Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 651 * 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 651 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 34 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 -2 T_GPS_CHARGE -11339.555 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 -11339.555

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 34 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 651 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 010111,043512,6639.102,-5855.080,0,3104.7,0,-37.8 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 6.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010111,043512,6639.102,-5855.080,0,3104.7,0,-37.8 MHEAD_RNG_PITCHd_Wd 102.1,101885,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 798

Post-dive calculations and measurements:

FREEZE 8.69,-1.745,-1.786,2,17,0 ALTIM_BOTTOM_PING 652.1,11.4

FINISH1 8.7,1.026144,67 _24V_AH 21.3,75.829

FINISH2 7.4 _10V_AH 9.7,52.451

RAFOS_CLK 734 FG_AHR_24Vo 0.000

RAFOS 0,1293868866,8.033334,8.018333,43,43,41,41,40,38,1019,1204,1736,670,1873,1842 FG_AHR_10Vo 0.000

RAFOS_FIX 6639.601562,-5847.518555,010111,080824,3,110,0.39 MEM 151712

IRIDIUM_FIX 6620.33,-5929.30,261210,232303 DATA_FILE_SIZE 36662,991

TT8_MAMPS 0.029211 CAP_FILE_SIZE 122757,0

HUMID 49.05 CFSIZE 260165632,206143488

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

TCM_TEMP 14.40 SOUNDSPEED 1452.9

XPDR_PINGS 0 GPS 010111,083824,6639.602,-5847.519,0,3109.7,0,-37.8

ALTIM_TOP_PING 19.6,19.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 200 19.32 SBE_CT 692 24 354.05

Roll_motor 93 74 147.51 SBE_O2 0 0 0.00

VBD_pump_during_apogee 346 1012 7474.82 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 24.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2489 19 481.12

LPSleep 7967 2 178.52

TT8_Active 405 19 78.45

TT8_Sampling 1691 39 655.17

TT8_CF8 211 45 94.26

TT8_Kalman 0 0 0.00

Analog_circuits 1317 12 153.36

GPS_charging 0 0 0.00

Compass 1678 15 244.17

RAFOS 2520 3 73.33

Transponder 22 30 6.49

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 -6.10 0.000 2 0.000 0.000 2504 1184 2876 0 0 0 0 0 0

28 -0.57 -146.0 8.4 -0.0 1 53 0.60 4.72 -16.30 0.000 4 0.118 0.072 2288 3931 3523 0 0 0 0 0 0

252 -0.59 -146.0 35.7 -12.4 40 259 0.00 1.85 0.00 0.000 6 0.000 0.047 2288 2777 3524 0 0 0 0 0 0

599 -0.61 -146.0 72.6 -9.0 101 606 0.00 2.28 0.00 0.000 4 0.000 0.052 2287 1365 3524 0 0 0 0 0 0

710 -0.66 -146.0 83.7 -10.1 120 717 0.00 2.30 0.00 0.000 6 0.000 0.062 2288 2752 3524 0 0 0 0 0 0

1052 -0.71 -146.0 115.9 -8.8 166 1056 0.12 2.03 0.00 0.000 4 0.109 0.074 2235 3926 3523 0 0 0 0 0 0

1124 -0.69 -146.0 124.6 -11.9 172 1131 0.00 1.90 0.00 0.000 6 0.000 0.048 2235 2746 3522 0 0 0 0 0 0

1450 -0.65 -146.0 165.6 -12.9 203 1454 0.12 2.22 0.00 0.000 4 0.183 0.053 2268 1369 3522 0 0 0 0 0 0

1478 -0.65 -146.0 169.1 -11.4 205 1482 0.00 2.30 0.00 0.000 6 0.000 0.063 2266 2754 3522 0 0 0 0 0 0

1804 -0.68 -146.0 201.4 -10.0 235 1808 0.00 2.22 0.00 0.000 4 0.000 0.053 2266 1373 3522 0 0 0 0 0 0

1887 -0.72 -146.0 210.2 -10.2 242 1894 0.00 2.25 0.00 0.000 6 0.000 0.062 2265 2727 3521 0 0 0 0 0 0

2213 -0.76 -146.0 240.5 -9.2 273 2214 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2727 3521 0 0 0 0 0 0

2535 -0.80 -146.0 266.9 -7.9 303 2541 0.12 0.00 0.00 0.000 6 0.109 0.000 2211 2727 3521 0 0 0 0 0 0

2860 -0.74 -146.0 304.1 -11.5 334 2864 0.00 2.03 0.00 0.000 4 0.000 0.072 2203 3929 3521 0 0 0 0 0 0

2889 -0.67 -146.0 307.5 -11.8 336 2896 0.20 1.95 0.00 0.000 6 0.164 0.047 2259 2727 3521 0 0 0 0 0 0

3215 -0.71 -146.0 334.7 -8.6 367 3218 0.00 2.17 0.00 0.000 4 0.000 0.050 2259 1372 3522 0 0 0 0 0 0

3251 -0.76 -146.0 337.9 -9.1 370 3255 0.00 2.28 0.00 0.000 6 0.000 0.061 2259 2731 3522 0 0 0 0 0 0

3577 -0.80 -146.0 365.5 -8.6 400 3579 0.12 0.00 0.00 0.000 6 0.109 0.000 2204 2731 3522 0 0 0 0 0 0

3904 -0.74 -146.0 404.1 -11.8 429 3906 0.12 0.00 0.00 0.000 6 0.182 0.000 2236 2731 3522 0 0 0 0 0 0

4210 -0.74 -146.0 433.3 -9.4 439 4214 0.00 2.20 0.00 0.000 4 0.000 0.050 2236 1369 3523 0 0 0 0 0 0

4234 -0.74 -146.0 435.5 -9.4 439 4241 0.00 2.25 0.00 0.000 6 0.000 0.060 2235 2715 3523 0 0 0 0 0 0

4547 -0.74 -146.0 464.9 -9.6 450 4551 0.00 2.05 0.00 0.000 4 0.000 0.071 2232 3929 3523 0 0 0 0 0 0

4598 -0.74 -146.0 470.1 -9.8 451 4601 0.00 1.95 0.00 0.000 6 0.000 0.047 2232 2713 3523 0 0 0 0 0 0

4924 -0.74 -146.0 501.3 -9.7 462 4925 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2713 3524 0 0 0 0 0 0

5228 -0.74 -146.0 531.5 -9.8 472 5230 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2713 3523 0 0 0 0 0 0

5535 -0.74 -146.0 560.7 -9.5 482 5536 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2713 3524 0 0 0 0 0 0

5842 -0.74 -146.0 590.2 -9.5 492 5843 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2713 3524 0 0 0 0 0 0

6147 -0.74 -146.0 620.0 -9.6 502 6151 0.00 2.12 0.00 0.000 4 0.000 0.050 2231 1371 3524 0 0 0 0 0 0

6174 -0.74 -146.0 622.9 -10.0 502 6181 0.00 2.22 0.00 0.000 6 0.000 0.061 2230 2714 3524 0 0 0 0 0 0

6488 end dive: BOTTOM_OBSTACLE_DETECTED

state 6488 begin apogee

6495 -0.14 0.0 652.1 9.4 513 6626 0.60 0.00 124.82 1.013 4 0.137 0.000 2423 2604 2923 0 0 0 0 0 0

6627 end apogee: CONTROL_FINISHED_OK

state 6627 begin climb

6629 0.57 146.0 657.2 0.0 517 6770 0.70 2.45 132.60 0.985 4 0.068 0.049 2666 1185 2326 0 0 0 0 0 0

6917 0.55 146.0 634.7 11.0 526 6922 0.00 2.50 0.00 0.000 6 0.000 0.054 2667 2609 2318 0 0 0 0 0 0

7248 0.48 146.0 595.0 12.0 537 7253 0.15 2.30 0.00 0.000 4 0.196 0.051 2629 1186 2315 0 0 0 0 0 0

7433 0.53 154.1 577.5 9.6 542 7445 0.00 2.35 6.40 0.805 6 0.000 0.057 2629 2606 2293 0 0 0 0 0 0

7751 0.53 154.1 545.2 10.4 553 7755 0.00 2.22 0.00 0.000 4 0.000 0.068 2629 3928 2292 0 0 0 0 0 0

7785 0.50 154.1 541.4 11.6 554 7789 0.00 2.15 0.00 0.000 6 0.000 0.044 2629 2596 2290 0 0 0 0 0 0

8127 0.50 154.1 505.7 10.4 565 8128 0.00 0.00 0.00 0.000 6 0.000 0.000 2629 2595 2290 0 0 0 0 0 0

8436 0.51 166.9 476.0 9.4 575 8450 0.00 0.00 12.38 0.868 6 0.000 0.000 2629 2595 2242 0 0 0 0 0 0

8740 0.54 177.5 447.0 9.5 585 8753 0.00 0.00 10.88 0.841 6 0.000 0.000 2629 2596 2198 0 0 0 0 0 0

9046 0.58 184.4 417.4 9.7 595 9060 0.10 2.33 7.43 0.783 4 0.119 0.067 2676 3926 2170 0 0 0 0 0 0

9088 0.48 184.4 411.6 15.0 596 9093 0.17 2.12 0.00 0.000 6 0.191 0.044 2634 2614 2168 0 0 0 0 0 0

9410 0.52 188.0 379.9 9.8 618 9422 0.00 2.33 4.75 0.673 4 0.000 0.053 2634 1183 2156 0 0 0 0 0 0

9440 0.59 199.0 377.0 9.5 620 9459 0.00 2.35 11.07 0.802 6 0.000 0.055 2634 2617 2112 0 0 0 0 0 0

9778 0.64 213.0 345.5 9.4 652 9798 0.15 0.00 13.90 0.806 6 0.092 0.000 2694 2617 2053 0 0 0 0 0 0

10116 0.60 213.0 298.8 14.5 684 10117 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2617 2050 0 0 0 0 0 0

10436 0.55 213.0 254.0 13.9 714 10437 0.15 0.00 0.00 0.000 6 0.182 0.000 2654 2617 2049 0 0 0 0 0 0

10753 0.58 213.0 219.7 10.2 744 10757 0.00 2.30 0.00 0.000 4 0.000 0.052 2654 1191 2049 0 0 0 0 0 0

10775 0.63 214.1 217.5 9.9 745 10782 0.00 2.30 0.00 0.000 6 0.000 0.055 2654 2611 2049 0 0 0 0 0 0

11101 0.67 219.6 185.9 9.7 776 11115 0.10 2.20 5.97 0.653 4 0.117 0.065 2696 3925 2029 0 0 0 0 0 0

11162 0.59 219.6 177.7 14.3 781 11167 0.12 2.10 0.00 0.000 6 0.200 0.044 2666 2614 2027 0 0 0 0 0 0

11495 0.62 219.6 144.2 10.2 812 11499 0.00 2.25 0.00 0.000 4 0.000 0.050 2666 1191 2028 0 0 0 0 0 0

11570 0.71 236.2 136.9 9.2 818 11594 0.12 2.30 16.27 0.699 6 0.105 0.055 2718 2608 1960 0 0 0 0 0 0

11916 0.68 236.2 92.7 11.3 855 11922 0.00 2.30 0.00 0.000 4 0.000 0.052 2718 1183 1956 0 0 0 0 0 0

11986 0.70 236.2 84.4 11.5 867 11993 0.00 2.30 0.00 0.000 6 0.000 0.055 2718 2586 1956 0 0 0 0 0 0

12332 0.70 236.2 44.2 11.1 928 12339 0.00 2.25 0.00 0.000 4 0.000 0.067 2718 3925 1955 0 0 0 0 0 0

12504 0.64 236.2 23.6 11.1 958 12512 0.15 2.12 0.00 0.000 6 0.195 0.045 2681 2607 1954 0 0 0 0 0 0

12663 end climb: FINISH_DEPTH_REACHED

state 12663 begin subsurface finish

12670 0.04 66.5 8.7 -7.6 986 12701 0.57 2.33 -20.42 0.000 4 0.145 0.066 2496 1197 2655 0 0 0 0 0 0

12702 end subsurface finish: CONTROL_FINISHED_OK

state 12702 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	651	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	34	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	-2	T_GPS_CHARGE	-11339.555	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	010111,043512,6639.102,-5855.080,0,3104.7,0,-37.8	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	6.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010111,043512,6639.102,-5855.080,0,3104.7,0,-37.8	MHEAD_RNG_PITCHd_Wd	102.1,101885,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	798

FREEZE	8.69,-1.745,-1.786,2,17,0	ALTIM_BOTTOM_PING	652.1,11.4
FINISH1	8.7,1.026144,67	_24V_AH	21.3,75.829
FINISH2	7.4	_10V_AH	9.7,52.451
RAFOS_CLK	734	FG_AHR_24Vo	0.000
RAFOS	0,1293868866,8.033334,8.018333,43,43,41,41,40,38,1019,1204,1736,670,1873,1842	FG_AHR_10Vo	0.000
RAFOS_FIX	6639.601562,-5847.518555,010111,080824,3,110,0.39	MEM	151712
IRIDIUM_FIX	6620.33,-5929.30,261210,232303	DATA_FILE_SIZE	36662,991
TT8_MAMPS	0.029211	CAP_FILE_SIZE	122757,0
HUMID	49.05	CFSIZE	260165632,206143488
INTERNAL_PRESSURE	8.62185	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.40	SOUNDSPEED	1452.9
XPDR_PINGS	0	GPS	010111,083824,6639.602,-5847.519,0,3109.7,0,-37.8
ALTIM_TOP_PING	19.6,19.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	200	19.32	SBE_CT	692	24	354.05
Roll_motor	93	74	147.51	SBE_O2	0	0	0.00
VBD_pump_during_apogee	346	1012	7474.82	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	24.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2489	19	481.12
LPSleep	7967	2	178.52
TT8_Active	405	19	78.45
TT8_Sampling	1691	39	655.17
TT8_CF8	211	45	94.26
TT8_Kalman	0	0	0.00
Analog_circuits	1317	12	153.36
GPS_charging	0	0	0.00
Compass	1678	15	244.17
RAFOS	2520	3	73.33
Transponder	22	30	6.49

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	-6.10	0.000	2	0.000	0.000	2504	1184	2876	0	0	0	0	0	0
28	-0.57	-146.0	8.4	-0.0	1	53	0.60	4.72	-16.30	0.000	4	0.118	0.072	2288	3931	3523	0	0	0	0	0	0
252	-0.59	-146.0	35.7	-12.4	40	259	0.00	1.85	0.00	0.000	6	0.000	0.047	2288	2777	3524	0	0	0	0	0	0
599	-0.61	-146.0	72.6	-9.0	101	606	0.00	2.28	0.00	0.000	4	0.000	0.052	2287	1365	3524	0	0	0	0	0	0
710	-0.66	-146.0	83.7	-10.1	120	717	0.00	2.30	0.00	0.000	6	0.000	0.062	2288	2752	3524	0	0	0	0	0	0
1052	-0.71	-146.0	115.9	-8.8	166	1056	0.12	2.03	0.00	0.000	4	0.109	0.074	2235	3926	3523	0	0	0	0	0	0
1124	-0.69	-146.0	124.6	-11.9	172	1131	0.00	1.90	0.00	0.000	6	0.000	0.048	2235	2746	3522	0	0	0	0	0	0
1450	-0.65	-146.0	165.6	-12.9	203	1454	0.12	2.22	0.00	0.000	4	0.183	0.053	2268	1369	3522	0	0	0	0	0	0
1478	-0.65	-146.0	169.1	-11.4	205	1482	0.00	2.30	0.00	0.000	6	0.000	0.063	2266	2754	3522	0	0	0	0	0	0
1804	-0.68	-146.0	201.4	-10.0	235	1808	0.00	2.22	0.00	0.000	4	0.000	0.053	2266	1373	3522	0	0	0	0	0	0
1887	-0.72	-146.0	210.2	-10.2	242	1894	0.00	2.25	0.00	0.000	6	0.000	0.062	2265	2727	3521	0	0	0	0	0	0
2213	-0.76	-146.0	240.5	-9.2	273	2214	0.00	0.00	0.00	0.000	6	0.000	0.000	2265	2727	3521	0	0	0	0	0	0
2535	-0.80	-146.0	266.9	-7.9	303	2541	0.12	0.00	0.00	0.000	6	0.109	0.000	2211	2727	3521	0	0	0	0	0	0
2860	-0.74	-146.0	304.1	-11.5	334	2864	0.00	2.03	0.00	0.000	4	0.000	0.072	2203	3929	3521	0	0	0	0	0	0
2889	-0.67	-146.0	307.5	-11.8	336	2896	0.20	1.95	0.00	0.000	6	0.164	0.047	2259	2727	3521	0	0	0	0	0	0
3215	-0.71	-146.0	334.7	-8.6	367	3218	0.00	2.17	0.00	0.000	4	0.000	0.050	2259	1372	3522	0	0	0	0	0	0
3251	-0.76	-146.0	337.9	-9.1	370	3255	0.00	2.28	0.00	0.000	6	0.000	0.061	2259	2731	3522	0	0	0	0	0	0
3577	-0.80	-146.0	365.5	-8.6	400	3579	0.12	0.00	0.00	0.000	6	0.109	0.000	2204	2731	3522	0	0	0	0	0	0
3904	-0.74	-146.0	404.1	-11.8	429	3906	0.12	0.00	0.00	0.000	6	0.182	0.000	2236	2731	3522	0	0	0	0	0	0
4210	-0.74	-146.0	433.3	-9.4	439	4214	0.00	2.20	0.00	0.000	4	0.000	0.050	2236	1369	3523	0	0	0	0	0	0
4234	-0.74	-146.0	435.5	-9.4	439	4241	0.00	2.25	0.00	0.000	6	0.000	0.060	2235	2715	3523	0	0	0	0	0	0
4547	-0.74	-146.0	464.9	-9.6	450	4551	0.00	2.05	0.00	0.000	4	0.000	0.071	2232	3929	3523	0	0	0	0	0	0
4598	-0.74	-146.0	470.1	-9.8	451	4601	0.00	1.95	0.00	0.000	6	0.000	0.047	2232	2713	3523	0	0	0	0	0	0
4924	-0.74	-146.0	501.3	-9.7	462	4925	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2713	3524	0	0	0	0	0	0
5228	-0.74	-146.0	531.5	-9.8	472	5230	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2713	3523	0	0	0	0	0	0
5535	-0.74	-146.0	560.7	-9.5	482	5536	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2713	3524	0	0	0	0	0	0
5842	-0.74	-146.0	590.2	-9.5	492	5843	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2713	3524	0	0	0	0	0	0
6147	-0.74	-146.0	620.0	-9.6	502	6151	0.00	2.12	0.00	0.000	4	0.000	0.050	2231	1371	3524	0	0	0	0	0	0
6174	-0.74	-146.0	622.9	-10.0	502	6181	0.00	2.22	0.00	0.000	6	0.000	0.061	2230	2714	3524	0	0	0	0	0	0
6488	end dive: BOTTOM_OBSTACLE_DETECTED
state	6488	begin apogee
6495	-0.14	0.0	652.1	9.4	513	6626	0.60	0.00	124.82	1.013	4	0.137	0.000	2423	2604	2923	0	0	0	0	0	0
6627	end apogee: CONTROL_FINISHED_OK
state	6627	begin climb
6629	0.57	146.0	657.2	0.0	517	6770	0.70	2.45	132.60	0.985	4	0.068	0.049	2666	1185	2326	0	0	0	0	0	0
6917	0.55	146.0	634.7	11.0	526	6922	0.00	2.50	0.00	0.000	6	0.000	0.054	2667	2609	2318	0	0	0	0	0	0
7248	0.48	146.0	595.0	12.0	537	7253	0.15	2.30	0.00	0.000	4	0.196	0.051	2629	1186	2315	0	0	0	0	0	0
7433	0.53	154.1	577.5	9.6	542	7445	0.00	2.35	6.40	0.805	6	0.000	0.057	2629	2606	2293	0	0	0	0	0	0
7751	0.53	154.1	545.2	10.4	553	7755	0.00	2.22	0.00	0.000	4	0.000	0.068	2629	3928	2292	0	0	0	0	0	0
7785	0.50	154.1	541.4	11.6	554	7789	0.00	2.15	0.00	0.000	6	0.000	0.044	2629	2596	2290	0	0	0	0	0	0
8127	0.50	154.1	505.7	10.4	565	8128	0.00	0.00	0.00	0.000	6	0.000	0.000	2629	2595	2290	0	0	0	0	0	0
8436	0.51	166.9	476.0	9.4	575	8450	0.00	0.00	12.38	0.868	6	0.000	0.000	2629	2595	2242	0	0	0	0	0	0
8740	0.54	177.5	447.0	9.5	585	8753	0.00	0.00	10.88	0.841	6	0.000	0.000	2629	2596	2198	0	0	0	0	0	0
9046	0.58	184.4	417.4	9.7	595	9060	0.10	2.33	7.43	0.783	4	0.119	0.067	2676	3926	2170	0	0	0	0	0	0
9088	0.48	184.4	411.6	15.0	596	9093	0.17	2.12	0.00	0.000	6	0.191	0.044	2634	2614	2168	0	0	0	0	0	0
9410	0.52	188.0	379.9	9.8	618	9422	0.00	2.33	4.75	0.673	4	0.000	0.053	2634	1183	2156	0	0	0	0	0	0
9440	0.59	199.0	377.0	9.5	620	9459	0.00	2.35	11.07	0.802	6	0.000	0.055	2634	2617	2112	0	0	0	0	0	0
9778	0.64	213.0	345.5	9.4	652	9798	0.15	0.00	13.90	0.806	6	0.092	0.000	2694	2617	2053	0	0	0	0	0	0
10116	0.60	213.0	298.8	14.5	684	10117	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2617	2050	0	0	0	0	0	0
10436	0.55	213.0	254.0	13.9	714	10437	0.15	0.00	0.00	0.000	6	0.182	0.000	2654	2617	2049	0	0	0	0	0	0
10753	0.58	213.0	219.7	10.2	744	10757	0.00	2.30	0.00	0.000	4	0.000	0.052	2654	1191	2049	0	0	0	0	0	0
10775	0.63	214.1	217.5	9.9	745	10782	0.00	2.30	0.00	0.000	6	0.000	0.055	2654	2611	2049	0	0	0	0	0	0
11101	0.67	219.6	185.9	9.7	776	11115	0.10	2.20	5.97	0.653	4	0.117	0.065	2696	3925	2029	0	0	0	0	0	0
11162	0.59	219.6	177.7	14.3	781	11167	0.12	2.10	0.00	0.000	6	0.200	0.044	2666	2614	2027	0	0	0	0	0	0
11495	0.62	219.6	144.2	10.2	812	11499	0.00	2.25	0.00	0.000	4	0.000	0.050	2666	1191	2028	0	0	0	0	0	0
11570	0.71	236.2	136.9	9.2	818	11594	0.12	2.30	16.27	0.699	6	0.105	0.055	2718	2608	1960	0	0	0	0	0	0
11916	0.68	236.2	92.7	11.3	855	11922	0.00	2.30	0.00	0.000	4	0.000	0.052	2718	1183	1956	0	0	0	0	0	0
11986	0.70	236.2	84.4	11.5	867	11993	0.00	2.30	0.00	0.000	6	0.000	0.055	2718	2586	1956	0	0	0	0	0	0
12332	0.70	236.2	44.2	11.1	928	12339	0.00	2.25	0.00	0.000	4	0.000	0.067	2718	3925	1955	0	0	0	0	0	0
12504	0.64	236.2	23.6	11.1	958	12512	0.15	2.12	0.00	0.000	6	0.195	0.045	2681	2607	1954	0	0	0	0	0	0
12663	end climb: FINISH_DEPTH_REACHED
state	12663	begin subsurface finish
12670	0.04	66.5	8.7	-7.6	986	12701	0.57	2.33	-20.42	0.000	4	0.145	0.066	2496	1197	2655	0	0	0	0	0	0
12702	end subsurface finish: CONTROL_FINISHED_OK
state	12702	begin surface