Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 448 * 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 5

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 2.4000001

DIVE 448 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 44 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 31 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 3 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 4 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 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 3 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 -8303.0068 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 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 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 609.0799

AH0_24V 150 D_PITCH 3 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 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 4 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2.4000001 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 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 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

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 -8303.0068

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 0.1 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 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

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 44 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 31 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 448 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 4 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 4 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 031210,080920,6705.763,-5706.033,38,3.2,57,-37.7 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 1.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 031210,081619,6705.792,-5706.060,9,1.3,14,-37.7 MHEAD_RNG_PITCHd_Wd 292.3,151734,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 626

Post-dive calculations and measurements:

FREEZE 0.89,0.979,-1.778,0,1,0 ALTIM_TOP_PING 19.9,18.2

FINISH 0.9,1.026013 _24V_AH 22.5,54.122

SM_CCo 13033,222.88,0.078,0,0,440,609.08 _10V_AH 10.1,39.933

SM_GC 1.77,0.00,0.00,222.88,0.000,0.000,0.078,291,2792,440,-6.81,0.34,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 575 FG_AHR_10Vo 0.000

RAFOS 0,1291363262,8.033334,8.017222,51,45,44,43,42,40,516,1190,1290,1301,26,1734 MEM 151736

RAFOS_FIX 6707.672852,-5713.784180,031210,080828,2,62,4.73 DATA_FILE_SIZE 40040,1060

IRIDIUM_FIX 6636.54,-5655.33,031210,020200 CAP_FILE_SIZE 132696,0

TT8_MAMPS 0.028462 CFSIZE 260165632,218198016

HUMID 45.62 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.55349 SOUNDSPEED 1472.3

TCM_TEMP 16.60 GPS 031210,115924,6706.393,-5711.267,24,1.5,41,-37.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 243 89.08 SBE_CT 730 24 394.43

Roll_motor 84 68 129.87 SBE_O2 0 0 0.00

VBD_pump_during_apogee 315 970 6891.91 nil 0 0 0.00

VBD_pump_during_surface 222 78 391.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.38 nil 0 0 0.00

Iridium_during_connect 16 160 60.02 nil 0 0 0.00

Iridium_during_xfer 199 223 1001.29 nil 0 0 0.00

Transponder_ping 2 420 18.90 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.44

TT8 2596 19 522.43

LPSleep 8082 2 188.57

TT8_Active 668 19 134.58

TT8_Sampling 2040 39 822.73

TT8_CF8 306 45 142.30

TT8_Kalman 0 0 0.00

Analog_circuits 1640 12 198.88

GPS_charging 0 0 0.00

Compass 1784 15 270.30

RAFOS 1800 3 54.54

Transponder 15 30 4.55

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

16 -0.57 -146.0 0.0 0.0 0 151 0.00 0.00 -131.40 0.000 2 0.000 0.000 282 2786 3328 0 0 0 0 0 0

154 -0.57 -146.0 5.0 -10.8 23 173 8.18 2.22 -4.03 0.000 4 0.243 0.054 2283 1374 3519 0 0 0 0 0 0

259 -0.57 -146.0 28.5 -11.7 41 266 0.00 2.28 0.00 0.000 6 0.000 0.056 2275 2779 3522 0 0 0 0 0 0

604 -0.55 -146.0 69.1 -11.2 102 610 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2779 3520 0 0 0 0 0 0

951 -0.55 -146.0 104.1 -9.0 160 955 0.00 1.88 0.00 0.000 4 0.000 0.066 2268 3927 3520 0 0 0 0 0 0

979 -0.55 -146.0 106.8 -9.2 162 985 0.00 1.80 0.00 0.000 6 0.000 0.042 2268 2771 3520 0 0 0 0 0 0

1304 -0.55 -146.0 136.8 -9.0 193 1305 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2771 3519 0 0 0 0 0 0

1622 -0.55 -146.0 166.4 -9.6 223 1626 0.00 1.92 0.00 0.000 4 0.000 0.067 2259 3927 3520 0 0 0 0 0 0

1661 -0.55 -146.0 170.6 -10.9 226 1668 0.10 1.85 0.00 0.000 6 0.133 0.042 2294 2769 3520 0 0 0 0 0 0

1987 -0.63 -146.0 196.3 -7.1 257 1991 0.00 2.17 0.00 0.000 4 0.000 0.044 2295 1370 3520 0 0 0 0 0 0

2008 -0.72 -146.0 198.1 -7.6 258 2016 0.15 2.28 0.00 0.000 6 0.087 0.055 2221 2771 3520 0 0 0 0 0 0

2334 -0.66 -146.0 234.9 -11.4 289 2338 0.12 1.90 0.00 0.000 4 0.173 0.065 2249 3928 3520 0 0 0 0 0 0

2360 -0.66 -146.0 238.0 -10.4 291 2367 0.00 1.85 0.00 0.000 6 0.000 0.041 2249 2763 3520 0 0 0 0 0 0

2686 -0.66 -146.0 268.1 -9.0 322 2690 0.00 2.15 0.00 0.000 4 0.000 0.043 2248 1374 3521 0 0 0 0 0 0

2747 -0.66 -146.0 274.3 -9.7 327 2754 0.00 2.25 0.00 0.000 6 0.000 0.055 2247 2772 3521 0 0 0 0 0 0

3073 -0.66 -146.0 303.1 -8.5 358 3074 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2772 3522 0 0 0 0 0 0

3394 -0.66 -146.0 330.6 -8.9 388 3400 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2772 3523 0 0 0 0 0 0

3723 -0.66 -146.0 358.1 -8.2 419 3727 0.00 2.20 0.00 0.000 4 0.000 0.043 2247 1361 3523 0 0 0 0 0 0

3752 -0.66 -146.0 360.9 -8.9 421 3756 0.00 2.25 0.00 0.000 6 0.000 0.054 2247 2753 3523 0 0 0 0 0 0

4082 -0.66 -146.0 388.1 -8.7 452 4086 0.00 1.92 0.00 0.000 4 0.000 0.064 2247 3933 3523 0 0 0 0 0 0

4121 -0.66 -146.0 391.9 -9.6 455 4128 0.00 1.88 0.00 0.000 6 0.000 0.041 2247 2749 3524 0 0 0 0 0 0

4458 -0.66 -146.0 422.7 -8.8 472 4460 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2748 3524 0 0 0 0 0 0

4764 -0.66 -146.0 449.1 -8.2 482 4765 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2749 3524 0 0 0 0 0 0

5070 -0.66 -146.0 475.4 -8.9 492 5071 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2749 3525 0 0 0 0 0 0

5378 -0.66 -146.0 500.8 -8.5 502 5382 0.00 1.98 0.00 0.000 4 0.000 0.066 2247 3930 3525 0 0 0 0 0 0

5428 -0.69 -146.0 505.6 -9.4 503 5431 0.00 1.83 0.00 0.000 6 0.000 0.042 2247 2757 3525 0 0 0 0 0 0

5752 -0.69 -146.0 532.8 -8.3 514 5756 0.00 1.98 0.00 0.000 4 0.000 0.067 2247 3920 3525 0 0 0 0 0 0

5787 -0.69 -146.0 535.7 -8.8 515 5790 0.00 1.80 0.00 0.000 6 0.000 0.044 2247 2764 3525 0 0 0 0 0 0

6128 -0.69 -146.0 562.5 -7.6 526 6129 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2763 3525 0 0 0 0 0 0

6435 -0.69 -146.0 587.3 -8.5 536 6438 0.00 1.98 0.00 0.000 4 0.000 0.068 2247 3936 3524 0 0 0 0 0 0

6462 -0.69 -146.0 589.9 -8.5 536 6469 0.00 1.88 0.00 0.000 6 0.000 0.043 2247 2766 3524 0 0 0 0 0 0

6775 -0.71 -146.0 613.4 -7.4 547 6777 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2766 3523 0 0 0 0 0 0

6956 end dive: TARGET_DEPTH_EXCEEDED

state 6956 begin apogee

6963 -0.14 0.0 627.7 7.9 553 7089 0.52 0.00 120.07 0.971 4 0.130 0.000 2421 2596 2923 0 0 0 0 0 0

7090 end apogee: CONTROL_FINISHED_OK

state 7090 begin climb

7092 0.57 146.0 630.0 0.0 557 7228 0.68 2.35 125.00 0.946 4 0.067 0.046 2664 1180 2326 0 0 0 0 0 0

7413 0.57 146.0 598.0 12.2 566 7420 0.00 2.38 0.00 0.000 6 0.000 0.050 2663 2599 2318 0 0 0 0 0 0

7727 0.51 146.0 557.2 13.0 577 7731 0.00 2.25 0.00 0.000 4 0.000 0.049 2666 1180 2315 0 0 0 0 0 0

7934 0.48 146.0 533.6 11.0 583 7940 0.12 2.30 0.00 0.000 6 0.190 0.051 2636 2616 2314 0 0 0 0 0 0

8258 0.48 146.0 499.1 10.7 594 8262 0.00 2.15 0.00 0.000 4 0.000 0.063 2636 3933 2313 0 0 0 0 0 0

8297 0.43 146.0 494.3 12.7 595 8301 0.00 2.10 0.00 0.000 6 0.000 0.041 2639 2603 2312 0 0 0 0 0 0

8633 0.43 146.0 458.0 11.0 606 8634 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2601 2312 0 0 0 0 0 0

8938 0.43 146.0 423.9 11.2 616 8939 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2602 2311 0 0 0 0 0 0

9247 0.43 146.0 390.5 11.0 630 9248 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2602 2311 0 0 0 0 0 0

9569 0.43 146.0 355.8 10.3 660 9573 0.00 2.22 0.00 0.000 4 0.000 0.049 2640 1184 2310 0 0 0 0 0 0

9613 0.47 162.1 350.9 9.3 663 9631 0.00 2.28 11.98 0.769 6 0.000 0.050 2640 2613 2261 0 0 0 0 0 0

9949 0.47 162.1 316.3 10.2 695 9950 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2612 2260 0 0 0 0 0 0

10269 0.47 162.1 283.1 10.7 725 10270 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2613 2259 0 0 0 0 0 0

10588 0.47 162.1 249.9 10.5 755 10592 0.00 2.25 0.00 0.000 4 0.000 0.048 2642 1187 2259 0 0 0 0 0 0

10633 0.52 163.4 245.2 9.9 758 10639 0.00 2.28 0.00 0.000 6 0.000 0.050 2642 2603 2259 0 0 0 0 0 0

10958 0.52 163.4 210.8 10.6 789 10962 0.00 2.22 0.00 0.000 4 0.000 0.048 2642 1194 2258 0 0 0 0 0 0

11002 0.56 168.6 206.2 9.8 792 11013 0.00 2.25 6.62 0.634 6 0.000 0.050 2642 2609 2235 0 0 0 0 0 0

11333 0.56 168.6 171.1 10.1 823 11334 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2610 2235 0 0 0 0 0 0

11653 0.56 168.6 137.2 10.8 853 11657 0.00 2.15 0.00 0.000 4 0.000 0.061 2642 3928 2234 0 0 0 0 0 0

11721 0.53 168.6 128.9 12.3 859 11725 0.00 2.08 0.00 0.000 6 0.000 0.039 2646 2603 2234 0 0 0 0 0 0

12049 0.54 186.6 98.0 9.2 891 12067 0.00 0.00 16.40 0.626 6 0.000 0.000 2646 2602 2162 0 0 0 0 0 0

12408 0.62 229.4 67.3 8.0 954 12450 0.00 2.20 35.45 0.609 4 0.000 0.060 2646 3925 1987 0 0 0 0 0 0

12485 0.67 229.4 59.9 10.2 967 12493 0.12 2.08 0.00 0.000 6 0.102 0.038 2697 2613 1983 0 0 0 0 0 0

12834 0.67 229.4 18.1 10.5 1028 12840 0.00 2.22 0.00 0.000 4 0.000 0.047 2701 1197 1981 0 0 0 0 0 0

12960 0.71 229.4 6.0 10.5 1050 12967 0.00 2.25 0.00 0.000 6 0.000 0.050 2701 2596 1981 0 0 0 0 0 0

12988 end climb: SURFACE_DEPTH_REACHED

state 12989 begin surface coast

13018 end surface coast: CONTROL_FINISHED_OK

state 13018 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	2.4000001
DIVE	448	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	44	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	31	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	3	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	4	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	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	3	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	-8303.0068	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	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	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	031210,080920,6705.763,-5706.033,38,3.2,57,-37.7	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	1.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	031210,081619,6705.792,-5706.060,9,1.3,14,-37.7	MHEAD_RNG_PITCHd_Wd	292.3,151734,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	626

FREEZE	0.89,0.979,-1.778,0,1,0	ALTIM_TOP_PING	19.9,18.2
FINISH	0.9,1.026013	_24V_AH	22.5,54.122
SM_CCo	13033,222.88,0.078,0,0,440,609.08	_10V_AH	10.1,39.933
SM_GC	1.77,0.00,0.00,222.88,0.000,0.000,0.078,291,2792,440,-6.81,0.34,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	575	FG_AHR_10Vo	0.000
RAFOS	0,1291363262,8.033334,8.017222,51,45,44,43,42,40,516,1190,1290,1301,26,1734	MEM	151736
RAFOS_FIX	6707.672852,-5713.784180,031210,080828,2,62,4.73	DATA_FILE_SIZE	40040,1060
IRIDIUM_FIX	6636.54,-5655.33,031210,020200	CAP_FILE_SIZE	132696,0
TT8_MAMPS	0.028462	CFSIZE	260165632,218198016
HUMID	45.62	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.55349	SOUNDSPEED	1472.3
TCM_TEMP	16.60	GPS	031210,115924,6706.393,-5711.267,24,1.5,41,-37.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	243	89.08	SBE_CT	730	24	394.43
Roll_motor	84	68	129.87	SBE_O2	0	0	0.00
VBD_pump_during_apogee	315	970	6891.91	nil	0	0	0.00
VBD_pump_during_surface	222	78	391.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.38	nil	0	0	0.00
Iridium_during_connect	16	160	60.02	nil	0	0	0.00
Iridium_during_xfer	199	223	1001.29	nil	0	0	0.00
Transponder_ping	2	420	18.90	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.44
TT8	2596	19	522.43
LPSleep	8082	2	188.57
TT8_Active	668	19	134.58
TT8_Sampling	2040	39	822.73
TT8_CF8	306	45	142.30
TT8_Kalman	0	0	0.00
Analog_circuits	1640	12	198.88
GPS_charging	0	0	0.00
Compass	1784	15	270.30
RAFOS	1800	3	54.54
Transponder	15	30	4.55

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
16	-0.57	-146.0	0.0	0.0	0	151	0.00	0.00	-131.40	0.000	2	0.000	0.000	282	2786	3328	0	0	0	0	0	0
154	-0.57	-146.0	5.0	-10.8	23	173	8.18	2.22	-4.03	0.000	4	0.243	0.054	2283	1374	3519	0	0	0	0	0	0
259	-0.57	-146.0	28.5	-11.7	41	266	0.00	2.28	0.00	0.000	6	0.000	0.056	2275	2779	3522	0	0	0	0	0	0
604	-0.55	-146.0	69.1	-11.2	102	610	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2779	3520	0	0	0	0	0	0
951	-0.55	-146.0	104.1	-9.0	160	955	0.00	1.88	0.00	0.000	4	0.000	0.066	2268	3927	3520	0	0	0	0	0	0
979	-0.55	-146.0	106.8	-9.2	162	985	0.00	1.80	0.00	0.000	6	0.000	0.042	2268	2771	3520	0	0	0	0	0	0
1304	-0.55	-146.0	136.8	-9.0	193	1305	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	2771	3519	0	0	0	0	0	0
1622	-0.55	-146.0	166.4	-9.6	223	1626	0.00	1.92	0.00	0.000	4	0.000	0.067	2259	3927	3520	0	0	0	0	0	0
1661	-0.55	-146.0	170.6	-10.9	226	1668	0.10	1.85	0.00	0.000	6	0.133	0.042	2294	2769	3520	0	0	0	0	0	0
1987	-0.63	-146.0	196.3	-7.1	257	1991	0.00	2.17	0.00	0.000	4	0.000	0.044	2295	1370	3520	0	0	0	0	0	0
2008	-0.72	-146.0	198.1	-7.6	258	2016	0.15	2.28	0.00	0.000	6	0.087	0.055	2221	2771	3520	0	0	0	0	0	0
2334	-0.66	-146.0	234.9	-11.4	289	2338	0.12	1.90	0.00	0.000	4	0.173	0.065	2249	3928	3520	0	0	0	0	0	0
2360	-0.66	-146.0	238.0	-10.4	291	2367	0.00	1.85	0.00	0.000	6	0.000	0.041	2249	2763	3520	0	0	0	0	0	0
2686	-0.66	-146.0	268.1	-9.0	322	2690	0.00	2.15	0.00	0.000	4	0.000	0.043	2248	1374	3521	0	0	0	0	0	0
2747	-0.66	-146.0	274.3	-9.7	327	2754	0.00	2.25	0.00	0.000	6	0.000	0.055	2247	2772	3521	0	0	0	0	0	0
3073	-0.66	-146.0	303.1	-8.5	358	3074	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2772	3522	0	0	0	0	0	0
3394	-0.66	-146.0	330.6	-8.9	388	3400	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2772	3523	0	0	0	0	0	0
3723	-0.66	-146.0	358.1	-8.2	419	3727	0.00	2.20	0.00	0.000	4	0.000	0.043	2247	1361	3523	0	0	0	0	0	0
3752	-0.66	-146.0	360.9	-8.9	421	3756	0.00	2.25	0.00	0.000	6	0.000	0.054	2247	2753	3523	0	0	0	0	0	0
4082	-0.66	-146.0	388.1	-8.7	452	4086	0.00	1.92	0.00	0.000	4	0.000	0.064	2247	3933	3523	0	0	0	0	0	0
4121	-0.66	-146.0	391.9	-9.6	455	4128	0.00	1.88	0.00	0.000	6	0.000	0.041	2247	2749	3524	0	0	0	0	0	0
4458	-0.66	-146.0	422.7	-8.8	472	4460	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2748	3524	0	0	0	0	0	0
4764	-0.66	-146.0	449.1	-8.2	482	4765	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2749	3524	0	0	0	0	0	0
5070	-0.66	-146.0	475.4	-8.9	492	5071	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2749	3525	0	0	0	0	0	0
5378	-0.66	-146.0	500.8	-8.5	502	5382	0.00	1.98	0.00	0.000	4	0.000	0.066	2247	3930	3525	0	0	0	0	0	0
5428	-0.69	-146.0	505.6	-9.4	503	5431	0.00	1.83	0.00	0.000	6	0.000	0.042	2247	2757	3525	0	0	0	0	0	0
5752	-0.69	-146.0	532.8	-8.3	514	5756	0.00	1.98	0.00	0.000	4	0.000	0.067	2247	3920	3525	0	0	0	0	0	0
5787	-0.69	-146.0	535.7	-8.8	515	5790	0.00	1.80	0.00	0.000	6	0.000	0.044	2247	2764	3525	0	0	0	0	0	0
6128	-0.69	-146.0	562.5	-7.6	526	6129	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2763	3525	0	0	0	0	0	0
6435	-0.69	-146.0	587.3	-8.5	536	6438	0.00	1.98	0.00	0.000	4	0.000	0.068	2247	3936	3524	0	0	0	0	0	0
6462	-0.69	-146.0	589.9	-8.5	536	6469	0.00	1.88	0.00	0.000	6	0.000	0.043	2247	2766	3524	0	0	0	0	0	0
6775	-0.71	-146.0	613.4	-7.4	547	6777	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2766	3523	0	0	0	0	0	0
6956	end dive: TARGET_DEPTH_EXCEEDED
state	6956	begin apogee
6963	-0.14	0.0	627.7	7.9	553	7089	0.52	0.00	120.07	0.971	4	0.130	0.000	2421	2596	2923	0	0	0	0	0	0
7090	end apogee: CONTROL_FINISHED_OK
state	7090	begin climb
7092	0.57	146.0	630.0	0.0	557	7228	0.68	2.35	125.00	0.946	4	0.067	0.046	2664	1180	2326	0	0	0	0	0	0
7413	0.57	146.0	598.0	12.2	566	7420	0.00	2.38	0.00	0.000	6	0.000	0.050	2663	2599	2318	0	0	0	0	0	0
7727	0.51	146.0	557.2	13.0	577	7731	0.00	2.25	0.00	0.000	4	0.000	0.049	2666	1180	2315	0	0	0	0	0	0
7934	0.48	146.0	533.6	11.0	583	7940	0.12	2.30	0.00	0.000	6	0.190	0.051	2636	2616	2314	0	0	0	0	0	0
8258	0.48	146.0	499.1	10.7	594	8262	0.00	2.15	0.00	0.000	4	0.000	0.063	2636	3933	2313	0	0	0	0	0	0
8297	0.43	146.0	494.3	12.7	595	8301	0.00	2.10	0.00	0.000	6	0.000	0.041	2639	2603	2312	0	0	0	0	0	0
8633	0.43	146.0	458.0	11.0	606	8634	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2601	2312	0	0	0	0	0	0
8938	0.43	146.0	423.9	11.2	616	8939	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2602	2311	0	0	0	0	0	0
9247	0.43	146.0	390.5	11.0	630	9248	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2602	2311	0	0	0	0	0	0
9569	0.43	146.0	355.8	10.3	660	9573	0.00	2.22	0.00	0.000	4	0.000	0.049	2640	1184	2310	0	0	0	0	0	0
9613	0.47	162.1	350.9	9.3	663	9631	0.00	2.28	11.98	0.769	6	0.000	0.050	2640	2613	2261	0	0	0	0	0	0
9949	0.47	162.1	316.3	10.2	695	9950	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2612	2260	0	0	0	0	0	0
10269	0.47	162.1	283.1	10.7	725	10270	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2613	2259	0	0	0	0	0	0
10588	0.47	162.1	249.9	10.5	755	10592	0.00	2.25	0.00	0.000	4	0.000	0.048	2642	1187	2259	0	0	0	0	0	0
10633	0.52	163.4	245.2	9.9	758	10639	0.00	2.28	0.00	0.000	6	0.000	0.050	2642	2603	2259	0	0	0	0	0	0
10958	0.52	163.4	210.8	10.6	789	10962	0.00	2.22	0.00	0.000	4	0.000	0.048	2642	1194	2258	0	0	0	0	0	0
11002	0.56	168.6	206.2	9.8	792	11013	0.00	2.25	6.62	0.634	6	0.000	0.050	2642	2609	2235	0	0	0	0	0	0
11333	0.56	168.6	171.1	10.1	823	11334	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2610	2235	0	0	0	0	0	0
11653	0.56	168.6	137.2	10.8	853	11657	0.00	2.15	0.00	0.000	4	0.000	0.061	2642	3928	2234	0	0	0	0	0	0
11721	0.53	168.6	128.9	12.3	859	11725	0.00	2.08	0.00	0.000	6	0.000	0.039	2646	2603	2234	0	0	0	0	0	0
12049	0.54	186.6	98.0	9.2	891	12067	0.00	0.00	16.40	0.626	6	0.000	0.000	2646	2602	2162	0	0	0	0	0	0
12408	0.62	229.4	67.3	8.0	954	12450	0.00	2.20	35.45	0.609	4	0.000	0.060	2646	3925	1987	0	0	0	0	0	0
12485	0.67	229.4	59.9	10.2	967	12493	0.12	2.08	0.00	0.000	6	0.102	0.038	2697	2613	1983	0	0	0	0	0	0
12834	0.67	229.4	18.1	10.5	1028	12840	0.00	2.22	0.00	0.000	4	0.000	0.047	2701	1197	1981	0	0	0	0	0	0
12960	0.71	229.4	6.0	10.5	1050	12967	0.00	2.25	0.00	0.000	6	0.000	0.050	2701	2596	1981	0	0	0	0	0	0
12988	end climb: SURFACE_DEPTH_REACHED
state	12989	begin surface coast
13018	end surface coast: CONTROL_FINISHED_OK
state	13018	begin surface