Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 485 * 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 485 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 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 23 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 -2 T_GPS_CHARGE -8321.8584 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 -8321.8584

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 -2

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 35 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 23 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 485 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 101210,202453,6645.235,-6001.337,0,6087.2,0,-38.0 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 68.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 4.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 101210,202453,6645.235,-6001.337,0,6087.2,0,-38.0 MHEAD_RNG_PITCHd_Wd 300.8,18187,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 635

Post-dive calculations and measurements:

FREEZE 8.93,-1.707,-1.760,2,3,0 ALTIM_BOTTOM_PING 601.8,51.9

FINISH1 8.9,1.025767,85 _24V_AH 21.8,58.864

FINISH2 7.2 _10V_AH 9.9,42.734

RAFOS_CLK 703 FG_AHR_24Vo 0.000

RAFOS 0,1292025669,0.033333,0.019167,94,53,48,44,42,42,605,144,205,287,523,1328 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.000488,-6005.048828,111210,000028,4,82,0.48 MEM 151636

IRIDIUM_FIX 6614.97,-5939.52,101210,050521 DATA_FILE_SIZE 30095,880

TT8_MAMPS 0.030709 CAP_FILE_SIZE 123720,0

HUMID 49.37 CFSIZE 260165632,215523328

INTERNAL_PRESSURE 8.59255 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.10 SOUNDSPEED 1450.7

XPDR_PINGS 0 GPS 111210,001528,6642.000,-6005.049,0,4082.0,0,-38.0

ALTIM_TOP_PING 19.8,25.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 192 18.52 SBE_CT 615 24 321.82

Roll_motor 109 75 181.57 SBE_O2 0 0 0.00

VBD_pump_during_apogee 374 1002 8183.53 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 20.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2230 19 439.95

LPSleep 7674 2 175.50

TT8_Active 394 19 77.85

TT8_Sampling 1650 39 652.33

TT8_CF8 183 45 83.26

TT8_Kalman 0 0 0.00

Analog_circuits 1300 12 154.44

GPS_charging 0 0 0.00

Compass 1634 15 242.68

RAFOS 1800 3 53.46

Transponder 17 30 5.29

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 25 0.00 0.00 -6.30 0.000 2 0.000 0.000 2490 3925 3424 0 0 0 0 0 0

27 -0.57 -146.0 70.4 -0.0 1 35 0.60 4.20 0.00 0.000 4 0.136 0.047 2296 1369 3426 0 0 0 0 0 0

99 -0.62 -146.0 76.9 -9.4 13 105 0.00 2.35 0.00 0.000 6 0.000 0.060 2293 2782 3427 0 0 0 0 0 0

442 -0.62 -146.0 111.7 -8.7 63 446 0.00 2.28 0.00 0.000 4 0.000 0.051 2292 1371 3426 0 0 0 0 0 0

458 -0.62 -146.0 113.5 -9.5 64 465 0.00 2.35 0.00 0.000 6 0.000 0.063 2293 2782 3427 0 0 0 0 0 0

785 -0.62 -146.0 144.0 -9.4 95 786 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2782 3426 0 0 0 0 0 0

1104 -0.64 -146.0 174.7 -9.7 125 1110 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2782 3426 0 0 0 0 0 0

1431 -0.68 -146.0 206.6 -9.4 156 1436 0.10 2.30 0.00 0.000 4 0.123 0.052 2248 1365 3426 0 0 0 0 0 0

1498 -0.68 -146.0 214.1 -10.8 161 1504 0.00 2.35 0.00 0.000 6 0.000 0.063 2248 2764 3426 0 0 0 0 0 0

1823 -0.63 -146.0 249.7 -11.8 192 1827 0.00 2.00 0.00 0.000 4 0.000 0.074 2248 3929 3426 0 0 0 0 0 0

1907 -0.61 -146.0 259.9 -11.5 199 1915 0.10 1.88 0.00 0.000 6 0.186 0.049 2273 2777 3426 0 0 0 0 0 0

2233 -0.61 -146.0 288.8 -9.0 230 2237 0.00 2.28 0.00 0.000 4 0.000 0.052 2273 1364 3425 0 0 0 0 0 0

2346 -0.64 -146.0 298.9 -9.0 239 2353 0.00 2.33 0.00 0.000 6 0.000 0.063 2273 2759 3425 0 0 0 0 0 0

2672 -0.66 -146.0 327.4 -8.6 270 2673 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2759 3425 0 0 0 0 0 0

2992 -0.69 -146.0 350.9 -7.1 300 2995 0.00 2.03 0.00 0.000 4 0.000 0.074 2272 3936 3425 0 0 0 0 0 0

3038 -0.73 -146.0 354.5 -7.4 304 3042 0.00 1.90 0.00 0.000 6 0.000 0.050 2271 2757 3425 0 0 0 0 0 0

3370 -0.76 -146.0 379.9 -7.9 335 3374 0.12 2.03 0.00 0.000 4 0.108 0.076 2217 3927 3425 0 0 0 0 0 0

3510 -0.69 -146.0 396.0 -12.1 347 3515 0.12 1.90 0.00 0.000 6 0.177 0.048 2248 2760 3425 0 0 0 0 0 0

3830 -0.69 -146.0 424.4 -8.2 360 3831 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2760 3425 0 0 0 0 0 0

4137 -0.69 -146.0 449.1 -7.9 370 4140 0.00 2.03 0.00 0.000 4 0.000 0.075 2247 3929 3425 0 0 0 0 0 0

4158 -0.69 -146.0 451.0 -7.6 370 4162 0.00 1.90 0.00 0.000 6 0.000 0.047 2247 2776 3426 0 0 0 0 0 0

4477 -0.69 -146.0 475.0 -7.5 381 4481 0.00 2.00 0.00 0.000 4 0.000 0.074 2247 3933 3426 0 0 0 0 0 0

4516 -0.69 -146.0 478.1 -8.1 382 4520 0.00 1.85 0.00 0.000 6 0.000 0.048 2247 2782 3426 0 0 0 0 0 0

4852 -0.69 -146.0 505.2 -8.4 393 4856 0.00 2.25 0.00 0.000 4 0.000 0.050 2247 1365 3426 0 0 0 0 0 0

4884 -0.69 -146.0 508.1 -8.6 394 4888 0.00 2.35 0.00 0.000 6 0.000 0.062 2247 2780 3426 0 0 0 0 0 0

5220 -0.69 -146.0 536.3 -8.2 405 5222 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2780 3427 0 0 0 0 0 0

5526 -0.69 -146.0 560.8 -8.2 415 5527 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2781 3426 0 0 0 0 0 0

5832 -0.69 -146.0 582.8 -7.0 425 5833 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2780 3427 0 0 0 0 0 0

6139 -0.69 -146.0 607.2 -8.8 435 6143 0.00 2.00 0.00 0.000 4 0.000 0.073 2247 3934 3427 0 0 0 0 0 0

6161 -0.69 -146.0 609.3 -8.6 435 6164 0.00 1.90 0.00 0.000 6 0.000 0.047 2247 2774 3427 0 0 0 0 0 0

6478 end dive: TARGET_DEPTH_EXCEEDED

state 6478 begin apogee

6484 -0.14 0.0 635.5 8.4 446 6594 0.55 0.00 104.10 1.003 4 0.138 0.000 2423 2597 2923 0 0 0 0 0 0

6595 end apogee: CONTROL_FINISHED_OK

state 6595 begin climb

6597 0.57 146.0 640.3 0.0 449 6736 0.68 2.40 130.00 0.981 4 0.070 0.050 2661 1185 2326 0 0 0 0 0 0

6931 0.55 146.0 609.6 12.2 459 6939 0.00 2.47 0.00 0.000 6 0.000 0.055 2662 2611 2317 0 0 0 0 0 0

7245 0.49 146.0 571.4 12.4 470 7249 0.00 2.33 0.00 0.000 4 0.000 0.052 2662 1181 2314 0 0 0 0 0 0

7482 0.49 146.0 543.9 11.3 477 7486 0.00 2.35 0.00 0.000 6 0.000 0.056 2662 2600 2314 0 0 0 0 0 0

7818 0.43 146.0 504.5 11.9 488 7822 0.17 2.25 0.00 0.000 4 0.192 0.067 2616 3930 2312 0 0 0 0 0 0

7866 0.43 146.0 498.8 10.5 489 7871 0.00 2.17 0.00 0.000 6 0.000 0.044 2616 2598 2312 0 0 0 0 0 0

8187 0.48 170.7 470.5 8.9 500 8212 0.00 2.25 19.98 0.884 4 0.000 0.053 2616 1197 2227 0 0 0 0 0 0

8251 0.60 213.0 464.9 8.0 501 8297 0.15 2.33 37.97 0.881 6 0.093 0.056 2678 2601 2054 0 0 0 0 0 0

8616 0.56 213.0 416.5 13.6 513 8620 0.00 2.25 0.00 0.000 4 0.000 0.067 2678 3930 2044 0 0 0 0 0 0

8665 0.48 213.0 408.2 16.7 514 8670 0.17 2.17 0.00 0.000 6 0.190 0.044 2635 2594 2042 0 0 0 0 0 0

8988 0.53 215.5 372.8 9.9 538 8992 0.00 2.25 0.00 0.000 4 0.000 0.053 2635 1189 2042 0 0 0 0 0 0

9016 0.59 215.5 369.6 11.4 540 9020 0.00 2.30 0.00 0.000 6 0.000 0.054 2635 2608 2042 0 0 0 0 0 0

9342 0.63 215.5 334.3 11.3 570 9346 0.12 2.22 0.00 0.000 4 0.101 0.068 2688 3929 2041 0 0 0 0 0 0

9450 0.54 215.5 316.7 16.6 579 9455 0.15 2.12 0.00 0.000 6 0.190 0.044 2653 2612 2040 0 0 0 0 0 0

9776 0.57 215.5 279.4 10.5 609 9780 0.00 2.25 0.00 0.000 4 0.000 0.053 2652 1189 2040 0 0 0 0 0 0

9861 0.66 225.7 271.2 9.5 616 9877 0.10 2.28 10.07 0.755 6 0.114 0.057 2695 2591 2003 0 0 0 0 0 0

10203 0.63 225.7 226.2 12.9 648 10207 0.00 2.25 0.00 0.000 4 0.000 0.053 2696 1184 2001 0 0 0 0 0 0

10237 0.63 225.7 221.9 12.2 651 10241 0.00 2.30 0.00 0.000 6 0.000 0.056 2696 2588 2000 0 0 0 0 0 0

10562 0.60 225.7 180.2 13.2 681 10566 0.00 2.25 0.00 0.000 4 0.000 0.054 2696 1190 1999 0 0 0 0 0 0

10591 0.60 225.7 176.4 14.1 683 10595 0.00 2.25 0.00 0.000 6 0.000 0.056 2696 2574 2000 0 0 0 0 0 0

10921 0.60 225.7 136.0 11.2 714 10925 0.00 2.28 0.00 0.000 4 0.000 0.068 2696 3926 1999 0 0 0 0 0 0

10999 0.54 225.7 125.4 13.8 720 11006 0.17 2.15 0.00 0.000 6 0.184 0.046 2651 2594 1997 0 0 0 0 0 0

11326 0.64 261.8 98.2 8.3 753 11364 0.00 2.30 31.85 0.699 4 0.000 0.054 2651 1186 1854 0 0 0 0 0 0

11430 0.82 308.7 90.1 7.8 770 11477 0.25 2.33 40.33 0.679 6 0.076 0.056 2751 2588 1664 0 0 0 0 0 0

11815 0.82 308.7 38.4 12.6 838 11821 0.00 2.28 0.00 0.000 4 0.000 0.070 2751 3925 1652 0 0 0 0 0 0

11985 0.77 308.7 12.9 16.9 868 11992 0.00 2.17 0.00 0.000 6 0.000 0.047 2751 2591 1651 0 0 0 0 0 0

12022 end climb: FINISH_DEPTH_REACHED

state 12022 begin subsurface finish

12028 0.06 85.0 8.9 -11.6 874 12064 0.85 2.33 -28.80 0.000 4 0.171 0.067 2502 1189 2578 0 0 0 0 0 0

12065 end subsurface finish: CONTROL_FINISHED_OK

state 12065 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	485	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	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	23	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	-2	T_GPS_CHARGE	-8321.8584	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	101210,202453,6645.235,-6001.337,0,6087.2,0,-38.0	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	68.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	4.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	101210,202453,6645.235,-6001.337,0,6087.2,0,-38.0	MHEAD_RNG_PITCHd_Wd	300.8,18187,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	635

FREEZE	8.93,-1.707,-1.760,2,3,0	ALTIM_BOTTOM_PING	601.8,51.9
FINISH1	8.9,1.025767,85	_24V_AH	21.8,58.864
FINISH2	7.2	_10V_AH	9.9,42.734
RAFOS_CLK	703	FG_AHR_24Vo	0.000
RAFOS	0,1292025669,0.033333,0.019167,94,53,48,44,42,42,605,144,205,287,523,1328	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.000488,-6005.048828,111210,000028,4,82,0.48	MEM	151636
IRIDIUM_FIX	6614.97,-5939.52,101210,050521	DATA_FILE_SIZE	30095,880
TT8_MAMPS	0.030709	CAP_FILE_SIZE	123720,0
HUMID	49.37	CFSIZE	260165632,215523328
INTERNAL_PRESSURE	8.59255	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.10	SOUNDSPEED	1450.7
XPDR_PINGS	0	GPS	111210,001528,6642.000,-6005.049,0,4082.0,0,-38.0
ALTIM_TOP_PING	19.8,25.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	192	18.52	SBE_CT	615	24	321.82
Roll_motor	109	75	181.57	SBE_O2	0	0	0.00
VBD_pump_during_apogee	374	1002	8183.53	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	20.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2230	19	439.95
LPSleep	7674	2	175.50
TT8_Active	394	19	77.85
TT8_Sampling	1650	39	652.33
TT8_CF8	183	45	83.26
TT8_Kalman	0	0	0.00
Analog_circuits	1300	12	154.44
GPS_charging	0	0	0.00
Compass	1634	15	242.68
RAFOS	1800	3	53.46
Transponder	17	30	5.29

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	25	0.00	0.00	-6.30	0.000	2	0.000	0.000	2490	3925	3424	0	0	0	0	0	0
27	-0.57	-146.0	70.4	-0.0	1	35	0.60	4.20	0.00	0.000	4	0.136	0.047	2296	1369	3426	0	0	0	0	0	0
99	-0.62	-146.0	76.9	-9.4	13	105	0.00	2.35	0.00	0.000	6	0.000	0.060	2293	2782	3427	0	0	0	0	0	0
442	-0.62	-146.0	111.7	-8.7	63	446	0.00	2.28	0.00	0.000	4	0.000	0.051	2292	1371	3426	0	0	0	0	0	0
458	-0.62	-146.0	113.5	-9.5	64	465	0.00	2.35	0.00	0.000	6	0.000	0.063	2293	2782	3427	0	0	0	0	0	0
785	-0.62	-146.0	144.0	-9.4	95	786	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2782	3426	0	0	0	0	0	0
1104	-0.64	-146.0	174.7	-9.7	125	1110	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2782	3426	0	0	0	0	0	0
1431	-0.68	-146.0	206.6	-9.4	156	1436	0.10	2.30	0.00	0.000	4	0.123	0.052	2248	1365	3426	0	0	0	0	0	0
1498	-0.68	-146.0	214.1	-10.8	161	1504	0.00	2.35	0.00	0.000	6	0.000	0.063	2248	2764	3426	0	0	0	0	0	0
1823	-0.63	-146.0	249.7	-11.8	192	1827	0.00	2.00	0.00	0.000	4	0.000	0.074	2248	3929	3426	0	0	0	0	0	0
1907	-0.61	-146.0	259.9	-11.5	199	1915	0.10	1.88	0.00	0.000	6	0.186	0.049	2273	2777	3426	0	0	0	0	0	0
2233	-0.61	-146.0	288.8	-9.0	230	2237	0.00	2.28	0.00	0.000	4	0.000	0.052	2273	1364	3425	0	0	0	0	0	0
2346	-0.64	-146.0	298.9	-9.0	239	2353	0.00	2.33	0.00	0.000	6	0.000	0.063	2273	2759	3425	0	0	0	0	0	0
2672	-0.66	-146.0	327.4	-8.6	270	2673	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2759	3425	0	0	0	0	0	0
2992	-0.69	-146.0	350.9	-7.1	300	2995	0.00	2.03	0.00	0.000	4	0.000	0.074	2272	3936	3425	0	0	0	0	0	0
3038	-0.73	-146.0	354.5	-7.4	304	3042	0.00	1.90	0.00	0.000	6	0.000	0.050	2271	2757	3425	0	0	0	0	0	0
3370	-0.76	-146.0	379.9	-7.9	335	3374	0.12	2.03	0.00	0.000	4	0.108	0.076	2217	3927	3425	0	0	0	0	0	0
3510	-0.69	-146.0	396.0	-12.1	347	3515	0.12	1.90	0.00	0.000	6	0.177	0.048	2248	2760	3425	0	0	0	0	0	0
3830	-0.69	-146.0	424.4	-8.2	360	3831	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2760	3425	0	0	0	0	0	0
4137	-0.69	-146.0	449.1	-7.9	370	4140	0.00	2.03	0.00	0.000	4	0.000	0.075	2247	3929	3425	0	0	0	0	0	0
4158	-0.69	-146.0	451.0	-7.6	370	4162	0.00	1.90	0.00	0.000	6	0.000	0.047	2247	2776	3426	0	0	0	0	0	0
4477	-0.69	-146.0	475.0	-7.5	381	4481	0.00	2.00	0.00	0.000	4	0.000	0.074	2247	3933	3426	0	0	0	0	0	0
4516	-0.69	-146.0	478.1	-8.1	382	4520	0.00	1.85	0.00	0.000	6	0.000	0.048	2247	2782	3426	0	0	0	0	0	0
4852	-0.69	-146.0	505.2	-8.4	393	4856	0.00	2.25	0.00	0.000	4	0.000	0.050	2247	1365	3426	0	0	0	0	0	0
4884	-0.69	-146.0	508.1	-8.6	394	4888	0.00	2.35	0.00	0.000	6	0.000	0.062	2247	2780	3426	0	0	0	0	0	0
5220	-0.69	-146.0	536.3	-8.2	405	5222	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2780	3427	0	0	0	0	0	0
5526	-0.69	-146.0	560.8	-8.2	415	5527	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2781	3426	0	0	0	0	0	0
5832	-0.69	-146.0	582.8	-7.0	425	5833	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2780	3427	0	0	0	0	0	0
6139	-0.69	-146.0	607.2	-8.8	435	6143	0.00	2.00	0.00	0.000	4	0.000	0.073	2247	3934	3427	0	0	0	0	0	0
6161	-0.69	-146.0	609.3	-8.6	435	6164	0.00	1.90	0.00	0.000	6	0.000	0.047	2247	2774	3427	0	0	0	0	0	0
6478	end dive: TARGET_DEPTH_EXCEEDED
state	6478	begin apogee
6484	-0.14	0.0	635.5	8.4	446	6594	0.55	0.00	104.10	1.003	4	0.138	0.000	2423	2597	2923	0	0	0	0	0	0
6595	end apogee: CONTROL_FINISHED_OK
state	6595	begin climb
6597	0.57	146.0	640.3	0.0	449	6736	0.68	2.40	130.00	0.981	4	0.070	0.050	2661	1185	2326	0	0	0	0	0	0
6931	0.55	146.0	609.6	12.2	459	6939	0.00	2.47	0.00	0.000	6	0.000	0.055	2662	2611	2317	0	0	0	0	0	0
7245	0.49	146.0	571.4	12.4	470	7249	0.00	2.33	0.00	0.000	4	0.000	0.052	2662	1181	2314	0	0	0	0	0	0
7482	0.49	146.0	543.9	11.3	477	7486	0.00	2.35	0.00	0.000	6	0.000	0.056	2662	2600	2314	0	0	0	0	0	0
7818	0.43	146.0	504.5	11.9	488	7822	0.17	2.25	0.00	0.000	4	0.192	0.067	2616	3930	2312	0	0	0	0	0	0
7866	0.43	146.0	498.8	10.5	489	7871	0.00	2.17	0.00	0.000	6	0.000	0.044	2616	2598	2312	0	0	0	0	0	0
8187	0.48	170.7	470.5	8.9	500	8212	0.00	2.25	19.98	0.884	4	0.000	0.053	2616	1197	2227	0	0	0	0	0	0
8251	0.60	213.0	464.9	8.0	501	8297	0.15	2.33	37.97	0.881	6	0.093	0.056	2678	2601	2054	0	0	0	0	0	0
8616	0.56	213.0	416.5	13.6	513	8620	0.00	2.25	0.00	0.000	4	0.000	0.067	2678	3930	2044	0	0	0	0	0	0
8665	0.48	213.0	408.2	16.7	514	8670	0.17	2.17	0.00	0.000	6	0.190	0.044	2635	2594	2042	0	0	0	0	0	0
8988	0.53	215.5	372.8	9.9	538	8992	0.00	2.25	0.00	0.000	4	0.000	0.053	2635	1189	2042	0	0	0	0	0	0
9016	0.59	215.5	369.6	11.4	540	9020	0.00	2.30	0.00	0.000	6	0.000	0.054	2635	2608	2042	0	0	0	0	0	0
9342	0.63	215.5	334.3	11.3	570	9346	0.12	2.22	0.00	0.000	4	0.101	0.068	2688	3929	2041	0	0	0	0	0	0
9450	0.54	215.5	316.7	16.6	579	9455	0.15	2.12	0.00	0.000	6	0.190	0.044	2653	2612	2040	0	0	0	0	0	0
9776	0.57	215.5	279.4	10.5	609	9780	0.00	2.25	0.00	0.000	4	0.000	0.053	2652	1189	2040	0	0	0	0	0	0
9861	0.66	225.7	271.2	9.5	616	9877	0.10	2.28	10.07	0.755	6	0.114	0.057	2695	2591	2003	0	0	0	0	0	0
10203	0.63	225.7	226.2	12.9	648	10207	0.00	2.25	0.00	0.000	4	0.000	0.053	2696	1184	2001	0	0	0	0	0	0
10237	0.63	225.7	221.9	12.2	651	10241	0.00	2.30	0.00	0.000	6	0.000	0.056	2696	2588	2000	0	0	0	0	0	0
10562	0.60	225.7	180.2	13.2	681	10566	0.00	2.25	0.00	0.000	4	0.000	0.054	2696	1190	1999	0	0	0	0	0	0
10591	0.60	225.7	176.4	14.1	683	10595	0.00	2.25	0.00	0.000	6	0.000	0.056	2696	2574	2000	0	0	0	0	0	0
10921	0.60	225.7	136.0	11.2	714	10925	0.00	2.28	0.00	0.000	4	0.000	0.068	2696	3926	1999	0	0	0	0	0	0
10999	0.54	225.7	125.4	13.8	720	11006	0.17	2.15	0.00	0.000	6	0.184	0.046	2651	2594	1997	0	0	0	0	0	0
11326	0.64	261.8	98.2	8.3	753	11364	0.00	2.30	31.85	0.699	4	0.000	0.054	2651	1186	1854	0	0	0	0	0	0
11430	0.82	308.7	90.1	7.8	770	11477	0.25	2.33	40.33	0.679	6	0.076	0.056	2751	2588	1664	0	0	0	0	0	0
11815	0.82	308.7	38.4	12.6	838	11821	0.00	2.28	0.00	0.000	4	0.000	0.070	2751	3925	1652	0	0	0	0	0	0
11985	0.77	308.7	12.9	16.9	868	11992	0.00	2.17	0.00	0.000	6	0.000	0.047	2751	2591	1651	0	0	0	0	0	0
12022	end climb: FINISH_DEPTH_REACHED
state	12022	begin subsurface finish
12028	0.06	85.0	8.9	-11.6	874	12064	0.85	2.33	-28.80	0.000	4	0.171	0.067	2502	1189	2578	0	0	0	0	0	0
12065	end subsurface finish: CONTROL_FINISHED_OK
state	12065	begin surface