Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 618 * 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 618 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 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 -10600.926 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 -10600.926

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 33 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 618 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 291210,082707,6644.792,-6008.496,0,7100.4,0,-38.0 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 8.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 291210,082707,6644.792,-6008.496,0,7100.4,0,-38.0 MHEAD_RNG_PITCHd_Wd 114.9,148662,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 597

Post-dive calculations and measurements:

FREEZE 8.82,-1.724,-1.729,2,29,0 ALTIM_TOP_PING 19.5,18.2

FINISH1 8.8,1.025336,106 _24V_AH 21.4,72.918

FINISH2 6.8 _10V_AH 9.7,50.974

RAFOS_CLK 684 FG_AHR_24Vo 0.000

RAFOS 0,1293624065,12.033333,12.018056,129,49,47,46,43,42,643,154,1096,787,1374,1448 FG_AHR_10Vo 0.000

RAFOS_FIX 6645.200195,-6003.750488,291210,121216,7,111,0.25 MEM 151700

IRIDIUM_FIX 6620.33,-5929.30,261210,232303 DATA_FILE_SIZE 33396,944

TT8_MAMPS 0.028462 CAP_FILE_SIZE 125476,0

HUMID 49.33 CFSIZE 260165632,207618048

INTERNAL_PRESSURE 8.58279 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.10 SOUNDSPEED 1448.8

XPDR_PINGS 0 GPS 291210,122716,6645.200,-6003.750,0,7110.9,0,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 205 20.15 SBE_CT 659 24 338.48

Roll_motor 109 76 178.73 SBE_O2 0 0 0.00

VBD_pump_during_apogee 426 982 8962.03 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 20.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2371 19 458.31

LPSleep 6942 2 155.56

TT8_Active 476 19 92.02

TT8_Sampling 1677 39 649.58

TT8_CF8 214 45 95.44

TT8_Kalman 0 0 0.00

Analog_circuits 1406 12 163.75

GPS_charging 0 0 0.00

Compass 1662 15 241.95

RAFOS 2520 3 73.33

Transponder 18 30 5.50

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

17 -0.57 -146.0 0.0 0.0 0 25 0.00 0.00 -6.18 0.000 2 0.000 0.000 2507 1190 2710 0 0 0 0 0 0

28 -0.57 -146.0 9.7 -0.0 1 59 0.57 4.72 -19.55 0.000 4 0.083 0.075 2284 3925 3523 0 0 0 0 0 0

258 -0.54 -146.0 42.5 -15.1 41 264 0.00 1.85 0.00 0.000 6 0.000 0.050 2284 2781 3524 0 0 0 0 0 0

603 -0.54 -146.0 88.8 -12.1 102 610 0.00 2.25 0.00 0.000 4 0.000 0.054 2284 1373 3524 0 0 0 0 0 0

703 -0.57 -146.0 100.3 -11.0 119 709 0.00 2.35 0.00 0.000 6 0.000 0.065 2279 2786 3524 0 0 0 0 0 0

1028 -0.57 -146.0 135.5 -10.6 150 1029 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2786 3524 0 0 0 0 0 0

1348 -0.57 -146.0 167.6 -10.3 180 1352 0.00 2.30 0.00 0.000 4 0.000 0.054 2279 1363 3523 0 0 0 0 0 0

1394 -0.62 -146.0 172.4 -9.8 184 1398 0.00 2.35 0.00 0.000 6 0.000 0.066 2279 2773 3523 0 0 0 0 0 0

1720 -0.65 -146.0 204.6 -9.1 214 1724 0.00 1.98 0.00 0.000 4 0.000 0.076 2274 3935 3523 0 0 0 0 0 0

1760 -0.67 -146.0 208.6 -10.0 217 1767 0.00 1.92 0.00 0.000 6 0.000 0.050 2274 2758 3523 0 0 0 0 0 0

2086 -0.71 -146.0 239.5 -9.0 248 2090 0.00 2.22 0.00 0.000 4 0.000 0.054 2273 1367 3523 0 0 0 0 0 0

2138 -0.77 -146.0 244.3 -9.4 252 2143 0.12 2.30 0.00 0.000 6 0.106 0.066 2221 2745 3523 0 0 0 0 0 0

2464 -0.71 -146.0 283.8 -12.5 282 2467 0.00 2.03 0.00 0.000 4 0.000 0.076 2215 3936 3523 0 0 0 0 0 0

2537 -0.65 -146.0 293.5 -12.7 288 2544 0.17 1.92 0.00 0.000 6 0.166 0.050 2263 2748 3523 0 0 0 0 0 0

2863 -0.68 -146.0 322.9 -8.5 319 2867 0.00 2.20 0.00 0.000 4 0.000 0.053 2263 1369 3523 0 0 0 0 0 0

2904 -0.74 -146.0 326.5 -8.3 322 2909 0.00 2.30 0.00 0.000 6 0.000 0.065 2262 2751 3523 0 0 0 0 0 0

3231 -0.77 -146.0 354.0 -8.1 352 3235 0.10 2.25 0.00 0.000 4 0.122 0.053 2219 1365 3522 0 0 0 0 0 0

3272 -0.75 -146.0 357.9 -10.3 355 3276 0.00 2.30 0.00 0.000 6 0.000 0.064 2217 2745 3523 0 0 0 0 0 0

3598 -0.71 -146.0 391.6 -10.3 385 3602 0.00 2.22 0.00 0.000 4 0.000 0.052 2217 1360 3523 0 0 0 0 0 0

3628 -0.68 -146.0 394.9 -10.8 387 3632 0.15 2.28 0.00 0.000 6 0.177 0.064 2256 2727 3523 0 0 0 0 0 0

3947 -0.72 -146.0 419.7 -7.8 401 3950 0.00 2.05 0.00 0.000 4 0.000 0.074 2251 3928 3523 0 0 0 0 0 0

3970 -0.75 -146.0 422.0 -8.1 401 3974 0.00 1.95 0.00 0.000 6 0.000 0.050 2251 2721 3523 0 0 0 0 0 0

4289 -0.78 -146.0 447.9 -8.1 412 4293 0.00 2.17 0.00 0.000 4 0.000 0.052 2251 1369 3523 0 0 0 0 0 0

4320 -0.81 -146.0 450.6 -8.9 413 4325 0.12 2.25 0.00 0.000 6 0.103 0.063 2195 2725 3523 0 0 0 0 0 0

4657 -0.74 -146.0 489.6 -11.7 424 4661 0.15 2.10 0.00 0.000 4 0.181 0.073 2227 3938 3524 0 0 0 0 0 0

4719 -0.74 -146.0 496.4 -9.7 426 4723 0.00 2.00 0.00 0.000 6 0.000 0.049 2227 2728 3524 0 0 0 0 0 0

5062 -0.74 -146.0 529.4 -9.9 437 5063 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2728 3524 0 0 0 0 0 0

5367 -0.74 -146.0 559.4 -9.7 447 5369 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2728 3525 0 0 0 0 0 0

5673 -0.74 -146.0 589.0 -9.5 457 5677 0.00 2.17 0.00 0.000 4 0.000 0.050 2226 1368 3525 0 0 0 0 0 0

5694 -0.74 -146.0 591.2 -9.3 457 5701 0.00 2.30 0.00 0.000 6 0.000 0.062 2224 2742 3525 0 0 0 0 0 0

5760 end dive: TARGET_DEPTH_EXCEEDED

state 5760 begin apogee

5766 -0.14 0.0 597.7 9.7 460 5897 0.62 0.00 124.47 0.982 4 0.140 0.000 2422 2599 2922 0 0 0 0 0 0

5898 end apogee: CONTROL_FINISHED_OK

state 5898 begin climb

5901 0.57 146.0 601.0 0.0 464 6042 0.70 2.45 131.57 0.952 4 0.071 0.050 2663 1179 2326 0 0 0 0 0 0

6204 0.57 146.8 576.6 10.0 473 6209 0.00 2.47 0.00 0.000 6 0.000 0.057 2664 2601 2318 0 0 0 0 0 0

6524 0.52 146.8 540.1 11.4 484 6528 0.00 2.33 0.00 0.000 4 0.000 0.053 2665 1185 2315 0 0 0 0 0 0

6716 0.52 146.8 518.8 10.8 489 6723 0.00 2.38 0.00 0.000 6 0.000 0.057 2665 2620 2314 0 0 0 0 0 0

7030 0.48 146.8 484.8 10.6 500 7034 0.12 2.20 0.00 0.000 4 0.206 0.069 2635 3933 2313 0 0 0 0 0 0

7094 0.43 146.8 478.0 10.8 502 7098 0.00 2.10 0.00 0.000 6 0.000 0.046 2635 2619 2312 0 0 0 0 0 0

7435 0.45 169.7 447.9 8.9 513 7456 0.00 0.00 19.38 0.868 6 0.000 0.000 2635 2618 2231 0 0 0 0 0 0

7742 0.48 178.0 418.8 9.6 523 7756 0.00 2.28 8.55 0.790 4 0.000 0.070 2635 3922 2197 0 0 0 0 0 0

7775 0.48 178.0 415.3 10.3 524 7779 0.00 2.10 0.00 0.000 6 0.000 0.045 2635 2618 2196 0 0 0 0 0 0

8105 0.52 184.0 383.0 9.7 545 8118 0.00 2.30 6.18 0.735 4 0.000 0.052 2635 1190 2175 0 0 0 0 0 0

8142 0.59 197.7 379.2 9.4 548 8165 0.00 2.33 13.50 0.812 6 0.000 0.057 2635 2619 2119 0 0 0 0 0 0

8484 0.65 208.3 347.1 9.5 580 8500 0.15 2.22 10.80 0.789 4 0.097 0.067 2696 3935 2074 0 0 0 0 0 0

8513 0.60 208.3 343.5 12.8 582 8517 0.00 2.15 0.00 0.000 6 0.000 0.045 2696 2613 2072 0 0 0 0 0 0

8839 0.55 208.3 298.6 13.5 612 8841 0.15 0.00 0.00 0.000 6 0.191 0.000 2658 2613 2071 0 0 0 0 0 0

9158 0.59 222.3 266.0 9.4 642 9181 0.00 2.35 13.52 0.768 4 0.000 0.054 2658 1187 2016 0 0 0 0 0 0

9195 0.65 235.1 262.5 9.4 645 9217 0.00 2.35 12.93 0.744 6 0.000 0.056 2658 2619 1963 0 0 0 0 0 0

9537 0.70 235.1 228.7 10.1 677 9542 0.12 2.22 0.00 0.000 4 0.109 0.070 2708 3932 1959 0 0 0 0 0 0

9570 0.63 235.1 224.0 14.2 679 9577 0.12 2.12 0.00 0.000 6 0.203 0.045 2679 2621 1958 0 0 0 0 0 0

9896 0.66 235.1 188.1 10.7 710 9900 0.00 2.22 0.00 0.000 4 0.000 0.070 2679 3925 1958 0 0 0 0 0 0

9918 0.66 235.1 185.4 10.9 711 9925 0.00 2.03 0.00 0.000 6 0.000 0.046 2679 2656 1957 0 0 0 0 0 0

10245 0.69 242.1 152.9 9.7 742 10258 0.00 2.38 6.15 0.661 4 0.000 0.053 2679 1184 1937 0 0 0 0 0 0

10320 0.79 271.1 145.6 8.7 748 10353 0.15 2.40 27.33 0.718 6 0.102 0.057 2742 2639 1817 0 0 0 0 0 0

10673 0.75 271.1 97.8 12.2 782 10679 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2639 1809 0 0 0 0 0 0

11018 0.73 273.7 55.5 9.9 843 11025 0.12 0.00 0.00 0.000 6 0.181 0.000 2709 2639 1808 0 0 0 0 0 0

11364 0.84 324.1 29.6 7.7 904 11418 0.10 2.42 45.03 0.658 4 0.120 0.057 2751 1192 1599 0 0 0 0 0 0

11533 0.91 331.7 12.5 9.6 933 11546 0.00 2.40 6.95 0.611 6 0.000 0.058 2751 2631 1569 0 0 0 0 0 0

11563 end climb: FINISH_DEPTH_REACHED

state 11563 begin subsurface finish

11570 0.07 106.2 8.8 -11.9 938 11606 0.80 0.00 -28.92 0.000 6 0.146 0.000 2502 2632 2491 0 0 0 0 0 0

11606 end subsurface finish: CONTROL_FINISHED_OK

state 11607 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	618	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	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	-10600.926	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	291210,082707,6644.792,-6008.496,0,7100.4,0,-38.0	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	8.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	291210,082707,6644.792,-6008.496,0,7100.4,0,-38.0	MHEAD_RNG_PITCHd_Wd	114.9,148662,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	597

FREEZE	8.82,-1.724,-1.729,2,29,0	ALTIM_TOP_PING	19.5,18.2
FINISH1	8.8,1.025336,106	_24V_AH	21.4,72.918
FINISH2	6.8	_10V_AH	9.7,50.974
RAFOS_CLK	684	FG_AHR_24Vo	0.000
RAFOS	0,1293624065,12.033333,12.018056,129,49,47,46,43,42,643,154,1096,787,1374,1448	FG_AHR_10Vo	0.000
RAFOS_FIX	6645.200195,-6003.750488,291210,121216,7,111,0.25	MEM	151700
IRIDIUM_FIX	6620.33,-5929.30,261210,232303	DATA_FILE_SIZE	33396,944
TT8_MAMPS	0.028462	CAP_FILE_SIZE	125476,0
HUMID	49.33	CFSIZE	260165632,207618048
INTERNAL_PRESSURE	8.58279	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.10	SOUNDSPEED	1448.8
XPDR_PINGS	0	GPS	291210,122716,6645.200,-6003.750,0,7110.9,0,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	205	20.15	SBE_CT	659	24	338.48
Roll_motor	109	76	178.73	SBE_O2	0	0	0.00
VBD_pump_during_apogee	426	982	8962.03	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	20.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2371	19	458.31
LPSleep	6942	2	155.56
TT8_Active	476	19	92.02
TT8_Sampling	1677	39	649.58
TT8_CF8	214	45	95.44
TT8_Kalman	0	0	0.00
Analog_circuits	1406	12	163.75
GPS_charging	0	0	0.00
Compass	1662	15	241.95
RAFOS	2520	3	73.33
Transponder	18	30	5.50

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
17	-0.57	-146.0	0.0	0.0	0	25	0.00	0.00	-6.18	0.000	2	0.000	0.000	2507	1190	2710	0	0	0	0	0	0
28	-0.57	-146.0	9.7	-0.0	1	59	0.57	4.72	-19.55	0.000	4	0.083	0.075	2284	3925	3523	0	0	0	0	0	0
258	-0.54	-146.0	42.5	-15.1	41	264	0.00	1.85	0.00	0.000	6	0.000	0.050	2284	2781	3524	0	0	0	0	0	0
603	-0.54	-146.0	88.8	-12.1	102	610	0.00	2.25	0.00	0.000	4	0.000	0.054	2284	1373	3524	0	0	0	0	0	0
703	-0.57	-146.0	100.3	-11.0	119	709	0.00	2.35	0.00	0.000	6	0.000	0.065	2279	2786	3524	0	0	0	0	0	0
1028	-0.57	-146.0	135.5	-10.6	150	1029	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2786	3524	0	0	0	0	0	0
1348	-0.57	-146.0	167.6	-10.3	180	1352	0.00	2.30	0.00	0.000	4	0.000	0.054	2279	1363	3523	0	0	0	0	0	0
1394	-0.62	-146.0	172.4	-9.8	184	1398	0.00	2.35	0.00	0.000	6	0.000	0.066	2279	2773	3523	0	0	0	0	0	0
1720	-0.65	-146.0	204.6	-9.1	214	1724	0.00	1.98	0.00	0.000	4	0.000	0.076	2274	3935	3523	0	0	0	0	0	0
1760	-0.67	-146.0	208.6	-10.0	217	1767	0.00	1.92	0.00	0.000	6	0.000	0.050	2274	2758	3523	0	0	0	0	0	0
2086	-0.71	-146.0	239.5	-9.0	248	2090	0.00	2.22	0.00	0.000	4	0.000	0.054	2273	1367	3523	0	0	0	0	0	0
2138	-0.77	-146.0	244.3	-9.4	252	2143	0.12	2.30	0.00	0.000	6	0.106	0.066	2221	2745	3523	0	0	0	0	0	0
2464	-0.71	-146.0	283.8	-12.5	282	2467	0.00	2.03	0.00	0.000	4	0.000	0.076	2215	3936	3523	0	0	0	0	0	0
2537	-0.65	-146.0	293.5	-12.7	288	2544	0.17	1.92	0.00	0.000	6	0.166	0.050	2263	2748	3523	0	0	0	0	0	0
2863	-0.68	-146.0	322.9	-8.5	319	2867	0.00	2.20	0.00	0.000	4	0.000	0.053	2263	1369	3523	0	0	0	0	0	0
2904	-0.74	-146.0	326.5	-8.3	322	2909	0.00	2.30	0.00	0.000	6	0.000	0.065	2262	2751	3523	0	0	0	0	0	0
3231	-0.77	-146.0	354.0	-8.1	352	3235	0.10	2.25	0.00	0.000	4	0.122	0.053	2219	1365	3522	0	0	0	0	0	0
3272	-0.75	-146.0	357.9	-10.3	355	3276	0.00	2.30	0.00	0.000	6	0.000	0.064	2217	2745	3523	0	0	0	0	0	0
3598	-0.71	-146.0	391.6	-10.3	385	3602	0.00	2.22	0.00	0.000	4	0.000	0.052	2217	1360	3523	0	0	0	0	0	0
3628	-0.68	-146.0	394.9	-10.8	387	3632	0.15	2.28	0.00	0.000	6	0.177	0.064	2256	2727	3523	0	0	0	0	0	0
3947	-0.72	-146.0	419.7	-7.8	401	3950	0.00	2.05	0.00	0.000	4	0.000	0.074	2251	3928	3523	0	0	0	0	0	0
3970	-0.75	-146.0	422.0	-8.1	401	3974	0.00	1.95	0.00	0.000	6	0.000	0.050	2251	2721	3523	0	0	0	0	0	0
4289	-0.78	-146.0	447.9	-8.1	412	4293	0.00	2.17	0.00	0.000	4	0.000	0.052	2251	1369	3523	0	0	0	0	0	0
4320	-0.81	-146.0	450.6	-8.9	413	4325	0.12	2.25	0.00	0.000	6	0.103	0.063	2195	2725	3523	0	0	0	0	0	0
4657	-0.74	-146.0	489.6	-11.7	424	4661	0.15	2.10	0.00	0.000	4	0.181	0.073	2227	3938	3524	0	0	0	0	0	0
4719	-0.74	-146.0	496.4	-9.7	426	4723	0.00	2.00	0.00	0.000	6	0.000	0.049	2227	2728	3524	0	0	0	0	0	0
5062	-0.74	-146.0	529.4	-9.9	437	5063	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	2728	3524	0	0	0	0	0	0
5367	-0.74	-146.0	559.4	-9.7	447	5369	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	2728	3525	0	0	0	0	0	0
5673	-0.74	-146.0	589.0	-9.5	457	5677	0.00	2.17	0.00	0.000	4	0.000	0.050	2226	1368	3525	0	0	0	0	0	0
5694	-0.74	-146.0	591.2	-9.3	457	5701	0.00	2.30	0.00	0.000	6	0.000	0.062	2224	2742	3525	0	0	0	0	0	0
5760	end dive: TARGET_DEPTH_EXCEEDED
state	5760	begin apogee
5766	-0.14	0.0	597.7	9.7	460	5897	0.62	0.00	124.47	0.982	4	0.140	0.000	2422	2599	2922	0	0	0	0	0	0
5898	end apogee: CONTROL_FINISHED_OK
state	5898	begin climb
5901	0.57	146.0	601.0	0.0	464	6042	0.70	2.45	131.57	0.952	4	0.071	0.050	2663	1179	2326	0	0	0	0	0	0
6204	0.57	146.8	576.6	10.0	473	6209	0.00	2.47	0.00	0.000	6	0.000	0.057	2664	2601	2318	0	0	0	0	0	0
6524	0.52	146.8	540.1	11.4	484	6528	0.00	2.33	0.00	0.000	4	0.000	0.053	2665	1185	2315	0	0	0	0	0	0
6716	0.52	146.8	518.8	10.8	489	6723	0.00	2.38	0.00	0.000	6	0.000	0.057	2665	2620	2314	0	0	0	0	0	0
7030	0.48	146.8	484.8	10.6	500	7034	0.12	2.20	0.00	0.000	4	0.206	0.069	2635	3933	2313	0	0	0	0	0	0
7094	0.43	146.8	478.0	10.8	502	7098	0.00	2.10	0.00	0.000	6	0.000	0.046	2635	2619	2312	0	0	0	0	0	0
7435	0.45	169.7	447.9	8.9	513	7456	0.00	0.00	19.38	0.868	6	0.000	0.000	2635	2618	2231	0	0	0	0	0	0
7742	0.48	178.0	418.8	9.6	523	7756	0.00	2.28	8.55	0.790	4	0.000	0.070	2635	3922	2197	0	0	0	0	0	0
7775	0.48	178.0	415.3	10.3	524	7779	0.00	2.10	0.00	0.000	6	0.000	0.045	2635	2618	2196	0	0	0	0	0	0
8105	0.52	184.0	383.0	9.7	545	8118	0.00	2.30	6.18	0.735	4	0.000	0.052	2635	1190	2175	0	0	0	0	0	0
8142	0.59	197.7	379.2	9.4	548	8165	0.00	2.33	13.50	0.812	6	0.000	0.057	2635	2619	2119	0	0	0	0	0	0
8484	0.65	208.3	347.1	9.5	580	8500	0.15	2.22	10.80	0.789	4	0.097	0.067	2696	3935	2074	0	0	0	0	0	0
8513	0.60	208.3	343.5	12.8	582	8517	0.00	2.15	0.00	0.000	6	0.000	0.045	2696	2613	2072	0	0	0	0	0	0
8839	0.55	208.3	298.6	13.5	612	8841	0.15	0.00	0.00	0.000	6	0.191	0.000	2658	2613	2071	0	0	0	0	0	0
9158	0.59	222.3	266.0	9.4	642	9181	0.00	2.35	13.52	0.768	4	0.000	0.054	2658	1187	2016	0	0	0	0	0	0
9195	0.65	235.1	262.5	9.4	645	9217	0.00	2.35	12.93	0.744	6	0.000	0.056	2658	2619	1963	0	0	0	0	0	0
9537	0.70	235.1	228.7	10.1	677	9542	0.12	2.22	0.00	0.000	4	0.109	0.070	2708	3932	1959	0	0	0	0	0	0
9570	0.63	235.1	224.0	14.2	679	9577	0.12	2.12	0.00	0.000	6	0.203	0.045	2679	2621	1958	0	0	0	0	0	0
9896	0.66	235.1	188.1	10.7	710	9900	0.00	2.22	0.00	0.000	4	0.000	0.070	2679	3925	1958	0	0	0	0	0	0
9918	0.66	235.1	185.4	10.9	711	9925	0.00	2.03	0.00	0.000	6	0.000	0.046	2679	2656	1957	0	0	0	0	0	0
10245	0.69	242.1	152.9	9.7	742	10258	0.00	2.38	6.15	0.661	4	0.000	0.053	2679	1184	1937	0	0	0	0	0	0
10320	0.79	271.1	145.6	8.7	748	10353	0.15	2.40	27.33	0.718	6	0.102	0.057	2742	2639	1817	0	0	0	0	0	0
10673	0.75	271.1	97.8	12.2	782	10679	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2639	1809	0	0	0	0	0	0
11018	0.73	273.7	55.5	9.9	843	11025	0.12	0.00	0.00	0.000	6	0.181	0.000	2709	2639	1808	0	0	0	0	0	0
11364	0.84	324.1	29.6	7.7	904	11418	0.10	2.42	45.03	0.658	4	0.120	0.057	2751	1192	1599	0	0	0	0	0	0
11533	0.91	331.7	12.5	9.6	933	11546	0.00	2.40	6.95	0.611	6	0.000	0.058	2751	2631	1569	0	0	0	0	0	0
11563	end climb: FINISH_DEPTH_REACHED
state	11563	begin subsurface finish
11570	0.07	106.2	8.8	-11.9	938	11606	0.80	0.00	-28.92	0.000	6	0.146	0.000	2502	2632	2491	0	0	0	0	0	0
11606	end subsurface finish: CONTROL_FINISHED_OK
state	11607	begin surface