Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 675 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 675 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

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 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 19 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 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 0.0012300001 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 -49740.031 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

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 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 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 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 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 -49740.031

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 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 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 19 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 18 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 675 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 230511,202716,6657.240,-6006.401,0,7101.9,0,-37.6 TGT_NAME TARGET_W2

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 11.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230511,202716,6657.240,-6006.401,0,7101.9,0,-37.6 MHEAD_RNG_PITCHd_Wd 247.9,28404,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 730

Post-dive calculations and measurements:

FREEZE 8.70,-1.719,-1.774,2,38,0 ALTIM_BOTTOM_PING 650.5,46.9

FINISH1 8.7,1.025970,75 _24V_AH 21.0,90.001

FINISH2 7.6 _10V_AH 9.8,46.569

RAFOS_CLK 734 FG_AHR_24Vo 0.000

RAFOS 0,1306195266,0.033333,0.018333,127,64,57,55,53,49,648,204,146,164,217,127 FG_AHR_10Vo 0.000

RAFOS_FIX 6655.861328,-6009.000488,240511,000019,5,117,0.22 MEM 150560

IRIDIUM_FIX 6636.54,-5659.96,160511,171709 DATA_FILE_SIZE 46631,1224

TT8_MAMPS 0.026215 CAP_FILE_SIZE 135511,0

HUMID 49.01 CFSIZE 260165632,209317888

INTERNAL_PRESSURE 8.67221 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 SOUNDSPEED 1453.7

XPDR_PINGS 9 GPS 240511,002419,6655.861,-6009.000,0,5117.0,0,-37.6

ALTIM_TOP_PING 19.9,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 248 25.45 SBE_CT 876 24 441.96

Roll_motor 89 151 283.34 SBE_O2 937 19 373.93

VBD_pump_during_apogee 434 1363 12444.34 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 4 420 41.90 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2965 19 578.91

LPSleep 7722 2 174.81

TT8_Active 470 19 91.81

TT8_Sampling 1986 39 777.23

TT8_CF8 256 45 115.53

TT8_Kalman 0 0 0.00

Analog_circuits 1525 12 179.45

GPS_charging 0 0 0.00

Compass 1965 15 288.88

RAFOS 2520 1 37.04

Transponder 21 30 6.47

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 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -5.90 0.000 2 0.000 0.000 2903 864 2969 0 0 0 0 0 0

28 -0.62 -146.0 13.6 -0.0 1 47 0.68 0.40 -15.27 0.000 4 0.099 0.151 2665 1091 3628 0 0 0 0 0 0

179 -0.52 -146.0 40.2 -20.9 27 187 0.12 2.35 0.00 0.000 6 0.233 0.082 2691 2487 3631 0 0 0 0 0 0

525 -0.41 -146.0 103.7 -17.5 86 530 0.15 2.40 0.00 0.000 4 0.249 0.083 2726 1076 3630 0 0 0 0 0 0

537 -0.31 -146.0 106.2 -16.9 86 544 0.15 2.40 0.00 0.000 6 0.232 0.079 2761 2499 3630 0 0 0 0 0 0

865 -0.41 -146.0 136.8 -8.8 117 869 0.00 2.42 0.00 0.000 4 0.000 0.096 2761 3899 3630 0 0 0 0 0 0

883 -0.52 -146.0 138.4 -8.3 118 888 0.20 2.33 0.00 0.000 6 0.103 0.066 2691 2489 3630 0 0 0 0 0 0

1210 -0.46 -146.0 182.5 -13.2 148 1214 0.00 2.35 0.00 0.000 4 0.000 0.082 2691 1074 3629 0 0 0 0 0 0

1264 -0.46 -146.0 190.1 -12.0 152 1272 0.00 2.40 0.00 0.000 6 0.000 0.080 2691 2496 3629 0 0 0 0 0 0

1591 -0.42 -146.0 231.5 -12.1 183 1592 0.15 0.00 0.00 0.000 6 0.225 0.000 2725 2496 3629 0 0 0 0 0 0

1910 -0.48 -146.0 259.4 -7.8 213 1911 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2496 3629 0 0 0 0 0 0

2231 -0.55 -146.0 282.3 -7.3 243 2237 0.12 0.00 0.00 0.000 6 0.132 0.000 2683 2496 3628 0 0 0 0 0 0

2557 -0.51 -146.0 318.7 -11.1 274 2558 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2497 3628 0 0 0 0 0 0

2878 -0.48 -146.0 351.7 -10.2 304 2882 0.00 2.42 0.00 0.000 4 0.000 0.094 2682 3910 3628 0 0 0 0 0 0

2896 -0.45 -146.0 353.7 -9.8 305 2901 0.15 2.35 0.00 0.000 6 0.195 0.065 2717 2482 3628 0 0 0 0 0 0

3222 -0.51 -146.0 379.0 -7.9 335 3226 0.00 2.33 0.00 0.000 4 0.000 0.080 2717 1077 3628 0 0 0 0 0 0

3262 -0.60 -146.0 382.3 -8.1 338 3268 0.15 2.38 0.00 0.000 6 0.109 0.077 2664 2496 3628 0 0 0 0 0 0

3588 -0.53 -146.0 421.2 -12.2 368 3592 0.00 2.40 0.00 0.000 4 0.000 0.093 2663 3899 3628 0 0 0 0 0 0

3644 -0.51 -146.0 428.1 -11.6 372 3652 0.15 2.30 0.00 0.000 6 0.204 0.063 2698 2491 3628 0 0 0 0 0 0

3970 -0.54 -146.0 456.9 -9.0 403 3974 0.00 2.33 0.00 0.000 4 0.000 0.077 2698 1078 3629 0 0 0 0 0 0

4011 -0.59 -146.0 460.7 -9.1 406 4015 0.00 2.38 0.00 0.000 6 0.000 0.076 2698 2498 3629 0 0 0 0 0 0

4338 -0.62 -146.0 487.9 -8.3 436 4340 0.12 0.00 0.00 0.000 6 0.127 0.000 2655 2498 3629 0 0 0 0 0 0

4655 -0.54 -146.0 526.4 -12.5 466 4660 0.12 2.45 0.00 0.000 4 0.205 0.091 2684 3906 3630 0 0 0 0 0 0

4696 -0.56 -146.0 530.9 -10.0 469 4700 0.00 2.33 0.00 0.000 6 0.000 0.063 2684 2486 3630 0 0 0 0 0 0

5022 -0.56 -146.0 561.3 -9.2 499 5023 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2486 3629 0 0 0 0 0 0

5342 -0.56 -146.0 590.7 -9.3 529 5346 0.00 2.33 0.00 0.000 4 0.000 0.077 2684 1074 3630 0 0 0 0 0 0

5364 -0.56 -146.0 593.0 -9.3 530 5371 0.00 2.40 0.00 0.000 6 0.000 0.075 2684 2497 3630 0 0 0 0 0 0

5690 -0.56 -146.0 623.2 -9.4 546 5695 0.00 2.42 0.00 0.000 4 0.000 0.090 2684 3906 3630 0 0 0 0 0 0

5720 -0.59 -146.0 625.8 -9.0 547 5724 0.00 2.33 0.00 0.000 6 0.000 0.062 2684 2487 3630 0 0 0 0 0 0

6057 -0.59 -146.0 655.9 -9.1 558 6058 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2487 3630 0 0 0 0 0 0

6360 end dive: BOTTOM_OBSTACLE_DETECTED

state 6360 begin apogee

6366 -0.12 0.0 683.5 9.0 568 6502 0.45 0.00 128.73 1.364 6 0.189 0.000 2813 2267 3029 0 0 0 0 0 0

6503 end apogee: CONTROL_FINISHED_OK

state 6503 begin climb

6506 0.62 146.0 688.2 0.0 572 6652 0.80 2.72 136.77 1.317 4 0.142 0.081 3057 874 2433 0 0 0 0 0 0

6697 0.63 159.6 676.3 9.4 578 6720 0.00 2.60 14.25 1.175 6 0.000 0.068 3057 2279 2378 0 0 0 0 0 0

7026 0.60 159.6 642.2 10.4 589 7030 0.00 2.42 0.00 0.000 4 0.000 0.084 3057 3696 2374 0 0 0 0 0 0

7109 0.52 159.6 631.9 12.1 591 7114 0.12 2.38 0.00 0.000 6 0.192 0.070 3038 2281 2373 0 0 0 0 0 0

7428 0.54 173.2 602.0 9.4 602 7447 0.00 2.42 12.70 1.161 4 0.000 0.085 3045 866 2323 0 0 0 0 0 0

7473 0.57 185.0 597.7 9.5 604 7495 0.00 2.35 12.12 1.157 6 0.000 0.070 3045 2278 2274 0 0 0 0 0 0

7813 0.57 185.0 562.3 10.3 636 7817 0.00 2.38 0.00 0.000 4 0.000 0.085 3045 3687 2272 0 0 0 0 0 0

7897 0.54 185.0 552.5 11.7 643 7904 0.00 2.35 0.00 0.000 6 0.000 0.070 3055 2268 2271 0 0 0 0 0 0

8223 0.54 185.0 518.0 10.6 674 8224 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2268 2271 0 0 0 0 0 0

8544 0.54 185.0 484.8 10.2 704 8550 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2268 2271 0 0 0 0 0 0

8871 0.54 185.0 451.3 10.1 735 8872 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2268 2271 0 0 0 0 0 0

9188 0.54 185.0 418.9 10.4 765 9189 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2268 2270 0 0 0 0 0 0

9509 0.54 190.2 387.7 9.8 795 9517 0.00 0.00 5.57 0.895 6 0.000 0.000 3056 2268 2254 0 0 0 0 0 0

9835 0.55 197.5 354.8 9.7 826 9846 0.00 0.00 8.43 1.013 6 0.000 0.000 3055 2268 2224 0 0 0 0 0 0

10164 0.57 215.0 324.1 9.2 857 10184 0.00 0.00 17.42 1.091 6 0.000 0.000 3055 2268 2152 0 0 0 0 0 0

10503 0.60 218.6 291.9 9.8 889 10513 0.00 0.00 4.53 0.772 6 0.000 0.000 3056 2268 2138 0 0 0 0 0 0

10832 0.64 229.1 260.6 9.5 920 10844 0.00 0.00 10.77 1.008 6 0.000 0.000 3056 2268 2096 0 0 0 0 0 0

11160 0.70 239.0 229.6 9.5 951 11177 0.10 2.38 11.10 0.991 4 0.119 0.083 3112 859 2054 0 0 0 0 0 0

11205 0.66 239.0 224.2 12.1 954 11213 0.12 2.35 0.00 0.000 6 0.197 0.070 3082 2276 2052 0 0 0 0 0 0

11531 0.68 239.0 190.2 10.2 985 11535 0.00 2.38 0.00 0.000 4 0.000 0.085 3082 3687 2052 0 0 0 0 0 0

11593 0.68 239.0 182.6 12.2 990 11597 0.00 2.35 0.00 0.000 6 0.000 0.069 3090 2263 2051 0 0 0 0 0 0

11919 0.69 250.6 149.3 9.5 1020 11932 0.00 0.00 11.75 0.975 6 0.000 0.000 3090 2263 2008 0 0 0 0 0 0

12249 0.75 271.7 117.6 9.0 1051 12275 0.00 2.38 21.08 1.003 4 0.000 0.084 3099 862 1922 0 0 0 0 0 0

12328 0.85 295.2 110.5 8.9 1058 12362 0.12 2.38 23.27 0.985 6 0.110 0.071 3150 2283 1825 0 0 0 0 0 0

12695 0.86 297.9 66.3 9.9 1115 12702 0.00 2.38 0.00 0.000 4 0.000 0.086 3151 3690 1819 0 0 0 0 0 0

12767 0.79 297.9 57.6 12.8 1127 12774 0.15 2.35 0.00 0.000 6 0.198 0.070 3125 2274 1818 0 0 0 0 0 0

13115 0.86 321.8 24.7 8.9 1188 13134 0.00 0.00 15.95 0.961 6 0.000 0.000 3125 2274 1717 0 0 0 0 0 0

13280 end climb: FINISH_DEPTH_REACHED

state 13280 begin subsurface finish

13288 0.09 75.0 8.7 -9.3 1217 13330 0.73 0.00 -38.78 0.000 6 0.160 0.000 2902 2274 2726 0 0 0 0 0 0

13331 end subsurface finish: CONTROL_FINISHED_OK

state 13331 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	675	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
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	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	19	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	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	0.0012300001	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	-49740.031	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
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	230511,202716,6657.240,-6006.401,0,7101.9,0,-37.6	TGT_NAME	TARGET_W2
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	11.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230511,202716,6657.240,-6006.401,0,7101.9,0,-37.6	MHEAD_RNG_PITCHd_Wd	247.9,28404,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	730

FREEZE	8.70,-1.719,-1.774,2,38,0	ALTIM_BOTTOM_PING	650.5,46.9
FINISH1	8.7,1.025970,75	_24V_AH	21.0,90.001
FINISH2	7.6	_10V_AH	9.8,46.569
RAFOS_CLK	734	FG_AHR_24Vo	0.000
RAFOS	0,1306195266,0.033333,0.018333,127,64,57,55,53,49,648,204,146,164,217,127	FG_AHR_10Vo	0.000
RAFOS_FIX	6655.861328,-6009.000488,240511,000019,5,117,0.22	MEM	150560
IRIDIUM_FIX	6636.54,-5659.96,160511,171709	DATA_FILE_SIZE	46631,1224
TT8_MAMPS	0.026215	CAP_FILE_SIZE	135511,0
HUMID	49.01	CFSIZE	260165632,209317888
INTERNAL_PRESSURE	8.67221	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	SOUNDSPEED	1453.7
XPDR_PINGS	9	GPS	240511,002419,6655.861,-6009.000,0,5117.0,0,-37.6
ALTIM_TOP_PING	19.9,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	248	25.45	SBE_CT	876	24	441.96
Roll_motor	89	151	283.34	SBE_O2	937	19	373.93
VBD_pump_during_apogee	434	1363	12444.34	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	4	420	41.90	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2965	19	578.91
LPSleep	7722	2	174.81
TT8_Active	470	19	91.81
TT8_Sampling	1986	39	777.23
TT8_CF8	256	45	115.53
TT8_Kalman	0	0	0.00
Analog_circuits	1525	12	179.45
GPS_charging	0	0	0.00
Compass	1965	15	288.88
RAFOS	2520	1	37.04
Transponder	21	30	6.47

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	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-5.90	0.000	2	0.000	0.000	2903	864	2969	0	0	0	0	0	0
28	-0.62	-146.0	13.6	-0.0	1	47	0.68	0.40	-15.27	0.000	4	0.099	0.151	2665	1091	3628	0	0	0	0	0	0
179	-0.52	-146.0	40.2	-20.9	27	187	0.12	2.35	0.00	0.000	6	0.233	0.082	2691	2487	3631	0	0	0	0	0	0
525	-0.41	-146.0	103.7	-17.5	86	530	0.15	2.40	0.00	0.000	4	0.249	0.083	2726	1076	3630	0	0	0	0	0	0
537	-0.31	-146.0	106.2	-16.9	86	544	0.15	2.40	0.00	0.000	6	0.232	0.079	2761	2499	3630	0	0	0	0	0	0
865	-0.41	-146.0	136.8	-8.8	117	869	0.00	2.42	0.00	0.000	4	0.000	0.096	2761	3899	3630	0	0	0	0	0	0
883	-0.52	-146.0	138.4	-8.3	118	888	0.20	2.33	0.00	0.000	6	0.103	0.066	2691	2489	3630	0	0	0	0	0	0
1210	-0.46	-146.0	182.5	-13.2	148	1214	0.00	2.35	0.00	0.000	4	0.000	0.082	2691	1074	3629	0	0	0	0	0	0
1264	-0.46	-146.0	190.1	-12.0	152	1272	0.00	2.40	0.00	0.000	6	0.000	0.080	2691	2496	3629	0	0	0	0	0	0
1591	-0.42	-146.0	231.5	-12.1	183	1592	0.15	0.00	0.00	0.000	6	0.225	0.000	2725	2496	3629	0	0	0	0	0	0
1910	-0.48	-146.0	259.4	-7.8	213	1911	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2496	3629	0	0	0	0	0	0
2231	-0.55	-146.0	282.3	-7.3	243	2237	0.12	0.00	0.00	0.000	6	0.132	0.000	2683	2496	3628	0	0	0	0	0	0
2557	-0.51	-146.0	318.7	-11.1	274	2558	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2497	3628	0	0	0	0	0	0
2878	-0.48	-146.0	351.7	-10.2	304	2882	0.00	2.42	0.00	0.000	4	0.000	0.094	2682	3910	3628	0	0	0	0	0	0
2896	-0.45	-146.0	353.7	-9.8	305	2901	0.15	2.35	0.00	0.000	6	0.195	0.065	2717	2482	3628	0	0	0	0	0	0
3222	-0.51	-146.0	379.0	-7.9	335	3226	0.00	2.33	0.00	0.000	4	0.000	0.080	2717	1077	3628	0	0	0	0	0	0
3262	-0.60	-146.0	382.3	-8.1	338	3268	0.15	2.38	0.00	0.000	6	0.109	0.077	2664	2496	3628	0	0	0	0	0	0
3588	-0.53	-146.0	421.2	-12.2	368	3592	0.00	2.40	0.00	0.000	4	0.000	0.093	2663	3899	3628	0	0	0	0	0	0
3644	-0.51	-146.0	428.1	-11.6	372	3652	0.15	2.30	0.00	0.000	6	0.204	0.063	2698	2491	3628	0	0	0	0	0	0
3970	-0.54	-146.0	456.9	-9.0	403	3974	0.00	2.33	0.00	0.000	4	0.000	0.077	2698	1078	3629	0	0	0	0	0	0
4011	-0.59	-146.0	460.7	-9.1	406	4015	0.00	2.38	0.00	0.000	6	0.000	0.076	2698	2498	3629	0	0	0	0	0	0
4338	-0.62	-146.0	487.9	-8.3	436	4340	0.12	0.00	0.00	0.000	6	0.127	0.000	2655	2498	3629	0	0	0	0	0	0
4655	-0.54	-146.0	526.4	-12.5	466	4660	0.12	2.45	0.00	0.000	4	0.205	0.091	2684	3906	3630	0	0	0	0	0	0
4696	-0.56	-146.0	530.9	-10.0	469	4700	0.00	2.33	0.00	0.000	6	0.000	0.063	2684	2486	3630	0	0	0	0	0	0
5022	-0.56	-146.0	561.3	-9.2	499	5023	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2486	3629	0	0	0	0	0	0
5342	-0.56	-146.0	590.7	-9.3	529	5346	0.00	2.33	0.00	0.000	4	0.000	0.077	2684	1074	3630	0	0	0	0	0	0
5364	-0.56	-146.0	593.0	-9.3	530	5371	0.00	2.40	0.00	0.000	6	0.000	0.075	2684	2497	3630	0	0	0	0	0	0
5690	-0.56	-146.0	623.2	-9.4	546	5695	0.00	2.42	0.00	0.000	4	0.000	0.090	2684	3906	3630	0	0	0	0	0	0
5720	-0.59	-146.0	625.8	-9.0	547	5724	0.00	2.33	0.00	0.000	6	0.000	0.062	2684	2487	3630	0	0	0	0	0	0
6057	-0.59	-146.0	655.9	-9.1	558	6058	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2487	3630	0	0	0	0	0	0
6360	end dive: BOTTOM_OBSTACLE_DETECTED
state	6360	begin apogee
6366	-0.12	0.0	683.5	9.0	568	6502	0.45	0.00	128.73	1.364	6	0.189	0.000	2813	2267	3029	0	0	0	0	0	0
6503	end apogee: CONTROL_FINISHED_OK
state	6503	begin climb
6506	0.62	146.0	688.2	0.0	572	6652	0.80	2.72	136.77	1.317	4	0.142	0.081	3057	874	2433	0	0	0	0	0	0
6697	0.63	159.6	676.3	9.4	578	6720	0.00	2.60	14.25	1.175	6	0.000	0.068	3057	2279	2378	0	0	0	0	0	0
7026	0.60	159.6	642.2	10.4	589	7030	0.00	2.42	0.00	0.000	4	0.000	0.084	3057	3696	2374	0	0	0	0	0	0
7109	0.52	159.6	631.9	12.1	591	7114	0.12	2.38	0.00	0.000	6	0.192	0.070	3038	2281	2373	0	0	0	0	0	0
7428	0.54	173.2	602.0	9.4	602	7447	0.00	2.42	12.70	1.161	4	0.000	0.085	3045	866	2323	0	0	0	0	0	0
7473	0.57	185.0	597.7	9.5	604	7495	0.00	2.35	12.12	1.157	6	0.000	0.070	3045	2278	2274	0	0	0	0	0	0
7813	0.57	185.0	562.3	10.3	636	7817	0.00	2.38	0.00	0.000	4	0.000	0.085	3045	3687	2272	0	0	0	0	0	0
7897	0.54	185.0	552.5	11.7	643	7904	0.00	2.35	0.00	0.000	6	0.000	0.070	3055	2268	2271	0	0	0	0	0	0
8223	0.54	185.0	518.0	10.6	674	8224	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2268	2271	0	0	0	0	0	0
8544	0.54	185.0	484.8	10.2	704	8550	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2268	2271	0	0	0	0	0	0
8871	0.54	185.0	451.3	10.1	735	8872	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2268	2271	0	0	0	0	0	0
9188	0.54	185.0	418.9	10.4	765	9189	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2268	2270	0	0	0	0	0	0
9509	0.54	190.2	387.7	9.8	795	9517	0.00	0.00	5.57	0.895	6	0.000	0.000	3056	2268	2254	0	0	0	0	0	0
9835	0.55	197.5	354.8	9.7	826	9846	0.00	0.00	8.43	1.013	6	0.000	0.000	3055	2268	2224	0	0	0	0	0	0
10164	0.57	215.0	324.1	9.2	857	10184	0.00	0.00	17.42	1.091	6	0.000	0.000	3055	2268	2152	0	0	0	0	0	0
10503	0.60	218.6	291.9	9.8	889	10513	0.00	0.00	4.53	0.772	6	0.000	0.000	3056	2268	2138	0	0	0	0	0	0
10832	0.64	229.1	260.6	9.5	920	10844	0.00	0.00	10.77	1.008	6	0.000	0.000	3056	2268	2096	0	0	0	0	0	0
11160	0.70	239.0	229.6	9.5	951	11177	0.10	2.38	11.10	0.991	4	0.119	0.083	3112	859	2054	0	0	0	0	0	0
11205	0.66	239.0	224.2	12.1	954	11213	0.12	2.35	0.00	0.000	6	0.197	0.070	3082	2276	2052	0	0	0	0	0	0
11531	0.68	239.0	190.2	10.2	985	11535	0.00	2.38	0.00	0.000	4	0.000	0.085	3082	3687	2052	0	0	0	0	0	0
11593	0.68	239.0	182.6	12.2	990	11597	0.00	2.35	0.00	0.000	6	0.000	0.069	3090	2263	2051	0	0	0	0	0	0
11919	0.69	250.6	149.3	9.5	1020	11932	0.00	0.00	11.75	0.975	6	0.000	0.000	3090	2263	2008	0	0	0	0	0	0
12249	0.75	271.7	117.6	9.0	1051	12275	0.00	2.38	21.08	1.003	4	0.000	0.084	3099	862	1922	0	0	0	0	0	0
12328	0.85	295.2	110.5	8.9	1058	12362	0.12	2.38	23.27	0.985	6	0.110	0.071	3150	2283	1825	0	0	0	0	0	0
12695	0.86	297.9	66.3	9.9	1115	12702	0.00	2.38	0.00	0.000	4	0.000	0.086	3151	3690	1819	0	0	0	0	0	0
12767	0.79	297.9	57.6	12.8	1127	12774	0.15	2.35	0.00	0.000	6	0.198	0.070	3125	2274	1818	0	0	0	0	0	0
13115	0.86	321.8	24.7	8.9	1188	13134	0.00	0.00	15.95	0.961	6	0.000	0.000	3125	2274	1717	0	0	0	0	0	0
13280	end climb: FINISH_DEPTH_REACHED
state	13280	begin subsurface finish
13288	0.09	75.0	8.7	-9.3	1217	13330	0.73	0.00	-38.78	0.000	6	0.160	0.000	2902	2274	2726	0	0	0	0	0	0
13331	end subsurface finish: CONTROL_FINISHED_OK
state	13331	begin surface