 0.0 642 6896 0.70 2.40 124.90 0.981 4 0.094 0.053 2653 1187 2327 0 0 0 0 0 0

7046 0.57 146.0 615.0 12.7 650 7054 0.00 2.45 0.00 0.000 6 0.000 0.058 2654 2599 2318 0 0 0 0 0 0

7367 0.57 146.0 577.5 11.8 673 7371 0.00 2.33 0.00 0.000 4 0.000 0.056 2664 1189 2315 0 0 0 0 0 0

7609 0.57 146.0 550.3 11.2 694 7613 0.00 2.35 0.00 0.000 6 0.000 0.060 2664 2610 2315 0 0 0 0 0 0

7933 0.57 146.0 511.0 12.3 724 7937 0.00 2.20 0.00 0.000 4 0.000 0.071 2664 3925 2313 0 0 0 0 0 0

7986 0.57 146.0 503.0 14.6 728 7995 0.00 2.17 0.00 0.000 6 0.000 0.047 2673 2600 2312 0 0 0 0 0 0

8312 0.57 146.0 459.6 13.1 759 8313 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2600 2312 0 0 0 0 0 0

8631 0.57 146.0 416.1 14.5 789 8633 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2600 2312 0 0 0 0 0 0

8950 0.57 146.0 373.8 12.0 819 8954 0.00 2.22 0.00 0.000 4 0.000 0.073 2673 3933 2312 0 0 0 0 0 0

8992 0.57 146.0 366.9 14.8 822 9000 0.00 2.15 0.00 0.000 6 0.000 0.047 2684 2608 2311 0 0 0 0 0 0

9318 0.57 146.0 323.3 13.3 853 9319 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2608 2311 0 0 0 0 0 0

9639 0.57 146.0 284.5 11.9 883 9643 0.00 2.20 0.00 0.000 4 0.000 0.073 2683 3933 2311 0 0 0 0 0 0

9689 0.57 146.0 277.4 14.8 887 9693 0.12 2.10 0.00 0.000 6 0.219 0.048 2664 2605 2310 0 0 0 0 0 0

10013 0.57 155.5 245.9 9.6 917 10024 0.00 0.00 6.57 0.708 6 0.000 0.000 2664 2604 2289 0 0 0 0 0 0

10342 0.58 162.3 212.6 9.7 948 10355 0.00 2.30 7.22 0.709 4 0.000 0.073 2664 3932 2261 0 0 0 0 0 0

10400 0.58 162.3 205.8 12.8 953 10404 0.00 2.10 0.00 0.000 6 0.000 0.047 2671 2610 2261 0 0 0 0 0 0

10730 0.58 162.3 170.3 10.5 984 10734 0.00 2.22 0.00 0.000 4 0.000 0.057 2681 1191 2260 0 0 0 0 0 0

10784 0.58 162.3 164.6 10.1 988 10792 0.00 2.33 0.00 0.000 6 0.000 0.060 2681 2604 2260 0 0 0 0 0 0

11110 0.61 206.3 134.8 8.0 1019 11152 0.00 0.00 36.95 0.718 6 0.000 0.000 2680 2604 2084 0 0 0 0 0 0

11470 0.62 233.7 104.5 8.7 1053 11503 0.00 2.35 23.42 0.698 4 0.000 0.073 2681 3932 1968 0 0 0 0 0 0

11532 0.62 233.7 98.4 11.1 1059 11539 0.00 2.20 0.00 0.000 6 0.000 0.048 2690 2597 1966 0 0 0 0 0 0

11877 0.63 236.4 62.5 9.9 1120 11884 0.00 2.25 0.00 0.000 4 0.000 0.073 2690 3926 1962 0 0 0 0 0 0

11946 0.63 236.4 54.5 12.0 1132 11953 0.00 2.12 0.00 0.000 6 0.000 0.048 2699 2618 1961 0 0 0 0 0 0

12291 0.64 251.8 20.2 9.3 1193 12315 0.00 2.38 15.02 0.672 4 0.000 0.058 2707 1193 1895 0 0 0 0 0 0

12558 0.70 344.6 4.1 5.7 1240 12583 0.00 2.30 20.10 0.666 2 0.000 0.061 2707 2599 1798 0 0 0 0 0 0

12584 end climb: SURFACE_DEPTH_REACHED

state 12584 begin surface coast

12635 end surface coast: CONTROL_FINISHED_OK

state 12635 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	38	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	24	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	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	-7735.3784	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	140910,144936,6642.134,-6002.091,23,1.0,23,-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	0.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140910,145414,6642.123,-6002.075,14,1.6,14,-38.0	MHEAD_RNG_PITCHd_Wd	112.6,145386,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	635

FINISH	-0.1,1.024581	_24V_AH	23.1,8.649
SM_CCo	12648,37.78,0.090,0,0,1495,350.04	_10V_AH	10.3,5.697
SM_GC	1.33,0.00,0.00,37.78,0.000,0.000,0.090,306,2786,1495,-6.78,0.17,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	678	FG_AHR_10Vo	0.000
RAFOS	0,1284480070,16.033333,16.019444,43,42,42,42,41,40,1796,1766,26,1391,1134,1589	MEM	151580
RAFOS_FIX	6643.150391,-5957.478516,140910,161612,4,94,0.64	DATA_FILE_SIZE	49914,1253
IRIDIUM_FIX	6614.97,-6013.96,140910,111102	CAP_FILE_SIZE	136665,0
TT8_MAMPS	0.028462	CFSIZE	260165632,248737792
HUMID	50.27	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.53396	SOUNDSPEED	1454.5
TCM_TEMP	14.40	GPS	140910,182754,6644.204,-5958.477,26,0.8,43,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	281	110.23	SBE_CT	889	24	492.94
Roll_motor	100	87	202.51	SBE_O2	929	19	407.82
VBD_pump_during_apogee	354	1012	8290.92	nil	0	0	0.00
VBD_pump_during_surface	37	90	78.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	55.88	nil	0	0	0.00
Iridium_during_connect	38	160	142.46	nil	0	0	0.00
Iridium_during_xfer	107	223	555.40	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	9.06
TT8	3018	19	619.28
LPSleep	7055	2	167.87
TT8_Active	507	19	104.13
TT8_Sampling	2287	39	940.46
TT8_CF8	122	45	57.84
TT8_Kalman	0	0	0.00
Analog_circuits	1607	12	198.71
GPS_charging	0	0	0.00
Compass	2069	15	319.78
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.57	-146.0	0.0	0.0	0	97	0.00	0.00	-80.55	0.000	2	0.000	0.000	303	2787	3242	0	0	0	0	0	0
99	-0.57	-146.0	6.0	-14.5	14	119	8.82	2.00	-5.15	0.000	4	0.282	0.083	2277	3935	3522	0	0	0	0	0	0
232	-0.57	-146.0	41.1	-15.6	37	238	0.00	1.92	0.00	0.000	6	0.000	0.050	2277	2767	3524	0	0	0	0	0	0
576	-0.57	-146.0	90.8	-13.9	98	583	0.00	2.25	0.00	0.000	4	0.000	0.054	2277	1368	3526	0	0	0	0	0	0
622	-0.57	-146.0	97.0	-12.6	106	629	0.00	2.35	0.00	0.000	6	0.000	0.066	2276	2782	3525	0	0	0	0	0	0
955	-0.57	-146.0	140.4	-12.8	139	958	0.00	1.92	0.00	0.000	4	0.000	0.076	2268	3932	3526	0	0	0	0	0	0
1033	-0.57	-146.0	150.7	-12.7	146	1037	0.00	1.85	0.00	0.000	6	0.000	0.050	2268	2788	3525	0	0	0	0	0	0
1363	-0.57	-146.0	186.5	-10.2	177	1367	0.00	2.25	0.00	0.000	4	0.000	0.055	2268	1365	3525	0	0	0	0	0	0
1394	-0.57	-146.0	189.8	-10.3	179	1402	0.00	2.38	0.00	0.000	6	0.000	0.067	2263	2784	3525	0	0	0	0	0	0
1720	-0.57	-146.0	228.6	-12.9	210	1723	0.00	1.92	0.00	0.000	4	0.000	0.077	2261	3929	3524	0	0	0	0	0	0
1802	-0.57	-146.0	239.8	-12.8	217	1810	0.00	1.85	0.00	0.000	6	0.000	0.050	2261	2796	3524	0	0	0	0	0	0
2128	-0.57	-146.0	279.5	-12.2	248	2132	0.10	2.28	0.00	0.000	4	0.203	0.055	2285	1371	3523	0	0	0	0	0	0
2198	-0.57	-146.0	287.5	-10.5	254	2206	0.00	2.35	0.00	0.000	6	0.000	0.067	2285	2780	3523	0	0	0	0	0	0
2524	-0.57	-146.0	318.9	-9.2	285	2528	0.00	1.95	0.00	0.000	4	0.000	0.077	2278	3929	3523	0	0	0	0	0	0
2591	-0.57	-146.0	325.6	-10.1	291	2595	0.00	1.80	0.00	0.000	6	0.000	0.051	2278	2793	3522	0	0	0	0	0	0
2921	-0.57	-146.0	355.3	-8.7	322	2925	0.00	2.22	0.00	0.000	4	0.000	0.054	2278	1371	3522	0	0	0	0	0	0
2986	-0.57	-146.0	361.2	-9.7	327	2994	0.00	2.35	0.00	0.000	6	0.000	0.066	2276	2785	3522	0	0	0	0	0	0
3312	-0.57	-146.0	390.0	-9.2	358	3316	0.00	1.92	0.00	0.000	4	0.000	0.076	2268	3926	3522	0	0	0	0	0	0
3379	-0.57	-146.0	396.3	-9.6	364	3383	0.00	1.83	0.00	0.000	6	0.000	0.050	2268	2783	3522	0	0	0	0	0	0
3709	-0.57	-146.0	425.5	-8.7	395	3710	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	2783	3522	0	0	0	0	0	0
4029	-0.57	-146.0	451.8	-8.2	425	4033	0.00	2.22	0.00	0.000	4	0.000	0.054	2268	1370	3523	0	0	0	0	0	0
4083	-0.57	-146.0	456.4	-8.0	429	4091	0.00	2.35	0.00	0.000	6	0.000	0.066	2264	2791	3523	0	0	0	0	0	0
4409	-0.57	-146.0	482.7	-8.4	460	4412	0.00	1.88	0.00	0.000	4	0.000	0.076	2261	3932	3523	0	0	0	0	0	0
4454	-0.57	-146.0	486.4	-8.2	464	4460	0.10	1.80	0.00	0.000	6	0.194	0.050	2286	2785	3523	0	0	0	0	0	0
4785	-0.57	-146.0	508.3	-7.1	495	4789	0.00	2.20	0.00	0.000	4	0.000	0.053	2286	1369	3523	0	0	0	0	0	0
4829	-0.57	-146.0	511.8	-7.6	498	4836	0.00	2.33	0.00	0.000	6	0.000	0.065	2286	2794	3523	0	0	0	0	0	0
5154	-0.57	-146.0	533.9	-6.7	529	5155	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	2794	3524	0	0	0	0	0	0
5473	-0.57	-146.0	555.0	-6.8	559	5474	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	2793	3524	0	0	0	0	0	0
5795	-0.57	-146.0	576.6	-7.2	589	5801	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	2794	3524	0	0	0	0	0	0
6120	-0.57	-146.0	599.2	-6.4	620	6121	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	2793	3524	0	0	0	0	0	0
6447	-0.57	-146.0	622.5	-7.3	632	6451	0.00	2.25	0.00	0.000	4	0.000	0.052	2286	1363	3524	0	0	0	0	0	0
6479	-0.57	-146.0	625.0	-7.6	633	6483	0.00	2.35	0.00	0.000	6	0.000	0.064	2286	2791	3524	0	0	0	0	0	0
6629	end dive: TARGET_DEPTH_EXCEEDED
state	6629	begin apogee
6633	-0.14	0.0	635.5	7.0	638	6760	0.43	0.00	120.43	1.012	4	0.150	0.000	2424	2600	2922	0	0	0	0	0	0
6760	end apogee: CONTROL_FINISHED_OK
state	6761	begin climb
6762	0.57	146.0	639.0	0.0	642	6896	0.70	2.40	124.90	0.981	4	0.094	0.053	2653	1187	2327	0	0	0	0	0	0
7046	0.57	146.0	615.0	12.7	650	7054	0.00	2.45	0.00	0.000	6	0.000	0.058	2654	2599	2318	0	0	0	0	0	0
7367	0.57	146.0	577.5	11.8	673	7371	0.00	2.33	0.00	0.000	4	0.000	0.056	2664	1189	2315	0	0	0	0	0	0
7609	0.57	146.0	550.3	11.2	694	7613	0.00	2.35	0.00	0.000	6	0.000	0.060	2664	2610	2315	0	0	0	0	0	0
7933	0.57	146.0	511.0	12.3	724	7937	0.00	2.20	0.00	0.000	4	0.000	0.071	2664	3925	2313	0	0	0	0	0	0
7986	0.57	146.0	503.0	14.6	728	7995	0.00	2.17	0.00	0.000	6	0.000	0.047	2673	2600	2312	0	0	0	0	0	0
8312	0.57	146.0	459.6	13.1	759	8313	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2600	2312	0	0	0	0	0	0
8631	0.57	146.0	416.1	14.5	789	8633	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2600	2312	0	0	0	0	0	0
8950	0.57	146.0	373.8	12.0	819	8954	0.00	2.22	0.00	0.000	4	0.000	0.073	2673	3933	2312	0	0	0	0	0	0
8992	0.57	146.0	366.9	14.8	822	9000	0.00	2.15	0.00	0.000	6	0.000	0.047	2684	2608	2311	0	0	0	0	0	0
9318	0.57	146.0	323.3	13.3	853	9319	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2608	2311	0	0	0	0	0	0
9639	0.57	146.0	284.5	11.9	883	9643	0.00	2.20	0.00	0.000	4	0.000	0.073	2683	3933	2311	0	0	0	0	0	0
9689	0.57	146.0	277.4	14.8	887	9693	0.12	2.10	0.00	0.000	6	0.219	0.048	2664	2605	2310	0	0	0	0	0	0
10013	0.57	155.5	245.9	9.6	917	10024	0.00	0.00	6.57	0.708	6	0.000	0.000	2664	2604	2289	0	0	0	0	0	0
10342	0.58	162.3	212.6	9.7	948	10355	0.00	2.30	7.22	0.709	4	0.000	0.073	2664	3932	2261	0	0	0	0	0	0
10400	0.58	162.3	205.8	12.8	953	10404	0.00	2.10	0.00	0.000	6	0.000	0.047	2671	2610	2261	0	0	0	0	0	0
10730	0.58	162.3	170.3	10.5	984	10734	0.00	2.22	0.00	0.000	4	0.000	0.057	2681	1191	2260	0	0	0	0	0	0
10784	0.58	162.3	164.6	10.1	988	10792	0.00	2.33	0.00	0.000	6	0.000	0.060	2681	2604	2260	0	0	0	0	0	0
11110	0.61	206.3	134.8	8.0	1019	11152	0.00	0.00	36.95	0.718	6	0.000	0.000	2680	2604	2084	0	0	0	0	0	0
11470	0.62	233.7	104.5	8.7	1053	11503	0.00	2.35	23.42	0.698	4	0.000	0.073	2681	3932	1968	0	0	0	0	0	0
11532	0.62	233.7	98.4	11.1	1059	11539	0.00	2.20	0.00	0.000	6	0.000	0.048	2690	2597	1966	0	0	0	0	0	0
11877	0.63	236.4	62.5	9.9	1120	11884	0.00	2.25	0.00	0.000	4	0.000	0.073	2690	3926	1962	0	0	0	0	0	0
11946	0.63	236.4	54.5	12.0	1132	11953	0.00	2.12	0.00	0.000	6	0.000	0.048	2699	2618	1961	0	0	0	0	0	0
12291	0.64	251.8	20.2	9.3	1193	12315	0.00	2.38	15.02	0.672	4	0.000	0.058	2707	1193	1895	0	0	0	0	0	0
12558	0.70	344.6	4.1	5.7	1240	12583	0.00	2.30	20.10	0.666	2	0.000	0.061	2707	2599	1798	0	0	0	0	0	0
12584	end climb: SURFACE_DEPTH_REACHED
state	12584	begin surface coast
12635	end surface coast: CONTROL_FINISHED_OK
state	12635	begin surface