Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 547 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 547 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

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 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 22 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 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 0.0012300001 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 -46224.43 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

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 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 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 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 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 -46224.43

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 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 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 22 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 21 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 547 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 040511,162707,6657.657,-6007.251,0,7110.4,0,-37.6 TGT_NAME TARGET_W2

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 9.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040511,162707,6657.657,-6007.251,0,7110.4,0,-37.6 MHEAD_RNG_PITCHd_Wd 246.1,28773,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 722

Post-dive calculations and measurements:

FREEZE 8.96,-1.703,-1.765,2,82,0 ALTIM_BOTTOM_PING 650.8,21.4

FINISH1 9.0,1.025847,81 _24V_AH 21.5,72.313

FINISH2 6.8 _10V_AH 10.0,37.453

RAFOS_CLK 666 FG_AHR_24Vo 0.000

RAFOS 0,1304539268,20.033333,20.018888,103,57,53,52,50,50,637,147,124,187,197,170 FG_AHR_10Vo 0.000

RAFOS_FIX 6656.180664,-6009.224121,040511,202036,4,101,0.22 MEM 150600

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 DATA_FILE_SIZE 43372,1142

TT8_MAMPS 0.026215 CAP_FILE_SIZE 132432,0

HUMID 47.95 CFSIZE 260165632,217985024

INTERNAL_PRESSURE 8.67221 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1454.1

XPDR_PINGS 0 GPS 040511,202536,6656.181,-6009.224,0,4101.0,0,-37.6

ALTIM_TOP_PING 19.7,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 218 24.58 SBE_CT 816 24 421.36

Roll_motor 111 87 209.30 SBE_O2 871 19 355.96

VBD_pump_during_apogee 421 1344 12175.98 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 22.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2749 19 547.63

LPSleep 6859 2 158.45

TT8_Active 475 19 94.81

TT8_Sampling 1899 39 758.35

TT8_CF8 218 45 100.43

TT8_Kalman 0 0 0.00

Analog_circuits 1502 12 180.28

GPS_charging 0 0 0.00

Compass 1873 15 281.10

RAFOS 2520 1 37.80

Transponder 19 30 5.84

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 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -6.35 0.000 2 0.000 0.000 2901 3684 2941 0 0 0 0 0 0

28 -0.62 -146.0 11.5 -0.0 1 53 0.68 4.30 -17.33 0.000 4 0.109 0.072 2668 1078 3627 0 0 0 0 0 0

167 -0.54 -146.0 35.6 -17.3 25 174 0.00 2.33 0.00 0.000 6 0.000 0.069 2668 2488 3629 0 0 0 0 0 0

518 -0.40 -146.0 102.6 -19.9 86 523 0.22 2.40 0.00 0.000 4 0.219 0.085 2724 3900 3629 0 0 0 0 0 0

563 -0.45 -146.0 109.6 -12.3 89 570 0.00 2.28 0.00 0.000 6 0.000 0.056 2724 2484 3629 0 0 0 0 0 0

892 -0.48 -146.0 143.3 -10.7 120 896 0.00 2.30 0.00 0.000 4 0.000 0.071 2723 1072 3628 0 0 0 0 0 0

944 -0.55 -146.0 149.0 -9.7 124 949 0.12 2.33 0.00 0.000 6 0.129 0.070 2681 2494 3628 0 0 0 0 0 0

1271 -0.51 -146.0 188.1 -12.8 154 1275 0.00 2.38 0.00 0.000 4 0.000 0.087 2681 3906 3627 0 0 0 0 0 0

1328 -0.51 -146.0 195.4 -11.7 159 1332 0.00 2.28 0.00 0.000 6 0.000 0.057 2681 2489 3627 0 0 0 0 0 0

1653 -0.48 -146.0 236.4 -12.5 189 1654 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2488 3627 0 0 0 0 0 0

1975 -0.48 -146.0 273.7 -11.0 219 1981 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2489 3627 0 0 0 0 0 0

2302 -0.48 -146.0 308.5 -10.2 250 2303 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2489 3627 0 0 0 0 0 0

2621 -0.48 -146.0 340.8 -10.0 280 2625 0.00 2.38 0.00 0.000 4 0.000 0.082 2681 3903 3626 0 0 0 0 0 0

2644 -0.48 -146.0 343.4 -10.5 282 2648 0.00 2.28 0.00 0.000 6 0.000 0.054 2681 2477 3626 0 0 0 0 0 0

2969 -0.48 -146.0 375.2 -9.5 312 2970 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2477 3627 0 0 0 0 0 0

3290 -0.48 -146.0 406.9 -9.9 342 3297 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2477 3627 0 0 0 0 0 0

3618 -0.48 -146.0 439.4 -9.7 373 3624 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2477 3627 0 0 0 0 0 0

3944 -0.48 -146.0 470.3 -9.0 404 3948 0.00 2.40 0.00 0.000 4 0.000 0.080 2681 3900 3627 0 0 0 0 0 0

3973 -0.48 -146.0 472.9 -9.1 406 3977 0.00 2.25 0.00 0.000 6 0.000 0.053 2680 2490 3627 0 0 0 0 0 0

4298 -0.48 -146.0 501.5 -8.9 436 4299 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2490 3628 0 0 0 0 0 0

4618 -0.50 -146.0 531.1 -9.3 466 4620 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2490 3628 0 0 0 0 0 0

4935 -0.53 -146.0 560.2 -9.0 496 4939 0.00 2.35 0.00 0.000 4 0.000 0.079 2681 3899 3628 0 0 0 0 0 0

4957 -0.56 -146.0 562.3 -9.0 497 4964 0.00 2.25 0.00 0.000 6 0.000 0.051 2681 2485 3628 0 0 0 0 0 0

5284 -0.58 -146.0 591.2 -8.6 528 5288 0.00 2.38 0.00 0.000 4 0.000 0.079 2681 3907 3628 0 0 0 0 0 0

5325 -0.63 -146.0 594.8 -8.6 531 5329 0.00 2.25 0.00 0.000 6 0.000 0.052 2680 2489 3628 0 0 0 0 0 0

5643 -0.66 -146.0 621.7 -8.7 545 5647 0.00 2.35 0.00 0.000 4 0.000 0.079 2681 3899 3628 0 0 0 0 0 0

5665 -0.69 -146.0 624.0 -8.6 545 5673 0.12 2.25 0.00 0.000 6 0.122 0.051 2635 2482 3628 0 0 0 0 0 0

5946 end dive: BOTTOM_OBSTACLE_DETECTED

state 5946 begin apogee

5952 -0.12 0.0 658.7 12.8 555 6085 0.65 0.00 126.38 1.345 6 0.204 0.000 2812 2268 3031 0 0 0 0 0 0

6086 end apogee: CONTROL_FINISHED_OK

state 6086 begin climb

6089 0.62 146.0 663.6 0.0 559 6236 0.82 2.62 134.00 1.297 4 0.139 0.073 3066 879 2432 0 0 0 0 0 0

6287 0.56 146.0 649.9 11.2 565 6291 0.00 2.50 0.00 0.000 6 0.000 0.060 3067 2275 2428 0 0 0 0 0 0

6605 0.49 146.0 614.9 10.9 576 6610 0.15 2.38 0.00 0.000 4 0.180 0.076 3028 3688 2426 0 0 0 0 0 0

6660 0.45 146.0 609.1 10.2 577 6667 0.00 2.33 0.00 0.000 6 0.000 0.060 3036 2281 2425 0 0 0 0 0 0

6983 0.46 153.9 579.5 9.6 600 6992 0.00 0.00 6.90 1.009 6 0.000 0.000 3036 2281 2402 0 0 0 0 0 0

7311 0.48 165.1 547.8 9.5 631 7328 0.00 2.33 11.90 1.139 4 0.000 0.074 3046 867 2355 0 0 0 0 0 0

7367 0.48 165.1 541.9 10.2 635 7374 0.00 2.33 0.00 0.000 6 0.000 0.062 3046 2289 2354 0 0 0 0 0 0

7692 0.48 165.1 508.8 10.5 666 7696 0.00 2.30 0.00 0.000 4 0.000 0.076 3046 3697 2353 0 0 0 0 0 0

7737 0.41 165.1 503.5 12.0 669 7745 0.20 2.30 0.00 0.000 6 0.184 0.058 3003 2273 2353 0 0 0 0 0 0

8064 0.54 216.3 477.8 7.6 700 8120 0.10 2.35 46.47 1.203 4 0.123 0.073 3060 869 2147 0 0 0 0 0 0

8159 0.54 216.3 467.4 11.5 708 8166 0.00 2.35 0.00 0.000 6 0.000 0.060 3060 2285 2143 0 0 0 0 0 0

8485 0.54 216.3 427.8 12.4 739 8489 0.00 2.30 0.00 0.000 4 0.000 0.076 3061 3691 2140 0 0 0 0 0 0

8548 0.49 216.3 419.2 14.8 744 8552 0.17 2.28 0.00 0.000 6 0.179 0.058 3025 2269 2139 0 0 0 0 0 0

8874 0.58 229.8 388.1 9.4 774 8891 0.00 2.30 11.70 1.070 4 0.000 0.072 3032 860 2094 0 0 0 0 0 0

8938 0.68 229.8 381.9 10.2 779 8943 0.15 2.30 0.00 0.000 6 0.103 0.060 3097 2277 2093 0 0 0 0 0 0

9268 0.60 229.8 332.6 14.9 810 9273 0.15 2.33 0.00 0.000 4 0.186 0.075 3058 3692 2093 0 0 0 0 0 0

9320 0.60 229.8 325.4 13.8 814 9324 0.00 2.28 0.00 0.000 6 0.000 0.058 3067 2276 2091 0 0 0 0 0 0

9650 0.60 229.8 285.3 12.0 845 9654 0.00 2.33 0.00 0.000 4 0.000 0.071 3078 861 2091 0 0 0 0 0 0

9712 0.60 229.8 278.2 12.0 850 9716 0.00 2.28 0.00 0.000 6 0.000 0.060 3078 2275 2090 0 0 0 0 0 0

10042 0.60 229.8 239.9 11.3 881 10046 0.00 2.33 0.00 0.000 4 0.000 0.075 3078 3693 2090 0 0 0 0 0 0

10086 0.55 229.8 234.0 13.8 884 10093 0.17 2.28 0.00 0.000 6 0.196 0.057 3044 2276 2090 0 0 0 0 0 0

10412 0.63 246.4 203.2 9.2 915 10435 0.00 2.30 16.35 1.021 4 0.000 0.072 3047 866 2025 0 0 0 0 0 0

10493 0.77 265.3 195.8 9.1 922 10519 0.17 2.30 18.80 1.021 6 0.097 0.059 3117 2282 1948 0 0 0 0 0 0

10845 0.74 265.3 147.7 12.4 955 10849 0.00 2.33 0.00 0.000 4 0.000 0.073 3117 3697 1943 0 0 0 0 0 0

10890 0.66 265.3 141.4 14.0 958 10897 0.17 2.28 0.00 0.000 6 0.195 0.057 3083 2273 1943 0 0 0 0 0 0

11215 0.71 266.2 107.2 10.0 989 11219 0.00 2.30 0.00 0.000 4 0.000 0.073 3091 859 1942 0 0 0 0 0 0

11265 0.78 266.2 101.8 10.7 993 11272 0.00 2.30 0.00 0.000 6 0.000 0.060 3091 2278 1940 0 0 0 0 0 0

11610 0.92 318.7 71.7 7.6 1052 11669 0.20 2.40 48.60 0.995 4 0.090 0.076 3171 3678 1728 0 0 0 0 0 0

11767 0.83 318.7 50.6 16.5 1079 11775 0.17 2.30 0.00 0.000 6 0.207 0.059 3137 2276 1723 0 0 0 0 0 0

12080 end climb: FINISH_DEPTH_REACHED

state 12080 begin subsurface finish

12086 0.10 81.0 9.0 -12.7 1134 12134 0.77 2.35 -38.38 0.000 4 0.171 0.086 2905 860 2703 0 0 0 0 0 0

12134 end subsurface finish: CONTROL_FINISHED_OK

state 12134 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	547	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
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	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	22	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	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	0.0012300001	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	-46224.43	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
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	040511,162707,6657.657,-6007.251,0,7110.4,0,-37.6	TGT_NAME	TARGET_W2
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	9.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040511,162707,6657.657,-6007.251,0,7110.4,0,-37.6	MHEAD_RNG_PITCHd_Wd	246.1,28773,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	722

FREEZE	8.96,-1.703,-1.765,2,82,0	ALTIM_BOTTOM_PING	650.8,21.4
FINISH1	9.0,1.025847,81	_24V_AH	21.5,72.313
FINISH2	6.8	_10V_AH	10.0,37.453
RAFOS_CLK	666	FG_AHR_24Vo	0.000
RAFOS	0,1304539268,20.033333,20.018888,103,57,53,52,50,50,637,147,124,187,197,170	FG_AHR_10Vo	0.000
RAFOS_FIX	6656.180664,-6009.224121,040511,202036,4,101,0.22	MEM	150600
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	DATA_FILE_SIZE	43372,1142
TT8_MAMPS	0.026215	CAP_FILE_SIZE	132432,0
HUMID	47.95	CFSIZE	260165632,217985024
INTERNAL_PRESSURE	8.67221	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1454.1
XPDR_PINGS	0	GPS	040511,202536,6656.181,-6009.224,0,4101.0,0,-37.6
ALTIM_TOP_PING	19.7,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	218	24.58	SBE_CT	816	24	421.36
Roll_motor	111	87	209.30	SBE_O2	871	19	355.96
VBD_pump_during_apogee	421	1344	12175.98	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	22.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2749	19	547.63
LPSleep	6859	2	158.45
TT8_Active	475	19	94.81
TT8_Sampling	1899	39	758.35
TT8_CF8	218	45	100.43
TT8_Kalman	0	0	0.00
Analog_circuits	1502	12	180.28
GPS_charging	0	0	0.00
Compass	1873	15	281.10
RAFOS	2520	1	37.80
Transponder	19	30	5.84

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	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-6.35	0.000	2	0.000	0.000	2901	3684	2941	0	0	0	0	0	0
28	-0.62	-146.0	11.5	-0.0	1	53	0.68	4.30	-17.33	0.000	4	0.109	0.072	2668	1078	3627	0	0	0	0	0	0
167	-0.54	-146.0	35.6	-17.3	25	174	0.00	2.33	0.00	0.000	6	0.000	0.069	2668	2488	3629	0	0	0	0	0	0
518	-0.40	-146.0	102.6	-19.9	86	523	0.22	2.40	0.00	0.000	4	0.219	0.085	2724	3900	3629	0	0	0	0	0	0
563	-0.45	-146.0	109.6	-12.3	89	570	0.00	2.28	0.00	0.000	6	0.000	0.056	2724	2484	3629	0	0	0	0	0	0
892	-0.48	-146.0	143.3	-10.7	120	896	0.00	2.30	0.00	0.000	4	0.000	0.071	2723	1072	3628	0	0	0	0	0	0
944	-0.55	-146.0	149.0	-9.7	124	949	0.12	2.33	0.00	0.000	6	0.129	0.070	2681	2494	3628	0	0	0	0	0	0
1271	-0.51	-146.0	188.1	-12.8	154	1275	0.00	2.38	0.00	0.000	4	0.000	0.087	2681	3906	3627	0	0	0	0	0	0
1328	-0.51	-146.0	195.4	-11.7	159	1332	0.00	2.28	0.00	0.000	6	0.000	0.057	2681	2489	3627	0	0	0	0	0	0
1653	-0.48	-146.0	236.4	-12.5	189	1654	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2488	3627	0	0	0	0	0	0
1975	-0.48	-146.0	273.7	-11.0	219	1981	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2489	3627	0	0	0	0	0	0
2302	-0.48	-146.0	308.5	-10.2	250	2303	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2489	3627	0	0	0	0	0	0
2621	-0.48	-146.0	340.8	-10.0	280	2625	0.00	2.38	0.00	0.000	4	0.000	0.082	2681	3903	3626	0	0	0	0	0	0
2644	-0.48	-146.0	343.4	-10.5	282	2648	0.00	2.28	0.00	0.000	6	0.000	0.054	2681	2477	3626	0	0	0	0	0	0
2969	-0.48	-146.0	375.2	-9.5	312	2970	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2477	3627	0	0	0	0	0	0
3290	-0.48	-146.0	406.9	-9.9	342	3297	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2477	3627	0	0	0	0	0	0
3618	-0.48	-146.0	439.4	-9.7	373	3624	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2477	3627	0	0	0	0	0	0
3944	-0.48	-146.0	470.3	-9.0	404	3948	0.00	2.40	0.00	0.000	4	0.000	0.080	2681	3900	3627	0	0	0	0	0	0
3973	-0.48	-146.0	472.9	-9.1	406	3977	0.00	2.25	0.00	0.000	6	0.000	0.053	2680	2490	3627	0	0	0	0	0	0
4298	-0.48	-146.0	501.5	-8.9	436	4299	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2490	3628	0	0	0	0	0	0
4618	-0.50	-146.0	531.1	-9.3	466	4620	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2490	3628	0	0	0	0	0	0
4935	-0.53	-146.0	560.2	-9.0	496	4939	0.00	2.35	0.00	0.000	4	0.000	0.079	2681	3899	3628	0	0	0	0	0	0
4957	-0.56	-146.0	562.3	-9.0	497	4964	0.00	2.25	0.00	0.000	6	0.000	0.051	2681	2485	3628	0	0	0	0	0	0
5284	-0.58	-146.0	591.2	-8.6	528	5288	0.00	2.38	0.00	0.000	4	0.000	0.079	2681	3907	3628	0	0	0	0	0	0
5325	-0.63	-146.0	594.8	-8.6	531	5329	0.00	2.25	0.00	0.000	6	0.000	0.052	2680	2489	3628	0	0	0	0	0	0
5643	-0.66	-146.0	621.7	-8.7	545	5647	0.00	2.35	0.00	0.000	4	0.000	0.079	2681	3899	3628	0	0	0	0	0	0
5665	-0.69	-146.0	624.0	-8.6	545	5673	0.12	2.25	0.00	0.000	6	0.122	0.051	2635	2482	3628	0	0	0	0	0	0
5946	end dive: BOTTOM_OBSTACLE_DETECTED
state	5946	begin apogee
5952	-0.12	0.0	658.7	12.8	555	6085	0.65	0.00	126.38	1.345	6	0.204	0.000	2812	2268	3031	0	0	0	0	0	0
6086	end apogee: CONTROL_FINISHED_OK
state	6086	begin climb
6089	0.62	146.0	663.6	0.0	559	6236	0.82	2.62	134.00	1.297	4	0.139	0.073	3066	879	2432	0	0	0	0	0	0
6287	0.56	146.0	649.9	11.2	565	6291	0.00	2.50	0.00	0.000	6	0.000	0.060	3067	2275	2428	0	0	0	0	0	0
6605	0.49	146.0	614.9	10.9	576	6610	0.15	2.38	0.00	0.000	4	0.180	0.076	3028	3688	2426	0	0	0	0	0	0
6660	0.45	146.0	609.1	10.2	577	6667	0.00	2.33	0.00	0.000	6	0.000	0.060	3036	2281	2425	0	0	0	0	0	0
6983	0.46	153.9	579.5	9.6	600	6992	0.00	0.00	6.90	1.009	6	0.000	0.000	3036	2281	2402	0	0	0	0	0	0
7311	0.48	165.1	547.8	9.5	631	7328	0.00	2.33	11.90	1.139	4	0.000	0.074	3046	867	2355	0	0	0	0	0	0
7367	0.48	165.1	541.9	10.2	635	7374	0.00	2.33	0.00	0.000	6	0.000	0.062	3046	2289	2354	0	0	0	0	0	0
7692	0.48	165.1	508.8	10.5	666	7696	0.00	2.30	0.00	0.000	4	0.000	0.076	3046	3697	2353	0	0	0	0	0	0
7737	0.41	165.1	503.5	12.0	669	7745	0.20	2.30	0.00	0.000	6	0.184	0.058	3003	2273	2353	0	0	0	0	0	0
8064	0.54	216.3	477.8	7.6	700	8120	0.10	2.35	46.47	1.203	4	0.123	0.073	3060	869	2147	0	0	0	0	0	0
8159	0.54	216.3	467.4	11.5	708	8166	0.00	2.35	0.00	0.000	6	0.000	0.060	3060	2285	2143	0	0	0	0	0	0
8485	0.54	216.3	427.8	12.4	739	8489	0.00	2.30	0.00	0.000	4	0.000	0.076	3061	3691	2140	0	0	0	0	0	0
8548	0.49	216.3	419.2	14.8	744	8552	0.17	2.28	0.00	0.000	6	0.179	0.058	3025	2269	2139	0	0	0	0	0	0
8874	0.58	229.8	388.1	9.4	774	8891	0.00	2.30	11.70	1.070	4	0.000	0.072	3032	860	2094	0	0	0	0	0	0
8938	0.68	229.8	381.9	10.2	779	8943	0.15	2.30	0.00	0.000	6	0.103	0.060	3097	2277	2093	0	0	0	0	0	0
9268	0.60	229.8	332.6	14.9	810	9273	0.15	2.33	0.00	0.000	4	0.186	0.075	3058	3692	2093	0	0	0	0	0	0
9320	0.60	229.8	325.4	13.8	814	9324	0.00	2.28	0.00	0.000	6	0.000	0.058	3067	2276	2091	0	0	0	0	0	0
9650	0.60	229.8	285.3	12.0	845	9654	0.00	2.33	0.00	0.000	4	0.000	0.071	3078	861	2091	0	0	0	0	0	0
9712	0.60	229.8	278.2	12.0	850	9716	0.00	2.28	0.00	0.000	6	0.000	0.060	3078	2275	2090	0	0	0	0	0	0
10042	0.60	229.8	239.9	11.3	881	10046	0.00	2.33	0.00	0.000	4	0.000	0.075	3078	3693	2090	0	0	0	0	0	0
10086	0.55	229.8	234.0	13.8	884	10093	0.17	2.28	0.00	0.000	6	0.196	0.057	3044	2276	2090	0	0	0	0	0	0
10412	0.63	246.4	203.2	9.2	915	10435	0.00	2.30	16.35	1.021	4	0.000	0.072	3047	866	2025	0	0	0	0	0	0
10493	0.77	265.3	195.8	9.1	922	10519	0.17	2.30	18.80	1.021	6	0.097	0.059	3117	2282	1948	0	0	0	0	0	0
10845	0.74	265.3	147.7	12.4	955	10849	0.00	2.33	0.00	0.000	4	0.000	0.073	3117	3697	1943	0	0	0	0	0	0
10890	0.66	265.3	141.4	14.0	958	10897	0.17	2.28	0.00	0.000	6	0.195	0.057	3083	2273	1943	0	0	0	0	0	0
11215	0.71	266.2	107.2	10.0	989	11219	0.00	2.30	0.00	0.000	4	0.000	0.073	3091	859	1942	0	0	0	0	0	0
11265	0.78	266.2	101.8	10.7	993	11272	0.00	2.30	0.00	0.000	6	0.000	0.060	3091	2278	1940	0	0	0	0	0	0
11610	0.92	318.7	71.7	7.6	1052	11669	0.20	2.40	48.60	0.995	4	0.090	0.076	3171	3678	1728	0	0	0	0	0	0
11767	0.83	318.7	50.6	16.5	1079	11775	0.17	2.30	0.00	0.000	6	0.207	0.059	3137	2276	1723	0	0	0	0	0	0
12080	end climb: FINISH_DEPTH_REACHED
state	12080	begin subsurface finish
12086	0.10	81.0	9.0	-12.7	1134	12134	0.77	2.35	-38.38	0.000	4	0.171	0.086	2905	860	2703	0	0	0	0	0	0
12134	end subsurface finish: CONTROL_FINISHED_OK
state	12134	begin surface