Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 562 * 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 562 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 31 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 -9850.9922 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 -9850.9922

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 31 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 562 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 221210,210501,6709.830,-5816.788,40,1.0,40,-38.1 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 1.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221210,211126,6709.697,-5816.656,9,1.3,9,-38.1 MHEAD_RNG_PITCHd_Wd 281.4,105917,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 1121

Post-dive calculations and measurements:

FREEZE 8.46,-1.777,-1.779,2,1,0 ALTIM_BOTTOM_PING 600.3,11.0

FINISH1 8.5,1.026044,71 _24V_AH 21.7,67.424

FINISH2 7.1 _10V_AH 9.8,47.949

RAFOS_CLK 633 FG_AHR_24Vo 0.000

RAFOS 0,1293062469,0.033333,0.019167,52,48,48,46,46,41,952,476,941,1294,246,963 FG_AHR_10Vo 0.000

RAFOS_FIX 6708.136230,-5820.014648,231210,000056,2,69,0.34 MEM 151652

IRIDIUM_FIX 6641.98,-5815.55,221210,151515 DATA_FILE_SIZE 33365,959

TT8_MAMPS 0.02996 CAP_FILE_SIZE 125718,0

HUMID 49.56 CFSIZE 260165632,210616320

INTERNAL_PRESSURE 8.63162 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.60 SOUNDSPEED 1454.3

XPDR_PINGS 0 GPS 231210,001456,6708.136,-5820.015,0,2069.0,0,-38.1

ALTIM_TOP_PING 19.8,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 244 63.08 SBE_CT 666 24 347.33

Roll_motor 93 80 162.54 SBE_O2 0 0 0.00

VBD_pump_during_apogee 359 975 7609.58 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 30 103 67.67 nil 0 0 0.00

Iridium_during_connect 41 160 143.89 nil 0 0 0.00

Iridium_during_xfer 156 223 755.63 nil 0 0 0.00

Transponder_ping 2 420 20.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.68

TT8 2336 19 456.18

LPSleep 7294 2 165.14

TT8_Active 511 19 99.81

TT8_Sampling 1896 39 741.81

TT8_CF8 278 45 125.44

TT8_Kalman 0 0 0.00

Analog_circuits 1438 12 169.11

GPS_charging 0 0 0.00

Compass 1657 15 243.72

RAFOS 1440 3 42.34

Transponder 17 30 5.20

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.57 -146.0 0.0 0.0 0 160 0.00 0.00 -140.05 0.000 2 0.000 0.000 286 2782 3311 0 0 0 0 0 0

162 -0.57 -146.0 5.2 -11.7 25 182 8.43 1.95 -4.50 0.000 4 0.245 0.080 2277 3929 3522 0 0 0 0 0 0

437 -0.57 -146.0 49.5 -13.1 73 443 0.00 1.90 0.00 0.000 6 0.000 0.050 2276 2769 3523 0 0 0 0 0 0

782 -0.57 -146.0 89.3 -11.5 134 789 0.00 2.22 0.00 0.000 4 0.000 0.052 2276 1370 3523 0 0 0 0 0 0

836 -0.59 -146.0 95.3 -11.0 143 843 0.00 2.33 0.00 0.000 6 0.000 0.063 2275 2769 3523 0 0 0 0 0 0

1171 -0.59 -146.0 129.8 -9.7 178 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2769 3523 0 0 0 0 0 0

1492 -0.59 -146.0 162.0 -10.3 208 1496 0.00 1.98 0.00 0.000 4 0.000 0.074 2274 3934 3523 0 0 0 0 0 0

1712 -0.62 -146.0 183.6 -9.3 227 1718 0.00 1.88 0.00 0.000 6 0.000 0.050 2274 2786 3522 0 0 0 0 0 0

2038 -0.66 -146.0 210.8 -8.1 258 2042 0.00 2.25 0.00 0.000 4 0.000 0.052 2274 1372 3522 0 0 0 0 0 0

2072 -0.70 -146.0 213.8 -8.3 260 2079 0.00 2.35 0.00 0.000 6 0.000 0.064 2273 2780 3522 0 0 0 0 0 0

2398 -0.74 -146.0 237.6 -6.9 291 2403 0.10 2.30 0.00 0.000 4 0.121 0.051 2228 1361 3521 0 0 0 0 0 0

2450 -0.71 -146.0 242.3 -9.6 295 2454 0.00 2.38 0.00 0.000 6 0.000 0.063 2222 2775 3522 0 0 0 0 0 0

2782 -0.65 -146.0 276.6 -10.3 326 2787 0.15 2.00 0.00 0.000 4 0.177 0.073 2256 3927 3521 0 0 0 0 0 0

2817 -0.65 -146.0 279.9 -9.3 329 2821 0.00 1.90 0.00 0.000 6 0.000 0.049 2257 2761 3521 0 0 0 0 0 0

3148 -0.65 -146.0 310.3 -9.5 360 3152 0.00 2.22 0.00 0.000 4 0.000 0.051 2256 1372 3522 0 0 0 0 0 0

3171 -0.65 -146.0 312.5 -9.5 361 3178 0.00 2.35 0.00 0.000 6 0.000 0.063 2250 2771 3523 0 0 0 0 0 0

3496 -0.65 -146.0 343.1 -9.2 392 3500 0.00 1.98 0.00 0.000 4 0.000 0.073 2247 3936 3523 0 0 0 0 0 0

3547 -0.65 -146.0 348.2 -9.8 396 3554 0.00 1.90 0.00 0.000 6 0.000 0.048 2247 2770 3523 0 0 0 0 0 0

3872 -0.65 -146.0 376.7 -8.4 427 3874 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2770 3523 0 0 0 0 0 0

4203 -0.65 -146.0 402.8 -7.7 456 4204 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2770 3523 0 0 0 0 0 0

4507 -0.65 -146.0 426.8 -7.8 466 4511 0.00 2.22 0.00 0.000 4 0.000 0.050 2247 1368 3524 0 0 0 0 0 0

4546 -0.68 -146.0 430.1 -7.8 467 4550 0.00 2.33 0.00 0.000 6 0.000 0.061 2247 2767 3524 0 0 0 0 0 0

4870 -0.68 -146.0 456.4 -8.3 478 4871 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2767 3524 0 0 0 0 0 0

5176 -0.68 -146.0 482.5 -8.5 488 5177 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2767 3524 0 0 0 0 0 0

5483 -0.68 -146.0 507.4 -8.0 498 5484 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2767 3524 0 0 0 0 0 0

5788 -0.68 -146.0 534.4 -9.1 508 5789 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2767 3525 0 0 0 0 0 0

6095 -0.68 -146.0 563.1 -9.4 518 6099 0.00 2.25 0.00 0.000 4 0.000 0.050 2247 1362 3525 0 0 0 0 0 0

6129 -0.71 -146.0 566.5 -9.8 519 6133 0.00 2.33 0.00 0.000 6 0.000 0.061 2247 2763 3525 0 0 0 0 0 0

6459 -0.73 -146.0 596.4 -9.0 530 6463 0.00 2.22 0.00 0.000 4 0.000 0.050 2247 1369 3525 0 0 0 0 0 0

6494 -0.76 -146.0 599.7 -9.4 531 6500 0.00 2.30 0.00 0.000 6 0.000 0.062 2247 2753 3525 0 0 0 0 0 0

6505 end dive: BOTTOM_OBSTACLE_DETECTED

state 6505 begin apogee

6512 -0.14 0.0 601.0 9.2 531 6642 0.55 0.00 124.35 0.975 4 0.131 0.000 2425 2598 2923 0 0 0 0 0 0

6643 end apogee: CONTROL_FINISHED_OK

state 6643 begin climb

6646 0.57 146.0 605.6 0.0 535 6784 0.68 2.42 130.12 0.952 4 0.068 0.050 2663 1186 2328 0 0 0 0 0 0

6912 0.57 146.0 586.4 10.2 544 6916 0.00 2.47 0.00 0.000 6 0.000 0.055 2663 2606 2320 0 0 0 0 0 0

7247 0.52 146.0 549.5 10.8 555 7251 0.00 2.30 0.00 0.000 4 0.000 0.053 2665 1190 2316 0 0 0 0 0 0

7432 0.52 147.5 530.3 9.9 560 7437 0.00 2.33 0.00 0.000 6 0.000 0.057 2665 2607 2316 0 0 0 0 0 0

7751 0.46 147.5 495.8 11.0 571 7756 0.15 2.22 0.00 0.000 4 0.194 0.068 2626 3925 2315 0 0 0 0 0 0

7801 0.43 147.5 490.1 11.2 572 7805 0.00 2.12 0.00 0.000 6 0.000 0.046 2626 2600 2313 0 0 0 0 0 0

8115 0.45 171.7 462.0 8.9 582 8143 0.00 0.00 21.35 0.876 6 0.000 0.000 2626 2599 2222 0 0 0 0 0 0

8450 0.50 198.8 432.0 8.7 593 8479 0.00 0.00 24.35 0.861 6 0.000 0.000 2626 2598 2111 0 0 0 0 0 0

8787 0.57 223.9 402.8 8.8 604 8819 0.00 2.35 22.48 0.842 4 0.000 0.054 2626 1191 2009 0 0 0 0 0 0

8854 0.70 241.2 396.8 9.2 608 8878 0.20 2.35 16.52 0.820 6 0.081 0.056 2707 2606 1939 0 0 0 0 0 0

9196 0.63 241.2 342.6 17.1 640 9200 0.00 2.22 0.00 0.000 4 0.000 0.068 2706 3925 1932 0 0 0 0 0 0

9228 0.54 241.2 336.2 19.4 642 9236 0.20 2.15 0.00 0.000 6 0.182 0.046 2654 2601 1931 0 0 0 0 0 0

9554 0.57 241.2 293.7 12.5 673 9558 0.00 2.25 0.00 0.000 4 0.000 0.053 2654 1186 1930 0 0 0 0 0 0

9583 0.64 241.2 290.2 11.8 675 9587 0.00 2.33 0.00 0.000 6 0.000 0.056 2654 2602 1930 0 0 0 0 0 0

9910 0.69 241.2 253.4 10.2 705 9912 0.12 0.00 0.00 0.000 6 0.104 0.000 2706 2602 1929 0 0 0 0 0 0

10227 0.64 241.2 208.4 14.7 735 10228 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2603 1929 0 0 0 0 0 0

10546 0.60 241.2 163.4 13.3 765 10550 0.15 2.28 0.00 0.000 4 0.176 0.054 2665 1188 1929 0 0 0 0 0 0

10612 0.68 249.9 156.0 9.6 770 10625 0.00 2.30 7.40 0.670 6 0.000 0.057 2666 2602 1904 0 0 0 0 0 0

10944 0.73 249.9 120.6 10.5 801 10949 0.12 2.22 0.00 0.000 4 0.107 0.069 2718 3925 1902 0 0 0 0 0 0

10999 0.65 249.9 112.1 15.9 805 11007 0.15 2.10 0.00 0.000 6 0.188 0.046 2687 2612 1900 0 0 0 0 0 0

11338 0.68 253.0 75.0 9.9 857 11351 0.00 2.33 3.97 0.532 4 0.000 0.054 2687 1192 1891 0 0 0 0 0 0

11415 0.77 260.8 67.3 9.6 870 11434 0.10 2.30 8.98 0.653 6 0.116 0.057 2727 2592 1858 0 0 0 0 0 0

11772 0.77 260.8 22.7 10.5 933 11778 0.00 2.25 0.00 0.000 4 0.000 0.070 2727 3933 1855 0 0 0 0 0 0

11853 0.73 260.8 13.1 11.2 947 11860 0.00 2.17 0.00 0.000 6 0.000 0.047 2733 2593 1854 0 0 0 0 0 0

11894 end climb: FINISH_DEPTH_REACHED

state 11894 begin subsurface finish

11900 0.05 71.4 8.5 -10.3 954 11930 0.77 0.00 -23.45 0.000 6 0.151 0.000 2494 2593 2634 0 0 0 0 0 0

11931 end subsurface finish: CONTROL_FINISHED_OK

state 11931 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	562	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	31	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	-9850.9922	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	221210,210501,6709.830,-5816.788,40,1.0,40,-38.1	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	1.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221210,211126,6709.697,-5816.656,9,1.3,9,-38.1	MHEAD_RNG_PITCHd_Wd	281.4,105917,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	1121

FREEZE	8.46,-1.777,-1.779,2,1,0	ALTIM_BOTTOM_PING	600.3,11.0
FINISH1	8.5,1.026044,71	_24V_AH	21.7,67.424
FINISH2	7.1	_10V_AH	9.8,47.949
RAFOS_CLK	633	FG_AHR_24Vo	0.000
RAFOS	0,1293062469,0.033333,0.019167,52,48,48,46,46,41,952,476,941,1294,246,963	FG_AHR_10Vo	0.000
RAFOS_FIX	6708.136230,-5820.014648,231210,000056,2,69,0.34	MEM	151652
IRIDIUM_FIX	6641.98,-5815.55,221210,151515	DATA_FILE_SIZE	33365,959
TT8_MAMPS	0.02996	CAP_FILE_SIZE	125718,0
HUMID	49.56	CFSIZE	260165632,210616320
INTERNAL_PRESSURE	8.63162	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.60	SOUNDSPEED	1454.3
XPDR_PINGS	0	GPS	231210,001456,6708.136,-5820.015,0,2069.0,0,-38.1
ALTIM_TOP_PING	19.8,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	244	63.08	SBE_CT	666	24	347.33
Roll_motor	93	80	162.54	SBE_O2	0	0	0.00
VBD_pump_during_apogee	359	975	7609.58	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	30	103	67.67	nil	0	0	0.00
Iridium_during_connect	41	160	143.89	nil	0	0	0.00
Iridium_during_xfer	156	223	755.63	nil	0	0	0.00
Transponder_ping	2	420	20.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.68
TT8	2336	19	456.18
LPSleep	7294	2	165.14
TT8_Active	511	19	99.81
TT8_Sampling	1896	39	741.81
TT8_CF8	278	45	125.44
TT8_Kalman	0	0	0.00
Analog_circuits	1438	12	169.11
GPS_charging	0	0	0.00
Compass	1657	15	243.72
RAFOS	1440	3	42.34
Transponder	17	30	5.20

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.57	-146.0	0.0	0.0	0	160	0.00	0.00	-140.05	0.000	2	0.000	0.000	286	2782	3311	0	0	0	0	0	0
162	-0.57	-146.0	5.2	-11.7	25	182	8.43	1.95	-4.50	0.000	4	0.245	0.080	2277	3929	3522	0	0	0	0	0	0
437	-0.57	-146.0	49.5	-13.1	73	443	0.00	1.90	0.00	0.000	6	0.000	0.050	2276	2769	3523	0	0	0	0	0	0
782	-0.57	-146.0	89.3	-11.5	134	789	0.00	2.22	0.00	0.000	4	0.000	0.052	2276	1370	3523	0	0	0	0	0	0
836	-0.59	-146.0	95.3	-11.0	143	843	0.00	2.33	0.00	0.000	6	0.000	0.063	2275	2769	3523	0	0	0	0	0	0
1171	-0.59	-146.0	129.8	-9.7	178	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2769	3523	0	0	0	0	0	0
1492	-0.59	-146.0	162.0	-10.3	208	1496	0.00	1.98	0.00	0.000	4	0.000	0.074	2274	3934	3523	0	0	0	0	0	0
1712	-0.62	-146.0	183.6	-9.3	227	1718	0.00	1.88	0.00	0.000	6	0.000	0.050	2274	2786	3522	0	0	0	0	0	0
2038	-0.66	-146.0	210.8	-8.1	258	2042	0.00	2.25	0.00	0.000	4	0.000	0.052	2274	1372	3522	0	0	0	0	0	0
2072	-0.70	-146.0	213.8	-8.3	260	2079	0.00	2.35	0.00	0.000	6	0.000	0.064	2273	2780	3522	0	0	0	0	0	0
2398	-0.74	-146.0	237.6	-6.9	291	2403	0.10	2.30	0.00	0.000	4	0.121	0.051	2228	1361	3521	0	0	0	0	0	0
2450	-0.71	-146.0	242.3	-9.6	295	2454	0.00	2.38	0.00	0.000	6	0.000	0.063	2222	2775	3522	0	0	0	0	0	0
2782	-0.65	-146.0	276.6	-10.3	326	2787	0.15	2.00	0.00	0.000	4	0.177	0.073	2256	3927	3521	0	0	0	0	0	0
2817	-0.65	-146.0	279.9	-9.3	329	2821	0.00	1.90	0.00	0.000	6	0.000	0.049	2257	2761	3521	0	0	0	0	0	0
3148	-0.65	-146.0	310.3	-9.5	360	3152	0.00	2.22	0.00	0.000	4	0.000	0.051	2256	1372	3522	0	0	0	0	0	0
3171	-0.65	-146.0	312.5	-9.5	361	3178	0.00	2.35	0.00	0.000	6	0.000	0.063	2250	2771	3523	0	0	0	0	0	0
3496	-0.65	-146.0	343.1	-9.2	392	3500	0.00	1.98	0.00	0.000	4	0.000	0.073	2247	3936	3523	0	0	0	0	0	0
3547	-0.65	-146.0	348.2	-9.8	396	3554	0.00	1.90	0.00	0.000	6	0.000	0.048	2247	2770	3523	0	0	0	0	0	0
3872	-0.65	-146.0	376.7	-8.4	427	3874	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2770	3523	0	0	0	0	0	0
4203	-0.65	-146.0	402.8	-7.7	456	4204	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2770	3523	0	0	0	0	0	0
4507	-0.65	-146.0	426.8	-7.8	466	4511	0.00	2.22	0.00	0.000	4	0.000	0.050	2247	1368	3524	0	0	0	0	0	0
4546	-0.68	-146.0	430.1	-7.8	467	4550	0.00	2.33	0.00	0.000	6	0.000	0.061	2247	2767	3524	0	0	0	0	0	0
4870	-0.68	-146.0	456.4	-8.3	478	4871	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2767	3524	0	0	0	0	0	0
5176	-0.68	-146.0	482.5	-8.5	488	5177	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2767	3524	0	0	0	0	0	0
5483	-0.68	-146.0	507.4	-8.0	498	5484	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2767	3524	0	0	0	0	0	0
5788	-0.68	-146.0	534.4	-9.1	508	5789	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2767	3525	0	0	0	0	0	0
6095	-0.68	-146.0	563.1	-9.4	518	6099	0.00	2.25	0.00	0.000	4	0.000	0.050	2247	1362	3525	0	0	0	0	0	0
6129	-0.71	-146.0	566.5	-9.8	519	6133	0.00	2.33	0.00	0.000	6	0.000	0.061	2247	2763	3525	0	0	0	0	0	0
6459	-0.73	-146.0	596.4	-9.0	530	6463	0.00	2.22	0.00	0.000	4	0.000	0.050	2247	1369	3525	0	0	0	0	0	0
6494	-0.76	-146.0	599.7	-9.4	531	6500	0.00	2.30	0.00	0.000	6	0.000	0.062	2247	2753	3525	0	0	0	0	0	0
6505	end dive: BOTTOM_OBSTACLE_DETECTED
state	6505	begin apogee
6512	-0.14	0.0	601.0	9.2	531	6642	0.55	0.00	124.35	0.975	4	0.131	0.000	2425	2598	2923	0	0	0	0	0	0
6643	end apogee: CONTROL_FINISHED_OK
state	6643	begin climb
6646	0.57	146.0	605.6	0.0	535	6784	0.68	2.42	130.12	0.952	4	0.068	0.050	2663	1186	2328	0	0	0	0	0	0
6912	0.57	146.0	586.4	10.2	544	6916	0.00	2.47	0.00	0.000	6	0.000	0.055	2663	2606	2320	0	0	0	0	0	0
7247	0.52	146.0	549.5	10.8	555	7251	0.00	2.30	0.00	0.000	4	0.000	0.053	2665	1190	2316	0	0	0	0	0	0
7432	0.52	147.5	530.3	9.9	560	7437	0.00	2.33	0.00	0.000	6	0.000	0.057	2665	2607	2316	0	0	0	0	0	0
7751	0.46	147.5	495.8	11.0	571	7756	0.15	2.22	0.00	0.000	4	0.194	0.068	2626	3925	2315	0	0	0	0	0	0
7801	0.43	147.5	490.1	11.2	572	7805	0.00	2.12	0.00	0.000	6	0.000	0.046	2626	2600	2313	0	0	0	0	0	0
8115	0.45	171.7	462.0	8.9	582	8143	0.00	0.00	21.35	0.876	6	0.000	0.000	2626	2599	2222	0	0	0	0	0	0
8450	0.50	198.8	432.0	8.7	593	8479	0.00	0.00	24.35	0.861	6	0.000	0.000	2626	2598	2111	0	0	0	0	0	0
8787	0.57	223.9	402.8	8.8	604	8819	0.00	2.35	22.48	0.842	4	0.000	0.054	2626	1191	2009	0	0	0	0	0	0
8854	0.70	241.2	396.8	9.2	608	8878	0.20	2.35	16.52	0.820	6	0.081	0.056	2707	2606	1939	0	0	0	0	0	0
9196	0.63	241.2	342.6	17.1	640	9200	0.00	2.22	0.00	0.000	4	0.000	0.068	2706	3925	1932	0	0	0	0	0	0
9228	0.54	241.2	336.2	19.4	642	9236	0.20	2.15	0.00	0.000	6	0.182	0.046	2654	2601	1931	0	0	0	0	0	0
9554	0.57	241.2	293.7	12.5	673	9558	0.00	2.25	0.00	0.000	4	0.000	0.053	2654	1186	1930	0	0	0	0	0	0
9583	0.64	241.2	290.2	11.8	675	9587	0.00	2.33	0.00	0.000	6	0.000	0.056	2654	2602	1930	0	0	0	0	0	0
9910	0.69	241.2	253.4	10.2	705	9912	0.12	0.00	0.00	0.000	6	0.104	0.000	2706	2602	1929	0	0	0	0	0	0
10227	0.64	241.2	208.4	14.7	735	10228	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2603	1929	0	0	0	0	0	0
10546	0.60	241.2	163.4	13.3	765	10550	0.15	2.28	0.00	0.000	4	0.176	0.054	2665	1188	1929	0	0	0	0	0	0
10612	0.68	249.9	156.0	9.6	770	10625	0.00	2.30	7.40	0.670	6	0.000	0.057	2666	2602	1904	0	0	0	0	0	0
10944	0.73	249.9	120.6	10.5	801	10949	0.12	2.22	0.00	0.000	4	0.107	0.069	2718	3925	1902	0	0	0	0	0	0
10999	0.65	249.9	112.1	15.9	805	11007	0.15	2.10	0.00	0.000	6	0.188	0.046	2687	2612	1900	0	0	0	0	0	0
11338	0.68	253.0	75.0	9.9	857	11351	0.00	2.33	3.97	0.532	4	0.000	0.054	2687	1192	1891	0	0	0	0	0	0
11415	0.77	260.8	67.3	9.6	870	11434	0.10	2.30	8.98	0.653	6	0.116	0.057	2727	2592	1858	0	0	0	0	0	0
11772	0.77	260.8	22.7	10.5	933	11778	0.00	2.25	0.00	0.000	4	0.000	0.070	2727	3933	1855	0	0	0	0	0	0
11853	0.73	260.8	13.1	11.2	947	11860	0.00	2.17	0.00	0.000	6	0.000	0.047	2733	2593	1854	0	0	0	0	0	0
11894	end climb: FINISH_DEPTH_REACHED
state	11894	begin subsurface finish
11900	0.05	71.4	8.5	-10.3	954	11930	0.77	0.00	-23.45	0.000	6	0.151	0.000	2494	2593	2634	0	0	0	0	0	0
11931	end subsurface finish: CONTROL_FINISHED_OK
state	11931	begin surface