Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 573 * 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 573 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 30 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 33 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 -9853.5 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 -9853.5

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 30 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 33 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 573 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 241210,100224,6704.868,-5850.263,27,1.5,44,-38.2 TGT_NAME TARGET_W

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 241210,101852,6704.744,-5849.963,11,2.5,30,-38.2 MHEAD_RNG_PITCHd_Wd 279.5,80075,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 1221

Post-dive calculations and measurements:

FREEZE 8.49,-1.757,-1.771,2,1,0 ALTIM_BOTTOM_PING 603.0,10.9

FINISH1 8.5,1.025930,77 _24V_AH 21.6,68.449

FINISH2 6.9 _10V_AH 9.8,48.613

RAFOS_CLK 628 FG_AHR_24Vo 0.000

RAFOS 0,1293192065,12.033333,12.018056,46,45,39,39,38,38,574,406,144,1115,1109,1507 FG_AHR_10Vo 0.000

RAFOS_FIX 6704.628906,-5852.418457,241210,121238,6,102,0.22 MEM 151608

IRIDIUM_FIX 6636.54,-5844.18,241210,101051 DATA_FILE_SIZE 36723,980

TT8_MAMPS 0.029211 CAP_FILE_SIZE 134609,0

HUMID 48.22 CFSIZE 260165632,209960960

INTERNAL_PRESSURE 8.62185 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.60 SOUNDSPEED 1454.3

XPDR_PINGS 0 GPS 241210,123138,6704.629,-5852.418,0,6102.5,0,-38.2

ALTIM_TOP_PING 19.1,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 246 61.85 SBE_CT 680 24 352.65

Roll_motor 101 111 244.15 SBE_O2 0 0 0.00

VBD_pump_during_apogee 374 977 7907.51 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 56 103 126.67 nil 0 0 0.00

Iridium_during_connect 64 160 222.23 nil 0 0 0.00

Iridium_during_xfer 442 223 2129.99 nil 0 0 0.00

Transponder_ping 2 420 22.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 16.46

TT8 2410 19 470.52

LPSleep 7201 2 163.04

TT8_Active 512 19 100.12

TT8_Sampling 2263 39 885.59

TT8_CF8 511 45 229.99

TT8_Kalman 0 0 0.00

Analog_circuits 1468 12 172.75

GPS_charging 0 0 0.00

Compass 1697 15 249.59

RAFOS 2520 3 74.09

Transponder 20 30 6.03

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.57 -146.0 0.0 0.0 0 164 0.00 0.00 -141.77 0.000 2 0.000 0.000 283 2776 3360 0 0 0 0 0 0

167 -0.57 -146.0 6.2 -15.3 25 187 8.52 2.30 -3.25 0.000 4 0.246 0.063 2284 1361 3523 0 0 0 0 0 0

312 -0.57 -146.0 39.4 -13.7 50 319 0.00 2.38 0.00 0.000 6 0.000 0.064 2279 2767 3525 0 0 0 0 0 0

658 -0.57 -146.0 81.2 -10.2 111 664 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 2767 3526 0 0 0 0 0 0

1000 -0.57 -146.0 113.7 -8.7 159 1004 0.00 2.00 0.00 0.000 4 0.000 0.075 2275 3929 3525 0 0 0 0 0 0

1119 -0.60 -146.0 124.4 -8.4 169 1126 0.00 1.85 0.00 0.000 6 0.000 0.050 2275 2782 3524 0 0 0 0 0 0

1445 -0.63 -146.0 154.6 -9.3 200 1447 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2782 3524 0 0 0 0 0 0

1765 -0.66 -146.0 183.4 -9.3 230 1769 0.00 2.28 0.00 0.000 4 0.000 0.052 2274 1371 3524 0 0 0 0 0 0

1806 -0.70 -146.0 187.3 -9.3 233 1810 0.00 2.38 0.00 0.000 6 0.000 0.063 2275 2794 3524 0 0 0 0 0 0

2132 -0.74 -146.0 216.4 -9.1 263 2134 0.12 0.00 0.00 0.000 6 0.103 0.000 2218 2794 3524 0 0 0 0 0 0

2450 -0.67 -146.0 257.2 -12.6 293 2455 0.15 2.33 0.00 0.000 4 0.174 0.051 2260 1364 3524 0 0 0 0 0 0

2471 -0.67 -146.0 260.0 -11.8 294 2478 0.00 2.40 0.00 0.000 6 0.000 0.063 2259 2788 3525 0 0 0 0 0 0

2797 -0.67 -146.0 291.7 -10.2 325 2798 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2788 3525 0 0 0 0 0 0

3118 -0.70 -146.0 322.0 -9.0 355 3122 0.00 2.28 0.00 0.000 4 0.000 0.050 2259 1368 3525 0 0 0 0 0 0

3139 -0.72 -146.0 324.3 -9.1 356 3146 0.00 2.38 0.00 0.000 6 0.000 0.063 2259 2784 3525 0 0 0 0 0 0

3465 -0.75 -146.0 352.9 -8.7 387 3466 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2783 3525 0 0 0 0 0 0

3788 -0.78 -146.0 379.7 -8.2 417 3793 0.10 2.30 0.00 0.000 4 0.122 0.050 2216 1363 3526 0 0 0 0 0 0

3854 -0.76 -146.0 387.2 -10.9 422 3861 0.00 2.35 0.00 0.000 6 0.000 0.063 2208 2778 3526 0 0 0 0 0 0

4183 -0.69 -146.0 424.6 -11.5 440 4187 0.15 1.98 0.00 0.000 4 0.181 0.071 2242 3928 3526 0 0 0 0 0 0

4221 -0.69 -146.0 428.8 -9.5 441 4225 0.00 1.90 0.00 0.000 6 0.000 0.047 2242 2775 3526 0 0 0 0 0 0

4557 -0.69 -146.0 460.0 -9.5 452 4561 0.00 2.22 0.00 0.000 4 0.000 0.050 2242 1370 3527 0 0 0 0 0 0

4607 -0.72 -146.0 465.0 -9.3 453 4611 0.00 2.33 0.00 0.000 6 0.000 0.062 2242 2773 3527 0 0 0 0 0 0

4920 -0.72 -146.0 493.3 -9.0 463 4924 0.00 1.98 0.00 0.000 4 0.000 0.072 2238 3942 3527 0 0 0 0 0 0

4942 -0.72 -146.0 495.4 -8.8 463 4946 0.00 1.92 0.00 0.000 6 0.000 0.047 2238 2759 3527 0 0 0 0 0 0

5260 -0.72 -146.0 525.5 -9.4 474 5264 0.00 2.20 0.00 0.000 4 0.000 0.050 2238 1371 3528 0 0 0 0 0 0

5295 -0.72 -146.0 528.9 -9.8 475 5299 0.00 2.33 0.00 0.000 6 0.000 0.062 2235 2772 3528 0 0 0 0 0 0

5625 -0.72 -146.0 560.6 -9.7 486 5626 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2772 3528 0 0 0 0 0 0

5930 -0.72 -146.0 590.8 -10.0 496 5931 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2772 3529 0 0 0 0 0 0

6053 end dive: BOTTOM_OBSTACLE_DETECTED

state 6053 begin apogee

6060 -0.14 0.0 603.0 10.0 500 6193 0.57 0.00 125.15 0.978 4 0.135 0.000 2421 2602 2923 0 0 0 0 0 0

6194 end apogee: CONTROL_FINISHED_OK

state 6194 begin climb

6196 0.57 146.0 608.2 0.0 504 6334 0.70 2.45 130.18 0.955 4 0.070 0.050 2663 1178 2329 0 0 0 0 0 0

6502 0.57 146.0 584.1 10.9 513 6509 0.00 2.45 0.00 0.000 6 0.000 0.055 2663 2600 2320 0 0 0 0 0 0

6816 0.52 146.0 548.6 11.4 524 6820 0.00 2.30 0.00 0.000 4 0.000 0.054 2666 1183 2317 0 0 0 0 0 0

7029 0.52 146.0 525.4 10.8 530 7033 0.00 2.33 0.00 0.000 6 0.000 0.057 2666 2608 2317 0 0 0 0 0 0

7347 0.46 146.0 486.9 12.5 541 7352 0.15 2.22 0.00 0.000 4 0.194 0.068 2627 3933 2316 0 0 0 0 0 0

7397 0.44 146.0 480.6 12.0 542 7401 0.00 2.12 0.00 0.000 6 0.000 0.045 2628 2605 2314 0 0 0 0 0 0

7710 0.44 146.0 448.1 10.4 552 7712 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 2604 2314 0 0 0 0 0 0

8016 0.44 146.0 416.6 10.3 562 8017 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 2604 2314 0 0 0 0 0 0

8327 0.45 164.9 386.5 9.1 580 8350 0.00 2.28 15.55 0.825 4 0.000 0.054 2628 1192 2249 0 0 0 0 0 0

8375 0.51 180.4 382.1 9.3 584 8398 0.00 2.33 15.20 0.812 6 0.000 0.056 2628 2618 2186 0 0 0 0 0 0

8719 0.56 186.2 349.6 9.7 616 8733 0.00 2.33 5.38 0.684 4 0.000 0.052 2628 1181 2166 0 0 0 0 0 0

8757 0.63 196.8 345.8 9.5 619 8774 0.15 2.35 11.25 0.781 6 0.093 0.055 2690 2611 2120 0 0 0 0 0 0

9093 0.57 196.8 299.1 13.8 650 9098 0.12 2.25 0.00 0.000 4 0.194 0.067 2659 3932 2116 0 0 0 0 0 0

9115 0.52 196.8 295.6 14.7 651 9122 0.00 2.15 0.00 0.000 6 0.000 0.044 2662 2600 2115 0 0 0 0 0 0

9440 0.52 196.8 258.7 11.1 682 9444 0.00 2.25 0.00 0.000 4 0.000 0.052 2662 1195 2115 0 0 0 0 0 0

9474 0.55 198.2 255.1 9.9 684 9481 0.00 2.33 0.00 0.000 6 0.000 0.056 2662 2612 2115 0 0 0 0 0 0

9799 0.55 198.2 221.7 10.0 715 9803 0.00 2.22 0.00 0.000 4 0.000 0.068 2662 3935 2114 0 0 0 0 0 0

9844 0.51 198.2 216.6 12.0 718 9850 0.00 2.12 0.00 0.000 6 0.000 0.045 2662 2604 2114 0 0 0 0 0 0

10169 0.51 198.2 182.9 10.5 749 10170 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2604 2114 0 0 0 0 0 0

10489 0.51 198.7 150.0 10.0 779 10493 0.00 2.25 0.00 0.000 4 0.000 0.054 2662 1186 2114 0 0 0 0 0 0

10523 0.56 204.0 146.5 9.8 781 10535 0.00 2.33 7.03 0.659 6 0.000 0.056 2662 2619 2091 0 0 0 0 0 0

10855 0.59 211.4 112.8 9.7 812 10868 0.00 2.28 8.12 0.662 4 0.000 0.069 2663 3932 2060 0 0 0 0 0 0

10920 0.59 211.4 105.8 10.4 817 10927 0.00 2.10 0.00 0.000 6 0.000 0.046 2662 2619 2058 0 0 0 0 0 0

11262 0.63 225.7 75.2 9.3 872 11282 0.00 2.35 13.35 0.672 4 0.000 0.054 2662 1189 2003 0 0 0 0 0 0

11306 0.74 264.1 71.3 8.2 879 11349 0.15 2.38 34.15 0.662 6 0.098 0.057 2724 2633 1845 0 0 0 0 0 0

11688 0.74 274.5 26.2 9.5 946 11701 0.00 2.25 9.10 0.625 4 0.000 0.069 2724 3925 1802 0 0 0 0 0 0

11737 0.74 274.5 20.7 11.6 954 11744 0.00 2.05 0.00 0.000 6 0.000 0.046 2725 2652 1800 0 0 0 0 0 0

11857 end climb: FINISH_DEPTH_REACHED

state 11857 begin subsurface finish

11864 0.05 77.0 8.5 -10.2 975 11896 0.73 2.35 -24.88 0.000 4 0.150 0.066 2501 1182 2611 0 0 0 0 0 0

11896 end subsurface finish: CONTROL_FINISHED_OK

state 11897 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	573	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	30	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	33	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	-9853.5	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	241210,100224,6704.868,-5850.263,27,1.5,44,-38.2	TGT_NAME	TARGET_W
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	241210,101852,6704.744,-5849.963,11,2.5,30,-38.2	MHEAD_RNG_PITCHd_Wd	279.5,80075,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	1221

FREEZE	8.49,-1.757,-1.771,2,1,0	ALTIM_BOTTOM_PING	603.0,10.9
FINISH1	8.5,1.025930,77	_24V_AH	21.6,68.449
FINISH2	6.9	_10V_AH	9.8,48.613
RAFOS_CLK	628	FG_AHR_24Vo	0.000
RAFOS	0,1293192065,12.033333,12.018056,46,45,39,39,38,38,574,406,144,1115,1109,1507	FG_AHR_10Vo	0.000
RAFOS_FIX	6704.628906,-5852.418457,241210,121238,6,102,0.22	MEM	151608
IRIDIUM_FIX	6636.54,-5844.18,241210,101051	DATA_FILE_SIZE	36723,980
TT8_MAMPS	0.029211	CAP_FILE_SIZE	134609,0
HUMID	48.22	CFSIZE	260165632,209960960
INTERNAL_PRESSURE	8.62185	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.60	SOUNDSPEED	1454.3
XPDR_PINGS	0	GPS	241210,123138,6704.629,-5852.418,0,6102.5,0,-38.2
ALTIM_TOP_PING	19.1,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	246	61.85	SBE_CT	680	24	352.65
Roll_motor	101	111	244.15	SBE_O2	0	0	0.00
VBD_pump_during_apogee	374	977	7907.51	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	56	103	126.67	nil	0	0	0.00
Iridium_during_connect	64	160	222.23	nil	0	0	0.00
Iridium_during_xfer	442	223	2129.99	nil	0	0	0.00
Transponder_ping	2	420	22.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	16.46
TT8	2410	19	470.52
LPSleep	7201	2	163.04
TT8_Active	512	19	100.12
TT8_Sampling	2263	39	885.59
TT8_CF8	511	45	229.99
TT8_Kalman	0	0	0.00
Analog_circuits	1468	12	172.75
GPS_charging	0	0	0.00
Compass	1697	15	249.59
RAFOS	2520	3	74.09
Transponder	20	30	6.03

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.57	-146.0	0.0	0.0	0	164	0.00	0.00	-141.77	0.000	2	0.000	0.000	283	2776	3360	0	0	0	0	0	0
167	-0.57	-146.0	6.2	-15.3	25	187	8.52	2.30	-3.25	0.000	4	0.246	0.063	2284	1361	3523	0	0	0	0	0	0
312	-0.57	-146.0	39.4	-13.7	50	319	0.00	2.38	0.00	0.000	6	0.000	0.064	2279	2767	3525	0	0	0	0	0	0
658	-0.57	-146.0	81.2	-10.2	111	664	0.00	0.00	0.00	0.000	6	0.000	0.000	2278	2767	3526	0	0	0	0	0	0
1000	-0.57	-146.0	113.7	-8.7	159	1004	0.00	2.00	0.00	0.000	4	0.000	0.075	2275	3929	3525	0	0	0	0	0	0
1119	-0.60	-146.0	124.4	-8.4	169	1126	0.00	1.85	0.00	0.000	6	0.000	0.050	2275	2782	3524	0	0	0	0	0	0
1445	-0.63	-146.0	154.6	-9.3	200	1447	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2782	3524	0	0	0	0	0	0
1765	-0.66	-146.0	183.4	-9.3	230	1769	0.00	2.28	0.00	0.000	4	0.000	0.052	2274	1371	3524	0	0	0	0	0	0
1806	-0.70	-146.0	187.3	-9.3	233	1810	0.00	2.38	0.00	0.000	6	0.000	0.063	2275	2794	3524	0	0	0	0	0	0
2132	-0.74	-146.0	216.4	-9.1	263	2134	0.12	0.00	0.00	0.000	6	0.103	0.000	2218	2794	3524	0	0	0	0	0	0
2450	-0.67	-146.0	257.2	-12.6	293	2455	0.15	2.33	0.00	0.000	4	0.174	0.051	2260	1364	3524	0	0	0	0	0	0
2471	-0.67	-146.0	260.0	-11.8	294	2478	0.00	2.40	0.00	0.000	6	0.000	0.063	2259	2788	3525	0	0	0	0	0	0
2797	-0.67	-146.0	291.7	-10.2	325	2798	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2788	3525	0	0	0	0	0	0
3118	-0.70	-146.0	322.0	-9.0	355	3122	0.00	2.28	0.00	0.000	4	0.000	0.050	2259	1368	3525	0	0	0	0	0	0
3139	-0.72	-146.0	324.3	-9.1	356	3146	0.00	2.38	0.00	0.000	6	0.000	0.063	2259	2784	3525	0	0	0	0	0	0
3465	-0.75	-146.0	352.9	-8.7	387	3466	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2783	3525	0	0	0	0	0	0
3788	-0.78	-146.0	379.7	-8.2	417	3793	0.10	2.30	0.00	0.000	4	0.122	0.050	2216	1363	3526	0	0	0	0	0	0
3854	-0.76	-146.0	387.2	-10.9	422	3861	0.00	2.35	0.00	0.000	6	0.000	0.063	2208	2778	3526	0	0	0	0	0	0
4183	-0.69	-146.0	424.6	-11.5	440	4187	0.15	1.98	0.00	0.000	4	0.181	0.071	2242	3928	3526	0	0	0	0	0	0
4221	-0.69	-146.0	428.8	-9.5	441	4225	0.00	1.90	0.00	0.000	6	0.000	0.047	2242	2775	3526	0	0	0	0	0	0
4557	-0.69	-146.0	460.0	-9.5	452	4561	0.00	2.22	0.00	0.000	4	0.000	0.050	2242	1370	3527	0	0	0	0	0	0
4607	-0.72	-146.0	465.0	-9.3	453	4611	0.00	2.33	0.00	0.000	6	0.000	0.062	2242	2773	3527	0	0	0	0	0	0
4920	-0.72	-146.0	493.3	-9.0	463	4924	0.00	1.98	0.00	0.000	4	0.000	0.072	2238	3942	3527	0	0	0	0	0	0
4942	-0.72	-146.0	495.4	-8.8	463	4946	0.00	1.92	0.00	0.000	6	0.000	0.047	2238	2759	3527	0	0	0	0	0	0
5260	-0.72	-146.0	525.5	-9.4	474	5264	0.00	2.20	0.00	0.000	4	0.000	0.050	2238	1371	3528	0	0	0	0	0	0
5295	-0.72	-146.0	528.9	-9.8	475	5299	0.00	2.33	0.00	0.000	6	0.000	0.062	2235	2772	3528	0	0	0	0	0	0
5625	-0.72	-146.0	560.6	-9.7	486	5626	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2772	3528	0	0	0	0	0	0
5930	-0.72	-146.0	590.8	-10.0	496	5931	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2772	3529	0	0	0	0	0	0
6053	end dive: BOTTOM_OBSTACLE_DETECTED
state	6053	begin apogee
6060	-0.14	0.0	603.0	10.0	500	6193	0.57	0.00	125.15	0.978	4	0.135	0.000	2421	2602	2923	0	0	0	0	0	0
6194	end apogee: CONTROL_FINISHED_OK
state	6194	begin climb
6196	0.57	146.0	608.2	0.0	504	6334	0.70	2.45	130.18	0.955	4	0.070	0.050	2663	1178	2329	0	0	0	0	0	0
6502	0.57	146.0	584.1	10.9	513	6509	0.00	2.45	0.00	0.000	6	0.000	0.055	2663	2600	2320	0	0	0	0	0	0
6816	0.52	146.0	548.6	11.4	524	6820	0.00	2.30	0.00	0.000	4	0.000	0.054	2666	1183	2317	0	0	0	0	0	0
7029	0.52	146.0	525.4	10.8	530	7033	0.00	2.33	0.00	0.000	6	0.000	0.057	2666	2608	2317	0	0	0	0	0	0
7347	0.46	146.0	486.9	12.5	541	7352	0.15	2.22	0.00	0.000	4	0.194	0.068	2627	3933	2316	0	0	0	0	0	0
7397	0.44	146.0	480.6	12.0	542	7401	0.00	2.12	0.00	0.000	6	0.000	0.045	2628	2605	2314	0	0	0	0	0	0
7710	0.44	146.0	448.1	10.4	552	7712	0.00	0.00	0.00	0.000	6	0.000	0.000	2628	2604	2314	0	0	0	0	0	0
8016	0.44	146.0	416.6	10.3	562	8017	0.00	0.00	0.00	0.000	6	0.000	0.000	2628	2604	2314	0	0	0	0	0	0
8327	0.45	164.9	386.5	9.1	580	8350	0.00	2.28	15.55	0.825	4	0.000	0.054	2628	1192	2249	0	0	0	0	0	0
8375	0.51	180.4	382.1	9.3	584	8398	0.00	2.33	15.20	0.812	6	0.000	0.056	2628	2618	2186	0	0	0	0	0	0
8719	0.56	186.2	349.6	9.7	616	8733	0.00	2.33	5.38	0.684	4	0.000	0.052	2628	1181	2166	0	0	0	0	0	0
8757	0.63	196.8	345.8	9.5	619	8774	0.15	2.35	11.25	0.781	6	0.093	0.055	2690	2611	2120	0	0	0	0	0	0
9093	0.57	196.8	299.1	13.8	650	9098	0.12	2.25	0.00	0.000	4	0.194	0.067	2659	3932	2116	0	0	0	0	0	0
9115	0.52	196.8	295.6	14.7	651	9122	0.00	2.15	0.00	0.000	6	0.000	0.044	2662	2600	2115	0	0	0	0	0	0
9440	0.52	196.8	258.7	11.1	682	9444	0.00	2.25	0.00	0.000	4	0.000	0.052	2662	1195	2115	0	0	0	0	0	0
9474	0.55	198.2	255.1	9.9	684	9481	0.00	2.33	0.00	0.000	6	0.000	0.056	2662	2612	2115	0	0	0	0	0	0
9799	0.55	198.2	221.7	10.0	715	9803	0.00	2.22	0.00	0.000	4	0.000	0.068	2662	3935	2114	0	0	0	0	0	0
9844	0.51	198.2	216.6	12.0	718	9850	0.00	2.12	0.00	0.000	6	0.000	0.045	2662	2604	2114	0	0	0	0	0	0
10169	0.51	198.2	182.9	10.5	749	10170	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2604	2114	0	0	0	0	0	0
10489	0.51	198.7	150.0	10.0	779	10493	0.00	2.25	0.00	0.000	4	0.000	0.054	2662	1186	2114	0	0	0	0	0	0
10523	0.56	204.0	146.5	9.8	781	10535	0.00	2.33	7.03	0.659	6	0.000	0.056	2662	2619	2091	0	0	0	0	0	0
10855	0.59	211.4	112.8	9.7	812	10868	0.00	2.28	8.12	0.662	4	0.000	0.069	2663	3932	2060	0	0	0	0	0	0
10920	0.59	211.4	105.8	10.4	817	10927	0.00	2.10	0.00	0.000	6	0.000	0.046	2662	2619	2058	0	0	0	0	0	0
11262	0.63	225.7	75.2	9.3	872	11282	0.00	2.35	13.35	0.672	4	0.000	0.054	2662	1189	2003	0	0	0	0	0	0
11306	0.74	264.1	71.3	8.2	879	11349	0.15	2.38	34.15	0.662	6	0.098	0.057	2724	2633	1845	0	0	0	0	0	0
11688	0.74	274.5	26.2	9.5	946	11701	0.00	2.25	9.10	0.625	4	0.000	0.069	2724	3925	1802	0	0	0	0	0	0
11737	0.74	274.5	20.7	11.6	954	11744	0.00	2.05	0.00	0.000	6	0.000	0.046	2725	2652	1800	0	0	0	0	0	0
11857	end climb: FINISH_DEPTH_REACHED
state	11857	begin subsurface finish
11864	0.05	77.0	8.5	-10.2	975	11896	0.73	2.35	-24.88	0.000	4	0.150	0.066	2501	1182	2611	0	0	0	0	0	0
11896	end subsurface finish: CONTROL_FINISHED_OK
state	11897	begin surface