Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 594 * 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 594 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 20 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 -9861.1309 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 -9861.1309

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 31 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 20 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 594 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 271210,083117,6646.708,-5947.745,0,6077.7,0,-38.0 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 6.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 271210,083117,6646.708,-5947.745,0,6077.7,0,-38.0 MHEAD_RNG_PITCHd_Wd 297.8,28432,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 787

Post-dive calculations and measurements:

FREEZE 8.85,-1.714,-1.736,2,5,0 ALTIM_BOTTOM_PING 652.1,11.7

FINISH1 8.9,1.025427,102 _24V_AH 21.4,70.630

FINISH2 7.0 _10V_AH 9.7,49.907

RAFOS_CLK 734 FG_AHR_24Vo 0.000

RAFOS 0,1293451262,12.033333,12.017222,124,44,43,42,42,41,691,26,751,361,1681,1587 FG_AHR_10Vo 0.000

RAFOS_FIX 6645.176270,-5951.109375,271210,121234,7,112,0.26 MEM 151700

IRIDIUM_FIX 6631.12,-5905.01,251210,111108 DATA_FILE_SIZE 33348,971

TT8_MAMPS 0.028462 CAP_FILE_SIZE 124575,0

HUMID 49.44 CFSIZE 260165632,208695296

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

TCM_TEMP 14.10 SOUNDSPEED 1449.6

XPDR_PINGS 0 GPS 271210,122734,6645.176,-5951.109,0,7111.9,0,-38.0

ALTIM_TOP_PING 19.8,16.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 197 19.75 SBE_CT 676 24 347.65

Roll_motor 97 85 179.00 SBE_O2 0 0 0.00

VBD_pump_during_apogee 440 1015 9579.88 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 22.47 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2409 19 465.49

LPSleep 7818 2 175.19

TT8_Active 496 19 95.86

TT8_Sampling 1678 39 649.95

TT8_CF8 205 45 91.69

TT8_Kalman 0 0 0.00

Analog_circuits 1414 12 164.62

GPS_charging 0 0 0.00

Compass 1662 15 241.90

RAFOS 2520 3 73.33

Transponder 19 30 5.66

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 12 begin dive

16 -0.57 -146.0 0.0 0.0 0 24 0.00 0.00 -5.72 0.000 2 0.000 0.000 2504 3928 2690 0 0 0 0 0 0

27 -0.57 -146.0 6.0 -0.0 1 63 0.57 4.30 -25.20 0.000 4 0.085 0.062 2290 1367 3522 0 0 0 0 0 0

194 -0.57 -146.0 28.4 -15.4 30 201 0.00 2.38 0.00 0.000 6 0.000 0.065 2286 2779 3523 0 0 0 0 0 0

540 -0.57 -146.0 73.8 -11.8 91 547 0.00 2.30 0.00 0.000 4 0.000 0.054 2286 1365 3522 0 0 0 0 0 0

560 -0.57 -146.0 76.2 -11.1 94 567 0.00 2.35 0.00 0.000 6 0.000 0.063 2286 2776 3522 0 0 0 0 0 0

904 -0.59 -146.0 113.5 -10.0 144 908 0.00 1.98 0.00 0.000 4 0.000 0.076 2285 3927 3522 0 0 0 0 0 0

931 -0.62 -146.0 116.5 -10.0 146 938 0.00 1.90 0.00 0.000 6 0.000 0.050 2284 2765 3522 0 0 0 0 0 0

1257 -0.65 -146.0 145.0 -8.2 177 1261 0.00 2.22 0.00 0.000 4 0.000 0.053 2284 1372 3522 0 0 0 0 0 0

1280 -0.69 -146.0 147.0 -8.5 178 1287 0.00 2.35 0.00 0.000 6 0.000 0.064 2279 2779 3522 0 0 0 0 0 0

1606 -0.72 -146.0 178.3 -9.9 209 1608 0.10 0.00 0.00 0.000 6 0.120 0.000 2236 2778 3522 0 0 0 0 0 0

1924 -0.69 -146.0 216.8 -11.6 239 1925 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 2779 3522 0 0 0 0 0 0

2247 -0.66 -146.0 253.2 -11.5 269 2250 0.00 1.98 0.00 0.000 4 0.000 0.075 2230 3927 3522 0 0 0 0 0 0

2270 -0.62 -146.0 256.5 -11.4 271 2275 0.10 1.92 0.00 0.000 6 0.145 0.050 2274 2769 3522 0 0 0 0 0 0

2602 -0.67 -146.0 286.2 -8.4 302 2603 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2769 3522 0 0 0 0 0 0

2921 -0.73 -146.0 312.3 -8.2 332 2926 0.10 2.28 0.00 0.000 4 0.116 0.054 2231 1365 3522 0 0 0 0 0 0

2962 -0.73 -146.0 316.4 -10.7 335 2966 0.00 2.38 0.00 0.000 6 0.000 0.064 2230 2771 3522 0 0 0 0 0 0

3288 -0.71 -146.0 350.9 -10.2 365 3289 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2772 3522 0 0 0 0 0 0

3609 -0.68 -146.0 384.9 -10.8 395 3613 0.00 2.28 0.00 0.000 4 0.000 0.052 2230 1360 3522 0 0 0 0 0 0

3643 -0.68 -146.0 389.1 -11.5 397 3649 0.00 2.35 0.00 0.000 6 0.000 0.064 2230 2766 3522 0 0 0 0 0 0

3960 -0.68 -146.0 422.2 -10.0 414 3964 0.00 2.00 0.00 0.000 4 0.000 0.075 2222 3929 3522 0 0 0 0 0 0

4010 -0.66 -146.0 427.8 -10.9 415 4015 0.12 1.90 0.00 0.000 6 0.169 0.050 2255 2767 3522 0 0 0 0 0 0

4337 -0.70 -146.0 454.1 -7.9 426 4338 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2766 3522 0 0 0 0 0 0

4642 -0.74 -146.0 477.9 -7.8 436 4643 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2767 3523 0 0 0 0 0 0

4949 -0.79 -146.0 503.0 -8.4 446 4950 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2767 3523 0 0 0 0 0 0

5255 -0.83 -146.0 528.1 -8.3 456 5259 0.15 2.25 0.00 0.000 4 0.097 0.052 2189 1369 3523 0 0 0 0 0 0

5287 -0.77 -146.0 531.9 -11.7 457 5292 0.17 2.33 0.00 0.000 6 0.174 0.063 2225 2767 3523 0 0 0 0 0 0

5619 -0.77 -146.0 563.4 -9.4 468 5623 0.00 2.00 0.00 0.000 4 0.000 0.074 2220 3932 3523 0 0 0 0 0 0

5662 -0.77 -146.0 568.3 -10.4 469 5666 0.00 1.92 0.00 0.000 6 0.000 0.047 2220 2763 3523 0 0 0 0 0 0

5993 -0.74 -146.0 600.0 -9.4 480 5994 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2763 3523 0 0 0 0 0 0

6300 -0.72 -146.0 630.6 -10.0 490 6301 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2763 3523 0 0 0 0 0 0

6514 end dive: BOTTOM_OBSTACLE_DETECTED

state 6514 begin apogee

6520 -0.14 0.0 652.1 9.9 497 6651 0.62 0.00 125.12 1.015 4 0.138 0.000 2420 2600 2923 0 0 0 0 0 0

6652 end apogee: CONTROL_FINISHED_OK

state 6652 begin climb

6655 0.57 146.0 656.3 0.0 501 6795 0.70 2.42 132.65 0.989 4 0.072 0.050 2661 1188 2327 0 0 0 0 0 0

6957 0.57 146.0 631.8 10.5 509 6964 0.00 2.47 0.00 0.000 6 0.000 0.056 2661 2599 2318 0 0 0 0 0 0

7271 0.53 146.0 596.4 11.6 520 7275 0.00 2.33 0.00 0.000 4 0.000 0.054 2662 1189 2315 0 0 0 0 0 0

7461 0.53 146.0 575.7 10.4 525 7468 0.00 2.38 0.00 0.000 6 0.000 0.057 2662 2622 2315 0 0 0 0 0 0

7775 0.49 146.0 539.2 11.8 536 7779 0.00 2.22 0.00 0.000 4 0.000 0.070 2662 3934 2314 0 0 0 0 0 0

7848 0.39 146.0 529.0 14.0 538 7853 0.22 2.15 0.00 0.000 6 0.190 0.046 2605 2611 2312 0 0 0 0 0 0

8172 0.49 185.6 501.6 8.2 549 8208 0.00 0.00 33.33 0.911 6 0.000 0.000 2605 2610 2166 0 0 0 0 0 0

8509 0.60 216.4 472.6 8.6 560 8540 0.17 0.00 27.60 0.888 6 0.088 0.000 2680 2610 2040 0 0 0 0 0 0

8844 0.60 216.4 428.1 13.4 571 8848 0.00 2.25 0.00 0.000 4 0.000 0.070 2680 3925 2033 0 0 0 0 0 0

8871 0.54 216.4 424.1 14.5 571 8878 0.00 2.12 0.00 0.000 6 0.000 0.046 2680 2617 2032 0 0 0 0 0 0

9189 0.54 216.4 383.2 12.8 590 9193 0.00 2.30 0.00 0.000 4 0.000 0.054 2681 1191 2031 0 0 0 0 0 0

9228 0.57 216.4 378.2 12.9 593 9235 0.00 2.35 0.00 0.000 6 0.000 0.057 2680 2623 2031 0 0 0 0 0 0

9553 0.57 216.4 337.5 12.7 624 9557 0.00 2.20 0.00 0.000 4 0.000 0.070 2681 3925 2031 0 0 0 0 0 0

9642 0.51 216.4 323.8 16.4 631 9649 0.15 2.08 0.00 0.000 6 0.190 0.047 2646 2644 2029 0 0 0 0 0 0

9967 0.57 216.4 287.9 10.8 662 9971 0.00 2.35 0.00 0.000 4 0.000 0.054 2646 1184 2029 0 0 0 0 0 0

10036 0.67 229.7 281.2 9.4 667 10055 0.12 2.38 11.40 0.767 6 0.102 0.057 2696 2642 1986 0 0 0 0 0 0

10372 0.67 229.7 239.0 12.4 699 10374 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2643 1985 0 0 0 0 0 0

10695 0.67 229.7 199.8 11.8 729 10699 0.00 2.15 0.00 0.000 4 0.000 0.070 2697 3926 1984 0 0 0 0 0 0

10739 0.62 229.7 193.4 14.1 732 10745 0.00 2.10 0.00 0.000 6 0.000 0.046 2700 2630 1983 0 0 0 0 0 0

11064 0.62 229.7 155.0 11.5 763 11065 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2630 1983 0 0 0 0 0 0

11385 0.62 229.7 119.9 10.5 793 11389 0.00 2.20 0.00 0.000 4 0.000 0.071 2700 3928 1982 0 0 0 0 0 0

11415 0.59 229.7 116.4 13.0 795 11420 0.12 2.10 0.00 0.000 6 0.197 0.047 2670 2636 1982 0 0 0 0 0 0

11750 0.70 279.2 88.5 7.7 838 11803 0.00 2.30 43.17 0.689 4 0.000 0.072 2670 3929 1782 0 0 0 0 0 0

11824 0.80 296.3 82.8 9.2 850 11849 0.17 2.12 16.27 0.664 6 0.095 0.047 2737 2640 1713 0 0 0 0 0 0

12188 0.85 313.8 41.8 9.2 914 12212 0.00 2.40 14.95 0.662 4 0.000 0.055 2737 1192 1642 0 0 0 0 0 0

12289 0.96 355.8 33.3 8.1 931 12331 0.12 2.38 36.47 0.649 6 0.103 0.058 2787 2620 1472 0 0 0 0 0 0

12478 end climb: FINISH_DEPTH_REACHED

state 12478 begin subsurface finish

12485 0.07 101.8 8.9 -13.0 964 12527 0.93 2.28 -33.05 0.000 4 0.153 0.086 2505 3925 2510 0 0 0 0 0 0

12528 end subsurface finish: CONTROL_FINISHED_OK

state 12528 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	594	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	20	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	-9861.1309	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	271210,083117,6646.708,-5947.745,0,6077.7,0,-38.0	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	6.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	271210,083117,6646.708,-5947.745,0,6077.7,0,-38.0	MHEAD_RNG_PITCHd_Wd	297.8,28432,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	787

FREEZE	8.85,-1.714,-1.736,2,5,0	ALTIM_BOTTOM_PING	652.1,11.7
FINISH1	8.9,1.025427,102	_24V_AH	21.4,70.630
FINISH2	7.0	_10V_AH	9.7,49.907
RAFOS_CLK	734	FG_AHR_24Vo	0.000
RAFOS	0,1293451262,12.033333,12.017222,124,44,43,42,42,41,691,26,751,361,1681,1587	FG_AHR_10Vo	0.000
RAFOS_FIX	6645.176270,-5951.109375,271210,121234,7,112,0.26	MEM	151700
IRIDIUM_FIX	6631.12,-5905.01,251210,111108	DATA_FILE_SIZE	33348,971
TT8_MAMPS	0.028462	CAP_FILE_SIZE	124575,0
HUMID	49.44	CFSIZE	260165632,208695296
INTERNAL_PRESSURE	8.59255	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.10	SOUNDSPEED	1449.6
XPDR_PINGS	0	GPS	271210,122734,6645.176,-5951.109,0,7111.9,0,-38.0
ALTIM_TOP_PING	19.8,16.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	197	19.75	SBE_CT	676	24	347.65
Roll_motor	97	85	179.00	SBE_O2	0	0	0.00
VBD_pump_during_apogee	440	1015	9579.88	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	22.47	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2409	19	465.49
LPSleep	7818	2	175.19
TT8_Active	496	19	95.86
TT8_Sampling	1678	39	649.95
TT8_CF8	205	45	91.69
TT8_Kalman	0	0	0.00
Analog_circuits	1414	12	164.62
GPS_charging	0	0	0.00
Compass	1662	15	241.90
RAFOS	2520	3	73.33
Transponder	19	30	5.66

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	12	begin dive
16	-0.57	-146.0	0.0	0.0	0	24	0.00	0.00	-5.72	0.000	2	0.000	0.000	2504	3928	2690	0	0	0	0	0	0
27	-0.57	-146.0	6.0	-0.0	1	63	0.57	4.30	-25.20	0.000	4	0.085	0.062	2290	1367	3522	0	0	0	0	0	0
194	-0.57	-146.0	28.4	-15.4	30	201	0.00	2.38	0.00	0.000	6	0.000	0.065	2286	2779	3523	0	0	0	0	0	0
540	-0.57	-146.0	73.8	-11.8	91	547	0.00	2.30	0.00	0.000	4	0.000	0.054	2286	1365	3522	0	0	0	0	0	0
560	-0.57	-146.0	76.2	-11.1	94	567	0.00	2.35	0.00	0.000	6	0.000	0.063	2286	2776	3522	0	0	0	0	0	0
904	-0.59	-146.0	113.5	-10.0	144	908	0.00	1.98	0.00	0.000	4	0.000	0.076	2285	3927	3522	0	0	0	0	0	0
931	-0.62	-146.0	116.5	-10.0	146	938	0.00	1.90	0.00	0.000	6	0.000	0.050	2284	2765	3522	0	0	0	0	0	0
1257	-0.65	-146.0	145.0	-8.2	177	1261	0.00	2.22	0.00	0.000	4	0.000	0.053	2284	1372	3522	0	0	0	0	0	0
1280	-0.69	-146.0	147.0	-8.5	178	1287	0.00	2.35	0.00	0.000	6	0.000	0.064	2279	2779	3522	0	0	0	0	0	0
1606	-0.72	-146.0	178.3	-9.9	209	1608	0.10	0.00	0.00	0.000	6	0.120	0.000	2236	2778	3522	0	0	0	0	0	0
1924	-0.69	-146.0	216.8	-11.6	239	1925	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	2779	3522	0	0	0	0	0	0
2247	-0.66	-146.0	253.2	-11.5	269	2250	0.00	1.98	0.00	0.000	4	0.000	0.075	2230	3927	3522	0	0	0	0	0	0
2270	-0.62	-146.0	256.5	-11.4	271	2275	0.10	1.92	0.00	0.000	6	0.145	0.050	2274	2769	3522	0	0	0	0	0	0
2602	-0.67	-146.0	286.2	-8.4	302	2603	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2769	3522	0	0	0	0	0	0
2921	-0.73	-146.0	312.3	-8.2	332	2926	0.10	2.28	0.00	0.000	4	0.116	0.054	2231	1365	3522	0	0	0	0	0	0
2962	-0.73	-146.0	316.4	-10.7	335	2966	0.00	2.38	0.00	0.000	6	0.000	0.064	2230	2771	3522	0	0	0	0	0	0
3288	-0.71	-146.0	350.9	-10.2	365	3289	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2772	3522	0	0	0	0	0	0
3609	-0.68	-146.0	384.9	-10.8	395	3613	0.00	2.28	0.00	0.000	4	0.000	0.052	2230	1360	3522	0	0	0	0	0	0
3643	-0.68	-146.0	389.1	-11.5	397	3649	0.00	2.35	0.00	0.000	6	0.000	0.064	2230	2766	3522	0	0	0	0	0	0
3960	-0.68	-146.0	422.2	-10.0	414	3964	0.00	2.00	0.00	0.000	4	0.000	0.075	2222	3929	3522	0	0	0	0	0	0
4010	-0.66	-146.0	427.8	-10.9	415	4015	0.12	1.90	0.00	0.000	6	0.169	0.050	2255	2767	3522	0	0	0	0	0	0
4337	-0.70	-146.0	454.1	-7.9	426	4338	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2766	3522	0	0	0	0	0	0
4642	-0.74	-146.0	477.9	-7.8	436	4643	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2767	3523	0	0	0	0	0	0
4949	-0.79	-146.0	503.0	-8.4	446	4950	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2767	3523	0	0	0	0	0	0
5255	-0.83	-146.0	528.1	-8.3	456	5259	0.15	2.25	0.00	0.000	4	0.097	0.052	2189	1369	3523	0	0	0	0	0	0
5287	-0.77	-146.0	531.9	-11.7	457	5292	0.17	2.33	0.00	0.000	6	0.174	0.063	2225	2767	3523	0	0	0	0	0	0
5619	-0.77	-146.0	563.4	-9.4	468	5623	0.00	2.00	0.00	0.000	4	0.000	0.074	2220	3932	3523	0	0	0	0	0	0
5662	-0.77	-146.0	568.3	-10.4	469	5666	0.00	1.92	0.00	0.000	6	0.000	0.047	2220	2763	3523	0	0	0	0	0	0
5993	-0.74	-146.0	600.0	-9.4	480	5994	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2763	3523	0	0	0	0	0	0
6300	-0.72	-146.0	630.6	-10.0	490	6301	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2763	3523	0	0	0	0	0	0
6514	end dive: BOTTOM_OBSTACLE_DETECTED
state	6514	begin apogee
6520	-0.14	0.0	652.1	9.9	497	6651	0.62	0.00	125.12	1.015	4	0.138	0.000	2420	2600	2923	0	0	0	0	0	0
6652	end apogee: CONTROL_FINISHED_OK
state	6652	begin climb
6655	0.57	146.0	656.3	0.0	501	6795	0.70	2.42	132.65	0.989	4	0.072	0.050	2661	1188	2327	0	0	0	0	0	0
6957	0.57	146.0	631.8	10.5	509	6964	0.00	2.47	0.00	0.000	6	0.000	0.056	2661	2599	2318	0	0	0	0	0	0
7271	0.53	146.0	596.4	11.6	520	7275	0.00	2.33	0.00	0.000	4	0.000	0.054	2662	1189	2315	0	0	0	0	0	0
7461	0.53	146.0	575.7	10.4	525	7468	0.00	2.38	0.00	0.000	6	0.000	0.057	2662	2622	2315	0	0	0	0	0	0
7775	0.49	146.0	539.2	11.8	536	7779	0.00	2.22	0.00	0.000	4	0.000	0.070	2662	3934	2314	0	0	0	0	0	0
7848	0.39	146.0	529.0	14.0	538	7853	0.22	2.15	0.00	0.000	6	0.190	0.046	2605	2611	2312	0	0	0	0	0	0
8172	0.49	185.6	501.6	8.2	549	8208	0.00	0.00	33.33	0.911	6	0.000	0.000	2605	2610	2166	0	0	0	0	0	0
8509	0.60	216.4	472.6	8.6	560	8540	0.17	0.00	27.60	0.888	6	0.088	0.000	2680	2610	2040	0	0	0	0	0	0
8844	0.60	216.4	428.1	13.4	571	8848	0.00	2.25	0.00	0.000	4	0.000	0.070	2680	3925	2033	0	0	0	0	0	0
8871	0.54	216.4	424.1	14.5	571	8878	0.00	2.12	0.00	0.000	6	0.000	0.046	2680	2617	2032	0	0	0	0	0	0
9189	0.54	216.4	383.2	12.8	590	9193	0.00	2.30	0.00	0.000	4	0.000	0.054	2681	1191	2031	0	0	0	0	0	0
9228	0.57	216.4	378.2	12.9	593	9235	0.00	2.35	0.00	0.000	6	0.000	0.057	2680	2623	2031	0	0	0	0	0	0
9553	0.57	216.4	337.5	12.7	624	9557	0.00	2.20	0.00	0.000	4	0.000	0.070	2681	3925	2031	0	0	0	0	0	0
9642	0.51	216.4	323.8	16.4	631	9649	0.15	2.08	0.00	0.000	6	0.190	0.047	2646	2644	2029	0	0	0	0	0	0
9967	0.57	216.4	287.9	10.8	662	9971	0.00	2.35	0.00	0.000	4	0.000	0.054	2646	1184	2029	0	0	0	0	0	0
10036	0.67	229.7	281.2	9.4	667	10055	0.12	2.38	11.40	0.767	6	0.102	0.057	2696	2642	1986	0	0	0	0	0	0
10372	0.67	229.7	239.0	12.4	699	10374	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2643	1985	0	0	0	0	0	0
10695	0.67	229.7	199.8	11.8	729	10699	0.00	2.15	0.00	0.000	4	0.000	0.070	2697	3926	1984	0	0	0	0	0	0
10739	0.62	229.7	193.4	14.1	732	10745	0.00	2.10	0.00	0.000	6	0.000	0.046	2700	2630	1983	0	0	0	0	0	0
11064	0.62	229.7	155.0	11.5	763	11065	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2630	1983	0	0	0	0	0	0
11385	0.62	229.7	119.9	10.5	793	11389	0.00	2.20	0.00	0.000	4	0.000	0.071	2700	3928	1982	0	0	0	0	0	0
11415	0.59	229.7	116.4	13.0	795	11420	0.12	2.10	0.00	0.000	6	0.197	0.047	2670	2636	1982	0	0	0	0	0	0
11750	0.70	279.2	88.5	7.7	838	11803	0.00	2.30	43.17	0.689	4	0.000	0.072	2670	3929	1782	0	0	0	0	0	0
11824	0.80	296.3	82.8	9.2	850	11849	0.17	2.12	16.27	0.664	6	0.095	0.047	2737	2640	1713	0	0	0	0	0	0
12188	0.85	313.8	41.8	9.2	914	12212	0.00	2.40	14.95	0.662	4	0.000	0.055	2737	1192	1642	0	0	0	0	0	0
12289	0.96	355.8	33.3	8.1	931	12331	0.12	2.38	36.47	0.649	6	0.103	0.058	2787	2620	1472	0	0	0	0	0	0
12478	end climb: FINISH_DEPTH_REACHED
state	12478	begin subsurface finish
12485	0.07	101.8	8.9	-13.0	964	12527	0.93	2.28	-33.05	0.000	4	0.153	0.086	2505	3925	2510	0	0	0	0	0	0
12528	end subsurface finish: CONTROL_FINISHED_OK
state	12528	begin surface