Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 526 * 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 526 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 33 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 -3 T_GPS_CHARGE -9811.7793 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 -9811.7793

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 33 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 526 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 171210,223544,6702.310,-5705.086,13,1.4,13,-37.6 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 4.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 3.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 171210,223544,6702.310,-5705.086,13,1.4,13,-37.6 MHEAD_RNG_PITCHd_Wd 121.7,12405,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 698

Post-dive calculations and measurements:

FREEZE 1.24,3.263,-1.820,0,2,0 ALTIM_TOP_PING 19.9,18.0

FINISH 1.2,1.026425 ALTIM_BOTTOM_PING 602.8,28.0

SM_CCo 11994,211.95,0.081,0,0,440,609.08 _24V_AH 21.9,63.863

SM_GC 1.94,0.00,0.00,211.95,0.000,0.000,0.081,286,2783,440,-6.83,0.06,609.08 _10V_AH 9.9,45.682

RAFOS_CLK 665 FG_AHR_24Vo 0.000

RAFOS 0,1292644889,4.033333,4.024722,52,46,44,43,43,41,699,1756,388,915,1305,1916 FG_AHR_10Vo 0.000

RAFOS_FIX 6707.859863,-5702.892090,181210,040401,3,84,0.47 MEM 151684

IRIDIUM_FIX 6631.12,-5638.47,171210,181833 DATA_FILE_SIZE 36776,988

TT8_MAMPS 0.028462 CAP_FILE_SIZE 126341,0

HUMID 45.94 CFSIZE 260165632,212774912

INTERNAL_PRESSURE 8.53396 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.40 SOUNDSPEED 1467.4

XPDR_PINGS 0 GPS 181210,055007,6702.820,-5655.879,69,1.2,69,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 195 42.61 SBE_CT 684 24 359.91

Roll_motor 97 80 171.38 SBE_O2 0 0 0.00

VBD_pump_during_apogee 347 976 7424.93 nil 0 0 0.00

VBD_pump_during_surface 211 81 376.40 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 23.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2515 19 496.11

LPSleep 7246 2 165.71

TT8_Active 592 19 116.88

TT8_Sampling 1717 39 678.85

TT8_CF8 205 45 93.64

TT8_Kalman 0 0 0.00

Analog_circuits 1524 12 181.06

GPS_charging 0 0 0.00

Compass 1699 15 252.37

RAFOS 2520 3 74.84

Transponder 20 30 6.16

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 53 0.00 2.65 -27.23 0.000 6 0.000 0.067 2495 2776 3520 0 0 0 0 0 0

56 -0.57 -146.0 5.2 -3.1 6 63 0.55 1.95 0.00 0.000 4 0.096 0.067 2295 3942 3521 0 0 0 0 0 0

117 -0.66 -146.0 9.6 -8.0 16 124 0.00 1.88 0.00 0.000 6 0.000 0.044 2295 2770 3521 0 0 0 0 0 0

463 -0.71 -146.0 42.0 -9.4 77 470 0.15 2.20 0.00 0.000 4 0.093 0.047 2228 1373 3522 0 0 0 0 0 0

506 -0.65 -146.0 47.3 -13.1 84 514 0.15 2.33 0.00 0.000 6 0.174 0.058 2262 2791 3522 0 0 0 0 0 0

853 -0.65 -146.0 84.6 -10.4 145 859 0.00 0.00 0.00 0.000 6 0.000 0.000 2262 2791 3522 0 0 0 0 0 0

1194 -0.65 -146.0 117.1 -8.6 190 1197 0.00 1.90 0.00 0.000 4 0.000 0.069 2256 3928 3522 0 0 0 0 0 0

1243 -0.65 -146.0 121.9 -9.6 194 1250 0.00 1.83 0.00 0.000 6 0.000 0.044 2256 2782 3522 0 0 0 0 0 0

1569 -0.65 -146.0 151.9 -9.2 225 1573 0.00 2.22 0.00 0.000 4 0.000 0.046 2255 1370 3522 0 0 0 0 0 0

1644 -0.68 -146.0 159.0 -9.3 231 1648 0.00 2.33 0.00 0.000 6 0.000 0.057 2249 2786 3522 0 0 0 0 0 0

1970 -0.68 -146.0 190.4 -9.5 261 1971 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2786 3522 0 0 0 0 0 0

2289 -0.68 -146.0 221.0 -9.2 291 2290 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2786 3522 0 0 0 0 0 0

2608 -0.68 -146.0 251.4 -9.3 321 2614 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2786 3522 0 0 0 0 0 0

2937 -0.68 -146.0 282.7 -9.6 352 2940 0.00 1.90 0.00 0.000 4 0.000 0.068 2247 3926 3523 0 0 0 0 0 0

2973 -0.68 -146.0 286.5 -10.0 355 2976 0.00 1.83 0.00 0.000 6 0.000 0.043 2247 2764 3523 0 0 0 0 0 0

3304 -0.68 -146.0 318.6 -9.4 386 3305 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2763 3524 0 0 0 0 0 0

3624 -0.68 -146.0 348.8 -9.7 416 3628 0.00 1.95 0.00 0.000 4 0.000 0.070 2247 3926 3524 0 0 0 0 0 0

3647 -0.68 -146.0 351.3 -9.8 418 3651 0.00 1.80 0.00 0.000 6 0.000 0.044 2247 2778 3524 0 0 0 0 0 0

3979 -0.68 -146.0 382.4 -9.0 449 3983 0.00 2.20 0.00 0.000 4 0.000 0.047 2247 1369 3524 0 0 0 0 0 0

4002 -0.68 -146.0 384.6 -9.2 450 4008 0.00 2.30 0.00 0.000 6 0.000 0.059 2247 2779 3524 0 0 0 0 0 0

4333 -0.68 -146.0 414.1 -8.8 472 4337 0.00 1.92 0.00 0.000 4 0.000 0.069 2247 3929 3524 0 0 0 0 0 0

4379 -0.70 -146.0 418.5 -9.3 473 4383 0.00 1.83 0.00 0.000 6 0.000 0.044 2247 2774 3523 0 0 0 0 0 0

4709 -0.70 -146.0 447.8 -9.0 484 4710 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2774 3523 0 0 0 0 0 0

5015 -0.70 -146.0 475.4 -9.0 494 5016 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2774 3523 0 0 0 0 0 0

5325 -0.70 -146.0 502.5 -8.8 504 5328 0.00 1.95 0.00 0.000 4 0.000 0.072 2247 3931 3523 0 0 0 0 0 0

5352 -0.70 -146.0 505.5 -8.6 504 5359 0.00 1.83 0.00 0.000 6 0.000 0.045 2247 2777 3522 0 0 0 0 0 0

5666 -0.73 -146.0 531.7 -8.3 515 5667 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2776 3522 0 0 0 0 0 0

5972 -0.75 -146.0 556.8 -8.1 525 5976 0.00 2.22 0.00 0.000 4 0.000 0.049 2247 1360 3521 0 0 0 0 0 0

6001 -0.77 -146.0 559.2 -8.0 526 6005 0.00 2.35 0.00 0.000 6 0.000 0.060 2247 2781 3521 0 0 0 0 0 0

6345 -0.79 -146.0 585.9 -7.7 537 6348 0.00 1.95 0.00 0.000 4 0.000 0.070 2246 3936 3521 0 0 0 0 0 0

6389 -0.83 -146.0 590.0 -8.7 538 6394 0.12 1.85 0.00 0.000 6 0.102 0.046 2186 2774 3521 0 0 0 0 0 0

6625 end dive: BOTTOM_OBSTACLE_DETECTED

state 6625 begin apogee

6632 -0.14 0.0 617.7 12.1 546 6759 0.75 0.00 121.43 0.976 4 0.145 0.000 2420 2594 2923 0 0 0 0 0 0

6760 end apogee: CONTROL_FINISHED_OK

state 6760 begin climb

6762 0.57 146.0 621.6 0.0 550 6902 0.70 2.38 127.97 0.954 4 0.077 0.048 2660 1186 2326 0 0 0 0 0 0

7041 0.57 146.0 598.2 11.4 558 7045 0.00 2.45 0.00 0.000 6 0.000 0.055 2660 2604 2318 0 0 0 0 0 0

7361 0.51 146.0 561.4 11.8 569 7365 0.00 2.25 0.00 0.000 4 0.000 0.067 2660 3932 2314 0 0 0 0 0 0

7586 0.41 146.0 531.2 13.3 575 7593 0.20 2.17 0.00 0.000 6 0.195 0.045 2611 2589 2312 0 0 0 0 0 0

7900 0.47 186.5 505.1 8.1 586 7940 0.00 2.33 33.20 0.894 4 0.000 0.053 2611 1188 2161 0 0 0 0 0 0

7959 0.58 231.6 500.0 7.9 587 8006 0.15 2.33 39.83 0.887 6 0.090 0.055 2675 2592 1977 0 0 0 0 0 0

8336 0.56 231.6 449.5 13.9 600 8337 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2592 1967 0 0 0 0 0 0

8643 0.54 231.6 407.0 14.0 610 8647 0.00 2.28 0.00 0.000 4 0.000 0.054 2676 1182 1965 0 0 0 0 0 0

8675 0.54 231.6 402.5 12.9 611 8679 0.00 2.28 0.00 0.000 6 0.000 0.056 2676 2594 1965 0 0 0 0 0 0

9002 0.51 231.6 358.8 13.6 640 9007 0.12 2.22 0.00 0.000 4 0.195 0.067 2645 3934 1965 0 0 0 0 0 0

9032 0.51 231.6 354.9 13.9 642 9036 0.00 2.15 0.00 0.000 6 0.000 0.045 2645 2585 1963 0 0 0 0 0 0

9358 0.55 231.6 319.8 11.5 672 9362 0.00 2.22 0.00 0.000 4 0.000 0.054 2645 1181 1963 0 0 0 0 0 0

9404 0.63 231.6 314.9 10.7 676 9409 0.10 2.28 0.00 0.000 6 0.113 0.055 2690 2591 1963 0 0 0 0 0 0

9730 0.59 231.6 269.7 14.0 706 9731 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2591 1963 0 0 0 0 0 0

10050 0.54 231.6 224.8 15.9 736 10052 0.15 0.00 0.00 0.000 6 0.190 0.000 2650 2592 1962 0 0 0 0 0 0

10367 0.57 231.6 184.3 13.3 766 10371 0.00 2.25 0.00 0.000 4 0.000 0.054 2650 1182 1962 0 0 0 0 0 0

10384 0.61 231.6 182.2 12.4 767 10389 0.00 2.30 0.00 0.000 6 0.000 0.054 2650 2604 1962 0 0 0 0 0 0

10716 0.66 231.6 144.7 10.6 798 10720 0.10 2.28 0.00 0.000 4 0.112 0.053 2693 1181 1961 0 0 0 0 0 0

10738 0.66 231.6 142.3 11.1 800 10743 0.00 2.30 0.00 0.000 6 0.000 0.054 2693 2599 1962 0 0 0 0 0 0

11064 0.63 231.6 100.2 12.9 830 11068 0.00 2.20 0.00 0.000 4 0.000 0.065 2693 3928 1962 0 0 0 0 0 0

11104 0.56 231.6 94.5 14.8 836 11111 0.12 2.12 0.00 0.000 6 0.194 0.044 2662 2597 1960 0 0 0 0 0 0

11452 0.60 231.6 58.2 11.5 897 11458 0.00 2.20 0.00 0.000 4 0.000 0.050 2662 1189 1961 0 0 0 0 0 0

11471 0.67 231.6 55.8 11.6 900 11478 0.00 2.28 0.00 0.000 6 0.000 0.053 2662 2596 1961 0 0 0 0 0 0

11820 0.75 262.8 19.9 8.6 961 11851 0.15 2.28 24.90 0.601 4 0.092 0.064 2727 3926 1849 0 0 0 0 0 0

11888 0.66 262.8 10.2 17.3 972 11895 0.15 2.15 0.00 0.000 6 0.182 0.044 2693 2596 1846 0 0 0 0 0 0

11954 end climb: SURFACE_DEPTH_REACHED

state 11955 begin surface coast

11977 end surface coast: CONTROL_FINISHED_OK

state 11978 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	526	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	33	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	-3	T_GPS_CHARGE	-9811.7793	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	171210,223544,6702.310,-5705.086,13,1.4,13,-37.6	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	4.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	3.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	171210,223544,6702.310,-5705.086,13,1.4,13,-37.6	MHEAD_RNG_PITCHd_Wd	121.7,12405,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	698

FREEZE	1.24,3.263,-1.820,0,2,0	ALTIM_TOP_PING	19.9,18.0
FINISH	1.2,1.026425	ALTIM_BOTTOM_PING	602.8,28.0
SM_CCo	11994,211.95,0.081,0,0,440,609.08	_24V_AH	21.9,63.863
SM_GC	1.94,0.00,0.00,211.95,0.000,0.000,0.081,286,2783,440,-6.83,0.06,609.08	_10V_AH	9.9,45.682
RAFOS_CLK	665	FG_AHR_24Vo	0.000
RAFOS	0,1292644889,4.033333,4.024722,52,46,44,43,43,41,699,1756,388,915,1305,1916	FG_AHR_10Vo	0.000
RAFOS_FIX	6707.859863,-5702.892090,181210,040401,3,84,0.47	MEM	151684
IRIDIUM_FIX	6631.12,-5638.47,171210,181833	DATA_FILE_SIZE	36776,988
TT8_MAMPS	0.028462	CAP_FILE_SIZE	126341,0
HUMID	45.94	CFSIZE	260165632,212774912
INTERNAL_PRESSURE	8.53396	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.40	SOUNDSPEED	1467.4
XPDR_PINGS	0	GPS	181210,055007,6702.820,-5655.879,69,1.2,69,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	195	42.61	SBE_CT	684	24	359.91
Roll_motor	97	80	171.38	SBE_O2	0	0	0.00
VBD_pump_during_apogee	347	976	7424.93	nil	0	0	0.00
VBD_pump_during_surface	211	81	376.40	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	23.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2515	19	496.11
LPSleep	7246	2	165.71
TT8_Active	592	19	116.88
TT8_Sampling	1717	39	678.85
TT8_CF8	205	45	93.64
TT8_Kalman	0	0	0.00
Analog_circuits	1524	12	181.06
GPS_charging	0	0	0.00
Compass	1699	15	252.37
RAFOS	2520	3	74.84
Transponder	20	30	6.16

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	53	0.00	2.65	-27.23	0.000	6	0.000	0.067	2495	2776	3520	0	0	0	0	0	0
56	-0.57	-146.0	5.2	-3.1	6	63	0.55	1.95	0.00	0.000	4	0.096	0.067	2295	3942	3521	0	0	0	0	0	0
117	-0.66	-146.0	9.6	-8.0	16	124	0.00	1.88	0.00	0.000	6	0.000	0.044	2295	2770	3521	0	0	0	0	0	0
463	-0.71	-146.0	42.0	-9.4	77	470	0.15	2.20	0.00	0.000	4	0.093	0.047	2228	1373	3522	0	0	0	0	0	0
506	-0.65	-146.0	47.3	-13.1	84	514	0.15	2.33	0.00	0.000	6	0.174	0.058	2262	2791	3522	0	0	0	0	0	0
853	-0.65	-146.0	84.6	-10.4	145	859	0.00	0.00	0.00	0.000	6	0.000	0.000	2262	2791	3522	0	0	0	0	0	0
1194	-0.65	-146.0	117.1	-8.6	190	1197	0.00	1.90	0.00	0.000	4	0.000	0.069	2256	3928	3522	0	0	0	0	0	0
1243	-0.65	-146.0	121.9	-9.6	194	1250	0.00	1.83	0.00	0.000	6	0.000	0.044	2256	2782	3522	0	0	0	0	0	0
1569	-0.65	-146.0	151.9	-9.2	225	1573	0.00	2.22	0.00	0.000	4	0.000	0.046	2255	1370	3522	0	0	0	0	0	0
1644	-0.68	-146.0	159.0	-9.3	231	1648	0.00	2.33	0.00	0.000	6	0.000	0.057	2249	2786	3522	0	0	0	0	0	0
1970	-0.68	-146.0	190.4	-9.5	261	1971	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2786	3522	0	0	0	0	0	0
2289	-0.68	-146.0	221.0	-9.2	291	2290	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2786	3522	0	0	0	0	0	0
2608	-0.68	-146.0	251.4	-9.3	321	2614	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2786	3522	0	0	0	0	0	0
2937	-0.68	-146.0	282.7	-9.6	352	2940	0.00	1.90	0.00	0.000	4	0.000	0.068	2247	3926	3523	0	0	0	0	0	0
2973	-0.68	-146.0	286.5	-10.0	355	2976	0.00	1.83	0.00	0.000	6	0.000	0.043	2247	2764	3523	0	0	0	0	0	0
3304	-0.68	-146.0	318.6	-9.4	386	3305	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2763	3524	0	0	0	0	0	0
3624	-0.68	-146.0	348.8	-9.7	416	3628	0.00	1.95	0.00	0.000	4	0.000	0.070	2247	3926	3524	0	0	0	0	0	0
3647	-0.68	-146.0	351.3	-9.8	418	3651	0.00	1.80	0.00	0.000	6	0.000	0.044	2247	2778	3524	0	0	0	0	0	0
3979	-0.68	-146.0	382.4	-9.0	449	3983	0.00	2.20	0.00	0.000	4	0.000	0.047	2247	1369	3524	0	0	0	0	0	0
4002	-0.68	-146.0	384.6	-9.2	450	4008	0.00	2.30	0.00	0.000	6	0.000	0.059	2247	2779	3524	0	0	0	0	0	0
4333	-0.68	-146.0	414.1	-8.8	472	4337	0.00	1.92	0.00	0.000	4	0.000	0.069	2247	3929	3524	0	0	0	0	0	0
4379	-0.70	-146.0	418.5	-9.3	473	4383	0.00	1.83	0.00	0.000	6	0.000	0.044	2247	2774	3523	0	0	0	0	0	0
4709	-0.70	-146.0	447.8	-9.0	484	4710	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2774	3523	0	0	0	0	0	0
5015	-0.70	-146.0	475.4	-9.0	494	5016	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2774	3523	0	0	0	0	0	0
5325	-0.70	-146.0	502.5	-8.8	504	5328	0.00	1.95	0.00	0.000	4	0.000	0.072	2247	3931	3523	0	0	0	0	0	0
5352	-0.70	-146.0	505.5	-8.6	504	5359	0.00	1.83	0.00	0.000	6	0.000	0.045	2247	2777	3522	0	0	0	0	0	0
5666	-0.73	-146.0	531.7	-8.3	515	5667	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2776	3522	0	0	0	0	0	0
5972	-0.75	-146.0	556.8	-8.1	525	5976	0.00	2.22	0.00	0.000	4	0.000	0.049	2247	1360	3521	0	0	0	0	0	0
6001	-0.77	-146.0	559.2	-8.0	526	6005	0.00	2.35	0.00	0.000	6	0.000	0.060	2247	2781	3521	0	0	0	0	0	0
6345	-0.79	-146.0	585.9	-7.7	537	6348	0.00	1.95	0.00	0.000	4	0.000	0.070	2246	3936	3521	0	0	0	0	0	0
6389	-0.83	-146.0	590.0	-8.7	538	6394	0.12	1.85	0.00	0.000	6	0.102	0.046	2186	2774	3521	0	0	0	0	0	0
6625	end dive: BOTTOM_OBSTACLE_DETECTED
state	6625	begin apogee
6632	-0.14	0.0	617.7	12.1	546	6759	0.75	0.00	121.43	0.976	4	0.145	0.000	2420	2594	2923	0	0	0	0	0	0
6760	end apogee: CONTROL_FINISHED_OK
state	6760	begin climb
6762	0.57	146.0	621.6	0.0	550	6902	0.70	2.38	127.97	0.954	4	0.077	0.048	2660	1186	2326	0	0	0	0	0	0
7041	0.57	146.0	598.2	11.4	558	7045	0.00	2.45	0.00	0.000	6	0.000	0.055	2660	2604	2318	0	0	0	0	0	0
7361	0.51	146.0	561.4	11.8	569	7365	0.00	2.25	0.00	0.000	4	0.000	0.067	2660	3932	2314	0	0	0	0	0	0
7586	0.41	146.0	531.2	13.3	575	7593	0.20	2.17	0.00	0.000	6	0.195	0.045	2611	2589	2312	0	0	0	0	0	0
7900	0.47	186.5	505.1	8.1	586	7940	0.00	2.33	33.20	0.894	4	0.000	0.053	2611	1188	2161	0	0	0	0	0	0
7959	0.58	231.6	500.0	7.9	587	8006	0.15	2.33	39.83	0.887	6	0.090	0.055	2675	2592	1977	0	0	0	0	0	0
8336	0.56	231.6	449.5	13.9	600	8337	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2592	1967	0	0	0	0	0	0
8643	0.54	231.6	407.0	14.0	610	8647	0.00	2.28	0.00	0.000	4	0.000	0.054	2676	1182	1965	0	0	0	0	0	0
8675	0.54	231.6	402.5	12.9	611	8679	0.00	2.28	0.00	0.000	6	0.000	0.056	2676	2594	1965	0	0	0	0	0	0
9002	0.51	231.6	358.8	13.6	640	9007	0.12	2.22	0.00	0.000	4	0.195	0.067	2645	3934	1965	0	0	0	0	0	0
9032	0.51	231.6	354.9	13.9	642	9036	0.00	2.15	0.00	0.000	6	0.000	0.045	2645	2585	1963	0	0	0	0	0	0
9358	0.55	231.6	319.8	11.5	672	9362	0.00	2.22	0.00	0.000	4	0.000	0.054	2645	1181	1963	0	0	0	0	0	0
9404	0.63	231.6	314.9	10.7	676	9409	0.10	2.28	0.00	0.000	6	0.113	0.055	2690	2591	1963	0	0	0	0	0	0
9730	0.59	231.6	269.7	14.0	706	9731	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2591	1963	0	0	0	0	0	0
10050	0.54	231.6	224.8	15.9	736	10052	0.15	0.00	0.00	0.000	6	0.190	0.000	2650	2592	1962	0	0	0	0	0	0
10367	0.57	231.6	184.3	13.3	766	10371	0.00	2.25	0.00	0.000	4	0.000	0.054	2650	1182	1962	0	0	0	0	0	0
10384	0.61	231.6	182.2	12.4	767	10389	0.00	2.30	0.00	0.000	6	0.000	0.054	2650	2604	1962	0	0	0	0	0	0
10716	0.66	231.6	144.7	10.6	798	10720	0.10	2.28	0.00	0.000	4	0.112	0.053	2693	1181	1961	0	0	0	0	0	0
10738	0.66	231.6	142.3	11.1	800	10743	0.00	2.30	0.00	0.000	6	0.000	0.054	2693	2599	1962	0	0	0	0	0	0
11064	0.63	231.6	100.2	12.9	830	11068	0.00	2.20	0.00	0.000	4	0.000	0.065	2693	3928	1962	0	0	0	0	0	0
11104	0.56	231.6	94.5	14.8	836	11111	0.12	2.12	0.00	0.000	6	0.194	0.044	2662	2597	1960	0	0	0	0	0	0
11452	0.60	231.6	58.2	11.5	897	11458	0.00	2.20	0.00	0.000	4	0.000	0.050	2662	1189	1961	0	0	0	0	0	0
11471	0.67	231.6	55.8	11.6	900	11478	0.00	2.28	0.00	0.000	6	0.000	0.053	2662	2596	1961	0	0	0	0	0	0
11820	0.75	262.8	19.9	8.6	961	11851	0.15	2.28	24.90	0.601	4	0.092	0.064	2727	3926	1849	0	0	0	0	0	0
11888	0.66	262.8	10.2	17.3	972	11895	0.15	2.15	0.00	0.000	6	0.182	0.044	2693	2596	1846	0	0	0	0	0	0
11954	end climb: SURFACE_DEPTH_REACHED
state	11955	begin surface coast
11977	end surface coast: CONTROL_FINISHED_OK
state	11978	begin surface